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Organized by
International Journal of
Modelling, Identification and
Control
IEEE Systems, Man, and
Cybernetics Society
Hanoi University of Science
and Technology
Tokyo University of
Agriculture and Technology
International Journal of
Advanced Mechatronic
Systems
PROGRAM
AND
ABSTRACTS
2020 International Conference on
Advanced Mechatronic Systems
December 10-13, 2020
Hanoi, Vietnam
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2020 ICAMechS
International Conference on Advanced Mechatronic Systems
December 10-13, 2020
Hanoi, Vietnam
PROGRAM
Organizers:
IEEE Systems, Man, and Cybernetics Society
Hanoi University of Science and Technology
Tokyo University of Agriculture and Technology
International Journal of Advanced Mechatronic Systems
Sponsors:
International Journal of Modelling, Identification and Control
The Institute of Complex Medical Engineering
Cooperation with:
The Society of Instrument and Control Engineers
The Institute of Systems, Control and Information Engineers
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Organizing Committee (1)
Advisory Chairs: Tianyou Chai, Northeastern University, China
Akira Inoue, Okayama University, Japan
Tsu-Tian Lee, Tamkang University, Taiwan
Dinh Van Phong, Hanoi University of Science and Technology, Vietnam
General Chairs: Mingcong Deng, Tokyo University of Agriculture and Technology, Japan
Nguyen Huy Phuong, Hanoi University of Science and Technology, Vietnam
Program Chairs: Xinkai Chen, Shibaura Institute of Technology, Japan
Pham Viet Phuong, Hanoi University of Science and Technology, Vietnam
Changan Jiang, Osaka Institute of Technology, Japan
Shengjun Wen, Zhongyuan University of Technology, China
Local Organization
Chairs:
Aihui Wang, Zhongyuan University of Technology, China
Thanh Vo-Duy, Hanoi University of Science and Technology, Vietnam
Special Session Chairs: Z. Q. Lang, University of Sheffield, UK
Luigi Vladareanu, Romanian Academy of Science, Romania
Shiro Masuda, Tokyo Metropolitan University, Japan
S.G. Ponnambalam, Vellore Institute of Technology University, India
Yan Shi, Tokai University, Japan
Sallehuddin M. Haris, Universiti Kebangsaan Malaysia, Malaysia
Ying Gao, South China University of Technology, China
Duong Minh Duc, Hanoi University of Science and Technology, Vietnam
Yongqiang Ye, Nanjing University of Aeronautics and Astronautics, China
Publication Chairs: Xudong Gao, Nanjing University of Information Science & Technology, China
Hossam A. Gabbar, University of Ontario Institute of Technology, Canada
Dao Quy Thinh, Hanoi University of Science and Technology, Vietnam
Publicity & Exhibition
Chairs:
Nibin Chang, University of Central Florida, USA
Shuoyu Wang, Kochi University of Technology, Japan
Tomohiro Henmi, Kawasaki University of Medical Welfare, Japan
Yanfeng Wu, Henan University of Science and Technology, China
Nguyen Kien Trung, Hanoi University of Science and Technology, Vietnam
Do Trong Hieu, Hanoi University of Science and Technology, Vietnam
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Organizing Committee (2)
Registration Chairs: Jinglong Wu, Okayama University, Japan
Shuhui Bi, University of Jinan, China
Nguyen Manh Linh, Hanoi University of Science and Technology, Vietnam
Students Activity Chairs: Ni Bu, Qingdao University of Science and Technology, China
Akira Yanou, Kawasaki University of Medical Welfare, Japan
Hoang Duc Chinh, Hanoi University of Science and Technology, Vietnam
Best Paper Award Committee
Chairs:
Zijiang Yang, Ibaraki University, Japan
Thuc Anh, Hanoi University of Science and Technology, Vietnam
Honorary General Chairs: Hong Wang, Oak Ridge National Laboratory, USA
Chunyi Su, Concordia University, Canada
Ikuro Mizumoto, Kumamoto University, Japan
Zongxiao Yang, Henan University of Science and Technology, China
Hongnian Yu, Edinburgh Napier University, UK
Jingxin Zhang, Swinburne University of Technology, Australia
Xiaoguang Zhou, Beijing University of Posts and Telecommunications, China
Mengchu Zhou, New Jersey Institute of Technology, USA
Quanmin Zhu, University of the West of England, UK
Lin Meng, Ritsumeikan University, Japan
Secretary: Guanqiang Dong, Tokyo University of Agriculture and Technology, Japan
Ximei Li, Tokyo University of Agriculture and Technology, Japan
Yuanhong Xu, Tokyo University of Agriculture and Technology, Japan
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Program Committee (1)
Chairs: Xinkai Chen, Shibaura Institute of Technology, Japan
Pham Viet Phuong, Hanoi University of Science and Technology, Vietnam
Changan Jiang, Osaka Institute of Technology, Japan
Shengjun Wen, Zhongyuan University of Technology, China
Members List: Shuhui Bi, University of Jinan, China
Aihui Wang, Zhongyuan University of Technology, China
Kazuki Umemoto, Nagaoka University of Technology, Japan
Marcel Bergerman, Carnegie Mellon University, USA
Haibin Yu, Institute of Automation, China
Liang Li, Ritsumeikan University, Japan
Adrian Olaru, University Politehnica of Bucharest, Romania
Toru Yamamoto, Hiroshima University, Japan
Ajiboye Osunleke, Obafemi Awolowo University, Nigeria
Dongyun Wang, Zhongyuan University of Technology, China
Zhihong Man, Swinbume University of Technology, Australia
Z. Q. Lang, University of Sheffield, UK
Luigi Vladareanu, Romanian Academy of Science, Romania
S.G. Ponnambalam, Vellore Institute of Technology University, India
Ken Nagasaka, Tokyo University of Agriculture and Technology, Japan
Sallehuddin M. Haris, Universiti Kebangsaan Malaysia, Malaysia
Shuoyu Wang, Kochi University of Technology, Japan
Florentin Smarandache, University of New Mexico, USA
Hansheng Wu, Prefectural University of Hiroshima, Japan
Dong Yue, Huazhong University of Science & Technology, China
Dongya Zhao, China University of Petroleum, China
Eldert Van Henten, Wageningen University, Netherlands
Feng Qiao, Shenyang JianZhu University, China
Hao Chen, China University of Mining and Technology, China
Hiroyuki Takanashi, Nihon University, Japan
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Program Committee (2)
Members List: Kazuyuki Ito, Hosei University, Japan
Liangyong Wang, Northeastern University, China
Longguo Jin, Qingdao Technical College, China
Masanori Takahashi, Tokai University, Japan
Nader Barsoum, Curtin University of Technology, Malaysia
Ni Bu, Qingdao University of Science and Technology, China
Nobutaka Wada, Hiroshima University, Japan
Shan Liang, Chongqin University, China
Shaoyuan Li, Shanghai Jiaotong University, China
Shigang Yue, University of Lincoln, UK
Shuichi Wakimoto, Okayama University, Japan
Wanli Yang, Zhuhai Institute of Jilin University, China
Wei Wang, Dalian University of Technology, China
Xiaolei Wang, Zhongyuan University of Technology, China
Yang Liu, University of Exeter, UK
Yang Shi, University of Victoria, Canada
Yegui Xiao, Prefectural University of Hiroshima, Japan
Yinlai Jiang, The University of Electro-Communications, Japan
Zhengguang Hou, Institute of Automation, China
Zhengtao Ding, University of Manchester, UK
Zofia Lukszo, Delft University of Technology, Netherlands
Hongbo Wang, Yanshan University, China
Huijun Gao, Harbin Institute of Technology, China
Huimin Xiao, Henan University of Finance and Economics, China
Huiping Li, Northwestern Polytechnical University, China
Ionel Staretu, Transilvania University of Brasov, Romania
Jianqiang Yi, Institute of Automation, China
Jing Yao, Tongji University, China
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Jinliang Ding, Northeastern University, China
John Billingsley, University of Southern Queensland, Australia
John Reid, John Deere Moline Technology Innovation Center, USA
Jose Ragot, Nancy-Université, France
Yukinori Nakamura, Okayama University, Japan
Seiji Saito, Polytechnic University, Japan
Guang Jin, Tokai University, Japan
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GREETINGS
FROM THE GENERAL CHAIRS AND PROGRAM CHAIRS
On behalf of ICAMechS 2020 Organizing Committee, it is our great pleasure and honor to welcome you all to the
2020 International Conference on Advanced Mechatronic Systems. The conference is held partly online on
December 10-13, 2020 in Hanoi, Vietnam, organized by IEEE Systems, Man, and Cybernetics Society, Hanoi
University of Science and Technology, Tokyo University of Agriculture and Technology, International Journal of
Advanced Mechatronic Systems; sponsored by International Journal of Modelling, Identification and Control, The
Institute of Complex Medical Engineering, The Society of Instrument and Control Engineers, The Institute of
Systems, Control and Information Engineers.
ICAMechS 2020 is an all-volunteer conference, and it provides an international forum for professionals, academics,
and researchers to present latest developments from interdisciplinary theoretical studies, computational algorithm
development and applications of mechatronic systems. It particularly welcomes those emerging methodologies and
techniques which bridge theoretical studies and applications in all mechatronic systems. Novel quantitative
engineering and science studies may be considered as well. The accepted papers will be submitted for inclusion into
IEEE Xplore as well as other Abstracting and Indexing (A&I) databases.
Hanoi is the vibrant capital of Vietnam and one of the bright lights of cities in Asia. Located on the banks of the Red
River, it is one of the most ancient capitals in the world, where you can find well-preserved colonial buildings,
ancient pagodas, and unique museums within the city center. A great place to explore on foot, this French-colonial
city is also famous for its delectable cuisine, vibrant nightlife, silks and handicrafts, as well as a multi-cultural
community that’s made up of Chinese, French and Russian influences. We hope you have a happy journey in Hanoi.
Three distinguished speakers, Prof. Tianyou Chai (Northeastern University, China), Prof. Mengchu Zhou (New
Jersey Institute of Technology, USA) and Prof. Hong Wang (Oak Ridge National Laboratory, USA) are invited to
give plenary presentations. We would like to present our sincere thanks to the plenary speakers.
We would like to present our special thanks to authors and participants of this conference, and the members of
Advisory Committee, Program Committee and Organizing Committee.
We hope that you all enjoy the conference and beautiful Hanoi.
Best regards,
2020 International Conference on
Advanced Mechatronic Systems
December 10-13, 2020
Hanoi, Vietnam
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General Chairs
Program Chairs
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CONFERENCE HIGHLIGHTS
Under three reviewers for each paper by Program Committees and Organizing Committees, a total of 64 papers
from different parts of the world were accepted and included into the final program of ICAMechS 2020. There
are three plenary speeches. Each oral session consists of 4-5 papers, where we have 14 regular sessions. Papers
were assigned with the sole purposed of forming coherent sessions.
CONFERENCE REGISTRATION
Since part of presentations are online, please note that Zoom test will be held on December 10, 2020.
For participants in Vietnam, an oral presentation is required at Hanoi University of Science and Technology.
The conference schedule based on Vietnam GMT+7 is as follows.
10:00-16:00, December 10, 2020 (Thursday)
09:00-17:10, December 11, 2020 (Friday)
08:30-17:40, December 12, 2020 (Saturday)
The full registration includes the Closing Ceremony and USB Conference Proceedings.
SOCIAL EVENTS
Closing ceremony and banquet (18: 10-20: 10, December 12, 2020, on-site in Vietnam).
CONFERENCE LOCATION
ICAMechS 2020 will be held partly online. For participants in Vietnam, please see the map of Hanoi University
of Science and Technology below to confirm the specific location. For participants elsewhere, you can present
your papers online.
Conference site (for participants in Vietnam): Hanoi University of Science and Technology.
Detailed location:
⚫ C2 Conference Room (Main Hall) -- Plenary Session.
⚫ C1-323 (Room 1) -- Parallel Session Rooms.
⚫ C9-104 (Room 2) -- Parallel Session Rooms.
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Hanoi University of Science and Technology Map for ICAMechS 2020
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PLENARY SPEAKERS
Prof. Tianyou Chai, Northeastern University, China
Tianyou Chai received the Ph.D. degree in control theory and engineering in 1985 from
Northeastern University, Shenyang, China, where he became a Professor in 1988. He is the
founder and Director of the Center of Automation, which became a National Engineering and
Technology Research Center and a State Key Laboratory. He is a member of Chinese Academy
of Engineering, IFAC Fellow and IEEE Fellow. He has served as director of Department of
Information Science of National Natural Science Foundation of China from 2010 to 2018.
His current research interests include modeling, control, optimization and integrated automation of
complex industrial processes. He has published 240 peer reviewed international journal papers. His paper titled Hybrid
intelligent control for optimal operation of shaft furnace roasting process was selected as one of three best papers for the
Control Engineering Practice Paper Prize for 2011-2013. He has developed control technologies with applications to
various industrial processes. For his contributions, he has won 5 prestigious awards of National Natural Science, National
Science and Technology Progress and National Technological Innovation, the 2007 Industry Award for Excellence in
Transitional Control Research from IEEE Multiple-conference on Systems and Control, and the 2017 Wook Hyun Kwon
Education Award from Asian Control Association.
Title:
CPS Driven Control System
Abstract:
China has abundance of mineral resources such as magnesite, hematite and bauxite, which constitute a key
component of its economy. The relatively low grade, and the widely varying and complex compositions of the raw
extracts, however, pose difficult processing challenges including specialized equipment with excessive energy
demands. The energy intensive furnaces together with widely uncertain features of the extracts form hybrid
complexities of the system, where the existing modeling, optimization and control methods have met only limited
success. Currently, the mineral processing plants generally employ manual control and are known to impose greater
demands on the energy, while yielding unreasonable waste and poor operational efficiency. The recently developed
Cyber-Physical System (CPS) provides a new key for us to address these challenges. The idea is to make the
control system of energy intensive equipment into a CPS, which will lead to a CPS driven control system.
This talk presents the syntheses and implementation of a CPS driven control system for energy-intensive equipment
under the framework of CPS. The proposed CPS driven control system consists of four main functions: (I) setpoint
control; (II) tracking control; (III) self-optimized tuning; and (IV) remote and mobile monitoring for operating
condition. The key in realizing the above functions is the integrated optimal operational control methods to
implement setpoint control, tracking control and self-optimized tuning together seamlessly. This talk introduces
the integrated optimal operational control methods we proposed.
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Hardware and software platform of CPS driven control system for energy-intensive equipment is then briefly
introduced, which adopts embedded control system, wireless network and industrial cloud. It not only realizes the
functions of computer control system using DCS (PLS), optimization computer and computer for abnormal
condition identification and self-optimized tuning, but also achieves the functions of mobile and remote monitoring
for industrial process.
Then, using fused magnesium furnace as an example, a hybrid simulation system for CPS driven control system
for energy-intensive equipment developed by our team is introduced. The results of simulation experiments show
the effectiveness of the proposed method that integrates the setpoint control, tracking control, self-optimized tuning
and remote and mobile monitoring for operating condition in the framework of CPS.
The industrial application of the proposed CPS driven control system is also discussed. It has been successfully
applied to the largest magnesia production enterprise in China, resulting in great returns. Finally, future research
on the CPS driven control system is outlined.
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Prof. Mengchu Zhou, New Jersey Institute of Technology, USA
MengChu Zhou (Fellow, IEEE) received his B.S. degree in Control Engineering from Nanjing
University of Science and Technology, Nanjing, China in 1983, M.S. degree in Automatic
Control from Beijing Institute of Technology, Beijing, China in 1986, and Ph. D. degree in
Computer and Systems Engineering from Rensselaer Polytechnic Institute, Troy, NY in 1990.
He joined New Jersey Institute of Technology (NJIT), Newark, NJ in 1990, and is now
Distinguished Professor in Electrical and Computer Engineering. His research interests are in
Petri nets, intelligent automation, Internet of Things, big data, web services, and intelligent transportation. He has
over 900 publications including 12 books, 600+ journal papers (450+ in IEEE transactions), 26 patents and 29 book-
chapters. He is the founding Editor of IEEE Press Book Series on Systems Science and Engineering, Editor-in-
Chief of IEEE/CAA Journal of Automatica Sinica, and Associate Editor of IEEE Internet of Things Journal, IEEE
Transactions on Intelligent Transportation Systems, and IEEE Transactions on Systems, Man, and Cybernetics:
Systems. He is a recipient of Humboldt Research Award for US Senior Scientists from Alexander von Humboldt
Foundation, Franklin V. Taylor Memorial Award and the Norbert Wiener Award from IEEE Systems, Man and
Cybernetics Society, Excellence in Research Prize and Medal from NJIT, and Edison Patent Award from the
Research & Development Council of New Jersey, USA. He is a highly cited scholar and ranked top one in the field
of engineering worldwide in 2012 by Web of Science. He is a life member of Chinese Association for Science and
Technology-USA and served as its President in 1999. He is a Fellow of International Federation of Automatic
Control (IFAC), American Association for the Advancement of Science (AAAS) and Chinese Association of
Automation (CAA).
Title:
Transforming Semiconductor Manufacturing Industry from Automation to Intelligenization with
Industry 4.0 Technologies
Abstract:
Industry 4.0 intends to address a fast-changing and challenging manufacturing environment with diverse demands,
short order lead-time and product life cycle, limited capacities, and highly complex process technologies. A
semiconductor manufacturing system integrated with Industry 4.0 technologies, such as AI, machine learning, big
data analytics, and Internet of Things, is capable of performing real-time monitoring and optimization of
manufacturing processes in various aspects from high level strategic resource and production planning down to
real-time equipment-level smart dispatching and predictive maintenance. By fully using real-time data and AI, the
system is able to help manufacturers shorten production and R&D processes, increase production capacity, reduce
production cost, guarantee product quality, and improve product yield. It is suitable to help not only high-tech
industries such as semiconductor wafer fabrication, but also conventional labor-intensive sectors. This talk
illustrates the transformation of semiconductor manufacturing activities from automation to intelligenization by
using Industry 4.0 technologies through real-life wafer fabrication applications.
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Prof. Hong Wang, Oak Ridge National Laboratory, USA
Hong Wang (Senior Member, IEEE) received the master’s and Ph.D. degrees from the
Huazhong University of Science and Technology, Wuhan, China, in 1984 and 1987,
respectively. He was a Research Fellow with Salford University, Salford, U.K., Brunel
University, Uxbridge, U.K., and Southampton University, Southampton, U.K., before joining
the University of Manchester Institute of Science and Technology (UMIST), Manchester, U.K.,
in 1992. He was a Chair Professor in process control of complex industrial systems with the
University of Manchester, U.K., from 2002 to 2016, where he was the Deputy Head of the
Paper Science Department, the Director of the UMIST Control Systems Centre from 2004 to 2007, which is the
birthplace of Modern Control Theory established in 1966. He was a University Senate member and a member of
general assembly during his time in Manchester. From 2016 to 2018, he was with the Pacific Northwest National
Laboratory (PNNL), Richland, WA, USA, as a Laboratory Fellow and Chief Scientist, and was the Co-Leader and
the Chief Scientist for the Control of Complex Systems Initiative. He joined the Oak Ridge National Laboratory in
January 2019. His research focuses on stochastic distribution control, fault diagnosis and tolerant control, and
intelligent controls with applications to transportation system area. He is a fellow of IET. He was an Associate Editor
of the IEEE TRANSACTIONS ON AUTOMATIC CONTROL, the IEEE TRANSACTIONS ON CONTROL
SYSTEMS TECHNOLOGY, and the IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND
ENGINEERING. He is also a member for three IFAC Committees.
Title:
Collaborative Fault Tolerant Control of Non-Signalized Intersections for Connected and
Autonomous Vehicles
Abstract:
With the potential of increased penetration of connected autonomous vehicles (CAVs), intersectional signal control
faces new challenges in terms of its operation and implementation. One possibility is to fully make use of the
communication capabilities of CAVs so that intersectional signal control can be realized by CAVs alone – this
leads to non-signalized intersectional operation for traffic networks in urban areas. In this paper, the state-of-the-
art on collaborative fault tolerant control schemes for complex systems will be briefly described. This is then
followed by the formulation of operational fault tolerant control that realizes the collaborative fault tolerance
functionality at CAVs operational level in response to possible individual vehicle faults, where detailed modelling
using vehicle movement dynamics will be described together with the construction of fast fault diagnosis and
collaborative fault tolerant control algorithm. A simple example will be given as well to demonstrate the proposed
algorithm together with the discussions on the other issues such as randomness of the system, communication
errors and full energy consideration. These leads to several future directions of the research for the traffic flow
control of non-signalized intersections with 100% penetration of CAVs.
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CONFERENCE PROGRAM
Thursday, December 10, 2020
10:00 - 11:00 Zoom Test 1
13:00 - 14:00 Zoom Test 2
14:30 - 16:00 Zoom Test 3
Note:
Room No. On-site in Vietnam Zoom Link Zoom ID Password
Main Hall C2 Conference Room https://us02web.zoom.us/j/7899003885?pwd=UG
5NTjBLbEVNVVBlZTk0WTdiMXRQQT09 789 900 3885 xh5956
Room 1 C1-323 https://us02web.zoom.us/j/7899003885?pwd=UG5NTjBLbEVNVVBlZTk0WTdiMXRQQT09 789 900 3885 xh5956
Room 2 C9-104 https://us02web.zoom.us/j/4424419277?pwd=NVN5Sy9nYXBaZVh1QkR6aWEvVjJwQT09 442 441 9277 h9uyX9
2020 International Conference on
Advanced Mechatronic Systems
December 10 - 13, 2020
Hanoi, Vietnam
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Friday, December 11, 2020
09:00 - 09:10 Opening Remarks Main Hall
09:10 - 10:00 Plenary Speech 1 (PS01) Main Hall
Title: CPS Driven Control System
Plenary Speaker: Prof. Tianyou Chai, Northeastern University, China
Chair: Prof. Zhihong Man, Swinburne University of Technology, Australia
10:00 - 10:10 Break
10:10 - 11:00 Plenary Speech 2 (PS02) Main Hall
Title: Transforming Semiconductor Manufacturing Industry from Automation to
Intelligenization with Industry 4.0 Technologies
Plenary Speaker: Prof. Mengchu Zhou, New Jersey Institute of Technology, USA
Chair: Prof. Changan Jiang, Osaka Institute of Technology, Japan
11:00 - 11:10 Break
11:10 - 12:00 Plenary Speech 3 (PS03) Main Hall
Title: Collaborative Fault Tolerant Control of Non-Signalized Intersections for
Connected and Autonomous Vehicles
Plenary Speaker: Prof. Hong Wang, Oak Ridge National Laboratory, USA
Chair: Prof. Shengjun Wen, Zhongyuan University of Technology, China
12:00 - 13:30 Lunch Time
13:30 - 15:10 Regular Session 1
Room 1 Room 2
FriA01
Design and Control on Robotic Systems Ⅰ
Paper ID:1061,1011,1013,1014,1015
FriB01
Design and Control on Robotic Systems Ⅱ Paper ID: 1017,1034,1005,1042,1027
15:10 - 15:30 Break
15:30 - 17:10 Regular Session 2
Room 1 Room 2
FriA02
Developments of Novel Methodologies and
Technique Ⅰ
Paper ID: 1031,1032,1033,1038,1041
FriB02
Developments of Novel Methodologies and
Technique Ⅱ
Paper ID: 1063,1010,1004,1044,1057
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Saturday, December 12, 2020
08:30 - 10:10 Regular Session 3
Room 1 Room 2
SatA03
Advanced Mechatronic Systems and Its
Applications Ⅰ
Paper ID:1012,1016,1018,1048,1049
SatB03
Advanced Mechatronic Systems and Its
applications Ⅱ
Paper ID:1066,1062,1030,1055, 1054
10:10 - 10:20 Break
10:20 - 12:00 Regular Session 4
Room 1 Room 2
SatA04
Modeling and Simulation
Paper ID:1059,1060,1040,1029,1001
SatB04
Pattern Recognition and Computer Vision
Paper ID:1020,1058,1008,1056,1024
12:00 - 13:00 Lunch time
13:00 - 14:40 Regular Session 5
Room 1 Room 2
SatA05
Nonlinear Control System Design Ⅰ
Paper ID:1009,1039,1043,1037
SatB05
Nonlinear Control System Design Ⅱ
Paper ID:1051,1064,1022,1026
14:40 - 14:50 Break
14:50 - 16:10 Regular Session 6
Room 1 Room 2
SatA06
Intelligent Control in Complex Systems Ⅰ
Paper ID:1019,1021,1065,1025
SatB06
Intelligent Control in Complex Systems Ⅱ
Paper ID:1035,1047,1046,1045
16:10 - 16:20 Break
16:20 - 17:40 Regular Session 7
Room 1 Room 2
SatA07
Signal and Image Processing
Paper ID:1023,1036,1050,1053
SatB07
Optimization Algorithms in Hybrid Systems
Paper ID:1028,1003,1002,1052
18:10 - 20:10 Closing Ceremony and Banquet
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10:00-11:00 09:00-09:10 Main Hall
13:00-14:00 09:10-10:00 Main Hall
14:30-16:00
10:00-10:10 Break
10:10-11:00 Main Hall
11:00-11:10 Break
11:10-12:00 Main Hall
2020 International Conference on
Advanced Mechatronic SystemsDecember 10 - 13, 2020
Hanoi, Vietnam
Plenary Speech 2
New Jersey Inst. of Tech., USA
Oak Ridge National Laboratory, USA
Plenary Speech 1
CPS Driven Control System
Chair: Prof. Shengjun Wen, Zhongyuan Univ. of Tech., China
Prof. Mengchu Zhou
Chair: Prof. Changan Jiang, Osaka Inst. of Tech., Japan
TECHNICAL PROGRAM
Chair: Prof. Zhihong Man, Swinburne Univ. of Tech., Australia
Northeastern Univ., China
ICAMechS 2020
Thursday, Dec. 10, 2020
ICAMechS 2020
Friday, Dec. 11, 2020
Zoom TestⅠ
Zoom TestⅡ
Zoom Test Ⅲ
End of the 1st Day
Opening Remarks
Prof. Tianyou Chai
Plenary Speech 3
Transforming Semiconductor Manufacturing
Industry from Automation to Intelligenization
with Industry 4.0 Technologies
Collaborative Fault Tolerant Control of Non-
Signalized Intersections for Connected and
Autonomous Vehicles
12:00-13:30 Lunch
Prof. Hong Wang
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Chair: Dao Quy Thinh Hanoi Univ. of Sci. & Tech, Vietnam
Co-Chair: Do Trong Hieu Hanoi Univ. of Sci. & Tech, Vietnam
Chair: Pham Viet Phuong Hanoi Univ. of Sci. and Tech., Vietnam 13:30-13:50 FriB01-01
13:30-13:50 FriA01-01
Isira Naotunna Chiang Mai Univ., Thailand
13:50-14:10 FriA01-02 Huy Hung Nguyen HCMUT, VNU-HCM, Saigon Univ., Vietnam
Van Dong Nguyen HCMUT, VNU-HCM, Vietnam
Van Sy Le PetroVietnam Univ., Vietnam
Khanh Dat Truong HCMUT, VNU-HCM, Vietnam Tan Tien Nguyen HCMUT, VNU-HCM, Vietnam
Anh Khoa Lanh Luu HCMUT, VNU-HCM, Vietnam
Nhut Phuong Tong HCMUT, VNU-HCM, Vietnam 13:50-14:10 FriB01-02
Huy Hung Nguyen HCMUT, VNU-HCM, Saigon Univ., Vietnam
Tan Tien Nguyen HCMUT, VNU-HCM, Vietnam Luu Thi Hue HUST, Electric Power Univ., Vietnam
Duong Minh Duc HUST, Vietnam
14:10-14:30 FriA01-03 Nguyen Pham Thuc Anh HUST, Vietnam
14:10-14:30 FriB01-03Xuan Tien Nguyen Saigon Univ., HUTECH, Vietnam
Dang Hung Nguyen HCMUT, VNU-HCM, Vietnam
Huy Hung Nguyen Saigon Univ.,HCMUT, VNU-HCM, Vietnam Pham Thuc Anh Nguyen Hanoi Univ. of Sci. and Tech., Vietnam
Nhut Phuong Tong HCMUT, VNU-HCM, Vietnam Hoang Son Vietnam National Univ. of Forestry, Vietnam
Thanh Phuong Nguyen HUTECH, Vietnam Van Tai Duong Vietnam National Univ. of Forestry, Vietnam
Tan Tien Nguyen HCMUT, VNU-HCM, Vietnam
14:30-14:50 FriA01-04
14:30-14:50 FriB01-04
Xuan Tien Nguyen Saigon Univ., HUTECH,Vietnam
Tri Duc Tran HCMUT, VNU-HCM, Vietnam
Huy Hung Nguyen Saigon Univ., HUTECH,Vietnam Thanh-Trung Nguyen Hanoi Univ. of Sci. and Tech., Vietnam
Nhut Phuong Tong HCMUT, VNU-HCM, Vietnam Van-Huy Nguyen Hanoi Univ. of Sci. and Tech., Vietnam
Thanh Phuong Nguyen HUTECH, Vietnam Xuan-Huong Nguyen Hanoi Univ. of Sci. and Tech., Vietnam
Tan Tien Nguyen HCMUT, VNU-HCM, Vietnam
14:50-15:10 FriB01-0514:50-15:10 FriA01-05
Khanh Dat Truong HCMUT, VNU-HCM, Vietnam
Anh Khoa Lanh Luu HCMUT, VNU-HCM, Vietnam Chen-xi Ju Univ. of Jinan,China
Nhut Phuong Tong HCMUT, VNU-HCM, Vietnam Ping Jiang Univ. of Jinan,China
Shi Li Univ. of Jinan,China
Huy Hung Nguyen HCMUT, VNU-HCM, Saigon Univ., Vietnam
Tan Tien Nguyen HCMUT, VNU-HCM, Vietnam
FriA01 Room 1
Design of Series Elastic Actuator Applied for Humanoid
Balancing Walking Gait for Small Size Humanoid Robot by Using
Movable Mass
Controlling Center of Mass in Humanoid Robot Using Sliding Mode
Control
A Study on Series Elastic Actuator Applied for Human-Interactive
Robot
Regular Session 1
Le Cuong Quoc BuiFaculty of Engineering Vocational, School of
Binhthuan Province Binhthuan, Vietnam
Design and Control on Robotic Systems Ⅱ
Regular Session 1
Technical Sessions
13:30-15:10, Friday, Dec. 11, 2020
FriB01 Room 2
Van Hien NguyenHCMUT, VNU-HCM, PetroVietnam Camau
Fertilizer Joint Stock Company, Vietnam
Van Tu DuongHCMUT, VNU-HCM, Nguyen Tat Thanh
Univ.,Vietnam
Design and Control on Robotic Systems Ⅰ
Comparison of ROS Local Planners with Differential Drive Heavy
Robotic System
Van Tu Duong HCMUT, VNU-HCM, Nguyen Tat Thanh Univ.,
Vietnam
Theeraphong Wongratanaphisan Chiang Mai Univ., Thailand
Kinematic Study on Generated Thrust of Bio-inspired Robotic with
Undulating Propulsion
Trajectory Planning for Dual Arm Robot System in Consideration of
the System Controller
15:10-15:30 Break
Co-Chair: Duong Minh Duc Hanoi Univ. of Sci. and Tech., Vietnam
Van Tu Duong HCMUT, VNU-HCM, Nguyen Tat Thanh Univ.,
Vietnam
Comparing the Results of Applying DE, PSO and Proposed Pro DE,
Pro PSO Algorithms for Inverse Kinematics Problem of a 5-DOF
Scara Robot
Developing Robotic System for Harvesting Pineapples
Comparing the Results of Applying DE, PSO and Proposed Pro DE,
Pro PSO Algorithms for Inverse Kinematics Problem of a 5-DOF
Scara Robot
-
Chair:Yegui Xiao Prefectural Univ. of Hiroshima, Japan
Co-Chair: Yongping Dan Zhongyuan Univ. of Tech., China
15:30-15:50 FriB02-01Chair: Masami IWASE Tokyo Denki Univ., Japan
Co-Chair: Changan Jiang Osaka Inst. of Tech., Japan
15:30-15:50 FriA02-01X. Tan Prefectural Univ. of Hiroshima, Japan
Y. Ma Jiangnan Univ., China
Y. Xiao Prefectural Univ. of Hiroshima, Japan
Jotaro Suzuki Tokyo Denki Univ., Japan L. Ma Concordia Univ., Canada
Masami Iwase Tokyo Denki Univ., Japan K. Khorasani Concordia Univ., Canada
15:50-16:10 FriA02-02 15:50-16:10 FriB02-02
Yusaku Takada Tokyo Denki Univ., Japan
Shotaro Nakamura Tokyo Denki Univ., Japan Ziti Fariha Mohd Apandi Mie Univ., Japan
Sakie Morioka Tokyo Denki Univ., Japan Ryojun Ikeura Mie Univ., Japan
Masami Iwase Tokyo Denki Univ., Japan Soichiro Hayakawa Mie Univ., Japan
Shigeyoshi Tsutsumi Mie Univ., Japan
16:10-16:30 FriA02-0316:10-16:30 FriB02-03
Keitaro Kaneta Tokyo Denki Univ., Japan Yixiong Feng Zhejiang Univ., China
Masami Iwase Tokyo Denki Univ., Japan Chuan He Zhejiang Univ., China
Nobutsuna Endo Tokyo Denki Univ., Japan Jianrong Tan Zhejiang Univ., China
Hao Zheng Beihang Univ., China
16:30-16:50 FriA02-04 Yicong Gao Zhejiang Univ., China
16:30-16:50 FriB02-04
Sho Fujiwara Tokyo Denki Univ., Japan
Masami Iwase Tokyo Denki Univ., Japan
Nobutsuna Endo Tokyo Denki Univ., Japan Wudai Liao Zhongyuan Univ. of Tech., China
Chaochuan Zhang Zhongyuan Univ. of Tech., China
16:50-17:10 FriA02-05 Jinhuan Chen Zhongyuan Univ. of Tech., China
Xiaosong Liang Zhongyuan Univ. of Tech., China
Jun Zhou Zhongyuan Univ. of Tech., China
Atsushi Suyama Tokyo Denki University Tokyo, Japan 16:50-17:10 FriB02-05Masami Iwase Tokyo Denki University Tokyo, Japan
Nobutsuna Endo Tokyo Denki University Tokyo, Japan
Kai Tian Henan Univ. of Sci. and Tech., China
Yanfeng Wu Henan Univ. of Sci. and Tech., China
FriB02 Room 2 Technical Sessions
15:30-17:10, Friday, Dec. 11, 2020
FriA02
Development of a Forest Inventory System by Multicopter Flying in
Forest
Development of Powered Wheelchair Expanding Reach of User
End of the 2nd Day
Room 1
Developments of Novel Methodologies and
Technique Ⅱ
Regular Session 2
Regular Session 2
Developments of Novel Methodologies and
Technique Ⅰ
Assessment of the Design Complexity of Modular Automated
Assembly System
Development of Powered Wheelchair Expanding Range of
Independent Activities of Physically-handicapped Person
Near Boundary Control of Automotive Engine Using Machine
Learning
Development of Myoelectric Prostheses with Elbow Joint
A New Feedback Narrowband Active Noise Control System with
Online Secondary-path Modeling Based on Adaptive Notch Filtering
Noise Reduction Method based on Autocorrelation for Threshold-
based Heartbeat Detection
Design of Anti-glare Device for Freeway with Power Generation
Using a Vertical Axis Wind Turbine
Global Stability Criterion of Memristor-based Recurrent Neural
Networks with Time Delays
-
Chair: Zhihong Man Swinburne Univ. of Tech., Australia
Co-Chair: Hong Wang Oak Ridge National Laboratory, USA
08:30-08:50 SatB03-01
Chair: Vo Duy Thanh Hanoi Univ. of Sci. and Tech., Vietnam
Co-Chair: Nguyen Danh Hu Hanoi Univ. of Sci. and Tech., Vietnam Hanoi Univ. of Sci. and Tech., Vietnam
Hong Wang Oak Ridge National Laboratory, USA
08:30-08:50 SatA03-01
08:50-09:10 SatB03-02
Hoang Giang Tran Hiep Phat mechatronic Co. LTD,Vietnam
Khac Sinh Le Hochiminh City Univ. of Food Industry, Vietnam
Thanh Luan Bui HUTECH Univ., Vietnam
Huy Hung Nguyen Saigon Univ., Vietnam Huy Diep Do Univ. of Engineering and Tech., Vietnam
Van Duc Nguyen Univ. of Engineering and Tech., Vietnam
08:50-09:10 SatA03-02 Xuan Quynh Nguyen Hanoi Univ. of Sci. & Tech., Vietnam
The Ba Dang Univ. of Engineering and Tech., Vietnam
09:10-09:30 SatB03-03
Huy Hung Nguyen HCMUT, VNU-HCM, Saigon Univ., Vietnam
Tan Tien Nguyen HCMUT, VNU-HCM, Vietnam Tatsuya Terashima Tokyo Denki Univ., Japan
Trong Trung Nguyen Hochiminh city Univ. of Transport, Vietnam Ryo Suzuki Tokyo Denki Univ., Japan
Van Khoi Vu HCMUT, VNU-HCM, Vietnam Masami Iwase Tokyo Denki Univ., Japan
Hoang Long Phan HCMUT, VNU-HCM, Vietnam
09:30-09:50 SatB03-0409:10-09:30 SatA03-03
Thien Phuc Tran Ho Chi Minh City Univ. of Tech., Vietnam Fen Liang Zhengzhou College of Economics and trade, China
Truong Thuan Nguyen HCMUT, VNU-HCM, Vietnam Qiangsong Zhao Zhongyuan Univ. of Tech., China
Cong Toai Truong HCMUT, VNU-HCM, Vietnam
Tan Tien Nguyen HCMUT, VNU-HCM, Vietnam 09:50-10:10 SatB03-0509:30-09:50 SatA03-04
Bao Binh Pho Hanoi Univ. of Sci. and Tech., Vietnam Yongping Dan Zhongyuan Univ. of Tech., China
Trong Minh Tran Hanoi Univ. of Sci. and Tech., Vietnam Zhuo Li Zhongyuan Univ. of Tech., China
Manh Linh Nguyen Hanoi Univ. of Sci. and Tech., Vietnam Fengge Wang Zhongyuan Univ. of Tech., China
Phuong Vu Hoang Hanoi Univ. of Sci. and Tech., Vietnam
09:50-10:10 SatA03-05
Trong Hieu Do Hanoi Univ. of Sci. and Tech., Vietnam
Minh Duc Duong Hanoi Univ. of Sci. and Tech., Vietnam
Manh Linh Nguyen Hanoi Univ. of Sci. and Tech., Vietnam
Quy Thinh Dao Hanoi Univ. of Sci. and Tech., Vietnam
The System of Three-phase Electric Parameter Detection Based on
the Internet of Things
An Improved Error Interpolator of Milling CNC Controller Based
on FPGA
Technical Sessions
08:30-10:10, Saturday, Dec. 12, 2020
SatA03
Kinematic Model Reference Adaptive Controller for a Lurking Type
Automated Guided Vehicle Using Traction Drive Unit
Regular Session 3
Collaborative Fault Tolerant Control of NonSignalized Intersections
for Connected and Autonomous Vehicles
Room 2
Advanced Mechatronic Systems and Its
Applications Ⅱ
Regular Session 3
SatB03
Room 1
ICAMechS 2020
Saturday, Dec. 12, 2020
Optimizing Linear Generator Design’s Parameters for Output Power
Using Mix Numerical and Analytical Technique
Study on Designing and Manufacturing Coaxial Brussless DC Motor
The Reliability Analysis of Welding Robots Based on Fault Tree
10:10-10:20 Break
Discrete-time Quasi Sliding Mode Control of Single-phase T-type
Inverters for Residential PV Applications
A Combination of Distributed Delays Shapers and ADRC for Gantry
Crane Control
Van Tu Duong HCMUT, VNU-HCM, Nguyen Tat Thanh Univ.,
Vietnam
Advanced Mechatronic Systems and Its
Applications Ⅰ
Realization of Autonomous Drive Control of Power-assisted Bicycle
-
Chair: Shan Liang Chongqing Univ., China
Co-Chair: Lin Meng Ritsumeikan Univ., Japan
Chair: Akira Inoue Okayama Univ., Japan 10:20-10:40 SatB04-01Co-Chair: Masami IWASE Tokyo Denki Univ., Japan
10:20-10:40 SatA04-01 Sicheng Li Swinburne Univ. of Tech., Australia
Zhihong Man Swinburne Univ. of Tech., Australia
Yuan Chen Shandong Univ. at Weihai, China
Quy-Thinh Dao Hanoi Univ. of Sci. and Tech., Vietnam
Hai-Trieu Le Hanoi Univ. of Sci. and Tech., Vietnam 10:40-11:00 SatB04-02Manh-Linh Nguyen Hanoi Univ. of Sci. and Tech., Vietnam
Trong-Hieu Do Hanoi Univ. of Sci. and Tech., Vietnam
Minh-Duc Duong Hanoi Univ. of Sci. and Tech., Vietnam Linh Tao Hanoi Univ. of Sci. and Tech., Vietnam
Tinh Nguyen Hanoi Univ. of Sci. and Tech., Vietnam
10:40-11:00 SatA04-02 Trung Nguyen Hanoi Univ. of Sci. and Tech., Vietnam
Tran Vu Minh Hanoi Univ. of Sci. and Tech.,Vietnam
11:00-11:20 SatB04-03
Xinkai Chen Shibaura Inst. of Tech., Japan
Yusuke Shiba Tokyo Gakugei Univ., Japan
11:00-11:20 SatA04-03 Shinichi Imai Tokyo Gakugei Univ., Japan
11:20-11:40 SatB04-04Toru Usami Tokyo Univ. of Agri. and Tech., Japan
Mingcong Deng Tokyo Univ. of Agri. and Tech., Japan
Kentaro YOKOO Ritsumeikan Univ., Japan
11:20-11:40 SatA04-04 Masahiko ATSUMI Ritsumeikan Univ., Japan
Kei TANAKA Ritsumeikan Univ., Japan
Haoqing WANG Ritsumeikan Univ., Japan
Takumi Yamato Tokyo Denki Univ., Japan Lin MENG Ritsumeikan Univ., Japan
Masami Iwase Tokyo Denki Univ., Japan
Zini Stefano Tokyo Denki Univ., Japan 11:40-12:00 SatB04-05Francesco Dal Corso Tokyo Denki Univ., Japan
11:40-12:00 SatA04-05Hailin Zhang Chongqing Univ., China
Junjun Xu Zhejiang Univ., China
Bo Liu Zhejiang Univ., China
Kangjie Li Zhejiang Univ., China
Yixiong Feng Zhejiang Univ., China
Hao Zheng Beihang Univ., China
Yicong Gao Zhejiang Univ., China Jing Liang Chongqing Univ., China
Hao Zhang Chongqing Univ., China
Shan Liang Chongqing Univ., China
Hybrid Global Optimization Methods and Iterative Closest Point on
Point-based Approach for 3D Registration
Development of Engineering Educational Support System for
Manufacturing Using Augmented Reality
Central Sichuan District of Petro China Southwest
Oil & Gas Field Company, ChinaLu Liu
Modeling of 3–DOF Micro–hand for One or Two Inputs
12:00-13:00 Lunch
Design and Structure Analysis of Multi-legged Bionic Soft Robot
Central Sichuan District of Petro China Southwest
Oil & Gas Field Company, ChinaJuan Dai
Regular Session 4
A Modified Bouc-Wen Model of Pneumatic Artificial Muscles in
Antagonistic Configuration
Technical Sessions
10:20-12:00, Saturday, Dec. 12, 2020
SatA04 Room 1
Modeling and Simulation
Tran Thanh TungUniv. of Engineering and Tech., Vietnam National
Univ., Vietnam
Pattern Recognition and Computer Vision
Precision Control of Piezoelectric Actuator Using Modified Bouc-
Wen Model
Modeling with the Projection Method Considering the Impact State
Regular Session 4
A Self-adaptive Global Harmony Search Based Extreme Learning
Machine for Cassification Problem
SatB04 Room 2
Spatio-temporal Fusion Model of Natural Gas Pipeline Condition
Monitoring Based on Convolutional Neural Network and Long
Short-term Memory Neural Network
Central Sichuan District of Petro China Southwest
Oil & Gas Field Company, ChinaLi Ma
Deep Learning Based Emotion Recognition IoT System
Tam BuiShibaura Inst. of Tech., Japan; Hanoi Univ. of Sci.
and Tech., Vietnam
-
Chair: Shengjun Wen Zhongyuan Univ. of Tech., China
Co-Chair: Yongping Dan Zhongyuan Univ. of Tech., China
13:00-13:20 SatB05-01Chair: Changan Jiang Osaka Inst. of Tech., Japan
Co-Chair: Zhiqiang Lang Univ. of Sheffield, UK
13:00-13:20 SatA05-01Akira Inoue Okayama Univ., Japan
Mingcong Deng Tokyo Univ. of Agri. and Tech., Japan
Shiro Masuda Tokyo Metropolitan Univ., Japan
Nguyen Quang Nam National Univ. of Singapore, Singapore Shin-ichi Yoshinaga Kagawa College, Japan
13:20-13:40 SatA05-02 13:20-13:40 SatB05-02
Akihiro Kumaki Tokyo Denki Univ., Japan Shengjun Wen Zhongyuan Univ. of Techn., China
Masami Iwase Tokyo Denki Univ., Japan Ping Liu Zhongyuan Univ. of Techn., China
Jun Yu Zhongyuan Univ. of Techn., China
13:40-14:00 SatA05-03
13:40-14:00 SatB05-03
Mingcong Deng Tokyo Univ. of Agri. and Tech., Japan Xiaoliang Shi Northeastern Univ. Shenyang, China
Tomoki Koide Tokyo Univ. of Agri. and Tech., Japan
14:00-14:20 SatB05-04
14:00-14:20 SatA05-04
Weidong Cheng Chongqing Univ., China
Akihiko Katsuta Tokyo Denki Univ., Japan Tong Liu Chongqing Univ., China
Masami Iwase Tokyo Denki Univ., Japan Shan Liang Chongqing Univ., China
Temperatrue Control of Microwave Heating System by Adaptive
Dynamic Programming
Experimental Studies on Operator-based Nonlinear Vibration
Control of a Flexible Arm Considering Prescribed Performance
A Predictor Based on a Modified Full-order Observer for
Generalized Minimum Variance Control Equivalent to Polynomial
Approach
Characteristics of S-curve Motion Profile for All Ranges of Motion
Length and Limits
Realization of Robust Yo-yo Operation
Break
Regular Session 5
Nonlinear Control System Design Ⅰ
Regular Session 5
Control System Design via Neural Networks Using System Structures
Nonlinear Control System Design Ⅱ
Control of Hardening Layer by Pre-stressed Hardening Grinding
Technical Sessions
13:00-14:40, Saturday, Dec. 12, 2020
SatA05 Room 1
SatB05 Room 2
Development of Operator Based Tracking Controller Design for a
Perturbed Peltier Refrigeration System
14:40-14:50
-
Chair: Aihui Wang Zhongyuan Univ. of Tech., China
Co-Chair: Shan Liang Chongqing Univ., China
Chair: Tran Vu Minh Hanoi Univ. of Sci. and Tech., Vietnam 14:50-15:10 SatB06-01
14:50-15:10 SatA06-01Shunsuke Sakamoto Tokyo Denki Univ., Japan
Masami Iwase Tokyo Denki Univ., Japan
15:10-15:30 SatB06-02
Vu Ngoc Bich Hochiminh city Univ. of Transport, Vietnam
Nguyen Thi Ngoc Hoa Hochiminh city Univ. of Transport, Vietnam Jun Yu Zhongyuan Univ. of Tech., China
Shuaishuai Zhang Zhongyuan Univ. of Tech., China
Aihui Wang Zhongyuan Univ. of Tech., China
Wei Li Zhongyuan Univ. of Tech., China
15:30-15:50 SatB06-03
15:10-15:30 SatA06-02Junlan Lu Zhongyuan Univ. of Tech., China
Wang Aihui Zhongyuan Univ. of Tech., China
Zhengxiang Ma Zhongyuan Univ. of Tech., China
Yosuke Furukawa Tokyo Univ. of Agri. and Tech., Japan
Mingcong Deng Tokyo Univ. of Agri. and Tech., Japan 15:50-16:10 SatB06-04
15:30-15:50 SatA06-03
Yifei Ge Zhongyuan Univ. of Tech., China
Yongping Dan Zhongyuan Univ. of Tech., China
Roan Van Hoa Univ. of Economics-Tech. for Industries, Vietnam Aihui Wang Zhongyuan Univ. of Tech., China
Tran Duc Chuyen Univ. of Economics-Tech. for Industries, Vietnam Shuaishuai Zhang Zhongyuan Univ. of Tech., China
Nguyen Tung Lam Hanoi Univ. of Sci. and Tech., Vietnam,
Tran Ngoc Son Univ. of Economics-Tech. for Industries, Vietnam
Nguyen Duc Dien Univ. of Economics-Tech. for Industries, Vietnam
Vu Thi To Linh Univ. of Economics-Tech. for Industries, Vietnam
15:50-16:10 SatA06-04
Changan Jiang Osaka Inst. of Tech., Japan
Kinchong Chu Ritsumeikan Univ., Japan
Satoshi Ueno Ritsumeikan Univ., Japan
Static Analysis of a 3-link Object for Posture Maintenance Control
by Nonprehensile Robot without Compensating Friction
Hochiminh city Univeristy of Tech., Vietnam
National Univ. Hochiminh city, Vietnam
Tran Hai Hochiminh city Univeristy of Tech., National Univ.
Hochiminh city, Vietnam
Tran Van TaoHochiminh city Univeristy of Tech., Vietnam
National Univ., Vietnam
Nguyen Duy AnhHochiminh city Univeristy of Tech.,Vietnam
National Univ. Hochiminh city, Vietnam
SatB06 Room 2
Intelligent Control in Complex Systems ⅡSatA06 Room 1
Parametric Hull Form Variation-based Genetic Algorithm for
Reduced Ship Resistance
Fault Detection of Tank-system Using ChangeFinder and SVM
Adaptive Control of the Rehabilitation Robot with the Model
Uncertainty Based on Real Human Gait
Throwing Motion for Yo-yo Forward-pass Operation Based on Wave
Propagation
Intelligent Control in Complex Systems Ⅰ
Reinforcement Learning Based Method for Autonomous Navigation
of Mobile Robots in Unknown Environments
Technical Sessions
14:50-16:10, Saturday, Dec. 12, 2020
Regular Session 6
Tat-Hien Le
Regular Session 6
Co-Chair: Nguyen Tung Lam Hanoi Univ. of Sci. and Tech., Vietnam
Human Gait Analysis Based on OpenSim
Lower Limb Rehabilitation Robot Control Based on Human Gait
Data andPlantar Reaction Force
16:10-16:20 Break
-
Chair: Lin Meng Ritsumeikan Univ., Japan
Co-Chair: Aravinda C V NMAM Inst. of Tech. NITTE, India
Chair: Yegui Xiao Prefectural Univ. of Hiroshima, Japan 16:20-16:40 SatB07-01Co-Chair: Yanfeng Wu Henan Univ. of Sci. and Tech., China
16:20-16:40 SatA07-01
Yunpeng Zhu Univ. of Sheffield, UK
Zelin Meng Ritsumeikan Univ., Japan Z Q Lang Univ. of Sheffield, UK
Zhiyu Zhang Ritsumeikan Univ., Japan
Zhihong Man Swinburne Univ. of Tech., Australia 16:40-17:00 SatB07-02Hiroyuki Tomiyama Ritsumeikan Univ., Japan
Lin Meng Ritsumeikan Univ., Japan
16:40-17:00 SatA07-02 Yixiong Feng Zhejiang Univ., China
Chen Yang Zhejiang Univ., China
Tianyue Wang Zhejiang Univ., China
Masahiko ATSUMI Ritsumeikan Univ., Japan Hao Zheng Beihang Univ., China
Syunsuke KAWANO Ritsumeikan Univ., Japan Yicong Gao Zhejiang Univ., China
Tomoki MORIOKA Ritsumeikan Univ., Japan
Lin MENG Ritsumeikan Univ., Japan
17:00-17:20 SatA07-03 17:00-17:20 SatB07-03
Aravinda C.V N.M.A.M Inst. of Tech. (NITTE.), INDIA Shanghua Mi Zhejiang Univ., China
Udaya Kumara Reddy K R N.M.A.M Inst. of Tech. (NITTE.), INDIA Zengwei Ji Zhejiang Univ., China
Lin Meng Ritsumeikan Univ., Japan Hao Zheng Beihang Univ., China
Amar Prabhu G Komatsu Co., Japan Yicong Gao Zhejiang Univ., China
17:20-17:40 SatA07-04 17:20-17:40 SatB07-04
Yongping Dan Zhongyuan Univ. of Tech. , China
MengChu Zhou New Jersey Inst. of Tech., USA
Qi Kang Tongji Univ., China
18: 10-20:10 Main Hall
South Indian Character Recognition Using Statistical Feature
Extraction and Distance Classifier
A Shortest Path Algorithm of Long-period Cyclic Fully Connected
Layer Graph Based on Dijkstra Algorithm
Quality Control System of Automobile Bearing Production Based on
Edge Cloud Collaboration
Optimal Design of Nonlinear Systems by Using the Low Dimension
Associated Output Frequency Response Function (AOFRF)
Wei FanChina Unicom (Zhejiang) Industrial Internet Co.,
Ltd, China
End of the 3rd Day
Closing Ceremony and Banquet
Regular Session 7
Department of Control Sci. and Engineering,
Shanghai Inst. of Intelligent Sci. and Tech., Tongji
Univ., China
HanQiu Bao
Jing An
Hongli He Rail Transit Inst. Henan College of
Transportation, ChinaSchool of Electrical and Electronic Engineering,
Shanghai Inst. of Tech., China
Signal and Image Processing
Technical Sessions
16:20-17:40, Saturday, Dec. 12, 2020
SatA07 Room 1
Regular Session 7
Rubbing Character Recognition with Machine Learning
Deep Learning Based Ancient Asian Character Recognition
SatB07 Room 2
Optimization Algorithms in Hybrid Systems
The Research and Design of Smart Mobile Robotic Arm Based on
Gesture Controlled
A Data-driven MPC Algorithm for Bridge Cranes
-
ICAMechS 2020
Sunday, Dec. 13, 2020
Technical Tour
End of the Conference
-
Vietnam Time (GMT+7)
13:30 - 15:10, Friday, December 11, 2020Chair: Pham Viet Phuong (Hanoi Univ. of Sci. and Tech., Vietnam)
FriA01, Room 1 Co-Chair: Duong Minh Duc (Hanoi Univ. of Sci. and Tech., Vietnam)
FriA01-01 FriA01-02
Comparison of ROS Local Planners with Differential Drive Heavy
Robotic System
A Study on Series Elastic Actuator Applied for Human-
Interactive Robot
Isira Naotunna and Theeraphong Wongratanaphisan
(Chiang Mai Univ., Thailand)
Khanh Dat Truong, Anh Khoa Lanh Luu and Nhut Phuong Tong
(HCMUT, VNU-HCM, Vietnam)
Van Tu Duong (HCMUT, VNU-HCM, Nguyen Tat Thanh Univ., Vietnam)
Huy Hung Nguyen (HCMUT, VNU-HCM, Saigon Univ., Vietnam)
Tan Tien Nguyen (HCMUT, VNU-HCM, Vietnam)
This work aims to analyze the performance of ROS local planners with a
differential drive heavy robotic system. Intel Realsense D435i depth camera and
T265 tracking camera are used as the primary sensor source for navigation with
real-time appearance-based mapping and localization technique. This work has
studied the performance of DWA, TEB, and EBand local planners under two
experiments. Obtained results are used to analyze the local planners based on how
well it follows the global planners, their obstacle avoidance capability, time
consumption, goal-reaching accuracy, and the quality of motion generation.
Obtained results indicate that DWA and TEB local planners are more suitable for
the large differential drive robot setup.
This paper studies the development of series elastic actuators (SEAs) utilized as
a power transmission for human-interactive robots and exoskeletons. By
applying this type of actuator, a joint mechanism can provide low output
impedance, large force range and bandwidth, high fidelity of force control, and
tolerance to shocks. First, a prototype of SEAs is developed using two elastic
elements with various stiffness that can produce a desired joint torque based on
the reference walking gait of human. Then, a mathematical modeling of SEAs is
achieved to investigate the kinematic and dynamic of SEAs. In order to operate
SEAs, a traditional PID controller is adopted, which is developed based on the
pole placement method to stabilize the dynamic system of SEAs. The
effectiveness and reliability of SEAs are evaluated through simulation and
experimental results on a test-bench.
FriA01-03 FriA01-04
Balancing Walking Gait for Small Size Humanoid Robot by Using
Movable Mass
Controlling Center of Mass in Humanoid Robot Using Sliding
Mode Control
Xuan Tien Nguyen (Saigon University, Hochiminh City Univ. of Tech., Vietnam)
Dang Hung Nguyen (HCMUT, VNU-HCM, Vietnam)
Huy Hung Nguyen (Saigon Univ., HCMUT, VNU-HCM, Vietnam)
Nhut Phuong Tong ( HCMUT, VNU-HCM,Vietnam)
Thanh Phuong Nguyen (Hochiminh City Univ. of Tech., Vietnam)
Tan Tien Nguyen (HCMUT, VNU-HCM, Vietnam)
Xuan Tien Nguyen (Saigon Univ., Hochiminh City Univ. of Tech., Vietnam)
Tri Duc Tran (HCMUT, VNU-HCM, Vietnam)
Huy Hung Nguyen (Saigon Univ., HCMUT, VNU-HCM, Vietnam)
Nhut Phuong Tong (HCMUT, VNU-HCM, Vietnam)
Thanh Phuong Nguyen (Hochiminh City Univ. of Tech., Vietnam)
Tan Tien Nguyen (HCMUT, VNU-HCM, Vietnam)
This paper describes a method used in stabilizing the walking gait of HUNO - a
small size humanoid robot by using a movable mass. This method eliminates the
movement of the robot's pelvis when walking. In previous study, a model for the
robot was derived and simulation was done based on that model. In this paper, the
aforementioned model is implemented on real life robot. Then, a simple PID is
deduced to control the real movable mass mechanism. Finally, the effectiveness of
the proposed method is shown through experimental results.
To successfully realize biped walking process for humanoid robot, a precise
mathematical model expressing the dynamic characteristics for the robot is
required. In previous works, the lower body of humanoid robot UXA-90 was
only given kinematic model, and it was controlled by a traditional PID
controller. This leads to inaccuracy in joints' velocities, accelerations when
implement the controller on real robot, therefore its performance degrades over
time as the dynamic characteristics were not taken into consideration. Hence, a
novel controller tracking the joint trajectories based on dynamic model should
be given to actually realize biped walking process. In this paper, a mathematical
model describing the 12 degree of freedoms (DOFs) dynamic of the humanoid
robot's lower body is derived using Euler-Lagrange method. Then, a sliding
mode controller (SMC) based on the aforementioned model is used to control
the joint trajectories. Finally, the simulation results are investigated through
MATLAB to evaluate the effectiveness of the proposed controller.
FriA01-05
Design of Series Elastic Actuator Applied for Humanoid
Khanh Dat Truong, Anh Khoa Lanh Luu and Nhut Phuong Tong
(HCMUT, VNU-HCM, Vietnam)
Van Tu Duong (HCMUT, VNU-HCM, Nguyen Tat Thanh Univ., Vietnam)
Huy Hung Nguyen (HCMUT, VNU-HCM, Saigon Univ., Vietnam)
Tan Tien Nguyen (HCMUT, VNU-HCM, Vietnam)
This paper describes the mechanical design of a humanoid lower limb driven by
Series Elastic Actuator (SEA). The design is based upon the frame of the
commercial UXA-90 humanoid, with the conventional rotation joints in spatial
plane are replaced by SEA. A modular design of SEA is adopted for each specific
joint (ankle, knee and hip) so that different walking patterns can be applied to the
humanoid for more flexible movement. Moreover, by introducing the elastic
element in the actuator, the humanoid can achieve higher fidelity of force control
and better tolerance to shocks load during full cycle gaits. A prototype of the
humanoid is built and then used to conduct experiment in two different cases:
hanging in the air for free load conditions and performing step forward for fully
load conditions. The experimental results validate the capability of the design and
evaluate the performance of the actuators.
Regular Session 1Design and Control on Robotic Systems Ⅰ
-
Vietnam Time (GMT+7)
13:30 - 15:10, Friday, December 11, 2020Chair: Dao Quy Thinh (Hanoi Univ. of Sci. and Tech., Vietnam)
FriB01, Room 2 Co-Chair: Do Trong Hieu (Hanoi Univ. of Sci. and Tech., Vietnam)
FriB01-01 FriB01-02
Kinematic Study on Generated Thrust of Bio-inspired Robotic
with Undulating Propulsion
Trajectory Planning for Dual Arm Robot System in
Consideration of the System Controller
Van Hien Nguyen (HCMUT, VNU-HCM, PetroVietnam Camau Fertilizer Joint
Stock Co., Vietnam)
Van Tu Duong (HCMUT, VNU-HCM, Nguyen Tat Thanh Univ.,Vietnam)
Huy Hung Nguyen (HCMUT, VNU-HCM, Saigon Univ., Vietnam)
Van Dong Nguyen (HCMUT, VNU-HCM, Vietnam)
Van Sy Le (PetroVietnam Univ., Vietnam)
Tan Tien Nguyen (HCMUT, VNU-HCM, Vietnam)
Luu Thi Hue
(Hanoi Univ. of Sci. and Tech., Electric Power Univ., Vietnam)
Duong Minh Duc and Nguyen Pham Thuc Anh
(Hanoi Univ. of Sci. and Tech., Vietnam)
This paper presents the design and simulation evaluation of a self-contained
submersion robot that mimics the actual flexible locomotion of American knifefish.
First, a prototype of the bio-inspired submersion robot with a single undulating fin
running along the length of the robot is developed. This undulating fin is a
segmental fin comprised of sixteen fin rays that produce sinusoidal waves to
propel the robot. Then, a system modeling of the robot is established to investigate
the kinematics of undulating propulsion. A feedback linearization controller is
employed to achieve the undulating propulsion velocity. The simulation results
demonstrate that the developed prototype of the bio-inspired submersion robot can
realize the desired thrust and velocity by the means of the undulating fin
propulsion.
The paper has developed optimal trajectory planning for the object manipulated
by two robot arms collaborate with each other. The object's trajectory that
includes motions along X and Y axes, and object rotation are chosen to be fifth-
order polynomial type. In order to determine the polynomial coefficients,
Genetic Algorithm (GA) based optimization is done with robot kinematic and
dynamic constraints are considered. Difference from other previous research that
use inverse dynamics to calculate input torque, in this paper, the input torque is
calculated as controller output that is the same as practical robot system. Finally,
simulation works on Matlab-Simulink have been carried out to reconfirm the
accuracy and the effectiveness of the designed trajectory.
FriB01-03 FriB01-04
Developing Robotic System for Harvesting Pineapples
Comparing the Results of Applying DE, PSO and Proposed Pro
DE, Pro PSO Algorithms for Inverse Kinematics Problem of a 5-
DOF Scara Robot
Nguyen Pham Thuc Anh (Hanoi Univ. of Sci. and Tech., Vietnam)
Son Hoang and Duong Van Tai (Vietnam National Univ. of Forestry, Vietnam)
Bui Le Cuong Quoc (Vocational School of Binhthuan Province, Vietnam)
Thanh-Trung Nguyen, Van-Huy Nguyen and Xuan-Huong Nguyen
(Hanoi Univ. of Sci. and Tech., Vietnam)
This paper develops a robotic system to harvest pineapple autonomously. The
system contains a machine vision unit, two robotic manipulators mounted on a
platform, custom end-effectors, and an image-based harvesting control unit. The
manipulators with Gantry 3DOF PPP configuration are geometrically optimized to
move the end-effectors approaching pineapples. Each end-effector is actuated by
pneumatic actuator and equipped with a cage-shaped gripper to fix the selective
pineapple inside and a cutting device to cut its stalk. YOLOv3 approach is
implemented for detecting and recognizing pineapple fruits that meet requirements
for harvest. The experiment results demonstrate the success of pineapple
recognition with 90.82% mAP. The 3D position of the recognized pineapples will
be calculated and sent to the control system. The control system, including an
industrial computer communicating with PLCs to conducts the manipulators and
end-effectors to approach and d the recognized pineapples. The complete system
has been tested on the experimental field- model. The success rate of pineapple
harvesting is 95.55% and the average time is 12 seconds per one fruit. In the
future, this system will be improved for automatic harvesting in real pineapple
fields.
In this research, the Differential Evolution (DE) and Particle Swarm
Optimization (PSO) algorithms as well as the Proposed DE and PSO (Pro DE
and Pro PSO) Algorithms with searching space improvements were applied to
solve the Inverse Kinematic (IK) problem of 5 Degree of Freedoms (DOF)
Scara robot. These algorithms were tested with two different scenarios for the
motion of the manipulator ’ s end-effector. The 1st scenario uses one hundred
randomly selected in the workspace of the robot, while the 2nd scenario also use
100 points belong to a spline trajectory in working space . These algorithms
were compared by the execution time, the end-effector position error, the
required number of generations and joints variable values.The results showed
that the DE and Pro DE could be effectively used for the IK solution of the
manipulator.
FriB01-05
Intelligent Control Method of Heating Process including Model
Prediction and Climate Compensation
Chen-xi Ju, Ping Jiang and Shi Li (Univ. of Jinan, China)
This paper takes the intelligent optimization control of the heating process as the
technological background. Not only analyzes the shortcomings of the existing
control strategies, but alse proposes and establishes a model predictive control
strategy based on RBF neural network. In this paper, the mechanism model is used
instead of the actual building, and the RBF neural network model is used as the
predictive model. Furthermore, the control strategy includes the prediction of
future interference and the feedback of indoor real-time temperature. This paper
realizes the improvement of the traditional algorithm, improves the control effect,
and finally reduces the energy consumption in the heating process while improving
the comfort of thermal users.
Regular Session 1Design and Control on Robotic Systems Ⅱ
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Vietnam Time (GMT+7)
15:30 - 17:10, Friday, December 11, 2020Chair: Masami IWASE (Tokyo Denki Univ., Japan)
FriA02, Room 1 Co-Chair: Changan Jiang (Osaka Inst. of Tech., Japan)
FriA02-01 FriA02-02
Development of a Forest Inventory System by Multicopter Flying
in ForestDevelopment of Myoelectric Prostheses with Elbow Joint
Jotaro Suzuki and Masami Iwase (Tokyo Denki Univ., Japan)Yusaku Takada, Shotaro Nakamura, Sakie Morioka and Masami Iwase
(Tokyo Denki Univ., Japan)
The purpose of this study is to develop a forest inventory system using a
multicopter flying in the forest. In order to achieve this purpose, it is necessary to
realize collision avoidance with trees and to estimate the attribute of tree
information by 3D shape mapping by Simultaneous Localization And
Mapping(SLAM). The ”Cartographer” SLAM system generates a 3D shape map.
The thickness of the tree can be estimated based on the point cloud data obtained
by the system. By extracting the point cloud data of each tree from the
measurement data, and applying the proposed methodology to them, the trunk
thickness has been estimated within ±2 cm error in 7 of the 8 trees.
The purpose of this study is to develop a myoelectric prosthesis that can move
the elbow joint arbitrarily. The elbow joint angle intended by the user is
estimated from the myoelectric potential, and the elbow joint prosthesis follows
the angle to achieve voluntary and responsiveness. The upper limb
musculoskeletal model is used for this estimation. In the musculoskeletal model,
the myoelectric potential of the upper arm during elbow joint movement is input
and the elbow joint angle is output, and the effectiveness of the elbow joint
angle estimation method using this model is experimentally verified. In order to
verify the effectiveness of the actual machine, a motor-driven elbow joint
mechanism is manufactured and implemented.
FriA02-03 FriA02-04
Development of Powered Wheelchair Expanding Range of
Independent Activities of Physically-handicapped Person
Near Boundary Control of Automotive Engine Using Machine
Learning
Keitaro Kaneta, Masami Iwase and Nobutsuna Endo (Tokyo Denki Univ., Japan) Sho Fujiwara, Masami Iwase and Yasuyuki Satoh (Tokyo Denki Univ., Japan)
In this research, we aim to develop a powered wheelchair expanding the range of
independent activities for a physically-handicapped person. For this purpose, in
this paper, we discuss the specifications of such a wheelchair. Its power train and
drive unit are designed to satisfy the specifications. Fur-thermore, the powered
mechanism controlling seat position and attitude is also investigated. As a result, a
prototype miniature model has been produced to verify the availability of the
proposed wheelchair system.
We aim to develop a control method for an automotive engine to operate inside
the boundary that present sbetween the admissible and violated operation
domain. These boundaries can be represented by a mathematical model. For
those boundaries, we design a near-boundary control using State-Dependent
Riccati Equation, which performs to make the engine work to satisfy the driver
demand when the engine operates inside the admissible zone, and which
performs to make the engine not exceed the boundaries when the driver demand
indicates inside the violated zone. Such a controller requires high computational
performance so that it is practically impossible to be implemented into a real
machine. In this paper, a deep neural network is introduced to mimic the
behavior of the predesigned near-boundary control, which can work with a
much-reduced computational load.
FriA02-05
Development of Powered Wheelchair Expanding Reach of User
Atsushi Suyama, Masami Iwase and Nobutsuna Endo
(Tokyo Denki Univ., Japan)
The purpose of this study is to realize a powered wheelchair that expands the
reach of a wheelchair user to improve his/her quality of life. In this research, it is
mainly necessary to manufacture its carrosserie, to design control system, and to
verify the integrated system. The carrosserie is designed to expand the reach of a
rider by transforming itself. The physical model of the wheelchair is derived. The
model is used to design the control system.
Developments of Novel Methodologies and Technique Ⅰ
Regular Session 2
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Vietnam Time (GMT+7)
15:30 - 17:10, Friday, December 11, 2020Chair: Yanfeng Wu (Henan Univ. of Sci. and Tech., China)
FriB02, Room 2 Co-Chair: Yongping Dan (Zhongyuan Univ. of Tech., China)
FriB02-01 FriB02-02
A New Feedback Narrowband Active Noise Control System with
Online Secondary-path Modeling Based on Adaptive Notch
Filtering
Noise Reduction Method based on Autocorrelation for
Threshold-based Heartbeat Detection
X. Tan (Prefectural Univ. of Hiroshima, Japan)
Y. Ma (Jiangnan Univ., China)
Y. Xiao (Prefectural Univ. of Hiroshima, Japan)
L. Ma and K. Khorasani (Concordia Univ., Canada)
Ziti Fariha Mohd Apandi, Ryojun Ikeura Soichiro Hayakawa and Shigeyoshi
Tsutsum (Mie Univ., Japan)
Narrowband active noise control (ANC, NANC) systems have been developed for
attenuating noises that are generated by rotating machines such as motors, cutting
machines, diesel engines, fans, etc. The conventional feedforward NANC systems
adopt a non-acoustic sensor to detect and extract the noise signal frequencies for
creating the reference sine and cosine waves, leading to high implementation cost
as well as performance degradation due to frequency mismatch (FM). In this
paper, we propose a new efficient feedback NANC system where an adaptive
notch filter bank is utilized to construct the reference sinusoidal signals for the
ANC system controller that consists of multiple two-weight magnitude/phase
adjusters (MPA). The proposed system is also equipped with an online secondary-
path modeling (SPM) subsystem that is capable of compensating the secondary-
path drift. Extensive simulations are conducted to confirm the effectiveness of the
proposed system.
Detecting heartbeats is more challenging in an ambulatory condition due to a
higher level of noise and artefacts compared to heartbeats recorded in a hospital
setting. To reduce false detection and improve the performance of threshold-
based beat detection algorithm, an autocorrelation method for noise reduction
within noisy electrocardiogram (ECG) signals is presented in this paper. The
proposed method contained two components: autocorrelation and refining
process. The proposed work used the autocorrelation method to generate
periods of heartbeats to refine and identify the correct QRS complex and remove
the noise in the candidate QRS complex, thus reducing incorrect detections.
Results from the experiment showed that the proposed method was capable of
reducing the noise and improving the beat detection performance in noisy
signals.
FriB02-03 FriB02-04
Assessment of the Design Complexity of Modular Automated
Assembly System
Global Stability Criterion of Memristor-based Recurrent Neural
Networks with Time Delays
Yixiong Feng, Chuan He and Jianrong Tan (Zhejiang Univ., China)
Hao Zheng (Beihang Univ., China)
Yicong Gao (Zhejiang Univ., China)
Wudai Liao, Chaochuan Zhang, Jinhuan Chen, Xiaosong Liang and Jun Zhou
(Zhongyuan Univ. of Tech., China)
Currently the configurable standardized modular system is regarded as a flexible
solution that enables enterprises to rapidly respond to changes caused by product
variants. The design process is guided by predefined function-based module types
and constraint by a chosen system architecture for the given product domain. In
order to find the system with minimum investment cost and best quality
performance, assessing complexity of designing assembly system at the early
design stage is an essential step to guide designer in creating assembly concept for
the least complexity. This paper offers a quantifying measurement of complexity in
design with respect to the representation of modular automated assembly system.
A traditional rear drive unit in the automotive industry is used to demonstrate the
application of the developed methodology in this study.
The paper investigates the uniform asymptotic stability of memristor-based
recurrent neural network with time delays. Uniqueness of the equilibrium point
of memristorbased neural networks is proved by constructing the Lyapunov
energy function, employing homeomorphism mapping principle and differential
inclusion. Sufficiency criterion based on Mmatrix is proposed to confirm the
equilibrium is global asymptotic stable. The deduced criterion extends the result
based on M-matrix, which has certain robustness for different time delays and
activation functions. According to the physical parameters of the system.
Numerical analysis and simulation results are presented to demonstrate
effectiveness of the criterion.
FriB02-05
Design of Anti-glare Device for Freeway with Power Generation
Using a Vertical Axis Wind Turbine
Kai Tian and Yanfeng Wu (Henan Univ. of Sci. and Tech., China)
In this paper, a novel anti-glare device for vertical axis wind power generation for
freeway is designed. Firstly, the structure is designed based on a bionic airfoil
vertical axis wind turbine (VAWT), the parameters are determined to meet the
national freeway anti-glare board requirements. Secondly, the flow field
characteristic of the device is analyzed by computational fluid dynamics (CFD)
simulation, and the structure is further optimized. In addition, the scheme of group
generation using this device is proposed. Detect the performance parameters of the
prototype, further optimization was carried out, and finally the structure and
parameters of the device were determined. Finally, the prototype is tested on a
reflux wind tunnel test bed, its energy efficiency and other performance are
verified by experiments.
Regular Session 2Developments of Novel Methodologies and Technique Ⅱ
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Vietnam Time (GMT+7)
8:30 - 10:10, Saturday, December 12, 2020Chair: Vo Duy Thanh (Hanoi Univ. of Sci. and Tech., Vietnam)
SatA03, Room 1 Co-Chair: Nguyen Danh Hu (Hanoi Univ. of Sci. and Tech., Vietnam)
SatA03-01 SatA03-02
An Improved Error Interpolator of Milling CNC Controller Based
on FPGA
Kinematic Model Reference Adaptive Controller for a Lurking
Type Automated Guided Vehicle Using Traction Drive Unit
Hoang Giang Tran (Hiep Phat mechatronic Co. LTD, Vietnam)
Khac Sinh Le (Hochiminh City Univ. of Food Industry, Vietnam)
Thanh Luan Bui (Hochiminh City Univ. of Tech., Vietnam)
Huy Hung Nguyen (Saigon Univ., Vietnam)
Van Tu Duong (HCMUT, VNU-HCM, Nguyen Tat Thanh Univ., Vietnam
Huy Hung Nguyen ( HCMUT, VNU-HCM, Saigon Univ., Vietnam)
Tan Tien Nguyen (HCMUT, VNU-HCM, Vietnam)
Trong Trung Nguyen (Hochiminh city Univ. of Transport Inst. of Electronics,
Informatics and Automation, Vietnam)
Van Khoi Vu and Hoang Long Phan (HCMUT, VNU-HCM, Vietnam)
Computer Numerical Control (CNC) machine tools are now moving towards high
precision, high speed and complex functional machining. In this paper, an
improved minimum error interpolation algorithm for general curves generation in
CNC controller is introduce. The algorithm is applicable for the curves of linear
and circular. The proposed algorithm is realized on a field programmable gate
array with Verilog HDL language and veriflied on three-axis milling CNC
controller using FPGA. The experiment results are presented to demonstrate the
effectiveness of the proposed controller.
This paper proposes an adaptive controller using model reference based on a
kinematic model of a lurking type automated guided vehicle (AGV) using a
traction drive unit. Firstly, a system description of AGV composited of a traction
drive unit like a two-wheeled mobile robot and a tricycle mobile robot is
introduced. Secondly, the configuration of AGV in the planar coordinate is
analyzed to obtain a kinematic model. Thirdly, an adaptive controller is
developed by using the kinematic model based on Lyapunov stability theory for
controlling the position of the AGV. Finally, the effectiveness of the proposed
controller is evaluated through simulation results.
SatA03-03 SatA03-04
Study on Designing and Manufacturing Coaxial Brussless DC
Motor
Discrete-time Quasi Sliding Mode Control of Single-phase T-
type Inverters for Residential PV Applications
Thien Phuc Tran (Hochiminh City Univ. of Tech., Vietnam)
Truong Thuan Nguyen, Cong Toai Truong and Tan Tien Nguyen
(HCMUT, VNU-HCM, Vietnam)
Bao Binh Pho, Trong Minh Tran, Manh Linh Nguyen and Phuong Vu Hoang,
(Hanoi Univ. of Sci. and Tech., Vietnam)
In this paper, the design of a coaxial machine is proposed which is a debut for
further applying on contrarotating propulsion system such as underwater vehicle,
torpedo or even aerial vehicle. The coaxial machine comprises of two independent
rotors to eliminate the differential mechanism, reduce the power consumption, the
balance the react force and make the system more stable. A model-based
controller is adopted to drive the coaxial machine to generate the thrust force and
balance the react force while hovers the coaxial machine chassis. The effectiveness
and reliability of coaxial motor are evaluated through simulation and experimental
results.
This research focuses on improving the performance of single-phase grid-
connected DC/AC converters, which is intensively used in PV systems. First,
the single-phase T-type topology which offers more voltage level than the
conventional H-bridge is used to lower the total harmonic distortion (THD) of
the output current. Second, the quasi-sliding mode control in combination with a
lump disturbance compensation is used for the current control loop. This
approach guarantees that the output current quickly tracks its reference in a few
sampling cycles despite the existence of the modeling error. Finally, a DC bus
voltage controller with a discrete-time notch filter that exactly extracts the
average DC bus voltage from the second harmonic ripple is designed. The
proper design of the notch filter plays a key role not only in the improvement of
the DC bus voltage control-loop but also in the reduction of the overall THD of
the line current. The validity of the proposed solution is verified by numerical
simulation using Matlab/Simulink.
SatA03-05
A Combination of Distributed Delays Shapers and ADRC for
Gantry Crane Control
Trong Hieu Do, Minh Duc Duong, Manh Linh Nguyen and Quy Thinh Dao
(Hanoi Univ. of Sci. and Tech., Vietnam)
In order to suppress payload oscillation, input shaping technique in combination
with traditional PID controller is a popular practical approach. However, its
performance is easily degraded by disturbance and parameter uncertainty. In this
paper, for improving the performance of the crane system, ADRC in combination
with distributed input shaping is proposed. The ADRC is used to reject
disturbance while keeping the simplicity in design as PID controller, and
distributed input shaping plays the role of vibration suppression. Simulations show
the effectiveness of the proposed approach.
Regular Session 3Advanced Mechatronic Systems and Its Applications Ⅰ
-
Vietnam Time (GMT+7)
8:30 - 10:10, Saturday, December 12, 2020Chair: Zhihong Man (Swinburne Univ. of Tech., Australia)
SatB03, Room 2 Co-Chair: Hong Wang (Oak Ridge National Laboratory, USA )
SatB03-01 SatB03-02
Collaborative Fault Tolerant Control of NonSignalized
Intersections for Connected and Autonomous Vehicles
Optimizing Linear Generator Design’s Parameters for Output
Power Using Mix Numerical and Analytical Technique
Hong Wang (Oak Ridge National Laboratory, USA)
Do Huy Diep and Nguyen Van Duc
(Univ. of Engineering and Tech., VNU Hanoi, Vietnam)
Nguyen Xuan Quynh (Hanoi Univ. of Sci. and Tech., Vietnam)
Dang The Ba (Univ. of Engineering and Tech., VNU Hanoi, Vietnam)
With the potential of increased penetration of connected and autonomous vehicles
(CAVs), intersectional signal control faces new challenges in terms of its operation
and implementation. One possibility is to fully make use of the communication
capabilities of CAVs so that intersectional signal control can be realized by CAVs
alone – this leads to nonsignalized intersectional operation for traffic networks in
urban areas. In this paper, the state-of-the-art on collaborative fault tolerant control
schemes for complex systems will be briefly described. This is then followed by
the formulation of operational fault tolerant control that realizes the collaborative
fault tolerance functionality at CAVs operational level in response to possible
individual vehicle faults, where detailed modelling using vehicle movement
dynamics will be described together with the construction of fast fault diagnosis
and a collaborative fault tolerant control algorithm. A simple example will be given
as well to demonstrate the proposed algorithm together with the discussions on
other issues such as randomness of the system, communication errors and full
energy consideration. These leads to several future directions of the research for
the traffic flow control of non-signalized intersections with 100% penetration of
CAVs.
Permanent magnet linear devices have wide applications in various fields. In the
field of wave energy conversion, the use of linear generator has earlier been
regarded as difficult and uneconomical due to technical problems. Researches
on wave energy converters have been carried out, but the conversion efficiency
is still limited. Studies of the magnetic field of a linear generator have shown the
ability to significantly improve performance when using the Halbach array
magnets structure. In this study, a mixed numerical and analytical technique is
presented to optimize linear generator design's parameters for wave energy
converter power performance. At first, numerical method used for maximize of
magnetic field's strength inside linear generator. Then, a matlab-simulink
program use the simulated magnetic field result to optimize the power of the
linear generator.
SatB03-03 SatB03-04
Realization of Autonomous Drive Control of Power-assisted
BicycleThe Reliability Analysis of Welding Robots Based on Fault Tree
Tats
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