Barcelona Conferences Abstracts December 2016

December 7-11, 2016| Barcelona, Spain
Conferences Abstracts
2016 4th International conference on Control, Mechatronics and
Automation (ICCMA 2016)
2016 9th International Conference on Computer and Electrical Engineering
(ICCEE 2016)
Barcelona, Spain
December 7-11, 2016
Published and Sponsored by
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CONTENTS
Welcome Message3
Note & Tips4
Announcement
5
Conference Venue6
Introduction of Keynote Speakers & Plenary Speaker
7
Technical Program at a Glance
11
Session of Schedules
14
Poster Session
76
One-day visit
79
Media Support
80
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Welcome Message
Dear Professors and distinguished delegates,
Welcome to 2016 Barcelona Conferences. On behalf of organization, I would like to

thank all the Conference Chairs, Program Chairs and the technical Committees. Their
high competence and professional advice enable us to prepare the high-quality program.
We hope all of you have a wonderful time at the conference and also in Barcelona,
Spain.
We believe that by this excellent conference, you can get more opportunities for further
communication with researchers and practitioners with the common interest in I Control,
Mechatronics and Automation and Computer and Electrical Engineering.
In order to hold more professional and significant international conferences, your

suggestions are warmly welcomed. We look forward to meeting you again next time.
Best Regards!
Conference chairs
Prof. Dan Zhang
York University, Canada
Prof. Elmar Bollin
Offenburg University of Applied Sciences, Germany
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NOTES
One best presentation will be selected from each session and the author of best
presentation will be awarded the certificate and a gift from the committee.
You can also register at any working time during the conference.
The organizer won't provide accommodation, and we suggest you make an early
reservation.
Get your presentation PPT or PDF files prepared.
Regular oral presentation: about 15 minutes (including Q&A).
Keynote speech: about 40 minute (including Q&A).
Laptop (with MS-Office & Adobe Reader), projector & screen, Laser Pointer
Presenter will be provided by the conference organizer.
Please keep your belongings (laptop and camera etc.) with you.
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Announcement
All accepted papers (after proper registration and presentation) of ICCMA 2016 will
be published in the conference proceedings.
Abstracting/indexing: Ei Compendex, Inspec, DOAJ, CPCI (Web of Science)
and Scopus
All accepted papers of ICCEE 2016 will be selected and published in the following
journals:
Journal of Computers (JCP, ISSN: 1796-203X)
Abstracting/indexing: ULRICH's Periodicals Directory; Google Scholar; INSPEC; etc.
International Journal of Electrical Energy (IJOEE, ISSN:2301-3656)
Abstracting/Indexing: EI (INSPEC,IET), Ulrich's Periodicals Directory, Google Scholar,
EBSCO, Engineering & Technology Digital Library and etc.
Conference Organizing Committee
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Conference Venue
H10 Casanova
www.hotelh10casanova.com
Contact information:
Tel: (34) 93 396 48 00
Fax: (34) 93 396 48 10
Email: h10.casanova@h10hotels.com
Add: R Gran Via de les Corts Catalanes, 559, E-08011-Eixample Barcelona
*Location*
100 m away from the Urgell (L1) underground station
200 m away from the Universitat (L1 and L2) underground station
11 km away from the airport
3 km from Sants station (trains/high-speed train)
1.5 km from the Fira Montjuic (Trade Fair)
*Note*
Please note that the hotel will not contact any participants for hotel booking, please be
careful when anyone asks you to provide your credit card information to reserve room
for you.
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Keynote Speaker
Prof. Dan Zhang

Dr. Dan Zhang is a Kaneff Professor in Advanced Robotics and Mechatronics, as well as the
Chair of the Department of Mechanical Engineering of the Lassonde School of Engineering
at York University. From July 1st 2004 to December 31 2015, Dr. Zhang was a Professor and
Canada Research Chair in Advanced Robotics and Automation, was a founding Chair of the
Department of Automotive, Mechanical, and Manufacturing Engineering with the Faculty of
Engineering & Applied Science at University of Ontario Institute of Technology. He received
his Ph.D. in Mechanical Engineering from Laval University, Canada, in June 2000.
Dr. Zhang's research interests include robotics and mechatronics; high performance parallel
robotic machine development; sustainable/green manufacturing systems; rehabilitation
robot and rescue robot.
Dr. Zhangs contributions to and leadership within the field of robotic and automation have
been recognized with several prestigious awards, within his own university (Research
Excellence Award both from university level (2009) and faculty level (2008)), the Province
of Ontario (Early Researcher Award in 2010), the professional societies (election to Fellow
of the ASME in 2016, the EIC in 2012 and the CSME in 2010), and federal funding agencies
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(Canada Research Chair in January 2009 and renewed in January 2014). Besides, he was
awarded the Inaugural Teaching Excellence by the Faculty of Engineering and Applied
Science of UOIT in 2006 and the Best Professor Award by UOIT Engineering Students'
Society in2012.
Dr. Zhang is the editor-in-chief for International Journal of Mechanisms and Robotic
Systems, the editor-in-chief for International Journal of Robotics Applications and
Technologies, Associate editor for the International Journal of Robotics and Automation
(ACTA publisher) and guest editors for other 4 international journals. Dr. Zhang served as a
member of Natural Sciences and Engineering Research Council of Canada (NSERC) Grant
Selection Committee.
Dr. Zhang was director of Board of Directors at Durham Region Manufacturing Association,
Canada, and director of Board of Directors of Professional Engineers Ontario, Lake Ontario
Chapter, Canada. Dr. Zhang is a registered Professional Engineer of Canada, a Fellow of the
Engineering Institute of Canada (EIC), a Fellow of (American Society of Mechanical
Engineers) ASME, and a Fellow of (Canadian Society for Mechanical Engineering) CSME, a
Senior Member of Institute of Electrical and Electronics Engineers (IEEE), and a Senior
Member of SME.
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Keynote Speaker
Prof. Tarek El-Ghazawi, IEEE Fellow

The George Washington University, USA
Tarek El-Ghazawi is a Professor in the Department of Electrical and Computer Engineering
at The George Washington University, where he leads the university-wide Strategic
Academic Program in High-Performance Computing. He is the founding director of The GW
Institute for Massively Parallel Applications and Computing Technologies (IMPACT) and a
founding Co-Director of the NSF Industry/University Center for High-Performance
Reconfigurable
high-performance
Computing
computing,
(CHREC).
El-Ghazawis
computer
research
architectures,
interests
reconfigurable,
include
embedded
computing and computer vision. He is one of the principal co-authors of the UPC parallel
programming language and the first author of the UPC book from John Wiley and Sons. He
has received his Ph.D. degree in Electrical and Computer Engineering from New Mexico
State University in 1988. El-Ghazawi has published close to 250 refereed research
publications in this area. El-Ghazawi has received many national and international awards
and recognitions. He is a Fellow of the IEEE, and was selected to a Research Faculty Fellow
for the IBM Center for Advanced Studies, Toronto. He was a U.S. Fulbright Scholar, a
recipient of the Alexander Schwarzkopf Prize for Technological Innovations a recipient of
the Alexander von Humboldt research award from the Humboldt Foundation in Germany,
and a recipient of the GW SEAS Distinguished Researcher Award.
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Keynote Speaker
Prof. Elmar Bollin

* Scientific Employee at Fraunhofer Institute for Solar Energy Systems ISE at
Freiburg/Germany; Head of the research group Solar Thermal Systems;
* Since1993: Professor for Control Techniques, Building Services, Building Automation,
Solar Engineering and Energy Conversion Techniques at the Offenburg University of Applied
Sciences;
* Head of the Research Group net (sustainable energy systems) at Offenburg University of
Applied Sciences; see www.fgnet.hs-offenburg.de
* Director of the Institute for Energy Systems INES at Offenburg University of Applied
Sciences; see http://ines.hs-offenburg.de/institut/
* Director of the Institute of Applied Sciences at Offenburg University of Applied Sciences;
see http://www.iaf.hs-offenburg.de/
* Author and editor of different books on Sustainable Energy Systems,
* Involving in to Various Research Activities in Sustainable Energy Techniques and Solar
Thermal Application
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Technical Program at a Glance

Schedule for Dec.7
Location: Hotel lobby
10:00-17:00
Registration
Schedule for Dec.8

Time: 09:00-13:30
Location: Tapies+Tharrats+Casamada
(-1 floor)
09:20-09:30
Opening Remarks
Prof. Dan Zhang

09:30-10:10
Keynote Speech I
Prof. Dan Zhang

10:10-10:40
Coffee Break & Group Photo
10:40-11:20
Keynote Speech
11:20-12:00
Keynote Speech III
12:00-13:30
Prof. Tarek El-Ghazawi

Prof. Elmar Bollin
Offenburg University of Applied Sciences,
Germany
Lunch @ Ona Lounge Bar
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Schedule for Dec.8

Time: 13:30-21:00
Session I
Principle and design of robot
Tapies
(-1 floor)
Tharrats
(-1 floor)
11 Presentations
Coffee break
16:15-16:30
Session II
Mechanical control system
and its application
9 Presentations
16:30-18:45
Session III
Mechanical manufacturing
and Biomedical Engineering
11 Presentations
13:30-16:15
Coffee break
Casamada
(-1 floor)
16:15-16:30
Session IV
Computer theory and
Application
9 Presentations
16:30-18:45
Session V
Control system and
automation
11 Presentations
13:30-16:15
Coffee break
Session VI
Communication network and
image processing
Session VII
Power electronic technology
Guinovart
(-1 floor)
13:30-16:15
16:15-16:30
10 Presentations
16:30-19:00
12 Presentations
13:30-16:30
Coffee break
Session VIII
Information technology and
application
Dinner@ Ona Lounge Bar
16:30-16:45
8 Presentations
16:45-18:45
19:00-21:00
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*Attention*
Sorry to announce that the one-day visit has been scheduled two days
ahead of the original plan since the tutorials have to be cancelled due
to a few signups.
Schedule for Dec.9

09:00-17:00
One-day tour
General route: Park Guell- Sagrada familia- Las Ramblas street and
Mercat de la Boqueria- Montjuc-harbor
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Schedule of Sessions
Location: Tapies+Tharrats+Casamada
Opening
Remarks
09:20-09:30
Prof. Dan Zhang
Keynote
Speech I
09:30-10:10
Prof. Dan Zhang

Parallel Robotic Manipulator and Its Innovation Design
Abstract There has been increasing in developing enviromentally-benign
manufacturing technologies, robots, etc. This is considered a significant step in
achieving sustainable development. Sustainability of a manufacturing system
becomes critical technology that enables manufacturing companies to reduce
production costs and improve their global competitiveness. System sustainability
can be achieved by reconfiguration and decentralization, whose system
configurations are evolved with the changes of design requirements and dynamic
environment. The modular construction of parallel robotic machines allows them to
be used as a class of reconfigurable machine tools. Nevertheless, parallel robotic
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machines as contemporary manufacturing robotic systems often have difficulty
meeting the highly increased workplace demands on (1) operational accuracy, (2)
operational load capacity, (3) task adaptability, and (4) reliability. For example,
according to some large robot/robotic machine tool manufacturers and
manufacturing robot user, i.e., ABB Robotics, Ingersoll Machine Tools Inc. and ATS
Automation Tooling Systems Inc., the current robotic systems for high speed
machining often fail due to thermal effects, which fatally distort the accuracy of the
systems. According to the International Federation of Robotics (IFR), more than
60% of industry robots operating in the manufacturing industry are articulated robots
(i.e., serial robots), or robots that can only allow material handling, but not material
fabrication.
In this talk, the rational of using parallel robotic machines for green and sustainable
manufacturing is discussed and explained. A comparative study is carried out on
some successful parallel robotic machines and conventional machine tools.
Meanwhile, the latest research activities of parallel manipulators in the Laboratory
of Robotics and Mechatronics of York University are introduced, they are: parallel
robotic machines, reconfigurable/green robotic manipulators, web-based remote
manipulation as well as the applications of parallel manipulators in micro-motion
device, MEMS (parallel robot based sensors), wearable power assist hip
exoskeleton, and rescue robot.
Coffee Break & Group Photo

10:10-10:40
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Keynote
Speech
10:40-11:20
Prof. Tarek El-Ghazawi, IEEE Fellow

Keynote
Speech
11:20-12:00
Prof. Elmar Bollin

Predictive Energy Management Systems
Abstract Energy systems based on renewable energy sources need puffer storages
to compensate difference in energy demand and supply. This brings new options for
energy system management. Today accurate prognosis data for ambient temperature,
solar radiation and even wind speed are available for various locations in the world.
Load prognosis are well evaluate and characterize different energy users.
On the other hand control technique provides new methods like Multiple Linear
Regression MLR and Model Predictive Control MPC using predicted data and
system model to provide energy need data of the upcoming day. At University of
Applied Science Offenburg this new technology was used to control and manage
energy flow in thermally activated building systems TABS for system control as well
as in grid connected self-sufficient solar power systems for DSM and peak shaving .
These methods and there application for energy systems will be presented in this
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presentation!
Lunch @ Ona Lounge Bar

Lunch time: 12:00-13:30
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Session I
Principle and Design of Robot
Time: 13:30-16:15
Location: Tapies (-1 floor)
Chaired by Prof. Dr.-Ing. Gerhard Kehl
Hochschule Esslingen - University of Applied Sciences
Germany
Papers: CMA013, CMA031, CMA032, CMA033, CMA034,

CMA035, CMA059, CMA046, CMA003, CMA051, CMA012
Please kindly participate the whole course of the conference to make sure each item
sticks to the agenda and runs smoothly.
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CMA013
13:30-13:45
Design and Development of Tangible Instruction Set for Educational Robotic

System
Muralindran Mariappan, Jong Chia Sing
Robotics & Intelligent System (myRIS) Research Laboratory, Faculty of
Engineering, Universiti Malaysia Sabah, 88400, Jalan UMS, Kota Kinabalu,
Sabah, Malaysia.
Abstract Programmable tangible blocks educational robotic system (C-Block)
was introduced as an approach for project-based learning (PBL) curriculum. It
aims to provide a tangible method of doing programming for younger kids and
hence allowing them to exploring in STEM education as early as possible. In
this paper, the design and development of instruction block sets and the
corresponding system to extract the information out from the instruction blocks
were discussed. The state-of-the-art technology proposed in this research can be
very fruitful to enhance the implementation of the robotics in education system.
CMA031
13:45-14:00
Longitudinal adaptive control of mobile robots in a platoon

Plamen Petrov, Lubomir Dimitrov and Dobrin Aleksandrov
Technical University of Sofia, Faculty of Mechanical Engineering, 1000 Sofia,
Bulgaria
Abstract In this paper, we present an adaptive longitudinal controller for an
autonomous mobile robot platoon, where the only information that the follower
robot can use for feedback control is the distance measurements between the
robots obtained from a laser range finder. The control velocity of the following
robot is computed using the leader velocity estimates obtained from the dynamic
(adaptive) part of the controller. Stability analysis of the closed-loop control
system is presented. Simulation results of some of the basic vehicle following
maneuvers are given to verify the performance of the designed controller.
Experiments that demonstrate the performance of the proposed controller are
also included.
CMA032
14:00-14:15
Airport Management Controller: A Multi-Robot Task-Allocation Approach

Salma El-Ansary, Omar M. Shehata, El-Sayed I. Morgan
Multi-Robot Systems (MRS) Research Group, German University in Cairo
(GUC), 5thSettlment New Cairo, 11432, Cairo, Egypt
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Abstract Multi-Robot Systems (MRS) are being widely used in different
applications to harness the benefits of the collective behavior of the robots
instead of single robot applications. One of the most widely addressed problems
is the Multi-Robot Task Allocation (MRTA) problem. In this study, an Airport
Management Controller (AMC) is proposed to control a set of heterogeneous
robots to prepare airplanes for their departures. The problem is addressed as a
MRTA problem. The proposed approach is simulated in order to validate it.
Several parameters of the simulation are varied and their effects on the proposed
performance metrics are studied. The results reflected an improvement in the
Total Operation Time (TOT) of the system by 80% and 70% for fixed and
randomized passengers arrival rates respectively. The results reflect the potential
of the proposed AMC to handle this problem, and open the door for further
investigations along this road.
CMA033
14:15-14:30
Rescue Missions Bots using Active SLAM and Map Feature Extraction
M Nabil, M. H. Kassem, A Bahnasy, Omar M. Shehata, El-Sayed I. Morgan
(GUC), 5th settlement - New Cairo, 11432, Cairo, Egypt
Abstract The main objective of our study is to implement a heterogeneous
multi-robot system for mapping and exploration. We present a novel approach
where the SLAM map is used to speed up the exploration process by extracting
points of interest from it and directing the eye-bot (explorer) towards them. The
first robot is equipped with a laser range finder is called range bot and is
responsible for building a map of an unknown environment while navigating
autonomously. Then send this map to our next robot the eye bot which is
equipped with a camera for live video streaming. The eye bot use this map to
extracts some desired features which can help our robotic system to identify
possible threats. In our case the desired features are objects scattered in the
arena. Also it extracts the position of those objects to be able to build its path
through our arena given the previous knowledge of the map to give us a live
stream video of those objects. The first task which is performed by the range bot
is done using the active SLAM approach with the EKF as heart of the process
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and a maze solver algorithm for the robot to perform the active part which is
navigating autonomously. The second task which is done by using the method of
connected components for the extraction of the desired objects and their
positions from the map then the robot just follows the map to reach each
position. The importance of this scenario that it can be used for human rescue
mission to identify possible survivors and their positions in order to rescue them.
CMA034
14:30-14:45
Chaos Generation for Multi-Robot 3D-Volume Coverage Maximization

Verena M. Samuel, Omar M. Shehata, El-Sayed I. Morgan
(GUC), 5thSettlment New Cairo, 11432, Cairo, Egypt
Abstract The utilization of Multi-Robot Systems (MRS) is increasingly
touching different aspects. The problem of 3D-Volume coverage is one of the
most important problems addressed by teams of MRS, as it is useful in
applications such as explorations as well as search and rescue. On another hand,
chaos theory is widely used for different applications in multiple disciplines. In
this study, we utilize the chaos generation concept in order to produce the paths
to be followed by a team of Unmanned Aerial Vehicles (UAVs) to maximize
their 3D-volume coverage capacity. Three approaches are investigated; Arnold
Equation (AE), Constrained AE and Chaotic Target Points Sorting (CTPS).
Simulation results reflected that the CTPS approach outperformed the other two,
and a team of 5 UAVs implementing the CTPS concept was able to cover 88%
of the target volume. Further investigations include balancing the loading
between the UAVs for better energy consumption.
CMA035
14:45-15:00
A Robotic Surveillance Platform based on An On-board Computer Vision

Approach
Ahmed A.Ibrahim, ZainhomS.Ghareeb ,Omar M. Shehata, ElSayed I. Morgan
(GUC), 5th settlement - New Cairo, 11432, Cairo, Egypt
Abstract Surveillance and monitoring systems are considered to be one of the
most reliable and commonly used type of security systems. These systems rely
heavily on human interaction for optimal operation. In an environment where a
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high level of security is needed, problems caused by human errors are not
acceptable. By eliminating human interaction from automatic surveillance
systems, a more reliable security system can be created for a better rate of crime
detection and prevention. This can only be achieved by introducing computer
vision capabilities to these systems. These autonomous systems should be able
to gather and collect information from the frames captured by the Closed-circuit
television (CCTV) cameras and use them for different applications such as
vehicle number plate recognition, face recognition, etc. This paper will discuss
building a basic on-board computer vision system to detect cars and pedestrians.
The system will be mounted on a roaming robot to replace multiple fixed
cameras with a single one that cover the same distance to reduce system cost.
CMA059
15:00-15:15
Autonomous Underwater Vehicle Mathematical Model and Simulator

Roman Fedorenko, Boris Gurenko
Southern Federal University,347922Nekrasovskiy, 44, Taganrog,Russian
Fedearation
Abstract Testing and debugging of real equipment is a time consuming task.
In particular, in the case of marine robots, it is necessary each time to carry out
the transportation and deployment of a robot on the water. Experiments with not
yet fully functional prototype of marine robot equipped with expensive hardware
is in the meantime very risky. Therefore, the use of simulators is affordable way
to accelerate the development of robotic systems from the viewpoint of labor
effort and cost of experiments. This paper presents a simulator specifically
designed for autonomous unmanned underwater vehicles.
CMA046
15:15-15:30
Mechatronics Design of An Autonomous Pipe Inspection Robot

Mohamed Abdellatif, Mohamed Hazem, Mohamed Hesham, Ahmed
Abdelmoneim, Amr Kamal and Ahmed Khaled
Future University in Egypt, Mechanical Engineering Department, #90
Street, ,New Cairo, Egypt
Abstract. Pipelines require periodical inspection to detect corrosion, deformation
and congestion with obstacles in the network. Autonomous mobile robots are
good solutions for this task. Visual information from the pipe interior associated
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with a location stamp are needed for inspection. In this paper, we review the
previous design of autonomous robots and develop a new robot to ensure simple
design and smooth motion. We process images online to detect irregularity in
pipe and then start capturing high resolution pictures to save limited size of
memory. The new robot moves in pipes and provides video stream of pipe
interior with location stamp. The visual information can later be processed
offline to extract more information of pipeline condition to make maintenance
decisions.
CMA003
15:30-15:45
Vind: a robot self-localization framework

Jon Azpiazu, Magnus Bjerkeng, Johannes Tjnns and Esten Ingar Grtli
Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway
Abstract In this paper we present a framework for robot localization
codenamed Vind. The framework allows to configure a multi-sensor setup by
describing the configuration and entering the sensor's parameters in a series of
text-based and human-readable configuration files. The framework provides,
among others, distributed communication capabilities and a state estimation
implementation based on the Extended Kalman Filter (EKF). Vind can also be
extended to include other state estimation implementations based on clearly
defined interfaces and message structures. The aim of the framework is to foster
reusability, and provide developers with tools to minimize the effort required to
deploy a solution for the self-localization problem. In case of researchers
working on the implementation of new state estimate algorithms, it also supports
them by providing high level tools for the system integration aspects.
CMA051
15:45-16:00
Human-leading Navigation for Gait Measurement Robot in Living Space

Ayanori Yorozu and Masaki Takahashi
Keio Advanced Research Centers, Keio University, 3-14-1 Hiyoshi, Kohoku-ku,
Yokohama 223-8522, Japan
Abstract Gait measurements such as several-meters walk tests and trainings
are carried out to evaluate walking ability during health promotion and
preventive long-term care services. It is necessary to track both legs and measure
the walking parameters such as stride length can be used for fall-risk assessment
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across several meters. We have proposed a gait measurement robot (GMR):
moving gait measurement system for a long-distance walk tests and evaluating
dual-task performance while keeping a constant distance. The GMR estimates its
own pose and the position of both legs of the participant. The GMR leads the
participant from the start to the goal of the walk test while maintaining a certain
distance from the participant. To lead the participant in the human living space,
the GMR has to detect the movable passage and determine the translational
motion considering the velocity of the participant and obstacle avoidance. In this
study, we propose a sensor-based real-time motion control method for the GMR
considering the leading participant toward the movable passage and obstacle
avoidance using fuzzy set theory in a long-distance walk test. To verify the
effectiveness of the proposed method, we carried out the experiments in a
corridor.
CMA012
16:00-16:15
Projection Mapping by Gait Measurement Robot
for Evaluating Long-distance
Dual-task Performance
Ayumi Tanigawa, Ayanori Yorozu and Masaki Takahashi
School of Science for Open and Environmental Systems, Graduate School of
Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku,
Yokohama 223-8522, Japan
Abstract In this paper, we propose a long-distance gait evaluation system
using projection from a mobile robot. Falling is a common problem in the
growing elderly population. Fall-risk assessment systems have proven to be
helpful in community-based fall prevention programs. One of the risk factors of
falling is the deterioration of a persons dual-task performance. For example,
gait training, which enhances both motor and cognitive functions, is a
multi-target stepping task (MTST), in which participants step on assigned
colored markers. Gait measurements during community health activities,
however, are often carried out by observation, which is difficult to evaluate
quantitatively. Thus, a low-cost, easy-to-use gait measurement system would be
useful to measure a participants natural gait as observed in a long-distance task.
To evaluate the dual-task performance during MTST, a gait measurement system
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using a laser range sensor has been proposed. In addition, a gait measurement
robot (GMR) has been proposed as a moving gait measurement system for a
long-distance walk tests. The GMR leads the participants from the start to the
end of the walk test while maintaining a safe distance from the participant.
Projection mapping is used to evaluate the long-distance dual-task performance,
where MTST marker images are displayed on the floor by the moving GMR.
Coffee Break
16:15-16:30
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Session II
Mechanical Control System and Its Application
Time: 16:30-18:45
Location: Tapies (-1 floor)
Chaired by Prof. Takashi Harada
Kindai University, Japan
Papers: CMA048, CMA001, CMA007, CMA019 CMA029, CMA039,

CMA052, CMA053, DB072
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CMA048
16:30-16:45
Adaptive Control of Robotic arm with Hysteretic Joint

Somasundar Kannan, Souad Bezzaoucha, Serket Quintanar-Guzman, Miguel
A. Olivares-Mendez1, and Holger Voos
SnT- University of Luxembourg, 6 rue Richard Coudenhove-Kalergi, Kirchberg,
L-1359 Luxembourg
Abstract This article addresses the problem of control of robotic arm with a
hysteretic joint behaviour. The mechanical design of the one-degree of freedom
robotic arm is presented where the joint is actuated by a Shape Memory Alloy
(SMA) wire. The SMA wire based actuation of the joint makes the robotic arm
lightweight but at the same time introduces hysteresis type nonlinearities. The
nonlinear dynamic model of the robotic arm is introduced and an Adaptive
control solution is presented to perform the joint reference tracking in the
presence of unknown hysteresis behaviour. The Lyapunov stability analysis of
the closed loop system is presented and finally proposed adaptive control
solution is validated through simulation study on the proposed nonlinear
hysteretic robotic arm.
CMA001
16:45-17:00
Integrated Simulation of Drive Control and Structural Dynamics of Machine

Tools based on Finite Element Analysis
Gerhard Kehl
University of Applied Sciences Esslingen, Germany
Abstract Complex mechatronical systems like machine tools are characterized
by a close indentation of physical domains (electrical and mechanical hardware)
with logical domains (information processing devices). A novel simulation
method, implemented as ANSYS control toolbox, necessarily links those
domains in the finite element software. First experiences qualified this approach
to be suitable in the design process chain for medium-sized machine tool
manufacturers with restricted resources for modeling and simulation of their
products. Possible mechatronical simulation results are reference frequency
response and positioning behaviour of feed axes as well as compliance
frequency response between tool and workpiece. With this results design
improvements can be derived leading to higher customer satisfaction regarding
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efficient and high-quality manufactured workpieces.
CMA007
17:00-17:15
Modeling and analysis for steering motion in catheter system by using hydraulic
and pneumatic actuator
Dae Eun Moon, Jung Ho Kim and Hong Seok Lima
Department of Medical Biotechnology, Dongguk University, Goyang,
Gyeong-Gi, 814-9, Korea
Abstract There are a lot of branches in our blood vessels. It is needed to
control steering in various direction of the catheter tip to find the lesion by using
the catheter system. In case of using catheter for cardiovascular treatment such
as inserting catheter in accordance with the branch in order to find the lesions,
the proficiency of operator is absolute in current technology. It would affect the
operation time and result by the control skills of steering catheter tip. To solve
these problems, it is presented a modeling and analysis for steering angle control
in intravascular catheter system by using hydraulic and pneumatic actuator in
this paper. To control the steering angle in various directions, the proposed
model consists of structures of the tube shape with a number of holes in the
catheter tube. While the hydraulic and pneumatic pressure is given through the
hole and the displacement of catheter tip would be varied to the opposite side of
the hole which the pressure is applied. By this displacement value, the variation
of the steering angle could be identified by using hydraulic and pneumatic
pressure through the hole. The performances of the structure are verified through
this simulation.
Acknowledgement. This work was supported by the National Research
Foundation of Korea (NRF) grant funded by the Korea government.
(NRF-2016R1C1B2008460)
CMA019
17:15-17:30
Application of Piezoelectric Sensor for Robust Vehicle Suspension System by C

onverting Active & Passive Control of a Vehicle to Semi-Active Control System
Analytically
Hassan Elahi, Raees Fida Swati, Hayat Khan, Mohsin Ali Marwat, Nouman Ali,
Saad Waqar, Saleem Riaz
Northwestern Polytechnical University, Xian China
28/ 82

Institute of Space Technology, Islamabad, Pakistan
Abstract This research article deals with a simplified translational model of a
n automotive suspension system which is constructed by considering the translat
ion motion of one wheel of a car. Piezoelectric sensor is introduced in this mech
anism which performs on the principle of direct piezoelectricity. Passive Vehicle
Suspension System is converted into Semi Active Vehicle System. Major advant
age achieved by this system is that it adjusts the damping of the suspension syste
m without the application of any actuator by using MATLAB simulations. The s
emi-active control is found to control the vibration of suspension system very
well.
CMA029
17:30-17:45
Cable collision avoidance of a pulley embedded cable-driven parallel robot by

kinematic redundancy
Toru Makino and Takashi Harada
Graduate school of Science and Engineering, Kindai University, 3-4-1 Kowakae,
Higashiosaka, Osaka, 577-8502, Japan
Department of Mechanical Engineering, Faculty of Science and Engineering,
Kindai University
Abstract A novel 6 dof 8 cable-driven parallel robot (CDPR) is proposed. The
proposed robot is redundantly driven by 8 cables. By the rotational mechanism
inside the moving part (MP), the proposed CDPR has two redundancy,
kinematic redundancy and actuation redundancy. The kinematic redundancy
contributes to avoiding collisions between cables, and the actuation redundancy
is used for control the cables' tensions. The proposed CDPR has large workspace
by avoiding the cables' collisions, and high precision by keeping the tensions of
all cables as positive values. In this paper, control method for avoiding the
cables' collisions by the kinematic redundancy is discussed in detail.
CMA052
17:45-18:00
Longitudinal Wheel Slip Control for Flexible Landing Gear: A Second-Order

Sliding Mode Approach
Mohammadali Aghakhani Lonbania, Marco Morandini, Paolo Astori, and
GianLuca Ghiringhelli
Aerospace Science and Technology Department, Politecnico di Milano
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Abstract This work studies an anti-skid controller design for Landing Gear
(LG) with flexible strut. The wheel axle and fuselage are connected by a
longitudinal linear spring that accounts for the relative displacement between the
wheel and the fuselage due to the landing gear deformability. Lift force and tire
deflection due to the change in vertical load are also considered into the models.
First and second order Sliding Mode Controls (SMC) are used to stabilize the
system around the optimal braking equilibrium points. The second order SMC
proves to outperform the first order control; in particular, it leads to a greatly
reduced chattering and to a smaller control effort than those obtained with the
first order control. The controlled variables are the relative wheel motion with
respect to the fuselage and the tire slip. The simulations are demonstrating the
success of SMC as anti-skid controller for main LG with flexible strut.
CMA053
18:05-18:15
Model Predictive Control for Spacecraft Rendezvous

Somasundar Kannan, Seyed Amin Sajadi Alamdari, Jan Dentler,, Miguel A.
Olivares-Mendez, and Holger Voos
SnT- University of Luxembourg, 6 rue Richard Coudenhove-Kalergi, Kirchberg,
L-1359 Luxembourg
Abstract The current paper addresses the problem of Spacecraft Rendezvous
using Model Predictive Control (MPC). The Clohessy-Wiltshire-Hill equations
are used to model the spacecraft relative motion. Here the rendezvous problem is
discussed by trajectory control using MPC method. Two di_erent scenarios are
addressed in trajectory control. The first scenario consist of position control with
fuel constraint, secondly the position control is performed in the presence of
obstacles. Here the problem of fuel consumption and obstacle avoidance is
addressed directly in the cost function. The proposed methods are successfully
analysed through simulations.
DB072
18:15-18:30
Speed Control of a Variable Loaded DC Motor by using Sliding Mode and

Iterative Learning Control
E. Hasan Dursun, M. Latif Levent, Akif Durdu, mer Aydodu
Selcuk University, Turkey
Abstract In this paper, speed control of a DC Motor with time varying loaded
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is performed by using sliding mode control (SMC), classical PID control and
iterative learning control (ILC) methods. SMC is a robust nonlinear control
method which has insensibility against to external disturbing effects and
parametric variations of system. On the other hand, a control method of ILC
provides an excellent performance on tracking. In the iterative learning PID
(IL-PID) controller, the parameters of PID are automatically adjusted by using
the algorithm of iterative learning. In this study, firstly, a DC Motor is modeled
by using real data. Secondly, controllers which are an iterative learning PID
(IL-PID), SMC-based and classical PID are designed and tested. Moreover,
performance analysis of these controllers isdone for load changes in the time
interval. According to obtained results, the output of SMC-based system
converges quickly to the reference valueand the system gives the fastest
response when changing of load occurs. Another result of this study is that the
steady state error based on the learning success of ILC is decreased by IL-PID
controller. The novel part of this study is that the comparison of these types of
controllers is firstly made with this study.
Dinner @ Ona Lounge Bar

Dinner time: 19:00-21:00
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Session III
Mechanical Manufacturing and Biomedical
Engineering
Time: 13:30-16:15
Location: Tharrats (-1 floor)
Chaired by Prof. Plamen Petrov
Technical University of Sofia, Bulgaria
Papers: CMA005, CMA038, CMA049, CMA054, DB020,

CMA044, CMA050, DB059, DB071, DB081, DB083
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CMA005
13:30-13:45
Assembly featured Product Data Instance Modelling: prototype implementation and

output
M.R. Khabbazi, Jan Wikander, Mauro Onori
KTH Royal Institute of Technology, Stockholm, (SWEDEN)
Abstract This paper introduces the output format of the proposed assembly feature
data schema through instance modeling - as the preliminary step before data
modeling. In order to link assembly with product design, it is essential to determine
which entities of product design and development are involved at the automated
assembly planning and operations. It is absolutely reasonable to assign meaningful
attributes to the part model entities (assembly features) in a systematic and structured
way. As such, this approach empowers the processes like the motion planning and
sequence planning in assembly design. Using object-oriented design, the assembly
feature data structure and its relationships are modeled. As a part of the research on
product and assembly system data integration within the evolvable production system
platform, the instance models provide a deeper understanding and error reduction that
might possibly occur at the development of the database. Moreover, the assembly
feature data query output format from the future database is simulated.
Object-oriented instance modeling is adopted and models are presented in UML
object diagrams. An industrial assembly example with its 3DPart models is chosen to
demonstrate the realized assembly feature data set. The assembly feature output
format encapsulates the Part relationships, Mating, Joint, and Handlings features into
an alphanumeric data with string data type. The models support the desired simplicity
at the database prototype implementation. The output format envisions the
interoperability dealing object between product models and the assembly planning
systems.
CMA038
13:45-14:00
Improved coarse alignment for strapdown inertial navigation system based on

recursive quaternion estimator algorithm
Yongyun Zhu, Tao Zhang, Xiang Xu and Feng Zhou
School of Instrument Science & Engineering, Southeast University, 210096 Nanjing,
China
Abstract A modified solidification method coarse alignment based on recursive
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quaternion estimator algorithm (REQUEST) is proposed to solve the problem of
coarse alignment of vehicle strapdown inertial navigation system (SINS). According
to the solidification method, the solution of initial attitude matrix is transferred into
the calculation of a constant attitude matrix. By constructing the observation vector
and the reference vector, the optimal solution of constant attitude matrix in
solidification method in the least square sense is obtained using the REQUEST
algorithm. The principle of solidification-method coarse alignment is introduced
firstly, and then the calculation process of recursive quaternion estimator algorithm is
analysed and discussed. Finally, the solution of recursive quaternion estimator
algorithm for SINS is presented. The result of three-axis turntable experiments shows
that the alignment accuracy of REQUEST algorithm is superior to that of
solidification-method attitude determination theory. Using REQUEST algorithm, the
horizontal alignment accuracy is better than 1.8 and the heading alignment accuracy
is better than 6 in 200s.
CMA049
14:00-14:15
Geometry of Gaudi-inspired screw for differential drive mechanism

Takashi Harada, Kengo Fujii
Kindai University, Faculty of Science and Engineering, 3-4-1 Kowakae Higashiosaka
Osaka Japan
Abstract A novel differential screw drive mechanisms for 2-dof (one-rotational and
one-translational) drive system is proposed in this paper. The proposed screw is
named as Gaudi-inspired screw, because the shape of the screw is similar to the
double helix columns by Antoni Gaudi. Kinematics, geometry, and prototyping the
Gaudi-inspired screw is introduced in this paper. Firstly, kinematics about differential
screw drive mechanism, including the Gaudi-inspired screw, is introduced. The
Gaudi-inspired screw is overlapped helix of the right and left helix of a square.
Geometrical characteristics and shapes of the cross sections of the screw are
discussed in detail. Plans for making the screw and the nuts by 3D printing, cutting,
form grinding, wire-cut EDM and die-sink EDM are introduced. The Gaudi-inspired
screw and the nuts were prototyped by 3D printing and by cutting.
CMA054
14:15-14:30
Volumetric Error Simulation Based on the Generic Kinematic Model for Various
Configurations of Multi-axis Machine Tools
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Jooho Hwang and Jongyoup Shim
Korea Institute of Machinery and Materials, Department of Ultra Precision Machine
Systems, 34103 Daejeon, Korea
Abstract This research introduces generic kinematic model of volumetric errors for
multi-axis machine tools in order to estimate machine tool accuracy. The generic
model is development of conventional kinematic error models for geometric and
thermal errors to help predict the volumetric error in various configurations easily.
Hence, the model help determine the most suitable configuration in the very early
stages of the design process. To demonstrate the advantages of the model, an
application in the early stages of a five-axis machine tool design is presented as an
example. The model is evaluated by using a four-axis machine tool, in which the data
from ISO230-6 and R-test measurements are used to evaluate the estimated data
determined from generic kinematic model of the volumetric errors.
DB020
14:30-14:45
Design and Development of Efficient Guidance System Using Multi-functional Robot

With Quadcopter
Moustafa M. Kurdi , Aliaksei K. Dadykin, Imad A. Elzein
Belarusian National Technical University, Lebanon
Abstract this paper introduces the design and development of QMRS. QMRS
(Quadcopter Mobile Robotic System) is a real-time obstacle avoidance capability in
Belarus-132N mobile robot with the cooperation of quadcopter Phantom-2. The main
objective of this research paper is to identify the method involving the use of vision
and image processing system from both robot and quadcopter; analyzing path in
real-time and avoiding obstacles based-on the computational algorithm embedded
inside the robot. In addition, it focuses on the full coordination between robot and
quadcopter by designing an efficient wireless communication using WIFI. QMRS
increases the efficiency and reliability of the whole system especially in robot
navigation, image processing and obstacle avoidance due to the help and connection
among the different parts of the system.
CMA044
14:45-15:00
Hybrid, discrete, non-linear, suboptimal force augmenting exoskeleton for the elbow
joint
F. Castillo, A. Osorio, R. Lpez, R. Lozanoc and O. Santos
35/ 82

LAFMIA UMI 3175, CINVESTAV, Mxico CITIS, UAEH, Pachuca de Soto Hidalgo,
Mxico
Abstract The design and implementation of a force augmenting exoskeleton for the
elbow joint is presented in this paper. The force augmentation comes from electric
motors as well as from pneumatic muscles that are the actuators of the device. This is
the reason to say that the device is hybrid. Electric motors are more easily and
precisely controlled than pneumatic muscles, however the last ones can move heavier
weights. The autonomy of a device of this kind is reduced due to the energy
expenditure of the two types of actuators employed. For this reason a suboptimal
discrete nonlinear control was implemented which improves performance and
lengthens considerably the operation time. A dynamical model of the device is also
presented and a comparison between a PD+G and a suboptimal control is made.
Simulation results are presented.
CMA050
15:00-15:15
Analysis of Trunk Movement for Pregnant Women with Lumbopelvic Pain Using
Inertial Measurement Unit
Saori Morino, Fumiko Umezaki , Hiroko Hatanaka, Tomoki Aoyama, Mamoru
Yamashita and Masaki Takahashi
Keio University, Japan
Abstract Many women experience lumbopelvic pain (LPP) during pregnancy. It is
thought that motion patterns, especially when accompanied by flexure and rotation of
the trunk, are associated with LPP. This study investigates methods to evaluate the
characteristics of the motion patterns that affect LPP during pregnancy. An
experiment was conducted to obtain the motion characteristics of standing up and
sitting down of pregnant women by using an inertial measurement unit (IMU). Then
motion evaluation indexes were proposed from measured data of lumbar angular
velocity obtained from the IMU. Next, the proposed indexes, maximum peak value,
minimum peak value, peak-to-peak (PP: range between maximum and minimum
peaks) value, time of PP, PP divided by time of PP, root mean square of each
parameter, and each index divided by body mass index (BMI), were calculated during
standing up and sitting down for the roll, pitch, and yaw angles. Finally, we
considered the presence of any relation between LPP and the motion characteristics
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by comparing the proposed indexes of an LPP group with those of a non-LPP group.
Thus, it appears that maximum peak, PP/time of PP, maximum peak/BMI, PP/BMI,
and (PP/Time of PP)/BMI of the pitch angle have some relevance to LPP.
DB059
15:15-15:30
An Analysis of Active Gene Variations in Craniosynostosis

Ugur Bilge and Nesrin Celik
Akdeniz University, Turkey
Abstract Craniosynostosis is a medical condition where one or more sutures in the
skull prematurely fuse with one another in infancy, causing deformations in skull and
face. It is a genetic disorder and affects 3 to 5 live births per 10,000. Over 180 types
of craniosynostosis syndromes exist, and these are linked to mutations in FGFR1,
FGFR2, FGFR3, TWIST1, and MSX2 genes, some of these are single gene
mutations, and others are unknown. Majority of the cases are nonsyndromic with no
known gene mutation. There is a great need to develop tools to analyze genetic data,
identify multi gene effects and link genotype phenotype data for better diagnosis and
treatment of the disease.
At Akdeniz University hospital, we follow 100 cranoisynostosis patients (50
syndromic and 50 nonsyndromic) with varying degrees of disorder. We plan to
analyze patient genomic data, and identify mutations and link them with phenotypes.
First, public domain software such as Mega, Geneious and Galaxy will be used to
establish single gene mutations. Later we will apply machine learning techniques to
search for multi gene mutation combinations causing different manifestations of this
condition. Currently the diagnosis and assessment of craniosynostosis is performed
by qualitative grading of the deformations and phenotypes, we aim to quantify the
phenotypes more accurately, and carry out data mining work on phenotype-genotype
integrated dataset.
DB071
15:30-15:45
Model Deformation for 3D Model Generation From 2D Facial Illustrations

Risako Aoki, Kaori Nonogaki, Ryusuke Miyamoto
Meiji University, Japan
Abstract Several schemes have been already proposed for 3D reconstruction of
human faces based on natural images. However, no scheme can reconstruct 3D
structures of characters in animation and manga using only facial illustrations because
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accurate matching between illustrations are quite difficult owing to lack of texture
information. To realize practical 3D reconstruction using facial illustrations, the
authors are trying to construct a novel scheme that adopts key point extraction and
model-based generation of a facial structure. For key point extraction, a scheme using
color features in addition to SIFT features proposed by part of the authors showed
good accuracy. Therefore, this work focuses on the problem about how to generate a
3D structure of a face when key points in facial illustrations are extracted accurately.
Experimental results show that the error of the 3D model generated by the proposed
deformation scheme using only 2D illustrations became only about 2.5% of the
vertical width of an eye of the ground truth, while the error was about 1.8% of the
vertical width of an eye even if 3D information was used as input.
DB081
15:45-16:00
Transfer Learning for Electroencephalogram Signals

Farah Abid, Ali Hassan, Anum Abid, Mads Jochumsen, Muhammad Samran Navid,
Rasmus Nedergaard and Imran Khan Niazi
National University of Sciences and Technology, Pakistan
Abstract The accessibility to Electroencephalogram (EEG) recording systems has
enabled the healthcare providers to record the brain activity of patients under
treatment during multiple sessions. Thus brain changes can be observed and
evaluated. It has been shown in many studies that the EEG data are never exactly the
same when recordings are done in different sessions inducing a shift between the data
of multiple sessions. This shift is induced due to the changes in parameters such as:
the physical /mental state of the patient, the ambient environment, location of the
electrodes, and impedance of the electrodes. The shift can be modelled as a covariate
shift between multiple sessions. However, the algorithms that have been developed to
tackle this shift assume the presence of training as well as testing data apriori to
calculate the importance weights which are then used in the learning algorithm to
reduce the mismatch. This major problem makes them impractical. In this paper, we
tackle this using marginalized stacked denoising auto encoder (mSDAs) while using
the data from seven healthy subjects recorded over eight sessions distributed over
four weeks. We compare our results with kernel mean matching, a popular approach
for covariate shift adaption. Using support vector machines for classification and
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reduced complexity of mSDA, we get promising accuracy.
DB083
16:00-16:15
Efficient Prediction and Classification of Epileptic Seizures using EEG data based on
Univariate Linear Features
Syed Muhammad Usman, Ali Hassan, Farhan Riaz, Qaiser Chaudry
National University of Sciences and Technology, Pakistan
Abstract Epilepsy is defined as seizures which happen due to disorder in brain
functionality. Certain kind of seizures effect patient in more than twice in a day where
a patient losseshis senses completely or partially for a short duration. Early detection
of epileptic seizure is quite useful for better treatment of patients. Normally patients
are admitted to the hospital and their EEG recordings are observed. This method is
not very effective as it requiresobservation of EEG signals for many hours. In our
paper, we propose an algorithm by using which we are able to predict pre-ictal state
of epileptic seizure. We have applied our algorithm on publically available EEG
dataset and we are able to predict epilepsy 34 minutes on average before it actually
starts. In this way, there is a sufficient time for medical specialists to start medication
in order to avoid seizure.We have also classified the EEG data of patients during ictal
state and it has been observed that true positive rate (TPR) is 88.90%.
Coffee Break
16:15-16:30
39/ 82
Session IV
Computer Theory and Application
Time: 16:30-18:45
Location: Tharrats (-1 floor)
Papers: DB011, DB013, DB044, DB045, DB060,

DB075, DB087, DB058, DB034
40/ 82

DB087
16:30-16:45
A Bit Vector Based Binary Code Comparison Method for Static Malware Analysis
Ki-Su Kim, Hyo-Jeong Shin, Hyong-Shik Kim
Chungnam National University, Korea
Abstract As variants of malicious codes have made it difficult and complicated to
detect possible threat in the Internet, it is one of the most important challenges to
analyze the malwares correctly in a timely manner. It has been also observed that we
need static analysis as well as dynamic analysis to detect the malware correctly. In
this paper, we define a bit vector to characterize a binary code, and utilize it for static
malware analysis. Since each bit of a bit vector is organized to indicate the existence
of a certain function or code block, we could replace a comparison operation on
binary codes by simple logical operations. Common features of a group of binary
codes could be also captured by bit vectors, which would be used todetermine
whether another binary code is similar to those of the group or not. Experimental
results show that the bit vector could be effectively utilized to do static malware
analysis, and that the group bit vectors could help classify the malwares into
theirappropriate groups.
DB013
16:45-17:00
Cloud Based Electronic Program Guide System with Integrated Social Network
Recommendations
Emad AL-MOHAMMED, Nigel Linge
University of Salford, Manchester, United Kingdom
Abstract Television viewing is changing with a growing trend towards online
consumption of content with a proliferation of providers and an increasing range of
viewing devices available.
This trend will start to challenge the future of the
traditional television channel as more and more viewers becoming focused on the
programs, rather than the broadcaster or provider who distributes them.
However,
this in turn poses a problem for the viewer in that it will become increasingly difficult
to locate those programs of interest across such a broad range of providers. This paper
introduces a new architecture for a generic cloud based Electronic Program Guide
(EPG) that can access all of the available content sources. The architecture of the
generic EPG system allows for program metadata to be retrieved from online
providers in a single search operation despite the difference in metadata formats that
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are supported by the different providers. Moreover, this system provides a
personalized EPG that takes the program as its core focus and outputs a list of
recommendations that are based on the viewers interests, viewing pattern and the
recommendations of their friends from within the social networks they belong to.
Additionally, the system responds to the dynamic environment features such as
viewing device, network bandwidth, and service registrations to ensure that any
recommended program can indeed be watched by the viewer at that particular time.
DB044
17:00-17:15
Usage-Centric Mobile Business Performance Metrics: Framework and Case Study

Ahyoung Kim, Junwoo Lee, Mucheol Kim
Electronics and Telecommunications Research Institute, Korea
Abstract The increases in mobile-phone users changed paradigms in mobile
business and extended business area and its applications. Therefore, various attempts
have been made to succeed in mobile business. In this study, performance indicators
for measuring business performance are proposed, also using proposed performance
indicators framework for analyzing usage-focused mobile business is suggested.
Based on the characteristics of mobile business, performance indicators are classified
to Customer Retention and Product Engagement. The customers usage data
automatically collected from mobile application is analyzed by 2 performance
indicators. In this paper, we will suggest the mobile business analysis framework for
performance indicators, and introduce the result of analysis through case-study. The
suggestion and mobile business analysis framework from this study support decision
making in mobile business area such as mobile marketing and mobile commerce.
DB045
17:15-17:30
Psycho-Diagnostic Subsystem of Computer Personalized Learning Systems

Moteasem Abu-Dawas
Irbid National University, Jordan
Abstract The computer personalized learning systems can play a key role in
improving e-learning effectiveness. Those systems can adapt to the psychological
characteristics of learners in e-learning. One of the key components of computer
personalized learning systems is the psycho-diagnostic subsystem. The paper aimed
at building psycho-diagnostic subsystem for measuring the learner cognitive
properties and to manage the learning process.
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DB060
17:30-17:45
Design and Implementation of OpenSHMEM based on PCI Express

Young Woong Joo and Min Choi
Chungbuk National University, Republic of Korea
Abstract The system interconnect technology has been widely studied for
high-performance computers and computer clusters. In addition to Infiniband and
Ethernet, PCI Express has been used as system interconnect for high-performance
computers and computer clusters. PCI Express is a bus technology which connects a
processor and peripheral I/O devices. This is widely used as an industry standard
because it has some characteristics of high-speed, low power. In addition, PCI
Express is system interconnect technology such as Ethernet and Infiniband used in
high-performance computing and computer cluster. PGAS programming model is
used on a computer cluster using Infiniband to compensate the problems such as load
balancing and performance. PGAS (partitioned global address space) programming
model that allocate divided global address spaces which are shared and accessible by
all of the nodes to the main memory of each nodes is often used to implement the
one-sided communication. NTB(non-transparent bridge) is used in order to isolate the
different systems mutually when implementing the system interconnect using PCI
Express. NTB is built to logically separate the two interface inside a port to act as
endpoint. The two systems connected with NTB are mutually isolated due to logically
separated interface when BIOS/OS is enumerated.
In this paper, we designed and implemented OpenSHMEM API to be applied to
multi-host system based on PCI Express. In order to implement RDMA based on PCI
Express. We describe the design of the OpenSHMEM API, such as shmem_malloc,
shmem_double_put and shmem_barrier_all, based on PCI Express. In OpenSHMEM,
shmem_malloc routine allocates symmetric data object which can be accessible by all
PEs in symmetric heap of each PE. The shmem_malloc routine returns a pointer to a
block of at least size bytes. In Open SHMEM, shmem_double_put routine is returned
when data transfer is started from private or global source to dest. shmem_double_put
routine ensures that dest receiving data is local or remote memory through pe. In
other words, although dest is local memory and pe is remote PE, dest is translated
into dest of the pe. The design of shmem_barrier_all routine is based on PCI Express.
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The function of shmem_barrier_all ensures that DMA transfers are completed. If
DMA transfers are completed, DMA engine generates DMA done interrupt to notify
host of completion of DMA transfers. We describe an experiment for the designed
and implemented OpenSHMEM based PCI Express through a simple matrix
multiplication example.
DB075
17:45-18:00
Applying Theta in Modern Game

Phuc Tran Huu Le, Nguyen Tam Nguyen Truong, MinSu Kim,Wonshoup So, Jae
Hak Jung
Yeungnam University, Korea
Abstract There are many commercial games using path-finding algorithm for
making movements from their characters. There more development games are, the
more requirements the customers demand to the game manufacturer. Therefore, in
this paper, there is a comparison between A* and the post-smooth variant of A* Theta*. Besides that, there is a demonstration among these movements of the
characters made by different maps, which are taken from Dota 2 and League of
Legend the most popular games. At the end, there is a positive conclusion on the
path-shape made by Theta* in order to make these commercial games meet the
request of their customers.
DB011
18:00-18:15
Simultaneous Multi-Processor Cores for Efficient Embedded Applications

Earle Jennings
QSigma, Inc., USA
Abstract This paper introduces Simultaneous Multi-Processor (SMP) cores. These
SMP cores offer a high performance, efficient application target for the embedded
system developer. SMP cores can be reprogrammed like a microprocessor in response
to application requirement changes. They do not require caching, or superscalar
instruction processing, greatly reducing silicon size and energy consumption. Also the
power to any unused resources is gated off each clock cycle. This new class of
instruction processors is discussed and shown through a core architecture
implementing multiple simultaneous processes. This approach solves an inherent
problem in VLIW instruction processing, giving the advantages of VLIW, while
dramatically reducing instruction memories, and eliminating the need for instruction
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caching. Examples are given of the simultaneous processes of multiple threads.
Merging these processes is shown. The SMP cores achieve the effect of superscalar
instruction processing and multi-thread control, through a compile time procedure,
without any additional hardware.
DB058
18:15-18:30
On the Role of Dimensionality Reduction

Nadia Abd-Alsabour
Cairo University, Egypt
Abstract Due to the need for the dimensionality reduction in many applications
such as real-world and large scale applications, this paper demonstrates it, and covers
it from all of its perspectives such as its components, its importance, and where it is
needed. Moreover, this paper demonstrates the impact of irrelevant features on the
performance of many predictors such as decision tree, Nave Bayes, nearest neighbor,
and support vector machines. This is because the performance of these predictors
degenerates when provided with data containing irrelevant features.
DB034
18:30-18:45
Individual Parameter Selection Strategy for Artificial Algae Algorithm(AAA)

Mehmet Beskirli, Ismail Koc, Halife Kodaz
Seluk University, Turkey
Abstract Optimization, defined as the process of selecting the best one among all
of the possible solutions to a problem within certain constraints, is used for the
solution of engineering and numerical functions. The metaheuristics algorithm used
for the solution of a wide variety of problems has been developed by influencing the
behavior of living things in nature. The Artificial Algae Algorithm (AAA), proposed
by Uymaz and one of the biologically inspired optimizations, was used in this study.
The AAA is one of the various methods of numerical optimization. In this study, a
fine tuning of the control parameters for the AAA was implemented over its different
kernel parameters. For this process, the AAA was tested on eight different benchmark
functions with different characteristics by making finer adjustments over the
parameters. The effect of the parameters was analyzed in terms of both solution
quality and convergence speed.
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46/ 82
Session V
Control System and Automation
Time: 13:30-16:15
Location: Casamada (-1 floor)
Chaired by Prof. Evgeni Magid

Kazan Federal University, Russia
Papers: CMA018, CMA002, CMA011, CMA055, CMA067, CMA066,

CMA064, CMA068, CMA072, DB027, DB1007
47/ 82

An Impedance Controllerfor Surface Alignment
CMA018
13:30-13:45
YuanRui YANG, Masood Dehghan, Marcelo H. ANG

Department of Mechanical Engineering, Advanced Robotics Centre, National
University of Singapore 117580
Abstract This paper presents a human-inspired compliant surface tosurface
alignment method for robotic manipulators. The surface alignment task is break down
into several stages, a)make a point contact, b) alignment of point-contact to
line-contact, and finally c) surface to surface alignment. The proposed controller is a
combination of impedance control with rotational controllers that are activated based
on the force sensing from the robot. We evaluate the performance of the proposed
controller on a set of robot experiments using a 7-DOF KUK Aiiwa robot on an
inclined surface with different angles.
CMA002
13:45-14:00
Model Predictive Control to Minimize Movements in Positions on Plate with Change

in Generation of Noise-Heat
Shigeki Hirasawa, Tsuyoshi Kawanami and Katsuaki Shirai
Kobe University, Department of Mechanical Engineering, 1-1, Rokkodai, Nada,
Kobe, Hyogo 657-8501, Japan
Abstract Precise temperature control to decrease movements in positions due to
thermal expansion of work pieces is required in the manufacturing processes to
achieve nanometer-order accuracy. We analytically examined the effect of a method
of minimizing movements in positions on a plate with a change in generation of
noise-heat. Control by monitoring temperature caused larger movements in positions
than that without control because maximum change in temperature occurred at
non-monitoring positions. The best method of minimizing movements in positions
due to thermal expansion of a plate with a change in the generation of noise-heat was
model predictive control by the monitoring movements and distributed temperature
changes in the control heater according to the effects of the generation of noise-heat.
The maximum movement in positions was 6 nm, which was 1/4 times of that without
control.
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CMA011
14:00-14:15
Experimental Verification for Motion Control of a Powered Wheelchair using a

Gazing Feature in an Environment
Airi Ishizuka, Ayanori Yorozu and Masaki Takahashi
Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi,
Kohoku-ku, Yokohama 223-8522, Japan
Abstract This paper describes the motion control system for a powered wheelchair
using a gaze in an unknown environment. Recently, new Human-Computer Interfaces
(HCIs) that have replaced joysticks have been developed for a person with a disability
of the upper body. In this paper, movement of the eyes is used as an HCI. The
wheelchair control system proposed in this study aims to achieve an operation such
that a passenger gazes towards the direction he or she wants to move in the unknown
environment. The gazing feature of the passenger in the 3D environment is acquired
in real time and the wheelchair is subsequently controlled. The features include the
entrance of the area of the passage and the gazing feature is acquired by obtaining the
features and the gazing point of the passenger. The acquired information about the
direction in which the passenger wants to move becomes operation input to the
wheelchair. The wheelchair is controlled by obtaining this operation input and the
information of the environment. The conventional motion control system can perform
safe and smooth movement by avoiding obstacles. The effectiveness of the proposed
system is demonstrated through experiments in a real environment with three
participants.
CMA055
14:15-14:30
Estimation of the reference model's unmeasured parameters in the adaptive control

algorithm
Shevchenko Victor, Mikhail Medvedev, Viacheslav Pshikhopov
Southern Federal University, 347922, Russia
Abstract The paper presents the multi-loop algorithm of adaptation of
position-trajectory control system a mobile object, with the contour of estimating
unmeasured parameters, a reference model and contour of ensure 2-th order
astatism.Estimation of unmeasured parameters is performed at the top control level in
the reference model, that allows to provide high precision of the final positioning of
the mobile object at the target point, which is specified as a parameter of the reference
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model. The application of the developed algorithm is feasible in systems of group
control of mobile objects when one object from the group is the leading, and its
parameters are used as parameters of the reference model.
CMA067
14:30-14:45
PID Control of Inverted Pendulum Using Adams and MatlabCo-Simulation

Abdullah akan, Fatih Mehmet Botsaland Mustafa Tnkr
Mechanical Engineering Department of Seluk University, Konya-TURKEY
AbstractThis research is aimed at developing a multi-body simulation model and
control of an inverted pendulum. A virtual prototype of the inverted pendulum is built
by using MSC Adams software and the plant model is exported to MATLAB. It is
co-simulated
in
both
MATLAB
and
MSC
Adams
softwares
together.
Proportional-integral-derivative (PID) controller is designed and implemented in

order to use in pendulum angle control simulations. The modelling and control results
shows that the Proportional-integral-derivative (PID) controller can successfully
achieve pendulum angle control of the inverted pendulum. Controlled pendulum
angle results are simulated and given in the form of the graphics.
CMA066
14:45-15:00
Research of Autonomous Surface Vehicle Control System

Boris Gurenko, Roman Fedorenko, Victor Shevchenko
Southern Federal University, Taganrog, Russia
Abstract The paper presents result of automatic control system for autonomous
surface vehicle research. The system is designed to organize autonomous performing
of mission defined from ground control station. Structure, result of simulation,
hardware and software implementation of autonomous surface vehicle and its
navigation and control system as well as experiment results are described. In the
paper authors research how autonomous surface vehicle movement depends on
parameters of control system.
CMA064
15:00-15:15
3D modelling and simulation of a crawler robot in ROS/Gazebo

Maxim Sokolov, Roman Lavrenov, Aidar Gabdullin, Ilya Afanasyev and Evgeni
Magid
Intelligent Robotics Department, Kazan Federal University, 35, Kremlyovskaya str.,
Kazan, 420008, Russia
Abstract Modelling and animation of crawler UGVs caterpillars is a complicated
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task, which has not been completely resolved in ROS/Gazebo simulators. In this
paper, we proposed an approximation of track-terrain interaction of a crawler UGV,
perform modelling and simulation of Russian crawler robot Engineer within
ROS/Gazebo and visualize its motion in ROS/RViz software. Finally, we test the
proposed model in heterogeneous robot group navigation scenario within uncertain
Gazebo environment.
CMA068
15:15-15:30
Advanced Temperature Control in a Heat-Treatment Furnace

Mihaela-Ligia Ungurean, Vlad Murean, Mihail Abrudean, Iulia Clitan and Tiberiu
Coloi
Technical University of Cluj-Napoca, Romania
Abstract In this paper, an original solution for the advanced temperature control in
a tunnel heat-treatment furnace, used in metallurgy, is presented. The main difficulties
in the control problem approach are: the mathematical model which describes the
furnace work is a non-linear one and the control system has to ensure a very precise
set of performances. Considering these aspects, a linearized form of the model is
determined and a combined control structure is proposed, based on both Internal
Model Control Strategy and Feed-Forward Strategy. The complexity of this control
structure is justified in order to solve the previously mentioned difficulties. Also, in
order to obtain the imposed performances, the initial form of the main temperature
controller has to be augmented using an original procedure. The simulations results
are compared with the results obtained implementing other control strategies,
highlighting the advantages and the implementation necessity of the proposed
strategy.
CMA072
15:30-15:45
Bilinear Control Systems: Robust Quadratic Stabilization

Mikhail Khlebnikov
Institute of Control Sciences of Russian Academy of Sciences, 65 Profsoyuznaya str.,
Moscow 117977, Russia
Abstract Based on the LMI-technique, and special modification of the Petersen
lemma, we propose a regular approach to the robust stabilization of bilinear control
systems via a linear static state feedback. In the state space of the system, we design a
so-called robust stabilizability ellipsoid, such that the trajectory of the closed-loop
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system, starting inside the ellipsoid asymptotically tends to zero for all admissible
system uncertainties. The natural development of this approach allows to effectively
design an approximation of the robust stabilizability domain of bilinear control
systems. The proposed approach is based on the solution of convex optimization
problems, yet allows for the construction of nonconvex approximations of robust
stabilizability domains of uncertain bilinear systems. The approach is easily
implementable from the computational point of view. It is based on the solution of
convex optimization problems; however, it leads to nonconvex approximations of
stabilizability domains of bilinear systems. Moreover, the proposed approach can be
extended to the discrete-time case, and to other robust statements of the problem.
DB027
15:45-16:00
Robust Control of Double Inverted Pendulum System

Narinder Bhangal, Karansher Bhangal
National Institute of Technology, Jalandhar, India
Abstract Double inverted pendulum system is highly nonlinear and unstable
system, thus its stability is a matter of concern, particularly when the system
components have parametric uncertainty. The aim is to balance the two pendulums
vertically on a movable cart. This paper presents first the dynamic modelling of the
system based on Euler Lagrangian method and then uncertain model is obtained by
considering the parametric uncertainty in moment of inertia of pendulums and friction
coefficient of hinges and cart. In this paper, reference trajectory control, disturbance
rejection and robust performance using H and synthesis controllers are made.
Both controller shows good transient response, disturbance rejection and robust
stability, but synthesis controller provides the superior robust performance as
compared to H controller.
DB1007
16:00-16:15
Comparison between MPPT P&O and MPPT Fuzzy controllers for Photovoltaic
Maximum Power Point Tracking
Youb Lamia, Aurelian Craciunescu, Gloria Ciumbulea
University of Batna 2. Algeria
Abstract The main advantage of using fuzzy controller for instance solar is the
reduction of effect of uncertainty in system control. This paper presents a comparative
study between two controllers methods for Maximum Power Point Tracking (MPPT)
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for photovoltaic (PV) systems which maximizes the power that can be transferred
from the PV system to an electrical system.
There are many innovative methods and all of them use this fact that the power
voltage curve slope has a value of zero in the maximum point,. In a generalized
classification, this method can be divided into for mains categories: Control
Algorithm, Control variable, Math-based methods, and intelligent control.
If light intensity and temperature dont change, the MPP will occur in a constant
voltage. With modifying level of voltage to this constant voltage will be tracked MPP.
But if environmental conditions change with time, voltage in MPP will change too. In
this case for a better performance, a more complicated controller is required which its
parameters with changing atmospheric conditions.
Serial or parallel cells generate photovoltaic array in order to receive more power.
Fuzzy method is much sought after due to its suitable answer towards uncertainty
present in the system and its desirable speed and precision.
A control scheme is presented which allows better control of the converter current
reference using voltage and current from the PV system as inputs. The performance
of the proposed FLC is tested by simulation and the results show that the FLC is
faster in finding the maximum power point than the conventional perturbation and
observation method.
I design and simulate a MPPT controller using FLC in MATLAB/FUZZY TOOL
BOX/SIMULINK. The results validate that MPPT can significantly increase the
efficiency of energy production from PV.
Coffee Break
16:15-16:30
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Session VI
Communication Network and Image Processing
Time: 16:30-19:00
Location: Casamada (-1 floor)
Papers: CMA004, DB007, DB025, DB035, DB040

CMA030, CMA070, DB042, DB067, DB085
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CMA004
16:30-16:45
Application of ZUPTaided INS to indoor positioning of tightening tools

Satyajit Bagchi, Mahmood Reza khabbazi
Mechatronics, Machine Design, School of Industrial Engineering and Management
(ITM), KTH, Sweden.
Abstract This paper presents the application of zero velocity detectors in the field
of indoor positioning for industrial tightening tools. Inertial measurement units are
packages of accelerometers and gyroscopes which are promising for use in
positioning systems because of their small size and weight and relatively good
accuracy. However, the position estimate achievable through simple integration using
these sensors has been shown to be extremely unreliable with the error growing to a
12 metres within seconds. This paper examines the use of zero velocity detectors in
tandem with an extended Kalman filter to achieve reliable estimates in position. Data
has been collected from a commercial and navigation grade imu, while moving in a
predefined trajectory on a tightening test rig. The data is then postprocessed in Matlab
using the implemented algorithms and the results are presented. The effectiveness of
four stateoftheart zero velocity detectors are compared and inferred through this data.
The results indicate that the error accumulation can be effectively controlled to 25
cm/min for the commercial grade imu and 15 cm/min for the navigation grade imu.
This result is significant because it presents a notable improvement on the accuracy
achievable using commercial grade sensors with a dead reckoning approach. The
adopted methodology and achieved results are discussed in detail.
DB007
16:45-17:00
Channel Pre-compensation for Compressive Sensing Multi-user Detection

Guoyu Ma, Bo Ai, Fanggang Wang and Shilei Zheng
Beijing Jiaotong University, China
Abstract Massive connections property is a remarkable feature for the future
internet of things (IoT) networks. Since data packet size in IoT networks is generally
small, the transmissions have a sporadic characteristic. Thus a random access system
which has these two characteristics is called a massive sporadic random access
(MSRA) system. Currently, various communication techniques have been proposed
for this system. One promising candidate is compressive sensing based multi-user
detection (CSMUD) technique. Nevertheless, most of the CSMUD related literatures
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assume the perfect channel knowledge at the receiver. Though some channel
estimation schemes have been proposed for CSMUD, those schemes are limited by
multi-access interference (MAI) in channel estimation due to short training sequences
in the MSRA system. In this paper, a channel reciprocity based channel
pre-compensation scheme is proposed. This scheme provides an effective strategy to
compensate uplink channel for CSMUD. Particularly, this scheme avoids MAI even
when the training sequences are short. Simulation results show that the proposed
scheme has better throughput performance than the existing CSMUD using channel
estimation.
DB025
17:00-17:15
Modelling and Solutions for Intercell Interference Problem in Full Duplex Wireless
Networks
Ali Al-Zahrani
University of Jeddah, Saudi Arabia
Abstract Recently, the limited wireless spectrum and the ever-increasing demand
for wireless communications have triggered the quest for highly spectral efficient
communication schemes where data rates (in bits per seconds) are maximized with no
need for extra bandwidth (BW). This is to avoid any dramatic increases in the service
prices or any deterioration in the quality of service.
There are several traditional ways for increasing the spectral efficiency, but most of
them have already reached their limits. A recent method, which has attracted a lot of
research attention, is the in-band full duplex transmission (FD). The full duplex
transmission enables terminals to reliably receive and transmit at the same time and
over the same frequency band. Thus, the full duplex transmission has the potential to
double the current recorded spectral efficiencies (i.e., to double the current data rates
with no extra BW requirement!). However, such a promising technique faces
implementation problems in the current wireless networks. One of the most difficult
obstacles is the co-channel interference as there will be two different kinds of
interference sources: self-interference and inter-cell interference. The co-channel
interference problem may damage the whole network if it is not carefully controlled.
This research aims to study and model the interference problem in full duplex
wireless networks and offer different optimal solutions in different scenarios. Two
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fundamental issues are to be addressed. Given a set of uplink and downlink quality of
service (QoS) requirements, 1) is this set of QoS achievable in FD-based cellular
networks? if yes, 2) what is the optimal achieving solution? To that end, we provide a
unified system model for the FD-based cellular system. The analysis are started with
a simple single-cell system, and then extended into a more generic and realistic
system.
DB035
17:15-17:30
Multi-Hop Efficent Protocol for ZigBee,Bluetooth low-Energy and ANT Sensor

nodes
Nuray At, Hakan enel, Raed S. M. Daraghma
Palestine Technical University, Palestine
Abstract in this work, we propose a multi-hop protocol for wireless personal area
networks In particular, both distance and residual energy taken into consideration to
select the primary node or forwarder.
The cost function selects a parent node which
has high residual energy and minimum distance to the sink. Residual energy
parameters balance the energy consumption among the sensor nodes while distance
parameter ensures successful packet delivery to the base station. We provide
comparing energy consumption of Bluetooth Low Energy (BLE), ZigBee and ANT
protocols in which a specific range and low power wireless sensor node periodically
sends a data packet to a sink. Simulation results show that our proposed protocol
maximizes the network lifetime and nodes stay alive for longer period, for the same
transmitted power, radio frequency, packet size and data rate for the three protocols,
ZigBee consumes less energy and offers longer network lifetime.
DB040
17:30-17:45
Optimization of Target Q-Coverage Problem for QoS Requirement in Wireless Sensor

Networks
Recep ZDA
Yuzuncu Yil University, Turkey
Abstract In the recent times, Quality of Service (QoS) terminology has been
frequently used for Wireless Sensor Networks (WSNs) because of the fact that the
targets which are covered by a different number of sensor nodes have different
detection quality. QoS of the WSNs is determined depending upon the number of
sensors that cover each target, sampling fraction etc. factors. Therefore, the
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optimization of the target Q-coverage problem is an important issue as an effective
way that increases the lifetime of the network in continuous monitoring of the remote
physical targets with different QoS restrictions. In this study, targets will be ensured
to be covered by different detection quality by optimizing the Q-coverage problem
which significantly plays a role in determining the coverage quality requirement of
each target point in the related area. For this purpose, a new approach has been
proposed based on Electromagnetism-Like (EM) algorithm, which is meta-heuristic.
As a result of the comparison of the proposed algorithm with Artificial Bee Colony
(ABC) and Particle Swarm Optimization (PSO) algorithms, it was determined by the
simulations made that the approach proposed in providing the Q-coverage
requirements which were defined for all targets was an effective solution in
increasing the lifetime of the network by decreasing the energy consumptions of the
sensor nodes.
CMA030
17:45-18:00
Finger Position Classification from Myoelectric Signal using Time Domain Based
Features
Guadalupe A. Torres and Victor H. Benitez
Department of Industrial Engineering, University of Sonora, Hermosillo, Sonora,
Mexico
Abstract In this paper the classification of finger gesture using multi-channel
surface electromyography (sEMG) signals is proposed. Three types of hand gestures
were applied to be identified, when participants holding spherical objects. A specific
finger position is evaluated while the hand grasps a specific geometrical object,
whose shape is considered as a way to introduce a parameter variation. Hand natural
motions are collected by placing electrodes on five muscles on the forearm of six
healthy subjects who are fastenings spheres into a controlled environment. A feature
vector approach in time domain (TD) is given as input to a linear discriminant
analysis (LDA) module used as statistical pattern classifier. We show that it is
possible to categorize each motion, that is, TD feature based provide an effective
representation for classification, indicating the membership of myoelectric signals
(MES) collected to a finger positions class. These results will be useful for human
hand motion analysis and has potential applications especially in robotic hand or
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prosthetic hand control and humancomputer interaction (HCI).
CMA070
18:00-18:15
A Simple fabrication of a SiO2-based multilevel DOEs (diffractive optical elements)

generating an asymmetric target image
Seunghwan Yoo, Ho Young Song and Hakgeun Jeong
Energy Saving Lab., Korea Institute of Energy Research, 152 Gajeong-ro,
Yuseong-gu, Deajeon (34129), Korea
Abstract Recently, according to the development of VR (Virtual Reality) and
motion sensing technologies, needs for 3D depth camera have been increased, and
simultaneously the diffractive optical elements (DOEs) become more important part
of optical industry. For these purposes, we fabricate SiO2-based thin diffractive
optical elements (DOEs) that can exhibit an asymmetric target image. Silicon dioxide
(SiO2) with a refractive index of 1.45 is compatible for quartz substrate. The
conventional semiconducting technologies such as photolithography and an
inductively coupled plasma etching are suitable for easily fabricating the four-level
discrete DOEs. Firstly, we designed several asymmetric diffraction patterns using
commercial simulation programs such as MATLAB, ASAP, Zemax Opticstudio and
Virtual Lab. After fabricating the four-level SiO2-based DOEs, the DOE lens set was
mounted on top of a laser diode (LD) module in order to confirm its performances
including output beam intensity, stray light and so on. Also, we investigated the
uniformity of the SiO2 layer and the thickness of each discrete level using a scanning
electron microscopy. As a result, we obtained the asymmetric target image with about
84% of output field efficiency. This method offers a potentially low-cost and
mass-production for sub-nanometer SiO2-based DOEs that can be applied to various
fields of optical engineering.
DB042
18:15-18:30
Improvement of SURF against Geometrical Distortions

Yongbae Kim and Jongweon Kim
Sangmyung University, Korea
Abstract In this paper, we proposed an improvement of SURF algorithm for
geometrical distortions. There are many images in the social networks and World
Wide Web. Content creators are specially interested in the virtual reality contents
such as 360 degree images and videos. Feature extraction is useful to stitch the
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panoramic images and SIFT and SURF are the most popular algorithms to extract
unique features from the images. Although SIFT is most efficient algorithm for some
geometrical distortions, it has a computational burdensome and SURF is not efficient
for the geometrical distortions, though SURF has the computational advantage.
We have added a pre-processor to SURF to improve geometrical robustness. The
pre-processor change target image into RST invariant domain. In the case of the
original SURF, the number of the feature matching is decreased as long as the
rotation angle is increasing. When the rotation angle is over 20 degrees, the features
started to mismatch. After rotation angle of 40 degrees, there is no matched features.
However, the proposed algorithm shows the almost perfect matching rate when the
test image is rotated. The average of the matching rate is 97.9%.
DB067
18:30-18:45
Support Vector Machine Applied to Compress Medical Image

Chahinez Mrim Bentaouza, Mohamed Benyettou
University of Science and Technology of Oran / University of Mostaganem, Algeria
Abstract This article presents the constitution of compressed image after learning
by support vector machines applied to medical images. Medical images are a valuable
means of decision support. However, they provide a large number of images per
examination. Compression is used to reduce the size of medical images for storage
and transmission. This work uses Support Vector Machines for compression to reduce
the pixels of microscopic images. The compression rates are satisfactory. However,
we have a loss of visual information because the compressed image has only support
vectors especially when using radial function.
DB085
18:45-19:00
Brain Image Segmentation Using Multistable Cellular Neural Networks

Burak Ylmaz, Akif Durdu, Gzin zmen
Selcuk Unversity, Turkey
Abstract This study proposes a new method on brain image segmentation.
Algorithm is based on the Multistable Cellular Neural Networks (Multistable-CNN).
Evaluations are performed on well-known BRAINWEB database. The metrics for
performance evaluations of the algorithm were JACCARD, DICE, TPF and TNF. The
results are compared with the SPM8, FSL FAST and Brain Suite software packages.
The Multistable CNN algorithm used in this study differs from conventional CNN
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algorithm. The Multistable CNN's can perform multiple segmentations in a single
run. Algorithm is simple and doesn't require complex calculations. Evaluations show
that proposed algorithms performance is adequate. Algorithm also does not require
any atlas or image registration

61/ 82
Session VII
Power Electronic Technology
Time: 13:30-16:30
Location: Guinovart (-1 floor)
Papers: CMA010, CMA040, DB012, DB029, DB036, DB048

DB049, DB061, DB064, DB088, DB1004, DB090
62/ 82

CMA010
13:30-13:45
Improved rotation angle of a MEMS analog torsional micro-mirror with auxiliary

fixed-free beams
Saeid Afrang, Malek Hassanzadeh and Ghader Rezazadeh
Electrical Engineering Department, Faculty of Engineering, Urmia University,
Urmia, Iran
Abstract This paper reports a MEMS analog torsional micro-mirror with
improved rotation angle. The working range and consequently the rotation angle
limitation of electrostatically actuated torsional micro-mirror due to pull-in
instability is solved. Pedestal and suspension beams are presented to achieve
electrostatically actuated torsional micro-mirror with extended working range, but
without penalties of complex control circuit and large actuation voltage. In the
electrostatically actuated torsional micro-mirror increasing the applied voltage
decreases the equivalent stiffness of the structure and leads the system to an
unstable condition by undergoing to a saddle node bifurcation. In the proposed
structure to postpone pull-in instability and increase the rotation angle range,
mechanical stiffness of the structure is increased by adding a pedestal and locating
auxiliary fixed-free beams in the free ends of the micro-mirror.
CMA040
A Novel Hybrid Self-sensing Method For Force Estimation In A Piezo-stepper
13:45-14:00
Actuator
Ruben Vandervelden, and S.Hassan Hosseinnia
Development and Engineering, ASML, The Netherlands
Abstract This paper presents a novel application of a hybrid observer based selfsensing in a piezo stepper actuator. Most existing observer based methods for force
estimation are based on the assumption of smooth external loading conditions and
do not take into account the interactions due to contact. While stepping at
high
frequencies, a proper interaction between the driving rod and piezolegs of the
piezostepper is not achieved causing unwanted disturbances. In this paper, a hybrid
method incorporating self-sensing contact detection and observer based self-sensing
is used to estimate the force acting on the piezolegs. The designed hybrid observer
is able to identify contact and estimate forces with a good accuracy for the given
driving signal.
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DB012
14:00-14:15
Hybrid GSA-ANN Methods to Forecast Sheath Current of High Voltage

Underground Cable Lines
Bahadr AKBAL
SELUK UNIVERSITY, Turkey
Abstract Electrical safety is major issue for electric networks, so high voltage
underground cable lines have been used instead of overhead line recently in city
center and neighborhood. However, sheath current generates on metallic sheath of
high voltage underground cable, and sheath current causes major cable faults and
electroshock. Single point bonding, solid bonding and cross bonding are used to
reduce sheath current and voltage. If sheath current is determined before high
voltage underground cable line is installed, the most suitable method can be used to
reduce sheath current and voltage. Hence, cable faults and electroshock can be
prevented. There are many factors in formation of sheath current. Thus, formulation
of sheath current is very complex and difficult. In this case forecasting methods can
be used to determine sheath current, and artificial neural network (ANN) is a
powerful method for forecasting studies. In this study, Gravitational Search
Algorithm (GSA) and artificial neural network (ANN) is used to reduce training
error, and hybrid GSA-ANN method is obtained. It is seen at the end of this study
that errors of hybrid GSA-ANN method are less than errors of classic ANN.
DB029
14:15-14:30
Implementation of Expert System for Power System Voltage Stability Improvement

Abraham Lomi and F. YudiLimpraptono
National Institute of Technology, Malang, Indonesia
Abstract This paper presents a concept of an expert system to monitor and
improve the voltage stability condition in a power system based on the L-index of
load busses. This index uses the load flow analysis information from the steady
state voltages condition and is in the range of 0 which is indicated for no load
condition to 1 which is indicated for voltage collapse. For improving the voltage
stability index the control variable consists of switchable shunt VAR compensators
(SVC), OLTC transformers and generator excitation. The control of voltage collapse
is based on reducing the magnitude of L-indices of critical bus for a given system
operating condition based on heuristic criteria using the sensitivities (change in
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L-index) of load busses to different reactive power control variables. These
sensitivities are stored in the knowledge base of expert system in the form of facts
called voltage stability control lists. The expert system identifies the critical load
busses whose L-index values are above acceptable limits. The expert system selects
the corresponding voltage stability control list and recommends control action at the
most effective compensator. The proposed expert system technique has been tested
on a standard test system. Results obtained for a modified IEEE-30 bus standard test
system are presented for illustration purposes.
DB036
14:30-14:45
Implication of DG Incorporation in Criticality Assessment of Power Network Buses

Using Betweenness Metric
Tamalika Chowdhury, C. K. Chanda and A. Chakrabarti
Indian Institute of Engineering Science and Technology, India
Abstract Concepts in complex network theory has emerged as an effective tool in
dealing with investigations related to failures in power networks. The topological
betweenness can be redefined as electrical betweenness subjected to power flow
conditions and constraints. In this paper the power grid can be modelled as a
directed graph in analyzing the properties of the complex network theory to identify
critical buses which can create vulnerable failures of the network if removed due to
unforeseen fault or an attack. The electrical betweenness metric has been considered
for this purpose in order to assess the vulnerability of a power network. Simulation
of an IEEE 57 bus network has revealed that the most critical bus has high degree of
electrical betweenness. This paper has also highlighted the application of
Distributed Generation (DG) in improvement of the betweenness metric as well as
the voltage profile of the critical bus along with reduction in total system power loss
following its incorporation at the most critical bus.
DB048
14:45-15:00
Optimal Power Flow of asynchronous links based on Variable Frequency

Transformer: A comparative economic study with VSC-HVDC link
JosMiguel Garca Guzmn, Guillermo Tapia Tinoco, Jacinto Torres Jimnez,
Luis Alberto Contreras Aguilar, Alejandro Pizano Mart
nez
Instituto Tecnolgico Superior de Irapuato, Mexico
Abstract This research work presents the practical implementation of an Optimal
Power Flow formulation with Asynchronous Links models (OPF-AL) aimed for
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OPF solutions in power systems. These kind of asynchronous links are based on
Variable Frequency Transformer (VFT) and the Voltage Source Converter-High
Voltage Direct Current (VSC-HVDC). Meanwhile, the main component of the VFT
is based on modified phase-shifting transformer model, the VSC-HVDC link is
represented by the Voltage Source Converter-based model. On one hand, the
Variable Frequency Transformer performs the active power flow control by a
continuous phase-shift, where the phase-shift angle is adjusted to maintain the
active power exchange within power limits. On the other hand, the VSC-HVDC
link has the ability to provide independent control in the VSC converters, which
allows the use of separate active and reactive power control for system regulation.
Also, this controller can be installed in the same substation in Back to Back (BtB)
scheme or in differents substations in Point to Point (PtP) scheme. However, in the
study cases presented in this work, the VSC-HVDC device is configured in a BtB
scheme and used only to control of active power flow in order to carry out the
comparative study between the two main technologies of asynchronous links. The
study cases show an important difference related with the cost function for each one
of these technologies into the power system, as well as the control capacities are
different too. In such way, these results provide important information in order to
choose the best technology of asynchronous links according to the technical or
economics requirements on the electrical installation.
DB049
15:00-15:15
Determination of Electromagnetic Radiation Levels at Two Primary Schools near

Base Stations
Levent Seyfi
Selcuk University, Turkey
Abstract In todays world, technological devices use for nearly every type of
work is so much popular. These devices such as cellular phone, tablet, laptop, etc.
facilitate and expedite our works. Together with their advantages, disadvantages of
them are also possible. Cellular phones work together with base stations mounted in
residential areas. Base stations forward a call started from a cellular phone to the
radio network controller. Then, the radio network controller forwards the call to
another base station giving service to the called cellular phone. Cellular phones can
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communicate with base stations without a cable connection via electromagnetic
(EM) radiation. This type of EM radiation is called as non-ionizing radiation. As a
result of researches carried out up to now, adverse health effect of radiation emitted
from cellular phones and base stations is not certain. However, long term researches
should be completed to show exact health effects of it on human health. In this
context, till this topic is obvious, we should be cautious about their radiation and
exposure levels of their radiation should be technically monitored periodically. This
situation is of great importance for especially vulnerable groups of general public
such as older, sick people, and kids. For these reasons, in this study, electromagnetic
radiation levels at two primary schools near base stations in Konya, Turkey were
measured and analyzed according to the standard values determined by
International Commission on Non-Ionizing Radiation Protection (ICNIRP).
DB061,
15:15-15:30
Solution of Economic Load Dispatch Problem Using Biogeography Based

Optimization Technique Considering Valve Point Loading Effect
Chandan Kumar Chanda, Deblina Maity and Sumit Banerjee
Indian Institute of Engg. Science & Technology, India
Abstract The article presents biogeography-based optimization (BBO) algorithm
which is applied on convex and non-convex economic load dispatch (ELD) problem
of power system. In this article transmission losses are not included. In this method,
some non-linearities like valve point loading effect are considered. The primary
objective of ELD is to determine optimal power allocation within operating limits
such that the power demand is satisfied. Biogeography interacts with the biological
distribution of species. The proposed BBO algorithm has been tested on three
different test systems considering equality and inequality constraints. The results are
checked the convergence characteristics with other techniques which prove the
advantage of the proposed BBO algorithms.
DB064
15:30-15:45
Developing an Optimization Method for Bidding Strategies In an Open Electricity

Market
Anagha Bhattacharya, Swapan Kr. Goswami, Tanima Kole Bhowmik
National Institute of Technology Mizoram, India
Abstract Deregulation of power sector has highly maximized competition of
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market by reforming conventionally integrated utility of power into competitive
EM. Purpose of this research is to develop an optimization method by combining
the genetic algorithm, adaptive metropolis search, particle swarm optimization and
differential evolution methods for strategy of optimal bidding in an open electricity
market. Maximum profit for power exchange and optimal result has been obtained
with minimum convergence with the proposed algorithm. Developed algorithm
gives much faster convergence of the optimal result Further the proposed algorithm
can be expanded for complicated power system issue of optimization under
deregulated environment.
DB088,
15:45-16:00
LVRT Capability Assessment of Grid Code Frequency Responsive VSWTG

Asma Aziz, Aman MTO and Alex Stojcevski
Deakin University, Australia
Abstract With increasing wind energy penetration and impending grid codes, it is
important to enable wind based power plants to provide sensitive frequency active
power response as well as
connection capability during and after a short-term
fault. Conventionally active power is given low priority during voltage disturbance
and voltage ride through capability is assessed separately with frequency ride
through capability. This paper assess the LVRT capability of frequency grid code
compatible DFIG based VSWTG under frequency dependent power set-point
neglecting current priority. Simulation tests conducted for a weak system shows
improved LVRT capability of frequency responsive VSWTGs in comparison to
normal VSWTGs.With active power output well above zero and turbine speed also
remaining under limit during fault conditions, frequency grid code compatible
VSWTGs can also satisfy FRT grid codes of many countries.
DB1004
16:00-16:15
Impulse characteristics of different gas mixtures

Emel Onal and Ahmet Bilgin
Istanbul Technical University, Turkey
Abstract This study is concerned with experimental investigation of breakdown
characteristics of various gas mixtures under different pressures. Pure N2, %50
SF6+%50 N2, %1 SF6+%99 N2 and %1 SF6+%CO2 gas mixtures are used as
insulators. Gas pressures are varied between 1 and 10 bar. Weibull statistical
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analyses are used for evaluation of experimental data and breakdown characteristics
are plotted by using least squares regression. As a result of this analytical
assessment, the pressures required for safer protection levels are obtained as 1 bar
for %50 SF6+%50 N2, 10 bar for %1 SF6+%99 N2, 5 bar for %1 SF6+%99 CO2
gas mixtures and 10 bar for N2.
DB090
16:15-16:30
Electronically Tunable Current-Mode Square-Root-Domain First Order All-Pass

Filters and Their Quadrature Oscillator Applications
Fatma Zuhal Adalar, Ali Kircay, Mehmet Serhat Keserlioglu
Harran University, Turkey
Abstract This paper proposes square-root-domain current-mode first order
inverting and non-inverting all-pass filters. The proposed filters are designed by
using state-space-synthesis method with current-mode square-root circuits,
squarer/divider circuits, current mirrors, current sources and grounded capacitors
without any external resistors. Therefore, the proposed filters are appropriate to
develop into an integrated circuit. The center frequency can be adjusted
electronically by changing the values of the external current sources. A
current-mode quadrature oscillator has been included to be an example for the
practice. The proposed oscillator is obtained by cascading inverting and
non-inverting all-pass filters loop. 3 Volts power supply was used to operate the
all-pass filter circuits and the oscillator circuit. In order to demonstrate the
performances of them, the PSPICE simulations have been provided to confirm the
theoretical analyses. The filters are simulated by using TSMC 0.25 m Level 3
CMOS process parameters for this purpose.
Coffee Break
16:30-16:45
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Session VIII
Information Technology and Application
Time: 16:45-18:45
Location: Guinovart (-1 floor)
Chaired by Prof. Abraham Lomi

National Institute of Technology, Malang, Indonesia
Papers:
DB008, DB074, CMA015, CMA043,

DB019, DB089, DB1003, CMA201
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DB008
16:45-17:00
The Effect of Neighborhood Functions on Migrating Birds Optimization for

Continuous Domain
Mitat Uysal, Aysun Gran, Mustafa Zahid Grbz, Celal Barkan Gran
DOU UNIVERSITY,TURKEY
Abstract Migration Birds Algorithm (MBO) is a new optimization algorithm inspired
by swarm intelligence. MBO was developed by Duman, Uysal and Alkaya in 2012.
They applied it to solve quadratic assignment problem.
Some recent studies
demonstrate that MBO shows promising results for the problems in continuous domain.
Defining an effective neighborhood function is one of the most important phases in
heuristic algorithms since it leads a more effective exploration of the solution space.
With this motivation, in this work, we analyze the effect of four different neighborhood
functions on MBO algorithm. We applied MBO algorithm to 5 different functions on
continuous domain. Our contribution in this study is to use different neighborhood
functions for MBO. Experimental studies show that while generating neighbors
changing all dimensions of the solutions and taking the information of the best solution
gives better performance results.
DB074
17:00-17:15
A study of Geographic Information System (GIS) in health domain: Viewpoints of

students and faculties of Bandar Abbas Health School
Parvin Lakbala
Hormozgan University of Medical Sciences, Iran
Abstract The aim of this study is to identify GIS awareness and perception in
Hormozgan University of Medical Sciences (HUMS) in respect of the students and
lecturers point of view. This descriptive study was conducted in 2014. Research
population were students and lectures of health school of HUMS. The sample size was
162 consisted of 150 students (95 females and 55 males) and 12 lectures (3 females and
9 males). Data were collected from two anonymous questionnaire instrument which
included information related to research purposes, and its validity was confirmed by
experts. The collected data were analyzed using descriptive statistics and SPSS
software. Fisher's exact test showed that there were significant differences between the
two groups of lectures and students in awareness and knowledge to the application of
GIS in the health sector (P = 0.029). Although the mean score of the both groups of
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lectures and students and the total score of the questions were lower than the mean
score. Between the awareness of students and lectures and the application of GIS in the
how to provide health services and facilities available were a significant difference (P =
049). The results show that knowledge of both groups was low, it seems due to the lack
of educational training programs in universities, health groups and short courses on
Geographic Information System. According to the numerous applications in the
planning of the health system educational and practical education is essential in
medical universities.
CMA015
17:15-17:30
Effect of Thermal Drift in Sensitivity of Pressure Sensor

Abdelaziz Beddiaf, Fouad Kerrour, Lazhar Merouani and Abdelkrim Rachid
Faculty of Science and Technology, Khenchela University, Algeria
Abstract In this paper, a numerical model to improve the pressure sensitivity of
sensor has been proposed. We determine how the temperature effect the pressure
sensitivity in this sensor types during the applying a supply voltage. In addition, the
evolution of sensor sensitivity has been calculated as function of supply voltage, as
well as, for various times, for some geometrical parameters of the sensor. It has been
observed that the sensitivity is greatly affected by the rise in the supply voltage,
mainly when the sensor is operated in the prolonged time. Finally,
this work allows
us to evaluate the reliability of sensors. Also, it permits to predict their behavior against
temperature due to the application of a voltage of a bridge and to minimize this effect
by optimizing the geometrical parameters of the sensor and by reducing the supply
voltage.
CMA043
17:30-17:45
A Fast Location Algorithm Based on TDOA

Bonan Jin, Xiaosu Xu and Tao Zhang
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology,
Ministry of Education, School of Instrument Science and Engineering, Southeast
University, China
Abstract This paper presents a new algorithm based on TDOA to get the sound
source position, which can be applied to indoor positioning, underwater navigation,
radar searching, etc. The unknown of the range is extracted only from the equations and
estimated firstly in the algorithm. Then, the value is back to the new equations for the
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optimal estimate in coordinates. In a new point of geometry, a cone constraint and a
plane constraint are constructed and added into the equations. We simulated the
approach proposed and made a comparison with some classic algorithms. As a result,
this algorithm is up to the level of the famous algorithm, Taylor series, on the accuracy.
Moreover, it has no iteration process, which means convenient and fast on computation.
DB019
17:45-18:00
Red Green Black Trees: extension to Red Black Trees

Seyfeddine ZOUANA, Djamel Eddine ZEGOUR
Ecole nationale Superieure dInformatique (ESI ex: INI), Algeria
Abstract This paper proposes an extended form of Red Black trees. It presents a new
explicit balancing algorithm called Red Green Black trees. This structure tolerates
some degree of imbalance that allows a decrease of the number of rebalancing relaxing
the update operations. Through the use of three color nodes, the structure tolerates
series of two nodes between Black nodes and defines a less balanced tree. It is
interesting because the imbalance doesn't affect the update time and save the same level
of performances of Red Black trees of O(log(n)). In fact, Red Green Black trees can
provide better performances in environment where the restructuring is most frequent
with Red Black trees.
DB089
18:00-18:15
Exploring multi-core design space: Heracles vs. Rocket Chip Generator

Eduardo AndrNeves, Samuel Xavier-de-Souza
Universidade Federal do Rio Grande do Norte, Brazil
Abstract This article presents the analysis and comparison of two powerful tools to
explore design space and study multi-core microprocessors. Heracles, developed at the
MIT, is a modular tool to create MIPS multi-core processors. Its modularity allows
quick development by varying the types of processor, memory, network interconnect
and cache. RISC-V is a new instruction set architecture, developed at the University of
California, Berkeley, that has several tools for designing architectures and processors
that use this instruction set. The Rocket Chip Generator is one of these tools. It is the
equivalent of Heracles for the MIPS architecture and, as such, provide several features
that allows rapid development of RISC-V multi-core processors. We compared the
target hardware and software features of these tools. The Rocket Chip Generator
proved to be an excellent tool for the development of new RISC-V processors whereas
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Heracles seemed a more adequate tool for teaching and parallel architecture research at
higher levels of abstraction.
DB1003
18:15-18:30
Bispectrum and energy analysis of wind speed data

Tahir Cetin AKINCI, Serhat SEKER, Omer AKGUN, Jelena DIKUN, Gokhan
ERDEMIR
Istanbul Technical University, Turkey
Abstract The bispectrum has a different analysis functions compared to the power
spectrum analysis. The bispectrum provides additional information for nonlinear or
non-Gaussian data, and also the method gives detailed information on the phase
information signal. In this study, bispectrum and energy analysis was performed for
wind speed data for the regions of Turkey Krklareli. Hourly wind speed data of
Krklareli Region belonging to the year 2011 is used. Data were obtained from The
General Director of Meteorology, Ankara, Turkey. As well as time-amplitude graph,
energy graph obtained and monthly analysis is made of this diagram. Subsequently,
sufficiency level of speed zones has been tested frequency from time and frequency
information by obtaining spectrograms of velocity information. Random processes
which are described more accurately than statistically and high grade statistics for
processing phase information (more than two) and studies on spectrum can provide
useful results. In this context, bispectrum of annual velocity information was obtained.
In addition to the bispectrum analysis, methodology of the diagonal slices spectrum is
used for data which do not show mark in the non-linear structure or Gaussian
distribution researches. Also, after obtaining bispectrum surfaces, monthly results
through these charts were found and evaluated by removing diagonal slices analysis.
Peaks in the bispectrum indicate the frequency component and phase overlap in the
signal. By means of these analyses, the frequency component and phase conflict are
determined in the wind speed data. The result of the analysis determined by the energy
level was consistent with the wind speed. Wind speed phase-coupling and diagonal
slices are calculated. As a result of the calculations, it is determined low and high
frequency groups.
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CMA201
18:30-18:45
An Optimization Approach for An RFID-enabled Passport Tracking System

Abdulsalam Dukyil, Ahmed Mohammed and Mohammed Darwish
Electronic and Computer Engineering, University of Brunel, Uxbridge, UB8 3PH UK
School of Engineering, University of Portsmouth, Portsmouth, PO1 3DJ UK
Abstract
RFID is an automatic object identification technology that identifies
objects within a given radio frequency range through radio waves without human
intervention or data entry. In the industry, the implementation of RFID was rapidly
developing into different sectors such logistics and supply chain management and
object tracking. Even though, this implementation faces several hurdles from different
perspectives such as the collision that may occur between RFID readers and economic
challenge. This work investigates the design of a RFID-enabled passport tracking
system in terms of numbers of related facilities that should be established. To this aim,
a multi-objective optimization model was developed. The objectives are maximizing
the implementation and operational costs and minimizing the RFID reader interference.
To reveal Pareto solutions, two solution methods namely the -constraint method and
the LP-metrics method were applied. The best solution by comparing the obtained
Pareto solutions was determined using the Max-Min method. The implementation of
the developed model based on a case study has proved its applicability in presenting an
optimal design for the RFID-enabled passport tracking system and trade-offs among
the two objectives.

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Poster session
Poster1
CMA039
Optimal Control for Automatic Transmission in the Inertia Phase of Gear-Shift

Process
Yulong Lei, Qingkai Wei1, Xingzhong Li, Zengyin Liu and Yao Fu
State Key Laboratory of Automotive Simulation and Control, Jilin University,130022,
Changchun, China
Abstract In this paper, the on-coming clutch control strategy for automatic
transmission in the inertia phase was developed based on the optimum output torque.
Firstly, powertrain dynamic model is built, which includes planetary gear model,
hydraulic actuator model, clutch transmitted torque and vehicle load model. Then
weight of three shift quality evaluation indexes is distributed by Analytic Hierarchy
Process; based on the weight, the three shift quality evaluation index can be
normalized, so that it is convenient to compare different shift quality. Shift quality
caused by different output torque curve is researched by orthogonal design; an
optimum output torque with best shift quality can be got by the above analysis. The
optimum output torque can be transformed into optimum turbine acceleration, and
then the error value of actual turbine acceleration and optimum turbine acceleration as
an input signal of the PI controller to adjust oil pressure of the on-coming clutch.
Simulation tests results show that this on-coming clutch control strategy achieves an
optimum output torque and optimum shift quality and proves the correctness of this
control strategy based on the vehicle dynamic model.
Poster2
DB076
Critical-bitstream-based SEU Injection and Validation for Xilinx SRAM-based

FPGAs
Tingting Yu, Lei Chen, Xuewu Li, Shuo Wang and Jing Zhou
Beijing Microelectronics Technology Institute, Beijing, P.R.China
Abstract SEU (Single Event Upset) injection system implemented in a single FPGA
always suffers difficulties of partitioning circuit modules and obtaining target
bitstream. This paper presents a critical-bitstream localization strategy to find out the
injection target for Xilinx FPGAs. Two assumptions are proposed to obtain frame
addresses and bit offsets of the critical bitstream corresponding to CUT (circuit under
test). To verify the localization strategy, a SEU injection framework is also introduced.
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Experimental results on XQ5VLX110t show that 2977 bits are identified as critical
bits and among them 343 bits are judged as SEU sensitive ones. While the process of
random injection only finds 97 SEU sensitive bits. Comparing the data, the fault rate
of the critical-bits injection is 52.8% higher than that of the random-bits injection.
That indicates the proposed localization strategy is effective.
Poster 3
DB028
Research on Electric Micro-Meteorological Disaster Monitoring and Early Warning

Technology
Weimei Zhao, Jiakai Wang
Global energy Internet Research Institute, Changping District, Future Technology
City, Beijing, 102209, China.
Abstract Because in our country complex topography, power transmission line is
often affected by abnormal climate and environment, so relevant research of the
micro-meteorological disaster monitoring, early warning become increasingly
important. This paper introduces the impact on the power system of the
micro-meteorological, the formation of warning principles and methods of electric
micro-meteorological disaster, at the same time, focusing on the disaster monitoring
and forecasting model, transmission conductor galloping monitoring model, frozen
disaster
forecasting
model
and
evaluation
model,
studies
the
electric
micro-meteorological disaster warning model and data processing methods, proposed

construction of an integrated micro-meteorological warning system, which achieved
the real-time weather monitoring and warning on the grid, as well as monitoring of
general and special weather analysis and forecasting and warning.
Poster 4
DB077
Directional Couplers Based on Substrate Integrated Waveguide

NingZhang, QingLiu,and Jin-KuiYan
The Institution of Communication and Information Engineering, Shanghai, China
Abstract High isolation and wideband single-layer planar directional coupler with
coupling degree 10dB based on substrate integrated waveguide (SIW) technology is
pre-sented. The proposed couplers are realized with several short-slit by placing
metallic-vias, fabricated on a glass-epoxy FR4 substrate, thus making it a very low
cost solution. Two prototypes of couplers are presented respectively in this paper. The
first show the isolation and return loss with 10% relative bandwidth, and the last one
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with new prototype shows the isolation and return loss with above 30% relative
bandwidth. The couplerwith new prototype exhibits return loss better than -25dB for
frequency range from 4.5 to 6GHz. A peak isolation of 40dB is achieved, with the
overall isolation above 30dB for the range of 4 to 6GHz. This design with new
prototype also shows coupling degree with 10dB for the frequency range from 4 to
6GHz.
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Attention*
Sorry to announce that the one-day visit has been scheduled two days
ahead of the original plan since the tutorials have to be cancelled due
to a few signups.
One-Day Tour
December 9 (on Friday)
Time: 09:00-17:00
General route
Park Guell- Sagrada familia- Las Ramblas street and Mercat de la
Boqueria- Montjuc-harbor
79/ 82
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NOTE
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Barcelona Conferences Abstracts December 2016

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Barcelona Conferences Abstracts December 2016

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December 7-11, 2016| Barcelona, Spain

Published and Sponsored by

December 7-11, 2016| Barcelona, Spain

December 7-11, 2016| Barcelona, Spain

Welcome to 2016 Barcelona Conferences. On behalf of organization, I would like to

In order to hold more professional and significant international conferences, your

December 7-11, 2016| Barcelona, Spain

December 7-11, 2016| Barcelona, Spain

Conference Organizing Committee

December 7-11, 2016| Barcelona, Spain

Add: R Gran Via de les Corts Catalanes, 559, E-08011-Eixample Barcelona

December 7-11, 2016| Barcelona, Spain

Prof. Dan Zhang

December 7-11, 2016| Barcelona, Spain

December 7-11, 2016| Barcelona, Spain

Prof. Tarek El-Ghazawi, IEEE Fellow

December 7-11, 2016| Barcelona, Spain

Prof. Elmar Bollin

December 7-11, 2016| Barcelona, Spain

Technical Program at a Glance

Schedule for Dec.8

Prof. Dan Zhang

Prof. Dan Zhang

Coffee Break & Group Photo

Keynote Speech III

Prof. Tarek El-Ghazawi

December 7-11, 2016| Barcelona, Spain

Schedule for Dec.8

Dinner@ Ona Lounge Bar

December 7-11, 2016| Barcelona, Spain

Schedule for Dec.9

December 7-11, 2016| Barcelona, Spain

Prof. Dan Zhang

York University, Canada

Prof. Dan Zhang

York University, Canada

December 7-11, 2016| Barcelona, Spain

Coffee Break & Group Photo

December 7-11, 2016| Barcelona, Spain

Prof. Tarek El-Ghazawi, IEEE Fellow

The George Washington University, USA

Prof. Elmar Bollin

Offenburg University of Applied Sciences, Germany

December 7-11, 2016| Barcelona, Spain

Lunch @ Ona Lounge Bar

December 7-11, 2016| Barcelona, Spain

Papers: CMA013, CMA031, CMA032, CMA033, CMA034,

December 7-11, 2016| Barcelona, Spain

Design and Development of Tangible Instruction Set for Educational Robotic

Longitudinal adaptive control of mobile robots in a platoon

Airport Management Controller: A Multi-Robot Task-Allocation Approach

December 7-11, 2016| Barcelona, Spain

December 7-11, 2016| Barcelona, Spain

Chaos Generation for Multi-Robot 3D-Volume Coverage Maximization

A Robotic Surveillance Platform based on An On-board Computer Vision

December 7-11, 2016| Barcelona, Spain

Autonomous Underwater Vehicle Mathematical Model and Simulator

Mechatronics Design of An Autonomous Pipe Inspection Robot

December 7-11, 2016| Barcelona, Spain

Vind: a robot self-localization framework

Human-leading Navigation for Gait Measurement Robot in Living Space

December 7-11, 2016| Barcelona, Spain