FRONT PAGE - ICMRE 2018 PAGE 1 / 52 2018 4th International Conference on Mechatronics and Robotics Engineering 2018 6th International Conference on System Modeling and Optimization

FRONT PAGE

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2018 4th International Conference on Mechatronics and

Robotics Engineering

2018 6th International Conference on System Modeling

and Optimization

University of Valenciennes, Valenciennes, France

February 7-11, 2018

*Sponsored by

APPRECIATIONS

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*Technically Co-sponsored by

*Media Support

*Published by

AGENDA

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<February 7, 2018>

Université de Valenciennes et du Hainaut-Cambrésis

Institut des Sciences et Techniques

Bâtiment Abel de Pujol (ISTV 2), le Mont Houy, 59313 VALENCIENNES, FRANCE

10:00-14:00 Registration & Materials Collection

15:00-17:00 Lab Visit in University of Valenciennes

15:00 – 16:00

Visit 1: Demonstration of MISSRAIL - building Malvache

Visit 2: Demonstration of Surferlab - building Jonas 1 floor

16:00 – 17:00

Visit 3: Demonstration of Wind turbine demo - building Gromaire 1

Visit 4: Demonstration of Engine bench - building Gromaire 2

AGENDA

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<February 8, 2018> Morning




Keynote Speeches

Meeting Room: AB2-202 E (ABEL DE PUJOL2 / ISTV2)

Chaired by Prof. Saïd Hanafi | Full Professor

University of Valenciennes, France

09:00-09:10 Opening

Remarks

Prof. Saïd Hanafi | Full Professor


09:10-09:50 Keynote Speech

I

Prof. Dan Zhang | Full Professor

York University, Canada

Speech Title: Advancing and Integrating the Performance of

Robotic Systems for the 21st Century Manufacturing

09:50-10:20 Coffee Break & Group Photo


II

Prof. Ian Walker | IEEE Fellow, Full Professor

Clemson University, USA

Speech Title: Grasping with Soft Continuum Robots


III

Prof. Farouk Yalaoui | Full Professor

Université de Technologie de Troyes, France

Speech Title: PARALLEL MACHINE SCHEDULING WITH JOB

SPLITTING AND SETUP TIMES

Lunch @ <12:00-13:30>

AGENDA

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Afternoon< February 8, 2018>




Author Presentations

13:30-16:15

Session I- Robot Design and System Control

Session Chair--Dr. Dao Phuong Nam,

Hanoi University of Science and Technology, Vietnam

& Session Chair--Dr. Ö mer Faruk Görçün

Kadir Has University, Turkey

AB2-202 E

(ABEL DE PUJOL2

/ ISTV2)

[13:30-14:45] 5 presentations—

MRE010, MRE014, MRE018, MRE022, MRE023

[14:45-15:00] Coffee Break


MRE025, MRE035, MRE036, MRE039, MRE1002

13:30-16:30

Session II- Mechatronics and Control Engineering

Session Chair--Assoc. Prof. Puntani Pongsumpun,

King Mongkut's Institute of Technology Ladkrabang, Thailand AB2-203 E

(ABEL DE PUJOL2

/ ISTV2)


CS008, CS009, CS023, MRE008, MRE009

[14:45-15:00] Coffee Break


MRE011, CS004, CS007, CS013, MRE007, MRE032

Dinner @ Le Grand Hôtel de Valenciennes <18:00-20:00>


February 8

10:00-17:00 Poster Session

MRE004, MRE017, MRE019,

MRE037, CS029, CS030

AGENDA

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Morning<February 9, 2018>




Keynote Speeches


Chaired by Prof. Dan Zhang | Full Professor



I

Prof. Norbert Krüger | Full Professor

University of Southern Denmark, Denmark

Speech Title: Welfare Robotics in elderly care homes

10:10-10:30 Coffee Break


II

Prof. Belkacem Bouamama | Full Professor

Ecole Polytechnique de Lille, France

Speech Title: Graphical and Multiphysics Modelling, for

Diagnosis and Integrated Design: Theory and Applications


III

Prof. Saïd Hanafi | Full Professor


Speech Title: Mathematical programming based heuristics for

the 0–1 MIP

Lunch @ <12:00-13:30>

AGENDA

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Afternoon<February 9, 2018>




Author Presentations

13:30-15:45

Session III- Computer Application and Information

Management

Session Chair--Asst. Prof. Chia Hung Kao,

National Taitung University, Taiwan

AB2-202 E

(ABEL DE PUJOL2

/ ISTV2) 9 presentations—

MRE003, MRE029, MRE033, CS006, CS010, CS017, CS022,

CS035, MRE027

13:30-15:45

Session IV- System Modeling and Numerical Simulation

Session Chair--

Asst. Prof. Hamed Soleimani,

Azad University, Iran

AB2-203 E

(ABEL DE PUJOL

2 / ISTV2)

9 presentations—

CS001, CS011, CS012, CS014, CS015, CS038, MRE021,

MRE028, CS025

Coffee Break <15:45---16:15>

AGENDA

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<February 10, 2018>

Gather @ Registration Desk

10:00-12:00 One-day Cultural visit

*To visit or to cancel will depend on the final sign-ups.

<February 11, 2018>

Tutorial - Next generation of robotics

10:00-15:00

Prof. Dan Zhang| Full Professor


AB2-202 E (ABEL DE PUJOL2 / ISTV2)

10:00-12:00 Registration

12:00-13:30 Lunch

13:30-15:00 Tutorial

*The tutorial has been canceled since it did not reach the minimum number of attendees.

CONTENTS

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Front page····················································································································1

Collaborations···············································································································2

General Agenda at a Glance·························································································3

Welcome Address····························································································10

Venue··························································································································11

Notes and Tips·············································································································13

Introduction of Keynote Speakers···············································································14

Session I······················································································································22

Session II······················································································································27

Session III·····················································································································35

Session IV····················································································································41

WELCOME

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Dear professors and distinguished delegates,

Welcome to 2018 the 4th International Conference on Mechatronics and Robotics

Engineering (ICMRE 2018) and the 6th International Conference on System Modeling

and Optimization (ICSMO 2018) in University of Valenciennes, Valenciennes, France!

We wish to express our sincere appreciation to all the Conference Chairs, Local

Chairs, Program Committee Chairs, Local Organizing Committee and Technical

Committee. Their high competence and professional advice enable us to prepare the

high-quality program. Special thanks to the invited speakers as well as all the authors

for contributing your latest research to the conference. We hope all of you have a

wonderful time at the conference and also in France.

The conference is featured with keynote speeches, peer-reviewed paper

presentation and social program. One best presentation will be selected from each

parallel session, evaluated from: Originality, Applicability, Technical Merit, Visual

Aids, and English Delivery. Wishing you all the very best of luck with your

presentations!

We believe that by this conference, you can get more opportunity for further

communication with researchers and practitioners with the common interest in

mechatronics and robotics engineering as well as system modeling and optimization.

Your suggestions are warmly welcomed for the further development of the

conferences in the future. Wish you have a fruitful and memorable experience in

University of Valenciennes! We look forward to meeting you again next time.

Best Regards!

Yours sincerely,

ICMRE & ICSMO 2018 Organizing Committee

University of Valenciennes, Valenciennes, France

VENUE

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University of Valenciennes, Valenciennes, France (Campus Mont Houy)

http://www.univ-valenciennes.fr/ISTV/plan-campus-mont-houy

*1/ The fastest route by driving (taxi) from Lille Airport to Campus Mont Houy; Drive 47.0 km, 34 min

Lille Airport, Route de l'Aéroport, 59810 Lesquin, France

↓Get on A23 in Sainghin-en-Mélantois from D655

↓Follow A23 to Rue Jules Mousseron/D958 in Aulnoy-Lez-Valenciennes. Take exit 21 from A2

↓Continue on Rue Jules Mousseron/D958 to your destination

Campus Mont Houy, 59300 Aulnoy-Lez-Valenciennes, France

VENUE

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*2/ By Aéropt-C-de-Gaulle-TGV from Charles de Gaulle Airport to Campus Mont Houy

*The above information is intended for reference only.

Please refer to the maps to guide your own route.

NOTES & TIPS

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Notes:

Your punctual arrival and active involvement in each session will be highly

appreciated.

The listeners are welcome to register at any working time during the

conference.

Certificate of Presentation will be awarded after your presentation by the

session chair.

One Best Presentation will be selected from each parallel session and the author

of best presentation will be announced and awarded when the session is over.

Please kindly keep your Paper ID in mind so that the staff can quickly locate your

registration information onsite.

Please kindly make your own arrangements for accommodations.

Please keep all your belongings (laptop and camera etc.) with you in the public

places, buses, metro.

Warm Tips for Oral Presentation:

Get your presentation PPT or PDF files prepared.

Regular oral presentation: 15 minutes (including Q&A).

Laptop (with MS-Office & Adobe Reader), projector & screen, laser sticks will be

provided by the conference organizer.

KEYNOTE

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Prof. Dan Zhang

York University, Canada | Full Professor

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. Zhang’s 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 (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.

KEYNOTE

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Prof. Ian Walker

Clemson University, USA | IEEE Fellow, Full Professor

Professor Walker is a Fellow of the IEEE and a Senior Member of the AIAA. He has served as Vice

President for Financial Activities for the IEEE Robotics and Automation Society, and as Chair of the

AIAA Technical Committee on Space Automation and Robotics. He has also served on the Editorial

Boards of the IEEE Transactions on Robotics, the IEEE Transactions on Robotics and Automation,

the International Journal of Robotics and Automation, the IEEE Robotics and Automation

Magazine, and the International Journal of Environmentally Conscious Design and Manufacturing.

His research has been funded by DARPA, the National Science Foundation, NASA, NASA/EPSCoR,

NSF/EPSCoR, the Office of Naval Research, the U.S. Department of Energy, South Carolina

Commission of Higher Education, Sandia National Laboratories, and Westinghouse Hanford

Company.

Professor Walker's research centers on robotics, particularly novel manipulators and

manipulation. His group is conducting basic research in the construction, modeling, and

application of biologically-inspired "trunk, tentacle, and worm" robots. Their work is strongly

motivated by the dexterous appendages found in cephalopods, particularly the arms and suckers

of octopus, and the arms and tentacles of squid. The ongoing investigation of these animals

reveals interesting functional aspects of their structure and behavior. The arrangement and

dynamic operation of muscles and connective tissue observed in the arms of a variety of octopus

species motivate the underlying design approach for our soft manipulators. These artificial

manipulators feature biomimetic actuators, including artificial muscles based on pneumatic

(McKibben) muscles. They feature a “clean” continuous backbone design, redundant degrees of

freedom, and exhibit significant compliance that provides novel operational capacities during

environmental interaction and object manipulation. The unusual compliance and redundant

degrees of freedom provide strong potential for application to delicate tasks in cluttered and/or

unstructured environments. This work in turn leads to novel approaches to motion planning and

operator interfaces for the robots. This work is currently funded by DARPA under the DSO

BIODYNOTICS program, by NASA, and by NASA/EPSCoR Dr. Walker also conducts research in the

area of fault tolerance and reliability of robots. New work focuses on the creation of animated

environments. This work in Architectural Robotics, a fast-emerging area, exploits key aspects of

engineering and architecture in exploring how our environments of the future could morph in

real time. Applications being investigated by Walker's group focus on assisted living and aging in

place.

KEYNOTE

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Prof. Farouk Yalaoui

Université de Technologie de Troyes, France | Full Professor

Farouk YALAOUI obtained his Engineering degree in Industrial Engineering from the Polytechnics

School of Algiers (Algeria) in 1995, his master’s degree in Industrial System Engineering from

Polytechnics Institute of Lorraine (Nancy, France) in 1997, his Ph.D. degree in Production

Management from the Troyes University of Technology (UTT) in 2000 and followed by a

Habilitation à diriger les recherches (Dr. Hab) from Compiegne University of Technology (UTT) in

2006. He is currently a full Professor at Troyes University of Technology, France, where he is the

head of Optimisation Industrial systems Optimisation Lab (Research Team), Charles Dealaunay

Institute (ICD), UMR CNRS 6281 . His research topic focuses on the scheduling problems, system

design, operations research, modeling, analysis and optimization of logistic and production

systems, reliability and maintenance optimization and on optimization problems in general.

He is author or co-author of a pattern and more than 300 contributions, publications or

communications with 3 books (Ellipses, Hermes-Lavoisier, Willey and Sons), 9 book chapters and

58 papers in journals such as IIE Transactions, European Journal of Operational research,

International Journal of Production Economics, IEEE Transactions on Reliability, Reliability

Engineering and System Safety, Computer & Operations research, Journal of Intelligent

Manufacturing. He also published more than 210 papers in conference proceedings. He had

presented 19 invited speeches (seminaries or conferences plenary sessions).

He is member of IFAC TC group 5.2. He is Chair of a Working Group on multiobjective

optimization. He is member of French Universities National Council (CNU) field Automation,

Control, Industrial Engineering (section61). http://losi.utt.fr/fr/membres/yalaoui.html.. He is

French expert for different agency such French ANR agency, French AERES Agency, Natural

Sciences and Engineering Research Council of Canada (NSERC), Algerian PNR program.

KEYNOTE

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Prof. Norbert Krüger

University of Southern Denmark, Denmark | Full Professor

Norbert Krüger is Professor, Ph.D., Maersk Mc-Kinney Moller Institute for Production Technology,

Technical Faculty at the University of Southern Denmark. He has been employed at the University

of Southern Denmark since 2006 (first as an Associate Professor and then as a full Professor (MSO)

since 2008). He is one of the two leaders of the Cognitive and Applied Robotics Group (CARO,

caro.sdu.dk) in which currently 12 PhD students, two Assistant and two Associate Professor as

well as 8 master students are working. Norbert Krüger's research focuses on Cognitive Vision, in

particular vision based manipulation and learning. He has published 45 papers in journals and

more than 80 papers at conferences covering the topics computer vision, robotics, neuroscience

as well as cognitive systems. His H-index is 24. His group has developed the C++-software CoViS

(Cognitive Vision Software) which is now used by a number of groups in national as well as

European projects. He is currently involved in 2 European projects as well as 4 Danish projects.

KEYNOTE

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Prof. Belkacem Bouamama

Ecole Polytechnique de Lille, France | Full Professor

Belkacem OULD BOUAMAMA is full Professor and head of the research at Ecole Polytechnique de

Lille, France. His main research areas developed at CRIStAL laboratory CNRS9189 where he leads

“MOCIS” group, concern Integrated Design for Supervision of System Engineering. Their

application domains are mainly nuclear, energy, and mechatronic systems. He is the author of

more than one hundred international publications in this domain. He is co-author of five books in

bond graph modeling and Fault Detection and Isolation area. Research and teaching activities can

be consulted at:

https://wikis.univ-lille1.fr/ci2s/membres/belkacem-ould-bouamama

KEYNOTE

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Prof. Saïd Hanafi

University of Valenciennes, France | Full Professor

Saïd Hanafi holds a Full Professor position in Computing Science at Institute of Techniques and

Sciences, University of Valenciennes and is currently in charge of the computer science

department of LAMIH CNRS UMR 8201. His research lies in the design of effective heuristic and

meta¬heuristic algorithms for solving large-scale combinatorial search problems. His is interested

in theoretical as well as algorithmic modelling and application aspects of integer programming

and combinatorial optimization and has published over 50 articles on the topic. His current

interests revolve around the integration of tools from hybrid methods mixing exact and heuristics

for solving hard problems.

SESSIONS

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Keynote Speeches on February 8, 2018 [09:00-11:40] Chaired by Prof. Saïd Hanafi | Full Professor


[09:00-09:10] Opening Remarks by Prof. Saïd Hanafi | Full Professor


09:10-09:50

Keynote

Speech I

Advancing and Integrating the Performance of Robotic Systems for the 21st

Century Manufacturing

Dan Zhang, PhD, PEng., FCAE, FEIC, FASME, FCSME, SMIEEE

Kaneff Research Chair in Advanced Robotics and Mechatronics

Professor and Chair

Department of Mechanical Engineering, Lassonde School of Engineering

York University

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

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

SESSIONS

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of Robotics and Automation of UOIT 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.

09:50-10:20 Coffee Break & Group Photo

10:20-11:00

Keynote

Speech II

Grasping with Soft Continuum Robots

Prof. Ian Walker, IEEE Fellow, Full Professor

Clemson University, USA

Abstract—The talk will discuss the use of soft and compliant robotic elements in

novel grippers, aimed at more versatile and adaptive machine grasping. Traditional

robot grippers are based on rigid elements, typically parallel jaws. This restricts the

size, shape, and structure of graspable payloads. We will discuss alternative robot

gripers based on compliant continuum elements which proved a softer, more

adaptable interface with grasped objects.

11:00-11:40

Keynote

Speech III

PARALLEL MACHINE SCHEDULING WITH JOB SPLITTING AND SETUP TIMES

Prof. Farouk YALAOUI, D. Hab, PhD. Laboratoire d’optimisation des Systèmes

Industriels, LOSI, Institut Charles Delaunay, UMR CNRS 6281, Université de

Technologie de Troyes, 12 rue Marie Curie, BP 42060, 10004 Troyes Cedex, France

Abstract—We consider the problem of scheduling a set of independent jobs with

sequence-dependent setup times and job splitting, on a set of identical parallel

machines such that maximum completion time (makespan) is minimized. A

simplified real-life identical parallel machines scheduling problem with

sequence-dependent setup times and job splitting to minimize makespan is

discussed. A list of heuristics and metaheuristics is proposed to solve this problem.

The first method is based reduction problem into a single machine scheduling

problem with sequence-dependent setup times. This reduced problem can be

transformed into a Traveling Salesman Problem (TSP), which can be efficiently

solved using Little’s method. A linear programming modeling with setup times and

job splitting considerations is also developed

Lunch @ <12:00-13:30>

SESSIONS

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Session I Robot Design and System Control

13:30-16:15

AB2-202 E

(ABEL DE PUJOL2 / ISTV2)

Co-chaired by

Dr. Dao Phuong Nam


&

Dr. Ö mer Faruk Görçün


[13:30-14:45] Presentations: MRE010, MRE014, MRE018, MRE022, MRE023

[14:45-15:00] Coffee break

[15:00-16:15] Presentations: MRE025, MRE035, MRE036, MRE039, MRE1002

Note: Please arrive 30 minutes ahead of the sessions to prepare and test your

PowerPoint.

SESSIONS

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MRE010

13:30-13:45

A Flexible Suction Based Grasp Tool and Associated Grasp Strategies for Handling

Meat

Troels Bo Jørgensen, Mads Møller Pedersen, Niels Worsøe Hansen, Bo Renneberg

Hansen and Norbert Krüger


Abstract—In this paper, we present a suction cup based gripper tool for grasping

pork bellies. The tool is attached to a 6DOF robot arm in order to test different grasp

strategies. The task of grasping pork bellies is difficult since the objects are highly

flexible. Due to the deformations, an airtight connection can form between the meat

and the object below it. During the lift, this can lead to a vacuum which sometimes

causes the grasp to fail. Thus it is important that the tool and the grasp strategy is

able to minimize the effects of this vacuum in order to generate a stable grasp.

Furthermore, there is a high variation in the meat products and the initial placement

of the products. Thus the tool has to be sufficiently flexible to handle the different

cases robustly.

MRE014

13:45-14:00

Study on Posture Control along Yaw Direction of Multi-Legged Underwater Robot

(CALEB10)

Hansol Lee and Jihong Lee

Chungnam National University, Korea

Abstract—The CAELB10 is an underwater robot developed by mimicking a diving

beetle. It has 4 legs and each leg is a multi-joint type. CALEB10 moves under the

water using the drag force generated by the stroke of the leg. In this paper, we

propose a control method that focuses on yaw direction among CALEB10 posture

control methods using swimming pattern generator developed in previous research.

Yaw directional posture control method should be preceded by position control and

it is necessary to compensate for the disturbance caused by tether and flow of water

in underwater environment. In the yaw directional posture control method, the drag

force generated by the stroke of the left leg and the right leg occurs asymmetrically,

so that a rotational moment is generated along the yaw direction. The yaw

directional posture control method proposed in this paper is verified by

experiments in a simulator based on dynamics and underwater experiments.

MRE018

14:00-14:15

Design, Analysis & Prototyping of a Semi-Automated Staircase-Climbing

Rehabilitation Robot

Siddharth Jha, Himanshu Chaudhary, Swapnil Satardey, Piyush Kumar, Ankush Roy,

Aditya Deshmukh

IIT Kharagpur, India

SESSIONS

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Abstract—In this paper, we describe the mechanical design, system overview,

integration and control techniques associated with SKALA, a unique large-sized

robot for carrying a person with physical disabilities, up and down staircases. As a

reg-ular wheelchair is unable to perform such a maneuver, the system functions as a

non-conventional wheelchair with sev-eral intelligent features. We describe the

unique mechanical design and the design choices associated with it. We show-case

the embedded control architecture that allows for sev-eral di_erent modes of

teleoperation, all of which have been described in detail. We further investigate the

architecture associated with the autonomous operation of the system.

MRE022

14:15-14:30

Estimation of Friction Coefficient For Exploring Robot around Rough-Terrain Under

Small-Slip or Less-Traction Condition

Jiyong Kim, Younghwan Park, Hansol Lee and Jihong Lee

Chungnam National University, Korea

Abstract—One of the important factors for the exploration robot to travel in diverse

environments is estimation of friction coefficient on the ground. Algorithm for

estimating friction coefficient based on the Traction-Slip Curve developed in the

previous research is a method for estimating friction coefficient when there is slip

generated while the robot is driving . However, in many cases, sufficient slip does

not occur in the real environment. In this paper, we divided into 4 cases according to

the slip ratio and traction. In the case of low slip occurrence, we modified the

algorithm to estimate the friction coefficient on the low slip area based on the

previously estimated ground information. And we show the result of estimation of

friction coefficient under the condition of low slip through the simulation based on

the proposed method.

MRE023

14:30-14:45

Workspace Analysis of a One Cable Planar Cable Robot

Amir Mohamad Mashayekh, Mohamad Jafar Sadigh, Mohamad Milad Morovat

University of Tehran, Iran

Abstract—Rehabilitation robots are usually made of rigid links which make them

heavy with limited Workspace. Cable robots are introduced in rehabilitation to

compensate these weaknesses. However, cable robots have an important weakness

that they can only apply tension. This can substantially restrict the workspace of the

robot. In this paper we introduce a novel configuration, which is a combination of

cable and springs for a two degrees of freedom (DOF) planar cable robot, which is to

be used for rehabilitation purposes. A set of springs are used to increase the

workspace. Parameters of the springs are obtained through an optimization process.

Static and dynamic workspace for this robot are then calculated for different

configurations of springs calculated in design process.

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14:45-15:00

Coffee Break

MRE025

15:00-15:15

Gait Planning of one Amphibious Robot with Six Arc Legs

Wenbo Duan, Junzhan Hou, Hu Liu, Bo Hu, Weiliang Yan and Hongjian Duan

Xi’an Institute of Applied Optics, China

Abstract—Amphibious robots are widely studied due to its adaptation to different

environments. The tripod gait and tetrapod gait are important patterns for the

amphibious robot and usually works on smooth surface. This paper mainly focuses

on the simulation of the tripod gait and tetrapod gait patterns of one amphibious

robot with six arc legs. What’s more, the effects of different support phases on the

motion of the robot are analyzed by using the virtual prototype software ADAMS.

The presented analysis and simulation method here will benefit the design and the

promotion of the amphibious robot.

MRE035

15:15-15:30

A Cognitive Map Learning Model Based on Hippocampal Place Cells

Jie Chai; Xiaogang Ruan; Jing Huang; Xiaoqing Zhu

Beijing University of Technology, China

Abstract—Aiming at the environment cognition and navigation problem of

autonomous mobile robots in unknown environment, a cognitive map learning

model is proposed based on hippocampal place cells, which can memorize and map

surroundings. The model uses the self-organizing feature map as the basic structure.

Each hippocampal place cell is represented by a neural node. The robot builds up

the hippocampal place cells layer through environment exploration. The simulation

results show that the model has self-learning ability, which enables robots to

acquire environment knowledge and establish a complete cognitive map gradually

like human beings and animals, making the robot’s environment cognition and

navigation process become more bionic and intelligent.

MRE036

15:30-15:45

Fuzzy Motion Planning for nonholonomic Mobile Robot Navigation in Unknown

Indoor Environments

Weria Khaksar, Md Zia Uddin, and Jim Torresen

University of Oslo, Oslo, Norway

Abstract—An important expectation from a mobile robot is to be able to navigate in

unexplored areas in the presence of unknown obstacles. Despite the great deal of

work in this field, this problem is still a challenge as the planning domain is highly

complex. This challenge can be seen in the form of high-cost solutions, high

computational cost or increasing rate of failure. In this paper, a fuzzy motion

planning approach is presented for guiding a nonholonomic mobile robot in

unknown environments. The fuzzy controller uses the readings of the robot’s

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<18:00-20:00>

Dinner @ Le Grand Hôtel de Valenciennes

sensor(s) in terms of total travelled distance, distance to the goal and the presence

of obstacles in the vicinity of the robot; and computes the linear and angular velocity

of the robot with a pre-defined frequency. The proposed method was tested through

simulation as well as experimental studies on a TurtleBot in indoor environments.

The simulation and experimental studies show the effective performance of the

proposed approach in terms of solution cost, computational cost and failure rate.

MRE039

15:45-16:00

Collision driven multi scenario approach for human collaboration with industrial

robot

Stanislav Mikhel, Dmitry Popov, Alexandr Klimchik

Innopolis University, Russia

Abstract—This study focuses on the problem of robot interaction with a dynamically

changing environment. Particular attention is paid to the problem of human

collaboration with industrial robot in a shared common workspace. The paper

identifies collisions and provides algorithms for different scenarios of obstacle

avoidance, considering the nature of interaction and contact point location. The

developed mathematical framework is based on the neural network classification

and finite state machine, followed by appropriate collision reaction/avoidance

algorithms. The advantages of the developed approach were demonstrated by an

experimental study dealing with Kuka LBR IIWA 14 robot interaction with a human

and dynamic environment.

MRE1002

16:00-16:15

Workspace Analysis of a Planar Two Cables Robot

Mohamadmilad Morovat, Mohamadjafar Sadigh, Amirmohamad Mashayekh

University of Tehran, Iran

Abstract—Rehabilitation robots are usually made of rigid links which make them

heavy. So their application is limited to the health clinics and does not have home

use. Cable robots compensate these defects. They have an important defect that can

only apply tension. This can substantially restrict the workspace of the robot. In this

paper we introduce a configuration, which is combination of cables and springs for a

two degrees of freedom (DOF) planar cable robot. Parameters of springs are

obtained through an optimization process. Static and dynamic workspace for this

robot then calculated for different configurations of springs calculated on design

process. We choose the configuration that has the widest dynamic and static

workspace and compare to a different two DOF with two actuators cable robot.

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Session II Mechatronics and Control

Engineering

13:30-16:15

AB2-203 E


Chaired by Assoc. Prof. Puntani Pongsumpun,

King Mongkut's Institute of Technology Ladkrabang, Thailand

[13:30-14:45] Presentations: CS008, CS009, CS023, MRE008, MRE009

[14:45-15:00] Coffee break

[15:00-16:30] Presentations: MRE011, CS004, CS007, CS013, MRE007, MRE032


PowerPoint.

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CS008

13:30-13:45

Process Modeling in an Aeronautics Context

Sophie Lemoussu, Jean-Charles Chaudemar and Rob Vingerhoeds

ISAE-SUPAERO, France

Abstract — The aeronautics sector is currently living an unprecedented growth

largely due to innovative projects. In several cases, such innovative developments

are being carried out by Small and Medium sized-Enterprises (SMEs). For

instance, airships are being studied again as a real alternative to passenger and

cargo transportation. Thus, in Europe, this kind of projects is led by a handful of

SMEs. They have all limited resources, must make strategic decisions, take

considerable financial risks and in the same time must take into account the

constraints of safety, cost, time and performance as any commercial organization

in this industry.

Moreover, today, no international regulations fully exist for the development and

certification of airships. The absence of such a precise and sufficiently detailed

regulatory framework requires a very close contact with regulatory instances. But

SMEs do not always have sufficient resources and internal knowledge to handle

this complexity and to discuss these issues. This poses additional challenges for

those SMEs that have system integration responsibilities and that must provide all

the necessary means of compliance to demonstrate their ability to design,

produce, and operate airships with the expected level of safety and reliability.

This situation is not limited to the airships. Large civil drones, tethered aerostats

or even flying cars may find benefits of this research as well. The final objective is

to provide a methodological framework supporting SMEs in their development

taking into account recent innovation and institutional rules of the sector. We

provide a contribution to the problematic by developing a specific Model-Based

Systems Engineering (MBSE) approach. Airspace regulation, international

standards and norms on systems engineering are taken on board to be formalized

in a set of models.

This paper reports on the global approach, the modeling approach and the further

research roadmap that this modeling will enable to conduct.

CS009

13:45-14:00

Modeling of Requirement-Based Effect Chains of Mechatronic Systems in

Conceptual Stage

Mohamad W. Chamas, Kristin Paetzold

1BMW Group, Munich, Germany; 2Universität der Bundeswehr München, Munich,

Germany

Abstract — As a result of new challenges such as E-mobility and autonomous

driving in the automotive industry, the amount of functions in vehicles increases

rapidly. Accordingly, the development of mechatronic systems needs new

methods towards a function oriented way in order to reduce the complexity. Due

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to the typical bottom-up development in the automotive sector the aspect of

vertical traceability in requirement engineering is incomplete. This paper presents

a new methodical concept for modeling of effect chains to support the domain

independent view for functional modeling in conceptual stage. Based on effect

chains a systematic and structured approach is defined to derive functional

requirements. In conclusion, this builds the basis for a more efficient development

of functional requirements in conceptual stage.

CS023

14:00-14:15

About DSML Design Based on Standard and Open-Source – REX From SAFRAN

Tech Work Using Papyrus-Sysml

Maurice THEOBALD, Luca Palladino and Pierre Virelizier

SAFRAN/SAFRAN Tech, Magny-Les-Hameaux, France

Abstract—With the increase of the level of integration and complexity of new

systems it is mandatory to ensure system architects collaborate closely with all

the disciplines involved in complex system design. Models enable such fruitful

collaboration. Like industrial product development, research and technology

activities require the use of models to support processes and methods. This holds

true even if the development assurance level required is less than the one

expected for an industrial program. In this context SAFRAN decided to evaluate

the Papyrus open source SysML modeler. During the first stage, the tool has been

deployed straight out of the box (with a support to end users), but it faced strong

rejection. All the associated issues have been captured so as to specify a

customization on top of Papyrus. This customization is based on a SysML profile

and is tailored for our specific SAFRAN processes and methods. It required several

steps, before the end users fully agreed to use this modeler. In this paper, we show

how it is implemented within Papyrus by demonstrating how a toy example of a

lightweight quadcopter drone is modeled

MRE008

14:15-14:30

DISTURBANCE OBSERVER BASED SLIDING MODE CONTROL FOR FLEXIBLE JOINT

MANIPULATOR SYSTEMS

Dao Phuong Nam, Vu Van Dung,Pham Thanh Loc and Do Trong Tan


Abstract—This paper presents a external disturbance observer (DO) for flexible

joint single link manipulator. Besides, the arbitrary small attraction region is

obtained by using the suitable parameters. The main result of this paper is

proposed based on differential equation analysis. Moreover, several exploration in

depending of parameters are given out. Simulation results pointed out the

good ehavior of the proposed methods.

MRE009

14:30-14:45

CONTROL DESIGN FOR A CLASS OF NONLINEAR SYSTEMS BASED ON EXTERNAL

DISTURBANCE OBSERVER

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Dao Phuong Nam, Bui Minh Thang, Nguyen Truong Thanh and Do Trong Tan


Abstract—This paper presents some analysis about the essential role of finite time

convergence in sliding mode control and effects of selected parameters on control

performance. The main technique of this paper based on properties of differential

equation. Moreover, several exploration in depending of parameters are given out.

Simulation results pointed out the good ehavior of the proposed methods for

flexible joint manipulator systems.

14:45-15:00

Coffee Break

MRE011

15:00-15:15

Multi-Parametric Programming based Cascade Control System for Unmanned

Aerial Vehicles

Nam Dao Phuong, Tran Gia Khanh, Do Trong Tan,Tran Hoang Anh and Le Duy

Tung

Hanoi University of Science and Technology,Vietnam

Abstract—This paper considers the problem of cascade control system for

unmanned aerial vehicles (UAVs). The proposed control structure is a hierarchical

scheme including an offline model predictive control (MPC) based on

multi-parametric programming (MPP) technique and trajectory generator using

genetic algorithm (GA). Simulation results are presented to show the effectiveness

of the proposed strategy.

CS004

15:15-15:30

Age Structural Model of Zika Virus

J. Lamwong, P. Pongsumpun

Nakhon Phanom University, Thailand; 2King Mongkut’s Institute

of Technology Ladkrabang,, Thailand

Abstract — Zika virus is mosquito-borne flavivirus. It can be transmitted between

human by bitting of Aedes mosquitoes. It can also transmit chikungunya, yellow

fever and dengue disease. Zika virus can spread through mosquito to human,

human to mosquito and human to human. In this paper, we account the age

structure of zika virus patiens. We divide into two groups: human and mosquito.

Age structure of human population is separated two groups: juvenile and adult

human. Standard dynamical modeling method is used for analyzing the behaviors

of solutions. The stability conditions for the disease free and endemic equilibrium

states are considered by Routh-Hurwitz criteria. We simulate our model by using

numerical method. The numerical simulations are showed to confirm the

analytical results.

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CS007

15:30-15:45

Network Distribution Model of Influenza Virus in the Community

P. Pongsumpun

King Mongkut’s Institute of Technology Ladkrabang, Thailand

Abstract — Influenza is occurred around the world. It caused by influenza virus.

The types of influenza can affect people such as type A, B and C. The influenza

virus can spread though the air from coughs or sneezes between people. It can be

found in all age of human. In this study, we formulate the network model for the

transmission of influenza virus. The numerical simulations are given to see the

influence of each parameter. The mathematical method is used in this paper. The

discussion of each parameter is given.

CS013

15:45-16:00

Effect of Vaccination To The Transmission Model of H1N1 Virus

Rattiya Sungchasit, Puntani Pongsumpun

1Phuket Rajabhat University, Thailand; 2Mongkut’s Institute of Technology

Ladkrabang, Thailand

Abstract — A model for the transmission of H1N1 virus in a constant human

population is studied. Swine flu is a respiratory disease caused by viruses that

infect the respiratory tract of pigs, resulting in nasal secretions, a barking cough,

decreased appetite, and listless behavior. Swine flu produces most of the same

symptoms in pigs as human flu produces in people. H1N1 influenza epidemic

reported severe disease caused by a co-infection of dengue virus and influenza

H1N1. Both dengue fever and influenza have a wide range of clinical presentations

with many overlapping features, and overlap hinders the differentiation of the two

diseases. In this paper, we develop the mathematical model which can describe

the transmission of this disease. The standard dynamical modelling method is

used for analyzing the model. The simulation outputs for the different set of

parameters are given in this paper. The results of this study should introduce the

way for reducing the outbreak.

MRE007

16:00-16:15

Adaptive Control Analysis of Robotic Mechanisms

Dan Zhang and Bin Wei


Abstract—An adaptive control of robotic manipulators is presented. Some

limitations of the above method are also illustrated. Basic knowledge on the joint

space control, operational space control and force control are also given. Finally

some future vision on the control directions are presented.

MRE032

16:15-16:30

An Online Fault Tolerant Actor-critic Neuro-control for a Class of Nonlinear

Systems using Neural Network HJB Approach

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Seung Jin Chang

Seoul National University,South Korea

Abstract—In this paper, we propose an actor-critic neuro-control for a class of

continuous-time nonlinear systems under nonlinear abrupt faults, which is

combined with an adaptive fault diagnosis observer (AFDO). Together with its

estimation laws, an AFDO scheme, which estimates the faults in real time, is

designed based on Lyapunov analysis. Then, based on the designed AFDO, a fault

tolerant actor- critic control scheme is proposed where the critic neural network

(NN) is used to approximate the value function and the actor NN updates the fault

tolerant policy based on the approximated value function in the critic NN. The

weight update laws for critic NN and actor NN are designed using the gradient

descent method. By Lyapunov analysis, we prove the uniform ultimately

boundedness (UUB) of all the states, their estimation errors, and NN weights of

the fault tolerant system under the unpredictable faults. Finally, we verify the

effectiveness of the proposed method through numerical simulations.

Dinner <18:00-20:00>

Dinner @ Le Grand Hôtel de Valenciennes

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Keynote Speeches on February 9, 2018 [09:30-11:50] Chaired by Prof. Dan Zhang | Full Professor


09:30-10:10

Keynote

Speech I

Welfare Robotics in elderly care homes

Prof. Norbert Krüger, Full Professor


Abstract—Robotics is one of the fastest developing technical fields in the last

decades with constant growing-rates of around 5% per year. In the 60th to 90th,

robots have been predominantly “fast moving but daft machines” that replaced

monotonous manual labor and by that boosted the production of goods. This was

one reason for a never known before wealth in many developed European

countries.

Already in the 80th, robots that perform tasks outside production halls based on

their cognitive understanding of the world have been discussed. However, such

cognitive understanding has turned out to be much more difficult to model than

expected. Only recently, robots that interact with humans – but which not

necessarily possess highly developed cognitive skills – are about to enter public

spaces and even private homes.

In particular the pressure caused by the demographic development in Western

European countries allows for easily creating very good business models for the

application of so called “welfare robots” in care institutions for the elderly. In my

talk, I will give an overview of current developments in welfare robotics in the

elderly care sector, the technical problems that still need to be addressed and the

applications to be expected within the next decade. In particular, I will introduce the

recently started project SMOOTH (smooth-robot.dk) which stands for “Seamless

huMan-robot interactiOn fOr THe support of elderly people”.

As for most other technologies, there is a great potential for solving fundamental

societal problems with such welfare robots. However there is also the risk of an

“industrialization of elderly care”: While production facilities without humans are a

real possibility, elderly care homes without “warm hands” need to be characterized

as a societal nightmare.

10:10-10:30 Coffee Break

10:30-11:10

Keynote

Speech II

Graphical and Multiphysics Modelling, for Diagnosis and Integrated Design: Theory

and Applications

Prof. Belkacem Bouamama, Full Professor

Ecole Polytechnique de Lille, France

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Abstract—A review of the literature suggests a large spectrum of modelling

approaches for control, diagnosis and reconfigurability analysis, for continuous and

hybrid systems. All those properties are analysed in an independent manner with

specific models. In spite of their simplicity, graphical models provide many useful

information, since with any need of numerical calculation and using only one

representation, they are able to:

*Generate systematically of dynamic models valid for continuous systems and all

modes of hybrid systems;

*Provide a control analysis in terms of structural observability and controllability,

flattening ability and sizing of actuators;

*Provide diagnosis analysis (automatic generation of robust fault indicators, sensor

placement,and structural diagnosability).

Furthermore graphical models are well suited for informatics implementation and

software development dedicated for automated modelling and supervision system

design.

How to elaborate such models (digraph,bi-partite graphs,causal graphs,bond

graph), how to develop the diagnosis and control algorithms from those

representations,what are the links and differences between these models, what are

the limits and the complementarities of each method,...? Such are the questions we

want to contribute and discuss during this speech from an industrial and theoretical

point of view.

11:10-11:50

Keynote

Speech III

Mathematical programming based heuristics for the 0–1 MIP

Saïd HANAFI and Raca TODOSIJEVIC

Univ. Valenciennes, CNRS UMR 8201 - LAMIH, F-59313 Valenciennes, France

Abstract—The 0–1 mixed integer programming problem is used for modeling many

combinatorial problems, ranging from logical design to scheduling and routing as

well as encompassing graph theory models for resource allocation and financial

planning. This talk provides a survey of heuristics based on mathematical

programming for solving 0–1 mixed integer programs (MIP). More precisely, we

focus on the stand-alone heuristics for 0–1 MIP as well as those heuristics that use

linear programming techniques or solve a series of linear programming models or

reduced problems, deduced from the initial one, in order to produce a high quality

solution of a considered problem. We review: heuristics that use pivot moves within

the search for an optimal solution of the MIP in order to move from one extreme

point to another; heuristics that use pseudo-cuts in order to cut-off portions of a

solution space already examined in the previous solution process; the so-called

pump heuristics which purpose is to create a first feasible solution of the considered

MIP; and so-called proximity heuristics that seek a MIP feasible solution of a better

quality in the proximity of the current incumbent solution. In addition, we provide a

classification and summary of main components of MIP heuristics. In general, our

emphasis is on how mathematical programming techniques can be used for

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approximate problem solving, rather than on comparing performances of heuristics.

The talk is based on the following paper [Saïd Hanafi, and Raca Todosijević.

"Mathematical programming based heuristics for the 0–1 MIP: a survey." Journal of

Heuristics (2017): 1-42].

Lunch @ <12:00-13:30>

SESSIONS

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Session III Computer Application and

Information Management

13:30-15:45

AB2-202 E


Chaired by Asst. Prof. Chia Hung Kao,


Presentations:

MRE003, MRE029, MRE033, CS006, CS010, CS017, CS022, CS035, MRE027


PowerPoint.

SESSIONS

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MRE003

13:30-13:45

A study on the change of user experience by presenting tactile texture when using

stylus pen

Jinho Ahn, Kyeongjin Park and Kyungdoh Kim

Hongik University, South Korea

Abstract--There are many studies to introduce the texture through the stylus pen,

but the usability study on the texture of the stylus pen has not proceeded. This

study investigates the differences in the experience of using the stylus pen with the

actual texture. Experiments were conducted to compare the experience of drawing

and writing using paper/pen, tablet/stylus pen, and tablet/modified stylus pen.

Our study found out that the difference between modified stylus pen and the

tablet/stylus pen was not significant regarding usability. However, on the

emotional side, our system showed closer results to paper and pen, and user

satisfaction on our system was higher than the one in tablet and stylus pen. The

results of this study are expected to be used to examine the stylus pen for texture

presentation.

MRE029

13:45-14:00

Comparative Analysis of EMG Signal Features in Time-domain and

Frequency-domain using MYO Gesture Control

Haider Ali Javaid, Nasir Rashid, Mohsin Islam Tiwana and Muhammad Waseem

Anwar

National University of Sciences & Technology, H-12, Islamabad, Pakistan

Abstract—Feature extraction is a pronounced method to extract the information

utility which is concealed in electromyography (EMG) signal to study the

characteristic properties and behavior of signal. This study gives a comparative

analysis of thirteen complete and most up-to-date features of EMG signals in

Time-domain and Frequency-domain. Particularly, the EMG signals are obtained

from a device MYO gesture control on an embedded system. For this purpose, four

healthy male volunteers are considered to perform four different hand movements

based on stationary, double tap, single finger movement and finger spread. To be a

successful classification of these EMG features in both domains, we prefer attribute

selected classifier as it gives the better performance and higher rate of accuracy i.e.

93.8%. The experimental results prove that features in time-domain are

superfluity and redundant while features in frequency-domain (measured by

statistical parameters of EMG power spectral density) show the ultimate

dominance and signal characterization. The findings of this study are highly

beneficial for further use in order to predict the behavior of EMG in pattern

recognition and in classification of EMG signals for assistive devices or in powered

human arm prosthetics.

MRE033 Monocular Visual-Inertial State Initialization for Micro Aerial Vehicles

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14:00-14:15 Yao Xiao, Xiaogang Ruan,Xiaoping Zhang

Beijing University of Technology,China

Abstract—Monocular visual-inertial state estimator can be classified into

filterbased and optimization-based method. However, both of these methods

require an initial state to bootstrap the system. In this paper, we propose a robust

initialization algorithm to provide high-quality initial guess for the monocular

visual-inertial system (VINS). The proposed method takes the up-to-scale camera

poses estimated by monocular vision-only SLAM (simultaneous localization and

mapping) and the IMU sensor measuements as input. The gyroscope bias are firstly

estimated by minimizing the error between preintegrated gyroscope

measurements and camera attitude measurements. After that, a rough gravity

vector is calculated by aligning the pre-integrated measurements and camera

translation measurements. The observable of the accelerometer bias is also

checked in this step. The gravity vector is refined in the third step, with the

velocity is estimated in this step as well as the acceleration bias if it is observable.

The practicability of the proposed approach is validated by simulation and real

datasets experiments.

CS006

14:15-14:30

Cloud-Assisted Safe Driving Framework

Chia Hung Kao


Abstract — As the technologies for vehicular safety grow and mature, several

advanced driving assisting systems are deployed to mitigate negative impacts on

driving safety and protect drivers and passengers efficiently. However, the rate of

fatalities and serious injuries in traffic accidents is still high. Based on the statistics

from the Ministry of the Interior and National Highway Police Bureau in Taiwan,

most critical accidents are caused by the circumstance that drivers do not aware

the potential danger to their surroundings. Currently, several driving assisting

systems deployed in vehicles can sense surrounding information for potential

accidents prevention in time. In order to prevent potential accidents in advance for

safer driving, a cloud-assisted safe driving framework is proposed in this paper.

The framework leverages sensing devices in vehicles to acquire particular

information of the front vehicles. The information will be acquired, recognized, and

analyzed based on historical data preserved in the cloud. In addition, the

information and comments on social network sites based on the recognized

information will be collected and analyzed. Based on historical data and social

information, a reputation for the recognized vehicle will be calculated in the cloud.

Thus, corresponding suggestion based on the reputation is given to the drivers to

perform defensive driving if necessary. Through the cloud-assisted safe driving

framework, the driving safety can be achieved in advance efficiently.

CS010 System-wide Causal Profiling for Parallel Programs

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14:30-14:45 Taek-eun Nam, Jinkyu Jeong

Sungkyunkwan University, South Korea

Abstract — Optimization is very important in software development but is a very

hard and time-consuming task. To save time and effort, developers depend on

software profilers, such as oprofile, perf, gprof, and so forth, to find bottleneck in

their programs. The information provided by these profilers are typically how

much time is spent by a part in their program. However, the information does not

directly correspond to the performance improvement in multicore environment

because many concurrent tasks and threads interfere with each other by

synchronization, inter-process communication, and OS kernel contention. So, even

if a developer optimizes a part of a program, the performance of their program

hardly improved because of the bottleneck movement in multicore environment.

To overcome this limitation, Curtsinger et al. has proposed causal profiling [1]. The

causal profiling provides potential impact of optimization by using a virtual

speed-up mechanism. The virtual speed-up mechanism is to estimate the speed-up

effect of particular codes by slowing down other threads in a program. Because of

the slowdown, the target codes have an effect of speed-up thereby providing

correct profiling information if speed-up is actually made. However, because the

virtual speed-up mechanism is applied at user thread-granularity, the application

of the approach is limited to single-process multi-threaded applications. While

many applications are composed of multiple processes and a large fraction of

execution is made inside the OS kernel [2], the causal profiling cannot be applied to

these applications.

To overcome the limitation, we propose a system-wide causal profiler. While the

basic idea of applying virtual speed-up to applications is similar to the causal

profiler, instead of slowing down user threads, we slow down CPUs (or cores).

Hence, when to profile the potential performance improvement by optimizing a

particular code, the CPUs (or cores) not running the target code are slowed down,

which results in virtually speeding up the CPU running the target code part.

Inter-CPU communication is carefully managed not to impose unnecessary

slowdowns to CPUs. As a result, the proposed profiler can profile not only

multi-thread applications but also multi-process applications including the OS

kernel. The preliminary evaluations have shown that the proposed scheme

successfully provides potential performance improvement of user and kernel

codes.

CS017

14:45-15:00

High Performance Implementation of Three-way Encryption Cipher under

Handel-C

Mahdi Alfadhli

Ministry of Electricity and Water, Kuwait

Abstract— Securing data is becoming a trending necessity in the digital field which

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aims to preserve privacy from unauthorized access. Many powerful cipher

algorithms are available to accomplish this purpose. A cipher system is a system

that encrypts data and grants access to data for specific entities. Not only the data

size is growing exponentially, but also the need for fast and high performance

hardware encryption cipher are needed. In this paper we implement an efficient,

high performance 3-Way hardware encryption using Handel-C. The challenge was

to get the most parallel and optimized system with different matrices such as Max

Frequency, least number of logic elements, and power consumption. The proposed

design minimizes the clock cycles of the design without having a big impact on the

speed of the system.

CS022

15:00-15:15

Dynamic Mechanism of High-speed Railway on Urban Social-economic

Development in Yangtze River Economic Zone

Minghao Zhu

Beijing Jiaotong University, China

Abstract—In this study, the author aims to investigate the inner law between

high-speed railway (HSR) and economic development. Beijing-Shanghai

High-speed Railway, as a case is simulated to find out how these relationships

could be established, and the system dynamic is used to build a system model. The

case results have revealed that the HSR has a strong influence on the development

of the tertiary industry because of its passenger characteristics, and it has an

overall positive effect on the GDP, especially secondary and tertiary industries. It

has greatly contributed to the movement of the employed population from

traditional agriculture to manufacturing and services industry.

The findings of this study could not only serve as a reference for HSR planning, but

also could guide employees moving to the more reasonable areas related to skill,

knowledge and other information, which would subsequently improve urban

economic.

CS035

15:15-15:30

Booklet Optimization in Multiple Session Exams

Emine Tutsun and Zehra Kamisli Ozturk

Anadolu University, Turkey

Abstract—Educational scheduling problems are challenging and interesting

optimization problems and these are frequently encountered in academic studies.

The hard constraints of these problems are assigning all the necessary

courses/examinations to the students, not exceeding the room capacities and

appointing invigilators to the used rooms.

In Anadolu University’s open and distance education examinations, exam-session

planning which there are more than one session and lessons to be scheduled,

namely booklet optimization, can be considered as a subset of the educational

scheduling problems.

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In this special case, the current input consists of the students and their courses.

Our goal is to assign booklets for students by minimizing the required number of

booklets per examination session. A student can only have a limited number of

courses per each session. Furthermore, all of the courses and booklets can only

appear in only one of the sessions of the examination.

Since the number of students in Anadolu University open and distance education

system is more than 1.5 million and the total number of courses are 715, the

slightest improvement in the system is returned to us with great achievements. It

is also predicted that booklet optimization will yield good economic results if

fewer books are printed during the examinations.

In this study, a mathematical model is established by determining all constraints,

decision variables and multiple objectives. The exact solution has been

investigated for this model by an optimization software. In the later phases of the

study, it is also planned to develop a heuristic algorithm by resorting to intuitive

and / or meta-intuitive methods.

MRE027

15:30-15:45

Simulation and Planning Project Logistics Operations: A Case Study of

Transportation Operation of Autoclave from Petkim Port to Gördes Building Site

Omer Faruk Gorcun


Abstract—Project logistics is one of the specific logistics operations. Compared to

other logistics operations, it needs more efficient planning and engineering

applications in each operational process. On the other hand, each project logistics

operation can be defined as tailor-made operations, since it has no similarity with

other operations. Consequently, each project logistics operation should be planned

and carried out according to its own conditions and parameters. This study focuses

on the simulation of project logistics operations under the light of computerized

applications from start to finish of the logistics operation. In this study,

transportation operations of 600 tons of autoclave from the Petkim port to the

Gördes building site were selected as a case study.

Coffee Break <15:45---16:15>

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Session IV System Modeling and Numerical

Simulation

13:30-15:45

AB2-203 E


Chaired by Asst. Prof. Hamed Soleimani,

Azad University, Iran

Presentations:

CS001, CS011, CS012, CS014, CS015, CS038, MRE021, MRE028, CS025


PowerPoint

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CS001

13:30-13:45

A Bi-Objective Suppliers Selection Model with Capacity Constraint

Mani Sharifi, Zahra Begherpour, Mohammadreza Shahriari

Islamic Azad University, Qazvin, Iran

Abstract — Supplier selection is very important in strategic planning. Companies

try to reduce their costs and also have some reliable suppliers that can supply all

their requirements. In this paper we present a bi-objective supplier selection

model with the aim of minimizing total annual cost and total supplier’s lead-times.

Supplier selection belongs to NP-hard problems so we sued non-dominated

Sorting Genetic Algorithm (NSGA-II) to solve the presented model.

CS011

13:45-14:00

Numerical Investigation of a Turbocharger Compressor in Different CFD Codes and

Validation with Experiments

Mert Alpaya, Iskender Kayabasi, Burag Hamparyan

1-2Borusan Technology Development and R&D Inc., Turkey; 3Supsan Automative

Components Inc., Turkey

Abstract — Compressor’s pressure ratio (PR) is the main parameter that indicates

turbocharger’s performance. Some tests are performed in order to measure

pressure ratio and map the compressor’s performance. However, limits of test

setups might not be appropriate for testing all performance scenarios in different

operating conditions. Additionally, prototype production costs and tests on all

conditions can be very expensive and time consuming. Hence, it is more

economical and appropriate to measure the performance of turbocharger

compressor via numerical methods. The purpose of this paper is to create

numerical models of the selected turbocharger compressor in two different

commercial CFD (Computational Fluid Dynamics) codes and validate the results

with experimental studies at different rotational speeds and pressure ratios. Six

different experiment cases, varying from 50.000 rpm (revolutions per minute) to

105.000 rpm and from PR=1,05 to PR=1,345, were set and performed for

obtaining boundary conditions and validating numerical results. Numerical studies

were conducted in steady-state conditions with mass flow rate inlet and pressure

outlet boundary conditions. Besides, rotation of compressor wheel was modeled

with rotating (moving) reference frame method while turbulence was being

modeled with standard k (turbulent kinetic energy) - ε (turbulent dissipation) and

Spalart-Allmaras turbulence models. Models were solved both in cartesian and

polyhedral mesh structures by means of two different codes. Convergence of the

solutions were monitored by creating surface goals for density, static pressure,

mass and volumetric flow rates at the outlet of compressor. Obtained numerical

solutions were compared with each other and validated with experimental results

for each experiment cases. By creating the validated numerical models of the

turbocharger compressor, limited scale of performance test setups was surpassed.

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Therefore, it has become possible to measure the performance of turbocharger

compressor numerically in operating conditions of vehicle and the necessity for

toilsome and expensive performance tests was abolished.

CS012

14:00-14:15

Developing a Fuzzy COPRAS and SWARA to Select Sustainable 3PRLP

Hamed Soleimani, Navid Zarbakhshnia, Hadi Ghaderi

Islamic Azad University, Iran; Swinburne University of Technology, Australia

Abstract — The aim of this paper is to evaluate and select the sustainable 3PRLPs

considering the relevant economic, environmental, social factor, and incorporating

risk criteria. The proposed methodology consists of a hybrid multiple attribute

decision making (MADM) technique with fuzzy SWARA for weighting the criteria

and developed fuzzy COPRAS for ranking the alternatives. To validate the

effectiveness of the methodology, the model was applied to a case study from

automotive industry. Finally, the solution approach to the problem is presented

using COPRAS and COPRAS-G methods with an acceptable level of reliability and

practicality.

CS014

14:15-14:30

Model-Driven Engineering Approach for Simulating Virtual Devices in the OSATE 2

Environment

Fáber D. Giraldo, Mónica M. Villegas

University of Quindío, Armenia, Colombia

Abstract — Simulating devices while developing software for embedded systems is

advantageous if physical elements such as sensors are not available. In this work,

we present the design and implementation of an extension named Custom

Simulation of Virtual Devices (CSVD) for the Eclipse-based platform that has full

support for the AADL meta-model, OSATE 2. The CSVD extension uses a

Model-driven engineering approach to simulate virtual devices, which allows

capturing an AADL model of a system that represents the connection between a

local network of devices and a gateway through a serial bus, simulating its

behavior at a data transmission level by being executed inside the QEMU emulator.

Also, we present an example of our approach, based in a system modeled in AADL

and its simulation using the CSVD extension.

CS015

14:30-14:45

A Predictive User Context for Mobile Devices Using Recurrent Neural Networks

Cesar Vieira, Andre Luiz Nunes, Jinkyu Jeong

Sungkyunkwan University,

Abstract — Neural Networks have been presenting outstanding results in the

state-of-art for mapping large sequences of data, outperforming all previous

classification and prediction models. Furthermore, modern society is emerging in

the big data era, where large data sets are frequently produced with high levels of

complexity, requiring an adequate technique to capture, store and analyze such

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data.

The main idea goes around aggregating information about different users from

potential disparate parts of the day using the device ubiquity and develop a system

capable of mapping the behavior referent to application usage of each user and

correctly predict application or sequence of applications utilization. With the dawn

of the mobile application usage in the past decade, the amount of data created and

stored on a worldwide level is astonishing and it grows at an incredible rate.

Therefore, it presents an immeasurable potential to glean key insights on business

and research information, especially related to mobile devices the major source for

it. As mobile devices become more closely integrated into our daily lives, it

increases the necessity of faster and precise mobile app interactions. Nevertheless,

some applications have a launch response time greater than 15 seconds, even

among the popular ones [1]. The data collected from users as the application usage

behavior can represent a possible way to predict the sequence of applications that

each person may use, based in previous sequences, period of the day, day of week,

battery level, location etc. Therefore, a correct prediction could support a

pre-launching, reducing delay [1]. Moreover, there is a large set of variables that

may affect the output in different manners, furthermore, for a complete analysis of

the data it is necessary a robust and modern system capable of a higher-level

processing.

We propose an application usage prediction model for mobile devices using a

Recurrent Neural Network (RNN) architecture, a special sort of neural networks

specially designed to deal with sequential data, like images, videos and texts. The

effectiveness of RNNs is related to the presence of an internal state, moreover,

which can be unfolded as the memory of the network. Likewise, a biological neural

network the memory devours the core information about the data, retaining it in

the memory unit or internal state, which is essentially updated in each timestep.

We built our model using two different RNN architectures, Long Short-Term

Memory (LSTM) and Gate Recurrent Units (GRU) on a GPU using TensorFlow. Our

model preliminary analysis has presented excellent results of predicting the

application based on the traces fed to the system, also an exceptional flexibility and

extreme dynamism.

CS038

14:45-15:00

Modeling and Optimization of Controlled Drug Delivery Devices in a Reverse

Engineering Framework

Anurag Pramanik and Sanjeev Garg

Indian Institute of Technology, Kanpur, India

Abstract: Controlled drug release involves the release of a drug for a desired

period of time such that the drug concentration in the blood plasma is maintained

within the therapeutic range and is one of the major goals of therapeutic strategies.

The availability of many biocompatible polymers has resulted in many

polymer-based drug delivery devices for controlled drug delivery. Depending on

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the drug-polymer interactions, the mutual diffusion coefficient of the drug in

polymer can span a significantly large range leading to differences in rates of drug

release from the devices. Several other parameters including the shape and size of

the device, loading of the drug in the polymer device and the type of the delivery

device can play a significant role in controlling the drug release. Therefore, rapid

screening of the drug-polymer combinations and appropriate dimensions for a

drug delivery device can play important role in the controlled release of drugs.

Additionally, the time for which the drug concentration is maintained in the

therapeutic range is a crucial parameter in patient-specific drug therapies. Hence,

identifying specific parameters which will allow for drug release for varied amount

of time in the therapeutic range can also be useful in drug therapies.

An in silico approach is proposed to first predict the partition coefficient of the

model drug, paclitaxel, in different biocompatible and biodegradable polymer

versus the blood plasma using artificial neural networks (ANNs) and

semi-empirical quantitative structure property relationships (QSPRs). A simplified

molecular-input line-entry system (SMILES) notation is used to represent the

structures of the different polymers and the drug. The SMILES notation is then

used to calculate the various structure based descriptors. These descriptors are

then used in the ANNs and semi-empirical QSPRs to predict the properties for a

given drug polymer device. An in silico fluid flow model was used to predict the

appropriate drug-polymer combinations as well as the dimensions including shape

and size of the controlled drug delivery devices using reverse engineering

framework. Paclitaxel was chosen as the model drug which is an anticancer agent

widely used in the treatment of solid tumors. Optimization was done in a reverse

engineering framework for the polymer based controlled drug delivery system so

that the drug concentration remains within the therapeutic range for different

durations of time including 0 to 2 days, 2 to 14 days, 14 to 30 days and 30 to 90

days. It was observed that the released drug concentration in the blood plasma

remained within the therapeutic range for 1.92 days, 13.5 days, 28 days and 84

days, respectively. Genetic algorithms was used for obtaining the optimal values of

the size, number of nanoparticles, type of polymer used, type of the drug delivery

system, shape of the device, thickness of the polymer, initial drug loading. The

proposed approach provides a systematic framework to simulate the controlled

release of the drug from the diffusion controlled drug-polymer release systems.

MRE021

15:00-15:15

Dynamic Modeling and Balancing Control of a Cubical Robot Balancing on Its

Corner

Zhigang CHEN, Xiaogang RUAN, Yuan LI, Yingliang BAI, Xiaoqing ZHU

Faculty of Information Technology, Beijing University of Technology, Beijing, China

Beijing Key Laboratory of Computational Intelligence and Intelligent System,

Beijing, China

SESSIONS

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Abstract—Aiming at the problem of self-balancing control of a cubical robot, this

paper makes a research on the dynamic modeling of the cubical robot balancing on

its corner. Using the prototype of cubical robot we built as the research object, the

dynamic model is derived with Lagrangian method. The correctness of the model

is verified in theory by comparison of numerical simulation and virtual prototype

simulation. A balancing controller is proposed, which parameters are confirmed

based on the mathematic model, and is used in balance control of the cubical robot

virtual prototype. The effectiveness of the model is verified again with the

obtained expect effect. The dynamic model and controller developed can provide a

base for further study for balancing control of a cubical robot.

MRE028

15:15-15:30

SysML as a Tool for Requirements Traceability in Mechatronic Design

Jesus Enrique Vidal Sandoval and Elizabeth R. Villota

Pontificia Universidad Catolica del Peru , Peru

Abstract—Modern mechatronic systems have to deal with the ever increasing

requirements due to a higher number of demands and their complexity. Those

demands are summarized in the requirements list. Classic design methodologies

do not directly relate a system or part of it to the requirements list. As a result, by

failing to ensure that the qualification of requirements is traceable, when a

problem arises, design engineers lose the ability to track back and quickly locate

one or more not fulfilled requirements. Our work shows how requirements

traceability for mechatronic design can be achieved by employing a Model-Based

Systems Engineering (MBSE) methodology and associated tool, Systems Modeling

Language (SysML). SysML is a general purpose multiview language for systems

modeling capable of linking requirements to the system elements by capturing

textual requirements and placing them in the design models. Furthermore, SysML

can be coupled to other tools including spreadsheets and design and simulation

software, such as Matlab or Modelica, enabling requirements verification. An

electro-mechanical actuator (EMA) -an airplane surface actuatoris chosen as a

mechatronic system example. By joining SysML and Matlab/Simulink, it was

possible to trace requirements for the EMA mechatronic design and hence verify

compliance with requirements throughout the design.

CS025

15:30-15:45

Parallel Preprocessing for the Optimal Camera Placement Problem

Mathieu Brévilliers, Julien Lepagnot, Julien Kritter, and Lhassane Idoumghar

Université de Haute-Alsace, France

Abstract — This paper deals with the preprocessing needed for the optimal

camera placement problem, which is stated as a unicost set covering problem

(USCP). Distributed and massively parallel computations with graphics processing

unit (GPU) are proposed in order to perform the reduction and visibility

preprocessing respectively. An experimental study reports that a significant

speedup can be achieved, and we give a general heterogeneous parallel approach

SESSIONS

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that brings together these parallel computations. In addition to that, a set-based

differential evolution (DE) method is applied to solve 10 instances of the

considered problem, and promising results are reported.

Coffee Break <15:45---16:15>

SESSIONS

49 / 52

POSTER SESSION

MRE004

Collective behavior strategy development based on friendship of robots

Viacheslav Abrosimov, Alexander Mochalkin

Software Engineering, Company "Smart Solution" Ltd., Russia

Abstract—This paper considers a group of autonomous robots performing

collective tasks in an conflict environment. The Robots jointly generate situational

awareness information. The functions and resources of robots are represented as

external services. The robot can request and receive help as the services from

other robots and provide its own services for automatically using by other robots

via online requests when needed. Unlike the existing solutions it has been

proposed to implement a new paradigm of robots' collective behavior, the

so-called "the friendship of robots". This paradigm is seen as a new property of

robot autonomous control systems that is formed through training.

Such approach realizes the principle of collectivism. Robots have been trained in

the friendship paradigm are more effective in a conflict environment. The

constructing the strategy of robot trained in the paradigm "pragmatist" is given as

the example.

MRE017

The development of DCT shift mechanism based on the barrel cam

Yongju Chu, Seungyop Lee, Kyusik Kim and Bonghyun Lee

Korea Automotive Technology Institute, Korea

Abstract—A dual clutch transmission (DCT) can shift more quickly than cars

equipped with manual transmissions or single-clutch automated-manual

transmissions (AMTs). However, DCTs have complicated structures because two

clutches are arranged concentrically. In this study, we develop a novel shift

mechanism based on a barrel cam to enhance the shifting efficiency of DCTs. We

have analyzed the multi-body dynamics of the shift mechanism including barrel

cam, per-select synchronizer and fork for various cam-profiles such as cycloid,

polynomial and modified sine curves. Simulation results show that the angular

velocities of engagement and disengagement of the shift mechanism and contact

force. In addition, the proposed shifting mechanism is shown to reduce the shift

shock and response time during the shift process.

MRE019

The Influence of Load Models on Power System Transient Stability Analysis

Min Zhang, Zhaowen Luan, Xiangjun Zhao

Shandong University,Jinan250061,Shandong province, China

Abstract—This paper describes the concept and classification of power load

models in detail. And then to IEEE 3 machine 9 node system as an example,the

influence of different load models on the transient stability of the power system is

SESSIONS

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analyzed by using the PSASP, and the results are as follows: different load models

have a great impact on the results of power system simulation operations, so the

choice of load model should be careful.

MRE037

Design of the piezoelectric transducer for the round window drive implantable

hearing aids

Dong Ho Shin, Ha Jun Mun, Jin-Ho Cho

Kyungpook National University, Republic of Korea

Abstract—In this paper, we describe the design and implement of a piezoelectric

transducer for round window drive implantable hearing aids. A proposed

piezoelectric transducer is small enough to be easily implantable to RW niche and

has excellent low-frequency output characteristics. It consists of a titanium case, a

metal ring, a vibration membrane, a metal supporter, a piezoelectric material, a

ceramic tip and a bellows. Considering the anatomical structure of the RW niche,

the dimension of the designed piezoelectric transducer was a 1.75 mm diameter

and 2.5 mm length. The structure of the vibration membrane that determines the

frequency characteristics of the proposed transducer was derived through the

mechanical vibration analysis. The piezoelectric transducer was fabricated based

on the simulation results and the vibration characteristics was measured using the

laser Doppler vibrometer.

CS029

A Survey on Software-Defined Wide Area Networks

Xugang Wu, Kai Lu, and Guoliang Zhu

National University of Defense Technology, P.R. China

Abstract — Better cost effectiveness of Software-Defined Network(SDN) is

motivating enterprises to adopt it in Wide Area Network(WAN). The idea is then

called Software-Defined Wide Area Network(SD-WAN). In this paper, first we

review the architecture of SDN, which provide theoretical support for SD-WAN.

Then we analyze three typical SD-WAN realizations, which are Google’s B4,

Microsoft’s SWAN and Software-Defined Internet eXchange Point respectively.

Finally, we make a conclusion and discuss future works.

CS030

AFL Extended with Test Case Prioritization Techniques

Gen Zhang, Xu Zhou

National University of Defense Technology, China

Abstract — Fuzzing is an efficient testing technique to expose bugs and

vulnerabilities, and fuzzers extended with coverage information can generate

interesting results and find potential bugs in programs. However, previous

coverage-based fuzzers, such as American Fuzzy Lop (AFL), fail to realize the

importance of the order of input test cases or they are unable to adopt significant

SESSIONS

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and useful coverage information, so some of them suffer from dramatically poor

performance. Meanwhile, the main idea of test case prioritization (TCP) in the field

of software testing is to rank the test cases according to a certain rule, helping

expose bugs and vulnerabilities. Thus our work concentrates on complementing

AFL with the characteristics of TCP and improving the performance of the original

AFL.

In this paper, we present a brand-new fuzzing technique combining essential and

practical coverage information and prioritization properties commonly used in

TCP, which funda-mentally enhancing the process of creating new test cases and

finding bugs. We implement our method by extending state-of-the-art fuzzer AFL

with TCP techniques and evaluate it on 6 widely-used and open source programs

from GNU. We conduct experiments on 6 target programs to illustrate our

performance on bug detection. On all of these experiments, improvement of our

method is witnessed and significantly better outcomes are generated.

MEMOS

52 / 52

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