PROGRAM AND ABSTRACTSweb.tuat.ac.jp/~deng/ICAMechS2020/icamechs2020sub/...community that’s made up of Chinese, French and Russian influences. We hope you have a happy journey in

Organized by

International Journal of

Modelling, Identification and

Control

IEEE Systems, Man, and

Cybernetics Society

Hanoi University of Science

and Technology

Tokyo University of

Agriculture and Technology

International Journal of

Advanced Mechatronic

Systems

PROGRAM

AND

ABSTRACTS

2020 International Conference on

Advanced Mechatronic Systems

December 10-13, 2020

Hanoi, Vietnam

2020 ICAMechS

International Conference on Advanced Mechatronic Systems


Hanoi, Vietnam

PROGRAM

Organizers:

IEEE Systems, Man, and Cybernetics Society

Hanoi University of Science and Technology

Tokyo University of Agriculture and Technology

International Journal of Advanced Mechatronic Systems

Sponsors:

International Journal of Modelling, Identification and Control

The Institute of Complex Medical Engineering

Cooperation with:

The Society of Instrument and Control Engineers

The Institute of Systems, Control and Information Engineers

Organizing Committee (1)

Advisory Chairs: Tianyou Chai, Northeastern University, China

Akira Inoue, Okayama University, Japan

Tsu-Tian Lee, Tamkang University, Taiwan

Dinh Van Phong, Hanoi University of Science and Technology, Vietnam

General Chairs: Mingcong Deng, Tokyo University of Agriculture and Technology, Japan

Nguyen Huy Phuong, Hanoi University of Science and Technology, Vietnam

Program Chairs: Xinkai Chen, Shibaura Institute of Technology, Japan

Pham Viet Phuong, Hanoi University of Science and Technology, Vietnam

Changan Jiang, Osaka Institute of Technology, Japan

Shengjun Wen, Zhongyuan University of Technology, China

Local Organization

Chairs:

Aihui Wang, Zhongyuan University of Technology, China

Thanh Vo-Duy, Hanoi University of Science and Technology, Vietnam

Special Session Chairs: Z. Q. Lang, University of Sheffield, UK

Luigi Vladareanu, Romanian Academy of Science, Romania

Shiro Masuda, Tokyo Metropolitan University, Japan

S.G. Ponnambalam, Vellore Institute of Technology University, India

Yan Shi, Tokai University, Japan

Sallehuddin M. Haris, Universiti Kebangsaan Malaysia, Malaysia

Ying Gao, South China University of Technology, China

Duong Minh Duc, Hanoi University of Science and Technology, Vietnam

Yongqiang Ye, Nanjing University of Aeronautics and Astronautics, China

Publication Chairs: Xudong Gao, Nanjing University of Information Science & Technology, China

Hossam A. Gabbar, University of Ontario Institute of Technology, Canada

Dao Quy Thinh, Hanoi University of Science and Technology, Vietnam

Publicity & Exhibition

Chairs:

Nibin Chang, University of Central Florida, USA

Shuoyu Wang, Kochi University of Technology, Japan

Tomohiro Henmi, Kawasaki University of Medical Welfare, Japan

Yanfeng Wu, Henan University of Science and Technology, China

Nguyen Kien Trung, Hanoi University of Science and Technology, Vietnam

Do Trong Hieu, Hanoi University of Science and Technology, Vietnam

Organizing Committee (2)

Registration Chairs: Jinglong Wu, Okayama University, Japan

Shuhui Bi, University of Jinan, China

Nguyen Manh Linh, Hanoi University of Science and Technology, Vietnam

Students Activity Chairs: Ni Bu, Qingdao University of Science and Technology, China

Akira Yanou, Kawasaki University of Medical Welfare, Japan

Hoang Duc Chinh, Hanoi University of Science and Technology, Vietnam

Best Paper Award Committee

Chairs:

Zijiang Yang, Ibaraki University, Japan

Thuc Anh, Hanoi University of Science and Technology, Vietnam

Honorary General Chairs: Hong Wang, Oak Ridge National Laboratory, USA

Chunyi Su, Concordia University, Canada

Ikuro Mizumoto, Kumamoto University, Japan

Zongxiao Yang, Henan University of Science and Technology, China

Hongnian Yu, Edinburgh Napier University, UK

Jingxin Zhang, Swinburne University of Technology, Australia

Xiaoguang Zhou, Beijing University of Posts and Telecommunications, China

Mengchu Zhou, New Jersey Institute of Technology, USA

Quanmin Zhu, University of the West of England, UK

Lin Meng, Ritsumeikan University, Japan

Secretary: Guanqiang Dong, Tokyo University of Agriculture and Technology, Japan

Ximei Li, Tokyo University of Agriculture and Technology, Japan

Yuanhong Xu, Tokyo University of Agriculture and Technology, Japan

Program Committee (1)

Chairs: Xinkai Chen, Shibaura Institute of Technology, Japan

Pham Viet Phuong, Hanoi University of Science and Technology, Vietnam

Changan Jiang, Osaka Institute of Technology, Japan

Shengjun Wen, Zhongyuan University of Technology, China

Members List: Shuhui Bi, University of Jinan, China

Aihui Wang, Zhongyuan University of Technology, China

Kazuki Umemoto, Nagaoka University of Technology, Japan

Marcel Bergerman, Carnegie Mellon University, USA

Haibin Yu, Institute of Automation, China

Liang Li, Ritsumeikan University, Japan

Adrian Olaru, University Politehnica of Bucharest, Romania

Toru Yamamoto, Hiroshima University, Japan

Ajiboye Osunleke, Obafemi Awolowo University, Nigeria

Dongyun Wang, Zhongyuan University of Technology, China

Zhihong Man, Swinbume University of Technology, Australia

Z. Q. Lang, University of Sheffield, UK

Luigi Vladareanu, Romanian Academy of Science, Romania

S.G. Ponnambalam, Vellore Institute of Technology University, India

Ken Nagasaka, Tokyo University of Agriculture and Technology, Japan

Sallehuddin M. Haris, Universiti Kebangsaan Malaysia, Malaysia

Shuoyu Wang, Kochi University of Technology, Japan

Florentin Smarandache, University of New Mexico, USA

Hansheng Wu, Prefectural University of Hiroshima, Japan

Dong Yue, Huazhong University of Science & Technology, China

Dongya Zhao, China University of Petroleum, China

Eldert Van Henten, Wageningen University, Netherlands

Feng Qiao, Shenyang JianZhu University, China

Hao Chen, China University of Mining and Technology, China

Hiroyuki Takanashi, Nihon University, Japan

Program Committee (2)

Members List: Kazuyuki Ito, Hosei University, Japan

Liangyong Wang, Northeastern University, China

Longguo Jin, Qingdao Technical College, China

Masanori Takahashi, Tokai University, Japan

Nader Barsoum, Curtin University of Technology, Malaysia

Ni Bu, Qingdao University of Science and Technology, China

Nobutaka Wada, Hiroshima University, Japan

Shan Liang, Chongqin University, China

Shaoyuan Li, Shanghai Jiaotong University, China

Shigang Yue, University of Lincoln, UK

Shuichi Wakimoto, Okayama University, Japan

Wanli Yang, Zhuhai Institute of Jilin University, China

Wei Wang, Dalian University of Technology, China

Xiaolei Wang, Zhongyuan University of Technology, China

Yang Liu, University of Exeter, UK

Yang Shi, University of Victoria, Canada

Yegui Xiao, Prefectural University of Hiroshima, Japan

Yinlai Jiang, The University of Electro-Communications, Japan

Zhengguang Hou, Institute of Automation, China

Zhengtao Ding, University of Manchester, UK

Zofia Lukszo, Delft University of Technology, Netherlands

Hongbo Wang, Yanshan University, China

Huijun Gao, Harbin Institute of Technology, China

Huimin Xiao, Henan University of Finance and Economics, China

Huiping Li, Northwestern Polytechnical University, China

Ionel Staretu, Transilvania University of Brasov, Romania

Jianqiang Yi, Institute of Automation, China

Jing Yao, Tongji University, China

Jinliang Ding, Northeastern University, China

John Billingsley, University of Southern Queensland, Australia

John Reid, John Deere Moline Technology Innovation Center, USA

Jose Ragot, Nancy-Université, France

Yukinori Nakamura, Okayama University, Japan

Seiji Saito, Polytechnic University, Japan

Guang Jin, Tokai University, Japan

GREETINGS

FROM THE GENERAL CHAIRS AND PROGRAM CHAIRS

On behalf of ICAMechS 2020 Organizing Committee, it is our great pleasure and honor to welcome you all to the

2020 International Conference on Advanced Mechatronic Systems. The conference is held partly online on

December 10-13, 2020 in Hanoi, Vietnam, organized by IEEE Systems, Man, and Cybernetics Society, Hanoi

University of Science and Technology, Tokyo University of Agriculture and Technology, International Journal of

Advanced Mechatronic Systems; sponsored by International Journal of Modelling, Identification and Control, The

Institute of Complex Medical Engineering, The Society of Instrument and Control Engineers, The Institute of

Systems, Control and Information Engineers.

ICAMechS 2020 is an all-volunteer conference, and it provides an international forum for professionals, academics,

and researchers to present latest developments from interdisciplinary theoretical studies, computational algorithm

development and applications of mechatronic systems. It particularly welcomes those emerging methodologies and

techniques which bridge theoretical studies and applications in all mechatronic systems. Novel quantitative

engineering and science studies may be considered as well. The accepted papers will be submitted for inclusion into

IEEE Xplore as well as other Abstracting and Indexing (A&I) databases.

Hanoi is the vibrant capital of Vietnam and one of the bright lights of cities in Asia. Located on the banks of the Red

River, it is one of the most ancient capitals in the world, where you can find well-preserved colonial buildings,

ancient pagodas, and unique museums within the city center. A great place to explore on foot, this French-colonial

city is also famous for its delectable cuisine, vibrant nightlife, silks and handicrafts, as well as a multi-cultural

community that’s made up of Chinese, French and Russian influences. We hope you have a happy journey in Hanoi.

Three distinguished speakers, Prof. Tianyou Chai (Northeastern University, China), Prof. Mengchu Zhou (New

Jersey Institute of Technology, USA) and Prof. Hong Wang (Oak Ridge National Laboratory, USA) are invited to

give plenary presentations. We would like to present our sincere thanks to the plenary speakers.

We would like to present our special thanks to authors and participants of this conference, and the members of

Advisory Committee, Program Committee and Organizing Committee.

We hope that you all enjoy the conference and beautiful Hanoi.

Best regards,




Hanoi, Vietnam

General Chairs

Program Chairs

CONFERENCE HIGHLIGHTS

Under three reviewers for each paper by Program Committees and Organizing Committees, a total of 64 papers

from different parts of the world were accepted and included into the final program of ICAMechS 2020. There

are three plenary speeches. Each oral session consists of 4-5 papers, where we have 14 regular sessions. Papers

were assigned with the sole purposed of forming coherent sessions.

CONFERENCE REGISTRATION

Since part of presentations are online, please note that Zoom test will be held on December 10, 2020.

For participants in Vietnam, an oral presentation is required at Hanoi University of Science and Technology.

The conference schedule based on Vietnam GMT+7 is as follows.

10:00-16:00, December 10, 2020 (Thursday)

09:00-17:10, December 11, 2020 (Friday)

08:30-17:40, December 12, 2020 (Saturday)

The full registration includes the Closing Ceremony and USB Conference Proceedings.

SOCIAL EVENTS

Closing ceremony and banquet (18: 10-20: 10, December 12, 2020, on-site in Vietnam).

CONFERENCE LOCATION

ICAMechS 2020 will be held partly online. For participants in Vietnam, please see the map of Hanoi University

of Science and Technology below to confirm the specific location. For participants elsewhere, you can present

your papers online.

Conference site (for participants in Vietnam): Hanoi University of Science and Technology.

Detailed location:

⚫ C2 Conference Room (Main Hall) -- Plenary Session.

⚫ C1-323 (Room 1) -- Parallel Session Rooms.

⚫ C9-104 (Room 2) -- Parallel Session Rooms.

Hanoi University of Science and Technology Map for ICAMechS 2020

PLENARY SPEAKERS

Prof. Tianyou Chai, Northeastern University, China

Tianyou Chai received the Ph.D. degree in control theory and engineering in 1985 from

Northeastern University, Shenyang, China, where he became a Professor in 1988. He is the

founder and Director of the Center of Automation, which became a National Engineering and

Technology Research Center and a State Key Laboratory. He is a member of Chinese Academy

of Engineering, IFAC Fellow and IEEE Fellow. He has served as director of Department of

Information Science of National Natural Science Foundation of China from 2010 to 2018.

His current research interests include modeling, control, optimization and integrated automation of

complex industrial processes. He has published 240 peer reviewed international journal papers. His paper titled Hybrid

intelligent control for optimal operation of shaft furnace roasting process was selected as one of three best papers for the

Control Engineering Practice Paper Prize for 2011-2013. He has developed control technologies with applications to

various industrial processes. For his contributions, he has won 5 prestigious awards of National Natural Science, National

Science and Technology Progress and National Technological Innovation, the 2007 Industry Award for Excellence in

Transitional Control Research from IEEE Multiple-conference on Systems and Control, and the 2017 Wook Hyun Kwon

Education Award from Asian Control Association.

Title:

CPS Driven Control System

Abstract:

China has abundance of mineral resources such as magnesite, hematite and bauxite, which constitute a key

component of its economy. The relatively low grade, and the widely varying and complex compositions of the raw

extracts, however, pose difficult processing challenges including specialized equipment with excessive energy

demands. The energy intensive furnaces together with widely uncertain features of the extracts form hybrid

complexities of the system, where the existing modeling, optimization and control methods have met only limited

success. Currently, the mineral processing plants generally employ manual control and are known to impose greater

demands on the energy, while yielding unreasonable waste and poor operational efficiency. The recently developed

Cyber-Physical System (CPS) provides a new key for us to address these challenges. The idea is to make the

control system of energy intensive equipment into a CPS, which will lead to a CPS driven control system.

This talk presents the syntheses and implementation of a CPS driven control system for energy-intensive equipment

under the framework of CPS. The proposed CPS driven control system consists of four main functions: (I) setpoint

control; (II) tracking control; (III) self-optimized tuning; and (IV) remote and mobile monitoring for operating

condition. The key in realizing the above functions is the integrated optimal operational control methods to

implement setpoint control, tracking control and self-optimized tuning together seamlessly. This talk introduces

the integrated optimal operational control methods we proposed.

Hardware and software platform of CPS driven control system for energy-intensive equipment is then briefly

introduced, which adopts embedded control system, wireless network and industrial cloud. It not only realizes the

functions of computer control system using DCS (PLS), optimization computer and computer for abnormal

condition identification and self-optimized tuning, but also achieves the functions of mobile and remote monitoring

for industrial process.

Then, using fused magnesium furnace as an example, a hybrid simulation system for CPS driven control system

for energy-intensive equipment developed by our team is introduced. The results of simulation experiments show

the effectiveness of the proposed method that integrates the setpoint control, tracking control, self-optimized tuning

and remote and mobile monitoring for operating condition in the framework of CPS.

The industrial application of the proposed CPS driven control system is also discussed. It has been successfully

applied to the largest magnesia production enterprise in China, resulting in great returns. Finally, future research

on the CPS driven control system is outlined.

Prof. Mengchu Zhou, New Jersey Institute of Technology, USA

MengChu Zhou (Fellow, IEEE) received his B.S. degree in Control Engineering from Nanjing

University of Science and Technology, Nanjing, China in 1983, M.S. degree in Automatic

Control from Beijing Institute of Technology, Beijing, China in 1986, and Ph. D. degree in

Computer and Systems Engineering from Rensselaer Polytechnic Institute, Troy, NY in 1990.

He joined New Jersey Institute of Technology (NJIT), Newark, NJ in 1990, and is now

Distinguished Professor in Electrical and Computer Engineering. His research interests are in

Petri nets, intelligent automation, Internet of Things, big data, web services, and intelligent transportation. He has

over 900 publications including 12 books, 600+ journal papers (450+ in IEEE transactions), 26 patents and 29 book-

chapters. He is the founding Editor of IEEE Press Book Series on Systems Science and Engineering, Editor-in-

Chief of IEEE/CAA Journal of Automatica Sinica, and Associate Editor of IEEE Internet of Things Journal, IEEE

Transactions on Intelligent Transportation Systems, and IEEE Transactions on Systems, Man, and Cybernetics:

Systems. He is a recipient of Humboldt Research Award for US Senior Scientists from Alexander von Humboldt

Foundation, Franklin V. Taylor Memorial Award and the Norbert Wiener Award from IEEE Systems, Man and

Cybernetics Society, Excellence in Research Prize and Medal from NJIT, and Edison Patent Award from the

Research & Development Council of New Jersey, USA. He is a highly cited scholar and ranked top one in the field

of engineering worldwide in 2012 by Web of Science. He is a life member of Chinese Association for Science and

Technology-USA and served as its President in 1999. He is a Fellow of International Federation of Automatic

Control (IFAC), American Association for the Advancement of Science (AAAS) and Chinese Association of

Automation (CAA).

Title:

Transforming Semiconductor Manufacturing Industry from Automation to Intelligenization with

Industry 4.0 Technologies

Abstract:

Industry 4.0 intends to address a fast-changing and challenging manufacturing environment with diverse demands,

short order lead-time and product life cycle, limited capacities, and highly complex process technologies. A

semiconductor manufacturing system integrated with Industry 4.0 technologies, such as AI, machine learning, big

data analytics, and Internet of Things, is capable of performing real-time monitoring and optimization of

manufacturing processes in various aspects from high level strategic resource and production planning down to

real-time equipment-level smart dispatching and predictive maintenance. By fully using real-time data and AI, the

system is able to help manufacturers shorten production and R&D processes, increase production capacity, reduce

production cost, guarantee product quality, and improve product yield. It is suitable to help not only high-tech

industries such as semiconductor wafer fabrication, but also conventional labor-intensive sectors. This talk

illustrates the transformation of semiconductor manufacturing activities from automation to intelligenization by

using Industry 4.0 technologies through real-life wafer fabrication applications.

Prof. Hong Wang, Oak Ridge National Laboratory, USA

Hong Wang (Senior Member, IEEE) received the master’s and Ph.D. degrees from the

Huazhong University of Science and Technology, Wuhan, China, in 1984 and 1987,

respectively. He was a Research Fellow with Salford University, Salford, U.K., Brunel

University, Uxbridge, U.K., and Southampton University, Southampton, U.K., before joining

the University of Manchester Institute of Science and Technology (UMIST), Manchester, U.K.,

in 1992. He was a Chair Professor in process control of complex industrial systems with the

University of Manchester, U.K., from 2002 to 2016, where he was the Deputy Head of the

Paper Science Department, the Director of the UMIST Control Systems Centre from 2004 to 2007, which is the

birthplace of Modern Control Theory established in 1966. He was a University Senate member and a member of

general assembly during his time in Manchester. From 2016 to 2018, he was with the Pacific Northwest National

Laboratory (PNNL), Richland, WA, USA, as a Laboratory Fellow and Chief Scientist, and was the Co-Leader and

the Chief Scientist for the Control of Complex Systems Initiative. He joined the Oak Ridge National Laboratory in

January 2019. His research focuses on stochastic distribution control, fault diagnosis and tolerant control, and

intelligent controls with applications to transportation system area. He is a fellow of IET. He was an Associate Editor

of the IEEE TRANSACTIONS ON AUTOMATIC CONTROL, the IEEE TRANSACTIONS ON CONTROL

SYSTEMS TECHNOLOGY, and the IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND

ENGINEERING. He is also a member for three IFAC Committees.

Title:

Collaborative Fault Tolerant Control of Non-Signalized Intersections for Connected and

Autonomous Vehicles

Abstract:

With the potential of increased penetration of connected autonomous vehicles (CAVs), intersectional signal control

faces new challenges in terms of its operation and implementation. One possibility is to fully make use of the

communication capabilities of CAVs so that intersectional signal control can be realized by CAVs alone – this

leads to non-signalized intersectional operation for traffic networks in urban areas. In this paper, the state-of-the-

art on collaborative fault tolerant control schemes for complex systems will be briefly described. This is then

followed by the formulation of operational fault tolerant control that realizes the collaborative fault tolerance

functionality at CAVs operational level in response to possible individual vehicle faults, where detailed modelling

using vehicle movement dynamics will be described together with the construction of fast fault diagnosis and

collaborative fault tolerant control algorithm. A simple example will be given as well to demonstrate the proposed

algorithm together with the discussions on the other issues such as randomness of the system, communication

errors and full energy consideration. These leads to several future directions of the research for the traffic flow

control of non-signalized intersections with 100% penetration of CAVs.

INSTRUCTIONS FOR ZOOM MEETINGS

➢ Download and Install Zoom

Go to https://zoom.us/ download.

URL: ①https://zoom.us/ ②https://zoom.com.cn/download (Author in China)

Opening this link on an iOS or Android device will open the app store to download the Zoom mobile application.

➢ Join the meeting

1. Joining via the link

Main Hall: https://us02web.zoom.us/j/7899003885?pwd=UG5NTjBLbEVNVVBlZTk0WTdiMXRQQT09

Room 1: https://us02web.zoom.us/j/7899003885?pwd=UG5NTjBLbEVNVVBlZTk0WTdiMXRQQT09

Room 2: https://us02web.zoom.us/j/4424419277?pwd=NVN5Sy9nYXBaZVh1QkR6aWEvVjJwQT09

2. Joining via a web browser(https://zoom.us/)

Type the meeting ID or personal link name and click Join.

3. Joining the meeting via Zoom client

Type the meeting ID or personal link name, your name, and click Join.

Note: Zoom instructions for joining a meeting can be found here:

https://support.zoom.us/hc/en-us/articles/206618765-Zoom-Video-Tutorials.

➢ Functionality of Zoom in the Meeting

The Zoom Menu Bar appears at the bottom of the Zoom window once the meeting begins. If you can’t see the

menu bar, move your mouse slightly and the bar will appear. (The bar disappears after a few seconds when in full-

screen mode.)

With the Zoom Menu Bar, you are able to:

1. Mute/Unmute your audio. You can also select your audio input here by clicking the up arrow next to the

microphone icon.

2. Start/Stop your video. You can also select your video input here by clicking the up arrow next to the video

camera icon.

3. Invite more people to join by email, IM, or meeting ID.

4. Open/Close a window of a list of participants and related details. The participants list allows you to “raise

your hand” to let everyone know you wish to speak and see who else has their hand raised. You can also easily

mute/unmute yourself on the participants list.

5. Share your screen or select a specific application to share (e.g., Microsoft)

6. Send a message to one person (using private chat) or to all participants.

7. Record the meeting (if you have been granted permission).

8. Leave or end the video meeting.

CONFERENCE PROGRAM

Thursday, December 10, 2020

10:00 - 11:00 Zoom Test 1

13:00 - 14:00 Zoom Test 2

14:30 - 16:00 Zoom Test 3

Note:

Room No. On-site in Vietnam Zoom Link Zoom ID Password

Main Hall C2 Conference Room https://us02web.zoom.us/j/7899003885?pwd=UG

5NTjBLbEVNVVBlZTk0WTdiMXRQQT09 789 900 3885 xh5956

Room 1 C1-323 https://us02web.zoom.us/j/7899003885?pwd=UG5NTjBLbEVNVVBlZTk0WTdiMXRQQT09 789 900 3885 xh5956

Room 2 C9-104 https://us02web.zoom.us/j/4424419277?pwd=NVN5Sy9nYXBaZVh1QkR6aWEvVjJwQT09 442 441 9277 h9uyX9



December 10 - 13, 2020

Hanoi, Vietnam

Friday, December 11, 2020

09:00 - 09:10 Opening Remarks Main Hall

09:10 - 10:00 Plenary Speech 1 (PS01) Main Hall

Title: CPS Driven Control System

Plenary Speaker: Prof. Tianyou Chai, Northeastern University, China

Chair: Prof. Zhihong Man, Swinburne University of Technology, Australia

10:00 - 10:10 Break


Title: Transforming Semiconductor Manufacturing Industry from Automation to

Intelligenization with Industry 4.0 Technologies

Plenary Speaker: Prof. Mengchu Zhou, New Jersey Institute of Technology, USA

Chair: Prof. Changan Jiang, Osaka Institute of Technology, Japan

11:00 - 11:10 Break


Title: Collaborative Fault Tolerant Control of Non-Signalized Intersections for

Connected and Autonomous Vehicles

Plenary Speaker: Prof. Hong Wang, Oak Ridge National Laboratory, USA

Chair: Prof. Shengjun Wen, Zhongyuan University of Technology, China

12:00 - 13:30 Lunch Time

13:30 - 15:10 Regular Session 1

Room 1 Room 2

FriA01

Design and Control on Robotic Systems Ⅰ

Paper ID:1061,1011,1013,1014,1015

FriB01

Design and Control on Robotic Systems Ⅱ Paper ID: 1017,1034,1005,1042,1027

15:10 - 15:30 Break


Room 1 Room 2

FriA02

Developments of Novel Methodologies and

Technique Ⅰ

Paper ID: 1031,1032,1033,1038,1041

FriB02


Technique Ⅱ

Paper ID: 1063,1010,1004,1044,1057

Saturday, December 12, 2020


Room 1 Room 2

SatA03

Advanced Mechatronic Systems and Its

Applications Ⅰ

Paper ID:1012,1016,1018,1048,1049

SatB03


applications Ⅱ

Paper ID:1066,1062,1030,1055, 1054

10:10 - 10:20 Break


Room 1 Room 2

SatA04

Modeling and Simulation

Paper ID:1059,1060,1040,1029,1001

SatB04

Pattern Recognition and Computer Vision

Paper ID:1020,1058,1008,1056,1024

12:00 - 13:00 Lunch time


Room 1 Room 2

SatA05

Nonlinear Control System Design Ⅰ

Paper ID:1009,1039,1043,1037

SatB05

Nonlinear Control System Design Ⅱ

Paper ID:1051,1064,1022,1026

14:40 - 14:50 Break


Room 1 Room 2

SatA06

Intelligent Control in Complex Systems Ⅰ

Paper ID:1019,1021,1065,1025

SatB06

Intelligent Control in Complex Systems Ⅱ

Paper ID:1035,1047,1046,1045

16:10 - 16:20 Break


Room 1 Room 2

SatA07

Signal and Image Processing

Paper ID:1023,1036,1050,1053

SatB07

Optimization Algorithms in Hybrid Systems

Paper ID:1028,1003,1002,1052

18:10 - 20:10 Closing Ceremony and Banquet

10:00-11:00 09:00-09:10 Main Hall

13:00-14:00 09:10-10:00 Main Hall

14:30-16:00

10:00-10:10 Break

10:10-11:00 Main Hall

11:00-11:10 Break

11:10-12:00 Main Hall


Advanced Mechatronic SystemsDecember 10 - 13, 2020

Hanoi, Vietnam

Plenary Speech 2

New Jersey Inst. of Tech., USA

Oak Ridge National Laboratory, USA

Plenary Speech 1

CPS Driven Control System

Chair: Prof. Shengjun Wen, Zhongyuan Univ. of Tech., China

Prof. Mengchu Zhou

Chair: Prof. Changan Jiang, Osaka Inst. of Tech., Japan

TECHNICAL PROGRAM

Chair: Prof. Zhihong Man, Swinburne Univ. of Tech., Australia

Northeastern Univ., China

ICAMechS 2020

Thursday, Dec. 10, 2020

ICAMechS 2020

Friday, Dec. 11, 2020

Zoom TestⅠ

Zoom TestⅡ

Zoom Test Ⅲ

End of the 1st Day

Opening Remarks

Prof. Tianyou Chai

Plenary Speech 3

Transforming Semiconductor Manufacturing

Industry from Automation to Intelligenization

with Industry 4.0 Technologies

Collaborative Fault Tolerant Control of Non-

Signalized Intersections for Connected and

Autonomous Vehicles

12:00-13:30 Lunch

Prof. Hong Wang

Chair: Dao Quy Thinh Hanoi Univ. of Sci. & Tech, Vietnam

Co-Chair: Do Trong Hieu Hanoi Univ. of Sci. & Tech, Vietnam

Chair: Pham Viet Phuong Hanoi Univ. of Sci. and Tech., Vietnam 13:30-13:50 FriB01-01

13:30-13:50 FriA01-01

Isira Naotunna Chiang Mai Univ., Thailand

13:50-14:10 FriA01-02 Huy Hung Nguyen HCMUT, VNU-HCM, Saigon Univ., Vietnam

Van Dong Nguyen HCMUT, VNU-HCM, Vietnam

Van Sy Le PetroVietnam Univ., Vietnam

Khanh Dat Truong HCMUT, VNU-HCM, Vietnam Tan Tien Nguyen HCMUT, VNU-HCM, Vietnam

Anh Khoa Lanh Luu HCMUT, VNU-HCM, Vietnam

Nhut Phuong Tong HCMUT, VNU-HCM, Vietnam 13:50-14:10 FriB01-02

Huy Hung Nguyen HCMUT, VNU-HCM, Saigon Univ., Vietnam

Tan Tien Nguyen HCMUT, VNU-HCM, Vietnam Luu Thi Hue HUST, Electric Power Univ., Vietnam

Duong Minh Duc HUST, Vietnam

14:10-14:30 FriA01-03 Nguyen Pham Thuc Anh HUST, Vietnam

14:10-14:30 FriB01-03Xuan Tien Nguyen Saigon Univ., HUTECH, Vietnam

Dang Hung Nguyen HCMUT, VNU-HCM, Vietnam

Huy Hung Nguyen Saigon Univ.,HCMUT, VNU-HCM, Vietnam Pham Thuc Anh Nguyen Hanoi Univ. of Sci. and Tech., Vietnam

Nhut Phuong Tong HCMUT, VNU-HCM, Vietnam Hoang Son Vietnam National Univ. of Forestry, Vietnam

Thanh Phuong Nguyen HUTECH, Vietnam Van Tai Duong Vietnam National Univ. of Forestry, Vietnam

Tan Tien Nguyen HCMUT, VNU-HCM, Vietnam

14:30-14:50 FriA01-04

14:30-14:50 FriB01-04

Xuan Tien Nguyen Saigon Univ., HUTECH,Vietnam

Tri Duc Tran HCMUT, VNU-HCM, Vietnam

Huy Hung Nguyen Saigon Univ., HUTECH,Vietnam Thanh-Trung Nguyen Hanoi Univ. of Sci. and Tech., Vietnam

Nhut Phuong Tong HCMUT, VNU-HCM, Vietnam Van-Huy Nguyen Hanoi Univ. of Sci. and Tech., Vietnam

Thanh Phuong Nguyen HUTECH, Vietnam Xuan-Huong Nguyen Hanoi Univ. of Sci. and Tech., Vietnam


14:50-15:10 FriB01-0514:50-15:10 FriA01-05

Khanh Dat Truong HCMUT, VNU-HCM, Vietnam

Anh Khoa Lanh Luu HCMUT, VNU-HCM, Vietnam Chen-xi Ju Univ. of Jinan,China

Nhut Phuong Tong HCMUT, VNU-HCM, Vietnam Ping Jiang Univ. of Jinan,China

Shi Li Univ. of Jinan,China



FriA01 Room 1

Design of Series Elastic Actuator Applied for Humanoid

Balancing Walking Gait for Small Size Humanoid Robot by Using

Movable Mass

Controlling Center of Mass in Humanoid Robot Using Sliding Mode

Control

A Study on Series Elastic Actuator Applied for Human-Interactive

Robot

Regular Session 1

Le Cuong Quoc BuiFaculty of Engineering Vocational, School of

Binhthuan Province Binhthuan, Vietnam

Design and Control on Robotic Systems Ⅱ

Regular Session 1

Technical Sessions

13:30-15:10, Friday, Dec. 11, 2020

FriB01 Room 2

Van Hien NguyenHCMUT, VNU-HCM, PetroVietnam Camau

Fertilizer Joint Stock Company, Vietnam

Van Tu DuongHCMUT, VNU-HCM, Nguyen Tat Thanh

Univ.,Vietnam

Design and Control on Robotic Systems Ⅰ

Comparison of ROS Local Planners with Differential Drive Heavy

Robotic System

Van Tu Duong HCMUT, VNU-HCM, Nguyen Tat Thanh Univ.,

Vietnam

Theeraphong Wongratanaphisan Chiang Mai Univ., Thailand

Kinematic Study on Generated Thrust of Bio-inspired Robotic with

Undulating Propulsion

Trajectory Planning for Dual Arm Robot System in Consideration of

the System Controller

15:10-15:30 Break

Co-Chair: Duong Minh Duc Hanoi Univ. of Sci. and Tech., Vietnam


Vietnam

Comparing the Results of Applying DE, PSO and Proposed Pro DE,

Pro PSO Algorithms for Inverse Kinematics Problem of a 5-DOF

Scara Robot

Developing Robotic System for Harvesting Pineapples

Comparing the Results of Applying DE, PSO and Proposed Pro DE,

Pro PSO Algorithms for Inverse Kinematics Problem of a 5-DOF

Scara Robot

Chair:Yegui Xiao Prefectural Univ. of Hiroshima, Japan

Co-Chair: Yongping Dan Zhongyuan Univ. of Tech., China

15:30-15:50 FriB02-01Chair: Masami IWASE Tokyo Denki Univ., Japan

Co-Chair: Changan Jiang Osaka Inst. of Tech., Japan

15:30-15:50 FriA02-01X. Tan Prefectural Univ. of Hiroshima, Japan

Y. Ma Jiangnan Univ., China

Y. Xiao Prefectural Univ. of Hiroshima, Japan

Jotaro Suzuki Tokyo Denki Univ., Japan L. Ma Concordia Univ., Canada

Masami Iwase Tokyo Denki Univ., Japan K. Khorasani Concordia Univ., Canada

15:50-16:10 FriA02-02 15:50-16:10 FriB02-02

Yusaku Takada Tokyo Denki Univ., Japan

Shotaro Nakamura Tokyo Denki Univ., Japan Ziti Fariha Mohd Apandi Mie Univ., Japan

Sakie Morioka Tokyo Denki Univ., Japan Ryojun Ikeura Mie Univ., Japan

Masami Iwase Tokyo Denki Univ., Japan Soichiro Hayakawa Mie Univ., Japan

Shigeyoshi Tsutsumi Mie Univ., Japan

16:10-16:30 FriA02-0316:10-16:30 FriB02-03

Keitaro Kaneta Tokyo Denki Univ., Japan Yixiong Feng Zhejiang Univ., China

Masami Iwase Tokyo Denki Univ., Japan Chuan He Zhejiang Univ., China

Nobutsuna Endo Tokyo Denki Univ., Japan Jianrong Tan Zhejiang Univ., China

Hao Zheng Beihang Univ., China

16:30-16:50 FriA02-04 Yicong Gao Zhejiang Univ., China

16:30-16:50 FriB02-04

Sho Fujiwara Tokyo Denki Univ., Japan

Masami Iwase Tokyo Denki Univ., Japan

Nobutsuna Endo Tokyo Denki Univ., Japan Wudai Liao Zhongyuan Univ. of Tech., China

Chaochuan Zhang Zhongyuan Univ. of Tech., China

16:50-17:10 FriA02-05 Jinhuan Chen Zhongyuan Univ. of Tech., China

Xiaosong Liang Zhongyuan Univ. of Tech., China

Jun Zhou Zhongyuan Univ. of Tech., China

Atsushi Suyama Tokyo Denki University Tokyo, Japan 16:50-17:10 FriB02-05Masami Iwase Tokyo Denki University Tokyo, Japan

Nobutsuna Endo Tokyo Denki University Tokyo, Japan

Kai Tian Henan Univ. of Sci. and Tech., China

Yanfeng Wu Henan Univ. of Sci. and Tech., China

FriB02 Room 2 Technical Sessions

15:30-17:10, Friday, Dec. 11, 2020

FriA02

Development of a Forest Inventory System by Multicopter Flying in

Forest

Development of Powered Wheelchair Expanding Reach of User

End of the 2nd Day

Room 1


Technique Ⅱ

Regular Session 2

Regular Session 2


Technique Ⅰ

Assessment of the Design Complexity of Modular Automated

Assembly System

Development of Powered Wheelchair Expanding Range of

Independent Activities of Physically-handicapped Person

Near Boundary Control of Automotive Engine Using Machine

Learning

Development of Myoelectric Prostheses with Elbow Joint

A New Feedback Narrowband Active Noise Control System with

Online Secondary-path Modeling Based on Adaptive Notch Filtering

Noise Reduction Method based on Autocorrelation for Threshold-

based Heartbeat Detection

Design of Anti-glare Device for Freeway with Power Generation

Using a Vertical Axis Wind Turbine

Global Stability Criterion of Memristor-based Recurrent Neural

Networks with Time Delays

Chair: Zhihong Man Swinburne Univ. of Tech., Australia

Co-Chair: Hong Wang Oak Ridge National Laboratory, USA

08:30-08:50 SatB03-01

Chair: Vo Duy Thanh Hanoi Univ. of Sci. and Tech., Vietnam

Co-Chair: Nguyen Danh Hu Hanoi Univ. of Sci. and Tech., Vietnam Hanoi Univ. of Sci. and Tech., Vietnam

Hong Wang Oak Ridge National Laboratory, USA

08:30-08:50 SatA03-01

08:50-09:10 SatB03-02

Hoang Giang Tran Hiep Phat mechatronic Co. LTD,Vietnam

Khac Sinh Le Hochiminh City Univ. of Food Industry, Vietnam

Thanh Luan Bui HUTECH Univ., Vietnam

Huy Hung Nguyen Saigon Univ., Vietnam Huy Diep Do Univ. of Engineering and Tech., Vietnam

Van Duc Nguyen Univ. of Engineering and Tech., Vietnam

08:50-09:10 SatA03-02 Xuan Quynh Nguyen Hanoi Univ. of Sci. & Tech., Vietnam

The Ba Dang Univ. of Engineering and Tech., Vietnam

09:10-09:30 SatB03-03


Tan Tien Nguyen HCMUT, VNU-HCM, Vietnam Tatsuya Terashima Tokyo Denki Univ., Japan

Trong Trung Nguyen Hochiminh city Univ. of Transport, Vietnam Ryo Suzuki Tokyo Denki Univ., Japan

Van Khoi Vu HCMUT, VNU-HCM, Vietnam Masami Iwase Tokyo Denki Univ., Japan

Hoang Long Phan HCMUT, VNU-HCM, Vietnam

09:30-09:50 SatB03-0409:10-09:30 SatA03-03

Thien Phuc Tran Ho Chi Minh City Univ. of Tech., Vietnam Fen Liang Zhengzhou College of Economics and trade, China

Truong Thuan Nguyen HCMUT, VNU-HCM, Vietnam Qiangsong Zhao Zhongyuan Univ. of Tech., China

Cong Toai Truong HCMUT, VNU-HCM, Vietnam

Tan Tien Nguyen HCMUT, VNU-HCM, Vietnam 09:50-10:10 SatB03-0509:30-09:50 SatA03-04

Bao Binh Pho Hanoi Univ. of Sci. and Tech., Vietnam Yongping Dan Zhongyuan Univ. of Tech., China

Trong Minh Tran Hanoi Univ. of Sci. and Tech., Vietnam Zhuo Li Zhongyuan Univ. of Tech., China

Manh Linh Nguyen Hanoi Univ. of Sci. and Tech., Vietnam Fengge Wang Zhongyuan Univ. of Tech., China

Phuong Vu Hoang Hanoi Univ. of Sci. and Tech., Vietnam

09:50-10:10 SatA03-05

Trong Hieu Do Hanoi Univ. of Sci. and Tech., Vietnam

Minh Duc Duong Hanoi Univ. of Sci. and Tech., Vietnam

Manh Linh Nguyen Hanoi Univ. of Sci. and Tech., Vietnam

Quy Thinh Dao Hanoi Univ. of Sci. and Tech., Vietnam

The System of Three-phase Electric Parameter Detection Based on

the Internet of Things

An Improved Error Interpolator of Milling CNC Controller Based

on FPGA

Technical Sessions

08:30-10:10, Saturday, Dec. 12, 2020

SatA03

Kinematic Model Reference Adaptive Controller for a Lurking Type

Automated Guided Vehicle Using Traction Drive Unit

Regular Session 3

Collaborative Fault Tolerant Control of NonSignalized Intersections

for Connected and Autonomous Vehicles

Room 2


Applications Ⅱ

Regular Session 3

SatB03

Room 1

ICAMechS 2020

Saturday, Dec. 12, 2020

Optimizing Linear Generator Design’s Parameters for Output Power

Using Mix Numerical and Analytical Technique

Study on Designing and Manufacturing Coaxial Brussless DC Motor

The Reliability Analysis of Welding Robots Based on Fault Tree

10:10-10:20 Break

Discrete-time Quasi Sliding Mode Control of Single-phase T-type

Inverters for Residential PV Applications

A Combination of Distributed Delays Shapers and ADRC for Gantry

Crane Control


Vietnam


Applications Ⅰ

Realization of Autonomous Drive Control of Power-assisted Bicycle

Chair: Shan Liang Chongqing Univ., China

Co-Chair: Lin Meng Ritsumeikan Univ., Japan

Chair: Akira Inoue Okayama Univ., Japan 10:20-10:40 SatB04-01Co-Chair: Masami IWASE Tokyo Denki Univ., Japan

10:20-10:40 SatA04-01 Sicheng Li Swinburne Univ. of Tech., Australia

Zhihong Man Swinburne Univ. of Tech., Australia

Yuan Chen Shandong Univ. at Weihai, China

Quy-Thinh Dao Hanoi Univ. of Sci. and Tech., Vietnam

Hai-Trieu Le Hanoi Univ. of Sci. and Tech., Vietnam 10:40-11:00 SatB04-02Manh-Linh Nguyen Hanoi Univ. of Sci. and Tech., Vietnam

Trong-Hieu Do Hanoi Univ. of Sci. and Tech., Vietnam

Minh-Duc Duong Hanoi Univ. of Sci. and Tech., Vietnam Linh Tao Hanoi Univ. of Sci. and Tech., Vietnam

Tinh Nguyen Hanoi Univ. of Sci. and Tech., Vietnam

10:40-11:00 SatA04-02 Trung Nguyen Hanoi Univ. of Sci. and Tech., Vietnam

Tran Vu Minh Hanoi Univ. of Sci. and Tech.,Vietnam

11:00-11:20 SatB04-03

Xinkai Chen Shibaura Inst. of Tech., Japan

Yusuke Shiba Tokyo Gakugei Univ., Japan

11:00-11:20 SatA04-03 Shinichi Imai Tokyo Gakugei Univ., Japan

11:20-11:40 SatB04-04Toru Usami Tokyo Univ. of Agri. and Tech., Japan

Mingcong Deng Tokyo Univ. of Agri. and Tech., Japan

Kentaro YOKOO Ritsumeikan Univ., Japan

11:20-11:40 SatA04-04 Masahiko ATSUMI Ritsumeikan Univ., Japan

Kei TANAKA Ritsumeikan Univ., Japan

Haoqing WANG Ritsumeikan Univ., Japan

Takumi Yamato Tokyo Denki Univ., Japan Lin MENG Ritsumeikan Univ., Japan


Zini Stefano Tokyo Denki Univ., Japan 11:40-12:00 SatB04-05Francesco Dal Corso Tokyo Denki Univ., Japan

11:40-12:00 SatA04-05Hailin Zhang Chongqing Univ., China

Junjun Xu Zhejiang Univ., China

Bo Liu Zhejiang Univ., China

Kangjie Li Zhejiang Univ., China

Yixiong Feng Zhejiang Univ., China

Hao Zheng Beihang Univ., China

Yicong Gao Zhejiang Univ., China Jing Liang Chongqing Univ., China

Hao Zhang Chongqing Univ., China

Shan Liang Chongqing Univ., China

Hybrid Global Optimization Methods and Iterative Closest Point on

Point-based Approach for 3D Registration

Development of Engineering Educational Support System for

Manufacturing Using Augmented Reality

Central Sichuan District of Petro China Southwest

Oil & Gas Field Company, ChinaLu Liu

Modeling of 3–DOF Micro–hand for One or Two Inputs

12:00-13:00 Lunch

Design and Structure Analysis of Multi-legged Bionic Soft Robot


Oil & Gas Field Company, ChinaJuan Dai

Regular Session 4

A Modified Bouc-Wen Model of Pneumatic Artificial Muscles in

Antagonistic Configuration

Technical Sessions

10:20-12:00, Saturday, Dec. 12, 2020

SatA04 Room 1

Modeling and Simulation

Tran Thanh TungUniv. of Engineering and Tech., Vietnam National

Univ., Vietnam

Pattern Recognition and Computer Vision

Precision Control of Piezoelectric Actuator Using Modified Bouc-

Wen Model

Modeling with the Projection Method Considering the Impact State

Regular Session 4

A Self-adaptive Global Harmony Search Based Extreme Learning

Machine for Cassification Problem

SatB04 Room 2

Spatio-temporal Fusion Model of Natural Gas Pipeline Condition

Monitoring Based on Convolutional Neural Network and Long

Short-term Memory Neural Network


Oil & Gas Field Company, ChinaLi Ma

Deep Learning Based Emotion Recognition IoT System

Tam BuiShibaura Inst. of Tech., Japan; Hanoi Univ. of Sci.

and Tech., Vietnam

Chair: Shengjun Wen Zhongyuan Univ. of Tech., China

Co-Chair: Yongping Dan Zhongyuan Univ. of Tech., China

13:00-13:20 SatB05-01Chair: Changan Jiang Osaka Inst. of Tech., Japan

Co-Chair: Zhiqiang Lang Univ. of Sheffield, UK

13:00-13:20 SatA05-01Akira Inoue Okayama Univ., Japan

Mingcong Deng Tokyo Univ. of Agri. and Tech., Japan

Shiro Masuda Tokyo Metropolitan Univ., Japan

Nguyen Quang Nam National Univ. of Singapore, Singapore Shin-ichi Yoshinaga Kagawa College, Japan

13:20-13:40 SatA05-02 13:20-13:40 SatB05-02

Akihiro Kumaki Tokyo Denki Univ., Japan Shengjun Wen Zhongyuan Univ. of Techn., China

Masami Iwase Tokyo Denki Univ., Japan Ping Liu Zhongyuan Univ. of Techn., China

Jun Yu Zhongyuan Univ. of Techn., China

13:40-14:00 SatA05-03

13:40-14:00 SatB05-03

Mingcong Deng Tokyo Univ. of Agri. and Tech., Japan Xiaoliang Shi Northeastern Univ. Shenyang, China

Tomoki Koide Tokyo Univ. of Agri. and Tech., Japan

14:00-14:20 SatB05-04

14:00-14:20 SatA05-04

Weidong Cheng Chongqing Univ., China

Akihiko Katsuta Tokyo Denki Univ., Japan Tong Liu Chongqing Univ., China

Masami Iwase Tokyo Denki Univ., Japan Shan Liang Chongqing Univ., China

Temperatrue Control of Microwave Heating System by Adaptive

Dynamic Programming

Experimental Studies on Operator-based Nonlinear Vibration

Control of a Flexible Arm Considering Prescribed Performance

A Predictor Based on a Modified Full-order Observer for

Generalized Minimum Variance Control Equivalent to Polynomial

Approach

Characteristics of S-curve Motion Profile for All Ranges of Motion

Length and Limits

Realization of Robust Yo-yo Operation

Break

Regular Session 5

Nonlinear Control System Design Ⅰ

Regular Session 5

Control System Design via Neural Networks Using System Structures

Nonlinear Control System Design Ⅱ

Control of Hardening Layer by Pre-stressed Hardening Grinding

Technical Sessions

13:00-14:40, Saturday, Dec. 12, 2020

SatA05 Room 1

SatB05 Room 2

Development of Operator Based Tracking Controller Design for a

Perturbed Peltier Refrigeration System

14:40-14:50

Chair: Aihui Wang Zhongyuan Univ. of Tech., China

Co-Chair: Shan Liang Chongqing Univ., China

Chair: Tran Vu Minh Hanoi Univ. of Sci. and Tech., Vietnam 14:50-15:10 SatB06-01

14:50-15:10 SatA06-01Shunsuke Sakamoto Tokyo Denki Univ., Japan


15:10-15:30 SatB06-02

Vu Ngoc Bich Hochiminh city Univ. of Transport, Vietnam

Nguyen Thi Ngoc Hoa Hochiminh city Univ. of Transport, Vietnam Jun Yu Zhongyuan Univ. of Tech., China

Shuaishuai Zhang Zhongyuan Univ. of Tech., China

Aihui Wang Zhongyuan Univ. of Tech., China

Wei Li Zhongyuan Univ. of Tech., China

15:30-15:50 SatB06-03

15:10-15:30 SatA06-02Junlan Lu Zhongyuan Univ. of Tech., China

Wang Aihui Zhongyuan Univ. of Tech., China

Zhengxiang Ma Zhongyuan Univ. of Tech., China

Yosuke Furukawa Tokyo Univ. of Agri. and Tech., Japan

Mingcong Deng Tokyo Univ. of Agri. and Tech., Japan 15:50-16:10 SatB06-04

15:30-15:50 SatA06-03

Yifei Ge Zhongyuan Univ. of Tech., China

Yongping Dan Zhongyuan Univ. of Tech., China

Roan Van Hoa Univ. of Economics-Tech. for Industries, Vietnam Aihui Wang Zhongyuan Univ. of Tech., China

Tran Duc Chuyen Univ. of Economics-Tech. for Industries, Vietnam Shuaishuai Zhang Zhongyuan Univ. of Tech., China

Nguyen Tung Lam Hanoi Univ. of Sci. and Tech., Vietnam,

Tran Ngoc Son Univ. of Economics-Tech. for Industries, Vietnam

Nguyen Duc Dien Univ. of Economics-Tech. for Industries, Vietnam

Vu Thi To Linh Univ. of Economics-Tech. for Industries, Vietnam

15:50-16:10 SatA06-04

Changan Jiang Osaka Inst. of Tech., Japan

Kinchong Chu Ritsumeikan Univ., Japan

Satoshi Ueno Ritsumeikan Univ., Japan

Static Analysis of a 3-link Object for Posture Maintenance Control

by Nonprehensile Robot without Compensating Friction

Hochiminh city Univeristy of Tech., Vietnam

National Univ. Hochiminh city, Vietnam

Tran Hai Hochiminh city Univeristy of Tech., National Univ.

Hochiminh city, Vietnam

Tran Van TaoHochiminh city Univeristy of Tech., Vietnam

National Univ., Vietnam

Nguyen Duy AnhHochiminh city Univeristy of Tech.,Vietnam

National Univ. Hochiminh city, Vietnam

SatB06 Room 2

Intelligent Control in Complex Systems ⅡSatA06 Room 1

Parametric Hull Form Variation-based Genetic Algorithm for

Reduced Ship Resistance

Fault Detection of Tank-system Using ChangeFinder and SVM

Adaptive Control of the Rehabilitation Robot with the Model

Uncertainty Based on Real Human Gait

Throwing Motion for Yo-yo Forward-pass Operation Based on Wave

Propagation

Intelligent Control in Complex Systems Ⅰ

Reinforcement Learning Based Method for Autonomous Navigation

of Mobile Robots in Unknown Environments

Technical Sessions

14:50-16:10, Saturday, Dec. 12, 2020

Regular Session 6

Tat-Hien Le

Regular Session 6

Co-Chair: Nguyen Tung Lam Hanoi Univ. of Sci. and Tech., Vietnam

Human Gait Analysis Based on OpenSim

Lower Limb Rehabilitation Robot Control Based on Human Gait

Data andPlantar Reaction Force

16:10-16:20 Break

Chair: Lin Meng Ritsumeikan Univ., Japan

Co-Chair: Aravinda C V NMAM Inst. of Tech. NITTE, India

Chair: Yegui Xiao Prefectural Univ. of Hiroshima, Japan 16:20-16:40 SatB07-01Co-Chair: Yanfeng Wu Henan Univ. of Sci. and Tech., China

16:20-16:40 SatA07-01

Yunpeng Zhu Univ. of Sheffield, UK

Zelin Meng Ritsumeikan Univ., Japan Z Q Lang Univ. of Sheffield, UK

Zhiyu Zhang Ritsumeikan Univ., Japan

Zhihong Man Swinburne Univ. of Tech., Australia 16:40-17:00 SatB07-02Hiroyuki Tomiyama Ritsumeikan Univ., Japan

Lin Meng Ritsumeikan Univ., Japan

16:40-17:00 SatA07-02 Yixiong Feng Zhejiang Univ., China

Chen Yang Zhejiang Univ., China

Tianyue Wang Zhejiang Univ., China

Masahiko ATSUMI Ritsumeikan Univ., Japan Hao Zheng Beihang Univ., China

Syunsuke KAWANO Ritsumeikan Univ., Japan Yicong Gao Zhejiang Univ., China

Tomoki MORIOKA Ritsumeikan Univ., Japan

Lin MENG Ritsumeikan Univ., Japan

17:00-17:20 SatA07-03 17:00-17:20 SatB07-03

Aravinda C.V N.M.A.M Inst. of Tech. (NITTE.), INDIA Shanghua Mi Zhejiang Univ., China

Udaya Kumara Reddy K R N.M.A.M Inst. of Tech. (NITTE.), INDIA Zengwei Ji Zhejiang Univ., China

Lin Meng Ritsumeikan Univ., Japan Hao Zheng Beihang Univ., China

Amar Prabhu G Komatsu Co., Japan Yicong Gao Zhejiang Univ., China

17:20-17:40 SatA07-04 17:20-17:40 SatB07-04

Yongping Dan Zhongyuan Univ. of Tech. , China

MengChu Zhou New Jersey Inst. of Tech., USA

Qi Kang Tongji Univ., China

18: 10-20:10 Main Hall

South Indian Character Recognition Using Statistical Feature

Extraction and Distance Classifier

A Shortest Path Algorithm of Long-period Cyclic Fully Connected

Layer Graph Based on Dijkstra Algorithm

Quality Control System of Automobile Bearing Production Based on

Edge Cloud Collaboration

Optimal Design of Nonlinear Systems by Using the Low Dimension

Associated Output Frequency Response Function (AOFRF)

Wei FanChina Unicom (Zhejiang) Industrial Internet Co.,

Ltd, China

End of the 3rd Day

Closing Ceremony and Banquet

Regular Session 7

Department of Control Sci. and Engineering,

Shanghai Inst. of Intelligent Sci. and Tech., Tongji

Univ., China

HanQiu Bao

Jing An

Hongli He Rail Transit Inst. Henan College of

Transportation, ChinaSchool of Electrical and Electronic Engineering,

Shanghai Inst. of Tech., China

Signal and Image Processing

Technical Sessions

16:20-17:40, Saturday, Dec. 12, 2020

SatA07 Room 1

Regular Session 7

Rubbing Character Recognition with Machine Learning

Deep Learning Based Ancient Asian Character Recognition

SatB07 Room 2

Optimization Algorithms in Hybrid Systems

The Research and Design of Smart Mobile Robotic Arm Based on

Gesture Controlled

A Data-driven MPC Algorithm for Bridge Cranes

ICAMechS 2020

Sunday, Dec. 13, 2020

Technical Tour

End of the Conference

Vietnam Time (GMT+7)

13:30 - 15:10, Friday, December 11, 2020Chair: Pham Viet Phuong (Hanoi Univ. of Sci. and Tech., Vietnam)

FriA01, Room 1 Co-Chair: Duong Minh Duc (Hanoi Univ. of Sci. and Tech., Vietnam)

FriA01-01 FriA01-02

Comparison of ROS Local Planners with Differential Drive Heavy

Robotic System

A Study on Series Elastic Actuator Applied for Human-

Interactive Robot

Isira Naotunna and Theeraphong Wongratanaphisan

(Chiang Mai Univ., Thailand)

Khanh Dat Truong, Anh Khoa Lanh Luu and Nhut Phuong Tong

(HCMUT, VNU-HCM, Vietnam)

Van Tu Duong (HCMUT, VNU-HCM, Nguyen Tat Thanh Univ., Vietnam)

Huy Hung Nguyen (HCMUT, VNU-HCM, Saigon Univ., Vietnam)

Tan Tien Nguyen (HCMUT, VNU-HCM, Vietnam)

This work aims to analyze the performance of ROS local planners with a

differential drive heavy robotic system. Intel Realsense D435i depth camera and

T265 tracking camera are used as the primary sensor source for navigation with

real-time appearance-based mapping and localization technique. This work has

studied the performance of DWA, TEB, and EBand local planners under two

experiments. Obtained results are used to analyze the local planners based on how

well it follows the global planners, their obstacle avoidance capability, time

consumption, goal-reaching accuracy, and the quality of motion generation.

Obtained results indicate that DWA and TEB local planners are more suitable for

the large differential drive robot setup.

This paper studies the development of series elastic actuators (SEAs) utilized as

a power transmission for human-interactive robots and exoskeletons. By

applying this type of actuator, a joint mechanism can provide low output

impedance, large force range and bandwidth, high fidelity of force control, and

tolerance to shocks. First, a prototype of SEAs is developed using two elastic

elements with various stiffness that can produce a desired joint torque based on

the reference walking gait of human. Then, a mathematical modeling of SEAs is

achieved to investigate the kinematic and dynamic of SEAs. In order to operate

SEAs, a traditional PID controller is adopted, which is developed based on the

pole placement method to stabilize the dynamic system of SEAs. The

effectiveness and reliability of SEAs are evaluated through simulation and

experimental results on a test-bench.

FriA01-03 FriA01-04

Balancing Walking Gait for Small Size Humanoid Robot by Using

Movable Mass

Controlling Center of Mass in Humanoid Robot Using Sliding

Mode Control

Xuan Tien Nguyen (Saigon University, Hochiminh City Univ. of Tech., Vietnam)

Dang Hung Nguyen (HCMUT, VNU-HCM, Vietnam)

Huy Hung Nguyen (Saigon Univ., HCMUT, VNU-HCM, Vietnam)

Nhut Phuong Tong ( HCMUT, VNU-HCM,Vietnam)

Thanh Phuong Nguyen (Hochiminh City Univ. of Tech., Vietnam)


Xuan Tien Nguyen (Saigon Univ., Hochiminh City Univ. of Tech., Vietnam)

Tri Duc Tran (HCMUT, VNU-HCM, Vietnam)

Huy Hung Nguyen (Saigon Univ., HCMUT, VNU-HCM, Vietnam)

Nhut Phuong Tong (HCMUT, VNU-HCM, Vietnam)

Thanh Phuong Nguyen (Hochiminh City Univ. of Tech., Vietnam)


This paper describes a method used in stabilizing the walking gait of HUNO - a

small size humanoid robot by using a movable mass. This method eliminates the

movement of the robot's pelvis when walking. In previous study, a model for the

robot was derived and simulation was done based on that model. In this paper, the

aforementioned model is implemented on real life robot. Then, a simple PID is

deduced to control the real movable mass mechanism. Finally, the effectiveness of

the proposed method is shown through experimental results.

To successfully realize biped walking process for humanoid robot, a precise

mathematical model expressing the dynamic characteristics for the robot is

required. In previous works, the lower body of humanoid robot UXA-90 was

only given kinematic model, and it was controlled by a traditional PID

controller. This leads to inaccuracy in joints' velocities, accelerations when

implement the controller on real robot, therefore its performance degrades over

time as the dynamic characteristics were not taken into consideration. Hence, a

novel controller tracking the joint trajectories based on dynamic model should

be given to actually realize biped walking process. In this paper, a mathematical

model describing the 12 degree of freedoms (DOFs) dynamic of the humanoid

robot's lower body is derived using Euler-Lagrange method. Then, a sliding

mode controller (SMC) based on the aforementioned model is used to control

the joint trajectories. Finally, the simulation results are investigated through

MATLAB to evaluate the effectiveness of the proposed controller.

FriA01-05

Design of Series Elastic Actuator Applied for Humanoid

Khanh Dat Truong, Anh Khoa Lanh Luu and Nhut Phuong Tong


Van Tu Duong (HCMUT, VNU-HCM, Nguyen Tat Thanh Univ., Vietnam)



This paper describes the mechanical design of a humanoid lower limb driven by

Series Elastic Actuator (SEA). The design is based upon the frame of the

commercial UXA-90 humanoid, with the conventional rotation joints in spatial

plane are replaced by SEA. A modular design of SEA is adopted for each specific

joint (ankle, knee and hip) so that different walking patterns can be applied to the

humanoid for more flexible movement. Moreover, by introducing the elastic

element in the actuator, the humanoid can achieve higher fidelity of force control

and better tolerance to shocks load during full cycle gaits. A prototype of the

humanoid is built and then used to conduct experiment in two different cases:

hanging in the air for free load conditions and performing step forward for fully

load conditions. The experimental results validate the capability of the design and

evaluate the performance of the actuators.

Regular Session 1Design and Control on Robotic Systems Ⅰ


13:30 - 15:10, Friday, December 11, 2020Chair: Dao Quy Thinh (Hanoi Univ. of Sci. and Tech., Vietnam)

FriB01, Room 2 Co-Chair: Do Trong Hieu (Hanoi Univ. of Sci. and Tech., Vietnam)

FriB01-01 FriB01-02

Kinematic Study on Generated Thrust of Bio-inspired Robotic

with Undulating Propulsion

Trajectory Planning for Dual Arm Robot System in

Consideration of the System Controller

Van Hien Nguyen (HCMUT, VNU-HCM, PetroVietnam Camau Fertilizer Joint

Stock Co., Vietnam)

Van Tu Duong (HCMUT, VNU-HCM, Nguyen Tat Thanh Univ.,Vietnam)


Van Dong Nguyen (HCMUT, VNU-HCM, Vietnam)

Van Sy Le (PetroVietnam Univ., Vietnam)


Luu Thi Hue

(Hanoi Univ. of Sci. and Tech., Electric Power Univ., Vietnam)

Duong Minh Duc and Nguyen Pham Thuc Anh

(Hanoi Univ. of Sci. and Tech., Vietnam)

This paper presents the design and simulation evaluation of a self-contained

submersion robot that mimics the actual flexible locomotion of American knifefish.

First, a prototype of the bio-inspired submersion robot with a single undulating fin

running along the length of the robot is developed. This undulating fin is a

segmental fin comprised of sixteen fin rays that produce sinusoidal waves to

propel the robot. Then, a system modeling of the robot is established to investigate

the kinematics of undulating propulsion. A feedback linearization controller is

employed to achieve the undulating propulsion velocity. The simulation results

demonstrate that the developed prototype of the bio-inspired submersion robot can

realize the desired thrust and velocity by the means of the undulating fin

propulsion.

The paper has developed optimal trajectory planning for the object manipulated

by two robot arms collaborate with each other. The object's trajectory that

includes motions along X and Y axes, and object rotation are chosen to be fifth-

order polynomial type. In order to determine the polynomial coefficients,

Genetic Algorithm (GA) based optimization is done with robot kinematic and

dynamic constraints are considered. Difference from other previous research that

use inverse dynamics to calculate input torque, in this paper, the input torque is

calculated as controller output that is the same as practical robot system. Finally,

simulation works on Matlab-Simulink have been carried out to reconfirm the

accuracy and the effectiveness of the designed trajectory.

FriB01-03 FriB01-04

Developing Robotic System for Harvesting Pineapples

Comparing the Results of Applying DE, PSO and Proposed Pro

DE, Pro PSO Algorithms for Inverse Kinematics Problem of a 5-

DOF Scara Robot

Nguyen Pham Thuc Anh (Hanoi Univ. of Sci. and Tech., Vietnam)

Son Hoang and Duong Van Tai (Vietnam National Univ. of Forestry, Vietnam)

Bui Le Cuong Quoc (Vocational School of Binhthuan Province, Vietnam)

Thanh-Trung Nguyen, Van-Huy Nguyen and Xuan-Huong Nguyen


This paper develops a robotic system to harvest pineapple autonomously. The

system contains a machine vision unit, two robotic manipulators mounted on a

platform, custom end-effectors, and an image-based harvesting control unit. The

manipulators with Gantry 3DOF PPP configuration are geometrically optimized to

move the end-effectors approaching pineapples. Each end-effector is actuated by

pneumatic actuator and equipped with a cage-shaped gripper to fix the selective

pineapple inside and a cutting device to cut its stalk. YOLOv3 approach is

implemented for detecting and recognizing pineapple fruits that meet requirements

for harvest. The experiment results demonstrate the success of pineapple

recognition with 90.82% mAP. The 3D position of the recognized pineapples will

be calculated and sent to the control system. The control system, including an

industrial computer communicating with PLCs to conducts the manipulators and

end-effectors to approach and d the recognized pineapples. The complete system

has been tested on the experimental field- model. The success rate of pineapple

harvesting is 95.55% and the average time is 12 seconds per one fruit. In the

future, this system will be improved for automatic harvesting in real pineapple

fields.

In this research, the Differential Evolution (DE) and Particle Swarm

Optimization (PSO) algorithms as well as the Proposed DE and PSO (Pro DE

and Pro PSO) Algorithms with searching space improvements were applied to

solve the Inverse Kinematic (IK) problem of 5 Degree of Freedoms (DOF)

Scara robot. These algorithms were tested with two different scenarios for the

motion of the manipulator ’ s end-effector. The 1st scenario uses one hundred

randomly selected in the workspace of the robot, while the 2nd scenario also use

100 points belong to a spline trajectory in working space . These algorithms

were compared by the execution time, the end-effector position error, the

required number of generations and joints variable values.The results showed

that the DE and Pro DE could be effectively used for the IK solution of the

manipulator.

FriB01-05

Intelligent Control Method of Heating Process including Model

Prediction and Climate Compensation

Chen-xi Ju, Ping Jiang and Shi Li (Univ. of Jinan, China)

This paper takes the intelligent optimization control of the heating process as the

technological background. Not only analyzes the shortcomings of the existing

control strategies, but alse proposes and establishes a model predictive control

strategy based on RBF neural network. In this paper, the mechanism model is used

instead of the actual building, and the RBF neural network model is used as the

predictive model. Furthermore, the control strategy includes the prediction of

future interference and the feedback of indoor real-time temperature. This paper

realizes the improvement of the traditional algorithm, improves the control effect,

and finally reduces the energy consumption in the heating process while improving

the comfort of thermal users.

Regular Session 1Design and Control on Robotic Systems Ⅱ


15:30 - 17:10, Friday, December 11, 2020Chair: Masami IWASE (Tokyo Denki Univ., Japan)

FriA02, Room 1 Co-Chair: Changan Jiang (Osaka Inst. of Tech., Japan)

FriA02-01 FriA02-02

Development of a Forest Inventory System by Multicopter Flying

in ForestDevelopment of Myoelectric Prostheses with Elbow Joint

Jotaro Suzuki and Masami Iwase (Tokyo Denki Univ., Japan)Yusaku Takada, Shotaro Nakamura, Sakie Morioka and Masami Iwase

(Tokyo Denki Univ., Japan)

The purpose of this study is to develop a forest inventory system using a

multicopter flying in the forest. In order to achieve this purpose, it is necessary to

realize collision avoidance with trees and to estimate the attribute of tree

information by 3D shape mapping by Simultaneous Localization And

Mapping(SLAM). The ”Cartographer” SLAM system generates a 3D shape map.

The thickness of the tree can be estimated based on the point cloud data obtained

by the system. By extracting the point cloud data of each tree from the

measurement data, and applying the proposed methodology to them, the trunk

thickness has been estimated within ±2 cm error in 7 of the 8 trees.

The purpose of this study is to develop a myoelectric prosthesis that can move

the elbow joint arbitrarily. The elbow joint angle intended by the user is

estimated from the myoelectric potential, and the elbow joint prosthesis follows

the angle to achieve voluntary and responsiveness. The upper limb

musculoskeletal model is used for this estimation. In the musculoskeletal model,

the myoelectric potential of the upper arm during elbow joint movement is input

and the elbow joint angle is output, and the effectiveness of the elbow joint

angle estimation method using this model is experimentally verified. In order to

verify the effectiveness of the actual machine, a motor-driven elbow joint

mechanism is manufactured and implemented.

FriA02-03 FriA02-04

Development of Powered Wheelchair Expanding Range of

Independent Activities of Physically-handicapped Person

Near Boundary Control of Automotive Engine Using Machine

Learning

Keitaro Kaneta, Masami Iwase and Nobutsuna Endo (Tokyo Denki Univ., Japan) Sho Fujiwara, Masami Iwase and Yasuyuki Satoh (Tokyo Denki Univ., Japan)

In this research, we aim to develop a powered wheelchair expanding the range of

independent activities for a physically-handicapped person. For this purpose, in

this paper, we discuss the specifications of such a wheelchair. Its power train and

drive unit are designed to satisfy the specifications. Fur-thermore, the powered

mechanism controlling seat position and attitude is also investigated. As a result, a

prototype miniature model has been produced to verify the availability of the

proposed wheelchair system.

We aim to develop a control method for an automotive engine to operate inside

the boundary that present sbetween the admissible and violated operation

domain. These boundaries can be represented by a mathematical model. For

those boundaries, we design a near-boundary control using State-Dependent

Riccati Equation, which performs to make the engine work to satisfy the driver

demand when the engine operates inside the admissible zone, and which

performs to make the engine not exceed the boundaries when the driver demand

indicates inside the violated zone. Such a controller requires high computational

performance so that it is practically impossible to be implemented into a real

machine. In this paper, a deep neural network is introduced to mimic the

behavior of the predesigned near-boundary control, which can work with a

much-reduced computational load.

FriA02-05

Development of Powered Wheelchair Expanding Reach of User

Atsushi Suyama, Masami Iwase and Nobutsuna Endo

(Tokyo Denki Univ., Japan)

The purpose of this study is to realize a powered wheelchair that expands the

reach of a wheelchair user to improve his/her quality of life. In this research, it is

mainly necessary to manufacture its carrosserie, to design control system, and to

verify the integrated system. The carrosserie is designed to expand the reach of a

rider by transforming itself. The physical model of the wheelchair is derived. The

model is used to design the control system.

Developments of Novel Methodologies and Technique Ⅰ

Regular Session 2


15:30 - 17:10, Friday, December 11, 2020Chair: Yanfeng Wu (Henan Univ. of Sci. and Tech., China)

FriB02, Room 2 Co-Chair: Yongping Dan (Zhongyuan Univ. of Tech., China)

FriB02-01 FriB02-02

A New Feedback Narrowband Active Noise Control System with

Online Secondary-path Modeling Based on Adaptive Notch

Filtering

Noise Reduction Method based on Autocorrelation for

Threshold-based Heartbeat Detection

X. Tan (Prefectural Univ. of Hiroshima, Japan)

Y. Ma (Jiangnan Univ., China)

Y. Xiao (Prefectural Univ. of Hiroshima, Japan)

L. Ma and K. Khorasani (Concordia Univ., Canada)

Ziti Fariha Mohd Apandi, Ryojun Ikeura Soichiro Hayakawa and Shigeyoshi

Tsutsum (Mie Univ., Japan)

Narrowband active noise control (ANC, NANC) systems have been developed for

attenuating noises that are generated by rotating machines such as motors, cutting

machines, diesel engines, fans, etc. The conventional feedforward NANC systems

adopt a non-acoustic sensor to detect and extract the noise signal frequencies for

creating the reference sine and cosine waves, leading to high implementation cost

as well as performance degradation due to frequency mismatch (FM). In this

paper, we propose a new efficient feedback NANC system where an adaptive

notch filter bank is utilized to construct the reference sinusoidal signals for the

ANC system controller that consists of multiple two-weight magnitude/phase

adjusters (MPA). The proposed system is also equipped with an online secondary-

path modeling (SPM) subsystem that is capable of compensating the secondary-

path drift. Extensive simulations are conducted to confirm the effectiveness of the

proposed system.

Detecting heartbeats is more challenging in an ambulatory condition due to a

higher level of noise and artefacts compared to heartbeats recorded in a hospital

setting. To reduce false detection and improve the performance of threshold-

based beat detection algorithm, an autocorrelation method for noise reduction

within noisy electrocardiogram (ECG) signals is presented in this paper. The

proposed method contained two components: autocorrelation and refining

process. The proposed work used the autocorrelation method to generate

periods of heartbeats to refine and identify the correct QRS complex and remove

the noise in the candidate QRS complex, thus reducing incorrect detections.

Results from the experiment showed that the proposed method was capable of

reducing the noise and improving the beat detection performance in noisy

signals.

FriB02-03 FriB02-04

Assessment of the Design Complexity of Modular Automated

Assembly System

Global Stability Criterion of Memristor-based Recurrent Neural

Networks with Time Delays

Yixiong Feng, Chuan He and Jianrong Tan (Zhejiang Univ., China)

Hao Zheng (Beihang Univ., China)

Yicong Gao (Zhejiang Univ., China)

Wudai Liao, Chaochuan Zhang, Jinhuan Chen, Xiaosong Liang and Jun Zhou

(Zhongyuan Univ. of Tech., China)

Currently the configurable standardized modular system is regarded as a flexible

solution that enables enterprises to rapidly respond to changes caused by product

variants. The design process is guided by predefined function-based module types

and constraint by a chosen system architecture for the given product domain. In

order to find the system with minimum investment cost and best quality

performance, assessing complexity of designing assembly system at the early

design stage is an essential step to guide designer in creating assembly concept for

the least complexity. This paper offers a quantifying measurement of complexity in

design with respect to the representation of modular automated assembly system.

A traditional rear drive unit in the automotive industry is used to demonstrate the

application of the developed methodology in this study.

The paper investigates the uniform asymptotic stability of memristor-based

recurrent neural network with time delays. Uniqueness of the equilibrium point

of memristorbased neural networks is proved by constructing the Lyapunov

energy function, employing homeomorphism mapping principle and differential

inclusion. Sufficiency criterion based on Mmatrix is proposed to confirm the

equilibrium is global asymptotic stable. The deduced criterion extends the result

based on M-matrix, which has certain robustness for different time delays and

activation functions. According to the physical parameters of the system.

Numerical analysis and simulation results are presented to demonstrate

effectiveness of the criterion.

FriB02-05

Design of Anti-glare Device for Freeway with Power Generation

Using a Vertical Axis Wind Turbine

Kai Tian and Yanfeng Wu (Henan Univ. of Sci. and Tech., China)

In this paper, a novel anti-glare device for vertical axis wind power generation for

freeway is designed. Firstly, the structure is designed based on a bionic airfoil

vertical axis wind turbine (VAWT), the parameters are determined to meet the

national freeway anti-glare board requirements. Secondly, the flow field

characteristic of the device is analyzed by computational fluid dynamics (CFD)

simulation, and the structure is further optimized. In addition, the scheme of group

generation using this device is proposed. Detect the performance parameters of the

prototype, further optimization was carried out, and finally the structure and

parameters of the device were determined. Finally, the prototype is tested on a

reflux wind tunnel test bed, its energy efficiency and other performance are

verified by experiments.

Regular Session 2Developments of Novel Methodologies and Technique Ⅱ


8:30 - 10:10, Saturday, December 12, 2020Chair: Vo Duy Thanh (Hanoi Univ. of Sci. and Tech., Vietnam)

SatA03, Room 1 Co-Chair: Nguyen Danh Hu (Hanoi Univ. of Sci. and Tech., Vietnam)

SatA03-01 SatA03-02

An Improved Error Interpolator of Milling CNC Controller Based

on FPGA

Kinematic Model Reference Adaptive Controller for a Lurking

Type Automated Guided Vehicle Using Traction Drive Unit

Hoang Giang Tran (Hiep Phat mechatronic Co. LTD, Vietnam)

Khac Sinh Le (Hochiminh City Univ. of Food Industry, Vietnam)

Thanh Luan Bui (Hochiminh City Univ. of Tech., Vietnam)

Huy Hung Nguyen (Saigon Univ., Vietnam)

Van Tu Duong (HCMUT, VNU-HCM, Nguyen Tat Thanh Univ., Vietnam

Huy Hung Nguyen ( HCMUT, VNU-HCM, Saigon Univ., Vietnam)


Trong Trung Nguyen (Hochiminh city Univ. of Transport Inst. of Electronics,

Informatics and Automation, Vietnam)

Van Khoi Vu and Hoang Long Phan (HCMUT, VNU-HCM, Vietnam)

Computer Numerical Control (CNC) machine tools are now moving towards high

precision, high speed and complex functional machining. In this paper, an

improved minimum error interpolation algorithm for general curves generation in

CNC controller is introduce. The algorithm is applicable for the curves of linear

and circular. The proposed algorithm is realized on a field programmable gate

array with Verilog HDL language and veriflied on three-axis milling CNC

controller using FPGA. The experiment results are presented to demonstrate the

effectiveness of the proposed controller.

This paper proposes an adaptive controller using model reference based on a

kinematic model of a lurking type automated guided vehicle (AGV) using a

traction drive unit. Firstly, a system description of AGV composited of a traction

drive unit like a two-wheeled mobile robot and a tricycle mobile robot is

introduced. Secondly, the configuration of AGV in the planar coordinate is

analyzed to obtain a kinematic model. Thirdly, an adaptive controller is

developed by using the kinematic model based on Lyapunov stability theory for

controlling the position of the AGV. Finally, the effectiveness of the proposed

controller is evaluated through simulation results.

SatA03-03 SatA03-04

Study on Designing and Manufacturing Coaxial Brussless DC

Motor

Discrete-time Quasi Sliding Mode Control of Single-phase T-

type Inverters for Residential PV Applications

Thien Phuc Tran (Hochiminh City Univ. of Tech., Vietnam)

Truong Thuan Nguyen, Cong Toai Truong and Tan Tien Nguyen


Bao Binh Pho, Trong Minh Tran, Manh Linh Nguyen and Phuong Vu Hoang,


In this paper, the design of a coaxial machine is proposed which is a debut for

further applying on contrarotating propulsion system such as underwater vehicle,

torpedo or even aerial vehicle. The coaxial machine comprises of two independent

rotors to eliminate the differential mechanism, reduce the power consumption, the

balance the react force and make the system more stable. A model-based

controller is adopted to drive the coaxial machine to generate the thrust force and

balance the react force while hovers the coaxial machine chassis. The effectiveness

and reliability of coaxial motor are evaluated through simulation and experimental

results.

This research focuses on improving the performance of single-phase grid-

connected DC/AC converters, which is intensively used in PV systems. First,

the single-phase T-type topology which offers more voltage level than the

conventional H-bridge is used to lower the total harmonic distortion (THD) of

the output current. Second, the quasi-sliding mode control in combination with a

lump disturbance compensation is used for the current control loop. This

approach guarantees that the output current quickly tracks its reference in a few

sampling cycles despite the existence of the modeling error. Finally, a DC bus

voltage controller with a discrete-time notch filter that exactly extracts the

average DC bus voltage from the second harmonic ripple is designed. The

proper design of the notch filter plays a key role not only in the improvement of

the DC bus voltage control-loop but also in the reduction of the overall THD of

the line current. The validity of the proposed solution is verified by numerical

simulation using Matlab/Simulink.

SatA03-05

A Combination of Distributed Delays Shapers and ADRC for

Gantry Crane Control

Trong Hieu Do, Minh Duc Duong, Manh Linh Nguyen and Quy Thinh Dao


In order to suppress payload oscillation, input shaping technique in combination

with traditional PID controller is a popular practical approach. However, its

performance is easily degraded by disturbance and parameter uncertainty. In this

paper, for improving the performance of the crane system, ADRC in combination

with distributed input shaping is proposed. The ADRC is used to reject

disturbance while keeping the simplicity in design as PID controller, and

distributed input shaping plays the role of vibration suppression. Simulations show

the effectiveness of the proposed approach.

Regular Session 3Advanced Mechatronic Systems and Its Applications Ⅰ


8:30 - 10:10, Saturday, December 12, 2020Chair: Zhihong Man (Swinburne Univ. of Tech., Australia)

SatB03, Room 2 Co-Chair: Hong Wang (Oak Ridge National Laboratory, USA )

SatB03-01 SatB03-02

Collaborative Fault Tolerant Control of NonSignalized

Intersections for Connected and Autonomous Vehicles

Optimizing Linear Generator Design’s Parameters for Output

Power Using Mix Numerical and Analytical Technique

Hong Wang (Oak Ridge National Laboratory, USA)

Do Huy Diep and Nguyen Van Duc

(Univ. of Engineering and Tech., VNU Hanoi, Vietnam)

Nguyen Xuan Quynh (Hanoi Univ. of Sci. and Tech., Vietnam)

Dang The Ba (Univ. of Engineering and Tech., VNU Hanoi, Vietnam)

With the potential of increased penetration of connected and autonomous vehicles

(CAVs), intersectional signal control faces new challenges in terms of its operation

and implementation. One possibility is to fully make use of the communication

capabilities of CAVs so that intersectional signal control can be realized by CAVs

alone – this leads to nonsignalized intersectional operation for traffic networks in

urban areas. In this paper, the state-of-the-art on collaborative fault tolerant control

schemes for complex systems will be briefly described. This is then followed by

the formulation of operational fault tolerant control that realizes the collaborative

fault tolerance functionality at CAVs operational level in response to possible

individual vehicle faults, where detailed modelling using vehicle movement

dynamics will be described together with the construction of fast fault diagnosis

and a collaborative fault tolerant control algorithm. A simple example will be given

as well to demonstrate the proposed algorithm together with the discussions on

other issues such as randomness of the system, communication errors and full

energy consideration. These leads to several future directions of the research for

the traffic flow control of non-signalized intersections with 100% penetration of

CAVs.

Permanent magnet linear devices have wide applications in various fields. In the

field of wave energy conversion, the use of linear generator has earlier been

regarded as difficult and uneconomical due to technical problems. Researches

on wave energy converters have been carried out, but the conversion efficiency

is still limited. Studies of the magnetic field of a linear generator have shown the

ability to significantly improve performance when using the Halbach array

magnets structure. In this study, a mixed numerical and analytical technique is

presented to optimize linear generator design's parameters for wave energy

converter power performance. At first, numerical method used for maximize of

magnetic field's strength inside linear generator. Then, a matlab-simulink

program use the simulated magnetic field result to optimize the power of the

linear generator.

SatB03-03 SatB03-04

Realization of Autonomous Drive Control of Power-assisted

BicycleThe Reliability Analysis of Welding Robots Based on Fault Tree

Tats

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