From: rick@cs.arizona.edu (Rick Schlichting)
Newsgroups: comp.research.japan
Subject: Kahaner Report: Int Workshop on Adv Motion Control, 16-18 March 1992
Date: 15 Oct 92 04:36:24 GMT


  [Dr. David Kahaner is a numerical analyst on sabbatical to the 
   Office of Naval Research-Asia (ONR Asia) in Tokyo from NIST.  The 
   following is the professional opinion of David Kahaner and in no 
   way has the blessing of the US Government or any agency of it.  All 
   information is dated and of limited life time.  This disclaimer should 
   be noted on ANY attribution.]

  [Copies of previous reports written by Kahaner can be obtained using
   anonymous FTP from host cs.arizona.edu, directory japan/kahaner.reports.]

To: Distribution
From: 
 David K. Kahaner
 US Office of Naval Research Asia
 (From outside US):  23-17, 7-chome, Roppongi, Minato-ku, Tokyo 106 Japan
 (From within  US):  Unit 45002, APO AP 96337-0007
  Tel: +81 3 3401-8924, Fax: +81 3 3403-9670
  Email: kahaner@cs.titech.ac.jp
Re: Int Workshop on Advanced Motion Control, 16-18 March 1992, Nagoya Japan
29 Sept 1992
This file is named "amc.92"

ABSTRACT. Titles of papers presented at the 2nd IEEE International Workshop 
on Advanced Motion Control, 16-18 March 1992, Nagoya Japan.

The General Chairperson of this Workshop was
   Prof Shigeru Okuma
   Dept of Electronic Mechanical Engineering
   School of Engineering, Nagoya University
   Furo-cho, Chikusa-ku, Nagoya, 464-01 JAPAN
    Tel: +81 52-781-5111 ext 2775; Fax: +81 52-783-1185, or +81 52-781-9263
    Email: A40686A@NUCC.CC.NAGOYA-U.AC.JP

Basic Workshop themes were:

1. Intelligent Motion and Motor Drive Systems
2. Motion in Factory Automation and Office Automation
3. Mobile Control, Force Control
4. Neural Network, Fuzzy and Expert Systems in Motion
5. Sensor Signal Processing
6. New Sensors and Actuators
7. Other related topics in Robotics, Machine Tools, and Industrial Drives



2nd IEEE International Workshop on Advanced Motion Control, March 16-18 1992


Session Al: ROBUST CONTROL I -----------------------------------------------

(Invited Speech)
Decoupled Robust Joint Control of Robot Manipulators 
      T. C. Hsia (Univ. of California, Davis, U.S.A.)

Robust Impedance Control by Using the Environment Observer 
      S. Kawaji, K. Sawada (Kumamoto Univ., JAPAN)

Position, Collision and Force Controls of Robot Manipulator Based on the
Robustified Joint Servosystem
      K. Shimura, Masaru Sugai, Y. Hori (Univ. of Tokyo, JAPAN)


Session A2: ROBUST CONTROL II-----------------------------------------------

(Invited Speech)
An Overview of Predictive Approaches for Advanced Motion Control
      0. Kaynak (Bogazici Univ., Turkey)

Observer-Based Robust Force Control of Robot Manipulators 
      S. Komada, M. Ishida, T. Hori (Mie Univ., JAPAN)


Session A3: MOTOR CONTROL I-----------------------------------------------

Characteristics of Miniature Motor Using Thin-Film Magnet 
      Y. Tsutsui, N. Iwabuchi, T. Kabashima, M. Ikeda, S. Yamashita (Yaskawa
      Electric Corp., JAPAN)

Basic Study on the Linear Accelerator
      D. Ebihara, K. Nagashima, M. Watada, K. Yanashima (Musashi Inst. of 
      Tech., JAPAN)

Primary-on-Slider Type Two-Degree-of Motion Freedom Ultrasonic Piezoelectric
Actuators
       A. Kawamura, Y. Nagayama (Yokohama National Univ., JAPAN)


Session Bl: AUTONOMUS SYSTEM I-----------------------------------------------

(Invited Speech)
Robot Vision and Autonomus Vehicles
      V. Graefe (Federal Armed Forces Univ. Munich, GERMANY)

Autonomus Land Vehicle Noticing and Tracking Sound Emitting Objects
      T. Supaongprapa, N. Ohnishi, N. Sugie (Nagoya Univ., JAPAN)

Positioning and Navigation for an Autonomous Vehicle
      M. Kaffel, Y. Dube, L. A. Dessaint, A. Ramudhin (Univ. du Quebec a
      Trois-Rivieres, CANADA)


Session B2: AUTONOMUS SYSTEM II-----------------------------------------------

Attitude Estimation of Mobile Robots with Known and Unknown Dynamics
      0. Matsumoto, S. Kajita, K. Tani (Mechanical Eng. Lab., MITI, JAPAN)

New Fast Stereo Matching for Parallel Processing
      A. Bensrhair, P. Miche, R. Debrie (Lab. Capteurs Instrumentation et 
      Analyse, FRANCE)

Motion Control of Manipulator/vehicle System on Water
      K. Kosuge, M. Okuda, T. Fukuda (Nagoya Univ., JAPAN)


Session B3: AUTONOMUS SYSTEM III-----------------------------------------------

A Fast Obstacle Detection Method Based on Optical Flow
      N. Ancona (Tecnopolis CSATA Novus Ortus, ITALY)

Motion Sensors Based on the Pressure-Sensitivity Effect in Metal-Se@conductor
Contacts
      S. D. Kurmaschev, A. L. Shenkevich, A. A. Gradoboyev (Univ. of Odessa,
      U. S. S. R.)

Matching Line Segments Based on a Prediction and Recursive Verification of
Hypotheses for Mobile Robots Localization
      K. Achour, N. Lahcene (Centre de Developpement des Technologies 
      Avancees, ALGERIE)

Autonomous Mobile Robot Continuous-Curvature Trajectory Planning, Evaluation 
and Control
      X. Han, Y. Xi, Z. Zhang (Shanghai Jiaotong Univ., CHINA)

On the Energy Cost, Gait Selection, and Dynamic Measuring of Stability Margin
on Legged Locomotion
      Q. Yuan, Y. Feng (Tsing Hua Univ., CHINA)


Session C1: LEARNING CONTROL-----------------------------------------------

(Invited Speech)
Discrete Time Repetitive Control Algorithms
- A Comparative Study -
      M. Tomizuka (Univ. of California, U.S.A.)

Learning Control of Robotic Manipulators Using Variable Structure Control
      Y. Kuroe, K. Saeki (Kyoto Inst. of Tech., JAPAN)

Discrete-Time Learning Control for Manipulators
- A System Theoretical Study -

      T. Suzuki, S. Hayakawa, S. Okuma (Nagoya Univ., JAPAN)


Session C2: VARIABLE STRUCTURED SYSTEM I------------------------------

(Invited Speech)
Sliding Mode Control in Infinite Dimensional Mechanical Systems
      V. Utkin (USSR Academy of Sciences, U.S.S.R.)

Application of Robust Digital Sliding Mode in Motion Control Systems
      H. Hashimoto, Y. Ishikawa (Univ. of Tokyo, JAPAN)

Recursive Control Systems
      M. Ostojic, K. Ohnishi, A. Sabanovic (Keio Univ., JAPAN)


Session C3: VARIABLE STRUCTURED SYSTEM II-----------------------------

(Invited Speech)
Sliding Modes in Motion Control Systems
      A. Savanovic (Univ. of Sarajevo, YUGOSLAVIA)

Design and Stability Analysis of Variable-Structured PI Controller by Fuzzy
Logic for Servo System
      Y. Dote, S. Sano (Muroran Inst. of Tech., JAPAN)


Session A4: ADAPTIVE CONTROL-----------------------------------------------

(Invited Speech)
Motion Control Using Fast Adaptation Algorithms
      K. Youcef-Toumi (Massachusetts Inst. of Tech., U.S.A.)

Servo System Design Based on Adaptive Predictive Control
      Y. Deguchi, H. Hashimoto, F. Harashima (Univ. of Tokyo, JAPAN)

Model Matching Adaptive Control of Robot Manipulators Motion Via Inverse
Dynamics Approach
      Y. T. Kostenko, L. M. Lyubchik (Cybernetics Kharkov Politechnic Inst.,
      U.S.S.R.)


Session B4: MODELLING I-----------------------------------------------

(Invited Speech)
Control Methods for Motion of Poorly Modelled Systems
      J. R. Hewit (Loughborough Univ. of Tech., U.K.)

Nominal Dynamic Modelling for a Robotic Arm in Operational Space
      K. Kaneko, H. Arai, K. Komoriya, K. Tanie (Mechanical Eng.  Lab., MITI,
      JAPAN)


Session B5: MODELLING II-----------------------------------------------


Estimation of Modeling Error in Magnetic Levitation System
      R. Oguro, T. Tsuji, K. Oya (Yaskawa Electric Corp., JAPAN)

Application of a Neural Network Identifier to a Small Diameter Tunneling
Robot
      T. Yamada, S. Aoshima, T. Yabuta (NTT Telecommunication Field Sys.
      R&D Center, JAPAN)

Controlling a Simulated Robot
      M. K. Hor (Inst. of Information Science Academia Sinica, TAIWAN)


Session C4: INTERFACE TECHNOLOGY I----------------------------------------

(Invited Speech)
Communication Networks for Drive Systems
      G. Buja (Univ. of Trieste, ITALY)

Motor Drive Supervision with Graphical and Hypertext Tools
      Lambert, B. Dakyo, C. Lishou, L. Protin (L.E.P.1.1. Univ. du Havre,
      FRANCE)


Session C5: INTERFACE TECHNOLOGY II------------------------------------------

A New Object Oriented Simulator to Analyze and to Design Processing Lines
Control Strategies
      P. Curletto, T. Ghiara, M. Marchesoni, D. Raso (Univ. of Genova, ITALY)

Multiple Maneuver Model Joint Probabilistic Data Association with Range
Rate Measurements for Multi-Target Tracking
      Y. Kosuge (Mitsubishi Electric Corp., JAPAN)

Control and Exception Handling of the Execution of Tasks within a Robotic
Workcell
      B. Bouzouia, A. Bourai, F. Guerrourmi (Advanced Technologies Center,
      ALGERIE)


Session A5: MOTOR CONTROL II-----------------------------------------------

(Invited Speech)
Modern Control Theory Approach to Electrical Drive Systems
      S. Sangwongwanich (Chulalongkorn Univ., THAILAND)

Implementation of a Reduced Order Deterministic  Observer  Applied  to  an 
Induction Motor Drive.  Methodical Comparison with a Reduced Order Kalman
Filter
      X. Roboam, B. de Fornel, J. M. Semenzato (Lab. d'Electrotechnique et
      d'Electronique Industrielle, FRANCE)


Session A6: MOTOR CONTROL III-----------------------------------------------

Sensor-less Vector Control of Induction Motor Compensating the Variation
of Rotor Resistance
      C. H. Park, D. S. Hyun (Hanyang Univ., KOREA)

Tuning the Drive Performance to the Load Requirements
      D. C. Alessandro, T. Mario (Univ. of Rome, ITALY)

Velocity Sensing Techniques Using Digital Position Sensors - A Comparative
Study -
      M.    F. Rahman, K. W. Lim, K. S. Low (Univ. of New South Wales,
      AUSTRALIA)


Session A7: MOTOR CONTROL IV-----------------------------------------------

Sensor-less Drive System of AC Servomotors
      T. Takeshita, N. Matsui (Nagoya Inst. of Tech., JAPAN)

A Predictive Current Controller of VSI Feeding Asynchronous Motors
      C. Attaianese, A. Perfetto (Univ. of Naples, ITALY)

Inertia Control Method for Induction Motor Drive System
      Y. Nakano, T. Ashikaga, Y. Kataoka, M. Terashima (Meidensha  Corp., 
      JAPAN)


Session A8: MOTOR CONTROl V-----------------------------------------------

Disturbance Torque Estimation for Field Oriented Induction Motor Drives
without Rotational Transducers
      H. Kubota, K. Matsuse (Meji Univ., JAPAN             

Implementation of Adaptive Sliding Observer for Speed-Sensorless Vector
Control
      S. Doki, S. Sangwongwanich, S. Okuma (Nagoya Univ., JAPAN)

A Speed Observer for Permanent-Magnet Synchronous Motors
      T. S. Low, T. H. Lee, K. T. Chang (Nat. Univ. of Singapore, SINGAPORE)

A New and Efficient Control Technique for a Power Drive System, Current
Inverter-Synchronous Motor
      D. Ilea (Transilvania Univ. of Brasov, ROMANIA)


Session B6: INTELLIGENT SYSTEM I-----------------------------------------------

(Invited Speech)
Intelligent Control of Multi Fingered Hands
      K. Tanie (Mechanical Eng.  Lab., MITI, JAPAN)

Pose Estimation of Grasped Object from Contact Force or Joint Data of
Manipulator
      K. Nagata, T. Ogasawara, K. Takase (Electrotechnical Lab., MITI, JAPAN)

A Geometric Approach to Motion Planning for Redundant Manipulators
      M. Shibata, A. Hanada, K. Ohnishi (Keio Univ., JAPAN)


Session B7: INTELLIGENT SYSTEM II--------------------------------------------

Intelligent Motion Control Using Fuzzy Logic
      E. T. Lee (Florida International Univ., U.S.A)

Motion Control Based on Auto-tuning Fuzzy Acceleration Controller
       K. Ohishi, H. Tsuchikawa, H. Kataoka (Osaka Inst. of Tech., JAPAN)


Session B8: INTELLIGENT SYSTEM III-------------------------------------------

A Neural Network as a System for Motor Control
      F. B. Verona, F. E. Lauria (Univ. of Napoli, ITALY)

Neural Network Application to Suboptimal Fuel-Time Optimal Control of DC
Motor
      R. Swiniarski, D. Sci (San Diego State Univ., U.S.A.)

Flexible Material Handling Control Using Neurad Network
      T. Shibata, F. Arai, T. Tanaka, T. Fukuda (Nagoya Univ., JAPAN)


Session B9: INTELLIGENT SYSTEM IV-----------------------------------------

Development of Off-line Programming System for Spot Welding Robot
      H. Nakamura (Toyota Motor Corp., JAPAN)

Acquisition of Strategic and Tactical Control Rules Using Fuzzy Neural
Networks
      S. Nakayama, S. Horikawa, T. Furuhashi, Y. Uchikawa (Nagoya Univ.,
      JAPAN)

Hierarchical Intelligent Control by Hybrid Neuromorphic and Symbolic
Control 
      T. Shibata, T. Fukuda, K. Kosuge, F. Arai, M. Tokita, T. Mitsuoka 
      (Nagoya Univ., JAPAN)


Session C6: FLEXIBLE SYSTEM I-----------------------------------------------

(Invited Speech)
Comparison of Vibration Suppression Control Strategies in 2-Mass Systems
Including a Novel Two-Degrees-of-Freedom H. Controller
      Y. Hori (Univ. of Tokyo, JAPAN)

Parametric Vibration Control of a Flexible Arm
      K. Yamaguchi, M. Takano, K. Sasaki (Univ. of Tokyo, JAPAN)



Session C7: FLEXIBLE SYSTEM II-----------------------------------------------

Vibration Control of a PUMA Type Robots by H_infinity Control
      S. Asai, Y. Hayakawa, N. Kato, S. Fujii (Nagoya Univ., JAPAN)

Vibration Suppression and High Speed Control of Drive Systems with
Flexible Shafts
      R. Dhaouadi, K. Kubo (Hitachi, Ltd., JAPAN)

-------------------------END OF REPORT---------------------------------------
Xref: sparky comp.research.japan:253 comp.ai.neural-nets:3901 comp.ai.edu:473 sci.edu:1090 sci.research.careers:1303