AMC 2020

IEEE 16th International Workshop
on Advanced Motion Control
September 14-16

1

Welcome Message from AMC2020 General Co-Chairs
On behalf of the Organizing Committees and Industrial Electronics Society of
the IEEE, it is our pleasure to welcome you to the IEEE International Workshop
on Advanced Motion Control (AMC2020) on September 14-16, 2020 (postponed
from April 20-22, 2020 due to COVID-19), at the University of Agder, Campus
Kristiansand, in Norway. AMC2020 is 16th in a series of biennial international
workshops on Advanced Motion Control, started in 1990 in Yokohama, Japan, andsince there uniting an always young and enthusiastic research community grownaround the omnipresent motion control technologies and applications. Following
to the previous AMC2018 in Tokyo, Japan, our wish is to continue bringing together
the researchers from both academia and industry and to maintain a highest
scientific conference level, with enriching meetings and discussions and interesting
and memorable events and experiences.
Kristiansand is chosen to host AMC2020 as the most southern part of Norway,
with its beautiful nature, high integration of local industries, and the University ofAgder as an important host for academic and applied research in the Agder region.
Kristiansand down-town area is attractive and pleasant to discover for visitors,
and the well-connected University Campus Kristiansand provides convenient andmodern facilities for hosting the scientific workshops and conferences.
For preparing this event and bringing it to success, we would like to thank allvolunteering members of the Organizing Committees for their readiness to serveand continuous contribution to AMC2020. We want to gratefully acknowledge thesponsoring societies and organizations: The Institute of Electrical and Electronics
Engineers (IEEE), the IEEE Industrial Electronics Society (IES), and the Universityof Agder. We also deeply thank to the technical co-sponsors: Industry Applications
Society of IEEJ, Measurement & Automatic Control Society of VDI/VDE, andMechatronics Innovation Lab.

2

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

The Technical Program Committee selected 57 papers from 17 countries worldwide,
after a thorough review process of the all received manuscripts submitted totechnical tracks and organized special sessions. Three invited plenary sessions
and a frontier lecture will provide additional opportunities for stimulating anddeveloping ideas and exciting scientific exchange in the motion control, its theories
and applications.
Due to COVID-19 developments in August, we had, unfortunately, to change
AMC2020 to a fully virtual online event. Despite this drastic change-over andbeing no longer able to warmly welcome our authors and guests in person in
Kristiansand, all originally planned sessions of AMC2020 have been converted into
digital space. We much value keeping same traditions of the chaired, moderated,
and interactive sessions of AMC and organize the digital conference as life andonline as possible, this way providing forum for discussions and active attendanceof the presenters and auditorium. The digital AMC2020 is also accompanied by thesocial events and ceremonies, with speeches and announcements and, above all,original recorded music performances and tours.
We hope that the workshop will satisfy your highest intellectual and cultural
expectations and wish you to enjoy all technical and social aspects of AMC2020.

Michael Ruderman		
University of Agder		

Makoto Iwasaki
Nagoya Institute of Technology

3

AMC2020 Organizing Committees
Advisory Committee:

Technical Program Committee:

Antonio Luque Estepa, University of Seville, Spain
Kiyoshi Ohishi, Nagaoka University of Technology, Japan
Kouhei Ohnishi, Keio University, Japan
Leopoldo Franquelo, University of Seville, Spain
Maarten Steinbuch, Eindhoven University of Technology, Netherlands
Xinghuo Yu, Royal Melbourne Institute of Technology, Australia

Andrew Fleming, University of Newcastle, Australia
Anton Shiriaev, NTNU Trondheim, Norway
Goele Pipeleers, KU Leuven, Belgium
Jan Tommy Gravdahl, NTNU Trondheim, Norway
Johann Reger, Technical University Ilmenau, Germany
Kazuaki Ito, Gifu University, Japan
Kenji Natori, Chiba University, Japan
Kenn Oldham, University of Michigan, USA
Kyoungchul Kong, Sogang University, Korea
Marina Indri, Politecnico di Torino, Italy
Martin Steinberger, TU Graz, Austria
Michael Rygaard Hansen, University of Agder, Norway
Mikael Norrlof, ABB Robotics, Sweden
Seiichiro Katsura, Keio University, Japan
Stanislav Aranovskiy, Centrale Supélec, France
Yasutaka Fujimoto, Yokohama National University, Japan
Yoshihiro Maeda, Nagoya Institute of Technology, Japan

General Co-Chairs:
Michael Ruderman, University of Agder, Norway
Makoto Iwasaki, Nagoya Institute of Technology, Japan

Technical Program Co-Chairs:
Alexey Pavlov, NTNU Trondheim, Norway
Hiroshi Fujimoto, University of Tokyo, Japan
Roberto Oboe, University of Padova, Italy

Special Session Co-Chairs:
Kenta Seki, Nagoya Institute of Technology, Japan
Sehoon Oh, Daegu Gyeongbuk Institute of Science and Technology, Korea
Tom Oomen, Eindhoven University of Technology, Netherlands

Publication Co-Chairs:
Damiano Padovani, University of Agder, Norway
Tomoyuki Shimono, Yokohama National University, Japan

Local arrangements Co-Chair:
Elisabeth Rasmussen, University of Agder

Local arrangements Committee:
Anne Augland, University of Agder
Leif Arne Løhaugen, University of Agder
Morten Kjeld Ebbesen, University of Agder

Publicity Co-Chairs:
Toshiaki Tsuji, Saitama University, Japan
Valentin Ivanov, Technical University Ilmenau, Germany

4

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

5Technical Program Reviewers:
Abdul Muis
Ahmad Zaki Bin Shukor
Aksel Transeth
Aleksei Tepljakov
Ales Hace
Alessandro Victorino
Alexander Pogromsky
Alexey Pavlov
Andrea Tilli
Andreas Rauh
Andrei Aksjonov
Andrew Fleming
Andrzej Dzielinski
Anton Shiriaev
Antonella Ferrara
Antonio Lopes
Arvid Keemink
Ashwin Narayan

6

Barkan Ugurlu
Boris Andrievsky
Brad Saund
Byeonghun Na
Correa Victorino
Daisuke Yashiro
Danijel Pavkovic
Dario Richiedei
Dinko Osmankovic
Dzmitry Savitski
Edmund Forland Brekke
Eiichi Saito
Emre Ozsoy
Emre Sariyildiz
Eray Baran
Geoff Downton
Goele Pipeleers
Hiroaki Kuwahara

Hiroshi Fujimoto
Hiroshi Igarashi
Ilia Polushin
Issam Smadi
Jan Tommy Gravdahl
Jasmin KevricJoan Vazquez Molina
Johann Reger
John Hung
Jorge Solis
Junyoung Lee
Kazuaki Ito
Kazuhiro Yubai
Kenan Isik
Kenji Natori
Kenn Oldham
Kenta Nagano
Kenta Seki

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

Koichi Sakata
Kristian Gaustad Hanssen
Kyoungchul Kong
Luis Tupak Aguilar
Makoto Iwasaki
Mami Sataka
Marcel Heertjes
Marina Indri
Markus LemmenMartin Steinberger
Masahide Ito
Masato Koyama
Merve Acer
Michael Ruderman
Mikael Norrlof
Ming-Yang Cheng
Mohit VermaNaoki Motoi

Naoki Oda
Nard Strijbosch
Noud Mooren
Ohung Kwon
Olav Egeland
Phi Van Lam
Rafael Tavares
Rahim Mutlu
Renato Galluzzi
Riccardo Antonello
Roberto Oboe
Ryogo Kubo
Sakahisa Nagai
Satoshi Komada
Sehoon Oh
Seiichiro Katsura
Shin-ichi Ito
Shota Yabui

Soon-O Kwon
Sota Shimizu
Stanislav Aranovskiy
Takahiro Nozaki
Taro Takahashi
Tom Oomen
Tomas Svoboda
Tomoyuki Shimono
Toshiaki Tsuji
Toshimasa Miyazaki
Valentin Ivanov
Wataru Ohnishi
Wen-Hua Chen
Yasutaka Fujimoto
Yoshiyuki Urakawa
Yuki Yokokura
Yutaka Uchimura

7

General Information
Conference Venue

Conference Social Event (initially Conference Dinner)

University of Agder, Campus Kristiansand
Universitetsveien 25, 4630 Kristiansand, Norway

Time: Tuesday September 15th, 15:50-17:00 (initially April 21st, 19:00-23:00)
Place: Digital Room A (initially Christiansholm Fortress)
If you have signed up for Welcome Reception, please bring the ticket “Conference
Dinner” given in your Participant Letter.
Three-course dinner and 2 drinking units plus aperitif at the entrance are included.
Additional drinks are at your own cost.

Registration Desk
Time: (initially 20-22.04.2020 from 08:00-16:00)
Place: (initially University of Agder, Campus Kristiansand, B-building, in front of themain entrance)

Coffee breaks

Time: Wednesday September 16th, 12:50-13:30 (initially April 22nd, 13:10-16:00)
Place: Digital Room B (initially Hunsfos Brewery, Vennesla)
Bus from and back to the Campus Kristiansand; stops at the conference hotels on
return.
Guided tour at the brewery, beer tasting, and food.

All coffee breaks take place at the conference area, on the first floor close toRegistration Desk.

Technical tour: Mechatronics Innovation Lab

Wi-Fi connection
During the conference the free of charge internet Wi-Fi connection is available.

Lunch breaks
Lunches will be served in the Canteen, on the ground floor of main building.

Welcome Reception
Time: Monday September 14th, 15:20-16:00 (initially April 20th, 18:00-20:00)
Place: Digital Room A (initially Scandic Bystranda hotel)
If you have signed up for Welcome Reception, please bring the ticket “Welcome
Reception” given in your Participant Letter.
One drinking unit and snacks are included. Additional drinks are at your own cost.

8

Virtual tour (initially Cultural tour: Hunsfos Brewery)

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

Time: Wednesday September 16th, 12:50-13:30 (initially April 22nd, 13:10-16:00)
Place: Digital Room C (initially Campus Grimstad)Bus from and back to the Campus Kristiansand; stops at the conference hotels on
return.
Guided tour at the Mechatronics Innovation Lab in Campus Grimstad.

Conference participants policies
All presentation and conference activities are conducted in the English language.
The participants are obligated to carry the name badge.
The participants are not expected to take pictures of or record the presentations,since it can violate consent from the presenters.

9

Access to Campus Kristiansand

Taxi

Buses to/from Campus Kristiansand

Taxi can be ordered on the following numbers:
Taxi Sør +47 38 02 80 00
Agder Taxi +47 07000

There are several buses between the city center and Campus Kristiansand:
M1, M2, M3, M4, 12, 15, 19, 35, 36, 59.
Schedule of AKT public buses can be found: https://www.akt.no/english/info-inenglish/travel/
We suggest taking a bus from “Kristiansand rutebilstasjon” to “Universitetet(Kristiansand)”.
“Kristiansand rutebilstasjon” is about 5-10 min walking distance from theconference hotels.
You get off at Universitetet/Spicheren bus stop and walk about 3 min to theCampus B-building.

Bus pass/tickets
You will find the valid period ticket for buses for all three conference days in
the conference bag. Period ticket is not valid for the night bus, airport bus, andcommercial express buses. The bus cards are touchless smart cards; you must holdthe bus card over the card reader, upon the entrance to the bus, until the reader
screen lights up green.

On foot
If the weather permits, it is possible to walk to Campus from the city center; thiswould take about 40-45 minutes.

10

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

Emergency
In case of emergency, following numbers are to be used:
Fire 		110Police 		112
Ambulance
113

Insurance
Participants of AMC2020 are advised to take out their own insurance in case of
emergency illness or lost baggage. The conference registration fees DO NOT
include any provisions for the insurance of participants against personal injuries,
sickness, and theft or property damage.

Currency
The official currency is Norwegian Krone (NOK).
All major credit cards are accepted in the most hotels, stores, and restaurants.

Power Supply
230V AC, 50 Hz

11

Orientation and Campus

WC

Lunch

Main Enterance

B 0018

B1 007

B2 001, 002, 003, 004

Registration DeskWC

B1 006

Busstop to main entrance

12

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

13

Workshop Program Overview

Monday, September 14, 2020
9:00-9:10, Room A
Opening Ceremony
9:10-10:00, Room A
Plenary Session I
10:00-10:10, Coffee break (individual)
10:10-11:50, Room B
TT – Robotics and mechatronics

10:10-11:50, Room C
SS – Soft motion for advanced human-robotinteraction – I
11:50-12:30, Lunch break (individual)

12:30-13:20, Room A
Frontier Lecture
13:20-13:30, Coffee break (individual)
13:30-15:10, Room C
SS – Soft motion for advanced human-robotinteraction – II
15:10-15:20, Coffee break (individual)

Wednesday, September 16, 2020
9:00-9:50, Room A
Plenary session III
9:50-10:00, Coffee break (individual)
10:00-11:40, Room B
TT – Automotive and vehicular motion systems

10:00-11:40, Room C
SS – Intelligent sensing applications for humanassistive systems
11:40-12:10, Room A
Closing Ceremony
12:10-12:50, Lunch break (individual)

12:50-13:30, Virtual Tour

12:50-13:30, Technical Tour

13:30-15:10, Room B
TT – Complex dynamics and nonlinear control

15:20-16:00, Room A
Welcome Reception
Tuesday, September 15, 2020
09:00-10:40, Room B
TT – Motion control – I

09:00-10:40, Room C
SS – Smart precision motion control inmechatronic systems
10:40-10:50, Coffee break (individual)

10:50-12:30, Room B
10:50-12:30, Room C
TT – Motion control – II
TT – Force control, haptics, and HMI – I
12:30-13:10, Lunch break (individual)
13:10-14:50, Room B
13:10-14:50, Room C
TT – Motion control – III
TT – Force control, haptics, and HMI – II
14:50-15:00, Coffee break (individual)

Attending digital AMC2020
Virtual online AMC2020 takes place in a digital space, in the scheduled Rooms A,
B, and C. All registered AMC2020 participants receive access to the digital space
for all conference sessions. The scheduled Coffee and Lunch breaks are individual,
and there are no activities in the digital rooms. All AMC2020 sessions are chaired
and moderated. During the presentations, the microphones are on mute for
auditorium, while during the questions and discussions round the session chairs
give word to audience and moderate the digital podium. Each digital room has atechnical assistance for broadcasting the pre-recorded presentations on time. All
presentations in the technical track and special sessions are scheduled for 20 min
timeslot each, and the plenary sessions and frontier lecture are scheduled for 50
min timeslot each. The auditorium can also use chat functionality to pass questions
to the presenters. The digital sessions will be recorded and made available online
after the conference.

15:00-15:50, Room A
Plenary session II
15:50-17:00, Room A
Conference Social Event

14

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

15

Plenary Session I
Discussion on sensing and actuating to support humanactivities from a view point of intelligent space
Abstract:

InvitedSpeakers

Prof Hideki
HashimotoChuo University

When I started my research works with a name of Intelligent
Space, the main idea was “We should use our technologies
to support our human activities with keeping good healthconditions”. It means that the intelligent space should
understand human behaviors and to provide proper physicalsupport by using robotics. The Intelligent Space is focusing
to fuse IT and Robotics in our daily life. I believe that suchresearch direction is still important even if actual state ofongoing intelligent space is remaining in lower stages. In thistalk I will show some current results of monitoring humanhealth conditions, assisting human mobilities and elementary
technologies for actuators from a view point of Intelligent
Space to discuss our important research issues.

Biography:
Hideki Hashimoto (IEEE Fellow, SICE Fellow, RSJ Fellow) received the B.S., M.S.
and Dr. of Engineering from the Department of Electrical Engineering, Universityof Tokyo in 1981, 1984 and 1987 respectively. He joined the Institute of Industrial
Science of the University of Tokyo as a lecturer in April of 1987. He was an associate
professor from July of 1990 until March of 2011. He has been a professor at Dept.
of Electrical, Electronics and Communication Engineering, Chuo University,
Tokyo, Japan since April of 2011. He was a visiting scientist at LIDS (Laboratory for
Information and Decision System) and LEES (Laboratory for Electromagnetic andElectronic Systems) of MIT from September of 1989 to August of 1990. He was an
Invited Distinguished Professor at Seoul National University from 2009 to 2012,
and a Visiting Professor at Budapest University of Technology and Economics
from 2009 to 2011. He is a visiting professor at Budapest University of Technology
and Economics from 2014. He was the founding general chair of 1997 IEEE/ASME
International Conference on Advanced Intelligent Mechatronics (AIM). He was aprogram chair of IEEE/RSJ IROS in 1988 and 2000, and a general chair of IEEE ITS
Conference in 2002 and IECON 2015. His research topics are Intelligent Space,Intelligent Systems, Mechatronics, Robotics and Control.

16

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

17

Penary Session II
Parameter estimation and gradient descentbased observers: application to mechanical andelectromechanical systems
Abstract:Prof
Romeo Ortega
Department of
Digital Systems,
ITAM

18

In the first part of the talk we present a new approachto state observation, called Parameter Estimation-based
Observers (PEBO) whose main idea is to translate
the state estimation problem into one of estimation of
constant, unknown parameters. The class of systems
for which is applicable is identified via two assumptions
related to the transformability of the system into a suitablecascaded form and our ability to estimate the unknown
parameters. The first condition involves the solvability of apartial differential equation while the second one requires
some persistency of excitation-like conditions. We present
also PEBO in a unified framework together with the –by-now classical – Kasantzis-Kravaris-Luenberger and
Immersion and Invariance observers. In the second partwe show that, for systems for which a linear regression-likerelation is available, it is possible to combine PEBO witha new estimation technique called Dynamic Regressor
Extension and Mixing (DREM). This new technique, called
DREMBAO, is used to generate adaptive observers. PEBO
and DREMBAO are shown to be applicable to position
estimation of a class of electromechanical systems –including motors and MagLev systems – and for speed
observation of a class of mechanical systems. The
performance of these observers is compared with highgain and sliding mode observers. As expected, it is shownthat – in the presence of noise – the performance of thetwo latter designs is significantly below par with respect tothe other techniques.

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

Biography:
Romeo Ortega was born in Mexico. He obtained his BSc in Electrical andMechanical Engineering from the National University of Mexico, Master ofEngineering from Polytechnical Institute of Leningrad, USSR, and the Docteur
D`Etat from the Polytechnical Institute of Grenoble, France in 1974, 1978 and 1984
respectively. He then joined the National University of Mexico, where he worked
until 1989. He was a Visiting Professor at the University of Illinois in 1987-88 and at
McGill University in 1991-1992, and a Fellow of the Japan Society for Promotion of
Science in 1990-1991. He was a member of the French National Research Council(CNRS) from June 1992 to July 2020, where he was a “Directeur de Recherche” inthe Laboratoire de Signaux et Systemes (CentraleSupelec) in Gif-sur-Yvette, France.
Currently, he is a full time Professor at ITAM in Mexico City, Mexico. His researchinterests are in the fields of nonlinear and adaptive control, with special emphasis
on applications. Dr Ortega has published five books and more than 350 scientificpapers in international journals, with an h-index of 84. He has supervised more than
35 PhD thesis. He is a (Life) Fellow Member of the IEEE since 1999 (Life 2020) andan IFAC Fellow since 2016. He has served as chairman in several IFAC and IEEE
committees and participated in various editorial boards of international journals.
He is currently Editor in Chief of Int. J. Adaptive Control and Signal Processing and
Senior Editor of Asian Journal of Control.

19

Plenary Session III
Vision for robotics

Prof
Annette Stahl
Norwegian
University of
Science andTechnology(NTNU)

Abstract:

Summary:

Reproducing the capabilities of visual sensing that one canfind in nature would provide a very powerful and highly desired
tool for robots. Ideally this enables a robot to perceive andinterpret its surrounding so that it can use this information to
execute different tasks within a real world environment. As
robots operate in various environments (indoors, in space, inair, underwater) equipped with different sets of visual sensing
devices (standard cameras, time-of-flight cameras, structured
light cameras, hyperspectral imager) this makes the generic“interpretation of the world around a robot” very challenging.
In this presentation I wish to introduce you to certain aspects
within the world of “robotic vision” - where we try to teachmachines to understand, plan and act in an intelligent way. In
particular we will be concerned with how robots might build
concepts about objects, understand relations between objects
and understand the 3D structure of the surrounding world. The
analysis of motion in the world of a robot is also an integral
part of this understanding and important for many robotic
control tasks.

Do you also have a motion system that has the same error ineach task? Iterative Learning Control (ILC) can achieve perfectperformance for your system. A general learning framework ispresented that exploits measured error signals from previous
tasks. By employing very simple models, both fast and safe
learning is achieved, guaranteeing a reduction of the error ineach experiment. Typically, perfect performance is achievedin only five to ten iterations. A complete design framework
for motion systems is provided, while at the same time
touching upon the essential theoretical foundations, including
non-causality of the optimal design and the connection to
traditional feedback and feedforward designs. Finally, recent
approaches are explored that facilitate the implementation on
industrial systems, including flexibility for a large class of tasks
and multivariable systems.

Biography:
Annette Stahl is Head of the Robotic Vision Group at the Department ofEngineering Cybernetics at the Norwegian University of Science and Technology– NTNU, Norway. She is also an Affiliated Scientist of the Center of Excellence forAutonomous Marine Operations and Systems – NTNU AMOS. She received her
PhD degree from the University of Heidelberg, Germany in applied mathematics
with the main focus on computer vision applications in relation to variational
methods for motion estimation using physical prior knowledge. She spent two
years as a postdoc at the School of Computing, Dublin City University – DCU,
Ireland and three years at the Department of Mathematical Sciences, NTNU,
Norway, where she worked on isogeometric analysis based methods for graphics
and visualization. After this period she worked as a researcher at the High
Performance Computing Group at NTNU and at SINTEF Ocean, Norway, where
she was concerned with computer vision based aquaculture applications. In 2016,
her was awarded an Onsager Fellowship from NTNU’s Research Excellence. She
is currently working within the field of robotic vision targeting underwater, on sea
surface, on land, in air and space as well as indoor and industrial related robotic
applications.
20

Frontier Lecture
Learning for advanced motion control

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

Prof
Tom Oomen
Eindhoven
University ofTechnology

Biography:
Tom Oomen received the M.Sc. degree (cum laude) and
Ph.D. degree from the Eindhoven University of Technology,
Eindhoven, The Netherlands. He held visiting positions at
KTH, Stockholm, Sweden, and at The University of Newcastle,
Australia. Presently, he is associate professor with the
Department of Mechanical Engineering at the Eindhoven
University of Technology. He is a recipient of the Corus Young
Talent Graduation Award, the IFAC 2019 TC 4.2 Mechatronics
Young Research Award, the 2015 IEEE Transactions on Control
Systems Technology Outstanding Paper Award, the 2017
IFAC Mechatronics Best Paper Award, the 2019 IEEJ Journalof Industry Applications Best Paper Award, and recipient of a
Veni and Vidi personal grant. He is Associate Editor of the IEEE
Control Systems Letters (L-CSS), IFAC Mechatronics, and IEEE
Transactions on Control Systems Technology. He is a memberof the Eindhoven Young Academy of Engineering. His researchinterests are in the field of data-driven modeling, learning, andcontrol, with applications in precision mechatronics.

21

Technical Program
Monday 14 September
PapersOpening Ceremony: Opening Ceremony
Room: Room A
Day: Monday 14 September
Time: 09:00
Duration: 10 minutes
Chair
Michael Ruderman

Plenary Session I
Room: Room A
Day: Monday 14 September
Time: 09:10
Duration: 50 minutes
Discussion on sensing and actuating to support human activities from a view pointof intelligent space

SpeakerProf Hideki Hashimoto, Chuo University, Japan
Chair
Makoto Iwasaki

Oral Session: TT – Robotics and mechatronics
Room: Room B
Day: Monday 14 September
Time: 10:10
Duration: 80 minutes
ChairsArne Wahrburg and Kenta Seki

22

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

Time:10:10
Title: ND-000353. Extending Dynamic Movement Primitives towards HighPerformance Robot Motion
Authors:
Dr. Arne Wahrburg, ABB Corporate Research, Germany
Mr. Simone Guida, Politecnico di Milano, Italy
Dr. Nima Enayati, ABB Corporate Research, Germany
Prof. Andrea M. Zanchettin, Politecnico di Milano, Italy
Prof. Paolo Rocco, Politecnico di Milano, Italy
Time:10:30
Title: ND-000035. Development of Pushing Control Mechanisms for Generator
Inspection Robot
Authors:
Mr. Hiroaki Kuwahara, TOSHIBA Corporation, Japan
Mr. Kazuma Hiraguri, TOSHIBA Corporation, Japan
Dr. Fujio Terai, TOSHIBA Energy Systems and Solutions Corporation, Japan
Time:10:50
Title: ND-000345. Distributed Interpolation: Synchronization of motion-controlledaxes with coordination vector and decentralized segment controllers
Authors:
Ms. Caren Dripke, Institute for Control Engineering of Machine Tools andManufacturing Units (ISW), University of Stuttgart, Germany
Mr. Daniel Schoebel, Institute for Control Engineering of Machine Tools andManufacturing Units (ISW), University of Stuttgart, Germany
Prof. Alexander Verl, Institute for Control Engineering of Machine Tools andManufacturing Units (ISW), University of Stuttgart, Germany
Time:11:10
Title: ND-000957. Collaborative Transport by Mecanum Mobile Robots using
Reaction Torque Observer
Authors:
Mr. Maximilien Tsuji, Keio University, Japan
Prof. Toshiyuki Murakami, Keio University, Japan
23

Oral Session: SS– Soft motion for advanced human-robot-interaction – I
Room: Room C
Day: Monday 14 September
Time: 10:10
Duration: 100 minutes
ChairsTomoyuki Shimono and Sehoon Oh

Papers
Time:10:10
Title: ND-001023. Development of Compact Linear Actuator
Combining DC motor and Cylindrical Cam for Tactile Display
Authors:
Dr. Sakahisa Nagai, The University of Tokyo, Japan
Prof. Atsuo Kawamura, Yokohama National University, Japan
Time:10:30
Title: ND-000698. A High-Torque Density Compliant Actuator
Design for Physical Robot Environment Interaction
Authors:
Mr. Evan Dunwoodie, Uow, Australia
Dr. Rahim Mutlu, Uow, Australia
Dr. Barkan Ugurlu, Ozu, Turkey
Mr. Mehmet Yildirim, Ozu, Turkey
Dr. Tarik Uzunovic, Uos, Bosnia and Herzegovina
Dr. Emre Sariyildiz, Uow, Australia
Time:10:50
Title: ND-000477. Human-Adaptive Impedance Control Using Recurrent Neural
Network for Stability Recovery in Human-Robot Cooperation
Authors:
Ms. Misaki Hanafusa, Tokyo Denki University, Japan
Prof. Jun Ishikawa, Tokyo Denki University, Japan24

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

Time:11:10
Title: ND-001163. Novel Algorithm for Position/Force Controlof Multi-DOF Robotic Systems
Authors:
Prof. Tarik Uzunovic, University of Sarajevo - Faculty of Electrical Engineering,Bosnia and Herzegovina
Prof. Asif Sabanovic, International University of Sarajevo, Bosnia and Herzegovina
Mr. Minoru Yokoyama, Yokohama National University, Japan
Prof. Tomoyuki Shimono, Yokohama National University, Japan
Time:11:30
Title: ND-001279. Transparent Torque Sensor-less
Impedance Rendering for Low-cost Direct Drive Motor
Authors:
Mr. Chan Lee, Dgist, Korea (South)
Mr. Sangjin Bae, Dgist, Korea (South)
Mr. Woosong Kang, Dgist, Korea (South)
Prof. Sehoon Oh, Dgist, Korea (South)

Frontier Lecture
Room: Room A
Day: Monday 14 September
Time: 12:30
Duration: 50 minutes
Learning for Advanced Motion Control

SpeakerProf. Tom Oomen, Eindhoven University of Technology, Netherlands
Chair
Alexey Pavlov

Oral Session: TT – Complex dynamics and nonlinear control
Room: Room B
Day: Monday 14 September
Time: 13:30
Duration: 100 minutes
25

ChairChristian Fredrik Sætre

Papers
Time:13:30
Title: ND-000515. Event-Triggered Sliding Mode Control Strategies for Positioning
Systems: An Experimental Assessment

Authors:
Mr. Maksim V. Faronov, Western University, Canada
Dr. Ilia G. Polushin, Western University, Canada

Authors:
Dr. Andrej Sarjaš, University of Maribor, Slovenia
Prof. Martin Steinberger, Graz University of Technology, Austria
Prof. Dušan Gleich, University of Maribor, Slovenia
Prof. Martin Horn, Graz University of Technology, Austria

Oral Session: SS– Soft motion for advanced human-robot-interaction – II

Time:13:50
Title: ND-000906. Fractional-Order System Identification of Viscoelastic Behavior:
A Frequency Domain Based Experimental Study
Authors:
Ms. Daniela Kapp, TU Ilmenau, Germany
Mr. Christoph Weise, TU Ilmenau, Germany
Prof. Michael Ruderman, University of Agder, Norway
Prof. Johann Reger, TU Ilmenau, Germany
Time:14:10
Title: ND-000728. On Orbital Stabilization as an alternative to Reference Tracking
Control
Authors:
Mr. Christian Fredrik Sætre, NTNU, Norway
Prof. Anton Shiriaev, NTNU, Norway
Time:14:30
Title: ND-001309. A Fractional-Order Control Approach to Ramp Tracking withMemory-Efficient Implementation
Authors:
Mr. Christoph Weise, TU Ilmenau, Germany
Mr. Rafael Tavares, University of Agder, Norway
Dr. Kai Wulff, TU Ilmenau, Germany
Prof. Michael Ruderman, University of Agder, Norway
Prof. Johann Reger, TU Ilmenau, Germany
26

Time:14:50
Title: ND-000892. Regulation of Penetration Rate and Drilling Power in Rotary
Drilling Systems

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

Room: Room C
Day: Monday 14 September
Time: 13:30
Duration: 100 minutes
ChairsSehoon Oh and Tarik Uzunovic

Papers
Time:13:30
Title: ND-001171. Development and Basic Analysis of Novel Flexible Linear Motor
Authors:
Mr. Hiroshi Asai, Kanagawa Institute of Industrial Science and Technology, Japan
Prof. Tomoyuki Shimono, Yokohama National University, Kanagawa Institute ofIndustrial Science and Technology, Japan
Ms. Tomoe Deguchi, KRI Incorporated, JapanMr. Yasuhisa Fujii, KRI Incorporated, JapanMr. Hitoshi Yamamoto, KRI Incorporated, Japan
Prof. Kouhei Ohnishi, Haptics Research Center, Kanagawa Institute of Industrial
Science and Technology, Japan
Time:13:50
Title: ND-000205. Soft Boom Cylinder Control Using Disturbance-Observer-Based
Equivalent Hydraulic System for Electric Excavator
Authors:
Mr. Rintaro Nakano, Nagaoka University of Technology, Japan
Prof. Kiyoshi Ohishi, Nagaoka University of Technology, Japan
Prof. Yuki Yokokura, Nagaoka University of Technology, Japan27

Tuesday 15 September
Time:14:10
Title: ND-000604. An Approach to Force Control by Model Predictive Velocity
Control with Constraints
Authors:
Mr. Takashi Ohhira, Keio University, Japan
Prof. Toshiyuki Murakami, Keio University, Japan
Time:14:30
Title: ND-000752. A Method to Make a Robot Understand What was a Target
Object in Motion Copying System
Authors:
Mr. Xiaobai Sun, Keio University, Japan
Dr. Takahiro Nozaki, Keio University, Japan
Prof. Toshiyuki Murakami, Keio University, Japan
Prof. Kouhei Ohnishi, Keio University, Japan
Time:14:50
Title: ND-001295. Ripple Minimization for Harmonic-geared Series Elastic Actuator
under Force Control
Authors:
Mr. Woosong Kang, Dgist, Korea (South)
Mr. Chan Lee, Dgist, Korea (South)
Mr. Sangin Bae, Dgist, Korea (South)
Prof. Sehoon Oh, Dgist, Korea (South)

Welcome Reception: Welcome Reception
Room: Room A
Day: Monday 14 September
Time: 15:20
Duration: 40 minutes

Oral Session: TT – Motion control – I
Room: Room B
Day: Tuesday 15 September
Time: 09:00
Duration: 100 minutes
ChairsTomoyuki Shimono and Enzo Evers

Papers
Time:09:00
Title: ND-001147. Feedback Controller Design Based on H-infinity Control Theory in
Dynamically Substructured System
Authors:
Mr. Ryo Ishibashi, Nagoya Institute of Technology, Japan
Prof. Kenta Seki, Nagoya Institute of Technology, Japan
Prof. Makoto Iwasaki, Nagoya Institute of Technology, Japan
Time:09:20
Title: ND-000175. Experimental comparison of velocity estimators for a control
moment gyroscope inverted pendulum
Authors:
Dr. Dmitry Sokolov, Université de Lorraine, France
Dr. Stanislav Aranovskiy, CentaleSupélec - IETR, France
Mr. Alexander Gusev, Kuban State University, Russian Federation
Dr. Igor Ryadchikov, Kuban State University, Russian Federation
Time:09:40
Title: ND-000531. Controller design of mass flow rate loop for high-precision
pneumatic actuator
Authors:
Ms. Shirato Yui, The University of Tokyo, Japan
Prof. Ohnishi Wataru, The University of Tokyo, Japan
Prof. Fujimoto Hiroshi, The University of Tokyo, Japan
Prof. Koseki Takafumi, The University of Tokyo, Japan
Prof. Hori Yoichi, The University of Tokyo, Japan28

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

29

Time:10:00
Title: ND-000442. A simple quasi-LPV approach to control design of an industrial
wind turbine

Time:09:20
Title: ND-000124. Resonant Frequency Damping Disturbance Observer based
Robot Servo System

Authors:
Mr. Ali Poureh, Niroo Research Institute, IranMr. Omid Bazzaz, Niroo Research Institute, Iran

Authors:
Mr. Akinori Yabuki, National Institute of Technology, Ishikawa College, Japan
Prof. Toshiyuki Kanmachi, National Institute of Technology, Ishikawa College, Japan
Prof. Kiyoshi Ohishi, Nagaoka University of Technology, Japan
Prof. Toshimasa Miyazaki, Nagaoka University of Technology, Japan
Prof. Yuki Yokokura, Nagaoka University of Technology, Japan
Prof. Itaru Ando, National Institute of Technology, Akita College, Japan

Time:10:20
Title: ND-001015. Multi-System Iterative Learning Control: an Extension of ILC for
Interconnected Systems.
Authors:
Mr. Daniele Ronzani, Department of Mechanical Engineering, KU Leuven - DMMS
lab, Flanders Make, Belgium
Dr. Armin Steinhauser, Department of Mechanical Engineering, KU Leuven DMMS lab, Flanders Make, Belgium
Prof. Jan Swevers, Department of Mechanical Engineering, KU Leuven - DMMS lab,
Flanders Make, Belgium

Oral Session: SS– Smart precision motion control in mechatronic systems

Authors:
Mr. Noud Mooren, Eindhoven University of Technology, Netherlands
Dr. Gert Witvoet, Eindhoven University of Technology, Netherlands
Mr. Ibrahim Acan, Sioux CCM B.V., Netherlands
Mr. Joep Kooijman, Sioux CCM B.V., Netherlands
Dr. Tom Oomen, Eindhoven University of Technology, Netherlands

Room: Room C
Day: Tuesday 15 September
Time: 09:00
Duration: 80 minutes

Time:10:00
Title: ND-000558. Vibration Amplitude Suppression Control of Industrial Machine
Driven at Resonance Frequency

Chairs
Kenta Seki and Tom Oomen

Authors:
Mr. Hikaru Sato, Nagaoka University of Technology, Japan
Mr. Toshimasa Miyazaki, Nagaoka University of Technology, JapanMr. Yoshihisa Hojo, Toyo Denki Seizo K.K., Japan

Papers
Time:09:00
Title: ND-000744. On Frequency Response Function Identification for Advanced
Motion Control
Authors:
Mr. Enzo Evers, Eindhoven University of Technology, Netherlands
Dr. Robbert Voorhoeve, Eindhoven University of Technology, Netherlands
Dr. Tom Oomen, Eindhoven University of Technology, Netherlands

30

Time:09:40
Title: ND-000701. Suppressing Position-Dependent Disturbances in Repetitive
Control: With Application to a Substrate Carrier System

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

Oral Session: TT – Motion control – II
Room: Room B
Day: Tuesday 15 September
Time: 10:50
Duration: 60 minutes
ChairsAndrej Sarjas and Bastiaan Vandewal
31

Papers

Papers

Time:10:50
Title: ND-001155. Proposal of Automatic Power Plug Insertion Control for Electric
Vehicle with In-Wheel-Motors

Time:10:50
Title: ND-001139. Contact Force Control Based on Force Estimation in Bimorphtype Piezoelectric Actuators

Authors:
Mr. Daiki Kusuyama, The University of Tokyo, Japan
Mr. Tomoki Emmei, The University of Tokyo, Japan
Prof. Hiroshi Fujimoto, The University of Tokyo, Japan
Prof. Yoichi Hori, The University of Tokyo, Japan

Authors:
Prof. Kenta Seki, Nagoya Institute of Technology, JapanMr. Yuya Sakuragi, Nagoya Institute of Technology, Japan
Prof. Makoto Iwasaki, Nagoya Institute of Technology, Japan

Time:11:10
Title: ND-001112. 3K Compound Planetary Reduction Gearbox With Non-backlash
Mechanism
Authors:
Mr. Satoru Oba, Yokohama National University, Japan
Prof. Yasutaka Fujimoto, Yokohama National University, Japan
Time:11:30
Title: ND-001198. Basic Study on Regenerative Air Brake Using Observer-based
Thrust Control for Electric Airplane

Time:11:10
Title: ND-001236. Verification of Double Hand Teleoperation System Using Haptic
Forceps Robots and LCLM Platform
Authors:
Dr. Takuya Matsunaga, Kanagawa Institute of Industrial Science and Technology,
Japan
Prof. Tomoyuki Shimono, Yokohama National University, Japan
Prof. Kouhei Ohnishi, Keio University, Japan
Time:11:30
Title: ND-001252. Experimental Setup for a Novel Mechanical Force Generator

Authors:
Mr. Kentaro Yokota, The University of Tokyo, Japan
Prof. Hiroshi Fujimoto, The University of Tokyo, Japan
Prof. Yoichi Hori, The University of Tokyo, Japan

Authors:
Mr. Mehmet Burak Ekinci, Tubitak, Turkey
Prof. Ulas Yaman, Middle East Technical University, Turkey
Prof. Reşit Soylu, Middle East Technical University, Turkey

Oral Session: TT – Force control, haptics, and HMI – I

Time:11:50
Title: ND-000655. Coactivation Method of Antagonistic Muscle Pairs Using
Common and Differential Modes for Functional Electrical Stimulation Control

Room: Room C
Day: Tuesday 15 September
Time: 10:50
Duration: 100 minutes
ChairsToshiaki Tsuji and Gudmundur Gunnarsson

Authors:
Ms. Akari Takada, Keio University, Japan
Mr. Akira Hirata, Keio University, Japan
Prof. Seiichiro Katsura, Keio University, Japan
Time:12:10
Title: ND-000574. Minimum-Energy State Determination of an UnderactuatedSuction Cup Gripper Grid
Authors:
Mr. Gudmundur G. Gunnarsson, University of Southern Denmark, DenmarkProf. Henrik G. Petersen, University of Southern Denmark, Denmark32

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

33

Oral Session: TT – Motion control – III
Room: Room B
Day: Tuesday 15 September
Time: 13:10
Duration: 100 minutes

ChairsDaniele Ronzani and Seiichiro Katsura

Papers
Time:13:10
Title: ND-000213. Path Planning for Perception-Driven Obstacle-Aided Snake
Robot Locomotion

Time:14:30
Title: ND-000116. Robust Controller Design for Ball Screw Drives with Varying
Resonant Mode via μ-synthesis

Authors:
Dr. Kristian G. Hanssen, Sintef Digital, Norway
Dr. Aksel A. Transeth, Sintef Digital, Norway
Dr. Filippo Sanfilippo, University of Agder, Norway
Dr. Pål Liljebäck, Eelume AS, Norway
Prof. Øyvind Stavdahl, Norwegian University of Science and Technology, Norway

Authors:
Mr. Tiancheng Zhong, Southeast University, China
Dr. Wencheng Tang, Southeast University, China

Time:13:30
Title: ND-000736. Basic Idea of Quadrant Dynamic Programming for Adaptive
Cruise Control to Create Energy Efficient Velocity Trajectory of Electric Vehicle
Authors:
Mr. Mitsuhiro Hattori, The University of Tokyo, Japan
Prof. Hiroshi Fujimoto, The University of Tokyo, Japan
Time:13:50
Title: ND-000418. Motion Control of Large Inertia Loads Using Electrohydrostatic
Actuation
Authors:
Mr. Petter Goytil, University of Agder, Norway
Dr. Damiano Padovani, University of Agder, Norway
Time:14:10
Title: ND-001244. Obstacle Avoidance in Path Following using Local Spline
Relaxation
34

Authors:
Mr. Bastiaan Vandewal, MECO Research Team, Department of MechanicalEngineering, KU Leuven and DMMS lab, Flanders Make, Leuven, Belgium
Dr. Joris Gillis, MECO Research Team, Department of Mechanical Engineering, KU
Leuven and DMMS lab, Flanders Make, Leuven, Belgium
Mr. Erwin Rademakers, Core Lab MotionS, Flanders Make, Lommel, Belgium
Prof. Goele Pipeleers, MECO Research Team, Department of MechanicalEngineering, KU Leuven and DMMS lab, Flanders Make, Leuven, Belgium
Prof. Jan Swevers, MECO Research Team, Department of Mechanical Engineering,
KU Leuven and DMMS lab, Flanders Make, Leuven, Belgium

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

Oral Session: TT – Force control, haptics, and HMI – II
Room: Room C
Day: Tuesday 15 September
Time: 13:10
Duration: 60 minutes
ChairToshimasa Miyazaki

Papers
Time:13:10
Title: ND-000566. Feature Extraction and Generation of Robot Writing Motion
Using Encoder-Decoder Based Deep Neural Network
Authors:
Mr. Masahiro Kamigaki, Keio University, Japan
Prof. Seiichiro Katsura, Keio University, Japan35

Time:13:30
Title: ND-000612. Admittance Control Based on a Stiffness Ellipse for Rapid
Trajectory Deformation
Authors:
Mr. Masahide Oikawa, Saitama University, Japan
Mr. Kyo Kutsuzawa, Saitama University, Japan
Prof. Sho Sakaino, University of Tsukuba, Japan
Prof. Toshiaki Tsuji, Saitama University, Japan
Time:13:50
Title: ND-001201. Standing Assistance Control based on Voluntary Body Movement
within Safety Tolerance
Authors:
Prof. Daisuke Chugo, Kwansei Gakuin University, Japan
Mr. Masahiro Yokota, Kwansei Gakuin University, Japan
Prof. Satoshi Muramatsu, Tokai University, Japan
Prof. Sho Yokota, Toyo University, Japan
Prof. Jin-Hua She, Tokyo University of Technology, Japan
Prof. Hiroshi Hashimoto, Advanced Institute of Industrial Technology, Japan
Mr. Takahiro Katayama, Rt.Works Co., Ltd, Japan
Dr. Yasuhide Mizuta, Rt.Works Co., Ltd, Japan
Mr. Atsushi Koujina, Rt.Works Co., Ltd, Japan

Plenary Session II
Room: Room A
Day: Tuesday 15 September
Time: 15:00
Duration: 50 minutes
Parameter estimation and gradient descent-based observers:
application to mechanical and electromechanical systems

SpeakerProf Romeo Ortega
Chair
Michael Ruderman

36

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

Reunion: Conference Social Event
Room: Room A
Day: Tuesday 15 September
Time: 15:50
Duration: 70 minutes
Organizer
Elisabeth Rasmussen

Wednesday 16 September
Plenary Session III
Room: Room A
Day: Wednesday 16 September
Time: 09:00
Duration: 50 minutes
Vision for robotics
SpeakerProf Annette Stahl
Chair
Hiroshi Fujimoto

Oral Session: TT – Automotive and vehicular motion systems
Room: Room B
Day: Wednesday 16 September
Time: 10:00
Duration: 80 minutes
Chair
Jan Swevers

37Papers
Time:10:00
Title: ND-001317. Offline and Online Tyre Model Reconstruction by Locally
Weighted Projection Regression
Authors:
Mr. Kunal Iyer, Delft University of Technology, Netherlands
Dr. Barys Shyrokau, Delft University of Technology, Netherlands
Dr. Valentin Ivanov, Technische Universitaet Ilmenau, Germany
Time:10:20
Title: ND-000469. Cooperative Adaptive Cruise Control Algorithms for Vehicular
Platoons Based on Distributed Model Predictive Control
Authors:
Ms. Tugba Tapli, AVL Research and Engineering, Turkey
Prof. Mehmet Akar, Bogazici University, Turkey
Time:10:40
Title: ND-000779. Modeling and field-experiments identification of vertical
dynamics of vehicle with active anti-roll bar
Authors:
Mr. Rafael Tavares, University of Agder, Norway
Prof. Michael Ruderman, University of Agder, Norway
Mr. Daan Menjoie, DRiV Tenneco Automotive BVBA, Belgium
Dr. Joan Vazquez Molina, DRiV Tenneco Automotive BVBA, Belgium
Mr. Miguel Dhaens, DRiV Tenneco Automotive BVBA, Belgium
Time:11:00
Title: ND-000647. Real-Time Model Predictive Control for a Parallel Hybrid Electric
Vehicle using Outer Approximation and Semi-Convex Cut Generation
Authors:
Mr. Massimo De Mauri, KU Leuven, Belgium
Dr. Joris Gillis, KU Leuven, Belgium
Prof. Jan Swevers, KU Leuven, Belgium
Prof. Goele Pipeleers, KU Leuven, Belgium

38

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

Oral Session: SS– Intelligent sensing applications for human assistive systems
Room: Room C
Day: Wednesday 16 September
Time: 10:00
Duration: 100 minutes
ChairsHiroshi Igarashi and Sota Shimizu

Papers
Time:10:00
Title: ND-000264. Energy Analysis Method and Walking Simulation with
Exoskeleton Assistive Devices
Authors:
Mr. Kaiki Fukutoku, Keio University, Japan
Mr. Kentaro Ominato, Keio University, Japan
Mr. Atsushi Hiraoka, Keio University, Japan
Mr. Maximilien Tsuji, Keio University, Japan
Prof. Toshiyuki Murakami, Keio University, Japan
Time:10:20
Title: ND-000027. Remote Control Method with Tactile Sensation for Underwater
Robot with Magnetic Coupling
Authors:
Prof. Naoki Motoi, Kobe University, JapanMr. Shoki Nakamura, Kobe University, Japan
Time:10:40
Title: ND-000582. Space-variant Color Point Cloud Measurement System Enomous Data Reduction using Saliency Map Authors:
Prof. Sota Shimizu, Shibaura Institute of Technology, Japan
Ms. Yu Fujita, Shibaura Institute of Technology, Japan
Mr. Naoaki Kameyama, Shibaura Institute of Technology, Japan
Prof. Nobuyuki Hasebe, Waseda University, Japan

39

Social Program (initial)
Time:11:00
Title: ND-001228. Road and Intersection Detection Using Convolutional Neural
Network
Authors:
Mr. Ryuki Higuchi, Yokohama National University, Japan
Prof. Yasutaka Fujimoto, Yokohama National University, Japan
Time:11:20
Title: ND-000981. Haptic Interface for Virtual Reality based on Hybrid Cable-Driven
Parallel Robot

Welcome reception

Authors:
Mr. Bastien Poitrimol, Tokyo Denki University, Japan
Prof. Hiroshi Igarashi, Tokyo Denki University, Japan

Closing Ceremony
Room: Room A
Day: Wednesday 16
September
Time: 11:40
Duration: 30 minutes
Chair
Michael Ruderman

will be held at Scandic Bystranda hotel, on Monday 20 April from 18:00 to 20:00. Allregistered participants are welcome to a drink and snack in a pleasant atmosphereof get together. The welcome reception will be accompanied by life music andgreeting words.

Reunion:
Virtual Tour

Reunion:Technical Tour

Room: Room B
Day: Wednesday 16
September
Time: 12:50
Duration: 40 minutes

Room: Room C
Day: Wednesday 16
September
Time: 12:50
Duration: 40 minutes

Organizer
Elisabeth Rasmussen

Organizer
Michael Ruderman

Conference banquet
will be held at Christiansholm Fortress, on Tuesday 21 April from 19:00 to 23:00.
The historical Christiansholm fortress is located middle in the downtown area ofKristiansand, with a beautiful seaside view on the bay, and opens with interiorand courtyard for the event. All registered participants are welcome to enjoy
the evening and authentic Norwegian food, in a relaxed agreeable atmosphereaccompanied by a music performance, also by conference awards ceremony andannouncements.

40

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

41

Technical Tour (changed to digital)

The registered participants are welcome to the guided tour through the facilities of
Mechatronics Innovation Lab (MIL) on Wednesday afternoon, 22 April. The bus willtake the participants from Campus Kristiansand and, afterwards, bring you backwhile also stopping at the AMC2020 conference hotels.
MIL is a technology catapult for innovation, piloting and technology qualification
within mechatronics and related areas. It offers access to technologies,
competence and connection to a broad network of partners.

Cultural Tour (initial, substituted by Virtual Tour)The registered participants are welcome
to a guided tour at Hunsfos Business
Park followed by a historical view of
Hunsfos Factories and beer tasting at
the Hunsfos Brewery in Vennesla on
Wednesday afternoon, 22 April. The bus
will take the participants from Campus
Kristiansand and, afterwards, bring
you back while also stopping at the
AMC2020 conference hotels.
“Beer tasting with a touch of history” –behind the old walls of Hunsfos Paper
Factory participants are invited to taste
various local beer with a sense of theold atmosphere.

42

AMC 2020 IEEE 16th International Workshop on Advanced Motion Control

43Extra pages
More space for a section or,

AMC 2020
IEEE 16th International Workshop
on Advanced Motion Control

compress program?

Sponsors:

Technical co-sponsors
Society
Measurement & Automatic Control

amc2020-contact@ieee.org