Newsgroups: sci.engr.control,comp.robotics,comp.ai
Path: cantaloupe.srv.cs.cmu.edu!das-news2.harvard.edu!news2.near.net!news.mathworks.com!udel!news.sprintlink.net!howland.reston.ans.net!torn!watserv2.uwaterloo.ca!watserv3.uwaterloo.ca!rene
From: rene@watnow.uwaterloo.ca (Rene V. Mayorga)
Subject: Program - 1995 IASTED Int. Conf. on Robotics and Manufacturing
Message-ID: <D9sBKI.EL1@watserv3.uwaterloo.ca>
Sender: news@watserv3.uwaterloo.ca
Nntp-Posting-Host: watnow.uwaterloo.ca
Organization: University of Waterloo
Date: Wed, 7 Jun 1995 04:09:53 GMT
Lines: 454
Xref: glinda.oz.cs.cmu.edu sci.engr.control:5809 comp.robotics:21473 comp.ai:30441



                        PROGRAM
          THIRD IASTED International Conference on
                Robotics and Manufacturing
                      June 14-16, 1995
                       Cancun, Mexico

SPONSORS: The International Association of Science and Technology for
          Development - IASTED
          Instituto Tecnologico y de Estudios Superiores de Monterrey,
          Mexico - ITESM

LOCATION: Sheraton Hotel, Cancun, Mexico

General Chair: T.C. Hsia, University of California-Davis, USA
Program Chair: Rene V. Mayorga, University of Waterloo, Canada
Regional Program Chairs: Francisco Cantu-Ortiz, ITESM, Monterrey, Mexico
                         Juan Frausto-Solis, ITESM, Morelos, Mexico

INTERNATIONAL PROGRAM COMMITTE
S. Arimoto              University of Tokyo, Japan
E. Bayo                 University of California - Santa Barbara, USA
P. Dario                University of Pisa, Italy
C. Doumanidis           Tufts University, USA
A. Desrochers           Rensselaer Polytechnic Institute, USA
R.V. Dubey              University of Tennessee, USA
W.H. ElMaraghy          University of Windsor, Canada
B. Espiau               INRIA, France
T. Fukuda               Nagoya University, Japan
H. Furuta               Japan
A. Goldenberg           University of Toronto, Canada
E. Gomes                EPUSP, Brazil
W.A. Gruver             Simon Fraser University, Canada
M. Kamel                University of Waterloo, Canada
S. Kalaycioglu          Canadian Space Agency, Canada
O. Khatib               Stanford University, USA
H.N. Koivo              Tampere University, Finland
K. Kosuge               University of Nagoya, Japan
K. Lobo-Pereira         Porto University, Portugal
A. Maciejewski          Purdue University, USA
H. Miura                University of Tokyo, Japan
Y. Nakamura             University of Tokyo, Japan
G. Saridis              Rensselaer Polytechnic Institute, USA
H. Seraji               Jet Propulsion Laboratory, USA
Y. Shirai               Osaka University, Japan
J.E. Slotine            Massachusetts Institute of Technology, USA
A.C. Sanderson          Rensselaer Polytechnic Institute, USA
B. Siciliano            University of Naples, Italy
P.M. Taylor             University of Hull, U.K.
S. Tsuji                Osaka University, Japan
A.K.C. Wong             University of Waterloo

REGIONAL PROGRAM COMMITTEE
J.L. Gordillo           ITESM, Monterrey
R. Kelly                CICESE, Ensenada
J.M. Ibarra             CINESTAV
H. Martinez             ITESM
A. Ramirez              CINESTAV
A. Pamanes              Laguna Tec, Torreon
F. Ramos                ITESM. Morelos
G. Rodrigues            IEE, Cuernavaca
J.M. Sanchez            ITESM, Monterrey
R. Soto                 ITESM, Monterrey
L.E. Sucar-Succar       ITESM, Morelos
M. Valenzuela           ITESM, Monterrey

WEDNESDAY, JUNE 14
8:00 - 10:00 - Registration
10:00 - 10:20 - Welcome
10:20 - 10:45 - Coffee Break

10:45 - 12:45 - Session 1 - Robot Kinematics
Design of Error Tolerant Coupling Mechanics for Metamorphic Robots
- A. Pamecha, Y. Kohaya, G. Chirikjian (USA)
Generation of Binary Manipulator Workspaces and Work Envelopes
- I. Ebert-Uphoff, G. Chirikjian (USA)
Manipulator's Kinematics of Don Cuco el Guapo Robot
- D. Vera M., A. Pedroza M., H. Vargas M., R. Fournier L. (Mexico)
Analysis of Complex Mechanical Systems through Geometrical Reachable
Workspace
- J. Bessala, P. Bidaud (France)
A Measure of Local Fault Tolerance for Kinematically Redundant Manipulators
- R.G. Roberts, A.A. Maciejewski (USA)

10:45 - 12:45 - Session 2 - Motion
Improving Reinforcement Learning of an Obstacle Avoidance Behavior with
Forbidden Sequences of Actions
- C. Touzet, N. Giambiasi, S. Sehad (France)
Performance Evaluation of Navigation Algorithms Using Percolation Theory
- R. Hartley (USA)
Optimal Free Path Planning of Robot Arms Submitted to Phase Constraints
- G. Bessonnet, A.D. Jutard-Malinge (France)
Using Manhattan Paths for Manipulator Planning
- J.M. Ahuactzin, K. Gupta (Canada)
A Framework for the Path Planning of Robot Manipulators
- R.V. Mayorga (Canada)

10:45 - 12:45 - Session 3 - Sensor Guidance
Applying Reciprocal-Wedge Transform to Ego Motion
- Z-N. Li, F. Tong, X.O. Ren (Canada)
Servoable Cameras for Three-Dimensional Positioning with Camera-Space
Manipulation
- E.J. Gonzalez-Galvan, S.B. Skaar (USA)
Sensor Placement Schemes for Space Station Module Rack-Insertion End-Effector
- W.V. Brewer (USA)
Sensor Planning Applied to High Quality Modeling of an Object
- J. Okamoto Jr., A. Elfes (Brazil)
Visual Motion Cue for Autonomous Navigation
- S.R. Kundur, D. Raviv (USA)


10:45 - 12:45 - Session 4 - Scheduling
An Efficient Minimum Trajectory Planning for Machine Tool Dynamics
- A. Rahbary (U.K.)
Simulation Aids the Scheduling of a Labour Intensive Semi-Automatic
Manufacturing System (103)
- F.T.S. Chan (Australia)
Two Level Search for Flow Shop Scheduling
- M. Hoyos (Colombia), H. Dera (U.K.)
On the Scheduling Problems using Simulated-Annealing-Based Heuristics
- M. Braglia, E. Gentili (Italy)

14:15 - 16:15 - Session 5 - Robot Mechanisms
Inchworm Mobility - Stable, Reliable and Inexpensive
- A. Ferwom, D.A. Stacey (Canada)
Six Leg Mobile Robot Design with a Parallelogram Structure Based on
Biological Systems
- A.R. Serrano (Mexico)
Analysis of Complex Mechanical Systems: A Static Equilibrium Study
- J. Bessala, P. Bidaud (France)
An Actuation System for the Control of Multiple Shape Memory Alloy Actuators
- R. Mukherjee, R.A. Thiel (USA)
Regional Structures of Single-arm Free-floating Robots: A Comparative Study
of the Workspace
- S.K. Agrawal, L. Sun (USA)
Elastometric Dielectric Artificial Muscle Actuators for Small Robots
- R. Korbluh, R. Pelrine, J. Joseph (USA)


14:15 - 16:15 - Session 6 - Robot Dynamics
Estimation of Closed-Form Equation Dynamic Parameters on an Industrial
Manipulator
- F. Milella (Italy)
An Algorithm for Trajectory Tracking in Forward Dynamics Models with
Applications
- J. Kim, H. Hemami, M.R. Sherkat (USA)
Robot Dynamics - A Five-Degree-of-Freedom Biped Study
- J.-S. Yang (USA)
Motion Optimization of Controlled Multibody Systems using Generalized
Non-Autonomous Dynamic Models
- G. Bessonnett, A.D. Jutard-Malinge (France)
Mobile Robot Dynamics: Chaos in Reactive Control Architectures
- R. Ghanea-Hercock, D.P. Barnes (U.K.)

14:15 - 16:15 - Session 7 - Sensing
Reducing Common Mode Noise Effects in Hexagonally Segmented Active Surfaces
- D.R. Smith (USA), G. Cortes-Medellin (Colombia), M.E. Magana (Mexico)
Learning Park Models for Beam Sensing
- M. Finke (Germany), K. Goldberg (USA), G. Hommel (Germany)
Statistical Information in Multisensor Systems for Cutting Processes
- F. Betancourt-Silva, F. Betancourt-Soto (Mexico), L.J. Barrios,
  D. Guinea (Spain)
Attention Driven Depth Reconstruction
- P. Jasiobedzki, J.R.R. Service (Canada)
Artificial Vision of "Don Cuco el Guapo" Robot
- H. Vargas M., A. Pedroza M., D. Vera M., R. Fournier L. (Mexico)

14:15 - 16:15 - Session 8 - Process Control
Closed Loop Manufacturing Control
- D. Simon, C. Martin (Germany)
A Generic Solution to the Automation of Powder Production
- L.B. Newnes, S.A. MacGregor, J.N. Staniforth, G.R. Kay (U.K.)
Fourth Order Tool Contact Machining of Complex Surfaces
- K.A. White, T.S. Simpson, C.G. Jensen (USA)
A Flexible Vision Inspection System for Machined Parts
- L.M. Keow, C.K. Yeong (Singapore)
Diagnostic and Control of Heat Rate in Fossil Power Plants
- G. Arroyo-Figueroa, A. Villavicencio (Mexico)
Stability Study of a PID Controlled Chemical System with Two Basic
Non-Synchronous Samplers
- J.-S. Yang (USA)

17:45 - 19:15    Wecome cocktail (cash bar)

THURSDAY, JUNE 15

8:00 - 10:00 - Session 9 - Robot Control I
Adaptive Control vs. Variable Structure Control: A Comparison from Designer's
Point of View
- L.E. Navarro-Serment, R. Soto (Mexico)
Integral Compensation for Model-Based Manipulator Control with Arbitrarily
Assignable Poles and Zeroes
- C.L. Teo, H.A. Zhu, G.S. Hong (Singapore)
Non-Linear Dynamic Modelling and Identification of an Electro-Hydraulic
Servo-Valve
- G. van Schothorst, P.C. Teerhuis, A.J.J. van der Weiden (Netherlands)
Velocity Estimator for the Adept Robot
- E. Waled, A.S. Zaki, H.A. ElMaraghy, W.H. ElMaraghy (Canada)
Control of Cutter Runout in Milling via Chip Load Servo
- S.Y. Liang, G.W. Woodruff (USA)

8:00 - 10:00 - Session 10 - Telerobotics
A 1 D.O.F. Mini-Telemanipulator: Design and Control
- P. Kallio, H.N. Koivo (Finland)
Micro-Telerobotic Applications for Microsurgery
- W.E. Ford, A.K. Morimoto, D.M. Koziowski, S.T. Charles (USA)
Hand and Base Coordinate Mapping with Indexing for Generalized Bilateral
Control of a Teleoperator System
- T.F. Chan, R.V. Dubey (USA)
A High Capability Teleoperated Vehicle for Hazardous Applications
- A.M. Dudar, R.L. Witherspoon, G.D. Teese (USA)
Robotics Evaluation and Characterization (REACH) of the SSRMS
- S. Kalaycioglu (Canada)

9:45 - 10:15 - Coffee Break

10:15 - 12:15 - Session 11 - Robot Control II
Controller for Excavator During Digging Operations
- J.A. Cetto (Mexico), A.J. Koivo (USA)
On Stiffening Cables of a Long Reach Manipulator
- S.-L. Wang, P. Santiago (USA)
Passivity-Based Control for Tip Position Regulation of a Flexible
Link
- M. Herrera, R. Castro (Mexico), A. Glumineau (France)
Robost Reduced-Order Control of a Two-Link Flexible Manipulator
- D. Bossert, U.-L. Ly, J. Vagners (USA)

10:15 - 12:15 - Session 12 - A.I. Techniques
Design Seeking Controller with FLC and FSMC for High Precision Hard Disk
Driver
- C.-J. Liou, S.-C. Lin, Y.-Y. Chen (Taiwan)
Comparison of RI and MD in the Application of JPEG with Fuzzy Controllers
- C.J. Wu, A.H. Sung (USA)
Force Predictions in Single Edged Cutting Operations Using Artificial Neural
Networks
- V. Karri, A. Adams (Australia)
Decision Support System for Implementing a Manufacturing Planning System
- M. Boumedine, I. Chirino Barcelo (Mexico)


13:45 - 14:45 - Keynote Speaker - Prof. C.S. George Lee - Purdue University

14:45 - 15:00 - Coffee Break

15:00 - 16:45 - Session 13 - Neural Nets & Robotics
On Neural Network Controller Design for Position Based Force Control of
Robot Manipulators
- S. Jung, T.C. Hsia (USA)
Trajectory Control Using Neural Networks to Improve Desired Trajectory Input
- J.F. Gardner, K.A. Hrnciar (USA)
A Fast Nearest Neighbor Based Function Learning Algorithm: Application to
Robot Inverse Kinematics and Comparison to a Neural Network Approach
- E.M. Gross (Japan)
Inverse Kinematic Resolution Using Neural Networks
- A. Ramdane-Cherif, V. Perdereau, M. Drouin (France)

15:00 - 16:45 - Session 14 - Robotic Systems
On the Development of Spot and ARC Welding Dual-Purpose Robot Automation
System
- B.-S. Ryuh, Y. Lee (Korea)
Automated Guidance of the Heat Source Motion in Robotic Thermal Materials
Processing
- C. Doumanidis (USA)
A Methodology for the Development of Robotic Applications
- D.A. Velasco, K.L. Jones, F. Falvo (USA)
Automation of Scaling and Cutting Shoe Pieces Using Robot Manipulators
- I. Morales Mata (Mexico), T.C. Hsia (USA)

17:20 - 23:00   Boat Tour/Banquet
(Bus will pick up at the Sheraton Hotel)

FRIDAY, JUNE 16

8:15 - 10:15 - Session 15 - Mobile Robots I
Model-Based Computed Torque Control of a Differentially Driven Automated
Vehicle
- R. Rajagopalan, N. Barakat (Canada)
On the Control Architecture for an Autonomous Industrial Mobile Platform
- J. Borges Sousa, F. Lobo-Pereira, J. Almeida, A. Martins, N. Cruz,
  R. Tunes, E. Pereira da Silva (Portugal)
The Motion Control for Twin Brushes Polishing Robot
- H. Furiya, N. Kiyohiro, T. Tanzawa (Japan)
Robot Handling in Case of Disturbances with 3D Simulation
- G. Reinhart, D. Kugelmann, J. Milberg (Germany)
Mixing Reactivity and Deliveration for Robot Mobility
- P. Marinho, E. Oliveira (Portugal)
Avoidance of Moving Obstacles by a Mobile Robot
- B. Beaufrere, S. Zeghloul (France)

8:15 - 10:15 - Session 16 - Flexible Manufacturing Systems
On Fault-Converage Modeling in Fault-Tolerant Systems
- C.P. Fuhrman, S. Chutani, H.J. Nussbaumer (Switzerland)
A Systems Configuration Toolkit for Modular Integration of Mechatronic
Resources
- F.J. Oppel III, R. Palmquist (USA)
A Petri Net Based Approach to the FMS Design Problem
- A. Malo-Tamayo, A. Ramirez-Trevino, E. Lopez-Mellado (Mexico)
A Method of Simulation of Petri Nets by Conflict-Free Nets
- A.V. Kovalyov (Belorus)
Modelling of Manufacturing Systems and Production Routes Using Colored
Petri Nets
- A. Zimmermann (Germany)
DESO: A Constraint-Based Environment Prototype for Cooperative Design of FMS
- A.V. Smimov, A.S. Koulinitch, L.B. Sheremetov, G.V. Romanov,
  P.A. Turbin (Russia)

10:15 - 10:45 - Coffee Break

10:45 - 12:30 - Session 17 - Mobile Robots II
Wall Climbing Robots and the Problems of Attachments
- N. Buniyamin (Malaysia)
"Self-Awareness" in Reinforcement Learning of Snake-like Robot Locomotion
- M. Nilsson, J. Ojala (Sweden)
A Real-Time Reexecutive Multiprocess Scheduling for a Sensor Based Mobile
Robot System
- H. Yu, W. Mathis (USA)
Hierarchical Model for Natural Terrain Using Topographic Triangular Meshes
- R.E. Fayek, A.K.C. Wong (Canada)

10:45 - 12:30 - Session 18 - Manufacturing System Design
Combining Operations Research and Agent-Oriented Techniques for Agile
Manufacturing System Design
- P.J. Gmytrasiewicz, H.H. Huang, F.L. Lewis (USA)
Syntax Transformation Performance Analysis of Manufacturing Message
Specification with a Turning Machine Model
- G. Berthet, C.P. Fuhrman (Switzerland)
Computer-Aided Predictive Cutting Model for Simulated Keyway Broaching
Operation
- V. Karri (Australia)
PLANCINTEX - An Inegrated Approach for the Planning, Scheduling and Control
of a Textile Company
- G. Goncalves, R. Furtado, J. Borges Sousa, F. Lobo Pereira (Portugal)
Advanced Manufacturing Technology - Competitiveness Tool for Small and
Mid-size Enterprises
- S. Dharwadkar, D.I. Cleland, B. Bidanda (USA)
An Intelligent Model for Assisted Design
- G. Schmitt, C. Frydman, N. Giambiasi (France)


13:45 - 15:15 - Session 19 - Robot Adaptive Control
Nonlinear Adaptive Velocity Control on Elastic Multi-Link Manipulators
- L.-C. Wung, P.-Y. Woo (USA)
Robust Control with an Adaptation Law for Robot Manipulators
- S.Y. Yi, M.J. Chung (Korea)
A Robust Adaptive Tracking Controller for Robot Manipulators
- M. Tarokh, G. McDermott (USA)
Robust Self-tuning Controller with Good Transient Performance
- W. Yu (P.R. China), M. de la Sen (Spain), T. Chai (P.R. China)

13:45 - 15:15 - Session 20 - Intelligent Systems
A Fuzzy Temporal Reasoning Mechanism for Planning in Multi-Agent Domains
- F. Ramos, G. Sanchez, E. Espinoza, M.J. Elliott (Mexico)
Adapting Reference Plans to Build New Plans by Using Transformation Operators
in Flexible Manufacturing Lines
- F. Ramos, E. Aguillon, J. Frausto (Mexico)
Paradigm for Programming Computers
- M. Schaffner (USA)
Information Accessibility in Partitioned Intelligence Manufacturing Systems
- A. Adelmo, S.-A. Andreasson, M. Johansson (Sweden)
A Fieldbus Communication Controller Applicable to Local Manufacturing
Networks
- P. Najera G., V.H. Zarate Silva, C. Ortega S., P. Molina F.,
  J.M. Pineda C. (Mexico)


15:15 - 15:45 - Coffee Break

15:45 - 17:45 - Session 21 - Robot Force Control
Selecting Finger Contact Locations that Result in High Quality Grasps
- B. Salunkhe, U. Tasch, V. Varma (USA)
Compliant Motion Control with Self-Motion Stabilization for Kinematically
Redundant Manipulators
- F. Shadpey, R.V. Patel (Canada)
On Force Tracking Impedance Control with Unknown Environment Stiffness
- S. Jung, T.C. Hsia, R.G. Bonitz (USA)
Adaptive Fuzzy Force Control of Robot Manipulators
- M. Tarokh, S. Bailey (USA)

15:45 - 17:45 - Session 22 - Knowledge Based Systems
A Knowledge Based Simulation System for Optimum Design of Manufacturing
Cell System
- T.M. Dao, M. Galopin, Y.A. Youssef (Canada)
An Object Oriented Shell for Probabilistic Reasoning in Expert Systems
- J. Noriega-Rojas, L.E. Sucar (Mexico)
Efficient Algorithms for Automated Reasoning in Expert Systems
- J.W. Guan, D.A. Bell (N. Ireland)
Probability Vector Approach to Multi-Agent-Robot Learning with Delayed
Reinforcement: A Simulation Experiment
- J. Negrete-Nartinez (Mexico)
Q-Diam: A Language for Self-Organizing Task Recruiting in Social Multiagent
Systems
- B. Cases, F.J. Olasagasti (Spain)

AUTHORS PLEASE NOTE
The registration fee for IASTED Members is $US 390.00 and for non-members
$US 450.00.  Extra page and extra paper charges are $US 80.00 per page.  The
registration fee includes one copy of the proceedings, refreshments during the
conference and dinner on June 15, 1995.  Cheques are to be made payable to
IASTED.  Visa and Mastercard are accepted.

ACCOMMODATION
Special rates are available for the attendees at the Sheraton - Cancun.  The
rates are $US 75.00 - Resort and $US 100.00 - Tower, single or double
occupancy.

EXTRA COPIES OF THE PROCEEDINGS
Extra copies of the proceedings may be ordered separately from the Secretariat.

SECRETARIAT
IASTED Secretariat
1811 West Katella Avenue, Suite 101
Anaheim, California
USA   92804
Tel: 1-800-995-2161
     714-778-3230
Fax: 714-778-5463
Email: iasted@orion.oac.uci.edu
URL: http://www.cuug.ab.ca:8001/~warwodad/iasted.html

SPECIAL EVENTS
June 14 - City Tour - 7:30 p.m.
                    - $US 20.00 per person

June 15 - Dinner - Caribbean Carnival
                 - $US 55.00 per person
                 - One reservation is automatically included with
                   your Conference registration
                 - Bus pick up is at 5:20 p.m. at the Sheraton

June 17 - 8:00 a.m. - Chichen-Itza Ruins
                    - $US 45.00 per person

June 17 - 11:00 a.m. - Submarine Tour
                     - $US 33.00 per person

June 18 - 8:00 a.m. - Xcaret, Eco-Archaelogical Park
                    - $US 40.00 per person

June 18 - 9:00 a.m. - Submarine Tour
                    - $US 33.00 per person


AIRPORT INFO

If you are arriving in Mexico City and need to change to a local airline for
Cancun, you may need to change terminals. Some airlines may not be able to check
your luggage all the way to Cancun. So be prepared for a long and strenuous walk
beteween terminals in Mexico City. There are no carts available there, and
shuttle services are scarce.

In Cancun airport you can take (pool into) a van (approx. $ 7 US Dlls.); or a
taxi (approx. $23 US Dlls.) to your hotel. By taxi you can directly get into
your hotel. It can take much longer to reach the hotel by van.
