Informatics in control, automation and robotics

Lecture Notes in Electrical Engineering

Volume 89

Juan Andrade Cetto, Jean-Louis Ferrier,

and Joaquim Filipe (Eds.)

Informatics in Control,

Automation and Robotics

Revised and Selected Papers from the

International Conference on

Informatics in Control, Automation and

Robotics 2010

ABC

Prof. Juan Andrade Cetto

Univ. Politecnica Catalunya

Institut Robotica i Informatica

Industrial

Llorens i Artigas, 4-6

Edifici U

08028 Barcelona

Spain

E-mail: [email protected]

Prof. Jean-Louis Ferrier

Institut des Sciences et Techniques de

l’Ingénieur d’Angers (ISTIA)

Labo. d’Ingénierie des Systémes

Automatisés (LISA)

62 avenue Notre Dame du Lac

49000 Angers

France

E-mail: [email protected]

Prof. Joaquim Filipe

Polytechnic Institute of Setúbal /

INSTICC

2910-595 Setubal

Portugal

E-mail: [email protected]

ISBN 978-3-642-19538-9 e-ISBN 978-3-642-19539-6

DOI 10.1007/978-3-642-19539-6

Lecture Notes in Electrical Engineering ISSN 1876-1100

Library of Congress Control Number: 2011925362

c 2011 Springer-Verlag Berlin Heidelberg

This work is subject to copyright. All rights are reserved, whether the whole or part of the mate￾rial is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation,

broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Dupli￾cation of this publication or parts thereof is permitted only under the provisions of the German

Copyright Law of September 9, 1965, in its current version, and permission for use must always

be obtained from Springer. Violations are liable to prosecution under the German Copyright Law.

The use of general descriptive names, registered names, trademarks, etc. in this publication does

not imply, even in the absence of a specific statement, that such names are exempt from the relevant

protective laws and regulations and therefore free for general use.

Typeset & Cover Design: Scientific Publishing Services Pvt. Ltd., Chennai, India.

Printed on acid-free paper

987654321

springer.com

Preface

The present book includes extended and revised versions of a set of selected papers

from the Seventh International Conference on Informatics in Control, Automation and

Robotics (ICINCO 2010), held in Funchal, Madeira - Portugal, from 15 to 18 June

2010. The conference was organized in three simultaneous tracks: Intelligent Control

Systems and Optimization, Robotics and Automation, and Systems Modeling, Signal

Processing and Control. The book is based on the same structure.

ICINCO 2010 received 320 paper submissions, from 57 countries in all continents.

From these, after a blind review process, only 27 were accepted as full papers, of

which 20 were selected for inclusion in this book, based on the classifications

provided by the Program Committee. The selected papers reflect the interdisciplinary

nature of the conference. The diversity of topics is an important feature of this

conference, enabling an overall perception of several important scientific and

technological trends. These high quality standards will be maintained and reinforced

at ICINCO 2011, to be held in Noordwijkerhout, The Netherlands, and in future

editions of this conference.

Furthermore, ICINCO 2010 included 6 plenary keynote lectures given by José

Santos-Victor (Instituto Superior Técnico, Portugal), Alícia Casals (Institute for

Bioengineering of Catalonia.IBEC and Universitat Politècnica de Catalunya.UPC,

Spain), Bradley Nelson (Institute of Robotics and Intelligent Systems at ETH-Zürich,

Switzerland), Wisama Khalil (Ecole Centrale de Nantes, IRCCyN, France), Oleg

Gusikhin (Ford Research & Adv. Engineering, USA) and John Hollerbach

(University of Utah, USA). We would like to express our appreciation to all of them

and in particular to those who took the time to contribute with a paper to this book.

On behalf of the conference organizing committee, we would like to thank all

participants. First of all to the authors, whose quality work is the essence of the

conference and to the members of the Program Committee, who helped us with their

expertise and diligence in reviewing the papers. As we all know, producing a

conference requires the effort of many individuals. We wish to thank also all the

members of our organizing committee, whose work and commitment were invaluable.

October 2010 Juan Andrade-Cetto

Jean-Louis Ferrier

Joaquim Filipe

Conference Committee

Conference Chair

Joaquim Filipe Polytechnic Institute of Setúbal / INSTICC,

Portugal

Program Co-chairs

Juan Andrade Cetto Institut de Robòtica i Informàtica Industrial,

CSIC-UPC, Spain

Jean-Louis Ferrier University of Angers, France

Organizing Committee

Patrícia Alves INSTICC, Portugal

Sérgio Brissos INSTICC, Portugal

Marina Carvalho INSTICC, Portugal

Helder Coelhas INSTICC, Portugal

Vera Coelho INSTICC, Portugal

Andreia Costa INSTICC, Portugal

Patricia Duarte INSTICC, Portugal

Bruno Encarnação INSTICC, Portugal

Mauro Graça INSTICC, Portugal

Raquel Martins INSTICC, Portugal

Liliana Medina INSTICC, Portugal

Carla Mota INSTICC, Portugal

Vitor Pedrosa INSTICC, Portugal

Daniel Pereira INSTICC, Portugal

Filipa Rosa INSTICC, Portugal

José Varela INSTICC, Portugal

Program Committee

Arvin Agah, USA

Alexande Poznyak, Mexico

Andrew Adamatzky, UK

Eugenio Aguirre, Spain

Hesham Alfares, Saudi Arabia

Adel Al-Jumaily, Australia

Francesco Amigoni, Italy

Peter Arato, Hungary

Alejandro Hernandez Arieta, Switzerland

Marco Antonio Arteaga, Mexico

Vijanth Sagayan Asirvadam, Malaysia

T. Asokan, India

VIII Conference Committee

Ruth Bars, Hungary

Adil Baykasoglu, Turkey

Karsten Berns, Germany

Mauro Birattari, Belgium

Christian Blum, Spain

Patrick Boucher, France

Bernard Brogliato, France

Kevin Burn, UK

Clifford Burrows, UK

Dídac Busquets, Spain

Javier Fernandez de Canete, Spain

Giuseppe Carbone, Italy

J.L. Martins de Carvalho, Portugal

Alessandro Casavola, Italy

Riccardo Cassinis, Italy

Ratchatin Chanchareon, Thailand

Antonio Chella, Italy

Wen-Hua Chen, UK

Graziano Chesi, China

Sung-Bae Cho, Korea, Republic of

Ryszard S. Choras, Poland

Carlos Coello Coello, Mexico

António Dourado Correia, Portugal

José Boaventura Cunha, Portugal

Mingcong Deng, Japan

Guilherme DeSouza, USA

Denis Dochain, Belgium

Tony Dodd, UK

Venky Dubey, UK

Frederick Ducatelle, Switzerland

Ashish Dutta, India

Petr Ekel, Brazil

Atilla Elci, Turkey

Ali Eydgahi, USA

Jean-marc Faure, France

Paolo Fiorini, Italy

Georg Frey, Germany

Wai-Keung Fung, Canada

Dragan Gamberger, Croatia

Andrea Garulli, Italy

Ryszard Gessing, Poland

Lazea Gheorghe, Romania

Paulo Gil, Portugal

Alessandro Giua, Italy

Luis Gomes, Portugal

Dongbing Gu, UK

Kevin Guelton, France

Maki K. Habib, Egypt

Wolfgang Halang, Germany

Onur Hamsici, USA

John Harris, USA

Inman Harvey, UK

Dominik Henrich, Germany

Suranga Hettiarachchi, USA

Victor Hinostroza, Mexico

Wladyslaw Homenda, Poland

Guoqiang Hu, USA

Joris Hulstijn, The Netherlands

Fumiya Iida, USA

Atsushi Imiya, Japan

Giovanni Indiveri, Italy

Mirjana Ivanovic, Serbia

Sarangapani Jagannathan, USA

Masoud Jamei, UK

Ping Jiang, UK

Graham Kendall, UK

DaeEun Kim, Korea, Republic of

Won-jong Kim, USA

Israel Koren, USA

Gerhard K. Kraetzschmar, Germany

Mianowski Krzysztof, Poland

H.K. Lam, UK

Alexander Lanzon, UK

Kathryn J. De Laurentis, USA

Kauko Leiviskä, Finland

Zongli Lin, USA

Guoping Liu, UK

Jing-Sin Liu, Taiwan

José Tenreiro Machado, Portugal

Anthony Maciejewski, USA

Frederic Maire, Australia

Om Malik, Canada

Hervé Marchand, France

Philippe Martinet, France

Rene V. Mayorga, Canada

Seán McLoone, Ireland

Prashant Mehta, USA

Carlo Menon, Canada

António Paulo Moreira, Portugal

Vladimir Mostyn, Czech Republic

Rafael Muñoz-salinas, Spain

Kenneth Muske, USA

Andreas Nearchou, Greece

Luciana Nedel, Brazil

Conference Committee IX

Sergiu Nedevschi, Romania

Monica N. Nicolescu, USA

Klas Nilsson, Sweden

Urbano Nunes, Portugal

Manuel Ortigueira, Portugal

Selahattin Ozcelik, USA

Igor Paromtchik, France

Mario Pavone, Italy

Claudio de Persis, Italy

D.T. Pham, UK

Michael Piovoso, USA

Raul Marin Prades, Spain

José Ragot, France

Jerzy Respondek, Poland

A. Fernando Ribeiro, Portugal

Robert Richardson, UK

Mihailo Ristic, UK

Juha Röning, Finland

Agostinho Rosa, Portugal

Danilo De Rossi, Italy

Fariba Sadri, UK

Mehmet Sahinkaya, UK

Priti Srinivas Sajja, India

Abdel-badeeh Salem, Egypt

Marcello Sanguineti, Italy

Jurek Sasiadek, Canada

Sergio M. Savaresi, Italy

Carla Seatzu, Italy

Michael Short, UK

Silvio Simani, Italy

Dan Simon, USA

Olivier Simonin, France

Joaquin Sitte, Australia

Adam Slowik, Poland

Andrzej Sluzek, Singapore

Safeeullah Soomro, Saudi Arabia

Stefano Squartini, Italy

Burkhard Stadlmann, Austria

Chun-Yi Su, Canada

Ryszard Tadeusiewicz, Poland

Kazuya Takeda, Japan

Daniel Thalmann, Switzerland

N.G. Tsagarakis, Italy

Avgoustos Tsinakos, Greece

Antonios Tsourdos, UK

Angel Valera, Spain

Eloisa Vargiu, Italy

Annamaria R. Varkonyi-koczy, Hungary

Ramiro Velazquez, Mexico

Damir Vrancic, Slovenia

Bernardo Wagner, Germany

Dianhui Wang, Australia

James Whidborne, UK

Sangchul Won, Korea, Republic of

Qishi Wu, USA

Marek Zaremba, Canada

Janan Zaytoon, France

Primo Zingaretti, Italy

Auxiliary Reviewers

Lounis Adouane, France

Iman Awaad, Germany

Yao Chen, China

Rohit Chintala, India

Jonathan Courbon, France

Kun Deng, USA

Anibal Ferreira, Portugal

Leonardo Fischer, Brazil

Fernando Fontes, Portugal

Ronny Hartanto, Germany

Laurent Harter, France

Nico Hochgeschwender, Germany

Ana Lopes, Portugal

Jan Paulus, Germany

Cristiano Presmebida, Portugal

Michael Reckhaus, Germany

Lynda Seddiki, France

Renato Silveira, Brazil

Yu Sun, USA

C. Renato Vázquez, Spain

Huibing Yin, USA

X Conference Committee

Invited Speakers

José Santos-Victor Instituto Superior Técnico, Portugal

Alicia Casals Institute for Bioengineering of

Catalonia.IBEC and Universitat Politècnica

de Catalunya.UPC, Spain

Bradley Nelson Robotics and Intelligent Systems at

ETH-Zürich, Switzerland

Wissama Khalil Ecole Centrale de Nantes, IRCCyN, France

Oleg Gusikhin Ford Research & Adv. Engineering, USA

John Hollerbach University of Utah, USA

Contents

Invited Papers

Dynamic Modeling of Robots Using Newton-Euler

Formulation .................................................... 3

Wisama Khalil

Emotive Driver Advisor System (EDAS) ....................... 21

Oleg Gusikhin, Erica Klampfl, Dimitar Filev, Yifan Chen

Force Prediction Using Fingernail Imaging:An Overview ........ 37

Tom Grieve, Yu Sun, John M. Hollerbach, Stephen A. Mascaro

Part I: Intelligent Control Systems and Optimization

Design and Experimental Validation of a Combined PI and

Bi-Positional Laws Controller for Delaying the Transition

from Laminar Flow to Turbulent Flow over a Morphing

Wing ........................................................... 51

Teodor Lucian Grigorie, Andrei Vladimir Popov,

Ruxandra Mihaela Botez, Mahmoud Mamou, Youssef M´ebarki

Energy-Efficient Parameter Adaptation and Prediction

Algorithms for the Estimation of Temperature Development

Inside a Food Container ........................................ 77

J. Palafox-Albarr´an, R. Jedermann, W. Lang

Distributed Network Protocol Parameter Adaptation in

Mobile Ad-Hoc Networks ....................................... 91

Sven Tomforde, Bj¨orn Hurling, J¨org H¨ahner

Unsupervised Learning of Finite Gaussian Mixture Models

(GMMs): A Greedy Approach .................................. 105

Nicola Greggio, Alexandre Bernardino, Jos´e Santos-Victor

XII Contents

Timed Specification Patterns for System Validation:

A Railway Case Study .......................................... 121

Ahmed Mekki, Mohamed Ghazel, Armand Toguy´eni

A Passivity-Based Approach to Group Coordination in

Multi-agent Networks .......................................... 135

Heath LeBlanc, Emeka Eyisi, Nicholas Kottenstette,

Xenofon Koutsoukos, Janos Sztipanovits

Part II: Robotics and Automation

Adhering to Terrain Characteristics for Position Estimation

of Mobile Robots ............................................... 153

Michael Brunner, Dirk Schulz, Armin B. Cremers

Orientation of Doubly Nonholonomic Mobile Manipulator in

the Path Tracking Problem ..................................... 171

Alicja Mazur

Extracting the Frequency of Robotic Tasks with an Adaptive

Fourier Series: Application to Yo-Yo ............................ 185

Tadej Petriˇc, Andrej Gams, Leon Zlajpah ˇ

Bilateral Teleoperation for Linear Force Sensorless

3D Robots ...................................................... 197

Stefan Lichiardopol, Nathan van de Wouw, Henk Nijmeijer

Grasping with Vision Descriptors and Motor Primitives ........ 211

Oliver Kroemer, Renaud Detry, Justus Piater, Jan Peters

Remote Tracking Control of Unicycle Robots with

Network-Induced Delays ........................................ 225

Alejandro Alvarez-Aguirre, Nathan van de Wouw, Toshiki Oguchi,

Kotaro Kojima, Henk Nijmeijer

Development of a Low-Pressure Fluidic Servo-Valve for

Wearable Haptic Interfaces and Lightweight Robotic

Systems ........................................................ 239

Michele Folgheraiter, Mathias Jordan, Luis M. Vaca Benitez,

Felix Grimminger, Steffen Schmidt, Jan Albiez, Frank Kirchner

Learning Concepts with Multi-robot Systems ................... 253

Ana Cristina Palacios-Garc´ıa, Ang´elica Mu˜noz-Mel´endez,

Eduardo F. Morales

Active Method for Mobile Object Detection from an

Embedded Camera, Based on a Contrario Clustering ........... 267

Dora Luz Almanza-Ojeda, Michel Devy, Ariane Herbulot

Contents XIII

Part III: Signal Processing, Systems Modeling and

Control

Adaptive and Robust Linearizing Control Strategies for

Fed-Batch Cultures of Microorganisms Exhibiting Overflow

Metabolism ..................................................... 283

Laurent Dewasme, Daniel Coutinho, Alain Vande Wouwer

A New Framework for Motion Estimation in Image Sequences

Using Optimal Flow Control .................................... 307

Annette Stahl, Ole Morten Aamo

A New Design Procedure of the Pole-Placement and the State

Observer for Linear Time-Varying Discrete Systems ............ 321

Yasuhiko Mutoh

Optimal Controller Gain Tuning for Robust Stability of

Spacecraft Formation ........................................... 335

Esten I. Grøtli, Antoine Chaillet, Elena Panteley, J. Tommy Gravdahl

Stability and Performance of Wireless Sensor Networks

during the Tracking of Dynamic Targets ........................ 349

Phuong Pham, Sesh Commuri

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363