Informatics in control automation and robotics

Lecture Notes in Electrical Engineering

Volume 85

Juan Andrade Cetto, Joaquim Filipe ·

Jean-Louis Ferrier (Eds.)

Informatics in Control

Automation and Robotics

Revised and Selected Papers from the

International Conference on Informatics in

Control Automation and Robotics 2009

ABC

Dr. Juan Andrade Cetto

Institut de Robòtica i Informàtica Industrial

Consejo Superior de Investigaciones Científicas / Universidad

Politècnica de Catalunya

Llorens i Artigas, 4-6

Edifici U

08028 Barcelona

Spain

E-mail: cetto@iri.upc.edu

Prof. Joaquim Filipe

Polytechnic Institute of Setúbal / INSTICC

2910-595 Setubal

Portugal

E-mail: jfilipe@insticc.org

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: ferrier@istia.univ-angers.fr

ISBN 978-3-642-19729-1 e-ISBN 978-3-642-19730-7

DOI 10.1007/978-3-642-19730-7

Library of Congress Control Number: 2011923552

c 2011 Springer-Verlag Berlin Heidelberg

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Preface

The present book includes a set of selected papers from the Sixth International

Conference on Informatics in Control Automation and Robotics (ICINCO 2009), held

in –Milan, Italy, from 2 to 5 July 2009. 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 2009 received 365 paper submissions, from 55 different countries in all

continents. From these, after a blind review process, only 34 were accepted as full

papers, of which 21 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 2010, to be held in Funchal, Madeira - Portugal, and in

future editions of this conference.

Furthermore, ICINCO 2009 included 5 plenary keynote lectures given by Daniel S.

Yeung (University of Technology, China), Maria P. Fanti (Polytechnic of Bari, Italy),

Janan Zaytoon (University of Reims Champagne Ardennes, France), Alessandro Giua

(Universita’ di Cagliari, Italy) and Peter S. Sapaty (Institute of Mathematical

Machines and Systems, National Academy of Sciences Ukraine). 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.

July 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

Sérgio Brissos INSTICC, Portugal

Marina Carvalho INSTICC, Portugal

Helder Coelhas INSTICC, Portugal

Vera Coelho INSTICC, Portugal

Andreia Costa INSTICC, Portugal

Bruno Encarnação INSTICC, Portugal

Bárbara Lima INSTICC, Portugal

Raquel Martins INSTICC, Portugal

Elton Mendes INSTICC, Portugal

Carla Mota INSTICC, Portugal

Vitor Pedrosa INSTICC, Portugal

José Varela INSTICC, Portugal

Pedro Varela INSTICC, Portugal

Program Committee

Arvin Agah, USA

Alessandro Chiuso, Italy

Hyo-Sung Ahn, Korea, Republic of

Frank Allgower, Germany

Francesco Amigoni, Italy

Plamen Angelov, UK

Helder Araújo, Portugal

Marco Antonio Arteaga, Mexico

Vijanth Sagayan Asirvadam, Malaysia

T. Asokan, India

Robert Babuska, The Netherlands

Ruth Bars, Hungary

Adil Baykasoglu, Turkey

Maren Bennewitz, Germany

VIII Conference Committee

Karsten Berns, Germany

Arijit Bhattacharya, Ireland

Sergio Bittanti, Italy

Stjepan Bogdan, Croatia

Jean-louis Boimond, France

Djamel Bouchaffra, USA

Bernard Brogliato, France

Edmund Burke, UK

Clifford Burrows,UK

Dídac Busquets, Spain

Giuseppe Carbone, Italy

J. L. Martins de Carvalho, Portugal

Alessandro Casavola, Italy

Riccardo Cassinis, Italy

Chien Chern Cheah, Singapore

Tongwen Chen, Canada

Wen-Hua Chen, UK

Graziano Chesi, China

Carlos Coello Coello, Mexico

Yechiel Crispin, USA

Michael A. Demetriou, USA

Guilherme DeSouza, USA

Jorge Dias, Portugal

Gamini Dissanayake, Australia

Denis Dochain, Belgium

Tony Dodd, UK

Alexandre Dolgui, France

Prabu Dorairaj, India

Marco Dorigo, Belgium

Venky Dubey, UK

Petr Ekel, Brazil

Andries Engelbrecht, South Africa

Sebastian Engell, Germany

Simon G. Fabri, Malta

Sergej Fatikow, Germany

Jean-marc Faure, France

Paolo Fiorini, Italy

Juan J. Flores, Mexico

Georg Frey, Germany

Manel Frigola, Spain

John Qiang Gan, UK

Nicholas Gans, USA

Leonardo Garrido, Mexico

Andrea Garulli, Italy

Lazea Gheorghe, Romania

Paulo Gil, Portugal

Alessandro Giua, Italy

Luis Gomes, Portugal

Dongbing Gu, UK

Guoxiang Gu, USA

Jason Gu, Canada

Wail Gueaieb, Canada

José J. Guerrero, Spain

Thomas Gustafsson, Sweden

Maki K. Habib, Japan

Hani Hagras, UK

Wolfgang Halang, Germany

Riad Hammoud, USA

Uwe D. Hanebeck, Germany

Robert Harrison, UK

Dominik Henrich, Germany

Francisco Herrera, Spain

Victor Hinostroza, Mexico

Wladyslaw Homenda, Poland

Guoqiang Hu, USA

Marc Van Hulle, Belgium

Fumiya Iida, USA

Atsushi Imiya, Japan

Hisao Ishibuchi, Japan

Thira Jearsiripongkul, Thailand

Dimitrios Karras, Greece

Dusko Katic, Serbia

Graham Kendall, UK

Tamas Keviczky, The Netherlands

Jonghwa Kim, Germany

Won-jong Kim, USA

Waree Kongprawechnon, Thailand

Israel Koren, USA

George L. Kovács, Hungary

H. K. Lam, UK

Kemal Leblebicio, Turkey

Graham Leedham, Australia

Kauko Leiviskä, Finland

Kang Li, UK

Tsai-Yen Li, Taiwan

Yangmin Li, China

Huei-Yung Lin, Taiwan

Zongli Lin, USA

Jing-Sin Liu, Taiwan

Jose Tenreiro Machado, Portugal

Frederic Maire, Australia

Om Malik, Canada

Conference Committee IX

Jacek Mandziuk, Poland

Hervé Marchand, France

Gerard Mckee, UK

Seán McLoone, Ireland

Carlo Menon, Canada

Sanya Mitaim, Thailand

Pieter Mosterman, USA

Rafael Muñoz-salinas, Spain

Kenneth Muske, USA

Andreas Nearchou, Greece

Luciana P. Nedel, Brazil

Sergiu Nedevschi, Romania

Anton Nijholt, The Netherlands

Hendrik Nijmeijer, The Netherlands

Juan A. Nolazco-Flores, Mexico

Urbano Nunes, Portugal

José Valente de Oliveira, Portugal

Romeo Ortega, France

Manuel Ortigueira, Portugal

Selahattin Ozcelik, USA

Christos Panayiotou, Cyprus

Stefano Panzieri, Italy

Igor Paromtchik, France

D. T. Pham, UK

Marie-Noëlle Pons, France

Jerzy Respondek, Poland

A. Fernando Ribeiro, Portugal

Robert Richardson, UK

Rodney Roberts, USA

Juha Röning, Finland

António Ruano, Portugal

Fariba Sadri, UK

Carlos Sagüés, Spain

Mehmet Sahinkaya, UK

Antonio Sala, Spain

Abdel-badeeh Salem, Egypt

Mitsuji Sampei, Japan

Medha Sarkar, USA

Jurek Sasiadek, Canada

Daniel Sbarbaro, Chile

Carla Seatzu, Italy

João Sequeira, Portugal

Michael Short, UK

Silvio Simani, Italy

Dan Simon, USA

Adam Slowik, Poland

Michael Small, Hong Kong

Burkhard Stadlmann, Austria

Tarasiewicz Stanislaw, Canada

Karl Stol, New Zealand

Olaf Stursberg, Germany

Chun-Yi Su, Canada

Cornel Sultan, USA

Ryszard Tadeusiewicz, Poland

Choon Yik Tang, USA

Daniel Thalmann, Switzerland

N. G. Tsagarakis, Italy

Antonios Tsourdos, UK

Nikos Tsourveloudis, Greece

Anthony Tzes, Greece

Dariusz Ucinski, Poland

Nicolas Kemper Valverde, Mexico

Eloisa Vargiu, Italy

Laurent Vercouter, France

Bernardo Wagner, Germany

Axel Walthelm, Germany

Dianhui Wang, Australia

Qing-Guo Wang, Singapore

Zidong Wang, UK

James Whidborne, UK

Dirk Wollherr, Germany

Marek Zaremba, Canada

Janan Zaytoon, France

Qin Zhang, USA

Auxiliary Reviewers

Andrea Baccara, Italy

Rui Cortesao, Portugal

Matteo de Felice, Italy

Andrea Gasparri, Italy

Zhi Han, USA

Vitor Jorge, Brazil

Enrico di Lello, Italy

Andrea Monastero, Italy

Federico di Palma, Italy

Maura Pasquotti, Italy

X Conference Committee

Katalin Popovici, France

Monica Reggiani, Italy

Maurizio di Rocco, Italy

P. Lopes dos Santos Santos, Portugal

Thomas Tometzki, Germany

Ali Emre Turgut, Belgium

Maja Varga, Croatia

Kai Wurm, Germany

Invited Speakers

Daniel S. Yeung University of Technology, China

Maria Pia Fanti Polytechnic of Bari, Italy

Janan Zaytoon University of Reims Champagne Ardennes, France

Alessandro Giua University of Cagliari, Italy

Peter S. Sapaty Institute of Mathematical Machines and Systems,

National Academy of Sciences, Ukraine

Contents

Invited Papers

ICT Application on the Management of Intelligent

Transportation Systems ........................................ 3

Maria Pia Fanti

Abstractions of Hybrid Systems for Verification ................ 15

Herv´e Gu´eguen, Janan Zaytoon

Meeting the World Challenges with Advanced System

Organizations ................................................... 29

Peter Simon Sapaty

Part I: Intelligent Control Systems and Optimization

An Improved Mean-shift Tracking Algorithm Based on

Adaptive Multiple Feature Fusion .............................. 49

Hongpeng Yin, Yi Chai, Simon X. Yang, David K.Y. Chiu

Modelling and Performance Enhancement of a Linear

Actuation Mechanism Using Conducting Polymers ............. 63

Elise T. Burriss, Gursel Alici, Geoffrey M. Spinks, Scott McGovern

Grasping Spatial Integrity in Distributed Unmanned

Systems ........................................................ 79

Peter Simon Sapaty

Convergent Iterative Feedback Tuning of State

Feedback-Controlled Servo Systems ............................. 99

Mircea-Bogdan R˘adac, Radu-Emil Precup, Emil M. Petriu,

Stefan Preitl, Claudia-Adina Drago¸s

XII Contents

Multimodel Gain Scheduled Quadratic Controller for

Variable-Speed Wind Turbines Performances Improvement ..... 113

Nadhira Khezami, Xavier Guillaud, Naceur Benhadj Braiek

Conformance Testing of Soft-Core Can Controllers:

A Low-Cost and Practical Approach ............................ 129

Imran Sheikh, Michael Short

Design Parametrization for Dynamically Similar Delayed

Teleoperation Systems .......................................... 143

Ernesto Olgu´ın-D´ıaz, Vicente Parra-Vega, Luis G. Garc´ıa-Valdovinos,

Vicente de Paul Garc´ıa-Alvizu

Part II: Robotics and Automation

Planning Image Trajectories for Visual Servoing via

LMI-Based Optimization ....................................... 159

Graziano Chesi

Evolutionnary Autonomous VGSTV Staircase Climbing ........ 173

Jean-Luc Paillat, Phillipe Lucidarme, Laurent Hardouin

Dynamic Walking on Uneven Terrains with Passivity-Based

Bipedal Robots ................................................. 187

Qining Wang, Yan Huang, Jinying Zhu, Baojun Chen, Long Wang

Decentralized Robust Collision Avoidance Based on Receding

Horizon Planning and Potential Field for Multi-Robots

Systems ........................................................ 201

Michael Defoort, Arnaud Doniec, Noury Bouraqadi

Task Partitioning in Swarms of Robots: Reducing Performance

Losses Due to Interference at Shared Resources ................ 217

Giovanni Pini, Arne Brutschy, Mauro Birattari, Marco Dorigo

Exploiting Hierarchical Probabilistic Motion Planning for

Robot Reachable Workspace Estimation ........................ 229

Jing Yang, Patrick Dymond, Michael Jenkin

Defocus-Based Threedimensional Tracking in SEM Images ...... 243

Christian Dahmen

Real Time Environment Representation in Driving Scenarios

Based on Object Delimiters Extraction ......................... 255

Andrei Vatavu, Sergiu Nedevschi, Florin Oniga

Contents XIII

Vision-Based Automatic Approach and Landing of Fixed-Wing

Aircraft Using a Dense Visual Tracking ......................... 269

Tiago F. Gon¸calves, Jos´e R. Azinheira, Patrick Rives

Part III: Signal Processing, Systems Modeling and

Control

Studies on the Convergence of Information Theory and

Control Theory ................................................. 285

Prateep Roy

VAR Based State–space Structures: Realization, Statistics

and Spectral Analysis ........................................... 301

Vasilis K. Dertimanis, Dimitris V. Koulocheris

Strain Analysis of the Sciara del Fuoco (Stromboli Volcano) .... 317

G. Nunnari, A. Spata, G. Puglisi, A. Bonforte, F. Guglielmino

Improving Performance of Generalised Conditioning

Technique Anti-windup Compensator ........................... 325

Dariusz Horla

Interdisciplinary Modeling of Autonomous Systems Deployed

in Uncertain Dynamic Environments ........................... 337

Manuela L. Bujorianu, Marius C. Bujorianu

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351