+-IEEE

2000 26th Annual Conference of the IEEE Industrial Electronics Society

IECON 2000
Volume 4

2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation

2tt Century Technologies and Industrial Opportunities

22 - 28 October 2000

Nagoya, Aichi, JAPAN

 h
2000 26t Annual Conference of the IEEE Industrial Electronics Society

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 Table of Contents

Volume 1

Action Strategy for Remote Operation of Mobile Robot in Human Coexistence Environment .. .. ............ . ................. . 1
.

T. Matsumaru, A. Fujimori, T. Kotoku and K. Komoriya

Personal Scaling on Micro-Teleoperation......................................................................................................................7

A. Sano, H. Fujimoto and T. Takai

Micro Teleoperation with Haptic Interface . . . ............. ..... ..... ........ . . . . . . ........ ......... . ............. ............. .............................. 1 3
N. Ando, M. Ohta and H. Hashimoto

Collaborative Teleoperation Design Requirements and Development Issues ......... .. ....... . .. ........................ ............ . ... 1 9

M. K. Habib

Construction of a Quadruped with Reduced Degrees of Freedom ... . .... . . . . . . . .... . . ... . . .... . . ..... .... ... . ............ . . ...... . . ......... ... 28

K. Yoneda, Y. Ola, F. Ito and S. Hirose

Basic Concept and Mechanical Design of Dinosaur-like Robot Titrus-II . ... . ... .. . .. ... . . . . . .... . . ..... . ... . ... . . . .. . ........ ..... . . .. . . . . 34

K. Takita, R. Hodoshima and S. Hirose

Development of the Quadruped Walking Robot, "TITAN-IX": On the Application for the Humanitarian
Deminig Robot, "VK-IT" ....................................... ............................................. ....................................................... .40
K. Kato and S. Hirose

A Preliminary Study on Cooperative Visual Support by Mobile Camera for Mobile Robot Teleoperation .............. .46
T. Fukuda, S. Yamamoto, T. Kaga and F. Ami

Towards a Learning Autonomous Driver System . . . . .... . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . .. . . .. . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . 52

M. Krodel and K. -D. Kuhn ert

Dynamic impact shot control with VSC servo . . . . .. .. ... ... ......... . ........... . .
.. ...... . .......... . ... ........ ... ........ .. .
.. .... . .. ...
. ... . ... .
... ... 58
S. Suzuki, Y. Pan , K. Furuta and S. Hatakeyama

Robust Position Tracking Control for Direct Drive Motor .......................................................................................... 64

A. Hace and K. Jezernik

Active Damping of Tilt Oscillations and Traj ectory Control of Overhead Cranes ...................................................... 70
H. Aschemann, O. Sawodny and E. P. Hofer

A New Approach for Pulsating Torque Minimization of B rushless PM Motor .......................................................... 76

S. -1. Park, H. -w. Park, Y. -J. Lee, M. -H. Lee and C. -u. Kim

A Neural Network Model of Electric Differential S ystem for Electric Vehicle ...... ........... . .
. ................. ..................... 83
J. -So Lee, Y. -J. Ryoo, Y. -CO Lim, P . F reere, T. -G. Kim, S. -J. Son and E. -So Kim

Hierarchical Robust Motion Controller for Kinematically Redundant Manipulator ................................................... 90

N. Oda

Analysis of Front Wheel Raising and Inverse Pendulum Control of Power Assist Wheel Chair Robot . ....... . ............ 96
Y. Takahashi, S. Machida and S. Ogawa

Guidance of a Wheelchair by Voice . ... . .............................. .................... . ...... . ....................... ......... . .......................... 102

K. Komiya, K. Morita, K. Kagekawa and K. Kurosu

A Study of Electrical Stimulation to Visual Nervous System in Visual Prosthesis .... . ......... . ....................... . .
. .......... 108
H. Kanda, T. Yagi, T. Nakatsu. M. Watanabe and Y. Uchikawa

iii
A Bio-mimetic Rehabilitation Aid for Motor Control Training using Time Base Generator . . . . ........... .................. . 1 14
..

Y. Tanaka, T. Tsuj i and M. Kaneko

An Architecture for Command and Control in Disaster Response Systems ... . ................ . .
.. ........... . . . . ..... . ........ . ........ 1 20
Y. Kuwata, Y. Ishikawa and H. Ohtani

The RoboCup-Rescue: An I T Challenge to Emergency Response Problem in Disaster ......... . . . . . ........... . . . . . . . ........ . . . 126
S. Tadokora, H. Kitana, T. Takahashi, I. Nada, H. Ma tsubara, A. Shinjah, T. Kata, l. Takeuchi, H.
Takahashi, F. Ma tsuna, M. Hatayama, M. Ohta, M. Tayama, T. Matsui, T. Kaneda, R. Chiba, K.
Takeuchi, J. Nabe, K. Naguchi and Y. Kuwata

Rescue Robot Contest in RoboFesta-KANSAI 2001 .................... . . . . . . ..... . .............. . .

.. .................... . . .
.. .. .... . ..... . ........ 1 32
K. Osuka

Mobility and Sensing Demands in USAR ................ . ................ . .... . ............... . ............. . . . ................................. . . . . ..... 138
R. Murphy, J. Casper, J. Hyams, M. Micire and B. Minten

Development of Sciuryu-I Connected Crawler Vehicle for Inspection of Narrow and Winding Space . .................... 143
T. Takayama and S. Hirose

ExploitationlExploration Learning for MDP Environment . .. .... . ... . .............. . .

. . . ................ , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..... 149
K. Iwata, N. Ita, K. Yamauchi and N. Ishii

Intell igent Sensor Validation by a Hierarchical Mixture of Experts Network ................... . .... . .
.. .............. . . . . .
.. ........ . 155
.

G. G. Yen and W. Feng

Speech Rate Conversion without Extraction of Accurate Pitch Period ................ . ........................ . ..... . . .
.. . ...... .......... 161
A . Shiakawa, K . Y. Amada and R . Ishii

A Hand Shape Recognition and its Application to a GUI Support System For a Sight Handicapped Person . . . . ....... 166
M. Takaoka, R. Abiko and R. Ishii

Application of Neural Networks and State Space Averaging to a DCfDC PWM Converter in
Sliding Mode Operation . .. . . : . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . , . . . . . . . .. . . . . . . . . . . .. . . . . .. . . . . . . . . . . . 172
... ........ . ...... . . . . . ........

. J. Mahdavi, M.R. Nasiri and A. Agah

Observer-based Adaptive Fuzzy N eur al Control for a Class of MIMO Nonlinear Systems
- ... . . . . .. . ....
.. . .. · .. ........ . . . . .... 178
Y. -G. Leu and T. -T. Lee

Application of Fuzzy Inference and Genetic Algorithms to VLSI Floorplanning Design . 1 84

.
...... . . . . . . . . . . . . . . . . . . .......... . . . . . .

K. Eguchi, 0. Yamashiro, H. Kawamoto, N. Tsuj i, S. Yamane and K. Oshima

Nero-Controller Using Simultaneous Perturbation for a Flexible Arm System ............................ . . . . . . . . . . . . ............ .. ... 1 89
Y. Maeda, K. Kawaguchi, K. Kuman and T. Inoue

Force Control'of One-Link Flexible Arms Mounted on a Linear Motor with PD and Shear Force
(PDSF) Feedback ..... . . . . ........ . . . . ................... . . .... . . . . . . . . . ............................. ....... ..... . . . . . . . ................................................ 195
S. Kasa i and F. Matsuno

Maneuverability of Flexible Master-Slave Systems ..... . ... . .

.. ........................... . ..... . . . . .. . ....
: . . . . . . . . . . . . . ; . . . . . . . . . . . . . . . . . . . . . . . . . . 20 1
T. Mori, Y. Morita, H. Uka i and H. Kando

Legal Argument in Fuzzy Legal Expert System (FLES) .... . . -. . . . . . . . .. . . . . . . . . . . . . ................ . . . . . .... . . . . . . . ....... . . . . . . . . . . . . . . . . . . . . . . . . 207
K. Hirota, Y. Takama, M. Xu and 1. Yoshino

Extraction of KANSEI from EXPERT and Sensory Evaluation System based on KANSEI ..... . . . . . .
.. .. . . . . ............... . 211
.

T. Fukada, T. Chikazawa, Y. Hasegawa, F. Kabayashi, K. Shimojima and Y. Yamaguchi

Experiments with a Parallel Robot with Singularity-Perturbed Design ..... . ....... . . . . . . . . .. . . . . . . . ............ ........ . . . . . . . .. . ........ .2 1 7
T. Yasuda, D . N. Nenchev, K. A ida and H. Tamura

A Force/Torque Sensor-less Realization of Fast and Dexterous Tasks with a Parallel Robot . . . . . ............. . . . . . .. . . . . ...... 223
D. Kim and M. Uchiyama

iv
Towards Non-Hexapod Mechanisms for High Performance Parallel Machines . ......................................................229
F. P ie rrot

Development of a ParaIlel Manipulator for Force Display . . . ........ . . ........... . ....... . ........... ..
. ......... . . ..................... ......... 235
M. Hashimoto, K. Kami and R. Yamamoto

Generalized Predictive Control of a Heat Exchanger Using Fuzzy Model.. ................................................. . ....... .. ... 241
D. Matko and K. Kavsek-Biasizzo

A Methodology for Modeling HVAC Components using Evolving Fuzzy Rules . . . . ........... . ..................................... 247
P. P. Angelov, R. A. Buswell, V. I. Hanby and J. A. Wright

Backward Movement Control of a Trailer Truck System Using Neuro-Controllers Evolved by

Genetic Algorithm . . . . . . . .
............................. ....... . .
....... . ......... . ... ... ...................................... ........... ............................... 253
H. Kinjo, B. Wang and T. Yamamoto

A Center-of-Gravity-based Recombination Oper ator for Genetic Algorithms ................. . ........ .

......... . ............. . ....... 259
P. P. Angelov and J. A. Wr ight

Time-Optimal Sliding Mode Control of Robot Manipulator ... . .

... ........ . .... . ... . .... . ... .
.... . ... . .... . ..................... .
.............. 265
I. Kalaykov and B. Iliev

Fuzzy Gain Scheduling for Flight Control . . .. . . . . .. . .

.. . . ... . . . . . . . . . . . . . .. . .
........ . .... . ... . .... . . . . . . .. . . .... . ... . .... .
..... . ..
. ... . . ... ........ . ..... 271
P . Bergsten, M. Persson and B. l lie v

Simplified Fuzzy Modeling of Continuous Esterification Process .

..... . . . .. . .. .... .. . . ........ .. . ... ...... .
.. ...................... .. ....... 277
K. Boshnakov, G. Vachkov and M. Hadjiski

Intelligen t Control for Automotive Manufacturing - Rule Based Guided Adaptation ................... ...........................283
D. File v, T. La rsson and L. Ma

Development of a Stereo Omni direc tional Imaging System (SOS) .. .. ............................................... ........................ 289
H. Tanahashi, K. Yamamoto, C. Wang and Y . Niwa

Face Direction Estimation and Face Recognition using Multiple Cameras for Communication in a
Virtual Environment .............................. .... .... .......... ........ .......... ......... ........ ..... ..... .... .................................................295
M. Yasumoto, J. Hongo, Y. Niwa and K. Yamamoto

Autonomous Environment Analysis and Data Transfer Architecture for VR Applicatio n ........................................ 301
.
A. Shinjoh and S. Yoshida

KANSEI Facial Caricaturing based on the Eye-Camera Interface from Gallery . . . ... ... . .... . .... . ................. .................. 307
M. Tominaga, T. Asao, K. Murakami and H. Koshimizu

Zero-Voltage and Zero-Current Switching Single-Stage PFC AC to DC Half-Bridge Converter with

Low Cost .................................................................................................................................................................... 313
F. -So Kang, C. Choi, C. u Kim and S. -J. Park
-
.

Novel Resonant Converter Topology Realized by Adj usting Transformer Parameters ..................................... . ...... 320
C. Chakraborty, M. Ishida and Y. Hor i

An Improved ZVS Partial Series Resonant DCIDC Converter with Low Conduction Losses ................. .................326
D. -Y. Lee, E. -SO Kim, D. -So Hyun and I. Choy

Current-fed Push-Pull type high frequency resonant inverter for wax-sealing ......................................... ............ .....332
J. -So Won, J. -A. Kim, G. -Po Cho, D. -H. Kim, C. -c. Ro� M. -J. Kim and M. Nakaoka

Alternated Forward Multi Resonant Converter . .. ............. . ... .... .

.... . ........ . ... .. .. .. ..................... . ......... ....................... . . 338
. .

W. -So Oh, C. -So Kim and J. - J. Kim

Voltage Sag Mitigation Using a High-Frequency-Link Cycloconverter-based DVR . .. .... . ... . .... . .
... ........ . ........ . ... . ..... 344
H. Sree and N. Mohan

v
Power Loss Estimation of Voltage Source Three-Phase Soft Switching Inverter with Resonant DC Link
Assisted Lossless Snubber Capacitor. . . . . . . . . . . . . . . . . . . .. . . . . . . .................................................................................. ............ 350
M. Kurokawa, Y. Konishi, H. Iwamoto and M. Nakaoka

A Novel Type Soft Switching PWM DC-DC Converter with High Voltage Transformer Link for
Magnetron Drive . . . . . . . . . . . . . . .. . . .. . . .. . . . . . . . ........ . . .. . . . . . . . . . . . . . . . . ........ . . .. . . . . . . . . . . . . . . . . .. . . .. . . . . . . . .. . . . .. . . ..................... . .... . . . . . ........ . ... 356
M. Ishitobi, T. Matsushige, S. Moisseev, M. A. AI, M. Nakaoka, H. Terai, D. Bessyo, K. Yasui and
H. Omori

Maximization of Starting Torque of a 1 0/8SRM with Short Flux Path Based on Numerical
Analysis and Calculation ............ . . . .. . ... . . . . . . . . . . . . .. . . . . . ......... .............. . . .. . . .. . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . ............ . . ... . . .. . . . . . . . . . . . . . 362
Z. Z. Ye, T. W. Mart in and J. C. Bahia

A Novel Approach to Control of Switched Reluctance Motors Considering Mutual Inductance ........ . ... . . .. . . . . . . . . . . . . . 369
H. -K. Bae and R. Krishnan

Implementation of a Microprocessor-based Sensorless Switched Reluctance Drive ..... . . .. . . ........ . . . . . . .. . . . . . . . . .. . . .. . . .. . . . . 375

T. -J. Liu and Y. -H. Chang

Analysis and Improvement of Torque Profile in the Switched Reluctance Drives .................................................... 381
N. Srinivas and R. A rumugam

A New Torque Control Method for Switched Reluctance Motor Drives . .. . . .. . . . . . . . . . . . . . . . . . . . . .................... .. . . .. . . . . . . . . . . . . . 387
A. D. Cheok and P. H. Hoon

Inspection Robot for Spherical Storage Tanks . . . . . .. . . . .. .. . . . . . . . . . . .. . . .................................... ........ ... ..................... ........... 393
T. Sogi, Y. Kawaguchi, H. Morisaki, K. Ohkawa, N. Kai and H. Hayakawa

Motion Design for Autonomous Mobile Manipulator based on Programming Style "Action Primitive" ................. 399
K. Nagatani and Y. Tanaka

Some Results of the Test Operation of Security Service System with Autonomous Guard Robot ......................... ..405
Y. S himosasa, J. Kanemoto, K. Hakamada, H. Horii, T. A riki, Y. Sugawara, F. Kojio, A. Kimura and
S. Yuta

Analysis of Compliance Characteristic for Effective Multi-fingered Robotic Peg-In-Hole Task ............ . . .............. .410
8 . -H. Kim, S. -R. Oh, 8.- J . Yi, I . H . Suh and W. K. Chung

Robotic Finger Mechanism with New Anthropomorphic Metacarpal Joint . . . . . ....... . . . . . . . .......................................... 41 6 .

S. M. Ryew, H. R. Choi and W. K. Chung

Manipulation of Enveloped Multiple Objects ..... ............. . . . . . . ............ . . ............................. . . . ..................................... .422
.

K. Harada, S. Nakano, M. Kaneko and T. Tsuji

Teaching for Multi-Fingered Robots Based on Motion Intention in Virtual Reality .......................................... ...... .428
H. Kawasaki, K. Nakayama and G. Parker

A Control System for Multi-Fingered Robotic Hand with Distributed Touch Sensor. . . . . . . . . . . . . . . .. . . .. . ........................ .434
1. Sugiuchi, Y. Hasegawa, S. Watanabe and M. Nomoto

Robust Vibration Control for SCARA Robots Using Adaptive Pole l'lacement . .... .. . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .440
N. Uchiyama, S. Esaki and S. Takagi

Robust Adaptive Control Based on Riccati Equation and Its Application to DC Servomotor . . . . . . .. . . ....................... .446
T. Matsuo, W. Matsuzaki, H. Suemitsu and K. Nakano

Controller Design Improving Robustness Properties for Parametrically Uncertain System . . . . . . . . . . . . . . . . . ... ....... . . . . . . .. . .. 4 52
V. Tipsuwanporn, A. Numsomra n, K. Witheephanich, W. Piyarat and S. Roddumporn
.
Robustness Analysis of Electronic Systems: Other Application Conditions . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .. . . ... . . . . . . . .458
J. J. D. Delgado-Rome ro, E. Hernandez.-Morale s and R. S. Gonzalez-Garza

vi
Derivation of A fast Algorithm of Modified H-Infinity Filters . .. . . . . .. .. .. .. ... . ... ... ... . . .. .. . .
.. . .. . . . .. ... . . . . . . ... ... . . .. ... ..... . . .462
. . .. .

K. Nishiyama

Robust Tip Position Control for Flexible Arms Using Sliding Mode Method . ... . . . . . .. .. . ..
. . . . . . .. . . . ..... .. .. . . . . .. ... . ... . . . ...... 468
X. Chen and T. Fukuda

Development of Arm System for Human-Robot Emotional Communication . . .. ... . . .. . . . .. ... . .. . .. .... .. . .
... . . .... . .... ... ..
.. ... ..475
T. Ogata, T. Komiya and S. Sugano

Study on Face Robot Platform as a KANSEI Medium . . ........ . .... . . . . . . . . ..... . ... . ... . ......... .
...... . . . .......... ....... . . . . ..... . ......... . 481
H. Kobayashi, T. Tsuji and K. Kikuchi

Study on Automatic Diagnosis of Psychiatric Disorder by Facial Expression . .. . .. . . .............. ....... . . . .

... ...... . ....
. ... . .
.. ... 487
J. Kobayashi, H. Takahashi, T. Kimura, K. Kiku chi and M. Tazaki

Advanced Human-Machine Interface and Humanid Robot for Kansei Communication . . ........ . . . . . . ....... . . . . . . . . . . . .... . .. . . 493
S. Hashimoto

Physical Interaction between Human and Mental Commit Robot for Creation of Subjective Value . . ... . ... . . . . . ..499 . . . ... ..

T. Shibata and K. Tanie

Computer Assisted Driving Support based on Intention Reasoning ... .. .. .. . . ... .. .. . .. .... ... . .. .. .... ... .... . .
. . . . . ... . ... ... . . . . . 505
. . . . . . ..

T. Takagi, T. Nishi and D. Yasuda

Distributed Sensory Intelligence Architecture for Human Centered ITS ... . .. ... . ...
. . ... . .... . .. .. . .. .. . . . .. . . . ... . . . . . ..509
. . . ... . . . . ... ..

T. Yamaguchi, H. Nitta, J. Miyamichi and T. Takagi

Basic System Architecture for Adaptive Information Presentation in High Cognitive Load Environment.. .............5 15
F. Wada and S. Tano

Diversity Oriented Evolutionary Parallel Computation on Intelligent Agents .. . ... . ..

. . ... . . . . ... ...
.. . . . .... . . . ... ... .. . . . . 521
. .. . . ... . .

N. Kohata, T. Yamaguch i, T. Baba and H. Hashimoto

Proposal of Emotion Model in Robot-assisted-activity .............................................................................................527

T. Hashimoto

Takagi-Sugeno-Based Robust and Adaptive Fuzzy Sliding-Mode Control Systems .. ...... ........ . ......... .. .......... . . .. . . . . . . 530
C. -L. Hwang

A Fuzzy-Linear-Model-Based Variable Structure Control for Nonlinear Discrete-Time Systems . .... ... ... .... . .. . ..... 536
. . .

C. L Hwang
- .

Similarity based Control Strategy Reconfiguration by Fuzzy Reasoning and Fuzzy Automata .. . .. . . . .. . . ... .. ... ..... .542 . .. . . .

S. Kovacs

On-line Fuzzy Performance Management of Profibus Networks .... .... . ... . . .. . .. .. . ... ..... ... ... .. .. .... .... . ... . .. .. . ... .. . 548
. . . . .. . . . . . . . .

K. C. Lee, S. Kang and S. Lee

Enhancing the Performance of a Multivariable Fuzzy Controller by Means of Multiobjective Genetic

Programming and Statistical Analysis . . . .. . . . .. . . . . . . .. . . . ... . . . . . ........ . . .. . . ........ . .................. ....... . . . . . . . .. . . ..................... . ......... 554
B. Bica, A. J. Chipperjield, P. J. Fleming and S. MacKenzie

Fuzzy Sliding Mode Controller Design with Fuzzy Sliding Mode Observer ...... . ..
. . .... . ...... . ...... . .
. ... . .... ... . , .............. 560
.

C. -c. Kung and J. -Y. Su

Fuzzy Union Reasoning Based Fuzzy Sliding Mode Controller Design ... . . .. . . . . ... .. .. . . . ... .. .. .. .. . .. . .. . ... .... ... . . ...... 566
. . . . . . . . . .

C. -c. Kung and T. H. Chen

Redundancy Indices of Kinematically redundant Manipulators .. . . .. . .. . . . . . .. .. . . . . . .. .. . .. . . ... . . .. .. . .. . .. .. . .. 572

. .. .. .. . . . . . .. . . . . .. . . .. . . . .

F. -T. Cheng, C. -W. Chen and M. -H. Hung

Implementation of Frictionless Robot Manipulator Using Observer-Based Sliding Mode Control ... . .. . . .. . ... . ... .... 578
.. ..

S. K. Chung, H. Imayoshi, T. Hanamoto and T. Tsuji

vii
Robust Motion Control based on Projection Plane in Multi-Degrees-of-Freedom Manipulator ............................... 584
T. Murakami, K. Kahlen and R. W. De Doncker

Force Control in Robotic Assembly Under Extreme Uncertainty Using ANN ........................................................ .590
I. Lopez-Juarez and M. Howarth

Digital Kinematic Control of Space Robot Manipulators Using Transpose of Generalized Jacobian Matrix .... . ...... 596
Y. Tai ra, S. Sagara and R. Katoh

Human Control Characteristics in Bilateral Micro-Teleoperation System .......................... . ... . ........ ............... .......... 602
E. A. Y. Murakami, K. Shibata, X. -z. Z heng and K. Ita

Robotic manipulator operated by human interface with positioning control using laser pointer ............................... 608
Y. Takahashi and M. Yashige

Audio-visual Guided Predictive Simulator in Multi-telerobot Coordination ......... . ...................... ..... . ... . .... . .............. 614
N. Y. Chong, T. Kotoku, K. Ohba, H. Sasaki, K. Komoriya and K. Tanie

Generation of Adjustment Strategy of Fuzzy-Neuro Force Controllers using Genetic Algorithms with
Fuzzy Evaluation . . . . ... . . . . .. .. .
.. . .. . ... .. ... . .... .. . . .
. . ... .... . ... .
.... . ... . ......... .. .
. ..... . ... . . .. . . .
.. . . ... . .... . . . .. . .
. .. ... . ......... .. . .. .... . .... . ... . ... ..620
K. Kiguchi, K. Watanabe, K. lsumi and T. Fukuda

Adaptive Navigation Control for a Quadruped Robot Based on ART and Fuzzy Logic . .... . ... . .... . . .
. . . . . . . ........ . . . . . .. 626
.. ..

X. Chen, K. Watanabe, K. Kiguchi and K. Izumi

Polishing Robot Using a Joystick Controlled Teaching System ..... . . ..

. . ........ .
... . ... . ..
. . . . ... . ... .. .... . ............. . ....... .. ... . ..... 632
F. Nagata, K. Watanabe, S. Hashi no, H. Tanaka, T. Matsuyama and K. Hara

Controlling Multi-Link Manipulators by Fuzzy Selection of Dynamic Models ............................................. . .......... 638
T. Nanayakkara, K.' Watanabe, K Kiguchi and K. Izumi

CMAC Modeling Using Bacterial Evolutionary Algorithm (BEA) on Field Programmable Gate Array
(FPGA) ............................................................................. ......................................................................................... 644
M. Miwa, T. Furuhashi, M. Matsuzaki and S. Okuma

A Study on Bacterial Evolutionary Algorithm Engine for Interactive Nurse Scheduling Support System ............. . . 65 1
T. Inoue. T. Furuhashi, H. Maeda and M. Takaba

An Architecture of Small-scaled Neuro-hardware Using Probabilistic ally-coded Pulse Neurons . . . . . .657

.
... .... .... ...........

T. Kawashima, A. Ishiguro and S. Okuma

An Iterative Calcutation Method of the Neuron Model for Hardware Implementation . . ..... . ......... .. .. . . . . . ........ . . . . . . 664
. . . . .

N. Chujo, S. Kuroyanagi, S. Doki, S. Okuma

An Evolutionary Design-Support-System with Structural Representation .......................... . ... . ............. . .... . .............. 672
J. Katani and M. Hagiwara

Agent-Based Double Auction Algorithm for Global Supply Chain System . . ..................................... ....... . ............... 678
T. Kaihara

A Pair of New Instruments Dedicated to Recovery from Visual Strain Caused by Video Data Terminal (VDT)
Operations ......... . ...................... ....................... . .............................................. .......................................................... . . 684
T. Muraoka, N. Nakashima, H. Ikeda and H. Sumiyashi

Reconstruction of Non-vanished Conductivity Crack from ECT Signals based on Shifting Aperture Method ........ 690
N. Y usa and K. Miya

Complexity Science for the Design of Swarm Robot Control Systems ..................................................................... 695
J. Johnson and M. Sugisaka

Industrial utilization of the adsorption effect of optical fibers for the detection of critical micelle concentration . . .70 1 .

M. Ogita, T. Hasegawa, M. A. Mehta. T. Fujinami and Y. Hatanaka

viii
Self-organizing control of Carrier Sequence in AGV Transportation System ........ .................................... . .............. 706
T. Higashi, K. Sekiyama and T. Fukuda

A Chaos Associative Model with A skew-Tent Activation Function ..................................................... . ........ .

......... 712
M. Nakagawa

Relay Feedback Design of Chaotic Systems on Piecewise Linear Feedback ......................................... . ... . ........ . ..... 7I8
A. Sugiki, S. Hatakeyama and K. Furuta

A Three-Phase Grid-Connected PV System ........................ .

........ . ..
... ....... . : .................................... .......................72 3
...

F. Antunes and A. M. Torres

Digital Control of a Four Leg Inverter for Standalone Photovoltaic Systems with Unbalanced Load ..... ................. 729
S. El-Barbari and W. Hofmann

Fuzzy Logic Implementation for Photovoltaic Maximum Power Tracking ............... ................................ . .............. 735
A. M. A. Mahmoud, H. M. Mashaly, S. A. Kandil, H. El Khashab and M. N. F. Nashed

Author Index ........................................................................................................................................ follows page 740

Volume 2

Repetitive Control of Current for Residential Photovoltaic Generation System. .

........... ........... .. ..... .. .... . . .. .. . . . 741
. .. . ... . ..

K. Toyama, H. Ohtake, S. Matsuda, S. Kobayashi, M. Morimoto and H. Sugimoto

Control of Electromagnetic Environment in Low Frequency Band -Harmonic Suppression Project. ...................... 746
N. Matsui and T. Takeshita

Advanced Synchronized Measurement System of Harmonics using DSP and GPS ... .
... ..
. ..... . .
. . . . . ... ... . . ..
. . . .... . . . . .748
. . .. .

H. Ukai, K. Nakamura, S. Nishigaki, Y. Ohta and N. Matsui

Instantaneous Line Voltage Controlled Harmonics Compensator ..... .

....... . .... . ......... ............ . ....................... . . . . . . . . . .... 754
T. Ohnishi, M. Hojo and N. Matsui

Source Current Detection Type Active Filters .... .................................................................................... . ....... . . . ........ 760
S. -I. Hamasaki and A. Kawamura

Line-Harmonics Reduction Techniques for Consumer Electronics and Low-Power Electronics Equipment ........... 766
T. Ninomiya, C. -F. Jin, M. Shoyama and T. Ohmae

Design and Implementation of a Novel DSP-based Sensorless Synchronous Reluctance Drive ... .
..... ...................... 771
-M -T. Lin and T. -H. Liu

High Efficiency Drives for Synchronous Reluctance Motors Using Neural Network ...... ......................................... 777
T. Senjyu, T. Shingaki, A. Omoda and K. Uezato

Maximum Power Limits in the Field-Weakening Mode of Doubly-Salient Variable Reluctance Machines . ..... .. . 783 ...

H. Yahia, R. Dhifaoui and B. Multon

Novel Estimation Method of Current State Variables for Time Delay System Using a Kalman Filter with
Dual Models-Influence of Modeling Error . .
............................................ ............ ...................................................... 789
N. Tamaru, H. Sato, M. Tokumitsu, H. Hitosugi and M. Murano

Behaviors Blending for Intelligent Reactive Navigation of Climbing Robot.. ............ .

................................... .
......... 795
A. A. S. A. Jumaily and S. H. M. Amin

Decoupling COG Control for Redundant Biped Robot Based on Null-space Disturbance Observer. ................. . ..... 800
M. Shibata and T. Natori

ix
Development of Pneumatic Human Interface and Its Application for Compliance Display ..................................... 806
M. Takaiwa and T. Noritsuga

An onLine Genetic Algorithm for Dynamic Steiner Tree Problem ........................................................................... 812
S . Ding and N. Ishii

Implementation of a Distributed Genentic Optimization Framework using A General Purpose

Simulation Environment ............................. . . ............................................. . ....... .......................................... . ............ .8 1 8
R. Chatterjee, A . Rakshit, S . N. Bhattacharyya and Y. Naka

A Contour Fluctuation Data Processing Method For Fire Flame Detection Using A Color Camera ......... .
.............. 824
H. Yamagishi and J. Yamaguchi

Focused Edge Detection Using Color Histogram ................................................................................................ . .... . 830

T. Kashiwagi, T. Egami, S. Oe and K. Terada

Detection of Foreign Material Included in LCD Panels . . . . . . .. . .... . . .... . . . . . . .

. . . ... . .... . . . . . . . . .. . . .
.. . .. . . .. . . . . . ..... . . . .. .... . . ..
. ... . . . . 836
. .

M. Shimizu, A . Ishii and T. Nishimura

Development of an Unmanned Vehicle Driving System by MR Sensor . . .... .. . . .

.... . . . . .. . .
.. ... . ..... .. .... . . .
. . ..... . ... . . . . .
. . ..... . 842
K. -So Pa rk, C. -So Kim and Y. -J. Lee

GA-Model based Robust Scene Recognition for Indoor Mobile Robots Traveling Operations using
Raw-image ............................................................................. .................................................................................... 848
J. Agbanhan, H. S uzuki, M. Minami and T. Asakura

Evolutionary Acquisition of Hierarchical Control Knowledge ....... . ................... ....................................................... 854

T. Kubo, M. Mashimo, J. Nishino, T. Odaka and H. Ogura

Induction drive speed monitoring by neural networks ............................................................................................... 859

B . Raison, F. F ran'iois, G. Rostaing and J. P. Rognon

Generic Blackboard Based Architecture for Data Fusion ....................... . . . . . . . ............................................................ 864
P. K. Hou, X. Z. Shi and L. J. Lin

Position and Elasticity Control for Biomimetic Robot Finger ................................................................................... 870
K. Kawanishi, H. Hashizumi, Y. Oki, Y. Nakano, T. Fuluda, G. Vachkov, F. Ami and Y. Hasegawa

Image-Based Visual Servoing for Grasping Unknown Objects ........................................................... . . . . . . . . .............. 876
H. Fujimoto, L.-c. Zhu and K. Abdel-Malek

Acquisition Method of Regrasping Motion with Tolerance for Object Size ....................... ...................... . ....... . ....... 882
Y. Hasegawa, J. Matsuno and T. Fukuda

An Implement of Gripper Control Use The New Slipping Detector by Multisensor Fusion Method ... .. . . ... . . .. . .
. ... . 888
..

R. C. Luo, K. L. S u and S. H. H. Phang

Creating a Sliding Mode in a Motion Control System by Adopting a Dynamic Defuzzification Strategy in an
Adaptive Neuro Fuzzy Inference System ..................................................... . .......... .................................................. 894
M. O. Efe, O. Kaynak and B. M. Wilamowski

Hybrid Computed Torque Controller Using Fuzzy Neural Network for Motor-Toggle Servomechanism .......... . .... 900
F. -J. Lin and R. -J. Wai

Decentralized Neural-Network Sliding-Mode Robot Controller ..... . .... .... ................................................ ................. 906
R. Safaric and J. Rodic

A New Possible Branch of Computational Intelligence for Developing Real Time Control in Mechatronics .......... 9 12
J. K. Ta r, J. F. Bi16, l. J. Rudas and S. J. Torvinen

Feasibility of Fuzzy-logic based systems on 1M Torque Estimation ......................................................................... 918

F. Ba rrero, E . Galwln, A . Torralba and L. G . Franquelo

x
A Study of Feasibility for Rickshaw Type Mobile Robot . . . . . .. . . . . . . . . . . . .. . . ... .. ...... .. . .
.. ... ...... . . .. . . ..
... . . . .... ... ..... . . . ..... .. . . . ..9 24
M. Ceccarelli, G. Figliolini, C. Lanni and E. Ottaviano

Motion Estimation Hardware for Autonomous Vehicle Guidance ............................................................................ 9 30

J. Kolodko, L Peters and L Vlacic

A Study on Processing of Position Detection and Data Communication Using IlIuminant Devises and Image
Sensor ................................................................................................................................. ....................................... 9 36
S. Suzuki, T. Yagi, Y. Kuno and Y. Vchikawa

Intelligent CAD System for Japanese Kimono ...... . . ........... ...... . . ...... . . . .... . . . ... ......... . . ...... .... ....... ....... . . . . . .. .... ........ . . . . . .942
T. Sano and H. Yamamoto

Improvement of Operation for Tele-manipulation System using Virtual Reality: Realization of common
movement direction and common force direction in master and slave at arbitrary viewpoint... ............ ....... .............948
H. Tsuge, T. Fukuda, F. A rai, A. lnaba and Y. Niwa

A Low Cost Distributed Environment for Press Instrumentation and Control .......................................................... 9 54
R. Chatterjee, A. Rakshit, S. N. Bhattacharyya and Y. Naka

Four-Wire Advanced Static Reactive Power Compensator . . ...... .. ........... . ..... . ............ . ....................... . ........ . ............. 9 60
A. M. A. Amin

An rOCT Based Solid State High Voltage (35kV) Pulse Generator for PEF food Processing . . . . .... . . . ..
.. . .... .. . ........... 9 65
C. Wang and Q. H. Zhang

A Boost Push-Pull Electronic Ballast with a Single Switch ..... .

................................................................................ 971
R. N . do Prado, A. R. Seidel, F. E. Bisogno and T . B. Marchesan

Feasible System Evaluation of 3-Phase Voltage Source NPC Soft-Switching Inverter with New Space
Voltage Vector Modulation Strategy ..... ........................................................................................................ . ........... 9 77
M. Yamamoto, El Hiraki, S. Sugimoto, S. Ogawa and Mutsuo Nakaoka

Control Strategy for Constant Voltage/Constant Current Switching-Mode Instrumentation Power Supply ............. 983
G. -c. Hsieh, Y -H. Lin and H. c. Tasi -

Improvements of Utility-Interactive Photovoltaic Power Conditioning Systems for Domestic Applications .... . . . ..989
..

S. M iyake, K. To rikai, S. Naruse. S. Hirose, l. Yamamoto and K. Matsui

Ultra-Low Voltage Normally-off Lateral SIT Device for RF Mobile Applications ... . ..... .. ..... . ..... . .... ... .... ... .... . .... . . 99 6
..

S. Xu, Y C. L iang, C. Y. Lim and D. Tien

New Partial SOl LDMOS Device with High Power-Added Efficiency for 2GHz RF Power Amplifier
Applications . .
................................................................... ......................................... ............................................... 1001
Y. C. Liang, S. Xu, C. Ren and P. -D. Foo

A Comparison of Various DC-DC Converters and Their Application to Power Factor Correction ........................ 1007
M. Matsuo, K. Matsui, I. Yamamoto and F. Veda

A Novel Delta-Sigma Modulated PFC Converter using Pulse Space Modulation Scheme . . . .. ... . .. .. ... . . . . . .. .
. . .. . . . ... . . 1 014
.

A . Hirota, S. Nagai and M. Nakaoka

Auxiliary Quasi-Resonant Commutation Block Snubber Assisted Voltage Source Three Phase Soft Switching
PFC Rectifier .. ........... ......... ........................................................................................................ . . . .......................... 1019
E. Hiraki, M. Yoshida and M. Nakaoka

Novel PWM Inverters Having Their Own Active Filter. ............ ............................. . ............................................... 1025
A. Suzuki, Y. A ikawa and K. Matsui

Parameter Auto-Tuning for a Linear Permanent Magnet Synchronous Motor Drive . . .... . . . . :............. . . . . . . . . ........... 103 1
. ..

S. -c. Hsu, W. -D. Liu and C. -H. Liu

xi
An Improvement of Performance for Small-Scaled Wind Power Generating System with Permanent Magnet
Type Synchronous Generator .
....................................................................... .......................................................... 1037
Y. Higuchi, N. Yamamura, M. Ishida and T. Hori

EMI and its Elimination in an Integrated High Voltage Pulse Generator .................................. . ....... ...................... 1044
C. Wang and Q. H. Zhang

A New Approach for Determining the Common Mode (DM) Impedance Parameters of EMI Emissions with
the Fast Backpropagation Algorithm of Neural Networks for Low Frequency Band ..................................... . ........ 1050
K. Gulez, N. Mutoh, F. Harashima and K. Ohnishi

Application of a Cooperative Control System to Residue Fluid Catalytic Cracking Plant Using A knowledge
Based System and Model Predictive Multivariable Control . .... ................................... ............................................ 1056
J. Yamamoto, K. Nakane, T. Tani and K. Takahashi

Learning Predictive Control for Gas Heat Pump ........................... ............................ . ...................... . ...................... 1 062
Y. Hasegawa, T. Nakano, T. Fukuda, G. Vachkov, T. Komo ri and K. Matsumoto

On-line Self-tuning Using Embedded Pressure Sensors in the Injection Molding Process ................... .................. 1068
R. C. Luo, Y. S. Chen, C. C. Hua and H. C. Chen

A Real-time Thermal Model for the Intelligent Control of Cooling Systems for Hot Strip Mill Work Rolls ......... 1074
A. M. Campos, D. F. Garcia, R. Usamentiaga, N. de Abajo and 1. A. Gonzalez

Optimum Synchronous Control for Multiple-Axis Servo Systems in Terms of Time-Varying Performance
Index . . . . ..
.. . ... .. . .. . ... . .... .... . ... . . .. . ....
. .... ..... ... . . ... ... .... .... . .. ;............................................ . . . ........ ................. 1080
.. . ... . . . ..... ... . . .

T. Miyoshi. K. Terashima and Y. Maki

Direct Torque Control of Induction Motor with Reduction of Torque Ripple .... . .. . ....
. .. .... .. .. ... . . .. .... . .. .... .. .... .. . . . . 1087
... .

K. -K. La, M. -H. Shin and D. -So Hyun

Suppression Control Method for Torque Vibration of 3-Phase HB-Type Stepping Motor Utilizing
Feedforward Control .
................................. ................................................................. ............................................. 1 093
T. Su, M. Ishida and T. Hori

New Passivity-based Speed-Flux Tracking Controllers for Induction Motor ................... .. . .................................... 1 099
S. Peresada, A. Tilli and A. Tonielli

Switching Control of Chained Systems Based on Time-State Control Form . . . . .... .. . .. ..... .. ................... . .............. .. 1 105
..

H. Fujimoto, S. Yamakawa and Y. Funahashi

Identification of a Hydraulic Simulator Using the Modified Signal Compression Method and Application to
Control ..................................................................................................................................................................... 11 1 1
M. K. Park and M. C. Lee

Design of Sliding Mode for Chattering-free Variable Structure Control... . ...... . ...... ..... . . . .... ... ..... . .. . . . : .................. 1 1 17
.. .

Y. Pan, K. Furuta, S. Hatakeyama and S. Suzuki

Water Level Control of Small-scale Hydroelectic Power Plant by Deadbeat Control Method . . .. ... ... .... .. .... .. . . ..... . . 1123
S. Endo, M. Konishi and H. lmabayasi

Flooding Schemes for a Universal Ad Hoc Network... . . . .. . ..... .. .... ... ..

... ..... . .... .. .... . ..
.. .... .. ... . .... . .
. . .. ........ .... ..... . . . . . 1 1 29
.. ..

K. Mase, Y. Wada, N. Mori, K. Nakano, M. Sengoku and S. Shinoda

Wireless Ad-hoc Networks - Implications of Services on Demand . .... ........ ..

. ........ . ..... ... .... .
.... .. .
. ... . .. ...... . ............ . 1 135
A. Munro

PHS B ased Ad Hoc Networks ... . ... .. ... .... ... ....
... .... .... ..... ... . .
... ..... .. . . .. . . .. . .
... . ... . .... . . . . .... .. ... . .
. ... ... ... .... . . .
. .. ....... .. ..... .... 1 1 4 1
N. Karasawa, R . Noto, K. Mase, K. . Nakano. M. Sengoku and S . Shinoda

An AD-hoc Routing Control Method in Sensor Networks . .. . . ... . .... . ... . . . .. .. . .. . . . . . .. .. .. ... . .. . .... . .. . ... ... ..... .
. ... ... . .... . ..... .. 1147
.

G. Kunito, K. Yamazaki. H. Morikawa and T. Aoyama

xii
WACNet: Wireless Ad-Hoc Community Network . . . . .. . . .... . ... .. . . .
.. ... .. ... .. ... .................. . .
. ................ ......................... 1 1 53
K. Gyoda, Y. Ohno, Y. Kada and T. Ohira

Network Structure of Multi-hop Radio Networks .... .................... ...... ...... ................................ .......................... ... ..1 1 59
K. Nakano, M. Sengoku, K. Mase and S. Sh inoda

Pico cell network for local positioning and information system ........... . .
. ... .
................... . ........... . ............................ 1 1 65
E. Kudoh, A. Shibuya, T. Ogawa, D. U chida, M. Nakatsugawa, H. Suda and S. Kubota

Stability Adaptive Routing A lg orithm in High-Density Networks .................................... : ....................... ............ ..1 1 71
N. Imai, T. Nakagawa, H. Morikawa and T. Aoyama

Determination of the Appropriate Node Function of NNs by Using the Cascade-Correlation Algorithms .......... . II77
..

W. Wan, K Hirasawa, 1. Mu rata, C. lin and 1. Hu

Online Mechanical Fault Diagnosis of Induction Motor by Wavelet Artificial Neural Network Using Stator
Current ....................................... . . . . . . . . .................................................... ................................ ............ ...................... 1183
Z. Ye, B. Wu and N. Zargari

An Incremental Learning Method using Weighted Magnitude of Interference . . .. . . . . . . .

.. ... ... .. . ... .... .......................... 1 189
N. Yamaguchi, Y. Mi nagawa, K. Yamauchi and N. Ishi i

Self-Supervised Learning and Recognition by Integrating Information from Several Sensors ...............................1 1 95
H. Takeuchi, K. Yamauch i and N. Ish ii

Neural Netw orks for Latent Semantic Analysis .................... ... ...... ........ . ...... ........ ................. ............... ...................1 201
R. Thawonmans, 1. -/. H irayam a, T. Tomoike and A. Sakamoto

Application of Biological Allosteric Conerted Cooperative Activation Mechanism for Neural Circuit. ........... .....1 2 07
H. Hirayama and Y. Okita

CMOS Architecture of Synochronous Pulse-coupled Neural Network and Its Application to Image Processing .. 1 213
y. Ola and B. M. Wilamowski

Optimum Desi gn Using Radial Basis Function Networks By Adaptive Range Genetic Al gorithm s
(Determination of Radius in Radial Basis Function Networks) ................... ... ...... ...... ....................... ...... ................1 2 19
M. Arakawa, H. Nakayama, Y. B. Yun and H. Ishikawa

A New Gradient-based Optical Flow Method and Its Application to Motion Segmentation ..................................1 225
Y. Chunke and S. Oe

Developing Ridgid Constraint for the Estimation of Pose and Structure from a Single Image ...............................1 231
M. A. Rodrigues, Y. Liu and Q. Wei

New Bi o lo gical Real-time Pattern Extraction Method Emulating Fly's Beh a vior ..................................................1 237
T. Tanaka and K. Yamafuji
A Signal Processing System on Chip for Digital Cameras ............ .................... ...... ...... ..........................................1 2 43
X. Zhang, N. Fukuda, Y. Obu chi, T. Kambe, N. Kubo, H. Kawamura and I. Suzuki

Seamless Tracking System with Multiple Cameras ...... .

.... .... .......... . .............. ................................. . ......... . ............. 1 249
T. Fukuda, T. Suzuki, F. Kobayashi, F. Arai, Y Hasegawa and M. Negi

The Integration of 3D Digitizing and LCD Panel Display Based Rapid Prototyping System for Manufacturing
Automation ............ ........... ...... ......... ........... ......... ... .......................... ...... .................... ......... .............. ... ... ......... .......1 2 55
R. C. Luo, J. H. Tzou and Y. C. Chang

Visual feedback Control Systems for the Swirling-flow Melting Furnace ....................................................... .......1 261
T. Maeda, M. Nakayama, A. Kitamura, K. Okazaki and A. Kuno

Associative Modeling of Machining Processes Using Feature Based Solid Part Models . . ... ..
. ................... . ............ 1 2 67
L. Horvath, I. 1. Rudas and G. P. Hancke

xiii
Human Intent Models in Integrated Product Modeling . . . . . . . . . . . . . .. ............. . . . . . . . . . . . . . . . . .. . .. . . . . . . . . . . . . . . . . . . . . . . ................ .... 1 274
L. Horwith, 1. Rudas and C. Couto

Total Simulation System for Steel Plate Manufacturing Based on the Virtual Factory Concept.. . . . .. . . .................... 1 280
T. Watanabe, Y. Maeda, A. Kitamura, T. Yamano, Y. Morimoto and K. Ooe

Digital Factory - Planning and running enterprises of the future . . . . . . . . . . . . . . . .. . . ......... ................................................ 1 286
l. H. Worn, D. Frey and 1. Keitel

Simulation and Optimization of an Industrial Automatic Packing . . . . . . . . . .. . . .. . . . . . . . . . . ............. . . . . . . . . . . . . . . . . ........... . . . . . . . .. 1 292

M. Ceccarelli, G. Figliolini, C. Lanni and A. Altrui

Improving Performance of a Flexible Manufacturing System by Petri Net based Modelling and Simulation . . .. . . . . 1298
S. Cavalieri

A Methodology for the Protocal-Centered Design of Agent-Based Systems . . . . . . .. . . . . . . . ..... ........ . . . . . . .... ................. . . . 1 304
P. C. P. Bhatt and W. Mueller

Modeling of Sequential Control System with Cyclic Scan by Patri Net ............ . . ............................... ......... . . . . . . .. . . . . 1 3 1 0
Y. Itoh, I. Miyazawa and T. Sekiguchi

The Analysis and Comparison of Carrier-based PWM methods For 3-level Inverter . . ..... ............. . . . . . . ............ . . . . . . . 1 3 1 6
D. -H. Kim, D. - W. Kang, Y. - H. Lee and D. -So Hyun

Comparison of Vector Sigma-Delta Modulation and Space-Vector PWM . . . . . .. . . . . . . . . . . . . . . . . ... . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . 1 322

J. Nieznanski, A. Wojewodka and P. J. Chrzan

Comparison of SV Modulation Methods for Single Phase On-Line Three-Leg UPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... : . . 1 328
H. Pinheiro, R. Blume and P. Jain

Current Control in Overmodulation Range for Space Vector Modulation Based Vector Controlled Induction
Motor Drives . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . 1 334
A. M. Khambadkone and J. Holtz

Recent Trends in Power Conversions . . .. . . . . . . . . . . . . . . . . . ............. ........ . . . . . . . . . . . . . . . . . . . . . .. . .................................................... 1 340

M. Yano, M. Matsui, T. -H. Chin, K. Kuroki and T. Shimizu

Field test of a DSP-based control system for ± 20Mvar STATCOM . . . . . . . . . . . . . . .................................. . ..................... 1 347
L. Chun, J. Qirong, L Wenhua and W. Zhonghong

Modelling and Control of a Static V AR Compensator using an N.P.C. Inverter Topolopgy .......... . ....... . . . . . . . . . . . . . . . . 1 353
A. Draou, M. Benghanem and A. Tahri

Control Strategies for Multilevel Voltage Source Converters for Medium-Voltage DC Transmission Systems . . . . 1 358
J . Von Bloh and R. W. D e Doncker

Rapid Prototyping Tools for Power Electronic Systems - Demonstration with Shunt Active Power Filters . . . . . . . . . . 1365
J. Jacobs, D. Detjen and R. W. De Doncker

Influence of All Losses on Permanent Magnet Synchronous Motor Drives . . . . .

.. . . .. . . . . . . . . . . . . . . . . . . . . . . . .......................... 1 37 1
N. Urasaki, T. Senjyu and K. Uezato

Novel Analytical Theory for Vector Controlled Interior Permanent Magnetic Synchronous Machine Drives . . 1 377 . ... .

T. H. Chin and M. Nakano and G. Zeng

Performance Analysis of Current Control Loop in High-Speed Fractional Horse-Power Three-Phase PMSM
Drive Based on DSP Controllers .......... ....... . . . . . . . . . . . . . . . . .......................... . . . . . . .. . . . . . . . . . . . ............................................... 1383
J. Zhang and M . Schroff

Evaluating the Robustness of a Sensorless controller for Permanent Magnet Synchronous Motor Drives . . . . . . . . . . . . . 1 389
W. K. Pek, K. W. Lim and S. K Panda

xiv
A High Torque Low-Speed Multi-Phase Brushless Machine A Perspective Application for Electric Vehicles . . . . . 1 395
M. G. Simoes and P. Vieira, Jr.

PMAC Motor Control Strategy, Based on the Instantaneous Active and Reactive Power, for Ripple-Torque
and Copper-Losses Minimization . .. . . . . . . . . . . . . . . . . .. . . . . .. . . . . .. . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . .. . . . . . ....... . . . . .. .. . . .. . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . 1 40 1
R. Leidhold, G . Garcia and E. Watanabe

Reduction of Periodic Speed Ripples in PM Synchronous Motors using Iterati ve Learning Control ...... ............... 1 406
B. H. Lam, S. K. Panda and J. -x. Xu

The Design of the Piecewise Sliding Mode Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .. . . . . .. . . . . 1 4 1 2

W. -So Yu and Y. -H. Chen

A Benchtop plant for evaluation of flexible structure control methodologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 4 1 6

L . B in, W. K. Ho K. W. Lim and K. K. Sin ,

Stability Analysis of State Regulator Systems with Finite Word Length Effects . . . . . .. .. . . . . . .. . . . . .. . . .. . . . . . . . . . . . . . . .. . . . . . . . . . . 1 422
S. -R. Ko and W. s Yu -
o

A Single-Phase AC Power Source Using Robust Model Reference Adaptive Control . . .. . .. . . . . . . . .. . . . . . . . . . . . ......... . . . . . . . 1428
E. G. Carati, V. F. Montagner and H. A. Grundling

Modeling and Simulation for Intra Myocardial Coronary Circulation under H2 Control . . . . . . . . . . . .. . . . . . . . . . . . .. . . . . . . . .. . . . . 1433
H. Hirayama and Y. Okita

Digital Output Controler Design for a Wind-Induction Generator Conversion Scheme . . . .. ... ..... . ............ ..
. ...... . ..... 1439
E. S. A bdin

Automatic Tuning of the PID Controller for Servo Systems Based on Relay Feedback . . . . . . . . . .. . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . 1 445
J. -J. Huang

Dynamic Modelling and Control of a 2 DOF Twin Rotor Multi-Input Multi-Output System ........... ............ . . . ....... 1 45 1
S. M. Ahmad, A. J. Chipperfield and M. O. Tokhi

Controller Tuning Methods for Industrial Boilers . . . . . . . . . .. . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .. . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 457

M. R. Katebi, M. H. Moradi and M. A. Johnson

Automated PI Controller Tuning Using A Phase Locked Loop Identifier Module . . . . . ........... . . . . ........... ........ .......... 1463
J. Crowe and M. A. Johnson

A New Observer-Based Sensorless Adaptive Fuzzy Controller for Switched Reluctance Motor Drives . . . . . . . . . . . . . . . 1469
C. Shi, A . D. Cheok and K. W. Lee

Hybrid Stepping Motor Fuzzy Position Servo System B ased on DSP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................... . . . . .. . . . . 1475
S. Jingzhuo, X. Dianguo and W. Zongpei

A Non-linear Optimization and Fuzzy Modelling in Predictive Control Scheme .......... ......................................... 1480
M. Pokorny, 1. Rehberger and P. Cermak

Hybrid of Fuzzy and PID in Kinematics Control of a Pneumatic System ............... . . . . .. . .. . .. . . . . . . .............................. 1485
M. Parnichkum and C. Ngaecharoenkul

A MEBML-based adaptive fuzzy logic controller . . . .. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . ........ . . . . . . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1492

K. Xie, C. Mou and G. Xie

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . follows page 1 496

xv
 Volume 3

Improving transition between power optimization and power limitation of variable speed, variable pitch wind
turbines using Fuzzy control techniques . .. . . . . . . .. . . . . .
.. .......... . ..... . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . ...... . . . . . . ..... . . . . . . . .. . 1497
M. A. M. Prats, J. M. Carrasco, E. Galvan, J. A. Sanchez, L. G. Franquelo and C. Batista

Autonomous vehicle guidance with fuzzy algorithm . . . . . . . . .. . . ... .. . . . . . . . . . . . . .. .... . . . . . ..

. . ... .. .. ..
.. . . ... .. .. . . . . .. . . . ... .. . . ... . ... . . . . . 1 503
. . .

J. L. A rroyabe, G. Aranguren, L. A. L. Nozal and J. L. Martin

Study on Fault Identification for the Virbration Control System of Flexible Structures (Fault Detection of
Sensors and Actuators) . . . ... : . . . . . . . . . . . . . . . . . . . . . . . . . .. . .. . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1509
M. /sogai, F. Arai and T. Fukuda

Robust Control Design for a Piezoelectric Actuator System with Dominant Hysteresis . . . . . . .. .... . .... .... .. .. .
. . . . . . . .. . . . 1 5 1 5
. . .

C. Jan and C. -L. Hwang

Sensing and Digital Control of Weld Pool with Visual Welding Robot... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . 152 1
L. H. Sharif, S. Yamane, Y. Hino and K. Eguchi

Shaft Insertion into Moving Object Using Robot Manipulator with Cross Typed PSD . . . . . . . . . . . . . . . . . . . . . . . .. 1527
.
. . . . . . . . . . . . . . . . .

S. Hayakawa and N. Tsuchida

Motion Controller Algorithm Based on Sliding Mode Controller/Observer Scheme . . . .. . ......................... .... ........... 1532
E. Leksono, A . Wijayanto and K. Ohnishi

Modeling of Gaseous Fire Suppression System by means of Bond Graph . . . . . . . . ... . . . . . . . . . . . . .

.. . . . .. . . .... . ... .. . . . . . . . . . . . . . . . . . . 1538
.

T. Akino, N. Kawahata, T. Ishikawa, Y . Naito, K. Tanaka and Y . Matsumoto

Modeling of Ventilation System for Vehicle Tunnels by means of Bond Graph .. . . . . . . . . . . . . . . . . . , ..................... 1544
.
. . .. . . . . .. .

N. Nishijiri, N. Kawabata, T. Ishikawa and K. Tanaka

Detailed Bond Graph Models of Turbomachinery . . . . . . .. . ... . .. ... .

. . .. . . .... . . . . . . .. . .. . . . . .. ..
.. . . .. . .... .. . .. .... . . . . . . . . . . . . . . . . . . . .. 1550
. . . . . . . .. .

K. Tanaka, W. -H. Rong, K. Suzuki, F. Shimizu, K. Hatakenaka and H. Tanaka

Bondgraph Analysis on Pressure F luctuation in Hydraulic Pipes . . . . . . . . . . . . . . . ... .. . . .. .

. . . . . . . ... .. . . . .. ... ... ... ... . .
. . . . . . . . . . . . . .. . 1556
. . ..

H. Higo,·K. Yamamoto, K. Tanaka, Y. Sakurai a n d T. Nakada

Connection of Bondgraphs Model and Basic Structure of Oil-hydraulic Component icon in OHC-Sim . . . . . .. ... .. . . . . 1 5 62
Y. Sakurai, K. Tanaka, T. Kohda and T. Nakada

Calculation of Dynamic Overall Efficiency of a Load Sensing Hydraulic System by Bondgraphs . . . . . . . . . . . . . . . . . . . . . . . . 1568
Y. Sakurai

Four-Track Vehicles by Bondgraph-Dynamic Characteristics of Four-Track Vehicles in Snow . . . . . . . . . . . . . . . . . .. . . . . . .. 1 574

. .

K. Suzuki and S. A wazu

Constitutive Relations of Energy Storage in a Gas in Preferre Integral Causality ................... . ............. . . . . . . . .. . ........ 1 5 80
P. C. Breedveld

Neural Plug-In Motor Coil Thermal Modeling . . . . . . . . . . . .. ... . ... . .... . . . . . . . . . . . . . . . . .. ... . . . . . . :.............................. ............ . . . . .. 1 5 8 6
. . .

M. y. Chow and y. Tipsuwan

System for Visualizing Individual Kansei Information . . . . . . . . . . . . . . . . . . .. . . . . .. . . . . . .

. . . . . .. .. .. ....... .. . . . . . .. ... .. . ... .. . . . . : ........... ..... 1 592
M. Kokubun, H. Konishi, M. Kawasumi and H. Iguchi

Quan titative Estimation Method for Discrimination of Nuance among Impression Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 598
. . . . .

S. T. Gi, Y. Isomoto and H. Nozaki

Database System for Kansei-Oriented Communication ... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . ... . ... . ........ . 1 604
..

K. Yoshida and T. Kato

System for Analysis of Involuntary Facial Expressions . . . . .. . . . . . . . . ...... ........ . . . . . . .. . .

. . . . . . .. . . . . .. . . . . . ... . . . ..
. . . . . ...
: ....... . . . . ..... 1 608
H. Konishi, M. Kokubun and H. Iguchi

xvi
Human Color Impressions Elicited by Well-ordered Color Signal Sequence with Minimum Distance . . . . . . . . . . . . . . . . .. 1 614
N. Sugano and T. Nasu

Composition of Melody Reflecting User's Feeling ................. . ........ . ............. ............. . ........ . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . 1 620
T. Onisawa, W. Takizawa and M. Unechara

Potential Motivations as Fountains of Chances . . . . . . . . . . . .. . . .. . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . .. . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 1 626

Y. Ohsawa and H. Fukuda

Recommending Books of Revealed and Latent Interests in E-Commerce ....... . . . . . .

.. ........ . ................. . .. . . . . . .
. . . . . . . . . . 1 632
. .

Y. Hirooka. T. Terano and Y. Otsuka

The Discovery of Business Chance from Customer Knowledge . . . ......... . .. . . . . . . . . .... . . . . . ...
.. ... . .... .... . ..
. . . . . . . . . . . . . . . . . . . . . . 1 63 8
. ..

K. Yada. E. H. lp. Y. Hamuro and N. Katoh

Discovery of Topic Distribution through WWW Information Retrieval Process . . . . . ... . . . . . . . . . ..... . ......... .. ........ . . . . . . . . . . 1 644
Y. Takama and K. Hirota

Discovery of Chances for Entertainment of Potential Interests . ... .... .... . .

.. . . ............. . .. ........ .. ...... . . . . ... .. . . . . . . . . . . . . . . . . . . 1 648
. .

W. Sunayama, Y. Ohsawa and M. Yachids

Methodological Considerations on Chance Discovery . . . . . . . . . . . . . . . . . . . .. . . . . . . .. . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... ........ 1 652

H. Prendinger and M. Ishizuka

WebBeholder: A Source of Community Interests and Trends based on Cooperative Change Monitoring
Service on the Web . . .
. . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... 1 65 6
S. Saeyor and M. Ishizuka

GA applications to physical distribution scheduling problem . . .. . . . . .. . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . ......................... 1 662

M. Watanabe, M. Furukawa, A. Mizoe and T. Watanabe

Automatic Generation of Behaviors for Mobile Robot by GA with Automatically Generated Action Rule-
Base . .
............ ....... . . . .. .
......................... : ........................ ... . . .. . . ..... .... ... 1 668
....... . ...... ................... ......................................

1. Watabe and T. Kawaoka

Active Magnetic Bearing Control System Testing and Validation using a Multiobjective Genetic Algorithm . . . ... 1 675
I. A. Griffin. A. 1. Chipperfield, P. 1. Fleming, C. Davies and N. Grum

Stable Grasp Planning by Evolutionary Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . 1 680

Y. Katada. M. Svinin, Y. Matsumura, K. Ohkura and K. Ueda

Solar Pland Control Using Genetic Fuzzy PID Controller .......... . ..... ......... ..... . ........ . ........ . ..... . .
. ......... . ............ . . . . . 1 686
..

K. S. Tang. K. F. Man and C. Chen

Minimum Classification Error Rate Method using Genetic Algorithms . . . .. .. .. ............. .......... ........ . .............. . . .. .... . . 1692
.

S. Kwong and Q. H. He

Extraction of Feature Spectra by Instantaneous Power Spectrum And Automatic Generation of Symptom
Parameters by GP for Diagnosis of Machinery in Unsteady Operating Condition . .. ....................... . . . . . . . . . . . . . . . . . .. . . . . . 1 696
M. Taniguchi, P. Chen and T. Toyota

Nyquist Sampling and Initialization for Descrete Wavelet Transformation . 1 70 1

.
. . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .....

1. Q. Xie and M. Farooq

A Set of Hardware Components for a Reconfigurable Control and Communications Board . . . . . . . . . . . . . . ... . ....... ......... 1 707
F. Casado, F. Machado. T. Riesgo, E. de la Torre, Y. Torroja and 1. Uceda

Compact Optical Sensor with a Self-Mizing Laser Diode for Non-Contact Measurement of Ultrasonic
Vibration .............. 1 7 1 3
................... ......... . . .......................... ....... . .. . . . .. . . .. .................. ......................................................,

S. Shinohara, S. K. Ozdemir, Y. Kokabu, H. Yoshida and M. Sum;

xvii
Parallel Architectures Applied Real Time Emulation . . . . . .. . ........................................ . ....................... .... . . . .. . .. . . . . . . .... 17 19
S. B. Saoud and J. C. Hapiot

New Algorithm for H2Guaranteed Cost Control of Singularly Perturbed Uncertain Systems and Its
Application to the Manufacturing Assembly Process . . . . . . . . . . . . . . ............ ............. . . . . . . . . . . . ................ . . ........ .................. 1 725
H. M. A idani, T. Nitta, Y. Kobayashi and T. Okita

Optimal Auxiliary Input for Fault Detection Based on Kullback Divergence . . . . .......... . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . ....... 1 73 1
T. Hatanaka and K. Uosaki

Comfort Air-Conditioning Control for Building Energy-Saving .............. .................. . ........ .................................... 1 737
K. Yonezawa, F. Yamada, Y. Wada and Y. Hanada

Gain Scheduled PD Sway Control of a Lifted Load for a Mobile Crane . . ........................... .............. . . . . . . . . . . . . . . . . . . . . . . 1 743
K. Kawada, H. Sogo and T. Yamamoto

Design and Implementation of Fuzzy Cooperative Catching Controller for Multiple Mobile Robots .................... 1 749
T. Kamano, T. Yasuno, T. Suzuki, Y. Hasegawa, H. Harada and Y. Kataoka

Practical Robust Control Design of Pneumatic Servo Systems . . .. . . . . ... . ..... . . . . . . . . . .... ....... . . .... . .................. . .... . ... . ...... . 1 755
H. Morioka, A. Nishiuchi, K. Kurahara, K. Tanaka and M. aka

Neuro-Fuzzy Control for Pneumatic Servo System . . . . . . . ... .. . . . . . . . . . . . . . . .. . . . . . . ...... . .

. ............................ . ......................... 1761
S . Shibata, M . lindai and A. Shimizu

Path Planning of Grippers Modeled After Human Grasping Motions . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . 1 767

N. Nakazawa, S. Kajikawa, H. Inooka and R. lkeura

Control Characteristics of Two Humans in Cooperative Task and its Application to Robot Control .................. . . 1 773
.

M. M. Rahman, R. lkeura and K. Mizutani

Automatic Generation of the Kinematic Scheme for Hybrid Serial-Parallel Types of Robots ...... . ........ . ... .. ........ . 1 779
..

Y. M. Huang, F. Gao, L. X. Dong and T. Fukuda

Constructing A Fuzzy Logic Controller Using Evolutionary Q-Learning ................ . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 78 5

..

M. -So Kim and 1. -1. Lee

Feedforward Compensator for Control Systems through Pole Assignment Regulator . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . .. 1791
S. Goto, M. Nakamura and M. Obata

Flexible Motion of Pull-Out-Work by Articulated Robot Arm Based on Forcefree Control . . . . . . . . . . . . . . .. . . . . . . . . . . . .... . 1797
..

D. Kushida, M. Nakamura and S. Goto

Soft Computing Approach to Nonlinear System Identification . . . . . . . . .. . . . . . . . . . . . . .. . . .. . . ........................ ......................... 1803

S. Kawaji and Y. Chen

Micro ER Valve Using Homegeneous ER Fluids and Its Application to Micro Fluid Control System . . . .. . . ....... . . . 1809
.

1. -H. Park, K. Yoshida and S. Yokota

Application of Electro-Rheological Fluids to Flexible Mount and Damper Devices . . . . . . . . , ......... ......... . ........... 18 1 5 . . . . ...

T. Yakoh and T. Aoyama

Induced Stress and Particle Behavior of the Electro-Rheological Suspensions at Higher Shear Rates Probed
by Electrical and Mechanical Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 1
K. Tanaka, T. Takenouchi and R. Akiyama

Fundamental Study of Fluid Transfer using Electro-Rheological Effect .. . . .. . . . . . . . ................ . . . . . . . . . . . . . . . . ... . . ............... 1827
Y. Tanaka and A. Gofuku

High Gain Feedback Control of Direct-Drive Motor System by a Homogeneous ER Fluid . . . . . . . . ......... . . ..... . . . . . . . .... 1833
K. Koyanagi, N. Takesue, G. Zhang, M. Sakaguchi and 1. Furusho

Development and Experiments of Actuator Using MR Fluid . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . 1838

N. Takesue, H. A. Asaoka, 1. Lin, M. Sakaguchi, G. Zhang and 1. Furusho

xviii
Switching Characteristics of Torque Transmission Utilizing Movement of Magnetic Fluid . .. ....... . . ............... .. . .... 1 844
K. Nishibori, T. Kamisaku and K. lida

Analytical Model of a Magnetorheological Damper and Its Application to the Vibration ControL .... ... . . ... .. ... . .... 1 850
G. Pan, H. Matsuhisa and Y. Honda

Nano-degradation of diamond surfaces by the thermochemical polishing technique . . . . . . . . . . . . . .. . . . . . .. . .

.. . . . .... . . . . . . . 1 856
.. ... .

J. A. Weima, R. Job and W. R. Fahrner

Migration-resistant amorphous AIY Metallizations for Surface Acoustic Wave Filters . . . . . . .... . . .
. .... .. ...... . .... . . . .. ..... 1 862
L. Berger, J. W. Mrosk, C. Eltt, H. J. Fecht and W. Wolff

Noise Analysis of Sub- laO nm-MOS-Transistors Fabricated by a Special Deposition and Etchback Technique ... 1 867
J. T. Horstmann, U. Hilleringmann and K. Goser

Reactive ion etching of CVD-diamond for sensor devices with a minimum feature size of 100 nm ... . . . . . . . . . . . . . . . .. . . 1 873
R. Otterbach, U. Hilleringmann and K. Goser

Laterally resolved doping by focused ion beam implantation . . . . . . . . . . .. . . .. . . . . . . . . . . . . . . . . . .. . . . .

.. . .. . . .... . ....... . ... . ... . . . . . . .. . . . . . . . 1 878
D. Reuter, C. Meier, A. S. Alvarez, J. Koch and A. D. Wieck

Nano-Structuring Silicon Surface Layers and Nano-Void Formation by Hydrogen Plasma Treatments ... .. . . . . . . . . . . 1 883
.

R. Job, A. G. Ulyashin and W. R. Fahrner

Atomic Hydrogen Catalysis For The Formation Of Oxygen Related Nanoclusters In Silicon: Application to
Low-Temperature Devide Production . . . . . .......... ... ..... ................ ........................................................... .......... ... ...... 1 889
A. G. Ulyashin, R. Job and W. R. Fahrner

Diode characteristics of structures with an Sub-Micron size Depth Profile in Diamond Made by Ion
Implantation . . . . . . .. . . . . . . . . . . . . . . . ... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 895
G. C. Kosaca and W. R. Fahrner

Creation of Explanatory Sentences for a Series of Pictures by Analyzing Their Relation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1900
M. Iwata, T. Onisawa and S. Tano

Flatness based analysis of a chemical reactor pilot plant... . . . . . . .......................... . .. . . ............. .................................... 1 906
A. Ojeda and M. Delgado

Transmission of Multimedia Information on Micro Environment via Internet . . . . . . . . . . . .. . . ........ . .... ........................... 1913
K. W. C. Lai, C. K. M. Fung, W. J. Li. I. Elhajj and N. Xi

Comparison of Output Feedback Controls using ANN for Mechanical Systems . . . . . . . . . . . . . .. . . . . . . ............................... 1919
M . Yamakita, P. Chen and T. Iwata

Obstacle Avoidance Behavior of Autonomous Mobile Robot using Fiber Grating Vision Sensor . . . .. .. .... " ............ 1925
Y. Miyazaki, A. Ohya and S. Yuta

Improved PMSM Pulsating Torque Minimization with Iterative Learning and Sliding Mode Observef . . . ...... . ..... . 193 1
J. X. Xu, S. K. Panda, Y. J. Pan, T. H. Lee and B. H. Lam

A Synchro-caster Drive System for Holonomic and Omnidirectional Mobile Robots .............................. .............. 1937
M. Wada

A Wide Speed Operationof SRM Using Low Cost Encoder . . . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . .. . . 1943
H. - W. Par, S. -J. Park, M. -H. Lee, J. -G. Park, C. - u. Kim and Y. M. Hwang

Development of a Virtual Simulator for Agile Manufacturing System . ..... . . . .. . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . .. . .. . . . . . . . . . . . . 1 949

S. -M. Cha, Y. -H. Chang, J. -I. Bae and M. -H Lee

Nonlinear Behavior of a Twin Converter . . . .. . ... ... . . ..... . ....... . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . .................... ........... 1955
J. Hamar, O. Dranga, l. Nagy and E. Masada

Ergonomics and robot color vision . . .. . . .. . . . . .. . . .. . . . . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . .. . . . . . . . . . . . ........ . . . . . . . . . . . .. . . .. . . . . . . .. . . . . . . . . ................. 196 1

K. Yamaba

xix
Application of a wavelet-based signal analysis for evaluating the tool state in cutting operations .. . .... . . . . . . . . .. . . . . .... 1 967
F. Klocke, M. Reuber and H. Kratz

Vision Guided B all-Beam Balancing System Using Fuzzy Logic ........................................................................... 1973
Elmer P. Dadios, R. Baylon, R. De Guzman, A. Florentino, R. M. Lee and Z. Zulueta

Intelligent use of attractive regions in the environment in robotic assembly . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . 1979

H. Qiao

A Recurrent Neuronal Approach for the Nonlinear Discrete Time Output Regulation . . . . . . . . . . . . . . . .. . . .. . . . . . . . . .............. 1 985
J. Henriques, P. Gil, A. Dourado, B. Castillo-Toledo and A. Titli

Constrained Neural Model Predictive Control With Guaranteed Free Offset : . . . . . . . . . . ........... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . 199 1
P . Gil, J. Henriques, A . Dourado and H. Duarte-Ramos

Parameters Estimation of Nonlinear Models of DC Motors Using Neural Networks ....... . ................ . . . . . . . .. . . .......... 1997
I. F. El-Arabawy, H. A. Yousef, M. Z. MostaJa and H. M. Abdulkader

Statistical Analysis for Radar Bias Error estimation in a Data Fusion System of 3-Dimensional Radars . .. . . . . . . . .. . . . 200 1
Y. Kosuge and T. Okada

Color Imaging for Digital Cameras with a Single CCD Sensor .... . ................. .......... ............... . .......... . . . . . . ............. . 2007
X. Zhang, Y. Obuchi, T. Kambe, N. Kudo and l. Suzuki

Remote Q Factor measurement System for a ATS Coil Using Digital Phase Locked Loop ................................... 20 1 3
G. -T. Kim, K. -T. Lim, J. - Yo Choi and B. - T. Kim

DSP-based board for control of jaw crushers used in mining and quarrying industry ............ . . . . . . . . . . .. . . .. . . . .. . . . . . . . . . . . 20 1 9
.

J . L . Martin, U. Bidarte, C. Cuadrado and P . Ibanez

On Auto-Correlation Properties of Chaotic Binary Sequences Generated by One-Dimensional Maps . 2025

.
....... ..........

A. Tsuneda

Functional Reconstruction of Dynamical Systems from Time Series Using Genetic Programming . . . . . . . . . . .. . . . . . . . . . . . 203 1
T. McConaghy, J. Leung and V. Varadan

On a Response Characterictics in the Hodgkin - Huxley Model of Nerve and Muscle Fiber to a Periodic
Stimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . 2035
F. F. Shoji and H. -H. Lee

Suppressing Spatial Bifurcations and Chaos in One-way Open Coupled Map Lattices .... . .... . ... . . .. . . . . . . .. . . . .. . . . . . . . . . . . . 2042
K. Konishi, H. Kokame and K. Hirata

B ifurcation and Chaos Observed in Coupled BVP Neurons with External Impulsive Forces . . . . . . . . . . ................ , . . . . . . 2048
H. Kitajima and H. K. Akami

Mechanism for suppression of Chaos by Weak Resonant Pertubations: Part II . . . . .. . . . . . . .... ............. . ........................ 2054
N. lnaba and T. Tamura

A 2-Port VCCS Hysteresis choaes generator ................................. . ... . ........ . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . 2058

M. Kataoka and T. H. Saito

A Route to Chaos with a Chainof Homoclinic Bifurcations in a Modified Bonhoffer-van der Pol Equation ......... 2064
K. Tsumoto, T. Yoshinaga and H. Kawakami

Hybrid Control for the Pendubot ........... ........ .... . ........ ... . . . . . . . . . . . . . . . . . .. . . ,.. . . . .. . ......... . .............................. . . ....... . . . ......... 2070
T. J. Tarn, M. Zhang and F. Celani

Spatial Generalization of Optimal Control for Robot Manipulators . . . . . . . . . . . . . . . . . .. . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . . . . . . . . .............. 2076

Z. Luo, H. Ando, S. Hosoe, K. Watanabe and A. Kato

Design of Hybrid Controller for Assembly Task Based on Evaluation with HMM .... . . . . . . . . . . . . ... . . .. . . .. . . ........ . .. . . . . .... 2082
T. Nozaki, K. Hirana, K. ltabashi, T. Suzuki, S. Okuma and F. Fujiwara

xx
Attitude Control of Torque Unit Manipulator - Treatment as a Nonholonomic System . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . 2088
K. Osuka and T. Nohara

Dynamic Control of Distributed Autonomous Robotic Systems with Underlying Three-Index Assignments ........ 2093
J. Starke and P. Molnar

Fault Adaptive Kinematic Control Using Multi Processor System ...... ............ . ............ . ................................... . ..... 2099
S. Kimura and S. Tsuchiya

Learning of Multiple Robots in Quasi-Ecosystem . . . . .. . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . . .. . . . . . . . . . . . . . . . .. . . . . . . . . . 2 1 05

N. Kubota, M. Ogishi and F. Kojima

Communication Learning for Cooperation among Autonomous Robots ... . ..... . ............. . ..... . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . ..... 2111
M. Hoshino, H. Asama, K. Kawabata, Y. Kunii and I. Endo

Recognition of Hand gesture to Human-Computer Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . ....... . . .

. .. ...... ................. 2117
L. K. Lee, S. Kim, Y. -K. Choi and M. H. Lee

NN. Controller of the Constrained Robot under Unknown Constraint . . ....................... .................................. . . . . .. . . . 2 12 3
S . Hu, M. H . Ang Jr. a n d J . Krishnan

Observations and Guidelines on Interpolation with Radial Basis Function Network for One Dimensional
Approximation Problem .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . .. . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . .. 2 1 29
M. Ang, Jr. and Romyaldy

Construction of Effective Noise for TSP . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . .. . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 2 1 35

T. Ueta, E. Okahisa, T. Kawabe and y. Nishio

Object Recognition From Multiple Sensory Data B y Neural Feature Extraction And Fuzzy Structural
Description . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . .. . . . . . . . . . . . . . . . . . . . . . . . .. . . . . .. . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2141
K. C. Tan, T. H . Lee and M. L. Wang

Applications of the Operator' s Model for Controller design and Optimization . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 147
S. Kim, Y. -K. Choi and M. H. Lee

Intelligent Performance Management of Networks For Advanced Manufacturing Systems . . : ....... 2 1 5 3

.
............. . ...........

S. Lee, M . H . Lee, K. C. Lee, S . H. Lee a nd F. Harashima

Output Feedback Control of Chen's Chaotic Attractor Using Fuzzy Logic . . . . .

. . . .. . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1 59
.

. W. Chang, J. B. Park, Y. H. Joo and G. Chen

Path Tracking Control of a Laser Light Point by Active Visual Servoing . . . . . .. . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . 2 1 65

K. C. Lin

An Off-Line Automatic Teaching by Vision Information for Robotic Assembly Task ..................... . . . . . . . .. . . . . . . . . . . . . 2171
C. K. Ahn and M. C. Lee

A Simulation System for An Underwater Robot Based on Visual Data . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ......... . . . . . .. . 2177
S. Ishibashi, E . Shimizu and M. Ito

A Novel Fingerprint Image Sensing Device and Recognition Algorithm for Sensed Fingerprint Image ............. . 2 1 83
. .

F. A rai, Z. Sun, J. Tsuruno and T. Fukuda

Potential Problems in Visual Servo . . .. . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . .

.. . . . . . . . . . .. . . . . . . . . . . 2 1 89
K. Hashimoto, K. Tanaka and T. Noritsugu

A Model-based Real-world Scene Recognition using Local/Global Search of a GA for Manipulator Real-time
Visual Servoing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . 2 1 95
J. Agbanhan, M. Minami and T. Asakura

A Statistical Method for Color Object Detection and Application to Localization ..... ..... . ........ . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . 2201
L. Malassis and M. Okutomi

xxi
Real-Time Recognition of Road Traffic Sign in Moving Scene Image Using New Image Filter ........................ . .. 2207
K. Hirose, T. Asakura and Y. Aoyagi

Compensation for Position-Varying Lost Motion to Improve the Contouring Accuracy of NC Machine Tools . . .. 22 1 3
H. Sugie, T. Iwasaki, H. Nakagawa and S. Kohda

Vibration Suppression Control in 2-inertia System by Using Estimated Torsion Torque . . . . . . . . .. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . 22 1 9

H. Kawaharada, I. Godler, T. Ninomiya and H. Honda

Virtual Hard Coupling Control of Distributed Drives using Fast Communication Network . .. . . . . .. .. . . . . .. . .... ... .......... 2225
Y. Fujimoto, K. H. Sonobe, K. O. Fujikawa and T. Sekigudhi

A Sensorless Force Control in Twin Drive System ........ . . . . . . . . . . . . . . . . . . . . . . .. . . .

. . . . . .. ........ .. ....... . . . . . . . . . . . . . . . . . . . . . . . . . .. . .. . . . . 2231
. . . .

N. Hayashida, T Yakoh, T . Murakami and K Ohnishi

A Multi-level Estimation of Road Condition using ad Adaptive Observer combined with Periodical
cr-modification . . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . .. . .. . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .. . . . . . 2237
H. Nishira, T. Kawabe and S. Shin

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.. . .... . . . . . ... . . . . . . . . . . . . . .. . . . . . . . . . . . . follows page 2242
. . .

Volume 4

Dynamic Collision Detection Method Using Adaptive Control Law . . . . . . . . . .. . . . . . .. . ... .. . .. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..

. . . . . . 2243
T. Matsumoto and K. Kosuge

An Approach to Tracking Motion of Mobile Robot for Moving Object . . . . . ........ . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . 2249
1. Miyata, T. Murakami and K. Ohnishi

Robust Motion Control with Consideration Algorithm of Joint Torque Saturation for Redundant Manipulator . . . .2255
K. Ohishi, H. N. Wa and S. Ohtaki

A High-Power-Factor Electronic Ballast for Metal Halide Lamps with Hot Restarting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2261

T. F. Lin, C. S. Moo, M. J. Soong, W. M. Chen and C. R. Lee

Incandescent lamp CMOS driver with output power control . . . . . . . . . . . . .. ... . .

. .. .. . . . . . . . . . . . . . . . . .. . . .. . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . 2267
. . . .

P. D 'Abramo, R. Roncella and R. Saletti

A Single-Stage High-Power-Factor Dimmable Electronic Ballast with Asymmetrical Pulse-Width-

Modulation for Fluorescent Lamps . . . . . . . . . . . . . . . .. . .. . .. . .. . . . . . . . . . 2273
. . . . . . . . . ........ .............. ........... .................... ..................... . . . .

C. S. Moo, H. L. Cheng and Y. N. Chang

A Design Method for Electronic Ballast for Fluorescent Lamps . . . . . . . . . . . . . . . . . . . . .. . . . . . .... . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2279
. . . .

R. N. do Prado, A. R. Seidel, F. E. Bisogno and M. A. D. Costa

Guidance Control Characteristics for Maglev Vehicle with Dynamic Compensator . . . . . . . . . .. . ... . . . . . . .. . .. . .. . . . . . . . . . . . . . . . . 2285
.

T Sakamoto

A Wireless Parallel Operation Control of a two-module UPS system for Equivalent Load Sharing . . . . . . . . . . . .. . . . . . .. 229 1 . . .

T G. Koo, Y. B. Byun, K. Y. Joe, J. I. Seo, D. H. Kim and C. U. Kim

The Robust Design of PWM Power Amplifier by the Approximate 2-Degree-of-Freedom Integral Type Servo
S ystem . . ........... ...... . . , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . .. . .. . . . . 2297
. . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .. . ..... .... ......

K. Higuchi, K. Nakano, K A raki and F. Chino

Signal Flow Graph Modeling of DC-DC Parallel Converter . . . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . . . . . ..... . . . . . . . . . . . . . . . . . . . . . ..

.. ... . . . . . 2303
. .. . .

M. Veerachary, T Senjyu and K. Uezato

xxii
Speed Sensorless Observer based Torque Control of Induction Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .. . . . . . . 2309
K. lezernik and M Rodic

Design of a Honn (High Order Neural Network) by Using a DSP Based System for the Performance
Increasing of an Induction Motor Under Changeable Load . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2315
K. Gulez, N. Mutoh, F. Harashima, K Ohnishi and H. Pastaci

Fuzzy Auto Reset Controller for Speed Sensorless Induction Motor Drive . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . 232 1
Edi Leksono, R. Prihatin and K. Kadiman

Modeling and Bifurcation Research of Phase-Locked Loop Speed Control of Induction Motor Drive . .. . . .. . . . . . . . .. . . 2327
X. Feng, C. C. Chan, W. lie, G. Shuying and Q. Shouzhi

Modeling and Simulation of Induction Motor with Mechanical Fault Based on Winding Function Method ......... 2334
Z. Ye, B. Wu and N. Zargari

Comparison of different winding schemes reference to their application on speed sensorless control of
induction machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2340
T. M. Wolbank, R. Woehrnschimmel and Bernhard Haidvogi

A Novel Stopping Method for Induction Motors Operating From Variable Frequency Drives . . . ........................... 2346
M. M. Swamy, T. l. Kume, S. Fujii, Y. Yukihira and M. Sawamura

Length Measurement of Curved Pipes and Branch Pipes Using Stationary Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . 2352
S. Tanaka

A Statistical Fire Judgment System for the Time Series of Smoke Density Using Gradient Histogram ........... .. .... 2359
S. Tsuruoka, N. Wakabayashi and T. Yoshikawa

Directional Difference-Summation Approach to Discrete Box Splines and Its Applications . . ......... ..... ...... ... . . .
. . . . . . 2365
T. Asahi, K. Ichige and R. Ishii

Error Analysis and Experimental Tests of CATRASYS (Cassino Tracking System) . . . . . . . . . . . .. . .... .. . . . . . .
. . ... . ... . . . . . . ... 23 7 1
.

M. Ceccarelli, C. A vila Carrasco and E. Ottaviano

Avoid Crosstalk of Sonar by Using Sliding Mode System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2377

T. Emaru and T. Tsuchiya

Actual condition monitoring of engine oil through an intelligent multi-functional sensing approach . . .................. 2383
D. M. G. Preethichandra and K. Shida

Planning and Keeping the Safe Course to Avoid Collision at Sea with Genetic Algorithms ..................... ............. 2388
X. -M. Zeng, M. lto and E. Shimizu

PZT Thin Film Pressure Sensor for On-line Monitoring Injection Molding . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . . . . .. . . 2394
R. C. Luo and C. M. Chen

Controlling Chaotic Chattering in Discontinuous Switching Mode of DC-DC Buck Converter . . ........................... 2400
T. Hikihara, M. Konaka and y. Veda

Synchronization of Chaotic and Hyperchaotic Systems ...... .. . .

. ... .... . . . . . ... .. ......... . .
. .......... . . . . . . . . . . . . . . . . . . .. . . . . .
.. ......... . 2407
...

M. Iloh, T. Tauchi, T. Yang and L. O. Chua

Control of Bifurcation in Current-Programmed DC/DC Converters: An Alternative Viewpoint of Ramp

Compensation . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . 24 1 3
C. K. Tse, Y. M. Lai and M. H. L. Chow

Anti-Control of Chaos in Chua's Circuit with Time-Delay Feedback. . ............ . . . . . . .. . . ... . . .... ......... ........ . . ................. 24 1 9
X. F. Wang. K. S. Tang. K. F. Man. G. Q. Zhong and Z. F. Liu

Radiowave propagation in industrial environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . .... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2425

S. Kjesbu and T. Brunsvik

xxiii
Slave node architecture ofr train communications networks . . .... . . . ...
. . ... . . .... . .....
. .. .. .... ... . .. . . . . . . . . ... ....... . . . . .. . . .
. . . ..... . . . 243 1
.

A. Chavarria, J. Lopez de A rroyabe, A. Zuloaga, J. Jimenez, 1. L. Martin and G. Aranguren

A Real-Time Communication Mechanism for RTLinux ... ... ...... ........ ......... ....... . ......
.. . . . ... . ... .
. ....... . . . ... . . ...... . .... .
. . ... 2437
H. Sato and T Yakoh

Secure Web-based Monitoring and Control System . . . . . . . ... . .... . .. ... . . .. .

. . .. . . . . . . . . .. . . . .
. . . . ...... ..... ....... . ....
. . ..... . . . . ... .
. . ... . . . . . 2443
M. Furuya, H. Kato and T. Sekozawa

The CANopen Markup Language-Representing Fieldbus Data with XML . . . . . . . . . . .. . .. . . . ... . .... . . ..
. . . . . ....... ..... . .. ... . . . . . . 2449
.

D. Buhler

SDL-to-C Conversion for Implementing Embedded WLAN Protocols . . . . . . . . . . . . . . . .. . . . . ...... .. . . . . . . . .... ... .... . ..... ....... ..... . 2455
M. Hiinnikiiinen, A. Takko, J. Knuutila, T D. Hiimiiliiinen and J. Saarinen

Capability Evaluation of Reconfigurable Brachiating Space Robot ... . . ... ........ . . . . .. .. . .

. . . . . . . ... . . .......... . ... ........ ..... . . .... . 2461
R. Hayashi, S. Matunaga and Y. Ohkami

Hyper Redundant Modular Manipulator Arm ... . .. . .... . .. . .

. . . . . . . . . ..... ... ..... . .. . . . . . . . . ..... ..
.. . . . .. . . . . . . ... .
.. . ...... . . .. . .
. .. . . . . ..... .. . ... 2467
S. Kimura, S. Tsuchiya, T. Takegai, N. lizuka, K. Moritani, S. Nishida, N. Kawashima and R. Okamura

Motion Simulation of a Modular Robotic System . . . . ... ................. .. .......... .. . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . .. ...... . . . . .. ... ....... . . . 2473
.

H. Kurokawa, K. Tomita, E. Yoshida, S. Murata and S. Kokaji

Dynamics and Distributed Control of Modular Robotic Systems ........................ . . . ........... . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2479
W. H. Lee and A. C. Sanderson

Nonlinear System Identification Using Genetic Algorithm . . . . . . . . . . . . . . .. . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2485

T. Kumon, M. Iwasaki, T. Susuki, T Hashiyama, N. Matsui and S. Okuma

Evolutionary Identification Algorithm for Unknown Structured Mechatronics Systems Using GA . . .. . . . . . . . .. . . . . . . . . . . 2492
M. Iwasaki and N. Matsui

Reducing Computational time on Evolution under the Real Environment Using Fitness Estimation ................. .... 2497
M. Yamamoto, T Hashiyama and S. Okuma

Evolutionary Computation in Engineering Artificially Immune (EAI) System . . .......... .. .. ........ .. . . . ............. ..... ........ 2501
B. T. Nahara and H. Takahashi

Crack Shape Reconstruction from Noisy Signals in ECT of Steam Generator Tube . . . .. .... . ... . .
. . . . . .. . . ... .
. . . ... . . . . ... .. 2507
. ..

H. Huang and T Takagi

Frequency Scanning Technique for Nondestructive Testing A Multi-frequency Excitation and Spectrogram
Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .. . 25 1 3
M. Enokizono, T. Chady, T Todaka and Y. Tsuchida

Quantitative Nondestructive Evaluation of Material Defect using GP-based Fuzzy Inference System .................. 25 1 9
F . Kojima and N . Kubota

A Distributed Architecture for the LHC Dipole Series Measurement .... . . . . . . . . . . . . . . . . . .. .... .. . . . . . . . ..... . . . . . ..
. . . ..... . .. .
. . . . . . .. . 2525
A . Raimondo, H. Reymond and A. Rijllan

Learning weights for Weighted OW A operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2530

V. Torra

Generating Rules and Reasoning under Inconsistencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . 2536

G. Y. Wang, Y. Wu and F. Liu

The electronic head: A virtual quality instrument. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . 2542

P. Wide and S. Asp

High Accuracy Multisensor Road Vehicle State Estimation .... ... . . .. . . .... . . . ... .. . . .... ....... ...... . ....
. ...... . . . .
. . . .... . . ... . . .... ... 2547
M. Wada, K. S. Yoon and H.. Hashimoto

XXIV
Recognition of human motion behaviors using multi ple omni-directional vision sensors . . . . . . . . . . .... . . . . .. . . .
. .. . . . . . .. .. ... 2553
T. Nishimura, T. Sago, R. Oka and H. Ishiguro

Super-resolution From An Omnidirectional Image S equenc e . . . . . . ....... ............... ............ . . . . . .................................... 2559
H. Nagahara, Y. Yagi and M. Yachida

Image-based Construction of 3D Virtual Environments from a Sequence of Omnidirectional Images ..... ............. 2565
K. Yamaguchi, K. Yamazawa, H. Takemura and N. Yokoya

Town digitizing: Recording of street views by using onmidirectional vision sensors ..... ....... ................................. 257 1
K. Kato, H. Ishiguro and M. Barth

Agents, Emergence, Emotion and R epresentation .............. ..................... .. ...................... . . . . .......................... .......... 2577
D. N. Davis

A Prolegomenon to a Semiotic Theory of Creativity . . . . . . . . . . . . . . . . . . .......... . . . . . . . . . . . . . . . . . . . . . . .... ... . . ........ . . . . . . . . . . . . . ............... 2583
V. V. Kryssanov, H. Tamaki and S. Kitamura

Design of Affective Interface for Realizing Human-Machine Empath y ................. ............ . .. . . . ............................... 2589
H. Shimoda, T. Kunihiro, D. Yang and H. Yoshikawa

Self-Reflective Learning of Invariants in Human-Artifact Interac tions U s i ng Recurrent Neural Network ............. 2595
T. Sawaragi and T. Kudoh

Analysis and Synthesis of Decentralized Systems with Informational Connection ................................................. 2602
Y. Fujimoto, T. Yakoh and K. Ohnishi

An Algebraic Approach to Design of Discrete S ystems ...... ........ .... .... ...... ............... . . . ......................... ................... 2608
Y. Fujimoto and T. Sekiguchi

A Compari son Study between Parallel and Serial Linked Structures in B iped Robot System . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 1 4
M. Morisawa, T. Yakoh, T. Murakami and K. Ohnishi

Simulation Study of Virtual Flux Based Direct Power Control for Three-Phase PWM Rectifiers ...... . . ................. 2620
M. Malinowski and M. P. Kazmierkowski

Dual Hysteresis Loops for a High-Performance Four-Switch Boost Rectifier . . . .. . . . . . . . . . . . . . . . . . . . ............ . .

. .... ............. 2626
Y. -K. La, H. J Chiu and S. -Y. Ou
-
.

Passivity-based controller for a three phase synchronous rectifier ................. ....... .............. .................................... 2629
J. M. Carrasco, E. Galvan, G. Escobar, A. M. Stankovic and R. Ortega

A Novel Shunt Active Current Shaping Scheme for Multip le paralleled DC-DC Converters . . . . . . . . . . . . . . . . . . .............. 2635
H. -J. Chiu, Y. -K. La and S. -Y. Ou

A Power Factor Correction with Voltage Doubler Rectifier. . . . . . . . . . . . . . .. . . . . . . ... . . .. . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . : . . . . . . . . . . . . . . . . 2641

I. Yamamoto, K. Matsui and F. Ueda

Characteristics of Single-Pulse Soft-Switching PFC Converter . .. ............ .... . ..... . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........ 2648
K. Taniguchi, T. Watanabe, T. Morizane and N. Kimura

Finite-Time Settling Control Scheme of Low Pass Filter-related State Variables for Current-source Three-
Phase PWM PFC Converter and Its Performance Evaluations . . . . . .. . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . ..................................... 2654
K. Nishida, Y. Konishi and M. Nakaoka

Active Resonant Leg-Link Snubber-Assisted Three Phase Soft Commutation PFC Converter and Its Practical
Evaluations . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2660
M. Yoshida, M. Yamamoto, E. Hiraki, S. Chandhaket and M. Nakaoka

Binary Controlled Single Phase PFC Rectifier . . . . . . . . . . . . . .. . . . .

. . .. . . . . . .. . . . . . ... ... .. . .
. . .... ... . . . .
. . . . . . . . . . . . . . ..
. .. . . . . . . . . . . . . . .... .
. . . . . . . . 2666
.

T. Ohnishi

Experimental Study of Isolated Multipopulation Genetic Programming ....... . . ... ................ . . . . . . . . . . . ......................... . 2672
F. Fernandez, M. Tomassini and J. M. Sanchez

xxv
Virtual Market Emergency for Resource Allocation in Supply Web ........... .. . .
. . . . . . . . . . . . . . . . . . . . . . . . . . .. ..... . .
.. ... .. . .. .
. . . . . . . . 2678
.

T. Kaihara

Fuzzy Logic Control of Batch-feeding Refuse Incineration Process ...... . .... .. .

. ..... . . . . . . ' .... . . . . '" . . . . . . ..... . . . . ....... . . . . . . . ... 2684
.

X. Yang and Y. C. Soh

Stochasticity Applied to a Neural Tree Classifier .. . . . . . . . . . .. .

. ..... ... . . . . . . .... ..... ... ........ . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . ... . 2690
...

W. Pensuwon, R. G. Adams and N. Davey

Study of Evolution in Genetic Algorithms by Eigen's Theory Including Crossover Operator . . .. . . .... . . . .. . . ...... ... . . . . . 2696
H. Furutani

A Natural and Simple Function Which is Hard for All Evolutionary Algorithms .......................... ........ . ........ . ....... 2704
S. Droste, T. Jansen and I. Wegener

An Investigation of the use of Local Search in NP-Hard Problems . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 10

D. Newth, M. Kirley and D. G. Green

Dynamic Partitional Clustering Using Evolution Strategies . . . . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .. . . . . 27 1 6

C. - Y. Lee and E. K. Antonsson

Chaotic S imulated Annealing with Augmented lagrange for Solving Combinatorial Optimization Problems ....... 2722
F. Tian and L. Wang

Pheromone Evaluation in Ant Colony Optimization . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .. . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2726

D. Merkle, M. Middendorf and H. Schmeck

An Incremental State-Segmantation Method for Reinforcement Learning Using ART Neural Network . . . . . .. . . . . . . . . 2732
H. Handa, A . Ninomiya, T. Horiuchi, T. Konishi and M. Baba

Visualized lEC: Interactive Evolutionary Computation with Multidimensional Data Visualization . . . . . .. . ... . . . .... . . . 2738
.

N. Hayashida and H. Takagi

Integer Programming through Genetic Algorithms with Double Strings Based on Reference Solution
Updating . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2744
M. Sakawa and K. Kato

Computational methods through genetic algorithms for obtaining Stackelberg solutions to two-level zero-one
programming problems . . . . . . . . . . . . . . . . . . . . .. . . .. . . . . . . . . . . . . .. . . . . . . .. . . . . . . . . .. . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2750
l. Nishizaki, M. Sakawa and K. Kato

Rule-Based Weight Definition for Multi-Objective Fuzzy Scheduling with the OWA Operator ........................... 2756
T. Murata, H. Oshida and M. Gen

The Complexity of Organizational Decision with Individual Adaptation . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2762

S. lwanaga and A. Namatame

Evolutionary Algorithm with Dynamic Population Size for Multi-Objective Optimization .... ............................... 2768
E. F. Khor, K. C. Tan, M. L. Wang and T. H. Lee

Linear Approximation Model Network and its Formation via Evolutionary Computation . . . . ......... . ..... . . .
. . ..... . . . 2774
.. . . .

K. C. Tan, Y. Li and M. L. Wang

An Evolutionary Algorithm for the Synthesis of Oblique Incidence Optical Coatings ... . . . .. . . . . . . . . ... . . . . . .. . ... . . . . . . . . 2780
... . .

1. -M. Yang and C. -Yo Kao

A. Self-Organizing Neural Network for the FE Simulation of Light Propagation . . . . . . . .. . . . . . . .. . ..... . .

. . . . . . . . .
. .... . . . ... . 2786
. . . .

C. -A. Bohn

Distributed data warehouses - the role of adaptive information agents ................... ............................... . ................ 279 2
N. T. Clapham, D. G. Green and M. Kirley

Genetic Algorithms as Applied to Line Profile Reconstruction in the Scanning Electron Miroscope .................... 279 8
X. Li, Y. Uchikawa and T. Kodama

xxvi
Analysis and Modeling of Human Driving Behaviors Using Adaptive Cruise Control . . . . . .. . . . . . . . . . . . ............... ......... 2803
H. Ohno

Real-Time Decision Making for Autonomous Mobile Robot using Evolution Strategy and Anything Sensing ... 2809
K. Fujisawa, S. Hayakawa, T. Aoki, T. Susuki and S. Okoma

Modified Edge Recombination Operators of Genetic Algorithms for the Traveling Salesman Problem ................ 2815
H. D . Nguyen, l. Yoshihara and M. Yasunaga

The Crossover from "Learning and Evolution" to "Evolution" . . . . . . . . . . . . .. . . . . . . . . . . ................ . .

. ........... . . . . . ......... ...... . . . . . 2821
K. Yamasaki and M. Sekiguchi

Introducing Co-evolution and Sub-evolution Processes into Genetic Algorithm for Job-Shop Scheduling . . .......... 2827
Y. Tsujimura, Y. Mafune and M. Gen

Evolutionary Emergency of collective Intelligence with Artificial Pheromone Communication . . . . . . . . .. . . . . . . . ...... . . . . . 283 1
H. Kawamura and A. Ohuchi

A Real Multi-Parent Tri-Hybrid Evolutionary Optimization Method With Applications In Overlapping Signal
Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . . . . 2837
N. Mendoza, Y. W. Chen, Z. Nakao, T. Adachi and Y. Masuda

A Pyramid Model for B lind Deconvolution B ased on Simulated Annealing ....... . . . . . . . . . . . . . . . . . . . . . . . .... . . . . . . . . . . . . . . . . . . . . . . . . 2843
Y. -w. Chen, T. Enokura, N. Mendoza and Z. Nakao

Evolutionary Optimization Algorithm using MHC and Immune Network. . . . .. . . . . . . . . .

. . . . . . . ..... .. . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . 2849
N. Toma, S. Endo, K. Yamada and H. Miyagi

Cyclic Job-Shop-Scheduling based on Evolutionary Petri Nets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . ....... . . . . . 2855

M. Nakamura, H. Tome, K. Hachiman, B. M. Ombuki and K. Onaga

Committee Learning of Partial Functions in Fitness-Shared Genetic Programming . . . . . . . . . . .. . . . . . . .. . . . . . . . . . . .. . . . . .... . . . . . . . 2861

R. I. McKay

Learning Robot Behaviors by Evolving Genetic Programs . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . ...... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . 2867

K. -J. Lee and B. -T. Zhang

Analysis of Collective Behavior in Distributed Social Dilemma with Meta-players . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . .. 2873

..

T. Yamashita, H. Kawamura and A. Ohuchi

Autonomy from the Viewpoint of Bi-referential Mode . . . . . . ... ............... . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . ... . . . . . . . . . . . . . . . .. . . . . . . . . . 2879
T Shiose, T Sawaragi, O. Katai and M. Okada

Interactive Self-Self-Reflection based Multiagent Reinforcement Learning for Coordination . . .. . . . . . . . . . . . . . . . . .. . . .. . . . . . 2885

T. Yamaguchi and R. Watanabe

Which Organization Knowledge is Useful: Rare, Medium, or Well-done? . . . . .. . . . . . . . . . . . . . . . .. . . . . . . . . .... . . . . . . . . . . . . . . ...... . . . . . 2891
K. Takadama, T. Terano and K. Shimohara

On the evolution of interaction rules in a canonical auction market with simple bidding agents ....... ..................... 2897
N. E. Nawa, K. Takadama, K. Shimohara and O. Katai

How to Autonomously Decide Boundary Between Self and Others? ................. . . . . . . . . .. . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . ...... . . . . . 2903
K. Takadanuz, H. Inoue and K. Shimohara

Agents on Wave Field: Simulation of Traffic on Train Station . . . . . . . . . . . ..... . . . . . . . .. . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2909

H. Mamiya, M. Kudo, H. Satoh and A. Namatame

Operation Planning of District Heating and Cooling Plants Using Genetic Algorithms for Mixed 0- 1 Linear
Programming . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... . . . . . . . . . . . . . . . . . . . . . . . . . . ..... . . . . ..... . . . . . . . . . . . . . . . 29 1 5
M. Sakawa, K. KalO and S. Ushiro

The Mimetic Origins of Self-Consciousness in Phylo-, Onto- and Robotogenesis . . . .. . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . 292 1

J. Zlatev

xxvii
Online Optimization of an Engine Controller by means of a Genetic Algorithm using History of Search ............. 2929
Y. Sana, H. Kita, I. Kamihira and M. Yamaguchi

Constraint Satisfaction on Dynamic Environments by the means of Coevolutionary Genetic Algorithms ............. 2935
H. Handa, O. Katai, T. Konishi and M. Baba

Arrangements of Agents with Social Value Orientation in Line Land . . . . ............... . ..... . ..... . . . . . . . . . . . . . . . . .. . . . . . . .. . . . . . . . . . . . 294 1
K. Susuki and A. Ohuchi

Genetic Algorithms for Adaptation to Dynamic Environments - A Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . . . . . . . 2947

N. Mori and H. Kita

Adaptation to a Dynamic Environment by Means of the Environment Identifying Genetic Algorithm . . . . . ............. 2953
N. Mori, T. Kude and K. Matsumoto

Semiotic Modeling of Human Behaviors Interacting with the Artifacts Using Recurrent Neural Networks ...... . 2959
...

T. Sawaragi and S. Ozawa

Application and Evaluation of Fusion of Symbolic and Computational Processing . . . . . . . .. . . . . . . . . .. . . . . . .. . . . . . . . . . . . .. . . . . . . . . 2965

S. Fukuda, S. Tano, R. Arai, Y. Uemura and D. Futamura

A Study on Teaching Infromation Understanding by Mobile Robot . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . .. . . . . . . . . .. 297 1

H. Itani and T. Furuhashi

Lamarckian Evolution in Global Optimization .... . . . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . . . . . . . .. . . . . . . . . . ..... . . . . .. . . . . . . . . . . . .. . . . . . .. . ................... 2975

K. H. Liang, X. Yao and C. Newton
Development of Evolvable Hardware at Electrotechnical Laboratory . . . . . . .. . . . . . . . . . ... .................. . . . . . . . . ...................... 298 1
T. Higuchi, M. Iwata, E. Takahashi, Y. Kasai, H. Sakanashi, M. Murakawa and l. Kijitani

A Synergistic Architecture for Adaptive, Intelligent Control System Development . . . . . . . ...... ..... .. . . . . ....................... 2986
C. L. Karr

Evolutionary Computation versus Reinforcement Learning . .. . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..... . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . 2992

J. Schniidhuber

Author Index . . . . . . . .. . . . . . . . . . . . . . . . ..... . . . . . . . . .. . . . . . . . . . . . . . . ...... . . . . .. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... . . . . .. . . . . . . . . . follows page 2998

xxviii