CCA 2003Proceedings of

2003 IEEE Conference on

Control Applications

Volume 1 of 2

June 23-25, 2003Istanbul, TURKEY

C-C> j Sicbi/

UB/TIB Hannover 89125 524 51X

TuA4-l: Motor Control 1

Yusuf Bulale1, Momoh Salami , Marizan Sulaiman'1 Kolej Universiti Teknikal Kebangsaan (KUTKM), Malaysia, 2International IslamicUniversity, Malaysia

IDesign and Development of DSP-based Hybrid Controller for Servo Driver Applications 773

Robust Adaptive Stator Current Control for an Induction Machine 779Cheng-Jin Zhang1, Matthew Dunnigan2

'Shandong University, China,'Heriot-Watt University, UK

A Fuzzy Self-Tuning PI Controller for Speed Control of Induction Motor Drive 785Lakhdar Mokrani1, Rachid Abdessemed2

Laghouat University, Algeria,'Batna University, Algeria

Modeling and Full State Feedback Adaptive Control of a Two Dimensional Linear Motor 791Ali Yurdun OrbakUludag University, Turkey

Passivity Based Control of the Double Inverted Pendulum Driven by a Linear InductionMotor 797

Chin-I Huang, Li-Chen FuNational Taiwan University, Taiwan

xx

Rejection of States-Dependent Nonlinear Disturbance Torques in Servomechanisms withFinite-Dimensional Repetitive Control 803

Zhang Dongchun, Zeng Ming, Su BaoKuHarbin Institute of Technology, China

t TuAl-2: Neural Control

An Adaptive Neural Control of a Fed-Batch Fermentation Processes 808Ieroham Baruch, Josefina Barrera Cortes, Jenaro Perez Medina, Luis Alberto HernandezCINVESTAV-IPN, Mexico

An Integral-Plus-State Adaptive Neural Control of Mechanical System 813Ieroham Baruch', Alfredo del Carmen Martinez1, Federico Thomas2, Ruben Garrido1

'CINVESTAV-IPN, Mexico, 21RI, UPC, SPAIN

Neural-Net Based Robust Adaptive Control of Uncertain Nonlinear Composite Systems 819Yanxin Zhang', Georgi Dimirovski', Yuanwei Jing , Siying Zhang'Northeastern University, China, 2 Dogus University, Turkey

Adaptive Backstepping Control for Induction Motor Based on Neural Networks andDynamic Surface Technique 826

Li Yahui, Liu Guozhong, Zhuang Xianyi, Qiang ShengHarbin Institute of Technology, China

Speed Control of a DC Motor Using BP Neural Networks 832Zilong Liu, Xianyi Zhuang, Shuyi WangHarbin Institute of Technology, China

Fuzzy approximation-based model reference adaptive control of nonlinear systems 836Noureddine Golea, Amar Golea, M. Kadjoudj

TuA2-2: Process Plants 2

Performance Evaluation of Run-to-Run Control Methods in Semiconductor Processes 841Chang-Zhang, Hao Deng, John BarasUniversity of Maryland College Park, USA

Limitations of Using a Normal-incidence, In-situ, Optical Growth Rate Monitor forControlling Nitride Semiconductor Deposition by Metalorganic Chemical VaporDeposition 849

Jon Burnsed1, Steven DenBaars2, Roy Smith2

' Vareda, Inc., USA, 'University of California, Santa Barbara, USA

Optimal Coordination of Crystallization Batch Processes using Rules and Practices ofExtreme Programming 856

Wolfgang Bock', Harald Konig2, Lothar Litz1

' Kaisers lautern University of Technology, Germany,' Siidzucker AGMannheim/Ochsenfurt, Germany

CIPS-based Alcohol Production Process Monitoring and Optimal Control Systems 861Sheng Qiang1, Tong Zhang2, Xiao-Zhi Gao3, Xianyi Zhuang''Harbin Institute of Technology, China, 49th Research Institute of China ElectronicTechnology Group Corporation, China, Helsinki University of Technology, Finland

XXI

A Modern Control System Application in Metals Processing and Technological Progress 865Ersen Kuru, Leyla Kuru, Etem KoklukayaSakarya University, Turkey

Evaluation of Operation Load in Automatic Raw Material Inspection System 870Tae Gyoon Lim1, K*yu Won Jeong2

'Research Institute of Industrial Science and Technology, SOUTH KOREA, 2 ChungbukNational Universitv, SOUTH KOREA

TuA3-2: PID Controllers

Computation of Stabilizing PI and PID Controllers 876Nusret Tan1, Ibrahim Kaya1, Derek P. Atherton2

' Inonu University, Turkey, 2Sussex University, UK

A Simple Procedure for Improving Performance of PID Controllers 882Ibrahim Kaya1, Nusret Tan1, Derek P. Atherton'Inonu University, Turkey,' University of Sussex, UK

A Tuning Method of Multi Variable PID Gains Using Jacobian 886Byeong-Mook Chung, Yoon-Kyu LimYeungnam University, Korea

Bit Streams: An Alternative Approach to Digital Controller Implementation 892Nitish Patel, George Coghill, Sing Kiong NguangUniversitv of Auckland, New Zealand

Controller Design for Integrating Processes Using User-specified Gain and Phase MarginSpecifications and Two Degree-of-freedom IMC Structure 898

Ibrahim KayaInonu University, Turkey

New Techniques for PID Controller Design 903Mohammad H. MoradiUniversity ofBu-AH Sina, Iran

\ TuA4-2: Motor Control 2 |||

Space Harmonics in Electrical Machines : Extended State-Space Model and KalmanFilter 909

Frederic Vernet, Frederic Heliodore, Jean-Luc Thomas, Serge PoullainAlstom T&D, PERT Department, France

State Estimation of Induction Motor Using Unscented Kalman Filter 915Bilal Akin, Umut Orguner, Aydin ErsakMiddle East Technical University, TURKEY

Transfer Function Evaluation in MRAC for Synchronous Machine Speed 920Khalid S. Al-Olimat, Garth Girman, Eleanor. J. Kurtz, H. John Swarthout IIIOhio Northern University, USA

Speed Regulation of DC Motors Using Intelligent Controllers 925Farzan Rashidi1, Mehran Rashidi2, Arash Hashemi-Hosseini3

Tehran University, Iran, Hormozgan University, Iran, Sharif University, Iran

XXII

A Novel Control Method for Active Power Filter Under Non-Ideal Mains Voltage 931Engin Ozdemir, Murat Kale, Sule OzdemirKocaeli University, Turkey

Elimination of the Stator Resistance Sensitivity and Voltage Sensor RequirementProblems for DFO Control of an Induction Machine 937

Habib-ur RehmanUnited Arab Emirates Universitv, United Arab Emirates

I WdMl-1: Stability Problems

Direct Method Implementation for the Stability Analysis of Multiple Time DelayedSystems 943

Rifat Sipahi, Nejat OlgacUniversity of Connecticut, USA

Stability Analysis of Linear Systems with State Jump — Motivated by Periodic MotionControl of Passive Walker - 949

Kentaro Hirata, Hideki KokameOsaka Prefecture University, JAPAN

Probability Distribution Modelling to Improve Stability in Nonlinear MIMO Control 954Randa Herzallah, David LoweAston University, UK

A Nonlinear Output Feedback Control Method for Magnetic Bearing Systems 960Kang-Zhi Liu, Rong HeChiba Univeristy, Japan

Research on Lift Feedback Fin Stabilizer System and Its Intelligence Controller 966Yao Xuliang, Zhang Haipeng, Chen Fang, Jin HongzhangHarbin Engineering University, China

A Study on Recursive Algorithm of Moving Horizon Estimation 972Zhao Wang1, Zhiyuan Liu1, Xiguang Ban2, Run Pei11 Harbin Institute of Technology, China, Dalian Naval Academy, China

Stabilization of Inertia Wheel Pendulum using Output Feedback Back-stepping 977Saman Afkhami, Mohammad Javad Yazdanpanah, Parviz Jabehdar MaralaniTehran University, Iran

W d M 2 - l : Robot ic Systems 2 \\\

An Iterative Approach in Pose Measurement through Hand-Eye Calibration 983Abdul Muis, Ohnishi KouheiKeio University, Japan

Variable Structure PID Controller for cooperative eye-in-hand/eye-to-hand VisualServoing 989

Mainardi Elena, Mantovani Cristiano, Fabbri Damiano, Marcello BonfeUniversity ofFerrara, Italy

Haptic Interface Prototype for Feedback Control on Robotic Integration of SmartSensors 995

Zhengmao Ye, Gregory AunerWayne State Univesity, USA

X X I I I

Position Control of a Single-Link Robot-Arm Using a Multi-Loop PI Controller 1001Mehmet Turan Soylemez, Metin Gokasan, O. Seta BogosyanIstanbul Technical University, Turkey

Integrator Backstepping Control of a 5 DoF Robot Manipulator Incorporating ActuatorDynamics * 1007

Amir Lotfazar, Mohammad Eghtesad, Mohsen MohseniShiraz University, IRAN

A Real-Time Teleoperation Scheme of Internet-based 6-DOF Parallel Manipulator 1013Wang Changhong, Wen Qiyong, Teng Fei, Ma GuangchengHarbin Institute of Technology, China

Kinematic Synthesis of Robotic Manipulators From Task Descriptions 1018Sobh M. Tarek, Toundykov Y. DanielUniversity of Bridgeport, USA

WdM3-l: Manufacturing & Mechactronics

An Agent-Oriented Architecture for F.M.S Control/Monitoring 1024Insaf Tnazefti-Kerkeni1, Luciana Arantes1, Mohamed Moalla2

Paris6 University, France, " TUNIS II University, Tunisie

Design and Verification of Industrial Logic Controllers with UML and Statecharts 1029Marcello Bonfe', Cesare Fantuzzi2

' Universita di Ferrara, Italy, 2 Universita di Modena e Reggio Emilia - DISMI, Italy

Towards a General Tool for Mechatronic Design 1035G. Avigad, A. Moshaiov, and N. BraunerTel-Aviv University, Israel

New Perspectives in Time(d) Petri Nets and their Analysis 1041Latif SalumDokuz Eylul University, Turkey

Falut Tolerant Liveness Analysis for a Class of Petri Nets 1046Fu-Shiung H^iehOverseas Chinese Institute of Technology, China

\Development of Five-Axis Laser Cutting System for the Tangent Cutting Solid FreeformFabrication System 1052

Youngcheol Joo, Taijoon Urn, Yonghae Kong, Ingook Chun, Seungwoo Kim, JaecheolBangSoonchunhyang University, Korea

WdM4-l: Modelling & Computing ]|

Computation of the Kernel of a Linear Fractional Representations 1058Jean-Francois MagniONERA-CERT, France

Improvement of Parameter Estimation using Prediction Error Dynamics for UnstableSystem 1064

Duckgee Park, Moon-Soo Park, Suk-Kyo HongAjou University, Korea

xnv

Influence of Physical Parameters on System Eigenvalues and Its Use in Physical ModelReduction 1070

Ali Yurdun Orbak', Esref Eskinat2

Uludag University, Turkey, Bogazici University, Turkey

A Reconffgurable Recursive and Efficient Hardware for Karatsuba-Ofman'sMultiplication Algorithm 1076

Nadia Nedjah, Luiza de Macedo MourelleState University of Rio de Janeiro, Brazil

Delay-Aware Decoupling of Multivariable Control Systems with Observers 1082Anne Angermann, Dierk SchroederTechnische Universitaet Muenchen, Germany

A New Control Algorithm for Matrix Converters under Distorted and UnbalancedConditions 1088

Seyed Hossein Hosseini, Ebrahim BabaeiAzad University of Tabriz, Iran

Unsupervised Classification of KOMPSAT EOC Imagery Based on IndependentComponent Analysis 1094

Ho-Yong Lee, Seung-Gun Byoun, Kwae-Hi LeeSogang University, South Korea

I WdMl-2: Adaptive Control

Adaptive Nonlinear Partial Observers with Application to Time-Varying Chaotic Systems 1100D.V. Efimov, A.L. FradkovInstitute of Problem of Mechanical Engineering, Russia

Adaptive Backstepping Control Design for a Flywheel Zero-Bias AMB System 1106Selim Sivrioglu1, Muneharu Saigo1, Kenzo Nonami'Smart Structure Research Center, AIST, JAPAN, 2Chiba Universitv, JAPAN

Adaptive Speed Control of a Two-Mass System 1112Matthias Feiler, Christian Westermaier, Dierk SchroderTU Munich, Germany

i

A Novel Captive Hysteresis Band Current Controller for Shunt Active Power Filter 1118Murat Kale, Engin OzdemirKocaeli University, Turkey

Application of Adaptive LQR with Repetitive Control for UPS Systems 1124Karam Shabaani, Mahdi Jalili KharaajooTehran University, Iran

Adaptive Nonlinearity Predistortion Schemes with Application to OFDM System 1130Yuanming Ding1, Lianming Sun2, Akira Sano1

1 Keio University, Japan, The University ofKitakyushu, Japan

I WdM2-2: Robotic Systems 3

Energy Preserving Control of a Hopping robot based on Hybrid Port-controlledHamiltonian Modeling 1136

Masato Ishikawa , Atsushi Neki2, Jun-ichi Imura2, Shinji Hara1

'The University of Tokyo, Japan, 2 Tokyo Institute of Technology, Japan

xxv

Kinematics Control of a 6 URS Parallel Platform Working as an Impedance Display 1142Jose Maria Sabater1, Jose Maria Azorin', Nicolas Garcia', Rafael Aracil2, Roque Saltaren2

Miguel Hernandez University, Spain, Politechnic University of Madrid, Spain

Kinematic and Dynamic Sensitivity Analysis of a Three-Axis Rotary Table 1147Aria Alasty, Hasan AbediSharif University of Technology, Iran

Multifunctional Two-coordinate Scanning System 1153Giedrius Blaziunas, Villius GelezeviciusKaunas University of Technology, Lithuania

Model-Based Feedforward for Motion Systems 1158Matthijs Boerlage1, Maarten Steinbuch1, Paul Lambrechts', Marc van de Wai2

Eindhoven University of Technology, The Netherlands, Philips CFT, The Netherlands

Problem of Tracking a Reference with Unknown Derivatives 1164Mohammad Bilal MalikNational University of Sciences and Technology, Pakistan

WdM3-2: Internet & Software 1

Dynamic Analysis for a Teleoperation System with Time Delay 1170Jose M. Azorin1, Oscar Reinoso1, Jose M. Sabater1, Ramon P. Neco1, Rafael Aracil2

' Universidad Miguel Hernandez, Spain,' Universidad Politecnica de Madrid, Spain

Behavior of Smith Predictor in Teleoperation Systems with Modeling and Delay TimeErrors 1176

Soheil Ganjefar1, Hamid Momeni1, Farrokh Janabi-Sharifi , Mohammad Hamidi-Beheshti1

Tarbiat Modares University, Iran,'Ryerson University, Canada

Design and Implementation of an Internet-based Embedded Control System 1181Hongtao Yang, Roy EaglesonThe University of Western Ontario, Canada

Simple Counting Rule for Optimal Data Fusion 1186Naghmeh Mansouri1, Madjid Fathi2

'Ferdwosi University (Mashhad), Iran, 2Florida State University, USA

iSmart Interfaces for Human-Computer Intelligent Interaction 1192

James Yven, Harry WechslerGeorge Mason University, USA

Web-based Control Service for Self-Organization of IDCS 1198Ma Guangcheng, Teng Fei, Wang Changhong, Wang YufengHarbin Institute of Technology (HIT), China

WdM4-2: Micallaneous Controls

Cooperative Transportation Control by Using Internal Model Control Design and LQControl 1203

Ryoichi Suzuki, Masashi Tani, Satoshi Kurakawa, Akihiro Shimizu, Nobuaki KobayashiKanazawa Institute of Technology, Japan

XXVI

Controller Configurations for Irrigation Channels Derived from Sequential MinimumVariance Control 1209

Erik WeyerThe University of Melbourne, Australia

Dynamic Control of a Building Fluid Distribution System 1215Pankaj Kalore1, Osman Ahmed2, Mark Cascia2

'Illinois Institute of Technology, USA, 2Siemens Building Technologies, Inc., USA

Double-ended Optical Beam Tracking 1221Murat Efe1, Fikret An1, Faruk Ozek1, Derek P. Atherton2, Falah Ali2

'Ankara University, Turkey, 2 University of Sussex, UK

Performance Measures for Input Shaping 1227Kris Kozak, John Huey, William SinghoseGeorgia Institute of Technology, USA

Design and Experiment of a Novel Precise Maglev Positioning System 1233Mei-Yung Chen, Tzuo-Bo Lin, Shin-Guang Huang, Li-Chen FuNational Taiwan Universitv, Taiwan

I WdAl-1: Identification 2

Finite Sample Quality Assessment of System Identification Models of Irrigation Channels 1239Su Ki Ooi1, Erik Weyer1, Marco C. Campi'The University of Melbourne, Australia,' University of Brescia, Italy

Real Time Parameters Identification of Ship Dynamic Using the Extended Kalman Filterand the Second Order Filter 1245

Fei Chun Ma1, Sok Han Tong2

'Instituto Superior Tecnico, Portugal, 2Instituto Superior de Ciencias do Trabalho e daEmpresa, Portugal

MIMO and MISO Systems Applied to an Induction Machine Parameter Identification 1251Rachid Ibtiouen1, Omar Touhami', Lamine M. Mghezzi1, Said Mekhtoub1, Smail Mezani2

'Ecole Nationale Polytechnique, Algiers, 2GREEN-Nancy

An EKF Based Reduced Order Estimator for The Sensorless Control of IM's 1256Murat Barut, O. Seta Bogosyan, Metin GokasanIstanbul Technical University, Turkey

Estimation of Rotor Resistance of an Induction Motor Using Extended Kalman Filter andSpiral Vector Theory 1262

Mohamed Menaa, Omar Touhami, Rachid IbtiouenEcole Nationale Polytechnique, ALGERIA

WdA2-l: Distributed Systems

Integral Action Based Dirichlet Boundary Control of Burgers Equation 1267Mehmet Onder Efe, Hitay OzbayThe Ohio State University, USA

Proper Orthogonal Decomposition for Reduced Order Modeling: 2D Heat Flow 1273Mehmet Onder Efe, Hitay OzbayThe Ohio State University, USA

XXVII

Optimal Control Synthesis for Distributed Parameter Systems Using Generalized FiniteIntegral Transform Techniques and Neural Networks 1278

Daniela Toshkova, P. D. PetrovTechnical University of Varna, Bulgaria '•

Effluent Turbidity Control in Direct Filtration 1284Mustafa Onat1, Murat Dogruel2

Marmara University, Turkey, University of Miami, USA

Decentralized Iterative Learning Control Schemes for Large Scale Systems withUnknown Interconnections 1290

Hansheng Wu1, Hiroko Kawabata2, Kimihisa Kawabata3

'Hiroshima Prefectural University, Japan, 2Kyushu University, Japan, 3Kyushu SangyoUniversity, Japan

An Inverse Kinematical Algorithm for Human Arm Movement with Comfort LevelTaken into Account 1296

Feng Yang, Xiugan YuanBeijing University of Aeronautics & Astronautics, CHINA

I WdA3-l: Robust Control 1

Robust Control of a Permanent Magnet Linear Motor in the Presence of LargeDisturbances 1301

Steven Liu1'2, Paolo Mercorelli2, Kai Lehmann2

' Harz University of Applied Studies and Research, Germany, 2 Institut fuerAutomatisierung und Informatik Wernigerode, Germany

Robust Nonlinear Control of a Magnetic Suspension System 1307Assia Henni, Houria SiguerdidjaneSupelec, Service Automatique, France

Robust nonlinear Control of Current and Arc Length in GM AW Systems 1313Mahdi Jalili Kharaajoo, Vahid Gholampour, Hassan Ebrahimirad, Aliraza Esna AshariTehran University, Iran

Robust Stability Conditions for a GTDOF System 1317Csilla Banyaez, Laszlo KeviczkyComputer ahd Automation Research Institute, HAS, Hungary

Robust Decentralized Stabilization for Large-Scale Systems with Multiple Time-VaryingDelays and Nonlinear Uncertainties 1323

Liu Xiaozhi1, Georgi M. Dimirovski2, Jing Yuanwei1, Zhang Siying1

Northeastern University, China," Dogus University, Turkey

Robust Passification Using Norm Bounded Uncertainty Models 1327Narayan Manjarekar , Ravi Banavar , Atul Kelkar'Indian Institute of Technology, Bombay, 2Iowa State University, USA

WdA4-l: Internet & Software 2

FJM: Fast Join Mechanism for Overlay Multicast 1333Sungyean Cho, Myong-Soon ParkKorea University, South Korea

xxvm

Jitter Analysis of CBR Streams in Multimedia Networks 1339Jia-Shiang Jou, John BarasUniversity of Maryland College Park, USA

FBLab, an IEC61499 based Software Tool for Modeling of Distributed Control Systems 1345Ali Akbar Jamshidifar, Ahmad Afshar, Arash SalariAmirKabir University of Technology, Iran

Networked Embedded Greenhouse Monitoring and Control 1350Darko Stipanicev, Jadranka MarasovicFESB, University of Split, Croatia

Road Database Design for Velocity Profile Planning 1356Oleg Bauer, Robert MayrUniversity ofSiegen, Germany

An Optimization-Based Production Scheduling Software and Its Application 1362Xiaohui Zhou, Jianzhong Wang, Anke Xue, Zhe Xu, Hong MeiHangzhou Institute of Electronics Engineering, Hangzhou, China

WdAl-2: Fault Diagnosis

Detection of Sensor Abrupt Faults in Aircraft Control Systems 1366P.A. Samara, J.S. Sakellariou, G.N. Fouskitakis, S.D. FassoisUniversity ofPatras, Greece

Actuator Fault Compensation for a Helicopter Model 1372Xiao-Hua YuCalifornia Polytechnic State University, USA

Moving Horizon State Estimation of Hybrid Systems. Application to Fault Detection ofSensors of a Steam Generator 1375

Jean Thomas', Didier Dumur', Jean Buisson2, Clement-Marc Falinower3, PascaleBendotti3

'SUPELEC Gifsur Yvette, France, 2SUPELEC Rennes, France, 3EDF/R&D, France

State-of-the-art in Soft Computing-based Motor Fault Diagnosis 1381Qiang SJieng', Gao Xiao-Zhi2, Zhuang Xianyi''Harbinilnstitute of Technology, China, 2Helsinki University of Technology, Finland

Safe and Fault-Tolerant Control with Logical Circuits 1387Assen V. KrumovVTU "T.Kableshkov", Bulgaria

Data Acquisition System Faults Detection 1390Evgueny Plesnyaev, Andrey PazderinUral State Technical University, Russian Federation

Application to Microbiological Fermentation Fault Diagnosis for Relevance VectorMachine 1395

Zonghai Sun, Youxian SunZhejiang University, Hangzhou, China

XXIX

[I WdA2-2: Discrete Systems ||

On the Quadratic Stabilization in Discrete Multimodel Control 1398Zohra Kardous', Abdelkader El Kamel2, Naceur Ben Hadj Braiek1, Pierre Borne2

Ecole Polytechnique de Tunisie, Tunisie, 'Ecole Centrale de Lille, FRANCE

Stabilization of a Class of Hybrid Discrete-time Systems 1404Guangming Xie, Long WangPeking University, China

Feedforward/Feedback Control of Discrete Linear Repetitive Processes withDisturbances Applied to a Material Rolling Process 1410

Bartlomiej Sulikowski1, Krzysztof Galkowski', Eric Rogers2, David Owens'iSSI, UZ, Zielona Gora, Poland,2 University of Southampton, UK, 3 University of Shiefield,UK

Resilient Design of Discrete-time Observers with General Criteria Using LMIs 1416Chung Seop Jeong1, Edwin Engin Yaz', Yvonne like Yaz2

Marquette University, USA, 'Carthage College, USA

Discrete-time H-infinity Fusion Filter in Data Fusion System 1420Lin Yue-song', Xue An-ke1, Qian Ji-xin2

1 Hangzhou Institute of Electronics Engineering, China, 2Zhejiang University, China

A Max Plus Algebra Approach for Modelling and Control a Supply Chain 1425Ilham Elmahi, Olivier Grunder, Abdellah ElmoudniLaboratoire S.e.T, UTBM-Universite de Technologie Belfort-Montbeliard, France

I WdA3-2: Robust Control 2

Robust Controller Design for TITO Processes with Coefficient Diagram Method 1431Serdar Ethem Hamamci', Muhammet Koksal2

Inonu University, Turkey,' Fatih University, Turkey

Robust Temperature Control of MSF Desalination Plants with Coefficient DiagramMethod j 1437

Muhammet Roksal', Serdar Ethem Hamamci2

Fatih University, Turkey, 'Inonu University, Turkey

Robustness Margin of the Hot-Dip Galvanizing Control System 1443Gerardo Romero-Galvan, Luis Antonio Garcia-Garza, lima Perez-VargasUAM Reynosa Rodhe, UA T, Mexico

Control Design for Robust Performance of a Direct-drive Robot 1448Dragan Kostic, Bram de Jager, Maarten SteinbuchEindhoven University of Technology, The Netherlands

Robustness Evaluation of Two Control Methods for Friction Compensation of PTPPositioning Systems 1454

Wahyudi WahyudiInternational Islamic University, Malaysia

A New Robust Visual Servoing Algorithm: Theory and Experiment 1459Qu Yancheng, Wang Changhong, Wen Qiyong, Ma GuangchengHarbin Institute of Technology, China

xxx

WdA4-2: Aero-Space Applications 2

f nitialization of Distributed Spacecraft for Precision Formation Flying 1463Fred Y. Hadaegh, Daniel P. Scharf and Scott R. PloenNASA-Jet Propulsion Laboratory, California Institute of Technology, USA

Rule-Based Traversability Indices for Multi-Scale Terrain Assessment 1469Homayoun SerajiNASA-Jet Propulsion Laboratory, California Institute of Technology, USA

A Novel Approach for Robot Homing 1477Bugra Koku', AH Sekmen2, D. M. Wilkes3

'Middle East Technical University, Turkey, 2Tennessee State University, USA, VanderbiltUniversity, USA

MEMS Based Sun Sensor on a Chip 1483Sohrab Mobasser, Carl Christian LiebeNASA-Jet Propulsion Laboratory, California Institute of Technology, USA

Gyroscope Drift Estimation Analysis in Land Navigation Systems 1488Yusuf Ilker Akcayir, Yakup OzkazancHacettepe University, Turkey

XXXI