Proceedings of the

ASME International Design Engineering

Technical Conferences and

Computers and Information in

Engineering Conference

- 2009 -

VOLUME 3

ASME/IEEE International Conference on

Mechatronic and Embedded Systems and Applications

20th Reliability, Stress Analysis, and

Failure Prevention Conference

presented at

2009 ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND

COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE

AUGUST 30-SEPTEMBER 2, 20()'t

SAN DIEGO, CALIFORNIA USA

sponsored byTHE DESIGN ENGINEERING DIVISION, ASMf

THE COMPUTERS AND INFORMATION IN ENGINEERING DIVISION, ASME

TIB/UB Hannover 89

132 464 853

ASME

Three Park Avenue New York, N.Y. 10016

CONTENTS

2009 ASME/1EEE INTERNATIONAL CONFERENCE ON

MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS

Introduction , 1

AUTONOMOUS SYSTEMS AND AMBIENT INTELLIGENCE

DETC2009-86326 3

Non-Markovian Reinforcement-Based on Self-Optimizing Memory Controller

Hassab Elgawi Osman

DETC2009-86688 9

The Bio-Insect and Artificial Robots Interaction Based on Multi-Agent Reinforcement

LearningYoung-Cheol Choi and Hyo-Sung Ahn

DETC2009-86689 17

Fuzzy Reward-Based Cooperative Reinforcement Learning for Bio-Insect and

Artificial Robot Interaction

Ji-Hwan Son and Hyo-Sung Ahn

DETC2009-86986 27

Autonomous Robotic Vehicle (Robicle) With Ambient IntelligenceYoung-Jae Ryoo, Young-Hak Chang, Dae-Yeong Lim, and Yong-Jun Lee

DETC2009-87251 31

A New Method of Chaotic Anti-Control for Line Spectra Reduction of Vibration

Isolation SystemZhenhai Zhang, Shijian Zhu, and Shuyong Liu

DETC2009-87715 37

Immune System-Inspired Dynamic Multi-Robot Coordination

Muhammad Tahir Khan and Clarence de Silva

DETC2009-87750 45

Mobile Agent Based Autonomic Dynamic Parallel Computing

Yu-Cheng Chou, David Ko, and Harry H. Cheng

BIO-MECHATRONICS AND BIO-SENSORS

DETC2009-86217 53

Development of a Uniaxial Cyclic Stretch Apparatus for Tissue EngineeringQiming Pang, Jean W. Zu, Geoffrey M. Siu, and Ren-Ke Li

DETC2009-86425 61

Design and Preliminary Validation of a Rapid Automated Biodosimetry Tool for High

Throughput Radiological TriageYouhua Chen, Jian Zhang, Hongliang Wang, Guy Garty, Yanping Xu,

Oleksandra V. Lyulko, Helen C. Turner, Gerhard Randers-Pehrson, Nabil Simaan,Y. Lawrence Yao, and D. J. Brenner

vii

DETC2009-87075 69

Discriminating Ambulation Using a Smart Sensing Plate

Mark T. Elliott, Xianghong Ma, and Peter N. Brett

DETC2009-87186 77

Biometric Monitoring of Footstep and Heart Rate Using Wireless Inertial Sensors

Montserrat Ros, Matthew D'Souza, and Matthew Wallace

DETC2009-87252 85

Elaboration and Investigation of the Acoustic Method of Elimination of Colorado Beetle

Galyna I. Sokol and Tatyana A. Rybalka

DETC2009-87786 89

Design of a Tissue Resonator Indenter Device for Measurement of Soft Tissue Viscoelastic

Properties Using Parametric Identification

Alireza Hariri and Jean W. Zu

DETC2009-87803 99

Fuzzy Control of a Pneumatic Muscle Driven Parallel Robot for Ankle Rehabilitation

Prashant K. Jamwal, Shane Xie, and Jack Farrant

CYBER-PHYSICAL SYSTEMS (CPS)DETC2009-87509 109

Dynamic Formation Control Using Networked Mobile Sensors and Centroidal Voronoi

Tessellations

Shelley Rounds and YangQuan Chen

DETC2009-87613 119

A Secure Migration Process for Mobile Agent SystemsNajmus S. Malik, David Ko, and Harry H. Cheng

DETC2009-87627 127

Flexible Dynamic Task Allocation in Cooperative Mission-Based Robotic Systems

Stephen S. Nestinger, Bo Chen, and Harry H. Cheng

DETC2009-87822 135

Towards Haptic Microrobotic Intracellular InjectionBen Horan, Saeid Nahavandi, AH Ghanbari, XiaoQi Chen, and Wenhui Wang

EMBEDDED SOFT COMPUTING

DETC2009-87178 143

Precision Motion Control of Tubular Linear Motors With Neural Networks and Compact

Genetic AlgorithmsFrancesco Cupertino, David Naso, and Biagio Turchiano

DETC2009-87337 151

FPGA Implementation of a Soft Sensor for the Estimation of the Freezing Point of Kerosene

Riccardo Caponetto, Giovanni Dongola, Antonio Gallo, and Maria Gabriella Xibilia

viii

DETC2009-87841 159

A "Multisensor Guide System" to Assist Visually Impaired in Unfamiliar Environments

Bruno Andd, Salvatore Baglio, Salvatore La Malfa, and Vincenzo Marietta

EMBEDDED SYSTEM INFRASTRUCTURE AND THEORY

DETC2009-86108,

165

Design of an Automotive Gateway for In-Vehicle Networks

Suk-Hyun Seo, Jin-Ho Kim, SungHo Hwang, Key Ho Kwon, and Jae Wook Jeon

DETC2009-86109 175

Experience With Developing a High-Productivity Test Framework for Scalable

Embedded and Mechatronic Systems

Stephen P. Masticola and Rajesh Subramanyan

DETC2009-87373 185

Particle Clustering to Improve Omnidirectional Localization in Outdoor Environments

Primo Zingaretti, Andrea Ascani, Adriano Mancini, and Emanuele Frontoni

DETC2009-87769 193

Pre-Run-Time Scheduling of Asynchronous and Periodic Processes With Offsets,Release Times, Deadlines, Precedence and Exclusion Relations

Jia Xu

LEARNING CONTROL AND DIAGNOSIS IN MECHATRONIC SYSTEMS

DETC2009-86651 203

The Development of Neural Network Cepstrum Method for Bearing Fault Detection

Yean-Ren Hwang and Kuo-Kuang Jen

DETC2009-86837 209

The Intelligent Learning Control on Slide Position of Mechanical Crank Press

Hong Zhao and Shengdun Zhao

DETC2009-87326 215

Application of a Balancing Filter for Model-Based Fault Diagnosis on a Centrifugal Pump in

Active Magnetic BearingsPhilipp Beckerle, Norman Butzek, Rainer Nordmann, and Stephan Rinderknecht

MECHATRONIC AND EMBEDDED SYSTEM APPLICATIONS

DETC2009-86076 223

Adaptive Posture Advisory System for Spinal Cord Injury Patient During LongHaul Air Travel

CheeFai Tan, Wei Chen, Marcel Verbunt, Christoph Bartneck, and Matthias Rauterberg

DETC2009-86416 231

Simulation Based Design of Electromechanical Actuators With Modelica

Marc Budinger, Jonathan Liscouet, Yu Cong, and Jean-Charles Mare

ix

DETC2009-86656 241

Automatic Source Code Generator Based on AUTOSAR RTE for Vehicular Applications

Hyun Chul Jo, Shiquan Piao, Sung Ho Jin, and Woo Young Jung

DETC2009-86658 247

Adaptronic Precision Positioning TechnologyAchim Pahlke, Simon Rosen, Markus Kastner, Hans-Christian Mohring,

Eduard Reithmeier, and Berend Denkena

DETC2009-86802 255

A Virtual Vehicle Simulator Controlled by Networked Embedded Systems via

LIN, CAN,and FlexRaySuk-Hyun Seo, SungHo Hwang, Jin-Ho Kim, Key Ho Kwon, and Jae Wook Jeon

DETC2009-86954 263

Symbolic Model Reduction for Interval-Valued Scenarios

Lars Mikelsons and Thorsten Brandt

DETC2009-87033 273

Flatness Based Control and Model Predictive Trajectory Generation for Boom Cranes

Joerg Neupert, Eckhard Arnold, Klaus Schneider, Lukas Knierim, and Oliver Sawodny

DETC2009-87443 281

Vibration Analysis of 3-D Axisymmetric Multilayered Piezoelectric Circular Cylindrical Shell

Under Moving Load Using Finite Element Method

Alireza Payravi, Mehrdad Farid, and Elyas Mirzaei

DETC2009-87611 291

Low-Frequency Pulse Width Modulation Design for HVAC CompressorsWilliam Burke and David Auslander

DETC2009-87853 299

A New Deterministic Approach in Probabilistic Design OptimizationHami Golbayani and Kazem Kazerounian

MECHATRONICS AND EMBEDDED SYSTEMS EDUCATION

DETC2009-86442 305

EHK Index Method for Calculating Discrete Fourier Transform

Ethar H. Khalil

DETC2009-86930 313

Modeling and Simulation of Educational Linear Motion Module

Dian-sheng Chen, Yu-xin Chen, and Tian-miao Wang

DETC2009-87148 319

Remote Lab Infrastructure for Distance Learning Courses at the Undergraduate Level in

Embedded Systems DesignPeter Balog, Martin Horauer, and Peter Rossler

x

DETC2009-87351 325

FPGA Implementation of Self-Tuning RegulatorsR. Caponetto, G. Dongola, and A. Gallo

MECHATRONICS CONTROL AND ELECTRICAL VEHICLES

DETC2009-86569 335

Dynamic Emulation of Tire/Road Friction for Developing Electric Vehicle Control Systems

Chengbin Ma

DETC2009-86969 341

Lagrangian D'Alembert Modeled Maneuverable Autonomous Non-Holonomic Mobile

Robot Using a Closed Loop PD Controller

E. Georgiou and J. Dai

DETC2009-87023 347

A Moving Horizon Based Sensor Fusion and Load Estimation Concept for Driving Profile:

Based Operating Strategy Optimization in Hybrid Hydraulic Trucks

Martin Kaszynski and Oliver Sawodny

DETC2009-87100 357

3D Predictive Model for Controlled Resistance Welding of Composites for ManufacturingApplications

Imad Zammar, Iraj Mantegh, and Mojtaba Ahmadi

DETC2009-87204 365

Modeling of Highway Heights for Vehicle Modeling and Simulation

Hamid Khayyam, Abbas Z. Kouzani, Hamid Abdi, and Saeid Nahavandi

DETC2009-87354 371

About the System Design of a Fuel-Cell/SuperCap Hybrid Powertrain

Markus Ozbek and Dirk Soffker

ROBOTICS AND MOBILE MACHINES

DETC2009-86158 379

Tracking Control of Uncertain Nonholonomic Mobile Robots: Smooth Switching Approach

Jeng-Tze Huang and Chih-Hao Chang

DETC2009-86423 385

Self-Learning Control of Free-Floating Dual-Arm Space Robot Based on Fuzzy AdaptiveCompensator

Liang die and Chen Li

DETC2009-86451 397

Design and Reconfiguration Algorithm of HexBot: A Modular Self-ReconfigurableRobotic System

Hossein Sadjadi, Omid Mohareri, MohammadAmin Al-Jarrah, and Khaled Assaleh

xi

DETC2009-87048 405

An Environmental Cognition Method Based on 3D Laser Radar

Mingchen Gao, Weihai Chen, Jingmeng Liu, and Xiaoqi Chen

DETC2009-87500 411

Simplified Tele-Operation of Mobile-Manipulator Systems Using Knowledge of Their

Singular ConfigurationsMichael C. Frejek and Scott B. Nokleby

DETC2009-87508 419

PROMPT: A Small Walking Robot for Planetary ExplorationSimon G. Rocheleau, Vincent Duchaine, Pascal Bochud, and Clement Gosselin

DETC2009-87610 427

Rao-Blackwellized Particle Filter Approach to Monocular vSLAM With a Modified

Initialization Scheme

Morteza Farrokhsiar and Homayoun Najjaran

DETC2009-87647 435

Human Affective State Recognition and Classification During Human-Robot Interaction

Scenarios

Zhe Zhang and Goldie Nejat

DETC2009-87654 443

Forward Displacement Analysis and Singularity Analysis of a 2-DOF 5R Spherical

Parallel ManipulatorXianwen Kong

DETC2009-87761 449

Object Pose Estimation for Multi-Robot Cooperative Object Transportation

Pallege Gamini Dilupa Siriwardana, Muhammad Tahir Khan, and Clarence W. de Silva

SENSOR NETWORKS

DETC2009-86459 459

High Speed Portable Wireless Data Acquisition System for High Data Rate Applications

Emre I. Cosar, Maurizio Bocca, and Lasse M. Eriksson

DETC2009-87150 471

Robotic Networks in Applied Distributed Mechatronics Systems: Problems and Issues in

Developments and ApplicationsM. M. Sanaatiyan and Hamid Hassanpour

DETC2009-87772 479

Web-Based Data Inquiry and Real-Time Control of Structural Health Monitoring Sensor

Networks

Bo Chen, Wenjia Liu, Jinjiang Wang, and Justin Slepak

DETC2009-87813 487

The Development and Performance Study of a Two-Level Wireless Sensor Network for

Structural Health MonitoringJinjiang Wang, Bo Chen, and Chuanzhi Zang

xii

DETC2009-87834 495

Feasibility of Wireless Sensors for Health Monitoring in Large Induction Motors

Rafael Garcilazo, Xin Xue, and V. Sundararajan

SENSORS AND MEMS

DETC2009-86337 501

User-Oriented Simulation Models of Piezo-Bar Actuators: Part I —Linear ApproachAbdou-Fadel Boukari, George Moraru, Jean-Claude Carmona, and Francois Malburet

DETC2009-86510 511

Fabrication of Eyeball-Like Spherical Micro-Lens Array for Optical Fiber CouplingS. C. Shen, C. T. Pan, ft. F. Shyu, C. H. Chao, J. C. Huang, and C, Y. Yeh

DETC2009-86559 519

On the Measurement of the Overall Elastic Stiffness and Bulk Modulus in

Anisotropic Materials: Semiconductors

Mohamed S. Gaith and Imad Alhayek

DETC2009-87077 525

User-Oriented Simulation Models of Piezo-Bar Actuators:

Part II —Integration of Nonlinearities

Abdou-Fadel Boukari, George Moraru, Jean-Claude Carmona, and Francois Malburet

DETC2009-87254 535

Piezoelectric Generators as Battery Chargers in Mobile Devices

Matthew Davis, Venketesh N. Dubey, and Xavier Velay

SMALL UNMANNED AERIAL VEHICLE TECHNOLOGIES AND

APPLICATIONS (SUAVTA)DETC2009-86151 539

Design of "Figure-8" Spherical Motion Flapping Wing for Miniature UAV

Zohaib Rehmat, Jesse Roll, Joon S. Lee, Woosoon Yim, and Mohamed B. Trabia

DETC2009-86412 547

UAV Autopilot Design for the AUVSI, UAS International CompetitionMuhammad M. Mahmood, Md S. Chowdhury, Rizwan Ihsan, Umar M. Yousaf,Mohamed W. Afifi, and Imtiaz M. Chuwdhury

DETC2009-86456 557

Software Support for Ground Control Station for Unmanned Aerial Vehicle

Mladjan Jovanovic, Dusan Starcevic, and Zoran Jovanovic

DETC2009-86490 567

Microraptor: A Low-Cost Autonomous Quadrotor SystemOsamah A. Rawashdeh, Hong Chul Yang, Rami D. AbouSleiman, and Belal H. Sababha

DETC2009-86500 575

Team OSAM-UAV's Design for the 2008 AUVSI Student UAS CompetitionChristopher J. Hall, Daniel Morgan, Austin Jensen, Haiyang Chao, Calvin Coopmans,

Mitchel Humpherys, and YangQuan Chen

xiii

DETC2009-86547 585

Low Cost Rapidly Reconfigurable UAV Autopilot for Research and Development of

Guidance, Navigation and Control AlgorithmsM. I. Lizarraga, G. H. Elkaim, G. M. Horn, R. Curry, V. Dobrokhodov, and I. Kaminer

DETC2009-86725 595

Acquisition of High Quality Remote Sensing Data Using a UAV Controlled by an

Open Source AutopilotMarc Schwarzbach, Uwe Putze, Ursula Kirchgaessner, and Maria V. Schoenermark

DETC2009-871Q7 603

Quantifying Nitrogen Status of Rice Using Low Altitude UAV-Mounted System and

Object-Oriented Segmentation MethodologyJinxia Zhu, Ke Wang, Jinsong Deng, and Tom Harmon

DETC2009-87136 611

Performance Evaluation of Real-Time Kinematic GPS at Arctic Latitudes

Alessio Salerno, Tom Lamarche, and Erick Dupuis

DETC2009-87574 621

Fractional Order Flight Control of a Small Fixed-Wing UAV: Controller Design and

Simulation StudyHaiyang Chao, Ying Luo, Long Di, and YangQuan Chen

DETC2009-87586 629

Using Multiple Open-Source Low-Cost Unmanned Aerial Vehicles (UAV) for 3D

Photogrammetry and Distributed Wind Measurement

Austin M. Jensen, Daniel Morgan, Shannon Clemens, Thomas Hardy, and

YangQuan Chen

DETC2009-87636 635

AggieNav: A Small, Well Integrated Navigation Sensor System for Small Unmanned

Aerial Vehicles

Calvin Coopmans

DETC2009-87671 -641

AggieAir: An Integrated and Effective Small Multi-UAV Command, Control and

Data Collection Architecture

Calvin Coopmans and Yiding Han

DETC2009-87675 649

Design and Implementation of Sensing and Estimation Software in AggieNav:A Small UAV Navigation Platform

Calvin Coopmans, Haiyang Chao, and YangQuan Chen

DETC2009-87741 655

Programmable Multispectral Imager Development as Light Weight Payload for Low Cost

Fixed Wing Unmanned Aerial Vehicles

Yiding Han, Austin Jensen, and Huifang Dou

xiv

20th RELIABILITY, STRESS ANALYSIS, AND

FAILURE PREVENTION CONFERENCE

Introduction 663

COMPUTATIONAL RELIABILITY AND APPLIED MECHANICS

DETC2009-86324 665

Gearbox On-Line Condition Monitoring Using Empirical Mode Decomposition

Qiang Miao, Dong Wang, Hong-Zhong Huang, Bin Zheng, and Xianfeng Fan

DETC2009-86836 671

Coupling Methods for a Flexible Adaptive Finite Element ModellingCorinna Barthel and Ulrich Gabbert

DETC2009-86995 679

A Systematic Approach to the Reliability Analysis of an n-Unit Warm Standby SystemWith k-Repair Facility

Yu Pang, Hong-Zhong Huang, Yu Liu, and Min Xie

DETC2009-87442 685

Finite Element Determination of Beam Surface Stresses Due to Multiple Delamination

Benjamin Dauda, S. Olutunde Oyadiji, and Prassad Potluri

COMPUTER-BASED (NUMERICAL/FEA ETC.) ANALYSES FOR RSAFP

DETC2009-86193 695

Optimized Simulation Method and Experimental Verification on Dynamic Analysis of a

Light Truck Frame

Feng Gao, Yonghua Xiong, Lei Tian, Farong Du, and Guoyan Xu

DETC2009-86441 703

Analysis of Fatigue Crack Growth in Friction Stir Welded Joints of 2024 AL AlloyM. Zadeh, Aidy Ali, A. F. Golestaneh, and B. B. Sahari

DETC2009-86585 711

Computations of SIFs for Non-Symmetric V-Notched Plates by the FFEM

Muhammad Treifi and S. Olutunde Oyadiji

DETC2009-87006 719

Psychological Information Entropy and Its Applications to Reliability EngineeringGuibao Wang, Liansheng Sun, Haiqing Li, and Hong-Zhong Huang

DETC2009-87097 725

Reliability of the Flexible Display STN LCD Based Environmental Test

Pan-Dong Fan, Qiang Miao, Ping Yang, Quayle Chen, Tom Xue, Leon Xu, and Antti Salo

RSAFP CONSIDERATIONS IN DESIGN PROCESS

DETC2009-86981 731

Reliability-Based Design of Future Highly Reliable SystemsMarco Junglas, Amir Kazeminia, Rudiger Eick, and Dirk Soffker

xv

DETC2009-86997 739

A Unified Optimization Design Model Under UncertaintyZhonglai Wang, Hong-Zhong Huang, Huanwei Xu, and Xiaoling Zhang

DETC2009-86998 745

Possibility-Based Multidisciplinary Design Optimization in the Framework of SequentialOptimization and Reliability Assessment

Xudong Zhang, Hong-Zhong Huang, Shengkui Zeng, and Zhili Wang

DETC2009-87003 751

Fuzzy Reliability Prediction Method Based on FMECAfor Diesel EngineHan-Liang Zhang, Hong-Zhong Huang, and Yu Liu

DETC2009-87103 759

Reliability Prediction Methods: A Survey and Selection for Mechanical Design-for-ReliabilityZhaofeng Huang and Yan Jin

DETC2009-87206 773

Reliability Analysis of the Crack Life on the Basis of Linear Regression Model With

Fuzzy WeightHaiqing Li, Li Du, and Qiming Ma

DETC2009-87615 777

An Approach to Determine the Test Intervals for CBM

Zhong-Zhe Chen, Hong-Zhong Huang, Yu Liu, Qiang Miao, and Pei-Yu Ren

DETC2009-87795 781

Distributed-Paramaters Base Modeling and Vibration Analysis of Microcantilevers Used in

Atomic Force MicroscopyA. A. Abouelsoud and J. Abdo Ahmed

DETC2009-87830 785

Natural Frequencies of Composite Cylindrical Helical Springs Manufactured UsingFilament Winding

Erol Sancaktar and Sunil Gowrishankar

STRESS AND FAILURE ANALYSIS AND MODELING

DETC2009-86086 791

Finite Element Analysis of the Effect of Oil Jet Peening Process in a Material

A. Sahaya Grinspon and R. Gnanamoorthy

DETC2009-86334 799

A Probabilistic Approach for Determining the Component's Dimension Under

Fatigue LoadingsXiaobin Le and Jahan Rasty

DETC2009-86371 805

Simulation of Deformation of Diaphragm Spring Grooved With Spiral Slits by FE Method

Yingxia Qi, Yinong Wu, Hua Zhang, and Xi Chen

xvi

DETC2009-86471 811

Bearing Fault Diagnosis Using Singular Value Decomposition and Hidden Markov ModelingDong Wang, Qiang Miao, Rui Sun, and Hong-Zhong Huang

DETC2009-86747 819

Numerical Modeling of Contact Pressure in Vane Seals

Liangxi Xie, Jianyi Kong, Li Qian, Gongfa Li, and Xiaohong Wan

DETC2009-86857 827

Reliability Mathematical Model of Continuous System Based on Segment-PartitionGuangbo Hao and Liyang Xie

DETC2009-87034 833

Damage Analysis and Prediction of Forming Limits for IF Steel

Jing Huang, Lijun Li, and Zhida Li

DETC2009-87164 839

The Tensile Strength Effects on Precipitation Heat Treatment of 6061-T6 Aluminium AlloyCheeFai Tan, Md Radzai Said, and Wei Chen

DETC2009-87200 847

Mechanical Test of FPCB and Failure Analysis by Simulation

Jian Zhong, Ping Yang, Jian-ping Li, Hai-bo Sun, Quayie Chen, Leon Xu, and Antti Salo

Author Index 853

xvii