Conference Program

Session overview and details for this conference. Please select a date or room to show only sessions at that day or location. Please select a single session for detailed view.

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Session Overview
Date: Wednesday, 14/Jul/2010
10:00 am - 6:00 pm Registration / Help Desk
Lobby or Foyer
Date: Thursday, 15/Jul/2010
8:00 am - 6:00 pm Registration / Help Desk
Lobby or Foyer
8:40 am - 10:00 am Coffee
Foyer
9:00 am - 9:20 am Opening Ceremony
Hai Tian Hall
9:20 am - 12:10 pm Keynote Speech
Hai Tian Hall
12:10 pm - 1:30 pm Lunch
West Cafeteria
1:30 pm - 3:10 pm Panel Session: Using Ch for Teaching Computer Programming, Mechatronic and Embedded Systems
Chair : Harry H. Cheng
Zui Yue Room
1:30 pm - 3:10 pm Autonomous Systems and Ambient Intelligence
Chair : Hyo-Sung Ahn
Co-Chair : Ping-Ho Chen
Full Paper Session
Fei Shang Room
 Distributed Context Assessment: A Case Study with Robots in Intelligent Environments
Fulvio Mastrogiovanni; Antonello Scalmato; Antonio Sgorbissa; Renato Zaccaria
DIST - University of Genova, Italy.


Real Time Control Design for Mobile Robot Fault Tolerant Control. Introducing the ARTEMIC Powered Mobile Robot.
Cristian Axenie; Razvan Solea
Dunarea de Jos University - Automation and Industrial Informatics Dept., Romania.


Neural Networks Modeling of Autonomous Underwater Vehicle
Reza Amin; Amir A. khayyat; Kambiz Ghaemi osgouie
sharif university of thechnology kish campus, Iran (Islamic Republic of).


Optimal Autopilot of an Unicycle
Ping-ho Chen; Wei-hsiu Hsu; Ding-shinan Fong; Ru-fong Liou
Dept. of Electrical engineering, Tungnan University, Taiwan.


Consensus of Nonlinear System using Feedback Linearization
Taekyung Lee; Hyo-sung Ahn
GIST, Korea, Republic of.

3:10 pm - 3:50 pm SUAVTA + Education + Autonomous + Autonomic
Chair : YangQuan Chen
Co-Chair : Zhaoqing Wang
Poster Session
Foyer
 An intelligent control strategy based on ANFIS techniques in order to improve the performance of a low-cost unmanned aerial vehicle vision system
G. n. Marichal; A. Hernandez; L. Acosta; M. Olivares-méndez; P. Campoy
University of La Laguna, Spain.


Low-Cost UAV-Based Thermal Infrared Remote Sensing: Platform, Calibration and Applications
Hu Sheng; Haiyang Chao; Calvin Coopmans; Jinlu Han; Yangquan Chen
Utah State University, USA.


A Multifunctional HIL Testbed for Multirotor VTOL UAV Actuator
Corentin Cheron; Aaron Dennis; Vardan Semerjyan; Yangquan Chen
Center for Self-Organizing and Intelligent Systems, Department of Electrical and Computer Engineering, Utah State University., Uruguay.


Anchor-based Promgramming Teaching Embedded with Ch Platform
Li Liu; Zhaoqing Wang; Xusheng Jiang
Zhejiang Sci-Tech University, China.


Development of a Remote Practice System for Embedded System Education
Takeyuki Kodama; Yudai Suzuki; Shinji Chiba
Sendai National College of Technology, Japan.


A Case Study of Course Design for Software Development on Mobile Phone
Tianzhou Chen; Qingsong Shi; Xueqing Lou; Wei Hu
College of Computer Science, China.


A Global Curriculum Design Framework For Embedded System Education
Yu Zhang; Zhaoqing Wang; Licheng Xu
Zhejiang Sci-Tech University, China.


A First Course in Computer Programming for Mechanical Engineers
Burford Furman; Eric Wertz
San Jose State University Department of Mechanical and Aerospace Engineering, USA.


Key Technologies of Pre-processing and Post-processing methods for Embedded Automatic Speech Recognition Systems
Dongzhi He; Yibin Hou; Yuanyuan Li; Zhihao Ding
Institute of Embedded Software and System, Beijing University of Technology, China.


A Survey on Multi-Agent Reinforcement Learning: Coordination Problems
Youngcheol Choi; Hyo-sung Ahn
GIST, Korea, Republic of.


Sensorless Torque Estimation using Adaptive Kalman Filter and Disturbance Estimator
Sang-chul Lee; Hyo-sung Ahn
GIST, Korea, Republic of.

3:50 pm - 5:30 pm Small Unmanned Aerial Vehicle Technologies and Applications (SUAVTA)
Chair : YangQuan Chen
Co-Chair : Youmin Zhang
Full Paper Session
Zui Yue Room
 Dead Reckoning and Kalman Filter Design for Trajectory Tracking of a Quadrotor UAV
Qing-li Zhou; Youmin Zhang; Yao-hong Qu; Camille-alain Rabbath
Concordia University, Canada.


Autonomous Safe Landing of a Vision Guided Helicopter
Andrea Cesetti; Emanuele Frontoni; Adriano Mancini; Primo Zingaretti
Università Politecnica delle Marche, Italy.


Fault-tolerant Localization for Multi-UAV Cooperative Flight
Yaohong Qu; Youmin Zhang
Northwestern Polytechnical University, China.


A Two-Stage Calibration Method for Low-cost UAV Attitude Estimation Using Infrared Sensors
Di Long; Haiyang Chao; Yangquan Chen
Utah State University, USA.


Autopilot of Electrical Helicopter
Dmitry Romaev; Andrey Barabanov
Saint Petersburg State University, Russian Federation.

3:50 pm - 5:30 pm Autonomic and Distributed Mechatronic and Embedded Systems
Chair : Yu-Cheng Chou
Co-Chair : Stephen S. Nestinger
Full Paper Session
Fei Shang Room
 Embedded Sensor Networks for Process Monitoring and Mechatronic Applications
Somashekhar S hiremath; Gokul Balakrishnan
Indian Institute of Technology Madras, India.


GPRS-Based Fault Monitoring for Electric Distribution Grid
Zhixin Tie; Zhaoqing Wang
Zhejiang Sci-tech University, China.


A New Schoenfiles Motion Parallel Manipulator
Chao Chen
Monash University, Australia.


MODULAR EMBEDDED SYSTEM DESIGN FOR MECHTRONIC EDUCATION
Ali Özgü Nursal
METU, Turkey.


An Autonomic Mobile Agent-Based System for Distributed Job Shop Scheduling
Yu-cheng Chou; Harry h. Cheng
Chung Yuan Christian University, Taiwan.

5:30 pm - 7:30 pm Welcome Reception
West Cafeteria
Date: Friday, 16/Jul/2010
8:30 am - 6:00 pm Registration / Help Desk
Lobby or Foyer
9:00 am - 9:50 am Speech
Ballroom
9:50 am - 10:20 am Coffee break
Foyer
10:20 am - 11:10 am Speech
Ballroom
11:10 am - 12:00 pm speech
Ballroom
12:00 pm - 1:30 pm Lunch
West Cafeteria
1:30 pm - 3:10 pm Bio-Mechatronics and Bio-sensors
Chair : Shane Xie
Co-Chair : Carlo Menon
Full Paper Session
Zui Yue Room
 A Surface Micromachined Capacitive Pressure Sensor for Intraocular Pressure Measurement
Kalyan Katuri; Melur Ramasubramanian; Sajay Asrani
North Carolina State University, USA.


CONTACTLESS POWER COUPLERS FOR RESPIRATORY DEVICES
Hao Zheng; Kaisui Tnay; Nordyn Alami; Aiguo patrick Hu
The Uinversity of Auckland, New Zealand.


Biologically-inspired postural and reaching control of a multi-segment humanoid robot
Karim Tahboub
Palestine Polytechnic University, Germany.


Intra-luminal Injection of Ferro-fluid for Magnetic Bowel Retraction in Minimal Access Surgery
Zhigang Wang; Andrew Brown; Stuart Brown; Lijun Wang; Alfred Cuschieri
University of Dundee, United Kingdom.

1:30 pm - 3:10 pm Sensors and MEMS
Chair : Ja Choon Koo
Co-Chair : Bernard Courtois
Full Paper Session
Fei Shang Room
 Infrastructure for ICs and MEMS manufacturing
Bernard Courtois
CMP, France.


A contribution to the classical scalar Preisach hysteresis model for magneto-elastic materials
Klaus Oppermann; Bernd r. Arminger; Bernhard g. Zagar
Johannes Kepler University of Linz, Austria.


IDC based Battery-Free Wireless Pressure Sensor
Jose Villalobos; Zhen Xu; Yi Jia
University of Puerto Rico Mayaguez Campus, USA.


Implementation of Force Sensor with Multi Strain Gauges for Enhancing Accuracy and Precision
Yoochang Kim; Yongseok Ihn; Hyoukryeol Choi; Sangmu Lee; Jachoon Koo
School of Mechanical Engineering, Sungkyunkwan University, Korea, Republic of.

3:10 pm - 3:50 pm Sensors etc.
Chair : Shane Xie
Co-Chair : Bo Chen
Poster Session
Foyer
 Reconfiguration Plan Analysis of Quadruped/Biped Walking Robot with Parallel Leg Mechanism
Hongbo Wang; Zhengyan Qi; Guiling Xu; Xing Hu
Yanshan University, China.


Discrete Data-Based State Feedback Model of Human Operator
Kalevi Tervo
Aalto University School of Science and Technology, Finland.


An Integrated Micro Immunosensor for Hemoglobin-A1c Level Detection
Qiannan Xue; Chao Bian; Hong Zhang; Shanhong Xia
State Key Laboratory of Transducer Technology, Institute of Electronics, Chinese Academy of Sciences; Graduate University of Chinese Academic of Sciences, China.


The Instant Core Loss Prediction for High-speed Mechatronics
Kuofeng Chen
Metal Industries Research & Development Centre, Taiwan.


A Run-Time Detector for Violated Memory Access in Embedded Systems
Nam Ho; Anh-vu Dinh-duc
University of Information Technology, Vietnam.


Study on the Actuating Performance of NiTi/Si Composite Film
Shuangshuang Sun; Xiaohui Liu
Qingdao University of Science & Technology, China.


Simple Cable-Driven Manipulator System as Laboratory Assistant
Janusz Baczynski; Michal Baczynski
University of Lodz, Poland.

3:50 pm - 5:10 pm Development, Verification, Debug Tools for Mechatronic and Embedded Systems
Chair : Jia Xu
Co-Chair : Florian Schupfer
Full Paper Session
Zui Yue Room
 Performance Guided High Level Algorithm Partitioning
Florian Schupfer; Jiong Ou; Peter Brunmayr; Christoph Grimm
Institute of Computer Technology, Austria.


Bringing TCP/IP networking to resource limited embedded systems
Roman Glistvain; Mokhtar Aboelaze
York University, Canada.


A SysML-based Integration Framework for the Engineering of Mechatronic Systems
Mohammad Chami; Holger Seemüller; Holger Voos
University of Applied Sciences Ravensburg-Weingarten, Germany.


Method of Droplet Routing in Digital Microfluidic Biochip
Kamalesh Singha; Tuhina Samanta; Hafizur Rahaman; Parthasarathi Dasgupta
Bengal Engineering and Science University, Shibpur, India.

3:50 pm - 5:10 pm Sensor Networks and Networked Embedded Systems
Chair : Bo Chen
Co-Chair : Emanuele Frontoni
Full Paper Session
Fei Shang Room
 Energy-Aware Distribution of Monitoring Agents Using Genetic Algorithms
Wenjia Liu; Bo Chen
Michigan Technological University, USA.


A Novel Hybrid Routing Model for Wireless Grain Depot Surveillance System
An-ding Zhu
College of Computer and Information Engineering, Zhejiang Gongshang University, Hangzhou 310018, China, China.


Automatic Estimation the Number of Clusters in Hierarchical Data Clustering
Chuanzhi Zang; Bo Chen
Michigan Technological University, USA.


Simple video technique for initial positioning of cable-driven manipulators
Janusz Baczynski; Michal Baczynski
University of Lodz, Poland.

5:10 pm - 7:00 pm MESA Committee Meeting
Room ???
7:00 pm - 9:30 pm Conference Banquet
Room ???
Date: Saturday, 17/Jul/2010
8:30 am - 4:00 pm Registration / Help Desk
Lobby or Foyer
8:40 am - 10:00 am Embedded Computer Vision
Chair : Peter Rössler
Co-Chair : Daniel Humberto Calderon
Full Paper Session
Zui Yue Room
 Disparity Map Computation on Scalable Computing
Jesus Ortiz; Humberto Calderon; Jean-guy Fontaine
Fondazione Istituto Italiano di Tecnologia, Italy.


High Parallel Disparity Map Computing on FPGA
Humberto Calderon; Jesus Ortiz; Jean-guy Fontaine
Italian Institute of Technology (IIT), Italy.


An Embedded High Performance Data Acquisition and Pre-Processing Interface for Asynchronous Event-Based Silicon Retina Data
Christoph Sulzbachner; Juergen Kogler; Wilfried Kubinger
AIT Austrian Institute of Technology, Austria.


A framework based on vision sensors for the automatic management of exchange parking areas
Ludovico Catani; Emanuele Frontoni; Primo Zingaretti
Università Politecnica delle Marche, Italy.

8:40 am - 10:00 am Embedded System Infrastructure and Theory & Renewable Energy Systems
Chair : Martin Horauer
Co-Chair : Uriel A. Rosa
Full Paper Session
Fei Shang Room
 Intelligent Water Dispenser System Based on Embedded Systems
Jinhuang Huang; Jun Xie
Department of Electrical Engineering, Jinan University, Guangzhou 510632, P.R.China, China.


Digital Platform design for magnetically suspended bearings equipped for wind turbine based on DSP28335+FPGA
Hongen Wu; Linjing Xiao; Baoren Wang; Guili Li; Peng Li
Shandong University of Science and Technology, China.


A Method for Adjusting the Periods of Periodic Processes To Reduce the Least Common Multiple of the Period Lengths in Real-Time Embedded Systems
Jia Xu
York University, Canada.


Overall Energy Reduction for Hard Real-Time Systems Based On Threshold Work-Demand Analysis
Linwei Niu
Claflin University, USA.

10:00 am - 10:40 am Mechatronic and Embedded System Applications, Diagnosis and Monitoring
Chair : Emanuele Frontoni
Co-Chair : Wen Chen
Poster Session
Foyer
 Structural Health Monitoring of Buried Pipelines under Static Dislocation and Vibration
Siavash Dezfouli; Abolghasem Zabihollah
Sharif University of Technology, International Campus, Kish Island, Iran (Islamic Republic of).


Quick Crack Detection of the Large Vibrating Screen Lower Beam Based on Combined Technical Method of MMMT and ET
Guanghui Xue; Guorui Zhao; Shigang Zhu; Hui Liu; Miao Wu
School of Mechanical Electronic & Information Engineering, China University of Mining and Technology (Beijing), China.


A Monitoring and Controlling System Based on Distributed Industrial Ring Ethernet in Coal Mine
Zhihai Liu; Qingliang Zeng; Qing Lu; Liang Wang
Shandong University of Science and Technology, China.


A Fault Detection Approach using both Control and Output Error Signals in Frequency Domain
Chih-ping Yeh; Han long Yang; Wen Chen
Wayne State University, USA.


Research on Embedded Controller in the Application of Sludge Treatment Equipment
Jirong Wu; Jianqun Liu; Dong Xu; Jian Cao
Guangdong University of Technology, China.


Research on Totally Electrical Screw-rotated Injection Equipment and Method
Dong-mei Jiao; Bai-yuan Lv
Qingdao University of Science and Technology, China.


Design and Implementation of Communication Platform in CNC System
Tianrong Gao; Dong Yu; Dongfeng Yue; Yi Hu
the Graduate University of Chinese Academy of Sciences, Beijing, China, China.


The study of mediator-less microbial fuel cell based on Saccharomyces cerevisiae
Yisheng Liu; Wei Li; Xudong Hu; Yun Yin
Zhejiang Sci-Tech University, China.


Modeling and Simulation of Integrated Coal Gasification and Solid Oxide Fuel Cell System
Luning Xu; Li Han; Zuomin Dong
Institute of Electrical Engineering, Chinese Academy of Sciences, China.


Study of Minimum Quantity Coolant (MQC) on Surface Roughness during Turning Operation on Aluminum
Yaser Hadi
Yanbu Industrial College, Saudi Arabia.

10:40 am - 12:00 pm Mechatronic and Embedded System Applications
Chair : Emanuele Frontoni
Co-Chair : Martin Horauer
Full Paper Session
Zui Yue Room
 Development of an Embedded Monitoring Device for a Manufacturing Plant
Peter Niklas; Martin Zauner; Martin Horauer
University of Applied Sciences Technikum Wien, Austria.


Design Analysis of a Pneumatic Muscle Driven Wearable Parallel Robot for Ankle joint Rehabilitation
Prashant Jamwal; Shengquan Xie; Kean Aw
the University of Auckland, New Zealand.


A Fault-Tolerant Safety Communication Model Based on Dual Ring Bus
Dongfeng Yue; Dong Yu; Tianrong Gao; Zhenyu Yin; Yi Hu
School of Computer Science and Technology, University of Science and Technology of China, Hefei,, China.


Wireless Sensor Network for exhausted oil collection management
Andrea Ascani; Emanuele Frontoni; Adriano Mancini; Primo Zingaretti
Dept of Ingegneria Informatica, Gestionale e dellAutomazione (DIIGA), Italy.

10:40 am - 12:00 pm Diagnosis and Monitoring in Mechatronic Systems
Chair : Wen Chen
Co-Chair : Youmin Zhang
Full Paper Session
Fei Shang Room
 DUKF-based GTM UAV Fault Detection and Diagnosis with Nonlinear and LPV Models
Ling Ma; Youmin Zhang
Concordia University, Canada.


Fault detection for descriptor systems with Markov jump parameters and time-varying delays
Zhiwei Gao; Nan Xiao
Tianjin University, China.


Real Time Monitoring of Input Force for High Speed Power Chucks Used in CNC Lathes
Cheng Zhou; Huayong Yang; Likui Yang
Zhejiang University, China.


Characterization of partial discharge signals
Z.w. Zhong
Nanyang Technological University, Singapore.

12:00 pm - 1:30 pm Lunch
West Cafeteria
1:30 pm - 3:10 pm Fractional Order Dynamic Systems and Controls
Chair : Yan Li
Co-Chair : YangQuan Chen
Full Paper Session
Zui Yue Room
 On the existence and uniqueness of solutions for initial value problem of nonlinear fractional differential equations
Qiuping Li; Shurong Sun; Zhenlai Han; Yige Zhao
School of Science, University of Jinan., China.


On the Finite Element Method for the Time-Space Fractional Advection Dispersion Equation
Changpin Li; Zhengang Zhao
Shanghai University, China.


Design of controllers using damping contours defined from closed loop systems based on fractional complex order integrators
Patrick Lanusse; Jocelyn Sabatier; Alain Oustaloup
University of Bordeaux - IMS, France.


Numerical study on a layered fractional model of drug release
Xicheng Li; Wen Chen
Department of Engineering Mechanics, Hohai University, China.


A Variable Order Fractional Operator Based Synthesis Method for Multifractional Gaussian Noise
Hu Sheng; Hongguang Sun; Yangquan Chen; Tianshuang Qiu
Utah State University, USA.

1:30 pm - 3:10 pm Robotics and Mobile Machines
Chair : Xianwen Kong
Co-Chair : Matteo Zoppi
Full Paper Session
Fei Shang Room
 Motion Planning for Multi-Link Robots Using Artificial Potential Fields and Modified Simulated Annealing
Deval Yagnik; Jing Ren; Ramiro Liscano
University of Ontario Institute of Technology, Canada.


Robot localization in urban environments using omnidirectional vision sensors and partial heterogeneous apriori knowledge
Emanuele Frontoni; Andrea Ascani; Adriano Mancini; Primo Zingaretti
DIIGA-UNIVPM, Italy.


Design, Dynamic Modeling and Simulation of a Spherical Mobile Robot with a Novel Motion Mechanism
Ahmad Ghanbari; Saber Mahboubi; Mir masoud Seyyed fakhrabadi
University of Tabriz, Iran (Islamic Republic of).


Modular micro robotic instruments for transluminal endoscopic robotic surgery: new perspectives
Matteo Zoppi; Rezia Molfino; Pietro Cerveri
university of genoa, Italy.


Forward displacement analysis of a 2-DOF RR-RRR-RRR spherical parallel manipulator
Xianwen Kong
Heriot-Watt University, United Kingdom.

3:10 pm - 3:50 pm Control, robotics and dynamic systems
Chair : Yan Li
Co-Chair : Xianwen Kong
Poster Session
Foyer
 Existence on Positive Solutions for Boundary Value Problems of Singular Nonlinear Fractional Differential Equations
Yige Zhao; Shurong Sun; Zhenlai Han; Meng Zhang
School of Science, University of Jinan., China.


An Approximation Algorithm of Fractional Order Pole Models Based on an Optimization Process
Meng Li; Xue Dingyu
Information Science and Engineering, Northeastern University, China.


Study of the peroneus digiti quarti muscle length effect on a motor unit fractional multi-model
Mathieu Pellet; Pierre Melchior; Julien Petit; Jean- marie Cabelguen; Alain Oustaloup
IMS-UMR 5218 CNRS, France.


Identification of Thermal Process Using Fractional-Order Transfer Function Based on Intelligent Optimization
Dongfeng Wang; Xiaoyan Wang
North China Electric Power University, China.


A fractional-order synchronization of two networked motion control systems
Yongshun Jin; Yangquan Chen
Hunan University, China.


The Finite Element Method for the Generalized Space Fractional Fokker-Planck Equation
Zhengang Zhao; Changpin Li
Shanghai University, China.


A speculative study of anomalous relaxation modeling for the distribution of prime numbers
Wen Chen; Shuai Hu; Hongguang Sun
Hohai University, China.


Linear Quadratic Regulator and Fuzzy controller Application in Full-car Model of Suspension System with Magnetorheological Shock Absorber
Ali Fellah jahromi; Abolghasem Zabihollah
Sharif University of Technology International Campus, Iran (Islamic Republic of).


Using Expert PID Control in Hydraulic-based AMT System to Reduce Shift Vibration
Sheng-bo Qi; Cheng-rui Zhang; Hong-lin Xie
Shandong University and Ocean University of China, China.


Navigation Technology of Autonomous Mobile Robots in Unknown Environments
Tuanjie Li; Gaowei Yuan; Qingjuan Duan
School of Electormechanical Engineering, Xidian University, China.


A new 6-dof 3-legged parallel mechanism for force-feedback interface
Chao Chen; William john Heyne; Daniel Jackson
Monash University, Australia.


Modeling of Variable Length Cable Driven Parallel Robot
Duan Qj; Du jl ; Duan by ; Li tj ; Tang af
Xidian Univ., China.


Path planning of a mobile robot using solid modeling techniques on potential fields
Aris Synodinos; Nikos Aspragathos
Mechanical and Aeronautics Engineering Department University of Patras, Greece.

3:50 pm - 5:30 pm Mechatronic Control and Electrical Vehicular Systems
Chair : Chengbin Ma
Co-Chair : Yan Li
Full Paper Session
Zui Yue Room
 Acceleration-to-torque Ratio based Anti-skid Control for Electric Vehicles
Zhiyang Cai; Chengbin Ma; Qunfei Zhao
Department of Automation, Shanghai Jiaotong University, China.


A new 2D systems approach applied to iterative learning control of spatio-temporal dynamics
Blazej Cichy; Krzysztof Galkowski
University of Zielona Gora, Poland.


On Distributed Order Low-Pass Filter
Yan Li; Hu Sheng; Yangquan Chen
School of Control Science and Engineering at Shandong University, China.


Optimal Control of Permanent Magnet Synchronous Motor Using Predictive Functional Control
Huixian Liu; Shihua Li
Southeast University, China.

3:50 pm - 5:30 pm Cyber-Physical Systems and Cooperative Systems
Chair : Stephen Nestinger
Co-Chair : Yu-Cheng Chou
Full Paper Session
Fei Shang Room
 Automated Social Coordination of Cyber-Physical Systems with Mobile Actuator and Sensor Networks
Johnathan Nielsen; Levi Rock; Brad Rogers; Andrew Dalia; Joshua Adams
Utah State University, USA.


Context system using Pervasive Controller Area Network bus system to improve driving safety
Shichao Cai; Mohamed Becherif; Maxime Wack
Lab. systems and Transport, University of Technology of Belfort-Montbeliard, France.


Global stabilization over the network with continuous loss of states
Chunjiang Qian; Shouhuai Xu; Weisong Tian
University of Texas at San Antonio, USA.


A Framework for Migrating Control Strategies and Algorithms Developed in Virtual Robots to Physical Systems
Stephen Nestinger; Harry Cheng
Worcester Polytechnic Institute, USA.