18 March 2019 – Keynote Presentation by Professor Makoto Kaneko
Dr. Makoto Kaneko (M’88-SM’03-F’06 for IEEE) is a professor of the Department of Mechanical Engineering, Graduate School of Engineering, Osaka University. He received Ph.D. at the University of Tokyo in 1981. His current research interests include dynamic active sensing, such as Strobe Imager, cell deformability sensing, dynamic sensing of human eye, and dynamic sensing of internal organs by using both high speed vision and high speed actuator. He has received 30 awards, including the Humboldt Research Award in 1997, the IEEE ICRA Best Manipulation Paper Award in 2000, the IEEE ISATP Outstanding Paper Award in 2001, the IEEE RAS King-Sun Fu Memorial BestTransactions Paper Award in 2003, the IEEE ICIA Best Conference Paper Award in 2005, the IEEE ICMA Best Paper Award in Automation in 2013, and the IEEE MHS Best Paper Award in 2012 and 2014. He also received the Honorary Doctor from Darmstadt University of Technology, Germany in 2013.
“Beyond Human Technology” Opens a New Bio/Medical World
This talk begins by explaining what is “Beyond Human Technology”. Knowing of the limitation of human perception and action, we show how to design artificial systems leading to “Beyond Human” by utilizing two kernel components, an online high speed vision and a high speed actuator where both operating speeds are several hundred times faster than human eye and muscle, respectively. We introduce a couple of examples in both robotics and bio/medical fields. As for robotics, we show “The 100G capturing robot”, “Two-fingered hyper human robot hand”, “Hyper plate manipulation learnt from pizza master”, and “Hyper magician”. As for bio/medical application, we show a fast and fine cell manipulation system with the frequency of 100Hz and the resolution of 250 nanometers by using both a newly developed syringe pump and an online high speed vision. As an application of cell manipulation, we show “Cell Stress Test” where a sinusoidal mechanical stress is continuously imparted to a cell until it eventually gets damage. We also show an interesting behavior of red blood cells where their recovery characteristics after the microchannel dramatically change depending upon the loading time. Finally, we would discuss the correlation between the deformability of red blood cell and brain progress, with my personal viewpoints. All topics in this talk will be explained together with video demonstration.
19 March 2019 – Keynote Presentation by Professor Bijnan Bandyopadhyay
Bijnan Bandyopadhyay received his B.E. degree in Electronics and Telecommunication Engineering from the University of Calcutta, Calcutta, India in 1978, and Ph.D. in Electrical Engineering from IIT Delhi, India in 1986. In 1987, he joined the Systems and Control Engineering group , IIT Bombay, India, as a faculty member, where he is currently a chair professor. In 1996, he was with the Lehrstuhl fur Elecktrische Steuerung und Regelung, RUB, Bochum, Germany, as an Alexander von Humboldt Fellow. He was awarded Distinguished Visiting Fellow by the Royal Academy of Engineering, London in 2009 and 2012. Professor Bandyopadhyay is a Fellow of Indian National Academy of Engineering. He has 400 publications which include monographs, book chapters, journal articles and conference papers. He has guided 36 Ph.D. theses at IIT Bombay. His research interests include the areas of multirate output feedback based discrete-time sliding mode control, event-triggered sliding mode control and nuclear reactor control. Prof. Bandyopadhyay served as Co-Chairman of the International Organization Committee and as Chairman of the Local Arrangements Committee for the IEEE ICIT, Goa, India, in 2000. He also served as one of the General Chairs of IEEE ICIT conference, Mumbai, India in 2006. Prof. Bandyopadhyay has served as General Chair for IEEE International Workshop on VSSSMC, Mumbai, 2012. Prof. Bandyopadhyay is currently serving as Technical Editor of IEEE/ASME Transactions on Mechatronics, Associate Editor of IEEE Transaction on Industrial Electronics and Associate Editor IET Control Theory and Application. Professor Bandyopadhyay is an IEEE Fellow.
“Super-Twisting based Integral Sliding Mode control and Implementation issues of Super Twisting Control”
The talk will be on a new algorithm on continuous sliding mode based on integral sliding mode control (ISMC) where the discontinuous part of the ISMC is replaced by continuous control. It is shown that the well known super twisting control (STC) which replaces the discontinuous part of the ISMC acts as a disturbance observer and hence cancels the matched disturbance. As the overall controller is continuous, the proposed method is advantageous over the existing integral sliding mode control, which has a discontinuous term. Also from the practical implementation point of view, in particular for mechanical systems, discontinuous term will result in chattering which is very much undesirable. Some implementation results on a practical system and its superiority will be also discussed. In the second part of the talk, an output feedback stabilization of perturbed double integrator systems using super twisting control (STC) will be presented. It will be shown that when STC is implemented based on super twisting observer (STO) then it is not possible to achieve second order sliding mode (SOSM) using continuous control on the chosen sliding surface. Two methodologies are proposed to circumvent the above mentioned problem. In the first method, control input is discontinuous which may not be desirable for practical systems. In second method continuous STC is proposed based on higher order sliding mode observer (HOSMO) which achieves SOSM on the chosen sliding surface. For simplicity, we are considering here only the perturbed double integrator, which can be generalized for an arbitrary order. Some Numerical simulations and experimental validation will be also presented to show the effectiveness of the proposed method.