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Lecture Notes in Electrical Engineering 465
Vo Hoang Duy
Tran Trong Dao
Ivan Zelinka
Sang Bong Kim
Tran Thanh Phuong
Editors

AETA 2017 - Recent

Advances in Electrical
Engineering and
Related Sciences:
Theory and Application
Lecture Notes in Electrical Engineering

Volume 465

Board of Series editors

Leopoldo Angrisani, Napoli, Italy
Marco Arteaga, Coyoacán, México
Samarjit Chakraborty, München, Germany
Jiming Chen, Hangzhou, P.R. China
Tan Kay Chen, Singapore, Singapore
Rüdiger Dillmann, Karlsruhe, Germany
Haibin Duan, Beijing, China
Gianluigi Ferrari, Parma, Italy
Manuel Ferre, Madrid, Spain
Sandra Hirche, München, Germany
Faryar Jabbari, Irvine, USA
Janusz Kacprzyk, Warsaw, Poland
Alaa Khamis, New Cairo City, Egypt
Torsten Kroeger, Stanford, USA
Tan Cher Ming, Singapore, Singapore
Wolfgang Minker, Ulm, Germany
Pradeep Misra, Dayton, USA
Sebastian Möller, Berlin, Germany
Subhas Mukhopadyay, Palmerston, New Zealand
Cun-Zheng Ning, Tempe, USA
Toyoaki Nishida, Sakyo-ku, Japan
Bijaya Ketan Panigrahi, New Delhi, India
Federica Pascucci, Roma, Italy
Tariq Samad, Minneapolis, USA
Gan Woon Seng, Nanyang Avenue, Singapore
Germano Veiga, Porto, Portugal
Haitao Wu, Beijing, China
Junjie James Zhang, Charlotte, USA
About this Series

“Lecture Notes in Electrical Engineering (LNEE)” is a book series which reports

the latest research and developments in Electrical Engineering, namely:

• Communication, Networks, and Information Theory

• Computer Engineering
• Signal, Image, Speech and Information Processing
• Circuits and Systems
• Bioengineering

LNEE publishes authored monographs and contributed volumes which present

cutting edge research information as well as new perspectives on classical fields,
while maintaining Springer’s high standards of academic excellence. Also
considered for publication are lecture materials, proceedings, and other related
materials of exceptionally high quality and interest. The subject matter should be
original and timely, reporting the latest research and developments in all areas of
electrical engineering.
The audience for the books in LNEE consists of advanced level students,
researchers, and industry professionals working at the forefront of their fields. Much
like Springer’s other Lecture Notes series, LNEE will be distributed through
Springer’s print and electronic publishing channels.

More information about this series at http://www.springer.com/series/7818

Vo Hoang Duy Tran Trong Dao
•

Ivan Zelinka Sang Bong Kim

•

Tran Thanh Phuong

Editors

AETA 2017 - Recent

Advances in Electrical
Engineering
and Related Sciences
Theory and Application

123
Editors
Vo Hoang Duy Sang Bong Kim
Faculty of Electrical - Electronics Department of Mechanical Design
Engineering Engineering
Ton Duc Thang University Pukyong National University
Ho Chi Minh City Busan
Vietnam Korea (Republic of)

Tran Trong Dao Tran Thanh Phuong

International Cooperation, Research Faculty of Electrical - Electronics
and Training Institute Engineering
Ton Duc Thang University Ton Duc Thang University
Ho Chi Minh City Ho Chi Minh City
Vietnam Vietnam

Ivan Zelinka
Department of Computer Science,
Faculty of Electrical Engineering
and Computer Science
VŠB-TUO
Ostrava
Czech Republic

ISSN 1876-1100 ISSN 1876-1119 (electronic)

Lecture Notes in Electrical Engineering
ISBN 978-3-319-69813-7 ISBN 978-3-319-69814-4 (eBook)
https://doi.org/10.1007/978-3-319-69814-4
Library of Congress Control Number: 2017956729

© Springer International Publishing AG 2018

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
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The use of general descriptive names, registered names, trademarks, service marks, etc. in this
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the relevant protective laws and regulations and therefore free for general use.
The publisher, the authors and the editors are safe to assume that the advice and information in this
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Foreword

The proceedings on AETA 2017, which you are holding in your hands, consist of
selected papers from 13 different, but related areas of modern engineering. Modern
world is based on vitally important technologies that merge, e.g., electronics,
computer science, telecommunications, and mechanical engineering together. Since
the beginning of our technologies, we have been confronted with numerous tech-
nological challenges such as finding the optimal solution of various problems
including controlling technologies, power sources construction, robotics.
Technology development of those and related areas has had and continues to have a
profound impact on our civilization and our future lifestyle.
Therefore, this proceeding book containing articles of international conference
AETA 2017, edited by Ivan Zelinka (Czech Republic), Vo Hoang Duy (Vietnam),
Tran Trong Dao (Vietnam), Tran Thanh Phuong (Vietnam), and Sang Bong Kim
(Korea), is a timely volume to be welcomed by the community focused on
telecommunication, control system, and optimization as well as computational
science community and beyond.
This proceeding book consists of 13 topic areas of selected papers such as
robotics, control system, telecommunication, power system, mechanical engineer-
ing, computer science. Readers can find interesting papers about different topics that
reflect modern approach to interesting problems. All selected papers represent
interesting ideas and state-of-the-art overview.
Participations were carefully selected and reviewed; hence, this proceeding book
certainly is one of the few discussing the benefit from intersection of those modern
and fruitful scientific fields of research. We hope that the proceeding book will be
an instructional material for senior undergraduate and entry-level graduate. The
proceeding book will also be resource and material for practitioners who want to
apply discussed topics to solve real-life problems in their challenging applications.
The important part of proceeding book is participations of two keynote speakers
from the Japan and Portugal.
The decision to organize AETA conference and to create this proceeding book
was based on the fact that technologies mentioned above, their use, and impact on
life belong to an interesting area, which is under intensive research from many other

v
vi Foreword

branches of science today. This proceeding book is written to contain simplified

versions of experiments with the aim to show how, in principle, problems about
power systems can be solved.
It is obvious that this proceeding book does not encompass all aspects of dis-
cussed topics due to limited space and time of the conference. Only the main ideas
and results of selected papers are reported here. The authors and editors hope that
the readers will be inspired to do their own experiments and simulations, based on
information reported in this proceeding book, thereby moving beyond the scope of
it. For these reasons, we believe that this proceeding book will be useful for
scientists and engineers working in the above-mentioned fields of research and
applications.
At the end, we would like to thank Ton Duc Thang University (Ho Chi Minh
City, Vietnam), VŠB-Technical University (Ostrava, Czech Republic), Pukyong
National University (Korea), and Feng Chia University (Taiwan), for interest and
strong support in AETA conference organization. Also, many thanks belong to
Springer publishing company for its highly professional, precise, and quick pro-
duction process. Without all of this, it would be impossible to organize successful
conference joining European and Asian participants.
This conference was supported by the Ton Duc Thang University (Ho Chi Minh
City, Vietnam), VŠB-Technical University (Ostrava, Czech Republic), and
Pukyong National University (Busan, Korea); by Department of Science and
Technology of Ho Chi Minh City; by Professor Katsuhisa Furuta (Tokyo Denki
University and Sodick Co., Ltd, Japan); and by the research groups NAVY (http://
navy.cs.vsb.cz/) and MERLIN (http://merlin.tdt.edu.vn/) and CIMEC Lab.

December 2017 Vo Hoang Duy

Tran Trong Dao
Tran Thanh Phuong
Sang Bong Kim
Ivan Zelinka
Contents

Keynote Speech
Under-Actuated Systems: Nonlinear Control Showcase . . . . . . . . . . . . . 3
Mitsuji Sampei
An Overview of Cyber Insecurity and Malicious
Uses of Cyberspace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Rui Miguel Silva and Ivan Zelinka

Computer Science
A New Android Botnet Classification for GPS Exploitation
Based on Permission and API Calls . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Muhammad Yusof, Madihah Mohd Saudi, and Farida Ridzuan
A Protocol for Securing E-Voting System . . . . . . . . . . . . . . . . . . . . . . . 38
Hoang Duc Tho and Nguyen Thi Hong Ha
Processing Big Data in Field of Marketing Models
Using Apache Spark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Tomáš Janečko, Ondřej Grunt, Jan Plucar, Markéta Štáková,
and Ivan Zelinka
Firefly Algorithm: Enhanced Version with Partial Population
Restart Using Complex Network Analysis . . . . . . . . . . . . . . . . . . . . . . . 59
Tomas Kadavy, Michal Pluhacek, Adam Viktorin, and Roman Senkerik
L-SHADE Algorithm with Distance Based Parameter Adaptation . . . . . 69
Adam Viktorin, Roman Senkerik, Michal Pluhacek, and Tomas Kadavy

vii
viii Contents

Optimization
Application of the Box-Behnken Model Design
to the Optimization of Process Parameters in the Convection-Drying
of Channa Striata Fish . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Vo Thien Nhan Ngo, Thi Thanh Dieu Phan, J.C. Beltrán-Prieto,
and Huynh Bach Son Long Nguyen
A Study on Real-World Disaster Evacuation System
with Mathematical Network Problem Solving Algorithm . . . . . . . . . . . . 93
Jin-han Lee, Sang-hyun Park, Sim-in Kim, Moon-seob Jang, Se-Chan Lim,
Tony Kim, La-Kyoung Weon, and Jang-won Choi
Optimal Threshold Policies for Robust Data Center Control . . . . . . . . . 104
Paul Weng, Zeqi Qiu, John Costanzo, Xiaoqi Yin, and Bruno Sinopoli
A Review of Real-World Applications of Particle Swarm
Optimization Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Michal Pluhacek, Roman Senkerik, Adam Viktorin, Tomas Kadavy,
and Ivan Zelinka
Differential Evolution for Constrained Industrial Optimization . . . . . . . 123
Roman Senkerik, Adam Viktorin, Michal Pluhacek, Tomas Kadavy,
and Ivan Zelinka

Telecommunications
Multi-sensor Data Fusion Technique to Detect Radiation Emission
in Wireless Sensor Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Sergej Jakovlev, Mindaugas Kurmis, Darius Drungilas,
Zydrunas Lukosius, and Miroslav Voznak
Analytical Study of the IEEE 1609.4 MAC in Vehicular
Ad Hoc Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Duc Ngoc Minh Dang, Quynh Tu Ngo, Hanh Ngoc Dang,
and Phuong Luu Vo
Enhanced Self-sorting Based MAC Protocol for Vehicular
Ad-Hoc Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Quynh Tu Ngo and Duc Ngoc Minh Dang
Adaptive TDMA and CSMA-Based MAC Protocols
for Vehicular Ad Hoc Networks: A Survey . . . . . . . . . . . . . . . . . . . . . . 163
VanDung Nguyen and Choong Seon Hong
Contents ix

Electronics
A Low-Power Embedded IoT Microprocessor Design
and Validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Ching-Hwa Cheng
A Deep Through-Microhole Fabricated Inside a Glass Optical
Fiber by Use of a Near Ultraviolet Femtosecond Laser . . . . . . . . . . . . . 185
Masahiko Shiraishi, Kazuhiro Watanabe, and Shoichi Kubodera
MicroEYE: A Wireless Multiple-Lenses Panoramic
Endoscopic System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Jian-Lin Zeng, Yu-Hsiang Cheng, Tsung-Yi Wu, Don-Gey Liu,
and Ching-Hwa Cheng
Enhancement of Distributed Fiber Optic Vibration Sensors . . . . . . . . . . 201
Vít Novotný

Materials
Improving the Optical Properties of the 8500 K In-cup Packaging
WLEDs by Using the Green-emitting CaF2:Ce3+, Tb3+ Phosphor . . . . . 213
Tran Hoang Quang Minh and Le Anh Vu
Simulation Study of Microstructure of the Amorphous ZnO . . . . . . . . . 221
Le The Vinh, Nguyen Doan Quoc Anh, Vo Hoang Duy,
Nguyen Kieu Tam, Tran Thanh Nam, Mai Van Dung,
and Nguyen Manh Tuan
The Thixoforming Process with Different Pressing Speed
for Aluminum Material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Nguyen Vinh Du, Pham Son Minh, and Luu Phuong Minh
The Impact of Distance Between Two Phosphor Layers on Luminous
Flux and Color Quality of Remote Phosphor Package . . . . . . . . . . . . . . 242
Nguyen Thi Phuong Thao, Miroslav Voznak, and Nguyen Doan Quoc Anh
A Novel Approach to Fabricate Silicon Nanowire Field Effect
Transistor for Biomolecule Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Chi-Chang Wu, Yankuba B. Manga, Jia-Yang Hung, and Wen-Luh Yang
Simulation of Ridge-Waveguide AlGaInP/GaInP Multiple-Quantum
Well Diode Lasers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Thanh-Nam Tran and Le The Vinh
x Contents

Signal Processing
Experimental Evaluation of Steady State Visual Evoked Potentials
for Brain Machine Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Hitomi Honoki, Trongmun Jiralerspong, Fumiya Sato, and Jun Ishikawa
EMG-Based Interface Multi-degree of Freedom and Optionality . . . . . . 278
Taiki Kobayashi, Risako Hiroki, Masami Iwase, and Jun Inoue
Motion and Force Estimation Based on the NARX
with an EMG Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Yuuto Ohno, Jun Inoue, Masami Iwase, and Shoshiro Hatakeyama
The Estimation Method of Force by Using Kinect Camera . . . . . . . . . . 299
Ryosuke Okada, Shoshiro Hatakeyama, and Masami Iwase

Image Processing
Real-Time Root Monitoring of Hydroponic Crop Plants:
Proof of Concept for a New Image Analysis System . . . . . . . . . . . . . . . 313
Erdem Erdemir and Timothy Darrah
A New Approach of 2D Measurement of Injury Rate on Fish by a
Modified K-means Clustering Algorithm Based on L*A*B*
Color Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Minh Thien Tran, Huy Hung Nguyen, Jotje Rantung, Hak Kyeong Kim,
Sea June Oh, and Sang Bong Kim
Determination of the Fish Surface Area and Volume Using Ellipsoid
Approximation Method Applied for Image Processing . . . . . . . . . . . . . . 334
Jotje Rantung, Minh Thien Tran, Hwan Yeol Jang, Jin Woo Lee,
Hak Kyeong Kim, and Sang Bong Kim
Recognition and Grasping Objects from 3D Environment
by Combining Depth and Color Stereo Image in the Mobile
Picking Robot System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
Trong Hai Nguyen, Jong Min Oh, Dae Hwan Kim, Sang Kwun Jeong,
Hak Kyeong Kim, and Sang Bong Kim

Control Systems
Aerial Attitude Control of Hopping Robots Using Reaction Wheels:
Evaluation of Prototype II in the Air . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
Yurika Nomura and Jun Ishikawa
Reference Trajectory Generation of Laser Beam in Consideration
of Response Speed of Laser Processing Machine . . . . . . . . . . . . . . . . . . 373
Taichi Ishihara and Jun Ishikawa
Contents xi

State Estimation of Internal Combustion Engine Based

on Mathematical Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
Masahiro Yamazaki and Masami Iwase
Analysis of the Relationship Between Operational Mastery Process
and Balance Capability in Daily Life for Unstable Personal Vehicles . . . 394
Kenta Nomura, Kazuki Obata, and Masami Iwase
Vertical Motion Control of Crane Without Load Position
Information Using Nonlinear Control Theory . . . . . . . . . . . . . . . . . . . . 405
Nhat Binh Le, Manh Son Tran, Suk Ho Jung, and Young Bok Kim
Feedback Control of Antagonistic-Type Twisted and Coiled
Polymer Actuator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
Motoya Suzuki and Norihiro Kamamichi
Performance Evaluation of Grasping Force Control Based on Fall
Velocity Control of Grasping Object for Telemanipulation Systems . . . 425
Shuichiro Shimizu, Masaru Saito, and Jun Ishikawa
Damping Control of Suspended Load for Truck Cranes
in Consideration of Control Input Dimension . . . . . . . . . . . . . . . . . . . . 436
Mami Yoshikawa, Atsushi Iwatani, and Jun Ishikawa
Model-Based Clustering of Time Series Based on State Space
Generative Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
Bruce Wilcox and Fumio Hamano
Dynamic Programming Based Adaptive Optimal Control
for Inverted Pendulum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
Dao Phuong Nam, Nguyen Van Huong, Ha Duc Minh,
and Nguyen Thanh Long
State Estimation of a Yoyo Based on a Model with Elasticity
of a String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
Takuma Nemoto, Sho Komagata, Koichi Asada, and Masami Iwase
PI Sliding Mode Control for Active Magnetic Bearings in Flywheel . . . 478
Van Van Huynh and Yao-Wen Tsai
A Study for Learning Method of Modified PID Controller
with On-line Hybrid Genetic Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . 488
Hwang Hun Jeong
Backstepping-Based Adaptive Velocity Tracking Controller
Design for a Winding Spindle System . . . . . . . . . . . . . . . . . . . . . . . . . . 498
Huy Hung Nguyen, Van Tu Duong, The Duy Pham, Min Saeng Shin,
Hak Kyeong Kim, and Sang Bong Kim
xii Contents

Study on Optimized Guidance and Robust Control

for the Ship Maneuvering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
Ngoc-Huy Tran, Nguyen Nhut-Thanh Pham, Bao Hong-Vo Thai,
and Tat-Hien Le
Advanced Control Strategy of Dynamic Voltage Restorers for
Distribution System Using Sliding Mode Control Input-Output
Feedback Linearization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
Tan Luong Van, Ngoc Minh Doan Nguyen, Le Thanh Toi,
and Tran Thanh Trang
Optimal Pump Scheduling to Pressure Management
for Large-Scale Water Distribution Systems . . . . . . . . . . . . . . . . . . . . . 532
Pham Duc Dai, Le Quang Cuong, and Bui Van Dai
Model Predictive Control with Both States and Input Delays . . . . . . . . 542
Sofiane Bououden, Ilyes Boulkaibet, Mohammed Chadli, and Ivan Zelinka
On the Hamiltonian Approach to the Collocated Virtual Holonomic
Constraints in the Underactuated Mechanical Systems . . . . . . . . . . . . . 554
Sergej Čelikovský and Milan Anderle

Robotics
Continuous Genetic Algorithm Aiding to Quadcopter
Controller Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571
Huu Khoa Tran and Tran Thanh Trang
Control System Design of Four Wheeled Independent Steering
Automatic Guided Vehicles (AGV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580
Dae Hwan Kim, Hyuk Yim, Woong Yeol Joe, and Sang Bong Kim
A Guide to Selecting Path Planning Algorithm for Automated
Guided Vehicle (AGV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587
Dae Hwan Kim, Nguyen Trong Hai, and Woong Yeol Joe
Path Following Control of Bike Robot . . . . . . . . . . . . . . . . . . . . . . . . . . 597
Ryotaro Miyahara and Masaki Yamakita
Online Training the Radial Basis Function Neural Network
Based on Quasi-Newton Algorithm for Omni-directional
Mobile Robot Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607
Tung Thanh Pham, Dong Van Huong, Chi-Ngon Nguyen,
and Thanh Le Minh
A Study on Looking for Shortest Trajectory of Mobile Robot
Using A* Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617
Duy Lan Bui and Tri Cong Phung
Contents xiii

Independent Joint Control System Design Method

for Robot Motion Reconstruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627
Manh Son Tran, Nhat Binh Le, Van Trong Nguyen, Dac Chi Dang,
Eun Ho Choi, and Young Bok Kim
Walking Figure Generating in Consideration of Ground
Reaction Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639
Kousuke Sato, Shoshiro Hatakeyama, and Masami Iwase
Study on the Combined Underwater Tracked Vehicle System
with a Rock Crushing Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647
Mai The Vu, Hyeung-Sik Choi, Dong-Wook Jung, and Hyun-Joong Son
Designing Optimal Trajectories and Tracking Controller
for Unmanned Underwater Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658
Mai The Vu, Hyeung-Sik Choi, Thieu Quang Minh Nhat,
and Dong-Wook Jung
Simulation and Experiment of Underwater Vehicle Manipulator
System Using Zero-Moment Point Method . . . . . . . . . . . . . . . . . . . . . . . 669
Ngoc-Duc Nguyen, Hyeung-Sik Choi, Ngoc-Huy Tran,
and Seo-Kang Kim
Development of Ray-Type Underwater Glider . . . . . . . . . . . . . . . . . . . . 677
Ngoc-Duc Nguyen, Hyeung-Sik Choi, Ngoc-Huy Tran,
and Seo-Kang Kim
Modeling and Evaluating Motion Performance of Robotic
Fish with a Pair of Non-uniform Pectoral Fins . . . . . . . . . . . . . . . . . . . 686
Van Anh Pham, Tan Tien Nguyen, and Tuong Quan Vo
Modeling and Control System Design of Four Wheel Independent
Steering Automatic Guided Vehicle (AGV) . . . . . . . . . . . . . . . . . . . . . . 696
Dae Hwan Kim, Yong Won Hwang, and Sang Bong Kim
Development of a Module Robot for Glass Façade Cleaning Robot . . . . 704
Shunsuke Nansai, Keichi Onodera, and Mohan Rajesh Elara
Tracking Controller Design for Omni-Directional Automated
Guided Vehicles Using Backstepping and Model Reference
Adaptive Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715
Huy Hung Nguyen, Chang Kyu Kim, Van Cuu Ho, Thanh Luan Bui,
Hak Kyeong Kim, Choong Hwan Lee, and Sang Bong Kim
Path Planning for Automatic Guided Vehicle with Multiple
Target Points in Known Environment . . . . . . . . . . . . . . . . . . . . . . . . . . 726
Chang Kyu Kim, Sung Won Kim, Huy Hung Nguyen, Dae Hwan Kim,
Hak Kyeong Kim, and Sang Bong Kim
xiv Contents

Modeling of Rolling Locomotion on a Reconfigurable Quadruped

Robot with Servos for State Estimation . . . . . . . . . . . . . . . . . . . . . . . . . 736
Takuma Nemoto, Keichi Onodera, Rajesh Elara Mohan,
and Masami Iwase
Study on Determining the Number of Fin-Rays of a Gymnotiform
Undulating Fin Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 745
Van Dong Nguyen, Dinh Khanh Phan, Canh An Tien Pham,
Dae Hwan Kim, Viet Tuan Dinh, and Tan Tien Nguyen
Study on Design, Analysis and Control an Underwater
Thruster for Unmanned Underwater Vehicle (UUV) . . . . . . . . . . . . . . . 753
Ngoc-Huy Tran, Quoc Tien-Dung Tran, Ngoc-Duc Nguyen,
and Hyeung-Sik Choi
Design and Implement a Fuzzy Autopilot for an Unmanned
Surface Vessel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 765
Nhat Minh Do, Hong Hai Vo, and Duy Anh Nguyen
Heading and Depth Control of Autonomous Underwater
Vehicles via Adaptive Neural Network Controller . . . . . . . . . . . . . . . . . 776
Chau Giang Nguyen, Viet Anh Pham, and Duy Anh Nguyen
Nonlinearities Compensation Method for Application to Robot
Manipulators Using Time-Delay Estimation . . . . . . . . . . . . . . . . . . . . . . 786
Manh Son Tran, Suk Ho Jung, and Young Bok Kim

Motor Control
Development of the Removable Electric Drive System
for Wheelchair Running on Public Road . . . . . . . . . . . . . . . . . . . . . . . . 801
Yuki Iwami, Jun Inoue, Masami Iwase, and Shoshiro Hatakeyama
PI-Based Fuzzy Speed Controller with PWM Direct Torque
Control for Induction Motor Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 811
Hau H. Vo, Pavel Brandstetter, Martin Kuchar, Chau S.T. Dong,
Thinh C. Tran, and Duy H. Vo
Fast Maximum Power Point Tracking Control for Variable
Speed Wind Turbines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 821
Tan Luong Van, Dung Quang Nguyen, Vo Hoang Duy, and Hung Nguyen
Feedback-Linearization-Based Direct Power Control of DFIG
Wind Turbine Systems Under Unbalanced Grid Voltage . . . . . . . . . . . . 830
Tan Luong Van, Hung Nguyen, and Minh Tuan Tran
Contents xv

High-Gain Observer Based Output Feedback Controller

for a Two-Motor Drive System: A Separation Principle Approach . . . . 840
Dao Phuong Nam, Pham Tuan Thanh, Tran Xuan Tinh, Tran Thanh Dat,
and Vu Minh Van
A Fuzzy-Based Supervisory Controller Development
for a Series Hydraulic Hybrid Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . 850
Tri-Vien Vu and Chih-Keng Chen
Rotor Time Constant Estimation of Induction Motor
Using Online PI-Adaptive and GA-Adaptive Model . . . . . . . . . . . . . . . . 860
Thinh Cong Tran, Pavel Brandstetter, Vo Hoang Duy, Hau Huu Vo,
Cuong Dinh Tran, and Sang Dang Ho
Estimate Parameters of Induction Motor Using ANN
and GA Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 872
Thinh Cong Tran, Pavel Brandstetter, Vo Hoang Duy, Chau Dong,
Cuong Dinh Tran, and Sang Dang Ho
Study on Hybrid Method for Efficiency Optimization
of Induction Motor Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 883
Trong Hai Nguyen, Jeong Rim Son, Khanh Pham Hung Kim,
Nam Soo Jeong, Hak Kyeong Kim, and Sang Bong Kim

Power Systems
A New Optimal Algorithm for Multi-objective Short-Term
Fixed Head Hydrothermal Scheduling with Emission
Control Consideration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 897
Bach H. Dinh and Thang T. Nguyen
A Study of the Power Factor Improvement by Using Harmonic
Filter in Busan Urban Railway Substation with Thyristor
Rectification Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 908
Seong Gyu Kim, Sung Woo Han, Seung Sam Seo, Jong Il Bae,
and Gi Sig Byun
Variable Structure Load Frequency Control of Power System . . . . . . . . 915
Van Van Huynh, Bui Le Ngoc Minh, and Tam Minh Nguyen
Quantum-Behaved Bat Algorithm for Combined Economic Emission
Dispatch Problem with Valve-Point Effect . . . . . . . . . . . . . . . . . . . . . . . 923
Fahad Parvez Mahdi, Pandian Vasant, M. Abdullah-Al-Wadud,
Junzo Watada, and Vish Kallimani
Modified Flower Pollination Algorithm for Solving Economic
Dispatch Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 934
Ly Huu Pham, Ngo Hoang An, and Dao Thanh Tam
xvi Contents

Optimal Load Frequency Control in an Isolated Power System . . . . . . . 943

Van Van Huynh, Bui Le Ngoc Minh, and Tam Minh Nguyen

Energy
A Research on the Thermal Daily Performance of Hybrid Solar
Collector with Fin-and-Tube Heat Exchanger in Winter . . . . . . . . . . . . 957
R. Fatkhur, H.U. Choi, Y.B. Kim, C.H. Son, J.I. Yoon, and K.H. Choi
A Study on the Heat Exchange Performance of Hybrid Solar Collector
with Air to Water Heat Exchanger Type . . . . . . . . . . . . . . . . . . . . . . . . 967
H.U. Choi, R. Fatkhur, Y.B. Kim, C.H. Son, J.I. Yoon, and K.H. Choi
Numerical Design of Solar Collector Trough System
for Integrated Solar Combine Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . 976
Nguyen Dao and Quang Dung Nguyen

Mechanical Engineering
Effect of Minimum Quantity Lubrication on Surface Roughness
in Milling Machining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 991
Nguyen Thanh Son, Than Trong Khanh Dat, Nguyen Ngoc Quynh,
and Tran Thien Phuc
Slip Analysis on a Non-holonomic Continuously Variable
Transmission Using Magic Formula . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1003
Jinhyung Kong, Jungyun Kim, Ho-Young Kang, and Chan-Jung Kim
Sterilization of Edible Bird Nest Product Utilize
Microwave Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1014
Linh Thi My Than, Uyen Dinh Nguyen, Su Van Tran, Nguyen Hoai Ngo,
and Khai Pham
Forming Limit Diagram Prediction of AA6061-T6 Sheet
Using a Microscopic Void Growth Model . . . . . . . . . . . . . . . . . . . . . . . 1026
Hao H. Nguyen, Trung N. Nguyen, and Hoa C. Vu
Numerical Analysis of LBV150 ROV Thruster Performance
Under Open Water Test Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1037
Ngo Khanh Hieu, Phan Quoc Thien, and Nguyen Ho Nghia
A Method for Tuning the Frequency Series Wave Speed
in Hydraulic Flexible Hose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1047
Hwang Hun Jeong, Man Gon Kang, Ill Young Lee, and Jong Il Yoon
Contents xvii

Optimal Design of RFECT System for Inspection of 16-inch

Ferromagnetic Pipe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1057
Jong Min Kim, Dae-Kwang Kim, Sung-Ho Cho, Hui Min Kim,
Gwan Soo Park, Hui-Ryong Yoo, Jae-Jun Kim, Dong-Kyu Kim,
and Sung-Jin Song
Building Management Algorithms in Automated Warehouse
Using Continuous Cluster Analysis Method . . . . . . . . . . . . . . . . . . . . . . 1068
Ngoc Cuong Truong, Truong Giang Dang, and Duy Anh Nguyen
Development of VR Based Authoring Tool for Smart Factory . . . . . . . . 1078
Youngwon Hwang and Sungjun Park
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1089
Keynote Speech
 Under-Actuated Systems: Nonlinear Control
Showcase

Mitsuji Sampei(&)

Department of Systems and Control Engineering,

Tokyo Institute of Technology, Tokyo, Japan
[email protected]

Abstract. Most of controllers for nonlinear systems are designed by using

linearly approximated models and by applying linear control theory. In most of
such cases, nonlinear control theory cannot improve control performance as long
as we are controlling the systems in the vicinity of the equilibrium point.
However, there are many under-actuated systems which are not stabilized with
this linearization strategy: some sorts of singularity at the equilibrium point
cause uncontrollability of the approximated linear model even though the sys-
tem is controllable in nonlinear control theory. This note will present such nature
of under-actuated systems and their control strategies.

Keywords: Under-actuated systems
Nonlinear control
Non-holonomic

systems
Motion control
Bilinear systems
Unstable zero-dynamics
Periodic
motion

1 Nonlinear Control Theory

Why should we research Nonlinear Control Theory? Some say, “Every real systems
have nonlinearity, thus, we need nonlinear control theory.” In my opinion, this answer
is partially correct, but not perfectly.
The commonly used controller design strategy for nonlinear systems is as follows,
first deriving approximate linear model of the system, and then designing controller
using linear control theory. For example, stabilizing controllers for famous inverted
pendulum [1, 2] are designed with this strategy.
It should also be noted that “Even though we design nonlinear optimal controllers
for nonlinear systems by using nonlinear optimal control theory, linear approximations
of those nonlinear controllers are identical to the linear optimal controllers for
approximately linearized systems designed by using linear optimal control theory,
where their performance indices are quadratic approximation of those of the original
nonlinear optimal control.” Thus, approximate linearization is a powerful tool as long
as we are controlling the systems in the vicinity of the equilibrium point.
This is not a bad news for nonlinear control researchers, however, since this also
implies that NONLINEAR CONTROL THEORY is NEEDED in the following cases:

© Springer International Publishing AG 2018

V.H. Duy et al. (eds.), AETA 2017 - Recent Advances in Electrical Engineering
and Related Sciences: Theory and Application, Lecture Notes in Electrical Engineering 465,
https://doi.org/10.1007/978-3-319-69814-4_1
4 M. Sampei

– we should control the system away from the equilibrium point.

– the linearized system is uncontrollable even though the original system is controllable in
nonlinear control theory, i.e., the equilibrium point is a singular point of controllability.
The former case includes swing-up control of the inverted pendulum and other
motion controls, i.e., not stabilization problem. The latter case includes theoretically
interesting nonlinear systems.
Under-Actuated Systems have many of those control difficulties. This note will
introduce our control challenges to those problems.

2 Under-Actuated Systems

Under-Actuated Systems are mechanical systems whose number of inputs (actuators) is

strictly less than the degrees of freedom (DOF). A commonly used 3-link manipulator
has 3 DOF and 3 motors (inputs), therefor this system is not an under-actuated system
but is a full-actuated system.
Examples of under-actuated systems include the followings:
– The cart-pendulum (inverted pendulum) system [1, 2] is 2 DOF (cart position and
pendulum orientation) and should be controlled with 1 input (cart acceleration).
– The Quad-Rotor Drone has 6 DOF (3D position and 3 orientation) and 4 inputs (rotors).
– The Car has 3 DOF (2D position and 1 orientation) and 2 inputs (forward/backward
velocity and steering).
In the following sections, we will show several under-actuated systems and our
control approaches to them.

3 Velocity Constrained Systems (Driftless System)

Brockett’s Theorem [3] shows a necessary condition for the systems to be stabilized
with static continuous feedbacks, such as linear feedbacks u ¼ Fx.
If the system does not satisfy Brockett’s condition, it cannot be stabilized with any
static continuous feedbacks, i.e., at least we should design time-varying or discontin-
uous controllers.
It is known that the wheeled vehicle is modeled as driftless system and does not
satisfy Brackett’s condition [4]. Thus many researchers have worked on its control and
have proposed time-varying controllers and discontinuous controllers [for example, 4,
5, 6, 7]. Our approach is time-state control form [8, 9] based on time scale transfor-
mation [10], a hybrid type controller.
One of the canonical forms of driftless system is the following chained form.

x_ 1 ¼ u1 ;
x_ 2 ¼ u2 ;
x_ 3 ¼ x2 u1 :
 Under-Actuated Systems: Nonlinear Control Showcase 5

Since all terms in the right hand side are activated by the input u, i.e., there are no drift
term, it is called “driftless system.” Its linear approximation is uncontrollable as
follows.

x_ 1 ¼ u1 ;
x_ 2 ¼ u2 ;
x_ 3 ¼ O2 ðx; uÞ:

If we ignore O2 ðx; uÞ, x_ 3 ¼ 0 and x3 is uncontrollable. But if we set u1 ¼ 1,

x_ 2 ¼ u2 ;
x_ 3 ¼ x2 ;

and if we set u1 ¼ 1,

x_ 2 ¼ u2 ;
x_ 3 ¼ x2 :

Since those systems are linear controllable systems, we can stabilize x2 and x3 while
u1 ¼ 1 or u1 ¼ 1. x1 can be controlled by changing u1 ¼ 1 and u1 ¼ 1. x1 is called
“generator.” Our time-state control approach is more sophisticated way to use
non-constant u1 to control the system. In the case of wheeled car system, u1 corre-
sponds to the forward or the backward movement, and u2 corresponds to the rotation of
the vehicle (Fig. 1).

Fig. 1. Control strategy with time-state con- Fig. 2. Double trailer system
trol form

We showed that our controller can control many driftless systems such as a
wheeled vehicle, a trailer [11], and a double-trailer [12] (Fig. 2). We also showed that
an under-actuated space robot [13, 14] (Fig. 3) and a dexterous manipulation of the
6 M. Sampei

ball/plate position (a ball sandwiched by two plates: the plate’s movement is the input)
[15] (Fig. 4) can be modeled as chained forms, and controlled with our strategy. We
showed that the dexterous manipulation of the ball/plate position together with the ball
orientation is more difficult problem, i.e., it cannot be approximated to chained form
since one generator is not enough for the controllability of the rest of the system. We
proposed using two generators to control this system [16] (Fig. 5).
Recently, we proposed a discontinuous controller, whose trajectory is similar to
time varying controllers, using Semiconcave Control Lyapunov Function [17].

Fig. 3. Space robot simulator Fig. 4. Dexterous manipulation (ball/plate

position)

Fig. 5. Dexterous manipulation (position and orientation)

4 Velocity Constrained Systems (Constant Drift)

If the velocity constrained system has some constant drift, how the control strategy
should be changed. When we model the space robot as the driftless system, we assume
that the initial momentum of the space robot is zero. In such a case, any positions or
orientations of the space robot are equilibria. On the other hand, if it has non-zero initial
 Under-Actuated Systems: Nonlinear Control Showcase 7

momentum, no configurations are equilibria. In this case, we should change the control
objective. In [18], we proposed controllers for the spacecraft with only two reaction
wheels with non-zero initial momentum (Fig. 6). Our control objective was to make the
antenna of the spacecraft face to the earth. By choosing the appropriate output, we
succeeded in controlling the direction of the antenna, and left the angular momentum as
the rotating motion of the craft (zero-dynamics).
Another example is landing control [19]. Our problem was to control a flying
under-actuated mechanism to land at the specified posture, i.e., we should control its
posture at a certain time. We assumed that it had non-zero initial angular momentum.
Since we could not control the angular momentum, we decided to use the change of the
moment of inertia as an input, i.e., by moving its joints, we could change the moment
of inertia. The change of the moment of inertia with the constant angular momentum
caused a change of the angular velocity. In this case, we could design a conventional
trajectory tracking controller for its posture.
Another example is surface vessel with unknown disturbances [20]. We assumed
that the dynamics of surface vessel was same as wheeled vehicle, except it suffered
from constant tidal stream (Fig. 7).

Fig. 6. Spacecraft with initial angular momentum Fig. 7. Surface vessel with tidal stream

5 Under-Actuated Systems Without Gravity

What would happen if we try to control manipulators with passive joints in a horizontal
plane (without gravity)? Such systems do not satisfy Brockett’s condition and cannot
be stabilized with static continuous feedbacks. Arai et al. [21] proposes such a problem,
8 M. Sampei

and solves it using the concept of “the center of percussion.” Our group mathematically
formulated this system as a second order chained system as follows, and proposed a
discontinuous controller [22].

€x1 ¼ u1 ;
€x2 ¼ u2 ;
€x3 ¼ x2 u1 :

6 Under-Actuated Systems with Gravity

Manipulators with passive joints without gravity are quite hard to control. If there is a
gravity, however, they are quite easy to be controlled. The inverted pendulum can be
modeled as a manipulator with a passive joint. Since its approximate linearization is
controllable, it is easy to be controlled. This is because of the structure of equilibria. If
there are no gravity, any angles of the pendulum are equilibria. However, if there is a
gravity, the equilibrium point of the pendulum is the upright position. This implies that
the dimension of the equilibrium manifold is changed. It is known that if the dimension
of the equilibrium manifold is strictly greater than the number of inputs, the system
cannot be stabilized with any static continuous feedback [23].
Similarly, the quadrotor system is 6 DOF with 4 inputs. Since the dimension of the
equilibrium manifold of the quadrotor is 4 (pitch and roll should be zero), the quadrotor
can be controlled with linear controllers.

7 Bilinear Systems

The conventional inverted pendulums are controlled by using the horizontal movement
of the cart (actuated part) (Fig. 8). In contrast, human uses not only the horizontal
movement but also the vertical movement to control the pendulum (Fig. 9). How can
we design controllers for the inverted pendulum using both horizontal and vertical
movement? This problems is not easy because the controllability of this system has a
singularity at the origin.
You can easily imagine that, if the pendulum is at the upright position, the vertical
movement will not affect the pendulum’s angle. On the other hand, if the pendulum is
declined, then the vertical movement affects the pendulum’s angle. This implies that
the controllability from the vertical input to the pendulum has a singularity at the
upright position, i.e., it is controllable almost everywhere except the upright position.
We found that this system can be modeled (or approximated) as a bilinear system.
We proposed an inverse optimal type controller for bilinear systems and showed that
our controller efficiently used the vertical movement to control the pendulum [24, 25]
(Fig. 10).
 Under-Actuated Systems: Nonlinear Control Showcase 9

Similarly, the semi-active suspension (Fig. 11) of the vehicle is modeled as a

bilinear system, and can be controlled with a similar strategy [26, 27]. This controller
was employed by TOYOTA as H-infinity TEMS.

Fig. 8. Conventional inverted pendulum Fig. 9. Human control of inverted pendulum

Fig. 10. Inverted pendulum on the drone Fig. 11. Semi-active suspension

8 Motion Control (Unstable Zero-Dynamics)

Can we control under-actuated manipulators to throw a ball? When we use a fully

actuated manipulator, we first design a time trajectory and control the manipulator to
follow this trajectory. However, it is well known that, in the case of human throwing,
torque of the elbow joint is small. That is why we made a throwing machine with
passive elbow joint. Since the elbow joint did not have a heavy motor, the arm was
light and moved quickly. However, since this was an under-actuated system, it could
not exactly follow the designed time trajectory.
10 M. Sampei

For this system, we designed a controller based on Un-Stable Zero-Dynamics.

Since there was only one input (shoulder motor), we could control only 1 degree of
freedom. Thus, we decided to control the end-effector to stay on the path designed for
throwing motion. The controller was only to make the end-effector on the path, and the
dynamics along the path was not controlled, i.e., zero-dynamics. We designed this path
unstable, i.e., the end-effector was accelerated along the path so that it could throw the
ball [28] (Figs. 12 and 13).
The key point of this control was the choice of the output function which made the
zero-dynamics unstable. We proposed the Relative Degree Structure [29] which helped
us to design such an output function.

Fig. 12. Human throwing Fig. 13. Under-actuated throwing machine

9 Motion Control (Periodic Motion)

If the path for the unstable zero-dynamics is a closed path, we may activate a periodic
motion of the system. Of course, if the path is merely unstable, the zero-dynamics in the
path continuously accelerates the motion and the periodic motion becomes unstable. In
order to stabilize the periodic motion (control the velocity of the zero-dynamics), we
should find some factors to control the velocity of the zero- dynamics. We designed
controller for Devil Stick (Juggling) [30] (Figs. 14 and 15), Biped Running [31]
(Fig. 16), Denglibot (Rolling Acrobot: such motion is called “DENGURIGAESHI” in
Japanese) [32, 33] (Figs. 17 and 18).
A similar concept, Hybrid Zero-Dynamics, was proposed by Westervelt, Grizzle
and Koditschek [34], which design a stable periodic motion path. Our control forces the
periodic motion stable by modifying the path (or other parameter) as a control
input.
 Under-Actuated Systems: Nonlinear Control Showcase 11

Fig. 14. Devil stick: propeller motion Fig. 15. Devil stick experiment

Fig. 16. Biped running

Fig. 17. Denguribot (simulation) Fig. 18. Dengribot (experiment)

12 M. Sampei

10 Motion Control (Snake)

Another example of the motion control is seen in the manipulation of the snake-like
robot. It is known that the Serpentine Motion causes the forward movement of the
snake-like robot [35]. We showed that the Serpentine-Like Motion was automatically
generated if the robot tried to move the head forward while suppressing the side force
arisen on the body (wheel) [36] (Figs. 19 and 20).

Fig. 19. Snake robot (simulation) Fig. 20. Snake robot (experiment)

11 Concluding Comment

This note showed the results of our work regarding the control of under-actuated
systems. As shown in this note, many under-actuated systems need advanced nonlinear
control theory. Thus, under-actuated systems are the show case of advanced nonlinear
control theory.

References
1. https://en.wikipedia.org/wiki/Inverted_pendulum
2. https://en.wikipedia.org/wiki/Furuta_pendulum
3. Brockett, R.W.: Asymptotic stability and feedback stabilization. Diff. Geom. Control theory
27, 181–191 (1983)
4. Kolmanovsky, I., McClamroch, N.H.: Developments in nonholonomic control problems.
IEEE Control Syst. Mag. 15(6), 20–36 (1995)
5. De Wit, C.C., Sordalen, O.J.: Exponential stabilization of mobile robots with nonholonomic
constraints. IEEE Trans. Autom. Control 37(11), 1791–1797 (1992)
6. Astolfi, A.: Discontinuous control of nonholonomic systems. Syst. Control Lett. 27(1),
37–45 (1996)
7. Pomet, J.-B.: Explicit design of time-varying stabilizing control laws for a class of
controllable systems without drift. Syst. Control Lett. 18(2), 147–158 (1992)
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