Keynote Speakers

2020 The 6th International Conference on Electrical Engineering, Control and Robotics (EECR)

"Robust Control of Underactuated Mechanical Systems"

Prof. Chun-Yi Su, Concordia University, Canada 加拿大肯高迪亚大学 苏春翌教授

BIOGRAPHY: Dr. Chun-Yi Su received his Ph.D. degrees in control engineering from South China University of Technology in 1990. After a seven-year stint at the University of Victoria, he joined the Concordia University in 1998, where he is currently a Professor of Mechanical and Industrial Engineering and holds the Concordia Research Chair in Control. He has also held several short-time visiting positions including a Chang Jiang Chair Professorship by China's Ministry of Education and JSPS Invitation Fellowship from Japan, and Qian Ren Talents Professor from China. His research covers control theory and its applications to various mechanical systems, with a focus on control of systems involving hysteresis nonlinearities. He is the author or co-author of over 400 publications, which have appeared in journals, as book chapters and in conference proceedings. In addition to his academic activities, he has worked extensively with industrial organizations on various projects. Dr. Su has been an Associate Editor of IEEE Transactions on Automatic Control, IEEE Transactions on Control Systems Technology, Mechatronics, Control Engineering Practice, and several other journals. He has served as Chair/Co-Chair for numerous international conferences

ABSTRACT: In recent years, there has been great theoretical and practical interest in controlling underactuated mechanical systems. These systems are defined as underactuated because they have more joints than control actuators. Much of this interest is a consequence of the importance of such systems in application. For example, underactuation may arise in free-flying space robots, underwater vehicles without base actuators, legged robots with passive joints, redundant robots with flexible components, and in many other practical applications. Furthermore, when one or more joints of a standard manipulator fail, it becomes an underactuated mechanism and needs a special control algorithm to continue operation; thus the development of a control technique for underactuated systems will increase the reliability and fault-tolerance of current and future robots. Interest in studying underactuated mechanical systems is also motivated by their role as a class of strongly nonlinear systems where complex internal dynamics, nonholonomic behavior, and lack of feedback linearizability are often exhibited. Traditional nonlinear control methods are insufficient in these cases and new approaches must be developed.
In this presentation, an entirely new method is discussed. A robust nonlinear control law is proposed for underactuated mechanical systems in the presence of parameter uncertainties. The development is based on variable structure theory. The main advantage of the presented scheme is that the uncertainty bounds, needed to design the control law and to prove globally asymptotic stability, depend only on the upper bounds of the inertia parameters. These upper bounds can easily be computed making a control law possible for complex underactuated systems. Finally, the real-time application of this algorithm to a specific underactuated robot, Pendubot, is included to demonstrate the control performance.

"Biomimetic Control Design and Human Skill Transfer for Intelligent Robots"

Prof. Chenguang Yang, South China University of Technology, China
华南理工大学 杨辰光教授

BIOGRAPHY: Dr Yang received Ph.D. degree in control engineering from the National University of Singapore, Singapore, in 2010. He received postdoctoral training at Imperial College London, UK and was recipient of the EU Marie Curie International Incoming Fellowship as a named individual. He is a Senior Member of IEEE and a Fellow of Higher Education Academy (HEA). He has made significant contribution to the research on robot control and human robot interaction, as evidenced by 2011 King-Sun Fu Best Paper Award of the IEEE Transactions on Robotics, 2014 World Congress on Intelligent Control and Automation (WCICA) Steve and Rosalind Hsia Best Biomedical Paper Award, 2015 IEEE International Conference on Information and Automation (ICIA) Best Conference Paper Award, 2015 International Conference on Intelligent Robotics and Applications (ICIRA) Best Conference Paper Award, 2016 International Conference on Human System Interaction (HSI) Best Conference Paper Award, 2017 International Conference on Modeling, Identification and Control (ICMIC) Best Theory Paper Award, 2017 IEEE International Conference on Advanced Robotics and Mechatronics (IEEE ARM) Toshio Fukuda Best Mechatronics Paper Award, and a number of Best Student Paper awards received by his students.

ABSTRACT: In the near future, robots are expected to co-habit with our human beings and work closely with us in various fields and even our daily lives. Unfortunately, most of the current robot control technologies are designed for conventional industrial robots which operate behind safeguarding and for predefined tasks, and thus are not able to cope with the varying tasks in unknown dynamic environments. I have therefore developed human-like adaptive control techniques as well as highly effective human robot skill transfer techniques. My work follows the "from human and for human" principle, i.e., study human motor control skills, in order to develop better robot controllers to support human collaborators. My design not only enable versatile and dexterous robot manipulation but also make robot providing personalized assistance to human factors. My investigations not only create a new cross-disciplinary application area where physiologists are able to employ their knowledge and experiences together with roboticists, but will also have a huge impact on the robotics community, through in-depth investigations on the relation between humans and robots.

"The State-of-the-Art of Robotics and Automation in Military Earthworks"

Prof. Quang Ha, University of Technology Sydney, Australia

BIOGRAPHY: Quang Ha received the B.E. degree from Ho Chi Minh City University of Technology, Vietnam, in 1983, the Ph.D. degree from Moscow Power Engineering Institute, Russia, in 1993, and the Ph.D. degree from the University of Tasmania, Australia, in 1997, all in electrical engineering. He is currently an Associate Professor with School of Electrical and Data Engineering. His research interests include automation, robotics and control systems. Dr Ha is a Senior Member of the IEEE and on the Board of Directors of the International Association of Automation and Robotics in Construction. He has been a Member of the Editorial Board of the IEEE Transactions on Automation Science and Engineering (2009-2013), Automation in Construction, Mathematical Problems in Engineering, Elsevier Heliyon, Journal of Industrial Electronics & Applications, and Journal of Advanced Computational Intelligence and Intelligent Informatics. Quang Ha served as Chairman of several international conferences on automation and intelligent systems. He was the recipient of 14 best paper awards from the IEEE, IAARC and Engineers Australia, including the Sir George Julius Medal in 2015.

ABSTRACT: The advancement in Robotic and Autonomous Systems (RAS) has brought about a new horizon in construction and infrastructure. There is evidence of the increasing interest in RAS technologies in the civil construction sector being reflected in earthworks for the military applications. In particular, Army or ground-based forces are frequently called upon to conduct earthmoving tasks as part of military operations, tasks which could be partially or fully aided by the employment of RAS technologies. Along with recent advances in the Internet of Things and cyber-physical systems, it is essential to examine the current maturity, technical feasibility, and affordability, as well as the challenges and future directions of the adoption and application of RAS to military earthworks based on such platforms as excavators, bulldozers, loaders, graders and dump trucks. This keynote presents a comprehensive review and provides a contemporary and industry-independent analysis on the state-of-the-art of platform-centric earthmoving automation used in defence, spanning current world’s best practice through to that which is predicted over the coming years.

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