CASE 2021 17th IEEE International Conference on
Automation Science and Engineering
August 23-27, 2021
Lyon, France
  
Program at a Glance    Monday    Tuesday    Wednesday    Thursday    Author Index    Keyword Index  

Last updated on August 7, 2021. This conference program is tentative and subject to change

Technical Program for Tuesday August 24, 2021

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TuOC Auditorium
Opening Ceremony Plenary Session
Chair: Xie, XiaolanEcole Des Mines De Saint Etienne
 
TuK1N Auditorium
Keynote: Dolores ROMERO MORALES Plenary Session
Chair: Luh, PeterUniversity of Connecticut
 
TuAT1 Auditorium
Intelligent and Flexible Manufacturing 1 Regular Session
Chair: Fanti, Maria PiaPolitecnico Di Bari
Co-Chair: Guidetti, XavierETH Zürich
 
10:30-12:30, Paper TuAT1.1 
LSAT: Specification and Analysis of Product Logistics in Flexible Manufacturing Systems

van der Sanden, BramTNO
Blankenstein, YuriTNO
Schiffelers, RamonASML
Voeten, JeroenEindhoven University of Technology
 
10:30-12:30, Paper TuAT1.2 
Iterative Surface Mapping Using Local Geometry Approximation with Sparse Measurements During Robotic Tooling Tasks

Amersdorfer, ManuelChristian-Albrechts-Universität Zu Kiel
Meurer, ThomasInstitute for Automatic Control, Kiel University
 
10:30-12:30, Paper TuAT1.3 
Reinforcement Learning Based Optimization of Bayesian Networks for Generating Feasible Vehicle Configuration Suggestions

Duerr, SimonDr. Ing. H.c. F. Porsche AG
Lamprecht, RaphaelFraunhofer Institute for Manufacturing Engineering and Automatio
Kauffmann, MatthiasPorsche AG
Huber, Marco F.University of Stuttgart
 
10:30-12:30, Paper TuAT1.4 
Industrial Time Series Modeling with Causal Precursors and Separable Temporal Convolutions

Menegozzo, GiovanniUniversity of Verona
Dall'Alba, DiegoUniversity of Verona
Fiorini, PaoloUniversity of Verona
 
10:30-12:30, Paper TuAT1.5 
Plasma Spray Process Parameters Configuration Using Sample-Efficient Batch Bayesian Optimization

Guidetti, XavierETH Zürich
Rupenyan, AlisaETH Zürich
Fassl, LutzEquipment Digitalization Team, Oerlikon Metco
Nabavi, MajidEquipment Digitalization Team, Oerlikon Metco
Lygeros, JohnETH Zurich
 
10:30-12:30, Paper TuAT1.6 
An Architecture for Digital Processes in Manufacturing with Blockchain, Docker and Cloud Storage

Volpe, GaetanoPolitecnico Di Bari
Mangini, Agostino MarcelloPolitecnico Di Bari
Fanti, Maria PiaPolitecnico Di Bari
 
TuAT2 Rhone 1
Industrial Robots Regular Session
Chair: Yi, JingangRutgers University
Co-Chair: Romanov, AlexeyMoscow Technological University (MIREA)
 
10:30-12:30, Paper TuAT2.1 
Automatic Generation of Kinematics and Dynamics Model Descriptions for Modular Reconfigurable Robot Manipulators

Nainer, CarloFraunhofer Italia Research
Feder, MaddalenaFraunhofer Italia Research
Giusti, AndreaFraunhofer Italia Research
 
10:30-12:30, Paper TuAT2.2 
SABER: Modular Reconfigurable Robot for Industrial Applications

Romanov, AlexeyMoscow Technological University (MIREA)
Yashunskiy, VladimirMIREA - Russian Tehcnological University
Chiu, Wei-YuNational Tsing Hua University
 
10:30-12:30, Paper TuAT2.3 
Suction Point Selection Algorithm Based on Point Cloud for Plastic Waste Sorting

Um, SangwooKorea Advanced Institute of Science and Technology
Kim, Kyung-SooKAIST(Korea Advanced Institute of Science and Technology)
Kim, SoohyunKAIST(Korea Advanced Institute of Science and Technology)
 
10:30-12:30, Paper TuAT2.4 
Real-Time Estimation of Multiple Potential Contact Locations and Forces

Popov, DmitryInnopolis University
Klimchik, AlexandrInnopolis University
Pashkevich, AnatolEcole Des Mines De Nantes
 
10:30-12:30, Paper TuAT2.5 
CoHaptics: Development of Human-Robot Collaborative System with Forearm-Worn Haptic Display to Increase Safety in Future Factories

Altamirano Cabrera, MiguelSkolkovo Institute of Science and Technology (Skoltech), Moscow,
Heredia Mena, Juan EstebanUniversity of Southern Denmark
Tirado Rosero, JonathanSkolkovo Institute of Science and Technology (Skoltech), Moscow,
Panov, VladislavSkolkovo Institute of Science and Technology (Skoltech), Moscow,
Hagos, FikreSkolkovo Institute of Science and Technology Skoltech
Tsetserukou, DzmitrySkolkovo Institute of Science and Technology
 
10:30-12:30, Paper TuAT2.6 
Softness-Adaptive Pinch-Grasp Strategy Using Fingertip Tactile Information of Robot Hand

Park, SungwooKorea University, Korea Institute of Science and Technology
Hwang, DonghyunKorea Institute of Science and Technology
 
TuAT3 Rhone 2
Logistics Regular Session
Chair: Absi, NabilEcole Des Mines De Saint Etienne
Co-Chair: Kokot, MirkoUniversity of Zagreb
 
10:30-12:30, Paper TuAT3.1 
Hierarchical Clustering-Based Network Design Algorithm for Many-To-Many Hub Location Routing Problem

Seto, AkaneHitachi, Ltd
Uyama, KazuyaHitachi.Ltd
Hosoda, JunkoHitachi, Ltd
Miyashita, NaokoHitachi, Ltd
 
10:30-12:30, Paper TuAT3.2 
Sizing of a Heterogeneous Fleet of Robots in a Logistics Warehouse

Rjeb, AchrafLIMOS UCA
Gayon, Jean-PhilippeLIMOS, INP Clermont Auvergne
Norre, SylvieLIMOS UCA
 
10:30-12:30, Paper TuAT3.3 
A Mixed Integer Programming Formulation for the Truck Drivers Scheduling Problem Considering the European Union Drivers Rules

Pena Arenas, Ivan GuillermoUniversité Clermont Auvergne
Garaix, ThierryEcole Nationale Superieure De Mines De Saint Etienne
Lacomme, PhilippeLIMOS
Tchernev, NikolayUniversité Clermont Auvergne
 
10:30-12:30, Paper TuAT3.4 
A Lagrangian Column Generation Approach for the Probabilistic Crowdsourced Logistics Planning

Han, Chung-KyunLG Display
Cheng, Shih-FenSingapore Management University
 
10:30-12:30, Paper TuAT3.5 
Path Continuity for Multi-Wheeled AGVs

Kokot, MirkoUniversity of Zagreb
Miklic, DamjanRomb Technologies
Petrovic, TamaraUniv. of Zagreb
 
10:30-12:30, Paper TuAT3.6 
Container Drayage Problem: A Real-World Application in the Region of Marseille-Fos, France

Abi-Nader, DianaMines Sait-Etienne, DMS-Logistics
Absi, NabilEcole Des Mines De Saint Etienne
Azefack, CyriacDMS Logistics
Korabi, Taki EddineDMS-Logistics
 
TuAT4 Rhone 3A
Sensor-Based Control Regular Session
Chair: Lamiraux, FlorentCNRS
Co-Chair: de Farias, CristianaUniversity of Birmingham
 
10:30-12:30, Paper TuAT4.1 
Configuration Estimation of Continuum Robots Using Piecewise Constant Curvature Generalized Epi-Polar Constraint Model

Cheng, HaoTsinghua University
Liu, HoudeShenzhen Graduate School, Tsinghua University
Wang, XueqianCenter for Artificial Intelligence and Robotics, Graduate School
Liang, BinTsinghua University
 
10:30-12:30, Paper TuAT4.2 
Towards Robotic Metal Scrap Cutting: A Novel Workflow and Pipeline for Cutting Path Generation

Akl, JamesWorcester Polytechnic Institute
Alladkani, FadiWorcester Polytechnic Institute
Calli, BerkWorcester Polytechnic Institute
 
10:30-12:30, Paper TuAT4.3 
Sparse Multi-Sensor Monitoring System Design for Vehicle Application

Khatiry Goharoodi, SaeidehGhent University
Ooijevaar, TedFlanders Make
Bey-Temsamani, AbdellatifFlanders Make
Crevecoeur, GuillaumeGhent University
 
10:30-12:30, Paper TuAT4.4 
Improving the Wheel Odometry Calibration of Self-Driving Vehicles Via Detection of Faulty Segments

Fazekas, MateSZTAKI
Gaspar, PeterSZTAKI
Nemeth, BalazsMTA SZTAKI Institute for Computer Science and Control
 
10:30-12:30, Paper TuAT4.5 
Dual Quaternion-Based Visual Servoing for Grasping Moving Objects

de Farias, CristianaUniversity of Birmingham
Adjigble, Komlan Jean MaximeUniversity of Birmingham
Tamadazte, BrahimUniv. Bourgogne Franche-Comté, CNRS
Stolkin, RustamUniversity of Birmingham
Marturi, NareshUniversity of Birmingham
 
10:30-12:30, Paper TuAT4.6 
Performing Manufacturing Tasks with a Mobile Manipulator: From Motion Planning to Sensor Based Motion Control

Mirabel, JosephLAAS-CNRS
Lamiraux, FlorentCNRS
Ha, Thuc LongLaas - Cnrs
Nicolin, AlexisAirbus Operations & LAAS-CNRS
Stasse, OlivierCNRS
Boria, SébastienAIRBUS Operation SAS
 
TuAT5 Rhone 3B
Additive Manufacturing Regular Session
Chair: Huang, QiangUniversity of Southern California
Co-Chair: McGovern, SeanWorcester Polytechnic Institute
 
10:30-12:30, Paper TuAT5.1 
An Efficient Control-Oriented Modeling Approach for Vibration-Prone Delta 3D Printers Using Receptance Coupling

Edoimioya, NosakhareUniversity of Michigan
Okwudire, ChinedumUniversity of Michigan
 
10:30-12:30, Paper TuAT5.2 
A Drone-Assisted 3D Printing by Crane Structures in Construction Industry

Parisi, FabioPolytechnic University of Bari
Mangini, Agostino MarcelloPolitecnico Di Bari
Fanti, Maria PiaPolitecnico Di Bari
Parisi, NicolaPolitecnico Di Bari
 
10:30-12:30, Paper TuAT5.3 
Echo State Network Learning for the Detection of Cyber Attacks in Additive Manufacturing

Zhou, HouliangThe University of Texas at Arlington
Liu, ChenangOklahoma State University
Tian, WenmengMississippi State University
Kan, ChenUniversity of Texas at Arlington
 
10:30-12:30, Paper TuAT5.4 
Scan-Driven Fully-Automated Pipeline for a Personalized, 3D Printed Low-Cost Prosthetic Hand

Herbst, YairTechnion - Israel Institute of Technology
Polinsky, ShunitTechnion - Israel Institute of Technology
Fischer, AnathTechnion Isreael Institute of Technology, Faculty of Mechanical
Medan, YoavTechnion - Israel Institute of Technology, Haifa3D
Schneor, RonitTechnion - Israel Institute of Technology
Kahn, JoshuaTechnion - Israel Institute of Technology
Wolf, AlonTechnion
 
10:30-12:30, Paper TuAT5.5 
Efficient Feasibility Checking on Continuous Coverage Motion for Constrained Manipulation

McGovern, SeanWorcester Polytechnic Institute
Xiao, JingWorcester Polytechnic Institute (WPI)
 
TuAT6 St Clair 1
Probability and Statistical Methods Regular Session
Chair: Prigozin, AmitTechnion - Israel Institute of Technology
Co-Chair: Onal, CagdasWPI
 
10:30-12:30, Paper TuAT6.1 
Model-Based Quasi-Static SLAM in Unstructured Dynamic Environments

Deeb, AmyDalhousie University
Pan, Ya-JunDalhousie University
Seto, MaeDefence R&D Canada
 
10:30-12:30, Paper TuAT6.2 
An Estimation Method of Transmission Line Parameters Based on Measurements of Injection Power and Voltage Phasor in Power Grid

Zhou, YadongXi'an Jiaotong University
Hu, BowenXi'an Jiaotong University
Wu, JiangXian Jiaotong University
Xu, ZhanboXi'an Jiaotong University
Guan, XiaohongXi'an Jiaotong University
Chen, WeiState Grid Shaanxi Electric Power Company
Liu, TingXi'an Jiaotong University
 
10:30-12:30, Paper TuAT6.3 
Mobile Robotic Radiation Surveying with Recursive Bayesian Estimation and Attenuation Modelling

Anderson, RobertThe University of Texas at Austin
Pryor, MitchellUniversity of Texas
Adrian, Abeyta, AdrianUniversity of Texas at Austin
Landsberger, SheldonThe University of Texas at Austin
 
10:30-12:30, Paper TuAT6.4 
Task Allocation in Multi-Robot Systems Based on the Suitability Level of the Individual Agents

AlBuraiki, OmarUniversity of Ottawa
Payeur, PierreUniversity of Ottawa
 
10:30-12:30, Paper TuAT6.5 
Fast Probabilistic 3-D Curvature Proprioception with a Magnetic Soft Sensor

Mitchell, MasonWorcester Polytechnic Institute
Hurley, ForrestGeorgia Institute of Technology
Onal, CagdasWPI
 
10:30-12:30, Paper TuAT6.6 
Tactile-Based Gripper Localization on 1-D Deformable Objects

Prigozin, AmitTechnion - Israel Institute of Technology
Degani, AmirTechnion - Israel Institute of Technology
 
TuAT7 St Clair 2
Robot Networks and Medical Robots and Systems Regular Session
Chair: Schwaner, Kim LindbergUniversity of Southern Denmark
Co-Chair: Cavusoglu, M. CenkCase Western Reserve University
 
10:30-12:30, Paper TuAT7.1 
A Benchtop Robot and Automation Solution for Prefilled Syringes in Pharmaceutical Manufacturing

DelSpina, BrandonClemson University
Zhang, YuClemson University
Wang, YueClemson University
 
10:30-12:30, Paper TuAT7.2 
Autonomous Needle Manipulation for Robotic Surgical Suturing Based on Skills Learned from Demonstration

Schwaner, Kim LindbergUniversity of Southern Denmark
Dall'Alba, DiegoUniversity of Verona
Jensen, Pernille TineAarhus University Hospital
Fiorini, PaoloUniversity of Verona
Savarimuthu, Thiusius RajeethUniversity of Southern Denmark
 
10:30-12:30, Paper TuAT7.3 
Visually Guided Needle Driving and Pull for Autonomous Suturing

Ozguner, OrhanCase Western Reserve University
Shkurti, TomCase Western Reserve University
Lu, SuCase Western Reserve University
Newman, WyattCase Western Reserve University
Cavusoglu, M. CenkCase Western Reserve University
 
10:30-12:30, Paper TuAT7.4 
Distributed Optimal Control Framework Based on Coordinate Descent Optimization for Multi-Agent Robots

Murtaza, Muhammad AliGeorgia Institute of Technology
Wingo, BruceGeorgia Institute of Technology
Kilanga, DanGeorgia Institute of Technology
Hutchinson, SethGeorgia Institute of Technology
 
10:30-12:30, Paper TuAT7.5 
Learning Medical Suturing Primitives for Autonomous Suturing

Amirshirzad, NeginOzyegin University
Sunal, BegumOzyegin University
Bebek, OzkanOzyegin University
Oztop, ErhanOsaka University / Ozyegin University
 
10:30-12:30, Paper TuAT7.6 
Robust Assignment Using Redundant Robots on Transport Networks with Uncertain Travel Time

Prorok, AmandaUniversity of Cambridge
 
TuAT8 Rhone 4
Manufacturing, Maintenance and Supply Chains Regular Session
Chair: Dotoli, MariagraziaPolitecnico Di Bari
Co-Chair: Inui, MasatomoIbaraki University
 
10:30-12:30, Paper TuAT8.1 
Kernel-Based Dynamic Ensemble Technique for Predictive Maintenance

Lu, Hsuan-WenNational Cheng Kung University
Lee, Chia-YenNational Taiwan University
 
10:30-12:30, Paper TuAT8.2 
Time-Gated Remaining Useful Life Prediction with Non-Periodical Inspection Data

Deng, YingjunTianjin University
Zhang, MingpeiyuMicrosoft
Wang, TianBeihang University
Wu, HuamingTianjin University
 
10:30-12:30, Paper TuAT8.3 
Fast Computation of Volumetric Thickness of 3D Objects Using GPU

Inui, MasatomoIbaraki University
Naganuma, Shinnosuke, Ibaraki University
Oki, NaoThe Department of Intelligent Systems Engineering, Ibaraki Unive
Umezu, NobuyukiIbaraki University
 
10:30-12:30, Paper TuAT8.4 
Industry 4.0 Asset-Based Risk Mitigation for Production Operation

Winkler, DietmarVienna University of Technology
Novak, PetrCzech Technical University in Prague - CIIRC
Vyskocil, JiriCzech Technical University in Prague - CIIRC
Meixner, KristofTU Wien
Biffl, StefanTU Wien
 
10:30-12:30, Paper TuAT8.5 
An MPC-Based Approach for the Feedback Control of the Cold Sheet Metal Forming Process

Bozza, AugustoPolytechnic of Bari
Cavone, GrazianaPolytechnic of Bari
Carli, RaffaelePolitecnico Di Bari
Mazzoccoli, LuigiPolytechnic of Bari
Dotoli, MariagraziaPolitecnico Di Bari
 
TuAT9 St Clair 3A
New Methods for Intelligent Manufacturing Operations Management Special Session
Chair: Jiang, ZhibinShanghai Jiao Tong University
Co-Chair: Li, JingshanUniversity of Wisconsin - Madison
Organizer: Jiang, ZhibinShanghai Jiao Tong University
Organizer: Li, JingshanUniversity of Wisconsin - Madison
Organizer: Zhou, LipingShanghai Jiao Tong University
 
10:30-12:30, Paper TuAT9.1 
Cell Formation for Cellular Reconfigurable Manufacturing Systems with Alternative Routing (I)

Guo, SiqiShanghai Jiao Tong University
Cui, FengShanghai Jiaotong University
Geng, NaShanghai Jiao Tong University
Jiang, ZhibinShanghai Jiao Tong University
 
10:30-12:30, Paper TuAT9.2 
The Just-In-Time Job-Shop Rescheduling with Rush Orders by Using a Meta-Heuristic Algorithm (I)

Ren, XiyueShanghai Jiao Tong University
Wang, XiuxianShanghai Jiao Tong University
Geng, NaShanghai Jiao Tong University
Jiang, ZhibinShanghai Jiao Tong University
 
10:30-12:30, Paper TuAT9.3 
Integrated Production and Transportation Scheduling in a Make-To-Order Manufacturing Network with Heterogeneous Vehicles (I)

Liu, KefeiShanghai Jiaotong University
Zhou, LipingShanghai Jiao Tong University
Jiang, ZhibinShanghai Jiao Tong University
 
10:30-12:30, Paper TuAT9.4 
Reconfigurable Timed Extended Reachability Graphs for Scheduling Problems in Uncertain Environments

Hayane, OussamaGREAH - Université Le Havre Normandie
Lefebvre, DimitriUniversity LE HAVRE
 
10:30-12:30, Paper TuAT9.5 
Predicting the Distribution of Product Completion Time in Multi-Product Manufacturing Systems

Huang, JingUniversity of Virginia
Chang, QingUniversity of Virginia
Arinez, JorgeGeneral Motors Research & Development Center
 
10:30-12:30, Paper TuAT9.6 
Data-Enabled Identification and Prediction of Permanent Production Loss for Production System with Variable Cycle Time

Li, ChenUniversity of Virginia
Huang, JingUniversity of Virginia
Chang, QingUniversity of Virginia
 
TuAT10 St Clair 3B
Deep Learning in Robotics and Automation 1 Regular Session
Chair: Pb, SujitIISER Bhopal
Co-Chair: Chong, Nak YoungJapan Advanced Inst. of Sci. and Tech
 
10:30-12:30, Paper TuAT10.1 
Automation of Winding Thick Wires for the Electrical Industry with Performance-Indicating Discriminator

Niho, TakayoshiThe University of Tokyo
Osa, TakayukiKyushu Institute of Technology
Suzuki, ShotaFurukawa Electric Co
Moriki, KazuyaFurukawa Electric Co
Sugita, NaohikoThe University of Tokyo
Nakao, MasayukiThe University of Tokyo
 
10:30-12:30, Paper TuAT10.2 
Automated Masonry Crack Detection with Faster R-CNN

Marin, BorjaHeriot-Watt University
Erden, Mustafa SuphiHeriot-Watt University
Brown, Keith E.Heriot-Watt University
 
10:30-12:30, Paper TuAT10.3 
Planar Pushing of Unknown Objects Using a Large-Scale Simulation Dataset and Few-Shot Learning

Gao, ZiyanJapan Advanced Institute of Science and Technology
Elibol, ArmaganJapan Advanced Institute of Science and Technology
Chong, Nak YoungJapan Advanced Inst. of Sci. and Tech
 
10:30-12:30, Paper TuAT10.4 
Enhancement of Visual Place Recognition for Robot Localization Subject to Pedestrian Occlusion

Li, Yu-JenNational Taipei University of Technology
Chen, Hsin-HungNational Taipei University of Technology
Li, Chih-Hung G.National Taipei University of Technology
 
10:30-12:30, Paper TuAT10.5 
OFFSEG: A Semantic Segmentation Framework for Off-Road Driving

Viswanath, KasiIndian Institute of Science Education and Research Bhopal
Singh, KartikeyaIISER Bhopal
Jiang, PengTexas A&M University
Pb, SujitIISER Bhopal
Saripalli, SrikanthTexas A&M
 
TuAT11 St Clair 4
AI-Based Methods 1 Regular Session
Chair: Dalmas, BenjaminEcole Des Mines De Saint-Etienne
Co-Chair: Li, XiaopengXian Jiaotong University
 
10:30-12:30, Paper TuAT11.1 
Performance Analysis for the Forecast of Electric Energy Consumption in a Cooperative House Based on LSTM

Solis, JorgeKarlstad University / Waseda University
Sjöberg, DavidKarlstad University
Nilsson, MagnusGlava Energy Center
Ericson, JohanGlava Energy Center
 
10:30-12:30, Paper TuAT11.2 
Uncertainty Set Prediction of Aggregated Wind Power Generation Based on Bayesian LSTM and Spatio-Temporal Analysis

Li, XiaopengXian Jiaotong University
Wu, JiangXian Jiaotong University
Xu, ZhanboXi'an Jiaotong University
Liu, KunXi'an Jiaotong University
Yu, JunXi'an Jiaotong Univerwsity
Guan, XiaohongXi'an Jiaotong University
 
10:30-12:30, Paper TuAT11.3 
An Unsupervised-Learning Based Method for Detecting Groups of Malicious Web Crawlers in Internet

Yue, TianyiXi'an Jiaotong University
Zhou, YadongXi'an Jiaotong University
Hu, BowenXi'an Jiaotong University
Xu, ZhanboXi'an Jiaotong University
Guan, XiaohongXi'an Jiaotong University
Zhou, HaoRiver Security Information Technology (Shanghai) Co., Ltd
Liu, TingXi'an Jiaotong University
 
10:30-12:30, Paper TuAT11.4 
Iterative Backpropagation Disturbance Observer with Forward Dynamics Model

Murooka, TakayukiThe University of Tokyo
Hamaya, MasashiOMRON SINIC X Corporation
von Drigalski, Felix Wolf Hans ErichOMRON SINIC X Corporation
Tanaka, KazutoshiOMRON SINIC X Corporation
Ijiri, YoshihisaOMRON Corp
 
10:30-12:30, Paper TuAT11.5 
AutoSS: A Deep Learning-Based Soft Sensor for Handling Time-Series Input Data

Bargellesi, NicolòUniversity of Padova
Beghi, AlessandroUniversita` Di Padova
Rampazzo, MircoUniversità Di Padova
Susto, Gian AntonioUniversity of Padova
 
10:30-12:30, Paper TuAT11.6 
A Hierarchical Model to Enable Plan Reuse and Repair in Assembly Domains

Parashar, PriyamUniversity of California - San Diego
Naik, AayushUniversity of California - San Diego
Hu, JiamingUniversity of California San Diego
Christensen, Henrik IskovUC San Diego
 
TuK2N Auditorium
Keynote: Jianjun SHI Plenary Session
Chair: Lennartson, BengtChalmers University of Technology
 
TuBT1 Auditorium
Machine Learning and Data Analytics for Failure Analysis in Manufacturing
Industry
Special Session
Chair: Boucher, XavierEcole Nationale Supérieure Des Mines De Saint-Etienne
Co-Chair: Sharma, KanujUniversity of Stuttgart
Organizer: Boucher, XavierEcole Nationale Supérieure Des Mines De Saint-Etienne
 
15:30-17:30, Paper TuBT1.1 
Thermal Source Separation for 3D Defect Localization Using Independent Component Analysis (ICA) from Time-Resolved Temperature Response (TRTR) (I)

Kögel, MichaelFraunhofer Institute for Microstructure of Materials and Systems
Brand, SebastianFraunhofer Institute for Microstructure of Materials and Systems
Große, ChristianFraunhofer Institute for Microstructure of Materials and Systems
Jacobs, Kristof JPImec, 3000 Leuven, Belgium & Fac. Engineering, Dept. Material Sc
De Wolf, IngridImec, 3000 Leuven, Belgium & Fac. Engineering, Dept. Material Sc
Altmann, FrankFraunhofer Institute for Microstructure of Materials and Systems
 
15:30-17:30, Paper TuBT1.2 
On Welding Defect Detection and Causalities between Welding Signals (I)

Melakhsou, Abdallah AmineEcole Des Mines De Saint-Etienne
Batton Hubert, MireilleInstitut Fayol Ecole Nationale Supérieure Des Mines De Saint Et
 
15:30-17:30, Paper TuBT1.3 
Anomaly Detection Based on Selection and Weighting in Latent Space (I)

Liao, YiwenUniversity of Stuttgart
Bartler, AlexanderUniversity of Stuttgart
Yang, BinUniversity of Stuttgart
 
15:30-17:30, Paper TuBT1.4 
Defect Detection with Small Samples Based on Meta Learning (I)

Yu, GePeking University
Zhang, XiCollege of Engineering, Peking University
 
15:30-17:30, Paper TuBT1.5 
A Hybrid Modelling Approach for Parameter Estimation of Analytical Reflection Models in the Failure Analysis Process of Semiconductors (I)

Kamm, SimonUniversity of Stuttgart
Sharma, KanujUniversity of Stuttgart
Jazdi, NasserUniversity of Stuttgart - Institute of Industrial Automation And
Weyrich, MichaelUniverity of Stuttgart, IAS
 
15:30-17:30, Paper TuBT1.6 
Non-Destructive Failure Analysis of Power Devices Via Time-Domain Reflectometry (I)

Sharma, KanujUniversity of Stuttgart
Kamm, SimonUniversity of Stuttgart
Afanasenko, ValentynaUniversity of Stuttgart
Muñoz Barón, KevinUniversity of Stuttgart
Kallfass, IngmarUniversity of Stuttgart
 
15:30-17:30, Paper TuBT1.7 
Intelligent Fault Analysis Decision Flow in Semiconductor Industry 4.0 Using Natural Language Processing with Deep Clustering (I)

Ezukwoke, Kenneth IfeanyiÉcole Nationale Supérieure Des Mines De Saint-Étienne
Toubakh, HouariEcole Des Mines De Saint-Étienne
Hoayek, AnisEcole Des Mines De Saint Etienne
Batton Hubert, MireilleInstitut Fayol Ecole Nationale Supérieure Des Mines De Saint Et
Boucher, XavierEcole Nationale Supérieure Des Mines De Saint-Etienne
Gounet, PascalSTMicroelectronics
 
TuBT2 Rhone 1
Industrial and Service Robotics Regular Session
Chair: Landgraf, ChristianFraunhofer IPA
Co-Chair: Puck, LennartFZI Forschungszentrum Informatik
 
15:30-17:30, Paper TuBT2.1 
A Target Person Locating Framework Based on Distributed Odometries

Pang, LeiState Key Laboratory of Management and Control for Complex Syste
Cao, ZhiqiangInstitute of Automation, Chinese Academy of Sciences
Yu, JunzhiChinese Academy of Sciences
Li, ZhonghuiBeijing Engo Technology Co., Ltd
Zhao, LeiUNISOC Technologies Co., Ltd
Lv, PeiUNISOC Technologies Co., Ltd
 
15:30-17:30, Paper TuBT2.2 
Mobility Improvement on the Two-Wheeled Dynamically Balanced Robot – J4.beta

Hsu, YuchengNational Taipei University of Technology
Lin, Ming-ChangDepartment of Mechanical Engineering, Chung Yuan Christian Unive
Li, Chih-Hung G.National Taipei University of Technology
 
15:30-17:30, Paper TuBT2.3 
VDB-Mapping: A High Resolution and Real-Time Capable 3D Mapping Framework for Versatile Mobile Robots

Grosse Besselmann, MarvinFZI Forschungszentrum Informatik
Puck, LennartFZI Forschungszentrum Informatik
Steffen, LeaFZI Research Center for Information Technology, 76131 Karlsruhe,
Roennau, ArneFZI Forschungszentrum Informatik, Karlsruhe
Dillmann, RüdigerFZI - Forschungszentrum Informatik - Karlsruhe
 
15:30-17:30, Paper TuBT2.4 
Design of a Bio-Inspired Quadruped Robot with Scalable Torso

Liu, YixiangShandong University
Bi, QingShandong Institute of Advanced Technology, Chinese Academy of Sc
Li, YibinShandong University
 
15:30-17:30, Paper TuBT2.5 
A Topological Solution of Entanglement for Complex-Shaped Parts in Robotic Bin-Picking

Zhang, XinyiOsaka University
Koyama, KeisukeOsaka University
Domae, YukiyasuThe National Institute of Advanced Industrial Science and Techno
Wan, WeiweiOsaka University
Harada, KensukeOsaka University
 
15:30-17:30, Paper TuBT2.6 
A Hybrid Neural Network Approach for Increasing the Absolute Accuracy of Industrial Robots

Landgraf, ChristianFraunhofer IPA
Ernst, KilianFraunhofer IPA
Schleth, GesineFraunhofer Institute for Manufacturing Engineering and Automatio
Fabritius, MarcIPA Frauenhofer
Huber, Marco F.University of Stuttgart
 
TuBT3 Rhone 2
Deep Learning in Robotics and Automation 2 Regular Session
Chair: Orsag, MatkoUniversity of Zagreb, Faculty of Electrical Engineering and Computing
Co-Chair: Roberge, Jean-PhilippeÉcole De Technologie Supérieure
 
15:30-17:30, Paper TuBT3.1 
Motion Prediction Based on Multiple Futures for Dynamic Obstacle Avoidance of Mobile Robots

Zhang, ZeChalmers University of Technology
Dean-Leon, EmmanuelTechnischen Universitaet Muenchen
Karayiannidis, YiannisChalmers University of Technology & KTH Royal Institute of Techn
Akesson, KnutChalmers University of Technology
 
15:30-17:30, Paper TuBT3.2 
Soft Robotics Approach to Autonomous Plastering

Polic, MarselaUniversity of Zagreb
Maric, BrunoUniveristy of Zagreb, Faculty of Electrical Engineering and Comp
Orsag, MatkoUniversity of Zagreb, Faculty of Electrical Engineering and Comp
 
15:30-17:30, Paper TuBT3.3 
SynPick: A Dataset for Dynamic Bin Picking Scene Understanding

Periyasamy, Arul SelvamUniversity of Bonn
Schwarz, MaxUniversity Bonn
Behnke, SvenUniversity of Bonn
 
15:30-17:30, Paper TuBT3.4 
Tactile-Based Object Recognition Using a Grasp-Centric Exploration

Roberge, Jean-PhilippeÉcole De Technologie Supérieure
L'Écuyer-Lapierre, LouisÉcole De Technologie Supérieure
Kwiatkowski, JenniferÉcole De Technologie Supérieure
Nadeau, PhilippeUniversity of Toronto
Duchaine, VincentEcole De Technologie Superieure
 
15:30-17:30, Paper TuBT3.5 
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning

Hoque, RyanUniversity of California, Berkeley
Balakrishna, AshwinUniversity of California, Berkeley
Putterman, CarlUniversity of California, Berkeley
Luo, MichaelUC Berkeley
Brown, DanielUC Berkeley
Seita, DanielUniversity of California, Berkeley
Thananjeyan, BrijenUC Berkeley
Novoseller, EllenUniversity of California, Berkeley
Goldberg, KenUC Berkeley
 
15:30-17:30, Paper TuBT3.6 
Bimanual Shelf Picking Planner Based on Collapse Prediction

Motoda, TomohiroOsaka University
Petit, DamienOsaka University
Wan, WeiweiOsaka University
Harada, KensukeOsaka University
 
TuBT4 Rhone 3A
Simulation and Modelling for the Semiconductor Manufacturing and Supply
Chain Networks
Special Session
Chair: Ehm, HansInfineon Technologies AG
Co-Chair: Moench, LarsUniversity of Hagen
Organizer: Ismail, AbdelgafarInfineon Technologies AG
Organizer: Ehm, HansInfineon Technologies AG
 
15:30-17:30, Paper TuBT4.1 
Transparent Reporting in Semiconductor Supply Chain: Qualitative Analysis of Planning Deviations and Related KPIs (I)

Laura De Roget Aysa, Laura DeUniversitat Politècnica De Catalunya
Moder, PatrickInfineon Technologies AG
 
15:30-17:30, Paper TuBT4.2 
From Global Planning towards Local Execution – Benefits of a Vertical Supply Chain Integration (I)

Schiller, ChristianInfineon Technologies AG
Ehm, HansInfineon Technologies AG
Wanner, MarcInfineon Technologies AG
 
15:30-17:30, Paper TuBT4.3 
Simulating the COVID19-Pandemic and Its Impact on the Semiconductor Supply Chain (I)

Butgereit, LeaInfineon Technologies
Lopera, Manuel FernandoInfineon Technologies
Ismail, AbdelgafarInfineon Technologies AG
Ehm, HansInfineon Technologies AG
 
15:30-17:30, Paper TuBT4.4 
Plan Stability and the Challenge of Value-Added versus Non-Value-Added Plan Changes in the Semiconductor Industry (I)

Eisenmann, LeonInfineon Technologies AG
Welling, Tobias LeanderInfineon Technologies AG
Ehm, HansInfineon Technologies AG
 
15:30-17:30, Paper TuBT4.5 
Comparison of Different Production Planning Formulations with Workload-Dependent Lead Times (I)

Bierbuesse, JanUniversity of Hagen
Moench, LarsUniversity of Hagen
 
15:30-17:30, Paper TuBT4.6 
Mitigating the Bullwhip Effect in the End-To-End Semiconductor Supply Chains Using End-To-End Supply Chain Simulation (I)

Ismail, AbdelgafarInfineon Technologies AG
Ehm, HansInfineon Technologies AG
 
TuBT5 Rhone 3B
Advance in Sustainable Automation Special Session
Chair: Li, CongboChongqing University
Co-Chair: Robba, MichelaUniversity of Genoa
Organizer: Li, CongboChongqing University
Organizer: Tang, YingRowan University
Organizer: Jiang, ZhigangWuhan University of Science and Technology
Organizer: Chen, XingzhengChongqing University
 
15:30-17:30, Paper TuBT5.1 
A Timing Decision-Making Method for Active Remanufacturing Considering Reliability and Environmental Impact (I)

Ouyang, JunWuhan University of Science and Technology
Jiang, ZhigangWuhan University of Science and Technology
Zhu, ShuoWuhan University of Science and Technology
 
15:30-17:30, Paper TuBT5.2 
Data-Driven Method for Predicting Energy Consumption of Machine Tool Spindle Acceleration (I)

Huang, BinbinWuhan University of Science and Technology
Jiang, GuozhangCollege of Machinery and Automation, Wuhan University of Science
Yan, WeiSchool of Automobile and Traffic Engineering, Wuhan University O
Jiang, ZhigangWuhan University of Science and Technology
Lu, ChenxunWuhan University of Science and Technology
Zhang, HuaWuhan University of Science and Technology
 
15:30-17:30, Paper TuBT5.3 
A Novel Integer Linear Programming Formulation for Job-Shop Scheduling Problems (I)

Liu, AnbangTsinghua University
Luh, PeterUniversity of Connecticut
Yan, BingRochester Institute of Technology
Bragin, MikhailUniversity of Connecticut
 
15:30-17:30, Paper TuBT5.4 
An Energy Management System for Demand Response, Energy Efficiency and Risk Management in Sustainable Districts (I)

Robba, MichelaUniversity of Genoa
Ferro, GiulioUniversity of Genoa
Delfino, FedericoUniversità Degli Studi Di Genova
Rossi, MansuetoUniversity of Genoa
Bianco, GiovanniUniversità Degli Studi Di Genova
Parodi, LucaUniversity of Genoa
 
15:30-17:30, Paper TuBT5.5 
Reinforcement Learning-Based Selective Disassembly Sequence Planning for the End-Of-Life Products with Structure Uncertainty

Zhao, XikunChongqing University
Li, CongboChongqing University
Tang, YingRowan University
Cui, JiabinChongqing University
 
15:30-17:30, Paper TuBT5.6 
Production Rate Control in Offshore Wind Maintenance Planning (I)

Pentinga, LuukUniversity of Groningen
Kilic, Onur AlperUniversity of Groningen
Teunter, RuudRijksuniversiteit Groningen
Veldman, JasperUniversity of Groningen
 
TuBT6 St Clair 1
Formal Methods in Robotics and Automation Regular Session
Chair: Le Corronc, EuriellLAAS-CNRS
Co-Chair: Lennartson, BengtChalmers University of Technology
 
15:30-17:30, Paper TuBT6.1 
Observer-Based Detection and Localization of Time Shift Failures in (max, +)-Linear Systems

Paya, ClaireUniversité Paul Sabatier, LAAS-CNRS, STMicroelectronics
Le Corronc, EuriellLAAS-CNRS
Pencolé, YannickLAAS/CNRS
Vialletelle, PhilippeSTMicroelectronics
 
15:30-17:30, Paper TuBT6.2 
Stochastic Image-Based Visual Predictive Control

Sajjadi, SinaUniversity of Regina
Fallah, Mostafa M.H.Ryerson University
Mehrandezh, MehranUniversity of Regina
Janabi-Sharifi, FarrokhRyerson University
 
15:30-17:30, Paper TuBT6.3 
Incremental Abstraction - a Formal Perspective on Petri Net Reduction

Lennartson, BengtChalmers University of Technology
 
15:30-17:30, Paper TuBT6.4 
Modelling and Analysis of Product Platforms and Assembly Sequences with Respect to Variability

Ebrahimi, Amir HosseinChalmers
Akesson, KnutChalmers University of Technology
 
15:30-17:30, Paper TuBT6.5 
Cartesian Inertia Optimisation Via Redundancy Resolution for Physical Human Robot Interaction

Sutjipto, SheilaUniversity of Technology, Sydney
Woolfrey, JonUniversity of Technology Sydney
Carmichael, MarcCentre for Autonomous Systems
Paul, GavinUniversity of Technology, Sydney
 
15:30-17:30, Paper TuBT6.6 
Online Partial Conditional Plan Synthesis for POMDPs with Safe-Reachability Objectives: Methods and Experiments

Wang, YueFacbook Inc
Redwan Newaz, Abullah AlNorth Carolina Agricultural and Technical State University
Hernández, Juan DavidCardiff University
Chaudhuri, SwaratRice University
Kavraki, LydiaRice University
 
TuBT7 St Clair 2
Robotic Control and Robotization of Tasks within Industry 4.0 Special Session
Chair: Noureddine, FaridEcole Nationale d'Ingénieurs De Tarbes - F
Co-Chair: Eymüller, ChristianUniversity of Augsburg
Organizer: Noureddine, FaridEcole Nationale d'Ingénieurs De Tarbes - F
Organizer: Raharijaona, ThibautENIM University of Lorraine
Organizer: Camarillo-Gómez, Karla AnhelInstituto Tecnológico De Celaya
Organizer: Byiringiro, Jean BoscoDedan Kimathi University of Technology-DeKUT
Organizer: Rakotondrabe, MickyLaboratoire Génie De Production (LGP)
 
15:30-17:30, Paper TuBT7.1 
Intelligent Robotic System for Solving Dissection Puzzle Combining K-Nearest Neighbors, Decision Tree and Deep Q Network (I)

Müller, RainerZeMA GGmbh
Kanso, AliZeMA GGmbH
Xu, XiaomeiUniversity Saarland, ZeMA - Center for Mechatronics and Automati
 
15:30-17:30, Paper TuBT7.2 
RealCaPP: Real-Time Capable Plug & Produce Communication Platform with OPC UA Over TSN for Distributed Industrial Robot Control (I)

Eymüller, ChristianUniversity of Augsburg
Hanke, JulianUniversity of Augsburg
Hoffmann, AlwinUniversity of Augsburg
Reif, WolfgangUniversity of Augsburg
Kugelmann, MarkusKUKA GmbH Augsburg
Grätz, FlorianKUKA GmbH Augsburg
 
15:30-17:30, Paper TuBT7.3 
A Literature Review on Control Techniques for Collaborative Robotics in Industrial Applications (I)

Proia, SilviaPolitecnico Di Bari
Carli, RaffaelePolitecnico Di Bari
Cavone, GrazianaPolytechnic of Bari
Dotoli, MariagraziaPolitecnico Di Bari
 
15:30-17:30, Paper TuBT7.4 
Overcoming Uncertainties and Disturbances: An Adaptive Control Approach for Mobile Robots (I)

Naveed, KanwalNUST
Zaman, Uzair Khaleeq uzNUST
Kumar, Atal AnilUniversity of Luxembourg
 
15:30-17:30, Paper TuBT7.5 
Visual Scene Understanding for Enabling Situation-Aware Cobots (I)

Eisenbach, MarkusIlmenau University of Technology
Aganian, DustinUniversity of Technology Ilmenau
Köhler, MonaIlmenau University of Technology
Stephan, BenedictIlmenau University of Technology
Schroeter, ChristofMetraLabs GmbH
Gross, Horst-MichaelIlmenau University of Technology
 
15:30-17:30, Paper TuBT7.6 
Improvements in Robotic Manufacturing Systems by Using a Force Control (I)

Noureddine, FaridEcole Nationale d'Ingénieurs De Tarbes - F
 
TuBT9 St Clair 3A
Planning, Scheduling and Coordination 1 Regular Session
Chair: Dutta, AyanUniversity of North Florida
Co-Chair: Liu, PengchengUniversity of York
 
15:30-17:30, Paper TuBT9.1 
A Harmony Search Based Algorithm for a Stochastic Two-Sided Assembly Line Balancing Problem

Wu, JiaxiPeking University
Jiang, WeiPeking University
Shi, LeyuanUniv. of Wisconsin-Madison
 
15:30-17:30, Paper TuBT9.2 
Time-Efficient Mars Exploration of Simultaneous Coverage and Charging with Multiple Drones

Chang, YuanNational University of Defense Technology
Yan, ChaoNational University of Defense Technology
Liu, XingyuNational University of Defense Technology
Wang, XiangkeNational University of Defense Technology
Zhou, HanNational University of Defense Technology
Xiang, XiaojiaNational University of Defense Technology
Tang, DengqingNUDT
 
15:30-17:30, Paper TuBT9.3 
Min-Max Task Assignment and Sequencing with Heterogeneous Unmanned Vehicles

Battistini, JarrettTexas a & M
Rathinam, SivakumarTAMU
Tatum, RichardNSWCPCD
 
15:30-17:30, Paper TuBT9.4 
Manufacturing Line Design Configuration with Optimized Resource Groups

Nakano, TakahiroHITACHI
Kajita, DaikiHitachi
Chen, HemingHitachi America Ltd
Kovalenko, IlyaUniversity of Michigan
Balta, EfeUniversity of Michigan
Qamsane, YassineUniversity of Michigan
Barton, KiraUniversity of Michigan at Ann Arbor
 
15:30-17:30, Paper TuBT9.5 
Robot Motion Planning Benchmarking and Optimization through Motion Planning Pipeline

Liu, ShuaiUniversity of York
Liu, PengchengUniversity of York
 
15:30-17:30, Paper TuBT9.6 
Distributed Hedonic Coalition Formation for Multi-Robot Task Allocation

Dutta, AyanUniversity of North Florida
Ufimtsev, VladimirEast Central University
Said, TuffaUniversity of North Florida
Jang, InmoSamsung Electronics
Eggen, RogerUniversity of North Florida
 
TuBT10 St Clair 3B
Intelligent and Flexible Manufacturing 2 Regular Session
Chair: Li, JingshanUniversity of Wisconsin - Madison
Co-Chair: Frigerio, NiclaPolitecnico Di Milano
 
15:30-17:30, Paper TuBT10.1 
A Novel Architecture for Cyber-Physical Production Systems in Industry 4.0

Huertos Izquierdo, Francisco JavierLORTEK
Chicote, BeatrizLORTEK Technological Centre, Basque Research and Technology Alli
Masenlle, ManuelLortek S.Coop
Ayuso, MikelLortek
 
15:30-17:30, Paper TuBT10.2 
GAN Based Data Analysis and Mining for Smart Shop Floor Scheduling (I)

Ma, YuminTongji University
Li, ShengyiTongji University
Lu, XiaoyuTongji University
Liu, JuanTongji University
 
15:30-17:30, Paper TuBT10.3 
Bayesian Ontology Network for Diagnostic Inference in Additive Manufacturing

Chen, RuiminPennsylvania State University
Lu, YanNational Institute of Technology and Standards
Witherell, PaulNIST
Simpson, TimPennsylvania State University
Kumara, SoundarThe Pennsylvania State University
Yang, HuiThe Pennsylvania State University
 
15:30-17:30, Paper TuBT10.4 
A Novel Implementation Architecture of Intelligent Predictive Maintenance with Continuous Integration and Delivery Based on Container Technology

Hung, Min-HsiungChinese Culture University
Lin, Yu-ChuanNational Cheng Kung University
Lin, You-ChengInstitute of Manufacturing Information and Systems, National Che
Shieh, Zih-YanNational Cheng Kung University
Suryajaya, BennyNational Cheng Kung University
Chen, Chao-ChunNational Cheng Kung University
Cheng, Fan-TienNational Cheng Kung University
 
15:30-17:30, Paper TuBT10.5 
Machine Learning in Manufacturing Ergonomics: Recent Advances, Challenges, and Opportunities

Lee, SujeeUniversity of Wisconsin-Madison
Liu, LiNortheast University
Radwin, RobertUniversity of Wisconsin-Madison
Li, JingshanUniversity of Wisconsin - Madison
 
15:30-17:30, Paper TuBT10.6 
An Online Policy for Energy-Efficient State Control of Manufacturing Equipment

Frigerio, NiclaPolitecnico Di Milano
Marzano, LorenzoPolitecnico Di Milano
Matta, AndreaPolitecnico Di Milano
 
TuBT11 St Clair 4
AI-Based Methods 2 Regular Session
Chair: Hsu, Chia-YuNational Taipei University of Technology
Co-Chair: Julius, AgungRensselaer Polytechnic Institute
 
15:30-17:30, Paper TuBT11.1 
Learning to Discover Task-Relevant Features for Interpretable Reinforcement Learning

Zhang, QiyuanHarbin Institute of Technology
Ma, XiaotengTsinghua University
Yang, YiqinTsinghua University
Li, ChenghaoTsinghua University
Yang, JunTsinghua University
Liu, YuHarbin Institute of Technology
Liang, BinTsinghua University
 
15:30-17:30, Paper TuBT11.2 
Utilization of Semantic Planes: Improved Localization and Dense Semantic Map for Monocular SLAM in Urban Environment

Bao, YaoqiZhejiang University
Pan, YunZhejiang University
Yang, ZheZhejiang University
Huan, RuohongZhejiang University of Technology
 
15:30-17:30, Paper TuBT11.3 
A Neuro-Symbolic Architecture for Signal Temporal Logic Inference

Julius, AgungRensselaer Polytechnic Institute
Yan, RuixuanRensselaer Polytechnic Institute
 
15:30-17:30, Paper TuBT11.4 
Towards Safe Control of Continuum Manipulator Using Shielded Multiagent Reinforcement Learning

Yan, JunyanThe Chinese University of Hong Kong
Ji, GuanglinThe Chinese University of HongKong
Du, JingxinThe Chinese Univerisity of Hong Kong
Yan, WanquanThe Chinese University of HongKong
Chen, JibiaoShenyang Institute of Automation, Chinese Academy of Sciences
Lu, YongkangThe Chinese University of Hong Kong
Rojas, JuanChinese University of Hong Kong
Cheng, Shing ShinThe Chinese University of Hong Kong
 
15:30-17:30, Paper TuBT11.5 
Semi-Supervised Learning Framework for Defect Classification and Empirical Study in Printed Circuit Board Manufacturing

Hsu, Chia-YuNational Taipei University of Technology
Lu, Yi-WeiNational Taipei University of Technology

 
 

 
 

 

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