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1、LectureNotesinElectricalEngineeringVolume85JuanAndradeCetto,JoaquimFilipe·Jean-LouisFerrier(Eds.)InformaticsinControlAutomationandRoboticsRevisedandSelectedPapersfromtheInternationalConferenceonInformaticsinControlAutomationandRobotics2009ABCDr.JuanAndradeCettoInstitutdeRobòticaiInformàticaI
2、ndustrialConsejoSuperiordeInvestigacionesCientíficas/UniversidadPolitècnicadeCatalunyaLlorensiArtigas,4-6EdificiU08028BarcelonaSpainE-mail:cetto@iri.upc.eduProf.JoaquimFilipePolytechnicInstituteofSetúbal/INSTICC2910-595SetubalPortugalE-mail:jfilipe@insticc.orgProf.Jean-LouisFerrierInstitutdesSc
3、iencesetTechniquesdelIngénieurdAngers(ISTIA)Labo.dIngénieriedesSystémesAutomatisés(LISA)62avenueNotreDameduLac49000AngersFranceE-mail:ferrier@istia.univ-angers.frISBN978-3-642-19729-1e-ISBN978-3-642-19730-7DOI10.1007/978-3-642-19730-7LibraryofCongressControlNumber:2011923552c2011Springer-Ve
4、rlagBerlinHeidelbergThisworkissubjecttocopyright.Allrightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broad-casting,reproductiononmicrofilmorinanyotherway,andstorageindatabanks.Duplicationofthispublicat
5、ionorpartsthereofispermittedonlyundertheprovisionsoftheGermanCopyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.ViolationsareliabletoprosecutionundertheGermanCopyrightLaw.Theuseofgeneraldescriptivenames,registerednames,trademarks,etc.inthisp
6、ublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.Typeset&Coverdesign:ScientificPublishingServicesPvt.Ltd.,Chennai,India.Printedonacid-freepaper987654321springer.comPrefaceThepresentbookinc
7、ludesasetofselectedpapersfromtheSixthInternationalConferenceonInformaticsinControlAutomationandRobotics(ICINCO2009),heldinMilan,Italy,from2to5July2009.Theconferencewasorganizedinthreesimultaneoustracks:IntelligentControlSystemsandOptimization,Robot
