ICAROB2017PROCEEDINGS OF THE 2017
INTERNATIONAL CONFERENCE
ON ARTIFICIAL LIFE AND ROBOTICS
January 19-22, 2017
Seagia Convention Center, Miyazaki, JAPANInternational Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-2-6

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

Proceedings of The 2017 International Conference on

ARTIFICIAL LIFE AND ROBOTICS(ICAROB2017)

January 19-22, 2017
Seagia Convention Center, Miyazaki, JAPANInternational Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-2-6©ICAROB 2017 ALife Robotics Corp. Ltd.

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

Contents
1

Organization, etc.

1

2

Messages

93Time Table

14

4

Opening Ceremony

17

5Technical paper index

18

6Abstracts
PS abstracts
IS abstracts
OS abstracts
GS abstracts

40
41
43
83

7

Authors index

1038

Conference room

113

6-1
6-2
6-3
6-4

©ICAROB 2017 ALife Robotics Corp. Ltd.

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

SPONSEREDAROB (ALife Robotics Corporation Ltd.)ORGANIZED BYInternational Steering Committee of International Conference on Artificial Life and Robotics(ICAROB)TECHNICAL Co-SPONSORED BYIEEE Fukuoka Section (Japan)

IEEE Robotics and Automation Society (USA)

CO-ORGANIZED BY
University of Miyazaki, Japan©ICAROB 2017 ALife Robotics Corp. Ltd.

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Japan, January 19-22, 2017

Chinese Association for Artificial Intelligence (CAAI, P. R. China)

SUPPORTRD BY
Miyazaki Prefectural Government

ADVISORY COMMITTEE CHAIR
Moshe Kam (New Jersy Institute of Technology, Former IEEE President, USA)ADVISORY COMMITTEE
Adam Grzech (Wroclaw University of Technology, Poland)
Bruce Eisenstein (Drexel University, Former IEEE President, USA)
Fumio Harashima (Former The University of Tokyo, Japan)
Guang-Ren Duan (Harbin Institute of Technology, P.R.China)
Hidenori Kimura (JST, Japan)
Jeffrey Johnson (The Open University, UK)
Jerzy Świątek (Wroclaw University of Technology, Poland)
Joshua M. Epstein (The Johns Hopkins University, USA)
Kai-Tai Song (National Chiao Tung University, Taiwan)
Kazuhiko Terashima (Toyohashi University of Technology, Japan)
Kazuo Kyuma (Mitsubishi Electric Corporation, Japan)
Masayoshi Tomizuka (University of California Berkeley, USA)
Moshe Kam (New Jersey Institute of Technology, Former IEEE President, USA)Paul Kalata (Drexel University, USA)Paul Oh (Drexel University, USA)
Robert Fischl (Drexel University, USA)
Steen Rasmussen (University of Southern Denmark, Denmark)Toshio Fukuda (Meijyo University, Japan)
ZengqiSun (Tsighua University, P.R. China)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GENERAL CHAIR
Masanori Sugisaka (Alife Robotics Corporation Ltd., Japan)(Visiting Professor, Open University, UK)
CO-GENERAL CHAIRS
Yingmin Jia (Beihang Univesty, P. R. China)
Takao Ito (Hiroshima University, Japan)
Ju-Jang Lee (KAIST, Korea)
VICE GENERAL CHAIR
Changshui. Zhang (Tinghua University, P. R. China)
Henrik. H. Lund (Technical University of Denmark, Denmark)John. L. Casti (International Institute for Applied Systems Analysis, Austria)
Jangmyung Lee (Pusan National University, Korea)
Luigi Pagliarini (Technical University of Denmark, Denmark)(Academy of Fine Arts of Macerata, Italy)
Mohd Rizon bin Mohamed Juhari (National Culture Arts and Heritage Academy, Malaysia)
Yongguang Zhang (Academia Sinica, P. R. China)
PROGRAM CHAIRMAN
Makoto Sakamoto (University of Miyazaki, Japan)
CO-PROGRAM CHAIR
Marion Oswald (The Vienna University of Technology, Austria)
INTERNATIONAL ORGANIZING COMMITTEE
Akira Fukuda (Kyushu University, Japan)
Eiji Hayashi (Kyushu Institute of Technology, Japan)
Evgeni Magid (Kazan Federal University, Russia)
Hazry Desa (University of Malaysia, Perlis, Malaysia)
Hidehiko Yamamoto (Gifu University, Japan)
Hideyuki Suzuki (The University of Tokyo, Japan)
Hiroki Tamura (The University of Miyazaki, Japan)
Hiroshi Kage ((Mitsubishi Electric Corporation, Japan)
Hiroshi Matsuno (Yamaguchi University, Japan)
Jiwu Wang (Beijing Jiaotong University, P. R. China)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

Jovana Jovic (CNRS-AIST JRL, Japan, France)
Katsunori Shimohara (Doshisha University, Japan)
Kenichi Tanaka (Meii University, Japan)
Kenji Hashimoto (Waseda University, Japan)
Kevin Voges (Canterbury University, New Zealand)
Kohei Ohtsu (Tokyo University of Marine Science and Technology, Japan)
Kuo-Hsien Hsia (Far East University, Taiwan)
Kuo-Lan Su (National Yunlin University of Science and Technology, Taiwan)
Kyungho Park (Director for Micro-System Programs, RDECOM, ITC-PAC, U.S. ARMY, Japan and USA)
Masao Kubo (National Defense Academy of Japan, Japan)
Masanao Obayashi (Yamaguchi University, Japan)
Mehta Rajiv (New Jersey Institute of Technology, USA)Peter Sapaty (Ukrainian Academy of Science, Ukraine)
Qu Yanbin (Harbin Institute of Technology, P. R. China)
Takashi Kohno (LIMMS/CNRS-IIS, Institute of Industrial Science, The University of Tokyo, Japan)
Takashi Ogata (Iwate Prefectural Univerity)
Teruhisa Hochin (Kyoto Prefectural University, Japan)
Tetsuro Hattori (Kagawa University, Japan)
Thi Thi Zin (University of Miyazaki, Japan)
Thomas S. Ray (University of Oklahoma, USA)
Toru Yamamoto (Hiroshima University, Japan)
Victor Berdonosov (Komsomolsk-on-Amur State University of Technology, Russia)
Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Yo Horikawa (Kagawa University, Japan)
Yoshifumi Morita (Nagoya Institute of Technology, Japan)
Yoshiro Imai (Kagawa University, Japan)
Yuichi Tanji (Kagawa University, Japan)
INTERNATIONAL PROGRAM COMMITTEE
Akira Nakamura (AIST, Japan)
Ali Selamat (University of Technology of Malaysia (UTM), Malaysia)
Arsit Boonyaprapasorn (Chulachomkloa Royal Military Academy, Thailand)
Bin Fu (Shanghai Jiaotong University, P. R. China)
Dongmei Ai (University of Science and Technology Beijing, P. R. China)
Endra Joelianto (Bandung Institute of Technology, Indonesia)
Fengzhi Dai (Tianjin University of Science & Technology, P. R. China)
Haruna Matsushita (Kagawa University)
Hidetsugu Suto (Muroran Institute of Technology, Japan)
Hiroyuki Iizuka (Osaka University, Japan)
Huailin Zhao (Shanghai Institute of Technology, P. R. China)
Hussein Abbass (University of New South Wales and ADFA, Australia)
Istvan Harmati (Budapest Institute of Technology and Economics, Hungary)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

Ivan Tanev (Doshisha University, Japan)
Jiandong Zhao (Beijing Jiaotong University, P. R. China)
Jinglu Hu (Waseda University, Japan)
Joono Cheong (Korea University, Korea)
Kathryn Elizabeth Merrick (University of New South Wales and ADFA, Australia)
Kunikazu Kobayashi (Aichi Prefectural University, Japan)
Manabu Yamada (Nagoya Institute of Technology, Japan)
Masahide Ito (Aichi Prefectural University, Japan)
Malachy Eaton (University of Limerick, Ireland)
Masayoshi Kano (Chukyou University, Japan)
Masayoshi Tabuse (Kyoto Prefectural University, Japan
Masaomi Hatakeyama (University of Zurich, Switzerland)
Norrima Mokhtar (University of Malaya, Malaysia)
Noritaka Sato(Nagoya Institute of Technology, Japan)
Palakorn Tantrakool (King Mongkut’s Institute of Technology Thonburi, Thailand)
Satoshi Ikeda (The University of Miyazaki, Japan)
Sanjay S. Joshi (College of Engineering, University of California, USA)
Seong-Ik Han (Pusan National University, Korea)
Shingo Mabu (Yamaguchi University, Japan)
Shyi-Ming Chen (National Taichung University of Education, Taiwan)
Takashi Kuremoto (Yamaguchi University, Japan)
Takayoshi Yamada (Gifu University, Japan)
Taishiro Kishimoto (Keio University, Japan)
Tao Zhang (Tsinghua University, P. R. China)
Takashi Iwamoto (Mitsubishi Electric Corporation, Advanced Technology
R&D Center, Japan)
Tetsuro Katayama (The University of Miyazaki, Japan)
Thunyaseth Sethaput (Thammasat University, Thailand)
Toshinori Nawata (Kumamoto National College of Technology, Japan)
Tsunehiro Yoshinaga (Tokuyama National College of Technology, Japan)
Weicun Zhang (University of Science and Technology Beijing, P. R. China)
Yuanyuan Shang (Capital Normal University, P. R. China)
Yueyue Fan (University of California-Davis, USA)
Young Im Cho (The University of Suwon, Korea)
LOCAL ARRANGEMENT COMMITTEE
Makoto Sakamoto (University of Miyazaki,
Japan) Masanori Sugisaka (ALife Robotics Corporation Ltd., Japan)(Visiting Professor, Open University, UK)
Satoshi Ikeda (University of Miyazaki, Japan)
Takao Ito (Hiroshima University, Japan)
Tetsuro Katayama (University of Miyazaki, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

HISTORY
The International Conference on Artificial Life and Robotics (ICAROB) resulted from the AROBsymposium (International Symposium on Artificial Life and Robotics) whose first edition was held in1996 and the eighteenth and last edition in 2013. The AROB symposium was annually organized by
Oita University, Nippon Bunri University (NBU), and ALife Robotics Corporation Ltd., under thesponsorship of the Science and Technology Policy Bureau, the Ministry of Education, Science, Sports,
and Culture (Monbusho), presently, the Ministry of Education, Culture, Sports, Science, andTechnology (Monkasho), Japanese Government, Japan Society for the Promotion of Science (JSPS),
the Commemorative Organization for the Japan World Exposition ('70), Air Force Office of Scientific
Research, Asian Office of Aerospace Research and Development (AFOSR/AOARD), USA. I would liketo express my sincere thanks to not only Monkasho (annually fund support from 1996 to 2013) but
also JSPS, the Commemorative Organization for the Japan World Exposition ('70), and various otherJapanese companies for their repeated support. The old symposium (this symposium has been held
every year at B-Con Plaza, Beppu, Oita, Japan except in Oita, Japan (AROB 5th ’00) and in Tokyo, Japan(AROB 6th ’01).) was organized by the International Organizing Committee of AROB and was cooperated by the Santa Fe Institute (USA), RSJ, IEEJ, ICASE (Now ICROS) (Korea), CAAI (P. R. China),
ISCIE, IEICE, IEEE (Japan Council), JARA, and SICE. The old AROB-symposium expanded much byabsorbing much new knowledge and technologies into it. This history and character of the former
AROB symposiums are passed on the current ICAROB conference and to this journal, International
Journal of Robotics, Networking and Artificial Life (JRNAL). From now on, ALife Robotics Corporation
Ltd. is in charge of management of both the conference and the journal. The future of the ICAROB isbrilliant from a point of view of yielding new technologies to human society in the 21st century. Thisconference invites you all.
AIMS AND SCOPE
The objective of this conference is the development of new technologies for artificial life and robotics
which have been recently born in Japan and are expected to be applied in various fields. Thisconference presents original technical papers and authoritative state-of-the-art reviews on thedevelopment of new technologies concerning robotics, networking and artificial life and, especiallycomputer-based simulation and hardware for the twenty-first century. This conference covers abroad multidisciplinary field, including areas such as:
Artificial intelligence & complexity
Artificial living
Artificial mind research
Artificial nervous systems for robots
Artificial sciences
Bipedal robot
Brain science and computing
Chaos
Cognitive science©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

Computational Molecular biology
Computer graphics
Data mining
Disasters robotics
DNA computing
Empirical research on network and MOT
Environment navigation and localization
Evolutionary computations
Facial expression analysis, music recommendation and augmented reality
Foundation of computation and its application
Fuzzy control
Genetic algorithms
Human-welfare robotics
Image processing
Insect-like aero vehicles
Intelligence in biological systems
Intelligent control
Management of technology
Medical surgical robot
Micro-machines
Multi-agent systems
Nano-biology
Nano-robotics
Networking
Neural circuits
Neuro-computer
Neuromorphic Systems
Neuroscience
Pattern recognition
Quantum computing
Reinforcement learning system & genetic programing
Robotics
Software development support method
System cybernetics
Unmanned underwater vehicles
Unmanned Aerial Systems Technologies
Unmanned Aerial Systems designing, controls and navigation
Unmanned Aero vehicles
Virtual reality
Visualization
Hardware-oriented submissions are particularly welcome. This conference will discuss new
results in the field of artificial life and robotics©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

COPYRIGHTS
Accepted papers will be published in the proceeding of The 2017 International Conference on
Artificial Life and Robotics (ICAROB 2017) by ALife Robotics Corp. Ltd. Copyright belongs to ALife
Robotics Corp. Ltd. Some of high quality papers in the proceeding will be requested to re-submit theirpapers for the consideration of publication in an international journal ROBOTICS, NETWORKING AND
ARTIFICIAL LIFE under agreement of both Editor-in- Chief Dr. Masanori Sugisaka and 3 reviewers. All
correspondence related to the conference should be addressed to ICAROB Office.

ICAROB Office
ALife Robotics Corporation Ltd.
3661-8 Oaza Shimohanda, Oita 870-1112, JAPANTEL/FAX：+81-97-597-7760
E-MAIL：icarob@alife-robotics.co.jp
Home Page：http://alife-robotics.co.jp/©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

MESSAGES
Masanori Sugisaka
General Chair of ICAROB

Masanori Sugisaka
General Char
(Professors, Open University(UK), University of Malaysia-Peris(Malaysia) and President of Alife
Robotics Co., Ltd. (Japan))

It is my great honor to invite you all to The 2017 International Conferenceon Artificial Life and Robotics (ICAROB 2017).
This Conference is changed as the old symposium from the first (1996) tothe Eighteenth (2013) annually which were organized by Oita University,
Nippon Bunri University(NBU), and ALife Robotics Corporation Ltd. under
the sponsorship of the Science and Technology Policy Bureau, the Ministryof Education, Science, Sports, and Culture (Monbusho), presently, theMinistry of Education, Culture, Sports, Science, and Technology(Monkasho), Japanese Government, Japan Society for the Promotion of
Science (JSPS), The Commemorative Organization for the Japan World
Exposition (’70), Air Force Office of Scientific Research, Asian Office ofAerospace Research and Development (AFOSR/AOARD), USA. I would liketo express my sincere thanks to not only Monkasho (annually fund support
from 1996 to 2013) but also JSPS, the Commemorative Organization for theJapan World Exposition (’70) , Japanese companies for their repeatedsupport.
The old symposium was organized by International Organizing Committeeof AROB and was co-operated by the Santa Fe Institute (USA), RSJ, IEEJ,ICASE (Now ICROS) (Korea), CAAI (P. R. China), ISCIE, IEICE, IEEE (Japan
Council), JARA, and SICE. The old AROB symposium was growing up by
absorbing many new knowledge and technologies into it.
This history and character was inherited also from ICAROB 2014(The 2014
International Conference on Artificial Life and Robotics, included a series of
ICAROB proceedings in SCOPUS and CPCI now. From now on, ALife
Robotics Corporation Ltd. is in charge of management. This year we have
The 2017 International Conference on Artificial Life and Robotics(ICAROB2017) (22nd AROB Anniversary). The future of The ICAROB isbrilliant from a point of view of yielding new technologies to human society
in 21st century.
I hope that fruitful discussions and exchange of ideas between researchers
during Conference (ICAROB2017) will yield new merged technologies forhappiness of human beings and, hence, will facilitate the establishment of
an international joint research institute on Artificial Life and Robotics infuture.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017
Yingmin Jia
Co-General Chair of ICAROB

Yingmin Jia
Co-General Chair(Professor, Beihang University,
R .P. China)

It is my great pleasure to invite you to The 2017 International Conferenceon Artificial Life and Robotics (ICAROB 2017), in Miyazaki, Japan from Jan.
19th to 22nd, 2017.
ICAROB develops from the AROB that was created in 1996 by Prof.
Masanori Sugisaka and will celebrate her birthday of 22nd years old in2017. Doubtless, new mission and big challenges in the field of artificial lifeand robotics will promote ICAROB to start a new stage and attract wide
interests among scientist, researchers, and engineers around the world.
For a successful meeting, many people have contributed their great efforts
to ICAROB. Here, I would like to express my special thanks to all authors
and speakers, and the meeting organizing team for their excellent works.
Looking forward to meeting you at ICAROB in Miyazaki and wishing you
enjoy your stay in Japan.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017
Takao Ito
Co General Chair of ICAROB

Takao Ito
Co-General Chair(Professor Hiroshima
University, Japan)

It is my great honor to invite you all to The 2017 International Conferenceon Artificial Life and Robotics (ICAROB 2017). This Conference is changed
as the old symposium from the first (1996) to the Eighteenth. I am pleased
to welcome you to The 2017 International Conference on Artificial Life andRobotics in the wonderful city of Miyazaki City, Miyazaki Prefecture, Japan.
The ICAROB has its long history. The former organization of the ICAROB wasdeveloped under the strong leadership of the President, famous
Professor Masanori Sugisaka, the father of AROB. We gathered many
researchers, faculty members, graduate students from all over the world,and published many high-quality proceedings and journals every year.
Over the years, dramatic improvements have been made in the field ofartificial life and its applications. The ICAROB has becoming the unifying theexchange of scientific information on the study of man-made systems thatexhibit the behavioral characteristic of natural living systems including
software, hardware and/or wetware. Our conference shapes thedevelopment of artificial life, extending our empirical research beyond theterritory circumscribed by life-as-we-know-it and into the domain of lifeas-it-could–be. It will provide us a good place to present our new research
results, excellent ideas, and valuable information about artificial
intelligence, complex systems theories, robotics, management oftechnology, etc.
The conference site is Seagaia Convention Center, one of the most famous
resort hotels in Japan. You can find many fantastic scenic spots andsplendid historical places in Miyazaki city. Enjoy your stay and take yourtime to visit the city of Miyazaki.
I am looking forward to meeting you in Miyazaki during the ICAROB 2017
and to sharing a most pleasant, interesting and fruitful conference.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017
Ju-Jang Lee
Co-General Chair of ICAROB

Ju-Jang Lee
Co-General Chair(Professor, KAIST)The First International Conference on Artificial Life and Robotics (ICAROB)
was held in Oita City, Oita, Japan from Jan. 11th to 13th, 2014. This
year’s Conference will be held amidst the high expectation of theincreasingly important role of the new interdisciplinary paradigm ofscience and engineering represented by the field of artificial life androbotics that continuously attracts wide interests among scientist,
researchers, and engineers around the globe.
Distinguished researchers and technologists from around the world arelooking forward to attending and meeting at ICAROB. ICAROB is becoming
the annual excellent forum that represents a unique opportunity for theacademic and industrial communities to meet and assess the latest
developments in this fast growing artificial life and robotics field. ICAROB
enables them to address new challenges, share solutions, discussresearch directions for the future, exchange views and ideas, view theresults of applied research, present and discuss the latest developmentof new technologies and relevant applications.
In addition, ICAROB offers the opportunity of hearing the opinions ofwell-known leading experts in the field through the keynote sessions,provides the bases for regional and international collaborative research,and enables to foresee the future evolution of new scientific paradigms
and theories contributed by the field of artificial life and robotics andassociated research area. The twenty-first century will become thecentury of artificial life and intelligent machines in support of humankind
and ICAROB is contributing through wide technical topics of interest that
support this direction.
It is a great honor for me as a Co-General Chair of the 4th ICAROB 2017
to welcome everyone to this important event. Also, I would like to extend
my special thanks to all authors and speakers for contributing theirresearch works, the participants, and the organizing team of the 4th
ICAROB.
I’m looking forward to meeting you at the 4th ICAROB in Miyazaki City,
Miyazaki Prefecture and wishing you all the best.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GENERAL SESSION TOPICS
GS1 Artificial Neural Network & Bio-Signal Controlled
Robotics (3)GS3 Automated Guided Vehicles II (3)GS5 Filtering & Control Systems (2)GS7 Micro-Machines & Robotics I (6)GS9 Neuromorphic Robotic Systems (5)GS11 Others (12)GS2 Automated Guided Vehicles I (6)GS4 Biological Systems (4)GS6 Human-Welfare Robotic System & Medical
Application (5)GS8 Micro-Machines & Robotics II (3)GS10 Reinforcement & Evolutionary Computations (3)ORGANIZED SESSION TOPICS
OS1 Informational Narratology and AutomatedContent Generation (5)OS2 Intelligence Control Systems and Applications I (6)OS3 Intelligence Control Systems and Applications II(6)
OS5 Human Interface and Content Security (5)OS7 Advances in Marine Robotics and Applications (6)OS9 Theory and Implementation of Neuromorphic
Systems (5)OS11 Robot Control and Localization (4)OS13 Intelligent Control (6)OS15 Recognition and Control (8)OS17 Natural Computing and Biology (4)OS19 Kansei Engineering and Applications (4)OS21 Computer Science and Information Processing(5)

OS4 Human-In-The-Loop (HITL) Systems (4)©ICAROB 2017 ALife Robotics Corp. Ltd.

OS6 Software Development Support Method (6)OS8 Multiagent systems and Reality Mining (4)OS10 Biological Signal Sensing Technology, Device and
Its Applications (5)OS12 Machine Learning and Its Applications (4)OS14 Advanced Control (5)OS16 Image Recognition and Chaotic Systems (8)OS18 Advanced Management and Technology (4)OS20 Image Processing and Computer Graphics (6)OS22 Robotic Technology for Competition (4)- 13 -

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

1/19(Thu.) 17:30-19:30

Welcome Party (Conference Site: Gibraltar)

1/19(Thu.) - 1/22(Sun.)ICAROB Secretariat

1/22(Sun.) 16:45-17:15

Farewell Party (Conference Site: Gibraltar)

TIME TABLE (1/20)
1/20(Fri.)

Fountain Room (A1) 2nd F

8:409:00-10:15

OS14 Advanced Control (5)Orchard Room (A2) 2nd F, N
Registration
GS6 Human-Welfare
Robotic System & Medical
Application (5)Orchard Room (A3) 2nd F, S
OS15 Recognition andControl (8) & OS16 Image
Recognition and Chaotic
Systems (8)10:15-10:30

Coffee break

10:30-11:00

Opening Ceremony (Fountain Room (A1) 2nd F)

11:10-12:10

Chair: Takao Ito
Invited session IS-2, IS-4 (Fountain Room (A1) 2nd F)
Henrik Hautop Lund

12:10-13:10

Lunch

13:10-13:50

Chair: Jangmyung Lee
Invited session IS-1 (Fountain Room (A1) 2nd F)
Luigi Pagliarini

13:50-14:10

Invited session IS-3 (Fountain Room (A1) 2nd F)
Ismael Baira Ojeda

14:10-14:30
14:30-16:00

OS3 IntelligenceControl Systems andApplications (II) (6)16:00-16:20
16:20-17:50

OS2 IntelligenceControl Systems andApplications (I) (6)©ICAROB 2017 ALife Robotics Corp. Ltd.

Coffee break
OS5 Human Interface andContent Security (5)Coffee break
OS9 Theory and
Implementation of
Neuromorphic Systems (5)- 14 -

GS7 Micro-Machines &Robotics I (6)OS7 Advances in Marine
Robotics and Applications (6)The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

TIME TEBLE (1/21)
1/21(Sat.)

Fountain Room (A1) 2nd F

8:409:00-11:00

Registration
GS2 Automated Guided
Vehicles I (6)OS6 Software
Development Support
Method (6)11:00-11:15
11:15-12:00

Orchard Room (A2) 2nd F, N

Orchard Room (A3) 2nd F, S
OS4 Human-In-The-Loop(HITL) Systems (4) & OS11
Robot Control andLocalization (4)Coffee break
GS5 Filtering & Control

GS8 Micro-Machines &GS1 Artificial Neural

Systems (2)Robotics II (3)Network and Bio-Signal
Controlled Robotics (3)12:00-13:00

Lunch

13:00-14:00

Chair: Yingmin Jia
Plenary Speech PS1(Fountain Room (A1) 2nd F)
Kazuo Ishii

14:00-14:20
14:20-15:50

Coffee breakOS20 Image Processing
and Computer Graphics (6)15:50-16:10
16:10-17:25

OS13 Intelligent Control (6)OS8 Multiagent systems andReality Mining (4)Coffee break
GS9 Neuromorphic Robotic
Systems (5)18:00-20:00©ICAROB 2017 ALife Robotics Corp. Ltd.

OS22 Robotic Technology forCompetition (4)Banquet: Tenzui (4th F)- 15 -

GS4 Biological Systems (4)The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

TIME TABLE (1/22)
1/22(Sun.)

Fountain Room (A1) 2nd F

8:509:10-10:25

OS10 Biological Signal
Sensing Technology, Device
and Its Applications (5)Orchard Room (A2) 2nd F, N
Registration
OS19 Kansei Engineeringand Applications (4)10:25-10:40

Coffee break

10:40-11:40

Chair: Makoto Sakamoto

Orchard Room (A3) 2nd F, S
OS1 Informational
Narratology and AutomatedContent Generation (5)Plenary Speech PS2 (Fountain Room (A1) 2nd F)
Tomoyuki Nishita
11:40-13:00

Lunch

13:00-13:50

Chair: Takao Ito
Invited session IS-5 (Fountain Room (A1) 2nd F)Peter Sapaty

13:50-14:10
14:10-15:10

Coffee break
OS17 Natural Computing and
Biology (4)OS18 Advanced
Management andTechnology (4)15:10-15:30
15:30-16:45

GS10 Reinforcement &Evolutionary Computations(3)

Coffee break
GS3 Automated Guided
Vehicles II (3)Farewell Party (16:45-17:15)©ICAROB 2017 ALife Robotics Corp. Ltd.

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OS12 Machine Learning
and Its Applications (4)OS21 Computer Scienceand Information Processing(5)The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

The 2017 International Conference on
ARTIFICIAL LIFE AND ROBOTICS(ICAROB2017)
January 19 (Thursday)
17:30-19:30

Welcome Party (Conference Site: Gibraltar 2nd F)January 20 (Friday)
10:30-11:00

Opening Ceremony (Fountain Room (A1) 2nd F)
Chair: Marion Oswald (The Vienna University of Technology, Austria)
Welcome Addresses
1. General Chairman of ICAROB

Masanori Sugisaka (ALife Robotics Corporation Ltd.
Japan)
2. Co-General Chairman of ICAROB Yingmin Jia (Beihang University, China)
3. Co-General Chairman of ICAROB TaKao Ito (Hiroshima University, Japan)
4. Vice General Chair of ICAROB
Henrik Hautop Lund (Technical University of Denmark,Denmark)
5. Vice General Chair of ICAROB
Jangmyung Lee (Pusan National University, South
Korea)

January 21 (Saturday)
Banquet: Tenzui (4th F)
18:00-20:00
Chair: T. Ito (Hiroshima University, Japan)
Welcome Addresses
Prof. Yingmin Jia (Beihang University, P.R. China.)
Prof. Jang-Myung Lee (Pusan National University, South Korea)
Prof. Marion Oswald (The Vienna University of Technology, Austria)
Prof. Saori Iwanaga (Japan Coast Guard Academy, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

TECHNICAL PAPER INDEXJanuary 20 (Friday)
08:40-Registration
Fountain Room (A1) 2nd F
9:00-10:15 OS14 Advanced Control (5)Chair: Yingmin Jia (Beihang University, P.R. China)
Co-Chair: Weicun Zhang (University of Sciences and Technology Beijing, P.R. China)
OS14-1

Targeting Chaos System via Minimum Principle Control
Yunzhong Song, Ziyi Fu, Fuzhong Wang (Henan Polytechnic University, P.R.China,)

OS 14-2

Three-dimensional Leader-Follower Formation Flocking of Multi-Agent System
Yongnan Jia, Weicun Zhang (University of Sciences and Technology Beijing, China)

OS14-3

Leader-follower Formation Control of Mobile Robots with Sliding Mode
Wenhao Zheng and Yingmin Jia ( Beihang University, P.R.China)

OS14-4

H Containment Control for Nonlinear Multi-agent Systems with Parameter
Uncertainties and Communication Delays
Ping Wang1, Yingmin Jia2 (1 North China Electric Power University, 2Beihang University, P.R.China)

OS14-5

Stochastic Resonance in an Array of Dynamical Saturating Nonlinearity with Second-Order
Yumei Ma, Lin Zhao, Zhenkuan Pan and Jinpeng Yu*(Qingdao University , P.R.China)

10:30-11:00 Opening Ceremony
Chair: Marion Oswald (The Vienna University of Technology, Austria)
11:10-12:10
Invited session IS-2, IS-4
Chair: Takao Ito (Hiroshima University, Japan)
IS-2 Playware ABC: Engineering Play for Everybody
Henrik Hautop Lund (Technical University of Denmark, Denmark)IS-4 Playware ABC2: a Disruptive Technology for Global Development
Henrik Hautop Lund (Technical University of Denmark, Denmark)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 201713:10-13:50
Invited session IS-1
Chair: Jang-Myung Lee (Pusan National University, South Korea)
IS-1 The future of Robotics Technology.
Luigi Pagliarini 1,2, Henrik Hautop Lund 1 (1 Technical University of Denmark, Denmark, 2 Academy ofFine Arts of Macerata, Italy)
13:50-14:10
Invited session IS-3
Chair: Jang-Myung Lee (Pusan National University, South Korea)
IS-3 A combination of Machine Learning and Cerebellar models for the Motor Control andLearning of a Modular Robot
Ismael Baira Ojeda, Silvia Tolu, Moisés Pachecho, David Johan Christensen and Henrik Hautop Lund
(Technical University of Denmark, Denmark)14:30-16:00 OS3 Intelligence Control Systems and Applications II (6)Chair: Chian C. Ho (National Yunlin University of Science & Technology, Taiwan)
Co-Chair: Chia-Nan Ko (Nan Kai University of Technology, Taiwan)
OS3-1

Image Compression Using Hybrid Evolution Based Takagi-Sugeno Fuzzy Neural Network
1
Chia-Nan Ko and 2Ching-I Lee (1,2 Nan Kai University of Technology, Taiwan)

OS3-2

MQPSO Algorithm Based Fuzzy PID Control for a Pendubot System
1
Li-Chun Lai, 2Yu-Yi Fu, and 3Chia-Nan Ko (1National Pingtung University, 2,3Nan Kai University ofTechnology, Taiwan)

OS3-3

A Sensorless Ultra-High Speed Motor Driver
Chung-Wen Hung, Yan-Ting Yu, Bo-Kai Huang, Wei-Lung Mao (National Yunlin University of
Science and Technology, Taiwan)

OS3-4

Android-Based Patrol Robot Featuring Automatic Vehicle Patrolling and Automatic Plate
Recognition
Chian C. Ho, Shih-Jui Yang, Jian-Yuan Chen, Chang-Yun Chiang, and Hsin-Fu Chen(National Yunlin University of Science and Technology, Taiwan)

OS3-5

Adaptive CMAC Filter for Chaotic Time Series Prediction
Wei-Lung Mao, Suprapto, Chung-Wen Hung (National Yunlin University of Science andTechnology, Taiwan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS3-6

Surface Defect Detection for Anodized Aluminum Tube Based on Automatic Optical Inspection
Hsien-Huang P. Wu and Hsuan-Min Sun(National Yunlin University of Science and Technology, Taiwan)

16:20-17:50
OS2 Intelligence Control Systems and Applications I (6)Chair: Kuo-Hsien Hsia (Far East University, Taiwan)
Co-Chair: Kuo-Lan Su (National Yunlin University of Science & Technology, Taiwan)
OS2-1

Develop Low Cost IoT Module with Multi-Agent Method
Jr-Hung Guo, Kuo-Hsien Hsia, Kuo-Lan Su(National Yunlin University of Science and Technology, Taiwan)

OS2-2

Based on Short Motion Paths and Artificial Intelligence Method for Chinese Chess Game
Chien-Ming Hung, Jr-Hung Guo, Kuo-Lan Su(National Yunlin University of Science and Technology, Taiwan)

OS2-3

Design and Implementation of the SCARA Robot Arm
Jian-Fu Weng, Bo-Yi Li, Kuo-Lan Su(National Yunlin University of Science and Technology, Taiwan)

OS2-4Transmission Power Control for Wireless Sensor Network
Kuo-Hsien Hsia1, Chung-Wen Hung2, Hsuan T. Chang, Yuan-Hao Lai2
(1Far East University, Taiwan, 2National Yunlin University of Science and Technology, Taiwan)

OS2-5

Mechanism of Autonomous Mowing Robot for Long Grass
Kuo-Hsien Hsia1, Yao-Shing Huang2, Kuo-Lan Su2 and Jr-Hung Guo2
(1Far East University, Taiwan, 2National Yunlin University of Science and Technology, Taiwan)

OS2-6

Design of Optimal Position Controller for Three-Phase Brushless DC Motor Applying Adaptive
Sliding Mode Control
Tai-Huan Tsai, Mei-Yung Chen (National Taiwan Normal University, Taiwan)

Orchard Room (A2) 2nd F, N
9:00-10:15 GS6 Human-Welfare Robotic System & Medical Application (5)Chair:
GS6-1

Virtual surgery system with realistic visual effects and haptic interaction.
Vlada Kugurakova, Murad Khafizov, Ruslan Akhmetsharipov, Alexei Lushnikov, Diana Galimova,
Vitaly Abramov (Kazan Federal University, Russia), Omar Correa Madrigal (University ofInformatic Sciences, Cuba)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS6-2

A Human Reaching Movement Model for Myoelectric Prosthesis Control
Go Nakamura*1, 5, Taro Shibanoki*2, Yuichiro Honda*1, Futoshi Mizobe*3, Akito Masuda*4,
Takaaki Chin*1, Toshio Tsuji*5, *1(Robot Rehabilitation Center in The Hyogo institute of Assistive
Technology, Japan), *2(Ibaraki University, Japan), *3(Hyogo Rehabilitation Center, Japan)*4(Kinki Gishi Corporation, Japan), *5(Hiroshima University, Japan)

GS6-3

Re-creation of a membrane puncture’s sense of an object constituted of liquid and an outermembrane by a haptic device and a deformation simulation of the virtual objects
Takahiro Okada, Eiji Hayashi (Kyusyu Institute of Technology, Japan)

GS6-4

Exercise classification using CNN with image frames produced from time-series motion data
Hajime Itoh, Naohiko Hanajima, (Muroran Institute of Technology, Japan), Yohei Muraoka,
Makoto Ohata, (Steel Memorial Muroran Hospital, Japan), Masato Mizukami, Yoshinori Fujihira,(Muroran Institute of Technology,, Japan)

GS6-5

Proposal and Evaluation of the Gait Classification Method using Arm Acceleration Data andDecision Tree
Kodai Kitagawa, Yu Taguchi, Nobuyuki Toya
(National Institute of Technology, Kushiro Collage, Japan)

14:30-16:00 OS5 Human Interface and Content Security (5)Chair: Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Co-Chair: Masayoshi Tabuse (Kyoto Prefectural University, Japan)
OS5-1

A Method for Secure Communication Using a Discrete Wavelet Transform for Audio Dataand Improvement of Speaker Authentication
Kouhei Nishimura, Yasunari Yoshitomi, Taro Asada, and Masayoshi Tabuse(Kyoto Prefectural University, Japan)

OS5-2

A Recipe Decision Support System Using Knowledge Information and Agent
Keita Saito, Taro Asada, Yasunari Yoshitomi, Ryota Kato, and Masayoshi Tabuse(Kyoto Prefectural University, Japan)

OS5-3

A System for Analyzing Facial Expression and Verbal Response of a Person While Answering
Interview Questions on Video
Taro Asada, Yasunari Yoshitomi, and Masayoshi Tabuse (Kyoto Prefectural University, Japan)

OS5-4

Real-Time System for Horizontal Asymmetry Analysis on Facial Expression and Its
Visualization
Ryoichi Shimada, Taro Asada, Yasunari Yoshitomi, and Masayoshi Tabuse(Kyoto Prefectural University, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS5-5

Development of Mouse System for Physically Disabled Person by Face Movement Using
KinectJunpei Miyachi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)

16:20-17:35 OS9 Theory and Implementation of Neuromorphic Systems (5)Chair: Takashi Kohno (The University of Tokyo, Japan)
Co-Chair: Takuya Nanami (The University of Tokyo, Japan)
OS9-1

Implementation of Multi-FPGA Communication using Pulse-Coupled Phase Oscillators
Dinda Pramanta, Takashi Morie, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

OS9-2

Multi-Valued Quantization Convolutional Neural Networks toward Hardware Implementation
Yoshiya Aratani, Yoeng Jye Yeoh, Daisuke Shuto, Takashi Morie, Hakaru Tamukoh(Kyushu Institute of Technology, Japan)

OS9-3

An Improved Parameter Value Optimization Technique for the Reflectionless Transmission-Line
Model of the Cochlea
Takemori Orima and Yoshihiko Horio (Tohoku University, Japan)

OS9-4

A parameter optimization method for Digital Spiking Silicon Neuron model
Takuya Nanami and Takashi Kohno (The University of Tokyo, Japan)

OS9-5

A Multistage Heuristic Tuning Algorithm for an Analog Silicon Neuron Circuit
Ethan Green and Takashi Kohno (The University of Tokyo, Japan)

Orchard Room (A3) 2nd F, S
9:00-10:15 OS15 Recognition and Control (8)Chair: Fengzhi Dai (Tianjin University of Science and Technology, China)
Co-Chair: Hongtao Zhang (Tianjin University of Science and Technology, China)
OS15-1

Integral Design of Intelligent Home Equipment
Yuxing Ouyang 1, Fengzhi Dai 1*, Yiqiao Qin 1, Ce Bian 1, Bo Liu 2, Hongwei Jiao 3 (1 Tianjin Universityof Science & Technology, 2 Inner Mongolia University, 3 Tianjin Technology School of Printing and
Decoration, China)

OS15-2

Research on Underwater Robot Recognition
Binhu Song1, Fengzhi Dai1*, Qijia Kang1, Haifang Man1, Hongtao Zhang1, Long Li2, Hongwei Jiao3(1 Tianjin University of Science and Technology, 2 Tianjin Electric Locomotive Co., Ltd, 3 Tianjin
Technology School of Printing & Decoration, China)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS15-3

Design of Intellectual Vehicles with Path Memorizing Function
Yiqiao Qin 1, Fengzhi Dai 1*, Yuxing Ouyang 1, Baochang Wei 1, Simini Chen 2, Hongwei Jiao 3(1 Tianjin University of Science & Technology, 2 Palace Museum, 3 Tianjin Technology School ofPrinting & Decoration, China)

OS15-4

Action Recognition based on Binocular Vision
Yiwei Ru 1,2,*, Hongyue Du 1, Shuxiao Li 2, Hongxing Chang 2 (1 Harbin University of Science andTechnology, China, 2 Institute of Automation Chinese Academy of Sciences, China)

OS15-5

Analysis and Control of a Novel 4D Chaotic System
Hong Niu (Tianjin University of Science and Technology, China)

OS15-6

Analysis of a three-dimensional chaotic system and its FPGA implementation
Hefei Li *, Xianghui Hu (Tianjin University of Science and Technology, China)

OS15-7

Image Encryption Based on Fractional-order Chaotic Model of PMSM
Wei Xue *, Mei Zhang, Shilong Liu, Xue Li (Tianjin University of Science and Technology, China)

OS15-8The Application of a Novel Fractional Hyper-chaotic in Image Encryption
Wei Xue *, Shilong Liu, Mei Zhang, Xue Li (Tianjin University of Science and Technology, China)

OS16 Image Recognition and Chaotic Systems (8)Chair: Huailin Zhao (Shanghai Institute of Technology, China)
Co-Chair: Shunzhou Wang (Shanghai Institute of Technology, China)
OS16-1

A Method of Detecting Abnormal Crowd Behavior Events Applied in Patrol Robot
Huailin Zhao, Shunzhou Wang, Shifang Xu, Yani Zhang (Shanghai Institute of Technology, China),
Masanori Sugisaka (ALife Robotics Corp. Ltd, Japan)

OS16-2

Design of the Multi-Car Collaboration System
Huailin Zhao, Yangguang Guo (Shanghai Institute of Technology, China)
Masanori Sugisaka (ALife Robotics Corp. Ltd, Japan)

OS16-3

Research on an Algorithm of the Character Recognition with Self-learning the Recognition Errors
Huailin Zhao, Yawei Hou, Shifang Xu, Congdao Han (Shanghai Institute of Technology, China),
Masanori Sugisaka (ALife Robotics Corp. Ltd, Japan)

OS16-4

An Improved Method of the Power System Short Term Load Forecasting Based on the Neural
Network
Shunzhou Wang, Huailin Zhao, Yani Zhang, Peng Bai (Shanghai Institute of Technology, China)

OS16-5

Improvement on LEACH Agreement of Mine Wireless Communication Network
Liu Yun-xiang and Zhang Wei (Shanghai Institute of Technology, China)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS16-6

A New Four-Wing Chaotic System Generated by Sign Function
Hongyan Jia, Shanfeng Wang, Yongjun Wu (Tianjin University of Science and Technology, China)

OS16-7A Three-Dimensional Chaotic System Generating Single-wing or Two-Wing Chaotic Attractors
Hongyan Jia, Yongjun Wu, Shanfeng Wang (Tianjin University of Science and Technology, China)

OS16-8Circuit implementation of a new fractional-order hyperchaotic system
Xuyang Wu, Hongyan Jia, Ning Bai, Weibo Jia(Tianjin University of Science and Technology, China)

14:30-16:00 GS7 Micro-Machine & Robotics I (6)Chair:
GS7-1

Estimation and Categorization of Errors in Error Recovery Using Task Stratification and Error
Classification
Akira Nakamura*1, Kazuyuki Nagata*1, Kensuke Harada*2 and Natsuki Yamanobe*1(*1 National Institute of Advanced Industrial Science and Technology (AIST), Japan, *2 Osaka
University, Japan)

GS7-2

The Suitable Timing of Visual Sensing in Error Recovery Using Task Stratification and Error

GS7-3

Hexapod Type MEMS Microrobot Equipped with an Artificial Neural Networks IC
Kazuki Sugita, Taisuke Tanaka, Yuya Nakata, Minami Takato, Ken Saito, Fumio Uchikoba(Nihon University, Japan)

GS7-4

Heat Distribution of Current Output Type Artificial Neural Networks IC for the MEMS
Microrobot
Taisuke Tanaka, Yuya Nakata, Kazuki Sugita, Minami Takato, Ken Saito, Fumio Uchikoba(Nihon University, Japan)

GS7-5

AGV with Mind and its production simulations for autonomous decentralized FMSs
Masato Chikamatsu, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)

GS7-6

UNARM System to Decide Units Locations of Cell-type Assembly Machines with Robots
Arms
Hirotaka Moribe, Hidehiko Yamamoto and Takayoshi Yamada (Gifu University, Japan)

Classification
Akira Nakamura*1, Kazuyuki Nagata*1, Kensuke Harada*2 and Natsuki Yamanobe*1(*1 National Institute of Advanced Industrial Science and Technology (AIST), Japan, *2 Osaka
University, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 201716:20-17:50 OS7 Advances in Marine Robotics and Applications (6)Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
Co-Chair: Keisuke Watanabe (Tokai University, Japan)
OS7-1

Development of a Hydraulic Underwater Manipulator for Deep-Sea Survey AUV
Kazuo Ishii, Amir Ali Forough Nassiraei, Ivan Godler, Takashi Sonoda, Tharindu Weerakoon(Kyushu Institute of Technology, Japan)

OS7-2

Experiments of floatable UAV drone for wave dissipating block inspection(I)
Keisuke Watanabe, Kazuho Mitsumura, Koshi Utsunomiya, Shiyun Takasaki(Tokai University, Japan)

OS7-3

Experiments of floatable UAV drone for wave dissipating block inspection(II)Keisuke Watanabe, Kazuho Mitsumura, Koshi Utsunomiya, Shiyun Takasaki(Tokai University, Japan)

OS7-4

Development of self-diagnostic system of an autonomous underwater vehicle Tuna-Sand 2
Naoya Fujii, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS7-5

Development of Underwater Wireless Power Supply System Using resonant energy transfer
Kazuo Ishii, Hidaka Shota, Keisuke Watanabe(Kyushu Institute of Technology, Tokai University, Japan)

OS7-6

Development of End-effector for Sampling-AUV “TUNA-SAND2”
Kazuo Ishii, Takashi Sonoda Atsushi Nishjima, Keisuke Watanabe(Kyushu Institute of Technology, Tokai University, Japan)

January 21 ( Saturday)
08:40-Registration
Fountain Room (A1) 2nd F
9:00-10:30 OS6 Software Development Support Method (6)Chair: Tetsuro Katayama (University of Miyazaki, Japan)
Co-Chair: Tomohiko Takagi (Kagawa University, Japan
OS6-1

Development of a Tool for Extended Place/transition Net-Based Mutation Testing
Tomohiko Takagi1, Shogo Morimoto1, Tetsuro Katayama2(1Kagawa University, 2University of Miyazaki, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS6-2

Improvement of Decision Table Automatic Generation Tool VDTable for let inStatement
Yinuo Huang*, Tetsuro Katayama* Yoshihiro Kita†, Hisaaki Yamaba*, and Naonobu Okazaki*(*University of Miyazaki, Japan, †Tokyo University of Technology, Japan)

OS6-3

Prototype of Test Cases Automatic Generation Tool BWDM Based on Boundary Value
Analysis with VDM++
Hiroki Tachiyama*, Tetsuro Katayama* Yoshihiro Kita†, Hisaaki Yamaba*, and Naonobu Okazaki*(*University of Miyazaki, Japan,†Tokyo University of Technology, Japan)

OS6-4

Prototype of Refactoring Support Tool MCC Focusing on the Naming of Variables
Satoshi Tanoue*, Tetsuro Katayama* Yoshihiro Kita†, Hisaaki Yamaba*, and Naonobu Okazaki*(*University of Miyazaki, Japan,†Tokyo University of Technology, Japan)

OS6-5

Improvement of Transitions and Flow Visualization TFVIS for Exception Handling.
Takuya Sato*, Tetsuro Katayama*, Yoshihiro Kita†, Hisaaki Yamaba*, and Naonobu Okazaki*(*University of Miyazaki, Japan,†Tokyo University of Technology, Japan)

OS6-6

Automatically Business Decision Making System for Software Development by using
CMMI
Hnin Thandar Tun†, Tetsuro Katayama*, Kunihito Yamamori*, and Khine Khine Oo†(*University of Miyazaki, Japan, †University of Computer Studies, Myanmar)

11:15-11:45 GS5 Filtering & Control Systems (2)Chair:
GS5-1

An Application of Collaborative Filtering in Student Grade Prediction
Chaloemphon Sirikayon and Panita Thusaranon (Dhurakij Pundit University, Thailand)

GS5-2

An improved detection method for railway fasteners
Jiwu Wang1, Yan Long1, Sugisaka Masanori 2 (Beijing Jiaotong University, China1, Alife Robotics
Corporation Ltd, Japan and Open University, United Kingdom2)

13:00-14:00
Plenary Speech PS1
Chair: Yingmin Jia (Beihang University, P.R. China)
PS1 A New Tool to Access Deep-Sea Floor “Sampling-AUV”
Kazuo Ishii, Takashi Sonoda, Yuya Nishida, Shinsuke Yasukawa and Tamaki Ura (Kyushu Institute ofTechnology, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 201714:20-15:50 OS20: Image Processing and Computer Graphics (6)Chair: Thi Thi Zin (University of Miyazaki, Japan)
Co-Chair: Masayuki Mukunoki (University of Miyazaki, Japan)
OS20-1

An effective method for detecting snatch thieves in video surveillance
Hiroaki Tsushita1, Thi Thi Zin2 ( 1, 2 University of Miyazaki, Japan)

OS20-2

Color and Shape based Method for Detecting and Classifying Card Images
Cho Nilar Phyo1, Thi Thi Zin2, Hiroshi Kamada3, Takashi Toriu4 (1, 2 University of Miyazaki, Japan,
3
Kanazawa Institute of Technology, Japan 4 Osaka City University, Japan)

OS20-3

Automatic Assessing Body Condition Score from Digital Images by Active Shape Modeland Multiple Regression Technique
Nay Chi Lynn, Thi Thi Zin, Ikuo Kobayashi (University of Miyazaki, Japan)

OS20-4General Image Categorization Using Collaborative Mean Attraction
Hiroki Ogihara, Masayuki Mukunoki (University of Miyazaki, Japan)

OS20-5

Consideration on the Photo-Realistic Rendering of Fruits by 3DCG
Haruka Tsuboi1, Makoto Sakamoto1, Sho Yamada1, Kensuke Ando1, Chongyang Sun1, Makoto
Nagatomo1, Koshiro Mitsuhashi2, Yukari Kodama2 (1University of Miyazaki, Japan, 2Miyazaki
Multimedia Academy, Japan)

OS20-6

Consideration for the Possibility to the Tourism by the AR Technology
Masamichi Hori1, Makoto Sakamoto1, Koshiro Mitsuhashi2, Yukari Kodama2, Takeshi Tanaka1,
Mihoko Fukushima1, Chikashi Deguchi1, Masahiro Yokomichi1, Masayuki Mukunoki1, Kunihito
Yamamori1, Atsushi Iiboshi3 ( 1University of Miyazaki, Japan, 2Miyazaki Multimedia Academy,
Japan, 3Takachiho Muratabi Co., Ltd., Japan)

16:10-17:25 GS9 Neuromorphic Robotic Systems (5)Chair:
GS9-1

Development of Cloud Actions for Seamless Robot Using Backpropagation Neural Network
Wisanu Jitviriya1, Jiraphan Inthiam2 and Eiji Hayashi3 (1King Mongkut’s University of Technology
North Bangkok, Thailand, 2,3Kyushu Institute of Technology, Japan)

GS9-2

Mathematical modelling of human fear and disgust emotional reactions based on skin surface
electric potential changes
Kristina Gaisina and Ruslan Gaisin (Kazan Federal University, Russia)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS9-3

Neuromorphic Robot Dream: A Spike Based Reasoning System
Alexander Toschev, Max Talanov (Kazan Federal University, Russia),
Alexander Tchitchigin (Innopolis University and Kazan Federal University, Russia),
Salvatore Distefano (Kazan Federal University, Russia)

GS9-4

Development of Behavioral Robot using Imitated Multiplex Neurotransmitters System
Saji Keita1, Wisanu Jitviriya2 and Eiji Hayashi3 (1,3 Kyushu Institute of Technology, Japan)(2 King Mongkut’s University of Technology North Bangkok, Thailand)

GS9-5

Nonlinear Estimation Strategies Applied on an RRR Robotic Manipulator
Jacob Goodman1, Jinho Kim1, Andrew S. Lee1, S. Andrew Gadsden1,2(1University of Maryland, USA) (2University of Guelph, Canada)

Orchard Room (A2) 2nd F, N
9:00-10:30 GS2 Automated Guided Vehicles I (6)Chair:
GS2-1

Adaptive Negotiation-rules Acquisition Methods in Decentralized AGV Transportation
Systems by Reinforcement Learning with a State Space Filter
Masato Nagayoshi, Simon Elderton (Niigata College of Nursing)
Kazutoshi Sakakibara (Toyama Prefectural Univ.), Hisashi Tamaki (Kobe Univ.)

GS2-2

Modeling and Control of a Quadrotor Vehicle Subject to Disturbance Load
Jun Wang, Song Xin*, Yuxi Zhang (Beihang University, P. R. China)

GS2-3

A multithreaded algorithm of UAV visual localization based on a 3D model of environment:
implementation with CUDA technology and CNN filtering of minor importance objects
Alexander Buyval, Mikhail Gavrilenkov (Bryansk State Technical University, Russia)
Evgeni Magid (Kazan Federal University, Russia)

GS2-4

Modelling a crawler-type UGV for urban search and rescue in Gazebo environment
Maxim Sokolov, Aidar Gabdullin, Roman Lavrenov, Ilya Afanasyev (Innopolis University,
Russia), Leysan Sabirova, Evgeni Magid (Kazan Federal University, Russia)

GS2-5

Development of Autonomous Robot for Laborsaving of the Forestry - Positioning of the
Robot using IMU, GPS, and Encoder Sho Yamana, and Eiji Hayashi (Kyushu Institute of Technology, JAPAN)

GS2-6

Development of Autonomous Robot for Laborsaving of the Forestry - Detection of youngplants by RGB and Depth Sensor Nobuo Miyakawa and Eiji Hayashi (Kyushu Institute of Technology, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 201711:15-12:00 GS8 Micro-Machine & Robotics II (3)Chair:
GS8-1

Development of arm trajectory planning of Seamless Robot
Teedanai Pramanpol, Eiji Hayashi (Kyushu Institute of Technology, Japan)

GS8-2

Localization Method of Autonomous Moving Robot for Forest Industry
Ayumu Tominaga, E. Hayashi(Kyushu Institute of Technology, Japan), T. Sasao (Meiji Univ.,
Japan)

GS8-3

Dynamic Modeling and Motion Control of an RRR Robotic Manipulator
Jinho Kim1, Kevin Chang1, Brian Schwarz1, Andrew S. Lee1, S. Andrew Gadsden1,2(1University of Maryland, USA), (2University of Guelph, Canada)

14:20-15:50 OS13: Intelligent Control (6)Chair: Yingmin Jia (Beihang University (BUAA), P.R.China)
Co-Chair: Fuzhong Wang (Henan Polytechnic University, P.R.China)
OS13-1Modeling and Simulation for a Quadrotor Vehicle with Adaptive Wing
Qunpo Liu ,Fuzhong Wang, Hongqi Wang, Jikai Si (Henan Polytechnic University, P.R.China)
Hanajima Naohiko (Muroran Institute of Technology, Japan)

OS13-2

Fuzzy self-tuning PID control algorithm for belt conveyor driven by multi-motor
Caixia Gao, Fuzhong Wang, Ziyi Fu (Henan Polytechnic University, P.R. China)

OS13-3

Continuous Non-singular Fast Terminal Sliding Mode Control for an Active Gravity Field
Simulator
Jiao Jia, Yingmin Jia and Shihao Sun( Beihang University (BUAA), P.R.China)

OS13-4Weighted Multiple Model Adaptive Control for a Category of Systems with Colored Noise
Yuzhen Zhang, Qing Li and Weicun Zhang(University of Science and Technology Beijing, P. R. China)

OS13-5

Neutral Networks-Based Adaptive Fixed-Time Consensus Tracking Control for Uncertain
Multiple AUVs
Lin Zhao1,*, Yingmin Jia2 and Jinpeng Yu1(1Qingdao University, P.R.China; 2 Beihang University (BUAA), P.R. China)

OS13-6

Conducted electromagnetic interference prediction of the Buck Converter via Neural Networks
Sumin Han, Fuzhong Wang (Henan Polytechnic University, P.R. China)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 201716:10-17:10 OS22 Robotic Technology for Competition (4)Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
Co-Chair: Keisuke Watanabe (Tokai University, Japan)
OS22-1Development of a Tomato Harvesting Robot
Bingh Li, Shinsuke Yasukawa, Takashi Sonoda, Kazuo Ishii(Kyushu Institute of Technology, Japan)

OS22-2Analysis of Relationship between Team Role and Individual's Role in Vollyball Team using
SOM
Yasunori Takemura (Nishi Nippon Institute of Technology, Japan)

OS22-3

Ball Dribbling Control for RoboCup Soccer Robot
Shota Chikushi, Kenji Kimura, Kazuo Ishii(Nippon-Bunri University, Kyushu Institute of Technology, Japan)

OS22-4

Strategy Analysis of RoboCup Soccer Teams Using Self-Organizing Map
Moeko Tominaga, Yasunori Takemura, Kazuo Ishii(Kyushu Institute of Technology, NishiNippon Institute of Technology, Japan)

Orchard Room (A3) 2nd F, S
9:00-11:00 OS4 Human-In-The-Loop (HITL) Systems (4)Chair: Toru Yamamoto (Hiroshima University, Japan)
OS4-1

Feature Extraction for Digging Operation of Excavator
Kazushige Koiwai*, Toru Yamamoto (Hiroshima University, Japan)
Takao Nanjo, Yoichiro Yamazaki, Yoshiaki Fujimoto (KOBELCO Construction Machinery CO.,LTD. , Japan)

OS4-2

Design of a Data-Oriented Kansei Feedback System
Takuya Kinoshita and Toru Yamamoto (Hiroshima University, Japan)

OS4-3

Parameter Estimation of Skill Evaluation Model
Kazuo Kawada, Toru Yamamoto (Hiroshima University, Japan)

OS4-4

Human Skill Quantification for Excavator Operation using Random Forest
Hiromu Imaji, Kazushige Koiwai*, Toru Yamamoto (Hiroshima University, Japan)
Koji Ueda, Yoichiro Yamazaki, Yoshiaki Fujimoto (KOBELCO Construction Machinery CO., LTD. ,Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS11 Robot Control and Localization (4)Chair: Jang-Myung Lee (Pusan National University, South Korea)
Co-Chair: Min-Cheol Lee (Pusan National University, South Korea)
OS11-1Marker Recognition System for Localization of the Rover on the Lunar Space
Na-Hyun Lee, Jang-Myung Lee (Pusan National University, South Korea)

OS11-2

Dynamic Model and Finite-Time SMC and Backstepping Control of a Mabile Manipulator
SystemSeongik Han, Hyunuk Ha, and Jangmyung Lee (Pusan National University, Korea)

OS11-3

Bilateral Control of Hydraulic Servo System for 1DOF Master Slave Manipulator
Jie Wang, Karam Dad and Min Cheol Lee (Pusan National University ,Korea)

OS11-4

Advanced impedance control of haptic joystick for effective mobile robot handling
Gyung-I Choi, Jang-Myung Lee (Pusan National University, South Korea)

11:15-12:00 GS1 Artificial Neural Network and Bio-Signal Controlled Robotics (3)Chair:
GS1-1

Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact
Impedance Model
Haruna Kokubo, Taro Shibanoki (Ibaraki University, Japan), Takaaki Chin (Hyogo Rehabilitation
Center, Japan), and Toshio Tsuji (Hiroshima University, Japan)

GS1-2

A Voice Signal-Based Manipulation Method for the Bio-Remote Environment Control System
Based on Candidate Word Discriminations
Taro Shibanoki (Ibaraki University, Japan), Go Nakamura, Takaki Chin (Hyogo Rehabilitation
Center, Japan), and Toshio Tsuji (Hiroshima University)

GS1-3

Experiments on classification of electroencephalography (EEG) signals in imagination of
direction using Stacked Autoencoder
Kenta Tomonaga, Takuya Hayakawa, Jun Kobayashi (Kyushu Institute of Technology, Japan)

14:20-15:20 OS8 Multiagent systems and Reality Mining (4)Chair: Masao Kubo (National Defense Academy, Japan)
Co-Chair: Saori Iwanaga (Japan Coast Guard Academy, Japan)
OS8-1

Influence of Partner Selection on Functional Differentiation:
Emergence of Diversity by Isolated Interaction and Preference Change
Saori Iwanaga (Japan Coast Guard Academy, Japan),
Akira Namatame (National Defense Academy, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS8-2

Beacon-based tourist information system to identify visiting trends of tourists
Akihiro Yamaguchi1, Masashi Hashimoto1, Kiyohiro Urata1, Yu Tanigawa1, Tetsuya Nagaie1,
Toshitaka Maki1, Toshihiko Wakahara1, Akihisa Kodate2, Toru Kobayashi3 and Noboru Sonehara4(1 Fukuoka Institute of Technology, Japan) (2 Tsuda College, Japan) (3 Nagasaki University,
Japan) (4 National Institute of Informatics, Japan)

OS8-3

Analysis of Survey on Employment Trends
Masao Kubo (National Defense Academy, Japan), Hiroshi Sato (National Defense Academy,
Japan), Akihiro Yamaguchi (Fukuoka Institute of Technology, Japan), Yuji Aruka (Chuo
University, Japan)

OS8-4

Direction switch behavior to enclose a target
Masao Kubo, Nhuhai Phung, Hiroshi Sato (National Defense Academy, Japan),

16:10-17:10 GS4 Biological Systems (4)Chair:
GS4-1

Force and Motion Analysis of larval zebrafish (Danio rerio) using a body dynamics model
Naohisa Mukaidani1, Zu Soh1, Shinichi Higashijima2, Toshio Tsuji1 (1Hiroshima University,
Japan, 2National Institutes of Natural Sciences, Okazaki Institute for Integrative Bioscience,
National Institute for Physiological Sciences, Japan)

GS4-2

Behavior Analysis on Boolean and ODE models for Extension of Genetic Toggle Switch from
Bi-Stable to Tri-stable.
Masashi Kubota, Manabu Sugii, Hiroshi Matsuno ( Yamaguchi University, Japan)

GS4-3

Boolean modeling of mammalian cell cycle and cancer pathways
Hideaki Tanaka, Hiroshi Matsuno, Adrien Fauré(Yamaguchi University, Japan)

GS4-4

An Estimation Method for Environmental Friction Based on Body Dynamic Model of
Caenorhabditis elegans
Zu Soh (Hiroshima University, Japan), Michiyo Suzuki (National Institutes for Quantum andRadiological Science and Technology, Japan), Toshio Tsuji (Hiroshima University, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

January 22 (Sunday)
08:50-Registration
Fountain Room (A1) 2nd F
9:10-10:25 OS10 Biological Signal Sensing Technology, Device and Its Applications (5)Chair: Hiroki Tamura (University of Miyazaki, Japan)
Co-Chair: Koichi Tanno (University of Miyazaki, Japan)
OS10-1

Mouse Cursor-like Control System in Consideration of the DC-EOG Signals using EOG-sEMG
Human Interface
Mingmin Yan, Yu Cheng, Keiko Sakurai, Hiroki Tamura, Koichi Tanno(University of Miyazaki, Japan)

OS10-2

A Study on Eyes Tracking Method using Analysis of Electrooculogram Signals
Keiko Sakurai, Mingmin Yan, Hiroki Tamura, Koichi Tanno (University of Miyazaki, Japan)

OS10-3Development of Diagnosis Evaluation System of Facial Nerve Paralysis Using sEMG
Shogo Okazaki, Misaki Syoichizono, Hiroki Tamura, Takahiro Nakashima, Eiji Kato,
Tetsuya Tono (University of Miyazaki)

OS10-4High CMRR and Wideband Current Feedback Instrumentation Amplifier Using Current
Conveyors
Shota Mago, Hiroki Tamura, Koichi Tanno (University of Miyazaki, Japan)

OS10-5

Voltage Rectifier Circuit with Voltage Doubler Using New Active Diode
Masayuki Uchihara, Hiroki Tamura, Kochi Tanno (University of Miyazaki, Japan)

10:40-11:40 Plenary Speech PS2
Chair: Makoto Sakamoto (University of Miyazaki, Japan)
PS2 Realistic Visualization of Complex Systems such as Natural Phenomena based on Particle Behaver
Tomoyuki Nishita (Hiroshima Shudo University/UEI research)
13:00-13:50 Invited Session IS-5
Chair: Takao Ito (Hiroshima University, Japan)
IS-5 Towards Unified Human-Robotic Societies
Peter Sapaty (Academy of Sciences, Ukraine), Masanori Sugisaka (ALife Robotics, Japan)
Takao Ito (Hiroshima University, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 201714:10-15:10 OS18 Advanced Management and Technology (4)Chair: Kensuke Ogata (University of Nagasaki, Japan)
Co-Chair: Takao Ito (Hiroshima University, Japan)
OS18-1Development of English Text for the engineers to preserve the environment of North-East
Asia
Yuji Minami, Kenji Fukuchi, Shinya Tagawa (National Institute of Technology, Ube, Japan)

OS18-2

Measuring Fragility and its Implications in Networked Systems
Tsutomu Ito*, Katsuhiko Takahashi, Katsumi Morikawa, Takao Ito (Hiroshima University,
Japan), Rajiv Mehta (New Jersey Institute of Technology, USA), Seigo Matsuno (Ube National
College of Technology, Japan), Makoto Sakamoto (University of Miyazaki, Japan)

OS18-3

A Formation of Standard Setter to Transplant Global Standards into Domestic Institution
Kensuke Ogata (University of Nagasaki, Japan)

OS18-4

A Comparison Study on the Vertical Integration and Horizontal Specialization of Chinese
ICT Companies
Yunju Chen (Shiga University, Japan), Yousin Park (Prefectural University of Hiroshima, Japan)
Iori Nakaoka (National Institute of Technology, Ube College, Japan)

15:30-16:15 GS10 Reinforcement & Evolutionary Computations (3)Chair:
GS10-1The Optimized Function Selection Using Wolf Algorithm for Classification
Duangjai Jitkongchuen, Worapat Paireekreng (Dhurakij Pundit University, Thailand)

GS10-2

Tell Agent Where to Go: Human Coaching for Accelerating Reinforcement Learning
Nakarin Suppakun1, Suriya Natsupakpong2, and Thavida Maneewarn3(Mongkut's University of Technology Thonburi, Thailand)

GS10-3

Fall Risk Reduction for Elderly Using Mobile Robots Based on the Deep Reinforcement
Learning
Takaaki Namba (Nagoya University, Japan)

Orchard Room (A2) 2nd F, N
9:10-10:10 OS19 Kansei Engineering and Applications (4)Chair: Tetsuo Hattori (Kagawa University)
Co-Chair: Hiromich Kawano (NTT AT)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS19-1

Histogram Matching Based on Gaussian Distribution Using Regression Analysis Variance
Estimation
Yusuke Kawakami (DynaxT Co., Ltd., Japan), Tetsuo Hattori, Yoshiro Imai, Kazuaki Ando,
Yo Horikawa (Kagawa University, Japan)
R. P. C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)

OS19-2

Histogram Matching Based on Gaussian Distribution Using Variance Estimation -- Comparison
between Curvature Computation and Regression Analysis –Yusuke Kawakami (DynaxT Co., Ltd., Japan), Tetsuo Hattori, Yoshiro Imai, Kazuaki Ando,
Yo Horikawa (Kagawa University, Japan)
R. P. C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)

OS19-3

An Extended Optimal Stopping Method for Structural Change Point Detection Problem
Yoshihide Koyama, Tetsuo Hattori, Yoshiro Imai, Yo Horikawa, Hiromichi Kawano*,
Yusuke Kawakami** ( Kagawa University, Kagawa, Japan, *NTT advanced technology
Company Ltd, Japan, ** DynaxT Co., Ltd., Japan)

OS19-4

A Study of Sentimental Value Analysis for Tweeting Message
Shunsuke Doi*, Shinya Hara*, Yoshiro Imai*, Yusuke Kawakami** and Tetsuo Hattori*(* Kagawa University, Japan, **DynaxT Co., Ltd., Japan)

14:10-15:10 OS17 Natural Computing and Biology (4)Chair: Marion Oswald (The Vienna University of Technology, Austria)
Co-Chair: Yasuhiro Suzuki (Graduate School of Information Science, Nagoya University, Japan)
OS17-1

Molecular Artificial Intelligence by using DNA reactions
Yasuhiro Suzuki, Rie Taniguchi (Nagoya University, Japan)

OS17-2

Neural Networks by using Self-Reinforcement Reactions
Yasuhiro Suzuki (Nagoya University, Japan)

OS17-3

Artificial Chemistry by Sound Waves
Yasuhiro Suzuki (Nagoya University, Japan)

OS17-4

Variants of spiking neural P systems with energy control
Rudolf Freund, Marion Oswald (TU Wien, Vienna, Austria)

15:30-16:15 GS3 Automated Guided Vehicles II (3)Chair:
GS3-1

Motion Improvement of Four-Wheeled Omnidirectional Mobile Robots for Indoor Terrain
Amornphun Phunopas1 and, Shinichi Inoue2 (1King Mongkut’s University of Technology North
Bangkok, Thailand, 2Kyushu Institute of Technology, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS3-2

An Improved Algorithm for Obstacle Avoidance by Follow the gap method combined
Potential Field
Chakhrit La-orworrakhun, Suriya Natsupakpong (King Mongkut's University Technology
Thonburi, Thailand)

GS3-3

Study on the target positioning for an Omni-directional 3 DOF mobile manipulator basedon machine vision
Jiwu Wang, Yao Du, Wensheng Xu (Beijing Jiaotong University, China)
Masanori Sugisaka (ALife Robotics Corporation Ltd., Japan and Open University,
United Kingdom)

Orchard Room (A3) 2nd F, S
9:10-10:25 OS1 Informational Narratology and Automated Content Generation (5)Chair: Takashi Ogata (Iwate Prefectural University, Japan)
Co-Chair: Yoji Kawamura (Kindai University, Japan)
OS1-1

Informational Narratology and Automated Content Generation
Takashi Ogata (Iwate Prefectural University, Japan), Yoji Kawamura (Kindai University, Japan)
Akihito Kanai (Hosei University, Japan)

OS1-2

Analyzing Multiple Narrative Structures of Kabuki based on the Frameworks of Narrative
Generation Systems
Takashi Ogata (Iwate Prefectural University, Japan)

OS1-3

Rhetoric of Commercial Film and the Response of Viewers
Yoji Kawamura (Kindai University, Japan)

OS1-4

Comparison Between Variational Autoencoder and Encodder-Decoder Models for Short
Conversation
Shin Asakawa (Tokyo Women's Christian University, Japan)
Takashi Ogata (Iwate Prefectural University, Japan)

OS1-5

Changing and Transforming a Story for a Framework of an Automatic Narrative
Generation Game
Jumpei Ono and Takashi Ogata (Iwate Prefectural University, Japan)

14:10-15:10 OS12 Machine Learning and Its Applications (4)Chair: Kunikazu Kobayashi (Aichi Prefectural University, Japan)
Co-Chair: Shingo Mabu (Yamaguchi University, Japan)
OS12-1

A Rule-Based Classification System Enhanced by Multi-Objective Genetic Algorithm
Kenzoh Azakami, Shingo Mabu, Masanao Obayashi, Takashi Kuremoto(Yamaguchi University, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS12-2

A Method of Feature Extraction for EEG Signals Recognition using by ROC curve
Takashi Kuremoto, Yuki Baba, Masanao Obayashi, Shingo Mabu
(Yamaguchi University, Japan)
Kunikazu Kobayashi (Aichi Prefectural University, Japan)

OS12-3

Forecasting Real Time Series Data using Deep Belief Net and Reinforcement Learning
Takaomi Hirata, Takashi Kuremoto, Masanao Obayashi, Shingo Mabu
(Yamaguchi University, Japan), Kunikazu Kobayashi (Aichi Prefectural University, Japan)

OS12-4

Improvement of Robot's Self-localization by Using Observer View Positional Information
Yo Aizawa, Takuo Suzuki, and Kunikazu Kobayashi (Aichi Prefectural University, Japan)

15:30-16:45 OS21 Computer Science and Information Processing (5)Chair: Makoto Sakamoto (University of Miyazaki, Japan)
Co-Chair: Yu-an Zhang (Qinghai University, China)
OS21-1

Consideration on the Recognizability of Three-Dimensional Patterns
Chongyang Sun1, Makoto Sakamoto2, Makoto Nagatomo3, Yu-an Zhang2, Shinnosuke Yano1,
Satoshi Ikeda2, Takao Ito4, Tsutomu Ito4, Yasuo Uchida5, Tsunehiro Yoshinaga6, (1, 2, 3 Universityof Miyazaki, Japan), (4 Hiroshima University, Japan), (5 Ube National College of Technology,
Japan), (6 Tokuyama college of Technology, Japan)

OS21-2

Some Properties of Four-Dimensional Homogeneous Systolic Pyramid Automata
Makoto Nagatomo1, Makoto Sakamoto2, Yu-an Zhang2, Chongyang Sun3, Shinnosuke Yano3,
Satoshi Ikeda2, Takao Ito4, Tsutomu Ito4, Yasuo Uchida5, Tsunehiro Yoshinaga6 (1, 2, 3 University ofMiyazaki, Japan) (4 Hiroshima University, Japan) (5Ube National College of Technology, Japan)(6 Tokuyama college of Technology, Japan)

OS21-3

Reduction of the search space to find perfect play of 6×6 board Othello
Yuki Takeshita1, Makoto Sakamoto1, Takao Ito2, Tsutomu Ito2, Satoshi Ikeda3(1University of Miyazaki, 2Hiroshima University, Japan)

OS21-4

A comparative study on the delisting ratings of firms from the UN Global Compact in theinternational management environment
Kanako Negishi (National Institute of Technology, Ube college, Japan)

OS21-5

Application of ViSC to the Natural Grazing in Qinghai Tibet Plateau
Cheng-shui Niu1, Bing-fen Li1, Yu-an Zhang1, Makoto Sakamoto2 (1Qinghai University, P.R. China,
2
University of Miyazaki, Japan)
Farewell Party©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS11 Others (12)GS11-1

Clinical Evaluation of UR-System-PARKO for Recovery of Motor Function of Severe Plegic Hand
after Stroke
Hirofumi Tanabe (Shonan University of Medical Sciences, Japan)
Yoshifumi Morita (Nagoya Institute of Technology, Japan)

GS11-2

A Piston Finger Device for Restoring the Motor Function of Chronic Plegic Fingers: Analysis of
the Piston Finger TechniqueMengsu Wang (Nagoya Institute of Technology: Nitech, Japan)
Hirofumi Tanabe (Shonan University of Medical Sciences, Japan)
Kenji Ooka (Nitech, Japan), Yoshifumi Morita (Nitech, Japan)

GS11-3

Verifying the Sleep-Inducing Effect of a Mother's Rocking Motion in Adults
Hiroaki Shibagaki, Keishi Ashida, Yoshifumi Morita (Nagoya Institute of Technology, Japan),
Ryojun Ikeura (Mie University, Japan) and Kiyoko Yokoyama (Nagoya City University, Japan)

GS11-4

Design of Automated Real-Time BCI Application Using EEG Signals
Chong Yeh Sai, Norrima Mokhtar, Hamzah Arof, Masahiro Iwahashi(University of Malaya, Malaysia / Nagaoka University of Technology, Japan)

GS11-5

A Hybrid Simulated Kalman Filter - Gravitational Search Algorithm (SKF-GSA)
Badaruddin Muhammad, Zuwairie Ibrahim, Mohd Falfazli Mat Jusof (Universiti Malaysia
Pahang, Malaysia), Nor Hidayati Abdul Aziz, Nor Azlina Ab. Aziz (Multimedia University,
Malaysia), Norrima Mokhtar (University of Malaya, Malaysia)

GS11-6

Simulated Kalman Filter with Randomized Q and R Parameters
Nor Hidayati Abdul Aziz, Nor Azlina Ab. Aziz (Multimedia University, Malaysia)
Zuwairie Ibrahim, Saifudin Razali, Mohd Falfazli Mat Jusof (Universiti Malaysia Pahang,
Malaysia), Khairul Hamimah Abas, Mohd Saberi Mohamad (Universiti Teknologi Malaysia,
Malaysia), Norrima Mokhtar (University of Malaya, Malaysia)

GS11-7

Real Detection of 3D Human Hand Orientation Based Morphology
Abadal-Salam T. Hussain, Hazry D., Waleed A. Oraibi, M.S Jawad, Zuradzman M. Razlan,
A. Wesam Al-Mufti, S. Faiz Ahmed, Taha A. Taha, Khairunizam WAN, Shahriman A.B(Universiti Malaysia Perlis, Malaysia)

GS11-8Multilevel Non-Inverting Inverter Based Smart Green Charger System
Abadal-Salam T. Hussain, Waleed A. Oraibi, Hazry D, Zuradzman M. Razlan, S. Faiz Ahmed,
Taha A. Taha, Khairunizam WAN & Shahriman AB (Universiti Malaysia Perlis, Malaysia)

GS11-9Design A New Model of Unmanned Aerial Vehicle Quadrotor Using The Variation in The Lengthof The Arm
Yasameen Kamil, D. Hazry, Khairunizam Wan, Zuradzman M. Razlan, Shahriman AB(Universiti Malaysia Perlis, Malaysia)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS11-10Development of Automatic Take Off and Smooth Landing Control System for Quadrotor UAV
Syed. F. Ahmed (Universiti Kuala Lumpur, British Malaysian Institute, Malaysia, Universiti
Malaysia Perlis, Malaysia), D. Hazry (Universiti Malaysia Perlis, Malaysia), Kushsairy Kadir(University Kuala Lumpur, British Malaysian Institute, Malaysia), Abadal Salam T. Hussain,
Zuradzman M. Razlan, Shahriman AB (Universiti Malaysia Perlis, Malaysia)

GS11-11

Auto Pilot Ship Heading Angle Control Using Adaptive Control Algorithm
Abadal-Salam T. Hussain, Hazry D., S. Faiz Ahmed, Wail A. A. Alward, Zuradzman M. Razlan& Taha A. Taha (Universiti Malaysia Perlis, Malaysia)

GS11-12Classification of Hippocampal Region using Extreme Learning Machine
Muhammad Hafiz Md Zaini, Mohd Ibrahim Shapiai (Universiti Teknologi Malaysia)
Ahmad Rithauddin Mohamed (Hospital Kuala Lumpur)
Norrima Mokhtar (University of Malaya), Zuwairie Ibrahim (Universiti Malaysia Pahang)©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

PS abstracts
PS1 A New Tool to Access Deep-Sea Floor “Sampling-AUV”
Kazuo Ishii, Takashi Sonoda, Yuya Nishida, Shinsuke Yasukawa and Tamaki Ura (Kyushu Institute ofTechnology, Japan)
Underwater robot is one of the important research tools to explore deep-sea.
Especially, Autonomous Underwater Vehicles (AUVs) attract attentions as
new tools because they are un-tethered and suitable for wide area
observation. As the next generation AUV, we have been developing a
Sampling-AUV that can dive into deep-sea and bring back marine creaturesusing a mounted manipulator. In the mission, the AUV transmits the deepsea floor images to the support ship using acoustic communication, and theoperator selects the marine creatures to sample and bring back them. In thistalk, we introduce the new AUV, the underwater manipulator and image
processing techniques for sampling.

PS2 Realistic Visualization of Complex Systems such as Natural Phenomena based on Particle
Behaver
Tomoyuki Nishita (Hiroshima Shudo University/UEI research)
Computer graphics (CG) is very useful tool for visualization of scientificsimulation, computer aided design, arts, education, and games.
Researches on complex systems and AI (acritical intelligence) including
artificial life also become popular recently. Complex systems is a field of
science studying how parts of a system give rise to the collective behaviorsof the system, and how the system interacts with its environment. Examples
are Earth's global climate, organisms, social organization, a living cell, andultimately the entire universe. In complex systems, neural network, cellar
automation, fractal, chaos dynamics, and GA are useful techniques. These
are also used in CG. The purpose of CG is reality with interactive speed. In
recent years, point primitives have received growing attention in CG. The
particle system refers to CG technique to simulate certain fuzzy phenomena.
My talk also includes pioneers of CG, my research history, and CG
application related to AI.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

IS abstracts
IS-1 The future of Robotics Technology.

Luigi Pagliarini1,2, Henrik Hautop Lund1( Technical University of Denmark, Denmark, 2Academy of Fine Arts of Macerata, Italy)
1

In the last decade the robotics industry has created millions of additionaljobs led by consumer electronics and the electric vehicle industry, andby 2020, robotics will be a $100 billion worth industry, as big as thetourism industry.. For example, the rehabilitation robot market has
grown 10 times between 2010 and 2016, thanks to advancements inrehab/therapy robots, active prostheses, exoskeletons, and wearable
robotics. In short, the very next decade robotics will become vital
components in a number of applications and robots paired with AI will
be able to perform complex actions that are capable of learning fromhumans, driving the intelligent automation phenomenon. Therefore, inthis paper we try to depict the direction and the fields of application ofsuch important sector of future markets, and scientific research.

IS-2 Playware ABC: Engineering Play for Everybody
Henrik Hautop Lund (Technical University of Denmark, Denmark)This paper describes the Playware ABC concept, and how it allows
anybody, anywhere, anytime to be building bodies and brains, whichfacilitates users to construct, combine and create. The Playware ABC
concept focuses engineering and IT system development on creating
solutions that are usable by all kinds of users and contexts. The result
becomes solutions, often based on modular technologies that are highly
flexible and adaptable to different contexts, users, and applications.

IS-3 A combination of Machine Learning and Cerebellar models for the Motor Control andLearning of a Modular Robot
Ismael Baira Ojeda, Silvia Tolu, Moisés Pachecho, David Johan Christensen, Henrik Hautop Lund
(Technical University of Denmark, Denmark)We scaled up a bio-inspired control architecture for the motor control andmotor learning of a real modular robot. In our approach, the Locally
Weighted Projection Regression algorithm (LWPR) and a cerebellar
microcircuit coexist, forming a Unit Learning Machine. The LWPR
optimizes the input space and learns the internal model of a single robot
module to command the robot to follow a desired trajectory with its endeffector. The cerebellar microcircuit refines the LWPR output deliveringcorrective commands. We contrasted distinct cerebellar circuits including
analytical models and spiking models implemented on the SpiNNaker
platform, showing promising performance and robustness results.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

IS-4 Playware as a Disruptive Technology for Global Development
Henrik Hautop Lund (Technical University of Denmark, Denmark)This paper describes the Playware ABC concept, and how it allows
anybody, anywhere, anytime to be building bodies and brains, whichfacilitates users to construct, combine and create. The Playware ABC
concept focuses engineering and IT system development on creating
solutions that are usable by all kinds of users and contexts in our globalizedsociety. The result becomes solutions that are highly flexible and adaptable
to different contexts, users, and applications. The paper gives examples of
how playware becomes a disruptive technology for global development, forinstance in the health sector.

IS-5 Towards Unified Human-Robotic Societies
Peter Sapaty (Academy of Sciences, Ukraine), Masanori Sugisaka (ALife Robotics, Japan)
Takao Ito (Hiroshima University, Japan)
Large numbers of robotic facilities are accumulated worldwide, but existing
robots still remain specialized devices rather than intelligent collaboratorsfor humans. To efficiently integrate massive robotics into human societies,
more general and universal approaches are needed. The presentation will
reveal higher-level, semantic, model supported by Spatial Grasp Language(SGL) in which top operations and decisions in distributed spaces are
expressed in extremely compact form, with traditional system management
shifted to automatic SGL interpretation. Communicating SGL interpreters
associated with humans and robots allow us to organize goal driven teams
up to entire societies operating under unified control. Presentation will
exhibit numerous scenarios in SGL from most critical applications.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS abstracts
OS1 Informational Narratology and Automated Content Generation (5)OS1-1 Informational Narratology and Automated Content Generation
Takashi Ogata (Iwate Prefectural University, Japan) Yoji Kawamura (Kindai University, Japan)
Akihito Kanai (Hosei University, Japan)
Authors have been proposing a new concept called “informational narratology”
or “information narratology”. In this concept, we integrate narratologicalstudies including various literary theories into information technologies, suchas AI and cognitive science to mainly design and develop systems that
automatically generate, create or produce digital narrative contents including avariety of existing or future genres. Under this idea’s framework, the threeauthors respectively design and develop narrative generation systems (Ogata),
advertising image processing systems (Kawamura), and narrative film
processing systems (Kanai). In this paper, we propose the concept or idea of
informational narratology and introduce the above three researches as concert
approaches to the informational narratology.

OS1-2 Analyzing Multiple Narrative Structures of Kabuki based on the Frameworks ofNarrative Generation Systems
Takashi Ogata (Iwate Prefectural University, Japan)
Although kabuki is a genre of, so to speak, traditional performing arts, it has
many characteristics, as a contemporary genre including various elements suchas narrative, drama, dance, music, and so on, that can contribute to the designand development of digital narrative generation studies. Previously, we have
surveyed and analyzed kabuki’s narrative structures, the generation or
production and reception or consumption process from the viewpoint of themultiple narrative structures model. In the multiple narrative structures modelof kabuki, we mean that the entire structure of kabuki is constructed throughmultiple usages of relating information. For example, the element of a “person”
in kabuki is divided into a “character” in a narrative work, the existence of anactor with a historical flow and a name as the actor, and a real human with atrue name. And this multiplicity, for instance, give a kind of multiple and deep
characteristic to a person. Based on this previous studies, in this presentation,
we show a method that bridges this kabuki analysis to system design throughour two narrative generation systems: “Integrated Narrative Generation System(INGS)” and “Geino Information System (GIS)”.

OS1-3 Rhetoric of Commercial Film and the Response of Viewers
Yoji Kawamura (Kindai University, Japan)
In this paper, firstly the way of thinking of commercial film techniques andrhetoric is shown. Next, based on the various investigations, the relationships
between rhetoric of commercial film and the response of viewers are
summarized. Then, by using the summarized relationship as a rule, theexpression know-how of commercial film is extracted, and how to makeinformation system is considered. By introducing a framework called "overall
rhetorical type" as a combination of commercial film techniques and using thefact that there is a correlation between the overall rhetorical type and theviewer's response (favorable factor, acceptance image), it is possible to build an
information system to promote the interest and purchase willingness of theviewers.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS1-4 Comparison Between Variational Autoencoder and Encodder-Decoder Models for Short
Conversation
Shin Asakawa (Tokyo Women's Christian University, Japan)
Takashi Ogata (Iwate Prefectural University, Japan)
Conversational modeling is an important task in language understanding andgeneration. Recent models in this area have improved their performances basedon recurrent neural network model (RNN). RNN models can generate sentenses
and conversation. It is not always restricted to any specified handcrafted rules.
The variational autoencoder and encoder-decoder models might be considered
as a promissing model among them. They were able to extract knowledge fromthe training dataset. Samples from the prior over these sentence representations
produced diverse and well-formed sentences through simple deterministic
decoding. We tried to compare them with several different data set and to reveal
underlying mechanism between them. By examining paths through latent space,
we are able to generate coherent novel sentences that interpolate between
known sentences. Our preliminary results suggest that optimizing the wrong
objective function might play a role producing some kinds of convsersation.

.

OS1-5 Changing and Transforming a Story for a Framework of an Automatic Narrative
Generation Game
Jumpei Ono and Takashi Ogata (Iwate Prefectural University, Japan)
Authors has proposed an idea of a game system including an automatic story
generation function based on tabletop-top role playing game (TRPG). In thisidea, stories are generated or transformed through the communication between
a “game manager (GM)” who controls story generation and “Players (PLs)”
who change and transform the content of a story proposed by a GM. This paper
focuses on the mechanism for changing and transforming a proposed story by a
GM. In particular, this mechanism has various techniques from macro leveltechniques related to the entire structures of a story to micro level techniques
related to the partial structures of a story. For instance, when a GM is a realhuman, these techniques in PLs who are computer agents can produce changed
and transformed stories which the GM has not imagined originally.

Outside of a story
Inside of a story
Game
Master

OS2 Intelligence Control Systems and Applications I (6)OS2-1 Develop Low Cost IoT Module with Multi-Agent Method
Jr-Hung Guo, Kuo-Hsien Hsia, Kuo-Lan Su(National Yunlin University of Science and Technology, Taiwan)
IOT (Internet of Thing) is a very hot topic recently, many of the important issues
in the field of research. But to the conventional apparatus or systems andnetwork connections, sometimes we need complex modifications or expensive
costs. Therefore, this paper using the MCS-51 series single-chip integration of
analog, digital signal input, and ETHERNET, WIFI and other communicationinterface, to develop general-purpose IoT modules. This module can be used toreplace existing equipment or devices, or combination use with the original
device. We also use the module in a Multi-Agent Method, we can ensure thatthe module in signal capture or communication failure can be replaced or
assisted by other modules.

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Character

PlayerCharacter

Player

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS2-2 Based on Short Motion Paths and Artificial Intelligence Method for Chinese Chess Game
Chien-Ming Hung, Jr-Hung Guo, Kuo-Lan Su(National Yunlin University of Science and Technology, Taiwan)
The article develops the decision rules to win each set of the Chinese chessgame using evaluation algorithm and artificial intelligence method, and uses themobile robot to be instead of the chess, and presents the movement scenarios
using the shortest motion paths for mobile robots. User can play the Chinesechess game according to the game rules with the supervised computer. The
supervised computer decides the optimal motion path to win the set using
artificial intelligence method, and controls mobile robots according to theprogrammed motion paths of the chesses moving on the platform via wirelessRF interface. We use enhanced A* searching algorithm to solve the shortest path
problem of the assigned chess, and solve the collision problems of the motion
paths for two mobile robots moving on the platform simultaneously. We
implement a famous set to be called “wild horses run in farm” using the
proposed method. First we use simulation method to display the motion pathsof the assigned chesses for the player and the supervised computer. Then the
supervised computer implements the simulation results on the chessboard
platform using mobile robots. Mobile robots move on the chessboard platform
according to the programmed motion paths and is guided to move on the centre
line of the corridor, and avoid the obstacles (chesses), and detect the cross pointof the platform using three reflective IR modules.

OS2-3 Design and Implementation of the SCARA Robot Arm
Jian-Fu Weng, Bo-Yi Li, Kuo-Lan Su (National Yunlin University of Science and Technology, Taiwan)
The article designs a four-joint robot arm using PLC-based control system. The
control system is all in one device to be produced by the DELTA Company, andcontain four axis controllers and drivers. The robot arm contains four AC
servomotors, four driver devices and a vision system. The PLC-based controller
also programs motion commands of the gripper to finish the assigned tasks
using Ladder Diagram (LG), Function Block Diagram (FBD), Sequential
Function Chart (SFC), Instruction List (LL) and Structure Test (ST). Eachdriver has been tuned the parameters of the PID controller for the robot arm.
The human machine interface (HMI) is a touch panel to be used for the robot
arm. Users can control the motion path of any joint on the user interface. In theexperimental results, users can program English or Chinese words or plot
assigned graphs on the human machine interface. The SCARA robot arm
catches the pencil, and put down to touch the assigned position repeat on theplatform, and identifies the precious of the robot arm, and catches various
objects to put down the assigned positions.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS2-4 Transmission Power Control for Wireless Sensor Network

Kuo-Hsien Hsia1, Chung-Wen Hung2, Hsuan T. Chang, and Yuan-Hao Lai2
(1Far East University, Taiwan) (2National Yunlin University of Science and Technology, Taiwan)

Wireless sensor networks can be widely applied for a security system or a smart
home system. Since some of the wireless remote sensor nodes may be poweredby energy storage devices such as batteries, it is a very important issue totransmit signals at lower power with the consideration of the communication
effectiveness. In this paper, we will provide a fuzzy controller with two inputs
and one output for received signal strength indicator (RSSI) and link quality
indicator (LQI) to adjust transmission power suitably in order to maintaining acertain communication level with a reduced energy consumption. And we will
divide the sampling period of a sensor node into four intervals so that the sensor
node radio device does not in receiving or transmission status all the time.
Hence the sensor node can adjust transmission power automatically and reduce
sensor node power consumption. Experimental results show that the battery life
can be extended to about 10 times for the designed sensor node comparing to anormal node.

OS2-5 Mechanism of Autonomous Mowing Robot for Long Grass
Kuo-Hsien Hsia1, Yao-Shing Huang2, Kuo-Lan Su2 and Jr-Hung Guo2
(1Far East University, Taiwan)
2( National Yunlin University of Science and Technology, Taiwan)
A land full of grass can be easily seen all over the world. For example, a golfcourse, a large playground, garden and waste plowed farmland and wild
wasteland, all of above are full of grass. Almost all mowing work are operated
by manpower, especially the long grass section. There have been someautonomous mowing robots for short grass up to now. However, there is almost
no commodity for long grass mowing in the market. The main possible
consideration may be the issue of safety. It is highly possible that a sharp mower
blade may cause harm under the condition that the mower is not operated
directly by a skilled person. In this paper, we will focus on the mechanism
design for an autonomous mowing robot that can cut long grass safely. We will
also outline the safety requirements for an autonomous mowing robot for longgrass.

OS2-6 Design of Optimal Position Controller for Three-Phase Brushless DC Motor Applying
Adaptive Sliding Mode Control
Tai-Huan Tsai, Mei-Yung Chen(National Taiwan Normal University, Taiwan)
In this paper, we design an adaptive sliding mode controller which is applied on
optimal position tracking of three-phase brushless DC motor. Consider theuncertainties and external disturbances of a three-phase brushless DC motor,
we choose the sliding mode control (SMC) to be major one. Usually we can’t
figure out the motor’s uncertainty, so we propose an adaptive control to tune themotor’s uncertainty, that would be able to handle the unknown uncertainties anddisturbances. Then we proof the stability of system by Lyapunov function, andthe simulation results show excellent performance of this controller.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS3 Intelligence Control Systems and Applications II (6)OS3-1 Image Compression Using Hybrid Evolution Based Takagi-Sugeno Fuzzy Neural
Network
1(

1,2

Chia-Nan Ko and 2Ching-I Lee
Nan Kai University of Technology)

This article proposes a model of hybrid evolution-based Takagi-Sugeno fuzzy
neural networks (TSFNNs). The model is to research and analyze how to
improve the efficiency of image compression. In the proposed model, the hybrid
evolution method integrates the advantages of improved quantum-behaved
particle swarm optimization, adaptive annealing learning, and mutation
operation to train Takagi-Sugeno fuzzy neural networks. The proposed hybrid
evolution-based quantum-behaved particle swarm optimization Takagi-Sugeno
fuzzy neural networks (HEQPSO-TSFNNs) can improve the coding result
around boundaries to enhance the coding efficiency of the lossless compressionof images.

11

z1 x1 x3

1
12

13

2

w1

A1 x B1uw2

A2 x B2 u

y

21

z2

9

x2 x3

w9

A9 x B9 u

22

23

OS3-2 MQPSO Algorithm Based Fuzzy PID Control for a Pendubot System
1

Li-Chun Lai, 2Yu-Yi Fu, and 3Chia-Nan Ko(1 National Pingtung University, Taiwan)
2,3( Nan Kai University of Technology, Taiwan)

In this study, a modified quantum-behaved particle swarm optimization(MQPSO) approach is proposed to design an optimal fuzzy PID controller forasymptotical stabilization of a pendubot system. In the fuzzy PID controller,
parameters are determined by using MQPSO algorithm. The MQPSO method
and other PSO methods are then applied to design an optimal fuzzy PID
controller in a pendubot system. Comparing the simulation results, thefeasibility of the MQPSO are verified.

y

l2

l1
q1
1

OS3-3 A Sensorless Ultra-High Speed Motor Driver
Chung-Wen Hung, Yan-Ting Yu, Bo-Kai Huang and Wei-Lung Mao(National Yunlin University of Science and Technology, Taiwan)
An ultra-high speed motor is important in machine tools. A speed sensor-lessultra-high speed motor driver is proposed in this paper. Due to cost, only few
drivers build up a closed-loop control, which could improve driver’s
performance. Therefore, a sensor-less speed estimation for ultra-high speed
motors is developed. The design and implementation of the driver and feedback
circuits are detailed in this paper. And experimental results show that the
proposed system is workable.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS3-4 Android-Based Patrol Robot Featuring Automatic Vehicle Patrolling and Automatic Plate
Recognition
Chian C. Ho, Shih-Jui Yang, Jian-Yuan Chen, Chang-Yun Chiang, and Hsin-Fu Chen(National Yunlin University of Science and Technology, Taiwan)
This work develops an Android-based patrol robot featuring Automatic Vehicle
Patrolling (AVP) and Automatic Plate Recognition (APR). The AVP feature
integrates 3 novel methods, wheel-wheelcover-based AdaBoost wheel
detection, contour-wheel-oriented vehicle approaching, and Ad-Hoc-based
remote motion control. The APR feature integrates 4 novel methods, Wienerdeconvolution vertical edge enhancement, AdaBoost plus vertical-edge plate
detection, vertical-edge horizontal-projection histogram-segmentation stain
removal, and customized optical character recognition. Implementation results
show the vehicle detection rate and plate recognition rate of the Android-based
patrol robot are over 96% and over 94%, respectively, under various scene
conditions. On the other hand, the average execution time of AVP and APR of
the Android-based patrol robot takes at most 8 second per round and at most 0.8
second per frame, respectively.

OS3-5 Adaptive CMAC Filter for Chaotic Time Series Prediction
Wei-Lung Mao, Suprapto, and Chung-Wen Hung
(National Yunlin University of Science and Technology, Taiwan)
Chaotic signal is a natural phenomenon exhibiting in every condition of
dynamical system. Chaotic signals are almost unpredictable, noise-like,
uncertain and irregular behavior, yet they are very useful in numerous
applications of signal processing. Due to their behaviors, the quest of a good
method to model and analyze of the chaotic signal is very crucial. This paper
present a novel strategy to analyze chaotic signal using the cerebellar model
articulation controller (CMAC) network combined with evolutionary
algorithms (EAs) such as biogeography-based optimization (BBO), genetic
algorithm (GA) and particle swarm optimization (PSO). Mackey-glass chaotic
signal time series is tested and demonstrated by the conventional and the
proposed algorithms. They are compared with each other to determine theoptimal filtering and prediction. The result demonstrated that the CMAC
combined with EAs could filter, predict and estimate chaotic signal time series
well rather than the conventional methods. The best result of the algorithms
tested for chaotic signal time series is the CMAC combined with BBO
algorithm.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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xi

1

xi 2
y(i )

xi d

x(i 1)

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS3-6 Surface Defect Detection for Anodized Aluminum Tube Based on Automatic Optical
Inspection
Hsien-Huang P. Wu and Hsuan-Min Sun (National Yunlin University of Science and Technology, Taiwan)
This paper proposed using the automated optical inspection (AOI) technology todevelop a system which can automatically detect and classify defects for theshock absorber tube (SAT) made with steel. It is a high economic product which
requires high-quality even under mass production. Nevertheless, the current
manual quality-inspection is not only error-prone but also very manpower
demanding. Due to the strong reflective property of the surface, as well as its
various sizes and subtle flaws, it is very difficult to take good quality image for
automatic inspection. However, based on the surface properties and shape of the
SAT, lighting and proper structure combined with line scan camera have been
designed to acquire image with good quality. Methods were proposed to detectvarious kinds of defects, and experimental results show that all the defects can bedetected in real time. We believe the proposed system can greatly increase theefficiency and accuracy of defect detection and decrease the cost of manual labor.

OS4 Human-In-The-Loop (HITL) Systems (4)OS4-1 Feature Extraction for Digging Operation of Excavator
Kazushige Koiwai, Toru Yamamoto (Hiroshima University, Japan), Takao Nanjo, Yoichiro Yamazaki,
Yoshiaki Fujimoto (KOBELCO Construction Machinery CO., LTD. , Japan)
Japanese Ministry of Land, Infrastructure, Transport and Tourism pushes apolicy of “i-construction”. The technologies of Information andCommunication Technology (ICT), Internet of Things (IoT), Big Data, and AI
are applied to some construction equipments based on the policy. As the result,manpower-saving are achieved. However, the manpower is still required
continuously in the construction field because skilled operators are needed forcomplicated conditions. Those skilled operators who have the unique techniqueare reduced in these days. In this study, the skill difference of digging operations
between the skilled operator and the novice operator are evaluated based on theview of the control engineering. The database driven human skill based PID
controller is applied to the skill evaluation for the digging operation. In
considering a human to be a controller, the skill can be evaluated numerically.
Moreover, it would be possible to apply the skill improvement for the operation.

OS4-2 Design of a Data-Oriented Kansei Feedback System
Takuya Kinoshita, Toru Yamamoto (Hiroshima University, Japan)
In the development of the aging society, it is important for patients withhemiplegia to introduce the adaptive welfare equipment. However, it is difficult
to support them by using general welfare equipment because there are a lot of
individual disabilities. Therefore, an adaptive welfare equipment is needed innear future. However, it is very difficult to determine the suitable reference
signal for each person. In this study, the design of a data-oriented cascade
control system based on Kansei is proposed. In the proposed control system,
there are two controllers which are a data-driven controller and a fixed
controller. In particular, a data-driven controller is for a human and it cancalculate the suitable reference signal of a welfare equipment based on Kansei.
The effectiveness of the proposed scheme is verified by simulation results.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS4-3 Parameter Estimation of Skill Evaluation Model
Kazuo Kawada, Toru Yamamoto (Hiroshima University, Japan)n this study, the aim is to construct "teacher-student model" for optimal skill
acquisition. To support the optimal skill acquisition, modeling and estimationof individual learning process are very important. The first-order system withdead time (system gain K, time constant T, and dead time L) is introduced as
individual learning process model based the control engineering approach.
These system parameters included in the learning process model are estimatedby using a real-coded genetic algorithm (GA). In order to evaluate theeffectiveness of the proposed scheme, it is employed for the classification taskof fastener components.

OS4-4 Human Skill Quantification for Excavator Operation using Random Forest
Hiromu Imaji, Kazushige Koiwai, Toru Yamamoto (Hiroshima University, Japan)
Koji Ueda, Yoichiro Yamazaki, Yoshiaki Fujimoto (KOBELCO Construction Machinery CO., LTD. , Japan)
In the construction field, the improvement of the work efficiency is one ofimportant problems. However, the work efficiency using construction
equipments is depend on their operation skills. Thus, in order to increase thework efficiency, operation skill is required to be quantitatively evaluated. In
this study, the Random Forest (RF), one of machine learning method, isadopted as the quantitatively evaluation for the operation skill of construction
equipment. Evaluated target is the operation on excavation to load onto a truck
for a hydraulic excavator. The RF learns to classify some states by the pilot ofexpert’s operation. States are defined as ‘excavate’, ‘lift’, ‘dump’, ‘return’ and‘rest’. The RF with the learning result of expert is applied to other operator’soperation. It is revealed that the rate of ‘rest’ is related to their skill.

OS5 Human Interface and Content Security (5)OS5-1 A Method for Secure Communication Using a Discrete Wavelet Transform for Audio
Data and Improvement of Speaker Authentication
Kouhei Nishimura, Yasunari Yoshitomi, Taro Asada, Masayoshi Tabuse (Kyoto Prefectural University, Japan)
We developed a secure communication method using a discrete wavelet
transform. Two users must both have a copy of the same piece of music to beable to communicate with each other. The music and the sender's message are
encoded using the scaling coefficients obtained from a discrete wavelet
transformation. The message receiver can produce the audio data similar tothe sending user's speech using an inverse discrete wavelet transform, together
with information on the difference between these two codes. For improving
the speaker authentication accuracy, the quantization level for the scalingcoefficients is increased. Furthermore, the amount of data sent to the message
receiver is remarkably reduced exploiting the characteristic of those data.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS5-2 A Recipe Decision Support System Using Knowledge Information and Agent
Keita Saito, Taro Asada, Yasunari Yoshitomi, Ryota Kato, Masayoshi Tabuse(Kyoto Prefectural University, Japan)
We have developed a system for recipe recommendation using collaborative
filtering and impression words. As a human interface, we have adopted anagent named as MMDAgent. In the proposed system, the firstrecommendation process using collaborative filtering is terminated when nousers in the reference list have the same preference of recommended recipe asthat of a new user. Then, the second recommendation process finds the mostsimilar recipe, by exploiting the scores for impression words, to thosesuccessfully recommended among recipes not recommended up to themoment. The recommendation accuracy of the proposed system was muchbetter than that of random recommendation. As a final step, one recipe isselected from all successfully recommended recipes for the user by using the
reputation for them in a database and interaction between the user and theagent.

OS5-3 A System for Analyzing Facial Expression and Verbal Response of a Person While
Answering Interview Questions on Video
Taro Asada, Yasunari Yoshitomi, and Masayoshi Tabuse(Kyoto Prefectural University, Japan)
We have developed a system for analyzing facial expressions of a person
while answering interview questions on video. A video captured an answererat an interview is analyzed using image processing software (OpenCV) andthe previously proposed feature parameter (facial expression intensity), whichis measured for an eye-part area in addition to the mouth-part area focused inour reported research. Moreover, the time to utterance of the answerer justafter an interview question is measured for analyzing the mental state of theanswerer. In our previously reported system for analyzing facial expression ofa person during conversation with another person, facial expression intensity
could be affected by (1) a conversation topic, (2) a partner and (3)the facial
expression of the partner. In this study, all of (1), (2) and (3) are fixed by using
an interview video. The experimental result shows the usefulness of the
proposed system.

OS5-4 Real-Time System for Horizontal Asymmetry Analysis on Facial Expression and Its
Visualization
Ryoichi Shimada, Taro Asada, Yasunari Yoshitomi, and Masayoshi Tabuse(Kyoto Prefectural University, Japan)
We have been developing a real-time system for horizontal asymmetry
analysis on facial expression and its visualization. The image signal input
from web camera is analyzed by our real-time system using image processing
software (OpenCV) and the feature parameter (facial expression intensity),
which is separately measured for the left and right half regions in the mouthpart area. Our real-time system draws the graph expressing the facial
expression intensity change using OpenCV. The experimental result suggests
the usability of this system for a test where a real-time reaction of the facial
expressions is one of important factors.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS5-5 Development of Mouse System for Physically Disabled Person by Face Movement Using
KinectJunpei Miyachi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)
It is necessary to support of computer operation for a physically disabled
person. One of the possible physical movements of the physically disabled
person is facial movement. Recognition of facial movement of a person makes
it possible to operate a computer. Furthermore without the adjustment for auser and adjustment for the distance from a user, it is possible to reduce theburden on a user. We developed a system to resolve these problems. In oursystem, Kinect is used to obtain the face direction and extract feature pointsof the face. Changing the face direction, we can move a mouse cursor.
Recognizing an open mouth or closed eye, we can carry out an operation ofmouse click. In this paper, we evaluated the effect on operability due to theface direction and recognition rate due to distance.

OS6 Software Development Support Method (6)OS6-1 Development of a Tool for Extended Place/transition Net-Based Mutation Testing
Tomohiko Takagi1, Shogo Morimoto1, Tetsuro Katayama2(1Kagawa University, 2University of Miyazaki, Japan)

This paper shows a tool for EPNBMT (Extended Place/transition Net-Based
Mutation Testing) to evaluate and improve the quality of test cases forconcurrent software. The tool consists of the following four functions: (1) an
original EPN can be created to define the expected behavior of concurrent
software under test, (2) mutant EPNs including intended failures can becreated by applying mutation operators to the original EPN, (3) arbitrary test
cases to be evaluated can be converted to execution paths on the original EPN,
and (4) each mutant EPN can be executed by the converted test cases in orderto calculate a mutation score. If the mutation score is not good, the test cases
are improved based on mutant EPNs whose failures have not been detected.

OS6-2 Improvement of Decision Table Automatic Generation Tool VDTable for let in Statement
Yinuo Huang*, Tetsuro Katayama* Yoshihiro Kita†, Hisaaki Yamaba*, Naonobu Okazaki*(*University of Miyazaki, Japan, †Tokyo University of Technology, Japan)
Formal methods, in software development, is one of the means to describe thespecification strictly. On the other hand, the decision table is one of the testing
techniques to exhaustively represent the logical combination included insoftware. The VDTable can automatically generate the decision table, fromthe specification written in specification description language VDM++(VDM++ specification). But, the VDTable, since many VDM++ syntax is notcorresponded, its usefulness is limited. To improve the usefulness, this paper
expands VDTable. Specifically, VDTable is improved to be able to correspondto the statement “let in”, which is one of the VDM++ syntax, that the existing
VDTable does not support.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS6-3 Prototype of Test Cases Automatic Generation Tool BWDM Based on Boundary Value
Analysis with VDM++
Hiroki Tachiyama*, Tetsuro Katayama* Yoshihiro Kita†, Hisaaki Yamaba*, Naonobu Okazaki*(*University of Miyazaki, Japan,†Tokyo University of Technology, Japan)

As a method to eliminate the ambiguity and to write strictly specification,
VDM++ (one of the Formal Methods) is proposed. However, it takes the timeand effort of testers to design test cases and to carry out software testing, from
specification written in VDM++.Therefore, to optimize testing process, wedeveloped BWDM; the tool of automatic generation of test cases from
VDM++ specification. BWDM analyzes boundary value of if-expressions
and argument types in definition of functions. And, it generates test caseautomatically from a result of the analysis. This tool aims to optimize software
testing process by both of automatically generation and designing test cases
based on a boundary value analysis, which can detect statements that bugs
seem to be included in.

OS6-4 Prototype of Refactoring Support Tool MCC Focusing on the Naming of Variables
Satoshi Tanoue*, Tetsuro Katayama* Yoshihiro Kita†, Hisaaki Yamaba*, Naonobu Okazaki*(*University of Miyazaki, Japan,†Tokyo University of Technology, Japan)

This research has implemented a prototype of refactoring support tool
MCC(Make Clean Coder) which focuses on the naming of variables. This
prototype helps to describe a clean code by static analysis for the source code
written in C language. And, it can help to reduce factors that prevent
programmers understanding the source code when they modify it by pointing
out improper variable names. We applied some source codes written in C
language to the prototype, and confirmed that it works properly. By using thisprototype, because it can reduce reduction of time to understand the source
code, programmers can shorten the coding time, lower the possibility ofembedded bugs, and decrease in the time required to add functions.

OS6-5 Improvement of Transitions and Flow Visualization TFVIS for Exception Handling.
Takuya Sato*, Tetsuro Katayama*, Yoshihiro Kita†, Hisaaki Yamaba*, Naonobu Okazaki**University of Miyazaki, Japan,†Tokyo University of Technology, Japan
In software development, it takes much time in debugging process. To findbugs in a program effectively, it’s important to understand the dynamic
behavior of the program. But it’s difficult since the dynamic behavior of the
program is generally invisible. So we developed TFVIS(transitions and flow
visualization), which can visualize the dynamic behavior of Java programs. It
provides visualization of data transitions in each method and flow of thewhole program. But it’s not useful because it visualizes only some control
structures and expressions. We aim at the improvement of the usefulness bycorresponding an unsupported structure. This paper focuses on Exceptionhandling, which is one of the feature of Java program, and especiallycorresponds to Try-Catch syntax.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS6-6 Automatically Business Decision Making System for Software Developmentby using
CMMI
Hnin Thandar Tun†, Tetsuro Katayama*, Kunihito Yamamori*, Khine Khine Oo†(*University of Miyazaki, Japan, †University of Computer Studies, Myanmar)
In the current software development, business decision making system isimportant process to support the suggestive business goals automatically in a
specified area or project. In this paper, we proposed the CMMI model that isused to define the business goals for monitoring and control measurements
applied by GQM approach. This paper suggests the key processes of CMMI
which is necessarily for support on business effective process improvement,
needs design implementation, and needs techniques and tools for achieving
the future targets of goals systematically. For this illustration purpose, weneed to define the business data which will be defined goals by senior level
management to come out business goals aligned with resources functionality.

OS7 Advances in Marine Robotics and Applications (6)OS7-1 Development of a Hydraulic Underwater Manipulator for Deep-Sea Survey AUV
Kazuo Ishii, Amir Ali Forough Nassiraei, Ivan Godler, Takashi Sonoda, Tharindu Weerakoon(Kyushu Institute of Technology, Japan)
We are developing a group of AUVs whose mission is to capture underwater
creatures or acquire in-situ biological samples in the deep sea. The AUV underdeveloping has a hydraulic manipulator to capture the target creature, andsends underwater images that provide biologists (operators) with information
to determine which creatures should be targeted and captured during theoperation. In this paper, the concept and design of hydraulic actuatorfor 5-axis manipulator, and the mechanics of manipulator is
proposed, and the experimental results of manipulator control at 10
and 20 M Pa pressure are shown.

OS7-2 Experiments of floatable UAV drone for wave dissipating block inspection(I)
Watanabe, Kazuho Mitsumura, Koshi Utsunomiya, Shiyun Takasaki (Tokai University, Japan)
Determination of underwater coordinates is important in such activities likeunderwater vehicle operation, installation of underwater structure and so on.
The determination methods are using LBL, SSBL or an inertia navigation
sensor, which are all very expensive. In his paper, a floating LBL concept ispresented. The LBL system consists of at least three floating buoys each ofwhich has a GPS, a pair of ultrasound transmitter and receiver, wirelesscommunication device and a microcomputer board which controls the total
procedure. We will introduce and explain about each module of the buoysystem, ultrasound transmitter/receiver measuring distance experimental
results as the first step of this research©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS7-3 Experiments of floatable UAV drone for wave dissipating block inspection(II)Keisuke Watanabe, Kazuho Mitsumura, Koshi Utsunomiya, Shiyun Takasaki (Tokai University, Japan)
UAV drones are an effective low cost photographing apparatus for ocean
environment monitoring. Taking images is essential for these environment
monitoring such as coastal line monitoring where beach erosion is severe,
inspection of offshore structures like wind power stations or coral reef
observation etc. In this presentation, we present our modification experienceof making a drone watertight and floatable. Then we present several
experiments on taking pictures considering ocean monitoring in the sea near
our campus. The waterproof experiment is done from our school’s pier. In thisexperiment, we repeated to start flying the drone from the sea surface and fallit down into the water several times. We can see the shoreline very clearly
from more than 200m high as a macro image and also we can inspect theblocks looking around its stacks as well as approaching near the sea surface
where waves break and wave splash washes the drone.

OS7-4 Development of self-diagnostic system of an autonomous underwater vehicle
Tuna-Sand 2
Naoya Fujii, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)
For autonomous underwater vehicle (AUV), high autonomy is required inorder to accomplish mission such as inspection, observation, manipulation
under extreme environments, deep-ocean. One of necessary function for
AUV is the self-diagnosis system to detect the abnormality can be said to be
an important feature . In this paper, we propose a self-diagnostic system using
the dynamical model of Sampling-AUV “TUNA-SAND2”, where the fault
device detection is carried out using the model, and evaluated through tanktests.

OS7-5 Development of Underwater Wireless Power Supply System Using resonant energy
transfer
Kazuo Ishii, Hidaka Shota, 1Keisuke Watanabe(Kyushu Institute of Technology, 1Tokai University, Japan)

Autonomous Underwater Vehicles (AUV) is one of the key technologies fordeep ocean research. However, AUV cannot work for long time due to thelimitation of battery capacity. To solve this problem, a noncontact wirelesspower supply is required for AUV to conduct observations for long period. In
this study, we developed a resonant energy transfer system, which is mounted
into a small AUV “DaryaBird” and the simulations and evaluation tests arecarried out in the test tank.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS7-6 Development of End-effector for Sampling-AUV “TUNA-SAND2”

Kazuo Ishii, Takashi Sonoda Atsushi Nishjima, 1Keisuke Watanabe(Kyushu Institute of Technology, 1Tokai University, Japan)

AUV requires high autonomy to accomplish various deep-ocean observation
missions, and the next AUV is expected to have sampling function of marine
benthos, that is, the end-effector to catch and bring back marine creatures.
However, sampling is not easy task for AUV as the shape, size, motion oftargets differs. One of the effective end-effectors is the slurp-gun type device
to absorb the target with water. In this research, we had developed a sampling
device for deep-ocean observation and sampling AUV, Sampling-AUV
TUNA-SAND2 in order to inspection of marine ecosystem.

OS8 Multiagent systems and Reality Mining (4)OS8-1 Influence of Partner Selection on Functional Differentiation: Emergence of Diversity by
Isolated Interaction and Preference Change
Saori Iwanaga (Japan Coast Guard Academy, Japan), Akira Namatame (National Defense Academy, Japan)
Functional differentiation is important in nature. For example, in an ant
colony, there are ants which work and does not work. I focused on how theheterogeneity emerged. I modeled that each agent can self- reinforce own
preference in homogeneous population. There, the behavior reinforce theproperty and the property reinforce the behavior of an agent. Then, I foundthat interaction with steady agents enforce the properties. But, interaction withsteady partners doesn't lead optimal collective behavior. We found that thepartner change is good method for optimal collective behavior for both eachagent and population.

OS8-2 Beacon-based tourist information system to identify visiting trends of tourists

Akihiro Yamaguchi1, Masashi Hashimoto1, Kiyohiro Urata1, Yu Tanigawa1, Tetsuya Nagaie1, Toshitaka Maki1,
Toshihiko Wakahara1, Akihisa Kodate2, Toru Kobayashi3, Noboru Sonehara4(1
Fukuoka Institute of Technology, Japan) (2 Tsuda College, Japan) (3 Nagasaki University, Japan)(4 National Institute of Informatics, Japan)
In this study, we propose a system that provides tourist information andobtains trends of visiting tourists using beacons and cloud service. As part ofour research, we are working on the promotion of local area tourism incooperation with a local community. A low energy Bluetooth device is used
as a beacon to transmit a universally unique identifier. In addition, beacons
are placed at sightseeing spots and tourist facilities. Our proposed systemcomprises two application programs; one is a client-side application programthat provides area-specific tourist information corresponding to the detected
beacon. The other is a server-side application to record time and location
information of the detected beacons. In this paper, we describe the scheme ofour system, and present the results of experiments conducted using theprototype system in the local tourist area. In addition, we discuss an open
platform for information collection services using beacons.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS8-3 Analysis of Survey on Employment Trends
Masao Kubo (National Defense Academy, Japan), Hiroshi Sato (National Defense Academy, Japan), Akihiro
Yamaguchi (Fukuoka Institute of Technology, Japan), Yuji Aruka (Chuo University, Japan)
Employment is a major important issue of economics and it has been difficult
for the public to collect authentic information about employment because thisis a sort of information should be kept secret on the both side, employer andemployee. Therefore we try to reveal a trend of recent employment of Japan
from Survey on Employment Trends of Japan which is a report publishedfrom Health, Labor and Welfare Ministry. This questionnaire data is mainly
categorized by industrial sectors so we need extra works to know the relations
and correlations over sectors. In this paper, we show results of traditional
machine learning methods to this issue.

OS8-4 Direction switch behavior to enclose a target
Masao Kubo, Nhuhai Phung, Hiroshi Sato (National Defense Academy, Japan),This paper discusses a target enclosing behavior when a part of the orbit isblocked. Usually, an orbit to enclose a target supposes to be clear. However,this situation often takes place in realistic environment. For this issue we
propose an online adaptive method to enclose a target. The group of robots
communicate their direction until they resolve their difficulties.

OS9 Theory and Implementation of Neuromorphic Systems (5)OS9-1 Implementation of Multi-FPGA Communication using Pulse-Coupled Phase Oscillators
Dinda Pramanta, Takashi Morie, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
This paper proposes an implementation of multi-Field Programmable Gate
Array (FPGA) communication using pulse-coupled phase oscillators. First,
serial communication between two boards of FPGAs architecture aredeveloped. First Input First Outputs (FIFOs) are used as an interface of data
buffer. Second, we construct a network over two FPGAs for evaluation asshown in Fig. 1. By using a multi-FPGA as a hardware processor through the
Gigabit Transceiver (GTX) clock domain, pulse-coupled phase oscillators of
Winfree's model are utilized as a spike generator and we expect the ideal ofmodel circuit will synchronize. We employ two Virtex6-Ml605 FPGA boards
to construct a mult-FPGA and implement four oscillators on a hardware level.
Experimental results show that each board (two oscillators) obtains therequired number of resources of 16 % IOB, 434.972 MHz maximum
frequency, and first spike synchronizing over two FPGAs takes 12.47 μsec
with data bit speed stream 3.2 Gbps.

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Fig.1 Communication overtwo FPGA boards using
pulse-coupled phaseoscillators

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS9-2 Multi-Valued Quantization Convolutional Neural Networks toward Hardware
Implementation
Yoshiya Aratani, Yoeng Jye Yeoh, Daisuke Shuto, Takashi Morie, Hakaru Tamukoh(Kyushu Institute of Technology, Japan)
This paper proposes a Multi-Valued Quantization (MVQ) of connecting
weight for efficient hardware implementation of Convolutional Neural
Network (CNN). The proposed method multiplies an input value by a multivalued quantization weight during the forward and backward propagations,while retaining precision of the stored weights for the update process. In theboth propagation processes, multipliers can be replaced with adders andshifters by setting appropriate quantized weights. We train two- to six-valued
quantization CNNs with MNIST and CIFAR-10 dataset to compare theperformance of them with a 32-bit floating point CNN. In the four-valued
quantization, random noise is added to the quantized weight to improve theperformance of generalization ability. In addition, the robustness of MVQ
CNN to noise is evaluated. Experimental results show that the MVQ CNNs
achieve better learning accuracy than the floating point CNN and the fourvalued CNN is highly robust to the noise.

Fig.1 Comparison among
floating point,
BinaryConnect, MVQ-4 and 6.

OS9-3 An Improved Parameter Value Optimization Technique for the ReflectionlessTransmission-Line Model of the Cochlea
Takemori Orima, Yoshihiko Horio (Tohoku University, Japan)
The reflectionless transmission-line model of the cochlea can reproduce
physiological cochlear properties by adjusting its parameter values. We have
employed an optimization technique to obtain good parameter values that givea desired cochlear property. However, we found that, in some case, it isdifficult to find the sub-optimal parameter values because of complex
dependencies between parameters. In this paper, we explicitly formulate thecochlear properties in the reflectionless transmission-line model to understandthe dependencies. Furthermore, based on the results, we propose an improved
optimization technique for determining the parameter values.

OS9-4 A parameter optimization method for Digital Spiking Silicon Neuron model
Takuya Nanami, Takashi Kohno (The University of Tokyo, Japan)
DSSN model is a qualitative neuronal model designed for efficient
implementation in a digital arithmetic circuit. In our previous studies, we
extended this model to support a wide variety of neuronal classes. Parametersof the DSSN model were hand-fitted to reproduce neuronal activity precisely.
In this work, we studied automatic parameter fitting procedure for the DSSN
model. We optimized parameters of the model by a GPU-based
implementation of the differential evolution algorithm in order to reproduce
waveforms of the ionic-conductance models and reduce necessary circuit
resources for the implementation.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS9-5 A Multistage Heuristic Tuning Algorithm for an Analog Silicon Neuron Circuit
Ethan Green and Takashi Kohno (The University of Tokyo, Japan)
Analog silicon neurons, electronic circuits that mimic theelectrophysiological characteristics of neuronal cells, may in the future beused as fundamental building blocks of neuromorphic technologies likebrain-mimetic computers. This research looks at an ultra-low power
subthreshold-operated silicon neuron circuit designed with qualitative
neuronal modeling. One technical challenge to future implementation ofsuch circuits is parameter tuning—a problem stemming from temperaturesensitivity of subthreshold-operated MOSFETs and the uniqueness of
individual circuits in a neuronal network due to transistor variation. This
research proposes a fully automated parameter tuning algorithm thatcombines two heuristic approaches to search for appropriate circuit
parameters over a range of temperatures. The algorithm only requires theuser to input the benchmark circuit characteristics and can tune the circuit
to behave as a Class I or Class II neuron.

OS10 Biological Signal Sensing Technology, Device and Its Applications (5)OS10-1 Mouse Cursor-like Control System in Consideration of the DC-EOG Signals
using EOG-sEMG Human Interface
Mingmin Yan, Yu Cheng, Keiko Sakurai, Hiroki Tamura, Koichi Tanno(University of Miyazaki, Japan)
Patients who suffered with the limb disorders cannot take care of themselves
by communication barrier. However, it is possible to improve thecommunication abilities of the patients by using biological signal such as
ocular potential and muscle potential which is caused by moving eyes or
facial muscle. Therefore, we have developed the human interface using theelectrooculogram (EOG) and the facial surface electromyogram (sEMG)
signals which can control PC. However, this system could not control themouse cursor in accordance with the direction and magnitude of the
movement of eyes to control PC smoothly and intuitively. Thus, we proposeda new mouse cursor-like control system in consideration of the DC elementsof EOG signals using the EOG-sEMG human interface. Our proposed
method has both drift and blink countermeasures which had better
performance in mouse cursor control, and all subjects could control themouse cursor for both moving and clicking flexibility.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS10-2 A Study on Eyes Tracking Method using Analysis of Electrooculogram Signals
Keiko Sakurai, Mingmin Yan, Hiroki Tamura, Koichi Tanno (University of Miyazaki, Japan)
e estimation has been an active research in the past years and it is an
important technique for transmitting the intention for seriously physicallyhandicapped person who cannot move their body. In this paper, we proposed
eye tracking method using electrooculogram signals which is widely appliedin medical field. The proposed method has the merit to have low burden of
the patient, but there is the problem not to be so high in resolution. Therefore,
we carried out the experiments by electrooculogram method to make a study
the calculation method of the electrooculogram element with strong
correlation for the change of the eyeball movements. Specifically, we
examined by comparing next values; alternating current signals, direct
current (DC) signals, integral value of DC signals and DC difference values.
From these experimental results, we show the possibility of eyes tracking
method using the analysis of electrooculogram signals.

OS10-3 Development of Diagnosis Evaluation System of Facial Nerve Paralysis Using sEMG
Shogo Okazaki, Misaki Syoichizono Hiroki Tamura, Takahiro Nakashima, Eiji Kato, Tetsuya Tono
(University of Miyazaki)
In Japan, diagnostic of facial nerve paralysis is mainly used theelectroneuronography (ENoG) method. However, this method has thepossibility that there is variability of the diagnosis results by doctors.
Therefore, it is necessary the quantitative diagnostic methodology. Previous
our research showed the certain correlation between diagnosis results of
ENoG and surface-electromyogram (sEMG) data. In this paper, wedeveloped the diagnosis evaluation system of facial nerve paralysis usingsEMG by software. We compared with our developed software and manualby experimental person. From simulation results, our developed software
showed the correlation coefficient (R2) between ENoG is 0.68. In our future
works, we evaluate our system by the opinion of otolaryngologist.

OS10-4 High CMRR and Wideband Current Feedback Instrumentation Amplifier Using
Current Conveyors
Shota Mago, Hiroki Tamura, Koichi Tanno (University of Miyazaki, Japan)
This paper presents a high CMRR and wideband current feedback
Instrumentation Amplifier (IA). The proposed IA architecture consist of
Fully Balanced Differential Difference Amplifier (FBDDA) andDifferential Difference Amplifier (DDA) based on 2nd generation current
conveyor (CCII)
with a buffer. The proposed IA was evaluated by using
HSPICE simulation with 1P 3M 0.6-um CMOS process. From thesimulation results, the proposed IA exhibits average CMRR was 109.3 dB
higher than the conventional one. Furthermore, since the current feedback
based on CCII is adopted, the proposed IA can get higher closed-loop gain
over a larger bandwidth than corresponding voltage feedback.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS10-5 Voltage Rectifier Circuit with Voltage Doubler Using New Active Diode
Masayuki Uchihara, Hiroki Tamura, Kochi Tanno (University of Miyazaki, Japan)
In this paper, voltage rectifier circuit with voltage doubler using new Active
Diode (AD) is proposed for battery less biological signal measurement
system using smartphone. Firstly, we propose the new AD which consists of
AD core circuit and Bulk Regulation Transistor (BRT). The advantage of
proposed AD is insensitive to the threshold voltage of MOSFETs and very
useful for low power and low voltage operation. Next, the voltage rectifier
circuit with voltage doubler using the proposed ADs is presented. Thanks to
the good performance of the proposed AD, the designed rectifier could
operate as theory by only the sin waves from the earphone terminal ofsmartphone. The proposed circuits were fabricated actually using 1-P 2-M
0.6-um CMOS process. The detailed simulation and measurement results
are reported in this paper.

OS11: Robot Control and Localization (4)OS11-1 Marker Recognition System for Localization of the Rover on the Lunar Space
Na-Hyun Lee, Jang-Myung Lee (Pusan National University, South Korea)
This paper proposes a marker realization system for rover localization inlunar environment. CPU used in the space environment is not as sensitive
to changes of the surrounding environment differently from normal CPU,but it has a lower performance. So it is necessary to use an algorithm
reduced amount of computation. In order to reduce the amount ofcomputation, we propose a marker-based algorithm. It has a smaller quantityof computation than map-based localization algorithm commonly used in
the space environment. For constructing this algorithm, we performed amarker detection test, and then extracted the center point coordinate of themarker.

OS11-2 Dynamic Model and Finite-Time SMC and Backstepping Control of a MabileManipulator System
Seongik Han, Hyunuk Ha, and Jangmyung Lee (Pusan National University, Korea)
A mobile manipulator was designed by combining three-wheeled mobile
robot equipped with the DC motor and three-links manipulator equippedwith dynamixel motor. The kinematic relation and dynamic model werebuilt via nonholonomic constraint and Euler-Lagrange equation. For thedecoupled model of this system, adaptive finite-time controllers sliding
mode controller (SMC) and backstepping controller were designed
respectively to obtain fast tracking response. Simulation and experimental
results show the efficacy of the proposed control scheme.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS11-3 Bilateral Control of Hydraulic Servo System for 1DOF Master Slave Manipulator
Jie Wang, Karam Dad and Min Cheol Lee (Pusan National University ,Korea)
In this research reaction force estimation method based on Sliding mode
control with sliding perturbation observer (SMCSPO) of a bilateral control
in hydraulic servo system for one degree of freedom (DOF) master-slave
manipulators is proposed. 1DOF hydraulic servo system used in dismantling
nuclear power plant. The reaction force at the end effector of slaver isestimated by sliding perturbation observer (SPO) without using any sensor.
This research verifies through experiment that slaver can follow the
trajectory of the master device using the proposed bilateral control strategy
and reaction force estimation method.

OS11-4 Advanced impedance control of haptic joystick for effective mobile robot handling
Gyung-I Choi, Jang-Myung Lee (Pusan National University, South Korea)
This paper proposes optimized structure of 6 D.O.F. haptic joystick and teleoperated mobile robot system based on haptic interfaces. Kinematic analysisof specially designed 6 D.O.F. haptic joystick derives the coordinate of end
effect. The designed haptic joystick transfers operator’s moving command
to mobile platform with force controlled coordinate information. Attachedultra-sonic sensors detect nearby obstacles including walls and retransfer
the distance between mobile platform and obstacles to the haptic joystick.
Attained real-time displacement information controls DC motors between
links supporting the handle for effective user handling. Practical simulations
and real experiments verified proposed impedance control and its teleoperation system of intelligent haptic joystick.

OS12 Machine Learning and Its Applications (4)OS12-1 A Rule-Based Classification System Enhanced by Multi-Objective Genetic Algorithm
Kenzoh Azakami, Shingo Mabu, Masanao Obayashi, Takashi Kuremoto (Yamaguchi University, Japan)
Recent years, information is diversified, and the enormous amount of datais left unorganized. Data mining is a technique of extracting rules from big
data. In this paper, we aim to realize a classification system using a rule
extraction method named genetic network programming (GNP). However,there are some problems to be considered, that is, a large number of rules
are extracted, so it is difficult to judge important rules; and even in simple
classification problems, e.g., two-class problems, a variety of patterns
potentially exist in each class. To select important rules and make ruleclusters corresponding to the potential patterns, a rule clustering algorithm
using multi-objective genetic algorithm (MOGA) is proposed to enhance
our conventional classification system.

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Rule clustering

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS12-2 A Method of Feature Extraction for EEG Signals Recognition using by ROC curve
Takashi Kuremoto, Yuki Baba, Masanao Obayashi, Shingo Mabu (Yamaguchi University, Japan)
Kunikazu Kobayashi (Aichi Prefectural University, Japan)
The feature extraction for EEG signal Recognition plays an important role
for all kinds of classifiers. However, it is difficult to recognize the activities
and mental tasks in the brain using EEG signals because the difference
between individuals and the change of mental states. In this study, we
propose a method of extract EEG signals using by FFT and receiver
operating characteristic (ROC) curve. At first, the raw EEG data areprocessed by discrete Fourier transform (DFT). After that, data of
frequency-spectrum of different mental tasks were compared by the valueof area under the curve (AUC), and the data with higher AUC (near 1.0)
were chosen as feature vectors. Experiment results using benchmark data of
EEG signals showed the effectiveness of the proposed feature extraction
method in the cases of self-organizing map (SOM), support vector machine(SVM) , and multi-layer perceptron (MLP).

Table 1 Mental tasks in a benchmark database.
Mental Task
Baseline
Multiplication
Lettercomposing
Rotation
Counting

Contents
Relaxing as much as possible
Calculating multiplication mentally.
Considering the contents of theletterImagining rotation of a 3-D object
Imagining writing a number in order

OS12-3 Forecasting Real Time Series Data using Deep Belief Net and Reinforcement Learning
Takaomi Hirata, Takashi Kuremoto, Masanao Obayashi, Shingo Mabu (Yamaguchi University, Japan);
Kunikazu Kobayashi (Aichi Prefectural University, Japan)
Artificial neural networks (ANNs) typified by deep learning (DL) is one of
the artificial intelligence technology which is attracting the most attentionof researchers recently. However, the learning algorithm used in DL isusually with the famous error-back propagation (BP) method. BP is a very
powerful parameter optimization method, however, it also learns theunpredictable noises of the data. In this paper, we adopt a reinforcement
learning (RL) algorithm “Stochastic Gradient Ascent (SGA)” into a Deep
Belief Nets (DBN) with multiple restricted Boltzmann machines (RBM).
Prediction experiments used a benchmark of time series forecasting
competition and realistic data verified the effectiveness of the proposed DL
method.

Comparison of prediction meansquared errors between different
learning methods

OS12-4 Improvement of Robot's Self-localization by Using Observer View Positional
Information
Yo Aizawa, Takuo Suzuki, and Kunikazu Kobayashi (Aichi Prefectural University, Japan)
This study aimed to improve the precision of the robot’s self-position
estimation in the standard platform league of RoboCup, i.e. a robotic soccer
competition. For the precision improvement of the self-position estimation,
we suggest a new technique that uses a camera out of the field for assistance.
Robots in the field use the unscented particle filter that estimates theirposition from landmark. When a robot which is equipped with the filter
cannot recognize landmarks exactly, particles spread and the estimation
precision of the self-position decreases. Therefore, the overlooking camera
out of the field observes each robot's position. When particles spread, thecamera out of the field estimates the foot of a robot, and then the robot
sprinkles particles on the neighborhood again. In this way, even if a robot
cannot recognize landmarks exactly, assists of camera out of the field revise
the position of particles and improve the precision.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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Resampled position of particles

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS13: Intelligent Control (6)OS13-1 Modeling and Simulation for a Quadrotor Vehicle with Adaptive Wing
Qunpo Liu , Fuzhong Wang, Hongqi Wang, Jikai Si (Henan Polytechnic University, P.R.China)
Hanajima Naohiko (Muroran Institute of Technology, Japan)
This study intends to address the questions of low effective and high cost in
the process of artificial sorting and packing of fruit. In this paper, a kind of
automatic packaging and plastic foam net packing robot based on neuralnetwork plastic foam netting is presented. The round fruit can be filteredand classified by neural network controller based on fruit’s size, skinroughness and color which are based on machine vision. And the expansion
degree of plastic foam nets is adjusted adaptively according to fruit size.
The system was simulated by V-REP simulation software. The simulation
results showed that the system could complete the classification andpacking with plastic foam mesh of round fruit.

OS13-2 Fuzzy self-tuning PID control algorithm for belt conveyor driven by multi-motor
Caixia Gao, Fuzhong Wang, Ziyi Fu (Henan Polytechnic University, P.R. China)
Aiming at the problems of low efficiency when long distance and highinclination belt conveyor driven by multi-motor is in light or idle run as wellas electrical power unbalance. Control strategy for belt conveyor driven by
four-motor via fuzzy self-tuning PID control algorithm was proposed. The
Speed setting algorithm of belt conveyor and fuzzy self-tuning PID
algorithm for speed control and power balance control are introduced. The
application shows that, according to the coal flow changes of the belt
conveyor in real-time, the speed can be automatically adjusted through thisalgorithm, making the power of the four motors convergence ,whose speed
control error and the power control error both lower than 2.6%.

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OS13-3 Continuous Non-singular Fast Terminal Sliding Mode Control
for an Active Gravity Field Simulator
Jiao Jia, Yingmin Jia and Shihao Sun(Beihang University (BUAA), P.R.China)©ICAROB 2017 ALife Robotics Corp. Ltd.

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-3

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System Output Error with FTSM for q d=[0.2 (t),0,0]
Output Error of l2

Output Error of x

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e

In this study, a non-singular fast terminal sliding mode (FTSM) controller
is designed for an active gravity field simulator (AGFS). Some sufficientconditions are established to guarantee the stability by using the Lyapunov
theory. It is shown that the proposed controller can eliminate the chattering
effect without losing the robustness property. Simulation results show that
faster and high-precision tracking performance can be obtained comparedwith the conventional continuous sliding mode control method.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS13-4 Weighted Multiple Model Adaptive Control for a Category of Systems with Colored
Noise
Yuzhen Zhang, Qing Li and Weicun Zhang (University of Science and Technology Beijing, P. R. China)
The multiple model adaptive control (MMAC) of discrete-time stochastic
system with colored noise is considered in this paper. Model set consists ofa finite number of fixed and one adaptive identification models. After that,based on the output errors of the models, a simple weighting algorithm isadopted with convergence guaranteed. The proofs of global stability and theconvergence of the overall system are presented. Besides, the influence ofinitial value selection of adaptive model on system performance is
described. Finally, computer simulation results are shown to verify thetheoretical results.

OS13-5 Neutral Networks-Based Adaptive Fixed-Time Consensus Tracking Control for
Uncertain Multiple AUVs
Lin Zhao1, Yingmin Jia2 and Jinpeng Yu1(1Qingdao University, P.R.China; 2BeihangUniversity (BUAA), P.R. China)

This paper is concerned with the fixed-time consensus tracking problem for
multi-AUV (autonomous underwater vehicle) systems with uncertain
parameters and external disturbances. Firstly, a fixed-time terminal sliding
mode is proposed, which can avoid the singularity problem. Then, acontinuous distributed consensus tracking control law is designed based on
Neutral Networks approximation technique, which can guarantee theconsensus tracking errors converge to the desired regions in fixed time. A
simulation example is given to show the effectiveness of proposed methods.

OS13-6 Conducted electromagnetic interference prediction of the Buck Converter via Neural
Networks
Sumin Han, Fuzhong Wang (Henan Polytechnic University, P.R. China)
This paper proposes an approach to predict conducted electromagnetic
interference (EMI) on the power supply side in the buck converter. The
experimental scheme is designed to collect the input and output target
samples, whose correlativity is analyzed to verify their correlation degree.
The paper establishes a three-layer network including one hidden layer,
whose activation function is of the hyperbolic tangent type to ensure therapidity of convergence. The conducted EMI predicting model is establishedby sample training, the differential mode(DM) and common mode (CM)interference prediction waveforms is obtained and analyzed . The results
demonstrate that the forecasted and measured waveform is in decent
consistency of time domain and power spectrum.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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vds
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AThe 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS14 Advanced Control (5)OS14-1 Targeting Chaos System via Minimum Principle Control
Yunzhong Song, Ziyi Fu, Fuzhong Wang (Henan Polytechnic University, P, .R.China,)
Chaos targeting via Minimum Principle Control (MPC) was suggested here,
where like the already existing results, the targeting via MPC can stabilize
all the non-stable equilibrium when the extra added control was introducedin the first or the second equation of the chaos system, however, unlike thealready existing results, when the extra added control was introduced in thethird equation of the chaos system, the non-stable equilibrium can not bestabilized at all with the already existing methods, to be unique, the MPC
can still be effective when the added extra control was introduced in thethird equation, albeit with the cost of switching control direction for aduration.

OS14-2 Three-dimensional Leader-Follower Formation Flocking of Multi-Agent
SystemYongnan Jia, Weicun Zhang (University of Sciences and Technology, Beijing, China)
This paper aims to investigate the three-dimensional formation flocking
problem of multi-agent system with leader-follower structure. We consider
each agent as an extended unicycle. Based on the nearest neighborinteraction rules, a kind of distributed control algorithm is proposed withthe combination of consensus algorithm and attractive/repulsive functions.
The proposed algorithm enables all unmanned aerial vehicles
asymptotically converge to fly with the same velocity and approach the
expected formation with their neighbors, provided that the initial interaction
network of the system is leader-follower connected. Numerical simulations
are carried on the multi-agent system with large-scale to validate thefunctionality of the proposed algorithm.

OS14-3 Leader-follower Formation Control of Mobile Robots with Sliding Mode
Wenhao Zheng and Yingmin Jia (Beihang University, P.R.China)
This paper considers the formation control of nonholonomic mobile robots.
The formation problem is converted to the tracking error model based on
the leader-follower structure. A sliding mode controller, which is proved tobe globally finite time stable by Lyapunov stability theory, is presented inthis study. In addition, a continuous reaching law is designed to reduce thechattering which caused by the computation time delays and limitations ofcontrol. The results of simulation and experiment verifies the feasibility andeffectiveness of the control strategy.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS14-4 H Containment Control for Nonlinear Multi-agent Systems with Parameter
Uncertainties and Communication Delays

Ping Wang1, Yingmin Jia2 (1 North China Electric Power University, 2Beihang University, P.R.China)
This paper considers robust containment control problem for uncertain
multi-agent systems with inherent nonlinear dynamics. A distributed
protocol is proposed using local delayed state information, and then theoriginal problem is converted into an H control problem by defining anappropriate controlled output function. Based on robust H control theory,
sufficient conditions in terms of linear matrix inequalities (LMIs) are
derived to ensure the prescribed H containment. A numerical example isprovided to demonstrate the effectiveness of our theoretical results.

OS14-5 Stochastic Resonance in an Array of Dynamical Saturating Nonlinearity with SecondOrder
Yumei Ma, Lin Zhao, Zhenkuan Pan and Jinpeng Yu (Qingdao University P.R.China)
We study the Stochastic Resonance (SR) in parallel array of dynamical
saturating nonlinearities with second-order via the measure of output signalto-noise ratio (SNR). Firstly, the numerical results demonstrate that theoutput SNR can be enhanced by parallel array of dynamical saturating
nonlinearities with second-order by tuning the internal noise and the selfcoupling coefficient. Then, the SR effects of the dynamical nonlinearity
with second-order are superior to the dynamical nonlinearity with firstorder.

OS15 Recognition and Control (8)OS15-1 Integral Design of Intelligent Home Equipment

Yuxing Ouyang 1, Fengzhi Dai 1*, Yiqiao Qin 1, Ce Bian 1, Bo Liu 2, Hongwei Jiao 3(1 Tianjin University of Science & Technology, 2 Inner Mongolia University,
3
Tianjin Technology School of Printing and Decoration, China)

The set of equipment is designed to all household equipment network
monitoring and control. Using WIFI module for wireless networking
purpose is to upload information of all connected smart home devices tothe server through the network, and it can be remotely controlled by theexternal network and monitoring of household equipment information.
For simple household equipment, the control is directly taken to the builtin MCU’s WIFI module, and for the complex household equipment, it isthrough the external MCU and WIFI module for communication control.
Take the Airkiss distribution mode to connect the WIFI master module tothe network, and the other WIFI module devices to adopt the ad hoc
network mode for wireless networking.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS15-2 Research on Underwater Robot Recognition

Binhu Song1, Fengzhi Dai1*, Qijia Kang1, Haifang Man1, Hongtao Zhang1, Long Li2, Hongwei Jiao3 (1 Tianjin
University of Science and Technology, 2 Tianjin Electric Locomotive Co., Ltd, 3 Tianjin Technology School ofPrinting & Decoration, China)
Due to the characteristics of the underwater robot, the computer vision
technology for pedestrian detection and object detection is not adapt better toa variety of underwater robots. The recognition algorithm must be more robustand extensive that can adapt to the changing environment. Support vector
machine (SVM) method is a kind of good classification algorithm that is usedin many aspects. Its kernel function analysis is very advanced. After the
optimization, the kernel function can be adapted to a large number ofunderwater robot images that are difficult to be recognized by other methods.

OS15-3 Design of Intellectual Vehicles with Path Memorizing Function

Yiqiao Qin 1, Fengzhi Dai 1*, Yuxing Ouyang 1, Baochang Wei 1, Simini Chen 2, Hongwei Jiao 3 (1 Tianjin
University of Science & Technology, 2 Palace Museum, 3 Tianjin Technology School of Printing &Decoration, China)
In this paper, after analyzed the deficiencies of current intelligent
transportation vehicles, the design of a new transport vehicle system that has
the function of path memorization (a new algorithm to recognize the positionand path of the vehicle) is proposed. It neither relies on external positioning
methods such as GPS, wifi, etc, nor on the electromagnetic or photoelectricrails. This algorithm sets the starting point as the coordinate origin torecognize the position and the path, and compares its current position with theideal path, enabling the vehicle to travel on an established path. On the basisof this algorithm, we design a kind of intelligent transportation system by
NXP ARM-M4 K60 Singlechip. This system is not affected by the groundcondition, so there is no need for any ground signs. Still, it can transport goods
in factories scattered with water and iron scrap, and on open-air dirt roads orrainy outdoor environments.

OS15-4 Action Recognition based on Binocular Vision

Yiwei Ru 1,2,*, Hongyue Du 1, Shuxiao Li 2, Hongxing Chang 2 (1 Harbin University of Science & Technology,
2Chinese Academy of Sciences, China)
Aimed at the problem that the recognition accuracy of the monocularcamera is low, a binocular vision recognition algorithm based on CNN(convolutional neural network) is proposed. Firstly, the left and rightviews obtained by the binocular camera are matched to obtain the depth
map of the human body under the camera coordinate system (O-XYZ).
Then the depth information is projected onto the three planes of O-XY, OYZ and O-ZX respectively in the camera coordinate system to overcome
the problem that the human body motion detection is prone to error in theabsence of the overhead view and the side view of the monocular camera.
In order to reflect the motion of the timing information, the projection
images of three directions were used to construct MHI (motion history
image), and then the three MHIs were constructed as the three channels of
the image to construct a new image. Using CNN to train the classifier.
Experimental results show that the binocular recognition algorithm is 12%
more accurate than the monocular recognition algorithm, which meets therequirements of practical application .

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS15-5 Analysis and Control of a Novel 4D Chaotic System
Hong Niu (Tianjin University of Science and Technology, China)
In this paper, a novel four-dimensional(4D) autonomous chaotic system
is presented. For chaos control of the 4D system, a linear feedback
controller only with one variable is designed via matching the variable
coefficients of the Lyapunov function, so that the system is no longer
chaotic or periodic but globally asymptotically converges to theequilibrium point at the origin. The numerical simulation results are
given to illustrate the feasibility and effectiveness of the method.

OS15-6 Analysis of a three-dimensional chaotic system and its FPGA implementation
Hefei Li, Xianghui Hu(Tianjin University of Science and Technology, China)
In this paper, a three-dimensional chaotic system is implemented basedon the Field Programmable Gate Array (FPGA). The 3-D chaotic system
has a very complex chaotic characteristic with its real four-wing chaotic
attractor. By means of numerical simulation, phase orbits, bifurcation
diagram and Lyapunov exponents are given and analyzed to observe
dynamic characteristics of the three-dimensional chaotic system.
Numerical simulation and the results of implementation in FPGA showthat this chaotic system really has many obvious characteristics of chaos.

OS15-7 Image Encryption Based on Fractional-order Chaotic Model of PMSM
Wei Xue *, Mei Zhang, Shilong Liu, Xue Li(Tianjin University of Science and Technology, China)

The permanent magnet synchronous motor (PMSM) is a nonlinear
system with multi-variable and significant coupling. When PMSM
works in certain conditions, the chaotic behavior will occur. In thispaper, a application of image encryption based on fractional-order
PMSM chaotic model is investigated. By the mean of drawing
histogram, adjacent pixels correlation, key sensitivity of the ciphertext
were analyzed. The results show that the image encryption based on
fractional-order chaotic model of PMSM have a large key space and highsecurity.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS15-8 The Application of a Novel Fractional Hyper-chaotic in Image Encryption
Wei Xue *, Shilong Liu, Mei Zhang, Xue Li.
(Tianjin University of Science and Technology, China)

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In this paper, a novel fractional-order hyper-chaotic system is proposed,
and its dynamic characteristics are analyzed by drawing the phasetrajectory and Lyapunov exponent spectrum. The simulation results
show that the fractional-order chaotic system has hyper-chaotic
characteristic. Then, image encryption implementation based on thefractional-order hyper-chaotic system is investigated, a three-color
separation of color pictures and scrambling the image pixel location, thehistogram, key space, pixel distribution, correlation coefficient and key
sensitivity of ciphertext are tested and analyzed. The results show thatthe algorithm has good security and practicability.

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OS16 Image Recognition and Chaotic Systems (8)OS16-1 A Method of Detecting Abnormal Crowd Behavior Events Applied in Patrol Robot
Huailin Zhao, Shunzhou Wang, Shifang Xu,Yani Zhang ,(Shanghai Institute of Technology, China) Masanori Sugisaka (ALife Robotics Corp.Ltd.)When the ground or air patrol robot monitors a certain area, one of theimportant intelligent functions is to estimate the crowd density of themonitored area. This paper analyzes the typical crowd density estimation
algorithm, and proposes a convolution neural network model for crowd
density estimation. Combining the crowd density estimation and the crowd
speed calculated by the optical flow algorithm, we can predict and detect
abnormal behavior events of the crowd. The method can not only estimate
the population density of the specified area, but also analyze and detect theabnormal behavior events of the crowd. This application provides animportant technical support for enhancing the patrol robot monitoring effect.

The flowchart of the wholealgorithm

OS16-2 Design of the Multi-Car Collaboration System
Huailin Zhao,Yangguang Guo (Shanghai Institute of Technology, China)
Masanori Sugisaka (ALife Robotics Corp.Ltd., Japan)
With the development of the computer and electronical technology, it is anirresistable trend to make the multiple intelligent agents cooperate with eachother to complete a specific complex task. Due to the high cost of realvehicles, most of the researches are based on simulation softwares. In our
project, a few real small smart cars are used, and the design of multi-car
cooperation system is completed. A system platform of the small smart cars
is established, which can simulate the behaver such as positioning,formation and so on. In the experiment field, a global camera is used toachieve global synchronical positioning. The simulation results show thatthe multiple smart cars can get collaborating.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS16-3 Research on an Algorithm of the Character Recognition with Self-learning the
Recognition Errors
Huailin Zhao, Yawei Hou, Shifang Xu, Congdao Han (Shanghai Institute of Technology, China)
Masanori Sugisaka (ALife Robotics Corp.Ltd., Japan)
With the development of science and technology, the character recognition
technology has been widely applied in people’s daily life. The related
researchers are studying on it in order to achieve the technology with higher
recognition rate. In this paper, a new recognition algorithm is proposed
based on self-learning the recognition errors. The method is able to identify
whether the learning result is correct or not and then recognize thecorrectness of the learning result by itself, correct the recognition result of
the error and simultaneously memorize it. When the same kind of error isrecognized again, it is automatically corrected. This article has carried on
the simulation verification on the Matlab platform to prove the effectivenessof this method. The simulation results show that the method can improvethe character recognition rate.

OS16-4 An Improved Method of the Power System Short Term Load Forecasting Based on the
Neural Network
Shunzhou Wang, Huailin Zhao, Yani Zhang, Peng Bai(Shanghai Institute of Technology, China)
Load forecasting is an important content of planning and operating powersystem. It is the prerequisite to ensure the reliable power supply andeconomic operation. In this paper, an improved method of short-term load
forecasting for load data of two different regions is proposed. Firstly,
multiple linear regression and quadratic regression are used to analyze theregression relationship between weather factors and load, and then thegreatest impact on load of weather factors are selected. The Elman neuralnetwork is used to predict unknown one-week load data taking into accountwithout whether factors situation and whether factors situation. In thepredicting situation of considering whether factors, the multi-weather
factors are integrated with the temperature and humidity index , which areused as the neural network input training samples. The prediction result isgood.

OS16-5 Improvement on LEACH Agreement of Mine Wireless Communication Network
Liu Yun-xiang and Zhang Wei (Shanghai Institute of Technology, China)
According to the features of mine communication with wireless sensor
network, a routing algorithm called LEACH-KPPE based on K-means++
was proposed. The clustering was optimized. According to the energy anddistance factors, the selection of cluster head node was optimized. The
problem of uneven distribution of cluster head node, network stability andenergy inequality on the LEACH algorithm was improved effectively. The
simulation results show that the LEACH-KPPE algorithm could better
improve the energy consumption of the whole network, improve theutilization of energy and effectively prolong network life cycle.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS16-6 A New Four-Wing Chaotic System Generated by Sign Function
Hongyan Jia, Shanfeng Wang,Yongjun Wu(Department of Automation, Tianjin University of Science and Technology, China)
In the paper, a new chaotic system is obtained by adding a Sign Function toa three-dimensional chaotic system. Its some basic characteristics including
the equilibrium point, phase trajectory, bifurcation diagram, Lyapunov
exponent and so on, are subsequently calculated. Moreover, the dynamic
characteristics of the new chaotic system is also analyzed with the variationof the system parameters. In the end, the paper design an analog circuit to
implement the chaotic system, the results from the circuit are consistent withthose from the numerical analysis, and thus the chaotic characteristics of the
new system is verified physically. The new chaotic system can provide a
new model for engineering applications.

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OS16-7 A Three-Dimensional Chaotic System Generating Single-wing or Two-Wing Chaotic
Attractors
Hongyan Jia, Yongjun Wu, Shanfeng Wang.
(Department of Automation, Tianjin University of Science and Technology, China)

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In this paper, a three-dimensional chaotic system is proposed based on asimple 3-D autonomous system by adding a linear piecewise function. It isvery interesting is that the new three-dimensional chaotic system cangenerate single-wing or two-wing chaotic attractors with variation ofparameter. Several basic characteristics of the system, such as bifurcation
diagram, phase orbits, and Lyapunov exponents are given to investigate
different chaotic motions for the new system. The new system is found to
be chaotic in a wide parameter range, and to show many complex dynamical
behaviors. That is, the results obviously show the system is chaotic and its
dynamics are very complex.

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OS16-8 Circuit implementation of a new fractional-order hyperchaotic system
Xuyang Wu, Hongyan Jia, Ning Bai, Weibo Jia(Department of Automation, Tianjin University of Science and Technology, China)©ICAROB 2017 ALife Robotics Corp. Ltd.

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In the paper, some basic dynamic properties of a new fractional-order hyperchaotic system are firstly investigated, such as the equilibrium point, phasetrajectory, bifurcation diagram, Lyapunov exponent, and so on. Then thepaper design an analog circuit to implement the fractional-order hyperchaotic system, the results from the circuit are consistent with those fromthe numerical analysis, and thus the hyper-chaotic characteristics of the new
fractional-order system is verified physically. It is very important toimplement fractional-order hyper-chaotic system with more complicateddynamics for theoretical research and practical application. The new hyperchaotic system can provide a new model for engineering applications.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS17 Natural Computing and Biology (4)OS17-1 Molecular Artificial Intelligence by using DNA reactions
Yasuhiro Suzuki, Rie Taniguchi (Nagoya University, Japan)
We have developed molecular Artificial Intelligence system by using DNA
molecules, where "intelligence" means that the reaction system can "select"
DNA molecules to sustain their reactions. We have bio-chemically
implemented the reaction system by using the DNA strand-displacement
reaction and have obtained several mutated DNA sequences that can sustain
the reactions and we have investigated behaviors of reactions when there areseveral mutated DNA sequences.

OS17-2 Neural Networks by using Self-Reinforcement Reactions
Yasuhiro Suzuki (Nagoya University, Japan)
We consider a chemical reaction network model in which selections ofreaction are stochastic and depend on past history. In this chemical reaction
network, we found the emergence of Auto-Catalytic Sets (ACS) andcomplex dynamics in which ACS are repeatedly created and destroyed; wehave called this reaction system as the Self-Reinforcement Reactions, SRR.
We developed a neural-networks system by using SRR and confirm theneural network of SRR can solve a linear classification problem.

OS17-3 Artificial Chemistry by Sound Waves
Yasuhiro Suzuki (Nagoya University, Japan)
We have proposed an Artificial Chemistry based on a rewriting system on
multisets and developed various models such as computational protocells in
Artificial Life. However, such an Artificial Chemistries are implemented insilico and cannot interact with its environment out of the silico (e.g. acomputer system). Hence we have transformed and Artificial Chemistry,
Abstract Rewiring System on Multisets, ARMS into sound waves
interactions systems; where every abstract chemical is a sound waves andartificial chemical reaction is interaction with sound waves. By using thissystem, the artificial chemical reactions inside silico is able to interact with
its environment through sound waves.

OS17-4 Variants of spiking neural P systems with energy control
Rudolf Freund, Marion Oswald (TU Wien, Vienna, Austria)
We consider several variants of spiking neural P systems (SNPSs),
theoretical frameworks for brain modeling. Whereas the original variant
only allows for one kind of spikes, in this paper special emphasis is laid on
SNPSs with different colors or SNPSs with anti-spikes. Moreover, insteadof choosing the rules in the neurons based on the current contents being in a
regular set, we (also) consider the way of choosing the rule to be applied ineach neuron consuming the maximal energy. This choice can beaccomplished by assigning energy values to each rule or by assigning(different) energy directly to the colored spikes.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS18 Advanced Management and Technology (4)OS18-1 Development of English Text for the engineers to preserve the environment of NorthEast Asia
Yuji Minami, Kenji Fukuchi, Shinya Tagawa (National Institute of Technology, Ube)
Our research began in 2007 as a part of the activities of ‘Good Practice’ for
Education of Engineers in cooperation with the UMICNEA, that is, “Unionof Machinery Industrial Cities in North-East Asia”. Through our study, we
found it necessary to acquire the knowledge of ‘Fish Breeding Forest’ whendeveloping and preserving the area of North-East Asia, where the river
Amur plays an important role for sustaining the environment of this region.
We made the research of the origin of the river Amur, named ‘the riverOnon’, located in the area of ‘Strictly Protected Area’ in Mongolia by theagreement of Mongolia, Russia, and China in 2005. We plan to make it
clear that future engineers should find a good way of cooperation throughEnglish as a communication tool for the purpose of playing an active part
together.

OS18-2 Measuring Fragility and its Implications in Networked Systems
Tsutomu Ito*, Katsuhiko Takahashi, Katsumi Morikawa, Takao Ito (Hiroshima University, Japan), Rajiv
Mehta (New Jersey Institute of Technology, USA), Seigo Matsuno (Ube National College of Technology,
Japan), Makoto Sakamoto (University of Miyazaki, Japan)
A survey the literature reveals that a plethora of network analytic facets,
such as degree, eigenvalue, density, block, cluster, have been developedand employed to further our understanding of network structures. To
extend our understanding of network systems, additional dimensions need
to be identified that shed light on the dynamic processes among individual
member nodes within network structures. Specific to the context of
networked systems, this paper proposes a new concept of fragility.
Specifically, it develops and empirically tests a mathematical model offragility from the standpoint of how ties among network members
significantly influence corporate performance. Using data drawn from twowell-known network organizations, Mazda and Toyota, this researchattempts to calculate the relationship between degree and fragility, thus
confirming the validity of the new concept. Furthermore, the relationshipbetween fragility and corporate performance is also assessed. This paper
makes a contribution to extant thought by: 1) Defining fragility, 2)
Discussing the nature of the relationship between fragility and corporate
performance, and 3) Empirically testing the dimensional differencesamong fragility and corporate performance, thus enabling a contrast
between Mazda and Toyota. Based on the findings, the managerial
implications are discussed, the study limitations are identified anddirections for further research are suggested.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS18-3 A Formation of Standard Setter to Transplant Global Standards into Domestic
Institution
Kensuke Ogata (University of Nagasaki, Japan)
Japanese accounting standard setter, the ASBJ, developed lots of domestic
accounting regulations to converge with the global standards in the period of
2005-2008, which substantially differs from the period of 2001-2004. A
general organizations theory states that organizations make a change in theirstrategy and structure aimed at changing their performance. Based on thistheory, we analyzed the change in organizational structure of the ASBJ usingsocial network analysis. According to our result, the ASBJ formed a networkin which accounting professions played a central role. The reason could bethat the ASBJ made use of knowledge and wisdoms on the global standards
Japanese big accounting firms has through their global networks.

OS18-4 A Comparison Study on the Vertical Integration and Horizontal Specialization ofChinese ICT Companies
Yunju Chen (Shiga University, Japan), Yousin Park (Prefectural University of Hiroshima, Japan)
Iori Nakaoka (National Institute of Technology, Ube College, Japan)
The debate between vertical integration vs. horizontal specialization
appears to be reinvigorated. The decision of vertical integration or
horizontal specialization affects a firm’s profit and competitive
advantage, especially in the ICT industry which is difficult to create
added value due to the commoditization of digital products. The
ongoing commoditization of smartphone brings the arising of Chinese
ICT companies but these companies adopt different operation systems
to create their own competitive advantages. In this paper, we focus on
top-shared Chinese companies in global smartphone industry, Huawei
and Xiaomi, to examine how they design their operation systems in
R&D and gain competitive advantages, also to compare their systems
with each other. The patent information of these two companies is used
to visualize their technical orientations and operation systems in R&D
by text mining©ICAROB 2017 ALife Robotics Corp. Ltd.

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network of Xiaomi

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS19 Kansei Engineering and Applications (4)OS19-1 Histogram Matching Based on Gaussian Distribution Using Regression Analysis
Variance Estimation
Yusuke Kawakami (DynaxT Co., Ltd., Japan)
Tetsuo Hattori, Yoshiro Imai, Kazuaki Ando, Yo Horikawa (Kagawa University, Japan)
R. P. C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
This paper describes an improved method for variance estimation which isused in Histogram Matching based on Gaussian Distribution (HMGD). In
the previous papers, based on curvature computation, we have describedthat how to estimate the variance of reference histogram, which is used in
HMGD processing. However, we have considered that the histogram oforiginal image is not always ideal shape. And the variance estimation
method based on curvature computation might not have high reliability. In
this paper, we propose improvement variance estimation method using
regression analysis. As for the method, first, we detect the histogram peakof original image by using curvature computation; next, we perform
regression analysis using approximation formula of curvature. Then, we
illustrate processing results through some experimentation.

OS19-2 Histogram Matching Based on Gaussian Distribution Using Variance Estimation-- Comparison between Curvature Computation and Regression Analysis –Yusuke Kawakami (DynaxT Co., Ltd., Japan)
Tetsuo Hattori, Yoshiro Imai, Kazuaki Ando, Yo Horikawa (Kagawa University, Japan)
R. P. C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
This paper describes variance estimation method comparing between
regression analysis and curvature computation which is used in Histogram
Matching based on Gaussian Distribution (HMGD). In the previous paper,
we have described and illustrated that the variance estimation method havebeen considered of value for HMGD processing results. Though we haveconsidered that histogram of original image is not always ideal. So, in thispaper we propose improvement variance estimation method using
regression analysis. First of all, we describe the principle of varianceestimation methods using curvature computation, and regression analysis.
Then, through some HMGD processing experiment, we compare between
curvature computation results and regression analysis.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS19-3 An Extended Optimal Stopping Method for Structural Change Point Detection Problem
Yoshihide Koyama, Tetsuo Hattori, Yoshiro Imai, Yo Horikawa (Kagawa University, Japan)
Hiromichi Kawano (NTT advanced technology Company Ltd,, Japan)
Yusuke Kawakami (DynaxT Co., Ltd., Japan)
Previously, we have proposed and formulated the SCPD (Structural Change
Point Detection) problem in time series data as an Optimal Stopping one
using the concept of DP (Dynamic Programming). And also we have shown
the solution theorem in the form of inequality. In this paper, based on therelation between the solution of Optimal Stopping and SPRT (Sequential
Probability Ratio Test), we present the extended Optimal Stopping Method
in order to obtain more practical one, considering a loss cost and an action
cost involved by failure prediction.

y

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Shunsuke Doi, Shinya Hara, Yoshiro Imai, Tetsuo Hattor (Kagawa University, Japan)
Yusuke Kawakami (DynaxT Co., Ltd., Japan)
This paper focuses on Twitter used by students of universities, and analyzes
tweeting data (messages) by students from Twitter, and calculates
sentimental values from the according data. It also investigates existence ofsome relations between calculated sentimental values and practical thoughtof students. Moreover, this paper discusses whether the above procedure andanalysis can visualize conventionally hidden relationship between contentsof tweeting messages and characteristic behavior of students in categorized
universities.

OS20: Image Processing and Computer Graphics (6)OS20-1 An effective method for detecting snatch thieves in video surveillance
Hiroaki Tsushita, Thi Thi Zin (University of Miyazaki, Japan)©ICAROB 2017 ALife Robotics Corp. Ltd.

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10change point tc = 70

160

OS19-4 A Study of Sentimental Value Analysis for Tweeting Message

Nowadays, a tremendous amount of accidents and terrorisms has been
occurred all over the world no exception Japan. Thus, detection of
suspicious activities in public areas such as railway stations, shopping malls
and many other areas using video surveillance becomes important.
However, very little has been achieved regarding real-time event
recognition of two person interactions such as snatch theft events. Moreover
the way of snatch theft has been increasing like using a motorcycle and soon. In this paper, we propose an effective method for detecting the snatch
theft event between two persons. Specifically, the proposed method consistsof several steps: pedestrian tracking, feature computation and snatch theft
detection. For feature computation, shape and motion features are used. To
confirm the validity of proposed method some experimental results in avarious situations are shown by using some collected video sequences.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS20-2 Color and Shape based Method for Detecting and Classifying Card Images
Cho Nilar Phyo, Thi Thi Zin (University of Miyazaki, Japan) Hiroshi Kamada (Kanazawa Institute ofTechnology, Japan) Takashi Toriu (Osaka City University, Japan)
In this paper we propose an effective method for detecting and classifying
card images by using color and shape features. Generally, color card images
have been widely used for teaching and learning programing languages ininteractive classrooms lessons. For this purpose, we first extract the area ofcard color by squeezing from the entire image by using the color
information. Then we remove the regions of low possibility with the aids ofshape features particularly aspect ratios. Moreover, by taking the classroom
size and the distance from the camera, we classify the image according to
the sizes. Thus our method can extract even quite small cards in theclassroom activities. In order to confirm the proposed method, we conduct
a sequence of experiments by taking our own video sequences. Our
experimental results show that the proposed method is very promising
compared to some existing methods.

OS20-3 Automatic Assessing Body Condition Score from Digital Images by Active Shape Modeland Multiple Regression Technique
Nay Chi Lynn, Thi Thi Zin, Ikuo Kobayashi (University of Miyazaki, Japan)
Body Condition Scoring is a magnificent indicator for determining
nutritional status, energy reserves, fatness or thinness of cows. The purposeof this study is to assess body condition scores (BCS) of dairy cattle byexploiting digital images of back view of cows. To determine back shape ofthe cows and its tail head area, anatomical landmark points labelling is
performed. Next, active shape model is used to extract the angle featuresfrom these cow’s tail head contours. In this study, we choose the hook andtail head depression angle from the cow’s tail head area. Those angle
features with their respective BCS are used to estimate body condition
scores by employing multiple regression analysis. Using threshold value on
the residuals between the actual BCS and predicted BCS is determined toconfirm the proposed method. Moreover, the experimental results show thatthe proposed system is promising compared to some existing methods.

BCS?

OS20-4 General Image Categorization Using Collaborative Mean Attraction
Hiroki Ogihara, Masayuki Mukunoki (University of Miyazaki, Japan)
In this paper, we apply Collaborative Mean Attraction (CMA) method,which has been developed for person re-identification problem with multicamera, to general image categorization problem. CMA is a generic
identification method, so once training
images are given, CMA canidentify test images into a class of the training images. It means that CMA
can be used for image categorization. Experimental results using thecaltech101 dataset reveal that CMA shows better categorization accuracy
than standard SVM method, particularly in the case when the size of training
data is relatively small. We also apply CMA to caltech256 dataset, which ismore difficult to categorize than caltech101. Even for caltech256, CMA
shows better results than other methods, especially for small training data.
Furthermore, we discuss the parameter settings for CMA through several
experiments.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS20-5 Consideration on the Photo-Realistic Rendering of Fruits by 3DCG

Haruka Tsuboi, Makoto Sakamoto, Sho Yamada, Kensuke Ando, Chongyang Sun,
Makoto Nagatomo (University of Miyazaki, Japan)
Koshiro Mitsuhashi, Yukari Kodama (Miyazaki Multimedia Academy, Japan)

Three-dimensional computer graphics (3DCG) is the technique of creating
an image having a stereoscopic effect by converting an object in the virtual
three-dimensional space into two-dimensional information. It is also
possible to produce an image that cannot be distinguished from the real thingby using the 3DCG. 3DCG is expected for the application to visual
representations very much. However, it is difficult to express the "freshness"of fresh food by 3DCG.Therefore, expressiveness of 3DCG is considered to
be improved by overcoming this weakness. In this paper, we consider thephoto-realistic rendering of fruits by 3DCG. The algorithm is implemented
by using the Visual C++ 2010 and C on a personal computer. Through thistrial, we hope to improve the representation in photo-realistic rendering by
3DCG.

OS20-6 Consideration for the Possibility to the Tourism by the AR Technology

Masamichi Hori, Makoto Sakamoto, Takeshi Tanaka, Mihoko Fukushima, Chikashi Deguchi,
Masahiro Yokomichi, Masayuki Mukunoki, Kunihito Yamamori (University of Miyazaki, Japan)
Yukari Kodama, Koshiro Mitsuhashi (Miyazaki Multimedia Academy, Japan)
Atsushi Iiboshi, Takachiho (Muratabi Co., Ltd., Japan)

The promotion of the tourism nation became the important problem of ourcountry, and we expect increase of the number of the foreign tourists visiting
Japan. Therefore, we have to make sightseeing spots of our country more
attractive them, so we must contribute plain guidance information to theforeigners who cannot understand Japanese, guidance markers, and so on.
On the other hand, AR (augmented reality) is becoming the boom recently,
but this is information technology to let the reality world compose the virtualworld. In this paper, when we use the AR technology for tourism andsightseeing, we inspect what kind of possibilities we have through someexperiments.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS21 Computer Science and Information Processing (5)OS21-1 Consideration on the Recognizability of Three-Dimensional Patterns
Chongyang Sun, Makoto Sakamoto, Makoto Nagatomo, Yu-an Zhang, Shinnosuke Yano, Satoshi Ikeda(University of Miyazaki, Japan) Takao Ito, Tsutomu Ito (Hiroshima University, Japan) Yasuo Uchida (UbeNational College of Technology, Japan) Tsunehiro Yoshinaga (Tokuyama college of Technology, Japan)
Due to the advances in computer vision, robotics, and so forth, it has become
increasingly apparent that the study of three-dimensional pattern processing
should be very important. Thus, the study of three-dimensional automata as
the computational model of three-dimensional information processing has
been signiﬁcant. During the past about thirty years, automata on a threedimensional tape have been obtained. On the other hand, it is well-known
that whether or not the pattern on a two- or three-dimensional rectangulartape is connected can be decided by a deterministic one-marker ﬁnite
automata. As far as we know, however, it is unknown whether a similar
result holds for recognition of the connectedness of patterns on threedimensional arbitrarily shaped tape. In this paper, we consider whether or
not the pattern on a three-dimensional arbitrarily shaped tape is connected
can be decided by a deterministic multi-marker ﬁnite automaton.

OS21-2 Some Properties of Four-Dimensional Homogeneous Systolic Pyramid Automata
Makoto Nagatomo, Makoto Sakamoto, Yu-an Zhang, Chongyang Sun, Shinnosuke Yano, Satoshi Ikeda(University of Miyazaki, Japan) Takao Ito, Tsutomu Ito (Hiroshima University, Japan) Yasuo Uchida (UbeNational College of Technology, Japan) Tsunehiro Yoshinaga (Tokuyama college of Technology, Japan)
The question of whether processing four-dimensional digital patterns ismuch more difficult than three-dimensional ones is of great interest fromthe theoretical and practical standpoints. Thus, the study of fourdimensional automata as a computational model of four-dimensional patternprocessing has been meaningful. Cellular automata were investigated not
only in the viewpoint of formal language theory, but also in the viewpointof pattern recognition. Cellular automata can be classified into some types.
A systolic pyramid automaton is also one parallel model of various cellular
automata. In this paper, we propose a homogeneous systolic pyramid
automaton with four-dimensional layers (4-HSPA), and investigate someproperties of real-time 4-HSPA.

OS21-3 Reduction of the search space to find perfect play of 6×6 board Othello

Yuki Takeshita1, Makoto Sakamoto1, Takao Ito2, Tsutomu Ito2, Satoshi Ikeda3(1University of Miyazaki, 2Hiroshima University, Japan)

In 1993, mathematician Feinstein found out perfect play on 6×6 board of
Othello gives 16-20 loss for the first player by using computer. He reported
on the Web that it took two weeks to search forty billion positions in orderto obtain the result. In our previous papers, we confirmed the perfect play
he found is correct. And we also found another perfect play different fromthe one he found to search 884 billion positions. In order to searchefficiently, we attempted to reduce the search space to find some perfectplay. In this paper, we introduce some techniques to solve 6×6 Othello bysearching about fifteen billion positions.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS21-4 A comparative study on the delisting ratings of firms from the UN Global Compact in
the international management environment
Kanako Negishi (National Institute of Technology, Ube college, Japan)
This paper explores the international management environment for Japanesemanufacturing firms’ sustainability strategies. In particular, it clarifies firms’
positioning and characteristics in the environment. Firms have adopted
voluntary standards for environmental protection provided by NGOs andinternational institutions like the GRI and United Nations. Although there
are various standards without legal binding, there is a recent trend toward
integration to achieve comparability for firms’ international management ofsustainability. It then bound firms’ management as a de facto standard. This
paper discovers Japanese firms’ unique characteristics related to theenvironment though the comparison.

OS21-5 Application of ViSC to the Natural Grazing in Qinghai Tibet Plateau
Cheng-shui Niu1, Bing-fen Li1, Yu-an Zhang1, Makoto Sakamoto2(1Qinghai University, P.R. China, 2University of Miyazaki, Japan)“Sanjiangyuan Region” is a complex ecosystem with typical characteristics
of alpine grassland, which the livestock production mainly relies on the yak
grazing. In recent years, artificial destruction were due to grassland
degradation，the reduction of herdsmen income and on-going deteriorationof the ecological environment. It is necessary to establish a grazing mode
which ecological animal husbandry and grassland sustainable development.
In this study applying the ViSC that combined with optimization theory, weestablish sustainable grazing system in alpine grassland yak, which provides
a theoretical basis for scientific grazing.

OS22 Robotic Technology for Competition (4)OS22-1 Development of a Tomato Harvesting Robot
Bingh Li, Shinsuke Yasukawa, Takashi Sonoda, Kazuo Ishii (Kyushu Institute of Technology, Japan)
Most of commercialized robots are for industry, and the robots for
agriculture, forestry and fisheries are under developing and notcommercialized yet. The reasons for the difficulty are caused by costefficiency of the robotization, safety ensuring of the works using robots,
outdoor operations, and knowledge transfer problem from farmers tocomputer so on. Tomato is one of important fruit vegetables and most
tomatoes are produced in the greenhouses, or large-scale farms, where thehigh temperature and humidity, and long harvest age force the farmers heavy
works. With an aim to promote the automation of tomato harvesting, we haveorganized the tomato harvesting robot competition and developed a tomato
harvesting robot. In this paper, we propose the system of tomato harvesting
robot.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

OS22-2 Development of SOM algorithm for Relationship between Roles and Individual’s Rolein Rugby 2nd Reports: University Rugby teams analysis using Physical andPsychological data
Yasunori Takemura (NishiNippon Institute of Technology, Japan)
Victory or defeat in team sports depends on each player’s technique,physical strength, and psychological condition. It follows that teamperformance depends on the player’s adaptation to (suitability for) a certain
role (position in the team) and the relationships between different roles. We
assume that team performance is related to physical and psychologicalfeatures. Many researchers have proposed that physical features determine
a player’s suitability for a position. Psychological features have also been
researched as factors of position adaptation. However, each feature has been
investigated independently. The present research aims to develop aclustering method that considers both physical and psychological featuresin judging an individual’s role and adaptation in the game. This paper
reports the concept of the algorithm and result of analysis using both
physical data and psychological data.

OS22-3 Ball Dribbling Control for RoboCup Soccer Robot
Shota Chikushi, Kenji Kimura, Kazuo Ishii (Nippon-Bunri University, Kyushu Institute of Technology)
RoboCup is a platform designed to promote the research fields such as
Artificial Intelligent (AI) and robotics. We also organize a RoboCup
team “Hibikino-Musashi”, and working on co-operated behavior control
system using multiple autonomous mobile vehicles. In this paper,
motion analysis and control of a ball operated by two active wheels
mounted on upper side of the ball is discussed. Based on the analysis
and simulation, a ball dribbling mechanism is developed. The kinetics
of ball and two-active wheels is derived and evaluated using thedeveloped ball dribbling mechanism.

OS22-4 Strategy Analysis of RoboCup Soccer Teams Using Self-Organizing Map
Moeko Tominaga, Yasunori Takemura, Kazuo Ishii
Kyushu Institute of Technology, NishiNippon Institute of Technology
In the soccer games, the player’s behavior changes depending on thegame situation such as wining or losing, score gap, remaining time. The
players act more offensive when their team is losing, or more defensive
when their team is winning with minimum score difference. Currently
most of robot teams keep the same strategy during the game so that theresult of game depends on the ability of each player like speed of robot,
quality of localization, obstacle avoidance and ball handling. Next issue
for the robot intelligence is collaborated team behavior and strategy. In
this paper, the team strategy is analyzed based on parameters such as the
positions of robots, the number of robots in play, scores, time andactions of robots using Self-Organizing Map.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS abstracts
GS1 Artificial Neural Network & Bio-Signal Controlled Robotics (3)GS1-1 Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered NonContact Impedance Model
Haruna Kokubo, Taro Shibanoki (Ibaraki University, Japan),
Takaaki Chin (Hyogo Rehabilitation Center, Japan), and Toshio Tsuji (Hiroshima University, Japan)
This paper proposes an obstacle avoidance method based on a multi-layered
non-contact impedance model for the biosignal-controlled electric wheelchair.
The proposed system can calculate a virtual repulsive force before the collisionby multi-layered impedance fields, which have different impedance parameters,
covered around the robot. In this way, this system regulates desired path to
avoid obstacles in a variety of situations such as a natural evasion and an
emergency avoidance. In the simulation and practical experiments, the mobile
robot moved to a desired position, and some obstacles were appeared on their
moving paths. The results showed that the robot passed through obstacles
smoothly, and could stop emergently to avoid the obstacle in front of the robot
owing to virtual forces calculated by the proposed modelGS1-2 A Voice Signal-Based Manipulation Method for the Bio-Remote Environment Control
System Based on Candidate Word Discriminations
Taro Shibanoki (Ibaraki University, Japan), Go Nakamura, Takaki Chin
(Hyogo Rehabilitation Center, Japan), and Toshio Tsuji (Hiroshima University)©ICAROB 2017 ALife Robotics Corp. Ltd.

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Commandgeneration…

Intention
estimation

Voice SpeechControl
Infraredsignal recognition command signals
results
Featureextraction

Domestic
appliances

Operator

Learning-type LUT
Word Log likelihood Phoneme(L)

Microphone

W11 T ( ( L ) W11 )W21 T ( ( L ) W21 )

(L)
(L)

M11
M21

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(L)

…

Commanddatabase…

This paper proposes a voice signal-based manipulation method for the BioRemote environment control system. The proposed system learns
relationships between multiple candidate words’ phonemes extracted by alarge-vocabulary speaker-independent model and control commands fordomestic appliances based on a self-learning look-up table (self-learning
LUT). This allows the user to control various devices even if false
recognition results are extracted because of slurred speech. The efficacy ofthe proposed system was demonstrated through speech recognition forslurred words and domestic appliance control experiments conducted withhealthy male participants. The results showed that the method could be used
to accurately discriminate seven slurred words (average discrimination rate:
93.9 ± 2.2 [%]), and that the subject was able to voluntarily control domestic
appliances as intended.

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS1-3 Experiments on classification of electroencephalography (EEG) signals in imagination of
direction using Stacked Autoencoder
Kenta Tomonaga, Takuya Hayakawa, Jun Kobayashi (Kyushu Institute of Technology, Japan)
This study presents experimental results of classification methods for brain
activity in the imagination of direction. We used a wireless portableelectroencephalography (EEG) headset to collect EEG data from subjects inexperiments, during which the subjects imagined arrows indicating one of thefour direction: up, down, right, left. The classification methods estimated the
direction that the subjects imagined on the basis of their brain wave signals
measured by an electrode on the portable EEG headset. The classification
methods implemented in our previous studies consisted of a band-pass filter,
fast Fourier transformation, principal component analysis (PCA), and neuralnetwork. The PCA works for feature extraction and selection. In this study, we
have implemented Stacked Autoencoder (SAE) for EEG signal classification.
The SAE carries out not only feature extraction but also classification in theform of multi-layered neural network. Experimental results showed that the
SAE outperformed the previous classifier with PCA.

GS2 Automated Guided Vehicles I (6)GS2-1 Adaptive Negotiation-rules Acquisition Methods in Decentralized AGV Transportation
Systems by Reinforcement Learning with a State Space Filter
Masato Nagayoshi, Simon Elderton (Niigata College of Nursing),
Kazutoshi Sakakibara (Toyama Prefectural Univ.), Hisashi Tamaki (Kobe Univ.)
In this paper, we introduce an autonomous decentralized method for multiple
Automated Guided Vehicles (AGVs). Transportation route plans of AGVs are
expected to minimize the transportation time without collisions between the
AGVs in the systems. In our proposed system, each AGV as an agent computes
its transportation route by referring to the static path information. route. Once
potential collisions are detected, one of the two agents chosen by a negotiation
rule modifies its route plan. The rules are improved by reinforcement learningwith a state space filter. Then, the performance is confirmed with regard to theadaptive negotiation rules.

GS2-2 Modeling and Control of a Quadrotor Vehicle Subject to Disturbance Load
Jun Wang, Song Xin, Yuxi Zhang (Beihang University, P. R. China)
In this paper, a dynamic model of quadrotor, an unmanned aerial vehicle (UAV),
is derived for theoretic and practical evaluation. Four transfer functions indifferent channels are converted from the state equations. To study the behaviorof quadrotor subject to the external disturbance load, a fuzzy logic controller(FLC) is designed to compare with the PID (proportional-integral-derivative)
control method. Subsequently, Liapounov function is applied for stability
analysis. Finally, simulation results are presented to illustrate the performance
between FLC and PID. Considering model error, the evaluation simulations are
divided into two parts, which describe the ability for rejecting external
disturbance, setpoint tracking and disturbance rejection respectively. The
simulation scheme demonstrates the FLC method outperforms the PID control
scheme.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS2-3 A multithreaded algorithm of UAV visual localization based on a 3D model ofenvironment: implementation with CUDA technology and CNN filtering of minor
importance objects
Alexander Buyval, Mikhail Gavrilenkov (Bryansk State Technical University, Russia)
Evgeni Magid (Kazan Federal University, Russia)
Visual based navigation plays an important role in localization and path
planning, especially in GPS-denied environments. This paper presents a visualbased localization algorithm for a UAV within an indoor environment. The
algorithm uses multithreaded computing CUDA technology and CNNpreprocessing filtering, which is responsible for filtering out minor importanceobjects. We assume that while an initial 3D model of environment is available,
the scene may undergo minor dynamical changes, e.g., new objects may appear
in the scene as the time passes. The localization is performed in two steps.
Initially, a neural filtering module detects new objects in the scene and filtersthem out. Next, the filtered data is passed to a multithreaded edge-computing
module, which compares it with the initial 3D model. The algorithm issimulated in ROS/Gazebo environment with two different approaches – one
uses CPU only and the other uses CPU and GPU - and their performance iscompared.

GS2-4 Modelling a crawler-type UGV for urban search and rescue in Gazebo environment
Maxim Sokolov, Aidar Gabdullin, Roman Lavrenov, Ilya Afanasyev (Innopolis University, Russia)
Leysan Sabirova, Evgeni Magid (Kazan Federal University, Russia)
A long-standing goal of robotics is to substitute humans in unreachable or
dangerous environments. One of the most dangerous and human unfriendly
environments is urban search and rescue (USAR) domain, where a rescue robot
is used for victims search and environment monitoring purposes. To deal with
USAR tasks we have selected a novel Russian crawler robot “Engineer”, andthis paper presents our first successful steps toward modelling the robot in
ROS/Gazebo environment. We convert the provided by “Engineer” developers
CAD models into workable ROS-based 3D simulation and incorporate physicalparameters of the mechanisms into the model. Robot motion and relativeinterplay of its visible mechanical parts is visualized in RViz software. The
proposed model is integrated into a ready-to-use ROS navigation stack and themodel’s behavior is thoroughly investigated while navigating through static
obstacles populated scene in Gazebo environment.

GS2-5 Development of Autonomous Robot for Laborsaving of the Forestry - Positioning of the
Robot using IMU, GPS, and Encoder Sho Yamana, and Eiji Hayashi (Kyushu Institute of Technology, JAPAN)
This paper presents about the positioning of the autonomous robot using IMU,
GPS, and encoder devices. Using acceleration and orientation from IMU sensor
that is used to calculate the position of the robot. To locate the position, need toknow the distance when the robot moved. Distance is calculated by integratingof velocity and also the velocity is considered by integrating of acceleration.
Results showed distance measured using only IMU. It shows the difficulty oflocating using only IMU. Therefore, GPS and encoder devices need to be
combined into the system for position measurements.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS2-6 Development of Autonomous Robot for Laborsaving of the Forestry - Detection of youngplants by RGB and Depth Sensor Nobuo Miyakawa , and Eiji Hayashi(Kyushu Institute of Technology, Japan)
Nowadays In Japan, the forest industry have problem about safety and labor
shorting. This research is about development of the autonomous moving robot
in the forest focused on solving the problem. As the first phase of automationof forest industry, autonomous movement control system must be developed.
Because, the environment surrounding the robot changes every moment inforest. For example, the tree and weed in forest is growing every day. So thisdynamic environment has to be considered for the robot to continue moving in
the forest. Therefore we aim at the development of autonomous system thatmovement in the forest in this study. This paper proposes to detect plants ofautonomous robot system in the forest.

GS3 Automated Guided Vehicles II (3)GS3-1 Motion Improvement of Four-Wheeled Omnidirectional Mobile Robots for Indoor
TerrainAmornphun Phunopas (King Mongkut’s University of Technology, Thailand)
Shinichi Inoue (Kyushu Institute of Technology, Japan)
The four-wheeled omnidirectional platform is great to use for an indoor mobile
robot. It can increasingly move and change heading direction. However, The
robot is easy to slip when it is moving. As well as, one or more wheels are
sometimes not touching the ground. Therefore the robot may miss the planned
path, or in the worst case, the robot possibly gets stuck due to unrecognizedcircumstances. This paper approaches to solving the problems by computational
simulation in locomotion. Mathematical models simulate the robot movement.
The robot struggles to go to the target with randomly simulated slip and inactive
wheel circumstances. The robot can estimate the positions using the Kalmanfilter and readjust itself to the planned path. Consequently, this paper
demonstrates the motion improvement and compare the results of decreasing
error.

GS3-2 An Improved Algorithm for Obstacle Avoidance by Follow the gap method combined
Potential Field
Chakhrit La-orworrakhun, Suriya Natsupakpong (Institute of Field Robotics, King Mongkut's University
Technology Thonburi, Thailand)This paper proposes a novel obstacle avoidance algorithm for boat survey. The
proposed algorithm, “Follow the Gap Plus”, for boat navigation is presented by
combining the “Follow the Gap” method and adapting the “Potential Field”
method with an attractive field of obstacles. Then the simulation environment
for testing system and algorithm are generated in various situations and similar
real-world environment. The results show that the survey boat simulation withproposed algorithm can go to the desired destination with better performance
than “Follow the Gap” method in the environment with obstacles about 4.47
percentage of total distance, about 7.63 percentage of total time used, and about
54.33 percentage of average change of direction.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS3-3 Study on the target positioning for an Omni-directional 3 DOF mobile manipulator
based on machine vision
Jiwu Wang, Yao Du, Wensheng Xu (Beijing Jiaotong University, China)
Masanori Sugisaka (ALife Robotics Corporation Ltd, Japan)
The omni-directional mobile robot with multi DOF, because the operation
posture and operation accuracy of the manipulator can be better controlled in anarrow or crowded workplace compared with the general manipulator, is getting
more interested in practical applications. The present problem is to improve its
flexibility for operating multiple different targets. Target recognition with image
processing is an effective solution. Based on the image processing, the positionand posture of the target can be determined. Then the signal will be sent to thearm control system. In this paper, the illumination conditions, distortion, etc.
are studied in the target recognition. The target position with image processing,is verified with real coordinates. The experiments show target recognition withimage processing can effectively improve the flexibility of our robot

GS4 Biological Systems (4)GS4-1 Force and Motion Analysis of larval zebrafish (Danio rerio) using a body dynamics model
Naohisa Mukaidani, Zu Soh, Toshio Tsuji (1Hiroshima University, Japan)
Shinichi Higashijima (National Institutes of Natural Sciences, Japan.)

Larval zebrafish are often employed as a vertebrate model to study thephenomena during the stages of development. This study proposes a method ofbody dynamics analysis for larval zebrafish incorporating a viscoelastic bodymodel and a fluidic environment model to support the study of development
mechanisms in motion generation. An algorithm for estimation of the externaldrag forces acting on larval zebrafish enabled calculation of thrust forces
resulting from body motion. The results showed that the estimated fluid dragcoefficients enabled the body dynamics model to approximate the paths ofactual larvae with a high accuracy level of 0.76±0.74 [%] of the total length.
Based on the analysis results, we found that the fins generate dominant forcesat the initiation of swimming, but have little role during swimming.

GS4-2 Behavior Analysis on Boolean and ODE models for Extension of Genetic Toggle Switchfrom Bi-Stable to Tri-stable.
Masashi Kubota, Manabu Sugii, Hiroshi Matsuno (Yamaguchi University, Japan)
The artificial genetic circuit (AGC) is a gene network in which its expression
timing, period and function are designed by computational and biological
technique. The AGCs for the functions of electronic circuits like a toggle switch
and an oscillation circuit were realized in E.coli by Gardner and Elowitz in
2000, respectively. We visualized and verified the structure and behavior of
Boolean network (BN) and ordinary differential equation (ODE) models for 2variable genetic toggle switch in the phase plane by using GINsim and Scilab.
ODE has been the most widely used formalism for biological processes, but BN
model allows us to easily understand mathematical expression of biologicalprocesses. Then, we extended the models for 3-variable genetic toggle switchfrom the 2-variable ones, and we demonstrate a mathematical formalization by
showing correspondence between state transitions of BN and trajectory pathsof ODEs in the phase space.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS4-3 Boolean modeling of mammalian cell cycle and cancer pathways
Hideaki Tanaka, Hiroshi Matsuno, Adrien Fauré (Yamaguchi University, Japan)
The cell division cycle is controlled by a complex molecular network: a recent
model of the cell cycle and cancer pathways includes close to a hundred genes[Fumiã and Martins, 2013]. To cope with such complexity, different
approaches have been used by modelers. Recently, Deritei et al [2016] haveemphasized modularity as a key organizational principle. Their model however,includes only 22 components. This raises the question how the approach would
fare on larger models such as the one published by Fumiã and Martins. To
explore that question we first convert these two models to a common modelingframework [Naldi et al., 2009]. Preliminary results show that there is only
limited overlap between the two models, with shared variables being controlled
by different regulators. This suggests that at this stage module definition may
still depend on the modeler and thus may not yet reflect actual biologicalorganization.

GS4-4 An Estimation Method for Environmental Friction Based on Body Dynamic Model of
Caenorhabditis elegans
Zu Soh (Hiroshima University, Japan), Michiyo Suzuki (National Institutes for Quantum and Radiological
Science and Technology, Japan), Toshio Tsuji (Hiroshima University, Japan)
Caenorhabditis elegans is a small worm which is approximately 1.3 mm inlength. For the reason of technological limits, it has been difficult to measure
the friction between the body and environments. The present study proposes anestimation method for frictional force using locomotion information obtained
from video analysis of actual worms. The results indicate that the body model
driven by the estimated frictional force can trace the locomotion of the worm
within 4% of the body length. The proposed method may be able to be applied
to analyze the relationship between friction and gait control.

GS5 Filtering & Control Systems (2)GS5-1 An Application of Collaborative Filtering in Student Grade Prediction
Chaloemphon Sirikayon and Panita Thusaranon (Dhurakij Pundit University, Thailand)This research proposed the process of student performance prediction by using
the collaborative filtering (CF) technique. The benefit of this research includes
assist instructor to identify student performance, personalized advising, andstudent degree planning. The CF technique composes of similarity calculationand prediction. In our experiments, different techniques are compared to
calculate students’ similarity. We also found that a prior course clustering withheuristic knowledge can be used to enhance predictability. The data used for thisstudy obtained from Dhurakij Pundit University with enrollments of 200
undergraduate students between 2012 and 2016 from the Faculty of Information
Technology. The performance of each student has been predicted since semester
2, 2014 by using existing grades available at that time. The A-F letter grades
were converted to the 4–0 scale, which is actually discrete. In additional, we
also conducted the experiment by using actual score from each courses.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS5-2 An improved detection method for railway fasteners
Jiwu Wang, Yan Long (Beijing Jiaotong University, China)
Sugisaka Masanori (ALife Robotics Corporation Ltd, Japan)
Aiming at the disadvantages of low efficiency and poor stability of the existing
methods of fastener detection, this paper proposes a method of fastener detection
based on template matching. Firstly, the image is processed by noise reduction,
this method does not need to be based on histogram can match template directly.
We choose a standard fastener image as template, read template firstly, then slide
the image blocks on the input image to match the template and the input image.
Experimental results show that this method can effectively detect the flaw,
deformation and obstacles of railway fastener occlusion. This method has a fast
matching speed and a good robustness, it’s detection accuracy is up to 96%

GS6 Human-Welfare Robotic System & Medical Application (5)GS6-1 Virtual surgery system with realistic visual effects and haptic interaction.
Vlada Kugurakova, Murad Khafizov, Ruslan Akhmetsharipov, Alexei Lushnikov, Diana Galimova,
Vitaly Abramov (Kazan Federal University, Russia)
Omar Correa Madrigal (University of Informatic Sciences, Cuba)
Currently, educational processes in medical surgery field involve not only
theoretical in-class studies that are immediately followed by practical lessons inmortuaries and hospitals, but also involve simulations of various levels of reality.
This paper describes our current progress in Virtual Surgery System development,
which is targeted to support educational processes in medical surgery. With thissystem, all surgery operations are performed using a virtual reality headset andhaptic manipulators with force feedback. The main feature of our approach isapplying a voxel data structure of a human body that provides an opportunity tosimulate realistic behavior of the body. Thus, cutting, sewing, and welding of
human tissues processes become realistic. Together with a realistically simulated
virtual surgery scene, these will significantly speed up educational processes.

GS6-2 A Human Reaching Movement Model for Myoelectric Prosthesis Control

Go Nakamura*1, 5, Taro Shibanoki*2, Yuichiro Honda*1, Futoshi Mizobe*3, Akito Masuda*4, Takaaki Chin*1,
Toshio Tsuji*5*1(Robot Rehabilitation Center in The Hyogo institute of Assistive Technology, Japan)*2(Ibaraki University, Japan) *3(Hyogo Rehabilitation Center, Japan)*4(Kinki Gishi Corporation, Japan) *5(Hiroshima University, Japan)
This paper proposes a human reaching movement model for myoelectric
prosthesis control. The main purpose of the proposed model is to generate desired
trajectories provided in a reaching training system for myoelectric prosthesis
control. First, an experiment was performed to observe reaching movements witha healthy subject and a myoelectric prosthesis user (upper limb amputee). Then,
we found several distinctive features shown in reaching movements for the
myoelectric prosthesis user, and constructed a model considering the observed
characteristics by using a logistic function. The proposed model can generate
three different types of hand trajectory such as straight line paths, circular arc
paths and S-shaped paths with bell-shaped speed profile by adjusting only a few
parameters. It was indicated that the proposed model could generate both hand
trajectories of the healthy subject and the myoelectric prosthesis user from thecomparison results between observed and simulated trajectories.

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Human hand trajectory model
for reaching traning system
HMD

VR environment
Hand trajectoryf (t )

Amputee
Bell-shaped speed profile

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS6-3 Re-creation of a membrane puncture’s sense of an object constituted of liquid and anouter membrane by a haptic device and a deformation simulation of the virtual objects
Takahiro Okada, Eiji Hayashi (Kyusyu Institute of Technology, Japan)
Technologies that can accurately perform minute work are now being sought for
medical treatment and bio-technology field. Such minute work is improved byusing micromanipulators, but their operation is difficult because the operator has
no sense of force. The operator relies only on sight through a microscope. As aresult, a person skilled in the use of this technology is needed for all minute work.
For the efficiency of minute work, we used a haptic device and amplified theforce feedback from a minute sample. The purpose of this research is to develop

a combined sense system that uses both force feedback and visual feedback
on a deformation simulation. Especially, I focused a way to recreate a membranepuncture’s sense of salmon rows assumed a cell.

GS6-4 Exercise classification using CNN with image frames produced from time-series motion
data
Hajime Itoh, Naohiko Hanajima (Muroran Institute of Technology, Japan)
Yohei Muraoka, Makoto Ohata (Steel Memorial Muroran Hospital, Japan)
Masato Mizukami, Yoshinori Fujihira (Muroran Institute of Technology, Japan)
To enhance the strength of the elderly is important for the care prevention.
Exercise support systems for the elderly have been developed and some were
equipped with a motion sensor. Normally it provides three-dimensional timeseries data of over 20 joints. It is important to integrate such large data andevaluate the motion of the users. In this study, we propose to apply Convolutional
Neural Network (CNN) methodology to the motion evaluation. The deep learning
has a success in integrating big data, for example, image classification. Our mainidea is to convert the motion data of one exercise interval into one gray scale
image by taking joint types for the row direction and time for the column direction
and by changing the data into the gray scale value. From simulation results, theCNN was possible to classify the images into specified motions. It can potentiallybe used for exercises classification.

GS6-5 Proposal and Evaluation of the Gait Classification Method using Arm Acceleration Data
and Decision Tree
Kodai Kitagawa, Yu Taguchi, Nobuyuki Toya
(National Institute of Technology, Kushiro Collage, Japan)
We have been developed a system to classify gait patterns based on stride lengthand foot clearance by acceleration sensors of Smartphone as simple sensors forfall prevention. This system places a Smartphone around an arm as a convenient
location. In this paper, we propose gait classification method using arm
acceleration data and decision tree. Also, we evaluate whether decision tree using
three-axis accelerations as feature quantities can classify three gait patterns.
(Three gait patterns are "Normal", "High step" and "Long step".) The result
showed that this method can classify three gait patterns of some subjects. Besides,
it was found that x-direction accelerations and composite accelerations were
important feature quantities for gait classification by decision tree.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS7 Micro-Machines & Robotics I (6)GS7-1 Estimation and Categorization of Errors in Error Recovery Using Task Stratificationand Error Classification

Akira Nakamura*1, Kazuyuki Nagata*1, Kensuke Harada*2 and Natsuki Yamanobe*1( National Institute of Advanced Industrial Science and Technology (AIST), *2 Osaka University, Japan)
*1

task2

Class 4

Class 3

task1 error

Class 2

Process flow with error recovery

Class 1In manipulation tasks of plant maintenance and industrial production, error
recovery is an important research theme for robots. However, systematicalmethods of error recovery have not been appeared yet. We have proposed error
recovery using the concepts of both task stratification and error classification. In
the error recovery, the judgment of the error is carried out on a process of thepractice of the system. In our method, classification of errors that occurred iscarried out based on an estimated cause. Specifically, errors are classified into
several categories such as sensing errors, modeling errors, planning errors andexecution errors. When an error is classified correctly, a possibility that the mostsuitable recovery is performed becomes high. In this paper, a procedure of thecategorization of the error that we have considered is described..

errorClassification of error

taskk

Class 1 → Execution error

errorClass 2 → Planning error
Class 3 → Modeling error
Class 4 → Sensing error

GS7-2 The Suitable Timing of Visual Sensing in Error Recovery Using Task Stratification andError Classification
Akira Nakamura*1, Kazuyuki Nagata*1, Kensuke Harada*2 and Natsuki Yamanobe*1( National Institute of Advanced Industrial Science and Technology (AIST) *2 Osaka University, Japan)*1

In manipulation tasks of industrial production and housework, the techniques oferror recovery become important since robots need to perform complicated tasks.
We have proposed error recovery using the concepts of task stratification anderror classification. In the error recovery, the judgment of the error is performed
in processes of the practice of the system. Ideally, it is desirable for the judgmentof the error to be carried out in many timings. However, in that case, many sensors
are needed and it leads to disturb a workflow. Therefore it becomes important tobe judged by the most suitable timing in a little number of times. In this paper, anefficient timing of visual sensing in an error recovery is described.

Vision system
Manipulator

Manipulator

Objects

GS7-3 Hexapod Type MEMS Microrobot Equipped with an Artificial Neural Networks
IC
Kazuki Sugita, Taisuke Tanaka, Yuya Nakata, Minami Takato, Ken Saito, Fumio Uchikoba(Nihon University, Japan)
This paper proposes the hexapod type microrobot controlled by the artificial
neural networks. The silicon based structural component of microrobot is
produced by micro electro mechanical systems (MEMS). The rotary actuator isconstructed from the artificial muscle wire of shape memory alloy (SMA)
material. The actuator generates the locomotion of the microrobot by supplying
the electrical current to artificial muscle wires. The microrobot was controlled byusing artificial neural networks IC. The IC includes cell body models, inhibitory
synaptic models and current mirror circuits. In addition, the artificial neuralnetworks IC outputs the electric current whose pulse waveform. We installed thelead wires in the microrobot’s interior. When the driving circuit is equipped on
the MEMS microrobot, the internal placements of the lead wires reduced thewiring length, and achieved excellent weight balance and structurally stableperformance of the MEMS microrobot.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS7-4 Heat Distribution of Current Output Type Artificial Neural Networks IC for the
MEMS Microrobot
Taisuke Tanaka, Yuya Nakata, Kazuki Sugita, Minami Takato, Ken Saito, Humio Uchikoba(Nihon University, Japan)
Heat distribution of the artificial neural networks IC developed to driving circuitof microrobot were described in this paper. We previously constructed themicrorobot imitating the insects with micro electro mechanical systems (MEMS)
technology. The rotary actuator of MEMS microrobot is composed of shapememory alloy (SMA) based artificial muscle wires. The rotary motion is
generated by passing an electric current through artificial muscle wires. We
constructed artificial neural networks on IC chip as a driving circuit for the
MEMS microrobot. The current mirror circuits also constructed, for the actuator
is electric current driven type. The design rule of the IC was 4 metal 2 poly CMOS
0.35μm. We measured the heat distribution in the two types ICs having different
stage number of the current mirror circuits by thermography. In addition, we
examined heat generation mechanisms.

GS7-5 AGV with Mind and its production simulations for autonomous decentralized
FMSs
Masato Chikamatsu, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)
The autonomous decentralized FMS does not have a management mechanism
to integrate the entire system and each agent like Automated Guided Vehicles(AGVs) autonomously determine the acts by recognizing other agents. This
study controls AGVs moving by using a mind model in order to avoid AGVs’interference in an autonomous decentralized FMS. The mind model can avoid
the AGVs’ interference by repeating the two types of mind changes, the arrogant
mind and modest mind. AGV with the arrogant mind takes the action toapproach forcibly at the destination. AGV with the modest mind takes the action
to make way for other AGVs. By applying the mind to several FMSs, theproduction simulations were carried out. As a result, AGVs can avoid the pathinterference flexibly even if the shape of the production floor is changed and it
is ascertained that the mind model is able to control the AGV actions ofautonomous decentralized FMSs.

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AGV

achining Center

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS7-6 UNARM System to Decide Units Locations of Cell-type Assembly Machines with Robots
Arms
Hirotaka Moribe, Hidehiko Yamamoto and Takayoshi Yamada (Gifu University, Japan)
This study develops the system called Units-layout Nomination for Assemblywith Robot Mechanism (UNARM).UNARM assists a production engineers when
they design an assembly machine with a both arms robot. To design the assembly
machine, the engineers must decide the locations of parts and assembly jig (wecall them as units) which become the objects assembled in the assembly machine.
By using UNARM, every unit location can be automatically decided. To develop
UNARM, we adopt Reinforcement Learning as a key technology. UNARM’scharacteristics are not only to decide the units locations but also to incorporate
the both arms waiting time concept so that the both arms collisions do not occur.
We applied UNARM to the assembly machine for the inline motor of an electricvehicle. The machine has 8 units in total. After carrying out UNARM simulations,the assembly time was decreased and the usefulness of UNARM was ascertained.

GS8 Micro-Machines & Robotics II (3)GS8-1 Development of arm trajectory planning of Seamless Robot
Teedanai Pramanpol, Eiji Hayashi (Kyushu Institute of Technology, Japan)
This paper presents arm trajectory planning of Seamless Robot. The Seamless
Robot is a Human Support Robot (HSR) which is the ongoing developed projectat Hayashi Laboratory, this robot is consist of three main parts base, body andarms, this paper will focus on controlling arm movement. Each arm has been
designed with four degrees of freedom with a limitation of each joint is set tovalues close to a human arm. In order to solve for each joint angle the Levenberg
Marquardt method is used for solving the inverse kinematic problem forcalculating point to create a trajectory planning of robot`s arms. The result oftrajectory planning has been proven in simulation and compare with theexperimental result from the robot.

GS8-2 Localization Method of Autonomous Moving Robot for Forest Industry
Ayumu Tominaga, Eiji Hayashi( Kyushu Institute of Technology, Japan), T. Sasao(Meiji University., Japan)
In the past, the working time of labor was spent too much for the forest
management and maintenance. Particularly, survey of a forest and elimination of
weed plants place a huge burden on the workers. We would like to propose anautonomous moving robot, which has the weeding mechanism. The robot canachieve the large labor-saving of forest industry. In this study, we are developing
an autonomous moving robot for labor-saving of forest industry. Traditional
forest management and maintenance consumes excessive labor time. Particularly,
the survey and weeding in the forest place large labor burden on the workers.
Therefore, the robot which has the weeding mechanism can achieve to reduce theworkload. We installed a depth sensor into an all-terrain vehicle. The trajectory
path of the robot is determined from the obtained depth information. In addition,
we are using the Monte Carlo Localization for localize of the robot in the forest.
Experimental results that show the feasibility of an autonomous moving in thereal environment.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS8-3 Dynamic Modeling and Motion Control of an RRR Robotic Manipulator

Jinho Kim1, Kevin Chang1, Brian Schwarz1, Andrew S. Lee1, S. Andrew Gadsden1,2(1University of Maryland, USA) (2University of Guelph, Canada)This paper presents the dynamic modeling and motion control of a three-linkrobotic manipulator, also known as the RRR robot. The Kinect motion capturesystem by Microsoft is used in conjunction with the manipulator. Kinect is used
to capture the motion of a user’s arm and tracks certain angles made by parts of
the arm. We consider a pinhole camera model to generate reference angles as per
the Kinect model in our simulations. These desired angles are fed into thecontroller and are used by the RRR robot in an effort to copy the movement of
the user. A proportional-integral-divider (PID) controller is developed and applied
to the manipulator for improved trajectory tracking. The RRR robot manipulator
is dynamically modeled and the results of the proposed control strategy
demonstrate good trajectory following.

Fig 1. Configurationof the RRR robotic
manipulator.

GS9 Neuromorphic Robotic Systems (5)GS9-1 Development of Cloud Actions for Seamless Robot Using Backpropagation Neural
Network
Wisanu Jitviriya (King Mongkut’s University of Technology, Thailand)
Jiraphan Inthiam, Eiji Hayashi (Kyushu Institute of Technology, Japan)
This paper presents the cloud actions for a five DOF Seamless robotic arm using
the inverse kinematics solution based on artificial neural network (ANN).
Levenberg-Marquardt method is used in training algorithm. The desired positionand orientation of the end effector is defined as the input pattern of neuralnetwork. In addition, we propose the cloud actions which are the movement
patterns of the robotic arm. The cloud actions platform is created in order toperform the basic behaviors of the Seamless robot such as “Catch”, “Approach”,“Interest”, “Look around”, “Alert” and “Avoid” actions. Experimental results
show the suitable structure of artificial neural network used for solving theinverse kinematics equation, and the testing points in the robot’s workspace wereverified with the robotic arm.

GS9-2 Mathematical modelling of human fear and disgust emotional reactions based on skinsurface electric potential changes
Kristina Gaisina, Ruslan Gaisin (Kazan Federal University, Russia)
An appropriate numerical representation of neurotransmitters’ level allows
applying numerical methods for a study of psycho-emotional human reaction tovarious external stimuli, which could be further integrated into artificial life androbotic systems to reproduce human emotions and reactions. This paper deals
with skin surface electric potential data registration of a human while the humanis watching specially selected videos that are supposed to activate basic emotionsof fear and disgust. We describe the selected video materials and data logging
process and present human emotional reactions model, which was implemented
with numerical methods. We demonstrate experimental results for fear anddisgust psycho-emotional states that were obtained from 100 respondents. We
believe that our findings might be applied for conditional measuring of
neurotransmitters’ levels.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS9-3 Neuromorphic Robot Dream: A Spike Based Reasoning System
Alexander Toschev, Max Talanov, Salvatore Distefano (Kazan Federal University, Russia)
Alexander Tchitchigin (Innopolis University & Kazan Federal University, Russia)
Re-implementation of bio plausible processes in a real-time robotic
system is one of challenging problems. We propose a novel approach
for an integration of biologically plausible simulation of a mammalianbrain with a real-time/semi-real-time autonomous robotic systemusing metaphor of “wake” and ”dream” phases of a mammalian life.
During the “wake” phase the robotic system makes its decisions
applying a light-weight rule-based system and stores inbound sensory
information in a form of pseudo-neuronal activities. During the“dream” phase the “sleeping brain” plays-back the stored pseudoneural activities over a simulated spiking neural network and later via
the “reverse translation” translates the updated neuronal structuresin the form of light-weight rules of the robotic system. We call the
proposed architecture the “Robot dream”

GS9-4 Development of Behavioral Robot using Imitated Multiplex Neurotransmitters System
Saji Keita1, Wisanu Jitviriya2 and Eiji Hayashi1(1Kyushu Institute of Technology, Japan)
2( King Mongkut’s University of Technology, Thailand)This paper presents the design of robot’s behavior by using the Imitated Multiplex
Neurotransmitter system. The major neurotransmitter that consists of Dopamine,
Noradrenaline and Serotonin, which called monoamine neurotransmitter and it isrelated to motivation for behavior and feeling. The proposed system is based on
Wundt‘s three-dimensional theory of feeling. So, Dopamine is applied as acomfort dimension, Noradrenaline is defined as a tense dimension, Serotonin isconsidered as an energetic dimension. In our robot, three neurotransmitters are
generated in each of different factors and the motivation is calculated. Next, therobot’s motivation and some external information are classified into behavior andemotion by Self-Organizing Map learning. Finally, robot’s behavior and emotion
are decided by Markov’s stochastic model.

GS9-5 Nonlinear Estimation Strategies Applied on an RRR Robotic Manipulator
Jacob Goodman1, Jinho Kim1, Andrew S. Lee1, S. Andrew Gadsden1,2
1
University of Maryland, USA) 2niversity of Guelph, Canada)

Nonlinear estimation strategies are important for accurate and reliable control ofrobotic manipulators. This paper studies and compares two strategies known as
the extended Kalman filter (EKF) and the smooth variable structure filter (SVSF).
An overview of the two strategies, including their advantages and disadvantages,
are provided. The algorithms and pseudocode are also included. The EKF and
SVSF are applied to a dynamically modelled three-link (RRR) robotic
manipulator. The results of the paper demonstrate that the EKF provides goodstate estimates, however lacks robustness to modeling uncertainties anddisturbances. The SVSF provides sub-optimal estimates, yet is very robust to
uncertainties and disturbances. Suggestions for future estimation and robotics
research is also provided.

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Fig 2. Configurationof the RRR robotic
manipulator.

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS10 Reinforcement & Evolutionary Computations (4)GS10-1 The Optimized Function Selection Using Wolf Algorithm for Classification
Duangjai Jitkongchuen, Worapat Paireekreng (Dhurakij Pundit University, Thailand)
Several classification techniques have been widely explored during the past
decade. One of the novel approaches is Nature Based Algorithm. The focus of
Nature Based Algorithm mostly is related to selection the optimized functions for
self-learning. However, Some Nature Based Algorithms are suitable for generalsituation, some may be suitable for customized situation. This research proposes
the Featured-Wolf (F-Wolf) algorithm to optimize the function selection problem
in classification. The proposed algorithm applies the movement of a wolf andcharacteristics of wolves’ leaders which can be more than one leader in a pack.
Therefore, the pack can have more than one dominant leader which can help toselect the most optimized functions to selection the most relevant features in thedataset. The experiment shows the comparison among other popular Nature
Based Algorithms such as Ant Colony Optimization. The preliminary results
show that F-Wolf performs comparable results in terms of F-measure.

GS10-2 Tell Agent Where to Go: Human Coaching for Accelerating Reinforcement Learning
Nakarin Suppakun, Suriya Natsupakpon, Thavida Maneewarn(King Mongkut's University of Technology Thonburi, Thailand)
In this work, we proposed a method to accelerate learning by allowing a human
to coach a robot behavior by inserting an intermediate goal at the early phase of
the reinforcement learning. By using an intermediate goal, the different pair ofpolicy and reward function was temporarily used to select an action that most
likely to drive the robot toward the intermediate location, while the global reward
function is still used for updating the state-action value. Q learning algorithm wasused to test with the proposed method on three learning tasks: ball following,
obstacle avoidance, and mountain car. The proposed technique resulted in lessnumber of accumulated failed episodes than the traditional RL

GS10-3 Fall Risk Reduction for Elderly Using Mobile Robots Based on the Deep Reinforcement
Learning
Takaaki Namba (Nagoya University, Japan)
Slip-induced fall is one of the main factors causing serious fracture among theelderly. This paper proposes a deep learning based fall risk reduction
measurement by the mobile assistant robot for the elderly. First, we collectpreparatory data regarding past incidents and accidents data as input data to
analyze fall risks and to learn examples of risk reduction measurement. Second,
we use a deep convolutional neural network to analyze fall risks of elderly. Third,
we apply a deep reinforcement learning to control mobile robots and reduce slipinduced fall risks of elderly. Moreover, we evaluate the effect of risk reduction.
The results suggest that the applicability of our method to other cases of the falland other cases of accidents.

©ICAROB 2017 ALife Robotics Corp. Ltd.

- 97 -

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS11 Others (12)GS11-1 Clinical Evaluation of UR-System-PARKO for Recovery of Motor Function of Severe
Plegic Hand after Stroke
Hirofumi Tanabe (Shonan University of Medical Sciences, Japan)
Yoshifumi Morita (Nagoya Institute of Technology, Japan)
The first author has developed TANABE therapy for severe hemiplegic stroke
patients. In the therapy, he performed repeated facilitation training using his
hands on patients to help them recover their motor function and achieved a goodtreatment outcome. In this paper we developed a training system (UR-SystemPARKO) on the basis of TANABE therapy. The clinical test of the therapeutic
effect of the UR-System-PARKO was performed in severe plegic hand. As aresult, the active ranges of motion of finger extension were improved, andElectromyogram ignition increased after the training. Moreover, the Modified
Ashworth Scale scores of finger extension were increased. These results show theeffectiveness of the training by the UR-System-PARKO for recovery of motor
function for finger extension of the severe plegic hand.

GS11-2 A Piston Finger Device for Restoring the Motor Function of Chronic Plegic Fingers:
Analysis of the Piston Finger TechniqueMengsu Wang (Nagoya Institute of Technology: Nitech, Japan), Hirofumi Tanabe (Shonan University of
Medical Sciences, Japan), Kenji Ooka (Nitech, Japan), Yoshifumi Morita (Nitech, Japan)
The second author has developed Piston Finger Technique (PFT) for restoring
motor function of chronic plegic fingers and has achieved a good treatment
outcome, namely reduction of spasticity and improvement of muscle shortening.
In this paper, before developing a piston finger device (PFD) simulating the PFT,
we analyzed the PFT by the second author by using a motion capture system. The
patent's finger motion of a chronic plegic index finger was investigated when thepatient received two types of treatment based on the PFT. As a result, the rangesof motion of the proximal interphalangeal joint and the metacarpophalangeal jointof the index finger as well as the vibration width and frequency during treatment
were revealed. These results will be useful for developing a PFD in the near
future.

GS11-3 Verifying the Sleep-Inducing Effect of a Mother's Rocking Motion in Adults
Hiroaki Shibagaki, Keishi Ashida, Yoshifumi Morita (Nagoya Institute of Technology, Japan),
Ryojun Ikeura (Mie University, Japan) and Kiyoko Yokoyama (Nagoya City University, Japan)
In our previous study, from subjective experimental results, we have found that,of the ten types of rocking motions examined, the linear motion component of amother's rocking motion was the most effective rocking motion for inducing sleepin adults. This motion was referred to as the candidate rocking motion. In thisstudy, we confirmed that the candidate rocking motion was effective for inducing
sleep by using electroencephalogram analysis in comparison with the casewithout rocking motion. Moreover, we also compared the candidate rocking
motion and aromatherapy. As a result, in the case of aromatherapy theeffectiveness for inducing sleep varied between individuals. In the case of thecandidate rocking motion individual variation in the effectiveness was small. We
concluded that the candidate rocking motion was effective.

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS11-4 Design of Automated Real-Time BCI Application Using EEG Signals
Chong Yeh Sai, Norrima Mokhtar, Hamzah Arof, Masahiro Iwahashi(University of Malaya, Malaysia / Nagaoka University of Technology, Japan)
This study proposed a design of real time BCI application using EEG recording,pre-processing, feature extraction and classification of EEG signals. Recorded
EEG signals are highly contaminated by noises and artifacts that originate fromoutside of cerebral origin. In this study, pre-processing of EEG signals using
wavelet multiresolution analysis and independent component analysis is applied
to automatically remove the noises and artifacts. Consequently, features ofinterest are extracted as descriptive properties of the EEG signals. Finally,classification algorithms using artificial neural network is used to distinguish thestate of EEG signals for real time BCI application.

GS11-5 A Hybrid Simulated Kalman Filter - Gravitational Search Algorithm (SKF-GSA)
Badaruddin Muhammad, Zuwairie Ibrahim, Mohd Falfazli Mat Jusof (Universiti Malaysia Pahang, Malaysia)
Nor Hidayati Abdul Aziz, Nor Azlina Ab. Aziz (Multimedia University, Malaysia)
Norrima Mokhtar (University of Malaya, Malaysia)
In this paper, simulated Kalman filter (SKF) and gravitational search algorithm(GSA) are hybridized in such a way that GSA is employed as prediction operator
in SKF. The performance is compared using CEC2014 benchmark dataset. The
proposed hybrid SKF-GSA shown to perform better than individual SKF and
GSA algorithm.

GS11-6 Simulated Kalman Filter with Randomized Q and R Parameters
Nor Hidayati Abdul Aziz, Nor Azlina Ab. Aziz (Multimedia University, Malaysia)
Zuwairie Ibrahim, Saifudin Razali, Mohd Falfazli Mat Jusof (Universiti Malaysia Pahang, Malaysia)
Khairul Hamimah Abas, Mohd Saberi Mohamad (Universiti Teknologi Malaysia, Malaysia)
Norrima Mokhtar (University of Malaya, Malaysia)
Inspired by Kalman filtering, simulated Kalman filter (SKF) has been introduced
as a new population-based optimization algorithm. The SKF is not a parameterless algorithm. Three parameter values should be assigned to P, Q, and R, which
denotes error covariance, process noise, and measurement noise, respectively.
While analysis of P has been studied, this paper emphasizes on Q and R
parameters. Instead of using constant values for Q and R, random values are usedin this study. Experimental result shows that the use of randomized Q and R
values did not degrade the performance of SKF and hence, one step closer to therealization of a parameter-less SKF.

©ICAROB 2017 ALife Robotics Corp. Ltd.

- 99 -

Function 5

521.4

Original SKF
Random QR SKF

521.2

521

520.8

520.6

520.4

520.2

520

0

100

200

300

400

500

600

700

800

900

1000

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS11-7 Real Detection of 3D Human Hand Orientation Based Morphology
Abadal-Salam T. Hussain, Hazry D., Waleed A. Oraibi, M.S Jawad, Zuradzman M. Razlan, A. Wesam AlMufti, S. Faiz Ahmed, Taha A. Tah, Khairunizam WAN, Shahriman A.B(Universiti Malaysia Perlis, Malaysia)
This paper describes a new methodology to track a human hand movements in
3D space and estimate its orientation and position in real time. The objective of
this algorithm development is to ultimately using it in robotic spherical wrist
system application. This method involves image processing and morphology
techniques in conjunction with various mathematical formulae to calculate thehand position and orientation. The advantage of this technique is that, there is noneed for continuous camera calibration which is required in other conventional
methods in similar applications. The result of proposed method shows correctly
identifying a large number of hand movements and its orientations. The proposed
method could therefore be used with different types of tele operated robotic
manipulators or in other human-computer interaction applications. This method
is more robust and less computationally expensive, unlike other approaches thatuse costly leaning functions. The high performance is achieved duringexperiments testing because of its accurate hand movement identification and the
low computational load.

GS11-8 Multilevel Non-Inverting Inverter Based Smart Green Charger System©ICAROB 2017 ALife Robotics Corp. Ltd.

- 100 -

M/標準

M/標準

This paper discusses about the development of low cost efficient battery charging
system using PIC Microcontroller. The demand of efficient battery charging
system are going increase day by day, because of its usage in various applications
such as it use in Hybrid electric cars, PV solar electric generation system, otherenergy storage systems and many more. In this paper an efficient and costeffective battery charging system is presented that use buck-boost converter
topology. First, the software (PIC Programming) simulation is performed using
Micro C software and then hardware is developed and tested to check the
performance of the developed battery charger system. The efficiency of circuit is85.66% and it can be use in any battery charging application

Battery voltage (V)Abadal-Salam T. Hussain, Waleed A. Oraibi, Hazry D, Zuradzman M. Razlan, S. Faiz Ahmed, Taha A. Taha,
Khairunizam WAN & Shahriman AB (Universiti Malaysia Perlis, Malaysia)

Charging current (A)The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS11-9 Design A New Model of Unmanned Aerial Vehicle Quadrotor Using The Variation in The
Length of The Arm
Yasameen Kamil, D. Hazry, Khairunizam Wan, Zuradzman M. Razlan, Shahriman AB(Universiti Malaysia Perlis, Malaysia)
The direction of technological advancement toward autonomous aerial vehicle isincreased. As a consequence of this evolution, the quad rotor used to accomplish
a complex task in several fields. This paper presents the dynamic model of thisminiature aerial vehicle in altitude and new dynamic model for yaw attitude
movement, based on varying the arm length of quadrotor instead of varying the
speed of motors to obtain a rotation around z-axis. This achieved by fixed a
stepper motor in the arm of quadrotor to increase or decrease the length of thearm according to controller command for yawing movement. The controller
command achieved by design PID controller with specific parameters to maintainthe stability of the quadrotor in the flight path. The equipped energy to the motors
during flight and maneuvering is reduced by selecting the motors’ speed. The
MATLAB software code used to evaluate and presents the comparison between
the proposed and conventional quadrotor dynamic model. Simulation results
show the robustness performance of the proposed model due to the movement
around the z-axis with high system stability.

GS11-10 Development of Automatic Take Off and Smooth Landing Control System for
Quadrotor UAV
Syed. F. Ahmed (Universiti Kuala Lumpur, British Malaysian Institute, Malaysia
Universiti Malaysia Perlis, Malaysia)
D. Hazry (Universiti Malaysia Perlis, Malaysia)
Kushsairy Kadir (University Kuala Lumpur, British Malaysian Institute, Malaysia)
Abadal Salam T. Hussain, Zuradzman M. Razlan, Shahriman AB(Universiti Malaysia Perlis, Malaysia)
This paper covers the development of automatic takeoff and smooth landing
control system for UAV Quadrotor. This paper includes development, simulation,mathematical modeling and experimental results of flight test. In the developed
UAV model has a system to stabilize the quadrotor. Altitude stabilization inquadrotor make the quadrotor can perform take off and smooth landing perfectly
and can avoid crash during landing which was proved during experiment. Yaw,
pitch, and roll in quadrotor body is detected by gyro sensor when flying isbalanced by gyro sensor. Gyro sensor act as input that detect stabilization problem
and input data will be sent to microcontroller to make new output for quadrotor.

©ICAROB 2017 ALife Robotics Corp. Ltd.

- 101 -

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

GS11-11 Auto Pilot Ship Heading Angle Control Using Adaptive Control Algorithm
Abadal-Salam T. Hussain (Hazry D., S. Faiz Ahmed, Wail A. A. Alward, Zuradzman M. Razlan & Taha A.
Taha (Universiti Malaysia Perlis, Malaysia)
In this paper discussed about development of an auto pilot system for ships
using adaptive filter. Adaptive filter in the application of auto pilots for ships
is presented for controlling the ship such that it follows its predeterminedtrajectory. Due to random environmental effects such as wind speed or
direction and sea current, the path of the ship may alter. The objective of thisresearch is to investigate that whether proposed system will adapts to therandom changes and maintain the desired ship trajectory. The proposed auto
pilot system is developed using Least Mean Square algorithm (LMS)
adaptive filter. The performances of the system are analyzed based on
accuracy and computational times. MATLAB Simulink model tool is used
for execute the simulations of the auto pilot system for ships.

GS11-12 Classification of Hippocampal Region using Extreme Learning Machine
Muhammad Hafiz Md Zaini, Mohd Ibrahim Shapiai (Universiti Teknologi Malaysia)
Ahmad Rithauddin Mohamed (Hospital Kuala Lumpur)
Norrima Mokhtar (University of Malaya)
Zuwairie Ibrahim (Universiti Malaysia Pahang)
Important brain parts like hippocampal usually being manually segmented
by doctors. But with the introduction of hybrid between machine learning
along with neuroimaging technique, it has proved to shows some promising
results regarding on segmenting subcortical structures. However, it is known
that Extreme Learning Machine (ELM) is to be superior machine learningtechnique. This study will investigate on the usage of ELM to segment
hippocampal by using various hidden nodes configuration. This study also
will address on the usage of full image and region of interest (ROI) using
ELM. Bag of features is used as a feature extractor where it will segment
the hippocampal of the MRI in order to get its visual words. ELM will used
it to learn its feature. Results shows that with suitable hidden nodes, it could
achieve up to 100% performance on both cases for full image and ROI in
hippocampal segmentation.

©ICAROB 2017 ALife Robotics Corp. Ltd.

- 102 -

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

AUTHORS INDEX
Notation of session name
PS: Plenary Session IS: Invited Session, OS: Organized Session, GS: General Session,
Note: 33/90 = (page no. in Technical Paper Index) / (page no. in Abstracts)[A]
AB.

Shahriman.

GS11-7

38/99

GS11-8

38/99

GS11-938/

GS11-1039/

Abramov

Vitaly

GS6-1

20/

Abas

KhairulGS11-6

38/

AzakamiKenzoh

OS12-1

36/

Aziz

Nor

GS11-538/

GS11-6

38/

GS11-538/

GS11-638/

AzlinaAb.

Aziz

Nor Hidayati
Abdul

HamimahAfanasyev

Ilya

GS2-4

28/

[B]

Ahmed

S. Faiz

GS11-7

38/

Baba

Yuki

OS12-2

37/63

GS11-8

38/

Bai

Ning

OS16-824/

GS11-10

39/

Bai

Peng

OS16-423/

GS11-11

39/

Bian

Ce

OS15-1

22/

BuyvalAlexander

GS2-3

28/

AizawaYo

OS12-4

37/

Akhmetsharipov

RuslanGS6-1

20/

Al-Mufti

A. WesamGS11-738/

AlwardWail A. A.

GS11-11

39/

Chang

Hongxing

OS15-423/

Ando

Kazuaki

OS19-135/

Chang

Hsuan T.

OS2-4

20/

OS19-2

35/

Chang

Kevin

GS8-3

29/

[C]

Ando

Kensuke

OS20-527/

Chen

Hsin-Fu

OS3-4

19/

Aratani

Yoshiya

OS9-2

22/

Chen

Jian-Yuan

OS3-4

19/

Arof

Hamzah

GS11-438/

Chen

Mei-Yung

OS2-6

20/

Aruka

Yuji

OS8-3

32/

Chen

SiminiOS15-3

23/

Asada

Taro

OS5-1

21/

Chen

Yunju

OS18-4

34/

OS5-2

21/

Cheng

Yu

OS10-1

33/

OS5-3

21/

ChiangChang-Yun

OS3-4

19/

OS5-4

21/

Chikamatsu

MasatoGS7-5

24/

Asakawa

Shin

OS1-4

36/

ChikushiShota

OS22-330/

AshidaKeishiGS11-338/

Chin

Takaaki

GS1-1

31/

©ICAROB 2017 ALife Robotics Corp. Ltd.

- 103 -

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017
GS1-2

31/

GS6-2

21/

Fukushima

MihokoOS20-627/

Choi

Gyung-I

OS11-431/[G]

Christensen

David Johan

IS-3

19/

Gabdullin,

Aidar

GS2-4

28/

GadsdenS. Andrew

GS8-3

29/

GS9-5

28/

[D]
D.

Hazry

GS11-7

38/

GaisinRuslanGS9-2

27/

GS11-838/

Gaisina

Kristina

GS9-2

27/

GS11-938/

Galimova

Diana

GS6-1

20/

GS11-10

39/

Gao

CaixiaOS13-229/

GS11-1139/

Gavrilenkov

Mikhail

GS2-3

28/

Dad

Karam

OS11-331/

Godler

Ivan

OS7-1

25/40

Dai

FengzhiOS15-1

22/

Goodman

Jacob

GS9-5

28/

OS15-2

22/

Green

Ethan

OS9-5

22/

OS15-323/

Guo

Jr Hung

OS2-1

20/

27/

OS2-2

20/

OS2-5

20/

Yangguang

OS16-2

23/

Ha

Hyunuk

OS11-2

31/

Han

CongdaoOS16-323/

HanSeong Ik

OS11-2

31/

Han

Sumin

OS13-6

29/

Hanajima

Naohiko

GS6-4

21/

OS13-129/
35/

DeguchiChikashiOS20-6Distefano

Salvatore

GS9-3

Doi

ShunsukeOS19-435/

Du

Hongyue

OS15-4

23/

Du

Yao

GS3-3

36/

Guo

[H]

[E]
Elderton

Simon

GS2-1

[F]
Fauré

AdrienGS4-3

32/

FreundRudolf

OS17-435/

Hara

ShinyaOS19-4

Fu

Yu-Yi

OS3-2

19/

HaradaKensuke

GS7-1

Fu

Ziyi

OS13-229/

OS14-1

18/

Hashimoto

Masashi

OS8-2

32/

21/

Hattori

TetsuoOS19-135/

OS19-2

35/

GS7-2

Fujihira

Yoshinori

GS6-4

Fujii

Naoya

OS7-4

Fujimoto

Yoshiaki

OS4-1

30/

OS19-3

35/

OS4-4

30/

OS19-435/

OS18-1

34/

GS1-3

31/

Fukuchi

Kenji©ICAROB 2017 ALife Robotics Corp. Ltd.

Hayakawa- 104 -

Takuya

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017
Hayashi

Eiji

GS2-5

28/

[I]

GS2-6

28/

Ibrahim

GS6-3

21/

Zuwairie

GS8-1

GS11-538/

GS11-6

38/

GS11-12

39/

GS8-2

IiboshiAtsushi

OS20-6

27/

GS9-1

Ikeda

SatoshiOS21-1

37/

GS9-4

OS21-237/

OS21-3

37/

Hidaka

Shota

OS7-5

Higashijima

Shinichi

GS4-1

32/

IkeuraRyojunGS11-338/

HirataTakaomiOS12-3

37/63

Imai

YoshiroOS19-135/

Ho

Chian C.

OS3-4

19/

OS19-235/

Honda

Yuichiro

GS6-2

21/

OS19-335/

Hori

Masamichi

OS20-627/

OS19-435/

Horikawa

Yo

OS19-135/

Imaji

HiromuOS4-4

30/

OS19-235/

Inoue

Shinichi

GS3-1

35/

OS19-335/

InthiamJiraphan

GS9-1

Ishii

Kazuo

PS1

Horio

Yoshihiko

OS9-3

22/

Hou

Yawei

OS16-3

23/

OS7-1

Hsia

Kuo-Hsien

OS2-1

20/

OS7-4

OS2-4

20/

OS7-5

OS2-5

20/

OS7-6

25/40

Hu

XianghuiOS15-623/

OS22-1

Huang

Bo-KaiOS3-3

19/

OS22-330/

Huang

Yao-Shing

OS2-5

20/

OS22-4

30/

Huang

Yinuo

OS6-2

26/

IS-5

33/

Hung

Chien-Ming

OS2-2

20/

OS18-234/

Hung

Chung-Wen

OS2-4

20/

OS21-1

37/

OS3-3

19/

OS21-2

37/

OS3-5

19/

OS21-337/

GS11-738/

OS18-234/

OS21-137/

HussainAbadal Salam

Ito

Ito

Takao

TsutomuT.
GS11-838/

OS21-237/

GS11-1039/

OS21-337/

GS11-1139/©ICAROB 2017 ALife Robotics Corp. Ltd.

- 105 -

Itoh

HajimeGS6-4

21/

Iwahashi

Masahiro

GS11-438/

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017
Iwanaga

Saori

OS8-1

31/

OS6-6

[J]

Kato

Eiji

OS10-3

33/

Kato

Ryota

OS5-2

21/

Jawad

M.S

GS11-738/

Kawada

Kazuo

OS4-3

30/

Jia

HongyanOS16-624/

Kawakami

YusukeOS19-135/

OS16-724/

OS19-235/

OS16-824/

OS19-335/

OS19-4

35/

OS1-1

36/

OS1-3

36/

Jia

Jiao

OS13-3Jia

Weibo

OS16-8Jia

YingminOS13-324/

Kawamura

Yoji

OS13-529/

KawanoHiromichi

OS19-335/

OS14-318/

Khafizov

Murad

GS6-1

20/

OS14-4

18/

Kim

Jinho

GS8-3

29

GS9-5

28/

Jia

Yongnan

OS14-218/

Jiao

Hongwei

OS15-122/

KimuraKenji

OS22-330/

OS15-222/

Kinoshita

TakuyaOS4-2

30/

OS15-3

23/

Kita

Yoshihiro

OS6-2

26/

34/

Jitkongchuen

Duangjai

GS10-1

Jitviriya

Wisanu

GS9-1

OS6-4

GS9-4

OS6-5

Jusof

Mohd Falfazli

GS11-5

OS6-3

38/

Mat
GS11-6

Kitagawa

Kodai

GS6-5

21/

Ko

Chia-Nan

OS3-1

19/

OS3-2

19/

38/

[K]

26/

Kobayashi

Jun

GS1-3

31/

Kobayashi

Kunikazu

OS12-2

37/63

OS12-3

37/63

OS12-437/

Kadir

Kushsairy

GS11-10

KamadaHiroshi

OS20-2

Kamil

Yasameen

GS11-938/

Kobayashi

Ikuo

OS20-3

Kanai

Akihito

OS1-1

36/

Kobayashi

Toru

OS8-2

32/

Kang

Qijia

OS15-2

22/

KodamaYukariOS20-527/

Katayama

Tetsuro

OS6-1

OS20-6

27/

OS6-2

39/

26/

OS6-3
OS6-4

KodateAkihisa

OS8-2

32/

Kohno

Takashi

OS9-4

22/

26/

OS6-5

©ICAROB 2017 ALife Robotics Corp. Ltd.

Koiwai- 106 -

Kazushige

OS9-5

22/

OS4-1

30/

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017
OS4-4

30/

Liu

Qunpo

OS13-129/

Liu

Shilong

OS15-723/

OS15-823/

KokuboHarunaGS1-1

31/

KoyamaYoshihide

OS19-3

35/

Kubo

Masao

OS8-3

32/

Liu

Yun-xiang

OS16-5

23/

OS8-4

32/

Long

Yan

GS5-2

26/

Lund

HenrikIS-1

19/

KubotaMasashi

GS4-2

32/

Kugurakova

Vlada

GS6-1

20/

Kuremoto

TakashiOS12-1

36/

IS-2

18/

OS12-2

37/63

IS-3

19/

OS12-3

37/63

IS-4

Hautop[L]
La-

Chakhrit

GS3-2

Lushnikov

Alexei

GS6-1

Lynn

Nay Chi

OS20-3

20/

36/
[M]

orworrakhun
Lai

Li-Chun

OS3-2

19/

Ma

Yumei

OS14-518/

Lai

Yuan-Hao

OS2-4

20/

Mabu

ShingoOS12-136/

Lavrenov

Roman

GS2-4

28/

OS12-2

37/63

LeeAndrew S.

GS8-3

29/

OS12-3

37/63

GS9-5

28/

Madrigal

Omar Correa

GS6-1

20/

Magid

Evgeni

GS2-3

28/

GS2-4

28/

Lee

Ching-I

OS3-1

19/

Lee

JangmyungOS11-131/

OS11-2

31/

Mago

Shota

OS10-433/

OS11-431/

Maki

Toshitaka

OS8-2

32/

Lee

Min CheolOS11-3

31/

Man

Haifang

OS15-222/

Lee

Na-HyunOS11-131/

Maneewarn

ThavidaGS10-232/

Li

Bing-fen

OS21-537/

Mao

Wei-Lung

OS3-3

19/

Li

Bingh

OS22-1

OS3-5

19/

Li

Bo-Yi

OS2-3

20/

Masuda

Akito

GS6-2

21/

Li

Hefei

OS15-623/

MatsunoHiroshi

GS4-2

32/

Li

Long

OS15-2

22/

GS4-3

32/

Li

Qing

OS13-4Li

ShuxiaoOS15-4

Li

Xue

Liu

Bo

MatsunoSeigo

OS18-2

34/

23/

Mehta

Rajiv

OS18-234/

OS15-7

23/

MinamiYuji

OS18-134/

OS15-823/

Mitsuhashi

KoshiroOS20-527/

OS15-122/

OS20-627/©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017
Mitsumura

Kazuho

OS7-2

25/

GS7-2

OS7-3

Nagatomo

MakotoOS20-527/

MiyachiJunpeiOS5-5

22/

OS21-137/

Miyakawa

Nobuo

GS2-6

28/

OS21-237/

MizobeFutoshi

GS6-2

21/

Nagayoshi

MasatoGS2-1

28/

Mizukami

MasatoGS6-4

21/

Nakamura

Akira

GS7-1

24/

MohamedAhmad

GS11-12

39/

GS7-2

24/

GS1-2

31/

GS6-2

21/

Rithauddin

Nakamura

Go

MohamadMohd Saberi

GS11-638/

MokhtarNorrima

GS11-438/

NakaokaIori

OS18-434/

GS11-538/

Nakashima

TakahiroOS10-333/

GS11-638/

Nakata

Yuya

GS7-3

24/

GS11-12

39/

GS7-4

24/

MoribeHirotaka

GS7-6

24/

Namatame

Akira

OS8-1

32/56

Morie

Takashi

OS9-1

22/

Namba

Takaaki

GS10-3

34/

OS9-2

22/

NanamiTakuya

OS9-4

22/

34/

Nanjo

Takao

OS4-1

30/

Nassiraei

Amir Ali

OS7-1

25/40

GS3-2

36/

GS10-232/

OS21-437/

Morikawa

Katsumi

OS18-2Morimoto

Shogo

OS6-1

MoritaYoshifumi

GS11-1

38/

GS11-2

38/

GS11-338/

GS11-738/

Negishi

KanakoGS11-838/

Ning

XiaojunGS11-938/

NishidaYuya

GS11-1039/

GS11-1139/

Nishjima

Atsushi

OS7-6

M. Razlan

Zuradzman

ForoughNatsupakpong

SuriyaPS1
OS7-4

MuhammadBadaruddin

GS11-538/

Nishimura

KouheiOS5-1

21/

Mukaidani

Naohisa

GS4-1

32/

Nishita

Tomoyuki

PS2

33/

Mukunoki

MasayukiOS20-4

Niu

Cheng-shui

OS21-5

37/

Niu

Hong

OS15-523/

MasanaoOS12-136/

OS12-2

37/63

OS12-3

37/63

MuraokaYohei

OS20-6

27/

GS6-4

21/
[O]

[N]

Obayashi

NagaieTetsuyaOS8-2

NagataKazuyuki

GS7-1

32/

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017
Ogata

Kensuke

OS18-3

Ogata

Takashi

OS1-1

36/

OS1-2

36/

OS1-4

36/

OS1-5

36/

OgiharaHirokiOS20-4

Ohata

Makoto

GS6-4

Oka

Yuuki

Okada

Takahiro

GS6-3

OkazakiNaonobu

OS6-2

34/

Pramanta

OS9-1

22/

YiqiaoOS15-122/

OS15-323/

OS19-135/

OS19-2

35/

[Q]
Qin

21/

[R]
Rajapakse

21/

R. P. C.
Janaka

OS6-3
OS6-4

Dinda

26/

Razali

SaifudinGS11-6

38/

Ru

Yiwei

OS15-423/

Sai

Chong Yeh

GS11-438/

Sabirova

Leysan

GS2-4

28/

Saito

Keita

OS5-2

21/

Saito

Ken

GS7-3

OS6-5
Okazaki

Shogo

OS10-3

33/

[S]

Ojeda

Ismael Baira

IS-3

19/

Ono

JumpeiOS1-5Oo

Khine Khine

OS6-6

Ooka

Kenji

GS11-238/

OraibiWaleed A.

GS11-738/

GS11-8

38/

Saji

Keita

GS9-4

36/

GS7-4

Orima

Takemori

OS9-3

22/

Sakakibara

Kazutoshi

GS2-1

OswaldMarionOS17-435/

Sakamoto

MakotoOS18-2

34/

OuyangYuxing

OS15-122/

OS20-527/

OS15-323/

OS20-627/

OS21-137/

OS21-237/[P]
PachechoMoisésIS-3

19/

OS21-337/

Pagliarini

Luigi

IS-1

19/

OS21-537/

Paireekreng

Worapat

GS10-134/

OS10-133/

Pan

ZhenkuanOS14-518/

OS10-2

33/

Park

YousinOS18-434/

Sapaty

Peter

IS-5

33/

Phung

Nhuhai

OS8-4

32/

Sasao

T.

GS8-2

Phunopas

Amornphun

GS3-1

35/

Sato

Hiroshi

OS8-3

32/

Phyo

Cho Nilar

OS20-2

OS8-4

32/

Pramanpol

Teedanai

GS8-1©ICAROB 2017 ALife Robotics Corp. Ltd.

SakuraiSato- 109 -

Keiko

TakuyaOS6-5

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017
Schwarz

Brian

GS8-3

29/

Shapiai

Mohd

GS11-1239/

IbrahimOS21-2

37/
20/

Sun

Hsuan-Min

OS3-6

Sun

ShihaoOS13-3

Shibagaki

Hiroaki

GS11-338/

Suppakun

Nakarin

GS10-232/

Shibanoki

Taro

GS1-1

31/

Shuto

Daisuke

OS9-2

22/

GS1-2

31/

Suprapto

OS3-5

19/

GS6-2

21/

Suzuki

Michiyo

GS4-4

32/

Suzuki

YasuhiroOS17-135/

OS17-235/

OS17-335/

ShimadaRyoichi

OS5-4

21/

Si

Jikai

OS13-129/

Sirikayon

Chaloemphon

GS5-1

Soh

Zu

GS4-1

32/

SuzukiTakuo

OS12-4

37/

GS4-4

32/

Syoichizono

MisakiOS10-333/

Masayoshi

OS5-1

21/

OS5-2

21/

OS5-3

21/

OS5-4

21/

OS5-5

22/

Sokolov

Maxim

GS2-4

28/

Sonehara

Noboru

OS8-2

32/

Song

Binhu

OS15-2

22

Song

Yunzhong

OS14-1

18/

SonodaTakashi

PS1
OS7-1

[T]
Tabuse

25/40

OS7-6
OS22-1Su

Kuo-LanTachiyama

Hiroki

OS6-3

OS2-1

20/

TagawaShinya

OS18-1

34/

OS2-2

20/

Taguchi

Yu

GS6-5

21/

OS2-3

20/

Taha

Taha A

GS11-7

38/

OS2-5

20/

GS11-838/.

GS11-11

39/

Sugii

ManabuGS4-2

32/

Sugisaka

Masanori

IS-5

33/

TakagiTomohiko

OS6-1

GS3-3

36/

Takahashi

KatsuhikoOS18-2

34/

GS5-2

26/

Takasaki

ShiyunOS7-2

25/

OS16-123/

OS16-223/

OS16-323/

SugitaKazukiOS7-3
TakatoMinami

GS7-4

GS7-3

Takemura

Yasunori

GS7-4
Sun

Chongyang

GS7-3

OS22-2OS22-430/
37/

OS20-527/

Takeshita

Yuki

OS21-3OS21-1

37/

Talanov

Max

GS9-3

©ICAROB 2017 ALife Robotics Corp. Ltd.

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017
Tamaki

Hisashi

GS2-1

Tamukoh

HakaruOS9-1

TamuraTanabeHiroki

Hirofumi

GS4-1

32/

22/

GS4-4

32/

OS9-2

22/

GS6-2

21/

OS10-133/

Tsushita

Hiroaki

OS20-127/

OS10-233/

Tun

Hnin Thandar

OS6-6

OS10-333/

OS10-433/

OS10-533/

Yasuo

OS21-1

37/

GS11-138/

OS21-237/

GS11-2

38/

Uchihara

MasayukiOS10-533/

32/

Uchikoba

Fumio

GS7-3

TanakaHideakiGS4-3

TanakaTaisuke

GS7-3[U]Uchida

GS7-4

GS7-4

Ueda

Koji

OS4-4

30/

TanakaTakeshi

OS20-627/

Ura

Tamaki

PS1

Tanigawa

Yu

OS8-2

32/

Urata

Kiyohiro

OS8-2

32/

Taniguchi

Rie

OS17-1

35/

Utsunomiya

Koshi

OS7-2

25/

Tanno

KoichiOS10-133/

OS10-233/

OS10-433/[W]

OS10-533/

Wakahara

Toshihiko

OS8-2

26/

Wan

Khairunizam

GS11-7

38/

OS7-3

32/

TanoueSatoshiOS6-4

Tchitchigin

Alexander

GS9-3

GS11-838/

Thusaranon

Panita

GS5-1

GS11-938/

Tolu

SilviaIS-3

19/

OS13-1

29/

Tominaga

Moeko

OS22-430/

OS13-2

29/

Tominaga

Ayumu

GS8-2

OS13-6

29/

Tomonaga

Kenta

GS1-3

31/

OS14-118/

Tono

TetsuyaOS10-333/

Toriu

TakashiToschev

Wang

FuzhongWang

HongqiOS13-129/

OS20-2Wang

Jie

OS11-331/

Alexander

GS9-3

Wang

Jiwu

GS3-3

36/

Toya

Nobuyuki

GS6-5

21/

GS5-2

26/

Tsai

Tai-Huan

OS2-6

20/

Wang

Jun

GS2-2

TsuboiHarukaOS20-527/

Wang

MengsuGS11-2

Tsuji

Toshio

GS1-1

31/

Wang

Ping

OS14-4

18/

GS1-2

31/

Wang

Shanfeng

OS16-624/©ICAROB 2017 ALife Robotics Corp. Ltd.

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38/

The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017

Wang

Shunzhou

Watanabe

Keisuke

OS16-724/

OS20-627/

OS16-1

23/

GS7-5

24/

OS16-4

23/

GS7-6

24/

OS7-2

25/

OS4-1

30/

OS7-3

OS4-2

30/

OS7-5

OS4-3

30/

OS7-6

OS4-4

30/
28/

Weerakoon

Tharindu

OS7-1

Wei

Baochang

OS15-323/

Weng

Jian-Fu

OS2-3

20/

Wu

Hsien-Huang

OS3-6

20/

Yamamoto

Yamamoto

Hidehiko

Toru

YamanaSho

GS2-5

Yamanobe

Natsuki

GS7-1
GS7-2

Yamazaki

YoichiroP
Wu

XuyangOS16-824/

Wu

YongjunOS16-624/

OS16-7

24/

Yan

Mingmin

OS4-1

30/

OS4-4

30/

OS10-133/

OS10-233/

Yang

Shih-Jui

OS3-4

19/

Yano

Shinnosuke

OS21-137/

OS21-2

37/

[X]
Xin

Song

GS2-2

Yasukawa

Shinsuke

PS1

Xu

Shifang

OS16-123/

OS16-323/

Yeoh

Yoeng Jye

OS9-2

22/

OS22-1Xu

Wensheng

GS3-3

36/

Yokomichi

MasahiroOS20-6

27/

Xue

Wei

OS15-723/

Yokoyama

KiyokoGS11-338/

OS15-823/

Yoshinaga

TsunehiroOS21-137/

OS21-2

37/

OS5-1

21/

OS6-2

OS5-2

21/

OS6-3

OS5-3

21/

OS5-4

21/

OS13-529/

OS14-518/

Yan-Ting

OS3-3

19/

MuhammadGS11-12

39/[Y]
YamabaYoshitomi
Hisaaki

OS6-4

26/

OS6-5

Yu

YamadaSho

OS20-527/

YamadaTakayoshi

GS7-5

24/

GS7-6

24/

OS8-2

32/

Yamaguchi

AkihiroOS8-3
Yamamori

Kunihito

Yasunari

Yu

[Z]

32/

Zaini

OS6-6

©ICAROB 2017 ALife Robotics Corp. Ltd.

Jinpeng

Hafiz Md

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The 2017 International Conference on Artificial Life and Robotics (ICAROB2017), Seagaia Convention Center, Miyazaki,
Japan, January 19-22, 2017
Zhang

HongtaoOS15-2

22/

Zhang

Mei

OS15-723/

OS15-8

23/
23/

Zhang

Wei

OS16-5

Zhang

WeicunOS13-4

Zhang

Zhang

Yani

Yu-an

OS14-218/

OS16-123/

OS16-423/

OS21-137/

OS21-237/

OS21-5

37/

Zhang

Yuxi

GS2-2

Zhang

YuzhenOS13-4

Zhao

Huailin

OS16-123/

OS16-223/

OS16-323/

OS16-423/

OS13-5

29/

Zhao

Lin

OS14-5
Zheng

WenhaoOS14-318/

Zin

Thi Thi

OS20-127/

OS20-2OS20-3©ICAROB 2017 ALife Robotics Corp. Ltd.

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Japan, January 19-22, 2017

©ICAROB 2017 ALife Robotics Corp. Ltd.

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