ICAROB
2021
PROCEEDINGS OF THE 2021
INTERNATIONAL CONFERENCE
ON ARTIFICIAL LIFE AND ROBOTICS
January 21 to 24, 2021
On line26th AROB International Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-6-4

The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Japan, 2021

Contents
1

Organization, etc.

1

2

Messages12

34Time Table
Opening Ceremony

17
20

5

Technical paper index

21

6

Abstracts
PS abstracts
OS abstracts
GS abstracts

41
42
89

Authors index

100

7

6-1
6-2
6-3

©ICAROB 2021 ALife Robotics Corp. Ltd.

The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

SPONSERED
ALife Robotics Corporation Ltd.

ORGANIZED BYInternational Steering Committee of International Conference on Artificial Life and Robotics(ICAROB)SUPPORTED BYIEEE Fukuoka Section (Japan)

Higashihiroshima City (Japan)

CO-ORGANIZED BY
Chinese Association for Artificial Intelligence (CAAI, P. R. China)©ICAROB 2021 ALife Robotics Corp. Ltd.

1The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

ADVISORY COMMITTEE CHAIRS
Moshe Kam (New Jersy Institute of Technology, Former IEEE President, USA)
Kensuke Harada (Osaka University, Japan)
ADVISORY COMMITTEE
Adam Grzech (Wroclaw University of Technology, Poland)
Bruce Eisenstein (Drexel University, Former IEEE President, USA)
Hidenori Kimura (RIKEN & Wasada University, 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)
Ken-ichi Tanaka (Executive Fellow, Mitsubishi Electric Corporation, Japan)
Masato Nakagawa (Executive Fellow, DENSO CORPORATION, Visiting Professor of Hiroshima
University, 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)Peter Herczfeld (Drexel University, USA)
Steen Rasmussen (University of Southern Denmark, Denmark)Zengqi Sun (Tsighua Univesity, P. R. China)
GENERAL CHAIR
Masanori Sugisaka(Alife Robotics Corporation Ltd., Japan)(Visiting Professor, The Open University (UK))
CO-GENERAL CHAIRS
Yingmin Jia (Beihang Univesty, P. R. China)
Takao Ito (Hiroshima University, Japan)
Ju-Jang Lee (Honorary professor, KAIST, Korea)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

VICE GENERAL CHAIR
Ang, Chun Kit (University of UCSI, Malaysia)
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 Juhari (University of UCSI, Malaysia)
PROGRAM CHAIRMAN
Makoto Sakamoto (University of Miyazaki, Japan)
CO-PROGRAM CHAIR
Marion Oswald (Technische Universität Wien, Austria)
INTERNATIONAL ORGANIZING COMMITTEE
Akira Fukuda (Kyushu University, Japan)
Akira Nakamura (AIST, Japan)
Akinori Abe (Chiba University, Japan)
Andrew Gadsden (University of Guelph, Canada)
Caoli Wang (University of Shanghai for Science and Technology, P. R. China)
Chan Gook Park (Seoul National University, Korea)
Eiji Hayashi (Kyushu Institute of Technology, Japan)
Evgeni Magid (Kazan Federal University, Russia)
Fuzhong Wang (Henan Polytechnic University, P. R. China)
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)
Jovana Jovic (CNRS-AIST JRL, Japan, France)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Katsunori Shimohara (Doshisha University, Japan)
Kazuo Ishii (Kyushu Institute of Technology, Japan)
Kenichi Tanaka (Nagasaki Institute of Applied Science, Japan)
Kenji Hashimoto (Waseda University, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

Kevin Voges (Canterbury University, New Zealand)
Kunikazu Kobayashi (Aichi Prefectural University, Japan)
Kuo-Hsien Hsia (Far East University, Taiwan)
Kuo-Lan Su (National Yunlin University of Science and Technology, Taiwan)
Kyungho Park (U.S. ARMY, Japan and USA)
Masao Kubo (National Defense Academy of Japan, Japan)
Masanao Obayashi (Yamaguchi University, Japan)
Maxim Sokolov (Innopolis University, Russia)
Mehta Rajiv (New Jersey Institute of Technology, USA)
Minoru Kumano (University of Miyazaki, Japan)
Peter Sapaty (Ukrainian Academy of Science, Ukraine)
Pierre Parrend (University of Strasbourg, France)
Qiang Cai (Beijing Technology and Business University, P. R. China)
Qu Yanbin (Harbin Institute of Technology, P. R. China)
Shin Jisun (Pusan National University, Korea)
Singo Mabu (Yamaguchi University, Japan)
Takashi Kohno (The University of Tokyo, Japan)
Takashi Ogata (Iwate Prefectural University)
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)
Toshihro Inukai (DENSO WAVE INCORPORATED, Japan)
Victor Berdonosov (Komsomolsk-on-Amur State University of Technology, Russia)
Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Yi Chai (Chongqing University, P. R. China)
Yoshifumi Morita (Nagoya Institute of Technology, Japan)
Yoshiro Imai (Kagawa University, Japan)
Zengqiang Chen (Nankai University, P. R. China)
INTERNATIONAL PROGRAM COMMITTEE
Abdul Rahman bin Dullah (Universiti Teknikal Malaysia Melaka, Malaysia)
Akinori Abe (Chiba University, Japan)
Akira Utsumi (The University of Electro-Communications, Japan)
Akihiro Yamaguchi (Fukuoka Institute of Technology, Japan)
Akihito Kanai (Hosei University, Japan)
Ali Selamat (University of Technology of Malaysia, Malaysia)
Aminurafiuddin bin Zulkifli (Multimedia University, Malaysia)
Amornphun Phunopas (King Mongkut’s University of Technology, North Bankok, Thailand)
Andre Rosendo (ShanghaiTech University, P. R. China)
Anne Jeannin-Girardon (University of Strasbourg, France)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

Anton Shiriaev (Norwegian University of Science and Technology, Norway)
Artur Sagitov (Kazan Federal University, Russia)
Ashi Gautam (The University of Tokyo, Japan)
Atsuya Tange (The University of Tokyo, Japan)
Ayumu Tominaga (Kyushu Institute of Technology, Japan)
Bin Zhang (Beijing University of Posts and Telecommunications, P. R. China)
Cecilia Zanni-Merk (INSA-Rouen, France)
Chaoli Wang (University of Shanghai for Science and Technology, P. R. China)
Chia-Nan Ko (Nan kai University of Technology, Taiwan)
Chung-Wen Hung (National Yunlin University of Science & Technology, Taiwan)
Congdao Han (Shanghai Institute of Technology, P. R. China)
Cui Zhang (Beihang University, P. R. China)
Cynthia Matuszek (University of Maryland, USA)
Donglian Qi (Zhejiang University, P. R. China)
Dongmei Ai (Universty of Science and Technology Beijing, P. R. China)
Duangiai Jitkongchuen (Dhurakij Pundit University, Thailand)
Dunwei Gong (China University of Mining and Technology, P. R. China)
Jiao Jia (Beihang University, P. R. China)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Endra Joelianto (Bandung Institute of Technology, Indonesia)
Fabio Guigou (University of Strasbourg, France)
Fei Hao (Beihang University, P. R. China)
Fuzhong Wang (Henan Polytechnic University, P. R. China)
Haibo Li (Royal Institute of Technology, Sweden)
Haisheng Li (Beijing Technology and Business University, P. R. China)
Haruhisa Okuda (Mitsubishi Electric Corporation, Japan)
Haruka Tsuboi (The University of Miyazaki, Japan)
Haruna Matsushita (Kagawa University, Japan)
Heeje Kim (Pusan National University, Korea)
Hidetsugu Suto (Muroran Institute of Technology, Japan)
Hiroyuki Iizuka (Osaka University, Japan)
Hongbo Li (Tsinghua University, P. R. China)
Hongji Ma (Shandong University of Science and Technology, P. R. China)
Hongjiu Yang (Yanshan University, P. R. China)
Hongpeng Yin (Chongqing University, P. R. China)
Hussein Abbass (University of New South Wales, and ADFA, Australia)
I-Hsien Liu (National Cheng Kung Univrsiity, Taiwan)
Ilya Afanasyev (Innopolis University, Russia)
Istvan Harmati (Budapest Institute of Technology and Economics, Hungary)
Ivan Tanev (Doshisha University, Japan)
Jiandong Zhao (Beijing Jiaotong University, P. R. China)
JJ Merelo (University of Granada, Spain)
Joono Cheong (Korea University, Korea)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

Julio Navarro Lara (University of Strasbourg, France)
Jun Kobayashi (Kyushu Institute of Technology, Japan)
Jung-Shian Li (National Cheng Kung University, Taiwan)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Keiji Kamei (Nishinippon Institute of Technology, Japan)
Keisuke Watanabe (Tokai University, Japan)
Keita Honda (Gifu University, Japan)
Ke Zhang (Chongqing University, P. R. China)
Kenichi Tanaka (Nagasaki Institute of Applied Science, Japan)
Kensuke Ogata (Osaka City University Japan)
Khairul Salleh bin Mohamed Sahari (Universiti Tenaga Nasional, Malaysia)
Khoyratee Farad (The University of Tokyo, Japan)
Kouichi Takeuchi (Okayama University, Japan)
Konstantin Yakovlev (Russian Academy of Sciences, Higher School of Economics, Russia)
Kui Xiang (Wuhan University of Technology, P. R. China)
Leonid Freidovich (Umea University, Sweden)
Levi Timothée (The University of Tokyo, Japan)
Liming Chen (Beihang University, P. R. China)
Lin Li (University of Shanghai for Science and Technology, P. R. China)
Lin Zhao (Qingdao University, P. R. China)
Mamoru Yoshimura (The University of Miyazaki, Japan)
Manabu Yamada (Nagoya Institute of Technology, Japan)
Masahide Ito (Aichi Prefectural University, Japan)
Masahiro Ushio (Kyushu Institute of Technology, Japan)
Masahiro Yokomichi (The University of Miyazaki, Japan)
Masamichi Hori (The University of Miyazaki, Japan)
Masanori Takahashi (Tokai University, Japan)
Masayoshi Kano (Chukyou University, Japan)
Masayoshi Tabuse (Kyoto Prefectural University, Japan)
Masaomi Hatakeyama (university of Zurich, Switzerland)
Max Talanov (Kazan Federal University, Russia)
Meng Duan (Beihang University, P. R. China)
Moeko Tominaga (Kyushu Institute of Technology, Japan)
Mohammad Al-Shabi (University of Sharjah, United Arab Emirates)
Mohammad Biglarbegian (University of Guelph, Canada)
Mou Chen (Nanjing University of Aeronautics and Astronautics, P. R. China)
Nan Xiao (Northeastern University at Qinhuangdao, P. R. China)
Nicolas Monmarché (university of Tours, France)
Noriaki Kuwahara (Kyoto Prefectural University, Japan)
Noritaka Sato (Nagoya Institute of Technology, Japan)
Norrima Mokhtar (University of Malaya, Malaysia)
Palakorn Tantrakool (King Mongkut’s Institute of Technology, North Bankok, Thailand)
Ping Wang (North China Electric Power University, P. R. China)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

Pierre David (University of Strasbourg, France)
Pierre Willaume (University of Strasbourg, France)
Rizauddin bin Ramli (Universiti Kebangsaan Malaysia, Malaysia)
Roman Lavrenov (Kazan Federal University, Russia)
Ruztamreen bin Jenal (Universiti Teknikal Malaysia Melaka, Malaysia)
Ryohei Anshi (Kyushu Institute of Technology, Japan)
R.K.P.S. Ranaweera (University of Moratuwa, Sri Lanka)
Satoshi Ikeda (The University of Miyazaki, Japan)
Sanjay S. Joshi (University of California, USA)
Seong-Ik Han (Pusan National University, Korea)
Shahriman Abu Bakar (Universiti Malaysia Perlis, Malaysia)
Shanbi Wei (Chongqing University, P. R. China)
Shihao Sun (Beihang University, P. R. China)
Shin-ichi Asakawa (Tokyo Woman's Christian University, Japan)
Shin Wakitani (Hiroshima University)
Shumin Fei (Southeast University, P. R. China)
Shyi-Ming Chen (National Taichung University of Education, Taiwan)
Stephen Wilkerson (York College of Pennsylvania, USA)
Takashi Kuremoto (Yamaguchi University, Japan)
Takayoshi Yamada (Gifu University, Japan)
Takuya Fuginaga (Kyushu Institute of Technology, Japan)
Takuya Nanami (The University of Tokyo. Japan)
Taishiro Kishimoto (Keio University, Japan)
Taisuke Akimoto (Kyushu Institute of Technology, Japan)
Takashi Iwamoto (Mitsubishi Electric Corporation, Japan)
Tarik bin Abd Latef (Universiti Malaya, Malaysia)
Taro Shibanoki (Ibaraki University, Japan)
Teruhisa Hochin (Kyoto Prefectural University, Japan)
Tetsuro Katayama (The University of Miyazaki, Japan)
Thomas Noel (University of Strasbourg, France)
Thunyaseth Sethaput (Thammasat University, Thailand)
Tianping Zhang (Yangzhou University, P. R. China)
Tomohiko Takagi (Kagawa University, Japan)
Toru Hiraoka (University of Nagasaki, Japan)
Toshihiro Inukai (DENSO Wave Incorporated, Japan)
Toshinori Nawata (Kumamoto National College of Technology, Japan)
Tsunehiro Yoshinaga (Tokuyama National College of Technology, Japan)
Ussath Martin (The University of Potsdam, Germany)
Wan Khairunizam Wan Ahmad (Universiti Malaysia Perlis, Malaysia)
Weicun Zhang (University of Science and Technology Beijing, P. R. China)
Wenhao Zheng (Beihang University, P. R. China)
Wenlin Li (Beihang University, P. R. China)
Wisanu Jiviriya (King Mongkut’s University of Technology North Bankok, Thailand)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

Xiaocan Wang (Technical University Munich, Germany)
Xiaofeng Su (Beijing Institute of Astronautical Systems Engineering, P. R. China)
Xiaoyan Chen (Tianjin University of Science and Technology, P. R. China)
Xiaoyan Fu (Capital Normal University, P. R. China)
Xuemei Ren (Beijing Institute of Technology, P. R. China)
Xuhui Lu (Beihang University, P. R. China)
Yan Cui (Shanxi Normal University, P. R. China)
Yasunori Takemura (Nishinippon Institute of Technology, Japan)
Yo Horikawa (Kagawa University, Japan)
Yongqiang Qi (China University of Mining and Technology, P. R. China)
Yoshihiro Kita (Tokyo Institute of Technology, Japan)
Youji Kawamura (Kindai University, Japan)
Yu-an Zhang (Qinghai University, P. R. China)
Yue Lin (Beijing Institute of Control Engineering, P.R. China)
Yueqian Liang (China Academy of Elecronics and Information Technology, P. R. China)
Yuji Minami (National Institute of Technology, Ube College, Japan)
Yunju Chen ((Shiga University, Japan)
Yunzhong Song (Henan Polytechnic University, P. R. China)
Zacharie Mbaitiga National Institute of Technology, Okinawa College, Japan)
Zakri bin Ghazali (Universiti Malaysia Pahang, Malaysia)
Zengqiang Chen (Nankai University, P. R. China)
Zhao Peng (Huazhong University of Science and Technology, P. R. China)
Zhengquan Yang (Civil Aviation University of China, P. R. China)
Zhongxin Liu (Nankai University, P. R. China)
Zuradzman bin Mohamad Razlan (Universiti Malaysia Perlis, Malaysia)
LOCAL ARRANGEMENT COMMITTEE
Makoto Sakamoto (University of Miyazaki, Japan)
Masanori Sugisaka (ALife Robotics Corporation Ltd., Japan)
Takao Ito (Hiroshima University, Japan)
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©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

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. We
also expect to establish an international research institute on Artificial Life and Robotics in the futurewith the help of Japanese Government and ICAROB. This conference 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
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©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

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 inthe field of artificial life and robotics©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

COPYRIGHTS
Accepted papers will be published in the proceeding of The 2021 International Conference on
Artificial Life and Robotics (ICAROB2021) 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 Journal of Robotics, Networking and Artificial Life &Journal of Advances in Artificial Life Robotics 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.
4-Go, 8-Ban, Higshi 2Cyome, Handadai, Oita 870-1108, JAPANTEL/FAX：+81-97-597-7760
E-MAIL：icarob@alife-robotics.co.jp
Home Page：https://alife-robotics.co.jp/©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

MESSAGES
Masanori Sugisaka
General Chair of ICAROB

Masanori Sugisaka
General Chair(President, ALife Robotics Co.,
Ltd., Japan)(Visiting Professor, The Open
University, UK)©ICAROB 2021 ALife Robotics Corp. Ltd.

It is my great honor to invite you all to The 2021 International Conference on
Artificial Life and Robotics (ICAROB 2021). This Conference is changed as theold symposium from the first (1996) to the Eighteenth (2013) annually whichwere organized by Oita University and ALife Robotics Corporation Ltd.
under the sponsorship 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 like to express my sincere thanks to not only
Monkasho (annually fund support from 1996 to 2013) but also JSPS, theCommemorative Organization for the Japan World Exposition (’70),
Japanese companies for their repeated support
The old symposium was organized by International Organizing Committee of
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 ICAROB2014(The 2014
International Conference on Artificial Life and Robotics, included a seriesof ICAROB proceedings in SCOPUS and CPCI-Web of Science now. From
now on, ALife Robotics Corporation Ltd. is in charge of management. This
year we have The 2021 International Conference on Artificial Lifeand Robotics (ICAROB2020) (26th AROB Anniversary). The future of
The ICAROB is brilliant from a point of view of yielding new technologies
to human society in 21st century. I hope that fruitful discussions andexchange of ideas between researchers during Conference (ICAROB2021)
will yield new merged technologies for happiness of human beings and,hence, will facilitate the establishment of an international joint research
institute on Artificial Life and Robotics in future.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

Yingmin Jia

Yingmin Jia
Co-General Chair

Yingmin Jia
Co-General Chair(Professor, Beihang University,
R .P. China)©ICAROB 2021 ALife Robotics Corp. Ltd.

Co-General Chair of ICAROB
It is my great pleasure to invite you to The 2021 International Conferenceon Artificial Life and Robotics (ICAROB 2021), in Higashi Hiroshima Arts &Culture Hall Kurara, Hiroshima, Japan from January 21-24, 2021.
ICAROB develops from the AROB that was created in 1996 by Prof.
Masanori Sugisaka and will celebrate her 26th birthday in 2021. So far
many important results have been presented at the past meetings andhave a profound impact on artificial life and robotics. Doubtless, it is reallyone of the most famous international conferences in the field of artificial
intelligence and attract wide interests among scientist, researchers, andengineers 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 on line and wishing you enjoy
your stay in on line.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

Takao Ito
Co General Chair of ICAROB

Takao Ito
Co-General Chair(Professor Hiroshima
University, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

It is my great honor to invite you all to the 2021 International Conferenceon Artificial Life and Robotics (ICAROB 2021), to the wonderful city ofHigashi-Hiroshima, Hiroshima Prefecture, Honshu Island, Japan.
The ICAROB has its long history. First launched in 1996 as ISAROB, thisformer organization of ICAROB, was developed under the strong leadershipand yeoman efforts of the President—the internationally famous Professor
Masanori Sugisaka, who is widely acknowledged as the father of AROB. Ourconference has brought together many research scholar, faculty members,
and graduate students from all over the world, and published many
manuscripts in high-quality proceedings as well as highly-reputed journals
every year.
Over the years, dramatic improvements have been made in the field ofartificial life and its applications. ICAROB has provided a foundation forunifying the exchange of scientific information on the study of man-madesystems that exhibit the behavioral characteristics of natural living systems,
including software, hardware and 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, innovative ideas, and valuable information about artificial
intelligence, complex systems theories, robotics, and management oftechnology.
The conference is on line. I eagerly look forward to personally meeting you
in on line, during the ICAROB 2021 and to sharing a most pleasant,interesting and fruitful conference with you. Do come and make thisconference a fruitful, productive as well as enjoyable event.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

Ju-Jang Lee
Co-General Chair of ICAROB

Ju-Jang Lee
Co-General Chair(Honorary professor, KAIST)©ICAROB 2021 ALife Robotics Corp. Ltd.

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 8th ICAROB 2021
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 8th
ICAROB.
I’m looking forward to meeting you at the 8th ICAROB in on line andwishing you all the best.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

GENERAL SESSION TOPICS
GS1 Chaos & Application (4)GS2 Image & Signal Processing 1 (4)GS3 Image & Signal Processing 2 (3)GS4 Image & Signal Processing 3 (3)GS5 Genetic Algorithms & Robotics 1 (3)GS6 Robotics 1 (4)GS7 Robotics 2 (4)GS8 Medical Data Processing (6)ORGANIZED SESSION TOPICS
OS1 Human-Machine Interface Application (4)OS3 Robot Control (9)OS2 Media Information Processing, Music
Recommendation and Artificial Intelligence (4)OS4 Intelligent UAV and Systems (3)OS5 Advanced Information Processing Applications (6)OS6 Intelligent Control (6)OS7 Information Applications and Security (5)OS8 Intelligent Systems and Control (5)OS9 Intelligent Systems and Life (7)OS11 Robotic Manipulation (3)OS10 Advanced Control Systems and Signal Processing(7)
OS12 System and Control (18)OS13 Intelligent Systems and Robotics (14)OS14 Image Processing (4)OS15 Bridging the Gap Between AI, Cognitive Science,and Narratology (7)OS17 Robotics and machine vision (3)OS16 Software Development Support Method (5)OS19 Artificial Intelligence for Embedded Systems andRobotics (4)OS21 Educational Application of Control Technology(4)
OS23 Advances in Field Robotics and Their
Applications (6)OS20 Virtual Reality and Intelligence Interactions (3)©ICAROB 2021 ALife Robotics Corp. Ltd.

OS18 Natural Computing (3)OS22 Robot Competitions and Education (5)OS24 Mathematical Informatics (5)16The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

1/21(Thu.)

Group meeting for the conference (ZOOM ID: 984 9796 8944)

1/22(Fri.) – 1/24(Sun.)ICAROB Secretariat

1/24(Sun)Group meeting for the next conference (ZOOM ID: 914 3254 0230)

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

Meeting Room 1(ZOOM ID: 993 2436 1751)

Meeting Room 2(ZOOM ID: 986 1953 6512)

8:409:00-10:00

Meeting Room 3(ZOOM ID: 984 4367 9770)

Registration
OS19 Artificial Intelligence forEmbedded
Systems
andRobotics (4)Chair: Hakaru Tamukoh

OS21 Educational Application ofControl Technology (4)Chair: Kazuo Kawada

GS2 Image & Signal Processing 1(4)
Chair: Tohru Kamiya

10:00-10:20

Coffee break

10:20-10:50

Opening Ceremony (ZOOM ID: 925 6396 7074)

11:00-12:00

Chair: Takao Ito
Plenary Speech PS1 (ZOOM ID: 966 3705 6919)
Kazuo Ishii
Lunch

12:00-13:00
13:00-14:15

OS2 Media Information
Processing, Music
Recommendation and Artificial
Intelligence (4)Chair: Chair: Yasunari Yoshitomi

OS8 Intelligent Systems andControl (5)Chair Chung-Wen Hung

14:15-15:15
15:15-17:00

Meeting Room 4(ZOOM ID: 971 5454 5491)

OS24 Mathematical Informatics(5)
Chair: Takao Ito

GS5 Genetic Algorithms &Robotics 1 (3) Chair: Hideyuki
TanakaGS3 Image & Signal Processing
2 (3)Chair: Keiko Sakurai

Coffee break
OS9 Intelligent Systems and Life
(7)
Chair: Kuo-Hsien Hsia

©ICAROB 2021 ALife Robotics Corp. Ltd.

OS10 Advanced Control
Systems and Signal Processing(7)
Chair: Takuya Kinoshita

17

OS15 Bridging the Gap Between
AI,
Cognitive
Science,andNarratology (7)Chair: Jumpei Ono

OS23 Advances in Field Robotics
and Their Applications (6)Chair: Keisuke Watanabe

The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

TIME TEBLE (1/23)
1/23(Sat.)

Meeting Room 1(ZOOM ID: 993 2436 1751)

Meeting Room 2(ZOOM ID: 986 1953 6512)

8:409:00-10:15

Meeting Room 3(ZOOM ID: 984 4367 9770)

Registration
OS14 Image Processing (4)Chair: Joo Kooi Tan

OS16 Software Development
Support Method (5)Chair: Tetsuro Katayama

OS22 Robot Competitions andEducation (5)Chair: Yasunori Takemura

10:15-11:00

Coffee break

11:00-12:00

Chair: Masayoshi Tabuse
Plenary Speech PS2 (ZOOM ID: 912 8494 3957)
Yasunari Yoshitomi

12:00-13:00

Lunch

13:00-14:30

OS5 Advanced Information
Processing Applications (6)Chair: Toru Hiraoka

OS6 Intelligent Control (6)Chair: Yingmin Jia

14:30-15:30
15:30-16:45

Meeting Room 4(ZOOM ID: 971 5454 5491)

OS7 Information Applications
and Security (5)Chair: Kuo-Hsien Hsia

GS6 Robotics 1 (4)Chair: Noritaka Sato

GS1 Chaos & Application (4)Chair: Masato Nagayoshi

Coffee breakOS11 Robotic Manipulation (3)Chair: Kensuke Harada©ICAROB 2021 ALife Robotics Corp. Ltd.

OS17 Robotics and machine
vision (3)Chair: Jiwu Wang

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OS18 Natural Computing (3)Chair: Marion Oswald

GS8 Medical Data Processing(6)
Chair: Shingo Mabu

The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

TIME TABLE (1/24)
1/24(Sun.)

Meeting Room 1(ZOOM ID: 993 2436 1751)

Meeting Room 2(ZOOM ID: 986 1953 6512)

8:409:00-9:45

OS4 Intelligent UAV and
Systems (3)Chair: Young Im Cho

GS4 Image & Signal Processing
3 (3)Chair: Taro Shibanoki
Coffee break

OS3 Robot Control (9)Chair: Yizhun Peng

OS13 Intelligent Systems andRobotics (14)Chair: Fengzhi Dai

OS20 Virtual Reality andIntelligence Interactions (3)Chair: R.P.C. Janaka Rajapakse
Lunch

OS3 Robot Control (9)Chair: Yizhun Peng

OS12 System and Control (18)Chair: Huailin Zhao (18)OS1 Human-Machine Interface
Application (4)Chair: Norrima Mokhtar

12:00-13:00
13:00-14:15

Meeting Room 4(ZOOM ID: 971 5454 5491)

Registration

9:45-11:00
11:00-12:00

Meeting Room 3(ZOOM ID: 984 4367 9770)

Group meeting for the next conference (15:00-15:30) (ZOOM ID: 914 3254 0230)©ICAROB 2021 ALife Robotics Corp. Ltd.

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GS7 Robotics 2 (4)Chair: Wisanu Jitviriya

The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

The 2021 International Conference on
ARTIFICIAL LIFE AND ROBOTICS(ICAROB2021)
January 21 (Thursday)
17:30-19:30

Group meeting for the conference (ZOOM ID: 984 9796 8944)

January 22 (Friday)
10:20-10:50

Opening Ceremony (ZOOM ID: 925 6396 7074)

Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
Welcome Addresses
1. General Chairman of ICAROB
2. Co-General Chairman of ICAROB
3. Co-General Chairman of ICAROB
4. Co-General Chairman of ICAROB

Masanori Sugisaka (ALife Robotics Co., Ltd., Japan)
Yingmin Jia (Beihang University, China)
TaKao Ito (Hiroshima University, Japan)
Ju-Jang Lee (KAIST, Korea)

January 23 (Saturday)
Banquet: on line (ZOOM ID: 971 4311 0144)

18:30-20:30
Chair: Takao Ito (Hiroshima University, Japan)
Welcome Addresses
Prof. Yingmin Jia (Beihang University, China)
Prof. Ju-Jang Lee (KAIST, Korea)
Prof. Jangmyung Lee (Pusan National University, Korea)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

TECHNICAL PAPER INDEXJanuary 22 (Friday)
8:40-Registration

Conference Room:
10:20-10:50 Opening Ceremony (ZOOM ID: 925 6396 7074)
Chair: Tetsuro Katayama (The University of Miyazaki, Japan)
11:00-12:00 (ZOOM ID: 966 3705 6919)
Plenary Speech PS1,
Chair: Takao Ito (Hiroshima University, Japan)
PS1 Tomato-harvesting-robot competition towards smart agriculture
Kazuo Ishii (Kyushu Institute of Technology, Japan)
Meeting Room 1 (ZOOM ID: 993 2436 1751)
9:00-10:00 OS19 Artificial Intelligence for Embedded Systems and Robotics (4)Chair: Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
OS19-1

Convolutional Network with Sub-Networks
Ninnart Fuengfusin, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

OS19-2

Influence of FPGA implementation methods in High-Level Synthesis
1
Yusuke Watanabe, 2Hakaru Tamukoh
1( RAFT WORK Co., Ltd, Japan, 2Kyushu Institute of Technology, Japan)

OS19-3

A Hardware-Oriented Random Number Generation Method and A Verification
System for FPGA
Sansei Hori, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

OS19-4

Synthesis of realistic food dataset using generative adversarial network (GAN)
based on RGB and depth images
Obada Al Aama, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

13:00-14:00 OS2 Media Information Processing, Music Recommendation and Artificial Intelligence(4)
Chair: Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Co-Chair：Masayoshi Tabuse (Kyoto Prefectural University, Japan)
OS2-1

Comparison of Data Augmentation Methods in Pointer-Generator Model Using
Various Sentence Ranking Methods
Tomohito Ouchi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS2-2Music Recommendation System Driven by Variations in Fingertip Skin Temperature
Mayuka Wada1, Taro Asada2, Yasunari Yoshitomi2, Masayoshi Tabuse2(1Shimadzu System Development Corp., Japan, 2Kyoto Prefectural University, Japan)

OS2-3Music Recommendation System Driven by Interaction between User and Personified
Agent Using Speech Recognition, Synthesized Voice and Facial Expression
Ayumi Matsui1, Miki Sakurai2, Taro Asada3, Yasunari Yoshitomi3, Masayoshi Tabuse3(1Sumitomo Mitsui Card Co., Ltd., Japan, 2TIS Inc., Japan, 3Kyoto Prefectural
University, Japan)

OS2-4

Wallet Operation Evaluation System Using Deep Learning
Junichiro Yamawaki1, Yasunari Yoshitomi2, Masayoshi Tabuse2, Taro Asada2(1SKY Co., Ltd., Japan, 2Kyoto Prefectural University, Japan)

15:15-17:00 OS9 Intelligent Systems and Life (7)Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
Co-Chair: Evgeni Magid (Kazan Federal University, Russia)
OS9-1

Architecture of a student training computer program for preparing professional outpatient
consulting skills within an electronic medical records system during COVID-19 alertness situation
Sergey Bulatov1, Evgeni Magid2, Enzhe Kharisova1, Roman Lavrenov2, Vitaly Dudin1, Artur
Khazetdinov2 (1Kazan State Medical University, Russia), (2Kazan Federal University, Russia)

OS9-2

Satisfaction Assessment on the Counseling Service System for Full-Time Teacher-Counselor in
Tainan Elementary School
Hsiu-Hao Liu (Chang Jung Christian University, Taiwan)
Yun-Syuan Jhang (National University of Tainan, Taiwan)

OS9-3

Assess The Critical Factors for the Counseling Service System Usage Intention
Hsiu-Hao Liu (Chang Jung Christian University, Taiwan)

OS9-4

Design and Implementation of EMI Suppression Filter for Electronic Commutation
Fans
Ching-Chun Chuang, Chih-Chiang Hua, Chung-Wen Hung, Chun-Jen Yao(National Formosa University, Taiwan)

OS9-5

Application of IOT to Forest Management Taking Fushan Botanical Garden as an
ExampleShuo-Tsung Chen, Chih-Chiang Hua, Ching-Chun Chuang(National Formosa University, Taiwan)

OS9-6

Development of the IoT Module using MQTT Protocol and AES
Jr-Hung Guo, Tzu-Yuan Lin, Kuo-Hsien Hsia
(National Yunlin University of Science and Technology, Taiwan)

OS9-7

Exploring the Intention to Continuance of Learning Programming at Elementary School of Rural
Area by the mBot Robot
Yung-Hsin Cheng, Jia-Ming Hsiao(National Yunlin University of Science and Technology, Taiwan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

Meeting Room 2 (ZOOM ID: 986 1953 6512)
9:00-10:00 OS21 Educational Application of Control Technology (4)Chair: Kazuo Kawada (Hiroshima University, Japan)
Co-Chair: Yoshihiro Ohnishi (Ehime University, Japan)
OS21-1Development of Shock Sensitive Tiny Dummy Robot for Junior High School Rescue
Robot Challenge
Kazuo Kawada, Keisuke Iuchi, Keita Murai, Hiroyuki Y. Suzuki(Hiroshima University, Japan）

OS21-2

Basic Research on Parameter Tuning Skills Evaluation Based on Sensor Car Behavior
Data in Technology Education
Teruyuki Tamai (Hiroshima University / Ehime University),
Yoshihiro Ohnishi (Ehime University), Kazuo Kawada(Hiroshima University)OS21-3

Mini Windmill Generator Kit for homework for Hiroshima Univ. Monozukuri JuniorDoctor Special Educational Program
Hiroyuki Y. Suzuki, Kazuo Kawada, Masayasu Nagamatsu(Hiroshima University, Japan)

OS21-4Development of Teaching Materials to Learn the Efficient Use of Energy
Yoshihiro Ohnishi1, Teruyuki Tamai1, Shinnosuke Mori1 Kawada Kazuo2(1Ehime University, 2Hiroshima University, Japan）

13:00-14:15 OS8 Intelligent Systems and Control (5)Chair: Chung-Wen Hung (National Yunlin University of Science and Technology, Taiwan)
Co-Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
OS8-1

Networking Integration Application of an Intelligent Production Line for Aerospace
Precision Manufacturing
Chau-Chung Song, Chun-Chi Wang, Chen-Pang Chen, Chung-Wen Hung
(National Yunlin University of Science and Technology, Taiwan)

OS8-2

Low-Cost Indoor Localization Using Sound Spectrum of Light Fingerprints
Chung-Wen Hung, Hiroyuki Kobayashi, Jun-Rong Wu, Chau-Chung Song(National Yunlin University of Science and Technology, Taiwan)

OS8-3

Air Valve Fuzzy Control Combined with Sheet Music Recognition Techniques Applied
to Autoplaying Soprano Recorder Machines
Chun-Chieh Wang, Guang-Ming Jhang (Chienkuo Technology University, Taiwan)

OS8-4

Image Inpainting Techniques Combined with Isolated Pixel Filtering Applied toMultifunctional Drawing Robots
Chun-Chieh Wang, Zhan-Xian Ye (Chienkuo Technology University, Taiwan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS8-5

Mobile Robot with Image Recognition -- Using LabVIEW and KNRm
Kuo-Hsien Hsia, Bo-Jung Yang, Jr-Hung Guo, Chang-Sheng Xiao
(National Yunlin University of Science and Technology, Taiwan)

15:15-17:00 OS10 Advanced Control Systems and Signal Processing (7)Chair: Takuya Kinoshita (Hiroshima University, Japan)
Co-Chair: Shinichi Imai (Tokyo Gakugei University, Japan)
OS10-1

Nonlinear Internal Model Controller based on Local Linear Models, and its
Application
Shinichi Imai (Tokyo Gakugei University, Japan)

OS10-2

Design of a data-driven control system for reference model design using
predicted signals
Yuki Nakatani, Takuya Kinoshita, Toru Yamamoto (Hiroshima University, Japan)

OS10-3

Design of a Data-driven GMV Controller Using the Nelder-Mead Method
LiYing Shi, Zhe Guan, Toru Yamamoto (Hiroshima University, Japan)

OS10-4

Design of a Databased-Driven GPC for Nonlinear Systems
Zhe Guan, Toru Yamamoto (Hiroshima University, Japan)

OS10-5

Design of a Data-Driven Controller using Open-Loop Data
Y. Nishiya, Takuya Kinoshita, Toru Yamamoto (Hiroshima University, Japan)

OS10-6

Improved Estimation of Sway-Angle for Overhead Crane based on Phase
Difference of Acoustic Signals in Frequency Domain
Hanako Ogawa, Takeshi Yamada, Masayoshi Nakamoto(Hiroshima University, Japan)

OS10-7

Study on an Optimal Design Method for Control Systems based on Bayesian
Optimization
Koichi Hirota, Shin Wakitani, Toru Yamamoto (Hiroshima University, Japan)

Meeting Room 3 (ZOOM ID: 984 4367 9770)
9:00-10:00 GS2 Image & Signal Processing 1 (4)Chair: Tohru Kamiya (Kyushu Institute of Technology, Japan)
GS2-1

Unconstrained Measurement of Heart Rate Considering Harmonics of a Respiratory Signal by
Tactile Sensor
Kazuya Matsuo (Kyushu Institute of Technology, Japan), Toshiharu Mukai (Meijo
University, Japan), Shijie Guo (Hebei University of Technology, China)

GS2-2

Image Registration Method for Chest MDCT Images Based on 2-D Finite Element Method
Takuji Ogimoto, Tohru Kamiya (Kyushu Institute of Technology, Japan)
Takatoshi Aoki (University of Occupational and Environmental Health, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

GS2-3

Detection of Abnormal Shadows in Low-dose CT Images Using CNN
Hiromu Ikeda, Tohru Kamiya (Kyushu Institute of Technology, Japan)

GS2-4

EEG signal extraction method based on HHT and CSP
Lei Gong (Tianjin University of Science and Technology, China)

13:00-14:15 OS24 Mathematical Informatics (5)Chair: Takao Ito (Hiroshima University, Japan)
Co-Chair: Makoto Sakamoto (University of Miyazaki, Japan)
OS24-1

Verification of CG character operation by brain wave discrimination
Kenji Sakoma1, Kodai Miyamoto1, Taketo Kamasaka1, Makoto Sakamoto1, Amane
Takei1, Tsutomu Ito2, Takao Ito3 (1University of Miyazaki, Japan)(2National Institute of Technology, Ube College, Japan)(3Hiroshima University, Japan)

OS24-2

Approach to tourism support by aerial video using CG
Kenji Sakoma1, Noritake Seto1, Kodai Miyamoto1, Taketo Kamasaka1, Makoto
Sakamoto1, Amane Takei1, Tsutomu Ito2, Takao Ito3 (1University of Miyazaki, Japan)(2National Institute of Technology, Ube College, Japan)(3Hiroshima University, Japan)

OS24-3

Method for detecting eye misalignment based on movement near the center of the
pupil
Uchida Noriyuki1,2, Kayoko Takatuka2, Hisaaki Yamaba2, Masayuki Mukunoki2,
Naonobu Okazaki2(1Kyushu University of Health and Welfare, Japan), (2University of Miyazaki, Japan)

OS24-4

Basic research on video production for educational support by virtual technology
Kodai Miyamoto1, Taketo Kamasaka1, Kenji Sakoma1, Makoto Sakamoto1, Amane
Takei1, Tsutomu Ito2, Takao Ito3 (1University of Miyazaki, Japan) (2National Instituteof Technology, Ube College, Japan) (3Hiroshima University, Japan)

OS24-5

There is a movement towards the development of hula costume CAD
Taketo Kamasaka1, Kenji Sakoma1, Kodai Miyamoto1, Makoto Sakamoto1, Amane
Takei1, Tsutomu Ito2, Takao Ito3 (1University of Miyazaki, Japan), (2National Instituteof Technology, Ube College, Japan) (3Hiroshima University, Japan)

15:15-17:00 OS15 Bridging the Gap Between AI, Cognitive Science, and Narratology (7)Chair: Jumpei Ono (Aomori University, Japan)
Co-Chair: Hiroki Fukushima (Kyushu Womens’ University, Japan)
Co-Chair: Takashi Ogata (Iwate Prefectural University, Japan)
OS15-1Analysis and Construction of Elements of the Stage Performance Structure in a Kabuki-dance
Miku Kawai (Iwate Prefectural University, Japan), Jumpei Ono (Aomori University, Japan), Takashi
Ogata (Iwate Prefectural University, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS15-2

Unchiku Generation with Moving Illustration Using Kabuki Knowledge
Jumpei Ono (Aomori University, Japan), Miku Kawai (Iwate Prefectural University, Japan), Takashi
Ogata (Iwate Prefectural University, Japan)

OS15-3

Implementing Story Units of Japanese Folktales with Conceptual Dictionaries
Takuya Ito (Iwate Prefectural University, Japan), Jumpei Ono (Aomori University, Tokyo) Takashi
Ogata (Iwate Prefectural University, Japan)

OS15-4The Story Generation Process and Cognitive Biases
Jun Nakamura (Chuo University, Japan)

OS15-5Time in an Aesthetic Experience of a cup of Sake
Hiroki Fukushima (Kyushu Womens’ University, Japan)

OS15-6

Extension of Clinical/Psychological Approach Using Post-Narratology: Possibility of application
on Artificial Intelligence and Robot
Kai Seino (National Rehabilitation Center for Persons with Disabilities, Japan)

OS15-7A relationship between narratology and marketing
Akinori Abe (Chiba university, Japan)

Meeting Room 4 (ZOOM ID: 971 5454 5491)
9:00-9:45 GS5 Genetic Algorithms & Robotics 1 (3)Chair: Hideyuki Tanaka
GS5-1

Layout decision system for multiple production lines using work-flow-line and GA
Masato Noda1, Hidehiko Yamamoto1 (Gifu University, Japan),
Hirohumi Tsuji2, Yasuhisa Terawa2, Yoshinori Nakamura2, Masayuki Tsuchida2(Infofarm Corporation, Japan),
Katsuaki Yamada3, Yukiyasu Kuriyama3 (Kai Industries Corporation, Japan)

GS5-2

Autonomous decentralized FMS’s AGVs moving control by mind change with deeplearning
Ryunosuke Yamane, Hidehiko Yamamoto (Gifu University)

GS5-3

Secondary School Robotics Education in Camarin High School: Developments andChallenges for Improvement
Jeffrey Rivera Galino (Camarin High School, Philippines and Hiroshima University,
Japan), Hideyuki Tanaka (Hiroshima University, Japan)

13:00-13:45 GS3 Image & Signal Processing 2 (3)Chair: Keiko Sakurai (University of Miyazaki, Japan)
GS3-1

Deep-Learning Based Segmentation Algorithm for Defect Detection in Magnetic
Particle Testing
Akira Ueda, Huimin Lu, Tohru Kamiya (Kyushu Institute of Technology, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

GS3-2

A Method for Improving Recognition of Lying Postures Using a Measured Signal
Intensity of Respiration and Heartbeat by Flexible Tactile Sensor Sheet
Kazuya Matsuo (Kyushu Institute of Technology, Japan)
Toshiharu Mukai (Meijo University, Japan),
Shijie Guo (Hebei University of Technology, China)

GS3-3

Basic research for the realization of online MEG using SSD
Kazuhiro Yagi, Yuta Shibahara, Lindsey Tate, Keiko Sakurai, Hiroki Tamura(University of Miyazaki, Japan)

15:15-17:00 OS23 Advances in Field Robotics and Their Applications (7)Chair: Keisuke Watanabe (Tokai University)
Co-Chair: Kazuo Ishii (Kyushu Institute of Technology)
OS23-1Three-dimensional Measurement Using Laser Pattern And Its Application to Underwater Scanner
Yuya Nishida, Tomoya Shinnoki, Shinsuke Yasukawa, Kazuo Ishii(Kyushu Institute of Technology, Japan)

OS23-2

Motion control of a cable-restricted underwater vehicle for long-term spot
observation
Yoshiki Tanaka, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS23-3Development of current sensors for digitizing expert knowledge in fish feeding
Towards sustainable aquaculture
Dominic B. Solpico, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS23-4

Underwater image reconstruction using convolutional auto-encoder
Shinsuke Yasukawa, Sreeraman Srinivasa Raghura, Yuya Nishida, Kazuo Ishii(Kyushu Institute of Technology, Japan)

OS23-5

Spherical Robot Transfer Problem with Minimal Total Kinetic Energy
Kenji Kimura1, Kazuo Ishii2(1Fukuoka Daiichi High School, Japan, 2Kyushu Institute of Technology, Japan)

OS23-6

Acoustic Impedance Measurement through the Modelling of Ultrasonic Wave Transmission
Ryuugo Mochizuki, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS23-7Installation Method of In-situ Drilling Platform(withdraw)
Keisuke Watanabe (Tokai University, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

January 23 (Saturday)

8:40-Registration

Conference Room (ZOOM ID: 912 8494 3957)
11:00-12:00
Plenary Speech PS2
Chair: Masayoshi Tabuse (Kyoto Prefectural University, Japan)
PS2 Human-computer Communication Using Facial Expression
Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Meeting Room 1 (ZOOM ID: 993 2436 1751)
9:00-10:15 OS14 Image Processing (4)Chair: Joo Kooi Tan (Kyushu Institute of Technology, Japan)
Co-Chair: Seiji Ishikawa (Kyushu Institute of Technology, Japan)
OS14-1

Detection of a Fallen Person and Estimation of Their Head Position from UAV Images
Haruka Egawa, Seiji Ishikawa, Joo Kooi Tan (Kyushu Institute of Technology, Japan)

OS14-2Development of a Pedestrian Crossing Navigation System for Visually Impaired
People Using MY VISION
Kohei Kitagawa, Seiji Ishikawa, JooKooi Tan (Kyushu Institute of Technology, Japan)

OS14-3

Abnormal Human Action Detection Based on GANTomoya Sano, Joo Kooi Tan (Kyushu Institute of Technology, Japan)

OS14-4

3-D Position Measurement of a Cargo Using Epipolar Geometry for Logistics
Automation (withdraw)
Kazuki Fukuda, Joo Kooi Tan (Kyushu Institute of Technology, Japan)

OS14-5Bus Line Number Detection Employing MY VISIONYe Zhou, Yosiki Hamasaki, Joo Kooi Tan (Kyushu Institute of Technology, Japan)

13:00-14:30 OS5 Advanced Information Processing Applications (6)Chair: Toru Hiraoka (University of Nagasaki, Japan)
Co-Chair: Masaharu Hirota (Okayama University of Science, Japan)
OS5-1

A Method for Patterns of Cell-Like Images Based on Distance Transformation
Toru Hiraoka, Kohei Maeda (University of Nagasaki, Japan)

OS5-2

Generating Striped Animations by Inverse Line Convergence Index Filter
Toru Hiraoka, Ryosuke Takaki (University of Nagasaki, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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OS5-3

A Method for Estimating Home Location of Foreigners in Japan Using Photograph
Location
Masaharu Hirota, Tetsuya Oda (Okayama University of Science, Japan)

OS5-4

A Proposal of Online Map-matching Based Trajectory Compression Algorithm Using
Road Networks
Shota Iiyama, Tetsuya Oda, Masaharu Hirota (Okayama University of Science, Japan)

OS5-5

Case Study and Direction of Share Cycle System in Japanese Cities
Minoru Kumano (University of Miyazaki, Japan)
Toru Hiraoka (University of Nagasaki, Japan)

OS5-6

The IoT Solution to Play English Word Learning Tool
Shogo Aizawa, Motohide Yoshimura (University of Nagasaki, Japan)

15:30-16:15 OS11 Robotic Manipulation (3)Chair: Kensuke Harada (Osaka University, Japan)
Co-Chair: Tokuo Tsuji (Kanazawa University, Japan)
Co-Chair: Akira Nakamura (AIST, Japan)
OS11-1

Using Various Evaluation Standards to Determine an Error Recovery Process in an
Automation Plant
Akira Nakamura*1, Natsuki Yamanobe*1, Ixchel Ramirez Alpizar*1,
Kensuke Harada*2, Yukiyasu Domae*1(*1 National Institute of Advanced Industrial Science and Technology (AIST), Japan*2 Osaka University, Japan)

OS11-2

Robotic Picking for Piled Sushi Topping
Kenta Matsuura*1*2, Keisuke Koyama*1, Weiwei Wan*1, Kensuke Harada*1(*1 Osaka University, Japan, *2 Currently with Yaskawa Electric Co. Ltd., Japan)

OS11-3

Motion Generation by Learning Relationship between Object Shapes and Human
Motions
Tokuo Tsuji1*, Sho Tajima*1, Yosuke Suzuki*1, Tetsuyou Watanabe*1,
Shoko Miyauchi*2, Ken’ichi Morooka*2, Kensuke Harada*3, and Hiroaki Seki*1(*1 Kanazawa University, Japan, *2 Kyushu University, Japan, *3 Osaka University,
Japan)

Meeting Room 2 (ZOOM ID: 986 1953 6512)
9:00-10:15 OS16 Software Development Support Method (5)Chair: Tetsuro Katayama (University of Miyazaki, Japan)
Co-Chair: Tomohiko Takagi (Kagawa University, Japan)
OS16-1

Simulation and Regression Testing for Behavior of Software Models Based on
Extended Place/Transition Net with Attributed Tokens
Tomohiko Takagi, Ryo Kurozumi (Kagawa University, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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OS16-2Development of an Early Prototype Tool for Learning Software Modeling Using
Extended Place/Transition Net
Tomohiko Takagi, Akio Usuda (Kagawa University, Japan)

OS16-3

Test Suite Reusability Measurement Based on Frequency and Coverage of Reused
Test Cases
Mochamad Chandra Saputra*, Tetsuro Katayama*, Yoshihiro Kita†,
Hisaaki Yamaba*, Kentaro Aburada*, Naonobu Okazaki*(*University of Miyazaki, Japan) (†University of Nagasaki, Japan)

OS16-4The Seven Information Features of Class for Blob and Feature Envy Smell Detection
in a Class Diagram
Bayu Priyambadha*, Tetsuro Katayama*, Yoshihiro Kita†,
Hisaaki Yamaba*, Kentaro Aburada*, Naonobu Okazaki*(*University of Miyazaki, Japan) (†University of Nagasaki, Japan)

OS16-5

Improvement of RETUSS to Ensure Traceability between Sequence Diagram in UML and Java
Source Code in Real Time
Kaoru Arima*, Tetsuro Katayama*, Yoshihiro Kita†,
Hisaaki Yamaba*, Kentaro Aburada*, Naonobu Okazaki*(*University of Miyazaki, Japan) (†University of Nagasaki, Japan)

13:00-14:30 OS6 Intelligent Control (6)Chair: Yingmin Jia (Beihang University, China)
Co-Chair: Weicun Zhang (University of Science and Technology Beijing, China)
OS6-1

Faster R-CNN Based Defect Detection of Micro-precision Glass Insulated Terminals
Qunpo Liu1, Mengke Wang1, Zonghui Liu1, Naohiko Hanajima2, Bo Su1(1Henan Polytechnic University, P.R.China) (2Muroran Institute of Technology, Japan)

OS6-2

Adaptive Sliding Mode Control for a Constant Tension Suspension System
Yuxin Jia, Yingmin Jia, Kai Gong (Beihang University, China)

OS6-3

Weighted Multiple Model ADRC for Uncertain Linear System
Weicun Zhang, Jing Ge (University of Science and Technology Beijing, China)

OS6-4

Trajectory Tracking Control of Differential Wheeled Mobile Robot Based on Rhombic Input
Constraints
Kai Gong, Yingmin Jia, Yuxin Jia (Beihang University, China)

OS6-5

Maneuvering target tracking based on improved interacting multiple model algorithm
Weicun Zhang, Meiyu Zhu (University of Science and Technology Beijing, China)

OS6-6

Encapsualted Agents of Hybrid Order Discrete Dyanmics
Yunzhong Song (Henan Polytechnic University, P.R.China)©ICAROB 2021 ALife Robotics Corp. Ltd.

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15:30-16:15 OS17 Robotics and machine vision (3)Chair: Jiwu Wang (Beijing Jiaotong University, China)
Co-Chair: Junxiang Xu (Beijing Jiaotong University, China)
OS17-1

Kinematic modeling and Simulation of humanoid dual-arm robot
Jiwu Wang, Junxiang Xu (Beijing Jiaotong University, China)

OS17-2Kinematics analysis and simulation of 6R Robot Based on MATLAB/Simulink
Jiwu Wang, Shuo Han (Beijing Jiaotong University, China)

OS17-3

Research on planar ranging system based on binocular stereo vision
Jiwu Wang, Xin Pei (Beijing Jiaotong University, China)

Meeting Room 3 (ZOOM ID: 984 4367 9770)
9:00-10:15 OS22 Robot Competitions and Education (5)Chair: Yasunori Takemura (Nishinippon Institute of Technology, Japan)
Co-Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
OS22-1

Robustness Verification Against Noise of Self-localization Method Using Omni-directional Camera
for Soccer Robot
Yuehang Ma, Kaori Watanabe, Hidekazu Suzuki(Tokyo Polytechnic University, Japan)

OS22-2

Tomato-Harvesting Robot Competition: Aims and Developed Robot of 6thCompetitions
Takayuki Matsuo1, Yasunori Takemura2, Takashi Sonoda2, Shinsuke Yasukawa3, Yuya Nishida3,
Kazuo Ishii3 (1National Institute of Technology, Kitakyushu College, Japan, 2Nishinippon Instituteof Technology, Japan, 3Kyushu Institute of Technology, Japan)

OS22-3

Smart Agriculture IoT Education Course in enPiT-everi (Education Network for
Practical Information Technologies - Evolving and Empowering Regional Industries)
Yasunori Takemura1, 2, Keiji Kamei1, 2, Atsushi Sanada1, 2, Kazuo Ishii1(1Kyushu Institute of Technology, Japan, 2Nishinippon Institute of Technology, Japan)

OS22-4Development of a Handy Autonomous Underwater Vehicle “Kyubic”
Toshimune Matsumura, Yuuichiro Uemura, Kentaro Yanagise, Yoshiki Tanaka,
Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS22-5A Greenhouse Project toward Smart Agriculture
Kazuo Ishii1, Yuya Nishida1, Shinsuke Yasukawa1, Kanako Shirahashi1,
Yasunori Takemura2, Takayuki Matsuo3(1Kyushu Institute of Technology, Japan, 2Nishinippon Institute of Technology, Japan, 3National
Institute of Technology, Kitakyushu College, Japan,)

13:00-14:15 OS7 Information Applications and Security (5)Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
Co-Chair: I-Hsien Liu (National Cheng Kung University, Taiwan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS7-1

The Security Challenges with the Widespread Use of IT Infrastructure in ICS
Kuan-Ming Su, I-Hsien Liu, Jung-Shian Li(National Cheng Kung University, Taiwan)

OS7-2

A Communication System with Equipment's Characteristics
Chia-Chun Lai1, I-Hsien Liu1, Chi-Che Wu1, Chuan-Gang Liu2, Jung-Shian Li1(1National Cheng Kung University, Taiwan)(2Chia Nan University of Pharmacy and Science, Taiwan)

OS7-3

Application of the Self-Organizing Map (SOM) to Analyze the Multiple Perspectives on CrossNational Culture
Li-Ming Chuang, Yu-Po Lee, Shu-Tsung Chao
(Chang Jung Christian University, Taiwan)

OS7-4

Threats Hidden in Employee Workstation through Office Files
Tung-Lin Lee, I-Hsien Liu, Jung-Shian Li (National Cheng Kung University, Taiwan)

OS7-5

Microsatellite Attitude Control Approach: Combined with Generation Adversarial Networks FaultDetection and Cerebellar Model Articulation Controller Fault-Tolerant Control
Ho-Nien Shou (Air Force Institute of Technology, Taiwan)

15:30-16:15 OS18 Natural Computing (3)Chair: Marion Oswald (Vienna University of Technology, Austria)
Co-Chair: Yasuhiro Suzuki (Nagoya University., Japan)
OS18-1

Contribution to the Theory of Periodic Reaction of Three Bodies Systems
Yasuhiro Suzuki (Nagoya University Japan)

OS18-2

Deep Micro Vibrotactile, DMV and its Applications
Yasuhiro Suzuki (Nagoya Universit, Japan)

OS18-3

Inter-Induce computation and its Philosophical Foundation
Yasuhiro Suzuki (Nagoya University, Japan)

Meeting Room 4 (ZOOM ID: 971 5454 5491
9:00-10:00 GS6 Robotics 1 (4)Chair: Noritaka Sato (Nagoya Institute of Technology, Japan)
GS6-1

Digital Testing Device for Active Range of Motion of Finger Joints Utilizing Artificial
Neural Network
Huu-Hieu Quang, Yoshifumi Morita (Nagoya Institute of Technology, Japan),
Makoto Takekawa (everfine, Japan)

GS6-2

Position and Force Teaching Method for 6 DoF Manipulator Using Contact Teaching
Tool and Teaching Data Editor
Duy-Do Bui, Hiroki Tanaka, Quang-Trung Chu, Hideki Inuzuka, Yoshifumi Morita(Nagoya Institute of Technology, Japan) Masao Sakai (Aichi Prefecture, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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GS6-3

Haptic Device that Presents Sensation Corresponding to Palm on Back of Hand for
Teleoperation of Robot Hand Report2: Consideration on Decided Specification
Kyosuke Ushimaru,Noritaka Sato,Yoshifumi Morita(Nagoya Institute of Technology, Japan)

GS6-4

Robot Assisting Water Serving to Disabilities by Voice Control
Yang Chunxin, Sakmongkon Chumkamon, Eiji Hayashi(Kyushu Institute of Technology, Japan)

13:00-14:15 GS1 Chaos & Application (4)Chair: Masato Nagayoshi (Niigata College of Nursing, Japan)
GS1-1

A Method of Role Differentiation Using a State Space Filter with a Waveform
Changing Parameter in Multi-agent Reinforcement Learning
Masato Nagayoshi, Simon Elderton (Niigata College of Nursing, Japan)
Hisashi Tamaki (Kobe University, Japan)

GS1-2

The research about editing system of performance information for player piano. - Make
inferences about both handed musical composition by using DP matching system Ryo Kinoshita, Eiji Hayashi (Kyushu Institute of Technology, Japan)

GS1-3

Development of a LiDAR based Navigation System for Tree Harvester
Ayumu Tominaga, Ryusuke Fujisawa, Eiji Hayashi (Kyushu Institute of Technology,
Japan), Abbe Mowshowitz (The City College of New York, US)

GS1-4

Numerical study on a class of chaotic financial chaotic systems(withdraw)
Lei Gong, Minghan Song (Tianjin University of Science and Technology, China)

GS1-5

Dynamic characteristics analysis of a multi-scroll conservative chaotic system withsinusoidal nonlinearity
Zhonggao Chen (Tianjin University of Science and Technology, China)

15:30-16:45 GS8 Medical Data Processing (5)Chair: Shingo Mabu (Yamaguchi University, Japan)
GS8-1

Development of in-Home Wireless Continuous Temperature Data Logging andAlarming System for Fever Monitoring in Pediatrics
Ali S. AlMejrad(University of Hail, Kingdom of Saudi Arabia)

GS8-2

Design and Development of in-home Wireless Crucial Events Logging and Alarming
System for Elderly and Disabled People Care
Ali S. AlMejrad(University of Hail, Kingdom of Saudi Arabia)

GS8-3

Virtual bird’s-eye view for remote operation of unmanned construction machinery
Noritaka Sato, Akihiro Fukuda (Nagoya Institute of Technology, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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GS8-4

Domain Transformation of Chest CT Images Using Semi-Supervised Cycle GAN for
Opacity Classification of Diffuse Lung Diseases
Masashi Miyake1, Shingo Mabu1 , Shoji Kido2, Takashi Kuremoto1(1Yamaguchi University, Japan, 2Osaka University, Japan)

GS8-5

Anomaly Detection of Lung Sounds Using DAGMM
Ryosuke Wakamoto1, Shingo Mabu1, Shoji Kido2, Takashi Kuremoto1(1Yamaguchi University, Japan, 2Osaka University, Japan)

GS8-6

A ground reaction force analysis in walking and running gaits in horse leg model on viscoelastic
hoof-ground contact
Dondogjamts Batbaatar, Hiroaki Wagatsuma (Kyushu Institute of Technology, Japan)

January 24 (Sunday)
8:40-Registration

Meeting Room 1 (ZOOM ID: 993 2436 1751)
9:00-9:45 OS4 Intelligent UAV and Systems (3)Chair: Young Im Cho (Gachon University, Republic of Korea)
Co-Chair: Jang-Myung Lee (Pusan National University, Republic of Korea)
OS4-1

Satellite Image-based UAV Localization using Siamese Neural Network
Seong-Ha Ahn, Ho-Sun Kang, Jang-Myung Lee(Pusan National University, Republic of Korea)

OS4-2

Analysis Based on CNN for Automated Vehicle Parking Occupancy
Muksimova Shakhnoza, Young Im Cho (Gachon University, Republic of Korea)

OS4-3

On the boundary layer part of the asymptotics of the solution of a singularly
perturbed boundary value problem
Assiya Zhumanazarova, Young Im Cho (Gachon University, Republic of Korea)

11:00-12:00 OS3-1 Robot Control (4)Chair: Yizhun Peng (Tianjin University of Science and Technology, China)
Co-Chair: Huailin Zhao (Shanghai Institute of Technology, China)
OS3-1

A Design and Implementation Intelligent Flowerpot
Songyun Shi, Yizhun Peng (Tianjin University of Science and Technology, China)

OS3-2

Research of Attention-LSTM Model for Baby Cry Detection Robot
Tianye Jian, Yizhun Peng, Wanlong Peng, Zhou Yang
(Tianjin University of Science and Technology, China)

OS3-3

A Design and Implement of an Automatic Intelligent Car
Chengzhi Liu, Yizhun Peng, Jikai Zhao, Dezhi Yang
(Tianjin University of Science and Technology, China)©ICAROB 2021 ALife Robotics Corp. Ltd.

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OS3-4

A Target Detection in Remote Sensing Image based on Deep Learning
Lianchen Zhao, Yizhun Peng, Di Li, Yuheng Zhang(Tianjin University of Science and Technology, China)

13:00-14:15 OS3-2 Robot Control (5)Chair: Yizhun Peng (Tianjin University of Science and Technology, China)
Co-Chair: Huailin Zhao (Shanghai Institute of Technology, China)
OS3-5

A Design of Home Smart Nursing Robot based on Raspberry Pi 4
Yuqi Zhao, Yizhun Peng, Jie Liu, Xiaowei Wu, Jikai Zhao
(Tianjin University of Science and Technology, China)

OS3-6

Design and Simulation of Indoor Tour Guide Robot Based on ROS
Yuheng Zhang, Yizhun Peng, Lianchen Zhao
(Tianjin University of Science and Technology, China

OS3-7

Research on Path Planning of Manipulator
Nana Wang, Yizhun Peng, Zhou Yang, Yuheng Zhang(Tianjin University of Science and Technology, China)

OS3-8

Research on White-Line-tracking Walking Technique of NAO Robot
Wanlong peng, Yizhun peng, Yuheng zhang,Tianye jian
(Tianjin University of Science and Technology, China)

OS3-9

A Design and Implement of Portable Epidemic Detection Device based on STM32
Yuqi Zhao, Yizhun Peng, Xiaowei Wu, Yusong Zhou
(Tianjin University of Science and Technology, China)

Meeting Room 2 (ZOOM ID: 986 1953 6512)
9:00-9:45 GS4 Image & Signal Processing 3 (3)Chair: Taro Shibanoki (Ibaraki University, Japan)
GS4-1

Landslide Area Detection from Synthetic Aperture Radar Images Using Convolutional
Adversarial Autoencoder and One-class SVM
Shingo Mabu, Soichiro Hirata, Takashi Kuremoto (Yamaguchi University, Japan)

GS4-2

Anomaly Detection in Time Series Data Using Support Vector Machines
Umaporn Yokkampon1, Sakmongkon Chumkamon1, Abbe Mowshowitz2,
Eiji Hayashi1 and Ryusuke Fujisawa1 (1Kyushu Institute of Technology, Japan)(2The City College of New York, USA)

GS4-3

Relationship Between Tactile Stimuli and Human Body Sway
Masaya Tadokoro, Taro Shibanoki (Ibaraki University, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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11:00-12:00 OS13 Intelligent Systems and Robotics (14)Chair: Fengzhi Dai (Tianjin University of Science and Technology, China)
Co-Chair: Yunzhong Song (Henan Polytechnic University, China)
OS13-1Analysis of the Consensus Protocol of Heterogeneous Agents with Time-Delays
Jichao Zhao1, Fengzhi Dai1,3, Yunzhong Song2(1College of ElTianjin University of Science and Technology, China, 2Henan
Polytechnic University, China, 3Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS13-2Burrows-Wheeler Transform Acceleration based on CUDA
Chang Sheng, Fengzhi Dai (Tianjin University of Science and Technology, China)

OS13-3

Design of Automatic Water Supply Upper Computer System
Peng Lu, Fengzhi Dai, Tianyi Zhang(Tianjin University of Science and Technology, China)

OS13-4

Analysis of Boiler Water Level System based on the Fuzzy Control
Tianyi Zhang, Fengzhi Dai, Peng Lu(Tianjin University of Science and Technology, China)

OS13-5Development of the Circuit System for Greenhouse Environment Regulation
Yuhui Cheng, Fengzhi Dai, Chengxu Ji, Peng Lu(Tianjin University of Science and Technology, China)

OS13-6

Design of an Intelligent Car based on MSP430
Ruming Kang, Fengzhi Dai (Tianjin University of Science and Technology, China)

OS13-7

Design of a WIFI Video Car
Qianqian Zhang1, Fengzhi Dai1,2, Jichao Zhao1, Haokang Wen1, Hongbo Hao1
(1Tianjin University of Science and Technology, China)(2Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)

OS13-8Design of WebGIS Transportation and Distribution System based on the Genetic
Algorithm
Hongbo Hao, Fengzhi Dai (Tianjin University of Science and Technology, China)

OS13-9A Study of YOLO Algorithm for Target Detection
Haokang Wen, Fengzhi Dai, Yasheng Yuan
(Tianjin University of Science and Technology, China)

OS13-10

Research on Recognition and Application of EEG Signal based on SSVEP-BCI
Di Yin1, Fengzhi Dai1,3, Mengqi Yin2, Yasheng Yuan1, Yuxuan Zhu1
(1Tianjin University of Science and Technology, China)(2Hebei University of Chinese Medicine, China)(3Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)©ICAROB 2021 ALife Robotics Corp. Ltd.

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OS13-11

Research on Bad Driving Detection based on Behavior Recognition
Yasheng Yuan, Fengzhi Dai, Di Yin, Yuxuan Zhu(Tianjin University of Science and Technology, China)

OS13-12

Research on Crop Image Recognition Technology - Take Daylily as an Example
Jichao Zhao, Fengzhi Dai (Tianjin University of Science and Technology, China)

OS13-13

Design of Daylily Agricultural Picking Robot
Jichao Zhao, Fengzhi Dai (Tianjin University of Science and Technology, China)

OS13-14Development of Intelligent Public Trash Can based on Machine Vision and Learning
Longyu Gao, Fengzhi Dai, Zhiqing Xiao, Jiangyu Wu, Zilong Liu(Tianjin University of Science and Technology, China)

13:00-14:15 OS12 System and Control (18)Chair: Huailin Zhao (Shanghai Institute of Technology, China)
Co-Chair: Jichao Zhao (Tianjin University of Science and Technology, China)
OS12-1The Optimized Intelligent Algorithms on Face Recognition and Tracking for
ROS-based Robots
Yue Chen, Shuhao Tian, Huailin Zhao, Shengyang Lu(Shanghai Institute of Technology)

OS12-2Control of a Novel 5D Hyperchaotic System
Qiang Wei1, Hong Niu2
(1Army Military Transportation University, China)(2Tianjin University of Science & echnology, China)

OS12-3

Design of Multifunctional Vehicle Interior Environment Monitoring System Based on
Wireless Communication
Yuqi Yan, Jialin Yang, Zhongxu Qin (Wuhan University of Technology, China)

OS12-4

Robot Structure and Motion control Design Based on UG and ProductYuhang Sheng (Tianjin University of Science and Technology, China)

OS12-5

Design of Brushed Motor Position Loop Control System Based on Incremental PID
Tianyi Zhang, Peng Lu (Tianjin University of Science and Technology, China)

OS12-6

Design of a Fire alarm system
Yuhui Cheng, Tianyi Zhang (Tianjin University of Science and Technology, China)

OS12-7

Design of intelligent curtain control circuit based on single chip Microcomputer
Qianqian Zhang, Jichao Zhao, Haokang Wen, Hongbo Hao(Tianjin University of Science and Technology, China)©ICAROB 2021 ALife Robotics Corp. Ltd.

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OS12-8OS12-9Research on the algorithm of flue gas desulfurization system
Hongbo Hao (Tianjin University of Science and Technology, China)
A Survey of Low Visibility Image Enhancement Based on MSRCR Algorithm
Haokang Wen, Hongbo Hao (Tianjin University of Science and Technology, China)

OS12-10

Design of a Taxi Meter Based on Single Chip Computer
Haokang Wen, Min Wang (Tianjin University of Science and Technology, China)

OS12-11

Design of a High Precision Digital Clock Based on Single Chip Microcomputer
Haokang Wen, Qiang Zheng (Tianjin University of Science and Technology, China)

OS12-12

Design of Manchu Image Acquisition System Based on STM32
Hongbo Hao1, Fulin Zheng2(1Tianjin University of Science and Technology, China)(2 Dalian Minzu University, China)

OS12-13

Design of timing socket based on single chip microcomputer
Hongbo Hao1, Shuailin Chen2(1Tianjin University of Science and Technology, China)(2Qingdao University of Science and Technology, China)

OS12-14

Study on the effect of physical fitness training on children’s cognitive ability
Jianhua Deng, Lei Ning (Yanshan University, China)

OS12-15

Effects of high heels on plantar stress in women
Jianhua Deng, Lei Ning (Yanshan University, China)

OS12-16

A research on Intelligent Classification of Urban Trash Bins based on Machine
Learning
Longyu Gao, Zilong Liu, Luqi Shen, Songyun Shi, Yongzheng Lv(Tianjin University of Science and Technology, China)

OS12-17

A Design on Intelligent Public Trash Can based on Machine Vision and Auxiliary
Sensors
Longyu Gao, Leixin Han, Jiangyu Wu, Mingfei Liu, Ruming Kang
(Tianjin University of Science and Technology, China)

OS12-18

A research on Front-end Garbage Classification based on Machine Vision
Longyu Gao, Zhiqing Xiao, Junlong Hao, Luqi Shen, Manqian Hu(Tianjin University of Science and Technology, Tianjin, China)

Meeting Room 3 (ZOOM ID: 984 4367 9770)
11:00-12:00 OS20 Virtual Reality and Intelligent Interactions (3)Chair: R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Co-Chair: Yoshimasa Tokuyama (Tokyo Polytechnic University, Japan)
OS20-1

NeuroPhyllotaxis: An Interactive Application for Generative Art Based on EEG Data
Chien-Tung Lin, R.P.C. Janaka Rajapakse(Tainan National University of the Arts, Taiwan) Yoshimasa Tokuyama (Tokyo Polytechnic University, Japan)©ICAROB 2021 ALife Robotics Corp. Ltd.

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OS20-2

VRMAZU: VR Visualization of Mazu Temple for Passive Interaction with Generated
Sound from the ML Technique(withdraw)
Yi-Li Liang. R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Jen-Tun Lee (Japan Advanced Institute of Science and Technology, Japan)
Yoshimasa Tokuyama (Tokyo Polytechnic University, Japan)

OS20-3ThoughtMix: Interactive Water Color Generation and Mixing Based on EEG Data
R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Yoshimasa Tokuyama (Tokyo Polytechnic University, Japan)

OS20-4

HaptWarp: Soft Printable and Motion Sensible Game Controller
Jen-Tun Lee, Kazunori Miyata(Japan Advanced Institute of Science and Technology, Japan)
R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)

13:00-14:00 OS1 Human-Machine Interface Application (4)Chair: Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair: Heshalini Rajagopal (Manipal International University, Malaysia)
OS1-1

Gray Level Co-Occurrence Matrix (GLCM) and Gabor Features Based No-Reference
Image Quality Assessment for Wood Images
Heshalini Rajagopal1, Norrima Mokhtar1, Anis Salwa Mohd Khairuddin1, Wan Khairunizam2,
Zuwairie Ibrahim3, Asrul Bin Adam3, Wan Amirul Bin Wan Mohd Mahiyidin1(1University of Malaya, Malaysia) (2University of Malaysia Perlis,
Malaysia) (3University of Malaysia Pahang, Malaysia)

OS1-2

Design and Development of Automated Seeding and Irrigation System
Anirban Kumar, Heshalini Rajagopal (Manipal International University, Malaysia)

OS1-3

Investigation of A Real-Time Driver Eye-Closeness for the Application of Drowsiness
Detection
Muhammad Zubir bin Kamazlan1, Wan Khairunizam1, Abdul Hafiz Halin1,
M. Rudzuan M. Nor1, Azian Azamimi Abdullah1, Norrima Mokhtar2(1University Malaysia Perlis, Malaysia) (2University of Malaya, Malaysia)

OS1-4

Towards Establishing Path Planning Strategies For Autonomous UAVs; A Brief
Survey-Summary on Recent TechniqueAnees ul Husnain, Norrima Binti Mokhtar, Noraisyah Binti Mohamed Shah, Mahidzal Bin Dahari(University of Malaya, Malaysia)©ICAROB 2021 ALife Robotics Corp. Ltd.

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Meeting Room 4 (ZOOM ID: 971 5454 5491)
11:00-12:00 GS7 Robotics 2 (4)Chair: Wisanu Jitviriya
GS7-1

Development of Interactive Robot – Emotion Estimation System Using Speech by
1dCNN Yugo Kawachi, Eiji Hayashi (Kyushu Institute of Technology, Japan)

GS7-2

Deep Learning Methods for Semantic Segmentation of Dense 3D SLAM MapsPei Yingjian, Sakmongkon Chumkamon, Eiji Hayashi(Kyushu Institute of Technology, Japan)

GS7-3

Robot Motion Generation by Hand Demonstration
Sakmongkon Chumkamon, Umaporn Yokkampon, Eiji Hayashi, Ryusuke Fujisawa(Kyushu Institute of Technology, Japan)

GS7-4

Medical Telerobotics: IRAPs SHaRE-aGIVeR
Noppadol Pudchuen, Jiraphan Inthiam, Wisanu Jitviriya, Amornphun Phunopas,
Chirdpong Deelertpaiboon(King Mongkut’s University of Technology North Bangkok, Thailand)
Aran Blattler (Kyushu Institute of Technology, Japan)

Group Meeting©ICAROB 2021 ALife Robotics Corp. Ltd.

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Abstracts
PS abstracts
PS1 Tomato-harvesting-robot competition towards smart agriculture
Kazuo Ishii (Kyushu Institute of Technology, Japan)

In agriculture, the aging and depopulation of farmers cause the shortages of farmers andmanpower. Most of commercialized robots are industrial robots for factory automation,and most of robots for the first industry, agriculture, forestry and fisheries are still underdeveloping. The reasons are cost-efficiency of the robotization, safety of the works using
robots, difficulty of outdoor operations, and knowledge transfer problem from farmers
to computer, etc. As one of solutions for the problems, robot technology into theagriculture is expected to contribute to the laborsaving, improvement of production,
production line automation, and also the management toward smart-agriculture. We
organize the Tomato-harvesting-robot competition to offer the research field andwelcome researchers into agricultural robotics.

PS2 Human-computer Communication Using Facial Expression

Yasunari Yoshitomi (Kyoto Prefectural University, Japan)

To develop a computer system, such as a robot, that can communicate smoothly withhuman, it is necessary to equip the system with a function of understanding humanemotion. Moreover, it is also necessary to equip the system with a function of expressing
emotional signal to human. From both points of view, facial expression is a promisingtarget as a research field. With co-researchers, I have been researching both aspects on
facial expressions. For developing a method for recognizing facial expression, we haveused infrared-ray images in addition to visible-ray images. For expressing emotionalsignal to human, we have developed a personified agent. Our challenges for humancomputer communication using facial expression will be introduced in my presentation.

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OS abstracts
OS1 Human-Machine Interface Application (4)Chair: Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair: Heshalini Rajagopal (Manipal International University, Malaysia)
OS1-1 Gray Level Co-Occurrence Matrix (GLCM) and Gabor Features Based NoReference Image Quality Assessment for Wood Images
Heshalini Rajagopal1, Norrima Mokhtar1, Anis Salwa Mohd Khairuddin1, Wan Khairunizam2,
Zuwairie Ibrahim3, Asrul Bin Adam3, Wan Amirul Bin Wan Mohd Mahiyidin1(1University of Malaya, Malaysia) (2University of Malaysia Perlis, Malaysia)(3University of Malaysia Pahang, Malaysia)

Image Quality Assessment (IQA) is an imperative element in improving theeffectiveness of an automatic wood recognition system. There is a need to develop a NoReference-IQA (NR-IQA) system as a distortion free wood images are impossible to beacquired in the dusty environment in timber factories. Therefore, a Gray Level CoOccurrence Matrix (GLCM) and Gabor features-based NR-IQA, GGNR-IQA algorithm
is proposed to evaluate the quality of wood images. The proposed GGNR-IQA algorithm
is compared with a well-known NR-IQA, Blind/Referenceless Image Spatial Quality
Evaluator (BRISQUE) and Full-Reference-IQA (FR-IQA) algorithms, Structural
Similarity Index (SSIM), Multiscale SSIM (MS-SSIM), Feature SIMilarity (FSIM),
Information Weighted SSIM (IW-SSIM) and Gradient Magnitude Similarity Deviation(GMSD). Results shows that the GGNR-IQA algorithm outperforms the NR-IQA and
FR-IQAs. The GGNR-IQA algorithm is beneficial in wood industry as a distortion freereference image is not required to pre-process wood images.

OS1-2 Design and Development of Automated Seeding and Irrigation System

Anirban Kumar, Heshalini Rajagopal (Manipal International University, Malaysia)

Malaysia, has a very conducive environment for agriculture. Six percent of the
population are employed to some of the agriculture activities making agriculture themost curtail industry in Malaysia. Hence, there is a need to develop the agricultural
facilities by incorporating latest technological advancements. Conventional seeding
process is time consuming and requires additional labor cost. In this project, an
automated system is proposed for seeding as well as irrigation process in agriculture
which reduces the labor cost. This system aims to increase the efficiency of theseeding process without affecting the nature of soil. The proposed system isequipped with Arduino MEGA and Arduino UNO which acts as the main control
unit while ultrasonic and soil moisture sensors are used to detect the obstacles andsoil moisture level, respectively. The robot consists of a funnel like arrangement toperform the seeding procedure. The field is equipped with moisture sensors placedat different areas that monitors the moisture level of the soil on a regular interval for
irrigation purposes. The proposed system will be of great benefit to the futureendeavor of agricultural business as well as it will be able to optimize the seeding
and irrigation.

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OS1-3 Investigation of A Real-Time Driver Eye-Closeness for the Application ofDrowsiness Detection
Muhammad Zubir bin Kamazlan1, Wan Khairunizam1, Abdul Hafiz Halin1, M. Rudzuan M.
Nor1, Azian Azamimi Abdullah1, Norrima Mokhtar2
1( University Malaysia Perlis, Malaysia) (2University of Malaya, Malaysia)

The increase in accident and death rates due to drowsiness while driving raises concerns
to the community. An efficient solution is vital to ensure the safety of all drivers on theroad. Most previous studies have analyzed drowsiness using head tilt, yawning, and eye
condition. Face detection applied in drowsiness detection from previous research notincluded distances between subject and camera. The features used for eye detection
required large storage and long-term process which are not applicable in a real-timesystem. This study uses Haar algorithm and analysis is performed based on the size ofthe region of interest for face detection. Eye monitoring uses facial landmark features
and the evaluation is dependent on the width of the eye. The percentage of eye closure
is used to describe the eyes as closed. This study only takes into account the normal rateof blinking eyes while driving because of the long-time constraints required for a person
to be in a drowsy state. In this research, the Raspberry Pi 3B+ and Pi cameras are usedas processing and vision devices. The highest accuracy of face detection achieved basedon the ROI area at a distance of 80 cm is 98.33%. The lowest difference between eye
width and the intercanthal distance is 0.36%. The overall normal eye blink rate whiledriving is in the range of the normal eye blink rate which does not exceed 20 blinks/min
as reported by the previous researcher.

OS1-4 Towards Establishing Path Planning Strategies For Autonomous UAVs; A
Brief Survey-Summary on Recent TechniqueAnees ul Husnain, Norrima Binti Mokhtar, Noraisyah Binti Mohamed Shah, Mahidzal Bin Dahari(University of Malaya, Malaysia)
The extent of autonomy in path planning for a UAV primarily depends upon thecapabilities of its algorithm. The diversity in UAV applications and an abundance ofchoices in autonomous path planning algorithms are swelling every day, so the selectionof most appropriate algorithm gets baffling. The past two decades of research on UAVs
revealed that seventy percent of it had been published in the previous three and a halfyears. Hence, a comprehensive survey study was proposed and conducted to obtain an
overview of the recent developments in autonomous path planning applications and theirrespective algorithms. This article presents a summary of the survey and suggests mostsuitable path planning algorithms for a UAV application.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS2 Media Information Processing, Music Recommendation and Artificial
Intelligence (4)Chair: Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Co-Chair: Masayoshi Tabuse (Kyoto Prefectural University, Japan)
OS2-1 Comparison of Data Augmentation Methods in Pointer-Generator Model
Using Various Sentence Ranking Methods
Tomohito Ouchi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)

In the existing research, we proposed a data augmentation method using topic model for
Pointer-Generator model. In this study, we add to the sentence ranking method in thedata augmentation method. Specifically, we add two ranking method using LexRank andLuhn. LexRank is based on Google's search method and Luhn defines sentence featuresand ranks sentences. We compare three data augmentation method. We considered which
method is suitable for data augmentation. Nowadays, it is very difficult to extract
information due to the flood of information on the Internet. Therefore, we propose
Pointer-Generator model using a data augmentation method using various ranking
methods.

× (1 − p gen )× p genp gen

Germany

emergeArgentina<start> Germany beatOS2-2 Music Recommendation System Driven by Variations in Fingertip Skin
Temperature
Mayuka Wada1, Taro Asada2, Yasunari Yoshitomi2, Masayoshi Tabuse2( Shimadzu System Development Corp., Japan, 2Kyoto Prefectural University, Japan)
1

In recent years, music therapy has been performed to recover cognitive function ofelderly people. In the previously reported system, it is necessary to input the user's
subjective evaluation to determine the next recommended song. In this study, variations
in fingertip skin temperature were used as input instead of subjective evaluation,
focusing on evaluation of emotion expressed as physiological response throughvariations in fingertip skin temperature. Our system can be used with no support forusers, such as severe dementia patients or bedridden patients, who cannot respondactively.

OS2-3 Music Recommendation System Driven by Interaction between User andPersonified Agent Using Speech Recognition, Synthesized Voice and Facial
Expression
Ayumi Matsui1, Miki Sakurai2, Taro Asada3, Yasunari Yoshitomi3, Masayoshi Tabuse3( Sumitomo Mitsui Card Co., Ltd., Japan, 2TIS Inc., Japan, 3Kyoto Prefectural University, Japan)
1

We propose a system for music recommendation through an interaction between a user
and a personified agent using speech recognition, synthesized voice and facial
expression. The speech is recognized using a speech recognition system called as Julius,
followed by facial expression synthesis of the agent using preset parameters dependingon the vowel each. We used MikuMikuDanceAgent (MMDAgent) to create an agent. To
produce the agent’s voice, we use the speech synthesis function setting built into MMD
Agent. We add the agent a new function of changing its facial expression according touser’s response to music recommended by our system. The effectiveness of the proposedsystem is verified.

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OS2-4 Wallet Operation Evaluation System Using Deep Learning

Junichiro Yamawaki1, Yasunari Yoshitomi2, Masayoshi Tabuse2, Taro Asada2(1SKY Co., Ltd., Japan, 2Kyoto Prefectural University, Japan)

In Japan, the average age of the population has been increasing, and this trend is expected
to continue. Because of this trend, the number of older people with dementia isincreasing very rapidly. It is necessary to find out persons at the early stage, so called
MCI (Mild Cognitive Impairment), of dementia, for taking care of them while
suppressing their dementia progression. For investigating MCI, wallet operation test has
been receiving considerable attentions. In the present study, we propose a system forwallet operation evaluation using deep learning. By the system, a wallet, bills, and coins
are automatically recognized and the ability of correctly picking up bills and coins in thewallet within the reasonable time is estimated.

OS3 Robot Control (9)Chair: Yizhun Peng (Tianjin University of Science and Technology, China)
Co-Chair: Huailin Zhao (Shanghai Institute of Technology, China)
OS3-1 A Design and Implementation Intelligent Flowerpot

Songyun Shi, Yizhun Peng (Tianjin University of Science and Technology, China)

Aiming at the characteristics that people often neglect the care of potted plants at home,
this article designs a smart flowerpot, which can make the potted plants survive and growbetter without supervision. This is a smart home product based on the Internet of Things
technology. The flowerpot collects data from temperature sensors, humidity sensors, soil
humidity sensors, harmful gas sensors, and photosensitive modules through STM32
single-chip microcomputers, and cooperates with smart tracking systems and automatic
irrigation systems. To achieve the purpose of unmanned cultivation of potted plants,
beautify and improve the living environment.

OS3-2 Research of Attention-LSTM Model for Baby Cry Detection Robot
Tianye Jian, Yizhun Peng, Wanlong Peng, Zhou Yang
(Tianjin University of Science and Technology, China)

In order to achieve the effective acquisition of frame-level speech features under
different emotional needs of baby, a speech emotion recognition model for baby basedon improved long-term and short-term memory (LSTM) network is established. The
frame-level speech features are used instead of the traditional statistical features topreserve the temporal relationships in the original speech, and the traditional forgetting
and input gates are transformed into attention gates by introducing an attention
mechanism, in order to improve the performance of speech emotion recognition, thedepth attention gate is calculated according to the self-defined depth strategy. The results
show that, in Fau Aibo Children’s emotional data corpus and baby crying emotional
needs database, compared with the traditional LSTM based model, the recall rate and F1score of this model are 3.14%, 5.50%, 1.84% and 5.49% higher, respectively, comparedwith the traditional model based on Lstm and GRU, the training time is shorter and the
speech emotion recognition rate of baby is higher.

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OS3-3 A Design and Implement of an Automatic Intelligent Car

Chengzhi Liu, Yizhun Peng, Jikai Zhao, Dezhi Yang (Tianjin University of Science andTechnology, China)

In order to study the situation that some unmanned vehicles need to drive repeatedly on
fixed lines, this article introduces an autonomous smart car based on the STM32
platform. Infrared detectors are used to determine whether the vehicle is driving on aprescribed route. Ultrasonic detectors can prevent the vehicle from colliding with otherpeople or vehicles. Inexpensive trolleys can help express companies to transport
packages and letters to reduce labor costs. Large vehicles can be used to carry large cargosuch as containers in docks and other places.

OS3-4 A Target Detection in Remote Sensing Image based on Deep Learning

Lianchen Zhao, Yizhun Peng, Di Li, Yuheng Zhang (Tianjin University of Science andTechnology, China)

For high-resolution optical remote sensing images, there are still many challenges intarget detection. In this paper, deep learning algorithm is used to detect the target inremote sensing image. Improve and optimize the deep learning target detection
algorithm. When the selected data set is used for target detection, the AP value isimproved, which leads to the concept of multi-scale feature fusion feature pyramid andresidual network. By improving the selected Yolov3 network model, the detection effectof the two targets of aircraft and ships in remote sensing images has been significantly
improved.

OS3-5 A Design of Home Smart Nursing Robot based on Raspberry Pi 4
Yuqi Zhao, Yizhun Peng, Jie Liu, Xiaowei Wu, Jikai Zhao
(Tianjin University of Science and Technology, China)

This product is based on Bluetooth, WIFI and other wireless technologies, with the
Raspberry Pi 4 as the core, to meet the health, safety and entertainment needs of theserviced users, mainly the elderly, while assisting the leisure and entertainment of users
when traveling outdoors. A multi-functional escort robot designed for safety and otherissues. It has many methods such as temperature and humidity monitoring, harmful gas
monitoring, and noise monitoring to ensure the safety of users. At the same time, it also
has TV projection, audio-visual entertainment touch screen interaction, mobile phone
projection and other entertainment functions.

OS3-6 Design and Simulation of Indoor Tour Guide Robot Based on ROS

Yuheng Zhang, Yizhun Peng, Lianchen Zhao (Tianjin University of Science and Technology,
China

Aiming at the problems of the small number of lecturers in museums and other venues
and the large demand for audience consultation, a ros-based indoor guide robot was
designed. The robot consists of a mechanical system, a motion control system, and asensor system. In order to improve the efficiency of development and debugging, andreduce the cost of experiments, it is necessary to test related algorithms in a virtual
simulation environment before the robot enters the actual working state. Experiments
have proved that the robot can autonomously guide guests to the destination and explain
according to a preset path; the robot has multiple sensors to sense obstacles, and canautonomously avoid obstacles during the explanation and continue to move; the robot
can accurately and efficiently recognize faces and provide accurate services Fast.

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OS3-7 Research on Path Planning of Manipulator

Nana Wang, Yizhun Peng, Zhou Yang, Yuheng Zhang (Tianjin University of Science andTechnology, China)

In order to further realize the flexibility, intelligence and human-machine friendliness,the robot must have the ability of flexible motion planning. This paper mainly introduces
the general steps of manipulator path planning and common path planning algorithms.
First, the path planning of the manipulator is reviewed from three aspects: environment
modeling, path search, and path smoothing. In addition, compared various manipulator
path planning algorithms, such as RRT algorithm, ant colony algorithm, genetic
algorithm, etc. Finally, the development trend of path planning technology issummarized and analyzed.

OS3-8 Research on White-Line-tracking Walking Technique of NAO Robot
Wanlong peng, Yizhun peng, Yuheng zhang,Tianye jian
(Tianjin University of Science and Technology, China)

Liner-tracking walking technique is an essential part of intelligent robot technology. This
paper selected NAO robot as the research platform to study the line-tracking walking
problem. Firstly, NAO white shell increased the difficulty of white line recognition, thisis different from other robot. A method based on image preprocessing is presented,
sorting white edge with cut-point which is non-differential or derivative is zero, thendesigned the controller based on the improved digital incremental PID(proportion
integration differentiation)algorithm and determined the controller parameters throughthe concise test method on Simulink. Finally, it was realized by programming in Python
language.

OS3-9 A Design and Implement of Portable Epidemic Detection Device based on
STM32
Yuqi Zhao, Yizhun Peng, Xiaowei Wu,Yusong Zhou (Tianjin University of Science andTechnology, China)

The equipment is mainly designed for epidemic detection. It is an intelligent detection
box device. It collects and analyzes data through cameras and sensors. It uses LBP
algorithm and LAB color model to enable the detection box to identify the temperatureand mask of the entered personnel. Wearing conditions, preliminary comparison of
epidemic prevention standards for passers-by, whether to wear masks, whether the bodytemperature exceeds the standard, and at the same time enter the identity of new
personnel and store them in the database, and detect the incoming personnel through facerecognition to find out in time Those who are not entered shall take corresponding
measures in time to improve the efficiency of epidemic prevention and control. The
device does not need to be held in hand, can be fixed anywhere, can effectively avoid
cross-infection, and supports self-set temperature alarm thresholds, support voicebroadcast reminders, fast and accurate non-contact temperature measurement.

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OS4 Intelligent UAV and Systems (3)Chair: Young Im Cho (Gachon University, Republic of Korea)
Co-Chair: Jang-Myung Lee ((Pusan National University, Republic of Korea))
OS4-1 Satellite Image-based UAV Localization using Siamese Neural Network

Seong-Ha Ahn, Ho-Sun Kang, Jang-Myung Lee (Pusan National University, Republic of Korea)

We present a method for UAV localization using pre-existing satellite images. The useof Unmanned Aerial Vehicles (UAVs) has rapidly increased in several applications suchas surveillance, search, and defense. When in GPS-denied situations, however, theonboard GPS signal may be noisy or inaccurate. The proposed method is based on a
Siamese Neural Network that contains two instances of the same neural architecture andweights. Siamese Neural Network learns the similarity metric so that can recognize thesame place from two raw images. Convolutional Neural Network is used as a backbone
in Siamese Neural Network to overcome variation due to differences such as perspective,
shadow angle, and presence of vehicles. We describe UAV localization pipeline and adataset for training and testing our networks. Finally, the performance of the proposed
method was shown in accuracy.

OS4-2 Analysis Based on CNN for Automated Vehicle Parking Occupancy

Muksimova Shakhnoza, Young Im Cho (Gachon University, Republic of Korea)

The noteworthy growth of the automotive trade besides an absence of urban
development has caused issues like traffic congestion, air contamination, and driving
difficulties. To facilitate consumers, most car manufacturers provide a pre-installed oraftermarket navigation system in vehicles. This enables drivers to easily navigate to theirdestination. However, navigation systems provide a rough estimate of the remaining
distance to the destination. With the recent technological advancements in sensing andintelligent technologies, companies are interested to find out whether theseadvancements can assist in reducing the time spent to search for vacant parking spaces.
Locating an unoccupied parking space is a major predicament that drivers face sincesearching for it is a tedious process. We investigations showed that, in comparison withprevious approaches, for the task of classifying given parking spaces as vacant or
occupied, the proposed approach is more robust, stable, and well-generalized for unseen
images captured from completely different camera viewpoints, which has strong
indications that it would generalize effectively to other parking lots.

OS4-3 On the boundary layer part of the asymptotics of the solution of a singularly
perturbed boundary value problem
Assiya Zhumanazarova, Young Im Cho (Gachon University, Republic of Korea)

In this paper, we study the boundary layer part of the asymptotics of a singularly
perturbed integro-differential boundary value problem with an initial jump. A part of theboundary layer is defined as an expansion in powers of a small parameter, and thecoefficients of this expansion are solutions of a third-order differential problem. The
purpose of this work is to describe in detail the properties of the boundary layer part of
the asymptotics and to prove estimates of their coefficients.

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OS5 Advanced Information Processing Applications (6)Chair: Toru Hiraoka (University of Nagasaki, Japan)
Co-Chair: Masaharu Hirota (Okayama University of Science, Japan)
OS5-1 A Method for Patterns of Cell-Like Images Based on DistanceTransformation
Toru Hiraoka, Kohei Maeda (University of Nagasaki, Japan)

A non-photorealistic rendering method has been proposed to generate cell-like images
that cell-like patterns are represented in photographic images. The cell-like patterns areautomatically generated according to changes with edges and shades of the photographic
images. However, the cell-like patterns are irregularly arranged. In this study, we propose
a method to arrange the cell-like patterns along the edges of the photographic images.
Our method improves on the conventional method by using Euclidean distance from theedges. We show that the cell-like images with the cell-like patterns arranged along theedges can be generated by our method through experiments using various photographic
images.

OS5-2 Generating Striped Animations by Inverse Line Convergence Index Filter
Toru Hiraoka, Ryosuke Takaki (University of Nagasaki, Japan)

A non-photorealistic rendering method has been proposed for generating a striped image
which is overlaid striped patterns in a photograph. The conventional method generates
the striped image by an iterative process using an inverse line convergence index filter.
When a striped animation is generated by converting each frame of a movie by theconventional method, flickering occurs in the generated striped animation. In this letter,
we propose a method for generating a striped animation that has characteristic with lessflicker from the movie. The effectiveness of the proposed method is investigatedexperimentally. As a result of the experiments, the proposed striped animation had lessflicker than the conventional striped animation.

OS5-3 A Method for Estimating Home Location of Foreigners in Japan Using
Photograph Location
Masaharu Hirota, Tetsuya Oda (Okayama University of Science, Japan)

The attributes of travelers such as home location and age could be useful for many
applications such as information recommendation and targeted advertisement. However,this information is not accessible in most Web services because users do not reveal them.
We propose a method to estimate a foreign tourist's home location based on eachcountry's tendency, in which tourists from certain regions tend to visit certain places
when traveling abroad. The feature for the estimation uses the frequency of photographlocation in a geohash. In this paper, we use foreigners in Japan as a case study. We
evaluate the performance of our proposed method by using photographs obtained fromtheir user accounts on Flickr.

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OS5-4 A Proposal of Online Map-matching Based Trajectory Compression
Algorithm Using Road Networks

Shota Iiyama, Tetsuya Oda, Masaharu Hirota (Okayama University of Science, Japan)

As the data size of GPS logs increases, the amount of data transferred from mobile
devices to the server, and the computational cost of analysis of GPS logs increase. Oneof the solutions to these problems is to compress the GPS logs. However, it is difficult
to compress a sparse GPS log while preserving the feature points in the GPS log, suchas the user's movement speed, the shape of the GPS log trajectory, and the direction of
movement of the GPS log. In this study, we propose an online compression algorithm
for GPS logs that improves the compression ratio while preserving GPS logs' featurepoints. Our proposed method compresses GPS logs by using information from the road
network to identify users' roads. We evaluate the performance of this method using the
GPS data of the bus.

OS5-5 Case Study and Direction of Share Cycle System in Japanese Cities

Minoru Kumano (University of Miyazaki, Japan), Toru Hiraoka (University of Nagasaki, Japan)

In the share cycle, people can share a bicycle with others, use and return it using multiple
cycle ports, and register and borrow it with just an IC card or smartphone. The sharecycle system is still new in Japan, and there are few papers even if you search the
National Institute of Informatics. There is no case study. Therefore, in this paper, weselected 16 advanced cases nationwide and conducted a questionnaire survey in 2019.
The purpose was to clarify the business purpose, issues, effects, features, numericalvalues such as the number of ports and the number of bicycles, and the direction. As aresult, it was clarified that the purpose is to improve the ease of migration and to
supplement public transportation, and to improve the profitability and the number ofusers are many issues, which contributes to tourism.

OS5-6 The IoT Solution to Play English Word Learning Tool

Shogo Aizawa, Motohide Yoshimura (University of Nagasaki, Japan)

We innovate an IoT solution to play the English word learning tool. It uses a Raspberry
Pi and two NFC readers. You can learn English words in three steps by using our tool.
First, prepare NFC tags corresponding to English words and illustrations. Next, select apair of the English word and illustration. Finally, hold them over the NFC reader, thenthe correct answers are displayed. Our solution has two aspects. The one is an
educational tool for children and the other is an IoT toy playing with children. As to theformer, the children can learn English words by intuitive operation such as operating thetouch panel and holding the NFC tags. As to the latter, you can experience a part of an
IoT technology such as NFC. In this paper, we report findings through the constructionof the English word learning tool.

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OS6 Intelligent Control (6)Chair: Yingmin Jia (Beihang University, China)
Co-Chair: Weicun Zhang (University of Science and Technology Beijing, China)
OS6-1 Faster R-CNN Based Defect Detection of Micro-precision Glass Insulated
Terminals
Qunpo Liu1, Mengke Wang 1, Zonghui Liu1, Naohiko Hanajima2, Bo Su1( Henan Polytechnic University, P.R.China) (2Muroran Institute of Technology, Japan)
1

Micro-precision glass-encapsulated electrical connectors are the core components usedin precision electronic equipment. As an electrical connector, its quality has a huge
impact on the performance of precision electronic equipment. Due to limitations inmaterials and production processes, some of the micro-precision glass connectors
produced have defects such as missing blocks, bubbles, and cracks. At present, it isdifficult to ensure product quality and production efficiency with manual inspection
methods. However, the defect characteristics of micro-precision glass connectors arequite different, and it is difficult for traditional defect detection technology to design anideal feature extractor for detection. Therefore, this paper proposes to use deep learningtechnology to detect missing blocks. Firstly, the sample pictures of missing defects ofelectrical connectors are preprocessed, and then be used to train the deep learning
network of Faster RCNN. According to the test results, the algorithm has an accuracy ofover 80% in detecting missing defects in glass connectors.

OS6-2 Adaptive Sliding Mode Control for a Constant Tension Suspension System
Yuxin Jia, Yingmin Jia, Kai Gong (Beihang University, China)

The constant tension suspension system can be used to counteract the gravity of the test
object, and is widely used in the ground test of spacecraft control schemes. In this paper,the dynamic model of a constant tension suspension system is established, and a newadaptive sliding mode controller is designed. The simulation results show that thetransient time and steady-state error of the control system designed in this paper are
small, which satisfies the requirements of microgravity simulation.

OS6-3 Weighted Multiple Model ADRC for Uncertain Linear System

Weicun Zhang, Jing Ge (University of Science and Technology Beijing, China)©ICAROB 2021 ALife Robotics Corp. Ltd.

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2

参考输入
LADRC
单个LAD R C

1

0

-1
0

y

系统输出

For uncertain linear systems such as parameter jumping, this paper establishes a fixedmodel set to cover the uncertainties of the real plant to be controlled, and for each local
model with minor uncertainties, the corresponding local controller is designed based on
Active Disturbance Rejection Controller (ADRC) approach. As a result, a weighted
multiple model ADRC adaptive control framework is proposed. Some simulations havebeen conducted based on MATLAB to verify the effectiveness of the proposed weighted
multiple model ADRC adaptive control algorithm.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS6-4 Trajectory Tracking Control of Differential Wheeled Mobile Robot Basedon Rhombic Input Constraints
Kai Gong, Yingmin Jia, Yuxin Jia (Beihang University, China)

This paper focuses on the trajectory tracking control algorithm for the differential
wheeled mobile robot (DWMR) based on rhombic input constraints. The kinematics anddynamics model of the DWMR are Established, and vector analysis method is used todesign the time-varying parameters of the controller when the linear velocity and angularvelocity of the DWMR were not independent of each other. Through the trajectory
tracking simulation of the 8-shaped curve, a good control performance is obtained.

OS6-5 Maneuvering target tracking based on improved interacting multiple model
algorithm
Weicun Zhang, Meiyu Zhu (University of Science and Technology Beijing, China)

In recent decades, with the rapid development of artificial intelligence, target tracking
technology has become a major aspect of scientific and technological research. Mobile
target tracking technology is widely used in military and civilian fields. For example, in
air defense and air traffic control, reliable and accurate tracking of targets is always themain purpose of target tracking system design. This paper presents a new interacting
multiple model (IMM) algorithm for maneuvering target tracking. Some simulation
based on MATLAB have been conducted to verify the effectiveness of the proposed
algorithm.

OS6-6 Encapsualted Agents of Hybrid Order Discrete Dyanmics

Yunzhong Song (Henan Polytechnic University, P.R. China)

This paper is targeting to investigate the encapsulated cell realization of the hybrid orderagents in discrete time, where it is composed by two different dynamic order agents, one
is the first order and the another one is the second order, the work is the continued caseof its continuous counter part of the encapsulated agents. To be specific, the explorationof the sampling speed is made distinguished from each other, where the fist order section
is assigned at low speed, and the second order section is selected at comparatively highspeed. To compensate the distinct sampling speed, the lifting technology is taken to
analyze the encapsulated system. Theoretical analysis and simulation results are madeavailable for the further reference.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS7 Information Applications and Security (5)Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
Co-Chair: I-Hsien Liu (National Cheng Kung University, Taiwan)
OS7-1 The Security Challenges with the Widespread Use of IT Infrastructure in ICS
Kuan-Ming Su, I-Hsien Liu, Jung-Shian Li (National Cheng Kung University, Taiwan)

The communication established by Ethernet is becoming more and more common in theindustrial control systems (ICS), and it brings not only pros but also cons likevulnerabilities. To hijack or get access to industrial devices, the attacker must know the
information about the devices first, but most of the devices, equipment, and systems in
ICS are not public, which is like a black box to the attacker. Therefore, we generalized astandard procedure to attack ICS with Ethernet-enabled, which is able to get the
information and access of the devices in an unknown ICS like identifying the
manufacturer of programmable logic controllers (PLC) and overwriting theconfiguration of PLCs. Also, we will implement the procedure to demonstrate thefeasibility of this procedure with the system obtained from the real industrial control
field whose devices’ manufacturer is Schneider and protocol is Modbus TCP.

OS7-2 A Communication System with Equipment's Characteristics

Chia-Chun Lai1, I-Hsien Liu1, Chi-Che Wu1, Chuan-Gang Liu2, Jung-Shian Li1( National Cheng Kung University, Taiwan) (2Chia Nan University of Pharmacy and Science,
Taiwan)1Over the past few years, the application on internet has grown rapidly and the devices
that can connect to internet also have an explosive increase. In the past, some informationsuch as IP address, MAC address and communication port are commonly used to identify
a specific device on the internet. However, using this kind of information is not enoughfor the purpose to identify precisely because the information can simply be imitated byany other devices. In our research, we focus on the communicational characteristics ofdevice. And we also provide a mechanism that can analyze these characteristics andgenerate configuration references which other devices can utilize. With the customized
communication module and the references mentioned above, we can make other device
imitate the behavior of analyzed device and provide a better effect on device emulation.

OS7-3 Application of the Self-Organizing Map (SOM) to Analyze the Multiple
Perspectives on Cross-National Culture
Li-Ming Chuang, Yu-Po Lee, Shu-Tsung Chao (Chang Jung Christian University, Taiwan)

This study integrates the previous cross-cultural literature and aims to construct ananalysis model of cross-national culture with multiple dimensions from three important
cultural dimension theoretical models commonly used in cross-cultural studies:
Hofstede, Global Leadership and Organizational Effectiveness (GLOBE) and World
Values Survey (WVS). This study uses a self-organizing map (SOM) as an analysis
method to integrate 17 cultural variables from this multicultural dimension for cluster
analysis and explains the cultural types in 26 countries based on the results. This study
explores the differences and similarities of different countries in different culturaldimension analyses and provides a comparative model of multicultural analysis. This
study takes samples from three cross-cultural analysis databases as data sources andemploys the self-organizing map for analysis based on a neural network algorithm. The
results identify the cross-cultural groups of 26 countries and reveal their key culturalsimilarities and differences. We also elaborate upon the findings of these culturalcharacteristics and multi-cultural dimensions.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS7-4 Threats Hidden in Employee Workstation through Office Files

Tung-Lin Lee, I-Hsien Liu, Jung-Shian Li (National Cheng Kung University, Taiwan)

Due to the single sign-on implementation of windows operating systems, users could
save a lot of time without having to enter their account and password again and again.
However, this setting also allows hackers to Use some dedicated constructed malicious
files to steal the user's identity verification information (NTLM hash), and then launch
attacks like pass the hash, and then log in to the user's computer remotely, which becomesa way to gain access to the organization's intranet. Although there are many ways tocause an NTLM hash leak, fortunately, most of them cannot be exploited by hackers.
For example, this paper will meet various common NTLM hash leak methods, and focus
on the most commonly used method of hacking: Office files, and discuss them The
possibility of extended application and under what circumstances will the existing
protection mechanism be bypassed.

OS7-5 Microsatellite Attitude Control Approach: Combined with Generation
Adversarial Networks Fault-Detection and Cerebellar Model Articulation
Controller Fault-Tolerant Control
Ho-Nien Shou (Air Force Institute of Technology, Taiwan)

A new attitude control architecture for microsatellite is proposed. Based on the deeplearning fault-detection method, the Cerebellar Model Articulation Controller(CMAC)
is used as the fault-tolerant control. With the function of Generation Adversarial
Networks(GAN) to recognize images, the microsatellite attitude fault wavelet spectrum
is used as a guide for the training of generators and discriminators, and for system realtime fault diagnosis and classification. When the system fault diagnosis determines thatthe fault occurs, the cerebellar neural network is involved in fault-tolerant control. The
GAN learning ability of the generative confrontation network is used to solve theproblem of insufficient sample data and sample labeling respectively. The CMAC is used
as a local learning network, which has generalization ability, strong convergence speed,
and easy software and hardware implementation. The simulation results show thatcompared with other methods, the GAN method of fault-detection combined with
CMAC can achieve higher accuracy and robustness.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS8 Intelligent Systems and Control (5)Chair: Chung-Wen Hung (National Yunlin University of Science and Technology,
Taiwan)Co-Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology,
Taiwan)OS8-1 Networking Integration Application of an Intelligent Production Line for
Aerospace Precision Manufacturing
Chau-Chung Song, Chun-Chi Wang, Chen-Pang Chen, Chung-Wen Hung
(National Yunlin University of Science and Technology, Taiwan)

In this paper, the networking integration application of an intelligent production line isstudied and developed for aerospace precision manufacturing. The technicaldevelopment of the performance equalization and control for EDM machine is also
introduced with the related technologies of the machine network and EtherCAT network.
In addition, the development of intelligent production lines is integrated to improve thesystem stability and production efficiency of production line systems for aerospacecomponent manufacturing. The key technologies of Cyber-Physical System (CPS) andintelligent networking is also integrated to constructs the real-time intelligent systemmonitoring system (SCADA) for data record and management. The key technologies ofthrough-hole process are developed for intelligent diagnosis and through-hole inspectionof related production processes. The integrated robot arm is responsible for the loading
and unloading of the material, and the entire production line is connected by EtherCAT
network. The automatic optical inspection (AOI) is introduced at the rear end of the
production line to realize the quality judgment of the finished product. Furthermore, thevirtual cloud network and intelligent factory is achieved with the information collection
and intelligent monitoring system.

OS8-2 Low-Cost Indoor Localization Using Sound Spectrum of Light Fingerprints
Chung-Wen Hung, Hiroyuki Kobayashi, Jun-Rong Wu, Chau-Chung Song(National Yunlin University of Science and Technology, Taiwan)

A low-cost indoor localization system using sound spectrum of light fingerprint is
proposed in this paper, an artificial intelligence, AI, algorithm will be implemented in a
low-cost micro-control unit, MCU, to perform the localization. The unit, complex andtiny differences of the light fingerprints are caused by the different characteristics of thediscrete components used in lighting devices. To reduce the memory size for low-cost
MCU, only sound spectrum of light fingerprint is used to identification the lighting
device. Moreover, the grid search also is used to optimize the hyperparameters tocompact the AI model. The system architecture and algorithm development are discussed
in this paper, and the experimental results will be present to show the proposed system
workable.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS8-3 Air Valve Fuzzy Control Combined with Sheet Music Recognition Techniques
Applied to Autoplaying Soprano Recorder Machines
Chun-Chieh Wang, Guang-Ming Jhang (Chienkuo Technology University, Taiwan)

In the past research, there are many disadvantages to score recognition and flute
performance. Therefore, this paper would improve on these two points. For the part ofmusic score recognition, we use the y-axis projection method to detect the staff position
and remove it to replace the erosion and expansion in morphology. After research andobservation, it was found that the notes have a specific writing style on the staff.
Therefore, we use this feature to distinguish notes. Detect note stem by x-axis projection
to distinguish them in the first stage, then remove the stems to distinguish them in thesecond stage. After the notes are distinguished, the pixel clustering method is used to
identify the scales. The center point of the rune head is compared with the staff position.
The scale codes are arranged in order from bass to treble. Moreover, the performance isarranged according to basic music theory. The soprano recorder performance part, using
the motors to control the finger to press the blow hole will not keep up the tempo. So wechanged the motor to a solenoid valve to control the pneumatic cylinder to press the blow
hole. In addition, the recorder will have different pressures depending on the pitch. So
we increased the part of the control from one air valve to three air valves. Not only that,
we have divided the range of the recorder into three different ranges of bass, midrange
and treble, which greatly improves the situation that the original sound is generated whenplaying. Finally, we use fuzzy control theory to control the air valve. Experiments provethat the air valve fuzzy control combined with sheet music recognition techniques canfully realize the functions of autoplaying soprano recorder machines.

OS8-4 Image Inpainting Techniques Combined with Isolated Pixel Filtering Applied
to Multifunctional Drawing Robots
Chun-Chieh Wang, Zhan-Xian Ye (Chienkuo Technology University, Taiwan)

The purpose of this thesis is to assist street painters to improve their work efficiency.
That is, the simpler part of the drawing is drawn by the robot. Once the initial picture iscompleted, the artist will take over the painting. In this paper, HSI color space is used to
improve the effect of color simplification such that the recognition of image processing
results is enhanced. Moreover, the isolated pixel filtering is used to replace the lessaffected isolated point color with the surrounding color. Furthermore, Image Inpainting
Techniques are utilized to reduce the distortion caused by the isolated pixel filtering.
Besides, we adjusted the path planning as well as reduced isolated points to dramaticallyreduce drawing time. At the same time, LabVIEW can issue commands directly tocontrol the robot by adding the communication function. In addition, in order to achieve
the multifunctional drawing robotic mode, this system adds the sketch function. Throughthe image resolution adjustment as well as the shortening of the spacing of the drawing
lines, the robot can draw more detailed pictures in the same size of drawing space.
Simultaneously, we reserved some space in the organization to provide the use of
subsequent development of other functions. The measured results confirm that theapplication of the technology in this paper can shorten the drawing time by about 55%
on the multifunctional drawing robot system.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS8-5 Mobile Robot with Image Recognition -- Using LabVIEW and KNRm
Kuo-Hsien Hsia, Bo-Jung Yang, Jr-Hung Guo, Chang-Sheng Xiao
(National Yunlin University of Science and Technology, Taiwan)

The main purpose of this paper is to use the image recognition of LabVIEW software toconstruct mobile robots with various functions, and make the robots applicable to theindustry and have web monitoring applications. The core of the robot is mainly the
KNRm controller. This controller is suitable for beginners, and can be connected to DC
servo motor, RC servo motor, infrared, ultrasonic and camera to achieve various
functions of the robot. The structure of the robot uses metal parts sold by Studica
company, which can be in accordance with the desired function to assemble the robot.
Since the company is a designated equipment sponsor company for World Skills
competitions, it can also be in line with international standards. Finally, PID control andsensors are added to make the robot movement and position more accurately.

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OS9 Intelligent Systems and Life (7)Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
Co-Chair: Evgeni Magid (Kazan Federal University, Russia)
OS9-1 Architecture of a student training computer program for preparing
professional outpatient consulting skills within an electronic medical records system
during COVID-19 alertness situation
Sergey Bulatov1, Evgeni Magid2, Enzhe Kharisova1, Roman Lavrenov2, Vitaly Dudin1, Artur
Khazetdinov2 (1Kazan State Medical University, Russia), (2Kazan Federal University, Russia)

One of the important goals of a medical education in the context of the COVID-19
pandemic is a broad introduction of simulated-based teaching methods, which might
include elements of robotics and artificial intelligence. We analyzed computer programs
that are currently used for maintaining medical records of patients by various polyclinics
of Kazan. Based on these results, we summarized requirements for a training computer
program that could provide students with medical records maintaining skills anddeveloped program’s preliminary architecture. Our main attention focused on modelingsituations that are associated with pre-hospital stage processing of medical records forpatients with suspected or confirmed COVID-19.

OS9-2 Satisfaction Assessment on the Counseling Service System for Full-Time
Teacher-Counselor in Tainan Elementary School
Hsiu-Hao Liu (Chang Jung Christian University, Taiwan)
Yun-Syuan Jhang (National University of Tainan, Taiwan)

As the most important case management system in the school counseling works, thecounseling service system must meet the needs and expectations of the school teachercounselor (the main users). This investigation conducted a questionnaire among teachercounselor to survey their satisfaction when using the counseling service system in Tainan
City. The results of satisfaction items are as follows: "The items are provided abundantand complete by the system" was the highest of all items. "The items are provided tomeet the needs to be collected in the counseling works by the system" was secondly. The
least satisfactory item was "Using the system can help me communicate and interact
with others in the counseling works". Additionally, system usage intention was
effectively explained by perceived ease of use and usage attitudes. The conclusion was
to discuss the implications of this research and suggest several future research issues.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS9-3 Assess The Critical Factors for the Counseling Service System Usage
Intention
Hsiu-Hao Liu (Chang Jung Christian University, Taiwan)

As the most important case management system in the school counseling works, thecounseling service system must meet the needs and expectations of the school teachercounselor (the main users). Semi-structured interviews were used to interview teachercounselor who have experience in using systems in Tainan. The data are recorded andsemantic analyzed after interviewing, summarize the critical factors that affect the usage
intention of the teacher-counselor. The conclusion was to discuss the implications of thisresearch and suggest several future research issues.

OS9-4 Design and Implementation of EMI Suppression Filter for Electronic
Commutation Fans
Ching-Chun Chuang, Chih-Chiang Hua, Chung-Wen Hung, Chun-Jen Yao(National Formosa University, Taiwan)

This paper presents an electronically commutated fan has a complex digital control
compared to conventional alternating current fans. Since serious electromagnetic
interferences occur in the electronic commutation fan, a filter is required and its
mechanical design is very important. A digital control for an electronically commutated
fan is used to reduce the components of the EMI filter, and the suppression of conducted
and radiated electromagnetic interference is discussed. Moreover, the fan system is
integrated with proper mechanical design to reduce the radiated electromagnetic
interference. Fig.1 shows a single-phase BLDC motor driver for the proposed fan. The
electromagnetic interference produced by the electronically commutated fan is analyzed
and the suppression strategy is provided. The experimental verification for theelectronically commutated fan will be made available to the public.

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OS9-5 Application of IOT to Forest Management Taking Fushan Botanical Garden
as an Example
Shuo-Tsung Chen, Chih-Chiang Hua, Ching-Chun Chuang(National Formosa University, Taiwan)

In recent years, the Internet of Things (IoT) technology has developed rapidly and has
been successfully applied in different fields, and has begun to expand the application
context of the Internet of Things. This work aims to study how to apply the IoTtechnology to forestry management, including: 1. Forestry management using wirelessnetwork communication technology of Low Power Wide Area Network (LPWAN) suchas LoRa and NB-IoT; 2. Apply different sensing technologies to survey resource of forestand monitor the microclimate changes in forest. In order to actually verify the proposed
feasible communication technology and sensor arrangement, we chose the Fushan
Botanical Garden with the most diverse and complex terrain in Taiwan as theexperimental site. Fig. 1 shown that the evaluation of a situation and setting for Forest
Resources Survey. We actually built LoRa and NB-IoT communication equipment(including relay equipment) and various sensors to test the influence of terrain, climate,
and trees on signal transmission efficiency and equipment installation. The returned dataalso verifies the successful operation of various communication devices and sensors.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS9-6 Development of the IoT Module using MQTT Protocol and AES
Jr-Hung Guo*, Tzu-Yuan Lin, Kuo-Hsien Hsia
(National Yunlin University of Science and Technology, Taiwan)

The efficiency and safety of the Internet of Things have always been the focus of thedevelopment of IoT devices. Because the chips used in IoT devices generally have poor
computing power, they cannot transmit data quickly and in large amounts, and use more
complex security algorithms. Therefore, this thesis is to develop an IoT module with
STM32 chip as the main controller. This module uses MQTT Protocol and AES
encryption technology, and this IoT module can be operated directly with a browser.
MQTT is a communication protocol for the Internet of Things, which was developed by
IBM and Eurotech, and officially became an OASIS international standard in 2014. The
purpose of development is to send and receive processing messages under narrow
bandwidth and low energy consumption conditions. To ensure the security of IoT
communications, we use AES encryption technology. Through this design, thecommunication of the entire IoT module is more efficient and safe. Finally, we applied
this IoT module to the security system, and the overall efficiency and safety have beenverified. In the future, we will continue to improve related software and hardware so that
this IoT module can be used in different fields.

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OS9-7 Exploring the Intention to Continuance of Learning Programming at
Elementary School of Rural Area by the mBot Robot
Yung-Hsin Cheng, Jia-Ming Hsiao (National Yunlin University of Science and Technology,
Taiwan)Since Curriculum Guidelines of 12-Year Basic Education implemented by the Ministryof Education in 2018, the program learning courses have been added to junior highschool education. However, there are no programming course in the elementary school.
This study is proposed to explore the continuity and intentions of the rural area students
in the programming course with mBot robot and mBlock programming tool through the
Post-Acceptance Model of IS Continuance. It is indicated that enlightenment educationof computational thinking should be implemented during the elementary school bymeans of graphical programming software and robot practice. Through the graphicalsoftware and teaching robots, we can cultivate problem solving skills for students' logic,
creative thinking and communication, as well as through the task-guided way to train thestudents' concentration and perseverance.

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OS10 Advanced Control Systems and Signal Processing (7)Chair: Takuya Kinoshita (Hiroshima University, Japan)
Co-Chair: Shinichi Imai (Tokyo Gakugei University, Japan)
OS10-1 Nonlinear Internal Model Controller based on Local Linear Models, and its
Application
Shinichi Imai (Tokyo Gakugei University, Japan)

In this paper, nonlinear internal model controller based on local linear models, and its
Application. The internal model control has a simple structure and has a high robustness
for system uncertainties. However, there are few studies of internal model control
schemes for nonlinear systems. On the other hand, many controlled systems have thenonlinearity. The effectiveness of the newly proposed control scheme is numericallyevaluated on experiment examples in comparison with the conventional control methods
for nonlinear systems.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS10-2 Design of a data-driven control system for reference model design using
predicted signals
Yuki Nakatani, Takuya Kinoshita, Toru Yamamoto (Hiroshima University, Japan)

In recent years, data-driven control schemes that do not require system identification
have been actively studied. Generally, it is easy to give a reference model focusing only
on the output response. In contrast, it is difficult to give a reference trajectory considering
the input signals based on the controlled system's characteristics. Furthermore, it isnecessary to consider the output signal and the input signal since there is a limit of theactuator performance in the control design of the actual machine. This paper proposes adata-driven control system that can predict the input/output response of an unknown
system in offline using operation data. The effectiveness of the proposed scheme isnumerically verified.

OS10-3 Design of a Data-driven GMV Controller Using the Nelder-Mead Method
LiYing Shi, Zhe Guan, Toru Yamamoto (Hiroshima University, Japan)

This paper presents a design scheme that can obtain the optimized generalized minimum
variance (GMV) control parameters by applying the Nelder-Mead (NM) method basedon proportional-integral-derivative (PID) controller for linear systems. The NM method
is used to find the most suitable parameter λ of GMV controller, then the PID parameters
can be obtained. In the previous GMV controller, the PID parameters are calculated bysimply changing λ manually. Therefore, it is hard to get desirable control performance.
The application of NM method can optimize the calculation of the most suitable λ andget better PID parameters. Furthermore, the estimation of closed-loop response uses
data-driven approach. The effectiveness of the proposed scheme is verified by using asimulation example.

OS10-4 Design of a Databased-Driven GPC for Nonlinear Systems

Zhe Guan, Toru Yamamoto (Hiroshima University, Japan)

This paper presents a Generalized Predictive Control (GPC) design scheme considering
databased-driven approach for nonlinear systems. In several conventional design
methods, model parameters are required to calculate control parameters. However, it istime- and cost-consuming to identify the model in real practical systems, especially forchemical or thermal industries with unknown delay time and strong nonlinearity.
Recently the database-driven approach has been attracted considerable attention to tackle
the model identification issue. It is widely applied in nonlinear systems. On the other
hand, GPC is considered in the cases with unknown delay time. As a result, the controller
is designed based on GPC by using databased driven approach. The proposed scheme isverified by a numerical simulation which demonstrates the effectiveness.

OS10-5 Design of a Data-Driven Controller using Open-Loop Data

Y. Nishiya, Takuya Kinoshita, Toru Yamamoto (Hiroshima University, Japan)

In recent years, data-driven control has been proposed as a control system design that
does not require system modeling. Furthermore, it is extended to a nonlinear systemusing a database. It is necessary to collect several data to obtain good control
performance. However, collecting sufficient data incurs both time and human costs. This
paper proposes an offline scheme for generating several data from a set of open-loop
data is proposed. Additionally, the controller is designed considering the input signal toprevent a heavy burden on the actuator. In this paper, the numerical examples verify theeffectiveness of the proposed scheme.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS10-6 Improved Estimation of Sway-Angle for Overhead Crane based on Phase
Difference of Acoustic Signals in Frequency Domain
Hanako Ogawa, Takeshi Yamada, Masayoshi Nakamoto (Hiroshima University, Japan)

When operating crane, sway of the payload is an issue that should be controlled. For theanti-sway control, it is essential to detect the sway-angle θ. However, it is difficult tomeasure the sway-angle directly. In this paper, we propose a method to obtain the phasedifference (λ1 - λ2) of the acoustic signals s1 and s2 in the frequency domain by using
the discrete Fourier transform (DFT). Based on the phase difference, we compute thearrival time difference and convert that to the sway-angle of deflection. To improve theaccuracy, we discuss a method for generating the frequencies of the sound sources andthe signal processing with filters. In the experiments, the sway-angle measured by thecamera are compared with the proposed method.

OS10-7 Study on an Optimal Design Method for Control Systems based on
Bayesian Optimization

Koichi Hirota, Shin Wakitani, and Toru Yamamoto (Hiroshima University, Japan)

Most product systems consist of a combination of multiple subsystems. Appropriate
setting and design of operating goals (functional goals) of these subsystems areimportant to achieve and maintain the target performance of the system. In recent
years, model-based development (MBD) has been attracting attention in the industrial
world. In the MBD process, a user can evaluate the subsystem’s performance and easily
improve their design. In many situations of control system design, plant design iscompleted in advance. In subsystem design, a plant and a controller are required to be
optimized at the same time for the functional goals determined upstream design process.
Based on the background, this study considers the simultaneous optimum design of thecontroller and the plant.

OS11 Robotic Manipulation (3)Chair: Kensuke Harada (Osaka University, Japan)
Co-Chair: Tokuo Tsuji (Kanazawa University, Japan)
Co-Chair: Akira Nakamura (AIST, Japan)
OS11-1 Using Various Evaluation Standards to Determine an Error Recovery
Process in an Automation Plant
Akira Nakamura*1, Natsuki Yamanobe*1, Ixchel Ramirez Alpizar*1, Kensuke Harada*2, Yukiyasu
Domae*1*1( National Institute of Advanced Industrial Science and Technology (AIST), Japan*2
Osaka University, Japan)

In an automation plant, not only simple repetition tasks but also complicated tasks arecarried out. An error is more likely to occur in such difficult work, so the improvementof the technique to perform recovery of an error is needed. The task often is re-executed
after returning to previous step, in the case of a big error. Therefore, it becomes theimportant problem to decide both the past step that it should return to and the recovery
planning after returning. In this paper, error recovery planning taking these two factors
is proposed by using various evaluation standards.

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Main partPlant tasks

Sensing
Modeling
Planning
Execution
Failureoccurred!!

Re-executeusing the system withimproved reliability

Recovery part
Corrected System
Cause estimation anderror classification
Class 1 (Execution error)
Class 2 (Planning error)
Class 3 (Modeling error)
Class 4 (Sensing error)

The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS11-2 Robotic Picking for Piled Sushi Topping

Kenta Matsuura*1*2, Keisuke Koyama*1, Weiwei Wan*1, Kensuke Harada*1( Osaka University, Japan, *2 Currently with Yaskawa Electric Co. Ltd., Japan)*1This paper proposes a method for picking piled sushi topping. By observing a humanmotion picking a sushi topping, we propose two picking strategies where one is to insert
a finger into the separation among two toppings with shaking the finger, and the other is
to insert a finger into the separation between a topping and a table. Along with twosegmentation method, i.e., plane segmentation and LCCP segmentation methods, we
experimentally verify the effectiveness of the proposed approach.

OS11-3 Motion Generation by Learning Relationship between Object Shapes andHuman Motions
Tokuo Tsuji1*, Sho Tajima*1, Yosuke Suzuki*1, Tetsuyou Watanabe*1, Shoko Miyauchi*2,
Ken’ichi Morooka*2, Kensuke Harada*3, and Hiroaki Seki*1*1( Kanazawa University, Japan, *2 Kyushu University, Japan, *3 Osaka University, Japan)(This paper presents a method for planning a robot motion of daily tasks by learning
the relationship between object shapes and human motions. Robots are required to beable to deal with multifarious objects in various categories. However, it is difficult for
robots to plan motions automatically for performing a task because objects even in thesame category have different shapes. In our method, the motions are estimated bylearning the relationship between object shapes and human motions using linear
regression analysis. We evaluate the estimated motions and the experimental results oftasks which are performed by a robot to verify the effectiveness of our proposed method.

OS12 System and Control (18)Chair: Huailin Zhao (Shanghai Institute of Technology, China)
Co-Chair: Jichao Zhao (Tianjin University of Science and Technology, China)
OS12-1 The Optimized Intelligent Algorithms on Face Recognition and Tracking
for ROS-based Robots
Yue Chen, Shuhao Tian, Huailin Zhao, Shengyang Lu (Shanghai Institute of Technology)

With the development of artificial intelligence, face recognition and tracking technology
have been widely used in many fields such as target positioning, automatic driving, andhuman-computer interaction. Recently, a large number of face detection, recognition andtracking algorithms have emerged, but there are still many shortcomings in practicalapplications, such as slow face detection, low detection accuracy, and face recognition
and tracking for ROS robots Algorithms are rare. This paper improves the traditional
Haar-like algorithm and LK optical flow tracking algorithm, and designs a ROS robot
platform based on the improved algorithm. By comparing the accuracy and timelinessof face detection and tracking between the improved algorithm and the traditionalalgorithm, the superiority of this design algorithm is obtained.

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OS12-2 Control of a Novel 5D Hyperchaotic System

Qiang Wei1, Hong Niu2
( Army Military Transportation University, China)
2( Tianjin University of Science & echnology, China)
1

In this paper, a novel five-dimensional (5D) autonomous hyperchaotic system ispresented, and the characteristics of the 5D system are given in brief. For control of the
5D hyperchaotic system, a linear feedback controller is designed via the Lyapunovstability theory, so that the 5D system is no longer hyperchaotic but globally
asymptotically converges to the equilibrium point at the origin. The numericalsimulation results are given to illustrate the feasibility and effectiveness of the method.

OS12-3 Design of Multifunctional Vehicle Interior Environment Monitoring
System Based on Wireless Communication
Yuqi Yan, Jialin Yang, Zhongxu Qin (Wuhan University of Technology, China)

The interior environment of the car affects the driver's mental state to a certain extent,
so it is necessary to design a multi-functional interior environment monitoring system.
In this paper, STM32103 single chip microcomputer is used as the core controller, which
integrates multiple sensors to collect various environmental information in the vehicle,
and transmits the data to the monitoring platform through WiFi wireless communication.
When the detected data exceeds the preset threshold, the monitoring system will generate
an alarm to remind the user to carry out relevant operations. The system has theadvantages of low cost, convenient use and high precision, and has certain commercial
value and market prospect.

OS12-4 Robot Structure and Motion control Design Based on UG and ProductYuhang Sheng (Tianjin University of Science and Technology, China)

The paper is to design a six-degree-of-freedom biped robot by the research on thehumanoid characteristics of the biped robot. Our biped robot chooses the steering gear
ASMC-03B as its power unit, we restricts the model parameters by analyzing thefunction relationship between the steering gear torque and the volume, and regulates thesize of every parts, and create a motion analysis model. In the hardware part, Arduino
UNO, which is used as the main control chip, realize the communication between themain control chip and the servo drive module PAC9685 through the IIC bus protocol,
which saves the main control chip resources and ensures the execution efficiency. In thesimulation part, it is to simulate the steering angle of the steering gear, and output it in
the form of a waveform.

OS12-5 Design of Brushed Motor Position Loop Control System Based on
Incremental PID

Tianyi Zhang, Peng Lu (Tianjin University of Science and Technology, China)

Motors are an important part of the transmission and control system. With thedevelopment of technology, the focus of motors in practical applications has shifted toprecise control of speed, position and torque. This paper focuses on the control systemdesign of the brush motor position loops, using STM32 microcontroller and incremental
PID to achieve accurate control of the motor stopping moment position. The software isdesigned in C programming. It is divided into four parts: System Clock Configuration
Functions, Principal Functions, System Tick Timer Interrupt Callback Function, Position
closed loop PID Control Design Function. The hardware part is based on the
STM32F103VET6 core board.

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OS12-6 Design of a Fire alarm system

Yuhui Cheng, Tianyi Zhang (Tianjin University of Science and Technology, China)

This paper introduces the hardware and software design of the fire alarm system, andanalyzes its working principle. This paper uses a distributed sensor network based on
ZigBee to achieve fire alarm and real-time evacuation. Select infrared flame sensor and
MQ2 smoke sensor as the information source. The core control board is the Arduino
Mage2560 development board. Through the ESP8266 module and the GPRS module,
the multi-channel information transmission function can be realized. The alarm can beclassified according to the fire situation. System status monitoring software, written in
C#, can view the status of each node in real time.

OS12-7 Design of intelligent curtain control circuit based on single chip
Microcomputer

Qianqian Zhang, Jichao Zhao, Haokang Wen, Hongbo Hao(Tianjin University of Science and Technology, China)

Since entering the 21st century, high technology has promoted the development of
human beings and artificial intelligence has been popularized gradually. In this paper,
the structure and principle of crystal oscillator circuit, reset circuit and photosensitive
sensor circuit are introduced with 89C51 single chip microcomputer as the main control
unit. The whole circuit system is analyzed in this paper. The circuit module ofphotosensitive sensor can be used to detect the external light intensity and automaticallycontrol the curtain. The user can set the temperature threshold with the remote control.

OS12-8 Research on the algorithm of flue gas desulfurization system

Hongbo Hao (Tianjin University of Science and Technology, China)

In this paper, the process of flue gas desulfurization and denitrification, which is anonlinear, time-varying, large lag and strong coupling complex variable process, isanalyzed and studied in depth. Based on the analysis of the coupling characteristics ofthe adsorption tower, the control model of the desulfurization and denitrification processof the adsorption tower is established, and the system identification adaptive PID
Decoupling control algorithm is adopted. The Simulink toolbox corresponding to Matlab
software is used to simulate and verify the effectiveness of the algorithm. The RBF
neural network identifier is used to identify the plant model on-line to improve theadaptive ability of the controller.

OS12-9 A Survey of Low Visibility Image Enhancement Based on MSRCR
Algorithm

Haokang Wen, Hongbo Hao (Tianjin University of Science and Technology, China)

With the development of computer vision systems in the fields of traffic and safety
monitoring, image enhancement has become an important research direction ofcomputer vision. After development, the Retinex algorithm has a better enhancement
effect, and the MSRCR algorithm has now developed into one of the important methods
in image enhancement. This article introduces the development of the Retinex algorithm,
and focuses on the main process and steps of the MSRCR algorithm, and uses thealgorithm to enhance the low-visibility images of haze and night in multiple scenes. The
actual results show that the MSRCR algorithm has a better enhancement effect and has
a wide range of application values.

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OS12-10 Design of a Taxi Meter Based on Single Chip Computer

Haokang Wen, Min Wang (Tianjin University of Science and Technology, China)

As a convenient means of transportation, taxis greatly facilitate people's daily travel.
Based on such a background, this article designed a simple taxi meter based on
STC89C52 microcontroller. This taximeter uses a single-chip microcomputer as thecore, combines display module, clock module, storage module, key module, andcombines software and hardware to build the required taxi meter model. The taxi meter
introduced in this article has the functions of displaying time, starting price, and realtime display of the cost according to vehicle mileage. Theoretically, the meter has higher
accuracy and has a wider practical value in daily life.

OS12-11 Design of a High Precision Digital Clock Based on Single Chip
Microcomputer

Haokang Wen, Qiang Zheng (Tianjin University of Science and Technology, China)

Compared with traditional mechanical clocks, digital clocks have higher accuracy anddurability and are widely used in people's daily lives. This paper designs a digital clock
which uses AT89S52 single-chip microcomputer as the main control chip. It can count
hours, minutes, and seconds, and can calibrate the time. It can switch between 24-hourand 12-hour systems. As a smart clock, while displaying the time, it also adds thefunction of temperature display. The intelligent digital clock designed in this paper has
stable performance in theory and has certain practical value.

OS12-12 Design of Manchu Image Acquisition System Based on STM32
Hongbo Hao1, Fulin Zheng2( Tianjin University of Science and Technology, China)(2 Dalian Minzu University, China)
1This paper designs a Manchu image acquisition system based on STM32 to protect andutilize Manchu ancient books. The system uses stm32f407 as the core controller, withthe help of image sensor, LCD screen, SD storage module to complete the function ofimage acquisition, storage and upload of Manchu ancient books. This paper describes
in detail the hardware circuit design, software programming and overall function
debugging of the image acquisition system. In order to achieve the purpose of digitalprotection of Manchu ancient books, we can collect, display, save and upload images indifferent situations.

OS12-13 Design of timing socket based on single chip microcomputer
Hongbo Hao1, Shuailin Chen2(1Tianjin University of Science and Technology, China)(2Qingdao University of Science and Technology, China)

In this paper, the design of timing socket is mainly used for intelligent timing control ofhousehold appliances, and the working time of timing is set by pressing the key. In theworking period, the external connection device and the power supply are in the
conduction state. Outside the set time period, the external connector is disconnected fromthe power supply. This design uses STC89C52 as the driving chip. DS1302 clock module
provides accurate timing. LCD1602 LCD module displays time and operation interface.
The relay module controls the connection between the socket and the power supply. DC
power supply module is converted to DC power supply module.

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OS12-14 Study on the effect of physical fitness training on children’s cognitive
ability

Jianhua Deng, Lei Ning (Yanshan University, China)

With the word physical fitness getting more and more attention in our country, physicalfitness has been widely developed in our country. Therefore, in recent years, the students'
physique has received attention from all aspects of society, and improving the students'try
tophysique has also become a new topic for physical education workers. I
discuss the effect of physical fitness training on children's cognitive ability from theperspective of physical fitness training. To provide theoretical basis and reference forintervention of children's cognitive ability training methods. So as to promote the
This
paper
improvement of children's cognitive ability and provide guarantee.
studies the influence of physical fitness training on children's cognitive ability by using
the methods of literature, observation and experiment. Finally, the conclusions are
drawn.

OS12-15 Effects of high heels on plantar stress in women

Jianhua Deng, Lei Ning (Yanshan University, China)

OBJECTIVE: to investigate the changes of Plantar pressure and gait in women wearing
high-heeled shoes for different years. METHODS: from March 2019 to April 2019, a
total of 30 female faculty members in Yanshan University were surveyed byquestionnaires and plantar pressure was measured by static and dynamic tests. RESULT:
1. The peak value of plantar pressure of the arch of foot increased with the increase ofwearing time (P & Lt; 0.05). 2. The plantar pressure and impulse of the second metatarsal
and the fourth metatarsal increased with the increase of wearing time (P & Lt; 0.05).
CONCLUSION: 1. Long-term wearing high-heeled shoes will cause foot discomfort,
easy to cause flat foot and Hallux Valgus Lesions; 2. The distribution of plantar pressure
and the change of arch shape and gait may be the main reasons for wearing high-heelshoes.

OS12-16 A research on Intelligent Classification of Urban Trash Bins based on
Machine Learning
Longyu Gao, Zilong Liu, Luqi Shen, Songyun Shi, Yongzheng Lv(Tianjin University of Science and Technology, China)

Aiming at the problems of inaccurate, insensitive and general performance of the current
intelligent garbage sorting bins, an intelligent garbage sorting bin based on machine
vision is proposed. The trash can is mainly divided into five parts: the main control
module, machine vision module, classification module, overflow reminder module, and
Wi-Fi Internet of Things module. The trash can uses convolutional neural networks tobuild an intelligent garbage classification model and classification algorithm to achieve
rapid and accurate garbage classification. The experiment will be done based on theidentification of waste bottles, analyze the recognition characteristics of machine vision,and then propose methods to improve the accuracy of recognition.

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OS12-17 A Design on Intelligent Public Trash Can based on Machine Vision and
Auxiliary Sensors
Longyu Gao, Leixin Han, Jiangyu Wu, Mingfei Liu, Ruming Kang
(Tianjin University of Science and Technology, China)

In order to improve the correct rate of front-end recognition in the garbage classification
process, based on the machine vision technology, the automatic garbage classification
system is designed and it has a significant improvement in recognition accuracy
compared to traditional smart garbage cans. But in the case of identifying irregular
garbage, the recognition accuracy is greatly reduced. In order to solve this kind ofproblem, four types of auxiliary sensors are added to the trash can, through the mutual
cooperation between the sensors, combined with the results of machine vision
recognition, comprehensive judgment, greatly improved the recognition accuracy ofirregular garbage.

OS12-18 A research on Front-end Garbage Classification based on Machine Vision
Longyu Gao, Zhiqing Xiao, Junlong Hao, Luqi Shen, Manqian Hu(Tianjin University of Science and Technology, Tianjin, China)

Adding a machine vision recognition module to the traditional smart trash can caneffectively improve the efficiency of trash recognition. The intelligent garbage
classification model constructed by the convolutional neural network can accurately
identify the types of garbage, with an average accuracy rate of 0.87. Deploy the trainedmodel on openMV and test it on the produced physical trash can. After the system isstable, the average time to complete a sorting and recovery is 2s. Experiments show thatthe system can effectively identify the types of garbage and complete garbage
classification and recycling.

OS13 Intelligent Systems and Robotics (14)Chair: Fengzhi Dai (Tianjin University of Science and Technology, China)
Co-Chair: Yunzhong Song (Henan Polytechnic University, China)
OS13-1 Analysis of the Consensus Protocol of Heterogeneous Agents with TimeDelays

Jichao Zhao1, Fengzhi Dai1,3, Yunzhong Song2( College of ElTianjin University of Science and Technology, China, 2Henan Polytechnic
University, China, 3Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)
1

In practical engineering applications, the research on the consensus of heterogeneous
multi-agents is of great significance. The consensus of multi-agents mainly includes
average consensus, maximum consensus, and minimum consensus. The paper studies
the average consensus of heterogeneous multi-agents, including continuous-timeconsensus protocol, discrete-time consensus protocol, consensus with time delay, andconsensus of switching topology. The knowledge of graph theory is used to describe thesystem, and the results are simulated and analyzed for the consensus of time delay andswitching topology to verify the correctness and effectiveness of the consensus protocol.

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OS13-2 Burrows-Wheeler Transform Acceleration based on CUDA

Chang Sheng, Fengzhi Dai (Tianjin University of Science and Technology, China)

Burrows-Wheeler transform (BWT) is a commonly used transform in compression or
text comparison. For example, in bzip2, BWT is used to preprocess the original data,then the same characters in the original data are close to each other, which improves thecompression rate. Because the prefix tree of the original string can be easily obtained
from the result of the BWT, BWT is also applied to the search and comparison of strings.
For instance, the comparison of DNA sequences uses the BWT algorithm. However,
BWT is not a fast algorithm, only Tens of megabytes per second on CPU. This article
uses the GPU to sort the original string by the base of the 4-byte key size radix sort. Afterradix sort, the part with insufficient length is sorted again to complete the BWT
algorithm.

OS13-3 Design of Automatic Water Supply Upper Computer System

Peng Lu, Fengzhi Dai, Tianyi Zhang (Tianjin University of Science and Technology, China)

Aiming at the unstable water supply and fluctuating water pressure in the water supply
system, an upper computer system of automatic water supply system based on Siemens
PLC and KingView software was proposed. The pressure sensor in the water supply
pipeline is used to detect the pressure in the pipeline, and the liquid level sensor monitors
the liquid level in the tank. The sensor transmits the data to the PLC, and the PLC issues
the control instruction after the computation processing. KingView software can realize
real-time monitoring and fault alarm of the system. The system can effectively improve
the stability of water supply, and can avoid human entering the dangerous environment
to search for unknown faults.

OS13-4 Analysis of Boiler Water Level System based on the Fuzzy Control

Tianyi Zhang, Fengzhi Dai, Peng Lu (Tianjin University of Science and Technology, China)

Based on the three-stroke water supply system, this paper analyzes the performance
characteristics of the boiler water level control system in reality, so as to reason out theappropriate fuzzy control rules, design fuzzy controller, and applied to the control
system, so that the system for self-adjustment of PID parameters, constitute a fuzzy PID
control system. On this basis, this paper analyzes the performance, advantages andcharacteristics of two control systems: the traditional PID control system and the fuzzy
PID control system, and simulates the parameters of the input variables for comparison
and analysis.

OS13-5 Development of the Circuit System for Greenhouse Environment
Regulation
Yuhui Cheng, Fengzhi Dai, Chengxu Ji, Peng Lu(Tianjin University of Science and Technology, China)

Aiming at the demand of agricultural modernization, this paper proposes a greenhouseenvironment regulation system based on single-chip microcomputer. For the greenhouse,
due to the closed space and the requirements of the crops for the stability of the growthenvironment, the cheap single-chip control system can be used to complete this work
well. The system can obtain the current environmental data in the greenhouse throughthe DHT11 temperature and humidity sensor and the light sensor. The system can keep
the environment in the greenhouse in a proper state without people, and is suitable forlarge-scale greenhouse planting.

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OS13-6 Design of an Intelligent Car based on MSP430

Ruming Kang, Fengzhi Dai (Tianjin University of Science and Technology, China)

The system takes the MSP430 single chip microcomputer as the control core, uses thereflective photoelectric sensor TCRT5000 module to track the line, and realizes theautomatic tracking. In the experiment, the black-and-white line is used as the route. The
system is driven by the L298N module and controlled by the PWM DC motor. This paper
introduces the principle of the reflective photoelectric sensor and the circuit diagram of
the tracking module. It also explains how to realize the automatic tracking based on the
MSP430 single chip microcomputer. The technology can be used in warehouse,
unmanned production line, intelligent service robot and other fields.

OS13-7 Design of a WIFI Video Car

Qianqian Zhang1, Fengzhi Dai1,2, Jichao Zhao1, Haokang Wen1, Hongbo Hao1
(1Tianjin University of Science and Technology, China)(2Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)

This subject is mainly composed of motor, frame, STC89C51 single-chip
microcomputer and other auxiliary modules. Through the android client broadcast video
car cameras, wireless video signal acquisition by the client to send commands to the car
at the same time, wireless router transmission instruction by wireless router, single-chip
microcomputer for processing, then driven by single chip microcomputer control motor,
drive motor rotation, steering device, so as to realize the control of motor sports andvideo acquisition.

OS13-8 Design of WebGIS Transportation and Distribution System based on the
Genetic Algorithm
Hongbo Hao, Fengzhi Dai (Tianjin University of Science and Technology, China)

With the concept of "smart logistics" put forward, the transformation of the logistics
industry facing information technology is facing great challenges. At present, China's
logistics industry is facing problems such as extensive resource allocation, lowmanagement level and high cost. Aiming at the transportation problem in logistics
industry, this paper designs a solution method of balanced / unbalanced transportation
problem based on Monte Carlo similarity and the genetic algorithm. Two coding
methods, Prufer number and matrix are adopted. On this basis, dynamic mutation rate
and random mutation strategy are designed, and Monte Carlo similarity receiving
method is introduced. Finally, from the perspective of system requirements, the WebGIS
transportation and distribution system based on the genetic algorithm is designed anddeveloped.

OS13-9 A Study of YOLO Algorithm for Target Detection

Haokang Wen, Fengzhi Dai, Yasheng Yuan
(Tianjin University of Science and Technology, China)

With the development of deep learning, target detection has become one of the research
directions of many scholars. As one of the more mature algorithms, the YOLO series ofalgorithms have been widely used in real life. Combining the development history of the
YOLO algorithm, this article focuses on the main framework and main content of thecurrent latest YOLOv5 algorithm, and uses the YOLOv5 model to identify and detectfootballs. This article evaluates its detection effect. The test results show that YOLOv5
has a wider application meaning in real life.

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OS13-10 Research on Recognition and Application of EEG Signal based on
SSVEP-BCI
Di Yin1, Fengzhi Dai1,3, Mengqi Yin2, Yasheng Yuan1, Yuxuan Zhu1
(1Tianjin University of Science and Technology, China)(2Hebei University of Chinese Medicine, China)
3( Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)

In recent years, brain-computer interface systems based on steady-state visual evoked
potentials (SSVEP) have attracted attention due to their high information transfer rate
(ITR) and more and more targets. The current mainstream algorithms for SSVEP
recognition have greatly improved the accuracy and target detection time. This paper
designs a robotic arm application system based on the eCCA-Y method for multi-target
recognition. The phase characteristics of CCA's sine and cosine signals are added to the
EEG signal. Compared with mainstream algorithms, research shows that this method
can improve the SSVEP-based BCI performance. And choose a six-degree-of-freedom
manipulator as the actuator of the brain-computer interface, and use a phase-encoded
stimulation paradigm for multi-target recognition to conduct experiments on theapplication of the proposed method.

OS13-11 Research on Bad Driving Detection based on Behavior Recognition
Yasheng Yuan, Fengzhi Dai, Di Yin, Yuxuan Zhu(Tianjin University of Science and Technology, China)

Dangerous driving behavior is considered to be the direct or indirect reason of roadaccidents. Although artificial video surveillance is good to prevent bad driving, it wastes
too much time and manpower. How to effectively identify behavior become the focus of
the research. In recent years, deep learning showed the huge advantage in the field ofcomputer vision. This paper adopt a number of deep learning network models, mining
video integration of space and time features, introduction of analogy in human visual
attention mechanism, improve the model deeply, using the LSTM to accurate andefficient video behavior analysis technology.

OS13-12 Research on Crop Image Recognition Technology - Take Daylily as an
ExampleJichao Zhao, Fengzhi Dai (Tianjin University of Science and Technology, China)

Digital image recognition technology is the core technology of agricultural robots. The
key research content is to judge the maturity of crops through image recognition. In thispaper, the daylily is used as the crop to be identified, and the digital image processing
technology is used to separate the image of daylily from the background, and then send
the processed information to the picking actuator of the robot to assist the actuator inpicking tasks. This method can be used not only in the recognition of daylily, but also in
the recognition of tomatoes, cucumbers and other crops by adjusting the recognition
pictures and recognition parameters. It has high scalability.

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OS13-13 Design of Daylily Agricultural Picking Robot

Jichao Zhao, Fengzhi Dai (Tianjin University of Science and Technology, China)

Agricultural picking activities occupy an important role in daily life, and the researchand development of agricultural picking robots play a more crucial role and increasingly
become an advantageous tool to improve agricultural productivity. Daylily, as a crop fordaily consumption, can significantly reduce serum cholesterol and has extremely highnutritional value. However, the picking conditions of day lily are harsh, and long-term
picking is likely to cause extremely high harm to the human body, especially the hands.
This paper designs an agricultural picking robot that can pick daylily automatically,
which can greatly free hands and improve labor productivity. Especially in health, it cansignificantly reduce the harm to the human body.

OS13-14 Development of Intelligent Public Trash Can based on Machine Visionand Learning
Longyu Gao, Fengzhi Dai, Zhiqing Xiao, Jiangyu Wu, Zilong Liu(Tianjin University of Science and Technology, China)

At present, with the maturity of machine vision technology and the continuous expansionof application fields, there have been many intelligent trash cans based on machine
vision, which can realize certain garbage identification and automatic classification.
However, due to certain technical limitations of machine vision, it is impossible toidentify all garbage. In this paper, a smart public trash can based on machine vision andauxiliary sensors is proposed. In addition to realizing machine vision to identify andautomatically classify garbage, sensors will also be used to assist in identifying garbage
to solve problems such as the same garbage classification of different shapes. At thesame time, enhanced learning will be added to realize the self-learning of the trash can,so as to achieve the goal of continuously increasing identifiable types.

OS14 Image Processing (5)Chair: Joo Kooi Tan (Kyushu Institute of Technology, Japan)
Co-Chair: Seiji Ishikawa (Kyushu Institute of Technology, Japan)
OS14-1 Detection of a Fallen Person and Estimation of Their Head Position from UAV
ImagesHaruka Egawa, Seiji Ishikawa, Joo Kooi Tan (Kyushu Institute of Technology, Japan)
In recent years, aerial photography has often been used for finding victims in the eventof a disaster. Searching from the sky enables quick rescue activities in places that are
difficult for human to approach. In this paper, we propose a method of detecting a person
fallen on the ground from the images taken by a camera mounted on a UAV(multicopter).
Unlike pedestrians, the head orientation of a fallen person in an image is not identical.
Therefore, in the proposes method, combination of Ri-HOG features and Ri-LBP
features are employed for representing a fallen person, and the fallen person is detectedby a classifier constructed using Random Forest. In addition, a head position of a fallen
person is estimated by using the peak of the gradient direction histogram. The
effectiveness of the proposed method was verified by experiments.

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OS14-2 Development of a Pedestrian Crossing Navigation System for Visually
Impaired People Using MY VISION
Kohei Kitagawa, Seiji Ishikawa, JooKooi Tan (Kyushu Institute of Technology, Japan)

In this paper, we propose a system for a visually impaired person to cross a pedestriancrossing safely by the employment of the state of a traffic light and the remaining
distance to the other side obtained from MY VISION images. The traffic light at apedestrian crossing is detected by a discriminator using HOG (Histograms of Oriented
Gradients) features and Random Forest. The possible actions for a visually impaired
person at a pedestrian crossing are classified into six types of action patterns byanalyzing the traffic lights and the distance information. The proposed system chooses
one of the six patterns so that the visually impaired person may cross the pedestriancrossing safely. The effectiveness of the proposed method was verified by experiments.

OS14-3 Abnormal Human Action Detection Based on GANTomoya Sano, Joo Kooi Tan (Kyushu Institute of Technology, Japan)

Recently, surveillance systems using cameras have been widely used, according tofrequent outbreak of crimes. One of the important roles of such a camera surveillancesystem is to detect abnormal human actions or events. In this paper, we propose a methodof abnormal human actions/events detection using Generative Adversarial Nets (GAN).
In anomaly action detection, the main problem is that the image data of abnormal humanactions/events is more difficult to obtain than normal human actions/events. To solve thisdifficulty, we use only normal human action data in the employed training networks.
The GAN architecture trains two deep networks which compete with each other; agenerator that performs conversion of Pixel-to-Pixel and a discriminator that supports it.
In the experiment, a single class classification using KTH dataset and anomaly detection
using Avenue dataset were performed for detecting abnormal human actions andanomaly events, respectively. Our experimental results show the effectiveness of the
proposed method in detecting abnormal human actions and events.

OS14-4 3-D Position Measurement of a Cargo Using Epipolar Geometryfor Logistics Automation(withdraw)
Kazuki Fukuda, Joo Kooi Tan (Kyushu Institute of Technology, Japan)

In recent years, with the expansion of the sales market such as online shopping, labor
shortage has become a problem in logistics industries. Logistics is roughly composed offive tasks, in which transport vehicles such as forklifts are mainly used for cargo storage
and cargo handling work. Since the operations of forklifts are still performed manually
in many factories, automating the operations is strongly requested. This problem can besolved by the acquisition of the 3-D position information of the cargo. In this paper, we
propose a method of estimating the 3-D position of a cargo from the images obtained
from (i) two fixed cameras and (ii) a single camera mounted on a transport vehicle formeasuring the relative distance between the transport vehicle and the cargo and for
position control of the vehicle. The effectiveness of the proposed method is shown by
experiments.

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OS14-5 Bus Line Number Detection Employing MY VISIONYe Zhou, Yosiki Hamasaki, Joo Kooi Tan (Kyushu Institute of Technology, Japan)

In response to the requests from visually impaired people that they wish higher QoL intheir daily activities, and to the facts that they find difficulty in using public
transportation, we propose we propose a bus boarding support system using MY
VISION. For the support, we detect a bus approaching a bus stop from MY VISION
images employing the characteristics of Haar-like filters, and extract the frontal upperarea displaying bus line number by random forest. After having obtained the bus line
number area, we use Contrast Limited Adaptive Histogram Equalization (CLAHE) toenhance the LED light of the area, and then recognize the line number using templatematching. The effectiveness of the proposed method is shown by experiments.

OS15 Bridging the Gap Between AI, Cognitive Science, and Narratology (7)Chair: Jumpei Ono (Aomori University, Japan)
Co-Chair: Hiroki Fukushima (Kyushu Womens’ University, Japan)
Co-Chair: Takashi Ogata (Iwate Prefectural University, Japan)
OS15-1 Analysis and Construction of Elements of the Stage Performance Structure
in a Kabuki-dance
Miku Kawai (Iwate Prefectural University, Japan),Jumpei Ono (Aomori University, Japan),
Takashi Ogata (Iwate Prefectural University, Japan)

We conducted a detailed analysis of the stage performance structure of Kyōganoko
Musume Dōjōji and reproduced it on the animation tool KOSERUBE with the music,
lyrics, and images aligned. In this paper, 11 scenes of Kyōganoko Musume Dōjōji areorganized. The actual flow is compared with the movement on the system. The goal ofthis paper is to understand the entire stage structure of Kyōganoko Musume Dōjōji indetail. In addition, this research aims to use the stage performance structural system for
an integrated narrative system that the authors are developing. We believe that thissystem will be the basis for the construction of the Kabuki stage. Further, we want toapply it not only to Kabuki but also to other genres, such as computer games andcommercials.

OS15-2 Unchiku Generation with Moving Illustration Using Kabuki Knowledge
Jumpei Ono (Aomori University, Japan),
Miku Kawai (Iwate Prefectural University, Japan),
Takashi Ogata (Iwate Prefectural University, Japan)

In this study, we combined the unchiku generation system and an animation system, andadded the animation system as a moving illustration. We have been studying the unchiku
generation system and animation system for a long time. The first system is an unchiku
generation system. Unchiku is the unchiku of deeply preserved knowledge. Unchiku inthe story is one of the rhetorical techniques of the story. The second system is an
animation system that expresses the stage performance structure. This system is basedon the Kabuki-dance Kyōganoko Musume Dōjōji. In this study, we created a prototype
and considered a new system that combines both the systems. The system provides ananimated description for the generated story. Its purpose is to provide an explanation thatdeepens the understanding of the story.

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OS15-3 Implementing Story Units of Japanese Folktales with Conceptual
Dictionaries
Takuya Ito (Iwate Prefectural University, Japan),Jumpei Ono (Aomori University, Tokyo)
Takashi Ogata (Iwate Prefectural University, Japan)

This paper reports the development of story units that are knowledge representing story
structure for story generation. A story structure in our narrative generation study isformed by a tree that consists of events connected based on the relationships, such as thecausal and temporal relations of events. We have been implemented story units based on
the “Type of Folktale” in the Nihon Mukashi-banashi Taisei (The Concluded
Compilation of Japanese Folktales). The current main theme is to use our conceptual
dictionaries, including verb and noun conceptual dictionaries, to combine the current
version of story units to our “integrated narrative generation system,” which is a generalframework of our narrative generation study. In this paper, we explain the above
mechanism.

OS15-4 The Story Generation Process and Cognitive Biases
Jun Nakamura (Chuo University, Japan)

When it comes to designing a product, a service, or a new technology, whatever the casemay be, author believes that in order to attract people, it is important to tell a story about
the subject matter in a narrative style, that makes people impressed with the subject
matter. In this paper, author asked several groups to create stories based on the same
given data set. As expected, a variety of stories were created for each group. Cognitive
biases were evident in the process of creating the stories. It is assumed that cognitive
bias is a sort of driving force behind the creator's intentions, then it can be interpreted
that the creator must have a certain strong intention to create a story.

OS15-5 Time in an Aesthetic Experience of a cup of Sake

Hiroki Fukushima (Kyushu Womens’ University, Japan)

There are two broad genres of artworks depending on the nature of their appreciation:
arts of space and arts of time. In the aesthetic appreciation of taste, which is the focus of
the experience of a cup of Sake? Is there the dimension of time in the experience of taste,
and if so, what is it? Because taste has never been considered a formal subject ofaesthetics, there is little discussion of describing and appreciating the aesthetic
experience. This study deals with the concept of time in the appreciation of Sake, withsome reference to the concept in narrative studies. As with wine, the time associated with
Sake is multifaceted, and each is intrinsic to the aesthetic experience. Consider someexamples: Time from the Sake is brewed to the time it is opened on the table (so-called"vintage"; for some years). The time from opening the bottle to pour into the glass (forminutes to tens of minutes). The time between pouring into the glass and entering themouth (for a few minutes). Time to swallow in the mouth (a few seconds). The flavor
felt after swallowing ("after flavor"; tens of seconds). This study focuses on the period
from the Sake is placed in the mouth to the time it is swallowed. The purpose of thisstudy is to reveal how time is narrated (explicitly or metaphorically) in the tens ofseconds of a sake tasting.

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Story units
about Japanesefolktales

INGS
Verb conceptual
dictionary

Narratives like
Japanese folktales

Noun conceptual
dictionary

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OS15-6 Extension of Clinical/Psychological Approach Using Post-Narratology:
Possibility of application on Artificial Intelligence and Robot
Kai Seino (National Rehabilitation Center for Persons with Disabilities, Japan)

A purpose of this resarch is to examine the theories and methods of the psychologicalapproach in treatment and research from a narrative viewpoint. In addition, we discuss
the possibility of expanding collaboration with AI and Robot. This paper provides aliterature review of the narrative psychological approaches in the fields of psychology
and psychiatry. It addresses not only narrative therapy but also related therapeutic
approaches that use the narrative framework. And Psychotherapy and Psychological,
Practice and research of Self-help group, Open Dialogue, Tohjisha-Kenkyu (Selfdirected studies), etc. are outlined, and the possibility of integration to A.I. Artificial
Intelligence or application on Robots is proposed. In addition, the actual research which
aimed at integration to A.I. Artificial Intelligence is reviewed. In discussions. First,
literary narratology as basic theory is compared to psychological narratology as apractice or application theory. Second, the extension and possibility of a psychologicalnarratology are considered.

OS15-7 A relationship between narratology and marketing
Akinori Abe (Chiba university, Japan)

We have been studying an expression of the taste of Japanese sake. Actually, thedescriptions of the taste can be regarded as stories. Accoringly, we conducted anexperiment, in which we asked participants
to draw descriptions of the taste of theJapanese sakes and to design labels of them. From the results of the experiment, we will
analyse the relationship between narratology and marketing of Japanese sake.

OS16 Software Development Support Method (5)Chair: Tetsuro Katayama (University of Miyazaki, Japan)
Co-Chair: Tomohiko Takagi (Kagawa University, Japan)
OS16-1 Simulation and Regression Testing for Behavior of Software Models Based on
Extended Place/Transition Net with Attributed Tokens
Tomohiko Takagi, Ryo Kurozumi (Kagawa University, Japan)

Extended Place/transition Net with Attributed Tokens (EPNAT) is a formal specification
description language for modeling the expected behavior of state transition-based
software that consists of multiple objects. Each attributed token corresponds to an object,
and the values of its variables are updated while moving on the net. Engineers need tounderstand such complex aspects of EPNAT models when constructing, validating andrefining them. In order to address this problem, we propose a simulation and regression
testing technique for the behavior of software EPNAT models represent, and then show
an early prototype tool to support it. In the tool, fireable transitions and values ofvariables are indicated for the simulation, and also the process of the simulation isrecorded as test cases for the regression testing.

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OS16-2 Development of an Early Prototype Tool for Learning Software Modeling Using
Extended Place/Transition Net
Tomohiko Takagi, Akio Usuda (Kagawa University, Japan)

Extended Place/transition Net (EPN) is place/transition net that includes some additional
elements written in VDM++ to enhance its representation power, and can be used tomodel the state transition-based behavior of software in development processes. The useof EPN is based on technical knowledge and skills, and therefore engineers will need tolearn them. This paper shows an early prototype tool for learning software modelingusing EPN, and then gives the discussion about its effectiveness and problems. A user of
the tool, that is, an engineer tries to construct his/her EPN model based on given software
requirements by selecting and putting the components of EPN. The behavior of the EPN
model is partially visualized by using animated graphics, and finally its correctness is
automatically checked.

OS16-3 Test Suite Reusability Measurement Based on Frequency and Coverage of
Reused Test Cases
Mochamad Chandra Saputra*, Tetsuro Katayama*, Yoshihiro Kita†,
Hisaaki Yamaba*, Kentaro Aburada*, Naonobu Okazaki*(*University of Miyazaki, Japan) (†University of Nagasaki, Japan)

A test suite that consists of a set of test cases is an important element in software testing.
The objectives of white-box testing process are to execute all the test cases in the test
suite and also achieve 100% code coverage. One of the good criteria for test suite ispossible to reuse it for testing another program. Reusability of a test suite is one ofimportant factors to decrease the cost and time in testing the program. This researchdefines and measures the test suite reusability score expressed with the degree of
reusability of the test suite. It is calculated by considering both frequency and code
coverage of successful reused in the test suite. Test suite reusability measurement
provides useful information to improve the efficiency of software testing, especially in
regression testing and automated testing.

OS16-4 The Seven Information Features of Class for Blob and Feature Envy Smell
Detection in a Class Diagram
Bayu Priyambadha*, Tetsuro Katayama*, Yoshihiro Kita†,
Hisaaki Yamaba*, Kentaro Aburada*, Naonobu Okazaki*(*University of Miyazaki, Japan) (†University of Nagasaki, Japan)

Measuring the quality of software design artifacts is difficult due to the limitation of
information in the design phase. The class diagram is one of the design artifacts produced
during the design phase. The syntactic and semantic information in the class is important
to consider in the measurement process. The class information is used to detect the smell
as an indicator of a lack of quality. All information related to the class is used by several
classifiers to prove how informative it to be used to detect the smell. The smell types thatare a concern in this research are Blob and Feature Envy. The experiment using threeclassifiers (j48, Multi-Layer Perceptron, and Naïve Bayes) confirms that the information
can be used to detect the smell. The average of correctly detected by the classifiers isabout 80.67%.

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OS16-5 Improvement of RETUSS to Ensure Traceability between Sequence
Diagram in UML and Java Source Code in Real Time
Kaoru Arima*, Tetsuro Katayama*, Yoshihiro Kita†,
Hisaaki Yamaba*, Kentaro Aburada*, Naonobu Okazaki*(*University of Miyazaki, Japan) (†University of Nagasaki, Japan)

Ensuring traceability of software deliverables is one of the methods to ensure software
quality. It has two problems: taking much labor and time, and causing mistakes by humanhandling. In order to solve them, our laboratory developed RETUSS (Real-time Ensure
Traceability between UML and Source-code System). RETUSS ensures traceability
between UML and source code by transforming them to each other in real time.
However, RETUSS is not useful in ensuring traceability between sequence diagram andJava source code due to its limited scope of application. This paper improves theusefulness of RETUSS by extending the scope of application of sequence diagram andJava source code. The experimental results confirmed that the improved RETUSS also
saves labor and time, and eliminates mistakes by human handling.

OS17 Robotics and machine vision (3)Chair: Jiwu Wang (Beijing Jiaotong University, China)
Co-Chair: Junxiang Xu (Beijing Jiaotong University, China)
OS17-1 Kinematic modeling and Simulation of humanoid dual-arm robot
Jiwu Wang, Junxiang Xu (Beijing Jiaotong University, China)

In recent years, dual-arm robots have attracted more and more attention due to theiradvantages such as strong cooperation ability and high flexibility. With the improvementof real-time requirement, the inverse kinematics solution of robot becomes a key
problem to be solved urgently. In order to solve the time-consuming problem of inverse
kinematics of robot arm, a closed inverse kinematics solution algorithm for humanoiddual-arm robot was proposed. The effectiveness of the algorithm was verified bysimulation.

OS17-2 Kinematics analysis and simulation of 6R Robot Based on
MATLAB/Simulink
Jiwu Wang, Shuo Han (Beijing Jiaotong University, China)

The intelligent robot has played an important role in improving working conditions andproduction efficiency with the development of intelligent robot technology. Here therobot kinematics was studied and simulated based on the MATLAB/Simulink. The
forward and inverse kinematics equation were established based on the standard
Denavit-Hartenberg method, and eight solutions regarding angle variables of robot joints
were obtained. Then the motion trajectory of the robot was simulated in the joint space,
and the smooth curves of angular displacement, angular velocity. Furthermore, thevisualization of the robot kinematics model was realized based on the Simulink, and thekinematics simulation control system was established. The paper provides necessary
theoretical basis and correct kinematics model for the research on kinetic analysis of 6R
robots.

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OS17-3 Distance measurement system based on binocular stereo vision
Jiwu Wang, Xin Pei (Beijing Jiaotong University, China)

In order to solve the problem of low precision and time consuming in traditional ranging,
this paper studies key technologies such as binocular ranging principle, camera
calibration, and stereo matching.On this basis, a planar ranging system based on parallelbinocular vision is designed. Firstly, through the stereo camera calibration toolbox of
MATLAB, the internal and external parameters are obtained. Then stereo correction isused to make the two images coplanar and aligned by line and performing stereo
matching on the corrected image to obtain the parallax. Finally, it is able to select any
two target points through the mouse to obtain their spatial coordinates and calculate thedistance between the two points. Experimental results show that the method meets theprecision requirements.

OS18 Natural Computing (3)Chair: Marion Oswald (Vienna University of Technology, Austria)
Co-Chair: Yasuhiro Suzuki (Nagoya University., Japan)
OS18-1 Contribution to the Theory of Periodic Reaction of Three Bodies Systems
Yasuhiro Suzuki (Nagoya University Japan)

A chemical ecosystem is an ecosystem in which chemical substances mediate
interactions. When herbivores feed, plants analyze herbivore saliva and produce volatile
chemicals that attract herbivores' natural enemies. Natural enemies are attracted tovolatile chemicals and eliminate herbivores. This system is a trytrophic system
consisting of herbivores, carnivores and volatile chemicals. The basic equation ofmathematical ecology is the Lotoka Volterra equation, which is a bitrophic system ofherbivores and carnivores. This paper proposes the fundamental equations of chemical
ecosystems and shows their mathematical features.

OS18-2 Deep Micro Vibrotactile, DMV and its Applications

Yasuhiro Suzuki (Nagoya University, Japan)

Deep Micro Vibrotactile, DMV is infrasound. DMVs produce sound effects when mixed
with audio. Since the DMV has a transcendental low frequency, mixing it with soundsuch as music does not affect the frequency spectrum in the audible range. However,through demonstration experiments at concerts, it was confirmed that DMV changes thetactile qualities of the sound. This paper introduces the acoustic features and case studies
of DMVs

OS18-3 Inter-Induce computation and its Philosophical Foundation
Yasuhiro Suzuki (Nagoya University, Japan)

Set theory is based on the distinguishability of elements. How to recognize and identify
the world is the essence of set theory. If each element cannot be identified, all theelements are one set. So the set does not make sense. The Heart Sutra is highly rationaland can be interpreted mathematically. The mathematical interpretation of the Heart
Sutra shows the divergence of how to discriminate. Based on this world view of Heart
Sutra, we propose Inter-Induce computation, IIC as a novel calculation paradigm that
does not depend on set theory. This paper gives an overview and philosophicalfoundation of IIC.

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OS19 Artificial Intelligence for Embedded Systems and Robotics (4)Chair: Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
Co-Chair: Sansei Hori (Kyushu Institute of Technology, Japan)
OS19-1 Convolutional Network with Sub-Networks

Ninnart Fuengfusin, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

We propose a convolutional network with sub-networks (CNSN), a convolutional neuralnetwork (CNN) that can be detached in a depth-wise direction into sub-models. Due toa conventional design of CNN which feature map shapes are varied throughout themodel, a hidden layer may not able to receive an input image without changing the last
fully-connected layer. To deal with this problem, we attach a step-down convolutional
layer as an additional layer to each sub-model. The step-down layer acts as an input layerof the sub-model which reduces input to the preferred representation to the sub-model.
To train CNSN, we treat the base- and sub-models as separable models and by using
multi-losses, a combination of losses from the base- and sub-model, we can updateweights to able to be utilized to both base- and sub-models.

OS19-2 Influence of FPGA implementation methods in High-Level Synthesis

Yusuke Watanabe, 2Hakaru Tamukoh (1RAFT WORK Co., Ltd, Japan, 2Kyushu Institute ofTechnology, Japan)

1

We explain about how the difference of implementation methods written in C++ in HighLevel Synthsis(HLS) influences on time it takes for tiny You only look once(YOLO) v2,
a real-time object detection system to infer on an FPGA. To utilize features of FPGA, weneed to implement hardware-oriented algorithms such as the weight binalization. We
primarily focus on convolution in tiny YOLO v2 network and we report execution resultson the Xilinx SDSoC development environment to know whether methods areappropriate or not.

OS19-3 A Hardware-Oriented Random Number Generation Method and A
Verification System for FPGA
Sansei Hori, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

We propose a new random number generation method for digital hardware such as an
FPGA. A random number generator is one of the important components to implement
neural networks (NNs) such as a generative model on FPGA. However, conventional
methods of random number generators (RNGs) require huge hardware resources. The
proposed method employs underflow bits obtained during calculations of NN on the
FPGA instead of the random number from the conventional RNGs to reduce the hardware
resources. In this paper, we employed the proposed method to a restricted Boltzmann
machine to evaluate the method and trained MNIST dataset on a software environment.
Furthermore, this paper proposes an FPGA infrastructure that can easily connect NNs toa host computer.

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OS19-4 Synthesis of realistic food dataset using generative adversarial network(GAN) based on RGB and depth images
Obada Al Aama, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

Constructing a large food dataset is time and effort consuming due to the need to cover
the feature variations of food items. Hence, a huge data is needed for training neuralnetworks for robot vision systems. Current study aims to advocate the Cycle-GAN tobuild up large food dataset based on large number of simulated images and relatively few
real captured images thus obtaining more realistic images effortlessly compared withtraditional capturing. Real RGB and depth images of variant food samples allocatedover turntable were captured in three different angles using real-sense depth camera withdifferent backgrounds. Furthermore, for simulated images, the Autodesk 3D_Maya
software was employed using the same parameters of captured real images. Results
showed that generally, realistic style transfer on simulated food objects was obtained asa result of employing Cycle-GAN. GAN proved to be an efficient tool that could
minimize imaging efforts resulting in realistic images.

OS20 Virtual Reality and Intelligent Interactions (4)Chair: R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Co-Chair: Yoshimasa Tokuyama (Tokyo Polytechnic University, Japan)
OS20-1 NeuroPhyllotaxis: An Interactive Application for Generative Art Based on
EEG Data
Chien-Tung Lin, R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Yoshimasa Tokuyama (Tokyo Polytechnic University, Japan)

Generative art is produced by procedural techniques. It has obtained a lot of attention
from the beginning of computer graphics. Many works of art are inspired by nature,among which phyllotaxis is more It is a combination of mathematics and the beauty ofnature. Not only can it be seen everywhere in nature, but also often appear in man-madeobjects, becoming part of culture or religion. This paper presents the development of aninteractive generative art application that is created from a phyllotaxis pattern by using
the user's EEG data. When people are using it, it is easy to relax the mood and achieve
the function of art therapy. We tried to use EEG data to make an interactive installation
art which creates phyllotaxis patterns and project them on the wall. Everyone has adifferent state, the generated patterns are also different from person to person, which
creates interesting interactive contents. In addition, sound can also be changed by EEG
to become dynamic and real-time contents.

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OS20-2 VRMAZU: VR Visualization of Mazu Temple for Passive Interaction with
Generated Sound from the ML Technique(withdraw)
Yi-Li Liang. R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Jen-Tun Lee (Japan Advanced Institute of Science and Technology, Japan)
Yoshimasa Tokuyama (Tokyo Polytechnic University, Japan)

Passive interaction based on virtual reality applications has the potential to identify
personalized user activities. Through personalized interaction methods to access thevirtual scene, the user gets a better sense of immersion. This paper introduces a VR
visualization of Taiwan traditional Mazu Temple for passive Interaction with generated
sound from the machine learning (ML) technique. In this VR application, user cancontrol their own situation through the feedback information of the generated soundbased on the user's location in the VR scene, so that their physical condition can reach agood state. This development that personalized interaction in VR applications is very
important to get different experiences in each time of the user's temple activities, so an
ML approach to design sound ambiance is needed. This paper also concerns the different
perspectives on understanding Taiwan traditional temple activity knowledge and userinteraction.

OS20-3 ThoughtMix: Interactive Water Color Generation and Mixing Based on
EEG Data
R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Yoshimasa Tokuyama (Tokyo Polytechnic University, Japan)

In modern art, new types of installations and artworks use sensor-based inputs as aninteractive method from which to create a new form of media art. Most of thoseinstallation artworks have static and pre-captured contents; they tend to be played as
dynamic, and by some concerned as interactive creations. However, most of theinstallations were not be able to capture the visitor's rich feedback which could trigger
the contents. In order to identify the relation between the cybernetic-aesthetics andvisitor's brain wave activities, we propose an electroencephalogram (EEG) data-driven
approach to generated watercolor effects and mixing application which visualizes thechanges in brain wave activities in real-time. Our proposed application transforms thebrain waves into real-time watercolor effects that are wrapped around by generating thedata about emotion, attention, meditation, and neural mechanisms with EEG data.
"ThoughtMix" creates watercolor effects as an immersive experience to influencecreativity and art therapy by actually visualizing the colors user's mind creates.

OS20-4 HaptWarp: Soft Printable and Motion Sensible Game Controller

Jen-Tun Lee, Kazunori Miyata (Japan Advanced Institute of Science and Technology, Japan)
R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)

Many interaction techniques have been introduced for controlling virtual reality contents
and navigation. Traditional controllers need to map between two-dimensional inputs andthree-dimensional actions while interactive surfaces enable more natural approaches,
they still lack tactile feedback. We present real-virtual bend and twist, a tactile feedback
technology that delivers the twist and bends effect into a virtual environment. The
method uses two inertial measurement unit (IMU) sensors fixed on both sides on the 3D
printed soft material bar to acquire object deformation to simulate the virtual
deformation based on the changes in the angle exerted on a physical device. People cancustomize the 3D printed connection shape to apply to different virtual scenarios.

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OS21 Educational Application of Control Technology (4)Chair: Kazuo Kawada (Hiroshima University, Japan)
Co-Chair: Yoshihiro Ohnishi (Ehime University, Japan)
OS21-1 Development of Shock Sensitive Tiny Dummy Robot for Junior High School
Rescue Robot Challenge
Kazuo Kawada, Keisuke Iuchi, Keita Murai, Hiroyuki Y. Suzuki(Hiroshima University, Japan）

Junior High School Rescue Robot Challenge” is an annual tournament held by our groupin Hiroshima Univ. by sponsorship of a construction machinery company. The
tournament has 16 years of history and the rescue theme has been changed in each year.
The theme in 2019 was to convey injured people “tenderly” from top of half collapsedbuilding to ground, without giving any shocks. We developed shock sensitive tiny
dummy robot, controlled by M5STACK microcomputer since it rigged withaccelerometer. The dummy can remember how much shocks were given duringtransportation. The remote (wired) controlled robots developed by junior high school
student teams conveyed the dummy and evaluated the “tenderness” duringtransportation.

OS21-2 Basic Research on Parameter Tuning Skills Evaluation Based on Sensor Car
Behavior Data in Technology Education
Teruyuki Tamai (Hiroshima University / Ehime University), Yoshihiro Ohnishi (Ehime
University), Kazuo Kawada (Hiroshima University)

In this research, the evaluation of programming included in the contents of junior highschool technology education is explained. In that case, a new evaluation method using
the sensor car as a teaching material is proposed. First, the guidance of programming injunior high school technology education is explained. In addition, the evaluation methodof the programming which has been made so far is explained. Next, the new evaluation
method is explained. Quantitative data obtained by operating the sensor car used as ateaching material will be described. And how to analyze the data will be described. Next,
the method to evaluate based on the data is explained. Finally, the usefulness of theevaluation method is examined.

OS21-3 Mini Windmill Generator Kit for homework for Hiroshima Univ.
Monozukuri Junior Doctor Special Educational Program
Hiroyuki Y. Suzuki, Kazuo Kawada, Masayasu Nagamatsu (Hiroshima University, Japan）“Hiroshima Univ. Monozukuri Junior Doctor” is a special educational program foryoung (5-6 grades in elementary school and junior high school) volunteered students.
We originally prepared around 10 seminars on various topics and completed 2/3 of them.
We had to give up, however, all remained seminars because of sudden attack of COVID19. Since then, we introduced a set of homework in which students could study bythemselves. We modified commercially available “Mini Windmill Generator Kit” for the
homework, to make easy to measure generated voltages with three color LEDs and atester. Students tried to find best sizes and shapes of tail fin and windmill, using a manualof “Procedure of quantitative research” that we made. Majority of the students could findappropriate sizes and shapes of fins and windmills, through the data collection, drawing
figures and by discussion.

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OS21-4 Development of Teaching Materials to Learn the Efficient Use of Energy
Yoshihiro Ohnishi1, Teruyuki Tamai1, Shinnosuke Mori1 Kawada Kazuo2（1Ehime University, 2Hiroshima University, Japan）

This paper introduces the programming learning at junior high school. In this research,an experimental device using the fan which driven by EDLC was developed. Learning
activities using this device is to maximum the driving time of fan by the charged energy
on EDLC. The goal is to learn programming as a technique for efficiently using electricalenergy.

OS22 Robot Competitions and Education (5)Chair: Yasunori Takemura (Nishinippon Institute of Technology, Japan)
Co-Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
OS22-1 Robustness Verification Against Noise of Self-localization Method Using
Omni-directional Camera for Soccer Robot
Yuehang Ma, Kaori Watanabe, Hidekazu Suzuki (Tokyo Polytechnic University, Japan)

The focus of the RoboCup competitions is the game of soccer, where the research goals
concern cooperative multi-robot and multi-agent systems in dynamic environments. In
the field of RoboCup, self-localization technique is important to estimate own position
including goal and other robot positions and to decide strategy. This paper presents a
self-localization technique using an omni-directional camera for an autonomous soccer
robot. We propose the self-localization method with white line information of soccer
field, and recognizes the robot position by optimizing the fitness function using Genetic
Algorithm. Moreover, we also verified the robustness of the proposed method against
noise through experiments.

OS22-2 Tomato-Harvesting Robot Competition: Aims and Developed Robot of 6thCompetitions
Takayuki Matsuo1, Yasunori Takemura2, Takashi Sonoda2, Shinsuke Yasukawa3, Yuya Nishida3,
Kazuo Ishii3 (1National Institute of Technology, Kitakyushu College, Japan, 2Nishinippon
Institute of Technology, Japan, 3Kyushu Institute of Technology, Japan)

Tomato is one of the important fruit vegetables and most tomatoes are produced in thegreenhouses, or large-scale farms, where the high temperature and humidity, and long
harvest age force the farmer heavy works. To develop the tomato harvesting robot, many
research issues exist such as manipulator design, end-effector design, collaborative
behavior, artificial intelligence, motor control, image processing, target recognition andso on. With an aim to promote the automation of tomato harvesting, we have organized
the tomato harvesting robot competition since 2014. In this paper, we discuss the aim
and the results of 6th tomato harvesting robot competition in 2019.

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OS22-3 Smart Agriculture IoT Education Course in enPiT-everi (Education
Network for Practical Information Technologies - Evolving and Empowering
Regional Industries)
Yasunori Takemura1, 2, Keiji Kamei1, 2, Atsushi Sanada1, 2, Kazuo Ishii1( Kyushu Institute of Technology, Japan, 2Nishinippon Institute of Technology, Japan)
1

Fostering human resources who can solve social issues by using Information Technology
is an important issue in Japan. The Ministry of Education, Culture, Sports, Science andTechnology (MEXT) has formed enPiT (Education Network for Practical Information
Technologies) programs a practical education network for industry-academia
collaboration and practice problem-based learning for the purpose. We have planned asmart agriculture IoT course in the program enPiT-everi (Evolving and Empowering
Regional Industries) directed by Kitakyushu university. In the smart agriculture IoT
course, the programming of IoT devices to measure the temperature of the green houseand soil, soil moisture and CO2, image processing using AI technology to detect maturityof fruits, green worms was carried out.

OS22-4 Development of a Handy Autonomous Underwater Vehicle “Kyubic”

Toshimune Matsumura, Yuuichiro Uemura, Kentaro Yanagise, Yoshiki Tanaka, Yuya Nishida,
Kazuo Ishii(Kyushu Institute of Technology, Japan)

Ocean is one of big challenging and extreme environments, and hard for human to accessdirectly. As the tool for ocean survey, Autonomous Underwater Vehicles: AUVs are
expected and developed from ‘80s. The recent rapid progress of computer andinformation technologies makes the development of AUVs easier and more practical.
We had developed a handy AUV “Kyubic” for the observation of shallow water andartificial structures. In this paper, we describe the system architecture of Kyubic and theexperimental results in Underwater Robotics Competition in Okinawa 2020.

OS22-5 A Greenhouse Project toward Smart Agriculture

Kazuo Ishii1, Yuya Nishida1, Shinsuke Yasukawa1, Kanako Shirahashi1, Yasunori Takemura2,
Takayuki Matsuo3(1Kyushu Institute of Technology, Japan, 2Nishinippon Institute of Technology, Japan, 3National
Institute of Technology, Kitakyushu College, Japan,)In the future estimation of 2050, the food demand increases 70% and the production
decreases 15% caused by global warming, and farmer population be 1/5 of current
workers. Until 2050, we need an agricultural system of twice production with the same
farmland area and 5 times effective operations. To realize the sustainable society, smart
agriculture including robot technology, AI, IoT is one of the solutions for food issues.
We have been working for a greenhouse project for evaluation of robotic, AI and IoTtechnologies. In this paper, we introduce the project and robotic applications.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS23 Advances in Field Robotics and Their Applications (7)Chair: Keisuke Watanabe (Tokai University)
Co-Chair: Kazuo Ishii (Kyushu Institute of Technology)
OS23-1 Three-dimensional Measurement Using Laser Pattern And Its Application
to Underwater Scanner
Yuya Nishida, Tomoya Shinnoki, Shinsuke Yasukawa, Kazuo Ishiii(Kyushu Institute of Technology, Japan)

Underwater infrastructure and facilities are getting increasingly degraded and needinspections for cracks, scouring, however, the inspections are not carried out because ofunderwater environment and water turbidity. As a solution for the inspections,
underwater vehicles attract attentions and expected to take precise photos of brides andtheir seabed. In this paper, to realize efficient underwater infrastructure inspection,
automatic crack detection by image processing is proposed. In first process of our
method generates enhanced image based on the absorbance from the turbidity meter andremoves background component, and then detects crack from the enhanced image byusing decision tree learning algorithm. This paper explains the algorithm of our method
and shows evaluation experiment results.

OS23-2 Motion control of a cable-restricted underwater vehicle for long-term spot
observation
Yoshiki Tanaka, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)

There are many marine resources in the Japanese EEZ, and recently, un-tethered
underwater vehicles, AUVs (Autonomous Underwater Vehicles) are used as the practical
tools for wide area seafloor survey. However, AUVs have the risks of their losing by
hardware or software failures, AUVs have the risks to be trapped on the seafloor and not
to be back on surface. The current trend of observation is 3D data in time series, 4 D data
sampling. Underwater station can measure for long period in a certain point, not for wide
area survey. This research aims to develop a long-term observation device with a low
operation risk and wide area. The proposed system consists of a base station for
supplying electric power and an underwater vehicle. The underwater vehicle is tethered
to the base station with a cable. In this paper, we explain the developed observation
device and report the result of motion control of the vehicle.

OS23-3 Development of current sensors for digitizing expert knowledge in fish
feeding towards sustainable aquaculture
Dominic B. Solpico, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)

Improving the efficiency of fish feeding contributes to achieving sustainable expansionof the aquaculture industry. However, expert knowledge on efficient feeding remains askill acquired through experience. This paper presents a new approach of digitizing suchknowledge by measuring underwater currents induced by fishes as indicator of their
behavior and appetite. Initial measurements to be made shall provide additional insightto the sensor system design. For this, a prototype current sensor suite has been
constructed to measure the current around the fish cage, especially during feeding times.
It consists of two modified flow sensors to measure the current flowing into or out of thecage at two target depths, and an IMU sensor to detect other induced water movementson the sensor mounting.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS23-4 Underwater image reconstruction using convolutional auto-encoder
Shinsuke Yasukawa, Sreeraman Srinivasa Raghura, Yuya Nishida, Kazuo Ishii(Kyushu Institute of Technology)

One of the main tasks of AUVs is to capture deep-sea images like fishes, crabs, otherliving organisms and resources for information leading to research on deep-sea
ecosystems.
Acoustic transmission are used to establish wireless underwatercommunications between the AUV and the ship. However, there are some limitations in
the communication channels due to limited bandwidth, multi-path, temperature
distribution and change in the direction of transmitting source and receiving sensor
which results in losses in data being transmitted. Initially, the captured images areenhanced to reduce the effect of light attenuation and then compressed for transmission
through acoustic modems. Only an important part of image is being transmitted throughset of data packets. The received data packets in the ship will be reconstructed to predictthe presence of living organisms. The loss in data during transmission creates a difficulty
for the operators to predict the exact information. In this research, to compensate thistransmission loss, an efficient compression and reconstruction technique using
convolutional autoencoder with minimal distortion is proposed. Finally, for evaluationof the proposed image compression technique, the quality of reconstruction of images
with and without data loss will be compared using the quality metrics signal to noise
ratio(PSNR), structural similarity index(SSIM) and perceptual quality of image.

OS23-5 Spherical Robot Transfer Problem with Minimal Total Kinetic Energy

Kenji Kimura1, Kazuo Ishii2 (1Fukuoka Daiichi High School, Japan, 2Kyushu Institute ofTechnology, Japan)

Previous spherical mobile robots were driven by two rollers with a fixed rotational axis,
which restricts the angular velocity vector of the sphere to two dimensions. Threedimensional freedom is expected to improve the rotational diversity of the sphere. This
study proposes a spherical mobile robot with a variable roller-rotational axis that allows
three-dimensional freedom of movement. Furthermore, the kinetic energy oftransporting the sphere by the roller is minimized by an optimization procedure.

OS23-6 Acoustic Impedance Measurement through the Modelling of Ultrasonic
Wave Transmission
Ryuugo Mochizuki, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)

In food industry, shortage of workers is one of a serious problem. Automation of foodhandling is one of critical issues. To alleviate the damage caused by food picking
operation by robotic hand, we propose non-contact acoustic impedance estimation withultrasonic wave, which is preceded before the picking for optimization of picking force
control. By assuming the correlation between hardness and acoustic impedance, theimpedance is calculated by the product of sonic velocity and density of a medium. We
derive an ultrasonic transmission model considering attenuation by ultrasonic reflection
and absorption, then, made an experiment to estimate unevenness of the impedance. As
the result, we succeeded in detecting the difference of acoustic impedance from theultrasonic reflection.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS23-7 Installation Method of In-situ Drilling Platform (withdraw)
Keisuke Watanabe (Tokai University, Japan)

Drastic cost reduction for subsea drilling is desired for scientific research and subsea
mining field exploration. The traditional drilling method needs a special drilling platform
which equips massive drilling facilities with many trained crews. Low cost in-situ
drilling platform is one of the possible alternatives and we are studying about a selfwalking jack up platform with a down the hole drill. In this paper, I focus onconsideration on installation method to reduce its installation cost. The platform issuspended from a vessel and its motions in the horizontal plane are controlled bythrusters attached to the platform. The dynamics of a suspended platform with thrusters
is formulated and a simulation program to estimate position accuracy is developed.
Through simulations the effectiveness of the method is confirmed.

OS24 Mathematical Informatics (5)Chair: Takao Ito (Hiroshima University, Japan)
Co-Chair: Makoto Sakamoto (University of Miyazaki, Japan)
OS24-1 Verification of CG character operation by brain wave discrimination

Kenji Sakoma1, Kodai Miyamoto1, Taketo Kamasaka1, Makoto Sakamoto1, Amane Takei1,
Tsutomu Ito2, Takao Ito3 (1University of Miyazaki, Japan)
2( National Institute of Technology, Ube College, Japan) (3Hiroshima University, Japan)

Since 2016, VR technology has been researched and developed all over the world andhas made significant progress. In this research, I studied whether VR space could beplayed simply by thinking in my head, and conducted research. The equipment used atthat time is an electroencephalograph, but since this equipment is generally very
expensive, we used Neurosky's Mind Wave Mobile to determine if it could be done ascheaply as possible. This time, we used the fast Fourier transform and the support vector
machine as the methods of EEG analysis. As a result, various problems were found. In
the future, we will improve this problem and try to improve it further by changing themethod of EEG analysis and other conditions.

OS24-2 Approach to tourism support by aerial video using CG

Kenji Sakoma1, Noritake Seto1, Kodai Miyamoto1, Taketo Kamasaka1, Makoto Sakamoto1,
Amane Takei1, Tsutomu Ito2, Takao Ito3 (1University of Miyazaki, Japan)
2( National Institute of Technology, Ube College, Japan) (3Hiroshima University, Japan)

In recent years, rural areas have been declining due to the concentration of work in cities
and the aging of the population. So, there are local governments that are focusing on
tourism to regain the vitality of the past. As a first step in the tourism business, we willconsider whether it is possible to increase the number of tourists by incorporating IT
technologies such as CG in videos introducing PVs and commercials. This research ispart of a joint development with Takachiho-cho.In this paper, we created a CG image ofa bear flying in the sky combined with a real Takachiho video taken with a drone.
However, various other problems have been identified, and I hope to improve them infuture research to produce even better ones.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS24-3 Method for detecting eye misalignment based on movement near the centerof the pupil
Uchida Noriyuki1,2, Kayoko Takatuka2, Hisaaki Yamaba2, Masayuki Mukunoki2, Naonobu
Okazaki2(1Kyushu University of Health and Welfare, Japan), (2University of Miyazaki, Japan)

Only ophthalmologists and orthoptists are eligible to diagnose misalignment of the eyesamid persistent understaffing. We automated the traditional eye misalignment evaluation(Cover-test) in our earlier studies and developed a technique to distinguish themisaligned eyes from its behavior. This method, however, had a problem with thevertical eye movements being affected by the eyelids and eyelashes, which prevented
thorough detection. Therefore, by observing only the movement near the center of thepupil, where it is less likely to be disturbed by the eyelids and eyelashes, we arranged analternative method to recognize anomalies. Based on this process, we achieved aninspection system and carried out a performance experiment. We confirmed that we
could observe not only horizontal motion, but also that of the vertical eye.

OS24-4 Basic research on video production for educational support by virtualtechnology
Kodai Miyamoto1, Taketo Kamasaka1, Kenji Sakoma1, Makoto Sakamoto1, Amane Takei1,
Tsutomu Ito2, Takao Ito3 (1University of Miyazaki, Japan) (2National Institute of Technology,
Ube College, Japan) (3Hiroshima University, Japan)

As a result of conducting a questionnaire about science classes to high school students
in 2016, the percentage of high school students who answered "I like science" and"Science is important" is lower than other subjects. However, more than 80% of
elementary and junior high school students said they like experiments and observations.
In addition, the 2019 smartphone penetration rate survey found that it is popular among
about 90% of students. In addition, VR technology has recently made remarkableprogress. From the above, I researched the idea that creating a simulation application
using VR technology using smartphones would change the way high school students
think about science classes. In this paper, we have developed a simulation application
for science experiments. Subjects were asked to experience the newly created app andcomplete a questionnaire. As a result, the average score is 4 out of 5 and it is not bad.
But at the same time, a problem was found. The problem was that this app was asimulation app, so there wasn't much user operability, so I wanted a little more
operability. I want to make apps in other fields while improving the problem.

OS24-5 There is a movement towards the development of hula costume CAD

Taketo Kamasaka1, Kenji Sakoma1, Kodai Miyamoto1, Makoto Sakamoto1, Amane Takei1,
Tsutomu Ito2, Takao Ito3 (1University of Miyazaki, Japan), (2National Institute of Technology,
Ube College, Japan) (3Hiroshima University, Japan)

In this paper, the collision between the pow skirt and the body is determined. We verified
each simple animation using the Euler method, the FB Euler method, and the RungeKutta method. As a result of verification, the Euler method and Runge-Kutta methodanimations showed contact with the body, movements away from the body of clothes,and violent movements, and the FB Euler method completed a simple and stableanimation. However, I encountered problems such as heavy calculations that required
manual parameter changes. In addition, issues such as research on texture mapping
methods for pow skirts were also raised. Therefore, we will proceed with future research
and aim for more realistic reproduction and practical research.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

GS abstracts
GS1 Chaos & Application (5)Chair: Masato Nagayoshi (Niigata College of Nursing, Japan)
GS1-1 A Method of Role Differentiation Using a State Space Filter
with a Waveform Changing Parameter in Multi-agent Reinforcement Learning

Masato Nagayoshi, Simon Elderton (Niigata College of Nursing, Japan), Hisashi Tamaki (Kobe
University)

Recently, there have been many studies on the multi-agent reinforcement learning(MARL) in which each autonomous agent obtains its own control rule by RL. Here, it
is considered that different agents having individuality is more effective than uniform
agents in terms of role differentiation in MARL. Therefore, we have proposed a
promoting method of role differentiation using a wave-form changing parameter in
MARL. In this paper, we confirm the effectiveness of role differentiation using a state
space filter with a waveform changing parameter through computational experiments
using "Pursuit Game" as one of multi-agent tasks.

GS1-2 The research about editing system of performance information for player
piano. - Make inferences about both handed musical composition by using DP
matching system Ryo Kinoshita, Eiji Hayashi (Kyushu Institute of Technology, Japan)

Playing the piano expressive by player piano, it is necessary to adjust the volume, length,
and timing of music. In the case of piano music, there are often 1000 or more notes inthe score of even a short piece of music. So, to edit music data manually requires not
only knowledge but also a huge amount of time and effort. Therefore, we aimed todevelop a system that, like a skilled pianist, can perform even the first musical scorebased on information related to previous skills and experience. So, we developed asystem that automatically estimates the performance expression of unedited music usingedited performance data and score data. In this paper, we described a phrase search using
DP matching and a method for selecting an optimal phrase, how to infer parameters ofnotes, evaluation of an inferred entire both-handed song.

GS1-3 Development of a LiDAR based Navigation System for Tree Harvester

Ayumu Tominaga, Ryusuke Fujisawa, Eiji Hayashi (Kyushu Institute of Technology, Japan),
Abbe Mowshowitz (The City College of New York, US)

This study deals with an autonomous moving system for the automation of felling
process by high-performance machines in the forestry. Many fatal accidents are caused
by logging operations. In this research, a navigation system was developed to realize
autonomous movement between accumulation sites and trees to be harvested in order toimprove productivity and safety. A three-dimensional map is generated by LiDAR
observation, and harvester moves autonomously to the tree as specified by the operator.
A test of the harvesting process was conducted in an experimental environment. The
evaluation was focused on the required time of autonomous movement in the process.
The result showed that the effectiveness of the system was confirmed in operations suchas row-thinning.

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GS1-4 Numerical study on a class of chaotic financial chaotic systems (withdraw)
Lei Gong, Minghan Song (Tianjin University of Science and Technology, China)

In this paper, a class of chaotic financial system is studied based on numerical simulation.
Firstly, chaotic dynamics of the chaotic financial system is briefly introduced. Then, thestability of the equilibrium points is analyzed by using the Routh Hurwitz criterion.
Finally, the influence of different parameters on the system is studied by means of phase
diagram, Lyapunov exponent diagram and bifurcation diagram, which show a theoreticalmethod to control chaotic dynamics of financial market.

GS1-5 Dynamic characteristics analysis of a multi-scroll conservative chaotic
system with sinusoidal nonlinearity
Zhonggao Chen (Tianjin University of Science and Technology, China)
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In this paper, a multi-scroll conservative chaotic system with sinusoidal nonlinearity is
studied. Based on theoretical analysis and numerical analysis, such as equilibrium point
and its stability analysis, Lyapunov exponent spectrum and bifurcation diagram, thesystem is found to show some complex dynamics. In addition, NIST test and FPGA
implementation verify that the pseudo randomness and feasibility of the proposed systemis satisfactory.

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GS2 Image & Signal Processing 1 (4)Chair: Tohru Kamiya (Kyushu Institute of Technology, Japan)
GS2-1 Unconstrained Measurement of Heart Rate Considering Harmonics of a
Respiratory Signal by Tactile Sensor
Kazuya Matsuo (Kyushu Institute of Technology, Japan),Toshiharu Mukai (Meijo University, Japan),
Shijie Guo (Hebei University of Technology, China)

Measurements of the sleeping state would be useful to monitor the health of a nursed
person. The sleeping state can be estimated from biological information such as respiration
rate, and heart rate. This study describes a heart rate measurement method by considering
the harmonics of a respiratory signal. Respiration and heart rates are measured by applying
frequency analysis to the time-series data of body pressure. The harmonics of a respiratory
signal serve as noises in heart rate measurement. Therefore, heart rate measurement is
improved by eliminating the effects of the harmonics. The average of the frequency errorsof heart rate measurement by our proposed method is 0.144 Hz. The results of experiments
demonstrated that our proposed method enhances the precision of heart rate measurement.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

GS2-2 Image Registration Method for Chest MDCT Images Based on 2-D Finite
Element Method
Takuji Ogimoto, Tohru Kamiya (Kyushu Institute of Technology, Japan)
Takatoshi Aoki (University of Occupational and Environmental Health, Japan)

Multi detector-row computed tomography (MDCT) device has been used for early
detection of lung cancer. However, there is concern that an increase in the burden on
doctors will be caused by improvements in CT performance. Therefore, developing acomputer aided diagnosis (CAD) reduces the burden on doctors. A temporal subtraction(TS) technique is one of the CAD systems and it is the subtraction operation of the current
image and the previous one of the same patients that emphasizes temporal changes. In the
TS image, when the position of the current image and the previous image are misaligned,
subtraction artifacts are remained. In this paper, we propose a registration method basedon the 2-D finite element method (FEM). In our proposed method, to improve the highcomputed cost that is the biggest problem of the FEM, we introduce the 2D FEM
registration. We applied this method to 31 series MDCT image sets which was obtained
previous and current from the same subjects and evaluated. As a result, full width at half
maximum (FWHM) of 28.0, artifact to lung volume ratio of 5.77% and computational timeof 140 sec were obtained.

(c)output image
Fig.4 Experimental result

GS2-3 Detection of Abnormal Shadows in Low-dose CT Images Using CNN
Hiromu Ikeda, Tohru Kamiya (Kyushu Institute of Technology, Japan)

CT imaging is a very effective way to detect abnormal shadows in the lungs. Considering
the physical burden on the patient, it should be taken at a low dose. Our approach consistsof two main elements. First, candidate abnormal shadow areas are extracted from lowdose CT images of the chest by threshold processing and filtering. Second, we implementa CNN model to classify candidate region on images. To improve identification accuracyin CNN, we devised a method to add spatial information to the input image. In this paper,
the proposed method is applied to 13 abnormal shadow images and 100 normal tissue
images, and true positive ate of 84.6%, false negative rate of 15.4% were achieved
respectively.

GS2-4 EEG signal extraction method based on HHT and CSP

Lei Gong (Tianjin University of Science and Technology, China)

In this paper, the Hilbert Huang transform (HHT) is used to extract the marginal spectrum(MS) of the four-task motor imagery of EEG signals. For the first time, a spatial filter
constructed by common spatial pattern (CSP) is used to extract the feature of signal
marginal spectrum, namely the marginal spectrum CSP feature (MSCSP). The MI EEG
Data2a provided by The University of GRAZ is verified by the experiment, and the results
show that compared with the traditional single CSP feature extraction method, the effectof MSCSP feature extraction was significantly improved. Which provide a theoretical andexperimental foundation for the application of MI based on BCI system.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

GS3 Image & Signal Processing 2 (3)Chair: Keiko Sakurai (University of Miyazaki, Japan)
GS3-1 Deep-Learning Based Segmentation Algorithm for Defect Detection in
Magnetic Particle Testing
Akira Ueda, Huimin Lu, Tohru Kamiya (Kyushu Institute of Technology, Japan)

Magnetic Particle Testing (MPT), also referred to as magnetic particle inspection, is a
nondestructive examination (NDE) technique used to detect surface and slightly
subsurface flaws in most ferromagnetic materials such as iron, nickel, and cobalt, andsome of their alloys. In a bad environment, the procedure is complicated, and automationof MPT is strongly desired. To find defects in the formed magnetic powder pattern, it isrequired to be highly skilled and automation has been considered difficult. In recent years,
many defect detection methods based on deep learning have been proposed, and theeffectiveness of deep learning has been shown in the task of automatically detecting
various types of defects having different shapes and sizes. In this paper, we describe thedevelopment of deep learning based segmentation algorithm for defect detection in MPT
images. We have achieved a F2 score of 84.04% by using U-Net as the segmentation modeland by utilizing a strong backbone network and an optimal loss function.

.
Input Image

Segmentation
Output Image

GS3-2 A Method for Improving Recognition of Lying Postures Using a Measured
Signal Intensity of Respiration and Heartbeat by Flexible Tactile Sensor Sheet
Kazuya Matsuo (Kyushu Institute of Technology, Japan), Toshiharu Mukai (Meijo University,
Japan),
Shijie Guo (Hebei University of Technology, China)

Measurements of the sleeping state would be useful to monitor the health of a nursed
person. The sleeping state can be estimated from biological information such as respiration
rate, heart rate, and lying postures. This study describes a method for improving
recognition of lying postures using a measured signal intensity of respiration and heartbeat.
We can obtain respiration and heartbeat by means of using the time series data of the bodypressure measured at the suitable location determined by a lying posture. Therefore, arecognition rate of lying postures and a measured signal intensity of respiration andheartbeat have positive correlation. In the experiments, we show that recognition of lying
postures is improved by means of using a measured signal intensity of respiration andheartbeat.

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GS3-3 Basic research for the realization of online MEG using SSD

Kazuhiro Yagi, Yuta Shibahara, Lindsey Tate, Keiko Sakurai, Hiroki Tamura (University ofMiyazaki, Japan)

Neurofeedback systems have been found to be effective in the clinical rehabilitation ofparalysis. However, most systems exist only for use with EEG, which is cumbersome toapply to patients and has lower spatial resolution than MEG. Furthermore, the bestpractices for neural data feature extraction and feature selection are not well established.
The inclusion of the best performing feature extraction algorithms is critical to thedevelopment of clinical neurofeedback systems. Using simultaneously collected MEG andaccelerometer data before and during 10 spontaneous finger movements, we performed anin-depth comparison of independent components analysis (ICA) and spatio-spectral
decomposition (SSD) algorithms for their individual abilities to isolate movement-relevant
features in brain activity. Having restricted raw data to that from sensorimotor rhythm(SMR) frequencies in select MEG sensors over sensorimotor cortex, we compared ICA
and SSD components using: (1) 2D topographies, (2) activations over time, (3) andcorrelations with accelerometer data at both 0ms and 60ms time delays. SSD performed
more quickly and produced components that were more highly correlated with the
behavioral data than ICA. We will discuss these results and suggestions for application toneurofeedback systems. In particular, we will present detailed visualizations of SSD
results and discuss potential strategies and pitfalls for feature selection.

GS4 Image & Signal Processing 3 (3)Chair: Taro Shibanoki (Ibaraki University, Japan)
GS4-1 Landslide Area Detection from Synthetic Aperture Radar Images Using
Convolutional Adversarial Autoencoder and One-class SVM
Shingo Mabu, Soichiro Hirata, Takashi Kuremoto (Yamaguchi University, Japan)

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In this paper, an anomaly detection system using deep learning for detecting disasterstricken (landslide) areas in satellite images is proposed. We used synthetic aperture radar(SAR) images because SAR can observe a wide area of the earth even at night or in bad
weather. However, it is difficult to obtain a large number of training images withannotations. Especially it is much more difficult to obtain disaster area images than normal
area images. To overcome this problem, we proposed an anomaly detection system that
only uses normal area images for the training. The proposed system combines a
convolutional adversarial autoencoder (CAAE) and one-class SVM, which realized good
feature extraction and anomaly detection. In the experiments, the detection ability ofnormal and abnormal areas was evaluated.

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GS4-2 Anomaly Detection in Time Series Data Using Support Vector Machines
Umaporn Yokkampon1, Sakmongkon Chumkamon1, Abbe Mowshowitz2,
Eiji Hayashi1 and Ryusuke Fujisawa1 (1Kyushu Institute of Technology, Japan)(2The City College of New York, USA)

Analysis of large data sets is increasingly important in business and scientific research.
One of the challenges in such analysis stems from uncertainty in data, which can produce
anomalous results. In this paper, we propose a method of anomaly detection in time series
data using a Support Vector Machine. Three different kernels of the Support Vector
Machine are analyzed to predict anomalies in the UCR public data set. Comparison of thethree kernels shows that the defined parameter values of the RBF kernel are critical for
improving the validity and accuracy in anomaly detection. Our results show that the RBF
kernel of the Support Vector Machine can be used to advantage in detecting anomalies.

©ICAROB 2021 ALife Robotics Corp. Ltd.

93𝐱�An om aly d etection
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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

GS4-3 Relationship Between Tactile Stimuli and Human Body Sway

Masaya Tadokoro, Taro Shibanoki (Ibaraki University, Japan)

This paper describes the relationship between tactile stimulation and human body sway.
We previously proposed a body sway mitigation system based on tactile stimulation andrevealed that simultaneous stimulation behind both auricles were significantly improve
human balance function, however, the mechanism of it were not fully discussed. In thispaper, some stimulation patterns were applied to participants and COP eccentricities
before/after stimulation was extracted. The results showed that COP values after
stimulation could be inclined to the opposite of the stimulation site. It indicates that tactile
stimuli can control human balance function.

GS5 Genetic Algorithms & Robotics 1 (3)Chair: Hideyuki Tanaka (Hiroshima University, Japan)
GS5-1 Layout decision system for multiple production lines using work-flow-line
and GA
Masato Noda1, Hidehiko Yamamoto1 (Gifu University, Japan),
Hirohumi Tsuji2, Yasuhisa Terawa2, Yoshinori Nakamura2, Masayuki Tsuchida2 (Infofarm
Corporation, Japan),
Katsuaki Yamada3, Yukiyasu Kuriyama3 (Kai Industries Corporation, Japan)

We develop the system to decide the efficient layout of assembly production line by using
Genetic Algorithm (GA). The target production line has some operators. We call thesystem as System of Production-line-layout Decision by Chameleon-code and GA(PDCG). PDCG decides the efficient layout of production line by using GA, work flowlines acquired by Chameleon code and the machine failure data. Specifically, PDCG
evaluates the layout efficiency by calculating the operator’s walking time in order to fix
the machine failures which sometimes occur on the production line. By the evaluation,
PDCG can find the good layout which has multiple production lines with one operator. We
applied PDCG to the actual razors assembly line’s layout in order to verify theperformance of PDCG. We compare the layout obtained by PDCG with the parallel layout
currently used in razors assembly factory. As a result, PDCG’s layout reduced the walking
time, compared with the parallel layout.

GS5-2 Autonomous decentralized FMS’s AGVs moving control by mind change withdeep learning
Ryunosuke Yamane, Hidehiko Yamamoto (Gifu University)

We have developed the system of autonomous decentralized flexible manufacturingsystem (AD-FMS) factory. Especially, automated guided vehicles (AGVs) in the AD-FMS
factory avoided path interferences between AGVs by inserting the mind model into theAGVs. By using the mind model, the interferences can be avoided by repeating to change
two types of mind, the arrogant mind and the modest mind. However, the problem is stillleft that it takes time to make the decision which way an AGV moves to avoid theinterference. In order to solve the problem, we develop the new mind model. The newmind model includes the deep learning system. The new model is called Minimum Unitof Mind with Deep learning (MUMD). We applied the new mind model including the deeplearning system to AD-FMS and ascertained MUMD is useful in the time of pathinterferences avoidances.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

GS5-3 Secondary School Robotics Education in Camarin High School:
Developments and Challenges for Improvement
Jeffrey Rivera Galino (Camarin High School, Philippines and Hiroshima University, Japan)
Hideyuki Tanaka (Hiroshima University, Japan)

Camarin High School is one of the schools in the Philippines that is making an initiativein improving STEM education through robotics education. In this paper, the authors report
the development of a robotics program for students in junior high school. Through the
Teacher Training Program of the Japanese Government for international teachers,
localized challenges were identified and advances in technology education were examinedfor consideration. This report is hoped to provide useful insights to both practitioners ofrobotics education and initiators in a similar situation.

GS6 Robotics 1 (4)Chair: Noritaka Sato (Nagoya Institute of Technology, Japan),
GS6-1 Digital Testing Device for Active Range of Motion of Finger Joints Utilizing
Artificial Neural Network
Huu-Hieu Quang, Yoshifumi Morita (Nagoya Institute of Technology, Japan), Makoto
Takekawa (everfine, Japan)

This paper proposed a digital goniometer device for measuring the active range of motion(A-ROM) of finger joints by artificial neural network (ANN). Although a therapist
typically measures the A-ROM by a physical goniometer, it consumes a significant amountof time, and imposes a relatively heavy burden on patients. The proposed device comprises
an Intel RealSense depth camera and a computer. The camera is set up toward the patient`sfinger joints. Subsequently, the therapist captures to collect RGB-D data. The threedimensional position coordinates of the specified joint are acquired from the RGB-D data.
These data are used as inputs to an ANN model for predicting the joint`s angles. The
effectiveness of the proposed device is confirmed experimentally on the third joint of the
middle angle.

Digital Testing device for
A-ROM of finger joints

GS6-2 Position and Force Teaching Method for 6 DoF Manipulator Using Contact
Teaching Tool and Teaching Data Editor
Duy-Do Bui, Hiroki Tanaka, Quang-Trung Chu, Hideki Inuzuka, Yoshifumi Morita(Nagoya Institute of Technology, Japan) Masao Sakai (Aichi Prefecture, Japan)

This paper proposed a method for teaching tasks performed by a six degree-of-freedom
robot manipulator while the robot’s tool makes contact with a workpiece. By using ourpreviously developed direct teaching device, the time to teach pressing angle and force ofthe tool is greatly reduced compared to using the teaching pendant. In this study, a contact
teaching tool and a teaching data editor were proposed on the assumption that thecompliance characteristics of the robot hand are known. The tool allows us to accurately
grasp the shape of the workpiece. The editor generates the target trajectory to realize thedesired pressing angle and force on the basis of the teaching data and the known
characteristics. The effectiveness was confirmed experimentally from the viewpoint of
improving the teaching accuracy and reducing the teaching time.

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PAWTED with a contact
teaching tool

The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

GS6-3 Haptic Device that Presents Sensation Corresponding to Palm on Back ofHand for Teleoperation of Robot Hand Report2: Consideration on Decided
Specification
Kyosuke Ushimaru,Noritaka Sato,Yoshifumi Morita (Nagoya Institute of Technology, Japan)

Recently, teleoperated rescue robots are required. However, it is known that the
teleoperation of a robot hand mounted on a rescue robot is difficult. Therefore, we propose
a new haptic device that presents haptic sensation for teleoperation of a robot hand. The
device stimulates the back of the hand instead of the palm of the operator. Determinationof required specifications by an experiment with subjects is written in this paper. To design
the device, the interval of the stimulation cue (i), the diameter of the stimulation cue (d),and the force of the stimulation (f) should be optimized. As a result of the experiment, wefound that the accuracy rate is highest, when (i, d, f) = (30mm, 6mm, 0.9kgf). Moreover,
we deeply considered on the decided specification with an additional experiment.

|

GS6-4 Robot Assisting Water Serving to Disabilities by Voice Control

Yang Chunxin, Sakmongkon Chumkamon, Eiji Hayashi (Kyushu Institute of Technology,
Japan)ROS is an open-source robot operating system. In this paper, we use ROS to control Conberobot arm. By introducing the YOLACT real-time instance segmentation, we trained ourown model for Object Detection. Secondly, the Speech-Recognition system is establishedthrough Deep speech and Mozilla Text-To-Speech with Tacotron2 DDC model. Deep
speech is an end-to-end speech system, where deep learning supersedes these processing
stages. Combined with a language model, this approach achieves higher performance than
traditional methods on hard speech recognition tasks while also being much simpler. In
this way, we create an artificial intelligence, which accomplished a simple conversation
with people. And the voice control system is established based on Speech-Recognition
system. In the experiment, we successfully control the robot arm move positions and do
water serving for disabilities by voice command. With this research, voice control robot
arm can be apply in the life support area, it will be more convenient for disabilities in dailylife

GS7 Robotics 2 (4)Chair: Wisanu Jitviriya (Kyushu Institute of Technology, Japan)
GS7-1 Development of Interactive Robot – Emotion Estimation System Using
Speech by 1dCNN Yugo Kawachi, Eiji Hayashi (Kyushu Institute of Technology, Japan)

With the expansion of the market for the robotics industry, the development of service
robots is becoming more popular. These robots are designed to be used in homes and in
medical and welfare setting where they can communicate with people, and they need toact and talk in friendly. In this research, we are developing an interactive robot that pursues
human-like movements by focusing on non-verbal interactions such as facial expressions
and body language. We can guess the other person’s emotions from the intonation of
speech. In addition to the facial expressions and body language used in previous studies,
we considered that a function for emotion estimation from speech is necessary. Therefore,
we developed a machine learning system using 1dCNN for emotion estimation of speech.

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GS7-2 Deep Learning Methods for Semantic Segmentation of Dense 3D SLAM
Maps
Pei Yingjian, Sakmongkon Chumkamon, Eiji Hayashi (Kyushu Institute of Technology, Japan)

Most real-time SLAM systems can only achieve semi-dense mapping, and the robot lacks
specific knowledge of the mapping results, so it can only achieve simple positioning andobstacle avoidance, which may be used as an obstacle in the face of the target object to be
grasped, thus affecting the realization of motion planning. The use of semantic
segmentation in dense SLAM maps allows the robot to better understand the map
information, distinguish the meaning of different blocks in the map by semantic labels,
and achieve fast feature matching and Loop Closure Detection based on the relationshipbetween semantic labels in the scene. There are many semantic segmentation datasets
based on street scenes and indoor scenes available for use, and these datasets have somecommon tags. Based on these training data, we can derive a semantic segmentation model
based on RGB images by using the Pytorch platform for training.

GS7-3 Robot Motion Generation by Hand Demonstration

Sakmongkon Chumkamon, Umaporn Yokkampon, Eiji Hayashi, Ryusuke Fujisawa(Kyushu Institute of Technology, Japan)

Since traditional robot teaching requires time and instruction to the robot motion, we
present a system framework and experiment for generating robot motion trajectories fromhuman hand demonstration, which the worker could teach robot easier rather thanassigning the instruction to the robot controller manually. Therefore, the robot can imitate
the action in a new situation instead of directly teaching the robot arm. Our contributions
are including three-point 1) the extracting method of hand movement with marker-lessusing hand detection in 3D from human 2) the motion generalization of the hand
trajectories from human 3) Robot path planning for grasping and place the object to thetarget. We also present the experiment conducted by the user movement for real data andevaluate the system using the manipulator's gripper. The experiment shows the pick-andplace task of the robot for food by hand demonstration.

GS7-4 Medical Telerobotics: IRAPs SHaRE-aGIVeR

Noppadol Pudchuen, Jiraphan Inthiam, Wisanu Jitviriya, Amornphun Phunopas, Chirdpong
Deelertpaiboon(King Mongkut’s University of Technology North Bangkok, Thailand)
Aran Blattler (Kyushu Institute of Technology, Japan)

The Coronavirus disease 2019 (COVID-19) pandemic has affected the global population.
In particular, the medical personnel in direct contact with patients have been exposed tohigh risk. To reduce the spread of COVID-19 and protect healthcare workers and patients,
we would like to present the fully automated medical telerobot as the IRAPs SHaREaGIVeR robot. Our robot is capable of generating both 2D and 3D maps automatically,
delivering medical supplies, food, or medical devices such as blood pressure monitors,
pulse oximeters, and so on. In addition, the user interface system is also vital part. Users
are able to connect and control the robot using a computer, a mobile device, or a tablet via
the wireless network which is installed inside the robot. Currently, our robots are being
operated on with medical personnel at hospitals, regarding the feedback from the formal
caregivers that can prove our robot's efficiency in reducing the risk of COVID-19 spread.

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GS8 Medical Data Processing (6)Chair: Shingo Mabu (Yamaguchi University, Japan)
GS8-1 Development of in-Home Wireless Continuous Temperature Data Logging
and Alarming
System for Fever Monitoring in Pediatrics
Ali S. AlMejrad(University of Hail, Kingdom of Saudi Arabia)

Fever is one of the most common concern to be taken care by parents that sometimes force
them to bring their child to the hospital emergency for continuous follow up especially atnight when sleeping. Fever is defined when a rectal temperature reaches over 38.0 C (100.4
F). Temperatures measured from other sites of body are usually less. There is no defined
threshold for fever due to variation of body temperatures between different individuals asmuch as 1 F. Fever itself is not life threatening unless the rectal temperature is persistentover than 41.6 C (107 F). Fever may be due to a serious illness and usually is caused bycommon infections that are not serious. However, a fever can be caused by other causes
other than infections. Since continuous temperature monitoring is inapplicable at the rectal
site, the paper aims at developing a prototype system using Wireless Sensor Network(WSN) for wireless continuous fever monitoring system from the head skin or wrist thatare the most applicable area even so one must add 2 degrees for the read temperaturecorrection. The system can record the temperature at the patient terminal and transmit
the fever status and critical situations to an alarming system in the side of taking-carepeople that will help in in-home care for pediatrics suffering from fever.

Patient

Data
Acquisition

Temperature
SensorLink from thebounded transmitter
node

Transmitter Node

Optional
Data Access Module

Link from theany transmitternode

USB Interface

USB Interface

Data Logger

Web pageWeb Server

SD Card Reader

Alarm Notification SMS

System Block Diagram

GS8-2 Design and Development of in-home Wireless Crucial Events Logging andAlarming System for Elderly and Disabled People Care
Ali S. AlMejrad(University of Hail, Kingdom of Saudi Arabia)

This paper aims at developing a system that will help in in-home care for elderly or
disabled people. The system can record the patient vital parameters such as temperature,
SpO2, ECG, heart rate, bed moisture and fall off sensor which could be installed at thebathroom or shower area at the patient terminal and transmit the critical situations such as
high or low values to an alarming system. The system will be developed using the National
Instrument Wireless Sensor Network (NI-WSN) to control the crucial events transmission
and LabVIEW software to design the user interface.

System Block Diagram

GS8-3 Virtual bird’s-eye view for remote operation of unmanned construction
machinery
Noritaka Sato, Akihiro Fukuda (Nagoya Institute of Technology, Japan)

Recently, remote operation of construction machinery is required to release humans fromdangerous places. However, the operator only watches a video from a camera mounted ona construction machine in general and lacks the sense of distance. Therefore, risk ofcollisions and operation time increase. In order to solve those problems, we propose amethod to display virtual bird’s-eye view which is created by superimposing a CG modelof a construction machine on pre-captured pictures. The operator can recognize positional
relationship between the machine and the environment by using the proposed method.
Experiments are carried out to verify the effectiveness of the proposed method which can
reduce the number of collisions and operation time comparing to the conventional method.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

GS8-4 Domain Transformation of Chest CT Images Using Semi-Supervised Cycle
GAN for Opacity Classification of Diffuse Lung Diseases
Masashi Miyake1, Shingo Mabu1 , Shoji Kido2, Takashi Kuremoto1(1Yamaguchi University, Japan, 2Osaka University, Japan)

The aim of this research is to perform domain translation of chest CT images so that
medical institutions can effectively use a computer-aided diagnosis (CAD) system trained
at a different institution. We propose a semi-supervised Cycle GAN for domaintransformation by combining the standard Cycle GAN and the trained CAD. In detail, aftersome images are domain-transformed by Cycle GAN, the trained CAD classifies them to
examine whether they are appropriately transformed or not. Then, the results are fed backto the Cycle GAN to re-train. In the experiments, classification of normal opacity and fivekinds of abnormal opacities of diffuse lung diseases in CT images are carried out and theeffectiveness of the domain transformation of the proposed method is clarified.

GS8-5 Anomaly Detection of Lung Sounds Using DAGMM

Ryosuke Wakamoto1, Shingo Mabu1, Shoji Kido2, Takashi Kuremoto1(1Yamaguchi University, Japan, 2Osaka University, Japan)

There are few studies using deep learning for auscultation, and also, there are only a few
small-scale benchmark datasets of lung sounds that are annotated for the training ofmachine learning. Therefore, we aim to build an anomaly detection system that only uses
normal data that can be obtained more than abnormal data. To realize the anomaly
detection system, we propose an algorithm that improves the Deep Autoencoding Gaussian
Mixture Model (DAGMM), that simultaneously implements feature extraction andclustering. In this study, various types of neural networks are applied to DAGMM as thecompression networks for efficient feature extraction. From the experimental results, it isclarified that the proposed methods show effective classification performance for lungsounds.

GS8-6 A ground reaction force analysis in walking and running gaits in horse leg
model on viscoelastic hoof-ground contact
Dondogjamts Batbaatar, Hiroaki Wagatsuma (Kyushu Institute of Technology, Japan)

In this paper, we focused on the hoof-ground interaction in the simplified horse leg model
because walking and running gaits are known to be different in trajectories; however, theforce analysis still remains as unsolved issues. The computational experiments in Matlab,
elastic and inelastic impact with the ground was resolved by using the dissipative contact
force model and the ground reaction force was clearly examined in four different
conditions from the combination of walking/running and elastic/inelastic contact. The
proposed method contributes to the establishment of the detail time course analysis of theground reaction force for animal and human gaits in a consistent manner.

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The 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

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]
Abdullah

Azian

OS1-3

39/43

Azamimi

OS4-3

34/48

Chen

Chen-Pang

OS8-1

23/55

Chen

Shuailin

OS12-13

38/65

Abe

Akinori

OS15-7

26/75

Chen

Shuo-Tsung

OS9-5

22/58

AburadaKentaroOS16-3

30/76

Chen

Yue

OS12-1

37/62

OS16-4

30/76

Chen

Zhonggao

GS1-5

33/90

OS16-5

30/77

Cheng

Yuhui

OS12-6

37/64

OS13-5

36/68

Adam

Asrul

OS1-1

39/42

Ahn

Seong-Ha

OS4-1

34/48

Cheng

Yung-Hsin

OS9-7

22/59

Aizawa

Shogo

OS5-6

29/50

Chu

Quang-Trung

GS6-2

32/95

Al aamaObada

OS19-421/80

ChuangChing-Chun

OS9-4

22/58

AlMejradAli S.

GS8-1

33/98

OS9-5

22/58

GS8-2

33/98

ChuangLi-Ming

OS7-3

32/53

OS11-1

29/61

Chumkamon

Sakmongkon

GS4-2

35/93

GS6-4

33/96

AlpizarIxchelRamirez

Aoki

Takatoshi

GS2-2

24/91

GS7-2

40/97

Arima

Kaoru

OS16-5

30/77

GS7-3

40/97

Asada

Taro

OS2-2

22/44

OS2-3

22/44

OS2-4

22/45

[D]

[B]

Dahari

Mahidzal

OS1-4

39/43

Dai

FengzhiOS13-1

36/67

OS13-2

36/68

Batbaatar

Dondogjamts

GS8-6

34/99

OS13-3

36/68

Blattler

Aran

GS7-4

40/97

OS13-4

36/68

Bui

Duy-Do

GS6-2

32/95

OS13-536/68

Bulatov

Sergey

OS9-1

22/57

OS13-6

36/69

OS13-7

36/69

[C]
Chao

Shu-Tsung

OS7-3

32/53

OS13-836/69

ChoYoung Im

OS4-2

34/48

OS13-936/69

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OS13-1036/70

OS13-1137/70

OS13-1237/70

OS13-13

37/71

OS13-14

37/71

Guo

Jr-Hung

Guo

Shijie

OS8-5

24/57

OS9-6

22/59

GS2-1

24/90

GS3-2

27/92

Deelertpaiboon

Chirdpong

GS7-4

40/97

[H]

Deng

Jianhua

OS12-14

38/66

Hamasaki

YosikiOS14-528/73

OS12-15

38/66

Han

Shuo

OS17-2

31/77

Domae

Yukiyasu

OS11-1

29/61

Han

LeixinOS12-17

38/67

Dudin

Vitaly

OS9-1

22/57

Hanajima

Naohiko

OS6-1

30/51

Hao

HongboOS12-7

37/64

OS12-8

37/64

[E]
Egawa

HarukaOS14-1

28/71

OS12-938/64

Elderton

Simon

GS1-1

33/89

OS12-1238/65

OS12-13

38/65

OS13-7

36/69

OS13-836/69[F]Fuengfusin

Ninnart

OS19-1

21/79

Fujisawa

Ryusuke

GS1-3

33/89

Hao

Junlong

OS12-18

38/67

GS4-2

35/93

HaradaKensukeOS11-1

29/61

GS7-3

40/97

OS11-2

29/62

OS11-3

29/62

FukudaAkihiro

GS8-3

33/98

FukudaKazukiOS14-4

28/72

Halin

Abdul Hafiz

OS1-3

39/43

Fukushima

HirokiOS15-5

26/74

Hayashi

Eiji

GS1-2

33/89

GS1-3

33/89

GS4-2

35/93

GS6-4

33/96

GS7-1

39/96

[G]
GalinoJeffrey

GS5-3

26/95

RiveraGaoLongyuOS12-16

38/66

GS7-2

40/97

OS12-17

38/67

GS7-3

40/97

OS12-18

38/67

OS5-1

28/49

OS13-14

37/71

OS5-2

28/49

OS5-5

29/50

Hiraoka

Toru

Ge

Jing

OS6-3

30/51

Gong

Kai

OS6-2

30/51

HirataSoichiro

GS4-1

35/93

OS6-4

30/52

HirotaKoichiOS10-7

24/61

GS1-4

33/90

HirotaMasaharu

OS5-3

29/49

GS2-4

25/91

OS5-4

29/50

OS10-3

24/60

Hori

SanseiOS19-3

21/79

OS10-4

24/60

Hsia

Kuo-Hsien

OS8-5

24/57

Gong
Guan

Lei
Zhe

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OS9-6

22/59

Iuchi

KeisukeOS21-1

23/82

Hsiao

Jia Ming

OS9-7

22/59

Hu

ManqianOS12-18

38/67

Hua

Chih-Chiang

OS9-4

22/58

Jhang

Guang-Ming

OS8-3

23/56

OS9-5

22/58

Jhang

Yun-Syuan

OS9-2

22/57

OS8-1

23/55

Ji

Chengxu

OS13-5

36/68

OS8-2

23/55

Jia

Yuxin

OS6-2

30/51

OS9-4

22/58

OS6-4

30/52

OS6-2

30/51

OS6-4

30/52

OS3-2

34/45

OS3-8

35/47

Wisanu

GS7-4

40/97

TaketoOS24-1

25/87

Hung

Chung-Wen

[J]

Jia

Yingmin[I]
Jian

TianyeIbrahim

Zuwairie

OS1-1

39/42

Iiyama

Shota

OS5-4

29/50

Ikeda

Hiromu

GS2-3

25/91

Imai

ShinichiOS10-1

24/59

InthiamJiraphan

GS7-4

40/97

[K]

Inuzuka

Hideki

GS6-2

32/95

Kamasaka

Ishii

Kazuo

PS1

21/41

OS24-2

25/87

OS22-2

31/83

OS24-425/88

OS22-331/84

OS24-525/88

OS22-4

31/84

OS1-3

39/43

OS22-531/84

OS23-1

27/85

Kamei

Keiji

OS22-331/84

OS23-227/85

Kamiya

Tohru

GS2-2

24/91

OS23-3

27/85

GS2-3

25/91

OS23-4

27/86

GS3-1

26/92

OS23-5

27/86

Kang

Ho-Sun

OS4-1

34/48

OS23-6

27/86

Kang

RumingOS12-17

38/67

OS14-1

28/71

OS13-6

36/69

OS14-2

28/72

OS16-330/76

OS24-1

25/87

OS16-430/76

OS24-2

25/87

OS16-530/77

OS24-425/88

OS21-1

23/82

OS24-5

25/88

OS21-2

23/82

Ishikawa
Ito

Seiji
Takao

Jitviriya

Kamazlan

Muhammad
Zubir

Katayama

KawadaTetsuro

Kazuo

Ito

TakuyaOS15-3

26/74

OS21-323/82

Ito

TsutomuOS24-1

25/87

OS21-423/83

OS24-2

25/87

OS15-1

25/73

OS24-425/88

OS15-2

26/73

OS24-5

25/88

GS7-1

39/96

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Kawai
Kawachi
102

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Kharisova

Enzhe

OS9-1

22/57

Liu

Chengzhi

OS3-3

34/46

Khazetdinov

Artur

OS9-1

22/57

Liu

Chuan-Gang

OS7-2

32/53

Kido

Shoji

GS8-4

34/99

Liu

Hsiu-Hao

OS9-2

22/57

GS8-5

34/99

OS9-3

22/58

OS7-1

32/53

KimuraKenji

OS23-5

27/86

Kinoshita

TakuyaOS10-2

24/60

OS7-2

32/53

OS10-5

24/60

OS7-4

32/54

Liu

I-Hsien

Kinoshita

Ryo

GS1-2

33/89

Liu

Jie

OS3-5

35/46

Kita

Yoshihiro

OS16-330/76

Liu

MingfeiOS12-17

38/67

OS16-4

30/76

Liu

Qunpo

OS6-1

30/51

OS16-530/77

Liu

ZilongOS12-16

38/66

OS13-14

37/71

Kitagawa

Kohei

OS14-2

28/72

Kobayashi

Hiroyuki

OS8-2

23/55

Liu

Zonghui

OS6-1

30/51

KoyamaKeisukeOS11-2

29/62

Lu

Huimin

GS3-1

26/92

KumanoMinoru

OS5-5

29/50

Lu

ShengyangOS12-1

37/62

Kumar

Anirban

OS1-2

39/42

Lu

Peng

OS12-537/63

Kuremoto

Takashi

GS4-1

35/93

OS13-3

36/68

GS8-4

34/99

OS13-4

36/68

GS8-5

34/99

OS13-5

36/68

YongzhengOS12-16

38/66

Ma

Yuehang

OS22-1

31/83

Mabu

Shingo

GS4-1

35/93

GS8-4

34/99

GS8-5

34/99

Kuriyama

Yukiyasu

GS5-1

26/94

Kurozumi

RyoOS16-1

29/75

Lv
[M]

[L]
Lai

Chia-Chun

OS7-2

32/53

Lavrenov

Roman

OS9-1

22/57

Lee

Jang-Myung

OS4-1

34/48

Lee

Jen-TunOS20-2

39/81

Jen-TunOS20-4

39/81

LeeTung-Lin

OS7-4

32/54

Lee

Yu-Po

OS7-3

32/53

Li

Di

OS3-4

35/46

Li

Jung-Shian

OS7-1

32/53

OS7-2

32/53

OS7-4

32/54

Liang

Yi-Li

OS20-239/81

Lin

Chien-Tung

OS20-1

38/80

Lin

Tzu-Yuan

OS9-6

22/59

©ICAROB 2021 ALife Robotics Corp. Ltd.

Maeda

Kohei

OS5-1

28/49

Magid

Evgeni

OS9-1

22/57

Matsui

Ayumi

OS2-3

22/44

MatsumuraToshimune

OS22-431/84

MatsuoKazuya

GS2-1

24/90

GS3-2

27/92

OS22-2

31/83

OS22-531/84

Matsuo103

TakayukiMatsuura

Kenta

OS11-2

29/62

MiyakeMasashi

GS8-4

34/99

Miyamoto

Kodai

OS24-1

25/87

OS24-2

25/87

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OS24-425/88

OS23-1

27/85

OS24-5

25/88

OS23-2

27/85

MiyataKazunori

OS20-4

39/81

OS23-3

27/85

MiyauchiShoko

OS11-329/62

OS23-4

27/86

Mochamad

SaputraOS16-3

30/76

OS23-627/86

ChandraNishiyaY.

OS10-5

24/60

Mochizuki

RyuugoOS23-6

27/86

Niu

Hong

OS12-2

37/63

M. Khairuddin

Anis Salwa

OS1-1

39/42

Noda

Masato

GS5-1

26/94

Mohamed ShahNoraisyah

OS1-4

39/43

MokhtarNorrima

OS1-1

39/42

OS1-3

39/43

Tetsuya

OS5-3

29/49

OS1-4

39/43

OS5-4

29/50

OS15-1

25/73

[O]
Oda

Mori

Shinnosuke

OS21-4

23/83

MoritaYoshifumi

GS6-1

32/95

OS15-2

26/73

GS6-2

32/95

OS15-3

26/74

GS6-3

33/96

Ogawa

HanakoOS10-6

24/61

Ogata

TakashiMorookaKen’ichiOS11-329/62

OgimotoTakuji

GS2-2

24/91

Mowshowitz

Abbe

GS1-3

33/89

Ohnishi

YoshihiroOS21-2

23/82

GS4-2

35/93

OS21-4

23/83

GS2-1

24/90

OS16-3

30/76

GS3-2

27/92

OS16-4

30/76

Mukai

Toshiharu

OkazakiNaonobu

Mukunoki

MasayukiOS24-325/88

OS16-5

30/77

Murai

Keita

OS21-1

23/82

OS24-325/88

OS15-1

25/73

OS15-2

26/73

OS15-3

26/74

Tomohito

OS2-1

21/44

Ono

Jumpei[N]
M. NorM. Rudzuan

OS1-3

39/43

Nagamatsu

Masayasu

OS21-3

23/82

Nagayoshi

Masato

GS1-1

33/89

Nakamoto

Masayoshi

OS10-6

24/61

Nakamura

Akira

OS11-1

29/61

Pei

Xin

OS17-3

31/78

NakamuraJun

OS15-4

26/74

Pei

Yingjian

GS7-2

40/97

Nakamura

Yoshinori

GS5-1

26/94

Peng

Wanlong

OS3-2

34/45

Nakatani

Yuki

OS10-2

24/60

OS3-8

35/47

Ning

Lei

OS12-14

38/66

OS3-1

34/45

OS12-15

38/66

OS3-2

34/45

OS22-2

31/83

OS3-3

34/46

OS22-4

31/84

OS3-4

35/46

OS22-5

31/84

OS3-5

35/46

NishidaYuya©ICAROB 2021 ALife Robotics Corp. Ltd.

Ouchi
[P]

Peng

104

YizhunThe 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

OS3-6

35/46

Seino

Kai

OS15-6

26/75

OS3-7

35/47

Seki

Hiroaki

OS11-3

29/62

OS3-8

35/47

Seto

NoritakeOS24-2

25/87

OS3-9

35/47

Shakhnoza

Muksimova

OS4-2

34/48

Shen

Luqi

OS12-16

38/66

OS12-18

38/67

Phunopas

Amornphun

GS7-4

40/97

Priyambadha

Bayu

OS16-430/76

Pudchuen

Noppadol

GS7-4

40/97

[Q]
Qin

Zhongxu

OS12-3

37/63

Quang

Huu-Hieu

GS6-1

32/95

[R]
RaghuraSreeraman

OS23-4

27/86

Srinivasa
Rajagopal
Rajapakse

Heshalini
R.P.C. Janaka

Sheng

Chang

OS13-2

36/68

Sheng

YuhangOS12-4

37/63

Shi

LiYingOS10-3

24/60

Shi

Songyun

OS3-1

34/45

OS12-16

38/66

Shibahara

Yuta

GS3-3

27/93

Shibanoki

Taro

GS4-3

35/94

Shirahashi

KanakoOS22-5

31/84

Shou

Ho-Nien

OS7-5

32/54

OS1-1

39/42

SoharaNaoto

OS23-1

27/85

OS1-2

39/42

SolpicoDominic B.

OS23-327/85

OS20-1

38/80

Song

Chau-Chung

OS8-1

23/55

OS20-2

39/81

OS8-2

23/55

OS20-3

39/81

Song

Minghan

GS1-4

33/90

OS20-4

39/81

Song

Yunzhong

OS6-6

30/52

OS13-1

36/67[S]

SonodaTakashiOS22-2

31/83

Sakai

Masao

GS6-2

32/95

Su

Bo

OS6-1

30/51

Sakamoto

MakotoOS24-1

25/87

Su

Kuan-Ming

OS7-1

32/53

OS24-2

25/87

Suzuki

Hidekazu

OS22-1

31/83

OS24-4

25/88

SuzukiHiroyuki Y.

OS21-1

23/82

OS24-5

25/88

OS21-323/82

OS24-1

25/87

OS18-1

32/78

OS24-2

25/87

OS18-2

32/78

OS24-4

25/88

OS18-332/78

OS24-5

25/88

YosukeOS11-329/62

Masayoshi

OS2-1

21/44

SakomaKenji

Suzuki

Yasuhiro

Suzuki

Sakurai

Keiko

GS3-3

27/93

Sakurai

Miki

OS2-3

22/44

SanadaAtsushiOS22-3

31/84

Sano

TomoyaOS14-3

28/72

OS2-2

22/44

Sato

Noritaka

GS6-3

33/96

OS2-3

22/44

GS8-3

33/98

OS2-4

22/45

©ICAROB 2021 ALife Robotics Corp. Ltd.

[T]
Tabuse105

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Tadokoro

Masaya

GS4-3

35/94

Tsuchida

Masayuki

GS5-1

26/94

TajimaSho

OS11-3

29/62

Tsuji

Hirohumi

GS5-1

26/94

TakagiTomohiko

OS16-1

29/75

Tsuji

Tokuo

OS11-329/62

OS16-2

30/76[U]

Takaki

Ryosuke

OS5-2

28/49

Takatuka

KayokoOS24-3

25/88

UchidaNoriyukiOS24-3

Takei

Amane

OS24-1

25/87

Ueda

Akira

GS3-1

26/92

OS24-2

25/87

UemuraYuuichiroOS22-431/84

OS24-4

25/88

Ul Husnain

Anees

OS1-4

39/43

OS24-5

25/88

Ushimaru

Kyosuke

GS6-3

33/96

Usuda

Akio

OS16-2

30/76

Takekawa

Makoto

GS6-1

32/95

Takemura

YasunoriOS22-2

31/83

OS22-331/84[W]OS22-531/84

W. M. Mahiyidin

Wan Amirul

OS1-1

39/42

OS21-2

23/82

Wada

Mayuka

OS2-2

22/44

OS21-4

23/82

Wakamoto

Ryosuke

GS8-5

34/99

Tamai

Teruyuki

Tamaki

Hisashi

GS1-1

33/89

Wakitani

Shin

OS10-7

24/61

Tamukoh

HakaruOS19-1

21/79

Wan

Khairunizam

OS1-1

39/42

OS19-2

21/79

OS1-3

39/43

OS19-3

21/79

Wan

WeiweiOS11-2

29/62

OS19-4

21/80

Wang

Chun-Chi

OS8-1

23/55

Wang

Chun-Chieh

OS8-3

23/56

OS8-4

23/56

OS17-1

31/77

TamuraHiroki

GS3-3

27/93

Tan

Joo Kooi

OS14-1

28/71

OS14-2

28/72

OS14-328/72

OS17-2

31/77

OS14-428/72

OS17-3

31/78

OS14-5

28/73

Wang

Mengke

OS6-1

30/51

Wang

Jiwu

TanakaHideyuki

GS5-3

26/95

Wang

Min

OS12-10

38/65

TanakaHiroki

GS6-2

32/95

Wang

Nana

OS3-7

35/47

TanakaYoshiki

OS22-431/84

WatanabeKaori

OS22-1

31/83

OS23-2

27/85

Watanabe

KeisukeOS23-7

27/87

Tate

Lindsey

GS3-3

27/93

Watanabe

TetsuyouOS11-3

29/62

TerawaYasuhisa

GS5-1

26/94

Watanabe

YusukeOS19-2

21/79

Tian

ShuhaoOS12-1

37/62

Wei

Qiang

OS12-2

37/63

Tokuyama

Yoshimasa

OS20-1

38/80

Wen

Haokang

OS12-7

37/64

OS20-2

39/81

OS12-938/64

OS20-3

39/81

OS12-10

38/65

GS1-3

33/89

OS12-11

38/65

Tominaga

Ayumu©ICAROB 2021 ALife Robotics Corp. Ltd.

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OS13-7

36/69

Yang

JialinOS12-3

37/63

OS13-9

36/69

Yang

Zhou

OS3-2

34/45

OS3-7

35/47

Wu

Chi-Che

OS7-2

32/53

Wu

JiangyuOS12-17

38/67

Yao

Chun-Jen

OS9-4

22/58

OS13-14

37/71

Yasukawa

ShinsukeOS22-2

31/83

Wu

Jun-Rong

OS8-2

23/55

OS22-531/84

Wu

Xiaowei

OS3-5

35/46

OS23-1

27/85

OS3-9

35/47

OS23-4

27/86

[X]

Ye

Zhan-Xian

OS8-4

23/56

Yin

Di

OS13-1036/70

OS13-11

37/70

Xiao

Chang-Sheng

OS8-5

24/57

Xiao

Zhiqing

OS12-18

38/67

Yin

MengqiOS13-1036/70

OS13-14

37/71

Yokkampon

Umaporn

GS4-2

35/93

OS17-1

31/77

GS7-3

40/97

Xu

Junxiang[Y]Yoshimura

Motohide

OS5-6

29/50

Yoshitomi

Yasunari

PS2

28/41

Yagi

Kazuhiro

GS3-3

27/93

OS2-2

22/44

YamabaHisaaki

OS16-3

30/76

OS2-3

22/44

OS16-4

30/76

OS2-4

22/45

OS16-530/77

OS13-936/69

OS24-325/88

OS13-1036/70

OS13-1137/70

OS12-7

37/64

OS13-7

36/69

OS12-5

37/63

Yuan

Yasheng

YamadaKatsuaki

GS5-1

26/94

YamadaTakeshi

OS10-6

24/61

Yamamoto

Hidehiko

GS5-1

26/94

GS5-2

26/94

OS10-2

24/60

OS10-324/60

OS10-424/60

OS12-6

37/64

OS10-524/60

OS13-3

36/68

OS10-7

24/61

OS13-4

36/68

OS6-3

30/51

OS6-5

30/52

OS3-4

35/46

Yamamoto

Toru

[Z]
Zhang
Znang

Qianqian
Tianyi

YamaneRyunosuke

GS5-2

26/94

Yamanobe

Natsuki

OS11-1

29/61

Yamawaki

Junichiro

OS2-4

22/45

Yan

Yuqi

OS12-3

37/63

OS3-6

35/46

Yanagise

KentaroOS22-4

31/84

OS3-7

35/47

Yang

Bo-Jung

OS8-5

24/57

OS3-8

35/47

Yang

Chunxin

GS6-4

33/96

OS12-7

37/64

Yang

Dezhi

OS3-3

34/46

OS13-1

36/67©ICAROB 2021 ALife Robotics Corp. Ltd.

Zhang
Zhang

Zhao
107

WeicunYuhengJichaoThe 2021 International Conference on Artificial Life and Robotics (ICAROB2021), on line, Jan. 21- 24, 2021

Zhao

Jikai

OS13-7

36/69

OS13-1237/70

OS13-13

37/71

OS3-3

34/46

OS3-5

35/46

Zhao

HuailinOS12-1

37/62

Zhao

Lianchen

OS3-4

35/46

OS3-6

35/46

OS3-5

35/46

OS3-9

35/47

Zhao

Yuqi

Zheng

Fulin

OS12-12

38/65

Zheng

Qiang

OS12-11

38/65

Zhou

Ye

OS14-5

28/73

Zhou

Yusong

OS3-9

35/47

Zhu

Meiyu

OS6-5

30/52

Zhu

YuxuanOS13-1036/70

OS13-11

37/70

OS4-3

34/48

Zhumanazarova

Assiya©ICAROB 2021 ALife Robotics Corp. Ltd.

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