１－５１6

ICAROB2018

PROCEEDINGS OF THE 2018
INTERNATIONAL CONFERENCE
ON ARTIFICIAL LIFE AND ROBOTICS
February 1- 4 2018
B-Con Plaza, Beppu, Oita, JAPANInternational Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-3-3

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Proceedings of The 2018 International Conference on

ARTIFICIAL LIFE AND ROBOTICS(ICAROB2018)

February 1- 4, 2018
B-Con Plaza, Beppu, Oita, JAPANInternational Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-3-3©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Contents
1

Organization, etc.

1

2

Messages

93Time Table

14

4

Opening Ceremony

17

5Technical paper index

18

6Abstracts
PS abstracts
IS abstracts
OS abstracts
GS abstracts

41
42
44
88

7

Authors index

1068

Conference room

117

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

©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

SPONSEREDICAROB society (ALife Robotics Corporation Ltd.)ORGANIZED BYInternational Steering Committee of International Conference on Artificial Life and Robotics(ICAROB)TECHNICAL CO-SPONSORED BYIEEE Fukuoka Section (Japan)-1©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

CO-ORGANIZED BY
Chinese Association for Artificial Intelligence (CAAI, P. R. China)

SUPPORTRD BY
Oita Prefectural Government
Oita Prefectural Tourism association (Tourism Oita)
ADVISORY COMMITTEE CHAIR
Moshe Kam (New Jersy Institute of Technology, Former IEEE President, USA)ADVISORY COMMITTEE
Adam Grzech (Wroclaw University of Technology, Poland)
Bruce Eisenstein (Drexel University, Former IEEE President, USA)
Guang-Ren Duan (Harbin Institute of Technology, P.R.China)
Hidenori Kimura (JST, Japan)
Jeffrey Johnson (The Open University, UK)
Jerzy Świątek (Wroclaw University of Technology, Poland)
Joshua M. Epstein (The Johns Hopkins University, USA)
Kai-Tai Song (National Chiao Tung University, Taiwan)
Masayoshi Tomizuka (University of California Berkeley, USA)
Moshe Kam (New Jersey Institute of Technology, Former IEEE President, USA)Paul Kalata (Drexel University, USA)Paul Oh (Drexel University, USA)
Robert Fischl (Drexel University, USA)
Steen Rasmussen (University of Southern Denmark, Denmark)-2©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GENERAL CHAIR
Masanori Sugisaka (Alife Robotics Corporation Ltd., Japan)(Visiting Professor, Open University, UK)
CO-GENERAL CHAIRS
Yingmin Jia (Beihang Univesty, P. R. China)
Takao Ito (Hiroshima University, Japan)
Ju-Jang Lee (KAIST, Korea)
VICE GENERAL CHAIR
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)
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)
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)
Hiroki Tamura (University of Miyazaki, Japan)
Hiroshi Kage ((Mitsubishi Electric Corporation, Japan)
Hiroshi Matsuno (Yamaguchi University, Japan)
Jiwu Wang (Beijing Jiaotong University, P. R. China)-3©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

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)
Kevin Voges (Canterbury University, New Zealand)
Kuo-Hsien Hsia (Far East University, Taiwan)
Kuo-Lan Su (National Yunlin University of Science and Technology, Taiwan)
Kyungho Park (Micro-System Programs, RDECOM, ITC-PAC, U.S. ARMY, Japan and USA)
Masao Kubo (National Defense Academy of Japan, Japan)
Masanao Obayashi (Yamaguchi University, Japan)
Maxim Sokolov (Innopolis University, Russia)
Mehta Rajiv (New Jersey Institute of Technology, USA)Peter Sapaty (Ukrainian Academy of Science, Ukraine)
Pierre Parrend (University of Strasbourg, France)
Qiang Cai (Beijing Technology and Business University, P. R. China)
Takashi Kohno (LIMMS/CNRS-IIS, Institute of Industrial Science, The University of Tokyo, Japan)
Takashi Ogata (Iwate Prefectural Univerity, Japan)
Teruhisa Hochin (Kyoto Prefectural University, Japan)
Tetsuro Hattori (Kagawa University, Japan)
Thi Thi Zin (University of Miyazaki, Japan)
Toru Yamamoto (Hiroshima University, Japan)
Victor Berdonosov (Komsomolsk-on-Amur State University of Technology, Russia)
Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Yi Chai (Chongqing University, P. R. China)
Yo Horikawa (Kagawa University, Japan)
Yoshifumi Morita (Nagoya Institute of Technology, Japan)
Yoshiro Imai (Kagawa University, Japan)
Zengqiang Chen (Nankai University, P. R. China)
INTERNATIONAL PROGRAM COMMITTEE
Akira Nakamura (AIST, Japan)
Ali Selamat (University of Technology of Malaysia (UTM), Malaysia)
Andre Rosendo (ShanghaiTech University, P. R. China)
Bin Zhang (Beijing University of Posts and Telecommunications, P. R. China)
Arsit Boonyaprapasorn (Chulachomkloa Royal Military Academy, Thailand)
Dongmei Ai (University of Science and Technology Beijing, P. R. China)
Endra Joelianto (Bandung Institute of Technology, Indonesia)
Fengzhi Dai (Tianjin University of Science & Technology, P. R. China)
Haisheng Li (Beijing Technology and Business University, P. R. China)
Haruna Matsushita (Kagawa University, Japan)
Hidetsugu Suto (Muroran Institute of Technology, Japan)
Hiroyuki Iizuka (Osaka University, Japan)-4©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Huailin Zhao (Shanghai Institute of Technology, P. R. China)
Hussein Abbass (University of New South Wales and ADFA, Australia)
Istvan Harmati (Budapest Institute of Technology and Economics, Hungary)
Ivan Tanev (Doshisha University, Japan)
Jiandong Zhao (Beijing Jiaotong University, P. R. China)
Joono Cheong (Korea University, Korea)
Kathryn Elizabeth Merrick (University of New South Wales and ADFA, Australia)
Kunikazu Kobayashi (Aichi Prefectural University, Japan)
Lin Li (University of Shanghai for Science and Technology, P. R. China)
Lin Zhao (Qingdao University, P. R. China)
Manabu Yamada (Nagoya Institute of Technology, Japan)
Masahide Ito (Aichi Prefectural University, Japan)
Masayoshi Tabuse (Kyoto Prefectural University, Japan
Masaomi Hatakeyama (University of Zurich, Switzerland)
Norrima Mokhtar (University of Malaya, Malaysia)
Noritaka Sato (Nagoya Institute of Technology, Japan)
Palakorn Tantrakool (King Mongkut’s Institute of Technology Thonburi, Thailand)
Ping Wang (North China Electric Power University, P. R. China)
Qinglin Sun (Nankai University, P. R. China)
Satoshi Ikeda (The University of Miyazaki, Japan)
Sanjay S. Joshi (College of Engineering, University of California, USA)
Seong-Ik Han (Pusan National University, Korea)
Shingo Mabu (Yamaguchi University, Japan)
Shumin Fei (Southeast University, P. R. China)
Shyi-Ming Chen (National Taichung University of Education, Taiwan)
Takashi Kuremoto (Yamaguchi University, Japan)
Takayoshi Yamada (Gifu University, Japan)
Taishiro Kishimoto (Keio University, Japan)
Tetsuro Katayama (The University of Miyazaki, Japan)
Thunyaseth Sethaput (Thammasat University, Thailand)
Toshinori Nawata (Kumamoto National College of Technology, Japan)
Tsunehiro Yoshinaga (Tokuyama National College of Technology, Japan)
Weicun Zhang (University of Science and Technology Beijing, P. R. China)
Xiaoyan Fu (Capital Normal University, P. R. China)
Xuemei Ren (Beijing Institute of Technology, P. R. China)
Yunzhong Song (Henan Polytechnic University, P. R. China)
LOCAL ARRANGEMENT COMMITTEE
Makoto Sakamoto (University of Miyazaki, Japan)
Masanori Sugisaka (ALife Robotics Corporation Ltd., Japan)(Visiting Professor, Open University, UK)
Takao Ito (Hiroshima University, Japan)-5©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

HISTORY
The International Conference on Artificial Life and Robotics (ICAROB) resulted from the AROBsymposium (International Symposium on Artificial Life and Robotics) whose first edition was held in1996 and the eighteenth and last edition in 2013. The AROB symposium was annually organized by
Oita University, Nippon Bunri University (NBU), and ALife Robotics Corporation Ltd., under thesponsorship of the Science and Technology Policy Bureau, the Ministry of Education, Science, Sports,
and Culture (Monbusho), presently, the Ministry of Education, Culture, Sports, Science, andTechnology (Monkasho), Japanese Government, Japan Society for the Promotion of Science (JSPS),
the Commemorative Organization for the Japan World Exposition ('70), Air Force Office of Scientific
Research, Asian Office of Aerospace Research and Development (AFOSR/AOARD), USA. I would liketo express my sincere thanks to not only Monkasho (annually fund support from 1996 to 2013) but
also JSPS, the Commemorative Organization for the Japan World Exposition ('70), and various otherJapanese companies for their repeated support. The old symposium (this symposium has been held
every year at B-Con Plaza, Beppu, Oita, Japan except in Oita, Japan (AROB 5th ’00) and in Tokyo, Japan(AROB 6th ’01).) was organized by the International Organizing Committee of AROB and was cooperated by the Santa Fe Institute (USA), RSJ, IEEJ, ICASE (Now ICROS) (Korea), CAAI (P. R. China),
ISCIE, IEICE, IEEE (Japan Council), JARA, and SICE. The old AROB-symposium expanded much byabsorbing much new knowledge and technologies into it. This history and character of the former
AROB symposiums are passed on the current ICAROB conference and to this journal, International
Journal of Robotics, Networking and Artificial Life (JRNAL). From now on, ALife Robotics Corporation
Ltd. is in charge of management of both the conference and the journal. The future of the ICAROB isbrilliant from a point of view of yielding new technologies to human society in the 21st century. Thisconference invites you all.
AIMS AND SCOPE
The objective of this conference is the development of new technologies for artificial life and robotics
which have been recently born in Japan and are expected to be applied in various fields. Thisconference presents original technical papers and authoritative state-of-the-art reviews on thedevelopment of new technologies concerning robotics, networking and artificial life and, especiallycomputer-based simulation and hardware for the twenty-first century. This conference covers abroad multidisciplinary field, including areas such as:
Artificial intelligence & complexity
Artificial living
Artificial mind research
Artificial nervous systems for robots
Artificial sciences
Bipedal robot
Brain science and computing
Chaos
Cognitive science-6©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Computational Molecular biology
Computer graphics
Data mining
Disasters robotics
DNA computing
Empirical research on network and MOT
Environment navigation and localization
Evolutionary computations
Facial expression analysis, music recommendation and augmented reality
Foundation of computation and its application
Fuzzy control
Genetic algorithms
Human-welfare robotics
Image processing
Insect-like aero vehicles
Intelligence in biological systems
Intelligent control
Management of technology
Medical surgical robot
Micro-machines
Multi-agent systems
Nano-biology
Nano-robotics
Networking
Neural circuits
Neuro-computer
Neuromorphic Systems
Neuroscience
Pattern recognition
Quantum computing
Reinforcement learning system & genetic programing
Robotics
Software development support method
System cybernetics
Unmanned underwater vehicles
Unmanned Aerial Systems Technologies
Unmanned Aerial Systems designing, controls and navigation
Unmanned Aero vehicles
Virtual reality
Visualization
Hardware-oriented submissions are particularly welcome. This conference will discuss new
results in the field of artificial life and robotics-7©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

COPYRIGHTS
Accepted papers will be published in the proceeding of The 2018 International Conference on
Artificial Life and Robotics (ICAROB 2018) by ALife Robotics Corp. Ltd. Copyright belongs to ALife
Robotics Corp. Ltd. Some of high quality papers in the proceeding will be requested to re-submit theirpapers for the consideration of publication in an international journal ROBOTICS, NETWORKING AND
ARTIFICIAL LIFE under agreement of both Editor-in- Chief Dr. Masanori Sugisaka and 3 reviewers. All
correspondence related to the conference should be addressed to ICAROB Office.

ICAROB Office
ALife Robotics Corporation Ltd.
Hig Handadai, Oita 870-1112, JAPANTEL/FAX：+81-97-597-7760
E-MAIL：icarob@alife-robotics.co.jp
Home Page：http://alife-robotics.co.jp/-8©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

MESSAGES
Masanori Sugisaka
General Chair of ICAROB

Masanori Sugisaka
General Char
(Visting Prof. of Open University(UK), President of ALife Robotics
Co., Ltd. (Japan))

It is my great honor to invite you all to The 2018 International Conferenceon Artificial Life and Robotics (ICAROB 2018).
This Conference is changed as the old symposium from the first (1996) tothe Eighteenth (2013) annually which were organized by Oita University,
Nippon Bunri University(NBU), and ALife Robotics Corporation Ltd. under
the sponsorship of the Science and Technology Policy Bureau, the Ministryof Education, Science, Sports, and Culture (Monbusho), presently, theMinistry of Education, Culture, Sports, Science, and Technology(Monkasho), Japanese Government, Japan Society for the Promotion of
Science (JSPS), The Commemorative Organization for the Japan World
Exposition (’70), Air Force Office of Scientific Research, Asian Office ofAerospace Research and Development (AFOSR/AOARD), USA. I would liketo express my sincere thanks to not only Monkasho (annually fund support
from 1996 to 2013) but also JSPS, the Commemorative Organization for theJapan World Exposition (’70), Japanese companies for their repeatedsupport.
The old symposium was organized by International Organizing Committeeof AROB and was co-operated by the Santa Fe Institute (USA), RSJ, IEEJ,ICASE (Now ICROS) (Korea), CAAI (P. R. China), ISCIE, IEICE, IEEE (Japan
Council), JARA, and SICE. The old AROB symposium was growing up by
absorbing many new knowledge and technologies into it.
This history and character was inherited also from ICAROB2014(The 2014
International Conference on Artificial Life and Robotics, included a series of
ICAROB proceedings in SCOPUS and CPCI now. From now on, ALife
Robotics Corporation Ltd. is in charge of management. This year we have
The 2018 International Conference on Artificial Life and Robotics(ICAROB2018) (23rd AROB Anniversary). The future of The ICAROB isbrilliant from a point of view of yielding new technologies to human society
in 21st century.
I hope that fruitful discussions and exchange of ideas between researchers
during Conference (ICAROB2018) will yield new merged technologies forhappiness of human beings and, hence, will facilitate the establishment of
an international joint research institute on Artificial Life and Robotics infuture.

-9©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Yingmin Jia
Co-General Chair of ICAROB

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

It is my great pleasure to invite you to The 2018 International Conferenceon Artificial Life and Robotics (ICAROB 2018), in B-Con Plaza, Beppu, Oita,
Japan from February 1 to 4, 2018.
ICAROB develops from the AROB that was created in 1996 by Prof.
Masanori Sugisaka and will celebrate her 23rd birthday in 2018. Doubtless,new mission and big challenges in the field of artificial life and robotics will
promote ICAROB to start a new stage and attract wide interests amongscientist, researchers, and engineers around the world.
For a successful meeting, many people have contributed their great efforts
to ICAROB. Here, I would like to express my special thanks to all authors
and speakers, and the meeting organizing team for their excellent works.
Looking forward to meeting you at ICAROB in Beppu and wishing you enjoy
your stay in Japan.

- 10 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Takao Ito
Co General Chair of ICAROB

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

It is my great honor to invite you all to The 2018 International Conferenceon Artificial Life and Robotics (ICAROB 2018). This Conference is changed
as the old symposium (ISAROB) from the first (1996) to the Eighteenth. I
am pleased to welcome you to The 2018 International Conference on
Artificial Life and Robotics in the wonderful city of Beppu, Oita city, Oita
Prefecture, Japan.
The ICAROB has its long history. The former organization of the ICAROB wasdeveloped under the strong leadership of the President, famous Professor
Masanori Sugisaka, the father of AROB. We gathered many researchers,
faculty members, graduate students from all over the world, and publishedmany high-quality proceedings and high-reputational journals every year.
Over the years, dramatic improvements have been made in the field ofartificial life and its applications. The ICAROB has becoming the unifying theexchange of scientific information on the study of man-made systems thatexhibit the behavioral characteristic of natural living systems including
software, hardware and wetware. Our conference shapes the developmentof artificial life, extending our empirical research beyond the territory
circumscribed by life-as-we-know-it and into the domain of life-as-it-could–
be. It will provide us a good place to present our new research results,
excellent ideas, and valuable information about artificial intelligence,complex systems theories, robotics, and management of technology.
The conference site is B-con Plaza, one of the most famous international
convention centers in Kyushu island, Japan. You can find many fantastic
scenic spots and splendid historical places in Beppu, Oita city. Enjoy yourstay and take your time to visit Beppu, Oita city.
I am looking forward to meeting you in Beppu, Oita city, during the ICAROB
2018 and to sharing the most pleasant, interesting and fruitful conferencewith you.

- 11 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Ju-Jang Lee
Co-General Chair of ICAROB

Ju-Jang Lee
Co-General Chair(Professor, KAIST)The First International Conference on Artificial Life and Robotics (ICAROB)
was held in Oita City, Oita, Japan from Jan. 11th to 13th, 2014. This
year’s Conference will be held amidst the high expectation of theincreasingly important role of the new interdisciplinary paradigm ofscience and engineering represented by the field of artificial life androbotics that continuously attracts wide interests among scientist,
researchers, and engineers around the globe.
Distinguished researchers and technologists from around the world arelooking forward to attending and meeting at ICAROB. ICAROB is becoming
the annual excellent forum that represents a unique opportunity for theacademic and industrial communities to meet and assess the latest
developments in this fast growing artificial life and robotics field. ICAROB
enables them to address new challenges, share solutions, discussresearch directions for the future, exchange views and ideas, view theresults of applied research, present and discuss the latest developmentof new technologies and relevant applications.
In addition, ICAROB offers the opportunity of hearing the opinions ofwell-known leading experts in the field through the keynote sessions,provides the bases for regional and international collaborative research,and enables to foresee the future evolution of new scientific paradigms
and theories contributed by the field of artificial life and robotics andassociated research area. The twenty-first century will become thecentury of artificial life and intelligent machines in support of humankind
and ICAROB is contributing through wide technical topics of interest that
support this direction.
It is a great honor for me as a Co-General Chair of the 5th ICAROB 2018
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 5th
ICAROB.
I’m looking forward to meeting you at the 5th ICAROB in Beppu, Oita
Prefecture and wishing you all the best.

- 12 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GENERAL SESSION TOPICS
GS1 Robotics I (3)GS3 Complexity (5)GS5 Neuroscience (3)GS7 Intelligent Control (3)GS9 Poster (11)

GS2 Bipedal Robots & Human-Welfare Robotics (6)GS4 Pattern recobnition & image processing (4)GS6 Virtual reality (5)GS8 Robotics II (5)GS10 Others (4)ORGANIZED SESSION TOPICS
OS1 Computer Science and Information Processing (5)OS2 Intelligent Navigation (6)OS3 New Challenges to Adaptive & Learning Control(9)
OS5 Advanced Regional Engineering (4)OS7 Mobile Robotics (8)OS9 Theory and Implementation of Neuromimetic
Systems (6)OS11 Educational Application Making Control
Engineering Approach (5)OS13 Human Interface and Artificial Intelligence (5)OS4 Aspects of Natural Computing (3)OS15 System and Control (11)OS17 Automated content generation and cognitive
content generation (7)OS19 Advanced Control (5)OS21 Robot Competitions for Social Contribution (5)OS6 Kansei Engineering and Applications (4)OS8 Intelligence Control Systems and Applications (11)OS10 Intelligent Robotic Manufacturing (2)OS12 Software Development Support Method (4)OS14 Advanced Technology on Sensing Technology,
Devices, Application (6)OS16 Recognition and Control (9)OS18 Intelligent Control (6)OS20 Advances in Marine Robotics and It’s
Applications (5)OS22 Navigation and Control (3)- 13 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

2/1(Thu.) 17:30-19:30

Welcome Party (Hotel Shiragiku)

2/1(Thu.) - 2/4(Sun.)ICAROB Secretariat

2/4(Sun.) 15:10-15:40

Farewell Party (Conference Site: 3F, Meeting Room 32)

TIME TABLE (2/2)
2/2(Fri.)

Conference Room

Meeting Room 31

Meeting Room 32

8:40-

Meeting Room 33

OS8-1 Intelligence Control
Systems and Applications(5)
Chair: Kuo-Hsien Hsia

OS19 Advanced Control(5)
Chair: Yingmin Jia

10:15-10:30

Coffee break

10:30-11:00

Opening Ceremony (Conference Room)

11:10-12:10

Chair: Ju-jung Lee
Invited session IS-1, IS-2 (Conference Room)
Henrik Hautop Lund, Luigi Pagliarini
Lunch

12:10-13:10
13:10-14:10

Chair: Yingmin Jia
Plenary Speech PS-1 (Conference Room)
Jeffrey Johnson

14:10-14:30

Coffee break
OS21 Robot
Competitions forSocial Contribution(5)
Chair: Kazuo ISHII

OS8-2 Intelligence Control
Systems and Applications(6)
Chair: Kuo-Hsien Hsia

16:00-16:20
16:20-18:20

OS5 Advanced Regional
Engineering (4)Chair: Toru Hiraoka

OS4 Aspects of
Natural Computing (3)Chair: Marion Oswald

OS3-1 New Challenges
to Adaptive & Learning
Control (5)Chair: Shin Wakitani

OS9 Theory and
Implementation of
Neuromimetic Systems (6)Chair: Takashi Kohno

GS4 Patternrecognition & image
processing (4)Chair: Jiwu Wang

OS15 System and Control(10) ➡ (3+1)
OS16 Recognition andControl (9) ➡ (2)Chair: Fengzhi Dai

GS2 Bipedal robot &Human-walfare
Robotics (6)Chair: Ju-jung Lee

Coffee break
GS8 Robotics II (5)Chair: Hazry Desa

OS7 Mobile Robotics (8)Chair: Evgeni Magid

Meeting Room 31: Committee waiting room and Rest room
- 14 ©ICAROB 2018 ALife Robotics Corp. Ltd.

Meeting Room 4

Registration (3F)

9:00-10:15

14:30-16:00

Meeting Room 1

OS3-2 New Challenges
to Adaptive & Learning
Control (4)Chair:Takuya Kinosita

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

TIME TEBLE (2/3)
2/3(Sat.)Conference Room

Meeting Room 31

Meeting Room 32

8:409:00-9:45

Meeting Room 33

GS9 Poster (11)Chair Evgeni Magid

GS1 Robotics I (3)Chair: Hidehiko Yamamoto

OS22 Navigation
and Control (3)Chair: Chan Gook Park
Coffee break

10:00-11:00

Chair: Takao Ito
Plenary Speech PS-2 (Conference Room)
Masato Nakagawa

11:00-11:10

Coffee break

11:10-12:10

Chair: Jangmyung Lee
Invited session IS-4, IS-6 (Conference Room)
Pierre Parrend, Halimahtun M. Khalid
Lunch

12:10-13:10
13:10-14:10

Chair: Marion Oswald
Plenary Speech PS-3(Conference room)
Ken-ichi Tanaka

14:10-14:30

Coffee break
Poster session

OS18 Intelligent Control (5)Chair: Yingmin Jia

Poster session

18:30-20:30

OS12 Software
Development Support
Method (4)Chair: Tetsuro Katayama

OS2 Intelligent
Navigation (6)Chair: Jangmyung Lee

GS3 Complexity (5)Chair:

Banquet: Hotel Shiragiku

Meeting Room 31: Committee waiting room and Rest roomk- 15 ©ICAROB 2018 ALife Robotics Corp. Ltd.

OS10 Intelligent Robotic
Manufacturing (2)Chair: Kensuke Harada

GS5 Neuroscience (3)Chair: Masao Kubo

OS14 Advanced
Technology on Sensing
Technology, Devices,
Application (6)Chair: Hiroki Tamura

OS20 Advances inMarine Robotics andIt’s Applications (5)Chair: Kazuo ISHII

Coffee break

16:00-16:20
16:20-17:20

Meeting Room 4

Registration

9:45-10:00

14:30-16:00

Meeting Room 1

GS7 Intelligent Control (3)Chair: Kunikazu Kobayashi

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

TIME TABLE (2/4)
2/4(Sun.)Meeting Room 31

Meeting Room 32

Meeting Room 33

8:40-

Meeting Room 1

Registration
GS6 Virtual reality (5)Chair: Andre Rosendo

9:00-10:15

OS6 Kansei Engineering andApplications (4)Chair: Tetsuo Hattori

10:15-10:30

Coffee break

10:30-11:10

Chair: Makoto Sakamoto
Invited session IS-3 (Meeting Room 31)
Takashi Yokomori

11:10-11:30

Coffee break

11:30-12:10

Chair: Takao Ito
Invited session IS-5 (Meeting Room 31)
Yuji Shinano
Lunch

12:10-13:10
13:10-14:55

OS17 Automated content OS13 Human Interface and OS1 Computer Science andgeneration and cognitive Artificial Intelligence (5)Information Processing (5)content generation (7)Chair: Yasunari Yoshitomi
Chair: Makoto Sakamoto
Chair: Hiroki Fukushima
Farewell Party (15:10-15:40) Meeting Room 32

Meeting Room 31: Committee waiting room and Rest room
GS10 Others (4)no presentation, only papers- 16 ©ICAROB 2018 ALife Robotics Corp. Ltd.

Meeting Room 4
OS11 Educational Application
Making Control Engineering
Approach (5)Chair: Kazuo Kawada

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

The 2018 International Conference on
ARTIFICIAL LIFE AND ROBOTICS(ICAROB2018)

February 1 (Thursday)
17:30-19:30

Welcome Party (Hotel Shiragiku)

February 2 (Friday)
10:30-11:00

Opening Ceremony (Conference Room)
Chair: Marion Oswald (Technische Universität Wien, Austria)
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
5. Vice General Chair of ICAROB
6. Vice General Chair of ICAROB

Masanori Sugisaka (ALife Robotics Coｒporation, Ltd., Japan)
Yingmin Jia (Beihang University, P. R. China)
TaKao Ito (Hiroshima University, Japan)
Ju-Jang Lee (KAIST, Korea)
Henrik Hautop Lund (Technical University of Denmark,Denmark)Jangmyung Lee (Pusan National University, Korea)

February 3 (Saturday)
Banquet: Hotel Shiragiku
18:30-20:30
Chair: Takao Ito (Hiroshima University, Japan)
Welcome Addresses
Prof. Jeffrey Johnson (The Open University, UK)
Executive Fellow, Mr. Masato Nakagawa (DENSO CORPORATION, Hiroshima University, Japan)
Executive Fellow, Mr. Ken-ichi Tanaka (Mitsubishi Electric Corporation, Japan)
Prof. Yingmin Jia (Beihang University, P.R. China)
Prof. Henrik Hautop Lund (Technical University of Denmark, Denmark)- 17 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

TECHNICAL PAPER INDEX
February 2 (Friday)
8:40-Registration
Conference Room
10:30-11:00 Opening Ceremony
Chair: Marion Oswald (Technische Universität Wien, Austria)
11:10-12:10
Invited session IS-1, IS-2
Chair: Ju-Jang Lee (KAIST, Korea)
IS-1 Modular Playware and Personal Health Technology
Henrik Hautop Lund (Technical University of Denmark, Denmark)IS-2 How new technologies might lead to a paradigm shift in psychological and neuropsychologicalresearch
Luigi Pagliarini, Henrik Hautop Lund (Technical University of Denmark, Denmark)13:10-14:10
Plenary Speech PS-1
Chair: Yingmin Jia (Beihang University, P. R. China)
PS-1 Dynamic Structures for Evolving Tactics and Strategies in Team Robotics
Jeffrey Johnson and Ruggero Rossi (The Open University, UK)

Meeting Room 31
14:30-15:45 OS21 Robot Competitions for Social Contribution (5)Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
Co-Chair: Yasunori Takemura (Nishinippon Institute of Technology, Japan)
OS21-1Analysis of Team Relationship using Self-Organizing Map for University Volleyball Players
Yasunori Takemura, Kazuya Oda, Michiyoshi Ono (Nishinippon Institute of Technology, Japan)

OS21-2

Optimization for Line of Cars Manufacturing Plant using Constrained Genetic Algorithm
Keiji Kamei, Takafumi Arai (NishiNippon Institute of Technology, Japan)- 18 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS21-3

Slip model of roller driven ballKenji Kimura1, Shota Chikushi, Kazuo Ishii(1Nippon-Bunri University, Kyushu Institute of Technology, Japan)

OS21-4

Strategy Analysis of Multi-Agent Games Using Self-Organizing Map
Moeko Tominaga, Yasunori Takemura1, Kazuo Ishii(Kyushu Institute of Technology, 1NishiNippon Institute of Technology, Japan)

OS21-5

Analysis of Characteristics of Tomato Fruits in Infrared Images Toward Automatic Tomato
Harvesting System
Takuya Fujinaga, Shinsuke Yasukawa, Binghe Li, Kazuo Ishii(Kyushu Institute of Technology, Japan)

16:20-17:35 GS8 RoboticsII (5)Chair: Hazry Desa (Universiti Malaysia Perlis, Malaysia)
GS8-1

Design System of Cell Type Assembly Machine with Dual Arms Robot by GA
Keita Honda, Hidehiko Yamamoto and Takayoshi Yamada (Gifu University, Japan)

GS8-2

Spherical Mobile Robot Driven by Biorthogonal Omnidirectional Wheels
Liu Wei, Ma Shuanglong, Duan Lunqin, Yu Jiangtao (Beijing Jiaotong University, China)

GS8-3

Coordinated behaviour with a Pepper Humanoid robot to estimate the distance of other robot
using Inverse Perspective Mapping
M. Hassan Tanveer, Antonio Sgorbissa, Carmine T. Recchiuto (University of Genova, Italy)

GS8-4

Control Techniques of Quadrotor Uavs: A Concise Study
1
Syed Faiz Ahmed, 1Athat Ali, 1M. Kamran Joyo, 1Khusairy Abd Kader, 2Hazry Desa,
3
Sheroz Khan(1Universiti Kuala Lumpur, British Malaysian Institute, Malaysia,
2
Universiti Malaysia Perlis, Malaysia, 3International Islamic University Malaysia, Malaysia)

GS8-5

GIS Based Hydrological Model for River Water Level Detection & Flood Prediction featuringmorphological operations.
Sarmad Zafar, H.M.SohaibAzhar, Aqeel Tahir(Mohammad Ali Jinnah University, Pakistan)

Meeting Room 32
9:00-10:15 OS8-1 Intelligence Control Systems and Applications (5)Chair: Kuo-Hsien Hsia (Far East University, Taiwan)
Co-Chair: Chung-Wen Hung (National Yunlin University of Science & Technology, Taiwan)- 19 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS8-7

Novel Detection Scheme for Stolen Password File
I-Hsien Liu, Chia-Hsiu Chen, Jung-Shian Li (National Cheng Kung University, Taiwan)

OS8-8

Honeypot System of SCADA Security Survey
Kuan-Chu Lu, I-Hsien Liu, Jung-Shian Li (National Cheng Kung University, Taiwan)

OS8-1

An Automated Optical Inspection system for a tube inner circumference state identification
Chung-Wen Hung, Jhen-Gu Jiang, Hsien-Huang P. Wu, Wei-Lung Mao(National Yunlin University of Science & Technology, Taiwan)

OS8-9

An EtherCAT Battery Test System
Chung-Wen Hung , Bo-Min Wang, Wen-Ting Hsu, Jhen-Gu Jiang(National Yunlin University of Science & Technology, Taiwan)

OS8-10Surface Defect Detection for Tube Object Based on Single Camera
Hsien-Huang Wu, Chang-Jhu He (National Yunlin University of Science & Technology, Taiwan)

14:30-16:00 OS8-2 Intelligence Control Systems and Applications (6)Chair: Kuo-Hsien Hsia (Far East University, Taiwan)
Co-Chair: Chung-Wen Hung (National Yunlin University of Science & Technology, Taiwan)
OS8-2

Implementation of the Mobile Based Robot Arm for Image Recognition
Ji-Hua Li, Jr-Hung Guo, Kuo-Lan Su (National Yunlin University of Science & Technology, Taiwan)

OS8-3

Reinforced Quantum-behaved Particle Swarm Optimization Based Neural Networks for Image
Inspection
Li-Chun Lai and Chia-Nan Ko (Nan Kai University of Technology, Taiwan)

OS8-4

Development of IoT Module with Backup and Data-security Functions
Jr-Hung Guo, Kuo-Hsien Hsia, Kuo-Lan Su(National Yunlin University of Science & Technology, Taiwan)

OS8-5

Development of Auto-Stacking Warehouse Truck
Kuo-Hsien Hsia, Ming-Guang Wu, Jun-Nong Lin, Hong-Jie Zhong, and Zh-Yao Zhuang(Far East University, Taiwan)

OS8-6

Development of Four-axis SCARA Robotic Arm Built on Automation Control System
Jr-Hung Guo, Kuang-Wei Chuang, Kuo-Lan Su(National Yunlin University of Science & Technology, Taiwan)

OS8-11

Client Searching Privacy Protection in Encrypted Database
I-Hsien Liu, Chuan-Gang Liu, Cheng-Jui Chang, Jung-Shian Li(National Cheng Kung University, Taiwan)- 20 -©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

16:20-18:20 OS7 Mobile Robotics (8)Chair: Evgeni Magid (Kazan Federal University, Russia)
OS7-1

An Empirical Evaluation of Grid-based Path Planning Algorithms on Widely Used in Robotics
Raspberry Pi Platform
Anton Andreychuk, Andrey Bokovoy (Peoples’ Friendship University of Russia (RUDN University)
Russian Academy of Sciences, Russia)
Konstantin Yakovlev (Russian Academy of Sciences, Higher School of Economics, Russia)

OS7-2

Development of the insectoid walking robot with inertial navigation system
Vitaly Egunov, Andrey Kachalov, Michail Petrosyan, Pavel Tarasov, Elena Yankina(Volgograd State Technical University, Russia)

OS7-3

Enhancing semi-dense monocular vSLAM used for multi-rotor UAV navigation in indoor
environment by fusing IMU data
Andrey Bokovoy (Russian Academy of Sciences, Peoples’ Friendship University of Russia (RUDN
University), Russia)
Konstantin Yakovlev (Russian Academy of Sciences, Higher School of Economics, Russia)

OS7-4

Method of finding the android program motion for the ZMP trajectory of a certain type
Alexander Gorobtsov, Pavel Tarasov, Andrey Skorikov, Alexey Markov, Andrey Andreev(Volgograd State Technical University, Russia)

OS7-5

Path Planning for Indoor Partially Unknown Environment Exploration and Mapping
Aufar Zakiev¹, Roman Lavrenov¹, Vadim Indelman² and Evgeni Magid¹(¹Kazan Federal University, Russia ²Technion-Israel Institute of Technology, Israel )OS7-6

Simulation of service robot swarm behavior
Alexei Lushnikov¹, Vlada Kugurakova¹, Timur Satdarov², Arthur Nizamutdinov¹(¹Higher School of ITIS, Kazan Federal University, ²KUKA Robotics, Russia)

OS7-7

Smart Spline-Based Robot Navigation on Several Homotopies: Guaranteed Avoidance of Potential
Function Local Minima
Roman Lavrenov (Kazan Federal University, Russia)

OS7-8

Virtual Experimental Stand for Automated Fiducial Marker Comparison in Gazebo Environment
Ksenia Shabalina1, Artur Sagitov1, Hongbing Li2, Edgar A. Martinez-Garcia3, Evgeni Magid1(1Kazan Federal University, Russia)(2Shanghai Jiao Tong University, China)(3Universidad Autónoma de Ciudad Juárez, Mexico)

Meeting Room 33
9:00-10:15 OS19 Advanced Control (5)Chair: Yingmin Jia (Beihang University (BUAA), China)
Co-Chair: Fuzhong Wang (Henan Polytechnic University, P.R.China)- 21 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS19-1

Revisit Constrained Control of Chaos
Yunzhong Song, Ziyi Fu and Fuzhong Wang (Henan Polytechnic University, P.R.China)

OS19-2

Research on Filtering for Random Data Packet Dropouts and Delays in Wireless Sensor
Networks
Sumin HAN, Fuzhong WANG (Henan Polytechnic University, P.R.China)

OS19-3

Optimal Hohmann-Type Impulsive Ellipse-to-Ellipse Coplanar Rendezvous
Xiwen Tian, Yingmin Jia (Beihang University (BUAA), China)

OS19-4

Research on SVG Control Method Under Unbalanced Conditions
Zheng Zheng, Yousong Zhou (Henan Polytechnic University, China)

OS19-5

Dynamics Analysis of Payload On-orbit Catapult Separation Based on ADAMSYi Li, Yingmin Jia (Beihang University (BUAA), China)

14:30-15:45 OS3-1 New Challenges to Adaptive & Learning Control (5)Chair: Shin Wakitani (Hiroshima University, Japan)
OS3-1

A sound-based measurement of sway angle for anti-sway control of overhead crane
Miki Matsunaga, Masayoshi Nakamoto, and Toru Yamamoto (Hiroshima University, Japan)

OS3-2

Sampled-data PID control system with Sensitivity Function for a Second-order Plus Dead-time
SystemRyo Kurokawa, Takao Sato, and Yasuo Konishi (University of Hyogo, Japan)
Ramon Vilanova (Universitat Autonoma de Barcelona, Spain)

OS3-3

Experimental Evaluation of a Data-Driven Control System using an Electronic Thermal Regulator
Yuka Okubo, Yoichiro Ashida, Takuya Kinoshita, and Toru Yamamoto (Hiroshima University, Japan)

OS3-4

Self-repairing Adaptive PID Control for Plants with Sensor Failures
Masanori Takahashi (Tokai University, Japan)

OS3-5

Design and Development of a Constant Temperature Reservoir for a Database-Driven Smart
Cultivation System
Shin Wakitani, Sharma Sneha, and Toru Yamamoto (Hiroshima University, Japan)

16:20-17:20 OS3-2 New Challenges to Adaptive & Learning Control (4)Chair: Takuya Kinoshita (Hiroshima University, Japan)
OS3-6
OS3-7

Design of a Performance-Adaptive 1-Parameter Tuning PID Controller
Yoichiro Ashida, Shin Wakitani, and Toru Yamamoto (Hiroshima University, Japan)
Sticking Fault Detecting Method for CARIMA Model- 22 -©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Toyoaki Tanikawa, and Tomohiro Henmi(National Institute of Technology, Kagawa College, Japan)
OS3-8

Design of a Neural Network based on E-FRIT and Its Application
Kento Kinoshita, Shin Wakitani, and Shuichi Ohno (Hiroshima University, Japan)

OS3-9

Parameter Optimization with Input/Output data via DE for Adaptive Control System with Neural
Network
Taro Takagi (National Institute of Technology, Maizuru College, Japan)
Ikuro Mizumoto (Kumamoto University, Japan)

Meeting Room 1
9:00-10:00 OS5 Advanced Regional Engineering (4)Chair: Toru Hiraoka (University of Nagasaki, Japan)
Co-Chair: Minoru Kumano (University of Miyazaki, Japan)
OS5-1

Discovering Successful Determinants of Efficiency of MICHINOEKI in Chugoku Area
Minoru Kumano (University of Miyazaki, Japan)
Takao Ito (University of Hiroshima, Japan)
Toru Hiraoka (University of Nagasaki, Japan)
Hirofumi Nonaka (Nagaoka University of Technology, Japan)
Masaharu Hirota (Okayama University of Science, Japan)

OS5-2

Relationship Analysis on the Number of Customers of Michinoeki in Kyushu Region
Toru Hiraoka, Shiori Nishimura (University of Nagasaki, Japan)
Hirofumi Nonaka (Nagaoka University of Technology, Japan)
Minoru Kumano (University of Miyazaki, Japan)

OS5-3

Emotional Contribution Analysis of Online Reviews
Elisa Claire Alemán Carreón, Hirofumi Nonaka (Nagaoka University of Technology, Japan),
Toru Hiraoka (University of Nagasaki, Japan), Minoru Kumano (University of Miyazaki, Japan),
Takao Ito (Hiroshima University, Japan), Masaharu Hirota (Okayama University of Science, Japan)

OS5-4

An Approach to Visualize Place of Interest and Shooting Spot Using Geo-Tagged Photographs
Masaharu Hirota (Okayama University of Science, Japan), Masaki Endo (Polytechnic University,
Japan), Hiroshi Ishikawa (Tokyo Metropolitan University, Japan)

14:30-16:00 OS9 Theory and Implementation of Neuromimetic Systems (6)Chair: Takashi Kohno (The University of Tokyo, Japan)
Co-Chair: Timothée Levi (The University of Tokyo, Japan, University of Bordeaux, France)
OS9-1

Study of real-time biomimetic CPG on FPGA: behavior and evolution- 23 -©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Timothée Levi1,2, Kazuyuki. Aihara1, Takashi Kohno1(1The University of Tokyo, Japan, 2University of Bordeaux, France)
OS9-2

A Metaheuristic Approach for Parameter Fitting in Digital Spiking Silion Neuron Model
Takuya Nanami, Takashi Kohno (The University of Tokyo, Japan)

OS9-3

Real-time Digital Implementation of HH neural network on FPGA: cortical neuron simulation
Farad Khoyratee1, Sylvain Saïghi1, Timothée Levi1,2(1University of Bordeaux, France, 2The University of Tokyo, Japan)

OS9-4

Finding appropriate parameter voltages for driving a low-power analog silicon neuron circuit
Atsuya Tange, Takashi Kohno (The University of Tokyo, Japan)

OS9-5

A low-power silicon synapse circuit with tunable reversal potential
Ashish Gautam, Takashi Kohno (The University of Tokyo, Japan)

OS9-6

New methodology of neural network reconstruction for "in vitro" culture on Multi ElectrodeArray (MEA)
Timothée Leleu1, Timothée Levi1,2, Takashi Kohno1, Kazuyuki Aihara1(1The University of Tokyo, Japan, 2University of Bordeaux, France)

16:20-18:20 OS15 System and Control (11)Chair: Fengzhi Dai (Tianjin University of Science & Technology, China)
OS15-1

Analog circuit design of a novel 4D chaotic system
Hong Niu (Tianjin University of Science & Technology, China)

OS15-2A method of end-to-end self-understanding of Chinese paper-dictionaries
Zhijian Lv (Beijing Institute of Science and Technology Information (BISTI), P.R.China),
Yizhun Peng (Tianjin University of Science and Technology,P.R.China)

OS15-3A multi-robot rescuing system
Huailin Zhao, Zheng Wu, Xiaoxing Wang (Shanghai Institute of Technology, China)

OS15-4

Dynamic analysis and FPGA implementation of A novel hyper-chaotic system with one
equilibrium point
Shanfeng Wang, Hongyan Jia, Zhiqiang Guo (Tianjin University of Science and Technology, China)

OS15-5

Analysis and circuit implementation for a new fractional-order chaotic system
Zhiqiang Guo, Hongyan Jia, Shanfeng Wang (Tianjin University of Science and Technology, China)

OS15-6

Application of a conservative chaotic system in image encryption
Shilong Liu, Mei Zhang, Wei Xue (Tianjin University of Science and Technology, China)

OS15-7

Study of plant disease detection based on near-field acoustic holography- 24 -©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Jiangfan Wang, Xiuqing Wang(Tianjin University of Science & Technology, China)
OS15-8Simulation of cell dielectric properties based on COMSOL
Shudong Li, Xiaoyan Chen, Fengze Han(Tianjin University of Science & Technology, Chin)

OS15-9Research on the method of electrical impedance tomography based on conjugate gradient
iterative algorithm
Yuanli Yue1, Xiaoyan Chen2, Ze Liu1, Fengzhi Dai2
(1 Beijing Jiaotong University, China, 2 Tianjin University of Science and Technology, China)

OS15-10

Research on acoustic emission wireless detection system
Xiuqing Wang1, Yang Li2, Qing Liu1, Jiming Zhao1(1 Tianjin University of Science & Technology, China;2 TEXAS A and M University, U.S.A)

OS15-11

ORiN PAC (PC based Automation Controller)
Toshihiro Inukai (DENSO WAVE INC., Japan)

OS16 Recognition and Control (9)Chair: Fengzhi Dai (Tianjin University of Science & Technology, China)
OS16-1

Research on the synchronization and circuit realization of a four-wing chaotic system
Yiqiao Qin, Fengzhi Dai, Yuxing Ouyang, Qijia Kang, Ce Bian, Baochang Wei, Runhua Mao,
Shengbiao Chang (Tianjin University of Science & Technology, China)

OS16-2

Design of control system for reboiling part of distillation process
Lingran An, Fengzhi Dai, Yujie Yan, Yuxing Ouyang, Zhongyong Ye, Xia Jin, Baochang We(Tianjin University of Science and Technology, China)

OS16-3

Research on intelligent control system based on machine vision
Ce Bian1, Fengzhi Dai1, Yuxing Ouyang1, Yiqiao Qin1, Baochang Wei1,
Runhua Mao1, Meili Li2(1Tianjin University of Science and Technology, 2 China University of Petroleum - Beijing, China)

OS16-4Development of NC power based on Buck circuit
Yuxing Ouyang, Fengzhi Dai, Runhua Mao, Ce Bian, Baochang Wei, Yiqiao Qin, Shengbiao Chang,
Qijia Kang (Tianjin University of Science and Technology, China)

OS16-5

Simulation of PID temperature control system based on neural network
Yujie Yan, Fengzhi Dai, Lingran An, Yuxing Ouyang, Zhongyong Ye, Xia Jin, Ce Bian
(Tianjin University of Science and Technology, China)

OS16-6

Design and research of real-time material management system based on production process
Baochang Wei, Fengzhi Dai, Yuxing Ouyang, Haifang Man, Yiqiao Qin, Runhua Mao, Ce Bian
(Tianjin University of Science and Technology, China)

OS16-7

Research on the balance control of the inverted pendulum- 25 -©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Zhongyong Ye, Fengzhi Dai, Yuxing Ouyang, Yujie Yan, Xia Jin, Lingran An, Hongtao Zhang(Tianjin University of Science and Technology, China)
OS16-8Design of intelligent saving robot based on six-legged robot
Xinyu Zhang, Xiaokun Lin, Fengzhi Dai(Tianjin University of Science & Technology, China)

OS16-9Research on multi-object recognition algorithm based on video
Yong Hou, Runhua Mao,Yuxing Ouyang, Ce Bian, Binhu Song, Baochang Wei, Yiqiao Qin,
Shengbiao Chang, Fengzhi Dai ( Tianjin University of Science and Technology, China)

Meeting Room 4
9:00-9:45 OS4 Aspects of Natural Computing (3)Chair: Marion Oswald (Technische Universität Wien, Austria)
Co-Chair: Yasuhiro Suzuki (Nagoya University, Japan)
OS4-1

Mathematical Expression of Minakata Kumagusu’s Philosophy of
Natural Science
Yasuhiro Suzuki (Nagoya University, Japan)

OS4-2

Toward Artificial Intelligence by Using DNA Molecules
Yasuhiro Suzuki, Rie Taniguchi (Nagoya University, Japan)

OS4-3

Differentiation and Integration of Sensation and its Application
Yasuhiro Suzuki (Nagoya University, Japan)

14:30-15:30 GS4 Pattern recognition & image processing (4)Chair: Jiwu Wang (Beijing Jiaotong University, China)
GS4-1

Study on Detection of Nests on Pylon from Overhead View Based on Halcon
Jiwu Wang, Haibao Luo, Pengfei Yu (Beijing Jiaotong University, China)

GS4-2

Human gait recognition based on Caffe deep learning framework
Jiwu Wang, Feng Chen (Beijing Jiaotong University, China)

GS4-3

Unsupervised Image Classification Using Multi-Autoencoder and K-means++
Shingo Mabu, Kyoichiro Kobayashi, Masanao Obayashi, Takashi Kuremoto(Yamaguchi University, Japan)

GS4-4

Anomaly Detection of Disaster Areas from Satellite Images Using Convolutional Autoencoder
and One-class SVM
Kohki Fujita, Shingo Mabu, Takashi Kuremoto(Yamaguchi University, Japan)

16:20-17:50 GS2 Bipedal robot & Human-walfare Robotics (6)- 26 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Chair: Ju-Jang Lee (KAIST, Korea)
GS2-1

Design and Evaluation of Passively Powered Knee Exoskeleton (PPKE) for Squat Lifting
R.K.P.S. Ranaweera1, R.A.R.C. Gopura1, T.S.S. Jayawardena1, G.K.I. Mann2(1University of Moratuwa, Sri Lanka), (2Memorial University of Newfoundland, Canada)

GS2-2

Behavior design of robot arm imitating the consciousness mechanism of living organisms
Representation of facial expression in transition process of emotion
Ryohei Anshi, Eiji Hayashi (Kyushu Institute of Technology, Japan),
Wisanu Jitviriya (King Mongkut’s University of Technology, Thailand),
Sakmongkon Chumkamon (Rajamangala University of Technology, Thailand)

GS2-3

Study of Robot Navigation for Forest Management
Ayumu Tominaga, Eiji Hayashi (Kyushu Institute of Technology, Japan)
Abbe Mowshowits (The City College of New York, USA)

GS2-4

Development of the sense system that is combined force feedback and visual feedback-Deformable virtual objects simulation by using LEMKaito Nagano, Eiji Hayashi (Kyushu Institute of Technology, Japan)

GS2-5

A four-legged robot's soft feet structural design and walking gait generated fromInverse kinematics
Amornphun Phunopas1 and Eiji Hayashi2(1King Mongkut’s University of Technology North Bangkok, Thailand,
2
Kyushu Institute of Technology, Japan)

GS2-6

Powered Ankle Exoskeletons: Existent Designs and Control Systems
A.H. Weerasingha, W.P.K. Withanage, A.D.K.H. Pragnathilaka, R.K.P.S. Ranaweera,
R.A.R.C. Gopura(University of Moratuwa, Sri Lanka)- 27 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

February 3 (Saturday)
8:40-Registration
Conference Room
10:00-11:00
Plenary Speech PS-2
Chair: Takao Ito (Hiroshima University, Japan)
PS-2 EU-Way Development - Effective and Rational Development Way Masato (Max) NAKAGAWA (DENSO CORPORATION, Japan)
11:10-12:10
Invited session IS-4, IS-6
Chair: Jangmyung Lee (Pusan National University, Korea)
IS-4 Artificial Immune Ecosystems: challenges for a new generation of bio-inspired secure and resilientsystems
Pierre Parrend (ECAM Strasbourg-Europe, France)
IS-6 Trust of Virtual Agent in Multi Actor Interactions
H. M. Khalid, W. S. Liew, B.S. Voong, M.G. Helander (Damai Sciences, Malaysia)
13:10-14:10
Plenary Speech PS-3
Chair: Marion Oswald (Technische Universität Wien, Austria)
PS-3 Innovation on Manufacturing Generated by Intelligent Technologies
Ken-ichi Tanaka, Haruhisa Okuda (Mitsubishi Electric Corporation, Japan)- 28 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Meeting Room 31
9:00-17:20 GS9 Poster (11)Chair: Evgeni Magid (Kazan Federal University, Russia)
GS9-1

Analysis of onboard sensor-based odometry for a quadrotor UAV in outdoor environment
Aidar Gabdullin, Grigory Shvedov, Mikhail Ivanou, Ilya Afanasyev (Innopolis University, Russia)
Konstantin Yakovlev (Russian Academy of Science, Russia)

GS9-2

Memristive neuron integration in digital robotic embodiment
Max Talanov, Evgenii Zykov, Yuriy Gerasimov, Evgeni Magid, Aleksander Elizarov( Kazan Federal University, Russia)
Victor Erokhin (Institute of Materials for Electronics and Magnetism, Italian National Council of
Research, Italy)

GS9-3

Russian mobile robot Servosila Engineer: designing an optimal integration of an extra
laser range finder for SLAM purposes
Neil Alishev, Yuriy Gerasimov, Roman Lavrenov (Kazan Federal University, Russia)

GS9-4

Toward automated open wound suturing using haptic feedback: detecting wounds andplanning the suture
Artur Sagitov¹, Hongbing Li², Evgeni Magid¹(¹Kazan Federal University, Kazan, Russia)(²Shanghai Jiao Tong University, Shanghai, China)

GS9-5

Establishing Effective Teaching for Robotics: a comparison study of Bachelor students in
Introduction to Robotics course
Tatyana Tsoy, Leysan Sabirova, Mikhail Abramskiy, Evgeni Magid(Kazan Federal University, Russia)

GS9-6

Development of a heterogeneous aerial swarm control framework for forest management
Yuriy Gerasimov, Artur Sagitov, Evgeni Magid (Kazan Federal University, Russia)

GS9-7

Implementation of ROS package for simultaneous video streaming from several different
camerasRamil Safin, Roman Lavrenov (Kazan Federal University, Russia)

GS9-8

Consumers Preferences and Purchase Intention on New Taste of Salted Duck Eggs
Shang-Hui Li (Far East University, Taiwan)

GS9-9

The Study of Green Food Image, Satisfaction and Loyalty through the Perspective of Elaboration
Likelihood Model
Shu-Fang Hsu (Far East University, Taiwan)- 29 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS9-10Self-Generated Dataset for Category and Pose Estimation of Deformable Object for Manipulation
by RobotYew Cheong Hou, Khairul Salleh Mohamed Sahari (Universiti Tenaga Nasional, Malaysia)

GS9-11

Design and Development of Three Arms Transmission Line Inspection Robot
Muhammad Fairuz Abdul Jalal, Khairul Salleh Mohamed Sahari, Ho Ming Fei,
Justin Chan Tuck Leong (Universiti Tenaga Nasional, Malaysia)

Meeting Room 32
9:00-9:45 GS1 Robotics I (3)Chair: Hidehiko Yamamoto (Gifu University, Japan)
GS1-1

Production simulation of autonomous decentralized FMS including AGVs with different
personalities of mind
Ryuichi Tsujii, Hidehiko Yamamoto and Takayoshi Yamada (Gifu University, Japan)

GS1-2

Development of Automatic Recognition of Hazmat Marking Chart for Rescue Robot
Wisanu Jitviriya, Poommitol Chaicherdkiat, Noppadol Pudchuen(King Mongkut’s University of Technology North Bangkok, Thailand)
Eiji Hayashi (Kyushu Institute of Technology, Japan)

GS1-3

Development of Autonomous Robot for Laborsaving of the Forestry - Discrimination between
trees and weeds using RGB-D Shingo Yamaguchi, Eiji Hayashi, and Ayumu Tominaga (Kyushu Institute of Technology, Japan)

14:30-15:45 OS18 Intelligent Control (5)Chair: Yingmin Jia (Beihang University (BUAA), China))
Co-Chair: Weicun Zhang (University of Science and Technology Beijing, China)
OS18-1

Rolling Bearings Fault Diagnosis Method using EMD Decomposition and Probabilistic Neural
Network
Caixia Gao, Tong Wu, Ziyi Fu (Henan Polytechnic University, China)

OS18-2Detection of Dangerous Driving Behavior via Fuzzy Inference System
Shangzheng Liu1, Qinghui Zhu1, Fuzhong Wang 2(1 Nanyang Institute of Technology, 2 Henan Polytechnic University, P.R. China)

OS18-3

Feature Points Designing and Matching for the Target Spacecraft in the Final Approaching Phaseof Rendezvous and Docking
Wenjing Pei, Yingmin Jia (Beihang University (BUAA), China)

OS18-4

Construction and Visualization of Atmospheric Environment Data Map
Dongmei Fu, Gaoyuan Wang, Chao Wu, Mengchen Cui(University of Science and Technology Beijing, China)- 30 -©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS18-5Multiple-Model Adaptive Estimation with New Weighting Algorithm
Weicun Zhang (University of Science and Technology Beijing, China)

16:20-17:20 OS12 Software Development Support Method (4)Chair: Tetsuro Katayama (University of Miyazaki, Japan)
Co-Chair: Tomohiko Takagi (Kagawa University, Japan)
OS12-1

Negative Test Case Generation from an Extended Place/Transition Net-Based Mutants
Tomohiko Takagi1, Tetsuro Katayama2(1Kagawa University, 2University of Miyazaki, Japan)

OS12-2Development of a Mutant Generation Tool Using a Genetic Algorithm for Extended
Place/Transition Nets
Tomohiko Takagi, Shogo Morimoto (Kagawa University, Japan)

OS12-3

Implementation of RETUSS to Ensure Traceability between Class Diagram in UML and Java Source
Code in Real Time
Keisuke Mori*, Tetsuro Katayama*, Yoshihiro Kita†,
Hisaaki Yamaba*, Kentaro Aburada*, and Naonobu Okazaki*(*University of Miyazaki, †Tokyo University of Technology, Japan)

OS12-4

Prototype of a Tool to Detect Specific Comments
Satoshi Tanoue*, Tetsuro Katayama* Yoshihiro Kita†,
Hisaaki Yamaba*, Kentaro Aburada*, and Naonobu Okazaki*(*University of Miyazaki, †Tokyo University of Technology, Japan)

Meeting Room 33
9:00-9:45 OS22 Navigation and Control (3)Chair: Chan Gook Park (Seoul National University, Korea)
OS22-1Comparative Study of Sequential Processing TRN (Terrain Referenced Navigation)
Hyun Cheol Jeon and Chan Gook Park (Seoul National University, Korea)

OS22-2

Road Marking Map Matching for Road Vehicle Localization
Kyuwon Kim and Gyu-In Jee (Konkuk University, Korea)

OS22-3Control System Design of Directionally Maneuvering Multicopter with Independent Heading Rate
Byoungjin Lee, Jaehue Bae, Gwang Soo Park and Sangkyung Sung (Konkuk University, Korea)- 31 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

14:30-16:00 OS2 Intelligent Navigation (6)Chair: Jangmyung Lee (Pusan National University, Korea)
OS2-1

Robot Manipulator Arm Inverse Kinematics Analysis by Jacobian
Sun Oh Park, Min Gyu Jung , Jin Gon Yoon , Min Cheol Lee (Pusan National University, Korea)

OS2-2

Indoor Position recognition using the pseudo-range estimation
Jongwoo An, Hosun Kang, Jiwook Choi, Jangmyung Lee(Pusan National University, Korea)

OS2-3Distance measurement algorithm based on the object recognition
Hosun Kang, Nahyun Lee, Jangmyung Lee (Pusan National University, Korea)

OS2-4

An-ion air purifier system using IoT Technology
Heeje Kim, Dohyun Kim (Pusan University, Korea)

OS2-5

Solar Panel Temperature Control System using IoT
Min-soo Kim, Hee-je Kim (Pusan National University, Korea)

OS2-6

Enhancement of Mobile Robots Stability and Hardware Based on Reinforcement Learning
Ki-seo Kim, Jeong-hwan Moon, Jang-myung Lee (Pusan National University, Korea)

16:20-17:35 GS3 Complexity (5)Chair:
GS3-1

Management of digital records inspired by Complex Systems with RADAR
Anne Jeannin-Girardon1, Alexandre Bruyant1, Nicolas Toussaint1, Pierre Collet1 andPierre Parrend1,2(1University of Strasbourg, ; 2 ECAM Strasbourg-Europe, France)

GS3-2

Integrated optimization of differential evolution with grasshopper optimization algorithm
Duangjai Jitkongchuen, Udomlux Ampant (Dhurakij Pundit University, Thailand)

GS3-3

Efficient collective search by agents that remember failures
Masao Kubo, Nhuhai Phung, Hiroshi Sato (National Defense Academy of Japan, Japan)

GS3-4

The analysis of band structures of photonic crystals
Wang Chenxu (Muroran Institute of Technology, Japan)
Fu Ziyi (Henan Polytechnic University, China)

GS3-5

A Data Estimation Technique for Incomplete Telemetry Data Based on a Genetic Algorithm with
Data’ Statistical Properties
Masahiro Tokumitsu, Kaito Mikami (National Institute of Technology, Yonago College, Japan)
Fumio Asai (The Radio Amateur Satellite Corporation, USA)
Taku Takada (National Institute of Technology, Kochi College, Japan)
Makoto Wakabayashi (National Institute of Technology, Niihama College, Japan)- 32 -©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Meeting room 1
9:00-9:30 OS10 Intelligent Robotic Manufacturing (2)Chair: Kensuke Harada (Osaka University, Japan)
Co-Chair: Akira Nakamura (AIST, Japan)
OS10-1

Technique of Recovery Process and Application of AI in Error Recovery Using Task Stratificationand Error Classification
Akira Nakamura*1, Kazuyuki Nagata*1, Kensuke Harada*2 and Natsuki Yamanobe*1(*1 National Institute of Advanced Industrial Science and Technology (AIST),*2 Osaka University, Japan)

OS10-2

Motion selection for 3D robotic snap assembly
Peihao Shi1, Kensuke Harada1, Weiwei Wan1, Ixchel G. Ramirez1, Juan Rojas2, Hiromu Onda3(1Osaka University, Japan, 2Guangdong University of Technology, China, 3AIST, Japan)

14:30-16:00 OS14 Advanced Technology on Sensing Technology, Devices, Application (6)Chair: Hiroki Tamura (University of Miyazaki, Japan)
Co-Chair: Koichi Tanno(University of Miyazaki, Japan)
Co-Chair: Y.W.R.Amarasinghe (University of Moratuwa, Sri Lanka)
OS14-1

A Study on the Lumbar Burden Evaluation of Work using One Smartphone
Mizuki Maiguma, Hiroki Tamura, Koichi Tanno (University of Miyazaki, Japan)

OS14-2

A Study on High Accuracy Stride Estimation on Smartphone Combining Acceleration Sensor andGyro Sensor
Shunta Nonaka, Hiroki Tamura, Koichi Tanno (University of Miyazaki, Japan)

OS14-3Development of Multi-Sensory Smart Objects Tracking Module for Mobile Robot Platforms
B. A. D. J. C. K. Basnayake, Y. W. R. Amarasinghe (University of Moratuwa, Sri Lanka)

OS14-4

Design and Development of a Conductive Polymer Based 3D - Printed Tactile Sensor with SquareType Spring Structure
W.H.P. Sampath, A.H.T.E. De Silva, Y.W.R. Amarasinghe (University of Moratuwa, Sri Lanka)

OS14-5

Design and Development of a Shape Memory Alloy Spring Actuated Gripper for Minimally
Invasive Surgeries
Roshan T.A.U, Amarasinghe Y.W.R, Dayananda N.W.N. (University of Moratuwa, Sri Lanka)

OS14-6

Design and Development of Quantum Tunneling Composite based Tactile Sensors
T.D.I. Udayanga, D.A.M.R. Fernando, H.L.P.L. Chaturanga, B.A.D.J.C.K. Basnayake
and Y.W.R. Amarasinghe (University of Moratuwa, Sri Lanka)- 33 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

16:20-17:05 GS7 Intelligent Control (3)Chair: Kunikazu Kobayashi (Aichi Prefectural University, Japan)
GS7-1

Fractional Order Sliding Mode Control Applying on the HIV Infection System
Thunyaseth Sethaput1, Arsit Boonyaprapasorn2(1Thammasat University, 2Chulachomklao Royal Military Academy, Thailand)

GS7-2

Skill-based Job Rotation Scheduling for Occupational Noise Exposure Control
Pavinee Rerkjirattikarn, Chatdanai Kaorapapaong, Sun Olapiriyakul(Thammasat University, Thailand)

GS7-3

A Training Method for the Speech Controlled Environmental Control System Based on Candidate
Word Discriminations
Taro Shibanoki, Masaki Watanabe (Ibaraki University, Japan), Go Nakamura, Takaki Chin
(Hyogo Rehabilitation Center, Japan), Toshio Tsuji (Hiroshima University)

Meeting room 4
9:00-9:30 GS5 Neuroscience (3)Chair:
GS5-1

Improving EEG-based BCI Neural Networks for Mobile Robot Control by Bayesian Optimization
Takuya Hayakawa, Jun Kobayashi (Kyushu Institute of Technology, Japan)

GS5-2

Selective synchronization of the coupled bifurcating neurons for phase shift of backgroundoscillation
Akihiro Yamaguchi1, Yutaka Yamaguti1, Masao Kubo2(1 Fukuoka Institute of Technology, 2 National Defense Academy of Japan, Japan)

GS5-3

Review on computational techniques in solving aircraft landing problem
Aminurafiuddin Zulkifli, Nor Azlina Ab. Aziz, Nor Hidayati Abdul Aziz
(Multimedia University, Malaysia)
Zuwairie Ibrahim(Universiti Malaysia, Malaysia)
Norrima Mokhtar(University of Malaya, Malaysia)

14:30-15:45 OS20 Advances in Marine Robotics and It’s Applications (5)Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
Co-Chair: Keisuke Watanabe (Tokai University, Japan)
OS20-1A land testbed for experimental research on autonomous ship navigation
Keisuke Watanabe, Kazumasa Harada, Koshi Utsunomiya(Tokai University, Japan)

OS20-2

Seafloor Image Color Enhancement Method based on Retinex modeland Experiment Report in the undersea environment
Jonghyun Ahn1, Shinsuke Yasukawa2, Yuya Nishida1, Takashi Sonoda1, Keisuke Watanabe3
Kazuo Ishii1(1Kyushu Institute of Technology, 2University of Tokyo, 3Tokai University, Japan)- 34 -©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS20-3

Automatic recognition of benthic species using image processing
Yuki Soejima, Yuya Nishida, Takashi Sonoda, Kazuo Ishii(Kyushu Institute of Technology, Japan)

OS20-4

AUV homing using acoustic chirp signal
Koji Masuda, Yuya Nishida, Takashi Sonoda, Kazuo Ishii(Kyushu Institute of Technology, Japan)

OS20-5

Simulation of horizontal vibration suppression of a suspended structure for seabed mining
Keisuke Watanabe (Tokai University, Japan)
Kazuo Ishii (Kyushu Institute of Technology, Japan)- 35 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

February 4 (Sunday)
8:40-Registration
Meeting Room 31
10:30-11:10 Invited Session IS-3
Chair: Makoto Sakamoto (University of Miyazaki, Japan)
IS-3 Natural Computing Paradigm ─ A Concise Introduction
Takashi Yokomori (Waseda University, Japan)
11:30-12:10 Invited session IS-5
Chair: Takao Ito (Hiroshima University, Japan)
IS-5 Harnessing over a Million CPU Cores to Solve a Single Hard Mixed Integer Programming Problem
on a Supercomputer
Yuji Shinano (Zuse Institute Berlin, Germany)
Meeting Room 32
13:10-14:55 OS17 Automated content generation and cognitive content generation (7)Chair: Hiroki Fukushima (Kyushu Women's University, Japan)
Co-Chair: Jumpei Ono (Iwate Prefectural University, Japan)
Co-Chair: Takashi Ogata (Iwate Prefectural University, Japan)
Co-Chair: Akinori Abe (Chiba University, Japan)
OS17-1

Reinventing the Flavor Wheel
Hiroki Fukushima (Kyushu Women's University, Japan)

OS17-2Acquiring Short Scripts and Setting a Case Frame in each Acquired Script: Toward Random Story
Generation
Jumpei Ono, Takashi Ogata (Iwate Prefectural University, Japan)

OS17-3

A Method of Naimaze of Narratives Based on Kabuki Analyses and Propp’s Move Techniques for
an Automated Narrative Generation System
Takashi Ogata (Iwate Prefectural University, Japan)

OS17-4

Narratology goes to Creativity ---Cognitive Content Generation
Akinori Abe (Chiba University, Japan)

OS17-5

A Framework for Haiku Generation from a Narrative
Takuya Ito, Takashi Ogata (Iwate Prefectural University, Japan)- 36 -©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS17-6

Cognitive content generation for healthy ageing
Yuki Hayashi (Chiba University, Japan)

OS17-7

Museum Visitors’ Behavioural Change Caused by Captions
Kotone Tadaki (Chiba University, Japan)

Meeting Room 33
9:00-10:15 GS6 Virtual reality (5)Chair:
GS6-1

Interactive musical editing system to support human errors and offer personal preferences for an
automatic piano -Inferring performance expression by considering change of pitchMasahiro Ushio, Eiji Hayashi (Kyushu Institute of Technology, Japan)

GS6-2

Analysis of Malaysian Facial Expressions for Designing Virtual Agents
Halimahtun Khalid (Damai Sciences, Malaysia), Liew Wei Shiung (University of Malaya, Malaysia)

GS6-3

Development of VR system to enhance understanding process of robot mechanisms
Alexei Lushnikov, Vlada Kugurakova, Timur Satdarov and Artur Nizamutdinov(Kazan Federal University, Russia)

GS6-4

Towards the immersive VR: measuring and assessing realism of user experience
Vlada Kugurakova, Murad Khafizov, Alexander Elizarov, Aleksei Lushnikov
and Artur Nizamutdinov (Kazan Federal University, Russia)

GS6-5

Lessons on the Reality-Gap: Iterations between Virtual and Real Robots
Andre Rosendo (ShanghaiTech University, China)
Charlie Houseago, Fumiya Iida (Cambridge University, UK)

13:10-14:25 Human Interface and Artificial Intelligence (5)Chair: Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Co-Chair: Masayoshi Tabuse (Kyoto Prefectural University, Japan)
OS13-1

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

OS13-2

A System for Analyzing Facial Expression and Verbal Response of a Person while Answering
Interview Questions by AgentTaro Asada1, Daichi Kogi2, Ryouichi Shimada3, Yasunari Yoshitomi1, and Masayoshi Tabuse1(1 Kyoto Prefectural University, 2 S.Ten Nines Kyoto Co.,Ltd., 3 JFE Systems, Inc., Japan)- 37 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS13-3

Facial Expression Analysis and its Visualization While Writing Messages
Yasunari Yoshitomi1, Taro Asada1, Kenta Mori2, Ryoichi Shimada3, Yuiko Yano1
and Masayoshi Tabuse1(1 Kyoto Prefectural University, 2 Neyagawa City Hall, 3 JFE Systems, Inc., Japan)

OS13-4

Recognition of Finger Spelling from Color Images Using Deep Learning
Yusuke Yamaguchi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)

OS13-5

Recognition of Texting While Walking Using Convolutional Neural Networks
Junpei Miyachi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)

Meeting Room 1
9:00-10:00 OS6 Kansei Engineering and Applications (4)Chair: Tetsuo Hattori (Kagawa University, Japan)
Co-Chairman: Yoshiro Imai (Kagawa University, Japan)
OS6-1

Histogram Analysis Method Based on Gaussian Distribution and Curvature Computation (I) ---Peaks and Valleys Detection ---Yusuke Kawakami*, Tetsuo Hattori**, Yoshiro Imai**, Kazuaki Ando**, Yo Horikawa**,
R. P. C. Janaka Rajapakse*** (*DynaxT Co., Ltd., Japan), (**Kagawa University, Japan)(***Tainan National University of the Arts, Taiwan)

OS6-2

Histogram Analysis Method Based on Gaussian Distribution and Curvature Computation (II) --- Experimentation ---Yusuke Kawakami*, Tetsuo Hattori**, Yoshiro Imai**, Kazuaki Ando**, Yo Horikawa**,
R. P. C. Janaka Rajapakse*** (*DynaxT Co., Ltd., Japan), (**Kagawa University, Japan)(***Tainan National University of the Arts, Taiwan)
Experimental Evaluation of Change Detection Ability in New Sequential Probability Ratio
Yoshihide Koyama*1, Tetsuo Hattori*1, Yoshiro Imai*1, Yo Horikawa*1,
Yusuke Kawakami*2, Hiromichi Kawano*3, Takeshi Tanaka*4(*1Kagawa University, *2DynaxT Co., Ltd.,*3NTT advanced technology Co., Ltd., *4Hiroshima
Institute of Technology, Japan)

OS6-3

OS6-4

Application Proposal of Sequential Probability Ratio to Dynamic System State Estimation
Tetsuo Hattori*1, Yusuke Kawakami*2, Yoshihide Koyama*1, Yoshiro Imai*1, Yo Horikawa*1,
Hiromichi Kawano*3, Takeshi Tanaka*4(*1Kagawa University, *2DynaxT Co., Ltd., *3NTT advanced technology Co., Ltd,
*4Hiroshima Institute of Technology, Japan)

13:10-14:25 OS1 Computer Science and Information Processing (5)Chair: Makoto Sakamoto (University of Miyazaki, Japan)
Co-Chair: Yu-an Zhang (Qinghai University, China)- 38 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS1-1

k-Neighborhood Template A-Type Two-Dimensional Bounded Cellular Acceptors
Makoto Sakamoto1, Yu-an Zhang2, Masamichi Hori1, Haruka Tsuboi1, Satoshi Ikeda1,
Kenji Aoki1, Tsutomu Ito3, Takao Ito3, Yasuo Uchida4, and Tsunehiro Yoshinaga5(1University of Miyazaki, Japan, 2Qinghai University, China, 3Hiroshima University, Japan,
4
Ube National College of Technology, Japan, 5Tokuyama College of Technology, Japan)

OS1-2

An efficient structure of organization with complete individual guidance
Mamoru Yoshimura, Tsutomu Ito1, Makoto Sakamoto, Takao Ito1, Yuji Shinano2, Satoshi Ikeda(University of Miyazaki, Japan) (1Hiroshima University, Japan) (2Zuse Institute Berlin, Germany)

OS1-3

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

OS1-4

Fundamental study on tourism support using 3DCG
Haruka Tsuboi1, Makoto Sakamoto1, Masamichi Hori1, Yosuke Iriyama1, Yuki Kai1,
Hazuki Watanabe1, Yu-an Zhang2, Atsushi Iboshi3, Koshiro Mitsuhashi4, Yukari Kodama4(1University of Miyazaki, Japan), (2Qinghai University, China), (3Muratabi, Ltd, Japan)(4Miyazaki Multimedia Academy, Japan)

OS1-5

Clustering Analysis Based on Improved Fuzzy C - Means Algorithm
Qiongqiong Hu1, Yiyang li1,Yong Ge1,Yu-an Zhang 1, Qinglian Ma2,Makoto Sakamoto 2(1Qinghai University, China), (2 University of Miyazaki, Japan)

Meeting Room 4
9:00-10:15 OS11 Educational Application Making Control Engineering Approach (5)Chair: Kazuo Kawada (Hiroshima University, Japan)
Co-Chair: Yoshihiro Ohnishi (Ehime University, Japan)
OS11-1

Control Performance Assessment Method as Assessment of Programming Learning Achievement
Yoshihiro Ohnishi (Ehime University, Japan)

OS11-2

Practice of Control Education by Experiment using Robot
Shinichi Imai, Hideto Matsui and Akira Yamada (Tokyo Gakugei University, Japan)

OS11-3Development of Support Teaching Material for Nurturing Cooperativity through Playing
Kazuo Kawada (Hiroshima University, Japan)

OS11-4On Methods for Teaching in Training for Keeping Tempo Constant in Music
Hideyuki Tanaka and Keita Ueda (Hiroshima University, Japan)- 39 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS11-5

Reinforcement Learning as a Theoretical Framework for Education
Masayasu Nagamatsu, Yuki Moriguchi (Hiroshima University, Japan)

Farewell Party
GS10 Others (4)GS10-1

A review on fundamental advancements of black hole algorithm
Zuwairie Ibrahim, Suad Khairi Mohammed, Norazian Subari(Universiti Malaysia Pahang, Malaysia)
Nor Azlina Ab Aziz, Nor Hidayati Abdul Aziz(Multimedia University, Malaysia)
Tasiransurini Ab Rahman(Universiti Tun Hussein Onn Malaysia, Malaysia)
Asrul Adam, Zulkifli Md Yusof(Universiti Malaysia Pahang, Malaysia)
Mohd Ibrahim Shapiai(Malaysia Japan International Institute of Technology, Universiti Teknologi Malaysia, Malaysia)
Norrima Mokhtar(University of Malaya, Malaysia)

GS10-2A survey on applications of black hole algorithm
Zuwairie Ibrahim, Suad Khairi Mohammed, Norazian Subari, Asrul Adam, Zulkifli Md Yusof(Universiti Malaysia Pahang, Malaysia)
Nor Azlina Ab Aziz, Nor Hidayati Abdul Aziz(Multimedia University, Malaysia)
Tasiransurini Ab Rahman(Universiti Tun Hussein Onn Malaysia, Malaysia)
Mohd Ibrahim Shapiai(Malaysia Japan International Institute of Technology, Universiti Teknologi Malaysia, Malaysia)
Norrima Mokhtar(University of Malaya, Malaysia)

GS10-3Black hole white hole algorithm with local search
Zuwairie Ibrahim, Suad Khairi Mohammed, Norazian Subari, Asrul Adam, Zulkifli Md Yusof(Universiti Malaysia Pahang, Malaysia)
Nor Azlina Ab Aziz, Nor Hidayati Abdul Aziz (Multimedia University, Malaysia)
Tasiransurini Ab Rahman (Universiti Tun Hussein Onn Malaysia, Malaysia)
Norrima Mokhtar (University of Malaya, Malaysia)

GS10-4Tele-Operation of a Legged Robot by a Virtual Marionette System- First report: The first prototype and the usefulness of the reaching taskNoritaka Sato, Yasuhiko Sawai, Ryo Asami, Makoto Kitani, Yoshifumi Morita(Nagoya Institute of Technology, Japan),
Tomofumi Fujiwara, Takahiro Endo, Fumitoshi Matsuno (Kyoto University, Japan)- 40 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

PS abstracts
PS-1 Dynamic Structures for Evolving Tactics and Strategies in Team Robotics
Jeffrey Johnson, Ruggero Rossi (The Open University, UK)
The autonomous robot systems of the future will be teams of robots withcomplementary specialisms. At any instant robot interactions determine relational
structures, and sequences of these structures describe the team dynamics as
trajectories through space and time. These structures can be represented inalgebraic forms that are realizable as dynamic multilevel data structures within
individual robots, as the basis of emergent team data structures. Such formalisms
are necessary for robots to learn new individual and collective behaviours. The
theory is illustrated by the example of robot soccer where robot interactions create
structures and trajectories essential to the evolution of new tactics and strategies
in a changing environment.

PS-2 EU-Way Development - Effective and Rational Development Way Masato (Max) Nakagawa (Executive Fellow, DENSO CORPORATION, Japan)
In this Plenary Speech will cover three elements describe as follows; Firstly,“Factory-IoT” technology which is DENSO company manufacturing strategy
globally. Secondly, collaboration between Germany and Japan in terms ofinnovation. Thirdly, EU-Way development which is effective and rationalmanner of development. From his working experience in Germany, United
Kingdom and the Netherlands in consecutive 14 years, EU-Way development
will be explained. One of the key points is that they make “Competition Field”
and “Non-Competition Field” in their technical domains. In the “NonCompetition Field” which is also called a “Cooperative Field”, they cooperate
together in the same industry sector to create common specification or toestablish the standardization so that they can concentrate on differentiatedtechnology as a “Competition Field” This approach is one of their driving forces
for development and innovation.

Fig. Development Style
Comparison between Japan andGermany

PS-3 Innovation on Manufacturing Generated by Intelligent Technologies
Ken-ichi Tanaka, Haruhisa Okuda (Mitsubishi Electric Corporation, Japan)
In order to cope with social problems such as labor population decrease, theautonomous cell production robot system had been developed to realize
automation in variable variety multi production. The intelligent technologies
such as random bin picking, force control, and error recovery were developed
to apply the robot from simple-transport-work to assemble-task. In addition to
the talk about such technologies, it will also be described that open innovation
method cooperating with universities to create research results which ourcompany would not achieve independently. The examples of the latest robot
technology development using artificial intelligence will also be described.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

IS abstracts
IS-1 Modular Playware and Personal Health Technology
Henrik Hautop Lund (Technical University of Denmark, Denmark)In this paper, we describe the development of personal health technology suchas wearable systems monitoring health conditions. It has been advocated thatsuch personal health technology through monitoring health status may motivate
people to perform health related actions and life-style changes. Here we
describe a methodology on how these personal health technologies may rather
be used as a tool for designing and adapting game activities, which motivate
people to perform the desired actions. Especially, we exemplify thismethodology with the use of FitBit monitoring of steps and heart rate to thedesign of appropriate, physically demanding games for the modular interactive
tiles, Moto Tiles, which are used by older adults for prevention andrehabilitation. Thereby, the motivation to perform the actions arrives from thefun play on the Moto Tiles, whereas the personal health technology is used as atool to monitor the effect and guide the game development.

IS-2 How new technologies might lead to a paradigm shift in psychological andneuropsychological research
Luigi Pagliarini, Henrik Hautop Lund (Technical University of Denmark, Denmark)
Recently, we started to apply old psychological and neuropsychologicalstandard tests and therapeutic exercises into a different domain of technology.
Therefore, while maintaining the whole conceptual and logical structure of the
traditional approach – i.e. tests mostly made by hand on paper or with the mouseand computers’ screens - intact, we moved them onto the physical interactive
and playful technology, Moto Tiles. Such a translation of input/output, likewise
involving dissimilar perceptions and different parts of our motor system (i.e.
legs, feet and balance system), might imply a change in subjects’ mental andbehavioural strategies, variations in efficacy and efficiency, as well as aredefinition of reaction times. In short, this shift, besides providing a significant
extra tool to older practices, might work as a crucial test for all of the existing
theoretical background, too. We describe our new method and report few of thefirst empirical applications.

IS-3 Natural Computing Paradigm ─ A Concise Introduction
Takashi Yokomori (Waseda University, Japan)
Natural computing (NC) is an emerging area of research that investigatescomputing techniques and models inspired by nature on one hand, and it also
investigates phenomena taking place in nature in terms of computational
methodologies on the other hand. Thus, research in NC congenitally hasinterdisciplinary flavor, which bridges between computer science and various
disciplines of natural science. Because of its interdisciplinary nature, NC
connects and covers a broad spectrum of fundamental research fields including
biology, chemistry, physics, medical science, and so forth. In this article, wegive a concise introduction to the new computing paradigm of NC. Specifically,
we give an overview of selected topics of the fields from theory to experiments,
where the stress is primarily put on theoretical achievements in computing
paradigms called molecular computing and chemical reaction computing.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

IS-4 Artificial Immune Ecosystems: challenges for a new generation of bio-inspired
secure and resilient systems
Pierre Parrend(ECAM Strasbourg-Europe, France)
The rapid evolution of IT ecosystems significantly challenges the security
models our infrastructures rely on. Beyond the old dichotomy between open
and closed systems, it is now necessary to handle securely the interaction
between heterogeneous devices building dynamic ecosystems. To this regard,
bio-inspired approaches provide a rich set of conceptual tools, but have failed
to lay the basis for robust and efficient solutions. Our research effort intends torevisit the contribution of artificial immune system research to bring immune
properties: security, resilience, distribution, memory, into IT infrastructures. We
introduce the concept of artificial immune ecosystems, which encompass acomprehensive immune protocol, libraries for detection and investigation of
anomalies, and an underlying middleware layer, for bringing immunity to IT
infrastructures, the Cloud, and IoT environment.

IS-5 Harnessing over a Million CPU Cores to Solve a Single Hard Mixed Integer
Programming Problem on a Supercomputer
Yuji Shinano (Zuse Institute Berlin, Germany)
The performance of mixed integer programming (MIP) solvers has improved
tremendously in the last two decades and these solvers have been used to sol ve
many real-word problems. ParaSCIP is the most successful parallel MIP solver
in terms of solving previously unsolvable instances from the well-known
benchmark instance set MIPLIB by using supercomputers. ParaSCIP has beendeveloped by using the Ubiquity Generator (UG) framework, which is a generalsoftware package to parallelize any state-of-the-art branch-and-bound based
solvers. ParaSCIP is a parallelized MIP solver of a single thread solver SCIP.
Since Xpress is a multi-threaded solver and ParaSCIP can run at least 80,000
processes in parallel for solving a single MIP, ParaXpress could handle over a
million CPU cores. In this talk, a ground design of the UG framework and its
latest extensions to harness over a million CPU cores will be presented andpreliminary computational results will be provided.

IS-6 Trust of Virtual Agent in Multi Actor Interactions
H. M. Khalid, W. S. Liew, B.S. Voong, M.G. Helander (Damai Sciences, Malaysia)
Trust is crucial when integrating virtual agents in human teams. Our study
investigated the combined use of subjective (general trust, psychological) andobjective (physiological) measures in predicting human trust of agents
undertaking social tasks. The subjective measures comprised twelve self-report
trust scores on ability, benevolence and integrity (ABI). The objective measures
included facial expressions, voiced speech, camera-based heart rate andgestural posture. Forty-eight subjects participated in a 2x2x2 within subject
design. They interacted with two virtual agents - a male Chinese and a female
Malay. Each experimental condition comprised three human subjects (ateleoperator and two clients) and one avatar. The interactive dialog involved abusiness set up. A neuro-fuzzy algorithm extracted rules from thepsychophysiological data to predict trust at low, medium and high trust levels.
The results revealed that trust can be predicted with an accuracy of 88%.
However, if gestures were excluded, the accuracy increased to 90%.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS abstracts
OS1 Computer Science and Information Processing (5)OS1-1 k-Neighborhood Template A-Type Two-Dimensional Bounded CellularAcceptors
Makoto Sakamoto1, Yu-an Zhang2, Masamichi Hori1, Haruka Tsuboi1, Satoshi Ikeda1,
Kenji Aoki1, Tsutomu Ito3, Takao Ito3, Yasuo Uchida4, and Tsunehiro Yoshinaga5
1( University of Miyazaki, Japan, 2 Qinghai University, China, 3Hiroshima University, Japan,
4
Ube National College of Technology, Japan, 5Tokuyama College of Technology, Japan)
In this paper, we deal with three-dimensional computational model, kneighborhood template A-type two-dimensional bounded cellular acceptor on
three-dimensional tapes, and discuss some properties. This model consists of apair of a converter and a configuration-reader. The former converts the given
three-dimensional tape to two-dimensional configuration. The latter determines
whether or not the derived two-dimensional configuration is accepted, andconcludes the acceptance or non-acceptance of given three-dimensional tape. We
mainly investigate some open problems about k-neighborhood template A-type
two-dimensional bounded cellular acceptor on three-dimensional tapes.

OS1-2 An efficient structure of organization with complete individual guidance
Mamoru Yoshimura, Tsutomu Ito1, Makoto Sakamoto, Takao Ito1, Yuji Shinano2, Satoshi Ikeda(University of Miyazaki, Japan) (1Hiroshima University, Japan) (2Zuse Institute Berlin, Germany)
This research clarifies the efficient organizational structure using mathematicalmodel. Previous studies have shown that the structure of an efficient organization
is limited under given settings when there is only one criterion to evaluate. In thisstudy, we show that an optimal organizational structure which has not been
known until now occurs under the setting different from the previous research.

OS1-3 Consideration for the Possibility to the Tourism Support Contents
by the Markerless AR Technology
Masamichi Hori, Makoto Sakamoto, Koshiro Mitsuhashi1, Yukari Kodama1, Takeshi Tanaka,
Mihoko Fukushima, Chikashi Deguchi, Masahiro Yokomichi, Masayuki Mukunoki,
Kunihito Yamamori, Atsushi Iiboshi2(University of Miyazaki,
1
Miyazaki Multimedia Academy, 2Takachiho Muratabi Co., Ltd., Japan)
Currently, the tourism industry in Miyazaki prefecture has various problems, andvarious measures are taken. On the other hand, in 2016 virtual technology
attracted much attention also on AR technology. We thought that through the AR
technology experience, we could aim for an increase in tourists. Therefore, wewill create new applications for smartphones using AR technology and aim fortourism support. First, prototype an application with markerless and features for
smartphones etc., and conduct experiments. As a result, there was improvement
and it was not completed. However, it seemed possible to become an applicationthat realizes tourism support.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS1-4 Fundamental study on tourism support using 3DCG
Haruka Tsuboi1, Makoto Sakamoto1, Masamichi Hori1, Yosuke Iriyama1, Yuki Kai1,
Hazuki Watanabe1, Yu-an Zhang2, Atsushi Iboshi3, Koshiro Mitsuhashi4, Yukari Kodama4(1University of Miyazaki, Japan 2Qinghai University, China 3Muratabi, Ltd, Japan,
4
Miyazaki Multimedia Academy, Japan)
The penetration rate of CG (computer graphics) in recent years has become
remarkable. Currently, there are various examples of utilization such as movies
and animation, various simulation and tourism projects, sales visuals and so on.
Also, as the Tokyo Olympic Games are held in 2020, the demand for tourism inJapan is getting bigger. Accordingly, we believe that efforts towards tourism
support are necessary even in local government units. Therefore, we considered
fundamental research of this moment, considering whether we can PR such as we
do not exist by using CG technology for the rich nature and sightseeing spot of
Miyazaki prefecture where we live. In this research, we focused on "Takachihocho", which is known as a land with a connection to "Japanese mythology" among
Miyazaki prefecture. As a goal, tourism support such as combining the created
3DCG model with real underwater images and aerial images, introducing richnature as the main and historic tourist attractions.

OS1-5 Clustering Analysis Based on Improved Fuzzy C - Means Algorithm
Qiongqiong Hu, Yiyang li, Yong Ge, Yu-an Zhang, Qinglian Ma1, Makoto Sakamoto1(Qinghai University, China, 1University of Miyazaki, Japan)
Cluster analysis is one of the most important technologies in the field of data
mining, and it is also a hot topic in academic research. So far, it has made great
achievements in theory and method, and plays an important role in data analysis invarious fields. The fuzzy C-means algorithm (FCM) maintains the simplicity of its
thinking, the time complexity is close to linear, and it is efficient and scalable forlarge-scale data mining. Particle Swarm Optimization (PSO) is an optimization toolwith global optimization ability, and the group intelligence is formed by theinteraction between particles in the group, and the optimal result is found by theintelligence. However, with the deepening of algorithm research, its researchprospects and application areas are increasingly bright and compelling.

OS2 Intelligent Navigation (6)OS2-1 Robot Manipulator Arm Inverse Kinematics Analysis by Jacobian
Sun Oh Park, Min Gyu Jung, Jin Gon Yoon, Min Cheol Lee (Pusan National University, Korea)
There are three methods for solving inverse kinematic that are algebraic, geometricand numerical. The advantage of algebraic and geometric method is that cananalyze exactly but these two methods are not only difficult to analysis but alsoneed to recalculate when DOF or DH-parameter are changed. That is why this paper
will present how to approach numerical method by MATLAB. Otherwise previous
two methods, the numerical method by using Jacobian can solve any DOF and DHparameter easily except singular point. Therefore, we are going to explain Jacobian
analysis and avoid singular point by using condition number. In the future, we will
adapt this result to 7DOF dual robot arm and then compare our numerical method
and real system- 45 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS2-2 Indoor Position recognition using the pseudo-range estimation
Jongwoo An, Hosun Kang, Jiwook Choi, Jangmyung Lee (Pusan National University, Korea)
In this paper, we propose a method of position recognition in indoor environment bypseudo range estimation of each satellite. Position recognition is a core technology
for operating autonomous intelligent robots such as Unmanned Aerial Vehicle
System(UAV), Automated Guided Vehicle(AGV). The Position recognition
technology is divided into outdoor position recognition and indoor position
recognition. The outdoor position is estimated using Global Positioning
System(GPS) and the indoor position is estimated using various sensors such as
Beacon and Inertial Measurement Unit(IMU). Due to the development of thetechnology, outdoor position recognition using GPS can be precise position
estimation, but indoor position recognition using various sensors has a cumulative
error caused by various factors and it is difficult to operate for a long time. In thispaper, to overcome this drawback, we analyze the relationship between the velocityof the moving object and pseudo-range shift each satellite, and estimate the indoor
position of the moving object by estimating the pseudo-range.

OS2-3 Distance measurement algorithm based on the object recognition
Hosun Kang, Nahyun Lee, Jangmyung Lee (Pusan National University, Korea)
This paper implements an algorithm that recognizes an object using a vision system
and measured the distance to the object. Recently, autonomous navigation systems
such as UAV and AUV are attracting attention. In order to operate these systems
safely, it is necessary to recognize obstacles on the moving path accurately andquickly. Generally, various sensors are used to recognize the surrounding
environment. These methods are affected by disturbance caused by the surrounding
environment. To overcome these drawbacks, this paper proposes an obstacle
recognition algorithm using a stereo camera. For obstacle recognition, disparity is
obtained by removing the remaining part of the object except the recognized object
from the image in order to improve the computation speed. Finally, after calculating
the distance, we confirm the algorithm by comparing with the actual distance.

OS2-4 An-ion air purifier system using IoT Technology
Heeje Kim, Dohyun Kim (Pusan National University, Korea)
We have developed the an-ion air purifier which can remove various fine dust very
efficiently. It was based on the principle of high voltage corona discharge that was
fabricated for air cleaning from various fine dust. That is a big issue for humansociety. The best switching frequency was 10kHz, and the output voltage wasapproximately 20kV. In order to remove the fine dust, the an-ion air purifier wascontrolled properly for removing the fine dust by using the Arduino and personalsmart-phone app. From these experiments, we could remove various fine dust much
more easily and effectively- 46 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS2-5 Solar Panel Temperature Control System using IoT
Min-soo Kim, Hee-je Kim (Pusan National University, Korea)
Solar photovoltaic systems are renewable energy sources that are used widely aroundthe world. On the other hand, the efficiency decreases as the temperature of the solar
panels increases. To prevent this phenomenon, a cooling fan can be installed on theback side of the solar panel to increase the efficiency. The solar system efficiency also
decreases due to weather conditions and unexpected situations. To overcome thisproblem, an IoT (Internet of Things) system was used to monitor the state of the solar
system and control the cooling fan. The core microprocessor used in IoT systems was
Arduino. Using Arduino, an IoT system can be implemented simply and inexpensively.
The entire system was designed and tested and the efficiency increased byapproximately 4.7%. Although it is a small 30W capacity photovoltaic system, its
efficiency is expected to be increased by applying it to a photovoltaic system of morethan 1kW in the near future.

OS2-6 Enhancement of Mobile Robots Stability and Hardware Based on
Reinforcement Learning
Ki-seo Kim, Jeong-hwan Moon, Jang-myung Lee (Pusan National University, Korea)
In this paper, we apply the obstacle avoidance run reinforcement learning algorithm
used in the mobile robot using the LiDAR sensor. Q-learning and Deep Learning wereapplied to reinforcement learning algorithms. We solve the unnatural movements inthe deceleration and acceleration of the robot using feedback learning. The results ofsimulation are applied to actual hardware to show how to increase the safety of driving.

OS3 New Challenges to Adaptive & Learning Control-1(5)OS3-1 A sound-based measurement of sway angle for anti-sway control of overhead
craneMiki Matsunaga, Masayoshi Nakamoto, Toru Yamamoto (Hiroshima University, Japan)
The cranes are well used in field such as transportation of load in construction field,
factory and dock. For anti-swing control of overhead crane, a deflection angles mustbe estimated. But it is difficult to estimate deflection angles directly. Therefore, weshow a new measurement method for the deflection angles by using two microphones
as angle sensors. The feature of our method is to achieve contact-less sensing, highflexibility of installation, low realization cost, easy to maintenance. The method
employs a time delay of arrival (TDOA) of acoustic signals which are picked up by thetwo microphones. Also, we show an algorithm to obtain the deflection angles from the
TDOA by using the Newton's method. Finally, we show experimental results of two
patterns (stationary and swaying) to demonstrate the effectiveness of the proposed
method.

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Fig.1. Overhead craneThe 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS3-2 Sampled-data PID control system with Sensitivity Function for a
Second-order Plus Dead-time System
Ryo Kurokawa, Takao Sato, and Yasuo Konishi (University of Hyogo, Japan)
Ramon Vilanova (Universitat Autonoma de Barcelona, Spain)
A sampled-data proportional-integral-derivative (PID) control system is designed for asecond-order plus dead-time system which includes an under-damping system, where
the controlled plant and the controller are continuous-time and discrete-time systems,
respectively. In order to guarantee the stability margin, the maximum value of thesensitivity function is used for designing the proposed control system. As a result, thecontrol system is optimized subject to the user-specified stability margin. Because therelationship between the stability margin with the tracking performance is trade-off, thestability margin is selected based on the modeling accuracy, Hence, high tracking
performance is selected when the modeling error is small. Furthermore, because theproposed PID control system is designed for a normalized system, the optimal PID
parameters are calculated without solving the optimization problem.

Please attach one typicalfigure in your paper
here.

OS3-3 Experimental Evaluation of a Data-Driven Control System using an
Electronic Thermal Regulator
Yuka Okubo, Yoichiro Ashida, Takuya Kinoshita, Toru Yamamoto(Hiroshima University, Japan)
Since majority of industrial processes are of nonlinearities, a data-driven PID
controller has been proposed to deal with such processes. According to that scheme,
the suitable set of PID parameters are automatically computed based on a set of I/Odata stored in the database. However, the data-driven technique is hardly implemented
in the electronic thermal regulator due to restricted memory capacity. Therefore, theplatform is required, in which the PID parameters are calculated by data-driven
technique and are sent to the electronic thermal regulator shown in Fig. 1. In this study,
the control results will be shown to demonstrate the effectiveness of the proposed
scheme by conducting the experiment.

Fig. 1. Proposed platform.

OS3-4 Self-repairing Adaptive PID Control for Plants with Sensor Failures
Masanori Takahashi (Tokai University, Japan)
In our previous works, several types of self-repairing controls have been developed
for plants with unknown sensor failures. The self-repairing control system (SRCS) can
automatically replace the failed sensor with the healthy backup to maintain its stability
if the failure occurs. However, in most existing SRCSs, roughly estimated parametersof plants are required. This paper presents a new design method for a self-repairing
adaptive PID control system. The control system has the adaptive adjustingmechanisms for the PID gains, and also can detect the sensor failure by self-test using
the integrator (I-controller). Hence, for plants with unknown parameters, SRC can be
successfully attained. Furthermore, in this paper, the control performances (stability,
failure detection and recovery) are theoretically analyzed.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS3-5 Design and Development of a Constant Temperature Reservoir
for a Database-Driven Smart Cultivation System
Shin Wakitani, Sharma Sneha, and Toru Yamamoto (Hiroshima University, Japan)
Decreasing the number of agricultural working population is serious problem.
Production of agricultural products in plant factories is as one of the solutions to theabove problems. However, it is not easy to set optimal environment conditions for manykinds of plants in food factories. This research aims for realization of a smart plantcultivation system that uses a database as a core technique. In this work, a small size
constant temperature reservoir that can control several environment conditions isdeveloped, and a simulator of the system is designed. Moreover a database-driven
nonlinear temperature control is performed.

Fig. 1 Cultivation System

OS3 New Challenges to Adaptive & Learning Control-2 (4)OS3-6 Design of a Performance-Adaptive 1-Parameter Tuning PID Controller
Yoichiro Ashida*, Shin Wakitani*, and Toru Yamamoto (Hiroshima University, Japan)
Many self-tuning PID controllers have been proposed. In these controllers, PID gains
are tuned adaptively and can maintain a good control performance to time-variant
systems. However, it is difficult to employ these methods to actual systems because of
low reliability of an on-line PID gain estimator. In addition, it is not preferred to tune
three PID gains simultaneously in terms of the safeness of a closed loop system. In thiswork, a performance adaptive controller that has twostage of PID parameters
tuning mechanisms is proposed. One of the tuners is a one-parameter tuner whichcalculates only proportional gain using the recursive least squares. The other is a PID
gain tuner using ordinary least squares. When the one-parameter tuner cannot maintaina good control performance, the PID gain tuner determine new PID gains to maintain
good control performance. The effectiveness of the proposed method is evaluated by asimulation example.

Fig. 1. Block diagram.

OS3-7 Sticking Fault Detecting Method for CARIMA Model
Toyoaki Tanikawa, Tomohiro Henmi(National Institute of Technology, Kagawa College, Japan)
To improve the safety of control systems, it is important to detect various system faults
automatically. This paper proposes a sticking fault detecting method on CARIMA
model which detect the sticking fault of both the input and the feedback value. It
consists of model estimation and a fault diagnosis. In the model estimation, the systemparameters are estimated from the input and output data using the recursive least square
method with the forgetting factor. On the other hand in the fault diagnosis, an evaluation
function derived from CARIMA model is introduced. It generates a fault signal fromthe input and output data of the detecting period, using the estimated systemparameters. Numerical simulations are performed and it is shown that this method can
detect the sticking fault of the input and the feedback value.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS3-8 Design of a Neural Network based on E-FRIT and Its Application
Kento Kinoshita, Shin Wakitani, Shuichi Ohno (Hiroshima University, Japan)
PID controllers have been widely used for process systems. However, a good control
result is not always obtained with fixed PID gains when a controlled object has
nonlinearity. This paper proposes a design method for a nonlinear PID controller thatutilizes a neural network to overcome the problem. In the proposed controller, PID
gains are tuned online by a neural network and a controlled object is manipulated by
the PID controller with the tuned PID gains. The neural network is learned by an offline
learning algorithm based on the extended fictitious reference iterative tuning (E-FRIT)
and the backpropagation. E-FRIT is a method that tunes control parameters directly byusing operating data. Simulation examples are provided to show the effectiveness ofthe proposed method. Moreover, the experimental result of a level control of a tanksystem is also given to demonstrate the performance of the proposed method.

OS3-9 Parameter Optimization with Input/Output data via DE for Adaptive Control
System with Neural Network
Taro Takagi (National Institute of Technology, Maizuru College, Japan)
Ikuro Mizumoto (Kumamoto University, Japan)
During the last decades, several almost strictly positive real (ASPR) based adaptive
control systems have been proposed. ASPR based adaptive control systems have arobustness with respect to uncertainty and disturbance. However, ASPR conditions aresevere conditions for actual systems. Therefore, the introduction of parallel
feedforward compensator (PFC), which made it possible to construct ASPR based
adaptive control system, has been proposed. Also, feedforward input generated byneural network (NN), which can eliminate the tracking error caused by PFC, has been
recently proposed and ASPR based adaptive control system became more practicalmethod. Although the method became practical, it is still difficult to adopt because theparameters of adjust law for NN have to be decided by the designer and it will bedecided by trial and error. In this paper, the parameter optimization of PFC and NN will
be done by using one-shot experimental data via differential evolution.

.

OS4 Aspects of Natural Computing (3)OS4-1 Mathematical Expression of Minakata Kumagusu’s Philosophy of
Natural Science
Yasuhiro Suzuki (Nagoya University, Japan)
A mission of Natural Computing is understanding nature by algorithms; since analgorithm is just a sequence of computing steps, we have to extract an “algorithm”
from nature which requires “viewpoints” that indicate “how to observe and consider”.
Minakata Kumagusu [1867-1941], a Japanese naturalist, proposed a novel philosophyof science based on Buddhism and it affords the viewpoint. However, his philosophyof science has almost been ignored, hence we extract the principle of his philosophy
from the viewpoint of Natural Computing and transform it into a mathematical form
by using Category Theory.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS4-2 Toward Artificial Intelligence by Using DNA Molecules
Yasuhiro Suzuki, Rie Taniguchi (Nagoya University, Japan)
Molecular Robotics have been realized by using bio molecules such as DNA orproteins, for example in the Molecular Robotics Research Project [2012-17, JSPS].
Such bio molecules, like DNA or proteins, are highly structured. They already have akind of “intelligence” and adapt to environmental change. Hence, we have tried to
extract their “ability” in order to induce intelligence artificially. We have used wellknown DNA reactions, Seesaw gate reaction, and we found that DNA molecules cansense the concentration of a single strand input sequence or quasi-input (mismatch,point mutation, including sequence) and choose the one with higher concentration.
This result shows that DNA molecules (short DNA sequences) can adapt to theirenvironment.

OS4-3 Differentiation and Integration of Sensation and its Application
Yasuhiro Suzuki (Nagoya University, Japan)
Our senses can be seen as a dynamical system in a multi-dimensional sensory space,
where each dimension corresponds to a type of sense such as vision, hearing, touch,and so on. Our sensory systems are composed of differentiators and we perceive
sensory stimulations through differentiating sensory stimulations. In order to calculate
the differentiation of sense, we have to set a measurable quantity of the sense. We can
not only use quantity measures such as brightness of picture or loudness of sound, butalso quality measures like the value of Semantic Differential (SD) method formeasuring impressions or emotions, such as beauty, fear, happiness. We propose amethod of Differentiation and Integration of sensation and we show the application ofthis method by transforming a painting of Piet Mondrian’s “1921” into a music piece.

OS5 Advanced Regional Engineering (4)OS5-1 Discovering Successful Determinants of Efficiency of MICHINOEKI in
Chugoku Area
Minoru Kumano(University of Miyazaki, Japan),Takao Ito(University of Hiroshima, Japan),
Toru Hiraoka(University of Nagasaki, Japan), Hirofumi Nonaka(Nagaoka University ofTechnology, Japan), Masaharu HirotaOkayama University of Science, Japan)
Many theories and analyses of Michinoeki from the viewpoints of break function,
information dispatch function, and regional cooperation function have been publishedin the past decades. Based on our investigation, additional dimensions called disasterprevention function need to be added because a variety of activities have beendeveloped recently. Specific to the context of Michinoeki systems, this paper develops
and empirically tests a mathematical model of Michinoeki from the standpoint of how
those four basic functions significantly influence its performance, thus uniquely
contributing to extant knowledge. Using data drawn from Michinoeki in Chugoku area,
this research attempts to shed light on the relationship between four basic functions andits performance including sales revenue and number of customers who passed throughthe shop cashier, to confirm the validity of the new four function model. Based on thefindings, the managerial implications are discussed, the study limitations are identified
and directions for further research are suggested.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS5-2 Relationship Analysis on the Number of Customers of Michinoeki in Kyushu
RegionToru Hiraoka, Shiori Nishimura (University of Nagasaki, Japan), Hirofumi Nonaka (Nagaoka
University of Technology, Japan), Minoru Kumano (University of Miyazaki, Japan)
We extract relevant factors or existence of facility / service to the number of customersof Michinoeki in Kyushu region, and estimate the number of customers from each factor
or existence of facility / service. We pick up facility area (whole), facility area (sales
office), number of parking units, traffic volume, number of items (sales office), overall
project cost, and municipal population. By correlating these factors and the number ofcustomers, we find factors that are related to the number of customers. And we pick up
the 44 facilities / services, and analyze the correlation between the 44 facilities / services
and the number of customers. In addition, we perform multiple regression analysis toestimate the number of customers from these factors or existence of facilities / services,and verify the performance of multiple regression equations for each factor or existenceof facility / service.

OS5-3 Emotional Contribution Analysis of Online Reviews
Elisa Claire Alemán Carreón, Hirofumi Nonaka (Nagaoka University of Technology, Japan),
Toru Hiraoka (University of Nagasaki, Japan), Minoru Kumano (University of Miyazaki,
Japan), Takao Ito (Hiroshima University, Japan), Masaharu Hirota (Okayama University of
Science, Japan)
In response to the constant increase in population and tourism worldwide, there is a needfor the development of cross-language market research tools that are more cost and timeeffective than surveys or interviews. In order to address the issue, we extracted the mostinfluential keywords in emotional judgement from Chinese online reviews. Using an
entropy based mathematical model and SVM, we determined the words that most closely
represent the demands and emotions of this customer base. Classifying these words
further as grammatical or subject words, we analyzed both the tendencies in writing
online reviews for this customer base and their specific topics of interest.

OS5-4 An Approach to Visualize Place of Interest and Shooting Spot Using
Geo-Tagged Photographs
Masaharu Hirota (Okayama University of Science, Japan), Masaki Endo (Polytechnic
University, Japan), Hiroshi Ishikawa (Tokyo Metropolitan University, Japan)
In this paper, we extract shooting spots and area of interests using geo-tagged
photographs from social media sites. Shooting spot is one of a type of hotspot in an area
where many photographs have been taken. Also, area of interest is usually attractive asa tourist spot for many people (e.g., Colosseum, Statue of Liberty). These area is usefulto analyze tourism industry. We demonstrate our approach by extracting areas of interestand shooting spot using photographs annotated with metadata from Flickr.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS6 Kansei Engineering and Applications (4)OS6-1 Histogram Analysis Method Based on Gaussian Distribution and Curvature
Computation (I) ---- Peaks and Valleys Detection ---Yusuke Kawakami*, Tetsuo Hattori**, Yoshiro Imai**, Kazuaki Ando**,Yo Horikawa**, R. P. C. Janaka Rajapakse***(*DynaxT Co., Ltd., Japan), (**Kagawa University, Japan)(***Tainan National University of the Arts, Taiwan)
This paper presents an analysis method of image histogram using curvature computation
based on Gaussian distribution. By the image histogram and curvature computing overthe cumulative histogram, we can not only detect the peaks and valleys in the image
histogram, but also obtain the accompanying information on the peaks and valleys suchas those shapes and sizes. In this paper, we propose the information extraction methodfrom image histogram using the curvature computation, based on the assumption thatthe peaks and valleys are approximated by the same number of Gauss density functions.

OS6-2 Histogram Analysis Method Based on Gaussian Distribution and Curvature
Computation (II) ---- Experimentation ---Yusuke Kawakami*, Tetsuo Hattori**, Yoshiro Imai**, Kazuaki Ando**,Yo Horikawa**, R. P. C. Janaka Rajapakse***(*DynaxT Co., Ltd., Japan), (**Kagawa University, Japan)(***Tainan National University of the Arts, Taiwan)
This paper presents an analysis method of image histogram using curvature computation
based on Gaussian distribution. By the image histogram and curvature computing overthe cumulative histogram, we can not only detect the peaks and valleys in the image
histogram, but also obtain the accompanying information on the peaks and valleys suchas those shapes and sizes. In this paper, we expose the experimental results and show theeffectiveness of the proposed method.

OS6-3 Experimental Evaluation of Change Detection Ability in New Sequential
Probability Ratio
Yoshihide Koyama*1, Tetsuo Hattori*1, Yoshiro Imai*1, Yo Horikawa*1, Yusuke Kawakami*2,
Hiromichi Kawano*3, Takeshi Tanaka*4 (*1Kagawa University, *2DynaxT Co., Ltd.,*3
NTT advanced technology Co., Ltd, *4Hiroshima Institute of Technology, Japan)
Previously, we have already proposed a novel method using New Sequential Probability
Ratio (NSPR) for the structural change detection problem of ongoing time series data
instead of using SPRT (Sequential Probability Ratio Test). And in the previous paper, wehave revealed the experimental results by applying the both methods, i.e., NSPR and
SPRT, to time series data that are generated by a multiple regression model. In this paper,
we present the evaluation results of NSPR more concretely in two cases.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS6-4 Application Proposal of Sequential Probability Ratio to Dynamic System
State Estimation
Tetsuo Hattori*1, Yusuke Kawakami*2, Yoshihide Koyama*1, Yoshiro Imai*1, Yo Horikawa*1,
Hiromichi Kawano*3, Takeshi Tanaka*4(*1Kagawa University, *2DynaxT Co., Ltd.,*3
NTT advanced technology Co., Ltd, 4Hiroshima Institute of Technology, Japan)
Previously, we have already presented a relation between the SPRT (Sequential
Probability Ratio Test) based on two hypotheses (i.e. Null hypothesis andAlternative hypothesis) and a binary channel in information theory. And we haveshown that the Bayes’ updating process for obtaining a posteriori probability by
the received signal through binary channel is very similar to the SPRT computing.
In this paper, extending the definition of SPRT to the multi hypotheses condition,
we propose to apply the extended SPRT to the internal state estimation of
dynamic system.

P( z1 | S i )Si

P( z1 | Si )P( z 2 | Si )Si

P ( z 2 | Si )

z
1

z
2

OS7 Mobile Robotics (8)OS7-1 An Empirical Evaluation of Grid-based Path Planning Algorithms on Widely
Used in Robotics Raspberry Pi Platform
Anton Andreychuk, Andrey Bokovoy (RUDN University, Russian Academy of Sciences, Russia)
Konstantin Yakovlev (Russian Academy of Sciences, Higher School of Economics, Russia)
We compare three widely used grid-based path planning algorithms, A*, Jump
Point Search, Theta*, in terms of runtime performance on a desktop personal
computer and on the Raspberry Pi 2 embedded computer widely used in modern
robotics. We also evaluate the performance of recently introduced angleconstrained path planning algorithm, LIAN, on both computers. Two principal
questions are targeted. First: to what extent modern embedded computers are
slower than conventional desktops when solving path finding problems on grids.
The answer is – one order of magnitude. Second: how well the former scale up tolarger problems. The answer is – in the same way as desktop PCs. To provide afair comparison all the algorithms are coded from scratch using the same data
structures and programming techniques.

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OS7-2 Development of the insectoid walking robot with inertial navigation system
Vitaly Egunov, Andrey Kachalov, Michail Petrosyan, Pavel Tarasov, Elena Yankina(Volgograd State Technical University, Russia)
The article is devoted to the problem of managing the walking insectoid robot hexapod. The developed robot uses an inertial navigation system based on
accelerometer ADXL345 and gyroscope ITG-3200. Options for filtering data
received from the inertial sensors, the methods of combining accelerometer andgyroscope data for determining the roll and pitch are considered. To visualize theposition of the mobile robot the original software was designed. The program wasdeveloped for a microcomputer that transmits the calculated total variance (rolland pitch) over a wireless Wi-Fi network to the personal computer running
program that processes data values. The obtained data is processed and used
todisplay the object with the help of the OpenGL library.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS7-3 Enhancing semi-dense monocular vSLAM used for multi-rotor UAV
navigation in indoor environment by fusing IMU data
Andrey Bokovoy (Russian Academy of Sciences, RUDN University, Russia)
Konstantin Yakovlev (Russian Academy of Sciences, Higher School of Economics, Russia)
We propose the enhancement of the modern vision-based monocularsimultaneous localization and mapping (vSLAM) method, e.g. LSD-SLAM, used
for compact multi-rotor UAV indoor navigation, by fusing inertial measurement
unit (IMU) data with camera images. We suggest removing the cost-expensive
loop-closure optimization algorithm from the vSLAM pipeline and replacing itwith the computationally efficient flow estimation procedure based purely on
IMU data. The input IMU flow is being processed by the Extended Kalman Filter
based techniques for localization purposes and used further in LSD-SLAM
algorithm for UAV pose estimation. We evaluate the proposed algorithm using
the modeled indoor environment originally used for RoboCup Rescue Simulation
League 2013 competition and “hector_quadrotor” – commonly used in modelling
simulated UAV model. Evidently, implementation of the suggested enhancement
procedure results in significant drop-down of the runtime and leads to obtaining
maps and trajectories of higher accuracy.

OS7-4 Method of finding the android program motion for the ZMP trajectory of acertain type
Alexander Gorobtsov, Pavel Tarasov, Andrey Skorikov, Alexey Markov, Andrey Andreev(Volgograd State Technical University, Russia)
The problem of finding the program motion of biped robot with a given ZMP
trajectory is considered. It is assumed that this provides a stable ZMP trajectoryof the robot motion. The equations of the robot motion consist of the equationsof the robot dynamic itself and the stability conditions equations, which include
the coordinates of the ZMP trajectory. It is proposed to seek the solution ofstability equations on a limited set of some concerted movements of the robot.
Several types of such concerted movements are considered. The application ofthis method for the android with a mass of 60 kg and height of 160 cm isdescribed. To implement the method the original multibody system dynamics
modeling software (MBS software) is used. The computational aspects of themethod and approaches to speed-up computations are considered.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS7-5 Path Planning for Indoor Partially Unknown Environment Exploration and
Mapping
Aufar Zakiev¹, Roman Lavrenov¹, Vadim Indelman², Evgeni Magid¹(¹Kazan Federal University, Russia)(²Technion-Israel Institute of Technology, Israel)This paper addresses a problem of partially unknown environment
exploration and mapping. The proposed path planning algorithm provides
global and local goals search taking into account limited sensing range andvisibility constraints that arise from obstacles. Looking for local goals near a
global path maximizes robot utility and helps avoiding returns to regions withlow potential gain. All stages were tested in ROS/Gazebo simulations andresults were compared with a naive algorithm that was proposed earlier.

OS7-6 Simulation of service robot swarm behavior
Alexei Lushnikov¹, Vlada Kugurakova¹, Timur Satdarov², Arthur Nizamutdinov¹(¹Higher School of ITIS, Kazan Federal University, Russia, ²KUKA Robotics, Russia)
In this paper, we present an implementation 3D simulation of a swarm ofintelligent service robots in Unity3D. Swarm’s task and purpose is clean-up of anassigned area. We compared and analyzed different possible algorithms of such
swarm’s behavior. Implementation includes prevention of collision between
robots themselves and humans that walk through their area of effect and can be
expanded to any other obstacle, moving or stationary. The implementation issuitable for serving as a basis for future real-life construction of a service robot
swarm.

OS7-7 Smart Spline-Based Robot Navigation on Several Homotopies: Guaranteed
Avoidance of Potential Function Local Minima
Roman Lavrenov (Kazan Federal University, Russia)
Potential function based methods provide powerful solutions in tasks of local andglobal path planning. They are characterized implementation simplicity, butsuffer from navigation function local minima. In this paper we propose amodification of our original spline-based planning algorithm. Voronoi-based
approach provides a good initial path as first iteration. A new safety criterion is
integrated into path planning to guarantee path safety. The modified algorithm
was implemented in Matlab environment and demonstrated significant
advantages over the original algorithm.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS7-8 Virtual Experimental Stand for Automated Fiducial Marker Comparison in
Gazebo Environment
Ksenia Shabalina1, Artur Sagitov1, Hongbing Li2, Edgar A. Martinez-Garcia3, Evgeni Magid1(1Kazan Federal University, Russia)
2( Shanghai Jiao Tong University, China)(3Universidad Autónoma de Ciudad Juárez, Mexico)
Fiducial marker systems are used by multiple visual applications, including
robotics, augmented reality, industrial production, good packaging anddispensing, and all these applications require certain quality assurance formarkers. In this paper, we present an experimental automated approach forfiducial marker systems comparison in virtual environment. Previously, in a setof pilot experiments, we had compared ARTag, AprilTag, CALTag marker
systems under three types of conditions: systematic occlusion, arbitrary overlap
with an object and marker rotation. In effort to statistically improve our previous
work, we faced a necessity to conduct over a thousand of additional experiments
and, as such amount of experiments is impossible to perform manually, weconstructed a virtual robot in Gazebo environment that performs all necessary
manipulations. This paper overviews our environment and automated comparison
algorithm. Further, we will introduce Gaussian noise in order to bring our virtual
experiments closer to real world conditions.

OS8 Intelligence Control Systems and Applications (11)OS8-1 An Automated Optical Inspection system for a tube inner circumference state
identification
Chung-Wen Hung, Jhen-Gu Jiang, Hsien-Huang P. Wu, Wei-Lung Mao(National Yunlin University of Science & Technology, Taiwan)
An Automated Optical Inspection, AOI, system for a tube inner circumference
state identification is proposed. In order to improve the efficiency of the
traditional chopsticks industry in the process, the AOI system is developed. In thechopsticks production line, this AOI system is installed after the material feed
equipment to complete the screening to reduce the unnecessary cost of
expenditure. Chopsticks tube states identification base on the machine vision
software –MVTec HALCON, and it will be implemented with EmguCV library.
The different algorithms of image processing are used to sort the material into
five groups: “Normal”, “Large”, “Small”, “deformation” and “empty”. The
algorithm will be detailed in this paper, and the experimental results will also be
shown in this paper to present the proposed AOI system is workable.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS8-2 Implementation of the Mobile Based Robot Arm for Image Recognition
Ji-Hua Li, Jr-Hung Guo, Kuo-Lan Su(National Yunlin University of Science & Technology, Taiwan)
The paper develops a mobile based robot arm using KNRm system. The mobile
based robot arm contains two parts： One is mobile platform: The other is a fourjoint robot arm. The core of the KNRm system uses the NI Single-Board RIO
9606 module that is manufactured by National Instruments (NI) Company. The
structure of the mobile based robot arm is built by Matrix element. The mobile
based robot arm integrates some sensors, three DC servomotor motors, four RC
servomotors, a controller, and an image processing module. Trapezoidal
acceleration and deceleration algorithm and Proportional-Integral-Derivative(PID) algorithm are used to control each DC servomotor. The mobile platform
embeds a robot arm with four degrees of freedom on the front side. The driverdevice of the robot arm is RC servomotor. In the experimental results, the mobile
based robot arm can search and recognize the assigned billiard ball using image
binarization method and Otsu algorithm by the image system. Finally, the robot
arm moves approach to the assigned color ball, and catches the ball moving to theassigned position, and puts down the ball.

OS8-3 Reinforced Quantum-behaved Particle Swarm Optimization Based Neural
Networks for Image Inspection
Li-Chun Lai, Chia-Nan Ko (Nan Kai University of Technology, Taiwan)
The paper combines the niche particle concept, quantum-behaved particle swarm
optimization (QPSO) method with chaotic mutation to train neural networks forimage inspection. When constructing the reinforced quantum-behaved particle
swarm (RQPSO) to train neural networks (RQPSONNs) for image inspection,
first, image clustering is adopted to capture feasible information. Then the
database of image can be built. In this research, the use of support vector
regression (SVR) method determines the initial architecture of the neuralnetworks. After initialization, the neural network architecture can be optimized
by RQPSO. Then the optimal neural networks can perform image inspection.
In this paper, the program of RQPSONNs for image inspection will be built. The
values of root mean square error (RMSE) and peak signal to noise ratio (PSNR)
are calculated to evaluate the efficiency of the RQPSONNs. Moreover, theexperiment results will verify the usability of the proposed RQPSONNs forinspecting image. This research can be used in industrial automation to improve
product quality and production efficiency.

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Video Capture Card

Control PlatformC

CCD

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS8-4 Development of IoT Module with Backup and Data-security Functions
Jr-Hung Guo, Kuo-Hsien Hsia, Kuo-Lan Su(National Yunlin University of Science & Technology, Taiwan)Internet of Things (IoT) is one of the most popular research topics. There havebeen many studies and products about this topic. However, there is few researches
about the correctness of data and the mutual support of modules. In this paper,
we developed an IoT module with multi-sensor and communication interface. It
debugs and confirms the data from multiple modules and sensors using the fusion
and the redundant algorithms. It can also sustain or replace a possibly fail IoT
module via multiple communication interface. The dynamic identification
technology is used to ensure the security of data transmission. Hence the IoT
system can be more stable and more secure. In this paper, the program of
RQPSONNs for image inspection will be built. The values of root mean squareerror (RMSE) and peak signal to noise ratio (PSNR) are calculated to evaluate
the efficiency of the RQPSONNs. Moreover, the experiment results will verify
the usability of the proposed RQPSONNs for inspecting image. This research canbe used in industrial automation to improve product quality and production
efficiency.

OS8-5 Development of Auto-Stacking Warehouse Truck
Kuo-Hsien Hsia, Ming-Guang Wu, Jun-Nong Lin, Hong-Jie Zhong, and Zh-Yao Zhuang(Far East University, Taiwan)
Warehouse automation is a very important issue for the promotion of traditional
industries. For the production of larger and stackable products, it is usuallynecessary to operate the stacker for the stacking and storage of the products. The
general autonomous warehouse-truck does not have the ability of stacking
objects. In this paper, we develop a prototype of auto-stacking warehouse-truckthat can work without direct operation by a skill person. Just commanded with an
RFID card, the stacker truck can move under the prior-planned route, and pickand deliver the product from the designated storage area or deliver and put the
product to the designated storage area in the warehouse. It can significantly
reduce the manpower requirements of the skilled-person of fork lift technician
and improve the safety of the warehousing area.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS8-6 Development of Four-axis SCARA Robotic Arm Built on Automation Control
SystemJr-Hung Guo, Kuang-Wei Chuang, Kuo-Lan Su(National Yunlin University of Science & Technology, Taiwan)
The paper presents a integral design method to integrate “DFM” (Design for
Manufacturing) and “DFV” (Design for Verification), and completes the
production system from simulation to actual verification using the SCARA robot
arm. In the aspect of kinematics of horizontal joint, the 2D model is establishedby mathematical derivation and the analysis of the robot arm characteristics using“Jacobian” kinematic, and integrates into the verification design. The
electromechanical integration of the proposed system is combined SCARA’scharacteristics, automatic control components, sensors; electrical, pneumatic
circuit design and software programming for implement. Then user can lead therobotic arm to run the coordinates and movement path with proper accuracy,efficiency and reliability. The program language of the SCARA uses “DRL”(DELTA Robot Language) that is developed by DELTA Company. This researchalso proposes a design method using automatic palletizing simulate layout for the
SCARA robot arm, and uses the framework of “IoT” (Internet of Things) to build
the near-end and remove applications via LAN and WLAN (WiFi).

OS8-7 Novel Detection Scheme for Stolen Password File
I-Hsien Liu, Chia-Hsiu Chen, Jung-Shian Li (National Cheng Kung University, Taiwan)
Over the past decades, with the popularity of personal computers and mobile
devices, the convenience of the Internet, and the development of social networks,
more and more people rely on the Internet to deal with or share things on life,
such as online payment, online shopping, etc. All of the above are need to use theuser authentication to achieve identity confirmation in order to use theappropriate application. The evolution of the password so far has developed avariety of forms to achieve certification. For example, fingerprints, sound waves,
retina and so on. However, the traditional digital password authentication
credential is still widely accepted by the public, but in the past few decades, thecontent of this certification mechanism hasn’t been much change. The use of
traditional password is the most common and important authentication credential
for today's online society. However, with the fast development of network
technology and easily memorized and guessed password with low strength,
password cracking events frequently occur. Consequently, the password files areleaked. The events are not easily to be detected and it results in great businesslosses. How to avoid password cracking and detect the event of stolen password
file has become an important information security issues. Recently, Juels andRivest published a paper about Honeyword system using one account withmultiple passwords for detection of illegal intrusions. Our research explores therelevant password cracking technology and password-related policy.
Accordingly, our research improves the Honeyword system proposing a new
password storage mapping method. If the password file is stolen, an attacker
could not know any user’s correct password. This method can reduce additional
space of storing passwords with ability to detect security event for stolen
password files. We apply our method to the latest version of OpenLDAP Server
to prove its feasibility.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS8-8 Honeypot System of SCADA Security Survey
Kuan-Chu Lu, I-Hsien Liu, Jung-Shian Li (National Cheng Kung University, Taiwan)
Now the essential infrastructure is used SCADA system monitoring, like nuclear
plants, Water Conservancy Bureau, manufacturing, and logistics industry. With
the rapid development of the internet, now the IOT (internet of things) turn every
massive infrastructure from the closed network into the open way made the wholesystem became more convenient. by contrast, the system will face the threat neverbefore, that is why the whole system needs to build a safe and protectedmechanism through remote control for prevented the external attack, to avoid
SCADA system crashed lead to international security and economy issue. Forprotecting the important assets, we need to understand the tools can preserve
system safety to prevent the attackers invade the SCADA system. This study
investigating the defense mechanism of the SCADA system and proposed aneffective defensive structure to protected the safety of SCADA system.

OS8-9 An EtherCAT Battery Test System
Chung-Wen Hung , Bo-Min Wang, Wen-Ting Hsu, Jhen-Gu Jiang(National Yunlin University of Science & Technology, Taiwan)
A battery test system is a key equipment to ensure lifetime of batteries andportable device performance. On the other hand, because of the real timerequirement in industry 4.0, EtherCAT communication is considered a standard
interface of industry 4.0. It is based on the Ethernet hardware, and its advantages
are larger transmission bandwidth, shorter update time, and on minimum
synchronization time jitter. In order to support EtherCAT communication
function for battery test systems, this paper purposed an EtherCAT interface foran original battery test system. The TwinCAT environment developed by
Beckhoff is adopted to be the EtherCAT interface Master, and Renesas’s EC-1
evaluation board is used as the EtherCAT interface slave controller. The
commands are sent to the battery test system through the RS485 interface andModbus protocol from the EC-1 board. Finally, a C# software is proposed toprovide friendly GUI interface for user.

OS8-10 Surface Defect Detection for Tube Object Based on Single Camera
Hsien-Huang Wu, Chang-Jhu He (National Yunlin University of Science & Technology, Taiwan)
Extrusion tube is a very popular product in the plastic industry produced by a
extruder machine, for example, tubes used in washer machine or in reverse
osmosis (RO) water purification system. To guarantee the quality of the tube
produced for medical use, a surface defect detection system is needed. In thispaper, we use a single camera combined with a telecentric lens and properly
designed mirror set to achieve the complete coverage of the object surface for full
defect detection. Based on the properly designed image acquisition equipment
and image analysis techniques, the final system for extrusion tube defectdetection can successfully detect defects of black spots, bumps, injury, etc., witha defect detection rate of about 95%, and the detection speed is up to 1578 mm/s,
which can be deployed for the online usage.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS8-11 Client Searching Privacy Protection in Encrypted Database

Hsien Liu, Chuan-Gang Liu, Cheng-Jui Chang, Jung-Shian Li(National Cheng Kung University, Taiwan)

In recent years, Cloud Storage Providers (CSP) works hard to successfully
achieve cheap cloud storage. To prevent losing important data in their own device,some of the people backup their data to the cloud. It becomes much more
important for securing the data stored in the cloud. Although CSP claims thatstorage service is much more secure than before, malicious attackers invade theservers continuously. To prevent data in cloud stolen by the hackers, searchable
encryption can be an useful tool. The key point of searchable encryption can relax
the assumption that CSP is always truthful. Data owner can authorize users how
to search and extract his files accordingly. Our proposed scheme, called SESD
(Searchable Encryption Support Dynamic), provides multi-keyword based
searchable encryption method for the semi-trusted cloud simulations, weobserved the behaviors of the user searching in the encrypted cloud server.
Secondly, the scheme employs a more dynamic way on cloud storage. By
verification in the cloud data service, we found the proposed scheme effective insearchable encryption.

OS9 Theory and Implementation of Neuromimetic Systems
OS9-1 Study of real-time biomimetic CPG on FPGA: behavior and evolution
Timothée Levi1,2, Kazuyuki. Aihara1, Takashi Kohno1(1The University of Tokyo, Japan, 2University of Bordeaux, France)
Locomotion is one of the most basic abilities in animals. Neurobiologists haveestablished that locomotion results from the activity of half-center oscillators thatprovides alternation of bursts. Central Pattern Generators (CPGs) are neuralnetworks capable of producing rhythmic patterned outputs without rhythmic
sensory or central input. We propose a network of several biomimetic CPGs using
biomimetic neuron model and synaptic plasticity. This network is implemented
on a FPGA (Field Programmable Gate Array). The network implementationarchitecture operates on a single computation core and in real-time. The
implementation of this CPGs network is validated by comparing it with biological
data of leech heartbeat neural network. From these CPGs, we study the evolution
and the behavior of chains of CPGs to understand how CPG evolves over timeand how single broken CPG can be fixed.

OS9-2 A Metaheuristic Approach for Parameter Fitting in Digital Spiking Silion
Neuron Model
Takuya Nanami, Takashi Kohno (The University of Tokyo, Japan)
DSSN model is a qualitative neuronal model designed for efficient
implementation in digital arithmetic circuit. In our previous studies, we developed
automatic parameter fitting method using the differential evolution algorithm forregular and fast spiking neuron classes. In this work, we extended the method tocover low-threshold spiking and intrinsically bursting. Firstly, we optimized
parameters of the fast subsystem of the DSSN model in order to reproduce thatof the ionic-conductance model. Secondly, we optimized remaining slow
parameters of the DSSN model that control bursting dynamics in order toreproduce that of the ionic-conductance model.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS9-3 Real-time Digital Implementation of HH neural network on FPGA: corticalneuron simulation
Farad Khoyratee1, Sylvain Saïghi1, Timothée Levi1,2( University of Bordeaux, France, 2The University of Tokyo, Japan)
1Millions of people worldwide are affected by neurological disorders. The longterm goal of replacing damaged brain areas with artificial devices also requires
the development of neuronal network models. The hardware set-up that will be
used to interface the biological component is a Spiking Neural Network (SNN)
system. This SNN implements biologically realistic neural network models,spanning from the electrophysiological properties of one single neuron up to
network plasticity rules. The most biologically relevant mathematical neuronmodel was proposed in 1952 by Hodgkin and Huxley (HH). Here, we propose areal-time digital implementation of hundreds biomimetic HH neurons designed
by FPGA as a central processing unit and DAC (Digital to Analog Converter) as
the spike generator. To validate our HH neuron, we simulate different neuron
family of cortical neurons. This research will be used for neurological diseasemodeling and bio-hybrid experiments.

OS9-4 Finding appropriate parameter voltages for driving a low-power analog
silicon neuron circuit
Atsuya Tange, Takashi Kohno (The University of Tokyo, Japan)
Silicon neurons are VLSI circuits thatwhich mimic the dynamical behaviors ofreal neurons with electronic circuits. They are expected to used as elements inof
large-scale networks of artificial biomimetic neuron circuits or bio-silico hybrid
systems. We focused on a silicon neuron circuits designed by with a qualitative
neuronal modeling approach for low power consumption. But tThis circuit can
mimic a variety of neuronal cell classes by selecting appropriate values for its
bias voltages. Its’s characteristics are influenced by some factors like temperatureor mismatch and secondary effects of transistors. These factors cause error
between numerical simulation results in the designing stage and thecharacteristics of implemented circuits. Therefore we have to tune parameterthebias voltages of individual neuron circuits to get desired dynamical behaviors
after circuit implementation. We constructed the algorithm to automatically findappropriate values ofr the parameterbias voltages.

OS9-5 A low-power silicon synapse circuit with tunable reversal potential
Ashish Gautam, Takashi Kohno (The University of Tokyo, Japan)
Synapses are the basic building blocks of signal processing and computation inboth real and artificialsimulated neuronal networks. We present the concept andsimulation results of a pseudo five bit, low power silicon synapse circuit thatemulates realistic postsynaptic current profiles by fitting them using the
exponential current-voltage relationship of MOSFET in the sub-threshold regimeof operation. Adjusting the parameters, our circuit is capable of generating both
excitatory (AMPA/NMDA type) and inhibitory (GABA type) postsynaptic
currents covering a wide range of time constants. Also emulating the real synapse,
the post-synaptic current is proportional to the difference between thepostsynaptic membrane potential and a tunable synaptic reversal potential.

- 63 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS9-6 New methodology of neural network reconstruction for "in vitro" culture
on Multi Electrode Array (MEA)
Timothée Leleu1, Timothée Levi1,2, Takashi Kohno1, Kazuyuki Aihara1(1The University of Tokyo, Japan, 2University of Bordeaux, France)
The realization of neural prostheses, that could improve the quality of life formillions of people around the world affected by cognitive and/or motor disorders,requires understanding the details of the micro-connectivity between neurons in
the biological tissue. Techniques for infering the network structure are generally
based on cross-correlations and result in ambiguous reconstruction. Recently, we
have proposed a method for which there is one-to-one correspondence between
statistical properties of packets of spikes (or avalanches) and the network
structure. This method utilizes the higher order statistics of spike trains in order toreconstruct the network structure unambiguously. We show using numericalsimulations of various biological neuron models that the proposed method is
general, and is particularly well-fitted for the analysis of neural activity recorded
from cultured neuronal networks coupled to microelectrode arrays.

OS10 Intelligent Robotic Manufacturing (2)OS10-1Technique of Recovery Process and Application of AI in Error Recovery
Using Task Stratification and Error Classification
Akira Nakamura*1, Kazuyuki N agata*1, Kensuke Harada*2 and Natsuki Yamanobe*1(*1 National Institute of Advanced Industrial Science and Technology (AIST), Japan*2
Osaka University, Japan

task2

Class 4

error
error

Class 3

task1

Class 1

Process flow with error recovery

Class 2In manipulation tasks of industrial production, plant maintenance, andhousework, error recovery is an important research theme for robots. However,systematical methods of error recovery have not been appeared yet. We haveproposed error recovery using the concepts of both task stratification and error
classification. In the error recovery, the judgment of the error is performed inprocesses of the practice of the system. In this paper, the recovery process after
the judgment of error is described in detail. In particular, we will explain how tochange the parameters of planning, modeling and sensing when error recovery is
performed. This contributes to deal with error recovery systematically. On theother hand, to experience a lot of error recoveries can accumulate the data about
the recovery method. Furthermore, in this paper, we also refer to apply techniqueof artificial intelligence such as Deep Learning to error recovery.

Changeof several
parameters

Classification of error

taskk

error

Class 1 → Execution error
Class 2 → Planning error
Class 3 → Modeling error
Class 4 → Sensing error

OS10-2 Motion selection for 3D robotic snap assembly
Peihao Shi, Kensuke Harada, Weiwei Wan, Ixchel G. Ramirez(Osaka University, Japan)
Juan Rojas(Guangdong University of Technology, China), Hiromu Onda(AIST, Japan)
In this paper, we aim to provide an assembly method for a snap joints assemblytask. We create a 3D cellphone model and use ADAMS simulation environment
to analyze the relative motion between screen and backer part. We focus on two
points in this research. 1) Two kinds of relative motion between the screen andbacker parts, i.e., the rotation-based and the translation-based methods, arecompared, and 2) difference between assembly and disassembly is analyzed. By
using the maximum elastic energy in an assembly process, we show that 1) the
rotation-based assembly motion has better robustness than the translation-based
assembly motion in cellphone assembly tasks when we set the same initial
position error, and 2) The rotation-based assembly method is more effective forsnap joint disassembly.

- 64 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS11 Educational Application Making Control Engineering Approach (5)OS11-1 Control Performance Assessment Method as Assessment of Programming
Learning Achievement
Yoshihiro Ohnishi (Ehime University, Japan)
It is an important problem how to estimate the learning achievement of the
programming learning. However, the quantitative evaluation method according
to the learning achievement is difficult. On the other hand, "work" of a control
program influences the control performance of the plant by petrochemicalindustry, and to have an influence on the operation cost, Improvement of aprogram and am planning for productivity improvement are suggested byevaluating the control performance quantitatively. This research considers theusing control performance assessment method for the achievement value of the
programming learning.

The example of thegood control result
and the bad control
result.

OS11-2 Practice of Control Education by Experiment using Robot

Shinichi Imai, Hideto Matsui and Akira Yamada (Tokyo Gakugei University, Japan)

For students who attend lectures in control engineering, there are not many
students w1-1e many formulas. For that reason, various studies have been
conducted on control education. Therefore, in this research, we propose acontrol education method using a robot so that interests and interests are given
to students, practice lessons and verify its effectiveness.

OS11-3 Development of Support Teaching Material for Nurturing Cooperativity
through Playing
Kazuo Kawada (Hiroshima University, Japan)

I have been conducted educational activities utilizing robots corresponding toeach stage from kindergartens to junior high schools. In this study, I propose
and verify an educational material that supports collaborative operating by
experiences related to people and things. Specifically, three children have a
joystick for operating the robot. The robot does not move unless you
manipulate the joystick at the same time. I developed the supporting teachingmaterial that nurture cooperativeness through play.

OS11-4 On Methods for Teaching in Training for Keeping Tempo Constant in Music
Hideyuki Tanaka and Keita Ueda (Hiroshima University, Japan)
Ability of keeping rhythm is one of important factor in playing music. In thispaper, the authors carry out experiments of training for keeping tempo
constant in music. Experiments are carried out for experts and non-experts ofmusic, and two methods for giving instructions are compared: The first
method gives feedbacks by graphs and the other one by language. In order toensure objectivity of the experiments, measurement data are collected byProcessing, and changes of tempo etc. are analyzed by defining evaluate
functions, where Scilab is used for computing the values of the evaluate
functions. The experiments reveal that there are differences between experts
and non-experts in giving instructions.
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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS11-5 Reinforcement Learning as a Theoretical Framework for Education
Masayasu Nagamatsu, Yuki Moriguchi (Hiroshima University, Japan)
Reinforcement Learning as a computational model of human learning, hasrecently
becomethesubjectofintensive
investigation(Barto,A.G.,2005;Vigortio,C.M., 2010). Recent findings include: neuralsignature of hierarchical reinforcement learning, and multiple roles of reward
signals in the human brain. These findings not only provide further theoreticalevidences that complementary for traditional statistical inference in educational
research, but also provide framework for model based design of educational
processes. Types of evidence for education, and its relation to recent findings ofhuman reinforcement learnings are discussed.

OS12 Software Development Support Method (4)OS12-1 Negative Test Case Generation from an Extended Place/Transition
Net-Based Mutants
Tomohiko Takagi1, Tetsuro Katayama2(1Kagawa University, 2University of Miyazaki, Japan)
EPN (Extended Place/transition Net)-based mutants are formal behavioral
models of software that contain intended failures. In negative testing, wellselected EPN-based mutants are used to generate negative test cases to confirm
that software does not include serious or possible failures. However, the large
state space and feasibility problem on EPNs cause the difficulty of generating thenegative test cases from EPN-based mutants. The aim of our research is toconstruct a technique in which effective negative test cases for detection of
intended failures are generated from EPN-based mutants. In this technique using
ant colony optimization, ants heuristically search better paths (i.e., negative test
cases) to find foods (i.e., intended failures) on a field (i.e., EPN-based mutant).

t1 (nat p) [] / v:=v+p;p1

t1 (nat p) [] / v:=v+p;t4 () [] /...

p2

p1

p3

failure appeared[0, 1, 0], v=0

t1 (1)[1, 0, 0], v=1

t2 ( )t2 ( )[0, 1, 0], v=3[0, 1, 0], v=1

t1 (1)

t1 (2)

t1 (2)

t1 (0)...

(2) Construction and selection of EPN-based mutants(1) Construction of an EPN

t1 (3)

p3

changedt2 () [] /... t3 (nat p) [v>=p] / v:=v-p;t2 () [] /... t3 (nat p) [v>=p] / v:=v-p;[1, 0, 0], v=3

t4 () [] /...

p2

t1 (2)

t3 (0)[0, 1, 1], v=0t1 (nat p) [] / v:=v+p;p1

t4 () [] /...

p2

p3

t2 () [] /... t3 (nat p) [v>=p] / v:=v-p;(3) Generation of negative test cases from selected EPN-based mutants

OS12-2 Development of a Mutant Generation Tool Using a Genetic Algorithm for
Extended Place/Transition Nets
Tomohiko Takagi, Shogo Morimoto (Kagawa University, Japan)
An EPN (Extended Place/transition Net) is used as a formal model that represents
the behavior of software. When mutation testing is performed based on the EPN,
failures are intentionally inserted into an original EPN (EPN that represents the
expected behavior of software) in order to create mutant EPNs. A large numberof higher-quality mutant EPNs are needed to expect the higher degree of accuracy
for a mutation score, but the techniques to generate them have not been
established. To address this problem, we construct an algorithm to generatemutant EPNs, and develop a tool to execute the algorithm. In this algorithm using
a genetic algorithm, a set of mutant EPNs corresponds to a chromosome, and thefitness of each chromosome is evaluated based on an original EPN weighted by
metrics.

- 66 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS12-3 Implementation of RETUSS to Ensure Traceability between Class Diagramin UML and Java Source Code in Real Time
Keisuke Mori, Tetsuro Katayama, Yoshihiro Kita†, Hisaaki Yamaba, Kentaro Aburada,
Naonobu Okazaki(University of Miyazaki. †Tokyo University of Technology, Japan)
It’s increasing the importance of software in society, and it’s becoming more
important to secure the quality of software. Ensuring the traceability ofdeliverables is one of effective methods to secure the quality of software. It canverify that the requirements are reflected in the programs, and close the gap
between the documents and the source code. But it has two problems: taking laborand time, and causing mistakes by human handling. This paper has implemented
RETUSS (Real-time Ensure Traceability between UML and Source-code
System) in order to solve the above two problems. RETUSS can ensure thetraceability between Class diagram in UML and Java source code in real time.

OS12-4 Prototype of a Tool to Detect Specific Comments
Satoshi Tanoue, Tetsuro Katayama Yoshihiro Kita†, Hisaaki Yamaba, Kentaro Aburada,
Naonobu Okazaki(University of Miyazaki, †Tokyo University of Technology, Japan)
This paper has developed a prototype of a tool to detect specific comments. With
the prototype, you can use regular expressions, describe patterns of detected
strings in a configuration file, and then detect a specific comment. Even whenother comments to be newly detected appears, it can flexibly be coped with byadding the pattern of the detected strings to the configuration file. The prototype
was applied to projects with 5,000 LOC (Lines of Code) or more, and examined
the precision and recall rate. As a result, the recall rate achieved 100% and theprecision rate achieved 80%. By using the prototype, it is possible to detectcomments which express tasks remaining in the source code and improper
comments presented in the source code. Reducing their comments can improveunderstandability of the source code.

OS13 Human Interface and Artificial Intelligence (5)OS13-1 A Recipe Decision Support System with Recognition Ability Recoding
Function Using Knowledge Information and Agent
Keita Saito, Taro Asada, Yasunari Yoshitomi, Ryota Kato, and Masayoshi Tabuse(Kyoto Prefectural University, Japan)
We have developed a system for recipe recommendation with recognition ability
recoding function using collaborative filtering and impression words. As a humaninterface, we have adopted an agent named as MMDAgent. In the proposedsystem, the first half recommendation process using collaborative filtering andthe second half recommendation process using impression words of ourpreviously proposed system are modified for recording the recognition ability ofan elderly person as a user. The agent asks some questions to the user for findingout the initial decay on his/her recognition ability at the appropriate timings.

- 67 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS13-2 A System for Analyzing Facial Expression and Verbal Response of a Person
while Answering Interview Questions by AgentTaro Asada1, Daichi Kogi2, Ryouichi Shimada3, Yasunari Yoshitomi1, and Masayoshi Tabuse1(1 Kyoto Prefectural University, 2 S.Ten Nines Kyoto Co.,Ltd., 3 JFE Systems, Inc., Japan)
We have developed a system for analyzing facial expressions of a person whileanswering interview questions by agent. The image signal input from web camera
while answering questions is analyzed by our real-time system. Moreover, thefundamental frequencies and the time to utterance of the answerer just after aninterview question is terminated are measured for estimating the mental state of theanswerer. In our previously developed system for analyzing facial expression of aperson while speaking with another person, facial expression intensity could be
affected by (1) a conversation topic, (2) a partner and (3) the facial expression of thepartner. In this research, all of (1), (2) and (3) are fixed by using an agent’s interview.
The experimental result suggests the usability of this system for an interview where
the facial expression and the verbal response are important factors.

Interview by Agent

Analyzing Facial Expression
and Verbal Response

OS13-3 Facial Expression Analysis and its Visualization While Writing Messages
Yasunari Yoshitomi1, Taro Asada1, Kenta Mori2, Ryoichi Shimada3, Yuiko Yano1, and Masayoshi Tabuse1(1 Kyoto Prefectural University, 2 Neyagawa City Hall, 3 JFE Systems, Inc., Japan)
We have developed a real-time system for analysis of facial expressions and its
visualization. The image signal input from web camera is analyzed by our realtime system using image processing software (OpenCV) and the previously
proposed feature parameter (facial expression intensity). Our real-time systemdraws the graph expressing the facial expression intensity change using OpenCV.
We applied the system for expressing emotion as a pictograph based on the facial
expression intensity in writing messages. The experimental result suggests that
our system can be useful for expressing emotion in writing messages.

Facial expression intensity
measurement while writing
message

OS13-4 Recognition of Finger Spelling from Color Images Using Deep Learning
Yusuke Yamaguchi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)
We have developed a system to recognize finger spelling in Japanese sign
language using deep neural networks. As deep neural networks, we adopt Faster
R-CNN. By defining an output class for each finger letter and learning the object
detection network, it is possible to output where the finger letter exists in the input
image. This method does not require depth cameras, magnetic sensors, or otherspecial equipment when used. Furthermore, this does not require preprocessingthat extracts the hand region using human skin colored regions and color gloves
used in other methods using color images. We synthesized a training data set byprocessing images taken with Kinect. As the test data, we input images of
performing finger letters into the trained network and check the score of theoutput area and class.

- 68 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS13-5 Recognition of Texting While Walking Using Convolutional Neural
Networks
Junpei Miyachi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)
The number of people who operate a smartphone while walking increases with the spreadof smartphones. Pedestrians who are texting while walking decrease attention to theirsurrounding environment. This is the cause of falling from station’s platform or bumping
into someone in public areas such as railway stations. The purpose of this study is to detectpedestrians who operate a smartphone using surveillance camera for the support of accident
preventions in railways. The pedestrians have the same features of posture such as hand
position and facial direction. In order to recognize the posture, we employ convolutional
neural networks (CNN), which has improved results in various fields in recent years. In thispaper, we propose the method of the texting while walking recognition using CNN. We
show the classification results of a pedestrian who is texting while walking.

OS14 Advanced Technology on Sensing Technology, Devices, Application (6)OS14-1 A Study on the Lumbar Burden Evaluation of Work using One
Smartphone
Mizuki Maiguma, Hiroki Tamura, Koichi Tanno (University of Miyazaki, Japan)
In this paper, we propose the human lumbar burden evaluation method and state
estimation system using smartphone and it is application to agricultural work. The
proposed system consists of two functions, 1) "State estimation" has a function of
estimating posture (Stand up, Sit down, Crouch, Walk, etc.,) of the subject. 2)"Lumbar burden estimation" has a function to estimate the angle of waist from theangle of the subject's upper body and calculate the lumbar burden in combination
with other parameters. The aim of this paper is to get the data of the subject's work
status in the agricultural field in simple manner and quasi-real time and help improve
the agricultural work efficiency by constructing the agricultural work burden
evaluation system using smartphone. In this paper, we show on the experimental
results of two functions and the evaluation of the actual agricultural work.

OS14-2 A Study on High Accuracy Stride Estimation on Smartphone Combining
Acceleration Sensor and Gyro Sensor
Shunta Nonaka, Hiroki Tamura, Koichi Tanno (University of Miyazaki, Japan)
The stride is an important parameter in human motion analysis and has been
extensively studied by many researchers. This paper focuses on smartphones that are
popular in the world, regardless of the measurement environment. In previous
research, the stride estimation using the acceleration sensor or the gyro sensor
mounted on the smartphone had been studied. However, the estimation accuracy of
stride has an error rate of about over 10 %. In this paper, we propose a highly accurate
stride estimation method using stride correction parameter obtained from crosssection movement in addition to conventional sagittal surface stride using
acceleration sensor and gyro sensor mounted on smartphone. From the results, theerror rate of our proposed method with the stride estimated by kinect sensor (RGBD sensor) as the true value was about 6%, making it possible to estimate the stride
with high accuracy.

- 69 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS14-3 Development of Multi-Sensory Smart Objects Tracking Module for Mobile
Robot Platforms
B. A. D. J. C. K. Basnayake, Y.W.R.Amarasinghe (University of Moratuwa, Sri Lanka)
In the mobile robot systems, the ability to navigate in its environment is important.
Often, the surrounding environment is dynamic and unknown. Object tracking is asensing system employed with most of the robotics navigation systems. Thesesensors can provide real-time information related to the obstacles and target
detections. Living object identification and positioning are difficult compared withstationary obstacles identification, because of their behaviors. But it is important for
robotic platforms which operate in living premises in order to perform collision-freenavigation and localization features. Therefore, we have developed infrared thermal
image based smart living object tracking system which capable of detecting andpositioning movable and stationary living object in a certain range. The system
mainly consists of none contact thermal array sensor and sonar sensor that mounted
in the 2-axes rotatable platform. These sensors capture the surface temperature,
directions to the heated objects and related distance and later the captured
information is analyzed by the filtering and detection algorithms. Based on the above
information, the system will generate real-time point cloud related to the living
objects and fix-obstacles placed in the environment. Developed system will use innavigation, human following and obstacles avoiding applications in mobile robot
systems.

OS14-4 Design and Development of a Conductive Polymer Based 3D – Printed
Tactile Sensor with Square Type Spring Structure
W.H.P. Sampath, A.H.T.E. De Silva, Y.W.R. Amarasinghe (University of Moratuwa, Sri Lanka)
Industrial Robot Manipulators used in the industry lacks force sensory feedback
relating to the force exerted on the grabbing object by the artificial manipulator. In
most of the manipulators, the degree of controlling and handling only done byidentifying the presence and position of objects using optical proximity sensors.
However, it is possible to enhance the controlling of the artificial arm by introducing
a force sensory feedback unit. In this research, design, development and testing of aforce feedback system were discussed using a novel conductive polymer based 2x2
sensing element array incorporated to a novel 3D printed square type spring structure
to provide the user with closed-loop controlling. Arch was featured by a combinationof two – two-point splines where the gradient of starting and end points are zero. The
incorporated conductive polymer is a silicone rubber based polymer which hasenhancements by silica and carbon black, with Silane as the coupling agent. The
spring structure stated in this paper has been designed for force scaling purpose andnumerically analyzed using COMSOL Multiphysics prior to the fabrication to avoid
mechanical failures. The inherent problems in conductive polymer piezo-resistive
characteristics such as operation range deviation w.r.t. chemical composition could
also be overcome by this design approach.

- 70 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS14-5 Design and Development of a Shape Memory Alloy Spring Actuated
Gripper for Minimally Invasive Surgeries
Roshan T.A.U, Amarasinghe Y.W.R, Dayananda N.W.N. (University of Moratuwa, Sri Lanka)
MIS is a novel and emerging surgical procedure in the medical surgery field.
Miniaturization of the tools and the actuators used in MIS is important. The
properties such as high energy density, excellent biocompatibility, corrosion
resistance, miniaturization capability etc. highlights the selection of SMA as theactuation material. Currently there were several studies available about SMA
powered grippers, but in this study, the main intension is to preserve simplicity in thedesign and controlling stage. A kinematic and dynamic analysis was performed in thesoftware based environment using MATLAB and COMSOL Multiphysics
respectively. In the development stage the structural components of the gripper ismade by 3D printing. The SMA spring is made out of Nitinol (55% Ti and 45% Ni)
wire with 0.5 mm diameter, fixed as a spring (6 mm in Dia.) and aged in a Muffle
furnace at 400 C for 15 mins. For the heating of SMA material electric current wasused and joule heating was enabled the actuation. This SMA spring actuator is
combined with a biasing spring which is made out of normal steel in order to achieve
the required opening and closing action of the gripper jaws. Among the different
biasing methods, this was the suitable design as this gripper operates on the opening
mode which is the best way to avoid SMA overheating. Temperature measurement
and a Gripper jaw displacement measurement was taken in order to discuss thefactors influencing gripper performance. As well the tests were conducted to matchthe best compromise between influence of cooling method, SMA activation current,
and operation frequency. The controlling was done by Pulse Width Modulation(PWM) method as it significantly reduces the energy consumption and robust to theexternal disturbances.

OS14-6 Design and Development of Quantum Tunneling Composite based Tactile
Sensors
T.D.I. Udayanga, D.A.M.R. Fernando, H.L.P.L. Chaturanga, B.A.D.J.C.K. Basnayake, Y.W.R.
Amarasinghe (University of Moratuwa, Sri Lanka)
Tactile Sensing is measuring tactile parameters with the aid of physical touch.
Currently, specifically regarding the robotics and biomedical fields, research werelimited by having lack of tactile feedback systems. Hence, tactile sensing has cometo the spotlight of research and has developed so considerably when comparing withthe past decades. Also application areas of tactile sensing has been expanded as new
fields of applications has emerged recently regarding tactile sensing. In this study, aminiaturized novel enclosed tactile sensor was designed and developed using
Quantum Tunneling Composite (QTCTM), which is a conductive polymer composite,
as the sensing element. An enclosed novel structure was proposed so that the sensing
element and spring will be omitted from the environmental effects. Proposed sensor
structure was analysed and manufactured. Experiments were carried out and resultsshows that the sensitivity of this developed tactile sensor to be 0.02 V/N andrepeatability of ±3 N.

- 71 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS15 System and Control (11)OS15-1 Analog circuit design of a novel 4D chaotic system
Hong Niu (Tianjin University of Science & Technology, China)
In this paper, a novel four-dimensional (4D) autonomous chaotic system is reviewed,
and its corresponding new analog circuit is presented based on the modified modulebased approach to chaotic circuit design. The chaotic phase portraits of the newcircuit are given to illustrate the good qualitative agreement between the numericalsimulation and the experimental realization.

OS15-2 A method of end-to-end self-understanding of Chinese paper-dictionaries
Zhijian Lyu(Beijing Institute of Science and Technology Information (BISTI), P.R.China),
Yizhun Peng (Tianjin University of Science and Technology, P.R.China)
This paper introduces a method of end-to-end self-understanding of Chinese paperdictionaries. In this method, a page of Chinese paper-dictionaries is scanned into anelectronic image. And then the electronic image is preprocessed, including undistortion, side scrapping, binarization, and so on. Finally, using an end-to end deeplearning method, the pre-processed electronic image is intelligently segmented, text
recognized, and context understood. Our method has been applied to selfunderstand a serial of Chinese paper-dictionaries, which have more than 13000 pages
and 2.1 millions of phrases. And its correct rate of self-understanding of Chinesephrases is more than 99.5%. Its performance has proved it’s availability.

OS15-3 A multi-robot rescuing system
Huailin Zhao, Zheng Wu, Xiaoxing Wang (Shanghai Institute of Technology, China)
The study subject is a multi-agent system consisting of a few mobile robots. In thesystem, each robot collaborates with the other ones, and they all work together tocomplete the disaster rescuing tasks such as the fire fighting. The multi-agent system
control theory is applied in the system, where each mobile robot is an independent
intelligent individual. The robots communicate wirelessly among th を m. Even
though there is trouble with the individual robots, the others will collaborate among
them in time and adjust their control policy to ensure the system itself working
normally and complete the disaster rescuing task. In the system, an upper computeris designed for supervising, human-machine interfacing and being the transferring
station of the data exchange. The experiment shows that the multi-robot distributed
control system based on WIFI, GPS and INS information is able to achieve theconsistent action such as rescue gathering.

- 72 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS15-4 Dynamic analysis and FPGA implementation of A novel hyper-chaotic
system with one equilibrium point
Shanfeng Wang, Hongyan Jia, Zhiqiang Guo(Tianjin University of Science and Technology, China)
In recent decades, the study on the chaotic system and hyper-chaotic system attracts
more and more interest with developing of non-linear subjects. This paper firstly
presents dynamic numerical analysis of a novel hyper-chaotic system with one
equilibrium, which includes the stability analysis of equilibrium point, bifurcation
diagram, Lyapunov exponent and so on. Then, based on the method of converting
continuous-time differential equation to discrete-time differential equation,
FPGA(Field Programmable Gate Array) implementation for the novel hyper-chaotic
system is finished, and the results from FPGA implementation are consistent withthose from numerical analysis. The work in this paper may provide a method for theapplication of the hyper-chaotic system.

OS15-5 Analysis and circuit implementation for a new fractional-order chaotic
system
Zhiqiang Guo, Hongyan Jia, Shanfeng Wang
(Tianjin University of Science and Technology, China)
2.5

2

1.5

z

This paper firstly recommends a new fractional-order chaotic system, only including
six terms and three multipliers, which is different from the Lorenz and other existing
fractional-order systems. Then some numerical analyses including the phasetrajectory diagrams, Lyapunov exponents diagrams and bifurcation diagrams are
given to investigate the different dynamical characteristics of the chaotic system. At
last, an analog circuit is designed to implement the system, further verify theeffectiveness of the fractional-order chaotic system in practical application.

1

0.5

0
-5

-4

-3

-2

-1

0
y

1

2

3

4

5

OS15-6 Application of a conservative chaotic system in image encryption
Shilong Liu, Mei Zhang, Wei Xue(Tianjin University of Science and Technology, China)- 73 ©ICAROB 2018 ALife Robotics Corp. Ltd.

2

1

z

The dynamic behaviors of a new conservative system are analyzed based on its phasetrajectory, Poincaré section, Lyapunov spectrum. On this basis, the conservative
system is applied to digital image encryption and the security performance of thealgorithm is analyzed and verified. The results show that compared with thedissipative systems, the chaotic attractor in conservative system is not apparent. The
conservative system also has the characteristics of pseudo randomness and similar
noise, whose safety is high, and is not easy to be cracked. Therefore, the conservative
system has a quite high research value and application prospect.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS15-7 Study of plant disease detection based on near-field acoustic holography
Jiangfan Wang, Xiuqing Wang (Tianjin University of Science & Technology, China)
In the process of crop cultivation, pests and diseases on crop growth anddevelopment, yield and quality of the most obvious. To control pests and diseases
quickly and effectively, real-time understanding of the growth of crops to the disease
based on reasonable and accurate spraying of pesticides is particularly important. The
key to the implementation of precision spraying is the accurate positioning of crop
diseases. In this paper, the main stem of the plant was taken as the object of study.
Based on the near-field acoustic holography, the sound field model of the disease wasestablished and the three-dimensional spatial sound field was reconstructed by thealgorithm to analyze the sound field of the sound source. Identify the sound source
signal of the plant, locate the position of the sound source, make effective judgmenton the damage status of the plant, determine the disease condition, and establish the
optimal control strategy.

OS15-8 Simulation of Cell Dielectric Properties Based on COMSOL
Shudong Li, Xiaoyan Chen, Fengze Han (Tianjin University of Science & Technology, China)
The dielectric properties of single cell can be observed by injecting a low amplitude
current at different frequencies (1MHz~200MHz). The simulation work is taken on
the software platform named COMSOL Multiphysics. The electric field and the cell
model is created with prior conductivity, the extracellular and the intracellular fluidis 1 S/m and the membrane is 1*e-5 S/m separately. By simulation, it’s verified thatat low frequencies, the region of interest (ROI) behaves the conductivity
characteristic as the electrical signal cannot pass through the cell membrane due its
capacitor properties. With the excitation frequency increasing, the ROI behaves more
permittivity characteristic as the current flowing through the cell membrane more
and the current density increases. The research of the cell dielectric property provides
an auxiliary method to diagnose the status of the cell.

OS15-9 Research on the method of electrical impedance tomography based on
conjugate gradient iterative algorithm
Yuanli Yue1, Xiaoyan Chen2, Ze Liu1, Fengzhi Dai2
( Beijing Jiaotong University, China. 2 Tianjin University of Science and Technology, China)
1Electrical impedance tomography is a new technology of medical imaging ,that canbe used to detect the real time internal electrical impedance. This article is doing
research on the method of electrical impedance tomography by using conjugate
gradient iterative algorithm. Using the finite element analysis software Comsol tomake a two-dimensional modeling, and make the target circular field with 16
electrodes is established. And the empty field and full field stimulation of different
excitation current analysis, there are relatively adjacent to motivate andencourage .By using Matlab to make tomography reconstruction, using two different
reconstruction algorithms. After the reconstruction of the graphic ,using a variety ofevaluation of the graphic image reconstruction and numerical analysis, such as theuse of the correlation coefficient, and the similarity relative error evaluation.

- 74 ©ICAROB 2018 ALife Robotics Corp. Ltd.

.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS15-10 Research on acoustic emission wireless detection system
Xiuqing Wang 1, Yang Li2, Qing Liu 1, Jiming Zhao1( Tianjin University of Science & Technology, China;2 TEXAS A and M University, U.S.A)
1

A Fiber Bragg grating (FBG) acoustic emission wireless sensing system waspresented in this paper. The acoustic emission signal source was simulated by themethod of breaking the automatic pencil lead core, the signals collected by the sensor
were processed by photoelectric conversion, amplification, filtering and so on. The
system adopted waveform feature extraction method, through wireless sensor
network, characteristic values uploaded to the host computer software. A comparative
experiment of piezoelectric ceramic acoustic emission sensing system and FBG
acoustic emission sensing system was carried out. It can be seen from the results thatthe acoustic emission signal waveforms and characteristic parameters collected by
the two sensing systems were different. These differences were related to the inherent
structural characteristics of the sensor itself. The upper and lower surfaces of
piezoelectric ceramic sensors can cause the superposition of acoustic emission
signals, however, FBG acoustic emission sensor does not exist this problem.
Therefore, the waveform collected by FBG sensor does not produce distortion, whichis the advantage of FBG acoustic emission sensing system than piezoelectric ceramic
acoustic emission sensing system in principle.

FBG
acoustic
emission
sensorLaser lightsourceOpticalfiber
connector

Signalamplifying andfiltering
circuitPhotoelectric
converter

Acquisition and processing module
Wireless transmitting module

Wireless receiving module
Upper computer

OS15-11 ORiN PAC (PC based Automation Controller)
Toshihiro Inukai (DENSO WAVE INC., Japan)
This paper introduces application examples of ORiN PAC (PC based control systemutilizing ORiN as middleware). The manufacturing system is composed of hugekinds of devices, and it is necessary to make device programs for controlling thesedevices in cooperation. The mfg. system becomes increasingly complicated, andalong with the increase in programming cost, the improvement of programing
efficiency became a big issue. In this paper, we propose ORiN PAC as a solution torealize "one software architecture" applicable from small scale to large scale mfg.
systems. This solution has been used in the real factories in the world (not just ademo), and it will be quite important also for realizing "Industrie 4.0" world. ORiN:
Open Resource interface for the Network

OS16 Recognition and Control (9)OS16-1 Research on the synchronization and circuit realization of a four-wingchaotic system
Yiqiao Qin, Fengzhi Dai, Yuxing Ouyang, Qijia Kang, Ce Bian, Baochang Wei, Runhua Mao,
Shengbiao Chang (Tianjin University of Science & Technology, China)- 75 ©ICAROB 2018 ALife Robotics Corp. Ltd.

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This paper introduces a three-dimensional four-wing chaotic system and the system
is analyzed and circuit verified. The paper adopts two synchronous control strategies
to control the three - dimensional four-wing chaotic system. One is the feedback
synchronization controller based on the observer, and the other is the synchronization
controller based on theory of stability. The feasibility of these two methods is provedby analyzing the numerical data and the circuit implementation. On this basis, we
conducted signal encryption research. The results verify the feasibility of thesynchronous design and encryption design.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS16-2 Design of control system for reboiling part of distillation process
Lingran An, Fengzhi Dai, Yujie Yan, Yuxing Ouyang, Zhongyong Ye, Xia Jin, Baochang We(Tianjin University of Science and Technology, China)
This paper selects the control system for re-boiling part of distillation process for
major research. The control scheme is determined according to the influence of therelevant parameters on the distillation process. The hardware part uses the Siemens
S7-200 series PLC as the main control machine. The lower position machine uses
STEP 7-Micro / WIN programming software, and writes the control program throughthe ladder diagram. It combines the PID algorithm and single closed-loop control tocomplete the field data collection and processing and communication with the hostcomputer. The host computer uses the configuration king named kingview6.55
monitoring system software to complete the automatic control system monitoring.

PIC
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VA101

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真空缓冲罐
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塔顶冷凝器

F101
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VA111
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塔釜冷却器

VA105

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塔釜出料罐

VA115

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冷却水箱
VA119

OS16-3 Research on intelligent control system based on machine vision
Ce Bian1, Fengzhi Dai1, Yuxing Ouyang1, Yiqiao Qin1, Baochang Wei1, Runhua Mao1, Meili Li2(1Tianjin University of Science and Technology, China; 2 China University of Petroleum, China)
Surface Mount System is a device which function is move attachment head to makesurface mount components accurately placed on the PCB pad. SMT has machine
vision system and intelligent control system compose. The machine vision systemthrough the camera to capture images of components. Then the software for image
processing and camera calibration problem is one of key issue of machine visionresearch. Ultimately determine the component coordinate axes. The mainly functionof intelligent control system is that controller drives X, Y, Z, R each axis motor tocarry out the intelligent logic movement and controls the digital signal to carry on
the logical response. Data exchange between Machine vision and the intelligent
control part base on upper computer. On this basis, the position of the component on
the PCB can be identified by the intelligent operation of machine vision.

OS16-4 Development of NC power based on Buck circuit
Yuxing Ouyang, Fengzhi Dai, Runhua Mao, Ce Bian, Baochang Wei, Yiqiao Qin, Shengbiao
Chang, Qijia Kang (Tianjin University of Science and Technology, China)
This paper develops a kind of power-supply module which uses digital control andbuck circuit. The module can convert 220v alternating current into 0-30v direct
current. In the aspect of circuit design, it is mainly AC- DC, DC-DC conversion
circuit and SCM minimum system circuit. In the aspect of control circuit, for
feedback signal of current sensor, the power-supply module can obtain average value
by multiple means and remove the mutation value.

OS16-5 Simulation of PID temperature control system based on neural network
Yujie Yan, Fengzhi Dai, Lingran An, Yuxing Ouyang, Zhongyong Ye, Xia Jin, Ce Bian
(Tianjin University of Science and Technology, China)
The system designed in this paper is a combination of neural network and PID
control. BP neural network has a great advantage in solving the control of nonlinear
and uncertain systems. It can use the steepest descent learning method to adjust thethreshold and weight values by back propagation. The ultimate goal is to adjust the
PID controller adjustable parameters by the neural network learning algorithm. Using
MATLAB software to simulate, the results show that the system has a strong
following performance and a high anti-interference ability. Experiments show that
the PID temperature control system based on neural network has some practicality.

- 76 ©ICAROB 2018 ALife Robotics Corp. Ltd.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS16-6 Design and research of real-time material management system based on
production process
Baochang Wei, Fengzhi Dai, Yuxing Ouyang, Haifang Man,Yiqiao Qin, Runhua Mao, Ce Bian
(Tianjin University of Science and Technology, China)
The paper primarily introduces the real-time material management system in thecourse of machinery production. This system is developed and designed using C#
language and SQL2008 database, using C/S and B/S mixed mode, the C# languagerelated programming skill and database information together, through the C/S and
B/S architecture for network communication, the database Server-related production
material information sharing management system feedback to the specific user, thus
enhancing the production efficiency.

OS16-7 Research on the balance control of the inverted pendulum
Zhongyong Ye, Fengzhi Dai, Yuxin Ouyang,Yujie Yan, Xia Jin, Lingran An, Hongtao Zhang(Tianjin University of Science and Technology, China)
There are many strategies in the field of automatic control to achieve stable controlof the inverted pendulum. The typical control strategy is PID control algorithm. But
PID controller can only point to point control, so this paper proposes an improved
strategy. This paper adopts multi-loop PID strategy to realize the stability control of
inverted pendulum. Through simulation analysis, this strategy is more efficient than
PID control algorithm.

OS16-8 Design of intelligent saving robot based on six-legged robot
Xinyu Zhang, Xiaokun Lin, Fengzhi Dai (Tianjin University of Science & Technology, China)
In recent years, along with the humanity to have high mobility in the complex
environment, and high reliability, and easy to expand increasingly urgent demand formobile platform, plus multi legged robot research and algorithm improvement ofgait, scientists have considerable research to the application of biped multi legged
robot, biped robot is in the past wheel type or track system, the motion is confined tothe plane, unable to overcome many mountain disaster or rough terrain. Therefore, arescue robot based on six legged robots came into being. This text robot can use
mobile phone app to switch robot mode or remote control robot through Bluetoothor wireless mode. And the robot can switch the automatic mode and switch theautomatic mode, and the robot can realize obstacle jumping through sensors to
identify the types of obstacles. And the robot comes with an electronic compass, acamera and a gyroscope, which can intelligently record the path of travel andautomatically return to its starting position along the source path.

OS16-9 Research on multi-object recognition algorithm based on video
Yong Hou, Runhua Mao,Yuxing Ouyang, Ce Bian, Binhu Song, Baochang Wei, Yiqiao Qin,
Shengbiao Chang, Fengzhi Dai (Tianjin University of Science and Technology, China)
This paper mainly studies and improves the detection and tracking algorithm of therobot fish video and presents a background extraction method based on HSV color
space. This method is more efficient than the background extraction method of RGB
color space, which improves the recognition, anti - jamming ability and robustness.
Through the experiment, it has a strong adaptability to external influences such as
background water surface fluctuation, reflective, light change shadow.

- 77 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS17 Automated content generation and cognitive content generation (7)OS17-1 Reinventing the Flavor Wheel
Hiroki Fukushima (Kyushu Women's University, Japan)
In this paper, the author proposes a new type of flavor wheels. Flavor wheel is madefor the tasting professional as like sommeliers, in order to visualize the tasting words
in a hierarchical way. An ordinary flavor wheel has two or three hierarchy; abstract
genres (e.g. “floral”, “fruit”) are set in the inner circle, and concrete words (e.g.
“jasmine”, “apple”) are set in the outer part. The hierarchical structure can be
rewritten into a tree structure; hence the wheel shape needs to have its advantage incomparison to the tree structure. The author points out mainly two drawbacks ofordinal flavor wheel: 1) the whole area of the circle is evenly split by the number of
the total words. And 2) the lack of the relationships among the words and genres.
This paper aims to overcome these two drawbacks and propose a new type of flavor
wheels.

OS17-2 Acquiring Short Scripts and Setting a Case Frame in each Acquired Script:
Toward Random Story Generation
Jumpei Ono (Graduate School of Iwate Prefectural University, Japan),
Takashi Ogata (Iwate Prefectural University, Japan)
The integrated narrative generation system, that the authors have developed,
generates a story to translate the story into the surface representation. In the story
generation process, the INGS uses narrative knowledge that was automaticallyacquired from existing narrative works. This paper presents a method to acquire shortscripts, which are a kind of narrative knowledge, from existing works in Aozora
Bunko for the story generation. This paper presents a mechanism to generate random
story-like event sequences by using 23,751,142 bi-gram scripts acquired based on
the method proposed below. The authors aim to use the scripts generated by themethod as a first set to be revised through the next learning process.

Verb concept “X”
Verb “X”

X1

X2

Verb “Y”

Y1

Y2

・・・

・・・
Verb concept “Y”

Xn

Yn

OS17-3 A Method of Naimaze of Narratives Based on Kabuki Analyses and Propp’s
Move Techniques for an Automated Narrative Generation System
Takashi Ogata (Iwate Prefectural University, Japan)
Naimaze in kabuki has been known as a narrative creation method for combining
components in existing kabuki works or the other genres’ narratives to make a newwork. Various components, such as story, plot, character, place, are used as thecomponents in naimaze. The author aims to use the naimaze method in an automatednarrative generation system that we have been developing, namely the Integrated
Narrative Generation System (INGS). In this paper, we present an approach to design
the narrative techniques of naimaze in the INGS by applying the way for combining“move” in V. Propp’s narratological study, “morphology of folktales.” A move by
Propp means a narrative macro level unit or a kind of sequence that is composed ofseveral “functions” and he showed various ways that combine several moves toconstruct an entire narrative structure. This paper shows ideas of a naimaze
techniques and the implementation of experimental programs based on various
kabuki analyses and the Propp’s move method.

- 78 ©ICAROB 2018 ALife Robotics Corp. Ltd.

Narrative “A”

Narrative “B”

Narrative “C”

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS17-4 Narratology goes to Creativity ---Cognitive Content Generation
Akinori Abe (Chiba University, Japan)
In the previous studies, I discussed the creativity in IMDJ (Innovators Marketplace
on Data Jacket). The Innovation Game seems a game where a new production will
be obtained during the combination of various techniques, materials and previous
products. Accordingly I discussed IMDJ performance from the perspective of
abduction. In addition, more important matter is the effect of communication among
participants which is plays a significant role in creativity. That is, for creativity,
important matters are "action of a novel relational product" and "the role ofinteraction and collaboration with other individuals." Then I discussed the role ofcomfortable communication (narratology) by robots in the creative situation as wellas usual situation. In this paper, I will discuss the role of narratology which is basedon the cognitive content generation in the creative task.

OS17-5 A Framework for Haiku Generation from a Narrative
Takuya Ito, Takashi Ogata (Iwate Prefectural University, Japan)
In this paper, the authors propose a framework for the mutual transformation between
a narrative and haiku-like sentences. In particular, this paper shows a method forgenerating haiku-like sentences from a narrative fragment. The authors have beendeveloping an integrated narrative generation system that automatically generates
narratives. This paper aims to combine to this mechanism relating to haiku with thesystem in the future. Basic elements for generating a narrative and a haiku-like
sentence are commonly the selection, arrangement, and modification of the elements.
In order to generate haiku-like sentences from a narrative, the proposed method
selects particular elements from a narrative and arranges them according to the formof a haiku-like sentence. Further it gives variations to the haiku-like sentence. In thispaper, the authors show several forms for haiku-like sentence generation toexperimentally generate haiku-like sentences from a narrative.

OS17-6 Cognitive content generation for healthy ageing
Yuki Hayashi (Chiba University, Japan)
In the previous studies, we discussed some problems in super-aging society and how
to support older people. Recently, healthy ageing has been an important concept todecrease risk of disease, care independence or any other troubles. For example, WHO
has recommended healthy lifestyle to younger and middle-aged people. In addition,a concept “ME-BYO” which was originally generated in oriental medicine has been
accepted around the world. Accordingly to figure out the best strategy for treatingolder people in Japan has been a challenging problem. However, there remains somematters, thus, how to evaluate the state of healthy and how to provide personalized
approaches for healthy ageing. In this paper, we’ll discuss the evaluation of healthy
state and content generation for personalized approaches for healthy ageing.

- 79 ©ICAROB 2018 ALife Robotics Corp. Ltd.

Narrative
父が家屋で狼に困る.
A father is embarrassed a wolf in his house.
息子のアランが家屋で父を励ます.
His son, Alain encourages his father in his house.
父が「アランが外出する」ことを禁止する.
The father forbids Alain from going out.
アランが家屋で泥を洗う.
Alain washes off mud in his house.
アランが牧場で衣服を乾かす.
Alain dries clothes in a stock farm.
狼が牧場で羊を襲う.
The wolf attacks sheep in a stock farm.
アランが狼を待ち構える.
Alain wait for the wolf.
アランが狼を襲う.
Alain attacks the wolf.
アランが狼を殴る.
Alain hits the wolf.
狼が逃げる.
The wolf escapes.
アランが狼を逃がす.
Alain misses the wolf.
父がアランを称える.
The father praises Alain.

Haiku
Agent-focusing Type狼やOkami (a wolf) ya
襲う羊をOsou (attacks) Hitsuzi (sheep) wo
逃げるかな
Nigeru (escapes) kana

Location-focusing Type
父困る
Titi (father) Komaru (is embarrassed)
アラン洗うやAran Arau (washes) ya
家屋かな
Kaoku (a house) kana

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS17-7 Museum Visitors’ Behavioural Change Caused by Captions
Kotone Tadaki (Chiba University, Japan)
In museums, especially in art museum, there are several visitors only reading
captions (short explanation displayed next to artwork inexhibition room) without
seeing any artworks. When we regard caption as a Shikake which is aiming to makevisitors see artwork, each caption already has a physical trigger. Since caption andartwork are usually displayed on the same wall so that visitors can easily see both
caption and artwork in the same time. Although there are physical trigger, captions
are not functioning as expected. In this paper, we try to add psychological triggers byadding some features to captions. The presence of change in how they see artwork
was measured by time spent to see artworks, movement from caption to artwork, andparticipants’ impressions to each artworks and each captions. The result of theexperiment shows museum visitor’s generation of story based on information
provided by captions and artworks.

OS18 Intelligent Control (5)OS18-1 Rolling Bearings Fault Diagnosis Method using EMD Decomposition and
Probabilistic Neural Network
Caixia Gao, Tong Wu, Ziyi Fu (Henan Polytechnic University, China)
Aiming at the problem that the vibration signal of the early fault is weak, the fault
information is difficult to be extracted, the accuracy of single fault feature
identification is low, and the fault feature is redundant. A fault diagnosis method ofrolling bearing combined with empirical mode decomposition (EMD), multi - featureparameter principal component analysis (PCA) and probabilistic neural network(PNN) is proposed. First, the EMD is used to decompose the vibration signal into thesum of several IMF components to achieve the smoothness of the non-stationary
signal. Since the bearing fault information is concentrated in the high frequency
band, the first five IMF vectors of high frequency are used to obtain their energy,
kurtosis and skewness characteristics to form the eigenvector. Finally, the feature
vector group is de-redundant by principal component analysis, and it is put into PNN
for fault recognition. The simulation results are compared with the intrinsic modeenergy method of EMD. It is concluded that EMD-based multi-feature parameter
principal component analysis has higher accuracy. At the same time, the relationshipbetween the number of principal components of the method and the correctness ofdiagnosis is analyzed.

Troubleshooting flowchart

OS18-2 Detection of Dangerous Driving Behavior via Fuzzy Inference System
Shangzheng Liu1, Qinghui Zhu1,Fuzhong Wang 2( Nanyang Institute of Technology, P.R. China, 2Henan Polytechnic University, P.R. China)
1

Aiming at identifying fatigue driving and drink driving, a new detection scheme forthe analysis of dangerous driving behavior was proposed in this paper. First, three
eye movement characteristics, average number of saccade, average fixation duration,and fixation counts. Second, membership functions and fuzzy inference system (FIS)
were established. Finally, fatigue driving and drink driving were identified by the
proposed FIS. In the Matlab/Simulink simulation environment, the simulation
system was built. The simulation is carried out to verify the effectiveness of the
proposed FIS.

- 80 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS18-3 Feature Points Designing and Matching for the Target Spacecraft in the
Final Approaching Phase of Rendezvous and Docking
Wenjing Pei, Yingmin Jia (Beihang University (BUAA), China)
Motion information of the target spacecraft can be calculated according coordinatechange of feature points based on the motion control model. In order to extract
motion information including velocity, location, attitude of the target spacecraft in
the final approaching phase of rendezvous and docking, feature points marking andmatching for the target spacecraft is an essential step. In this paper, feature points aredesigned on two solar panels and the fore-end cabin in the target spacecraft by using
three baselines and the feature circle methods. Thus 51 feature points can beobtained. Feature points matches are obtain by applying an improved feature points
matching strategy to feature points which have been designed. Experimental resultsshows that running speed is improved greatly and high accuracy is maintain.

OS18-4 Construction and Visualization of Atmospheric Environment Data Map
Dongmei Fu, Gaoyuan Wang, Chao Wu, Mengchen Cui(University of Science and Technology Beijing, China)
This paper includes two points: 1, how build the China's map of the atmosphericcorrosion level, according to the ISO9223-2012 Two methods are used. One is
the inverse distance weighting method, and other is the improved inverse
distance weighting based on density. 2, how build the China's map of carbon steel
corrosion rate, according to sparse carbon steel corrosion data. Two methods areused. One is a multi-faceted function method, and other is an improved multifaceted function method.

OS18-5 Multiple-Model Adaptive Estimation with New Weighting Algorithm
Weicun Zhang (University of Science and Technology, China)
This paper presents a new scheme of weighted multiple-model adaptive estimation
for a discrete-time stochastic dynamic system with large parameters uncertainty, inwhich the classical weighting algorithm is replaced by a new weighting algorithm toreduce the calculation burden and to relax the convergence conditions. Simulation
results verified the effectiveness of the proposed scheme.

OS19 Advanced Control (5)OS19-1 Revisit Constrained Control of Chaos
Yunzhong Song, Ziyi Fu and Fuzhong Wang (Henan Polytechnic University, P.R.China)
Only two conditions were considered in paper titled as constrained control of chaosin [Y.-C. Tian, M. O. Tade,. and D. Levy, Physics Letters A296 (2002) 87], andthereafter a special problem was investigated and the corresponding solving strategy
was provided in paper titled as some comments on constrained control of chaos
appeared in [Y. Z. Song, G. Z. Zhao, and D. L. Qi, Physics Letters A359 (2006) 624],
in this Letter, a soft control scheme which is chattering free dominated just by single
flexible factor is suggested to improve the already existing conclusions, andsimulation results indicate the validity of our project.

- 81 ©ICAROB 2018 ALife Robotics Corp. Ltd.

Control results of u+ with M=3,
 =1/4

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS19-2 Research on Filtering for Random Data Packet Dropouts and Delays in
Wireless Sensor Networks
Sumin Han, Fuzhong Wang (Henan Polytechnic University, P.R.China)
A wireless transmission data model is proposed to solve the problem of packet loss
and delay in data transmission of wireless sensor network data transmission system.
Based on the minimum variance estimation, the optimal fusion filter and crosscovariance matrix are derived. The effectiveness of the system is verified by asimulation example.

OS19-3 Optimal Hohmann-Type Impulsive Ellipse-to-Ellipse Coplanar Rendezvous
Xiwen Tian, Yingmin Jia (Beihang University (BUAA), China)
This paper devotes to the problem of ellipse-to-ellipse coplanar rendezvous in low
eccentricities, where the solution and distribution of Hohmann-type optimal
impulsive rendezvous are investigated. The process of ellipse-to-ellipse coplanar
rendezvous is described in the reference frame built in a circular orbit near two
spacecrafts. Based on which, the analytical relation between the initial states andrendezvous time are derived for Hohmann-type, and the optimal impulse amplitudes
are given thereupon. By selecting rendezvous time as the X-coordinate and special
phase angle as Y-coordinate, the distribution boundary of Hohmann-type model isobtained according to the Hohmann transfer and Hohmann with coasts. Simulations
are demonstrated to analyze the influences of the solution and distribution.

The distribution of Hohmann-type

OS19-4 Research on SVG Control Method Under Unbalanced Conditions
Zheng Zheng, Yousong Zhou (Henan Polytechnic University, China)
SVG (static var generator) is an important equipment to improve the power quality.
Aiming at the complexity of the alternating current positive and negative sequence
component separation method under unbalanced operating conditions, the method
based on complex filter is used to reduce the control computation. Because thetraditional PI control can not eliminate the steady-state error of the grid current in the
nonlinear disturbance, the control method of the proportional complex integral isadopted, and the traditional proportional complex integral control based on the α βcoordinate system according to the equivalent transformation relation of the phasor.
The conversion to the three-phase coordinate system is based on the reduction of theamount of computation required for the traditional control to be improved by the
Clark transform and the Clark inverse transform, and then gives a complete set ofcontroller parameter tuning methods. Finally, a set of experimental platform basedon DSP28335 is built. The experiment and simulation results verify the fastness andaccuracy of the proposed positive and negative sequence component calculation
methods and the stability and feasibility of the proportional complex integral control
method.

- 82 ©ICAROB 2018 ALife Robotics Corp. Ltd.

ea
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ea
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DriverCircuitMain circuit topology of
SVG

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS19-5 Dynamics Analysis of Payload On-orbit Catapult Separation Based on
ADAMSYi Li, Yingmin Jia (Beihang University (BUAA), China)
In this paper, a catapult separation device equipped with guide mechanism isdesigned firstly, and the corresponding dynamic model is built through multi-bodydynamics theory. Then, based on the dynamic simulation software ADAMS, thevirtual prototype model of the separation device is established and the whole processof payload on-orbit catapult separation is simulated. Finally, the structure design
parameters of the guide mechanism such as the number of roller group, distance
between rollers or the guiding length are studied and the influences of the parameterson the separation process are analyzed. The simulation results can be applied in thedesign and optimization of the separation device.

l angular velocity of payload under
different distances

OS20 Advances in Marine Robotics and It’s Applications (5)OS20-1 A land testbed for experimental research on autonomous ship navigation
Keisuke Watanabe, Kazumasa Harada, Koshi Utsunomiya (Tokai University, Japan)
In the development of automated ship technology, experimental system is essential.
The main navigation system is supposed to consist of GPS, AIS (Automatic
Identification System), RADAR and cameras. In our land testbed, 2 ultrasounddistance sensors are used as a model of GPS, which determine the coordinate of the
testbed measuring the distances from 2 walls. A swinging ultrasound ranging sensor
with a servo motor is used to simulate the RADAR. A xbee wireless communication
module simulates the AIS. The camera is used for image processing to determine thecontrol algorithm to avoid the collision from other moving obstacles. In this paper,
we introduce our testbed’s system assembly and an experiment to confirm functionsof our concepts for our future experimental research on autonomous ship navigation.

OS20-2 Seafloor Image Color Enhancement Method based on Retinex modeland Experiment Report in the undersea environment
Jonghyun Ahn1, Shinsuke Yasukawa2, Yuya Nishida1, Takashi Sonoda1, Keisuke Watanabe3
Kazuo Ishii1 (1Kyushu Institute of Technology, 2University of Tokyo, 3Tokai University, Japan)
Underwater robot is one of the important research tools to explore deep-sea wherehigh pressure, darkness, radio attenuation prevent humans from direct access.
Especially, Autonomous Underwater Vehicles (AUVs) attract attentions because they
don't have tethered cables and can move freely. One of the important tasks of AUV
is to take the seafloor images, however, the sea-floor images should be enhanced

as red color attenuates rapidly and images become bluish, and the small
differences of AUV altitude to the sea-floor affect the brightness of images
because of light attenuation. In this paper, automatic camera parameters
adjustment method is proposed to enhance seafloor images and evaluatedthrough experiments in the Suruga-bay.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS20-3 Automatic recognition of benthic species using image processing
Yuki Soejima, Yuya Nishida, Takashi Sonoda, Kazuo Ishii(Kyushu Institute of Technology, Japan)
For sustainable use of fisheries resources, it is important to estimate the amount of
resources such as TAC (Total Allowable Catch), TAE (Total Allowable Effort) andtheir investigations have been conducted by bottomed net fishing, however, themethod suffers environmental damages. The survey method for wider area that does
not affect the ecosystem is needed. Recently, research using an autonomous
underwater robot (AUV) is introduced as a new survey method as the solution. We
also introduced an AUV for the survey of fish and crabs in the Sea of Okhotsk. The
number of marine lives is measured manually, and the technique of automatic
measurement of the number is needed for the observation. In this research, we
propose an automatic marine life recognition method from seafloor images.

OS20-4 AUV homing using acoustic chirp signal
Koji Masuda, Yuya Nishida, Takashi Sonoda, Kazuo Ishii(Kyushu Institute of Technology, Japan)
For autonomous underwater vehicle (AUV), high autonomy is required in order toaccomplish mission such as inspection, observation, manipulation under extreme
environments, deep-ocean. One of necessary function for AUV is acoustic
navigation. In this paper, we conducted homing experiments using a small AUV andacoustic pinger with chirp signal. The chirp signal has the feature that the frequencyof signal change gradually, so that the signal is suitable to calculate the correlation
between the time difference between hydrophones. The homing experiments arecarried out and evaluated through tank tests.

OS20-5 Simulation of horizontal vibration suppression of a suspended structure forseabed mining
Keisuke Watanabe1, Kazuo Ishii (1Tokai University, Kyushu Institute of Technology, Japan)
In a project of subsea mining in the near future, many work class robots such as
crawlers, drilling machines, or ore collectors will be installed on the seabed. These
robots are heavy but they must be landed on the seabed very softly to avoid impact
damage from the seabed. So the installation method is very important and effective
installation method should be investigated. In this paper, we examined vibration
motion of a suspended heavy machine by a crane vessel through dynamics modelingand simulation in the horizontal plane. Descending speed of the machine affects theamplitude of the vibration, that is, if the descending speed is higher, larger amplitude
will be observed. To suppress this vibration, we examined a velocity feedback
control by attaching a thruster to the machine. From simulation results, we foundhorizontal vibration will be effectively suppressed by using simple feedback control.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS21 Robot Competitions for Social Contribution (5)OS21-1 Analysis of Team Relationship using Self-Organizing Map for University
Volleyball Players
Yasunori Takemura, Kazuya Oda, Michiyoshi Ono (Nishinippon Institute of Technology, Japan)
In Japan, sports efforts are actively being carried out to host the 2020 Olympic games.
Especially in the field of sports science, researches on ergonomics, development ofsports equipment and pattern recognition technology using artificial intelligence are
actively researched. In previous research, we developed a clustering algorithm for
positioning adaptation and relation ships in team sports using Self-Organizing Mapsin university rugby players. However, I have not yet confirmed whether thedeveloped algorithm can be applied to other team sports. For this reason, we applied
the same algorithm to an university volleyball player. Then, as an algorithm, we
verify whether it can be generally used for team sports

OS21-2 Optimization for Line of Cars Manufacturing Plant using Constrained
Genetic Algorithm
Keiji Kamei, Takafumi Arai (NishiNippon Institute of Technology, Japan)
Recently, improvement of production efficiency on cars manufacturers is required
owing to increasing of demands in developing countries. However, that
improvements under existing circumstances are depending on experience andintuition by workers. For this, we propose to objectively and efficiently improve a
production line based on a GA. The production line of candidate for optimization is“Picking up assemblies” area, so that our proposal optimizes the positions of racks
and boxes for assemblies by a GA. The difficulty of applying a GA is that the numberof racks and boxes is defined in advance. For this, we apply constrained GA to
optimization for those positions. The results of simulation for virtual production line
show that our proposal succeeded in reducing about 10 seconds per car comparedwith random positioning.

1st Gen(Random)： Maximum about 70.9[sec]Minimum about 65.3[sec]The last gen： Minimum about 61.7[sec]Reduction time: about 10[sec] per car

OS21-3 Slip model of roller driven ballKenji Kimura1, Chota Chikushi, Kazuo Ishii( Nippon-Bunri University, Kyushu Institute of Technology, Japan)
1

Spherical wheel motion driven by rollers attract attention due to the possibility ofuneven surface. RoboCup is a platform designed to promote the research fields suchas Artificial Intelligent (AI) and robotics, and one of examples is the ball dribblingmechanism of RoboCup Middle size league robot, and this mechanism controls theball with two driving rollers. As the result of the survey at the 2017 World Cup, allteams in the world have determined the roller arrangement heuristicaclly, and nomathematical consideration has been made. In this study, we propose a model
considering slip, discuss the relationship between slip ratio and robot speed using
evaluation function, and verify the model by experiment.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS21-4 Strategy Analysis of Multi-Agent Games Using Self-Organizing Map
Moeko Tominaga, Yasunori Takemura1, Kazuo Ishii(Kyushu Institute of Technology, 1NishiNippon Institute of Technology, Japan)
It is one of important subjects to know how humans and robots share the same space
to realize a symbiotic society, for examples, strategies such as their positions anddefense methods in multi-agent game, soccer. In the soccer games, the player’s
behavior changes depending on the game situation such as wining or losing, score
gap, remaining time. The players act more offensive when their team is losing, ormore defensive when their team is winning with minimum score difference. In thispaper, we observe and analyze human soccer game, and estimate how the state vectorof the player affects team behavior. The team strategy is analyzed based onparameters such as the positions of robots, the number of robots in play, scores, timeand actions of robots using Self-Organizing Map (SOM).

OS21-5 Analysis of Characteristics of Tomato Fruits in Infrared Images Toward
Automatic Tomato Harvesting System
Takuya Fujinaga, Shinsuke Yasukawa, Binghe Li, Kazuo Ishii(Kyushu Institute of Technology, Japan)
Labor shortages and aging are big problems in Japanese agriculture field and farmers
need systems for automation, efficiency and optimization. We focus on tomato fruits
harvesting, which is one of the major fruit vegetables. Tomato harvesting needs
longer working time than other fruits harvesting. We aim at the realize of a tomato
automatic harvesting system, and have been researching and developing tomato
harvesting robots that can harvest fruits and monitor the growth situation of tomato.
It is necessary to detect the position and maturity of tomato fruit. In this paper, weanalyze the plant characteristics of tomato using infrared images and propose tomato
fruit recognition system. Images acquired at the tomato greenhouse of large scale
facility were used. The analysis results of tomato fruits features in infrared images
are reported.

OS22 Navigation and Control (3)OS22-1 Comparative Study of Sequential Processing TRN (Terrain Referenced
Navigation)
Hyun Cheol Jeon and Chan Gook Park (Seoul National University, Korea)
This study performs comparative analysis on the performance of sequential
processing terrain referenced navigation (TRN) by applying various filtering
techniques. The TRN is a navigation system that prevents divergence of inertial
navigation system using terrain information. In this paper, we consider extended
Kalman filter (EKF) and point mass filter (PMF) which are widely used in the TRN.
The EKF estimates state variables by linearizing a nonlinear models but it has risk ofdivergence due to linearization errors. On the other hands, the PMF estimates thestate variables robustly but it has a disadvantage of high computational load. Throughthis study, the advantages and disadvantages of the TRN when applying the EKF and
PMF are compared and analyzed.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS22-2 Road Marking Map Matching for Road Vehicle Localization
Kyuwon Kim and Gyu-In Jee (Konkuk University, Korea)
In this paper, we propose map matching algorithm using road marking intensity map
made of 3D LIDAR. The road marking is very useful in terms of availability because
it is existed anywhere on the vehicle. The map matching algorithm is used phasecorrelation using FFT to enable very fast matching. In addition, the road marking
map is generated by binarizing the intensity. As a result, a large-scale global map can
be stored with a small capacity. In addition, LIDAR scan data was accumulated forgenerating a high precise density local map. Accumulated local map can be supported
sufficient information, especially longitudinal information. Therefore, it can be morerobust and precise vehicle localization.

OS22-3 Control System Design of Directionally Maneuvering Multicopter with
Independent Heading Rate
Byoungjin Lee, Jaehue Bae, Gwang Soo Park and Sangkyung Sung (Konkuk University, Korea)
In this paper, we present a comprehensive control system design of directionally
maneuvering multicopter platform with independent heading rate. A directionally
maneuvering multicopter system is capable of generating an arbitrary vehicle flighttrajectory while it maintains an independent rotation with constant heading rate. For
this, a quaternion based attitude controller is adopted in the control algorithm
construction. Torque difference between clockwise and counterclockwise rotors isbasically derived for yaw moment generation, while their thrust difference isharmonically configured for the desired waypoint flight via guidance logic.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS abstracts
GS1 RoboticsI (3)GS1-1 Production simulation of autonomous decentralized FMS including AGVs
with different personalities of mind
Ryuichi Tsujii, Hidehiko Yamamoto and Takayoshi Yamada (Gifu University, Japan)
This study researches Automated Guided Vehicles (AGVs) moving control byusing the model of a mind in order to avoid AGVs' interferences in autonomous
decentralized Flexible Manufacturing Systems (FMS). The model of a mind can
avoid the interference by repeating the two types of mind changes, the arrogant
mind and the modest mind. Further, we give some personalities to the mind. The
personalities have different time to change from the arrogant mind and the modest
mind. By carrying out the production simulations using the AGV group with thedifferent personalities, we acquire the production outputs. As a result, theoutputs are improved compared with the traditional AGV group with a single
personality. It is ascertained that the models of minds expressing different
personalities are useful.

GS1-2 Development of Automatic Recognition of Hazmat Marking Chart for
Rescue Robot
Wisanu Jitviriya1, Poommitol Chaicherdkiat, Noppadol Pudchuen(King Mongkut’s University of Technology North Bangkok, Thailand)
Eiji Hayashi (Kyushu Institute of Technology, Japan)
A long history in the 1st place awards of World RoboCup Rescue Robotcompetitions are Invigorating Robot Activity Project (iRAP) such as iRAP_PRO,
iRAP_FURIOUS, iRAP_JUNIOR and iRAP_ROBOT teams. In this paper, we
would like to introduce and explain an autonomous system of our rescues robot for
detection and recognition of Hazardous Material (Hazmat) marking chart. All
Hazmat tags are considered and computed by using Speeded-Up Robust Feature(SURF) combined with Fast Library for Approximate Nearest Neighbors (FLANN)
in order to match with the templates. Finally, the paper presents experimental
results based on real situations in order to confirm an effectiveness of the patternrecognition of robotics system.

GS1-3 Development of Autonomous Robot for Laborsaving of the Forestry- Discrimination between trees and weeds using RGB-D Shingo Yamaguchi, Eiji Hayashi, Ayumu Tominaga (Kyushu Institute of Technology, Japan)
In traditional forestry, the weeding task places a large burden on workers.
Therefore, it has been expected that such the problem will be solved by a robot. We
have been developing an autonomous robot that eliminates the weed plants without
damaging trees (these are resources). The robot should recognize trees exists in theenvironment. In this research, we have been focused on distinguishing between
trees and other them. The system computes the RGB histogram of pixels
corresponding point-cloud data of the ground extracted by pane detection. The
threshold values are determined to discriminate between trees and weeds by thishistogram automatically. We show the effectiveness of the developed system.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS2 Bipedal robot & Human-welfare robotics (6)GS2-1 Design and Evaluation of Passively Powered Knee Exoskeleton (PPKE) for
Squat Lifting
R.K.P.S. Ranaweera1, R.A.R.C. Gopura1, T.S.S. Jayawardena1, G.K.I. Mann2(1University of Moratuwa, Sri Lanka), (2Memorial University of Newfoundland, Canada)This paper proposes a passively-powered knee exoskeleton (PPKE) to provide
power assistance during squat lifting of objects from the ground. The passive
powering mechanism is designed to capture 20% of the waste mechanical energy
available at the biological knee joint during decent phase and to release the stored
energy in ascending phase in a complete squatting cycle. The novel passive locking
mechanism enables the wearer to ambulate freely posing minimum restrictions inbetween squat lifting tasks. The anthropomorphic exoskeleton structure wasfabricated using acrylic glass and powering system include elastic helical springs,
where the entire working model only weighs at 900 g per unit. The effectiveness ofproposed system was verified by experiments using surface electromyography(sEMG) signals under different test conditions. The exoskeleton is capable ofreducing peak RMS averages of sEMG signals of knee extensor muscles by 15%.
As such, preliminary results proved PPKE’s potential to reduce human effort.

Thigh
Support
Passive
Lo c k i n g
Mechanism

CablesHelicalSprings

PassiveP o we r i n g
S ys t e m

ShankSupportGS2-2 Behavior design of robot arm imitating the consciousness mechanism of livingorganisms Representation of facial expression in transition process of emotion
Ryohei Anshi, Eiji Hayashi (Kyushu Institute of Technology, Japan)
Wisanu Jitviriya (King Mongkut’s University of Technology, Thailand)
Sakmongkon Chumkamon (Rajamangala University of Technology,Thailand)
Although various service robots are being developed, social robots are required tohave "user affinity", which gives the user a sense of affinity, in particular. In thisresearch, we aim to realize user affinity by paying attention to living organisms thatembrace healing and affinity, giving the robot consciousness, behavior, andemotion of living organisms. In the transmission of emotions, the eyes areimportant parts that express various psychological states due to changes in pupilsize, eyelid opening / closing degree, shape, and the like. Therefore, we give twodegrees of freedom to the eyeball and the eyelid, we can also change the pupil
diameter and blink cycle, and constructed the system so that the expression alsochanges finely according to the change of the ratio of the eight emotions using theexpression.

GS2-3 Study of Robot Navigation for Forest Management
Ayumu Tominaga, Eiji Hayashi (Kyushu Institute of Technology, Japan)
Abbe Mowshowits (The City College of New York, USA)We have been developing a robotic system for labor-saving of forestry that moves
between trees and cut weeds plants without damaging the trees. The trajectorycomputation of the forest is carried out based on a weighted graph with trees asvertices. The line graph L (G) calculated from first graph represents a graphconnecting the midpoints of each tree pairs that the robot can safely pass through,and the Hamiltonian circuit calculated therefrom is give a path plan for the robot topass through all the tree pairs and return to its starting position. In order to follow
the trajectory path, we combined the obstacle avoidance behavior and the visionsystem which has actuator for pan angle rotate.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS2-4 Development of the sense system that is combined force feedback and visualfeedback -Deformable virtual objects simulation by using LEMKaito Nagano, Eiji Hayashi (Kyushu Institute of Technology, Japan)
In the medical treatment and bio-technology field, doctors and researchers needtechnologies that can accurately perform minute work. Such minute work is
improved by using micromanipulators, but their operation is difficult because theoperator has no sense of force. As a result, a person who has the skill to do minutework is needed for all minute works. The purpose of this research is to develop a
combined sense system that uses both force feedback and visual feedback on a
deformable virtual objects simulation. Especially, focus on a way to produce a force
that is calculated in simulation of deformation using a haptic device. As the firststage, our simulation of deformation was improved by using LEM (Long Element
Method) and evaluated accuracy of a virtual object’s deformation.

GS2-5 A four-legged robot's soft feet structural design and walking gait generated
from inverse kinematics
Amornphun Phunopas1, Eiji Hayashi2( King Mongkut’s University of Technology North Bangkok, Thailand,
2
Kyushu Institute of Technology, Japan)
1

The conventional wheel is famous in the industrial mobile robot because it is simple
to build and easy to control and to maneuver. On the other hand, the legged robot
is complicated to control but has a high performance in locomotion like highly
evolved legged-creatures. This research describes the four-legged robot design
platform with the soft feet, which are made by silicone-material forming. The
robot’s feet are implanted by the strain gauge sensor. The robot can percept theexternal force sensitively when its feet touch something. The research demonstrates
the forward kinematics and inverse kinematics of a four-legged robot with three
joints for each. The result has validated the kinematic equations byimplementing them on the real dog-like pet robot. The robot walked with a purewalking gait and showed a sensing signal from the soft foot and ground contact.

GS2-6 Powered Ankle Exoskeletons: Existent Designs and Control Systems
A.H. Weerasingha, W.P.K. Withanage, A.D.K.H. Pragnathilaka, R.K.P.S. Ranaweera, R.A.R.C.
Gopura(University of Moratuwa, Sri Lanka)
Powered ankle exoskeleton is a wearable device fitted to the ankle joint for
purposes such as rehabilitation, power augmentation and locomotion assistance.
Although variety of technologies were developed, commercial application was
found to be minimal owing to various limitations with respect to both function andperformance. Notably, conservation of metabolic energy, anatomical conformance,
agility during operation, etc. are lacking factors in contemporary exoskeletonsrobots. In order to realize rational solutions, an improved understanding of theexistent designs and control systems is paramount. In that context, this paper
performs a comprehensive review on active ankle exoskeletons powered byexternal means. Initially, anatomy of the ankle joint complex is highlighted. Next,
associated research challenges and design difficulties are recognized for thedevelopment of robotic hardware systems. Then, mechanisms, actuation methods,
and control methods are systematically presented. Here, exoskeletons designs from2005 to 2017 were studied to recognize the latest paradigm shifts. As such, thispaper provides a classification, a comparison and an overview of related
technologies. Finally, design recommendations are made on observed trends andpatterns for the development of powered ankle exoskeletons.

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Ankle Exoskeleton Robots
Externally Powered / Active
Actuation
MethodElectrical

Unpowered / Passive

Control
MethodInputbased

Outputbased

HydraulicEventbased

Modelbased

Pneumatic

EMGbased

Impedancebased

Other

Other

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS3 Complexity (5)GS3-1 Management of digital records inspired by Complex Systems with RADAR
Anne Jeannin-Girardon, Alexandre Bruyant, Nicolas Toussaint, Pierre Collet,
Pierre Parrend (University of Strasbourg, ECAM Strasbourg-Europe, France)(Big)Data storage poses two major challenges: security (data can be very
sensitive, e.g. medical or financial records) and robustness (IT infrastructure may
not be reliable due to faulty hardware, bad internet access or even power outage,
especially in developing countries). Centralization in data-centres can therefore
lead to bottlenecks and significant losses, in case of failure or intermittent
connexions. Sensitive data must also be reliably backed-up. However, manual or
automatic backups are prone to errors or failures. Consequently, we propose to
apply the principles of Complex Systems (sets of autonomous interacting entities
exhibiting emergent behaviour) to the problematics of storing and backing-up
sensitive data in a platform called RADAR (Robust Anonymous DAta Records).
Storage is no longer centralized: RADAR instances automatically fragment,
replicate and distribute the data randomly over a cooperative network foranonymized and encrypted robust and secure backups and storage even over nonreliable IT infrastructure.

GS3-2 Integrated optimization of differential evolution with grasshopper
optimization algorithm
Duangjai Jitkongchuen, Udomlux Ampant (Dhurakij Pundit University, Thailand)This paper proposes a scheme to improve the differential evolution algorithm (DE)performance with integrated the grasshopper optimization algorithm (GOA). The
grasshopper optimization algorithm which mimics the behavior of grasshopper.
The characteristic of grasshoppers is slow movement in the larval stage but sudden
movement in the adulthood which seem as exploration and exploitation. The
grasshopper optimization algorithm concept is added to DE to guide the search
process for potential solutions. The efficiency of the DE/GOA is validated by
testing on unimodal and multimodal benchmarks optimization problems. The
results prove that the DE/GOA algorithm is competitive compared to the othermeta-heuristic algorithms.

GS3-3 Efficient collective search by agents that remember failures
Masao Kubo, Nhuhai Phung, Hiroshi Sato(National Defense Academy of Japan, Japan)
The BRT is an algorithm that the agents can find appropriate collective actions bychanging their agreement in a trial-and-error manner. When the solution is the only
one, computer simulations shows the number of times to find the solution is
proportional to the square of the number of their collective choices on average. In
this paper we propose an agent that remember failures behaviors to improve thesearching time. Since the agent does not propose wrong behavior, it is trivial thatthe whole search time will be shortened. In this research, we exchanged the BRT
agent and this "never suggest again" agent and investigated the search time and its
ratio. As a result, we found that even a small number of the proposed agents canimprove search time.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS3-4 The analysis of band structures of photonic crystals
Wang Chenxu (Muroran Institute of Technology, Japan),Fu Ziyi (Henan Polytechnic University, China)
In this paper, a finite element is developed to calculate the band structures of onedimensional photonic crystals. The Maxwell equation governing the propagationof electromagnetic waves, which combine with Bloch theory, the FEM transforms
the complex band diagram problems into a simple eigenvalue problem by solving
the eigenvalue with respective to wave vector K by frequency

GS3-5 A Data Estimation Technique for Incomplete Telemetry Data Based on a
Genetic Algorithm with Data’ Statistical Properties
Masahiro Tokumitsu, Kaito Mikami (National Institute of Technology, Yonago College, Japan)
Fumio Asai (The Radio Amateur Satellite Corporation, USA)
Taku Takada (National Institute of Technology, Kochi College, Japan)
Makoto Wakabayashi (National Institute of Technology, Niihama College, Japan)
Satellites transmit telemetry data to ground stations in order to provide the data on
their missions. The telemetry data contain a sort of data such as observations,experiments, and satellites’ health status. However, the telemetry data received
by the ground stations may contain errors by effects through the transmissions. This
paper proposes a data estimation technique for incomplete telemetry data to attaina high availability of the received telemetry data. The proposed technique is basedon a genetic algorithm with data’ statistical properties. This paper demonstrates
the proposed technique with simple examples. In simulations, this paper examines
the proposed technique for applying the actual telemetry data obtained by theparticular satellite.

GS4 Pattern recognition & Image processing (5)GS4-1 Study on Detection of Nests on Pylon from Overhead View Based on Halcon
Jiwu Wang, Haibao Luo, Pengfei Yu (Beijing Jiaotong University, China)
There are many difficulties when researchers want to dectect the nests on pylons in
the electricity transmission network with image processing methods. One majordifficulty is to position the pylon precisely in the image because of the variance ofshooting angle and shooting distance.Plus the unconspicuous features of nest's
edge, color and shape in the background of the image make the single-feature-based
detection methods fail to realize precise positioning. Thus, this paper addresses aneffective method based on Halcon, which could detect the nest in the images fromunmanned aerial vehicles(UAVs).This method eliminates most of the backgroundinterference by recognizing the pylon area in the image using the Blob algorithm.
Within this area, the fusion of texture and gray-scale features of nest are employed
to realize the detection. An experiment result is presented to validate that thismethod can actually realize the precise detection of nests on pylon with images shotby the UAVs.

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The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS4-2 Human gait recognition based on Caffe deep learning framework
Jiwu Wang, Feng Chen (Beijing Jiaotong University, China)
Human gait recognition as an emerging biometrics technology has important
theoretical significance and practical value. At present, the research on human gait
recognition is still in the stage of theoretical exploration, and most of the methods
to recognize the targets are realized by the traditional pattern recognition methods,
which have no many advantages in detection accuracy and speed of detection. With
the development of deep learning theory and technology, this paper will achieve
human gait recognition of specific targets based on Caffe deep learning framework
through the faster-rcnn algorithm. The main contents of the paper include thesamples processing, model training and result testing.

GS4-3 Unsupervised Image Classification Using Multi-Autoencoder and Kmeans++
Shingo Mabu, Kyoichiro Kobayashi, Masanao Obayashi, Takashi Kuremoto(Yamaguchi University, Japan)
Image classification using machine learning has been actively studied. However,machine learning, especially deep learning, needs a large number of training data.
It is tough and impractical task for users to give correct class labels to the data.
Therefore, an unsupervised image classification system is proposed in this paper.
The proposed method consists of multi-autoencoder and K-means++. Since it isdifficult to realize unsupervised classification system due to the lack of class
information, the proposed method applies some image processing techniques to theimages, and the feature values are extracted from the original images and theprocessed images using multi-autoencoder. The images with the extracted features
are clustered by K-means++ algorithm, which can make groups of similar images.

.
Ground piano cluster

GS4-4 Anomaly Detection of Disaster Areas from Satellite Images Using
Convolutional Autoencoder and One-class SVM
Kohki Fujita, Shingo Mabu, Takashi Kuremoto (Yamaguchi University, Japan)
In recent years, research on detecting disaster areas from satellite images have been
conducted. When machine learning is used for disaster area detection, a large
number of training data is required, however, we cannot obtain so much training
data with correct class labels. Therefore, in this research, we propose an anomaly
detection system that finds abnormal areas that deviate from normal ones. The
proposed method uses a convolutional autoencoder (CAE) and One-class SVM(OCSVM). First, CAE executes feature extraction from satellite images. Second,
OCSVM is trained using images of normal areas only. Finally, anomaly detection
for the testing images is carried out by the trained OCSVM. In the performance
evaluation, the proposed method shows better performance than the method with
OCSVM only.

- 93 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS5 Neuroscience (3)GS5-1 Improving EEG-based BCI Neural Networks for Mobile Robot Control by
Bayesian Optimization
Takuya Hayakawa, Jun Kobayashi (Kyushu Institute of Technology, Japan)
The aim of this study is to improve classification performance of neural networks
as an EEG-based BCI for mobile robot control by means of Bayesian Optimizationof learning parameters and hyperparameters in training the neural networks. The
parameters were intuitively decided in our preceding study. However, theperformance will be improved if the parameters are determined in an appropriate
way. There are several methods for parameter optimization. Grid Search draws agrid on a parameter search space, examining all intersection representing a
combination of the parameters. The method can find the best parameters with ahigh probability, but it takes a huge amount of time. The authors have used
Bayesian Optimization to optimize the parameters in a shorter time and achieved
the better performance.

GS5-2 Selective synchronization of the coupled bifurcating neurons for phase shiftof background oscillation
Akihiro Yamaguchi1, Yutaka Yamaguti1, Masao Kubo2 (1 Fukuoka Institute of Technology,2
National Defense Academy of Japan, Japan)
Synchronization in the coupled bifurcating neurons was studied in the view pointof the selective formation of cell assembly. The bifurcating neuron is a simple
chaotic neuron that exhibits chaotic inter-spike interval dynamic by adding thesinusoidal background oscillation. In this research, we introduce the phase shift ofthe background oscillation and the several types of phase response to the input spikesequence. The coupled 16 bifurcating neurons with complete bidirectional coupling
were numerically simulated and their synchronized behaviors were observed,
where each 4 neurons have the same phase shift value that is different with the otherneurons. Fig. 1 shows the synchronization ratio of each pair of neurons. This result
indicates the formation of chaotically synchronized cell assembly for the same
phase shift value.

Fig. 1 Synchronization ratio of
neurons

GS5-3 Review on computational techniques in solving aircraft landing problem
Aminurafiuddin Zulkifli, Nor Azlina Ab. Aziz, Nor Hidayati Abdul Aziz
(Multimedia University, Malaysia)
Zuwairie Ibrahim(Universiti Malaysia, Malaysia)
Norrima Mokhtar(University of Malaya, Malaysia)
The problem of sequencing and scheduling arriving aircraft landing is commonly
known as aircraft landing problem (ALP). This problem, due to various constraints
such as the number of arriving aircrafts, the number of runways, the mode of
runway operation, the type of arriving aircrafts, the minimum separation between
each arriving aircraft, and the weather condition, is considered to be a NP-hardproblem. Therefore, it is almost impossible to compute every possible solution andcomputational intelligence methods had been adopted to solve ALP. In this paper,
we review the computational intelligence techniques used in ALP. The maintechniques include the evolutionary algorithms namely; genetic algorithm, genetic
programming, scatter search and bionomic algorithm, the swarm intelligencealgorithms like particle swarm optimization and ant colony optimization and also
other methods such as the constrained position shifting and dynamic programming.

- 94 ©ICAROB 2018 ALife Robotics Corp. Ltd.

Figure 1. Cost variationin time window during
flightThe 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS6 Virtual reality (5)GS6-1 Interactive musical editing system to support human errors and offer
personal preferences for an automatic piano -Inferring performance expression byconsidering change of pitchMasahiro Ushio, Eiji Hayashi (Kyushu Institute of Technology, Japan)
Electronic musical instruments’ sound quality and ambience are inferior to realmusical instruments. Therefore, we developed automatic piano by using grandpiano. Pre-edit is needed to play music in the manner of a live pianist. In the caseof piano music, there are often 1000 or more notes in the score of even a short pieceof music, requiring that an editor spend a huge amount of time to accurately
simulate the emotionally expressive performance of a highly skilled pianist.
Therefore, we have developed an interactive musical editing system that utilizes adatabase to edit music more efficiently. This paper, we made a hypothesis that the
pianist's performance is characterized by the pitch change, and we introduced the
pianist features which considered the pitch change to further improve the efficiency.

GS6-2 Analysis of Malaysian Facial Expressions for Designing Virtual Agents
Halimahtun Khalid (Damai Sciences, Malaysia), Liew Wei Shiung(University of Malaya, Malaysia)
The perception of emotion based on facial expressions is culturally mediated. East
Asians tend to focus on the central region around the nose and eyes, while Western
Caucasians observe the eyebrows and mouth regions. Therefore, designing a virtualavatar with realistic facial expressions to convey emotions should consider thedemographics of the users who would be interacting with the avatar. We conducted
an online study to determine the facial measurements for specific emotions asperceived by Malaysians. Twenty-four facial expressions were shown to 37
subjects and they were instructed to select which emotion label matched each
expression. The expressions were then decomposed into facial action unit
measurements using OpenFace. Regression analysis was used to determine the
combination of measurements corresponding to each emotion label. The facial
expressions were then used to design the virtual agents in an experiment on humanavatar interaction where 48 subjects evaluated the virtual agents on trust.

GS6-3 Development of VR system to enhance understanding process of robot
mechanisms
Alexei Lushnikov, Vlada Kugurakova, Timur Satdarov, Artur Nizamutdinov(Kazan Federal University, Russia)
For engineers and technicians in training honing one's skills in working withmachines are essential. Very unfortunately, access to facilities required for this ispretty much may not always be provided: such facilities might be in short supply,or the time one is allowed to use them might be restricted, or they might be simply
not present in the vicinity. The solution to this problem that we propose is the useof VR simulation of tasks that would be normally carried out at the specialized
facilities, such as assembling-disassembling, maintenance, and use. To provide themost realistic and immersive experience, the simulation would be fitted with haptic
feedback. This study describes the ongoing project on design and implementationof such VR system.

- 95 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS6-4 Towards the immersive VR: measuring and assessing realism of user
experience
Vlada Kugurakova, Murad Khafizov, Alexander Elizarov, Aleksei Lushnikov,
Artur Nizamutdinov (Kazan Federal University, Russia)
The range of uses for Virtual Reality Continuum grows more diverse, with potential
fields of application spanning from research and education to leisure and work,
which increases demand for a method which can allow to precisely and reliably
measure VR effectiveness. How can we determine the quality of VR? How dodifferent people respond to its varying implementations? And could it be true thatdifferent social groups interact with VR differently? In this paper, we propose a
new approach to this emerging problem, which involves applying user interface(UI) metrics to VR experience. We review existing ways to increase VR immersion
and outline a series of possible experiments to study and, hopefully, find acorrelation between immersiveness and VR user interface effectiveness.

GS6-5 Lessons on the Reality-Gap: Iterations between Virtual and Real Robots
Andre Rosendo (ShanghaiTech University, China),
Charlie Houseago, Fumiya Iida (Cambridge University, UK)
Due to abstractions and approximations between the virtual and real world, thetransfer of knowledge from virtual (simulations) to real (robots) world is
problematic. As physical conditions are prone to unknown and stochastic noise
sources, the predictability reduces. In here we use data experiments from 100 realrobots to tune the parameters of a simulation, and later used this tuned simulator to
improve the design of the previous robots and find the optimum robot. We compare
the simulated and real world behavior of this robot, and discuss our results. In thispaper we address the Reality Gap by tuning a Bullet physics simulator with results
extracted from real experiments with robots. Parameters defining the interaction
between the robot and the floor (friction and restitution) are tuned to minimize theerror between the simulated and actual behavior, and the simulated trajectories of
100 agents are compared to the trajectories of the real-world counterpart. With the
newly found set of physical parameters, the simulation is then used to predict,through a Random Search approach, a robot capable of outperforming the previous
ones. This new robot is built and we observe that although differences exist between
the simulated and actual behavior, the final robot’s trajectory strongly resembles
the one predicted by the simulation. Next steps should consider stochastic
differences between experiments to improve the predictability of the system.

- 96 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS7 Intelligent control (3)GS7-1 Fractional Order Sliding Mode Control Applying on the HIV Infection
SystemThunyaseth Sethaput1, Arsit Boonyaprapasorn2( Thammasat University, 2Chulachomklao Royal Military Academy, Thailand)
1

The mathematical model of HIV dynamical system explains the interaction
between immune system and virus. It represents the relationship among
population size of uninfected CD4+ cells, infected CD4+ cell, and virus. The aimof the treatment is to drive the amount of uninfected CD4+ cells to the desired
level and the amount of both infected CD4+ cells and virus particles approach tozero as time increased. The main objective of this study is to apply the fractional
order sliding mode control (FOSMC) method to regulate HIV infection. The
performance of the control method was investigated via simulation. According to
the simulation of the controlled HIV system, the state variables approach to thedesired values. Thus, it is feasible to apply the FOSMC method to define thetreatment of the HIV infection system.

.

GS7-2 Skill-based Job Rotation Scheduling for Occupational Noise Exposure
Control
Pavinee Rerkjirattikarn, Chatdanai Kaorapapaong, Sun Olapiriyakul(Thammasat University, Thailand)
Job rotation is an inexpensive and flexible administrative control measure, used toprevent workers from being exposed to harmful levels of occupational hazards.
Despite its advantages, job rotation can affect process continuity and workers’
control over the timing of their work hours, resulting in reduced productivity andjob satisfaction.
This paper proposes a job rotation methodology for
manufacturing systems with independent workstations. An integer-programming
model is formulated, to determine workforce schedules capable of meetingcustomer demands and skill requirements for tasks, while simultaneously
minimizing operational cost and reducing noise exposure levels of workers to a safe
level. The overtime assignment is considered to ensure the fairness andappropriateness of the work schedules. The cost effectiveness of workforce
schedules is evaluated under different overtime policies and production capacity
levels. The results of this study will help decision makers to select the best
workforce schedule, based on the desired production levels and overtime policies.

.

GS7-3 A Training Method for the Speech Controlled Environmental Control System
Based on Candidate Word Discriminations
Taro Shibanoki, Masaki Watanabe (Ibaraki University, Japan), Go Nakamura, Takaki Chin
(Hyogo Rehabilitation Center, Japan), Toshio Tsuji (Hiroshima University)- 97 ©ICAROB 2018 ALife Robotics Corp. Ltd.

Commandgeneration…

Intention
estimation

Voice SpeechControl
Infraredsignal recognition command signals
results
Featureextraction

This paper proposes a concept of a training system for the speech controlledenvironmental control system: Bio-Remote based on candidate word
discriminations. The proposed system can provide three-types of voice signal
training: (1) volume, (2) timing and (3) candidate word which are important for
accurate speech recognition based on false recognition results. During the training,such three kinds of features are extracted from measured voice signals and visually
and auditory fed back to the user in real time. This allows the user to train speech
abilities even if false recognition results are extracted because of slurred speech
The efficacy of the proposed system is demonstrated through training experiments
for slurred speech conducted with healthy participants. The results show that the
proposed training system is capable for train the speech abilities.

Domestic
appliances

Operator
VolumeTimingCandidate word

(L)

Microphone

(L)

M11
M21

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS8 RoboticsII (5)GS8-1 Design System of Cell Type Assembly Machine with Dual Arms Robot by GA
Keita Honda, Hidehiko Yamamoto and Takayoshi Yamada (Gifu University, Japan)

The purpose of this research is to develop a system named DELUGA which
automatically decides to place a lot of assembled parts, jigs and robot hands of acell type Assembly Machine by genetic algorithm (GA). The robot of our research
adopts a dual arms robot. DELUGA consists of two modules, the conditions
module and GA module. The conditions module reads work data for robot, andsets various parameters required for GA.GA module decides the efficientarrangement place of parts, for example jigs and robot hands, by GA, and outputs
the acquired arrangement image. Because the left and right robot arms
simultaneously carry out assembly works, DELUGA adopts the concept of
waiting time of each robot arm to prevent arms interference. We applied
DELUGA to assembly machine of an in-wheel motor for electric vehicles. The
application resulted that the production efficiency increased. It is ascertained that
DELUGA is useful.

GS8-2 Spherical Mobile Robot Driven by Biorthogonal Omnidirectional Wheels
Liu Wei, Ma Shuanglong, Duan Lunqin, Yu Jiangtao (Beijing Jiaotong University, China)
This paper presents a new spherical mobile robot driven by omnidirectional wheels.
The structure is that there are two independent driving omnidirectional wheels
located at the ends of the inside vertical diameter of the sphere shell, and the twowheel axes are in orthogonal position. Its principle is, that the omnidirectional
wheels can roll on the inner surface of the spherical shell by the friction force, thendrive the spherical shell rolling. The lower end omnidirectional wheel is
responsible for walking drive, and the upper end one for steering drive.

.

GS8-3 Coordinated behaviour with a Pepper Humanoid robot to estimate thedistance of other robot using Inverse Perspective Mapping
M. Hassan Tanveer, Antonio Sgorbissa, Carmine T. Recchiuto(University of Genova, Italy)
This article discusses a strategy for real time distance determination applied to ahumanoid robot (Pepper, Softbank Robotics) that is requested to collaborate withother robots. However, using the monocular camera embedded on the robot head,
it is difficult to determine distance to objects in front of the robot with any degreeof certainty. The reason is non linear relationship between the height allocation ofcamera and its distance to an object in a camera frame. So, the proposed method isbased on the extraction of accurate bird’s-eye view images, by applying Surface
Substraction and Inverse Perspective Mapping (IPM) to the images captured with
the Pepper head camera. The algorithm is implemented in the Python language
using the OpenCV libraries- 98 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS8-4 Control Techniques of Quadrotor Uavs: A Concise Study
1

Syed Faiz Ahmed, 1Athat Ali, 1M. Kamran Joyo, 1Khusairy Abd Kader, 2Hazry Desa,
Sheroz Khan(1Universiti Kuala Lumpur, British Malaysian Institute, Malaysia, 2Universiti
Malaysia Perlis, Malaysia, 3International Islamic University Malaysia, Malaysia)

3

Quadrotors, the four wing UAV has drawn prominent attention amongst the
researchers. The simple nonlinear structure design requires a robust control toensure the stability during the flight. The noisy and environment with unexpecteddisturbances may cause issues such as drift in position. In order to tackle the severe
conditions a robust control is required. This paper provides an overview of theavailable quadrotor models and the control techniques with their application inquadrotor control issues.

GS8-5 GIS Based Hydrological Model for River Water Level Detection & Flood
Prediction featuring morphological operations.
Sarmad Zafar, H.M.SohaibAzhar, Aqeel Tahir(Mohammad Ali Jinnah University, Pakistan)
Mostly river water level and flood forecasting methods are based on
gauging stations measurements at discrete locations, which limits theircapability to provide accurate and timely data over large extent, also limited or nodata available on remote locations. So here we present an idea to use high resolution
satellite images for real time mapping of river water level. In this project, wedeveloped a Web based GIS system for mapping river water level, early warningand mapping for flood disasters. To improve flood forecasting/warning, wedeveloped a decision support system (DSS) for flood monitoring and predictionthat integrates GIS, satellite image processing and hydrological modeling. We
present the methodology for data integration, floodplain delineation, and online
map interfaces. Our Web based GIS system can dynamically display observed andpredicted water levels for decision makers and the general public. The users canaccess a Web-based GIS system which models current flood events and displays
satellite imagery and 3D visualization integrated with the flood plain area. The
output from the hydrological modeling will be used for flooding prediction for the
next 1 day to 2 days (24 and 48 hours) along the lower Indus River. In this stage
river water level analysis has been achieved, work on the hydrological modeling isin progress to acquire river water stage & flood level and the prediction.

GS9 Poster (11)GS9-1 Analysis of onboard sensor-based odometry for a quadrotor UAV in outdoor
environment
Aidar Gabdullin, Grigory Shvedov, Mikhail Ivanou, Ilya Afanasyev(Innopolis University, Russia)
Konstantin Yakovlev (Russian Academy of Science, Russia)
This article introduces a comparative analysis of a quadrotor UAV trajectories
evaluated by onboard sensors (camera, IMU and GPS) and ROS-based monocularvisual odometry. Parrot Bebop drone was launched outdoor in autonomous mode
according to teleoperated closed-loop trajectory along an a-priori known
perimeter of a square work area (measured by a tape measure as a ground truth)
and recorded sensors telemetry data for offline processing. To verify UAV
odometry trajectory, we used Bebop’s firmware with integrated visual-inertial
velocity estimation, the ground truth and an external observer.

- 99 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS9-2 Memristive neuron integration in digital robotic embodiment
Max Talanov, Evgenii Zykov, Yuriy Gerasimov, Evgeni Magid, Aleksander Elizarov(Kazan Federal University, Russia)
Victor Erokhin(IItalian National Council of Research, Parma, Italy)
In the current paper, we introduce a high-level approach for an integration of aneuromorphic meistive neuron in a real-time operating robotic system. The
memristive neuron schematic, which we had presented in our earlier works, iscapable of inhibitory and excitatory learning (eSTDP, iSTDP) as well as
modulation via dopamine input. We discuss a possibility of integration of theanalog memristive neuron into a digital robotic embodiment and present block
diagram of an adapter that includes pseudo-neuronal encoder and decoder.

GS9-3 Russian mobile robot Servosila Engineer: designing an optimal integration ofan extra laser range finder for SLAM purposes
Neil Alishev, Yuriy Gerasimov, Roman Lavrenov (Kazan Federal University, Russia)
In our current research we determine an optimal design for integration of Hokuyo
UTM-30LX-EW LRF into control system of Russian mobile robot Servosila
Engineer. We designed and constructed a special static stand with an option to
select an inclination of a scanning beam toward the surface of an environment.
RBPF SLAM algorithm was tested to perform localization and mapping.
Experiments were conducted in order to determine the best configuration of the
LRF position and RBPF SLAM algorithm parameters.

GS9-4 Toward automated open wound suturing using haptic feedback: detecting
wounds and planning the suture
Artur Sagitov¹, Hongbing Li², Evgeni Magid¹(¹Kazan Federal University, Russia)(²Shanghai Jiao Tong University, China)
One of the key disadvantages of robotic surgery as of today is the lack of haptic
feedback. While in traditional surgery surgeons using their haptic senses in alltasks most medical robot lack this ability. Using robots with haptic feedback havethe potential of reducing the time spend by surgeon on such tedious subtasks assuturing helps reducing surgeon fatigue. Also decreasing the manual input of thesurgeon enables remote surgery even using long communication links with big
latency. In this paper we present a framework of wound detection and sutureplanning. We plan to implement and test our algorithms using KUKA iiwa
manipulator.

- 100 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS9-5 Establishing Effective Teaching for Robotics: a comparison study of Bachelor
students in Introduction to Robotics course
Tatyana Tsoy, Leysan Sabirova, Mikhail Abramskiy, Evgeni Magid(Kazan Federal University, Russia)
Global demand in robotics specialists arose necessity of establishing educational
programs in robotics, which sets new challenges for modern educational system.
In 2017 Kazan Federal University launched master’s program in Intelligent
Robotics to produce specialists considering core engineering competences andsuch important skills as self-motivation, critical thinking etc. This paper presents
results of continuous survey among undergraduate students of Introduction to
Robotics course that helps understanding dynamics of student’s motivation to
study robotics, attitude toward education methods to improve teaching strategies

GS9-6 Development of a heterogeneous aerial swarm control framework for forest
management
Yuriy Gerasimov, Artur Sagitov, Evgeni Magid (Kazan Federal University, Russia)
As the prevalence of UAVs is increasing, they are becoming more accessible forwider applications. Our interest is in application of UAVs for forest management
challenges including health and safety monitoring and commercial exploitation
in a sustainable manner. We propose a swarm control framework for managing agroup of UAVs for aforementioned tasks, including survey of tree health with
infrared cameras and chemical sensors, detecting potential risky situations ofillegal logging, smoke and fires, and estimating potential volume measurements.
The proposed framework manages planning flight trajectories, sensor fusion andcollaborative mapping. On the next stage, we plan to simulate the framework in
ROS/Gazebo environment, and further to implement a pilot project with a groupof DJI Phantom quadrotors and a large-size fixed-wing UAV.

GS9-7 Implementation of ROS package for simultaneous video streaming fromseveral different cameras
Ramil Safin, Roman Lavrenov (Kazan Federal University, Russia)
Real time video stream capturing and processing is important for a variety of tasks
in robotics. We created ROS package that captures concurrent video stream from
4 different cameras of Russian mobile robot “Servosila” Engineer. V4L2 API wasused to configure video devices and to retrieve raw data from cameras. Memory
mapping approach of mapping device buffers increased overall performance byeliminating redundant memory copies. We demonstrate the comparison of our
new package and OpenCV based package.

- 101 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS9-8 Consumers Preferences and Purchase Intention on New Taste of Salted Duck
Eggs
Shang-Hui Li (Far East University, Taiwan)
Egg is an indispensable food in people's daily life. Egg is rich in protein, easily
digested by human body and metabolism. In addition to direct consumption,
people created many different processed egg products by the characteristics of
eggs. The traditional method of making salted duck eggs is to place the eggs insalt water or coated in laterite without any additional chemical composition.
Except the eggs, this study joined other natural ingredients To produce eight
different flavors of salted duck eggs. In the formal test, 70 convenience sampling
were taken from Tainan area for sensory evaluation, 63 valid questionnaires,
SPSS18.0 was used as the statistical analysis. Sensory evaluation included thecolor, oil, smell, salty and taste of egg yolk and the salty, taste of protein.
Moreover, with the overall acceptance, purchase intention and willingness to buy
again etc. The study results showed that cinnamon red salted duck eggs and fourherb salted duck eggs are the highest acceptance to consumers, followed by thesalted citronella duck eggs. However, four-herb salted duck eggs dipped by thesalted water are not favored by consumers.

GS9-9 The Study of Green Food Image, Satisfaction and Loyalty through the
Perspective of Elaboration Likelihood Model
Shu-Fang Hsu (Far East University, Taiwan)

This study aims to explore the relevance of consumer satisfaction and loyalty togreen food image through the perspective of Elaboration Likelihood Model. The
results show that the positive impact of green food image; and will indirectly
affect the satisfaction of re-purchase intention; satisfaction positive impact
loyalty. We hope that the results of this study can provide relevant business
management strategies and suggestions, the green food consumption theory andpractice can be dedicated.

- 102 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS9-10 Self-Generated Dataset for Category and Pose Estimation of Deformable
Object for Manipulation by Robot
Yew Cheong Hou, Khairul Salleh Mohamed Sahari (Universiti Tenaga Nasional, Malaysia)
This work considers the problem of garment handling by a general householdrobot that focuses on the task of classification and pose estimation of a hanging
garment in unfolding procedure. Classification and pose estimation of deformableobjects such as garment are considered a challenging problem in autonomous
robotic manipulation because these objects are in different sizes and can be
deformed into different poses when manipulating them. Hence, we propose a selfgenerated synthetic dataset for classifying the category and estimating the poseof garment using a single manipulator. We present an approach to this problem
by first constructing a garment mesh model into a piece of garment that crudely
spread-out on the flat platform using particle based modeling and then theparameters such as landmarks and robotic grasping points can be estimated fromthe garment mesh model. Later, the spread-out garment is picked up by a single
robotic manipulator and the 2D garment mesh model is simulated in 3D virtualenvironment. A dataset of hanging garment can be generated by capturing thedepth images of real garment at the robotic platform and also the images ofgarment mesh model from offline simulation respectively. The synthetic dataset
collected from simulation shown the approach performed well and applicable ona different of similar garment. Thus, the category and pose recognition of thegarment can be further developed.

GS9-11 Design and Development of Three Arms Transmission Line Inspection
Robot
Muhammad Fairuz Abdul Jalal, Khairul Salleh Mohamed Sahari, Ho Ming Fei, Justin Chan
Tuck Leong (Universiti Tenaga Nasional, Malaysia)
The high-voltage transmission line had been used primarily for power distribution
from power plant or power station to the end users. However, the transmission
line is highly prone to damage due to exposure to various thermal - mechanicalloading and material degradation. Therefore, periodical inspection ontransmission line after prolonged service is needed to prevent any failure before
it happens. In this paper, we present a new design of three arms inspection robot
for transmission lines. The robot is able to transverse along the line and bypass
the in-line obstacles namely the anti-vibration hammers, spacer, strain clamps andothers. The design of the inspection robot in term of the robot design andconfiguration with slotted cam at each arm is presented. The detailed analysis via
simulation with respect to the robot stability; kinematic and movement analysis;
and power consumption during operation is executed to make sure the proposed
design able to do the inspection without any unexpected difficulties. Later, thelab testing on the developed prototype is done for feasibility study and validation.

- 103 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS10 Others (4)GS10-1 A review on fundamental advancements of black hole algorithm
Zuwairie Ibrahim, Suad Khairi Mohammed, Norazian Subari(Universiti Malaysia Pahang, Malaysia)
Nor Azlina Ab Aziz, Nor Hidayati Abdul Aziz(Multimedia University, Malaysia)
Tasiransurini Ab Rahman(Universiti Tun Hussein Onn Malaysia, Malaysia)
Asrul Adam, Zulkifli Md Yusof(Universiti Malaysia Pahang, Malaysia)
Mohd Ibrahim Shapiai(Malaysia Japan International Institute of Technology, Universiti Teknologi Malaysia, Malaysia)
Norrima Mokhtar(University of Malaya, Malaysia)
In recent years, there is a growing interest in the design and development of natureinspired optimization algorithms. One of the algorithms is black hole algorithm(BHA), which is inspired by the black hole in general relativity and cosmology.
This paper reports a review of the BHA. This review emphasizes on thefundamental advancements of BHA. A brief research gap is presented at the end of
this paper.

Event horizon
for the blackholeBlack hole
Agent iRBH
Disappear into theblack hole.
(by re-initialization)

Fig. 1. Illustration of a black holewith its event horizon.

GS10-2 A survey on applications of black hole algorithm
Zuwairie Ibrahim, Suad Khairi Mohammed, Norazian Subari, Asrul Adam, Zulkifli Md Yusof(Universiti Malaysia Pahang, Malaysia)
Nor Azlina Ab Aziz, Nor Hidayati Abdul Aziz(Multimedia University, Malaysia)
Tasiransurini Ab Rahman(Universiti Tun Hussein Onn Malaysia, Malaysia)
Mohd Ibrahim Shapiai(Malaysia Japan International Institute of Technology, Universiti Teknologi Malaysia, Malaysia)
Norrima Mokhtar(University of Malaya, Malaysia)
P

In recent years, there is a growing interest in the design and development of natureinspired optimization algorithms. One of the algorithms is black hole algorithm(BHA), which is inspired by the black hole in general relativity and cosmology.
This paper reports a review of the black hole algorithm (BHA). This survey
emphasizes on the applications of BHA.

Initialization

Fitness evaluation

Update black hole, calculate
event horizon

Update position based on
pseudo code 1

No
No
Stopping condition

Yes
Yes
Return best solution, XBH

Fig. 1. Flowchart of BHA.

GS10-3 Black hole white hole algorithm with local search
Zuwairie Ibrahim, Suad Khairi Mohammed, Norazian Subari, Asrul Adam, Zulkifli Md Yusof(Universiti Malaysia Pahang, Malaysia)
Nor Azlina Ab Aziz, Nor Hidayati Abdul Aziz(Multimedia University, Malaysia)
Tasiransurini Ab Rahman(Universiti Tun Hussein Onn Malaysia, Malaysia)
Norrima Mokhtar(University of Malaya, Malaysia)
PBlack hole algorithm (BHA) is an optimization algorithm inspired by the black holediscovery in relativity theory. Recently, white hole operator, which is based on the
opposite of black hole, has been introduced in BHA. In this paper, a local is addedin the BHA with white hole operator.

- 104 ©ICAROB 2018 ALife Robotics Corp. Ltd.

Initialization

Fitness evaluation

Update black hole, calculate
event horizon

Update position based on
pseudo code 1

No
No
Stopping condition

Yes
Yes
Return best solution, XBH

Fig. 1. Flowchart of BHA.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS10-4 Tele-Operation of a Legged Robot by a Virtual Marionette System- First report: The first prototype and the usefulness of the reaching taskNoritaka Sato, Yasuhiko Sawai, Ryo Asami, Makoto Kitani, Yoshifumi Morita(Nagoya Institute of Technology, Japan),
Tomofumi Fujiwara, Takahiro Endo, Fumitoshi Matsuno (Kyoto University, Japan)
I8n general, a gamepad and images from a camera mounted on a robot are used forthe teleoperation of a rescue robot. However, teleoperation is difficult for
inexperienced users because the relationship between the user input and robot
motion is not always intuitive. Therefore, we have developed an interface in which
the operator operates a robot as if touching it directly in a virtual 3D space. In ourprevious research, we developed a virtual direct teleoperation system for a tracked
rescue robot. In this study, we adapt our system to inputting target positions of ahand or a foot of a legged rescue robot. We verify the effectiveness of the proposedsystem by comparison with the conventional method which is used by the teamparticipating in the DARPA Robotics Challenge.

- 105 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

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

Ab Rahman

Alishev
Nor Azlina

Tasiransurini

Neil

Amarasinghe

GS9-3

29/100OS14-3

33/70

GS5-3

34/94

GS10-140/104OS14-433/70

GS10-2

40/104OS14-5

33/71

GS10-3

40/104OS14-6

33/71

GS10-140/104

AmpantUdomlux

GS3-2

32/91

GS10-2

40/104An

Jongwoo

OS2-2

32/46

GS10-3

40/104

An

LingranOS16-225/76

Abd Kader

Khusairy

GS8-4

19/99

OS16-5

25/76

Abdul Aziz

Nor Hidayati

GS5-3

34/94

OS16-7

26/77

GS10-140/104

OS6-1

38/53

GS10-2

40/104

OS6-2

38/53

GS10-3

40/104

Andreev

Andrey

OS7-4

21/55

GS9-1130/103

Andreychuk

Anton

OS7-1

21/54

Anshi

Ryohei

GS2-2

27/89

Abdul Jalal

MuhammadFairuzAndo

KazuakiAbe

Akinori

OS17-4

36/79

Aoki

Kenji

OS1-1

39/44

Abramskiy

Mikhail

GS9-5

29/101Arai

Takafumi

OS21-2

18/85

AburadaKentaroOS12-3

31/67

Asada

Taro

OS13-1

37/67

OS12-431/67

OS13-2

37/68

GS10-140/104OS13-3

38/68

GS10-2

40/104

Asai

Fumio

GS3-5

32/92

GS10-3

40/104Asami

Ryo

GS10-440/105AshidaYoichiro

OS3-3

22/48

OS3-6

22/49

H.M.Sohaib

GS8-5

19/99

JaehueOS22-331/87

OS14-3

33/70

Adam

Asrul

Afanasyev

Ilya

GS9-1

29/99

Ahn Ahmed

Syed Faiz

GS8-4

19/99

Ahn

JonghyunOS20-2

34/83

AiharaKazuyuki

OS9-1

24/62

OS9-6

24/64

Azhar

[B]

Alemán Carreón

Elisa Claire

OS5-3

23/52

Bae

Ali

Athat

GS8-4

19/99

Basnayake- 106 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

OS14-6

33/71

OS16-1

25/75

Bian

Ce

OS16-125/75

OS16-2

25/76

Bian

Ce

OS16-3

25/76

OS16-3

25/76

OS16-425/76

OS16-425/76

OS16-5

25/76

OS16-5

25/76

OS16-6

25/77

OS16-6

25/77

OS16-926/77

OS16-7

26/77

OS7-1

21/54

OS16-8

26/77

OS7-3

21/55

OS16-926/77

OS14-5

33/71

Bokovoy

AndreyBoonyaprapasorn

Arsit

GS7-1

34/97

Dayananda

Bruyant

Alexandre

GS3-1

32/91

DeguchiChikashi

OS1-3

39/44

Desa

Hazry

GS8-4

19/99

OS14-433/70

Lunqin

GS8-2

19/98

[C]

De Silva

Chaicherdkiat

Poommitol

GS1-2

30/88

Chan

Tuck Leong,GS9-1130/103

Duan

Justin[E]

Chang

Cheng-Jui

OS8-11

20/62

Egunov

Vitaly

OS7-2

21/54

Chang

Shengbiao

OS16-1

25/75

Elizarov

Alexander

GS6-4

37/96

OS16-4

25/76

GS9-2

29/100OS16-9

26/77

Endo

Masaki

OS5-4

23/52

OS14-6

33/71

Endo

Takahiro

GS10-440/105

Erokhin

Victor

GS9-2

29/100

Ho Ming

GS9-1130/103OS14-6

33/71

Chaturanga
Chen

Chia-Hsiu

OS8-7

20/60

Chen

Feng

GS4-2

26/93

Chen

Xiaoyan

OS15-825/74

OS15-9

25/74

Fei

[F]

ChikushiShota

OS21-3

19/85

Fernando

Chin

Takaki

GS7-3

34/97

Fu

Dongmei

OS18-4

30/81

Choi

Jiwook

OS2-2

32/46

Fu

Ziyi

OS18-130/80

ChuangKuang-Wei

OS8-6

20/60

OS19-1

22/81

Chumkamon

Sakmongkon

GS2-2

27/89

GS3-4

32/92

ColletPierre

GS3-1

32/91

Fujinaga

TakuyaOS21-519/86

CuiMengchenOS18-430/81

Fujita

Kohki

GS4-4

26/93

Fujiwara

Tomofumi

GS10-440/105

Fukushima

HirokiOS17-1

36/78

Fukushima

Mihoko

OS1-3

39/44

[D]
Dai

FengzhiOS15-925/74- 107 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

[G]

GS2-4

27/90

GS2-5

27/90

GS6-1

37/95

G. Helander

M.

IS-6

28/43

Hayashi

Yuki

OS17-637/79

Gabdullin

Aidar

GS9-1

29/99

He

Chang-Jhu

OS8-1020/61

Gao

Caixia

OS18-1

30/80

Henmi

Tomohiro

OS3-7

23/49

GautamAshish

OS9-5

24/63

Hiraoka

Toru

OS5-1

23/51

Ge

Yong

OS1-5

39/45

OS5-2

23/52

Gerasimov

Yuriy

GS9-2

29/100

OS5-3

23/52

GS9-3

29/100

OS5-1

23/51

GS9-6

29/101

OS5-3

23/52

GS2-1

27/89

OS5-4

23/52

GS2-6

27/90

Honda

Keita

GS8-1

19/98

Hori

Masamichi

OS1-1

39/44

GopuraHirotaMasaharu

Gorobtsov

Alexander

OS7-4

21/55

Guo

Jr Hung

OS8-2

20/58

OS1-3

39/44

OS8-4

20/59

OS1-4

39/45

OS8-6

20/60

OS6-1

38/53

OS15-4

24/73

OS6-2

38/53

OS15-5

24/73

OS6-3

38/53

OS6-4

38/54

Guo

Zhiqiang

Horikawa

[H]

Yo

Hou

Yew Cheong

GS9-1030/103Han

FengzeOS15-8

25/74

Hou

Yong

OS16-9

26/77

Han

Sumin

OS19-2

22/82

Houseago

Charlie

GS6-5

37/96

HaradaKazumasa

OS20-1

34/83

Hsia

Kuo-Hsien

OS8-4

20/59

HaradaKensuke

OS10-1

33/64

OS8-5

20/59

OS10-2

33/64

Hsu

Shu-Fang

GS9-9

29/102

OS6-1

38/53

Hsu

Wen-Ting

OS8-9

20/61

OS6-2

38/53

Hu

Qiongqiong

OS1-5

39/45

OS6-3

38/53

Hung

Chung-Wen

OS8-1

20/57

OS6-4

38/54

OS8-9

20/61

GS5-3

34/94

Hattori

TetsuoHayakawa

Takuya

GS5-1

34/94

Hayashi

Eiji

GS1-2

30/88

GS1-3

30/88

GS2-2

27/89

GS10-140/104

GS2-3

27/89

GS10-2

40/104[I]
Ibrahim- 108 ©ICAROB 2018 ALife Robotics Corp. Ltd.

Zuwairie

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018
GS10-3

40/104Jeon

Hyun Cheol

OS22-1

31/86

Jia

Hongyan

OS15-424/73

OS15-5

24/73

OS18-3

30/81

Iida

Fumiya

GS6-5

37/96

Ikeda

Satoshi

OS1-1

39/44

OS1-2

39/44

OS1-3

39/44

OS19-3

22/82

OS1-4

39/45

OS19-5

22/83

OS8-1

20/57

OS8-9

20/61

OS16-2

25/76

IiboshiAtsushiJia

Yingmin

Imai

ShinichiOS11-2

39/65

Jiang

Jhen-Gu

Imai

Yoshiro

OS6-1

38/53

OS6-2

38/53

OS6-3

38/53

OS16-5

25/76

OS6-4

38/54

OS16-7

26/77

Jin

Xia

Indelman

Vadim

OS7-5

21/56

Jitkongchuen

Duangjai

GS3-2

32/91

InukaiToshihiro

OS15-1125/75

Jitviriya

Wisanu

GS1-2

30/88

Iriyama

Yosuke

OS1-4

39/45

GS2-2

27/89

Ishii

Kazuo

OS20-2

34/83

JohnsonJeffrey

PS-1

18/41

OS20-3

35/84

Joyo

M. Kamran

GS8-4

19/99

OS20-4

35/84

Jung

Min Gyu

OS2-1

32/45

OS20-5

35/84

OS21-319/85[K]

OS21-4

19/86

Kachalov

Andrey

OS7-2

21/54

OS21-5

19/86

Kai

Yuki

OS1-4

39/45

Ishikawa

Hiroshi

OS5-4

23/52

Kamei

Keiji

OS21-2

18/85

Ito

Takao

OS1-1

39/44

Kang

Hosun

OS2-2

32/46

OS1-2

39/44

OS2-3

32/46

OS5-1

23/51

OS16-1

25/75

OS5-3

23/52

OS16-4

25/76

Kang

Qijia

Ito

TakuyaOS17-5

36/79

Kaorapapaong

Chatdanai

GS7-2

34/97

Ito

Tsutomu

OS1-1

39/44

Katayama

TetsuroOS12-1

31/66

OS1-2

39/44

OS12-3

31/67

GS9-1

29/99

OS12-4

31/67

IvanouMikhail[J]
Jayawardena

GS2-1

27/89

Kato

Ryota

OS13-1

37/67

KawadaKazuo

OS11-3

39/65

Kawakami

Yusuke

OS6-1

38/53

Jeannin-Girardon

Anne

GS3-1

32/91

OS6-2

38/53

Jee

Gyu-inOS22-2

31/87

OS6-3

38/53

- 109 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

KawanoHiromichi

OS6-4

38/54

GS5-2

34/94

OS6-3

38/53

OS7-6

21/56

OS6-4

38/54

GS6-3

37/95

GS6-4

37/96

OS5-1

23/51

OS5-2

23/52

OS5-3

23/52

GS4-3

26/93

GS4-4

26/93

Ryo

OS3-2

22/48

Khafizov

Murad

GS6-4

37/96

KhalidHalimahtun

IS-6

28/43

GS6-2

37/95

Khan

Sheroz

GS8-4

19/99

Khoyratee

Farad

OS9-3

24/63

Kim

Ki-seo

OS2-6

32/47

Kim

Dohyun

OS2-4

32/46

Kim

Heeje

OS2-4

32/46

OS2-5

32/47

Kugurakova

KumanoKuremoto

Kurokawa

Vlada

MinoruTakashi[L]

Kim

KyuwonOS22-2

31/87

Kim

Min-soo

OS2-5

32/47

Lai

Li-Chun

OS8-3

20/58

KimuraKenji

OS21-319/85

Lavrenov

Roman

OS7-5

21/56

Kinoshita

Kento

OS3-8

23/50

OS7-7

21/56

Kinoshita

Takuya

OS3-3

22/48

GS9-3

29/100Kita

YoshihiroOS12-3

31/67

GS9-7

29/101OS12-431/67

Lee

ByoungjinOS22-331/87

LeeJangmyung

OS2-2

32/46

Kitani

MakotoGS10-440/105Ko

Chia-Nan

OS8-3

20/58

OS2-3

32/46

Kobayashi

Jun

GS5-1

34/94

OS2-6

32/47

Kobayashi

Kyoichiro

GS4-3

26/93

Lee

Min Cheol

OS2-1

32/45

KodamaYukari

OS1-3

39/44

Lee

Nahyun

OS2-3

32/46

OS1-4

39/45

Leleu

Timothée

OS9-6

24/64

Levi

Timothée

OS9-1

24/62

Kogi

DaichiOS13-2

37/68

Kohno

Takashi

OS9-1

24/62

OS9-3

24/63

OS9-2

24/62

OS9-6

24/64

OS9-4

24/63

Li

BingheOS21-5

19/86

OS9-5

24/63

Li

Hongbing

OS7-8

21/57

OS9-6

24/64

GS9-4

29/100

Konishi

Yasuo

OS3-2

22/48

Li

Ji-Hua

OS8-2

20/58

KoyamaYoshihide

OS6-3

38/53

Li

Jung-Shian

OS8-7

20/60

OS6-4

38/54

OS8-8

20/61

GS3-3

32/91

OS8-11

20/62

Kubo

Masao

- 110 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Li

Meili

OS16-325/76

LiShang-Hui

GS9-8

Li

Shudong

Li

Magid

Evgeni

OS7-5

21/56

29/102

OS7-8

21/57

OS15-8

25/74

GS9-2

29/100Yang

OS15-10

25/75

GS9-4

29/100Li

Yi

OS19-5

22/83

GS9-5

29/101

Li

Yiyang

OS1-5

39/45

GS9-6

29/101

Lin

Jun-Nong

OS8-5

20/59

MaigumaMizukiOS14-1

33/69

Lin

XiaokunOS16-826/77

MaoRunhuaOS16-125/75

LiuChuan-Gang

OS8-11

20/62

OS16-325/76

LiuShangzheng

OS18-230/80

OS16-425/76

Liu

Shilong

OS15-6

24/73

OS16-6

25/77

Liu

I-Hsien

OS8-7

20/60

OS16-9

26/77

OS8-8

20/61

Mao

Wei-Lung

OS8-1

20/57

OS8-11

20/62

Man

Haifang

OS16-6

25/77

GS2-1

27/89

Liu

Qing

OS15-10

25/75

Mann

Liu

Wei

GS8-2

19/98

Markov

Alexey

OS7-4

21/55

Liu

Ze

OS15-925/74

Martinez-Garcia

Edgar A.

OS7-8

21/57

Lu

Kuan-Chu

OS8-8

20/61

MasudaKoji

OS20-4

35/84

Lund

Henrik

IS-1

18/42

Matsui

HidetoOS11-2

39/65

Matsunaga

Miki

OS3-1

22/47

HautopIS-2

18/42

MatsunoFumitoshi

GS10-440/105

Luo

Haibao

GS4-1

26/92

Mikami

Kaito

GS3-5

32/92

Lushnikov

Alexei

OS7-6

21/56

Mitsuhashi

Koshiro

OS1-3

39/44

GS6-3

37/95

OS1-4

39/45

GS6-4

37/96

MiyachiJunpeiOS13-5

38/69

OS15-2

24/72

Mizumoto

Ikuro

OS3-9

23/50

Mohammed

Suad Khairi

GS10-140/104

GS10-2

40/104

GS10-3

40/104

GS9-1030/103

GS9-1130/103

GS5-3

34/94

Lv

Zhijian[M]
Ma

Qinglian

OS1-5

39/45

Ma

Shuanglong

GS8-2

19/98

Mabu

Shingo

GS4-3

26/93

GS4-4

26/93

GS10-140/104

GS10-2

40/104

GS10-140/104

GS10-3

40/104

GS10-2

40/104

Md Yusof

Zulkifli

Mohamed Sahari

SallehMokhtar- 111 ©ICAROB 2018 ALife Robotics Corp. Ltd.

KhairulNorrimaThe 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

GS10-3

40/104

Ogata

TakashiOS17-2

36/78

Moon

Jeong-hwan

OS2-6

32/47

OS17-3

36/78

Mori

KeisukeOS12-3

31/67

OS17-5

36/79

Mori

Kenta

OS13-3

38/68

Ohnishi

Yoshihiro

OS11-1

39/65

Moriguchi

Yuki

OS11-5

40/66

Ohno

Shuichi

OS3-8

23/50

Morimoto

Shogo

OS12-2

31/66

OkazakiNaonobu

OS12-3

31/67

MoritaYoshifumi

GS10-440/105OS12-4

31/67

Mowshowits

Abbe

GS2-3

27/89

Okubo

Yuka

OS3-3

22/48

Mukunoki

Masayuki

OS1-3

39/44

Okuda

Haruhisa

PS-3

28/41

Olapiriyakul

Sun

GS7-2

34/97

Onda

HiromuOS10-2

33/64[N]
Nagamatsu

Masayasu

OS11-540/66

OnoJumpeiOS17-2

36/78

Nagano

Kaito

GS2-4

27/90

Ono

Michiyoshi

OS21-1

18/85

NagataKazuyukiOS10-1

33/64

OuyangYuxingOS16-1

25/75

Nakagawa

Masato

PS-2

28/41

OS16-2

25/76

Nakamoto

Masayoshi

OS3-1

22/47

OS16-3

25/76

Nakamura

Akira

OS10-1

33/64

OS16-425/76

Nakamura,

Go

GS7-3

34/97

OS16-5

25/76

NanamiTakuya

OS9-2

24/62

OS16-6

25/77

NishidaYuya

OS20-2

34/83

OS16-7

26/77

OS20-335/84

OS16-926/77

OS20-435/84

Nishimura

Shiori

OS5-2

23/52

[P]

Niu

Hong

OS15-1

24/72

Pagliarini

Luigi

IS-2

18/42

Nizamutdinov

Artur

OS7-6

21/56

Park

Chan Gook

OS22-1

31/86

GS6-3

37/95

Park

Gwang Soo

OS22-3

31/87

GS6-4

37/95

Park

Sun Oh

OS2-1

32/45

OS5-1

23/51

Parrend

Pierre

IS-4

28/43

OS5-2

23/52

GS3-1

32/91

OS5-3

23/52

Pei

Wenjing

OS18-330/81

OS14-2

33/69

Peng

YizhunOS15-2

24/72

Petrosyan

Michail

OS7-2

21/54

Phung

Nhuhai

GS3-3

32/91

Amornphun

GS2-5

27/90

GS2-6

27/90

NonakaNonakaHirofumi

Shunta[O]
Obayashi

Masanao

GS4-3

26/93

Phunopas

Oda

KazuyaOS21-1

18/85

Pragnathilaka- 112 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Pudchuen

Noppadol

GS1-2

30/88

[Q]
Qin

YiqiaoR. P. C.

Ixchel G.

Ranaweera

OS1-4

39/45

OS1-5

39/45

OS14-4

33/70

OS7-6

21/56

GS6-3

37/95

25/75

SampathOS16-325/76

Satdarov

OS16-425/76

OS16-6

25/77

Sato

Hiroshi

GS3-3

32/91

OS16-9

26/77

Sato

Noritaka

GS10-440/105

Sato

Takao

OS3-2

22/48

Sawai

Yasuhiko

GS10-440/105SethaputThunyaseth

GS7-1

34/97

Sgorbissa

Antonio

GS8-3

19/98

OS6-1

38/53

JanakaRamirez

39/44

OS16-1[R]
Rajapakse

OS1-3

Timur

OS6-2

38/53

Shabalina

Ksenia

OS7-8

21/57

OS10-2

33/64

Shapiai

Mohd

GS10-140/104

GS2-1

27/89

GS2-6

27/90

GS10-2

40/104

IbrahimRecchiuto

Carmine T.

GS8-3

19/98

Shi

PeihaoOS10-2

33/64

Rerkjirattikarn

Pavinee

GS7-2

34/97

Shibanoki

Taro

GS7-3

34/97

Rojas

Juan

OS10-2

33/64

ShimadaRyouichiOS13-2

37/68

Rosendo

Andre

GS6-5

37/96

OS13-3

38/68

OS14-5

33/71

IS-5

36/43

PS-1

18/41

OS1-2

39/44

RoshanRossi

RuggeroShinano[S]

Yuji

ShiungLiew Wei

GS6-2

37/95

Shvedov

Grigory

GS9-1

29/99

S. Liew

W.

IS-6

28/43

SkorikovAndrey

OS7-4

21/55

S. Voong

B.

IS-6

28/43

Sneha

Sharma

OS3-5

22/49

Sabirova

LeysanGS9-5

29/101

Soejima

Yuki

OS20-3

35/84

Safin

Ramil

GS9-7

29/101

Song

Binhu

OS16-926/77

Sagitov

Artur

OS7-8

21/57

Song

Yunzhong

OS19-1

22/81

GS9-4

29/100

SonodaTakashi

OS20-2

34/83

GS9-6

29/101

OS20-335/84

OS20-4

35/84

OS8-2

20/58

Saïghi

Sylvain

OS9-3

24/63

Saito

Keita

OS13-1

37/67

Sakamoto

Makoto

OS1-1

39/44

OS8-4

20/59

OS1-2

39/44

OS8-6

20/60

Su

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Subari

Norazian

GS10-140/104OS14-2

33/69

GS10-2

40/104

TanoueSatoshiOS12-4

31/67

GS10-3

40/104

Tanveer

M. Hassan

GS8-3

19/98

Tarasov

Pavel

OS7-2

21/54

OS7-4

21/55

Sung

SangkyungOS22-3

31/87

Suzuki

Yasuhiro

OS4-1

26/50

OS4-2

26/51

Tian

Xiwen

OS19-3

22/82

OS4-3

26/51

Tokumitsu

Masahiro

GS3-5

32/92

Tominaga

Ayumu

GS1-3

30/88

GS2-3

27/89

[T]
TabuseMasayoshi

OS13-1

37/67

Tominaga

Moeko

OS21-4

19/86

OS13-2

37/68

Toussaint

Nicolas

GS3-1

32/91

OS13-3

38/68

Tsoy

Tatyana

GS9-5

29/101OS13-438/68

TsuboiHaruka

OS1-1

39/44

OS13-5

38/69

OS1-4

39/45

Tadaki

KotoneOS17-7

37/80

Tsuji

Toshio

GS7-3

34/97

Tahir

Aqeel

GS8-5

24/99

Tsujii

Ryuichi

GS1-1

30/88

Takada

Taku

GS3-5

32/92

Takagi

Taro

OS3-9

23/50

TakagiTomohikoOS12-1

31/66

Uchida

Yasuo

OS1-1

39/44

OS12-2

31/66

Udayanga

OS14-6

33/71[U]Takahashi

Masanori

OS3-4

22/48

Ueda

Keita

OS11-4

39/65

Takemura

Yasunori

OS21-1

18/85

Ushio

Masahiro

GS6-1

37/95

OS21-4

19/86

Utsunomiya

Koshi

OS20-1

34/83

Ramon

OS3-2

22/48

Talanov

Max

GS9-2

29/100

TamuraHirokiOS14-1

33/69[V]

OS14-2

33/69

Vilanova

TanakaHideyukiOS11-4

39/65

TanakaTakeshi

OS1-3

39/44

TanakaTakeshi

OS6-3

38/53

Wakabayashi

Makoto

GS3-5

32/92

OS6-4

38/54

Wakitani

Shin

OS3-5

22/49

[W]

TanakaKen-ichi

PS-3

28/41

OS3-6

22/49

Tange

Atsuya

OS9-4

24/63

OS3-8

23/50

Taniguchi

Rie

OS4-2

26/51

Wan

WeiweiOS10-2

33/64

Tanikawa

Toyoaki

OS3-7

23/49

Wang

Bo-Min

OS8-9

20/61

Tanno

KoichiOS14-1

33/69

Wang

Chenxu

GS3-4

32/92

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Wang

Fuzhong

OS18-2

30/80[Y]OS19-1

22/81

Yakovlev

OS19-2Konstantin

OS7-1

21/54

22/82

OS7-3

21/55

GS9-1

29/99

OS12-3

31/67

OS12-4

31/67

Wang

GaoyuanOS18-4

30/81

Wang

JiangfanOS15-7

25/74

Wang

Jiwu

GS4-1

26/92

GS4-2

26/93

YamadaAkira

OS11-2

39/65

OS15-4

24/73

YamadaTakayoshi

GS1-1

30/88

OS15-5

24/73

GS8-1

19/98

Wang

Shanfeng

YamabaHisaakiWang

Xiaoxing

OS15-3

24/72

Yamaguchi

Akihiro

GS5-2

34/94

Wang

Xiuqing

OS15-7

25/74

Yamaguchi

Shingo

GS1-3

30/88

OS15-10

25/75

Yamaguchi

YusukeOS13-4

38/68

Watanabe

Hazuki

OS1-4

39/45

Yamaguti

Yutaka

GS5-2

34/94

Watanabe

Keisuke

OS20-1

34/83

Yamamori

Kunihito

OS1-3

39/44

OS20-2

34/83

Yamamoto

Hidehiko

GS1-1

30/88

OS20-5

35/84

GS8-1

19/98

GS7-3

34/97

OS3-1

22/47

GS2-6

27/90

OS3-3

22/48

OS16-1

25/75

OS3-5

22/49

OS16-2

25/76

OS3-6

22/49

OS16-3

25/76

Yamanobe

Natsuki

OS10-1

33/64

OS16-4

25/76

Yankina

Elena

OS7-2

21/54

OS16-6

25/77

Yan

Yujie

OS16-2

25/76

OS16-926/77

OS16-5

25/76

GS2-6

27/90

OS16-7

26/77

Watanabe

Masaki

Weerasingha
Wei

Baochang

Withanage

Yamamoto

Toru

Wu

Chao

OS18-4

30/81

Yano

Yuiko

OS13-3

38/68

Wu

Hsien-Huang

OS8-1

20/57

Yasukawa

ShinsukeOS20-2

34/83

OS8-1020/61

OS21-5

19/86

OS16-2

25/76

Wu

Ming-Guang

OS8-5

20/59

Ye

Wu

Tong

OS18-130/80

OS16-5

25/76

Wu

Zheng

OS15-324/72

OS16-7

26/77

[X]
Xue

Wei

OS15-624/73- 115 ©ICAROB 2018 ALife Robotics Corp. Ltd.

Zhongyong

Yokomichi

Masahiro

OS1-3

39/44

Yokomori

Takashi

IS-3

36/42

Yoon

Jin Gon

OS2-1

32/45

Yoshimura

Mamoru

OS1-2

39/44

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

Yoshinaga

Tsunehiro

OS1-1

39/44

Zheng

Zheng

OS19-4

22/82

Yoshitomi

YasunariOS13-1

37/67

Zhong

Hong-Jie

OS8-5

20/59

OS13-2

37/68

Zhou

Yousong

OS19-422/82

OS13-3

38/68

Zhu

Qinghui

OS18-2

30/80

Zh-Yao

OS8-5

20/59

GS5-3

34/94

GS9-2

29/100Yu

Jiangtao

GS8-2

19/98

ZhuangYu

Pengfei

GS4-1

26/92

Zulkifli

Yue

YuanliOS15-9

25/74

Zykov

Zafar

Sarmad

GS8-5

19/99

Zakiev

Aufar

OS7-5

21/56

Zhang

HongtaoOS16-7

26/77

Zhang

Mei

OS15-6

24/73

Zhang

WeicunOS18-5

31/81

Zhang

Xinyu

OS16-8

26/77

Zhang

Yu-an

OS1-1

39/44

OS1-4

39/45

OS1-5

39/45

[Z]

Zhao

HuailinOS15-3

24/72

Zhao

Jiming

OS15-1025/75- 116 ©ICAROB 2018 ALife Robotics Corp. Ltd.

Evgenii

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- 118 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

- 119 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

- 120 ©ICAROB 2018 ALife Robotics Corp. Ltd.

The 2018 International Conference on Artificial Life and Robotics (ICAROB2018), B-Con Plaza, Feb. 1- 4, Beppu, Oita, Japan, 2018

- 121 ©ICAROB 2018 ALife Robotics Corp. Ltd.

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