ICAROB
2020
PROCEEDINGS OF THE 2020
INTERNATIONAL CONFERENCE
ON ARTIFICIAL LIFE AND ROBOTICS
January 13-16, 2020
B-Con Plaza, Beppu, Oita, JAPAN
25th AROB International Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-5-7

Proceedings of The 2020 International Conference on

ARTIFICIAL LIFE AND ROBOTICS(ICAROB2020)

January 13-16, 2020
B-Con Plaza, Beppu, Oita, JAPAN
25th AROB International Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-5-7

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

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

39
40
42
87

7

Authors index

968

Conference room

107

6‐1
6‐2
6‐3
6‐4

©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

SPONSERED
ALife Robotics Corporation Ltd.

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

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

1©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

ADVISORY COMMITTEE CHAIRS
Moshe Kam (New Jersy Institute of Technology, Former IEEE President, USA)
Kensuke Harada (Osaka University, Japan)
ADVISORY COMMITTEE
Adam Grzech (Wroclaw University of Technology, Poland)
Bruce Eisenstein (Drexel University, Former IEEE President, USA)
Hidenori Kimura (RIKEN & Wasada University, Japan)
Jeffrey Johnson (The Open University, UK)
Jerzy Świątek (Wroclaw University of Technology, Poland)
Joshua M. Epstein (The Johns Hopkins University, USA)
Kai‐Tai Song (National Chiao Tung University, Taiwan)
Ken‐ichi Tanaka (Executive Fellow, Mitsubishi Electric Corporation, Japan)
Masato Nakagawa (Executive Fellow, DENSO CORPORATION, Visiting Professor of
Hiroshima University, Japan)
Masayoshi Tomizuka (University of California Berkeley, USA)
Moshe Kam (New Jersey Institute of Technology, Former IEEE President, USA)Paul Kalata (Drexel University, USA)Paul Oh (Drexel University, USA)Peter Herczfeld (Drexel University, USA)
Steen Rasmussen (University of Southern Denmark, Denmark)Zengqi Sun (Tsighua Univesity, P. R. China)
GENERAL CHAIR
Masanori Sugisaka(Alife Robotics Corporation Ltd., Japan)(Visiting Professor, The Open University (UK))
CO-GENERAL CHAIRS
Yingmin Jia (Beihang Univesty, P. R. China)
Takao Ito (Hiroshima University, Japan)
Ju‐Jang Lee (Honorary professor, KAIST, Korea)
VICE GENERAL CHAIR
Ang, Chun Kit (University of UCSI, Malaysia)
Henrik. H. Lund (Technical University of Denmark, Denmark)John. L. Casti (International Institute for Applied Systems Analysis, Austria)
Jangmyung Lee (Pusan National University, Korea)
2©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

Luigi Pagliarini (Technical University of Denmark, Denmark)(Academy of Fine Arts of Macerata, Italy)
Mohd Rizon bin Juhari (University of UCSI, Malaysia)
PROGRAM CHAIRMAN
Makoto Sakamoto (University of Miyazaki, Japan)
CO-PROGRAM CHAIR
Marion Oswald (Technische Universität Wien, Austria)
INTERNATIONAL ORGANIZING COMMITTEE
Akira Fukuda (Kyushu University, Japan)
Akira Nakamura (AIST, Japan)
Akinori Abe (Chiba University, Japan)
Andrew Gadsden (University of Guelph, Canada)
Caoli Wang (University of Shanghai for Science and Technology, P. R. China)
Chan Gook Park (Seoul National University, Korea)
Eiji Hayashi (Kyushu Institute of Technology, Japan)
Evgeni Magid (Kazan Federal University, Russia)
Fuzhong Wang (Henan Polytechnic University, P. R. China)
Hazry Desa (University of Malaysia, Perlis, Malaysia)
Hidehiko Yamamoto (Gifu University, Japan)
Hideyuki Suzuki (The University of Tokyo, Japan)
Hiroki Tamura (The University of Miyazaki, Japan)
Hiroshi Kage (Mitsubishi Electric Corporation, Japan)
Hiroshi Matsuno (Yamaguchi University, Japan)
Jiwu Wang (Beijing Jiaotong University, P. R. China)
Jovana Jovic (CNRS‐AIST JRL, Japan, France)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Katsunori Shimohara (Doshisha University, Japan)
Kazuo Ishii (Kyushu Institute of Technology, Japan)
Kenichi Tanaka (Nagasaki Institute of Applied Science, Japan)
Kenji Hashimoto (Waseda University, Japan)
Kevin Voges (Canterbury University, New Zealand)
Kunikazu Kobayashi (Aichi Prefectural University, Japan)
Kuo‐Hsien Hsia (Far East University, Taiwan)
Kuo‐Lan Su (National Yunlin University of Science and Technology, Taiwan)
Kyungho Park (U.S. ARMY, Japan and USA)
Masao Kubo (National Defense Academy of Japan, Japan)
Masanao Obayashi (Yamaguchi University, Japan)
Maxim Sokolov (Innopolis University, Russia)
3©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

Mehta Rajiv (New Jersey Institute of Technology, USA)
Minoru Kumano (University of Miyazaki, Japan)
Peter Sapaty (Ukrainian Academy of Science, Ukraine)
Pierre Parrend (University of Strasbourg, France)
Qiang Cai (Beijing Technology and Business University, P. R. China)
Qu Yanbin (Harbin Institute of Technology, P. R. China)
Shin Jisun (Pusan National University, Korea)
Singo Mabu (Yamaguchi University, Japan)
Takashi Kohno (The University of Tokyo, Japan)
Takashi Ogata (Iwate Prefectural University)
Teruhisa Hochin (Kyoto Prefectural University, Japan)
Tetsuro Hattori (Kagawa University, Japan)
Thi Thi Zin (University of Miyazaki, Japan)
Thomas S. Ray (University of Oklahoma, USA)
Toru Yamamoto (Hiroshima University, Japan)
Toshihro Inukai (DENSO WAVE INCORPORATED, Japan)
Victor Berdonosov (Komsomolsk‐on‐Amur State University of Technology, Russia)
Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Yi Chai (Chongqing University, P. R. China)
Yoshifumi Morita (Nagoya Institute of Technology, Japan)
Yoshiro Imai (Kagawa University, Japan)
Zengqiang Chen (Nankai University, P. R. China)
INTERNATIONAL PROGRAM COMMITTEE
Abdul Rahman bin Dullah (Universiti Teknikal Malaysia Melaka, Malaysia)
Akinori Abe (Chiba University, Japan)
Akira Utsumi (The University of Electro‐Communications, Japan)
Akihiro Yamaguchi (Fukuoka Institute of Technology, Japan)
Akihito Kanai (Hosei University, Japan)
Ali Selamat (University of Technology of Malaysia, Malaysia)
Aminurafiuddin bin Zulkifli (Multimedia University, Malaysia)
Amornphun Phunopas (King Mongkut’s University of Technology, North Bankok,
Thailand)
Andre Rosendo (ShanghaiTech University, P. R. China)
Anne Jeannin‐Girardon (University of Strasbourg, France)
Anton Shiriaev (Norwegian University of Science and Technology, Norway)
Artur Sagitov (Kazan Federal University, Russia)
Ashi Gautam (The University of Tokyo, Japan)
Atsuya Tange (The University of Tokyo, Japan)
Ayumu Tominaga (Kyushu Institute of Technology, Japan)
Bin Zhang (Beijing University of Posts and Telecommunications, P. R. China)
Cecilia Zanni‐Merk (INSA‐Rouen, France)
Chaoli Wang (University of Shanghai for Science and Technology, P. R. China)
4©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

Chia‐Nan Ko (Nan kai University of Technology, Taiwan)
Chung‐Wen Hung (National Yunlin University of Science & Technology, Taiwan)
Congdao Han (Shanghai Institute of Technology, P. R. China)
Cui Zhang (Beihang University, P. R. China)
Cynthia Matuszek (University of Maryland, USA)
Donglian Qi (Zhejiang University, P. R. China)
Dongmei Ai (Universty of Science and Technology Beijing, P. R. China)
Duangiai Jitkongchuen (Dhurakij Pundit University, Thailand)
Dunwei Gong (China University of Mining and Technology, P. R. China)
Jiao Jia (Beihang University, P. R. China)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Endra Joelianto (Bandung Institute of Technology, Indonesia)
Fabio Guigou (University of Strasbourg, France)
Fei Hao (Beihang University, P. R. China)
Fuzhong Wang (Henan Polytechnic University, P. R. China)
Haibo Li (Royal Institute of Technology, Sweden)
Haisheng Li (Beijing Technology and Business University, P. R. China)
Haruhisa Okuda (Mitsubishi Electric Corporation, Japan)
Haruka Tsuboi (The University of Miyazaki, Japan)
Haruna Matsushita (Kagawa University, Japan)
Heeje Kim (Pusan National University, Korea)
Hidetsugu Suto (Muroran Institute of Technology, Japan)
Hiroyuki Iizuka (Osaka University, Japan)
Hongbo Li (Tsinghua University, P. R. China)
Hongji Ma (Shandong University of Science and Technology, P. R. China)
Hongjiu Yang (Yanshan University, P. R. China)
Hongpeng Yin (Chongqing University, P. R. China)
Hussein Abbass (University of New South Wales, and ADFA, Australia)
I‐Hsien Liu (National Cheng Kung Univrsiity, Taiwan)
Ilya Afanasyev (Innopolis University, Russia)
Istvan Harmati (Budapest Institute of Technology and Economics, Hungary)
Ivan Tanev (Doshisha University, Japan)
Jiandong Zhao (Beijing Jiaotong University, P. R. China)
JJ Merelo (University of Granada, Spain)
Joono Cheong (Korea University, Korea)
Julio Navarro Lara (University of Strasbourg, France)
Jun Kobayashi (Kyushu Institute of Technology, Japan)
Jung‐Shian Li (National Cheng Kung University, Taiwan)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Keiji Kamei (Nishinippon Institute of Technology, Japan)
Keisuke Watanabe (Tokai University, Japan)
Keita Honda (Gifu University, Japan)
Ke Zhang (Chongqing University, P. R. China)
Kenichi Tanaka (Nagasaki Institute of Applied Science, Japan)
5©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

Kensuke Ogata (Osaka City University Japan)
Khairul Salleh bin Mohamed Sahari (Universiti Tenaga Nasional, Malaysia)
Khoyratee Farad (The University of Tokyo, Japan)
Kouichi Takeuchi (Okayama University, Japan)
Konstantin Yakovlev (Russian Academy of Sciences, Higher School of Economics, Russia)
Kui Xiang (Wuhan University of Technology, P. R. China)
Leonid Freidovich (Umea University, Sweden)
Levi Timothée (The University of Tokyo, Japan)
Liming Chen (Beihang University, P. R. China)
Lin Li (University of Shanghai for Science and Technology, P. R. China)
Lin Zhao (Qingdao University, P. R. China)
Mamoru Yoshimura (The University of Miyazaki, Japan)
Manabu Yamada (Nagoya Institute of Technology, Japan)
Masahide Ito (Aichi Prefectural University, Japan)
Masahiro Ushio (Kyushu Institute of Technology, Japan)
Masahiro Yokomichi (The University of Miyazaki, Japan)
Masamichi Hori (The University of Miyazaki, Japan)
Masanori Takahashi (Tokai University, Japan)
Masayoshi Kano (Chukyou University, Japan)
Masayoshi Tabuse (Kyoto Prefectural University, Japan)
Masaomi Hatakeyama (university of Zurich, Switzerland)
Max Talanov (Kazan Federal University, Russia)
Meng Duan (Beihang University, P. R. China)
Moeko Tominaga (Kyushu Institute of Technology, Japan)
Mohammad Al‐Shabi (University of Sharjah, United Arab Emirates)
Mohammad Biglarbegian (University of Guelph, Canada)
Mou Chen (Nanjing University of Aeronautics and Astronautics, P. R. China)
Nan Xiao (Northeastern University at Qinhuangdao, P. R. China)
Nicolas Monmarché (university of Tours, France)
Noriaki Kuwahara (Kyoto Prefectural University, Japan)
Noritaka Sato (Nagoya Institute of Technology, Japan)
Norrima Mokhtar (University of Malaya, Malaysia)
Palakorn Tantrakool (King Mongkut’s Institute of Technology, North Bankok, Thailand)
Ping Wang (North China Electric Power University, P. R. China)
Pierre David (University of Strasbourg, France)
Pierre Willaume (University of Strasbourg, France)
Rizauddin bin Ramli (Universiti Kebangsaan Malaysia, Malaysia)
Roman Lavrenov (Kazan Federal University, Russia)
Ruztamreen bin Jenal (Universiti Teknikal Malaysia Melaka, Malaysia)
Ryohei Anshi (Kyushu Institute of Technology, Japan)
R.K.P.S. Ranaweera (University of Moratuwa, Sri Lanka)
Satoshi Ikeda (The University of Miyazaki, Japan)
Sanjay S. Joshi (University of California, USA)
Seong‐Ik Han (Pusan National University, Korea)
6©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

Shahriman Abu Bakar (Universiti Malaysia Perlis, Malaysia)
Shanbi Wei (Chongqing University, P. R. China)
Shihao Sun (Beihang University, P. R. China)
Shin‐ichi Asakawa (Tokyo Woman's Christian University, Japan)
Shin Wakitani (Hiroshima University)
Shumin Fei (Southeast University, P. R. China)
Shyi‐Ming Chen (National Taichung University of Education, Taiwan)
Stephen Wilkerson (York College of Pennsylvania, USA)
Takashi Kuremoto (Yamaguchi University, Japan)
Takayoshi Yamada (Gifu University, Japan)
Takuya Fuginaga (Kyushu Institute of Technology, Japan)
Takuya Nanami (The University of Tokyo. Japan)
Taishiro Kishimoto (Keio University, Japan)
Taisuke Akimoto (Kyushu Institute of Technology, Japan)
Takashi Iwamoto (Mitsubishi Electric Corporation, Japan)
Tarik bin Abd Latef (Universiti Malaya, Malaysia)
Taro Shibanoki (Ibaraki University, Japan)
Teruhisa Hochin (Kyoto Prefectural University, Japan)
Tetsuro Katayama (The University of Miyazaki, Japan)
Thomas Noel (University of Strasbourg, France)
Thunyaseth Sethaput (Thammasat University, Thailand)
Tianping Zhang (Yangzhou University, P. R. China)
Tomohiko Takagi (Kagawa University, Japan)
Toru Hiraoka (University of Nagasaki, Japan)
Toshihiro Inukai (DENSO Wave Incorporated, Japan)
Toshinori Nawata (Kumamoto National College of Technology, Japan)
Tsunehiro Yoshinaga (Tokuyama National College of Technology, Japan)
Ussath Martin (The University of Potsdam, Germany)
Wan Khairunizam Wan Ahmad (Universiti Malaysia Perlis, Malaysia)
Weicun Zhang (University of Science and Technology Beijing, P. R. China)
Wenhao Zheng (Beihang University, P. R. China)
Wenlin Li (Beihang University, P. R. China)
Wisanu Jiviriya (King Mongkut’s University of Technology North Bankok, Thailand)
Xiaocan Wang (Technical University Munich, Germany)
Xiaofeng Su (Beijing Institute of Astronautical Systems Engineering, P. R. China)
Xiaoyan Chen (Tianjin University of Science and Technology, P. R. China)
Xiaoyan Fu (Capital Normal University, P. R. China)
Xuemei Ren (Beijing Institute of Technology, P. R. China)
Xuhui Lu (Beihang University, P. R. China)
Yan Cui (Shanxi Normal University, P. R. China)
Yasunori Takemura (Nishinippon Institute of Technology, Japan)
Yo Horikawa (Kagawa University, Japan)
Yongqiang Qi (China University of Mining and Technology, P. R. China)
Yoshihiro Kita (Tokyo Institute of Technology, Japan)
7©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

Youji Kawamura (Kindai University, Japan)
Yu‐an Zhang (Qinghai University, P. R. China)
Yue Lin (Beijing Institute of Control Engineering, P.R. China)
Yueqian Liang (China Academy of Elecronics and Information Technology, P. R. China)
Yuji Minami (National Institute of Technology, Ube College, Japan)
Yunju Chen ((Shiga University, Japan)
Yunzhong Song (Henan Polytechnic University, P. R. China)
Zacharie Mbaitiga National Institute of Technology, Okinawa College, Japan)
Zakri bin Ghazali (Universiti Malaysia Pahang, Malaysia)
Zengqiang Chen (Nankai University, P. R. China)
Zhao Peng (Huazhong University of Science and Technology, P. R. China)
Zhengquan Yang (Civil Aviation University of China, P. R. China)
Zhongxin Liu (Nankai University, P. R. China)
Zuradzman bin Mohamad Razlan (Universiti Malaysia Perlis, Malaysia)
LOCAL ARRANGEMENT COMMITTEE
Makoto Sakamoto (University of Miyazaki, Japan)
Masanori Sugisaka (ALife Robotics Corporation Ltd., Japan)
Takao Ito (Hiroshima University, Japan)
HISTORY
The International Conference on Artificial Life and Robotics (ICAROB) resulted from the
AROB‐symposium (International Symposium on Artificial Life and Robotics) whose firstedition was held in 1996 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 the sponsorship of the Science andTechnology 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 andDevelopment (AFOSR/AOARD), USA. I would like to express my sincere thanks to not
only Monkasho (annually fund support from 1996 to 2013) but also JSPS, theCommemorative Organization for the Japan World Exposition ('70), 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 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 expanded much by absorbing much newknowledge and technologies into it. This history and character of the former AROB
symposiums are passed on the current ICAROB conference and to this journal,
8©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

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 andthe journal. The future of the ICAROB is brilliant from a point of view of yielding newtechnologies to human society in the 21st century. We also expect to establish aninternational research institute on Artificial Life and Robotics in the future with the helpof Japanese Government and ICAROB. This conference invites you all.
AIMS AND SCOPE
The objective of this conference is the development of new technologies for artificial lifeand robotics which have been recently born in Japan and are expected to be applied invarious fields. This conference presents original technical papers and authoritative state‐of‐the‐art reviews on the development of new technologies concerning robotics,
networking and artificial life and, especially computer‐based simulation and hardware
for the twenty‐first century. This conference covers a broad multidisciplinary field,
including areas such as:
Artificial intelligence & complexity
Artificial living
Artificial mind research
Artificial nervous systems for robots
Artificial sciences
Bipedal robot
Brain science and computing
Chaos
Cognitive science
Computational Molecular biology
Computer graphics
Data mining
Disasters robotics
DNA computing
Empirical research on network and MOT
Environment navigation and localization
Evolutionary computations
Facial expression analysis, music recommendation and augmented reality
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
9©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

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
COPYRIGHTS
Accepted papers will be published in the proceeding of The 2020 International
Conference on Artificial Life and Robotics (ICAROB2020) by ALife Robotics Corp. Ltd.
Copyright belongs to ALife Robotics Corp. Ltd. Some of high‐quality papers in theproceeding will be requested to re‐submit their papers 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.
4-Go, 8-Ban, Higshi 2Cyome, Handadai, Oita 870-1108, JAPANTEL/FAX：+81-97-597-7760
E-MAIL：icarob@alife-robotics.co.jp
Home Page：https://alife-robotics.co.jp/

10©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

MESSAGES
Masanori Sugisaka
General Chair of ICAROB

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

It is my great honor to invite you all to The 2020 International Conferenceon Artificial Life and Robotics (ICAROB 2020).
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-Web of Science now. From now
on, ALife Robotics Corporation Ltd. is in charge of management. This year
we have The 2020 International Conference on Artificial Life and Robotics(ICAROB2020) (25th 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 (ICAROB2020) 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.

11©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

Yingmin Jia
Yingmin Jia
Co-General Chair

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

Co-General Chair of ICAROB
It is my great pleasure to invite you to The 2020 International Conferenceon Artificial Life and Robotics (ICAROB 2020), in B‐Con Plaza, Beppu, Oita,
Japan from January 13 to 16, 2020.
ICAROB develops from the AROB that was created in 1996 by Prof.
Masanori Sugisaka and will celebrate her 25th birthday in 2020. So far
many important results have been presented at the past meetings andhave a profound impact on artificial life and robotics. Doubtless, it is reallyone of the most famous international conferences in the field of artificial
intelligence and attract wide interests among scientist, researchers, andengineers around the world.
For a successful meeting, many people have contributed their great efforts
to ICAROB. Here, I would like to express my special thanks to all authors
and speakers, and the meeting organizing team for their excellent works.
Looking forward to meeting you at ICAROB in Beppu and wishing you enjoy
your stay in Japan.

12©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

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 2020 International Conferenceon Artificial Life and Robotics (ICAROB 2020), to the wonderful city of
Beppu, Oita city, Oita Prefecture, Japan.
The ICAROB has its long history. First launched in 1996 as ISAROB, thisformer organization of ICAROB, was developed under the strong leadershipand yeoman efforts of the President—the internationally famous Professor
Masanori Sugisaka, who is widely acknowledged as the father of AROB. Our
symposium has brought together many research scholar, faculty members,
and graduate students from all over the world, and published many
manuscripts in high‐quality proceedings as well as highly‐reputed journals
every year.
Over the years, dramatic improvements have been made in the field ofartificial life and its applications. ICAROB has provided a foundation forunifying the exchange of scientific information on the study of man‐madesystems that exhibit the behavioral characteristics of natural living systems,
including software, hardware and wetware. Our conference shapes thedevelopment of artificial life, extending our empirical research beyond theterritory circumscribed by life‐as‐we‐know‐it and into the domain of life‐
as‐it‐could–be. It will provide us a good place to present our new research
results, innovative ideas, and valuable information about artificial
intelligence, complex systems theories, robotics, and management oftechnology.
The conference site is the B‐con Plaza, one of the most famousinternational convention centers in Kyushu island, Japan. You can findmany fantastic scenic spots and splendid historical places in Beppu, Oita
city. Do enjoy your stay and take your time to visit Beppu, Oita city.
I eagerly look forward to personally meeting you in Beppu, Oita city, during
the ICAROB 2020 and to sharing a most pleasant, interesting and fruitfulconference with you. Do come and make this conference a fruitful,productive as well as enjoyable event.

13©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13-16, Beppu, Oita, Japan, 2020

Ju-Jang Lee
Co-General Chair of ICAROB

Ju-Jang Lee
Co-General Chair(Honorary 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 7th ICAROB 2020
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 7th
ICAROB.
I’m looking forward to meeting you at the 7th ICAROB in Beppu, Oita
Prefecture and wishing you all the best.

14©ICAROB 2020 ALife Robotics Corp. Ltd.

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13- 16, Beppu, Oita, Japan, 2020

GENERAL SESSION TOPICS
GS1 Neural Networks (6)GS2 Control Techniques (5)GS3 Vision & Image Processing (4)GS4 Robotics 1 (4)GS5 Robotics 2 (4)GS6 Application Techniques (9)GS7 Poster (4)ORGANIZED SESSION TOPICS
OS1 Machine vision and Mobile robot (4)OS2 Advanced Control (4)OS3 Intelligent Control (4)OS4 Intelligent Life and Systems (7)OS5 Artificial Life and Robotics (7)OS9 Recognition and Control (19)

OS6 Theory and Implementation of Neuromimetic
Systems (4)OS8 Advanced Research of Engineering andManagement (4)OS10 AI Applications (8)OS11 System and Control (16)OS12 Advances in Theory and Education on Control (4)OS13 Natural Computing (5)OS14 Software Development Support Method (5)OS15 Recognition and System (11)OS16 Media Information Processing and Artificial
Intelligence (4)OS18 Service Robotics (7)OS7 Robotic Manipulation (4)OS17 Machine Learning Technologies for Human
Understanding (2)OS19 Advanced Information Processing Applications(5)
OS21 Mathematical Informatics (4)OS23 Advances in Field Robotics and Their
Applications (5)©ICAROB 2020 ALife Robotics Corp. Ltd.

OS20 Artificial Intelligence for Embedded Systems andRobotics (5)OS22 Robot Competitions for Social Contribution(5)OS24 Robot Intelligence and Factory Automation (6)The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13- 16, Beppu, Oita, Japan, 2020

1/13(Mon.) 17:30‐19:30

Welcome Party (Beppu Kamenoi Hotel)

1/14(Tue.) – 1/16(Thu.)

ICAROB Secretariat

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

1/16(Thu.)

TIME TABLE (1/14)
1/14(Tue.)

Conference Room

Meeting Room 31

8:40‐
9:00‐10:00

Meeting Room 32

Meeting Room 33

OS5 Artificial Life andRobotics (7)Chair: Chung‐Wen HungWill be end at 10:45

OS22 Robot
Competitionsfor Social Contribution(5)Chair: Yasunori Takemura
Will be end at 10:15

OS6 Theory and
Implementation of
Neuromimetic Systems(4) Chair: Takashi Kohno

Coffee break

10:20‐10:50

Opening Ceremony (Conference Room)

11:00‐12:00

Chair: Evgeni Magid
Plenary Speech PS‐1(Conference room)
Takashi Kohno
Lunch

12:00‐13:00

OS20 Artificial
Intelligence forEmbedded Systems andRobotics (5)Chair: Hakaru Tamukoh
Will be end at 10:15

OS12 Advances in Theory
and Education on Control(4)
Chair: Takao Sato

OS13 Natural Computing(5)
Chair: Marion Oswald

OS24 Robot Intelligenceand Factory Automation(6)
Chair: Eiji Hayashi

Chair: Ju‐Jang Lee
Plenary Speech PS‐2(Conference Room)
Eiji Hayashi

13:00‐14:00

14:00‐14:20

Coffee break

14:20‐15:20

Chair: Jangmyung Lee
Invited Speech IS‐2, IS‐3(Conference Room)
Henrik Hautop Lund, Luigi Pagliarini

15:20‐15:40

Coffee break
GS6 Application
Techniques (9)Chair: Hazry Desa

Meeting Room 31: Committee waiting room and Rest room

©ICAROB 2020 ALife Robotics Corp. Ltd.

Meeting Room 4

Registration (3F)

10:00‐10:20

15:40‐17:55

Meeting Room 1

OS4 Intelligent Life andSystems (7)Chair: Kuo‐Hsien Hsia
OS18‐1 Service Robotics(2) Chair: Evgeni Magid

OS 23 Advances in Field
Robotics and Their
Applications (5)Keisuke Watanabe

The 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13- 16, Beppu, Oita, Japan, 2020

TIME TEBLE (1/15)
1/15(Wed.)

Conference Room

Meeting Room 31

Meeting Room 32

Meeting Room 33

8:40‐
9:00‐10:00

OS7 Robotic
Manipulation (4)Chair: Kensuke Harada

GS7 Poster (4)Chair: Jiwu Wang

OS3 Intelligent Control(4)
Chair: Yingmin Jia

OS8 Advanced Researchof Engineering andManagement (4)Chair: Takao Ito

Coffee break

11:30‐12:30

Chair: Mohamed Rizon
Plenary Speech PS‐4 (Conference Room)Naoki Suganuma

12:30‐13:30

Lunch

13:30‐14:30

Chair: Marion Oswald
Plenary Speech PS‐3 (Conference Room)
Jeffrey Johnson

14:30‐14:45

OS16 Media Information
Processing and Artificial
Intelligence (4)Chair: Yasunari Yoshitomi
Coffee breakOS10‐2 AI Applications(2)
Chair: Mohamed Rizon

18:30‐20:30
Meeting Room 31: Committee waiting room and Rest room (available from 9:00 a.m.)©ICAROB 2020 ALife Robotics Corp. Ltd.

GS4 Robotics 1 (4)Chair: Noritaka Sato

GS5 Robotics 2 (4)Chair:
Hidehiko Yamamoto

Coffee breakOS10‐1 AI Applications(6)
Chair: Mohamed Rizon

16:15‐16:30
16:30‐17:45

OS18‐2 Service Robotics(5)
Chair: Evgeni Magid
Will be end at 10:15

Coffee break

11:15‐11:30

14:45‐16:15

Meeting Room 4

Registration

10:00‐10:15
10:15‐11:15

Meeting Room 1

OS19 Advanced
Information Processing
Applications (5)Chair: Toru Hiraoka

Banquet: Beppu Kamenoi Hotel

GS1 Neural Networks (6)Chair: Akira nakamura

GS2 Control Techniques(5)
Chair: Chian C. HoThe 2020 International Conference on Artificial Life and Robotics (ICAROB2020), B-Con Plaza, Jan. 13- 16, Beppu, Oita, Japan, 2020

TIME TABLE (1/16)
1/16(Thu.)

Meeting Room 31

Meeting Room 32

Meeting Room 33

8:40‐

Registration
OS2 Advanced Control(4)
Chair: Yingmin Jia

9:00‐10:15

OS14 Software Development
Support Method (5)Chair: Tetsuro Katayama

10:15‐10:30

Coffee break

10:30‐11:00

Chair: Yingmin Jia
Invited speech IS‐1(Meeting Room 31)
Jangmyung Lee
Lunch

11:00‐12:00
12:00‐13:15

OS11 System and Control(16)
Chair: Yizhun Peng

OS1 Machine vision andMobile robot (4)Chair: Wei Liu

OS17 Machine Learning
Technologies for Human
Understanding (2)Chair: Masao Kubo

OS9 Recognition and Control(19)
Chair: Fengzhi Dai

OS21 Mathematical
Informatics (4)Chair: Makoto Sakamoto

GS3 Vision & Image
Processing (4)Chair: Joo Kooi Tan

13:15‐13:30
13:30‐14:45

Coffee BreakFarewell Party (15:00‐15:30)
Meeting Room 31: Committee waiting room and Rest room(available from 9:00 a.m.)©ICAROB 2020 ALife Robotics Corp. Ltd.

Meeting Room 32

Meeting Room 1

Meeting Room 4

The 2020 International Conference on
ARTIFICIAL LIFE AND ROBOTICS(ICAROB2020)

January 13 (Monday)
17:30‐19:30

Welcome Party (Beppu Kamenoi Hotel)

January 14 (Tuesday)
10:20‐10:50

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

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

January 15 (Wednesday)
Banquet: Beppu Kamenoi Hotel
18:30‐20:30
Chair: Takao Ito (Hiroshima University, Japan)
Welcome Addresses
Prof. Yingmin Jia (Beihang University, China)
Prof. Ju‐Jang Lee (KAIST, Korea)
Prof. Henrik Hautop Lund (Technical University of Denmark, Denmark)Prof. Jangmyung Lee (Pusan National University, Korea)
Prof. Mohd Rizon (University of UCSI, Malaysia)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 19 -TECHNICAL PAPER INDEXJanuary 14 (Tuesday)
8:40‐Registration
Conference Room
10:20‐10:50 Opening Ceremony
Chair: Marion Oswald (Technische Universität Wien, Austria)
11:00‐12:00
Plenary Speech PS‐1
Chair: Evgeni Magid (Kazan Federal University, Russia)
PS‐1 Towards neuromimetic computing
Takashi Kohno (University of Tokyo, Japan)
13:00‐14:00
Plenary Speech PS‐2
Chair: Ju‐Jang Lee (KAIST, Korea)
PS‐2 Innovative Robot ‐ Robot/AI for Factory Automation‐
Eiji Hayashi (Kyushu Institute of Technology, Japan)
14:20‐14:50
Invited session IS‐2
Chair: Jangmyung Lee (Pusan National University, Korea)
IS‐2 Body and Brain Training with Big Data and AI
Henrik Hautop Lund (Technical University of Denmark, Denmark)14:50‐15:20
Invited session IS‐3
Chair: Jangmyung Lee (Pusan National University, Korea)
IS‐3 PixelBeing
Luigi Pagliarini1,2,3, Henrik Hautop Lund1(2Academy of Fine Arts of Macerata, 3 ISIA Design, Italy), (1Technical University of Denmark, Denmark)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 20 -

Meeting Room 31
9:00‐10:45 OS5 Artificial Life and Robotics (7)Chair: Chung‐Wen Hung (National Yunlin University of Science and Technology, Taiwan)
Co‐Chair: Ching‐Chun Chuang (National Yunlin University of Science and Technology, Taiwan)
OS5‐1

An FSK based Industrial Analog Signal Transmission
Po‐Yun Shih, Chung‐Wen Hung, Chau‐Chung Song(National Yunlin University of Science and Technology, Taiwan)

OS5‐2

X‐Y Platform Synchronous Control with CANopen
Yu‐Ming Guan, Chung‐Wen Hung, Shih‐Ting Yu, Yu‐Kai Chen(National Yunlin University of Science and Technology, Taiwan)

OS5‐3

A PFC Converter with Voltage Double Characteristic for Universal Input Voltage Applications
Ching‐Chun Chuang, Hung‐Chi Lee, Chih‐Chiang Hua, Chih‐Wei Chuang, Chuan‐Ming Niu(National Yunlin University of Science and Technology, Taiwan)

OS5‐4

Design of a Low‐pulse High‐current LLC Resonant Converter for EDM Applications
Yu‐Kai Chen, Min‐Feng Lee, Yung‐Chun Wu, and Jui‐Yang Chiu
(National Formosa University, Taiwan)

OS5‐5

Networking Integration and Monitoring System with CANopen Controller forIntelligent Production Line of Tool Machine
Chau‐Chung Song, Yu‐Wei Ho, Chen‐Pang Chen, Yu‐Kai Chen(National Formosa University, Taiwan)

OS5‐6

Illumination Manipulation and Specular Reflection Analysis of Still Image with Single Object
Hsuan T. Chang, Chi‐Jie Chen(National Yunlin University of Science and Technology, Taiwan)

OS5‐7

Robotics Education for the 2019 MakeX Robotics Competition
Jia‐Ming Hsiao (Far East University, Taiwan)

15:40‐17:40 GS6 Application Techniques (9)Chair: Hazry Desa (Universiti Malaysia Perlis, Malaysia)
GS6‐1

A Promoting Method of Role Differentiation Using the Learning Rate Getting Periodically
Negative Value in Multi‐agent Reinforcement Learning
Masato Nagayoshi, Simon Elderton (Niigata College of Nursing, Japan),Hisashi Tamaki (Kobe Univ. Japan)

GS6‐2

Verification of a Combination of Gestures Accurately Recognized by Myo Using Learning Curves
Kengo Kitakura, Hideyuki Tanaka (Hiroshima University, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 21 -

GS6‐3

Augmentative and Alternative Communication Device Based on Head Movement to Aid
Paralyzed Victims with Speech Disabilities
Vihanga Ashinsana Wijayasekara, Torin Wirasingha(Informatics Institute of Technology, Sri Lanka)

GS6‐4

The research about editing system of performance information for player piano. –Makeinferences about whole musical composition by using DP matching system‐
Mami Ezaki, Eiji Hayashi (Kyushu Institute of Technology, Japan)

GS6‐5

Evaluating Public Perception using Fuzzy Logic: A case study of Praeksa Mai dumpsite in SamutPrakan, Thailand
Sun Olapiriyakul, Khemika Kongpetch(Sirindhorn International Institute of Technology, Thammasat University, Thailand)

GS6‐6

A Development of a Model CubeSat with an Amateur Radio Transceiver for Education on Satellite
Communication
Masahiro Tokumitsu, Kentarou Konishi (National Institute of Technology, Yonago College, Japan),
Taku Takada (National Institute of Technology, Kochi College, Japan)
Fumio Asai (Member of the Radio Amateur Satellite Corporation)
Makoto Wakabayashi (National Institute of Technology, Niihama College, Japan)

GS6‐7

Performance Evaluations on Data Estimation Technique with Statistical Properties of Telemetry
Data for Corrupted Data in Amateur Satellite Communication
Yusuke Teranishi, Masahiro Tokumitsu (National Institute of Technology, Yonago College, Japan)
Taku Takada (National Institute of Technology, Kochi College, Japan)
Fumio Asai (Member of the Radio Amateur Satellite Corporation)
Makoto Wakabayashi (National Institute of Technology, Niihama College, Japan)

GS6‐8

Heritage Building Design Properties: Development of As Built Drawing by UAV Application via 3D
Laser Scanner
Hazry. D, Azizan. M. A, Noriman. N.Z, Romeli. N (Universiti Malaysia Perlis, Malaysia)

GS6‐9

A Virtual System for Measurements and Analysis of the Respiratory Sounds for Diagnosis of
Respiratory System
Ali S. AlMejrad (King Saud University, Kingdom of Saudi Arabia

Meeting Room 32
9:00‐10:15 OS22 Robot Competitions for Social Contribution (5)Chair: Yasunori Takemura (Nishinippon Institute of Technology, Japan)
Co‐Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
OS22‐1

Real‐Time Self Localization for Autonomous Robot of RoboCup MSL
Kaori Watanabe, Yuehang Ma, Tetsuya Yoshida, Hidekazu Suzuki(Tokyo Polytechnic University, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 22 -

OS22‐2

Behavior Selection System for Soccer Robot Using Neural Network
Moeko Tominaga1, Yasunori Takemura2, Kazuo Ishii1(1Kyushu Institute of Technology, 2Nishinippon Institute of Technology, Japan)

OS22‐3Development of the Auto Measurement System for Cedars in a Forest Using a Drone
Keiji Kamei, Masahiro Kaneoka, Ken Yanai, Masaya Umemoto, Hiroki Yamaguchi,
Kazuki Osawa (Nishinippon Institute of Technology, Japan)

OS22‐4

Report on the 5th Tomato‐harvesting Robot Competition
Yasunori Takemura1, Takayuki Matsuo2, Takashi Sonoda1, Kazuo Ishii3(1Nishinippon Institute of Technology, 2National Institute of Technology, Kitakyushu College,
3
Kyushu Institute of Technology, Japan)

OS22‐5

Reports on the 7th Underwater Robot Festival in Kitakyushu
Yuya Nishida1, Takashi Sonoda2, Takayuki Matsuo3, Shinsuke Yasukawa1, Masanori Sato4,
Yasunori Takemura2, Kazuo Ishii1(1Kyushu Institute of Technology, 2Nishinippon Institute of Technology, 3National Institute ofTechnology, Kitakyushu College, 4Nagasaki Institute of Applied Science, Japan)

15:40‐17:25 OS4 Intelligent Life and Systems (7)Chair: Kuo‐Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
Co‐Chair: I‐Hsien Liu (National Cheng‐Kung University, Taiwan)
OS4‐1

Development of the IoT Module with AI Function Using STM32 Chip
Jr‐Hung Guo, Evgeni Magid*, Kuo‐Hsien Hsia, Kuo‐Lan Su(National Yunlin University of Science and Technology, Taiwan)(*Kazan Federal University, Russia)

OS4‐2Markerless Indoor/Outdoor Augmented Reality Navigation Device Based on ORB‐Visual‐
Odometry Positioning estimation and ORB‐Visual‐Mapping Image Registration
Chian C. Ho, Guan‐Jie Wang (National Yunlin University of Science and Technology, Taiwan)

OS4‐3

Apply Adaptive Control Approach for Mobile Robot Path Following
Chun‐Chi Lai, Chia‐Jen Lin, Kuo‐Hsien Hsia, Kuo‐Lan Su(National Yunlin University of Science and Technology, Taiwan)

OS4‐4

Malware Classification Using Deep Learning
Cheng‐Hsiang Lo, Ta‐Che Liu, I‐Hsien Liu, Jung‐Shian Li, Chuan‐Gang Liu, Chu‐Fen Li(National Cheng Kung University, Taiwan)

OS4‐5

Robust Control of Nonholonomic Wheeled Mobile Robot with Hybrid Controller Approach
Ho‐Nien Shou (National Yunlin University of Science and Technology, Taiwan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 23 -

OS4‐6

Design and Implementation of Microsatellite Detumbling Control with PWPF: Verification Using
PIL
Ho‐Nien Shou (Air Force Institute of Technology, Taiwan)

OS4‐7

A Study of Applying Computer‐assisted Language Learning to English Course for Junior College
Students in Taiwan
Shu‐Hua Huang, I‐Hsien Liu (Air Force Institute of Technology, Taiwan)

17:25‐17:55 OS18‐1 Service Robotics (2)Chair: Evgeni Magid (Kazan Federal University, Russia)
Co‐Chair: Kuo‐Lan Su (National Yunlin University of Science and Technology, Taiwan)
Co‐Chair: Kuo‐Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
OS18‐6

Pick and Place of Large Object Based on 3D vision
Hsien‐Huang P. Wu, Jia‐Kun Xie (National Yunlin University of Science & Technology, Taiwan)

OS18‐7

Application of the MyRIO Based Mobile Robot Using Vision System
Bo‐Jun Yang1, Kuo‐Hsien Hsia1, Kuo‐Lan Su1, Evgeni Magid2(1National Yunlin University of Science & Technology, Taiwan)(2Kazan Federal University, Russia)

Meeting Room 33
9:00‐10:00 OS6 Theory and Implementation of Neuromimetic Systems (4)Chair: Takashi Kohno (University of Tokyo, Japan)
Co‐Chair: Timothée Levi (University of Tokyo, Japan)
OS6‐1

Real –time pattern recognition implementation on FPGA in multi‐SNNs
Xia Yang, Kazuyuki Aihara, Timothée Levi, Takashi Kohno (University of Tokyo, Japan)

OS6‐2

Experimental results of a biomimetic silicon synaptic circuit
Ashish Gautam, Takashi Kohno (University of Tokyo, Japan)

OS6‐3

Towards Modeling Cholinergic Modulation for Neuromorphic Computing
Naruaki Takano, Takashi Kohno (University of Tokyo, Japan)

OS6‐4

Bioelectrical Signal Analysis of Mouse Cardiomyocyte Culture recorded on Thin‐Film‐Transistor
Sensor Arrays
Anne‐Claire Eiler, Junichi Sugita, Satoshi Ihida, Hiroshi Toshiyoshi, Katsuhito Fujiu,
Thimothée Lévi, Agnes Tixier‐Mita (The University of Tokyo, Japan)

15:40‐17:10 OS23 Advances in Field Robotics and Their Applications (6)Chair: Keisuke Watanabe (Tokai University)
Co‐Chai: Kazuo Ishii (Kyushu Institute of Technology)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 24 -

OS23‐1

Sea Trials for Benthos Sampling Using Autonomous Underwater Vehicle
Yuya Nishida1, Shinsuke Yasukawa1, Takashi Sonoda2, Keisuke Watanabe3, Kazuo Ishii1(1Kyushu Institute of Technology, 2Nishinippon Institute of Technology, 3Tokai University, Japan)

OS23‐2

Field Experiments of Underwater Image Transmission for AUV
Shinsuke Yasuakwa1, Yuya Nishida1, Jonghyun Ahn2, Takashi Sonoda3, Kentaro Yanagise1,
Keisuke Watanabe4, Kazuo Ishii1(1Kyushu Institute of Technology, 2Hiroshima Institute of Technology, 3Nishinippon Institute ofTechnology, 4Tokai University, Japan)

OS23‐3Development of Subsea Creature Monitoring Station for AUV Exploration Assistance
Keisuke Watanabe1, Koshi Utsunomiya1, Amir Sadiq1, Daichi Hiramaki1, Kyoko Takashima1,
Kazuo Ishii2 (1Tokai University, 2Kyushu Institute of Technology, Japan)

OS23‐4

Consideration on Installation Method of In‐situ Drilling Platform through Simulations(withdraw)
Keisuke Watanabe (Tokai University, Japan)

OS23‐5

Environment Map Generation in Forest Using Field Robot
Noboru Takegami, Eiji Hayashi and Ryusuke Fujisawa (Kyushu Institute of Technology, Japan)

OS23‐6Graph‐Based Path Generation for Area Coverage
Ayumu Tominaga, Eiji Hayashi, Ryusuke Fujisawa (Kyushu Institute of Technology, Japan)

Meeting Room 1
9:00‐10:15 OS20 Artificial Intelligence for Embedded Systems and Robotics (5)Chair: Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
OS20‐1A Hardware‐Oriented Echo State Network for FPGA Implementation
Kentaro Honda, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

OS20‐2

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

OS20‐3

A Study on Fast Pick‐and‐Place Method for Home Service Robots using 3D point clouds
Tomohiro Ono, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

OS20‐4

Acceleration of training dataset generation by 3D scanning of objects and Evaluation ofrecognition accuracy
Yushi Abe, Yutaro Ishida, Tomohiro Ono, Hakaru Tamukoh(Kyushu Institute of Technology, Japan)

OS20‐5

Anomaly Detection Using Autoencoder Trained with Reversed Color Models
Obada Al aama, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 25 -

15:40‐16:55 OS13 Natural Computing (5)Chair: Marion Oswald (TU Wien, Austria)
Co‐Chair: Yasuhiro Suzuki (Nagoya University, Japan)
OS13‐1

Emergence of Adaptive Behavior in Simulations by Using Abstract Rewriting System on
Multisets
Yasuhiro Suzuki (Nagoya University, Japan)

OS13‐2

Implementing the Euler and Runge‐Kutta Method by Using Abstract Rewriting System on
Multisets
Yasuhiro Suzuki (Nagoya University, Japan)

OS13‐3Extracting Tactile Sensation from Body Movement and Converting it into Vibrotactile Using theTactile Score Bit
Yasuhiro Suzuki (Nagoya University, Japan)

OS13‐4

A Tactile Sense Centered Virtual Reality Game by Using Biometric Feedback
Yoshihito Ushida, Yasuhiro Suzuki (Nagoya University, Japan)

OS13‐5

A Method of Extracting Sensibility from Time Series Data and Converting it to Vibrotactile
Yasuhiro Suzuki (Nagoya University, Japan)

Meeting Room 4
9:00‐10:00 OS12 Advances in Theory and Education on Control (4)Chair: Takao Sato (University of Hyogo, Japan)
Co‐Chair: Masanori Takahashi (Tokai University, Japan)
OS12‐1

Proposal teaching materials the concepts and principles of machine learning for use in education
Shinichi Imai, Yusuke Shiba (Tokyo Gakugei University, Japan)

OS12‐2

Objective Evaluation of the Educational Effects on the Feedforward, Feedback and PID Control
Yugo Tokura, Takao Sato, Ryota Yasui, Natsuki Kawaguchi, Nozomu Araki and Yasuo Konishi(University of Hyogo, Japan)

OS12‐3

Programming Learning of Temperature Control for Science Class of Elementary School
Yoshihiro Ohnishi1, Takeshi Nakano2, Teruyuki Tamai1, Shinnosuke Mori1, Kazuo Kawada3(1Ehime University, 2Ehime University Elementary School, 3Hiroshima University, Japan)

OS12‐4

Actuator Fault‐Tolerant Control using a Spiking Neuron Model
Masanori Takahashi (Tokai University, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 26 -

15:40‐17:10 OS24 Robot Intelligence and Factory Automation (6)Chair: Eiji Hayashi (Kyushu Institute of Technology)
Co‐Chair: Kazuo Ishii (Kyushu Institute of Technology)
OS24‐1

Deep Object 6‐Dof Pose Estimation Using Semantic Pixel‐wise Segmentation
Victor Pujolle, Eiji Hayashi (Kyushu Institute of Technology, Japan)

OS24‐2Autoencoder with Spiking in Frequency Domain for Anomaly Detection of Uncertainty Event
Umaporn Yokkampon, Sakmongkon Chumkamon, Eiji Hayashi(Kyushu Institute of Technology, Japan)

OS24‐3

Evaluation of the Relationships Between Saliency Maps and Keypoints
Ryuugo Mochizuki, Kazuo Ishii(Kyushu Institute of Technology, Japan)

OS24‐4

Robot Motion and Grasping for Blindfold Handover
Jiraphan Inthiam, Sackmongkon Chumkamon, Umaporn Yokkampon, Eiji Hayashi(Kyushu Institute of Technology, Japan)

OS24‐5Gait Learning Method for Quadrupedal Robot Using Chaos Time‐series Analysis
Yuehang Ma, Kaori Watanabe, Hidekazu Suzuki(Tokyo Polytechnic University, Japan)

OS24‐6Development of Antagonistic High Power Joint Mechanism with Cams
Katsuaki Suzuki1, Yuya Nishida1, Takashi Sonoda2, Kazuo Ishii1(1Kyushu Institute of Technology, 2Nishinippon Institute of Technology, Japan)

January 15 (Wednesday)
8:40‐Registration
Conference Room
11:30‐12:30
Plenary Speech PS‐4
Chair: Mohamed Rizon (UCSI University, Malaysia)
PS‐4 Towards fully automated driving in urban areas
Naoki Suganuma (Kanazawa University, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 27 -

13:30‐14:30
Plenary Speech PS‐3
Chair: Marion Oswald (Technische Universität Wien, Austria)
PS‐3 Multidimensional Configurations and Strategy in Robot Soccer
Ruggero Rossi, Jeffrey Johnson (Open University, UK)
Meeting Room 32
9:00‐10:00 OS7 Robotic Manipulation (4)Chair: Kensuke Harada (Osaka University, Japan)
Co‐Chair: Tokuo Tsuji (Kanazawa University, Japan)
Co‐Chair: Akira Nakamura (AIST, Japan)
OS7‐1

User Interface and Motion Planner for Task Database
Tokuo Tsuji (Kanazawa University, Japan), Natsuki Yamanobe (AIST, Japan)
Kensuke Harada (Osaka University/AIST, Japan)

OS7‐2

POMDP Action Planning for 6 DoF object recognition on Humanoid
Masato Tsuru (Osaka University, Japan), Tomohiro Motoda (Osaka University, Japan)
Adrien Escande (CNRS‐AIST, Japan), Kensuke Harada (Osaka University/AIST, Japan)

OS7‐3

Cost‐oriented Planning for Error Recovery in an Automation Plant
Akira Nakamura1, Natsuki Yamanobe1, Ixchel Ramirez Alpizar1,
Kensuke Harada1,2, Yukiyasu Domae1 (1 AIST, Japan, 2 Osaka University, Japan)

OS7‐4

Real‐time Planning Robotic Palletizing Tasks using Reusable Roadmaps
Takumi Sakamoto (Osaka University, Japan), Weiwei Wan (Osaka University/AIST)
and Kensuke Harada (Osaka University/AIST)

10:15‐11:15 OS3 Intelligent Control (4)Chair: Yingmin Jia (Beihang University (BUAA), China)
Co‐Chair: Weicun Zhang (University of Science and Technology Beijing, China)
OS3‐1

No Free Lunch Principle in Agent Swarm Systems: One Case StudyYunzhong Song1, Fengzhi Dai2, Huimin Xiao3, Shumin Fei4
(1Henan Polytechnic University, 2Tianjin University of Science and Technology, 3Henan Universityof Economics and Law, 4South East University, China)

OS3‐2Analyzing the Controllability and Observability of Discrete‐Time Delayed LTI Systems with
Data‐Based Methods
Zhuo Wang (Beihang University, China)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 28 -

OS3‐3

An Optimal Collective Control Strategy Based on Vicsek Model
Yongnan Jia, Weicun Zhang, Yue Liu, Qing Li(University of Science and Technology Beijing, China)

OS3‐4Distributed Rotating Encirclement Control of Strict‐Feedback Multi‐Agent Systems Using Bearing
measurements
Tengfei Zhang, Yingmin Jia (Beihang University (BUAA), China)

14:45‐16:15 OS10‐1 AI Applications (6)Chair: Mohamed Rizon (UCSI University, Malaysia)
Co‐Chair: Ang Chun Kit (UCSI University, Malaysia)
OS10‐1

Effects of Variable Arm Length on UAV Control Systems
M. Rizon, CK. Ang, MI. Solihin (UCSI University, Malaysia)
Zuradzman M. R, H. Desa, Shahriman A. B., Wan Khairunizam(UniMAP, Malaysia)
I. Zunaidi (University of Sunderland, UK)

OS10‐2

EEG based drowsiness detection using relative band power and short time fourier transform
Pranesh Krishnan, Sazali Yaacob, Annapoorni Pranesh Krishnan (UniKL, Malaysia)
Mohamed Rizon, Ang Chun Kit (UCSI University, Malaysia)

OS10‐3Mathematical Model Implementation of SPWM fed Three‐phase Induction Motor Drive Using
MATLAB Simulink
Amir Rasyadan, Sazali bin Yaacob, Pranesh Krishnan (UniKL, Malaysia)
Mohamed Rizon, Ang Chun Kit (UCSI University, Malaysia)

OS10‐4

Implementation of X‐mean Clustering Algorithm for Wireless Sensor Networks
Abdelrahman Radwan, Nazhatul Hafizah Kamarudin, Mahmud Iwan Solihin, Hungyang Leong,
Chun Kit Ang (UCSI University, Malaysia)

OS10‐5

Robust H∞ controller design for flexible link manipulator based on constrained meta‐heuristics
optimization algorithms
Mahmud Iwan Solihin, Lim Wei Hong, Chun Kit Ang, Mohamed Rizon, Abdelrahman Radwan(UCSI university, Malaysia)

OS10‐6Classification of Facial Nerve Paralysis Based on Regional Evaluation
Wan Syahirah W Samsudin, Rosdiyana Samad (Universiti Malaysia Pahang, Malaysia)
Kenneth Sundaraj (Universiti Teknikal Malaysia Melaka, Malaysia)
Mohamed Rizon (UCSI University, Malaysia)
Mohd Zaki Ahmad (Hospital Tuanku Ampuan Afzan, Malaysia)

16:30‐17:00 OS10‐2 AI Applications (2)Chair: Mohamed Rizon (UCSI University, Malaysia)
Co‐Chair: Ang Chun Kit (UCSI University, Malaysia)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 29 -

OS10‐7

Introduction of Forehead Lesion Assessment with House‐Brackmann Score for Facial Nerve
Paralysis Evaluation
Wan Syahirah W Samsudin, Rosdiyana Samad (Universiti Malaysia Pahang, Malaysia)
Kenneth Sundaraj (Universiti Teknikal Malaysia Melaka, Malaysia)
Mohamed Rizon (UCSI University, Malaysia)
Mohd Zaki Ahmad (Hospital Tuanku Ampuan Afzan, Malaysia)

OS10‐8Intelligent Wearable Biofeedback Fuzzy Logic Based Device for Monitoring and Treatment of
Voice Loudness
Ali S. AlMejrad (King Saud University, Kingdom of Saudi Arabia)

Meeting Room 33
9:00‐10:00 GS7 Poster (4)Chair: Jiwu Wang (Beijing Jiaotong University, China)
POS7‐1

The Development and Evaluation of Fig’s Leaf Syrup
Shang‐Hui Li, Pei Hi Zheng, I Chih Chiang, Yu Ting Su, Syue Sheng Lin (Far East University, Taiwan)

POS7‐2The Research and Development of Fruit Puffed Rice
Shang‐Hui Li, Yi‐Ru Wang, Yi Ting Liu, En‐Yi Lu, Cheng Han Li, Fang Quan Zhang(Far East University, Taiwan)

POS7‐3The Research of Heath Western Cusine – A Study of Aloe in Cooking
HsiYing Hsieh (Far East University, ROC Taiwan)

POS7‐4The Influence of Attitude, Subjective Norm, Perceived Behavior Control on Purchase Intention– A Study of the Green Restaurants in Taiwan
HsiYing Hsieh (Far East University, ROC Taiwan)

10:15‐11:15 OS8 Advanced Research of Engineering and Management (4)Chair: Chair: Takao Ito (Hiroshima University, Japan)
Co‐Chair: Ammar A. Al‐Talib (UCSI University, Malaysia)
OS8‐1

A Rack and Pinion Driven Mechanical Footstep Power Generator
Ammar A. Al‐Talib, K S See (UCSI University, Malaysia)

OS8‐2

Table Tennis Using Arduino For Seniors’ Healthcare
Reem Ali Abdullah, Mastaneh Mokayef, Miad Mokayef, Sew Sun Tiang, Wei Hong Lim(UCSI University, Malaysia)

OS8‐3

A Study on Prevention of Predictive Failures using IoT Technology
Tsutomu Ito1, Hiroshi Sakai1, Takao Ito2, Seigo Matsuno3, Makoto Sakamoto4(1Hino Motors Ltd, 2Hiroshima University, 3Ube National College of technology, 4University ofMiyazaki, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 30 -

OS8‐4

Did a mismatch between the ASBJ’s standard‐setting and its organizational structure occur?
Kensuke Ogata (Osaka City University, Japan)

14:45‐15:45 OS16 Media Information Processing and Artificial Intelligence (4)Chair: Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Co‐Chair: Masayoshi Tabuse (Kyoto Prefectural University, Japan)
OS16‐1

Effectiveness of Data Augmentation in Pointer‐Generator Model
Tomohito Ouchi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)

OS16‐2

Mouse Cursor Control System Using Facial Movements
Masayoshi Tabuse1, Manase Mizobe2, Yasunari Yoshitomi1, Taro Asada1(1Kyoto Prefectural University, 2TORAY ENGINEERING Co.,Ltd, Japan)

OS16‐3

Facial Expression Synthesis Using Vowel Recognition for Synthesized Speech
Taro Asada1, Ruka Adachi2, Syuhei Takada3, Yasunari Yoshitomi1, Masayoshi Tabuse1(1Kyoto Prefectural University, 2Software Service, Inc., 3Seika Town Hall, Japan)

OS16‐4

Speech Synthesis of Emotions in a Sentence Using Vowel Features
Rintaro Makino1, Yasunari Yoshitomi2, Taro Asada2, Masayoshi Tabuse2(1SoftBank Corp., 2Kyoto Prefectural University, Japan)

16:30‐17:45 OS19 Advanced Information Processing Applications (5)Chair: Toru Hiraoka (University of Nagasaki, Japan)
Co‐Chair: Masaharu Hirota (Okayama University of Science, Japan)
OS19‐1

Extraction of Irrelevant Sentences from Online Hotel Reviews
Shogo Watanabe, Masaharu Hirota, Tetsuya Oda (Okayama University of Science, Japan)

OS19‐2

Inferring Home Location of Foreign Tourists Based on Travel Routes Extracted from Social Media
Sites
Lugasi Chen, Masaharu Hirota (Okayama University of Science, Japan)

OS19‐3The IoT Solution to Archive and Play the Digital Library of Kamishibai
Motohide Yoshimura, Ayumi Eikawa (The University of Nagasaki, Japan)

OS19‐4

A Research on Prediction of Inter‐firm Relationships
Takao Ito1, Tsutomu Ito2, Matsuno Seigo3, Rajiv Mehta4, Makoto Sakamoto5(1Hiroshima University, Japan, 2Hino Motors Ltd, Japan, 3Ube National College of Technology,
Japan, 4New Jersey Institute of Technology, USA, 5University of Miyazaki, Japan)

OS19‐5Generation of Arbitrarily‐Oriented Ripple Images Using Circular‐Sector‐Type Smoothing Filter
and Inverse Filter
Toru Hiraoka (University of Nagasaki, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 31 -

Meeting room 1
9:00‐10:15 OS18‐2 Service Robotics (5)Chair: Evgeni Magid (Kazan Federal University, Russia)
Co‐Chair: Kuo‐Lan Su (National Yunlin University of Science and Technology, Taiwan)
Co‐Chair: Kuo‐Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
OS18‐1Modelling Autonomous Parallel Parking Procedure for Car‐like Robot Avrora Unior in Gazebo
Simulator
Dinir Imameev1, Ksenia Shabalina1, Artur Sagitov1, Kuo‐Lan Su2, Evgeni Magid1(1Kazan Federal University, Russia)(²National Yunlin University of Science and Technology, Taiwan)

OS18‐2

Traffic Sign Recognition Algorithm for Car‐like Robot Avrora Unior
Nikita Nikiforov1, Ksenia Shabalina1, Artur Sagitov1, Kuo‐Hsien Hsia², Evgeni Magid1(1Kazan Federal University, Russia)(²National Yunlin University of Science and Technology, Taiwan)

OS18‐3

Robotic palpation modeling for KUKA LBR IIWA using Gazebo Simulator
Artur Shafikov1, Artur Sagitov1, Hongbing Li2, Natalia Schiefermeier‐Mach3, Evgeni Magid1(1Kazan Federal University, Russia), (2Shanghai Jiao Tong University, China)(3Health University of Applied Sciences, Austria)

OS18‐4

Remote Control Application for “Servosila Engineer” Robot on Android Mobile Devices
Daniel Kiryanov, Roman Lavrenov (Kazan Federal University, Russia)

OS18‐5

Network Failure Detection and Autonomous Return for PMB‐2 mobile robot
Dmitry Bereznikov, Aufar Zakiev (Kazan Federal University, Russia)

Meeting room 4
9:00‐10:00 GS4 Robotics 1 (4)Chair: Noritaka Sato (Nagoya Institute of Technology, Japan)
GS4‐1

Design and Modeling of an Automatic Cartesian Farming Robot
Wisanu Jitviriya, Amornphun Phunopas(King Mongkut’s University of Technology North Bangkok, Thailand)
Eiji Hayashi (Kyushu Institute of Technology, Japan)

GS4‐2

K‐APF Algorithm to Avoid Obstacles in Path Planning
Dong‐Kyo Jeong, Jang‐Myung Lee (Pusan National University, Korea)

GS4‐3

Selection System of Robot type for cell assembly production (Production efficiency comparison of
single arm robot and double arm robot)
Takahiro Watanabe, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 32 -

GS4‐4

Curvature Surface Magnetic Wheel Climbing Robot with Adaptive Electromagnetic Adhesive
Force
Richit Palangwatanakul, Apisit Thungsang, Kaned Thungod (Mahasarakham University, Thailand)
Arsit Boonyaprapasorn, Wanachart Borisut (Chulachomklao Royal Military Academy, Thailand)
Thavida Maneewarn, Suriya Natsupakpong(King Mongkut’s University of Technology Thonburi, Thailand)
Thunyaseth Sethaput(Sirindhorn International Institute of Technology, Thammasat University, Thailand)

10:15‐11:15 GS5 Robotics 2 (4)Chair: Hidehiko Yamamoto (Gifu University, Japan)
GS5‐1

Intention Classification of a User of a Walking Assist Cart by Using Support Vector Machine
Noritaka Sato, Tomoki Yokotani, Yoshifumi Morita (Nagoya Institute of Technology, Japan)

GS5‐2Development of an Environmentally Adaptable Autonomous Mobile Robot
Naokazu Iwata, Joo Kooi Tan (Kyushu Institute of Technology, Japan)

GS5‐3

Automated Task and Path Management for Industrial AGVs in Foam Manufacturing Plant
Amornphun Phunopas1, Wisanu Jitviriya2, Noppadol Pudchuen3, Songklod Tunsiri4, Eiji Hayashi5(1,2,3King Mongkut’s University of Technology North Bangkok, Thailand,
4
Urban Community Development College, Thailand, 5Kyushu Institute of Technology, Japan)

GS5‐4

Object Tracking Method Considering Time Series Information Using Re3 with Stochastic Depth
Taichi Kitayama, Hyoungseop Kim (Kyushu Institute of Technology, Japan)

14:45‐16:15 GS1 Neural Networks (6)Chair: Akira Nakamura (AIST, Japan)
GS1‐1

Neural Network and Internal Resistance based SOH classification for lithium battery
Jong‐Hyun Lee1, Hyun‐Sil Kim2, In‐Soo Lee1 (1Kyungpook National University, Korea)(2Naval Combat Systems PMO Agency For Defense Development, Korea)

GS1‐2

Estimation of Self‐Posture of a Pedestrian Using MY VISION and Deep Learning
Tomoyuki Kurosaki, Joo Kooi Tan (Kyusyu Institute of Technology, Japan)

GS1‐3

Simultaneous Space Object Recognition and Pose Estimation by Convolutional Neural Network
Roya Afshar, Zhongyi Chu (Beihang University, China)
Shuai Lu (Beijing University of Chemical Technology, China)

GS1‐4

An error correction mechanism for reliable chemical communication systems
Masashi K. Kajita (The University of Tokyo, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 33 -

GS1‐5A Reinforcement Learning‐Based Path Planning Considering Degree of Observability
Yong Hyeon Cho, Chan Gook Park (Seoul National University, Korea)

GS1‐6

A Performance Analysis of Pose Estimation Based on Two‐View Tracking and Multi‐State
Constraint Kalman Filter Fusion
Tae Ihn Kim, Jae Hyung Jung, Chan Gook Park (Seoul National University, Korea)

16:30‐17:45 GS2 Control Techniques (5)Chair: Chian C. Ho (National Yunlin University of Science and Technology, Taiwan)
GS2‐1

ORB‐SLAM based Sensor Fusion Algorithm for Real‐Time Precision Driving
Yong·Jin Ock, Zhan·Ming Gu, Jang·Myung Lee (Pusan National University, Korea)

GS2‐2Gait Control of A Four‐Legged Robot with Fuzzy‐PID Controller
Arphakorn Kunha, Amornphun Phunopas, Wisanu Jitviriya(King Mongkut’s University of Technology North Bangkok, Thailand)

GS2‐3

Hybrid Force/Position Teaching and Control Method for 6 DoF Manipulator utilizing
f‐PAWTED
Quang‐Trung Chu, Hiroki Tanaka, Hideki Inuzuka, Yoshifumi Morita (NITech, Japan)
Masao Sakai (Aichi Pref., Japan)

GS2‐4

A Study on Generalized Predictive Control in Consideration of Noise
Akira Yanou (Kawasaki University of Medical Welfare, Japan)

GS2‐5

Simulation Study on Emergency‐Stopping Avoidance Control due to Singularity During Teaching
Operation with Parallel Wire‐Type Teaching Device
Hideki Inuzuka (NITech, Japan), Masao Sakai (Aichi Pref., Japan), Yoshifumi Morita (NITech, Japan)

January 16 (Thursday)
8:40‐Registration
Meeting Room 31
10:30‐11:00
Invited session IS‐1
Chair: Yingmin Jia (Beihang University (BUAA), China)
IS‐1 Concurrent Localization of Multiple Unmanned Surface Vehicles Using Neural Networks
Jangmyung Lee (Pusan National University, Korea)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 34 -

12:00‐13:15 OS11 System and Control (16)Chair: Yizhun Peng (Tianjin University of Science and Technology, China)
Co‐Chair: Huailin Zhao (Shanghai Institute of Technology, China)
OS11‐1

Design of Humanoid Soccer Robot Based on STM32
Yuheng Zhang1, Yulong Peng2, Yizhun Peng1, Lianchen Zhao1, Zhou Zhang1, Wanlong Peng1(1Tianjin University of Science and Technology, 2 Tianjin Tianke Intelligent and Manufacture
Technology Co., LTD, China )OS11‐2A Design and Implementation of Intelligent Cradle
Ting Zhao1, Qing He1, Yulong Peng2, Zhou Yang1, Zhenjiang Chen1, Shuo Jiang1(1Tianjin University of Science and Technology, 2 Fenyang College of Shanxi Medical University,
China)

OS11‐3

A Design and Implementation of Intelligent Networking Bookcase
Zhou Zhang, Yajun Li, Yizhun Peng, Hucheng Wang, Yuqi Zhao
(Tianjin University of Science and Technology, China)

OS11‐4A Design and Implementation of Quad‐rotor UAV
Junjie Lin, Chunxia Zhang, Yizhun Peng, Ting Zhao, Zhengke Xu(Tianjin University of Science and Technology, China)

OS11‐5Characteristic Analysis and Synchronization Control of a Non‐equilibrium System
Lianchen Zhao, Xinyu Zhang, Yizhun Peng, Yuheng Zhang, Hongyan Jia,
(Tianjin University of Science and Technology, China)

OS11‐6Classification and Recognition of Baby Cry Signal Feature Extraction Based on Improved MFCC
Zhenjiang Chen, Yizhun Peng, Di Li, Zhou Yang, Nana Wang
(Tianjin University of Science and Technology, China)

OS11‐7

Design of Space Remote Sensing Data Storage Platform Based on Distributed File System
Di Li, Yizhun Peng, Ruixiang Bai, Zhenjiang Chen, Lianchen Zhao
(Tianjin University of Science and Technology, China)

OS11‐8

Research on Semantic Map Establishment of Parking Lot Based on Deep Learning andMulti‐sensor
Shiqian Zhang, Yizhun Peng, Ruixiang Bai, Yuheng Zhang, Tianye Jian, Wanlong Peng
(Tianjin University of Science and Technology, China)

OS11‐9Survey on Kinematics Calibration Technology of Manipulator
Zhou Yang, Yizhun Peng, Nana Wang, Yuheng Zhang, Tianye Jian
(Tianjin University of Science and Technology, China)

OS11‐10Visualization Analysis of Web Crawler Evolution Retrieval Research Based on KG
Zhenjiang Chen, Jiamian Wang, Yizhun Peng, Di Li, Lianchen Zhao
(Tianjin University of Science and Technology, China)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 35 -

OS11‐11

Circuit Simulation of Synchronized Novel 4D Chaotic Systems
Yuhan Zhang, Hong Niu (Tianjin University of Science and Technology, China)

OS11‐12

Crowd Counting Network with Self‐attention Distillation
Li Wang, Huailin Zhao, Zhen Nie, Yaoyao Li (Shanghai Institute of Technology, China)

OS11‐13

Path Planning Based on Improved Artificial Potential Field Method
Feifan Xu, Huailin Zhao, Zhen Nie, Xin Zhou, Zheheng Tao(Shanghai Institute of Technology, China)

OS11‐14

Self‐balancing Car based on Adaptive Fuzzy PID Control
Zhen Nie, Huailin Zhao, Lu Sun, Xiongfeng Zhong(Shanghai Institute of Technology, China)

OS11‐15

Crowd Counting Method Based on Improved CSRnet
Huailin Zhao, Shengyang Lu, Li Wang, Yaoyao Li (Shanghai Institute of Technology, China)

OS11‐16Graph‐based Global Reasoning Network for Crowd Counting
Li Wang, Huailin Zhao, Zhen Nie, Yaoyao Li(Shanghai Institute of Technology, China)

13:30‐14:45 OS9 Recognition and Control (19)
Chair: Fengzhi Dai (Tianjin University of Science and Technology, China)
Co‐Chair: Qiang Wei (Jianghan University, China)
OS9‐1

A Design of Ocean Current Velocity Measuring Device
Jichao Zhao1, Fengzhi Dai1,3, Xin Ma2, Fengkun Wang1, Haokang Wen1, Hongbo Hao1,
Qianqian Zhang1(1Tianjin University of Science and Technology, 2National Oceanic Administration Beihai Marine
Environmental Monitoring Center Station, 3Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS9‐2Device Design Based on TDS Water Quality Detection
Jichao Zhao1, Fengzhi Dai1,2, Di Yin1, Yuhui Cheng1, Fengkun Wang1, Leixin Han1, Qianqian Zhang1(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS9‐3

Design of Film Forming Rate Measuring Instrument based on Polyurethane Material
Jichao Zhao1, Fengzhi Dai1,2, Fengkun Wang1, Haokang Wen1, Hongbo Hao1, Qianqian Zhang1(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS9‐4Research on the Intelligent Aircraft Design based on STM32
Hongbo Hao1, Fengzhi Dai1,2, Haokang Wen1, Jichao Zhao1, Qianqian Zhang1(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 36 -

OS9‐5

Research and Design of Gain Controllable System in RF Receiver
Haokang Wen1, Fengzhi Dai1,2, Jichao Zhao1, Hongbo Hao1, Hong Niu1, Qianqian Zhang1(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS9‐6

Design of Packaging Bottle Recycling System based on Internet of Things
Yujie Yan1, Fengzhi Dai1,2, Shiwei Wu1, Yuanyuan Xi1, Huanhuan Li1(1Tianjin University of Science and Technology, 2 Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China, China)

OS9‐7Research on Image Super‐Resolution Reconstruction Based on Deep Learning
Lingran An1,Fengzhi Dai 1,2, Yasheng Yuan1(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS9‐8Research on Fatigue Detection Method Based on Deep Learning
Yasheng Yuan1, Fengzhi Dai1,2, Lingran An1, Di Yin1, Yuxuan Zhu1, Yujie Yan1
(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS9‐9Fatigue Driving Monitoring System based on the EEG
Yuxuan Zhu1, Fengzhi Dai1,2, Di Yin1, Yasheng Yuan1(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS9‐10Research of the Control Strategy of Vienna Rectifier Circuit based on the Vector Control
Yuxuan Zhu1, Fengzhi Dai1,2, Di Yin1, Yasheng Yuan1(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS9‐11

Research on Emotion Classification based on EEG
Di Yin1, Fengzhi Dai1,3, Mengqi Yin2, Jichao Zhao1(1Tianjin University of Science and Technology, 2Hebei University of Chinese Medicine,3
Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)

OS9‐12

Identification of Synthetic Pigment based on Fluorescence Spectroscopy Combined with RBF
Neural Network
Di Yin1, Fengzhi Dai1,2, Yuxuan Zhu1, Yasheng Yuan1(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS9‐13

Simulation Study of 3D Reconstruction in Electromagnetic Tomography with Multi‐layer Sensors
Array
Yuanli Yue, Ze Liu, Yu Miao (Beijing Jiaotong University, China)

OS9‐14Visualized the Knowledge Map in Children’s Minds: A Study on Cognitive Structure Measurement
Qiang Wei, Hua Dong, Yi‐tong Zhang, Ao‐nan Zhang (Jianghan University, China)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 37 -

OS9‐15

Escape Route of Subway under Fire Conditions: An Experimental Study in Virtual Reality
Environment
Hua Dong, Qiang Wei, Qing‐qing Zhang, Lan‐lan Fang (Jianghan University, China)

OS9‐16

Research on the Smart Home Design based on Single‐chip Microcomputer
Hongbo Hao1, Fengzhi Dai1, 2, Haokang Wen1, Jichao Zhao1(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS9‐17

Design of a Portable Instrument for Measuring Heart Rate and Blood Oxygen
Haokang Wen1, Fengzhi Dai1,2, Jichao Zhao1, Hongbo Hao1, Qianqian Zhang1(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS9‐18Principal Component Analysis of Wine Based on Three‐dim Fluorescence Spectra
Di Yin, Fengzhi Dai, Yuxuan Zhu, Yasheng Yuan
(Tianjin University of Science and Technology, China)

OS9‐19Control Design of Intelligent Device for Living Environment of Senile Apartment
YashengYuan1, Fengzhi Dai1,2, Shengbiao Chang3, Lingran An1, Di Yin1,
Yuxuan Zhu1, Yujie Yan1
(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, 3Dawning Information Industry Co., LTD, China)

Meeting Room 32
9:00‐10:00 OS2 Advanced Control (4)Chair: Yingmin Jia (Beihang University (BUAA), China)
Co‐Chair: Weicun Zhang (University of Science and Technology Beijing, China)
OS2‐1Multiple Model Adaptive Control Based on Switching/Weighting Intelligent Fusion Algorithm
Weicun Zhang, Yongnan Jia, Qing Li(University of Science and Technology Beijing, China)OS2‐2Detection Algorithm of Porosity and Crack Defects on Surface of Micro‐precision Glass Insulated
Terminals
Qunpo Liu1, Gaowei Wang1, Fuzhong Wang1, Manli Wang1, Hanajima Naohiko2(1Henan Polytechnic University, P.R.China) (2Muroran Institute of Technology, Japan)

OS2‐3

Concept Drift Adaptation by Multi‐stream Data Knowledge Transfer
Hongpeng Yin, Chenglin Liao, Yi Chai (Chongqing University, China)

OS2‐4

Neuro‐adapative Control of High‐speed Trains under Uncertain Wheel‐rail Relationship
Zhechen Wang, Yingmin Jia (Beihang University (BUAA), China)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 38 -

12:00‐13:00 OS1 Machine vision and Mobile robot (4)Chair: Wei Liu (Beijing Jiaotong University, China)
Co‐Chair: Jiwu Wang (Beijing Jiaotong University, China)
OS1‐1Route Planning of Teleoperation Mobile Robot Based on Virtual Reality Technique
Jiwu Wang, Xuechun Yuan, Chenyang Li, Zhikun Song (Beijing Jiaotong University, China)

OS1‐2

Geometric Measurement Based on The Single Image with a Rectangle Structure
Jiwu Wang, Bo Dai, Jiangyue Wang (Beijing Jiaotong University, China)

OS1‐3

Heavy‐duty Spherical Mobile Robot Driven by Five Omnidirectional Wheels
Wei Liu, Junyang Sun, Runjiao Wang, Guanwang Geng, Lian Luo(Beijing Jiaotong University, China)

OS1‐4Robustness Analysis of Visual SLAM Based on Gazebo Simulation Environment
Jiwu Wang, Yafan Liu (Beijing Jiaotong University, China)

13:30‐14:30 OS21 Mathematical Informatics (4)Chair: Makoto Sakamoto (University of Miyazaki, Japan)
Co‐Chair: Amane Takei (University of Miyazaki, Japan)
OS21‐1

Hidden Surface Removal for Interactions between User’s Bare Hands and Virtual Objects in
Augmented Reality
Takahiro Ishizu, Makoto Sakamoto, Kenji Sakoma, Takahiro Shinoda, Amane Takei(University of Miyazaki, Japan), Takao Ito (Hiroshima University, Japan)

OS21‐2

Proposal of Interactive Projection Mapping using Human Detection by Machine Learning
Takahiro Shinoda, Makoto Sakamoto, Takahiro Ishizu, Kenji Sakoma, Amane Takei(University of Miyazaki, Japan), Takao Ito (Hiroshima University, Japan)

OS21‐3Fundamental Study on Control of CG Characters by Electroencephalography (EEG) Analysis
Kenji Sakoma, Makoto Sakamoto, Takahiro Ishizu, Takahiro Shinoda, Amane Takei(University of Miyazaki, Japan), Takao Ito (Hiroshima University, Japan)

OS21‐4Development of parallel microwave analysis code: ADVENTURE_Fullwave
Amane Takei (University of Miyazaki, Japan)

Meeting Room 33
9:00‐10:15 OS14 Software Development Support Method (5)Chair: Tetsuro Katayama (University of Miyazaki, Japan)
Co‐Chair: Tomohiko Takagi (Kagawa University, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 39 -

OS14‐1

Behavioral Modeling Technique for Multiple Objects of Software Using Extended Place/Transition Nets with Attributed Tokens
Tomohiko Takagi, Ryo Kurozumi (Kagawa University, Japan)

OS14‐2

Learning Support Technique of Software Visual Modeling Using Place/Transition Nets
Yuki Ue, Tomohiko Takagi (Kagawa University, Japan)

OS14‐3

Redundant Test Cases Elimination on Code Coverage with Distance and Correlation Measurement
MethodMochamad Chandra Saputra1, Tetsuro Katayama1, Yoshihiro Kita2,
Hisaaki Yamaba1, Kentaro Aburada1, and Naonobu Okazaki1
1( University of Miyazaki, 2Tokyo University of Technology, Japan)

OS14‐4The Measurement of Class Cohesion using Semantic Approach
Bayu Priyambadha1, Tetsuro Katayama1, Yoshihiro Kita2,
Hisaaki Yamaba1, Kentaro Aburada1, and Naonobu Okazaki1(1University of Miyazaki, 2Tokyo University of Technology, Japan)

OS14‐5

Proposal of an Algorithm to Generate VDM++ by Using Words Extracted from the Natural
Language Specification
Yasuhiro Shigyo1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro Aburada1,
Naonobu Okazaki1 (1University of Miyazaki, 2Tokyo University of Technology, Japan)

12:00‐12:30 OS17 Machine Learning Technologies for Human Understanding (2)Chair: Masao Kubo (National Defense Academy of Japan, Japan)
OS17‐1

Customization of Contents for Acquisition of Skills of FPS without Trainer
Masao Kubo, Takeshi Ueno, Hiroshi Sato (National Defense Academy, Japan)

OS17‐2Visual Classification of Malware by Few‐shot Learning
Tran Kien, Masao Kubo, Hiroshi Sato (National Defense Academy, Japan)

13:30‐14:30 GS3 Vision & Image Processing (4)Chair: Joo Kooi Tan (Kyusyu Institute of Technology, Japan)
GS3‐1

Detecting Pedestrians and Moving Directions by a MY VISION System
Kenta Hori, Seiji Ishikawa, Joo Kooi Tan (Kyushu Institute of Technology, Japan)

GS3‐2

Human Motion Recognition Using TMRIs
Cao Jing, Youtaro Yamashita, Joo Kooi Tan (Kyusyu Institute of Technology, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 40 -

GS3‐3

Automatic Extraction of Abnormalities on Temporal CT Subtraction Images Using Sparse Coding
and 3D‐CNN
Yuichiro Koizumi, Noriaki Miyake, Huimin Lu, Hyoungseop Kim(Kyushu Institute of Technology, Japan)
Takatoshi Aoki (University of Occupational and Environmental Health, Japan)
Shoji Kido (Osaka University, Japan)

GS3‐4

Design of a Data‐Driven Multi Controllers Using VRFT and Ensemble Learning
Takuya Kinoshita, Yuma Morota, Toru Yamamoto (Hiroshima University, Japan)

OS15 Recognition and System (11)OS15‐1

Efficient Detection Device for Wafer Physical Defects
Jianyong Chen, Xiaoyan Chen, Chundong Zhao
(Tianjin University of Science and Technology, China)

OS15‐2Wafer Defect Detection Method based on Machine Vision
Chundong Zhao, Xiaoyan Chen, Jianyong Chen
(Tianjin University of Science and Technology, China)

OS15‐3

Analysis and Circuit Design of a Novel 4D Chaotic System
Yan Sun, Yongchao Zhang, Jiaqi Chen (Tianjin University of Science and Technology, China)

OS15‐4

Research on Synchronous Control of a Novel 4D Dissipative Chaotic System
Jiaqi Chen, Yongchao Zhang, Yan Sun (University of Science and Technology, China)

OS15‐5

EEG classification based on common spatial pattern and LDA
Lei Wang1, Zixuan Li2 (1Tianjin University of Science and Technology, China)(2Dongbei University of Finance & Economics, China)

OS15‐6

Dynamic Characteristics Analysis of the Shimizu–Morioka Chaotic System
Wenxin Shi, Hongyan Jia (Tianjin University of Science and Technology, China)

OS15‐7

Research on the Motion Track of High‐speed Objects
Qianqian Zhang1,2, Fengzhi Dai1, Jichao Zhao1, Haokang Wen1, Hongbo Hao1
(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO., LTD, China)

OS15‐8

Research on Surface Defect Detection of Aluminum based on Image Processing
Xuemin Liu1, Ce Bian3, Di Yin2, Yuxuan Zhu2, Yasheng Yuan2(1China Petroleum Engineering and Construction Corporation, 2 Tianjin University of Science andTechnology, 3Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 41 -

OS15‐9

Research on the Control of Multi Position Production Line based on PLC
Yong Hou1, Hao Wang1, Runhua Mao2, Xuemin Liu3
(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture
Technology CO, LTD, 3China Petroleum Engineering and Construction Corporation, China)

OS15‐10

Research on acoustic source localization system based on acoustic holography
Xiuqing Wang, Xiaoyun Jia (Tianjin University of Science and Technology, China)

OS15‐11Anti‐interference Method of Electrical Fast Transient for Fire Alarm of Substation
Guo Wangyong, Ju Zhenfu, Chen Guang, Zhu Bo(Beijing NARI Yihe Environmental Protection Technology Co., Ltd, China)

Farewell Party©ICAROB 2019 ALife Robotics Corp. Ltd.

- 42 -

PS abstracts
PS-1 Towards neuromimetic computing

Takashi Kohno (University of Tokyo, Japan)

Deep neural network brought a new era of neuro-inspired machine learning. Its splendid
performance in pattern recognition is attracting both scientific and industrial resources
and accelerating the field of “AI”. In these days, neuromimetic computing is developing
its presence in this field as a potential approach to the post-deep neural network, thenext-generation AI. Silicon neuronal network (SNN) is an approach to the neuromimetic
computing, which tries to construct an electronic circuit version of the nervous system.
Its strong potential to innovate the computing paradigm from digital computing to“brain-compatible” computing facilitated IBM and Intel to developed SNN chips, but it
still stays in the embryonic stage because of a great hurdle. In this talk, we overview anddiscuss about trials in this field.

PS-2 Innovative Robot - Robot/AI for Factory Automation-

Eiji Hayashi (Kyushu Institute of Technology, Japan)

We have engaged in a regional revitalization project during the period from 2018 to 2022
as a subsidy grant which the Japan’s government are promoting, by Yaskawa Electric
Corporation, City of Kitakyushu and Kyushu Institute of Technology. In this project has
been developed innovative robots combined Robot / Artificial Intelligence technologies.
We think that AI and robots are already everywhere, especially not engineers due to the
influence of the media. Certainly, their technologies have made enormous advances andprogress in recent years like Siri, self-driving car system and so on as well as deeplearning neural network on image processing. The innovative robot for FA robot whichmeans a revolution in productivity into next generation is described about what such arobot needs.

PS-3 Multidimensional Configurations and Strategy in Robot Soccer

Ruggero Rossi, Jeffrey Johnson (Open University, UK)

Recognizable structures appear repeatedly in robot soccer. Typically they involve
configurations of one to five players from each team. Some structures are highly
desirable as part of temporal sequences with the ball moving forwards towards the goalwith the player structures, where some sequences ending in goals. A particular structureis the defenders dilemma when a red player attempts to win the ball from a blue player.
If red attempts to tackle the blue player it passes the ball to another blue player. If red
moves to prevent this the blue player with the ball dribbles past him. We illustrate these
configurations and show that they give a tactical advantage. A winning strategy is to
move to form these structures while denying them to the opposition.

PS-4 Towards fully automated driving in urban areas.

Naoki Suganuma (Kanazawa University, Japan)

In recent years, research on autonomous driving technology has been actively conducted.
In our laboratory, research and development on autonomous vehicle started from 1998
aiming for autonomous driving in urban areas. Additionally, our laboratory started thefirst public road test among Japanese University in Japan from 2015, and it has alreadybeen conducted public road experiment over 14,000 km. In this presentation, we will
outline the technologies required for autonomous driving based on the knowledge
obtained from these achievements and describe the current state and issues ofautonomous driving technologies.

IS abstracts
IS-1 Concurrent Localization of Multiple Unmanned Surface Vehicles Using Neural Networks
Jangmyung Lee (Pusan National University, Korea)

A concurrent localization of multiple USVs (Unmanned Surface Vehicle) has been
proposed using neural networks in order to resolve the problems of the probabilitybased filters used in the existing USV localization. The multiple USVs are effective
for port surveillance, ocean reconnaissance, and so on, when the concurrent
localization is available. Several probability-based filters, such as, EKF, KF, and
UKF have been utilized so far. Since these algorithms are externally affected bywind and waves on the sea surface, it becomes difficult to accurately control thenavigation along the desired trajectory. Using the proposed neural network, themultiple USVs can be navigated to survey the under-water condition effectively

IS-2 Body and Brain Training with Big Data and AI

Henrik Hautop Lund (Technical University of Denmark, Denmark)Utilizing a Big Data and AI approach, we developed a novel playful method forscreening people for potential physical and cognitive shortages. The method creates abody and brain performance map for each individual, and the Big Data analysis provides
a basis for automatically identifying the particular abilities, which may beunderperforming in an individual. Further, several studies including randomized
controlled trials with the Moto Tiles system have shown that particular Moto Tiles gameplay will increase performance of particular abilities, even after short-term play. Thereby,
the proposed system can automatically generate personalized training protocols for theindividual by selecting and providing the right Moto Tiles games for the individual toplay to improve the underperforming abilities. The suitability of the method was tested
in a small effect test with seniors with mild dementia at a care institution in Denmark.
The results show that the seniors with dementia who were screened to be at high risk offalling, within the short period of training with the automatically generated personalized
protocol increased their skills to no longer be at risk of falling.

IS-3 PixelBeing

Luigi Pagliarini1,2,3, Henrik Hautop Lund1(1Academy of Fine Arts of Macerata, Italy), (2ISIA Design, Italy)(1Technical University of Denmark, Denmark)In this conceptual paper, we describe and define the range of possible applications andthe technical contours of a robotic biotechnological system to be worn on the body for
playful interactions. Moving from earlier works on Wearable and Modular Robotics we
described how, by using modular robotics for creating wearable, it is possible to explore
a self-sustainable and flexible system, consisting of freely inter- changeable input/output
modules that through the use of solar, mechanical, and other sources of renewable energy
are able to suit some specific tasks. Here, we drive the attention on early prototypes toshow the potentialities of such an approach, and focus on depicting possible applicationin the future of sustainable electronics domain. Indeed, our artistic experiment is a clear
example of how to scale down electronics to an eco-friendly level, which can still create
playful and useful interactions for many applications.

OS abstracts
OS1 Machine vision and Mobile robot (4)OS1-1 Route Planning of Teleoperation Mobile Robot Based on Virtual Reality Technique

Jiwu Wang, Xuechun Yuan, Chenyang Li, Zhikun Song (Beijing Jiaotong University, China)

Mobile teleoperation robot is one of the effective methods to help operators to work incomplex environments. However, the time delay by distance is a key factor that restricts
its application. To solve this problem, the motion trajectory of the robot is simulatedusing virtual reality technology and the obtained optimization data are applied to control
teleoperation robot. In order to improve the efficiency of simulation, a 3D simulation
environment of the real world is built in the unity 3D platform, and the physical modeland kinematic model of the robot are established. At the same time, the environmental
conditions of various adjustable parameters such as illumination and material are
simulated in the platform. The physics engine for the robot is added in the simulation
platform and the physical properties of the robot are configured. Finally, the error
between the simulated and real motion trajectories is analyzed, and the results show thedeveloped method is effective to solve the time delay for the remote control.

OS1-2 Geometric Measurement Based on The Single Image with a Rectangle Structure
Jiwu Wang, Bo Dai,Jiangyue Wang (Beijing Jiaotong University, China)

Image-based geometric measurement is getting more attention in machine vision field
due to its contact-less and low-cost characteristics. Here the measurement of single
image with the rectangle structure is studied, in which only one side length of therectangle is known, and the coordinates of points in the measured plane are obtained.
The intrinsic parameters of the camera are calibrated firstly by using the three vanishingpoints of mutually orthogonal directions. Then the homography between the image
plane and the model plane which the rectangle structure belongs to is derived, and theplane measurement method of the latter is described in details. Furthermore, themeasurement experiment is done with the single image taken by the industrial camera,
and the validity of the proposed method is verified by comparing with real data.

OS1-3 Heavy-duty Spherical Mobile Robot Driven by Five Omnidirectional Wheels
Wei Liu, Junyang Sun, Runjiao Wang, Guanwang Geng, Lian Luo(Beijing Jiaotong University, China)

This paper presents a heavy-duty spherical mobile robot with 5 omnidirectional wheels.
The chassis is supported by four drive omni-directional wheels, and they touch theinternal spherical shell. The omni-directional wheel arranged above can prevent thechassis from overturning. Four omnidirectional wheels are driven by two motors so thatboth forward and steering motions can be achieved simultaneously. The four omnidirectional wheels can support heavy load. The mechanism of the robot is described indetail, and its motion and dynamics are built to analysis. Preliminary multi-bodydynamics simulation and analysis show that it has good function and dynamic
characteristics etc.

OS1-4 Robustness Analysis of Visual SLAM Based on Gazebo Simulation Environment
Jiwu Wang, Yafan Liu (Beijing Jiaotong University, China)

The visual SLAM technology applied to mobile robots is mostly for complex andvariable unknown environments. Therefore, in order to reduce the experimental cost andimprove the robustness of the technology, it is necessary to test the SLAM technology
in the virtual simulation environment before the robot enters the actual working
conditions. The Gazebo simulation software used in this paper is a three-dimensional
multi-robot dynamics simulation system, which can provide high-fidelity physicalsimulation environment and a complete set of robot sensor models for SLAM testing. In
this paper, we respectively perform simulation tests on advanced technology such as
ORB-SLAM2, DSO, and Vins-mono, and obtain experimental data and compare them.
Then, based on the test results, we propose corresponding improvement suggestions forthese SLAM technology.

.

OS2 Advanced Control (4)OS2-1 Multiple Model Adaptive Control Based on Switching/Weighting Intelligent Fusion Algorithm
Weicun Zhang, Yongnan Jia, Qing Li (University of Science and Technology Beijing, China)

A multiple model adaptive control scheme based on switch/weighting intelligent fusion
algorithm is presented with the following contributions: 1) switching/weighting
intelligent fusion algorithm against disturbances and noises of the system; 2) stability
and convergence analysis of the corresponding closed-loop control system.

OS2-2 Detection Algorithm of Porosity and Crack Defects on Surface of Micro-precision Glass
Insulated Terminals
Qunpo Liu1, Gaowei Wang1, Fuzhong Wang1, Manli Wang1, Hanajima Naohiko2( Henan Polytechnic University, P.R.China), (2Muroran Institute of Technology, Japan)
1

A micro-precision glass insulated terminal made of glass powder and metal wire sinteredby a special process. Aiming at the defects of the pores and cracks on the surface of theglass-insulated terminal, this paper proposes a method for surface defects inspection
based on image processing. Pre-processing operations such as background removal,
noise filtering, and G-channel feature extraction are performed on the acquired image
with defects. The global threshold segmentation algorithm is used to divide it into someregions. And the feature parameters are established based on the factors such as
circularity, aspect ratio, tightness, the length of the contour extract area etc.. The
identification of defects is realized based on feature vectors and defect determination
algorithms of each region. The test samples are selected including simples with pores,
cracks and no defects on the surface. The experimental results show that the algorithm
can identify the samples with pores and cracks correctly.

Pore and crack defect test results

OS2-3 Concept Drift Adaptation by Multi-stream Data Knowledge Transfer

Hongpeng Yin, Chenglin Liao, Yi Chai (Chongqing University, China)

The classifier of new concept cannot be retrained after concept drift unless massive newconcept instances gathered. To handle this issue, this paper proposed a multi-stream data
knowledge transfer approach when just few new concept data are collected. Multi-stream
data are represented by labeled source data streams and one unlabeled target data stream.
Several sub-classifiers learnt from source data streams individually are composed to an
ensemble to predict the target. Empirical studies indicate the effectiveness comparing
with other state-of-the-art methods.

Sourcestream 1...

Sourcestream k

Non-stationary
environment

Knowledgetransfer

Target domain

Onlineclassification

Retraining
modelsModelselection

YES
Concept drift
detectionModel
optimization

Drift?
NO

Multi-stream data knowledgetransfer approachOS2-4 Neuro-adapative Control of High-speed Trains under Uncertain Wheel-rail
Relationship
Zhechen Wang, Yingmin Jia (Beihang University (BUAA), China)

Traditional automatic controller designing in train systems is almost based on urban railtransit where the influence of changing wheel-rail relationship caused by the variationof speed and environment is ignored. However, high-speed railway operates in more
open environment and higher speed, which leading to a more complex variation ofwheel-rail relationship occurring. In this paper, we design an automatic train controller
in high-speed railway which can realize the automatic velocity tracking even if theuncertain and nonlinear variation of complex wheel-rail relationship happens. First ofall, the train dynamic model is established where the wheel-rail relationship is expressedas an uncertain unknown function and the train operation system is expressed as a thirdorder nonlinear system. Then, a neural network adaptive controller is designed by using
the backstepping method and barrier Lyapunov function. Bade on this controller,
position and velocity tracking errors are semi-globally uniformly ultimate boundedness.
Finally, the effectiveness of the algorithm is verified by simulation experiments.

Velocity

i+1

i

i-1

Pi+1

Pi

Pi-1

Multi-point model schematic

OS3 Intelligent Control (4)OS3-1 No Free Lunch Principle in Agent Swarm Systems: One Case StudyYunzhong Song1, Fengzhi Dai2, Huimin Xiao3, Shumin Fei4
( Henan Polytechnic University, China), (2Tianjin University of Science and Technology, China), (3Henan
University of Economics and Law, China), (4South East University, China)
1This note comes with information flooding of the control action of the leader in leader
follower framework. In this situation, even observer for the leader velocity is built in a
distributed style, the agent swarm system in a whole could not be classified into
distributed one. One case study example will be borrowed to demonstrate the truth of
the no free lunch principle in agent swarm systems.

3

4

1
2

OS3-2 Analyzing the Controllability and Observability of Discrete-Time Delayed LTI Systems with
Data-Based Methods
Zhuo Wang (Beihang University, China)

This paper presents a series of novel data-based methods to analyze the state/output
controllability and state observability of discrete-time delayed linear time-invariant(LTI) systems. The parameter matrices are assumed to be unknown. In order to analyze
the above system characteristics, we first augment the system into a high dimensional
LTI model, then employ the measured state/output data to directly construct thestate/output controllability and state observability matrices of this high dimensionalmodel, whose ranks play the role of the criteria of corresponding characteristics of theoriginal discrete-time delayed LTI system. These data-based methods have two merits:
first, it is not necessary to identify the unknown parameter matrices for characteristics
determination, which thus reduces the computational effort greatly; second, thecalculation complexity of them is lower because of the relatively simple data-based
matrix construction methods.

OS3-3 An Optimal Collective Control Strategy Based on Vicsek Model

Yongnan Jia, Weicun Zhang, Yue Liu, Qing Li (University of Science and Technology, China)

Vicsek model is one of the most famous models taking advantage describing thecollective behaviors of self-propelled particles by using simple interaction rules. These
particles update their directions according to the average value of their neighbors, who
located in its communication range. However, as we all know, individual difference
exists widely among social animals. Different individuals may have different influenceon the same particle. Therefore, we propose an optimal method considering theindividual difference when updating the directions of each particle. According to thesimulation results, compared with the standard Vicsek model, the optimal model is more
efficient under specific conditions.

OS3-4 Distributed Rotating Encirclement Control of Strict-Feedback Multi-Agent
Systems Using Bearing measurements
Tengfei Zhang, Yingmin Jia (Beihang University (BUAA), China)

This paper investigates the distributed multi-target rotating encirclement formation
problem of strict-feedback multi-agent systems using the targets’ bearing angles and theagents’ known positions, where all agents are forced to achieve even circular formation
around the targets' geometric center. Firstly, an estimator is proposed for each agent tolocalize the neighbor targets. Secondly, based on the trajectory planning method, areference trajectory is constructed by three estimators, which are used to obtain thetargets' geometric center, the reference rotating radius and angular. Then, the proposed
adaptive neural dynamic surface control law forces each agent to move along thereference trajectory. Finally, the performance of our proposed control scheme is verified
by a numerical simulation example.

OS4 Intelligent Life and Systems (7)OS4-1 Development of the IoT Module with AI Function Using STM32 Chip

Jr-Hung Guo, Evgeni Magid*, Kuo-Hsien Hsia, Kuo-Lan Su(National Yunlin University of Science and Technology, Taiwan)(*Kazan Federal University, Russia)

The applications of the Internet of Things (IoT) have been widely used in our daily lives
with the advancement of related software and hardware technologies. In order to makethese IoT modules more intelligent, many IoT modules are incorporated with artificial
intelligent algorithms. In this paper, an IoT module with STM32 chip as the main
controller is developed. This module uses fuzzy Analytic Hierarchy Process (fuzzyAHP) and Adaptive Fusion Method to improve the correctness and self-learning abilityof the sensor. In terms of communication, the IoT module has Ethernet, Wi-Fi, and LoRa
communication interfaces. And we also built a web server on this module, so that the
IoT module can operate directly in the browser. Finally, we also developed a monitoring
system. Through this monitoring system, multiple IoT modules can be constructed intoa sensor network. This monitoring system can also use the same algorithm to correct andisolate data from modules or sensors in the network. These make this IoT module more
intelligent and applicable in different areas.

.

OS4-2 Markerless Indoor/Outdoor Augmented Reality Navigation Device Based on ORB-VisualOdometry Positioning estimation and ORB-Visual-Mapping Image Registration
Chian C. Ho, Guan-Jie Wang (National Yunlin University of Science and Technology, Taiwan)

For markerless indoor/outdoor Augmented Reality Navigation (ARN) technology,
camera pose is inevitably the fundamental argument of positioning estimation and pose
estimation, and floor plane is indispensably the fiducial target of image registration.
Based on Oriented FAST and Rotated BRIEF (ORB) feature with descriptors, thispaper proposes ORB-visual-odometry positioning estimation and ORB-visualmapping image registration to improve camera pose estimation and floor plane
detection for making ARN more precise and reliable with real-time performance.
Experimental results show both ORB-visual-odometry positioning estimation and
ORB-visual-mapping image registration have higher accuracy and reliability thanconventional well-known camera-pose-based positioning estimation and floor-planebased image registration methods, respectively, for ARN. On the other hand,markerless indoor/outdoor ARN technology with proposed two methods haveseamlessly been implemented on the portable Android platform and have smoothly
been verified to co-work well on the portable Android platform.

OS4-3 Apply Adaptive Control Approach for Mobile Robot Path Following

Chun-Chi Lai, Chia-Jen Lin, Kuo-Hsien Hsia, Kuo-Lan Su(National Yunlin University of Science and Technology, Taiwan)

The state of the art of mobile robot autonomous navigation is composed with global
path planning and local path follower. For example, the global path planning majorly
applies the shortest path A* algorithm in an occupancy map. And the local pathfollower such as Dynamic Window Approach (DWA) which computes the velocity
commands from the objective function that includes obstacle clearance and progress
towards the goal. However, with the obstacle interference, DWA will often lead robot
with a great deviation from the global path and non-smooth trajectory. In this work weapply adaptive control method to feed the goals for DWA’s computing. The
experimental result shows that DWA will follow the global path smoothly.

OS4-4 Malware Classification Using Deep Learning

Cheng-Hsiang Lo, Ta-Che Liu, I-Hsien Liu, Jung-Shian Li, Chuan-Gang Liu, Chu-Fen Li(National Cheng Kung University, Taiwan)

We’ll display two different kinds of experiments, which are NIDS-based and Dynamicbased analysis shows how artificial intelligence (AI) helps us detecting and classify
malware. On the NIDS-based intrusion detection, we use CICIDS2017 as a researchdataset, embedding high dimensional features and find out redundant features in theraw dataset by Random Forest algorithm, reach 99.93% accuracy and 0.3% of the false
alert rate. We extract the function calls in malware data by the method proposed in thispaper to generate text data. The algorithm n-gram and TF-IDF are used to process text
data, converts them into numeric features, and by another feature selection methods,
we reduce the training time, achieve 87.08% accuracy, and save 87.97% training timein Dynamic-based analysis.

OS4-5 Robust Control of Nonholonomic Wheeled Mobile Robot with Hybrid Controller Approach
Ho-Nien Shou (National Yunlin University of Science and Technology, Taiwan)

This study proposes a control strategy to solve the nonholonomic mobile robot
trajectory tracking problem on the basis of Cerebellar Model Articulation Controller(CMAC). Mobile robot needs two controllers to provide the control demands. One
controller is mathematically described in terms of robot’s kinematics; while the otheris given by dynamics equations. To implement the speed control to track the reference
trajectory, we apply the Lyapunov theory to obtain the virtual speed control command.
Our simulation is performed in Matlab/Simulink environment, and the results verify
the effectiveness of the controller algorithm.

OS4-6 Design and Implementation of Microsatellite Detumbling Control with PWPF: Verification
Using PIL
Ho-Nien Shou (Air Force Institute of Technology, Taiwan)

The micro-satellites due to the limits of weight and power, this kind of micro-satellitewith low design cost and high precision requires reducing unnecessary attitude sensors
and controllers to ensure the precision of attitude control. In this article, an estimating
technology about measuring angle speed with a gyro-less is mentioned. This
technology is based on the period change in which the earth's magnetic field gets along
the track. Only by using a three-axis magnetometer, it can produce the data from themicro-satellite measuring the earth magnetic field. Besides, the measures of the threeaxis angle speed and attitude angle can be gotten through Kalman filtering. The
purpose of this article is mainly to explore the problem of attitude stumbling controlof micro-satellites departing away a carrier to enter a track. It is realized by a thruster
to proceed with the confinement of the satellite moving, the attitude stable control andprocessor-in-the-loop (PIL).

OS4-7 A Study of Applying Computer-assisted Language Learning to English Course for JuniorCollege Students in Taiwan
Shu-Hua Huang, I-Hsien Liu (Air Force Institute of Technology, Taiwan)

This study aims to explore the impact of the integration of Computer-assisted language
learning (Call) into traditional English course on the learning effectiveness at Juniorcollege in Taiwan. To achieve the above purpose, this study adopts the preexperimental design with one-group pretest-posttest design. This study adopts
quantitative and qualitative methods for data analysis and obtains the following
conclusion: The application of Computer-assisted English learning has positive andsignificant progress on students’ English learning effectiveness. And students havepositive comments on English blended learning, which can enhance students' English
learning motivation.

OS5 Artificial Life and Robotics (7)OS5-1 An FSK based Industrial Analog Signal Transmission

Po-Yun Shih, Chung-Wen Hung, Chau-Chung Song(National Yunlin University of Science and Technology, Taiwan)

An FSK based industrial analog signal transmission is proposed in this paper. Due tothe advantage of digital transmission, such as noise immunity and error check, FSK
based digital transmission are popular. Although the analog signal modulation alreadyis well-known and mature, but it is easily interfered by the noise, especially in industrial
environment. When the carry frequency is occupied, changing frequency is necessary
but tough work for sure. The FSK based wireless transmission is used to perform thewireless transmission of analog signal in the industrial. It also had good effects of saving
the wiring between device to device and breaks the restriction of the device movement.
Experiment results show that the proposed method could translate wirelessly the analog
signal under 16kHz bandwidth.

OS5-2 X-Y Platform Synchronous Control with CANopen

Yu-Ming Guan, Chung-Wen Hung, Shih-Ting Yu, Yu-Kai Chen(National Yunlin University of Science and Technology, Taiwan)

An X-Y platform consisting of three-phase hybrid stepper motor driver and a controllerthat supports the CANopen protocol is proposed in this paper. And the communication
network of the X-Y platform is based on CAN-bus. In addition, the system is provided
with the synchronization signal which meets the CiA301 communication protocol andCiA402 motion control protocol. The interpolation mode which meets CiA402 standard
is implemented to improve the precision of position control. Compared withinterpolation mode, the other control method, cross-coupling control is also
implemented to decrease the synchronization error of biaxial motion control.

OS5-3 A PFC Converter with Voltage Double Characteristic for Universal Input Voltage Applications
Ching-Chun Chuang, Hung-Chi Lee, Chih-Chiang Hua, Chih-Wei Chuang, Chuan-Ming Niu(National Yunlin University of Science and Technology, Taiwan)

In this paper, a current-fed bridgeless power factor correction rectifier with voltagedouble is proposed for a hybrid electric vehicle charging system. The proposed PFC
rectifier was simulated on a 3.4-kW prototype. The differences of the simulated THD
and PF between the proposed converter and the conventional interleaved PFC
converter are insignificant. The proposed rectifier shows an improved low-line
efficiency compared to its conventional counterpart under 1.5-kW output power.

OS5-4 Design of a Low-pulse High-current LLC Resonant Converter for EDM Applications
Yu-Kai Chen, Min-Feng Lee, Yung-Chun Wu, Jui-Yang Chiu
(National Formosa University, Taiwan)

In this paper, we have developed and improve the technology of performanceequalization control of Electric discharge machining (EDM) applications. We change
the output current and control the current waveform of the EDM. To control the current
and the loss of the electrodes and increased the processing speed and the processed
object will not be too Rough we have designed a smoothly rising current to let theelectrode lossless; to processing the super-hard alloy we have designed a low pulse highoutput current. These two converters are designed to operate with three-phase three-line
ac input voltage and output will be controlled two different dc voltages during the EDM
process, the method employed magnitude and frequency control to enable the converter
to operate at zero voltage and zero current transitions. During the EDM process will
have two different output current first is the base current, the base current is to reduce
the electrode the current will be smoothly rising to the base current, when the basecurrent has risen to the stable state, the second LLC will be started output the low pulse
high current waveform of the new circuit for the EDM applications.

OS5-5 Networking Integration and Monitoring System with CANopen Controller for Intelligent
Production Line of Tool Machine
Chau-Chung Song, Yu-Wei Ho, Yu-Kai Chen (National Formosa University, Taiwan)

In this paper, the development of CANopen node controller and the integration of
intelligent production line is focused and studied by applying the CANopen protocol.
The CAN bus is used to serve as the communication backbone by using CANopen as
the high application-layer protocol. With regard to intelligent production line, the
SCADA system is established with real-time monitoring and data acquisition functions
to achieve the real-time communication between the operator and the tool machines.
The node controller with CANopen is mainly applied to control the movements of eachaxis motor of measurement modules for tool machine. While the basic network
management and data transmission is followed by the dictionary objects in the
CANopen CiA301 protocol, the controller needs to implement with the motor motion
control specification subjected to the CiA402 protocol. This proposed controller is also
additionally equipped with a motor-specific incremental encoder to receive the motor
feedback signal, so as to realize the motor speed control and high-precision positioning
control. The SCADA system communicates with each node through CAN Bus tocomplete the task of constructing and managing the entire network. Further, the control
commands are released and the effective data transmission and reception processing is
performed on all the nodes, so that the operator can immediately monitor the conditionof the production line. In the side of data collection, the real-time data is received fordata analysis and processes, and displayed on the computer interface for monitoring andfacilitating the safety decision-making of the field operator. Finally, the functional
testing and system performance of the entire system network monitoring andmanagement will be evaluated and implemented in this paper.

OS5-6 Illumination Manipulation and Specular Reflection Analysis of Still Image with Single Object
Hsuan T. Chang, Chi-Jie Chen (National Yunlin University of Science and Technology, Taiwan)

A lighting manipulation scheme for still images is proposed in this paper. By using thedichromatic-based model, the reflection component can be resolved through a singleimage specular reflection removal method based on the characteristics of color
constancy. Finally, we can generate a virtual illumination through the recombination of
the reflection component. The scenes illumination can be estimated using the proposed
automatic method without knowing the illumination spectra, three-dimensional object
modeling, or texture databases. Experimental results show that the method is useful for
handling the single or multicolor objects in scenes. However, the proposed method
suffers some limitations in producing realistic simulation on the dichromatic reflection
model. The future work will focus on relaxing the limits so that more lighting effects
can be achieved.

OS5-7 Robotics Education for the 2019 MakeX Robotics Competition

Jia-Ming Hsiao (Far East University, Taiwan)

This paper is proposed to illustrate the robotics education experience for 2019 MakeX
Robotics Competition in Taiwan. It is promoted in the class to make us ofmultidisciplinary learning within the fields of science and technology. Students are
passionate about innovation by engaging them in exciting Robotics Competition. The
spirit of creativity, teamwork, fun and sharing is appreciated in the competition. Alliancecompetition and cooperation strategy in competition is another topic in teaching andlearning.

OS6 Theory and Implementation of Neuromimetic Systems (4)OS6-1 Real –time pattern recognition implementation on FPGA in multi-SNNs

Xia Yang, Kazuyuki Aihara, Timothée Levi, Takashi Kohno (University of Tokyo, Japan)

By mimicking or being inspired by the nervous system, Neuromorphic systems aredesigned to realize robust and power-efficient information processing by highly
parallel architecture. Spike timing dependent plasticity(STDP) is a common method
for training Spiking Neural Networks (SNNs) for pattern recognition. Here, we presenta real-time STDP implementation on FPGA in SNN. Equipped with Ethernet Interface,
FPGA allows online configuration as well as data input and output all in real-time. We
show that this STDP implementation can achieve pattern recognition task.

OS6-2 Experimental results of a biomimetic silicon synaptic circuit

Ashish Gautam, Takashi Kohno (University of Tokyo, Japan)

We present the experimental results of a biomimetic silicon synaptic circuit capable ofexhibiting both excitatory and inhibitory dynamics, all the synaptic circuits proposed
till date have either excitatory or inhibitory dynamics alone. This single circuit iscapable of emulating the dynamics of the major synaptic populations received by aneuron. The first order dependence of the synaptic current on the instantaneous valueof the membrane potential is also taken into account, with the synaptic current being
proportional to the difference between a tunable synaptic reversal potential andmembrane potential of the postsynaptic neuron.

OS6-3 Towards Modeling Cholinergic Modulation for Neuromorphic Computing
Naruaki Takano, Takashi Kohno (University of Tokyo, Japan)

Digital Spiking Silicon Neuron (DSSN) model is a qualitative neuron model
specifically designed for digital circuit implementation which exhibits high biologicalplausibility. In this study we introduced an additional slow negative feedback variablewhich corresponds to a slow potassium current (3-variable DSSN model) andconstructed an autoassociative network. We observed the network dynamics byaltering the magnitude of the slow negative feedback current which is known to becontrolled by cholinergic modulation, and the strength of neuronal interaction. By
altering these parameters, we obtained various pattern retrieval dynamics, such as
chaotic transitions within stored patterns or stable and high retrieval performance. We
will also briefly discuss potential applications of these results for neuromorphic
computing.

OS6-4 Bioelectrical Signal Analysis of Mouse Cardiomyocyte Culture recorded on Thin-FilmTransistor Sensor Arrays
Anne-Claire Eiler, Junichi Sugita, Satoshi Ihida, Hiroshi Toshiyoshi, Katsuhito Fujiu,
Thimothée Lévi, Agnes Tixier-Mita (The University of Tokyo, Japan)

Bio-electricity is at work in our body and the living world around us all the time. A
problem occurring in the cardiac cell network can range from minor to fatalinconvenience. However, the mechanism of cardiac signaling network is still poorly
understood. In this work, the electrical potentials generated by cardiomyocytes
cultured on an array of microelectrodes have been measured using Thin-FilmTransistor (TFT) sensor arrays. The electrical signals have then been analyzed using a
Matlab program developed for the bioelectrical processing of electrogenic cells. The
recorded signals were filtered for the detection of bioelectric spikes, and grouped into
clusters according to their similar features. Our analysis revealed the change of spike
amplitudes and durations with modulation of cell culture conditions such as thetemperature. Through this analysis, we thus demonstrated the possibility of obtaining
accurate spike sorting and analysis from extracellular recordings on TFT array.

OS7 Robotic Manipulation (4)OS7-1 User Interface and Motion Planner for Task Database

Tokuo Tsuji (Kanazawa University, Japan), Natsuki Yamanobe (AIST, Japan)
Kensuke Harada (Osaka University/AIST, Japan)

In this paper, we present a GUI tools for handing task motion data on robotic
manipulation. The data covers robot motion, human motion and object information, We
especially present its data structure, data registration, data search, GUI, and API.

OS7-2 POMDP Action Planning for 6 DoF object recognition on Humanoid

Masato Tsuru (Osaka University, Japan), Tomohiro Motoda (Osaka University, Japan)
Adrien Escande (CNRS-AIST, Japan), Kensuke Harada (Osaka University/AIST, Japan)

In this research, we plan the action of a humanoid robot to find a model given object.
For humanoid robot automation, deciding next actions by itself is desired. Because ofvarious noises or occlusions in observation data, robot cannot recognize objects easily.
To overcome this problem, our robot walks around and observes target area fromvarious directions. In deciding a next observation position, we use POMDP (PartiallyObservable Markov Decision Process) and we can obtain a merged point cloud
effectively. From that point cloud, we estimate a target object’s position and orientationby using 3D model file. Totally, we implemented POMDP, functions of dealing withpoint cloud data, and controller of whole body of humanoid robot HRP-2, and we tried
it on real world, real robot.

OS7-3 Cost-oriented Planning for Error Recovery in an Automation Plant

S

Returning to a previous step

In an automation plant where robots play an active part, not only simple repetition tasks
but also complicated tasks are carried out. An error is more likely to occur in suchdifficult work. That is why the improvement of the technique to perform recovery ofan error is necessary. The task often is re-executed after returning to previous step, inthe case of a big error. Therefore, it becomes the important problem to decide both thepast step that it should return to and the recovery planning after returning. In this paper,cost-oriented planning of error recovery taking account of these two subjects is
proposed.

Subtask 1

An equ-task

Subtask 2

An equ-task

Subtask 3

An equ-task

Subtask m-2 An equ-task
Subtask m-1 An equ-task
Subtask m An equ-task

Failureoccurred!

Subtask n

G

An equ-task

Performing equivalent sub-tasks

Akira Nakamura1, Natsuki Yamanobe1, Ixchel Ramirez Alpizar1,
Kensuke Harada1,2, Yukiyasu Domae1 (1AIST, Japan, 2 Osaka University, Japan)

OS7-4 Real-time Planning Robotic Palletizing Tasks using Reusable Roadmaps

Takumi Sakamoto (Osaka University, Japan), Weiwei Wan (Osaka University/AIST)
Kensuke Harada (Osaka University/AIST)This paper focuses on robotic motion planning for performing the palletizing or depalletizing tasks. When a robot performs such tasks, a robot usually iterates similar
pick-and-place again and again. Taking into account such feature of the palletizing or
de-palletizing task, we propose a robotic motion planning approach re-using thepreviously constructed roadmaps. We propose two methods, R-PRM and R-RRT*,
utilizing the previously constructed roadmaps in the PRM and RRT*, respectively. We
experimentally confirm that both methods significantly reduce the calculation timecompared with the conventional methods on motion planning.

OS8 Advanced Research of Engineering and Management (4)OS8-1 A Rack and Pinion Driven Mechanical Footstep Power Generator

Ammar A. Al-Talib, K S See (UCSI University, Malaysia)

Kinetic energy from human footsteps during locomotion is generally wasted. It is
possible to convert this energy into electrical energy in a non-conventional way. Dueto the increase in population, the energy consumption had reached its crisis level as thefossil fuel is depleting drastically over the years. Hence, the waste energy from humanfootsteps can provide a promising solution to this issue. In this project, somemodifications have been made to refine the performance and efficiency of power
generation from mechanical footstep generators of previous works. A prototype
consists of only rack and pinion mechanism had been fabricated to justify and evaluate
the feasibility of the proposed concept. The power is to be generated in this system
when force is applied due to the weight of a person stepping on the top plate and willcause a rack and pinion combination to rotate two DC generators. The individuals withweight ranging from 35kg to 75kg have been invited to participate in the experiments
by stepping onto the top plate in the first set of experiments and then by jumping in thesecond set of experiments. The results obtained have been compared with thetheoretical results.

Fig. 1: The Proposed
assemblyforthemechanical footstep power
generator used in the current
study.

OS8-2 Table Tennis Using Arduino For Seniors’ Healthcare

Reem Ali Abdullah, Mastaneh Mokayef, Miad Mokayef, Sew Sun Tiang, Wei Hong Lim(UCSI University, Malaysia)

Virtual reality (VR) has been shown to function well as an assistive technology tophysical therapy for senior users. Seniors, from retirement home residents, form aunique user group in this field, due to their characteristics and demands. A VR
controller was implemented using Arduino, MPU9565 and OpenCV to control a Table
Tennis game made on Unity3D. The satisfactory results have been obtained in termsof tracking accuracy.

OS8-3 A Study on Prevention of Predictive Failures using IoT Technology

Tsutomu Ito1, Hiroshi Sakai1, Takao Ito2, Seigo Matsuno3, Makoto Sakamoto4(1Hino Motors Ltd, Japan,
2
Hiroshima University, Japan, 3Ube National College of Technology, 4University of Miyazaki, Japan)

As main power of conveyor and drop lift in manufacturing systems, especially in car
manufacturing factory, electric motors play important role in industries. Many electricmotors equipped brake system to determine where they should stop. This brake systemneed to be maintained to keep proper brake gap. Measuring the brake gap of electricmotors is one of the main job of maintenance department, but most of the motors
located in unsafe spaces, like upper end of the lift or under pit. In this study, we
introduced new approach to measure the brake gap of motor to reduce maintenancerisk and cost. The method is using vibration acceleration to measure the motor gap inrunning production system based on mechanical model and IoT technology.
Experience results suggested the effectiveness of our research.

Fig.1 Real time measuringof vibration acceleration

OS8-4 Did a mismatch between the ASBJ’s standard-setting and its organizational structure occur?
Keisuke Ogata (Osaka City University)

This paper examines the relationship between standard development andorganizational structure of the ASBJ, Japanese accounting standard setter. According
to the previous literature, the standard setter (re)structured its organization in order to
execute strategies and goals that it sets by itself or is expected to achieve. In fact, the
ASBJ slowed down the development of revolutionary and improved accounting
standards during the period of 2009-2012. However, the ASBJ formed the organization
to move ahead on developing such standards, that is, the accounting-profession-centricorganization, based on organization analysis in this paper. This paper indicates that anexogeneous shock changed interests in some domestic actors, and consequently caused
this mismatch.

.

OS9 Recognition and Control (19)OS9-1 A Design of Ocean Current Velocity Measuring Device

Jichao Zhao1, Fengzhi Dai1,3, Xin Ma2, Fengkun Wang1,
Haokang Wen1, Hongbo Hao1, Qianqian Zhang1
1( Tianjin University of Science and Technology, China, 2National Oceanic Administration Beihai Marine
Environmental Monitoring Center Station, China,
3
Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)
Ocean current refers to the relatively stable flow of the surface water of the ocean in acertain direction in a certain direction, and it is the main regulator of the thermal
environment on the surface of the earth. At present, the ocean current velocity detection
at sea is basically a field measurement by a staff member in a boat, and the adjustmentof the detector position during the measurement process is very inconvenient. This
paper designs a new submarine current velocity measuring device, including
measuring ship, cable, fixed anchor and ocean current velocity detector. The cable on
the reel is retracted through the cable retracting room, and the end of the cable is fixedly
provided with a fixed anchor. The fixed anchor is fixedly provided with a plurality ofocean current flow rate detectors, and the ocean current flow rate detector has a builtin control chip, a wireless communication module, and Pressure Sensor. This device
can flexibly adjust the depth of the detector according to actual needs, so as to measure
the flow velocity of different depths.

OS9-2 Device Design Based on TDS Water Quality Detection

Jichao Zhao1, Fengzhi Dai1,2, Di Yin1, Yuhui Cheng1,
Fengkun Wang1, Leixin Han1, Qianqian Zhang1(1Tianjin University of Science and Technology, China, 2Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China)
The traditional water quality detection method is sampling and detection by artificial
nodes, which is easily interfered by weather and environment. The design is a newwater quality detection device for marine waters and other waters. The device isspherical in shape and uses a built-in sensor and control system to detect the water
quality in the form of drifting. This device has built-in micro control system, TDS
detection module, power voltage regulator module, GPS module and wireless signaltransmission module. The TDS module detects the concentration of total dissolved
matter in the water, and the GPS module measures the current location of the device,
which sends the data to the micro-control system. The micro control system sends thewater quality information and the geographical location information to the network
through the wireless transmitting module, and the user can view the water quality status
by the device in real time through the Internet. The power supply voltage regulator
module provides the different voltages required by the entire device to achieve thefunction of detecting the current water quality.

OS9-3 Design of Film Forming Rate Measuring Instrument based on Polyurethane Material

Jichao Zhao1, Fengzhi Dai 1,2, Fengkun Wang1, Haokang Wen1, Hongbo Hao1, Qianqian Zhang1(1Tianjin University of Science and Technology, China, 2Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China)
With the development and research of polyurethane materials, it has become widelyused in the field of antibacterial, waterproof and moisture permeable, and medical.
Therefore, this paper mainly studies on the determination of the film formation rate ofpolyurethane, and designs a film formation rate measuring instrument based on
Atmega328P single chip microcomputer and BH1750 light intensity measurement
chip. This design compares the advantages and disadvantages of the currently widelyused film formation rate measuring instrument and improves it on the basis of it. By
improving its multiple sensors into a high-precision main sensor, measurement
requirements are reduced, and the size of the instrument is also reduced, making iteasier and more portable. Moreover, it can be used not only to measure the film
formation rate of polyurethane, but also to determine the film formation rate of othermaterials.

OS9-4 Research on the Intelligent Aircraft Design based on STM32

Hongbo Hao 1, Fengzhi Dai 1,2, Haokang Wen1, Jichao Zhao1, Qianqian Zhang1( Tianjin University of Science and Technology, China, 2 Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China)
1With STM32f767 igt6 (M7 series) as the core, the designed aircraft will finally realize
the intelligence of the aircraft by using the optimized attitude algorithm (cascade PID
and single-stage PID share the optimized control), the omni-directional ultrasonicradar detection barrier collision prevention technology, the long-distance wirelesstransmission technology (to realize the timely transmission of images), navigation
technology (Beidou and GPS double positioning to realize more accurate positioning),
voice recognition technology, man-machine interaction technology, and wireless local
area network technology.

OS9-5 Research and Design of Gain Controllable System in RF Receiver

Haokang Wen 1, Fengzhi Dai 1,2, Jichao Zhao1, Hongbo Hao1, Hong Niu1, Qianqian Zhang1(1Tianjin University of Science and Technology, China, 2 Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China)
This paper studies and designs a gain controlled radio frequency amplifier system. As
the hardware core of the whole system, the variable gain amplifier realizes the data
function of the amplifier combined with the single chip microcomputer. After adjusting
the gain of RF amplifier, the input signal can be amplified or attenuated, and the ideal
output signal can be obtained. Using ADS simulation, the gain controlled RF amplifiersystem designed in this paper has better control effect, meets higher index, and has
stable performance. The experiment shows that the gain controlled RF amplifiersystem has certain practicability.

OS9-6 Design of Packaging Bottle Recycling System based on Internet of Things

Yujie Yan1, Fengzhi Dai1,2, Shiwei Wu1, Yuanyuan Xi1, Huanhuan Li1( Tianjin University of Science and Technology, China, 2 Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China)
1

The problems of environmental pollution and resource waste need to be solved. The
existing packaging bottle recycling system in the market of China has the problems ofhigh cost and maintenance cost, imperfect function and inflexible rebate mode. Basedon the technology of intelligent detection, wireless communication and softwaredevelopment, this paper presents a comprehensive system of packaging bottleclassification and recycling, which includes intelligent classification and recyclingmachine, Mini Program and Web management platform. The system can automatically
identify and classify the metal bottles and plastic bottles, and it can also give integrals
to the user, which has certain environmental protection significance.

OS9-7 Research on Image Super-Resolution Reconstruction Based on Deep Learning

Lingran An1, Fengzhi Dai1,2, Yasheng Yuan1(1Tianjin University of Science and Technology, China, 2Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China)
This paper mainly applies the relevant theories of deep learning to image superresolution reconstruction technology. By comparing four classical network models
used for image super-resolution (SR), finally a generative adversarial network (GAN)
is selected to implement image super-resolution, which is called SRGAN. SRGAN
consists of a generator and a discriminator that uses both perceived loss and counter
loss to enhance the realism of the output image in detail. The data sets used by thetraining network are partly from the network and partly from the artificial. Comparedwith other network models, the final trained SRGAN network is above average in
PSNR and SSIM values. Although it is not optimal, the output high-resolution images
are the best in the subjective feelings of human eyes, and the reconstruction effect in
the image details is far higher than that of other networks.

OS9-8 Research on Fatigue Detection Method Based on Deep Learning

Yasheng Yuan1, Fengzhi Dai1,2, Lingran An1, Di Yin1, Yuxuan Zhu1, Yujie Yan1
(1Tianjin University of Science and Technology, China, 2Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China)
Aiming at the shortage of the existing state of deep learning to test people fatigue, thispaper presents a new idea to detect fatigue. First, a video image format is saved toframes, and then the YOLOV3 - Tiny algorithm is used to detect faces in images.
Compared with traditional OpenCV image process and other deep learning facerecognition methods, YOLOV3-Tiny's advantages are mainly that the network is
simple, the computation is small, and it can run on the mobile side or the device side.
After face recognition, the recognized face is separate out, and then use OpenCV toprocess the face, roughly divide the face into three areas: the left eye area, right eye
area and mouth area. Finally, YOLOV3 is used to identify the state of each region, andthe improved PERCLOS algorithm is used to judge fatigue.

OS9-9 Fatigue Driving Monitoring System based on the EEG

Yuxuan Zhu1, Fengzhi Dai1,2, Di Yin1, Yasheng Yuan1(1Tianjin University of Science and Technology, China, 2Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China)
This paper analyzes how to acquire the EEG signal, how to extract and analyze theEEG signal characteristic rhythm and how to estimate the fatigue degree and provide
the voice reminder. Firstly, four characteristic rhythms of EEG signals are extracted bywavelet packet decomposition, and the characteristics are analyzed by relative energy
frequency spectrum of rhythms. Then, according to the classification of fatigue degree,
the energy value of δ wave in F3, F4 and C3 channels is selected as the basis of judging
driver fatigue to classify and estimate the fatigue degree of EEG signals. Finally, when
the threshold reaches 0.4, the sound card of the computer is called to prompt the tired
driver.

OS9-10 Research of the Control Strategy of Vienna Rectifier Circuit based on the Vector Control

Yuxuan Zhu1, Fengzhi Dai1,2, Di Yin1, Yasheng Yuan1( Tianjin University of Science and Technology, China, 2Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China)
1This paper analyzes the working principle of VIENNA rectifier and establishes thetransformation model of rectifier in three different mathematical coordinate systems.
First is to obtain the control structure of the converter, which is a double closed loop
control structure (the voltage is the outer loop control and the current is the inner loop
control). By using a feed forward control strategy to solve the problem of phase-tophase coupling. By adding the voltage equalization loop and using the midpointbalance algorithm to solve the problem of the voltage imbalance caused by the rectifier
under load. Finally, uses MATLAB to build the model, simulates and verifies theestablished model system.

OS9-11 Research on Emotion Classification based on EEG

Di Yin1, Fengzhi Dai1,3, Mengqi Yin2, Jichao Zhao1(1Tianjin University of Science and Technology, China, 2Hebei University of Chinese Medicine, China, 3Tianjin Tianke
Intelligent and Manufacture Technology CO., LTD, China)
Research shows that human emotion production is closely related to the activity
correlation of cerebral cortex, so the research of emotion classification by EEG
provides a reliable basis. The feature extraction and classification application of EEG
have made rapid development, so we combine EEG with emotion to study emotion
classification. However, there are differences between EEG signals of different
subjects, which have a certain impact on emotion classification. How to ensure thehigh accuracy and robustness of recognition is a problem. In view of this problem, thespectrum analysis method is used to extract features to study different subjects indifferent states. The extracted features are classified into emotion by discriminant
analysis algorithm, and the classification effect is satisfactory. There are many methods
involved in feature extraction and the space is long, different feature extraction
methods will be compared later, so as to improve the robustness and efficiency of
emotional classification of EEG signals.

OS9-12 Identification of Synthetic Pigment based on Fluorescence Spectroscopy Combined with RBF
Neural Network

Di Yin1, Fengzhi Dai1,2, Yuxuan Zhu1, Yasheng Yuan1( Tianjin University of Science and Technology, China, 2Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China)
1Compared with natural pigments, the synthetic pigment is cheap as an importantcomponent of food additives, which has good stability, strong coloring ability, etc. But
the consumption of excessive synthetic pigment will cause harm to the human body,so an effective method of detecting the pigment is needed. In this paper, 12 samples
were selected from 1ug/ml to 100ug/ml different concentrations of carmine andamaranth, the fluorescence spectra of all the samples were measured by the LS-55
fluorescence spectrophotometer. The results showed that the fluorescence peaks wererespectively around 450nm and 420nm, redshifts and the fluorescence intensity
decreased with the concentration. Two kinds of pigment samples were predicted by
RBF neural network model, and the results showed the accuracy of the samples
classification was 100% and the error of the sample concentrations was very small, theRBF neural network provides a method for detecting the pigment of foods.

OS9-13 Simulation Study of 3D Reconstruction in Electromagnetic Tomography with Multi-layer
Sensors Array
Yuanli Yue, Ze Liu, Yu Miao
(Beijing Jiaotong University, China)

Electromagnetic tomography is an emerging technology of non-destructive testing,which is used in industrial process monitoring and biomedical detection due to its
invasive and non-contacting nature. The paper provides the simulation study of 3D
reconstruction in electromagnetic tomography with multi-layer sensors array. Various
models of the sensor array with different layers and different numbers of coils are
established in FEM software——COMSOL Multi-Physics and the changes ofsensitivity map correspond to different layers of the sensor array are analyzed, theeffects of layer and number of sensor coils to image reconstruction are discussed. The
results confirm the feasibility of 3D reconstruction in electromagnetic tomography
with Multi-layer Sensors Array and offer a reference to realize it.

OS9-14 Visualized the Knowledge Map in Children’s Minds: A Study on Cognitive Structure
Measurement
Qiang Wei, Hua Dong, Yi-tong Zhang, Ao-nan Zhang(Jianghan University, China)

How was knowledge or concepts organized in children’s minds? The aim of this study
was to explore a measurement based on multidimensional scaling analysis to visualize
children’s cognitive structure. 120 junior high school students (60 from first grade; 60
from third grade) and 2 teachers participated in this study. These 60 third grade students
were divided into three groups based on ranking of physics achievements (20 in A
group; 20 in B group; 20 in C group). Fifteen physics concepts selected from highschool physics textbook were used in the study. Participants were required to rate
relations between two concepts (1 showed close relation; 5 showed far relation),
Euclidean distances were computed to operationalize relation-distance between items
in target pairs. Compared to first-grade students, third-grade students categorized
concepts as organization. Besides, they made the organization tight on the basis ofrelation-connection among concepts. Compared to A group and B group, C group withlower ranking had more difficulties in categorizing concepts, they spent less time on
exercises which would have influences on finding relations among concepts further onmaking cognitive structure. The results indicate that the more effects students got in
learning, the higher level cognitive structure they had.

OS9-15 Escape Route of Subway under Fire Conditions: An Experimental Study in Virtual Reality
Environment
Hua Dong, Qiang Wei, Qing-qing Zhang, Lan-lan Fang (Jianghan University, China)

How to finding way for escaping from subway when people were in fire emergency?
A virtual Reality (VR) was taken in our study in order to investigate people’s stresslevel and information searching behavior. In this VR experimental study, participants
were required to finding way for escaping from a virtual subway station which was infire emergency as soon as possible. Compared to male group, the female group had
significantly higher stress level report, took longer time on searching information fromthe environment in order to finding way for escaping. Compared to female group, malegroup had much more focus on Signage. Our results indicated that female were always
ready for searching information for environment and for reception, they even were
influenced in finding way for escaping. Fire evacuation system for subway (or otherseal off environment) should be design considering the response characteristics on thisstudy’s conclusion.

OS9-16 Research on the Smart Home Design based on Single-chip Microcomputer

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

The research of the smart home is mainly reflected in the indoor environment
temperature, humidity, smoke concentration and the human body to monitor. This
indoor environment monitoring system takes the STC89C52 monolithic computer as
the control core, using MQ-2 smoke sensor, temperature and humidity sensor, infrared
sensor, buzzer and other modules, the main function is to detect the indoor
environment temperature and humidity, smoke concentration exceeded thepredetermined value, immediately for sound and light alarm; and when the body isdetected, immediately to the sound and light alarm. This system can be used in
shopping malls anti-theft, Warehouse anti-theft, bank anti-theft and other occasions.
The device for the current people's daily life has a strong guiding significance.

OS9-17 Design of a Portable Instrument for Measuring Heart Rate and Blood Oxygen

Haokang Wen1, Fengzhi Dai1,2, Jichao Zhao1, Hongbo Hao1, Qianqian Zhang1(1Tianjin University of Science and Technology, China, 2Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China)
Aiming at the disadvantage of the inconvenience of the current heart rate blood
oxygen detection device, a portable heart rate blood oxygen detector is proposed inthis paper. The device can detect the heart rate and blood oxygen value of thehuman body at any time and place according to the needs of the measured person,and can display the heart rate, blood oxygen and temperature on the liquid crystal
display. The instrument gets rid of the cumbersomeness of traditional medical
appliances, greatly reducing the volume of the instrument and making it easier tocarry.

OS9-18 Principal Component Analysis of Wine Based on Three-dim Fluorescence Spectra
Di Yin, Fengzhi Dai, Yuxuan Zhu, Yasheng Yuan
(Tianjin University of Science and Technology, China)

The traditional sensory analysis method can not discriminate the wine objectively
and accurately. Compared with the three-dimensional fluorescence technology, it
has the advantages of strong selectivity, high resolution and direct access to thefluorescence characteristics of the sample. In this paper, three-dimensional
fluorescence spectroscopy Five brands of red wine samples. The five characteristic
parameters (mean value, standard deviation, center of gravity coordinates, firstorder center moment and correlation coefficient) of the three-dimensional
fluorescence spectra of five dry red wine samples were extracted respectively. The
results showed that the three different dimensions of Cabernet Sauvignon thecharacteristic parameters of the fluorescence spectrum are similar, based on theanalysis of five dry red wine samples by principal component analysis (PCA), it
was found that even the same raw material brewing wine due to different origin of
raw materials, soil environment, climate and environment will cause thecomposition of the wine content, which shows a large difference.

OS9-19 Control Design of Intelligent Device for Living Environment of Senile Apartment

YashengYuan1, Fengzhi Dai1,2, Shengbiao Chang3, Lingran An1, DiYin1,
Yuxuan Zhu1, Yujie Yan1
(1Tianjin University of Science and Technology, China, 2Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China, 3Dawning Information Industry Co., LTD, China)
At present, with the advancement of science and technology, some smart devices
in the society are gradually integrated into the daily lives of the elderly. Now
wireless network WIFI technology, real-time network communication function,some new Internet of things technology in the society are more and more acceptedby the elderly. This paper researches the existing elderly apartments in the society,and uses the WIFI wireless communication method for information transmission in
response to the special physiological needs of the elderly. The bottom layer uses
various sensor nodes to transmit indoor environmental data to the upper layer inreal time, and can reversely control each indoor electrical equipment through thecurrent environmental index.

OS10 AI Applications (8)OS10-1 Effects of Variable Arm Length on UAV Control Systems

M. Rizon, CK. Ang, MI. Solihin (UCSI University, Malaysia),
Zuradzman M. R, H. Desa, Shahriman A. B., Wan Khairunizam(UniMAP, Malaysia)
I. Zunaidi (University of Sunderland, UK)

Quadrotor is a type of unmanned aerial vehicle that has been widely used in many
applications, such as, policing, surveillance, aerial photography and agriculture.
Conventionally, the control of quadrotor flight direction is accomplished byvarying speeds of motors or manipulating torques. In this paper, a novel mechanism
is proposed. The mechanism uses stepper motors to control the arm length forchanging flight directions, while maintaining motors' speed at constant. A
mathematical model has been created. The analysis results have shown that varying
arm length can effectively control the moment of bending of quadrotors. Increasing
the length of arms can result in the increase of the moment of bending withoutchanging speed of motors, thus saving energies. Experimental results have shownthat the new mechanism is able to carry more payloads which the motor speed canbe utilized fully at 100% while the flight direction is been controlled by changing
of the arm length compared to conventional flight control mechanisms.

OS10-2 EEG based drowsiness detection using relative band power and short time fourier transform
Pranesh Krishnan, Sazali Yaacob, Annapoorni Pranesh Krishnan (UniKL, Malaysia)
Mohamed Rizon, Ang Chun Kit (UCSI University, Malaysia)

Sleeping on the wheels due to drowsiness is one of the major causes of death tolls
all over the world. The objective of this research article is to classify drowsinesswith alertness based on the EEG signals using spectral and band power features. A
publicly available ULg DROZY database used in this research. The five EEG
channels from the raw multimodal signal are extracted and by using a higher order
Butterworth low pass filter the high frequency components above 50 Hz are
removed. Another bandpass filter bank is designed to separate the raw signals into
eight sub bands namely delta, theta, low alpha, high alpha, low beta, mid beta, highbeta and gamma. The preprocessed signals are segmented into equal number offrames with a frame duration of 2 seconds using a rectangular time windowing
approach with an overlap of 50%. The relative band power based on the short time
fourier transform (STFT) was computed for each frame and the features are
extracted. The extracted feature sets are further normalized and labelled as drowsy
and alert and then combined to form the final dataset. K-fold cross validation
method is used. The dataset is trained using KNN and SVM classifiers and theresults are compared. The KNN classifier produces 96.1% (dataset1) and
95.5%(dataset2) classification accuracy.

OS10-3 Mathematical Model Implementation of SPWM fed Three-phase Induction Motor Drive
Using MATLAB Simulink
Amir Rasyadan, Sazali bin Yaacob, Pranesh Krishnan (UniKL, Malaysia)
Mohamed Rizon, Ang Chun Kit (UCSI University, Malaysia)

Three-phase induction motors are used in a vast area of applications mainly due totheir simplicity, ruggedness and high reliability. With recent advancement insemiconductor technologies, the use of fixed speed induction motor drive isbecoming obsolete, majority of the applications now requires inverter-based drives
for variable speed operation. In the study of induction motor drive operation,mathematical models are often used to simulate the steady state and transient
behavior of induction motor. However, to develop such model is not astraightforward task. Knowing only the equations by themselves are not always
enough without some knowledge on solving mathematical equations with the useof computer simulation software. This work presents an approach to implement themathematical model of a Sinusoidal Pulse Width Modulation (SPWM) fed threephase induction motor drive in MATLAB Simulink. The sub models include
induction motor DQ-model and a voltage source inverter (VSI) fed by SPWM
signal generator. The presented model implementation is able to simulate thedynamic behavior of an induction motor operation, this would be useful for further
studies on the development of induction motor drive system.

OS10-4 Implementation of X-mean Clustering Algorithm for Wireless Sensor Networks

Abdelrahman Radwan, Nazhatul Hafizah Kamarudin, Mahmud Iwan Solihin, Hungyang Leong, Chun Kit Ang(UCSI University, Malaysia)
Wireless sensor network (WSN) is a promising technology that has the capabilities
to support futuristic applications such as IOT and M2M communication. However,it must overcome crucial constrains such as the limited energy supply and packet
routes selection. Clustering algorithm is a potential solution that prolongs the
network lifetime when cluster size is balanced, and an optimal number of cluster
heads are selected. K-mean algorithm as the one of the popular clustering
algorithms preferred over traditional clustering techniques. However, there aresome limitation hampering k-means clustering for WSN application such as
number of optimal k which is assigned to deal with Cluster Head (CH) selection.
In this paper, we propose to apply X-mean algorithm as a new clustering techniquefor WSN to prolong the network lifetime, i.e. energy consumption optimization.
At first, clusters are constructed using tentative CHs and tentative area of centroids
in an initial phase. Furthermore, if a cluster meets splitting criteria, new centroids
are selected, and new clusters are constructed.

OS10-5 Robust 𝑯𝑯∞ controller design for flexible link manipulator based on constrained metaheuristics optimization algorithms
Mahmud Iwan Solihin, Lim Wei Hong, Chun Kit Ang, Mohamed Rizon,
Abdelrahman Radwan (UCSI university, Malaysia)
The control of flexible manipulators to achieve and maintain accurate positioning ischallenging due to the flexible nature of the system. The dynamics is even more
complex with parameter variation of the system. Problems arise due to precise
positioning requirements and system flexibility which leads to vibration. In thisproblem, the tracking controller of flexible link manipulators should be able to follow
the command of desired angular position and eliminate tip’s vibrations while
maintaining a fast-tracking response. Robust controller should be designed to deal withthe parameter variation of the system. However, parameters tuning of robust controller
is a mathematically rigorous by conventional approach. In this paper, H-infinity robust
controller tuning using meta-heuristics optimization is proposed. The performance ofthe design controller will be evaluated and comparison for different meta-heuristics
optimization algorithms such as Cuckoo Search (CS), Teaching Learning-based
Optimization (TLBO) and Black Hole Optimization Algorithm (BHBO) will be
discussed.

Typical schematic diagramfor Flexible Link
Manipulator

OS10-6 Classification of Facial Nerve Paralysis Based on Regional Evaluation

Wan Syahirah W Samsudin, Rosdiyana Samad (Universiti Malaysia Pahang, Malaysia)
Kenneth Sundaraj (Universiti Teknikal Malaysia Melaka)
Mohamed Rizon (UCSI University, Malaysia)
Mohd Zaki Ahmad (Hospital Tuanku Ampuan Afzan, Malaysia)

This paper presents an approach of regional evaluation using Kanade - Lucas – Tomasi(KLT) method and extract feature points to classify the normal and patients subjects
and also to determine the severity level of paralysis for each region of face. There are
Individual Score Table, Total Score Table and Paralysis Score Table were presented. A
100% of accuracy has been obtained in identifying the paralysis with k =3 using k-NN
classifier for the Individual Score.

The development of regional
evaluation methodOS10-7 Introduction of Forehead Lesion Assessment with House-Brackmann Score for Facial Nerve
Paralysis Evaluation
Wan Syahirah W Samsudin, Rosdiyana Samad (Universiti Malaysia Pahang, Malaysia)
Kenneth Sundaraj (Universiti Teknikal Malaysia Melaka)
Mohamed Rizon (UCSI University, Malaysia)
Mohd Zaki Ahmad (Hospital Tuanku Ampuan Afzan, Malaysia)

This paper presents a novel approach of forehead lesion assessment using Gabor filter
method to identify the type of facial nerve paralysis and proposed a forehead-HB score
table to assist the clinicians in assessing the facial nerve function quantitatively,
quicker and in a convenient way. A 100% of accuracy has been obtained in identifying
the two type of facial lesion, Upper Motor Neuron (UMN) and Lower Motor Neuron(LMN) lesion. Increasing more data may enhance the performance of the accuracy.

The development of forehead
lesion assessment

OS10-8 Intelligent Wearable Biofeedback Fuzzy Logic Based Device for Monitoring and Treatment
of Voice Loudness
Ali S. AlMejrad (King Saud University, Kingdom of Saudi Arabia)

Development of medical devices are expanding rapidly. This is occurring as results ofdevelopment of high tech electronics, information technology and wirelesscommunication technology. Integrating these technologies helps to provide good, lesscost and more effective healthcare services. In this paper a novel intelligent medical
biofeedback device is developed for accurate monitoring of the voice loudness using
fuzzy logic compared to proportional control. This accurate monitoring device thenenhanced treatment of people unable to control excessive or low loudness due
intellectual disability or aggressive behavior causing loudness levels rejected byothers. These people with this behavior may often be unaware of their problems andhence an intelligent wearable biofeedback device is necessary to be used by the patientsoutside the clinic for self-controlling excessive and low loudness without the need tothe continuous therapeutic follow-up in speech pathology clinic. The use of theintelligent biofeedback device proved to be an effective due to its enhanced features.
The technical design considerations, enhanced features of the device and evaluation
will be presented.

OS11 System and Control (16)OS11-1 Design of Humanoid Soccer Robot Based on STM32

Typical illustration for
Developed IVLMT Device

Yuheng Zhang1, Yulong Peng2, Yizhun Peng 1, Lianchen Zhao1, Zhou Zhang1, Wanlong Peng1(1Tianjin University of Science and Technology, China)
2( Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)
Humanoid robot is an important branch in the field of robotics, because its shape andmovements are similar to human beings, it provides a good carrier for the related
research in the field of artificial intelligence. Humanoid soccer robot of this paper isdesigned based on STM32 processor. Through theoretical analysis and experimental
verification, the stability, working parameters and the division and cooperation of
STM32 and 51 series single-chip computers of humanoid soccer robot system areanalyzed, and determine the final control scheme.STM32 drives the camera to collectinformation, process images and make decisions. STC12C5A60S2 controls the robot
steering gear to complete the corresponding action. Serial communication is used
between the two controllers. The peripheral circuit mainly includes OV7725 camera
module and TFT-LCD LCD display module.

OS11-2 A Design and Implementation of Intelligent Cradle

Ting Zhao1, Qing He1, Yulong Peng2, Zhou Yang1, Zhenjiang Chen1, Shuo Jiang1(1Tianjin University of Science and Technology, China)
2( Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)

The equipment is designed for families to raise children, the device is a cradle ofartificial intelligence technology. The data of baby shaking are collected and analyzed
by the sensor, so that the cradle bed can bionic cradle shaking. The SVM databasetraining of infant crying can realize the recognition of infant crying and determine thespecific meaning of crying, such as hunger, excretion, pain and other factors, andtimely inform parents; Based on ROS robot operating system and iflytek platform, it
can carry out natural language interaction and autonomous navigation. Parents cancall the baby cradle and let it reach the designated position automatically to achieveautonomous obstacle avoidance and path planning without manual interference. At
the same time, the camera can view the baby's status and transmit the real-time picture
to the mobile phone APP.

OS11-3 A Design and Implementation of Intelligent Networking Bookcase

Zhou Zhang, Yajun Li,Yizhun Peng, Hucheng Wang, Yuqi Zhao
(Tianjin University of Science and Technology, China)

The device is designed for the effective use of book resources. Users can share booksin their hands through the device. Multiple devices connected together throughwireless network can form a book storage network to realize the flow of paper books.
The camera is used for the ISBN code identification of books, the WiFi module isused for the wireless network communication between the device and the background
server, the bluetooth module is used for the near distance communication between thedevice and the mobile terminal, and the infrared module is used for detecting thestorage state of the device. Equipment ISBN read, storage of equipment state
inspection, such as simple data processing done by the device with a built-in MCU,
user registration, user reading habits, such as book search more complex data
calculated by the background server processing. By borrowing the concept of
distributed computing, implements the equipment, and efficient use of server
resources, reduce the workload of the entire system at the same time.

OS11-4 A Design and Implementation of Quad-rotor UAV

Junjie Lin, Chunxia Zhang, Yizhun Peng, Ting Zhao, Zhengke Xu(Tianjin University of Science and Technology, China)

In the past 5 years, considerable attention has been paid to unmanned intelligent
devices. The Quad-rotor UAV is an unmanned aircraft controlled by radio remotecontrol equipment and self-contained program control device. Our UAV is based on
TI MSP432, which can be connected to PC via USB port. This printed circuit board
is used to transmit the program for the flight control of UAV. The OpenMV module
serves as the data source of the line patrol controller, which is the top-level controller,
the same level as the remote controller. The IMU unit calculates information to
attitude controller, in order to keep the flight of UAV stable. After the IMU solution
information is fused with the optical flow sensor, the information is sent to thehorizontal controller to control the flight of the UAV in the horizontal direction.
Similarly, After the IMU information is fused with the laser height information, theheight controller is applied to control the flight height of UAV.

OS11-5 Characteristic Analysis and Synchronization Control of a Non-equilibrium System
Lianchen Zhao, Xinyu Zhang, Hongyan Jia, Yizhun Peng, Yuheng Zhang(Tianjin University of Science and Technology, China)
0.2

0

-0.2

李雅普诺夫指数谱In this paper, the dynamic characteristics of a chaotic system without equilibrium
point are studied. Through numerical simulation and theoretical analysis, the chaos
characteristics of the system without equilibrium point are studied. In this paper, thenonlinear feedback synchronization control method is used to synchronize the system,and through software simulation, the results are analyzed to determine whether thedrive system and the response system are synchronized. At the end of this paper, wegive the advantages and disadvantages of this synchronization method.

-0.4

-0.6

-0.8

-1

-1.2

-5

-4

-3

-2

-1

0

b

1

2

3

4

5

OS11-6 Classification and Recognition of Baby Cry Signal Feature Extraction Based on Improved
MFCC
Zhenjiang Chen, Yizhun Peng, Di Li, Zhou Yang, Nana Wang
(Tianjin University of Science and Technology, China)

Since MFCC was proposed, it has been widely used in feature extraction of speech
signals. However, for some specific sound signals, such as baby crying signal, thedirect MFCC feature extraction has a low classification and recognition rate. Throughthe study of MFCC feature extraction process, it is found that if each filter in thetriangle filter bank is shifted up by an ∂ i (∂ i ≥ 0 ) , the recognition rate of the
improved MFCC feature extraction is greatly improved.

OS11-7 Design of Space Remote Sensing Data Storage Platform Based on Distributed File System
Di Li, Yizhun Peng, Ruixiang Bai, Zhenjiang Chen, Lianchen Zhao
(Tianjin University of Science and Technology, China)

Due to the large space remote sensing data, a space remote sensing data has seven oreight hundred megabytes or more, and a large amount of space remote sensing datais generated every day for hundreds of GB, TB or even more, so a large amount of
space is needed for storage. Space remote sensing data. In order to solve suchproblems, this paper prepares for the analysis of the subsequent space remote sensing
data, and combines the distributed file system to store the space remote sensing data.
The installation of the CentOS 6.5 virtual machine through VMware to build an
HDFS cluster, through a Namenode node, three Datanode nodes to achieve access tospace remote sensing data. Through the upload of the server, the space remote sensing
data can be uploaded to the client, and the space remote sensing data can be
downloaded through the client.

OS11-8 Research on Semantic Map Establishment of Parking Lot Based on Deep Learning and Multisensor
Shiqian Zhang, Yizhun Peng, Ruixiang Bai, Yuheng Zhang, Tianye Jian, Wanlong Peng
(Tianjin University of Science and Technology, China)

With the continuous development of robot technology, SLAM, which is one of the
key technologies to realize fully autonomous mobile robots, has become a hot topic
in the scientific community. Traditional SLAM technology relies on a single type of
sensor to obtain information, and the semantic information of the map is rarely
obtained. This paper mainly improves the SLAM mapping technology of the parking
lot from the information fusion of sensors and the deep semantics of obtaining map
semantic information. Through the lidar and RGB-D camera to obtain multi-modal
information, combined with deep learning, extract the semantic information such as
the parking lot number and parking position in the image information, help the robot
to map and locate faster and better. Finally, simulations were performed using ROS
and gazebo to verify the feasibility of the system.

OS11-9 Survey on Kinematics Calibration Technology of Manipulator

Zhou Yang, Yizhun Peng, Nana Wang, Yuheng Zhang, Tianye Jian
(Tianjin University of Science and Technology, China)

With more and more strict requirements on the quality and accuracy of industrial
products, the requirements on the accuracy of robots are increased. Robot calibration
is a common method to improve the accuracy. This paper mainly introduces thecalibration based on model parameters. Firstly, the calibration of kinematic model
parameters is reviewed in four aspects, including kinematic modeling, posemeasurement and measurement instruments, parameter identification and error
compensation respectively. Secondly, the various modeling methods of kinematics
models, the applicable scope of measurement instruments and the algorithms ofparameter identification and compensation are compared. Finally, the development
trend of calibration is summarized and analyzed.

OS11-10 Visualization Analysis of Web Crawler Evolution Retrieval Research Based on KG
Zhenjiang Chen, Jiamian Wang, Yizhun Peng, Di Li, Lianchen Zhao
(Tianjin University of Science and Technology, China)

In order to understand the basic situation and future development trend of domestic
research on web crawler technology. By using Citespace information visualization
analysis software, 2892 web crawler technical literatures in CNKI information
technology database from 2000 to 2018 were data mining. From the aspects ofliterature time distribution, inter-agency cooperation network analysis, co-citation of
authors, co-occurrence of keywords and analysis of research frontiers, this paperdraws a map of scientific knowledge and sorts out the research background. This
paper intuitively reveals the research status, development path, core research groups
and research fields of web crawler technology.

OS11-11 Circuit Simulation of Synchronized Novel 4D Chaotic Systems

Yuhan Zhang, Hong Niu (Tianjin University of Science and Technology, China)

In this paper, synchronization of novel four-dimensional (4D) autonomous chaotic
systems, based on the center translation method, is presented. The analog circuit
model of the synchronization system is constructed. The numerical and circuitry
simulation results are given to illustrate the validity of the synchronization circuitry.

OS11-12 Crowd Counting Network with Self-attention Distillation

Li Wang, Huailin Zhao, Zhen Nie, Yaoyao Li(Shanghai Institute of Technology, China)

Context information is essential for crowd counting network to estimate crowd
numbers, especially in the congested scene accurately. However, shallow layersof common crowd counting networks (i.e., Congested Scene Recognition
Network (CSRNet )) don't own large receptive filed so that they can't efficiently
utilize context information from the crowd scene. To solve this problem, in thispaper, we propose a crowd counting network with self-attention distillation(SADNet). Each input image is firstly sent to the VGG-16 network for feature
extracting. Then, the extracted features are processed by the dilated convolutionalpart for the final crowd density estimation. Specially, we apply self-attention
distillation strategy at different locations of the dilated convolutional part to use
the global context information from the deeper layers to guide the shallower
layers to learn. We compare our method with the other state-of-the-art works on
the Shanghai Tech dataset, and the experiment results demonstrate the superiorityof our method.

OS11-13 Path Planning Based on Improved Artificial Potential Field Method

Feifan Xu, Huailin Zhao, Zhen Nie, Xin Zhou, Zheheng Tao(Shanghai Institute of Technology, China)

In this paper, the traditional artificial potential field method is improved. Aiming at
the problem that the traditional algorithm cannot pass through the obstacles close toeach other and is prone to oscillation near the obstacles, the angle function is added
to match the original force field function base on the traditional algorithm, and thestability is enhanced by combining the idea of fuzzy control. Finally, a reasonable andsmooth optimal path is obtained by MATLAB simulation. It is proved that the multifunction parallel and multi-algorithm hybrid algorithm is feasible in the field of
mobile robot path planning.

OS11-14 Self-balancing Car based on Adaptive Fuzzy PID Control

Zhen Nie, Huailin Zhao, Lu Sun, Xiongfeng Zhong (Shanghai Institute of Technology, China)

The self-balancing car is widely studied for its advantages of convenient operation,
flexible movement, energy saving and reliability. In this paper, the STM32F105 is
used as the main control chip to design a self-balancing car which realizes remotecontrol and video transmission through WIFI. Because the self-balancing car is an
unstable nonlinear system, the Kalman filter optimization algorithm is used to fuse
the data of gyroscope and accelerometer, and the adaptive fuzzy PID control
algorithm is used to control the balance of whole system. The experimental resultshows that the system is easy to control, has strong stability, low power consumption
and high transmission efficiency.

OS11-15 Crowd Counting Method Based on Improved CSRnet

Huailin Zhao, Shengyang Lu, Li Wang, Yaoyao Li (Shanghai Institute of Technology, China)

Aiming at the problem of population counting, the research is getting deeper anddeeper. CSRnet proposed a method of dilated convolutions instead of convolutional
layers and pooling layers. This paper mainly proposes an improved CSRnet crowd
counting method, which uses a method similar to the inception-ResNet module tocalculate the population density of sparse and dense crowds, and applies this method
to ShanghaiTech dataset. The experimental results show that the accuracy of thismethod has been improved, and the speed of feature extraction has also been improved,
compared to CSRnet.

OS11-16 Graph-based Global Reasoning Network for Crowd Counting

Li Wang, Huailin Zhao, Zhen Nie, Yaoyao Li (Shanghai Institute of Technology, China)

Convolutional neural network (CNN) has prompted the crowd counting task to massive
progress in recent years. However, filters in the shallow convolutional layer of the
CNN only model the local region rather than the global region, which can't capture
context information from the crowd scene efficiently. To solve this problem, in thispaper, we propose a Graph-based Global Reasoning Network (GGRNet). Each input
image is processed by the VGG-16 network for feature extracting, and then the Graphbased Global Reasoning Unit (GGRU) reasons the context information from theextracted feature. Especially, the extracted feature firstly is transformed from thefeature space to the interaction space for global context reasoning with the graphconvolutional network (GCN). Then, the output of the GCN projects the context
information from the interaction space to the feature space. The context information
combines with the originally extracted features for final crowd density estimation. We
conduct experiments on the UCF-QNRF dataset, and the results demonstrate theeffectiveness of our method.

OS12 Advances in Theory and Education on Control (4)OS12-1 Proposal teaching materials the concepts and principles of machine learning for use ineducation
Shinichi Imai, Yusuke Shiba (Tokyo Gakugei University)

In this paper, Technologies such as AI, IoT, and big data are very important contents.
However, IoT related content is still in the developing stage and is now evolving at atremendous speed. It is very important to learn about AI, IoT, big data, etc. Therefore,
we propose a teaching tool based on soccer penalty shoots using machine learning.
This teaching tool can visually confirm that the goalkeeper robot does not shoot theball by machine learning.

OS12-2 Objective Evaluation of the Educational Effects on the Feedforward, Feedback and PID
Control
Yugo Tokura, Takao Sato, Ryota Yasui, Natsuki Kawaguchi, Nozomu Araki and Yasuo Konishi (University of Hyogo,
Japan)We have newly developed an equipment for the control education. Using theequipment, grade-3 students in Mechanical Engineering course, University of Hyogo,
received education on the feedforward, feedback and PID control from the spring tosummer in 2019. To objectively evaluate the education effects, the students took tests
before and after the control experiment class, and the examination results are compared.
The comparison shows that most students precisely understand that the reference
tracking performance can be improved by the feedback control and be degraded by thefeedforward control.

OS12-3 Programming Learning of Temperature Control for Science Class of Elementary School
Yoshihiro Ohnishi1, Takeshi Nakano2, Teruyuki Tamai1, Shinnosuke Mori1, Kazuo Kawada3(1Ehime University, 2Ehime University Elementary School, 3Hiroshima University, Japan)

The programming learning will be made compulsory at elementary schools in 2020.
This paper introduces the programming learning at elementary school. In this research,an experimental device on the theme of temperature control was developed in the fieldof learning electricity in elementary school science. Furthermore, learning activities inwhich elementary school students perform this programming are also considered. The
goal is to learn programming as a technique for efficiently using electrical energy.

OS12-4 Actuator Fault-Tolerant Control using a Spiking Neuron Model
Masanori Takahashi (Tokai University, Japan)

This paper presents a new design method for an actuator fault-tolerant control system(FTCS) using a spiking neuron model. In the proposed FTCS, the Izhikevich neuronmodel is utilized as a fault detector. When the actuator fails, the neuron model is
excited and spikes occurs. Thus, counting up spikes makes it possible to find failures.
Compared with the existing AFTCSs, the proposed method has the following
advantages: (1) it is possible to set a maximum detection time in advance, and (2) the
structure of the control system does not depend on the mathematical model of theplants. It is quite simple even if plants have high orders. In this paper, several numericalsimulation results are shown to confirm the effectiveness of the proposed AFTCS.

OS13 Natural Computing (5)OS13-1 Emergence of Adaptive Behavior in Simulations by Using Abstract Rewriting System on
Multisets
Yasuhiro Suzuki (Nagoya University, Japan)

We have developed an Artificial Intelligence system by using a model of chemical
reaction, Abstract Rewriting System on Multisets, ARMS, where "intelligence" meansthat the reaction system can "select" specific molecules to sustain their reactions. We
have implemented the reaction system by using an ARMS and have obtained several
molecules modified mutated DNA sequences that can sustain the reactions. We
confirmed that reaction behaviors in the time series of concentration of non-mutatedinput molecule and mutated input molecule show oscillations; it would show that thesystem selects higher concentration one in between non-mutated and mutated one
according to its concentration. Since the system exhibits adaptive autonomous
behaviors, this DNA reaction networks system realize ARMS.

OS13-2 Implementing the Euler and Runge-Kutta Method by Using Abstract Rewriting System on
Multisets
Yasuhiro Suzuki (Nagoya University, Japan)

In this paper, we show that by using a model of chemical reaction, Abstract Rewriting
System on Multisets, ARMS, the Euler method, and Runge Kutta method are
implemented smoothly. ARMS is a flexible computational model, and it enables us to
implement Multi-Agent Systems or P Systems quickly. Hence, by using the proposed
method, we can apply the Eular or Runge Kutta method for them. In this paper, wetake the Lotka-Volterra model, for example, of the Multi-Agent system and show how
to implement it by using the Euler and Runge-Kutta method; then we compare theseresults.

OS13-3 Extracting Tactile Sensation from Body Movement and Converting it into Vibrotactile Using
the Tactile Score Bit
Yasuhiro Suzuki (Nagoya University, Japan)

Body motion, speed and acceleration are extracted using motion capture and converted
to tactile score bits and TS bits by discretizing the magnitude. The TS bit is Kansei
information, which is information that can be obtained by discretizing the extent andthe duration of its size for a specific feature value over time. By using the TS bit, thesensitivity can be extracted from the temporal change in function. In this paper, we
will introduce how to convert a dancer's body movement to the TS bit and TS bit tovibrotactile.

OS13-4 A Tactile Sense Centered Virtual Reality Game by Using Biometric Feedback
Yoshihito Ushida, Yasuhiro Suzuki (Nagoya University, Japan)

In this research, we try to construct a Virtual Reality (VR) system centered on the tactile
sensation that has used as a secondary. Tactile sensation has a more significant effecton sensibility than audiovisual. Therefore, if tactile sensation and audiovisual sense are
combined, presence can be given to a virtual object in the VR space. This system makes
a user's biological information accessible in VR space. Then, a virtual object linked tothe audiovisual data is presented. A player has to use the virtual object to play this gamewith physical body movements. And the system feeds back biometric information anddeliver the change of biometric data through the sensory presentation to the user.

OS13-5 A Method of Extracting Sensibility from Time Series Data and Converting it to Vibrotactile
Yasuhiro Suzuki (Nagoya University, Japan)

This paper proposes a method to convert sensory information into a vibrotactile
sensation. In this method, sensibility is extracted from temporal changes of quantitative
data by discretizing the magnitude based on the amount of time change of data and thetime change of the data size. Sensibility information obtained by this discretization iscalled tactile score bits and TS bits. By changing the amplitude and length of thevibrotactile according to the TS bit, we can obtain the vibrotactile transformed fromtime-series data.

OS14 Software Development Support Method (5)OS14-1 Behavioral Modeling Technique for Multiple Objects of Software Using Extended
Place/Transition Nets with Attributed Tokens
Tomohiko Takagi, Ryo Kurozumi (Kagawa University, Japan)

EPN (Extended Place/transition Net) is a formal modeling language to represent the
behavior of software that consists of multiple objects. In software modeling using EPN,
objects need to be defined individually even if they have the same variables and actions,which causes an increase in model size. This paper shows a novel language called
EPNAT (EPN with Attributed Tokens) and modeling technique using it in order toaddress this problem. In EPNAT, objects are expressed as attributed tokens that areclassified into types, and also states and events of objects of the same type are expressed
as places and transitions, respectively. Attributed tokens can pass through places andtransitions that have the same types as theirs. An EPNAT model can be converted to a
VDM++ specification, and allows engineers to check its behavior.

Type Definition for Instance Variables
server_ID = nat;
data_size = int;

Server Type
add a newserverRequest Typesend arequestwaitingundermaintenanceconnectstartworking

executing

Request Token
destination : server_ID;
required_size : data_size;

remove aserverstop

disconnect

workingServer Token
ID : server_ID;
free_resource : data_size;

OS14-2 Learning Support Technique of Software Visual Modeling Using Place/Transition Nets
Yuki Ue, Tomohiko Takagi (Kagawa University, Japan)

Software modeling is important especially for the development of large and complex
software. However, the quality of software models depends on the skill of engineers,and learning it costs time and effort. We propose a learning support technique ofsoftware visual modeling to address this problem. The idea of block, which is wellknown in the field of visual programming, is introduced into this technique in orderthat trainees can understand the notation of modeling languages intuitively and can begiven guidance about the way to construct proper models. Also, animated graphics are
introduced in order that trainees can understand the behavior of their models intuitively.
PN (Place/transition Net) is selected as a modeling language in this paper, but otherformal modeling languages also can be introduced into this technique.

OS14-3 Redundant Test Cases Elimination on Code Coverage with Distance and Correlation
Measurement Method
Mochamad Chandra Saputra1, Tetsuro Katayama1, Yoshihiro Kita2,
Hisaaki Yamaba1, Kentaro Aburada1, Naonobu Okazaki1(1University of Miyazaki, Japan. 2Tokyo University of Technology, Japan)

The test cases based on the white box testing will test different control flow paths in a
program by executing the input on the test case to the source code and the result is Lineof Code (LOC) executed then mainly interested in achieving the possible coverage ofthe source code. There are several test cases that have similar LOC executed. The
distance and correlation measured by comparing the LOC executed by each test caseusing Euclidean distance. The test case that has the lowest value of distance means
high redundancy and possible to execute similar LOC or path. The research tries toeliminate redundant test cases based on that similarity. Several redundant test cases
eliminated to get the best test cases. By Euclidean distance, the research finds theredundant test cases on the test suite.

OS14-4 The Measurement of Class Cohesion using Semantic Approach

Bayu Priyambadha1, Tetsuro Katayama1, Yoshihiro Kita2,
Hisaaki Yamaba1, Kentaro Aburada1, Naonobu Okazaki1
1( University of Miyazaki, Japan, 2Tokyo University of Technology, Japan)

The cohesion is one of the design quality indicators in software engineering. The
measurement of the value of cohesion is done by looking at the correlation between
attributes and methods that are in a class. In Direct Distance Design Class Cohesion(D3C2) metrics, attributes and methods are assumed has a good correlation if they havea similar type. But, the similarity of type parameters and attributes do not always
indicate that these attributes are managed (correlated) in the method. This study
attempts to gain information that can enhance the degree of certainty of a correlation
between the methods and attributes. Relatedness between them has seen fromcloseness the meaning of the attributes, methods, and parameters name. The
experimental results have declared an increase in the value of cohesion produced inline with the similarity of meaning.

OS14-5 Proposal of an Algorithm to Generate VDM++ by Using Words Extracted from the Natural
Language Specification
Yasuhiro Shigyo1, Tetsuro Katayama1, Yoshihiro Kita2,
Hisaaki Yamaba1, Kentaro Aburada1, Naonobu Okazaki1
1( University of Miyazaki, Japan), (2Tokyo University of Technology, Japan)

The natural language includes ambiguous expressions. VDM is one of methodology
on the formal methods to write the specification without ambiguity. Because VDM++
is written by strict grammar which contains data types and invariants, it is difficult towrite a VDM++ specification. This research attempts to generate automatically a
VDM++ specification from natural language specification by machine learning. To
generate a VDM++ specification, it is necessary to extract words such as function andvariable from natural language specification. This paper proposes an algorithm togenerate VDM++ specification from the extracted words. An identifier is generated
from the extracted words, and then the VDM++ specification is generated byconverting the identifiers into VDM++ grammar.

OS15 Recognition and System (11)OS15-1 Efficient Detection Device for Wafer Physical Defects

Jianyong Chen, Xiaoyan Chen, Chundong Zhao
(Tianjin University of Science and Technology, China)

Wafer defect detection is an important part of semiconductor manufacturing. In orderto improve the efficiency of semiconductor wafer defect detection, this paper designs
an efficient visual inspection device. The device uses programmable logic controller(PLC) as controller for the transmission mechanism and uses servo motor as drive
device. A CMOS camera is used to capture wafer images, a computer is used for wafer
image processing, and results are displayed on a graphical user interface. Camera
calibration is implemented by integrating the mapping relationship between the pixel
coordinate system and the world coordinate system, the internal and externalparameters of the camera and the distortion coefficient. The device proposed in thispaper is low in cost and the detection process is stable and reliable. It provides a new
solution for wafer defect detection.

OS15-2 Wafer Defect Detection Method based on Machine Vision

Chundong Zhao, Xiaoyan Chen, Jianyong Chen
(Tianjin University of Science and Technology, China)

With the development of integrated electronic circuit manufacturing technology,
enterprises have put forward higher requirements for the quality of silicon chips.
Aiming at the low efficiency of silicon wafer defect detection, this paper proposes anautomatic defect detection method based on machine vision. The voiding algorithm
based on flood fill can effectively extract the inner contour information of the wafer
profile. A rotation correction algorithm is proposed to correct the wafer yaw angle. The
actual wafer was used to verify the performance of the proposed method. The results
show that the proposed method is effective in detection accuracy.

OS15-3 Analysis and Hardware Implementation of a Novel 4D Chaotic System
Yan Sun, Yongchao Zhang, Jiaqi Chen
(Tianjin University of Science and Technology, China)

100

50

0

w

In this paper, a novel 4D chaotic system is proposed. First, the basic dynamic
characteristics of this system are analyzed theoretically. Second, dynamical propertiesof it are investigated by phase trajectory, Poincaré section map, Lyapunov exponent
spectrum and bifurcation diagram. Finally, a analog circuit of the system is designed
and simulated by Multisim. The experimental results show that the circuit simulation
results are consistent with the numerical simulation results.

-50

-100
100
50

100
50

0

0

-50

z

-50
-100

-100

x

OS15-4 Research on Synchronous Control of a Novel 4D Dissipative Chaotic System
Jiaqi Chen, Yongchao Zhang, Yan Sun(University of Science and Technology, China)

A novel four-dimensional dissipative chaotic system is presented in this paper, whichwith six nonlinear terms, three variable system parameters and one external excitation
input. Through theoretical analysis and numerical simulation analysis of the chaotic
characteristics of the system, a self-synchronization of the chaotic system is realized
by the method of nonlinear synchronous control strategy, numerical results show that
nonlinear synchronous controller is correct and effective.

OS15-5 EEG classification based on common spatial pattern and LDA

Lei Wang1, Zixuan Li2( Tianjin University of Science and Technology, China),(2Dongbei University of Finance ＆ Economics, China)
1

采样点
0

200

400

600

-0.3

-0.2

-0.1

值幅

In the BCI system of motor imaging (MI), the effective method of MI feature extraction
and classification is the key to the follow-up work. According to the physiologicalphenomena of event related desynchronization (ERD) and event related
synchronization (ERS) of MI EEG signal, the optimal eigenvector representing thestate of MI EEG signal corresponding to the maximum eigenvalue was selected, andthen the feature extraction method of common spatial pattern (CSP) was proposed, andthe classification of MI EEG signals was realized by combining with linear
discriminant analysis (LDA). The experiment verified the method of data Ⅲ provided
by Graz University, and the recognition accuracy of left and right hand motion EEG
signals is 80%. The results of experiment and data analysis show that LDA classifier
can be applied to classify the feature vectors extracted from CSP, which has a goodrecognition accuracy and can lay a theoretical and experimental foundation for thepractical application of BCI system based on MI.

0

0.1

0.2

0.3

脑电信号时域波形

800

1000

1200

OS15-6 Dynamic Characteristics Analysis of the Shimizu–Morioka Chaotic System
Wenxin Shi, Hongyan Jia(Tianjin University of Science and Technology, China)

In the paper, we investigate the Shimizu–Morioka chaotic system based on Numericalsimulations and FPGA implementation. Firstly, the stability of three equilibrium pointsof the system is analyzed by using the Routh-Hurwitz criterion. Then the coexistence
characteristics of the system are studied by using digital analysis methods such as thephase portrait diagram, Lyapunov exponents diagram and bifurcation diagram. Finally,
the digital circuit of the system is realized by FPGA, and the feasibility of the system
is illustrated.

1.5

1

y

0.5

0

-0.5

-1

-1.5
-1.5

-1

-0.5

0

0.5

1

1.5

x

OS15-7 Research on the Motion Track of High-speed Objects

Qianqian Zhang1,2, Fengzhi Dai1,3, Jichao Zhao1, Haokang Wen1, Hongbo Hao1
( Tianjin University of Science and Technology, China, 2Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, China, 3Advanced Structural Integrity International Joint Research Centre, Tianjin University of Science andTechnology, China)
1

Measuring the location coordinates of high-speed moving objects is of greatsignificance in the strike accuracy test. Currently, there are a variety of measurement
methods, such as light screen target measurement and acoustic target measurement.
The integrated control and verification workstation includes the calculation system andwireless transmission module, which is mainly responsible for the final modeling andanalysis of the data collected by the system to obtain the calculation results and display
them. "Acquisition station 1" and "acquisition station 2" are composed of acquisition
computer, battery, DCDC module (secondary power supply), camera, trigger moduleand other parts. The main function of acquisition station is to analyze and process thedata collected by the camera and upload them to the integrated control algorithm
workstation. The purpose of this design is to develop a set of high speed object
trajectory landing point prediction system, and realize the recording, processing,wireless uploading, human-computer interaction and other functions of high speed
linear motion target video collected by 4 sets of high speed cameras set up at two
points.

Wireless module reception

Wireless module reception

Ethernet

Ethernet

Acquisition computer 1

Acquisition computer2

Camera 1 _2 Ethernet
opticaltransceiver1 __2
battery1 _2 TTL DCDC
Infinitemoduleintegrator

Camera 2 _2 Ethernet

TTL

opticaltransceiver2 __2
battery2_2
DCDC

Optical fiber TTL

opticaltransceiver1 _1
Ethernet

Ethernet

Camera1
battery1_1

Optical fiber

opticaltransceiver2 _1
Camera2

DCDC

Collection station 1

battery2_1

DCDC

Collection station 2

OS15-8 Research on Surface Defect Detection of Aluminum based on Image Processing
Xuemin Liu1, Ce Bian3, Di Yin2, Yuxuan Zhu2, Yasheng Yuan2( China Petroleum Engineering and Construction Corporation, China,
2
Tianjin University of Science and Technology, China,
3
Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)
1

Aluminum material is relatively smooth. Aluminum surface engender scratches andbruises easily when collide with other metal. Surface defect detection of aluminumproducts is particularly important. It is very convenient to use machine vision methodfor defect detection. Defect contour extraction is an important part of machine vision
for defect detection. The surface of aluminum metal is very reflective and shallow
scratches are easily mistaken for defects. There are many kinds of filtering, such as themean filtering, gauss filtering, median filtering and directed filtering. With the help offiltering, dynamic threshold can achieve a good effect. The severe scratch defect andthe slight scratch can be clearly separated from the surface of the aluminum product.

Modeling
calculus
systemOS15-9 Research on the Control of Multi Position Production Line based on PLC

Yong Hou1, Hao Wang1, Runhua Mao2, Xuemin Liu3
(1Tianjin University of Science and Technology, China, 2Tianjin Tianke Intelligent andManufacture Technology CO, LTD, China, 3China Petroleum Engineering and Construction Corporation, China)
In view of the disadvantages and limitations of the traditional manual production linewith the cylinder processing system as the main body, this paper proposes an intelligent
production line control system based on PLC. The rearrangement of production line
and automatic planning of production process are realized. The application of thesystem in practical production shows that the designed system can achieve 8 hours of
unmanned automatic operation. It greatly improves production efficiency and productquality, reduces labor intensity and production cost, and makes the traditional
production line intelligent and automatic.

OS15-10 Research on acoustic source localization system based on acoustic holography

Xiuqing Wang, Xiaoyun Jia (Tianjin University of Science and Technology, China)

In order to solve the leakage problem caused by the rupture of oil and gas pipelines, asound source localization algorithm based on acoustic holography is proposed.
According to statistically optimal cylindrical near-field acoustic holography(SOCNAH), establishing the simulation analysis of simple sound source and multiple
sound source. In this paper, the influence of noise on multi-frequency and multi-sourcesound signal is also studied, the window function is used to reduce the noise to acquire
the best sound source signal. In addition, the near-field acoustic holography experimentof pipe cylinder model was established. The all-weather acoustic emission acquisition
system was used to acquire and analyze acoustic emission signals, and the acquired
acoustic emission signals were imported into the near-field acoustic holography
positioning software to obtain the acoustic source positioning results. Simulation andexperimental results show that the sound source localization method based on
SOCNAH can realize the sound source localization of pipeline, determine the damaged
state of pipeline, and carry out targeted remedy to ensure the safety of pipeline
facilities.

Channel 1
Channel 2
Channel 3
Channel 8

…………
…………
…………

Signal Acquisition
and Processing
ModuleSound Source
Localization Software
Based on Sound
Holography
Technology

OS15-11 Anti-interference Method of Electrical Fast Transient for Fire Alarm of Substation
Guo Wangyong, Ju Zhenfu, Chen Guang, Zhu Bo(Beijing NARI Yihe Environmental Protection Technology Co., Ltd, China)

Aiming at the problem of electrical fast transient (EFT) in substation, the mechanismof EFT generation and electromagnetic compatibility is analyzed. In this paper, theanti-interference method of fire alarm is designed for complex EFT in substation. The
test results show that the design method can suppress the influence of EFT on fire
alarm in substation effectively, improve the immunity level of EFT of fire alarm in
substation, and meet the requirements of level 4 in GB / t17626.4-2006 standard.

OS16 Media Information Processing and Artificial Intelligence (4)OS16-1 Effectiveness of Data Augmentation in Pointer-Generator Model

Tomohito Ouchi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)

We propose a new data augmentation method in automatic summarization system,
especially Pointer-Generator model. A large corpus is required to create an automatic
summarization system using deep learning. However, in the field of natural language
processing, especially in the field of automatic summarization, there are not many data
sets that are sufficient to train automatic summarization system. Therefore, we propose
a new method of data augmentation. We use Pointer-Generator model. First, we
determine the importance of each sentence in an article using topic model. In order toextend the data, we remove the least important sentence from an input article and use
it as a new article. We examine the effectiveness of our proposed data augmentation
method in automatic summarization system.

Input sentences
Output sentences

Removesentence

Data augmentation

OS16-2 Mouse Cursor Control System Using Facial Movements

Masayoshi Tabuse1, Manase Mizobe2, Yasunari Yoshitomi1, Taro Asada1(1Kyoto Prefectural University, Japan, 2TORAY ENGINEERING Co.,Ltd, Japan)

It is necessary to support of computer operation for a physically disabled person. Oneof the possible physical movements of the physically disabled person is facial
movement. Recognition of facial movement of a person makes it possible to operate acomputer. Furthermore without the adjustment for a user and adjustment for the
distance from a user, it is possible to reduce the burden on a user. We developed asystem to resolve these problems. In our system, a web camera and dlib C++ library
are used to obtain the face direction and extract feature points of the face. Changing theface direction, we can move a mouse cursor. Recognizing an open mouth or closed eye,
we can carry out an operation of mouse click. In this paper, we evaluated the effect on
operability due to the face direction and recognition rate due to distance.

OS16-3 Facial Expression Synthesis Using Vowel Recognition for Synthesized Speech

Taro Asada1, Ruka Adachi2, Syuhei Takada3, Yasunari Yoshitomi1, Masayoshi Tabuse1( Kyoto Prefectural University, Japan, 2Software Service, Inc., Japan, 3Seika Town Hall, Japan)
1

We have developed a system for facial expression synthesis of an agent in making aspeech using vowel recognition for synthesized speech generated for the agent. The
speech is recognized using a speech recognition system called as Julius, followed byfacial expression synthesis of the agent using preset parameters depending on the vowel
each. For making the agent, we used MikuMikuDanceAgent (MMDAgent), which is afreeware animation program that allows users to create and animate movies, to createan agent. To produce the agent’s voice, we used the speech synthesis function setting
built into MMDAgent. The impression evaluation obtained from questionnaire survey
indicates that our proposed system is more natural than an agent that using presetparameters manually decided for each speech.

OS16-4 Speech Synthesis of Emotions in a Sentence Using Vowel Features

Rintaro Makino1, Yasunari Yoshitomi2, Taro Asada2, Masayoshi Tabuse2(1SoftBank Corp., Japan, 2Kyoto Prefectural University, Japan)

Recently, methods for adding emotion to synthetic speech have received considerable
attention in the field of speech synthesis research. We previously proposed a method
for speech synthesis of emotions using vowel features of a speaker. In the previous
study, as an initial investigation, we adopted the utterance of a Japanese name that issemantically neutral. In the present study, by using the proposed method, emotional
synthetic speech in a sentence made from the emotional speech of one male subject
was discriminable with a mean accuracy of 78.9% when 13 subjects listened to theemotional synthetic utterances of “angry,”“happy,”“neutral,” or “sad” when
the utterance was the Japanese sentence ' こ の ぬ い ぐ る み か わ い く な い ' (inJapanese), which means, 'This stuffed toy is pretty, isn't it?”

OS17 Machine Learning Technologies for Human Understanding (2)OS17-1 Customization of Contents for Acquisition of Skills of FPS without Trainer

Masao Kubo, Takeshi Ueno, Hiroshi Sato (National Defense Academy, Japan)

In this paper, we conducted a study to develop self-study materials with the ability toprovide more suitable materials for students' skills. A first person shooter (FPS) typesimulator-based teaching material is created to acquire knowledge to escape from abuilding surrounded by a group of zombies. Conventional games resume from apredetermined scene regardless of trainee's skill when defeated by an enemy, but areoften forced to play with this, which contributes to no increases in knowledge and skill.
In this paper, we propose a re-spawning point suitable for each trainee by arecommendation algorithm which tries to find good game scenes by trial and error. A
simple experiment is performed to confirm the effectiveness of the proposed content
generation algorithm.

OS17-2 Visual Classification of Malware by Few-shot Learning

Tran Kien, Masao Kubo, Hiroshi Sato (National Defense Academy, Japan)

The threat of malware to modern computer systems has been growing. Millions of new
malware are said to be created every day all over the world. Therefore, the same
malware is rarely found in different organizations. In this situation, signature-based
malware detection can not work effectively. This study focuses on a few-shot learning,which can learn the pattern from very few samples. We apply Memory Augmented
Matching Network (MANN) to malware classification. We show that the MANN canclassify unknown malware from its binary image. We also show that the combinationof MANN and prototypical network increases the accuracy of classification.

OS18 Service Robotics (7)OS18-1 Modelling Autonomous Parallel Parking Procedure for Car-like Robot Avrora Unior in Gazebo
Simulator
Dinir Imameev1, Ksenia Shabalina1, Artur Sagitov1, Kuo-Lan Su2, Evgeni Magid1(1Kazan Federal University, Russia).
(²National Yunlin University of Science and Technology, Taiwan)

This paper focuses on implementation of path planning and control for Avrora Unior
robot car that enable autonomous parallel parking. Path planning is based on existinggeometrical approach, which was modified to fit specific kinematics of the robot shapeand control geometry. Geometry and parking space size determine path key points:
steering and counter-steering points. We implemented and tested the algorithm using
Avrora Unior robot model in Gazebo simulator.

.

OS18-2 Traffic Sign Recognition Algorithm for Car-like Robot Avrora Unior

Nikita Nikiforov1, Ksenia Shabalina1, Artur Sagitov1, Kuo-Hsien Hsia², Evgeni Magid1(1Kazan Federal University, Russia)(²National Yunlin University of Science and Technology, Taiwan)

Achieving high accuracy of traffic signs detection and recognition is difficult in realtime and is heavily influenced by non-ideal environment conditions. In this paper, we
propose to combine a set of Haar cascades that had been trained on a large number ofsamples and could recognize different types of road signs in different positions andorientations. We use feature detection and feature matching in the process of traffic sign
type identification. Our algorithm was validated on Avrora Unior robot model in asimulated environment within Gazebo.

.

OS18-3 Robotic palpation modeling for KUKA LBR IIWA using Gazebo Simulator

Artur Shafikov1, Artur Sagitov1, Hongbing Li2, Natalia Schiefermeier-Mach3, Evgeni Magid1(1Kazan Federal University, Russia), (2Shanghai Jiao Tong University, China)(3Health University of Applied Sciences, Austria)

Palpation is one of diagnostic methods being extensively used in medical practice. It
is often used for tumor detection in cancer screening but its efficacy is highly
dependent on examining physician’s skill. Therefore, using a robotic tool could makethis procedure more objective. In this paper, we present our control and perception
modules of autonomous palpation robotic system. We have modelled KUKA LBRIIWA manipulator control using MoveIt motion planning in Robot Operating System
and validated it in Gazebo simulator.

.

OS18-4 Remote Control Application for “Servosila Engineer” Robot on Android Mobile Devices
Daniel Kiryanov, Roman Lavrenov (Kazan Federal University, Russia)

Even though modern mobile robots’ autonomous navigation capabilities rapidly
increase, teleoperation mode is still an important tool, especially in critical domains
like rescue or military robotics. This paper presents Android OS based teleoperator
control tool for Russian crawler robot Servosila Engineer. We changed the way of dataexchange between a robot and its operator, which allows using Wi-Fi data standards inorder to simply data transfer from OCU process to vehicle process. Our application
provides robot remote control and video data transfer from robot onboard cameras.

OS18-5 Network Failure Detection and Autonomous Return for PMB-2 mobile robot
Dmitry Bereznikov, Aufar Zakiev (Kazan Federal University, Russia)

In real world teleoperated tasks a robot connection with its operator is not always
stable, so it is important to increase the robot autonomy. This paper focuses on
increasing robot autonomy through autonomous return and charging station docking ina case of connection loss. We integrated the algorithm into real robot control system or
PAL Robotics PMB-2 robot and experimentally demonstrated its good efficiency. The
algorithm analyzes network failure through incoming TCP/IP packets, uses
Simultaneous Localization and Mapping (SLAM) and path planning algorithms forautonomous return, and dock station plugin for the robot docking and recharging,which continues until the connection to teleoperator station is restored.

OS18-6 Pick and Place of Large Object Based on 3D vision

Hsien-Huang P. Wu, Jia-Kun Xie(National Yunlin University of Science & Technology, Taiwan)

Automation is a necessary tool to achieve unmanned factory, and machine vision plays
a vital role for providing intelligent recognition in automation. In this study, techniqueof 3D camera is used for 3D image capturing and matching to identify, pick and placelarge objects automatically. The system uses a commercially available 3D stereo vision
camera to build the image acquisition system, and reconstruct the large objects in 3D.
This 3D image is used for classifying the objects with the 3D object recognition
algorithm. After the object was identified and its 3d information was obtained, a robot
arm integrated with the camera system can be used for grasping. Compared withtraditional 2d image matching for 3d big object recognition, stable 2d image features
are much harder to obtain due to the shadow. The 3D stereo vision camera does not
require strict requirements for lighting control, and only needs stable ambient light.
The reduction of the difficulty in building image acquisition environment for large 3d
object and the cost of camera system provide a new option for applications that requires
large object identification.

OS18-7 Application of the MyRIO Based Mobile Robot Using Vision System

Bo-Jun Yang1, Kuo-Hsien Hsia1, Kuo-Lan Su1, Evgeni Magid2(1National Yunlin University of Science & Technology, Taiwan)(2 Kazan Federal University, Russia)

The paper develops a MyRIO based mobile Robot with the vision system. The mobile
robot contains a robot arm and a gripper based on the subject of the world skill
competition project. The structure of the mobile platform uses the Matrix elements.
The mobile platform integrates some sensors, four DC servomotors, three RC
servomotors, a MyRIO based controller, and a vision system. The core of the MyRIO
based controller is the NI-Single-Board RIO 9606 module. The vision system of themobile Robot can search and recognize the assigned shape and color billiard ball to be
fixed on the front side using Otsu algorithm. In the experimental results, the mobile
robot moves to the assigned location from the start location, and uses the vision system
to search the assigned billiard ball. Then the mobile robot uses the robot arm to catchthe assigned billiard ball, and moves to the assigned position autonomously. The robot
arm puts down the billiard ball. Finally, the mobile platform moves to the start locationand stop.

OS19 Advanced Information Processing Applications (5)OS19-1 Extraction of Irrelevant Sentences from Online Hotel Reviews
Shogo Watanabe, Masaharu Hirota, Tetsuya Oda (Okayama University of Science, Japan)
Many reviews of hotels have been posted on review sites such as TripAdvisor and Yelp.
Many tourists select a hotel to reserve based on their ratings and reviews. Althoughcontaining useful information, those reviews may also contain useless information,
which reduces their readability. Removing irrelevant sentences from those reviews canimprove their readability. This paper proposes a method to extract irrelevant sentencesfrom a review. Our approach uses a supervised learning method to classify the sentences
into relevant and irrelevant. We demonstrate the performance of our proposed methodby evaluation experiment using TripAdvisor dataset.

OS19-2 Inferring Home Location of Foreign Tourists Based on Travel Routes Extracted from Social
Media Sites
Lugasi Chen, Masaharu Hirota (Okayama University of Science, Japan)

Tourists of certain regions have a tendency to visit certain places when travellingabroad. The availability of large amount of data from social media sites allows
researchers to profile those tendencies, which could be useful for many applications.
We propose a method to infer the home location of a tourist based on such tendency,
using metadata annotated to contents from social media sites. Our approach uses Long
Short-Term Memory neural network to learn the quantized travel route of each user,which is based on clusters extracted from the obtained data. We demonstrate theperformance of the proposed method by evaluation experiments using photographs
obtained from Flickr.

OS19-3 The IoT Solution to Archive and Play the Digital Library of Kamishibai

Motohide Yoshimura, Ayumi Eikawa (The University of Nagasaki, Japan)

We innovate an IoT solution to archive and play the digital library of Kamishibai.
Kamishibai is a form of Japanese picture story show. It consists of a sets of illustrated
boards placed in a miniature stage-like device and the narrator tells the story byswitching each boards. Our solution has two aspects. The one is an educational tool forchildren and the other is an electric toy playing with children. As to the former, thechildren collect local mythology and tradition and make kamishibai boards by drawing
software. As to the latter, children construct a miniature stage-like device by applying
NFC tags for switching each boards. In this paper, we report findings through theconstruction of a kamishibai device which displays the kamishibai boards on a content
server by using NFC reader and tags.

OS19-4 A Research on Prediction of Inter-firm Relationships

Takao Ito1, Tsutomu Ito2, Matsuno Seigo3, Rajiv Mehta4, Makoto Sakamoto5( Hiroshima University, Japan, 2Hino Motors Ltd, Japan, 3Ube National College of Technology, Japan, 4New Jersey
Institute of Technology, USA, 5University of Miyazaki, Japan)
1

Inter-firm relationship is one of the basic issues for corporate strategy formation. A
plethora of researches of inter-firm measurement have been published, but studies on
prediction of inter-firm relationships have been sparse. In order to discover a new
approach of corporate strategy, the authors collected transaction and cross shareholding
data sets from Yokokai, parts suppliers of Mazda, and developed a new model toforecast inter-firm relationship using graph theory. The main contribution of thisresearch is that prediction of inter-firm relationship depends not only future trends, butalso interactive firms’ relationship.

Fig. 1. Interactive transactional
inter-firm relationship among
Yokokai in2008.

OS19-5 Generation of Arbitrarily-Oriented Ripple Images Using Circular-Sector-Type Smoothing
Filter and Inverse Filter
Toru Hiraoka (University of Nagasaki, Japan)

A non-photorealistic rendering method for generating ripple images from photographic
Images has been proposed using intensity gradient. Ripple patterns imitate a wave on
the water surface and are composed of continuous lines with fluctuations. Ripple images
are expressed by superimposing ripple patterns on photographic images. However, theconventional method can only generate vertical and horizontal ripple patterns.
Therefore, in this paper, we develop a method that can generate ripple patterns in any
orientation. Ripple images generated by the proposed method are called arbitrarilyoriented ripple (AOR) images. The proposed method is executed by an iterative processusing circular-sector-type smoothing filter and inverse filter. To verify the effectivenessof our method, we investigate the changes in AOR images by changing the values of theparameters, then we visually evaluate the appearance of these images.

OS20 Artificial Intelligence for Embedded Systems and Robotics (5)OS20-1 A Hardware-Oriented Echo State Network for FPGA Implementation

Kentaro Honda, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

Recurrent neural network (RNN) is commonly used for applications such as voicerecognition and stock prediction. This paper designs echo state network (ESN), akind of RNN for field programmable gate arrays implementation. The proposed
network is able to compute faster compare to CPU, and the circuit’s resources are
reduced by using fixed-point operation, quantization of weights which including
accumulate operations and making the dataflow modules more efficient. The
circuit is verified by the prediction of sine and cosine wave experiments, andthrough the results, promising performance is shown.

OS20-2 Network with Sub-Networks

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

We introduce network with sub-networks, a neural network which it’s weight layers canbe detached into sub-neural networks during inference phase. To develop trainable
parameters which can be inserted into both base- and sub-models, firstly, the parametersof sub-models are duplicated to base-model. Each model is forward-propagatedseparately. All models are grouped into pairs. Gradients from selected pairs of networks
are averaged and updated both networks. With MNIST dataset, our base-model achieves
the identical test-accuracy to the regularly trained models. In other hand, the sub-models
are suffered an extend of loss in test-accuracy, nevertheless the sub-models provide
alternative approaches to be deployed with less parameters compare to the regularmodel.

.

OS20-3 A Study on Fast Pick-and-Place Method for Home Service Robots using 3D point clouds
Tomohiro Ono, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

Home service robots have begun attracting attention due to decreasing birthrate andincreasing aging population. The basic functions of home service robots are object
recognition, picking and placing, recognition of people and environment, and interaction
with peoples. In this paper, we focus on object picking and placing in the domestic
environment. The pick-and-place task is a very important technique used forarrangement shelves and tidying up rooms. In order for the robot to operate smoothly,
the movement to pick-and-place the object must be fast. Therefore, we develop a fast
pick-and-place method using 3D point clouds. Regarding the picking, we describe agrasping-point estimation method. Regarding the placing, we describe a placeable
position estimation method. These methods use at RoboCup@Home, an international
competition aimed at the practical application of home service robots, and theireffectiveness and validity are verified.

OS20-4 Acceleration of training dataset generation by 3D scanning of objects and Evaluation ofrecognition accuracy
Yushi Abe, Yutaro Ishida, Tomohiro Ono, Hakaru Tamukoh(Kyushu Institute of Technology, Japan)

Object recognition is an important technology for Home Service Robot. When using
object recognition in the home, a data set of the object matched to the environment isrequired. Generally, it takes a lot of time to create a data set, and there are concerns abouthuman error in annotation work. As a previous method, there is an automatic annotation
system, but it has been a problem that a lot of manual processing is required for dataset
generation. In this paper, we use 3D scanning of an object to eliminate manual processing
when creating a data set and further speed up. As a result, the proposed method can create
datasets about 40 minutes faster than the previous method, and manual processing is notnecessary. But, training YOLOv2 by using the dataset, and comparing the mean Average
Precision, the accuracy was only dropped 4 points.

OS20-5 Anomaly Detection Using Autoencoder Trained with Reversed Color Models
Obada Al aama, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

Autoencoders (AEs) have been applied in several applications such as anomaly detectors
and object recognition systems. However, although the recent neural networks haverelatively high accuracy, but sometimes false detection may occur. This paper introduces
AE as an anomaly detector. The proposed AE is trained using both normal andanomalous data based on convolutional neural network (CNN) with three different color
models HSV, RGB and TUV (own model). As a result, the trained AE reconstruct thenormal images without change, whereas the anomalous image would be reconstructed
reversely. The training and testing of the autoencoder in case of RGB, HSV, and TUVcolor models were demonstrated and Cifar-10 dataset had been used for the evaluation
process. It can be noticed that HSV color model has been more effective and achievableas an anomaly detector rather than other color models based on Z-test and F-test
analyses.

OS21 Mathematical Informatics (4)OS21-1 Hidden Surface Removal for Interactions between User’s Bare Hands and Virtual Objects in
Augmented Reality
Takahiro Ishizu, Makoto Sakamoto, Kenji Sakoma, Takahiro Shinoda, Amane Takei(University of Miyazaki, Japan), Takao Ito (Hiroshima University, Japan)

Augmented reality (AR) technology is a technique of superimposing information
generated by a computer on perceptual information that we receive from real space.
Recently, much attention has been focused on interaction techniques between users andvirtual objects, such as the user directly manipulating virtual objects with his/her barehands. On the other hand, in AR technology, since the 3-dimensional (3D) model issuperimposed on the image of the real space afterwards, it is always displayed on thefront side than the hand. Thus, it becomes an unnatural scene in some cases (occlusion
problem). In this study, this system considers the object-context relations between theuser's hand and the virtual object by acquiring depth information of the user's finger. In
the evaluation experiment, it is confirmed that the hidden surface removal in this study
not only makes it possible to consider the object-context relations but also candistinguish between finger boundaries and to clarify and process finger contours.

OS21-2 Proposal of Interactive Projection Mapping using Human Detection by Machine Learning
Takahiro Shinoda, Makoto Sakamoto, Takahiro Ishizu, Kenji Sakoma, Amane Takei(University of Miyazaki, Japan), Takao Ito (Hiroshima University, Japan)

In recent years, “Entertainment Computing” (EC) has attracted attention and has
become one of the major industries in Japan. “Projection mapping” is well known inthis EC. Projection mapping is a video technology that creates a new space bysynthesizing space and video using a projector. Among them, many people arefascinated by works that create a fantastic world by combining dancer performance andprojection mapping. However, these works require the performer to accurately alignwith the coordinates of the image objects in the projection mapping, which is not easy
for everyone. In this study, we aim to entertain not only the people who see theprojection mapping but also performers. Therefore, we have prototyped an interactive
projection mapping that changes according to user movement. This time, we focusedon sports and projected the ball to the user to experience baseball pitching and soccer
lifting. Furthermore, we conducted a questionnaire survey to evaluate the sense of useof this system, and the results showed that many people can enjoy by this projection
mapping.

OS21-3 Fundamental Study on Control of CG Characters by Electroencephalography (EEG) Analysis
Kenji Sakoma, Makoto Sakamoto, Takahiro Ishizu, Takahiro Shinoda, Amane Takei(University of Miyazaki, Japan), Takao Ito (Hiroshima University, Japan)

Virtual Reality (VR) technology is expected to develop in various fields such as
medical, education, business and entertainment. In this study, we aim at more intuitive
operation by focusing on troublesome mounting in VR. When using VR equipment, itis necessary to set up many cables and sensors. Also, when using it, there must always
be a certain space around the user. This is because we always use the controller when
operating in the world of VR, for reasons of care or for the safety of the user. For thisreason, there arises a problem that the location must be selected when the VR device isused. As a method to solve this problem, we propose manipulation method of CG
character by electroencephalography (EEG). In this paper, we ask five subjects tomanipulate CG characters by EEG and evaluate this system by questionnaire.

OS21-4 Development of parallel microwave analysis code: ADVENTURE_Fullwave
Amane Takei (University of Miyazaki, Japan)

In this presentation, a parallel microwave analysis code based on an iterative domain
decomposi-tion method is explained that is named ADVENTURE_Fullwave. A
stationary vector wave equation for the high-frequency electromagnetic field analyses
is solved taking an electric field as an unknown function. Then, to solve subdomain
problems by the direct method, the direct method based on the LDLT decompo-sition
method is introduced in subdomains. The simplified Berenger’s PML is in-troduced
which these eight corners are given the average value of all PML’s layers.

OS22 Robot Competitions for Social Contribution (5)OS22-1 Real-Time Self Localization for Autonomous Robot of RoboCup MSL

Kaori Watanabe, Yuehang Ma, Tetsuya Yoshida, Hidekazu Suzuki(Tokyo Polytechnic University, Japan)

The main focus of the RoboCup competitions is the game of soccer, where the researchgoals concern cooperative multi-robot and multi-agent systems in dynamic
environments. In the field of RoboCup, self-localization technique is important toestimate own position including goal and other robot positions and to decide strategy.
This paper presents a self-localization technique using an omni-directional camera foran autonomous soccer robot. Then, we propose the self-localization method which
generates the searching space based on a model-based matching with white line
information of soccer field, and which recognizes the robot position by optimizing thefitness function using Genetic Algorithm. Moreover, we perform verification
experiment of self-localization and verify the accuracy of the proposed method.

OS22-2 Behavior Selection System for Soccer Robot Using Neural Network

Moeko Tominaga1, Yasunori Takemura2, Kazuo Ishii1(1Kyushu Institute of Technology, Japan, 2Nishinippon Institute of Technology, Japan)

With the progress of technology, the realization of a symbiotic society with humanbeings and robots sharing the same environment has become an important subject. An
example of this kind of systems is soccer game. Soccer is a multi-agent game that
requires strategies by taking into account each member’s position and actions. The
behavior of a player changes depending on the game situation, such as the score gap,
the remaining time and the importance of the match. Players may play offensively when
their team is losing, or be defensive when their team is winning with a minimum score
difference. In this paper, we discuss the results of the development of a learning systemthat uses SOM to select behaviors depending on the situation.

OS22-3 Development of the Auto Measurement System for Cedars in a Forest Using a Drone
Keiji Kamei, Masahiro Kaneoka, Ken Yanai, Masaya Umemoto,
Hiroki Yamaguchi, Kazuki Osawa (Nishinippon Institute of Technology, Japan)

Drones have been used in many purposes for a long time. Especially, development of
the automatic observation systems such as measurement using drones for the primarysector of industry have been frequently researched in recent. The measurement of a tree
growth in a forest is also one of the aim for a drone application. In this study, our aim
is to develop the automatic measurement system for size of a tree in a forest. The
difficulties are that a drone has to recognize trees, to create a map of a forest and tomeasure the size of trees from a front camera. To overcome those difficulties, we
propose that a drone recognizes trees based on RCNN, creates a map from SLAM andmeasures a tree by SFM. Experimental results from the drone competition show that adrone has been able to recognize a tree and to fly safety.

OS22-4 Report on the 5th Tomato-harvesting Robot Competition

Yasunori Takemura1, Takayuki Matsuo2, Takashi Sonoda1, Kazuo Ishii3( Nishinippon Institute of Technology, Japan, 2National Institute of Technology, Kitakyushu College, Japan, 3Kyushu
Institute of Technology, Japan)
1

Tomato is one of the important fruit vegetables and most tomatoes are produced in thegreenhouses, or large-scale farms, where the high temperature and humidity, and long
harvest age force the farmer heavy works. To develop the tomato harvesting robot,
many research issues exist such as manipulator design, end-effector design,collaborative behavior, artificial intelligence, motor control, image processing, target
recognition and so on. With an aim to promote the automation of tomato harvesting,
we have organized the tomato harvesting robot competition since 2014. In this paper,
we report on the results of 5th tomato harvesting robot competition in 2018.

OS22-5 Reports on the 7th Underwater Robot Festival in Kitakyushu

Yuya Nishida1, Takashi Sonoda2, Takayuki Matsuo3, Shinsuke Yasukawa1, Masanori Sato4, Yasunori Takemura2,
Kazuo Ishii1
1
2( Kyushu Institute of Technology, Japan, Nishinippon Institute of Technology, Japan, 3National Institute ofTechnology, Kitakyushu College, Japan, 4Nagasaki Institute of Applied Science, Japan)
For enhancement of oceanic engineering technology and researchers, underwater robot
competition has been held since 2016. Seventh competition in this year consists AUV
league that university’s vehicles automatically cruise at field and junior league that
underwater craft is made. Six teams from nationwide university jointed in the AUV
league in the competition and challenged the autonomous navigation in the field usingdeveloped vehicle. 14 teams from nearby high school jointed the junior league in thecompetition, learned to make underwater craft for two days, and try the competition
using handmade craft. The paper reports competition regulation of AUV and juniorleague and results of the competition held in October 2019.

OS23 Advances in Field Robotics and Their Applications (6)OS23-1 Sea Trials for Benthos Sampling Using Autonomous Underwater Vehicle

Yuya Nishida1, Shinsuke Yasukawa1, Takashi Sonoda2, Keisuke Watanabe3, Kazuo Ishii1( Kyushu Institute of Technology, Japan, 2Nishinippon Institute of Technology, Japan, 3Tokai University, Japan)
1Autonomous underwater vehicles (AUVs), free from umbilical cable, can cruise a wide
area and show good performances for scientific bio-resource surveys. In the surveys,
AUVs take seafloor images for estimations of benthos biomass and distribution using
mounted camera systems. The next requirement of the bio-resource survey using AUVs
is to take back the samples for scientists. Although previous AUVs would capture thespecific benthos which are decided as the target beforehand, scientists on the site can’t
chose the sampling targets during a mission. To realize an efficient bio-resources survey
by AUVs, we had developed an sampling method that human in the loop and command
the sampling targets. This paper explains our sampling method by the AUV TunaSand2 and shows results of sea trials.

OS23-2 Field Experiments of Underwater Image Transmission for AUV

Shinsuke Yasuakwa1, Yuya Nishida1, Jonghyun Ahn2, Takashi Sonoda3, Kentaro Yanagise1, Keisuke Watanabe4, Kazuo
Ishii1
1
2( Kyushu Institute of Technology, Japan, Hiroshima Institute of Technology, Japan, 3Nishinippon Institute ofTechnology, Japan, 4Tokai University, Japan)
Autonomous Underwater Vehicle (AUV) has enough advantage in the task of observing
a wide range area, however, it is difficult to achieve a task that requires highadaptability and recognition such as biological sampling. In order to improve theefficiency of the survey, it is necessary for AUV to report the state of the seafloor to theoperators on board reasonably and in real time. In order to realize such new seafloor
observation, the seafloor image transmission using the underwater acoustic
communication device is the one of the solutions. We have been developing seafloor
image selection and image compression technology for acoustic transmission. In thispaper, we report the results of underwater image selection and transmission in
biological sampling experiments conducted in November 2019 off the coast of Surugabay, Shizuoka, Japan. The image selection algorithm selected an image of a benthos,
while an image of a marine snow was also selected. We also report the results ofacoustic communications.

OS23-3 Development of Subsea Creature Monitoring Station for AUV Exploration Assistance

Keisuke Watanabe1, Koshi Utsunomiya1, Amir Sadiq1, Daichi Hiramaki1, Kyoko Takashima1, Kazuo Ishii2 (1Tokai
University, Japan, 2Kyushu Institute of Technology, Japan)
We are developing a set of sea creature investigation systems which consists of AUVs,
a support vessel and subsea monitoring stations. In this paper, we introduce our recent
result on developing a low cost monitoring station. This station is intended to monitor
underwater images of subsea creatures wirelessly from a boat in advance before an
exploration AUV is put into water. As AUV images cannot be checked until it returns,
we need information where we should put an AUV. The station consists of a cage on
the seabed, a float which relays underwater images to a support vessel and an umbilicalcable from the cage to the float. We describe the concept, the design and system
integration of the station in the paper. We also present an experimental result that was
carried out to test the implemented functions at Suruga bay at 100m water depth.

OS23-4 Consideration on Installation Method of In-situ Drilling Platform through Simulations(withdraw)
Keisuke Watanabe (Tokai University, Japan)

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

OS23-5 Environment Map Generation in Forest Using Field Robot

Noboru Takegami, Eiji Hayashi, Ryusuke Fujisawa (Kyushu Institute of Technology, Japan)

We are developing an autonomous field robot to save labor in forest operation. Abouthalf of Japan's artificial forest area is already available as wood. However, trees are notharvested and forest resources are not effectively used, because the labor and costs are
not sufficient. The employment rate of young people in forestry tends to decline, andthe unmanaged forest area is expected to increase in the future. Therefore, in ourlaboratory we propose an autonomous field robot with all terrain vehicles that focuseson the automation of work. The robot automates weeding and observation in the forest.
In this research, we introduced Robot Operating System (ROS) to this robot. In
addition, we observed trees by generating an environmental map in the forest using
Simultaneous Localization and Mapping (SLAM).

OS23-6 Graph-Based Path Generation for Area Coverage

Ayumu Tominaga, Eiji Hayashi, Ryusuke Fujisawa (Kyushu Institute of Technology, Japan)

This research addresses the trajectory generation in 2D Euclidean space for navigationof an autonomous land vehicle (ALV). The main aim of the approach presented is to
give the trajectory in order to cover the given work space to the ALV for maximize
effect of the ALV. In this work, we propose graph-based offline trajectory generation
method. Here, a Hamiltonian path would be find using 2D coordinates ofenvironmental landmarks as nodes in the graph. The Hamiltonian path contains nodes
that will express a midpoint between a pair of landmarks, it could be treated as global
trajectory. We applied the method to an actual artificial forest with treating cultivatedtrees as nodes in the graph.

OS24 Robot Intelligence and Factory Automation (6)OS24-1 Deep Object 6-Dof Pose Estimation Using Semantic Pixel-wise Segmentation
Victor Pujolle, Eiji Hayashi (Kyushu Institute of Technology, Japan)

Pose estimation algorithms’goal is to find the position and the orientation of an object
in space, given only an image. This task is complex, especially in an uncontrolledenvironment with several parameters that can vary, like the object texture, thebackground or the lightning conditions. Most algorithms performing pose estimationuse deep learning methods. But it is hard to create dataset to train such kind of models.
In this paper I developed a new algorithm robust to a high variability of conditions
using semantic segmentation of the image and trainable on a virtual dataset. Thissystem should perform keypoints based pose estimation without considering
background, lighting or texture changes on the object.

OS24-2 Autoencoder with Spiking in Frequency Domain for Anomaly Detection of Uncertainty Event
Umaporn Yokkampon, Sakmongkon Chumkamon, Eiji Hayashi(Kyushu Institute of Technology, Japan)

Since the research of big data and the internet of things are broadly and facilitate humanlife which could let the human know their information to predict or plan their activities.
However, in uncertainty real-world data, there are the anomaly cases sometimes occur
in all data because of the obtaining data process or obtaining devices. In this paper, we
propose the autoencoder method with spiking raw data to the frequency domain to
analyze and predict the anomaly case among the standard data set. Moreover, weevaluate and performance of the autoencoder method with various activation functions
and loss functions. In this paper, we propose the new idea to utilize the Root Mean
Square Standard Deviation for the loss function to improve the reconstruction processof the method. Finally, we evaluate and discuss the characteristic of Autoencoder
performance.

OS24-3 Evaluation of the Relationships Between Saliency Maps and Keypoints

Ryuugo Mochizuki, Kazuo Ishii (Kyushu Institute of Technology, Japan)

Attention is a selective action of focusing on particular objects, which is essential forenvironmental recognition and categorized into bottom-up attention driven by locally
outstanding image region and top-down attention like searching. Itti et. al. proposed thesaliency map based on intensity, color and edge orientation. However, the saliency
depends on spatial frequency because fixed size Gaussian filters is applied for Itti’ssaliency map. Generally, scale-invariant keypoints in image feature extraction are
generated by similar manner with saliency map and often applied for image matching
and localization problems. One of desirable property of keypoints is invariant tophotographed conditions such as lighting, orientation, distance, etc. In this paper, therelationships between saliency maps and keypoints are evaluated.

OS24-4 Robot Motion and Grasping for Blindfold Handover

Jiraphan Inthiam, Sackmongkon Chumkamon, Umaporn Yokkampon, Eiji Hayashi(Kyushu Institute of Technology, Japan)

Autonomous robots in human-robot interaction (HRI) recently are becoming part ofhuman life as the number of service or personal robots increasingly used in our home.
In order to fulfill the gap of HRI merit, we would like to propose a system of theautonomous robot motion and grasping creation for assisting the disabled person suchas the blind people for handover tasks to help blind people in pick and place tasks. In
this paper, we develop the robot motion to receive the object by handing over from theblindfold human to represent the blindness. To determine the target of the object andhuman hand, we implement the 6DOF pose detection using a marker and handdetection using the Single Shot Detection model in Deep learning for planning motion
using 9DOF arm robot with hand. We finally experiment and evaluate the tasks fromblindfold-robot handover tasks.

OS24-5 Gait Learning Method for Quadrupedal Robot Using Chaos Time-series Analysis
Yuehang Ma, Kaori Watanabe, Hidekazu Suzuki (Tokyo Polytechnic University, Japan)

In the field of pet robots and robot-assisted therapy (RAT), characterization of animal
motion is important for the development of robots resembling various animals. This
paper presents a method for the generation of animal gait in quadrupedal robots. In thisstudy, we employed AIBO as an experimental quadrupedal robot and generated the gaitof the robot on the basis of an animal’s gait. In the previous study, we optimized themono-leg orbit, which can efficiently output a propulsive force, by imitating a dog’s
gait using a genetic algorithm. Moreover, we generated the quadrupedal gait of AIBO
using both the optimum orbit of the mono-leg and an animal’s gait, classified as thegait of a walking dog based on zoology. In this report, minor deviation of parameters
for each joint was corrected to realize the stable gait on the ground.

OS24-6 Development of Antagonistic High Power Joint Mechanism with Cams

Katsuaki Suzuki1, Yuya Nishida1, Takashi Sonoda2, Kazuo Ishii1(1Kyushu Institute of Technology, Japan, 2Nishinippon Institute of Technology, Japan)

Acquiring flexible and agile behaviors as seen in biological systems, the robot canachieve acrobatic movements such as jumping and throwing. These acrobatic
movements are expected to extend the range of robot activity. In this research, we
propose a special mechanism using a pair of motors, springs and cams, which has threefunctions: normal operation, instantaneous operation and variable rigidity. Then, we
derived a mathematical model of the mechanism and discussed the input-output
characteristics of the mechanism by changing the design parameters, and analyzed thedifference between the theoretical and measured results.

Cam

Cam follower
Linear guide

SliderSpringWire

Output linkMotor

GS abstracts
GS1 Neural Networks (6)GS1-1 Neural Network and Internal Resistance based SOH classification for lithium battery
Jong-Hyun Lee1, Hyun-Sil Kim2, In-Soo Lee1 (1Kyungpook National University, Korea)(2Naval Combat Systems PMO Agency For Defense Development, Korea)

Today, lithium battery is used in various fields. Therefore, for stable use, it is important
for the device and the system quickly to detect the defect occurring in the battery anddiagnosis the fault accurately. Battery fault can be diagnosis by measuring the state ofhealth (SOH) of the battery, and SOH is changed by various operating conditions. In thispaper, the battery SOH monitoring system was implemented to diagnosis the fault of abattery cell through MNNSC (Multilayer Neural Network State Classifier) and IRSC
(Internal Resistance State Classifier). In this method, MNNSC utilized the discharge
voltage data that was obtained by operating the lithium battery cell at high temperature.
On the other method, IRSC uses open circuit voltage, terminal voltage and current tocalculate internal resistance. From the experiment results, we know that the proposed
battery SOH monitoring method diagnosed the state of battery very well.

GS1-2 Estimation of Self-Posture of a Pedestrian Using MY VISION and Deep Learning
Tomoyuki Kurosaki, Joo Kooi Tan (Kyusyu Institute of Technology, Japan)

In this paper, we aim at developing a system that can be used easily even by elderly
people; thus the use of a single wearable camera, resulting in an inexpensive system.
Walking posture of a user equipped with a self-mounted camera is estimated using apair of images obtained from the camera. Because the parallax of the image pairobtained from the chest-mounted camera is normally small when walking straight, it isdifficult to estimate camera motion. So we employ a convolutional neural network inthis research. It consists of three networks; a bootstrap net, an iterative net and arefinement net. In the bootstrap net and the iterative net, optical flows, camera motion
and a depth image are alternately estimated to improve accuracy. In the refinement net,
the resolution of the depth image is increased.

GS1-3 Simultaneous Space Object Recognition and Pose Estimation by Convolutional Neural
Network
Roya Afshar, Zhongyi Chu (Beihang University, China)
Shuai Lu (Beijing University of Chemical Technology, China)

The increasing population of orbital debris is considered as a growing threat to space
missions. For this purpose, Convolutional Neural Network was implemented based ontransfer learning and data augmentation in order to conduct satellite classification andpose regression. In addition, the effects of un-centered and noisy images as well as
different illumination conditions were analyzed by implementing different pre-trained
networks. Based on the results, the present method could identify satellites and evaluate
their poses against different space conditions effectively.

GS1-4 An error correction mechanism for reliable chemical communication systems
Masashi K. Kajita (The University of Tokyo, Japan)

Chemical communication systems, such as bio-inspired chemical sensory systems or
biological cells, sense the environment by detecting target ligand molecules, whichconvey environmental information. However, non-target ligands, similar to the target
ones, are ubiquitous in the environment and can hamper accurate informationtransmission. In this work, we investigate an error correction mechanism for reliablechemical communication and find an intuitive understanding of how the mechanism
can amplify the small difference between the target and non-target ligands. We also
demonstrate that the mechanism can balance accuracy and output intensity. Our
approach may provide a method to design a reliable chemical communication system.

GS1-5 A Reinforcement Learning-Based Path Planning Considering Degree of Observability
Yong Hyeon Cho, Chan Gook Park (Seoul National University, Republic of Korea)

This paper presents a novel way to find a path using degree of observability as a reward
for the reinforcement learning in the INS/GNSS loosely coupled system. In the proposed
algorithm, an agent follows the Dubin's car model in a grid map, using a degree ofobservability to update Q-value. Various ratios between the penalty and reward at eachstep show different trajectories, and the specific state’s degree of observability at theendpoint of a grid map is compared with one another. The progress is shown by acomputer simulation.

GS1-6 A Performance Analysis of Pose Estimation Based on Two-View Tracking and Multi-State
Constraint Kalman Filter Fusion
Tae Ihn Kim, Jae Hyung Jung, Chan Gook Park (Seoul National University, Republic of Korea)

This paper presents a performance analysis of two-view tracking and Multi-State
Constraint Kalman Filter (MSCKF) fusion for a pose estimation. The system andmeasurement model of both two-view tracking and MSCKF are derived based on thefusion condition. The simulation result of the fused algorithm using the Drone Racing
dataset, collected from an aggressive flight of micro aerial vehicle (MAV), shows theperformance improvement of both attitude and position estimation compared to theperformance of MSCKF.

GS2 Control Techniques (5)GS2-1 ORB-SLAM based Sensor Fusion Algorithm for Real-Time Precision Driving

Yong·Jin Ock, Zhan·Ming Gu, Jang·Myung Lee (Pusan National University, Korea)

There was a problem that it was not possible to determine the exact posture and position
with a single image alone. To compensate for this, additional IMU sensor and encoder
sensor should be installed and calibrated. At this time, the encoder sensor acquires
information about the distance traveled and the attitude of the mobile robot. The IMU
sensor measures the attitude error caused by the sliding and friction of the mobile robot
and acquires the slope information of the current terrain. As a result, by combining thelocation information acquired by using the SLAM and the complex location
information of the IMU sensor and the encoder sensor, precise position control ispossible even in a space without many feature points.

GS2-2 Gait Control of A Four-Legged Robot with Fuzzy-PID Controller

Arphakorn Kunha, Amornphun Phunopas, Wisanu Jitviriya(King Mongkut’s University of Technology North Bangkok, Thailand)

The mobile robot has developed as the legged mobile robot. Which has a highlocomotion performance on smooth and non-smooth surface Meanwhile, the legged
mobile robot movement should be have algorithm for control on the legged. Because
the legged robot has required self-balance and gait that imitated from the locomotion
behavior of four-legged animal, such as dog cat horses, etc. Therefore, this paper aims
to describes the control system design of the four-legged robot through the PID that it
is a controlling of gait. The fuzzy model has used as a determined a range of error insystem. But the experiment has emphasized on walking-trot in the gait of animal

GS2-3 Hybrid Force/Position Teaching and Control Method for 6 DoF Manipulator utilizing fPAWTED
Quang-Trung Chu, Hiroki Tanaka, Hideki Inuzuka, Yoshifumi Morita (NITech, Japan)
Masao Sakai (Aichi Pref., Japan)

We have proposed a direct teaching method coupling with a specialized device, Parallel
Wire Teaching Device (PAWTED) with a force/torque sensor, named f-PAWTED sothat operator can easily teach any desired trajectories to the 6 DoF robot manipulator
by using a human hand instead of a teaching pendant. By applying the f-PAWTED andhybrid position/force control method, the robot can accurately reproduce the teaching
trajectory in both position and direction, as well as force and torque in 3-dimensional
space without consuming huge amount of time. In this paper we propose a teachingsystem based on hybrid position/force control measure to teach robot in both position,orientation and force. The experimental results proved that we can precisely playback
desired trajectories by utilizing f-PAWTED.

f-PAWTED

GS2-4 A Study on Generalized Predictive Control in Consideration of Noise

Akira Yanou (Kawasaki University of Medical Welfare, Japan)

Generalized Predictive Control (GPC) is one of the model-based control methods. The control
law is derived through the performance index based on the sum about the squares of control input
and the squares of the error between reference signal and output prediction. Although coprime
factorization approach has been used in order to extend the conventional control law in theprevious researches, there has been a possibility that the order of the derived control law becomes
high. Therefore, this paper extends GPC through newly defined output prediction and proposes
the method to re-design the control law or the characteristic from noise to output with keeping
the closed-loop transfer function. Numerical example is shown to check the characteristic of the
proposed method.

GS2-5 Simulation Study on Emergency-Stopping Avoidance Control due to Singularity During
Teaching Operation with Parallel Wire-Type Teaching Device
Hideki Inuzuka (NITech, Japan), Masao Sakai (Aichi Pref., Japan), Yoshifumi Morita (NITech, Japan)

It is possible to easily teach complex motions to industrial robots by the direct teachingsystem using our developed teaching device (PAWTED). However, practicalexperiments have shown that there are still some problems. One of them is theinterruption of teaching operation caused by the emergency stop feature of the robot due
to singular configuration during teaching operation. In order to solve this problem, we
proposed a control method to avoid the emergency stop of the robot due to shoulder
singular configuration by correcting robot motion using a unique and flexible
characteristic of the PAWTED. Specifically, we considered correcting the robot motion
by changing the target value that the robot follows the PAWTED. We confirmed theeffectiveness of the proposed control method by conducting simulation study to verify
that the emergency stop does not occur even in a singular configuration or its vicinity.

Σ5

Σ1shoulder singular configuration

GS3 Vision & Image Processing (4)GS3-1 Detecting Pedestrians and Moving Directions by a MY VISION System

Kenta Hori, Seiji Ishikawa, Joo Kooi Tan (Kyushu Institute of Technology, Fukuoka, Japan)

We propose a method for detecting visually impaired (user) pedestrians using images
provided by a camera attached to the visually impaired (head). In the proposed method,a flow area different from the flow generated by the movement of the camera is extracted
from the camera image. Pedestrians are detected by calculating the characteristics of amulti-scale cell HOG (MSC-HOG) that places cells along the outline of a person in thearea. At the same time, a histogram is created in the flow area of the pedestrian, and the
direction is recognized by comparing it with the flow histogram showing the walking
movements learned in advance. This is to know the direction of the pedestrian toward
the user wearing the camera. We experimented with the proposed method and showed
its effectiveness.

GS3-2 Human Motion Recognition Using TMRIs

Cao Jing, Youtaro Yamashita, Joo Kooi Tan (Kyusyu Institute of Technology, Japan)

With the aggravation of the aging trend in Japan, the number of elderly people living
alone has gradually increased, and the development of elderly people care system has
begun to receive attention. Considering the importance of introducing an intelligent
robot to the care of those elderly people in near future, this paper concentrates on
automatic human motion recognition. This paper proposes a MHI(Motion History
Image)-based method called TMRIs (Triplet Motion Representation Images) that solve
in recognition, a self-occlusive motion problem particularly in the depth direction using
a single camera. The performance and effectiveness of the method are verified byexperiments.

GS3-3 Automatic Extraction of Abnormalities on Temporal CT Subtraction Images Using Sparse
Coding and 3D-CNN
Yuichiro Koizumi, Noriaki Miyake, Huimin Lu, Hyoungseop Kim(Kyushu Institute of Technology, Japan)
Takatoshi Aoki (University of Occupational and Environmental Health, Japan)
Shoji Kido (Osaka University)

In recent years, the rate of death from cancer has tended to increase in Japan, and thenumber of deaths from lung cancer in particular has been increased. CT device iseffective for early detection of lung cancer. However, there is a concern that increasing
the performance of CT will increase the burden on doctors. Therefore, by presenting a"second opinion" in the CAD system, the burden on the doctor is reduced. In this paper,
we develop a CAD system for automatic detection of lung cancer from 3D CT images.
Our proposed method using temporal subtraction technique, sparse coding and 3D
convolutional neural network. Also, to confirm effective sparse coding parameters in
CNN, an image for each parameter was used as an input image. We applied our method
to 31 cases and obtain the result that sparse level contributed most to the score.

.
Fig. 1 Sample of image
reconstruction by sparse coding.
Combining base size a, basenumber b, and sparse level s.

GS3-4 Design of a Data-Driven Multi Controllers Using VRFT and Ensemble Learning
Takuya Kinoshita, Yuma Morota, Toru Yamamoto (Hiroshima University, Japan)

Data-driven control has been focused as a scheme of directly designing a controller
from experimental data, and virtual reference feedback tuning (VRFT) was proposed
for linear time-invariant systems. In the field of machine learning, the ensemble
learning was proposed to improve the accuracy of prediction by using multiple learners.
In this study, a design scheme of data-driven controllers using ensemble learning and
VRFT is newly proposed for linear time-varying systems. The ensemble learning candivide the linear time-varying system into some sections that can be regarded locally as
linear time-invariant systems.

GS4 Robotics 1 (4)GS4-1 Design and Modeling of an Automatic Cartesian Farming Robot

Wisanu Jitviriya, Amornphun Phunopas(King Mongkut’s University of Technology North Bangkok, Thailand)
Eiji Hayashi (Kyushu Institute of Technology, Japan)

Currently, farming robots have become increasingly for households. The combinationof modern technology and agriculture that is automatic system design, it is extremely
accurate but also cost less than hiring human labor to work. All processes of the farming
robot must be organic. The development of Cartesian Coordinate Robot (CCR) can
operate in the multi-function such as tillage, applying fertilizer, sowing, and watering
plants. In this research, which focuses on image processing to detect the plants andeliminate the weeds. The OpenCV library was used to detect the color green from theplant leaves, and from that, the program will do the rest. The elimination part of thesystem was constructed based on a brand-new idea that had never been done before
until now. From all the experiments done, the conclusion looked promising, the blades
were able to function at 80 percent efficiency

PhotosCommands
Read Pins

Data, Logs
Steps & Direction Pulses

Write Pins

GS4-2 K-APF Algorithm to Avoid Obstacles in Path Planning

Dong-Kyo Jeong (Pusan National University, Korea)
Jang-Myung Lee (Pusan National University, Korea)

In this paper, a K-APF algorithm has been proposed to resolve the local minima andunstable path problems that occur when the conventional APF (Artificial Potential
Field) algorithm is used for path planning in a real environment, which is the mostpopular path planning algorithm for robot manipulators and mobile robots, To avoid
the local minima with the conventional APF, repulsive coefficients have been added tothe potential field and the unstable path has been smoothed by the Kalman filter. In
order to demonstrate the performance of the proposed algorithm, it is compared to A *star and Dijkstra algorithms through the real experiments in terms of accuracy andspeed.

GS4-3 Selection System of Robot type for cell assembly production (Production efficiency comparisonof single arm robot and double arm robot)
Takahiro Watanabe, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)

The purpose of this research is to compare the production efficiency of single arm robot
and double arm robot. This research determines which robot is suitable for an assembly
cell production, a single arm robot or a double arm robot. First, we develop the system
to use a double arm robot to determine the best parts location by genetic algorithm (GA).
The system consists of two modules, the conditions module and GA module. The
conditions module reads work data for robot and sets up various parameters required for
GA. The GA module decides the efficient arrangement place of parts, jigs and robot
hands by GA and outputs the acquired arrangement visual images. Next, we use a single
arm robot at the same parts location and compare the working time with a double arm
robot. Finally, we conclude which robot is suitable for an assembly cell judging fromthe results of a total robot working time.

Cell type assembly machineGS4-4 Curvature Surface Magnetic Wheel Climbing Robot with Adaptive Electromagnetic Adhesive
Force
Richit Palangwatanakul, Apisit Thungsang, Kaned Thungod (Mahasarakham University, Thailand)
Arsit Boonyaprapasorn, Wanachart Borisut (Chulachomklao Royal Military Academy, Thailand)
Thavida Maneewarn, Suriya Natsupakpong (King Mongkut’s University of Technology Thonburi, Thailand)
Thunyaseth Sethaput (Sirindhorn International Institute of Technology, Thammasat University, Thailand)
Various industrial structures or machines mostly consist of different shapes offerromagnetic curvature surfaces. The magnetic wheel climbing robot is the suitableapproach for achieving both adhesion and locomotion of the inspection robot. However,
the adjustable magnetic force for robot adhesion is necessary, especially when the
thickness of the surface is not uniform or the variation of the air gap between themagnetic adhesion units caused by the curvature of the surface. This can lead to theinsufficient adhesive force. Furthermore, unnecessary driving torque of the motor toactuate the climbing robot from the over design of the magnetic adhesive force from themagnetic wheels can be avoided. Due to the level of the adaptive adhesive force isnecessary to be considered, we designed the adaptive electromagnetic adhesive force
mechanism for the curvature surface climbing robot with magnetic wheels. The PID
controller was employed to control the electromagnetic force, and the adhesive force wasmeasured by a load cell. This measurement signal was used as a feedback signal. In thepaper, we investigated the capability of this adjustable magnetic force system. Five
aspects of experimentation were implemented. It was clear that the light weight
electromagnetic force adjustment mechanism could provide the flexibility to regulate theadhesive force for the magnetic robot while traveling on the ferromagnetic curvaturesurface.

GS5 Robotics 2 (4)GS5-1 Intention Classiﬁcation of a User of a Walking Assist Cart by Using Support Vector Machine
Noritaka Sato, Tomoki Yokotani, Yoshifumi Morita (Nagoya Institute of Technology, Japan)

As the number of elderly people increases, the demand for walking assist cart isincreasing. To develop better assist function for the cart, we focused on the predictionof the intention of a user of the cart (Intention classification of the user), when the stateof the cart changes. As the first step of the study, the forces and torques to the cart fromthe user’s hands, and the rotational velocities of the wheels are sensing. And the Support
Vector Machine, which is one of the most popular and effective techniques in theartificial intelligence is used for intention classification. As a result of the experimentwith five subjects, we confirmed that our method was able to predict the intention of
the user with enough accuracy.

GS5-2 Development of an Environmentally Adaptable Autonomous Mobile Robot
Naokazu Iwata, Joo Kooi Tan (Kyushu Institute of Technology, Japan)

In recent years, much attention has been focused on service robots for supporting ahuman life. These kinds of robots are necessary to adapt flexibly to various kinds ofusage, scenes, or even to environmental changes. This paper proposes anautonomous mobile robot system that adapts to various environments and travel
routes based on the image features obtained from a RGB-D camera. To realize therobot system, techniques are proposed for estimating self-position of a robot using
local features of images, segmenting an image for finding a movable area, andplanning a route for finding the destination. In the route planning, junctions arelabelled numbers for the robot to travel in the order. The developed mobile robot
travels to the destination employing the information on the estimated road region,
its self-position and the planned route. Experimental results, traveling two routes ina real environment, show effectiveness of the proposed system.

GS5-3 Automated Task and Path Management for Industrial AGVs in Foam Manufacturing Plant
Amornphun Phunopas1, Wisanu Jitviriya2, Noppadol Pudchuen3, Songklod Tunsiri4,
Eiji Hayashi5 (1,2,3King Mongkut’s University of Technology North Bangkok, Thailand,
4
Urban Community Development College, Thailand
5
Kyushu Institute of Technology, Japan)

AGVs are increasingly used in the automated warehouse with a high demand forchanging traditional workflow management to industrial 4.0. The heart of thecomputerized system is the central software that can distribute work functions from thequeues and manage the AGVs’ traffic. On the 2D floor plant layout, the girds are
initially from marked points or the place that AGVs have to transit to do an assigned
task. This research proposes autonomously generating paths via four nearest grids andpath switching scenarios. The results show the generated paths with sequential tasks
concurrently in random conditions. The task management method can prevent the
AGVs’ crash and bottleneck from the operation of nine machines in the foam
manufacturing plant.

GS5-4 Object Tracking Method Considering Time Series Information Using Re3 with Stochastic Depth
Taichi Kitayama, Hyoungseop Kim (Kyushu Institute of Technology, Japan)

Container transportation plays an important role for international cargo transportation.
The amount of container cargo movement in the world has increased over the years. In
recent years, container terminals are required to automate cargo handling operations
from the viewpoint of improving the working environment and ensuring the safety of
employees. However, the automation of cargo handling work has not yet been realizedin Japan. One of the reasons is that the technology for measuring the relative position
between the container and the suspension has not been established. In this study, we
propose a tracking method of container gripping area using deep learning for the
purpose of relative position measurement. A hybrid tracker called Re3 using a
convolutional neural network (CNN) was used. However, this model alone has aproblem that global features cannot be extracted well. To solve this problem, thismethod incorporates a model called Stochastic Depth.

GS6 Application Techniques (9)GS6-1 A Promoting Method of Role Differentiation Using the Learning Rate Getting Periodically
Negative Value in Multi-agent Reinforcement Learning
Masato Nagayoshi, Simon Elderton (Niigata College of Nursing), Hisashi Tamaki (Kobe Univ.)

There have been many studies on the multi-agent reinforcement learning (MARL) in
which each autonomous agent obtains its own control rule by RL. Here, it is consideredthat different agents having individuality is more effective than uniform agents in termsof role differentiation in MARL. In this paper, we propose a promoting method of roledifferentiation using a wave-form changing parameter in MARL. Then we confirm theeffectiveness of role differentiation by the learning rate getting periodically negativevalue through computational experiments using "Pursuit Game" as one of multi-agent
tasks.

GS6-2 Verification of a Combination of Gestures Accurately Recognized by Myo
Using Learning Curves
Kengo Kitakura, Hideyuki Tanaka (Hiroshima University, Japan)

A technique for hand gestures recognition from sEMG (surface ElectroMyoGraphy) is
useful for extending means of human communication. Recently, the Myo armband is
one of the most popular sEMG acquisition systems, because it is relatively inexpensive
and easy to remove. This paper studies verification of a combination of hand gestures
recognized by using the Myo armband as an input device. To this end, relationshipbetween data distribution and learning curves is investigated for binary classification
problem and multi-class classification problems. A verification method is then proposed
for finding a combination of gestures accurately classified. Since data distribution
depends on removal of Myo, three cases of experiments are carried out: For the firstcase, Myo is not removed between training and test data acquisition. For the second
and third case, Myo is removed; there is a little time or several days between dataacquisition.

GS6-3 Augmentative and Alternative Communication Device Based on Head Movement to Aid
Paralyzed Victims with Speech Disabilities
Vihanga Ashinsana Wijayasekara, Torin Wirasingha(Informatics Institute of Technology, Sri Lanka)

Augmentative and Alternative Communication (AAC) devices have been proven to be
as an alternative to help people, who are having communication difficulties. In thispaper, high tech AAC device focusing on paralyzed victims or other motor disabilities
which allow them to control with their head gestures is proposed. The proposed system
consists of a mobile app, a controller and a head tracker. Easy to familiar with and lessmaterial cost are some of the key advantages of this device.

.

GS6-4 The research about editing system of performance information for player piano. -Makeinferences about whole musical composition by using DP matching systemMami Ezaki, Eiji Hayashi (Kyushu Institute of Technology, Japan)

Playing the piano expressive by player piano, it is necessary to adjust the volume,
length, and timing of music. In the case of piano music, there are often 1000 or morenotes in the score of even a short piece of music. So, to edit music data manuallyrequires not only knowledge but also a huge amount of time and effort. Therefore, we
aimed to develop a system that, like a skilled pianist, can perform even the first musicalscore based on information related to previous skills and experience. In this paper, wedeveloped a system that automatically estimates the performance expression ofunedited music using edited performance data and score data. We described a phrase
search using DP matching and a method for selecting an optimal phrase for inference,and evaluated the entire song.

GS6-5 Evaluating Public Perception using Fuzzy Logic: A case study of Praeksa Mai dumpsite in
Samut Prakan, Thailand (withdraw)
Sun Olapiriyakul, Khemika Kongpetch(Sirindhorn International Institute of Technology, Thammasat University, Thailand)Particularly in developing countries, the issue of poor public perception towards solid
waste management systems is commonly observed across rapidly urbanizing regions.
The evaluation of the negative impact a waste site on public perception is the first step
towards improving the well-being of local communities. This research intends toresolve the negative perception issues by developing a constructive impact assessment
methodology for a dumpsite in Samut Prakan, Thailand. The evaluation of public
perception impact is made, considering the factors affecting public concerns overenvironmental and health risks and population exposure. The fuzzy logic concept isused to account for public perception variability across different impact distances. The
calculated impact scores of the dumpsite are useful for problem prioritization andbenchmarking purposes.

GS6-6 A Development of a Model CubeSat with an Amateur Radio Transceiver for Education on
Satellite Communication
Masahiro Tokumitsu, Kentarou Konishi (National Institute of Technology, Yonago College, Japan), Taku Takada,(National Institute of Technology, Kochi College, Japan), Fumio Asai (Member of the Radio Amateur Satellite
Corporation), Makoto Wakabayashi (National Institute of Technology, Niihama College, Japan)
We report the development of a Model CubeSat for education on satellite
communication. The communication between satellites and ground stations is an
essential part of satellite operations. As a critical part of the satellite systems, we
focused on satellite communication to train the student so that they can develop andoperate the CubeSats. The Model CubeSat equips with fundamental components thatare necessary as the satellites such as an onboard computer, sensors, communication,and power supply. The software programs of the Model CubeSat provide two functions:controlling and monitoring satellites, and data transmission of telemetry data and image
data. The students can study the communication equipment and operations of satellite
communication by our Model CubeSat.

GS6-7 Performance Evaluations on Data Estimation Technique with Statistical Properties of Telemetry
Data for Corrupted Data in Amateur Satellite Communication
Yusuke Teranishi, Masahiro Tokumitsu (National Institute of Technology, Yonago College, Japan), Taku Takada,(National Institute of Technology, Kochi College, Japan), Fumio Asai (Member of the Radio Amateur Satellite
Corporation), Makoto Wakabayashi (National Institute of Technology, Niihama College, Japan)
We propose a novel technique on a data estimation for satellite communication andreport performance evaluations of the proposed technique. The proposed techniqueestimates the original data from the incorrect data, error detection codes, andsupplemental information. Firstly, we investigated the possibility of data estimation forlong length data by a brute-force technique. The first simulation results showed thatthe brute force technique succeeded in estimating the original data with the length 1024
bit from the incorrect data. Next, we considered the novel technique on the data
estimation for the incorrect data. The second simulation results showed that the
proposed technique succeeded in estimating the original data with the length 1024 bitfrom the incorrect data.

GS6-8 Heritage Building Design Properties: Development of As Built Drawing by UAV Application via
3D Laser Scanner
Hazry. D, Azizan. M. A, Noriman. N.Z, Romeli. N (Universiti Malaysia Perlis)

Inadequate information that represent the existing figure of the building after
transmission of years and the eagerness of the Malaysian’s architect to develop
frantically modern development design that gradually neglecting the essence of
cultural perseverance of the heritage building has been brawled excessively. Taking ahuman – factor constraint to conduct the physical survey, the technologies such as
computers and digital media have given beneficial value that are time saving and lessrisky. Hence, the research aim for the development of the as-built drawing for Masjid
Alwi, Kangar, Perlis has been completed via UAV Application and 3D Laser Scanner,and results were recorded on the structural and architectural properties of Masjid Alwi
and analyzed accordingly. Therefore, the needs of having an adequate as-built drawing
due to the depletion of the ancient documentation and as a baseline for the designer
maintaining the cultural identity in a way to design new development.

GS6-9 A Virtual System for Measurements and Analysis of the Respiratory Sounds for Diagnosis of
Respiratory System
Ali S. AlMejrad (King Saud University, Kingdom of Saudi Arabia)

Respiratory problem is one of the most common health problems occurring in Saudi
Arabia due to the continuous changes of the weather in addition to surface winds thatcause dust during all seasons in the year. This problem affects most people and especiallychildren and elderly in addition to the adults who have respiratory problems such asasthma. This is one of the problem that need emergency care as soon as it occurred. The
goal of our research is to develop a compact respiratory diagnostic system using
advanced signal processing that can be used remotely via the virtual instrumentation
technology to help accurately diagnosis at early stages of respiratory diseases. It can also
overcome the lack of expert physicians in rural regions and some urban clinics or healthcenters. The proposed system will be implemented using virtual instrumentation (VI)that consists of computer, microphone with simple analog circuit, digitizer and
LabVIEW software (National Instruments Inc.). VI has been designed for easymeasurement and analysis. In addition to that, it has features and ability to control thewhole system of acquisition, play, display, processing, advanced analysis, display andreport printing of the different acquired respiratory signals and diagnosis.. The
developed system has been tested with real respiratory signals of normal and abnormalcases that proved to be efficient system while dealing with many respiratory problems
conditions.

GUI and Front Panel ofDeveloped Virtual
Respiratory
Measurements andAnalysis System

GS7 Poster (4)POS7-1 The Development and Evaluation of Fig’s Leaf Syrup

Shang-Hui Li, Pei Hi Zheng, I Chih Chiang, Yu Ting Su, Syue Sheng Lin (Far East University, Taiwan)

The figs sold in the market are only fruits and their processed products, the use of fig’s
leaves are relatively rare. But, the fig’s leaves contain furanocoumarins, flavonoids,
pectins, resins, sugar and vitamin C (Meng et al., 1996). Perhaps the special aroma of
its leaves, or perhaps the astringency of the leaves, is less acceptable to consumers.
This study used fig’s leaves as the main ingredient with crystal sugar and different kindsof vanilla formula to developed if more consumers willing to accept fig’s leaves syrup
or not. Sensory evaluation was processed after the finished product was diluted. The
obtained results was statistically analyzed by SPSS12.0, and analyzed by single factor
variance and number allocation table analysis.110 students and teachers of Far East
University, Tainan were selected for convenience sampling methods and 100 valid
questionnaires were collected. The content of the evaluation was based on theappearance, aroma concentration, aroma preference, sweetness concentration,
sweetness preference, astringency, aftertaste, overall acceptability, and willingness etc.
And find out the most suitable formula of the fig’s leaves syrup. In terms of appearance,
the fig’s leaf syrup with other vanilla is more acceptable than the original fig’s leaf
syrup. As for lemon fig’s leaf syrup, although the aroma is the strongest, but the overall
acceptance and purchase intention is the lowest due to its high astringency. Mint fig’s
leaf syrup, its aroma is accepted with the highest level. The results of thecomprehensive data analysis found that the most suitable formula is fig’s leaf 60gs,
water 400gs, crystal sugar 200gs and mint 15gs.

POS7-2 The Research and Development of Fruit Puffed Rice

Shang-Hui Li, Yi-Ru Wang, Yi Ting Liu, En-Yi Lu, Cheng Han Li, Fang Quan Zhang(Far East University, Taiwan)

In recent years, Agriculture and Food Agency, FDA, Council of Agriculture, Taiwan,
has vigorously promoted rice food products such as rice bread, rice noodles, rice seedstrips, rice instant noodles, rice cakes, rice puffs and other products. Puffed rice is oneof the most common traditional snacks in Taiwan. The ingredients are mostly rice,
maltose, brown sugar, water and salad oil. But snacks on the market have gradually
diversified due to the advancement of the times, moreover, the commercially available
puffed rice flavor is too monotonous and generally not popular with young people. In
this study, to make puffed rice based on natural freshly squeezed fruit juice with four
different formulas of original flavor, pineapple, lemon and grape for sensory evaluation.
100 consumers were selected from Far East University, Tainan, by means of aconvenient sampling method for formal favorite sensory evaluation. 95 valid
questionnaires were collected. The evaluation included rice flavor, sweetness, acidity,
degree of adhesion, brittleness and overall acceptance, and the results were statisticallyanalyzed with SPSS12.0. The study results showed that pineapple-scented puffed rice
had the highest level on crispness, the overall acceptance and the willingness topurchase. However, lemon- scented puffed rice had a low scent, low overall aroma, lessfragile, high acidity, and low on overall acceptance and willingness to purchase. The
most suitable formula for this study was rice scent 300g, pineapple juice 90g, salt 3g,
maltose 90g, salad oil 24g, and brown sugar 160g.

POS7-3 The Research of Heath Western Cuisine – A Study of Aloe in Cooking
HsiYing Hsieh (Far East University, ROC Taiwan)

Aloe vera, is widely used in food, medicine and cosmetic products. With the
improvement of the system of health care food, more and more consumers are willingto buy health care food and cosines. The study aims to understand the purchaseintention of Aloe Vera in Cooking for heath western cuisine. The questionnaire will besurveyed in Tainan City. Data analysis of description, T-test, and Anova will be
conducted by SPSS software. Based on the results of study, the future development
and utilization of aloe vera cuisine are also discussed.

.

POS7-4 The Influence of Attitude, Subjective Norm, Perceived Behavior Control on Purchase Intention– A Study of the Green Restaurants in Taiwan
HsiYing Hsieh (Far East University, ROC Taiwan)

Green food is widely promoted for personal health and environmental benefits. Thus,
decision making on consumers’ purchase intention towards green restaurants in is a
critical issue. The purpose of study is to understand how attitude, subjective norm andperceived behavioral control drive consumer influence purchase intentions of green
restaurant. The questionnaire surveys were conducted to customers have consumed atgreen restaurants in Taiwan. In total, 250 valid questionnaires were obtained. Data
analyses use the SPSS software to test hypotheses. Based the finding attitude,
subjective norm and perceived behavioral control were significantly affect purchaseintention for green restaurants. Implication and suggestion are then discussed.

.

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)
Asada

[A]

Taro

OS16-2

31/75

A. B.

Shahriman

OS10-1

29/61

OS16-3

31/75

Abe

Yushi

OS20-425/80

OS16-431/75

Abdullah

Reem Ali

OS8-2

30/54

GS6-6

22/93

AburadaKentaroOS14-3

40/70

GS6-7

22/94

OS14-4

40/71

MA

GS6-8

22/94

OS14-5

40/71
Ruixiang

OS11-7

35/65

OS11-8

35/65

Asai

Fumio

Azizan[B]

AdachiRuka

OS16-331/75

Afshar

Roya

GS1-3

33/86

Ahmad

Mohd Zaki

OS10-6

29/62

OS10-730/63

Bereznikov

DmitryOS18-5

32/77

Bai

Ahn

JonghyunOS23-2

25/83

Bian

Ce

OS15-8

41/73

AiharaKazuyuki

OS6-1

24/52

Bo

Zhu

OS15-1142/74

Al aamaObada

OS20-5

25/80

Boonyaprapasorn Arsit

GS4-4

33/91

AlMejradAli S.

GS6-9

22/94

Borisut

Wanachart

GS4-4

33/91

OS10-8

30/63

OS7-3

28/53
Chai

Yi

OS2-3

38/46

AlpizarIxchel[C]

Ramirez
Al-Talib

Ammar A.

OS8-1

30/54

Chang

Hsuan T.

OS5-6

21/51

An

Lingran

OS9-7

37/57

Chang

Shengbiao

OS9-19

38/60

OS9-8

37/57

Chen

Chen-Pang

OS5-5

21/51

OS9-19

38/60

Chen

Chi-Jie

OS5-6

21/51

OS10-1

29/61

Chen

Jianyong

OS15-1

41/71

OS10-2

29/61

OS15-2

41/72

OS10-3

29/61

OS15-3

41/72

OS10-429/62

OS15-441/72

OS10-5

29/62

Chen

LugasiOS19-2

31/78

Chen

Xiaoyan

OS15-1

41/71

OS15-2

41/72

Ang

Chun Kit

Aoki

Takatoshi

GS3-3

41/89

Araki

NozomuOS12-2

26/68

Chen

- 97 -

Jiaqi

Chen

Yu-KaiChen

Zhenjiang

OS5-2

21/50

OS9-18

38/60

OS5-4

21/51

OS9-19

38/60

OS5-5

21/51

OS15-7

41/73

OS11-2

35/64

OS10-1

29/61

OS11-6

35/65

GS6-8

22/94

OS11-7

35/65

Domae

Yukiyasu

OS7-3

28/53

OS11-10

35/66

Dong

Hua

OS9-1437/59

OS9-15

38/59

Desa

Hazry

Cheng

Yuhui

OS9-2

36/55

Chiang

I ChihPOS7-1

30/95

Chiu

Jui-Yang

OS5-4

21/51

Cho

Yong Hyeon

GS1-5

34/87

EikawaAyumi

OS19-331/78

ChuQuang-Trung

GS2-3

34/88

Eiler

Anne-Claire

OS6-4

24/53

Chu

Zhongyi

GS1-3

33/86

Elderton

Simon

GS6-1

21/92

ChuangChih-Wei

OS5-3

21/50

EscandeAdrien

OS7-2

28/53

ChuangChing-Chun

OS5-3

21/50

Ezaki

Mami

GS6-4

22/93

Chumkamon

Sakmongkon

OS24-2

27/85

OS24-427/85
Fang

Lan-lanOS9-15

38/59

Fei

Shumin

OS3-1

28/47

[E]

[F]

[D]
Dai

Bo

OS1-2

39/45

Fuengfusin

NinnartOS20-2

25/79

DaiFengzhi

OS3-1

28/47

Fujisawa

RyusukeOS23-5

25/84

OS9-1

36/55

OS23-6

25/84

OS9-2

36/55

Katsuhito

OS6-4

24/53

OS9-3

36/56

OS9-4

36/56

OS9-5

37/56

GautamAshish

OS6-2

24/52

OS9-6

37/56

Geng

Guanwang

OS1-3

39/45

OS9-7

37/57

Gu

ZhanꞏMing

GS2-1

34/87

OS9-8

37/57

Guan

Yu-Ming

OS5-2

21/50

OS9-9

37/57

Guang

Chen

OS15-1142/74

OS9-1037/57

Guo

Jr-Hung

OS4-1

23/48

OS9-11

37/58

OS9-12

37/58

OS9-16

38/59

Han

Leixin

OS9-2

36/55

OS9-17

38/60

Hanajima

Naohiko

OS2-2

38/46

Fujiu
[G]

[H]

- 98 -

Hao

Hongbo

OS9-1

36/55

Hsiao

Jia-Ming

OS5-7

21/52

Hao

Hongbo

OS9-3

36/56

Hsieh

HsiYing

POS7-3

30/95

OS9-4

36/56

POS7-4

30/96

OS9-5

37/56

Hua

Chih-Chiang

OS5-3

21/50

OS9-16

38/59

Huang

Shu-Hua

OS4-7

24/50

OS9-17

38/60

Hung

Chung-Wen

OS5-1

21/50

OS15-7

41/73

OS5-2

21/50

OS7-1

28/53

OS7-2

28/53

OS7-3

28/53

I.

ZunaidiOS10-1

29/61

OS7-4

28/54

Ihida

Satoshi

OS6-4

24/53

PS-2

20/43

Imai

ShinichiOS12-1

26/68

OS23-5

25/84

Imameev

Dinir

OS18-1

32/76

OS23-625/84

InthiamJiraphanOS24-427/85

OS24-1

27/84

Inuzuka

Hideki

GS2-3

34/88

OS24-2

27/85

GS2-5

34/88

OS24-427/85

IshidaYutaroOS20-4

25/80

GS5-3

33/92

Ishii

Kazuo

OS22-2

23/82

GS6-4

22/93

OS22-4

23/82

HaradaHayashiKensuke

Eiji

[I]

He

Qing

OS11-2

35/64

OS22-5

23/82

Hiramaki

DaichiOS23-325/83

OS23-1

25/83

HiraokaToru

OS19-5

31/79

OS23-2

25/83

HirotaMasaharu

OS19-1

31/78

OS23-325/83

OS19-2

31/78

OS24-327/85

OS24-6

27/86

Ho

Chian C.

OS4-2

23/48

Ho

Yu-Wei

OS5-5

21/51

Ishikawa

Seiji

GS3-1

40/89

Honda

KentaroOS20-1

25/79

IshizuTakahiroOS21-1

39/80

Hong

Lim Wei

OS8-2

30/54

OS21-2

39/81

OS10-5

29/62

OS21-3

39/81

OS8-3

30/54

Ito

Hori

Kenta

GS3-1

40/89

Hou

Yong

OS15-942/74

OS19-4

31/78

Hsia

Kuo-Hsien

OS4-1

23/48

OS21-1

39/80

OS4-3

23/49

OS21-2

39/81

OS18-2

32/76

OS21-3

39/81

OS18-7

24/77

OS8-3

30/54

Ito

- 99 -

Takao

TsutomuIto

TsutomuOS19-4

31/78

Iwata

Naokazu

GS5-2

33/91

Kim

[J]

Hyoungseop

GS3-3

41/89

GS5-4

33/92

Kim

Hyun-Sil

GS1-1

33/86

Kim

Tae Ihn

GS1-6

34/87

Jeong

Dong-Kyo

GS4-2

32/90

Kinoshita

Takuya

GS3-4

41/89

Jia

HongyanOS11-535/64

Kiryanov

Daniel

OS18-4

32/77

OS15-6

41/73

Kita

Yoshihiro

OS14-3

40/70

Jia

XiaoyunOS15-1042/74

OS14-4

40/71

Jia

Yingmin

OS2-4

38/47

OS14-5

40/71

OS3-4

29/48

Kitakura

Kengo

GS6-2

21/92

OS2-1

38/46

Kitayama

Taichi

GS5-4

33/92

OS3-3

29/47

Kohno

Takashi

PS-1

20/43

OS11-8

35/65

OS6-1

24/52

OS11-9

35/66

OS6-2

24/52

OS6-3

24/52

Jia

Yongnan

Jian

Tianye

Jiang

Shou

OS11-2

35/64

Jing

Cao

GS3-2

40/89

KoizumiYuichiro

GS3-3

41/89

Jitviriya

Wisanu

GS2-2

34/88

Kongpetch

Khemika

GS6-5

22/93

GS4-1

32/90

Konishi

Kentarou

GS6-6

22/93

GS5-3

33/92

KonishiYasuo

OS12-2

26/68

Krishnan

PraneshOS10-2

29/61

OS10-3

29/61

OS17-140/75

OS17-2

40/76

JohnsonJeffrey

PS-3

28/43

Jung

Jae Hyung

GS1-6

34/87
Kubo

Masao

[K]
KajitaMasashi

GS1-4

33/87

Kunha

Arphakorn

GS2-2

34/88

Kamarudin

Nazhatul

OS10-4

29/62

KrishnanAnnapoorni

OS10-2

29/61

HafizahPranesh

Kamei

Keiji

OS22-3

23/82

KurosakiTomoyuki

GS1-2

33/86

Kaneoka

MasahiroOS22-323/82

Kurozumi

RyoOS14-1

40/70

Katayama

TetsuroOS14-340/70

OS14-440/71

OS14-5

40/71

[L]
Lai

Chun-Chi

OS4-3

23/49

KawadaKazuo

OS12-3

26/68

Lavrenov

Roman

OS18-432/77

Kawaguchi

Natsuki

OS12-2

26/68

Lee

Hung-Chi

OS5-3

21/50

Kido

Shoji

GS3-3

41/89

Lee

In-Soo

GS1-1

33/86

Kien

Tran

OS17-240/76- 100 -

Lee

Jang-Myung

IS-1

34/44

Liu

Wei

OS1-3

39/45

GS2-1

34/87

Liu

XueminOS15-8

41/73

GS4-2

32/90

OS15-942/74

Lee

Jong-Hyun

GS1-1

33/86

Liu

Yafan

OS1-4

39/46

Lee

Min-Feng

OS5-4

21/51

Liu

Yi Ting

POS7-2

30/95

Leong

Hungyang

OS10-4

29/62

Liu

Yue

OS3-3

29/47

Levi

Timothée

OS6-1

24/52

Liu

Ze

OS9-13

37/58

OS6-4

24/53

Lo

Cheng-

OS4-4

23/49

Li

Cheng Han

POS7-2

30/95

LiChenyang

OS1-1

39/45

Lu

En-Yi

POS7-230/95

Li

Chu-Fen

OS4-4

23/49

Lu

Huimin

GS3-3

41/89

Li

Di

OS11-635/65

Lu

ShengyangOS11-15

36/67

OS11-7

35/65

Lu

Shuai

GS1-3

33/86

OS11-10

35/66

Lund

Henrik

IS-2

19/44

IS-3

19/44

Lian

OS1-3

39/45

HsiangLi

Hongbing

OS18-332/76

LiHuanhuan

OS9-6

37/56

Li

Jung-Shian

OS4-4

23/49

Li

Qing

OS2-1

38/46

OS3-3

29/47

POS7-1

30/95

Ma

Xin

OS9-1

36/55

POS7-2

30/95

Ma

Yuehang

OS22-1

22/81

OS24-527/85

LiShang-Hui

Hautop
Luo
[M]

Li

Yajun

OS11-3

35/64

Li

YaoyaoOS11-12

36/66

Maneewarn

Thavida

GS4-4

33/91

OS11-15

36/67

Magid

Evgeni

OS4-1

23/48

OS11-16

36/67

OS18-1

32/76

Li

ZixuanOS15-5

41/72

OS18-2

32/76

Liao

Chenglin

OS2-3

38/46

OS18-332/76

LinChia-Jen

OS4-3

23/49

OS18-7

24/77

LinJunjieOS11-435/64

MakinoRintaroOS16-431/75

LinSyue Sheng

POS7-130/95

MaoRunhuaOS15-942/74

LiuChuan-Gang

OS4-4

23/49

Matsuno

Seigo

OS8-3

30/54

Liu

I-Hsien

OS4-4

23/49

OS19-4

31/78

OS4-7

24/50

OS22-423/82

OS22-5

23/82

OS19-4

31/78

Liu

Qunpo

OS2-2

38/46

Liu

Ta-Che

OS4-4

23/49

MatsuoMehta- 101 -

Takayuki
Rajiv

Miao

Yu

OS9-13

37/58

MiyakeNoriaki

GS3-3

41/89

MizobeManaseOS16-2

31/75

Mochizuki

RyuugoOS24-3

27/85

MohamedRizon

OS10-1

29/61

OS10-2

29/61

OS10-3

Niu

Hong

OS9-5

37/56

OS11-11

36/66

N.Z

GS6-8

22/94

Ock

YongꞏJin

GS2-1

34/87

29/61

Oda

TetsuyaOS19-1

31/78

OS10-5

29/62

Ogata

Keisuke

OS8-4

31/55

OS10-6

29/62

Ohnishi

YoshihiroOS12-3

26/68

OS10-7

30/63

OkazakiNaonobu

OS14-340/70

Noriman[O]

Mokayef

Mastaneh

OS8-2

30/54

OS14-4

40/71

Mokayef

Miad

OS8-2

30/54

OS14-5

40/71

Mori

Shinnosuke

OS12-3

26/68

Olapiriyakul

Sun

GS6-5

22/93

MoritaYoshifumi

GS2-3

34/88

Ono

TomohiroOS20-3

25/79

GS2-5

34/88

OS20-4

25/80

GS5-1

33/91

Osawa

KazukiOS22-3

23/82

Ouchi

TomohitoOS16-1

31/74

Pagliarini

Luigi

IS-3

19/44

Palangwatanakul

Richit

GS4-4

33/91

Park

Chan Gook

GS1-5

34/87

GS1-6

34/87

OS11-1

35/63

OS11-835/65

OS11-1

35/63

Morota

Yuma

GS3-4

41/89

MotodaTomohiro

OS7-2

28/53

M. R

Zuradzman

OS10-1

29/61

[P]

[N]
Nagayoshi

Masato

GS6-1

21/92

Nakamura

Akira

OS7-3

28/53

NakanoTakeshiOS12-3

26/68

Natsupakpong

Suriya

GS4-4

33/91

Nie

Zhen

OS11-12

36/66

OS11-13

36/67

OS11-335/64

OS11-14

36/67

OS11-435/64

OS11-16

36/67

OS11-5

35/64

Peng
Peng

Wanlong
YizhunNikiforov

Nikita

OS18-2

32/76

OS11-635/65

NishidaYuya

OS22-5

23/82

OS11-7

35/65

OS23-1

25/83

OS11-835/65

OS23-2

25/83

OS11-935/66

OS24-6

27/86

OS11-10

35/66

OS5-3

21/50

OS11-1

35/63

Niu

Chuan-Ming

Peng- 102 -

YulongPeng

YulongOS11-235/64

ChandraPhunopas

Amornphun

GS2-2

34/88

GS4-1

32/90

GS5-3

33/92

Sato

Sato

OS17-140/75

OS17-240/76

MasanoriOS22-5

23/82

HiroshiPriyambadhaBayu

OS14-4

40/71

Sato

Noritaka

GS5-1

33/91

Pudchuen

Noppadol

GS5-3

33/92

Sato

Takao

OS12-2

26/68

PujolleVictor

OS24-1

27/84

Schiefermeier-Natalia

OS18-3

32/76

See

KS

OS8-1

30/54

Mach
[R]
RadwanAbdelrahman

OS10-429/62

SethaputThunyaseth

GS4-4

33/91

OS10-529/62

Shabalina

Ksenia

OS18-1

32/76

OS18-2

32/76

RasyadanAmir

OS10-329/61

Romeli

N.

GS6-8

22/94

Shafikov

Artur

OS18-3

32/76

Rossi

Ruggero

PS-3

28/43

Shi

WenxinOS15-6

41/73

Shiba

YusukeOS12-1

26/68

ShigyoYasuhiroOS14-5

40/71

[S]
Sadiq

Amir

OS23-3

25/83

Shih

Po-Yun

OS5-1

21/50

Sagitov

Artur

OS18-1

32/76

ShinodaTakahiroOS21-1

39/80

OS18-2

32/76

OS21-2

39/81

OS18-3

32/76

OS21-3

39/81

OS4-5

23/49

OS4-6

24/49

OS10-1

29/61

Sakai

Hiroshi

OS8-3

30/54

Sakai

Masao

GS2-3

34/88

GS2-5

34/88

OS8-3

30/54

OS19-431/78

OS10-429/62

OS21-1

39/80

OS10-5

29/62

OS21-2

39/81

OS5-1

21/50

OS21-3

39/81

OS5-5

21/51

Sakamoto

MakotoShou
Solihin

Ho-Nien
MahmudIwan

Song

Chau-Chung

Sakamoto

Takumi

OS7-4

28/54

Song

Yunzhong

OS3-1

28/47

SakomaKenji

OS21-1

39/80

Song

Zhikun

OS1-1

39/45

OS21-2

39/81

SonodaTakashiOS22-423/82

OS21-3

39/81

OS22-5

23/82

OS10-6

29/62

OS23-1

25/83

OS10-7

30/63

OS23-2

25/83

OS14-340/70

OS24-6

27/86

Samad
SaputraRosdiyana
Mochamad- 103 -

Su

Kuo-Lan

OS4-1

23/48

Takegami

NoboruOS23-5

25/84

OS4-3

23/49

Takei

Amane

OS21-1

39/80

OS18-1

32/76

OS21-2

39/81

OS18-7

24/77

OS21-3

39/81

OS21-4

39/81

OS22-2

23/82

Su

Yu Ting

POS7-1

30/95

Suganuma

Naoki

PS-4

27/43

SugitaJunichi

OS6-4

24/53

OS22-423/82

SunJunyang

OS1-3

39/45

OS22-5

23/82

Sun

Lu

OS11-14

36/67

Tamai

TeruyukiOS12-3

26/68

Sun

Yan

OS15-3

41/72

Tamaki

Hisashi

GS6-1

21/92

OS15-4

41/72

Tamukoh

HakaruOS20-1

25/79

OS10-6

29/62

OS20-2

25/79

OS10-7

30/63

OS20-325/79

OS22-1

22/81

OS20-425/80

OS24-527/85

OS20-5

25/80

GS1-2

33/86

Sundaraj
Suzuki

Kenneth
Hidekazu

TakemuraTan

Yasunori

Joo Kooi

Suzuki

KatsuakiOS24-6

27/86

Suzuki

YasuhiroOS13-1

26/69

GS3-1

40/89

OS13-2

26/69

GS3-2

40/89

OS13-3

26/69

GS5-2

33/91

OS13-4

26/69

TanakaHideyuki

GS6-2

21/92

OS13-5

26/69

TanakaHiroki

GS2-3

34/88

Tao

Zheheng

OS11-13

36/67

Teranishi

Yusuke

GS6-7

22/94

[T]
TabuseMasayoshi

OS16-1

31/74

Thungod

Kaned

GS4-4

33/91

OS16-2

31/75

Thungsang

Apisit

GS4-4

33/91

OS16-3

31/75

Tiang

Sew Sun

OS8-2

30/54

OS16-4

31/75

Tixier-Mita

Agnes

OS6-4

24/53

Tokumitsu

Masahiro

GS6-6

22/93

GS6-7

22/94

TakadaSyuheiOS16-3

31/75

Takada

Taku

GS6-6

22/93

GS6-7

22/94

TokuraYugo

OS12-2

26/68

OS14-1

40/70

Tominaga

Ayumu

OS23-6

25/84

OS14-2

40/70

Tominaga

Moeko

OS22-2

23/82

TakagiTomohiko

Takahashi

Masanori

OS12-4

26/68

Toshiyoshi

Hiroshi

OS6-4

24/53

TakanoNaruaki

OS6-3

24/52

Tsuji

Tokuo

OS7-1

28/53

Takashima

Kyoko

OS23-3

25/83

Tsuru

Masato

OS7-2

28/53

- 104 -

Tunsiri

Songklod

GS5-3

33/92

[U]

OS11-9

35/66

Wang

Runjiao

OS1-3

39/45

Wang

Xiuqing

OS15-10

42/74

Ue

Yuki

OS14-2

40/70

Wang

Yi-Ru

POS7-2

30/95

Ueno

TakeshiOS17-1

40/75

Wang

Zhechen

OS2-4

38/47

Umemoto

MasayaOS22-3

23/82

Wang

Zhuo

OS3-2

28/47

UshidaYoshihito

OS13-4

26/69

Wangyong

Guo

OS15-11

42/74

Utsunomiya

Koshi

OS23-3

25/83

WatanabeKaori

OS22-1

22/81

OS24-527/85

OS23-1

25/83

OS23-2

25/83

OS23-325/83

OS23-425/84[W]
W Samsudin

WatanabeWan

OS10-6

Keisuke

29/62

Syahirah
Wakabayashi

MakotoOS10-7

30/63

GS6-6

22/93

Watanabe

Shogo

OS19-1

31/78

GS6-7

22/94

Watanabe

Takahiro

GS4-3

32/90

Wei

Qiang

OS9-1437/59

OS9-15

38/59

OS9-1

36/55

Wan

Khairunizam

OS10-1

29/61

Wan

Weiwei

OS7-4

28/54

Wang

Fengkun

OS9-1

36/55

OS9-2

36/55

OS9-3

36/56

OS9-3

36/56

OS9-4

36/56

Wen

HaokangWang

Fuzhong

OS2-2

38/46

OS9-5

37/56

Wang

Gaowei

OS2-2

38/46

OS9-16

38/59

Wang

Guan-Jie

OS4-2

23/48

OS9-17

38/60

Wang

Hao

OS15-942/74

OS15-7

41/73

Wang

Hucheng

OS11-3

35/64

GS6-3

22/93

Wang

JiamianOS11-10

35/66

Wang

Jiangyue

OS1-2

39/45

Wirasingha

Torin

GS6-3

22/93

Wang

Jiwu

OS1-1

39/45

Wu

Hsien-Huang

OS18-6

24/77

OS1-2

39/45

OS1-4

39/46

Wu

Shiwei

OS9-6

37/56

Wu

Yung-Chun

OS5-4

21/51

Wang

Lei

OS15-5

41/72

Wang

Li

OS11-15

36/67

OS11-16

36/67

Wijayasekara

Vihanga
Ashinsana

P.

[X]

Wang

Manli

OS2-2

38/46

Xi

Yuanyuan

OS9-6

37/56

Wang

Nana

OS11-6

35/65

Xiao

Huimin

OS3-1

28/47

- 105 -Xie

Jia-KunOS18-6

24/77

OS9-1037/57

Xu

FeifanOS11-1336/67

OS9-11

37/58

Xu

ZhengkeOS11-435/64

OS9-12

37/58

OS9-1838/60

OS9-1938/60

OS15-841/73[Y]Yaacob
YamabaSazali
Hisaaki

OS10-2

29/61

OS10-3

29/61

Yin

MengqiOS9-11

37/58

OS14-3

40/70

Yin

Hongpeng

OS2-3

38/46

OS14-4

40/71

Yin

MengqiOS9-11

37/58

OS14-5

40/71

Yokkampon

Umaporn

OS24-2

27/85

OS24-4

27/85

YamadaTakayoshi

GS4-3

32/90

Yamaguchi

HirokiOS22-3

23/82

Yokotani

Tomoki

GS5-1

33/91

Yamamoto

Hidehiko

GS4-3

32/90

YoshidaTetsuyaOS22-1

22/81

Yamamoto

Toru

GS3-4

41/89

Yoshimura

MotohideOS19-3

31/78

Yamanobe

Natsuki

OS7-1

28/53

Yoshitomi

Yasunari

OS16-2

31/75

OS7-3

28/53

OS16-331/75

OS16-431/75

Yamashita

Youtaro

GS3-2

40/89

Yan

Yujie

OS9-6

37/56

Yu

Shih-Ting

OS5-2

21/50

OS9-8

37/57

Yuan

Xuechun

OS1-1

39/45

OS9-19

38/60

Yuan

Yasheng

OS9-7

37/57

Yanagise

KentaroOS23-2

25/83

OS9-8

37/57

Yanai

Ken

OS22-3

23/82

OS9-9

37/57

Yang

Bo-JunOS18-7

24/77

OS9-10

37/57

Yang

Xia

OS6-1

24/52

OS9-12

37/58

Yang

Zhou

OS11-2

35/64

OS9-1838/60

OS11-635/65

OS9-1938/60

OS11-935/66

OS15-8

41/73

YuanliOS9-13

37/58

Yue

Yanou

Akira

GS2-4

34/88

Yasui

Ryota

OS12-2

26/68

Yasukawa

ShinsukeOS22-5

23/82

OS23-1

25/83

Zakiev

Aufar

OS18-5

32/77

OS23-2

25/83

Zhang

Ao-nanOS9-14

37/59

OS9-2

36/55

Zhang

Chunxia

OS11-4

35/64

OS9-8

37/57

Zhang

Fang Quan

POS7-2

30/95

OS9-9

37/57

Zhang

Qianqian

OS9-1

36/55

Yin

Di

[Z]

- 106 -

ZhangQianqian

OS9-2

36/55

OS9-16

38/59

Zhang

Qianqian

OS9-3

36/56

OS9-17

38/60

OS9-4

36/56

OS15-7

41/73

OS9-5

37/56

OS11-1

35/63

OS9-17

38/60

OS11-535/64

OS15-7

41/73

OS11-7

35/65

OS11-10

35/66

OS11-2

35/64

OS11-4

35/64

Zhao

Lianchen

Zhang

Qing-qingOS9-15

38/59

Zhng

ShiqianOS11-8

35/65

Zhang

Tengfei

OS3-4

29/48

Zhang

Weicun

OS2-1

38/46

Zhao

Yuqi

OS11-3

35/64

OS3-3

29/47

ZhenfuJu

OS15-11

42/74

Zhao

Ting

Zhang

Xinyu

OS11-5

35/64

Zheng

Pei Hi

POS7-1

30/95

Zhang

Yi-tong

OS9-14

37/59

Zhong

Xiongfeng

OS11-14

36/67

Zhang

YongchaoOS15-3

41/72

Zhou

Xin

OS11-13

36/67

OS15-4

41/72

Zhu

Yuxuan

OS9-8

37/57

Zhang

Yuhan

OS11-11

36/66

OS9-9

37/57

Zhang

YuhengOS11-1

35/63

OS9-1037/57

OS11-535/64

OS9-12

37/58

OS11-835/65

OS9-1838/60

OS11-935/66

OS9-1938/60

OS11-1

35/63

OS15-8

41/73

OS11-335/64

OS15-1

41/71

OS15-2

41/72

OS11-12

36/66

OS11-13

36/67

OS11-14

36/67

OS11-15

36/67

OS11-16

36/67

OS9-1

36/55

OS9-2

36/55

OS9-3

36/56

OS9-4

36/56

OS9-5

37/56

OS9-11

37/58

Zhang
Zhao
Zhao

Zhao

Zhou
Chundong
HuailinJichao- 107 -©ICAROB 2020 ALife Robotics Corp. Ltd.

- 119 -©ICAROB 2020 ALife Robotics Corp. Ltd.

- 120 -©ICAROB 2020 ALife Robotics Corp. Ltd.

- 121 -©ICAROB 2020 ALife Robotics Corp. Ltd.

- 122 -©ICAROB 2020 ALife Robotics Corp. Ltd.

- 123 -©ICAROB 2020 ALife Robotics Corp. Ltd.

- 124 -