ICAROB2016
PROCEEDINGS OF THE 2016
INTERNATIONAL CONFERENCE
ON ARTIFICIAL LIFE AND ROBOTICS

January 29-31, 2016
Okinawa Convention Center, Okinawa, JAPANInternational Meeting Series

Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-1-9

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

Proceedings of The 2016 International Conference on

ARTIFICIAL LIFE AND ROBOTICS(ICAROB 2016)

January 29-31, 2016
Okinawa Convention Center, Okinawa, Japan
Editor-in-Chief: Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee,ICAROB 2016
ISBN 978-4-9908350-1-9©ICAROB 2016

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

Contents
1

Organization, etc.

1

2

Messages

93Time Table

13

4

Opening Ceremony

16

5

Technical paper index

17

6

Abstracts
PS abstracts
IS abstracts
OS abstracts
GS abstracts

30
31
31
52

7

Authors index

688

Conference room

75

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

©ICAROB 2016

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

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

IEEE Robotics and Automation Society (USA)

CO-ORGANIZED BY
Chinese Association for Artificial Intelligence (CAAI, P. R. China)©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

ADVISORY COMMITTEE CHAIR
Moshe Kam (New Jersy Institute of Technology, Former IEEE President, USA)ADVISORY COMMITTEE
Fumio Harashima (Tokyo Metropolitan University, President, Japan)
Bruce Eisenstein (Drexel University, Former IEEE President, USA)
Hideki Kimura (RIKEN, Japan)
Masayoshi Tomizuka (University of California Berkeley, USA)
Moshe Kam (New Jersy Institute of Technology, Former IEEE President, USA)
Adam Grzech (Wroclaw University of Technology, Poland)
Kazuyuki Aihara (The University of Tokyo, Japan)
D. J.Gyln. James (Coventry University, United Kingdom)
Jeffery Johnson (The Open University, UK)
Kazuo Kyuma (Mitsubishi Electric Corporation, Japan)
Steen Rasmussen (University of Southern Denmark, Denmark)Joshua. M. Epstein (The Johns Hopkins University, USA)
Jezry Świątek (Wroclaw University of Technology, Poland)Paul Kalata (Drexel University, USA)Paul Oh (Drexel University, USA)
Robert Fischl (Drexel University, USA)
Toshio Fukuda (Meijo University, Japan)
Kai-Tai Song (National Chiao Tung University, Taiwan)
GENERAL CHAIR
Masanori Sugisaka (Alife Robotics Corporation Ltd., Japan)
CO-GENERAL CHAIRS
Yingmin Jia (Beihang Univesty, P. R. China)
Takao Ito (Hiroshima University, Japan)
Ju-Jang Lee (KAIST, Korea)
VICE GENERAL CHAIR
Changshui. Zhang (Tinghua University, P. R. China)
Henrik. H. Lund (Technical University of Denmark, Denmark)John. L. Casti (International Institute for Applied Systems Analysis, Austria)
Jangmyung Lee (Pusan National University, Korea)
Luigi Pagliarini (Technical University of Denmark, Denmark)(Academy of Fine Arts of Macerata, Italy)
Mohd Rizon bin Mohamed Juhari (University of Sultan Zainal Abidin, Malaysia)
Yongguang Zhang (Academia Sinica, P. R. China)©ICAROB 2016-2-

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

PROGRAM CHAIRMAN
Makoto Sakamoto (University of Miyazaki, Japan)
SUB PROGRAM CHAIR
M. Oswald (The Vienna University of Technology, Austria)
INTERNATIONAL ORGANIZING COMMITTEE
Akira Fukuda (Kyushu University, Japan)
Eiji Hayashi (Kyushu Institute of Technology, Japan)
Hazry Desa (University of Malaysia, Perlis, Malaysia)ang
Hidehiko Yamamoto (Gifu University, Japan)
Hideyuki Suzuki (The University of Tokyo, 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)
Katsunori Shimohara (Doshisha University, Japan)
Kenichi Tanaka (Meji University, Japan)
Kenji Hashimoto (Waseda University, Japan)
Kevin Voges (Canterbury University, New Zealand)
Kohei Ohtsu (Tokyo University of Marine Science and Technology, Japan)
Kuo-Hsien Hsia (Far East University, Taiwan)
Kuo-Lan Su (National Yunlin University of Science and Technology, Taiwan)
Masahito Yamamoto (Hokkaido University, Japan)
Masao Kubo (National Defense Academy of Japan, Japan)
Masanao Obayashi (Yamaguchi University, Japan)
Masafumi Yamashita (Kyushu University, Japan)
Mehta Rajiv (New Jersey Institute of Technology, USA)Peter Sapaty (Ukrainian Academy of Science, Ukraine)
Qu Yanbin (Harbin Institute of Technology, P. R. China)
Seiji Ishikawa (Kyushu Institute of Technology, Japan)
Takashi Kohno (LIMMS/CNRS-IIS, Institute of Industrial Science,
The University of Tokyo, Japan)
Takashi Ogata (Iwate Prefectural Univerity)
Teruhisa Hochin (Kyoto Prefectural University, Japan)
Tetsuro Hattori (Kagawa University, Japan)
Thomas S. Ray (University of Oklahoma, USA)
Toru Yamamoto (Hiroshima University, Japan)
Victor Berdonosov (Komsomolsk-on-Amur State University ofTechnology, Russia)
Yasunari Yoshitomi (Kyoto Prefectural University, Japan)©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

Yo Horikawa (Kagawa University, Japan)
Yoshifumi Morita (Nagoya Institute of Technology, Japan)
Yoshiro Imai (Kagawa University, Japan)
Yuichi Tanji (Kagawa University, Japan)
INTERNATIONAL PROGRAM COMMITTEE
Akira Nakamura (AIST, Japan)
Ali Selamat (University of Technology of Malaysia (UTM), Malaysia)
Arsit Boonyaprapasorn (Chulachomkloa Royal Military Academy, Thailand)
Bin Fu (Shanghai Jiaotong University, P. R. China)
Dongmei Ai (University of Science and Technology Beijing, P. R. China)
Endra Joelianto (Bandung Institute of Technology, Indonesia)
Fengzhi Dai (Tianjin University of Science & Technology, P. R. China)
Haruna Matsushita (Kagawa University)
Hidetsugu Suto (Muroran Institute of Technology, Japan)
Hiroyuki Iizuka (Osaka University, Japan)
Huailin Zhao (Shanghai Institute of Technology, P. R. China)
Hussein Abbass (University of New South Wales and ADFA, Australia)
Istvan Harmati (Budapest Institute of Technology and Economics, Hungary)
Ivan Tanev (Doshisha University, Japan)
Jiandong Zhao (Beijing Jiaotong University, P. R. China)
Jinglu Hu (Waseda University, Japan)
Joono Cheong (Korea University, Korea)
Kathryn Elizabeth Merrick (University of New South Wales and ADFA, Australia)
Kunikazu Kobayashi (Aichi Prefectural University, Japan)
Manabu Yamada (Nagoya Institute of Technology, Japan)
Masahide Ito (Aichi Prefectural University, Japan)
Malachy Eaton (University of Limerick, Ireland)
Masayoshi Kano (Chukyou University, Japan)
Masayoshi Tabuse (Kyoto Prefectural University, Japan
Masaomi Hatakeyama (University of Zurich, Switzerland)
Norrima Mokhtar (University of Malaya, Malaysia)
Noritaka Sato(Nagoya Institute of Technology, Japan)
Palakorn Tantrakool (King Mongkut’s Institute of Technology Thonburi, Thailand)
Satoshi Ikeda (The University of Miyazaki, Japan)
Sanjay S. Joshi (College of Engineering, University of California, USA)
Seong-Ik Han (Pusan National University, Korea)
Shingo Mabu (Yamaguchi University, Japan)
Shyi-Ming Chen (National Taichung University of Education, Taiwan)
Takashi Kuremoto (Yamaguchi University, Japan)
Takayoshi Yamada (Gifu University, Japan)
Taishiro Kishimoto (Keio University, Japan)
Tao Zhang (Tsinghua University, P. R. China)
Takashi Iwamoto (Mitsubishi Electric Corporation, Advanced Technology©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

R&D Center, Japan)
Tetsuro Katayama (The University of Miyazaki, Japan)
Thunyaseth Sethaput (Thammasat University, Thailand)
Toshinori Nawata (Kumamoto National College of Technology, Japan)
Tsunehiro Yoshinaga (Tokuyama National College of Technology, Japan)
Weicun Zhang (University of Science and Technology Beijing, P. R. China)
Yuanyuan Shang (Capital Normal University, P. R. China)
Yueyue Fan (University of California-Davis, USA)
Young Im Cho (The University of Suwon, Korea)
LOCAL ARRANGEMENT COMMITTEE
M. Sakamoto (University of Miyazaki, Japan)
M. Sugisaka (ALife Robotics Co., Ltd., Japan)
Takao Ito (Hiroshima University, Japan)
HISTORY
The International Conference on Artificial Life and Robotics (ICAROB) resulted from the AROBsymposium whose first edition 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), andALife Robotics Corporation Ltd., under the sponsorship of the Science and Technology Policy
Bureau, the Ministry of 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 of Aerospace Research and Development (AFOSR/AOARD), USA. I would like to express mysincere thanks to not only Monkasho (annually fund support from 1996 to 2013) but also JSPS,
the Commemorative Organization for the Japan World Exposition ('70), and various otherJapanese companies for their repeated support. The old symposium (this symposium has been
held every year at B-Con Plaza, Beppu, Oita, Japan except in Oita, Japan (AROB 5th ’00) and inTokyo, 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 new knowledge and technologies into it. This history andcharacter of the former AROB symposiums are passed on the current ICAROB conference and to
this journal, International Journal of Robotics, Networking and Artificial Life (JRNAL). From now
on, ALife Robotics Corporation Ltd. is in charge of management of both the conference and thejournal. The future of the ICAROB is brilliant from a point of view of yielding new technologies tohuman society in the 21st century. This conference invites you all.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

AIMS AND SCOPE
The objective of this conference is the development of new technologies for artificial life androbotics which have been recently born in Japan and are expected to be applied in various 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
 Micro-machines Multi-agent systems
 Nano-biology
 Nano-robotics
 Networking Neural circuits
 Neuro-computer Neuromorphic Systems
 Neuroscience©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016














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 robotic
GENERAL SESSION TOPICS
GS1 Neuromorphic Systems (5)GS3 Reinforcement Learning System &Genetic Programming(6)GS5 Multi-Agent Systems &Visualization(2)GS7 RoboticsⅠ(6)GS9 RoboticsⅢ(4)GS2 Pattern Recognition &Image
Processing(6)GS4 Micro-Machine(4)GS6 Intelligent Control & System
Cybernetics(3)GS8 RoboticsⅡ(5)GS10 Poster Sessions(5)ORGANIZED SESSION TOPICS
OS1 Artificial Life and Quality
Enhancement of Life(6)OS3 Construction Engineering andManagement(6)OS5 Advanced Control Systems(6)OS7 Image Analysis and Content
Security(5)OS9 Modern approaches of MOT and
Corporate Strategy(3)OS2 Intelligence Control System and
Artificial Life(6)OS4 Construction Technology andManagement(5)OS6 Intelligent Control(6)OS8 Image, Circuit and Control(9)OS10 Reality Mining(3)OS11 Kansei Engineering andOS12 Advanced Research on Computer
Application(4)Science and Information Processing(4)OS13 Automatic Generation, Creation, andProduction of Narrative Contents(4)©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

COPYRIGHTS
Accepted papers will be published in the proceeding of The 2016 International Conference on
Artificial Life and Robotics (ICAROB 2016). Some of high quality papers in the proceeding 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- Chiefand 3 reviewers. All correspondence related to the conference should be addressed to ICAROB
Office.
ICAROB Office
ALife Robotics Corporation Ltd.
3661-8 Oaza Shimohanda, Oita 870-1112, JAPANTEL/FAX：+81-97-597-7760
E-MAIL：icarob@alife-robotics.co.jp
Home Page：http://alife-robotics.co.jp/©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

MESSAGES
Masanori Sugisaka
General Chair of ICAROB

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

It is my great honor to invite you all to The 2016 International Conferenceon Artificial Life and Robotics (ICAROB 2016).
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 thesponsorship of the Science and Technology Policy Bureau, the Ministry of
Education, Science, Sports, and Culture (Monbusho), presently, the Ministryof 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 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, the Commemorative Organization for the Japan World Exposition(’70) , Japanese companies for their repeated support.
The old symposium was organized by International Organizing Committeeof AROB and was co-operated by the Santa Fe Institute (USA), RSJ, IEEJ, ICASE(Now ICROS) (Korea), CAAI (P. R. China), ISCIE, IEICE, IEEE (Japan Council),
JARA, and SICE. The old AROB symposium was growing up by absorbing many
new knowledge and technologies into it.
This history and character was inherited also from ICAROB 2014(The 2014
International Conference on Artificial Life and Robotics) to now. From now
on, ALife Robotics Corporation Ltd. is in charge of management. This year wehave The 2016 International Conference on Artificial Life and Robotics(ICAROB 2016). The future of The ICAROB is brilliant from a point of view ofyielding new technologies to human society in 21st century.
I hope that fruitful discussions and exchange of ideas between researchers
during Conference (ICAROB 2016) will yield new merged technologies forhappiness of human beings and, hence, will facilitate the establishment of aninternational joint research institute on Artificial Life and Robotics in future.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

Yingmin Jia
Co-General Chair of ICAROB

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

It is my great pleasure to invite you to The 2016 International Conference on
Artificial Life and Robotics (ICAROB 2016), in Ginowan City, Okinawa, Japan
from Jan. 29th to 31st, 2016.
ICAROB develops from the AROB that was created in 1996 by Prof. Masanori
Sugisaka and celebrated her birthday of 21st years old in 1996. Doubtless, newmission and big challenges in the field of artificial life and robotics will promote
ICAROB to start a new stage and attract wide interests among scientist,
researchers, and engineers around the world.
For a successful meeting, many people have contributed their great efforts to
ICAROB. Here, I would like to express my special thanks to all authors andspeakers, and the meeting organizing team for their excellent works.
Looking forward to meeting you at ICAROB in Ginowan City, Okinawa andwishing you enjoy your stay in Japan.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

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 2016 International Conferenceon Artificial Life and Robotics (ICAROB 2016).This Conference is changed as
the old symposium from the first (1996) to the Eighteenth I am pleased towelcome you to The 2016 International Conference on Artificial Life andRobotics in the wonderful city of Ginowan, Okinawa, JapanThe ICAROB has long history. The former organization of the ICAROB wasdeveloped under the strong leadership of the President, Professor.
Masanori Sugisaka, the father of AROB. We gathered many researchers,
faculty members, graduate students from all over the world, and publishednumerous high-quality proceedings and journals every year.
Over the years, dramatic improvements have been made in the field ofartificial life and its applications. The ICAROB has becoming the unifying theexchange of scientific information on the study of man-made systems thatexhibit the behavioral characteristic of natural living systems including
software, hardware and/or wetware. Our conference shapes thedevelopment of artificial life, extending our empirical research beyond theterritory circumscribed by life-as-we-know-it and into the domain of life-asit-could–be. It will provide us a good place to present our new research
results, good ideas, and valuable information about artificial intelligence,complex systems theories, robotics, management of technology, etc.
In order to provide an outstanding technical level for the presentations at
the conference, we have invited more than 60 distinguished experts in thefield of artificial life in the organizing committee and program committee.
We will have 22 sessions during 3 days of conference, including 4 invited
sessions.
The conference site is Okinawa Convention Center, one of the finest
congress centers in Okinawa. It is situated near the center of the Ginowan
city in Okinawa. You can find many fantastic scenic spots and splendid
historical places in Naha city. Enjoy your stay and take your time to visit thecity of Okinawa.
I am looking forward to meeting you in Okinawa during ICAROB 2016 andto sharing a most pleasant, interesting and fruitful conference©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

Ju-Jang Lee
Co-General Chair of ICAROB

Ju-Jang Lee
Co-General Chair(Professor, KAIST)The First International Conference on Artificial Life and Robotics (ICAROB)
was held in Oita City, Oita, Japan from Jan. 11th to 13th, 2014. This year’s
Conference will be held amidst the high expectation of the increasingly
important role of the new interdisciplinary paradigm of science andengineering represented by the field of artificial life and robotics that
continuously attracts wide interests among scientist, researchers, andengineers 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, discuss research
directions for the future, exchange views and ideas, view the results ofapplied research, present and discuss the latest development of newtechnologies and relevant applications.
In addition, ICAROB offers the opportunity of hearing the opinions of wellknown 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 and associatedresearch area. The twenty-first century will become the century of artificial
life and intelligent machines in support of humankind and ICAROB iscontributing through wide technical topics of interest that support thisdirection.
It is a great honor for me as a Co-General Chair of the3rd ICAROB 2016 towelcome everyone to this important event. Also, I would like to extend myspecial thanks to all authors and speakers for contributing their researchworks, the participants, and the organizing team of the 3rd ICAROB.
I’m looking forward to meeting you at the 3rd ICAROB in Naha City,
Okinawa and wishing you all the best.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

1/28(Thu.) 17:30-19:30

Welcome Party(Conference Site: Farm Café TAIYO ICHIBA)TIME TABLE (1/29)
1/29(Fri.)

RoomB2

RoomB3

8:509:10-10:25

OS4 Construction
Technology andManagement(5)Chair: C. C. Chang
Co-Chair: Y. C. Shiau

GS8 RoboticsⅡ(5)Chair: J. J. Lee

RoomB4
Registration
GS10 Poster Sessions (5)10:25-11:40

Coffee break

10:40-11:10

Opening Ceremony (RoomB2)

11:20-12:00

Chair: T. Ito
Invited Speech IS1(RoomB2)
Luigi Pagliarini

12:00-13:00

Lunch

13:00-14:00

Chair: T. Ito
Plenary Speech PS1(RoomB2)
Henrik H. Lund

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

Coffee breakOS11 Kansei Engineeringand Application(4)Chair: T. Hattori
Co-Chair: Y. Imai

15:50-16:10
16:10-18:10

OS2 Intelligence Control
System and Artificial
Life(6)Chair: K. H. Hsia
Co-Chair: K. L. Su

OS1 Artificial Life andQuality Enhancement ofLife(6)Chair: S. H. Li
Co-Chair: S. D. Wu
Coffee break
GS1 Neuromorphic
Systems(5)Chair: T. Kondo©ICAROB 2016
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OS3 Construction Engineeringand Management(6)Chair: Y. C. Shiau
Co-Chair: Y. Y. Tsai

GS4 Micro-Machine(4)Chair: J.M. Lee
GS9 RoboticsⅢ(4)Chair: A. Boonyaprapasorn

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

TIME TEBLE (1/30)
1/30(Sat.)

RoomB2

RoomB3

8:509:10-10:40

GS2 Pattern recognition &image processing(6)Chair: T. Fujita

GS7 RoboticsⅠ(6)Chair: A. Yamaguchi

10:40-11:00

Coffee break

11:00-11:40

Chair: Y. Jia

RoomB4
Registration
OS5 Advanced Control
Systems(6)Chair: Y. Jia
Co-Chair: F. Wang

Invited speech IS2(RoomB2)
Kaoru Sumi
11:40-13:00

Lunch

13:00-14:00

Chair: Y. Jia
Plenary Speech PS2(RoomB2)
Ju-Jang Lee

14:00-14:20
14:20-1S:50

OS8 Image, Circuit andControl(6)Chair: F. Dai
Co-Chair: H. Jia

15:50-16:10

Coffee breakOS12 Advanced Researchon Computer Science andInformation Processing(4)Chair: T. Ito
Co-Chair: M. Sakamoto

16:10-17:10

18:00-20:00

Coffee break
OS6 Intelligent Control(6)Chair: Y. Jia
Co-Chair: W. Zhang

Banquet: Culture Resort Festone©ICAROB 2016
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GS5 Multi-Agent Systems &Visualization(2)Chair: S. Mabu
GS6 Intelligent Control &System Cybernetics(3)Chair: M. C. Lee

OS8 Image, Circuit andControl(3)Chair: F. Dai
Co-Chair: H. Jia

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

TIME TABLE (1/31)
1/31(Sun.)

RoomB3

8:50-

RoomB4
Registration

9:10-9:55

OS10 Reality Mining(3)Chair: M. Kubo
Co-Chair: S. Iwanaga

9:55-10:10

Coffee breakOS13 Automatic Generation, Creation,
OS7 Image Analysis andand Production of Narrative Contents(4)Content Security(5)Chair: T. Ogata
Chair Y. Yoshitomi
Co-Chair: M. Tabuse
Co-Chair: Y. Kawamura

10:10-11:25

OS9 Modern Approaches of MOT and
Corporate Strategy(3)Chair: T. Ito
Co-Chair: S. Matsuno

11:25-13:00
13:00-14:30

Lunch
GS3 Reinforcement Learning Systems &Genetic Programing(6)Chair: K. Kobayashi

14:40-15:40

Farewell Party

GS1 Neuromorphic Systems(5)GS2 Pattern Recognition & Image Processing(6)GS3 Reinforcement Learning Systems & Genetic
Programing(6)GS4 Micro-Machine(4)GS5 Multi-Agent Systems & Visualization(2)GS6 Intelligent Control & System Cybernetics(3)GS7 RoboticsⅠ(6)GS8 RoboticsⅡ(5)GS9 RoboticsⅢ(4)GS10 Poster Sessions(5)(Conference Site: Farm Café TAIYO ICHIBA)

OS1 Artificial Life and Quality Enhancement ofLife(6)OS2 Intelligence Control System and Artificial
Life(6)
OS3 Construction Engineering and Management(6)OS4 Construction Technology and Management(5)OS5 Advanced Control Systems(6)OS6 Intelligent Control(6)OS7 Image Analysis and Content Security(5)OS8 Image, Circuit and Control(9)OS9 Modern Approaches of MOT and Corporate
Strategy(3)OS10 Reality Mining(3)OS11 Kansei Engineering and Application(4)OS12 Advanced Research on Computer Science andInformation Processing(4)OS13 Automatic Generation, Creation, andProduction of Narrative Contents(4)©ICAROB 2016- 15 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

The 2016 International Conference on
ARTIFICIAL LIFE AND ROBOTICS(ICAROB 2016)
January 28 (Thursday)
17:30-19:30

Welcome Party (Conference Site: Farm Café TAIYO ICHIBA)

January 29 (Friday)
Room B2 10:40-11:10

Opening Ceremony
Chair: Jiwu Wang (Beijing Jiaotong University, China)
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

M. Sugisaka (ALife Robotics Corporation Ltd. Japan)
Y. M. Jia (Beihang University, China)
T. Ito (Hiroshima University, Japan)
J. J. Lee (KAIST, South Korea)

January 30 (Saturday)
Banquet: Culture Resort Festone
18:00-20:00
Chair: T. Ito (Hiroshima University, Japan)
Welcome Addresses
Prof. Yingmin Jia (Beihang University, P.R. China.)
Prof. Jang-Myung Lee (Pusan National University, South Korea)
Prof. Kaoru Sumi (Future University Hakodate, Japan)
Prof. Saori Iwanaga (Japan Coast Guard Academy, Japan)©ICAROB 2016
- 16 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

TECHNICAL PAPER INDEXJanuary 29 (Friday)
08:50-Registration
Room B2
9:10-10:25 OS4 Construction Technology and Management (5)Chair: Ching-Ching Chang (Chung Hua University, Taiwan)
Co-Chair: Yan-Chyuan Shiau (Chung Hua University, Taiwan)
OS4-1

Study on the Promotion of Steel Slags Recycling in Taiwan
Shu-Chen Chang, Ching-Jung Chang (Chung Hua University, Taiwan)

OS4-2

The Research on the Utilization of Green Building Ecological Index Group in Campus
Environment – Taking of Elementary Schools at Houli District, Taichung City as Example
Ching-Jung Chang, Yung- Feng Hsu, Chun-Hsien Chen (Chung Hua University, Taiwan)

OS4-3

The Assessment and Research on the Reconstruction of Enclosing Wall into Open Type in
Elementary School Campus – Taking of Erlin Township, Changhua County as Example
Ching-Jung Chang, Chia-Chen Li, I-Chen Wu (Chung Hua University, Taiwan)

OS4-4

The Study and Analysis on the Reuse and Transformation Strategy of Tile Kiln Space – Takingof San-He Tile Kiln as Example
Ching-Jung Chang, Hsiao-Yu Lin, Ying-Yu Su (Chung Hua University, Taiwan)

OS4-5

The Research on the Influence of Economic Benefit for High-Rise Buildings Constructed byDifferent Excavation Method – Taking of Residence Buildings at New Taipei City as Example
Ching-Jung Chang, Cheng-Min Yang, Hsiu-Hsiung Hsu (Chung Hua University, Taiwan)

10:40-11:10 Opening Ceremony
11:20-12:00
Chair: Takao Ito (Hiroshima University, Japan)
Invited Speech (IS1) Redefining robot based technologies for elderly people assistance: a survey.
1,2Luigi Pagliarini, 1Henrik Hautop Lund (1Technical University of Denmark, Denmark, 2Academyof Fine Arts of Macerat, Italy)
13:00-14:00
Plenary Speech (PS1) Disrupting the Industry with Play
Henrik Hautop Lund (Technical University of Denmark, Denmark)©ICAROB 2016- 17 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

14:20-15:20 OS11 Kansei Engineering and Application (4)Chair: Tetsuo Hattori (Kagawa University, Japan)
Co-Chair: Yoshiro Imai (Kagawa University, Japan)
OS11-1

Automated Multiple-Brightness Peak Image Processing Method Using Curvature andVariance Estimation
1
Yusuke Kawakami, 2Tetsuo Hattori, 2Yoshiro Imai, 2Kazuaki Ando, 2Yo Horikawa
1( DynaxT Co., Ltd. 2Kagawa University, Japan)
3
R. P. C. Janaka Rajapakse (3Tainan National University of the Arts, Taiwan)

OS11-2

Histogram Matching Based on Gaussian Distribution on the HSB Color System
1
Yusuke Kawakami, 2Tetsuo Hattori, 2Yoshiro Imai, 2Kazuaki Ando, 2Yo Horikawa
1( DynaxT Co., Ltd. 2Kagawa University, Japan)
3
R. P. C. Janaka Rajapakse (3Tainan National University of the Arts, Taiwan)

OS11-3

Quantitative Evaluation of Flash-based Educational Visualizing Simulator
Kei Takeichi, Yoshiro Imai, Kazuaki Ando, Yusuke Kawakami, Tetsuo Hattori(Kagawa University, Japan)

OS11-4

Relation between Optimal Stopping Solution and NSPR for Structural Change Point Detection
Problem1
Tetsuo Hattori, 1Yoshihide Koyama, 1Yoshiro Imai,1Yo Horikawa, 2Hiromichi Kawano
1( Kagawa University, 2NTT advanced technology Company Ltd, Japan)

16:10-17:40 OS2 Intelligence Control System and Artificial Life (6)Chair: Kuo-Hsien Hsia (Far East University, Taiwan)
Co-Chair: Kuo-Lan Su (National Yunlin University of Science & Technology, Taiwan)
OS2-1

Modified Quantum Particle Swarm Optimization for Chaos Synchronization
Ching-I Lee, Chia-Nan Ko (Nan Kai University of Technology, Taiwan)

OS2-2

A Simulation Model of Hall Sensor Misalignment in BLDC Motors
Chung-Wen Hung, Chu-Lin Hsu(National Yunlin University of Science & Technology, Taiwan)

OS2-3

Using Multi-Target Tracking and Identification TLD Algorithm for Intelligent Mobile
Robot
Jr Hung Guo, Kuo-Hsien Hsia, Kuo-Lan Su(National Yunlin University of Science & Technology, Taiwan)

OS2-4

Handheld Mobile Devices for Remote Monitoring of Factory
Bing-Gang, Jhong, Jian-Sing, Hu, Mei-Yung, Chen(National Taiwan Normal University, Taiwan)©ICAROB 2016
- 18 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS2-5

Task Assignment and Checking Process for Pattern Reformation on a Square Grid
Plane
Kuo-Hsien Hsia1, Bo-Yi Li2, Kuo-Lan Su2 (1Far-East University, 2National Yunlin
University of Science & Technology, Taiwan)

OS2-6

The Design of a Multifunctional Acousto-Optical Device With a Mobile PowerPack
Yi-Yu Lu, Wen-Bin Lin, Zheng-Ying Li (Far-East University, Taiwan)

Room B3
9:10-10:25 GS8 RoboticsⅡ(5)Chair: Ju-Jang Lee (KAIST, South Korea)
GS8-1

Visual-servo Control of 4-DOF Robot Manipulator for Sorting Moving objects
Longtan Wang, Seon-woo Kim, Hyun-Wook Ha, Jang-Myung Lee(Pusan National University, South Korea)

GS8-2

Self-identification of Mental State and Self-control through Indirect Biofeedback-Indirect Representation and Placebo EffectMadoka Takahara, Ivan Tanev, Katsunori Shimohara (Doshisha University, Japan)

GS8-3

Construction of a sense of force feedback and vision for micro-objects: Recreate the response
and a sense of force of objects
Yusei Ishii, Eiji Hayashi (Kyusyu Institute of Technology, Japan)

GS8-4

Dynamic Behavior Selection Model based on Emotional States for Conbe-I robot
Wisanu Jitviriya, Jiraphan Inthiam, Eiji Hayashi (Kyushu Institute of Technology, Japan)

GS8-5

Consideration on a Crawler Robot with Six Legs
Toyomi Fujita, Taiga Sasaki (Tohoku Institute of Technology, Japan)

14:20-15:50 OS1 Artificial Life and Quality Enhancement of Life (6)Chair: Shang-Hui Li (Far East University, Taiwan)
Co-Chair: Sheu-Der Wu (Cheng Shiu University, Taiwan)
OS1-1

The development of new products of pineapple cheesecakes
Sheu-Der Wu1, Hung-Wen Su2 (1Cheng Shiu University, 2Far East University, Taiwan)

OS1-2

The study on ballroom service quality to affect customer satisfaction
Hsiu-Min Lin , Yang Wu, Jei-Fu Ho (Far East University, Taiwan)

OS1-3

The relationship between employees’ personality traits, work values and job involvementwith the contribution to their companies – For the micro food service industry
Hsiu-Chen Chung1, Chiou-Lan Chien1, Lung-Chi Tsai2(1Tainan University of Technology,
2Southern Taiwan University of Science and Technology, Taiwan)©ICAROB 2016
- 19 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS1-4

Consumer’s acceptance to the new product- pineapple jam as example
Shang-Hui Li, Jei-Fu Ho (Far East University, Taiwan)

OS1-5

Development of an innovative design process for green products
Ming-Chieh Wang (Far East University, Taiwan)

OS1-6

Research on Nail Art 3D design with Different Materials - A Case Study of the Tang Dynasty
Style
Mei-Yin Lee, Kung-Yu Liu, Sih-Jie Guan, Jei-Fu Ho (Far East University, Taiwan, ROC)-

16:10-17:25 GS1 Neuromorphic Systems (5)Chair: Tadashi Kondo (Tokushima University, Japan)
GS1-1

Compensating Temperature-Dependent Characteristics of a Subthreshold-MOSFET Analog
Silicon Neuron
Ethan Green, Takashi Kohno (The University of Tokyo, Japan)

GS1-2

Medical image analysis of brain X-ray CT images by deep GMDH-type neural network
Tadashi Kondo, Junji Ueno, Shoichiro Takao (Tokushima University, Japan)

GS1-3

Medical image diagnosis of lung cancer by deep feedback GMDH-type neural network
Tadashi Kondo, Junji Ueno, Shoichiro Takao (Tokushima University, Japan)

GS1-4

Feature Linking by Synchronized Response in Chaotic Cellar Neural Network
for Visual Stimulus of Moving Objects
Akihiro Yamaguchi1, Satoshi Arakane1, Masao Kubo2 (1 Fukuoka Institute of Technology,2
National Defense Academy of Japan, Japan)

GS1-5

An FPGA-based cortical and thalamic silicon neuronal network.
Takuya Nanami , Takashi Kohno (The University of Tokyo, Japan)

Room B4
9:10-10:25 GS10 Poster Sessions (5)GS10-1Analysis of Postgraduates’ Entrance Examination Scores Based on Linear Regression with
Dummy Variables
Ning Xiaojun, Huang Ruocheng, Liang Xiaoyi, Ai Dongmei(University of Science and Technology Beijing, P.R. China)

GS10-2Clinical Evaluation of UR-System 2 for Recovery of Motor Function of Plegic Upper Limb after
Stroke1
Hirofumi Tanabe, 1Masahiro Mitsukane, 2Norihiro Toya, 2Ryosuke Takeichi, 2Hitomi Hattori,
2
Yoshifumi Morita, 3Yoshiaki Takagi, 3Norio Hasegawa (1Shonan University of Medical
Sciences, 2Nagoya Institute of Technology, 3Sanyo Machine Works, Ltd., Japan)©ICAROB 2016- 20 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS10-3Knee Android Model Reproducing Internal-External Rotation with Screw-Home Movementof Human Knee
Daichi Yamauchi, Sho Takei, Noritaka Sato, Yoshifumi Morita(Nagoya Institute of Technology, Japan)

GS10-4

Wood Species Recognition System based on Improved Basic Grey Level Aura Matrix asfeature extractor
1
Mohd Iz’aan Paiz Zamri, 1Anis Salwa Mohd Khairuddin, 1Norrima Mokhtar, 2Rubiyah Yusof(1University of Malaya, 2Universiti Teknologi Malaysia, Malaysia)

GS10-5

Evaluation the Performance of a New Quadrotor Model Based on the Arm’s Length Variation
Yasameen Kamil N., D. Hazry, Khairunizam Wan, Zuradzman M.Razlan(University Malaysia perlis, Malaysia)

14:20-15:50 OS3 Construction Engineering and Management (6)Chair: Yan-Chyuan Shiau (Chung Hua University, Taiwan)
Co-Chair: Yi-Yin Tsai (Chung Hua University, Taiwan)
OS3-1

Discussion on Factors Influencing the Performance of Hospital Renovation
Engineering Taking one Medical Center in Taiwan as Example
Wen-Lung Lin, Yan-Chyuan Shiau, Ting-Chi Lai, Chen-Chung Liu(Chung Hua University, Taiwan)

OS3-2

Discussion on Land Expropriation Compensation System
Hung-Chi Liu, Yan-Chyuan Shiau, Yao-Shan Huang, Chen-Chung Liu(Chung Hua University, Taiwan)

OS3-3Study on User Satisfaction of Pick Areas for Elementary Schools – Using Nanyang
Elementary School in Taichung City as Example
Chun-Feng Chang, Yan-Chyuan Shiau, Kuan-Yin Chen
(Chung Hua University, Taiwan)

OS3-4

Study on User Satisfaction in Sport Site Facilities for Senior Students of Elementary
Schools in Taichung City
Pei-Ling Lin, Yan-Chyuan Shiau, Ling-Lin Chang (Chung Hua University, Taiwan)

OS3-5

The Establishment of the Sustainability Performance Indicators for Wetland Ecological Project:
Using Construction Inspection Phase as Example
Ching-Mei Miao, Yan-Chyuan Shiau, Chen-Chung Liu, Jen-Kuo Chang(Chung Hua University, Taiwan)

OS3-6

Development of Type Control Guidelines for the Old Town District of Hsinchu City
Yi-Yin Tsai (Chung Hua University, Taiwan)©ICAROB 2016
- 21 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

16:10-18:10 GS4 Micro-Machine (4) + GS9 Robotics Ⅲ(4)GS4 Micro-Machine (4)Chair: Jang-Myung Lee (Pusan National University, South Korea)
GS4-1

Applying Fuzzy Sliding Mode Control on Electrowetting on Dielectric System
1
Arsit Boonyaprapasorn, 2Thavida Maneewarn, 2Eakkachai Pengwang (1Chulachomkloa Royal
Military Academy, 2King Mongkut’s University of Technology Thonburi, Thailand)

GS4-2

Development of Micro-Permanent Magnet Synchronous Reluctance Generator for TPMS on
Smart Robots
1
Chun-Chieh Chang, 1 Cheng-Tang Pan, 1Shao-Yu Wang, 1An-Yun Yang, 1Gu-Xuan Lin,2
Roger Chenglung Lee, 2 Ting-Hung Chung, 1Yu-Jen Wang
1
( National Sun Yat-sen University, 2Naroller Electronics, Taiwan)

GS4-3

Study of Micro-Flux-Switching Permanent-Magnet Generator for TPMS on Smart Robots
1
An-Yun Yang, 1 Cheng-Tang Pan, 1Shao-Yu Wang, 1Chun-Chieh Chang, 1Gu-Xuan Lin,2
Roger Chenglung Lee, 2Ting-Hung Chung, 1Yu-Jen Wang
1
( National Sun Yat-sen University, 2Naroller Electronics, Taiwan)

GS4-4

MEMS Microrobot Controlled by Mounted Neural Networks IC with Two Types Actuators
Kei Iwata, Hirozumi Oku, Yuki Okane, Yohei Asano, Masaki Tatani, Yuki Ishihara, Kazuki Sugita,
Satohiro Chiba, Satoko Ono, Mizuki Abe, Minami Takato, Ken Saito, Fumio Uchikoba(Nihon University, Japan)

GS9 RoboticsⅢ(4)Chair: Arsit Boonyaprapasorn (Chulachomklao Royal Military Academy, Thailand)
GS9-1

Social Expression of Pet Robot Based on Artificial Consciousness and Biologically Inspired Online Topological Method
Sakmongkon Chumkamon, Eiji Hayashi (Kyushu Institute of Technology, Japan)

GS9-2

Anthropomorphic robot modelling with virtual height inverted pendulum approach in
Simulink: step length and period influence on walking stability
Ramil Khusainov, Ilya Afanasyev, Evgeni Magid (Innopolis University, Russia)

GS9-3

A low cost genetic algorithm based control scheme for wheelchair control in hospitalenvironment
Karam Dad Kallu, Muhammad Jawad Khan, Wang Jie, Min Cheol Lee(Pusan National University, South Korea)

GS9-4

Simultaneous Localization and Mapping (SLAM) algorithm base on EKF and SPKF.
Zolghadr Javad, Yuanli Cai ,Yekkehfallah Majid (Xi’an Jiaotong University, P.R. China)©ICAROB 2016- 22 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

January 30 (Saturday)
08:50-Registration
Room B2
09:10-10:40 GS2 Pattern Recognition & Image Processing (6)Chair: Toyomi Fujita (Tohoku Institute of Technology, Japan)
GS2-1

An accurate method for the extraction of structured light stripe
Jiwu Wang1, Yaodong Li1, Zhijing Jian1, Sugisaka Masanori2(1Beijing Jiaotong University, P.R. China) (2Alife Robotics Corporation Ltd, Japan)

GS2-2

Feature Acquisition From Facial Expression Image Using Convolutional Neural Networks
Taiki Nishime, Satoshi Endo, Koji Yamada, Naruaki Toma, Yuhei Akamine(University of The Ryukyus, Japan)

GS2-3

Estimating Age on Twitter Using Self-Training Semi-Supervised SVM
Tatsuyuki Iju, Satoshi Endo, Koji Yamada, Naruaki Toma, Yuhei Akamine(University of The Ryukyus, Japan)

GS2-4Interactive musical editing system to support human errors and offer personal preferences
for an automatic piano
Kenji Tsunenari, Eiji Hayashi (Kyushu Institute of Technology, Japan)

GS2-5

Geometric parameters measurement of wheel tread based on line structured light
Jiwu Wang1, Zhijing Jian1, Yaodong Li1, Chao Yang1, Sugisaka Masanori2(1Beijing Jiaotong University, P.R. China), (2Alife Robotics Corporation Ltd, Japan)

GS2-6

Study on the ORB algorithm in the application of Monocular SLAM
Jiwu Wang1, Shunkai Zheng1, Masanori Sugisaka2(1Beijing Jiaotong University, P.R. China), (2ALife Robotics Corporation Ltd, Japan)

11:00-11:40
Chair: Yingmin Jia (Beihang Univesty, P. R. China)
Invited Speech (IS2) Affective Human Computer Interaction
Kaoru Sumi (Future University Hakodate, Japan)
13:00-14:00
Plenary Speech (PS2) A Study on Differential Evolution Using BetaCOBL, B3R, and TPBO
So-Youn Park, Ju-Jang Lee (KAIST, South Korea)
14:20-15:50 OS8 Image, Circuit and Control (6)Chair: Fengzhi Dai (Tianjin University of Science and Technology, P.R. China)
Co-Chair: Hongyan Jia (Tianjin University of Science and Technology, P.R. China)©ICAROB 2016
- 23 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS 8-1

Image Encryption Implementation Based on fractional-order Chen System
Hongyan Jia, Qinghe Wang (Tianjin University of Science and Technology, P.R. China)

OS 8-2

Mobile Camera based Motion Segmentation by Image Resizing
Chunyu Yu (Syracuse University, USA)OS 8-3

Synchronization of the fractional-order permanent magnet synchronous motor
Xue Wei, Li Xue (Tianjin University of Science and Technology, P.R. China)

OS 8-4

Analog Circuit Implementation and Full State Observation of Chua’s Circuit
Hong Niu, Dongchen Tan, Yongjun Wu(Tianjin University of Science and Technology, P.R. China)

OS 8-5

Research on visualizational rescue robot
YuanLi Yue, Fengzhi Dai, Qijia Kang, Pengfei Xie(Tianjin University of Science and Technology, P.R. China)

OS 8-6Development of training instrument for upper limb muscle rehabilitation
Qijia Kang, Fengzhi Dai, Yuanli Yue, Bo Liu, Hongtao Zhang(Tianjin University of Science and Technology, P.R. China)

Room B3
09:10-10:40 GS7 RoboticsⅠ(6)Chair: A. Yamaguchi (Fukuoka Institute of Technology, Japan)
GS7-1

Haptic system with fuzzy controller for extended control of Teleoperation mine detector
wheeled robots
Yekkehfallah Majid, Guao Yang, Yuanli Cai, Naebi Ahmad, Zolghadr Javad(Xi'an jiaotong university, P.R. China)

GS7-2

Effect of System Parameters and Controlled Torque on the Dynamics of Rigid-Flexible Robotic
Manipulator
Sachindra Mahto (North Eastern Regional Institute of Science & Technology, India)

GS7-3

Modeling of Mobile Manipulator and Adaptive Super-Twisting Backstepping Control
Seong Ik Han, Hyunuk Ha, Jangmyung Lee(Pusan National University, South Korea)

GS7-4

Self-tuned Local Feedback Gain Based Decentralized Fault Tolerant Control ofReconfigurable Manipulators
Bo Zhao1, Bo Dong2, Yan Li2, Fumitoshi Matsuno3, Yuanchun Li2(1Chinese Academy of Sciences, 2Changchun University of Technology, P.R. China),(3Kyoto University, Japan)©ICAROB 2016- 24 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS7-5

Study on Decentralized Integral Nested Sliding Mode Control for Constrained Reconfigurable
Manipulator with Harmonic Drive Transmission
Bo Dong1, Zeyu Dong1, Bo Zhao2, Yan li1, Fumitoshi Matsuno3, Yuanchun Li1(1Changchun University of Technology, 2Chinese Academy of Sciences, P.R. China),(3Kyoto University, Japan)

GS7-6

A Number of Mobile Manipulator Control for Moving Object by using Cooperative Control
Deok-Su Kim, Dong-Eon Kim, Seong-Ik Han, Jang-Myung Lee(Pusan National University, South Korea)

14:20-15:50 OS6 Intelligent Control (6)Chair: Yingmin Jia (Beihang University, P. R. China)
Co-Chair: Weicun Zhang (University of Science and Technology, P. R. China)
OS6-1

Adaptive Control of Discrete-Time Systems Using Multiple Fixed and One Adaptive
Identification Models
Zhang Yuzhen, Li Qing, Zhang Weicun(University of Science and Technology Beijing, P. R. China)

OS6-2

Adaptive Polynomial Regression and Its Applications to Gene Selection of Rat Liver
Regeneration
Juntao Li, Yimin Cao, Xiaoyu Wang, Cunshuan Xu (Henan Normal University, P.R .China)

OS6-3

Adaptive Consensus via Dynamic Output Feedback for Lipschitz Nonlinear Multi-Agent
Systems
Lin Li, Heyang Wang (University of Shanghai for Science and Technology, P.R. China)

OS6-4

Iterative Learning based Thrust Ripple Suppression for PMLSM
Caixia Gao, Fuzhong Wang, Ziyi Fu (Henan Polytechnic University, P.R. China)

OS6-5

Adaptive Sliding Mode Control for A 2-DOF Magnetic Levitation Systemwith Uncertain Parameters
Meng Duan, Yingmin Jia (Beihang University, P.R. China)

OS6-6

Undershoot Reduction in Discrete-Time ADRC of NMP Plant by Parameters Optimization
Tong Wu, Weicun Zhang (University of Science and Technology Beijing, P.R. China)

16:10-17:10 OS 12 Advanced Research on Computer Science and Information Processing (4)Chair: Takao Ito (Hiroshima University, Japan)
Co-Chair: Sakamoto Makoto (University of Miyazaki, Japan)
OS12-1Development of a Tool to Keep Consistency between a Model and a Source Code in Software
Development Using MDA.
Yuuki Kikkawa1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro Aburada3 andNaonobu Okazaki1 (1University of Miyazaki, 2Tokyo University of Technology, 3Oita National
College of Technology, Japan)©ICAROB 2016
- 25 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS12-2

Necessary spaces for seven-way four-dimensional Turing machines to simulate fourdimensional one-marker automata
Makoto Nagatomo1, Shinnosuke Yano1, Makoto Sakamoto1, Satoshi Ikeda1, Takao Ito2,
Tsutomu Ito2, Yasuo Uchida3, Tsunehiro Yoshinaga4, and Hiroshi Furutani1(1University of Miyazaki,2Hiroshima University, 3Ube National College of Technology,
4Tokuyama College of Technology, Japan)

OS12-3

Analysis for 4×12 board of Othello
Yuki Takeshita1, Satoshi Ikeda1, Makoto Sakamoto1, Takao Ito2
(1Miyazaki University, 2Hiroshima University, Japan)

OS12-4

A space lower-bound technique for four-dimensional alternating Turing machines
Makoto Nagatomo1, Shinnosuke Yano1, Makoto Sakamoto1, Satoshi Ikeda1, Takao Ito2,
Tsutomu Ito2, Yasuo Uchida3, Tsunehiro Yoshinaga4, and Hiroshi Furutani1(1University of Miyazaki, 2Hiroshima University, 3Ube National College of Technology,
4Tokuyama College of Technology, Japan)

RoomB4
9:10-10:40 OS5 Advanced Control Systems (6)Chair: Yingmin Jia (Beihang University, P.R. China)
Co-Chair: Fuzhong Wang (Henan Polytechnic University, P.R. China)
OS5-1

Socialized Multi-Agent System Rendezvous via Networks of Networks
Yunzhong SONG, Ziyi FU, Fuzhong WANG (Henan Polytechnic University, P.R.China)

OS5-2

Global sensor selection for maneuvering target tracking in clutter
Wenling Li, Yingmin Jia (Beihang University, P.R. China.)

OS5-3

Attitude/Position Estimation of Rigid-Body using Inertial and Vision Sensors
Shihao Sun, Yingmin Jia (Beihang University, P.R. China)

OS5-4Modeling and Control of a Suspended Gravity Compensation System with the Rigid-Flexible
Coupling
Jiao Jia, Yingmin Jia, Shihao Sun (Beihang University, P.R. China)

OS5-5Trajectory Tracking Control for Omnidirectional Mobile Robots with Input Constraints
Wenhao Zheng, Yingmin Jia (Beihang University, P.R. China)

OS5-6

Parameters Tuning Approach for Prescribed Performance Function Based Active DisturbanceRejection Control
Wei Wei, Bo Liang, Weijun Su (Beijing Technology and Business University, P.R. China)©ICAROB 2016
- 26 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

14:20-15:35 GS5 Multi-Agent Systems & Visualization (2) +GS6 Intelligent Control & System
Cybernetics (3)GS5 Multi-Agent Systems & Visualization (2)Chair: Shingo Mabu (Yamaguchi University, Japan)
GS5-1

Moving Robots Lies and Their Minds with Degree of Confidence in a Decentralized
Autonomous FMS
Shizuka Tanaka, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)

GS5-2

Conquest Oriented Robot Knowing Its Own Availability
Sho Yamauchi, Keiji Suzuki (Future University Hakodate, Japan)

GS6 Intelligent Control & System Cybernetics (3)Chair: Min Cheol lee ((Pusan National University, South Korea)
GS6-1

A Consideration on Feature Extraction for Operation Skill Based on Control Engineering
Approach
Kazushige Koiwai1, Liao Yantao1, Toru Yamamoto1, Takao Nanjo2, Yoichiro Yamazaki2,
Yoshiaki Fujimoto2(1Hiroshima University, 2KOBELCO Construction Machinery CO., LTD., Japan)

GS6-2

Design of a Data-Driven Control System for a Hydraulic Excavator
1
Takuya Kinoshita, 1Yasuhito Oshima, 1Kazushige Koiwai, 1Toru Yamamoto 2Takao Nanjo,
2
Yoichiro Yamazaki, 2Yoshiaki Fujimoto(1Hiroshima University, 2KOBELCO Construction Machinery CO., LTD, Japan)

GS6-3

An Optimization of Spatio-Spectral Filter Bank Design for EEG Signal Classification
Masanao Obayashi, Takuya Geshi, Takashi Kuremoto, Shingo Mabu
(Yamaguchi University, Japan)

16:10-16:55 OS8 Image, Circuit and Control (3)Chair: Fengzhi Dai (Tianjin University of Science and Technology, P.R. China)
Co-Chair: Hongyan Jia (Tianjin University of Science and Technology, P.R. China)
OS 8-7

Design and Analog Circuit Implementation of a Dynamic Feedback Control System Based on
RLC Series Circuit
Hong Niu, Yongjun Wu, Dongchen Tan (Tianjin University of Science & Technology, P.R. China)

OS 8-8Maximal power point tracking technology for the solar photovoltaic battery based onmodel predictive control
Xia Zhao, Huailin Zhao (Shanghai Institute of Technology, P.R. China)

OS 8-9Analysis and unidirectionally coupled synchronization of a novel chaotic system
Li Xue, Xue Wei (Tianjin University of Science and Technology, P.R. China)©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

January 31 (Sunday)
8:50- Registration
Room B3
9:10-9:55 OS10 Reality Mining (3)Chair: Masao KUBO (National Defense Academy of Japan, Japan)
Co-Chair: Saori Iwanaga (Japan Coast Guard Academy, Japan)
OS10-1

Fast collective photographic subject detection without pixels by an assumption about a shot
and its elevation angle
Sora Tanioka, Masao Kubo, Hiroshi Sato (National Defense Academy of Japan, Japan)

OS10-2

Evaluation of a safety map generated from a collection of difference of Individuals
Masao Kubo, Dang Viet-Chau, Hiroshi Sato, Akira Namatame(National Defense Academy of Japan, Japan)

OS10-3Endeavor to adopt GIS data on evacuation decision making model1
Saori Iwanaga, 2Akira Namatame(1Japan Coast Guard Academy, 2National Defense Academy of Japan, Japan)

10:10-11:10 OS13 Automatic Generation, Creation, and Production of Narrative Contents (4)Chair: Takashi Ogata (Iwate Prefectural University, Japan)
Co-Chair: Yoji Kawamura (Kinki University, Japan)
OS13-1

Automatic Generation, Creativity, and Production of Narrative Contents
Takashi Ogata (Iwate Prefectural University, Japan)

OS13-2A Design Plan of a Game System including an Automatic Narrative Generation Mechanism:
The Entire Structure and the World Settings
Jumpei Ono, Takashi Ogata (Iwate Prefectural University, Japan)

OS13-3

A Way for using the Verb Conceptual Dictionary in an Integrated Narrative Generation
System: Focusing on the use of Co-occurrence Information on the Verb Concepts
Takashi Ogata, Jumpei Ono (Iwate Prefectural University, Japan)

OS13-4

A Viewing Experiment on the Effects of Advertising Story
Yoji Kawamura (Kinki University, Japan)

13:00-14:30 GS3 Reinforcement Learning Systems & Genetic Programing (6)Chair: Kunikazu Kobayashi (Aichi Prefectural University, Japan)
GS3-1

Examination of Robotic Aerospace Engines Maintenance Supported by Augmented Reality
through Cloud Manufacturing
Mosab Alrashed, Yaser Yadekar, John Ahmet Erkoyuncu, Yifan Zhao (Cranfield University, UK)©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS3-2

Unit Layout Design Supporting System of Cell Assembly MachineUsing Two Robots byReinforcement Learning
Yusaku Ikai, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)

GS3-3

Virtual Input Parts Decision System of Job-Shop Production Line by using GA with ON / OFF
GeneJunji Ito, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)

GS3-4

An Evolutionary Algorithm for Making Decision Graphs for Classification Problems
Shingo Mabu, Masanao Obayashi, Takashi Kuremoto (Yamaguchi University, Japan)

GS3-5

Improvement of Computational Efficiency of UPF by Automatic Adjustment of the Number ofParticles
Kenta Hidaka, Takuo Suzuki, Kunikazu Kobayashi (Aichi Prefectural University, Japan)

GS3-6

Multi Objective Evolutionary Algorithms for Association Rule Mining: Advances andChallenges
Aswini Kumar Patra (North Eastern Regional Institute of Science & Technology, India)

RoomB4
9:10-9:55 OS9 Modern Approaches of MOT and Corporate Strategy (3)Chair: Takao Ito (Hiroshima University, Japan)
Co-Chair: Seigo Matsuno (National Institute of Technology, Ube College, Japan)
OS9-1

A Study on the Structural Hole of Patent Applicant Network in R&D Management
Iori Nakaoka1, Yousin Park2, Yun-ju Chen3 (1National Institute of Technology, Ube College,
2
Prefectural University of Hiroshima, 3Shiga University, Japan)

OS9-2

The TCE-RBV framework for information systems outsourcing: Empirical testing using
survey data in Japan
1
Seigo Matsuno, 2Tsutomu Ito, 1Yasuo Uchida, 3Yoshiki Mikami, 4Takao Ito
1( National Institute of Technology, Ube College, 2Hino Motors, Ltd., 3Nagaoka University ofTechnology, 4Hiroshima University, Japan)

OS9-3

Momentum and its Implications in Corporate Management
Tsutomu Ito1, Takao Ito1, Rajiv Mehta2, Sakamoto Makoto3, Katsuhiko Takahashi1,
Katsumi Morikawa1(1Hiroshima University, 3Miyazaki University, Japan) (2New Jersey
Institute of Technology, USA)

10:10-11:25 OS7 Image Analysis and Content Security (5)Chair: Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Co-Chair: Masayoshi Tabuse (Kyoto Prefectural University, Japan)©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS7-1

A Method for Secure Communication Using a Discrete Wavelet Transform for Sound Data
Yuji Tsuda1, Kouhei Nishimura2, Haruka Oyaizu3, Yasunari Yoshitomi2, Taro Asada2,
Masayoshi Tabuse2 (1Software Service, Inc., 2Kyoto Prefectural University, 3NHK Media
Technology, Inc., Japan)

OS7-2

An Authentication Method Using a Discrete Wavelet Transform for a Recaptured Video
Ren Fujii, Yasunari Yoshitomi, Taro Asada, Masayoshi Tabuse(Kyoto Prefectural University, Japan)

OS7-3

A System for Facial Expression Analysis of a Person While Using Video Phone
Taro Asada, Yasunari Yoshitomi, Ryota Kato, Masayoshi Tabuse, Jin Narumoto(Kyoto Prefectural University, Japan)

OS7-4

Emotion Recognition of a Speaker Using Facial Expression Intensity of Thermal Image andUtterance Time
Yuuki Oka1, Yasunari Yoshitomi2, Taro Asada2, Masayoshi Tabuse2(1NTT DATA Financial Solutions Corp. 2Kyoto Prefectural University, Japan)

OS7-5

Estimation of Learners' Subjective Difficulty in e-Learning Using Thermal Image Processing
Yuki Yoshimitsu, Masayoshi Tabuse (Kyoto Prefectural University, Japan)

PS abstracts
PS1 Disrupting the Industry with Play
Henrik Hautop Lund (Technical University of Denmark, Denmark)Decades of research into intelligent, playful technology and user-friendly man-machineinterfaces has provided important insight into the creation of robotic systems andintelligent interactive systems which are much more user-friendly, safer and cheaper
than what appeared possible merely a decade or two ago. This is significantly
disrupting the industry in several market sectors. This paper describes the componentsof the playware and embodied artificial intelligence research that has led to disruption
in the industrial robotics sector, and which points to the next disruption of the healthcare sector. This includes playful robotics, LEGO robots for kids, minimal robot
systems, user-friendly, behavior-based, biomimetic, modular robotics and intelligent
systems. The insight into these components and the use in synthesis for designing
robots and intelligent systems allows anybody, anywhere, anytime to use these systems,
providing an unforeseen flexibility into the sectors, which become disrupted with thesesystems.

PS2 A Study on Differential Evolution Using BetaCOBL, B3R, and TPBO
So-Youn Park, Ju-Jang Lee (KAIST, South Korea)
New parameters are defined to use a beta distribution without limitation and two betautilizations to control the search magnitude of thstacte algorithm are proposed: one foradding randomness to OBL (BetaCOBL) and the other for individual distributionoriented reproduction (B3R). BetaCOBL and B3R are developed into DE embedding
BetaCOBL (BetaCODE) and two-phase B3R optimization (TPBO) respectively. The
proposed algorithms are tested on various test functions and two real world applications
and compared with other algorithms with respect to the performance criteria. The
results indicate that the proposed algorithms outperform or perform comparatively tothe comparison group especially in terms of solution accuracy and reliability.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

IS abstracts
IS1 Redefining robot based technologies for elderly people assistance: a survey.
Luigi Pagliarini 1,2, Henrik Hautop Lund 1(1 Technical University of Denmark, Denmark, 2 Academy of Fine Arts of Macerata, Italy)
We analyse the state of the art of hi-tech and robot based technologies in terms ofAssistive Technology for all patients and, in particular, elderly people assistanceand everyday activities aid. By focusing on different aspects and characteristics(such as playfulness, invasiveness, learning-speed, efficiency, short and long-term
effect, active vs. passive, etc.) we show the most important existing examples, andhighlight all the factors that might help researchers when developing technologies
for elderly care. Decades of research have not yet declared what the optimal HMI
is, in such context. Since there is an urgent need to clarify how various
technologies can be a goal or an approach for preventive, rehabilitative andassistive interaction, we try to make a first step towards a redefinition of Robotics
Assistive Technology.

IS2 Affective Human Computer Interaction
Kaoru Sumi (Future University Hakodate, Japan)
This talk introduces a study of spoken dialogue agent systems using emotional
expressions as affective human computer interaction. The paper describes anexperiment investigating the effect that the expression and words of the agent have on
people, introduces a spoken agent for customer services using expressive facial
expressions and a spoken agent for mental care using expressive facial expressions andpositive psychology as application systems for affective human computer interaction,and presents a discussion and a conclusion.

OS abstracts
OS1 Artificial Life and Quality Enhancement of Life (6)OS1-1 The development of new products of pineapple cheesecakes
Sheu-Der Wu1, Hung-Wen Su2 (1Cheng Shiu University, 2Far East University, Taiwan)
We are in view of the product - pineapple cheesecakes newly developed for this study,
the questionnaire answers proposed by consumers after sensory evaluations find themost popular flavor with 27% recipe proportion of pineapple chops added.
Furthermore, after pineapples are added into cheesecakes, a new flavor has emerged incheesecakes yet reduces the oily taste without sacrificing its original flavor and nutrient
value. In the experiment of formal sensory evaluation, genders, ages, occupations,incomes and purchase intention are served as factors to analyze consumers' preference
to pineapple cheesecakes. Research results after investigation finds the strongest
acceptability is the samples of pineapple cheesecakes added with 27% pineapple chops.
The least acceptability happens to the samples of pineapple cheesecakes added with
27% pineapple jams. After analysis, it is found the overall acceptability is high but thepurchase intention is low revealing a higher preference to cheesecakes added withpineapple chops.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS1-2 The study on ballroom service quality to affect customer satisfaction
Hsiu-Min Lin , Yang Wu, Jei-Fu Ho (Far East University, Taiwan)
For hoteliers, customer expectations and the real performance of service probably
existed in perceptive variance between the emphasized details and satisfaction tobring about the gaps of service quality. As such, it naturally caused customer
unsatisfied with service quality to lose their patronage. As it is found fromresearch results, service quality exerted positive influence on demographic
variables. If it was available to improve the service quality and the expectations
to customer satisfaction, then it was naturally available to enhance the repeatedpurchase intention of customers. In 10 dimensions cited in this research, after
researching analysis, "tangibles" was satisfied by customers the most. If providers
could keep the satisfaction always, then it was naturally available to enhance thefirst image in customers' mind. Additionally, "external response" scored the leastand provides should improve their own service quality by focusing on the parts
highly emphasized by customers. Furthermore, more emphasis should be placedon the opinions of customers to win their trust and avoid external complaint lodged
by customers without losing the source of customers. The excellency or inferiority
of service quality would directly affect customer satisfaction. If providers wereplanning for sustainable business management, excellent service quality was
imperatively required. As such, it was just available to win the trust from
customers under the fiercely competitive business climate with the goal ofsustainable business management achievable.

OS1-3 The relationship between employees’ personality traits, work values and job
involvement with the contribution to their companies – For the micro food service
industryHsiu-Chen Chung1, Chiou-Lan Chien1, Lung-Chi Tsai2( Tainan University of Technology, 2Southern Taiwan University of Science and Technology, Taiwan)
1

We The purpose of the study is to discover the influence between the employee’s (forwhom who works in the micro food industry) personality, work values and job
involvement to the contribution and dedication. Research sample focus on the snackbar in night market, bakery stores and the micro food industries’ employees or owners
from Taizhong, Changhua, Yunlin, Jiayi and Tainan cities. We send 450 questionnaires,the effective questionnaires are 333, and the percentage of effective retrieve of thequestionnaire is 87.63%. After using reliability analysis, correlation analysis, one-way
analysis of variance (ANOVA), independent, work values and personality can forecast
prediction the employee’s contribution and dedication very precisely; in addition, we
find out that job involvement has a very clear effects between work values and job
contribution.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS1-4 Consumer’s acceptance to the new product- pineapple jam as example
Shang-Hui Li, Jei-Fu Ho (Far East University, Taiwan)
Based on the health and environmental considerations, consumers paid theirmore attention to the pursuit of natural ingredient. In other words, a safe andnon-toxic diet is the basic consideration for the consumers. More consumers
pay more attention on natural foods; they gradually change their eating habits.
In recent years, many food safety events such as tainted milk, clenbuterol,
poison starch, plasticizers etc. have been reported. Consumers tend to buy
natural foods, less chemical additives and security food as the primary concern.
This study attempts to take the natural pineapple jam as the major structure.
And try to add dates and plum into pineapple jam instead of any artificial
additives, and enhance the taste level. Meanwhile, different flavors could
derive from the natural products according to the pineapple jam proportion o f
different formulations. The study expects to be able to create the pineapple jam
which is not the same as made by the market products. The study selected 150
consumers of Tainan area to be tested of preferences of sensory evaluation, andSPSS 12.0 statistical software was used as the data analysis of the outcomes ofthe study. The result found among123 valid questionnaires. The original flavor
pineapple jam in its appearance, aroma, stiffness, acidity, sweetness and overall
acceptability can be accepted by most consumers and there are significant
differences with other products. Consumer also showed their strongest
willingness to buy the original flavor pineapple jam and there are significant
differences with other products.

OS1-5 Development of an innovative design process for green products
Ming-Chieh Wang (Far East University, Taiwan)
We are Under the growing trend of environmental protection, many different ecodesign methods have been proposed, at the same time, there are many TRIZ tools
used to support these processes. In this study, we proposed an innovative design
process for green products. This process includes three frameworks-collaborative
design, innovative design environment, and the green product design system.
Collaborative design framework aims to assist the designer and their upstream
and downstream partners to combine their ideas by CSCW tools. The innovative
design environment includes data layer, information layer, and knowledge layer,
analyzed through the data exchange, information sharing and decision making
during the design process. The green product design system was consists of the
problem analysis, problem solving, and solution evaluation used to assist thedesign process with collaborative coordination and information recording. This
construct integrating the design ideas, knowledge exchange, problem solving andfeedback for the green product design process.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS1-6 Research on Nail Art 3D Design with Different Materials-- A Case Study of the Tang Dynasty Style
Mei-Yin Lee, Kung-Yu Liu, Sih-Jie Guan and Jei-Fu Ho (Far East University, Taiwan, ROC)
Women in Tang Dynasty, China (618 A.D.-907 A.D.) had concerned with beauty. They
had painted color in their nails in addition to emphasis on clothing and makeup. Tang’s
costumes had blended the diverse characteristics of northern ethnic groups. Meanwhilea variety of engineering methods had been used such as embroidery, painting, printing,wearing gems and gemstones. Floral patterns had been appeared in large numbers inclothing, accessories and poetry. This study has tried to build the Tang Dynasty
decorative painting technique or way of painting reappeared on modern nail art and to
make the nail painting presents the different faces. After collecting a lot of relevant
documents and experimenting many combinations of different materials, such as
sculpture, super-light clay, foam paper, popsicle sticks, and Styrofoam, many handmade stereoscopic flowers, such as peony, rose, plum etc., with painting have beenmade. Hence different from the past nail art, beautiful pieces of finger nail with themood of Tang Dynasty poetry are presented. Furthermore, this study has investigatedwhether the stereoscopic nail art design with different materials could be promoted tothe daily nail decoration to enhance the quality of life.

OS2 Intelligence Control System and Artificial Life (6)OS2-1 Modified Quantum Particle Swarm Optimization for Chaos Synchronization
Ching-I Lee, Chia-Nan Ko (Nan Kai University of Technology, Taiwan)
In this study, a modified quantum-behaved particle swarm optimization (MQPSO)
based on hybrid evolution (HEMQPSO) approach is proposed to synchronize chaotic
systems, in which the proposed HEMQPSO algorithm combines the conceptions ofgenetic algorithm (GA) and adaptive annealing learning algorithm with the MQPSO
algorithm to search optimal solutions. Simulation results are illustrated to verify theperformance of chaos synchronization using the proposed HEMQPSO approach. From
the numerical simulations and comparisons with other extant evolutionary methods inchaotic systems, the validity and superiority of the HEMQPSO approach are verified.

X0

OS2-2 A Simulation Model of Hall Sensor Misalignment in BLDC Motors
Chung-Wen Hung, Chu-Lin Hsu(National Yunlin University of Science & Technology, Taiwan)
A simulation model of Hall sensor misalignment in BLDC motors is proposed in thispaper. The Hall sensor is popularly used in brushless DC motor to decide commutate
and rotational speed. However, the accuracy of Hall sensor position is limited in mostof BLDC motors, and it is lack of suitable simulation model for Hall Sensor installation
misalignment. The details of simulation model are discussed in this paper, andsimulation results are also provided to show the model workable.

©ICAROB 2016
- 34 -X  F ( X , X 0 , Q0 )X1 ,..., X M
Xˆ 1 ,..., Xˆ M

Xˆ  F ( X , X 0 , Q)

HEMQPSO_+

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS2-3 Using Multi-Target Tracking and Identification TLD Algorithm for Intelligent
Mobile Robot
Jr Hung Guo, Kuo-Hsien Hsia, Kuo-Lan Su(National Yunlin University of Science & Technology, Taiwan)
Image algorithms used herein are Tracking-Learning-Detection (TLD) and Speed UP
Robust Features (SURF). TLD is used for target tracking and SURF is used to identify
targets. We use zoning identification, with the use of statistical probability tostrengthen the efficiency of TLD and SURF. With such a method, the efficiency ofimage identification and target tracking can be enhanced so that the robot cansimultaneously track and identify multiple targets.

OS2-4 Handheld Mobile Devices for Remote Monitoring of Factory
Bing-Gang, Jhong, Jian-Sing, Hu, Mei-Yung, Chen(National Taiwan Normal University, Taiwan)
In this paper, a handheld mobile device system is presented for remote monitoring of
the factory to short the downtime of machines and recovery more quickly. The human–
computer interaction of the system is developed by GP-Por EX, and operates by using
commercial or free distal APP combining with sign-in-website of the company. The
way for the program linked can be linked with multi-way links, such as long-distancelink (3G/4G or Wi-Fi wireless INTERNET), medium distance (LAN) and shortdistance (ETHERNET) and can be chosen in the company portal page. With
supplemented Internet browser program for remote monitoring, the distal end operator
or the person in charge can confirm the machine condition through the distal end of theserver, port, user name and password settings. Therefore, the operational efficiency andsystem transparency can be improved with the handheld mobile devices for remotemonitoring system.

OS2-5 Task Assignment and Checking Process for Pattern Reformation on a
Square Grid Plane
Kuo-Hsien Hsia1, Bo-Yi Li, Kuo-Lan Su(1Far-East University, National Yunlin University of Science & Technology, Taiwan)
Pattern reformation problem on a grid plane is an interesting problem. Suppose there
is a group of mobile robots on a square grid plane with the number of robots equaling
to the number of columns/rows of the grid plane. The mobile robots are initially in acertain formation and they are commanded to change to another formation as soon as
possible. Any one of them has to prevent himself from colliding with others during themoving of reformation process. In this paper, we will provide a systematic process ontask assignment of route programming for the pattern reformation problem on a squaregrid plane. We will also provide a checking process to check if the suggested programis really good or not.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS2-6 The Design of a Multifunctional Acousto-Optical Device With a Mobile
Power Pack
Yi-Yu Lu, Wen-Bin Lin, Zheng-Ying Li (Far-East University, Taiwan)
This study presents details of a multifunctional acousto-optic warning device thatrecently obtained a patent in Taiwan. The device comprises three subsystems, which
are RGB LEDs, warning system and mobile power pack. This device has multiple
functions, including as a traffic baton, camping light, glow sticks and for women's
security at night. The tube body of the device is adjustable, and can extend to 1.5 times
its length. The design is both functional and practical, and it is also energy efficientdue to the use of polymer optical fiber and a lithium battery. Since this device also has
a USB charge and discharge function, it can also work as a mobile power pack.

OS3 Construction Engineering and Management (6)OS3-1 Discussion on Factors Influencing the Performance of Hospital Renovation
Engineering Taking one Medical Center in Taiwan as Example
Wen-Lung Lin, Yan-Chyuan Shiau, Ting-Chi Lai, Chen-Chung Liu (Chung Hua University, Taiwan)
Renovation engineering is conducted to create the high-quality medical environment tomeet the public’s medical demands. The subjects of this study were to investigate therenovation engineering case of four hospital areas in Mackay Memorial Medical Centerin Taiwan. 50 factors influencing the engineering performance were concluded in thisstudy. The rank of each factor’s influencing severity and influencing performance in fourstages for hospital renovation engineering was summarized. The factors’ severity rank
influencing the performance in the four stages were planning and design stage,
construction management stage, bidding stage and case acceptance and closing stage.
The conclusions and suggestions of this study can be used as reference for future hospitalrenovation projects.

OS3-2 Discussion on Land Expropriation Compensation System
Hung-Chi Liu, Yan-Chyuan Shiau, Yao-Shan Huang, Chen-Chung Liu(Chung Hua University, Taiwan)©ICAROB 2016
- 36 -

es
Tax
Pay
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sfer
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Land expropriation is a necessary means for the public construction of country. Usuallysome appropriate compensation was paid to imposed people. How land expropriation
should be compensated in accordance with the spirit of the Constitution for governs toprotect people’s property rights have been explored in this study. The study results showthat the public in Taiwan is rather satisfied with the current land expropriation at the landmarket value. “Estimation of land value by real-estate estimators” and “Compensation
based on values listed on the Actual Price Registration” are much accepted by the public.
It is also suggested that the existing land expropriation compensation shall adjust to meetthe public wish to reduce incidences of struggles and improve administrative proficiency.

Be Imposed
PeopleImposition Profits
Provide Imposition Costs

General Public(Non-expropriatedPeople)

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS3-3 Study on User Satisfaction of Pick Areas for Elementary Schools – Using Nanyang
Elementary School in Taichung City as Example
Chun-Feng Chang, Yan-Chyuan Shiau, Kuan-Yin Chen (Chung Hua University, Taiwan)

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Most of the campus accidents happen on the way between school and home, and most of
the locations are close to their homes or schools. The elementary school children have
low autonomy and they are mainly picked by parents. This study has investigated theuser satisfaction of pick areas for elementary schools and their improvement
requirements. Questionnaire is adopted to discuss user satisfaction of the school
environment. The improvement strategies for pick areas were inspected for different
various backgrounds. The research results have showed that overall satisfaction ranges
from general to satisfaction. Some useful suggestions are proposed. These suggestions
can be served as reference for schools and educational organizations to establish an
unimpeded pick area for a safe school commuting environment.

OS3-4 Study on User Satisfaction in Sport Site Facilities for Senior Students of Elementary
Schools in Taichung City
Pei-Ling Lin, Yan-Chyuan Shiau, Ling-Lin Chang (Chung Hua University, Taiwan)
In Taiwan, obesity rate of children and adolescents is 26.8% and physical fitness also
falls behind the neighboring Asian countries. This study has discussed senior students’actual use and satisfaction towards school sport field facilities in elementary schoolsof Taichung City. This study adopted questionnaire method and senior students inelementary schools of Taichung City were used as research subjects which were
sampled with stratified cluster sampling method. The obtained data were analyzed bydescriptive statistics, Chi-square test, T test, one-way ANOVA, and Pearson productmoment correlation. It is expected to provide reference for relevant personnel so as
to provide the ideal campus sports environment.

Student Background
Variables

Result Variables
Sports Buildings andFacilities Usage

1. School Scale
2. Gender
3. Grade

Sports Buildings andFacilities Improvement
Needs
Sports Buildings andFacilities Usage
Satisfaction

OS3-5 The Establishment of the Sustainability Performance Indicators for Wetland
Ecological Project: Using Construction Inspection Phase as Example
Ching-Mei Miao, Yan-Chyuan Shiau, Chen-Chung Liu, Jen-Kuo Chang (Chung Hua University, Taiwan)
Taiwan's government has invested considerable material, human resources and money
to build many artificial by using ecological engineering methods. The critical successfactors of sustainable performance indicator (SPI) were investigated in this research. A
wetland water purification project of a stream in Hsinchu was used as an example in thispaper. The experiment information was integrated as feedback to correct the index
library. The measurement from test results verifies the SPI from sample project case insome facet is consistent with the results of current inspection system. Adopting the SPI
integrated from this study can quickly detect the sustainability of the construction projectand dramatically reduce labor inspection and costs. The research result can be served as
reference for the sustainable development of ecological engineering achievements.

OS3-6 Development of Type Control Guidelines for the Old Town District of Hsinchu City
Yi-Yin Tsai (Chung Hua University, Taiwan)
The study employed the concept of “Building Type Control” to establish the hierarchymodel and design guideline for the urban regeneration process. GIS was used toefficiently manage database and map out the building environmental features to serve
as a visual reference tool. Existing building regulations and urban design policies set
out by the government were reviewed to set out limitation and ultimate vision for the
study district, three type control zonings were set out with type control design
guidelines respectively. Results of the study can serve as a sufficient reference tool toassist design decision making in the urban regeneration process.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS4 Construction Technology and Management (5)OS4-1 Study on the Promotion of Steel Slags Recycling in Taiwan
Shu-Chen Chang, Ching-Jung Chang (Chung Hua University, Taiwan)
The fast development of global economy makes the great development of industry,causes the excess development and abuse of natural resources, and causes the resources
depletion gradually. So the topic of waste reuse has already become an energy strategy
paid more attention the worldwide research units and governments day by day. The
construction industry uses a large amount of concrete, and its basic materials are the fineand coarse aggregates and cement, which are taken from sandstone mining and limestone
calcining, and they will be exploited excessively and destroy the environment. This study
tries to use the industrial waste to replace the aggregates and cement in concrete, and use
them suitably in accordance with their different properties.

OS4-2 The Research on the Utilization of Green Building Ecological Index Group in
Campus Environment – Taking of Elementary Schools at Houli District, TaichungCity as Example
Ching-Jung Chang, Yung- Feng Hsu, Chun-Hsien Chen (Chung Hua University, Taiwan)
Due to overexploitation of the earth, the mankind causes the phenomena such as theclimate anomaly, ozone layer depletion, forest disappearance, species extinction, ocean
pollution, debris flow, global warming and sea level rise etc. Therefore every country in
the world begins to launch the comprehensive environmental protection action of earth.
This research took elementary schools at Houli District, Taichung City as study subjects,
based on “Green Building Assessment Manual” announced by official authority, andconducted “ecological index group” assessment. Through field investigation, analyzed
and compared three assessment indices of “biodiversity”, “greening amount” and “basewater preservation”, and provided recommendation of improvement, in order to raise theecological environment of campus. It is hoped there should have appropriate
contribution for the planning of similar school or environment in the future.

OS4-3 The Assessment and Research on the Reconstruction of Enclosing Wall into OpenType in Elementary School Campus – Taking of Erlin Township, Changhua County
as Example
Ching-Jung Chang, Chia-Chen Li, I-Chen Wu (Chung Hua University, Taiwan)
In recent years, Taiwan government has pursued the open campus by reconstructing theenclosing wall of campus into the friendly fence or dismantling the enclosing wall
directly, let the community residents participate in the school space together. So thegovernment subsidizes the funds and encourages the school to reconstruct or remove theenclosing wall. Because the change for the type and height of enclosing wall, the teachersand parents have the doubt for the security of students in the campus. This research
conducted the regional investigation for the school teachers, students and parents against
the friendly fence and security opinion of open campus. It hopes to provide the reference
for the reconstruction and design of enclosing wall in Elementary School campus by thegovernment authority in the future.

©ICAROB 2016
- 38 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS4-4 The Study and Analysis on the Reuse and Transformation Strategy of Tile Kiln Space– Taking of San-He Tile Kiln as Example
Ching-Jung Chang, Hsiao-Yu Lin, Ying-Yu Su (Chung Hua University, Taiwan)
Because the new technology was introduced and the abundant use of concrete and steel
products, the tile kiln industry was declined gradually in Taiwan. This paper attempts toreview a successful case of kiln space reuse that has good culture assets preservation andcombines cultural and creative industry. This research selects San-He Tile Kiln as thestudy subject. The questionnaire for investigating the visitors on different requirement
was designed through interviewing the kiln owners and experts in advance and collating
the interview information systematically. The Principal Component Analysis simplified
the questionnaire variables to become the aspects of appeal.
This research hopes toprovide the operation reference to the civilian tile kiln owners or the other related spacereuse sector.

OS4-5 The Research on the Influence of Economic Benefit for High-Rise Buildings
Constructed by Different Excavation Method – Taking of Residence Buildings at New
Taipei City as Example
Ching-Jung Chang, Cheng-Min Yang, Hsiu-Hsiung Hsu (Chung Hua University, Taiwan)
Every domestic big construction company hunted the land for development aggressively,in order to get the priority of obtaining the profit. The selection of excavation method
has great relative relationship on the construction speed of structure, influence ofadjacent building, acquisition of use license and delivery of house. This research
adopted diverse excavation methods used by the constructor to analyze the advantage
and disadvantage, construction period difference, and construction cost prediction etc.
Finally, the results are compiled and contrasted to verify the relative relationship of
excavation method on the difference of construction period, and cost etc. The purpose ofthis research is expected to provide the developer to select suitable excavation method
effectively to reach the highest benefit of delivering the finished house.

OS5 Advanced Control Systems (6)OS5-1 Socialized Multi-Agent System Rendezvous via Networks of Networks
Yunzhong Song, Ziyi Fu, Fuzhong Wang (Henan Polytechnic University, P.R. China)
Networks of networks paradigm was introduced to explore rendezvous problems ofleader-follower multi-agent system, where rendezvous actors were categorized into
target object, leader agents, informed follower agents and isolated follower agents,
respectively. Three humanized system inspired strategies were investigated. Results
demonstrated that democracy strategy could fulfill rendezvous task in expenses with along convergent time and autarchy democracy could come to targeted object quickly
with risk of failing in rendezvous, while mixed strategy cared about both of convergent
speed and utmost task, would take autarchy strategy when connections were available
for follower agents, while democracy rules had to be used if the connections were notpossible.

©ICAROB 2016
- 39 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS5-2 Global sensor selection for maneuvering target tracking in clutter
Wenling Li, Yingmin Jia (Beihang University, P.R. China.)
In this paper, we consider the problem of sensor selection for maneuvering target
tracking in clutter. By utilizing the global knowledge of all sensors locations, a costfunction that minimizes the expected filtered mean square localization error is developed
to select a given number of active sensors. As the cost function is derived based on thedecentralized structure, we investigate how to derive the decentralized fusion formulaby applying EKF and PDA technique so that the clutter information can be combined
into the cost function. By minimizing the cost function, a sensor selection scheme is
proposed based on the ’add one sensor node at a time’ strategy. Simulations are provided
to illustrate the effectiveness of the proposed approach.

OS5-3 Attitude/Position Estimation of Rigid-Body using Inertial and Vision Sensors
Shihao Sun, Yingmin Jia (Beihang University, P.R. China)
This paper is concerned with the attitude and position estimation of a rigid-body usinginertial and vision sensors. By employing the Newton-Euler method, a kinematic model
is developed for the rigid-body by treating the inertial measurements as inputs. Based on
the coordinate transformation, a nonlinear visual observation model is proposed by using
the image coordinates of feature points as observations. Then the unscented Kalmanfilter (UKF) is utilized to estimate the attitude and position recursively. Simulation
results are provided to show the effectiveness of the proposed algorithm.

OS5-4 Modeling and Control of a Suspended Gravity Compensation System with the RigidFlexible Coupling
Jiao Jia, Yingmin Jia, Shihao Sun (Beihang University, P.R. China)-3

4

System Output

x 10

Output of l
Output of bitax
Output of bitay

3

2

Output Signal

In this paper, the suspension gravity compensation system (SGCS) is modeled and thecorresponding controller is designed. The system is a servo platform consisting of threesub-systems by which a micro-gravy environment can be established. The system model
is deduced based on Lagrange equation. The system state variables are classified in two
parts based on their physical meaning and the model dimensions are reduced on theclassification. A PID controller is designed based on the feedback linearization. The
simulation results show the effectiveness of the proposed method.

1

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-2

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15
time/sOS5-5 Trajectory Tracking Control for Omnidirectional Mobile Robots with Input
Constraints
Wenhao Zheng, Yingmin Jia (Beihang University, P.R. China)
In this paper, a trajectory tracking controller based on kinematics for omnidirectional
mobile robots with input constraints is presented. The tracking error model with thecontrol law is proved to be global asymptotic stability by Lyapunov stability theory. The
input limits can be described as an octahedron in three-dimensional space, so that aspatial vector analysis method is proposed to design time-varying feedback parameters
to limit robot inputs. Simulation results show the feasibility and effectiveness of thecontrol strategy.

©ICAROB 2016
- 40 -

20

25

30

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS5-6 Parameters Tuning Approach for Prescribed Performance Function Based Active
Disturbance Rejection Control
Wei Wei, Bo Liang, Weijun Su(Beijing Technology and Business University, P.R. China)
Active disturbance rejection control (ADRC) is a control approach which needs lessinformation of the controlled plants/processes. However, there are many parameters in
the nonlinear functions utilized in ADRC, such parameters make the tuning of ADRC
be a challenge. Prescribed performance function based ADRC is proposed and the tuning
approach is studied in this paper. Some typical controlled plants are taken in thesimulations. Numerical results are presented to support the proposed control approachand its tuning method.

误差跟踪
0.4
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pd2
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-pd1

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OS6 Intelligent Control (6)OS6-1 Adaptive Control of Discrete-Time Systems Using Multiple Fixed and One Adaptive
Identification Models
Zhang Yuzhen, Li Qing, Zhang Weicun (University of Science and Technology Beijing, P. R. China)
The adaptive control of a linear time-invariant discrete-time system using multiple
models is considered in this paper. Based on the prediction errors of a finite number of
fixed and one adaptive identification models, a new weighting algorithm is proposed
for improving system performance. The principal contributions of the paper are theproofs of global stability and the convergence of the overall system. Computer
simulation results are included to complement the theoretical results.

C1
yr(k) +
-

.
.
.

Ci
.
.
.

p1(k)
ω(k)

pi(k)

∑

u(k)

P

y (k )

pn(k)

Cn
pθ(k)
Cθ

OS6-2 Adaptive Polynomial Regression and Its Applications to Gene Selection of Rat Liver
Regeneration
Juntao Li, Yimin Cao, Xiaoyu Wang, Cunshuan Xu (Henan Normal University, P.R. China)
This paper proposes an adaptive polynomial regression by incorporating the multi-classadaptive elastic net penalty into polynomial likelihood loss. The adaptive polynomial
regression was proved to adaptively select the relevant genes in groups in performing
multi-class classification. The proposed method was successfully applied to the gene
expression data for rat liver regeneration and the relevant genes were selected. The
pathway relationships among the selected genes were also provided to verify their
biological rationality.

OS6-3 Adaptive Consensus via Dynamic Output Feedback for Lipschitz Nonlinear MultiAgent Systems
Lin Li, Heyang Wang (University of Shanghai for Science and Technology, P.R. China)
This paper deals with the consensus problem via dynamic output feedback for multiagent systems with fixed topologies. The agents are described by Lipschitz nonlinear
systems. Under the assumption that the states of the multiple agents are unmeasured, andonly output information of each agent can be obtained from its neighbor agents. Basedon the graph and Lyapunov theory, a distributed adaptive consensus algorithm via
dynamic output feedback is proposed, in which the coupling weights between adjacentagents are time-varying and satisfy some designed adaptive laws. Provided examples areincluded to demonstrate the effectiveness of our proposed consensus algorithm.

©ICAROB 2016
- 41 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS6-4 Iterative Learning based Thrust Ripple Suppression for PMLSM
Caixia Gao, Fuzhong Wang, Ziyi Fu (Henan Polytechnic University, P.R. China)
To solve problem of thrust ripple of multi-segment primary Permanent Magnet Linear
Synchronous Motor (PMLSM), a control strategy combining fuzzy PID, which was
based on velocity regulation and iterative learning algorithm, which was based on current
compensation was proposed to deal with thrust ripple in advance. Through investigationof thrust ripple of PMLSM, mapping relationship between thrust ripple and motor criticalparameters has been established, then thrust ripple suppression model for multi-segment
primary Permanent Magnet Linear Synchronous Motor was available, and control law
can be made possible. Results show that, thrust ripple was less than 1% under different
position; strong suppression of thrust ripple caused by periodic disturbance could also
be inhibited.

fq Expectationvalue
iqk 1

Iterative
learning
controller

Memorizer 2xMemorizer 1

fk

Memorizer 3

iqkv

Thrust ripple
observerDisturbance

Table Lookup
Module+s

iqk

Velocity
controller

-

K

vs

PMLSM

OS6-5 Adaptive Sliding Mode Control for A 2-DOF Magnetic Levitation Systemwith Uncertain Parameters
Meng Duan, Yingmin Jia (Beihang University, P.R. China)
This paper investigates the stability control for a 2 degrees of freedom magnetic
levitation system with both parameters uncertainty and external disturbance. This system
includes one magnet and two coils, the magnet which levitated by two coils can only
move through x-axis and z-axis. The electromagnetic forces between the magnet andcoils are obtained by numerical calculation that brings uncertain parameter of input tothe system dynamical model. To this end, an adaptive sliding mode controller is
proposed. The system stability and robustness are proved by the Lyapunov stability
theory. Simulation results are presented to verify the effectiveness of the proposed
control strategy.

OS6-6 Undershoot Reduction in Discrete-Time ADRC of NMP Plant by Parameters
Optimization
Tong Wu, Weicun Zhang (University of Science and Technology Beijing, P.R. China)
Undershoot phenomena caused by unstable zeros of non-minimum-phase ( NMP) plant
is difficult to deal with in active disturbance rejection control (ADRC). This paper
proposes a new method to reduce undershootby optimizing the controller parameters of
discrete-time ADRC system. Simulation results are given to verify the effectiveness ofthe proposed scheme.

1
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modified discrete ADRC
regular discrete ADRC

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OS7 Image Analysis and Content Security (5)OS7-1 A Method for Secure Communication Using a Discrete Wavelet Transform for Sound Data
Yuji Tsuda1, Kouhei Nishimura2, Haruka Oyaizu3, Yasunari Yoshitomi2, Taro Asada2, Masayoshi Tabuse2(1Software Service, Inc., 2Kyoto Prefectural University, 3NHK Media Technology Inc., Japan)
We developed a method for secure communication using a discrete wavelet transform
for sound data. Two users must have one piece of music before communicating eachother. The music is beforehand transformed into a code using the scaling coefficientsobtained from a discrete wavelet transform. The sound data are transformed into anothercode using the same method as that for the music. The information on the deference
between these two codes is sent from one user to the other. The user can produce thesound similar to the original sound using an inverse discrete wavelet transform with thecode made from the music, the information on the deference between these two codes,
and values of zero for all wavelet coefficients. The voice produced by the proposed
method was audible.

©ICAROB 2016
- 42 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS7-2 An Authentication Method Using a Discrete Wavelet Transform for a Recaptured Video
Ren Fujii, Yasunari Yoshitomi, Taro Asada, Masayoshi Tabuse (Kyoto Prefectural University, Japan)
Recently, several digital watermarking techniques have been proposed for hiding data in
the frequency domain of moving image files to protect their copyrights. In this study, wedeveloped an authentication method for a recaptured video by using the previously
proposed method using a discrete wavelet transform for a static image and a method forselecting several frames in the moving image. In contrast to digital watermarking, noadditional information is inserted into the original moving image by the newly proposed
method. The experimental results show that the proposed method has a good
performance for authentication.

OS7-3 A System for Facial Expression Analysis of a Person While Using Video Phone
Taro Asada, Yasunari Yoshitomi, Ryota Kato, Masayoshi Tabuse, Jin Narumoto(Kyoto Prefectural University, Japan)
We developed a wireless local area network system, consisting of two personal
computers and one router, where a module for analyzing facial expressions of a person
while speaking with another person using a phone video is equipped in a personal
computer in front of a subject and is controlled by an operator using another personal
computer in the system. In the module, a function for determining the reference frameand locally searching the mouth-part area with the most appropriate position for eachframe to be analyzed is contained. The video saved in the personal computer in front of
the subject is analyzed using image processing software (OpenCV) and the previously
proposed feature parameter (facial expression intensity), which is measured for themouth-part area. The experimental result shows the usefulness of the proposed system.

OS7-4 Emotion Recognition of a Speaker Using Facial Expression Intensity of Thermal
Image and Utterance Time
Yuuki Oka1, Yasunari Yoshitomi2, Taro Asada2, Masayoshi Tabuse2( NTT DATA Financial Solutions Corp., 2Kyoto Prefectural University, Japan)
1

We previously proposed a method for recognizing human emotion. A video is analyzed
by thermal image processing and the feature parameter of facial expression, which is
extracted in the area of the mouth and jaw. The facial expression intensity, defined as
the norm of the difference vector between the feature vector of the neutral facial
expression and that of the observed one, is measured. The standardized mean value offacial expression intensity for a major cluster, and the standardized mean value of time
at utterance for a major cluster are used for recognizing human emotion. In this study,
the emotions of one subject were discriminable with 76.5% accuracy in speaking eachof 23 kinds of utterances with exhibiting each of the five intentional emotions of“angry,” “happy,” “neutral,” “sad,” and “surprised.”©ICAROB 2016
- 43 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS7-5 Estimation of Learners' Subjective Difficulty in e-Learning Using Thermal Image
Processing
Yuki Yoshimitsu, Masayoshi Tabuse (Kyoto Prefectural Univ., Japan)
In recent years, e-learning has been utilized as a learning system in many schools. In a
conventional class, a teacher teaches learners face-to-face, so that a teacher observes
facial expressions and posture change of learners and estimates learners’ subjective
difficulty of the lecture. On the other hand, e-learning is usually utilized in the selfstudy. A learner learns a teaching material using a computer by oneself, so that a teacher
can't observe the state of the learner. It is difficult for a teacher to estimate learners’
subjective difficulty. Therefore, we propose a learners’ subjective difficulty estimation
system. This system captures the face of a learner in e-learning with a thermal camera.
It extracts the face region, measures the temperature changes of the nose region andthe forehead region of the learner, and estimates the subjective difficulty of the learnerbased on the temperature changes.

OS8 Image, Circuit and Control (9)OS 8-1 Image Encryption Implementation Based on fractional-order Chen System
Hongyan Jia, Qinghe Wang (Tianjin University of Science and Technology, P.R. China)
In this paper, based on the fractional-order Chen system, a kind of double encryption
algorithm method is adopted to realize the image encryption. The method mainly refers
to the transformation of the pixel position and the transformation of pixel value. The
effectiveness of the double encryption method is verified by encryption and decryptionof a typical image. The experimental results show that this method not only has theideal effect of image encryption and decryption, but also possesses a better guaranteeon the image security. That is, this encryption method is practical and feasible.

OS 8-2 Mobile Camera based Motion Segmentation by Image Resizing
Chunyu Yu (Syracuse University, USA)The need of detecting moving object like human and vehicle by mobile camera isincreasing in commerce and industry. In this paper, an image-resize methodology
which can abstract motion segmentation and detect moving object from moving
background is proposed. First, edges images are computed. Then movement vector
between frame images are computed and the relative background motion iscompensated. By adjusting the parameters of resize algorithm, human liked object orvehicle liked object can be segmented separately and the segmentation can be used
for further detection. Experiments have been performed under three different
environments for human detection and vehicle detection.

OS 8-3 Synchronization of the fractional-order permanent magnet synchronous motor
Xue Wei, Li Xue (Tianjin University of Science and Technology, P.R. China)©ICAROB 2016
- 44 -

160
x1
140

y1

120

1

100

y

In this paper, the synchronization of the fractional-order permanent magnet
synchronous motor is investigated. The presented control scheme is simple andflexible, and it is suitable both for design and for implementation in practice.
According to the stability theory of fractional-order linear system, adopting thelinearization by feedback method, a nonlinear feedback controller to implement thesynchronization of the drive system and the response system is designed. The
numerical simulation results coincide with that of theoretical analysis, which canfurther demonstrate the feasibility and effectiveness of the proposed synchronization
scheme.

80
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6

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8

9

10

Variation of x1 andy1The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS 8-4 Analog Circuit Implementation and Full State Observation of Chua’s Circuit
Hong Niu, Dongchen Tan, Yongjun Wu(Tianjin University of Science and Technology, P.R. China)
In this paper, an inductance simulator and a nonlinear resistor, which are constructedby operational amplifiers and resistors, are applied to complete the analog circuit
implementation of Chua’s circuit as well as improve the accuracy of circuit parameters.
For the observation of all variables, the state variable z, which represents the productof the linear resistance and the inductor current in Chua’s circuit, should be observed
even if it is not an actual measurable physical quantity. It is found that z can be obtained
via scaling of the voltage of the resistor in the inductance simulator. The real chaotic
curves generated from the analog Chua’s circuit are displayed on the oscilloscope
clearly and correctly.

OS 8-5 Research on visualizational rescue robot
YuanLi Yue, Fengzhi Dai, Qijia Kang, Pengfei Xie(Tianjin University of Science and Technology, P.R. China)
Aimed at the shortcomings of the low efficiency and the limitation of the search andrescue robot, this paper presents a visualizational search and rescue robot based on
Arduino platform. The infrared detector for searching human body is used to detect
life, and the camera can transmit the information back to the mobile phone or computer
terminal in real-time. The track wheel improves the capability of shuttle and overobstacle, and can easily cope with complex terrain. The mounded manipulator cancomplete many missions, such as clean up the road block and deliver essential supplies
to small space. It can replace humans to carry out the task into the dangerous
environment and search-and-rescue person into the confined space.

OS 8-6 Development of training instrument for upper limb muscle rehabilitation
Qijia Kang, Fengzhi Dai, Yuanli Yue, Bo Liu, Hongtao Zhang(Tianjin University of Science and Technology, P.R. China)
This equipment can work in multiple degrees. By the single joint and composite
motion, it imitates human upper limb movement. Composite motion can be multiple
degrees of freedom, so that the equipment can fit with the physiological structure ofhuman body well. Upper limb strength can be recovered efficiently and the muscle
contraction can also be well preserved as expected. Obtaining vibration module, itenhances the effect of recovering. Wireless transceiver module makes the wirelessmonitoring and data wireless transmission be a feasible way. It is connected with thecomputer, and the recover information of patients could be gathered, analyzed andrecorded in computer as well. Date can also be transmitted by the internet, so as tooffer the recover information to medical institution.

©ICAROB 2016
- 45 -.

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS 8-7 Design and Analog Circuit Implementation of a Dynamic Feedback Control System
Based on RLC Series Circuit
Hong Niu, Yongjun Wu, Dongchen Tan (Tianjin University of Science and Technology,)
The purpose of this paper is to verify that a dynamic feedback control system can berealized by a simple small analog circuit. A normal RLC series circuit, which is anelectrical two-order circuit only consisting of one resistor, one inductor and one
capacitor, is taken as the controlled object, and the voltage of the capacitor is taken as
the output of the system. The engineering design method of regulator in DC drive
control system is applied to design the dynamic feedback compensator, so that theoutput of the system can track the given input, and the system is stabilized and has
expected performance. The simulation results of the theoretical model and thecorresponding results of the real analog circuit implementation are given in the paper
to illustrate that the circuit can accomplish the tracking function of dynamic feedback
control system.

OS 8-8 Maximal power point tracking technology for the solar photovoltaic battery basedon model predictive control
Xia Zhao, Huailin Zhao (Shanghai Institute of Technology, P.R. China)
The solar photovoltaic battery is a new type of renewable distributed energy. Its output
power is directly affected by light intensity and the temperature, and its voltage-current
characteristic has the obvious nonlinear feature. In order to improve the energy
conversion efficiency of the photovoltaic system, it’s very significant to study theeffective control algorithm’s realization on the maximal power point tracking (MPPT)
control. A new MPPT technology based on model predictive control (MPC) is
proposed. The proposed method is developed to control the output current of a boost
converter in order to extract the maximal solar power from the photovoltaic panel.

OS 8-9 Analysis and unidirectionally coupled synchronization of a novel chaotic system
Li Xue, Xue Wei (Tianjin University of Science and Technology, P.R. China)©ICAROB 2016
- 46 -

15

10

2

5

x

In this paper, a new three-dimensional autonomous chaotic system is proposed. Bymeans of theoretical analysis and numerical simulation, some basic dynamical
properties, such as equilibrium points, fractal dimension, Lyapunov exponent
spectrum and chaotic dynamical behaviors of the new chaotic system are investigated.
The obtained results show clearly that this system is a new chaotic system.
Furthermore, based on Lyapunov stability theory of the system, we observe
unidirectionally coupled synchronization of the new three-dimensional chaotic systemthrough designing the appropriate coupling coefficient. Results of numericalsimulation illustrate the effectiveness of the presented synchronization scheme.

0

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-5

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5

10

Fig.curve of statevariable( x1 , y1 )15The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS9 Modern approaches of MOT and Corporate Strategy (3)OS9-1 A Study on the Structural Hole of Patent Applicant Network in R&D Management
1

Iori Nakaoka, 2Yousin Park, 3Yun-ju Chen (1National Institute of Technology, Ube College, 2Prefectural
University of Hiroshima, 3Shiga University, Japan)
The arrangement of R&D staff refers to the issue of the linkage between structural
holes in a network (Burt, 2003). In order to examine the linkages between multiple
R&D projects in a company, we use the patent information as the index of R&D
capability and examine our propositions by social network analysis. In this paper we
focus on top-shared companies in Japanese cosmetics industry, and suppose that thesecompanies keep their market shares due to their smoothly changes of business fields
to cope with the threat of new entrants from other industries. The analysis in thispaper include: 1) calculate the betweenness centrality, and create heat-maps tovisualize the change of the betweenness centrality, 2) examine the structure hole.

OS9-2 The TCE-RBV framework for information systems outsourcing: Empirical testing
using survey data in Japan
Seigo Matsuno1, Tsutomu Ito2, Yasuo Uchida1, Y. Mikami3, Takao Ito4
( National Institute of Technology, Ube College, 2Hino Motors, Ltd., 3Nagaoka University of Technology,
4
Hiroshiuma University, Japan)
1This paper investigates the factors that influence the motives of make-or-buy decisions
on information systems from the viewpoints of Transaction Cost Economics (TCE)and the Resource-based View (RBV). Using our original questionnaire survey datacarried out in 2007 targeting Japanese firms, we analyze the relationships between therecognition related to the role of their information systems and the pattern of their
make-or-buy decisions. As a result, we make it clear that there are two cases in which
TCE-motive and RBV-motive are complement or contradict with each other. And inlatter case, TCE-motive tends to dominate over RBV-motive. Finally, The implications
for theory and practice are discussed.

RBV-motive

TCE-motive

Insourcing
Outsourcing

OS9-3 Momentum and its Implications in Corporate Management
Tsutomu Ito1, Takao Ito1, Rajiv Mehta2, Sakamoto Makoto3, Katsuhiko Takahashi1, Katsumi Morikawa1(1 Hiroshima University 3 Miyazaki University, Japan)(2 New Jersey Institute of Technology, USA)
In contrasting conventional theses with current strategic theories, discussions on
momentum, an important concepts, have been sparse, although in the context ofcurrent management strategies the pivotal nature of momentum recently has been
operationalized and discussed in research on marketing, and finance. The current
manuscript reviews the literature associated with corporate strategy, and proposes a
new approach of acceleration to measure momentum based on limited cycle theory.
Thus, this research manuscript makes a contribution to extant thought by: (1) Defining
momentum, (2) Discussing the nature of the relationship between momentum to its
external environment, and company scale, 3) Ascertaining the momentum period, and
4) Proposing a four-cell model composed of momentum and company scales for
judging a firm position. Additionally, the relationship between momentum and theimpact of the 2007-2008 financial crises is addressed. Based on the findings, the study
limitations are identified and directions for further research are suggested.

©ICAROB 2016
- 47 -

1500000000000

1000000000000

500000000000

01-Year
4-Year
7-YearMomentumMomentumMomentum-500000000000
Toyota Motor Corp.
Nissan Moto Co., Ltd.
Mitsubishi Motors
Honda Motor
Mazda Motor Corp.
Suzuki Motor Corp.
Daihatsu Motor Co., Ltd.

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OS10 Reality Mining (3)OS10-1 Fast collective photographic subject detection without pixels by an assumption abouta shot and its elevation angle
Sora Tanioka, Masao Kubo, Hiroshi Sato
(National Defense Academy of Japan, Japan)
In this paper, we propose a collective intelligence to discover photographic subjects
without pixel information. A collection of information about shooting, for example,
EXIF, Geotag, and Tiff which is automatically attached into a digital photograph isonly used for this detection. So far we have to use a large number of such the not-pixel
information for this task because the original model of taking a photo is not efficient.
In this paper, we estimate the improvement of the performance to discover subject if
there is a relation between a shot and its elevation angle of the camera.

OS10-2 Evaluation of a safety map generated from a collection of difference of Individuals
Masao Kubo, Dang Viet-Chau, Hiroshi Sato, Akira Namatame(National Defense Academy of Japan, Japan)
In this paper, we propose a collective intelligence approach to generate safety maps ofroad environment from a collection of logs of vehicle behavior recorded by drivers’
smartphone. Usually a general collective intelligence uses the average of the data and it
is difficult to apply it for complex problems. This paper proposes a reasonable method
for generation of safety maps to evaluate the difference of the behavior. The accuracyof the map is evaluated by official accident record

OS10-3 Endeavor to adopt GIS data on evacuation decision making model1

Saori Iwanaga, 2Akira Namatame( Japan Coast Guard Academy, 2National Defense Academy of Japan, Japan)
1

By Multi Agent Simulation: MAS, we focused on contagion of evacuation decision
making on real map assuming that not all people evacuate at the time of disaster. Then,
we found that for contagion of evacuation decision making, local neighborhood isneeded and connection of sub network is needed. But, there we faced on difficulty ofobtaining realistic population data on map, because Census Bureau data consists of not
position data but numbers and properties. In this paper, we attempt to use geographic
information system GIS data and population data, then we simulate of population withheterogeneous agents and their decision making.

.

OS11 Kansei Engineering and Application (4)OS11-1 Automated Multiple-Brightness Peak Image Processing Method Using Curvature
and Variance Estimation
1

Yusuke Kawakami, 2Tetsuo Hattori, 2Yoshiro Imai, 2Kazuaki Ando, 2Yo Horikawa (1DynaxT Co., Ltd.,
Kagawa University, Japan) 3R. P. C. Janaka Rajapakse (3Tainan National University of the Arts, Taiwan)

2This paper describes the improvement method for the image which have multiplebrightness peak using Histogram Matching based on the Gaussian Distribution(HMGD). The previous papers, we have illustrated that the HMGD is an automatedimage processing method for improve feeling impression better, through thecomparative investigation results of feeling impression among the original image,
Histogram Equalization image, and HMGD image. However, the multiple-brightness
peak images have been hard to improve using the previous HMGD. In this paper, we
propose the processing method of HMGD to correspond image which have multiplebrightness peak, using curvature computation and variance estimation.

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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
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OS11-2 Histogram Matching Based on Gaussian Distribution on the HSB Color System
1

Yusuke Kawakami, 2Tetsuo Hattori, 2Yoshiro Imai, 2Kazuaki Ando, 2Yo Horikawa (1DynaxT Co., Ltd.,
Kagawa University, Japan) 3R. P. C. Janaka Rajapakse (3Tainan National University of the Arts, Taiwan)

2This paper proposes Histogram Matching based on Gaussian Distribution (HMGD)
processing on the HSB color system which is close to the human visual property. In
the previous paper, we have proposed HMGD processing on the brightness axis whichis calculated from RGB color system. And we have considered that HSB color system
is more suitable for HMGD processing, because it contains brightness axis. In thispaper, we describe how to transform the color image from RGB color system into HSB
color system first. Second, we describe that the principal of HMGD on this color
system. And then, we also explain how to re-transform HSB color system to RGB color
system.

OS11-3 Quantitative Evaluation of Flash-based Educational Visualizing Simulator
Kei Takeichi, Yoshiro Imai, Kazuaki Ando, Yusuke Kawakami, Tetsuo Hattori(Kagawa University, Japan)
A Flash-based simulator of CPU scheduling has been developed and utilized for
educational visualization in the class of university lecture. We have designed andimplemented it with Flash-based scripting language in order to execute it as a standalone application as well as in various browsing environment such as Microsoft IE,
Google Chrome and/or FireFox (Mozilla). Based on questionnaire for our simulator in
the lecture, its quantitative evaluation has been carried out by means of statisticalanalysis. Our report describes overview of our Flash-based simulator and the results of
the above quantitative evaluation.

OS11-4 Relation between Optimal Stopping Solution and NSPR for Structural Change Point
Detection Problem
Tetsuo Hattori, Yoshihide Koyama, Yoshiro Imai, Yo Horikawa, Hiromichi Kawano1(Kagawa University, 1NTT advanced technology Company Ltd, Japan)
Previously, we have proposed a novel method using New Sequential Probability
Ratio (NSPR) for the structural change point detection (SCPD) of ongoing timeseries data instead of using SPRT (Sequential Probability Ratio Test). Moreover, wehave formulated the SCPD problem in time series data as an Optimal Stopping one
using the concept of DP (Dynamic Programming) and also have shown the solution
theorem in the form of Inequality. In this paper, we discuss the relation between thesolution of Optimal Stopping and NSPR for the SCPD Problem.

Optimal Solutiona   A  a   P S n S n 1

NSPR A     A  a   R
 A 
P H S R 
P H1 S nn0c A aOS12 Advanced Research on Computer Science and Information Processing (4)OS12-1 Development of a Tool to Keep Consistency between a Model and a Source Code inSoftware Development Using MDA.
Yuuki Kikkawa1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro Aburada3,
Naonobu Okazaki1 (1University of Miyazaki, 2Tokyo University of Technology,
3
Oita National College of Technology, Japan)
This study improves efficiency of software development using MDA. This paper
develops the tool that keeps consistency between a model and a source code in softwaredevelopment using MDA. The tool has two functions: (i) Generating a source code and(ii) Keeping consistency between a model and a source code. Inputs of (ii) are an
unmodified activity diagram, the modified activity diagram, and the source code
including the detail specification. An output of (ii) is a source code which is consistent
with the modified activity diagram and includes the detail specification. In executing(ii), the tool generates EAD (Extended Activity Diagram) as intermediate data.

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Japan, January 29-31, 2016

OS12-2 Necessary spaces for seven-way four-dimensional Turing machines to simulate fourdimensional one-marker automata
Makoto Nagatomo1, Shinnosuke Yano1, Makoto Sakamoto1, Satoshi Ikeda1, Takao Ito2,
Tsutomu Ito2, Yasuo Uchida3, Tsunehiro Yoshinaga4, Hiroshi Furutani1 (1University of Miyazaki,
2
Hiroshima University, 3Ube National College of Technology, 4Tokuyama College of Technology, Japan)
We think that recently, due to the advances in many application areas such as motion
image processing, computer animation, and so on, it is very useful for analyzing
computational complexity of multi-dimensional information processing to explicate
the properties of four-dimensional automata, i.e., three-dimensional automata with thetime axis. As far as we know, there is no investigation about four-dimensional
automata. Then, in 2002, we first introduced four-dimensional finite automata in theworld. In 2003, we investigated four-dimensional alternating Turing machines. In
2015, we show the sufficient spaces for four-dimensional Turing machines to simulate
four-dimensional one-marker automata. In this paper, we continue the investigations,and deal with the necessary spaces for four-dimensional Turing machines to simulate
four-dimensional one-marker automata.

OS12-3 Analysis for 4×12 board of Othello
Yuki Takeshita1, Satoshi Ikeda1, Makoto Sakamoto1, Takao Ito2
(1Miyazaki University, 2Hiroshima University, Japan)
More than 20 years has passed since J. Feinstein (1993) found that a perfect play on
6×6 board of Othello gives a 16-20 win for the second player. A computer Othellosurpasses a much more human now. However, standard 8×8 board remain unsolved. In
our previous paper, we were able to obtain the perfect plays on 6×6 board and 4×10
board. In this paper, we challenge the unsolved problem of 4×12 board by dividing it
into about 150 small problem.

OS12-4 A space lower-bound technique for four-dimensional alternating Turing machines
Makoto Nagatomo1, Shinnosuke Yano1, Makoto Sakamoto1, Satoshi Ikeda1, Takao Ito2,
Tsutomu Ito2, Yasuo Uchida3, Tsunehiro Yoshinaga4, Hiroshi Furutani1 (1University of Miyazaki,
2
Hiroshima University, 3Ube National College of Technology, 4Tokuyama College of Technology, Japan)
Alternating Turing machines were introduced in 1981 as a generalization of
nondeterministic Turing machines and as a mechanism to model parallel computation.
On the other hand, we have no enough techniques which we can show that someconcrete four-dimensional language is not accepted by any space-bounded fourdimensional alternating Turing machines. The main purpose of this paper is to present
a technique which we can show that some four-dimensional language is not acceptedby any space-bounded four-dimensional alternating Turing machines. Concretely
speaking, we show that the set of all four-dimensional input tapes over {0,l}, which
each top half part is equal to each bottom half part, is not accepted by any L(m) spacebounded four-dimensional alternating Turing machines for any function L(m) smaller
than log m.

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OS 13 Automatic Generation, Creation, and Production of Narrative Contents (4)OS13-1 Automatic Generation, Creativity, and Production of Narrative Contents
Takashi Ogata (Iwate Prefectural University, Japan)
According to the concept of this organized session, in this presentation, we willconsider the study of automatic narrative or story generation as a research field ofartificial intelligence in the following levels: generation, creation, and production. At
first, we study the technologies of narrative or story generation systems based on
mainly artificial intelligence and cognitive science. Next, the artistic and aesthetic
problems of narrative creation are considered in the relationships with thetechnologies and systems of narrative generation. Further, issues toward
organizational or social narrative production are presented. These survey anddiscussion will be done based on some topics in this session relating to a game andadvertising systems and our integrated narrative generation system.

Generative
Parameters

Structural
Knowledge

Story
Mechanism

Discourse
Mechanism

Story
Techniques

Conceptual
Dictionaries

Expression
Mechanism
Discourse
Techniques- Natural Language- Music- Visual

Story

Discourse

OS13-2 A Design Plan of a Game System including an Automatic Narrative Generation
Mechanism: The Entire Structure and the World Settings
Jumpei Ono, Takashi Ogata (Iwate Prefectural University, Japan)
We present a plan of a narrative generation system based on a scenario generation
method in tabletop role-playing games (TRPGs). It uses an integrated narrative
generation system (INGS) that synthesizes various narrative generation mechanisms.
A TRPG is an analog game in which one or more player (PL) play each role ascharacters in a framework of narrative by the game master (GM). A PL promotes thedevelopment of scenes, and, as a result, a narrative is completed. In particular, weconcentrate on the “world setting” that has a role of rules or constricts in narrativeand consists of components defined by its rule and the stage setting of the narrative.
In the ordinary use, a GM sets a basic world setting to guide generation through theinteraction between PLs. We consider preliminarily prepared scripts corresponding
to various world settings in addition to the detailed mechanism for the use it.

.

OS13-3 A Way for using the Verb Conceptual Dictionary in an Integrated Narrative
Generation System: Focusing on the use of Co-occurrence Information on the Verb
Concepts
Takashi Ogata, Jumpei Ono (Iwate Prefectural University, Japan)
This paper presents a way for selecting verb concepts based on the analysis of cooccurrence information of verb words in the data of modern Japanese novels(“Aozora Bunko”). The proposed method will be incorporated into somemechanisms in an integrated narrative generation system (INGS) that synthesizes
various mechanisms for narrative generation that we have been developing. We show
an overview of INGS, in particular the mechanism relating to the proposed methodin this paper. In the verb conceptual dictionary, as verb concepts of a variety ofdifficulty or understandability are mixed, the objective in this paper is to adjust theusage by using co-occurrence information on verb concepts. Our hypothesis is thatthe original concepts of co-occurrence and the resulted concepts have a proportional
relation. We will investigate it by incorporating the mechanism into the INGS.

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Verb Conceptual Dictionary
Physical Move …
Gowalk …

Case Frame(agent human)(to geography)

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
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OS13-4 A Viewing Experiment on the Effects of Advertising Story
Yoji Kawamura (Kinki University, Japan)
This research lays out the conception and functions of developed Commercial Film
Production Support System (CFPSS). The research then explains the results of aviewing experiment that utilized CFPSS. In this experiment where commercial
films of beer were utilized, the following findings were obtained: in inducing
interest, the evaluation of image type of advertising story is high; in stimulating
willingness to buy, the evaluation of provider type is high; and mise-en-scène orediting attracts interest and the advertising story associated with product function
and the supporting production and distribution stimulates willingness to buy. Thesefindings gradually clarify the following creative know-how of the creator; to attract
consumer interests by focusing on the stories of consumer situations in caseconsumers do not aware or understand their products or services; to arouse their
willingness to buy by focusing on the products and stories of their acceptance andeffects in case consumers have a certain level of understanding and interests in
products or services.

GS abstracts
GS1 Neuromorphic Systems (5)GS1-1 Compensating Temperature-Dependent Characteristics of a Subthreshold-MOSFET
Analog Silicon Neuron
Ethan Green, Takashi Kohno (The University of Tokyo, Japan)
Analog silicon neurons are neuro-mimetic VLSI (very-large-scale-integrated)circuits that replicate the electrophysiological behavior of animal nerve tissue.
These circuits send and receive spike trains in continuous time and require minimal
power. This research focuses on the temperature sensitivity of a subthresholdMOSFET silicon neuron. Subthreshold operation of CMOS transistors allows for
low power consumption and desirable current-voltage characteristics, but is also
drastically sensitive to temperature changes. This critical issue must be addressed
before these circuits can be implemented into massive networks to develop futuretechnologies, which could include neuromorphic computers, artificial brains, brainmachine-interfaces, and ultra-low power computing platforms.

GS1-2 Medical image analysis of brain X-ray CT images by deep GMDH-type neuralnetwork
Tadashi Kondo, Junji Ueno, Shoichiro Takao (Tokushima University, Japan)
In this study, the deep Group Method of Data Handling (GMDH)-type neuralnetwork is applied to medical image analysis of brain X-ray CT images. The deep
GMDH-type neural network algorithm can automatically organize the deep neuralnetwork architecture which has many hidden layers, using the heuristic selforganization method which is a type of evolutional computations. This algorithm
is applied to the medical image analysis of brain X-ray CT images. The deep neuralnetwork is automatically organized from brain X-ray CT images and recognizes
and extracts the brain, bone and blood vessels regions in the brain images.

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GS1-3 Medical image diagnosis of lung cancer by deep feedback GMDH-type neuralnetwork
Tadashi Kondo, Junji Ueno, Shoichiro Takao (Tokushima University, Japan)
The deep feedback Group Method of Data Handling (GMDH)-type neural network
is applied to the medical image diagnosis of lung cancer. The deep feedback
GMDH-type neural network has feedback loops and the complexity of the neuralnetwork architecture is increased by feedback loop calculations. Each feedback
loop is constructed with the three layers which are the input, hidden and output
layers. This deep feedback GMDH-type neural network is applied to the medical
image diagnosis of lung cancer and the deep neural network which can recognize
and extract the lung cancer and blood vessel regions, is automatically organizedfrom the chest X-ray CT images.

GS1-4 Feature Linking by Synchronized Response in Chaotic Cellar Neural Network
for Visual Stimulus of Moving Objects
Akihiro Yamaguchi1, Satoshi Arakane1, Masao Kubo2(1Fukuoka Institute of Technology, 2National Defense Academy of Japan, Japan)
A feature linking mechanism by the synchronized response of neural assemblies
was studied for the chaotic cellar neural network (Chaotic-CNN). The ChaoticCNN consists of chaotic spike response neurons that show the chaotic inter-spikeinterval dynamics. In our scheme of feature linking, the features of the target
objects are linked by the synchronized spike responses that are characterized by the
temporal chaotic pattern of spike sequence. In this paper, we analyzed thesynchronized spike responses that invoked by the visual stimulus of moving bars.
As a result, neural assemblies have higher correlation for the visual stimulus ofmoving two bars with the same direction (Fig.1 (a)) than the opposite direction(Fig.1 (b)). Then we discussed a possibility of feature linking by the chaotic
synchronized response in the view point of neural coding.

(a) The same direction(b) The opposite
direction
Fig.1 Correlation ofneural assemblies

GS1-5 An FPGA-based cortical and thalamic silicon neuronal network.
Takuya Nanami, Takashi Kohno (The University of Tokyo, Japan)
A DSSN model is a neuron model which is designed to be implemented efficiently
by digital arithmetic circuit. In our previous study, we expanded this model tosupport the neuronal activities of cortical and thalamic neurons. They are regularspiking, fast spiking, intrinsically bursting and low-threshold spike. In this paper,
we report our implementation of the expanded DSSN model and kinetic-modelbased silicon synapses on a Xilinx / Spartan -6 LX45 FPGA. Here, synaptic
efficacy was stored in block RAMs. The DSP modules integrated on the FPGA chip
were utilized to facilitate efficiency in implementation of multiplication in the
DSSN model.

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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS2 Pattern Recognition & Image Processing (6)GS2-1 An accurate method for the extraction of structured light stripe

Jiwu Wang1, Yaodong Li1, Zhijing Jian1, Sugisaka Masanori2( Beijing Jiaotong University, P.R. China), (2Alife Robotics Corporation Ltd, Japan)
1

In order to obtain the highest measurement accuracy in the On-line measurementof rail profile with a line structured light based on machine vision, the extractionof structured light stripe is a necessary step. An accurate extraction method is
proposed for the structural light stripe extraction in practical applications. The
noise in the captured image can be removed with region segmentation method. The
structured light stripe is separated and extracted accurately based on thecharacteristics of the structure light stripe in the binary image. The method wasverified in laboratory conditions. Experiment results show that the method caneffectively solve the problem of real-time and accurate extraction of structured
light stripe.

GS2-2 Feature Acquisition From Facial Expression Image Using Convolutional Neural
Networks
Taiki Nishime, Satoshi Endo, Koji Yamada, Naruaki Toma, Yuhei Akamine(University of The Ryukyus, Japan)
In this study, we carried out the emotion acquisition from facial expression image
using a Deep Neural Networks(DNN). Emotions we focused on are "happiness","sadness", "surprise, "anger”, "disgust", "fear" and "neutral”. By using
Convolutional Neural Networks(CNN) approaches, we have obtained an average
emotion recognition score of 58%; two emotions (happiness, surprise) recognition
score was about 70%. This result was the same tendency as preliminary experimentof human recognition. From CNN model after training, specific unit wereconfirmed to be learning the feature about happiness. The results corroborate that
CNNs work effectively for learning facial expression about happiness, surpriserepresentations.

GS2-3 Estimating Age on Twitter Using Self-Training Semi-Supervised SVM
Tatsuyuki Iju, Satoshi Endo, Koji Yamada, Naruaki Toma, Yuhei Akamine(University of The Ryukyus, Japan)
Most recent researches for estimating Twitter user’s latent attributes are concernedwith making attribute estimator from only user tweets with one's profile known,that is, ground truth data. However, it tends to be high cost to collect enough amountof ground truth data to provide estimator. In our study, we employ SVM with selftraining, with words in tweets used as features, in order to reduce the cost ofcollecting data. We carry out some parameter surveys to investigate how theseparameters affect performance of classifier. We utilize predict-probability of
LIBSVM package as a threshold to determine which of unlabeled users to belabeled during self-training. At last, we evaluate the classifier for parameters which
are found to be the best on parameter surveys.

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Japan, January 29-31, 2016

GS2-4 Interactive musical editing system to support human errors and offer personal
preferences for an automatic piano
Kenji Tsunenari, Eiji Hayashi (Kyushu Institute of Technology, Japan)
Recently, electronic musical instruments are achieving progress for developmentof electronics and seen everywhere. However, their sound quality and ambience areinferior to real musical instruments. Therefore, we developed automatic piano byusing grand piano. Pre-edit is needed to play music in the manner of a live
pianist. In the case of piano music, there are often1000 or more notes in the scoreof even a short piece of music, requiring that an editor spend a huge amount of timeto accurately simulate the emotionally expressive performance of a highly skilled
pianist. Therefore, we have developed an interactive musical editing system thatutilizes a database to edit music more efficiently.

GS2-5 Geometric parameters measurement of wheel tread based on line structured light
Jiwu Wang1, Zhijing Jian1, Yaodong Li1, Chao Yang1, Sugisaka Masanori2( Beijing Jiaotong University, China), (2Alife Robotics Corporation Ltd, Japan)
1

The positioning precision is important in the processing of geometric parameters
measurement technology of wheel tread. In this paper, a new method with nocontact measurement based on line structured light is given to solve this problem.
Here traditional mechanical locating method is used as a rough reference.
Moreover, some digital image processing techniques are developed for each of the
key dimensions of measurement. According to the feature points (particularly, thekey points that have not been worn) and lines extracted effectively on the wheel
tread, precise positioning is realized. In this paper, the experiments show that the
proposed method is feasible and excellent to design and implement non-contact
measurement of the wheel tread, wheel flange thickness and rim width. It also
ensures the accuracy of positioning and analyses the factors of measurement error.

GS2-6 Study on the ORB algorithm in the application of Monocular SLAM

Jiwu Wang1, Shunkai Zheng1, Masanori Sugisaka2( Beijing Jiaotong University, P.R. China) (2Alife Robotics Corporation Ltd, Japan)
1

In view of reducing the accumulative error, we perform loop closing (detection +correction) based on PTAM in our Monocular SLAM.As this method relies on
extracting natural environment features, we chose ORB algorithm as the feature
extraction and matching. We demonstrate that ORB features have enoughrecognition power to enable place recognition from severe viewpoint change andthey are so fast to extract and match (without needing multi-threading or GPU
acceleration) that enable real time accurate tracking and mapping. Through tooutdoor scene experiment, we validate the algorithm performance.

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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
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GS3 Reinforcement Learning System & Genetic Programing (5)GS3-1 Examination of Robotic Aerospace Engines Maintenance Supported by Augmented
Reality through Cloud Manufacturing
Mosab Alrashed, Yaser Yadekar, John Ahmet Erkoyuncu, Yifan Zhao (Cranfield University, UK)
This Paper aims to develop a demonstration using a mobile device to apply
augmented reality to allow remote maintenance activities. This research was
focused primarily on the aerospace industry studies as there was a research gap as
there are few relevant researches in the manufacturing field and accepted industry
needs. The targets were achieved by developing and designing controls in theengineering steps to create the optimum conditions for augmented reality. The
design process pursued in four stages: first, research the current practice of using
augmented reality remotely in manufacturing maintenance; second, classify
maintenance remote assisting problems and weakness in augmented reality; third,
design and develop software and hardware, depending on the case study for a
prototype solution to remote maintenance enhanced by the augmented reality thatcan be demonstrated and tested; finally, validate the developed software anddemonstration using industrial experts and authentic reports.

GS3-2 Unit Layout Design Supporting System of Cell Assembly MachineUsing Two Robots
by Reinforcement Learning
Yusaku Ikai, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)
In this study, we explain the development of Design Supporting System
for Cell Assembly Machine System (CAMS) which systemize thedecision of the unit layout that compose the assembly machine using two
robots. CAMS uses Profit Sharing which is one of the Reinforcement
Learning methods, determining each units layout. Profit Sharing is
performed by the following flow: (1) The units layout is determined byRoulette Selection, (2) The one cycle work time of the robot is calculated
to evaluate the unit layout, (3) If the evaluation is good, the units
layout is given rewards. Efficient units layout is decided by the numberof regulation times repeating the flow 1-3. We apply CAMS to assemblyof the Differential which is automotive parts to verify its validity.

GS3-3 Virtual Input Parts Decision System of Job-Shop Production Line by using GA withON / OFF Gene
Junji Ito, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)
We propose the simulator to decide the best parts input order. We call this simulator
as Virtual Input Parts Decision by ON/OFF Genes (VIPDOG). VIPDOG has 2
configuration systems as follows: 1) The parts order decision system to indicate theparts input and processing orders of a job shop production line.2) The virtual
production system that performs the visualization of the working environments
acquired by VIPDOG. The virtual production system can check what will happen
in the future and some experienced engineers can discuss the problems to solvethem.

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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS3-4 An Evolutionary Algorithm for Making Decision Graphs for Classification Problems
Shingo Mabu, Masanao Obayashi, Takashi Kuremoto (Yamaguchi University, Japan)
Classification is one of the major research in pattern recognition and a large
number of methods have been proposed such as decision trees, neural networks(NNs), support vector machines (SVMs). In order to easily understand andanalyze the reason of the classification results, decision trees are usefulcomparing to NNs and SVMs although these methods have shown
distinguished classification abilities. In this paper, to enhance the classification
ability of decision trees, a new evolutionary algorithm for creating decisiongraphs is proposed, where multi-root nodes, unique genetic operators andmajority voting mechanism based on Maximum a posteriori are introduced. In
the performance evaluation, it is clarified that the proposed method shows
better classification ability than decision trees.

GS3-5 Improvement of Computational Efficiency of UPF by Automatic Adjustmentof the Number of Particles
Kenta Hidaka, Takuo Suzuki, Kunikazu Kobayashi (Aichi Prefectural University, Japan)
In RoboCup Standard Platform League (SPL), the method using unscented particle
filter (UPF) has been proposed for self-localization.
The UPF resolves a problem of particle filter (PF) which cannot be sampled
appropriately when the likelihood is too high or low. It is also applicable to the
kidnapping problem. The filter can estimate the precise position if the number ofparticles is large enough but the computational cost may also increase in proportion
to the number of particles. In the present paper, we propose an automatic adjustment
method for the number of particles in UPF using the variance of distances between
the position of a particle and the average position of all the particles and the absolute
error between the position of a particle and the correct position of robot. Throughcomputer simulations, we confirmed the improvement of computational efficiency
of UPF.

GS3-6 Multi Objective Evolutionary Algorithms for Association Rule Mining: Advances andChallenges
Aswini Kumar Patra (North Eastern Regional Institute of Science & Technology, India)
Association rule mining, one of the most important and well researched techniquesof data mining. The challenge, posed by most of the association rule mining
methods, is the amount of time consumed for generating frequent items sets. To
overcome thisevolutionary algorithms have been used widely. Moreover, apartfrom support and confidence, there are many other metrics available to measure thequality of association rules. That is the reason why multi-objective approach plays
a crucial role. Therefore, two methodologies namely, multi-objective andevolutionary algorithms as a combination proved to be a preferred choice.
Though numerous works have been proposed for mining association rules, use ofmulti-objective evolutionary algorithms are still in its infancy stage. This paper
explores the challenges and advances that has been made in this regard in terms ofnature of algorithm, encoding mechanism, objective functions and operators.

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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
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GS4 Micro-Machine (4)+GS9 RoboticsⅢ(4)GS4-1 Applying Fuzzy Sliding Mode Control on Electrowetting on Dielectric System
1

Arsit Boonyaprapasorn, 2Thavida Maneewarn, 2Eakkachai Pengwang (1Chulachomklao Royal Military
Academy, 2King Mongkut’s University of Technology Thonburi, Thailand)
In Lab-on-a-chip (LOC) devices, an electrowetting on dielectric (EWOD) method
can be performed to create, cut, mix, and transport droplets. Moreover, the microassembly process of micro parts can be manipulated by the EWOD system. Highaccuracy of droplet motion in both applictions is required. Based on the simplified
model, the feedback control such as sliding mode control can be applied so that the
droplet motion can achieve a high accuracy performance under disturbances.
However, the sliding mode control often has chattering problem. Thus, in thisstudy, the fuzzy sliding mode control was applied to manipulate the droplet in the
EWOD system. The study was conducted via simulation in MATLAB
environment. The result showed that the proposed control method could provide an
accurate motion control with lower chattering compared to that of classical sliding
mode control.

EWOD system.

GS4-2 Development of Micro-Permanent Magnet Synchronous Reluctance Generator for
TPMS on Smart Robots
1

Chun-Chieh Chang, 1Cheng-Tang Pan, 1Shao-Yu Wang, 1An-Yun Yang, 1Gu-Xuan Lin, 2Roger Chenglung
Lee, 2 Ting-Hung Chung, 1Yu-Jen Wang (1National Sun Yat-sen University, 2Naroller Electronics, Taiwan)
Synchronous Reluctance Generator (SynRG) is a high-functioning and robust
motor with simple structure and low cost. In this study, the rotor was embedded
magnet and developed with a miniature size of permanent magnet generators, which
can be applied to the tire pressure monitoring system (TPMS) on the smart robots.
The SynRG was studied for voltage producing to achieve sufficient power for
TPMS. The experiment focuses on the specific winding distribution, such as
distributed winding or concentrated winding, and the number of stator slots perphase. On the other hand, the structural design of the generator focuses on themagnet configuration, the rotor structure, and working air gap to optimize theparameters. In addition, the generator was considered with a different rotational
speeds and the rotor resistances. High power output, stable voltage waveform, andtorque ripple were analyzed to determine the generator. In the selection of themagnetic materials, ferrite magnet was selected which has the advantage of lowercost. Finite element method (FEM) is used to simulate the magnetic properties of
the generator. The optimized design of SynRG in this study was centralized
distribution of windings, ratio 12/4 of the slot and pole, 500-1200 rpm of therotation speed and 5 mm of lamination thickness, 50 mm of outer diameter of thestator. The results indicate that the generating capacity of 2.3 V can be achieved.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS4-3 Study of Micro-Flux-Switching Permanent-Magnet Generator for TPMS on Smart
Robots1

An-Yun Yang, 1 Cheng-Tang Pan, 1Shao-Yu Wang, 1Chun-Chieh Chang, 1Gu-Xuan Lin, 2 Roger Chenglung
Lee, 2Ting-Hung Chung, 1Yu-Jen Wang (1National Sun Yat-sen University, 2Naroller Electronics, Taiwan)
Flux-Switching Permanent-Magnet Generator (FSPMG) is of high flux density andhigh efficiency due to its double salient structures. This study presents a micro
FSPMG whichcan be applied to tire pressure monitoring system (TPMS) on thesmart robots. To design a micro FSPMG, we tested the slot-pole ratio to find out an
optimal voltage output. This steady rotation generator with high generating capacity
and low torque ripple was obtained by optimizing the design of air gap, arc ratio
and salient ratio with different rotation speeds. In this paper, we used finite element
method (FEM) to simulate the magnetic properties of generator and the voltage
output. The magnetic material used in this study was ferrite magnet which has theadvantage of lower-cost. The design of FSPMG in this study was ratio 12/10 of theslot and pole, 500-1200 rpm of the rotation speed and 5 mm of lamination thickness,
50 mm of outer diameter of the stator. The results indicate that the generating
capacity achieves to 3.4 V where the air gap is the main factor to affect thisgenerator.

GS4-4 MEMS Microrobot Controlled by Mounted Neural Networks IC with Two Types
Actuators
Kei Iwata, Hirozumi Oku, Yuki Okane, Yohei Asano, Masaki Tatani, Yuki Ishihara, Kazuki Sugita,
Satohiro Chiba, Satoko Ono, Mizuki Abe, Minami Takato, Ken Saito, Fumio Uchikoba(Nihon University, Japan)
We report the hexapod microrobot controlled by the hardware neural networks.
MEMS (Micro Electro Mechanical System) was used for fabrication of the
microrobot. Hexapod walking of microrobots that mimics such motion of ants isrealized by link mechanisms. Actuators of the robots can be classified as
piezoelectric (PZT) type and shape memory alloy (SMA) type. The rotation of PZT
actuator is generated by the impact head attached to the piezoelectric element. On
the other hand, rotation of SMA actuator is generated by shrinkage of SMA fromfour directions. The microrobots are controlled by the bare chip IC of hardware
neural networks. As the result, PZT type microrobot was realized the walking
motion by bare chip IC. Moreover, SMA type microrobot could be suystemsral
networks. The walking speed was 2.4mm / min and the step width was 0.083mm.

GS5 Multi-Agents Systems & Visualization
GS5-1 Moving Robots Lies and Their Minds with Degree of Confidence in a Decentralized
Autonomous FMS
Shizuka Tanaka, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)
An autonomous decentralized FMS needs to control the entire factory and avoid theroute interference of automated guided vehicles (AGVs). To solve this problem, we
inserted an arrogant mind and a modest mind into AGVs. Also, in an autonomous
decentralized FMS, it is assumed that the information provided by agents is always
correct. However, incorrect information can sometimes be sent as a result ofmachine failures in a real factory. In this study, we define and find this incorrect
information as a "lie" of AGV. We propose the method of finding lies and sending
the lie information to the AGVs. We also propose a degree of confidence to control
the AGV's moving. The result of simulation has shown the number of production
was increased. Therefore, it is useful to control behavior by finding AGV’s lies andusing the degree of confidence.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS5-2 Conquest Oriented Robot Knowing Its Own Availability
Sho Yamauchi, Keiji Suzuki (Future University Hakodate, Japan)
Robot is designed for achieving specific task. However, robot is able to do much
more things than it is expected by its own hardware. If both human and robot
become to be able to know the things robot can do in the place, robot become todeal with variable tasks that are not expected. In this paper, concept of conquest
oriented robot is proposed to know its availability systematically andautonomously. Conquest action for the robot that knows its own availability isdefined and the thing that conquest oriented robot do is to know, increase andmaintain things it can do. Algorithm of conquest oriented robot and its experimental
result in simulation field for the first step is shown.

GS6 Intelligent Control & System Cybernetics
GS6-1 A Consideration on Feature Extraction for Operation Skill Based on Control
Engineering Approach
Kazushige Koiwai1, Liao Yantao1, Toru Yamamoto1,
Takao Nanjo2, Yoichiro Yamazaki2, Yoshiaki Fujimoto2
1( Hiroshima University, 2KOBELCO Construction Machinery CO., LTD., Japan)
Technologies of automation or manpower-saving are innovated in production
fields. However, there are many industrial equipments to need human operation,i.e. construction site. The human-skill optimized by professionals exists in those
fields. However, the transfer of skills is not processing in leading countries becauseof decreasing or aging of professionals. Therefore the quantification of the humanskill is required to transfer those skills. In this study, the human-skill is considered
as a kind of controller. It consists of CMAC-PID that is learned by using system
outputs and control inputs of operators. CMACs calculate PID parameters, andhuman-skill is evaluated by trajectories of parameters. As an example, thecomparison of operator skills for an excavator will be performed.

GS6-2 Design of a Data-Driven Control System for a Hydraulic Excavator
Takuya Kinoshita1, Yasuhito Oshima1, Kazushige Koiwai1, Toru Yamamoto1,
Takao Nanjo2, Yoichiro Yamazaki2, Yoshiaki Fujimoto2
1( Hiroshima University, 2KOBELCO Construction Machinery CO., LTD, Japan)
PID control schemes have been widely used in most industrial systems. However,most systems have nonlinearity and it is difficult to achieve the desired control
performance by using fixed PID parameters. The hydraulic excavators havenonlinearity, therefore it is difficult to maintain the desired control performance. In
order to overcome such a problem, data-driven PID control scheme based on
database has been proposed. Moreover, data-driven scheme has a learning method
in off-line by using the closed-loop data. In this paper, data-driven control scheme
is applied to a hydraulic excavator in order to get desired control performance. The
effectiveness of the proposed scheme is numerically verified by using a simulation
example.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS6-3 An Optimization of Spatio-Spectral Filter Bank Design for EEG Signal Classification
Masanao Obayashi, Takuya Geshi, Takashi Kuremoto, Shingo Mabu (Yamaguchi University, Japan)
Recently, studies on brain computer interface (BCI) which enables us to operate
electronic devices directly using electroencephalogram: EEG signal have been
actively done. From knowledge of brain science, in order to distinguish the EEG
signals accurately, it plays important role to make an appropriate combination ofboth optimal selection of EEG sensors and filter bank, due to theory of localizationof brain function. From this point of view, Bayesian Spatio Spectral Filter
Optimization (BSSFO) has been already proposed. However, the method still has
room for improvement in constructing optimal combination mentioned above. We
intend to improve BSSFO from the point of them, that is, a modification of apart of the optimization algorithm.

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The classification
procedure of EEG
signal in this paper

GS7 Robotics I
GS7-1 Haptic system with fuzzy controller for extended control of Teleoperation mine
detector wheeled robots
Yekkehfallah Majid, Guao Yang, Yuanli Cai, Naebi Ahmad, Zolghadr Javad(Xi'an jiaotong university, P.R. China)
This paper proposes an approach of haptic system and fuzzy logic controller with
implementation on teleoperation deminer robot, in order to reduce operator’s error
through fusion of fuzzy logic controller and haptic system, this approach provides
vibrotactile feedback and speed controller corresponding to mine detector sensor
and arm status system which are used in robot. This method can uses in all area of
teleoperation robotic but we implemented on deminer wheeled robot and forillustrating results of this work we also implemented on MATLAB fuzzy toolbox.

GS7-2 Effect of System Parameters and Controlled Torque on the Dynamics of RigidFlexible Robotic Manipulator
Sachindra Mahto (North Eastern Regional Institute of Science & Technology, India)
There are several advantages of the flexible robotic system with respect to its
counter-part convention system. Conventional robotic systems are heavy and bulky
with poor payload to weight ratio; and most of energy is used to overcome theinertia of the system in the engineering applications. As there is significant static
deflection due to the loads, it is very difficult to have high position accuracy of therobotic system. Therefore, sometimes some of the links of the conventional robotic
system are replaced by the flexible link to have the advantages of the lightweightsystem. Rigid-flexible robotics systems are the compromise in between of these
two systems. Since, one of the link is flexible, its behaviour is highly nonlinear andcomplex in nature. The dynamics of this system highly depends upon various
system parameters viz., length and mass of the links, joint motor mass, payload,
hub inertias, etc. A comparative study is also done for different input torque profiles
along with the controlled input torques. Results of the comparative study for theeffect of variation of the system parameters are very interesting technically.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS7-3 Modeling of Mobile Manipulator and Adaptive Super-Twisting Backstepping Control
Seong Ik Han, Hyunuk Ha, Jangmyung Lee (Pusan National University, South Korea)
A mobile manipulator with three wheels and three DOF links is modeled by using
Euler-Lagrange method and vector orientated constraint conditions. In thismodeling process, the conventional complex nonholonomic constrainttransformation need not be considered in mobile robot system and then much
simpler dynamic model can be obtained. Next, the super-twisting sliding mode
control is combined with nonlinear backstepping control to obtain the systematic
nonlinear controller design, fast response speed, and improved robustness touncertainty due to dynamic coupling and disturbance. Simulation and experimentwere carried out to prove the effectiveness of the proposed control methodology.

GS7-4 Self-tuned Local Feedback Gain Based Decentralized Fault Tolerant Controlof Reconfigurable Manipulators
Bo Zhao1, Bo Dong2, Yan Li2, Fumitoshi Matsuno3, Yuanchun Li2 (1Chinese Academy of Sciences,
2
Changchun University of Technology, P.R. China, 3Kyoto University, Japan)

Joint 1 Position(rad)1
Desired trajectory
Actual trajectory

0.5
0
-0.5
-1

0

1

2

3

4

5
6
Time(sec)

7

8

9

10

1
Joint 2 Position(rad)This paper investigates the decentralized fault tolerant control (DFTC) scheme
based on self-tuned local feedback gain to against partial loss of actuator
effectiveness of reconfigurable manipulators. Consider the entire system as a set ofinterconnected subsystems due to its modularity property, the decentralized control
method I s proposed by employing two neural networks for the fault-free system.
For the subsystem in related failure, the self-tuned local feedback gain is added tothe proposed decentralized control method to guarantee the control performance.
Finally, a simulation example is provided to demonstrate the effectiveness of thepresent DFTC scheme.
Fig.1 shows the excellent trajectory tracking performance is derived though thereconfigurable manipulator suffers to actuator failure after t=4s. The main
contributions of this method are: i) The FTC structure is simple since it is no need
to be redesigned in the presence of partial loss of actuator effectiveness; ii) The
actuator fault can be handled in its local subsystem, it implies that the performancedegradation of the faulty subsystem cannot affect the fault-free subsystems.

Desired trajectory
Actual trajectory

0.5
0
-0.5
-1

0

1

2

3

4

5
6
Time(sec)

7

8

9

10

Fig.1 Joint tracking
curves with DFTC

GS7-5 Study on Decentralized Integral Nested Sliding Mode Control for Constrained
Reconfigurable Manipulator with Harmonic Drive Transmission
Bo Dong1, Zeyu Dong1, Bo Zhao2, Yan li1, Fumitoshi Matsuno3 and Yuanchun Li1 (1Changchun
University of Technology, 2Chinese Academy of Sciences, P.R .China, 3Kyoto University, Japan)
This paper addresses the problems of trajectory tracking control of a constrained
reconfigurable manipulator with harmonic drive transmission under a decentralized
integral nested sliding mode control (INSMC) method, and a high-performance
control is achieved without using force/torque sensor. The dynamic model of theconstrained reconfigurable manipulator is formulated with a nonlinear harmonic
drive model. Based on only local dynamic information of each module, adecentralized integral nested sliding mode control method is proposed to reduce thechattering effect of the controller and compensating the model uncertainties.
Finally, simulations are performed for a constrained 2-DOF reconfigurable
manipulator to study the effectiveness of the proposed method. Fig. 1 shown thatthe desired trajectory of robot end-effector can be tracked accurately under the
proposed INSMC method.

©ICAROB 2016
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Fig. 1 Trajectory
tracking curves ofrobot end-effector

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS7-6 A Number of Mobile Manipulator Control for Moving Object by using Cooperative
Control
Deok-Su Kim, Dong-Eon Kim, Seong-Ik Han, Jang-Myung Lee(Pusan National University, South Korea)
This paper proposes a method of cooperative control of a three mobile manipulator
for moving an object. These robots go to desired position independently by using
encoder data and inverse kinematics and after arriving in the position, they grasp
and lift the object. For the carrying operation, the lifting operation is implemented
by using the manipulator mounted on the top of the mobile robots cooperatively. In
this system, master-slave mode is used for finding each position of robots and for
coordinating among the robots. During the moving operation, a trajectory planninghas been kept constantly. The real cooperative carrying motions are implemented
to check the possibility of the master-slave mode control based on the mobile
manipulator’s kinematics

GS8 Robotics II
GS8-1 Visual-servo Control of 4-DOF Robot Manipulator for Sorting Moving objects
Longtan Wang, Seon-Woo Kim, Hyun-Wook Ha, Jang-Myung Lee(Pusan National University, South Korea)
This paper considers the problem of estimating position and determining class ofobjects on the moving conveyor belt. A 2D camera is utilized to capture the imageof moving objects. The control system directly integrates visual data into theservoing process. Objects are recognized by using SURF(Speeded-Up Robust
Features) key point detector and FLANN(Fast Library for Approximate Nearest
Neighbor) based matcher. Then Rotating calipers algorithm is adopted to estimate
the centroid position and orientation of the objects. The proposed system is able tocontrol the robot so that it can approach the desired position and grab the specificobject. Experimental result demonstrates that the approach is efficient and reliable

GS8-2 Self-identification of Mental State and Self-control through Indirect Biofeedback-Indirect Representation and Placebo EffectMadoka Takahara, Ivan Tanev, Katsunori Shimohara(Doshisha University, Japan)
This paper describes a possible new scheme for a user with mental
health problems to identify his/her own mental state and control it, notby visiting specialists passively, but by proactively confronting his/her
symptoms. For that purpose, the scheme should provide the user withthe ability not only to externalize and objectify his or her mental state
but also for the user him/herself to control their physiological state. So
we propose an indirect biofeedback system that represents
physiological information with colors and shapes, and enables the user
to grasp his/her inner state and to proactively change and control it
through methods of breathing. These methods facilitate the user tocontrol their autonomic nervous system by themselves. Here, we
discuss indirect representation and placebo effect.

©ICAROB 2016
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Visualization of bodyreactionStr
ess

HeartbeatFeedback
Visualization
Representation ofstress stateThe 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS8-3 Construction of a sense of force feedback and vision for micro-objects: Recreate theresponse and a sense of force of objects
Yusei Ishii, Eiji Hayashi (Kyusyu Institute of Technology, Japan)
Technologies that can accurately perform minute work are now beingsought for medical treatment and in the field of manufacturing
semiconductors. Such minute work is improved by using
micromanipulators, but their operation is difficult because the operator
has no sense of force; he or she relies only on sight through a microscope.
As a result, a person skilled in the use of this technology is needed forall minute work. For the efficiency of minute work, we used a haptic
device and amplified the force feedback from a minute sample.

GS8-4 Dynamic Behavior Selection Model based on Emotional States for Conbe-I robot
Wisanu Jitviriya, Jiraphan Inthiam, Eiji Hayashi (Kyushu Institute of Technology, Japan)
Currently, the rapid development of non-industrial robots that are designed withartificial intelligence (AI) method to improve the robotics system is to have themimitate human thinking and behavior. Therefore, our works have been focused on
studying and investigating the application of brain-inspired technology fordeveloping the conscious behavior robot (Conbe-I). We created the hierarchicalstructure model, which is called “Consciousness-Based Architecture: CBA”
module, but it has limitation in managing and selecting the behavior that only
depends on the increase and decrease in the motivation’s level. Consequently, inthis paper, we would like to introduce the dynamic behavior selection model basedon emotional states, which develops by Self-organizing map learning andMarkovian model in order to define the relationship between the behavioral
selection and emotional expression model. We confirm the effectiveness of the
proposed system with the experimental results.

GS8-5 Consideration on a Crawler Robot with Six Legs
Toyomi Fujita, Taiga Sasaki (Tohoku Institute of Technology, Japan)
In this study, we consider development of a crawler-type mobile robot which isequipped with six legs at its body. This type of robot may have possibilities of both
high mobility on rough terrain and working ability with handling such as carrying
an object and removing small obstacles in its movement by using the legs as
manipulation arms. This paper presents mechanisms and characteristics of thistype of robot and some possible hybrid motions in which crawler and legs are used.
Several simulations are also performed based on statics to analyze necessary
torques for joint of the legs in the motions.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS9 RoboticsⅢ
GS9-1 Social Expression of Pet Robot Based on Artificial Consciousness and Biologically
Inspired On-line Topological Method
Sakmongkon Chumkamon, Eiji Hayashi (Kyushu Institute of Technology, Japan)
Toward robot becoming friend, the social and natural behavior of the robot is themost needed function for emerging future realistic human-like robot. This paper
proposes the topological consciousness based on a pet robot using the artificial
neurotransmitter and motivation. Since, the significant is a cross-creaturecommunication to friendly companionship. This system focuses on three points.
The first, the organization of the behavior and emotion model regarding thephylogenetic. The second, the robot empathy from human expression. The third,
the social interaction by robot expression using biologically inspired topologicalon-line method for encouragement by its own emotion and the human expression.
We believe the artificial consciousness based on complexity level and the robot
social expression enhance the user affinity by the demonstration.

GS9-2 Anthropomorphic robot modelling with virtual height inverted pendulum approachin Simulink: step length and period influence on walking stability.
Ramil Khusainov, Ilya Afanasyev, Evgeni Magid (Innopolis University, Russia)
Humanoid stable walking is a complex task due the high number of degrees of
freedom, system nonlinearity and relatively small size of robot footprint. Biped
robots tend to fall down as walking speed increases or when the terrain conditions
change. This paper presents dynamically stable walking modelling of Russian
humanoid AR-601M in Simulink environment with virtual height inverted
pendulum model, an effective and simple trajectory generation method based on
inverted pendulum model (IPM). This algorithm adjusts height of the center ofmass in IPM model to reduce ZMP error and guarantees stable locomotion up tosome critical speed. We investigate influence of the step length and step period on
walking stability. Maximum torque values in leg joints are estimated in order toverify if such trajectories are attainable by robot motors. We demonstrate that the
robot model is capable to achieve significant walking speeds on flat surfaces using
this method.

GS9-3 A low cost genetic algorithm based control scheme for wheelchair control in hospitalenvironment
Karam Dad Kallu, Muhammad Jawad Khan, Wang Jie, Min Cheol lee(Pusan National University, South Korea)
In this paper, a control strategy to operate a wheelchair in a hospital is proposed toassist patients. The strategy is tested using a mobile robot, that is navigated in a
hospital using line following. The mobile robot was operated using both genetic
algorithm and A* algorithm for a thorough comparison of the control scheme. The
comparison of the results revealed that genetic algorithm is a better solution incontrolling the wheelchair in a hospital environment.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS9-4 Simultaneous Localization and Mapping (SLAM) algorithm base on EKF and SPKF.
Zolghadr Javad, Yuanli Cai ,Yekkehfallah Majid (Xi’an Jiaotong University, P.R. China)
Simultaneous Localization and Mapping (SLAM) is the problem in which asensor-enabled mobile robot incrementally builds a map for an unknown
environment, while localizing itself within this map. The Kalman Filter’slinearized error propagation can result in big errors and instability in the SLAM
problem. One approach to reduce this situation is using of iteration in Extended
Kalman Filter (EKF) and Sigma Point Kalman Filter (SPKF). We will show thatthe recapitulate versions of kalman filters can improve the estimation accuracy androbustness of these filters beside of linear error propagation. Simulation results arepresented to validate this improvement of state estimate convergence throughrepetitive linearization of the nonlinear model in EKF and SPKF for SLAM
algorithms. Results of this evaluation are introduced by computer simulations andverified by offline implementation of the SLAM algorithm on mobile robot in
MRL Robotic Lab. Index Terms— Extended Kalman Filter, Sigma Point Kalman
Filter, SLAM, instability, Mobile Robot, Nonlinear Estimation.

GS10 Poster Sessions (5)GS10-1 Analysis of Postgraduates’ Entrance Examination Scores Based on Linear
Regression with Dummy Variables
Ning Xiaojun, Huang Ruocheng, Liang Xiaoyi, Ai Dongmei(University of Science and Technology Beijing, P.R. China)
Research on the main factors influencing the students’ score is a very importantpart of the student achievement evaluation system. Several factors that have asignificant influence on postgraduates’ entrance examination score including
enrollment category, university category, age, gender, fresh graduate were studied
by ANOVA in this paper. Quantitative analysis of the correlation between thediscrete variables and admission scores were performed by linear regression withdummy variables and 85% confidence prediction interval of postgraduates’
admission scores were obtained. Data support is provided by these results forgraduate school enrollment work.

 X ij     i   ij , j  1,..., ni , i  1,..., r ij ~ N (0, 2 ), i.i.d .
ri1 ni i  0GS10-2 Clinical Evaluation of UR-System 2 for Recovery of Motor Function ofPlegic Upper Limb after Stroke1

Hirofumi Tanabe, 1Masahiro Mitsukane, 2Norihiro Toya, 2Ryosuke Takeichi, 2Hitomi Hattori,
Yoshifumi Morita, 3Yoshiaki Takagi, 3Norio Hasegawa (1Shonan University of Medical Sciences,2
Nagoya Institute of Technology, 3Sanyo Machine Works, Ltd., Japan)

2

We developed a new training system UR-System 2 for restoring motor function of
the upper limb after stroke in patients with hemiplegia. And then, we conductedclinical evaluation of the therapeutic effect of training with the UR-System 2 in six
patients. The UR-System uses Proprioceptive Neuromuscular Facilitation (PNF)
to promote muscle strength. In this training, elbow flexion and extension of thesupinated forearm were repeated 250 times. As a result of the training, active
ranges of motion of elbow extension and supination of the forearm improved after
training. Moreover, the modified Ashworth scores for elbow extension andsupination of the forearm increased, indicating improvement of spastic paralysis.
These results show the immediate therapeutic effect of training with the URSystem 2 for restoring the motor function of the upper limb.

©ICAROB 2016
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The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

GS10-3 Knee Android Model Reproducing Internal-External Rotation with Screw-Home
Movement of Human Knee
Daichi Yamauchi, Sho Takei, Noritaka Sato, Yoshifumi Morita (Nagoya Institute of Technology, Japan)
It has been reported that the internal-external rotation during knee extension inhuman can be classified into three types. In our previous study, we proposed a knee
android model (Knee-AM) consisting of a tibia model, a femur model and nyloncords imitating the ligaments. We found that the Knee-AM can reproduce one type.
This paper proposed a Knee-AM that can reproduce another type. This type, towhich most of human knee motion belongs, has external rotation occurring at theend of extension, called the screw-home movement (SHM). This type were realized
by changing the lengths and the fixing points of the nylon-cords. Moreover, when
the anterior cruciate ligament (ACL) was removed from the Knee-AM to imitate
ligament injury, the SHM did not occur during extension. The results showed the
ACL played an important role for the SHM.

GS10-4 Wood Species Recognition System based on Improved Basic Grey Level Aura Matrix
as feature extractor
Mohd Iz’aan Paiz Zamri, 1Anis Salwa Mohd Khairuddin, 1Norrima Mokhtar, 2Rubiyah Yusof(1University of Malaya, 2Universiti Teknologi Malaysia, Malaysia)

1

An automated wood species recognition system is designed to perform woodinspection at custom checkpoints in order to avoid illegal logging. The system that
includes image acquisition, feature extraction and classification is able to classify
the 52 wood species. There are 100 images taken from the each wood species isthen divided into training and testing samples for classification. In order todifferentiate the wood species precisely, an effective feature extractor is necessary
to extract the most distinguished features from the wood surface. In this research,an Improved Basic Grey Level Aura Matrix (I-BGLAM) technique is proposed to
extract 136 features from the wood image. The technique has smaller feature
dimension and is rotational invariant due to the considered significant feature
extract from the wood image. Support vector machine (SVM) is used to classify
the wood species. The proposed system shows good classification accuracy
compared to previous works.

GS10-5 Evaluation the Performance of a New Quadrotor Model Based on the Arm’s Length
Variation
Yasameen Kamil N., D. Hazry, Khairunizam Wan, Zuradzman M.Razlan(University Malaysia perlis, Malaysia)
The field of UAV has exceptional level of growth; in addition it is predictable tobe one of the most prevalent fields of development and research in future. The
unmanned aerial vehicle (UAV)- quadrotor widely used as a service robotic inseveral field. This paper presents a new design of this miniature aerial vehicle inaltitude and attitude movements, based on varying the arm’s length of quadrotor
instead of varying the speed of motors to obtain a rotation around each axes. The
length of arms varying are achieved by fixing a stepper motor in each arm ofquadrotor to increase or decrease the length of these arms according to controller
command for attitude movement. The controller commands are accomplished bydesigning a PID controller with specific parameters to maintain the stability of thequadrotor in the flight path. A MATLAB software code used to evaluate thesimulation results and demonstrate the ability of the proposed design to perform a
mission.

©ICAROB 2016
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Fig.1 Quadrotor structure

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

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

Chang

Jen-Kuo

OS3-5

21/37

Abe

Mizuki

GS4-4

22/59

Chang

Ling-Lin

OS3-4

21/37

AburadaKentaroOS12-1

25/49

Chang

Shu-Chen

OS4-1

17/38

Afanasyev

Ilya

GS9-2

22/65

Chen

Chun-Hsien

OS4-2

17/38

Ai

Dongmei

GS10-1

20/66

Chen

Kuan-Yin

OS3-3

21/37

Akamine

Yuhei

GS2-2

23/54

Chen

Mei-Yung

OS2-4

18/35

GS2-3

23/54

Chen

Yun-ju

OS9-1

29/47

Alrashed

Mosab

GS3-1

28/56

Chiba

Satohiro

GS4-4

22/59

Ando

Kazuaki

OS11-1

18/48

Chien

Chiou-Lan

OS1-3

19/32

OS11-2

18/49

Chumkamon

Sakmongkon

GS9-1

22/65

OS11-3

18/49

Chung

Hsiu-Chen

OS1-3

19/32

Chung

Ting-Hung

GS4-2

22/58

GS4-3

22/59

OS8-5

24/45

OS8-6

24/45

ArakaneSatoshi

GS1-4

20/53

Asada

Taro

OS7-1

30/42

OS7-2

30/43

OS7-3

30/43

OS7-4

30/43

GS4-4

22/59

Asano

Yohei

[D]
Dai

[B]
Boonyaprapasorn

Arsit

GS4-1

22/58

[C]
Cao

Yimin

OS6-2

25/41

Chang

Ching-Jung

OS4-1

17/38

OS4-2

17/38

OS4-3

17/38

OS4-4

17/39

OS4-5

17/39

GS4-2

22/58

GS4-3

22/59

OS3-3

21/37

Chang

Chang

Chun-Chieh

Chun-Feng

FengzhiDang

Viet-Chau

OS10-2

28/48

Desa

Hazry

GS10-5

21/67

Dong

Bo

GS7-4

24/62

GS7-5

25/62

Dong

Zeyu

GS7-5

25/62

Duan

Meng

OS6-5

25/42

Satoshi

GS2-2

23/54

GS2-3

23/54

John Ahmet

GS3-1

28/56

Ziyi

OS5-1

26/39

[E]
Endo

Erkoyuncu[F]
Fu©ICAROB 2016
- 68 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

Fu

Ziyi

OS6-4

25/42

Fuji

Ren

OS7-2

30/43

Fujimoto

Yoshiaki

GS6-1

27/60

GS6-2

27/60

Hsu

Hsia

OS11-4

18/49

OS2-3

18/35

OS2-5

19/35

Chu-Lin

OS2-2

18/34

Kuo-Hsien

FujitaToyomi

GS8-5

19/64

Hsu

Hsiu-Hsiung

OS4-5

17/39

Furutani

HiroshiOS12-2

26/50

Hsu

Yung- Feng

OS4-2

17/38

OS12-426/50

Hu

Jian-Sing

OS2-4

18/35

Huang

Ruocheng

GS10-1

20/66

Huang

Yao-Shan

OS3-2

21/36

Hung

Chung-Wen

OS2-2

18/34

[G]
Gao

Caixia

OS6-4

25/42

Geshi

Takuya

GS6-3

27/61

Green

Ethan

GS1-1

20/52

Guan

Sih-Jie

OS1-6

20/34

Iju

Tatsuyuki

GS2-3

23/54

Guao

Yang

GS7-1

24/61

Ikai

Yusaku

GS3-2

29/56

Guo

Jr Hung

OS2-3

18/35

Ikeda

SatoshiOS12-226/50

OS12-326/50

OS12-426/50

OS11-1

18/48

[I]

[H]
Ha

Hyunuk

GS7-3

24/62

Imai

YoshiroHa

Hyun-Wook

GS8-1

19/63

OS11-2

18/49

HanSeong Ik

GS7-3

24/62

OS11-3

18/49

GS7-6

25/63

OS11-4

18/49

Hasegawa

Norio

GS10-2

20/66

InthiamJiraphan

GS8-4

19/64

Hattori

HitomiGS10-2

20/66

Ishihara

Yuki

GS4-4

22/59

Hattori

TetsuoOS11-1

18/48

Ishii

Yusei

GS8-3

19/64

OS11-2

18/49

Ito

Junji

GS3-3

29/56

OS11-3

18/49

Ito

Takao

OS9-2

29/47

OS11-4

18/49

OS9-3

29/47

GS2-4

23/55

OS12-2

26/50

GS8-3

19/64

OS12-3

26/50

GS8-4

19/64

OS12-4

26/50

GS9-1

22/65

OS9-2

29/47

Hayashi

Eiji

Ito

Tsutomu

Hidaka

Kenta

GS3-5

29/57

OS9-3

29/47

Ho

Jei-Fu

OS1-2

19/32

OS12-2

26/50

OS1-4

20/33

OS12-4

26/50

OS1-6

20/34

Iwanaga

Saori

OS10-328/48

OS11-1

18/48

Iwata

Kei

GS4-4

22/59

OS11-2

18/49

Horikawa

Yo©ICAROB 2016
- 69 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

[J]

Kobayashi

Kunikazu

GS3-5

29/57

Kohno

Takashi

GS1-1

20/52

GS1-5

20/53

GS6-1

27/60

GS6-2

27/60

GS1-2

20/52

GS1-3

20/53

Jhong

Bing-Gang

OS2-4

18/35

Jia

Hongyan

OS8-1

24/44

Jia

Jiao

OS5-4

26/40

Jia

Yingmin

OS5-2

26/40

OS5-3

26/40

OS5-4

26/40

OS5-5

26/40

KoyamaYoshihide

OS11-4

18/49

OS6-5

25/42

Kubo

Masao

OS10-1

28/48

GS2-1

23/54

OS10-2

28/48

GS2-5

23/55

GS1-4

20/53

GS3-4

29/57

GS6-3

27/61

Jian

Zhijing

Jian
Jie

Wang

GS9-3

22/65

Jitviriya

Wisanu

GS8-4

19/64

Koiwai

Kondo

Kuremoto[K]

Kazushige

TadashiTakashi

[L]

Kallu

Karam Dad

GS9-3

22/65

Lai

Ting-Chi

OS3-1

21/36

Kang

Qijia

OS8-5

24/45

Lee

Ching-I

OS2-1

18/34

OS8-6

24/45

Lee

Jangmyung

GS7-3

24/62

Katayama

TetsuroOS12-1

25/49

GS7-6

25/63

Kato

Ryota

OS7-3

30/43

GS8-1

19/63

Kawakami

YusukeOS11-1

18/48

Lee

Ju-Jang

PS2

23/30

OS11-2

18/49

Lee

Mei-Yin

OS1-6

20/34

OS11-318/49

lee

Min Cheol

GS9-3

22/65

Lee

Roger

GS4-2

22/58

GS4-3

22/59

Kawamura

Yoji

OS13-4

28/52

KawanoHiromichi

OS11-4

18/49

Khairuddin,

Anis Salwa

GS10-4

21/67

Chenglung

Mohd
Khan

Muhammad

GS9-3

22/65

Jawad

Li

Bo-Yi

OS2-5

19/35

Li

Chia-Chen

OS4-3

17/38

Li

Juntao

OS6-2

25/41

Khusainov

Ramil

GS9-2

22/65

Li

Lin

OS6-3

25/41

Kikkawa

Yuuki

OS12-1

25/49

Li

Qing

OS6-1

25/41

Kim

Deok-Su

GS7-6

25/63

Li

Shang-Hui

OS1-4

20/33

Kim

Dong-Eon

GS7-6

25/63

Li

Wenling

OS5-2

26/40

Kim

Seon-Woo

GS8-1

19/63

Li

Yaodong

GS2-1

23/54

Kinoshita

Takuya

GS6-2

27/60

GS2-5

23/55

Kita

YoshihiroOS12-1

25/49

GS7-4

24/62

Ko

Chia-Nan

OS2-1

18/34

GS7-5

25/62

Li

©ICAROB 2016
- 70 -

Yan

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

Li

Yuanchun

GS7-4

24/62

MokhtarNorrima

GS10-4

21/67

GS7-5

25/62

Morikawa

Katsumi

OS9-3

29/47

MoritaYoshifumi

GS10-2

20/66

GS10-3

21/67

GS10-5

21/67

Li

Zheng-Ying

OS2-6

19/36

Liang

XiaoyiGS10-1

20/66

Liang

Bo

OS5-6

26/41

Lin

Gu-Xuan

GS4-2

22/58

GS4-3

22/59

[N]
N.

YasameenLin

Hsiao-Yu

OS4-4

17/39

Kamil

Lin

Hsiu-Min

OS1-2

19/32

Naebi

Ahmad

GS7-1

24/61

Lin

Pei-Ling

OS3-4

21/37

Nagatomo

MakotoOS12-226/50

Lin

Wen-Bin

OS2-6

19/36

OS12-426/50

Lin

Wen-Lung

OS3-1

21/36

Nakaoka

Iori

OS9-1

29/47

Liu

Bo

OS8-6

24/45

Namatame

Akira

OS10-2

28/48

LiuChen-Chung

OS3-1

21/36

OS10-3

28/48

OS3-2

21/36

NanamiTakuya

GS1-5

20/53

OS3-5

21/37

Nanjo

Takao

GS6-1

27/60

GS6-2

27/60

Liu

Hung-Chi

OS3-2

21/36

Liu

Kung-Yu

OS1-6

20/34

Narumoto

Jin

OS7-3

30/43

Lu

Yi-Yu

OS2-6

19/36

Ning

XiaojunGS10-1

20/66

Lund

Henrik

PS1

17/30

Nishime

Taiki

GS2-2

23/54

Nishimura

Kouhei

OS7-1

30/42

Niu

Hong

OS8-4

24/45

OS8-7

27/46

GS3-4

29/57

GS6-3

27/61

OS13-1

28/51

Hautop
IS1

17/31

[M]
M.Razlan

Zuradzman

GS10-5

21/67

[O]

Mabu

Shingo

GS3-4

29/57

Obayashi

GS6-3

27/61

Masanao

Magid

Evgeni

GS9-2

22/65

Mahto

Sachindra

GS7-2

24/61

OS13-228/51

Maneewarn

Thavida

GS4-1

22/58

OS13-328/51

MatsunoFumitoshi

GS7-4

24/62

Oka

Yuuki

OS7-4

30/43

GS7-5

25/62

Okane

Yuki

GS4-4

22/59

Ogata

TakashiMatsuno

Seigo

OS9-2

29/47

OkazakiNaonobu

OS12-1

25/49

Mehta

Rajiv

OS9-3

29/47

Oku

Hirozumi

GS4-4

22/59

Miao

Ching-Mei

OS3-5

21/37

Ono

JumpeiOS13-2

28/51

Mikami

Y.

OS9-2

29/47

OS13-328/51

Mitsukane

Masahiro

GS10-2

20/66

GS4-4

22/59

Ono

©ICAROB 2016
- 71 -

SatokoThe 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

OshimaYasuhito

GS6-2

27/60

OyaizuHaruka

OS7-1

30/42

[P]

OS2-5

19/35

Su

Weijun

OS5-6

26/41

Su

Ying-Yu

OS4-4

17/39

Sugisaka

Masanori

GS2-1

23/54

Pagliarini

Luigi

IS1

17/31

GS2-5

23/55

Pan

Cheng-Tang

GS4-2

22/58

GS2-6

23/55

GS4-3

22/59

SugitaKazuki

GS4-4

22/59

Park

So-Youn

PS2

23/30

Sumi

Kaoru

IS-2

23/31

Park

Yousin

OS9-1

29/47

Sun

Shihao

OS5-3

26/40

Patra

Aswini

GS3-6

29/57

OS5-4

26/40

Kumar
Pengwang

Eakkachai

GS4-1

22/58

Suzuki

Keiji

GS5-2

27/60

Suzuki

Takuo

GS3-5

29/57

Masayoshi

OS7-1

30/42

OS7-2

30/43

OS7-3

30/43

OS7-4

30/43

OS7-5

30/44

[R]
Rajapakse[T]
R. P. C.

OS11-1

18/48

TabuseJanakaOS11-2

18/49

[S]
Saito

Ken

GS4-4

22/59

Takagi

YoshiakiGS10-2

20/66

Sasaki

Taiga

GS8-5

19/64

Takahara

Madoka

GS8-2

19/63

Sakamoto

Makoto

OS9-3

29/47

Takahashi

Katsuhiko

OS9-3

29/47

OS12-2

26/50

Takao

Shoichiro

GS1-2

20/52

OS12-3

26/50

GS1-3

20/53

OS12-426/50

TakatoMinami

GS4-4

22/59

OS10-1

28/48

Takei

Sho

GS10-3

21/67

OS10-2

28/48

TakeichiKeiOS11-3

18/49

Sato

Hiroshi

Sato

Noritaka

GS10-3

21/67

Takeichi,

Ryosuke

GS10-2

20/66

Shiau

Yan-Chyuan

OS3-1

21/36

Takeshita

Yuki

OS12-3

26/50

OS3-2

21/36

Tan

Dongchen

OS8-4

24/45

OS3-3

21/37

OS8-7

27/46

OS3-4

21/37

TanabeHirofumi

GS10-2

20/66

OS3-5

21/37

TanakaShizuka

GS5-1

27/59

Shimohara

Katsunori

GS8-2

19/63

Tanev

Ivan

GS8-2

19/63

Song

Yunzhong

OS5-1

26/39

Tanioka

Sora

OS10-1

28/48

Su

Hung-Wen

OS1-1

19/31

Tatani

Masaki

GS4-4

22/59

Su

Kuo-Lan

OS2-3

18/35

Toma

Naruaki

GS2-2

23/54

©ICAROB 2016
- 72 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

Toma

Naruaki

GS2-3

23/54

Wu

Yang

OS1-2

19/32

Toya

Norihiro

GS10-2

20/66

Wu

Yongjun

OS8-4

24/45

Tsai

Lung-Chi

OS1-3

19/32

OS8-7

27/46

Tsai

Yi-Yin

OS3-6

21/37

Tsuda

Yuji

OS7-1

30/42

Tsunenari

Kenji

GS2-4

23/55

[X]

[U]
UchidaYasuo

Xie

Pengfei

OS8-5

24/45

Xu

Cunshuan

OS6-2

25/41

Xue

Li

OS8-3

24/44

OS8-9

27/46

OS9-2

29/47

OS12-226/50

OS12-4

26/50[Y]Uchikoba

Fumio

GS4-4

22/59

Yadekar

Yaser

GS3-1

28/56

Ueno

Junji

GS1-2

20/52

YamabaHisaaki

OS12-1

25/49

GS1-3

20/53

Yamada

Koji

GS2-2

23/54

GS2-3

23/54

GS3-2

29/56

[W]

YamadaTakayoshi

Wan

Khairunizam

GS10-5

21/67

GS3-3

29/56

Wang

Fuzhong

OS5-1

26/39

GS5-1

27/59

OS6-4

25/42

Yamaguchi

Akihiro

GS1-4

20/53

GS2-1

23/54

Yamamoto

Hidehiko

GS3-2

29/56

GS2-5

23/55

GS3-3

29/56

GS2-6

23/55

GS5-1

27/59

GS6-1

27/60

GS6-2

27/60

Wang

Jiwu

Wang

Longtan

GS8-1

19/63

Yamamoto

Wang

Heyang

OS6-3

25/41

Wang

Ming-Chieh

OS1-5

20/33

Yamauchi

DaichiGS10-3

21/67

Wang

Qinghe

OS8-1

24/44

Yamauchi

Sho

GS5-2

27/60

Wang

Shao-Yu

GS4-2

22/58

Yamazaki

Yoichiro

GS6-1

27/60

GS4-3

22/59

GS6-2

27/60

GS4-2

22/58

GS4-3

22/59

Wei

Wei

OS5-6

26/41

Wang

Xiaoyu

OS6-2

25/41

Wang

Yu-Jen

GS4-2

22/58

Yang

Chao

GS2-5

23/55

GS4-3

22/59

Yang

Cheng-Min

OS4-5

17/39

OS8-3

24/44

Yano

Shinnosuke

OS12-2

26/50

OS8-9

27/46

OS12-4

26/50

Wei

Xue

Yang

Toru

An-YunWu

I-Chen

OS4-3

17/38

Yantao

Liao

GS6-1

27/60

Wu

Sheu-Der

OS1-1

19/31

Yekkehfallah

Majid

GS7-1

24/61

Wu

Tong

OS6-6

25/42

GS9-4

22/66

©ICAROB 2016
- 73 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

Yoshimitsu

Yuki

OS7-5

30/44

Yoshinaga

TsunehiroOS12-226/50

OS12-4

26/50

OS7-1

30/42

OS7-2

30/43

OS7-3

30/43

OS7-4

30/43

Yoshitomi

Yasunari

Yu

Chunyu

OS8-2

24/44

Yuanli

Cai

GS7-1

24/61

GS9-4

22/66

OS8-5

24/45

OS8-6

24/45

Rubiyah

GS10-4

21/67

Mohd Iz’aan

GS10-4

21/67

GS7-4

24/62

GS7-5

25/62

Yue

YuanLi

Yusof

[Z]
Zamri

Paiz
Zhao

Bo

Zhao

Yifan

GS3-1

28/56

Zhang

Hongtao

OS8-6

24/45

Zhang

Weicun

OS6-1

25/41

OS6-6

25/42

Zhang

Yuzhen

OS6-1

25/41

Zheng

Shunkai

GS2-6

23/55

Zheng

Wenhao

OS5-5

26/40

Zhao

Xia

OS8-8

27/46

Zhao

Huailin

OS8-8

27/46

Zolghadr

Javad

GS7-1

24/61

GS9-4

22/66

©ICAROB 2016
- 74 -

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

Select the meeting facility
best suited to your needs

Conference Room B1, which may be arranged to seat 226 people in a theater-style setting, can readily serve as avenue for seminars or lectures. There are also six smaller meeting rooms with theater seating for between 49 and
112 people. These rooms are available for a broad panorama of uses, such as academic meetings, business forums
or cultural exchange events. Moreover, food and beverage are permitted in all of these areas. With a break roomand green room available for event sponsors, these facilities provide the perfect location for small parties andother such events.

- 75 ©ICAROB 2016

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

Conference hall B3 and B4 combined

Conference hall B5 and B7 combined

Interpretation service booth equipped
Partible conference hall B1

Conference hall (single use)
Conference hall B2- 76 ©ICAROB 2016

The 2016 International Conference on Artificial Life and Robotics (ICAROB 2016), Okinawa Convention Center, Okinawa,
Japan, January 29-31, 2016

- 77 ©ICAROB 2016