ICAROB2019PROCEEDINGS OF THE 2019
INTERNATIONAL CONFERENCE
ON ARTIFICIAL LIFE AND ROBOTICS
January 10-13, 2019
B-Con Plaza, Beppu, Oita, JAPAN
24th AROB International Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-4-0

The 2019 International Conference on Artificial Life and Robotics ( ICAROB2019),B-Con Plaza, Jan. 10-13, Beppu, Oita, Japan, 2019

Proceedings of The 2019 International Conference on

ARTIFICIAL LIFE AND ROBOTICS(ICAROB2019)

January 10-13, 2019
B-Con Plaza, Beppu, Oita, JAPAN
24th AROB International Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-4-0©ICAROB 2019 ALife Robotics Corp. Ltd.

The 2019 International Conference on Artificial Life and Robotics ( ICAROB2019),B-Con Plaza, Jan. 10-13, Beppu, Oita, Japan, 2019

Contents
1

Organization, etc.

1

2

Messages

93Time Table

14

4

Opening Ceremony

17

5Technical paper index

18

6Abstracts
PS abstracts
IS abstracts
OS abstracts
GS abstracts

39
40
42
87

7

Authors index

968

Conference room

107

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

©ICAROB 2019 ALife Robotics Corp. Ltd.

SPONSERED
ALife Robotics Corporation Ltd.

ORGANIZED BYInternational Steering Committee of International Conference on Artificial Life andRobotics (ICAROB)SUPPORTED BYIEEE Fukuoka Section (Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

-1-

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

ADVISORY COMMITTEE CHAIR
Moshe Kam (New Jersy Institute of Technology, Former IEEE President, USA)ADVISORY COMMITTEE
Adam Grzech (Wroclaw University of Technology, Poland)
Bruce Eisenstein (Drexel University, Former IEEE President, USA)
Hidenori Kimura (JST, Japan)
Jeffrey Johnson (The Open University, UK)
Jerzy Świątek (Wroclaw University of Technology, Poland)
Joshua M. Epstein (The Johns Hopkins University, USA)
Kai-Tai Song (National Chiao Tung University, Taiwan)
Masayoshi Tomizuka (University of California Berkeley, USA)
Moshe Kam (New Jersey Institute of Technology, Former IEEE President, USA)Paul Kalata (Drexel University, USA)Paul Oh (Drexel University, USA)
Steen Rasmussen (University of Southern Denmark, Denmark)
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 (Honorary professor, KAIST, Korea)©ICAROB 2019 ALife Robotics Corp. Ltd.

-2-

VICE GENERAL CHAIR
Henrik. H. Lund (Technical University of Denmark, Denmark)John. L. Casti (International Institute for Applied Systems Analysis, Austria)
Jangmyung Lee (Pusan National University, Korea)
Luigi Pagliarini (Technical University of Denmark, Denmark)(Academy of Fine Arts of Macerata, Italy)
PROGRAM CHAIRMAN
Makoto Sakamoto (University of Miyazaki, Japan)
CO-PROGRAM CHAIR
Marion Oswald (Technische Universität Wien, Austria)
INTERNATIONAL ORGANIZING COMMITTEE
Akira Fukuda (Kyushu University, Japan)
Andrew Gadsden (University of Guelph, Canada)
Caoli Wang (University of Shanghai for Science and Technology, P. R. China)
Chan Gook Park (Seoul National University, Korea)
Eiji Hayashi (Kyushu Institute of Technology, Japan)
Evgeni Magid (Kazan Federal University, Russia)
Fuzhong Wang (Henan Polytechnic University, P. R. China)
Hazry Desa (University of Malaysia, Perlis, Malaysia)
Hidehiko Yamamoto (Gifu University, Japan)
Hiroki Tamura (University of Miyazaki, Japan)
Hiroshi Kage ((Mitsubishi Electric Corporation, Japan)
Hiroshi Matsuno (Yamaguchi University, Japan)
Jiwu Wang (Beijing Jiaotong University, P. R. China)
Jovana Jovic (CNRS-AIST JRL, Japan, France)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Katsunori Shimohara (Doshisha University, Japan)
Kazuo Ishii (Kyushu Institute of Technology, Japan)
Kevin Voges (Canterbury University, New Zealand)
Kuo-Hsien Hsia (Far East University, Taiwan)
Kuo-Lan Su (National Yunlin University of Science and Technology, Taiwan)
Kyungho Park (Micro-System Programs, RDECOM, ITC-PAC, U.S. ARMY, Japan and USA)
Masao Kubo (National Defense Academy of Japan, Japan)
Masanao Obayashi (Yamaguchi University, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

-3-

Maxim Sokolov (Innopolis University, Russia)
Mehta Rajiv (New Jersey Institute of Technology, USA)Peter Sapaty (Ukrainian Academy of Science, Ukraine)
Pierre Parrend (University of Strasbourg, France)
Qiang Cai (Beijing Technology and Business University, P. R. China)
Takashi Kohno (LIMMS/CNRS-IIS, Institute of Industrial Science, The University of Tokyo,
Japan)
Takashi Ogata (Iwate Prefectural Univerity, Japan)
Teruhisa Hochin (Kyoto Prefectural University, Japan)
Tetsuro Hattori (Kagawa University, Japan)
Thi Thi Zin (University of Miyazaki, Japan)
Toru Yamamoto (Hiroshima University, Japan)
Victor Berdonosov (Komsomolsk-on-Amur State University of Technology, Russia)
Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Yi Chai (Chongqing University, P. R. China)
Yo Horikawa (Kagawa University, Japan)
Yoshifumi Morita (Nagoya Institute of Technology, Japan)
Yoshiro Imai (Kagawa University, Japan)
Zengqiang Chen (Nankai University, P. R. China)
INTERNATIONAL PROGRAM COMMITTEE
Akira Nakamura (AIST, Japan)
Ali Selamat (University of Technology of Malaysia (UTM), Malaysia)
Andre Rosendo (ShanghaiTech University, P. R. China)
Bin Zhang (Beijing University of Posts and Telecommunications, P. R. China)
Arsit Boonyaprapasorn (Chulachomkloa Royal Military Academy, Thailand)
Dongmei Ai (University of Science and Technology Beijing, P. R. China)
Endra Joelianto (Bandung Institute of Technology, Indonesia)
Fengzhi Dai (Tianjin University of Science & Technology, P. R. China)
Haisheng Li (Beijing Technology and Business University, P. R. China)
Haruna Matsushita (Kagawa University, Japan)
Hidetsugu Suto (Muroran Institute of Technology, Japan)
Hiroyuki Iizuka (Osaka University, Japan)
Huailin Zhao (Shanghai Institute of Technology, P. R. China)
Hussein Abbass (University of New South Wales and ADFA, Australia)
Istvan Harmati (Budapest Institute of Technology and Economics, Hungary)
Ivan Tanev (Doshisha University, Japan)
Jiandong Zhao (Beijing Jiaotong University, P. R. China)
Joono Cheong (Korea University, Korea)
Kunikazu Kobayashi (Aichi Prefectural University, Japan)
Lin Li (University of Shanghai for Science and Technology, P. R. China)
Lin Zhao (Qingdao University, P. R. China)
Manabu Yamada (Nagoya Institute of Technology, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

-4-

Masahide Ito (Aichi Prefectural University, Japan)
Masayoshi Tabuse (Kyoto Prefectural University, Japan
Masaomi Hatakeyama (University of Zurich, Switzerland)
Norrima Mokhtar (University of Malaya, Malaysia)
Noritaka Sato (Nagoya Institute of Technology, Japan)
Palakorn Tantrakool (King Mongkut’s Institute of Technology Thonburi, Thailand)
Ping Wang (North China Electric Power University, P. R. China)
Qinglin Sun (Nankai University, P. R. China)
Satoshi Ikeda (The University of Miyazaki, Japan)
Sanjay S. Joshi (College of Engineering, University of California, USA)
Seong-Ik Han (Dongguk University, Korea)
Shingo Mabu (Yamaguchi University, Japan)
Shumin Fei (Southeast University, P. R. China)
Shyi-Ming Chen (National Taichung University of Education, Taiwan)
Takashi Kuremoto (Yamaguchi University, Japan)
Takayoshi Yamada (Gifu University, Japan)
Taishiro Kishimoto (Keio University, Japan)
Tetsuro Katayama (The University of Miyazaki, Japan)
Thunyaseth Sethaput (Thammasat University, Thailand)
Tieqiu Huang (Beijing Jiaotong University, P.R China)
Toshinori Nawata (Kumamoto National College of Technology, Japan)
Tsunehiro Yoshinaga (Tokuyama National College of Technology, Japan)
Weicun Zhang (University of Science and Technology Beijing, P. R. China)
Xiaoyan Fu (Capital Normal University, P. R. China)
Xuemei Ren (Beijing Institute of Technology, P. R. China)
Yunzhong Song (Henan Polytechnic University, P. R. China)
LOCAL ARRANGEMENT COMMITTEE
Makoto Sakamoto (University of Miyazaki, Japan)
Masanori Sugisaka (ALife Robotics Corporation Ltd., Japan)
Takao Ito (Hiroshima University, Japan)
HISTORY
The International Conference on Artificial Life and Robotics (ICAROB) resulted from the
AROB-symposium (International Symposium on Artificial Life and Robotics) whose firstedition was held in 1996 and the eighteenth and last edition in 2013. The AROB
symposium was annually organized by Oita University, Nippon Bunri University (NBU),
and ALife Robotics Corporation Ltd., under the sponsorship of the Science andTechnology Policy Bureau, the Ministry of Education, Science, Sports, and Culture(Monbusho), presently, the Ministry of Education, Culture, Sports, Science, andTechnology (Monkasho), Japanese Government, Japan Society for the Promotion of
Science (JSPS), the Commemorative Organization for the Japan World Exposition ('70),©ICAROB 2019 ALife Robotics Corp. Ltd.

-5-

Air Force Office of Scientific Research, Asian Office of Aerospace Research andDevelopment (AFOSR/AOARD), USA. I would like to express my sincere thanks to not
only Monkasho (annually fund support from 1996 to 2013) but also JSPS, theCommemorative Organization for the Japan World Exposition ('70), and various otherJapanese companies for their repeated support. The old symposium (this symposium
has been held every year at B-Con Plaza, Beppu, Oita, Japan except in Oita, Japan (AROB
5th ’00) and in Tokyo, Japan (AROB 6th ’01).) was organized by the International
Organizing Committee of AROB and was co-operated by the Santa Fe Institute (USA),
RSJ, IEEJ, ICASE (Now ICROS) (Korea), CAAI (P. R. China), ISCIE, IEICE, IEEE (Japan Council),
JARA, and SICE. The old AROB-symposium expanded much by absorbing much newknowledge and technologies into it. This history and character of the former AROB
symposiums are passed on the current ICAROB conference and to this journal,
International Journal of Robotics, Networking and Artificial Life (JRNAL). From now on,
ALife Robotics Corporation Ltd. is in charge of management of both the conference andthe journal. The future of the ICAROB is brilliant from a point of view of yielding newtechnologies to human society in the 21st century. We also expect to establish aninternational research institute on Artificial Life and Robotics in the future with the helpof Japanese Government and ICAROB. This conference invites you all.
AIMS AND SCOPE
The objective of this conference is the development of new technologies for artificial lifeand robotics which have been recently born in Japan and are expected to be applied invarious fields. This conference presents original technical papers and authoritative stateof-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©ICAROB 2019 ALife Robotics Corp. Ltd.

-6-

Evolutionary computations
Facial expression analysis, music recommendation and augmented reality
Foundation of computation and its application
Fuzzy control
Genetic algorithms
Human-welfare robotics
Image processing
Insect-like aero vehicles
Intelligence in biological systems
Intelligent control
Management of technology
Medical surgical robot
Micro-machines
Multi-agent systems
Nano-biology
Nano-robotics
Networking
Neural circuits
Neuro-computer
Neuromorphic Systems
Neuroscience
Pattern recognition
Quantum computing
Reinforcement learning system & genetic programing
Robotics
Software development support method
System cybernetics
Unmanned underwater vehicles
Unmanned Aerial Systems Technologies
Unmanned Aerial Systems designing, controls and navigation
Unmanned Aero vehicles
Virtual reality
Visualization
Hardware-oriented submissions are particularly welcome. This conference will discuss
new results in the field of artificial life and robotics©ICAROB 2019 ALife Robotics Corp. Ltd.

-7-

The 2019 International Conference on Artificial Life and Robotics ( ICAROB2019),B-Con Plaza, Jan. 10-13, Beppu, Oita, Japan, 2019

COPYRIGHTS
Accepted papers will be published in the proceeding of The 2019 International
Conference on Artificial Life and Robotics (ICAROB 2019) by ALife Robotics Corp. Ltd.
Copyright belongs to ALife Robotics Corp. Ltd. Some of high-quality papers in theproceeding will be requested to re-submit their papers for the consideration of
publication in an international journal ROBOTICS, NETWORKING AND ARTIFICIAL LIFE
under agreement of both Editor-in- Chief Dr. Masanori Sugisaka and 3 reviewers. All
correspondence related to the conference should be addressed to ICAROB Office.
ICAROB Office
ALife Robotics Corporation Ltd.
4-Go, 8-Ban, Higshi 2Cyome, Handadai, Oita 870-1108, JAPANTEL/FAX：+81-97-597-7760
E-MAIL：icarob@alife-robotics.co.jp
Home Page：http://alife-robotics.co.jp/©ICAROB 2019 ALife Robotics Corp. Ltd.

-8-

MESSAGES
Masanori Sugisaka
General Chair of ICAROB

Masanori Sugisaka
General Chair(President, ALife Robotics Co.,
Ltd. Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

It is my great honor to invite you all to The 2019 International Conferenceon Artificial Life and Robotics (ICAROB 2019).
This Conference is changed as the old symposium from the first (1996) tothe Eighteenth (2013) annually which were organized by Oita University,
Nippon Bunri University(NBU), and ALife Robotics Corporation Ltd. under
the sponsorship of the Science and Technology Policy Bureau, the Ministryof Education, Science, Sports, and Culture (Monbusho), presently, theMinistry of Education, Culture, Sports, Science, and Technology(Monkasho), Japanese Government, Japan Society for the Promotion of
Science (JSPS), The Commemorative Organization for the Japan World
Exposition (’70), Air Force Office of Scientific Research, Asian Office ofAerospace Research and Development (AFOSR/AOARD), USA. I would liketo express my sincere thanks to not only Monkasho (annually fund support
from 1996 to 2013) but also JSPS, the Commemorative Organization for theJapan World Exposition (’70), Japanese companies for their repeatedsupport.
The old symposium was organized by International Organizing Committeeof AROB and was co-operated by the Santa Fe Institute (USA), RSJ, IEEJ,ICASE (Now ICROS) (Korea), CAAI (P. R. China), ISCIE, IEICE, IEEE (Japan
Council), JARA, and SICE. The old AROB symposium was growing up by
absorbing many new knowledge and technologies into it.
This history and character was inherited also from ICAROB2014(The 2014
International Conference on Artificial Life and Robotics, included a series of
ICAROB proceedings in SCOPUS and CPCI now. From now on, ALife
Robotics Corporation Ltd. is in charge of management. This year we have
The 2019 International Conference on Artificial Life and Robotics(ICAROB2019) (24th AROB Anniversary). The future of The ICAROB isbrilliant from a point of view of yielding new technologies to human society
in 21st century.
I hope that fruitful discussions and exchange of ideas between researchers
during Conference (ICAROB2019) will yield new merged technologies forhappiness of human beings and, hence, will facilitate the establishment of
an international joint research institute on Artificial Life and Robotics infuture.

-9-

Yingmin Jia
Co-General Chair of ICAROB

Yingmin Jia
Co-General Chair(Professor, Beihang University,
R .P. China)©ICAROB 2019 ALife Robotics Corp. Ltd.

It is my great pleasure to invite you to The 2019 International Conferenceon Artificial Life and Robotics (ICAROB 2019), in B-Con Plaza, Beppu, Oita,
Japan from January 10 to 13, 2019.
ICAROB develops from the AROB that was created in 1996 by Prof.
Masanori Sugisaka and will celebrate her 24 th birthday in 2019. Doubtless,new mission and big challenges in the field of artificial life and robotics will
promote ICAROB to start a new stage and attract wide interests amongscientist, researchers, and engineers around the world.
For a successful meeting, many people have contributed their great efforts
to ICAROB. Here, I would like to express my special thanks to all authors
and speakers, and the meeting organizing team for their excellent works.
Looking forward to meeting you at ICAROB in Beppu and wishing you enjoy
your stay in Japan.

- 10 -

Takao Ito
Co General Chair of ICAROB

Takao Ito
Co-General Chair(Professor Hiroshima
University, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

It is my great honor to invite you all to The 2019 International Conferenceon Artificial Life and Robotics (ICAROB 2019). This Conference is changed
as the old symposium (ISAROB) from the first (1996) to the Eighteenth. I
am pleased to welcome you to The 2019 International Conference on
Artificial Life and Robotics in the wonderful city of Beppu, Oita city, Oita
Prefecture, Japan.
The ICAROB has its long history. The former organization of the ICAROB wasdeveloped under the strong leadership of the President, famous Professor
Masanori Sugisaka, the father of AROB. We gathered many researchers,
faculty members, graduate students from all over the world, and publishedmany high-quality proceedings and high-reputational journals every year.
Over the years, dramatic improvements have been made in the field ofartificial life and its applications. The ICAROB has becoming the unifying theexchange of scientific information on the study of man-made systems thatexhibit the behavioral characteristic of natural living systems including
software, hardware and wetware. Our conference shapes the developmentof artificial life, extending our empirical research beyond the territory
circumscribed by life-as-we-know-it and into the domain of life-as-it-could–
be. It will provide us a good place to present our new research results,
excellent ideas, and valuable information about artificial intelligence,complex systems theories, robotics, and management of technology.
The conference site is B-con Plaza, one of the most famous international
convention centers in Kyushu island, Japan. You can find many fantastic
scenic spots and splendid historical places in Beppu, Oita city. Enjoy yourstay and take your time to visit Beppu, Oita city.
I am looking forward to meeting you in Beppu, Oita city, during the ICAROB
2019 and to sharing the most pleasant, interesting and fruitful conferencewith you.

- 11 -

The 2019 International Conference on Artificial Life and Robotics ( ICAROB2019),B-Con Plaza, Jan. 10-13, Beppu, Oita, Japan, 2019

Ju-Jang Lee
Co-General Chair of ICAROB

Ju-Jang Lee
Co-General Chair(Honorary professor, KAIST)©ICAROB 2019 ALife Robotics Corp. Ltd.

The First International Conference on Artificial Life and Robotics (ICAROB)
was held in Oita City, Oita, Japan from Jan. 11th to 13th, 2014. This
year’s Conference will be held amidst the high expectation of theincreasingly important role of the new interdisciplinary paradigm ofscience and engineering represented by the field of artificial life androbotics that continuously attracts wide interests among scientist,
researchers, and engineers around the globe.
Distinguished researchers and technologists from around the world arelooking forward to attending and meeting at ICAROB. ICAROB is becoming
the annual excellent forum that represents a unique opportunity for theacademic and industrial communities to meet and assess the latest
developments in this fast growing artificial life and robotics field. ICAROB
enables them to address new challenges, share solutions, discussresearch directions for the future, exchange views and ideas, view theresults of applied research, present and discuss the latest developmentof new technologies and relevant applications.
In addition, ICAROB offers the opportunity of hearing the opinions ofwell-known leading experts in the field through the keynote sessions,provides the bases for regional and international collaborative research,and enables to foresee the future evolution of new scientific paradigms
and theories contributed by the field of artificial life and robotics andassociated research area. The twenty-first century will become thecentury of artificial life and intelligent machines in support of humankind
and ICAROB is contributing through wide technical topics of interest that
support this direction.
It is a great honor for me as a Co-General Chair of the 6th ICAROB 2019
to welcome everyone to this important event. Also, I would like to extend
my special thanks to all authors and speakers for contributing theirresearch works, the participants, and the organizing team of the 6th
ICAROB.
I’m looking forward to meeting you at the 6th ICAROB in Beppu, Oita
Prefecture and wishing you all the best.

- 12 -

GENERAL SESSION TOPICS
GS1 Robotics I (3)GS3 Complexity (2)GS5 Others ( 8 )GS2 Robotics II (6)GS4 Poster (5)ORGANIZED SESSION TOPICS
OS1 Intelligent Systems and Control (8)OS3 Intelligent navigation & Robotics (4)OS5 Business Models and Management (4)OS7 Media Information Processing and Artificial
Intelligence (4)OS9 Natural Computing and Beyond (3)OS11 Recognition and Control (12)OS13 System and Control (10)OS15 Advanced Control (5)OS17 Multiagent and Complex Systems (3)OS19 Advanced Technology on Sensing Technology,
Devices, Application (3)OS21 Advances in Marine Robotics and It’s
Applications (5)OS23 Kansei and Information Engineering (4)OS25 High-Performance Computing for Interactive
Content Creation and Rendering (3)©ICAROB 2019 ALife Robotics Corp. Ltd.

OS2 Theory and Implementation of Neuromimetic
Systems (5)OS4 Service Robotics (7)OS6 Software Development Support Method (6)OS8 Computational intelligence and cognitive sciencefor human biosignals and human well-being (7)OS10 Mathematical Informatics (5)OS12 Robot Design and Simulation (5)OS14 Intelligent Control (4)OS16 New development about Control Engineering
Education (4)OS18 Data-Driven Control and Diagnosis Control
Systems (5)OS20 Advances in Field Robotics and Sensing System(8)
OS22 Robot Competitions for Social Contribution (6)OS24 Automated content generation for narrative andcognitive contents (5)- 13 -©ICAROB 2019 ALife Robotics Corp. Ltd.

- 14 -

Meeting Room 31: Committee waiting room and Rest room

15:50-17:50

15:30-15:50

14:30-15:30

OS4 Service Robotics (7)Chair: Evgeni Magid

OS2 Theory and
Implementation of
Neuromimetic
Systems (5)Chair: Timothée Levi

Coffee break

OS7 Media Information
Processing and Artificial
Intelligence (4)Chair: Yasunari Yoshitomi

OS18 Data-Driven
Control and Diagnosis
Control Systems (5)Chair: Takuya Kinoshita

OS3 Intelligent navigation &Robotics (4)Chair: Chan Gook Park

Coffee break

14:10-14:30
OS1-2 Intelligent Systems
and Control (4)Chair: Kuo-Hsien Hsia

Chair: Kazuo Ishii
Plenary Speech PS-2(Conference room)
Masanori Sugiyama

13:10-14:10

12:10-13:10

Chair: Kuo-Hsien Hsia (H. H. Lund), Chair: Jangmyung Lee (L. Pagliarini)
Invited Speech IS1-1, IS1-2(Conference Room)
Henrik Hautop Lund, Luigi Pagliarini
Lunch

OS21 Advances in Marine
Robotics and It’s
Applications (5)Chair: Keisuke Watanabe

Meeting Room 1

11:10-12:10

OS20 (8)Advances in Field
Robotics and Sensing
System (8)Chair: Eiji Hayashi

OS14 Intelligent Control(4)
Chair: Yingmin Jia

Registration (3F)

Meeting Room 33

Opening Ceremony (Conference Room)OS1-1 Intelligent Systems
and Control (4)Chair: Kuo-Hsien Hsia

Meeting Room 32

10:30-11:00

OS8 Computational
intelligence andcognitive science forhuman biosignals
and human wellbeing (7)Chair: T. Hiroyasu

Meeting Room 31

Coffee breakConference Room

10:15-10:30

9:00-10:15

8:40-

1/11(Fri.)TIME TABLE (1/11)

Farewell Party (Conference Site: 3F, Meeting Room 31)

ICAROB Secretariat

1/10(Thu.) - 1/13(Sun.)

1/13(Sun.)

Welcome Party (Hotel Shiragiku)

The 2019 International Conference on Artificial Life and Robotics (ICAROB2019), B-Con Plaza, Jan. 10- 13, Beppu, Oita, Japan, 2019

1/10(Thu.) 17:30-19:30

OS13 System andControl (10)Chair: Qiang Wei

GS1 Robotics I (3)Chair: Jiwu Wang

OS11 Recognition andControl (12)Chair: Fengzhi Dai

Meeting Room 4©ICAROB 2019 ALife Robotics Corp. Ltd.

- 15 -

Meeting Room 31: Committee waiting room and Rest room

18:30-20:30

16:20-17:50

16:00-16:20
GS2 Robotics II (6)Chair: Jiwu Wang

OS25 High-Performance
Computing for Interactive
Content Creation and
Rendering (3) Chair: R.P.C.
Janaka Rajapakse

Coffee breakOS12 Robot Design and
Simulation (5)Chair: QinJian Zhang

Banquet: Hotel Shiragiku

OS15 Advanced Control (5)Chair: Yingmin Jia

14:10-14:30
GS4 Poster

Coffee break

13:10-14:10

14:30-16:00

Lunch
Chair: Akira Nakamura
Plenary Speech PS-1 (Conference Room)
Kensuke Harada

12:10-13:10

Meeting Room 1
OS9 Natural Computing
and Beyond (3)Chair: Marion Oswald

OS22 Robot Competitionsfor Social Contribution (6)Chair: Yasunori Takemura

11:10-12:10

OS23 Kansei andInformation Engineering (4)Chair: T. Hattori

Coffee break

GS3 Complexity (2)Chair: Manabu Sugii

Registration

Meeting Room 33

Coffee break

OS16 New development
about Control Engineering
Education (4)Chair: Yoshihiro Ohnishi

OS17 Multiagent andComplex Systems (3)Chair: Akihiro Yamaguchi

Meeting Room 32

TIME TEBLE (1/12)

Chair: Ju-Jang Lee (Y. I. Cho), Chair: Marion Oswald (K. Sumi)
Invited sessionIS-2, IS-3 (Conference Room)
Young Im Cho, Kaoru Sumi

GS4 Poster (5)Chair: Evgeni Magid

Meeting Room 31

11:00-11:10

10:00-11:00

9:45-10:00

9:00-9:45

8:40-

1/12(Sat.)

Conference RoomThe 2019 International Conference on Artificial Life and Robotics (ICAROB2019), B-Con Plaza, Jan. 10- 13, Beppu, Oita, Japan, 2019

OS19 Advanced
Technology on Sensing
Technology, Devices,
Application (3)Chair: Hiroki Tamura

Meeting Room 4©ICAROB 2019 ALife Robotics Corp. Ltd.

- 16 -

no presentation, only papers

GS5 Others ( 8 )Meeting Room 31

Chair: Jumpei Ono

Farewell Party (13:55-14:25)

Chair: Makoto Sakamoto

Meeting Room 31: Committee waiting room and Rest room

12:40-13:55

OS24 Automated content
generation for narrative andcognitive contents (5)Lunch
OS10 Mathematical
Informatics (5)11:40-12:40

Meeting Room 1

Chair: Takao Ito
Plenary Speech PS-3(Meeting Room 31)
Yingmin Jia

OS5 Business Models
and Management (4)Chair: Takao ItoRegistration

Meeting Room 33

10:40-11:40

OS6 Software
Development Support
Method (6)Chai: Tetsuro Katayama

Meeting Room 32

Coffee break

Meeting Room 31

10:30-10:40

9:00-10:30

8:40-

1/13(Sun.)

TIME TABLE (1/13)

The 2019 International Conference on Artificial Life and Robotics (ICAROB2019), B-Con Plaza, Jan. 10- 13, Beppu, Oita, Japan, 2019

Meeting Room 4

The 2019 International Conference on
ARTIFICIAL LIFE AND ROBOTICS(ICAROB2019)
January 10 (Thursday)
17:30-19:30

Welcome Party (Hotel Shiragiku)

January 11 (Friday)
10:30-11:00

Opening Ceremony (Conference Room)

Chair: Marion Oswald (Technische Universität Wien, Austria)
Welcome Addresses
1. General Chairman of ICAROB
2. Co-General Chairman of ICAROB
3. Co-General Chairman of ICAROB
4. Co-General Chairman of ICAROB
5. Vice General Chair of ICAROB
6. Vice General Chair of ICAROB

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

January 12 (Saturday)
Banquet: Hotel Shiragiku
18:30-20:30
Chair: Takao Ito (Hiroshima University, Japan)
Welcome Addresses
Prof. Kensuke Harada (Osaka University, Japan)
Prof. Yingmin Jia ( Beihang University, P.R. China)
Prof. Henrik Hautop Lund (Technical University of Denmark, Denmark)Prof. Ju-Jang Lee (KAIST, Korea)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 17 -TECHNICAL PAPER INDEXJanuary 11 (Friday)
8:40-Registration
Conference Room
10:30-11:00 Opening Ceremony
Chair: Marion Oswald (Technische Universität Wien, Austria)
11:10-11:40
Invited session IS1-1
Chair: Kuo-Hsien Hsia (Far East University, Taiwan)
IS1-1-1 Engineering Modular Playware
Henrik Hautop Lund, Morten Roed Frederiksen, Massimiliano Leggieri(Technical University of Denmark, Denmark)IS1-1-2 User-Friendly Robotics 3 – Playware
Henrik Hautop Lund, Luigi Pagliarini (Technical University of Denmark, Denmark)11:40-12:10
Invited session IS1-2
Chair: Jang-Myung Lee (Pusan National University, Korea)
IS1-2-1 User-Friendly Robotics 1 – AI Software
Luigi Pagliarini 1,2 , Henrik Hautop Lund 1(1Technical University of Denmark, Denmark, 2Academy of Fine Arts of Macerata, Italy)
IS1-2-2 User-Friendly Robotics 2– Interfacing Robotics with any user
Luigi Pagliarini1,2, Henrik Hautop Lund1(1Technical University of Denmark, Denmark) (2Academy of Fine Arts of Macerata, Italy)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 18 -

13:10-14:10
Plenary Speech PS-2
Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
PS-2 Toward Life with Partner Robots-Developing robots with the field trial toward the practical use
Masanori Sugiyama (Toyota Motor Corporation, Japan)
Meeting Room 31
9:00-10:45 OS8 Computational intelligence and cognitive science for human biosignals and humanwell-being (7)Chair: Tomoyuki Hiroyasu (Doshisha University, Japan)
Co-Chair: Hiroshi Furutani (Doshisha University, Japan)
OS8-1

Unified Approach to (1+1) EA on Discrete Linear Functions
Kenji Aoki, Makoto Sakamoto (University of Miyazaki, Japan)
Hiroshi Furutani, Satoru Hiwa, Tomoyuki Hiroyasu (Doshisha University, Japan)

OS8-2

A fNIRS study of brain state during letter and category fluency tasks
Akane Onishi, Satoru Hiwa, Hiroshi Furutani, Tomoyuki Hiroyasu (Doshisha University, Japan)

OS8-3

Construction of a meditation practice support system leads to a good meditation state: an fNIRS
study
Seika Fujii, Satoru Hiwa, Hiroshi Furutani, Tomoyuki Hiroyasu (Doshisha University, Japan)

OS8-4

Automated panoramic image creation system for corneal endothelial cells
Keitaro Kobayashi, Naoki Okumura, Noriko Koizumi, Satoru Hiwa, Hiroshi Furutani,
Tomoyuki Hiroyasu (Doshisha University, Japan)

OS8-5

An fMRI study of the inhibitory effects of the random stimulus-response compatibility task on
brain function
Kei Sahara, Satoru Hiwa, Hiroshi Furutani, Tomoyuki Hiroyasu (Doshisha University, Japan)

OS8-6

Measurement of brain activity and problem discovery during actual driving
Seishiro Nakamura, Satoru Hiwa, Kenya Sato, Hiroshi Furutani, Tomoyuki Hiroyasu(Doshisha University, Japan)

OS8-7

Control of driving simulator based on state detection of the driver using Electrocardiogrammeasurement
Koma Yoshioka, Satoru Hiwa, Kenya Sato, Hiroshi Furutani, Tomoyuki Hiroyasu(Doshisha University, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 19 -

15:50-17:50 OS20 Advances in Field Robotics and Sensing System (8)Chair: Eiji Hayashi (Kyushu Institute of Technology, Japan)
Co-Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
OS20-1

Field Robot and Sensing system
Eiji Hayashi (Kyushu Institute of Technology, Japan)

OS20-2

Saliency Map Based on Maximization of Difference between Central and Surround Visions and
Its Relationship with Image Feature Points
Ryuugo Mochizuki, Shinsuke Yasukawa, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS20-3

Dynamic Wireless Network System using Multiple Drones for Tunnel Applications
Raji Alahmad, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS20-4

Counting Crops under Cultivation using Drone
Yasunori Takemura1, Yusuki Hirata2, Eiji Mizoe3, Masao Tashiro4 and Yousuke Nagai5(1Nishinippon Institute of Technology, 2Kyushu Institute of Technology, 3Sky Canvas Co.
4
Joint Corp. Project Sky-eye, 5Aruku Aguriculture Service LLC, Japan)

OS20-5

Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with Adjustable
Contact Patches for Applications in the Vineyard
Enrico di Maria, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS20-6

Robot Navigation in Forest Management Based on Graph
Ayumu Tominaga1, Ryusuke Fujisawa1, Eiji Hayashi1, Abbe Mowshowitz2(1Kyushu Institute of Technology, Japan, 2The City College of New York, USA)

OS20-7Development of Autonomous Moving System for Field Robot
Kengo Kawazoe, Eiji Hayashi, Ryusuke Fujisawa (Kyushu Institute of Technology, Japan)

OS20-8Development of the sense system that is combined force feedback and vision feedback-Improvement reproducibility of deformation simulation by using LEMTamon Shigeyama, Eiji Hayashi , Ryusuke Fujisawa (Kyushu Institute of Technology, Japan)

Meeting Room 32
9:00-10:00 OS1-1 Intelligent Systems and Control (4)Chair: Kuo-Hsien Hsia (Far East University, Taiwan)
Co-Chair: Chung-Wen Hung (National Yunlin University of Science & Technology, Taiwan)
OS1-1

A Vishay Supercapacitor based Fast Charge Battery
Chung-Wen Hung, Yi-Chang Yang, Chun-Chu Lin, Li-Sheng Jheng(National Yunlin University of Science and Technology, Taiwan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 20 -

OS1-2Multi-Motor Synchronous Control with CANOpen
Chung-Wen Hung, Roger CL Lee, Bo-Kai Huang, Shit-Ting Yu(National Yunlin University of Science and Technology, Taiwan)

OS1-3

Selection Strategy for VM Migration Method
Yan-Ren Chen, I-Hsien Liu, Keng-Hao Chang, Jung-Shian Li(National Cheng Kung University, Taiwan)

OS1-4

VM Migration Placement in Cloud Service
Yan-Ren Chen, I-Hsien Liu, Keng-Hao Chang, Chuan-Gang Liu, Jung-Shian Li(National Cheng Kung University, Taiwan)

14:30-15:30 OS1-2 Intelligent Systems and Control (4)Chair: Kuo-Hsien Hsia (Far East University, Taiwan)
Co-Chair: Chung-Wen Hung (National Yunlin University of Science & Technology, Taiwan)
OS1-5

Control System for Maintaining Safe Following Distance while Driving
Kuo-Hsien Hsia, Jia-Hong Cai, Shu-Li Pai (Far East University, Taiwan)
Evgeni Magid (Kazan Federal University, Russia)

OS1-6Markerless Indoor Augmented Reality Navigation Device Based on Optical-Flow-Scene Indoor
Positioning and Wall-Floor-Boundary Image Registration
Chian C. Ho, Bo-Kai Wang, Guan-Lung Liao
(National Yunlin University of Science and Technology, Taiwan)

OS1-7

Development of the handheld gas detector with IoT function.
Jr-Hung Guo, Kuo-Hsien Hsia, Kuo-Lan Su(National Yunlin University of Science and Technology, Taiwan)

OS1-8

Research on Employee Attribute Correlation of Information Security Awareness in Organization
Tse-Yao Wang (Air Force Institute of Technology, Taiwan)
Fu-Hsiang Wen (National Kaohsiung University of Science and Technology, Taiwan)

15:50-17:35 OS4 Service Robotics (7)Chair: Evgeni Magid (Kazan Federal University, Russia)
Co-Chair: Kuo-Hsien Hsia (Far East University, Taiwan),
Co-Chair: Kuo-Lan Su (National Yunlin University of Science and Technology, Taiwan)
OS4-1

Apply 2D Barcode Scanner for Mobile Robot Navigation in Checkerboard Mapping
Chun-Chi Lai1, Kuo-Lan Su1, Chia-Jen Lin1, Evgeni Magid²(1National Yunlin University of Science and Technology, Taiwan)(²Kazan Federal University, Russia)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 21 -

OS4-2Development of the MyRio Based Mobile Platform
Bo-Jun Yang1, Sheng-Jie Liou1, Jr-Hung Guo1, Kuo-Lan Su1, Evgeni Magid²(1National Yunlin University of Science and Technology, Taiwan)(²Kazan Federal University, Russia)

OS4-3

Modelling Avrora Unior Car-like Robot in Gazebo Environment
Ksenia Shabalina1, Artur Sagitov1, Kuo-Lan Su², Kuo-Hsien Hsia³, Evgeni Magid1(1Kazan Federal University, Russia)(²National Yunlin University of Science and Technology, Taiwan)(³Far East University, Taiwan)

OS4-4Transfer of learned exploration strategies for a mobile robot from a simulated world to real
Environments
Artur Sagitov1, Tetsuo Takano2, Shohei Muto2, Evgeni Magid1(1Kazan Federal University, Russia) (2Kanazawa University, Japan)

OS4-5

Extending Gazebo simulator for surgical robotics: tissue and suture modeling
Artur Sagitov1, Hongbing Li2, Evgeni Magid1(1Kazan Federal University, Russia) (2Shanghai Jiao Tong University, China)

OS4-6

Experiences of Robotics students in Machine Vision course being taught in a foreign language:
comprehension, self-efficiency, and active learning strategies improvement
Tatyana Tsoy, Artur Sagitov, Evgeni Magid (Kazan Federal University, Russia)

OS4-7

Pilot Virtual Experiments on ArUco and AprilTag Systems Comparison for Fiducial Marker
Rotation Resistance
Aufar Zakiev1, Ksenia Shabalina1, Kuo-Lan Su², Kuo-Hsien Hsia³, Evgeni Magid1(1Kazan Federal University, Russia)(²National Yunlin University of Science and Technology, Taiwan)(³Far East University, Taiwan)

Meeting Room 33
9:00-10:00 OS14 Intelligent Control (4)Chair: Yingmin Jia (Beihang University (BUAA), China)
Co-Chair: Weicun Zhang (University of Science and Technology Beijing, China)
OS14-1

Flock Guiding of Hybrid Agents via Root Block
Yunzhong Song, Ziyi Fu, Fuzhong Wang (Henan Polytechnic University, China)

OS14-2Multiple Model Adaptive Control of Flexible Arm
Yingzhao Zhang1, Xiao Wang1, Handong Li1, Weicun Zhang2(1Guizhou University, 2University of Science and Technology Beijing, China)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 22 -

OS14-3Time-Varying Lyapunov Function for Mechanical Systems
Bin Zhang1, Yingmin Jia2
(1Beijing University of Posts and Telecommunications, 2Beihang University (BUAA), China)

OS14-4

Optimizing Control Parameters of Space Robot Manipulator for Pulsar X-ray Interference
Measurement
Qiang Chen1, Hengbin Zhang1, Xiaomin Bei1, Hanwen Zhang2(1Chinese Academy of Space Technology, 2Beijing Institute of Control Engineering, China)

14:30-15:30 OS7 Media Information Processing and Artificial Intelligence (4)Chair: Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Co-Chair: Masayoshi Tabuse (Kyoto Prefectural University, Japan)
OS7-1

Effectiveness of Data Augmentation in Automatic Summarization System
Tomohito Ouchi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)

OS7-2

A System for Posting on SNS Portrait Selected Using Facial Expression Analysis While Writing
MessageTaro Asada1, Yuiko Yano2, Yasunari Yoshitomi1, Masayoshi Tabuse1(1 Kyoto Prefectural University, 2 Nara Guarantee Corporation, Japan)

OS7-3

A Method Using Wavelet Transform for Judging Character to be Inserted into Image
Yasunari Yoshitomi1, Takashi Sato2, Taro Asada1, Masayoshi Tabuse1(1 Kyoto Prefectural University, 2 Tokyo Institute of Technology, Japan)

OS7-4

An Authentication Method for Digital Audio Using Wavelet Transform and Fundamental
Frequencies
Yasunari Yoshitomi1, Shohei Tani2, Masaki Arasuna3, Ryota Kan4, Taro Asada1, Masayoshi Tabuse1(1 Kyoto Prefectural University, 2 Fukuchiyama City Hall, 3 Nissay Information Technology Co., Ltd.,
4
Shimazu Business Systems Co., Ltd., Japan)

15:50-17:05 OS2 Theory and Implementation of Neuromimetic Systems (5)Chair: Timothée Levi (The University of Tokyo, Japan)
Co-Chair: Yuichi Katori (Future University Hakodate, Japan)
OS2-1

Decoding spike patterns of auto-associative memory on spiking neuronal networks
Naoki Toyoshima, Takashi Kohno (The University of Tokyo, Japan)

OS2-2

Possible Mechanism of Internal Visual Perception: Context-dependent Processing by Predictive
Coding and Reservoir Computing Network
Hiroto Tamura1, Yuichi Katori1,2, Kazuyuki Aihara1(1The University of Tokyo, 2Future University Hakodate, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 23 -

OS2-3

Snake robot controlled by biomimetic CPGs
Damien Blanchard1, Kazuyuki Aihara2, Timothée Levi2(1University of Bordeaux, France, 2The University of Tokyo, Japan)

OS2-4

Real-time implementation of ReSuMe learning in Spiking Neural Network
Xia Yang, Seiji Uenohara, Kazuyuki Aihara, Takashi Kohno, Timothée Levi
(The University of Tokyo, Japan)

OS2-5

Biomimetic spike-timing based ionic micro-stimulation for neuron culture
Stephany Mai Nishikawa1, Farad Khoyratee1,2, Soo Hyeon Kim1, Yoshiho Ikeuchi1, rawr
Kazuyuki Aihara1, Teruo Fujii1, Timothée Levi1(1The University of Tokyo, Japan, 2University of Bordeaux, France)
Dynamical network model for visual cortex: hierarchical reservoir computing with bidirectional
interactions (withdraw)
Shohei Takaichi1, Yuichi Katori2, Kazuyuki Aihara1(1The University of Tokyo, 2Future University Hakodate, Japan)

Meeting Room 1
9:00-10:15 OS21 Advances in Marine Robotics and It’s Applications (5)Chair: Keisuke Watanabe (Tokai University, Japan)
Co-Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
OS21-1

System Development of AUV’s Sampling Device Controller Employing MATLAB/Simulink
Toolboxes
Takashi Sonoda1, Shinsuke Yasukawa2, Ahn Jonghyun2, Yuya Nishida2, Kazuo Ishii2(1Nishinippon Institute of Technology, 2Kyushu Institute of Technology, Japan)

OS21-2

Inspection System for Underwater Structure of Bridge Pier
Takumi Ueda1, Hiyoyasu Hirai1, Kazuki Fuchigami1, Ryoma Yuki1, Ahn Jonghyun1, Shinsuke
Yasukawa1, Yuya Nishida1, Takashi Sonoda1, Kazuo Ishii1, Katsunori Higashi2, Katsunori Tanaka2,
Tomomasa Ikeda2(1Kyushu Institute of Technology, 2West Nippon Expressway Engineering Kyushu, Japan)

OS21-3Three-dimensional measurement using laser pattern and its application to underwater scanner
Yuya Nishida, Tomoya Shinnoki, Shinsuke Yasukawa, Kazuo Ishii(Kyushu Institute of Technology, Japan)

OS21-4Development of Dam Inspection Underwater Robot
Hiroyasu Hirai, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS21-5

Conceptual Design of Small ROV for Sky to Water System
Keisuke Watanabe, Koshi Utsunomiya, Kazumasa Harada, Nakajima Shuhei(Tokai University, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 24 -

14:30-15:30 OS3 Intelligent navigation & Robotics (4)Chair: Chan Gook Park (Seoul National University, Korea)
Co-Chair: Jang-Myung Lee (Pusan National University, Korea)
OS3-1

Trajectory tracking control for a 7-arms robot manipulator
Wang Jie, Hyun-Hee Kim, Saad abbasi, Min-Cheol Lee (Pusan National University, Korea)

OS3-2

Estimation tire-rod friction coefficient based on mobile robot
Ji-Hyeon Kim, Zhang Hongyu, Jang-Myung Lee (Pusan National University, Korea)

OS3-3

Real-time reflection removal algorithm using stereo camera only
Do-Kyung Hwang, Jong-Woo An, Jang-Myung Lee (Pusan National University, Korea)

OS3-4

The Effect of Inertial Measurement Unit on Synthetic Aperture Radar Image Quality
Soo-Jeong Lee1, Yong-Gonjong Park1, Woo-Jung Park1, Chan Gook Park1, Jong-Hwa Song2(Seoul National University, Korea1, Hanwha Systems, Korea2)

15:50-17:05 OS18 Data-Driven Control and Diagnosis Control Systems (5)Chair: Takuya Kinoshita (Hiroshima University, Japan)
Co-Chair: Takao Sato (University of Hyogo, Japan)
OS18-1A Design Scheme of a Data-driven Predictive-PI Controller
Yoichiro Ashida, Shin Wakitani and Toru Yamamoto (Hiroshima University, Japan)

OS18-2

Improvement in Intersample Response of Multirate Regulation Control
Takao Sato, Natsuki Kawaguchi, Nozomu Araki, Yasuo Konishi (University of Hyogo, Japan)

OS18-3

Design of a PID Controller using a Fictitious Exogenous Signal for a Fluctuation System
Masatoshi Kozui, Takuya Kinoshita, Toru Yamamoto (Hiroshima University, Japan)

OS18-4

Izhikevich Model Based Self-Repairing Control for Plants with Sensor Failures and Disturbances
Masanori Takahashi (Tokai University, Japan)

OS18-5

Design of a Data-Driven Controller with Evaluating Controller Performance
Takuya Kinoshita and Toru Yamamoto (Hiroshima University, Japan)

Meeting Room 4
9:00-10:15 OS11 Recognition and Control (12)Chair: Fengzhi Dai (Tianjin University of Science and Technology, China)
Co-Chair: Yizhun Peng (Tianjin University of Science and Technology, China)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 25 -

OS11-1

Design of feed part control system for rectification process
Lingran An1, Fengzhi Dai1, Yujie Yan1, Zhongyong Ye1, Xia Jin1, Yiqiao Qin12, Chengcai Wang3,
Kaige Liu1 (1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent andManufacture Technology CO.,LTD, 3CETC Ocean Information Co., Ltd, China)

OS11-2Ultrasonic range finder for vehicle collision avoidance system
Ying Chen1, Guowei Yang1, Fengzhi Dai1, Yuxuan Zhu1, Di Yin1, Yasheng Yuan1,Yiqiao Qin12, Ce
Bian12, Chengcai Wang3, Xinyu Zhang1 (1Tianjin University of Science and Technology,
2
Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, 3CETC Ocean Information Co.,
Ltd, China)

OS11-3

Chaos synchronization method of Qi system and the circuit design
Xia Jin 1 , Fengzhi Dai 1 , Zhongyong Ye 1 , Lingran An 1 , Yujie Yan 1 , Chenglin Zhao 1 ,Yiqiao Qin 12 , Hao Li 3 ( 1 Tianjin University of Science and Technology, 2 Tianjin
Tianke Intelligent and Manufacture Technology CO.,LTD, 3 CETC Ocean Information
Co., Ltd,, China)

OS11-4

Design of air quality monitoring platform based on Internet of Things
Yujie Yan 1 , Fengzhi Dai 1 , Kailun Zhang 1 , Wei Wang 2 , Jialin Han 1 , Yang Li 3 , Tianyi Zhang 1( 1 Tianjin University of Science and Technology, 2 China Institute of Aerospace
Engineering , 3 CETC Ocean Information Co., Ltd, China)

OS11-5

Design of metal weld seam tracking equipment based on image processing
Yujie Yan 1 , Fengzhi Dai 1 , Lingran An 1 , Xia Jin 1 , Zhongyong Ye 1 , Yufan He 2 , Xinran Guo 3( 1 Tianjin University of Science and Technology, 2 CETC Ocean Information Co., Ltd,
3
Nanjing University, China)

OS11-6

The recognition and implementation of handwritten character based on deep learning
Zhongyong Ye 1 , Fengzhi Dai 1 , Xia Jin 1 , Yasheng Yuan 1 , Lingran An 1 , Yujie Yan 1 ,Yiqiao Qin 12 , Hao Li 3 ( 1 Tianjin University of Science and Technology, 2 Tianjin Tianke
Intelligent and Manufacture Technology CO., LTD, 3 CETC Ocean Information Co., Ltd,
China)

OS11-7

Cluster analysis of wine based on three-dim fluorescent spectra characteristic
Di Yin 1 , Fengzhi Dai 1 , Yuxuan Zhu 1 , Yasheng Yuan 1 , Tingting Zhang 1 , Ying Chen,
Yiqiao Qin 12 , Chengcai Wang 3 ( 1 Tianjin University of Science and Technology, 2 Tianjin
Tianke Intelligent and Manufacture Technology CO., LTD, 3 CETC Ocean Information
Co., Ltd, China)

OS11-8The control design of the planting device for the hydroponic vegetable
Yasheng Yuan 1 , Fengzhi Dai 1 , Zhongyong Ye 1 , Yuxuan Zhu 1 , Di Yin 1 , Tingting Zhang 1 ,Yiqiao Qin 12 , Yang Li 3 ( 1 Tianjin University of Science and Technology, 2 Tianjin Tianke
Intelligent and Manufacture Technology CO.,LTD, 3 CETC Ocean Information Co., Ltd,
China)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 26 -

OS11-9

An anti -theft system based on the self-checkout
Yuxuan Zhu 1 , Fengzhi Dai 1 , Yasheng Yuan 1 , Di Yin 1 , Tingting Zhang 1 , Ying Chen 1 ,Ce Bian 12 , Yufan He 3 ( 1 Tianjin University of Science and Technology, 2 Tianjin Tianke
Intelligent and Manufacture Technology CO.,LTD, 3 CETC Ocean Information Co., Ltd,
China)

OS11-10

Case study on communication between embedded linux environment andmicrocontroller
Ziheng Gao, Yizhun Peng, Shuo Wang
(Tianjin University of Science and Technology, China)

OS11-11

Design and implementation of a baby care robot
Yizhun Peng, Zefan Ge, Kaixuan Geng, Zhou Yang,Rui Yang
(Tianjin University of Science and Technology, China)

OS11-12

Research on intelligent shopping service robot design
Shuo Wang, Yizhun Peng, Ruixiang Bai, Ziheng Gao(Tianjin University of Science and Technology, China)

14:30-15:15 GS1 Robotics I (3)Chair: Jiwu Wang (Beijing Jiaotong University, China)
GS1-1

System to decide unit’s layout of cell assembly machine by GA (Big Mutation in mutation process)Yoshiki Ito, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)

GS1-2

Autonomous decentralized FMS that adopts priority ranking structure based on AGV’s lies
Kento Uejo, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)

GS1-3

CULET: Cubelet Lego Turing Machine
Ricardo Q. Figueroa, Daniel A. Zamorano, Genaro J. Martínez (Instituto Politécnico Nacional,
México), Andrew Adamatzky (University of the West of England, UK)

15:50-17:50 OS13 System and Control (10)Chair: Qiang Wei (Jianghan University, China)
Co-Chair: Huailin Zhao (Shanghai Institute of Technology, China)
OS13-1

Research on a non-invasive measuring method of blood glucose concentration based on electrical
impedance spectrum
Tong Yin, Xiaoyan Chen, Meng Du, Hongyi Yin(Tianjin University of Science and Technology, China)

OS13-2Synchronization of Novel 4D Chaotic Systems with Different Control Laws
Hong Niu (Tianjin University of Science and Technology, China)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 27 -

OS13-3

Chaotic characteristics analysis of fractional-order Liu system
Wengxin Shi, Hongyan Jia (Tianjin University of Science and Technology, China)

OS13-4

Design and analysis of the multi-robot grouping aggregation algorithm
Huailin Zhao, Zhen Nie (Shanghai Institute of Technology, China)

OS13-5

Research of the ARM-based multi-robot aggregation control
Huailin Zhao, Jingnan Zheng, Zhen Nie, Weiya Zhang, Zonglin Liu(Shanghai Institute of Technology, China)

OS13-6

Research on the Trajectory Planning Problem of Robots in Spherical Cutting
Jun Min, Wenping Jiang, Huailin Zhao (Shanghai Institute of Technology, China)

OS13-7

Emotional processing between artificial voices and human voices
Qiang Wei1, Xiaoyu Zhang1, Xiao Yang1, Yixin Lin2, Qingming Liu3
(1Jianghan University, 2Huazhong University of Science and Technology, 3Wuhan Rayson School,
China)

OS13-8How people are affected by emoticon icon: An ERP study
Qiang Wei1, Jingxuan Huang1, Yu Han1, Yixin Lin2
(1Jianghan University, 2Huazhong University of Science and Technology, China)

OS13-9Single Chinese character fragments: an ERPs study on orthographic neighborhood effect
Qiang Wei1, Yunfei Wang1, Chen Song1, Yixin Lin2
(1Jianghan University, 2Huazhong University of Science and Technology, China)

OS13-10

Research on embedded electrical impedance measurement system
Tong Yin, Xiaoyan Chen, Hongyi Yin (Tianjin University of Science and Technology, China)

January 12 (Saturday)
8:40-Registration
Conference Room
11:10-11:40
Invited session IS-2
Chair: Ju-Jang Lee (KAIST, Korea)
IS-2 A New Machine Learning Algorithm Applicable for Weather Visibility and Food Recognition
Young Im Cho (Gachon University, Korea)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 28 -

11:40-12:10
Invited session IS-3
Chair: Marion Oswald (Technische Universität Wien, Austria)
IS-3 Affective Interactive Systems
Kaoru Sumi (Future University Hakodate, Japan)
13:10-14:10
Plenary Speech PS-1
Chair: Akira Nakamura (National Institute of Advanced Industrial Science and Technology, Japan)
PS-1 Motion-Data Driven Grasp/Assembly Planner
Kensuke Harada12, Natsuki Yamanobe2, Weiwei Wan12, Kazuyuki Nagata2
Ixchel G. Ramirez-Alpizar1, Tokuo Tsuji3 (1Osaka University, 2National Institute of Advanced
Industrial Science and Technology, 3Kanazawa University, Japan)
Meeting Room 31
10:00-16:00 GS4 Poster (5)Chair: Evgeni Magid (Kazan Federal University, Russia)
GS4-1

Relevance Research among Destination Image, Brand Trust, and Satisfaction: Tainan Festival in
Taiwan as Example
Shang-Hui Li, Shu-Fang Hsu, Yi-Tai Shang (Far East University, Taiwan)

GS4-2

Third-party Logistics Service Supply: Catering Service Trade as Example
Shu-Fang Hsu, Shang-Hui Li (Far East University, Taiwan)

GS4-3

Pedal Scale Control Device for Weighing Food Ingredients or Chemical Materials
Shang-Hui Li, Shu-Fang Hsu, Yi-Tai Shang, Kuan-Ying Chen (Far East University, Taiwan)

GS4-4

Convolution Neural Network Based Fault Diagnosis of Induction Motors
Jong-Hyun Lee, In-Soo Lee(Kyungpook National University, Korea)

GS4-5

Analysis of Value Chain on Food and Beverage Micro-enterprises: Mobile Diner as Example
Shu-Fang Hsu, Shang-Hui Li (Far East University, Taiwan)

Meeting Room 32
9:00-9:45 OS17 Multiagent and Complex Systems (3)Chair: Akihiro Yamaguchi (Fukuoka Institute of Technology, Japan)
Co-Chair: Saori Iwanaga (Japan Coast Guard Academy, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 29 -

OS17-1

Different Type of Interaction or Decision Error contribute to Functional Differences
Saori Iwanaga1, Masao Kubo2(1Japan Coast Guard Academy, 2National Defense Academy of Japan, Japan)

OS17-2

Evaluation for the Synchronization of the Parade with OpenPose
Yohei Okugawa, Masao Kubo, Hiroshi Sato, Bui Duc Viet(National Defense Academy of Japan, Japan)

OS17-3Phase shift estimation of the bifurcating neuron from superimposed chaotic spike sequences
Akihiro Yamaguchi1, Yutaka Yamaguti1, Masao Kubo2(1Fukuoka Institute of Technology, 2National Defense Academy of Japan, Japan)

10:00-11:00 OS16 New development about Control Engineering Education (4)Chair: Yoshihiro Ohnishi (Ehime University, Japan)
Co-Chair: Kazuo Kawada (Hiroshima University, Japan)
OS16-1

Skill Model Estimation of Ability for Reading Drawings
Kazuo Kawada, Tsukasa Hiyama (Hiroshima University, Japan）

OS16-2

Learning simulation based on a computational model of neuromodulators
Yuki Moriguchi, Masayasu Nagamatsu(Hiroshima University, Japan)

OS16-3

Estimation of Programming Learning Achievement by Line Tracing Robot
Yoshihiro Ohnishi1, Teruyuki Tamai1, Shinnosuke Mori1, Kawada Kazuo2（1Ehime University, 2Hiroshima University, Japan）

OS16-4Development of Cultivate Computational Thinking using Finger Robot
Kaito Omata, Shinichi Imai (Tokyo Gakugei University, Japan)

14:30-15:45 OS15 Advanced Control (5)Chair: Yingmin Jia (Beihang University (BUAA), China)
Co-Chair: Weicun Zhang (University of Science and Technology Beijing, China)
OS15-1

Pulse Pose Follow Control and Simulation for a 4-DOF Pulse Diagnosis Robot
Qunpo Liu1, Guanghui Liu1, Hongqi Wang 1, Xianzhe Liu1, Hanajima Naohiko2(1Henan Polytechnic University, China, 2Muroran Institute of Technology, Japan)

OS15-2

A New Adaptive Control System Design Method Based on Neuronetwork
Prediction
Weicun Zhang, Sufang Wang, Yongnan Jia, Qing Li(University of Science and Technology Beijing, China)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 30 -

OS15-3

Mean-square quasi-composite rotating formation control of second-ordermulti-agent systems under stochastic communication noise
Lipo Mo1, Xiaolin Yuan1, Yingmin Jia2, Shaoyan Guo3
(1Beijing Technology and Business University, 2Beihang University (BUAA),
3
South China University of Technology, China)

OS15-4

Distributed Energy Resource Control Based on Multi-Agent Group Consensus
Yize Yang1,2, Hongyong Yang1, Fan Liu1, Yuling Li1, Yuanshan Liu1
(1Ludong University, China, 2The University of New South Wales, Australia)

OS15-5

Robust Adaptive Control of Air-to-air Refueling Boom with State-dependent Output Constraints
Liang Chang, Yingmin Jia (Beihang University (BUAA), China)

16:20-17:50 GS2 Robotics II (6)Chair: Jiwu Wang (Beijing Jiaotong University, China)
GS2-1

Automated Guided Vehicle System Analysis in Foam Manufacturing Plant Using Petri-net
Amornphun Phunopas1, Wisanu Jitviriya1, Noppadol Pudchuen1, Sutee Kumjaikong1,
Songklod Tunsiri2, Eiji Hayashi3 (1King Mongkut’s University of Technology North Bangkok,
Thailand, 2Urban Community, Development College, Thailand,
3
Kyushu Institute of Technology, Japan)

GS2-2

Preliminary Comparative Experiments of Support Vector Machine and Neural Network for EEGbased BCI Mobile Robot Control
Yasushi Bandou, Takuya Hayakawa, Jun Kobayashi (Kyushu Institute of Technology, Japan)

GS2-3

Position Tracking Error Constrained Super-Twisting Dynamic Surface Control with DisturbanceObserver for Robot Manipulators
Seong Ik Han (Dongguk University, Korea Republic)

GS2-4

Image Processing for Picking Task of Random Ordered PET Drinking Bottles
Chen Zhu, Takafumi Matsumaru (Waseda University, Japan)

GS2-5

The Use of Importance Ranks to Derive Suitable Timing of Visual Sensing in Manipulation Task
Containing Error Recovery
Akira Nakamura1, Kazuyuki Nagata1, Kensuke Harada2, Yukiyasu Domae1(1National Institute of Advanced Industrial Science and Technology (AIST),
2Osaka University, Japan)

GS2-6-1

Electronic Measurement and Gamification of Balance Tests
Yan-Xin Liu, Massimiliano Leggieri, Henrik Hautop Lund
(Technical University of Denmark, Denmark)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 31 -

GS2-6-2

Playful Body and Brain Test with the Moto Tiles
Yan-Xin Liu, Massimiliano Leggieri, Henrik Hautop Lund
(Technical University of Denmark, Denmark)Meeting Room 33
9:00-9:30 GS3 Complexity (2)Chair: Manabu Sugii (Yamaguchi University, Japan)
GS3-1

Extracting Co-occurrence Feature of Words for Mail filtering
Seiya Temma, Manabu Sugii, Hiroshi Matsuno (Yamaguchi University, Japan)

GS3-2

Learning Style Classification with Weighted Distance Grey Wolf Optimization
Duangjai Jitkongchuen, Piyalak Pongtawevirat (Dhurakij Pundit University, Thailand)

10:00-11:00 OS23 Kansei and Information Engineering (4)Chair: Chair: Tetsuo Hattori (Kagawa University)
Co-Chair: Yoshiro Imai (Kagawa University)OS23-1

Color Image Arrangement Based on Histogram Matching Using Smoothed
Brightness Histogram (I) --- Overall Smoothing --Yusuke Kawakami, Tetsuo Hattori, Yoshiro Imai, Koji Kagawa, Yo Horikawa (Kagawa University,
Japan), R. P. C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)

OS23-2

Color Image Arrangement Based on Histogram Matching Using Smoothed
Brightness Histogram (II) --- Piecewise Smoothing--Yusuke Kawakami, Tetsuo Hattori, Yoshiro Imai, Koji Kagawa, Yo Horikawa (Kagawa University,
Japan), R. P. C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)

OS23-3

Parameter Estimation Method for Compartment Model - PET Inspection Tetsuo Hattori, Yusuke Kawakami, Yoshiro Imai, Koji Kagawa, Yo Horikawa (Kagawa University,
Japan), Hiromichi Kawano (NTT Advanced Technology Company Ltd, Japan)

OS23-4

Application and Trial Evaluation of Document Writing Support System to Avoid Emotional
Misunderstanding
Shunsuke Doi, Yoshiro Imai, Koji Kagawa, Tetsuo Hattori, Yusuke Kawakami(Kagawa University, Japan)

14:30-15:45 OS12 Robot Design and Simulation (5)Chair: QinJian Zhang (Beijing Jiaotong University, China)
Co-Chair: Wei Liu (Beijing Jiaotong University, China)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 32 -

OS12-1

Design and Research of Navigation and Dynamics Co- Simulation Platform for Planetary Rover
Huang Tie-qiu, Zhang Bo-wen, Huang Qian-li (Beijing Jiaotong University, P.R China)

OS12-2

Research on Application of SFM Method in Virtual Reality Modeling
Jiwu Wang, Chenyang Li (Beijing Jiaotong University, China)
Min Li (Beijing Forestry University, China)

OS12-3Visual SLAM System Design based on Semantic Segmentation
Jiwu Wang, Yafan Liu, Qinjian Zhang (Beijing Jiaotong University, China)

OS12-4

Spherical Mobile Robot Designed with Single Omnidirectional Wheels
Wei Liu, Lian Luo, Jiwu Wang (Beijing Jiaotong University, China)

OS12-5

An augmented reality implementation method based on Unity3D
Weixin Zeng, Jiwu Wang (Beijing Jiaotong University, China)

16:20-17:05 OS25 High-Performance Computing for Interactive Content Creation and Rendering (3)Chair: R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Co-Chair: Chia-Chen Kuo (National Center for High-performance Computing (NCHC), Taiwan)
OS25-1High-Performance Computing for Visual Simulations and Rendering
Jasmine Wu, Chia-Chen Kuo, Shu-Hsin Liu, Chuan-Lin Lai, Chiang-Hsiang Lien, Ming-Jen Wang,
Chih-Wei Wang (National Center for High-performance Computing (NCHC), Taiwan)

OS25-2

Virtual Reality as an Art Form
R.P.C. Janaka Rajapakse, Yi-ping Hung (Tainan National University of the Arts, Taiwan)

OS25-3Using Quill as a Tool for Real-Time Rendering
Jasmine Wu, Chia-Chen Kuo, Shu-Hsin Liu, Chuan-Lin Lai, Chiang-Hsiang Lien, Ming-Jen Wang,
Chih-Wei Wang (National Center for High-performance Computing (NCHC), Taiwan)

Meeting room 1
9:00-9:45 OS9 Natural Computing and Beyond (3)Chair: Marion Oswald (Technische Universität Wien, Austria)
Co-Chair: Yasuhiro Suzuki (Nagoya University, Japan)
OS9-1

Tactile Score: Development and Applications
Yasuhiro Suzuki (Nagoya University, Japan)

OS9-2

Tactileology; Haptic Informatics by using Tactile bit, T-bit
Yasuhiro Suzuki (Nagoya University, Japan)

OS9-3

Natural Computing and Formal Computing
Yasuhiro Suzuki (Nagoya University, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 33 -

14:30-16:00 OS22 Robot Competitions for Social Contribution (6)Chair: Yasunori Takemura (Nishinippon Institute of Technology, Japan)
Co-Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
OS22-1

Study on Position Estimation Using Small Size ZigBee Module
Atsushi Sanada (Nishinippon Institute of Technology, Japan)

OS22-2The 4th Tomato Harvesting Robot Competition
Takayuki Matsuo1, Takashi Sonoda2, Yasunori Takemura2, Kazuo Ishii3(1National Institute of Technology, Kitakyushu College, 2NishiNippon Institute ofTechnology, 3Kyushu Institute of Technology, Japan)

OS22-3End-effector for robotic harvesting of a tomato fruit with calyx
Binghe Li, Shinsuke Yasukawa, Takuya Fujinaga, Kazuo Ishii(Kyushu Institute of Technology, Japan)

OS22-4

Evaluation for Ball Dribbling Mechanism of RoboCup Middle Size League Robot in The World
Teams
Kenji Kimura, Shota Chikushi, Kazuo Ishii (Kyushu Institute of Technology)

OS22-5

Robot-control method based on personal space
Kota Kawamoto, Eiji Hayashi, Ryusuke Fujisawa (Kyushu Institute of Technology)

OS22-6

Recognition method of target objects for autonomous tomato harvesting robot
Keiji Kamei, Hiroyuki Moriyama (Nishinippon Institute of Technology, Japan)

Meeting room 4
9:00-9:45 OS19 Advanced Technology on Sensing Technology, Devices, Application (3)Chair: Hiroki Tamura (University of Miyazaki, Japan)
Co-Chair: Keiko Sakurai (University of Miyazaki, Japan)
OS19-1The Actual Car Driving Evaluation System using Combined with Eyeball and Face Angle
Keiko Sakurai, Hiroki Tamura, Koichi Tanno (University of Miyazaki, Japan),
Yukio Hattori (OFA SUPPORT INC, Japan)

OS19-2

A Study on Speaker Identification Approach by Feature Matching Algorithm using Pitch and Mel
Frequency Cepstral Coefficients
Barlian Henryranu Prasetio, Keiko Sakurai, Hiroki Tamura, Koichi Tanno(University of Miyazaki, Japan)

OS19-3

A Study on Breathing and Heartbeat Monitoring System during Sleeping using
Multi-Piezoelectric Elements
Praveen Nuwantha Gunaratne, Chika Yoshida, Keiko Sakurai, Hiroki Tamura, Koichi Tanno,(University of Miyazaki, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 34 -

January 13 (Sunday)
8:40-Registration
Meeting Room 31
10:40-11:40
Plenary Speech PS-3
Chair: Takao Ito (Hiroshima University)
PS-3 Robust Consensus Control of Multi-vehicle Systems
Yingmin Jia (Beihang University, P.R.China)
Meeting Room 32
9:00-10:30 OS6 Software Development Support Method (6)Chair: Tetsuro Katayama (University of Miyazaki, Japan)
Co-Chair: Tomohiko Takagi (Kagawa University, Japan)
OS6-1

Prototype of an Animated Graphics-Based Training Support Tool for Bug Fixing of Extended
Place/Transition Nets
Tomohiko Takagi, Shogo Morimoto, Yuki Ue, Yoshiro Imai (Kagawa University, Japan)

OS6-2

Prototype of a Modeling Tool to Convert between Extended Place/Transition Nets and
VDM++ Specifications
Tomohiko Takagi, Ryo Kurozumi (Kagawa University, Japan)

OS6-3

Application of Pairwise Testing to Test Cases by Boundary Value Analysis in BWDM
Futa Hirakoba*, Tetsuro Katayama*, Yoshihiro Kita†, Hisaaki Yamaba*, Kentaro Aburada*,
Naonobu Okazaki*(*University of Miyazaki, †Tokyo University of Technology, Japan)

OS6-4

Development of Library Fescue Extracting Elements of Attributes and Operations of Class
Diagram in UML
Keisuke Mori*, Tetsuro Katayama*, Yoshihiro Kita†, Hisaaki Yamaba*, Kentaro Aburada*,
Naonobu Okazaki* (*University of Miyazaki, †Tokyo University of Technology, Japan)

OS6-5

Tamias: a Syntax File Checker for Parsing Expression Grammar
Toshihiro Miyaji*, Tetsuro Katayama*, Yoshihiro Kita†, Hisaaki Yamaba*, Kentaro Aburada*,
Naonobu Okazaki* (*University of Miyazaki, †Tokyo University of Technology, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 35 -

OS6-6

Implementation of an Arduino Simulator to Support Circuit Design
Tatsumi Nishida*, Tetsuro Katayama*, Yoshihiro Kita†, Hisaaki Yamaba*, Kentaro Aburada*
And Naonobu Okazaki* (*University of Miyazaki, †Tokyo University of Technology, Japan)

12:40-13:55 OS10 Mathematical Informatics (5)Chair: Makoto Sakamoto (University of Miyazaki, Japan)
Co-Chair: Amane Takei (University of Miyazaki, Japan)
OS10-1

A Study on Tourism Support Application Using the Virtual Technology
Masamichi Hori1, Makoto Sakamoto1, Takahiro Ishizu1, Satoshi Ikeda1, Amane Takei1,
Takao Ito2, Yu-an Zhang3 (1University of Miyazaki, 2Hiroshima University, Japan,
3
Qinghai University, China)

OS10-2

Proposal for Interaction Techniques for Intuitive Virtual Objects Manipulation in Augmented
Reality
Takahiro Ishizu1, Makoto Sakamoto1, Takaaki Toyota1, Masamichi Hori1, Satoshi Ikeda1,
Amane Takei1, Takao Ito2, Yu-an Zhang3(1University of Miyazaki, 2Hiroshima University, Japan, 3Qinghai University, China)

OS10-3

Two-Dimensional Image Based Body Size Measurement and Body Weight Estimation for YaksZijie Sun1, Chen Zhang1, XiaoFeng Qin1, Yu-an Zhang1, Rende Song2, Makoto Sakamoto3(1Qinghai University, 2Yushu Prefecture Animal Husbandry and Veterinary Station, China
3
University of Miyazaki, Japan)

OS10-4

An efficient structure of organization with complete group guidanceSatoshi Ikeda1, Mamoru Yoshimura1, Makoto Sakamoto1, Takao Ito2
(1University of Miyazaki, 2Hiroshima University, Japan)

OS10-5

Parallel finite element analysis for hyperbolic problems
Amane Takei,, Makoto Sakamoto (University of Miyazaki, Japan)

Meeting Room 33
9:00-10:00 OS5 Business Models and Management (4)Chair: Takao Ito (Hiroshima University, Japan)
Co-Chair: Minoru Kumano (University of Miyazaki, Japan)
OS5-1

Determining the Key Factors of Michinoeki in Yamaguchi Area
Minoru Kumano1, Tsutomu Ito2, Takao Ito3, Toru Hiraoka4, Hirofumi Nonaka5(1University of Miyazaki, 2Hino Motors, Ltd., 3Hiroshima University,
4
University of Nagasaki, 5Nagaoka University of Technology, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 36 -

OS5-2

Discovering the Characteristics of Michinoeki in Japan
Minoru Kumano1, Tsutomu Ito2, Takao Ito3, Toru Hiraoka4, Hirofumi Nonaka5(1University of Miyazaki, 2Hino Motors, Ltd., 3Hiroshima University,
4
University of Nagasaki, 5Nagaoka University of Technology, Japan)

OS5-3

An Analysis of Robotic Relationship between Transaction Network and Cross-shareholding
Network in Yokokai
Takao Ito1, Tsutomu Ito2, Rajiv Mehta3, Seigo Matsuno4, Makoto Sakamoto5, Satoshi Ikeda5(1Hiroshima University, Japan, 2Hino Motors, Ltd., Japan, 3New Jersey Institute of Technology,
U.S.A., 4Ube National College of Technology, Japan, 5University of Miyazaki, Japan)

OS5-4

Technological Discontinuities and the R&D Strategy of Automobile Companies
Yousin Park1, Iori Nakaoka2, Yun-ju Chen3 (1Prefectural University of Hiroshima, 2National Instituteof Technology, Ube College, 3Shiga University, Japan)

12:40-13:55 OS24 Automated content generation for narrative and cognitive contents (5)Chair: Jumpei Ono (Vocational School of Digital Arts Sendai, Japan)
Co-Chair: Hiroki Fukushima (Kyushu Womens’ University, Japan)
Co-Chair: Takashi Ogata (Iwate Prefectural University, Japan)
OS24-1

A Method of Haiku Generation Using Deep Learning for Advertising Generation
Jumpei Ono (Vocational School of Digital Arts Sendai, Japan)
Takashi Ogata (Iwate Prefectural University, Japan)

OS24-2The Usage Features of Onomatopoeias in the Recipes in Japanese
Hiroki Fukushima (Kyushu Womens’ University, Japan)

OS24-3

Storytelling in the Conversation of Aged People
Yuki Hayashi (Chiba University / Center for Advanced Intelligence Project, Riken, Japan)
Akinori Abe (Chiba University /Dwango Artificial Intelligence Laboratory, Japan)

OS24-4

Expression of the taste of Japanese sake and metaphor
Akinori Abe (Chiba University / Dwango Artificial Intelligence Laboratory, Japan)

OS24-5An Analysis on Advertising Techniques of Beverages Using Positive Factors of Evaluation
Database System
Yoji Kawamura (Kindai University, Japan)©ICAROB 2019 ALife Robotics Corp. Ltd.

- 37 -

GS5 Others (8)GS5-1

Suppression of Roll Oscillation in Turning of Quadruped Robot by Asymmetric Amplification ofCentral Pattern Generator Output Waveform
Makoto Kitani, Ryo Asami, Noritake Sato (Nagoya Institute of Technology, Japan),
Tomofumi Fujiwara, Takahiro Endo, Fumitoshi Matsuno (Kyoto University, Japan),
Yoshifumi Morita (Nagoya Institute of Technology, Japan)

GS5-2

Tumble avoidance system for rescue robot by estimating the contact points using a 3D depth
sensor
Noritaka Sato, Kotaro Ohshima, Yoshifumi Morita (Nagoya Institute of Technology, Japan)

GS5-3

Rule based Intrusion Detection System by Using Statistical Flow Analysis Technique forSoftware Defined Network
Mahnoor Ejaz, Osama Sohail, Talha Naqash, Zain ul Abideen, Sajjad Hussain Shah
(Bahria University, Pakistan)

GS5-4

Development of Testbed for SDN to Know Its Feasibility of Deployment on Access Layer
Rafay Shah, M Osama Shaikh, Talha Shaikh, Tanveer Hussain(Mehran University of Engineering & Technology, Pakistan)GS5-5Spectrum Sensing using Unsupervised Learning for Cognitive Radio
Asmara Shaukat, Danish Khan, Talal Arshad, Haseeb Ahmad (PAF-KIET, Pakistan)

GS5-6

Tracking Secondary User In Cognitive Radio For 5g Communication
Muhammad Adnan, Muhammad Umair, Sameed bin Junaid（PAF-KIET, Pakistan）

GS5-7

Wireless Power Transfer And Data Communication For Biomedical Applications
Hammad Saleem, Muhammad Awais, Siraj Din, Attequa(PAF-KIET, Pakistan)

GS5-8

Feasibility Study Of UAV Implementation In Route Surveying
D.Hazry, M A Azizan, Safwan Suhaimi, Zulaiha Ramli, Mohamad Syafiq A.K, Zainuddin Hat(Universiti Malaysia Perlis, Malaysia)

Farewell Party©ICAROB 2019 ALife Robotics Corp. Ltd.

- 38 -

PS abstracts
PS-1 Motion-Data Driven Grasp/Assembly Planner

Kensuke Harada12, Natsuki Yamanobe2, Weiwei Wan12, Kazuyuki Nagata2,
Ixchel G. Ramirez-Alpizar1, Tokuo Tsuji3
1
2( Osaka University, National Institute of Advanced Industrial Science and Technology,
3
Kanazawa University, Japan)

This paper proposes a robotic grasp/assembly planner partially using a motion
data. A motion data includes an information on skillful motion which cannot
simply be realized by using conventional grasp/assembly planners. We first
explain the structure of motion data. Then, we explain the proposed
grasp/assembly planner. Finally, we show a numerical example to confirm theeffectiveness of our proposed method.

PS-2 Toward Life with Partner Robots Developing robots with the field trial toward the practical use
Masanori Sugiyama (Toyota Motor Corporation, Japan)

In the near future, robots are expected to be utilized as partners to coexist withpeople for various social needs. TOYOTA is developing robots aimed to help
societies. As a first step, rentals of a rehabilitation robot for walking training at
medical institutions have been launched in 2017. Another robot, Human
Support Robot, which is aimed for use to support daily living, has been
adopted as a standard platform of the domestic environment league at the
RoboCup competition since 2017. For the robot development, it is importantto learn deeply about the field which the robot is to be actually used. In thispresentation, we will show the scene of the field trial toward the practical use
of our robots. Also, we will introduce a humanoid robot which is integrated
with advanced technologies that would benefit us in the future.

PS-3 Robust Consensus Control of Multi-vehicle Systems

Yingmin Jia (Beihang University, P.R.China)

Consensus control of multi-vehicle systems is to design a coordinated protocol
based on the communication topology, so that the multi-vehicle states canreach consensus rapidly and safely to achieve the desired cooperative tasks.
Considering parameter variations of vehicles, modelling errors and external
disturbances, the corresponding robust consensus control problems should be
investigated. To this end, this talk focuses on three basic issues, i.e.,single-vehicle maneuverability, multi-vehicle coordination, and disturbanceattenuation of control performance of vehicle systems in the uncertain
environment, and some recent advances are reviewed. In particular, it isfound that most of the existing results are very limited from a practicable pointof view because the traditional decoupling control methods are inapplicable tovehicles with varying velocity, the previous coordinated protocols requireconnectivity of dynamical topologies, and the robust consensus control ofmulti-vehicle systems with internal uncertainties and external disturbances has
not yet fully been studied so far. Doubtless, these limitations make theapplications of consensus control theory for multi-vehicle systems to actual
objects more difficult, and therefore, it is necessary to develop novel control
methods to remove these limitations and all these will be introduced in detail.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 39 -

IS abstracts
IS1-1-1 Engineering Modular Playware

Henrik Hautop Lund, Morten Roed Frederiksen, Massimiliano Leggieri(Technical University of Denmark, Denmark)In this paper, we describe the engineering of modular playware. The
modularity of constructing playware systems out of modules may allow thesystem to be easily transported to be used anywhere, to easily build different
bodies and brains, and to allow people to construct and combine the modules
to become creative. Hence, the modularity helps fulfilling the Playware ABC.
We exemplify the engineering challenges of the hardware, software andcommunication design of modules through the development of handheld
modules for playful rehabilitation. The handheld modules allow for a fun andmotivational training of upper extremities, and can be viewed as an extension
to the Moto Tiles for lower extremity training, which have proved to be ahighly successful playware for prevention and rehabilitation among seniors.
The paper outlines the engineering challenges and proposed solutions to makesuch modular playware for playful upper extremity training.

IS1-1-2 User-Friendly Robotics 3 – Playware

Henrik Hautop Lund, Luigi Pagliarini (Technical University of Denmark, Denmark)The sustainable The design of playware based on the lessons learned fromuser-friendly robotics suggests a focus on a number of design criteria to help
achieving playware systems that can and will be used according to the
Playware ABC by anybody, anywhere, anytime. The design criteria aredescribed in this paper, and they include: modularity, explicit immediate
feedback, robustness, simplicity, one-click, design. Each criterion is describedbased on the lessons learned from user-friendly robotics. We exemplify theuse of these design criteria with the development of the playware system,
Moto Tiles. The Moto Tiles system is designed as a playful prevention andrehabilitation system for seniors, who are normally not exposed to such hightechnology systems. The paper discusses how the design criteria allowed for a
successful design of a user-friendly system, which is now used daily by tensof thousands seniors all over the globe.

IS1-2-1 User-Friendly Robotics 1 – AI Software

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

In this paper we present the trajectory of decades of research in AI andRobotics by highlight the continuity of our method that has always taken into
consideration the common user’s point of view as a priority. We call such an
approach User-Friendly Robotics, and we hereby unravel it by describing ourpath step-by-step, to see on one side its evolution and on the other its
methodological continuity. Therefore, starting from the earliest AI-based
application we slowly move-up towards the first Robotics ones to finallydescribe the last results of our research. We discuss how this User-Friendly
Robotics approach leads to solutions that fit particular purposes in society andlead to useful user interaction with technological developments.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 40 -

IS1-2-2 User-Friendly Robotics 2– Interfacing Robotics with any user

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

In this paper, the second part out of three, we continue presenting the route of
our long experience in interfacing AI and Robotics with the public. This paper,in particular, highlights a crucial step we experimented when creating
computer based software architecture so to let the common user easily interact
with complex behaviour robotics. We define such an approach User-Friendly
Robotics, and we hereby describe the principles and the techniques we used to
evolve its methodology reporting here the most important case studies wewent through, as examples. We then analyse the impact of such method on
both science and educational field. Finally, we discuss how this User-Friendly
Robotics approach leads to solutions that fit particular purposes in society andlead to useful user interaction with technological developments.

IS-2 A New Machine Learning Algorithm Applicable for Weather Visibility and Food
Recognition
Young Im Cho (Gachon University, Korea)

The sustainable Smart City need many intelligent technologies. In this paper,
we implement a new Machine Learning algorithm for visibility of weather
images. The aim of the research is that to estimate weather visibility using a
new machine learning techniques. We use images taken from CCTV cameras
as inputs and deep convolutional neural network model to predict results. Our
new machine learning algorithm apply to smart life for food recognition, too.
We augment many images using a new machine learning algorithm. In thispaper, we will detail explain regarding an architecture of the ML model,
System Structure, and other essential details.

IS-3 Affective Interactive Systems

Kaoru Sumi (Future University Hakodate, Japan)

In this talk, I will present the effect of using emotions in humans and artifacts(computer systems, virtual agents, robots, etc.) interaction. As known asMedia Equation, the relationship between humans and artifacts is similar tothe social relationship between humans and humans. For example, when ahuman is helped by an artifact a human want to thank artifacts and returnsomething. Like humans, it is important for artifacts to recognize emotions
and express emotions in relation between humans and artifacts. In this talk, I
introduce a technique to recognize and express emotions in human interaction
with artifacts and show examples of how effective artifacts are when using
emotions.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 41 -

OS abstracts
OS1 Intelligent Systems and Control (8)OS1-1 A Vishay Supercapacitor based Fast Charge Battery

Chung-Wen Hung, Yi-Chang Yang, Chun-Chu Lin, Li-Sheng Jheng(National Yunlin University of Science and Technology, Taiwan)

A supercapacitor (SC) power supply management system based on is proposedin this paper. Due to the high charging current characteristics of the SC, means
short charging time, the proposed SC-base battery is suitable as a backup
battery. The proposed system includes the input voltage, current andtemperature protection implemented with analog integrated circuits (IC); andoutput current limitation circuit. In order to keep output voltage when the SC
voltage drops, a boost circuit is used to provide a stable voltage for the load.
The circuit design is detailed in this paper, and the experimental results show
the proposed system works well.

OS1-2 Multi-Motor Synchronous Control with CANOpen

Chung-Wen Hung, Roger CL Lee, Bo-Kai Huang, Shit-Ting Yu(National Yunlin University of Science and Technology, Taiwan)

A Brushless DC (BLDC) Motors synchronous control system based on the
CANopen protocol is proposed in this paper. Multi-motor control is popular in
Robot or automation system, and the synchronization is an important issue,
may be the key issue. The CANopen is a solution, due to Process Data Object(PDO) protocol. A Texas Instruments microcontroller TMS320F28069 is usedas master to control six BLDC Motors used as slave in this paper. The Master
sends synchronization object (SYNC) to slaves base on the communication
profile CAN in Automation (CiA) 301 and the motion control profile CiA402.
The system suns at 500Kbits/s and 1Mbits/s transmission rate by setting
process data object (PDO). The firmware details in this paper to show
six-motor synchronous control.

OS1-3 Selection Strategy for VM Migration Method

Yan-Ren Chen, I-Hsien Liu, Keng-Hao Chang, Jung-Shian Li(National Cheng Kung University, Taiwan)

Virtual machine (VM) live migration occurs frequently in cloud environments.
When it is necessary to migrate many VMs, minimizing the migration time isan important concern. Thus, choosing an appropriate strategy to perform VM
migration is essential. Accordingly, this paper discusses the advantages anddisadvantages of four different migration methods and evaluates theirrespective migration times and throughputs.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 42 -

OS1-4 VM Migration Placement in Cloud Service

Yan-Ren Chen, I-Hsien Liu, Keng-Hao Chang, Chuan-Gang Liu, Jung-Shian Li(National Cheng Kung University, Taiwan)

Smooth and transparent VM migration is essential in maximizing theutilization of cloud resources and ensuring user satisfaction. Previous studies
have focused on VM operational procedures, live migration models andefficient migration methods. By contrast, the paper focuses on thefundamental theorems of VM migration. The present study considers two
different VM migration problems and proves that they too are NP-complete.
In the first problem, subsets of the VM migration groups are migrated to aphysical host until their combined resource usage approaches the thresholdvalue of the host. In the second problem, the VM migration groups are
migrated simultaneously in such a way as to minimize the total migration
time.

OS1-5 Control System for Maintaining Safe Following Distance while Driving

Kuo-Hsien Hsia, Jia-Hong Cai, Shu-Li Pai (Far East University, Taiwan)
Evgeni Magid (Kazan Federal University, Russia)

Safety is the most important thing while driving. Many traffic accidents occur
because of insufficient safe distance. With the advancement of technology,
there are cars with a front distance safety warning system. The invention
relates to a driving safety distance control system. Some of them are with
fixed safe distance regardless of the speed of the car. Other advanced distancedetection systems switch between different modes such as high speed and low
speed. In this paper, we proposed a driving safety system which candynamically adjust the safety distance between vehicles depending on the
speed and weather conditions. This system can be used to determine andmaintain safe distances both in front and rear of a car. This idea has obtained
the invention paten of Taiwan. A car with this system can be driven moresafely.

.

OS1-6 Markerless Indoor Augmented Reality Navigation Device Based on
Optical-Flow-Scene Indoor Positioning and Wall-Floor-Boundary Image Registration
Chian C. Ho, Bo-Kai Wang, Guan-Lung Liao
(National Yunlin University of Science and Technology, Taiwan)

For markerless indoor Augmented Reality Navigation (ARN) technology,
camera pose is inevitably the fundamental argument of positioning estimationand pose estimation, and floor plane is indispensably the fiducial target ofimage registration. This paper proposes optical-flow-scene indoor positioning
and wall-floor-boundary image registration to make ARN more precise,reliable, and instantaneous. Experimental results show that both
optical-flow-scene indoor positioning and wall-floor-boundary image
registration have higher accuracy and less latency than conventional
well-known ARN methods. On the other hand, these proposed two methods
are seamlessly implemented on the handheld Android embedded platform andare smoothly verified to work well on the handheld indoor augmented reality
navigation device.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 43 -

OS1-7 Development of the handheld gas detector with IoT function.

Jr-Hung Guo, Kuo-Hsien Hsia, Kuo-Lan Su(National Yunlin University of Science and Technology, Taiwan)

Gas detection is very cumbersome because the gas will diffuse and mix withother gases. Therefore, this paper is development a handheld gas detector
using a single chip controller. This detector can use a variety of different gas
sensors. And use the Fuzzy Analytic Hierarchy Process (fuzzy-AHP) and the
Adaptive Fusion Method to improve the correctness and recognition rate of
the sensor. In terms of communication, because this gas detection module ishand-held, we use Wi-Fi, LoRa, and wireless communication interfaces suchas 433/868/915 Mhz. Let this gas detection module still transmit data whilemoving. In addition, multiple gas detection modules can be used to form adetection network for large area detection. And we can use the built-in
algorithm to do the calibration data for the detection and isolation of network
module or sensor. Make this gas detection module more flexible in use.

.

OS1-8 Research on Employee Attribute Correlation of Information Security Awareness inOrganization
Tse-Yao Wang (Air Force Institute of Technology, Taiwan)
Fu-Hsiang Wen (National Kaohsiung University of Science and Technology, Taiwan)

Enterprises are attacked by phishing emails, causing significant
business losses. The information security protection strategies
adopted by enterprises, such as mail filtering, phishing attack
website screening and phishing website blacklists, cannot guarantee
complete defense. This study attempts to propose anotherperspective that can reduce the risk of corporate information
security. The quality of employees' information security used as anindicator, and the Logistic regression model used as a tool toanalyze the key factors that can be used to measure the quality of
information security awareness.

OS2 Theory and Implementation of Neuromimetic Systems (5)OS2-1 Decoding spike patterns of auto-associative memory on spiking neuronal networks
Naoki Toyoshima, Takashi Kohno (The University of Tokyo, Japan)

Spiking neuronal networks model the electrophysiological activities in
Spiking neuronal cells’ networks, in which spikes emitted by the neuronalcells transmit information. A well-known application of the spiking neuronal
networks is auto-associative memory, in which one of the pre-stored patterns
that is mostly similar to the input pattern is retrieved. It is known that the
spatio-temporal output spikes are converged to anti-synchronized two groups
that correspond to the retrieved pattern and its complement. The spikes ineach group are synchronized. For practical use of auto-associative memory on
the spiking neuronal networks, it is necessary to convert the spatio-temporal
output spikes to digital codes that can be utilized in ordinary digital computer
systems. In this manuscript, we propose methods to efficiently do thisconversion and extract some more information by additional neurons
receiving signals from the neurons in the all-to-all connected network which isa typical configuration for the auto-associative memory.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 44 -

OS2-2 Possible Mechanism of Internal Visual Perception: Context-dependent Processing by
Predictive Coding and Reservoir Computing Network
Hiroto Tamura1, Yuichi Katori1,2, Kazuyuki Aihara1( The University of Tokyo, 2Future University Hakodate, Japan)
1

How our brains perceive visual stimuli and generate internal visual images
largely remains unknown. Here, we propose a network model by combining
the idea of predictive coding and reservoir computing (PCRC). First, we
define the context-dependent task by simplifying the process of human’sinternal visual perception, and then train the PCRC network for the task. In
our model, the context represents the category of the visual stimuli, and the
network forms different attractor landscapes depending on each context.
However, the mismatch between the context and the sensory stimuli induces
the perceptual error, which corresponds to the symptoms of the hallucinationin dementia with Lewy bodies. Furthermore, we incorporate the parameter
representing a sort of neuromodulation into the network model and analyze
the influences of the neuromodulation to the stability of the attractor on the
network dynamics and performance of the visual perception.

OS2-3 Snake robot controlled by biomimetic CPGs

Damien Blanchard1, Kazuyuki Aihara2, Timothée Levi2( University of Bordeaux, France, 2The University of Tokyo, Japan)
1

Locomotion is one of the most basic abilities in animals. Neurobiologists haveestablished that locomotion results from the activity of half-center oscillatorsthat provides alternation of bursts. Central Pattern Generators (CPGs) areneural networks capable of producing rhythmic patterned outputs without
rhythmic sensory or central input. We propose a network of several
biomimetic CPGs using biomimetic neuron model and synaptic plasticity.
This network is implemented on a FPGA (Field Programmable Gate Array).
We designed one unsupervised snake robot using this network of CPG. It is
composed of one head wagon and 7 slave wagon. Infrared sensors are also
embedded in the head wagon. This robot can reproduce the locomotion of one
snake. The hardware robot is also described in this paper.

OS2-4 Real-time implementation of ReSuMe learning in Spiking Neural Network
Xia Yang, Seiji Uenohara, Kazuyuki Aihara, Takashi Kohno, Timothée Levi
(The University of Tokyo, Japan)

Neuromorphic systems are designed by mimicking or being inspired by the
nervous system, which realizes robust, autonomous, and power-efficient
information processing by highly parallel architecture. Supervised learning
was proposed as a successful concept of information processing in neuralnetwork. Recently, there has been an increasing body of evidence that
instruction-based learning is also exploited by the brain. ReSuMe is a
proposed algorithm by Ponulak and Kasinski in 2010. It proposes a supervised
learning for biologically plausible neurons that reproduce template signals(instructions) or patterns encoded in precisely timed sequences of spikes.
Here, we present a real-time ReSuMe learning implementation on FPGA
using LIF Spiking Neural Network (SNN). FPGA allows real-time
implementation and embedded system. We show that this implementation canmake successful the learning on a specific pattern.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 45 -

OS2-5 Biomimetic spike-timing based ionic micro-stimulation for neuron culture

Stephany Mai Nishikawa1, Farad Khoyratee1,2, Soo Hyeon Kim1, Yoshiho Ikeuchi1, Kazuyuki Aihara1, Teruo
Fujii1, Timothée Levi1
1( The University of Tokyo, Japan, 2University of Bordeaux, France)
Neurodegenerative diseases influence cognitive and/or motor functions inmillions of people worldwide. Neuroprosthesis are used today to support thequality of life but have yet to improve in their power consumption andbiocompatibility issues. Here, we propose a novel microfluidic system toinvestigate the response of the neurons directly stimulated by the potassiumions in biomimetic timing. Unlike the conventional way of stimulatingneurons by pipetting or sending electrical stimulus, this biomimetic
stimulation system enables precise and rapid control of ion concentration by
utilizing microfluidic pneumatic valves, which mimics physiologicalstimulation in a body. To circumvent these limitations, we propose a new
bio-hybrid system. There are three parts that consists this neuro-hybrid
system: Spiking Neural Network, neuron culture and ionic micro-stimulation
device. By using the system, we demonstrated biomimetic spike-timing basedionic stimulation of the neuron cells with potassium ions and monitored
neural activities with a calcium-specific fluorescence indicator.

OS2-6 Dynamical network model for visual cortex: hierarchical reservoir computing withbidirectional interactions (withdraw)
Shohei Takaichi1, Yuichi Katori2, Kazuyuki Aihara1( The University of Tokyo, Japan, 2 Future University Hakodate, Japan)
1

In visual cortex, there is a feedback connection between high-layer andlow-layer. However, the effect of feedback remains poorly understood. We
describe a hierarchical neural network model for visual recognition using
reservoir computing. We adapt this model to predictive coding of video
information. Because input of the network is an image of each frame of video,
which is too high dimension for the reservoir computing, we divide the image
to patches and integrate divided information in high-layer and send it as
feedback.

OS3 Intelligent Navigation & Robotics (4)OS3-1 Trajectory tracking control for a 7-arms robot manipulator

Wang Jie, Hyun-Hee Kim, Saad abbasi, Min-Cheol Lee (Pusan National University, Korea)

This paper proposes a trajectory tracking control based TSMCSPO (terminal
silding mode control with sliding perturbation observer) for a 7-arms robot
manipulator. The 7-arms robot arm are designed to assemble small parts or
packaging. System dynamics, kinematics and inverse kinematics are
introduced at first. Because dynamics of this 7-arms robot are difficult todetermine precisely with the uncertainties and many nonlinear terms.
TSMCSPO are used as a robust controller with the observer for unknown
states and perturbation which can estimate the error in obtained system
dynamics.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 46 -

OS3-2 Estimation tire-rod friction coefficient based on mobile robot

Ji-Hyeon Kim, Zhang Hongyu, Jang-Myung Lee (Pusan National University, Korea)

It is very important to estimate the friction coefficient of tire-road for vehicle
dynamic control system. For the current dynamic control research, a large
amount of experimental data is needed. The theoretical tire model is used toestimate the friction coefficient based on the Gim tire model to improve thetire experience model. Simulation by MATLAB, the simulation results showthat the Gim tire model has high precision and can predict the mechanicalproperties of the tire well.

OS3-3 Real-time reflection removal algorithm using stereo camera only

Do-Kyung Hwang, Jong-Woo An, Jang-Myung Lee (Pusan National University, Korea)

In this paper, we implemented a light reflection elimination algorithm which
is one of the main obstacles of various object recognition systems using visionsystems. In other words, this algorithm can be used to remove robotic
recognition obstacles from the factory and perform tasks such as locating
robots, autonomous vehicles, or unmanned aerial vehicles. This algorithm has
been studied with versatility in mind and does not require sensors other thanstereo cameras. A brief description of the algorithm is an algorithm that
intuitively interprets pixels in HSI space and processes pixels corresponding
to light. For intuitive analysis, take an angle, intensity, or other light source(sunlight, fluorescent light, candle) from the camera, then record each pixel
value and separate it from a white object (whiteboard, paper, etc.). After pixel
operation, object recognition is implemented using the CNN (Convolution
Neural Network) method using the YOLO_V2 algorithm

OS3-4 The Effect of Inertial Measurement Unit on Synthetic Aperture Radar Image Quality

Soo-Jeong Lee1, Yong-Gonjong Park1, Woo-Jung Park1, Chan Gook Park1, Jong-Hwa Song2 (Seoul National
University, Korea1, Hanwha Systems, Korea2)
This paper analyzes the effect of inertial measurement unit (IMU) on synthetic
aperture radar (SAR) image quality. While operating SAR, it is supposed thatan aircraft flies straight and level at a constant speed. Because of atmosphericturbulence and aircraft maneuvers, it deviates from its nominal trajectory.
With navigation solutions, the deviations can be compensated through motion
compensation procedure. However, uncompensated motion errors generated
by IMU errors degrade SAR image quality, such as broadening bandwidth andblurring the image. Since the residual errors depend on the degree of IMU
inaccuracies, SAR images and impulse response function (IRF) according to
IMU grades are compared with each other. Through this result, the IMU
specification is suggested to satisfy given SAR image quality.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 47 -

OS4 Service Robotics (7)OS4-1 Apply 2D Barcode Scanner for Mobile Robot Navigation in Checkerboard Mapping
Chun-Chi Lai1, Kuo-Lan Su1, Chia-Jen Lin1, Evgeni Magid²( National Yunlin University of Science and Technology, Taiwan)(²Kazan Federal University, Russia)
1

In this work, a mobile robot is equipped with an industrial barcode scanner
which can provide the pose information respect to the tag in the field of view(FOV). For real multiple mobile robot transportation applications, the mobile
robot navigation flow is considered to get the global checkerboard type path
planning from a remote master server as an input. For the local planner, eachrobot is applied with a simple path controller to track the global path. The
simulation and experimental results show that this implementation has good
feasibility and effectiveness for multi- robot co-working such as in a factoryarea.

OS4-2 Development of the MyRio Based Mobile Platform

Bo-Jun Yang1, Sheng-Jie Liou1, Jr-Hung Guo1, Kuo-Lan Su1, Evgeni Magid²(1National Yunlin University of Science and Technology, Taiwan)(²Kazan Federal University, Russia)

The paper develops the MyRio based mobile platform with a robot arm. The
structure of the mobile platform uses the Matrix elements. The Matrix element
set builds the robot arm with four degrees of freedom. The mobile platform
integrates some sensors, three DC servomotors, a RC servomotor, a MyRio
based controller, and a vision system. The core of the MyRio based controller
is the NI-Single-Board RIO 9606 module. The mobile platform embeds arobot arm on the front side. The driver device of the gripper is a RC
servomotor. The vision system of the mobile platform can search andrecognize the assigned shape and color that is on the front side of each box
using Otsu algorithm. The mobile platform uses the robot arm to catch theball, and moves to the assigned box simultaneously. In the experimental
results, the mobile platform moves to the assigned location from the startlocation, and uses the vision system to find out the assigned ball, and puts
down the ball on another box by the robot arm. Finally, the mobile platformmoves to the start location and stop.

.

OS4-3 Modelling Avrora Unior Car-like Robot in Gazebo Environment

Ksenia Shabalina1, Artur Sagitov1, Kuo-Lan Su², Kuo-Hsien Hsia³, Evgeni Magid1(1Kazan Federal University, Russia)(²National Yunlin University of Science and Technology, Taiwan)(³Far East University, Taiwan)

In order to conduct thousands of complicated experiments on autonomous car
navigation algorithms it is much safer and cheaper to start algorithm
verification within a simulation area given that we succeed to achieve a proper
model configuration, which preserves physical properties of underlying
objects. This paper focuses on model construction of Avrora Unior mobile
robot. Avrora Unior is a Russian car-like mobile robot with Ackermann drive
mechanism. For the robot model design we used open source Robot operating
system (ROS) and 3D simulator Gazebo. We describe the entire process ofmodeling and first steps of control implementation for the model.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 48 -.

OS4-4 Transfer of learned exploration strategies for a mobile robot from a simulated world toreal environments
Artur Sagitov1, Tetsuo Takano2, Shohei Muto2, Evgeni Magid1( Kazan Federal University, Russia) (2Kanazawa University, Japan)
1

Reinforcement learning based approaches show promises in various robotic
applications, but a significant amount of time and resources are required for arobot to learn optimal behavior. Using virtual environments, we could
significantly speed up and improve performance of a target task. We
implemented a reinforcement learning based exploration algorithm for amobile robot, training in Gazebo environment and transferring learned
strategy to a real robot. We show that it is convenient and appropriate to use
simulation to train strategies for mobile robots.

.

OS4-5 Extending Gazebo simulator for surgical robotics: tissue and suture modeling
Artur Sagitov1, Hongbing Li2, Evgeni Magid1( Kazan Federal University, Russia) (2Shanghai Jiao Tong University, China)
1

Active use of a simulator as a training tool has proven to be advantageous to ahuman surgeon, but there is no open source and convenient universal surgery
simulation of a robot surgeon. This paper presents an extension of Gazebo
simulator for surgical robots using Robot Operating System. We present
software architecture that allows modeling robot interaction with different
types of tissue and suture. We plan to apply the resulting system for a surgicaltask of autonomous suturing with different techniques and algorithms to becompared in the same virtual environment.

.

OS4-6 Experiences of Robotics students in Machine Vision course being taught in aforeign language: comprehension, self-efficiency, and active learning strategies improvement
Tatyana Tsoy, Artur Sagitov, Evgeni Magid (Kazan Federal University, Russia)

Historical development of Russia in the end of 20th century significantly
decreased the quality of engineering education. Now, in order to catch up withthe developed countries, at Kazan Federal University a novel 2-year Masterprogram in Intelligent Robotics was designed and implemented. The program,which curriculum is based on experience of world leading universities in thefield of robotics, targets to educate competitive specialists with competencesthat are required in the world labor market. Students with various technicalbackgrounds were enrolled in the program. To follow students’ progress incore robotics courses we conducted surveys in the beginning and by the end ofeach course. This paper presents surveys that were conducted in Machine
Vision course. The paper reports results of the survey analysis covering such
issues as English language comprehension, self-efficiency, and active learning
strategies in the context of Machine Vision.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 49 -.

OS4-7 Pilot Virtual Experiments on ArUco and AprilTag Systems Comparison for Fiducial
Marker Rotation Resistance
Aufar Zakiev1, Ksenia Shabalina1, Kuo-Lan Su², Kuo-Hsien Hsia³, Evgeni Magid1(1Kazan Federal University, Russia)(²National Yunlin University of Science and Technology, Taiwan)(³Far East University, Taiwan)

There exists a large number of fiducial marker system types and bothresearchers and industry have difficulties to select among this variety a single
system that could provide optimal behavior for a particular task. This paper
presents design and results of pilot virtual experiments that were conducted inorder to compare a performance of two marker systems, ArUco and AprilTag.
Experiments were designed to estimate and compare marker systems
resistance against rotation with regard to different principal axes in 3D space.
Pilot experiment design eliminates influence of external environment,
including light conditions, camera resolution, sensor noise, distance between
camera and marker, etc. Experiments were implemented in ROS/Gazebo
environment. In total over 300,000 virtual experiments were performed andanalyzed in order to collect statistically significant data amount.

.

OS5 Business Models and Management (4)OS5-1 Determining the Key Factors of Michinoeki in Yamaguchi Area

Minoru Kumano1, Tsutomu Ito2, Takao Ito3, Toru Hiraoka4, Hirofumi Nonaka5(1University of Miyazaki, 2Hino Motors, Ltd., 3Hiroshima University,
4
University of Nagasaki, 5Nagaoka University of Technology, Japan)

It is becoming an important issue to improve efficiency in Michinoeki. Thus tofind the key determinants is considered as the most urgent task for Michinoeki.
This paper proposed a new approach with two steps: to calculate the efficiency
using regression model after determing the relevant factors using DEA model.
The data are collected from Chugoku area, because Chugoku is the birthplaceof Michinoeki. The efficiency of all Michinoeki have been calculated, and theimplications have been discussed in this paper.

OS5-2 Discovering the Characteristics of Michinoeki in Japan

World Bank reported that four stages including identification, preparation,
appraisal and operation are necessary to improve Michinoeki. Thus to estimate
the value of Michinoeki is a crucial issue. As our best knowledge, no research
to study the whole Michinoeki although there are 1,107 Michinoeki by April,2017 in Japan. Nine areas: Hokkaido, Tohoku, Kanto, Hokuriku, Chubu,
Kinki, Chugoku, Sikoku, and Kyushu&Okinawa have been divided, elevenbasic elements are used as the determinants of the Michinoeki. This paper
examined the determinants of the nine areas and found that the key
determinants of those nine areas are totally different. It contributes not only tounderstand the status quo of Michinoeki, but also helpful to find the potential
possibility for further development.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 50 -

2
1
0
-1
-2

Hokkaido
Tohoku
Kanto
Hokuriku
Chubu
Kinki
Chugoku
SikokuKyushu&Oki…

Minoru Kumano1, Tsutomu Ito2, Takao Ito3, Toru Hiraoka4, Hirofumi Nonaka5(1University of Miyazaki, 2Hino Motors, Ltd., 3Hiroshima University,
4
University of Nagasaki, 5Nagaoka University of Technology, Japan)

OS5-3 An Analysis of Robotic Relationship between Transaction Network andCross-shareholding Network in Yokokai

Takao Ito1, Tsutomu Ito2, Rajiv Mehta3, Seigo Matsuno4, Makoto Sakamoto5, Satoshi Ikeda5( Hiroshima University, Japan, 2Hino Motors, Ltd., Japan, 3New Jersey Institute of Technology, U.S.A.,
4
Ube National College of Technology, Japan. 5University of Miyazaki, Japan)
1

After bubble economy, the relationship of all parts suppliers in the keiretsu
have been changed from strong tie to weak tie. One typical thing isrelationship of cross shareholdings does not contribute to the transactional
relationship. The authors once proved that the relationship between crossshare holdings and transactions still remained in Keiretsu of Kyohokai evenafter the bubble economy. This paper collected the data from Yokokai, akeiretsu of Mazda, and calculated the relationship between cross share holding
and transaction to prove the correlationship between cross share holdings andtransaction in Yokokai.

OS5-4 Technological Discontinuities and the R&D Strategy of Automobile Companies
Yousin Park1, Iori Nakaoka2, Yun-ju Chen3(1Prefectural University of Hiroshima,
2
National Institute of Technology, Ube College,
3
Shiga University, Japan)

This paper focuses on patterns of technological changes and the R&D strategy
of automobile companies. Tushman and Anderson (1986) pointed out that
there are two types of technological changes. One is incremental technologicalchange which is often generated by existing companies, and the other one isradical technological change which makes great extension in businessenvironment and destroys the order of existing companies. We use the patent
information of three automobile companies (Toyota, BYD, Tesla) as the caseson these changes. And we examine our propositions by social network
analysis and text analysis. The analysis in this paper include: 1) try to
distinguish between the radical and incremental technological changes fromR&D projects, and create heat-maps to visualize these changes, 2) makediscussion ontechnological discontinuities and the R&D strategy of
automobile companies. In this paper we suppose that patterns of corporate
R&D strategy cope with the threat of radical technological changes.

The Network of Patent
Applicant of Toyota

OS6 Software Development Support Method (6)OS6-1 Prototype of an Animated Graphics-Based Training Support Toolfor Bug Fixing of Extended Place/Transition Nets

Tomohiko Takagi, Shogo Morimoto, Yuki Ue, Yoshiro Imai (Kagawa University, Japan)

An EPN (Extended Place/transition Net) is an executable formal model withhigh representation power for specifications definition and test casegeneration, but it would not be so easy for most of software engineers to learn
and use the EPN efficiently. This paper describes an animated graphics-based
training support method and prototype tool for bug fixing of EPNs. The
prototype tool gives a trainee a faulty EPN and its animated graphics. The
motion of the animated graphics is synchronized with the motion of the faulty
EPN. Therefore, it is expected that a trainee can intuitively understand thefaulty EPN, and smoothly try to fix a bug (a difference between the faulty
EPN and software requirements). The result of bug fixing is checked by the
prototype tool.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 51 -

OS6-2 Prototype of a Modeling Tool to Convert
between Extended Place/Transition Nets and VDM++ Specifications

Tomohiko Takagi, Ryo Kurozumi (Kagawa University, Japan)

In software modeling, engineers can use EPNs (Extended Place/transition
Nets) to define the expected behavior of software. The guards and actions of
EPNs are written in VDM++, and thus EPNs can be straightforwardly
converted to VDM++ specifications. EPNs provide more abstracted andintuitive view than VDM++ specifications, and VDM++ specifications can beused to generate source codes and test cases. Therefore they give engineers apractical way for model-driven development. VDM++ specifications should
be updated along with EPNs, and vice versa. However, it is not so easy forengineers due to their limited time. This paper shows a prototype of amodeling tool that converts (and keep the consistency) between EPNs and
VDM++ specifications.

OS6-3 Application of Pairwise Testing to Test Cases by Boundary Value Analysis in BWDM
Futa Hirakoba*, Tetsuro Katayama*, Yoshihiro Kita†,
Hisaaki Yamaba*, Kentaro Aburada*, Naonobu Okazaki*(*University of Miyazaki, †Tokyo University of Technology, Japan)

In recent years, specifications using specification language become more important. It is necessary to test the developed software, but it takes much timeand effort to design test cases manually. So, we developed BWDM(Boundary
Value Vienna Develop Method). It generates test cases from VDM++
specifications. In BWDM, test cases are generated by boundary value
analysis. However, it is possible to cause a combination explosion by the
number of the test cases. In order to solve the above problem, this researchextends BWDM so that the pairwise testing can be applied to boundary value
analysis. The extended BWDM does not cause the combination explosion,
because the pairwise testing only generates test cases which satisfy
combinations of two pairs.

Please attach one typicalfigure in your paper here.

OS6-4 Development of Library Fescue Extracting Elements of Attributes and Operations ofClass Diagram in UML
Keisuke Mori*, Tetsuro Katayama*, Yoshihiro Kita†,
Hisaaki Yamaba*, Kentaro Aburada*, Naonobu Okazaki*(*University of Miyazaki, †Tokyo University of Technology, Japan)

Many modeling tools and development support environments for UML havebeen developed. And some modeling tools have the function to convert thedescribed model into programs. However, no existing tools can describe all
the grammar defined in UML 2.0 specification. Or even if it can be described,
the existing tools cannot analyze its meaning correctly. This paper develops
library fescue (Feature Elements Section of Class in UML Extraction)
extracting elements of attributes and operations of Class Diagram in UML toexpand the analyzable range of the grammar defined in UML 2.0
specification. Fescue can parse character strings expressing attributes andoperations based on the grammar defined in UML 2.0 specification, and can
extract each element from the syntax analysis result. It is confirmed that
fescue can parse the components of attributes and operations in a practicaltime that the existing tools cannot parse.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 52 -

OS6-5 Tamias: a Syntax File Checker for Parsing Expression Grammar

Toshihiro Miyaji*, Tetsuro Katayama*, Yoshihiro Kita†,
Hisaaki Yamaba*, Kentaro Aburada*, Naonobu Okazaki*(*University of Miyazaki, †Tokyo University of Technology, Japan)

In recent years, Parsing Expression Grammar (PEG) is introduced by Bryan
Ford. PEG is not ambiguous because it has ordered choice property. However,it causes “prefix capture”. “Prefix capture” is a problem of hiding thelanguage to be accepted according to the order of choice. Checking syntax
files that contain such mistakes confirms the behavior of the parser. However,in confirming the behavior of the parser, it is possible to check only the top
level non-terminal symbols, and it is necessary to rebuild the parser for eachchange in the syntax file. This paper proposes Tamias: a syntax file checker tosupport checking the syntax files. Tamias has a PEG interpreter which cancheck all choices and any non-terminal symbols in production rules follows
PEG.

OS6-6 Implementation of an Arduino Simulator to Support Circuit Design

Tatsumi Nishida*, Tetsuro Katayama*, Yoshihiro Kita†,
Hisaaki Yamaba*, Kentaro Aburada*, and Naonobu Okazaki*(*University of Miyazaki, †Tokyo University of Technology, Japan)

Embedded technologies are used everywhere and are indispensable in ourdaily life. One of the educational materials to learn embedded technology is
Arduino. However, when a beginner designs circuit, it is possible to design
circuit that damages Arduino itself or the modules on it. Therefore, thisresearch implements an Arduino simulator that runs on iPad for supporting todesign circuit. In this simulator, the circuit on iPad is analyzed to detect thevoltage value on the circuit and the risk Arduino itself or the modules being
damaged. This feature allows you to visually notify the risk of breakage of
Arduino itself or the modules without damaging them. Consequently, thissimulator can support to design circuit.

OS7 Media Information Processing and Artificial Intelligence (4)OS7-1 Effectiveness of Data Augmentation in Automatic Summarization System

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

We propose a new data augmentation method in automatic summarization
system. A large corpus is required to create an automatic summarization
system using deep learning. However, in the field of natural language
processing, especially in the field of automatic summarization, there are notmany data sets that are sufficient to train automatic summarization system.
Therefore, we propose a new method of data augmentation. We use an
encoder decoder model with an attention model as automatic summarization
system. First, we determine the importance of each sentence in an article using
topic model. In order to extend the data, we remove the least importantsentence from an input article and use it as a new article. We examine theeffectiveness of our proposed data augmentation method in automatic
summarization system.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 53 -

OS7-2 A System for Posting on SNS Portrait Selected Using Facial Expression Analysis While
Writing Message
Taro Asada1, Yuiko Yano2, Yasunari Yoshitomi1, Masayoshi Tabuse1( Kyoto Prefectural University, 2 Nara Guarantee Corporation, Japan)
1

We have developed a real-time system for expressing emotion as a portrait
selected according to the facial expression while writing a message. The
portrait is decided by a hair style, a facial outline, and a cartoon of facial
expression. The user selects one hair style and one facial outline before
writing a message. The image signal is analyzed by our real-time system using
image processing software (OpenCV) and a previously proposed featureparameter. Then the system selects one cartoon expressing one of neutral andhappy facial expressions using the facial expression intensity thresholdpreviously decided between these facial expressions. We applied the system topost on an SNS a message and a portrait expressing the facial expression
while writing the message. The experimental and questionnaire results suggestthat our system can be useful for expressing emotions while writing messages.

Generated portraits.

OS7-3 A Method Using Wavelet Transform for Judging Character to be Inserted into Image
Yasunari Yoshitomi1, Takashi Sato2, Taro Asada1, Masayoshi Tabuse1( Kyoto Prefectural University, 2 Tokyo Institute of Technology, Japan)
1

There has been an increase in the number of images on the Internet that
contain private information and/or the URL of an illegal Web site. This
information might result in a violation of human rights and/or a crime. We
previously proposed a method for extracting from an image the region(s) that
contain characters. Based on the previously proposed method, we haveproposed a method for judging character to be inserted into image using thediscrete wavelet transform, the image compression characteristics, and theempirical knowledge that characters have strong vertical and/or horizontal
elements. The experimental results show the usefulness of our method.

Original Processed

JPG size
Upper:28→19(KB)
Lower:29→4(KB)

OS7-4 An Authentication Method for Digital Audio Using Wavelet Transform and Fundamental
Frequencies
Yasunari Yoshitomi1, Shohei Tani2, Masaki Arasuna3, Ryota Kan4, Taro Asada1,
Masayoshi Tabuse1 (1 Kyoto Prefectural University, 2 Fukuchiyama City Hall,
3
Nissay Information Technology Co., Ltd., 4 Shimazu Business Systems Co., Ltd., Japan)

Recently, several digital watermarking techniques for audio files have been
proposed for hiding data in order to protect their copyrights. In general, there
is a tradeoff between the quality of watermarked audio and the tolerance ofwatermarks to signal processing methods, such as compression. For
overcoming the inevitable tradeoff, we previously developed an authentication
method for digital audio using a discrete wavelet transform. In the present
study, we have improved the method by deciding the region to beauthenticated in the audio file using the fundamental frequency characteristics.
The experimental results show that the method has high tolerance ofauthentication to cutting small parts in the audio data.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 54 -

Fundamental
frequency (Hz)RockTime (s)OS8 Computational intelligence and cognitive science for human biosignals and humanwell-being (7)OS8-1 Unified Approach to (1+1) EA on Discrete Linear Functions
Kenji Aoki, Makoto Sakamoto (University of Miyazaki, Japan)
Hiroshi Furutani, Satoru Hiwa, Tomoyuki Hiroyasu (Doshisha University, Japan)

We consider the runtime property of discrete linear functions in (1+1)
Evolutionary Algorithms. We analyze the process of evolution by means ofMarkov chain method. This study was motivated by the paper of Jansen
treating the runtime property of (1+1) EA on monotonic functions by meansof probabilistic theory. As linear functions are special case of monotonic
function, we analyze their behavior by Jansen’s model, PO-EA. We show thatlinear functions show almost the same runtime if mutation rate pm is small.
On the other hand, in the case of strong mutation, the runtime shows thefunction specific magnitude. This fact means that higher order mutations play
more important roles in the calculation process with stronger mutation.

PO-EA(1+1) EA
Markov Chain Analysis↓
Discrete Linear Functions.

OS8-2 A fNIRS study of brain state during letter and category fluency tasks

Akane Onishi, Satoru Hiwa, Hiroshi Furutani, Tomoyuki Hiroyasu (Doshisha University, Japan)
One of the practical issues concerning automated driving vehicles is
identifying the state of the driver when switching between manual andautomatic control. When switching, it is important to detect the wakefulness
and awareness of the driver. In this study, we controlled a driving simulator
based on driver state detection. Electrocardiogram (EKG) measurement wasused for driver state detection. Heart rate variability analysis (HRV) is a
widely known means for estimating sympathetic and parasympathetic activity.
We created a Simulink model to calculate SDNN, RMSSD, and LF/HF in realtime, which are indicators obtained from the HRV analysis. Based on themodel, the state of the driver during the driving simulation was detected. We
also created a Simulink model that switches between automatic operation andmanual operation of simulated vehicles. By applying these models,construction of a system that safely switches between automatic operation andmanual operation is expected.

FWE,
p

22

<0.05

17.6
13.2
8.8
4.3

OS8-3 Construction of a meditation practice support system leads to a good meditation state: an
fNIRS study
Seika Fujii, Satoru Hiwa, Hiroshi Furutani, Tomoyuki Hiroyasu (Doshisha University, Japan)

Meditation is one methods of realizing a state of mindfulness. By continuing
meditation, an improvement of concentration and work efficiency is expected.
However, when novices practice meditation, they find it difficult to judge
improvements in their practice. Therefore, in this study, a system forsupporting novices’ meditation practices was formulated. In the proposedsystem, quantification of and feedback regarding the meditation state based onbrain functional information was performed. Brain activity during meditation
was measured using functional near-infrared spectroscopy. The brain activity
could be measured using this method close to every day. A good brain state
during meditation was defined based on previous research. The measured
brain state was compared with this good state and the similarity wascalculated. The state was then judged on the basis of the similarity andfeedback was given when the meditator approached the goal state. The
effectiveness of the constructed system was examined.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 55 -

OS8-4 Automated panoramic image creation system for corneal endothelial cells

Keitaro Kobayashi, Naoki Okumura, Noriko Koizumi, Satoru Hiwa, Hiroshi Furutani, Tomoyuki Hiroyasu(Doshisha University, Japan)
The imaging area of the corneal endothelium imaged by current technology isnarrow, mainly observing the central portion. A system for automaticallycreating a panoramic image based on an imaging video of the corneal
endothelium of the mouse was developed. First, still images were extracted
from the imaging videos and were convolved with a Laplacian kernel. Withthe variance of the response as a threshold value, focused images wereextracted. By stitching the focus images, panoramic images of the corneal
endothelium were created. The reason this method works is that the Laplaciankernel highlights regions of an image containing rapid intensity changes. If thevariance is very high, there are huge edges in the image, that is, the image isfocused. In this paper, automatically created panoramic images were evaluatedby comparison with manually created panoramic images, which were definedas correct images. This system can be applied to the evaluation of the
progression of symptoms.

OS8-5 An fMRI study of the inhibitory effects of the random stimulus-response compatibility
task on brain function
Kei Sahara, Satoru Hiwa, Hiroshi Furutani, Tomoyuki Hiroyasu (Doshisha University, Japan)

Our behavior is optimized by the brain to suppress unnecessary movement atparticular moments. Here, we investigated the differences in inhibition during
a spatial stimulus-response compatibility task. The stimulus-responsecompatibility task is used to investigate brain function while inhibiting
movements to accomplish the optimized movements during the compatible
and incompatible trials. A previous study investigated inhibitions in specificcompatible and incompatible tasks. However, these studies did not consider
the inhibition during random events, which is an everyday occurrence inhuman life. Therefore, in this study, we focused on the differences between
specific inhibition and random effect inhibition using three stimulus-responsecompatibility tasks, comprising the compatible, incompatible, and randomtasks. Twenty healthy participants were measured using 1.5-T functional
magnetic resonance imaging (fMRI) and the results were analyzed by using
activation, brain function network, and behavioral analyses.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 56 -

OS8-6 Measurement of brain activity and problem discovery during actual driving

Seishiro Nakamura, Satoru Hiwa, Kenya Sato, Hiroshi Furutani, Tomoyuki Hiroyasu(Doshisha University, Japan)

In this study, we focused on a system that provides driving support basedon a driver's biological parameters. Brain function is one such biologicalparameter and functional near-infrared spectroscopy (fNIRS) was used tomeasure brain function. fNIRS is less susceptible to body movements andeasier to measure than electroencephalography. In order to compare brain
activities during actual vehicle operation and simulated operation, a task
performed using a simple course was prepared. In order to quantify thechange in cerebral blood flow obtained from each channel, the fractional
amplitude low-frequency fluctuations (fALFF), which is an index of local
spontaneous brain activity, was calculated. Furthermore, it was ztransformed (zfALFF) to allow comparisons between subjects. In addition,
to confirm the relationship between driving performance and brain
activity, we compared the time series data for driving performance andcerebral blood flow change obtained from each channel. The measurementof brain activity during actual vehicle driving was performed and theresults were analyzed. In addition, discussions of the findings and future
directions are also included.

OS8-7 Control of driving simulator based on state detection of the driver using
Electrocardiogram measurement

Koma Yoshioka, Satoru Hiwa, Kenya Sato, Hiroshi Furutani, Tomoyuki Hiroyasu(Doshisha University, Japan)

One of the practical issues concerning automated driving vehicles is
identifying the state of the driver when switching between manual andautomatic control. When switching, it is important to detect the wakefulness
and awareness of the driver. In this study, we controlled a driving simulator
based on driver state detection. Electrocardiogram (EKG) measurement wasused for driver state detection. Heart rate variability analysis (HRV) is a
widely known means for estimating sympathetic and parasympathetic activity.
We created a Simulink model to calculate SDNN, RMSSD, and LF/HF in realtime, which are indicators obtained from the HRV analysis. Based on themodel, the state of the driver during the driving simulation was detected. We
also created a Simulink model that switches between automatic operation andmanual operation of simulated vehicles. By applying these models,construction of a system that safely switches between automatic operation andmanual operation is expected.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 57 -

OS9 Natural Computing and Beyond (3)OS9-1 Tactile Score: Development and Applications

Yasuhiro Suzuki (Nagoya University, Japan)

Unlike music, which can be described by means of a musical score, tactile
sense does not have a standard method for transcription. Likewise, tactile
sense has no developed principle of composition. Hence, this study developed
a method for describing tactile sense, referred to here as the ‘tactile score’. We
developed a mutual transformation method between tactile score and haptic
vibrations, and then we verified that a hand massage performed according to atactile score and haptic vibration from a tactile score evoked similar brain
activities.

OS9-2 Tactileology; Haptic Informatics by using Tactile bit, T-bit
Yasuhiro Suzuki (Nagoya University, Japan)

Most of Internet of Things, IoT data is time series data, however the timeseries patterns of tactile sense have not been investigated. Tactile Score is a
novel method for describing time sequences of different tactile senses, such as
massages. It can not only describe the massages but also tactile senses in
multimedia data such as locution, vocalism or rhetoric, etc.; multimedia timeseries data can be transformed into Tactile Score and we can display tactile
senses denoted by Tactile Score by using Tactile Score players. Tactile Score
enables us to compose and edit tactile senses. We extract composing principleof time series patterns of tactile senses though analyzing massages; extracted
principle has been verified through examining biological responses.

OS9-3 Natural Computing and Formal Computing

Yasuhiro Suzuki (Nagoya University, Japan)

In natural computing, computing substances, such as DNA molecules, cells or
ecosystems, observe the result of algorithm and verify it by themselves.
Hence, natural computing is primitive in computing and throughout of theevolution from natural computing, it develops “external formal” system toobserve and verify and evolve to formal computing system. In this talk, I will
briefly address the evolution of computing from natural computing to formal
computing and show a novel natural computing framework; thinking about
nature by natural computing.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 58 -

OS10 Mathematical Informatics (5)OS10-1 A Study on Tourism Support Application Using the Virtual Technology

Masamichi Hori1, Makoto Sakamoto1, Takahiro Ishizu1, Satoshi Ikeda1, Amane Takei1, Takao Ito2, Yu-an Zhang3(1University of Miyazaki, 2Hiroshima University, Japan, 3Qinghai University, China)
Currently, the tourism industry in Miyazaki prefecture has various problems,and various measures are taken. On the other hand, in 2016, virtualtechnology attracted much attentions such as VR and AR technology. We
thought that through the VR and AR technology experience, we could aim for
an increase in tourists. Therefore, we will create new applications for
smartphones using virtual technology and aim for tourism support. We
propose unique features aimed at increasing tourists and creating repeaters. It
is a function that allows you to reproduce the scenery anywhere with VR, andto feel the sightseeing experience by AR close.

OS10-2 Proposal for Interaction Techniques for Intuitive Virtual Objects Manipulation in
Augmented Reality

Takahiro Ishizu1, Makoto Sakamoto1, Takaaki Toyota1, Masamichi Hori1, Satoshi Ikeda1, Amane Takei1,
Takao Ito2, Yu-an Zhang3 (1University of Miyazaki, 2Hiroshima University, Japan, 3Qinghai University, China)
Recently, studies for realizing interaction between users and virtual objects
using Augmented Reality (AR) have been actively conducted. However, few
previous studies have realized that a user intuitively manipulates virtual
objects like clay with their bare hands. In this study, we aim at user's
intuitive virtual objects manipulation by realizing basic manipulation on
virtual objects with their bare hands. In addition, it is considered that theuser feels uncomfortable in the manipulation of the virtual objects becauseof the occlusion problem in AR, and cannot perform an intuitive
manipulation. Therefore, in this study, we solve this problem by performing
appropriate hidden surface processing within the range of the user's
fingertips.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 59 -

OS10-3 Two-Dimensional Image Based Body Size Measurement and Body Weight Estimation for
Yaks
Zijie Sun1, Chen Zhang1, XiaoFeng Qin1, Yu-an Zhang1, Rende Song2, Makoto Sakamoto3(1Qinghai University, 2Yushu Prefecture Animal Husbandry and Veterinary Station, China
3
University of Miyazaki, Japan)

In stock raising, non-contact and non-stress measurement of animal’s bodysize parameters and body weight is a research highlight. Yak’s body size
parameters and body weight estimated based on body size can reflect yak’s
growth and development features, production performance and hereditarycharacters. Therefore, studying the body size measurement and body weight
estimation of yaks is an effective approach to promoting scientific breedingand enhancing culture benefits. Traditional manual methods of measuring
animal’s body size and body weight have such disadvantages as heavy
workload and potential safety hazards. This paper firstly acquires the color
image of the yak by taking pictures of yaks in Sanjiangyuan. Then, the yak is
extracted from the image with the method of foreground extraction based ongrey level classified process; after that, the profile curve of the yak is
extracted to obtain the temple point and ischium end of the yak with themethod of calculating the image edge curvature. Based on that, the marked
points for the yak’s body height and body dip length are determined; weka
based linear regression helps obtain the body weight estimation formula;
finally, estimation about the yak’s body weight is achieved. Experimentssuggest this algorithm is effective to non-contact body size measurement andbody weight estimation for yaks in Sanjiangyuan, Qinghai Province.

OS10-4 An efficient structure of organization with complete group guidanceSatoshi Ikeda1, Mamoru Yoshimura1, Makoto Sakamoto1, Takao Ito2
(1University of Miyazaki, 2Hiroshima University, Japan)

The purpose of this paper is to show that the efficient organizational shapewhen the evaluation criteria is only one, is limited to the three types under theassumption of the communication style called the complete group guidance.

OS10-5 Parallel finite element analysis for hyperbolic problems

Amane Takei,, Makoto Sakamoto (University of Miyazaki, Japan)

In this research, we propose a parallel finite element analysis for hyperbolic
problems based on an iterative domain decomposition method. In a
microwave analysis, the simplified Berenger’s PML is developed in whichthese eight corners are given the average value of all PML’s layers. As for
accuracy verification of the analysis solver, the absorbing performance of the
PML is evaluated by using reflection coefficient based on S parameter. In theaccuracy verification, when the maximum side length is set to 1/20 of the
wavelength, the error rate of the numerical solution and the theoreticalsolution is about 1.70 [%] with the PML of 9 layers. So, we have found that
proposed method can calculate with high accuracy.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 60 -

OS11 Recognition and Control (12)OS11-1 Design of feed part control system for rectification process

Lingran An1, Fengzhi Dai1, Yujie Yan1, Zhongyong Ye1, Xia Jin1, Yiqiao Qin12, Chengcai Wang3, Kaige Liu1
(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture Technology
CO.,LTD, 3 CETC Ocean Information Co., Ltd, China)
This paper completes the structure design of the feed process of the small
rectification experimental unit. According to the process requirements, we
design the overall scheme of the detection and control system of the main
parameters and select the type of the instrument. The system hardware designis based on the CPU222 of Siemens s7-200 PLC and the corresponding
input/output module. The lower computer adopts the ladder diagram tocomplete the program design such as parameter acquisition, scaletransformation and PID operation. The monitoring interface of the upper
computer adopts configuration the King monitoring software.

PIC
101

VA101

PI

102

V101
Vacuum surge tank
VA102

E102
Overhead condenser

SIC
101

P101
Vacuum pump
101

VA106

Feed flow
meter

VA111
VA110

VA103

VA109

V103
Sampling
tank

TIC
101

P103
Reflux pump
VA112

VA108

E101
Feed preheater

LI
101

VA104

Top product

V104
Overhead reflux tank

FI

VA105

VA113

T101
Plate rectification column

V102
Feed tank

VA114

VA107
SIC
102

P102
Feed pump

LI

102

E103
Reboiler
Bttom product

V105
Tower kettle
discharge tank

VA116

VA115

VA117

OS11-2 Ultrasonic range finder for vehicle collision avoidance system

Ying Chen1, Guowei Yang1, Fengzhi Dai1, Yuxuan Zhu1, Di Yin1, Yasheng Yuan1,Yiqiao Qin12, Ce Bian12,Chengcai Wang3, Xinyu Zhang1 (1Tianjin University of Science and Technology,
2
Tianjin Tianke Intelligent and Manufacture Technology CO.,LTD, 3CETC Ocean Information Co., Ltd, China)
In recent years, highway rear-end collision accidents have occurred
frequently, causing huge personal injury and property damage. Protective
measures such as seat belts and airbags only serve to reduce damage
afterwards and do not solve the problem from the source. Therefore, researchon the system of vehicle collision avoidance, which actively avoids accidents,
is of great significance. The ultrasonic range finder designed based on
AT89C51 single-chip microcomputer utilizes the principle of sound wave
reflection in the air. It can detect the distance between the vehicle and the
obstacle in real time, and immediately alarms beyond the set threshold.
Ultrasonic ranging is widely used in automotive anti-collision systems due toits non-contact detection method and simple structure.

OS11-3 Chaos synchronization method of Qi system and the circuit design

Xia Jin1, Fengzhi Dai1, Zhongyong Ye1, Lingran An1, Yujie Yan1, Chenglin Zhao1, Yiqiao Qin12, Hao Li3(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture Technology
CO.,LTD, 3CETC Ocean Information Co., Ltd,, China)
Chaos is a kind of uncertain and random phenomenon that appears in thesystem. Its dynamic characteristics are rich and interesting. The study of the
dynamic characteristics and synchronization methods of Qi chaotic system has
fascinated many researchers. In this paper, the dynamic characteristics of Qi
chaotic system are analyzed, and the synchronization circuit of Qi chaotic
system is designed based on the driving-response chaotic synchronous systemand the single-variable feedback perturbation synchronous system, The
synchronization circuits of Qi chaotic system are designed respectively,
comparing the synchronization curves of the variables simulated by Multisim
and the numerical simulation curves obtained by MATLAB, verifying thecorrectness of the built circuit, and analyzing the advantages and disadvantages
between the above two synchronization methods.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 61 -

OS11-4 Design of air quality monitoring platform based on Internet of Things

Yujie Yan1, Fengzhi Dai1, Kailun Zhang1, Wei Wang2, Jialin Han1, Yang Li3, Tianyi Zhang1( Tianjin University of Science and Technology, 2China Institute of Aerospace Engineering, 3CETC Ocean
Information Co., Ltd, China)
1

The air quality monitoring platform based on the Internet of Things (IoT) uses
the STM32f407 main control module. Data such as temperature, humidity,
PM2.5 and carbon monoxide concentration in the atmospheric environment arecollected for a long time by each sensor module. Not only the system has the
LCD display function, users can also log on to the ESLINK IoT cloud platform
to remotely observe the data collection status. The upper limit of each parametercan be set in a specific environment. If the data monitored by the system
exceeds the upper limit, the system will alarm. The system has a good
application prospect in the environment of office, automobile, factory and so on.

OS11-5 Design of metal weld seam tracking equipment based on image processing

Yujie Yan1, Fengzhi Dai1, Lingran An1, Xia Jin1, Zhongyong Ye1, Yufan He2, Xinran Guo3
(1Tianjin University of Science and Technology,
2
CETC Ocean Information Co., Ltd, 3Nanjing University, China)

With the development of the intelligent industry, metal automatic welding
technology needs to be more popular. The metal weld seam tracking device
based on image processing includes two parts of image processing and motion
control. The image processing part is developed by the Visual Studio 2013
platform, and the motion control part is controlled by the PID algorithm.
Machine vision technology can be used to convert images captured by industrial
cameras into vector graphics, which in turn drive the welding table to track
metal welds. The device has good control effect and can be well applied insmall and medium-sized enterprises.

OS11-6 The recognition and implementation of handwritten character based on deep learning
Zhongyong Ye1, Fengzhi Dai1, Xia Jin1, Yasheng Yuan1, Lingran An1, Yujie Yan1,
Yiqiao Qin12, Hao Li3 (1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent andManufacture Technology CO., LTD, 3CETC Ocean Information Co. Ltd, China)
For recognizing handwritten characters, especially the handwritten Chinesecharacters, this paper uses deep learning techniques to construct convolutional
neural networks of different depths to identify character sets containing
handwritten digits and Chinese characters, and compares the performance of
networks with the same depth and different depths. In the end, the network
structure that can be used for identification is finally obtained, and ahandwritten character recognition system is implemented based on the network.
The recognizing accuracy of the paper reaches 99.18% for the MNIST dataset
and 92.02% for the subset of the Chinese dataset HWDB1.1. Compared withother handwritten character algorithms, this paper proves that the used network
structure has the application value.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 62 -

OS11-7 Cluster analysis of wine based on three-dim fluorescent spectra characteristic

Di Yin1, Fengzhi Dai1, Yuxuan Zhu1, Yasheng Yuan1, Tingting Zhang1, Ying Chen, Yiqiao Qin12, Chengcai
Wang3 (1Tianjin University of Science and Technology, 2 Tianjin Tianke Intelligent and Manufacture Technology
CO., LTD, 3CETC Ocean Information Co., Ltd, China)
The traditional sensory analysis method can not discriminate different kinds ofwine objectively and accurately. The three-dimensional (3D) fluorescence
technology has the advantages of strong selectivity, high resolution and directaccess to the fluorescence characteristics of the sample. In this paper, the 3D
fluorescence spectroscopy five brands of red wine samples. The fivecharacteristic parameters (the mean value, standard deviation, center of gravity
coordinates, first order center moment and correlation coefficient) of the 3D
fluorescence spectra of these five dry red wine samples are extracted
respectively. The results show that the difference of the samples can be
distinguished intuitively by extracting the 3D spectral parameters of thedifferent brands. On this basis, the clustering analysis shows that even the sameraw material brewing wine is different from the raw material origin and the soil
environment. The climate environment will cause an important impact on thecomposition of the wine.

OS11-8 The control design of the planting device for the hydroponic vegetable

Yasheng Yuan1, Fengzhi Dai1, Zhongyong Ye1, Yuxuan Zhu1, Di Yin1, Tingting Zhang1, Yiqiao Qin12, Yang Li3(1Tianjin University of Science and Technology, 2 Tianjin Tianke Intelligent and Manufacture Technology
CO.,LTD, 3CETC Ocean Information Co., Ltd, China)
The equipment is designed to household indoor small hydroponic vegetable
planting control device. The temperature, humidity, light and carbon dioxide
concentration sensors are integrated to the Arduino UNO R3 microcontroller. It
is used to detect various parameter data of planting environment. The WIFI
module can send the real-time environment variables detected by the sensor tothe mobile devices, such as the user's mobile phone, through the wirelessnetwork. Moreover, users can also change the corresponding control range ofvariables according to the planted vegetables through the WIFI module.

OS11-9 An anti -theft system based on the self-checkout

Yuxuan Zhu1, Fengzhi Dai1, Yasheng Yuan1, Di Yin1, Tingting Zhang1, Ying Chen1, Ce Bian12, Yufan He3(1Tianjin University of Science and Technology, 2Tianjin Tianke Intelligent and Manufacture Technology
CO.,LTD, 3CETC Ocean Information Co. Ltd, China)
Nowadays, the imperfection of the anti-theft system impedes the developmentof self-service cash registers. This paper designs an anti-theft system based on
self-service cash registers, which can greatly reduce the theft rate insupermarkets. This anti-theft system adopts Siemens’s LOGO!, which is thecore of the controller. Moreover, it has massive facilities of anti-theft protection,
including radio frequency detection, photoelectric counting, repeated scanningreminder, magnetic detection, video monitoring and anti-theft electronic door.
Through the above technologies, the supermarket that uses the self-service cash
registers can avoid to some problems, i.e. cash collection leakage, using low
price goods to replace that of high price. Multiple facilities are set to jointly
protect the safety of goods, effectively reduce theft and loss.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 63 -

OS11-10 Case study on communication between embedded linux environment andmicrocontroller
Ziheng Gao, Yizhun Peng, Shuo Wang
(Tianjin University of Science and Technology, China)

In many embedded development scenarios, we need to combine the real-time
microcontroller and non-real-time embedded Linux environment forcollaborative development. In a high real-time environment (such as: vehicles,
production lines), it can complete kinds of features relying on huge Linuxecosystem, such as hot fixable functional modules, improved network
communication, easier OTA firmware updates, more efficient algorithm
capabilities, and more objects. This paper aims to enumerate and explore
several methods that can be used to implement similar duplex communications.
For ease of understanding,a single-board computer called Raspberry Pi running
Raspbian Linux and an STM32F103 32-bit ARM microcontroller are used inexperiment.

OS11-11 Design and implementation of a baby care robot

Yizhun Peng, Zefan Ge, Kaixuan Geng, Zhou Yang,Rui Yang
(Tianjin University of Science and Technology, China)

Aiming at the shortcoming of single function of traditional pram, this paper
proposes an embedded multi-functional intelligent baby care robot. With baby
cradle as the carrier, the bionic cradle is realized by combining embedded
controller, drive module, motor and various sensors. The babysitting robot has
the functions of autonomous following and obstacle avoidance, voice play andreal-time picture return, which not only improves the convenience and securityof the baby carriage, but also can assist parents to take care of the baby , greatly
reducing the burden of parents' parenting.

OS11-12 Research on intelligent shopping service robot design

Shuo Wang, Yizhun Peng, Ruixiang Bai, Ziheng Gao(Tianjin University of Science and Technology, China)

With the rapid development of the social economy, it’s good to help customers
have more efficient and relaxed shopping experience through intelligent means
in large commercial centers. In this paper, a shopping service robot project thatuses machine vision, deep learning, and IoT is introduced. The robot can help
customers complete shopping and complete indoor positioning navigation andautonomous movement intelligently. The robot product is designed to help all
customers, especially people with mobility impairments. It will reduce theirburden of action, thereby enhancing the user experience and doing special
analysis of shopping behavior to help launch more efficient and personalized
market planning.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 64 -

OS12 Robot Design and Simulation (5)OS12-1 Design and Research of Navigation and Dynamics Co- Simulation Platform forPlanetary Rover
Huang Tie-qiu, Zhang Bo-wen, Huang Qian-li (Beijing Jiaotong University, P.R China)

In view of the difficulties in the design of the navigation control system for the
exploration of complex and passing missions on Mars and other planets, theoverall design idea of the co-simulation platform for the planetary rovers
navigation and dynamics is proposed. On the basis of MSC.ADAMS software,
the dynamic model of planetary rover in soft soil environment is establishedthrough two times of subprogram development. An interactive parallel
simulation system is established by using C++, and the cooperative invocation
dynamic model and navigation control model are solved to form the closed loop
system of co-simulation, and the navigation control system and the dynamic
model are realized. Seamless link and parallel efficient solution. Taking theco-simulation of Mars rover as an example, the simulation platform hascompleted the simulation of Mars rover cruising, crab line, steering, lifting
wheel, body lifting and so on in the Martian environment, and can show themoving state of the rover, the contact force of the rover and the driving torqueof each mechanism in real time. Due to the high efficiency of the wheel contact
model algorithm and the application of parallel multi task processing method,co-simulation can almost achieve real-time. The platform lays an important
foundation for the design of navigation control system.

OS12-2 Research on Application of SFM Method in Virtual Reality Modeling
Jiwu Wang, Chenyang Li (Beijing Jiaotong University, China)
Min Li (Beijing Forestry University, China)

Simulation technology has become an important part of design and training.
With the development of computer science, Virtual Reality（VR）technology canenable the experiencer to reach the immersion degree that other simulation
technologies cannot achieve, and become the focus of military simulation
research in various countries. But VR technology also has some shortcomings,
such as long modeling period, certain differences between models and real
objects. Based on the current technology, this paper proposes a VR technology
combined with SFM which can greatly reduce the modeling period and improve
the realism of the model to enhance the experience of simulation.

OS12-3 Visual SLAM System Design based on Semantic Segmentation

Jiwu Wang, Yafan Liu, Qinjian Zhang (Beijing Jiaotong University, China)

Visual SLAM is helpful for the development of unmanned platform. But only
perceiving the geometric information of the environment is not enough. It isnecessary to join the image semantic segmentation with SLAM, which helps
to comprehend the scenes and improve the accuracy of pose estimation.
Nowdays, the technique of deep learning brings new ideas into traditional
SLAM by modeling this problem with convolution neural network.In thisapproach, we propose a pose estimation technique based on pixel-level
multi-target detection, and 2D semantic information are transferred to 3D
mapping via correspondence between connective Keyframes. Meanwhile,thesemantic information is utilized in other modules for to optimize the visual
SLAM system.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 65 -

OS12-4 Spherical Mobile Robot Designed with Single Omnidirectional Wheels
Liu Wei, Lian Luo, Jiwu Wang (Beijing Jiaotong University, China)

This paper presents a new spherical mobile robot with a single
omnidirectional wheels locating at the ends of the inside vertical diameter ofthe sphere shell, and the two wheel axes being in orthogonal position. The
omnidirectional wheels can roll along the inner surface of the spherical shell,
and then drive the spherical shell rolling. The lower omnidirectional wheel is
responsible for walking drive, and the upper one for steering drive. The
prototype shows the spherical robot moving well.

OS12-5 An augmented reality implementation method based on Unity3D

Weixin Zeng, Jiwu Wang (Beijing Jiaotong University, China)

Augmented reality technology uses computer graphics and visual technology
to achieve the superposition of virtual objects in real scenes, presenting thesensory effects of real-time interaction. It has broad application prospects andapplication value, and its popularity has been increasing in recent years. At
present, there are two main ways to achieve augmented reality. One is theunderlying code, which combines OpenGL and Open CV libraries to realize
augmented reality. The second is the secondary development of related
content through the corresponding software and SDK package. In this article,
we will initially implement augmented reality through Unity 3D and
Qualcomm's Vuforia SDK.

OS13 System and Control (10)OS13-1 Research on a non-invasive measuring method of blood glucose concentration based onelectrical impedance spectrum
Tong Yin, Xiaoyan Chen, Meng Du, Hongyi Yin (Tianjin University of Science and Technology, China)
Different from the traditional measurement approach and instruments of blood
glucose concentration, we propose a novel measuring method related toelectrical impedance spectrum without invasion. A serial experimentations aredesigned and carried out to detect the electrical impedance amplitudes andphases under 1Hz-10MHz frequencies. Considering the skin contacting
impedance and cytomembrane conductivity feature, a simulate circuit isdesigned and connected in serial with the measuring loop. The measured data
were analyzed by an improved Cole-Cole model to derive the relationshipbetween the impedance value and the blood glucose concentration. The results
show that the electrical impedance is strong negative correlation to blood
glucose concentration, as the blood glucose concentration increases, theimpedance value decreases. The conclusion of this research provides atheoretical basis for non-invasive blood glucose surface-measuring.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 66 -

OS13-2 Synchronization of Novel 4D Chaotic Systems with Different Control Laws
Hong Niu (Tianjin University of Science and Technology, China)

In this paper, synchronization of novel four-dimensional(4D) autonomouschaotic systems is studied. Two different control laws are presented, which are
based on the strictly positive realness of transfer function matrix and thecenter translation method respectively. The characteristics of the two control
laws, as well as the differences between them, are proposed. Some relevant
numerical simulation results, such as the curves of the corresponding
synchronization state variables and the errors, are given to illustrate thefeasibility and effectiveness of the two control laws.

OS13-3 Chaotic characteristics analysis of fractional-order Liu system

Wengxin Shi, Hongyan Jia (Tianjin University of Science and Technology, China)
10
8
6
z

The paper analyzes a newly reported fractional-order Liu system based ontime-domain approximation and frequency-domain approximation,
respectively, and chaotic characteristics of this system are investigated by thephase portrait diagram, Lyapunov exponents diagram and bifurcation diagram.
The results of the two approximation methods are consistent, which not onlyshows chaotic dynamics of the system is reliable, but also is very convenient
to utilize chaotic dynamics of the system with fractional-order 0.9.

4
2
0
-10

-5

0
y

5

10

OS13-4 Design and analysis of the multi-robot grouping aggregation algorithm
Huailin Zhao, Zhen Nie (Shanghai Institute of Technology, China)

In this paper, the grouping aggregation problem of multi-robot in simple
environment is studied. The grouping algorithm and aggregation algorithm aremainly discussed. Based on two clustering algorithms, K-means andK-medoids, two grouping algorithms are designed. And the noise im-munityand grouping rapidity of these two grouping algorithms are analyzed.
Aiming at the problem of aggregation, three kinds of aggregation algorithms
are proposed. Taking the center aggregation control as an example, thecooperation and control of each group of robots are studied. Finally, thesimulation results of MATLAB shows that the multi-robot grouping andaggregation algorithm is effective.

OS13-5 Research of the ARM-based multi-robot aggregation control

Huailin Zhao, Jingnan Zheng, Zhen Nie, Weiya Zhang, Zonglin Liu (Shanghai Institute of Technology, China)
This paper mainly analyzed the basic aggregation problem of multi-robot
cooperative system. The algorithm design of multi-robot dynamic aggregation
control was discussed. The multi-robot aggregation path planning method in
simple environment was discussed. And the kinematics equation of theaggregation algorithm was given at last. Taking the center aggregation control
as an example, the cooperation and control of multi-robot are studied. Then
we designed a simulation control program on MATLAB for multi-robot
system and analyzed the simulation results. Finally, the center aggregation
experiment was carried out by using the three car robots. The results show thatthe multi-robot aggregation algorithm is effective.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 67 -

OS13-6 Research on the Trajectory Planning Problem of Robots in Spherical Cutting
Jun Min, Wenping Jiang, Huailin Zhao (Shanghai Institute of Technology, China)

For cylindrical shape cutting of spherical surface vessel a kind of 5-DOF
cutting method of cylin-drical shape for spherical surface is provided in thispaper. Based on the kinematics model of cutting robot the mathematic
relations between cutting tool cylindrical shape and spherical surface are built
using Euler transformation and the intersection line model of cylindrical andspherical surface is presented. The robotic cutting trajectory is computed
according to the position and attitude relation of robot and spherical sphereand simulations and experiments of cutting trajectory for robot are provided in
the end. Experiments results verified the rightness of robot kinematics andcylindrical shape cutting algorithm, and will promote the robot-is applicationin cutting field.

z3

y3

Joint 3
z2

x3

d3
y2

Joint 14
d4

Joint 2
z

d1

y

x2

Joint 5

y4

d5

z1

Pedestaly1

Joint 1

x1

Tool

z4
yt

Qiang Wei1, Xiaoyu Zhang1, Xiao Yang1, Yixin Lin2, Qingming Liu3
( Jianghan University, 2Huazhong University of Science and Technology,3
Wuhan Rayson School, China)
1

To evaluate the time course of changes in emotional processing between
artificial voices and human voices (happy, angry, neutral), the present study
examined behavior experience and event related potential component. The
emotion arouse of artificial human voice and brain signal were evaluatedwhile the presentation of audio from each conditions (happy, angry, neutral,
and artificial voices). The results showed that there were differences in theintensity and the late processing between emotional processing induced byartificial voices and human voices.

Qiang Wei1, Jingxuan Huang1, Yu Han1, Yixin Lin2
( Jianghan University, 2Huazhong University of Science and Technology, China)
1

The aim of this study was to investigate the ERP component evoked byemoticon with different attributes and the reaction times during the LDT task.
The behavioral results showed that participants demonstrated a positive
emotion with a shorter reaction time under both a positive emoticon and anegative emoticon compared to participants under a meaninglessemoticon.The results of ERPs indicated the relationship between three ERP
components and emotional processing of attention distribution, emotion
arousal and emotion valence. Based on these results, we provide evidence fora better understanding of how emoticons improve atmosphere during daily
communication.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 68 -

d6xt

d2

OS13-7 Emotional processing between artificial voices and human voices

OS13-8 How people are affected by emoticon icon: An ERP study

x4x5

zt

OS13-9 Single Chinese character fragments: an ERPs study on orthographic neighborhood
effectQiang Wei1, Yunfei Wang1, Chen Song1, Yixin Lin2
( Jianghan University, 2Huazhong University of Science and Technology, China)
1

The aim of study was to discuss family effects and brain activity during theprocessing of Chinese characters. The study observed the event-related
potentials (ERPs) elicited by fragments of Chinese single-character words in
Chinese character completion and naming experiment. The result showed thatthe “Multiple-solution” elicited greater N400 component than the“One-solution”, which index a inhabitation effect. Multiple-solution-wordanalogy to large families, they are more intense than the false-words andsingle-words, which are in line with the interaction activation model and havemore resources in the cognitive processing process. The glyph processing, theassociation process, and the memory phase of Chinese characters have an
impact. The N400 component may not only mean the integration of themeaning of the word, but may also be related to the process of adjusting theinformation to adapt to the task.

.

OS13-10 Research on embedded electrical impedance measurement system

Tong Yin, Xiaoyan Chen, Hongyi Yin (Tianjin University of Science and Technology, China)

This paper develops an impedance measurement system based on S3C6410
processor. An OK6410 host board as the controller platform, and an AD5933
chip is used to collect impedance data, and the data is exchanged with thecontroller with IIC bus protocol. Comparing with the measuring result of theWayne Kerr 6800B impedance analyzer with the accuracy of 0.05%. The
system has the behaviors as lower relative error 0.422% and higher
signal-to-noise (SNR) ratio 64.11dB. After calculation, the average absolute
error of the impedance phase of the system is 0.527°. The tests results verified
that the system is reliable and flexible with a wide application prospect.

OS14 Intelligent Control (4)OS14 -1 Flock Guiding of Hybrid Agents via Root Block

Yunzhong Song, Ziyi Fu, Fuzhong Wang (Henan Polytechnic University, China)

The convergent equilibrium of flocking agents is vital importance for theircollective behavior, where flock guiding of hybrid agents, which arecomposed by both first order and second order agents, can only be boiled
down to the root node agents, is touched upon here. Both the theoreticalanalysis and the simulation results are provided to verify the suggested
scheme.

2

5

1

3

4

Fig.1 Network consistsof 5 nodes

OS14-2 Multiple Model Adaptive Control of Flexible Arm

Yingzhao Zhang1, Xiao Wang1, Handong Li1, Weicun Zhang2( Guizhou University, 2University of Science and Technology Beijing, China)
1

In this paper, dynamic model of flexible arm is built through Lagrange theory.
Then, based on the software SIMULINK, model of flexible arm is establishedand the state of flexible manipulator under multiple model adaptive control issimulated. Finally, comparing the control effect (like stability, and accuracy)of multiple model adaptive control method with other control methods,
Summarize the advantages of MMAC control method.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 69 -

state of flexible manipulator
under multiple model adaptive
controlOS14-3 Time-Varying Lyapunov Function for Mechanical Systems

Bin Zhang1, Yingmin Jia2
( Beijing University of Posts and Telecommunications, 2Beihang University (BUAA), China)
1

In this paper, a general method for constructing time-varying Lyapunov
functions is provided by using homogeneity theory. Sufficient conditions of
uniform asymptotical stability are established for mechanical systems.
Different from the existing results on this subject, we remove the periodic
restrictions and persistency of excitation restrictions in our work. Robustness
properties are also considered in this paper. It is shown that the mechanicalsystems remain stable after adding higher order perturbing terms. To illustrate
the utility of our results, we provide detailed applications on practical systems
and numerical results are given.

States of the
Mechanical Systems.

OS14-4 Optimizing Control Parameters of Space Robot Manipulator for Pulsar X-ray
Interference Measurement

Qiang Chen1, Hengbin Zhang1, Xiaomin Bei1, Hanwen Zhang2( Chinese Academy of Space Technology, 2Beijing Institute of Control Engineering, China)1

In paper, a pulsar X-ray observation plan of using two detectors installed in
two sides of space station is given. Dynamic model of the space robot
manipulators and an adapt control method are described. An orthogonal arrayexperimental design method is developed to optimize the control parameters.
Simulations are carried out by L81 (340) orthogonal array while fourteen
adaptive control parameters are selected. The optimization results show thatthe parameters expected value could be acquired and computationallyefficiency is promoted.

The composition of pulsar x-ray
measurement system

OS15 Advanced Control (5)OS15-1 Pulse Pose Follow Control and Simulation for a 4-DOF Pulse Diagnosis Robot
Qunpo Liu1, Guanghui Liu1, Hongqi Wang 1, Xianzhe Liu1, Hanajima Naohiko2(1Henan Polytechnic University, China, 2Muroran Institute of Technology, Japan)

Pulse diagnosis has been proved to have great practical value in the pastdynasties. The quality of pulse diagnosis is related to the effect of“syndrome differentiation and treatment” in various clinical departments. The
key of high-quality pulse diagnosis is how to dynamically adjust the vertical
relationship between the pulse and the sensor. The design adopts a four-degreeof freedom manipulator combined with a matrix sensor to form a diagnostic
manipulator, which dynamically adjusts the posture of the end sensor of themanipulator by using the flexibility of the manipulator, so as to achieve rapid
adjustment and keep the diagnostic pulse sensor perpendicular to the pulse. In
this paper, the method of Denavit-Hartenberg is used in kinematics analysis of
the manipulator, and Simulations are platformed based on the robot dynamics
simulation software V-REP. The simulation results show that the design is
feasible.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 70 -

Fig.1 Pulse diagnosis robot

OS15-2 A New Adaptive Control System Design Method Based on Neuronetwork
Prediction
Weicun Zhang, Sufang Wang, Yongnan Jia, Qing Li(University of Science and Technology Beijing, China)

In this paper, a new control system design method is proposed, in which, thecontroller is designed according to a model with un-modeled uncertainties, anartificial neuronetwork (error back propagation neuronetwork) was adopted to
predict the model output error, and the predicted model output error isconsidered in the control law. This control system design can be used to bothlinear and non-linear systems. The simulation results verified the effectivenessof the proposed method.

yr

C

u

P

 (k)

y

M
ANN

Block diagram of the proposed
schemeOS15-3 Mean-square quasi-composite rotating formation control of second-ordermulti-agent systems under stochastic communication noise

Lipo Mo1, Xiaolin Yuan1, Yingmin Jia2, Shaoyan Guo3
( Beijing Technology and Business University, 2Beihang University (BUAA),
3
South China University of Technology, China)
1This paper mainly concerns the mean-square quasi-composite rotating formation
problem of second-order multi-agent systems (MASs) with stochastic
communication noises. Firstly, the definition of mean-square quasi-composite
rotating formation is proposed. Afterwards, a novel distributed control protocol
with time-varying control gains is designed. And then, the origin closed-loopsystem is translated into an equivalent closed-loop system by taking a proper
coordinate transformation. Under some mild assumptions, by means of
stochastic differential equation theory, sufficient conditions are deduced forachieving mean-square quasi-composite rotating formation. Eventually,
numerical simulations are provided to confirm the effectiveness of the proposed
theoretical results.

Fig. Local trajectories of theposition and moving rotating
centers of the MASs.

OS15-4 Distributed Energy Resource Control Based on Multi-Agent Group Consensus

Yize Yang1,2, Hongyong Yang1, Fan Liu 1, Yuling Li1, Yuanshan Liu1 (1Ludong University, China, 2The
University of New South Wales, Australia)
In this paper, a cooperative control strategy of distributed energy resources
based on the group consensus of multi-agent systems is proposed. Combining
with actual engineering needs, a multi-agent dispatch model of energy networks
is designed. Considering the possible adverse effects that may be encountered in
actual energy transportation, the matched disturbances and mismatched
disturbances are added to simulate the modeling. A group control strategy of
distributed energy resources applied to the distribution network is proposed toachieve precise control of energy distribution and safe transportation undermultiple disturbances. Finally, the numerical simulation results verify thevalidity of the model and algorithm.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 71 -

group consensus of distributed
energy resources

OS15-5 Robust Adaptive Control of Air-to-air Refueling Boomwith State-dependent Output Constraints

Liang Chang, Yingmin Jia (Beihang University (BUAA), China)

In this paper, a robust adaptive controller design method is presented for theuncertain air-to-air refueling boom system with output constraints and disturbance.
One advantage of this design method is that the output constraints arestate-dependent, which can extend the workspace of the boom while avoiding
collision between the boom and the receiver. Backstepping method and barrier
Lyapunov function(BLF) are used in this design method. Simulation results show
the effectiveness of the proposed controller design method.

Aerial Refueling Boom

OS16 New development about Control Engineering Education (4)OS16-1 Skill Model Estimation of Ability for Reading Drawings
Kazuo Kawada, Tsukasa Hiyama (Hiroshima University, Japan）
In Japan, students are studying various drawing educations in junior high school
technical education, high school industrial education and university engineering
education. However, it is very difficult to read the drawing without understanding
trigonometry. Moreover, it is also very difficult to draw wish parts. Because of this,
there are many research studies, but these are before-after analysis, and none
analysis by time-series data. Therefore, this study aims to develop a newquantitative evaluation method of 3D recognition ability.

OS16-2 Learning simulation based on a computational model of neuromodulators
Yuki Moriguchi, Masayasu Nagamatsu(Hiroshima University, Japan)

Reinforcement learning, and its biological bases are key to understand humanlearning. Here we illustrate learning processes of the tower of Hanoi based on thecomputational model of neuromodulators(Doya, K.2002). The model assumes
hypothetical roles for the following parameters of reinforcement learning.
1)Dopamine signals TD error, 2)Serotonin controls discount factor, 3)
Noradrenaline controls the inverse temperature, and 4) Acetylcholine controls
the learning rate. We have compared the two learning situations. Case a) the
reward is given at the goal state only, and Case b) the reward is divided and placedat the intermediate state and goal state. The resulting learning curves shows that b)
divided reward enhanced the learning. This result shows an example of learning
simulation with a variety of learners who have their own learning characteristics.

OS16-3 Estimation of Programming Learning Achievement by Line Tracing Robot
Yoshihiro Ohnishi1, Teruyuki Tamai1, Shinnosuke Mori1, Kawada Kazuo2（1Ehime University, 2Hiroshima University, Japan）
It is an important problem how to estimate the learning achievement of the
programming learning. However, the quantitative evaluation method according to
the learning achievement is difficult. This research considers estimation method forthe achievement value of the programming learning. The task is given as a courseof the line tracing robot. There are multiple courses to be passed. The difficult
program can go through a short route. In other words, it is possible to estimate thedifficulty level program created by the goal time.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 72 -

OS16-4 Development of Cultivate Computational Thinking using Finger Robot
Kaito Omata, Shinichi Imai (Tokyo Gakugei University, Japan)

Computational Thinking is one of the necessary skills for children who live inmodern times. Therefore, in this research, we aim to design lesson that cancultivate Computational Thinking. In this research, design a lesson that cultivates
Computational Thinking by moving a robot to the specified finger state using afinger robot. At that time the children can know that by using the notion of"binary" you can count many numbers by bending and extending your fingers. By
using a finger robot, it is thought that children will motivate themselves to teachand to understand easily.

OS17 Multiagent and Complex Systems (3)OS17-1 Different Type of Interaction or Decision Error contribute to Functional Differences
Saori Iwanaga1, Masao Kubo2( Japan Coast Guard Academy, 2National Defense Academy of Japan, Japan)
1

There are many situations where interacting agents can benefit from coordinating
their actions, that is, agents gain payoffs by taking the same action as others. Thesesituations can be modeled as coordination games. Another situations is modeled ascomplementary game, asymmetric coordination games or minority games. In
complementary game, agents gain payoffs by taking the different action fromothers. We deal with these coordination games and asymmetric coordination games
as type of interaction and each agent can change the interaction type. And eachagent can change the interaction partner. We show that population changes to amixed population comprised of 80% cooperative agents and 20% complementary
agents. A mixed population diversify the collective behavior, type of interaction andpreference. There, opposite type of interaction plays a role of small decision error,
and it is inefficient to adopt both.

OS17-2 Evaluation for the Synchronization of the Parade with OpenPose

Yohei Okugawa, Masao Kubo, Hiroshi Sato, Bui Duc Viet(National Defense Academy of Japan, Japan)

In National Defense Academy, parade training is one of our daily training, and isreviewed regularly. However, although the synchronization level of each cadet in
the parade is a major factor of the performance, we don’t have any objective
evaluation methods for the synchronization level. In this research, we propose an
objective method focusing on the synchronization level of the parade with
OpenPose. OpenPose is capable of measuring many kinds of postures from movies
simultaneously, so it is much easier to acquire data than conventional motion
analysis with motion capture, and it is suitable for parade analysis, which is acooperative operation of multiple people. In order to measure the synchronizationlevel, our method is based on the arm swing data of each cadet in the parade, andour results can contribute to objective evaluation methods for cooperative
operation, not only parade.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 73 -

Fig. 1. Analysing a Paradewith OpenPose.

OS17-3 Phase shift estimation of the bifurcating neuron from superimposed chaotic spikesequences
Akihiro Yamaguchi1, Yutaka Yamaguti1, Masao Kubo2( Fukuoka Institute of Technology, 2National Defense Academy of Japan, Japan)
1

For the bifurcating neuron, the phase shift value of background oscillation is one of
the typical parameters that determine the shape of dynamics (Fig.1 (a)-(c)). In thisresearch, we propose an estimation method of the phase shift value fromsuperimposed chaotic spike sequences generated by the bifurcating neuron. The
bifurcating neuron exhibits chaotic inter-spike interval dynamics that depends on
the phase shift value of the background oscillation. Therefore, if we correctly
estimate each phase shift values from the superimposed chaotic spike sequences,
we can characterize the dynamics of the bifurcating neuron and identify each spikesequences from the other superimposed spikes. Fig. 1 (d) shows an example ofestimated phase shift values for superimposed three chaotic spike sequences withdifferent phase shift values. In this case, three different phase shift values werecorrectly estimated and more than 90% of superimposed spikes were also correctly
identified.

Fig. 1. Estimation ofphase shift values.

OS18 Data-Driven Control and Diagnosis Control Systems (5)OS18-1 A Design Scheme of a Data-driven Predictive-PI Controller

Yoichiro Ashida, Shin Wakitani, and Toru Yamamoto (Hiroshima University, Japan)

PID controllers have been widely employed in real processes. However, forprocesses with long dead time, the control performance obtained by a PID
controller is limited. This is because prediction by a derivative element is not very
effective for the processes. For such processes, some predictive controllers havebeen proposed. Among them, a predictive PI(PIP) controller has only threeparameters. Although a PIP controller can be tuned by "trial and error", it isdesired to determine control parameters automatically. In this paper, a data-driven
design method for a PIP controller is proposed. In the proposed method, control
parameters of the PIP controller are calculated automatically from one set ofoperation data.

Fig. 1. Block diagram ofthe predictive PI
controller.

OS18-2 Improvement in Intersample Response of Multirate Regulation Control

Takao Sato, Natsuki Kawaguchi, Nozomu Araki, Yasuo Konishi (University of Hyogo, Japan)

This study discusses a multirate regulator system, in which the sampling interval ofa plant output is an integer multiple of the holding interval of a control input. A
multirate control system is optimized based on a quadratic performance function. In
order to improve intersample response, the derived control law is extended using
the null-space and/or steady-state constraint. Furthermore, the original performance
function is also modified, and the designed control systems are compared
quantitively.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 74 -

OS18-3 Design of a PID Controller using a Fictitious Exogenous Signal for a Fluctuation System
Masatoshi Kozui, Takuya Kinoshita, Toru Yamamoto (Hiroshima University, Japan)

A lot of industrial machines realize the desired motions by the PID controller. In
particular, it is possible to design PID parameters to achieve the desired behavior
by the Fictitious Reference Iterative Tuning (FRIT). However, in the steady state, if
characteristics of the target system are changed by the operating environment, thedesired control performance can not be obtained by the FRIT. In this paper, it isassumed that a disturbance is input when system characteristics are changed by thesystem switching. The Fictitious Exogenous Signal is calculated by the operational
data after the system change. A PID controller tuning by the Fictitious Exogenous
Signal is proposed. Moreover, the effect has been verified by numerical example.

Fig. Block diagram of
Fictitious Exogenous Signal.

OS18-4 Izhikevich Model Based Self-Repairing Control for Plants with Sensor Failures andDisturbances
Masanori Takahashi (Tokai University, Japan)

In the previous works, several types of the self-repairing control systems (SRCS)
have been developed against unknown sensor failures. The SRCS can automaticallydetect the failure, and replace the failed sensor with the healthy backup so as tomaintain the system stability. This paper presents a new SRCS, whose fault detector
is constructed based on a spiking neuron model proposed by E. Izhikevich. In thedetector of the SRCS, the sensor failure induces the spikes. Hence, only monitoring
the output of the detector makes it possible to find the sensor failure. Also, in thispaper, the robustness with respect to disturbances is theoretically analyzed, and it isshown that self-repairing control can be accomplished in the presence of unknown
disturbances.

OS18-5 Design of a Data-Driven Controller with Evaluating Controller Performance
Takuya Kinoshita, Toru Yamamoto (Hiroshima University, Japan)

Data-driven controllers have been proposed to achieve the desired control
performance without using any system identifications. The effectiveness of thesecontrol schemes has been shown through experimental results. For time-variant andnonlinear systems, it is important to evaluate the controller performance andredesign controller when the performance is poor. According to the proposed
scheme, the controller performance calculator and controller design are integratedusing only input and output data. Furthermore, the controller can be assessed in thetransient and steady state.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 75 -

OS19 Advanced Technology on Sensing Technology, Devices, Application (3)OS19-1 The Actual Car Driving Evaluation System using Combined with Eyeball and Face
Angle
Keiko Sakurai, Hiroki Tamura, Koichi Tanno (University of Miyazaki, Japan)
Yukio Hattori (OFA SUPPORT INC, Japan)

The lack of automobile driving standards of persons with brain dysfunction and theincrease of car accidents by the elderly are problems. Therefore, research on gazeestimation necessary for vehicle driving evaluation is rapidly developing. In thispaper, we proposed the actual car driving evaluation system which can be evaluatedby combining eye movements using eye tracking device (TalkEyeLite) and facemovement estimated using template matching. In order to the evaluate our proposal
method, we carried out the actual car driving experiments. The subjects were one
instructor of the car driving school, and five general drivers. We compare the gaze
range of the five general subjects and the instructor. As a result, we confirmed that
one male in the 40s and one elderly narrow the gaze range.

OS19-2 A Study on Speaker Identification Approach by Feature Matching Algorithm using Pitch
and Mel Frequency Cepstral Coefficients
Barlian Henryranu Prasetio, Keiko Sakurai, Hiroki Tamura, Koichi Tanno(University of Miyazaki, Japan)

In this paper, we grouping the words based on the speaker in a sequence of speech
in a conversation. There are two speakers in each conversation. The first speechassumed spoken by speaker-1. In recognizing the speakers, we use pitch detection
and Mel Frequency Cepstral Coefficients feature extraction with 13 filters.
Furthermore, we examine the distance of the second speech vector with the firstspeech vector using the Feature matching algorithm. Previously, we had
experimented on each speaker to find out the mean and variance of the Feature
matching. Based on the experimental results, the variance of Euclidean,
Mahalanobis and Mahattan Distance are 0.0015, 0.00064, 0.0012. Hence, if the
Feature matching value deviates is not more than variance value then the speech isassume spoken by speaker-1. Otherwise, the speech assume spoken by speaker-2.

OS19-3 A Study on Breathing and Heartbeat Monitoring System during Sleeping using
Multi-Piezoelectric Elements

Praveen Nuwantha Gunaratne, Chika Yoshida, Keiko Sakurai, Hiroki Tamura, Koichi Tanno, (University ofMiyazaki, Japan)
We propose a method to monitor breathing and heartbeat during sleeping using
piezoelectric elements. First, the signal acquired from the piezoelectric elements
during sleeping is separated into a breathing signal and a heartbeat signal using
biomedical signal processing software. A method is then proposed to quantify
breathing and heartbeat by applying fuzzy theory to the signals. This proposed
method is experimentally demonstrated using the following procedure. In theexperiment, two subjects slept for one and a half hours. The data from thepiezoelectric elements during sleep were extracted. We compared the true value withthe count results from these data using the proposed method. The error rate of thebreathing count was 0–13%, and the error rate of the heartbeat count was 0–8.2%.
The results were non-uniform, and the error rate depended on the subject.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 76 -

OS20 Advances in Field Robotics and Sensing System (8)OS20-1 Field Robot and Sensing system

Eiji Hayashi (Kyushu Institute of Technology, Japan)

Labors in which forestry and agriculture and Factory, are working in severe
circumstance. So, such workers are necessarily declines and decreases. However,
it is important for us to keep going economy, life and nature. Therefore, to prevent adevastation of the forest, the safety and the lack of food and work in harshenvironments, we are thinking alternative technologies that a part of severe anddangerous works are taken robot instead of such workers．Something changes areneeded that they are seen innovation such as the generation of a new industry by
new technologies using AI and intelligent to improve how to recognize and express
more and more of the things that we have various desires.

OS20-2 Saliency Map Based on Maximization of Difference between Central and Surround
Visions and Its Relationship with Image Feature Points
Ryuugo Mochizuki, Shinsuke Yasukawa, Kazuo Ishii (Kyushu Institute of Technology, Japan)

The Saliency map proposed by Itti is a human attention model considering thecolors, edge orientations and intensity and designed to have high values in the
curious area. In the model, the contrast of Saliency map is not so high and its
parameters are adjusted heuristically. The problems to distinguish the front object
from background is not suitable. In this research, a Saliency map is proposed tomaximize the difference of two images by changing Gaussian filter sizes for thecentral vision, i.e., the small size Gaussian filtered image, and the surround vision,i.e., the big size Gaussian filtered image. As one of image processing techniques,feature-points extraction methods such as SIFT, SURF are often introduced into
object detection and image mosaicking to generate the invariant features against
scale and rotation changes. However, these feature points extraction methods havethe effects of environments and lighting conditions. The relation between the
Saliency map and the feature points extraction is discussed.

OS20-3 Dynamic Wireless Network System using Multiple Drones for Tunnel Applications
Raji Alahmad, Kazuo Ishii (Kyushu Institute of Technology, Japan)

Tunnels requires inspection and maintenance as their age. Conventional methods
depend on special ground vehicles that have many limitations in mobility. UAVs, on
the other hand, can overcome these limitations. Communication is of the biggest
challenges for UAVs, due to signal attenuation. In this paper, a wireless network
system using multi-drones that act as repeaters is proposed. A number ofmeasurements for Wi-Fi signals is conducted to find out the effect of five different
scenarios on the signal in virtual tunnel and two scenarios in a real life tunnel. As aresult, the signal strength with -64 dBm can provide five Mbps of bandwidth, whichis recommended for video streaming. Also, placement of transmitter and receiver isessential for better connection.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 77 -

OS20-4 Counting Crops under Cultivation using Drone

Yasunori Takemura1, Yusuki Hirata2, Eiji Mizoe3, Masao Tashiro4, Yousuke Nagai5( Nishinippon Institute of Technology, 2Kyushu Institute of Technology, 3Sky Canvas Co. Ltd.,
4
Joint Corp. Project Sky-eye, 5Aruku Aguriculture Service LLC, Japan)
1

In recent years, agricultural workers in Japan are decreasing year by year. Also, rising
the average age of agricultural workers is a problem in Japan. As a solution to thisproblem, there is promotion of new agriculture (smart agriculture) that realizes
super-energy saving and high quality production by utilizing robot technology andIoT Technology. The authors are promoting technology by operating forest drone
competeton and tomato havevesting robot competition. Throu robot competition, weare currently paying attention to the use of drone in the agriculturel field. In thisresearch, we aim to automatic detect the number of agricultural crops by image
processing from image data of aerial photographs taken by drone. In this paper, we
will report a method to discriminate agricultural crops by color and to detect the
number.

OS20-5 Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with
Adjustable Contact Patches for Applications in the Vineyard
Enrico di Maria, Kazuo Ishii (Kyushu Institute of Technology, Japan)

Soil compaction is a form of soil degradation which causes soil erosion, drainage
difficulties, hardpan production and loss of nutrients. In order to mitigate this issue,
different solutions have been proposed, such as: plough, low ground pressure tires,tracked tractors and controlled traffic farming (CTF). In this work the idea of using
a locomotion system with adjustable contact patch is proposed. Two configuration
modes are foreseen: wheel mode and track mode. The aim is to reduce thecompaction but also optimize the rolling resistance and energy consumption
depending on the payload of the robot and the soil conditions. The robot will be
used for transporting the grapes harvested in the vineyard. A finite element methodmodel is developed to evaluate the performance of the system in terms ofcompaction and rolling resistance and experiments in the field are carried out toconfirm the model itself.

OS20-6 Robot Navigation in Forest Management Based on Graph

Ayumu Tominaga1, Ryusuke Fujisawa1, Eiji Hayashi1, Abbe Mowshowitz2 (1Kyushu Institute of Technology,
Japan, 2The City College of New York, USA)This paper addresses the problem of using a mobile, autonomous robot to manage aforest whose trees are destined for eventual harvesting. We have constructed arobotic system enabling an autonomous robot to move between the trees without
damaging them and to cut the weeds as it traverses the forest. We proposes the
trajectory computation for guidance of the robot in the forest is carried out based ona weighted undirected graph G with trees as vertices. The line graph, L(G) of G will
represent the safety paths for guidance of the robot. It is shown that using trees in aforest as environmental landmarks is effective in navigation of forestry autonomous
robot.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 78 -

OS20-7 Development of Autonomous Moving System for Field Robot

Kengo Kawazoe, Eiji Hayashi, Ryusuke Fujisawa (Kyushu Institute of Technology, Japan)

SLAM technology is applied to resource management in forestry in artificial forest.
From this technology, mapping of trees in artificial forest and automation of growthamount measurement of trees have been realized. Meanwhile, forestry go into a
decline by labor shortage in Japanese forestry. And, it has been expected thatmechanization and automation of work. We have been developing autonomous
moving robot with all-terrain vehicles (ATV). And we designed an obstacle
avoidance behavior to move around in the forest. Moreover, by adding a pan angle
control actuator to the visual system, we increased the degree of freedom inexternal situation recognition. This made it possible the robot to the target
coordinates specified on the global map based on the obstacle avoidance behavior.

OS20-8 Development of the sense system that is combined force feedback and vision
feedback-Improvement reproducibility of deformation simulation by using LEMTamon Shigeyama, Eiji Hayashi , Ryusuke Fujisawa (Kyushu Institute of Technology, Japan)

In the medical treatment and bio-technology field, doctors and researchers needtechnologies that can accurately perform small-size work. But there are someproblems. The operators rely only on sight through the microscope. The operators
cannot feel the sense of force. And the operators cannot see the all states of thesample. Our aim is to develop the combined system that that uses both force
feedback from the manipulator and visual feedback on a deformation simulation.
By reproducing force sense and visual sense of a sample, an operator can feel thesesense of a virtual object. For this research, focus on a way to produce a force
calculated in simulation of deformation using a haptic device. As the first stage, oursimulation of deformation was improved by using LEM (Long Element Method)and evaluated accuracy of a virtual object’s deformation.

OS21 Advances in Marine Robotics and It’s Applications (5)OS21-1 System Development of AUV’s Sampling Device Controller
Employing MATLAB/Simulink Toolboxes

Takashi Sonoda1, Shinsuke Yasukawa2, Ahn Jonghyun2, Yuya Nishida2, Kazuo Ishii2( Nishinippon Institute of Technology, Japan, 2Kyushu Institute of Technology, Japan)
1

We have developed the sampling device control system for the AUV “Tuna-Sand2”
by using MATLAB/Simulink and its toolboxes. The toolboxes are powerful, useful,and functional for developing the robot programming, especially Robotics System
Toolbox supports the ROS so that the MATLAB and ROS programs are available
for fast developing with high functions and the cloud data communication. Parallel
Computing Toolbox can consist a multi-process and parallel computing on script
base and Simulink model base program. Stateflow is a powerful tool for design ofstate transition control method. The toolboxes are employed in the sampling device
control system of the AUV. This method with using the toolboxes of
MATLAB/Simulink realize the rapid prototyping of the system designs,
developments and system test. The developed system mounted on an AUV waspowered in several real sea areas.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 79 -

OS21-2 Inspection System for Underwater Structure of Bridge Pier

Takumi Ueda1, Hiyoyasu Hirai1, Kazuki Fuchigami1, Ryoma Yuki1, Ahn Jonghyun1, Shinsuke Yasukawa1, Yuya
Nishida1, Takashi Sonoda1, Kazuo Ishii1, Katsunori Higashi2, Katsunori Tanaka2, Tomomasa Ikeda2(1Kyushu Institute of Technology, 2West Nippon Expressway Engineering Kyushu, Japan)
Inspection of underwater infrastructure of bridge pier is important for bridge
maintenance, however, the underwater environment is dangerous and theirobservation is one of difficult problems. We have been developing the underwaterinspection system which consists of an unmanned surface vehicle (USV) and aremotely operated vehicle (ROV). The concepts of the system are (1) Operation is
executable with a small number of persons, (2) USV and ROV are controllable
from land or bridge, (3) Build 3D model and images for crack detection. The ROV
observes the status of whole infrastructure using cameras and control its postureusing a depth sensor and IMU sensor. The USV vertically lifts up and down ROV
by winch and remotely conduct ROV to infrastructure. USV is installed with GPS,LRF and IMU for horizontal positioning and direction control of the camera.
Inthis paper, we report the results of the inspection operation test by the robot andpresent issues.

OS21-3 Three-dimensional measurement using laser pattern and its application to underwater
scanner
Yuya Nishida, Tomoya Shinnoki, Shinsuke Yasukawa, Kazuo Ishii(Kyushu Institute of Technology, Japan)

There are many mineral resources on the seafloors energy resources such as
methane hydrate, and biological resources such as fish and crustaceans. The
accurate amount of the resources needs to be surveyed in detail for making
effectiveness use of the resources. In order to measure an accurate volume of theresources, the authors developed a new three-dimensional instrument consisting ofa laser projector and a camera. The laser projector irradiates a sharp
two-dimensional laser pattern independent the distance to the target object. Our
instrument is able to measure three-dimensional shape of the target object using thelaser pattern and the principle of light cutting method which is one of active
measurement methods.

OS21-4 Development of Dam Inspection Underwater Robot

Hiroyasu Hirai, Kazuo Ishii (Kyushu Institute of Technology, Japan)

Maintenances of social infrastructures such as dam, bridge are important subjects.
The more aging problem going on, the more the effective inspection methods havebeen expected. In the inspection of dams, divers observe the conditions of theirsurface manually, however underwater structure deeper than 30m is limited andtheir inspections are insufficient. In this paper, we propose the ROV whosefunctions are video capture, indirect measurement using laser, target depth keeping,heading keeping. The ROV is applied into the dam inspection and showed theeffectiveness to find cracks.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 80 -

OS21-5 Conceptual Design of Small ROV for Sky to Water System

Keisuke Watanabe, Koshi Utsunomiya, Kazumasa Harada, Nakajima Shuhei(Tokai University, Japan)

Long term monitoring of an area of coral reef is necessary for investigation of coralbleaching. The researchers usually use underwater cameras to record the reef’spresent condition using a ROV or diving by themselves. In those cases, they need tohire a boat whose port is not always near the target investigation site where
sometimes near a beach. The researcher diving is effective from the viewpoint ofprecise investigation of a limited spot, however, it is impossible for a diver toinvestigate wide area simultaneously. To breakthrough these limitations we areconsidering a new method which uses a combined system ofmulticopter-USV(Unmanned Surface Vehicle)-ROV. We named this concept as Sky
to Water System(SWS). In this paper, we introduce the conceptual design of our
Small ROV which can be delivered with its mother USV by a multi-copter from thenearest beach and explain its hardware/software system.

OS22 Robot Competitions for Social Contribution (6)OS22-1 Study on Position Estimation Using Small Size ZigBee Module

Atsushi Sanada (Nishinippon Institute of Technology, Japan)

The positional information can be used for navigation in controlling a robot, and it isvery important information. In this research, we describe the development of aposition estimation system using a ZigBee wireless module. GPS is often used for
position detection, but high precision measurement is difficult. And also, GPS cannot
be used indoors. Furthermore, for position detection by the camera, since it isnecessary to analyze by coordinating a plurality of cameras, much cost is required. In
this paper, we propose a position estimation system using a low-cost small wirelessmodule. This is to estimate the position based on the radio field intensity withmultiple antennas. Since the radio wave intensity is nonlinear with distance and it isdifficult to calculate the distance, a neural network is used for distance estimation. As
a result, it was confirmed that the distance can be estimated correctly.

OS22-2 The 4th Tomato Harvesting Robot Competition

Takayuki Matsuo1, Takashi Sonoda2, Yasunori Takemura2, Kazuo Ishii3 (1National Institute of Technology,
Kitakyushu College, 2NishiNippon Institute of Technology, 3Kyushu Institute of Technology, Japan)
Tomato is one of important fruit vegetables and most tomatoes are produced in thegreenhouses, or large-scale farms, where the high temperature and humidity, andlong harvest age force the farmer heavy works. With an aim to promote theautomation of tomato harvesting, we have organized the tomato harvesting robot
competition from 2014. The tomato harvesting robot competition include twodivisions which are senior division and junior division. In senior division, free-style
robots and rail-style robots had matches. In junior division, robot competition usinglego mindstorm was hold. In this paper, we report on the results of the 4th tomato
harvesting robot competition.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 81 -

OS22-3 End-effector for robotic harvesting of a tomato fruit with calyx

Binghe Li, Shinsuke Yasukawa, Takuya Fujinaga, Kazuo Ishii(Kyushu Institute of Technology, Japan)

Tomato fruit harvesting is a labor-intensive process, and therefore robotic
automation is required. For tomato fruit harvesting robot, we developed three typesof end-effectors (EEs): scissors type, cylinder type and suction-cutting type. It isnecessary to harvest the tomato fruit with calyx especially in Japan. Therefore, theproposed EE has a cutter mechanism for cut the peduncle. The results show that thescissors type and the cylinder type EE can cut the peduncle; however, it is difficult
to separate one fruit from the cluster. On the other hand, the suction-cutting type canseparate and cut one fruit from the cluster and therefore it is useful for harvesting
tomato fruit with calyx.

OS22-4 Evaluation for Ball Dribbling Mechanism of RoboCup Middle Size League Robot in The
World Teams
Kenji Kimura, Shota Chikushi, Kazuo Ishii (Kyushu Institute of Technology)

RoboCup is a platform designed to promote such research fields as artificial
intelligence (AI) and robotics. In recent years, the Middle size league soccer robot
has a ball dribbling mechanism. This mechanism controls the ball with two drivingrollers and in order to play soccer games well, ball control capability and holding
capacity are indispensable. As the result of a survey at the 2017 World Cup, allteams in the world have determined the rollers arrangement heuristically, and nomathematical consideration has been made. In this research, we quantify theslippage between sphere and rollers in order to propose a mathematical modelthat allows for slippage and evaluate the optimality of the roller arrangementof the world teams.

OS22-5 Robot-control method based on personal space

Kota Kawamoto, Eiji Hayashi, Ryusuke Fujisawa (Kyushu Institute of Technology)

In order for a robot to interact with people, it is necessary for the robot to recognize
human emotions and express its own emotions by both verbal and nonverbal
communication. Furthermore, in our daily life, we unconsciously adjust ourpersonal space according to the intimacy with others. It is also said that personal
space is classified into non-verbal communication. In this research, we analyzed the
distance that a person can tolerate when the robot approaches to identify theminimum distance that the person is able to interact comfortably.

OS22-6 Recognition method of target objects for autonomous tomato harvesting robot
Keiji Kamei, Hiroyuki Moriyama (Nishinippon Institute of Technology, Japan)

Recently, the shortage of agricultural workers and depression of its production
efficiency have been said in Japan. To solve those problems, the researches that
apply the information and robot technology are studied actively. The aim of ourresearch, we focus on the autonomous tomato harvesting robot, and develop therecognition method for target objects. The color identification from a camera anddistance measurement between target objects and a robot are key points. To solve
those problems, we propose to identify the color based on HSV values andLook-Up-Table and measure the distance for target objects using Depth camera.
From the experiments on real field, we succeeded in acquiring the target object fromcamera and measuring the distance.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 82 -

OS23 Kansei and Information Engineering (4)OS23-1 Color Image Arrangement Based on Histogram Matching Using Smoothed Brightness
Histogram (I) --- Overall Smoothing ---Yusuke Kawakami, Tetsuo Hattori, Yoshiro Imai, Koji Kagawa, Yo Horikawa (Kagawa University, Japan), R. P.
C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Although we have already reported that automated color image arrangement by
Histogram Matching based on Gaussian Distribution (HMGD) gives good feeling
impression if the brightness histogram of the original image has a single peak.
However, if there are multiple peaks in the histogram, the HMGD processing does
not always bring good results. In this paper, we propose a Histogram Matching
method using overall smoothing over the brightness histogram of original image as
the reference one instead of using Gaussian distribution. Also in this paper, we
present the experimental results.

Left: original image
Right: processed image

OS 23-2 Color Image Arrangement Based on Histogram Matching Using Smoothed Brightness
Histogram (II) --- Piecewise Smoothing---

Yusuke Kawakami, Tetsuo Hattori, Yoshiro Imai, Koji Kagawa, Yo Horikawa (Kagawa University, Japan), R. P.
C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Although we have already reported that automated color image arrangement by
Histogram Matching based on Gaussian Distribution (HMGD) gives good feeling
impression if the brightness histogram of the original image has a single peak.
However, if there are multiple peaks in the histogram, the HMGD processing does
not always bring good results. In this paper, we propose a Histogram Matching
method using piecewise smoothing over the brightness histogram of original image
as the reference one, after Histogram Analysis by curvature computation. Also inthis paper, we present the experimental results.

2000
1800
1600

Frequency

1400
1200
1000
800
600
400
200
0
1

22 43 64 85 106 127 148 169 190 211 232 253
Lightness

OS23-3 Parameter Estimation Method for Compartment Model - PET Inspection -Tetsuo Hattori, Yusuke Kawakami, Yoshiro Imai, Koji Kagawa, Yo Horikawa (Kagawa University, Japan),
Hiromichi Kawano (NTT Advanced Technology Company Ltd, Japan)
This paper proposes a new general method for parameters estimation incompartment model using DOC (Differentiation of Convolution). In this paper, weapply the DOC method to the parameters estimation in PET (Positron Emission
Tomography) inspection especially. Pet inspection is done for getting physiologicaland biochemical information of organs. The PET camera acquires the image ofradioactive distribution inside the human body. In this paper, we make amathematical analysis of the PET compartment model and describe the DOC
method.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 83 -Ci (t )K1

C p (t )Ce (t )

k2

k3

k4

Cm (t )

OS23-4 Application and Trial Evaluation of Document Writing Support System to Avoid
Emotional Misunderstanding

Shunsuke Doi, Yoshiro Imai, Koji Kagawa, Tetsuo Hattori, Yusuke Kawakami (Kagawa University, Japan)
This paper describes a newly developed system of document designing, handlingand self-checking in order for writers to avoid their readers' unnecessary emotional
misunderstanding and possible repulsion. It is realized as server-client computing
system. The server can obtain user document through the client, scan and separate
the regarding document into word-level expressions, check each word while
matching it with our sentiment dictionary, calculate the relevant sentimental values
for the document and then generate the corresponding radar chart based onemotional axis such as delight, anger, sorrow, pleasure etc. on the relevant user'sWeb. Document writers utilize such a system before transferring and/or archiving,
they can check sentimental values for their documents and recognize how theirones have a lot of emotional feelings. With this facility, the user can check his/her
document and recognize whether the document possibly generates readers'
unnecessary emotional misunderstanding and moreover repulsion which may occur
as a result.

OS24 Automated content generation for narrative and cognitive contents (5)OS24-1 A Method of Haiku Generation Using Deep Learning for Advertising Generation
Jumpei Ono (Vocational School of Digital Arts Sendai, Japan)
Takashi Ogata (Iwate Prefectural University, Japan)

We tried various approaches to generating story. One of them is haiku generation
using deep learning. The method we tried has several tasks, one of which is that
only the word time series data is used as learning data. Therefore, the result oflearning can be a model similar to generation based on simple word transition
probability. Therefore, we will organize the current tasks and try to study thefeatures used for learning and generate by learning results. We also consider how
to use the method tried in this paper for advertisement generation. In addition, we
consider how to use the attempt in this paper for generating different types ofstories.

OS24-2 The Usage Features of Onomatopoeias in the Recipes in Japanese
Hiroki Fukushima (Kyushu Womens’ University, Japan)

In this study, the author analyzes the co-occurrence tendency of onomatopoeias in
the online recipes in Japanese. In Japanese, onomatopoeias are often used todescribe faint or vague senses. Especially, onomatopoeias have considerable power
to express the sense of taste or sense of odor. Focusing co-occurrence relationships,
the author has revealed the roles of onomatopoeias in the tasting description corpus
of wine and Japanese sake. In this study, applying the “form-screening method”, theauthor reveales the semantic functions of onomatopoeia in the recipe data. The
protocol of form-screening methodology is: First, extract sound symbolic words
from the corpus. On the next screening step, all the words extracted in the first step
is changed to an screening word. This screening word must be the same word classas extracted words. And finally, analyze the co-occurrence relationships of thescreened words using a coding soft.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 84 -

OS24-3 Storytelling in the Conversation of Aged People

Yuki Hayashi (Chiba University / Center for Advanced Intelligence Project, Riken, Japan)
Akinori Abe (Chiba University /Dwango Artificial Intelligence Laboratory, Japan)

In the conversation of aged people, some people well spoke about theirexperiences, which was able to attract others. In this paper, we will analyze theirskills of storytelling from the viewpoints of the selection of theme, the constructionof their story and their vocabulary. In addition, it is also important whether they can
attract the other participants’ interests. So we will also analyze the transition of
topics during a conversation.

OS24-4 Expression of the taste of Japanese sake and metaphor

Akinori Abe (Chiba University / Dwango Artificial Intelligence Laboratory, Japan)

Seto explained “tasting expression” from the aspects of synesthetic expressions(both direction), which are metaphor, metonoymy, and synecdoche. When we
express the taste of Japanese sake, we sometimes use the expression “Refreshingscent such as the scent of muskmelon and pear is elegant...” It is rather easy to
express the taste by using the well known taste. However, how we controle the pathof the metaphor flow? For instance, we frequently use the expression “cheek likeapple.” Why we assume the colour is red? Similarly, for the taste of the sake, we
frequently use the expression “taste like apple.” Which apple we assume? In thispaper, we will discuss the flow of the metaphor from the aspect of discusion above..

OS24-5 An Analysis on Advertising Techniques of Beverages Using Positive Factors of
Evaluation Database System
Yoji Kawamura (Kindai University, Japan)

In the advertising business, the CM Research Institute has constructed an
exhaustive evaluation database system of commercial film representation withframework of positive factors. Several factors of positive factors are related tocommercial film techniques. By utilizing data on positive factors, it is possible toanalyze the outline of the commercial film techniques. In this research, based on
the viewing experiment on the communication effect (positive factors, interests,
willingness to buy) of 100 commercial films of beverages (can coffee, tea, beer),
the characteristics (by brand, by category, history transition, relation between
techniques and interest, relation between techniques and willingness to buy) ofcommercial film techniques are analyzed. This analysis method brings about a lotof knowledge and can be utilized for transient analysis and simultaneous analysis ofcommercial film techniques using the evaluation database system.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 85 -

OS25 High-Performance Computing for Interactive Content Creation and Rendering
OS25-1 High-Performance Computing for Visual Simulations and Rendering

Jasmine Wu, Chia-Chen Kuo, Shu-Hsin Liu, Chuan-Lin Lai, Chiang-Hsiang Lien, Ming-Jen Wang, Chih-Wei
Wang(National Center for High-performance Computing (NCHC), Taiwan)
Everyone who is involved in film or animation industry knows how rendering can
be a nightmare. National Center for High-performance Computing (NCHC) built a
render farm that provides a platform for the industry to render their work in a much
more efficient timeframe. Over 100 films in Taiwan was rendered using ourplatform. The newest Render Farm was launched in March of 2018, which allows
not only CPU rendering, but also GPU rendering. The throughput is also greatly
improved to support complex and large scale simulations. Our Render Farm iscurrently being used by animation students in Taiwan, as well as companies fromthe industry. The main goal of this session is to introduce scientific discoveries andtechnical innovation through prospective computing technology and platform.

OS25-2 Virtual Reality as an Art Form

R.P.C. Janaka Rajapakse, Yi-ping Hung (Tainan National University of the Arts, Taiwan)

After introducing content creations in the immersive environments, the VR content
creation process has been changed dramatically. It has enhanced the direct
engagements of the artists and reduces the time it takes to get a part from the idea
stage to the production stage. Time consuming VR content creation process has
been reduced to hours or days. Not only is the time reduced, but the cost is alsosignificantly reduced. The reduced time and cost allows artist to work in nearreal-time, with the design and production happening at nearly the same time. Thissection of the session is focused on VR content creation process and its artistic
perspectives. Especially, not only concerning VR contents creation in immersive
environment is an alternative to find new form of art. And the last part of the speech
concerns about the role of VR in the live performance and new form of theater.

OS25 -3 Using Quill as a Tool for Real-Time Rendering

Jasmine Wu, Chia-Chen Kuo, Shu-Hsin Liu, Chuan-Lin Lai, Chiang-Hsiang Lien, Ming-Jen Wang, Chih-Wei
Wang(National Center for High-performance Computing (NCHC), Taiwan)
Unity and Unreal are game engines that renders in real-time, and the supercomputers at NCHC not only supports both, but it also presents a faster frame rate.
Rendering is indeed a time consuming procedure, the process of 3D animation
takes even longer with more men-power. Quill is a VR illustration and animation
tool for the Oculus Rift, which can shorten the traditional 3D animation process
done in 3D software, because its 3D models are painted rather than having to go
through the process of modeling, texturing, and rigging. This is a great tool tocreate content for Unity or Unreal, which can then be rendered in real-time by thesuper computers at NCHC. Another example to demonstrate NCHC’s real-timerender farm was by performance art. We have high data throughput that can help
the performer to do a large scale VFX simulation and to create new kinds ofcross-disciplinary performances. As we develop through time, more and more
applications can be seen in the near future.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 86 -

GS abstracts
GS1 Robotics I (4)GS1-1 System to decide unit’s layout of cell assembly machine by GA (Big Mutation in mutation
process)
Yoshiki Ito, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)

The purpose of this research is to develop a system to decide unit’s layout
which automatically decides to place a lot of assembled parts, jigs and robot
hands of a cell type Assembly Machine by genetic algorithm (GA). The
system consists of two modules, the conditions module and GA module. The
conditions module reads work data for robot, and sets various parameters
required for GA.GA module decides the efficient arrangement place of parts,
jigs and robot hands by GA, and outputs the acquired arrangement images.
This system proposes the concept of Big Mutation that changes the mutation
rate of GA every certain generation. By introducing Big Mutation , thepossibility of searching an optimal unit placement increases and the systemsimulation time is shortened. It is ascertained that the system to decide unit’s
layout including Big Mutation is useful.

GS1-2 Autonomous decentralized FMS that adopts priority ranking structure based on AGV’slies
Kento Uejo, Hidehiko Yamamoto, Takayoshi Yamada (Gifu University, Japan)

We introduce the model of AGV mind to eliminate path interferences between
AGVs when running an autonomous decentralized FMS and carry out
behavior controls. The conventional autonomous decentralized FMS believes
all information sent by agents as correct. However, the information sent bysome agents may be incorrect due to malfunctions. We define this incorrect
information as a “lie” and carry out the AGVs action controls which doesn’t
decrease the outputs of autonomous decentralized FMS even if lies occur. In
order to do this, we propose a “priority ranking structure”. The proposed
method is ①to give a ranking to each AGV according to a lie number, ②togive high ranking AGVs to share jobs. In order to prove the effectiveness,
production simulations using priority ranking structure and the conventional
research method were carried out. As a result, the productivity of propose
method was higher than that of the conventional research method. It is
ascertained that the priority structure is usefulGS1-3 CULET: Cubelet Lego Turing Machine.

Ricardo Q. Figueroa, Daniel A. Zamorano, Genaro J. Martínez (Instituto Politécnico Nacional, México)Andrew Adamatzky (University of the West of England, UK)
In this paper, we show the construction of CULET: a robot that simulates theexecution of any 2-symbols Turing machine. CULET is constructed with
Cubelets (small autonomous robot-cubes used for teaching basic robotics andprogramming for kids) and Lego bricks. Cubelets are a kind of high level
programming where you do not use traditional code but rather achieves
different robots trough the concatenation of blocks, i.e. robots assembled.
CULET is designed to performance the read and write of a Turing machine.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 87 -

GS2 Robotics II (5)GS2-1 Automated Guided Vehicle System Analysis in Foam Manufacturing Plant Using Petri-net
Amornphun Phunopas1, Wisanu Jitviriya1, Noppadol Pudchuen1, Sutee Kumjaikong1, Songklod Tunsiri2,
Eiji Hayashi3 (1King Mongkut’ s University of Technology North Bangkok, Thailand,2Urban Community
Development College, Thailand, 3Kyushu Institute of Technology, Japan)
The logistic robot is very popular nowadays. The robots run in autonomous,
reactive, and parallel situations. These kinds of work are defined as astochastic problem. We focus on task distribution, routing, scheduling, andqueueing. This paper presents a multi AGVs operational analysis in the foam
manufacturing plant using the Petri-net. Each robot is designed arole-assignment supervisor with the role of a robot fixed in a zone. According
to the work capacity, the supervisor assigns the role of high capacity work toanother robot to help in a new zone. To monitor the work situation, thesupervisor continually receives feedback information of the system. The
analysis is necessary for preventing any failure that can make the central
software go down. The results show system management for robotic assistantsin the foam manufacturing process.

Zone0

Zone1

*Special0

Zone2
Zone5
Zone3

Zone4

GS2-2 Preliminary Comparative Experiments of Support Vector Machine and Neural Network
for EEG-based BCI Mobile Robot Control
Yasushi Bandou, Takuya Hayakawa, Jun Kobayashi (Kyushu Institute of Technology, Japan)

The authors have been developing an EEG-based BCI for mobile robot
control, using neural networks that classifies their brain waves to recognize
intention of a mobile robot operator. In order to achieve practical classification
capability with them, we had applied some techniques, such as Bayesian
Optimization for hyperparameters, to the neural network training; however,satisfactory performance of the neural networks has not been obtained yet.
Support Vector Machine (SVM) is another machine learning method that
demonstrated its usefulness in lots of other studies. In this study, for further
development of practical EEG-based BCI for mobile robot control, we haveexperimentally employed SVM for brain wave classification and compared
the performance with the neural networks. This paper presents thecomparative results.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 88 -

Brain Wavemm
Co

Mobile Robot

NN

d
an

SVM

GS2-3 Position Tracking Error Constrained Super-Twisting Dynamic Surface Control with
Disturbance Observer for Robot Manipulators
Seong Ik Han (Dongguk University, Korea Republic)

A tracking error constrained dynamic surface control (DSC) with asuper-twisting algorithm (STA) and a nonlinear disturbance observer is
proposed for robot manipulator systems, where the system dynamics are
partially known. The stabilizing controls of the DSC were designed by
combining the STA with the virtual tracking errors defined from the DSC
design concept. A nonlinear disturbance observer was designed to estimate
the unknown nonlinear function and external disturbance instead of usingparameterization of the nonlinear function or adaptive law in theconventional STA and DSC schemes. Moreover, a simpler tracking error
constraint method is also proposed. The proposed tracking error constrained
STA-DSC scheme combined with a nonlinear disturbance observer has
better tracking error performance and robustness to uncertainty of robot
manipulator system than control systems with a conventional DSC anddisturbance observer. The control scheme was evaluated throughsimulations with the articulated manipulator system.

GS2-4 Image Processing for Picking Task of Random Ordered PET Drinking Bottles
Chen Zhu, Takafumi Matsumaru (Waseda University, Japan)

In this research, six brands of soft drinks are decided to be picked up by a 6
degree of freedom robot with a monocular RGB camera. The drinking bottles
need to be located and classified with brands before being picked up. The
Mask R-CNN, a mask generation network improved from Faster R-CNN, istrained with COCO datasets to detect and generate the mask on the bottles in
the image. The Inception v3 is selected for the brand classification task.
Around 200 hundred images are taken or found at first; then, the images areaugmented to 1500 images per brands by using random cropping andperspective transform. The result shows that the masked image can be labeledwith its brand name with at least 85% accuracy in the experiment.

GS2-5 The Use of Importance Ranks to Derive Suitable Timing of Visual Sensing
in Manipulation Task Containing Error Recovery

Akira Nakamura1, Kazuyuki Nagata1, Kensuke Harada2, Yukiyasu Domae1( National Institute of Advanced Industrial Science and Technology (AIST), 2 Osaka University, Japan)
1

In general, a manipulation task can be composed of many skill primitives. It is
desirable to perform plural visual sensing in most skill primitives as geometricmodeling and task planning are performed before execution, and task
achievement is confirmed after execution. However, the performance ofsensing at all sensing points is difficult because of the restrictions of time andhardware. In this paper, we proposed the addition of importance ranks to theattribute of skill primitives to derive suitable timing to perform visual sensing.
The use of the proposed method eases the selection of skill primitives inwhich visual sensing should be performed. Furthermore, we showed that skill
primitives distinguished according to their high importance ranks considerably
correlate with those in which error recovery is considered in advance. This
characteristic can be used for selecting skill primitives in which error recovery
is planned in advance.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 89 -

Move-to-destination

Falling

Plan

PracticeGS2-6-1 Electronic Measurement and Gamification of Balance Tests

Yan-Xin Liu, Massimiliano Leggieri, Henrik Hautop Lund (Technical University of Denmark, Denmark)We gamified three common balance tests for fall risk diagnosis, Timed Up &Go (TUG), Chair Stand (CS), and Four Square Step Test (FSST), by using theMoto Tiles. The embedded pressure sensor of the Moto Tile was used to detect
the movement of subjects and to time the tests. The proposed Motomeasurement was compared with traditional stopwatch measurement. A totalof 51 samples were analyzed. The intraclass correlation coefficients of the
TUG and CS tests were very high (0.98 and 0.94). The FSST was analyzed by
Pearson’s correlation coefficient and the result also indicated strong
correlation (0.79). Based on the results, we concluded that the proposed Moto
tests are as reliable as traditional tests.

GS2-6-2 Playful Body and Brain Test with the Moto Tiles

Yan-Xin Liu, Massimiliano Leggieri, Henrik Hautop Lund (Technical University of Denmark, Denmark)We gamified three common balance tests for fall risk diagnosis, Timed Up &Go (TUG), Chair Stand (CS), and Four Square Step Test (FSST), by using theMoto Tiles. The embedded pressure sensor of the Moto Tile was used to detect
the movement of subjects and to time the tests. The proposed Motomeasurement was compared with traditional stopwatch measurement. A totalof 51 samples were analyzed. The intraclass correlation coefficients of the
TUG and CS tests were very high (0.98 and 0.94). The FSST was analyzed by
Pearson’s correlation coefficient and the result also indicated strong
correlation (0.79). Based on the results, we concluded that the proposed Moto
tests are as reliable as traditional tests. Further, we propose a novel playful
body and brain test. The test includes a series of standardized Moto Tiles
games, which cover both physical and cognitive abilities. Reference scores of
the tests were modeled by data collected from a large number of participantsof different ages. The reference scores can be applied to evaluate a user’s bodyand brain abilities in comparison with the average performance at the sameage.

GS3 Complexity (2)GS3-1 Extracting Co-occurrence Feature of Words for Mail filtering

Seiya. Temma, Manabu. Sugii, Hiroshi. Matsuno (Yamaguchi University, Japan)

Spam mail filters often take advantage of appearance frequency of words in atext for mail classification. However the appearance frequency is one of themost important attribute information with which the mail can be characterized,
not a few spam mails can not be distinguished with only the appearance
frequency of words. In order to search new attribute information tocharacterize and classify the mails, we analyzed relationship between words ina text of mails by text data mining. Also we visualized the word network by
the co-occurrence and multi-dimensional scaling analysis with the jaccard
coefficient in real mails. Co-occurrence network analysis showed important
word connections with noun and verb in the same kinds of mails.
Multi-dimensional scale analysis showed some word clusters extracted fromthe same kind of mails. We’ll plan to explore how to utilize the result of thisstudy for mail classification.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 90 -

GS3-2 Learning Style Classification with Weighted Distance Grey Wolf Optimization

Duangjai Jitkongchuen, Piyalak Pongtawevirat (Dhurakij Pundit University, Thailand)

The multiclass classification seems to be difficult to improve the performanceof the built classification model. This research aims to improve theperformance of multiclass classification by using grey wolf optimizer (GWO)
algorithm. But in the original GWO, the evolutionary information of
population has not been fully utilized, and it is easy to fall into local optimum.
The proposed algorithm presents a solution to improve the grey wolf
optimizer performance using weighted distance and immigration operation.
The weight distance is used for the omega wolves movement is defined from
fitness value of each leader (alpha, beta and delta). The proposed technique isbased on learning style prediction which addresses multiclass classification
problem. The results showed that the proposed technique obtained the higher
accuracy rate than other classification techniques. This was implemented toapplication of learning style prediction which can provide the course materials
suitable for learners regarding their learning style.

GS4 Poster (5)GS4-1 Relevance Research among Destination Image, Brand Trust, and Satisfaction: Tainan
Festival in Taiwan as Example
Shang-Hui Li, Shu-Fang Hsu, Yi-Tai Shang (Far East University, Taiwan)

In recent years, all local governments of Taiwan have held sightseeing
festivals to enhance their popularity, promote their economy, to establish theirbrand. Tainan, the second biggest city in southern Taiwan, also promotes thevarious agricultural products and sightseeing to serve customers as the region's
annual event. This study took Tainan Festival as an example to explore therelevance of the destination image, brand trust, and satisfaction. The
participants for those who took part in 2017 Tainan Festivals, from May to
July, were the main subjects on this study. 500 questionnaires were issued, 465
valid questionnaires collected, 93%. The finding results showed that thedestination image of Tainan festival activities had a positively effects on
satisfaction, brand trust had a positive effects on satisfaction, destination
image had a positive effects on brand trust, brand trust had the intermediaryeffect to the satisfaction and destination image.

GS4-2 Third-party Logistics Service Supply: Catering Service Trade as Example
Shu-Fang Hsu, Shang-Hui Li (Far East University, Taiwan)

With the development of third-party logistics, refrigeration technology, andtransportation which made the food to obtain easily, and improve the quality offood preservation. Now, the catering chefs just ordered his needed foods byline, telephone, fax, or fill the order list etc., to inform the third-party logistics
suppliers and there will be someone assigned to the designated location which
could save purchasing time and catering chefs don’t need to rush around to
procure foods. This study analyzed the collected information throughliterature, in-depth interviews, and observation methods. Third-party logistics
suppliers conducted the information, logistics, and cash flow by the different
deal due to the different nature of suppliers. Third-party logistics suppliers
could be exhaustive on the quality management, logistics activities, interactivemode of trust mechanism, which could not only win the good reputation by thecatering chefs, but the professional core competence.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 91 -

GS4-3 Pedal Scale Control Device for Weighing Food Ingredients or Chemical Materials
Shang-Hui Li, Shu-Fang Hsu, Yi-Tai Shang, Kuan-Ying Chen (Far East University, Taiwan)

Safety and hygiene is one of the most important elements when weighing
ingredients or chemical materials. It may cause cross-contamination when
preparing them if the operators conduct the scale button and hold the foodingredients or chemical materials by using both hands. The invention relates toa pedal scale control device comprising a scale body and a foot unit. The
wireless signal on the foot unit can be connected to the scale body to zero andbuckle the function without using of both hands. This invention has obtained
Taiwan's invention patent, which is more hygienic and safety for the users
when weighing the food ingredients or chemical materials.

GS4-4 Convolution Neural Network Based Fault Diagnosis of Induction Motors
Jong-Hyun Lee, In-Soo Lee (Kyungpook National University, Korea)

Induction motors are one of the most important components for machine andindustrial equipment in modern industrial applications. Therefore, it isnecessary to develop a fault diagnosis system that detects the operating
condition and failure of the induction motor early. This paper presents a
induction motor fault diagnosis system using CNN(Convolution Neural
Network) model. In the proposed method, the fault diagnosis of the induction
motor is performed by using vibration signal data obtained from theinduction motor experiment as the input value of convolution neural networkmodel. And then fault diagnosis was made using convolution neural network.
In this paper, fault diagnosis of steady state, rotor and bearing failure ofinduction motor is performed. From the experimental results, it is confirmedthat the proposed method is suitable for diagnosis of rotor and bearing failureof induction motor.

Fig. 1. Experimental environment
for fault diagnosis ofinduction motors

GS4-5 Analysis of Value Chain on Food and Beverage Micro-enterprises: Mobile Diner as
ExampleShu-Fang Hsu, Shang-Hui Li (Far East University, Taiwan)

This study was based on the theory of value chain proposed by Porter, 1985, in
conjunction with the mobile diner industry from the value activities created in
the value chain. The main activity was to analyze the competitive advantage ofthe mobile diner and the added value to meet customers’ need. In this study,
the Delphi method was used, and then conducted with interview andobservation method on 10 homogeneous mobile diners to gain an in-depth
understanding of the development and current situation in southern Taiwan.
Exploring their competitiveness, and discovering that the businessmen
purchased the necessary food by themselves, which could ensure safety. In
terms of marketing and sales, due to the mobility and easy acceptance ofcustomization, the relative value of products and services are relatively
improved. This study could provide a practical reference formicro-entrepreneurs who want to invest in food and beverage in the future.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 92 -

GS5 Others (8)GS5-1 Suppression of Roll Oscillation in Turning of Quadruped Robot by Asymmetric
Amplification of Central Pattern Generator Output Waveform
Makoto Kitani, Ryo Asami, Noritake Sato (Nagoya Institute of Technology, Japan),
Tomofumi Fujiwara, Takahiro Endo, Fumitoshi Matsuno (Kyoto University, Japan),
Yoshifumi Morita (Nagoya Institute of Technology, Japan)

One of control methods for walking of a robot is a central pattern generator(CPG). Using the CPG for a legged robot, it can walk on rough terrain.
Kimura et al. developed a quadruped robot “Tekken”, which is controlled by
the CPG. Tekken can turn by controlling the hip yaw joint. However, when the
robot turns by controlling the hip yaw joint, there is a problem that thevibration in the roll direction is large. To solve this problem, we proposed amethod of asymmetric amplification of CPG output waveform. We
implemented the proposed method on the robot inside the simulator andverified the effectiveness at turning. As a result, we achieved a 43.7%
decrease in the roll angle of the robot body than the conventional method. It is
assumed that legged robots can turn stably using our proposed method.

GS5-2 Tumble avoidance system for rescue robot by estimating the contact points using a 3D
depth sensor
Noritaka Sato, Kotaro Ohshima, Yoshifumi Morita (Nagoya Institute of Technology, Japan)

Rescue robots are expected to perform works in hazardous areas. However,when the robot runs on a rough terrain, fatal rollover falling sometimes
occurs. Therefore, we propose a tumble-risk-assessment system, which
reconstructs the environment, estimates the contact points between the groundand the robot, and calculates a normalized energy stability margin (SNE) by
using a 3D depth sensor. Moreover, a control system to avoid the tumble
situation by moving the sub-crawlers automatically is proposed. In the control
system, the SNE is partially differentiated by the angles of the sub-crawlers
and the sub-crawlers move to increase the SNE. We implemented the
proposed systems to a real robot, carried out experiments, and confirmed theeffectiveness of the proposed method.

GS5-3 Rule based Intrusion Detection System by Using Statistical Flow Analysis Technique forSoftware Defined Network
Mahnoor Ejaz, Osama Sohail, Talha Naqash, Zain ul Abideen, Sajjad Hussain Shah
(Bahria University, Pakistan)

Network Security is a vast field making progress around the globe very fast.
In every progressing year, developers have implemented different tools, which
include Intrusion detection systems. Nowadays Intrusion Detection System(IDS) is one of the popular tools, which are drawing the attention of many
researchers. Applying it in Software Defined Networking (SDN) facilitates
network management and enables to enhance the productivity of network
monitoring. Classifying packets based on their statistics and separating theforward process of network packets from the routing process is the main
challenge. In this paper, rule-based classification is done in order todifferentiate between viruses and normal packets. Statistical analysis ofdifferent network traffic flows are done through which segregation is madeand intrusion is detected in Software Defined Networking. The proposedsystem is experimentally tested on UNB ISCX data,sets©ICAROB 2019 ALife Robotics Corp. Ltd.

- 93 -

GS5-4 Development of Testbed for SDN to Know Its Feasibility of Deployment on Access Layer
Rafay Shah, M Osama Shaikh, Talha Shaikh, Tanveer Hussain(Mehran University of Engineering & Technology, Pakistan)

Today, the network requirement of organizations includes enhancing
performance, realizing broader connectivity and security regulations. In order
to comply with all of these criteria, networking protocols have been evolving
significantly over the last few decades. Internet of Things (IoT) has shifted ITfrom server entity to the network entity. Software Defined Networking (SDN)
is a solution of these all problems found in traditional networking. SDN
separates control plane from data plane, which makes it easier for an IT
Administrator to easily deploy and update regulatory policies. In this project,
we have developed a testbed kit using Zodiac-FX Open- Flow Switch for
SDN and have tested SDN feasibility on Access Layer. We have also
simulated a network of Faculty of Electrical Electronics Computer
Engineering (FEECE) of Mehran University of Engineering and Technology(MUET) and have found that SDN performs better than traditional networkarchitecture of FEECE of MUET.

GS5-5 Spectrum Sensing using Unsupervised Learning for Cognitive Radio

Asmara Shaukat, Danish Khan, Talal Arshad, Haseeb Ahmad (PAF-KIET, Pakistan)Cognitive Radio is the type of wireless communication which has the ability
to learn from its surrounding and reconfigure its operating parameters. It uses
radio spectrum efficiently by detecting which communication channels are in
use and which are not, and instantly move into vacant channels while avoiding
occupied ones. This optimizes the use of available radio-frequency (RF)spectrum while minimizing interference to other users. Spectrum sensing is
one of the most important tasks performed by the CR. Spectrum sensing refers
to the ability of a CR to measure the spectrum activities due to ongoingtransmissions over different spectrum bands and to capture the relatedparameters, it tells us about spectrum usage and existence of primary users ina geographical area. In this work we perform Spectrum sensing using
unsupervised learning algorithm (K- mean clustering) and find vacant
spectrum.

GS5-6 Tracking Secondary User In Cognitive Radio For 5g Communication

Muhammad Adnan, Muhammad Umair, Sameed bin Junaid (PAF-KIET, Pakistan）

Cognitive Radio (CR) is a promising technology which resolves the spectrum
scarcity issues and allows secondary user (SU) to use the vacant spectrum
space. Many secondary users are allocated different spectrum bands toenhance spectrum utilization. SU co-exists with the PU in the CR network andcontinuously monitors PU activities in order to use vacant space of PU in the
spectrum. The movement of SU in the CR network is random and therefore itis necessary to track the position of SU and measure radio signal strength
indicator (RSSI) in order to avoid interference with the PU. In this work, we
present the implementation and comparison of two algorithms KALMAN
Filter and State Space Least Mean Square (SSLMS) to track the position of
SU in the CR network under log distance and log normal shadowing path loss
models. Both algorithms track the position of SU by measuring RSSI and
Signal to Noise Ratio (SNR) from the PU; however SSLMS gives better
performance as compared to KALMAN Filter.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 94 -

GS5-7 Wireless Power Transfer and Data Communication For Biomedical Applications
Hammad Saleem, Muhammad Awais, Siraj Din, Attequa (PAF-KIET, Pakistan)

A technique of wireless power transfer (WPT) system for biomedical
applications with backscattering communication, a rectifier use with active
bias mechanism (dependent and independent stages) overcome the diodedevice losses has been presented in this paper. Apart from conventional andstatic Vth cancellation technique rectifiers, it achieves more than double
efficiency and achieves power loss reduction in both forward and reverse
biased conditions it decrease turn on voltage in forward bias condition alongwith decrease in reverse leakage current during reverse bias condition. Under
the input conditions (Vin = 1Vp-p coupling coefficient ‘k’= 0.01 at 200MHz
frequency with transmitter and receiver inductance of 22nH), actively biased
differential drive rectifier is able to achieve DC voltage of 880mv for 50kΩ
load resistance in dependent stage and achieves DC voltages of 803.2mv for
50kΩ load resistance in independent stage. Regulated output DC voltage isprovided under variable coupling conditions and becomes more efficient.
Backscattering communication has been performed using switch by changing
the resonance frequency of the receiver.

GS5-8 Feasibility Study of UAV Implementation In Route Surveying

D.Hazry, M A Azizan, Safwan Suhaimi, Zulaiha Ramli, Mohamad Syafiq A.K, Zainuddin Hat(Universiti Malaysia Perlis, Malaysia)

Unmanned Aerial Vehicles (UAVs) are widely used in numerous field and thetechnology keeps growing. Generally, conventional method use in datacollection for engineering work is tedious and requires a lot of manpower.
This research focuses on the investigation of the suitability of UAV for routesurvey. There were three stages: data collection, data processing and data
analysis. By using KAMA BETA, the data was collected. For data processing,Pix4Dmapper used for point cloud and AutoCAD 2014 for analysis stage. The
result is mainly focused on extracting the road profile and test the point clouddata using RMSE. The result from both method, conventional and UAV fromthe point cloud data using RMSE show only the small difference.

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 95 -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]

Arasuna

Masaki

OS7-4

23/54

Abbasi

Saad

OS3-1

25/46

Arshad

Talal

GS5-5

38/95

Abe

Akinori

OS24-3

37/85

Asada

Taro

OS7-2

23/54

OS24-4

37/85

OS7-3

23/54

OS7-4

23/54

Abideen

Zain ul

GS5-3

38/93

AburadaKentaro

OS6-3

35/52

Asami

Ryo

GS5-1

38/93

OS6-4

35/52

AshidaYoichiroOS18-1

25/74

OS6-5

35/53

Attequa

GS5-7

38/96

OS6-6

36/53

Awais

Muhammad

GS5-7

38/96

Azizan

MA

GS5-8

38/96

Adamatzky

Andrew

GS1-3

27/87

Adnan

Muhammad

GS5-6

38/94

Ahmad

Haseeb

GS5-5

38/94

Ahn

JonghyunOS21-1

24/79

Bai

Ruixiang

OS11-12

27/64

OS21-2

24/80

BandouYasushi

GS2-2

31/88

OS2-2

23/45

Bei

XiaominOS14-4

23/70

OS2-3

24/45

Bian

Ce

OS11-2

26/61

OS2-4

24/45

OS11-9

27/63

OS2-5

24/46

Blanchard

Damien

OS2-3

24/45

OS2-6

24/46

Bui

Duc Viet

OS17-2

30/73

GS5-8

38/96

AiharaA. K.

Kazuyuki

Mohamad[B]

Syafiq[C]

AlahmadRaji

OS20-3

20/77

Cai

Jia-Hong

OS1-5

21/43

An

Jong-Woo

OS3-3

25/47

Chang

Keng-Hao

OS1-3

21/42

An

LingranOS11-1

26/61

OS1-4

21/43

OS11-3

26/61

Chang

Liang

OS15-5

31/72

OS11-5

26/62

Chen

Kuan-Ying

GS4-3

29/92

OS11-6

26/62

Chen

Qiang

OS14-4

23/70

Chen

XiaoyanOS13-1

27/66

OS13-10

28/69

Aoki

Kenji

OS8-1

19/55

Araki

NozomuOS18-2

25/74©ICAROB 2019 ALife Robotics Corp. Ltd.

- 96 -

Chen

Yan-Ren

Chen

Ying

OS1-3

21/42

Fujii

Seika

OS8-3

19/55

OS1-4

21/43

Fujii

Teruo

OS2-5

24/46

OS11-2

26/61

Fujinaga

TakuyaOS22-3

34/82

OS11-7

26/63

Fujisawa

Ryusuke

OS20-6

20/78

OS11-927/63

OS20-7

20/79

Chen

Yun-ju

OS5-4

37/51

OS20-8

20/79

ChikushiShota

OS22-434/82

OS22-534/82

ChoYoung Im

IS-2

28/41

[D]

Fujiwara

Tomofumi

GS5-1

38/93

Fukushima

HirokiOS24-2

37/84

Furutani

Hiroshi

OS8-1

19/55

D.

Hazry

GS5-8

38/95

OS8-2

19/55

Dai

FengzhiOS11-1

26/61

OS8-3

19/55

OS11-2

26/61

OS8-4

19/56

OS11-3

26/61

OS8-5

19/56

OS11-4

26/62

OS8-6

19/57

OS11-5

26/62

OS8-7

19/57

OS11-6

26/62

OS11-7

26/63

OS11-8

26/63

OS11-1027/64

OS11-927/63

OS11-1227/64[G]
ZihengGao

di Maria

EnricoOS20-5

20/78

Ge

Zefan

OS11-11

27/64

Din

Siraj

GS5-7

38/95

Geng

KaixuanOS11-11

27/64

Doi

ShunsukeOS23-432/84

Gunaratne

Praveen

OS19-3

34/76

Domae

Yukiyasu

GS2-5

31/89

Du

Meng

OS13-1

27/66

OS1-7

21/44

OS4-2

22/48

Nuwantha
Guo

[E]
Ejaz

Mahnoor

GS5-3

38/93

Endo

Takahiro

GS5-1

38/93

Jr Hung

Guo

Shaoyan

OS15-3

31/71

Guo

XinranOS11-5

26/62

Han

JialinOS11-4

26/62

[H]
[F]
Figueroa

Ricardo Q.

GS1-3

27/87

Han

Seong Ik

GS2-3

31/89

Frederiksen

Morten Roed

IS1-1-1

18/40

Han

Yu

OS13-8

28/68

Fu

Ziyi

OS14-1

22/69

Hanajima

Naohiko

OS15-1

30/70

Fuchigami

KazukiOS21-2

24/80

HaradaKensuke

PS-1

29/39

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 97 -

HaradaKensuke

GS2-5

31/89

OS8-4

19/56

HaradaKazumasa

OS21-5

24/81

OS8-5

19/56

Hat

Zainuddin

GS5-8

38/95

OS8-6

19/57

Hattori

TetsuoOS23-1

32/83

OS8-7

19/57

OS23-2

32/83

HiyamaTsukasa

OS16-1

30/72

OS23-332/83

Ho

Chian C.

OS1-6

21/43

OS23-4

32/84

Hori

Masamichi

OS10-1

36/59

OS10-2

36/59

OS23-1

32/83

HattoriYukio

OS19-1

34/76

Hayakawa

Takuya

GS2-2

31/88

Hayashi

Eiji

OS20-1

20/77

OS23-2

32/83

OS20-6

20/78

OS23-3

32/83

OS20-7

20/79

OS1-5

21/43

OS20-8

20/79

OS1-7

21/44

OS22-5

34/82

OS4-3

22/48

GS2-1

31/88

OS4-7

22/50

GS4-1

29/91

Horikawa

Yo

Kuo-Hsien

Hsia

HayashiYuki

OS24-3

37/85

He

Yufan

OS11-5

26/62

GS4-2

29/91

OS11-9

27/63

GS4-3

29/92

GS4-5

29/92

Hsu

Shu-Fang

Higashi

KatsunoriOS21-2

24/80

Hirai

Hiroyasu

OS21-2

24/80

Huang

Bo-Kai

OS1-2

21/42

OS21-4

24/80

Huang

JingxuanOS13-8

28/68

Hirakoba

Futa

OS6-3

35/52

Huang

QianliOS12-1

33/65

Hiraoka

Toru

OS5-1

36/50

Huang

TieqiuOS12-1

33/65

OS5-2

37/50

Hung

Chung-Wen

OS1-1

20/42

OS1-2

21/42

HirataYusukiOS20-4

20/78

Hiroyasu

Tomoyuki

OS8-1

19/55

Hung

Yi-ping

OS25-2

33/86

OS8-2

19/55

Hussain

Tanveer

GS5-4

38/94

OS8-3

19/55

Hwang

Do-Kyung

OS3-3

25/47

OS8-4

19/56

OS8-5

19/56

OS8-6

19/57

Satoshi

OS5-3

37/51

OS8-7

19/57

OS10-1

36/59

OS8-1

19/55

OS10-2

36/59

OS8-2

19/55

OS10-4

36/60

OS8-3

19/55

OS21-2

24/80

Hiwa

Satoru©ICAROB 2019 ALife Robotics Corp. Ltd.

[I]
Ikeda

Ikeda

- 98 -Tomomasa

Ikeuchi

Yoshiho

OS2-5

24/46

OS14-3

23/70

Imai

ShinichiOS16-430/73

OS15-3

31/71

Imai

Yoshiro

OS6-1

35/51

OS15-5

31/72

OS23-1

32/83

Jia

Yongnan

OS15-2

30/71

OS23-2

32/83

Jiang

Wenping

OS13-6

28/68

OS23-3

32/83

Jin

Xia

OS11-1

26/61

OS23-432/84

OS11-3

26/61

OS20-2

20/77

OS11-5

26/62

OS20-3

20/77

OS11-6

26/62

OS20-5

20/78

Jitkongchuen

Duangjai

GS3-2

32/91

OS21-1

24/79

Jitviriya

Wisanu

GS2-1

31/88

OS21-2

24/80

JunaidSameed bin

GS5-6

38/94

OS21-324/80

OS21-424/80

OS22-2

34/81

Koji

OS23-1

32/83

OS22-3

34/82

OS23-2

32/83

OS22-434/82

OS23-3

32/83

OS10-1

36/59

OS23-432/84

OS10-2

36/59

Kamei

Keiji

OS22-6

34/82

OS5-1

36/50

Kan

Ryota

OS7-4

23/54

OS5-2

37/50

Katayama

Tetsuro

OS6-3

35/52

OS5-3

37/51

OS6-4

35/52

OS10-1

36/59

OS6-5

35/53

OS10-2

36/59

OS6-6

36/53

OS10-4

36/60

OS2-2

23/45

OS5-1

36/50

OS2-6

24/46

OS5-2

37/50

OS16-1

30/72

OS5-3

37/51

OS16-3

30/72

Ishii

Kazuo

IshizuTakahiro

Ito

Takao

Ito

Tsutomu[K]
KagawaKatori
KawadaYuichi
Kazuo

Ito

Yoshiki

GS1-1

27/87

Kawaguchi

Natsuki

OS18-2

25/74

Iwanaga

Saori

OS17-1

30/73

Kawakami

YusukeOS23-1

32/83

OS23-2

32/83

OS23-3

32/83

OS23-4

32/84

[J]
Jheng

Li-Sheng

OS1-1

20/42

Jia

HongyanOS13-3

28/67

Kawamoto

Kota

OS22-5

34/82

Jia

Yingmin

PS-3

35/39

Kawamura

Yoji

OS24-537/85©ICAROB 2019 ALife Robotics Corp. Ltd.

- 99 -

KawanoHiromichi

OS23-3

32/83

KawazoeKengo

OS20-7

20/79

Lai

Khan

Danish

GS5-5

38/94

Khoyratee

Farad

OS2-5

24/46

Kim

Hyun-Hee

OS3-1

25/46

Kim

Ji-Hyeon

OS3-2

25/47

Lee

Kim

Soo Hyeon

OS2-5

24/46

KimuraKenji

OS22-4

Kinoshita

TakuyaYoshihiro

Kita

OS25-3

33/86

Chun-Chi

OS4-1

21/48

Lee

In-Soo

GS4-4

29/92

Lee

Jang-Myung

OS3-2

25/47

OS3-3

25/47

Jong-Hyun

GS4-4

29/92

Lee

Min Cheol

OS3-1

25/46

34/82

Lee

Roger CL

OS1-2

21/42

OS18-325/75

Lee

Soo-jeong

OS3-4

25/47

OS18-525/75

Leggieri

Massimiliano

IS1-1-1

18/40

OS6-3

35/52

GS2-6-1

31/90

OS6-4

35/52

GS2-6-2

32/90

OS6-5

35/53

OS2-3

24/45

OS6-6

36/53

OS2-4

24/45

OS2-5

24/46

Levi

TimothéeKitani

Makoto

GS5-1

38/93

Kobayashi

Jun

GS2-2

31/88

Li

BingheOS22-3

34/82

Kobayashi

Keitaro

OS8-4

19/56

Li

Chenyang

OS12-2

33/65

Kohno

Takashi

OS2-1

23/44

Li

Hao

OS11-3

26/61

OS2-4

24/45

OS11-6

26/62

KoizumiNoriko

OS8-4

19/56

Li

Handong

OS14-2

22/69

KonishiYasuo

OS18-2

25/74

Li

Hongbing

OS4-5

22/49

Kozui

Masatoshi

OS18-325/75

LiJung-Shian

OS1-3

21/42

Kubo

Masao

OS17-1

30/73

OS1-4

21/43

OS17-2

30/73

Li

Min

OS12-2

33/65

OS17-3

30/74

Li

Qing

OS15-2

30/71

OS5-1

36/50

Li

Shang-Hui

GS4-1

29/91

OS5-2

37/50

GS4-2

29/91

KumanoMinoruKumjaikong

Sutee

GS2-1

31/88

GS4-3

29/92

Kuo

Chia-Chen

OS25-1

33/86

GS4-5

29/92

OS25-3

33/86

OS11-4

26/62

OS6-2

35/52

OS11-826/63

Kurozumi

Ryo

Li

[L]
Lai

Chuan-Lin

OS25-1©ICAROB 2019 ALife Robotics Corp. Ltd.

33/86

Yang

Li

Yuling

OS15-4

31/71

Liao

Guan-Lung

OS1-6

21/43

Lien

Chiang-OS25-1

33/86

Hsiang- 100 -

Lien

Chiang-OS25-3

33/86

Hsiang

Mehta

Rajiv

OS5-3

37/51

Magid

Evgeni

OS1-5

21/43

Lin

Chia-Jen

OS4-1

21/48

OS4-1

21/48

Lin

Chun-Chu

OS1-1

20/42

OS4-2

22/48

Lin

Yixin

OS13-7

28/68

OS4-3

22/48

OS13-8

28/68

OS4-4

22/49

OS13-9

28/69

OS4-5

22/49

Liou

Sheng-Jie

OS4-2

22/48

OS4-6

22/49

Liu

Chuan-Gang

OS1-4

21/43

OS4-7

22/50

Liu

Fan

OS15-4

31/71

Martínez

Genaro J.

GS1-3

27/87

Liu

GuanghuiOS15-1

30/70

Matsumaru

Takafumi

GS2-4

31/89

Liu

I-Hsien

OS1-3

21/42

MatsunoFumitoshi

GS5-1

38/93

OS1-4

21/43

MatsunoHiroshi

GS3-1

32/90

Liu

Kaige

OS11-1

26/61

Matsuno

Seigo

OS5-3

37/51

Liu

Qingming

OS13-7

28/68

MatsuoTakayukiOS22-2

34/81

Liu

Qunpo

OS15-1

30/70

Min

Jun

OS13-6

28/68

Liu

Shu-HsinOS25-1

33/86

MiyajiToshihiro

OS6-5

35/53

OS25-3

33/86

Mizoe

Eiji

OS20-4

20/78

Liu

Wei

OS12-4

33/66

Mo

Lipo

OS15-3

31/71

Liu

XianzheOS15-1

30/70

Mochizuki

RyuugoOS20-2

20/77

Liu

Yafan

OS12-3

33/65

Mori

Keisuke

OS6-4

35/52

Liu

YanxinGS2-6-1

31/90

Mori

Shinnosuke

OS16-330/72

GS2-6-2

32/90

Moriguchi

Yuki

OS16-2

30/72

Liu

YuanshanOS15-431/71

Morimoto

Shogo

OS6-1

35/51

Liu

ZonglinOS13-5

28/67

MoritaYoshifumi

GS5-1

38/93

Lund

Henrik

IS1-1-1

18/40

GS5-2

38/93

HautopLuo

LianMoriyama

HiroyukiOS22-6

34/82

IS1-1-2

18/40

Mowshowitz

Abbe

OS20-6

20/78

IS1-2-1

18/40

Muto

Shohei

OS4-4

22/49

IS1-2-2

18/41

GS2-6-1

31/90

GS2-6-2

32/90

Nagai

Yousuke

OS20-4

20/78

OS12-4

33/66

Nagamatsu

Masayasu

OS16-2

30/72

NagataKazuyuki

PS-1

29/39

GS2-5

31/89

[N]

[M]

©ICAROB 2019 ALife Robotics Corp. Ltd.

- 101 -

Nakajima

ShuheiOS21-5

24/81

Pai

Shu-Li

OS1-5

21/43

Nakamura

Akira

GS2-5

31/89

Park

Chan Gook

OS3-4

25/47

Nakamura

Seishiro

OS8-6

19/57

Park

Woo-Jung

OS3-4

25/47

Nakaoka

Iori

OS5-4

37/51

Park

Yong-Gonjong

OS3-4

25/47

Naqash

Talha

GS5-3

38/93

Park

Yousin

OS5-4

37/51

Nie

Zhen

OS13-4

28/67

Peng

YizhunOS11-1027/64

OS13-5

28/67

OS11-1127/64

OS11-1227/64

NishidaTatsumi

OS6-6

36/53

NishidaYuya

OS21-1

24/79

Phunopas

Amornphun

GS2-1

31/88

OS21-224/80

Pongtawevirat

Piyalak

GS3-2

32/91

OS21-324/80

Prasetio

BarlianOS19-2

34/76

Noppadol

GS2-1

31/88

Qin

XiaoFeng

OS10-3

36/60

Qin

YiqiaoOS11-1

26/61

Nishikawa

Stephany Mai

OS2-5

24/46

Niu

Hong

OS13-2

27/67

NonakaHirofumi

OS5-1

36/50

OS5-2

37/50

Henryranu
Pudchuen
[Q]

[O]
Ogata

TakashiOS24-1

37/84

OS11-2

26/61

Ohnishi

Yoshihiro

OS16-330/72

OS11-3

26/61

Ohshima

Kotaro

GS5-2

38/93

OS11-6

26/62

OkazakiNaonobu

OS6-3

35/52

OS11-7

26/63

OS6-4

35/52

OS11-8

26/63

OS6-5

35/53

OS6-6

36/53

[R]
Rajapakse

OS23-1

32/83

Okugawa

Yohei

OS17-2

30/73

Okumura

Naoki

OS8-4

19/56

Omata

Kaito

OS16-430/73

OS23-2

32/83

Onishi

Akane

OS8-2

19/55

OS25-233/86

OnoJumpeiOS24-1

37/84

Ramirez-Alpizar

Ixchel G.

PS-1

29/39

Ouchi

Tomohito

OS7-1

23/53

Ramli

Zulaiha

GS5-8

38/95

Artur

OS4-3

22/48

Janaka[P]
Pagliarini

R. P. C.

[S]
Luigi

IS1-1-2

18/40

IS1-2-1

18/40

OS4-4

22/49

IS1-2-2

18/41

OS4-5

22/49

©ICAROB 2019 ALife Robotics Corp. Ltd.

Sagitov- 102 -

OS4-6

22/49

Song

Chen

OS13-928/69

Sahara

Kei

OS8-5

19/56

Song

Jong-Hwa

OS3-4

25/47

Sakamoto

Makoto

OS5-3

37/51

Song

Rende

OS10-3

36/60

OS8-1

19/55

Song

Yunzhong

OS14-1

22/69

OS10-1

36/59

SonodaTakashiOS21-1

24/79

OS10-2

36/59

OS21-224/80

OS10-336/60

OS22-2

34/81

OS10-4

36/60

OS1-7

21/44

OS10-5

36/60

OS4-1

21/48

OS19-1

34/76

OS4-2

22/48

OS19-2

34/76

OS4-3

22/48

OS19-3

34/76

OS4-7

22/50

Sakurai

Keiko

Kuo-Lan

Su

SaleemHammad

GS5-7

38/95

Sugii

Manabu

GS3-1

32/90

SanadaAtsushiOS22-1

34/81

Sugiyama

Masanori

PS-2

19/39

Sato

HiroshOS17-2

30/73

Suhaimi

Safwan

GS5-8

38/95

Sato

Kenya

OS8-6

19/57

Sumi

Kaoru

IS-3

29/41

OS8-7

19/57

Sun

Zijie

OS10-3

36/60

GS5-1

38/93

Suzuki

Yasuhiro

OS9-1

33/58

GS5-2

38/93

OS9-2

33/58

OS9-3

33/58

OS7-1

23/53

Sato

Noritaka

Sato

Takao

OS18-2

25/74

Sato

Takashi

OS7-3

23/54

Shabalina

Ksenia

OS4-3

22/48

OS4-7

22/50

[T]
TabuseMasayoshi

Shah

Rafay

GS5-4

38/94

OS7-2

23/54

Shah

Sajjad

GS5-3

38/93

OS7-3

23/54

OS7-4

23/54

OS6-1

35/51

OS6-2

35/52

HussainTakagiTomohiko

ShaikhM Osama

GS5-4

38/94

Shaikh

Talha

GS5-4

38/94

Shang

Yi-Tai

GS4-1

29/91

Takahashi

Masanori

OS18-4

25/75

GS4-3

29/92

TakaichiShohei

OS2-6

24/46

Shaukat

Asmara

GS5-5

38/94

TakanoTetsuo

OS4-4

22/49

Shi

WengxinOS13-3

28/67

Takei

Amane

OS10-1

36/59

Shigeyama

Tamon

OS20-8

20/79

OS10-2

36/59

Shinnoki

TomoyaOS21-324/80

OS10-536/60

Sohail

Osama

GS5-3

38/93

OS20-4

20/78©ICAROB 2019 ALife Robotics Corp. Ltd.

Takemura- 103 -

Yasunori

Wang

Takemura

YasunoriOS22-2

34/81

Tamai

TeruyukiOS16-3

30/72

TamuraHirokiOS19-1

34/76

Wang

OS19-2

34/76

OS19-3Chih-Wei

OS25-1

33/86

OS25-3

33/86

Fuzhong

OS14-1

22/69

Wang

HongqiOS15-1

30/70

34/76

Wang

jie

OS3-1

25/46

Wang

Jiwu

OS12-2

33/65

TamuraHiroto

OS2-2

23/45

TanakaKatsunoriOS21-224/80

OS12-3

33/65

Tani

Shohei

OS7-4

23/54

OS12-4

33/66

Tanno

KoichiOS19-1

34/76

OS12-5

33/66

OS19-2

34/76

OS25-1

33/86

OS19-3

34/76

OS25-3

33/86

OS11-1027/64

OS11-12

27/64

Wang

Ming-Jen

Wang

Shuo

TashiroMasao

OS20-4

20/78

Temma

Seiya

GS3-1

32/90

Tominaga

Ayumu

OS20-6

20/78

Wang

Sufang

OS15-2

30/71

Toyoshima

Naoki

OS2-1

23/44

Wang

Tse-Yao

OS1-8

21/44

ToyotaTakaaki

OS10-2

36/59

Wang

Wei

OS11-4

26/62

Tsoy

Tatyana

OS4-6

22/49

Wang

Xiao

OS14-2

22/69

Tsuji

Tokuo

PS-1

29/39

Wang

YunfeiOS13-928/69

TunsiriSongklod

GS2-1

31/88

Watanabe

KeisukeOS21-5

24/81

Wei

Qiang

OS13-7

28/68

OS13-828/68

OS13-9

28/69

[U]
Ue

Yuki

OS6-1

35/51

Ueda

TakumiOS21-2

24/80

Wen

Fu-Hsiang

OS1-8

21/44

Uejo

Kento

GS1-2

27/87

Wu

JasmineOS25-1

33/86

Uenohara

Seiji

OS2-4

24/45

OS25-3

33/86

Umair

Muhammad

GS5-6

38/94

Utsunomiya

Koshi

OS21-5

24/81

OS6-3

35/52

OS6-4

35/52

[Y]
YamabaHisaaki[W]
WakitaniShin

OS18-1

25/74

OS6-5

35/53

Wan

Weiwei

PS-1

29/39

OS6-6

36/53

Wang

Bo-Kai

OS1-6

21/43

GS1-1

27/87

Wang

Chengcai

OS11-1

26/61

GS1-2

27/87

OS11-2

26/61

Yamaguchi

AkihiroOS17-330/74

OS11-7

26/63

Yamaguti

YutakaOS17-330/74©ICAROB 2019 ALife Robotics Corp. Ltd.

Yamada- 104 -

Takayoshi

Yamamoto
Yamamoto

Hidehiko
Toru

Hongyi

Yin

GS1-1

27/87

GS1-2

27/87

OS18-1

25/74

OS18-325/75

OS18-525/75

YoshidaOS13-1

27/66

OS13-1029/69

OS13-1

27/66

OS13-10

29/69

Chika

OS19-3

34/76

Tong

Yin

Yamanobe

Natsuki

PS-1

29/39

Yoshimura

MamoruOS10-4

36/60

Yan

Yujie

OS11-1

26/61

Yoshioka

Koma

OS8-7

19/57

OS11-3

26/61

Yoshitomi

Yasunari

OS7-2

23/54

OS11-4

26/62

OS7-3

23/54

OS11-5

26/62

OS7-4

23/54

OS11-6

26/62

Yu

Shit-Ting

OS1-2

21/42

Yang

Bo-Jun

OS4-2

22/48

Yuan

XiaolinOS15-3

31/71

Yang

GuoweiOS11-2

26/61

Yuan

Yasheng

OS11-2

26/61

Yang

Hongyong

OS15-431/71

OS11-6

26/62

Yang

Rui

OS11-1127/64

OS11-7

26/63

Yang

Xia

OS2-4

24/45

OS11-8

26/63

Yang

Xiao

OS13-7

28/68

OS11-9

27/63

Yang

Yi-Chang

OS1-1

20/42

Ryoma

OS21-2

24/80

Yang

Yize

OS15-4

31/71

Yang

Zhou

OS11-11

27/64

Yano

Yuiko

OS7-2

23/54

Zakiev

Aufar

OS4-7

22/50

Yasukawa

ShinsukeOS20-2

20/77

Zamorano

Daniel A.

GS1-3

27/87

OS21-1

24/79

Zeng

WeixinOS12-5

33/66

OS21-2

24/80

Zhang

Bin

OS14-323/70

OS21-3

24/80

Zhang

Bowen

OS12-1

33/65

OS22-3

34/82

Zhang

Chen

OS10-3

36/60

OS11-1

26/61

Zhang

HanwenOS14-423/70

OS11-3

26/61

Zhang

HengbinOS14-423/70

OS11-5

26/62

Zhang

Hongyu

OS3-2

25/47

OS11-6

26/62

Zhang

KailunOS11-4

26/62

OS11-8

26/63

Zhang

QinjianOS12-3

33/65

OS11-2

26/61

Zhang

TianyiOS11-4

26/62

OS11-7

26/63

Zhang

Tingting

OS11-7

26/63

OS11-8

26/63

OS11-8

26/63

OS11-927/63

OS11-9

27/63

Ye

Yin

Zhongyong

Di©ICAROB 2019 ALife Robotics Corp. Ltd.

Yuki
[Z]

- 105 -

Zhang

WeicunOS14-2

22/69

OS15-2

30/71

Zhang

Weiya

OS13-5

28/67

Zhang

XiaoyuOS13-7

28/68

Zhang

Xinyu

OS11-2

26/61

Zhang

YingzhaoOS14-2

22/69

Zhang

Yu-an

OS10-1

36/59

OS10-2

36/59

OS10-3

36/60

Zhao

ChenglinOS11-3

26/61

Zhao

HuailinOS13-4

28/67

OS13-5

28/67

OS13-6

28/68

Zheng

JingnanOS13-5

28/67

Zhu

Chen

GS2-4

31/89

Zhu

YuxuanOS11-2

26/61

OS11-7

26/63

OS11-8

26/63

OS11-927/63©ICAROB 2019 ALife Robotics Corp. Ltd.

- 106 -©ICAROB 2019 ALife Robotics Corp. Ltd.

- 107 -©ICAROB 2019 ALife Robotics Corp. Ltd.

- 108 -©ICAROB 2019 ALife Robotics Corp. Ltd.

- 109 -©ICAROB 2019 ALife Robotics Corp. Ltd.

- 110 -©ICAROB 2019 ALife Robotics Corp. Ltd.

- 111 -©ICAROB 2019 ALife Robotics Corp. Ltd.

- 112 -