ABSTRACTS
IS
IS1-1 Playware Research – Methodological Considerations
Henrik Hautop Lund (Centre for Playware, Technical University of Denmark, Denmark)Several sub-disciplines of engineering are driven by the researchers’ aim of providing
positive change to the society through their engineering. Based on two decades researchin developing engineering systems with a societal impact (e.g. in robotics, embodied AI,
and playware), in this paper we suggest a cyclic research method based on a mix between
participatory and experimental processes. In particular, inspiration from the action
research method applied to interdisciplinary technology development becomes aparticipatory approach characterized by rapid prototyping cycles which allow iterativetechnology specification and development together with people in their real world
environment. With the mixed research method, we suggest that there are cases, whereapproaches from the positivistic and interpretivistic epistemologies can and should bemerged. We exemplify this with health care technology and playware.

IS1-2 ALife for Real and Virtual Audio-Video Performances
Luigi Pagliarini1,2 Henrik Hautop Lund1( Centre for Playware, Technical University of Denmark, Denmark)(2 Academy of Fine Arts of Macerata, Italy)
1

MAG is an electronic art piece in which an ALife software attempts to “translate” musicalexpression into a corresponding static or animated graphical expressions. The mechanism
at the base of such “translation” is based on artificial learning techniques. MAG use
population of neural networks that can use both genetic and reinforcement learningalgorithms to evolve appropriate behavioral answers to inputs. The combination of
artificial evolution and the flows of a repeated song or different musical tunes allows thesoftware to obtain a special relationship between sound waves and the aesthetics ofconsequent graphical result. Further, we are exploring the concept of run-time creation ofboth music and graphical expression. To do that we use MusicTiles app that allows users
to remix music by connecting musical building blocks. When combining MusicTiles app
and MAG software, we provide the possibility to melt both musical expression andgraphical expression in parallel and at run-time, and therefore creating a audio-video
performance that is always unique.

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IS1-3 Heart-pulse Biofeedback in Playful Exercise using a Wearable device andModular Interactive Tiles
Tomoya Shimokakimoto1, Henrik H. Lund2, Kenji Suzuki3(1 University of Tsukuba, Japan)
2( Technical University of Denmark, Denmark)(3 University of Tsukuba/ JST, Japan)
We developed a playful biofeedback system using a wearable device andmodular interactive tiles. We suppose that patients could regulate exercise
intensity on their own through biofeedback. We propose biofeedback playsystem called “bioToys” based on exercise with the modular interactive
tiles. The system consists of a wearable device and modular interactive
tiles. We combine the two systems to provide users with heart pulse
biofeedback in playful exercise. We show that using the developed system
it is possible for the users to regulate the exercise intensity on their own
with biofeedback, and also possible to analyze exercise activity using
number of steps on the tiles and heart beat rate.

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OS
OS1 Intelligent Control
OS1-1 Finite-Time Stabilization for Nonholonomic Chained Form Systems
with Communication Delay
Hengjun Zhang, Chaoli Wang
(University of Shanghai for Science and Technology, P.R.China)
In this paper, the problem of finite-time stabilization is developed for nonholonomic
chained form systems with communication delay in the input. The finite-time control
laws are presented by utilizing the switching control strategy and the theory of finite-timestability, which can make the states of the nonholonomic chained form systems toconverge from any non-equilibrium state to the equilibrium or a given point in a finite
time. Finally, the simulation results show the effectiveness of the proposed control
approach.

OS1-2 Sliding Mode Variable Structure Control for Magnetic Levitation Vehicles
Juanjuan He, Yingmin Jia(Beihang University, P.R.China)

This paper focuses on stability control for the levitated positioning of the magnetic
levitation vehicle system. For the nonlinear magnetic levitation system model, the output
feedback linearization method is first employed to derive a global linearization error
model. However, there exists uncertain item in the error model. To stabilize this error
model, the adaptive sliding mode variable structure control method is used to design
stability controller. Simulations show that the magnetic levitation system can be stable
and track the desired signals quickly under the proposed control scheme.

OS1-3 Variable-Poled Tracking Control of a Two-Wheeled Mobile Robotusing Differential Flatness
Liming Chen, Yingmin Jia( Beihang University, P.R.China)
This paper investigates the tracking controller design of a two-wheeled mobile robot in its
kinematic model and dynamic model. Differential flatness and linear time-varying(LTV)systems’ PD-spectral theory are used. Based on differential flatness, original system istransformed via a state prolongation and state transformation into a normal form to apply
feedback linearization. Then using PD-spectral theory, variable poles of tracking error
dynamics are assigned to realize trajectory tracking stability. Finally, simulation results
are presented to demonstrate the feasibility and effectiveness of the proposed method.

©ICAROB 2014-3-

OS1-4 Adaptive Consensus Control of Multi-Agent Systems with Large
Uncertainty and Time Delays
Dongxu Zou, Weicun Zhang(University of Science and Technology Beijing, China)a

A weighted multi-model adaptive control method is proposed to achieve consensus ofmulti-agent system with large parameter perturbation and communication delays, inwhich Hinf control is adopted to construct the controller set. Moreover a simple andeffective weighting algorithm is also presented. The simulation results demonstrate theeffectiveness of the proposed method.

OS1-5

Iterative Learning Control for Overhead Crane Systems
Xuhui Bu, Fuzhong Wang , Sanyi Li, Fashan Yu( Henan Polytechnic University, P.R.China)

In many factories, overhead crane often transfers the same loads from one place toanother following a predefined position and speed diagrams. This unique feature offers
overhead crane an opportunity of improving its performance through learning iteratively.
In this paper, we apply the iterative learning control approach to overhead crane systems.
Based on the linearization dynamic model of overhead crane, an ILC scheme contains
both feedforward learning control part and state feedback control is proposed. By
providing a 2D formulation, the ILC design for crane systems can be transformed into the
problem of state feedback control for 2-D systems described by Roesser models. It isshown that the proposed approach can guarantee the trolley position asymptoticallyconverges to its desired profile with small swing angle. Simulations are illustrated toshow the feasibility and effectiveness of the proposed approach.

©ICAROB 2014

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Fig. 1 simplified
undirected graphOS2 Environment Navigation and Localization
OS2-1 A Hybrid Path Planning Algorithm for UGV by
Combining A* and B-spline Curve Equation
Min-Ho Kim, Hee-Mu Lee and Min-Cheol Lee(Pusan National University, Busan, South Korea)
This article presents a hybrid path planning algorithm to make a smooth path for an
UGV. A main theme of the proposed algorithm is to combine of the A* algorithm andthe B-spline curve equation. A* is one of the well-known path planning algorithm whichfinds the optimal path on the given map by using the heuristic cost function. However,since A* is based on the grid map, the result path consists of straight lines with only 8
directions. It's not suitable of UGV's navigation. Therefore in this paper to overcome
this issue, B-spline curve equation is proposed to make a smooth and continuous pathwith control points which are selected from the A* result path. And the optimal control
point selection algorithm is proposed to make the hybrid path. At last, to verify the
proposed algorithm, the hybrid path results are compared with A* algorithm by using adeveloped simulation program.

OS2-2 The actuator device design for the implementation of haptic joystickDong-hyuk Lee, Sun-kyun Kang, Bo-Yeon Hwang, Ki-jung Kim, Jang-myung Lee(Pusan National University, Korea)
In this paper, we designed the actuator device for haptic implementation in the general
joystick. Each linear servo actuator as pillars to support the joystick mounting plate canmove up and down. And this movement will generate the inclination of the plate. The
haptic can be implemented by the change of the inclination. The actuator device wasdesigned through the performance analysis of actuator device structure. The haptic
will represent information from obstacle cognition device by using the designed actuator
device. The haptic performance of the actuator device was verified through experiments.

©ICAROB 2014-5-

OS2-3 Design of Fuzzy Controller using Variable Fuzzy Membership
Function Factors for Inverse Ball Drive Mobile Robot
Keon-woo Jeong, Shin-nyeong Heo, Seung-Ik Hwang, Han-Dong Yoo, Jang-myung Lee
1(Pusan National University, Korea)

In this paper, a fuzzy controller for a inverse ball drive mobile robot is implemented tohave more stable balancing capability than the conventional control system. Fuzzy control
structure is chosen for a inverse ball drive mobile robot, and fuzzy membership function
factors for the control system are obtained for 3 specified weights using a trial-and-error
method. Next a linear Interpolation method is employed to generate fuzzy membershipfunction factors for more stable control performance when the weight is arbitrarily
selected. Through some experiments, we find that the proposed fuzzy controller using theneural network is superior to the conventional fuzzy controller.

OS2-4 Error Correction of Angular Velocity for Gyroscope using Genetic
Algorithm and FIR filter
Jaeyong Kim, Hyunhak Cho, Sungshin Kim
Pusan National University, Korea
This paper is research which sensitivity of gyro sensor is optimization. Recently, theMEMS-gyroscope is usually used at mobile robots and AGV by development of MEMS
technology. However, the MEMS-gyroscope has measurement error, cumulate error, bias
drift, etc. To reduce these errors, measurement of angular velocity using
MEMES-gyroscope required high precision and exactly sensitivity. The sensitivity, is aconstant to change angular velocity form ADC value, is changed by external factors as
installed location and gradient because the MEMS-gyroscope measure angular velocity
with inertia. Therefore, this paper proposes to reduce variance of ADC value and to
optimize the sensitivity of MEMS-gyroscope using genetic algorithm. To verify
performance of proposed method, we attached MEMS-gyroscope to automatic guided
vehicle (AGV) of fork type. In experimental result, we verified that the sensitivity using
the proposed method is accurate than the sensitivity in specification.

©ICAROB 2014-6-

OS2-5 Control of Robot Arm with Sterilization System for Ballast Water
Seung-Hwa Baek, Dong-Hyun Kim and Hee-Je Kim(Pusan National University,Korea)
The inadvertent transfer of harmful aquatic organisms and pathogens in the ballast water3of ships has been determined to have caused a significant adverse impact to many of theworld’s coastal regions. Loading and discharge of ballast water is an essential part of aship’s operation, and is fundamental to maintaining safe operations under different
conditions of load. However, large vessels require thousands of tonnes of water toensure stability and manoeuvrability, and the environmental impacts of this can beconsiderable. These impacts result from the fact that the ballast water can containhundreds of different species, many of which can have serious ecological, economic andpublic health effects if transferred to regions where they are not native. The recognitionof these effects has made ballast management increasingly important for protection of themarine environment. As a means to prevent, we developed a system using high voltagehigh frequency pulsed power, so called arc discharge, when this discharge happens, theelectrodes are oxidized and consumed. Regarding this point, we wanted to apply robot
arm to supply continuous electrode when it consumed by arc discharge.

OS2-6 Performance Study for Vehicle Infotainment System
Heung-in Park, Min-gyu Kim, Jeong Hee-In, Kang-il Park, In-uk Lee, Dong-Ju Lee, Jang-myung Lee(Pusan National University, Korea)
CPU performance, booting time and navigation widget are improved by the new designconcepts. These points are providing some solutions that can overcome the risks of open
architecture system in the Automotive. The improvement was verified with each of the test
results.

OS3 Facial Expression Analysis, Music Recommendation and Augmented Reality
OS3-1
Development of a Campus Guide System based on Augmented Reality
M. Tabuse, A. Tada
(Kyoto Prefectural University, Japan)
This paper presents a campus guide system based on augmented reality (AR). AR is atechnology of displaying CG overlaid on a real scene. AR is a fusion of a real world and avirtual world of human interfaces. We propose a campus guide system based onmarkerless AR. This system displays information of a university overlaid on a real sceneusing a note PC and a web camera. In addition, this system presents a variety of events,for example a university festival and a welcome party, as 3D virtual objects overlaid on areal scene. Using this system, visitors can understand a university life more deeply. We
have developed a campus guide system based on Parallel Tracking and Multiple Map
system and construct 3D virtual objects using Visual Structure from Motion System. And
we have confirmed the effectiveness of the system in our campus.

©ICAROB 2014-7-

OS3-2 Facial Expression Analysis While Using Video Phone
T. Asada1, Y. Yoshitomi1, A. Tsuji2 , R. Kato1, M. Tabuse1, N. Kuwahara2, J. Narumoto3(1 Kyoto Prefectural University, Japan)(2 Kyoto Institute of Technology, Japan)
3( Kyoto Prefectural University of Medicine)
We have proposed a method for analyzing facial expressions of a person while speaking with use ofa video phone system (Skype). The video is analyzed using image processing software library(OpenCV) and the newly proposed feature vector of facial expression, which is extracted in themouth-part area with use of 2D-DCT performed for each domain having 8  8 pixels. The facial
expression intensity defined as the norm of difference vector between the feature vector of neutral
facial expression and that of observed one can be used for analyzing a chance of facial expression.
Combining the video signal obtained from the Skype with the sound signal obtained with the otherway, we can distinguish the facial expression with speaking from that without speaking. The
judgment of speaking is performed with a threshold of the sound intensity. Some experimental
results show the usefulness of the proposed method.

OS3-3 Method of Facial Expression Analysis Using Video Phone and Thermal
Image
Y. Yoshitomi, T. Asada, R. Kato, and M. Tabuse(Kyoto Prefectural University, Japan)
In this study, using thermal image processing, we have proposed a method for analyzing facial
expressions of a person while speaking with a video phone system (Skype). The newly
proposed feature vector of facial expression, which is extracted in the mouth-part area withuse of 2D-DCT performed for each domain having 8  8 pixels. The facial expression
intensity defined as the norm of difference vector between the feature vector of neutral facial
expression and that of observed one can be used for analyzing a chance of facial expression.
Combining the video signal obtained from the Skype with the sound signal obtained with theother way, we can distinguish the facial expression with speaking from that without speaking.
The judgment of speaking is performed with a threshold of the sound intensity. Someexperimental results show the usefulness of the proposed method.

OS3-4 Facial Expression Recognition Using Thermal Image Processing andEfficient Preparation of Training-data
Y. Nakanishi1, Y. Yoshitomi2, T. Asada2, M. Tabuse2(1 ITOKI CORPORATION, Japan)(2 Kyoto Prefectural University, Japan)
We investigated the influence of training data on the facial expression accuracy using thetraining data of “taro,” whose first and last vowels are /a/ and /o/, for the three intentional
facial expressions of “angry,” “sad,” and “surprised,” and the training data of 25 pairs ofvowels for the two intentional facial expressions of “happy” and “neutral.” Using the
proposed method, the facial expressions of one subject were discriminable withaccuracies of 100%, 70.0%, and 47.2% for “taro,” “koji” (the first and last vowels of
which are /o/ and /i/), and “tsubasa” (the first and last vowels of which are /u/ and /a/),respectively, for the three facial expressions of “happy,” “neutral,” and “other” when oneof the five intentional facial expressions of “angry,” “happy,” “neutral,” “sad,” and“surprised” was exhibited.

©ICAROB 2014-8-

OS3-5 Music Recommendation System through Internet for Improving
Recognition Ability Using Collaborative Filtering and Impression Words
Y. Yoshitomi1, T. Asada1, R. Kato1,Y. Yoshimitsu1, M. Tabuse1, N. Kuwahara2, J. Narumoto3(1 Kyoto Prefectural University, Japan)(2Kyoto Institute of Technology, Japan)(3Kyoto Prefectural University of Medicine)
In our previously reported system, the recommendation process using collaborative filtering
was terminated when no users in the reference list have the same preference forrecommended music as that of a new user. Based on the scores for impression words, thesecond recommendation process finds the most similar music to the successfully
recommended music among music that has not yet been recommended. In the present study,
based on our previously reported system, we propose a system for music recommendation
through the Internet using a videophone system (Skype). The effectiveness of the proposedsystem is verified. The recommendation accuracy of the proposed system was 90.6% for 10
trials by five elderly subjects. The average number of recommended pieces of music for the
subjects by the proposed system was 14.9 per trial.

OS4 Applications in Kansei Engineering
OS4-1 Kansei Engineering based Evaluation for an e-Learning Systemwith IP-based Network Design and Animation
Yoshiro Imai, Chiaki Kawanishi, Tetsuo Hattori(Kagawa University, Japan)
An e-Learning system has been developed, which is designed for network education withfacilities of specification of IP-based network topology and demonstration of
packet-transferring animation. This system can execute on the major browsers by meansof accessing a specific Web server. It is frequently used in some lectures of university
from beginners of network to the students of information related course. Kansei
Engineering approach is utilized and applied in order to improve and evaluate the
e-Learning system.

OS4-2 Model Introduced SPRT for Structural Change Detection of Time Series(I)Yoshihide KOYAMA1, Tetsuo HATTORI1, Hiromichi KAWANO2(1Kagawa University, Japan)(2NTT AT, Japan)
Previously, we have proposed a method applying Sequential Probability Ratio Test
(SPRT) to structural change detection problem of ongoing time series data. In this paper,
we introduce a structural change model with Poisson process into the system that outputs
a set of time series data, moment by moment. Then we can calculate the value of P(Z |H1 ) that denotes the probability of observing the data Z under the condition that
H1(alternative hypothesis) is true. Also, we concretely show the theory of change
detection of time series by the model introduced SPRT.

©ICAROB 2014-9-y  2 x1  3x2  10  yy  3x1  3x2  10  

180change point tc = 70

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OS4-3 Model Introduced SPRT for Structural Change Detection of Time SeriesII)
Kansei Channel Corresponding to the SPRT ------Yoshihide KOYAMA1, Tetsuo HATTORI1, Hiromichi KAWANO2(1Kagawa University, Japan)(2NTT AT, Japan)
We present an application of the notions in Information Theory to Kansei Engineering
toward a mathematical methodology for the analysis in the Kansei Engineering field. In
this paper, first, we propose a definition of correlation using the mutual information inInformation Theory. Second, we explain a relation between the Bayes’ Updating using thenotion of binary channel and Sequential Probability Ratio Test (SPRT). Moreover, weshow the Channel Matrix corresponding to the SPRT where a model introduced.

P( y1 | x1 )xP( y2 | x1 )1 P( y1 | x2 )

x

y
1

y

P( y 2 | x2 )2

2

OS4-4 Automated Color Image Arrangement Method and Kansei Impression
Yusuke Kawakami1, Tetsuo Hattori1, Yoshiro Imai1, Haruna Matsushita1,
Hiromichi Kawano2, R.P.C. Janaka Rajapakse3(1Kagawa University, Japan),(2NTT AT, Japan),(3Tainan National University of the Arts, Taiwan)
This paper proposes a new color image arrangement method using an elastic transform onsome kinds of axes. In this paper, we present the principle of our method using HMGD(Histogram Matching based on Gaussian Distribution). And we describe that the
automated method applies the HMGD to input color image only when the image has
single-peakedness in its histogram on the focused axis. We also show that the method
gives a good Kansei effect in the case of applying the HMGD onto Lightness axis.

OS4-5 Novel Transistor by Opt-coupling of LED and PD and its Application to Audio
AmplifierJunichi Fujita, Tetsuo Hattori, Daisuke Sato, Kensho Okamoto(Kagawa University, Japan)
This paper presents a simple transistor-like amplification function by the optical
coupling of LED (Light Emitting Diode) and Photodiode where the Photodiode current
by photo electromotive force is feed backed into the LED, in the same way as the case ofcommon emitter circuit of the conventional Bipolar Transistor. And also, this paper showsthat an audio amplifier can be realized in a simple form. Since the proposed audio
amplifier provides good sound with very low noise characteristic, we consider that theaudio system becomes a promising Kansei product.

©ICAROB 2014

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Rb1
C

Rb2

Rc2
C output
Vo

C

Si-PD

input

Vi

Rc1

solar cell

LED

LED

preamplifier

main amplifierOS5 Analysis of Randomized Algorithms
OS5-1 Markov Chain Analyses of Random Local Search and Evolutionary Algorithm
Hiroshi Furutani, Hiroki Tagami, Ichihi To, Makoto Sakamoto(University of Miyazaki, Japan)
In this paper, we report the computational complexity of algorithms(1+1)EA and Random Local Search (RLS). It has been noted the close
resemblance of RLS with the coupon collector’s problem (CCP). The CCP
has a long history of probabilistic research, and many interesting results
are obtained. This study makes use of such results with somemodifications. We also show the results for (1+1)EA and RLS using
absorbing Markov chain.

OS5-2 Runtime Analysis of OneMax Problem in Genetic Algorithm
Ichihi To1, QuinLian Ma1, Makoto Sakamoto3, Hiroshi Furutani1,Yu-an Zhang2(1University of Miyazaki, Japan)(2 QinghaiUniversity, China)
Genetic algorithms (GAs) are stochastic optimization techniques that simulate thebiological evolution. Theoretical study of the evolution of the genetic algorithm is very
important for the application of GA. We have studied the effects of stochastic fluctuationin the process of GA evolution. We consider the task of estimating the hitting time of the
optimal solution in GA for OneMax problem. This task is performed by using the Markov
chain representing the behavior of population in the stationary state of evolution.

OS5-3 A Model for Low-Frequency Burst in Subthalamic Nucleus Neuron
S. Kubota1, J. E. Rubin2(1Yamgata Univ., Japan)(2Pittsburgh Univ., USA)
Bursting oscillation in the subthalamic nucleus (STN) is suggested to be linked to themotor symptoms in Parkinson’s disease. In this study, to investigate the effects ofinteractions among STN, the cortex, and globus pallidus (GP), on the burst
characteristics, we examine a model of STN neuron that contains NMDA conductances
activated through the cortical inputs and GABAergic conductances associated with GP
activities. To reproduce cortical slow oscillation consisting of two phases, the NMDA
conductances are activated by inhomogeneous Poisson spikes whose firing rate isstochastically and periodically modulated. The results show that a higher level of GABA
inhibition leads to strong burst with larger coefficient of variation of interspike intervals,
while the strengthening of NMDA activation mainly acts to increase the firing rate.

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Burst response of
the STN neuronmodel

OS6 Empirical research on Network and MOT
OS6-1 An Empirical Examination of Inter-firm Capital Relationships in Mazda’s
Yokokai using the IDE Spatial Model
M. Sakamoto4, S. Tagawa1, T. Ito1, S. Matsuno1, R. Mehta2, V. Berdonosov3, S. Ikeda4(1Ube National College of Technology, Japan)(2New Jersey Institute of Technology, U.S.A)
3( Komsomolsk-on-Amur State University of Technology, Russia(4 University of Miyazaki, Japan)
In this paper, we focused on examining the capital relationships in
Yokokai, the Mazda’s Keiretsu. Employing regression analysis, threesignificant indices, influence, degree, and efficiency, were selected fromnine indices, including others that include dyadic redundancy, dyadic
constraint, effective size, constraint, hierarchy, and density. We propose a
new approach, called IDE spatial model, to calculate the strength of theinter-firm’s relationships. In order to ascertain the rational inter-firm
relationships, network indices and corporate performance are analyzed.
This research suggests a new perspective to examine the rational
inter-firm relationship that can be used in any network organization.

OS6-2 A Comparative Study of Transactional Network between Kyohokai and
Yokokai
M. Sakamoto4, M. Hasama1, T. Ito1, Y. Uchida1, R. Mehta2, Y. Park3, M. Sakamoto4 M.
Sakamoto4 S. Ikeda4(1 Ube National College of Technology, Japan)(2 New Jersey Institute of Technology, U.S.A)(3 Prefectural University of Hiroshima, Japan)(4 University of Miyazaki, Japan)
Consistent with the stream of research on the coordination of internal
resources and external inter-firm relationships, the purpose of this research is
to identify and contrast the best practices of Toyota to Mazda using acomparative approach. This paper reviews relevant studies of networkorganizations to focus on the differences between Kyouhokai and Yokokai.
Specifically, it makes a contribution to the literature by proposing a newperspective to identify the determinants of corporate performance and clarify
the difference among the external inter-firm’s relationships between Kyohokai
and Yokokai, thus ascertaining the rational structure of networkorganizations.

©ICAROB 2014

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OS6-3 A path analytic model and measurement of the relationships between green
supply chain management implementation and corporate performance
S. Matsuno, M. Hasama, Y. Uchida, and T. Ito(Ube National College of Technology, Japan)
We propose and empirically test a model of the relationships between green supply chain
management (GSCM) activities and corporate performance. Five constructs, namely,environmental commitment, supplier collaboration, supplier assessment, information
sharing among suppliers, and business process improvement are used to form a structuralmodel explaining the environmental and economic performance. The model was analyzed
using the data from a survey of sample of manufacturing firms in Japan. The results
suggest that the degree of supplier collaboration has an influence on the environmental
performance directly. While, the impact of supplier assessment on the environmental
performance is mediated by the information sharing and/or business process
improvement.

Supplier
collaboration

Environmental
commitment

Supplier
assessment

Environmental
performance

Information
sharing amongsuppliers

OS6-4 A Study of Open Source Cloud System for Small and Medium Enterprise
1

Y. Uchida1, S. Matsuno , T. Ito1, M. Hasama1, M. Sakamoto2(1Ube National College of Technology, Japan)(2University of Miyazaki, Japan)
The use of cloud services among SMEs remains low, and R&D and technical support for
SMEs is an urgent problem. Even so, there have been almost no academic studies on therelationship between cloud computing and SME information infrastructure, or on the
future direction of this. With this background, we considered and designed a cloud systemframework suitable for SMEs, built a prototype model and investigated the ease of
implementation. Services that deliver functionality equivalent to Amazon EC2 which isrepresentative cloud service but delivered through other technologies are called EC2
clones. OpenStack is not EC2 clone, and is a typical open source project for providing
Infrastructure as a Service (IaaS) type cloud services. OpenStack was used in this study to
implement a simple cloud service model.

OS6-5 Visualization of Patent Strategies in Japanese ICT Companies Based on
Text-Mining
T. Tokumitsu1, T. Okada1, I. Nakaoka1, Y. Park2(1 Ube National College of Technology, Japan)(2 Prefectural University of Hiroshima, Japan)
We deduce that a major reason of the continual poor business performances in mostJapanese ICT companies is that they have lost their technology innovation strategies.
Especially in smartphone market, Japanese ICT companies have lagged behind
foreign companies such as Samsung and Apple. Therefore, we conduct longitudinal
research of three Japanese large ICT companies, SONY, Panasonic and Sharp, insmartphone market based on text-mining approach covering their patent information.
A visualized result of patent strategies by SONY is shown in the figure. We analyze
the other two companies, Panasonic and Sharp, in the same way, and reveal
characteristics of their patent strategies.

©ICAROB 2014

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Business process
improvement

Economic
performanceOS7 Intelligence in Biological Systems
OS7-1 Dissipative Particle Dynamics of shape changes of vesicle
Yoshiyuki Oofuji, Naohito Urakami, Takashi Yamamoto (Yamaguchi University, Japan)
Masayuki Imai (Tohoku University, Japan)
urakami@yamaguchi-u.ac.jp

Spherical vesicles change to various shapes such as oblate type, prolate type, stomatocyte,etc., according to the osmotic pressure difference between the inner and the outer vesicle.
The shape changes of vesicles are very important to understand the living cell activities.
In the research, we investigated the process of the shape changes of vesicles by carryingout dissipative particle dynamics simulations. The shape changes of vesicles werereproduced by the variation of two parameters, the number of water molecules inside thevesicle and the difference between the number of lipid forming the inner and the outerleaflets in the vesicle. The vesicle shapes obtained in our simulations were in good
agreement with the experiments. The simulation result indicates that the vesicle shapes
are determined by two parameters.

OS7-2 Intelligent mechanisms in E. coli in processing carbon sources
Zhongyuan Tian, Hiroshi Matsuno (Yamaguchi University, Japan)
E. coli is “wise” enough to take suitable responding time, and suitable responding
behaviors, when facing different lengths or intensities of stimuli. According to the time
cost of a respond to a signal, we divide the intracellular processes into 2 levels: thecentral dogma level and the post translation level. Firstly, we constructed a systematical
network of glucose, PTS, glycogen and chemotaxis system. And this network plays afunction as a switch, which controls E coli’s motion within the first few seconds. By
using this switch, we unveiled a fact that shorter time stimuli result in the post translationlevel reactions for quicker response. But longer time stimuli will activate more time
consuming the central dogma level reactions. Secondly, different intensities of signals
result in different kinds of actions, was illustrated by ppGpp example.

OS7-3 An autonomous propagation of ciliary metachronal wave on elastic
surface of Paramecium cells.
N. Narematsu and Y. Iwadate(Yamaguchi University)
Ciliary movements in protozoa show metachronal coordination so as to maintain aconstant phase difference between adjacent cilia. This coordination is called as“metachronal wave”. It is now generally thought that metachronal waves arise fromhydrodynamic coupling between adjacent cilia at extracellular fluid. However, underthe breakdown the hydrodynamic coupling of ciliary movements at a restricted portion of
a Paramecium cell, metachronal waves pass over the portion. We will discuss themediator of propagation of metachronal waves.

©ICAROB 2014

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Shape changes ofvesiclesOS7-4 An analysis of the synergy in a ball throwing task
Hiroshi KIMURA, Jun NISHII(Yamaguchi University, Japan)
To throw a ball into a given target, we must adequately select the initial state of the ball,the position, speed, and throwing direction at ball release. There are two ways in the
choice of these variables. The first solution is to learn a desired value set for these statevariables and try to adjust the variables to the desired values. Another solution is to allow
the variance of each variable in every trial but compensate for the values each other in acooperative manner so as to hit the target. The purpose of this study is to find how good
throwers select the state variables in throwing and elucidate the knack of the ballthrowing task.

OS7-5 A low dimensional feedback control model that exploits abundant degrees
of freedom
Jun Nishii, Tohru Hamamura(Yamaguchi University, JAPAN)
When animals perform skilled motor task, they often adaptively choose a solution
depending on the circumstances by utilizing abundant degrees of freedom (DOFs) of theirbody. For instance, a spinal frog can wipe an irritating stimulus off by its foot even if a
leg joint is fixed so as not to be able to bent. In this example, multiple leg joints
cooperatively work so as to control the foot position by utilizing available joints. Suchcompensative control among multiple joints is called joint synergy. We propose a simple
neural network model that realizes synergetic control that exploits abundant degrees of
freedom.

OS7-6 Extension of Genetic Toggle Switch Based on the Effective Search ofState Transitions
M. Sugii, A. Fauré and H. Matsuno (Yamaguchi University, Japan)
manabu@yamaguchi-u.ac.jp
In the context of synthetic biology, artificial genetic circuits are designed in the following
way: after setting a biological target phenomenon to be investigated, reaction parameter
estimations among related molecules are conducted based on the dynamic analyses withmathematical models. Finally a system of biological reactions is developed with thesemolecules in vivo or in vitro. We propose a new procedure to effectively design amathematical model in two steps. The first step is the creation of possible networkarchitectures under a logical formalism. The second step is the creation of dynamic
models. We report an extension of a genetic toggle switch from 2-state to 3-state by our
proposed procedure.

©ICAROB 2014

- 15 -

Nullclines of
3-state toggles witch

OS8 Software Development Support Method
OS8-1 Proposal of a Visualizing Method of Data Transitions to Support
Debugging for Java Programs
Hiroto Nakamura1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1,
Naonobu Okazaki1,(1University of Miyazaki, Japan)(2Kanagawa Institute of Technology, Japan)
Finding the cause of a bug needs to comprehend a flow and data transitions in executing
programs. It is difficult to grasp behavior in executing the programs whose behavior is
unexpected by a bug. We propose a visualizing method of data transitions to support
debugging for Java programs in order to improve efficiency of debugging by supportingto find the cause of a bug. We have implemented TVIS in order to show efficiency of the
proposed method. The data transitions diagram is the most characteristic function of
TVIS which shows the data transitions in executing programs as a table. It can show
visually abnormal behavior: no data renewed at all, data abnormally renewed, and so on.
Because abnormal behavior is detected in the data transitions diagram at first glance, it isuseful for programmers in finding the cause of a bug.

OS8-2

Proposal of a Method to Build Markov Chain Usage Model from UML
Diagrams for Communication Delay Testing in Distributed Systems

Zhijia Zhao1, Tetsuro Katayama1, Yoshihiro Kita2,
Hisaaki Yamaba1 and Naonobu Okazaki1
1
University of Miyazaki, Japan 2Kanagawa Institute of Technology, Japanzhao@earth.cs.miyazaki-u.ac.jp, kat@cs.miyazaki-u.ac.jp, kita@earth.cs.miyazaki-u.ac.jp,
yamaba@cs.miyazaki-u.ac.jp, oka@cs.miyazaki-u.ac.jp
As the growth of network technology with high parallelism and high reliability of
distributed systems, they have been widely adopted in the enterprise and society. But,
how to design for testing the real-time or a communication delay of distributed systems is
not been discussed much. This paper proposes a new method to automatically build
Markov Chain Usage Model. The proposed method establishes the time points and builds
a new UML diagram called De-sequence diagram by combining the deployment diagramand sequence diagram which can test the communication delay of a distributed system toimprove its reliability. We have confirmed the usefulness of the proposed method to adapt
it to practical examples.

©ICAROB 2014

- 16 -

OS8-3 Proposal of a Supporting Method for Debugging to Reproduce
Java Multi-threaded Programs by Petri-Net
Shoichiro Kitano 1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1,(1University of Miyazaki, Japan)
2( Kanagawa Institute of Technology, Japan)

Naonobu Okazaki1

In multi-threaded programs, it is difficult to discover a cause of bugs. This paper proposesa supporting method using Petri-net for debugging so that programers can discover causeof bugs in multi-threaded programs written in Java language. Specifically, in order to give
reproducibility to multi-threaded programs, the proposed method generates a data file foran execution path of a multi-threaded program, and simulates the behavior of the programby Petri-net based on the data file. However, ordinal Petri-net cannot express the behaviorof multi-threaded programs written in Java completely. Therefore, we have extended
Petri-net so that we can treat with the behavior of multi-threaded Java programs. In
addition, we have confirmed validity of our method by having implemented a supportingtool.

OS8-4 Proposal of a Supporting Method to Generate a Decision Table from theFormal Specification
Kenta Nishikawa1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Naonobu Okazaki1(1University of Miyazaki, Japan)
2( Kanagawa Institute of Technology, Japan)
As a means for writing specifications strictly, the formal methods are proposed. By theway, as one of the test design techniques, the decision table is proposed in the testingprocess of the software cycle. However, it takes much time and effort to extract test items
and understand contents written on specifications in designing manually the decisiontable. This paper proposes a supporting method to generate a decision table from theformal specification in order to improve efficiency of the test design with formal
methods. We have implemented a supporting tool to generate a decision table. It
automatically generates a skeleton decision table from the formal specification. By using
the tool, it is considered that the efficiency of the test design is improved.

©ICAROB 2014- 17 -

OS9 Foundation of computation and its application
OS9-1 Hierarchy Based on Neighborhood Template about k-Neighborhood Template
A-Type Three-Dimensional Bounded Cellular Acceptor
Makoto Sakamoto1, Makoto Nagatomo1, Xiaoyang Feng1, Tatsuma Kurogi1, Tuo Zhang1, Takao Ito2,
Yasuo Uchida2, Tsunehiro Yoshinaga3, Satoshi Ikeda1,
Masahiro Yokomichi1,Hiroshi Furutani1(1University of Miyazaki, Japan)
2( Ube National College of Technology, Japan)( 3Tokuyama College of Technology, Japan)
In this paper, we introduce a new computational model, k-neighborhood template A-type
three-dimensional bounded cellular acceptor on four-dimensional tapes, and discuss somebasic properties. This model consists of a pair of a converter and a configuration-reader.
The former converts the given four-dimensional tape to three-dimensional configuration.
The latter determines whether or not the derived three-dimensional configuration is
accepted, and concludes the acceptance or non-acceptance of given four-dimensional
tape. We mainly investigate how the difference of the neighborhood template of theconverter affects the accepting powers of this computational model. It is well known thatthree-dimensional digital pictures have 6- and 26-connectedness. However, we include
the remarkable picture in neighbor.

OS9-2 Hierarchy Based on Configuration-Reader about k-Neighborhood Template A-Type
Three-Dimensional Bounded Cellular Acceptor
Makoto Sakamoto1, Tuo Zhang1, Tatsuma Kurogi1, Makoto Nagatomo1, Xiaoyang Feng1, Yasuo Uchida2,
Takao Ito2, Tsunehiro Yoshinaga3, Satoshi Ikeda1, Masahiro Yokomichi1, Hiroshi Furutani1(1University of Miyazaki, Japan)( 2Ube National College of Technology, Japan)( 3Tokuyama College of Technology, Japan)

Question of whether or not processing four-dimensional digital patterns is more difficult
than processing two- or three-dimensional ones is of great interest from both theoreticaland practical standpoints. Thus, the study of four-dimensional automata as thecomputational models of four-dimensional pattern processing has been meaningful. From
this point of view, we are interested in four-dimensional computational model, and we
first proposed four-dimensional automata as computational models of four-dimensional
pattern processing in 2002. In this paper, we introduce a new computational model,
k-neighborhood template A-type three-dimensional bounded cellular acceptor on
four-dimensional tapes, and mainly investigate how the difference of configuration-reader
affects the accepting powers of this model.

©ICAROB 2014

- 18 -

OS9-3 Handicap of Othello GameY. Kato1,S. Ikeda1 T. Ito2, M. Sakamoto1(1University of Miyazaki, Japan)(2Ube National College of Technology, Japan)
In the game of Go, it is known experientially that Black (=the first move) is
advantageous. Thus, in the game of Go, White (=the defensive hand) has received ahandicap for this compensation. There is Othello game well known as the Go.
However, the handicap of White in Othello game has been hardly considered until
now. This research considered quantitatively the handicap in Othello game from aviewpoint of points. As our conclusions of Othello game is the followings.


The advantage of the defensive hand on board of 4 × 4 is -0.641 points on
average.



The advantage of the defensive hand on board of 4 × 6 is 0.778 points on
average.

OS9-4 On Parameter Setting in Identifying the Same Languages Involved in Different
Language Data
Ren Wu1, Hiroshi Matsuno2(1Yamaguchi Junior College, Japan)(2Yamaguchi University, Japan)
We have proposed a method based on tree structure and string alignment technique for
identifying the same languages involved in two language classification trees provided bydifferent linguists. Several kinds of similarity measure, such as language name similarityand language general similarity etc., and an algorithm are proposed in this method.
Several unknown parameters are used there and need to be set to constants first forcalculating the similarity values. This paper aims to determine all the values of theseparameters and then get the identification results in order to confirm that our proposed
similarity measures and the algorithm are useful and effective. We obtained better values
for the parameters throughout the experiments.

©ICAROB 2014

- 19 -

GS
GS1 Artificial intelligence & Complexity
GS1-1 Cognitive approach to Computer Go programming
N. Tenys, I. Tanev, K. Shimohara(Doshisha University, Japan)
Go (Igo) is an ancient board game that is still one of the more difficult challenges for
Artificial Intelligence research. While computers have defeated human champion in chess16 years ago, to this day best computer Go programs play only at a high amateur level.
Humans play Go using experience, heuristic values, pattern recognition and whole-board
evaluations that computers are unable to match. Today’s most successful Go programs
use Monte Carlo search algorithm, but while this approach often finds good local moves
on the board, due to its random nature it often fails to see the whole board position as wellas human does. Our approach instead is implementation of human Go professional’s“thinking” into a computer program that is, creating a system, where computer uses
algorithms and data constructs that mimic human’s mind.

GS1-2 Circulative Narrative Generation Based on the Mutual Transformation
between Narrative Conceptual Structures and Music in the Integrated
Narrative Generation System
Taisuke Akimoto, Takashi Ogata(Iwate Prefectural University, Japan)
We have proposed a new framework of narrative generation which generates narratives
through the mutual transformation according to various pathways between narrative(conceptual representation) and music. This paper will continuously incorporate thisframework into the integrated narrative generation system which is a comprehensivearchitecture for our narrative generation study and develop an experimental system
combined with the integrated system. This new framework aims to apply various musicalmethods for composition and variation to narrative generation as a way to connect
different types of media. An experiment of the mutual generation between music andnarrative will show various transformation pathways or routes between music andnarrative.

©ICAROB 2014

- 20 -

GS1-3 Non-minimal Dynamics of Tensegrity Systems Subject to Arbitrary Joint
Constraints
Youngsu Cho and Joono Choeng(Korea Univ., Korea)
This paper provides a dynamics formulation of tensegrity systems using non-minimal
coordinates subject to arbitrary joint constraints. Advantages of non-minimal dynamics
including the simplicity of formulation and scalability are enjoyed. We start from a matrix
form of dynamics and then transform the dynamics into a vector form so that arbitrary
constraints in the joints can be handled with ease. Due to the generality of theformulation, we can create a software module that can carry out dynamic simulation ofnumerous tensegrity systems. To illustrate the effectiveness of the proposed dynamics
formulation, we show simulation results for a deployable tensegrity structure and amulti-stage tensegrity prism under various types of joint constraints such as pin, revolute,and planar types.

Figure 1. Tensegrity systemwith constraints

GS1-4 Road map generation from Smartphone data
Masao KUBO, Chau viet DAN, Hiroshi SATO, Akira NAMATAME(National Defense Academy of Japan)
Smartphones become widespread quickly. This type of mobile phone has a built-in GPS,
motion sensor, digital compass and large memory and battery. It is good for recording
human activity. In this paper, we introduce a method to make occupancy grid map when
the user drive outside. Usually, the vehicle behavior is analyzed by a time series ofaccelerations sensed by customized sensors installed on vehicle. The data is high quality
for understanding but it is difficult to collect data from the public. The data recorded by asmartphone is lower accuracy and the pose is unknown. Our method uses GPS data
mainly.

GS1-5 Zigzag-Perceptually Important Points for Financial Time Series Indexing
Chawalsak Phetchanchai, Ali Selamat , Md Hafiz Selamat(University Teknologi Malaysia, Malysia)
In this paper, we propose a zigzag based m-ary tree (ZM-Tree) to index financial timeseries. The index is done by mean of zigzag-perceptually important points (ZIPs). The
tree represents the zigzag feature of financial time series which benefits in reversal
pattern searching, and wave counting. We also propose a method of identifying ZIPs in
multi-resolution. The identification process uses the vertical distance as a measurement toevaluate the point importance. The experiments demonstrate the performance of ZM-Treein tree building, tree retrieval, tree pruning, and dimensionality reduction©ICAROB 2014

- 21 -p3(x3,y3)p2(x2,y2)
pd(xd,yd)
pv(xv,yv)p1(x1,y1)Fig. 2. Measurement of
PIP-ED, PIP-PD, and
PIP-VDGS2 Reinforcement Learning System & Genetic programming
GS2-1 Development of phrase and music search engine by humming
Kiminori Satou, Eiji Hayashi(Kyushu Institute of Technology, Japan)
In recent years, the internet has become ubiquitous and is changing dramaticallyevery aspect of how people live their lives. Users not only can purchase the CD athome but also can download the music files without leaving home using the internet,
it is very easy and convenient for users who can find the lyrics. But the music’s
names are not able to be efficiently searched if users forget the music’s names. Then,enter the voice, do a search using that voice's length and pitch, find the rhythm and pitchsimilar phrases, and thought that it is possible to determine the name of the song.
Therefore, we developed a phrase and music search engine that searches a tune fromvarious tunes with one phrase of voice data.

GS2- 2 Human Recognition based on Gait feature and Genetic Programming
Dipak Gaire Sharma, Ivan Tanev, Katsunori Shimohara(Doshisha University, Japan)
Human walking has always been the curious field of research for different disciple ofSocial and Information Science. The study of human walk or human gait in association
with different behaviors and emotions has not only fascinated social science researcher,but its uniqueness has also attracted many computer scientist to work in this arena for thequest of uncovering reliable mechanism of biometric identification. In this research we
use new method for human identification based on human gait features and genetic
programming (GP) approach.

GS2-3 An Action Selection Method Using Degree of Cooperation in a Multi-agent
SystemMasanori Kawamura, Kunikazu Kobayashi(Aichi Prefectural University, Japan)
In recent years, a concept of a dividual is proposed to interact properly with anotherperson. To construct a model of the dividual, the degree of cooperation is assigned to thecorresponding dividual. By introducing the degree of cooperation into multi-agent
systems, we evaluate what kind of changes appears in the agent behavior. In addition, we
propose an action selection method by introducing the degree of cooperation into thesoft-max method in multi-agent systems. Using the proposed method, we confirm
whether the cooperative action is promoted or suppressed through computer simulations.

©ICAROB 2014- 22 -

GS2-4 Cooperative Action Acquisition Based on Intention Estimation Method in a
Multi-agent Reinforcement Learning System
Tatsuya Tsubakimoto, Kunikazu Kobayashi(Aichi Prefectural University, Japan)
In this paper, we propose a method that can acquire cooperative action to reach an
appropriate goal without controlling reward to realize cooperative action by designers.
We assume every action of other agents as a process to achieve an ultimate goal and thentreat it unimportant. In order to confirm the effectiveness of the proposed method, we
carried out computer simulations. The simulation results show that the proposed method
is superior to a standard Q-learning method and a Q-learning method with cooperation interms of the number of successful cooperation.

GS2-5 Integrating the Event Generation Mechanism in the Propp-based Story
Generation Mechanism into the Integrated Narrative Generation System
Shohei Imabuchi, Takashi Ogata(Iwate Prefectural University, Japan)
In the Propp-based story generation mechanisms and the integrated narrative
generation system which we have been developing, the former functions as amodule in the latter. These systems have used respective event generation
mechanisms to generated events which are the most important units in a narrative
structural representation. A common event generation mechanism needs to be usedin these two systems towards the complete blending. This paper will present thefirst tentative attempt as a prototype to be revised in the future.

(event Steal(type action)(ID 1)(time (time1 time2))(agent age%Man#1)(counter-agent nil)(location loc%Forest#1)(object obj%Apple#1)(instrument nil)(from age%Boy#1)(to nil))

Conceptual representation of an event“age%Man#1 steals obj%Apple#1 from
age%Boy#1 at loc%Forest#1.”©ICAROB 2014

- 23 -

Relation

E1(t1→t2)

t1

Event

E2
(t2→t3)

t2

t3

State

E3
(t3→t4)t4Conceptual structure of a story

GS3 Human-machine cooperative systems & Human welfare robotics
GS3-1 Development of Measurement System for Quantitative Evaluation of Skillfulness ofLower Extremities
Kazunori Yamazaki1, Donggun Kim1, Yoshifumi Morita1, Hiroyuki Ukai1
Kenji Kozakai2, Satoru Shibata2, Shigenori Onishi2, Akihiro Ito2, Daisuke Mizuno2
Tatsuya Hirai3, Haruna Takeda3, Yuka Sugiura3(1Nagoya Institute of Technology, Japan),(2Sanyo Machine Works, Ltd., Japan),(3Tanakakai Nishio Hospital, Japan)
In this study, we developed a quantitative evaluation method of the skillfulness of thelower extremities. For this purpose, we used the measurement system which we havedeveloped in our previous work and redesigned the target trajectories of foot movement.
Moreover, we verified the reliability of the proposed quantitative evaluation method bycalculating the intra-subject reliability for two trials ICC(1,1) of the evaluation results.
We developed a measurement system comprising the straight course, the circular course
and the star-shaped course. Because the ICC(1,1) of the circular course and thestar-shaped course are higher than 0.7, the quantitative evaluation method of lower
extremities with the circular course and the star-shaped course has sufficient reliability.

Laptop PC（Video games）

Board
Device(PC Mouse)

GS3-2 Glove-Based Virtual Interaction for the Rehabilitation of Hemiparesis Stroke
Patient
Khairunizam WAN, Aswad A.R, Rashidah Suhaimi, Nazrul H. ADNAN, D. Hazry,
Zuradzman M. Razlan, Syed Faiz Ahmed(Universiti Malaysia Perlis, Malaysia)

This paper proposes the rehabilitation of a stroke patient by using dataglove called
GloveMAP. GloveMAP is a low cost hand glove developed by using flexible bending
sensor and accelerometer attached at the position of the fingers and wrist, respectively.
The rehabilitation exercises are conducted in the virtual environment. In the studies, 22
fundamental movements of arm are evaluated and the results are employed to design thevirtual environment. The combination of these fundamental movements focuses on
Hemiparesis sufferers which are the most common in the stroke and have the inability tomove one side of the body. The experimental results show that by combining several
fundamental arm movements, glove based-virtual interaction supports the stroke patient
do the rehabilitation by them without assisting from physiotherapist.

©ICAROB 2014

- 24 -

Ɵ
Figure. 1 Performing thefundamental arm movement

GS3-3 Measuring system of therapist’s guiding motion for standing up training ofpatient with hemiplegia after stroke and analysis results of patient's motion
JungTang Wang1, Kazunori Yamazaki1, Yoshifumi Morita1, Noritaka Sato1, Hirofumi Tanabe2(1Nagoya Institute of Technology, Japan)(2Self-Defense Force Central Hospital, Japan)
In this paper we developed a measuring system to analyze the therapist’s guiding motion
during the standing up training of a hemiplegic stroke patient. To confirm the usefulnessof the developed measuring system, we measured the motion of a hemiplegic stroke
patient during the standing up training with/without the therapist's guiding motion. By
comparing the results of the patient's left/right weight balance during the standing up
motion with/without the therapist's guiding motion, the effectiveness of the therapist's
guiding motion was confirmed. Moreover, the measured patient's motion with/without thetherapist's guiding motion agrees with the therapist's observation. Therefore, theusefulness of the measuring system was confirmed.

6-axis force/torquesensors

acceleration/
angular velocity
sensorWii Balance Board

GS3-4 Image Segmentation of Coronary Artery Plaque Using Intuitionistic
Fuzzy C-Means Algorithm
Zahra Rezaeia, Ali Selamata, Mohd Shafry Mohd Rahima, Mohammed Rafiq Abdul Kadirb(Universiti Teknologi Malaysia)
Every year, hundreds of thousands of people die because of Coronary Heart Disease(CHD) in all over the world..Coronary Artery Disease (CAD) as a cardiovascular illness
causes blood vessels narrowing that supply blood and oxygen to the heart .
Atherosclerosis is known as the deadliest type of heart disease, which is caused by soft or“vulnerable” plaque (VP) formation in the coronary arteries. Acute Coronary Syndrome(ACS) is recognized as the first coronary atherosclerosis indicator which identifies
high-risk plaques. Intravascular ultrasound (IVUS) can be applied for characterization ofplaque and segmentation of vessel’s walls borders. Recently, Virtual Histology as a new
approach based on spectral analysis of IVUS has been introduced. In this work, weapplied a clustering method based on Intuitionistic Fuzzy C-means (IFCM) in order toautomatic segmentation of Coronary Artery plaque using VH-IVUS images.

©ICAROB 2014

- 25 -

Figure 1. Arterial
plaque geometry.
Cross-sectional view[2].

GS4 Neural Networks
GS4-1 The recollection characteristics of Generalized MCNNusing different
control methods
Shun Watanabe1, Takashi Kuremoto1, Kunikazu Kobayashi2, Shingo Mabu1, Masanao Obayashi1(1Yamaguchi University, Japan)(2Aichi Prefectural University, Japan)
As an auto-association memory model, chaotic neural network (CNN) proposed byAdachi et al. is able to recollect multiple stored patterns dynamically. Kuremoto et al.
proposed a multi-layer chaotic neural network (MCNN) combined multiple controlled
CNN layers to realize mutual association of plural time series patterns. However,recollection simulation of MCNN was limited in a two-layer model and the recollection
characteristics concerning with the different external inputs and the control methods were
not investigated. In this paper, we extend the MCNN to be a general form (GMCNN)
with more layers and use control method using particle swarm optimization (PSO). And
the recollecting characteristics of different GMCNNs using different control methods
were invested by computer simulations.

GS4-2 Revealing Terrorism Contents form Web Page Using Frequency Weighting
Techniques
Thabit Sabbah, Ali Selamat, Md Hafiz Selamat(Universiti Teknologi Malaysia, Malaysia)
Intelligence and security informatics plays an important role in revealing terrorism in web
content. However, the extremist groups are exploiting Internet facilities intensively tostimulate violence, hatred, and terrorism. Accurate classification of web content will
increase the opportunities for the effective use of intelligence and security informatics inthe early detection of terrorist activities. In this paper, we propose a feature selection
method based on term weighting techniques TF, DF, and TF-IDF for revealing terrorism
in web content. Firstly, we compare the performance of the individual term weighting
techniques in revealing terrorism. Then, we present a method for enhancing the accuracyof classification. The method was tested with selected dataset from Dark Web Portal
Forum. The experimental results show that classification using

GS4-3

Accuracy
TF

DF

100%
0%
100 300
K (# OF…
forFig. 1. Classification accuracy

individual term weighting
techniques

Application of Self Organizing Map for analyzing of robotic arm’s action
with Consciousness-Based Architecture module
Wisanu Jitviriya, Eiji Hayashi(Kyushu Institute of Technology, Japan)©ICAROB 2014

- 26 -

TF-IDF

Our research has been focused on developing human-robot interactions, The robot need toperform a high level of intellectual activity and user compatibility. Therefore, we
considered the primary structure of a conscious human/animal action, which can be
represented by the sequence process, Perception  Motivation  Action. We have
improved a hierarchical structure model, which defines the relationship between the
consciousness field and the behavior module. This model is called Consciousness-BasedArchitecture (CBA). Furthermore, the robot should select the action itself, we haveinvestigated the application of brain-inspired technology so we introduced a Self
Organizing Map (SOM) neural network that is trained using unsupervised learning toclassify its behavior according to the motivation value in the CBA module. In this paper,
we attempt to describe the integration of a Self Organizing Map (SOM) method into CBA
module in order to classify and select autonomous behavior. We confirmed theeffectiveness of the proposed system by the experimental results.

GS4-4 Study on Time Synchronization Algorithm of Wireless Sensor Networks
Based on Maximum Likelihood Estimation
Ai Dongmei, Zeng Guangping, Tu Xuyan, He Di(University of Science and Technology Beijing, China)

Wireless Sensor Network (WSN) integrates technologies of wireless communication,
sensing, network interconnection, and distribution. Comprised of a large amount of micro
sensor networks, it can collect real-time information, monitor objects within a specificrange, and send back usable information at the first time to observers. Unlike generalcomputer networks, WSNs face the issue of constraints on energy. Hence, the timesynchronization mechanism, a supporting technology for application of WSNs, isn’t
suitable when extensively applied to traditional network. This paper proposes
High-Accurate Energy-Efficient Time Synchronization (HAEE) algorithm based on
TPSN algorithm, which significantly improves the accuracy of time synchronization andreduces energy consumption, as proven by software simulation results.

.

GS5 Pattern recognition
GS5-1 Recognizing a Road Environment Using Multiple-window Bag of Features
Shou Morita, Joo Kooi Tan, Hyoungseop Kim, Seiji Ishikawa(Kyushu Institute of Technology, Japan)
In this paper, we propose a method of recognizing a road environment employing bag offeatures considering positional information. This technique works by making multiple
windows in an image. The proposed method makes a codebook in each window andcomputes histograms of local features found inside of the window. The original bag offeatures method disregards positional information in an image It is, however, important torecognition. The proposed method considers positional information in an image byintroducing multiple windows. For recognition, we employ the support vector machine.
Experimental results show satisfactory performance of the proposed method.

GS5-2 Recognized Face Tracking for CONBE Robot
Sakmongkon Chumkamon, Eiji Hayashi(Kyushu Institute of Technology)©ICAROB 2014

- 27 -

Multiple windows on
an image.

In our research we develop the robot to combine with the consciousness and behavior
which is the conscious and behavior robot (CONBE). In this paper we present the basis
system in the CONBE robot that consist of the two main sections as the face recognition
and robot gaze tracking. This system uses the face recognition using Fisherfaces that also
refer to linear discriminant analysis (LDA). For the robot gaze tracking, we implementwith the head of the CONBE robot that has a camera, two displays used for robot eyes
and the actuators of 2 degrees of freedom. The actuators use to control the robot gaze fortracking the face which the robot can recognize. In this paper, we experiment and present
the results of the face recognition system such as frame rate, error rate; and the tracking
control system such as the tracking error and time.

GS5-3 Eye detection Using Composite Cross-Correlation form Face Images
in Varied Illumination
Kutiba Nanaa, Mohamed Rizon, Mohd Nordin Abd Rahman(Universiti Sultan Zainal Abidin (UniSZA), Malaysia)
Facial feature detection is essential process in the field of face recognition. Template matc
h based approach is widely used to implement the issue of facial detection.However, many obstructions adversely affect in template based implementation such as
varied illumination, size, face pose and the status of eye in either open case or close case.
the objective of this paper is to detect left eye and overcome the obstruction of
low illumination in given image using composite cross-correlation. Two single template
form the proposed composite template. First single template is created from an
eye image in ordinary illumination while the second single template is created froman eye image in low illumination. The experimental results is concluded by applying our templates on the PICS Database whose varied illumination images and show thatapplying
composite templates gives a better result than applying the both single templates individu
allyGS5-4 Development of an autonomous-drive personal robot“An object recognition system using BoF and SOM”
Keisuke Ito, Eiji Hayashi (Kyusyu Institute of Technology, Japan)
In the near future, autonomous self-driving robots are expected to provide various
services in human living environments. The ability to work autonomously and accurately
recognize surrounding objects are required for the autonomous robot. In previous
research, the robot has enabled the determination of the angle and type of the object by amatching system based on the Speeded Up Robust Features (SURF). In this paper, theauthors developed the system in order to determine the type of the object by using the
Self-Organizing map (SOM) and SURF features. This system can visualize therelationship of the object and determine the type of the object.

Please attach one
typical figure in yourpaper here.

GS5-5 Comparison of Feature Detectors for Obstacles Detection
Shaohua Qian1, Joo Kooi Tan11, Hyoungseop Kim1,2Seiji Ishikawa1
Takashi Morie , Takashi Shinomiya(12Kyushu Institute of Technology, Japan)( Japan University of Economics, Japan)©ICAROB 2014

- 28 -

Detection of obstacles in a video sequence is a basic task in autonomous collision
avoidance systems of intelligent vehicle. We have already proposed an obstacles detection
method using a video taken by a vehicle-mounted monocular camera. In this method,
accurate obstacles detection depends on whether we can accurately detect and matchfeature points. In order to improve the accuracy of obstacles detection, in this paper wemake a comparison between four most commonly used feature detectors: Harris, SIFT,
SURF and FAST detectors. The experiments are done using our obstacles detection
method. The experimental results are compared and discussed, and then we find the mostsuitable feature point detector for our obstacles detection method.

GS6 Robotics Ⅰ
GS6-1 Study on the pose under complex multiple targets environment for
the industrial robot based on machine vision
Jiwu Wang 1, Xianwen
Zhang 1, Huazhe Dou 1, Sugisaka Masanori 2(1 Beijing
Jiaotong University, China)(2 Nippon Bunri University, Japan)
Effectively obtaining multiple targets pose is the key element to improve flexible
applications of industrial robots under complicated working environments. Machine
vision technology is the main method to solve this problem. In order to effectively reduce
influence of changing conditions (such as the illumination, angle and scale etc.) on target
pattern recognition, the fusion algorithms of scale invariant feature transform (SIFT) andgeometric moment, is developed in this paper. To achieve accurate identification ofmulti-targets’ pose when their position and orientation change in the two-dimensional
space, the optical-section method is used to determine the depth information of somefeature points of the target. Moreover, that data is used to correct the pose recognized by
the traditional pattern technology. Finally, using SCARA-type industrial robots as aplatform, the relative algorithms are verified with corresponding experiments.

Fig.5. The industrial robot
recognition system

GS6-2 Research and Development of an Intelligent Robot of Medical Assistance Based on
Embedded RTOS
Yuan Li, Fengzhi Dai, Junhong Xi, Binyao Li, Guodong You(Tianjin University of Science and Technology, P. R. China)
For practical purpose, this paper focuses on design and implementation of a wheeled
intelligent robot that could be applied in hospitals or nursing homes for medical
assistance. The hardware part includes two microcontrollers, MC9S12XS128 and
STC89C52, assisted by a laptop as the control center of the system, various sensors andother robotic pieces. The software part is basically achieved on CodeWarrior 5.0, KeilμVision4 and Visual C++ 6.0 with OpenCV library, porting μC/OS-II real-time operating
system to MC9S12XS128 in order for improving stability and flexibility of the system.
The robot has functions of infrared remote control, fuzzy rule-based path tracking,obstacle avoidance, real-time LCD display and voice broadcast, color recognition androbot arm grasping.

©ICAROB 2014

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GS6-3 High Acceleration Robotic Arm for Dynamic and Dexterous Manipulation ofDeformable Object
Hiroaki Seki1, Hiroki Shibata1, Yoshitsugu Kamiya1, Masatoshi Hikizu1,
Khairul Salleh Mohamed Sahari2(1Kanazawa University, Japan)(2Universiti Tenaga Nasional, Malaysia)
Deformable object manipulation is very important for home service robots. This paper
discusses the development of a high acceleration robotic arm capable of performing
dexterous manipulation of deformable object such as string. A mass-spring model of thestring is first developed to study the design requirement of the robot as well as todetermine the required motion of the robot to smartly manipulate the string. The
developed system comprising of the string model and robotic arm is then used tomanipulate unknown string. Based on some simple basic routine, the parameters of thestring can be approximated based on the string model. Once the parameters are known,
the string can be smartly manipulated by the robotic arm.

.

GS6-4 Hybrid controller design for wind burst and noise rejection in smoothtakeoff / landing and altitude controlling of quad-rotor
M. Hassan Tanveer, D. Hazry, S. Faiz Ahmed, M. Kamran Joyo, Faizan. A. Warsi(Universiti Malaysia Perlis (UniMAP) Malaysia)
This article evaluates the proposed control technique for altitude controlling of
Quad-rotor type unmanned Aerial Vehicles under different uncertainty conditions.
Smooth takeoff and landing i.e. altitude controlling of Quad-rotor UAV under perturbed
conditions such as high wind burst and system or sensor noises has been a challenging
research domain for the researchers. In this paper a Hybrid controller is purposed forbatter controlling of quad-rotor’s altitude through MPC and PID controller. This hybrid
controller works in such a way that quad-rotor’s sensor and system noises problem arehandled by MPC controller and in the occurrence of external disturbances, auto-tuned
PID controller is activated and well manage the situation. Simulations are done on
MATLAB and results shows the effectiveness of the proposed hybrid method and suggest
it as a promising way for real time implementation in altitude stabilization for quad-rotor
UAV

Proposed Hybrid Controller:

GS6-5 Parameters of Gas-Liquid Flow Distribution Uniformity in Upward Multi-Pass
Channels1
1
Zuradzman M. Razlan1,, R. Heng
, D. Hazry21, A.B. Shahriman, Khairunizam
WAN1, S. 3Faiz Ahmed1,
1
2
2
Nazrul H. ADNAN , M.
Hirota , N. Maruyama , A. Nishimura , H. Hisyam .
1( Universiti
Malaysia Perlis, Malaysia)(2 Mie University, Japan)
3( Lean Applied Pte. Ltd., Malaysia)

The gas-liquid flow distributions in multi-pass upward parallel channels that simulate
the evaporator for an electric vehicle air-conditioner system were examined
experimentally. In this paper, the attentions are to discover the most influenced parameterto the flow distribution uniformity by using design of experiment method. Experiments
were conducted in an isothermal air-water flow system. In the mist-flow inlet, the water
distribution was insensitive to the backpressure conditions and its uniformity was
improved in comparison with that in the stratified-flow inlet. The flow distribution
uniformity for gas phase is influenced mostly by superficial air velocity, and the flow
distribution uniformity of liquid phase is mostly influence by 2-way interaction ofparameters which are flow pattern and superficial air velocity.

©ICAROB 2014

- 30 -(a) Stratified-flow inlet(b) Mist-flow inlet
Fig. 1 Flow-inlet
conditions

GS7 Robotics Ⅱ
GS7-1 Decision Making System of Robots Introducing a Re-construction of Emotions
Based on Their Own Experiences1
Shogo Watada, Masanao1 Obayashi, Takashi Kuremoto1, Shingo Mabu1, Kunikazu Kobayashi2
1( Yamaguchi University, Japan)(2Aichi Prefectural University, Japan)

We already proposed a decision making system for autonomous robots, which is based ona Markovian emotional model proposed by Banik. In our proposed system, decision
making of the robot is designed automatically by two processes. The first is aconstruction of emotions based on learning of the input stimuli. The second is
optimization of behavior selection policy for emotions by optimization of systemparameters which define behavior selection probability of each emotion. In our above
previous studies, a construction of emotions based on learning of the input stimuli wasprocessed using learning samples of input stimuli on offline in advance. In this study, we
introduce an experiences-based reconstruction of emotions to our decision making system
as an approach to an automatic construction of decision making online learning.

GS7-2 Visual Servoing and Sound Localization in a Surveillance Robot
So-Yeon Park, Yeoun-Jae Kim and Ju-Jang Lee(KAIST, Korea)
The purpose of this paper is to explain the control and implementation details of thevisual servoing and sound localization in a tank shaped surveillance robot. With an eye in
hand camera configuration, the key point of the visual servoing is to measure the depth tothe target object. In this paper, we suggested the depth estimation technology by moving
the camera in a lateral plane. In sound localization, the hardware and software details are
fully explained to implement the sound localization technology. Especially the electronic
filter design is implemented by utilizing the genetic algorithm.

GS7-3 Study on the improvement of flexibility for an industrial robot
based on machine vision
Jiwu Wang1, Xianwen Zhang1, Weining Zhang1, Sugisaka Masanori2(1 Beijing Jiaotong University, China)(2 Nippon Bunri University,)
In order to improve the applications for an industrial robot, it is necessary to increase its
flexibility and control accuracy. Many algorithms and control strategies are developed, inwhich machine vision gets more and more attention. This is because the CCD camera canprovide more information than other sensors, which makes the whole control processsimple. But it requires that the target position should be extracted accurately and robustly.
Moreover, the frequency of image processing should be satisfied with the control
requirements. Here an industrial robot arm is designed and set up for experiment
simulation with machine vision. The target extraction method with fusion of color spaceand moment invariants is developed. The experiments results showed that the developed
image processing algorithms are robust, and the flexibility of an industrial robot can be
improved by machine vision.

GS7-4 Improved Map Generation by Addition of Gaussian Noisefor Indoor SLAM using ROS
Khairul Salleh Mohamed Sahari, Barry Loh Tze Yuen
(Universiti Tenaga Nasional, Malaysia)©ICAROB 2014

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Fig.1. The illustration of thestructure of the arm robot

Rao-Blackwellized Particle Filter (RBPF) is used in this paper to solve the Simultaneous
Localization and Mapping (SLAM) problem. RBPF algorithm uses particle filter where
each particle carries an individual map of the environment. With the usage of Robot
Operating System (ROS), GMapping package was used as a basis for map generation and
SLAM. To improve the map generation, Gaussian noise was introduced to the data fromlaser range finder and also the odometry from the robot Pioneer P3AT’s pose. The
introduced algorithm was successful in decreasing the uncertainty as well as increased theknowledge of each particle in the estimation of the robot’s pose, proven through practicalexperiment. Exploration experiments were also carried out to test the performance ofP3AT based on our proposed method.

.

PS
PS1-1 Relationship input object position and optimal error diffusion coefficients for
Kinoform using error diffusion method
Daisuke Kashima. Ken-ichi Tanaka.
(Meiji Univ. Japan)
We performed simplify defining optimal error diffusion coefficients for Kinoform. In
order to define optimal error diffusion coefficients simply, we performed searching
relationship input object position and formulating the relationship to approximation. In
order to prove that approximation is true, this paper show simulation result of making
reconstructing by error diffusion method.

PS1-2 Optimization of dither matrix by hybrid of Genetic Algorithm and Simulated
Annealing
Kohei Kato, Ken-ichi Tanaka(Meiji University)
Halftoning is used by ink-jet printer, color copier and so on. Dither method is the methodof halftoning. Bayer method that is one of the dither methods is able to obtain a superior
evaluation value compare with other dither methods, though it is the decided matrix.
Several investigations of Optimization of the dither matrix are reported. However, there isno investigation from point of view of the combinational optimization problems. In thispaper, we search the optimum dither matrix by Genetic Algorithm (GA) and Simulated
Annealing (SA) and hybrid of GA and SA(GA/SA).We weigh conventional method
against these methods.

©ICAROB 2014

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PS1-3 Inverse Halftoning using Multi-Layer Feed-Forward Neural Network
Hiroki Hamashoji, Ken-ichi Tanaka(Meiji University)
In this paper, we proposed novel inverse halftoning technique, which use Multi-Layer
Feed-Forward Neural Network (MLFFNN) and Gaussian filtering. This method
reconstruct continuous tone image from any halftoning methods. As a result, a highquality image can reconstructed from binary image compared with conventional method.
Especially the proposed method image quality is good both visually and Peak
Signal-to-Noise Ratio (PSNR) value, compared with reconstructs inverse halftone images
by Look-up table (LUT) based inverse halftoning.

PS1-4 Embedding of the Confidential Image in a Dithered Color Image
Keisuke Banba, Kenichi Tanaka(Meiji University, Japan)
This paper proposed embedding information in dithered color image. We have developed
a method of encryption using computer-generated holograms (CGH) embedded indithered color image. First, confidential information is converted into a CGH. Next, theCGH data undergo two separate dithering processes in parallel: one corresponding to
CGH white pixels and one corresponding to CGH black pixels. The results from bothprocesses are used to form a dither matrix for creating the final dithered and encoded
image. In this way, confidential information can be embedded into the image. The dither
method is algorithm used for digital halftone processing. We evaluated image quality of adithered color image, and evaluation value of the image is superior to one of conventional
method.

PS1-5 Three Dimensional Images Reconstruction on Computer Generated Holograms theMultiple Regression Analysis
Kenta Ayabe, Ken-ichi Tanaka(Meiji University, Japan)
In this paper, for a Computer Generated Hologram (CGH) reconstructing athree-Dimensional (3D) object, we present the improvement of the reconstruction image,reducing of the calculation time using error diffusion method and a multiple regression
analysis. The multiple regression analysis predicts one response variable with plural
explanatory variables. The purposes of this paper are reducing calculation time andimproving reconstruction images. Therefore we move 26 pieces of images from A to Z atvarious positions. We prepare for 650 pieces of images in total and perform GA ineach.We expect diffusivity for a multiple regression analysis from the result andregenerate it..

©ICAROB 2014

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PS1-6 Embedding used binary number conversion into a Color image
Hiroaki Oguma, Ken-ichi Tanaka(Meiji University, Japan)
Digital watermarking is widely used as security of a binary format image. The purpose ofthis paper is extension to a color image from grayscale image. Then, it thought asimportant giving many embedding information to a color image. A color image is divided
into RGB, the concentration value of a pixel is made into a binary number, and last 3
digits are changed to arbitrary numbers. It embeds by carrying out by repeating this, andsecure many information. 10x19660 times of embedding are able to be performed to the
picture of 256x256 pixels. Moreover, the signal to noise ratio is about 40 db. Therefore, it
seems that there is little influence which it has on a picture.

©ICAROB 2014

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