ICAROB
2023
PROCEEDINGS OF THE 2023
INTERNATIONAL CONFERENCE
ON ARTIFICIAL LIFE AND ROBOTICS
February 9 to 12, 2023
on line Oita in Japan
28th AROB International Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-8-8

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Proceedings of The 2023 International Conference on

ARTIFICIAL LIFE AND ROBOTICS(ICAROB2023)

February 9 to 12, 2023, on line in Japan, 2023
28th AROB International Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-8-8

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Contents
1

Organization, etc.

1

2

Messages

11

3Time Table

15

4

Opening Ceremony

19

5Technical paper index

20

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

Abstracts
PS abstracts
OS abstracts
GS abstracts
POS abstract

46
48
102
112

7

Authors index

113

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in JapanSPONSERED
ALife Robotics Corporation Ltd.

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

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

1©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in JapanADVISORY COMMITTEE CHAIRS
Kazuo Ishii (Kyushu Institute of Technology, Japan)
Kensuke Harada (Osaka University, Japan)
Takashi Kohno (University of Tokyo, Japan)
Eiji Hayashi (Kyushu Institute of Technology, Japan)
Jeffrey Johnson (The Open University, UK)
ADVISORY COMMITTEES
Adam Grzech (Wroclaw University of Technology, Poland)
Bruce Eisenstein (Drexel University, Former IEEE President, USA)
Hidenori Kimura (RIKEN & Wasada University, Japan)
Jerzy Świątek (Wroclaw University of Technology, Poland)
Joshua M. Epstein (The Johns Hopkins University, USA)
Kai-Tai Song (National Chiao Tung University, Taiwan)
Ken-ichi Tanaka (Executive Fellow, Mitsubishi Electric Corporation, Japan)
Masato Nakagawa (Executive Fellow, DENSO CORPORATION, Visiting Professor of
Hiroshima University, Japan)
Masayoshi Tomizuka (University of California Berkeley, USA)
Moshe Kam (New Jersey Institute of Technology, Former IEEE President, USA)Paul Kalata (Drexel University, USA)Paul Oh (Drexel University, USA)Peter Herczfeld (Drexel University, USA)
Steen Rasmussen (University of Southern Denmark, Denmark)Zengqi Sun (Tsighua Univesity, P. R. China)
GENERAL CHAIR
Masanori Sugisaka(Alife Robotics Corporation Ltd., Japan)(Visiting Professor, The Open University (UK))
CO-GENERAL CHAIRS
Yingmin Jia (Beihang Univesty, P. R. China)
Takao Ito (Hiroshima University, Japan)
Ju-Jang Lee (Honorary professor, KAIST, Korea)
VICE GENERAL CHAIRS
Ang, Chun Kit (University of UCSI, Malaysia)
Henrik. H. Lund (Technical University of Denmark, Denmark)John. L. Casti (International Institute for Applied Systems Analysis, Austria)
2©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Katia Passerini (Seton Hall University, USA)
Luigi Pagliarini (Technical University of Denmark, Denmark)(Academy of Fine Arts of Macerata, Italy)
Mohd Rizon bin Juhari (University of UCSI, Malaysia)
Norrima Mokhtar (University of Malaya, Malaysia)
PROGRAM CHAIRMAN
Makoto Sakamoto (University of Miyazaki, Japan)
CO-PROGRAM CHAIR
Marion Oswald (Technische Universität Wien, Austria)
INTERNATIONAL ORGANIZING COMMITTEES
Akira Fukuda (Kyushu University, Japan)
Akira Nakamura (Saitama Institute of Technology, Japan)
Akinori Abe (Chiba University, Japan)
Andrew Gadsden (University of Guelph, Canada)
Caoli Wang (University of Shanghai for Science and Technology, P. R. China)
Chan Gook Park (Seoul National University, Korea)
Evgeni Magid (Kazan Federal University, Russia)
Fuzhong Wang (Henan Polytechnic University, P. R. China)
Hazry Desa (University of Malaysia, Perlis, Malaysia)
Hidehiko Yamamoto (Gifu University, Japan)
Hideyuki Suzuki (The University of Tokyo, Japan)
Hiroki Tamura (The University of Miyazaki, Japan)
Hiroshi Kage (Mitsubishi Electric Corporation, Japan)
Hiroshi Matsuno (Yamaguchi University, Japan)
Jiwu Wang (Beijing Jiaotong University, P. R. China)
Jovana Jovic (CNRS-AIST JRL, Japan, France)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Katsunori Shimohara (Doshisha University, Japan)
Kazuo Ishii (Kyushu Institute of Technology, Japan)
Kenichi Tanaka (Nagasaki Institute of Applied Science, Japan)
Kenji Hashimoto (Waseda University, Japan)
Kevin Voges (Canterbury University, New Zealand)
Kunikazu Kobayashi (Aichi Prefectural University, Japan)
Kuo-Hsien Hsia (Far East University, Taiwan)
Kyungho Park (U.S. ARMY, Japan and USA)
Masao Kubo (National Defense Academy of Japan, Japan)
Masanao Obayashi (Yamaguchi University, Japan)
Maxim Sokolov (Innopolis University, Russia)
3©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Mehta Rajiv (New Jersey Institute of Technology, USA)
Minoru Kumano (University of Miyazaki, Japan)
Peter Sapaty (Ukrainian Academy of Science, Ukraine)
Pierre Parrend (University of Strasbourg, France)
Qiang Cai (Beijing Technology and Business University, P. R. China)
Qu Yanbin (Harbin Institute of Technology, P. R. China)
Shin Jisun (Pusan National University, Korea)
Singo Mabu (Yamaguchi University, Japan)
Takashi Kohno (The University of Tokyo, Japan)
Takashi Ogata (Iwate Prefectural University)
Teruhisa Hochin (Kyoto Prefectural University, Japan)
Tetsuro Hattori (Kagawa University, Japan)
Thi Thi Zin (University of Miyazaki, Japan)
Thomas S. Ray (University of Oklahoma, USA)
Toru Yamamoto (Hiroshima University, Japan)
Toshihro Inukai (DENSO WAVE INCORPORATED, Japan)
Victor Berdonosov (Komsomolsk-on-Amur State University of Technology, Russia)
Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Yi Chai (Chongqing University, P. R. China)
Yoshifumi Morita (Nagoya Institute of Technology, Japan)
Yoshiro Imai (Kagawa University, Japan)
Zengqiang Chen (Nankai University, P. R. China)
INTERNATIONAL PROGRAM COMMITTEES
Abdul Rahman bin Dullah (Universiti Teknikal Malaysia Melaka, Malaysia)
Akinori Abe (Chiba University, Japan)
Akira Utsumi (The University of Electro-Communications, Japan)
Akihiro Yamaguchi (Fukuoka Institute of Technology, Japan)
Akihito Kanai (Hosei University, Japan)
Ali Selamat (University of Technology of Malaysia, Malaysia)
Aminurafiuddin bin Zulkifli (Multimedia University, Malaysia)
Amornphun Phunopas (King Mongkut’s University of Technology, North Bankok,
Thailand)
Andre Rosendo (ShanghaiTech University, P. R. China)
Anne Jeannin-Girardon (University of Strasbourg, France)
Anton Shiriaev (Norwegian University of Science and Technology, Norway)
Artur Sagitov (Kazan Federal University, Russia)
Ashi Gautam (The University of Tokyo, Japan)
Atsuya Tange (The University of Tokyo, Japan)
Ayumu Tominaga (Kyushu Institute of Technology, Japan)
Bin Zhang (Beijing University of Posts and Telecommunications, P. R. China)
Cecilia Zanni-Merk (INSA-Rouen, France)
Chaoli Wang (University of Shanghai for Science and Technology, P. R. China)
4©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Chia-Nan Ko (Nan kai University of Technology, Taiwan)
Chung-Wen Hung (National Yunlin University of Science & Technology, Taiwan)
Congdao Han (Shanghai Institute of Technology, P. R. China)
Cui Zhang (Beihang University, P. R. China)
Cynthia Matuszek (University of Maryland, USA)
Donglian Qi (Zhejiang University, P. R. China)
Dongmei Ai (Universty of Science and Technology Beijing, P. R. China)
Duangiai Jitkongchuen (Dhurakij Pundit University, Thailand)
Dunwei Gong (China University of Mining and Technology, P. R. China)
Jiao Jia (Beihang University, P. R. China)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Endra Joelianto (Bandung Institute of Technology, Indonesia)
Fabio Guigou (University of Strasbourg, France)
Fei Hao (Beihang University, P. R. China)
Fuzhong Wang (Henan Polytechnic University, P. R. China)
Haibo Li (Royal Institute of Technology, Sweden)
Haisheng Li (Beijing Technology and Business University, P. R. China)
Haruhisa Okuda (Mitsubishi Electric Corporation, Japan)
Haruka Tsuboi (The University of Miyazaki, Japan)
Haruna Matsushita (Kagawa University, Japan)
Heeje Kim (Pusan National University, Korea)
Hidetsugu Suto (Muroran Institute of Technology, Japan)
Hiroyuki Iizuka (Osaka University, Japan)
Hongbo Li (Tsinghua University, P. R. China)
Hongji Ma (Shandong University of Science and Technology, P. R. China)
Hongjiu Yang (Yanshan University, P. R. China)
Hongpeng Yin (Chongqing University, P. R. China)
Hussein Abbass (University of New South Wales, and ADFA, Australia)
I-Hsien Liu (National Cheng Kung Univrsiity, Taiwan)
Ilya Afanasyev (Innopolis University, Russia)
Istvan Harmati (Budapest Institute of Technology and Economics, Hungary)
Ivan Tanev (Doshisha University, Japan)
Jiandong Zhao (Beijing Jiaotong University, P. R. China)
JJ Merelo (University of Granada, Spain)
Joono Cheong (Korea University, Korea)
Julio Navarro Lara (University of Strasbourg, France)
Jun Kobayashi (Kyushu Institute of Technology, Japan)
Jung-Shian Li (National Cheng Kung University, Taiwan)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Keiji Kamei (Nishinippon Institute of Technology, Japan)
Keisuke Watanabe (Tokai University, Japan)
Keita Honda (Gifu University, Japan)
Ke Zhang (Chongqing University, P. R. China)
Kenichi Tanaka (Nagasaki Institute of Applied Science, Japan)
5©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Kensuke Ogata (Osaka City University Japan)
Khairul Salleh bin Mohamed Sahari (Universiti Tenaga Nasional, Malaysia)
Khoyratee Farad (The University of Tokyo, Japan)
Kouichi Takeuchi (Okayama University, Japan)
Konstantin Yakovlev (Russian Academy of Sciences, Higher School of Economics, Russia)
Kui Xiang (Wuhan University of Technology, P. R. China)
Leonid Freidovich (Umea University, Sweden)
Levi Timothée (The University of Tokyo, Japan)
Liming Chen (Beihang University, P. R. China)
Lin Li (University of Shanghai for Science and Technology, P. R. China)
Lin Zhao (Qingdao University, P. R. China)
Mamoru Yoshimura (The University of Miyazaki, Japan)
Manabu Yamada (Nagoya Institute of Technology, Japan)
Masahide Ito (Aichi Prefectural University, Japan)
Masahiro Ushio (Kyushu Institute of Technology, Japan)
Masahiro Yokomichi (The University of Miyazaki, Japan)
Masamichi Hori (The University of Miyazaki, Japan)
Masanori Takahashi (Tokai University, Japan)
Masayoshi Kano (Chukyou University, Japan)
Masayoshi Tabuse (Kyoto Prefectural University, Japan)
Masaomi Hatakeyama (university of Zurich, Switzerland)
Max Talanov (Kazan Federal University, Russia)
Meng Duan (Beihang University, P. R. China)
Moeko Tominaga (Kyushu Institute of Technology, Japan)
Mohammad Al-Shabi (University of Sharjah, United Arab Emirates)
Mohammad Biglarbegian (University of Guelph, Canada)
Mou Chen (Nanjing University of Aeronautics and Astronautics, P. R. China)
Nan Xiao (Northeastern University at Qinhuangdao, P. R. China)
Nicolas Monmarché (university of Tours, France)
Noriaki Kuwahara (Kyoto Prefectural University, Japan)
Noritaka Sato (Nagoya Institute of Technology, Japan)
Norrima Mokhtar (University of Malaya, Malaysia)
Palakorn Tantrakool (King Mongkut’s Institute of Technology, North Bankok, Thailand)
Ping Wang (North China Electric Power University, P. R. China)
Pierre David (University of Strasbourg, France)
Pierre Willaume (University of Strasbourg, France)
Rizauddin bin Ramli (Universiti Kebangsaan Malaysia, Malaysia)
Roman Lavrenov (Kazan Federal University, Russia)
Ruztamreen bin Jenal (Universiti Teknikal Malaysia Melaka, Malaysia)
Ryohei Anshi (Kyushu Institute of Technology, Japan)
R.K.P.S. Ranaweera (University of Moratuwa, Sri Lanka)
Satoshi Ikeda (The University of Miyazaki, Japan)
Sanjay S. Joshi (University of California, USA)
Seong-Ik Han (Pusan National University, Korea)
6©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Shahriman Abu Bakar (Universiti Malaysia Perlis, Malaysia)
Shanbi Wei (Chongqing University, P. R. China)
Shihao Sun (Beihang University, P. R. China)
Shin-ichi Asakawa (Tokyo Woman's Christian University, Japan)
Shin Wakitani (Hiroshima University)
Shumin Fei (Southeast University, P. R. China)
Shyi-Ming Chen (National Taichung University of Education, Taiwan)
Stephen Wilkerson (York College of Pennsylvania, USA)
Takashi Kuremoto (Yamaguchi University, Japan)
Takayoshi Yamada (Gifu University, Japan)
Takuya Fuginaga (Kyushu Institute of Technology, Japan)
Takuya Nanami (The University of Tokyo. Japan)
Taishiro Kishimoto (Keio University, Japan)
Taisuke Akimoto (Kyushu Institute of Technology, Japan)
Takashi Iwamoto (Mitsubishi Electric Corporation, Japan)
Tarik bin Abd Latef (Universiti Malaya, Malaysia)
Taro Shibanoki (Ibaraki University, Japan)
Teruhisa Hochin (Kyoto Prefectural University, Japan)
Tetsuro Katayama (The University of Miyazaki, Japan)
Thomas Noel (University of Strasbourg, France)
Thunyaseth Sethaput (Thammasat University, Thailand)
Tianping Zhang (Yangzhou University, P. R. China)
Tomohiko Takagi (Kagawa University, Japan)
Toru Hiraoka (University of Nagasaki, Japan)
Toshihiro Inukai (DENSO Wave Incorporated, Japan)
Toshinori Nawata (Kumamoto National College of Technology, Japan)
Tsunehiro Yoshinaga (Tokuyama National College of Technology, Japan)
Ussath Martin (The University of Potsdam, Germany)
Wan Khairunizam Wan Ahmad (Universiti Malaysia Perlis, Malaysia)
Weicun Zhang (University of Science and Technology Beijing, P. R. China)
Wenhao Zheng (Beihang University, P. R. China)
Wenlin Li (Beihang University, P. R. China)
Wisanu Jiviriya (King Mongkut’s University of Technology North Bankok, Thailand)
Xiaocan Wang (Technical University Munich, Germany)
Xiaofeng Su (Beijing Institute of Astronautical Systems Engineering, P. R. China)
Xiaoyan Chen (Tianjin University of Science and Technology, P. R. China)
Xiaoyan Fu (Capital Normal University, P. R. China)
Xuemei Ren (Beijing Institute of Technology, P. R. China)
Xuhui Lu (Beihang University, P. R. China)
Yan Cui (Shanxi Normal University, P. R. China)
Yasunori Takemura (Nishinippon Institute of Technology, Japan)
Yo Horikawa (Kagawa University, Japan)
Yongqiang Qi (China University of Mining and Technology, P. R. China)
Yoshihiro Kita (Tokyo Institute of Technology, Japan)
7©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Youji Kawamura (Kindai University, Japan)
Yu-an Zhang (Qinghai University, P. R. China)
Yue Lin (Beijing Institute of Control Engineering, P.R. China)
Yueqian Liang (China Academy of Elecronics and Information Technology, P. R. China)
Yuji Minami (National Institute of Technology, Ube College, Japan)
Yunju Chen ((Shiga University, Japan)
Yunzhong Song (Henan Polytechnic University, P. R. China)
Zacharie Mbaitiga National Institute of Technology, Okinawa College, Japan)
Zakri bin Ghazali (Universiti Malaysia Pahang, Malaysia)
Zengqiang Chen (Nankai University, P. R. China)
Zhao Peng (Huazhong University of Science and Technology, P. R. China)
Zhengquan Yang (Civil Aviation University of China, P. R. China)
Zhongxin Liu (Nankai University, P. R. China)
Zuradzman bin Mohamad Razlan (Universiti Malaysia Perlis, Malaysia)
LOCAL ARRANGEMENT COMMITTEES
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 and ALife Robotics Corporation
Ltd., under the sponsorship of the Science and Technology Policy Bureau, the Ministryof Education, Science, Sports, and Culture (Monbusho), presently, the Ministry 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 like to express mysincere thanks to not only Monkasho (annually fund support from 1996 to 2013) but also
JSPS, the Commemorative Organization for the Japan World Exposition ('70), and various
other Japanese companies for their repeated support. The old symposium (thissymposium 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 theInternational Organizing Committee of AROB and was co-operated by the Santa Fe
Institute (USA), RSJ, IEEJ, ICASE (Now ICROS) (Korea), CAAI (P. R. China), ISCIE, IEICE, IEEE
(Japan Council), JARA, and SICE. The old AROB-symposium expanded much by absorbing
much new knowledge and technologies into it. This history and character of the former
AROB symposiums are passed on the current ICAROB conference and to these journals,
Journal of Robotics, Networking and Artificial Life (JRNAL)(vol.1-8) & Journal of Robotics,
8©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Networking and Artificial Life(vol.9-) & Journal of Advances in Artificial Life Robotics(JAALR). From now on, ALife Robotics Corporation Ltd. is in charge of management ofboth the conference and the journals. The future of the ICAROB is brilliant from a pointof view of yielding new technologies to human society in the 21st century. We also
expect to establish an international research institute on Artificial Life and Robotics inthe future with the help of 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
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
9©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

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
COPYRIGHTS
Accepted papers will be published in the proceeding of The 2022 International
Conference on Artificial Life and Robotics (ICAROB2022) 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 Journal of Robotics, Networking and Artificial Life (JRNAL)(vol.1-8) &Journal of Robotics, Networking and Artificial Life(vol.9-) & Journal of Advances in
Artificial Life Robotics under agreement of both Editor-in- Chief Dr. Masanori Sugisakaand 3 reviewers. All correspondence related to the conference should be addressed to
ICAROB Office.
ICAROB Office
ALife Robotics Corporation Ltd.
4-Go, 8-Ban, Higshi 2Cyome, Handadai, Oita 870-1108, JAPANTEL/FAX：+81-97-597-7760
E-MAIL：icarob@alife-robotics.co.jp Home Page：https://alife-robotics.co.jp/

10©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in JapanMESSAGES

Masanori Sugisaka
General Chair of ICAROB

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

It is my great honor to invite you all to The 2023 International Conferenceon Artificial Life and Robotics (ICAROB 2023). This Conference is changed as
the old symposium from the first (1996) to the Eighteenth (2013) annuallywhich were organized by Oita University and ALife Robotics Corporation
Ltd. under the sponsorship of the Science and Technology Policy Bureau,
the Ministry of Education, Science, Sports, and Culture (Monbusho),presently, the Ministry of Education, Culture, Sports, Science, andTechnology (Monkasho), Japanese Government, Japan Society for the
Promotion of Science (JSPS), The Commemorative Organization for theJapan World Exposition (’70), Air Force Office of Scientific Research, Asian
Office of Aerospace Research and Development (AFOSR/AOARD), USA. I
would like to express my sincere thanks to not only Monkasho (annuallyfund support from 1996 to 2013) but also JSPS, the Commemorative
Organization for the Japan World Exposition (’70), Japanese companies fortheir repeated support.
The old symposium was organized by International Organizing Committeeof AROB and was co-operated by the Santa Fe Institute (USA), RSJ, IEEJ,ICASE (Now ICROS) (Korea), CAAI (P. R. China), ISCIE, IEICE, IEEE (Japan
Council), JARA, and SICE. The old AROB symposium was growing up by
absorbing many new knowledge and technologies into it. This history andcharacter was inherited also from ICAROB2014(The 2014 International
Conference on Artificial Life and Robotics, included a series of ICAROB
proceedings in SCOPUS and CPCI-Web of Science now. From now on, ALife
Robotics Corporation Ltd. is in charge of management. This year we have
The 2023 International Conference on Artificial Life and Robotics(ICAROB2023) (28th AROB Anniversary). The future of The ICAROB isbrilliant from a point of view of yielding new technologies to human society
in 21st century. I have founded Robot Artificial Life Society in 2017/12/07
together with Professor at Hiroshima University Takao Ito and Professor at
University of Miyazaki Makoto Sakamoto. I hope that fruitful discussions
and exchange of ideas between researchers during Conference(ICAROB2023) will yield new merged technologies for happiness of humanbeings and, hence, will facilitate the establishment of an international joint
research institute on Artificial Life and Robotics in future.

11©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Yingmin Jia

Yingmin Jia
Co-General Chair

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

Co-General Chair of ICAROB
It is my great pleasure to invite you to The 2023 International Conferenceon Artificial Life and Robotics (ICAROB 2023), Oita, Japan, February 9-12,2023. Because of the influence of COVID-19, The ICAROB2023 will be held
on-line again, and your understanding and support will be the strongest
driving force for us to organize the meeting well.
ICAROB develops from the AROB that was created in 1996 by Prof.
Masanori Sugisaka and will celebrate her 28th birthday in 2023. So far
many important results have been presented at the past meetings andhave a profound impact on artificial life and robotics. Doubtless, it is reallyone of the most famous international conferences in the field of artificial
intelligence and attract wide interests among scientist, researchers, andengineers around the world.
For a successful meeting, many people have contributed their great efforts
to the 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 seeing you at the ICAROB2023.

12©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Takao Ito
Co-General Chair of ICAROB

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

It is my great honor and pleasure to invite you all to the 2023 International
Conference on Artificial Life and Robotics (ICAROB 2023) which will be held
online from February 9 to 12, 2023.
The ICAROB has its long history. First launched in 1996 as ISAROB, thisformer organization of ICAROB, was developed under the strong leadershipand yeoman efforts of the President—the internationally famous Professor
Masanori Sugisaka, who is widely acknowledged as the father of our AROB
conference. Our conference has brought together many research scholars,
faculty members, and graduate students from all over the world, andpublished numerous manuscripts in high-quality proceedings as well as
highly reputed journals every year.
Over the years, dramatic improvements have been made in the field ofartificial life and its applications. The ICAROB has provided a foundation forunifying the exchange of scientific information on the studies of man-madesystems that exhibit the behavioral characteristics of natural living systems,
including software, hardware, and wetware. Our conference shapes thedevelopment of artificial life, extending our empirical research beyond theterritory circumscribed by life-as-we-know-it and into the domain of lifeas-it-could–be. It will provide us a good place to present our new research
results, innovative ideas, and valuable information about artificial
intelligence, complex systems theories, robotics, and management oftechnology.
This conference is online. I eagerly look forward to personally meeting you
in online, during the ICAROB 2023 and to sharing a most pleasant,interesting, and fruitful conference with you. Do come and make thisconference a fruitful, productive as well as enjoyable event.

13©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Ju-Jang Lee
Co-General Chair of ICAROB

Ju-Jang Lee
Co-General Chair(Honorary professor, KAIST)The First International Conference on Artificial Life and Robotics (ICAROB)
was held in Oita City, Oita, Japan from Jan. 11th to 13th, 2014. This
year’s Conference will be held amidst the high expectation of theincreasingly important role of the new interdisciplinary paradigm ofscience and engineering represented by the field of artificial life androbotics that continuously attracts wide interests among scientist,
researchers, and engineers around the globe.
Distinguished researchers and technologists from around the world arelooking forward to attending and meeting at ICAROB. ICAROB is becoming
the annual excellent forum that represents a unique opportunity for theacademic and industrial communities to meet and assess the latest
developments in this fast-growing artificial life and robotics field. ICAROB
enables them to address new challenges, share solutions, discussresearch directions for the future, exchange views and ideas, view theresults of applied research, present and discuss the latest developmentof new technologies and relevant applications.
In addition, ICAROB offers the opportunity of hearing the opinions ofwell-known leading experts in the field through the keynote sessions,provides the bases for regional and international collaborative research,and enables to foresee the future evolution of new scientific paradigms
and theories contributed by the field of artificial life and robotics andassociated research area. The twenty-first century will become thecentury of artificial life and intelligent machines in support of humankind
and ICAROB is contributing through wide technical topics of interest that
support this direction.
It is a great honor for me as a Co-General Chair of the 10th ICAROB2023
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 10th
ICAROB.
I’m looking forward to meeting you at the 10th ICAROB in on line andwishing you all the best.

14©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

GENERAL SESSION TOPICS
GS1 Machine Learning & Neural Network & Artificial
Life (3)GS3 Image Processing II (4)GS2 Image Processing I (5)GS5 Robotics II (4)GS6 Applications I (5)GS7 Applications II (3)Poster (1)GS4 Robotics I (4)ORGANIZED SESSION TOPICS
OS1 Human-Machine Interface Application (7)OS2 Intelligent Life and Cybersecurity (6)OS3 Advanced Information Processing Applications(4)
OS5 Intelligent Systems and Control (5)OS4 Artificial Life and Intelligent Systems (4)OS7 Advanced Control Systems (7)OS8 Intelligent Control (5)OS9 Intelligent Systems and Robotics - 1 (4)OS10 Intelligent Systems and Robotics - 2 (4)OS11 Intelligent Systems and Robotics - 3 (4)OS13 Industrial Artificial Intelligence Robotics (9)OS12 Theory and Implementation of Neuromimetic
Systems (2)OS14 Software Development Support Method (4)OS15 Robot Control (5)OS16 Robotic Manipulation (3)OS6 Modelling and Simulation in Robotics (8)OS17 Artificial Intelligence for Embedded Systems and OS18 Mathematical Informatics (7)Robotics (6)OS19 Natural Computing (2)OS20 Robot Competitions and Education(7)OS21 Advances in Field Robotics and Their
Applications (7)OS23 STEM Education for fostering Innovators (4)OS22 Bio-inspired Artificial Vision -Algorithms andSystems (5)OS24 Applications of Unmanned Aerial System (3)OS25 Emerging Technologies in Industrial Revolution
4.0 (IR 4.0) Era (8)OS27 Research Towards the Sustainable Development
Goals (SDG’s) (6)OS29 Signals Processing and Automation II (6)OS26 Signals Processing and Automation I (6)OS31 Image Processing and Reconstruction (5)OS32 AR, VR and Digital Contents (4)OS28 Is That Narratology ‘Post’? -Computational andCognitive Approaches and Beyond (5)OS30 Embedded systems projects (3)15©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

TIME TABLE (2/9)

in Japan time

2/9(Thu.) 17:30-18:30

Group meeting for the conference (Conference Room ZOOM ID:894 3889 7319)

2/12(Sun) 15:45-16:45

Group meeting for the next conference (Conference Room ZOOM ID:894 3889 7319)

TIME TABLE (2/10)
2/10(Fri.)

Meeting Room 1

Meeting Room 2

Meeting Room 3

Meeting Room 4(ZOOM ID:853 5059 5830)(ZOOM ID:878 7748 3158)(ZOOM ID:821 6117 1740)(ZOOM ID:897 3935 1940)

8:409:00-10:00

Registration
OS4 Artificial Life and Intelligent
Systems (4)Chair: Chung-Wen HungOS12 Theory and Implementation of
Neuromimetic Systems (2)Chair: Takashi Kohno

OS14 Software Development Support
Method (4)Chair: Tetsuro Katayama

10:00-10:20

Coffee break

10:20-10:50

Chair: Makoto Sakamoto (Conference Room ZOOM ID:894 3889 7319)
Opening Ceremony
Chair: Norrima Mokhtar (Conference Room ZOOM ID:894 3889 7319)
Plenary Speech PS1
Kaoru Sumi
Lunch

11:00-12:00

12:00-13:00
13:00-14:30

OS2 Intelligent Life and Cybersecurity(6)
Chair: I-Hsien Liu

GS 1 Machine Learning & Neural
Network & Artificial Life (3)Chair: Masato Nagayoshi

14:30-14:50
14:50-16:35

OS17 Artificial Intelligence forEmbedded Systems and Robotics (6)Chair: Hakaru Tamukoh

POS (1)Chair: Yong Hun Kim
Poster PDF

OS22 Bio-inspired Artificial Vision Algorithms and Systems- (5)Chair: Shinsuke Yasukawa

Coffee break
OS5 Intelligent Systems and Control(5)
Chair: Kuo-Hsien Hsia

OS7 Advanced Control Systems (7)Chair: Takuya Kinoshita

OS 20 Robot Competitions andEducation (7)Chair: Kazuo Ishii

16:35-16:50

Coffee break

16:50-17:50

Chair: Kuo-Hsien Hsia (Conference Room ZOOM ID:894 3889 7319)
Plenary Speech PS2
Evgeni Magid

16©ICAROB 2023 ALife Robotics Corp. Ltd.

OS29 Signals Processing andAutomation II (6)Chair: Norrima Mokhtar

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

TIME TEBLE (2/11)
2/11(Sat.)

Meeting Room 1

Meeting Room 2

Meeting Room 3

Meeting Room 4(ZOOM ID:853 5059 5830)(ZOOM ID:878 7748 3158)(ZOOM ID:821 6117 1740)(ZOOM ID:897 3935 1940)

8:409:00-10:30

Registration
OS9 & OS10 & OS11 Intelligent
Systems and Robotics 1,2,3 (12)->6
implementations
Chair: Hucheng Wang, Fangyan Li,
Jiaxin Li

OS27 Research Towards theSustainable Development Goals(SDG’s) (6)Chair: Ammar A.M. Al Talib

OS3 Advanced Information Processing
Applications (4)Chair: Toru Hiraoka

OS8 Intelligent Control (5)Chair: Yingmin Jia

OS23 STEM Education for fostering
Innovators (4)Chair: Hiroyuki Y. Suzuki

12:00-13:00

Lunch

13:00-14:00

Chair: Makoto Sakamoto (Conference Room ZOOM ID:894 3889 7319)
Plenary Speech PS3
Xiaoyan Chen

14:00-14:20

Coffee break

14:20-15:20

OS25-1 Emerging Technologies inIndustrial Revolution 4.0 (IR 4.0) Era (4)Chair: Wei Hong Lim

OS13-1 Industrial Artificial
Intelligence Robotics (4)Chair: Eiji Hayashi

OS21-1 Advances in Field Robotics andTheir Applications (4)chair: Keisuke Watanabe

OS25-2 Emerging Technologies inIndustrial Revolution 4.0 (IR 4.0) Era(4) Chait: Wei Hong Lim

OS13-2 Industrial Artificial Intelligence OS6-1 Modelling and Simulation in
Robotics (5)Robotics (5)Chair: Eiji Hayashi
Chair: Evgeni Magid
Coffee breakOS21-2 Advances in Field Robotics andTheir Applications (3)chair: Keisuke Watanabe

OS19 Natural Computing (2)Chair: Marion Oswald

GS7 Applications II (3)Chair: Hiroaki Wagatsuma

OS30 Embedded systems projects (3)Chair: Mastaneh Mokayef

16:55-17:10
17:10-17:55

OS16 Robotic Manipulation (3)Chair: Kensuke Harada

GS3 Image Processing II (4)Chair: Joo Kooi Tan

Coffee break

15:20-15:40
15:40-16:55

OS15 Robot Control (5)Chair: Yizhun Peng

Coffee break

10:30-10:45
10:45-12:00

OS26 Signals Processing andAutomation I (6)Chair: Norrima Mokhtar

17©ICAROB 2023 ALife Robotics Corp. Ltd.

OS6-2 Modelling and Simulation in
Robotics (3)Chair: Evgeni Magid

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

TIME TABLE (2/12)
2/12(Sun.)

Meeting Room 1

Meeting Room 2

Meeting Room 3

Meeting Room 4(ZOOM ID:853 5059 5830)(ZOOM ID:878 7748 3158)(ZOOM ID:821 6117 1740)(ZOOM ID:897 3935 1940)

8:409:00-10:00

Registration
OS24 Applications of Unmanned
Aerial System (3)Chair: Hazry Desa

OS18-1 Mathematical Informatics (4)Chair: Takao Ito

OS32 AR, VR and Digital Contents (4)Chair: R.P.C. Janaka Rajapakse

10:00-10:30

Coffee break

10:30-11:30

Chair: Takao Ito (Conference Room ZOOM ID:894 3889 7319)
Plenary Speech PS4
Masato Nakagawa

11:30-12:30

Lunch

12:30-14:15

OS1 Human-Machine Interface
Application (7)Chair: Norrima Mokhtar

OS18-2 Mathematical Informatics (3)Chair: Takao Ito

14:15-14:30
14:30-15:45

15:45-16:45

GS5 Robotics II (4)Chair: Takayoshi Yamada

Coffee break
OS31 Image Processing andReconstruction (5)Chair: Xiaoyan Chen

GS2 Image Processing I (5)Chair: Watcharin TangsuksantGroup meeting for the next conference (Conference Room ZOOM ID:894 3889 7319)

18©ICAROB 2023 ALife Robotics Corp. Ltd.

OS28 Is That Narratology ‘Post’? Computational and Cognitive
Approaches and Beyond (5)Chair: Jumpei Ono

GS4 Robotics I (4)Chair: Amornphun Phunopas

GS 6 Applications I (5)Chair: Minoru Kumano

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in JapanThe 2023 International Conference on
ARTIFICIAL LIFE AND ROBOTICS(ICAROB2023)
February 9 (Thursday)
17:30-18:30
Group meeting for the conference

February 10 (Friday)
10:20-10:50

Opening Ceremony
Chair: Makoto Sakamoto (University of Miyazaki, Japan)
Welcome Addresses
1. General Chairman of ICAROB
2. Co-General Chairman of ICAROB
3. Co-General Chairman of ICAROB
4-1. Vice-General Chairman of ICAROB
4-2. Vice-General Chairman of ICAROB
4-3. Vice-General Chairman of ICAROB

Masanori Sugisaka (ALife Robotics Co., Ltd., Japan)
Yingmin Jia (Beihang University, China)
Takao Ito (Hiroshima University, Japan)
Katia Passerini (Seton Hall University, USA)
Henrik Hautop Lund (Technical University of Denmark,Denmark)
Norrima Mokhtar (University of Malaya, Malaysia)

February 12 (Sunday)
15:45-16:45
Group meeting for the next conference

19©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in JapanTECHNICAL PAPER INDEX
February 10 (Friday)
8:40-Registration
Conference Room
10:20-10:50 Opening Ceremony
Chair: Makoto Sakamoto (University of Miyazaki, Japan)
11:00-12:00
Plenary Speech PS1
Chair: Norrima Mokhtar (University of Malaya, Malaysia)
PS1 Human to Human Interaction using Virtual Agents Posing as Another Person
Kaoru Sumi (Future University Hakodate, Japan)
16:50-17:50
Plenary Speech PS2
Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
PS2 Simulation Tools for Urban Search and Rescue Robotics
Evgeni Magid (Kazan Federal University, Russia)
Meeting Room 1
9:00-10:00 OS4 Artificial Life and Intelligent Systems (4)Chair: Chung-Wen Hung (National Yunlin University of Science and Technology, Taiwan)
Co-Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology,
Taiwan)OS4-1

Interactive Beating Drum Unity Game
Chung-Wen Hung, Cheng-Lung Ko, Wen-Huei Chou
(National Yunlin University of Science and Technology, Taiwan)

OS4-2

Error Backpropagation Neural Network Based Image Identification for a Foot
Massage Machine and Its Mechanism Design
Chun-Chieh Wang (National Yunlin University of Science and Technology, Taiwan)

OS4-3

Cross-domain sharing of robots in the community caring and practice of university
social responsibility
Jia-Ming Hsiao (National Yunlin University of Science and Technology, Taiwan)

20©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS4-4

Research on Design of Implementation Mechanism for Similar Production Line
Chia-Nan Ko, Yi-Yu Li, Ting-Ru Ko, and Ting-Yi Chen
(Nan Kai University of Technology, Taiwan)

13:00-14:30 OS2 Intelligent Life and Cybersecurity (6)Chair: I-Hsien Liu (National Cheng Kung University, Taiwan)
Co-Chair: Chu-Fen Li (National Formosa University, Taiwan)
Co-Chair: Chuan-Kang Liu (National Chin-Yi University of Technology)
OS2-1

The Dam Gate Cybersecurity Testbed
Chen-Yu Lee, I-Hsien Liu, Meng-Wei Chang, Jung-Shian Li(National Cheng Kung University, Taiwan)

OS2-2

Domain Name Infringement in Taiwan
Shih-Chin Lin (Ming Chuan University, Taiwan)

OS2-3

Device's Operation Tracking using Blockchain in Industrial Control System
Chien-Hsin Wu, I-Hsien Liu, Jung-Shian Li (National Cheng Kung University, Taiwan)
Chu-Fen Li (National Formosa University, Taiwan)

OS2-4

Strengthen the security of the Industrial Control System using SDN technology
Min-Wei Huang, I-Hsien Liu, Hsin-Yu Lai, Meng-Huan Lee, Jung-Shian Li(National Cheng Kung University, Taiwan)

OS2-5

Fake Base Stations threats in 5G Standalone Networks
Meng-Huan Lee, I-Hsien Liu, Jung-Shian Li (National Cheng Kung University, Taiwan)

OS2-6

Cyber-Physical Security Testbed for River Basin Gate Control System
Meng-Wei Chang, I-Hsien Liu, Jung-Shian Li(National Cheng Kung University, Taiwan)

14:50-16:05 OS5 Intelligent Systems and Control (6)Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
Co-Chair: Chian C. Ho (National Yunlin University of Science and Technology, Taiwan)
OS5-1

Using Multithreaded Load Balancer to Improve Connection Performance inContainer Environment
Pang-Wei Tsai, Hong-Yu Wei, Yu-Chi Hsu (National Central University, Taiwan)

OS5-2

Electronic Biometric Detector and Body Composition Index in Predicting Disease Risk
Wen-Fu Yang, Chung-Te Ting (Chang Jung Christian University, Taiwan)

21©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS5-3

Exploring Consumers' Intention to Use Mobile Payment APPs Based on Technology
Acceptance Models - Taking Line Pay as an Example
Chun -Nan Chen, Yu-Sheng Huang (Chang Jung Christian University, Taiwan)

OS5-4

Optimization of Robot Path and IoT Communication Path Based on Artificial
Intelligence
Jr-Hung Guo, Kuo-Hsien Hsia
(National Yunlin University of Science and Technology, Taiwan)

OS5-5

Key Success Factors Affecting Family Members’ Intention to Withdraw from Lifesustaining Treatment for Long-term Ventilator-dependent patients: Nursing
Professionals’ Perspective
Hsiao-Fang Chen, Jin-Yuan Chern(Chang Jung Christian University, Taiwan)

Meeting Room 2
9:00-9:30 OS12 Theory and Implementation of Neuromimetic Systems (2)Chair Takashi Kohno (University of Tokyo, Japan)
Co-Chair Takuya Nanami (University of Tokyo, Japan)
OS12-1

Adaptive STDP Learning with Lateral Inhibition for Neuromorphic Systems
Ashish Gautam, Takashi Kohno (University of Tokyo)

OS12-2

Spike pattern detection with close-to-biology spiking neuronal network
Takuya Nanami, Takashi Kohno (University of Tokyo)

13:00-13:45 GS1 Machine Learning & Neural Network & Artificial Life (3)Chair: Masato Nagayoshi (Niigata College of Nursing, Japan)
GS1-1

Defect Solder Classification in Print Circuit Boards using Machine Learning
Watcharin Tungsuksan, Hattapat Silangren, Phattharaporn Iamcharoen,
Wisanu Jitviriya(King Mongkut’s University of Technology North Bangkok, Thailand)

GS1-2

A dynamic nurse scheduling using reinforcement learning: Dealing with various
sudden absences of a nurse
Masato Nagayoshi (Niigata College of Nursing, Japan)
Hisashi Tamaki (Kobe University, Japan)

GS1-3Classification of Time Series Data Obtained by the Satellite by Using Rule-Based andMachine-Learning Methods
Satoko Saita1, Mariko Teramoto2, Kentarou Kitamura2(1National Institute of Technology, Kitakyushu College, Japan)(2Kyushu Institute of Technology, Japan)

22©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

14:50-16:35 OS7 Advanced Control Systems (7)Chair: Takuya Kinoshita (Hiroshima University, Japan)
Co-Chair: Takao Sato (University of Hyogo, Japan)
OS7-1

Predictive Functional Controller Design with Disturbance Observer and Its
Application
Syota Yoshida, Shin Wakitani (Hiroshima University)

OS7-2

Study on a Construction of Velocity Perception Model and Kansei Feedback Control
System in Active Behavior
Sota Takemura, Takuya Kinioshita, Toru Yamamoto (Hiroshima University, Japan)

OS7-3

Design of a Database-Driven Control for a Web Conveyor
Atsushi Takatani, Takuya Kinioshita, Toru Yamamoto (Hiroshima University, Japan),
Tomohiro Hirakawa, Hiroki Hamamoto, Takashi Ochiiwa, Hideki Tomiyama(Japan Steel Works, Ltd.)

OS7-4

Development of IoT self-tuning control device using Wi-Fi
Shinichi Imai (Tokyo Gakugei University, Japan)

OS7-5

Consensus Control for Dual-rate Multi-agent Systems
Takaya Tanaka, Natsuki Kawaguchi, Takao Sato (University of Hyogo, Japan)

OS7-6

Data-driven Control Experiments of a Quadrotor Drone
Tomonori Yao, Natsuki Kawaguchi, Takao Sato (University of Hyogo, Japan)

OS7-7

Design of Data-driven Multi-agent Systems
Kenta Nagao, Natsuki Kawaguchi, Takao Sato (University of Hyogo, Japan)

Meeting Room 3
9:00-10:00 OS14 Software Development Support Method (4)Chair: Tetsuro Katayama (University of Miyazaki, Japan)
Co-Chair: Tomohiko Takagi (Kagawa University, Japan)
OS14-1

Automated Random Simulation for Checking a Behavioral Model of Systems Basedon Extended Place/Transition Net with Attributed Tokens
Sho Matsumoto1, Tetsuro Katayama2, Tomohiko Takagi1(1 Kagawa University, Japan), (2 University of Miyazaki, Japan)

OS14-2Training of Software Formal Modeling Using Visual Blocks for Actions and Guards
of Extended Place/Transition Net
Akio Usuda, Ryoichi Ishigami, Tomohiko Takagi (Kagawa University, Japan)

23©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS14-3

Proposal of a Framework to Improve the Efficiency of the Implementation Step in
Test Driven Development (TDD)
Takeaki Miyashita1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1,
Kentaro Aburada1, Naonobu Okazaki1(1University of Miyazaki, Japan), (2University of Nagasaki, Japan)

OS14-4

Continuance Intention Factor of Online Learning Management System in Case on
Faculty of Computer Science at Brawijaya University in Indonesia
Mochamad Chandra Saputra1, Tetsuro Katayama2, Yoshihiro Kita3, Hisaaki Yamaba2,
Kentaro Aburada2, Naonobu Okazaki2(1Brawijaya University, Indonesia), (2University of Miyazaki, Japan),(3University of Nagasaki, Japan)

13:00-14:30 OS17 Artificial Intelligence for Embedded Systems and Robotics (6)Chair: Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
Co-Chair: Yuma Yoshimoto (National Institute of Technology, Kitakyushu College,
Japan)
OS17-1

Pose Detection for Flexible-Indefinite Objects using Pseudo-Bone Data
Yuma Yoshimoto1, Hakaru Tamukoh2(1National Institute of Technology, Kitakyushu College, Japan),(2Kyushu Institute of Technology, Japan)

OS17-2

Object Search and Empty Space Detection System for Home Service Robot
Tomoya Shiba1, Tomohiro Ono1,2, Hakaru Tamukoh1(1Kyushu Institute of Technology, Japan), (2JSPS Research Fellow, Japan)

OS17-3

Robust Classification Model with Multimodal Learning for Home Service Robots
Ikuya Matsumoto, Daiju Kanaoka, Hakaru Tamukoh(Kyushu Institute of Technology, Japan)

OS17-4

Flexible Human-Robot Interaction in Domestic Environment Using Semantic Map
Yuga Yano1, Yukiya Fukuda1, Tomohiro Ono1,2, Hakaru Tamukoh1(1Kyushu Institute of Technology, Japan), (2JSPS Research Fellow, Japan)

OS17-5

Impact of PS Load on FPGA Object Detection System Performance
Yusuke Watanabe1,2, Hakaru Tamukoh2(1CRAFTWORK Co. Ltd, Japan,), (2Kyushu Institute of Technology, Japan)

OS17-6

An Effective Method for Minimizing Domain Gap in Sim2Real Object Recognition
Using Domain Randomization
Tomohiro Ono1,2, Akihiro Suzuki1, Hakaru Tamukoh1(1Kyushu Institute of Technology, Japan), (2JSPS Research Fellow, Japan)

24©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

14:50-16:35 OS20 Robot Competitions and Education (7)Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
Co-Chair: Yasunori Takemura (Nishinippon Institute of Technology, Japan)
OS20-1

Report on Underwater-Robot-Festival Junior Division Aiming at Marine Debris Cleanup
1
Takayuki Matsuo, 2Masanori Sato, 3Masayoshi Ozawa, 4Seiichiro Miura,
5
Masakazu Arima, 6Kazuo Ishii
1( National Institute of Technology, Kitakyushu College, Japan),(2Nagasaki Institute of Applied Science, Japan),(3Kobe City College of Technology, Japan),(4National Institute of Technology, Tokuyama College, Japan)(5Osaka Metropolitan University), (6Kyushu Institute of Technology)

OS20-2

Image-based navigation of Small-size Autonomous Underwater Vehicle “Kyubic” inInternational Underwater Robot Competition
Yusuke Mizoguchi, Daiki Hamada, Riku Fukuda, Irmiya R. Inniyaka, Kaito Kuwata,
Keisuke Nishimuta, Akihiro Sugino, Rikuto Tanaka, Yoshiki, Tanaka, Yuya Nishida,
Kazuo Ishii(Kyushu Institute of Technology, Japan)

OS20-3Development of Harvesting Robot for Tomato Robot Competition 2022 and Its
Evaluation
Takeru Oshige1, Moeko Tominaga2, Takuya Fujinaga3, Yasunori Takemura2,
Jonghyun Ahn1
(1Hiroshima Institute of Technology, 2Nishinippon Institute of Technology,
3
Fukuoka University, Japan)

OS20-4Development of a Tomato Harvesting Robot for Farm Field
Shunsuke Oda, Ryuma Fukumoto, Kensuke Hirata, Shu Tahara, Keisuke Yoshida,
Shinsuke Yasukawa, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS20-5

Tomato-Harvesting Robot Competition: Developed Robots and Results of 9thCompetition
1
Kazuo Ishii, 2Takayuki Matsuo, 3Yasunori Takemura, 3Takashi Sonoda, 3Atsushi
Sanada, 1Yuya Nishida, 1Shinsuke Yasukawa, 4Takuya Fujinaga, 3Moeko Tominaga,
5
Daisaku Arita, 6Kazushi Kawajiri, 7Kenich Ohshima, 7Masayuki Okada, 1Kanako
Shirahashi(1Kyushu Institute of Technology, Japan), (2National Institute of Technology,
Kitakyushu College, Japan), (3Nishinippon Institute of Technology, Japan), (4Fukuoka
University, Japan), (5University of Nagasaki, Japan), (6Hibikinada Greenhouse,
Japan), (7Kyushu Polytechnic College, Japan)

OS20-6A Modeling of Sphere Considering Slipping Adapted Three-Rollers
1
Kenji Kimura, 2Kouki Ogata,3Hiroyasu Hirai, 3Takumi Ueda, 3Kazuo Ishi
1
( National Institute of Technology, Matsue College, Japan), (2Saga University, Japan)(3Kyushu Institute of Technology, Japan)

25©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS20-7

Roller Arrangement Problem of Omnidirectional Mobil Robot Adapted Three Omni
Rollers1
Kenji Kimura, 2Yuki Shigyo,3Kazuo Ishi
1
( National Institute of Technology, Matsue College, Japan), (2Fujitsu, Japan)(3Kyushu Institute of Technology, Japan)

Meeting Room 4
9:00-10:00 Poster1 (1)Chair: Yong Hun Kim (Sejong University, Republic of Korea)
POS

Magnetic Anomaly-Matched Trajectory and Dead Reckoning Fusion Mobile Robot
Navigation
Yong Hun Kim, Bo Sung Ko, Jin Woo Song (Sejong University, Republic of Korea)

13:00-14:15 OS22 Bio-inspired Artificial Vision -Algorithms and Systems-(5)Chair: Shinsuke Yasukawa (Kyushu Institute of Technology, Japan)
Co-Chair: Yuki Hayashida (Mie University, Japan)
OS22-1

Increasing selectivity to a feature combination using inhibitory synaptic plasticity
in a spiking neural network
Mahiro Ikeda, Hirotsugu Okuno (Osaka Institute of Technology, Japan)

OS22-2A binocular disparity estimation algorithm using multiple spatial frequency
information and a neural network
Ryoka Sato, Hirotsugu Okuno (Osaka Institute of Technology, Japan)

OS22-3A figure-ground discrimination algorithm inspired by border-ownership selective
cells
Tomoya Kobayashi, Hirotsugu Okuno (Osaka Institute of Technology, Japan)

OS22-4

Event-Driven Particle Filter for Tracking Irregularly Moving Objects
Yuki Kawasaki1, Masahiro Ohtani2, Shinsuke Yasukawa1(1Kyushu Institute of Technology, 2Mie University, Japan)

OS22-5

A simulation model for analyzing the spatiotemporal receptive field of retinal
ganglion cells in the presence of fixational eye movements
Hiroyuki Yokota1, Yuki Hayashida2, Shinsuke Yasukawa1(1Kyushu Institute of Technology, 2Mie University, Japan)

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

14:50-16:20 OS29 Signals Processing and Automation II (6)Chair: Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair: Heshalini Rajagopal (UCSI University, Malaysia)
OS29-1

Weather Forecast System for Mobile Devices
Hu Jiahao, Neesha Jothi, Chloe Thong (UCSI University, Malaysia)

OS29-2Development of a Novel E-Learning System for Improved Usability
Soo Yang Yew, Shaik Shabana Anjum, Shayla Islam (UCSI University, Malaysia)

OS29-3

A Development of a Prototype-based Mobile Pet Care Application
Gan Ai Leen, Shaik Shabana Anjum, Chloe Thong Chee Ling
(UCSI University, Malaysia)

OS29-4Modeling of an Environmentally Independent and Contactless Speed Sensor for
Measuring the Speed of Ships, Submarines, and Aircraft in Relation to the Ground
Development of Image
Jakaria Mahdi Imam, Mohammad Aminul Islam, Norrima Binti Mokhtar,
S. F. W. Muhamad Hatta (Universiti Malaya, Malaysia)

OS29-5On Correcting Luminosity and Contrast of Retinal Images with Reflectance
Mofleh Hannuf AlRowaily1, Hamzah Arof1, Imanurfatiehah Ibrahim1, Wan Amirul
Wan Mohd Mahiyiddin1, Norrima Mokhtar1, Haniza Yazid2(1Universiti Malaya, Malaysia), (2Universiti Malaysia Perlis, Malaysia)

OS29-6Rate Adaptation for Quality of Service Improvements in IEEE 802.11ax
Hazwani Zawawi, Wan Norsyafizan W Muhamad, Nani Fadzlina Naim
(Universiti Teknologi, MARA)

February 11 (Saturday)
8:40-Registration
Conference Room
13:00-14:00
Plenary Speech PS3
Chair: Makoto Sakamoto (University of Miyazaki, Japan)
PS3 Enhancement methodology for low light image
Xiaoyan Chen (Tianjin University of Science and Technology, China)

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Meeting Room 1
9:00-10:30 OS9 Intelligent Systems and Robotics – 1 (4) & OS10 Intelligent Systems andRobotics – 2 (4) & OS11 Intelligent Systems and Robotics – 3 (4)OS9 Intelligent Systems and Robotics – 1 (4)Chair: Hucheng Wang (Tianjin University of Science and Technology, China)
Co-Chair: Fengzhi Dai (Tianjin University of Science and Technology, China)
OS9-1

A Survey of Target Detection Based on Deep Learning
Hucheng Wang, Fengzhi Dai, Min Zhao
(Tianjin University of Science and Technology, China)

OS9-2

A Design of New Air Ground Cooperative Unmanned Transportation System
Hucheng Wang, Min Zhao (Tianjin University of Science and Technology, China)

OS9-3

Attitude Solution of Quadrotor UAV
Siyuan Liu, Zhihao Zhao, Haoran Gong
(Tianjin University of Science and Technology, China)

OS9-4

A four-dimensional conservative chaotic system and its application in image
encryption
Hongyan Jia, Wei Li, Jingwen Liu(Tianjin University of Science and Technology, Tianjin, China)

OS10 Intelligent Systems and Robotics – 2 (4)Chair: Fangyan Li (Tianjin University of Science and Technology, China)
Co-Chair: Yande Xiang (Tianjin University of Science and Technology, China)
OS10-1

A Research on Image Defogging Algorithm Based on Enhancement
Fangyan Li, Haokang Wen, Chang Sheng, Min Zhao
(Tianjin University of Science and Technology, China)

OS10-2Autonomous Microcontroller-Based Aerial Water Sampling Device
Weifang Wang1, Mingxia Kang2, Ruming Kang3(1North Minzu University, China), (2Tianjin University of Commerce, China),(3Chongqing University, China)

OS10-3

Intelligent Electronic Guide Dog
Mengyu Liu, Yande Xiang, Zhi Qiao, Tao Zhu(Tianjin University of Science and Technology, China)

OS10-4

Research on Chaos Synchronization of Qi System and Lü System with Different
Structures
Hanyuan Wang, Yiting Gao(Tianjin University of Science and Technology, China)

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS11 Intelligent Systems and Robotics – 3 (4)Chair: Jiaxin Li (Tianjin University of Science and Technology, China)
Co-Chair: Fengzhi Dai (Tianjin University of Science and Technology, China)
OS11-1

Generation and Analysis of a Multi-scroll Conservative Chaotic System
Jiaxin Li, Yong Liu, Min Zhao (Tianjin University of Science and Technology, China)

OS11-2A Design of Fire Detection Device Based on YOLOv5
Zhiyang Li, Yande Xiang, Haoyu Guo, Yu Chen, Wenxuan Pan, Fengzhi Dai(Tianjin University of Science and Technology, China)

OS11-3

Application of Convolutional Neural Network in Accurate Breast Cancer
Identification
Zhiyang Li, Haoyu Guo, Yande Xiang, Wentao Kuang, Lu Chen
(Tianjin University of Science and Technology, China)

OS11-4

Intelligent Infusion Service Based on Open MV
Haoran Gong, Zongyi Li, Qi Chu, Siyuan Liu, Feiyang Qu, Lu Wang
(Tianjin University of Science and Technology, China)

10:45-11:45 OS3 Advanced Information Processing Applications (4)Chair: Toru Hiraoka (University of Nagasaki, Japan)
Co-Chair: Masaharu Hirota (Okayama University of Science, Japan)
OS3-1

Generation of Arbitrarily-Oriented Ripple Images Using Smoothing Filter withTranslated Window
Shogo Noma, Toru Hiraoka (University of Nagasaki, Japan)

OS3-2

Generation of Moire-Like Videos from RGB-D Videos
Sho Enomoto, Toru Hiraoka (University of Nagasaki, Japan)

OS3-3

A Proposal of Shoulder-surfing Attack Countermeasure Method with Improved
Usability
Yoshihiro Kita, Shingo Nakamura (University of Nagasaki, Japan)

OS3-4

User-movement Estimation in Social Media Sites Based on Seq2Seq Model
Masaharu Hirota (Okayama University of Science, Japan)

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

14:20-16:40 OS25 Emerging Technologies in Industrial Revolution 4.0 (IR 4.0) Era (8)Chair: Takao Ito (Hiroshima University, Japan)
Co-Chair Wei Hong Lim (UCSI University, Malaysia)
OS25-1

Chaotic African Vultures Optimization Algorithm for Feature Selection
Wy-Liang Cheng1, Li Pan1, Mohd Rizon Bin Mohamed Juhari1, Chin Hong Wong2,3,
Abhishek Sharma4, Tiong Hoo Lim5, Sew Sun Tiang1, Wei Hong Lim1
(1UCSI University, Malaysia), (2Maynooth University, Ireland), (3Fuzou University,
China), (4Graphic Era University, India), (5Universiti Teknologi Brunei, Indonesia)

OS25-2Multi Chaotic Flow Directional Algorithm for Feature Selection
Wy-Liang Cheng1, Li Pan1, Mohd Rizon Bin Mohamed Juhari1, Abhishek Sharma2,
Hameedur Rahman3, Chun Kit Ang1, Sew Sun Tiang1, Wei Hong Lim1
(1UCSI University, Malaysia), (2Graphic Era University, India), (3Air University,
Pakistan)

OS25-3

Performance Comparison of Convolutional Neural Networks for COVID-19 Diagnosis
Suhaim Parvez Wadekar1, Koon Meng Ang1, Chin Hong Wong2,3, Abhishek Sharma4,
Tiong Hoo Lim5, Chun Kit Ang1, Sew Sun Tiang1, Wei Hong Lim1
(1UCSI University, Malaysia), (2Maynooth University, Ireland), (3Fuzou University,
China), (4Graphic Era University, India), (5Universiti Teknologi Brunei, Indonesia)

OS25-4

Classification of Wafer Defects with Optimized Deep Learning Model
Koon Hian Ang1, Koon Meng Ang1, Mohd Rizon Bin Mohamed Juhari1, Chin Hong
Wong2,3, Abhishek Sharma4, Chun Kit Ang1, Sew Sun Tiang1, Wei Hong Lim1
(1UCSI University, Malaysia), (2Maynooth University, Ireland), (3Fuzou University,
China), (4Graphic Era University, India)

OS25-5Compact Wearable Antenna for Millimeter-Wave (mm-Wave) Fifth Generation (5G)
Wai Kiat Wong1, Sew Sun Tiang1, *, Wei Hong Lim1, Mastaneh Mokayef1, Chin Hong
Wong2,3 (1UCSI University, Malaysia), (2Fuzou University, China),(3Maynooth University, Ireland)

OS25-6

Driver’s Fatigue Recognition using Convolutional Neural Network Approach
Samer Abbas1, Sew Sun Tiang1, Wei Hong Lim1, Li Sze Chow1, Chin Hong Wong2,3(1UCSI University, Malaysia), (2Fuzou University, China),(3Maynooth University, Ireland)

OS25-7

Deep Residual Neural Network for Efficient Traffic Sign Detection System
Hanlin Cai1,2, Jiaqi Hu1,2, Zheng Li1,2, Wei Hong Lim3, Sew Sun Tiang3,
Chin Hong Wong1,2(1Fuzou University, China), (2Maynooth University, Ireland), (3UCSI University,
Malaysia)

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS25-8Wall Crack Detection based on Adaptive Double Threshold Grayscale Transform
Mingrui Lin1,2, Xin Xu1,2, Tengxiang Li1,2, Yuhang Hong1,2, Weiqin Wang1,2,
Shilin Chen1,2, Wei Hong Lim3, Chin Hong Wong1,2(1Fuzou University, China), (2Maynooth University, Ireland), (3UCSI University,
Malaysia)

17:10-17:55 OS19 Natural Computing (2)Chair: Marion Oswald (Technische Universität Wien, Austria)
Co-Chair: Yasuhiro Suzuki (Nagoya University, Japan)
OS19-1

Changes in the Behavior of a Small Number of Molecular Systems
Yasuhiro Suzuki (Nagoya University, Japan)

OS19-2Retrieval by Sensory Information
Yasuhiro Suzuki (Nagoya University, Japan)

Meeting Room 2
9:00-10:30 OS27 Research Towards the Sustainable Development Goals (SDG’s) (6)Chair: Ammar A.M. Al Talib (UCSI University, Malaysia)
Co-Chair: Takao Ito (Hiroshima University, Japan)
OS27-1

Solar Powered Seed Sprayer Machine
Ammar A.M. Al Talib, Yap Chee Xian, Ain Atiqa, Nor Fazilah Abdullah(UCSI University, Malaysia)

OS27-2

Solar Powered Outdoor Air Purifier With Air Quality Monitoring
Ammar A.M.Al Talib, IK Chu Aung, Noor Idayu M. Tahir (UCSI University, Malaysia)

OS27-3

Design and Fabrication of a Mutual Control Electronic Circuit for Solar and Electrical
Water Heating
Ammar A.M.Al Talib1, Sarah Atifah Saruchi2(1UCSI University, Malaysia), (2UTP, Malaysia)

OS27-4

Optimization of the Major Factors Affecting The Home Recycling of Disposed (LDPE)
Plastics
Ammar A.M.Al Talib, Chua Ray Sern Grayson, Ain Atiqa (UCSI University, Malaysia)

OS27-5Investigation of the Mechanical Properties and Applicability of Recycled Plastic Bags
Ammar A.M.Al Talib, Wan Wai Kit, Nor Fazilah Binti Abdullah(UCSI University, Malaysia)
Design and Fabrication of Power Generating Treadmill
Ammar A. M. Al-Talib1, They Kai Yang1, Sarah Atifah2, Noor Idayu M.Tahir1(1UCSI University, Malaysia), (2UTP, Malaysia)

OS27-631©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

10:45-12:00 OS8 Intelligent Control (5)Chair: Yingmin Jia (Beihang University, P.R.China)
Co-Chair: Weicun Zhang (University of Science and Technology Beijing, P.R.China)
OS8-1

A Self-triggering Control Based on Adaptive Dynamic Programming forNonzero-sum Game Systems
Yibo Shi, Chaoli Wang (University of Shanghai for Science and Technology, China)

OS8-2

Harmony of Agent System with Heterogeneity
Yunzhong Song1, Weicun Zhang2, Fengzhi Dai3, Huimin Xiao4, Shumin Fei5,
Jichao Zhao6(1Henan Polytechnic University, P.R.China) (2University of Science and Technology
Beijing, P.R.China), (3Tianjin University of Science and Technology, P.R.China)(4Henan University of Economics and Law, P.R.China) (5South East University,
P.R.China), (6Tianjin University of Science and Technology, P.R.China)

OS8-3Apple Grading based on IGWO Optimized Support Vector Machine
Yi Zhao1, Qunpo Liu1,2, Yuxi Zhao1, Yueqin Sheng1(1Henan Polytechnic University, P.R.China), (2Henan International Joint Laboratoryof Direct Drive and Control of Intelligent Equipment, P.R.China)

OS8-4

Cartesian Space Coordinated Impedance Control of Redundant Dual-Arm Robots
Yang Zhang, Yingmin Jia (Beihang University (BUAA), China)

OS8-5

Disturbance Observer-based Anti-unwinding Control for Flexible Spacecrafts
Qian Sun1, Yingmin Jia1, Weicun Zhang2(1Beihang University (BUAA), China)(2University of Science and Technology Beijing, P.R.China)

14:20-16:55 OS13 Industrial Artificial Intelligence Robotics (9)Chair: Eiji Hayashi (Kyushu Institute of Technology, Japan)
Co-Chair: Sakmongkon Chumkamon (Kyushu Institute of Technology, Japan)
OS13-1

Object Status Detection in clutter environment for robot grasping using Mask R-CNN
Kasman, Eiji Hayashi (Kyushu Institute of Technology, Indonesia, Japan)

OS13-2Deep-Learning-Based Designed Weight Picking Noodle-like Object
Nattapat Koomklang, Sakmongkon Chumkamon, Prem Gamolped, Tomofumi Tsuji, Eiji Hayashi(Kyushu Institute of Technology, Japan)

OS13-3

Research on grasping of string foods in the home meal replacement industry
Akihiro Ooya, Sakmongkon Chumkamon, Prem Gamolped, Tomofumi Tsuji, Eiji Hayashi(Kyushu Institute of Technology, Japan)
Abbe Mowshowitz (The City College of New York, USA)32
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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS13-4Development of Drifting Debris Detection System using Deep Learning on Coastal Cleanup
Shintaro Ogawa, Sackmongkon Chumkamon, Eiji Hayashi (Kyushu Institute of Technology, Japan),Ayumu Tominaga (National Institute of Technology, Kitakyushu College, Japan)

OS13-5

Soft Object Dexterous Manipulation Using Deep Reinforcement Learning
Sornsiri Promma, Sakmongkon Chumkamon, Eiji Hayashi (Kyushu Institute of Technology, Japan)

OS13-6

Practical Implementation of FastSLAM for Forestry Robot
Sylvain Geiser1, Sakmongkon Chumkamon1, Ayumu Tominaga2, Takumi Tomokawa1, Eiji Hayashi1(1Kyushu Institute of Technology, Japan)(2National Institute of Technology, Kitakyushu College, Japan)

OS13-7

Research on AR system for industrial robot introduction
Takuya Matsumoto1, Eiji Hayashi1, Sakmongkon Chumkamon1, Tomofumi Tsuji1,
Ayumu Tominaga2, Abbe Mowshowitz3(1Kyushu Institute of Technology, Japan), (2National Institute of Technology Kitakyushu, Japan),(3The City College of New York, USA)

OS13-8The BCRobo dataset for Robotic Vision and Autonomous Path Planning in Outdoor Beach
Environment
Tan Chi Jie1, Takumi Tomokawa1, Sylvain Geiser1, Shintaro Ogawa1, Ayumu Tominaga2,
Sakmongkon Chumkamon1, Eiji Hayashi1(1Kyusyu Institute of Technology, 2National Institute of Technology (Kitakyushu College), Japan)

OS13-9The research about editing system of performance information for player piano.
-Develop inference methods using machine learning Takaaki Ueno, Sakmongkon Chumkamon, Eiji Hayashi (Kyushu Institute of Technology, Japan)

17:10-17:55 GS7 Applications II (3)Chair: Hiroaki Wagatsuma (Kyushu Institute of Technology, Japan)
GS7-1

An Accuracy Evaluation of Multibody Dynamics for the Knee Support Exoskeleton Modelwith Respect to Implicit Methods for Numerical Integration
Shintaro Kasai, Hiroaki Wagatsuma (Kyushu Institute of Technology, Japan)

GS7-2

A Basic Concept of the Nonlinear Oscillator-Based Hough Transform Implementation to
Improve the Voting Procedure in the Scheme of Continuous Dual Spaces
Amarbold Purev, Hiroaki Wagatsuma (Kyushu Institute of Technology, Japan)

GS7-3

Survey on Harness Design for CubeSats: Understanding the Constraints of CubeSats Design and
Toward an Optical Wireless Bus for CubeSats
Masahiro Tokumitsu1, Masatoshi Tsuji2, Jun Nakaya3(1National Institute of Technology (KOSEN), Yonago College, Japan)(2National Institute of Technology (KOSEN), Kagawa College, Japan)(3Aichi Institute of Technology, Japan)

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Meeting Room 3
9:00-10:30 OS26 Signals Processing and Automation I (6)Chair: Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair: Heshalini Rajagopal (UCSI University, Malaysia)
OS26-1

Noise Filtering of Hyperspectral Data of Oil Palms by Median-Mean Projection
Filtering
Imanurfatiehah Ibrahim1, Hamzah Arof1, Mohd Izzuddin Anuar2,
Mohamad Sofian Abu Talip1(1Universiti Malaya, Malaysia), (2Malaysian Palm Oil Board, Malaysia)

OS26-2

Smart Telehealth Appointment System – WI Care
Siah Cheong Lin, Heshalini Rajagopal, Chloe Thong Chee Ling
(UCSI University, Malaysia)

OS26-3Web-based Stocktaking application in Businesses
Cheah Dei Xuan, Heshalini Rajagopal, Shayla Islam (UCSI University, Malaysia)

OS26-4

Pharmacy Warehouse Management System
Gan Jhui Ken, Heshalini Rajagopal, Shaik Shabana Anjum (UCSI University, Malaysia)

OS26-5

A Development of an Automatic Allocation Parking System
Ng Wai Lam, Neesha Jothi, Shayla Islam (UCSI University, Malaysia)

OS26-6

Healthcare Mobile Application
Yee Chee Hong, Neesha Jothi, Javid Iqbal (UCSI University, Malaysia)

10:45-11:45 OS23 STEM Education for fostering Innovators (4)Chair: Hiroyuki Y. Suzuki (Hiroshima University, Japan)
Co-Chair: Kazuo Kawada (Hiroshima University, Japan)
OS23-1

Junior High School Rescue Robot Challenge for Fostering Problem-Solving Skills
Kazuo Kawada, Keita Murai, Yuta Susawa, Hiroyuki Y. Suzuki(Hiroshima University, Japan)

OS23-2

A Study of Experiential Learning Activities using Model Materials for the Kicking
MotionTeruyuki Tamai, Shoki Takeuchi, Yoshihiro Ohnishi (Ehime University, Japan)
Kazuo Kawada (Hiroshima University, Japan)

OS23-3Making High Precision Single Balance in Active Learning Seminar for Hiroshima
Univ. Monozukuri Junior Doctor Special Educational Program
Hiroyuki Y. Suzuki, Kazuo Kawada, Masayasu Nagamatsu(Hiroshima University, Japan)

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OS23-4

Capstone Class of “Mechatronics Innovation Project” as STEM Educational
Curriculum for Teacher Training Course
Hiroyuki Y. Suzuki, Masayasu Nagamatsu, Kazuo Kawada(Hiroshima University, Japan)

14:20-15:05 OS16 Robotic Manipulation (3)Chair: Kensuke Harada (Osaka University, Japan)
Co-Chair: Tokuo Tsuji (Kanazawa University, Japan)
Co-Chair: Akira Nakamura (Saitama Institute of Technology, Japan)
OS16-1

Acquisition of Synergy for Low-dimensional Control of Multi-fingered Hands by Reinforcement
Learning
Kazuki Higashi, Tomohiro Motoda, Akiyoshi Hara, Kensuke Harada (Osaka University, Japan)

OS16-2Error Recovery Techniques Focused on Revival Process from Failures in Robotic Manufacturing
PlantsAkira Nakamura1, Kensuke Harada2 (1Saitama Institute of Technology, 2Osaka University, Japan)

OS16-3

Flexible assembly system with stiffness switching joint
He Maike, Tokuo Tsuji, Naoki Ichikawa, Takuro Sawada, Tatsuhiro Hiramitsu, Hiroaki Seki
(Kanazawa University, Japan)

15:40-17:55 OS6 Modelling and Simulation in Robotics (8)Chair: Evgeni Magid (Kazan Federal University, Russia)
Co-Chair: Kuo-Hsien Hsia (National Yunlin University of Science & Technology, Taiwan)
OS6-1

Android Based Educational Mobile Robot Design and Pilot Evaluation
Elvira Chebotareva, Maksim Mustafin (Kazan Federal University, Russia)

OS6-2

Virtual Collaborative Cells Modelling for UR3 and UR5 Robots in Gazebo Simulator
Ramir Sultanov, Shifa Sulaiman, Tatyana Tsoy, Elvira Chebotareva(Kazan Federal University, Russia)

OS6-3

New Features Implementation for Servosila Engineer Model in Gazebo Simulator for ROS Noetic
Alexandra Dobrokvashina1, Shifa Sulaiman1, Timur Gamberov1, Kuo-Hsien Hsia2, Evgeni Magid1(1Kazan Federal University, Russia)(2National Yunlin University of Science & Technology, Taiwan)

OS6-4

Features of Interaction Between a Human and a Gestures-controlled Collaborative Robot in an
Assembly Task: Pilot Experiments
Maksim Mustafin1, Elvira Chebotareva1, Hongbing Li2, Martínez-García Edgar A3, Evgeni Magid1,4(1Kazan Federal University, Russia) (2Shanghai Jiao Tong University, China)(3The Autonomous University of Ciudad Juarez, Mexico) (4HSE University, Russia)

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OS6-5

Modeling of Human Actions in a Collaborative Robotic Space Using AR601M Humanoid Robot:
Pilot Experiments in the Gazebo Simulator
Aidar Zagirov, Artem Apurin , Elvira Chebotareva (Kazan Federal University, Russia)

OS6-6

Modern Methods of Map Construction Using Optical Sensors Fusion
Ramil Safin1, Tatyana Tsoy1, Roman Lavrenov1, Ilya Afanasyev1, Evgeni Magid1,2(1Kazan Federal University, Russia) (2HSE University, Russia)

OS6-7

Omniwheel Chassis' Model and Plugin for Gazebo Simulator
Artem Apurin1, Bulat Abbyasov1, Alexandra Dobrokvashina1, Yang Bai2, Mikhail Svinin2,
Evgeni Magid1(1Kazan Federal University, Russia) (2Ritsumeikan University, Japan)

OS6-8

Using Optical Sensors for Industrial Human-Robot Interaction in Gazebo Environment
Elaman Kidiraliev, Roman Lavrenov (Kazan Federal University, Russia)

Meeting Room 4
9:00-10:15 OS15 Robot Control (5)Chair: Yizhun Peng (Tianjin University of Science and Technology, China)
OS15-1

Design of Intelligent Crutch System Based on STM32 and Raspberry Pie
Zongxuan Zhang, Jianhao Hu, Yizhe Sun, Yizhun Peng
(Tianjin University of Science and Technology, China)

OS15-2

Design of Intelligent Fish Box Based on Machine Vision and Internet of Things Technology
Suqing Duan, Jiangyu Wu, Shuai Chen, Yizhun Peng
(Tianjin University of Science and Technology, China)

OS15-3

Design and Implementation of Internet of Things Planting System Based on esp32 MCU
Cuiying Ji, Yizhun Peng (Tianjin University of Science and Technology, China)

OS15-4A Customized Dispensing Robot Based on OpenMV Visual Recognition
Hongze Liu, Yizhun Peng (Tianjin University of Science and Technology, China)

OS15-5

An Intelligent Guide Hat Based on The Internet of Things
Suqing Duan, Yizhun Peng (Tianjin University of Science and Technology, China)

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10:45-11:45 GS3 Image Processing II (4)Chair: Joo Kooi Tan (Kyushu Institute of Technology, Japan)
GS3-1

3D Point Cloud Registration and Segmentation of Reflective Metal Objects Using
Go-ICP and Improved RANSAC
Kairi Morita, Ziyue Liu, Jing Cao, Seiji Ishikawa, Masuhiro Nitta, Joo Kooi Tan(Kyushu Institute of Technology, Japan)

GS3-2

Development of a Safe Walking Assistive System for Visually Impaired Person Using
MY VISION ― Estimation of a Safe Passage from Sidewalk Information Based on
Transfer Learning of VGG-16 Network
Takumi Yokote, Joo Kooi Tan (Kyushu Institute of Technology, Japan)

GS3-3

Detection of Fallen Persons and Person Shadows from Drone Images
Taisei Ono, Haruka Egawa, Seiji Ishikawa, Joo Kooi Tan (Kyushu Institute ofTechnology, Japan)

GS3-4

A Systematic Literature Review on Emotion Recognition System in Malaysia
Muhammad Nadzree Mohd Yamin, Kamarulzaman Ab. Aziz, Tan Gek Siang,
Nor Azlina Ab. Aziz (Multimedia University, Malaysia)

14:20-16:25 OS21 Advances in Field Robotics and Their Applications (7)Chair: Keisuke Watanabe (Tokai University, Japan)
Co-Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
OS21-1

Underwater Live Video Streaming Experiment Using Radio Frequency Communication for AUVs
Raji Alahmad, Yuya Nishida, Kazuo Ishii, Yukihiro Fukumoto(Kyushu Institute of Technology, Japan)

OS21-2Control strategy to change the locomotion mode of a reconfigurable wheel/track robot
based on the soil conditions
Supaphon Kamon, Enrico di Maria, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS21-3Sea-floor Image Restoration with Variable Absorbance Coefficient
Irmiya R. Inniyaka, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS21-4

Design of A Parameter Update Method of the Database-Driven PID Controller
Considering Norm of the System
Takumi Ueda, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS21-5

Occluded Objects Detection by Ultrasonic Sensors
Ryuugo Mochizuki, Yuya Nishida and Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS21-6Development of a Variable Stiffness Function for a New Multifunctional Wire Driven Joint Mechanism
Katsuaki Suzuki, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology)

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OS21-7

Analyzing an OFDM using Cyclic Prefix to Improve the Underwater Communication System
Alraie Hussam, Kazuo Ishii (Kyushu Institute of Technology, Japan)

17:10-17:55 OS30 Embedded systems projects (3)Chair: Mastaneh Mokayef (UCSI University, Malaysia)
Co-Chair: Takao Ito (Hiroshima University, Japan)
OS30-1

Data Transmission by Li-Fi in Coal Mining
Myadadha Goutham Reddy1, Tan Jia Wei1, Mandigiri Golla Jagan Kumar1, Vytla Poojitha1,
Kaki Harshavardhan Goud1, Wang Ji1, MHD Amen Summakieh1, Atefeh Mohammadpour2,
Mastaneh Mokayef1*(1UCSI University, Malaysia) (2California State University, USA)

OS30-2

Embedded Table Tennis Ball Launcher with a Trajectory Path Analyzer for Junior Players
Mastaneh Mokayef1, Lee Qi Jian1, Bushra Naeem2, Miad Mokayef1, M.K.A Ahamed Khan1,
MHD Amen Summakieh1(1UCSI University, Malaysia) (2Balochistan University of Information Technology, Pakistan)

OS30-3

Table Tennis Tournament Scores and Statistics Web Application
Belal Khaled1, Mastaneh Mokayef1*, Chin Hong Wong2, Sew Sun Tiang1, Wei Hong Lim1, MHD
Amen Summakieh1, Miad Mokayef1(1UCSI University, Malaysia) (2 Fuzou University, China)

February 12 (Sunday)
8:40-Registration
Conference Room
10:30-11:30
Plenary Speech PS4
Chair: Takao Ito (Hiroshima University, Japan)
PS4 A New Style of Research and Development from the EU Perspective
Masato Nakagawa(Denso Corporation, Fellow, Hiroshima University, Guest Professor, Japan)

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Meeting Room 1
9:00-9:45 OS24 Applications of Unmanned Aerial System (3)Chair: Hazry Desa (Universiti Malaysia Perlis, Malaysia)
Co-Chair: Nurfadzillah Ishak (Universiti Malaysia Perlis, Malaysia)
OS24-1

Effect of Spraying Dispersion Using UAV Spraying System with Different Height at Paddy Field
Hazry Desa1, Muhammad Azizi Azizan1, Nik Noriman Zulkepli1, Nurfadzillah Ishak1, Teh Xi Hang1,
Siti Syuhaidah Yahya1, Aisyah Arina Mohammad Shahrazel1, Fakhrul Mukmin Mansor1, Siti Zaleha
Abdul Aziz2, Abadal-Salam T Hussain3(1universiti Malaysia Perlis, Malaysia), (2Mara Japan Industrial Institute (MJII), Malaysia)(3Al-Kitab University, Iraq)

OS24-2

Spraying Dispersion Analysis with Different Nozzle Types Using UAV Spraying System in a Paddy
Field
Hazry Desa1, Muhammad Azizi Azizan1, Nik Noriman Zulkepli1, Nurfadzillah Ishak1, Tan Yew Tian1,
Siti Syuhaidah Yahya1, Aisyah Arina Mohammad Shahrazel1, Fakhrul Mukmin Mansor1, Siti Zaleha
Abdul Aziz2, Abadal-Salam T Hussain3(1universiti Malaysia Perlis, Malaysia), (2Mara Japan Industrial Institute (MJII), Malaysia)(3Al-Kitab University, Iraq)

OS24-3The capabilities and Readiness of Unmanned Aerial System (UAS) implementation in Construction
Work Progression
Nurfadzillah Ishak, Muhammad Azizi Azizan, Hazry Desa (universiti Malaysia Perlis, Malaysia)

12:30-14:15 OS1 Human-Machine Interface Application (7)Chair: Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair: Heshalini Rajagopal (UCSI University, Malaysia)
OS1-1

Arduino Based Smart IoT Food Quality Monitoring System
Ashraf Ali Jamal Deen1, Thivagar Chettiar Sarawanan1, Heshalini Rajagopal2, Devika
Sethu1, Neesha Jothi2, Raenu Kolandaisamy2(1Manipal International University, Malaysia), (2UCSI University, Malaysia)

OS1-2

Development of Image Quality Assessment (IQA) For Haze Prediction
Heshalini Rajagopal1, Sayanth Sudheer2, Neesha Jothi1, Keoy Kay Hooi1, Norrima
Mokhtar3(1UCSI University, Malaysia), (2Manipal International University, Malaysia),(3University of Malaya, Malaysia)

OS1-3

Development of IoT based Key Finder
Sayanth Sudheer1, Heshalini Rajagopal2, Azam Mohammed Al-Qussari1, Norrima
Mokhtar3, Neesha Jothi2, Raenu Kolandaisamy2(1Manipal International University, Malaysia), (2UCSI University, Malaysia),(3University of Malaya, Malaysia)

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS1-4

Quality assessment for microscopic parasite images
Muhammad Amirul Aiman Bin Asri1, Norrima Mokhtar1, Heshalini Rajagopal2,
Wan Amirul Wan Mohd Mahiyiddin1, Yvonne Ai Lian Lim1, Masahiro Iwahashi3,
Anees ul Husnain1(1University of Malaya, Malaysia), (2UCSI University, Malaysia),(3Nagaoka University of Technology, Japan)

OS1-5

A study on the Impact of Limitations in Multi-Rotor UAVs on Coverage Path PlanningAnees ul Husnain1, Norrima Mokhtar1, Noraisyah Mohamed Shah1, Mahidzal
Dahari1, Muhammad Syazni1 Ikmal Ramlee1, Heshalini Rajagopal2, Masahiro
Iwahashi3(1University of Malaya, Malaysia), (2UCSI University, Malaysia),(3Nagaoka University of Technology, Japan)

OS1-6

Blood Vessels Segmentation in Eye Fundus Using Image Processing Algorithms
Obaid Al-quraan, Hiam Alquran, Mohammed Alsalatie, Wan Azani Mustafa, Wan
Khairunizam (University of Malaysia Perlis, Malaysia)

OS1-7

Automated Diagnosis of Eye Fundus Images
Ala'a Zyout, Hiam Alquran, Wan Azani Mustafa, Mohammed Alsalatie, Aaa AlBadarneh, Wan Khairunizam (University of Malaysia Perlis, Malaysia)

Meeting Room 2
9:00-10:00 OS18-1 Mathematical Informatics (4)12:30-13:15 OS18-2 Mathematical Informatics (3)Chair: Takao Ito (Hiroshima University, Japan)
Co-Chair: Makoto Sakamoto (University of Miyazaki, Japan)
OS18-1

A Fundamental Study on Car Sickness Using Data Science
Tsutomu Ito1, Seigo Matsuno1, Makoto Sakamoto2, Satoshi Ikeda2, Takao Ito3
(1NIT, Ube College, Japan), (2University of Miyazaki, Japan), (3Hiroshima University, Japan)

OS18-2An Analysis of Quoridor by reusing the results of reduced version
Satoshi Ikeda1, Iwanaga Takuro1, Makoto Sakamoto1, Takao Ito2
(1University of Miyazaki, Japan), (2Hiroshima University, Japan)

OS18-3

Prototype Software for Designing Hula Accessories
Takumi Nakahara1, Satoshi Ikeda1, Amane Takei1, Kenji Aoki1, Makoto Sakamoto1＊, Tsutomu
Ito2, Takao Ito3
(1University of Miyazaki, Japan), (2NIT, Ube College, Japan), (3Hiroshima University, Japan)

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS18-4

A Basic Study on Museum Exhibition Support Using AR Technology
Kakeru Takemura1, Satoshi Ikeda1, Amane Takei1, Masahiro Yokomichi1, Makoto Sakamoto1,
Shuichi Kurogi2, Tsutomu Ito3, Takao Ito4
(1University of Miyazaki, Japan), (2Miyazaki Prefectural Museum of Nature and History, Japan),(3NIT, Ube College, Japan), (4Hiroshima University, Japan)

OS18-5

Tourism Support for Bioluminescent Fungi Using Video Technology
Bidesh Biswas Biki1, Kodai Hasebe1, Fumito Hamakawa1, Satoshi Ikeda1, Amane Takei1, Makoto
Sakamoto1, Shuichi Kurogi2(1University of Miyazaki, Japan), (2Miyazaki Prefectural Museum of Nature and History, Japan)

OS18-6

Parallel wave sound analysis based on hierarchical domain decomposition method
Amane Takei1, Akihiro Kudo2, Makoto Sakamoto1(1University of Miyazaki, Japan), (2Tomakomai Collage, Japan)

OS18-7

Parallel full-wave electromagnetic field analysis based on hierarchical domain decomposition
methodAmane Takei, Nanako Mizoguchi, Kento Ohnaka, Makoto Sakamoto(University of Miyazaki, Japan)

14:30-15:45 OS31 Image Processing and Reconstruction (5)Chair: Xiaoyan Chen (Tianjin University of Science and Technology, China)
Co-Chair: Shiming Wang (Tianjin University of Science and Technology, China)
OS31-1

Small-Target Detection Based on YOLOX
Keying Ren1, Xiaoyan Chen1* (Tianjin University of Science and Technology, China)

OS31-2

Super Resolution Reconstruction Model Based on Attention Mechanism andGenerative Adversarial Network
Xia Miao, Xiaoyan Chen (Tianjin University of Science and Technology,China)

OS31-3

Pedestrian-vehicle detection based on YOLOv7
Xiaoyan Chen, Zhihui Chen (Tianjin University of Science and Technology, China)

OS31-4A lightweight, faster, more generalized low light image enhancement network
Yutao Jin, Xiaoyan Chen (Tianjin University of Science and Technology, China)

OS31-5An Improved Landweber Method for Electrical Impedance Tomography
Qian Wang, Xiaoyan Chen (Tianjin University of Science and Technology, China)

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Meeting Room 3
9:00-10:00 OS32 AR, VR and Digital Contents (4)Chair: R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Co-Chair: Yoshimasa Tokuyama (Transworld University, Taiwan)
OS32-1

A Kinect-based Augmented Reality Game for Arm Exercise
Toshimasa Tokuyama (Transworld University, Taiwan)
R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)

OS32-2Development of EEG-based VR Application for Chakras Guided Meditation
Chien-Tung Lin, R.P.C. Janaka Rajapakse (Tainan National University of the Arts,
Taiwan)OS32-3

A Study on Flower Patterns of Temple Cut-and-Paste Decorations based on L-system
Meng-Fan Huang, Tzu-Hsien Yuan, R.P.C. Janaka Rajapakse(Tainan National University of the Arts, Taiwan)

OS32-4Pass-By: Development of Pedestrian Counts-based Art Installation for Passive
Interaction
Jianlin Zhong, R.P.C. Janaka Rajapakse(Tainan National University of the Arts, Taiwan)

12:30-13:45 OS28 Is That Narratology ‘Post’? -Computational and Cognitive
Approaches and Beyond (5)Chair: Jumpei Ono (Aomori University, Japan)
Co-Chair Hiroki Fxyma (Tainan University of Technology, Taiwan (ROC))
Co-Chair Yuki Hayashi (Chiba University / NINJAL, Japan)
Co-Chair Takashi Ogata (Iwate Prefectural University, Japan)
OS28-1

Proposing YouTube-based vocabulary learning system
Hiroki Fxyma (Tainan University of Technology, Taiwan (ROC))

OS28-2

A Study on the Impact of "Flaming" on Content from
"A Crocodile Who Will Die in 100 Days"
Taiki Sugimoto, Jun Nakamura (Chuo University, Japan)

OS28-3

Protocol analysis for constructing Verbalizing Support System
Yuki Hayashi (Chiba University/NINJAL, Japan)

OS28-4

Story generation during appreciating an artwork based on an actual tale
(Ugetsu-monogatari)
Akinori Abe (Chiba University, Japan)

OS28-5

Designing a Narrative Generation Game Based on the Russian Invasion of Ukraine
Jumpei Ono1, Takashi Ogata2(1Aomori University, Japan), (2Iwate Prefectural University, Japan)
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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

14:30-15:45 GS2 Image Processing I (5)Chair: Watcharin Tangsuksant (King Mongkut’s University of Technology North Bangkok,
Thailand)GS2-1

Microalgae Detection by Digital Image Processing and Artificial Intelligence
Watcharin Tangsuksant, Pornthep Sarakon(King Mongkut’s University of Technology North Bangkok, Thailand)

GS2-2

SmartCropPlanting: IoT-Based Mobile Application for Hydroponic System
Sung Jun Kyu1, Chit Su Mon2, Kasthuri Subaramaniam3(1,3UCSI University, Malaysia) (2Heriot-Watt University Malaysia, Malaysia)

GS2-3

Detection of Eye Misalignment Using an HMD with an Eye-tracking Capability
Yoki Nagatomo, Noriyuki Uchida, Takuya Ikeda, Kayoko Takatsuka, Masayuki
Mukunoki, Naonobu Okazaki (University of Miyazaki, Japan)

GS2-4

Using OpenCV for real-time image recognition through augmented reality devices
Gabdullina Dinara, Zykov Evgeniy, Kugurakova Vlada(Kazan Federal University, Russia)

GS2-5

A Structure Pattern Extraction by Using Morphological Component Analysis in the
Aerial Image Edge Detection
Wataru Oshiumi, Ankur Dixit, Hiroaki Wagatsuma(Kyushu Institute of Technology, Japan)

Meeting Room 4
9:00-10:00 GS4 Robotics I (4)Chair: Amornphun Phunopas (King Mongkut’s University of Technology North Bangkok,
Thailand)GS4-1

A Basic Study of Hand Eye Calibration using a Tablet Computer
Junya Sato, Takayoshi Yamada, Kazuaki Ito (Gifu University, Japan)

GS4-2

Human Detection with Uprisen Angle of a Camera for the Service Robot
Watcharin Tangsuksant, Amornphun Phunopas, Pornthep Sarakon, Aran Blattler(King Mongkut’s University of Technology North Bangkok, Thailand)

GS4-3

Synthesis of Drive Systems of Flapping and Feathering Motions for Bird-like Robot using Twist
Drive Mechanism
Jun Iwao, Hiroshi Ohtake (Kyushu Institute of Technology, Japan)

GS4-4

Optimization Algorithm for Balancing QoS Configuration in Aggregated Robot Processing
Architecture
Abdul Jalil, Jun Kobayashi, Takeshi Saitoh (Kyushu Institute of Technology, Japan)

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

12:30-13:30 GS5 Robotics II (4)Chair: Takayoshi Yamada (Gifu University, Japan)
GS5-1

Research on robotic assembly of gear motors (Stator recognition using keypoint matching andstator insertion using contact position estimation)
Yasumoto Imai, Takayoshi Yamada, Junya Sato (Gifu University, Japan)
Toshiki Hayashi, Shota Aono (Tsubakimoto Chain Co., Japan)

GS5-2

Robot Arm Operating Interface for Easy Grasping by Specifying the Gripping Width of Endeffector
Rio Takeuchi, Laijun Yang, Norihiko Kato (Mie University, Japan)

GS5-3

D Real-Time Conversational Virtual Agents System: Do Facial Expressions and Camera Angles
Persuade Human
Pinkie Anggia, Kaoru Sumi (Future University Hakodate, Japan)

GS5-4

Quasi-static Stability Analysis of Frictionless Planar Enveloping Grasps (Analysis of curvatureeffects at contact points)
Takayoshi Yamada, Junya Sato, Kazuaki Ito, Hidehiko Yamamoto (Gifu University, Japan)

14:30-15:45 GS6 Applications I (5)Chair: Minoru Kumano (University of Miyazaki, Japan)
GS6-1

My Tally -A Personal Book Keeping Mobile Application
Li Zhihan, Abdul Samad Shibghatullah, Nur Hazirah Hamdan(UCSI University, Malaysia)

GS6-2

A Survey on Charitable Acts, Challenges and Using Charitable Mobile Application
Nan Pepin, Abdul Samad Shibghatullah, Kasthuri Subaramaniam, Nur Hazirah
Hamdan (UCSI University, Malaysia)

GS6-3

Online Parcel Management System (PMS) for Small and Medium Company
Chew Cheng Jin1, Kasthuri Subaramaniam1, Abdul Samad Shibghatullah1,
Salini Devi Rajendran2, Nur Hazirah Hamdan1(1UCSI University, Malaysia), (2Taylor's University, Malaysia)

GS6-4

Automatic Classification Method for Plastic Bottles and Caps Using Multi Attention
Eff-UNet
Shunsuke Moritsuka, Tohru Kamiya (Kyushu Institute of Technology, Japan)

GS6-5

Research on the structure of consciousness of people who maintain and manageparks
Jun Sanbuichi1, Minoru Kumano1, Toru Hiraoka2(1University of Miyazaki, Japan), (2University of Nagasaki, Japan)

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

Group Meeting for the next Conference

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

PS abstracts (4)PS1 Human to Human Interaction using Virtual Agents Posing as Another Person
Kaoru Sumi (Future University Hakodate, Japan)
There have been ever expanding opportunities for online distance education in recent
years, and agent-based interactions in virtual spaces have been attracting attention in thiscontext. In a virtual space, we can communicate with others as if we were a virtual agent
who is totally different from ourselves. Thanks to the recent advances in online softwarethat enable us to communicate with virtual agents remotely, we will soon be able to havesuch experiences more easily. For example, a woman may become a male virtual agent,a man may become a female virtual agent, and someone could become a person of adifferent ethnicity. In this study, we investigate the various effects of interaction with
virtual agents in a virtual space, such as how they feel about each other and what impacts
there may be on a particular task.

PS2 Simulation Tools for Urban Search and Rescue Robotics
Evgeni Magid (Kazan Federal University, Russia)
Real world experiments are critical for validating performance of new concepts andlgorithms in robotics field. Yet, experiments tend to be too expensive in terms of timeand resources of a research team. Moreover, it is not feasible to conduct thousands ofcomplex experiments with a physical robot in a real environment. To check new ideas,preliminary evaluate new algorithms and interaction protocols, on first stages of a
research project it is reasonable to start within a simulation. To produce relevant results,
a simulator should provide adequate models of robots and environments with realistic
physical properties. This paper presents an overview of our experience in using robot
operating system (ROS) with Gazebo and Webots simulators for urban search and rescue
robotics projects and considers constructing new models of mobile robots andcomplicated environments, algorithm validation and comparative analysis.

PS3 Enhancement methodology for low light image
Xiwen Liang, Xiaoyan Chen (Tianjin University of Science and Technology, China)
In order to solve the problems such as low brightness, high noise and poor contrast inunder illumination images, there are several methods proposed to address this issue.
Usually, these methods are categorized into two different ways. One is based on
traditional light-based technology, the other is based on machine learning technology.
The low-light image enhancement is often a challenging task because the noises in darkareas are amplified with the overall brightness and contrast of the image. With thedevelopment of machine learning techniques, deep learning networks are becoming the
popular research topics recently to overcome the disadvantages of noisy dots. Based on
the deep analysis of the current research work, we proposed a novel network and carriedout lots of comparison experiments to analysis the performances of these methods. By
training, validation and testing on the datasets, the evaluation critics are defined andutilized to analysis the efficiency of the methods. With the results, we draw theconclusion that the efficient low-light image method can make up for the shortcomingsof the environment, bring better viewers’ experience and provide preprocessing for
subsequent high-level computer vision tasks, such as target recognition, face recognition,
semantic segmentation, etc.

46
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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

PS4“A New Style of Research and Development from the EU Perspective”
Masato Nakagawa (Denso Corporation, Fellow, Hiroshima University, Guest Professor, Japan)
This paper introduces a new style of research and development with a unique process ofengineering development based on the EU perspective. Two different fields will beseparated in the new style: competition field and non-competition field. The former is a
specific area encouraging companies to develop their unique technology as
differentiation strategy, and the later stresses collaborations among different companies
and organizations for spreading the standardization of common technologies. This newstyle with two different fields shows us a new direction of the engineering development
in various engineering industry. In addition, this paper explains robot technologies in the
manufacturing of automotive sector in terms of smart manufacturing concept.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in JapanOS abstracts
OS1 Human-Machine Interface Application (7)Chair Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair Heshalini Rajagopal (UCSI University, Malaysia)
OS1-1 Arduino Based Smart IoT Food Quality Monitoring System
Ashraf Ali Jamal Deen1, Thivagar Chettiar Sarawanan1, Heshalini Rajagopal2, Devika Sethu1, Neesha Jothi2,
Raenu Kolandaisamy2
1( Manipal International University, Malaysia), (2UCSI University, Malaysia)
Food safety and hygienic as well as health are significant issues to stop food wastage.
The high quality of the food requires to be kept track of and it should be also protectedagainst deteriorating and decaying by the climatic variables like temperature level,
humidity, and dark. In this paper, a comparable food quality monitoring tool will becreated that will keep watch of ecological factors like temperature level, moisture,alcohol web content as well as exposure to light for fruits and vegetables. The system isbuilt on Arduino UNO where it is interfaced with various sensors like DHT-22 to keep
track of temperature level and humidity, MQ3 to identify alcohol material as well as
LDR to gauge direct exposure to light. It sends the measured sensor data to an IoT system
via ESP8266 Wi-Fi Module. The IoT system will certainly be made use of for logging
and checking sensing unit data and this is beneficial in monitoring the food storage fromanywhere and anytime.

OS1-2 Development of Image Quality Assessment (IQA) For Haze Prediction
Heshalini Rajagopal1, Sayanth Sudheer2, Neesha Jothi1, Keoy Kay Hooi1, Norrima Mokhtar3(1UCSI University, Malaysia), (2Manipal International University, Malaysia),(3University of Malaya, Malaysia)
Haze is a term that is widely used in image processing to refer to natural and humanactivity-emitted aerosols. It causes light scattering and absorption, which reduce thevisibility of captured images. This reduction hinders the proper operation of many
photographic and computer vision applications, such as object recognition/localization.
Therefore, an approach for haze density estimation is highly demanded. This paper
proposes a model that is known as the haziness degree evaluator to predict haze densityfrom a single image without reference to a corresponding haze-free image. The proposedmodel quantifies haze density by optimizing an objective function comprising hazerelevant features that result from correlation and computation analysis.

OS1-3 Development of IoT based Key Finder
Sayanth Sudheer1, Heshalini Rajagopal2, Azam Mohammed Al-Qussari1, Norrima Mokhtar3, Neesha Jothi2,
Raenu Kolandaisamy2
1( Manipal International University, Malaysia), (2UCSI University, Malaysia),(3University of Malaya, Malaysia)
Typically, we misplace our keys and hunt for them throughout the home, eventually
locating them with much difficulty after a long search. Therefore, we propose to develop
a basic IoT-based Key finder utilizing NodeMCU, Buzzer, and Battery in this paper. In
this paper, the development of key chain which can be attached to the keys will be
explained. The paper also includes the creation of a website dedicated to the search forthe missing keys. The missing keys can be located using a mobile phone's Google
Chrome browser. When the webpage is enabled to find the missing keys, the designed
IoT-based keychain is equipped with a buzzer that will make a beep sound. The
developed IoT based key finder is important in terms of keeping track of the keys andcould also save time.

48©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS1-4 Quality assessment for microscopic parasite images
Muhammad Amirul Aiman Bin Asri1, Norrima Mokhtar1, Heshalini Rajagopal2, Wan Amirul Wan Mohd
Mahiyiddin1, Yvonne Ai Lian Lim1, Masahiro Iwahashi3, Anees ul Husnain1
1( University of Malaya, Malaysia), (2UCSI University, Malaysia), (3Nagaoka University of Technology,
Japan)
Water sample inspection is crucial for treated water monitoring, the quality of
microscopic parasite images such as Giardia and Cryptosporidium need to be examined
during treated water inspection. In this work, the subjective and objective evaluation ofparasite images were performed. Parasite image database consisting of 20 reference
images and 360 distorted images were used in the evaluation. The distorted images weregenerated from the reference images by applying distortion to the reference images with
Gaussian White Noise and Motion Blur, at 9 levels of distortions. Twenty subjects scoresobtained were transformed into Mean Opinion Score (MOS). In the objective evaluation,
six Full Reference-IQA (FR-IQA) metrics, namely MSSIM, SSIM, FSIM, IWSSIM,
GMSD and VIF were used to evaluate the distorted images. The subjective MOS scores
were used as the benchmark to determine the most suitable objective IQA to assessparasite images. It was found that MSSIM is the most suitable IQA to assess parasite
images distorted with Gaussian White Noise and Motion Blur.

OS1-5 A study on the Impact of Limitations in Multi-Rotor UAVs on Coverage Path PlanningAnees ul Husnain1, Norrima Mokhtar1, Noraisyah Mohamed Shah1, Mahidzal Dahari1, Muhammad Syazni1
Ikmal Ramlee1, Heshalini Rajagopal2, Masahiro Iwahashi3
1( University of Malaya, Malaysia), (2UCSI University, Malaysia), (3Nagaoka University of Technology,
Japan)
Search and explore missions through patrolling UAVs need effective strategies for area
coverage. Various methodologies for coverage path planning were explored andanalyzed through ROS-Gazebo simulation environment using Hector quadrotor model.
Considering the impact of hardware limitations, simulations were conducted, for such
missions where the UAV is needed to switch frequently between search and localize
modes. This study investigated raster-scan exploration, expanding spiral search andzigzag pattern coverage to analyze the impact of limitations from Hector UAV on thesemodels. The evaluation parameters were percentage of covered area, number of turns
and time taken by the UAV.

OS1-6 Blood Vessels Segmentation in Eye Fundus Using Image Processing Algorithms
Obaid Al-quraan, Hiam Alquran, Mohammed Alsalatie, Wan Azani Mustafa, Wan Khairunizam(University of Malaysia Perlis, Malaysia)
The retinal blood vessels have a huge impact on the diagnosis of eye diseases in addition
to other systematic diseases in the human body. In this paper, we presented an automatedsegmentation method to extract retinal blood vessels, starting with preprocessing, thenpassing the image into segmentation stage using Bradley technique, and lastly,
morphological operations. The proposed method was assessed and tested on STARE
dataset, followed by comparing the auto-segmented images to the manually segmented
ones. The comparison results Accuracy, Sensitivity, and Specificity were 94.63%,
95.02%, and 80.73% respectively.

49©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS1-7 Automated Diagnosis of Eye Fundus Images
Ala'a Zyout, Hiam Alquran, Wan Azani Mustafa, Mohammed Alsalatie, Aaa Al-Badarneh, Wan Khairunizam(University of Malaysia Perlis, Malaysia)
Eye disease is a severe health problem. Advanced stages of the disease may lead to vision
loss. Early detection may limit the development of the severity and enhance the chanceof treatment. Computer-aided diagnosis (CAD) is the state-art-technology. This paper
proposes a CAD system that combines image processing techniques and artificial
intelligence. The proposed method used the green channel of fundus eye images toextract the most representative features by the trained convolutional neural network toclassify five eye diseases of fundus images. The build CAD system exploits deeplearning and support vector machine classifier to achieve a highly accurate model of
98% for five types of eye diseases.

OS2 Intelligent Life and Cybersecurity (6)Chair I-Hsien Liu (National Cheng Kung University, Taiwan)
Co-Chair Chu-Fen Li (National Formosa University, Taiwan)
Co-Chair Chuan-Kang Liu (National Chin-Yi University of Technology)
OS2-1 The Dam Gate Cybersecurity Testbed
Chen-Yu Lee, I-Hsien Liu, Meng-Wei Chang, Jung-Shian Li (National Cheng Kung University, Taiwan)
The testbeds are very important for cybersecurity research on critical infrastructure. In
today's drastic climate change, the dam gate control system is a very important part ofthe critical infrastructure for people's livelihood. In traditional research, because the realcontrol system cannot be used directly, most of the research can only be carried out in asimulation way. The research based on simulation alone lacks practical value due to too
many assumptions. This research was supported by the Water Resources Agency,
Ministry of Economic Affairs and National Science and Technology Council in Taiwan.
The gate control cybersecurity testbed was built with a blueprint of the real world.

OS2-2 Domain Name Infringement in Taiwan
Shih-Chin Lin (Ming Chuan University, Taiwan)
Registering a domain name can assist in attracting new customers and in cultivating astrong market presence. However, when the desired domain name has been registeredby someone else or is similar to a trademark, proceeding with registration could infringe
upon an existing domain name or a trademark. This is so-called domain nameInfringement, which is often accompanied by trademark infringement or a criminal act.
This study thoroughly examined the research reports published by the TWNIC andrelevant authorities to gain an understanding of domain name Infringement in Taiwan,
ultimately revealing that domain name “.tw” infringement has not yet gained its due
attention in Taiwan.

OS2-3 Device's Operation Tracking using Blockchain in Industrial Control System
Chien-Hsin Wu, I-Hsien Liu, Jung-Shian Li (National Cheng Kung University, Taiwan)
Chu-Fen Li ((National Formosa University, Taiwan)
Many producing, monitoring and controlling needs are met by using programmable logic
controllers. But there is no effective mechanism to audit PLC behavior. So this research
designed a mechanism based on Blockchain for the purpose of effectively recording thecommands and response actions received by the PLC. Due to the characteristics of theblockchain, the integrity of the data is also guaranteed.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS2-4 Strengthen the security of the Industrial Control System using SDN technology
Min-Wei Huang, I-Hsien Liu, Hsin-Yu Lai, Meng-Huan Lee, Jung-Shian Li(National Cheng Kung University, Taiwan)
In the field of OT, most of the network architectures operated in the way of isolationfrom internal and external networks. Only firewalls are installed on the external network
without any protection measures for the internal network. In this paper, we leverage a
Software-defined network (SDN) with an industrial control system (ICS), so controllers
can manage the equipment and keep track of each switch and its connection with theprogrammable logic controller (PLC) in the ICS. Additionally, by adding flow entries,
only the critical flows can be allowed. So the transmission between the PLC and Human
Machine Interface (HMI) can be protected. The transmission quality of the ICS and its
availability can be improved.

OS2-5 Fake Base Stations threats in 5G Standalone Networks
Meng-Huan Lee, I-Hsien Liu, Jung-Shian Li (National Cheng Kung University, Taiwan)
With 5G technology, traditional industrial and business equipment can now be connected
wirelessly in a non-public network separated from public mobile services. Benefit fromfeatures such as high bandwidth, massive machine-type communications, and edge
computing, while being able to control their own private 5G networks. But fake basestations or IMSI-Catchers used by law enforcement and hackers may collect private
information and cause disruptions in cell services even if they’re not public. In thisresearch, we will analyze existing attack methods and detection mechanisms. And lookat how those threats can affect the devices and operations in 5G non-public networks.

OS2-6 Cyber-Physical Security Testbed for River Basin Gate Control System
Meng-Wei Chang, I-Hsien Liu, Jung-Shian Li (National Cheng Kung University, Taiwan)
Due to the flourishing development of critical infrastructures in recent years, increasing
importance has been attached to the security of the Cyber-Physical System (CPS) of theinfrastructures. Machine learning technology nowadays is evolving rapidly, and is
widely implemented in detecting or preventing such attacks. As a result, This research
constructs a Testbed to collect relevant data sets to support machine learning
requirements, such as training models and analyzing attacks, etc.

51
©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS3 Advanced Information Processing Applications (4)Chair Toru Hiraoka (University of Nagasaki, Japan)
Co-Chair Masaharu Hirota (Okayama University of Science, Japan
OS3-1 Generation of Arbitrarily-Oriented Ripple Images Using Smoothing Filter withTranslated Window
Shogo Noma, Toru Hiraoka (University of Nagasaki, Japan)
A non-photorealistic rendering method for automatically generating ripple images fromphotographic images using region-division smoothing filter has been proposed. Ripple
patterns are composed of continuous lines with fluctuations, and ripple images are
expressed by superimposing ripple patterns on photographic images. To create ripple
images that give different visual effects, this paper develops a method for generating
ripple patterns with a texture different from the conventional method. The proposed
method is executed by an iterative calculation using smoothing filter with the translated
window. In the proposed method, the orientation of ripple patterns can be arbitrarily
controlled by changing the amount of translation of the window used in smoothing filter.
To verify the effectiveness of the proposed method, an experiment using various
photographic images was conducted. Additionally, an experiment to visually examine
how ripple patterns generated by changing the values of the parameters in the proposed
method change.

OS3-2 Generation of Moire-Like Videos from RGB-D Videos
Sho Enomoto, Toru Hiraoka (University of Nagasaki, Japan)
A non-photorealistic rendering method has been proposed to generate moire-like images
from photographic images using bilateral filter and unsharp mask. Extensions to theconventional method have also been proposed to generate moire-like videos from videos
or to generate moire-like images from RGB-D images. In this paper, a method is
proposed to generate moire-like videos from RGB-D videos. Flickering is a problem in
NPR videos, but the proposed method can suppress flicker. Through experiments using
an RGB-D video taken by the authors, the flicker of moire-like videos generated by the
proposed method was evaluated visually and quantitatively.

OS3-3 A Proposal of Shoulder-surfing Attack Countermeasure Method with Improved Usability
Yoshihiro Kita, Shingo Nakamura (University of Nagasaki, Japan)
Shoulder-surfing attacks are one of the most familiar password exploitation attacks. It isvulnerable to be attacked while unlocking a smartphone screen. The smartphone users
need to take countermeasures against that attack. The fingerprint-based screen unlock
system has become the norm, but it is not safe, as there has been increased in the user’s
fingerprint theft. The existing methods to prevent the shoulder-surfing attacks are
effective against such attacks, but many of them are complicated to operate, and difficult
to use. In this paper, we propose the prevent method for surfing attacks that it is easy touse. The tool's user operates the lower buttons, moves characters to on the trump's marksin specified advance. The user can input as likely as the password. On the other hand,the attacker does not understand the input characters only shown these buttons has been
pushed.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS3-4 User-movement Estimation in Social Media Sites Based on Seq2Seq Model
Masaharu Hirota (Okayama University of Science, Japan)
Many tourists upload content about tourist attractions to social media sites. The location
information annotated on the content represents the user's movement. This movement
information is an important source of information that can be used for recommendations
and advertisements. However, users do not consistently post content about all the places
they visit on social media. Therefore, this study aims to develop a method to estimate
the location of users' movements. The proposed method uses a Seq2Seq model, whichlearns the reconstruction of users' movement trajectories.

OS4 Artificial Life and Intelligent Systems (4)Chair Chung-Wen Hung (National Yunlin University of Science and Technology, Taiwan)
Co-Chair Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
OS4-1 Interactive Beating Drum Unity Game
Chung-Wen Hung, Cheng-Lung Ko, Wen-Huei Chou
(National Yunlin University of Science and Technology, Taiwan)Interactive Beating Drum Unity Game is proposed in this paper. The pandemic forced
individuals to maintain a prescribed social distance from others, and this way may ignore
the individual's mental health and social needs, especially for the elderly. The Unity
Engine is used to implement the system to provide a sport and social plane. And
Bluetooth Low Energy (BLE) chip is adopted to transmit the beating signal to Unity
Engine what following the Bluetooth (BT) protocol. Then the position beat by users will
be showed on the user interface tablet. There are two play mode be implemented: single
player mode and multiplayer mode, and the latter will include social function. The users
are required to drum in short time interval accurately, and the game award points areevaluated for accuracy. The experimental results show the system workable, and thesubjects unanimously stated that the operation of the game Easy-to-Use.

OS4-2 Error Backpropagation Neural Network Based Image Identification for a Foot Massage
Machine and Its Mechanism Design
Chun-Chieh Wang (National Yunlin University of Science and Technology, Taiwan)
In the past ten years, many companies have developed different styles of foot massage
machines. At present, the common massage products on the market include roller type
and pressing type. However, it is very difficult to accurately stimulate all acupuncture
points for different sizes of feet. Besides, the massage roller cannot be controlled
independently. Therefore, a novel computer vision technology is proposed to identify thefoot acupuncture points by error backpropagation neural network (EBNN) in this paper.
First, we use cameras to capture the sole of users’ soles and execute image preprocessing
procedures to segment the region of interest (ROI) of soles. We map foot acupuncture
points to foot images to obtain reference massage positions. Second, the YCbCr color
space is used to separate the brightness to complete the segmentation of the foot image
in the skin detection. Moreover, EBNN is used to train users' soles-image sets to improve
the success rate of image segmentation. Finally, to improve the rate of image recognition
and user convenience, a foot massage machine was redesigned. Experimental results
validate the superiority and practicality of the proposed image identification method forfoot massage machines.

53©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS4-3 Cross-domain sharing of robots in the community caring and practice of university social
responsibility
Jia-Ming Hsiao (National Yunlin University of Science and Technology, Taiwan)
This paper focuses on community caring and social practice that assisting robot
education development in rural schools to echo the two goals of the United Nations'
SDGs (Sustainable Development Goals)–"Goal 4: Quality education" and "Goal 10:
Reduce inequality". At the same time, in response to the scientific and technologicalliteracy-oriented needs of the Curriculum Guidelines of 12-Year Basic Education in
2019, it is shown how to assist rural schools in Tainan City of Taiwan to develop
computational thinking and cross-domain applications of robots under the COVID-19.
Four robot education suites including LEGO Mindstorms EV3, Makeblock mBot,
mBot2, and VEX IQ are applied in the rural schools. The dilemma and solutions of robot
education in rural schools are also discussed in this article. Universities, non-profit
organizations and robot equipment vendors work together to practice social
responsibility.

OS4-4 Research on Design of Implementation Mechanism for Similar Production Line
Chia-Nan Ko, Yi-Yu Li, Ting-Ru Ko, and Ting-Yi Chen (Nan Kai University of Technology, Taiwan)
Recently, enterprises are actively investing in the research and development of practicaltechnologies for similar production line organizations. Faced with various technologicalinnovations in smart automation. In this paper, the object is to research and integrate
intelligence through practical functional solutions to design and establish a production
line implementation mechanism. We use the myRIO controller as the main core to plan
the factory automation production line structure through the practical function researchfor building similar production line implementation organizations. In this paper,
combining theoretical methodology and practical experiments to construct institutional
design, electromechanical system and intelligent automation procedure. Evaluate theefficiency of the design automated production lines to improve the capabilities of similar
production lines.

OS5 Intelligent Systems and Control (5)Chair Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
Co-Chair Chian C. Ho (National Yunlin University of Science and Technology, Taiwan)
OS5-1 Using Multithreaded Load Balancer to Improve Connection Performance in Container
Environment
Pang-Wei Tsai, Hong-Yu Wei, Yu-Chi Hsu (National Central University, Taiwan)
The virtualization technology has been widely used in computer system for a long periodof time, it provides resource allocation, flexibility and efficiency by using hypervisor to
manage virtual machine. Nevertheless, for lightweight workload, the container gains
more advantages on transferability, rapid deployment, and robust ecosystem supports.
Because of these characteristics, container is commonly used in edge computing andmicroservice to fulfill essential resource requirements. However, when service on thecontainer receives too much requests without limitation, it may meet degrading effectwhich lowers down its performance and makes host network to be stuck. Hence, thisresearch aims to focus on investigating this issue for finding better strategy to improvethe connection performance of http-based service application with multithreaded loadbalancer.

54©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS5-2 Electronic Biometric Detector and Body Composition Index in Predicting Disease Risk
Wen-Fu Yang, Chung-Te Ting (Chang Jung Christian University, Taiwan)
According to the World Health Organization, COVID-19 has killed 14.9 million people
worldwide by 2021. According to statistics from the World Obesity Alliance, if thedomestic obese population exceeds 50% (three high diseases), the country's COVID-19
mortality rate will be 10 times higher. There seems to be a close relationship between
obesity and the risk of hospitalization and treatment. In this study, the electronic
biometric detector was used to collect the response values of the body cells of adults in
Taiwan. Through the comparison and analysis of big data, the functional status of eachorgan system in the human body was calculated and compared with the bodycomposition index. It was found that there is a high correlation between the two. The
results of this study may provide feasibility of different health risk assessments.

OS5-3 Exploring Consumers' Intention to Use Mobile Payment APPs Based on Technology
Acceptance Models - Taking Line Pay as an Example
Chun -Nan Chen, Yu-Sheng Huang (Chang Jung Christian University, Taiwan)
According to the statistics of the Financial Supervisory Commission, as of the end of
March 2021, the cumulative transaction amount of the latest five mobile payments hasreached 503.2 billion，LINE, a communication software that is inseparable from ourlives, has launched a service - "LINE Pay", which has become the most commonly usedmobile payment by Taiwanese consumers. This research mainly takes people who haveinstalled LINE PAY as the research object, and uses three factors that may affectconsumers' consumption patterns, such as " Brand Association ", " Consciousness Risk
" and "social impact", to explore consumers’ usage intentions for mobile payment apps,
hoping to gain a deeper understanding of their usage intentions.

OS5-4 Optimization of Robot Path and IoT Communication Path Based on Artificial Intelligence
Jr-Hung Guo, Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
The Internet of Thin (IOT) and robotics are very popular research topics, and they havebegun to enter people's daily life, and both robots and the Internet of Things have theproblem of path optimization. For robots, Although the map can be established inadvance and the robot can avoid obstacles, the robot's travel map is likely to change at
any time, and a new path needs to be generated at this time. The Internet of Things will
provide users or monitoring system information with the best transmission speed path.
Based on the above requirements, this paper uses artificial intelligence to optimize thepath between robots and the IoTs question. The method expected in this paper is toparameterize the length of each path, the number of obstacles, whether there will becollisions, etc., and then use the artificial intelligence algorithm of multi-tree and LSTM
to find the best path.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS5-5 Key Success Factors Affecting Family Members’ Intention to Withdraw from Lifesustaining Treatment for Long-term Ventilator-dependent patients: Nursing Professionals’
Perspective
Hsiao-Fang Chen, Jin-Yuan Chern (Chang Jung Christian University, Taiwan)
Nursing professionals are major caregivers of VDPs. They have abundant experience inobserving VDP family members’ reflections when confronting LST withdrawal-or-not
issues. Therefore, this study aimed to explore, from the perspective of nursing
professionals, the key success factors which would significantly affect VDPs’ family
members’ decision about withdrawal from LST. This is a quantitative survey researchstudy. Nursing professionals from a government-affiliated region-level teaching hospitalin southern Taiwan were potential participants. First, based on an action-research design,
a structured questionnaire composed of three constructs (18 sub-constructs) weredeveloped through a literature review. Second, senior nursing professionals with
abundant experience in caring VDPs were recruited for data collection. Third, theanalytic hierarchy process (AHP) was adopted to collect and analyze the participants’
responses. Overall, “subjective norms” was considered relatively important than“behavior/attitude” and “behavior control”. Further, “family consensus” was consideredas the first priority, followed by “quality assurance” and “individual value”. On thecontrary, “grief counseling”, “communication timing” and “ethics and legal” were withthe least priorities. Family consensus and quality assurance are the two key factors whenfamily members confront the decision whether to withdraw the LST for their beloved
person.

Please attach one typicalfigure in your paper
here.

OS6 Modelling and Simulation in Robotics (8)Chair Evgeni Magid (Kazan Federal University, Russia)
Co-Chair Kuo-Hsien Hsia (National Yunlin University of Science & Technology, Taiwan)
OS6-1 Android Based Educational Mobile Robot Design and Pilot Evaluation
Elvira Chebotareva, Maksim Mustafin (Kazan Federal University, Russia)
Educational robotics is a powerful tool for STEM and STEAM education. However,in practice, while trying to introduce educational robotics into a well-establishededucational process, a number of significant problems might arise. These include ahigh cost of an equipment and a lack of necessary competencies in the field of
educational robotics among teachers. In this paper, we describe a concept of an
inexpensive mobile robot equipped with a mobile device running Android operating
system. We present sample projects that demonstrate how to extend capabilities of theeducational mobile robot through the use of the mobile device. The proposed approach
was preliminary evaluated in “Educational robotics” Bachelor level course and“Introduction to robotics” Master level course at Kazan Federal University.

56©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS6-2 Virtual Collaborative Cells Modelling for UR3 and UR5 Robots in Gazebo Simulator
Ramir Sultanov, Shifa Sulaiman, Tatyana Tsoy, Elvira Chebotareva(Kazan Federal University, Russia)
This paper presents virtual models of collaborative cells for two industrial
collaborative robots UR3 and UR5 in the Gazebo simulator. Typically, the UR3 andUR5 robots are used by enterprises for packaging, assembly and sorting. Modeling andvirtual experiments are an important stage in production processes planning, which
involves joint human-robot work. Such models allow to plan safe human-robot
interactions within a joint workspace and, if required, to rearrange the workspace. Ourmodels of collaborative cells were adapted to several typical cases of joint humanrobot operation scenarios and could be used in engineering design and testing forhuman-robot interaction in the field of production processes.

OS6-3 New Features Implementation for Servosila Engineer Model in Gazebo Simulator for
ROS Noetic
Alexandra Dobrokvashina1, Shifa Sulaiman1, Timur Gamberov1, Kuo-Hsien Hsia2, Evgeni Magid1(1Kazan Federal University, Russia)
2( National Yunlin University of Science & Technology, Taiwan)
Virtual experiments play an important part in robotics allowing to reproduce complex
environments, perform complicated and risky tasks. Yet, a virtual model is not always
a one-time build action and it requires revisions in a timely manner as operating
systems and dependent software evolves. This article presents a number of technicalupdates of the Servosila Engineer crawler type robot virtual model. The model
evolution necessity was caused by a migration from an outdated robot operating system(ROS) of Melodic version to the modern ROS Noetic version. In addition to migration
issues, for the robot virtual model a new onboard torch control unit and a robot headaligning unit were developed.

OS6-4 Features of Interaction Between a Human and a Gestures-controlled Collaborative
Robotin an Assembly Task: Pilot Experiments
Maksim Mustafin1, Elvira Chebotareva1, Hongbing Li2, Martínez-García Edgar A3, Evgeni Magid1,4(1Kazan Federal University, Russia) (2Shanghai Jiao Tong University, China)
3( The Autonomous University of Ciudad Juarez, Mexico) (4HSE University, Russia)
This paper presents results of pilot experiments that were run to study a humaninteraction with the UR5e collaborative 6-axis robot manipulator in a cooperative
assembly task. The participants controlled the equipped with a screwdriver UR5e robot
using computer vision and gestures. The purpose of the experiments was to identify
the features of user interaction with the UR5e robot controlled with gestures in a taskof a complex object assembly. Ten people took part in the experiments. The results ofthe experiments allowed to conclude on practical efficiency of cobots in joint assembly
tasks. In addition, we identified preferable by the users location areas during theassembly task.

57©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS6-5 Modeling of Human Actions in a Collaborative Robotic Space Using AR601M Humanoid
Robot: Pilot Experiments in the Gazebo Simulator
Aidar Zagirov, Artem Apurin , Elvira Chebotareva (Kazan Federal University, Russia)
To guarantee a safe human-robot collaboration, a collaborative system development
requires a significant amount of real world experiments. Yet, it is critical to avoid injury
risks for participants of such experiments. The risks could be reduced by introducing
a virtual experiments’ stage to detect mistakes in a robot behavior prior to the realworld experiments. This paper presents a virtual model of a humanoid robot AR601M
in the Gazebo simulator. Unlike the standard human models in the Gazebo, this modelallows to simulate the gross and fine motor skills of a human and could be used when
performing various human actions in collaborative robotic cells.

OS6-6 Modern Methods of Map Construction Using Optical Sensors Fusion
Ramil Safin1, Tatyana Tsoy1, Roman Lavrenov1, Ilya Afanasyev1, Evgeni Magid1,2(1Kazan Federal University, Russia) (2HSE University, Russia)
Map construction, or mapping, plays an important role in robotic applications.
Mapping relies on inherently noisy sensor measurements to construct an accurate
representation of a surrounding environment. Generally, individual sensors suffer fromperformance degradation issues under certain conditions in the environment. Sensor
fusion allows to obtain statistically more accurate perception and to cope withperformance degradation issues by combining data from multiple sensors of different
modalities. This article reviews modern sensor fusion methods for map construction
applications based on optical sensors, such as cameras and laser range finders. Stateof-the-art mapping solutions built upon different mathematical theories and concepts,
such as machine learning, are considered.

OS6-7 Omniwheel Chassis' Model and Plugin for Gazebo Simulator
Artem Apurin1, Bulat Abbyasov1, Alexandra Dobrokvashina1, Yang Bai2, Mikhail Svinin2, Evgeni Magid1(1Kazan Federal University, Russia) (2Ritsumeikan University, Japan)
Increasing a mobility of a robot in a limited space or in a presence of a large numberof people is an important task. Mecanum wheels could provide the required highflexibility locomotion in any direction. This article presents a virtual model of an
omniwheel robot in the Gazebo simulator. Freely rotating rollers were implemented tosimulate the robot motion. We developed a four-wheel mecanum mobile robot plugin
controls the robot by publishing linear velocity data along X and Y axes, and angularvelocity data along Z-axis. The plugin could optionally publish a standard ground-truth
odometry of the Gazebo or a calculated in real time wheel odometry. The open sourcecode is extendable for similarly structured platforms and is available for a download
via GitLab.

OS6-8 Using Optical Sensors for Industrial Human-Robot Interaction in Gazebo Environment
Elaman Kidiraliev, Roman Lavrenov (Kazan Federal University, Russia)
This paper presents an overview of a robot operating system based architecture forhuman-industrial robot interactions using peripheral optical sensors for real-time
object detection and collision avoidance with an industrial robot in the virtual world of
the Gazebo simulator. Machine vision plays a huge role in production automation, anddevelop a system based on Kuka KR3 industrial robot for detecting and tracking ahuman and other objects in a working area using optical sensors. The ability to workin low light and crowded conditions, as well as the ability to reconstruct a method of
execution of a task, while maintaining control of a robot. This work considers several
optical sensors and a comparative analysis.

58©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS7 Advanced Control Systems (7)Chair Takuya Kinoshita (Hiroshima University, Japan)
Co-Chair Takao Sato (University of Hyogo, Japan)
OS7-1 Predictive Functional Controller Design with Disturbance Observer and Its Application
Syota Yoshida, Shin Wakitani (Hiroshima University)
This paper discusses predictive functional controller (PFC) design using a disturbanceobserver for a system with a dead time. The PFC is a kind of model predictive controllerthat is an effective method for systems with a dead time. However, in PFC, the control
performance is strongly affected by the accuracy of the designed model. Therefore, thisresearch proposes a method that the PFC maintains good control performance under themodeling error by using the disturbance observer that can estimate the disturbance even
if a system has dead time. The effectiveness of the proposed control scheme is evaluatedby experimental results.

OS7-2 Study on a Construction of Velocity Perception Model and Kansei Feedback Control
System in Active Behavior
Sota Takemura, Takuya Kinioshita, Toru Yamamoto (Hiroshima University, Japan)
In Japanese, there is a word "Kansei" which means "feelings, impulses, and desires
stimulated by the senses. In addition, there is a field called Kansei Engineering which isrecognized worldwide. In the case of human-operated machines, it is necessary toconsider Kansei such as whether the operability is comfortable. Therefore, this paper
describes a model that focuses on Kansei and control based on the model. It has been
proposed that a human Kansei model based on the Weber-Fechner law. However, theWeber-Fechner law is applied to stimulus such as sound, smell, and light. The modelneeds to be improved to reduce the error between the velocity assumed in the brain andthe actual velocity of the machines. Therefore, this paper proposes a new Kansei modelthat focuses on the relationship between the actual velocity and the perceived velocity
when a human actively operates the machines.

OS7-3 Design of a Database-Driven Control for a Web Conveyor
Atsushi Takatani, Takuya Kinioshita, Toru Yamamoto (Hiroshima University, Japan),
Tomohiro Hirakawa, Hiroki Hamamoto, Takashi Ochiiwa, Hideki Tomiyama (Japan Steel Works, Ltd.)Web conveying equipment used in the processing of plastic films and other materials is
a large-scale system consisting of multiple drive rolls, and it is difficult to understandthe system characteristics during driving. This study proposes a database-driven control
method based on the FRIT method to implement motor control of this equipment without
relying on system identification. In order to reduce the computational load, the conceptof database design based on similarity is incorporated. The database, which holds theoperation results, enables the web conveyor's operation output to quickly reach thereference signal.

59©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS7-4 Development of IoT self-tuning control device using Wi-Fi
Shinichi Imai (Tokyo Gakugei University, Japan)
In this paper, development of IoT control device using Wi-Fi. In recent years, IoT has
been attracting attention, and there are growing expectations in the industrial world forthe utilization of data obtained from many sensors. These data are stored in databases inreal time through communication between sensors and the cloud and communicatingwith the cloud. Meanwhile, digital controllers are widely used in the process industry as
general-purpose controllers. However, it is difficult to incorporate AI, machine learning,and databases into general-purpose controllers due to data memory limitations.
Therefore, in this paper, we develop an IoT self-tuning controller using Wi-Fi. As a resultof experiments, the controller and computer were connected via Wi-Fi, self-tuning was
performed on the computer side, and the calculated PID gains could be sent to thecontroller to achieve control.

Sensing system
Adaptive system

Φ(j1)
時刻j1周辺のOS7-5 Consensus Control for Dual-rate Multi-agent Systems
Takaya Tanaka, Natsuki Kawaguchi, Takao Sato (University of Hyogo, Japan)
The present study discusses the consensus control multi-agent systems. In such systems,
the consensus is achieved through the exchange of information between neighboring
agents. In order for mobile systems to consensus with each other, they must be designedwith power consumption in mind. Therefore, since communication consumes power, it
is important that the communication interval be as long as possible. The present study
proposes a design methodology for the consensus achievement of dual-rate multi-agent
systems, where the update period of agents is shorter than the communication period.

OS7-6 Data-driven Control Experiments of a Quadrotor Drone
Tomonori Yao, Natsuki Kawaguchi, Takao Sato (University of Hyogo, Japan)
Multi-rotor unmanned aerial vehicle (UAV)have various advantages due to their highexpected performance. Most conventional model-based design methods require thedynamic characteristics of UAV, whereas data-driven design methods allow thecontroller to be designed directly from flight data without a model. This study reports on
the creation and flight experiments of a quadrotor drone with the aim of preparing anenvironment for implementing data-driven design for UAV. In addition, the usefulnessof the controller directly designed from flight data is also reported.

OS7-7 Design of Data-driven Multi-agent Systems
Kenta Nagao, Natsuki Kawaguchi, Takao Sato (University of Hyogo, Japan)
This study discusses the consensus control of multi-agent systems. The consensus canbe achieved when the closed-loop system of multi-agent systems is stable. In
conventional model-based methods, since the controller is designed based on the
dynamic characteristics of the agents, models of the agents must be used. On the other
hand, this study examines data-driven design of multi-agent systems. In the proposed
method, the controller of a multi-agent system is designed directly from the control data,
where the controller structure is fixed. The usefulness of the proposed method is shown
through numerical examples.

60©ICAROB 2023 ALife Robotics Corp. Ltd.

時刻j1周辺の

入力値

Φ(j2)

・・・

出力値

Φ(jN)

Tuning

Wi-Fi module＋ Sensor

wireless
Computer
Controller
wireless

Wi-Fi module

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS8 Intelligent Control (5)Chair Yingmin Jia (Beihang University, P.R.China)
Co-Chair Weicun Zhang (University of Science and Technology Beijing, P.R.China)
OS8-1 A Self-triggering Control Based on Adaptive Dynamic Programming for Nonzero-sum
Game Systems
Yibo Shi, Chaoli Wang (University of Shanghai for Science and Technology, China)
Recently, for the optimal control problem of nonzero-sum game systems, although it isdiscussed that these methods are event-triggered, it is still necessary to continuously
monitor measurement errors during execution, which is difficult to achieve by hardware.
In order to avoid continuous detection measurement errors, a selftriggered control basedon adaptive dynamic programming is proposed to solve the optimal control problem forcontinuous-time nonlinear nonzero-sum game systems with unknown drift dynamics.
Firstly, the principle of IRL method is used to avoid the requirement of system drift
dynamics in the controller design. Then, to approximate the Nash equilibrium solution,a critic neural network is used to estimate the value function. Furthermore, a selftriggered
adaptive control scheme is proposed according to Lyapunov theory to ensure the uniform
ultimate boundedness (UUB) of the closed-loop system state. The self-triggered control
obtained in this paper can calculate the next trigger point by the information of thecurrent trigger moment.

OS8-2 Harmony of Agent System with Heterogeneity
Yunzhong Song1,Weicun Zhang2, Fengzhi Dai3, Huimin Xiao4, Shumin Fei5, Jichao Zhao6(1Henan Polytechnic University, P.R.China) (2University of Science and Technology Beijing, P.R.China)(3Tianjin University of Science and Technology, P.R.China)
4( Henan University of Economics and Law, P.R.China) (5South East University, P.R.China)(6Tianjin University of Science and Technology, P.R.China)
This paper focuses on the integration of heterogeneous agents, also known as harmonyof them, where heterogeneity emphasized so often. To advance the idea of heterogeneous
agents, harmony of the agents, where homogeneity of the agent system turns into
heterogeneity one at start, and then the heterogeneity turns back to homogeneity again
after. Initiated from hybrid order agents, heterogeneity like social status, encapsulated
agents will be introduced step by step. Finally, Chinese philosophy, which always
inspires new ideas of thought, can be a good source of research topic. Conclusion that
encapsulated agent is the capital Tao of agent systems was drawn from the paper.

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OS8-3 Apple Grading based on IGWO Optimized Support Vector Machine
Yi Zhao1, Qunpo Liu1,2, Yuxi Zhao1, Yueqin Sheng1(1Henan Polytechnic University, P.R.China)
2( Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment, P.R.China)
In order to improve the accuracy of apple external quality classification based on support
vector machine, an improved grey wolf optimization algorithm IGWO was proposed byadding Logistic chaos mapping, nonlinear convergence factor and Cauchy variation to
the grey wolf optimization algorithm. Firstly, different benchmark functions are used totest the improved IGWO algorithm. The test results show that the IGWO algorithm has
improved the convergence speed and accuracy. Secondly, the image processing method
is used to extract apple's external features as the data set. The improved grey wolf
algorithm was used to optimize the penalty parameters and kernel parameters in support
vector machine, and the optimal IGWO-SVM classification model was obtained. Finally,
compared with the classification results of SVM and GMO-SVM, the results show that
IGWO-SVM has the highest classification accuracy.

OS8-4 Cartesian Space Coordinated Impedance Control of Redundant Dual-Arm Robots
Yang Zhang,Yingmin Jia (Beihang University (BUAA), China)
This paper presents a cartesian space coordinated impedance control method to achieve
coordination when a dual-arm robot operates an object. First, the relative positional andforce errors when the two arms operate the object are defined. Then, these relative errors
are introduced into the general impedance controller to achieve coordinated impedancecontrol. Compared to the conventional impedance control, this scheme ensures thecoordination between the two arms and reduces the contact force error between the endeffectors and the object.

OS8-5 Disturbance Observer-based Anti-unwinding Control for Flexible Spacecrafts
Qian Sun1, Yingmin Jia1, Weicun Zhang2( Beihang University (BUAA), China) (2University of Science and Technology Beijing, P.R.China)
1

The anti-unwinding control problem for the six-degrees-of-freedom (6-DOF) motion of
the flexible spacecraft is studied in this paper. Firstly, the translation-rotation-vibration
coupling motion of the flexible spacecraft is described by dual quaternion. Then, anonlinear disturbance observer (NDO) is applied to estimate and compensate the lumped
disturbances including the flexible vibration and unknown external disturbances. An
anti-unwinding controller is designed based on the sliding mode technology. The
stability of the closed-loop system is verified via Lyapunov method. Finally, numericalsimulations indicate the effectiveness of the designed controller.

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OS9 Intelligent Systems and Robotics – 1 (4)Chair Hucheng Wang (Tianjin University of Science and Technology, China)
Co-Chair Fengzhi Dai (Tianjin University of Science and Technology, China)
OS9-1 A Survey of Target Detection Based on Deep Learning
Hucheng Wang, Fengzhi Dai, Min Zhao (Tianjin University of Science and Technology, China)
Object detection is a hot topic in the field of visual detection. Deep learning can greatlycompensate for the defect that traditional methods sacrifice real-time for improving
accuracy. This paper mainly introduces the main networks and methods of two-stage
deep learning algorithm and single-stage deep learning algorithm in the field of target
detection. The advantages and disadvantages, usage scenarios and development of each
network are described in detail. Finally, the follow-up development in this field is
prospected.

OS9-2 A Design of New Air Ground Cooperative Unmanned Transportation System
Hucheng Wang, Min Zhao (Tianjin University of Science and Technology, China)
With the development of science and technology, the shortage of human resources in thelabor market and the increase of human costs, intelligence and unmanned logistics havebecome the mainstream development trend. This paper introduces a new type of spaceground coordinated unmanned transportation system, which aims to solve the problemsof liberating labor, reducing the operating costs of logistics enterprises, reducing thecontact between people, and impeding the spread of the COVID-19 epidemic. This paper
introduces the research background and advantages of the system, and describes theselection and working principle of the system in detail.

OS9-3 Attitude Solution of Quadrotor UAV
Siyuan Liu, Zhihao Zhao, Haoran Gong (Tianjin University of Science and Technology, China)
In this paper, the attitude solution of a quadcopter UAV is introduced, and the integrated
circuit designed by the UAV is verified. The angular velocity data and acceleration datarequired for this solution are provided by two modules: gyroscope and accelerometer. In
this attitude control, three values are used: quaternions, rotation matrices, and Euler
angles. Through data algorithm analysis, integrated circuit design and program design,
the feasibility of the attitude algorithm is proved. On this basis, the problem of combining
two systems: attitude flight and fixed height and fixed point is solved.

OS9-4 A four-dimensional conservative chaotic system and its application in image encryption
Hongyan Jia, Wei Li, Jingwen Liu (Tianjin University of Science and Technology, Tianjin, China)
In this paper, based on numerical analysis, NIST test and FPGA implementation, a fourdimensional conservative chaotic system is firstly analyzed to investigate and find an
applicable pseudo-random signal generator for image encryption algorithm. It is foundthat the four-dimensional conservative chaotic system shows some complex dynamics,
such as multi-stability, strong pseudo-randomness, and physical characteristics. Finally,
based on pseudo-random sequences and two-dimensional discrete wavelet transform, animage encryption algorithm is realized. Both the experiment results and the security
analysis show that the algorithm show good encryption characteristics, which further
prove the image encryption algorithm.

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OS10 Intelligent Systems and Robotics – 2 (4)Chair Fangyan Li (Tianjin University of Science and Technology, China)
Co-Chair Yande Xiang (Tianjin University of Science and Technology, China)
OS10-1 A Research on Image Defogging Algorithm Based on Enhancement
Fangyan Li, Haokang Wen, Chang Sheng, Min Zhao (Tianjin University of Science and Technology, China)
In order to solve the problem of low contrast image and loss of image details in the foggy
weather, the image defogging technique is used to remove the noise in the image andimprove the image contrast, so as to recover a clear and fog-free image. In this paper, we
mainly introduce three image defogging algorithms: global histogram equalization, local
histogram equalisation and the Retinex algorithm. The advantages and shortcomings ofeach algorithm are summarised through the study of the principles of each algorithm andthe comparative analysis of the experimental result.

OS10-2 Autonomous Microcontroller-Based Aerial Water Sampling Device
Weifang Wang1, Mingxia Kang2, Ruming Kang3( North Minzu University, China), (2Tianjin University of Commerce, China), (3Chongqing University, China)
1

Water quality testing starts with sampling. Traditional methods may cause water quality
properties to change due to the limitation of sampling methods. In addition, it is difficult
and risky to take samples in parts of special terrain, such as ravines and swamps, where
manpower is difficult to reach. To this end, we combine a single-chip machine STM32based sampling device with a UAV that can span complex terrain to solve the above
problems. The characteristics of water quality without human intervention andequipment automation are of great significance.

OS10-3 Intelligent Electronic Guide Dog
Mengyu Liu, Yande Xiang, Zhi Qiao, Tao Zhu (Tianjin University of Science and Technology, China)
An intelligent mobile blind guide robot is designed in this paper. The robot is equippedwith a variety of sensors and combined with the powerful computing power of the main
control board to form a complete obstacle avoidance system to achieve autonomous
navigation and obstacle avoidance in a complex environment. It controls GPS
positioning through Jetson-Nano, plans the route, detects obstacles with the help ofcameras and ultrasonic sensors, and gives users feedback through the alarm sound of thebuzzer.

OS10-4 Research on Chaos Synchronization of Qi System and Lü System with Different
Structures
Hanyuan Wang, Yiting Gao (Tianjin University of Science and Technology, China)
his paper introduces a three-dimensional chaotic synchronization method is introduced,
and the advantages and disadvantages of the synchronization controller designed by thismethod are analyzed. Firstly, the characteristics of two chaotic systems with different
structures are studied. Secondly, the mathematical model is established, and thesynchronization controller is designed by direct method, so that the two chaotic systems
with different structures can be synchronized at different initial values. With the help of
MATLAB, the error curve of the synchronous system is drawn when the synchronous
controller acts on the response system.

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OS11 Intelligent Systems and Robotics – 3 (4)Chair Jiaxin Li (Tianjin University of Science and Technology, China)
Co-Chair Fengzhi Dai (Tianjin University of Science and Technology, China)
OS11-1 Generation and Analysis of a Multi-scroll Conservative Chaotic System
Jiaxin Li, Yong Liu, Min Zhao (Tianjin University of Science and Technology, China)
Chaos is one of the hot subjects in recent years. With the further study of chaotic systems,
more and more chaotic systems have been found. Multi volume conservative chaotic
system is a new kind of chaotic system, which has attracted extensive attention due toits complex dynamic characteristics. In this paper, we study a conservative chaotic
system and introduce a sine function without multiple angles to make the conservative
chaotic system generate multiple volumes, so as to construct a multiple volumeconservative chaotic system. The system generates one-dimensional linear multi roll andtwo-dimensional grid like multi roll distributions by adjusting nonlinear functions.

OS11-2 A Design of Fire Detection Device Based on YOLOv5
Zhiyang Li, Yande Xiang, Haoyu Guo, Yu Chen, Wenxuan Pan, Fengzhi Dai(Tianjin University of Science and Technology, China)
In recent years, fires have become more and more frequent, which has a great impact on
people's production and life and even their lives. This paper designs a fire detection
device based on Yolov5, which is mainly composed of Raspberry Pi, OpenCV andbuzzer. It can be widely used in narrow corridors, parking lots, shopping malls, forestsand other scenarios. The device has the characteristics of high recognition rate, fast
recognition speed and strong sensitivity, and has excellent recognition effect in fire
detection.

OS11-3 Application of Convolutional Neural Network in Accurate Breast Cancer Identification
Zhiyang Li, Haoyu Guo, Yande Xiang, Wentao Kuang, Lu Chen
(Tianjin University of Science and Technology, China)
As one of the most common cancers in women, breast cancer has the highest incidence
in the world. Nearly 600,000 people die from breast cancer each year, and early detection
is essential for breast cancer treatment. In recent years, the rapid development of artificial
intelligence has provided unprecedented ideas for the precise diagnosis and treatment ofbreast cancer. In this paper, the practical application of artificial intelligence
convolutional neural network in breast cancer recognition is studied, which greatly
improves the detection speed and saves a lot of time for doctors to further judge thecondition.

OS11-4 Intelligent Infusion Service Based on Open MV
Haoran Gong, Zongyi Li, Qi Chu, Siyuan Liu, Feiyang Qu, Lu Wang
(Tianjin University of Science and Technology, China)
This paper presents an intelligent infusion service system designed to reduce theworkload of doctors and nurses and for the health of patients. The system is applied
to the drip stand to create a "new type of drip stand" that will effectively solve a
number of problems. It is dedicated to: "intelligent infusion process, improving theefficiency of health care workers and reducing their work stress and psychologicalburden". It embodies the concept of economy and structural rationality.

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OS12 Theory and Implementation of Neuromimetic Systems (2)Chair Takashi Kohno (University of Tokyo, Japan)
Co-Chair Takuya Nanami (University of Tokyo, Japan)
OS12-1 Adaptive STDP Learning with Lateral Inhibition for Neuromorphic Systems
Ashish Gautam, Takashi Kohno (University of Tokyo)
Implementing biologically plausible learning rules on neuromorphic chips is essential to
explore the learning mechanisms in the brain. Spike-timing dependent plasticity (STDP)
is one such rule but its multi-bit circuit implementation requires too much area. In ourprevious study, we proposed a bioinspired hardware-friendly learning rule named
adaptive STDP and experimentally showed that its performance was similar to STDP
learning in a very basic biologically plausible spike pattern detection task using a single
neuron. In this study, we extend the adaptive STDP learning rule with lateral inhibition,
a common motif observed in the brain, and solve a competitive spike pattern detection
task with multiple neurons that compete to detect multiple patterns. Our results showthat the performance is similar to STDP learning.

OS12-2 Spike pattern detection with close-to-biology spiking neuronal network
Takuya Nanami, Takashi Kohno (University of Tokyo)
The nervous system contains a variety of different types of neurons, each with different
electrophysiological properties. However, their roles in information processing arepoorly understood. Using the piecewise quadratic neuron (PQN) model that can
reproduce a variety of electrophysiological properties, we demonstrate that performanceon a biologically plausible task of spike pattern detection varies depending on theelectrophysiological properties.

OS13 Industrial Artificial Intelligence Robotics (9)Chair Eiji Hayashi (Kyushu Institute of Technology, Japan)
Co-Chair Sakmongkon Chumkamon (Kyushu Institute of Technology, Japan)
OS13-1 Object Status Detection in clutter environment for robot grasping using Mask R-CNN
Kasman, Eiji Hayashi (Kyushu Institute of Technology, Indonesia, Japan)
Detecting object status in cluttered manipulator’s robot environment before grasping isquite challenging to recognize the target because of unstructured and uncertainty scenes.
Using Mask R-CNN for detecting the status of the object i.e. free for picking, close,
overlapping and piling up to the other objects is very useful as computer vision before
the manipulator doing next procedures to complete its task. This paper provides asystematic summary and analysis target detecting and recognizing object status using
Mask R-CNN. Unlike related solution methods that use machine vision and deeplearning directly and combine together for doing robot controlling, pushing andgrasping, we are doing image processing separately and simply for detecting the object's
status and location before performing like pushing the object for making free and easy
grasping. Experiment with this method shows that it has good accuracy and can be
implemented like as input control reinforcement learning in advance.

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OS13-2 Deep-Learning-Based Designed Weight Picking Noodle-like Object
Nattapat Koomklang, Sakmongkon Chumkamon, Prem Gamolped, Tomofumi Tsuji, Eiji Hayashi(Kyushu Institute of Technology, Japan)
For food packaging line, manual picking up of the noodle-like objects according to
specific weight requires worker’s experience for picking quickly and accurately. This
article presents a robot arm with 6-fingurs gripper picking up the noodle-like objects inspecific weight using deep-learning-based to find the best possible action. For measuring
the action, we use direct variation to probability of picking action at specific weight inthis research use value for the likelihood of weight probability given an action. To findlikelihood of weight probably deep-learning-based and use normal distribution for model
distribution of the systems. For evaluation we passed any possible action to the networkand find action that get maximum likelihood.

OS13-3 Research on grasping of string foods in the home meal replacement industry
Akihiro Ooya, Sakmongkon Chumkamon, Prem Gamolped, Tomofumi Tsuji, Eiji Hayashi(Kyushu Institute of Technology, Japan)
Abbe Mowshowitz (The City College of New York, USA)In recent years, automation by industrial robots has been desired in Japanese food
manufacturing plants. This paper describes the development of an autonomous robot for
automating the preparation of home meal replacement. The serving of lunchtime meals
includes not only solid foods such as rice balls, but also string foods such as spaghetti.
Unlike solidified foods, string foods require quantitative grasping. However, in thegrasping experiments of string foods, the spaghetti deteriorates with time, and thus, aproblem arises where an accurate quantitative grasping experiment cannot be performed.
Therefore, in this study, we perform a quantitative grasping experiment by deep
reinforcement learning using a material like string foods to verify the grasping andserving system for string foods.

OS13-4 Development of Drifting Debris Detection System using Deep Learning on Coastal
Cleanup
Shintaro Ogawa, Sackmongkon Chumkamon, Eiji Hayashi (Kyushu Institute of Technology, Japan),Ayumu Tominaga (National Institute of Technology, Kitakyushu College, Japan)
To solve the problem of litter drifting ashore, this study developed a litter detection
system using deep learning. I used HTC (Hybrid Task Cascade) as a deep learning
network. I also used Mask R-CNN for comparison. HTC is a model for instancesegmentation that combines Cascade R-CNN and Mask R-CNN. Mask R-CNN is amodel that adds segmentation capabilities to Faster R-CNN, a model for object detection.
The dataset is a combination of a public dataset of general garbage called TACO andimages taken at actual cleanup sites such as Hokuto Mizukumi Park. The discriminator
was trained 2000 times with a learning rate of 0.002, and multi-class cross-entropy wasused as the loss function.

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OS13-5 Soft Object Dexterous Manipulation Using Deep Reinforcement Learning
Sornsiri Promma, Sakmongkon Chumkamon, Eiji Hayashi (Kyushu Institute of Technology, Japan)
Manipulation of objects is one of the basic tasks that has been studied for a long time in
the robotic field. Many experiments were setting the environment and using Deep
Reinforcement Learning to train robot arm to grasp various objects. Still, most of thoseobjects are solid objects, whereas nowadays, robot arms are used for grasping soft
objects as well. In this study, we develop object manipulation tasks in pybullet
simulation, focusing on soft objects by using Deep Reinforcement Learning (DRL)based on Soft Actor-Critic and Proximal Policy Optimization algorithm which aims to
make the robot able to grasp soft objects in the exact position with proper force that does
not damage them.

OS13-6 Practical Implementation of FastSLAM for Forestry Robot
Sylvain Geiser1, Sakmongkon Chumkamon1, Ayumu Tominaga2, Takumi Tomokawa1, Eiji Hayashi1( Kyushu Institute of Technology, Japan), (2National Institute of Technology, Kitakyushu College, Japan)
1

As the Japanese forestry workforce is shrinking, field robots are gaining interest in
performing dangerous tasks in this environment. This paper presents research conductedon the SOMA robot designed at Hayashi Laboratory for this purpose. It focuses ontheoretical and practical issues encountered through the implementation of the particle
filter based FastSLAM algorithm on this mobile robot. In particular, the determinationof the positions of trees from the raw pointcloud of the lidar, the side effects occurringat the boundary of the lidar visibility scope, and the modelling of motion and observationnoises are discussed.

OS13-7 Research on AR system for industrial robot introduction
Takuya Matsumoto1, Eiji Hayashi1, Sakmongkon Chumkamon1, Tomofumi Tsuji1, Ayumu Tominaga2,
Abbe Mowshowitz3
1( Kyushu Institute of Technology, Japan), (2National Institute of Technology Kitakyushu, Japan),(3The City College of New York, USA)In recent years, labor shortages in small and medium-sized enterprises (SMEs) havebecome a serious issue, and the demand for automation by robots is increasing. Anotherchallenge is the high cost of introducing industrial robots. In order to reduce theintroduction cost, we are developing an AR system with the aim of providing robot
introduction support to SMEs. The AR system developed enables the display of therobot's movements on the AR screen of a smartphone by communicating with ROS whiledeveloping Google's ARCore in Unity.In this paper, we describe the system
configuration and evaluate the application of an AR application that enables AR
simulation and intuitive GUI operation to check the safety range at the time of robot
introduction.

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OS13-8 The BCRobo dataset for Robotic Vision and Autonomous Path Planning in Outdoor
Beach Environment
Tan Chi Jie1, Takumi Tomokawa1, Sylvain Geiser1, Shintaro Ogawa1, Ayumu Tominaga2,
Sakmongkon Chumkamon1, Eiji Hayashi1
1( Kyusyu Institute of Technology, 2National Institute of Technology (Kitakyushu College), Japan)
Along with the universalization of autonomous driving and image segmentation, various
datasets are available freely for anyone to use to train their own neural network which
speeds up the growth of deep learning technology. However, most of the datasets target
only urban environments and other offroad environments are still lacking indatasets. This paper presents a beach environment dataset, BCRobo with the aim tocontribute to closing the gap of robotic visual perception in offroad environment
especially in beach. The dataset is also evaluated with two state-of-art image
segmentation techniques to demonstrate the practical usage of the dataset.

OS13-9 The research about editing system of performance information for player piano.
-Develop inference methods using machine learning Takaaki Ueno, Sakmongkon Chumkamon, Eiji Hayashi (Kyushu Institute of Technology, Japan)
In order for an automatic piano to perform like a human, it is necessary to have data withintonation for each note. However, existing automatic pianos do not have the ability toinfer inflected data. For this reason, data inference has been performed manually until
now. Therefore, the data We therefore attempted to construct a system that can infer data
automatically by using machine learning. In this paper, we describe the machine learning
system we have developed to infer performance information. This paper describes theactual inference system we developed. The data to be inferred was a performance of"Prelude Op.28 No.15" by Fryderyk Franciszek Chopin, composed by the world-famous
pianist Vladimir Davidovich Ashkenazy. The performance is by the world famous pianist"Vladimir Davidovich Ashkenazy

OS14 Software Development Support Method (4)Chair Tetsuro Katayama (University of Miyazaki, Japan)
Co-Chair Tomohiko Takagi (Kagawa University, Japan)
OS14-1 Automated Random Simulation for Checking a Behavioral Model of Systems Based on
Extended Place/Transition Net with Attributed Tokens
Sho Matsumoto1, Tetsuro Katayama2, Tomohiko Takagi1( Kagawa University, Japan), (2 University of Miyazaki, Japan)
1

Extended Place/transition Net with Attributed Tokens (EPNAT) is one of formal
modeling languages, and it enables system engineers to construct an executable andabstracted behavioral model of multiple software systems. In this paper, we propose
an automated random simulation technique of an EPNAT model in order to detect
failures in the model. In the simulation, input is randomly selected for model execution.
When a constraint given for each system or multiple systems is violated through themodel execution, a failure is revealed. The simulation is terminated by the detection ofa failure or the satisfaction of a criterion focusing on the combination of marking, data
writing and reading between different systems. A prototype tool of the simulation
technique was developed and applied to a trial model to discuss its effectiveness.

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OS14-2 Training of Software Formal Modeling Using Visual Blocks for Actions and Guards ofExtended Place/Transition Net
Akio Usuda, Ryoichi Ishigami, Tomohiko Takagi (Kagawa University, Japan)
Extended Place/transition Net (EPN) that is one of software formal modelinglanguages consists of the parts of PN and VDM++. The former part represents
abstracted state transitions of software. On the other hand, the latter part represents
actions and guards on the transitions, and requires skills of system engineers whoconstruct EPN models. We propose an extended training technique of EPN-basedmodeling using visual blocks for the VDM++ part. The visual blocks implemented by
Blockly will be useful to accelerate the trainees' understanding of syntactical aspectsof VDM++, and thus they are introduced into each step of the existing training
technique for EPN. The effectiveness of the proposed technique is discussed througha preliminary experiment using our prototype tool.

OS14-3 Proposal of a Framework to Improve the Efficiency of the Implementation Step in Test
Driven Development (TDD)
Takeaki Miyashita1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro Aburada1,
Naonobu Okazaki1 (1University of Miyazaki, Japan), (2University of Nagasaki, Japan)
Test Driven Development (TDD) has three steps: test design, minimal implementationthat passes the test, and refactoring. This research proposes a framework to support theimplementation step in TDD to improve the efficiency of the implementation. The
proposed framework firstly receives from the developer the test code and the sourcecode that the test code does not fully pass. Next, It automatically generates new sourcecode by modifying the given source code that the given test code can fully pass. And
then, it shows the developer the differences between the given source code and thegenerated source code. Finally, it updates the source code if the developer approves themodification. By using this framework, developers can reduce the time required for the
implementation step in TDD.

OS14-4 Continuance Intention Factor of Online Learning Management System in Case on
Faculty of Computer Science at Brawijaya University in Indonesia
Mochamad Chandra Saputra1, Tetsuro Katayama2, Yoshihiro Kita3, Hisaaki Yamaba2, Kentaro Aburada2,
Naonobu Okazaki2(1Brawijaya University, Indonesia), (2University of Miyazaki, Japan), 3University of Nagasaki, Japan)
The outbreak of the COVID-19 pandemic changed the model of the learning process.
Online learning became one of the best solutions for many educational institutions,
including the University, especially the Faculty of Computer Science, Brawijaya
University. The continuance intention factor for using an online learning management
system is important to ensure learning sustainability. To understand students'
continuance intention this study proposes self determination model as a research model
to find the factors affecting students' continuance intention toward online learning
management systems. The proposed model is useful for investigating continuanceintention factors. The study finds that intrinsic regulation, external regulation, identified
regulation, and introjected regulation significantly positive impact on continuanceintention in learning management systems. Finally, this study provides suggestions for
the Faculty to improve the continuance intention of the student in using an online
learning management system.

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OS15 Robot Control (5)Chair Yizhun Peng (Tianjin University of Science and Technology, China)
OS15 -1 Design of Intelligent Crutch System Based on STM32 and Raspberry Pie
Zongxuan Zhang, Jianhao Hu, Yizhe Sun, Yizhun Peng (Tianjin University of Science and Technology,
China)In order to strengthen the development of China's elderly care industry, the project has
designed an intelligent crutch based on stm32 and raspberry pie. This product adds many
functions on the basis of general intelligent crutches. It is equipped with real-time GPS
monitoring and uploading APP. When the elderly fall, they can immediately andautomatically alarm. When they fall, they can simultaneously emit an alarm sound of
about 100 decibels to the surrounding. It provides a touch screen, supports voicerecognition, and can achieve multiple functions. It is equipped with a step counting
function, temperature and humidity display and other functions. The product uses 4G
modules to communicate with the APP.

OS15-2 Design of Intelligent Fish Box Based on Machine Vision and Internet of Things
Technology
Suqing Duan, Jiangyu Wu, Shuai Chen, Yizhun Peng (Tianjin University of Science and Technology, China)
The intelligent fish box based on machine vision and Internet of Things includes many
fields such as machine vision, Internet of Things technology, single-chip
microcomputer control and so on. It is an intelligent system that receives user
instructions or voice control through the Internet to achieve a series of operations. At
the same time, there is a temperature sensor in the fish box, which can transmit thetemperature to the mobile phone APP in real time, and intelligent control the watertemperature in the fish box. In addition, the fish box granaries send information to theuser when the fish food is insufficient, and the camera in the fish box can monitor thesituation of the fish box in real time, when a fish belly notifies the user to deal with.

OS 15-3 Design and Implementation of Internet of Things Planting System Based on esp32 MCU
Cuiying Ji, Yizhun Peng (Tianjin University of Science and Technology, China)
Agriculture is the country's fundamental industry, but there is still a lot of hard work
because of climate pests. It is the development direction of agriculture to integrate
traditional agriculture into modern Internet of Things technology and realize
visualization and digital management of agricultural production.
This study combined modern information technology and used esp32 as the master todesign and produce a plant planting system model for the Internet of Things.This
research product uses a variety of sensors, Monitor the essential elements required forcrop growth, including temperature, humidity, nutrient solution, soil moisture, etc.In
the process of crop growth, automatic irrigation, nutrient solution supplement,
ventilation cooling, light and other operations, greatly reduce the intensity of manuallabor.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS15 -4 A Customized Dispensing Robot Based on OpenMV Visual Recognition
Hongze Liu, Yizhun Peng (Tianjin University of Science and Technology, China)
Dispensing medicine in hospital wards is a mechanized process, but it is difficult todevelop on a large scale due to the uncertainty of the environment. In this study, acustomized dispenser robot was designed to automatically deliver drugs to thedesignated ward according to the given instructions. The Visual identity module(OpenMV) is designed to collect images from the progress and then compare them withpre-stored images to achieve automatic pathfinding. Among them, the tracking part uses
PID open-loop operation to increase the accuracy of movement. The ward number
enables the camera to recognize the number in different scenes for many times, which
increases the accuracy of recognition. The unique structure of this study provides aninnovative and effective way to customize ward dispensing.

OS15-5 An Intelligent Guide Hat Based on The Internet of Things
Suqing Duan, Yizhun Peng (Tianjin University of Science and Technology, China)
With STM32 as the control core, the new guide cap has ranging obstacle avoidance,
ranging obstacle avoidance, intelligent recognition, voice interaction, GPS positioning
and other functions. The system uses OpenMV4 Cam H7 Plus intelligent camera forcontinuous real-time monitoring and effective feedback of traffic lights, zebra crossingsand other important road information; Assisted by ultrasonic sensor, the electrical signal
is converted into ultrasonic output through the transmitter to effectively measure thedistance of obstacles; At the same time, the user's location information is sent to thesurrounding vehicles and passers-by in real time through the Wi-Fi module and GPS
positioning, ensuring the user's safety to the greatest extent.

OS16 Robotic Manipulation (3)Chair Kensuke Harada (Osaka University, Japan)
Co-Chair Tokuo Tsuji (Kanazawa University, Japan)
Co-Chair Akira Nakamura (Saitama Institute of Technology, Japan)
OS16-1 Acquisition of Synergy for Low-dimensional Control of Multi-fingered Hands byReinforcement Learning
Kazuki Higashi, Tomohiro Motoda, Akiyoshi Hara, Kensuke Harada (Osaka University, Japan)
We propose a reinforcement learning platform to learn to perform various tasks with arobotic hand to acquire a synergy. The model of deep reinforcement learning is trained
to grasp an object with a multi-fingered hand. The synergy space is calculated byprincipal component analysis of hand postures when the task is successfully executed.
The reward system is designed to minimize the distance of orthogonal projection
between the posture and the synergy space, and the synergy space is acquired
simultaneously with reinforcement learning.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS16-2 Error Recovery Techniques Focused on Revival Process from Failures in Robotic
Manufacturing Plants
Akira Nakamura1, Kensuke Harada2 (1Saitama Institute of Technology, 2Osaka University, Japan)
In recent years, working robots have been used in various fields from manufacturingindustries to human living spaces. Therefore, more and more difficult tasks are
performed by robots, necessitating the introduction of error recovery techniques. Our
proposed error recovery technique is based on a method of going back to the process
before the step in which the failure occurred and starting over from there. Of course,
in practice, not only such a backward recovery but also a forward recovery that moves
forward even after a failure occurs is used. This paper considers the various paths fromfailure occurrence to recovery execution and further discusses which path should beselected.

OS16-3 Flexible assembly system with stiffness switching joint
He Maike, Tokuo Tsuji, Naoki Ichikawa, Takuro Sawada, Tatsuhiro Hiramitsu, Hiroaki Seki
(Kanazawa University, Japan)
In this research, we aim to construct a flexible assembly system and realize precise
assembly work by using a flexible-rigidity switchable joint for the wrist part of anindustrial robot. We install magnets in the joints and change the structure of the joints
by changing the state of attraction and repulsion of the magnets. The joint has twostates, which are low stiffness and high stiffness.

OS17 Artificial Intelligence for Embedded Systems and Robotics (6)Chair Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
Co-Chair Yuma Yoshimoto (National Institute of Technology, Kitakyushu College, Japan)
OS17-1 Pose Detection for Flexible-Indefinite Objects using Pseudo-Bone Data
Yuma Yoshimoto1, Hakaru Tamukoh2( National Institute of Technology, Kitakyushu College, Japan), (2Kyushu Institute of Technology, Japan)
1This paper proposes a method for recognizing the poses of a flexible-indefinite object.
Some flexible-indefinite objects, such as fried shrimp, differ between individuals.
Therefore, it is difficult to estimate the pose of these foods by point cloud fitting orother methods. We propose "pseudo-skeletal" data for these objects. Pseudo-skeletal
data consists of "key-points," which are joints, and "bones," which connect between
key-points. For example, fried shrimp are given 3 key-points; "head," "belly," and"tail." In addition, the bones that connect them are given. In the experiment, a objects
pose recognition model based on the human pose recognition model trains pseudoskeletal data of fried shrimp. We confirmed that the model estimates the poses in theimages73©ICAROB 2023 ALife Robotics Corp. Ltd.

tail

bone
belly
head

key-points

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS17-2 Object Search and Empty Space Detection System for Home Service Robot
Tomoya Shiba1, Tomohiro Ono1,2, Hakaru Tamukoh1(1Kyushu Institute of Technology, Japan), (2JSPS Research Fellow, Japan)
Home service robot has a pickup task to grasp and transport objects. When performinga pickup task, robots need to process to search for objects in the case of missing target
objects. We propose approaches for the robot to search for objects from a shelf and amethod for selecting empty spaces to move off-target objects. Proposed method isbased on object recognition of graspable objects and shelf recognition model to selectreplacement locations and planned motions. The object to be moved and replacelocation are selected based on the size and position of empty spaces. In theexperiments, the robot planned actions to search for the target object from a shelf andto replace the object near a group of similar objects. We used these in RoboCup@Home
competition to evaluate the effectiveness of the proposed method.

OS17-3 Robust Classification Model with Multimodal Learning for Home Service Robots
Ikuya Matsumoto, Daiju Kanaoka, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
We propose an auxiliary data stream structure as a robust classification model as shownin the figure. The model treats one modal as a main input and other modals as support.
We experimented with two and three modal inputs. Moreover, we added pseudo
shadows to visual information for the experiment of three modal inputs. In all
experiments, our proposed model improves accuracy and robustness to environmental
disturbances by using multiple modals. In future works, we will attempt to implement
and evaluate the proposed method on a home service robot.

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OS17-4 Flexible Human-Robot Interaction in Domestic Environment Using Semantic Map
Yuga Yano1, Yukiya Fukuda1, Tomohiro Ono1,2, Hakaru Tamukoh1( Kyushu Institute of Technology, Japan), (2JSPS Research Fellow, Japan)
1

We propose an efficient semantic map to realize flexible human-robot interaction(HRI) in domestic environments. Our proposed map is created from an output of
Simultaneous Localization and Mapping and already-known environmental
information such as furniture and room. In this study, we evaluated the effectivenessof our proposed method on two benchmark tests for HRI in RoboCup@Home held in
Bangkok in 2022. In the RoboCup@Home, we employ 3D human recognition to apply
our proposed map to HRI, such as "find and offer an empty seat." We had the best scoreof all teams on both tests. The results of our experiments are available athttps://youtube.com/playlist?list=PLfbN50Mwh2DG3OPDeCHo4TNuyrU4qYCrJ

OS17-5 Impact of PS Load on FPGA Object Detection System Performance
Yusuke Watanabe1,2, Hakaru Tamukoh2( CRAFTWORK Co. Ltd, Japan,), (2Kyushu Institute of Technology, Japan)
1

A field-programmable gate array (FPGA) device which has Zynq architecture recently
became popular. It is featured by inclusion of both processing system (PS) andprogrammable logic (PL) to a single chip. In a system using FPGA, while we tend to
focus on the performance of PL, we can not ignore PS load completely. In this paper,using our object detection system which works on a Zynq FPGA board, we explore
how our FPGA object detection system performance changes depending on PS load
and report experiment results.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS17-6 An Effective Method for Minimizing Domain Gap in Sim2Real Object Recognition
Using Domain Randomization
Tomohiro Ono1,2, Akihiro Suzuki1, Hakaru Tamukoh1( Kyushu Institute of Technology, Japan), (2JSPS Research Fellow, Japan)
1

Data-centric deep learning has attracted considerable research attention in an era wheredata is at the core of every decision-making process. Manual annotation is a common
practice, but it is very expensive and problems such as oversight and mislabelingcaused by human error occur. These problems are known to affect the quality of thedatasets significantly. To resolve these problems, in this study, we propose a method toautomatically generate high-quality and large datasets in a short time using a simulator.
Our proposed method aims to minimize the domain gap using domain randomization
without faithfully reproducing real scenes in the simulator. The generated data weretrained on You Only Look Once v7 and achieves an accuracy of more than 80% against
the real data, demonstrating the feasibility of Sim2Real.

OS18 Mathematical Informatics (7)Chair Takao Ito (Hiroshima University, Japan)
Co-Chair Makoto Sakamoto (University of Miyazaki, Japan)
OS18-1 A Fundamental Study on Car Sickness Using Data Science
Tsutomu Ito1, Seigo Matsuno1, Makoto Sakamoto2, Satoshi Ikeda2, Takao Ito3
( NIT, Ube College, Japan), (2University of Miyazaki, Japan), (3Hiroshima University, Japan)
1

Car sickness often occurs with dizziness and discomfort accompanied by vomiting andheadaches lasting several days in severely affected person. Car sickness has beenstudied from various standpoints on countermeasures and onset mechanisms, but ageneral measure has not been established yet. In this study, all dataset of the motionthat occurs in the car and the head of the person sitting and/or driving in the car arecollected based on data science. By validating the data, the characteristics of person
who has experience of car sickness are tested. This study proposes a new measureaiming at development of motion sickness countermeasures that do not depend on car
performance and find that the quick rotational motion of the head generated in the
car could be considered as one of the factors that cause car sickness.

OS18-2 An Analysis of Quoridor by reusing the results of reduced version
Satoshi Ikeda1, Takuro Iwanaga1, Makoto Sakamoto1, Takao Ito2
(1University of Miyazaki, Japan), (2Hiroshima University, Japan)
This paper presents a study of retrograde analysis using the board game " Quoridor "released by Gigamic Games. The retrograde analysis is performed by enumerating all
the possible game phases. This leads to a huge search area and a problem of spatial
computational complexity. In this study, we attempted to reduce the number of stations
to be enumerated by reusing the results of the reduced version; when enumerating theS2 stations, only the S0 and S1 stations can be omitted. This solves the Quoridor under
the condition of having two fences each other.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS18-3 Prototype Software for Designing Hula Accessories
Takumi Nakahara1, Satoshi Ikeda1, Amane Takei1, Kenji Aoki1, Makoto Sakamoto1＊, Tsutomu Ito2, Takao Ito3
(1University of Miyazaki, Japan), (2NIT, Ube College, Japan), (3Hiroshima University, Japan)
Today, there are two main types of hula: the classical hula "kahiko" and the modern
hula "auana". Music, costumes, and accessories are essential to these hula. Auana, inparticular, is danced to music played on Western instruments and expresses the
mythology, history, and various aspects of Hawaiian culture. The costumes andaccessories worn by the dancers are designed to match the music. Therefore, wethought that it would be possible to design costumes and accessories more in line with
the image of the dancers if we could freely design them using a personal computer andsimulate how they would look when finished. In this study, we focused on accessories
and conducted basic research to develop a CAD system for the design of "leis," one of
the accessories.

OS18-4 A Basic Study on Museum Exhibition Support Using AR Technology
Kakeru Takemura1, Satoshi Ikeda1, Amane Takei1, Masahiro Yokomichi1, Makoto Sakamoto1,
Shuichi Kurogi2, Tsutomu Ito3, Takao Ito4
1
( University of Miyazaki, Japan), (2Miyazaki Prefectural Museum of Nature and History, Japan), (3NIT, Ube
College, Japan), (4Hiroshima University, Japan)
Enasirassitake are mushrooms that can be observed a lot in Aoshima, Miyazaki. Garnet
Ochibatake was discovered in 2016 and confirmed in Miyazaki. Both are glow-in-thedark mushrooms and are attracting attention as a new tourist resource for Miyazaki.
When I visited the exhibition at the Miyazaki Prefectural Museum, these mushrooms
were very small and difficult to observe. The purpose of this research is to display
3DCG models of mushrooms using AR (Augmented Reality) technology in order tofacilitate observation of these small mushrooms exhibited in museums.

OS18-5 Tourism Support for Bioluminescent Fungi Using Video Technology
Bidesh Biswas Biki1, Kodai Hasebe1, Fumito Hamakawa1, Satoshi Ikeda1, Amane Takei1, Makoto Sakamoto1,
Shuichi Kurogi2
1
2( University of Miyazaki, Japan), ( Miyazaki Prefectural Museum of Nature and History, Japan)
There are about many bioluminescent fungi all over the world, and in recent years, 11
types have been confirmed in Miyazaki Prefecture. It is a considerable number fromthe perspective of Japan as a whole. The purpose of this study is to make the generalpublic aware of bioluminescent fungi, and to widely publicize mushrooms of Miyazaki
prefecture. Therefore, we conducted basic study on three-dimensional computer
graphics models and virtual reality, and on educational promotional video for thegeneral public cocerning bioluminescent fungi such as the Favolaschia peziziformis
found in Miyazaki Prefecture. We also confirmed the usefulness of educational
promotional video produced by conducting a questionnaire survey.

OS18-6 Parallel wave sound analysis based on hierarchical domain decomposition method
Amane Takei1, Akihiro Kudo2, Makoto Sakamoto1( University of Miyazaki, Japan), (2Tomakomai Collage, Japan)
1

We are investigating a large-scale non-steady wave sound analysis method based on
the parallel finite element method. The iterative domain decomposition method is
employed in the analysis method as a parallel technique. We have confirmed that thenon-steady wave sound analysis code is very high-accuracy with errors within theallowable range in a numerical analysis.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS18-7 Parallel full-wave electromagnetic field analysis based on hierarchical domain
decomposition method
Amane Takei, Nanako Mizoguchi, Kento Ohnaka, Makoto Sakamoto (University of Miyazaki, Japan)
In this presentation, a parallel full-wave electromagnetic field analysis code based on
an iterative domain decomposition method is explained that is named
ADVENTURE_Fullwave. A stationary vector wave equation for the high-frequency
electromagnetic field analyses is solved taking an electric field as an unknown
function. Then, to solve subdomain problems by the direct method, the direct method
based on the LDLT decomposition method is introduced in subdomains. The simplified
Berenger’s PML is introduced which these eight corners are given the average valueof all PML’s layers. And, we show a numerical example of a microwave. More detailwill be shown in the conference.

S19 Natural Computing (2)Chair Marion Oswald (Technische Universität Wien, Austria)
Co-Chair Yasuhiro Suzuki (Nagoya University, Japan)
OS19-1 Changes in the Behavior of a Small Number of Molecular Systems
Yasuhiro Suzuki (Nagoya University, Japan)
Molecular systems in chemical reaction systems have been considered continuous
systems. However, chemical reactions in living organisms involve small molecules andcannot be considered a continuous system in some cases. In this study, we examine thebehaviors of the two-party Lotka-Volterra model with a small number of molecules.
We then show that there are cases in which intrinsic fewness is dominant.

OS19-2 Retrieval by Sensory Information
Yasuhiro Suzuki (Nagoya University, Japan)
Until now, information retrieval has been conducted by language. In recent years,
information retrieval using smart microphones has also developed. However, voicebased retrieval is conducted by converting voice into linguistic information. In thisstudy, we propose a search based not on linguistic information but on language
sensitivity information. Language sensitivity information is a way of saying things. We
perceive differences in the way we say the same word. In other words, the differencein how we say a word is the sensory information of the language. This study proposesa method for extracting and retrieving sensitive information from language.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS20 Robot Competitions and Education (7)Chair Kazuo Ishii (Kyushu Institute of Technology, Japan)
Co-Chair Yasunori Takemura (Nishinippon Institute of Technology, Japan)
OS20-1 Report on Underwater-Robot-Festival Junior Division Aiming at Marine Debris Cleanup
1

Takayuki Matsuo, 2Masanori Sato, 3Masayoshi Ozawa, 4Seiichiro Miura, 5Masakazu Arima, 6Kazuo Ishii(1National Institute of Technology, Kitakyushu College, Japan),(2Nagasaki Institute of Applied Science, Japan),3( Kobe City College of Technology, Japan), (4National Institute of Technology, Tokuyama College, Japan)(5Osaka Metropolitan University), (6Kyushu Institute of Technology)
This paper reports the results of the Junior Division of the 8th Underwater Robot
Festival held in August 2022. The junior division is a robotics competition for juniorhigh and high schools, and 18 teams participated. The subject of the competition isMarine Debris Clean-up using surface ships with the theme of "Life Below Water"which is the 14th goal of SDGs. The competition consists of a poster session on the
problem of garbage in the sea and a robot competition to compete the ability of theirhandmade ships to clean up floating objects. This paper gives an overview of the Junior
Division and discusses its learning effects

OS20-2 Image-based navigation of Small-size Autonomous Underwater Vehicle “Kyubic” inInternational Underwater Robot Competition
Yusuke Mizoguchi, Daiki Hamada, Riku Fukuda, Irmiya R. Inniyaka, Kaito Kuwata, Keisuke Nishimuta,
Akihiro Sugino, Rikuto Tanaka, Yoshiki, Tanaka, Yuya Nishida, Kazuo Ishii(Kyushu Institute of Technology, Japan)
International underwater robot competition “RoboSub” is held in USA to demonstrate
robot’s autonomy by completing underwater tasks, with a new theme each year.
Student project team “Kyutech Underwater robotics” developed autonomous
underwater vehicle (AUV) “KYUBIC” with built-in image processing board for the
RoboSub. Sensors on the AUV are connected via ethernet and its automatic navigation
program is built using ROS. The AUV moves through gate to the target panel based on
self-localization using doppler velocity log and IMU. When approaching the panel, theAUV knows the direction to the panel based on the red line detection by image
processing, and the type, the position and the attitude of the target panel are detectedby deep learning on the board.

OS20-3 Development of Harvesting Robot for Tomato Robot Competition 2022 and Its
Evaluation
Takeru Oshige1, Moeko Tominaga2, Takuya Fujinaga3, Yasunori Takemura2, Jonghyun Ahn( Hiroshima Institute of Technology, 2Nishinippon Institute of Technology, 3Fukuoka University, Japan)
1Agriculture is one of the most important industries for human food production.
Recently, the number of farmers in Japan is decreasing, and the age of farmers isincreasing. Therefore, automation of agriculture using robot systems is highly required.
The “Tomato Robot Competition” is held every year in Fukuoka, Japan, to arousestudent’s interest in the field of agriculture, and to promote the development ofagricultural automation technology by robot systems. In this paper, we introduce thedeveloped tomato harvesting robot to participate the “Tomato Robot Competition2022”, and its harvesting performance evaluation. Developed tomato harvesting robot
is composed 3 linear arms, end effector, rail movement system and electronic systemof communication and control. In the evaluation, developed tomato harvesting robot
took approximately 1.3 [min] to harvest a single tomato.

78©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS20-4 Development of a Tomato Harvesting Robot for Farm Field
Shunsuke Oda, Ryuma Fukumoto, Kensuke Hirata, Shu Tahara, Keisuke Yoshida, Shinsuke Yasukawa,Kazuo Ishii (Kyushu Institute of Technology, Japan,)The 9th Tomato Harvesting Robot Competition is held at the green house in
Kitakyushu Science and Research Park. The competition consists of two leagues ofdifferent field aresa; rail-style for greenhouse and free-style area aiming for farm field,
and our team jointed the free-style. In order to participate in free-style, tomato
harvesting mechanism, mobility mechanism to move on the rough terrain, camera to
photograph tomato, and self-location system are required. We development of 3-axis
cartesian coordinates manipulator tomato harvesting robot that using crawler move on
soil and tomatoes are harvested by suction and cutting. In this paper, we describe thesystem architecture of tomato harvesting robot and the results of 9th Tomato
Harvesting Robot Competition in 2022.

OS20-5 Tomato-Harvesting Robot Competition: Developed Robots and Results of 9thCompetition
1

Kazuo Ishii, 2Takayuki Matsuo, 3Yasunori Takemura, 3Takashi Sonoda, 3Atsushi Sanada, 1Yuya Nishida,1
Shinsuke Yasukawa, 4Takuya Fujinaga, 3Moeko Tominaga, 5Daisaku Arita, 6Kazushi Kawajiri,
7
Kenich Ohshima, 7Masayuki Okada, 1Kanako Shirahashi
1( Kyushu Institute of Technology, Japan), (2National Institute of Technology, Kitakyushu College, Japan),3( Nishinippon Institute of Technology, Japan), (4Fukuoka University, Japan), (5University of Nagasaki, Japan),(6Hibikinada Greenhouse, Japan), (7Kyushu Polytechnic College, Japan)
Tomato is one of the important fruit vegetables and most tomatoes are produced in thegreenhouses, or large-scale farms, where the high temperature and humidity, and long
harvest age force the farmer heavy works. To develop the tomato harvesting robot,
many research issues exist such as manipulator design, end-effector design,collaborative behavior, artificial intelligence, motor control, image processing, target
recognition and so on. With an aim to promote the automation of tomato harvesting,
we have organized the tomato harvesting robot competition since 2014, and currently
changed the competition field to the greenhouse in 2020. In this paper, we discuss theresults of 9th tomato harvesting robot competition in 2022.

OS20-6 A Modeling of Sphere Considering Slipping Adapted Three-Rollers
1

Kenji Kimura, 2Kouki Ogata,3Hiroyasu Hirai, 3Takumi Ueda, 3Kazuo Ishi
(1National Institute of Technology, Matsue College, Japan), (2Saga University, Japan),(3Kyushu Institute of Technology, Japan)
Many types of spherical robots use friction-drive systems for locomotion because such
systems enable omnidirectional movement and are more capable of climbing steps thanmobile robots equipped with multiple omni-wheels. Slipping between spheres androllers is a remarkable issue with friction-driven mechanisms. However, the previously
established sphere kinematic models do not consider slipping, and kinematic models
consider slipping in only two constraint rollers. In this study, we propose amathematical model that allows for slipping on three constraint rollers and simulate
the angular velocity vector of the sphere and slip vectors in each contact points.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS20-7 Roller Arrangement Problem of Omnidirectional Mobil Robot Adapted Three Omni
Rollers1

Kenji Kimura, 2Yuki Shigyo,3Kazuo Ishi
( National Institute of Technology, Matsue College, Japan), (2Fujitsu, Japan),
3
Kyushu Institute of Technology, Japan)
1

Mobile robots adapted to omni rollers are required to have efficient mobility inareas like logistics. Since such systems are easily controlled and provide
omnidirectional locomotion. But theoretical research about motion efficiency has
not been conducted. In this study, we evaluate rollers arrangement from speed
efficiency point of view assumed a mechanism where the roller placement position
can be changed arbitrarily on a round shape mechanism and we consider roller
arrangement using the theory of linear transformation.

OS21 Advances in Field Robotics and Their Applications (7)Chair Keisuke Watanabe (Tokai University, Japan)
Co-Chair Kazuo Ishii (Kyushu Institute of Technology, Japan)
OS21-1 Underwater Live Video Streaming Experiment Using Radio Frequency
Communication for AUVs
Raji Alahmad, Yuya Nishida, Kazuo Ishii, Yukihiro Fukumoto (Kyushu Institute of Technology, Japan)
Many underwater applications need high data rate transmission to transmit the datasuch as images in real-time. Autonomous Underwater Vehicles (AUVs) require longdistance communication, especially in the deep sea. The technology of acoustic
communication is the commonly used way for AUVs. The major drawback inunderwater acoustic communication is the low transmission baud rate which is up to
several kilobits per second (kbps). However, the reliable distance can be in tens ofkilometers. On the other hand, the radio frequency (RF) communication provide muchhigher data rate. The electromagnetic wave is seriously limited by high attenuation ina water medium. In this paper, we investigate the Radio frequency communication inseawater, the experiment results show the effects of the distance between thetransmitter and receiver, and the stability of the antennas. We could achieve HD video
transmission with 25fps.

OS21-2 Control strategy to change the locomotion mode of a reconfigurable wheel/track robot
based on the soil conditions
Supaphon Kamon, Enrico di Maria, Kazuo Ishii (Kyushu Institute of Technology, Japan)
The use of agricultural machinery damages the soil by compaction and distortion,
where the compaction is caused more by small contact areas like in wheeled vehicles,
and the distortion is caused especially by tracks. In this work, we discuss a wheel/trackreconfigurable robot which changes locomotion based on the soil conditions, tominimize the soil damage, energy consumption, and adapt the traversability. After
giving an overview of the system, we propose a control strategy for switching between
the locomotion modes.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS21-3 Sea-floor Image Restoration with Variable Absorbance Coefficient.
Irmiya R. Inniyaka, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)
Scattering from suspended particles and visible light attenuation with water depth areconstant phenomena that reduce underwater image quality due to low contrast andcolor distortion. Common image restoration techniques such as the image formation
model, assumes a constant attenuation coefficient across color channels. This results
in a restoration solution with limited application. We propose a method of image
restoration that takes into account the wavelength-dependent attenuation of underwater
images by taking in situ measurements of absorbance per image color channel. In thispaper, a description of the design of a turbidity meter is made. It used to extract
absorbance of light in the RGB channel. To evaluate the proposed method, image andabsorbance data are collected concurrently from different water types. An analysis ofimage processing method presented in comparison to other methods.

OS21-4 Design of A Parameter Update Method of the Database-Driven PID Controller
Considering Norm of the System
Takumi Ueda, Kazuo Ishii (Kyushu Institute of Technology, Japan)
PID controllers are used in many applications, and they considered as typical examplesof fixed-structure controllers. For each specific system, the PID parameters of thecontroller must be adjusted appropriately. Therefore, database-driven control, which
automatically adjusts the parameters of the PID controller using a large amount ofexperimental data, has attracted attention. Database-driven control is one of themethods that does not require model information. Therefore, in the Database-driven
PID (DD-PID), the Jacobian of the system used for the steepest descent method is
unknown. In this paper, we present an optimization method using the Gradient descentmethod based on the local model of the system. And we proposed method that can
suppress the increase of norm more than the conventional DD-PID method.

OS21-5 Occluded Objects Detection by Ultrasonic Sensors
Ryuugo Mochizuki, Yuya Nishida and Kazuo Ishii (Kyushu Institute of Technology, Japan)
Crops are required to be processed in sanitary manner for lunchbox production inindustries. Particularly, foreign object detection is crucial to guarantee consumer’shealth. Actually, foreign objects are mainly detected by visual check manually. Image
processing method is an example to automate the foreign object detection process,however, is not valid to detect hidden objects, thus, non-destructive detection isessential. We propose a method of foreign object detection with ultrasonic reflection
analysis. In our experiment, we selected four crops (lettuce, spinach, Perilla,
komatsuna) for masking material, and a coin for foreign object. The coin was attachedon the backside of masking. Reflected wave was recorded with the masking materials
linearly moving. As the result, reflection intensity tripled by the existence of theforeign object.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS21-6 Development of a Variable Stiffness Function for a New Multifunctional Wire Driven
Joint Mechanism
Katsuaki Suzuki, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology)
A mechanical variable stiffness can adapt to external forces beyond the control cycle,
such as overturning of walking robots, which can help solve problems such as actuatorand joint destruction. In this research, we will clarify the structure of a two-input, oneoutput joint mechanism that can realize three functions: normal motion, instantaneous
motion, and variable stiffness function. As part of the development of the variable
stiffness function, a mathematical model is derived and simulated for the relationshipbetween the joint angle of the output link and the disturbance torque when adisturbance torque is applied to the output link of the proposed mechanism.

Cam

Cam follower
Linear guide

SliderSpringWire

Output linkMotor

OS21-7 Analyzing an OFDM using Cyclic Prefix to Improve the Underwater Communication
SystemAlraie Hussam, Kazuo Ishii (Kyushu Institute of Technology, Japan)
The Underwater Communication is one of the most difficult challenges facing the
researchers. OFDM technique has been used widely in 4G communication system, andrecently it was approved to successfully implemented in 5G. Many researchers have
improved the Underwater wireless communication system including the Acoustic
communication using OFDM technique. In this study, we applied the Cyclic Prefix toimprove the underwater communication system. We started by study the effects of
Rician fading based on OFDM system on the wireless channel. Then we analyzed the
Bit Error Rate (BER) of the system in several scenarios, by applying the AWGN,
Rician fading, and absorption factor to simulate the underwater channel. The results
showed that using Cyclic Prefix could improve the BER in underwater communication
environment.

OS22 Bio-inspired Artificial Vision -Algorithms and Systems-(5)Chair Shinsuke Yasukawa (Kyushu Institute of Technology, Japan)
Co-Chair Yuki Hayashida (Mie University, Japan)
OS22-1 Increasing selectivity to a feature combination using inhibitory synaptic plasticity in aspiking neural network
Mahiro Ikeda, Hirotsugu Okuno (Osaka Institute of Technology, Japan)
Applying spiking neural networks to artificial intelligence requires various techniques,
such as a learning algorithm and a topology for extracting a feature combination, whichhave already been established for conventional neural networks. In this study, we
designed a spiking neural network that uses synaptic plasticity to increase selectivity
to a particular combination of features. The model of neurons used is a leaky integrateand-fire model, and the learning rule used is the long-term potentiation of inhibitory
inputs (LTPi). We investigated how the time constant of inhibitory presynaptic neurons
whose weights were updated by LTPi affects to selectivity of the postsynaptic neurons.
The results showed that the selectivity was increased effectively when the time
constant of inhibitory neurons was slightly longer than that of postsynaptic neurons.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS22-2 A binocular disparity estimation algorithm using multiple spatial frequency information
and a neural network
Ryoka Sato, Hirotsugu Okuno (Osaka Institute of Technology, Japan)
In this study, we developed a disparity estimation algorithm using multiple spatial
frequency information and neural-network-based regression. First, the algorithm
computes a value called disparity energy based on a model of neurons in the visualcortex that respond selectively to a particular disparity. A Gabor filter with a particularspatial frequency is used to compute the disparity energy, and therefore the disparity
energy depends on the spatial frequency of the input image. To reduce the spatial
frequency dependency, our algorithm uses disparity energy values computed from two
different spatial frequencies for neural-network-based regression.

OS22-3 A figure-ground discrimination algorithm inspired by border-ownership selective cells
Tomoya Kobayashi, Hirotsugu Okuno (Osaka Institute of Technology, Japan)
Figure-ground discrimination is one of the most important functions for image
classification. In this study, we developed a figure-ground discrimination algorithm
that is computationally inexpensive and is suitable for robot vision. The algorithm isinspired by the response properties of border-ownership (BO)-selective cells, which
possibly support figure-ground discrimination in the visual nervous system. The output
of our algorithm is affected by spatial parameters such as the characteristics of thespatial filter used for edge enhancement and the interval of model BO-selective cells.
Therefore, we investigated relationship between the algorithm output with various
spatial parameters and object sizes.

OS22-4 Event-Driven Particle Filter for Tracking Irregularly Moving Objects
Yuki Kawasaki1, Masahiro Ohtani2, Shinsuke Yasukawa1(1Kyushu Institute of Technology, 2Mie University, Japan)
Conventional object tracking techniques that use general-purpose cameras and particle
filters find it difficult to track irregularly and rapidly moving objects. To track an
irregularly moving object without losing sight, quickly measuring the position of theobject is necessary. In this study, we used a fast-response event-based camera, which
is a bioinspired camera that produces a spiking output. We propose an event-driven
particle filter that performs processing in response to the input from an event-based
camera. Our proposed method was evaluated by presenting an event-based camera witha rectangular motion pattern that combines periodic and constant-velocity motions at
various speeds. The experimental results demonstrated that our proposed method could
track objects in a test video.

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OS22-5 A simulation model for analyzing the spatiotemporal receptive field of retinal ganglion
cells in the presence of fixational eye movements
Hiroyuki Yokota1, Yuki Hayashida2, Shinsuke Yasukawa1(1Kyushu Institute of Technology, 2Mie University, Japan)
Understanding the receptive field dynamics of vertebrate retinal ganglion cells in thepresence of fixational eye movements is considered to provide insights into
information processing/encoding optimized for behaviors in animals and autonomous
robots in the future. Previous studies have proposed computational models that accountfor fixational eye movements, suggesting that the long-range spatial inhibitions
provided by wide field amacrine cells to some subtypes of bipolar cells and ganglion
cells dynamically shape the responses of ganglion cells. In this study, we constructeda simulation model of a retinal circuit based on recent physiological findings. The
model validity was tested through computer simulation experiments and by analyzing
the time series of spike outputs from the ganglion cell unit. As a preliminary result, wewere able to quantify the spatiotemporal receptive field by applying a simple whitenoise movie stimulus.

OS23 STEM Education for fostering Innovators (4)Chair Hiroyuki Y. Suzuki (Hiroshima University, Japan)
Co-Chair Kazuo Kawada (Hiroshima University, Japan)
OS23-1 Junior High School Rescue Robot Challenge for Fostering Problem-Solving Skills
Kazuo Kawada, Keita Murai, Yuta Susawa, Hiroyuki Y. Suzuki (Hiroshima University, Japan)
Junior High School Student Rescue Robot Challenge” is an annual activity organized
by Hiroshima University in cooperation with construction equipment manufacturers.
The Challenge has been continued for 18 years with a given theme in each year.
Nonetheless, the theme was essentially changed from the last year, according to revised
version of the Courses of Study for junior high schools announced by the Japanese
Ministry of Education, Culture, Sports, Science and Technology, in which the bothproblem-finding and problem-solving skills are emphasized. The theme for 2022
includes proposal of the problem to be solved in disaster-stricken areas, and it will besolved by themselves by making prototype rescue robot by modifying remotecontrolled excavator model of 1/14 scale.

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OS23-2 A Study of Experiential Learning Activities using Model Materials for the Kicking
MotionTeruyuki Tamai, Shoki Takeuchi, Yoshihiro Ohnishi (Ehime University, Japan)
Kazuo Kawada (Hiroshima University, Japan)
In this research, model teaching material to be used for cross-curricular learning, whichis expected to be promoted in elementary and junior high school education, is
explained. This material produced using materials such as servo motors and frames
were proposed as teaching materials that would allow learners to consider the kicking
motion. First, the relationship between cross-curricular learning and the proposedteaching material is explained. In particular, the relationship with the content oftechnology education in junior high schools is explained. Next, the structure andmechanism of the teaching materials and the programs used to make them aredescribed. Finally, data and results obtained from the use of the materials are presented.

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OS23-3 Making High Precision Single Balance in Active Learning Seminar for Hiroshima Univ.
Monozukuri Junior Doctor Special Educational Program
Hiroyuki Y. Suzuki, Kazuo Kawada, Masayasu Nagamatsu (Hiroshima University, Japan)
Hiroshima Univ. Monozukuri Junior Doctor” is a special educational program foryoung (11 – 15 in age) people. In the program we give several seminars for nurturing
innovative minds and capacities, including an active learning seminar on making single
balance. We prepared a number of pre-fabricated parts of deferent sizes, giving themto young participants teams (about 5 people each) to assemble single balance, putting
their own ideas in the design by selecting favorite parts by themselves. Majority of thestudents could understand key concept of the balance (rule of moment) and assemble
single balance with accuracy of milligrams.

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OS23-4 Capstone Class of “Mechatronics Innovation Project” as STEM Educational
Curriculum for Teacher Training Course
Hiroyuki Y. Suzuki, Masayasu Nagamatsu, Kazuo Kawada (Hiroshima University, Japan)
We have a set of STEM oriented special curriculum with name of “Mechatronics” inour teacher training course of “Program in Technology and Information Education, in
School of Education, Hiroshima Univ.”. The mechatronics classes start from first
grade, and they are eventually integrated in a capstone class of “Mechatronics
Innovation Project” in third grade. We set a different theme in each year, and students
are going to solve it by making automatic “mechatronics” machines. The theme in2022 is guardrail cleaning robots. We are going to report the struggle of students to thetheme and their outcomes, achievements and problems.

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OS24 Applications of Unmanned Aerial System (3)Chair Hazry Desa (Universiti Malaysia Perlis, Malaysia)
Co-Chair Nurfadzillah Ishak (Universiti Malaysia Perlis, Malaysia)
OS24-1 Effect of Spraying Dispersion Using UAV Spraying System with Different Height at
Paddy Field
Hazry Desa1, Muhammad Azizi Azizan1, Nik Noriman Zulkepli1, Nurfadzillah Ishak1, Teh Xi Hang1, Siti
Syuhaidah Yahya1, Aisyah Arina Mohammad Shahrazel1, Fakhrul Mukmin Mansor1, Siti Zaleha Abdul Aziz2,
Abadal-Salam T Hussain3
1( universiti Malaysia Perlis, Malaysia), (2Mara Japan Industrial Institute (MJII), Malaysia)(3Al-Kitab University, Iraq)
This study investigated the UAV spraying system height in relation to spraying
uniformity and dispersion. The operating heights of the UAV spraying system at heightof 1 m, 1.5 m, and 2 m from the hollow cone nozzles were investigated within a windspeed of 2.8 m/s. The tests were to determine the spray uniformity and dispersion on
the water sensitive paper that was placed on the paddy plant. The results of water
droplet samples were evaluated using ImageJ software. The results show the droplet
distribution at 1.5 m height has high values for average droplet density, which is 162.7
deposits/cm² at the top area and 161.8 deposits/cm² at the bottom area. The percentage
of coverage was also high, at 55.21% at the top area and 51.4% at the bottom area.

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OS24-2 Spraying Dispersion Analysis with Different Nozzle Types Using UAV Spraying System
in a Paddy Field
Hazry Desa1, Muhammad Azizi Azizan1, Nik Noriman Zulkepli1, Nurfadzillah Ishak1, Tan Yew Tian1, Siti
Syuhaidah Yahya1, Aisyah Arina Mohammad Shahrazel1, Fakhrul Mukmin Mansor1, Siti Zaleha Abdul Aziz2,
Abadal-Salam T Hussain3
1( universiti Malaysia Perlis, Malaysia), (2Mara Japan Industrial Institute (MJII), Malaysia)(3Al-Kitab University, Iraq)
This study investigates the ability of Unmanned Aerial Vehicle (UAV) spraying
systems to be used as an agriculture spraying method in Malaysia. The operating heightof the UAV was 1.5 m with three different nozzles were investigated within a windspeed of 1.15 m/s to determine spray uniformity and dispersion in the paddy field
conditions. The results from these samples were evaluated by using ImageJ software.
The results show that the droplet distribution by using an electrostatic centrifugal
nozzle has a high average droplet density, which is 134.03 deposits/cm2 for the top
area and 153.93 deposits/cm2 for the bottom area. The electrostatic centrifugal nozzle
also testified to the high value of total droplet deposit at 3478 for the top area and 3255
for the bottom area.

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OS24-3 The capabilities and Readiness of Unmanned Aerial System (UAS) implementation inConstruction Work Progression
Nurfadzillah Ishak, Muhammad Azizi Azizan, Hazry Desa (universiti Malaysia Perlis, Malaysia)
Unmanned Aerial Systems (UAS) have evolved over the past decade as both advanced
military technology and off-the-shelf consumer devices. Nowadays, theimplementation of Unmanned Aerial Systems technology is becoming increasingly
widespread in construction industry. The uses of drones are increasingly moving
towards successful remote procedures which can take place in a range of in building
industry. Unmanned Aerial Systems remote sensing equipment is a way in whichcurrent building construction work progress can be analyzed and inspected. Therefore,
this study would be beneficial as eye opener for building construction practitioner that
this remote sensing equipment can replaced the manual paper-based supervision andunsystematic database of current conventional construction work progression process.

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OS25 Emerging Technologies in Industrial Revolution 4.0 (IR 4.0) Era (8)Chair Takao Ito (Hiroshima University, Japan)
Co-Chair Wei Hong Lim (UCSI University, Malaysia)
OS25-1 Chaotic African Vultures Optimization Algorithm for Feature Selection
Wy-Liang Cheng1, Li Pan1, Mohd Rizon Bin Mohamed Juhari1, Chin Hong Wong2,3, Abhishek Sharma4,5,
Yessi Jusman6, Sew Sun Tiang1, Wei Hong Lim1
(1UCSI University, Malaysia), (2Fuzou University, China), (3Maynooth University, Ireland), (4Graphic Era
University, India), (5Ariel University, Israel), (6Universitas Muhammadiyah Yogyakarta, Indonesia)
Feature selection is widely used to decrease the number of features by removing
undesirable, noisy and inaccurate data while maintaining the classification accuracy.
One way to improve the performance of feature selection is through metaheuristic
search algorithms. Traditional optimization algorithms have poor initialization schemethat tend to trap into local optima when processing datasets with complex feature. A
new variant known as Chaotic African Vultures Optimization Algorithm (CAVOA) is
proposed to solve feature selection problems with better performances by leveraging
the benefits of chaotic map in population initialization. Twelve datasets obtained fromUCI Machine Learning Repository are used to investigate the capability of CAVOA infeature selection and compare with six competing algorithms. The proposed CAVOA
has shown leading performance when against other competing algorithms by
producing ten out of twelve best mean accuracies and four out of twelve datasets thathave the lowest number of features.

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OS25-2 Multi Chaotic Flow Directional Algorithm for Feature Selection
Wy-Liang Cheng1, Li Pan1, Mohd Rizon Bin Mohamed Juhari1, Abhishek Sharma2,3, Hameedur Rahman4,
Chun Kit Ang1, Sew Sun Tiang1, Wei Hong Lim1
1
( UCSI University, Malaysia), (2Graphic Era University, India),(3Ariel University, Israel) (4Air University, Pakistan)
Feature selection is crucial in optimizing performance as it can reduce processing timeand preserve classification accuracy. One way to further improve the capability is toimplement a metaheuristic search algorithm as it is widely used by many researchers.
This method has some disadvantages due to random population initialization scheme
as it can easily trap in the local optima especially handling large quantities of featuresin the dataset. A modified algorithm known as Multi Chaotic Flow Directional
Algorithm (MCFDA) is presented by incorporating multiple chaotic maps for
population initialization. For validating the performance of the proposed algorithm, six
competing algorithms are used to compare MCFDA on fourteen datasets received fromUCI Machine Learning Repository. The results show that the proposed algorithm canobtain eight out of fourteen best mean accuracies and six out of fourteen datasets thathave the least number of features.

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OS25-3 Performance Comparison of Convolutional Neural Networks for COVID-19 Diagnosis
Suhaim Parvez Wadekar1, Koon Meng Ang1, Chin Hong Wong2,3, Abhishek Sharma4,5, Yessi Jusman6, Chun
Kit Ang1, Sew Sun Tiang1, Wei Hong Lim1
1
( UCSI University, Malaysia), (2Fuzou University, China), (3Maynooth University, Ireland), (4Graphic Era
University, India), (5Ariel University, Israel), (6Universitas Muhammadiyah Yogyakarta, Indonesia)
COVID-19 has devastated the global healthcare system as well as the economy withmore than 600 million confirmed cases and 6 million deaths globally. A timely andaccurate diagnosis of the disease plays a vital role in the treatment and preventative
spread of disease. Recently, deep learning such as Convolutional Neural Networks(CNNs) have achieved extraordinary results in many applications such as medical
classifications. This work focuses on investigating the comparison of nine state-of-theart architectures: Alexnet, Googlenet, Inception-v3, Mobilenet-v2, Resnet-18, Resnet50, Shufflenet, Squeezenet and Resnet-50 RCNN for COVID-19 classification bycomparing with performance metrics such as accuracy, precision, sensitivity,
specificity and F-score. The datasets considered in current study are divided into threedifferent classes namely Normal Chest X-Rays (CXRs), Pneumonia patient CXR and
COVID-19 patient CXR. The results achieved shows that Resnet-50 RCNN achieved
an accuracy, precision, sensitivity, specificity and F-score of 95.67%, 95.71%, 95.67%,
97.84% and 95.67% respectively.

OS25-4 Classification of Wafer Defects with Optimized Deep Learning Model
Koon Hian Ang1, Koon Meng Ang1, Mohd Rizon Bin Mohamed Juhari1, Chin Hong Wong2,3, Abhishek
Sharma4,5, Chun Kit Ang1, Sew Sun Tiang1, Wei Hong Lim1
1
( UCSI University, Malaysia), (2Fuzou University, China), (3Maynooth University, Ireland),(4Graphic Era, India), (5Ariel University, Israel)
Wafer defect inspection is one of the crucial semiconductor processing technologies
because it can help to identify the surface defects in the process and eventually improve
the yield. Manual inspection using human eye is subjective and long-term fatigue canlead to erroneous classification. Deep learning technology such as convolutional neuralnetwork (CNN) is a promising way to achieve automated wafer defect classification.
The training of CNN is time consuming and it is nontrivial to fine tune its
hyperparameters to achieve good classification performance. In this study, Arithmetic
Optimization Algorithm (AOA) is proposed to optimize the CNN hyperparameters,such as momentum, initial learn rate, maximum epochs, L2 regularization, to reducethe burden brought by trial-and-error methods. The hyperparameters of a well-known
pretrained model, i.e., Google Net, are optimized using AOA to perform wafer defects
classification task. Simulation studies report that the AOA-optimized Google Net
achieves promising accuracy of 91.32% in classifying wafer defects.

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OS25-5 Compact Wearable Antenna for Millimeter-Wave (mm-Wave) Fifth Generation (5G)
Wai Kiat Wong1, Sew Sun Tiang1, *, Wei Hong Lim1, Mastaneh Mokayef1, Chin Hong Wong2,3(1UCSI University, Malaysia), (2Fuzou University, China), (3Maynooth University, Ireland)
The need for networking, communication, and data sharing capabilities among usersof wearable terminal devices has increased, and this has made the new wearable
antenna one of the most active research areas. This work presents a wearable antenna
for 5G applications based on a microstrip patch antenna type operating at 28GHz
millimeter-wave (mm-wave). The operating frequency of 28GHz is expected to beappropriate for 5G mm-wave wearable antenna design. The design makes use of thesemi-flexible Rogers Duroid RO3003 substrate, which has a thickness of 0.75mm, aloss tangent of 0.001 and a relative permittivity of 3. CST Microwave Studio software
is used to analyze and evaluate the proposed antenna's performance to other existing
designs in terms of return loss, bandwidth, gain, directivity, and point SAR value.

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OS25-6 Driver’s Fatigue Recognition using Convolutional Neural Network Approach
Samer Abbas1, Sew Sun Tiang1, Wei Hong Lim1, Li Sze Chow1, Chin Hong Wong2,3(1UCSI University, Malaysia), (2Fuzou University, China), (3Maynooth University, Ireland)
Drowsy driving is a serious issue that has been leaking in our communities since longtime, the definition of drowsy driving is when the driver is not aware enough to proceedwith driving the vehicle causing catastrophic accidents. Multiple methods were found
to approach this complication across the years. Convolution Neural Network has
approved to be a reliable approach to treat this issue by using face feature detection. In
this paper, the effect of key parameters of the trained framework based on the driver’s
fatigue recognition model are analyzed, and the accuracy of the driver’s fatigue
recognition model is investigated, as well as a driver’s fatigue recognition is studied
under different conditions using CNN. Transfer learning is used to develop a reliable
method for detection, Mediapip Face Mesh model is used to extract the features fromthe face. MAR (Mouth Aspect Ratio) as well as EAR (Eyes Aspect Ratio) are obtained
through the detection, these terms are responsible for detecting the eye and mouth
closure ratio, the model has proved to work with accuracy of 98.3% and in different
light conditions with accuracy of 94.7% outperforming several past models.

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OS25-7 Deep Residual Neural Network for Efficient Traffic Sign Detection System
Hanlin Cai1,2, Jiaqi Hu1,2, Zheng Li1,2, Wei Hong Lim3, Sew Sun Tiang3, Chin Hong Wong1,2(1Fuzou University, China), (2Maynooth University, Ireland), (3UCSI University, Malaysia)
This paper has proposed a deep residual neural network (RNN) model for traffic signs
detection system (TSDS) research. Experiments are conducted to verify the feasibilityof implementing the RNN model for traffic sign detection and recognition. Moreover,a new systematic analytic hierarchy process (AHP) method for model performance
evaluation has been suggested, which is sufficient for deployment in the practical
performance measurement of the deep learning model.

OS25-8 Wall Crack Detection based on Adaptive Double Threshold Grayscale Transform
Mingrui Lin1,2, Xin Xu1,2, Tengxiang Li1,2, Yuhang Hong1,2, Weiqin Wang1,2, Shilin Chen1,2, Wei Hong Lim3,
Chin Hong Wong1,2
1
2( Fuzou University, China), ( Maynooth University, Ireland), (3UCSI University, Malaysia)
The construction industry is an important supporting social-economic development, it
is of great significance to detect cracks in walls to realize the analysis and provide early
warning of building. A wall crack detection algorithm is proposed based on an adaptive
double-threshold grayscale transform. The MATLAB built-in function graythresh ismodified to have a flag bit to preliminarily select the grayscale transformationthreshold. The grey transform and binarization threshold can be automatically adjusted
based on the image processing effect using a preliminary-selected threshold. The
MATLAB simulation results show that the algorithm has an accuracy of 96.16%.

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OS26 Signals Processing and Automation I (6)Chair Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair Heshalini Rajagopal (UCSI University, Malaysia)
OS26-1 Noise Filtering of Hyperspectral Data of Oil Palms by Median-Mean Projection
Filtering
Imanurfatiehah Ibrahim1, Hamzah Arof1, Mohd Izzuddin Anuar2, Mohamad Sofian Abu Talip1(1Universiti Malaya, Malaysia), (2Malaysian Palm Oil Board, Malaysia)
One of the many applications of hyperspectral imaging is in agriculture. However,hyperspectral data captured from airborne UAV sometimes contain noise that maketheir spectral signatures different from those of field spectroscopy using similar
wavelengths. Therefore, there exists a need to filter noisy hyperspectral data to improvetheir quality so that a strong correlation can be established between the airborne andfield hyperspectral data for effective analysis. For oil palm hyperspectral data, anefficient and effective method is introduced to filter noise using median-mean
projection filtering. This novel approach generates superior results compared to those
produced by the conventional method of convolving the data with 2-D filters, in termsof output quality and signal to noise ratio.

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OS26-2 Smart Telehealth Appointment System – WI Care
Siah Cheong Lin, Heshalini Rajagopal, Chloe Thong Chee Ling (UCSI University, Malaysia)
This study aims to create a Smart Telehealth Appointment System -WI Care thatenables user to make an appointment in ease. Due to COVID-19 pandemics, constant
lockdown had resulting social distancing measures, movement control order, andpeople avoid outdoor activities. The proposed system, WI Care will have an
appointment system that can be managed by doctors meanwhile appointer can keep
submitting form. WI Care ensure both parties can be conducting the same procedure
as how every GPs and doctors able to work anywhere anytime. With dashboard andtime scheduling, these are able to create chance for doctors and GPs having
manageable workload as individual. This study suggests the healthy environment
whereas every doctor can join WI Care to share skills and tackles problem together.

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OS26-3 Web-based Stocktaking application in Businesses
Cheah Dei Xuan, Heshalini Rajagopal, Shayla Islam (UCSI University, Malaysia)
This study aims to develop a web-based application on business stock checking where
workers able to track their quantity of their stock from running out of stock as well as
to track the business statistic. This application is developed using Vue 2 framework,
Java script language, html 5, and tailwind CSS. In this study, a database was developed
for shopkeeper to store all the data related to the shop on cloud-based that able toprevent from disaster or human errors. Furthermore, a web-based system wasdeveloped to perform stock checking and monitoring which allow shopkeeper to checkon statistic of the product and also the notify shopkeeper which stock are running low.
In addition, a softcopy receipt was implemented as a default for customer instead of
hardcopy.

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OS26-4 Pharmacy Warehouse Management System
Gan Jhui Ken, Heshalini Rajagopal, Shaik Shabana Anjum (UCSI University, Malaysia)
Managing of the stock and supply of medication plays an essential part for theprovisioning of health care, therefore this study aims to develop the web-based
warehouse system. With the use of modern technology, the warehouse management
system can be made better to help improve the quality of work for both the employees
and admins. Additionally, this system will include the basic functions of a warehousemanagement system that will allow users to utilize the system with ease. The proposedsystem aims to improve the current pharmacy warehouse management systems so that
it will be viable for users to understand and utilize the system efficiently.

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OS26-5 A Development of an Automatic Allocation Parking System
Ng Wai Lam, Neesha Jothi, Shayla Islam (UCSI University, Malaysia)
As the number of cars increases, the demand for parking spaces in the parking lot also
increases. Due to the lack of parking spaces in the parking lot, people spend more timelooking for parking spaces after entering the parking lot, and also consume a lot of caroil. Therefore, this project is to develop a new parking system that will automaticallyallocate parking spaces for user. In this study, literature review was done to determine
how this type of system functions and how it is made. Then to make a questionnaire
cantered on the users’ previous experience on existing systems. Lastly, to make acomparison of existing systems and to analyze the systems strengths and weaknesses
to determine what functions to add to this new system.

OS26-6 Healthcare Mobile Application
Yee Chee Hong, Neesha Jothi, Javid Iqbal (UCSI University, Malaysia)
This project aims to assist those people who live in a busy city to take care their health.
They suffered a lot from working and other stress that caused themselves always tokeep in unhealthy status. Although they know they are lives such unhealthy, still they
have no time to manage it. Also, the unfriendly user interface of current healthcare
mobile application that caused inconvenience to use them. This project will improvethose weaknesses that allocated from current existing system. The healthcare mobile
will open use to public users. It will come with online appointment, online pharmacy
purchase, chat support and check information or history. New function added will be e
wallet which can make payment or top up using serial number or smart wallet such as
TNG pay and Shopee Pay.

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OS27 Research Towards the Sustainable Development Goals (SDG’s) (6)Chair Ammar A.M. Al Talib (UCSI University, Malaysia)
Co-Chair Takao Ito (Hiroshima University, Japan)
OS27-1 Solar Powered Seed Sprayer Machine
Ammar A.M. Al Talib, Yap Chee Xian, Ain Atiqa, Nor Fazilah Abdullah (UCSI University, Malaysia)
The main objective of this project is to fabricate a complete functional seed sprayer
machine which is purely powered by solar energy. The performance is tested throughthe seed amount sprayed over time and the area that can be covered. In this project, abroadcast spreader has been used. It is solar powered with a wireless communication
to remotely control the machine. The fabrication of the solar seed sprayer machine inthis study has been divided into four main parts which are remote driving system, solar
charging system, seed storage dispenser system, and impeller spreader system. Several
experiments are conducted to analyze the performance of solar seed sprayer machine.
The performance of the tested machine has been indicated through the capability of themachine on spreading different types of seeds with various sizes and shape.

OS27-2 Solar Powered Outdoor Air Purifier With Air Quality Monitoring
Ammar A.M.Al Talib, IK Chu Aung, Noor Idayu M. Tahir (UCSI University, Malaysia)
This paper is discussing the design and fabrication of a solar powered air purifier andits performance. Its aiming for the production of an outdoor air purifier powered bysolar energy and with a High Efficiency Particulate Air Filter (HEPA) and Carbon
Filters which can achieve air purification with self-sustainable ability. Several tests
have been conducted to proof the good performance of air purifier. In the first indoor
test, 15.79% of error and 67.37 % of efficiency was achieved during the solar panel
efficiency test. Second test of air purifier test has shown the efficiency of cleaningammonia pollutant in the air as 43.55% for burning cigarette and 35.33% for floor
detergent using the equipped two MQ135 sensor. The findings has shown that the floor
detergent might have higher rate of diffusion than ammonia molecule found in cigarettesmoke. Comparisons have been conducted of theoretical and actual test results.

OS27-3 Design and Fabrication of a Mutual Control Electronic Circuit for Solar and Electrical
Water Heating
Ammar A.M.Al Talib1, Sarah Atifah Saruchi2 (1UCSI University, Malaysia), (2UTP, Malaysia)
This research is a temperature controller that will be implemented to ensure that thewater temperature of the solar water heating unit is maintained at the desirable level
all the time. This control circuit is designed to control the action of electrical heater
according to specific temperature range. Temperature sensor will sense the watertemperature constantly and send signal to a micro-controller unit. The micro-controller
will process the data according to a written program and control the actions of electricalheater. At the same time, temperature reading will display through LCD and real-timedata can be viewed from a computer via serial port. During times of sufficient sunlight,
solar will be the main energy source used for heating water; otherwise, there will bean automatic switching to the electrical operated immersion heater. This controller will
give reliability to users of solar water heating systems.

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OS27-4 Optimization of the Major Factors Affecting The Home Recycling of Disposed (LDPE)
Plastics
Ammar A.M.Al Talib, Chua Ray Sern Grayson, Ain Atiqa (UCSI University, Malaysia)
Low-density polyethylene (LDPE), which is widely adopted in many daily life
products, took more than hundreds of years to decompose in the landfill. Althoughvarious efforts were carried out to recycle LDPE, the operations were proved to be
uneconomical as it needs sophisticated equipment. Hence, this study is aimed toencourage simple domestic recycling procedures and to investigate the optimum
recycling conditions for disposed LDPE plastics and explore potential green
applications for the recycled material. As proposed in this study, disposed LDPE bags
are cut, washed, dried and then inserted into oven for melting at specified heating
temperatures and different time duration's inside the oven. Mechanical tests are
conducted which include hardness test, compression test and tensile test. The recycled
LDPE achieved 90.2 Shore-A hardness point, 9.2599 MPa of compressive strength andtensile strength of 9.0705 MPa. The recycled LDPE plastics are found useful in manylife appliances.

OS27-5 Investigation of the Mechanical Properties and Applicability of Recycled Plastic Bags
Ammar A.M.Al Talib, Wan Wai Kit, Nor Fazilah Binti Abdullah (UCSI University, Malaysia)
Low Density Polyethylene (LDPE) is a thermo-plastic made from the monomer
ethylene. It is estimated that only a mere 5.7% of LDPE is recycled worldwide. This
study is to reveal some of the mechanical properties of the recycled disposed plasticbags and finding the possible applications for them.. Mechanical properties such as
hardness testing, compression testing and water absorption has been carried out on the
LDPE recycled samples according to ASTM Standards. The mechanical tests
conducted on the recycled specimens have indicated that themost suitableapplications based on safety and satisfying needs would be the spring post that canbe used on roads, field track or any situation where separation of section would beneeded.

OS27-6 Design and Fabrication of Power Generating Treadmill
Ammar A. M. Al-Talib1, They Kai Yang1, Sarah Atifah2, Noor Idayu M.Tahir1(1UCSI University, Malaysia), (2UTP, Malaysia)
This paper aims to take advantage of treadmill’s wasted electrical energy during aperson’s workout and utilize the energy for charging electrical appliances. In order totake advantage of this wasted energy, it could be harnessed by a power generator andstored in a battery bank. The prototype machine did not interrupt a person’s workout
flow and it can be attached to any treadmill due to its design features. Wasted energy
was harnessed in this project by a non-traditional manner of using shaft and wheel
method. A multi-meter was used to measure the voltage, current and power generated.
The prototype machine is found able to fully charge a 3096mAh smartphone in 135
minutes and the phone could be fully charged for 2 charge cycles. This power
generating treadmill machine ia proved to be a very good application of the Sustainable
development Goals (SDG’s).

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OS28 Is That Narratology ‘Post’? -Computational and Cognitive Approaches and Beyond (5)Chair Jumpei Ono (Aomori University, Japan)
Co-Chair Hiroki Fxyma (Tainan University of Technology, Taiwan (ROC))
Co-Chair Yuki Hayashi (Chiba University / NINJAL, Japan)
Co-Chair Takashi Ogata (Iwate Prefectural University, Japan)
OS28-1 Proposing YouTube-based vocabulary learning system
Hiroki Fxyma (Tainan University of Technology, Taiwan (ROC))
This study proposes a language learning support system using YouTube. Motivations
for language learning are becoming more diverse: exposure to multi-language
information is becoming more common through SNS. Thus, it is expected that the
number of potential "sub-learners," rather than explicit learners in the classroom, isincreasing. This study proposes a system that allows these potential learners to focus
on the words they need to watch videos that interest them. As a manual prototype, wewill use an existing subtitle extraction system to extract text and create a corpus.

.

OS28-2 A Study on the Impact of “Trending” and “Flaming” on Content from “A Crocodile
WhoWill Die in 100 Days”
Taiki Sugimoto, Jun Nakamura (Chuo University, Japan)
The subject of this research is “A Crocodile Who Will Die in 100 Days” which has
experienced getting flamed. This study uses Sentiment Analysis and Key Graphics
Analysis to capture a bird's eye view of the impact of trending and flaming generated
through social media on content. The analysis and discussion clarify the following two
points. First, there is a significant gap between the tendency of comments directly sentfrom recipients to senders and the tendency of comments shared by recipients during
the period of being flamed on social media. Second, content that has gone up in flames
will not be extinguished for a long period, and the fact that it has gone up in flames
will itself be consumed as content.

OS28-3 Protocol analysis for constructing Verbalizing Support System
Yuki Hayashi (Chiba University/NINJAL, Japan)
In this paper, I will show a result of an experiment. The experiment was conductedusing voice recorder and the participants was required to report what they think orally.
I have been conducting experiments to know how people express their feelings andthinking in their daily lives. Previously, I suggested the basical concept of Verbalizing
Support System (in Japanese). However, in this experiment, I tried to show the processof verbalizing people's feelings and thinking. In addition, I'll show the revised concept
of Verbalizing Support System compared with the previous paper.

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OS28-4 Story generation during appreciating an artwork based on an actual tale
(Ugetsu-monogatari)
Akinori Abe (Chiba University, Japan)
In this paper, I will show a result of an experiment. The experiment was conductedusing an artwork based on an actual tale (Ugetsu-monogatari). Actually the tale israther old one. I have been conducting experiments to know how people can generatestories from the artworks. Previously I did not use artworks based on actual tales. Only
the exception was artworks based on “Alice in Wonderland.” These artworks were used
to see how Visual Thinking Strategies (VTS) functions during art appreciation. Of
course in the experiment, we asked participants to generate stories. However, in thisexperiment, I tried to see the process of the story generation during art appreciation.

OS28-5 Designing a Narrative Generation Game Based on the Russian Invasion of Ukraine
Jumpei Ono1, Takashi Ogata2 (1Aomori University, Japan), (2Iwate Prefectural University, Japan)
We have previously proposed an automatic narrative generation game. The purpose ofthis paper is to propose a game concept based on the framework of the automatic
narrative generation game. The proposed game uses the ongoing Russian invasion of
Ukraine since February 2022. The game based on an analog game in which participants
advance a shared storyline, mainly through dialogue. The proposed game is a gamewith story generation, and as a method of application, we intend to support the creationof stories through the game.

PL

OS29 Signals Processing and Automation II (6)Chair Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair Heshalini Rajagopal (UCSI University, Malaysia)
OS29-1 Weather Forecast System for Mobile Devices
Hu Jiahao, Neesha Jothi, Chloe Thong (UCSI University, Malaysia)
In the 21st century, a large number of personal computers appeared in daily life, andpeople began to be familiar with obtaining the required information through theInternet. Subsequently, as mobile development technology became increasingly
popular and rapidly occupied the Internet market, the development of mobile terminals
also made a breakthrough. At present, Android and iOS platforms dominate mobile
platforms. Most applications are developed based on a single platform, and thedevelopment efficiency is not ideal. Therefore, cross platform technology has
gradually entered the vision of developers, easing the problem of cross platform
development. It provides opportunities to meet people's needs for real-time, accurate
and diverse weather information.

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Scenario

Story technique

Story content
knowledge
base

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OS29-2 Development of a Novel E-Learning System for Improved Usability
Soo Yang Yew, Shaik Shabana Anjum, Shayla Islam (UCSI University, Malaysia)
E-learning is a learning approach that combines organized instruction with the use oftechnological resources such as laptops, computers, and tablets. It allows students tostudy at any time and from any location with the help of Information Communication
Technologies (ICT) that can connect instructors and pupils who are separated bythousands of miles. The criticality of this study is to fulfill students’ and instructors’
expectations of using virtual learning systems while having thrilling and interestinglearning and teaching experience. This proposed system will help them to know more
about the technology tools functioning and teach them a better understanding of using
the system’s features. Most lecturers and students faced challenges in utilizing elearning systems with such factors being reviewed by some researchers.

OS29-3 A Development of a Prototype-based Mobile Pet Care Application
Gan Ai Leen, Shaik Shabana Anjum, Chloe Thong Chee Ling (UCSI University, Malaysia)
The keeping of domesticated pets has become a norm in today’s society, and taking
care of them has become a part of the humane culture. Therefore, this project aims tocreate prototype-based mobile pet care application that is able to make the user’s lifeeasier. The pet care application is based on the android application. Its objective is toprovide the users a way to book the necessary appointment through the use of mobile
phone without having to do it manually. Additionally, the application will include achat function which can connect with the users and the admin. The application will
enable the pet owners to get timely updates about their pets when they are away andunder pet care. It will also provide options for grooming and healthcare facilities forthe pet.

OS29-4 Modeling of an Environmentally Independent and Contactless Speed Sensor for
Measuring the Speed of Ships, Submarines, and Aircraft in Relation to the Ground Developmentof Image
Jakaria Mahdi Imam, Mohammad Aminul Islam, Norrima Binti Mokhtar, S. F. W. Muhamad Hatta(Universiti Malaya, Malaysia)
We are presenting a theoretical and mathematical model for an environmentnondependent contactless speed sensor that can measure directly the horizontal speedof ships, submarines, and/or aircraft with respect to the ground. Currently, available
standalone onboard speed sensors used in ships, submarines, and aircraft measure thespeed of the vehicle with respect to the water or air; not the ground. In this paper, wehave shown that a novel speed sensor can be designed by using small size objects
dropped inside a vacuum chamber. Unlike the conventional methods, our proposed
method can measure the speed of ships, submarines, and aircraft with respect to theground directly. Another issue is that current speed sensors are environmentdependent, meaning they or their probes require some type of touch with theoperational environment. The complete sensor assembly can be placed inside thevehicle.

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OS29-5 On Correcting Luminosity and Contrast of Retinal Images with Reflectance
Mofleh Hannuf AlRowaily1, Hamzah Arof1, Imanurfatiehah Ibrahim1, Wan Amirul Wan Mohd Mahiyiddin1,
Norrima Mokhtar1, Haniza Yazid2
1( Universiti Malaya, Malaysia), (2Universiti Malaysia Perlis, Malaysia)
In this paper, we perform an automatic correction of luminosity and contrast of retina
images. Retina images with varying level of reflectance taken from online databases
are used to test the effectiveness of the method. The approach is implemented in 4
stages. In pre-processing, the three components of a color retina image are
separated and only the green channel is processed further. Then the region of interest(eye region) and its border are marked. Next, the ROI of the green channel is filteredusing a lowpass filter row by row to create a smooth background brightness surface.
Three types of lowpass filters are used and their performances are compared. Using
the background surface, the luminosity of the ROI is adjusted so that every pixel has
the same brightness. Finally, the contrast of the ROI is improved by histogram
stretching.

OS29-6 Rate Adaptation for Quality of Service Improvements in IEEE 802.11ax
Hazwani Zawawi1, Wan Norsyafizan W Muhamad1, Nani Fadzlina Naim1 (1Universiti Teknologi, MARA)This paper presents rate adaptation for Quality of Service (QoS) improvement in
IEEE802.11ax. This study implemented a link adaptation technique which adapts thetransmission data rate in IEEE 802.11ax WLAN. The main objectives of this paper are
to design a link adaptation which adapts the transmission data rate based on radio
channel conditions and to verify the effectiveness of the proposed algorithm.
Simulation results show that the data rate adaptation technique offers better
performance in terms of throughput and delay.

OS30 Embedded systems projects (3)Chair Mastaneh Mokayef (UCSI University, Malaysia)
Co-Chair Takao Ito (Hiroshima University, Japan)
OS30-1 Data Transmission by Li-Fi in Coal Mining
Myadadha Goutham Reddy1, Tan Jia Wei1, Mandigiri Golla Jagan Kumar1, Vytla Poojitha1, KakiHarshavardhan Goud1, Wang Ji1, MHD Amen Summakieh1, Atefeh Mohammadpour2, Mastaneh Mokayef1*(1UCSI University, Malaysia) (2California State University, USA)In this paper, we proposed and designed a method to utilize the Li-Fi technology fordata transmission which are equipped with sensors to provide real time situation stat
to the coal miners to ensure their safety. One of the most dangerous gases in coalmining is the carbon monoxide (CO). Hence, specific type of sensor is used andconnected to a core component which is the microcontroller and placed at different
parts of the coal mine. When the concentration level exceeds a certain threshold value,
the buzzer will be triggered, and the notification is sent to the central database to informthe workers. Li-Fi provides the solution for slow data transmission or data loss which
enhances the safety and improve the working condition of labors in coal mining
sectors.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

OS30-2 Embedded Table Tennis Ball Launcher with a Trajectory Path Analyzer for Junior
Players
Mastaneh Mokayef1, Lee Qi Jian1, Bushra Naeem2, Miad Mokayef1, M.K.A Ahamed Khan1,
MHD Amen Summakieh1
1
2( UCSI University, Malaysia) ( Balochistan University of Information Technology, Pakistan)In this project, a pitcher machine as a personal Table Tennis trainer has been designed
and the trajectory path analysis of the practical performance of player is analysed
accordingly. In the proposed system, a camera is presented to track the table tennis
ball. The obtained images from the camera are processed by OpenCV software and theflying trajectory is predicted based on the X and Y coordinates of a ball position to
analyse the performance of player in each direction. The pitcher machine is then set
via smart phone to the direction with weak performance to shoot more balls in that
direction. However, the spinning serve is yet to be added in the proposed system, thisproject offers an acceptable platform for the early stage of the table tennis training.
Experimental results show the acceptable performance analysis in complex messenvironment and background.

OS30-3 Table Tennis Tournament Scores and Statistics Web Application
Belal Khaled1, Mastaneh Mokayef1*, Chin Hong Wong2, Sew Sun Tiang1, Wei Hong Lim1, MHD Amen
Summakieh1, Miad Mokayef1
1( UCSI University, Malaysia) (2 Fuzou University, China)
The objective of this project is to develop a functional web application that will retrieve
or store table tennis tournament statistical data and visualize them using tables, barcharts, pie charts, histograms as a medium of demonstration for the user. Moreover,
the application will perform specific analysis on the scores and display insightful data
about the tournament for league structures investigation. The developed system will
include a database to store and retrieve data for display on the user interface. The
development of the project is fully stacked (front-end and back-end), so it is built withthe appropriate web technologies to function in the background (PHP, MySQL,
Apache) while displaying results (HTML, CSS, JavaScript) on the page for the user.
The project is managed using effective project management methods to plan, design,
implement, develop, and maintain the application.

OS31 Image Processing and Reconstruction (5)Chair Chair Xiaoyan Chen (Tianjin University of Science and Technology, China)
Co-Chair Shiming Wang (Tianjin University of Science and Technology, China)
OS31-1 Small-Target Detection Based on YOLOX
Keying Ren1, Xiaoyan Chen1* (Tianjin University of Science and Technology, China)
With the development of drone, Small-Target detection has become a hotspot of
current research. In this paper, the network of Small-Target detection is based on
YOLOX is studied. There are a lot of small targets in the images taken by UAV, whichbrings great difficulty to the detection task. A four-scale adaptive spatial feature fusion
pyramid is used to filter the conflicting information between different scales andimprove the expressive accuracy of the small target features. Experiments show thatthe proposed method has a mAP average accuracy of 32.83% in the self-built dataset,
which is 2.53% higher than that of YOLOX-s, 1.53% higher than that of Yolov6-s, and5.73% higher than that of YOLOv5-s.

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OS31-2 Super Resolution Reconstruction Model Based on Attention Mechanism andGenerative Adversarial Network
Xia Miao, Xiaoyan Chen (Tianjin University of Science and Technology,China)
With the continuous improvement of the screen quality of various electronic devices,the public's pursuit of fine visual effects is also increasing. However, due to thedegradation phenomenon in the actual imaging and transmission process, there is acontradiction between the obtained low resolution image and the high quality screen.
The purpose of image super resolution reconstruction is to recover high frequency
details from low resolution images containing little information, so as to improve thevisual effect of images. Based on the problems existing in the current Adversarial
network generation methods, this paper constructs Channel Attention (CA) and
Generative Adversarial Networks. CA-SRGAN is applied to image super resolution
reconstruction, and the image super resolution reconstruction module is implemented.

OS31-3 Pedestrian-vehicle detection based on YOLOv7
Xiaoyan Chen, Zhihui Chen (Tianjin University of Science and Technology, China)
With the continuous development of information technology, it is constantly
improving. The security industry is constantly expanding. Therefore, object detection
has become more important. In this paper, a large number of experiments have been
made to improve the detection accuracy of pedestrians, vehicles and license plates incities. The improved YOLOv7 algorithm was used to conduct a large number ofexperiments on the urban pedestrian vehicle dataset. Experiments show that new
improvements have improved detection accuracy.

OS31-4 A lightweight, faster, more generalized low light image enhancement network
Yutao Jin, Xiaoyan Chen (Tianjin University of Science and Technology, China)
Existing methods based on deep learning have achieved great success in low lightimage enhancement. However, these methods generally have a very large amount ofcomputation and poor generalization ability for low light images in different scenes.
In order to solve this problem, this paper explores a wonderful way to assist training
by introducing auxiliary blocks in the training process. These blocks can connect thefeature map input to each stage with the input to the first stage of the model to explore
whether the model converges. In the prediction phase, due to the superior capabilitiesof the network, we use only one basic block for inference, so as to greatly reducing thecomputational cost. Thanks to the flexibility of the network, the model can easily
handle low light images in a variety of complex environments.

OS31-5 An Improved Landweber Method for Electrical Impedance Tomography
Qian Wang, Xiaoyan Chen (Tianjin University of Science and Technology, China)
Electrical impedance tomography (EIT) is a non-destructive monitoring technique. Its
image reconstruction problems have serious nonlinear and ill-posed nature, whichleads to the low spatial resolution of the reconstructed images. The iterative algorithm
is an effective method to deal with imaging inverse problem. However, the existing
iterative imaging methods have many problems, such as many iterations and unstable
convergence. To solve this problem, this paper proposes an improved Landweber
iterative image reconstruction method. By adding a regularization term to the objectivefunction of the inverse problem of EIT, the method improves the convergence speed.
The physical experiment results show that the improved Landweber method is superior
to the Landweber method in convergence speed.

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OS32 AR, VR and Digital Contents
Chair R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Co-Chair Yoshimasa Tokuyama (Transworld University, Taiwan)
OS32-1 A Kinect-based Augmented Reality Game for Arm Exercise
Toshimasa Tokuyama (Transworld University, Taiwan)
R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
Augmented reality (AR) is where 3D virtual objects are integrated into a 3D physicalenvironment in real-time. Augmented reality applications such as medical
visualization, maintenance and repair, robot path planning, entertainment, military
aircraft navigation, and targeting applications have been proposed. This paper
introduces the development of an augmented reality game that allows the user to carryout arm exercises using a natural user interface based on Microsoft Kinect. The system
has been designed as an augmented game where users’ hands are in a world augmented
with virtual objects generated by computer graphics. The player is sitting in a chair,grasping the yellow stars displayed on the stage. It encourages the activities of a large
number of arm muscles which will prevent decay. It is also suitable for rehabilitation.

OS32-2 Development of EEG-based VR Application for Chakras Guided Meditation
Chien-Tung Lin, R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
In a rapidly changing world, everyone is under a lot of pressure, both visible andinvisible. Therefore, stress causes several diseases. Meditation through mindfulness is
one of the ways to relieve stress. This paper studies how to properly meditate in a VR
environment and increase the effect of chakra meditation by real-time EEG data. The
theory of chakras has existed for thousands of years and still exists in modern society.
The balance of their energy is essential to everyone. Meditation on the chakras isbeneficial to the health of the body. But for ordinary people, chakra is invisible andunimaginable. It is easy to associate it with religion. Therefore, we developed theapplication in a VR environment. Users can sit inside a non-distracting environment
with chakra visualization. It's easier for ordinary people to understand chakras
meditation. The application can understand the user's condition by the EEG data andchange to the next chakra in sequence.

OS32-3 A Study on Flower Patterns of Temple Cut-and-Paste Decorations based on L-system
Meng-Fan Huang, Tzu-Hsien Yuan, R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)“Cut-and-paste' is an architectural skill used in traditional Chinese temples to makevarious decorations by pasting tiles and glass. This traditional craft has a history of
more than 400 years, and each piece of work has noble artistry. This kind ofcraftsmanship is usually shown on roofs and walls of temples, so it is also called "arton the roof." However, due to the time-consuming or labor-intensive production andthe aging of many craftsmen, this traditional handicraft is slowly disappearing.
Although the paste decoration of the Temple has been registered and preserved by the
Taiwan government many years ago, there are very few related studies, and many
works are also in a state of being damaged and difficult to repair. Therefore, this study
will discuss the decorative flower patterns in the paste decoration of the temple,
analyze the growth of plants with the L-System, and then use TouchDesigner to create
interactive works, hoping to transform traditional handicrafts into public art so that
more people realize the importance of craft preservation.

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OS32-4 Pass-By: Development of Pedestrian Counts-based Art Installation for Passive
Interaction.
Jianlin Zhong, R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan)
The trees in the streetscape grow as pedestrians pass by; we are always taking away
and bringing in our surroundings without realizing it, perhaps some of the changes arevery small, and we only notice them when they have grown to colossal size. This work
presents a pedestrian counts-based art installation for multi-user passive interaction.
This work focuses on the impact of people on their surroundings which concerned acontemporary street scene projected in an open space and captured pedestrians' passby counts using an Arduino ultrasonic sensor. Based on the measured counts ofpedestrians passing by, the developed application controls the color of the street scene
and gradually decreases as the pedestrians cross. Using the L-system application, thetrees in the street scene grow progressively as the pedestrians cross.

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GS abstracts
GS1 Machine Learning & Neural Network & Artificial Life (3)Chair Masato Nagayoshi (Niigata College of Nursing, Japan)
GS1-1 Defect Solder Classification in Print Circuit Boards using Machine Learning
Watcharin Tungsuksan, Hattapat Silangren, Phattharaporn Iamcharoen, Wisanu Jitviriya(King Mongkut’s University of Technology North Bangkok, Thailand)This research proposes the solder inspection using the digital image processing
technique and machine learning base with our machine vision prototype. There are fiveclasses of classifying solder, including acceptable, short circuit, insufficient, blow holeand too much of solder. Automatic Optical Inspection (AOI) is used for the light sourcein the designed prototype and industrial camera which are installed on the mini-CNC.
For the algorithm, this research applies the scanning line of binary image for detecting
short circuit defection and the Random Forrest model for classifying other defects.
According to the experiments, the system can classify the defect types for two classes(acceptable and unacceptable types) and five classes as 89% and 71% of accuracy,
respectively.

GS1-2 A dynamic nurse scheduling using reinforcement learning: Dealing with various sudden
absences of a nurse
Masato Nagayoshi (Niigata College of Nursing, Japan), Hisashi Tamaki (Kobe University, Japan)
In nurse scheduling, whereby work schedules for nurses are created, it is very difficult
to create a work schedule that satisfies all the various requirements. Hence, various
studies have been conducted on the nurse scheduling problem. However, for practicaluse, adjustments including various constraints and evaluation values are required, as
the created shift schedule is often not practical as it is. Therefore, we have proposed awork revision method using reinforcement learning on a constructive nurse schedulingsystem. Furthermore, we have proposed an extension of the proposed method todynamic nurse scheduling, in which the work schedule is revised or rescheduled whenan absence occurs. In this paper, we confirm whether or not the extended method canbe used to create a work schedule that is feasible in various sudden absences of a nurse.

.

GS1-3 Classification of Time Series Data Obtained by the Satellite by Using Rule-Based andMachine-Learning Methods
Satoko Saita1, Mariko Teramoto2, Kentarou Kitamura2( National Institute of Technology, Kitakyushu College, Japan), (2Kyushu Institute of Technology, Japan)
1

Scientific observations by nano-satellites need to reduce downlink data by onboard
data preprocessing because of its communication volume constraints. We tried toclassify time series data of geomagnetic field obtained by the SWARM satellite in order
to integrate machine-learning techniques, and to determine the most appropriate
method for onboard classification of a phenomenon in the geomagnetic field. The
classifications have been executed by using rule-based, K-means, and combined CNN
methods. The experimental results demonstrated the effectiveness of machine-learningmodel with LSTM networks. This study will contribute to development of machinelearning capable nano-satellites.

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GS2 Image Processing I (5)Chair Watcharin Tangsuksant (King Mongkut’s University of Technology North Bangkok,
Thailand)GS2-1 Microalgae Detection by Digital Image Processing and Artificial Intelligence
Watcharin Tangsuksant, Pornthep Sarakon(King Mongkut’s University of Technology North Bangkok, Thailand)This article presents a technical approach to the video computer analysis, toautomatically identifying the two most frequently identified microalgae in watersupplies. To handle some difficulties encountered in image segmentation problem
such as unclear algae boundary and noisy background, we proposed a deep learningbased method for classifiers or localizers to perform microalgae detection andcounting process. The system achieves approximately 91% accuracy on Melosira
and Oscillatoria detection, which around 4.82 seconds per grid. (Intel Xeon(R) CPU
E5-2667 12 CPU at 2.66GHz and 32.0GB RAM, NVIDIA Quadro K5200 with 2304
CUDA cores). The system can significantly reduce 33.33 - 55.56% of the counting
time when compared with the visual inspection of manual methods, and eliminate theerror due to the human fatigue.

GS2-2 SmartCropPlanting: IoT-Based Mobile Application for Hydroponic System
Sung Jun Kyu1, Chit Su Mon2, Kasthuri Subaramaniam3( UCSI University, Malaysia) (2Heriot-Watt University Malaysia, Malaysia)
1,3Hydroponic crop production is challenging for farmers and gardeners; they must
continuously monitor and control the crop environment to achieve or maintain the best
plant growth. Climate changes and disease/pests might occur anytime at anywhere
which will consequence in crop-damaging. Studies show that slight rises intemperature from 1°C to 4°C can resulting in a decrease in the production of 10 to41%. Another study shows that depending on the severity of leaf spot disease it will
damage the crop by 10 to 50%. Therefore, this study proposed to improve the current
hydroponic system by implementing the Internet of Things and Image Processing
technique to optimize and reduce the infeasible tasks with mobile applications. This
study has conducted a mixed-mode method with home gardeners, farmers, and related
experts. The results show that 80% of respondents agree that SmartCropPlanting will
improve the productivity and efficiency of crop planting with IoT and Image
Processing techniques.

.

GS2-3 Detection of Eye Misalignment Using an HMD with an Eye-tracking Capability
Yoki Nagatomo, Noriyuki Uchida, Takuya Ikeda, Kayoko Takatsuka, Masayuki Mukunoki, Naonobu Okazaki(University of Miyazaki, Japan)
In this study, we implemented the Cover-Test, a test method for diagnosing eye
misalignment using a head-mounted display with an eye-tracking capability.
Specifically, we created a virtual examination environment in a VR space. The
eye-tracking technique collected eye movements immediately after thecovering or uncovering of the eyes. Thus, we calculated the amount of eye
deviation and developed a system to determine the presence and magnitude ofstrabismus and heterophoria. We then assessed the system in the verification
experiment by examining the consistency between the judgment results
provided by this system and the clinical evaluation approach with the Maddox
rod. The result was that we could verify the horizontal eye movements moreaccurately.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

GS2-4 Using OpenCV for real-time image recognition through augmented reality devices
Gabdullina Dinara, Zykov Evgeniy, Kugurakova Vlada (Kazan Federal University, Russia)
This article describes the peculiarities of writing libraries and the rapid developmentof augmented reality applications on the Unity platform and the OpenCV open-source
library. The application of OpenCV functions to work with augmented reality objects
is discussed in detail. On their basis, algorithms and methods were developed and an
open library was created that implements the stable recognition of objects in various
conditions by means of binding to the marker and their visualization on the augmented
reality devices. On the basis of the developed library, a complete application was
created to illustrate the possibility of applying virtual reality technologies for opticalcontrol of the assembly of radio electronic boards and for personnel training.

.

GS2-5 A Structure Pattern Extraction by Using Morphological Component Analysis in the
Aerial Image Edge Detection
Wataru Oshiumi, Ankur Dixit, Hiroaki Wagatsuma (Kyushu Institute of Technology, Japan)
T An automated extraction of areas of interest from aerial images is a central issue ofmap makers. The road skeleton is one of the most frequent targets and then theprefiltering of road structures is highly important; however, the isolation of man-madestructures from a natural landscape is technically difficult, because image parts torepresent natural geographical features are not uniform patterns. In the present study,
we focused on the function of Morphological Component Analysis (MCA) method to
extract structural patterns when dictionaries were appropriately given anddemonstrated an effectiveness of the edge detection if the prefiltering was done byusing MCA. In our computer experiments, MCA decomposes the image into twopatterns with Curvelet transform and Local Discrete Cosine Transform (LDCT)
dictionaries. This approach will explore extensive possibilities of structural data
extraction from complex images as an automated method.

.

GS3 Image Processing II (4)Chair Joo Kooi Tan (Kyushu Institute of Technology, Japan)
GS3-1 3D Point Cloud Registration and Segmentation of Reflective Metal Objects Using GoICP and Improved RANSAC
Kairi Morita, Ziyue Liu, Jing Cao, Seiji Ishikawa, Masuhiro Nitta, Joo Kooi Tan(Kyushu Institute of Technology, Japan)
Registration and segmentation of 3D data are necessary in many fields, such as factory
automation, automated driving, or even in the medical field. However, the techniqueis generally applied to non-metal objects. One of the problems of registration of a metal
object is that the point clouds representing a metal object contain many outliers andmissing points because of its reflective nature. This makes the accuracy of theregistration and segmentation degrade. In this paper, we propose registration andsegmentation techniques that are robust to outliers. For registration, we use globally
optimal Go-ICP (Global optimal - Iterative Closest Point) algorithm considering
goodness of a combination of point cloud sets to escape from convergence to a local
solution. In segmentation, we address the problem of RANSAC generating false
segments consisting of nearly identical multiple planar points by improving RANSAC.
We use three kinds of metal tray to show the effectiveness of the proposed technique.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

GS3-2 Development of a Safe Walking Assistance System for Visually Impaired Person Using
MY VISION ― Estimation of a Safe Passage from Sidewalk Information Based on Transfer
Learning of VGG-16 Network
Takumi Yokote, Joo Kooi Tan (Kyushu Institute of Technology, Japan)
In recent years, the number of visually impaired person has been increasing year by
year, and outdoor accidents have also been increasing when they go out. It is difficult
to detect hazards on sidewalks even with the currently popular technique, such as asemantic segmentation technique or YOLO, because sidewalk situations arecomplicated and change frequently. For this reason, we propose a method ofrecognizing sidewalk situations from a self-viewpoint video called MY VISION.
Conventional methods detect objects surrounding the sidewalk by learning the objects’features beforehand and guiding visually impaired person according to theposition/direction of the detected object. The proposed method neither learns objects
nor detects objects. We focus on sidewalk situations and use a multi-class classification
based on transfer learning of VGG-16 to guide visually impaired person’ walkaccording to three kinds of sidewalk information to ensure more safety. The
effectiveness of the proposed method was confirmed by experiments.

.

GS3-3 Detection of Fallen Persons and Person Shadows from Drone Images
Taisei Ono, Haruka Egawa, Seiji Ishikawa, Joo Kooi Tan (Kyushu Institute of Technology, Japan)
In recent years, the development of automatic search methods based on aerial images
taken by drones has been attracting attention in order to prevent secondary disasters
and to perform rescue operations quickly in the search for victims of natural disasters.
Although various methods exist for automatic human detection for search, they arebased on the assumption that the background area of a person captured by a drone
camera is a uniform ground in which only those persons who require rescue exist
without any shadows or trees. In this paper, we propose a method of automatic
detection of both fallen persons and person shadows, or trees on the ground. The
method is a combination of Ri-HOG and Ri-LBP features to search for fallen persons.
These features are robust to rotation. We then employ Grabcut and brightness values
to detect shadows. The effectiveness of the proposed method was verified byexperiment.

.

GS3-4 A Systematic Literature Review on Emotion Recognition System in Malaysia
Muhammad Nadzree Mohd Yamin, Kamarulzaman Ab. Aziz, Tan Gek Siang, Nor Azlina Ab. Aziz
(Multimedia University, Malaysia)
Artificial intelligence (AI) is an important technology that evolved from theories into
tangibility with significant impacts and applications across sectors. AI is one of the
key technologies that gave rise to the fourth industrial revolution (IR 4.0). One key
subcategory of AI is the automated emotion recognition system (ERS); the applicationof AI to recognize human emotional states. ERS can be embedded in our daily lives.
The importance of ERS will become more significant as we move towards the fifth
industrial revolution (IR 5.0). ERS is a bridging technology from IR 4.0 into IR 5.0.
Crucial for this, is good adoption or diffusion levels of ERS amongst society.
Therefore, there is a need to understand the factors that affect the adoption of ERS.
This paper seeks to establish and discuss the current ERS research landscape in
Malaysia through systematic literature review covering works over a decade; from2011 to 2022.

105©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

GS4 Robotics I (4)Chair Amornphun Phunopas (King Mongkut’s University of Technology North Bangkok, Thailand)
GS4-1 A Basic Study of Hand Eye Calibration using a Tablet Computer
Junya Sato, Takayoshi Yamada, Kazuaki Ito (Gifu University, Japan)
In this study, we describe a hand eye calibration method for calibrating an attachedcamera and a handmade end-effector to a robot by utilizing a tablet computer. For
accurate manipulation, calibrating the camera, robot hand, and end-effector isimportant. However, general hand eye calibration methods do not consider dimensionsof an end-effector and attached position to the robot in the calibration process. Thus,
additional calibration of the attached end-effector for accurate manipulation is required
when there is no detailed information of the end-effector such as a handmade one. To
avoid this, we propose a novel method using a tablet computer. By iterating thetouching black dots displayed in the computer and optimizing robot parameters tominimize the touching error, the hand eye calibration is achieved without the endeffector information such as the dimensions and attached position.

.

GS4-2 Human Detection with Uprisen Angle of a Camera for the Service Robot
Watcharin Tangsuksant, Amornphun Phunopas, Pornthep Sarakon, Aran Blattler(King Mongkut’s University of Technology North Bangkok, Thailand)
In order to improve the intelligent service robot, visual perception is crucial. This paper
presents human detection for a service robot. The camera is installed at the robot's
uprisen angle of around 30 degrees. Two feasible algorithms for the real-time detection
between the Haar cascade and Single Shot Detector (SSD) algorithm are compared.
This research collects the training data as 1,000 images of the uprisen angle, thedifferent views of the human within 60 cm of the user range from a camera to a human.
The proposed method has a higher performance than traditional Haar cascade and SSD.
Therefore, the proposed method is suitable and feasible to deploy to the service robot.

.

GS4-3 Synthesis of Drive Systems of Flapping and Feathering Motions for Bird-like Robot using
Twist Drive Mechanism
Jun Iwao, Hiroshi Ohtake (Kyushu Institute of Technology, Japan)
In the research field of flying robots, many studies on flapping-wing aircraft have been
conducted in recent years. In this research, we focus on a bird-shaped flapping wing
aircraft. In our previous research, we have developed a robot that mimics themusculoskeletal structure of an actual bird using a twist drive mechanism, and haveachieved two types of wing motions, which are flapping and feathering, independentlyof each other. In this study, we have synthesized the drive systems of flapping andfeathering, and have succeeded to interlocked two motions. In addition, we havecovered the wings with a membrane to verify the wing motion under the condition ofa membrane wing, which is strongly affected by air resistance. The flapping motion
with twisting of the hands, such as actual birds do in flight, has been achieved.

106©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

GS4-4 Optimization Algorithm for Balancing QoS Configuration in Aggregated Robot
Processing Architecture
Abdul Jalil, Jun Kobayashi, Takeshi Saitoh (Kyushu Institute of Technology, Japan)
This study aims to design an optimization algorithm to find the optimal value of
DEPTH and DEADLINE in the Quality of Service (QoS) configurations while the
Robot Operating System 2 (ROS 2) nodes are communicated using the RELIABLE
and KEEP_LAST options. We implemented this optimization to improve the qualityof data transmission in Aggregated Robot Processing (ARP) architecture. Strictreliability is not guaranteed if ROS 2 uses the RELIABLE and KEEP_LAST options
to transmit the message data between the publisher and the subscriber. In addition,
unbalancing DEPTH and DEADLINE configurations can affect the high latency timeof message data transmission and packet loss in RELIABLE connections. The resultof this study shows that the optimization algorithm can determine the optimal value of
DEPTH and DEADLINE to balance the QoS configuration to improve robot datatransmission in the ARP architecture.

GS5 Robotics II (4)Chair: Takayoshi Yamada (Gifu University, Japan)
GS5-1 Research on robotic assembly of gear motors (Stator recognition using keypoint matchingand stator insertion using contact position estimation)
Yasumoto Imai, Takayoshi Yamada, Junya Sato (Gifu University, Japan)
Toshiki Hayashi, Shota Aono (Tsubakimoto Chain Co., Japan)
Assembly tasks in various fields, which require dexterous skills, are still often
performed manually. Humans use information such as vision and hand sensation toaccomplish these tasks. This paper describes a robotic assembly system for gear
motors. Two main methods, key point matching and contact position estimation, areused to realize the gear motor assembly work, which is the insertion of the stator into
the reducer. Keypoint matching is used to recognize the position and orientation of thepart using a camera. Contact position estimation is used to detect contact between partsin the insertion process using a force sensor to prevent failure of the insertion
operation. An experimental system using these methods is developed to achieve
automatic stator insertion.

GS5-2 Robot Arm Operating Interface for Easy Grasping by Specifying the Gripping Width ofEnd-effector
Rio Takeuchi, Laijun Yang, Norihiko Kato (Mie University, Japan)
In Japan, cervical cord injuries affect roughly half of all patients with spinal cord
injuries. High-Level spinal cord injuries make it particularly difficult for patients topick up objects from the ground because of the functional impairment of the trunk. To
help these people become more independent, welfare robot arms have been developed
recently. In our lab, an interface has been proposed to control the robotic arm bydrawing a line on a touch screen in order to grasp an object on the floor and deliver itto the user. This technique has a fixed closing width for grasping, making it challenging
to use when the object's sizes change. Therefore, we proposed a method that allows theadjustment of the closing width according to the drawn line on the touch panel
interface. As a result, we found that the grasping was still possible even the object wasaltered.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

GS5-3 3D Real-Time Conversational Virtual Agents System: Do Facial Expressions and Camera
Angles Persuade Human
Pinkie Anggia, Kaoru Sumi (Future University Hakodate, Japan)
This paper aims to uncover state-of-the-art on persuasion through a dialogue
interaction system between human and virtual agents. 37 participants interacted with avirtual agent system from facial expressions and camera angles in three conditions.
Through empirical measurements using the Big Five theory, we discover that virtual
agents' friendliness becomes a solid persuading factor to our predominantly
extroverted participants. The experiment deduces that openness, conscientiousness,and extraversion personalities are easily persuaded by our virtual agents, unlike
reversed-conscientiousness and neuroticism personalities.

.

GS5-4 Quasi-static Stability Analysis of Frictionless Planar Enveloping Grasps (Analysis ofcurvature effects at contact points)
Takayoshi Yamada, Junya Sato, Kazuaki Ito, Hidehiko Yamamoto (Gifu University, Japan)
Humans can grasp and manipulate various types of objects dexterously. In recent
years, in order to obtain appropriate grasps, deep learning methods are introduced.
On the other hands, in one of traditional ways, grasp stability based on potential
energy of the grasp system replaced with an elastic system is investigated in orderto derive grasp evaluation. In this paper, we discuss grasp stability of frictionlessplanar enveloping grasps. The stiffness matrix of the grasp system is derived. The
grasp stability is evaluated by the eigenvalues of the matrix. We show that thematrix depends on grasp positions, grasp forces, local curvatures, etc., at contact
points. Moreover, we analyze curvature effects on the grasp system bydifferentiating the matrix by the curvatures.

GS6 Applications I (5)Chair Minoru Kumano (University of Miyazaki, Japan)
GS6-1 My Tally -A Personal Book Keeping Mobile Application
Li Zhihan1, Abdul Samad Shibghatullah1, Nur Hazirah Hamdan2( UCSI University, Malaysia), (2Universiti Teknologi MARA,UiTM, Malaysia)
1

Bookkeeping has a long history and is charming and colorful. Throughout the ages,
people have used the experience of abacus bookkeeping; Later, we used pens andbooks to keep accounts, supplemented by calculation results. In the information ageof the 21st century, the popularization of computer software makes us turn to excel orother desktop software with powerful analysis function for computer bookkeeping.
However, all the above methods are limited by time and space. My Tally focuses on
the construction of Android environment, functionally designed many aspects
involved in people's daily consumption. The personal bookkeeping application
designed in this paper not only reflects the convenience of recording income andexpenditure information, but also analyses the financial situation, so that people canrecord information faster and in real time and provide users with the ability to recordand manage daily financial events. Compared with the traditional accounting methods,
the personal bookkeeping application designed in this paper has the characteristics of
security, portability and practicability.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

GS6-2 A Survey on Charitable Acts, Challenges and Using Charitable Mobile Application
Nan Pepin1, Abdul Samad Shibghatullah1, Kasthuri Subaramaniam1, Nur Hazirah Hamdan2(1UCSI University, Malaysia), (2Universiti Teknologi MARA, Malaysia)
A donation is a gift that is given voluntarily or sincerely without the expectation ofreceiving something in return. Donating in contemporary terminology is better known
by the term philanthropy. Today, the emergence of charity platforms resulted in amodern society increasingly making donations in cyberspace, which are referred to as
online charity. Although the use of digital technology allows for philanthropic
activities to be carried out, there are still shortcomings in this online system. This paper
aims to study mobile charitable applications among users. The survey has been
conducted via Goggle form and distributed to 110 participants through the internet.
The findings show that there are not many applications of this sort being produced byother developers and there is a need to develop a mobile application that can help
donators and receivers. The proposed mobile applications should be faster, easy to
manage and transparent.

.

GS6-3 Online Parcel Management System (PMS) for Small and Medium Company
Chew Cheng Jin1, Kasthuri Subaramaniam1, Abdul Samad Shibghatullah1, Salini Devi Rajendran2,
Nur Hazirah Hamdan3
1( UCSI University, Malaysia), (2Taylor's University, Malaysia),(3Universiti Teknologi MARA,UiTM, Malaysia)
This research is going to gather more information of the recipient viewpoint on how
Parcel Management System can help current system to reduce the workload andmanpower to handle all these parcels, increase efficiency and save time and effort
which make the staff of the reception counter easier to work and no need to use backthe old method to record the details of the parcel. The result of the survey was analyzed
in detail and find out the problem of the current parcel management system. The
system development approach that the researcher used for this system is Rapid
Application Development (RAD) Model. The reason that the researcher chooses thismethodology is because there is lack of time and money to do this project. There isfour of the stages in Rapid Application Development (RAD) methodology life cycle,
which is requirement planning phase, user design phase, construction phase andtransition phase. There are several phases in this project such as planning, requirement
gathering and analysis, design and implementation and there is also have somedeliverable in those phases.

.

GS6-4 Automatic Classification Method for Plastic Bottles and Caps Using Multi Attention EffUNet
Shunsuke Moritsuka, Tohru Kamiya (Kyushu Institute of Technology, Japan)
In Japan, the increase of general waste has become a problem. One solution is torecycle used plastic bottles. However, plastic bottles are thrown away with their caps
still attached, requiring the caps to be removed manually. To solve this problem, wedevelop a method to automatically identify plastic bottles and caps using deeplearning. In this paper, we add an attentional structure to Eff-UNet to build a modelwith reduced over-detection, as shown in the figure on the right. To extract features
for objects of various sizes, we also propose a model that combines different numbersof blocks of the model shown on the right. In fact, experiments were conducted on animage of a plastic bottle, and this model succeeded in improving accuracy by 1.7%
compared to Eff-UNet.

109©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

GS6-5 Research on the structure of consciousness of people who maintain and manage parks
Jun Sanbuichi1, Minoru Kumano1, Toru Hiraoka2(1University of Miyazaki, Japan), (2University of Nagasaki, Japan)
Due to population decline, unused vacant land is expected to increase in the region in
the future. So, it is considered important to have local residents maintain and manage
local spaces. However, consciousness indicators of how to encourage maintenance andmanagement are not clear. Therefore, the purpose of this study is to clarify the
consciousness structure of people who maintain and manage park. The investigation
method is a questionnaire to park volunteers. In the consciousness analysis of park
volunteers, factor analysis and covariance structure analysis were performed. As aresult, it was proved that six consciousness (Interest in greening etc.) are related to thecomprehensive consciousness index of park maintenance behavior.

GS7 Applications II (3)Chair Hiroaki Wagatsuma (1Kyushu Institute of Technology, 2RIKEN CBS, Japan)
GS7-1 An Accuracy Evaluation of Multibody Dynamics for the Knee Support Exoskeleton
Modelwith Respect to Implicit Methods for Numerical Integration
Shintaro Kasai, Hiroaki Wagatsuma (Kyushu Institute of Technology, Japan)
Numerical integration takes an important role to analyze models described by ordinary
differential equations and it largely contributes to an assurance of the accuracy indisplacement analyses of multibody dynamics if the model consists of several bodies
especially with dynamic components such as springs and dampers. Exoskeletal
assistive devices require flexible materials for absorbing reaction forces from humanjoints, which implies an inevitable necessity of an accurate evaluation of elastic effects
in the model. In the present study, we introduced implicit methods for numericalintegration to analyze the model under the formulation of multibody dynamics andcomputer experiments demonstrated results from explicit and implicit methods for thenumerical integration as a comparison analysis. It can improve a degree of accuracy
in inverse dynamics even in the theory of flexible Multibody Dynamics (fMBD).

GS7-2 A Basic Concept of the Nonlinear Oscillator-Based Hough Transform Implementation to
Improve the Voting Procedure in the Scheme of Continuous Dual Spaces
Amarbold Purev, Hiroaki Wagatsuma (Kyushu Institute of Technology, Japan)
Hough Transform (HT) is a well-known algorithm to detect arbitrary lines in theimage. The algorithm of HT consists of two processes mapping to the parameter spaceand voting to find a solution. The former process is executed in the continuous space,
while the latter process relies on counting in the mesh as a discrete space, which
increases susceptibility to noise. In the present study, we proposed attractor dynamics
in coupled nonlinear oscillators instead of discrete voting. In our computer experiment,
image pixels were mapped to the parameter spaces, and they were attracted to thecrossing point of lines in the space. The approach may contribute not only to line
detections in the image but also to other shape detections by using a consistentmathematical formulation.

110©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

GS7-3 Survey on Harness Design for CubeSats: Understanding the Constraints of CubeSats
Design and Toward an Optical Wireless Bus for CubeSats
Masahiro Tokumitsu1, Masatoshi Tsuji2, Jun Nakaya3( National Institute of Technology (KOSEN), Yonago College, Japan)(2National Institute of Technology (KOSEN), Kagawa College, Japan)(3Aichi Institute of Technology, Japan)
1

CubeSats of nano-satellites have attracted the attention of space scientists andengineers seeking to observe the space environment and develop innovativetechnologies in space engineering. The CubeSat is a class of miniaturized satellites
with a form factor based on a 10 cm cube. However, the dimensional constraints of
CubeSats restrict the embedding of relatively large mission devices, such as attitudecontrol systems, into the satellites. Moreover, the harness used to transfer the data andsupply power to the mission devices also occupies physical space to embed the mission
devices. Therefore, this research surveys earlier studies on nano-satellite harness
design. In addition, we consider the possibility of an optical wireless harness for thesatellite bus system to achieve a more effective and reliable design for the CubeSats.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan

PosterChair Yong Hun Kim (Sejong University, Korea)
POS Magnetic Anomaly-Matched Trajectory and Dead Reckoning Fusion Mobile Robot
Navigation
Yong Hun Kim, Bo Sung Ko, Jin Woo Song (Sejong University, Korea)
This paper presents a navigation algorithm based on the magnetic anomaly-matchedtrajectory for an indoor mobile robot. An environment with many similar magnetic
field distortions cannot navigate stably with a magnetic anomaly-based navigation
algorithm. In this study, we propose that stable navigation solution in various indoor
environments through a fuse between magnetic anomaly-matched trajectory andmobile robot inertial trajectory. The proposed method uses dead reckoning(DR) as theprimary navigation system and determines the similarity between magnetic anomalymatched trajectory and DR trajectory to generate a trajectory key-frame. When the keyframe is detected, perform an extended Kalman filter(EKF) measurement update. In
this study, an open dataset is used to verify the algorithm's performance, and wecompared the existing algorithm. Since the method proposed uses only odometer,gyroscope, and magnetometer for indoor navigation, it has the advantage of building asystem at a low cost.

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The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in JapanAUTHORS 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]

OS1-7

40/50

OS25-2

30/87

Ab. Aziz

Kamarulzaman

GS3-4

37/105

Ab. Aziz

Nor Azlina

GS3-4

37/105OS25-3

30/88

Abbas

Samer

OS25-630/89

OS25-430/88

Abbyasov

Bulat

OS6-7

36/58

Ang

Koon Hian

OS25-430/88

Abdul Aziz

Siti Zaleha

OS24-1

39/85

Ang

Koon Meng

OS25-330/88

OS24-2

39/86

OS25-430/88

OS27-1

31/92

AnggiaPinkieGS5-3

44/108OS27-5

31/93

Anuar

MohamadOS26-1

34/90

Abdullah

Nor Fazilah

Abe

Akinori

OS28-442/95

Abu Talip

MohamadOS26-134/90

Ang

Izzuddin

SofianAburadaKentaroOS14-324/70

OS14-424/70

Chun Kit

Aoki

Kenji

OS18-3

40/76

Aono

Shota

GS5-1

44/107

Apurin

Artem

OS6-5

36/58

OS6-7

36/58

Afanasyev

Ilya

OS6-6

36/58

Arima

Masakazu

OS20-1

25/78

Ahn

JonghyunOS20-3

25/78

Arita

Daisaku

OS20-5

25/79

Ai

Lian Lim

OS1-4

40/49

Arof

HamzahOS26-1

34/90

Ai LeenGan

OS29-327/96

OS29-5

27/97

Al-Badarneh

Aaa

OS1-7

40/50

OS1-4

40/49

Al-Talib

Ammar A.

OS27-1

31/92

OS27-2

31/92

AtifahSarah

OS27-6

31/93

OS27-3

31/92

Atiqa

Ain

OS27-1

31/92

OS27-431/93

OS27-431/93

OS27-5

31/93

Aung

IK ChuOS27-2

31/92

OS27-6

31/93

AzizanMuhammadOS24-1

39/85

Asri

MuhammadAmirul Aiman

Al-quraan

Obaid

OS1-6

40/49

AlahmadRaji

OS21-137/80

OS24-2

39/86

Alquran

Hiam

OS1-6

40/49

OS24-3

39/86

OS1-7

40/50

AlraieHussam

OS21-7

38/82

AlRowaily

MoflehOS29-5

27/97

Azizi

[B]

HannufAlsalatie

Mohammed

OS1-6

40/49

113
©ICAROB 2023 ALife Robotics Corp. Ltd.

Bai

Yang

OS6-7

36/58

Biki

Bidesh Biswas

OS18-5

41/76

Blattler

Aran

GS4-2

43/106

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan[C]

OS13-6

33/68

OS13-7

33/68

OS13-833/69

OS13-933/69

Cai

HanlinOS25-7

30/89

Cao

Jing

GS3-1

37/104Chang

Meng-Wei

OS2-1

21/50

OS2-6

21/51

Dahari

Mahidzal

OS1-5

40/49

Dai

Fengzhi

OS8-2

32/61

[D]

Cheah

Dei XuanOS26-3

34/90

Chebotareva

Elvira

OS6-1

35/56

OS9-1

28/63

OS6-2

35/57

OS11-2

29/65

OS6-4

35/57

OS24-1

39/85

OS6-5

36/58

OS24-2

39/86

OS24-3

39/86

Desa

Hazry

Chen

Chun -Nan

OS5-3

22/55

Chen

Hsiao-Fang

OS5-5

22/56

di Maria

EnricoOS21-2

37/80

Chen

Jin-Yuan

OS5-5

22/56

DinaraGabdullina

GS2-4

43/104Chen

Lu

OS11-3

29/65

Dixit

Ankur

GS2-5

43/104

Chen

ShilinOS25-831/89

Dobrokvashina

Alexandra

OS6-3

35/57

Chen

Shuai

OS15-2

36/71

OS6-7

36/58

Chen

Ting-Yi

OS4-4

21/54

OS15-2

36/71

Chen

Xiaoyan

PS3

27/46

OS15-5

36/72

OS31-1

41/98

OS31-2

41/99[E]OS31-3

41/99

Edgar A.

OS6-4

35/57

OS31-441/99

OS31-5

41/99

Egawa

HarukaGS3-3

37/105

Duan

SuqingMartínezGarcía

Chen

Yu

OS11-2

29/65

Enomoto

Sho

OS3-2

29/52

Chen

ZhihuiOS31-3

41/99

Evgeniy

Zykov

GS2-4

43/104Cheng

Wy-Liang

OS25-1

30/87

OS25-2

30/87

[F]

Chew

Cheng Jin

GS6-3

44/109Fatahuddin Malla Abdul Jalil

GS4-4

43/107Chit

Su MonGS2-2

43/103Fei

Shumin

OS8-2

32/61

Chou

Wen-Huei

OS4-1

20/53

Fujinaga

TakuyaOS20-3

25/78

Chow

Li SzeOS25-630/89

OS20-5

25/79

Chu

Qi

OS11-429/65

FukudaRiku

OS20-2

25/78

Chumkamon

Sakmongkon

OS13-2

32/67

FukudaYukiyaOS17-424/74

OS13-3

32/67

Fukumoto

Ryuma

OS20-425/79

OS13-4

33/67

Fukumoto

YukihiroOS21-137/80

OS13-5

33/68

Fxyma

HirokiOS28-1

42/94

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OS13-833/69

OS13-933/69

HayashiToshikiGS5-1

44/107Gamberov

Timur

OS6-3

35/57

HayashiYuki

OS28-342/94

Gamolped

Prem

OS13-2

32/67

Hayashida

Yuki

OS22-5

26/84

OS13-3

32/67

HigashiKazukiOS16-135/72

Gan

Jhui Ken

OS26-4

34/91

Hirai

Hiroyasu

OS20-6

25/79

Gao

YitingOS10-4

28/64

Hirakawa

Tomohiro

OS7-3

23/59

GautamAshish

OS12-1

22/66

Hiramitsu

Tatsuhiro

OS16-335/73

GeiserSylvainOS13-6

33/68

Hiraoka

Toru

OS3-1

29/52

OS13-8

33/69

OS3-2

29/52

OS9-3

28/63

GS6-5

44/110OS11-429/65

HirataKensuke

OS20-425/79

OS30-1

38/97

HirotaMasaharu

OS3-4

29/53

Hong

YuhangOS25-8

31/89

Hsia

Kuo-Hsien

OS5-4

22/55

OS6-3

35/57

Gong

HaoranGoudKaki Harshay
rdhan

Grayson

Chua Ray Sern

OS27-4

31/93

Guo

Haoyu

OS11-2

29/65

OS11-3

29/65

Hsiao

Jia-Ming

OS4-3

20/54

OS5-4

22/55

Hsu

Yu-Chi

OS5-1

21/54

Hu

JiahaoOS29-1

27/95

Hu

JianhaoOS15-1

36/71

Guo

Jr-Hung[H]
HamadaDaiki

OS20-2

25/78

Hu

Jiaqi

OS25-7

30/89

Hamakawa

FumitoOS18-5

41/76

Huang

Meng-Fan

OS32-342/100Hamamoto

Hiroki

OS7-3

23/59

Huang

Min-Wei

OS2-4

21/51

HamdanNur

GS6-1

44/108Huang

Yu-Sheng

OS5-3

22/55

GS6-2

44/109Hung

Chung-Wen

OS4-1

20/53

GS6-3

44/109HusnainAnees ul

OS1-4

40/49

OS1-5

40/49

Hara

AkiyoshiOS16-1

35/72

HaradaKensuke

OS16-1

35/72

OS16-2

35/73[I]

HasebeKodai

OS18-5

41/76

Iamcharoen

Phattharaporn

GS1-1

22/102

HayashiEiji

OS13-1

32/66

Ibrahim

Imanurfatiehah

OS26-134/90

OS13-2

32/67

OS29-5

27/97

OS13-3

32/67

Ichikawa

Naoki

OS16-335/73

OS13-4

33/67

Ikeda

MahiroOS22-1

26/82

OS13-5

33/68

Ikeda

Satoshi

OS18-140/75

OS13-6

33/68

OS18-240/75

OS13-7

33/68

OS18-340/76

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OS18-1

40/75

OS18-5

41/76

OS18-3

40/76

OS18-4

41/76

OS1-4

40/49

OS1-5

40/49

Ito

Tsutomu

Ikeda

TakuyaGS2-3

43/103Imai

Shinichi

OS7-4

23/60

Imai

Yasumoto

GS5-1

44/107

Imam

Jakaria Mahdi

OS29-4

27/96

Iwanaga

TakuroOS18-240/75

Inniyaka

Irmiya R.

OS20-2

25/78

Iwao

Jun

GS4-3

43/106OS21-3

37/81

Iwahashi

Masahiro

Iqbal

Javid

OS26-6

34/91

[J]

Ishak

Nurfadzillah

OS24-1

39/85

Jamal Deen

Ashraf Ali

OS1-1

39/48

OS24-2

39/86

Ji

Cuiying

OS15-3

36/71

OS24-3

39/86

Jia

Hongyan

OS9-4

28/63

Jia

Yingmin

OS8-4

32/62

OS8-5

32/62

Ishigami

RyoichiOS14-2

23/70

Ishii

Kazuo

OS20-1

25/78

OS20-2

25/78

Jitviriya

WisanuGS1-1

22/102OS20-4

25/79

Jothi

Neesha

OS1-1

39/48

OS20-5

25/79

OS1-2

39/48

OS20-6

25/79

OS1-3

39/48

OS20-726/80

OS26-5

34/91

OS21-137/80

OS26-6

34/91

OS21-2

37/80

OS29-1

27/95

OS21-3

37/81

OS25-1

30/87

OS21-4

37/81

OS25-330/88

OS21-5

37/81

OS21-6

37/82

OS21-738/82

Kamiya

Tohru

GS6-4

44/109GS3-1

37/104

Kamon

SupaphonOS21-2

37/80

GS3-3

37/105

KanaokaDaiju

OS17-3

24/74

Ishikawa

Seiji

Jusman

Yessi

[K]

Islam

Aminul

OS29-4

27/96

Kang

Mingxia

OS10-2

28/64

Islam

ShaylaOS26-3

34/90

Kang

RumingOS10-2

28/64

OS26-5

34/91

Kasai

Shintaro

GS7-1

33/110OS29-2

27/96

KasmanOS13-1

32/66

GS4-1

43/106

Katayama

OS14-1

23/69

GS5-4

44/108OS14-324/70

OS18-140/75

OS14-424/70

OS18-2

40/75

Kato

NorihikoGS5-2

44/107

OS18-340/76

KawadaKazuo

OS23-1

34/84

OS18-4

41/76

OS23-3

34/85

Ito

Ito

Kazuaki

Takao

116©ICAROB 2023 ALife Robotics Corp. Ltd.

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OS23-435/85
KuwataKawaguchi

Natsuki

OS18-5

41/76

Kaito

OS20-2

25/78

OS7-5

23/60

OS7-6

23/60

Lai

Hsin-Yu

OS2-4

21/51

OS7-7

23/60

Lavrenov

Roman

OS6-6

36/58

OS6-8

36/58

[L]

KawajiriKazushi

OS20-525/79

KawasakiYuki

OS22-426/83

LeeChen-Yu

OS2-1

21/50

Keoy

Kay Hooi

OS1-2

39/48

Lee

Meng-Huan

OS2-4

21/51

KhaledBelal

OS30-3

38/98

OS2-5

21/51

Khan

M.K.A

OS30-2

38/98

AhamedLee

Qi Jian

OS30-2

38/98

Li

Chu-Fen

OS2-3

21/50

Kidiraliev

Elaman

OS6-8

36/58

Li

Fangyan

OS10-1

28/64

Kim

Yong Hun

POS

26/112

Li

Hongbing

OS6-4

35/57

KimuraKenji

OS20-625/79

Li

JiaxinOS11-1

29/65

OS20-726/80

LiJung-Shian

OS2-1

21/50

OS7-2

23/59

OS2-3

21/50

OS7-3

23/59

OS2-4

21/51

OS3-3

29/52

OS2-5

21/51

OS14-3

24/70

OS2-6

21/51

OS14-424/70

Li

Tengxiang

OS25-831/89

Kinioshita

Kita

TakuyaYoshihiro

Kitamura

KentarouGS1-3

22/102

Li

Wei

OS9-4

28/63

Ko

Bo Sung

POS

26/112

Li

Yi-Yu

OS4-4

21/54

Ko

Cheng-Lung

OS4-1

20/53

Li

Zheng

OS25-730/89

Ko

Chia-Nan

OS4-4

21/54

Li

ZhihanGS6-1

44/108Ko

Ting-Ru

OS4-4

21/54

Li

Zhiyang

OS11-2

29/65

Kobayashi

Jun

GS4-4

43/107OS11-329/65

Kobayashi

TomoyaOS22-3

26/83

Li

ZongyiOS11-4

29/65

Kohno

TakashiOS12-1

22/66

Liang

Xiwen

PS3

27/46

OS12-2

22/66

Lim

Wei Hong

OS25-1

30/87

OS1-1

39/48

OS25-2

30/87

OS1-3

39/48

OS25-330/88

Kolandaisamy

Raenu

Koomklang

Nattapat

OS13-2

32/67

OS25-4

30/88

Kuang

WentaoOS11-329/65

OS25-5

30/88

Kudo

Akihiro

OS18-6

41/76

OS25-630/89

KumanoMinoruGS6-5

44/110OS25-7

30/89

Kumar

Mandigiri

OS30-1

38/97

OS25-831/89

OS30-338/98

OS32-242/100Golla Jagan
Kurogi

Shuichi

OS18-4

41/76

Lin

117
©ICAROB 2023 ALife Robotics Corp. Ltd.

Chien-Tung

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan
Lin

Mingrui

OS25-831/89

Mizoguchi

YusukeOS20-225/78

LinShih-Chin

OS2-2

21/50

Mochizuki

RyuugoOS21-537/81

LiuHongzeOS15-4

36/72

MohamedRizon

OS25-1

30/87

Liu

I-Hsien

OS2-1

21/50

OS25-2

30/87

OS2-3

21/50

OS25-4

30/88

OS2-4

21/51

Mohammed Al- Azam

OS1-3

39/48

OS2-5

21/51

Qussari

OS2-6

21/51

Mohamed ShahNoraisyah

OS1-5

40/49

Aisyah Arina

OS24-1

39/85

OS24-2

39/86

Liu

Jingwen

OS9-4

28/63

MohammadLiu

MengyuOS10-3

28/64

Shahrazel

Liu

Qunpo

OS8-3

32/62

Liu

Siyuan

OS9-3

28/63

Mohammadpour

AtefehOS30-1

38/97

OS11-4

29/65

Mohd Yamin

MuhammadGS3-4

37/105OS25-530/88

OS30-1

38/97

OS30-2

38/98

OS30-338/98

OS30-2

38/98

OS30-3

38/98

OS1-2

39/48

Liu

Yong

OS11-1

29/65

Liu

Ziyue

GS3-1

37/104

NadzreeMokayef

Mastaneh[M]
M.Tahir

Magid

Noor Idayu

OS27-2

31/92

OS27-6

31/93

PS2

20/46

OS6-3

35/57

OS6-4

35/57

OS1-3

39/48

OS6-6

36/58

OS1-4

40/49

OS6-7

36/58

OS1-5

40/49

EvgeniMokayef

Mokhtar

Miad

Norrima

Maike

He

OS16-335/73

OS29-4

27/96

MansorFakhrulOS24-1

39/85

OS29-5

27/97

MukminMorita

Kairi

GS3-1

37/104OS24-2

39/86

Moritsuka

Shunsuke

GS6-4

44/109MatsumotoIkuya

OS17-324/74

MotodaTomohiroOS16-1

35/72

MatsumotoSho

OS14-1

23/69

Mowshowitz

Abbe

OS13-7

33/68

Matsumoto

TakuyaOS13-7

33/68

Muhamad Hatta

S. F. W.

OS29-4

27/96

MatsuoTakayukiOS20-1

25/78

Mukunoki

MasayukiGS2-3

43/103OS20-5

25/79

Murai

Keita

OS23-1

34/84

Mustafa

Wan Azani

OS1-6

40/49

OS1-7

40/50

OS6-1

35/56

OS6-4

35/57

MatsunoSeigo

OS18-1

40/75

Miao

Xia

OS31-2

41/99

Miura

Seiichiro

OS20-1

25/78

Miyashita

Takeaki

OS14-324/70

Mizoguchi

NanakoOS18-7

41/77

Mustafin

118©ICAROB 2023 ALife Robotics Corp. Ltd.

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Nagamatsu

Masayasu

Ohshima

KenichOS20-5

25/79

OhtakeHiroshi

GS4-3

43/106

OhtaniMasahiroOS22-426/83

OS23-3

34/85

Okada

MasayukiOS20-5

25/79

OS23-435/85

OkazakiNaonobu

OS14-3

24/70

Nagao

Kenta

OS7-7

23/60

OS14-4

24/70

Nagatomo

Yoki

GS2-3

43/103

GS2-3

43/103

Nagayoshi

MasatoGS1-2

22/102OS22-1

26/82

Naim

Nani Fadzlina

OS29-6

27/97

OS22-2

26/83

Nakagawa

MasatoPS4

38/47

OS22-3

26/83

Nakahara

TakumiOS18-340/76

OnoJumpeiOS28-5

42/95

Nakamura

Akira

OS16-2

35/73

OnoTaiseiGS3-3

37/105

NakamuraJun

OS28-2

42/94

Ono

TomohiroOS17-2

24/74

Nakamura

Shingo

OS3-3

29/52

OS17-4

24/74

NakayaJun

GS7-3

33/111

OS17-6

24/75

Nan

Pepin

GS6-2

1944/2

Ooya

AkihiroOS13-3

32/67

NanamiTakuyaOS12-2

22/66

OshigeTakeruOS20-3

25/78

Naeem

BushraOS30-2

38/98

OshiumiWataruGS2-5

43/104Ng

Wai LamOS26-5

34/91

Ozawa

Masayoshi

OS20-1

25/78

NishidaYuya

OS20-2

25/78

OS20-5

25/79

OS21-137/80

LiOS25-1

30/87

OS21-3

37/81

OS25-2

30/87

OS21-537/81

PanWenxuanOS11-2

29/65

OS21-6

37/82

Peng

YizhunOS15-1

36/71

Okuno

Hirotsugu[P]
Pan

Nishimuta

Keisuke

OS20-2

25/78

OS15-2

36/71

Nitta

Masuhiro

GS3-1

37/104OS15-3

36/71

Noma

Shogo

OS3-1

29/52

OS15-436/72

OS15-5

36/72[O]

Phunopas

Amornphun

GS4-2

43/106

Ochiiwa

Takashi

OS7-3

23/59

Poojitha

Vytla

OS30-1

38/97

Oda

ShunsukeOS20-425/79

PrommaSornsiri

OS13-5

33/68

Ogata

Kouki

OS20-6

25/79

Purev

Amarbold

GS7-2

33/110

Ogata

TakashiOS28-5

42/95

Ogawa

Shintaro

OS13-4

33/67

OS13-8

33/69

Qiao

Zhi

OS10-328/64

QuFeiyang

OS11-429/65

OhnakaKento

OS18-7

41/77

Ohnishi

Yoshihiro

OS23-2

34/84

[Q]

119
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Sarawanan

Thivagar

OS1-1

39/48

RahmanHameedurOS25-2

30/87

Rajagopal

Heshalini

OS1-1

39/48

SaruchiSarah Atifah

OS27-3

31/92

OS1-2

39/48

Sato

Junya

GS4-1

43/106

OS1-3

39/48

GS5-1

44/107

OS1-4

40/49

GS5-4

44/108

OS1-5

40/49

Sato

Masanori

OS20-1

25/78

OS26-2

34/90

Sato

Ryoka

OS22-2

26/83

OS26-3

34/90

Sato

Takao

OS7-5

23/60

OS26-4

34/91

OS7-6

23/60

OS32-142/100

OS7-7

23/60

OS32-242/100

SawadaTakuroOS16-335/73

OS32-342/100Seki

Hiroaki

OS16-335/73

OS32-442/101

Sethu

Devika

OS1-1

39/48

Shaik

ShabanaOS26-434/91

OS29-2

27/96

OS29-327/96

OS25-1

30/87

OS25-2

30/87

OS25-330/88

OS25-430/88

Rajapakse

R.P.C. Janaka

RajendranSaliniGS6-3

44/109RamleeMuhammad

OS1-5

40/49

Chettiar

Anjum

Syazni Ikmal
Reddy

Myadadha

OS30-1

38/97

GouthamRen

KeyingSharmaOS31-1

Abhishek

41/98

[S]
Safin

Ramil

OS6-6

36/58

Sheng

Chang

OS10-1

28/64

Saita

SatokoGS1-3

22/102

Sheng

Yueqin

OS8-3

32/62

SaitohTakeshi

GS4-4

43/107

Shi

Yibo

OS8-1

32/61

Sakamoto

MakotoOS18-1

40/75

Shiba

TomoyaOS17-2

24/74

OS18-2

40/75

Shibghatullah

Abdul

GS6-1

44/108OS18-3

40/76

GS6-2

44/109OS18-4

41/76

GS6-3

44/109OS18-5

41/76

ShigyoYuki

OS20-726/80

OS18-6

41/76

Shirahashi

KanakoOS20-5

25/79

OS18-7

41/77

Siah

Cheong Lin

OS26-2

34/90

SanadaAtsushi

OS20-525/79

SilangrenHattapat

GS1-1

22/102

Sanbuichi

Jun

GS6-5

44/110Song

Jin WooPOS

26/112

SaputraMochamadOS14-4

24/70

Song

Yunzhong

OS8-2

32/61

SonodaTakashi

OS20-525/79

Subaramaniam

KasthuriGS2-2

43/103

GS6-2

44/109ChandraSarakonPornthep

GS2-1

43/103

GS4-2

43/106120©ICAROB 2023 ALife Robotics Corp. Ltd.

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GS6-3

Sudheer

Sayanth44/109

Takei

Amane

OS18-3

40/76

OS18-4

41/76

OS1-2

39/48

OS18-5

41/76

OS1-3

39/48

OS18-6

41/76

OS18-7

41/77

SuginoAkihiroOS20-2

25/78

Sugimoto

Taiki

OS28-2

42/94

Takemura

KakeruOS18-4

41/76

Sulaiman

Shifa

OS6-2

35/57

Takemura

Sota

OS7-2

23/59

OS6-3

35/57

Takemura

Yasunori

OS20-325/78

OS20-525/79

Sultanov

Ramir

OS6-2

35/57

Sumi

Kaoru

PS1

20/46

Takeuchi

Rio

GS5-2

44/107

GS5-3

44/108

TakeuchiShoki

OS23-2

34/84

OS30-1

38/97

TanakaRikutoOS20-2

25/78

OS30-2

38/98

TanakaYoshiki

OS20-2

25/78

OS30-3

38/98

Tamai

TeruyukiOS23-2

34/84

Summakieh

MHD Amen

Sun

Qian

OS8-5

32/62

Tamaki

Hisashi

GS1-2

22/102Sun

Yizhe

OS15-1

36/71

Tamukoh

HakaruOS17-1

24/73

Sung

Jun KyuGS2-2

43/103OS17-2

24/74

SusawaYuta

OS23-1

34/84

OS17-3

24/74

Suzuki

AkihiroOS17-624/75

OS17-4

24/74

SuzukiHiroyuki Y.

OS23-1

34/84

OS17-5

24/74

OS23-334/85

OS17-624/75

OS23-435/85

Tan

Chi Jie

OS13-833/69

Suzuki

KatsuakiOS21-6

37/82

Tan

Gek SiangGS3-4

37/105

Suzuki

YasuhiroOS19-1

31/77

Tan

Jia Wei

OS30-1

38/97

OS19-2

31/77

Tan

Joo Kooi

GS3-1

37/104

OS6-7

36/58

GS3-2

37/105

GS3-3

37/105

SvininMikhail[T]
T. Hussain

Tangsuksant

Abadal-Salam

Tan

Yew TianOS24-2

39/86

OS24-1

39/85

TanakaTakaya

OS7-5

23/60

OS24-2

39/86

TanakaYoshiki

OS20-2

25/78

GS1-1

22/102Teh

Xi Hang

OS24-1

39/85

GS2-1

43/103

Teramoto

MarikoGS1-3

22/102GS4-2

43/106

Thong

Chee Ling

OS26-2

34/90

Watcharin

TaharaShu

OS20-425/79

OS29-1

27/95

TakagiTomohiko

OS14-1

23/69

OS29-327/96

OS14-2

23/70

Takatani

Atsushi

OS7-3

23/59

Takatsuka

KayokoGS2-3

43/103

121©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan
[V]
Vlada
Tiang

Sew Sun

Kugurakova

GS2-4

43/104Wan

OS29-6

27/97

OS25-1

30/87

OS25-2

30/87

OS25-330/88

OS25-430/88

WadekarSuhaim Parvez

OS25-330/88

OS25-530/88

Wagatsuma

HiroakiGS2-5

43/104OS25-6

30/89

GS7-1

33/110OS25-7

30/89

GS7-2

33/110OS30-3

38/98

Wakitani

Shin

OS7-1

23/59

Wan

Khairunizam

OS1-6

40/49

OS1-7

40/50

OS27-5

31/93

OS1-4

40/49

OS29-527/97[W]
W. Muhamad

Norsyafizan

Ting

Chung-Te

OS5-2

21/55

Tokumitsu

Masahiro

GS7-3

33/111Tokuyama

Toshimasa

OS32-142/100

Wan

Tominaga

Ayumu

OS13-4

33/67

Wan

OS13-633/68

Mahiyiddin

OS13-7

33/68

OS13-8

33/69

Wang

Chaoli

OS8-1

32/61

OS20-3

25/78

Wang

Chun-Chieh

OS4-2

20/53

OS20-5

25/79

Wang

Hanyuan

OS10-4

28/64

Wang

Hucheng

OS9-1

28/63

OS9-2

28/63

Tominaga

Moeko

Wai KitMohd Wan Amirul

Tomiyama

Hideki

OS7-3

23/59

Tomokawa

TakumiOS13-6

33/68

OS13-8

33/69

Wang

Ji

OS30-1

38/97

Tsai

Pang-Wei

OS5-1

21/54

Wang

Lu

OS11-4

29/65

Tsoy

Tatyana

OS6-2

35/57

Wang

Qian

OS31-5

41/99

OS6-6

36/58

Wang

Weifang

OS10-2

28/64

Tsuji

Masatoshi

GS7-3

33/111

Wang

WeiqinOS25-8

31/89

Tsuji

Tokuo

OS16-3

35/73

Watanabe

YusukeOS17-5

24/74

Tsuji

Tomofumi

OS13-2

32/67

Wei

Hong-Yu

OS5-1

21/54

OS13-3

32/67

Wen

Haokang

OS10-1

28/64

OS13-7

33/68

Wong

Chin HongOS25-1

30/87

OS25-330/88

OS25-430/88[U]
UchidaNoriyukiGS2-3

43/103OS25-5

30/88

Ueda

TakumiOS20-6

25/79

OS25-6

30/89

OS21-4

37/81

OS25-7

30/89

Ueno

Takaaki

OS13-933/69

OS25-8

31/89

Usuda

Akio

OS14-2

23/70

OS30-3

38/98

OS25-5

30/88

Wong

122
©ICAROB 2023 ALife Robotics Corp. Ltd.

Wai Kiat

The 2023 International Conference on Artificial Life and Robotics (ICAROB2023), on line, Feb. 9 to 12, Oita in Japan
Wu

Chien-Hsin

OS2-3

21/50

YoshimotoYuma

OS17-1

24/73

Wu

JiangyuOS15-2

36/71

Yuan

Tzu-HsienOS32-342/100Yutao

Jin

OS31-4

41/99

[X]
Xian

Yap CheeOS27-1

31/92

Xiang

Yande

OS10-328/64

OS11-229/65

Zagirov

Aidar

OS6-5

36/58

OS11-329/65

ZawawiHazwaniOS29-6

27/97

Zhang

Weicun

OS8-2

32/61

OS8-5

32/62

Xiao

Huimin

OS8-2

32/61

Xu

Xin

OS25-8

31/89

[Z]

[Y]
Yahya

YamabaYamadaSiti Syuhaidah

Hisaaki

Zhang

Yang

OS8-4

32/62

Zhang

ZongxuanOS15-1

36/71

OS24-1

39/85

Zhao

Jichao

OS8-2

32/61

OS24-2

39/86

Zhao

Min

OS9-1

28/63

OS14-3

24/70

OS9-2

28/63

OS14-424/70

OS10-1

28/64

GS4-1

43/106OS11-1

29/65

GS5-1

44/107

Zhao

Yi

OS8-3

32/62

GS5-4

44/108

Zhao

Yuxi

OS8-3

32/62

Takayoshi

Yamamoto

HidehikoGS5-4

44/108

Zhao

Zhihao

OS9-3

28/63

Yamamoto

Toru

OS7-2

23/59

Zhong

JianlinOS32-442/101

OS7-3

23/59

Zhu

Tao

OS10-3

28/64

Zulkepli

Nik Noriman

OS24-1

39/85

OS24-2

39/86

OS1-7

40/50

Yang

LaijunGS5-2

44/107

Yang

They Kai

OS27-6

31/93

Yang

Wen-Fu

OS5-2

21/55

Yano

Yuga

OS17-4

24/74

Yao

Tomonori

OS7-6

23/60

Yasukawa

ShinsukeOS20-425/79

OS20-525/79

OS22-426/83

OS22-5

26/84

Yazid

HanizaOS29-5

27/97

YeeChee HongOS26-6

34/91

Yew

Soo Yang

OS29-2

27/96

Yokomichi

MasahiroOS18-4

41/76

YokotaHiroyukiOS22-5

26/84

YokoteTakumiGS3-2

37/105

YoshidaKeisuke

OS20-4

25/79

Yoshida

Syota

OS7-1

23/59

Zyout

123
©ICAROB 2023 ALife Robotics Corp. Ltd.

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