ICAROB
2024
PROCEEDINGS OF THE 2024
INTERNATIONAL CONFERENCE
ON ARTIFICIAL LIFE AND ROBOTICS
February 22 to 25, 2024
J:COM HorutoHall, Oita, Japan
29th AROB International Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9913337-0-5

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

Proceedings of The 2024 International Conference on

ARTIFICIAL LIFE AND ROBOTICS(ICAROB2024)

February 22 to 25, J:COM HorutoHall, Oita, Japan, 2024
29th AROB International Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9913337-0-5©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

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
7

Abstracts
PS abstracts
OS abstracts
GS abstracts
Authors index

50
51
103
114

©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

SPONSERED
ALife Robotics Corporation Ltd.

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

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

1©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

ADVISORY 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)
Katia Passerini (Seton Hall University, USA)ADVISORY COMMITTEE
Bruce Eisenstein (Drexel University, Former IEEE President, USA)
Hidenori Kimura (RIKEN & Wasada University, Japan)
Joshua M. Epstein (The Johns Hopkins University, USA)
Ken-ichi Tanaka (Executive Fellow, Mitsubishi Electric Corporation, Japan)
Masato Nakagawa (Executive Fellow, DENSO CORPORATION, Visiting Professor of
Hiroshima University, Japan)
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)
GENERAL CHAIR
Masanori Sugisaka(Alife Robotics Corporation Ltd., Japan)
CO-GENERAL CHAIRS
Yingmin Jia (Beihang Univesty, P. R. China)
Takao Ito (Hiroshima University, Japan)
Ju-Jang Lee (Honorary professor, KAIST, Korea)
VICE GENERAL CHAIR
Ang, Chun Kit (University of UCSI, Malaysia)
Henrik. H. Lund (Technical University of Denmark, Denmark)John. L. Casti (International Institute for Applied Systems Analysis, Austria)
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)

2©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

PROGRAM CHAIRMAN
Makoto Sakamoto (University of Miyazaki, Japan)
CO-PROGRAM CHAIR
Marion Oswald (Technische Universität Wien, Austria)
INTERNATIONAL ORGANIZING COMMITTEE
Akira Nakamura (Saitama Institute of Technology, Japan)
Akinori Abe (Chiba University, Japan)
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)
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)
Kunikazu Kobayashi (Aichi Prefectural University, Japan)
Kuo-Hsien Hsia (Far East University, Taiwan)
Kuo-Lan Su (National Yunlin University of Science and Technology, Taiwan)
Kyungho Park (U.S. ARMY, Japan and USA)
Masao Kubo (National Defense Academy of Japan, Japan)
Maxim Sokolov (Innopolis University, Russia)
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)
Singo Mabu (Yamaguchi University, Japan)
Takashi Kohno (The University of Tokyo, Japan)
Takashi Ogata (Iwate Prefectural University)
Tetsuro Hattori (Kagawa University, Japan)
3©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

Thi Thi Zin (University of Miyazaki, Japan)
Thomas S. Ray (University of Oklahoma, USA)
Toru Yamamoto (Hiroshima University, Japan)
Victor Berdonosov (Komsomolsk-on-Amur State University of Technology, Russia)
Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Yi Chai (Chongqing University, P. R. China)
Yoshifumi Morita (Nagoya Institute of Technology, Japan)
Yoshiro Imai (Kagawa University, Japan)
INTERNATIONAL PROGRAM COMMITTEE
Abdul Rahman bin Dullah (Universiti Teknikal Malaysia Melaka, Malaysia)
Akinori Abe (Chiba University, 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 (Kitakyushu National College 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)
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)
Duangiai Jitkongchuen (Dhurakij Pundit University, Thailand)
Dunwei Gong (China University of Mining and Technology, P. R. China)
Jiao Jia (Beihang University, 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)
4©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

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)
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)
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)
5©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

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)
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)
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 (Nippon Institute of Technology, Japan)
Takayoshi Yamada (Gifu University, Japan)
Takuya Fuginaga (Fukuoka University, Japan)
Takuya Nanami (The University of Tokyo. Japan)
Taishiro Kishimoto (Keio University, Japan)
Taisuke Akimoto (Kyushu Institute of Technology, Japan)
Tarik bin Abd Latef (Universiti Malaya, Malaysia)
Taro Shibanoki (Okayama University, Japan)
Tetsuro Katayama (The University of Miyazaki, Japan)
Thomas Noel (University of Strasbourg, France)
Thunyaseth Sethaput (Thammasat University, Thailand)
6©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

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 (University of Nagasaki, 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 COMMITTEE
Makoto Sakamoto (University of Miyazaki, Japan)
Masanori Sugisaka (ALife Robotics Corporation Ltd., Japan)
Takao Ito (Hiroshima University, Japan)

7©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

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 thesejournals, Journal of Robotics, Networking and Artificial Life (JRNAL)(vol1-8) indexed by
SCOPUS & ESCI and Journal of Robotics, Networking and Artificial Life (JRNAL)(vol9-)
indexed by SCOPUS & ESCI and Journal of Advances in Artificial Life Robotics (JAALR).
From now on, ALife Robotics Corporation Ltd. is in charge of management of both theconference and the journals. The future of the ICAROB is brilliant from a point of viewof yielding new technologies to human society in the 21st century. We also expect toestablish an international research institute on Artificial Life and Robotics in the futurewith the help of Japanese Government and ICAROB. This conference invites you all.

8
©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

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
Medical surgical robot
Micro-machines
Multi-agent systems
Nano-biology
Nano-robotics
Networking
Neural circuits
Neuro-computer
9©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

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 2024 International
Conference on Artificial Life and Robotics (ICAROB2024) 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 indexed by SCOPUS &ESCI (JRNAL)(vol.1-8) & Journal of Robotics, Networking and Artificial Life(vol.9-) indexed
by SCOPUS & ESCI and Journal of Advances in Artificial Life Robotics under agreement ofboth Editor-in- Chief Dr. Masanori Sugisaka and 3 reviewers. All correspondence related
to the conference should be addressed to ICAROB Office.
ICAROB Office
ALife Robotics Corporation Ltd.
4-Go, 8-Ban, Higshi 2Cyome, Handadai, Oita 870-1108, JAPANTEL/FAX：+81-97-597-7760
E-MAIL：icarob@alife-robotics.co.jp
Home Page：https://alife-robotics.co.jp/

10©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

MESSAGES

Masanori Sugisaka
General Chair of ICAROB

Masanori Sugisaka
General Chair(President, ALife Robotics Corp.,
Ltd, Japan)

It is my great honor to invite you all to The 2024 International Conferenceon Artificial Life and Robotics (ICAROB 2024) to be held at J:COM
HorutoHall, Oita, Japan, 2024. This Conference is changed as the old
symposium from the first (1996) to the Eighteenth (2013) annually whichwere organized by Oita University and ALife Robotics Corporation Ltd.
under the sponsorship of the Science and Technology Policy Bureau, theMinistry of 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 liketo express my sincere thanks to not only Monkasho (annually fund support
from 1996 to 2013) but also JSPS, the Commemorative Organization for theJapan World Exposition (’70), Japanese companies for their repeatedsupport.
The old symposium was organized by International Organizing Committeeof AROB and was co-operated by the Santa Fe Institute (USA), RSJ, IEEJ,ICASE (Now ICROS) (Korea), CAAI (P. R. China), ISCIE, IEICE, IEEE (Japan
Council), JARA, and SICE. The old AROB symposium was growing up by
absorbing many new knowledge and technologies into it. This history andcharacter was inherited also from ICAROB2014(The 2014 International
Conference on Artificial Life and Robotics, included a series of ICAROB
proceedings indexed by SCOPUS and CPCI-Web of Science now. From now
on, ALife Robotics Corporation Ltd. is in charge of management. This year
we have The 2024 International Conference on Artificial Life and Robotics(ICAROB2024) (29th 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(ICAROB2024) 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 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

Yingmin Jia
Co-General Chair of ICAROB

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

It is my great pleasure to invite you to The 2024 International Conferenceon Artificial Life and Robotics (ICAROB 2024), will be held at J:COM Horuto
Hall, Oita, JAPAN, from February 22 to 25, 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 29th birthday in 2024. 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 ICAROB2024.

12©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

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 2024 International
Conference on Artificial Life and Robotics (ICAROB 2024).
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.
The conference site is Horuto Hall, one of the most famous international
convention centers in Oita city, Japan. You can find many fantastic scenic
spots and splendid historical places in Oita city. Enjoy your stay!
I eagerly look forward to personally meeting you during the ICAROB 2024
and to sharing a most pleasant, interesting, and fruitful conference withyou. Do come and make this conference a fruitful, productive as well as
enjoyable event!

13©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

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 11th ICAROB 2024
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 11th
ICAROB.
I’m looking forward to meeting you at the 11th ICAROB in on line andwishing you all the best.

14©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

GENERAL SESSION TOPICS
GS1 Machine Learning & Neural Network & Artificial
Life (8)
GS3 Image Processing II (3)GS2 Image Processing I (5)GS5 Applications I (4)GS6 Applications II (4)GS4 Robotics (6)GS7 Applications III (6)ORGANIZED SESSION TOPICS
OS1 Intelligent Life and Cybersecurity (6)OS2 Pattern Recognition and Robotics I (5)OS3 Pattern Recognition and Robotics II (9)OS4 Pattern Recognition and Robotics III (10)OS5 Intelligent Life and Robotics (6)OS6 Intelligence and Optimization (5)OS7 Deep Learning and its Applications (4)OS8 Intelligent Control (5)OS9 Software Development Support Method (4)OS10 Intelligent Life and Robotics I (6)OS11 Intelligent Life and Robotics II (6)OS12 Machine Learning and its Applications (4)OS13 Robot Control (10)OS14 Robotic Manipulation (3)OS15 Artificial Intelligence for Embedded Systems and OS16 Industrial Artificial Intelligence Robotics (4)Robotics (6)OS17 Electronics and Kansei Engineering Based on ETT OS18 Computer and Information Engineering (12)theory (5)OS19 Natural Computing (3)OS20 Advances in Field Robotics and Their
Applications (15)OS21 Human-Machine Interface (3)OS22 Mathematical Informatics (8)OS23 Industrial Revolution (5)OS24 Robotics and Intelligent Casting (5)OS25 Research Towards the Sustainable Development
Goals (SDG’s) (10)OS27 Post-narratological Approaches to Cognition in
Humans and Robots (5)OS26 Navigating the Digital Frontier: Innovations in theAge of Industry Revolution 4.0 (11)15©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

TIME TABLE (2/22)

in Japan time

2/22(Thu.) 17:30-19:30

Welcome Party (Oita Century Hotel)

2/25(Sun.) 15:30-16:00

Farewell party (Room 406 ZOOM ID: 823 7614 7664)

TIME TABLE (2/23)
2/23(Fri.)

Room 403
on-siteRoom 404
on-siteRoom 405
on-site, online(ZOOM ID: 851 9389 0058)

OS24 Robotics and Intelligent
Casting (5)Chair: Jiwu Wang

OS9 Software Development
Support Method (4)Chair: Tetsuro Katayama

GS2 Image Processing I (5)Chair: Yui Tanjo

9:4010:00-11:15

Room 406
on-site, online(ZOOM ID: 823 7614 7664)

Room 407
online(ZOOM ID: 883 1147 2552)

OS23 Industrial Revolution (5)Chair: Hazry Desaon-site, online

OS13-1 Robot Control (5)Chair: Yizhun Peng

Registration (407)

online11:15-11:30
Chair: Marion Oswald (Room 302, 303)
Opening ceremony

11:30-12:00

12:00-13:00

OS2 Pattern Recognition andRobotics I (5)Chair: Fengzhi Dai
Will be end at 12:45 online

OS13-2 Robot Control (5)Chair: Yizhun Peng
Will be end at 12:45

Lunch

13:00-14:00

Chair: Takao Ito (Room 302, 303)
Plenary Speech PS1
Tomoaki Ozaki

OS3-1 Pattern Recognition
and Robotics II (5)Chair: Fangyan LiWill be end at 14:15

Chair: Marion Oswald (Room 302, 303)
Plenary Speech PS2
Hazry Desa

OS3-2 Pattern Recognition
and Robotics II (4)Chair: Fangyan Li

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

15:20-15:40
15:40-17:10

Coffee break
OS1 Intelligent Life andCybersecurity (6)Chair: I-Hsien Liu

OS15 Artificial Intelligence forEmbedded Systems andRobotics (6)Chair Hakaru Tamukoh

GS4 Robotics (6)Chair: Jiwu Wang
onsite, online

16©ICAROB 2024 ALife Robotics Corp. Ltd.

GS3 Image Processing II (3)Chair: Seiji Ishikawa
online, on-site

OS10 Intelligent Life andRobotics I (6)Chair: Evgeni Magid

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

TIME TEBLE (2/24)
2/24(Sat.)

Room 303
on-siteRoom 403
on-siteRoom 404
on-site9:4010:00-11:15

Room 406
on-site, online(ZOOM ID: 823 7614 7664)

OS19 Natural Computing (3)Chair Marion Oswald
Will be end at 10:45

OS18-1 Computer andInformation Engineering (5)Chair: Norrima Mokhtar
online, onsite

OS22 Mathematical
Informatics (8)from 11:00 to 13:00
Chair: Takao Ito

OS18-2 Computer andInformation Engineering (2)Chair: Norrima Mokhtar
online, on-site

OS5-1 Intelligent Life andRobotics (4)Chair: Kuo-Hsien Hsia
on-site, online

OS18-3 Computer andInformation Engineering (5)Chair: Norrima Mokhtar
online, on-site

OS5-2 Intelligent Life andRobotics (2)Chair: Kuo-Hsien Hsia
on-site, online

OS21 Human-MachineInterface (3)Chair Norrima Mokhtar
online, on-site

OS16 Industrial Artificial
Intelligence Robotics (4)Chair Eiji Hayashi
on-siteGS6 Applications II (4)Chair Masayuki Fujiwara
on-siteRegistration (407)OS20-1 Advances in Field
Robotics and Their
Applications (5)Chair: Kazuo Ishii

OS17 Electronics and Kansei
Engineering Based on ETTtheory (5)Chair: Tetsuo Hattori

GS1-1 Machine Learning &Neural Network & Artificial
Life (5)Chair: Hiroki Tamura

11:15-11:30
11:30-12:00

Room 405
on-site, online(ZOOM ID: 851 9389 0058)

Coffee breakOS20-2 Advances in Field
Robotics and Their
Applications (2)Chair: Kazuo Ishii

GS1-2 Machine Learning &Neural Network & Artificial
Life (3) Chair: Hiroki Tamura
Will be end at 12:15

12:00-13:00

Lunch

13:00-14:00

Chair: Yingmin Jia (Room 302, 303)
Plenary Speech PS3 Haruhisa Okuda

14:00-14:15

Coffee break

14:15-15:30

OS20-3 Advances in Field
Robotics and Their
Applications (5)Chair: Kazuo Ishii

OS27 Post-narratologicalApproaches to Cognition in
Humans and Robots (5)Chair: Jumpei Ono(ZOOM ID: 826 8397 1634)

OS8 Intelligent Control (5)Chair: Yingmin Jia

15:30-15:40
15:40-16:25

Coffee breakOS20-4 Advances in Field
Robotics and Their
Applications (3)Chair: Kazuo Ishii

OS14 Robotic Manipulation(3) Chair: Kensuke Harada
onsite, online(ZOOM ID: 849 1028 4955)
Coffee break

16:25-16:40
16:40-17:40

OS7 Deep Learning and its
Applications (4) online
Chair Mastaneh Mokayef(ZOOM ID: 824 3203 3781)

OS12 Machine Learning and
its Applications (4)Chair: Masato Nagayoshi

GS5 Applications I (4)Chair:
onsite, online(ZOOM ID: 849 1028 4955)
Banquet (Tokiwa Kaikan)

18:30-20:30
17©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

TIME TEBLE (2/25)
Room 405
online(ZOOM ID: 851 9389 0058)

2/25(Sun.)

Room 406
online(ZOOM ID: 823 7614 7664)

9:4010:00-11:30

Registration (407)
OS6 Intelligence andOptimization (5)Chair Mastaneh Mokayef

OS26-1 Navigating the Digital Frontier: Innovationsin the Age of Industry Revolution 4.0 (6)Chair Wei Hong Lim

11:30-12:30
12:30-13:45

OS25-1 Research Towards the Sustainable
Development Goals (SDG’s) (5)Chair Ammar A.M. Al Talib

Lunch
OS4-1 Pattern Recognition and Robotics III (5)Chair Huahao Li

OS26-2 Navigating the Digital Frontier: Innovationsin the Age of Industry Revolution 4.0 (5)Chair Wei Hong Lim

13:45-14:00
14:00-15:30

Room 407
online(ZOOM ID: 883 1147 2552)

OS25-2 Research Towards the Sustainable
Development Goals (SDG’s) (5)Chair Ammar A.M. Al Talib

Coffee breakOS4-2 Pattern Recognition and Robotics III (5)Chair Huahao Li

15:30-16:00

OS11 Intelligent Life and Robotics (6)Chair: Evgeni Magid
Farewell Party (Room 406 ZOOM ID: 823 7614 7664)

18©ICAROB 2024 ALife Robotics Corp. Ltd.

GS7 Applications III (6)Chair: Kasthuri Subaramaniam

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

The 2024 International Conference on
ARTIFICIAL LIFE AND ROBOTICS(ICAROB2024)
February 22 (Thursday)
17:30-19:30

Welcome Party (Oita Century Hotel)

February 23 (Friday)
Room 302, 303
11:30-12:00 Opening Ceremony
Chair: Marion Oswald (Vienna University of Technology, Austria)
Welcome Addresses
1. General Chairman of ICAROB
2. Co-General Chairman of ICAROB
3. Co-General Chairman of ICAROB
4. Vice General Chair of ICAROB
5. Vice General Chair 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)
Norrima Mokhtar (University of Malaya, Malaysia)

February 24 (Sunday)
Banquet: Tokiwa Kaikan
18:30-20:30
Chair: Takao Ito (Hiroshima University, Japan)
Welcome Addresses
Prof. Yingmin Jia ( Beihang University, P.R. China)
Dr. Norrima Mokhtar (University of Malaya, Malaysia)

19©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

TECHNICAL PAPER INDEX
February 23 (Friday)
9:40-Registration
Room 302, 303
11:30-12:00 Opening Ceremony
Chair: Marion Oswald (Vienna University of Technology, Austria)
13:00-14:00
Plenary Speech PS1
Chair: Takao Ito (Hiroshima University, Japan)
PS1 Developing High-Speed Working Motion of the Multi Robot in DENSO
Tomoaki Ozaki (DENSO CORPORATION, Japan)
14:20-15:20
Plenary Speech PS2
Chair: Marion Oswald (Vienna University of Technology, Austria)
PS2 Experimenting with Variable Arm Quadrotors: Realizing Dynamic Configurations forEnhanced Flight Performance
Hazry Desa (Universiti Malaysia Perlis, Malaysia)
Room 403
10:00-11:15 OS24-Robotics and Intelligent Casting (5)Chair: Jiwu Wang (Beijing Jiaotong University, China)
OS24-1

A high-performance motion planning method based on asymptotically optimal RRT
Tianbin Meng, Jiwu Wang (Beijing Jiaotong University, China)

OS24-2

CSM-RRT*: an improved RRT* algorithm based on constrained samplingmechanism
Hang Yang, Jiwu Wang (Beijing Jiaotong University, China)
Xueqiang Shang (Aero Engine Corporation of China, China)

OS24-3

Small Sample Object Detection Based on Improved YOLOv5
Yuxuan Gao (Beijing Jiaotong University, China),
Jiwu Wang (Beijing Jiaotong University, China),
Zixin Li (Aero Engine Corporation of China)

20©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS24-4

Research on Gas Pore Prediction Method Based on Sand Core Characteristic Time
Xiaolong Wang (Beijing Jiaotong University, China), Qihua Wu (Weichai Power Co.,
Ltd. China), Jiwu Wang (Beijing Jiaotong University, China), Jinwu Kang (Tsinghua
University,China),
Na Li (Weichai Power Co., Ltd. China), Yucheng Sun(Weichai Power Co., Ltd. China)

OS24-5

Optimization Analysis of a Deep Learning-Based Model for Predicting Temperature
Fields in the Solidification Process of Castings
Yahui Yang (Beijing Jiaotong University, China), Jiwu Wang (Beijing Jiaotong
University, China),
Jinwu Kang (Tsinghua University,China)

15:40-17:10 OS1 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: Pang-Wei Tsai (National Cheng Kung University, Taiwan)
OS1-1

Detecting abnormal operations in ICS using finite-state machines
Pei-Wen Chou, Nai-Yu Chen, Jung-Shian Li, I-Hsien Liu(National Cheng Kung University, Taiwan)

OS1-2

Industrial Control System State Monitor Using Blockchain Technology
Yun-Hao Chang, Tzu-En Peng, Jung-Shian Li, I-Hsien Liu(National Cheng Kung University, Taiwan)

OS1-3

Enhancing Dam Security and Water Level Alerting with Blockchain Technology
YingCheng Wu, Jung-Shian Li, Chu-Fen Li, I-Hsien Liu(National Cheng Kung University, Taiwan)

OS1-4

MiniDAM: A Dam Cybersecurity Toolkit
Tzu-En Peng, Meng-Wei Chang, Yun-Hao Chang, Jung-Shian Li, I-Hsien Liu(National Cheng Kung University, Taiwan)

OS1-5

Case Study of Network-Based Intrusion Detection System Deployment in Industrial
Control Systems with Network Isolation
Nai-Yu Chen, Pei-Wen Chou, Jung-Shian Li, I-Hsien Liu(National Cheng Kung University, Taiwan)

OS1-6

The AI integration service innovation model of real estate industry in Taiwan
Li-Min Chuang, Chih-Hung Chen (Chang Jung Christian University, Taiwan)

21©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

Room 404
10:00-11:00 OS9 Software Development Support Method (4)Chair: Tetsuro Katayama (University of Miyazaki, Japan)
Co-Chair: Tomohiko Takagi (Kagawa University, Japan)
OS9-1

An Improved Conversion Technique from EPNAT Models to VDM++ Specifications for
Simulation of Abstract Software Behavior
Sho Matsumoto1, Ryoichi Ishigami1, Tetsuro Katayama2, Tomohiko Takagi1
1
Kagawa University, Japan, 2 University of Miyazaki, Japan

OS9-2

Prototype of RAGESS Which Is a Tool for Automatically Generating SwiftDiagrams
to Support iOS App Development
Haruki Onaga*, Tetsuro Katayama*, Yoshihiro Kita†, Hisaaki Yamaba*, Kentaro
Aburada*, and Naonobu Okazaki**University of Miyazaki, Japan, †University of Nagasaki, Japan

OS9-3

Extension to Support Types and Operation/Function Definitions in BWDM toGenerate Test Case Tool from the VDM++ Specification
Shota Takakura*, Tetsuro Katayama*, Yoshihiro Kita†, Hisaaki Yamaba*, Kentaro
Aburada*, and Naonobu Okazaki**University of Miyazaki, Japan, †University of Nagasaki, Japan

OS9-4

Proposal of ASLA Which Is a Segmentation and Labeling Tool for Document Images
Based on Deep Learning
Kanta Kakinoki*, Tetsuro Katayama*, Yoshihiro Kita†, Hisaaki Yamaba*, Kentaro
Aburada*, and Naonobu Okazaki**University of Miyazaki, Japan, †University of Nagasaki, Japan

15:40-17:10 OS15 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)
OS15-1YOLO real-time object detection on EV3-Robot using FPGA hardware Accelerator
Dinda Pramanta1, Ninnart Fuengfusin2, Arie Rachmad Syulistyo2, Hakaru Tamukoh2(1Kyushu Institute of Information Sciences, Japan) (2Kyushu Institute of Technology,
Japan)

OS15-2

A Low Computational Cost Hand Waving Action Recognition System with Echo State
Network for Home Service Robots
Hiromasa Yamaguchi1, Akinobu Mizutani1, Arie Rachmad Syulistyo1, Yuichiro
Tanaka1, Hakaru Tamukoh1 (1Kyushu Institute of Technology, Japan)

OS15-3

A Rapidly Adjustable Object Recognition System through Language Based Prompt
Engineering
Naoki Yamaguchi1, Tomoya Shiba1, Kosei Isomoto1, Hakaru Tamukoh1(1Kyushu Institute of Technology, Japan)

22©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS15-4Development of a SayCan-based task planning system capable of handling abstract
nouns
Kosei Yamao1, Daiju Kanaoka1, Kosei Isomoto1, Akinobu Mizutani1, Yuichiro Tanaka1,
Hakaru Tamukoh1, (1Kyushu Institute of Technology, Japan)

OS15-5

RoboCup@Home 2023: Stickler for the Rules Task Solutions
Tomoya Shiba1, Hakaru Tamukoh1, (1Kyushu Institute of Technology, Japan)

OS15-6

Offloading Intellectual Processing from Home Service Robots to Edge Devices
Yuma Yoshimoto1, Mizuki Kawashima1, Shun Yonehara1(1National Institute of Technology, Kitakyushu College, Japan)

Room 405
10:00-11:15 GS2 Image Processing I (5)Chair: Yui Tanjo (Kyushu Institute of Technology, Japan)
GS2-1

A Method for Embedding Multiple Photographic Images in a Photographic Image
Naoki Kouno, Kanya Goto, Toru Hiraoka (University of Nagasaki, Japan)

GS2-2

Generation of Flowing-Line Images Using Vertical and Horizontal Smoothing Filters
Karin Kuroki, Toru Hiraoka (University of Nagasaki, Japan)

GS2-3

Human Motion Recognition from Multiple Directions and Its Gait Cycles Analysis
Miki Ooba, Yui Tanjo (Kyushu Institute of Technology, Japan)

GS2-4

A Method of Improving the QOL of the People with Visual Impairment by MY VISION
Shun Kitazumi, Yui Tanjo (Kyushu Institute of Technology, Japan)

GS2-5

Human Behavior Segmentation and Recognition Using a Single-camera
Jing Cao, Yui Tanjo (Kyushu Institute of Technology, Japan)

15:40-17:10 GS4 Robotics (6)Chair: Jiwu Wang (Beijing Jiaotong University, China)
GS4-1

Development and evaluation of a learning support robot for vector learning
Kosei Machida, Shinichi Imai (Tokyo Gakugei University, Japan)

GS4-2

Feasibility Study on Methods to Measure the Strain on Young Children's Bodies
Sachiko Kido, Praveen Nuwantha Gunaratne, Hiroki Tamura(University of Miyazaki, Japan)

23©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

GS4-3

An Integration of Contact Force Models with Multibody Dynamics Analyses for
Human Joint Mechanisms and Effects of Viscoelastic Ground Contact
Shintaro Kasai1, Dondogjamts Batbaatar2, Hiroaki Wagatsuma1(1Kyushu Institute of Technology, Japan; 2Mongolian University of Science andTechnology, Mongolia)

GS4-4

Haptic Sensation Enhancement via the Stochastic Resonance Effect and Its
Application to Haptic Feedback for Myoelectric Prosthetic Hands
Yoshitaka Mizumoto, Taro Shibanoki (Okayama University, Japan)

GS4-5

PID Parameter Tuning of a Low-Cost DC Motor Speed Control for Mobile Robot
Application
Munkh-Erdene Ayurzana1, Erkhembayar Gankhuyag1, Naranbaatar Erdenesuren1,
Dondogjamts Batbaatar1(1Mongolian University of Science and Technology, Mongolia)

GS4-6

Reinforcement Learning DDPG Algorithm Based Wheeled Mobility Aid Robot Control
Methods
Junkai Li, Mohd Rizon Mohamad Juhari, Tiang Sew Sun (UCSI University, Malaysia)

Room 406
10:00-11:15 OS23 Industrial Revolution (5)Chair: Hazry Desa (Universiti Malaysia Perlis (UniMAP), Malaysia)
OS23-1

Investigating the Engineering Interventions in the Conservation of Malaysia
Heritage Structures: A Review on Preserving Historical Edifices Through Advance
Civil Engineering Techniques
Muhammad Azizi Azizan, Nurfadzillah Ishak, Hazry Desa (UniMAP, Malaysia)

OS23-2

Drones and Data: A Comprehensive Exploration of UAVs in Data Mining
Muhammad Azizi Azizan, Nurfadzillah Ishak, Hazry Desa (UniMAP, Malaysia)

OS23-3Development of Variable Arm to Control the Manoeuvrability of Quadrotor
L. Y. Hong, H. Desa and M. A. Azizan (UniMAP, Malaysia)
M. H. Tanveer (Kennesaw State University, USA)OS23-4Development of IOT-Enabled Smart Water Metering System
S. D. Wen, H. Desa and M. A. Azizan (UniMAP, Malaysia)
A. -S. T. Hussain (Al-Kitab University, Iraq)
M. H. Tanveer and R. Patan (Kennesaw State University, USA)OS23-5

Object Detection and Instance Segmentation with YOLOV8: Progress andLimitations
L. J. Lee, H. Desa and M. A. Azizan (UniMAP, Malaysia)
A. -S. T. Hussain (Al-Kitab University, Iraq)
M. H. Tanveer (Kennesaw State University, USA)

24
©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

11:30-12:45 OS2 Pattern Recognition and Robotics I (5)Chair: Fengzhi Dai (Tianjin University of Science and Technology, China)
Co-Chair: Yunzhong Song (Henan Polytechnic University, China)
OS2-1

A Study on Sales Patterns for Vegetable Products in Retail Stores
Yuhao Zhang 1, Shuangshuang Ma 1, Jiashuai Wang 1, Fengzhi Dai 1, Lijiang Zhang 2(1 Tianjin University of Science and Technology, China, 2 Xinjiang Shenhua
Biotechnology Co., Ltd, China)

OS2-2

Research and Implementation of Cooperative Control for ROS Mobile Robot
Saijie Zhang, Huailin Zhao
(Shanghai Institute of Technology, China)

OS2-3

An OpenCV-based Method for Workpiece Residue Image Processing
Jiaxin Wang, Hao He, Fangyv Liu, Fengzhi Dai(Tianjin University of Science and Technology, China)

OS2-4

On Nonblockingness Verification and Enforcement of Controlled Nondeterministic
Discrete-Event Systems
Xiang Ren, Zipei Wang (Tianjin University of Science and Technology, China)

OS2-5Modeling and Reachability Verification of Controlled Nondeterministic Finite-State
Automata
Zipei Wang, Xiang Ren (Tianjin University of Science and Technology, China)

15:40-16:25 GS3 Image Processing II (3)Chair: Seiji Ishikawa (Kyushu Institute of Technology, Japan)
GS3-1

Online Classroom Student Engagement Analysis using Enhanced YOLOv5
Shuai Wang, Abdul Samad Shibghatullah (UCSI University, Malaysia)

GS3-2

A Method of Recognizing Body Movements Based on a Self-viewpoint Video
Iichirou Moribe, Yui Tanjo (Kyushu Institute of Technology, Japan)

GS3-3

Supporting Safe Walk of a Visually Impaired Person at a Station Platform based on
MY VISION
Shintaro Yamada, Yui Tanjo, Seiji Ishikawa (Kyushu Institute of Technology, Japan)

25©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

Room 407
10:00-11:15 OS13-1 Robot Control (5)Chair: Yizhun Peng (Tianjin University of Science and Technology, China)
OS13-1Intelligent Logistics Handling Robot: Design, Control, and Recognition
Yanchao Bi, Jiale Cheng, Limei Wang, Yizhun Peng
(Tianjin University of Science and Technology, China)

OS13-2

Greenhouse Design Using Visual Recognition and IoT Technology
Yuntian Xia, Yizhun Peng
(Tianjin University of Science and Technology, China)

OS13-3

Design of Modular Photovoltaic Environmentally Friendly Portable Stroller
Suqing Duan, Yizhun Peng
(Tianjin University of Science and Technology, China)

OS13-4"Teenage Mutant Ninja Turtles" - Design of a Bionic Quadrupedal Rescue Robot
Hongpi Zhao, Yingfan Zhu, Zhihan Zhao, Xin Liang, Lei Lv, Yizhun Peng (Tianjin
University of Science and Technology, China)

OS13-5

Design of Grass Lattice Planter for Complex Environment Based on Adaptive
Suspension Technology
Shaokai Tian, Wenqi Fu, Yizhun Peng
(Tianjin University of Science and Technology, China)

11:30-12:45 OS13-2 Robot Control (5)Chair: Yizhun Peng (Tianjin University of Science and Technology, China)
OS13-6

Design of Intelligent Ecological Multifunctional Plant and Animal Breeding System
Suqing Duan, Yuntian Xia, Siyi Wang, Yizhun Peng (Tianjin University of Scienceand Technology, China)

OS13-7

Design of a Fully Automated Logistics Handling Platform
Hongpi Zhao, Jianfeng Qin, Yizhun Peng (Tianjin University of Science andTechnology, China)

OS13-8Design and Application of AI-based Brush Calligraphy and Painting Robot
Haibo Li, Yizhe Sun, Shuxin Wang, Yizhun Peng (Tianjin University of Science andTechnology, China)

OS13-9Intelligent Wheelchair System: Non-contact Heart Rate and Body Temperature
Measurement
Dongpo Ma, Junsheng Zhang, Yizhun Peng (Tianjin University of Science andTechnology, China)

26©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS13-10

Recognition and Localization Method for Automotive Axle Holes in Assembly Robots
Junsheng Zhang, Dongpo Ma, Yizhun Peng (Tianjin University of Science andTechnology, China)

13:00-14:15 OS3-1 Pattern Recognition and Robotics II (5)Chair: Fangyan Li (Tianjin University of Science and Technology, China)
Co-Chair: Haozhe Sun (Tianjin University of Science and Technology, China)
OS3-1

Detection and Identification of Daylily Maturity Based on YOLOv8
Fangyan Li (Tianjin University of Science and Technology, China)

OS3-2

Chaos Synchronization and Circuit Design of Chen System and Lü System withDifferent Structures
Haozhe Sun (Tianjin University of Science and Technology, China)

OS3-3

A Parking Space Recognition Method Based on Digital Image Technology
Hao He, Fangyv Liu, Jiaxin Wang (Tianjin University of Science and Technology,
China)OS3-4

A Design of Intelligent Handling Robot Based on AT89C52
Fangyv Liu, Jiaxin Wang, Hao He (Tianjin University of Science and Technology,
China)

OS3-5

Application and Differences of Robotic Arms, Traditional Machines and Manual
Work in Production
Xue Yang, Ying Su, Yuping Mei, Haiquan Wang (Tianjin University of Science andTechnology, China)

14:20-15:20 OS3-2 Pattern Recognition and Robotics II (4)Chair: Fangyan Li (Tianjin University of Science and Technology, China)
Co-Chair: Haozhe Sun (Tianjin University of Science and Technology, China)
OS3-6

A Deep Exploration of the Mounting Issues Related to Six Rotor UVA
Yuping Mei, Ying Su, Xue Yang (Tianjin University of Science and Technology, China)

OS3-7

The Application of Hexacopter UAV in The Field of Climbing Evasion
Ying Su, Yuping Mei, Xue Yang (Tianjin University of Science and Technology, China)

OS3-8

Deep Learning and Embedded Based Operational Safety System for Special Vehicles
Haoran Gong, Yumei Huang, Jiahao Xie (Tianjin University of Science andTechnology, China)

27©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS3-9

"Green Fruit" - Intelligent Traceable Agricultural Product Production and Marketing
Platform Based on Blockchain Technology
Yumei Huang, Jiahao Xie, Haoran Gong, Ziyue Xiao (Tianjin University of Science andTechnology, China)

15:40-17:10 OS10 Intelligent Life and Robotics (6)Chair: Evgeni Magid (Kazan Federal University, Russia)
Co-Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
OS10-1A Design of a Modular Mobile Robot for Rescue Operations
Baris Celiker, Shifa Sulaiman, Tatyana Tsoy (Kazan Federal University, Russia)

OS10-2

Implementation of Bug1 and Bug2 Path Planning Algorithms for TurtleBot Using
ROS Noetic
Ilya Spektor1, Aidar Zagirov2, Ramil Safin2, Evgeni Magid1,2(1HSE University, Russia) (2Kazan Federal University, Russia)

OS10-3

Implementation of Alg1 and Alg2 Path Planning Algorithms for Mobile Robots Using
ROS Noetic
Anastasia Yankova1, Timur Gamberov2, Tatyana Tsoy2(1HSE University, Russia) (2Kazan Federal University, Russia)

OS10-4

Implementation of VisBug-21 and VisBug-22 Path Planning Algorithms Using ROS
NoeticViktoriia Mirzoian1, Maxim Mustafin2, Evgeni Magid1,2(1HSE University, Russia) (2Kazan Federal University, Russia)

OS10-5DistBug path planning algorithm package for ROS Noetic
Alexander Pak1, Alexander Eremin2, Tatyana Tsoy2(1HSE University, Russia) (2Kazan Federal University, Russia)

OS10-6On sensor modeling in Gazebo simulator
Niez Yuldashev, Alexandra Dobrokvashina, Roman Lavrenov(Kazan Federal University, Russia)

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

February 24 (Saturday)
9:40-Registration
Room 302, 303
13:00-14:00
Plenary Speech PS3
Chair: Yingmin Jia
PS3 Artificial Intelligence and Technologies of Arm-type and Mobile Robots in Industry
Haruhisa Okuda(Mitsubishi Electric Corporation, Japan)
Room 303
10:00-11:15 OS20-1 Advances in Field Robotics and Their Applications (5)Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
Co-Chair: Keisuke Watanabe (Tokai University, Japan)
OS20-1

Image Collection Experiments of a Handy AUV for Offshore Structure Inspection
Keisuke Watanabe, Koki Amano, Shingen Urano, Yasutaka Taniguchi, Konosuke
Watanabe (Tokai University, Japan)

OS20-2

Design of Disassembly-reassembly Type USV for Coral Reef Research
Keisuke Watanabe, Koki Amano, Gaku Minato, Yasutaka Taniguchi, Konosuke
Watanabe (Tokai University, Japan)

OS20-3

Optimization method to improve visual SLAM in dynamic environment
Yufei Liu, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS20-4

Design of flexible mechanism for flexible manipulator
Huang Jiawei, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS20-5

Driver Drowsiness Detection Method based on Deep Learning
Shi Puwei, Kazuo Ishii (Kyushu Institute of Technology, Japan)

29©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

11:30-12:00 OS20-2 Advances in Field Robotics and Their Applications (2)Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
Co-Chair: Keisuke Watanabe (Tokai University, Japan)
OS20-6An Analysis of Translational Motion for a Mobile Robot with Line-Symmetric Rollers
Arrangement
1
Kenji Kimura, 2Kazuo Ishii(1National Institute of Technology, Matsue College, Japan, 2Kyushu Institute ofTechnology, Japan)

OS20-7Development of Teaching Materials for Robot Programming for Junior High SchoolStudents: Student-Based Educational Activities
Kenji Kimura, Youta Takano (National Institute of Technology, Matsue College,
Japan)

14:15-15:30 OS20-3 Advances in Field Robotics and Their Applications (5)Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
Co-Chair: Keisuke Watanabe (Tokai University, Japan)
OS20-8Design and Software Production of Robotics Educational Design for Elementary andJunior High School Student
Youta Takano, Kenji Kimura (National Institute of Technology, Matsue College,
Japan)

OS20-9Development of visual inspection system for low-reflective material utilizing of astring shadow
Keiji Kamei1, Tomorou Kawahara1, Yoshiyuki Daimaru2(1Nishinippon Institute of Technology, Japan) (2Nissan Motor Kyushu, Japan)

OS20-10Development of IoT-Based Remote Monitoring Module for Greenhouse Environment
to Facilitate Crop Growth Data Analysis
Moeko Tominaga, Yasunori Takemura, Junya Era, Wataru Kaishita(Nishinippon Institute of Technology, Japan)
Eiji Mizoe, Tomoyasu Furukawa(Kumamoto Fruit and Vegetable Shippers Association Co. Ltd., Japan)

OS20-11Development greenhouse environment prediction system using IoT data
Yasunori Takemura, Naoya Nishida, Moeko Tominga(Nishinippon Institute of Technology, Japan)
Eiji Mizoe, Tomoyasu Furukawa(Kumamoto Fruit and Vegetable Shippers Association Co. Ltd., Japan)

OS20-12

The Development of SaaS for Quantifying the Amount of Drifted Debris on the Coast
Ayumu Tominaga, Ryohei Komori(National Institute of Technology Kitakyushu College, Japan)
Eiji Hayashi (Kyushu Institute of Technology, Japan)

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

15:40-16:25 OS20-4 Advances in Field Robotics and Their Applications (3)Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
Co-Chair: Keisuke Watanabe (Tokai University, Japan)
OS20-13Development of an antagonistic wire-driven joint mechanism capable of rapid
motion and variable stiffness
Katsuaki Suzuki1, Yuya Nishida2, Kazuo Ishii2(1Kumamoto Industrial Research Institute, Japan, 2Kyushu Institute of Technology,
Japan)

OS20-14

Gakken Hills Interdisciplinary Ekiden Competing with Humans, Animals, and Robots
Takuya Fujinaga1, Moeko Tominaga2, Daigo Katayama3, Kazuo Ishii3(1Fukuoka University, 2Nishinippon Institute of Technology, 3Kyushu Institute ofTechnology, Japan)

OS20-15

Development of a Low-Cost Underwater Robot for Research and Education
Takuya Fujinaga (Fukuoka University Japan)

16:40-17:40 OS7 Deep Learning and its Applications (4)Chair: Mastaneh Mokayef (UCSI University, Malaysia)
Co-Chair: Takao Ito (Hiroshima University, Japan)
OS7-1

Parallel Cross Window Attention Transformer and CNN Model for Segmentation ofInstrument during Surgery
Abdul Qayyum1, M. K. A. Ahamed Khan3, Moona Mazher4, Imran Razzak5, Steven
Niederer1,2, Mastaneh Mokayef3, C.S. Hassan3, Ridzuan, A.3(1Imperial College, London, United Kingdom) (2The Alan Turning Institute, London,UK) (3UCSI University, Malaysia) (4University College London, UK) (5University of
New South Wales, Australia)

OS7-2

Magnetic Resonance Spectroscopy (MRS) Reconstruction using Style Transfer Deep
Depth wise Framework
Abdul Qayyum1, M. K. A. Ahamed Khan3, Moona Mazher4, Imran Razzak5, Steven
Niederer1,2, Mastaneh Mokayef6, C.S. Hassan6, Ridzuan, A.6(1Imperial College, London, UK) (2The Alan Turning Institute, UK)(3,6 UCSI University, Malaysia) (4University College London, UK)(5University of New South Wales, Australia)

OS7-3

Federated Learning on Brain Disease Research: Segmentation of Cerebral Small
Vessel Diseases (CSVD) using Multi-scale Hybrid Spatial Deep Learning Approach
Moona Mazher1, Abdul Qayyum2, M. K. A. Ahamed Khan3, Steven Niederer2,4,
Mastaneh Mokayef3, Ridzuan, A3, C. S. Hassan3 (1University College London, UK)(2National Heart & Lung Institute, Imperial College, London, UK) (3UCSI University,
Malaysia) (4Alan Turning Institute, London, UK)

31©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS7-4

Hybrid Classical and Quantum Deep Learning Models for Medical ImageClassification
Moona Mazher1, Abdul Qayyum2, M. K. A. Ahamed Khan3, Steven Niederer2,4,
Mastaneh Mokayef3, Ridzuan, A3, C. S. Hassan3 (1University College London, UK,) (2National Heart & Lung Institute, Imperial College, UK) (3UCSI University, Malaysia)(4Alan Turning Institute, UK)

Room 403
10:00-11:15 OS17 Electronics and Kansei Engineering Based on ETT theory (5)Chair: Tetsuo Hattori (Kagawa University, Hiroshima Institute of Technology, Japan)
Co-Chair: Yusuke Kawakami (NIT (Kagawa College), Japan)
OS17-1A High-Speed Estimation Method of Parameters in Impulse Response
Toshiki Tanaka, Ivan Tanev (Doshisha University, Japan), Tetsuo Hattori (Kagawa
University, Japan)

OS17-2

A Consideration on Amplification Function in BJT Evers-Moll Model and PTT (I)---- V-I Characteristics ---Shimon Hattori, Osamu Matoba (Kobe University, Japan), Tetsuo Hattori (Kagawa
University, Japan), Toshiki Tanaka (Kinkei System, Japan), Yusuke Kawakami (NIT(Kagawa College), Japan)

OS17-3

A Consideration on Amplification Function in BJT Evers-Moll Model and PTT (II)---- H Parameters in the Small Signal Amplifier Circuit---Shimon Hattori, Osamu Matoba (Kobe University, Japan), Tetsuo Hattori (Kagawa
University, Japan), Toshiki Tanaka (Kinkei System, Japan), Yusuke Kawakami (NIT(Kagawa College), Japan)

OS17-4

Color Image Arrangement Using Histogram Matching
Yusuke Kawakami (NIT (Kagawa College), Japan), Tetsuo Hattori (Kagawa University,
Japan), R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan(R.O.C.))

OS17-5

Methodology for Creativity Oriented STEM Education Based on ETT Theory
Tetsuo Hattori, Toshihiro Hayashi, Mai Hattori, Yoshiro Imai (Kagawa University,
Japan), Asako Ohno (Osaka Sangyo University, Japan), Takeshi Tanaka (Hiroshima
Institute of Technology, Japan)

32©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

14:15-15:30 OS27 Post-narratological Approaches to Cognition in Humans and Robots(5)
Chair: Jumpei Ono (Aomori University, Japan)
Co-Chair: Hiroki Fxyma (Kobe University, Japan)
OS27-1

A Game Framework Based on the Disinformation Warfare in Russo-Ukrainian War
Jumpei Ono (Aomori University, Japan), Takashi Ogata (Iwate Prefectural University,
Japan)

OS27-2Comparative Analysis of Eye Tracking between Veteran and Novice during
Radiological Interpretation
Yuka Naito (Chuo University, Japan), Jun Nakamura (Chuo University, Japan),
Yoshinobu Ishiwata (Yokohama City University, Japan)

OS27-3Development of Notification System to Prevent Working Productivity from
Declining Caused by Increased Carbon Dioxide Concentration
KAMODA Yohei, NAKAMURA Jun (CHUO University, Japan)

OS27-4Visualization of the Skilled Physician's Gaze Characteristic during Diagnosis
Taiki Sugimoto (Chuo University, Japan), Jun Nakamura (Chuo University, Japan),and Yoshinobu Ishiwata (Yokohama City University, Japan)

OS27-5Comparative Analysis of Methods for Visualizing the Sensory Experience of Foodand Beverages
Hiroki Fxyma (Kobe University, Japan)

33©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

16:40-17:40 OS12 Machine Learning and its Applications (4)Chair: Masato Nagayoshi (Niigata College of Nursing, Japan)
Co-Chair Takashi Kuremoto (Nippon Institute of Technology, Japan)
OS12-1

Restoration of Guqin Music by Deep Learning Methods
Takashi Kuremoto*, Kazuma Fujino*, Hirokazu Takahashi*, Shun Kuremoto**, ***,
Mamiko Koshiba**, Hiroo Hieda***, Shingo Mabu**(*Nippon Institute of Technology, **Yamaguchi University, ***Institute for Future
Engineering, Japan)

OS12-2

Constructive Nurse Scheduling Using Reinforcement Learning Considering
Variations in Nurse Work Patterns
Masato Nagayoshi (Niigata College of Nursing, Japan),Hisashi Tamaki (Kobe University, Japan)

OS12-3

A Basic Study on Indicator of Transfer Learning for Reinforcement Learning
Satoshi Sugikawa, Kenta Takeoka, Naoki Kotani(Osaka Institute of Technology, Japan)

OS12-4

Machine Learning Approach to Predict Cooling Load for Existing Buildings
Makoto Ohara*, Hideo Isozaki**(*International Professional University of Technology in Osaka, Japan,**Kobe University, Japan)

Room 404
10:00-11:15 GS1-1 Machine learning& Neural Network & Artificial Life (5)Chair: Hiroki Tamura (University of Miyazaki, Japan)
GS1-1

Deep Learning Based Prediction of Heat Transfer Coefficient Using Spectrogram
Images from Boiling Sound
Fuga Mitsuyama, Ren Umeno, Tomohide Yabuki, Tohru Kamiya (Kyushu Institute ofTechnology, Japan)

GS1-2

A Study on Classification of Faulty Motor Sound Using Convolutional Neural
Networks
Jamil Md Shafayet, Praveen Nuwantha Gunaratne, Hiroki Tamura(University of Miyazaki, Japan)

GS1-3

Design and Development of a Flexible Active Ankle Joint Orthosis for Locomotion
Assistance
Praveen Nuwantha Gunaratne, Hiroki Tamura (University of Miyazaki, Japan)

34©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

GS1-4

A study on the Real-Time Biomechanical Analysis of Lamber Burden Utilizing
Stereoscope Cameras
Taufik Hidayat Soesilo, Praveen Nuwantha Gunaratne, Hiroki Tamura(University of Miyazaki, Japan)

GS1-5

Verification of Determination Possibility using Convolutional Autoencoder for
Machine Tool Abnormality Detection
Yuta Sumoto, Praveen Nuwantha, Hiroki Tamura (University of Miyazaki, Japan)

11:30-12:15 GS1-2 Machine learning& Neural Network & Artificial Life (3)Chair: Hiroki Tamura (University of Miyazaki, Japan)
GS1-6

Basic Research for High-speed Heart Sound Determination using AI
Riku Nakashima, Praveen Nuwantha Gunaratne, Hiroki Tamura(University of Miyazaki, Japan)

GS1-7

Prediction of High-Energy Electron Flux at Geosynchronous Orbit using a neuralnetwork technique
Ami Iwabu, Kentaro Kitamura (Kyusyu Institute of Technology, Japan)

GS1-8

Image Gradient-based Monocular Visual-Inertial Odometry
Tae Ihn Kim (Hyundai Motor Company, Republic of Korea), Jae Hyung Jung, andChan Gook Park (Seoul National University, Republic of Korea)

14:15-15:30 OS8 Intelligent Control (5)Chair: Yingmin Jia (Beihang University, China)
Co-Chair: Weicun Zhang (University of Science and Technology Beijing, China)
OS8-1

Global Stabilization of A Class of Nonholonomic Integrators via Discontinuous
Control
Lixia Yan, Yingmin Jia (Beihang University (BUAA), China)

OS8-2

Frequency Dependence Performance Limit of Vibration Absorbers
Jiqiang Wang1, Xiaoyu Yin2, Weicun Zhang3(1Chinese Academy of Sciences, China)(2Science & Technology Bureau of Zhenhai District, China)(3University of Science and Technology Beijing, China)

OS8-3

Adaptive Concurrent Learning Algorithm Based on Pontryagin’s Maximum Principle
for Nonlinear System Optimal Tracking Control with State Inequality Constraints
Yuqi Zhang, Bin Zhang (Beijing University of Posts and Telecommunications, China)

35©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS8-4

Privacy preserving Mean-square consensus for discrete-time heterogeneous multiagent systems with Communication Noises
Tongqing Yang1, Lipo Mo1, Yingmin Jia2
(1Beijing Technology and Business University, China)(2Beihang University (BUAA), China)

OS8-5

Event-Triggered Consensus Control for Nonlinear Singular Multi-Agent Systems
under Directed Topology
Lin Li, Tong Yuan, Mei Huang(University of Shanghai for Science and Technology, China)

15:40-16:25 OS14 Robotic Manipulation (3)Chair: Kensuke Harada (Osaka University, Japan)
Co-Chair: Akira Nakamura (Saitama Institute of Technology, Japan)
Co-Chair: Tokuo Tsuji (Kanazawa University, Japan)
OS14-1

Evaluation Standard of Error Recovery Planning Focused on Revival Process from Failures in
Robotic Manufacturing Plants
Akira Nakamura1, Kensuke Harada2(1Saitama Institute of Technology, 2Osaka University, Japan)

OS14-2

Robotic Food Handling Utilizing Temperature Dependent Variable-Stiffness Material
Rozilyn Marco1, Prashant Kumar2, Xinyi Zhang2, Weiwei Wan2 , Kensuke Harada2(1University of Toronto, Canada, 2Osaka University, Japan)

OS14-3

Vegetable maturity evaluation for harvest robots
Reno Muhammad Fadilla, Tokuo Tsuji, Tatsuhiro Hiramitsu, and Hiroaki Seki
(Kanazawa University, Japan)

16:40-17:40 GS5 Applications I (4)Chair: Chair Jiwu Wang (Beijing Jiaotong University, China)
GS5-1

Unsupervised image registration based on Residual-connected DRMINE for diagnostic
metastatic bone tumors
Shogo Baba1, Tohru Kamiya1, Takashi Terasawa2, Takatoshi Aoki2(1Kyushu Institute of Technology, Japan), (2University of Occupational and Environmental Health,Japan)

GS5-2

Developing a smart Belt for Monitoring Elderly Activities Based on Multi-Modal Sensors
Integration
and Internet of Things
Abdul Jalil, Pujianti Wahyuningsih, Najirah Umar, Muhammad Risal, Suwatri Jura, A. Edeth Fuari
Anatasya (Universitas Handayani Makassar, Indonesia)

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

GS5-3

A penalized motion detection model for extracting ionospheric echoes from low signal-to-noise
ratio Ionogram video images
Yuu Hiroshige1, Akiko Fujimoto1, Akihiro Ikeda2, Shuji Abe3, Akimasa Yoshikawa3(1Kyushu Institute of Technology, Japan) (2National Institute of Technology, Kagoshima College,
Japan), (3Kyushu University, Japan)

GS5-4

Verification Experiments on the Lower Back Burden caused by Posture and Environment during
Lifting Operations
Tomoka Kimura, Yutaro Fujino, Sachiko Kido, Praveen Nuwantha Gunaratne, Hiroki Tamura(University of Miyazaki, Japan)

Room 405
10:00-10:45 OS19 Natural Computing (3)Chair: Marion Oswald (Vienna University of Technology, Austria)
Co-Chair: Yasuhiro Suzuki (Nagoya University, Japan)
OS19-1A Model of Reaction-diffusion phenomena with Multiset Processing
Yasuhiro Suzuki (Nagoya University Japan)

OS19-2Extract tactile qualities from time series data
Yasuhiro Suzuki (Nagoya University, Japan)

OS19-3

Healthcare applications of vibrotactile stimulation developed by Tactile Score
Yasuhiro Suzuki, Rie Taniguchi (Nagoya University, Japan)

11:00-13:00 OS22 Mathematical Informatics (8)Chair Takao Ito (Hiroshima University, Japan)
Co-Chair Makoto Sakamoto (University of Miyazaki, Japan)
OS22-1

Adsorption Behavior of Arsenic and Selenium using NiZn Hydroxy Double Salts withAcetate, Chloride, Nitrate, and Sulfate Anions
Kaoru Ohe*, Ryosuke Tabuchi, Tatsuya Oshima(University of Miyazaki, Japan)

OS22-2

Parallel Acoustic Analysis Based on the Domain Decomposition Method with HigherOrder Element
Amane Takei1, Makoto Sakamoto1, Akihiro Kudo2(1University of Miyazaki, Japan)(2National Institute of Technology, Tomakomai Collage, Japan)

OS22-3

Sound Field Evaluation on Acoustical Experiment using Non-Steady State Analysis
Akihiro Kudo1, Makoto Sakamoto2, Amane Takei2(1National Institute of Technology, Tomakomai College, Japan)(2 University of Miyazaki, Japan)

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS22-4A DeepInsight Method with Morphological Analysis
Toyoaki Tomioka1, Satoshi Ikeda1, Makoto Sakamoto1, Takao Ito2
(1University of Miyazaki, Japan), (2Hiroshima University, Japan)

OS22-5

Support for Museum Exhibition of Small Fungi using AR Technology
Kakeru Takemura1, Ota Hamasuna1, Fumito Hamakawa1, Satoshi Ikeda1, Kaoru Ohe1,
Amane Takei1, Makoto Sakamoto1, Shuichi Kurogi2(1University of Miyazaki, Japan)(2Miyazaki Prefectural Museum of Nature and History, Japan)

OS22-6

Automatic Selection of High-Grade Dried Shiitake Mushrooms using Machine
Learning
Ota Hamasuna1, Kakeru Takemura1, Kodai Hasebe1, Fumito Hamakawa1, Bidesh
Biswas Biki1, Satoshi Ikeda1, Kaoru Ohe1, Amane Takei1, Makoto Sakamoto1,
Kazuhide Sugimoto2(1University of Miyazaki, Japan), (2 SUGIMOTO Co., Ltd. Japan)

OS22-7Predicting High Volatility Cryptocurrency Prices using Deep Learning
Tsutomu Ito1, Kodai Hasebe2, Fumito Hamakawa2, Bidesh Biswas Biki2, Satoshi
Ikeda2, Amane Takei2, Makoto Sakamoto2, Md Riajuliislam3, Sabrina Bari Shital4,
Takao Ito5
(1National Institute of Technology, Ube College, Japan)(2University of Miyazaki, Japan), (3 TU Dortmund, Germany)(4Daffodil International University, Bangladesh), (5Hiroshima University, Japan)

OS22-8Simulation of Weathering Representation using Vertex and UV Information
Tsutomu Ito1, Fumito Hamakawa2, Kodai Hasebe2, Satoshi Ikeda2, Amane Takei2,
Makoto Sakamoto2, Takao Ito3
(1National Institute of Technology, Ube College, Japan),(2University of Miyazaki, Japan), (3Hiroshima University, Japan)

14:15-15:15 OS5-1 Intelligent Life and Robotics (4)Chair Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
Co-Chair Evgeni Magid (Kazan Federal University, Russia)
OS5-1

Research on dynamic obstacle avoidance and complex path planning strategies
based on ROS robots
Yi-Wei Chen, Jr-Hung Guo(National Yunlin University of Science and Technology, Taiwan)

OS5-2

Research on Multi-Robot Formation on Two-Dimensional Plane
Kuo-Hsien Hsia, Chun-Chi Lai, Yi-Ting Liu, Yu-Le Chen(National Yunlin University of Science and Technology, Taiwan)

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS5-3

The Development of Utilization Rate and Energy Consumption Monitoring and
Networking System
Chung-Wen HUNG, Chun-Chieh WANG, Heng-En CHANG(National Yunlin University of Science and Technology, Taiwan)

OS5-4

MCU Based Edge Computing Platform for Liquid Level Measurement
Chung-Wen HUNG, Chun-Liang LIU, Tai-Hsuan WU (National Yunlin University of
Science and Technology, Taiwan)

15:40-16:10 OS5-2 Intelligent Life and Robotics (2)Chair Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
Co-Chair Evgeni Magid (Kazan Federal University, Russian Federation)
OS5-5

Potential of genetic algorithms in multi-UAV coverage problem
Ramil Faizullin1, Tatyana Tsoy1, Edgar A. Martínez-García2, Evgeni Magid1,3(1Kazan Federal University, Russian Federation)(2The Autonomous University of Ciudad Juarez, Mexico)(3HSE University, Russia)

OS5-6

Construction of Anthropomorphic Grippers with Adaptive Control
Evgeny Dudorov1, Julia Zhdanova2, Ivan Zhidenko1, Vladimir Moshkin2, Alexander Eryomin3,
Evgeni Magid3, Alexander Permyakov1(1JSC ‘SPA ‘Android technics’, Russia) (2MIREA – Russian Technological University, Russia)(3Kazan Federal University, Russia)

16:40-17:40 OS16 Industrial Artificial Intelligence Robotics (4)Chair: Eiji Hayashi (Kyushu Institute of Technology, Japan)
OS16-1

A Research on Performance Information Editing Support System for Automatic Piano
Yoshiki Hori, Eiji Hayashi (Kyushu Institute of Technology, Japan)

OS16-2Development of Autonomous Mobile Field Robots – Accuracy Verification of Self-Localization
through Simulation Takamasa Hayashi1, Shintaro Ogawa1, Yuto Okawachi1, Tan Chi Jie1, Janthori Titan1, Ayumu
Tominaga2, Eiji Hayashi1, Satoko Seino3(1Kyushu Institute of Technology, Japan), (2National Institute of Technology (Kitakyushu College),
Japan), (3Kyushu University, Japan)

OS16-3Development of AR System for Grasping String Foods on Introduction of Industrial Robot
Yoshihiro Koyama, Eiji Hayashi (Kyushu Institute of Technology, Japan), Akira Kawaguchi (The City
College of New York of The City University of New York, United States of America)

39©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS16-4

An Image Analysis of Coastal Debris Detection -Detection of microplastics using deep learning
Yuto Okawachi1, Ayumu Tominaga2, Shintaro Ogawa1, Takamasa Hayashi1, Tan Chi Jie1,
Janthori Titan1, Eiji Hayashi1, Satoko Seino3(1Kyushu Institute of Technology, Japan), (2National Institute of Technology (Kitakyushu College),
Japan), (3Kyushu University, Japan)

Room 406
10:00-11:15 OS18-1 Computer and Information Engineering (5)Chair: Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair: Heshalini Rajagopal (UCSI University, Malaysia)
OS18-1

Efficient Campus Shuttle Tracking and Management Mobile Application for College Campus
Andrea Tantay Gonzales1, Kavitha Thamadharan1, Neesha Jothi2(1INTI International College Penang, Malaysia) (2UCSI University, Malaysia)

OS18-2GCN Analysis of Task-Based fMRI Data for Diagnosis of Schizophrenia
Tejaswini Thota1, Reuben Stephen John1, Dr R Dhanush1, Dr Amutha S1(1 Vellore Institute of Technology, India)

OS18-3AR-Based Application for Campus Navigation
Renuka Devi Rajagopal1, Akshay S1, Manoj Rathinam1, Shakthi B1, Heshalini Rajagopal2(1 Vellore Institute of Technology, India), (2UCSI University, Malaysia)

OS18-4Development of Robotic Assistant for Health Care Sector with A Special Focus to Aid the GeriartricPatients
Narayanan Ganesh (Vellore Institute of Technology, India)

OS18-5Development of a Desktop Application Restaurant Management System
Gabriela Maria Ancilla, Heshalini Rajagopal, Ismail Ahmed Al-Qasem Al-Hadi(UCSI University, Malaysia)

11:30-12:00 OS18-2 Computer and Information Engineering (2)Chair: Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair: Heshalini Rajagopal (UCSI University, Malaysia)
OS18-6

Face Recognition based on Attendance System
Koh Pei Cong1, Heshalini Rajagopal1, Ghassan Saleh1, Norrima Mokthar2(1UCSI University, Malaysia), (2University of Malaya, Malaysia)

OS18-7

U-Reserve: Development of a Facility Reservation System for UCSI University
Esther Chong Jun Lynn1, Neesha Jothi1, Ismail Ahmed1(1UCSI University, Malaysia)

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

14:15-15:30 OS18-3 Computer and Information Engineering (5)Chair: Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair: Heshalini Rajagopal (UCSI University, Malaysia)
OS18-8The Smart Document Processing with Artificial Intelligence
Raenu Kolandaisamy1, Heshalini Rajagopal1, Indraah K2, Glaret Shirley Sinnappan3(1 UCSI University, Malaysia), (2University Utara Malaysia, Kedah)(3Tunku Abdul Rahman University of Management and Technology, Malaysia)

OS18-9

Digital Security Challenges Faced by Business Organizations
Raenu Kolandaisamy1, Heshalini Rajagopal1, Indraah K2, Glaret Shirley Sinnappan3(1UCSI University, Malaysia), (2University Utara Malaysia, Malaysia), (3Tunku Abdul
Rahman University of Management and Technology, Malaysia)

OS18-10The Study on Perception on E-Waste Among the People
Raenu Kolandaisamy1, Heshalini Rajagopal1, Indraah K2(1UCSI University, Malaysia), (2University Utara Malaysia, Malaysia)

OS18-11

Emergence of Cybercrimes in Online Social Networks
Raenu Kolandaisamy1, Heshalini Rajagopal1, Indraah K2(1UCSI University, Malaysia) (2University Utara Malaysia, Malaysia)

OS18-12Development of a music recommendation application by using facial emotion
recognition
Shengke Xie, Raenu Kolandaisamy, Ghassan Saleh, Heshalini Rajagopal(UCSI University, Malaysia)

15:40-16:25 OS21 Human-Machine Interface (3)Chair: Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair: Heshalini Rajagopal (UCSI University, Malaysia)
OS21-1

Enhancing Reconnaissance Missions Through Multiple Unmanned Systems in ROS
Anees ul Husnain1,2, Norrima Mokhtar1, Takao Ito3, Siti Sendari4, Muhammad
Farris Kyasudeen5, Muhammad Badri M Noor1,6, Heshalini Rajagopal7(1 Universiti Malaya, Malaysia), (2 The Islamia University of Bahawalpur, Pakistan),(3Hiroshima University, Japan), (4 Universitas Negeri Malang, Indonesia), (5University Technology MARA (UiTM), Malaysia)(6 Ifcon Technology Sdn Bhd, Malaysia), (7UCSI University, Malaysia)

OS21-2Illumination Effects on Facial Expression Recognition using Empirical Mode
Decomposition
Hashimah Ali1, Wan Khairunizam Wan Ahmad1, Hariharan Muthusamy2,
Mohamed Elshaikh1(1 Universiti Malaysia Perlis, Malaysia)(2 National Institute of Technology Uttarakhand, India)

41©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS21-3

Supercontinuum Generation Pump By a Molydenum Disulfide Based Soliton ModeLocked Fiber Laser
Aeryn D. Ahmad1, Norrima Mokhtar1, Hamzah Arof1, Sulaiman Wadi harun1,
Ahmad Haziq Aiman Rosol2(1Universiti Malaya, Malaysia), (2MJIIT, UTM, Malaysia)

16:40-17:40 GS6 Applications II (4)Chair: Masayuki Fujiwara (Kyushu Institute of Technology, Japan)
GS6-1

Development of Smartphone Application for Calculating the Low Back Pain Risk
Seigo Imura, Praveen Nuwantha, Hiroki Tamura (University of Miyazaki, Japan)

GS6-2

A Computational Approach for Global Trade Analysis Sensitive to Free Trade
Agreement Circumstances: A Case Study Focusing on the Great Mekong Subregion
Ahmad Altaweel1, Bo-Young Lee2, Masayuki Fujiwara1, Jang-Sok Yoon2, Hiroaki
Wagatsuma1(1Kyushu Institute of Technology, Japan; 2Logistics Revolution Korea, Korea)

GS6-3

Trigger circuit design and system integration for simultaneous measurement of
human EEG, motion, and gaze
Masayuki Fujiwara1, Phan Hoang Huu Duc1, Laurent Bougrain2, Patrick Hénaff2,
Hiroaki Wagatsuma1 (1Kyushu Institute of Technology, Japan; 2Université deLorraine, France)

GS6-4

Terminal Synergetic Controller for Car’s Active Suspension System Using Dragonfly
Algorithm
Tinnakorn Kumsaen1, Sorn Simatrang2, Arsit Boonyaprapasorn3, Thunyaseth
Sethaput4(1Khon Kaen University, Thailand; 2Nacres Co., Ltd, Thailand; 3Chulachomklao Royal
Military Academy, Thailand; 4Thammasat University, Thailand)

42©ICAROB 2024 ALife Robotics Corp. Ltd.

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February 25 (Sunday)
9:40-Registration
10:00-11:00
Room 405
10:00-11:15 OS6 Intelligence and Optimization (5)Chair: Mastaneh Mokayef (UCSI University, Malaysia)
Co-Chair Takao Ito (Hiroshima University, Japan)
OS6-1

Simulation-Based Enhancement of SNR in Drone Communication through Uniform
Linear Array Configurations
Gershom Phiri1, Mastaneh Mokayef1, MHD Amen Summakieh1, M.K.A Ahamed
Khan1, Sew Sun Tiang1, Wei Hong Lim1, Abdul Qayyum2(1UCSI University Malaysia)(2National Heart and Lung Institute, Imperial College London, UK)

OS6-2

Empowering Elderly Individuals through the Intelligent Shopping Trolley
Mastaneh Mokayef1, Muzaiyanah Binti Hidayab1, MHD Amen Summakieh1, M.K.A
Ahamed Khan1, Kim Soon Chong1, Chin Hong Wong2, Chua Huang Shen3, Abdul
Qayyum4(1UCSI University Malaysia) (2Fuzhou University, China) (3UOW Malaysia University,
Malaysia) (4National Heart and Lung Institute, Imperial College, UK)OS6-3

Optimized Microstrip Slot UWB Patch Antenna for Medical Imaging
Maxime Duvacher1, Mastaneh Mokayef2, MHD Amen Summakieh2, M.K.A Ahamed
Khan2, Sew Sun Tiang2, Wei Hong Lim2, Abdul Qayyum3(1Polytech Nantes, France) (2UCSI University Malaysia) (3National Heart and Lung
Institute, Imperial College London, UK)

OS6-4

Development of an Innovative Undergraduate Industrial Automation and Robotics
Degree Program
M.K.A. Ahamed Khan1, Mastaneh Mokayef1, Ridzuan, A.1, Irraivan Elamvazuthi,
Badli Shah Yusoff2, Abu Hassan Darusman3 (1UCSI University Malaysia) (2University
Technology Petronos, Malaysia) (3UNIKL Malaysia France Institute, Malaysia)

OS6-5

Smart Assistive Trolley for Elderly Care and Independence
Dina Ashraf1, Mastaneh Mokayef1, MHD Amen Summakieh1, M.K.A Ahamed Khan1,
Abdul Qayyum2, Sivajothi A/L Paramasivam3 (1UCSI University Malaysia) (2National
Heart and Lung Institute, Imperial College London, UK) (3UOW Malaysia University
College, Malaysia)

43©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

12:30-13:45 OS4-1 Pattern Recognition and Robotics III (5)Chair: Huahao Li (Tianjin University of Science and Technology, China)
Co-Chair Hongshuo Zhai (Tianjin University of Science and Technology, China)
OS4-1

A Digital Twin Design Based on Robot Workstation
Huahao Li (Tianjin University of Science and Technology, China)

OS4-2

A Study of Chemical Reactor Simulation System Based on PCS7
Hongshuo Zhai (Tianjin University of Science and Technology, China)

OS4-3

Analysis of Learning Quality Evaluation for University Student Courses with Process
Assessment
Yuhao Zhang, Ying Gong, Xuran Wang
(Tianjin University of Science and Technology, China)

OS4-4Motion Analysis and Transfer Applications Based on Posture Recognition
Yuhao Zhang, Mingyue Li, Jianhao Jiao (Tianjin University of Science and Technology,
China)

OS4-5

Functional Safety Assessment of the Safety Protection System Based on Petri Net
Peng Wang, Mengyuan Hu(Tianjin University of Science and Technology, China)

14:00-15:15 OS4-2 Pattern Recognition and Robotics III (5)Chair: Huahao Li (Tianjin University of Science and Technology, China)
Co-Chair: Hongshuo Zhai (Tianjin University of Science and Technology, China)
OS4-6

Pedestrian Attribute Recognition Based on Deep Learning
Peng Wang, Qikun Wang, Shengfeng Wang
(Tianjin University of Science and Technology, China)

OS4-7

Simulation of office air conditioning air supply based on COMSOLPeng Wang, Mengda Liu, Qikun Wang
(Tianjin University of Science and Technology, China)

OS4-8

Solo Wheel Technology-Self-balancing Wheelbarrow
Ziyue Xiao, Yumei Huang, Zhencheng Chang, Mingxuan Li(Tianjin University of Science and Technology, China)

OS4-9

Second-order self-balancing inverted pendulum
Ziyue Xiao, Zhencheng Chang, Mingxuan Li, Yumei Huang(Tianjin University of Science and Technology, China)

44©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS4-10Design of Nanny's Abnormal Behavior Recognition Bracelet Based on Human
Activity Recognition (HAR) Deep Learning Model
Depeng Wang, Yingfan Zhu, Yande Xiang, Ziyue Xiao
(Tianjin University of Science and Technology, China)

Room 406
10:00-11:30 OS26-1 Navigating the Digital Frontier: Innovations in the Age of Industry
Revolution 4.0(6)Chair: Wei Hong Lim (UCSI University, Malaysia)
Co-Chair: Takao Ito (Hiroshima University, Japan)
OS26-1An Intelligent Cargo/Warehouse Management System
Zhongheng Sun, Zhou Yue, Xun Sun, Wenzhuo Fan, Wenxuan Zhou
(Fuzou University, China)

OS26-2A Comprehensive Approach to Design and Implement an IoT-Enabled Intelligent
Shopping Cart System with Obstacle-Aware Navigation and Enhanced Customer
Engagement for Elevated Consumer Experiences
Yao Chen1, Jiacheng Du1, Bo Peng1, Ningfei Wang1, Zehan Huang1, Wei Hong Lim2,
Sew Sun Tiang2, Mastaneh Mokayef2, Chin Hong Wong1(1Fuzhou University, China) (2UCSI University, Malaysia)

OS26-3

Design of a Four-Port Flexible UWB-MIMO Antenna for Wearable and IoTApplications
Jia Wei Tan, Sew Sun Tiang, Kim Soon Chong, Mohammad Arif Ilyas, Mastaneh
Mokayef, Zhi Ying Yeoh, Wei Kang Lai, Wei Hong Lim(UCSI University, Malaysia)

OS26-4

Investigate Power Efficiency in PLECS and MATLAB Software by Designing USB 5W
ChargerZhi Ying Yeoh, Kim Soon Chong, Sew Sun Tiang, Mohammad Arif Ilyas, Jia Wei Tan,
Wei Kang Lai, Wei Hong Lim (UCSI University, Malaysia)

OS26-5

Design and Simulation and Performance of Grid Connected Photovoltaic System for
Small, Tall Building in Malaysia
Wei Kang Lai, Kim Soon Chong, Sew Sun Tiang, Mohammad Arif Ilyas, Jia Wei Tan,Zhi Ying Yeoh, Wei Hong Lim(UCSI University, Malaysia)

OS26-6

Design of Dual-Band Coplanar Waveguide (CPW) Printed Antenna for 1.9 - 3.6GHz
Applications
Jia Wei Tan, Sew Sun Tiang, Kim Soon Chong, Mohammad Arif Ilyas, Mastaneh
Mokayef, Zhi Ying Yeoh, Wei Kang Lai, Wei Hong Lim(UCSI University, Malaysia)

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

12:30-13:45 OS26-2 Navigating the Digital Frontier: Innovations in the Age of Industry
Revolution 4.0 (5)Chair: Wei Hong Lim (UCSI University, Malaysia)
Co-Chair: Takao Ito (Hiroshima University, Japan)
OS26-7

Optimized Convolutional Neural Network Towards Effective Wafer Defects
Classification
Koon Hian Ang1, Koon Meng Ang1, Chin Hong Wong2,3, Abhishek Sharma4, Chun Kit
Ang1, Kim Soon Chong1, Sew Sun Tiang1, Wei Hong Lim1
(1UCSI University, Malaysia) (2Fuzou University, China) (3Maynooth University,
Ireland) (4Graphic Era Deemed to be University, India)

OS26-8

Tackling Photovoltaic (PV) Estimation Challenges: An Innovative AOA Variant for
Improved Accuracy and Robustness
Rayan Mohammed Noor Mohammed Bakhit1, Abhishek Sharma2, Tiong Hoo Lim3,
Chin Hong Wong4,5, Kim Soon Chong1, Li Pan1, Sew Sun Tiang1, Wei Hong Lim1
(1UCSI University, Malaysia) (2Graphic Era Deemed to be University, India)(3Universiti Teknologi Brunei, Brunei Darussalam) (4Fuzou University, China)(5Maynooth University, Ireland)OS26-9Deep Learning in Manufacturing: A Focus on Welding Defect Classification withCNNs
Tin Chang Ting1, Hameedur Rahman2, Tiong Hoo Lim3, Chin Hong Wong4,5, Chun Kit
Ang1, Mohamed Khan Afthab Ahamed Khan1, Sew Sun Tiang1, Wei Hong Lim1
(1UCSI University, Malaysia) (2Air University, Pakistan) (3Universiti Teknologi Brunei,
Brunei Darussalam) (4Fuzou University, China) (5Maynooth University, Ireland)OS26-10Enhancing Global Optimization Performance of Arithmetic Optimization Algorithmwith a Modified Population Initialization Scheme
Tin Chang Ting1, Hameedur Rahman2, Meng Choung Chiong1, Mohamed Khan
Afthab Ahamed Khan1, Cik Suhana Hassan1, Farah Adilah Binti Jamaludin1, Sew Sun
Tiang1, Wei Hong Lim1
(1UCSI University, Malaysia) (2Air University, Pakistan)OS26-11

Enhancing Precision Object Detection and Identification for Autonomous Vehicles
through YOLOv5 Refinement with YOLO-ALPHA
Guandong Li1, Yanzhe Xie1, Yuhao Lu1, Jingzhen Fan1, Yuankui Huang1, Zongyan
Wen1, Wei Hong Lim2, Chin Hong Wong1(1Maynooth University, Ireland) (2UCSI University, Malaysia)

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14:00-15:30 OS11 Intelligent Life and Robotics (6)Chair: Evgeni Magid (Kazan Federal University, Russia)
Co-Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
OS11-1An Overview of Kinect Based Gesture Recognition Methods
Alexander Alexeev1, Tatyana Tsoy1, Edgar A. Martínez-García2, Evgeni Magid1,3(1Kazan Federal University, Russia)(2The Autonomous University of Ciudad Juarez, Mexico)(3HSE University, Russia)

OS11-2

An investigation on the impact of human-robot interactions during an autonomous
obstacle avoidance task
Riham Salman, Shifa Sulaiman, Renata Islamova, Tatyana Tsoy
(Kazan Federal University, Russia)

OS11-3

A Comparative Analysis of Object Detection Methods for Robotic Grasping
Nikita Kolin, Elvira Chebotareva (Kazan Federal University, Russia)

OS11-4

Vision-based autonomous navigation for medical examination using a UR3emanipulator
Bulat Abbyasov1, Aidar Zagirov1, Timur Gamberov1, Hongbing Li2, Evgeni Magid1(1Kazan Federal University, Russia)(2Shanghai Jiao Tong University, China)

OS11-5

Robot-Assisted Language Learning: Scientific Data Analysis
Karina Sadyikova, Valeriya Zhukova, Roman Lavrenov(Kazan Federal University, Russia)

OS11-6

Monitoring Beehive Sound Levels with Arduino-based System
Kulmukhametov Ramis1, Ramil Safin1, Tatyana Tsoy1, Kuo-Hsien Hsia2, Evgeni Magid1(1Kazan Federal University, Russia)(2National Yunlin University of Science and Technology, Taiwan)

Room 407
10:00-11:15 OS25-1 Research Towards the Sustainable Development Goals (SDG’s) (5)Chair: Ammar A.M. Al Talib (UCSI University, Malaysia)
Co-Chair: Takao Ito (Hiroshima University, Japan)
OS25-1

Portable Green Energy Mobile Laptop Charging Station
Ammar A. M. Al-Talib1, Rodney Tan1, Ang Aun Jie1, Idayu M. Tahir1, Sarah Atifah
Saruchi2, Cik Suhana Bt. Hassan1, Amar Rizwan1(1UCSI University) (2UMPSA, Malaysia)

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OS25-2

Auto Indoor Hydroponics Plant Growth Chamber
Ammar A.M. Al-Talib1, Tew Hwa Hui1, Sarah Atifah Saruchi2, Idayu M. Tahir1, Nor
Fazilah Binti Abdullah1(1UCSI University) (2UMPSA, Malaysia)

OS25-3

A Design and Fabrication of a Solar Agriculture Water Pumping System
Ammar A.M. Al-Talib1, Idayu M. Tahir1, Ain Atiqa1, Amar Rizwan1, Sarah Atifah
Saruchi2, Yazan Abu Al shaikh1(1UCSI University) (2UMPSA, Malaysia)

OS25-4

Design and Performance of a Power Generating Manual Treadmill
Ammar A. M. Al-Talib1, Sarah Atifah Saruchi2, Cik Suhana Bt. Hassan1, Nor Fazilah
Binti Abdullah1, Ain Atiqa1, Ahmad Jelban1(1UCSI University) (2UMPSA, Malaysia)

OS25-5

Smart Car Jack Using Internet of Things
Idayu M.T. Noor, Ammar A.M. Al- Talib, Mahmoud E.A. Zeiad, Suhana B.H. Cik,(UCSI University, Malaysia)

12:30-13:45 OS25-2 Research Towards the Sustainable Development Goals (SDG’s) (4)Chair: Ammar A.M. Al Talib (UCSI University, Malaysia)
Co-Chair: Takao Ito (Hiroshima University, Japan)
OS25-6

Gas Detection for Biogas System Using Internet Of Things (IoT)
Ammar A.M. Al Talib, I.H.W. Yang, Idayu M.T. Noor, Haslija A.B. Ayu, Afifi. Z. Nur
Muhammad(UCSI University, Malaysia)

OS25-7

IoT- Based Smart Mushroom Growing Kit
Ammar A.M. Al- Talib, C.K.J. Ting, Noor Idayu M. Tahir, Ain Atiqa, T.Y. Hui(UCSI University, Malaysia)

OS25-8Design and Analysis of Artificial Magnetic Conductor for Metal Shielding
Applications in RFID Car Detection Applications
Eryana Hussin1,2, Azman Zakariya2, Md. Ashraful Haque2,3, Nur Izzati Ali4
(1UCSI University) (2UTPSA, Malaysia) (3Daffodil International University,
Bangladesh) (4UMP, Malaysia)

OS25-9Effect of Fibre Orientation on the Mechanical Performance of Natural Fibre Polymer
Composite Bicycle Frame using Finite Element Analysis
Kok Sem Too, Cik Suhana Hassan, Nor Fazilah Abdullah, Ammar Abdulaziz Majeed
Al-Talib,(UCSI University, Malaysia)

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OS25-10Modelling of short-circuit protection for a residential grid-connected BESS
Kong De Kang, Farah Adilah Jamaludin, Rodney H.G. Tan(UCSI University, Malaysia)

14:00-15:30 GS7 Applications III (6)Chair: Kasthuri Subaramaniam (UCSI University, Malaysia)
GS7-1

Rehabilitating Flood-Damaged Cars for Sustainable Car Rental Services: A WebBased System
Pon Xiao Qi, Abdul Samad Shibghatullah, Kasthuri Subaramaniam(UCSI University, Malaysia)

GS7-2

Optimizing E-Invoicing Rollout: Adaptive E-Invoicing Rollout (AER) Framework for
Navigating Malaysia's Digital Transformation
Koh Chee Hong, Abdul Samad Shibghatullah(UCSI University, Malaysia)

GS7-3

App Alert System for Smart Phones
Chee Kin Hoe, Kasthuri Subaramaniam, Abdul Samad Shibghatullah(UCSI University, Malaysia)

GS7-4

Developing Hand Gesture Recognition System in Interpreting American Sign
Language
Kong Seh Chong, Kasthuri Subaramaniam, Ismail Ahmed Al-Qasem Al-H
(UCSI University, Malaysia)

GS7-5

Miniature Enterprise Resource Planning
Adim Khalid Aldireejah, Kasthuri Subaramaniam, Ghassan Saleh(UCSI University, Malaysia)

GS7-6

Developing Cloud-based Sportswear Website
Lim Wei Yee, Kasthuri Subaramaniam, Raenu Kolandaisamy(UCSI University, Malaysia)

Farewell Party

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Abstract
PS Abstract (3)PS1 Developing High-Speed Working Motion of the Multi Robot in DENSO
Tomoaki Ozaki (DENSO CORPORATION, Japan)
The number of labor force is expected to decrease due to the declining birthrate and aging
population. Although many efforts to solve this social issue using automation technology by
robots around the world have been implemented, most of the current applications of robots arestill repetitive works such as picking and placing in mass production lines in factories, and small
progress of the application of robots for high-mix low-volume production lines where theoperations are frequently changed. In this paper, we discuss the reasons and the potential
solutions for autonomous control technologies including the AI and deep learning. Moreover,the high-speed working motion of the multi robot developed by DENSO will be presented inthis paper.

High-Speed Working
Motion of the MultiRobot

PS2 Experimenting with Variable Arm Quadrotors: Realizing Dynamic Configurations forEnhanced Flight Performance
Hazry Desa, Muhammad Azizi bin Azizan (Universiti Malaysia Perlis, Malaysia)
This paper introduces two innovative variable arm concepts for quadrotors, enhancing precise
movement control by manipulating bending moments through arm length variations. Its key
goal is to identify the optimal arm configuration for smooth and stable quadrotor maneuvers.
Exploring two concept designs tailored for quadrotors, the study focuses on regulating
manoeuvrability using variable arms, enabling bending moment adjustments. Results validatethat the electric actuator with linear guide-type 2 variable arm ensures smooth and stable
quadrotor movement.

PS3 Artificial Intelligence and Technologies of Arm-type and Mobile Robots in Industry
Haruhisa Okuda (Mitsubishi Electric Corporation, Japan)
In recent years, labor shortage has become a serious issue in industrial fields. Various
technologies including robot and information processing system to realize flexible work likehumans are effective solutions to this issue. Artificial intelligence technology of arm-type robots
equipped with 3D sensors and force sensors has been applied in the manufacturing field to copewith different intelligent and highly precise tasks in Mitsubishi Electric. In addition, various
technologies to expand the scope of application to the service field, as well as to realize highly
functional delivery with mobile robots is under development. Furthermore, IoT technology isalso being used for easy and quick on-site implementation and efficient operation. This speech
introduces these initiatives with actual examples.

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OS Abstract
OS1 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 Pang-Wei Tsai (National Cheng Kung University, Taiwan)
OS1-1 Detecting abnormal operations in ICS using finite-state machines
Pei-Wen Chou, Nai-Yu Chen, Jung-Shian Li, I-Hsien Liu (National Cheng Kung University, Taiwan)
In 2021, a water treatment facility in Florida, USA, fell victim to an external malicious attack.
In this incident, malicious actors attempted to manipulate the quantities of specific chemicals
to impact water quality and safety. Given the intricacies of abnormal operation detection in
Industrial Control Systems and the advantages of finite-state machine, we endeavored to apply
this approach for the detection of abnormal ICS operations. We conducted a series of tests using
the dam control system cybersecurity testbed established by TWISC@NCKU, Taiwan. The
results indicate that our approach effectively enhances the efficiency of identifying non-standard
operational behaviors, enabling maintenance personnel to promptly identify anomalies.

OS1-2 Industrial Control System State Monitor Using Blockchain Technology
Yun-Hao Chang, Tzu-En Peng, Jung-Shian Li, I-Hsien Liu (National Cheng Kung University, Taiwan)
This paper introduces an innovative approach to enhance data verification and security inintelligent systems through the integration of blockchain technology. The proposed method
amalgamates the transparency and decentralization inherent to blockchain with the commandand oversight functionalities of PLC to ensure the utmost data integrity. The devised approachsynergizes the decentralized attributes of blockchain with the control capabilities of PLCs, thus
establishing robust safeguards for data integrity. Through the utilization of blockchain's tamperresistant ledger, PLCs orchestrate data interactions and enforce real-time monitoring andcontrol. The viability and efficacy of this innovative scheme are substantiated through empiricalevaluations and simulations, conclusively affirming its practicality.

OS1-3 Enhancing Dam Security and Water Level Alerting with Blockchain Technology
YingCheng Wu, Jung-Shian Li, Chu-Fen Li, I-Hsien Liu (National Cheng Kung University, Taiwan)
Ensuring the security, monitoring, and timely alerting of water levels in dams is a major
challenge. We use blockchain technology to enhance the security and monitoring of dam
infrastructure, and also improving the alerting system for water level changes. The use ofblockchain technology in dam infrastructure management provides a decentralized, transparent,
and tamper-resistant platform for storing and managing data. This ensures the integrity andsecurity of critical data related to dam operations and water levels. This research investigates
the enhanced security, monitoring, and alerting capabilities that this integration offers, and aims
to contribute to the improved security and efficiency of dam infrastructure, leading to morereliable operations and better protection against potential disasters.

OS1-4 MiniDAM: A Dam Cybersecurity Toolkit
Tzu-En Peng, Meng-Wei Chang, Yun-Hao Chang, Jung-Shian Li, I-Hsien Liu(National Cheng Kung University, Taiwan)
Testbeds, serving as simulations of real-world scenarios, are of paramount importance forresearch in cybersecurity related to critical infrastructure. In this paper, we aim to offer acomprehensive exploration of the MiniDAM and our testbed, introducing its physical settings
based on real dam operational standards. Furthermore, a comparative analysis between the
Secure Water Treatment (SWaT) testbed, MiniCPS, our testbed, and MiniDAM is presented.
This paper also includes insights into dataset generation and the integration of otherfunctionalities. The exposition of MiniDAM's features and capabilities serves as a foundationfor enhancing resilience and provides valuable support for advancing research within the
broader field of dam-related studies.

51©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS1-5 Case Study of Network-Based Intrusion Detection System Deployment in Industrial
Control Systems with Network Isolation
Nai-Yu Chen, Pei-Wen Chou, Jung-Shian Li, I-Hsien Liu (National Cheng Kung University, Taiwan)
Deploying intrusion detection systems is a common cybersecurity measure, and intrusion
detection systems typically operate at the ports of gateways. In critical infrastructure, industrial
control systems often employ network isolation strategies, lacking the role of gateways. This
research primarily explores the deployment of the Snort intrusion detection system in such anenvironment, combined with specific OT rules. Validation is conducted using the cybersecurity
testbed of the dam control system established by TWISC@NCKU in Taiwan. The results
indicate that by employing our proposed approach, it is possible to effectively detect abnormal
network traffic, addressing the common issue of inadequate monitoring in environments with
network isolation.

OS1-6 The AI integration service innovation model of real estate industry in Taiwan
Li-Min Chuang, Chih-Hung Chen (Chang Jung Christian University, Taiwan)
In real estate transactions, the intermediary role is often played by real estate agents. In recent
years, with the integration of information and AI, the real estate industry can now provide higher
quality services. This study references relevant literature and collects the services currently
offered by real estate agents. The main dimensions and sub-dimensions are extracted using the
Likert scale. Then, the Fuzzy Analytic Hierarchy Process (FAHP) is employed in aquestionnaire study to obtain the relative weights among four main dimensions and twelve subdimensions. This research develops propositions and conclusions, summarizing the key factors
for real estate transactions in Taiwan's real estate industry. These findings serve as importantreference points for the industry.

OS2 Pattern Recognition and Robotics I (5)Chair Fengzhi Dai (Tianjin University of Science and Technology, China)
Co-Chair Yunzhong Song (Henan Polytechnic University, China)
OS2-1 A Study on Sales Patterns for Vegetable Products in Retail Stores
Yuhao Zhang 1, Shuangshuang Ma 1, Jiashuai Wang 1, Fengzhi Dai 1, Lijiang Zhang 2( Tianjin University of Science and Technology, China, 2 Xinjiang Shenhua Biotechnology Co., Ltd, China)
1

In fresh produce supermarkets, the shelf life of vegetable products is typically short,necessitating daily restocking based on historical sales data and the formulation of a rational
pricing strategy to maximize the store's profits. This paper, based on sales data for vegetableproducts in a particular store from July 2020 to June 2023, employs various analytical methods,
including multidimensional analysis, clustering, and regression, to explore the interrelationships
among different types of vegetables. Furthermore, it combines cost-plus pricing and priceelasticity models to establish a pricing framework that optimizes revenue for the supermarket.

OS2-2 Research and Implementation of Cooperative Control for ROS Mobile Robot
Saijie Zhang, Huailin Zhao
(Shanghai Institute of Technology, China)
This paper discusses on the distributed control for the multiple ROS-based robots. A
communication platform is built to execute the data transmission. The SLAM mapping andautonomous navigation of the robots are completed. The simulation tools of both Gazebo andRviz are applied to analyze the multi-point navigation. The proposed distributed control system
is tried and the synchronous control of the robots is realized, which achieve more accurate andmore synchronous robot motion control. At last, the multi-robot following and multi-robot
formatting come true.

52©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS2-3 An OpenCV-based Method for Workpiece Residue Image Processing
Jiaxin Wang, Hao He, Fangyv Liu, Fengzhi Dai (Tianjin University of Science and Technology, China)
Workpiece residue refers to a thin film formed on the surface of the workpiece during themachining process, due to factors such as cutting fluid, chips, oil stains, etc., which affects thequality and performance of the workpiece. This paper proposes an OpenCV-based method forworkpiece residue image processing, aiming to achieve automatic detection and analysis of
workpiece residue. By building a workpiece image acquisition system, workpiece residue
images of different types and degrees are collected, and the proposed method is verified andevaluated. The experimental results show that the proposed method can effectively detect andanalyze workpiece residue, with high accuracy and robustness, providing an effective means
for workpiece quality control.

OS2-4 On Nonblockingness Verification and Enforcement of Controlled Nondeterministic
Discrete-Event Systems
Xiang Ren, Zipei Wang (Tianjin University of Science and Technology, China)
Discrete event systems, as an important kind of cyber-physical systems, have been widely usedin engineering field. In this paper, we first express the dynamics of a controlled nondeterministic
discrete-event system (acronym is DES) as an algebraic state-space representation using thesemi-tensor product (STP) theory. And then, we discuss the problems of state-based
nonblockingness verification and enforcement of nondeterministic DESs. Specifically, we
obtain a criterion of verifying whether a given controlled nondeterministic DES is nonblocking.
Further, we develop an efficient matrix-based approach to enforce state-based nonblockingness.
We illustrate the applications of the proposed theoretical results using an example.

OS2-5 Modeling and Reachability Verification of Controlled Nondeterministic Finite-State
Automata
Zipei Wang, Xiang Ren (Tianjin University of Science and Technology, China)
In this paper, we investigate the modeling and state reachability of controlled nondeterministic
finite-state automata (NFA). The key feature of a controlled NFA is to admit a supervisor tointervene the behavior of original system. We first express the dynamics of a controlled NFA as
an algebraic state-space representation in the framework of the semi-tensor product (STP) of
matrices. Then, the necessary and sufficient condition for verifying state reachability ofcontrolled NFA is presented. An explicit formula for calculating all paths of any two states isderived. Finally, we use an example to illustrate the application of the proposed theoreticalresults.

OS3 Pattern Recognition and Robotics II (9)Chair Fangyan Li (Tianjin University of Science and Technology, China)
Co-Chair Haozhe Sun (Tianjin University of Science and Technology, China)
OS3-1 Detection and Identification of Daylily Maturity Based on YOLOv8
Fangyan Li (Tianjin University of Science and Technology, China)
To better apply object detection and identification techniques from deep learning to the field ofagricultural automation, this paper focuses on the growth process of daylilies. It employs thestate-of-the-art YOLOv8 model to achieve accurate assessment of daylily maturity. The
backbone network of YOLOv8 draws inspiration from the CSPDarkNet network structure to
extract image features. Experimental results demonstrate that the detection accuracy of daylilies
based on YOLOv8 exceeds 95.6%, with a recall rate of 90.5% and a mean average precision(mAP) reaching 0.94. Moreover, the identification speed is significantly improved.

53©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS3-2 Chaos Synchronization and Circuit Design of Chen System and Lü System with Different
Structures
Haozhe Sun (Tianjin University of Science and Technology, China)
In this paper, by using nonlinear feedback control, chaos synchronization is achieved between
the Chen system and the Lü system with different initial values, and the error curves and statesynchronization curves of the corresponding states in the response Lü system and the drive
Chen system are plotted. Finally, the simulation circuit model of the synchronization system of
the drive Chen system and the response Lü system is designed by Multisim circuit simulation
software. Comparing the output curves with the curves obtained by MATLAB simulation
software, it can be found that the two curves achieve a good qualitative agreement. The
synchronization of the drive Chen system and the response Lü system is accomplished.

OS3-3 A Parking Space Recognition Method Based on Digital Image Technology
Hao He, Fangyv Liu, Jiaxin Wang (Tianjin University of Science and Technology, , China)
In recent years, the number of cars in the city has been increasing, leading to an increasingly
prominent issue of urban parking space. Consequently, the automatic identification method forparking spaces has emerged as a crucial research direction. This paper presents a design andimplementation scheme for recognizing the status of parking spaces in urban areas based on
digital image processing and other technologies. Real-time images of multiple parking spaces
are collected and transmitted for splicing and detection purposes to determine their availability.
The experimental results demonstrate the feasibility and effectiveness of the proposed method,which holds practical significance in addressing parking space detection problems throughdigital image processing.

OS3-4 A Design of Intelligent Handling Robot Based on AT89C52
Fangyv Liu, Jiaxin Wang, Hao He (Tianjin University of Science and Technology, China)
Aimed at the shortcomings of the low efficiency and the limitation of the artificial logistics
handling, this paper presents a logistics handling robot based on AT89C52 single chip
microcomputer. The integration of the power module, sensor, and drive motor module enables
automatic obstacle avoidance and information collection.The incorporation of an ultrasonicobstacle avoidance module and an infrared tracking module enhances the capability for obstacle
avoidance and path searching, and can easily cope with different workplace. The Yaskawa MPL
manipulator is highly suitable for high-speed and high-precision palletizing, picking, packaging,and other industries.

OS3-5 Application and Differences of Robotic Arms, Traditional Machines and Manual Workin Production
Xue Yang, Ying Su, Yuping Mei, Haiquan Wang
(Tianjin University of Science and Technology, China)
This article aims to explore the differences between robotic arms and traditional machines andhumans. Firstly, robotic arms are a kind of automated equipment with high flexibility andaccuracy, which can perform a variety of complex tasks. In contrast, traditional machines lackflexibility and accuracy, while humans have problems such as low work efficiency and higherror rates. Secondly, the emergence of robotic arms can solve many problems in traditional
machines and humans, and improve production efficiency and quality. Finally, there is nocontradiction between robotic arms, traditional machines and humans, but they can complement
each other. By using robotic arms and humans reasonably, we can give full play to theirrespective advantages and improve the overall production efficiency and economic benefits.

54©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS3-6 A Deep Exploration of the Mounting Issues Related to Six Rotor UVA
Yuping Mei, Ying Su, Xue Yang (Tianjin University of Science and Technology, China)
In recent years, the hexacopter UAV has developed rapidly, especially the technologicalbreakthrough in the field of automatic driving, which is of great significance in both militaryand civilian fields. The six-rotor UAV uses six rotors as the power source and adjusts the attitude
by changing the rotor speed to further achieve position control. It has excellent hovering ability
and sensitivity, and is equipped with a precise positioning system and advanced sensors.
However, there are still common problems such as weak mounting capacity and single mounting
mode. In view of this problem, this paper will test the fuselage structure, avionics system andpower system one by one from two aspects: changing the fuselage structure and installing the
motor position.

OS3-7 The Application of Hexacopter UAV in The Field of Climbing Evasion
Ying Su, Yuping Mei, Xue Yang (Tianjin University of Science and Technology, China)
With the development of tourism to climb peaks, the safety of high mountain walls plays an
increasingly important role. In the past, the terrain of the mountain wall was too steep and too
fast, and people could not patrol the mountain wall climbers, resulting in the safety of climbers
could not be guaranteed, and the needs of climbers were difficult to solve in time. In order tosolve the above problems, the method of real-time monitoring of UAVs and delivery ofmaterials by UAVs was proposed. Hexacopter UAV is an unmanned small aerial vehicle
equipment that can carry out vertical lifting, which is expected to improve the safety factor of
climbing mountain walls and solve the needs of climbers in a timely manner.

OS3-8 Deep Learning and Embedded Based Operational Safety System for Special Vehicles
Haoran Gong, Yumei Huang, Jiahao Xie (Tianjin University of Science and Technology, China)
Aiming at the characteristics of special operation vehicles, such as complex working
environment, large vehicle weight, long braking distance, and many visual dead angles fordrivers, this project designs and implements a special vehicle operation safety system based on
deep learning and embedded system. First of all, deep learning model is applied to detect thehumanoid target appearing around the vehicle, get the detection frame of the humanoid target
and estimate the distance from the target to the camera. According to different distancedistances, relevant voice announcements are made to remind the driver to make timely actions
such as avoiding or braking the vehicle.

OS3-9 "Green Fruit" - Intelligent Traceable Agricultural Product Production and Marketing
Platform Based on Blockchain Technology
Yumei Huang, Jiahao Xie, Haoran Gong, Ziyue Xiao (Tianjin University of Science and Technology, China)
The production process of agricultural products has been greatly improved and optimized
through the "Qingguo" intelligent agricultural greenhouse system. Using corrosion-resistant,ageing-resistant, solar-spectrum-converting plastic film, combined with Internet of Things
technology, a simple, highly automated and intelligent greenhouse intelligent control system
has been created. This not only improves the yield and quality of agricultural products, but also
effectively reduces production costs and risks.

55©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS4 Pattern Recognition and Robotics III (10)Chair Huahao Li (Tianjin University of Science and Technology, China)
Co-Chair Hongshuo Zhai (Tianjin University of Science and Technology, China)
OS4-1 A Digital Twin Design Based on Robot Workstation
Huahao Li (Tianjin University of Science and Technology, China)
With the introduction of Made in China 2025 and Industry 4.0, digital twins have rapidly
become a trend. By interacting with physical objects and virtual models, mapping iscompleted in the virtual simulation space to reflect the actual operation process of the entire
lifecycle of the corresponding device workstation. This article starts from the researchbackground and significance of digital twin technology, the establishment of Solidworks
physical model, the construction of PDPS workstation, and virtual simulation. We havecompleted the construction of a robot seven color panel assembly workstation model andcombined it with PDPS to simulate the workstation.

OS4-2 A Study of Chemical Reactor Simulation System Based on PCS7
Hongshuo Zhai (Tianjin University of Science and Technology, China)
This paper introduces a simulation method of plant control, and corrects the system throughPID Tuner, and finally gets a reasonable and correct simulation curve. In this paper, PCS7
software is used to build the factory model, and the simulation of four circuits of feed,
pressure, liquid level and temperature is built by CFC block in the software. The automatic
operation of the system is completed by SFC block. The final simulation curve obtained by
PID Tuner tool based on PCS7 software is optimized.

OS4-3 Analysis of Learning Quality Evaluation for University Student Courses with Process
Assessment
Yuhao Zhang, Ying Gong, Xuran Wang (Tianjin University of Science and Technology, China)
With the progressive exploration and application of formative assessment in university
pedagogy, this evaluative method has become widely adopted for appraising students'
everyday learning attitudes and conditions. Drawing upon pertinent data regarding classroom
learning experiences of students at a specific university, this paper employs machine learning,
K-means clustering, the Topsis evaluation model, and the entropy weighting method toinvestigate the relationship between formative assessment and the quality of university student
learning, culminating in the creation of an evaluation model. This model allows us to pinpoint
the key factors influencing student learning attitudes and offers support for formative
assessment in the university context.

OS4-4 Motion Analysis and Transfer Applications Based on Posture Recognition
Yuhao Zhang, Mingyue Li, Jianhao Jiao (Tianjin University of Science and Technology, China)
This paper investigates the posture trajectories in human motion using pose recognition
technology based on the deep learning framework MediaPipe. By detecting key points on thehuman body and plotting and calculating these trajectories in the temporal dimension, we
further conduct comparative analysis of these trajectories with professional sports coaches'motion guidance to assist athletes in correcting their posture. Additionally, this technology has
been deployed on Jetson Nano, enabling its practical application in mobile scenarios andproviding robust tools and methods for fields such as rehabilitation therapy, sports training,
and animal behavior analysis. This study offers insights into the transfer applications of
posture recognition.

56©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS4-5 Functional Safety Assessment of the Safety Protection System Based on Petri Net
Peng Wang, Mengyuan Hu (Tianjin University of Science and Technology, China)
In this paper, the functional safety evaluation of the safety protection system of gasolinehydrogenation unit was carried out using Petri net. Firstly, the principle and framework of thegasoline hydrogen refueling unit was described. Secondly, the safety integrity level was
introduced, and the influencing factors of the safety integrity level were summarized. Thirdly,
the Petri net model and the Markov model are compared and the Petri net model is used toverify its security integrity level. Finally,the calculation result demonstrated that the SIL did
not reach the target level, and then reached the target level after improvement.This analysis
method can provide reference for the safety integrity level evaluation of similar devices.

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OS4-6 Pedestrian Attribute Recognition Based on Deep Learning
Peng Wang, Qikun Wang, Shengfeng Wang (Tianjin University of Science and Technology, China)
This paper studied pedestrian attribute recognition based on deep learning, for its importancein the fields of smart city construction. Firstly, the research status of pedestrian attributerecognition and common deep learning models was introduced. Secondly, considering theaccuracy decline problem and gradient problem of the neural network, the residual network
was used as the main body of the neural network model. Thirdly, the model was trained toclassify multiple person attributes through two data sets, Market-1501 and DukeMTMC-reID.
Finally, the pedestrian attribute recognition model was tested, and good results were obtained.

OS4-7 Simulation of office air conditioning air supply based on COMSOLPeng Wang*, Mengda Liu,Qikun Wang (Tianjin University of Science and Technology, China)
This paper analyzed the summer thermal environment of an office in Tianjin University of
Science and Technology based on COMSOL software.Firstly,the principle of indoor thermal
environment distribution was introduced. Secondly, according to the actual position of thefurniture in the office, the mathematical model is constructed based on the basic theory ofcomputational fluid dynamics.Thirdly, the COMSOL software was used for simulation andcalculation, combining boundary conditions.Finally, the simulation results are analyzed
through the simulated indoor three-dimensional velocity field and temperature field. The
simulation results show that the air conditioning supply can well achieve indoor occupants'
comfort.

OS4-8 Solo Wheel Technology-Self-balancing Wheelbarrow
Ziyue Xiao, Yumei Huang, Zhencheng Chang, Mingxuan Li(Tianjin University of Science and Technology, China)
As a new type of personal transportation, self-balancing unicycle has attracted wide attention
with its unique design and advanced control system. We aim to study and optimize the selfbalancing performance of the unicycle to improve its stability and maneuverability. Firstly,
we gain an in-depth understanding of its operation principle. On this basis, an advanced
control algorithm is proposed to realize real-time attitude adjustment. Second, for applications
in complex environments, we propose an intelligent sensing system to enhance its
environment sensing capability.

57©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS4-9 Second-order self-balancing inverted pendulum
Ziyue Xiao, Zhencheng Chang, Mingxuan Li, Yumei Huang(Tianjin University of Science and Technology, China)
The team utilizes the second-order inverted pendulum cart based on LQR controller for steadypendulum control with light rods. First, the second-order inverted pendulum is used as a research
object to obtain its set of dynamical equations, then, the set of dynamical equations is written in
the form of state-space expressions, and finally, the second-order inverted pendulum system of abalanced trolley with a light rod is controlled by a stabilized pendulum using the LQR controller.
The inverted pendulum is a typical nonlinear, underdriven and unstable system, which can realize
the all-round wind resistance of the rod and occupy less space with high stability.

OS4-10 Design of Nanny's Abnormal Behavior Recognition Bracelet Based on Human Activity
Recognition (HAR) Deep Learning Model
Depeng Wang, Yingfan Zhu, Yande Xiang, Ziyue Xiao (Tianjin University of Science and Technology, China)
This article designs a nanny abnormal behavior recognition bracelet. The bracelet is equippedwith multiple sensors and a powerful control board, forming a complete nanny abnormal behavior
recognition system, which realizes nanny abnormal behavior recognition and alarm in various
environments. It uses a gyroscope to collect the three-axis acceleration information of the nanny,and uses the HAR model to infer the nanny's real-time behavior. When the abnormal behavior of
the nanny is inferred, STM32 sends the GPS collected positioning information to the employer
through ESP32 for timely alarm.

OS5 Intelligent Life and Robotics (6)Chair Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
Co-Chair Evgeni Magid (Kazan Federal University, Russia)
OS5-1 Research on dynamic obstacle avoidance and complex path planning strategies based on
ROS robots
Yi-Wei Chen, Jr-Hung Guo (National Yunlin University of Science and Technology, Taiwan)
Robot Operating System (ROS) is a software system framework used by many robot systems.
Although ROS provides a good development environment and related frameworks, ROS is notsuitable for public places such as restaurants because of the coming and going of people. Dynamic
obstacle avoidance is often handled by stopping the robot, or when there are frequentenvironmental map changes or when sensors such as optical radar fail, the stop action is also
used. However, this often causes path obstructions or delays in completing tasks. Therefore, thisstudy attempts to use images, auxiliary sensors, and various path avoidance strategies to solve
the problem of the robot stopping and waiting for the obstacles to disappear. The problem of rapidchanges in map paths.

OS5-2 Research on Multi-Robot Formation on Two-Dimensional Plane
Kuo-Hsien Hsia, Chun-Chi Lai, Yi-Ting Liu, Yu-Le Chen(National Yunlin University of Science and Technology, Taiwan)
Mobile robots are playing an increasingly important role in both service and manufacturingindustry. The management of multiple mobile robots is a very important issue on the research ofmobile robotics. From a mathematical perspective, this paper discusses the problem of multiple
robots on a two-dimensional plane reaching the designated positions in the shortest time tocomplete formation transformation. We improved the algorithm proposed by Hsia, Li and Su andproposed a new algorithm using a determinant and the Munkres allocation algorithm. Finally, the
new algorithm is compared with the path distribution obtained by the Monte Carlo method under
different numbers of robots and the excellence of the new algorithm has been verified.

58©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS5-3 The Development of Utilization Rate and Energy Consumption Monitoring and
Networking System
Chung-Wen Hung, Chun-Chieh Wang, Heng-En Chang(National Yunlin University of Science and Technology, Taiwan)
In this paper, we present a system based on microcontroller unit for measuring the utilization
rate of traditional, non-networked machinery. This equipment is designed for use with older
machines equipped with andon lights. It employs optocoupler circuits to capture the status ofthese lights and current transformers to measure their operating and standby currents. Data istransmitted to the server using the Hypertext Transfer Protocol (HTTP) in JavaScript Object
Notation (JSON) format. On the server side, a PHP interprets the data, connects to a
Structured Query Language (SQL) database, and stores the data using SQL commands. Users
can access graphical data through a web-based interface, using it to refine production
processes, reduce production costs, and minimize carbon emissions.

OS5-4 MCU Based Edge Computing Platform for Liquid Level Measurement
Chung-Wen Hung, Chun-Liang Liu, Tai-Hsuan Wu(National Yunlin University of Science and Technology, Taiwan)
An edge computing system based on micro control unit (MCU) for liquid level measurement
is proposed in this paper. The system includes a solenoid electromagnet for bottle hit and a
microphone to capture sound waves. The signals are converted from time domain tofrequency domain by Fast Fourier Transform (FFT), employing an artificial intelligence (AI)model to predict the water level. Artificial Neural Network (ANN) model is applied forclassification on the MCU. When optimizing hyperparameters, the accuracy of eachparameter combinations should be considered. Ensure the model size suits the limited MCU
memory and computing capabilities. Experimental results confirm the system's effectivenesswith 99% accuracy.

OS5-5 Potential of genetic algorithms in multi-UAV coverage problem
Ramil Faizullin1, Tatyana Tsoy1, Edgar A. Martínez-García2, Evgeni Magid1,3(1Kazan Federal University, Russian Federation)
2( The Autonomous University of Ciudad Juarez, Mexico)(3HSE University, Russian Federation)
For a rapid area coverage multiple UAVs are often used simultaneously. However, a path
planning for a UAVs group during an area coverage task is computationally challenging. In
practice, heuristic algorithms are applied to solve this problem. This paper overviews
approaches to an area coverage problem with a group of UAVs using genetic algorithms. The
article explores modifications that may be useful for a genetic algorithm for solving thecoverage problem as well as representation methods for chromosomes that reflect a path ofmulti-UAV. Additionally, UAV group collision avoidance strategies during area coverage areconsidered.

59©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS5-6 Construction of Anthropomorphic Grippers with Adaptive Control
Evgeny Dudorov1, Julia Zhdanova2, Ivan Zhidenko1, Vladimir Moshkin2, Alexander Eryomin3, Evgeni
Magid3, Alexander Permyakov1
1( JSC ‘SPA ‘Android technics’, Russian Federation)(2MIREA – Russian Technological University, Russian Federation)(3Kazan Federal University, Russian Federation)
A functionality of a service robot that physically interacts with a human is provided primarily
by capabilities of its end effector. Rather limited capabilities of industrial robot grippers
determined a gradual transition to anthropomorphic grippers. A number of degrees of freedom(DoF) of an end effector ensuring reliable grasping and holding of an arbitrary shaped object
should be at least nine, preferably twelve. Such design implementation requires to switch
toward underactuated grippers systems. This paper proposes a concept of constructing a groupdrive, which enables a motion of output links of two or more executive groups from a single
motor. The presented technical solutions are based on methods of analyzing complex
mechanical systems using functional circuits.

OS6 Intelligence and Optimization (5)Chair Mastaneh Mokayef (UCSI University, Malaysia)
Co-Chair Takao Ito (Takao Ito, Hiroshima University, Japan)
OS6-1 Simulation-Based Enhancement of SNR in Drone Communication through Uniform
Linear Array Configurations
Gershom Phiri1, Mastaneh Mokayef1, MHD Amen Summakieh1, M.K.A Ahamed Khan1, Sew Sun Tiang1,
Wei Hong Lim1, Abdul Qayyum2
1
2( UCSI University Malaysia, National Heart and Lung Institute, Imperial College London, UK)As drones navigate through shared airspace, they often encounter other drones, wirelessdevices, and communication systems. This coexistence creates potential sources ofinterference that can degrade the signal-to-noise ratio (SNR). To maintain reliablecommunication in drone systems, it is crucial to effectively manage and mitigate interference
from other drones and wireless devices operating on the same frequency bands. By addressingthese challenges, we can ensure a stable and dependable SNR for seamless communication
among drones. This paper sheds light on the history of applications and challenges of utilizing
flying base stations for wireless networks and analyzes different factors that affect signal-tonoise ratio (SNR) to enhance the performance of drone communication.

OS6-2 Empowering Elderly Individuals through the Intelligent Shopping Trolley
Mastaneh Mokayef1, Muzaiyanah Binti Hidayab1, MHD Amen Summakieh1, M.K.A Ahamed Khan1,
Kim Soon Chong1, Chin Hong Wong2, Chua Huang Shen3, Abdul Qayyum4
1( UCSI University Malaysia, 2 Fuzhou University, China, 3 UOW Malaysia University, Malaysia,
4
National Heart and Lung Institute, Imperial College London, UK)
In this research, we have developed a prototype that aims to improve the weekly shopping
experience for senior citizens. Our system tracks the movements of elderly individuals,
eliminating the need for them to exert physical force in pushing or pulling the shopping trolley.
To achieve this, we utilize a combination of sensors, including a gyroscope and magnetometer,
to estimate the user's walking distance and direction. Additionally, we employ WiFi
fingerprinting to accurately determine the user's position. Our experiments have yieldedsatisfactory results in terms of tracking accuracy and the overall functionality of the system.
By addressing the specific challenges faced by senior citizens during the routine and essential
process of grocery shopping, our smart shopping trolley concept seeks to enhance theirexperience. Through the integration of tracking technology and sensor-based solutions, we
aim to make shopping more convenient and comfortable for elderly individuals. The positive
outcomes observed in our experiments validate the effectiveness and feasibility of thisapproach.

60©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS6-3 Optimized Microstrip Slot UWB Patch Antenna for Medical Imaging
Maxime Duvacher1, Mastaneh Mokayef2, MHD Amen Summakieh2, M.K.A Ahamed Khan2, Sew Sun Tiang2,
Wei Hong Lim2, Abdul Qayyum3 (1Polytech Nantes, France, 2UCSI University Malaysia,
3
National Heart and Lung Institute, Imperial College London, UK)
This research work presents the development of an Ultra-Wideband (UWB) microstrip patch
antenna (MPA) with the specific purpose of tissue characterization. The antenna was carefully
designed and simulated to operate within a frequency range of 4.8 to 6.9 GHz, optimized for its
intended application. To ensure the best performance, a series of simulations and comparisonswere conducted using CST Microwave Studio. Various antenna shapes were tested andevaluated to determine the most effective design. The results of these simulations were highly
promising, as they revealed a simulated return loss (S_11) of -33dB. This indicates excellent
performance and demonstrates the suitability and acceptability of the proposed antenna for
medical imaging such as breast imaging, tumor detection, or monitoring physiological changes.

OS6-4 Development of an Innovative Undergraduate Industrial Automation and Robotics
Degree Program
M.K.A. Ahamed Khan1, Mastaneh Mokayef1, Ridzuan, A.1, Irraivan Elamvazuthi, Badli Shah Yusoff 2,
Abu Hassan Darusman3 (1UCSI University Malaysia, 2University Technology Petronos, Malaysia,
3
UNIKL Malaysia France Institute, Malaysia)
In recent years, the need for integrated engineering courses has increased. Due to its
multidisciplinary nature, Industrial Automation and Robotics degree course is an ideal example
of curriculum integration. This paper discusses several issues such as course offerings, topicalcontent, student profile, student performance and other pertinent matters related to the recent
development of an Industrial Automation and Robotics undergraduate degree program at the
University of Kuala Lumpur, Malaysia.

OS6-5 Smart Assistive Trolley for Elderly Care and Independence
Dina Ashraf1, Mastaneh Mokayef1, MHD Amen Summakieh1, M.K.A Ahamed Khan1, Abdul Qayyum2,
Sivajothi A/L Paramasivam (1UCSI University Malaysia, 2National Heart and Lung Institute, Imperial College
London, UK, 3 UOW Malaysia University College, Malaysia)
As people age, shopping can become increasingly challenging, especially when it involves
pushing heavy trolleys and managing items throughout the entire trip. To address these
difficulties, a prototype project was developed with the aim of introducing a robotic trolley. This
innovative trolley is designed to autonomously follow senior citizens during their shopping
journeys, thanks to face detection technology. The system eliminates the need for physicalassistance and provides real-time feedback on the distance covered during the trip. To estimate
the walking distance, the trolley incorporates an ultrasonic sensor that activates when the camera
detects and tracks the user. The implementation of this project utilizes the OpenCV library,specifically tailored for Python programming. The results of this project have shown significant
improvements in the lives of elderly individuals, offering them enhanced comfort and increased
independence during their shopping experiences.

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OS7 Deep Learning and its Applications (4)Chair Mastaneh Mokayef (UCSI University, Malaysia)
Co-Chair Takao Ito (Hiroshima University, Japan)
OS7-1 Parallel Cross Window Attention Transformer and CNN Model for Segmentation ofInstrument during Surgery
Abdul Qayyum1, M. K. A. Ahamed Khan3, Moona Mazher4, Imran Razzak5, Steven Niederer1,2,
Mastaneh Mokayef3, C.S. Hassan3, Ridzuan, A3(1Imperial College, London, UK) (2The Alan Turning Institute, UK) (3UCSI University, Malaysia)(4University College London, UK) (5University of New South Wales, Australia)
In this work, we present encoder and decoder-based hybrid parallel cross window
attention-based transformer during the feature extraction, which consists of the multiscale channel attention, convolutional layers, and Transformer layers, forming a unified
block. Syn-ISS challenge dataset comprised of two tasks. In first task 1, they need todevelop deep learning-based method for binary instrument segmentation and in second
task multiclass instrument segmentation is required. Experiments conducted on Syn-ISS
dataset achieved 0.993 F-score for task 1 and 0.993, 0.975, and 0.951 F-score for shaft,wrist, and jaw segmentation respectively for Task 2.

OS7-2 Magnetic Resonance Spectroscopy (MRS) Reconstruction using Style Transfer Deep
Depth wise Framework
Abdul Qayyum1, M. K. A. Ahamed Khan3, Moona Mazher4, Imran Razzak5, Steven Niederer1,2,
Mastaneh Mokayef 6, C.S. Hassan6, Ridzuan, A6
1( Imperial College, London, UK) (2The Alan Turning Institute, UK)(3,6UCSI University, Malaysia) (4University College London, UK)(5University of New South Wales, Australia)
To analyze the chemical composition of tissues in brain, in vivo magnetic resonancespectroscopy allows non-invasive measurements of neurochemicals in either single
voxel or multiple voxels. In this work, we present a deep depth-wise channel attention
module (DCAM) based fine-tuned network for magnetic resonance spectroscopy image
reconstruction. Besides, we have used channel-wise convolutions and average poolingwithout dimensionality reduction. We have trained the initial network from scratch on
track-1 simulated dataset, however due to the limited dataset, we finetune the networkon track-2 and track-3. Experiments are conducted on Edited-MRS-Rec-Challenge
dataset1 that showed significantly better performance.

OS7-3 Federated Learning on Brain Disease Research: Segmentation of Cerebral Small Vessel
Diseases (CSVD) using Multi-scale Hybrid Spatial Deep Learning Approach
Moona Mazher1, Abdul Qayyum2, M. K. A. Ahamed Khan3, Steven Niederer2,4, Mastaneh Mokayef3,
Ridzuan, A3, C. S. Hassan3(1University College London, UK) (2National Heart & Lung Institute, Imperial College, London, UK)(3UCSI University, Malaysia) (4Alan Turning Institute, London, UK)
In this paper, we propose a hybrid architecture for medical image segmentation to
produce efficient representations from global and local features and adaptively
aggregate them, aiming to fully exploit their strengths to obtain better segmentation
performance in federated learning. Furthermore, we propose a multi-scale feature
extraction module embedded at the bottom of the proposed model, which can efficiently
extract hidden multi-scale contextual information and aggregate multi-scale features.
Experiments on segmentation over three-dimensional rotational angiography of internal
Carotid Artery with aneurysm (SHINY-ICARUS) challenge dataset show theeffectiveness of the proposed multiscale framework.

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OS7-4 Hybrid Classical and Quantum Deep Learning Models for Medical Image Classification
Moona Mazher1, Abdul Qayyum2, M. K. A. Ahamed Khan3, Steven Niederer2,4, Mastaneh Mokayef3,
Ridzuan, A3, C. S. Hassan3
12( University College London, UK) ( National Heart & Lung Institute, Imperial College, London, UK)(3UCSI University, Malaysia) (4Alan Turning Institute, UK)
In this paper, we proposed a hybrid classical and quantum convolutional neuralnetwork for Alzheimer's disease (AD) classification. The proposed model was further
validated on the brain tumor classification task. The fundamental concept involves
encoding data into quantum states, facilitating quicker information extraction, andsubsequently utilizing this information to discern the data class. The proposed model
results underscore the reliability and robustness and demonstrated by optimal
performance accuracies across various datasets, the proposed model substantiates its
efficacy in detecting and classifying AD disease and brain tumors.

OS8 Intelligent Control (5)Chair Yingmin Jia (Beihang University, China)
Co-Chair Weicun Zhang (University of Science and Technology Beijing, China)
OS8-1 Global Stabilization of A Class of Nonholonomic Integrators via Discontinuous Control
Lixia Yan, Yingmin Jia (Beihang University (BUAA), China)
This paper investigates the discontinuous state feedback control for stabilizing a classof nonholonomic integrators with drift terms. The control design relies on constraining
state trajectory in an invariant set. To this end, we apply constant controls to drive thestates moving into the invariant set and then switch to a continuous control law withsuitable gain selections. It is proven in the Lyapunov sense that the proposed control
scheme achieves global exponential stabilization of the states, and the control switch
would only occur at most once. Numerical simulations are carried out to validate theproposed control law.

OS8-2 Frequency Dependence Performance Limit of Vibration Absorbers
Jiqiang Wang1, Xiaoyu Yin2, Weicun Zhang3( Chinese Academy of Sciences, China) (2Science & Technology Bureau of Zhenhai District, China)(3University of Science and Technology Beijing, China)
1

Optimal design of vibration absorbers has been extensively investigated. Most of thedesign methods are approached by optimizing certain performance indices, resulting ina set of optimal parameters that are independent of exogenous forcing frequencies. In
practical designs, however, it is often desirable to know the performance limits over afrequency band of interest. This problem is tackled in the present paper where both
lower and upper bounds are obtained. A refined upper bound is also derived that canfurther provide a systematic design methodology. Extensive remarks are also given
exploring different avenues useful for design. Numerical examples are given to validate
the corresponding designs.

OS8-3 Adaptive Concurrent Learning Algorithm Based on Pontryagin’s Maximum Principle for
Nonlinear System Optimal Tracking Control with State Inequality Constraints
Yuqi Zhang, Bin Zhang (Beijing University of Posts and Telecommunications, China)
In this article, an adaptive learning algorithm is derived for finite-horizon optimal
tracking problems of nonlinear systems. Concurrent learning is implemented to identify
the unknown parameters of the system dynamics. Tracking of the desired trajectory andconvergence of the developed policy are guaranteed via stability analysis. Different
from the adaptive dynamic programming (ADP) infinite-horizon method, the proposed
method solves the finite-horizon optimal tracking problems. Simulation results show
the effectiveness of the proposed algorithm.

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OS8-4 Privacy preserving Mean-square consensus for discrete-time heterogeneous multi-agent
systems with Communication Noises
Tongqing Yang1, Lipo Mo1, Yingmin Jia2
( Beijing Technology and Business University, China) (2Beihang University (BUAA), China)
1This paper studies the privacy preserving consensus of distributed heterogeneous multiagent systems, which consists of first-order agents and second-order agents. A newprotocol is designed for each agent. Then, by applying algebraic graph theory andmatrix theory, it is proved that the closed-loop system could achieve consensus. After
that, the designed protocol is encrypted by a cryptographic cryptosystem to prevent
eavesdropping in the communication link and loss of information privacy between
agents while achieving consensus. Finally, the effectiveness of the proposed consensus
protocol and privacy protection algorithm are verified by numerical simulations.

OS8-5 Event-Triggered Consensus Control for Nonlinear Singular Multi-Agent Systems underDirected Topology
Lin Li, Tong Yuan, Mei Huang (University of Shanghai for Science and Technology, China)
This paper is devoted to the problem of event-triggered consensus for a class ofnonlinear singular multi-agent systems under directed topology. An event-triggered
sampling mechanism is constructed, which naturally avoids Zeno behavior. And then,a distributed event-triggered consensus protocol is designed. By employing the
Lyapunov-Krasovskii functional method and model transformation approach,sufficient conditions that can guarantee the consensus of the considered singular multiagent systems are obtained, while the consensus control gain matrix and the eventtriggered parameter are also given. Finally, a numerical example is included to illustrate
the effectiveness of the proposed method.

OS9 Software Development Support Method (4)Chair Tetsuro Katayama (University of Miyazaki, Japan)
Co-Chair Tomohiko Takagi (Kagawa University, Japan)
OS9-1 An Improved Conversion Technique from EPNAT Models to VDM++ Specifications for
Simulation of Abstract Software Behavior
Sho Matsumoto1, Ryoichi Ishigami1, Tetsuro Katayama2, Tomohiko Takagi1(1Kagawa University, Japan) (2University of Miyazaki, Japan)
Formal software models based on EPNAT (Extended Place/transition Net with
Attributed Tokens) can be converted to VDM++ specifications that enable simulation of
abstract software behavior before implementation processes. However, the conversion
technique has two problems, that is, (1) extracting all properties to be checked from the
VDM++ specifications requires time and effort, and (2) the structure of the VDM++
specifications has less readability and maintainability. In this study, we improve theconversion technique by (1) adding a function to extract an abstract current state ofsoftware, and (2) dividing into classes that correspond to subnets of EPNAT models.
This paper shows a new conversion rule, a new structure of VDM++ specifications, a
simple example, and the discussion about their effectiveness.

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OS9-2 Prototype of RAGESS Which Is a Tool for Automatically Generating SwiftDiagrams to
Support iOS App Development
Haruki Onaga1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro Aburada1, Naonobu Okazaki1(1University of Miyazaki, Japan) (2University of Nagasaki, Japan)
In the development of large-scale and complex mobile applications, it is difficult fordevelopers to continually grasp the overall structure of the app. To support iOS app
development, we proposed SwiftDiagram, a visualization of the static structure of Swiftsource code and confirmed its high usefulness. However, manually drawing
SwiftDiagrams is labor-intensive. This paper implements a prototype of RAGESS (Realtime Automatic Generation of SwiftDiagram System), a tool that automatically generates
SwiftDiagrams by performing static analysis on Swift source code every time an iOS app
build is successful. Compared with other tools, RAGESS is confirmed to enable
developers to visualize the static structure of source code effortlessly.

OS9-3 Extension to Support Types and Operation/Function Definitions in BWDM to Generate
Test Case Tool from the VDM++ Specification
Shota Takakura1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro Aburada1, Naonobu
Okazaki1
1( University of Miyazaki, Japan) (2University of Nagasaki, Japan)
Generating test cases from the formal specification description VDM++, which is amethod for disambiguating specifications, is time-consuming and labor intensive.
Therefore, our laboratory has developed BWDM, a tool that automatically generates test
cases from VDM++ specifications. However, existing BWDM has problems that it only
supports integer types and cannot generate test cases for operation and function definitions
including recursive structure. Therefore, in order to improve the usefulness of BWDM,
this study extends BWDM to solve the above problems. Consequently, it has confirmedthat the use of extended BWDM can reduce the test case generation time compared tomanual test case generation.

OS9-4 Proposal of ASLA Which Is a Segmentation and Labeling Tool for Document Images
Based on Deep Learning
Kanta Kakinoki1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro Aburada1, Naonobu Okazaki1(1University of Miyazaki, Japan) (2University of Nagasaki, Japan)
The current situation of the electronic documents is only a substitute for paper. As a new
way to utilize electronic documents, we focus on dividing electronic documents into
regions by their elements and generating keywords and sentences as labels from thecontents of the elements. However, these tasks, when performed manually, are timeconsuming and labor-intensive. This study proposes a prototype of ASLA (Automatic
Segmentation and Labeling tool using AI), segmentation and labeling tool for document
images based on deep learning, with the aim of reducing the time required for region
segmentation and label generation. To evaluate the usefulness of ASLA, we havecompared the time required for region segmentation and label generation using ASLA andby hand, and then confirmed the reduction in time.

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OS10 Intelligent Life and Robotics (6)Chair Evgeni Magid (Kazan Federal University, Russia)
Co-Chair Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
OS10-1 A Design of a Modular Mobile Robot for Rescue Operations
Baris Celiker, Shifa Sulaiman, Tatyana Tsoy (Kazan Federal University, Russia)
Modular robotics is one of the subfields of mobile robotics, which is emerging as a new
trend in various sectors. Modular mobile robots can be reconfigured to perform a wide
variety of tasks. In this paper, applications of modular mobile robots in various sectors
such as industry, space, surgery, rescue and entertainment tasks are discussed. Based on
the study, an improved design of a modular mobile robot for navigating through different
terrains during a rescue operation is presented. Simulation study of the robot is included
to demonstrate a motion capability of the modular mobile robot.

OS10-2 Implementation of Bug1 and Bug2 Path Planning Algorithms for TurtleBot Using ROS
NoeticIlya Spektor1, Aidar Zagirov2, Ramil Safin2, Evgeni Magid1,2(1HSE University, Russia) (2Kazan Federal University, Russia)
Mobile robots typically operate in a dynamically changing unknown environments. Bug
family algorithms were proposed to deal with a path planning of a ground robot in a 2D
configuration space of an unknown environment with local data about obstacles that
could be collected using only a touch sensor. This paper presents an implementation of
Bug1 and Bug2 local path planning algorithms. The implementation brings classical 2D
algorithms into a 3D environment of the Gazebo simulation using the Noetic version of
the Robot Operation System (ROS). A Turtlebot3 Burger model was used as a target
robot and its performance was evaluated in simple convex and maze environments.

OS10-3 Implementation of Alg1 and Alg2 Path Planning Algorithms for Mobile Robots Using
ROS Noetic
Anastasia Yankova1, Timur Gamberov2, Tatyana Tsoy2( HSE University, Russia) (2Kazan Federal University, Russia)
1

Two standard approaches for a robot path planning include a global and a local
navigation. The later does not require to store an environment model in a robot memory.
This paper presents implementations of two local navigation algorithms, Alg1 andAlg2, with a robot having no prior information about an environment and obstacles. It
calculates a path in a real time, continuously changing its states depending on
correspondent conditions. The algorithms were implemented for an existing differential
drive robot Turtlebot3 Burger using Robot Operation System (ROS). Virtual
experiments were performed in the Gazebo simulator employing a simple 3D
environment with only convex obstacles and a small 3D maze.

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OS10-4 Implementation of VisBug-21 and VisBug-22 Path Planning Algorithms Using ROS
NoeticViktoriia Mirzoian1, Maxim Mustafin2, Evgeni Magid1,2( HSE University, Russia) (2Kazan Federal University, Russia)
1

Local navigation algorithms are crucial for autonomous robots operating in unknown
environments where a presence of obstacles and dynamic changes pose significant
challenges. A focus of these algorithms is to enable a real-time path calculation,
allowing a robot to adapt its states dynamically based on corresponding environmental
conditions, despite an absence of prior knowledge about surroundings. This paper
presents an implementation of the VisBug-21 and VisBug-22 algorithms, designed toaddress challenges of a local navigation. The algorithms were implemented for adifferential drive robot Turtlebot3 Burger using Robot Operation System (ROS).
Virtual experiments were performed in the Gazebo simulator employing a simple 3D
environment that contained only convex obstacles and a small 3D maze.

OS10-5 DistBug path planning algorithm package for ROS Noetic
Alexander Pak1, Alexander Eremin2, Tatyana Tsoy2( HSE University, Russia) (2Kazan Federal University, Russia)
1

Algorithms of path-planning in an unknown environment play an important role inrobotics. They do not require a prior information about obstacles’ locations around arobot and allow calculating a path in a real time. This article presents animplementation of a sensory-based DistBug algorithm, which operates reactively using
range data for immediate decision-making without constructing a world model. The
algorithm was programmed in Python using robot operating system (ROS) andvalidated in the Gazebo simulator. For virtual experiments Turtlebot 3 Burger mobile
robot was employed. The experiments were conducted in two types of environment:
an environment with convex obstacles and a maze. The paper demonstrates analysis ofexperiments using several standard criteria of a path quality estimation.

OS10-6 On sensor modeling in Gazebo simulator
Niez Yuldashev, Alexandra Dobrokvashina, Roman Lavrenov (Kazan Federal University, Russia)
Sensor modeling in the Gazebo simulator is fundamental to robotics advancement. This
review explores sensor modeling intricacies, methodologies, and applications, whileemphasizing a critical role of a precise sensor modeling. Application scenarios
demonstrate a sensor modeling's broad utility across fields including medical
diagnostics, autonomous navigation, and industrial automation. Differences in research
focus, methodology, and implementation underline a varied nature of sensor modelingstudies. Key challenges include a need for more detailed world models. The paper
guides research in sensor modeling and identifies crucial questions.

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OS11 Intelligent Life and Robotics (6)Chair Evgeni Magid (Kazan Federal University, Russia)
Co-Chair Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
OS11-1 An Overview of Kinect Based Gesture Recognition Methods
Alexander Alexeev1, Tatyana Tsoy1, Edgar A. Martínez-García2, Evgeni Magid1,3( Kazan Federal University, Russia) (2The Autonomous University of Ciudad Juarez, Mexico)(3HSE University, Russia)
1

Visual sensors play an important role in a broad variety of robotic systems applications.
Even though Kinect technology appeared over 10 years ago, Kinect sensors are still
actively employed by researchers around the world. This paper presents an overview ofKinect and Kinect 2 sensors’ applications in a human gesture based control. We analyzed
existing research papers to estimate a popularity of particular feature extraction andgesture recognition methods, recommendations on a distance between an object ofinterest and a sensor, reported accuracy and latency of the sensor. Our analysis is
supposed to facilitate a selection of a suitable combination of methods for a particularapplication of Kinect sensor in gesture recognition while considering its performance.

OS11-2 An investigation on the impact of human-robot interactions during an autonomous
obstacle avoidance task
Riham Salman, Shifa Sulaiman, Renata Islamova, Tatyana Tsoy (Kazan Federal University, Russia)
The purpose of this research is to investigate how an interaction between humans androbots influences a safety of an autonomous obstacle avoidance task. The researchcollected and analyzed data from surveys and interviews using a combination ofquantitative and qualitative methodologies. The findings contributed to ourunderstanding of a complex interplay between a human-robot interaction, a perception,
and a robot navigation safety. Based on these findings, the study proposed a number ofrecommendations for improving both physical and psychological safety aspects of anautonomous robot navigation.

OS11-3 A Comparative Analysis of Object Detection Methods for Robotic Grasping
Nikita Kolin, Elvira Chebotareva (Kazan Federal University, Russia)
The objects grasping is one of the fundamental robotic problems. Accurate and efficientreal-time object detection is crucial for successful grasping in robots equipped withmonocular vision. Deep machine learning has made significant progress in solving
problems of object detection and image segmentation. At the same time, classicalcomputer vision methods do not lose their relevance and can also be used for thesetasks. In this research, we conduct a comparative analysis of the effectiveness the
YOLOv8-seg neural network model versions for solving the image segmentation
problem with classical segmentation methods. The obtained results allowed us toformulate some recommendations on the choice of a particular method for object
detection depending on the surrounding environment conditions.

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OS11-4 Vision-based autonomous navigation for medical examination using a UR3e manipulator
Bulat Abbyasov1, Aidar Zagirov1, Timur Gamberov1, Hongbing Li2, Evgeni Magid1(1Kazan Federal University, Russia) (2Shanghai Jiao Tong University, China)
Medical robotics is an emerging field of robotics within a healthcare sector. This
interdisciplinary field focuses on prototyping, building and developing advanced
robots for numerous clinical application. Modern robotic technologies have atremendous potential for performing medical examination procedures such as
ultrasonography using robotic manipulators that act in an autonomous manner. A
manipulator navigation plays a key role in a safe and efficient exploration of a humanbody. This paper presents a development of a vision-based autonomous navigation
system for a 6-DOF UR3e robotic arm. The developed system is based on a 3D point
cloud and uses MoveIt for path planning. Gazebo was used as a simulation framework
to validate the navigation system.

OS11-5 Robot-Assisted Language Learning: Scientific Data Analysis
Karina Sadyikova, Valeriya Zhukova, Roman Lavrenov (Kazan Federal University, Russia)
Robot-assisted language learning (RALL) is a direction in education that uses robots
in a foreign languages studying process. In this paper, we present results of our research
work devoted to studying trends in a quantity of publications in the field of using social
robots for learning foreign languages. Additionally, we analyzed some published paperin the field of RALL, which allowed us to identify several popular robot models usedin practical research in recent years. Among these models were the NAO, Pepper and
DARWIN OP-2 robots. We have found that these robots are actively used in an
educational process for learning foreign languages. In particular, these models are used
to improve language and communication skills during implicit learning and interactive
games.

OS11-6 Monitoring Beehive Sound Levels with Arduino-based System
Kulmukhametov Ramis1, Ramil Safin1, Tatyana Tsoy1, Kuo-Hsien Hsia2, Evgeni Magid1( Kazan Federal University, Russia) (2National Yunlin University of Science and Technology, Taiwan)
1

An automated beekeeping is a promising approach to addressing various issues
associated with a beekeeping. Among primary problems, a swarming procedure stands
out as a major concern. An uncontrolled swarming can lead to significant financial
losses. During a swarming period a potential for losing a bee swarm is high, therefore
a noise monitoring at this period gains a significant importance. Our long term researchaims at a development of an intelligent monitoring system for beehive conditions,based on a hive-generated noises analysis. This paper presents an experiment thatcollected data about acoustic characteristics of bees’ state using an Arduino
microcontroller and a MAX9814 microphone module. The obtained data analysis isdiscussed.

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OS12 Machine Learning and its Applications (4)Chair Masato Nagayoshi (Niigata College of Nursing, Japan)
Co-Chair Takashi Kuremoto (Nippon Institute of Technology, Japan)
OS12-1 Restoration of Guqin Music by Deep Learning Methods
Takashi Kuremoto1, Kazuma Fujino1, Hirokazu Takahashi1, Shun Kuremoto2, 3, Mamiko Koshiba*2,
Hiroo Hieda3, Shingo Mabu2
1( Nippon Institute of Technology, Japan) (2Yamaguchi University, Japan)(3Institute for Future Engineering, Japan)
Guqin music played an important role in the history of Asia cultures. The notation of
Guqin are remained more than 600, however, only 100 music are played in nowadays.
The handwriting Guqin notation named Jianzi Pu is hard to be understood, however,
we challenge to restore the Guqin music by deep learning methods and few Jianzi Pu
images. VGG16 and YOLOv5 were adopted in the recognition experiment for Guqin
music restoration. As a result, YOLOv5 realized an online output of Guqin music as
its output of audio or video forms.

OS12-2 Constructive Nurse Scheduling Using Reinforcement Learning Considering Variations
in Nurse Work Patterns
Masato Nagayoshi (Niigata College of Nursing, Japan), Hisashi Tamaki (Kobe University, Japan)
It is very difficult to create a work schedule that satisfies all the different
requirements in nurse scheduling. For this reason, numerous studies have been
conducted on the nurse scheduling problem. However, the created shift schedule isoften not practical as it is, because adjustments including various constraints andevaluation criteria are required. Therefore, we have proposed a work revision method
using reinforcement learning in a constructive nurse scheduling system. In this paper,
we investigate the feasibility of creating a practical work schedule that considers
different evaluations of nurses' work patterns, i.e., nurses' life stages.

OS12-3 A Basic Study on Indicator of Transfer Learning for Reinforcement Learning
Satoshi Sugikawa, Kenta Takeoka, Naoki Kotani (Osaka Institute of Technology, Japan)
Reinforcement learning requires a lot of learning time for the agent to learn.
Transition learning is a method to reduce this learning time, but it has the problem
that the user does not know which knowledge is effective in which environment until
it is learned. Therefore, it is necessary for the user to consider the relationship between
the source and destination when transferring knowledge. Therefore, this study
proposes Indicator of adaptation criteria that can determine this relationship inadvance. In simulations, we demonstrate the usefulness of the proposed method byusing some example problems.

OS12-4 Machine Learning Approach to Predict Cooling Load for Existing Buildings
Makoto Ohara1, Hideo Isozaki2
1( International Professional University of Technology in Osaka, Japan) ( 2Kobe University, Japan)
The objective of this study is to predict air conditioning loads for existing buildings
using operational data, weather forecasts and visitor forecasts. The proposed prediction
method is based on a neural network approach. However, it is important to note that the
proposed method does not learn the entire loads. Loads are divided into factors which
can be predicted by traditional thermodynamics and factors which are subject tomachine learning. The proposed method has been applied to an example instance using
operational data from an underground mall in Kobe, and its validity has been confirmed.
This result could potentially lead to more efficient use of energy in buildings.

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OS13 Robot Control (10)Chair Yizhun Peng (Tianjin University of Science and Technology, China)
OS13-1 Intelligent Logistics Handling Robot: Design, Control, and Recognition
Yanchao Bi, Jiale Cheng, Limei Wang, Yizhun Peng (Tianjin University of Science and Technology, China)
This study aims to investigate various aspects of intelligent logistics handling robots,
including mechanical design, automatic control, and image recognition. With thecontinuous development of the logistics industry and advancements in automation
technology, intelligent logistics handling robots play a crucial role in improving
logistics efficiency and reducing costs. Leveraging existing technologies, we havedesigned and developed an omnidirectional mobile intelligent logistics handling robot
equipped with a SCARA-type robotic arm. The robot integrates functions such as task
acquisition, global positioning, material detection, warehouse identification, material
handling, and stacking, achieving a fully automated and streamlined logistics handlingprocess.

OS13-2 Greenhouse Design Using Visual Recognition and IoT Technology
Yuntian Xia, Yizhun Peng (Tianjin University of Science and Technology, China)
This device is to solve the traditional pesticide spraying method on the human body has
a greater impact and other issues, through the STM32-based visualisation of theintelligent greenhouse to achieve automatic spraying of pesticides and remotemonitoring and other functions, the establishment of a visualisation of the intelligent
greenhouse monitoring platform. This equipment through the MQTT protocol, not only
through the Internet of Things platform real-time monitoring of crop growth status in
the greenhouse, but also through the platform to determine whether to spray pesticides,
data transmission, so as to use the cross slide to control the position of the nozzle, andthen through the visual recognition algorithms to improve the accuracy of the visual
recognition part of the accuracy of the spraying of plants affected by insect pests, therealization of the digital intelligent greenhouse.

OS13-3 Design of Modular Photovoltaic Environmentally Friendly Portable Stroller
Suqing Duan, Yizhun Peng (Tianjin University of Science and Technology, China)
The work is centered on ROS and integrates speech recognition and natural language
processing modules to enhance the environmental awareness of the stroller and monitor
the baby's condition to ensure a timely and appropriate response. The Raspberry Pi is
the main control unit of the stroller and connects to a cloud-based IoT platform via the
MQTT protocol. The platform facilitates seamless communication between the
Raspberry Pi and cloud data for efficient data visualization on mobile devices. This
innovative solution solves the challenge of balancing parental responsibilities withcareer advancement, promoting healthier and happier babies while allowing parents tomaintain a harmonious work-life balance.

OS13-4 "Teenage Mutant Ninja Turtles" - Design of a Bionic Quadrupedal Rescue Robot
Hongpi Zhao, Yingfan Zhu, Zhihan Zhao, Xin Liang, Lei Lv, Yizhun Peng
(Tianjin University of Science and Technology, China)"Teenage Mutant Ninja Turtles - Bionic Quadrupedal Rescue Robot is a quadrupedal
robot based on the principle of bionics, inspired by the quadrupedal animals in nature.
The robot has rescue and life detection capabilities and can perform rescue operations
at disaster sites. The design of the robot enables it to operate efficiently and stably incomplex environments, and at the same time it has the qualities of bravery andtoughness, which are in line with the image of the Teenage Mutant Ninja Turtles. The
robot can be used in a wide range of application scenarios, such as earthquake, fire andother disasters, to provide more efficient and safer support for rescue work.

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OS13-5 Design of Grass Lattice Planter for Complex Environment Based on Adaptive
Suspension Technology
Shaokai Tian, Wenqi Fu, Yizhun Peng (Tianjin University of Science and Technology, China)
The Complex environmental grass grid growers based on adaptive suspension
adopted the high-performance stm32 as the master chip, and use the Bluetoothcommunication module, so that users can easily control the vehicle driving, feeding
and the posture of the pressing wheel through the mobile phone application. In addition,
we have introduced new mechanical structures such as adaptive suspension to ensure
effective planting of grass squares in complex terrain such as sloping land. Our vehicle
uses a Mecanum wheel motion system to squeeze seeds by rotating the friction wheels
at high speed.

OS13-6 Design of Intelligent Ecological Multifunctional Plant and Animal Breeding System
Suqing Duan, Yuntian Xia, Siyi Wang, Yizhun Peng (Tianjin University of Science and Technology, China)
The intelligent ecological multi-functional system for animal and plant cultivation
integrates PLC and MCU automatic control technology. This innovative approach
amalgamates aquaculture with horticulture, fostering a symbiotic environment for the
breeding of animals and plants. The system's operations are categorized into four key
components: mechanical structure, environmental perception, automatic control, andintelligent networking. Its comprehensive functionality encompasses plant monitoring,self-checking of temperature and humidity, group control for fertilizer replenishment,
consistent temperature regulation, full-spectrum illumination, advanced filtration,
fogging supplementation, versatile water management, fertilizer blending, and water
purification through sterilization.

OS13-7 Design of a Fully Automated Logistics Handling Platform
Hongpi Zhao, Jianfeng Qin, Yizhun Peng (Tianjin University of Science and Technology, China)
With the progress of science and technology and the development of society, the world's
countries on industrial production efficiency, intelligent manufacturing transformation
continues to grow. Therefore, we designed a fully automatic logistics handling
platform, which is a multi-modular device based on mechanical design, microcontroller
control, visual positioning, the device can realize autonomous identification,
autonomous transportation, improve production efficiency, the device has a wide range
of applications, can be applied to food packaging, parts processing, intelligent
manufacturing and other automation scenarios.

OS13-8 Design and Application of AI-based Brush Calligraphy and Painting Robot
Haibo Li, Yizhe Sun, Shuxin Wang, Yizhun Peng (Tianjin University of Science and Technology, China)
With the rapid development of digital technology and artificial intelligence, theinnovation and exploration of traditional painting forms in the field of digital art havebecome increasingly captivating. The main focus of this research is to create a brushcalligraphy and painting robot system based on PLT files. It digitizes user creative
instructions to autonomously generate brush calligraphy and landscape paintings. This
technology not only advances the deep integration of digital art and traditional culture
but also opens up new perspectives and vast possibilities for artistic creation.

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OS13-9 Intelligent Wheelchair System: Non-contact Heart Rate and Body Temperature
Measurement
Dongpo Ma, Junsheng Zhang, Yizhun Peng (Tianjin University of Science and Technology, China)
With the continuous development of society and human civilization, people, especiallythe disabled and the elderly, need more and more to use modern high technology to
improve their lives and improve the comfort of life. Therefore, this paper introduces asingle-chip microcomputer-based non-contact body temperature and facialrecognition-based heart rate measurement method and applies it to the intelligent
wheelchair system. Monitor the vital signs of the elderly, and give early warnings intime when abnormal values occur, so that family members or caregivers can rescue
them in time.

OS13-10 Recognition and Localization Method for Automotive Axle Holes in Assembly Robots
Junsheng Zhang, Dongpo Ma, Yizhun Peng (Tianjin University of Science and Technology, China)
During the production of automotive axle holes, the roundness error at the pipe opening
leads to low detection efficiency due to manual measurements, rendering real-timeinspection unfeasible. This paper proposes a method for detecting and sorting theroundness of automotive axle holes based on visual inspection. Ensuring accuracy ingrasping, it establishes the kinematic model of the robot Aubo_I5. Targeting
automotive axle holes for grasping, it employs adaptive threshold segmentation tohighlight the section features of the axle hole. The Canny algorithm is then used to
extract edge information, and finally, the least squares method is utilized to detectroundness errors for sorting the axle holes based on this error.

OS14 Robotic Manipulation (3)Chair Kensuke Harada (Osaka University, Japan)
Co-Chair Akira Nakamura (Saitama Institute of Technology, Japan)
Co-Chair Tokuo Tsuji (Kanazawa University, Japan)
OS14-1 Evaluation Standard of Error Recovery Planning Focused on Revival Process from
Failures in Robotic Manufacturing Plants
Akira Nakamura1, Kensuke Harada2 (1Saitama Institute of Technology, Japan) (2Osaka University, Japan)
In recent years, many intelligent robots have been used in various fields. In many cases,
these robots need to be able to perform not only repetitive tasks but also non-routine
tasks. As work errors are more likely to occur in such situations, we have proposedseveral methods for error recovery. Our method uses both forward recovery andbackward recovery to restore work. The former is a recovery method that is often used
for minor modifications, and the latter is the recovery from relatively large failures that
we mainly use. This paper proposes a method for selecting the best path from several
possible recovery paths using a new evaluation method.

OS14-2 Robotic Food Handling Utilizing Temperature Dependent Variable-Stiffness Material
Rozilyn Marco1, Prashant Kumar2, Xinyi Zhang2, Weiwei Wan2, Kensuke Harada2(1 University of Toronto, Canada) (2 Osaka University, Japan)
This paper presents a robotic gripper that addresses challenges of automated robotic foodhandling. Depending on the food material, the robotic gripper should adjust its finger
compliance. To cope with this problem, we apply the approach on using a variable
stiffness fabric on the finger surfaces of the gripper, where the finger stiffness changes
depending on its temperature. This gripper design was validated empirically throughforce and object-grasping experiments. By using the gripper, hard objects can be grasped
with the hard mode of the finger while a fragile object can be safely grasped with thesoft mode.

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OS14-3 Vegetable maturity evaluation for harvest robots
Reno Muhammad Fadilla, Tokuo Tsuji, Tatsuhiro Hiramitsu, Hiroaki Seki (Kanazawa University, Japan)
We propose a method for detecting vegetables in an image and classifing their maturity
by color. Vegetable images are classified according to their maturity and used as training
data. We represent the images in different color systems and investigate the accuracy ofthe classification of maturity. The proposed method can be applied to harvesting robots.

OS15 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)
OS15-1 YOLO real-time object detection on EV3-Robot using FPGA hardware Accelerator
Dinda Pramanta1, Ninnart Fuengfusin2, Arie Rachmad Syulistyo2, Hakaru Tamukoh2( Kyushu Institute of Information Sciences, Japan) (2Kyushu Institute of Technology, Japan)
1

The growing demand for robots necessitates faster and more precise processing.
However, running large Artificial Intelligence (AI) models from cloud data centers tomobile robots via inference models uses considerable computation resources, whichleads to power limitations, particularly for mobile robots. The use of reconfigurable
semiconductor devices at the hardware level is a promising solution to this problem. We
introduce the educational kit EV3-Robot with a co-design methodology utilizing Fieldprogrammable Gate Arrays (FPGA) Kria KV260 as a hardware accelerator specificallyfor object detection. We apply the You Only Look Once (YOLO) model for object
detection, which provides real-time results for practical applications. Additionally, we
analyze the processing times of the local PC and EV3-Robot.

OS15-2 A Low Computational Cost Hand Waving Action Recognition System with Echo State
Network for Home Service Robots
Hiromasa Yamaguchi, Akinobu Mizutani, Arie Rachmad Syulistyo, Yuichiro Tanaka, Hakaru Tamukoh(Kyushu Institute of Technology, Japan)
This study proposes a low computational cost hand-waving action recognition system
for non-verbal communication in home service robots. The system is based on an echo
state network, which requires lower computational costs than that of deep neuralnetworks (DNNs), and processes time-series data of skeletal coordinates of humans torecognize hand-waving actions. Additionally, this study proposes and compares two
types of preprocessing methods of the skeletal coordinates to ensure the robustness ofthe human positions on the screen: one method extracts elbow and arm angles, which
are invariable regardless of the humans’ positions and the other normalizes the skeletal
coordinates. The experimental result shows that the proposed system has competitive
accuracy and is faster than DNN-based methods and robust to varying humanpositions.

pred: waving

OS15-3 A Rapidly Adjustable Object Recognition System through Language Based Prompt
Engineering
Naoki Yamaguchi, Tomoya Shiba, Kosei Isomoto, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
We propose the use of language-based prompt engineering to achieve rapidly
adjustable object recognition in RoboCup@Home. The proposed prompt engineering
involves humans adding features, such as the color and material of an object, into thetext prompts inputted into Language Segment Anything. In this research, we evaluatedthe effectiveness of our proposed method in three benchmark tests for object
recognition at RoboCup@Home held in France in 2023. The results showed that thehighest scores were obtained in certain tasks, indicating that it could be applied to arange of recognition tasks.

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OS15-4 Development of a SayCan-based task planning system capable of handling abstract
nouns
Kosei Yamao1, Daiju Kanaoka, Kosei Isomoto, Akinobu Mizutani, Yuichiro Tanaka, Hakaru Tamukoh(Kyushu Institute of Technology, Japan)
The task planning system is required to accomplish various requests from a humanin real-world environments. SayCan, one of the task planning systems, has highaccuracy. However, its accuracy decreases for requests that include abstract nouns of
the ambiguous word/phrase, and the inference time increases as the number of skills
increases. We propose a novel task planning system based on SayCan that introduces
a function for listening back to abstract nouns and a rule-based skill extraction,enhancing accuracy and reducing inference time. The proposed system facilitates theinterpretation of requests and enables appropriate task planning with low inference
time. The effectiveness of the proposed system was demonstrated at
RoboCup@Home, where it achieved high performance.

OS15-5 RoboCup@Home 2023: Stickler for the Rules Task Solutions
Tomoya Shiba, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
This paper proposes an approach where home service robots use only two recognition
models that can be capable of prompt tuning to detect rule violations in the home.
The robots are increasingly required to perform more advanced and complex
perceptions beyond their traditional roles such as cleaning. Advanced tasks such asserving and security, for example, usually require multiple AI systems, including
person detection, object detection and more. Our approach simplifies this byleveraging the combined capabilities of Grounding DINO and SAM to detect ruleviolations effectively. The success of our method was proven at RoboCup@Home
2023, where it secured the highest score among all participating teams.

drink

shoes

OS15-6 Offloading Intellectual Processing from Home Service Robots to Edge Devices
Yuma Yoshimoto, Mizuki Kawashima, Shun Yonehara(National Institute of Technology, Kitakyushu College, Japan)
In this study, we focus on extending the operational time of home service robots byoffloading intellectual processing to circuit devices such as Field Programmable Gate
Arrays (FPGAs), which in turn reduces power consumption. The core of ourapproach involves developing a method for implementing intellectual processing on
FPGAs, coupled with a dynamic circuit reconfiguration technique. This enables the
FPGA to adaptively respond to frequent task changes. We present: (a) methods fortransitioning circuits from a robot's control computer to FPGA in response to varying
tasks, and (b) an evaluation of the effectiveness of using FPGA to extend operationaltime under these rapidly changing task conditions.

System on a Chip (SoC)

Main Computer

PS/CPU
State Machine⑦① ②

SoC Manager

⑥

③
④

FPGA
Manager

PL/FPGAIntellectual
Processing⑤

OS16 Industrial Artificial Intelligence Robotics (4)Chair Eiji Hayashi (Kyushu Institute of Technology, Japan)
OS16-1 A Research on Performance Information Editing Support System for Automatic Piano
Yoshiki Hori, Eiji Hayashi (Kyushu Institute of Technology, Japan)
In 1996, Hayashi et al. from our laboratory developed an automatic piano playing
device that requires data with nuances for each note to perform in a human-like piano
playing. However, this device lacks the function to infer such nuanced data.
Therefore, prior research focused on developing a system to infer data with nuancesfor each note. Yet, this system required manual inference, consuming a significant
amount of time. In this study, we have constructed a system capable of automatically
performing inference using deep learning. This system not only improves theaccuracy of piano playing inference but also contributes to the efficiency of theinference process.
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OS16-2 Development of Autonomous Mobile Field Robots – Accuracy Verification of SelfLocalization through Simulation Takamasa Hayashi1, Shintaro Ogawa1, Yuto Okawachi1, Tan Chi Jie1, Janthori Titan1, Ayumu Tominaga2,
Eiji Hayashi1, Satoko Seino3
1( Kyushu Institute of Technology, Japan) (2National Institute of Technology (Kitakyushu College), Japan),(3Kyushu University, Japan)
In recent years, the increase in marine debris has become a significant challenge interms of its collection. Costal debris, a type of marine debris, can be collected by humanhands, but the variety in shapes, types, and sizes presents limitations to human-onlycollection efforts. To address this, I focused on developing an autonomous mobile robot,
establishing a simulation environment was considered crucial for facilitating smooth
progress. This paper focuses on self-localization, an essential aspect for autonomous
movement. We replicated an actual coastal cleaning site within the simulation
environment and evaluated the accuracy of self-localization using an EKF (Extended
Kalman Filter) with multiple sensors.

OS16-3 Development of AR System for Grasping String Foods on Introduction of Industrial
Robot
Yoshihiro Koyama, Eiji Hayashi (Kyushu Institute of Technology, Japan), Akira Kawaguchi (The City
College of New York of The City University of New York, United States of America)
In recent years, the food service industry has been facing a labor shortage. However,
the introduction of industrial robots is not easy due to the high cost of equipment andsystem integration. Therefore, we are developing an Augmented Reality (AR)application for the purpose of introducing robots to small and medium-sized companies.
By using this application to perform tasks necessary for introducing robots, such asteaching, cost reductions can be expected when introducing industrial robots. In aprevious study, an AR-based grasping and serving simulation system was developed forsolidified foods such as fried chicken and rice balls. In this study, we focused on stringshaped food items such as spaghetti, and attempted to develop an AR system forgrasping and serving a string-shaped object by controlling a gripper.

OS16-4 An Image Analysis of Coastal Debris Detection -Detection of microplastics using deeplearning
Yuto Okawachi1, Ayumu Tominaga2, Shintaro Ogawa1, Takamasa Hayashi1, Tan Chi Jie1, Janthori Titan1,
Eiji Hayashi1, Satoko Seino3
1( Kyushu Institute of Technology, Japan) (2National Institute of Technology (Kitakyushu College), Japan)(3Kyushu University, Japan)
To address the issue of litter drifting ashore, this study developed a deep learning-based
microplastic detection system. The system employed yolov7 as its deep learning
network, complemented by SAHI (Slicing Aided Hyper Inference) as an additional
vision library. yolov7 is renowned for its efficacy in real-time object detection. Our
experimental framework involved four tests, utilizing two variations of yolov7 - thestandard model and yolov7-e6e - in conjunction with SAHI. The effectiveness of eachtest was quantified using metrics such as Intersection over Union (IoU), Precision,
Recall, F-measure, and Detection Time in seconds. For our dataset, we gathered images
from actual cleanup locations, such as Hokuto Mizukumi Park. The model's
discriminator underwent 700 training iterations, with a learning rate set at 0.001.

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OS17 Electronics and Kansei Engineering Based on ETT theory (5)Chair: Tetsuo Hattori (Kagawa University, Hiroshima Institute of Technology, Japan)
Co-Chair: Yusuke Kawakami (NIT (Kagawa College), Japan)
OS17-1 A High-Speed Estimation Method of Parameters in Impulse Response
Toshiki Tanaka, Ivan Tanev (Doshisha University, Japan), Tetsuo Hattori (Kagawa University, Japan)
This paper proposes a high-speed parameters estimation method for compartment
model where output function is described by the convolution between input function
and impulse response, which is like a time-invariant linear system. The proposed
method uses linear regression analysis based on equations that can be obtained fromthe differentiation of convolution (DOC). In this paper, taking the parameters
estimation problem of PET (Positron Emission Tomography) inspection system and
RLC series electrical circuit for examples, we show that the method can estimateparameters in those impulse responses.

OS17-2 A Consideration on Amplification Function in BJT Evers-Moll Model and PTT (I)---- V-I Characteristics ---Shimon Hattori, Osamu Matoba (Kobe University, Japan), Tetsuo Hattori (Kagawa University, Japan),Toshiki Tanaka (Kinkei System, Japan), Yusuke Kawakami (NIT (Kagawa College), Japan)
In 1989, the notion of PTT (Photon Transport Transistor) has been proposed by B.J.
Van Zeghbroeck et al., at IBM Research Center at that time. PTT is an optical coupling
device of light emitting diode (LED) or laser diode and light receiving diode (Photo
Diode, PD) where the carrier of the base layer is light (Photon) only. Later in 1996, W.
N. Cheung and Paul J. Edwards have shown that PTT can be a very low noise amplifier
in a positive feedback circuit, based on theoretical calculations of the noise figure. In
this paper we consider the amplification principle showing the VI characteristics of the
PTT and bipolar junction transistor (BJT).

OS17-3 A Consideration on Amplification Function in BJT Evers-Moll Model and PTT (II)---- H Parameters in the Small Signal Amplifier Circuit---Shimon Hattori, Osamu Matoba (Kobe University, Japan), Tetsuo Hattori (Kagawa University, Japan),Toshiki Tanaka (Kinkei System, Japan), Yusuke Kawakami (NIT (Kagawa College), Japan)
The notion of PTT (Photon Transport Transistor) has been proposed in 1989 as an
optical coupling device of light emitting diode (LED) or laser diode and light receiving
diode (Photo Diode, PD), where the carrier of the base layer is light (Photon) only. In
this paper we consider the amplification principle of the PTT and BJT (bipolar junction
transistor), by illustrating those h parameters of equivalent small signal amplifier
circuit. Moreover, this paper also discusses the similarities and differences between
PTT and BJT, based on the derived h parameters.

OS17-4 Color Image Arrangement Using Histogram Matching
Yusuke Kawakami (NIT (Kagawa College), Japan), Tetsuo Hattori (Kagawa University, Japan),
R.P.C. Janaka Rajapakse (Tainan National University of the Arts, Taiwan (R.O.C.))
For the arrangement processing of image using its histogram, we previously havepresented a Histogram Matching method based on Gaussian Distribution (HMGD).
However, in the case where the brightness histogram of input image has multiple peaks,
the HMGD processing does not always bring good results. In this paper, we present an
improved histogram matching method using the reference histogram that is made byappropriate moving average processing over the histogram of input image. Also in thispaper, we show the experimental results.

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OS17-5 Methodology for Creativity Oriented STEM Education Based on ETT Theory
Tetsuo Hattori, Toshihiro Hayashi, Mai Hattori, Yoshiro Imai (Kagawa University, Japan),Asako Ohno (Osaka Sangyo University, Japan), Takeshi Tanaka (Hiroshima Institute of Technology, Japan)
Recently, the necessity of integrated and comprehensive methodology for STEM
(Science, Technology, Engineering and Mathematics) education is growing. In thispaper, we propose an educational methodology utilizing the viewpoint of EquivalentTransformation Thinking (ETT) theory which has been proposed by Dr. Kikuya
Ichikawa in 1955 as a principle of creativity. Especially, we show that the viewpoint isvery useful not only for new technology invention but also for STEM Education in thesense that it deepens insights of the contents to be learned, motivates students to study
further, and inspires their creativity.

OS18 Computer and Information Engineering (12)Chair Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair Heshalini Rajagopal (UCSI University, Malaysia)
OS18-1 Efficient Campus Shuttle Tracking and Management Mobile Application for College
CampusAndrea Tantay Gonzales1, Kavitha Thamadharan1, Neesha Jothi2( INTI International College Penang, Malaysia) (2UCSI University, Malaysia)
1

Shuttle Stalk, a Real-Time Campus Shuttle Booking and Tracking System was a
proposed solution which enables the students to register for the shuttle service throughthe mobile application, reducing the administrative burden and to track its current
location in real-time, allowing them to plan their journeys more effectively. The
application developed serves as a comprehensive solution for both students andadministrators, providing real-time shuttle tracking and streamlined management
capabilities.

OS18-2 GCN Analysis of Task-Based fMRI Data for Diagnosis of Schizophrenia
Tejaswini Thota1, Reuben Stephen John1, Dr R Dhanush1, Dr Amutha S1(1Vellore Institute of Technology, India)
This study focuses on schizophrenia, characterized by distorted reality and delusions.
We propose utilizing a Graph Convolutional Network (GCN) model on a task-based
fMRI data to differentiate schizophrenia instances, with and without auditory
hallucinations, utilizing healthy participants for comparison. Various node embedding
algorithms are compared to extract structural properties, and statistical features fordifferentiation. The study focuses on identifying specific auditory stimuli thatsignificantly differentiate individuals. Model validation deploys k-fold stratified
crossvalidation, with evaluation metrics, including accuracy, precision, recall, F1
macro, and MCC guide the assessment of the GCN model.

OS18-3 AR-Based Application for Campus Navigation
Renuka Devi Rajagopal1, Akshay S1, Manoj Rathinam1, Shakthi B1, Heshalini Rajagopal2(1Vellore Institute of Technology, India) (2UCSI University, Malaysia)
The "Campus Navigator" is an innovative augmented reality (AR) application designed
for seamless campus navigation. It combines geolocation technology, QR code
recognition, and predefined geospatial anchors to transition users from outdoor to indoor
spaces. Augmented reality overlays provide real-time wayfinding guidance, eliminating
the need for traditional maps. The user-centric design and user feedback integration
enhance accessibility and user satisfaction. Real-world testing demonstrates promising
performance, accuracy, and user engagement. The Campus Navigator transforms campus
navigation, with potential for broader applications.

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OS18-4 Development of Robotic Assistant for Health Care Sector with A Special Focus to Aid
the Geriartric Patients
Narayanan Ganesh (Vellore Institute of Technology, India)
Human manual efforts in their day-to-day tasks are reduced by robotic helpers. This
paper analyzes the robot created to assist the aged people. The created robot can becontrolled by voice commands with its own inbuilt microphone to pick up human speechorders. This robot can do a variety of movements, turns, grab operations, move an object
from one location to another. Personal assistant robot is built using Microcontrollers. The
results reveal that the developed robot will be one of the best companions for the geriatricpatients and will be an alternate solution will make a new mark in the health care sector.

OS18-5 Development of a Desktop Application Restaurant Management System
Gabriela Maria Ancilla, Heshalini Rajagopa, Ismail Ahmed Al-Qasem Al-Hadi (UCSI University, Malaysia)
The number of restaurants has grown rapidly around the world, the awareness ofmanaging it efficiently has increased. This necessity yields the idea to invent a restaurant
management system (RMS). This RMS will bring several benefits such as greater
management of a restaurant, reduced resources cost, raise profit, and time-saving by
allowing the admin to manage the restaurant easily through the functionality provided in
the system. The provided features include adding, updating, and deleting information,
stock calculation and auto re-order stock items, ingredients management, and financecalculation.

OS18-6 Face Recognition based on Attendance System
Koh Pei Cong 1, Heshalini Rajagopal1, Ghassan Saleh1, Norrima Mokthar2(1UCSI University, Malaysia) (2University of Malaya, Malaysia)
The use of face recognition technology for attendance tracking has grown popular inrecent years. Hence, the main goal of this project is to produce an accurate, fast, and robust
face recognition based on an attendance system. The system detects the user’s uniquefeatures, understand the identity of the user through face recognition technology, and thus
records the attendance from the face recognition dataset to the user that matches the user,
in an attempt to help the user automatically check in with real-time attendance date. The
system includes features such as face detection, face recognition, distance estimation, andattendance recording.

OS18-7 U-Reserve: Development of a Facility Reservation System for UCSI University
Esther Chong Jun Lynn1, Neesha Jothi1, Ismail Ahmed1 (1UCSI University, Malaysia)
In today's technology-driven era, there is a growing emphasis on efficient and convenientmethods to enhance user satisfaction. UCSI University, Kuala Lumpur, currently employs
a manual facility reservation system that requires in-person or email submissions. Thisoutdated approach often results in double booking and underutilization of resources.
Therefore, this project aims to develop a web-based facility reservation system named UReserve. This system is developed by HTML, CSS, JS, JSP, Servlet, and MySQL,
focusing on colour tone and font type. These considerations are vital in providing an
improved user experience. With U-Reserve, not only the reservation requests andcancellations being streamlined, but informed decisions regarding facility management
can also be made by a data-driven dashboard.

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OS18-8 The Smart Document Processing with Artificial Intelligence
Raenu Kolandaisamy1, Heshalini Rajagopal1, Indraah K2, Glaret Shirley Sinnappan3(1UCSI University, Malaysia) (2University Utara Malaysia, Malaysia)(3Tunku Abdul Rahman University, Malaysia)
This study focuses on the challenges and potential for Intelligent Document Processing(IDP) with Artificial Intelligence (AI) to manage unstructured data. A large amount of data
in many different forms, such as information from the IoT, cybersecurity and more areproduced during this modern Digital Age which has been widely distributed through awide range of unformatted formats. IDP utilizes AI technologies like Machine Learning(ML), Natural Language Processing (NLP), and Computer Vision (CV), with the aim ofconverting unstructured data into structured, usable information. The IDP, are exploredin the findings and discussion section that emphasizes its capability to automatically
perform redundant tasks, reduce operating costs as well as improve employee
productivity.

OS18-9 Digital Security Challenges Faced by Business Organizations
Raenu Kolandaisamy1, Heshalini Rajagopal1, Indraah K2, Glaret Shirley Sinnappan3(1UCSI University, Malaysia) (2University Utara Malaysia, Malaysia)(3Tunku Abdul Rahman University, Malaysia)
Over the decades, the forms of cyber-attacks have evolved from disruption level,
cybercriminal, followed by cyber espionage and lastly threatening level. Digital security
has played a significant role in protecting enterprises from any form of cyber-attacks,
especially in today’s era of digitalization. Aligning with the global effort in emerging theconcept of Industrial Revolution 4.0 (IR4.0) in organizations, where sensitive data andconfidential information can be accessed at a fingertip of an employee. This paper
discusses the difficulties of implementing digital security solutions in an enterprise interms of external potential cyber threats, internal cyber security roadblocks within theorganization and how Covid-19 pandemic imposed challenges towards cyber security inthe organizations.

OS18-10 The Study on Perception on E-Waste Among the People
Raenu Kolandaisamy1, Heshalini Rajagopal1, Indraah K2(1UCSI University, Malaysia) (2Utara Malaysia, Malaysia)
E-waste is piling up at an alarming rate, which results in our environment's pollution, while
only a few are being disposed of correctly. This research aims to discover people's
awareness of e-waste and how to handle it. An online survey was done among 75
respondents, who were asked about their general knowledge of e-waste. Most respondents
are aware of the effects of e-waste but lack knowledge on how to tackle them, including
questions concerning e-waste management and its causes. In conclusion, the general publicmust be educated on e-waste to reduce and dispose of e-waste efficiently and effectively.

80©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS18-11 Emergence of Cybercrimes in Online Social Networks
Raenu Kolandaisamy1, Heshalini Rajagopal1, Indraah K2( UCSI University, Malaysia) (2University Utara Malaysia, Malaysia)
1

The rise of social networking websites has been seen in recent years. Everyone will bespending most of their time on social networking websites such as Facebook, Instagramand Whatsapp. The great advantage that this social networking website offers benefited
many of the users. It can help people to promote themselves or their business to gain more
popularity and also customers through these social networking websites. There are manycybercrimes that can be identified which are identity theft, hacking, fraud and so on. The
emergence of cybercrimes has created an awareness so that the users will know what thecommon attacks are and how they can be prevented from being lure and being a victim of
this attack. This research will discuss about the attacks and how these attacks can beprevented by the users.

OS18-12 Development of a music recommendation application by using facial emotion
recognition
Shengke Xie, Raenu Kolandaisamy, Ghassan Saleh, Heshalini Rajagopal (UCSI University, Malaysia)
Music is an important part of human life and culture, and it can affect people’ s emotions
and moods. However, choosing music from a large library can be a challenging and timeconsuming task. In this paper, we propose a facial expression recognition-based music
recommendation system that can recommend suitable music which matches the user’ scurrent mood. The system uses a camera to capture the user’s face and a convolutional
neural network model which trained facial emotion recognition database to recognize
seven basic emotions: anger, disgust, fear, happiness, sadness, surprise and neutral. The
paper contributes to the research of facial emotion recognition and music recommendationand provides a convenient way for people to enjoy music.

OS19 Natural Computing (3)Chair Marion Oswald (Vienna University of Technology, Austria)
Co-Chair Yasuhiro Suzuki (Nagoya University, Japan)
OS19 -1 A Model of Reaction-diffusion phenomena with Multiset Processing
Yasuhiro Suzuki (Nagoya University Japan)
We propose a model of reaction-diffusion phenomena using Abstract Rewriting System on
Multisets ARMS, which is a model of Multiset Processing. Although proposed model issimple, computer simulations confirm that the Turing pattern is generated.

OS19-2 Extract tactile qualities from time series data
Yasuhiro Suzuki (Nagoya University, Japan)
We proposed the Tactile Score to describe time-varying tactile sensation by the time
variation of vertical force. Tactile quality is essential in hardness/softness, roughness, andtemperature. Hardness and softness can be extracted from the shape of the Tactile Score.
Roughness can be extracted from the pattern of hardness and softness. The arbitrary timeseries data can be interpreted as a tactile score by considering the time variation of thevertical force, and the hardness and softness are extracted from the time series datainterpreted as the tactile score. This method can extract different features fromconventional data science methods.

81©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS19-3 Healthcare applications of vibrotactile stimulation developed by Tactile Score
Yasuhiro Suzuki, Rie Taniguchi (Nagoya University, Japan)
We constructed a system to convert the tactile score into vibratory tactile sensation. We
conduct basic biological experiments on electronic tactile stimuli and apply the results tomedical and healthcare applications. We use two types of electronic tactile stimuli. One isdirect vibrating tactile stimulation, and the other is airborne vibrating tactile stimulation.
Verification experiments of this system have confirmed cosmetic effects such as skincollagen aggregation, improvement of hypertension and diabetes, and reduction of pain
and nerve paralysis. In addition, a clinical study was conducted in which patients withdementia were exposed to vibrotactile sensation (low-frequency sound) via air vibration
and an improvement in cognitive function was confirmed.

OS20 Advances in Field Robotics and Their Applications (15)Chair Kazuo Ishii (Kyushu Institute of Technology)
Co-Chair Keisuke Watanabe (Tokai University)
OS20-1 Image Collection Experiments of a Handy AUV for Offshore Structure Inspection
Keisuke Watanabe, Koki Amano, Shingen Urano, Yasutaka Taniguchi, Konosuke Watanabe(Tokai University, Japan)
In recent years, in Japan, with the decline in the working population, there has been a
noticeable shortage of labor at construction sites and offshore operations. On the other
hand, with the aim of realizing a GX society, it is expected that offshore wind power
generation platforms will rapidly increase and be deployed offshore. Since it is not easy
to access offshore platforms, it is necessary to automate equipment inspection work, and
it is expected that the use of AUVs will be particularly desirable for underwaterinspection work. The most basic inspection work is assumed to be to collect images ofunderwater structures. Therefore, in this study, we created an AUV and conducted animage collection experiment using a pier owned by our university as an example toconfirm its functionality.

OS20-2 Design of Disassembly-reassembly Type USV for Coral Reef Research
Keisuke Watanabe, Koki Amano, Gaku Minato, Yasutaka Taniguchi, Konosuke Watanabe(Tokai University, Japan)
Researchers are conducting physical surveys by diving and swimming to study theeffects of microplastics and global warming on coral reefs. The area, time, and water
depth that can be investigated by diving are extremely limited. In addition, to collectmicroplastics, it is necessary to tow the nets, but chartering a ship is expensive.
Therefore, the authors are developing a system that simultaneously operates a USV anda UUV to simultaneously observe the sea surface and underwater. In this paper, we
conducted a conceptual design, carried out fluid force measurements, trajectory
tracking experiments, and image recognition using AI, with the aim of realizing alightweight USV that can be divided during transportation to coral reef areas andreassembled on site for operation.

OS20-3 Optimization method to improve visual SLAM in dynamic environment
Yufei Liu, Kazuo Ishii (Kyushu Institute of Technology, Japan)
Aiming at the problem that the robustness of the classic visual SLAM system isgreatly affected by dynamic feature points in the environment, a method of eliminating
dynamic feature points using a target detection algorithm is proposed. Use the target
detection algorithm YOLOv5 to identify and classify the collected feature points. Thenremove the extracted dynamic feature points, use the remaining static feature points
for map construction and positioning, and finally test on the TUM data set. The results
show that this algorithm effectively improves the positioning accuracy and robustnessof the visual SLAM system.
82©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS20-4 Design of flexible mechanism for flexible manipulator
Huang Jiawei, Kazuo Ishii (Kyushu Institute of Technology, Japan)
Based on the study of the kinematic limitations of the rigid manipulator structure andthe characteristics of the existing flexible manipulator in different categories, this paper
proposes a structure assumption of flexible manipulator based on the advantages ofhigh load of rigid joint and high flexibility of flexible manipulator. This paper designed
a flexible manipulator structure driven by wires. Using the forward kinematics analysis
the sport model of the structure. The motion range of the end of the manipulator arm
and the length changes of the wires were simulated with the movement of the model.

OS20-5 Driver Drowsiness Detection Method based on Deep Learning
Shi Puwei, Kazuo Ishii (Kyushu Institute of Technology, Japan)
Drowsiness driving will pose a serious threat to the lives of drivers and others.
Determining the state of the driver through face recognition has the advantages of low
cost and convenience. Therefore, this study deploys the face recognition model to themobile phone, and finally realizes the recognition of the driver's Drowsiness by thefront camera of the mobile phone. The whole research is divided into three parts. The
first part is to train the face 68-keypoints recognition model based on the YOLO facealgorithm. The second part is to deploy the trained model to the mobile phone using
ONNX and NCNN. The third part is to calculate EAR and MAR using several facial
key points, and finally complete the recognition of the driver's drowsiness state using
EAR and MAR.

OS20-6 An Analysis of Translational Motion for a Mobile Robot with Line-Symmetric Rollers
Arrangement
Kenji Kimura1, Kazuo Ishii2( National Institute of Technology, Matsue College, Japan) (2Kyushu Institute of Technology, Japan)
1

In fields such as logistics, robots are required to have efficient mobility. There arevarious types of rollers used in mobile robots. Among them, omni-rollers haveexcellent omnidirectional mobility and are easy to control. In this study, mechanism
kinematics has been proposed that assumes arbitrary changes in the roller arrangement
position on a circular mechanism and the roller arrangement has been evaluated fromthe viewpoint of speed efficiency. Furthermore, we aim to evaluate the mobility ofmobile robots by focusing on their translational components. Moreover, we haveexamined the behavior of the area of the area generated by the end point of the robot
velocity vector and evaluated the velocity efficiency.

OS20-7 Development of Teaching Materials for Robot Programming for Junior High SchoolStudents:Student-Based Educational Activities
Kenji Kimura, Youta Takano (National Institute of Technology, Matsue College, Japan)
With the extensive use of robots in recent years, an age of co-existence between
humans and robots is expected to arrive in the future. Therefore, providing robot
education in the early stages of elementary and junior high school is necessary tostimulate students’ interest in robots. Furthermore, educational institutions are
becoming more active in robot education as a part of their contribution to the local
community. For elementary school students, a Beauto Racer (Vstone) has been
adopted as a teaching material for robot education, and teaching materials have beendeveloped for teaching line tracing. In this study, we will develop educational
materials for junior high school students on maze exploration using a Beauto Rover(Vstone). The students of NIT, Matsue College took the initiative in this activity.
The purpose is to improve their teaching skills.

OS20-8 Design and Software Production of Robotics Educational Design for Elementary andJunior High School Student
83©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

Youta Takano, Kenji Kimura (National Institute of Technology, Matsue College, Japan)
The Ministry of Education, Culture, Sports, Science and Technology (MEXT) has beenpromoting cross-curricular learning including STEAM education in its educational
policy for 2021. The purpose of this study is to have students experience not only
control engineering but also basic programming techniques, and to have them become
interested in mathematical subjects in general, which are the basis for control
engineering. The educational design and accompanying software were designed using
Beauto Balancer2 (Viston) educational robot and Scratch, a visual programming editor
developed by the Scratch Foundation. In addition, workshops were conducted and thelesson design was evaluated by a questionnaire.

OS20-9 Development of visual inspection system for low-reflective material utilizing of a string
shadow
Keiji Kamei1, Tomorou Kawahara1, Yoshiyuki Daimaru2( Nishinippon Institute of Technology, Japan) (2Nissan Motor Kyushu, Japan)
1

Visual inspection of products in manufacturing plant is usually conducted by workers.
However, that inspection process by workers occasionally happen oversight due tocareless check, so that automatic visual inspection system is needed frommanufacturer. Products made of low-reflective material are difficult to inspect by lightreflection because contours of defect areas are got blurred. To solve this problem, we
propose to inspect products utilizing of a string shadow. Form our research, a string
shadow was different between contours of defect area and its of non-defect. On theother hand, former research did not success to detect defect area due to determination
algorithm for defect. In this paper, we apply linear approximation of a string shadow
to defect detection. From the experimental results, we succeed in detecting defects.

OS20-10 Development of IoT-Based Remote Monitoring Module for Greenhouse Environment
to Facilitate Crop Growth Data Analysis
Moeko Tominaga, Yasunori Takemura, Junya Era, Wataru Kaishita(Nishinippon Institute of Technology, Japan)
Eiji Mizoe, Tomoyasu Furukawa (Kumamoto Fruit and Vegetable Shippers Association Co. Ltd., Japan)
As the shortage of agricultural workforce becomes a concern, IoT proves effective inalleviating labor burdens. Monitoring, storing, and analyzing the growing
environment, especially for new crops, is crucial for subsequent agricultural cycles.
However, small farms often face challenges in data collection due to cost constraints,
particularly with new crops. An agricultural IoT system was developed for small
farmers, featuring a module for collecting, accumulating, and visualizing time-series
data from sensors. To demonstrate feasibility, the IoT system was implemented andvalidated by intermittently monitoring banana and coffee growth parameters in a
Kumamoto greenhouse over two years. Results confirmed that the proposed IoTremote monitoring module empowers farmers to monitor crop growth environments.

84©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS20-11 Development greenhouse environment prediction system using IoT data
Yasunori Takemura, Naoya Nishida, Moeko Tominga (Nishinippon Institute of Technology, Japan)
Eiji Mizoe, Tomoyasu Furukawa (Kumamoto Fruit and Vegetable Shippers Association Co. Ltd., Japan)
Currently, the decrease in the working population is a significant problem in agriculture
in Japan. In addition, the prices of imported vegetables and fruits have been rising due
to international trade problems such as the weak yen. This study has developed anenvironmental data storage system using IoT to assist the labor force and to understandthe cultivation data of crops that have not been cultivated in Japan. Using this big data,
we have constructed and evaluated a forecasting system. In this study, we focus on thedomestic cultivation of bananas grown in the tropics as the subject to obtain data andmake predictions. For learning, a system was constructed to infer the next day's
temperature by time-series analysis, using as input data obtained from the IoT. In thispaper, we report a comparison of two time series analysis algorithms.

OS20-12 The Development of SaaS for Quantifying the Amount of Drifted Debris on the Coast
Ayumu Tominaga, Ryohei Komori (National Institute of Technology Kitakyushu College, Japan)
Eiji Hayashi (Kyushu Institute of Technology, Japan)
In the process of collecting drifted debris along a coastal area, it has been required toquantify the collection results. This study introduced a Software as a Service (SaaS)
equipped with image processing capabilities for the detection and identification ofdebris in photographs. The SaaS was developed to facilitate the automated weighingof the collected debris. In the beach cleanup event in June 2023, 317 images capturing
debris found during the coastal cleanup were gathered on a cloud server from 90
participants via this SaaS. These images were subsequently analyzed by object
recognition AI executed on a cloud server, leading to the detection and identificationof 954 instances of debris. This result represents the actual amount of debris collectedduring this cleanup event, and indicates that the achievements of the event were
quantified via the SaaS.

OS20-13 Development of an antagonistic wire-driven joint mechanism capable of rapid motion
and variable stiffness
Katsuaki Suzuki!, Yuya Nishida2, Kazuo Ishii2( Kumamoto Industrial Research Institute, Japan, 2Kyushu Institute of Technology, Japan)
1

The advancement of digital transformation in manufacturing is expected to demandnovel tasks for industrial machinery unlike before. When adding mechanisms or
actuators to enhance machine functionality, concerns arise about potential system
enlargement and increased complexity. The design concept of integrating multiple
functions into mechanisms using a few actuators and components serves as one means
to address these issues. We aim to elucidate the structural arrangement capable ofachieving three functions, including normal motion, rapid motion, and variable
stiffness, using two electric actuators. In this paper, we introduce a newly devised
antagonistic wire-driven joint mechanism aimed at improving the variable stiffness
function within the articulated mechanism we have developed, enabling threefunctionalities.

85©ICAROB 2024 ALife Robotics Corp. Ltd.

SliderSpringOutput link
Fixed link

Wire
Electric linear actuator

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS20-14 Gakken Hills Interdisciplinary Ekiden Competing with Humans, Animals, andRobotsTakuya Fujinaga1, Moeko Tominaga2, Daigo Katayama3, Kazuo Ishii3( Fukuoka University, 2Nishinippon Institute of Technology, 3Kyushu Institute of Technology, Japan)
1With the advancement of science and technology, the societal implementation of robots
has been expected. In recent years, the number of robots exiting in human living spaces
has increased, and interaction between humans and robots has become an important
issue. The purpose of this study is to propose a future society where humans, animals,
and robots coexist. We organize relay races, or ekiden in Japanese, where they compete
together as runners to discuss the future society. The competition rules have been
established for this ekiden to ensure that each runner can compete fairly. For example,
an advantage is given to the time of humans, animals, and robots, so that the results are
the same. This paper explains the competition rules and reports the competition resultsof the 8th race held in 2023.

OS20-15 Development of a Low-Cost Underwater Robot for Research and Education
Takuya Fujinaga (Fukuoka University Japan)
Underwater robots are frequently utilized for underwater observation. When used as
tools, commercially available underwater robots are sufficient. However, when utilized
for research, development, or education, the required specifications vary based on the
purpose, necessitating custom development. Generally, the development of underwater
robots demands a significant amount of funds, posing a high barrier for research,development, and education. The aim of this study is to reduce these barriers,
facilitating broader implementation of research, development, and education in thefield of underwater robotics. This paper explains the development requirements,
process and cost of a low-cost underwater robot designed for a robotics competitionand discusses key considerations during development.

OS21 Human-Machine Interface (3)Chair Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair Heshalini Rajagopal (UCSI University, Malaysia)
OS21-1 Enhancing Reconnaissance Missions Through Multiple Unmanned Systems in ROS

Anees ul Husnain1,2, Norrima Mokhtar1, Takao Ito3, Siti Sendari4, Muhammad Farris Kyasudeen5, Muhammad
Badri M Noor1,6, Heshalini Rajagopal7
1( Universiti Malaya, Malaysia), (2 The Islamia University of Bahawalpur, Pakistan)(3Hiroshima University, Japan), (4 Universitas Negeri Malang, Indonesia)(5 University Technology MARA (UiTM), Malaysia)
6( Ifcon Technology Sdn Bhd, Malaysia), (7UCSI University, Malaysia)
The synergistic collaboration between UAVs and UGVs addresses the limitationsof individual platforms, offering a versatile solution for reconnaissance tasks indiverse environments. The proposed system employs ROS as the underlyingarchitecture to facilitate seamless communication and coordination among multiple
UAVs and UGVs. Optimal coverage is ensured through efficient exploration andcoverage of the reconnaissance area, under by comparing raster-scan, expanding
spiral and zig-zag area exploration approaches. The article concludes by discussing
potential extensions, such as the integration of machine learning techniques forenhanced autonomy and the scalability of the system for larger-scale missions bypresenting a ROS-based framework that maximizes the synergy between UAVs and
UGVs.

86
©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS21-2 Illumination Effects on Facial Expression Recognition using Empirical Mode
Decomposition

Hashimah Ali1, Wan Khairunizam Wan Ahmad1, Hariharan Muthusamy2, Mohamed Elshaikh1(1Universiti Malaysia Perlis, Malaysia)
2( National Institute of Technology Uttarakhand, India)

Thus, this paper aims to investigate the illumination effects (brightness variations)on facial expression recognition using empirical mode decomposition
reconstruction techniques. In this framework, firstly, the noisy facial expression
images were simulated with the illumination effects using different brightnesslevels of 30%, 40%, 50%, 60%, and 70%. Then, the EMD will decompose the noisy
facial expression images into a small set of intrinsic mode functions (IMF), namely
IMF1, IMF2, IMF3, and residue. Based on property held by EMD, the signals aredecomposed into several IMF components, each with a different time scale.
Because the last several IMFs represent the majority of illumination effects, various
reconstruction techniques for IMFs have been investigated at various brightnesslevels. Feature reduction techniques Principal component analysis (PCA) and linear
discriminant analysis (LDA) have been employed to reduce the high-dimensional
space of IMF features into low-dimensional IMF features. The reduced IMF
reconstructions were then used as input to the k-nearest neighbour classifier torecognise the seven facial expressions. A series of experiments have been
conducted on the JAFEE database using various reconstruction IMFs together with
PCA plus LDA. Based on the results obtained, the reconstruction of IMF1 + IMF2
+ IMF3 shows the highest accuracy in high illumination conditions, which is
99.06%.

OS21-3 Supercontinuum Generation Pump By a Molydenum Disulfide Based Soliton ModeLocked Fiber Laser
Aeryn D. Ahmad1, Norrima Mokhtar1, Hamzah Arof1, Sulaiman Wadi harun1, Ahmad Haziq Aiman Rosol2(1Universiti Malaya, Malaysia), (2MJIIT, UTM, Malaysia)
In this work, a highly stable soliton mode-locked Erbium-doped fiber laser (EDFL)
is passively obtained using a molybdenum disulfide (MoS2) thin film as a saturable
absorber (SA). The MoS2 thin film obtained via electrochemical deposition
technique is integrated into an EDFL cavity to generate mode-locked pulses
operating at 1.88 MHz with a pulse duration of 3.03 ps. Supercontinuum (SC) lightis generated using the proposed soliton mode pulses operating at 1560.4 nm as they
are injected into a 100 m long highly nonlinear photonic crystal fiber (HN-PCF)
after it is amplified to the output power of 17.8 dBm. The SC light operates in awavelength range starting from 1360 nm to more than 1750 nm with the intensity
above -35 dBm. The proposed supercontinuum laser can be seen as a promisinglight source for metrology and sensing applications.

87©ICAROB 2024 ALife Robotics Corp. Ltd.

980nm LD

Isolator

EDF

WDM

2.4m

SA
MOS2

980/1550

SMF
100m
Coupler80%
20%

PCF 100m
EDFA
oscilloscope

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS22 Mathematical Informatics (8)Chair Takao Ito (Hiroshima University, Japan)
Co-Chair Makoto Sakamoto (University of Miyazaki, Japan)
OS22-1 Adsorption Behavior of Arsenic and Selenium using NiZn Hydroxy Double Salts withAcetate, Chloride, Nitrate, and Sulfate Anions
Kaoru Ohe, Ryosuke Tabuchi, Tatsuya Oshima (University of Miyazaki, Japan)
Arsenic(As) and selenium(Se) has become an increasingly serious water contaminationworldwide, so the development of adsorbents to improve the adsorption performanceof As and Se is desired. In this study, hydroxy double salt NiZn-AcO, -Cl, -NO3, and SO4, with acetate, chloride, nitrate, and sulfate anions between layers and theadsorption behavior of As and Se was investigated. The Langmuir isotherm model,
characteristic of monolayer adsorption, fit the data best with R2 >0.94. The adsorption
capacity(qmax) of As(V) by NiZn-Cl was about twice that of the other adsorbents. The
qmax of Se(IV) by NiZn-AcO, NiZn-Cl, and NiZn-NO3 was almost the same value asthat of Se(VI) and 1.4-1.7 times larger than that of NiZn-SO4. The prepared adsorbent
was confirmed to be useful for the removal of As and Se.

OS22-2 Parallel acoustic analysis based on the domain decomposition method with higher-orderelement
Amane Takei1, Makoto Sakamoto1, Akihiro Kudo2( University of Miyazaki, Japan) (2National Institute of Technology, Tomakomai Collage, Japan)
1

Numerical analysis approaches, such as the finite element method, are widely used forthe estimation of the sound field in architectural spaces. Large-scale analyses, using
numerical models with over 10 trillion elements, are required for the analysis of a large
space such as a concert hall with higher-frequency bands. Large spaces are often
limited to low-frequency analysis. In this study, the number of elements is reduced bywave acoustic analysis using higher-order elements. Based on the results using higherorder elements, it is shown that it is possible to analyze a real environment model suchas a live music club and a concert hall.

(a) Visualization results (X-Y)(b) Visualization results(X-Z)
Fig.1 Numerical result
using concert hall model

OS22-3 Sound field evaluation on the acoustical experiment using non-steady state analysis
Akihiro Kudo1, Makoto Sakamoto2, Amane Takei2(1National Institute of Technology, Tomakomai College, Japan) (2 University of Miyazaki, Japan)
Identifying acoustic effects of sound waves emitted by a sound source on the listeneris important for understanding the localization of sound as perceived by the listener. In
this presentation, we will analyze the effect of the presence of a chair on thepsychoacoustic effect using a practical model simulating a psychoacoustic experimentconsisting of a loudspeaker, a listener, and a chair. Non-steady state analysis is required
to analyze changes in acoustic effects over time. To analyze the interference of soundwaves in the vicinity of the listener, a short Gaussian pulse-like solitary wave is set upon the loudspeaker's vibrating surface. Since sound waves in the audible band are used
for these simulations, a mesh size of less than 25 mm is used. The laboratory is 3m of
depth and width, and 2.5m of height, which means that the computational whole target
consists of over 15 million elements. This simulation requires a large number ofcalculations, so a parallel computing method with ADVENTURE_Sound that is an
open-source software for sound simulation, is used to run the simulation. From thesimulation results of the non-stationary analysis and consider the effect of the presenceof the chair on the sound image localization.

88©ICAROB 2024 ALife Robotics Corp. Ltd.

Fig.1 Example of resultsof non-steady state
analysis with gaussianpulseThe 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS22-4 A DeepInsight method with Morphological Analysis
Toyoaki Tomioka1, Satoshi Ikeda1, Makoto Sakamoto1, Takao Ito2
( Faculty of Engineering, University of Miyazaki, Japan) (2Hiroshima University, Japan)
1

The DeepInsight method is a comprehensive approach aimed at applying convolutional
neural networks (CNN) to non-image data. This study specifically focuses on using the
DeepInsight method to forecast stock prices, which involve time series data. To achievethis, we employ morphological analysis to extract the necessary word feature forpredicting stock prices from news articles. Additionally, t-SNE is utilized to reduce thedimensionality of the high-dimensional data, transforming it into a more manageable,
low-dimensional format suitable for stock price prediction. After reducing
dimensionality in both news text data and stock price time series data using t-SNE, andsubsequently applying CNN for learning from the transformed representations,predictions were made with an accuracy of approximately 60%.

OS22-5 Support for Museum Exhibition of Small Fungi using AR Technology
Kakeru Takemura1, Ota Hamasuna1, Fumito Hamakawa1, Satoshi Ikeda1, Kaoru Ohe1, Amane Takei1,
Makoto Sakamoto1, Shuichi Kurogi2
1( University of Miyazaki, Japan) (2Miyazaki Prefectural Museum of Nature and History, Japan)
There are 25 species of bioluminescent fungi that have been confirmed in Japan, and12 species have been confirmed in Miyazaki Prefecture. Those fungi are very small.
Therefore, it is difficult to observe the structure of fungi exhibited in museums with
the naked eye. The purpose of this research is to display 3DCG models of mushrooms
using AR (Augmented Reality) technology in order to facilitate observation of thesesmall mushrooms exhibited in museums. Two hundred visitors to the museum wereasked to use the application and complete a survey. In order to measure the ease ofobservation of different app functions and mobile devices used in the survey, we
divided the respondents into four groups.

OS22-6 Automatic Selection of High-Grade Dried Shiitake Mushrooms using Machine Learning
Ota Hamasuna1, Kakeru Takemura1, Kodai Hasebe1, Fumito Hamakawa1, Bidesh Biswas Biki1, Satoshi
Ikeda1, Kaoru Ohe1, Amane Takei1, Makoto Sakamoto1, Kazuhide Sugimoto2(1University of Miyazaki, Japan) (2SUGIMOTO Co., Ltd. Japan)
SUGIMOTO Co., Ltd. collects dried shiitake mushrooms directly from approximately
600 producers in Takachiho. Shiitake mushrooms are at their peak in spring and fall,
and at peak times, more than 1 ton of mushrooms can be brought in each day. However,shiitake mushrooms are still sorted manually, and sorting this much requires a lot ofeffort. In this paper, we aim to efficiently determine the quality of shiitake mushrooms
using image processing and deep learning.

OS22-7 Predicting High Volatility Cryptocurrency Prices using Deep Learning
Tsutomu Ito1, Kodai Hasebe2, Fumito Hamakawa2, Bidesh Biswas Biki2, Satoshi Ikeda2, Amane Takei2,
Makoto Sakamoto2, Md Riajuliislam3, Sabrina Bari Shital4, Takao Ito5
(1National Institute of Technology, Ube College, Japan) (2University of Miyazaki, Japan)
3( TU Dortmund, Germany) (4Daffodil International University, Bangladesh) (5Hiroshima University, Japan)
Even if you want to make a profit from cryptocurrency, you are worried that you willlose money, and it is difficult to afford it. There are a vast number of papers that study
such unpredictable price fluctuations of cryptocurrency. Currently, it is mainstream touse deep learning to predict the price of cryptocurrency. The goal of this research is topredict the price of cryptocurrency over the long-term using deep learning. The
algorithms used are LSTM, GRU, and Bi-LSTM. The cryptocurrency targeted are
Bitcoin, Ethereum, Litecoin, and Cardano. Finally, we will compare it with previous
research and verify the performance of our model.

89©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS22-8 Simulation of Weathering Representation using Vertex and UV Information
Tsutomu Ito1, Fumito Hamakawa2, Kodai Hasebe2, Satoshi Ikeda2, Amane Takei2, Makoto Sakamoto2,
Takao Ito3 (1National Institute of Technology, Ube College, Japan) (2University of Miyazaki, Japan),(4Hiroshima University, Japan)
In recent years, three-dimensional computer graphics (3DCG) technology has beendeveloped. In addition, a plethora of research have been published on weathering
representations such as rust and moss for realistic representation. However, when
outputting simulation results on an image, an enormous number of images are required
to display different simulation results in a three-dimensional space. In this paper, asimulation method using vertex information of a 3D model and simple images is
proposed. In this method, when the number of vertices is sufficient, the simulation
result output does not use images, thus reducing the data increase. This figure is one of
the experimental results.

.

OS23 Industrial Revolution (5)Chair Hazry Desa ( Universiti Malaysia Perlis (UniMAP), Malaysia)
OS23-1 Investigating the Engineering Interventions in the Conservation of Malaysia Heritage
Structures: A Review on Preserving Historical Edifices Through Advance Civil Engineering
Techniques
Muhammad Azizi Azizan, Nurfadzillah Ishak, Hazry Desa (COE-UAS, UniMAP, Malaysia)
This review delves into the realm of Malaysia's heritage conservation, spotlighting thetransformative impact of advanced artificial robotic aid in civil engineering techniques.
Through the integration of Fiber-Reinforced Polymers and nanotechnology, historicaledifices are fortified, seamlessly blending modern engineering with architectural
elegance. Non-destructive testing (NDT) methods, including ground-penetrating radarand Finite Element Analysis (FEA), empower conservationists with deep insights into
structural intricacies, guiding targeted interventions. In the digital sphere, 3D laser
scanning captures intricate details, while Virtual Reality (VR) simulations facilitate
immersive exploration and decision-making. This harmonious fusion of cutting-edgeengineering ensures the enduring legacy of Malaysia's architectural treasures.

OS23-2 Drones and Data: A Comprehensive Exploration of UAVs in Data Mining
Muhammad Azizi Azizan, Nurfadzillah Ishak, Hazry Desa (UniMAP, Malaysia)
Encapsulates a comprehensive investigation into the symbiotic relationship between
Unmanned Aerial Vehicles (UAVs) and data mining, as encapsulated in the discourse
titled "Drones and Data." The technological transitions facilitated by UAVs,
emphasizing the integration of machine learning algorithms, cloud-based dataprocessing, and the collaborative synergy between stakeholders. Therefore, this study
a glimpse into the intricate web of applications and technological advancements at theintersection of UAVs and data mining. It serves as a scholarly guide through the
evolving landscape of "Drones and Data," UAVs play a central role in unlocking
unprecedented insights and efficiencies, reshaping the future of data mining.

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS23-3 Development of Variable Arm to Control the Manoeuvrability of Quadrotor
L. Y. Hong, H. Desa and M. A. Azizan (UniMAP, Malaysia)
M. H. Tanveer (Kennesaw State University, USA)This paper introduces a variable arm concept for quadrotors, enabling manoeuvrability
by adjusting arm length. Variations in arm's length impact thrust-generated bending
moments, tilting and directing quadrotor movement. The main aim is to create aquadrotor with adaptable arm length to efficiently control maneuvers, reducing theneed for extra thrust during flight. The focus is on designing a quadrotor capable ofextending or retracting its arms. The proposed idea centers on using the variable arm
to alter bending moments and control manoeuvrability. Testing a quadrotor with thisadjustable arm showed successful performance in agile manoeuvres. Results confirm
the variable arm's ability to induce body rotation, effectively regulating quadrotor
manoeuvrability.

OS23-4 Development of IOT-Enabled Smart Water Metering System
S. D. Wen, H. Desa and M. A. Azizan (UniMAP, Malaysia)
A. -S. T. Hussain (Al-Kitab University, Iraq) M. H. Tanveer, R. Patan (Kennesaw State University, USA)This paper presents a smart IoT water meter for automated readings, aiming to create
both a device and a compatible mobile app. Instead of manual reading, the IoTenabled meter, using a camera and CNN, accurately captures data. It utilizes ESP32
CAM for collection, a laptop as a gateway, and MQTT for transfer. Data is stored in
Firebase and analyzed via the app. A functional prototype tested in a housing areacollects data, monitored through the app. The analysis evaluates method suitability,
offering future improvement recommendations.

OS23-5 Object Detection and Instance Segmentation with YOLOV8: Progress and Limitations
L. J. Lee, H. Desa and M. A. Azizan (UniMAP, Malaysia)
A. -S. T. Hussain (Al-Kitab University, Iraq) M. H. Tanveer (Kennesaw State University, USA)This research employs object detection and instance segmentation algorithms to
distinguish between objects & backgrounds and to interpret the detected objects. The
YOLOV8 (You Only Look Once) framework and COCO dataset are utilized for
detecting and interpreting the objects. Additionally, the accuracy of detection,
segmentation, and interpretation is tested by placing objects at various distances fromthe camera. The algorithm's performance was evaluated, and the results were
documented. In the experiments, a sample of 11 objects was tested, and 8 of themwere successfully detected at distances of 45cm, 75cm, 105cm, and 135cm. For
instance, segmentation, segmentation maps appeared clean when detecting a single
object but faced challenges when multiple objects overlapped.

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS24-Robotics and Intelligent Casting (5)Jiwu Wang (Beijing Jiaotong University, China)
OS24-1 A high-performance motion planning method based on asymptotically optimal RRT
Tianbin Meng (Beijing Jiaotong University, China), Jiwu Wang (Beijing Jiaotong University, China)
The motion planning algorithm of the robot arm plays an important role in the working
process of the robot arm, especially in the complex environment, an efficient algorithm
is more conducive to the robot arm to complete the corresponding planning task.
Aiming at the problems such as low exploration efficiency and poor planning path in
the current motion planning task of robotic arm, we propose a distance constraint
mechanism. Based on 𝐑𝐑𝐓 ∗ and 𝐈𝐧𝐟𝐨𝐫𝐦𝐞𝐝 − 𝐑𝐑𝐓 ∗ , the algorithm uses haltonsequence to generate random points and introduces the current lowest cost path length.
To avoid useless nodes extension. The simulation results show that the algorithm with
distance constraint mechanism can improve the exploration efficiency and planning
quality to some extent.

OS24-2 CSM-RRT*: an improved RRT* algorithm based on constrained sampling mechanism
Hang Yang (Beijing Jiaotong University, China), Jiwu Wang (Beijing Jiaotong University, China),
Xueqiang Shang (Aero Engine Corporation of China, China)
In this paper,an improved RRT* algorithm(CSM-RRT*) based on constrained samplingmechanism is proposed .The entire planning process is divided into two steps: fast
exploration and optimization of the initial path.Firstly,with the removing of redundantnodes and saving of collision nodes by constrained sampling strategy,the number of
redundant nodes and collision times is reduced which avoids excessive exploration ofrepetitive and collision regions.The target bias strategy is used to reduce unnecessary
expansion while preserving the node tree's ability to explore unknown regions andquickly finding a path connecting the starting and ending points.Subsequently, adynamic sampling region consists of removed redundant nodes and collision nodes isformed around initial path .By prioritizing exploration within this dynamic
region,computational resources can be saved and the asymptotic optimal path can bequickly converged from the initial path.Eventually,simulation results presented invarious obstacle cluttered environments confirm the efficiency of CSM-RRT*.

OS24-3 Small Sample Object Detection Based on Improved YOLOv5
Yuxuan Gao(Beijing Jiaotong University, China),Jiwu Wang(Beijing Jiaotong University, China), Zixin
Li(Aero Engine Corporation of China)
Object detection is widely used in various production and life, such as mask detection
and recognition during the epidemic, face recognition with masks. Object detection
algorithm based on deep learning has always been an important research content andimplementation method in the field of object detection. Due to the large number oflead seals and fuses, their locations are not fixed, the lead seals and fuses havedifficulties such as few sample datasets, complex target background and easy to be
blocked, and strong reflective interference, and the conventional image processing
methods are difficult to solve the problem of effective object recognition. In this study,
by expanding the datasets, using different data enhancement methods, and training in
the improved algorithm, the detection accuracy, detection speed, and adaptability wereeffectively improved.

92©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS24-4 Research on Gas Pore Prediction Method Based on Sand Core Characteristic Time
Xiaolong Wang1, Qihua Wu2, Jiwu Wang1, Jinwu Kang3, Na Li2, Yucheng Sun2
( Beijing Jiaotong University, China) (2Weichai Power Co., Ltd. China) (3Tsinghua University, China)
1

In the production of castings, gas pores are a prevalent defect, particularly incomponents where air-tightness is crucial, such as cylinder blocks and heads. These
defects primarily arise from the intrusion of gases into the casting during the
combustion of resin in the sand core. Due to the complexity of the sand core's gas
evolution and venting process, predicting gas pores using numerical simulation posessignificant computational and time challenges. This paper introduces a rapid prediction
method for gas pores based on the characteristic time of the sand core. By setting theheat transfer boundaries, initial conditions, and termination criteria for computation,
the thermal conductivity of the sand core is adjusted. The termination computation time
is used as the characteristic time of the sand core. This time is then compared with acritical characteristic time to predict the distribution of gas pores. As the analysis of
more sand cores is incorporated, the precision of the critical characteristic time
improves, leading to more accurate predictions of gas pores in castings.

OS24-5 Optimization Analysis of a Deep Learning-Based Model for Predicting Temperature
Fields in the Solidification Process of Castings
Yahui Yang, Jiwu Wang (Beijing Jiaotong University, China) Jinwu Kang (Tsinghua University, China)
In the foundry industry, accurate prediction of the temperature field of castings duringsolidification is essential to ensure high product quality and improve productivity. This
study provides an in-depth investigation of the Unet deep learning model developed
specifically for this purpose, focusing on the impact of key training parameters such as
optimiser selection, batch size, number of iterations and loss function selection on theprediction performance of the Unet model. The findings provide practical insights on
how these parameters can be selected and tuned to improve the accuracy and reliabilityof model predictions. The results of this study not only provide new ideas for the practiceof deep learning applications in the foundry industry, but also help to improve theaccuracy and efficiency of the production process.

OS25 Research Towards the Sustainable Development Goals (SDG’s) (10)Chair Ammar A.M. Al Talib (UCSI University, Malaysia)
Co-Chair Takao Ito (Hiroshima University, Japan)
OS25-1 Portable Green Energy Mobile Laptop Charging Station
Ammar A. M. Al-Talib1, Rodney Tan1, Ang Aun Jie1, Idayu M. Tahir1, Sarah Atifah Saruchi2, Cik Suhana Bt.
Hasan1, Amar Rizwan1
1( UCSI University) (2UMPSA, Malaysia)
Mobile phones and laptop computers require electrical power to recharge
when the battery is down.. As a result, it would be very useful if a portablecharging station derived from renewable energy harvesting could be built, sothat individuals could recharge their phones and laptops whenever needed.
The objective of this project is to design and develop a green energy mobileand laptop charging station that uses wind and solar energy and evaluate
the performance of the designed station under different working conditions.
The efficiency of the power generated to charge the station is achieving 95.6%
for solar charging, which is considered a high efficiency for a renewableenergy charging station. Based on the analysis of the charging station
results, it has been proven that it can provide sufficient power and is safe foruse as a portable mobile laptop charging station.

93©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS25-2 Auto Indoor Hydroponics Plant Growth Chamber
Ammar A.M. Al-Talib1, Tew Hwa Hui1, Sarah Atifah Saruchi2, Idayu M. Tahir1, Nor Fazilah Binti Abdullah1(1UCSI University) (2UMPSA, Malaysia)
The objective of this project is to build an auto indoor hydroponics plantgrowing chamber that has an auto monitoring and controlling system. A
ESP32 based hydroponics electrical system is built with the attachment of
hardware components such as temperature and humidity sensor, lightintensity sensor, water level sensor, and water flow rate sensor. The softwaredevelopment of the system is through Arduino IoT Cloud platform, which
has an overall suitability in terms of features, cost, and user intuitivenessfor starters. Results have shown that ESP32 can ensure stable power supply..
After testing and validation, all of the electrical components are stored in a
power enclosure box to prevent contact with liquid. In short, the developed
auto indoor hydroponics plant growth chamber has effectively demonstrated
the ability in easing the plant cultivation procedure for agriculturalcommunity.

OS25-3 A Design and Fabrication of a Solar Agriculture Water Pumping System
Ammar A.M. Al-Talib1, Idayu M.Tahir1, Ain Atiqa1 , Amar Rizwan1, Sarah Atifah Saruchi2, Yazan Abu Al
shaikh1
1( UCSI University) (2UMPSA, Malaysia)
This study explores the use of a solar driven water pump. PV technology replaces
conventional electricity and diesel pumps by using solar energy to power DC or AC
water pumps. The main objective of this study is to design and construct a solar-powered
agriculture water pumping system and to evaluate its performance. The solar agriculture
water pumping system used in this project consists of a 40-watt monocrystalline solar
cell with an efficiency conversion of between 23% – 24%. This can supply power toa 16.8 W DC Flow Submersible Pump. It could lift the water up to 5m and a flow
range of 700 Liter/Hour. The system also includes a PWM 30A Solar Charge Controller
to regulate the input power to a 12V, 7.2A Sealed Rechargeable Battery. Finally, a 20m
long watering kit with nozzles irrigation system is connected to a 12V DC Submersible
Pump to water the plants.

OS25-4 Design and Performance of a Power Generating Manual Treadmill
Ammar A. M. Al-Talib1, Sarah Atifah Saruchi2, Cik Suhana Bt. Hasan1, Nor Fazilah Binti Abdullah1, Ain
Atiqa1, Ahmad Jelban1
1( UCSI University) (2UMPSA, Malaysia)
Treadmills are one of the most popular training equipment in the gym and at
home. The working principle of treadmills is by moving the belt with thehuman knee bending, which creates mechanical energy to turn the belt. A
gear or pulleyand belt system connects to the generator along the axel lineof the rolling bars. The power generated by the DC generator is stored in abattery pack and could be used to charge phones or other equipment. It has
been found that treadmills can provide an efficiency of 95% when the DC
motor is used and 92% when the AC motor is used. The main objective of thisstudy is to design and fabricate a powder-generating manual treadmill andto analyze the performance of the system under differentoperation conditions.

94©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS25-5 Smart Car Jack Using Internet of Things
Idayu M.T. Noor, Ammar A.M. Al- Talib, Mahmoud E.A. Zeiad, Suhana B.H. Cik,(UCSI University, Malaysia)
This paper presents a modified car jack design that is safe, easy to operate, and reduces
physical effort for lifting and lowering vehicles during automobile repair, especially forroadside situations. The study explores the integration of Internet of Things (IoT)
technology in automotive tools, particularly in the development of smart car jacks. The
proposed smart car jack offers convenience and enhanced control over vehicle
maintenance tasks. Comparative analysis between smart car jacks and traditional jacks
reveals several advantages of the former. Smart jacks demonstrate higher lifting
capacities and efficiency due to their use of hydraulic systems and advanced motorizedmechanisms. The most significant differentiator is the integration of technology in smart
car jacks. Equipped with microcontrollers, sensors, and mobile applications, they offer
remote control and real-time monitoring features. These technological advancements
provide users with enhanced convenience and safety, setting smart jacks apart from theirtraditional counterparts.

OS25-6 Gas Detection for Biogas System Using Internet-of-Things (IoT)
Ammar A.M. Al Talib, I.H.W. Yang, Idayu M.T. Noor, Haslija A.B. Ayu, Afifi. Z. Nur Muhammad(UCSI University, Malaysia)
The melting of the polar icecaps, rising sea levels, increase in allergies and infectious
disease outbreaks, those are only a few effects of global warming. Global warming
remains one of the most detrimental by-products of industrialization. Fossil fuels
contribute to the majority of greenhouse gases emitted but remain a popular option for
the generation of energy. An easy fix for this conundrum is to utilize other forms of fuelfor energy generation which burns cleaner and renewable as opposed to fossil fuels. The
solution would be to use biomethane generated from waste products which burn cleaner
and comes from a renewable source. In this paper, an IoT based biogas monitoring
system for biogas reactors is proposed. An ESP-32 microcontroller system is deployed
and tested to detect the presence of gas production. A dashboard plotting the dataobtained from sensors is designed to help user monitor parameters.

OS25-7 IoT Based Smart Mushroom Growing Kit
Ammar A.M. Al- Talib, C.K.J. Ting, Noor Idayu M. Tahir, Ain Atiqa, T.Y. Hui(UCSI University, Malaysia)
This project introduces an IoT-based smart mushroom growing kit to meet the rising
global demand for high-quality mushrooms. Various species of mushrooms can be
efficiently grown in different environmental conditions with the help of IoT devices thatenable farmers to regulate the climate condition according to the specific needs of eachtype of mushroom. The kit employs sensors and actuators, including temperature,humidity, MQ-135, and ultrasonic sensors, along with an ESP32 camera, controlled bya microcontroller. The collected data is transmitted to an IoT platform via Wi-Fi,
facilitating real-time monitoring and control through a user-friendly dashboard on Blynk
website and Blynk app. This innovative system optimizes mushroom cultivation byadjusting environmental conditions, offering efficiency and profitability. Users canremotely monitor and regulate the growth environment through their smartphones,
enhancing the overall mushroom cultivation experience.

95©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS25-8 Design and Analysis of Artificial Magnetic Conductor for Metal Shielding Applications
in RFID Car Detection Applications
Eryana Hussin1,2, Azman Zakariya2, Md. Ashraful Haque2,3, Nur Izzati Ali4
(1UCSI University) (2UTPSA, Malaysia) (3Daffodil International University, Bangladesh) (4UMP, Malaysia)
This paper presents the design of symmetrical Artificial Magnetic Conductor (AMC) for
metal shielding in RFID applications. It integrates a simple straight dipole as the RFID
tag representation, optimizing signal fidelity within metallic environments. Tailored for
low-frequency RFID use, the multiple-array AMC addresses UHF bandwidth limitations
by incorporating slots, ensuring a compact design and expanded bandwidth. This
proposed structure enhances performance of the dipole which includes return loss,
directivity, and bandwidth.

OS25-9 Effect of Fiber Orientation on the Mechanical Performance of Natural Fiber Polymer
Composite Bicycle Frame using Finite Element Analysis
Kok Sem Too, Cik Suhana Hassan, Nor Fazilah Abdullah, Ammar Abdulaziz Majeed Al-Talib(UCSI University, Malaysia)
In this research, the performance of oil palm empty fruit bunch (OPEFB) fibrereinforced epoxy composite with varying fibre orientation and stacking sequence as thematerial for mountain bike frame was studied utilizing ANSYS software. The choice of
OPEFB fibre was motivated by the fact that the waste by-product of oil palm extractionin Malaysia alone might reach 70-80 million tons per year, with 90% of oil palm biomass
lost as waste. The properties of epoxy OPEFB composite in principal 1, 2, and 3
directions were calculated using Whitney and Riley estimates. 10 stacking sequences
and five loading conditions were taken. The results have shown that the fibre orientationof epoxy OPEFB composite on the bicycle frame had little effect on the performance
contrary to the number of plies in the laminate or number of laminates which had major
effects.

OS25-10 Modelling of Short-Circuit Protection for A Residential Grid-Connected BESS
Kong De Kang, Farah Adilah Jamaludin, Rodney H.G. Tan(UCSI University, Malaysia)
This research paper presents the power protection study on a grid-connected Battery
Energy Storage System (BESS) in a typical Malaysia low-voltage (LV) residential
network. The BESS model and control algorithm is developed in MATLAB/Simulink
environment to provide a platform for short circuit fault analysis of BESS. The BESS
model can charge and discharge its energy with an algorithm-controlled bidirectional
AC/DC converter. The paper also presents two cases for BESS short circuit.The
protection level on BESS is also optimized by introducing a time-delay characteristics
model to coordinate circuit breakers in compliance with standards outlined in IEEE Std
1375-1998, IEC/EN 60898-2, IEC/EN 60947-2, UL 1077, and CSA 22.2. No.235. As aconclusion, BESS was interrupted within stipulated time. In case of internal short circuit
protection failure, a backup protection will act on isolating BESS from the grid provided
that the discharged current exceeds system capacity.

96©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS26 Navigating the Digital Frontier: Innovations in the Age of Industry Revolution 4.0 (11)Chair Wei Hong Lim (UCSI University, Malaysia)
Co-Chair Takao Ito (Hiroshima University, Japan)
OS26-1 An Intelligent Cargo/Warehouse Management System
Zhongheng Sun1, Zhou Yue1, Xun Sun1, Wenzhuo Fan1, Wenxuan Zhou1(1Fuzou University, China)
This paper presents a low-cost and user-friendly warehouse management systemdeveloped using Arduino and ESP8266 hardware. The system accurately monitors
temperature, humidity, and harmful gas concentration, and acts as an intrusion detector ina warehouse environment. It also includes functions for managing and detecting goods
using RFID chips and for automatic delivery using unmanned intelligent vehicles. Data is
uploaded to a cloud-based relational database in real time. The system provides a costeffective and efficient solution for warehouse management.

OS26-2 A Comprehensive Approach to Design and Implement an IoT-Enabled Intelligent
Shopping Cart System with Obstacle-Aware Navigation and Enhanced Customer Engagement
for Elevated Consumer Experiences
Yao Chen1, Jiacheng Du1, Bo Peng1, Ningfei Wang1, Zehan Huang1, Wei Hong Lim2, Sew Sun Tiang2,
Mastaneh Mokayef2, Chin Hong Wong1
1( Fuzhou University, China) (2UCSI University, Malaysia)
Supermarket shopping is a universal experience. This project focuses on enhancing thisexperience by designing an intelligent, user-friendly shopping cart and an interactive
webpage. The cart features include accessing item information, automatic movement,
and obstacle detection. Users can view their itemized costs and control the cart's
movements through the webpage. Utilizing an ultrasonic module, the cart autonomously
navigates and follows specific customers, incorporating automatic barcode scanning for
product identification. Connectivity is achieved through a WiFi module using the MQTT
protocol, facilitating server communication. This development exemplifies Internet ofThings applications, showcasing how internet connectivity can significantly increase
convenience in everyday activities.

OS26-3 Design of a Four-Port Flexible UWB-MIMO Antenna for Wearable and IoTApplications
Jia Wei Tan, Sew Sun Tiang, Kim Soon Chong, Mohammad Arif Ilyas, Mastaneh Mokayef, Zhi Ying Yeoh,
Wei Kang Lai, Wei Hong Lim (UCSI University, Malaysia)
This paper introduces a compact, four-port MIMO antenna for ultrawideband (UWB)
applications, measuring 60×60 mm². Printed on a single-layer flame resistant (FR-4)
substrate (permittivity 4.3, thickness 1.6mm), the antenna features four microstrip cells,
each orthogonal to its neighbor for improved isolation. It includes a rectangular patchwith staircase slits and a stepped feed line. Square stubs at the top center enhanceisolation. The antenna boasts a significant return loss (-43.75dB), wide impedance
bandwidth (1.967-12GHz), and isolation below -15dB. Its envelope correction
coefficient (ECC) is under 0.02 with a moderate 4.4dBi gain. Although its 63% radiation
efficiency could be enhanced, the antenna's ultrawide bandwidth and compactness makeit suitable for UWB wearable IoT applications.

97©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS26-4 Investigate Power Efficiency in PLECS and MATLAB Software by Designing USB 5W
ChargerZhi Ying Yeoh, Kim Soon Chong, Sew Sun Tiang, Mohammad Arif Ilyas, Jia Wei Tan, Wei Kang Lai,
Wei Hong Lim (UCSI University, Malaysia)
In power electronics, accurately assessing simulation tools is key for precise, reliable
electronic system designs. This study compares MATLAB Simulink and PLECS inmodeling a 5W USB charger’s power characteristic. The charger, using an AC-DC fullbridge rectifier and DC-DC flyback topology, delivers a stable 5VDC at 1A. The
analysis focuses on power efficiency and thermal characteristics, incorporating real-life
components for detailed insights. Results show PLECS, specialized in powerelectronics, surpasses MATLAB in accuracy and consistency. This research aids inunderstanding simulation tools' effectiveness, guiding engineers and researchers in
power efficiency evaluations for electronic systems.

OS26-5 Design and Simulation and Performance of Grid Connected Photovoltaic System for
Small, Tall Building in Malaysia
Wei Kang Lai, Kim Soon Chong, Sew Sun Tiang, Mohammad Arif Ilyas, Jia Wei Tan, Zhi Ying Yeoh,
Wei Hong Lim (UCSI University, Malaysia)
In Malaysia's rapidly urbanizing landscape, sustainable energy for small, tall buildings
is increasingly vital. This study addresses this need through the design, simulation, andperformance analysis of grid-connected photovoltaic systems tailored for these uniquestructures. Utilizing AutoCAD and PVSyst for design and simulation, the researchdetails rooftop array dimensions, PV panel wiring, and system components aligned withMS 1837-2018 standards. Results indicate the designed system can save 526.70MWh
annually, costing RM 339,306.98, with a 9.8% return on investment (ROI) and a 13year breakeven point, emphasizing its sustainability and economic viability.

OS26-6 A Design of Dual-Band Coplanar Waveguide (CPW) Printed Antenna for 1.9 - 3.6GHz
Applications
Jia Wei Tan, Sew Sun Tiang, Kim Soon Chong, Mohammad Arif Ilyas, Mastaneh Mokayef, Zhi Ying Yeoh,
Wei Kang Lai, Wei Hong Lim (UCSI University, Malaysia)
A dual-band coplanar waveguide (CPW) printed antenna for IoT application is
proposed, mounted on a low-profile RT/duroid 5880 substrate with dieletric constant of
2.2, loss tangent of 0.0009 and a standard height of 0.787mm. This design aims to cover
the major frequency bands from LTE to Bluetooth/Wi-Fi band/WiMax/Zigbee,
Extended IMT and 5G whereby the bandwidth range between 1.7 GHz to 3.6 GHz. The
antenna is miniaturized through the CPW technique and has a rectangular size of 60 x
30 x 1.187mm3. The design and simulation of the result records a return loss of 25.12dB, peak gain of 4.23dBi, voltage standing wave ratio (VSWR) close to 1,
omnidirectional radiation, and current distribution. Radiation efficiency reaches
approximately 94%, with a total efficiency of 89.4% between 1.9GHz-3.6GHz.

98©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

OS26-7 Optimized Convolutional Neural Network Towards Effective Wafer Defects
Classification
Koon Hian Ang1, Koon Meng Ang1, Chin Hong Wong2,3, Abhishek Sharma4, Chun Kit Ang1, Kim Soon
Chong1, Sew Sun Tiang1, Wei Hong Lim1
1
( UCSI University, Malaysia) (2Fuzou University, China) (3Maynooth University, Ireland)(4Graphic Era Deemed to be University, India)
Semiconductor defect inspection is crucial for yield improvement but is hindered bymanual inspection's subjectivity and error. This paper employs Convolutional Neural
Networks (CNNs) for automated wafer defect classification, addressing the challengesof time-intensive training and complex hyperparameter tuning. We propose theArithmetic Optimization Algorithm (AOA) to efficiently optimize CNN
hyperparameters like momentum, initial learning rate, maximum epochs, and L2
regularization. Our method reduces the trial-and-error in hyperparameter tuning. Using
the AOA-optimized ResNet-18 model, our simulations show superior performance in
defect classification compared to the unoptimized model, demonstrating its
effectiveness and practical potential.

OS26-8 Tackling Photovoltaic (PV) Estimation Challenges: An Innovative AOA Variant for
Improved Accuracy and Robustness
Rayan Mohammed Noor Mohammed Bakhit1, Abhishek Sharma2, Tiong Hoo Lim3, Chin Hong Wong4,5, Kim
Soon Chong1, Li Pan1, Sew Sun Tiang1, Wei Hong Lim1
1
( UCSI University, Malaysia) (2Graphic Era Deemed to be University, India) (3Universiti Teknologi Brunei,
Brunei Darussalam) (4Fuzou University, China) (5Maynooth University, Ireland)
Optimizing photovoltaic (PV) cell/module modeling is key to advancing solar power
and achieving net zero carbon goals. Challenges in accurate PV parameter estimationarise from environmental variability, aging, and incomplete manufacturer data.
Traditional Arithmetic Optimization Algorithm (AOA) often struggles with premature
convergence due to imbalanced exploration and exploitation. This paper presents anenhanced AOA variant, incorporating chaotic maps and oppositional-based learning tobetter balance the optimization process. Our extensive simulations show that thisimproved AOA variant significantly enhances accuracy and robustness in PV
cell/module parameter estimation compared to the conventional method.

OS26-9 Deep Learning in Manufacturing: A Focus on Welding Defect Classification with CNNs
Tin Chang Ting1, Hameedur Rahman2, Tiong Hoo Lim3, Chin Hong Wong4,5, Chun Kit Ang1, Mohamed Khan
Afthab Ahamed Khan1, Sew Sun Tiang1, Wei Hong Lim1
1
( UCSI University, Malaysia) (2 Air University, Pakistan) (3Universiti Teknologi Brunei, Brunei Darussalam)(4Fuzou University, China) (5Maynooth University, Ireland)
Welding is integral to modern manufacturing, yet the complex process often leads todefects, impacting the quality of the final product. Recent advances in deep learning,particularly Convolutional Neural Networks (CNNs), have shown remarkable results inapplications like defect recognition. This study evaluated AlexNet, ResNet-18, ResNet50, ResNet-101, MobileNet-v2, ShuffleNet, and SqueezeNet for their effectiveness in
identifying welding defects, using accuracy, precision, sensitivity, specificity, and Fscore as metrics. The dataset covered defects like cracks, lack of penetration, porosity,and a no-defect class. Our analysis shows that most of these architectures deliver
promising results in accuracy, sensitivity, specificity, precision, and F1-score,highlighting their potential in defect recognition.

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OS26-10 Enhancing Global Optimization Performance of Arithmetic Optimization Algorithmwith a Modified Population Initialization Scheme
Tin Chang Ting1, Hameedur Rahman2, Meng Choung Chiong1, Mohamed Khan Afthab Ahamed Khan1, Cik
Suhana Hassan1, Farah Adilah Binti Jamaludin1, Sew Sun Tiang1, Wei Hong Lim1
(1UCSI University, Malaysia) (2Air University, Pakistan)
Arithmetic Optimization Algorithm (AOA) is widely used to solve global optimization
problems. However, it often faces premature convergence challenges in complex
optimization scenarios. A key factor affecting AOA's performance is the solution qualityof the initial population. The conventional initialization scheme, despite its prevalence,lacks reliability in ensuring high-quality solutions due to inherent stochastic processes.
To address this issue, we propose a modified initialization scheme that improves initial
population quality by integrating chaotic maps and oppositional-based learning.
Through extensive simulation studies, we demonstrate that the enhanced AOA,
equipped with this new initialization scheme, exhibits superior performance in solving
a range of benchmark functions with improved accuracy.

OS26-11 Enhancing Precision Object Detection and Identification for Autonomous Vehicles
through YOLOv5 Refinement with YOLO-ALPHA
Guandong Li1, Yanzhe Xie1, Yuhao Lu1, Jingzhen Fan1, Yuankui Huang1, Zongyan Wen1, Wei Hong Lim2,
Chin Hong Wong1
1( Maynooth University, Ireland) (2UCSI University, Malaysia)
Advancing swiftly in contemporary society, the rapid growth of autonomous driving
technology suggests its potential adoption across continents. The realization of fullyautonomous driving relies on proficiently detecting, classifying, and tracking roadobjects such as pedestrians and vehicles. This research employs the YOLOv5 neuralnetwork, enhancing it with YOLO-ALPHA. Modifications, encompassing freeze andattention mechanisms, serve to refine accuracy and expedite training. Furthermore,adjustments to the activation function aim to stabilize precision and recall. The
integration of a FCN based on semantic segmentation theory contributes to improved
accuracy in detecting road conditions during autonomous driving. Consequently, thisenables the successful and highly accurate functionality of automatic identification.

OS27 Post-narratological Approaches to Cognition in Humans and Robots (5)Chair: Jumpei Ono (Aomori University, Japan)
Co-Chair: Hiroki Fxyma (Kobe University, Japan)
OS27-1 A Game Framework Based on the Disinformation Warfare in Russo-Ukrainian War
Jumpei Ono (Aomori University, Japan), Takashi Ogata (Iwate Prefectural University, Japan)
From 2022, when Russia began its invasion of Ukraine, to the present, the number ofspeeches and information directly/indirectly related to Russo-Ukrainian war has
continued to increase in mass communication venues such as SNS and TV. This study
proposes a game that simulates the spread of disinformation by focusing on theinformation published by Ukraine as a list of disinformation speakers, especially on the
topics they talk about. The game is intended to provide players with psychologicalimmunity against disinformation through the simulation of disinformation
dissemination.

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PL

Scenario

Story technique

Story content
knowledge
base

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OS27-2 Comparative Analysis of Eye Tracking between Veteran and Novice during
Radiological Interpretation
Yuka Naito, Jun Nakamura (Chuo University, Japan),
Yoshinobu Ishiwata (Yokohama City University, Japan)
With the development of AI, AI may substitute for physicians in radiologicalinterpretations in the future. The purpose of this paper is to identify factors that could
form the foundation for algorithms enabling AI to explore pathological findings. This
study focuses on the "angles of gaze trajectory" and conducts a comparative analysis
between veteran and novice. The results indicate commonalities and variances in theangles of gaze trajectory between veteran and novice, particularly around 10, 350, and180 degrees. Both Veteran and Novice have a relatively higher frequency of gazemovement around 10 and 350 degrees compared to other angles. Veteran has a relatively
higher frequency of gaze movement around 180 degrees compared to other angles,
while novice has a relatively lower frequency around 180 degrees.

OS27-3 Development of Notification System to Prevent Working Productivity from Declining
Caused by Increased Carbon Dioxide Concentration
Yohei Kamoda, Jun Nakamura (Chuo University, Japan)
In association with the change of work style to remote, the home environment should
be considered in terms of carbon dioxide concentration (CDC) which has negative
effects on the human body, such as less cognitive abilities. To challenge this problem,the author developed an alert system that supports remote workers to be notified of anincrease in CDC, by combining Raspberry Pi, CDC sensor, and Slack. As a result, thedeveloped alert system was able to support the user in keeping the CDC in the room
below the set threshold. In addition, the system shows that a significant increase in CDC
can be observed in the room when it comes to insufficient ventilation.

OS27-4 Visualization of the Skilled Physician's Gaze Characteristic during Diagnosis
Taiki Sugimoto, Jun Nakamura (Chuo University, Japan)
and Yoshinobu Ishiwata (Yokohama City University, Japan)
This study examines gaze movement differences in diagnosis between skilled andunskilled physicians, aiming to identify factors influencing diagnostic speed andenhance artificial intelligence's diagnostic capabilities. Results reveal that experienced
physicians, on average, spent 61% less diagnostic time than beginners, covering 49%of the gaze distance on the X and Y-axes. (comparison of the cumulative distance ofgaze on the screen). Despite increased movement on the Z-axis (comparison of thescrolling speed of the CT scan results), skilled physicians moved 2-3 times faster,effectively narrowing attention and identifying specific areas.

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OS27-5 Comparative Analysis of Methods for Visualizing the Sensory Experience of Food andBeverages
Hiroki Fxyma (Kobe University, Japan)
This research explores and compares various methodologies employed in thevisualization of taste experiences associated with food and beverages. The study delves
into sensory analysis techniques, technological innovations, and artistic
representations used to convey the complex and subjective nature of flavor. Through acomprehensive review of existing literature and practical experimentation, the paper
evaluates the efficacy of different approaches in capturing and communicating thenuanced aspects of taste, aroma, and texture. The findings aim to contribute to theadvancement of sensory science, culinary arts, and consumer research by providing
insights into the strengths, limitations, and potential applications of diverse taste
visualization methods. As the interdisciplinary field of gastronomy continues to
evolve, this research serves as a valuable resource for professionals, researchers, andenthusiasts seeking to enhance our understanding and appreciation of the multisensory
aspects of food and beverage consumption.

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GS abstracts
GS1 Machine learning& Neural Network & Artificial Life (7)Chair Hiroki Tamura (University of Miyazaki, Japan)
GS1-1 Deep Learning Based Prediction of Heat Transfer Coefficient Using Spectrogram Images
from Boiling Sound
Fuga Mitsuyama, Ren Umeno, Tomohide Yabuki, Tohru Kamiya (Kyushu Institute of Technology, Japan)
Recently, cooling methods based on water boiling have attracted attention as a thermal
solution for electronic equipment. In this situation, it is necessary to measure Heat
Transfer Coefficient (HTC) to design more efficient cooling systems. In this paper, we
propose a method to predict of the HTC from boiling sound data using deep learningtechniques. Measuring HTC requires a variety of sensors and modifications to theequipment, which can be costly. Predicting HTC by sound alone can therefore reducethese costs. The accuracy improved by 1.12% compared to the conventional method
through the development of Convolutional Neural Network (CNN) incorporate
Convolutional Block Attention Module (CBAM).

GS1-2 A Study on Classification of Faulty Motor Sound Using Convolutional Neural Networks
Jamil Md Shafayet, Praveen Nuwantha Gunaratne, Hiroki Tamura (University of Miyazaki, Japan)
This paper is focused towards determining the use of audio classification methods todetect faulty motors by their sound, both with an abnormal noise and noise-freescenarios, so that the requirement of human inspection can be reduced in factories. Here,the soundwaves of motors, having both normal and faulty mechanical parts wereacquired using an electronic stethoscope. The audio files were recorded in ‘.wav’ format
which later split into chunks. Noise reduction is widely used in audio classification tasks.
Among various available methods, the Autoencoder was implemented for noise
reduction. Our proposal method is to use various soundwave analysis methods forgenerating features such as in Mel-Frequency Cepstral Coefficient, Mel-spectrogram,and Spectrogram, and comparing the resulting accuracy. Convolutional neural networks
are employed for the purpose of classification. Our proposed method resulted in approx.
97% accuracy in classifying 2 classes having 93 samples of motors and 2.23% loss innoise reduction with autoencoder.

GS1-3 Design and Development of a Flexible Active Ankle Joint Orthosis for Locomotion
Assistance
Praveen Nuwantha Gunaratne, Hiroki Tamura (University of Miyazaki, Japan)
Active ankle joint orthosis is an artificial wearable device that is closely fitted to thehuman ankle and combines human intelligence and intentions with the powered robot
joints. However, most of the existing designs have only focused on one degree of
freedom (DOF) of the ankle joint: namely plantarflexion-dorsiflexion. Alternatively, a
modular power-assist flexible active ankle orthosis is proposed, addressing
anthropomorphic architecture of design, and supporting multiple DOFs of ankle forlocomotion assistance of the physically weak individuals. The proposed ankle joint
orthosis was designed with the aid of CAD tools followed by fabrication of a working
model. Electrically powered systems with gear transmissions were adapted to support
the principal motions during normal Gait. In parallel, the design of the control algorithm
was carried out based on the EMG signals. The future advancements have been focusedon developing a novel control method that provides sufficient flexibility to assist a wide
variety of lower-limb motions.

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GS1-4 A study on the Real-Time Biomechanical Analysis of Lamber Burden Utilizing
Stereoscope Cameras
Taufik Hidayat Soesilo, Praveen Nuwantha Gunaratne, Hiroki Tamura (University of Miyazaki, Japan)
Lamber region is susceptible to strain and stress due to various physical activities andoccupational task. To study about the lamber burden, researchers have developed many
tools but most of existing design can only use static imaging or doesn’t provide real-time
update. Our proposed system records and examines the change of body posture in realtime by utilizing the capabilities of stereoscope cameras. By using MediaPipe
algorithms, 2D keypoints representing body joint can be extracted from images.
Afterward, using the Direct Linear Transform (DLT) the corresponding 3D keypoints
can be calculated using obtained 2D keypoints. With the 3D keypoints the body angles
can be computed and used to calculate the wight of the lumbar burden using the digital
human model software JACK-like calculation. Finally, our proposed system reached toits aim to study about lamber burden and adjust the person needs in real-time.

GS1-5 Verification of Determination Possibility using Convolutional Autoencoder for Machine
Tool Abnormality Detection
Yuta Sumoto, Praveen Nuwantha, Hiroki Tamura (University of Miyazaki, Japan)
The purpose of this research is to clarify the cause of failure and to improve the accuracyof abnormality detection by predicting the noise added to the machine tool from theresults of the convolutional autoencoder. Data obtained from an acceleration sensor
mounted on the machine tool are reconstructed using a convolutional autoencoder, andthe average absolute error is calculated. The maximum value of the average absolute
error of the training data is used as the threshold value for abnormality detection.
Multiple simulated data with different amplitude values based on a composite sine wave
with a specific frequency, white noise, and random numbers within a specified amplitude
value were verified. In this paper, the characteristics of each type of noise and theparameters of the optimal model were examined from error rate and error distribution.

GS1-6 Basic Research for High-speed Heart Sound Determination using AI
Riku Nakashima, Praveen Nuwantha Gunaratne, Hiroki Tamura (University of Miyazaki, Japan)
In recent years, many researchers focus on enhancing the current situation of the homehealthcare system. In this paper, we developed a system that uses AI to quickly determine
whether auscultation sounds are normal or not. In our analysis, heart sounds wereimaged, and their abnormalities were identified using machine learning tools. The
proposal approach uses a YOLO_v7 model based anomaly detection and the Wavelet
Transform was employed to analyze the acquired heart sound data. Our proposal system
resulted with an 89% accuracy rate on the basis of 5 seconds of heartbeat data, in various
recording environments.

GS1-7 Prediction of High-Energy Electron Flux at Geosynchronous Orbit using a neuralnetwork technique
Ami Iwabu, Kentaro Kitamura (Kyusyu Institute of Technology, Japan)
The radiation belt, where the high-energy particles are predominant in near earth spacefrom the low earth orbit (LEO) to the geostationary orbit (GEO), sometimes causes
satellite malfunction. Therefore, the objective of this study is to predict the high-energy
electron flux at GEO with the energy above 2 MeV after 24 hours with higher accuracy
for the safety satellite operation in terms of the space weather science. In this study thevarious kinds of solar wind data from satellite observations and ground geomagnetic
observation data in 1999 were used for the Recurrent Neural Network (RNN). Prediction
results were evaluated by the prediction efficiency, which is derived from both predicted
and actual variation data. As a result, the prediction using combined data of solar windand geomagnetic data shows highest prediction efficiency of 0.72.

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GS1-8 Image Gradient-based Monocular Visual-Inertial Odometry
Tae Ihn Kim1. Jae Hyung Jung2, Chan Gook Park2( Hyundai Motor Company, Republic of Korea), (2Seoul National University, Republic of Korea)
1This paper presents an image gradient-based monocular visual-inertial odometry (VIO)
algorithm, using image gradient measurements, robust to illumination change. Our
proposed algorithm follows the multi-state constraint Kalman filter (MSCKF)
framework, a sliding windowed extended Kalman filter (EKF). We expand themeasurements from the reprojected feature locations on the image coordinates to thecorresponding image gradients in the measurement selection. The iterated EKF and lowpass pyramid are adapted to reduce the linearization error in the MSCKF measurement
update process. We verify that our proposed algorithm outperforms both conventional
indirect and direct MSCKF-based VIO algorithms by evaluating the pose estimation
performance using a real-world dataset, including illumination change.

GS2 Image Processing I (5)Chair Yui Tanjo (Kyushu Institute of Technology, Japan)
GS2-1 A Method for Embedding Multiple Photographic Images in a Photographic Image
Naoki Kouno, Kanya Goto, Toru Hiraoka (University of Nagasaki, Japan)
A method has been proposed for embedding another photographic image (image B) in aphotographic image (image A). An image (image A') is generated by embedding
information of image B in image A, and then an image (image B') is restored byextracting information from image A'. The conventional methods can only embed one
photographic image in one photographic image. Therefore, we extend the conventional
method and propose a method for embedding multiple photographic images in one
photographic image. In our method, as more images B are embedding in image A, theimage quality of image A' deteriorates, but the image quality of images B' dose notdeteriorate. To verify the effectiveness of our method, experiments using various
photographic images were performed.

GS2-2 Generation of Flowing-Line Images Using Vertical and Horizontal Smoothing Filters
Karin Kuroki, Toru Hiraoka (University of Nagasaki, Japan)
We propose a non-photorealistic rendering method for automatically generating flowingline images from photographic images. Flowing-line images consist of unidirectionallines with smooth curves. Our method is executed by an iterative calculation using
vertical and horizontal smoothing filters. To verify the effectiveness of our method, we
conducted an experiment using various photographic images to confirm that flowingline patterns can be generated on the entire image. Additionally, we conducted anexperiment to visually examine how flowing-line patterns generated by changing thevalues of the parameters in our method change.

GS2-3 Human Motion Recognition from Multiple Directions and Its Gait Cycles Analysis
Miki Ooba, Yui Tanjo (Kyushu Institute of Technology, Japan)
It is crucial for individuals to keep walking and stay healthy to prevent receiving
nursing care. This paper proposes a method of recognizing walk motions andanalyzing the gait cycle of a human focusing on his/her posture. We use 43 structuralfeatures defined from human joint coordinates obtained using OpenPose and 18
figural features from human domain images and their difference images. The feature
vector containing these 61 features is used for the recognition of walk motion by
Random Forest. In the experiment, we applied the method to recognizing six typesof motions and analyzed the walk gait cycles of five persons, and obtained
satisfactory results.

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GS2-4 A Method of Improving the QOL of the People with Visual Impairment by MY VISION
Shun Kitazumi, Yui Tanjo (Kyushu Institute of Technology, Japan)
Visually impaired people face several difficulties in indoor activities, such as spending
excessive time in locating objects. This paper proposes a method for assisting object
acquisition by detecting desired objects and guiding users to them. The method requests
a user to express the object he/she wants to acquire verbally and utilizes speech
recognition to detect the specified object. Subsequently, the system guides in voice theuser's hand to the location of the desired object. The performance of the method is
experimentally shown. The method contributes to enhancing the comfort of indoor
activities of visually impaired and, in this way, improves their quality of life.

GS2-5 Human Behavior Segmentation and Recognition Using a Single-camera
Jing Cao, Yui Tanjo (Kyushu Institute of Technology, Japan)
In recent years, elderly people living alone account for a large proportion of the elderly
population, and the issue of safety has also been a matter of great concern for the public.
Considering the importance of monitoring the behavior and activities of the elderly anddetecting abnormal movements, this paper proposes a method that can segment humanbehavior into each action and identify the action from the videos taken by a single
camera. It uses features that can represent the shape of the human area in the depth
direction, as well as the features such as motion direction and speed. The performanceand effectiveness of the method are verified by experiments.

GS3 Image Processing II (3)Chair Seiji Ishikawa (Kyushu Institute of Technology, Japan)
GS3-1 Online Classroom Student Engagement Analysis using Enhanced YOLOv5
Shuai Wang, Abdul Samad Shibghatullah (UCSI University, Malaysia)
The rise of online education has highlighted the urgency of addressing cyberbullying invirtual classrooms. This paper presents an innovative method for early cyberbullying
detection through the analysis of students' engagement and emotional responses in online
classrooms. The SFER-YOLOv5 model, a fusion of Student Facial Expression
Recognition and an enhanced YOLOv5 object detection model, introduces key
optimizations, including Soft NMS for Non-Maximum Suppression, integration of a
Channel Attention (CA) module, and use of Enhanced Intersection over Union (EIOU)
as the bounding box regression loss function. This approach proactively identifies
reduced engagement and emotional irregularities, providing a framework to mitigate
cyberbullying in online classrooms.

GS3-2 A Method of Recognizing Body Movements Based on a Self-viewpoint Video
Iichirou Moribe, Yui Tanjo (Kyushu Institute of Technology, Japan)
The most critical human sensory function resides in vision. This study focuses on
utilizing visual information, specifically self-perspective footage, to identify individual
movements. Existing researches require third-party filming to recognize body
movements and states. The proposed method, on the other hand, simply attaches acamera to the human head and enables the recognition of the subject's actions.
Consequently, it becomes easier to monitor daily movements of a human and gather
his/her data on body kinetics. This approach would be beneficial in scenarios involving
individuals engaging in risky behavior or, during a certain emergency, providing valuableassistance.

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GS3-3 Supporting Safe Walk of a Visually Impaired Person at a Station Platform based on MY
VISION
Shintaro Yamada, Yui Tanjo, Seiji Ishikawa (Kyushu Institute of Technology, Japan)
When individuals with visual impairment go out, public transportation such as trains andbuses is commonly used. However, many of them experience accidents, such as fallingfrom train platforms or tripping due to unexpected contact with other passengers. To
solve this problem, we propose method using the MY VISION system which detects
the obstacle that may pose risks to individuals with visual impairment. The proposed
method detects obstacles such as passengers pillars and platform edges at train stations.
We employ an RGB-D camera for capturing frontal view of a user, use depth images todetect the edge of obstacles and level differences, and give warning to the visually
impaired user based on the distance between him/her and the detectedobstacle.
Experimental results show satisfactory performance of the method.

GS4 Robotics (6)Chair Jiwu Wang (Beijing Jiaotong University, China)
GS4-1 Development and evaluation of a learning support robot for vector learning
Kosei Machida, Shinichi Imai (Tokyo Gakugei University, Japan)
Vectors studied in high school are a new concept that differs from those studied inprevious scalars. Therefore, it has been pointed out that difficulties arise in theconceptual formation of vectors. This study aims to develop a learning support robot thatcan visualize vector information by robot movements, and to acquire vector concepts forstudents through classroom practice using the robot. The robot operates on a piece ofimitation paper, marking the start and end points and connecting them with arrows tovisualize the vectors. In a class using the robot, the student predicts the sum of thevectors, and the robot confirms it. A questionnaire was administered before and after theclass. The results revealed significantly higher mean values when comparing the preand post-assessments.

GS4-2 Feasibility Study on Methods to Measure the Strain on Young Children's Bodies.
Sachiko Kido, Praveen Nuwantha Gunaratne, Hiroki Tamura (University of Miyazaki, Japan)
This paper investigates the effective methods of measuring the burden on the infant's
body. Initially, the “the burden on the body and the lumbar spine burden are the same”
was defined. The calculations and comparisons were carried out based on the two
methods: the AnyBody Modeling System and the smartphone application Yo-bukun (alumbar spine burden measurement application). Videos of a five-year-old girl squatting
and balancing were filmed, and the lumbar burden was calculated using the AnyBody
Modelling System. In addition, while the video was being filmed, an iPhone running the
Yo-bukun lumbar burden measurement application was placed close to the heart in order
to measure lumbar burden and the amount of burden was calculated. The results werecompared with the respective average values and validated.

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GS4-3 An Integration of Contact Force Models with Multibody Dynamics Analyses for Human
Joint Mechanisms and Effects of Viscoelastic Ground Contact
Shintaro Kasai1, Dondogjamts Batbaatar2, Hiroaki Wagatsuma1( Kyushu Institute of Technology, Japan) (2Mongolian University of Science and Technology, Mongolia)
1

In human movement and rehabilitation analyses, human joint dynamics is a key toconsider the incorporation of spring-damper components, flexible bodies and contact
forces analytically. In the present study, an analytical method for human gaits wereintroduced to integrate those essential elements, and viscoelastic properties ofmusculoskeletal system were modeled with the absolute nodal coordination formula(ANCF) method representing flexible body motions. A contact force model simulatesinteractions between different body segments and the environment. The proposed system
is applied to a slider crank mechanism, demonstrating its capabilities in human joint
motion analysis using integrated dynamic model within the framework of multibody
dynamics (MBD), which realizes dynamic/inverse dynamics for human biomechanics.

GS4-4 Haptic Sensation Enhancement via the Stochastic Resonance Effect and Its Application
to Haptic Feedback for Myoelectric Prosthetic Hands
Yoshitaka Mizumoto, Taro Shibanoki (Okayama University, Japan)
In this paper, we propose a highly realistic haptic feedback method for myoelectric
prosthetic hands. Although several haptic feedback methods have been studied, thisstudy attempts to create realistic sensory feedback through prosthetic hands by not only
using feedback methods but also by improving the haptic sensation based on thestochastic resonance effect. In the experiment, contact information obtained from a
microphone attached to the fingertip of a prosthetic hand was transferred through avibrotactile stimulator near the elbow socket, and white noise vibration was also applied
near the elbow socket to verify the improvement of tactile sensitivity of the fingertips.
The results demonstrated the possibility of transmitting tactile information for
myoelectric prostheses through sensory enhancement of the user.

GS4-5 PID Parameter Tuning of a Low-Cost DC Motor Speed Control for Mobile Robot
Application
Munkh-Erdene Ayurzana, Erkhembayar Gankhuyag, Naranbaatar Erdenesuren, Dondogjamts Batbaata(Mongolian University of Science and Technology, Mongolia)
Precise control of DC motors is vital for robotics, industrial automation, andmechatronics. Traditional PID (Proportional-Integral-Derivative) control methods, while
widely used, often require offline parameter tuning, which can be time-consuming andsuboptimal for real-time applications. This paper proposes a GUI (Graphical User
Interface) based approach for PID tuning of a DC motor model. The proposed method
utilizes a MATLAB-based parameter estimation model with GUI to continuously
monitor and update PID controller parameters based on real-time data from the Arduinocontrolled DC motor setup.

GS4-6 Reinforcement Learning DDPG Algorithm Based Wheeled Mobility Aid Robot Control
Methods
Junkai Li, Mohd Rizon Mohamad Juhari, Tiang Sew Sun (UCSI University, Malaysia)
Ensuring stability and precise trajectory tracking is crucial when employing wheeled
walker robots to enhance mobility for individuals with limited walking ability. We
propose a novel trajectory tracking method for wheeled walking robots by combining
the Deep Deterministic Policy Gradient (DDPG) algorithm in reinforcement learningwith a Proportional Integral Differential (PID) controller. We verify the effectiveness of
the research scheme and control strategy through joint simulation experiments. The
results demonstrate that the DDPG-based PID controller can automatically adjust
parameters to ensure trajectory accuracy and exhibits a strong anti-interference
capability.
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GS5 Applications I (4)Chair Jiwu Wang (Beijing Jiaotong University, China)
GS5-1 Unsupervised image registration based on Residual-connected DRMINE for diagnostic
metastatic bone tumors
Shogo Baba1, Tohru Kamiya1, Takashi Terasawa2, Takatoshi Aoki2( Kyushu Institute of Technology, Japan), (2University of Occupational and Environmental Health, Japan)
1Computed tomography (CT) scans produce more than 100 images in an examination,
which imposes a significant burden on radiologists and entails a potential risk of
misdiagnosis. In this study, we focus on the preliminary stage of Computer-Aided
Diagnosis (CAD) development specialized in bone metastasis extraction, with aparticular emphasis on rigid registration. We propose a novel rigid registration technique
by augmenting DRMINE, which estimates mutual information using neural networks,
with skip connections and normalization. The proposed method was influenced by thecapture area, but it indicated the potential to provide stable registration as the standard
deviation decreased for all Full Width at Half Maximum (FWHM).

GS5-2 Developing a smart Belt for Monitoring Elderly Activities Based on Multi-Modal Sensors
Integration and Internet of Things
Abdul Jalil, Pujianti Wahyuningsih, Najirah Umar, Muhammad Risal, Suwatri Jura, A. Edeth Fuari Anatasya(Universitas Handayani Makassar, Indonesia)
This study aims to develop a smart belt for monitoring elderly activities at home basedon the integration of multi-modal sensors and the Internet of Things (IoT). The multimodal sensors used in this study to collect the elderly information are the IMU sensor,
vibration sensor, push-button, and ESP32 to process the data. Furthermore, the IoTframework used to transmit the elderly information data from the smart belt to thefamily’s smartphone is a Blynk. In this study, the smart belt can monitor the elderly
activities when walking, sitting down, lying down, and sleeping, after that, can give asecurity warning when the smart belt detects the elderly doing abnormal activities. This
study's results show that the smart belt is effectively used to monitor elderly activities tohelp families when taking care of the elderly at home.

GS5-3 A penalized motion detection model for extracting ionospheric echoes from low signal-tonoise ratio Ionogram video images
Yuu Hiroshige1, Akiko Fujimoto1, Akihiro Ikeda2, Shuji Abe3, Akimasa Yoshikawa3( Kyushu Institute of Technology, Japan) (2National Institute of Technology, Kagoshima College, Japan)(3Kyushu University, Japan)
1

Measuring the altitude distribution of electron density in the upper atmosphere, known
as the ionosphere, using High-Frequency radio wave reflections often causes the low
signal-to-noise ratio of ionospheric echoes due to radio frequency interference. We
propose a model for converting low-signal-to-noise-ratio ionospheric echo video images(Ionogram) into noise-reduced images using image processing techniques, for tracing
the ionospheric echoes from Ionogram. The proposed method consists of three
processing parts: noise removal optimized for individual Ionogram images, extraction ofionospheric echoes by penalized background subtraction technique, and fine-tuning of
ionospheric echo signals using a minimum spanning tree algorithm. The proposed model
successfully reproduces fine Ionograms with 98% recall and 99% precision.

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GS5-4 Verification Experiments on the Lower Back Burden caused by Posture and Environment
during Lifting Operations
Tomoka Kimura, Yutaro Fujino, Sachiko Kido, Praveen Nuwantha Gunaratne, Hiroki Tamura(University of Miyazaki, Japan)
One of the measures to prevent back pain is the use of appropriate posture corrections.
In generally, the Squat method (method of keeping the knees bent and the waist as
straight as possible) is recommended over the Stoop method (method of keeping theknees straight and the waist bent). The results of previous studies using acceleration andmuscle potentials have shown that the lifting with knees in a kneeling position reduces
the amount of load born by the lower back. However, few studies discuss the case where
there is an obstacle between the subject and the object to be lifted and further, thescenarios where the object is away from the body's center of gravity. Therefore, thisresearch focus on analyzing two types of movements using the AnyBody
musculoskeletal mechanics analysis software and the Delsys surface EMG and verifying
the amount of lower back burden when there is an obstacle between the lifting object
and the subject. This paper presents the verification results.

GS6 Applications II (4)Chair Masayuki Fujiwara (Kyushu Institute of Technology, Japan)
GS6-1 Development of Smartphone Application for Calculating the Low Back Pain Risk
Seigo Imura, Praveen Nuwantha, Hiroki Tamura (University of Miyazaki, Japan)
This study primarily relies on a smartphone application, developed within our research
institute known as Yo-bukun, for the real-time estimation of lumbar burden. The Yobukun is capable of estimating the lumbar burden of a subject (the user) by placing anapp. installed smartphone in the subject’s chest pocket, while the subject is lifting/relocating an object. The subject's movements are assessed through sensors embeddedin the smartphone and certain aspects of their physical information initially fed into theapp. are used in the estimation formula for determining lumbar burden. In the current
scenario, Yo-bukun lacks the capability to ascertain whether the user is holding an object
or not; consequently, it can only estimate the lumbar burden for limited cases of a subject
holding an object. To address such limitations, the proposed system integrates voicerecognition to facilitate lumbar burden estimation, considering the presence or absenceof an object. Further, it was incorporated with the capability to recalculate lumbar burden
after measurements, enabling prospective studies.

GS6-2 A Computational Approach for Global Trade Analysis Sensitive to Free Trade Agreement
Circumstances: A Case Study Focusing on the Great Mekong Subregion
Ahmad Altaweel1, Bo-Young Lee2, Masayuki Fujiwara1, Jang-Sok Yoon2, Hiroaki Wagatsuma1(1Kyushu Institute of Technology, Japan) (2Logistics Revolution Korea, Korea)
In the Global Trade Analysis Project (GTAP), GDP and economic statistical indices canbe analyzed for forecasting future trends of them in multiple countries by using the GTAP
database and GEMPACK utilities, which realize the numerical calculation based on theconcept of Computable General Equilibrium (CGE) models. Even by such well-prepared
tools with the official database, an appropriate forecasting is still difficult due to thesensitivity to Free Trade Agreement (FTA) circumstances. FTA scenarios with a uniform
tariff reduction can be assumed in general, while an abrupt and unreasonable change
may occur in the simulation depending on the network structure of trading countries andupper and lower bounds of tariffs in the time course. In the present study, we focused on
the Great Mekong subregion (GMS) and explored possible methods to calculate
substantially.

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

GS6-3 Trigger circuit design and system integration for simultaneous measurement of human
EEG, motion, and gaze
Masayuki Fujiwara1, Phan Hoang Huu Duc1, Laurent Bougrain2, Patrick Hénaff2, Hiroaki Wagatsuma1(1Kyushu Institute of Technology, Japan) (2Université de Lorraine, France)
The simultaneous measurement of human EEG, motion, and gaze has the potential tolead to the discovery of new scientific insights. In order to achieve these simultaneous
measurements, it is necessary to manage triggers and time information between
measurement devices, as well as to correct time offsets. However, the management of
accurate triggers and time information requires the design of a dedicated circuit board
and the integration of TTL signal voltage information. In this study, we report on the
fabrication of a trigger circuit and an experimental system using it to solve these
problems. We created a home-made trigger circuit board for voltage integration andcombined it with a commercially available microcomputer to realize an integrated trigger
circuit and measurement system.

GS6-4 Terminal Synergetic Controller for Car’s Active Suspension System Using Dragonfly
Algorithm
Tinnakorn Kumsaen1, Sorn Simatrang2, Arsit Boonyaprapasorn3, Thunyaseth Sethaput4( Khon Kaen University, Thailand) (2Nacres Co., Ltd, Thailand) (3Chulachomklao Royal Military Academy,
Thailand) (4Thammasat University, Thailand)1This research introduces a terminal synergetic controller (TSC) designed for the active
suspension system of automobiles through the implementation of the dragonfly
algorithm (DA). The proposed controller aims to enhance the dynamic performance of acar's suspension using the DA in tuning the system parameters. The stability of thedesigned controller is proved through the application of Lyapunov stability theory.
Through iterative optimization processes, the TSC approach seeks to achieve an optimalbalance between ride comfort and vehicle handling. The simulation results demonstratethat the proposed controller enhances convergence properties and alleviates the presenceof chattering. The results indicate that the proposed approach with the optimal
parameters provided insights into its potential application in improving the overallsuspension system.

GS7 Applications III (6)Chair Kasthuri Subaramaniam (UCSI University, Malaysia)
GS7-1 Rehabilitating Flood-Damaged Cars for Sustainable Car Rental Services: A WebBased System
Pon Xiao Qi, Abdul Samad Shibghatullah, Kasthuri Subaramaniam (UCSI University, Malaysia)
The web-based system aims to redefine transportation norms by unlocking the potentialof flood-damaged cars. It seeks to reutilize these cars, providing affordable andsustainable transportation options while minimizing landfill waste. The systemdevelopment approach that the researcher used for this system is Rapid Application
Development (RAD) Model. The reason that the researcher chose this methodology is
because it enables her to develop the system under limited time while ensuring thequality of the system. There is four stages in Rapid Application Development (RAD)methodology life cycle, which is requirement planning phase, user design phase, rapid
construction phase and cutover phase.

111©ICAROB 2024 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

GS7-2 Optimizing E-Invoicing Rollout: Adaptive E-Invoicing Rollout (AER) Framework for
Navigating Malaysia's Digital Transformation
Koh Chee Hong, Abdul Samad Shibghatulla (UCSI University, Malaysia)
This study presents the Adaptive E-Invoicing Rollout (AER) Framework, developed to
guide Malaysia's impending e-Invoicing mandate. It is crafted through a meticulous
literature review and expert consensus, highlighting crucial variables such as integration
capability, adoption rate, readiness, and compliance. These elements are central to thepredictive model, designed to forecast and facilitate successful e-Invoicing
implementation. The findings from our extensive review and model application confirm
the framework's effectiveness in diverse business environments, demonstrating its
adaptability and strategic value. The AER Framework significantly contributes to digitalfinance strategies, providing an innovative, empirically based tool for not only Malaysia
but also other regions in the globe pursuing digital economic transformations.

GS7-3 App Alert System for Smart Phones
Chee Kin Hoe, Kasthuri Subaramaniam, Abdul Samad Shibghatullah (UCSI University, Malaysia)¥

This development is to develop a porotype mobile app that notifies the user to take theirphones after shutting down the car. This development is being done to gather feedback
from participants who frequently forget to take their phones such as dementia sufferers,
careless youngsters and users who park in a dark space. As for the results of the survey,
it was extensively researched and analyzed to find out the problems and requirements ofusers for the app. For the methodology, after extensive consideration the researcher
decided to use Modified Waterfall model a derivative from the famous waterfall model.
The main factors that influenced the decision is the suitability of the methodology, theconfidence of the researcher to use the methodology and the time constraint to develop
the app. There are 6 phases in the modified waterfall model which are Requirement
Analysis, System Design, Implementation, Testing, Deployment and Maintenance. Afterdeveloping the app, the user acceptance test was done to see whether how the generalpublic would accept the app. For the result, the app was accepted by most of theparticipants and they would like the researcher to do further development to improve andmaintain the app. Based on the results of the development the researcher can conclude
that this app can benefit users in helping them to remember to take their phones fromtheir car. Rather than using the old fashion way which is remember to take the phone.
With this app, user can rest assured as they will be always be reminded to take theirphones from their car.

.

GS7-4 Developing Hand Gesture Recognition System in Interpreting American Sign Language
Kong Seh Chong, Kasthuri Subaramaniam, Ismail Ahmed Al-Qasem Al-H (UCSI University, Malaysia)
This research is going to study and gather more information on the hand gesturerecognition system in order to bridge the communication between non-signers andsigners by implementing the sign language into the system. The system may help people
with physical disabilities such as deaf, mute and etc, to have an efficient and directcommunication with others without the needs of interpreters. Through the studying of
the hand gesture recognition system, there are two main frameworks which are OpenCV
and MediaPipe that hold significant value in the system as it is mostly used in computer
vision related problem. With this system developed, it can help many signers to avoid
the problem of indirect interaction and also enable those who want to learn sign language
by practicing hand gesture through the system. The system development approach thatthe researcher used for this system is Agile Methodology. The reason that the researcher
chooses this methodology is because the development of this system mostly deals withthe datasets as well as the accuracy of the detection and recognition of hand gestures.
Hence, an ability to adapt to changes of agile methodology is needed if there are any
problems happen in the system. There are seven of the stages in Agile Methodology life
cycle, which are planning phase, designing phase, implementation phase, testing phase,
deployment phase, review phase and launch phase. All these seven phases of the Agile
methodology will be having some deliverables as their output.
112©ICAROB 2024 ALife Robotics Corp. Ltd.

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

GS7-5 Miniature Enterprise Resource Planning
Adim Khalid Aldireejah, Kasthuri Subaramaniam, Ghassan Saleh (UCSI University, Malaysia)
Organizations aim for maximum efficiency, acquiring a competitive edge, and quickly
completing their goals in today's competitive business environment. The achievementof these business objectives depends heavily on enterprise resource planning (ERP).
ERP is a software program that combines several elements needed for a company's
administration and operation, spanning several sectors like supply chain management,
manufacturing, and finance. ERP makes work easier, saves time and money, and gives
managers operational insights by automating corporate activities within a single
platform. As a result, ERP has become essential for businesses of all sizes that want toadvance and maintain their position as industry leaders. This research proposal intends
to analyze the key traits, implementation concerns, and challenges associated with ERP
systems while also outlining potential fixes. By creating a convenient and affordablemini-ERP solution, the initiative further intends to increase the accessibility of ERP
systems to small and medium-sized enterprises (SMEs). The study of current ERP
systems, their development, and their advantages and disadvantages will form the basisof the research. It will also investigate the difficulties SMEs have in using common ERP
solutions.

GS7-6 Developing Cloud-based Sportswear Website
Lim Wei Yee, Kasthuri Subaramaniam, Raenu Kolandaisamy (UCSI University, Malaysia)
This research is going to develop a cloud-based sportswear website that can handle highvolumes of traffic during events or seasonal sales, assist customers in selecting the rightsize for their sportswear, the interface should have options, size charts, fitting
instructions, and recommendations. A study on the existing system will be conducted,
design, develop and evaluate on the sportswear website also will be carried out. The
system development approach used on this website is Rapid Application Development(RAD) model. The reason to choose RAD is because this method is time efficient,flexibility and adaptability. With RAD, functional software is delivered quickly. We canquickly build prototypes, iterate on them, and gather feedback from stakeholders with a
website project. There are four of the steps in Rapid Application Development (RAD)methodology life cycle, which is define the requirements, prototypes, rapid construction
and feedback gathering, and cutover.

113©ICAROB 2024 ALife Robotics Corp. Ltd.

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

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

RidzuanAltaweel

Ahmad

GS6-2

42/110

Amano

Koki

OS20-1

29/82

OS20-2

29/82

OS6-4

43/61

OS7-1

31/62

OS7-2

31/62

AncillaGabriela MariaOS18-5

40/79

OS7-3

31/62

Ang

Aun Jie

OS25-1

47/93

OS7-4

31/63

Ang

Chun Kit

OS26-7

46/99

OS26-9

46/99

A.B.

Ayu Haslija

OS25-6

48/95

A. Edeth Fuari

Anatasya

GS5-2

36/109Ang

Koon Hian

OS26-7

46/99

AbbyasovBulat

OS11-4

47/69

Ang

Koon Meng

OS26-7

46/99

Abdullah

Nor Fazilah

OS25-9

48/96

Aoki

Takatoshi

GS5-1

36/109

Abe

Shuji

GS5-3

37/109

Ahmed

Ismail

OS18-7

40/79

GS5-2

36/109Arof

HamzahOS21-342/87

OS25-2

48/94

Ashra

Dina

OS6-5

43/61

OS25-4

48/94

Ayurzana

Munkh-Erdene

GS4-5

24/108

OS9-2

22/65

AzizanMuhammadOS23-1

24/90

OS9-3

22/65

OS9-4

22/65

OS23-2

24/90

Abdul Jalil
Abdullah

Nor Fazilah

AburadaKentaroAzizi

Aiman Rosol

Ahmad Haziq

OS21-342/87

OS23-3

24/91

Al-HadiIsmail Ahmed

GS7-4

49/112OS23-4

24/91

Al- Ismail Ahmed

OS18-5

40/79

OS23-524/91

Al shaikh

Yazan Abu

OS25-3

48/94

Al-Talib

Ammar A.

OS25-1

47/93

B.

Shakthi

OS18-3

40/78

OS25-2

48/94

Baba

Shogo

GS5-1

36/109OS25-3

48/94

Bari Shital

SabrinaOS22-7

38/89

OS25-448/94

Batbaatar

Dondogjamts

GS4-3

24/108OS25-5

48/95

GS4-5

24/108OS25-6

48/95

Bi

YanchaoOS13-1

26/71

OS25-7

48/95

Biki

Bidesh Biswas

OS22-6

38/89

OS25-948/96

OS22-7

38/89

Al-Qasem
Hadi[B]

Aldireejah

Adim Khalid

GS7-5

49/113

Boonyaprapasorn

Arsit

GS6-4

42/111Ali

HashimahOS21-2

41/87

Bougrain

Laurent

GS6-3

42/111Ali

Nur Izzati

OS25-8

48/96

Alexeev

Alexander

OS11-1

47/68

[C]
114

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

Cao

Jing

GS2-5

23/106OS23-2

24/90

Celiker

Baris

OS10-1

28/66

OS23-3

24/91

Chang

Heng-En

OS5-3

39/59

OS23-4

24/91

Chang

Meng-Wei

OS1-4

21/52

OS23-5

24/91

Chang

Yun-Hao

OS1-2

21/51

DhanushR.

OS18-2

40/78

OS1-4

21/51

Dobrokvashina

Alexandra

OS10-6

28/67

OS4-8

44/57

Du

Jiacheng

OS26-2

45/97

OS4-9

44/58

Duan

SuqingOS13-3

26/71

OS13-6

26/72

Chang

Zhencheng

Chebotareva

ElviraOS11-3

47/68

Chen

Chih-Hung

OS1-6

21/52

Dudorov

Evgeny

OS5-6

39/60

Chen

Nai-Yu

OS1-1

21/51

DuvacherMaxime

OS6-3

43/61

OS1-5

21/52

Martínez-

OS5-5

39/59

OS11-1

47/68

Chen

Yao

OS26-2

45/97

[E]

Chen

Yi-Wei

OS5-1

38/58

Edgar A.

Chen

Yu-Le

OS5-2

38/58

Cheng

Jiale

OS13-1

26/71

ChiongMeng Choung

OS26-10

46/100Elshaikh

Mohamed

OS21-2

41/87

Chong

Kim Soon

OS6-2

43/60

Elamvazuthi

Irraivan

OS6-4

43/61

OS26-3

45/97

Era

Junya

OS20-1030/84

OS26-445/98

Erdenesuren

Naranbaatar

GS4-5

24/108OS26-545/98

EreminAlexander

OS10-5

28/67

OS26-645/98

Eryomin

Alexander

OS5-6

39/60

OS26-7

46/99

OS26-8

46/99

García[F]

Chong

Kong Seh

GS7-4

49/112

FadillaReno

OS14-336/74

Chong Jun

Esther

OS18-7

40/79

Faizullin

Ramil

OS5-5

39/59

Fan

JingzhenOS26-11

46/100Lynn
Chou

Pei-WenChuangLi-Min

OS1-1

21/51

Fan

WenzhuoOS26-1

45/97

OS1-5

21/52

Fu

Wenqi

OS13-5

26/72

OS1-6

21/52

Fuengfusin

Ninnart

OS15-1

22/74

Fujimoto

Akiko

GS5-3

37/109Fujinaga

TakuyaOS20-14

31/86

OS20-15

31/86[D]
D. AhmadAeryn

OS21-342/87

DaiFengzhi

OS2-1

25/52

FujinoKazumaOS12-1

34/70

OS2-3

25/53

FujinoYutaroGS5-4

37/110Fujiwara

MasayukiGS6-2

42/110

GS6-3

42/111

OS20-1030/84

OS20-1130/85

Daimaru

Yoshiyuki

OS20-930/84

DarusmanAbu Hassan

OS6-4

43/61

Desa

Hazry

PS2

20/50

OS23-1

24/90

Furukawa

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The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

Fxyma

HirokiOS27-533/102[G]
Gamberov

Hasebe
Timur

Kodai

OS25-948/96

OS26-10

46/100OS22-6

38/89

OS10-328/66

OS22-7

38/89

OS11-4

47/69

OS22-838/90

OS17-2

32/77

OS17-3

32/77

Gankhuyag

Erkhembayar

GS4-5

24/108

Hattori

ShimonGao

YuxuanOS24-3

20/92

Gong

Haoran

OS3-8

27/55

HattoriMai

OS17-5

32/78

OS3-9

28/55

Hattori

TetsuoOS17-2

32/77

Gong

Ying

OS4-3

44/56

OS17-332/77

GonzalesAndrea Tantay

OS18-1

40/78

OS17-4

32/77

Goto

Kanya

GS2-1

23/105OS17-5

32/78

Gunaratne

Praveen

GS1-2

34/103

OS16-1

39/75

GS1-3

34/103

OS16-2

39/76

GS1-4

35/104OS16-3

39/76

GS1-5

35/104OS16-4

40/76

GS1-6

35/104OS20-12

30/85

GS4-2

23/107OS16-2

39/76

GS5-4

37/110OS16-4

40/76

GS6-1

42/110HayashiToshihiro

OS17-5

32/78

OS5-1

38/58

He

Hao

OS2-3

25/53

OS3-3

27/54

OS3-4

27/54

Guo

Jr-Hung

HayashiHayashi

Eiji

Takamasa[H]
Hamakawa

Hamasuna

FumitoOta

OS22-5

37/89

HénaffPatrick

GS6-3

42/111

OS22-6

38/89

Hidayab

Muzaiyanah

OS6-2

43/60

OS22-7

38/89

Hieda

Hiroo

OS12-1

34/70

OS22-838/90

Hiroshige

Yuu

GS5-3

37/109OS22-5

37/89

Hiramitsu

Tatsuhiro

OS14-336/74

OS22-6

38/89

Hiraoka

Toru

GS2-1

23/105

GS2-2

23/105

Haque

Ashraful

OS25-8

48/96

HaradaKensukeOS14-1

36/73

Hoe

Chee Kin

GS7-3

49/112OS14-2

36/73

Hoh

Ian

OS25-6

48/95

OS7-1

31/62

Hong

Koh CheeGS7-2

49/112

OS7-2

31/62

Hong

L. Y.

OS23-3

24/91

OS7-3

31/62

Hori

Yoshiki

OS16-1

39/75

OS7-4

31/63

Hsia

Kuo-Hsien

OS5-2

38/58

OS25-1

47/93

OS11-6

47/69

OS25-4

48/94

Hu

Mengyuan

OS4-5

44/57

OS25-5

48/95

Huang

Mei

OS8-5

36/64

HassanCik Suhana

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Huang

JiaweiOS20-4

29/83

Huang

YuankuiOS26-11

Huang

Yumei

Ito

Takao

OS21-1

41/86

46/100OS22-4

37/89

OS3-8

27/55

OS22-7

38/89

OS3-9

28/55

OS22-8

38/90

OS4-8

44/57

OS22-7

38/89

OS4-9

44/58

OS22-8

38/90

Ami

GS1-7

35/104Farah Adilah

OS25-1049/96

OS26-10

46/100Ito

Tsutomu

Huang

Zehan

OS26-2

45/97

Hung

Chung-Wen

OS5-3

39/59

OS5-4

39/59

[J]

OS23-4

24/91

Jamaludin

OS23-5

24/91

OS25-8

48/96

Hussain

HussinA. -S. T.

Eryana

Iwabu

[I]

Jamil

Md Shafayet

GS1-2

34/103JelbanAhmad

OS25-4

48/94

Jia

Yingmin

OS8-1

35/63

OS8-4

36/64

Ikeda

AkihiroGS5-3

37/109

Ikeda

SatoshiOS22-4

37/87

Jiao

Jianhao

OS4-4

44/56

OS22-5

37/89

Jothi

Neesha

OS18-1

40/78

OS22-6

38/89

OS18-7

40/79

OS22-738/89

Jae HyungGS1-8

35/105OS22-838/90

IndraahOS18-8

41/80

Jung

Imai

ShinichiGS4-1

23/107[K]

Imai

YoshiroOS17-5

32/78

Imura

Seigo

GS6-1

42/110OS18-9

41/80

Ishak

Nurfadzillah

OS23-1

24/90

OS18-1041/80

OS23-2

24/90

OS18-11

41/81

K.

Ishigami

Ryoichi

OS9-1

22/64

Kaishita

WataruOS20-10

30/84

Ishii

Kazuo

OS20-3

29/82

Kakinoki

Kanta

OS9-4

22/65

OS20-429/83

KamodaYohei

OS27-3

33/101

OS20-5

29/83

Kamei

Keiji

OS20-930/84

OS20-630/83

Kamiya

Tohru

GS1-1

34/103OS20-13

31/85

GS5-1

36/109OS20-14

31/86

KanaokaDaiju

OS15-4

23/75

Kang

Jinwu

OS24-421/93

OS24-5

21/93

Ishikawa

Seiji

GS3-3

25/107Ishiwata

Yoshinobu

OS27-2

33/101

OS27-433/101

Kasai

Shintaro

GS4-3

24/108Islamova

RenataOS11-2

47/68

Katayama

Daigo

OS20-1431/86

IsomotoKosei

OS15-3

22/74

Katayama

Tetsuro

OS9-1

22/64

OS15-4

23/75

OS9-2

22/65

OS12-4

34/70

OS9-3

22/65

Isozaki

Hideo

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OS9-4

22/65

Kong

De Kang

OS25-1049/96

Kawaguchi

Akira

OS16-3

39/76

Koshiba

MamikoOS12-1

34/70

Kawahara

Tomorou

OS20-930/84

KotaniNaoki

OS12-3

34/70

Kawakami

YusukeOS17-2

32/77

Kouno

Naoki

GS2-1

23/105OS17-3

32/77

KoyamaYoshihiro

OS16-3

39/76

OS17-4

32/77

Kuan

Chyntia

OS25-7

48/95

Kudo

AkihiroOS22-2

37/88

OS22-3

37/88

Kawashima

MizukiOS15-6

23/75

Khan

M.K.A Ahamed

OS6-1

43/60

OS6-2

43/60

Kumar

Prashant

OS14-2

36/73

OS6-3

43/61

Kumsaen

Tinnakorn

GS6-4

42/111

OS6-4

43/61

Kuremoto

Shun

OS12-1

34/70

OS6-5

43/61

Kuremoto

TakashiOS12-1

34/70

OS7-1

31/62

Kurogi

ShuichiOS22-5

37/89

OS7-2

31/62

Kuroki

Karin

GS2-2

23/105

OS7-3

31/62

Kyasudeen

MuhammadOS21-1

41/86

OS7-4

31/63

OS26-946/99

OS26-10

46/100

GS4-2

23/107

Lai

Chun-Chi

OS5-2

38/58

GS5-4

37/110Lai

Wei Kang

OS26-3

45/97

Kido

Sachiko

Farris[L]

Kim

Tae Ihn

GS1-8

35/105OS26-445/98

KimuraKenji

OS20-630/83

OS26-545/98

OS20-730/83

OS26-645/98

OS20-830/84

OS10-6

28/67

OS11-547/69

Lavrenov

Roman

KimuraTomokaGS5-4

37/110Kita

Yoshihiro

OS9-2

22/65

Lee

Bo-Young

GS6-2

42/110

OS9-3

22/65

Lee

L. J.

OS23-5

24/91

OS9-4

22/65

Li

Chu-Fen

OS1-3

21/51

Kitamura

KentarouGS1-7

35/104

Li

Fangyan

OS3-1

27/53

Kitazumi

Shun

GS2-4

23/106

Li

Guandong

OS26-11

46/100Koh

Pei Cong

OS18-6

40/79

Li

Haibo

OS13-826/72

Kolandaisamy

Raenu

GS7-6

49/113

Li

Hongbing

OS11-427/69

OS18-841/80

LiHuahao

OS4-1

44/56

OS18-941/80

LiJung-Shian

OS1-1

21/51

OS18-10

41/80

OS1-2

21/51

OS18-11

41/81

OS1-3

21/51

OS18-12

41/81

OS1-4

21/51

OS1-5

21/52

GS4-6

24/108Kolin

NikitaOS11-3

47/68

Komori

RyoheiOS20-12

30/85

Li
118

©ICAROB 2023 ALife Robotics Corp. Ltd.

Junkai

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

Li

Lin

OS8-5

36/64

Li

Mingxuan

OS4-8

44/57

OS4-9

44/58

M NoorMuhammadOS21-1

41/86

OS25-1

47/93

Badri
M.Tahir

Noor Idayu

Li

Mingyue

OS4-4

44/56

OS25-2

48/94

Li

Na

OS24-4

21/93

OS25-3

48/94

Li

Zixin

OS24-3

20/92

OS25-4

48/94

Liang

Xin

OS13-426/71

OS25-5

48/95

Lim

Tiong HooOS26-8

46/99

OS25-6

48/95

OS26-946/99

OS25-7

48/95

OS6-1

43/60

OS13-9

26/73

OS6-3

43/61

OS13-1027/73

OS26-245/97

MaShuangshuang

OS2-1

25/52

OS26-3

45/97

Mabu

ShingoOS12-1

34/70

OS26-445/98

Machida

Kosei

GS4-1

23/107OS26-5

45/98

Magid

Evgeni

OS5-5

39/59

OS26-6

45/98

OS5-6

39/60

OS26-7

46/99

OS10-2

28/66

OS26-8

46/99

OS10-428/67

OS26-946/99

OS11-1

47/68

OS26-10

46/100OS11-4

47/69

OS26-11

46/100OS11-647/69

Lim

Wei Hong

Ma

DongpoLim

Wei YeeGS7-6

49/113

Mahmoud E.A.

Zeiad

OS25-5

48/95

Liu

Chun-Liang

OS5-4

39/59

Marco

RozilynOS14-2

36/73

Liu

Fangyv

OS2-3

25/53

MatobaOsamu

OS17-2

32/77

OS3-3

27/54

OS17-3

32/77

OS3-4

27/54

Matsumoto

Sho

OS9-1

22/64

OS1-1

21/51

Mazher

Moona

OS7-1

31/62

OS1-2

21/51

OS7-2

31/62

OS1-3

21/51

OS7-3

31/62

OS1-4

21/51

OS7-4

31/63

OS1-5

21/52

OS3-5

27/54

Liu

I-HsienMei

YupingLiu

Mengda

OS4-7

44/57

OS3-6

27/55

Liu

Yi-Ting

OS5-2

38/58

OS3-7

27/55

Liu

Yufei

OS20-3

29/82

Meng

TianbinOS24-1

20/92

Lu

Yuhao

OS26-11

46/100

MinatoGaku

OS20-2

29/82

Lv

Lei

OS13-4

26/71

Mirzoian

Viktoriia

OS10-4

28/67

Mitsuyama

Fuga

GS1-1

34/103

Mizoe

Eiji

OS20-1030/84

OS20-11

30/85

[M]

119
©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

Mizutani

Akinobu

OS15-2

22/74

Nakamura

Akira

OS14-1

36/73

OS15-423/75

NakamuraJun

OS27-2

33/101

Mizumoto

YoshitakaGS4-4

24/108OS27-3

33/101

Mo

Lipo

OS8-4

36/64

OS27-433/101

Mohamed

Rizon

GS4-6

24/108Nakashima

Riku

GS1-6

35/104

MohammadIlyas

OS26-3

45/97

NarayananGanesh

OS18-440/79

Niederer

Steven

OS7-1

31/62

Arif

Mokayef

MokhtarOS26-4

45/98

OS7-2

31/62

OS26-5

45/98

OS7-3

31/62

OS26-6

45/98

OS7-4

31/63

OS6-1

43/60

NishidaNaoya

OS20-11

30/85

OS6-2

43/60

NishidaYuya

OS20-13

31/85

OS6-3

43/61

Noor

Rayan

OS26-8

46/99

OS6-4

43/61

Mohammed

Mohammed

OS6-5

43/61

Bakhit

OS7-1

31/62

Nur

Afifi

OS25-6

48/95

OS7-2

31/62

Muhammad

OS7-3

31/62

OS7-4

31/63

OS26-2

45/97

Ogata

Takashi

OS27-133/100OS26-3

45/97

Ogawa

Shintaro

OS16-2

39/76

OS26-645/98

OS16-4

40/76

OS18-6

40/79

Ohno

Asako

OS17-5

32/78

OS21-1

41/86

Ohara

MakotoOS12-434/70

OS21-3

42/87

Ohe

Kaoru

OS22-1

37/88

Mastaneh

Norrima[O]

MoribeIichirouGS3-2

25/106OS22-5

37/89

MoshkinVladimir

OS5-6

39/60

OS22-6

38/89

GS5-2

36/109OS16-2

39/76

OS16-4

40/76

OS9-2

22/65

MuhammadOkawachi

Yuto

Risal
Muthusamy

Hariharan

OS21-2

41/87

Mustapha

Ain Atiqa

OS25-3

48/94

OS9-3

22/65

OS25-4

48/94

OS9-4

22/65

OS25-7

48/95

Okuda

Haruhisa

PS3

29/50

OS10-4

28/67

Onaga

Haruki

OS9-2

22/65

Ono

JumpeiOS27-133/100

Ooba

Miki

GS2-3

23/105

Mustafin

MaksimOkazaki[N]

Naonobu

Nagayoshi

MasatoOS12-234/70

OshimaTatsuyaOS22-1

37/88

Naito

Yuka

OS27-2

33/101

Ozaki

Tomoaki

PS1

20/50

GS5-2

36/109Najirah Umar

120
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[P]

RahmanHameedurOS26-946/99

OS26-10

46/100OS18-3

40/78

Pak

Alexander

OS10-5

28/67

Pan

Li

OS26-8

46/99

Paramasivam

Sivajothi

OS6-5

43/61

OS18-5

40/79

Park

Chan Gook

GS1-8

35/105

OS18-6

40/79

Patan

R.

OS23-4

24/91

OS18-8

41/80

Peng

Bo

OS26-2

45/97

OS18-9

41/80

Peng

Tzu-En

OS1-2

21/52

OS18-10

41/80

OS1-4

21/51

OS18-11

41/81

OS13-1

26/71

OS18-12

41/81

OS13-2

26/71

OS21-1

41/86

OS13-3

26/71

Rajagopal

Renuka

OS18-3

40/78

OS13-4

26/71

Rajapakse

R.P.C. Janaka

OS17-4

32/77

OS13-5

26/72

Ramis

Kulmukhametov

OS11-6

47/69

OS13-6

26/72

RathinamManoj

OS18-3

40/78

OS13-7

26/72

Razzak

Imran

OS7-1

31/62

OS13-8

26/72

OS7-2

31/62

OS13-9

26/73

OS2-4

25/53

OS13-10

27/73

OS2-5

25/53

Peng

YizhunRajagopal

Ren

Heshalini

Xiang

Permyakov

Alexander

OS5-6

39/60

RiajuliislamMD

OS22-7

38/89

Phan

Duc

GS6-3

42/111

RizwanAmar

OS25-1

47/93

Phiri

Gershom

OS6-1

43/60

OS25-3

48/94

Pramanta

Dinda

OS15-1

22/74

GS5-2

36/109Pujianti[S]

Wahyuningsih[Q]

S

Amutha

OS18-2

40/78

S

AkshayOS18-3

40/78

Sadyikoｃa

KarinaOS11-5

47/69

Safin

Ramil

OS10-2

28/66

OS11-6

47/69

OS22-2

37/88

Qi

Pon XiaoGS7-1

49/111Qin

Jianfeng

OS13-726/72

Qayyum

Abdul

OS6-1

43/60

OS6-2

43/60

OS22-3

37/88

OS6-3

43/61

OS22-4

37/89

OS6-5

43/61

OS22-5

37/89

OS7-1

31/62

OS22-6

38/89

OS7-2

31/62

OS22-7

38/89

OS7-3

31/62

OS22-8

38/90

OS7-4

31/63

Sakamoto[R]
121©ICAROB 2023 ALife Robotics Corp. Ltd.

MakotoSalmanRiham

OS11-2

47/68

Sendari

Siti

OS21-1

41/86

Saleh

GhassanOS18-6

40/79

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

SaruchiSarah Atifah

OS25-1

47/93

Sugimoto

Taiki

OS27-433/101

OS25-2

48/94

Sulaiman

Shifa

OS10-1

28/66

OS25-348/93

OS11-2

47/68

OS6-1

43/60

Saw

D. WenOS23-4

24/91

Seino

SatokoOS16-2

39/76

OS6-2

43/60

OS16-4

40/76

OS6-3

43/61

OS6-5

43/61

Summakieh

MHD Amen

Seki

Hiroaki

OS14-3

36/74

Saleh

GhassanOS18-12

41/81

Sumoto

Yuta

GS1-5

35/104

GS7-5

49/113Sun

Haozhe

OS3-2

27/54

SethaputThunyaseth

GS6-4

42/111Sun

Xun

OS26-1

45/97

Shang

Xueqiang

OS24-2

20/92

Sun

Yizhe

OS13-826/72

SharmaAbhishek

OS26-7

46/99

Sun

Yucheng

OS24-421/93

OS26-8

46/99

SunZhonghengOS26-1

45/97

GS5-2

36/109Shen

Chua Huang

OS6-2

43/60

Suwatri Jura

Shi

Puwei

OS20-5

29/83

Suzuki

KatsuakiOS20-13

31/85

Shiba

TomoyaOS15-3

22/74

Suzuki

YasuhiroOS19-1

37/81

OS15-523/75

OS19-2

37/81

GS3-1

25/106OS19-3

37/82

GS7-1

49/111

OS15-1

22/74

GS7-2

49/112OS15-2

22/74

GS7-3

49/112

Shibghatullah

Abdul

Shibanoki

Taro

GS4-4

24/108

Shirley

GlaretOS18-841/80

SyulistyoArie Rachmad[T]

Sinnappan

T.

Y. HuiOS25-7

48/95

Tabuchi

RyosukeOS22-1

37/88

OS18-941/80

TakagiTomohiko

OS9-1

22/64

Simatrang

Sorn

GS6-4

42/111

Takahashi

Hirokazu

OS12-1

34/70

Stephen John

ReubenOS18-2

40/78

Takakura

Shota

OS9-3

22/65

SoesiloTaufik

GS1-4

35/104

TakanoYouta

OS20-7

30/83

SpektorIlya

OS10-2

28/66

OS20-8

30/84

Su

Ying

OS3-5

27/54

OS22-2

37/88

OS3-6

27/55

OS22-3

37/88

OS3-7

27/55

OS22-5

37/89

GS7-1

49/111

OS22-6

38/89

GS7-3

49/112OS22-7

38/89

GS7-4

49/112OS22-8

38/90

GS7-5

49/113OS22-5

37/89

GS7-6

49/113OS22-6

38/89

OS20-1030/84

OS20-1130/85

Subaramaniam

Kasthuri

Sugikawa

SatoshiOS12-334/70

Sugimoto

KazuhideOS22-6

38/89

Takei

Takemura

Takemura

122©ICAROB 2023 ALife Robotics Corp. Ltd.

Amane

KakeruYasunori

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

TakeokaKenta

OS12-3

34/70

GS3-2

25/106

Tamaki

HisashiOS12-2

34/70

GS3-3

25/107

Tamukoh

HakaruOS15-1

22/74

Terasawa

Takashi

GS5-1

36/109OS15-2

22/74

Tew

Hwa Hui

OS25-2

48/94

OS15-3

22/74

Thamadharan

Kavitha

OS18-1

40/78

OS15-4

23/75

Thota

TejaswiniOS18-2

40/78

OS15-5

23/75

Tian

ShaokaiOS13-5

26/72

GS1-2

34/103Tiang

Sew SunGS4-6

24/108

GS1-3

34/103

OS6-1

43/60

GS1-4

35/104

OS6-3

43/61

GS1-5

35/104OS26-2

45/97

GS1-6

35/104OS26-3

45/97

GS4-2

23/107OS26-4

45/98

GS5-4

37/110OS26-5

45/98

GS6-1

42/110OS26-645/98

OS16-2

39/76

OS26-7

46/99

OS16-440/76

OS26-8

46/99

OS26-345/97

OS26-946/99

OS26-445/98

OS26-10

46/100OS26-545/98

OS26-946/99

OS26-645/98

OS26-10

46/100OS25-1

47/93

OS16-2

39/76

OS25-1049/96

OS16-440/76

OS16-2

39/76

Tamura

Tan

Tan

Tan

HirokiChi Jie

Jia WeiRodney

Ting

Titan

Janthori

TanakaTakeshiOS17-5

32/78

TanakaToshiki

OS17-1

32/77

OS16-4

40/76

OS17-2

32/77

OS20-1230/85

OS17-3

32/77

OS20-1030/84

OS15-2

22/74

OS20-1130/85

OS15-423/75

OS20-14

31/86

TanakaYuichiro

Tominaga

Tin Chang

Tominaga

Ayumu

Moeko

Tanev

Ivan

OS17-1

32/77

Tomioka

Toyoaki

OS22-4

37/89

Taniguchi

Rie

OS19-3

37/82

Too

Kok Sem

OS25-948/96

Tanveer

M. H.

OS23-3

24/91

Tsoy

Tatyana

OS5-5

39/59

OS23-4

24/91

OS10-1

28/66

OS23-5

24/91

OS10-328/66

OS20-1

29/82

OS10-5

28/67

OS20-2

29/82

OS11-1

47/68

GS2-3

23/105OS11-2

47/68

GS2-4

23/106OS11-6

47/69

GS2-5

23/106OS14-3

36/74

Taniguchi

Tanjo

Yasutaka

Yui

Tsuji
123

©ICAROB 2023 ALife Robotics Corp. Ltd.

Tokuo

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

[U]
Umeno

Ren

GS1-1

34/103ul Husnain

Anees

OS21-1

41/86

Urano

Shingen

OS20-1

29/82

Wang

Xiaolong

OS24-4

21/93

Wang

Xuran

OS4-3

44/56

Wang

Zipei

OS2-4

25/53

OS2-5

25/53

OS20-1

29/82

OS20-2

29/82

OS20-1

29/82

OS20-2

29/82

Watanabe

Watanabe

Keisuke

Konosuke[W]
Wadi harun

SulaimanOS21-3

42/87

Wen

ZongyanOS26-11

46/100Wagatsuma

HiroakiGS4-3

24/108Wong

Chin Hong

OS6-2

43/60

GS6-2

42/110OS26-2

45/97

GS6-3

42/111

OS26-7

46/99

Wan

WeiweiOS14-2

36/73

OS26-846/99

Wan Ahmad

Wan

OS21-2

41/87

OS26-946/99

OS26-11

46/100Khairunizam
Wang

Chun-Chieh

OS5-3

39/59

Wu

Qihua

OS24-4

21/93

Wang

DepengOS4-1045/58

Wu

Tai-Hsuan

OS5-4

39/59

Wang

Haiquan

OS3-5

27/54

Wu

YingCheng

OS1-3

21/51

Wang

Jiashuai

OS2-1

25/52

Wang

Jiaxin

OS2-3

25/53

OS3-3

27/54

YuntianOS13-2

26/71

OS3-4

27/54

OS13-6

26/72

[X]
Xia

Wang

Jiqiang

OS8-2

35/63

Xiang

Yande

OS4-10

45/58

Wang

Jiwu

OS24-1

20/92

Xiao

Ziyue

OS3-9

28/55

OS24-2

20/92

OS4-8

44/57

OS24-3

20/92

OS4-9

44/58

OS24-421/93

OS4-1045/58

OS24-5

21/93

OS3-8

27/55

OS3-9

28/55

Xie

Jiahao

Wang

Limei

OS13-1

26/71

Wang

Ningfei

OS26-2

45/97

Xie

Shengke

OS18-12

41/81

Wang

Peng

OS4-5

44/57

Xie

YanzheOS26-11

46/100

OS4-6

44/57

OS4-7

44/57

OS4-6

44/57

YabukiTomohideGS1-1

34/103

OS4-7

44/57

YamabaHisaaki

OS9-2

22/65

Wang

Qikun

[Y]

Wang

Shengfeng

OS4-6

44/57

OS9-3

22/65

Wang

Shuai

GS3-1

25/106

OS9-4

22/65

Wang

ShuxinOS13-8

26/72

YamadaShintaro

GS3-3

25/107Wang

Siyi

OS13-6

26/72

Yamaguchi

Hiromasa

OS15-2

22/74

124©ICAROB 2023 ALife Robotics Corp. Ltd.

The 2024 International Conference on Artificial Life and Robotics (ICAROB2024), J:COM HorutoHall, Oita, Japan, 2024

Yamaguchi

Naoki

OS15-322/74

OS11-4

47/69

Yamao

Kosei

OS15-4

23/75

ZakariyaAzman

OS25-8

48/96

Yan

Lixia

OS8-1

35/63

Zhai

Hongshuo

OS4-2

44/56

Yang

Hang

OS24-2

20/92

Zhang

Bin

OS8-3

35/63

Yang

Tongqing

OS8-4

36/64

Zhang

Junsheng

OS13-9

26/73

Yang

Xue

OS3-5

27/54

OS13-10

27/73

OS3-6

27/55

Zhang

Lijiang

OS2-1

25/52

OS3-7

27/55

Zhang

Saijie

OS2-2

25/52

Yang

Yahui

OS24-5

21/93

Zhang

Weicun

OS8-2

35/63

Yankova

Anastasia

OS10-3

28/66

Zhang

Xinyi

OS14-2

36/73

Yeoh

Zhi Ying

OS26-3

45/97

Zhang

Yuhao

OS2-1

25/52

OS26-4

45/98

OS4-3

44/56

OS26-5

45/98

OS4-4

44/56

OS26-6

45/98

Zhang

Yuqi

OS8-3

35/63

Yin

Xiaoyu

OS8-2

35/63

Zhao

Huailin

OS2-2

25/52

Yonehara

Shun

OS15-6

23/75

Zhao

HongpiOS13-4

26/71

Yoon

Jang-Sok

GS6-2

42/110OS13-7

26/72

YoshikawaAkimasaGS5-3

37/109

Zhao

ZhihanOS13-4

26/71

YoshimotoYuma

OS15-6

23/75

Zhdanova

Julia

OS5-6

39/60

Yuan

Tong

OS8-5

36/64

Zhidenko

Ivan

OS5-6

39/60

Yuldashev

Niez

OS10-6

28/67

Zhou

WenxuanOS26-1

45/97

YusoffBadli Shah

OS6-4

43/61

Zhou

Yue

OS26-1

45/97

Zhu

YingfanOS4-1045/58

OS13-4

26/71

OS11-547/69[Z]
Zagirov

Aidar

OS10-2

28/66

Zhukova

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