ｆICAROB
2022

PROCEEDINGS OF THE 2022
INTERNATIONAL CONFERENCE
ON ARTIFICIAL LIFE AND ROBOTICS
January 20 to 23, 2022
on line, Oita in Japan
27th AROB International Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-7-1

ARTIFICIAL LIFE AND ROBOTICS(ICAROB2022)

January 20-23, 2022, on line in Japan, 2022
27th AROB International Meeting Series
Editor-in-Chief
Masanori Sugisaka
Editors: Yingmin Jia, Takao Ito, Ju-Jang Lee
ISBN 978-4-9908350-7-1

Contents
1

Organization, etc.

1

2

Messages

12

3Time Table

17

4

Opening Ceremony

20

5Technical paper index

21

6
6-1
6-2
6-3
6-4
7

Abstracts
PS abstracts
IS abstracts
OS abstracts
GS abstracts
Authors index

47
48
50
120
127

SPONSERED
ALife Robotics Corporation Ltd.

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

CO-ORGANIZED BY
Chinese Association for Artificial Intelligence (CAAI, P. R. China)-1©ICAROB 2022 ALife Robotics Corp. Ltd.

ADVISORY COMMITTEE CHAIRS
Eiji Hayashi (Kyushu Institute of Technology, Japan)
Jeffrey Johnson (The Open University, UK)
Katia Passerini (Seton Hall University, USA)
Kazuo Ishii (Kyushu Institute of Technology, Japan)
Kensuke Harada (Osaka University, Japan)
Takashi Kohno (University of Tokyo, Japan)
ADVISORY COMMITTEE
Adam Grzech (Wroclaw University of Technology, Poland)
Bruce Eisenstein (Drexel University, Former IEEE President, USA)
Hidenori Kimura (RIKEN & Wasada University, Japan)
Jerzy Świątek (Wroclaw University of Technology, Poland)
Joshua M. Epstein (The Johns Hopkins University, USA)
Kai-Tai Song (National Chiao Tung University, Taiwan)
Ken-ichi Tanaka (Executive Fellow, Mitsubishi Electric Corporation, Japan)
Masato Nakagawa (Executive Fellow, DENSO CORPORATION, Visiting Professor of Hiroshima
University, Japan)
Masayoshi Tomizuka (University of California Berkeley, USA)
Moshe Kam (New Jersey Institute of Technology, Former IEEE President, USA)Paul Kalata (Drexel University, USA)Paul Oh (Drexel University, USA)Peter Herczfeld (Drexel University, USA)
Steen Rasmussen (University of Southern Denmark, Denmark)Zengqi Sun (Tsighua Univesity, P. R. China)
GENERAL CHAIR
Masanori Sugisaka(Alife Robotics Corporation Ltd., Japan)(Visiting Professor, The Open University (UK))
CO-GENERAL CHAIRS
Yingmin Jia (Beihang Univesty, P. R. China)
Takao Ito (Hiroshima University, Japan)
Ju-Jang Lee (Honorary professor, KAIST, Korea)-2©ICAROB 2022 ALife Robotics Corp. Ltd.

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)
PROGRAM CHAIRMAN
Makoto Sakamoto (University of Miyazaki, Japan)
CO-PROGRAM CHAIR
Marion Oswald (Technische Universität Wien, Austria)
INTERNATIONAL ORGANIZING COMMITTEE
Akira Fukuda (Kyushu University, Japan)
Akira Nakamura (Saitama Institute of Technology, Japan)
Akinori Abe (Chiba University, Japan)
Andrew Gadsden (University of Guelph, Canada)
Caoli Wang (University of Shanghai for Science and Technology, P. R. China)
Chan Gook Park (Seoul National University, Korea)
Evgeni Magid (Kazan Federal University, Russia)
Fuzhong Wang (Henan Polytechnic University, P. R. China)
Hazry Desa (University of Malaysia, Perlis, Malaysia)
Hidehiko Yamamoto (Gifu University, Japan)
Hideyuki Suzuki (The University of Tokyo, Japan)
Hiroki Tamura (The University of Miyazaki, Japan)
Hiroshi Kage (Mitsubishi Electric Corporation, Japan)
Hiroshi Matsuno (Yamaguchi University, Japan)
Jiwu Wang (Beijing Jiaotong University, P. R. China)
Jovana Jovic (CNRS-AIST JRL, Japan, France)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Katsunori Shimohara (Doshisha University, Japan)
Kazuo Ishii (Kyushu Institute of Technology, Japan)
Kenichi Tanaka (Nagasaki Institute of Applied Science, Japan)
Kenji Hashimoto (Waseda University, Japan)
Kevin Voges (Canterbury University, New Zealand)
Kunikazu Kobayashi (Aichi Prefectural University, Japan)-3©ICAROB 2022 ALife Robotics Corp. Ltd.

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)
Masanao Obayashi (Yamaguchi University, 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)
Shin Jisun (Pusan National University, Korea)
Singo Mabu (Yamaguchi University, Japan)
Takashi Kohno (The University of Tokyo, Japan)
Takashi Ogata (Iwate Prefectural University)
Teruhisa Hochin (Kyoto Prefectural University, Japan)
Tetsuro Hattori (Kagawa University, Japan)
Thi Thi Zin (University of Miyazaki, Japan)
Thomas S. Ray (University of Oklahoma, USA)
Toru Yamamoto (Hiroshima University, Japan)
Toshihro Inukai (DENSO WAVE INCORPORATED, Japan)
Victor Berdonosov (Komsomolsk-on-Amur State University of Technology, Russia)
Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Yi Chai (Chongqing University, P. R. China)
Yoshifumi Morita (Nagoya Institute of Technology, Japan)
Yoshiro Imai (Kagawa University, Japan)
Zengqiang Chen (Nankai University, P. R. China)
INTERNATIONAL PROGRAM COMMITTEE
Abdul Rahman bin Dullah (Universiti Teknikal Malaysia Melaka, Malaysia)
Akinori Abe (Chiba University, Japan)
Akira Utsumi (The University of Electro-Communications, Japan)
Akihiro Yamaguchi (Fukuoka Institute of Technology, Japan)
Akihito Kanai (Hosei University, Japan)
Ali Selamat (University of Technology of Malaysia, Malaysia)
Aminurafiuddin bin Zulkifli (Multimedia University, Malaysia)
Amornphun Phunopas (King Mongkut’s University of Technology, North Bankok, Thailand)
Andre Rosendo (ShanghaiTech University, P. R. China)
Anne Jeannin-Girardon (University of Strasbourg, France)
Anton Shiriaev (Norwegian University of Science and Technology, Norway)
Artur Sagitov (Kazan Federal University, Russia)-4©ICAROB 2022 ALife Robotics Corp. Ltd.

Ashi Gautam (The University of Tokyo, Japan)
Atsuya Tange (The University of Tokyo, Japan)
Ayumu Tominaga (Kyushu Institute of Technology, Japan)
Bin Zhang (Beijing University of Posts and Telecommunications, P. R. China)
Cecilia Zanni-Merk (INSA-Rouen, France)
Chaoli Wang (University of Shanghai for Science and Technology, P. R. China)
Chia-Nan Ko (Nan kai University of Technology, Taiwan)
Chung-Wen Hung (National Yunlin University of Science & Technology, Taiwan)
Congdao Han (Shanghai Institute of Technology, P. R. China)
Cui Zhang (Beihang University, P. R. China)
Cynthia Matuszek (University of Maryland, USA)
Donglian Qi (Zhejiang University, P. R. China)
Dongmei Ai (Universty of Science and Technology Beijing, P. R. China)
Duangiai Jitkongchuen (Dhurakij Pundit University, Thailand)
Dunwei Gong (China University of Mining and Technology, P. R. China)
Jiao Jia (Beihang University, P. R. China)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Endra Joelianto (Bandung Institute of Technology, Indonesia)
Fabio Guigou (University of Strasbourg, France)
Fei Hao (Beihang University, P. R. China)
Fuzhong Wang (Henan Polytechnic University, P. R. China)
Haibo Li (Royal Institute of Technology, Sweden)
Haisheng Li (Beijing Technology and Business University, P. R. China)
Haruhisa Okuda (Mitsubishi Electric Corporation, Japan)
Haruka Tsuboi (The University of Miyazaki, Japan)
Haruna Matsushita (Kagawa University, Japan)
Heeje Kim (Pusan National University, Korea)
Hidetsugu Suto (Muroran Institute of Technology, Japan)
Hiroyuki Iizuka (Osaka University, Japan)
Hongbo Li (Tsinghua University, P. R. China)
Hongji Ma (Shandong University of Science and Technology, P. R. China)
Hongjiu Yang (Yanshan University, P. R. China)
Hongpeng Yin (Chongqing University, P. R. China)
Hussein Abbass (University of New South Wales, and ADFA, Australia)
I-Hsien Liu (National Cheng Kung Univrsiity, Taiwan)
Ilya Afanasyev (Innopolis University, Russia)
Istvan Harmati (Budapest Institute of Technology and Economics, Hungary)
Ivan Tanev (Doshisha University, Japan)
Jiandong Zhao (Beijing Jiaotong University, P. R. China)
JJ Merelo (University of Granada, Spain)
Joono Cheong (Korea University, Korea)
Julio Navarro Lara (University of Strasbourg, France)
Jun Kobayashi (Kyushu Institute of Technology, Japan)-5©ICAROB 2022 ALife Robotics Corp. Ltd.

Jung-Shian Li (National Cheng Kung University, Taiwan)
Junping Du (Beijing University of Posts and Telecommunications, P. R. China)
Keiji Kamei (Nishinippon Institute of Technology, Japan)
Keisuke Watanabe (Tokai University, Japan)
Keita Honda (Gifu University, Japan)
Ke Zhang (Chongqing University, P. R. China)
Kenichi Tanaka (Nagasaki Institute of Applied Science, Japan)
Kensuke Ogata (Osaka City University Japan)
Khairul Salleh bin Mohamed Sahari (Universiti Tenaga Nasional, Malaysia)
Khoyratee Farad (The University of Tokyo, Japan)
Kouichi Takeuchi (Okayama University, Japan)
Konstantin Yakovlev (Russian Academy of Sciences, Higher School of Economics, Russia)
Kui Xiang (Wuhan University of Technology, P. R. China)
Leonid Freidovich (Umea University, Sweden)
Levi Timothée (The University of Tokyo, Japan)
Liming Chen (Beihang University, P. R. China)
Lin Li (University of Shanghai for Science and Technology, P. R. China)
Lin Zhao (Qingdao University, P. R. China)
Mamoru Yoshimura (The University of Miyazaki, Japan)
Manabu Yamada (Nagoya Institute of Technology, Japan)
Masahide Ito (Aichi Prefectural University, Japan)
Masahiro Ushio (Kyushu Institute of Technology, Japan)
Masahiro Yokomichi (The University of Miyazaki, Japan)
Masamichi Hori (The University of Miyazaki, Japan)
Masanori Takahashi (Tokai University, Japan)
Masayoshi Kano (Chukyou University, Japan)
Masayoshi Tabuse (Kyoto Prefectural University, Japan)
Masaomi Hatakeyama (university of Zurich, Switzerland)
Max Talanov (Kazan Federal University, Russia)
Meng Duan (Beihang University, P. R. China)
Moeko Tominaga (Kyushu Institute of Technology, Japan)
Mohammad Al-Shabi (University of Sharjah, United Arab Emirates)
Mohammad Biglarbegian (University of Guelph, Canada)
Mou Chen (Nanjing University of Aeronautics and Astronautics, P. R. China)
Nan Xiao (Northeastern University at Qinhuangdao, P. R. China)
Nicolas Monmarché (university of Tours, France)
Noriaki Kuwahara (Kyoto Prefectural University, Japan)
Noritaka Sato (Nagoya Institute of Technology, Japan)
Norrima Mokhtar (University of Malaya, Malaysia)
Palakorn Tantrakool (King Mongkut’s Institute of Technology, North Bankok, Thailand)
Ping Wang (North China Electric Power University, P. R. China)
Pierre David (University of Strasbourg, France)
Pierre Willaume (University of Strasbourg, France)-6©ICAROB 2022 ALife Robotics Corp. Ltd.

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 (Yamaguchi University, Japan)
Takayoshi Yamada (Gifu University, Japan)
Takuya Fuginaga (Kyushu Institute of Technology, Japan)
Takuya Nanami (The University of Tokyo. Japan)
Taishiro Kishimoto (Keio University, Japan)
Taisuke Akimoto (Kyushu Institute of Technology, Japan)
Takashi Iwamoto (Mitsubishi Electric Corporation, Japan)
Tarik bin Abd Latef (Universiti Malaya, Malaysia)
Taro Shibanoki (Ibaraki University, Japan)
Teruhisa Hochin (Kyoto Prefectural University, Japan)
Tetsuro Katayama (The University of Miyazaki, Japan)
Thomas Noel (University of Strasbourg, France)
Thunyaseth Sethaput (Thammasat University, Thailand)
Tianping Zhang (Yangzhou University, P. R. China)
Tomohiko Takagi (Kagawa University, Japan)
Toru Hiraoka (University of Nagasaki, Japan)
Toshihiro Inukai (DENSO Wave Incorporated, Japan)
Toshinori Nawata (Kumamoto National College of Technology, Japan)
Tsunehiro Yoshinaga (Tokuyama National College of Technology, Japan)
Ussath Martin (The University of Potsdam, Germany)
Wan Khairunizam Wan Ahmad (Universiti Malaysia Perlis, Malaysia)
Weicun Zhang (University of Science and Technology Beijing, P. R. China)
Wenhao Zheng (Beihang University, P. R. China)
Wenlin Li (Beihang University, P. R. China)
Wisanu Jiviriya (King Mongkut’s University of Technology North Bankok, Thailand)
Xiaocan Wang (Technical University Munich, Germany)
Xiaofeng Su (Beijing Institute of Astronautical Systems Engineering, P. R. China)-7©ICAROB 2022 ALife Robotics Corp. Ltd.

Xiaoyan Chen (Tianjin University of Science and Technology, P. R. China)
Xiaoyan Fu (Capital Normal University, P. R. China)
Xuemei Ren (Beijing Institute of Technology, P. R. China)
Xuhui Lu (Beihang University, P. R. China)
Yan Cui (Shanxi Normal University, P. R. China)
Yasunori Takemura (Nishinippon Institute of Technology, Japan)
Yo Horikawa (Kagawa University, Japan)
Yongqiang Qi (China University of Mining and Technology, P. R. China)
Yoshihiro Kita (Tokyo Institute of Technology, Japan)
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)
HISTORY
The International Conference on Artificial Life and Robotics (ICAROB) resulted from the AROBsymposium (International Symposium on Artificial Life and Robotics) whose first edition was held in1996 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 andTechnology Policy Bureau, the Ministry 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 of Aerospace
Research and Development (AFOSR/AOARD), USA. I would like to express my sincere thanks to not
only Monkasho (annually fund support from 1996 to 2013) but also JSPS, the Commemorative-8©ICAROB 2022 ALife Robotics Corp. Ltd.

Organization for the Japan World Exposition ('70), and various other Japanese companies for theirrepeated support. The old symposium (this symposium has been held every year at B-Con Plaza,
Beppu, Oita, Japan except in Oita, Japan (AROB 5th ’00) and in Tokyo, Japan (AROB 6th ’01).) was
organized by the International Organizing Committee of AROB and was co-operated by the Santa Fe
Institute (USA), RSJ, IEEJ, ICASE (Now ICROS) (Korea), CAAI (P. R. China), ISCIE, IEICE, IEEE (Japan
Council), JARA, and SICE. The old AROB-symposium expanded much by absorbing much newknowledge and technologies into it. This history and character of the former AROB symposiums are
passed on the current ICAROB conference and to these journals, Journal of Robotics, Networking andArtificial Life (JRNAL) & Journal of Advances in Artificial Life Robotics (JAALR). From now on, ALife
Robotics Corporation Ltd. is in charge of management of both the conference and the journals. The
future of the ICAROB is brilliant from a point of view of yielding new technologies to human society
in the 21st century. We also expect to establish an international research institute on Artificial Lifeand Robotics in the future with the help of Japanese Government and ICAROB. This conference invites
you all.
AIMS AND SCOPE
The objective of this conference is the development of new technologies for artificial life and robotics
which have been recently born in Japan and are expected to be applied in various fields. Thisconference presents original technical papers and authoritative state-of-the-art reviews on thedevelopment of new technologies concerning robotics, networking and artificial life and, especiallycomputer-based simulation and hardware for the twenty-first century. This conference covers abroad 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-9©ICAROB 2022 ALife Robotics Corp. Ltd.

Fuzzy control
Genetic algorithms
Human-welfare robotics
Image processing
Insect-like aero vehicles
Intelligence in biological systems
Intelligent control
Management of technology
Medical surgical robot
Micro-machines
Multi-agent systems
Nano-biology
Nano-robotics
Networking
Neural circuits
Neuro-computer
Neuromorphic Systems
Neuroscience
Pattern recognition
Quantum computing
Reinforcement learning system & genetic programing
Robotics
Software development support method
System cybernetics
Unmanned underwater vehicles
Unmanned Aerial Systems Technologies
Unmanned Aerial Systems designing, controls and navigation
Unmanned Aero vehicles
Virtual reality
Visualization
Hardware-oriented submissions are particularly welcome. This conference will discuss new results inthe field of artificial life and robotics
COPYRIGHTS
Accepted papers will be published in the proceeding of The 2022 International Conference on
Artificial Life and Robotics (ICAROB2022) by ALife Robotics Corp. Ltd. Copyright belongs to ALife
Robotics Corp. Ltd. Some of high-quality papers in the proceeding will be requested to re-submit theirpapers for the consideration of publication in Journal of Robotics, Networking and Artificial Life
(JRNAL) & Journal of Advances in Artificial Life Robotics under agreement of both Editor-in- Chief Dr.
Masanori Sugisaka and 3 reviewers. All correspondence related to the conference should be
addressed to ICAROB Office.

- 10 ©ICAROB 2022 ALife Robotics Corp. Ltd.

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/- 11 ©ICAROB 2022 ALife Robotics Corp. Ltd.

MESSAGES

Masanori Sugisaka
General Chair of ICAROB

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

It is my great honor to invite you all to The 2022 International Conferenceon Artificial Life and Robotics (ICAROB 2022). This Conference is changed as
the old symposium from the first (1996) to the Eighteenth (2013) annuallywhich were organized by Oita University and ALife Robotics Corporation
Ltd. under the sponsorship of the Science and Technology Policy Bureau,
the Ministry of Education, Science, Sports, and Culture (Monbusho),presently, the Ministry of Education, Culture, Sports, Science, andTechnology (Monkasho), Japanese Government, Japan Society for the
Promotion of Science (JSPS), The Commemorative Organization for theJapan World Exposition (’70), Air Force Office of Scientific Research, Asian
Office of Aerospace Research and Development (AFOSR/AOARD), USA. I
would like to express my sincere thanks to not only Monkasho (annuallyfund support from 1996 to 2013) but also JSPS, the Commemorative
Organization for the Japan World Exposition (’70), Japanese companies fortheir repeated support.
The old symposium was organized by International Organizing Committeeof AROB and was co-operated by the Santa Fe Institute (USA), RSJ, IEEJ,ICASE (Now ICROS) (Korea), CAAI (P. R. China), ISCIE, IEICE, IEEE (Japan
Council), JARA, and SICE. The old AROB symposium was growing up by
absorbing many new knowledge and technologies into it. This history andcharacter was inherited also from ICAROB2014(The 2014 International
Conference on Artificial Life and Robotics, included a series of ICAROB
proceedings in SCOPUS and CPCI-Web of Science now. From now on, ALife
Robotics Corporation Ltd. is in charge of management. This year we have
The 2022 International Conference on Artificial Life and Robotics(ICAROB2022) (27th 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(ICAROB2022) 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.

- 12 ©ICAROB 2022 ALife Robotics Corp. Ltd.

Yingmin Jia

Yingmin Jia
Co-General Chair

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

Co-General Chair of ICAROB
It is my great pleasure to invite you to The 2022 International Conferenceon Artificial Life and Robotics (ICAROB 2022), Oita, Japan, January 20-23,
2022. Because of the influence of COVID-19, The ICAROB2022 will be held
on-line again, and your understanding and support will be the biggest
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 27th birthday in 2022. 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 ICAROB2022.

- 13 ©ICAROB 2022 ALife Robotics Corp. Ltd.

Takao Ito
Co General Chair of ICAROB

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

It is my great honor to invite you all to the 2022 International Conferenceon Artificial Life and Robotics (ICAROB 2022) which will be held online fromJanuary 20 to 23, 2022.
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 many manuscripts in high-quality proceedings as well as highly
reputed journals every year.
Over the years, dramatic improvements have been made in the field ofartificial life and its applications. The ICAROB has provided a foundation forunifying the exchange of scientific information on the studies of man-madesystems that exhibit the behavioral characteristics of natural living systems,
including software, hardware, and wetware. Our conference shapes thedevelopment of artificial life, extending our empirical research beyond theterritory circumscribed by life-as-we-know-it and into the domain of lifeas-it-could–be. It will provide us a good place to present our new research
results, innovative ideas, and valuable information about artificial
intelligence, complex systems theories, robotics, and management oftechnology.
This conference is online. I eagerly look forward to personally meeting you
in online, during the ICAROB 2022 and to sharing a most pleasant,interesting, and fruitful conference with you. Do come and make thisconference a fruitful, productive as well as enjoyable event.

- 14 ©ICAROB 2022 ALife Robotics Corp. Ltd.

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 9th ICAROB 2022
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 9th
ICAROB.
I’m looking forward to meeting you at the 9th ICAROB in on line andwishing you all the best.

- 15 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

GENERAL SESSION TOPICS
GS1 Control System Applications (6)GS2 Learning Methods (5)GS3 Robotics (3)GS4 Applications (3)ORGANIZED SESSION TOPICS
OS1 Advanced Information Processing Applications (4)OS2 Advanced studies of interdisciplinary approach (4)OS3 Intelligent Systems and Robotics-1 (6)OS4 Intelligent Systems and Robotics -2- (5)OS5 Intelligent Control (5)OS6 Bio-inspired Artificial Vision -Systems andApplications- (5)OS8 Intelligent Systems and Robotics -3- (4)OS7 Media Information Processing, Music
Recommendation and Artificial Intelligence (4)OS9 Robot Control (10)OS10 Software Development Support Method (4)OS11 Applications of deep learning algorithms (9)OS12 Intelligent Measurements and Control Systems(8)
OS14 Biomedical Systems (4)OS13 Mathematical Informatics (5)OS15 Artificial Intelligence for Embedded Systems andRobotics (5)OS17 Advanced Robotics (8)OS16 Robotic Manipulation (4)OS19 Industrial Artificial Intelligence Robotics (7)OS20 Application studies on sensor and RFID system(6)
OS22 Advanced studies of network engineering (4)OS21 Visual Signal Processing and Human-welfare
Robotics I&II (6)OS23 Applications in Complex Systems (7)OS18 Natural Computing (3)OS24 Artificial Systems and Life (5)OS25 Information Applications and Cybersecurity (6)OS26 Intelligent Life and Data Analysis (6)OS27 Environmental Monitoring (5)OS28 Robot Competitions and Education (6)OS29 Advances in Marine Robotics and Their
Applications (8)OS31 Approaches to Post-Narratology that Combines
AI and Cognitive Science with Narratology (9)OS33 Signal Processing and Chaotic System (5)OS30 Intelligent Systems and Robotics -4- (6)OS32 Human-Machine Interface and Automation (9)OS34 Robotics Navigation and Control (3)- 16 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

TIME TABLE (1/20)

in Japan time

1/20(Thu.)

17:30-19:30

Group meeting for the conference (Conference Room ZOOM ID: 867 9702 9629)

1/23(Sun)

15:30-17:30

Group meeting for the next conference (Conference Room ZOOM ID: 867 9702 9629)

TIME TABLE (1/21)
1/21(Fri.)

Meeting Room 1

Meeting Room 2

Meeting Room 3

Meeting Room 4(ZOOM ID: 880 7966 0454)(ZOOM ID: 893 6690 0965)(ZOOM ID: 816 1412 9634)(ZOOM ID: 882 7162 1954)

8:409:00-10:00

Registration
OS1 Advanced Information Processing
Applications (4)Chair: Toru Hiraoka

OS22 Advanced studies of network
engineering (4)Chair: Wei Hong Lim

OS23 Applications in Complex
Systems (7) Chair: Masao Kubo
Will be end at 10:45

OS34 Robotics Navigation and Control(3) Chair: Jiwu Wang

10:00-10:20

Coffee break

10:20-10:50

Chair : Sakamoto Makoto Opening Ceremony (Conference Room ZOOM ID: 867 9702 9629)

11:00-12:00

Chair : Yingmin Jia (Conference Room ZOOM ID: 867 9702 9629)
Plenary Speech PS2
H. Yamamoto
Lunch

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

OS2 Advanced studies ofinterdisciplinary approach (4)Chair: Yousin Park

OS10 Software Development Support
Method (4)Chair: Tetsuro Katayama

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

OS14 Biomedical Systems (4)Chair: Taro Shibanoki

OS16 Robotic Manipulation (4)Chair: Kensuke Harada

Coffee break
OS4 Intelligent Systems and Robotics-2- (5) chair: Haokang Wen
OS30 Intelligent Systems andRobotics -4- (6) chair: Jichao Zhao
OS33 Signal Processing and Chaotic
System (5) chair: Huailin Zhao

GS3 Robotics (3)GS4 Applications (3)GS3 Chair: Hideyuki Tanaka
GS4 Chair: Noritaka Sato

OS25 Information Applications andCybersecurity (6)Chair: I-Hsien Liu

15:50-16:10

coffee break

16:10-17:10

Chair: Kazuo Ishii (Conference Room ZOOM ID: 867 9702 9629)
Plenary Speech PS1
Henrik Hautop Lund
Coffee break

17:10-17:30- 17 ©ICAROB 2022 ALife Robotics Corp. Ltd.

OS28 Robot Competitions andEducation (6)Chair: Kazuo Ishii

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

Chair: Rishav Bose & Luigi Pagliarini (Conference Room)
Invited Speech IS1, IS2
Luigi Pagliarini, Rishav Bose

17:30-18:30

TIME TEBLE (1/22)
1/22(Sat.)

Meeting Room 1

Meeting Room 2

Meeting Room 3

Meeting Room 4(ZOOM ID: 880 7966 0454)(ZOOM ID: 893 6690 0965)(ZOOM ID: 816 1412 9634)(ZOOM ID: 882 7162 1954)

8:409:00-10:30

Registration
OS13 Mathematical Informatics (5)Chair: Takao Ito

OS6 Bio-inspired Artificial Vision –OS15 Artificial Intelligence for
Systems and Applications- (5)Embedded Systems and Robotics (5)Chair: Shinsuke Yasukawa
Chair: Hakaru Tamukoh
Coffee break

GS1 Control System Applications (6)Chair: Hiroaki Wagatsuma

OS5 Intelligent Control (5)Chair: Yingmin Jia

GS2 Learning Methods (5)Chair: Masato Nagayoshi

OS27 Environmental Monitoring (5)Chair: Kazuo Ishii

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

OS24 Artificial Systems and Life (5)Chair: Kuo-Hsien Hsia

12:00-13:00

Lunch

13:00-14:00

Chair : Eiji Hayashi (Conference Room ZOOM ID: 867 9702 9629)
Plenary Speech PS3
Takao Ito

14:00-14:20

Coffee break

14:20-15:20

OS21-1 Visual Signal Processing andHuman-welfare Robotics I&II (4)Chair: Joo Kooi Tan

OS19-1 Industrial Artificial
Intelligence Robotics (4)Chair: Eiji Hayashi

OS26-1 Intelligent Life and Data
Analysis (4)Chair: I-Hsien Liu
Coffee breakOS29-1 Advances in Marine Robotics
and Their Applications (4)chair: Keisuke Watanabe

OS21-2 Visual Signal Processing andHuman-welfare Robotics I&II (2)Chair: Joo Kooi Tan

OS19-2 Industrial Artificial
Intelligence Robotics (3)Chair: Eiji Hayashi

OS26-2 Intelligent Life and Data
Analysis (2)Chair: I-Hsien Liu
Coffee breakOS29-2 Advances in Marine Robotics
and Their Applications (4)chair: Keisuke Watanabe

OS11-1 Applications of deep learning
Algorithms (4)Chair: Xiaoyan Chen

OS18 Natural Computing (3)Chair: Marion Oswald

15:20-15:30
15:30-16:30

16:30-16:40
16:40-17:40

Coffee break

17:40-17:50
17:50-19:05

OS17-1 Advanced Robotics (4)Chair: Evgeni Magid

OS11-2 Applications of deep learning
Algorithms (5)Chair: Xiaoyan Chen

OS17-2 Advanced Robotics (4)Chair: Evgeni Magid- 18 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

TIME TABLE (1/23)
1/23(Sun.)

Meeting Room 1

Meeting Room 2

Meeting Room 3

Meeting Room 4(ZOOM ID: 880 7966 0454)(ZOOM ID: 893 6690 0965)(ZOOM ID: 816 1412 9634)(ZOOM ID: 882 7162 1954)

8:409:00-10:30

Registration
OS3 Intelligent Systems andRobotics-1 (6) chair: Peng Lu
OS8 Intelligent Systems and Robotics-3- (4) chair: Tianyi Zhang

OS9-1 Robot Control (6)Chair: Yizhun Peng

10:30-10:50
10:50-11:50

OS31 Approaches to PostNarratologythat Combines AI and Cognitive
Science with Narratology (6)Chair: Jumpei Ono

Coffee break
OS7 Media Information Processing,Music Recommendation and
Artificial Intelligence (4)Chair: Yasunari Yoshitomi

OS9-2 Robot Control (4)Chair: Yizhun Peng

OS31-2 Approaches to PostNarratology (3)that Combines AI and Cognitive
Science with Narratology (3)Chair: Jumpei Ono

11:50-13:00

Lunch

13:00-14:00

OS20-1 Application studies on sensor OS32-1 Human-Machine Interface
and RFID system (4)and Automation (4)chair: Ammar A.M. Al-Talib
Chair: Norrima Mokhtar
Coffee breakOS12-1 Intelligent Measurements
and Control Systems (4)Chair: Xiaoyan Chen

OS20-2 Application studies on sensor
and RFID system (2)chair: Ammar A.M. Al-Talib

OS12-2 Intelligent Measurements
and Control Systems (4)Chair: Xiaoyan Chen

14:00-14:10
14:10-15:25- 19 ©ICAROB 2022 ALife Robotics Corp. Ltd.

OS32-2 Human-Machine Interface
and Automation (5)Chair: Norrima Mokhtar

The 2022 International Conference on
ARTIFICIAL LIFE AND ROBOTICS(ICAROB2022)
January 20 (Thursday)
17:30-19:30
Group meeting for the conference

January 21 (Friday)
10:20-10:50

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

Masanori Sugisaka (ALife Robotics Co., Ltd., Japan)
Yingmin Jia (Beihang University, China)
TaKao Ito (Hiroshima University, Japan)
Ju-Jang Lee (KAIST, Korea)

January 23 (Sunday)
15:30-17:30
Group meeting for the next conference- 20 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

TECHNICAL PAPER INDEXJanuary 21 (Friday)
8:40-Registration
Conference Room
10:20-10:50 Opening Ceremony
Chair: Sakamoto Makoto (University of Miyazaki, Japan)

11:00-12:00
Plenary Speech PS2
Chair: Yingmin Jia (Beihang University, China)
PS2 Road To Cyber Physical Factory (Application Examples of Intelligent Factory and its Technology)
Hidehiko Yamamoto (Gifu University, Japan)
16:10-17:10
Plenary Speech PS1
Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
PS1 Robotics for Growing Life
Henrik Hautop Lund (Technical University of Denmark, Denmark)17:30-18:00
Invited Speech IS1
Chair: Rishav Bose (Technical University of Denmark, Denmark)IS1-1 A physical to virtual control system implementing an art-based gameIS1-2 Creative Multisensory Environments
Luigi Pagliarini (Technical University of Denmark, Denmark, Academy of Fine Arts of Macerata, Italy)
18:00-18:30
Invited Speech IS2
Chair: Luigi Pagliarini(Technical University of Denmark, Denmark, Academy of Fine Arts of Macerata, Italy)
IS2-1 Using GrowBots to Study Heat and Nutrient Stress in BasilIS2-2 Convolutional Neural Network for Studying Plant Nutrient Deficiencies
Rishav Bose (Technical University of Denmark, Denmark)- 21 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

Meeting Room 1
9:00-10:00 OS1 Advanced Information Processing Applications (4)Chair: Toru Hiraoka (University of Nagasaki, Japan)
Co-Chair: Masaharu Hirota (Okayama University of Science, Japan)
OS1-1

Generation of Checkered Pattern Images Using Prewitt Filter from RGB-D Images
Toru Hiraoka, Ryosuke Takaki (University of Nagasaki, Japan)

OS1-2

An Approach of Analyzing Movement Patterns Using Word Embeddings from Geo-tagged Tweets
Masaharu Hirota, Tetsuya Oda (Okayama University of Science, Japan)

OS1-3

A Proposal of a Software Defect Predication System Using SOM
Yoshihiro Kita1, Kazuki Ueda2, Kiyotaka Sakurai2(1University of Nagasaki, 2Nihon Knowledge Co. Ltd, Japan)

OS1-4

Mapping the Motion of Highly-inclined Triple System into a Secular Perturbation Model
Masaya M. Saito (University of Nagasaki, Japan)
Kiyotaka Tanikawa (National Astronomical Observatory, Japan)

13:00-14:00 OS2 Advanced studies of interdisciplinary approach (4)Chair: Yousin Park (Prefectural University of Hiroshima, Japan)
Co-Chair：Takao Ito (Hiroshima University, Japan)
OS2-1

Measuring the entire degree centrality in Yokokai
Tsutomu Ito1, Matsuno Seigo1, Sakamoto Makoto2, Takao Ito3
(1Ube National College of Technology, Japan) (2Univeristy of Miyazaki, Japan)(3Hiroshima University, Japan)

OS2-2

A comparative study on Michinoeki’s efficiency in Japan
Tsutomu Ito1, Matsuno Seigo1, Sakamoto Makoto2, Takao Ito3
(1Ube National College of Technology, Japan) (2Univeristy of Miyazaki, Japan)(3Hiroshima University, Japan)

OS2-3

The R&D Direction and Business Strategy: The case study on the cooperation of EV
and battery makers
Yousin Park1, Iori Nakaoka2, Yun-ju Chen3(1Prefectural University of Hiroshima, Japan) (2Seijoh University, Japan)(3Shiga University, Japan)

OS2-4

Discovering the relationship between tourists and tourist spots in Japan
Tsutomu Ito1, Matsuno Seigo1, Sakamoto Makoto2, Takao Ito3
(1Ube National College of Technology, Japan) (2Univeristy of Miyazaki, Japan)(3Hiroshima University, Japan)- 22 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

14:20-15:50 OS4 Intelligent Systems and Robotics -2- & OS30 Intelligent Systems and Robotics -4& OS33 Signal Processing and Chaotic System
OS4 Intelligent Systems and Robotics -2- (5)Chair: Haokang Wen (Tianjin University of Science and Technology, China)
Co-Chair: Jiaxin Li (Tianjin University of Science and Technology, China)
OS4-1

A Research on Image Dehazing Technology for Image Enhancement
Haokang Wen, Chang Sheng (Tianjin University of Science and Technology, China,)

OS4-2

Design of Intelligent Daylily Picking Robot
Jiaxin Li (Tianjin University of Science and Technology, China)

OS4-3

50KN Compression Spring Fatigue Testing Machine Design
Peng Lu, Peng Jia (Tianjin University of Science and Technology, China)

OS4-4

New Intelligent Unmanned Retail Shopping Container Design
Peng Lu, Yiting Gao (Tianjin University of Science and Technology, Tianjin, China)

OS4-5

Java-based Dream Cloud ERP System - Inventory Management Subsystem Design
and Implementation
Yiting Gao, Peng Lu (Tianjin University of Science and Technology, China)

OS30 Intelligent Systems and Robotics -4- (6)Chair Jichao Zhao (Tianjin University of Science and Technology, China)
Co-Chair Hucheng Wang (Tianjin University of Science and Technology, China)
OS30-1A Design of Micromouse Control System
Hucheng Wang (Tianjin University of Science and Technology, China)

OS30-2A Driver Reaction Time Detection System Design
Yuhui Cheng1, Mochi Li2 (1 Tianjin University of Science and Technology, China)(2 Ocean University of China, China)

OS30-3

A PID Tracking Car Design based on STM32
Yande Xiang, Teng Zhang, Shixiang Zhao, Ling Zhou, Mingjuan Tian, Haoran Gong
(Tianjin University of Science and Technology, China)

OS30-4

Matrix Approach to Current-state Detectability of Discrete-event Systems
Jinliang Wang, Jiawei Wei, Xiaoguang Han(Tianjin University of Science and Technology, China)

OS30-5

Hardware Circuit Design Of Tracking Car Based On K60
Peng Jia, Yande Xiang (Tianjin University of Science and Technology, China)- 23 -©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS30-6

Detachable IoT Garbage Sorting Device Based on Machine Vision
Tao Zhu, Yang Su, Zhiqing Xiao, Fengzhi Dai(Tianjin University of Science and Technology, China)

OS33 Signal Processing and Chaotic System (5)Chair: Huailin Zhao (Shanghai Institute of Technology, China)
Co-Chair: Fengzhin Dai (Tianjin University of Science and technology, China)
OS33-1

A Visual Measurement Algorithm of Approaching Vehicle Speed Based on Deep
Learning
Yurong Zhu, Huailin Zhao, Liu Junjie, Zhang Jinping, Ji Xiaojun(Shanghai Institute of Technology, China)

OS33-2

Target Search Based on Scene Priors
Shengyang Lu, Lanjun Liang, Huailin Zhao, Fangbo Zhou, Feng yao(Shanghai Institute of Technology, China)

OS33-3A Generalized Hamiltonian Conservative Systems with Multi-scroll Chaotic Flows
Jingwen Liu, Zhonggao Chen (Tianjin University of Science and Technology, China)

OS33-4Multi-stability and FPGA Implementation of a Conservative Chaotic System
Minghan Song (Tianjin University of Science and Technology, China)

OS33-5

A New Hyperchaotic Financial System
Lei Gong (Tianjin University of Science and Technology, China)

Meeting Room 2
9:00-10:00 OS22 Advanced studies of network engineering (4)Chair Wei Hong Lim (UCSI University, Malaysia)
Co-Chair Takao Ito (Hiroshima University, Japan)
OS22-1

New Hybridization Algorithm of Differential Evolution and Particle Swarm
Optimization for Efficient Feature Selection
Koon Meng Ang, Mohd Rizon Bin Mohamed Juhari, Wei Hong Lim, Sew Sun Tiang,
Chun Kit Ang, Eryana Eiyda Hussin, Li Pan, Ting Hui Chong(UCSI University, Malaysia)

OS22-2

River Water Quality Monitoring Through LoRa Network
Syarifah Nabilah Syed Taha Tahir, Mohamad Sofian Abu Talip, Mahazani Mohamad,
Mohamadariff Othman, Tengku Faiz Tengku Mohmed Noor Izam, Mohd Faiz Mohd
Salleh, Zati Hakim Azizul Hasan, Zeeda Fatimah Mohamad, Amir Feisal Merican
Aljunid Merican (Universiti Malaya, Malaysia)- 24 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS22-3

Wideband Antenna with UHF Sensor Applicability for MV/HV Equipment in SmartGrid Systems
S. M. Kayser Azam1, Mohamadariff Bin Othman1, Tarik Abdul Latef1, H. A. Illias1,
Mohd Fadzil Ain2, Yazeed Qasaymeh3 (1Universiti Malaya, Malaysia)(2Universiti Sains Malaysia, Malaysia) (3Majmaah University, Saudi Arabia)

OS22-4

New Particle Swarm Optimization Variant with Modified Neighborhood Structure
Koon Meng Ang1, Mohd Rizon Bin Mohamed Juhari1, Wy-Liang Cheng1, Wei HongLim1*, Sew Sun Tiang1, Chin Hong Wong2, Hameedur Rahman3, Li Pan1
(1UCSI University, Malaysia) (2Fuzhou University, China)(3Air University, Islamabad, Pakistan)

13:00-14:00 OS10 Software Development Support Method (4)Chair: Tetsuro Katayama (University of Miyazaki, Japan)
Co-Chair: Tomohiko Takagi (Kagawa University, Japan)
OS10-1

N-Switch and All-Path Test Coverage Criterion for Extended Finite State Machine
Tomohiko Takagi1, Koichiro Sakata1, Kouichi Akiyama2(1Kagawa University, Japan), (2Japan WillTech Solution Co., Ltd., Japan)

OS10-2

Proposal of a Method to Generate Classes and Instance Variable Definitions in the
VDM++ Specification from Natural Language Specification
Kensuke Suga1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro
Aburada1, Naonobu Okazaki1(1University of Miyazaki, Japan), (2University of Nagasaki, Japan)

OS10-3

Expansion of Application Scope and Addition of a Function for Operations into
BWDM to Generate Test Cases from VDM++ Specification
Takafumi Muto1, Tetsuro Katayama1, Yoshihiro Kita2,
Hisaaki Yamaba1, Kentaro Aburada1, Naonobu Okazaki1(1University of Miyazaki, Japan), (2University of Nagasaki, Japan)

OS10-4

Proposal of Gamma which is a spatial data sharing distributed MQTT system
Takahiro Ueda1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro
Aburada1, Naonobu Okazaki1(1University of Miyazaki, Japan), (2University of Nagasaki, Japan)

14:20-15:50 GS3 Robotics & GS4 Applications
GS3 Robotics (3)- 25 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

GS3-1

A Three-Dimensional Design of the Multi-material Joint System to Realize a Structural SpringDamper Compliant Mechanism with Versatility in Engineering Fields
Pancho Dachkinov1, Anirudha Bhattacharjee2, Bishakh Bhattacharya2, Hiroaki Wagatsuma1,3(1Kyushu Institute of Technology, Japan; 2Indian Institute of Technology Kanpur, India; 3RIKEN
CBS, Japan)

GS3-2

Haptic Device that Presents Sensation Corresponding to Palm on Back of Hand
for Teleoperation of Robot Hand Report 5: Verification of development device specifications
Kyosuke Ushimaru, Noritaka Sato (Nagoya Institute of Technology, Japan)

GS-3-3HBV Epidemic Control Using Time-Varying Sliding Mode Control Method
Arsit Boonyaprapasorn1, Suwat Kuntanapreeda2, Parinya Sa Ngaimsunthorn2,
Thunyaseth Sethaput3, Tinnakorn Kumsaen4(1Chulachomklao Royal Military Academy, Thailand)(2King Mongkut’s University of Technology North Bangkok, Thailand)(3Thammasat University, Thailand) (4Khon Kaen University, Thailand)

GS4 Applications (3)Chair: Noritaka Sato (Nagoya Institute of Technology, Japan)
GS4-1

Blockchain Technology for Halal Supply Chain Management
Kadeer Zulihuma, Abdul Samad Shibghatullah, Chit Su Mon(UCSI University, Malaysia)

GS4-2

Smart Tourism Guide Application Using Location-Based Services – Go.Travel
Wong Yit Meng, Abdul Samad Bin Shibghatullah, Kasthuri Subaramaniam(UCSI University, Malaysia)

GS4-3

Gesturenomy: Touchless Restaurant Menu Using Hand Gesture Recognition
Ian Christian Susanto, Kasthuri Subaramaniam, Abdul Samad Bin Shibghatullah(UCSI University, Malaysia)

Meeting Room 3
9:00-10:45 OS23 Applications in Complex Systems (7)Chair: T Masao Kubo (National Defense Academy, Japan)
Co-Chair: Hiroshi Sato (National Defense Academy, Japan)
OS23-1

A research of infectivity rate After the Consecutive Holidays
Saori Iwanaga (Japan Coast Guard Academy, Japan)

OS23-2

Towards the Trusted Population-Based Optimization Systems
Hiroshi Sato, Masao Kubo (National Defense Academy, Japan)- 26 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS23-3

Spatio-temporal prediction of crime occurrence spots by CNN-LSTM
Kaede Yaji, Masao Kubo, Hiroshi Sato (National Defense Academy, Japan)

OS23-4

Cross-View Image Geo-Localization using Multi-Scale Generalized Pooling with Attention Mechanism
Duc Viet Bui, Masao Kubo, Hiroshi Sato (National Defense Academy, Japan)

OS23-5

Recommendation a Emergency Patient Destinations by LightGBM
Ryota Kawaguchi, Masao Kubo, Hiroshi Sato (National Defense Academy, Japan)

OS23-6

A Framework for Understanding the Neural Underpinnings of Symbolic and Non-SymbolicCommunication Based on Global Synchronization in Human Brain Activity
Masayuki Fujiwara, Takashi Hashimoto (Japan Advanced Institute of Science and Technology, Japan)

OS23-7

Characterization of randomness tests by using tests results of weakly correlated chaotic sequences
Akihiro Yamaguchi (Fukuoka Institute of Technology), Asaki Saito (Future University Hakodate, Japan)

13:00-14:00 OS14 Biomedical Systems (4)Chair: Taro Shibanoki (Okayama University, Japan)
OS14-1

A Mutual Control Method for a Multi-layered Non-contact Impedance Model-based
mobile robots
Masaru Sasaki1, Taro Shibanoki2, Hideyuki Tonooka1, Toshio Tsuji3(1Ibaraki University, Japan), (2Okayama University, Japan)(3Hiroshima University, Japan)

OS14-2

Relationship Between Delay Time and Sensation in Tactile Feedback for Myoelectric
Prosthesis
Taro Shibanoki (Okayama University, Japan), Kosuke Jin (Ibaraki University, Japan)

OS14-3

Effects of Tactile Stimulation Near the Auricle on Body Sway During Foot Stamping
Masaya Tadokoro1, Taro Shibanoki2, Hideyuki Tonooka1(1Ibaraki University, Japan), (2Okayama University, Japan)

OS14-4

A Monitoring System of a Hamster Based on Video Image Analysis
Yugo Yamazaki1, Taro Shibanoki2, Hideyuki Tonooka1(1Ibaraki University, Japan), (2Okayama University, Japan)

14:20-15:50 OS25 Information Applications and Cybersecurity (6)Chair: I-Hsien Liu (National Cheng Kung University, Taiwan)
Co-Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)

OS25-1

Extendable ICS Honeypot Design with Modbus/TCP
I-Hsien Liu, Jun-Hao Lin, Hsin-Yu Lai, Jung-Shian Li (National Cheng Kung University, Taiwan)- 27 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS25-2

Industrial Control System Cybersecurity Testbed with TSN Feature
I-Hsien Liu, Li-Yin Chang, Jung-Shian Li (National Cheng Kung University, Taiwan)
Chuan-Gang Liu (Chia Nan University of Pharmacy & Science, Taiwan)

OS25-3Using the Modified Delphi Method to Construct the Quality Indicators of the Counseling Service
System
Li-Min Chuang, Hsiu-Hao Liu (Chang Jung Christian University, Taiwan)

OS25-4

The Key Success Factors of Introducing ERP System in Taiwan's Manufacturing Industry
Li-Min Chuang, Yu-Po Lee (Chang Jung Christian University, Taiwan)

OS25-5The Fuzzy AHP approach for intelligent building assessment model
Li-Min Chuang, Yu-Po Lee (Chang Jung Christian University, Taiwan),
Chien-Chih Kuo (Chien Chang Construction Co., Ltd.)

OS25-6Blockchain-based Verification Mechanism for Industrial Control System
Yao-Chu Tsai, I-Hsien Liu and Jung-Shian Li (National Cheng Kung University, Taiwan)

Meeting Room 4
9:00-9:45 OS34 Robotics Navigation and Control (3)Chair: Jiwu Wang (Beijing Jiaotong University, China)
Co-Chair: Shilong Zhen (Beijing Jiaotong University, China)
OS34-1

Research on Path Planning Algorithms of Multiple Mobile Robots in Intelligent
Warehousing
Jiwu Wang, Shilong Zheng (Beijing Jiaotong University, China)

OS34-2

Research on the effectiveness of improved ORB depth estimation in monocularvision slamJiwu Wang, Weipeng Wan (Beijing Jiaotong University, China)

OS34-3

Research on Research on Corner Detection Algorithm Based on Edge Contour in
Automatic Loading Positioning
Jiwu Wang, Junwei Fu (Beijing Jiaotong University, China)

13:00-14:00 OS16 Robotic Manipulation (4)Chair: Kensuke Harada (Osaka University, Japan)
Co-Chair: Tokuo Tsuji (Kanazawa University, Japan)
Co-Chair: Akira Nakamura (Saitama Institute of Technology, Japan)
OS16-1

Motion Planning for Retrieving an Object in a Complex Environment
Shusei Nagato, Tomohiro Motoda, Keisuke Koyama, Weiwei Wan, Kensuke Harada(Osaka University, Japan)- 28 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS16-2

Design and Control of Two-sided Gripper for Bin Picking
He Maike, Tokuo Tsuji, Tatsuhiro Hiramitsu, Hiroaki Seki
(Kanazawa University, Japan)

OS16-3Training Data Augmentation for Semantic Segmentation of Food Images Using Deep
Learning
Takayuki Yamabe, Tatsuya Ishichi, Tokuo Tsuji, Tatsuhiro Hiramitsu, Hiroaki Seki
(Kanazawa University, Japan)

OS16-4

Suitable Error Recovery Process using Combined Evaluation Standards in Robotic
Manufacturing Plant
Akira Nakamura1, Kensuke Harada2(1Saitama Institute of Technology, 2Osaka University, Japan)

14:20-15:50 OS28 Robot Competitions and Education (6)Chair: Kazuo Ishii (Kyushu Institute of Technology, Japan)
Co-Chair: Yasunori Takemura (Nishinippon Institute of Technology, Japan)
OS28-1

Underwater Acoustic Positioning Based on MEMS Microphone for a Portable Autonomous
Underwater Vehicle
Irmiya R. Inniyaka, Dominic B. Solpico, Daiki Hamada, Akihiro Sugino, Rikuto Tanaka,
Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS28-2Autonomous Underwater Vehicle with Vision-based Navigation System for Underwater Robot
Competition
Kazuki Harada, Riku Fukuda, Yusuke Mizoguchi, Yusuke Yamamoto, Kouta Mishima,
Yoshiki Tanaka, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS28-3

Tomato Harvesting in Greenhouse Considering the Effect of Sunlight
Kai Shioji, Shinsuke Yasukawa, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS28-4

Inter-University Collaboration Aimed at Integrating Different Robotic Fields: Development ofUnderwater Robots and Soccer Robots Through these Competitions
Moeko Tominaga1, Jonghyun Ahn2, Yasunori Takemura1, Kazuo Ishii3(1Nishinippon Institute of Technology, Japan, 2Hiroshima Institute of Technology, Japan, 3Kyushu
Institute of Technology, Japan)

OS28-5

Exercise on Environmental Monitoring and Control of Greenhouse by IoT Devices toward Smart
Agriculture
Yuya Nishida, Ryugo Mochizuki, Shinsuke Yasukawa, Kazuo Ishii(Kyushu Institute of Technology, Japan)- 29 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS28-6

Evaluation of roller arrangement of sphere by omnidirectional integral value
1
Kenji Kimura, 2Yusuke Abematsu, 3Hirai Hiroyasu, 3Kazuo Ishi
(1Fukuoka Daiichi High School, Japan, 2Kagoshima Gyokuryu High School, Japan,
2
Kyushu Institute of Technology, Japan)

January 22 (Saturday)
8:40-Registration
Conference Room
13:00-14:00
Plenary Speech PS3
Chair: Eiji Hayashi (Kyushu Institute of Technology, Japan)
PS3 Robot Technology, and it’s Development Trend–Developing a New Networking Robot SystemTakao Ito (Hiroshima University, Japan)
Meeting Room 1
9:00-10:15 OS13 Mathematical Informatics (5)Chair: Takao Ito (Hiroshima University, Japan)
Co-Chair: Makoto Sakamoto (University of Miyazaki, Japan)
OS13-1

Basic Study on Design Tool of Hula Costumes
Taketo Kamasaka1, Kodai Miyamoto1, Makoto Sakamoto1, Satoshi Ikeda1, Amane Takei1, Kenji
Aoki1, Tsutomu Ito2, Takao Ito3 (1University of Miyazaki, Japan), (2National Institute of Technology,
Ube College, Japan)(3Hiroshima University, Japan)

OS13-2

Basic Study on the Use of XR Technology to Support Science Education
Kodai Miyamoto1, Taketo Kamasaka1, Makoto Sakamoto1, Masahiro Yokomichi1, Satoshi Ikeda1,
Amane Takei1, Tsutomu Ito2, Takao Ito3
(1University of Miyazaki, Japan), (2National Institute of Technology, Ube College, Japan),(3Hiroshima University, Japan)

OS13-3

Analysis of 5x5 board Quoridor
Takuro Iwanaga, Makoto Sakamoto, Takao Ito, Satoshi Ikeda(University of Miyazaki, Japan)

OS13-4

A perfect play in 4×12 board of Othello
Tomoyasu Toshimori, Makoto Sakamoto, Takao Ito, Satoshi Ikeda(University of Miyazaki, Japan)- 30 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS13-5

Parallel full-wave electromagnetic field analysis based on domain decomposition method
Amane Takei, Kento Ohnaka, Makoto Sakamoto (University of Miyazaki, Japan)

10:45-12:00 OS5 Intelligent Control (5)Chair: Yingmin Jia (Beihang University, China)
Co-Chair: Weicun Zhang (University of Science and Technology Beijing, China)
OS5-1

Geometry Structure Oriented Nonlinear Internal Model Based Manifold Consensus
Yunzhong Song1, Weicun Zhang2, Fengzhi Dai3, Huimin Xiao4, Shumin Fei5
(1Henan Polytechnic University, China), (2University of Science and Technology Beijing, China)(3Tianjin University of Science and Technology, China), (4Henan University of Economics and Law,
China), (5South East University, China)

OS5-2Consensus Control of Linear Discrete-time Multi-agent Systems with Limited
Communication Data Rate
Jintao Hu, Yingmin Jia, Yaxin Li (Beihang University, China)

OS5-3

Formation control for rectangular agents with communication maintenance and collision
avoidance
Yaxin Li, Yingmin Jia, Jintao Hu (Beihang University, China)

OS5-4

Research on Sign Language Recognition Algorithm Based on Improved R(2+1)D
Yueqin Sheng1, Qunpo Liu1, Naohiko Hanajima2, Bo Su1(1Henan Polytechnic University, China), (2Muroran Institute of Technology, Japan)

OS5-5

Directional Flocking of Multi-Agent system Caused by Limited Visual Field
Yongnan Jia1, Yong Xie2, Weicun Zhang1(1University of Science and Technology Beijing, China)(2The System Design Institute of Mechanical-Electrical Engineering, China)

14:20-16:15 OS21 Visual Signal Processing and Human-welfare Robotics I&II (7)Chair: Joo Kooi Tan (Kyushu Institute of Technology, Japan)
Co-Chair: Nobuo Sakai (Kyushu Institute of Technology, Japan)
OS21-1

Object Acquisition Based on Human-Robot Cooperation
Kota Ito, Masuhiro Nitta, Seiji Ishikawa, Joo Kooi Tan(Kyushu Institute of Technology, Japan)

OS21-2Development of Musculoskeletal Walking Simulator for Analysis of Human Walking
and Rehabilitation
Nobuo Sakai, Yukiho Ryu, Tsubasa Ikeda, Mochimitsu Komori (Kyushu Institute ofTechnology), Masako Fuchi (Kyushu Nutrition Welfare University), Katsuki Hayashi(Seiai Rehabilitation Hospital)- 31 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS21-3Collision Avoidance in a Human-Robot Coexistence Food Preparation Environment
Using Hands Area Extraction
Takaaki Yotsumoto, Yuta Ono, Masuhiro Nitta, Joo Kooi Tan(Kyushu Institute of Technology, Japan)

OS21-4

Supporting Safe Walk at a Railway Station Platform for a Visually Impaired Person
Based on MY VISION
Yuki Kawaguchi, Seiji Ishikawa, Takashi Shinomiya*, Joo Kooi Tan(Kyushu Institute of Technology, Japan, *N&N Inc., Japan)

OS21-5Detecting a Pedestrian’s Walk Direction Using MY VISION for Supporting Safe Walkof a Visually Impaired Person
Shinya Iizumi, Yuta Ono, Masuhiro Nitta, Seiji Ishikawa, Joo Kooi Tan(Kyushu Institute of Technology, Japan)

OS21-6Fruits and Vegetables detection using the improved YOLOv3
Changhua Xu, Ziyue Liu, Masuhiro Nitta, Joo Kooi Tan (Kyushu Institute ofTechnology, Japan)

OS21-7

Strict frequency estimation of sinusoidal signal using sampling function(withdraw)
Masuhiro Nitta (Kyushu Institute of Technology, Japan)

16:40-19:05 OS11 Applications of deep learning algorithms (8)Chair: Xiaoyan Chen (Tianjin University of Science and Technology, China)
Co-Chair: Shiming Wang (Tianjin University of Science and Technology, China)
OS11-1

Human-vehicle detection based on YOLOv5
Zhihui Chen1, Xiaoyan Chen1, Xiaoning Yan2, Shuangwu Zheng2(1Tianjin University of Science and Technology, China)(2Shenzhen Softsz Co. Ltd., China)

OS11-2

Low light enhancement CNN Network based on attention mechanism
Xiwen liang1, Xiaoyan Chen1, Hao Feng1, Xiaoning Yan2, Nenghua Xu2(1Tianjin University of Science and Technology, China)(2Shenzhen Softsz Co. Ltd., China)

OS11-3

Fruit Recognition Based on YOLOX
Keying Ren1, Xiaoyan Chen1, Wangzi Chen1, Xiaoning Yan2, Dongyang Zhang1(1Tianjin University of Science and Technology, China)(2Shenzhen Softsz Co. Ltd., China)

OS11-4

An improved small target detection method based on YOLOv4
Xia Miao1, Xiaoyan Chen1, Keying Ren1, Zichen Wang1, Xiaoning Yan2, Yue Sun2
(1Tianjin University of Science and Technology, China)(2Shenzhen Softsz Co. Ltd., China)- 32 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS11-5

Yolov5-DP: A new method for detecting pedestrian aggregation
Kunzhi Yang1, Xiaoyan Chen1 Xiaoning Yan2, Dashuo Wu2(1Tianjin University of Science and Technology, China)(2Shenzhen Softsz Co. Ltd., China)

OS11-6

Flame Recognition based on Yolov5 Algorithm
Kunzhi Yang1, Xiaoyan Chen1 Xiaoning Yan2, Dongyang Zhang2(1Tianjin University of Science and Technology, China)(2Shenzhen Softsz Co. Ltd., China)

OS11-7

Research on face detection algorithm based on improved YOLOv5
Zhen Mao1, Xiaoyan Chen1, Xiaoning Yan2, Yuwei Zhao2(1Tianjin University of Science and Technology, China)(2Shenzhen Softsz Co. Ltd., China)

OS11-8Visibility analysis based on a novel A-VGGNet network
Zhen Mao1, Xiaoyan Chen1, Xiaoning Yan2, Shuangwu Zheng2(1Tianjin University of Science and Technology, China)(2Shenzhen Softsz Co. Ltd., China)

OS11-9Price Prediction of Diamonds
Xiran Wen, Qiqi Xu, Zirui Su, Jiayi Fang
(The Chinese University of Hong Kong, China)

Meeting Room 2
9:00-10:15 OS6 Bio-inspired Artificial Vision -Systems and Applications- (5)Chair: Shinsuke Yasukawa (Kyushu Institute of Technology, Japan)
Co-Chair: Yuki Hayashida (Mie University/Osaka University, Japan)
OS6-1

The effect of preprocessing with Gabor filters on image classification using CNNs
Akito Morita, Hirotsugu Okuno (Osaka Institute of Technology, Japan)

OS6-2

An image coding algorithm with color constancy using the Retinex theory and the Naka-Rushton
equation
Shota Hisamitsu, Hirotsugu Okuno (Osaka Institute of Technology, Japan)

OS6-3

A fast image sensor system with an efficient multi-scale Gaussian filtering circuit
Yuuki Yamaji, Akito Morita, Hirotugu Okuno (Osaka Institute of Technology, Japan)

OS6-4

A robotic vision system emulating fixational eye movements and retinal sampling
Takanori Yotsumoto1, Yuki Hayashida2, Shinsuke Yasukawa1(1Kyushu Institute of Technology), (2Mie University, Japan)- 33 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS6-5

A bench-test system of the cortical prostheses utilizing retino-morphic spike as the driver signalof intracortical microstimulation
Ryosuke Okada1, Shinnosuke Ishikawa2, Tetsufumi Tasaki2, Tetsuya Yagi2,3,
Yuki Hayashida1,2(1Mie University, 2Osaka University, 3Fukui University of Technology, Japan)

10:45-12:00 GS2 Learning Methods (5)Chair: Masato Nagayoshi (Niigata College of Nursing, Japan)
GS2-1

A basic study of how to exchange work shifts using reinforcement learning on a constructive nurse
scheduling system
Masato Nagayoshi (Niigata College of Nursing, Japan)
Hisashi Tamaki (Kobe University, Japan)

GS2-2

Developing Machine Learning and Deep Learning Models for Customer Churn Prediction in
Telecomunication Industry
Teoh Jay Shen, Abdul Samad Shibghatullah (UCSI University, Malaysia)

GS2-3

Liver Segmentation in CT Images Using Deep-Learning and 3D CRF
Shuntaro Nagano1, Guangxu Li2, Tohru Kamiya1(1Kyushu Institute of Technology, Japan), (2Tiangong University, Tianjin, China)

GS2-4Judgement on Shunt Sounds from Vascular Access using YOLO Deep Learning Model
1
Kyosuke Fujiwara, 1Takayuki Yamamoto, 1Lindsey Tate, 2Kazuya Kibune, 1Hiroki Tamura
1( University of Miyazaki, Japan), (2Tokatsu Dialysis Hospital & Clinics, Japan)

GS2-5

Research of Classification of Palmprint Based on Deep Learning
Kunyu Yu, Hiroshi Matsuki (Ashikaga University, Japan)

14:20-16:15 OS19 Industrial Artificial Intelligence Robotics (7)Chair: Eiji Hayashi (Kyushu Institute of Technology, Japan)
Co-Chair: Sakmongkon Chumkamon (Kyushu Institute of Technology, Japan)
OS19-1

Online Deep Reinforcement Learning on Assigned Weight Spaghetti Grasping in One time using
Soft Actor-Critic
Prem Gamolped, Sakmongkon Chumkamon, Tomofumi Tsuji, Nattapat Kloomklang, Chanapol
Piyavichayanon, Ranatchai Laosiripong, Eiji Hayashi (Kyushu Institute of Technology, Japan)

OS19-2

The research about editing system of performance information for player piano. -Inference in thesame phrase including ostinatoHaruna Yamasaki, Sakmongkon Chumkamon, Eiji Hayashi (Kyushu Institute of Technology, Japan)- 34 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS19-3Weight estimation for noodle products in food layout of a home replacement meal
Tomofumi Tsuji1, Sakmongkon Chumkamon1, Chanapol Piyavichayanon1, Prem Gamolped1,
Ranatchai Laosiripong1, Ayumu Tominaga2, Ryusuke Fujisawa1, Eiji Hayashi1(1Kyushu Institute of Technology, Japan)(2 National Institute of Technology, Kitakyushu College, Japan)

OS19-4

Cognition of surrounding conditions for a field robot Slope detection using a multilayer
perceptron classifier with point cloud as input –Takumi Tomokawa1, Sakmongkon Chumkamon1, Ayumu Tominaga2, Sylvain Geiser1, Ryusuke
Fujisawa1, Eiji Hayashi1(1Kyushu Institute of Technology, Japan)(2National Institute of Technology, Kitakyushu College, Japan)

OS19-5

Particle Filter Based SLAM For Forestry Robot
Sylvain Geiser1, Sakmongkon Chumkamon1, Ayumu Tominaga2, Takumi Tomokawa1, Eiji Hayashi1(1Kyushu Institute of Technology, Japan)(2 National Institute of Technology, Kitakyushu College, Japan)

OS19-6

Anomaly Detection using Autoencoder with Gramian Angular Summation Field in Time Series
Data
Umaporn Yokkampon1, Sakmongkon Chumkamon1, Abbe Mowshowitz2, Eiji Hayashi1(1Kyushu Institute of Technology, Japan), (2The City College of New York, USA)OS19-7Autonomous Robot Packaging Ready Meal in Conveyor Production Line
Sakmongkon Chumkamon, Tomofumi Tsuji, Prem Gamolped, Chanapol Piyavichayanon,
Umaporn Yokkampon, Eiji Hayashi (Kyushu Institute of Technology)

16:40-17:25 OS18 Natural Computing (3)Chair: Marion Oswald (Technische Universität Wien, Austria)
Co-Chair: Yasuhiro Suzuki (Nagoya University, Japan)
OS18-1An Acoustic Artificial Life System Using the Game of Life and its Application for Performing Arts
Yasuhiro Suzuki (Nagoya University Japan)

OS18-2The Effect of Non-audible Low Frequency, Deep Micro Vibrotactile, DMV Sounds on Music
Yasuhiro Suzuki (Nagoya University, Japan)

OS18-3

Response of Yeast to Low Frequency Sound Exposure
Yasuhiro Suzuki (Nagoya University, Japan)

Meeting Room 3
9:00-10:15 OS15 Artificial Intelligence for Embedded Systems and Robotics (5)Chair: Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
Co-Chair: Takuya Nanami (University of Tokyo, Japan)- 35 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS15-1

INT8 Activation Ternary or Binary Weights Networks
Ninnart Fuengfusin, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

OS15-2A parameter tuning method for PQN model
Daimon Sakai, Takuya Nanami, Takashi Kohno (University of Tokyo, Japan)

OS15-3

Hardware Development of Edge-Preserving Bubble Image Conversion in High-level Synthesis
Jiang Qin, Akira Yamawaki (Kyushu Institute of Technology, Japan)

OS15-4Development of Haze Removing Hardware Using High-Level Synthesis
Daiki Shirai and Akira Yamawaki (Kyushu Institute of Technology, Japan)

OS15-5

Automatic approximation of primitive shapes using point clouds
Yuma Yoshimoto, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)

10:45-12:00 OS24 Artificial Systems and Life (5)Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
Co-Chair: Chung-Wen Hung (National Yunlin-University of Science and Technology, Taiwan)
OS24-1An EtherCAT Based Delta Robot Synchronous Control Application
Chung-Wen Hung1, Yu-Hsuan Tseng1, Chau-Chung Song2, Guan-Yu Jiang1(1National Yunlin-University of Science and Technology, Taiwan, 2National Formosa
University, Taiwan)

OS24-2Web-based SCADA using MQTT Protocol and AES
Jr-Hung Guo, Tzu-Yuan Lin, Kuo-Hsien Hsia
(National Yunlin-University of Science and Technology, Taiwan)

OS24-3

Smart Identification System of Teaching-type Autonomous Vehicles
Chun-Chieh Wang (Chienkuo Technology University, Taiwan)

OS24-4

Automatic Anti-Lock Brake System for Anti-Rollover Control of Autonomous HeavyDuty Truck
Chian C. Ho, Riki Umami Sanaz Ulfitria(National Yunlin-University of Science and Technology, Taiwan)

OS24-5Development of Intelligent Beehive and Network Monitoring System for Bee Ecology
Chau-Chung Song1, Geng-Yi Lin1, Chi-Chung Peng2 and Chung-Wen Hung3(1, 2National Formosa University, Taiwan, 3National Yunlin-University of Science andTechnology, Taiwan)

14:20-16:00 OS26 Intelligent Life and Data Analysis (6)Chair: I-Hsien Liu (National Cheng Kung University, Taiwan)
Co-Chair: Chu-Fen Li (National Formosa University, Taiwan)- 36 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS26-1

Data Balanced Algorithm Based on Generative Adversarial Network
I-Hsien Liu, Cheng-En Hsieh, Wei-Min Lin, Jung-Shian Li (National Cheng Kung University, Taiwan),
Chu-Fen Li (National Formosa University, Taiwan)

OS26-2

Fault-Tolerant Control System Design for Nonlinear System with Actuator Faults
Ho-Nien Shou (Air Force Institute of Technology, Taiwan)
Hsin-Yu Lai (National Cheng Kung University, Taiwan)

OS26-3

Key Indicators for Successful E-Oriented Operation and Management of the Nutrition Consulting
Service System
Ling-Mei Hsu (Chang Jung Christian University, Taiwan)

OS26-4The key factors for the application of blockchain into ocean Freight Forwarders: An Industry
Perspective
Chu-Ting Hsu, Ming-Tao Chou, Ji-Feng Ding (Chang Jung Christian University, Taiwan)

OS26-5

Key Success Factors for Implementation Quality Assurance of Information Technology in Tourism
Industry
Shuen-Huei Yao, (Chang Jung Christian University, Taiwan), Cheng Chung Yeh(National University of Tainan, Taiwan), Wen Jung Tsai (Chang Jung Christian University, Taiwan)

OS26-6

AI Big data analysis and application: Patient Safety Culture of Nursing Staff in an Operation Room
Su-Chiu Hsiao (Chang Jung Christian University, Taiwan)

16:40-18:50 OS17 Advanced Robotics (8)Chair: Evgeni Magid (Kazan Federal University, Russia)
Co-Chair: Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
OS17-1

Experience in efficient real office environment modelling in Gazebo: a tutorial
Bulat Abbyasov1, Kirill Kononov1, Tatyana Tsoy1, Martínez-García Edgar A.2, Evgeni Magid1(1Kazan Federal University, Russia), (2The Autonomous University of Ciudad Juarez, Mexico)OS17-2Graphical user interface design for a UAV teleoperation
Roman Lavrenov1, Ramil Safin1, Bai Yang2, Martínez-García Edgar A.3, Roman Meshcheryakov4(1Kazan Federal University, Russia), (2Ritsumeikan University, Japan)(3The Autonomous University of Ciudad Juarez, Mexico)(4V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences, Russia)

OS17-3

Numerical solution approach for the ROBOTIS OP2 humanoid hand inverse kinematics
Zagidullin Linar1, Tatyana Tsoy1, Roman Meshcheryakov2, Kuo-Hsien Hsia3, Evgeni Magid1(1Kazan Federal University, Russia)(2V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences, Russia)(3National Yunlin University of Science and Technology, Taiwan)- 37 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS17-4

Alvus modelling in Gazebo
Liaisan Safarova1, Bulat Abbyasov1, Tatyana Tsoy1, Hongbing Li2, Evgeni Magid1(1Kazan Federal University, Russia), (2Shanghai Jiao Tong University, China)

OS17-5

Testing procedures architecture for establishing a fiducial marker recognition quality in UAVbased visual marker tracking task in Gazebo simulator
Mikhail Kilin1, Roman Lavrenov1, Bai Yang2, Mikhail Svinin2, Evgeni Magid1(1Kazan Federal University, Russia), (2Ritsumeikan University, Japan)

OS17-6

Feature importance evaluation method for multi-agent deep reinforcement learning in advanced
robotics task allocation
Sergey Ryabtsev1, Mikhail Gurchinsky1, Igor Struchkov1, Vyacheslav Petrenko1, Fariza Tebueva1,
Sergey Makarenko2(1North-Caucasus Federal University, Russia),(2Saint Petersburg Federal Research Center of the Russian Academy of Sciences, Russia)

OS17-7

Iterative method of labor division for multi-robotic systems
Sergey Ryabtsev1, Artur Sakolchik2, Vladimir Antonov1, Vyacheslav Petrenko1, Fariza Tebueva1,
Sergey Makarenko3(1North-Caucasus Federal University, Russia),(2Belarusian State University, Belarus)(3Saint Petersburg Federal Research Center of the Russian Academy of Sciences, Russia)

OS17-8Development of Bowling Machine Using VEX IQ
Kuo-Hsien Hsia1, Ya-Chun Chen1, Evgeni Magid2, Xin-Ying Zeng1(1National Yunlin University of Science and Technology, Taiwan)(2Federal Kazan University, Russia)

Meeting Room 4
9:00-10:30 GS1 Control System Applications (6)Chair: Hiroaki Wagatsuma (Kyushu Institute of Technology, Japan)
GS1-1

Design of local linear models using Self tuning Control System for PID Tuning According to error
Shinichi Imai (Tokyo gakugei university, Japan)

GS1-2

A Systematic Analysis of the Knee Support Exoskeleton Based on Multibody Dynamics Toward
Personalization with 3D Printed Spring-Damper Components
Shintaro Kasai1, Pancho Dachikinov1, Kohei Tanaka1, Hiroaki Wagatsuma1,2(1Kyushu Institute of Technology, Japan; 2RIKEN CBS, Japan)

GS1-3

A Drone-Based Concrete Crack Inspection System by Using Morphological Component Analysis
and Sub-Pixel Width Estimation
Ankur Dixit1, Wataru Oshiumi1, Hiroaki Wagatsuma1,2(1Kyushu Institute of Technology, Japan; 2RIKEN CBS, Japan)- 38 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

GS1-4

A Systematic Geometric Design Method of Flexible Bars Available for Personalized Knee Orthoseswith Spring-Damper Functions
Pancho Dachikinov1, Shintaro Kasai1, Kohei Tanaka1, Hiroaki Wagatsuma1,2(1Kyushu Institute of Technology, Japan; 2RIKEN CBS, Japan)

GS1-5State-space modeling of fingers motion measured by the Leap Motion Controller
Ryuichi Usami, Hideyuki Tanaka (Hiroshima University, Japan)

GS1-6

Applicability Verification of iWakka Game to Children with Developmental Coordination Disorder
Masakazu Nomura1, Moe Nishiya1, Yoshifumi Morita1, Hideo Yamagiwa2(1Nagoya Institute of Technology, Japan) (2Tokyo Metropolitan Tobu Medical Center, Japan)

10:45-12:00 OS27 Environmental Monitoring (5)Chair: Kazuo Ishii (Kyushu Institute of Technology)
Co-Chair: Keisuke Watanabe (Tokai University)
OS27-1

Biofouling Monitoring Experiments of Underwater Concrete Samples for Offshore Platform
Cleaning Robot Development
Keisuke Watanabe1, Hiroki Goda2, Koji Harada3(1Tokai University, Japan, 2Kyusyu Institute of Technology, Japan, 3Nishimatsu Construction Co.,
Ltd., Japan)

OS27-2

Fall risk notification system using LiDAR sensor for the visually impaired people
Daigo Katayama1, Kazuo Ishii1, Shinsuke Yasukawa1, Satoshi Nakadomari2, Koichi Wada2, Akane
Befu2, Chikako Yamada2 (1Kyushu Institute of Technology, Japan, 2NEXT VISION, Japan)

OS27-3

Reflection Coefficient Estimation through the Modelling of Ultrasonic Transmission
Ryuugo Mochizuki, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS27-4

Evaluation of Maps Constructed by Crawler-type Agricultural Robot in Different Farms
Takuya Fujinaga, Tsuneo Nakanishi (Fukuoka University, Japan)

OS27-5

An Estimation Method of Coastal Ocean Debris Using Aerial Drone
Kazuo Ishii1, Kanako Shirahashi1, Yuya Nishida1, Moeko Tominaga2, Yoshiki Tanaka1, Dominic B.
Solpico1 (1Kyushu Institute of Technology, Japan, 2Nishinippon Institute of Technology, Japan)

14:20-16:30 OS29 Advances in Marine Robotics and Their Applications (8)Chair: Keisuke Watanabe (Tokai University)
Co-Chair Kazuo Ishii (Kyushu Institute of Technology)
OS29-1A Sensor Network to Estimate Fish Activity and Assist Feeding Decisions in Marine Aquaculture
Dominic B. Solpico, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)- 39 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS29-2

Proposal of a Swarm Intelligent Underwater Glider System for a Long-term Three-dimensional Widearea Ocean Observation
Kanako Kobatake, Masakazu Arima (Osaka Prefecture University, Japan)

OS29-3

Underwater Acoustic Communication using QPSK Modulation Method
Yuya Nishida, Yuichiro Uemura, Rikuto Tanaka, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS29-4Ultrasonic Cleaner using Two Transducers for Ship Hull Cleaning Robot
Yuya Nishida, Toshihiro Matsumura, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS29-5

Motion Control of a Ship Hull Cleaning Robot
Hyoga Yamamoto, Yuya Nishida, Takayuki Matsuo, Kazuo Ishii (Kyushu Institute of Technology, Japan)

OS29-6Development of a USV Testbed and Its System Check Experiments at Sea
Keisuke Watanabe, Masatoshi Shimpo (Tokai University, Japan)

OS29-7Development of a Seabed Walking Platform for Ore Sample Drilling in Deep Sea Mining
Keisuke Watanabe1, Hideyuki Suzuki2, Yoshiyasu Watanabe1(1Tokai University, Japan), (2The University of Tokyo, Japan)

OS29-8Development of Remotely Operated Vehicle for Small-size Jellyfish Extermination and its Evaluation ofExtermination Motion Control
Hiroyuki Yokota1, Shinsuke Yasukawa2, Jonghyun Ahn1
(1Hiroshima Institute of Technology, Japan, 2Kyushu Institute of Technology, Japan)

January 23 (Sunday)
8:40-Registration
Meeting Room 1
9:00-10:30 OS3 Intelligent Systems and Robotics -1- & OS8 Intelligent Systems and Robotics -3OS3 Intelligent Systems and Robotics -1- (6)Chair: Peng Lu (Tianjin University of Science and Technology, China)
Co-Chair: Fengzhi Dai (Tianjin University of Science and Technology, China)
OS3-1

A Distributed Optimal Formation Control for Multi-Agent System Based on UAVs
Jichao Zhao1, Fengzhi Dai1, Yunzhong Song2(1Tianjin University of Science and Technology, China), (2Henan Polytechnic University, China)

OS3-2

A Design of Multi-Agent System Simulation Platform Based on Unmanned Ground Vehicles and A
Research on Formation Control Protocol
Chuang Zhang, Jichao Zhao, Fengzhi Dai (Tianjin University of Science and Technology, China)- 40 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS3-3

A Study of Weighted Average Method for Multi-sensor Data Fusion
Peng Lu1, Fengzhi Dai1,2(1 Tianjin University of Science and Technology, China),(2 Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)

OS3-4

A Design of Wide-angle Open and Close Multifunctional Smart Windows
Zilong Liu, Fengzhi Dai*, Luqi Shen, Jiarun Xu, Longyu Gao(Tianjin University of Science and Technology, China)

OS3-5

A Low-intensity Laser Control System Design
Yuhui Cheng, Fengzhi Dai (Tianjin University of Science and Technology, China)

OS3-6

A Review of Machine Vision Based Fruit Recognition Applications
Tianyi Zhang, Fengzhi Dai (Tianjin University of Science and Technology, China)

OS8 Intelligent Systems and Robotics -3- (4)Chair: Tianyi Zhang (Tianjin University of Science and Technology, China)
Co-Chair: Yiting Gao (Tianjin University of Science and Technology, China)
OS8-1

A Portable Electrocardiograph System Design based on STM32 Chip
Tianyi Zhang, Huating Liu (Tianjin University of Science and Technology, China)

OS8-2

Design and Development of The Parking Space Autonomous Management System
Yiting Gao, Tianyi Zhang ( Tianjin University of Science and Technology, China)

OS8-3

An Overview of Obstacle Avoidance Methods for Unmanned Vehicles
Peng Lu, Haokang Wen (Tianjin University of Science and Technology, China)

OS8-4

Synchronization of Novel 5D Hyperchaotic Systems
Hong Niu (Tianjin University of Science & Technology, China)

Meeting Room 2
10:50-11:50 OS7 Media Information Processing, Music Recommendation and Artificial Intelligence(4)
Chair: Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Co-Chair: Masayoshi Tabuse (Kyoto Prefectural University, Japan)
OS7-1

Data expansion method by combining unnecessary sentence deletion and most importantsentence addition
Tomohito Ouchi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)- 41 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS7-2

Evaluation of a system that the reading of sentences by a voice synthesizer and the highlighting
sentences
Sota Kobayashi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)

OS7-3

Mouse Cursor Control System using Eye Gaze and detection of eye opening and closing
Masayoshi Tabuse, Mana Fukumoto, Yasunari Yoshitomi, Taro Asada(Kyoto Prefectural University, Japan)

OS7-4Music Recommendation System Driven by Facial Expression Recognition
Taro Asada1, Motoki Kawamura2, Yasunari Yoshitomi1, Masayoshi Tabuse1(1Kyoto Prefectural University, Japan, 2Fujitsu Limited, Japan)

13:00-14:40 OS20 Application studies on sensor and RFID system (6)Chair: Ammar A.M. Al-Talib (UCSI university, Malaysia)
Co-Chair: Takao Ito (Hiroshima University, Japan)
OS20-1A Pedal Powered Water Purifier
Ammar A.M. Al-Talib, Ting Kee Yuan, Sarah 'Atifah Saruchi (UCSI University, Malaysia)

OS20-2

A Smart Node (Maintenance & Lifespan Prediction System)
Kam Heng Chaw1, Ammar A.M. Al-Talib2, Tarek Fawzi2, Jonathan Yong Chung Ee2(1MODU System (S) Pte Ltd, Malaysia), (2UCSI University, Malaysia)

OS20-3

A Healthcare Laundry Management System using RFID System
Eryana Hussin, Wong Jie Jian (UCSI University, Malaysia)

OS20-4

A Monitoring System with Humidity and Growth Level Detection for Horticulture
Eryana Hussin, Ng Joon Wen (UCSI University, Malaysia)

OS20-5

A Double Identification Attendance System Using High Frequency RFID System
Eryana Hussin, Wong Chee Ming (UCSI University, Malaysia)

OS20-6

Levitating Frictionless-Vertical WindmillAmmar A.M. Al-Talib, Muhammad R. Md. Redzuan (UCSI University, Malaysia)

Meeting Room 3
9:00-11:50 OS9 Robot Control (10)Chair: Yizhun Peng (Tianjin University of Science and Technology, China)
Co-Chair: Junhui Yin (Tianjin University of Science and Technology, China)
OS9-1

Design of Analog Electromagnetic Gun Based on Arduino
Lintao Hu, Yizhun Peng (Tianjin University of Science and Technology, China)- 42 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS9-2

A Design of Intelligent House Inspection Robot
Sicong Wang, Yizhun Peng (Tianjin University of Science and Technology, China)

OS9-3

A Design of Embedded Plate & Ball Control System Based on Machine Vision
Wendinig Luo1, FuChen Zhao2(1Beijing Huadian Jingneng Energy Technology Co., China)(2Beijing University of Posts and Telecommunications, China）

OS9-4

Design of Blood Circulation System of Medical Simulation Robot
Songyun Shi, Yang Ge, Chomgxu Guo, Yizhun Peng
(Tianjin University of Science and Technology, China)

OS9-5

A Design of Dynamic Exoskeleton for Self-learning Human Movements
Qingliang Liu, Yucheng, Pengyu Yao, Dechao Wang, Yizhun Peng
(Tianjin University of Science and Technology, China)

OS9-6

Design of Autonomous navigation building Climbing and Handling Robot Based on SLAM
Linhui Chen, Junjie Tai, Yizhun Peng (Tianjin University of Science and Technology, China)

OS9-7

Simulation Research on Automatic Navigation of Indoor Wheelchair
Peng Shi, Yizhun Peng (Tianjin University of Science and Technology, China)

OS9-8

Design of a Humanoid Dance Robot for Dancing Baduanjin
Zhuofan Xu, Ruitao Li, Binfu Zhong, Yizhun Peng
(Tianjin University of Science and Technology, China)

OS9-9

Design of Intelligent Shading System Suitable for Parenting Products
Yihan Yan, Songyun Shi, Yaxin Shen, Yizhun Peng
(Tianjin University of Science and Technology, China)

OS9-10Design of Intelligent Personalized Nutrition Supplement Machine
Xinpeng Yang, Sidan Liu, Rui Li, Junhui Yin, Yizhun Peng
(Tianjin University of Science and Technology, China)

13:00-15:25 OS32 Human-Machine Interface and Automation (9)Chair: Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair: Fakhrul Hazman Yusoff (UITM, Malaysia)
OS32-1

A Derivative Oriented Thresholding Approach for Feature Extraction of Mold Defects on Fine Arts
Painting
Hilman Nordin, Bushroa Abdul Razak, Norrima Mokhtar, Mohd Fadzil Jamaludin(Universiti Malaya, Malaysia)- 43 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS32-2

Imaginary Finger Control Detection Algorithm Using Deep Learning with Brain Computer
Interface (BCI)
Suresh Gobee1, Norrima Mokhtar1, Hamzah Arof1, Noraisyah Md Shah1, Wan Khairunizam2(1Universiti Malaya, Malaysia), (2University Malaysia Perlis, Malaysia)

OS32-3

Investigating the Effect of Individuality Factors in Measuring Aggresion Induced by Human Brain
Wan Khairunizam1, Kai Xu tung1, Lugieswaran1, Wan Azani Mustafa1, Hashimah Ali1,
Zuradzman M. Razlan2, Shahriman AB2, Norrima Mokhtar3

OS32-4(1University Malaysia Perlis, Malaysia), (2Universiti Malaya, Malaysia)
Voice User Interface(VuI) Smart Office Door Application in the Context of Covid-19 Pandemic
Muhammad Zharif Aiman Alias, Wan Norsyafizan W. Muhamad, Suzi Seroja Sarnin, Darmawaty
Mohd Ali (University Technology MARA, Malaysia)

OS32-5Endometrial Cell Images Segmentation: A Comparative Study
Wan AzaniMustafa1, Nurul Umaira Salim1, Wan Khairunizam1, Shahrina Ismail1, Hiam Alquran2(1Universiti Malaysia Perlis, Malaysia; 2Yarmouk University, Jordan)

OS32-6

Temperature Control Using Fuzzy Controller for Variable Speed Vapor Compression Refrigerator
SystemSiti Qurrata Ain Suhaimi, M. Saifizi, S.M. Othman, Azri A. Aziz, Wan Azani Mustafa,
Wan Khairunizam (Universiti Malaysia Perlis, Malaysia)

OS32-7

Automatic Dry Waste Classification for Recycling Purpose
Muhammad Nuzul Naim Baharuddin1, Hasan Mehmood Khan1, Norrima Mokhtar1, Heshalini
Rajagopal2, Tarmizi Adam3, Wan Amirul Wan Mahiyiddin1,
Jafferi Jamaluddin4(1Universiti Malaya, Malaysia). (2Manipal International University, Malaysia),(3Universiti Teknologi Malaysia, Malaysia), (4UMPEDAC Universiti Malaya, Malaysia)

OS32-8

A Low Cost Smart Parcel Box System with Enhanced Security
Ahmad Luqmanulhakim, Wan Norsyafizan W. Muhamad, Suzi Seroja Sarnin, Meor Mohd Azreen
Meor Hamzah (Universiti Teknologi MARA, Malaysia)

OS32-9Classification of Body Mass Index Based Face Images Using Facial Landmarks Approach and PCA
plus LDA
Hasimah Ali1, Ho Yong Kang1, Wan Khairunizam Wan Ahmad1, Mohamed Elshaikh1,
Norrima Mokhtar2(1University Malaysia Perlis, Malaysia), (2 University of Malaya, Malaysia)

Meeting Room 4
9:00-11:35 OS31 Approaches to Post-Narratology that Combines AI and Cognitive Science with
Narratology (9)Chair: Jumpei Ono (Aomori University, Japan)
Co-Chair: Hiroki Fxyma (Tainan University of Technology, Taiwan)
Co-Chair: Takashi Ogata (Iwate Prefectural University, Japan)- 44 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS31-1

Story Units of the Types of Japanese Folktales and the Combination with a Noun Conceptual
Dictionary1
Jumpei Ono, 2Motoki Kumagai, 2Takashi Ogata
1( Aomori University, Japan), (2Iwate Prefectural University, Japan)

OS31-2Visualization of the Unconscious in Quality Inspection in Manufacturing
Jun Nakamura (Chuo University, Japan)

OS31-3The Study on the Relationship Between the Comic Artists' Styles and the Visual Languages: From
the Stylistic Changes in the Work of Japanese Comic Artists
Kaori Otsuru (Tainan University of Technology, Taiwan (ROC))

OS31-4

Theoretical Backgrounds toward Text Mining for a Phenomenological Model of Taste Perception
Hiroki Fxyma (Tainan University of Technology, Taiwan)

OS31-5

Why is the Early Detection of Dementia Failed?
Yuki Hayashi (Chiba University/National Institute for Japanese Language and Linguistics, Japan)

OS31-6

Relationship Between World-view and Advertising Techniques
Yoji Kawamura (Kindai University, Japan)

OS31-7

Adjective and Adjective Verb Conceptual Dictionaries in an Integrated Narrative Generation
SystemJumpei Ono (Aomori University, Japan), Takashi Ogata (Iwate Prefectural University, Japan)

OS31-8

Prototyping Animation System that Combines a Kabuki Work and its Background Story:
Kyōganoko Musume Dōjōji and the Legend of Dōjōji
1
Miku Kawai, 2Shunta Kudo, 3Jumpei Ono, 2Takashi Ogata
1( The Open University of Japan, Japan), (2Iwate Prefectural University, Japan)(3Aomori University, Japan)

OS31-9How Will Art Appreciations Change According to Information Change?
Akinori Abe (Chiba University, Japan)

13:00-15:10 OS12 Intelligent Measurements and Control Systems (8)Chair: Xiaoyan Chen (Tianjin University of Science and Technology, China)
Co-Chair: Shiming Wang (Tianjin University of Science and Technology, China)
OS12-1

Research on an AGV path planning method
Zhihui Chen, Xiaoyan Chen, Shiming Wang (Tianjin University of Science and Technology, China)

OS12-2

Boiler level measurement and control system
Xiwen Liang, Shengli Sun, Xiaoyan Chen (Tianjin University of Science and Technology, China)- 45 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), Jan. 20- 23, 2022

OS12-3

Recurrence quantification and time-frequency analysis of two-phase flow patterns
Keying Ren, Xiaoyan Chen , Meng Du (Tianjin University of Science and Technology, China)

OS12-4

Application of deep learning in automatic driving
Wei Su, Xiaoyan Chen (Tianjin University of Science and Technology, China)

OS12-5An intelligent home security system based on STM32
Wei Su1, Xiaoyan Chen1, Guangyong Xi2(1Tianjin University of Science and Technology, China)(2Zhengzhou University of Light Industry, China)
Design of smart bracelet based on STM32 microcontroller
Xia Miao, Xiaoyan Chen, Jianliang Li (Tianjin University of Science and Technology, China)

OS12-6OS12-7

Design of material conveying and automatic sorting control system based on PLC
Qian Wang1, XiaoYan Chen1, Shengmin Cao2
(1Tianjin University of Science and Technology, China), (2TangShan College, China)

OS12-8

Image reconstruction based on ResV-Net for electrical impedance tomography
Qian Wang, ZiChen Wang, Di Wang, XiaoYan Chen
(Tianjin University of Science and Technology, China)

Group Meeting for the next Conference- 46 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

Abstracts
PS abstracts (3)PS1 Robotics for Growing Life
Henrik Hautop Lund (Technical University of Denmark, Denmark)We present a novel direction of artificial life robotics in which we use robotics to control
the growth of real, natural life. The concept of using robotics to grow life present itself
as a potential sustainable solution for food production, allowing an optimization of foodquality and outcome. We illustrate this concept with our development of the Growbot,
which is a tabletop size robotic green house for growing edible food plant. The GrowBots
use sensors such as humidity, CO2, temperature, water level and camera sensors, andactuators such as full spectrum LEDs, IR LEDs, UV LEDs, fertilizer and water pumps,
air change and air fan. The software acts as recipes for the plant growth in the robotic
greenhouse adjusting the environmental condition for the growth of the living plants suchas salad, parsley and basil.

PS2 Road To Cyber Physical Factory(Application Examples of Intelligent Factory and its
Technology)
Hidehiko Yamamoto (Gifu University, Japan)
Since 1980, Computerized machine tools and robots have been developed. I talk about thehistory of the Intelligent manufacturing systems and their technology including Artificial
Intelligence and GA. The technology are as follows. The future factory by using
Autonomous System, we call Autonomous Decentralized Flexible Manufacturing
Systems, is presented. The virtual factory and several kinds of simulations for production
systems and scheduling problems is presented. The simulations application examples forautomobile production lines are presented. IoT production and Cyber Physical Factory
which is the near future manufacturing model are presented. Its application example for
automobile parts production is also presented.

PS3 Robot Technology, and it’s Development Trend–Developing a New Networking Robot
SystemTakao Ito (Hiroshima University, Japan)
Robot technology has been changed dramatically with massive development of internet
environment. The author reviewed a plethora of literature and investigated advanced robot
technologies. Today, most of typical robot technologies are used in single-cause-oriented
products, such as robot vacuum cleaner and Asimo, a humanoid robot invented by Honda.
These advanced products played important role in our modern society. For further
development, a networking robot system with advanced technologies of internet andartificial intelligence is required in order to copy with theuncertainty in the future. Different
technology should be combined and linked together for multiple-goal-oriented approach in
the networking robot system. For evaluating the validity of our new system, a centrality
index is introduced in this research.

- 47 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

IS abstracts (3)IS1-1 A physical to virtual control system implementing an art-based game.
Luigi Pagliarini1,2, Henrik Hautop Lund1( Technical University of Denmark, Denmark) (2 Academy of Fine Arts of Macerata, Italy)
1

We hereby present Tiler, an art-based game where a virtual world made of tiles andcontrolled through a set of electronic cubes where players can/should gather the decorationof a floor based on aesthetical criteria. Such a tool allows projecting and designing bidimensional shapes by physically manipulating tri-dimensional objects. Besides that, Tiler,
is an application that brings to life a clear example on how we can achieve new ways ofinterfacing the physical world with virtual ones. In the following article we introduce thelogical and technical aspects of this real-to-virtual interface and show its potential
applications in different fields

IS1-2 Creative Multisensory Environments
Henrik Hautop Lund1, Luigi Pagliarini1,2( Technical University of Denmark, Denmark), (Academy of Fine Arts of Macerata, Italy)
1

We outline the concept of playful creative multisensory environments. Multisensory
environments are characterized by facilitating multimodal interaction by users through acomposition of different objects. These objects allow manipulation of the environment.
Multisensory rooms are often used to enhance users’ sensations and emotions. In order
to explore the development of such multisensory environments, which are playful andprovide possibilities to become creative, we suggest the use of modular playware as partof the Playware ABC concept. This allows for the development of flexible, portableenvironments to be used by anybody, anywhere, anytime, and facilitates that the users
can construct, combine and create. In this way, the users can become creative in seamless
interaction with aesthetically pleasing environments. The paper outlines the lessons
learned from the development and testing of a number of such playful creative
multisensory rooms. Main findings are that such multisensory environments need toprovide explicit immediate feedback, be simple in design, build on high quality
aesthetics, provide variation, and be playful to result in intrinsic motivation.

IS2-1 Using GrowBots to Study Heat and Nutrient Stress in Basil
Rishav Bose, Henrik Hautop Lund (Technical University of Denmark, Denmark)We present how a novel type of robot called a food computer can be used to simulate
abiotic stresses and study their impact on hydroponically grown Italian basil, Ocimum
basilicum. The food computer called the GrowBot is a tabletop sized robotic
greenhouse for growing edible food plants. The GrowBot's actuators were used to alter
the environmental conditions in the growth chamber to study different aspects of plant
growth and food production in varying climate scenarios. The experiments show how
we can used the LED lights to control the temperature to a certain, desired range (29ºC– 35ºC) for the heat stress experiments, while measurements show that we cansimultaneously obtain the photosythetically active radition (PAR) values to be in theideal range for growth of the basil plants.

- 48 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

IS2-2 Convolutional Neural Network for Studying Plant Nutrient Deficiencies
Rishav Bose, Henrik Hautop Lund (Technical University of Denmark, Denmark)We discuss the development of a vision-based plant phenotyping system based on anovel type of robotic system called a food computer. The food computer used in thisproject is called the GrowBot. It has a host of sensors to help analyse the growthchamber including a Raspberry Pi camera. The project revolved around developing asystem to segment the plant canopy from its background and analyse nutrient
deficiencies from the images taken by the camera. The pilot project investigated how
a segmentation model called U-Net could be used to study the images. One of the
drawbacks of many existing vision-based plant phenotyping systems is that theirconvolutional neural networks (CNNs) were trained to analyse very ideal images ofindividual leaves. This pilot project tried to address that issue, while at the same time
explored how to train the neural networks to learn segmentation from a small image
dataset.

- 49 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS abstracts

OS1 Advanced Information Processing Applications (4)Chair Toru Hiraoka (University of Nagasaki, Japan)
Co-Chair Masaharu Hirota (Okayama University of Science, Japan)
OS1-1 Generation of Checkered Pattern Images Using Prewitt Filter from RGB-D Images
Toru Hiraoka, Ryosuke Takaki (University of Nagasaki, Japan)
A non-photorealistic rendering method for generating checkered pattern images
from gray-scale photographic images using Prewitt filter with an expanded window
size has been proposed. In this paper, we propose an extension of the conventional
method to apply to RGB-D images. Our method can change the size of thecheckered patterns depending on the depth. To verify the effectiveness of our
method, we conducted experiments that are visually confirmed the checkered
patterns by changing the parameters in our method.

OS1-2 An Approach of Analyzing Movement Patterns Using Word Embeddings from Geotagged Tweets
Masahru Hirota, Tetsuya Oda (Okayama University of Science, Japan)
Many tourists upload geo-tagged content about tourist attractions to social media
sites. The trajectories composed of those contents contribute to many applications,such as analyzing tourist behavior patterns, traffic flow analysis, and next location
prediction. In this paper, we analyze the movement patterns of users by clustering
their movement trajectories in Twitter data. We use the word embedding model tolearn movements between two places. Also, we cluster the trajectories based on thesimilarity calculated by the generated embedding vectors. We visualized theclustered trajectories on a map and discussed the result.

OS1-3 A Proposal of a Software Defect Predication System Using SOM
Yoshihiro Kita, Kazuki Ueda, Kiyotaka Sakurai (University of Nagasaki, Nihon Knowledge Co. Ltd, Japan)
The goal of software testing is to detect all potential defects. However, it is difficult
to know how many latent defects remain and where they are hidden. In thisresearch, we propose a system that analyzes the characteristics and tendencies ofalready detected defects and predicts where the potential defects are likely to be.
Specifically, the system inputs the data of detected defects into a Self-Organization
Map (SOM) and predicts the locations that contain many defects from this map. In
order to confirm the validity of this proposal, we input past defect data into theSOM, analyze the trend of defects, and evaluate the predictability of the potential
defects.

- 50 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS1-4 Mapping the Motion of Highly-inclined Triple System into a Secular Perturbation Model
Masaya M. Saito (University of Nagasaki, Japan)
Kiyotaka Tanikawa (National Astronomical Observatory, Japan)
The motions of three bodies like Sun-Asteroid-Jupiter system or triple star system
are formalized as hierarchical three body problem. When the third body orbits
around the rest in a highly inclined elliptic orbit, the system undergoes theoscillation, called the Kozai oscillation, where the eccentricity may increase withdecrease of the inclination of the orbital plane. While the Kozai oscillation seems
to be a key process in orbital evolution, including disruption of triple system, its
reflection into actual trajectories is quite complicated to analyze. For this reason,
we try to map these trajectories into a secular perturbation model with data
assimilation and demonstrate the extraction of state and its transition (libration to
circulation and vice versa) as the Kozai oscillation.

OS2 Advanced studies of interdisciplinary approach (4)Chair Yousin Park (Prefectural University of Hiroshima, Japan))
Co-Chair Takao Ito (Hiroshima University, Japan)
OS2-1 Measuring the entire degree centrality in Yokokai
Tsutomu Ito1, Matsuno Seigo1, Sakamoto Makoto2, Takao Ito3
( Ube National College of Technology, Japan), (2Univeristy of Miyazaki, Japan),(3Hiroshima University, Japan)
1

Centrality is one of the most important indexes in network calculation. Based on
the definition, more than 400 different centrality such as degree, betweenness havebeen developed. All centrality indexes are calculated using the number ofconnection line, and its position in a given network. In automotive industry,keiretsu is considered as one of typical networks. It is critical to measure thecentrality of transaction network in the keiretsu. It is widely well-known thatdifferent parts play different roles in a car. Thus, the importance of each connectline in a transaction network should be measured based upon the importance of theparts. A new parts-importance weighted centrality model is proposed in this paper.

OS2-2 A comparative study on Michinoeki’s efficiency in Japan
Tsutomu Ito1, Matsuno Seigo1, Sakamoto Makoto2, Takao Ito3
( Ube National College of Technology, Japan), (2Univeristy of Miyazaki, Japan),(3Hiroshima University, Japan)
1- 51 ©ICAROB 2022 ALife Robotics Corp. Ltd.

2
1
0
4
170
411
1028
101
527
443
795
1068
242

Michinoeki is considered as one of the most successful social experiments in Japan
now. A plethora of literature of current situation analysis of Michinoeki’s have been
published over past decades. The authors reviewed many important and typicalliteratures and found that the quantitative studies are still sparse. Obviously, it is a
critical issue to measure the efficiency of Michinoeki’s for its further development
and revitalization of the local economy. Thus, the data of Michinoeki are gatheredfrom all Michinoeki in Japan, and the relative efficiency are calculated using DEA
model for comparison. Furthermore, the managerial implication of the results is
discussed in this paper.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS2-3 The R&D Direction and Business Strategy: The case study on the cooperation of EV andbattery makers
Yousin Park1, Iori Nakaoka2, Yun-ju Chen3( Prefectural University of Hiroshima, Japan), (2Seijoh University, Japan), (3Shiga University, Japan)
1This paper focuses on the R&D direction and the business strategy of EV (Electric
Vehicle) and battery makers. M. E. Porter (1996) claimed that the productivity
frontier represents the maximum value that the organization can deliver at any agiven cost, using technologies, skills and purchased inputs. He argued that strategic
decisions are ones that are aimed at differentiating an organization from its
competitors in a way that is sustainable in the future. We use the patent informationof EV companies (Toyota, Tesla, VW) and battery makers (Panasonic, CATL, LG
Chem) as the cases. And we examine our propositions by social network analysis
and text mining. The analysis in this paper include: 1) To try to distinguish between
differentiation and low-cost strategy, and visualize each firm’s R&D direction, 2)
To make discussion on business strategy and the R&D direction of EV companies
and battery makers. In this paper we suppose that patterns of cooperation EV andbattery makers.

OS2-4 Discovering the relationship between tourists and tourist spots in Japan
Tsutomu Ito1, Matsuno Seigo1, Sakamoto Makoto2, Takao Ito3
(1Ube National College of Technology, Japan), (2Univeristy of Miyazaki, Japan),(3Hiroshima University, Japan)
It is widely well-known that Japan currently has serious problems with the
declining birthrate and aging society. As actions to counteract our aging andshrinking population, revitalization of local economy is becoming the mosteffective economic development strategy. Obviously, tourism is considered as oneof the effective policies to develop local economy today. To provide more practicalevidence of tourism development, this paper is focusing on discovering therelationship between tourists and tourist spots using conventional regression modeland 4-cell model developed on tourists and tourist spots. Moreover, as one of thesuccessful factors, the importance of the development of public traffic among
different tourist spots has been confirmed.

- 52 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS3 Intelligent Systems and Robotics-1 (6)Chair Peng Lu (Tianjin University of Science and Technology, China)
Co-Chair Fengzhi Dai (Tianjin University of Science and Technology, China)
OS3-1 A Distributed Optimal Formation Control for Multi-Agent System Based on UAVs
Jichao Zhao1, Fengzhi Dai1, Yunzhong Song2(1Tianjin University of Science and Technology, China), (2Henan Polytechnic University, China)
In this paper, the distributed optimization problem of multi-agent system (MAS)formation control composed of unmanned aerial vehicles (UAVs) is solved. Aiming
at the situation that the internal state of a single UAV can be fully understood, theinternal optimal control law of a UAV is designed by using the optimal control
theory. To solve the problem that each agent in the system can only communicate
with some agents, the distributed formation control law of the system is designed
based on the communication topology of the system, and the stability of the system
is analyzed by the knowledge of graph theory. The validity of the formation
protocol is verified by numerical simulation and UAV platform.

OS3-2 A Design of Multi-Agent System Simulation Platform Based on Unmanned Ground
Vehicles and A Research on Formation Control Protocol
Chuang Zhang, Jichao Zhao, Fengzhi Dai (Tianjin University of Science and Technology, China)
Inspired by ants and fishes in nature, the multi-agent system (MAS) plays a hugerole in production and manufacturing in modern society. This paper takes
unmanned ground vehicles (UGVs) as the object and designs a multi-vehicle test
platform, which is composed of UGVs, ultra-wideband (UWB), and Bluetooth
Mesh. At the same time, the UGV can achieve different control objectives bychanging the main controller. The formation control protocol of UGVs is designed
and its stability is analyzed. The effectiveness of the protocol is verified bynumerical simulation. Finally, the designed control protocol is applied to thedeveloped hardware test platform to verify the effectiveness of the experimental
platform.

OS3-3 A Study of Weighted Average Method for Multi-sensor Data Fusion
Peng Lu1, Fengzhi Dai1,2( Tianjin University of Science and Technology, China),(2 Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China)
1With the development of sensor technology, multi-sensor data fusion has become
an important research direction in the field of sensors. And parametricclassification algorithms have become intensive in the field of multi-sensor data
fusion. The weighted average method is the most important one among theparametric classification algorithms. This paper describes the composition anddevelopment of parameter classification algorithms, focusing on the process, steps
and recent developments of the weighted average method, and uses the algorithm
to fuse data from ultrasonic and infrared sensors. The simulation results prove thatthe weighted average method has a better fusion effect.

- 53 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS3-4 A Design of Wide-angle Open and Close Multifunctional Smart Windows
Zilong Liu, Fengzhi Dai*, Luqi Shen, Jiarun Xu, Longyu Gao(Tianjin University of Science and Technology, China)
Current smart windows always have low intelligence and a few functions. And
almost all kinds of traditional windows have the problem of inconvenient cleaningoutside. The paper proposed a new mechanical structure design of the window, sothat the window can be turned by nearly 180 degrees, which is convenient forcleaning the inside and outside of the window. In terms of intelligent systems, avariety of sensors combined with Internet modules are used to realize the remote
intelligent control (turning with the wind, and automatically closing windows
when there is no one at home when bad weather). The added child mode uses visualinspection to identify children. When a child is detected, the window will be
automatically closed to prevent the child from climbing the window and fallingfrom the building.

OS3-5 A Low-intensity Laser Control System Design
Yuhui Cheng, Fengzhi Dai (Tianjin University of Science and Technology, China)
Laser-assisted therapy has a good therapeutic effect on specific symptoms inclinical and experimental. This paper proposes a low-intensity laser control systemdesign scheme, which is divided into the operation unit, control unit and work unit.
The main control unit is based on the STM32F407ZGT6 chip design, the operating
unit uses a DWIN 10.1-inch serial screen, and the working unit consists of 8 lowintensity laser generators. The system can control the power, frequency andworking time of 8 laser generators at the same time, and has the function of
automatically saving working parameters when the power is turned off.

OS3-6 A Review of Machine Vision Based Fruit Recognition Applications
Tianyi Zhang, Fengzhi Dai (Tianjin University of Science and Technology, China)
Machine vision is widely used in various fields，The main applications in the fieldof fruit picking are fruit identification, fruit quality detection, fruit ripenessdetection and grading, etc. And fruit ripeness detection technology is important toimprove the quality and market competitiveness of fresh and stored fruits. This
paper focuses on the application of machine vision in fruit identification, fruit
ripeness detection and grading in the past three years, and the application is moremature in many fruits such as citrus, blueberry, cherry, etc. It uses a number ofalgorithms to enable accurate identification of fruits and processing of their images
to control the robotic arm for a variety of operations such as picking.

- 54 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS4 Intelligent Systems and Robotics -2-(5)Chair Haokang Wen (Tianjin University of Science and Technology, China)
Co-Chair Jiaxin Li (Tianjin University of Science and Technology, China)
OS4-1 A Research on Image Dehazing Technology for Image Enhancement
Haokang Wen, Chang Sheng (Tianjin University of Science and Technology, China,)
Image defogging is to study the method of image enhancement in foggy weather
with low definition and lighter color. Image defogging technology aims to improveimage contrast and scene clarity, and has broad application prospects in the fieldsof target recognition, traffic navigation, and remote sensing. Three defogging
algorithms in image defogging technology are introduced based on the current
research status: global histogram equalization, local histogram equalization, andRetinex algorithm. This article introduces the main steps of the three algorithms
and discusses the advantages and disadvantages of each algorithm. Finally, theprocessing results of these three algorithms are compared and comprehensively
evaluated.

OS4-2 Design of Intelligent Daylily Picking Robot
Jiaxin Li (Tianjin University of Science and Technology, China)
The picking conditions of daylily are bad, and long-term picking is likely to cause
extremely serious harm to human body, especially to hands. Through the researchand summary of the biological characteristics of daylilies, this paper aims todevelop a kind of intelligent picking mechanism with strong applicability. The
main work includes: designing binocular recognition system for rapid
segmentation and recognition of daylily; Workflow design of daylily intelligent
picking robot; Software and hardware design of daylily picking control system.

OS4-3 50KN Compression Spring Fatigue Testing Machine Design
Peng Lu, Peng Jia (Tianjin University of Science and Technology, China)
Spring fatigue test is the key process of spring performance testing, especially for
automotive suspension springs, train damping springs, engine valves and othercritical parts of the spring, must do the reliability assessment of spring fatigue
performance. Because the requirements of different springs are different, thefrequency and amplitude used in the test also have different requirements. In thiscase, a compression spring fatigue tester was developed and designed to test the
maximum number of cycles of a spring under a given failure condition by applying
a cyclic variable load to the spring. Through the design of the compression spring
fatigue testing machine, the test prototype is finally developed.

- 55 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS4-4 New Intelligent Unmanned Retail Shopping Container Design
Peng Lu, Yiting Gao (Tianjin University of Science and Technology, Tianjin, China)
During the COVID-19 epidemic, unmanned retail has seen new opportunities for
growth. The common unmanned retail methods are vending machines andunmanned supermarkets, which have the disadvantages of low product variety andhigh store costs, respectively. In this paper, a new intelligent unmanned retail
shopping container is designed, integrating unattended technology with thecontainer. Through the two-dimensional code, electronic anti-theft, RFID andother technologies, designed to achieve the shopping process of the goods that are
taken away, the whole data. At the same time, the designed shopping containers
can be deployed closer to consumers, providing a safer and more convenient
shopping experience for people.

OS4-5 Java-based Dream Cloud ERP System - Inventory Management Subsystem Design and
Implementation
Yiting Gao, Peng Lu (Tianjin University of Science and Technology, China)
With the continuous development of economy, large and medium-sized enterprisesof heavy production tasks, more and more high to the requirement of inventory
management. The traditional manual management will cause low efficiency ofgoods supply. The problems such as material management and data collection havebecome increasingly unable to meet the requirements of enterprise inventory
management. The traditional inventory after making the decision need humanconvey, but the inventory management system as new way of management,
inventory management system can provide managers with a convenient platform
directly communicate need to complete the operation, task allocation directly
down, people can be faster to implement.

OS5 Intelligent Control (5)Chair Yingmin Jia (Beihang University, China)
Co-Chair Weicun Zhang (University of Science and Technology Beijing, China)
OS5-1 Geometry Structure Oriented Nonlinear Internal Model Based Manifold Consensus
Yunzhong Song1, Weicun Zhang2, Fengzhi Dai3, Huimin Xiao4, Shumin Fei5
( Henan Polytechnic University, China), (2University of Science and Technology Beijing, China)
3( Tianjin University of Science and Technology, China), (4Henan University of Economics and Law, China)(5South East University, China)
1This note comes with manifold consensus based on nonlinear internal model. To be
special, scheme demonstrated here is not necessary to inject the nonlinear internal
model with additional extraneous augmented system. And this amazing result ismade possible empowered by geometry structure, to be specific, Riemannian metricis employed to modeling the internal model of the nonlinear manifold. In case ofcompleteness, the consensus of a first order linear agent and another one second
order oscillator is provided to verify the suggested program.

- 56 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS5-2 Consensus Control of Linear Discrete-time Multi-agent Systems with Limited
Communication Data Rate
Jintao Hu, Yingmin Jia, Yaxin Li (Beihang University, China)
This paper investigates the consensus problem of linear discrete-time multi-agent
systems with limited communication data rate and the cooperative-antagonistic
interactions. A consensus control protocol is designed based upon a dynamic
encoding-decoding mechanism. By means of the proposed control protocol, it isguaranteed that the agents can attain bipartite consensus if the signed graph isconnected and structurally balanced, and besides the states of agents can reach zeros
if the signed graph is connected but structurally unbalanced. Moreover, the clear
form of the convergence rate is given. Finally, the numerous simulations arepresented to illustrate the feasibility of the proposed control protocol.

OS5-3 Formation control for rectangular agents with communication maintenance and collision
avoidance
Yaxin Li, Yingmin Jia, Jintao Hu (Beihang University, China)
Formation control has many potential applications in various fields. This paper
mainly discusses the rectangular agents, which is not often considered in otherpapers. Coordinate transformation is used to describe the location relationshipbetween two agents. Obstacle function between agents, obstacle function between
agents and obstacles are designed to ensure no collisions. Graph Laplacian is used
to formation rotation. The distributed control protocol is designed to achieve desired
formation with no collisions and communication maintenance between agents.
Stability analysis proves the effectiveness of the algorithm.

OS5-4 Research on Sign Language Recognition Algorithm Based on Improved R(2+1)D
Yueqin Sheng1, Qunpo Liu1, Naohiko Hanajima2, Bo Su1(1Henan Polytechnic University, China), (2Muroran Institute of Technology, Japan)
Sign language is a significant communication tool for deaf or hearing-impaired
people. The study of sign language recognition can promote the communication
between deaf-mute people and normal people, which is of great importance toimprove the quality of life of deaf-mutes. Meanwhile, as an important part of multimode human-computer interaction technology, the study of sign language
recognition is also pushing the progress of intelligent human-computer interaction.
Traditional sign language recognition methods can only solve the problem of sign
language recognition with a certain data scale. These algorithms are complex andhave low generalization. So this paper uses deep learning technology for sign
language recognition. In this paper, an improved R(2+1)D model is proposed for
isolated word recognition. This model separated the spatial convolution andtemporal convolution, so that the optimization can be decomposed and the model
can be optimized better. The validity of the proposed algorithm is verified on CSL
data set.

- 57 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS5-5 Directional Flocking of Multi-Agent system Caused by Limited Visual Field
Yongnan Jia1, Yong Xie2, Weicun Zhang1( University of Science and Technology Beijing, China)
2( The System Design Institute of Mechanical-Electrical Engineering, China)
1Experiment evidence has proved that the visual field of each individual in biologicalswarms is usually non-omnidirectional. Therefore, we introduce limited visual field
to the egalitarian flocking model. The directional flocking problem refers to theflocking problem that all the individuals are expected to move in a specified
direction, which is decided by the leader. This paper mainly compared the limitedvisual-field flocking model with the classic flocking model (that is the egalitarianone) from the point view of rate of convergence. Experimental results indicated that
limited-visual-field flocking model is more efficient than the omnidirectional one
for the directional flocking problem.

OS6 Bio-inspired Artificial Vision -Systems and Applications-(5)Chair Shinsuke Yasukawa (Kyushu Institute of Technology, Japan)
Co-Chair Yuki Hayashida (Mie University/Osaka University, Japan)
OS6-1 The effect of preprocessing with Gabor filters on image classification using CNNs
Akito Morita, Hirotsugu Okuno (Osaka Institute of Technology, Japan)
Preprocessing of input images is one of the promising approaches for improving theaccuracy in image classification using artificial neural networks. In this study, weinvestigated the effect of neuro-inspired preprocessing, such as Gabor filtering andopposite color contrast, on the classification accuracy of convolutional neuralnetworks (CNNs). We compared the classification accuracy of CNNs with thefollowing four types preprocessing: no preprocessing, Gabor filtering, opposite
color contrast, and the combination of Gabor filtering and opposite color contrast.
To eliminate the influence of the topology of the CNN, the average accuracy ofmultiple CNNs whose parameters (the number of layers and neurons and the size ofkernels for convolution) were chosen randomly was evaluated. The STL10 dataset
was used for training and evaluation. The results showed that Gabor filtering
increased the classification accuracy, whereas the opposite color contrast did notincrease the accuracy significantly.

- 58 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS6-2 An image coding algorithm with color constancy using the Retinex theory and the NakaRushton equation
Shota Hisamitsu, Hirotsugu Okuno (Osaka Institute of Technology, Japan)
Illumination-independent coding of color information is required for a wide rangeof image recognition tasks because the lighting conditions strongly affect theapparent color of the object. In this study, we proposed an image-coding algorithmwith color constancy based on the center / surround (C/S) retinex model and the
Naka-Rushton equation; this equation was used in place of the logarithmic functionused in the original C/S retinex model in order to encode the intensity information
efficiently. Using images acquired under various lighting conditions, we compared
the output of our algorithm with the gray world algorithm and the original C/S
retinex algorithm. Using the same image set, we also investigated how theparameters of the Naka-Rushton equation affect the change in the color information
output. The results suggested that setting the parameters depending on the image
statistics around the region of interest could improve the performance of color
discrimination.

OS6-3 A fast image sensor system with an efficient multi-scale Gaussian filtering circuit
Yuuki Yamaji, Akito Morita, Hirotugu Okuno (Osaka Institute of Technology, Japan)
Real-time extraction of multi-scale visual features is one of the most importantfunctions in robotic vision systems. In particular, many bio-inspired visual
processing algorithms rely on multi-scale Gaussian and/or Gabor filters because theearly stages of visual nervous system are modeled as such filters. Fast multi-scale
Gaussian filtering is an essential component for implementing such functions. In thepresent study, we designed a multi-scale Gaussian filtering circuit whose coefficientsof the standard deviation are selectable from any multiple of the square root of two.
We also developed an image sensor system composed of a CMOS image sensor anda field-programmable gate array (FPGA) that contains the proposed filtering circuit.
The system provided eight images whose resolution is 160 x 120 filtered by different
scales of Gaussian at 156 frames / second.

OS6-4 A robotic vision system emulating fixational eye movements and retinal sampling
Takanori Yotsumoto1, Yuki Hayashida2, Shinsuke Yasukawa1(1Kyushu Institute of Technology, 2Mie University, Japan)
Recent studies on visual physiology have suggested that fixational eye movements
contribute to the information processing function on the retina. In this study, we built
a robotic vision system that emulates the characteristics of fixational eye movements
and retinal sampling as an assistant tool for clarifying information processing
through the collaboration of eye movements and neural circuits. The proposed robot
vision system consists of two galvanometers, A field-programmable gate array(FPGA) board, and a high-speed, high-resolution camera. We measured thefrequency response of this robot vision system and the results showed that it satisfied
the requirements for emulating the frequency characteristics of biological eye
movements. We also generated command signals in the FPGA to emulate biologicaleye movements, and confirmed the satisfactory operation of the system.

- 59 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS6-5 A bench-test system of the cortical prostheses utilizing retino-morphic spike as the driver
signal of intracortical macrostimulation
Ryosuke Okada1, Shinnosuke Ishikawa2, Tetsufumi Tasaki2, Tetsuya Yagi2,3, Yuki Hayashida1,2(1Mie University, 2Osaka University, 3Fukui University of Technology, Japan)
Neuromorphic retinal emulators, which mimic computations and/or functionalarchitectures in biological retinas, have been developed as hardware systems so thatthe information processing is executed in biological time scale, thereby making themavailable for the visual prosthetics for acquired blindness suffering from retinal
diseases, like glaucoma or diabetic retinopathy. In this study, we developed aprototype hardware system of such a prosthetic, in which point-process spike signals
from our previously developed retinal emulator were utilized for the electricalmicrostimulation applied to the primary visual cortex of the cerebrum. The system
was consisted of the retinal emulator, a single board computer, a FPGA board, andour previously developed microstimulator ASIC chip connecting to multiple
stimulating electrodes. By substituting the electrodes with a micro-LED array, thesystem operations were verified through bench tests, in which the spatial pattern ofstimuli via 4096 output channels was controlled correspondingly to the visual scene.

OS7 Media Information Processing, Music Recommendation and Artificial Intelligence (4)Chair Yasunari Yoshitomi (Kyoto Prefectural University, Japan)
Co-Chair Masayoshi Tabuse (Kyoto Prefectural University, Japan)
OS7-1 Data expansion method by combining unnecessary sentence deletion and most importantsentence addition
Tomohito Ouchi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)
We are studying data expansion methods in automatic summarization systems. What
has been found in the research to date is that the method of expanding the input
article with unnecessary sentences deleted is the most effective of the extended
methods. In the existing research, we have tried a method of adding most importantsentences. In this research, we propose a method that combines the deletion of
unnecessary sentences and the addition of most important sentences. We propose ahybrid method with two methods, one is to add important sentences first and theother is to add important sentences last.

- 60 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS7-2 Evaluation of a system that the reading of sentences by a voice synthesizer and thehighlighting sentences
Sota Kobayashi, Masayoshi Tabuse (Kyoto Prefectural University, Japan)
It is generally known that there are individual differences in human cognitive
function. For example, some people have an advantage over reading the text, whileothers have an advantage over hearing the words. We made a hypothesis; giving bothvisual and audio stimuli may make it easier for people to catch information. To test
this hypothesis, we conducted an experiment. For the experiment, three indicators
are set consisting of memory, understanding and concentration. Memory andunderstanding scores are measured by using a problem set given in a previous study.
The problem set allows us to estimate the scores of verbatim memory andunderstanding. Concentration scores are estimated by the heart rate: previous study
suggested a relationship between concentration and the heart rate. In this study, we
made a system that realizes the reading of sentences by a voice synthesizer and thehighlighting sentences. In the experiment using the system, we measured thedifference in learning effect due to the difference in reading.

.

OS7-3 Mouse Cursor Control System using Eye Gaze and detection of eye opening and closing
Masayoshi Tabuse, Mana Fukumoto, Yasunari Yoshitomi, Taro Asada (Kyoto Prefectural University, Japan)
It is necessary to support of computer operation for a physically disabled person.
One of the possible physical movements of the physically disabled person is Eye
movement. Eye gaze and detection of eye opening and closing of a person makes it
possible to operate a computer. In our system, a web camera, Gaze pointer, dlib C++
library and OpenCV library are used to recognize eye gaze and detect eye opening
and closing. Changing the eye gaze, we can move a mouse cursor. Recognizing
closed eye, we can carry out an operation of mouse click. In this paper, we evaluatedthe effect on operability due to the eye gaze and detection of eye opening andclosing.

OS7-4 Music Recommendation System Driven by Facial Expression Recognition
Taro Asada1, Motoki Kawamura2, Yasunari Yoshitomi1, Masayoshi Tabuse1(1Kyoto Prefectural University, Japan, 2Fujitsu Limited, Japan)
We propose a system for music recommendation through an interaction between auser and a personified agent using facial expression recognition, synthesized voice
and facial expression. Though expressing one of happy and neutral facial
expressions, the user tells the system his or her evaluation on a song reproduced by
the system. A happy facial expression means that he or she wants to listen to thesong again, while a neutral facial expression means vice versa. The system exploits
a series of his or her evaluations on previously recommended songs for deciding thenext recommendation of song. The facial expression of the user is recognized using
Face API. The effectiveness of the proposed system is verified.

- 61 ©ICAROB 2022 ALife Robotics Corp. Ltd.

He wants tolisten to theThe 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS8 Intelligent Systems and Robotics -3 (4)Chair Tianyi Zhang (Tianjin University of Science and Technology, China)
Co-Chair Yiting Gao (Tianjin University of Science and Technology, China)
OS8-1 A Portable Electrocardiograph System Design based on STM32 Chip
Tianyi Zhang, Huating Liu (Tianjin University of Science and Technology, China)
ECG monitoring instruments occupy an important position in the medical field of
application.It has a great reference value for the testing of basic cardiac functions
and its pathological studies. For the shortcomings of conventional ECG monitoring
instruments and equipment, which are large and not easy to carry, this paper designs
a portable ECG monitor. In this paper, we designed a portable infrared induction
heart rate measurement device, using STM32C8T6 as the core chip, to complete theextraction and processing analysis of ECG signals. The complete set thus composed
can make basic diagnosis of the collected data and is successfully applied to dailylife.

OS8-2 Design and Development of The Parking Space Autonomous Management System
Yiting Gao, Tianyi Zhang ( Tianjin University of Science and Technology, China)
The article purpose is to change the manual or semi-manual management model thatparking Spaces now have, so as to make the parking space management more
standardized and more effective. This system used the Browser/Server architecture,
JSP(Java Server Page) as the front r & d tool, SQL Server as the background data
warehouse for r & d. The system key functions realized in the last system include:
user registration and login, message block, parking reservation, change of login
password, fee settlement block and parking information query. The design
manufacture of this parking space autonomous management system can increase theeffect of parking space management to a large extent, all reflecting the information
period of the special good.

OS8-3 An Overview of Obstacle Avoidance Methods for Unmanned Vehicles
Peng Lu, Haokang Wen (Tianjin University of Science and Technology, China)
Autonomous obstacle avoidance is one of the popular research elements in the fieldof intelligent unmanned vehicles, and it is a key technology to realize the automatic
travel of intelligent unmanned vehicles. This paper introduces the traditionalalgorithms and intelligent algorithms related to autonomous obstacle avoidance, andanalyze the advantages and drawbacks of the corresponding algorithms. The
development of the corresponding control strategies is also summarized andsummarized in order to provide some reference for the research on obstacle
avoidance of intelligent unmanned vehicles.

- 62 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS8-4 Synchronization of Novel 5D Hyperchaotic Systems
Hong Niu (Tianjin University of Science & Technology, China)
In this paper, synchronization of novel five-dimensional (5D) autonomous
hyperchaotic systems is studied. The synchronization control law is proposed basedon the center translation method. A structure compensator is formulated to make themathematical model of the error system the same as that of the response system, anda linear feedback controller is designed via the Lyapunov stability theory to makethe error system globally asymptotically stable at the origin. Thus, the two 5D
hyperchaotic systems are synchronized. Some relevant numerical simulation results,
such as the curves of the corresponding synchronization state variables and theerrors, are given to illustrate the feasibility and effectiveness of the synchronization
control law.

OS9 Robot Control (10)Chair Yizhun Peng (Tianjin University of Science and Technology, China)
Co-Chair Junhui Yin (Tianjin University of Science and Technology, China)
OS9-1 Design of Analog Electromagnetic Gun Based on Arduino
Lintao Hu, Yizhun Peng (Tianjin University of Science and Technology, China)
The design of analog electromagnetic gun based on Arduino simulates the wholeautomated process of the electromagnetic gun discovering the target and launching
the shell. The OpenMV camera on the simulated electromagnetic gun recognizes
and determines the position of the target-shaped guide mark with a red radius of
20cm, then transmits the data to the Arduino to adjust the position of the simulated
turret. The next step is that ultrasonic module measures the distance between thetarget-shaped guide and the turret before controlling the steering gear to rotate thebarrel to the corresponding position. The shell in the barrel which is under the actionof the magnetic field is accurately shot onto the target with a radius of 5cm on the
ground.

OS9-2 A Design of Intelligent House Inspection Robot
Sicong Wang, Yizhun Peng (Tianjin University of Science and Technology, China)
Aiming at the social pain point that the tedious procedure of housing quality
inspection leads to the consumption of a lot of manpower, an intelligent house
quality inspection robot is designed. The robot can independently detect the qualityof the walls and other structures of the indoor house. It is an intelligent detection
robot based on Internet of things technology. The robot is independently developed
and designed by our ROS operating system, combined with embedded devices andother devices. It can independently navigate and control by remote control. It canadapt to terrain in a variety of complex environments and obtain various
environmental information for mapping. It can measure the defects of the house
more quickly and accurately. It does not need to carry other large detection tools,
which makes the detection process more convenient, saves a lot of manpower, andrealizes the unmanned and intelligent detection.

- 63 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS9-3 A Design of Embedded Plate & Ball Control System Based on Machine Vision
Wendinig Luo1, FuChen Zhao2( Beijing Huadian Jingneng Energy Technology Co., China)
2( Beijing University of Posts and Telecommunications, China）
1

The control system is an experimental device to track the position of the target object
and control the trajectory of the sphere by the actuator-rudder-driven platform
motion. The research content of this design includes image processing, machine
vision, motion control and many other fields. In this paper, the mechanical structureof the plate & ball control system and the printed circuit board of the main controller
are designed, and the PID-based control algorithm is designed on the basis of theball control ability analysis and the real-time detection analysis of machine vision.
On the hardware platform with good self-designed performance, the precise sphere
coordinates are obtained by the Hough circle detection algorithm, and then theposition and speed of the sphere are controlled by the PID controller.

OS9-4 Design of Blood Circulation System of Medical Simulation Robot
Songyun Shi, Yang Ge, Chomgxu Guo, Yizhun Peng (Tianjin University of Science and Technology, China)
Medical robot is the most active direction in the research field of medical industry
in recent years. Its development potential is very huge. It has greatly promoted theprogress of modern medical equipment. The blood circulation system of our medical
simulation robot can be used in medical universities, medical clinical training andeven military fields. The robot adopts ROS robot operating system and FreeRTOS
real-time operating system, and uses multi-sensor fusion data analysis to obtain theinformation in the blood sample and realize the simulation of blood circulation. Iit
can simulate the touch of syringe in human injection. The whole medical process is
optimized.

OS9-5 A Design of Dynamic Exoskeleton for Self-learning Human Movements
Qingliang Liu, Yucheng, Pengyu Yao, Dechao Wang,Yizhun Peng
(Tianjin University of Science and Technology, China)
In order to make the athletes more flexible and simple in the movement training, thisproject designed a kind of intelligent exoskeleton for the athletes to learn andcomplete a set of fixed movements with a higher efficiency in the training. In orderto optimize the user's sports experience and adapt to more sports scenes, the productis divided into three parts: embedded device, mobile phone client and background
server. The smart exoskeleton can be mechanically worn only by connecting the leg
bandage and hand bandage to the human body. A single person can be completed,more convenient. It is a multi-degree-of-freedom humanoid robot system that canfollow the movement of human limbs in real time. The equipment sets a series ofstandard movements, which leads human to repeat exercises and slowly forms
muscle memory. The main target of the design is the people who want to quickly
and accurately achieve the purpose of action learning.

- 64 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS9-6 Design of Autonomous navigation building Climbing and Handling Robot Based on
SLAM
Linhui Chen, Junjie Tai, Yizhun Peng (Tianjin University of Science and Technology, China)
When there is no elevator at the station and airport or the elevator is crowded, theramp of baggage checking is steep, the weight of luggage package is too heavy, ittakes time and effort, and it is very easy to knock against and cause damage to thecontents of the package. Our climbing robot carries out autonomous navigation
based on visual SLAM. Equipped with ROS robot operating system, it adopts laser
SLAM mapping navigation technology and tracks as running parts, which is suitablefor various terrains. The adoption of binocular vision, can be more accurate analysisof the surrounding environment. The robot is equipped with MPU9250 attitude
sensor, which is convenient for solving robot attitude. Jetson Nano is used as theupper computer and STM32F429 as the lower computer.

OS9-7 Simulation Research on Automatic Navigation of Indoor Wheelchair
Peng Shi, Yizhun Peng (Tianjin University of Science and Technology, China)
A new auto-navigation wheelchair based on ROS system is proposed to deal withthe global aging and the low behavioral ability of the elderly. Lidar is used to locate
and map the active area using gmapping algorithm. Real-time map information istransmitted to the processor by the camera and lidar working together. Automaticnavigation is completed by A* algorithm calculation. Important information points
are marked by QR code and precisely positioned by camera recognition, whichenables wheelchair to have automatic navigation function. It can help older people
move safer and more freely at home; It can also be applied to nursing homes toreduce the pressure of nurses and centralize management of the elder.

OS9-8 Design of a Humanoid Dance Robot for Dancing Baduanjin
Zhuofan Xu, Ruitao Li, Binfu Zhong, Yizhun Peng (Tianjin University of Science and Technology, China)
This paper introduces a humanoid robot which consists of 16 servo motors driving
joint and adopts STM32 as the main control chip and dual mode
Bluetooth3.0/4.0BLE+EDR wireless control.By programming, the motor ofhumanoid robot can reach the specified space position and attitude at the specified
time.At the same time, digital closed-loop control PID algorithm and synchronouscompensation algorithm are used to modify and optimize the Angle of the servo
motor in real time, and the designed action is vividly displayed.

- 65 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS9-9 Design of Intelligent Shading System Suitable for Parenting Products
Yihan Yan, Songyun Shi, Yaxin Shen, Yizhun Peng (Tianjin University of Science and Technology, China)
With the development of science and technology, if you want to provide a more safeand healthy growth environment for babies, simple human protection is far fromenough. And as smart home is gradually accepted by the public, smart home doesbring people a more convenient life In daily life, proper exposure to the sun can help
nutrients be quickly absorbed and used, so that babies can better explore this newworld, but direct sunlight will bring great harm to babies' eyes This product is anintelligent shading system, which can be connected with the smart home system andthe Internet. Based on specific seasons, time periods and different geographicallocations, the position of the sun and light intensity can be determined, so as to adjust
the shading Angle in time, so that babies can bask more scientifically.

OS9-10 Design of Intelligent Personalized Nutrition Supplement Machine
Xinpeng Yang, Sidan Liu, Rui Li, Junhui Yin, Yizhun Peng
(Tianjin University of Science and Technology, China)
Reasonable nutritional supplement is the necessity for growth and development ofliving organisms. Residents need various nutrients daily to maintain bodies.
However, in the post-epidemic era, people's physical and mental pressure has
increased due to the fast life pace, and most Chinese residents are sub-healthy. To
improve the current incomplete and untimely citizen nutrition supplement mode, thiswork uses big data, artificial intelligence and Internet of things to design an
unmanned intelligent personalized nutrition supplement machine. Combining
individual body data automatically, the machine can prepare exclusive nutritional
supplement drinks timely, avoid crowd contact and support the citizen health quality
improvement with effective software and hardware .

OS10 Software Development Support Method (4)Chair Tetsuro Katayama (University of Miyazaki, Japan)
Co-Chair Tomohiko Takagi (Kagawa University, Japan)
OS10-1 N-Switch and All-Path Test Coverage Criterion for Extended Finite State Machine
Tomohiko Takagi1, Koichiro Sakata1, Kouichi Akiyama2( Kagawa University, Japan), (2Japan WillTech Solution Co., Ltd., Japan)
1

EFSM (Extended Finite State Machine) enables engineers to define the expectedbehavior of software from the aspect of not only state transitions but also actions on
the state transitions. Test cases are usually created from EFSM models so as tosatisfy a test coverage criterion called N-switch. However, it is originally designed
for FSM, and actions are not taken into account in it. To address this problem, we
propose a new test coverage criterion for EFSM. Our criterion requires that (i) test
cases cover all the successive state transition sequences of specified length, and also(ii) the test cases cover all the paths on control flow graphs of actions that
accompany each of the successive state transition sequences. (i) and (ii) are thecharacteristics of N-switch and AP (All-Path test coverage criterion), respectively.

- 66 ©ICAROB 2022 ALife Robotics Corp. Ltd.

s1

Elements of the model(γ) e2, a3• states: s1, s2, s3, s4, s5• evens: e1, e2• actions: a1, a2, a3, a4

s3

Note

(α) e1, a1s2(ε) e2, a3(β) e1, a2s4(δ) e2, a2(ζ) e1, a4
s5• State transitions are labeledwith Greek small letters.
• The details of the elements
are omitted in this paper.

Elements of the model• basic blocks: b1, b2, b3, b4, b5, b6

start

start

start

b1

b2

b4

b6

end

b3

b5

end

end

end

a2

a3

a1

start

a4

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS10-2 Proposal of a Method to Generate Classes and Instance Variable Definitions in the
VDM++ Specification from Natural Language Specification
Kensuke Suga1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro Aburada1, Naonobu Okazaki1(1University of Miyazaki, Japan), (2University of Nagasaki, Japan)
VDM is one of methodology on the formal methods to write the specification
without ambiguity. Writing VDM++ specification is difficult. Our laboratory
proposed a method for automatically generating VDM++ specifications from natural
language specifications using machine learning. However, the existing method is notuseful because it only supports type definitions and constant definitions in the
VDM++ specification. This paper proposes a method to generate classes andinstance variable definitions in the VDM++ specification from natural language
specification. The superordinate and subordinate relationships between words arequantified, and then they are used as new parameters for machine learning. It is
confirmed that the proposed method gave more useful results than the existing
method.

OS10-3 Expansion of Application Scope and Addition of a Function for Operations into BWDM
to Generate Test Cases from VDM++ Specification
Takafumi Muto1, Tetsuro Katayama1, Yoshihiro Kita2,
Hisaaki Yamaba1, Kentaro Aburada1, Naonobu Okazaki1
1( University of Miyazaki, Japan), (2University of Nagasaki, Japan)
Generating test cases from formal specification descriptions VDM++, which is amethod for the ambiguity of specifications, is time-consuming and labor-intensive.
Therefore, we developed BWDM, which is an automatic test case generation toolfor VDM++ specifications, in our laboratory. However, the existing BWDM does
not support type definition blocks and conditional expressions for invariant
conditions, pre-conditions, and post-conditions. Moreover, it cannot generate test
cases for operation definitions that manipulate a state of objects. Therefore, toimprove the usefulness of BWDM, this research extends BWDM to solve the above
three problems. Consequently, it is confirmed that the extended BWDM can saveabout 17 minutes in generating test cases compared to test cases generation by hand.

OS10-4 Proposal of Gamma which is a spatial data sharing distributed MQTT system
Takahiro Ueda1, Tetsuro Katayama1, Yoshihiro Kita2, Hisaaki Yamaba1, Kentaro Aburada1, Naonobu
Okazaki1(1University of Miyazaki, Japan), (2University of Nagasaki, Japan)
This paper proposes Gamma, which is a new distributed MQTT system, to improvethe usefulness of distributed MQTT systems for sharing spatial data. Gamma that
adds a Manager to the previous study is implemented with five functions. In theexperiment, it was found that Gamma can process more messages than a single
MQTT broker. It is confirmed that Gamma achieves scalability by increasing thenumber of Gateways and distributed MQTT brokers. Furthermore, it is confirmedthat the efficiency of the distributed MQTT system can be improved by setting the
responsibility area of Gateways so that its load is not unevenly distributed to a
specific Gateway.

- 67 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS11 Applications of deep learning algorithms (9)Chair Xiaoyan Chen (Tianjin University of Science and Technology, China)
Co-Chair Shiming Wang (Tianjin University of Science and Technology, China)
OS11-1 Human-vehicle detection based on YOLOv5
Zhihui Chen1, Xiaoyan Chen1, Xiaoning Yan2, Shuangwu Zheng2( Tianjin University of Science and Technology, China), (2Shenzhen Softsz Co. Ltd., China)
1With the continuous improvement of social development level, traffic has becomecomplicated. Therefore, the detection of people and vehicles becomes important.
There are many application scenarios for human-vehicle detection, such as
autonomous driving and transportation. This paper mainly introduces the researchstatus of human-vehicle detection, analyzes the advantages and disadvantages ofvarious current target detection algorithms, and focuses on YOLOv5 algorithm.
Because the YOLOv5 model is much smaller than YOLOv4, and also has strong
detection ability. Finally, YOLOv5 is used to carry out human-vehicle detection
experiments. The results the detection accuracy is improved slightly.

OS11-2 Low light enhancement CNN Network based on attention mechanism
Xiwen liang1, Xiaoyan Chen1, Hao Feng1, Xiaoning Yan2, Nenghua Xu2( Tianjin University of Science and Technology, China), (2Shenzhen Softsz Co. Ltd., China)
1

Low-light enhancement is a challenging task. With the image brightness increasing,
the noises are amplified, and with the contrast and detail increasing, the false
information is generated. In order to solve this problem, this paper proposes a novel
end-to-end attention-guided method (A-MBLLEN) based on multi-branch
convolutional neural network. The proposed network is composed withenhancement module (EM) and Convolutional Block Attention Module (CBAM).
The attention module can make the CNN network structure gradually focus on the
weak light area in the image, and the enhancement module can fully highlight themulti-branch feature graph under the guidance of attention. In this manner, image
quality is improved from different aspects. Extensive experiments demonstrate that
our method can produce high fidelity enhancement results for low-light images
quantitatively and visually.

OS11-3 Fruit Recognition Based on YOLOX
Keying Ren1, Xiaoyan Chen1, Wangzi Chen1, Xiaoning Yan2, Dongyang Zhang1( Tianjin University of Science and Technology, China), (2Shenzhen Softsz Co. Ltd., China)
1

Pattern recognition is an urgent problem to be solved in the field of computer vision.
In this paper, the network of fruit recognition based on YOLOX is studied. Due tothe problem of slow training speed and low accuracy in the classical algorithms, thede-coupling detection head is optimized in YOLOX to overcome the above
shortcomings. In terms of data enhancement, a new method combining Mosaic and
MixUp is proposed. Through experimental verification, the method proposed in thispaper has a great improvement over related algorithms such as YOLOV5, theaccuracy is 98.6%, which is increased 5.2%.

- 68 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS11-4 An improved small target detection method based on YOLOv4
Xia Miao1, Xiaoyan Chen1, Keying Ren1, Zichen Wang1, Xiaoning Yan2, Yue Sun2
( Tianjin University of Science and Technology, China), (2Shenzhen Softsz Co. Ltd., China)
1

In order to improve the efficiency and accuracy of small target detection in current
traffic flow, this research proposes an improved YOLOv4 framework and applies it
to small target detection task. A new small target-friendly 4-fold down-sampling
residual is added between the second and third residual blocks of CSP Darknet-53
block to improve the detection accuracy of small target. The novel YOLOv4 modelis optimized by above strategy. Compared with the original network, the modified
framework can significantly improve the recall rate and average detection accuracyof small target.

OS11-5 Yolov5-DP: A new method for detecting pedestrian aggregation
Kunzhi Yang1, Xiaoyan Chen1 Xiaoning Yan2, Dashuo Wu2( Tianjin University of Science and Technology, China), (2Shenzhen Softsz Co. Ltd., China)
1

In this paper, a novel network Yolov5-DP (Yolov5-DBSCAN-P) is proposed. Deep
separable convolution and ACON-C activation function are added into Yolov5
network to improve the detection accuracy of pedestrians. Firstly, DBSCAN-P isused as the clustering detector to detect pedestrians in the area. Secondly, the depthseparable convolution is used to replace the common convolution in Yolov5. Finally,
the loss function Swish is improved to ACON to increase the model speed andreduce the model size. The Yolov5-DP network is tested on the public dataset
MOT20Det. The experimental results show that good detection results and accurate
aggregation detection results are obtained.

OS11-6 Flame Recognition based on Yolov5 Algorithm
Kunzhi Yang1, Xiaoyan Chen1 Xiaoning Yan2, Dongyang Zhang2( Tianjin University of Science and Technology, China), (2Shenzhen Softsz Co. Ltd., China)
1

To address the problem of low accuracy and speed of flame detection, this paper
proposes an improved YOLOv5 for flame detection. The new network is based on
YOLOv5 by changing the loss function to DIoU(Distance Intersection over Union).
Through introducing a large number of training data sets, it is hoped to improve theobject detection accuracy. The experimental results show that the proposed YOLOv5
algorithm is effective with higher accuracy and faster detection for different flames.

- 69 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS11-7 Research on face detection algorithm based on improved YOLOv5
Zhen Mao1, Xiaoyan Chen1, Xiaoning Yan2, Yuwei Zhao2( Tianjin University of Science and Technology, China), (2Shenzhen Softsz Co. Ltd., China)
1

Face detection technology is one of the research hotspots in the field of deep learningin recent years. Aiming at the problems of slow detection speed and low accuracy ofvarious target detection algorithms, this paper proposes an improved target detection
algorithm based on YOLOv5. By introducing lightweight network, changing thedepth and width of YOLOv5 network structure and reducing the number of model
parameters, the network reasoning speed can be greatly accelerated. At the sametime, the method uses Acon adaptive activation function to further improve theaccuracy of face detection. Experimental results show that the improved algorithm
has faster detection speed and higher detection accuracy than the traditionalalgorithms.

OS11-8 Visibility analysis based on a novel A-VGGNet network
Zhen Mao1, Xiaoyan Chen1, Xiaoning Yan2, Shuangwu Zheng2( Tianjin University of Science and Technology, China). (2Shenzhen Softsz Co. Ltd., China)
1

In recent years, visibility analysis through deep learning processing and analysis ofvideo images for different places has become a hot research topic that attracts
people’s attention. A new deep learning model (A-VGGNet) is proposed to evaluate
the visibility of real scenes. The model is constructed on the basis of the VGG
classification model, and the classification accuracy of the deep learning model isimproved by adding an attention mechanism. The experimental results show that thetraining success rate is 97.62%, the verification set test accuracy rate is 75.05%, andthe test set classification accuracy rate is 85.05%. The proposed model has a goodeffect on the accuracy evaluation and classification of visibility.

OS11-9 Price Prediction of Diamonds
Xiran Wen, Qiqi Xu, Zirui Su, Jiayi Fang (The Chinese University of Hong Kong, China)
The experiment aimed at price prediction based on diamond dataset which contains
53940 rows of information. The model is constructed based on linear regression
model with the lowest estimated test error among all methods including tree andnonlinear models. The experimental results show that the mean square error for the
training dataset and validation dataset are 592182.6 and 603833.2 respectively, andthe R2 reached 98%. The test MSE is 631947. The proposed model can well predict
diamond prices.

- 70 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS12 Intelligent Measurements and Control Systems (8)Chair Xiaoyan Chen (Tianjin University of Science and Technology, China)
Co-Chair Shiming Wang (Tianjin University of Science and Technology, China)
OS12-1 Research on an AGV path planning method
Zhihui Chen, Xiaoyan Chen, Shiming Wang (Tianjin University of Science and Technology, China)
AGV is an acronym for Automatic Guided Transport Vehicle. At present, the key
technologies of AGV mainly include navigation and positioning technology, path
planning technology, multi-AGV coordinated control technology and multi-sensor
information fusion technology, etc. This paper studies A* algorithm in path
planning. The A* algorithm can find the shortest path between two points. It mainly
studies the principle of A* algorithm and simulates it in Matlab. By comparing thepath length of ant colony algorithm and A* algorithm in Matlab grid graph, theexcellent performance of A* algorithm is proved.

OS12-2 Boiler level measurement and control system
Xiwen Liang,Shengli Sun, Xiaoyan Chen (Tianjin University of Science and Technology, China)
This paper develops a boiler level control system to measure and control boiler level
easily. This level control system applies PID control algorithm in SIEMENS S7300PLC, uses ladder diagram and statement table programming, and completes
variable connection and screen editing in MCGS monitoring system. The PLC boiler
level control system is completed by establishing the system mathematical model,
designing the level control algorithm, and verifying the simulation. Throughdebugging, modifying parts of the parameters, the control effect of the control
system achieve satisfied expectation.

OS12-3 Recurrence quantification and time-frequency analysis of two-phase flow patterns
Keying Ren, Xiaoyan Chen , Meng Du (Tianjin University of Science and Technology, China)
Two phase flow often occurs in industrial production. If it is not detected in realtime, it will do great harm to industrial production. In this paper, a method combining
recurrence quantitative analysis and time-frequency representation is proposed to
identify the flow patterns of the Gas-liquid flow. From the construction of theexperimental device to the collection of conductance fluctuation signal of two-phaseflow, the recurrence plot and WVD distribution map are drawn by MATLAB which
are used in the final flow pattern analysis of two-phase flow. Experimental results
show that our method can accurately identify the flow pattern of two-phase flow.

OS12-4 Application of Deep learning in automatic driving
Wei Su, Xiaoyan Chen (Tianjin University of Science and Technology, China)
With the continuous development of science and technology, the field of artificial
intelligence has become a research hotspot, especially deep learning, which has
attracted much attention from all walks of life. Starting with the automatic driving
solution, this paper mainly expounds the important role and technical route of the
deep learning applications, and finally looks forward to the development direction
and application of automatic driving technology based on deep learning.
- 71 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS12-5 An intelligent home security system based on STM32
Wei Su1, Xiaoyan Chen1, Guangyong Xi2( Tianjin University of Science and Technology, China), (2Zhengzhou University of Light Industry, China)
1

Based on STM32F103C8T6 host control chip, this paper completes the design anddevelopment of an intelligent home security system combined with various
hardware modules, cloud server and android app. The system integrates OLED
display screen, buzzer, human infrared, Wifi and other modules. The serial port isconnected with ZigBee coordinator. The terminal equipment with temperature,humidity and smoke sensors is adopted to monitor the environment, and the relays
and stepping motors are designed to control the equipment at home by simulation.
The access control system takes STC89C52 as the core, and integrates the functionsof photographing module and steering gear simulation door opening. Android app
uses socket technology to complete remote data communication through Alibaba
cloud server and indoor security system. After testing, the system runs stably andhas good performance.

OS12-6 Design of smart bracelet based on STM32 microcontroller
Xia Miao, Xiaoyan Chen, Jianliang Li (Tianjin University of Science and Technology, China)
With the development of electronic information technology, the demand for highprecision and convenient electronic detection equipment for biomedical signals goesstraightly high. Heart rate and steps counting are two important indicators of thehuman body. Based on this, this design studies an intelligent bracelet with healthmonitoring system, which can detect human movement state and steps counting,measure and analyze the heart rate, and connect wirelessly through Bluetoothmodule. A STM32 microcontroller is used to collect and analyze the information of
motion state, heart rate and step quantity, and then send them to the APP, which isdeveloped based on Android and displayed through Bluetooth module. The users canchange their lifestyle by above parameters. Smart bracelets can play a role in
reducing the risk of disease.

OS12-7 Design of material conveying and automatic sorting control system based on PLC
Qian Wang1, XiaoYan Chen1, Shengmin Cao2
( Tianjin University of Science and Technology, China), (2TangShan College, China)
1

The automatic sorting technology is widely used in all walks of life, such as logistics
distribution center, post office, mining, port, etc. It can replace human to do a lot ofmonotonous reciprocating or high-precision work, in order to liberate people's hands
to do more challenging and innovative work, and greatly improve work efficiency.
This design uses programmable controller PLC and configuration software to design
an automatic sorting control system. The PLC and MCGS present a friendly manmachine interface and powerful data management functions. The simulation results
show that the system has high sorting efficiency and stable performances.

- 72 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS12-8 Image reconstruction based on ResV-Net for electrical impedance tomography
Qian Wang, ZiChen Wang, Di Wang, XiaoYan Chen (Tianjin University of Science and Technology, China)
Electrical impedance tomography (EIT) is a nonlinear and ill-posed inverse
mathematical problem. Due to the above problem, the reconstruction image suffersfrom the serious artifacts. To overcome shortcomings, we proposed a residual Vshaped deep convolutional neural network (ResV-Net). It consists of feature
extraction module and image reconstruction module which are optimized by
ResBlock. The residual connection method can effectively increase the number offorward information flow and reverse gradient flow in deep CNN, and alleviate theproblem of non-convergence caused by gradient vanishing. The simulation andexperimental results show that the ResV-Net has better visualization effect than therelated imaging method.

OS13 Mathematical Informatics (5)Chair Takao Ito (Hiroshima University, Japan)
Co-Chair Makoto Sakamoto (University of Miyazaki, Japan)
OS13-1 Basic Study on Design Tool of Hula Costumes
Taketo Kamasaka1, Kodai Miyamoto1, Makoto Sakamoto1, Satoshi Ikeda1, Amane Takei1, Kenji Aoki1,
Tsutomu Ito2, Takao Ito3
1
( University of Miyazaki, Japan), (2National Institute of Technology, Ube College, Japan)(3Hiroshima University, Japan)
Miyazaki Prefecture has a large hula population, probably due to its similarity to
Hawaii in mythology and climate. On the other hand, many hula costumes arehandmade, and it costs tens of thousands of yen to produce an original design.
Therefore, we are developing a 3D computer-aided design (CAD) system for hulacostumes, based on the idea that it is possible to reduce the number of failures bychecking the behavior of the fabric when dancing in the designed costume before
making it. There are some research examples on ordinary apparel CAD, but there
is no precedent specific to hula costumes.

- 73 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS13-2 Basic Study on the Use of XR Technology to Support Science Education
Kodai Miyamoto1, Taketo Kamasaka1, Makoto Sakamoto1, Masahiro Yokomichi1, Satoshi Ikeda1,
Amane Takei1, Tsutomu Ito2, Takao Ito3
(1University of Miyazaki, Japan), (2National Institute of Technology, Ube College, Japan),(3Hiroshima University, Japan)
According to the results of a survey on science teaching in 2016, the percentage ofstudents who answered that they like science is lower than other subjects. However,more than 80% of students said that they like experiments and observations. In
addition, a 2019 survey on smartphone penetration showed that about 90% of
students are familiar with the technology. Also, XR technology has maderemarkable progress in recent years. Based on the above, I conducted this researchbecause I thought that creating a simulation application using XR technology withsmartphones would change the way we think about science classes. In this paper,
we have developed a simulation application for science experiments. The subjects
were asked to experience the created application and answer a questionnaire. As aresult, the average score was 4 out of 5, which was not a bad result. At the sametime, however, we found a problem. The problem was that since this was asimulation application, the user experience was not very good. So we wanted tomake it a little easier to use. While improving the problems, I would like to createapps for other fields as well.

OS13-3 Analysis of 5x5 board Quoridor
Takuro Iwanaga, Makoto Sakamoto, Takao Ito, Satoshi Ikeda (University of Miyazaki, Japan)
In this paper, we analyze Quoridor using retrograde analysis. Quoridor is a 2 or 4player intuitive strategy game designed by Mirko Marchesi and publishedby Gigamic Games. In this study, we will analyze the game for two players. In thiscase, Quoridor is classified as finite two-person zero-sum games, so it is always
classified as either a must-win game, a must-win game, or a tie game. In this case,
Quoridor is finite two-person zero-sum games, so it can be classified as either amust-win game, a must-lose game, or a tie. First, we analyze the game with 25
squares (5x5) and one board each (originally 81 squares and 10 boards each). After
that, we will increase the number of boards and squares to achieve the regularversion of the analysis.

OS13-4 A perfect play in 4×12 board of Othello
Tomoyasu Toshimori, Makoto Sakamoto, Takao Ito, Satoshi Ikeda (University of Miyazaki, Japan)
In 1993, mathematician Joel Feinstein discovered that White would win in a 6x6
Othello if both players did their best. In 2015, Takeshita worked on the analysis of
the reduced Othello and succeeded in the complete analysis of 4x4, 4x6, 4x8, and4x10 boards. A complete analysis of the 4x12 board predicted that the search space
was about 10 ^ 4 times larger than the 4x10 board. Therefore, Takeshita tried toreduce the search space by referring to the perfect play of 4x10 board. As a resultof searching after the 7th move when the procedure up to the 6th move on the 4x12
board was the same as that on the 4x10 board, it was confirmed that Black would
win. In this paper, we will perform a complete analysis of the 4x12 board Othello
before the 7th move.

- 74 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS13-5 Parallel full-wave electromagnetic field analysis based on domain decomposition method
Amane Takei, Kento Ohnaka, Makoto Sakamoto (University of Miyazaki, Japan)
In this presentation, a parallel full-wave electromagnetic field analysis code basedon an iterative domain decomposition method is explained that is named
ADVENTURE_Fullwave. A stationary vector wave equation for the highfrequency electromagnetic field analyses is solved taking an electric field as an
unknown function. Then, to solve subdomain problems by the direct method, thedirect method based on the LDLT decomposition method is introduced insubdomains. The simplified Berenger’s PML is introduced which these eight
corners are given the average value of all PML’s layers. And, we show a numericalexample of a microwave. More detail will be shown in the conference.

OS14 Biomedical Systems (4)Chair Taro Shibanoki (Okayama University, Japan)
Co-Chair Hideyuki Tonooka (Ibaraki University, Japan)
OS14-1 A Mutual Control Method for a Multi-layered Non-contact Impedance Model-based
mobile robots
Masaru Sasaki1, Taro Shibanoki2, Hideyuki Tonooka1, Toshio Tsuji3( Ibaraki University, Japan), (2Okayama University, Japan), (3Hiroshima University, Japan)
1This paper proposes a mutual control method for multi-layered non-contact
impedance model-based mobile robots. In the proposed system, the motion priority
is set to the robot, and the stiffness, viscosity, and inertia parameters of the noncontact impedance model are changed appropriately according to the priority value,so that the robots can avoid collision with each other and obstacles at the same time.
In the experiment, two mobile robots, including one controlled by EMG signals,
were prepared and operated to intersect. The other mobile robot automatically
stopped and resumed its movement in response to EMG-controlled robot with thehigh priority, indicating that the proposed method can be used to control multiple
robots.

OS14-2 Relationship Between Delay Time and Sensation in Tactile Feedback for Myoelectric
Prosthesis
Taro Shibanoki (Okayama University, Japan), Kosuke Jin (Ibaraki University, Japan)
In this paper, we aim to develop a new tactile feedback method for myoelectric
prosthetic hands and model the relationship between delay time and sensation invibration stimulation. For myoelectric prosthetic hands, tactile sensation can be
expressed by vibrating an oscillator attached to the socket based on information
obtained from tactile sensors attached to the prosthesis's fingertips. In this case, if
there is a time gap between the sensory input and the stimulus, there is a possibilityof causing discomfort. Therefore, in the experiment performed, a delay time, D [s],is set between the start of contact with an object and the start of vibration using atactile sensor and conducted NRS evaluation. The results showed that thediscomfort was generated up to D = 0.8 [s] and then decreased according to thedelay time. The results showed that the discomfort was induced by controlling thetiming of the vibration stimulus.

- 75 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS14-3 Effects of Tactile Stimulation Near the Auricle on Body Sway During Foot Stamping
Masaya Tadokoro1, Taro Shibanoki2, Hideyuki Tonooka1( Ibaraki University, Japan), (2Okayama University, Japan)
1This paper describes the effects of tactile stimulation near auricles on body sway induring foot stamping. The system measures center of pressure, acceleration of upper
body, and whole-body movements by skeleton tracking with a depth camera while
the subject performs foot stamping on the stabilometer, and extracts evaluation
indices based on four perspectives: 1. the amplitude, 2. the variation, and 3. rhythmof body sway, and 4. the correlation of each limb. In the prototype experimentconducted with one healthy mail, the body sway during foot stamping for ten trials
in non-stimulus condition is compared with that for two trials in stimulus condition
that the constant tactile stimulus is applied. As a result, the variation of the
movement of lower limb and upper body sway were significantly reduced. This
result implies that applying the constant tactile stimulation near both of auricles
may be effective in stabilizing posture during foot stamping.

OS14-4 A Monitoring System of a Hamster Based on Video Image Analysis
Yugo Yamazaki1, Taro Shibanoki2, Hideyuki Tonooka1( Ibaraki University, Japan), (2Okayama University, Japan)
1This paper proposes a monitoring system of a hamster using a video camera. The
proposed system first processed the video image taken from the top of the cage, andthen extract features related to posture information and internal state. These features
are used to discriminate between daily activities and other activities using machinelearning technique. This allows the system to alert when the hamster behavesdifferently from its daily routine. In the experiments, we analyzed the daily
behaviors of hamsters using the proposed system, and showed that the behaviors of
hamsters change when stimuli are given from outside the cage, and that the system
may be able to discriminate them appropriately.

OS15 Artificial Intelligence for Embedded Systems and Robotics (5)Chair Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
Co-Chair Takuya Nanami (University of Tokyo, Japan)
OS15-1 INT8 Activation Ternary or Binary Weights Networks
Ninnart Fuengfusin, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
In this paper, we propose binary or ternary weights 8-bit integer activation
convolutional neural network. This model is designed to fit as a middle groundbetween the 8-bit integer and low-bit (1-bit or 2-bit) quantized models. We discoverthat conventional low-bit quantization techniques (i.e., BinaryConnect and Ternary
Weight Network) can be utilized with 8-bit integer quantization without any
fractions. Based on these methods, we evaluate our model with the VGG16-likemodel and CIFAR10 dataset. Our model provides competitive results to the general
floating-point model.

- 76 ©ICAROB 2022 ALife Robotics Corp. Ltd.

.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS15-2 A parameter tuning method for PQN model
Daimon Sakai, Takuya Nanami, Takashi Kohno (University of Tokyo, Japan)
A piecewise quadratic neuron (PQN) model is a spiking neuron model that can be
efficiently implemented on digital arithmetic circuits. In addition, this model can
reproduce a variety of neuronal activities precisely with optimized parameter sets.
In previous studies, we have optimized the parameters using meta-heuristic methods,
which required a lot of computational time. In this paper, we propose a parameter
estimation method that takes into account the mathematical structure of the modeland reproduces the electrical activities of a targeted neuron with less computational
time. We expect that this method can be used to construct silicon neuronal networks
that faithfully replicate the nervous system.

OS15-3 Hardware Development of Edge-Preserving Bubble Image Conversion in High-level
Synthesis
Jiang Qin, Akira Yamawaki (Kyushu Institute of Technology, Japan)
The non-photorealistic rendering, NPR, is widely used in social networking service
on the mobile device. To realize a real time NPR with low power making battery lifeof mobile device longer, we attempt to develop hardware module by using highlevel synthesis, HLS, converting software to hardware automatically. This research
focuses on edge-preserving bubble image, EPB, converting photos into image likefilled with bubbles. We proposed a software description method for EPB algorithm
so that HLS can generate a high-performance and low-power hardware module.
Through the practical experiments, we show that our proposed description method
can make HLS generate good hardware module improving the performance andpower efficiency compared with the conventional method.

OS15-4 Development of Haze Removing Hardware Using High-Level Synthesis
Daiki Shirai and Akira Yamawaki (Kyushu Institute of Technology, Japan)
We develop a haze removing hardware using high-level synthesis (HLS). Hazeremoving removes a haze in the picture taken with a camera. It is frequently used asa pre-process for advanced image processing. However, haze removing generally
requires a large amount of computational power due to its expensive and complex
processing flow in software. Therefore, we decided to develop the haze removing as
hardware to save power and improve processing speed at runtime. When developing
hardware, we have used HLS converting software to hardware design automaticallyto flexibly respond to shortened development periods and specification changes. For
the software used in high-level synthesis, the algorithm was changed and describedso that the performance of the development hardware would be improved. Finally,
the developed hardware was able to achieve an 1.43 times performance
improvement and a run-time power improvement of about 41.4 times compared tothe software execution.

- 77 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS15-5 Automatic approximation of primitive shapes using point clouds
Yuma Yoshimoto, Hakaru Tamukoh (Kyushu Institute of Technology, Japan)
This paper proposes a method to estimate appropriate primitive shapes byautomatically using a point cloud of objects. The process is as shown in the flow.
First, the method estimates a rotation angle of the object. Next, the method places
the primitive shape in the center of the object. The primitive shape stretched orcompressed to fit the object. The distance between all the points of the object andthe primitive shape is measured. The method applies these processes using various
primitive shapes. Finally, the most appropriate primitive shape is determined. The
experiment confirmed that the method estimates objects like apples and chikuwa toprimitive objects, such as spheres and cylinders.

OS16 Robotic Manipulation (4)Chair Kensuke Harada (Osaka University, Japan)
Co-Chair Tokuo Tsuji (Kanazawa University, Japan)
Co-Chair Akira Nakamura (Saitama Institute of Technology, Japan)
OS16-1 Motion Planning for Retrieving an Object in a Complex Environment
Shusei Nagato, Tomohiro Motoda, Keisuke Koyama, Weiwei Wan, Kensuke Harada (Osaka University, Japan)
This paper proposes a method for retrieving a target object by a robot in a complex
environment. In such an environment, it becomes difficult to observe the state of thetarget object owing to occlusion, and to grasp it. In this work, we propose a method
for selecting the viewpoint to observe the occlusion part of the target object by using
RGB-D images and selecting the motion from grasping/dragging to retrieve thetarget object according to the situation. Finally, we confirmed that a robot can retrievea certain target from the complex environments.

OS16-2 Design and Control of Two-sided Gripper for Bin Picking
He,Maike, Tokuo Tsuji, Tatsuhiro Hiramitsu, Hiroaki Seki (Kanazawa University, Japan)
Bin picking is a core problem in industry automation. The goal is to have a robot
with sensors and cameras attached to it pick-up known objects with random posesout of a bin using a gripper. Bin picking technology has the good effect in solving
the current shortage of labor. In this research we have completed The designed
gripper grasp object from both sides. Proposed an idea of automation, completed theimage processing and robot calibration.

- 78 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS16-3 Training Data Augmentation for Semantic Segmentation of Food Images Using Deep
Learning
Takayuki Yamabe, Tatsuya Ishichi, Tokuo Tsuji, Tatsuhiro Hiramitsu, Hiroaki Seki
(Kanazawa University, Japan)
With the advent of deep learning, the technology for category recognition of meal
images has reached a practical stage. However, for more advanced food management,
it is desirable to develop a technology that can recognize the distribution of foodingredients. We have focused on semantic segmentation, which is a technique forrecognizing the distribution of food ingredients in pixels of an image. In order toachieve highly accurate image recognition, it is necessary for humans to carefully
paint the boundaries of food items and assign correct labels, which requires a great
deal of effort. In this study, we propose a method to automatically amplify appropriate
training data by cropping, flipping/rotating, image composition, and color
manipulation based on images of only one type of food.

OS16-4 Suitable Error Recovery Process using Combined Evaluation Standards in Robotic
Manufacturing Plant
Akira Nakamura1, Kensuke Harada2 (1Saitama Institute of Technology, 2Osaka University, Japan)
The number of manufacturing plants where industrial robots work is increasing.
Therefore, errors during work are likely to occur. For big errors, it is often necessary
to go back to the previous step and resume work. There are two issues: which step toreturn to and what kind of work to do from the point of return. In this paper, we willshow that it is good to use a combination of multiple evaluation standards to decide
the planning.

Main partPlant tasks

Sensing
Modeling
Planning
Execution
Failureoccurred!!

Re-executeusing the system withimproved reliability

Recovery part
Corrected system
Cause estimation
anderror classification

Fig. 1 Robot task system with an error
recovery function

OS17 Advanced Robotics (8)Chair Evgeni Magid (Kazan Federal University, Russia)
Co-Chair Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
OS17-1 Experience in efficient real office environment modelling in Gazebo: a tutorial
Bulat Abbyasov1, Kirill Kononov1, Tatyana Tsoy1, Martínez-García Edgar A.2, Evgeni Magid1(1Kazan Federal University, Russia), (2The Autonomous University of Ciudad Juarez, Mexico)
New robotic solutions should be carefully verified before executing with real robots
in real environments. Simulation provides a significant support in testing, but requires
test sites with a high level of realism. In this case, 3D modeling can be used to produce
the necessary 3D digital representation of real objects with varying difficulty. This
article presents a step-by-step tutorial on modeling a realistic office environment. The
environment contains a building skeleton frame, windows, building tiles, andfurniture. Blender modeling toolset was used to create high-quality 3D models in the
Gazebo simulator. The constructed virtual environment was validated with a lidarbased SLAM task for a UGV.

- 79 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS17-2 Graphical user interface design for a UAV teleoperation
Roman Lavrenov1, Ramil Safin1, Bai Yang2, Martínez-García Edgar A.3, Roman Meshcheryakov4(1Kazan Federal University, Russia), (2Ritsumeikan University, Japan)(3The Autonomous University of Ciudad Juarez, Mexico)4( V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences, Russia)
The number of drones being used around the world grows at a high speed. New drones’
manufacturers are emerging, new drone designs are being developed. Most drones arecontrolled by a remote control, while UAV joysticks and communication protocols aredifferent. However, the Robotic Operating System (ROS) allows unifying control
process for drones. In this article, we present a universal graphical interface forcontrolling drones using ROS. The program is written in C++ and Qt and allows tocontrol UAV and receive and visualize data from drones. Due to the use of ROS topics,
this program can be applied to any drone with ROS.

OS17-3 Numerical solution approach for the ROBOTIS OP2 humanoid hand inverse kinematics
Zagidullin Linar1, Tatyana Tsoy1, Roman Meshcheryakov2, Kuo-Hsien Hsia³, Evgeni Magid1(1Kazan Federal University, Russia)
2( V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences, Russia)(3National Yunlin University of Science and Technology, Taiwan)
Small-size humanoids are widely used in human-robot interaction (HRI) projects andactivities. To operate robot limbs in HRI and pick-and-place tasks it is required tosolve an inverse kinematics problem. Classical approaches are closed-form solutions
with algebraic or geometric approaches or a numerical solution. While a typicalnumerical solution is supposed to search for joint variables using an iterative
optimization, in this paper we suggest an off-line solution for a ROBOTIS OP2humanoid upper limb via a forward kinematics approach that allows to calculate inadvance all possible solutions for an end effector pose within a robot workspace withseveral levels of the workspace discretization. The solution was obtained in asimulation and successfully validated with a real ROBOTIS OP2 humanoid.

OS17-4 Alvus modelling in Gazebo
Liaisan Safarova1, Bulat Abbyasov1, Tatyana Tsoy1, Hongbing Li2, Evgeni Magid1(1Kazan Federal University, Russia), (2Shanghai Jiao Tong University, China)
Insufficient testing of medical robots can lead to accidents during a surgery anddamage an expensive equipment. A simulated 3D patient permits a preliminary
checking of robotics-based medical scenarios without threatening a real patient's
health. This article presents a 3D model of a human abdomen, which contains vitalorgans: intestine, liver, stomach, and kidneys. There are 3 layers of an abdominal wall:skin, adipose, and muscle. Several types of pathologies were modeled: cysts, tumors,and gallstones. Blender modeling software was used to create realistic 3D models oforgans with their distinctive features for Gazebo simulator. The model is presented asa ROS package with necessary configuration files and can be used by other researchers
to simulate medical operations in Gazebo environment.

- 80 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS17-5 Testing procedures architecture for establishing a fiducial marker recognition quality in
UAV-based visual marker tracking task in Gazebo simulator
Mikhail Kilin1, Roman Lavrenov1, Bai Yang2, Mikhail Svinin2, Evgeni Magid1(1Kazan Federal University, Russia), (2Ritsumeikan University, Japan)
Fiducial markers could be used in different tasks, including UAV and UGV markerbased localization. In most cases developers do not consider features of fiducial
markers’ systems (FMS) while selecting a particular FMS for a project. However, thisselection might significantly influence results of experiments and thus the quality ofa resulting product, an algorithm or a software. In this work, we define an architectureof experimental framework that allows finding an optimal marker for a UAV in a
mobile ground object following task. The proposed framework estimates an average
deviation of a detected Aruco marker position and an accuracy of the UAV landing on
the marker. The framework uses Robot Operating System and employs UAV PX4LIRS model in the Gazebo simulator.

OS17-6 Feature importance evaluation method for multi-agent deep reinforcement learning in
advanced robotics task allocation
Sergey Ryabtsev1, Mikhail Gurchinsky1, Igor Struchkov1, Vyacheslav Petrenko1, Fariza Tebueva1, Sergey
Makarenko2(1North-Caucasus Federal University, Russia),(2Saint Petersburg Federal Research Center of the Russian Academy of Sciences, Russia)
The need to tackle intelligent tasks using advanced robotics multi-agent systems(MAS) actualize the use of artificial neural networks (ANNs) and multi-agent deep
reinforcement learning technology. The article aims to solve the problem of
exponential growth of ANN complexity with an increase in the number of agents in
the MAS. To solve this problem, we propose an evaluation method for input data
features importance. This method allows to optimize the input data feature set to
reduce the computational complexity of the ANN inference while providing the samelevel of performance.

OS17-7 Iterative method of labor division for multi-robotic systems
Sergey Ryabtsev1, Artur Sakolchik2, Vladimir Antonov1, Vyacheslav Petrenko1, Fariza Tebueva1, Sergey
Makarenko3
1( North-Caucasus Federal University, Russia),(2Belarusian State University, Belarus)
3( Saint Petersburg Federal Research Center of the Russian Academy of Sciences, Russia)
Labor division in multi-robotic systems allows to distribute tasks between agents inorder to increase the efficiency of performing the global task. Collective decisionmaking methods allow agents to form the “agent-task” pairs. In this paper, we consider
the case when the number of tasks significantly exceeds the number of agents. We
propose an iterative method of labor division in multi-robotic systems. It uses
collective decision-making to assign a cluster of subtasks to an agent. The paper
examines different ratios between cluster size, number of clusters, and number of
agents in order to find ratios that provide minimal average global task execution timeand minimal average energy consumption.

- 81 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS17-8 Development of Bowling Machine Using VEX IQ
Kuo-Hsien Hsia1, Ya-Chun Chen1, Evgeni Magid2, Xin-Ying Zeng1(1National Yunlin University of Science and Technology, Taiwan)(2Federal Kazan University, Russia)
VEX IQ is a kind of educational robotics platform focuses on semi-automatic andsemi-remote. In this paper, a fully automatic bowling machine based on VEX IQ
educational robotics platform has been developed. Since the brain of VEX IQ cannot
communicate to other VEX IQ brains and the components of VEX IQ are made ofplastic, it is necessary to overcome these problems to create mechanism similar tosteel-made constructions and form an intelligent large system. We use sensors as
communication interface for the brains of VEX IQ. Totally 3 brains and 10291 VEX
IQ plastic components are used for the construction of the bowling machine. The
overall size is about 252x93x90 in centimeters.

OS18 Natural Computing (3)Chair Marion Oswald (Technische Universität Wien, Austria)
Co-Chair Yasuhiro Suzuki (Nagoya University, Japan)
OS18-1 An Acoustic Artificial Life System Using the Game of Life and its Application for
Performing Arts
Yasuhiro Suzuki (Nagoya University., Japan)
Sound and vibration are forms of energy propagation. We have constructed an
artificial life form that takes sound as energy and produces energy. The system
converts sound into a two-dimensional pattern and uses it as input to the Game of Life.
After n steps, the Game of Life is re-transformed into sound, and the sound is output.
The sound allows the artificial life in the PC to interact with the outside world. We
used this system to create an artwork that interacts with a dancer interactively throughsound.

OS18-2 The Effect of Non-audible Low Frequency, Deep Micro Vibrotactile, DMV Sounds on
MusicYasuhiro Suzuki (Nagoya University, Japan)
The 1/f fluctuation is a fluctuation in which the power spectrum is inversely
proportional to the frequency f. 1/f is found in natural and manufactured phenomena
and is widespread in music. Although sounds below 20Hz are inaudible to humans,
the lowest notes of a pipe organ are 8Hz or 16Hz, and orchestral music contains
inaudible low-frequency sounds. We have shown that a not 1/f can fluctuate at 1/f byadding shallow frequency sounds.

- 82 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS18-3 Response of Yeast to Low Frequency Sound Exposure
Yasuhiro Suzuki (Nagoya University, Japan)
The primordial Earth, where life began, has been exposed to solid infrasound due toactive mountain building and intense weather. Yeast, Saccharomyces cerevisiae, wasthe first eukaryotic organism to emerge 2.1 billion years ago. We investigated the
response of yeast to low-frequency sound. It has known that the yeast is cultured byshaking a culture flask, the intensity of shaking changes the growth rate. We haveconfirmed that the power of the low-frequency exposed sound may affect the growthrate.

OS19 Industrial Artificial Intelligence Robotics (7)Chair Eiji Hayashi (Kyushu Institute of Technology, Japan)
Co-Chair Sakmongkon Chumkamon (Kyushu Institute of Technology, Japan)
OS19-1 Online Deep Reinforcement Learning on Assigned Weight Spaghetti Grasping in One
time using Soft Actor-Critic
Prem Gamolped, Sakmongkon Chumkamon, Tomofumi Tsuji, Nattapat Kloomklang, Chanapol
Piyavichayanon, Ranatchai Laosiripong, Eiji Hayashi (Kyushu Institute of Technology, Japan)
With the growth of the food industry recently, especially in pandemics, Artificial
Intelligence and robotics have become essential and widely used to package food.
Human error in food production can cause accuracy and performance issues since thefood is soft, non-rigid, and nonpattern, mainly noodle-like. This paper proposes achallenging novel self-learning robotics grasping for spaghetti using deep
reinforcement learning (DRL) based on the soft actor-critic. The manipulator is trainedfor one-shot grasping spaghetti where the robot could get the state from the RBGD
camera. We also implement spaghetti detection and segmentation for the input stateof the DRL. Finally, we present the evaluation and discussion of the spaghetti
grasping.

OS19-2 The research about editing system of performance information for player piano. Inference in the same phrase including ostinatoHaruna Yamasaki, Sakmongkon Chumkamon, Eiji Hayashi (Kyushu Institute of Technology, Japan)
Playing the piano expressive by player piano, it is necessary to adjust the volume,
length, and timing of music. In the case of piano music, there are often 1000 or morenotes in the score of even a short piece of music. So, to edit music data manuallyrequires not only knowledge but also a huge amount of time and effort. Therefore, we
aimed to develop a system that, like a skilled pianist, can perform even the firstmusical score based on information related to previous skills and experience. So, wedeveloped a system that automatically estimates the performance expression ofunedited music using edited performance data and score data. In this paper, I studied
the changes in performance expression when similar phrases such as ostinato arerepeated in a piece by F. Chopin, and described a new method of inference.

- 83 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS19-3 Weight estimation for noodle products in food layout of a home replacement meal

Tomofumi Tsuji1, Sakmongkon Chumkamon1, Chanapol Piyavichayanon1, Prem Gamolped1, Ranatchai
Laosiripong1, Ayumu Tominaga2, Ryusuke Fujisawa1, Eiji Hayashi1(1Kyushu Institute of Technology, Japan)
2( National Institute of Technology, Kitakyushu College, Japan)

In recent years, there has been an increasing demand for robot automation to improve
productivity in the food layout of lunchboxes and prepared foods in the Japanese homereplacement meal industry. In this research, we are developing autonomous work
robots that can perform midday meal serving tasks and developing the technology forindustrial food automation using Artificial Intelligence (AI) to improve productivity,
security, and safety. In this paper, we perform weight estimation of the served object
to identify the amount of spaghetti grasped. We created our dataset of spaghetti used
for weight estimation. The spaghetti is in different types of containers, the various
weight of spaghetti, and the random position of spaghetti in the robot workspace. We
also propose a deep learning method using RGB-D cameras for weight estimation anddescribe its validation and evaluation.

OS19-4 Cognition of surrounding conditions for a field robot Slope detection using a multilayer
perceptron classifier with point cloud as input Takumi Tomokawa1, Sakmongkon Chumkamon1, Ayumu Tominaga2, Sylvain Geiser1, Ryusuke Fujisawa1,
Eiji Hayashi1
1
2( Kyushu Institute of Technology, Japan), ( National Institute of Technology, Kitakyushu College, Japan)
In the Japanese forestry industry, automation of work to supplement labor is desiredto achieve sustainable forest management. In this study, the field robot for the
automation of forestry is developed. In the field robot, recognition of the surrounding
situation is an important function for safe movement. In this paper, we focus on therecognition of terrain. The terrain in a mountainous area has various conditions suchas slope, presence of weeds and trees, and unevenness. In this study, the classifier for
ground and sloped surfaces using Multi Layered Perceptron (MLP) is developed. This
classifier classifies each point of the 3D point cloud acquired from the RGB-D camera
into the ground plane of the robot and the slope plane where the robot cannot climb.
The accuracy of the classification was verified by training the classifier on a dataset
acquired in a real environment.

Point cloud classi ed
as inclined plane

Point cloud classi ed
as a ground plane

y

z

x

OS19-5 Particle Filter Based SLAM For Forestry Robot
Sylvain Geiser1, Sakmongkon Chumkamon1, Ayumu Tominaga2, Takumi Tomokawa1, Eiji Hayashi1(1Kyushu Institute of Technology, Japan)(2 National Institute of Technology, Kitakyushu College, Japan)
In Japan, the forestry workforce is dramatically declining. Therefore, field robots areinvestigated to replace humans for dangerous actions. Task execution with such
mobile robots requires localization and mapping. This research focuses on online
SLAM implemented on SOMA forestry robot developed at Hayashi Laboratory. In
this approach, the core algorithm is a Rao-Blackwellized particle filter, and theenvironment is represented by a map of features which are trees. Furthermore, motion
is captured by odometry through rotary encoders and observation is described by arange-bearing model. The raw pointcloud of the mounted lidar is processed in orderto get distance and azimuth for each detected landmark. A realistic simulation has beenbuild using Gazebo and the results of first experiments speak for real-time capability.
- 84 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS19-6 Anomaly Detection using Autoencoder with Gramian Angular Summation Field in Time
Series Data
Umaporn Yokkampon1, Sakmongkon Chumkamon1, Abbe Mowshowitz2, Eiji Hayashi1(1Kyushu Institute of Technology, Japan), (2The City College of New York, USA)
Uncertainty is ubiquitous in data and also represents a real-life challenge. To deal withthis challenge, we propose a novel method for detecting anomalies in time series data
based on the Autoencoder method, encoding the time series as images by means ofGramian Angular Summation Field (GASF). Time series data is represented as 2D
image data to enhance anomaly detection. The proposed method is validated with fourtime-series data sets. Experimental results show that our proposed method can
improve validity and accuracy on all criteria. Therefore, analysis of time series databy combining Autoencoder and Gramian Angular Summation Field methods caneffectively detect anomalies.

OS19-7 Autonomous Robot Packaging Ready Meal in Conveyor Production Line
Sakmongkon Chumkamon, Tomofumi Tsuji, Prem Gamolped, Chanapol Piyavichayanon,
Umaporn Yokkampon, Eiji Hayashi (Kyushu Institute of Technology)
Food automation technology becomes increasingly important in industrial andscientific research especially in a social distance of pandemics. In this paper, weinvestigate the robotic motion planning and grasping for the food, which is nonrigid,
nonpattern, and soft since the food is difficult to grasp. Moreover, in automation, theprocess has to be organized on time since the automation uses the conveyor production
line. This paper contributes three points. The first is motion planning online while theproduction line conveyor operating. The second is real-time Non-Pattern Food
Segmentation. The third is grasping non-rigid, nonpattern and soft objects of food.
Additionally, the robotics grasping also proposes the finishing decorating spaghetti
packaging by rolling the spaghetti while the conveyor moving which is our novel
proposed.

OS20 Application studies on sensor and RFID system (6)Chair Takao Ito (Hiroshima university, Japan)
Co-Chair Ammar A.M. Al-Talib (UCSI University, Malaysia)
OS20-1 A Pedal Powered Water Purifier
Ammar A.M. Al-Talib, Ting Kee Yuan, Sarah 'Atifah Saruchi (UCSI University, Malaysia)
Water is a necessity for every living organism on Earth. However, in certain parts of
the world especially in rural areas, clean drinking water is a luxury to the residents.
This is because they are not supplied with clean water and thus must source for waterfrom rivers, rainwater, and wells which are often contaminated and unsafe fordrinking. The objective of this study is to design and fabricate a functional prototype
of a pedal powered water purifier, and to ensure that purified water is safe for
consumption based on chemical water analysis. The quality of the purified water will
be compared to the Drinking Water Guidelines provided by the World HealthOrganization (WHO). The system utilizes the distillation method to produce clean
drinking water. The charging efficiency of the generator has reached 48.74% at 60rpm
cadence. Based on the chemical analysis of purified water, it has been proven that itmeets the standards set by WHO and is safe for consumption.
- 85 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS20-2 A Smart Node (Maintenance & Lifespan Prediction System)
Kam Heng Chaw1, Ammar A.M. Al-Talib2, Tarek Fawzi2, Jonathan Yong Chung Ee2(1MODU System (S) Pte Ltd, Malaysia), (2UCSI University, Malaysia)
Since the present business environment is suffering uncertainty due to the economic
fluctuations, not only the failure anticipation of production lines is fundamental, butalso it is critical to preserve company’s capital and production flowing. Failure doesn’t
occur overnight, as the warning signal from many different sources emerge, and eventhe production quality/quantity evolve prior to the failure. Hence, surveillance of thesesignals ‘sources could be used as an input for a system that depends on smart factory
principles to predict failure and parts’ lifespan in advance. This idea was echoing for
few years but now it became achievable due to the development of the artificial
intelligence (AI), machine learning, data mining and data reservoir technologies. The
project aimed to develop novel maintenance mechanism based on industry 4.0
principles, implementing of the IoT monitoring system on manufacturing line andverifying and validating the performance of the maintenance system.

OS20-3 A Healthcare Laundry Management System using RFID System
Eryana Hussin, Wong Jie Jian (UCSI University, Malaysia)
The paper presented the use of Ultra-High Frequency (UHF) Radio Frequency
Identification System (RFID) for laundry management system in healthcare. The
laundry management system consists of the waterproof RFID laundry tags, RFID
reader and the data recording system which was build using Visual Basic andMicrosoft Access software. In this project, the users will be able to monitor the processof the hospital’s linen which includes the pillowcases, bedsheets, towels, and otherhospital linens. The advantage of using this laundry management can reduce thehuman error of missed count the items, and to ensure smooth laundry item cleaning
process to be executed. Moreover, the user will be able to monitor the status of certain
linen items. The database recoding system presented in this paper can reduce thehuman error, effective and systematic compared to the traditional laundry counting
and recording system. This laundry management system also can be used for hotels
laundry management for the linen that can be tagged to prevent the loss of items suchas towels, blanket, and curtains.

OS20-4 A Monitoring System with Humidity and Growth Level Detection for Horticulture
Eryana Hussin, Ng Joon Wen (UCSI University, Malaysia)
Smart Farming System with humidity and growth level detection presented in thispaper is designed to monitor and control the production of the fresh produce. This
smart farming system is designed to monitor the changes due to environment
parameters which includes temperature, soil moisture level of the crops, and growthlevel of the crops. A sensor is placed at certain distance from the plant and the growthrate of the plant is monitored from time to time. In this prototype, the 12V fan isconnected to the relay and will be turn on when the temperature drops below theminimum accepted range for the produce. The Smart Farming System proposed in thispaper is built with a combination management system including environment
parameters monitoring system and automatic technology control system. Arduino
UNO is the central unit that plays an important role to receive and control all thefunction of the project. This combined system is design for modern smart horticulturalor large-scale horticultural to produce more sustainable production.
- 86 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS20-5 A Double Identification Attendance System Using High Frequency RFID System
Eryana Hussin, Wong Chee Ming (UCSI University, Malaysia)
In this paper, the double identification attendance system integrated with HighFrequency Radio Frequency Identification (RFID) and sensors is presented. This
double identification system requires users to be detected by two different
mechanisms. This double identification system is proposed to overcome the problemof false attendance by the students who just stopped by to tag their student
identification card without attending the class. The attendance system presented in thispaper can capture the time in and time out of each student which will be automatically
captured if the students successfully pass through both RFID reader and motion
sensor. The proposed attendance system is designed to replace the manual attendancesystem which still implemented in this modern era. The unique features of the RFID
system which able to capture and store the student attendance in the database systemeffectively and can reduce the time for the teachers to take the attendance daily. This
double identification attendance system also will be useful for any event or training
provider to record the attendance of the attendant effectively.

OS20-6 Levitating Frictionless-Vertical WindmillAmmar A.M. Al-Talib, Muhammad R. Md. Redzuan (UCSI University, Malaysia)
To harness wind energy in low wind speed areas, a vertical axis wind turbine (VAWT)
is generally more suitable than a horizontal axis wind turbine. To improve thefeasibility of using a VAWT, a magnetic levitation bearing concept, utilizing
neodymium magnets, is used to make the bearing frictionless. A new experimental
type of airfoil called EN0005 is used that boasts better self-starting ability thanconventional airfoils. The design parameters of the wind turbine are explored andreviewed to create a final design that is modelled in SolidWorks. This final design isthen put through simulations and analysis in ANSYS FLUENT before being
fabricated as a prototype. This final prototype produces similar results to otherfindings and validates the report. The EN0005 blade profile appears to improve theself-starting capability of the wind turbine and improve viability of Darrieus turbines
in lower wind speeds. These findings verify the benefits of using a magnetic
frictionless bearings for wind turbines.

- 87 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS21 Visual Signal Processing and Human-welfare Robotics I&II (7)Chair Joo Kooi Tan (Kyushu Institute of Technology, Japan)
Co-Chair Nobuo Sakai (Kyushu Institute of Technology, Japan)
OS21-1 Object Acquisition Based on Human-Robot Cooperation
Kota Ito, Masuhiro Nitta, Seiji Ishikawa, Joo Kooi Tan (Kyushu Institute of Technology, Japan)
In recent years, the population of elderly persons who are unable to go for shopping
to buy their daily necessities is increasing. Putting an intelligent shopping robot as a
future goal, in this paper, we propose a human-robot cooperative system in which adeveloped robot goes to a spot where a user specifies, acquires goods which the user
wants and brings the goods back to the user. To realize this, real-time user-robot
communication, processing of the two kinds of images provided from an RGB-D
camera, and robot manipulation and travel control are done. The effectiveness of the
proposed method was verified by experiments. The proposed robot system will
provide a support system for shopping refugee, such as an elderly, a bedridden or aphysically-disadvantage person, in future based on online real-time goods selection.

OS21-2 Development of Musculoskeletal Walking Simulator for Analysis of Human Walking andRehabilitation
Nobuo Sakai, Yukiho Ryu, Tsubasa Ikeda, Mochimitsu Komori (Kyushu Institute of Technology), Masako
Fuchi (Kyushu Nutrition Welfare University), Katsuki Hayashi (Seiai Rehabilitation Hospital)
In the field of rehabilitation, the explanation of walking motion, called ‘Rocker
function’, is one of the practical indexes for the facilitation of human walking inclinical settings. If this explanation is true, we can reconstruct it by artificial materials.
In this study, we tried to develop the musculoskeletal walking simulator, which canactually reproduce bipedal walking according to the Rocker function. Muscles andtendons including biarticular arrangements were represented by springs and cables. In
this report, 3 muscles were actuated by servomotor. The simulator reproduced thehuman musculoskeletal walking motion generated from its intellectual structure innature. The results would support the insight of the explanation of Rocker function in
the rehabilitative treatments.

OS21-3 Collision Avoidance in a Human-Robot Coexistence Food Preparation Environment
Using Hands Area Extraction
Takaaki Yotsumoto, Yuta Ono, Masuhiro Nitta, Joo Kooi Tan (Kyushu Institute of Technology, Japan)
In Japan, the population of the working-age between 15 and 64 years old has been
declining. In order to solve the labor shortage, the introduction of industrial robots thatcan perform tasks equivalent to humans especially in a food preparation industry isstrongly requested. In a human-robot cooperative environment, it is indispensable to
avoid collision between workers and robot. In this paper, we propose a method of
automatic hand area extraction of a robot and a worker in a food preparation work line
based on an ego-camera and the use of color distribution and GrabCut. on the images
provided from the camera. A warning is issued, if the hands of the side workers/robots
approach close to the central work area. Experimental results show satisfactory results.
The method is under refinement so that it will adapt to various hand colors andillumination change.

- 88 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS21-4 Supporting Safe Walk at a Railway Station Platform for a Visually Impaired Person
Based on MY VISION
Yuki Kawaguchi, Seiji Ishikawa, Takashi Shinomiya*, Joo Kooi Tan(Kyushu Institute of Technology, Japan, *N&N Inc.)
The platforms of a railway station is a dangerous place for visually impaired person.
However, not all stations, except those in large cities, are equipped with platform
doors. Therefore, a supporting system is requested for safe walk of a visually impaired
at a station platform. In this paper, we propose a system that prevent a visually
impaired person from falling on the track from the edge of a platform using MY
VISION. The proposed system employs a depth image captured by MY VISION. It
uses Line Segment Detector and Graph-Based Image Segmentation to detect the edgeof the station platform. If the users of MY VISION approach the edge too close, thesystem gives a warning to the user. The effectiveness of the proposed method wasverified by experiments.

OS21-5 Detecting a Pedestrian’s Walk Direction Using MY VISION for Supporting Safe Walkof a Visually Impaired Person
Shinya Iizumi, Yuta Ono, Masuhiro Nitta, Seiji Ishikawa, Joo Kooi Tan(Kyushu Institute of Technology, Japan)
As a means of assisting a visually impaired person to walk safely, a system has been
proposed that recognizes surrounding pedestrians and their approaching directions
using the images obtained by MY VISION. However, since the conventional method
used a pedestrian’s model to generate MSC-HOG (Multiple-Scale-Cell Histograms ofOriented Gradients) features, it is specialized only for recognizing pedestrians. Thus
it is difficult to recognize other passers-by such as cyclists. To solve this problem, we
propose a method to recognize not only pedestrians, but also cyclists using the averageedge images of pedestrians and cyclists based on MSC-HOG. We also use different
discriminators for robustly detecting passers-by who approach a MY VISION user.
The effectiveness of the proposed method was verified by experiments.

OS21-6 Fruits and Vegetables detection using the improved YOLOv3
Changhua Xu, Ziyue Liu, Masuhiro Nitta, Joo Kooi Tan (Kyushu Institute of Technology, Japan)
As the global aging intensifies, it is more convenient for a robot go for shopping to
buy things like vegetables or fruits instead of elderly persons themselves. It is thenimportant that a robot is more human-like to select items according to a user’s personal
preferences such as maturity of fruits, sweetness, freshness and so on. However, fruits
or vegetables are generally displayed in a disorderly manner. Therefore, thoroughdetection and recognition of fruits and vegetables is a difficult task for a robot. This
paper proposes an improved YOLOv3 and also pre-training the networks to detect
fruits and vegetables and to recognize their maturity. The effectiveness of the proposed
method is shown by experiments.

- 89 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS21-7 Strict frequency estimation of sinusoidal signal using sampling function(withdraw)
Masuhiro Nitta (Kyushu Institute of Technology, Japan)
This paper considers an accurate frequency estimation problem of a sinusoidal signal
acquired by an analog-to-digital converter. By making use of an A/D converter, puresinusoidal signal is digitized and quantized error occurs. Thus the estimated frequency
slightly differs from the original one. The aim of this study is to identify the original
frequency based on the theory of distributions. As the continuous test function withcompact support, the paper utilizes a sampling function. Although the proposed
estimation method requires the derivative of the sinusoidal signal, sampled sinusoidal
signal becomes a nondifferentiable function. The distributions overcome thisdifficulty by using integration by parts of the sinusoidal signal and the sampling
function. The effectiveness of the proposed method is demonstrated by somenumerical simulations.

OS22 Advanced studies of network engineering (4)Chair Wei Hong Lim (UCSI University, Malaysia)
Co-Chair Takao Ito (Hiroshima University, Japan)
OS22-1 New Hybridization Algorithm of Differential Evolution and Particle Swarm
Optimization for Efficient Feature Selection
Koon Meng Ang, Mohd Rizon Bin Mohamed Juhari, Wei Hong Lim, Sew Sun Tiang, Chun Kit Ang, Eryana
Eiyda Hussin, Li Pan, Ting Hui Chong (UCSI University, Malaysia)
Feature selection is a popular pre-processing technique applied to enhance thelearning performances of machine learning models by removing irrelevant features
without compromising their accuracies. The rapid growth of input features in big dataera has increased the complexities of feature selection problems tremendously. Given
their excellent global search ability, differential evolution (DE) and particle swarm
optimization (PSO) are considered as the promising techniques used to solve feature
selection problems. In this paper, a new hybrid algorithm is proposed to solve feature
selection problems more effectively by leveraging the strengths of both DE and PSO.
The proposed feature selection algorithm is reported to achieve an average accuracyof 90.54% when solving 13 datasets obtained from UCI Machine Learning
Repository.

- 90 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS22-2 Implementation of LoRa in River Water Quality Monitoring
Syarifah Nabilah Syed Taha Tahir, Mohamad Sofian Abu Talip, Mahazani Mohamad, Mohamadariff Othman,
Tengku Faiz Tengku Mohmed Noor Izam, Mohd Faiz Mohd Salleh, Zati Hakim Azizul Hasan, Zeeda Fatimah
Mohamad, Amir Feisal Merican Aljunid Merican (Universiti Malaya, Malaysia)
Emergence of Long Range (LoRa) in network technologies become game changer
for Internet of Things (IoT) application. Deployment of LoRa enable IoT applicationof environment monitoring to cover wide area while maintain at low energy and low
cost. Water quality monitoring program was developed to maintain and protect
quality of water resources for daily purpose. Also, to prevent pollution and disease
epidemic peculiarly during Covid19. This research aimed to build autonomous water
quality monitoring prototype implemented with LoRa network for support decisionsystem. The Wireless Sensor Nodes (WSN) that embedded with five type of water
quality sensors of pH, turbidity, total dissolved solid (TDS), dissolved oxygen (DO)and temperature linked to single gateway. Water environmentalist able to view theresult of timely water quality from mobile application dashboard. Though theperformance not severely affected, acquired results revealed non-line of sightcondition, transmission power and Spread Factor (SF) value influenced LoRa
performance in urban environment. In conclusion, a few improvements on thesystem grant LoRa high capabilities to be integrated with IoT environment
application in urban environment.

OS22-3 Wideband Antenna with UHF Sensor Applicability for MV/HV Equipment in SmartGrid Systems
S. M. Kayser Azam1, Mohamadariff Bin Othman1, Tarik Abdul Latef1, H. A. Illias1, Mohd Fadzil Ain2, Yazeed
Qasaymeh3 (1Universiti Malaya, Malaysia) (2Universiti Sains Malaysia, Malaysia)(3Majmaah University, Saudi Arabia)
Abstract—In this paper, a wideband antenna is proposed to be used as an ultra-highfrequency (UHF) sensor for medium to high voltage equipment for the next generation
smart-grid systems. The antenna is designed on a heat-protected substrate so that it
can withstand the extreme environment of a power substation. The proposed antenna
operates within the UHF range with wideband characteristics. The peak and averagevalues of the realized gain indicate that the antenna has the ability to largely improve
the received signal before delivering it for data analysis and processing. The antennaradiates with an omni-directional pattern in the three-dimensional view. Efficiency ofthe proposed antenna is quite decent, and the physical dimension of the antenna iscompact enough to be used as an UHF sensor. The proposed wideband antenna as an
UHF sensor is designed to be aimed especially at the faulty-insulation detection in
medium to high voltage equipment like power cables, power transformers, gasinsulated switchgears etc. while adopting the smart-grid technology.

- 91 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS22-4 New Particle Swarm Optimization Variant with Modified Neighborhood Structure
Koon Meng Ang1, Mohd Rizon Bin Mohamed Juhari1, Wy-Liang Cheng1, Wei Hong Lim1*, Sew Sun Tiang1,
Chin Hong Wong2, Hameedur Rahman3, Li Pan1
(1UCSI University, Malaysia) (2Fuzhou University, China) (3Air University, Islamabad, Pakistan)
Numerous particle swarm optimization (PSO) variants were proposed in past decades
to tackle different types optimization problems more robustly. Nevertheless, theimbalance of explorative and exploitative search behaviors remains as an on-going
research challenge that can restrict the performance of PSO. In this paper, a newvariant known as PSO with time-varying topology connectivity (PSO-TVTC) is
proposed. A time-varying topology connectivity (TVTC) module is designed toachieve the proper regulation on explorative and exploitive behaviors of PSO via
dynamic modification of particle’s topology connectivity throughout the optimization
process. Experimental results reveal that the proposed PSO-TVTC has exhibited
prominent performance among its competitors by producing 7 best mean fitness outof 8 benchmark functions.

OS23 Applications in Complex Systems (7)Chair Masao Kubo (National Defense Academy, Japan)
Co-Chair Hiroshi Sato (National Defense Academy, Japan)
OS23-1 A research of infectivity rate After the Consecutive Holidays
Saori Iwanaga (Japan Coast Guard Academy, Japan)
I found there are super-spreaders in the Japan Coast Guard Academy case, but
super-spreading depends on the timing of bringing in. After three consecutive
holidays from January 7 to January 9, 2017, students returned dormitory in JCGA
and started to take classes. Then, 25 % of students were infected in two weeks. We
had introduced a refinement to the SEIR model to previously infectious “P” statein the incubation period and proposed a discrete mathematical SEPIR model for
influenza. By examining infection from the students of previously infectious “P”
state, I found that there are super-spreaders who directly infected over 10 students
in this case. But, super-spreading doesn't depend on the features of a person, it
depends on the timing of bringing in. I found that students can super-spreadseasonal influenza until the first infected students are found. After that, because
most students take measures of seasonal influenza, the number of patientsdecreases.

- 92 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS23-2 Towards the Trusted Population-Based Optimization Systems
Hiroshi Sato, Masao Kubo (National Defense Academy, Japan),
Following the development of evolutionary computation, various populationbased optimization methods have been proposed. In these systems, optimizationis achieved through the interactions of many individuals/particles/agents.
However, when the system is implemented in a distributed environment, reliability
becomes an issue. In such an environment, it may not be possible to trust others.
There are numerous cases why we cannot guarantee trust, such as malfunction of
distributed parts or failure to synchronize. Therefore, we have to make trust
between distributed individuals/particles/agents. The record of past actions isusually a good tool for generating trust. This paper introduces the blockchain
mechanism into the population-based optimization system to make a trust
management system. By using blockchain, we can implement it without a central
authority. In the system, all interactions are reviewed and get feedback, and thefeedback is used to calculate the trust score. We consider several scoring methods
for this type of system.

OS23-3 Spatio-temporal prediction of crime occurrence spots by CNN-LSTM
Kaede Yaji, Masao Kubo, Hiroshi Sato (National Defense Academy, Japan)
This paper proposes a method for spatiotemporal prediction of crime occurrence
locations based on previous data. In recent years, Japanese government has begun torelease data on crime occurrences to improve the efficiency of policing. In addition,
the development of maps that can manage patrol and assist residents’ crime prevention
has been planned. For statistical crime prediction, while several methods are invented
abroad, it has just begun to develop a specific crime prediction model for a low-crimecountry, Japan. One of the known methods uses LSTM to predict crime occurrences
only from a temporal perspective, but it cannot predict points of crime occurrences
and is insufficient to generate a map. Therefore, we propose a method that combines
this LSTM based method with CNN that can adopt geographic locations. As a resultof computer experiments, this method seems to be able to make predictions with atendency to capture actual characteristics.

OS23-4 Cross-View Image Geo-Localization using Multi-Scale Generalized Pooling with
Attention Mechanism
Duc Viet Bui, Masao Kubo, Hiroshi Sato (National Defense Academy, Japan)
Cross-view image matching for geo-localization is the task of finding images
containing the same geographic target across different platforms. This task has drawn
significant attention due to its vast applications in UAV’s self-localization andnavigation. Given a query image from UAV-view, a matching model can find the samegeo-referenced satellite image from the database, which can be used later to precisely
locate the UAV’s current position. Many studies have achieved high accuracy on
existing datasets, but they can be further improved by combining different featureprocessing methods. Inspired by previous studies, in this paper, we proposed a new
strategy by using a channel-based attention mechanism with a generalized mean
pooling method to enhance the feature extracting process, which improved accuracy.

- 93 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS23-5 Recommendation a Emergency Patient Destinations by LightGBM
Ryota Kawaguchi, Masao Kubo, Hiroshi Sato (National Defense Academy, Japan)
In this study, we aim to reduce the burden of selecting a destination hospital for a
rescue team. We propose to adopt the LightGBM method to recommend a destination
hospital based on information such as a conversation between the patient and a callcenter. Previous studies have used detailed information such as patients' diseasehistories, whereas we use only simple information. Therefore, it can be implemented
in regional medical organizations that do not have enough medical information
systems. For our method, we used Doc2vec to convert the text of the conversation toa vector. As a result, the LightGBM method has an accuracy score of 70%. It is higher
than the k-nearest neighbor, logistic regression, and neural network. In addition, by
analyzing the result of our method, we found that age, injury or illness level, andlocation information are important factors for improving accuracy scores.

OS23-6 A Framework for Understanding the Neural Underpinnings of Symbolic and Non-SymbolicCommunication Based on Global Synchronization in Human Brain Activity
Masayuki Fujiwara, Takashi Hashimoto (Japan Advanced Institute of Science and Technology, Japan)
We propose a framework for understanding the neural underpinning ofcommunication with electroencephalogram (EEG) synchronization. It consists of fourstages: 1) two-dimensional space defined by symbolic/embodied (non-symbolic) vs.
voluntary/involuntary to characterize the target communication, 2) ontologicalhierarchy to focus the level of synchronization analysis, 3) neurocognitive modelingto hypothesize neural mechanism, and 4) model-based EEG neurofeedback toempirically validate the hypothesis. We claim that following the framework makes it
possible to advance our understanding of neural dynamics and mechanisms forcommunication. Moreover, we analyzed two EEG experiments, implementing theformer two stages: the formation of symbolic communication changing fromvoluntary to involuntary and embodied communication competing between voluntaryand involuntary. Their outcome is a hypothesis that three different brain regions are
involved in interpreting symbols, motor intentions, and social coordination. A neuralfield model and a manipulation technique with EEG-based connectivity
neurofeedback are also proposed for the latter stages.

OS23-7 Characterization of randomness tests by using tests results of weakly correlated chaotic
sequences
Akihiro Yamaguchi (Fukuoka Institute of Technology), Asaki Saito (Future University Hakodate, Japan)
High quality pseudo-random number sequences are required in various fields ofengineering, and the statistical test of randomness is one of the important subjects. A
typical test suite of randomness, e.g., DIEHARD, NIST SP800-22, and TestU01, isdefined as a set of several different kinds of random number tests. One problem hereis that the similarity between the individual tests included in the test suite is not
obvious, and it is difficult to make an argument for the optimality of a set of
randomness tests. In this study, we propose a characterization method based on thetest results of weakly correlated binary sequences generated by the piecewise linear
chaotic map. Then, we characterize randomness tests included in the test suite of NIST
SP800-22 and discuss the characterization performance of our proposed method.

- 94 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS24 Artificial Systems and Life (5)Chair Kuo-Hsien Hsia (National Yunlin-University of Science and Technology, Taiwan)
Co-Chair Chung-Wen Hung (National Yunlin-University of Science and Technology, Taiwan)
OS24-1 An EtherCAT Based Delta Robot Synchronous Control Application
Chung-Wen Hung1, Yu-Hsuan Tseng1, Chau-Chung Song2, Guan-Yu Jiang1 (1National Yunlin-University of
Science and Technology, Taiwan, 2National Formosa University, Taiwan)
The delta robot synchronous control based on the Ethernet Control Automation
Technology (EtherCAT) protocol is proposed in this paper. Personal Computer (PC)is used as master and the delta robot motor drivers are used as slaves in this work. The
Master sends command to slave base on the motion control profile CAN in
Automation 402(CiA402). Subsequently, the program in C# perform the user’s
interface and EtherCAT communication. And the system is not only easy use, but also
quickly high-precision. A complex painting application is proposed to show thissystem workable.

OS24-2 Web-based SCADA using MQTT Protocol and AES
Jr-Hung Guo, Tzu-Yuan Lin, Kuo-Hsien Hsia
(National Yunlin-University of Science and Technology, Taiwan)Internet of Thing (IoT) technology is a very popular research topic. Especially in theapplication of Industry 4.0, it is the most basic and important part. However, related
security and application system development often have many problems. Therefore,
this paper uses MQTT protocol and AES encryption technology to develop a Webbased SCADA system. This Web-based SCADA uses drag-and-drop operation, andusers can quickly build a WYSIWYG (What You See Is What You Get) application
system. And by collecting different communication protocols and integrating multiple
communication interfaces, this SCADA can be connected to many PLCs and otherequipment. Allow the industry to build application systems quickly and at low cost.

OS24-3 Smart Identification System of Teaching-type Autonomous Vehicles
Chun-Chieh Wang (Chienkuo Technology University, Taiwan)
Today's image recognition technology has been used in many engineering fields.
Especially the image recognition combined with the automatic driving system canbring greater traffic convenience to people. To improve the teaching efficiency ofautonomous driving image recognition technology, a self-driving car intelligent
identification system suitable for teaching has been developed in this article, so thatteachers and students can easily use this system for experiments. As for the main
controller of the car body is the Raspberry Pi microcomputer processor. It works withPython for image processing. Image processing techniques include grayscale,binarization, morphology, image cutting, etc. In addition, in order to facilitateteaching, the experimental road field is planned to include 9 paths for self-driving cars
to drive autonomously, in this article. To realize the function of self-driving cars, there
are four main functional tests in the context setting. It includes road identification,
conversion of lane turning arc into front wheel turning angle, intersection
identification, and traffic light identification. The experimental results confirm thatthe developed smart identification system and the experimental environment planningare helpful for autonomous driving related teaching and can enhance students'
willingness to learn.
- 95 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS24-4 Automatic Anti-Lock Brake System for Anti-Rollover Control of Autonomous HeavyDuty Truck
Chian C. Ho, Riki Umami Sanaz Ulfitria (National Yunlin-University of Science and Technology, Taiwan)
In recent years, there are more and more rollover accidents about autonomous heavyduty trucks or autonomous ordinary vehicles in intelligent airports or seaports. These
accidents leads to the hot research field about the prevention of rollovers in advancefor autonomous vehicles, especially in autonomous heavy-duty trucks. This paper
develops an automatic anti-lock brake system (ABS) as one way to stabilize theautonomous vehicle. Then, through monitoring both vehicle’s and wheel’s speeds, thispaper helps the autonomous vehicle keep stability control with automatic ABS evenwhen the wheels halt or slip on the road. This paper adopts TruckSim to model thevehicle safety dynamics and MATLAB/Simulink to simulate the vehicle stability
control. Experimental results show that the elaborate automatic ABS proposed by thispaper can smoothly keep the vehicle stable even under dangerous road conditions of
sharp corner or hairpin turn.

OS24-5 Development of Intelligent Beehive and Network Monitoring System for Bee Ecology
Chau-Chung Song1, Geng-Yi Lin1, Chi-Chung Peng2 and Chung-Wen Hung3 (1, 2National Formosa University,
Taiwan, 3National Yunlin-University of Science and Technology, Taiwan)
In this paper, development of intelligent beehive and network monitoring system forbee ecology is focused on data acquis such as temperature, humidity, weight, and GPS
positioning, combining the beehive with MCU, sensors, and ZigBee to implement
front end sensing nodes to build a bee ecological network monitoring information
system for real-time remote network monitoring, and assist beekeepers to establish acloud-based real-time monitoring system and history traceability Bee productmanagement system to enhance the convenience of beekeeper management and risk
control, thereby effectively improving the efficiency of labor utilization. Also, clear
production history information can increase consumers' trust in products and enhancethe overall bee-related industry Economic benefits. This paper cooperated withbeekeepers in Gukeng, Yunlin County, set up an Intelligent beehive system in the bee
farm. Observations in the past month have shown that the activity and number of adult
bees and larvae grown in the intelligent beehive are in good condition, user can also
connect to the Intelligent beehive monitoring website through their mobile phone,tablet, or computer to analyze and monitor the status of each beehive.

OS25 Information Applications and Cybersecurity (6)Chair I-Hsien Liu (National Cheng Kung University, Taiwan)
Co-Chair Kuo-Hsien Hsia (National Yunlin University of Science and Technology, Taiwan)
OS25-1 Extendable ICS Honeypot Design with Modbus/TCP
I-Hsien Liu, Jun-Hao Lin, Hsin-Yu Lai, Jung-Shian Li (National Cheng Kung University, Taiwan)
In order to protect the Cybersecurity of Industrial control system (ICS), we design aprototype of an ICS honeypot. All honeypots are controlled by a server, and using thedescription file to define honeypot’s characteristics, to achieve our honeypot systemwith scalability and high interaction. We compare our honeypot system and Conpot.
the results show that the responses of our honeypot system have more interaction.
Even more, our honeypot obtained a perfect score in the honeypot scoring mechanismof Shodan.
- 96 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS25-2 Industrial Control System Cybersecurity Testbed with TSN Feature
I-Hsien Liu, Li-Yin Chang, Jung-Shian Li (National Cheng Kung University, Taiwan)
Chuan-Gang Liu (Chia Nan University of Pharmacy & Science, Taiwan)
Time sensitive networking (TSN) is the future industrial network trend, under thedevelopment of the future Industry 4.0. and a large number of Internet of Things. How
to ensure the transmission delay and jitter of the packet will be a major issue. A key
feature of TSN is the traffic scheduling mechanism,which can accommodate hard realtime streams of critical data with bounded end to end delays. In this work we have
setup a TSN testbed to implement TSN. IEEE 802.1 TSN standard includes precise
clock to sync, bandwidth reservation, and traffic shaping, which provide highreliability, low latency and other industrial needs. IEEE 802.1Qbv standards use somemechanisms to handle scheduled traffic jitter and critical traffic latency. We focus on
testing and implementing 802.1Qbv standard.

OS25-3 Using the Modified Delphi Method to Construct the Quality Indicators of the CounselingService System
Li-Min Chuang, Hsiu-Hao Liu (Chang Jung Christian University, Taiwan)
The counseling service system is a case management tool used by professional
guidance counselors and full-time teacher-counselor. However, the system satisfaction
and willingness to use were generally low. This study used the modified Delphi
method to construct the quality indicators of the counseling service system. The study
found the quality indicators of the system can be divided into five major dimensions
and 23 evaluation indicators to explore. There were three indicators most valued byexperts and users, which were the functions are simple and convenient to operate, theproject meets the needs of the work, and the efficiency and convenience of paper
processing are improved. Based on the research results, this study puts forward
substantive implications for academics and management.

OS25-4 The Key Success Factors of Introducing ERP System in Taiwan's Manufacturing
Industry
Li-Min Chuang, Yu-Po Lee (Chang Jung Christian University, Taiwan)
This study examines the key success factors of ERP introduction in Taiwan’s
manufacturing industry as a reference for enterprises to reduce the high andunforeseeable financial and time costs of ERP introduction. In the second phase, aquestionnaire study was conducted using the Analytic Hierarchy Process to extract therelative weights of the distance between primary and secondary dimensions, and 5
primary dimensions were derived, including “Management/Organization”,“Introduction Process”, “Technical Support”, “Documentation”, and “Personnel”, aswell as 15 secondary dimensions.

- 97 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS25-5 The Fuzzy AHP approach for intelligent building assessment model
Li-Min Chuang, Yu-Po Lee (Chang Jung Christian University, Taiwan),
Chien-Chih Kuo (Chien Chang Construction Co., Ltd.)The main objective of this thesis is to probe into how Taiwanese building investment
and development companies rate the analytical framework and weights of artificial
intelligence buildings. Document Analysis, the Delphi method, and the Fuzzy
Analytic Hierarchy Process (FAHP) are applied to conduct a FAHP questionnaire
survey among 20 building investment and development companies in Tainan. Basedon the calculation of composite weights, the findings are: (1) The most crucial
evaluation indicator for security and hazard prevention is the “access control system”.
(2) The most crucial evaluation indicator for energy-saving management is “energysaving technology”. (3) The most crucial evaluation indicator for health and comfort
is the “interior comfort system”. (4) The most crucial evaluation indicator for
intelligent innovation is the “intelligent innovation concept”.

OS25-6 Blockchain-based Verification Mechanism for Industrial Control System
Yao-Chu Tsai, I-Hsien Liu and Jung-Shian Li (National Cheng Kung University, Taiwan)
Industrial control systems (ICS) and critical infrastructure have become increasingly
dependent on communication networks and cyber-physical systems. Since
infrastructure is vulnerable to natural disasters, physical destructions, and adversarial
attacks, the research on cybersecurity is vital in Industry 4.0. In order to secure theintegrity of data in ICS, this paper proposes a blockchain-based network architecture
implemented on physical industrial equipment. By the arrangement of the blockchaintransaction process in the specialized client-server network model, industrial control
signal transmission can be verified based on authority. The transaction logs would not
be easily tampered with due to the characteristics of blockchain, and the data integrity
could be assured.

OS26 Intelligent Life and Data Analysis (6)Chair I-Hsien Liu (National Cheng Kung University, Taiwan)
Co-Chair Chu-Fen Li ((National Formosa University, Taiwan)
OS26-1 Data Balanced Algorithm Based on Generative Adversarial Network
I-Hsien Liu, Cheng-En Hsieh, Wei-Min Lin, Jung-Shian Li (National Cheng Kung University, Taiwan), ChuFen Li (National Formosa University, Taiwan)
In order to defend against malicious attacks, intrusion detection systems haveintroduced machine learning as a protection strategy. However, machine learningalgorithms and datasets have a great influence on the effectiveness of the machinelearning model. This study uses five algorithms which are Naïve Bayes, CNN, LSTM,
BAT, and SVM to train the IDS machine learning model. We use three datasets which
are NSL-KDD, UNSW-NB15, and CICIDS 2017 to train and evaluate the model
performance. We design a data-balanced method based on the GAN algorithm toimprove the data imbalance problem of the IDS dataset. Also, we use the method togenerate labels, these labels are used to explain the clustering effect of theunsupervised model.

- 98 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS26-2 Fault-Tolerant Control System Design for Nonlinear System with Actuator Faults
Ho-Nien Shou (Air Force Institute of Technology, Taiwan),
Hsin-Yu Lai (National Cheng Kung University, Taiwan)
This article deals with observer-based integrated robust fault estimation andaccommodation design problems for nonlinear system. The environmental
disturbance torque, actuator faults, sensor faults and model uncertainties are
considered. Firstly, we propose the augmented fault estimation observer (AFEO) toguarantee the convergence of H∞ performance index of fault estimation and to
restrict the influence of uncertainties with respect to the fault estimation error as well.
We then design the fault accommodation which is based on the dynamic output
feedback to keep the stability of the closed-loop system while malfunctioning. AFEO
and dynamic output feedback fault tolerant controller (DOFFTC) are separately
designed. Their performances are separately considered. Finally, we propose asimulation result of the micro-satellite attitude control system to demonstrate theeffectiveness of the presenting method.

OS26-3 Key Indicators for Successful E-Oriented Operation and Management of the Nutrition
Consulting Service System
Ling-Mei Hsu (Chang Jung Christian University, Taiwan)
According to the application theory of information systems, it is a tendency that thee-management of the nutrition consulting service industry by the Internet generation,and service quality is the key indicator of operational performance, which is of great
importance. This research purpose was to analyze the key dimensions of online service
quality when customers were learning online. This research used the E-SERVQUAL
to design five major dimensions and 15 criteria, and through the analytic hierarchy
process (AHP) constructed a set of successful operation management modules. This
research verified the order of the key indicators were: Security/Privacy, Reliability,
Reactivity, Efficiency, Tangibility.

OS26-4 The key factors for the application of blockchain into ocean Freight Forwarders: An
Industry Perspective
Chu-Ting Hsu, Ming-Tao Chou, Ji-Feng Ding (Chang Jung Christian University, Taiwan)
Blockchain is an emergent technology concept that enables the decentralized andimmutable storage of verified data and is often considered to be applied to help themaritime industry to manage innovation. This study subdivided the four dimensions
into 20 appropriate evaluation indicators. The indicators of key factors based on the
results are as follows: 1. ”The application of blockchain will reduce intermediary costs
and increase revenue when switching transportation vehicles.” 2. ”Using blockchain
will save a lot of manpower and correspondence in the traditional model, and build
trust, and fully secure information. ”Ocean freight forwarders can explore the standard
service model as a reference to build competitive advantages and ensure sustainablebusiness decisions.

- 99 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS26-5 Key Success Factors for Implementation Quality Assurance of Information Technology
in Tourism Industry
Shuen-Huei Yao, (Chang Jung Christian University, Taiwan), Cheng Chung Yeh(National University of Tainan, Taiwan), Wen Jung Tsai (Chang Jung Christian University, Taiwan)
With the constant change nowadays, various enterprises are facing such a fierce
competition that they have to seek for competitive advantages and corecompetitiveness. With respect to consumers, the implementation quality assurance
based on the technology system platform in tourism industry. In order to figure out for
implementation quality assurance of information technology in tourism, the Delphi
method is applied in this research. For the weights and priorities of various
measurement indicators are compared through AHP. According to the results,“training professional tour guides”, “foreign language and translation skills” are themost critical success factors for the implementation quality in tourism industry.
Besides, it hoped results can provide suggestions for the actual implementation andmanagement of the platform.

OS26-6 AI Big data analysis and application: Patient Safety Culture of Nursing Staff in an
Operation Room
Su-Chiu Hsiao (Chang Jung Christian University, Taiwan)
The objectives of this study were to investigate patient safety attitudes among
operation Room (OR) nursing staff by using the Safety Attitudes Questionnaire (SAQ)
and to compare their safety attitudes with the entire hospital nurses'. This study
investigated the factors affecting patient safety attitudes by the multivariate regression
models. There was a significant association between resilience and safety climate after
adjusting for age, gender, and career experience using the multiple-regression model.
Perception of management was also significantly associated with job satisfaction. The
survey data provide baseline information on OR nurses. The results can be used tofollow-up on the effectiveness of quality improvement campaigns, caring Strategy,
and patient safety education in the future. Establish a caring notification system.
Achieve effective management.

OS27 Environmental Monitoring (5)Chair Kazuo Ishii (Kyushu Institute of Technology)
Co-Chair Keisuke Watanabe (Tokai University)
OS27-1 Biofouling Monitoring Experiments of Underwater Concrete Samples for Offshore
Platform Cleaning Robot Development
Keisuke Watanabe1, Hiroki Goda2, Koji Harada3( Tokai University, Kyusyu Institute of Technology, 3Nishimatsu Construction Co., Ltd., Japan)
1

2

As the Japanese government decided to boost the carbon neutral power source
development, offshore wind farm projects are emerging in Japan and hundreds ofplatforms will be constructed in the near future. Some of these platforms are possible
to be floating structures and made of concrete-like material whose biofouling should
be limited from the viewpoint of drag force reduction. An autonomous cleaning robot
is one of possible solutions to minimize the effect of biofouling. To develop thecleaning device, we started field experiments to study biofouling process. In thispaper, we introduce some results of biofouling monitoring experiments using several
different concrete-like samples at sea.
- 100 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS27-2 Fall risk notification system using LiDAR sensor for the visually impaired people
Daigo Katayama1, Kazuo Ishii1, Shinsuke Yasukawa1, Satoshi Nakadomari2, Koichi Wada2, Akane Befu2,
Chikako Yamada2 (1Kyushu Institute of Technology, Japan, 2NEXT VISION, Japan)
We have developed the fall risk notification system using LiDAR sensors to reduce
the number of fall accidents on platform involving visually impaired people. Thissystem contains of iPhone 12 Pro with the small LiDAR sensor and the cane grip
vibration device that notifies the user of fall risk using vibration. In this paper, we
report the experiment results of the environment recognition algorithm for the fall risk
notification system. In this system, the height map is generated from the depth
information obtained from the LiDAR sensor and the posture of the iPhone. The
system then performs the threshold process based on the height of the iPhone from theroad surface during use. In the experiment, we evaluated the detection accuracy andresponsiveness when entering risky area of falling, such as stairs and gaps.

OS27-3 Reflection Coefficient Estimation through the Modelling of Ultrasonic Transmission
Ryuugo Mochizuki, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)
In food industry, shortage of working force is one of a critical problem. As abackground, in Japan, increasing single households and demands for prepared dishes
are relevant, thus, automation of food packing is a challenge. As the automation, foodpicking operation must be done safely without damaging food by robotic hand. We
propose non-contact acoustic estimation with ultrasonic wave before the picking,having assumption of the relationship between hardness and acoustic impedance, thatis, the product of density and sonic velocity. Furthermore, larger reflection coefficient
can be observed from media of higher acoustic impedance. We built up ultrasonictransmission model considering attenuation by reflection and absorption, then, madean experiment with two overlapped media to configure the change of reflection
coefficient at the surface of lower medium depending on its acoustic impedance. As
the result, larger reflection coefficient changed according to rising acoustic impedanceof the lower medium.

OS27-4 Evaluation of Maps Constructed by Crawler-type Agricultural Robot in Different
Farms
Takuya Fujinaga, Tsuneo Nakanishi (Fukuoka University, Japan)
Various studies have been carried out with the aim of realizing smart agriculture.
Many of them have targeted at large fields and large-scale facilities that are relatively
easy to verify and implement robots and IoT devices etc. On the other hand, although
the ratio of small-scale facilities is high in Japanese agriculture, there are few cases ofstudy targeting small-scale facilities. We aim to develop an agricultural robot for
supporting agricultural work that can move autonomously in the field for small-scale
vinyl house. This paper evaluates maps of three different environments (strawberry
farm, herb farm and vegetable farm) constructed using the developed agriculturalrobot. In addition, through verification experiments and evaluation results, we
describe the requirements and concerns for operating robot in small-scale vinyl house.

- 101 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS27-5 An Estimation Method of Coastal Ocean Debris Using Aerial Drone
Kazuo Ishii1, Kanako Shirahashi1, Yuya Nishida1, Moeko Tominaga2, Yoshiki Tanaka1, Dominic B. Solpico1(1Kyushu Institute of Technology, Japan, 2Nishinippon Institute of Technology, Japan)
Although the actual situation of ocean debris has not been measured accurately,
innumerable ocean garbages are drifting in the ocean. Especially, non-perishable
waste such as microplastics continues to grow and is damaging marine life, including
endangered species, and some are washed ashore and causing pollution damage tocoastal areas. Microplastics incorporated into marine organisms, Arctic sea ice, anddeep-sea seafloor sediments have also been detected. The Ellen MacArthur
Foundation in the United Kingdom estimates that the total amount of marine debris
exceeds 150 million tons, with more than 8 million tons of new inflow each year. We
measured and compared the amount of ocean debris in coasts in Hirado and Matsuura
cities, Nagasaki with manual count and an aerial drone observation.

OS28 Robot Competitions and Education (6)Chair Kazuo Ishii (Kyushu Institute of Technology, Japan)
Co-Chair Yasunori Takemura (Nishinippon Institute of Technology, Japan)
OS28-1 Underwater Acoustic Positioning Based on MEMS Microphone for a Portable
Autonomous Underwater Vehicle
Irmiya R. Inniyaka, Dominic B. Solpico, Daiki Hamada, Akihiro Sugino, Rikuto Tanaka, Yuya Nishida,
Kazuo Ishii (Kyushu Institute of Technology, Japan)
Autonomous Underwater Vehicle positioning is important for accurate control andhigh-quality data collection during operation. Conventional acoustic positioning
systems are expensive. This paper describes the design and performance results of an
inexpensive acoustic system for a lightweight AUV “Kyubic” used in Underwater
Robotic competition, Okinawa 2021. The positioning method is based on Super-shortbaseline (SSBL) principle. The system design comprises of self-made hydrophone (3)module using MEMS microphone, ReSpeaker 4-mic array, Raspberry pi, and isolated
power supply module. Using Python, the distance and angle of processed acoustic
signals are integrated for dynamic control strategy of AUV to locate the position of a
Pinger (acoustic pulse generator).

OS28-2 Autonomous Underwater Vehicle with Vision-based Navigation System for Underwater
Robot Competition
Kazuki Harada, Riku Fukuda, Yusuke Mizoguchi, Yusuke Yamamoto, Kouta Mishima, Yoshiki Tanaka,
Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)
An Underwater Robot Competition (URC) is organized as the concurrent event ofTechno-Ocean 2021 to advance underwater technology. The URC has two leagues,
Autonomous Underwater Vehicle (AUV) and Free style robot leagues, and our team,
Kyutech Underwater Robotics, jointed the AUV league using the developed AUV. The
missions of AUV league consist of Gate Pass colored by green, Buoy Touch with theyellow and red colors, and Homing to a Pinger. Our AUV tackles the missions basedon a vision-based navigation system. The paper explains the AUV system, the mission
strategy and detail of image processing.

- 102 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS28-3 Tomato Harvesting in Greenhouse Considering the Effect of Sunlight
Kai Shioji, Shinsuke Yasukawa, Kazuo Ishii (Kyushu Institute of Technology, Japan)
Tomato is one of the important fruit vegetables and most tomatoes are produced in thegreenhouses, or large-scale farms, where the high temperature and humidity, and long
harvest age force the farmer heavy works. To develop the tomato harvesting robot,
many research issues exist such as manipulator design, end-effector design,collaborative behavior, artificial intelligence, motor control, image processing, target
recognition and so on. For the operation in greenhouses, the recognition system withcolor constancy under sunlight is necessary. In the harvesting, tomatoes should be
handled gently for less damages so that the soft handling end-effector is needed. In
this paper, we introduce the system configuration of the robot and the experiments
conducted to solve the problem in the greenhouse.

OS28-4 Inter-University Collaboration Aimed at Integrating Different Robotic Fields:
Development of Underwater Robots and Soccer Robots Through these Competitions
Moeko Tominaga1, Jonghyun Ahn2, Yasunori Takemura1, Kazuo Ishii3( Nishinippon Institute of Technology, Japan, 2Hiroshima Institute of Technology, Japan, 3Kyushu Institute ofTechnology, Japan)
1

In robotics, the problems and solutions to be focused on may differ due to the different
fields of robots to be developed. This is a phenomenon that appears depending on theoperating environment of the robot, but it may be applicable to various fields. Also,
the development factors that the students focus on differ depending on the university
or laboratory the students belong to. In this research, we will verify the effect of
exchanging opinions and sharing knowledge by collaborating with students aiming toparticipate in different robot competitions between underwater robots and soccer
robots. Due to the influence of Covid-19, the robot competition was held online, andthe cooperation between universities that had been continued online became possibleon the day of the competition. This report was analyzed and evaluated based on the
results of regular questionnaire monitoring of students' willingness to work on projects
and activity records.

OS28-5 Exercise on Environmental Monitoring and Control of Greenhouse by IoT Devices
toward Smart Agriculture
Yuya Nishida, Ryugo Mochizuki, Shinsuke Yasukawa, Kazuo Ishii (Kyushu Institute of Technology, Japan)
In the future estimation of 2050, the food demand increases 70% and the production
decreases 15% caused by global warming, and farmer population be 1/5 of current
workers. We need an agricultural system of twice production with the same farmland
area and 5 times effective operations until 2050. For the sustainable society, smart
agriculture including robot technology, AI, IoT is one of the solutions for food issues.
As crops in greenhouses are widely distributed, IoT devices placed near the crops
should be stand-alone and modular, and data from the devices are collected over the
networks. Camera is often used for monitoring of growth status of the crops, and only
resulted information by image processing should be transmitted. Smart agriculture
requires knowledge of a wide range of fields including electricity, information, andimage processing. We have designed an AI and IoT technology exercise on
environmental monitoring and control of a greenhouse where we have been preparing
for grow up of tomatoes and other vegetables.
- 103 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS28-6 Evaluation of roller arrangement of sphere by omnidirectional integral value
1

Kenji Kimura, 2Yusuke Abematsu,3Hirai Hiroyasu, 3Kazuo Ishi
( Fukuoka Daiichi High School, Japan, 2Kagoshima Gyokuryu High School, Japan,
3
Kyushu Institute of Technology, Japan)
1

The conventional sphere moving mechanism driven by a constraining roller has afixed roller rotation axis, so the angular velocity vector has two degrees of freedom.
Here, if the degree of freedom is 3, the rotational diversity of the sphere increases. In
this study, we propose a spherical mechanism with variable roller rotation axis andconsider the problem of spherical transport with the best kinetic energy efficiency. At
this time, using the kinetic energy integration in all directions (direction of travel ofthe sphere) as an evaluation function, the evaluation distribution of the roller contact
position is considered, and the conventional mechanism is compared with the variablemechanism.

OS29 Advances in Marine Robotics and Their Applications (8)Chair Keisuke Watanabe (Tokai University)
Co-Chair Kazuo Ishii (Kyushu Institute of Technology)
OS29-1 A Sensor Network to Estimate Fish Activity and Assist Feeding Decisions in Marine
Aquaculture
Dominic B. Solpico, Yuya Nishida, Kazuo Ishii (Kyushu Institute of Technology, Japan)
Fish feeding is one of most important issues in marine aquaculture. Satiety feeding
causes high expenses and ocean pollution so that optimization of feeding and DX ofexpert farmers are necessary toward sustainable marine aquaculture. Currently, thedecision-making has been based on subjective experience of expert farmers. This
paper presents the development of a sensor network for estimating fish feeding
behavior, which could help in optimize feeding by less experienced farmers. This
network is made up of arrays of sensor modules consisting of current sensors, inertial
measurement units and cameras. We introduced this system in fish cages andmeasured fish activity from start to end of feedings. Experiment results indicate thatcurrents were highest at the surface at the feeding proper, rising and dropping aroundwhen feeding started and ended, respectively. Expert farmer finds a small fish
behavior change and stop the feeding, whose timing is also suggested from obtained
data.

- 104 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS29-2 Proposal of a Swarm Intelligent Underwater Glider System for a Long-term Threedimensional Wide-area Ocean Observation
Kanako Kobatake, Masakazu Arima (Osaka Prefecture University, Japan)

45

40

35
Latitude[deg]The ocean absorbs heat and carbon dioxide from the atmosphere, and it serves tomitigate climate change caused by human activities. However, ocean is currently
facing serious threats due to global warming and ocean acidification. In order toconserve ocean, it is very important to have a correct understanding of the ocean
environment conditions over a long term and wide area. In this research, the authors
propose a swarm intelligent underwater vehicle system for a long-term threedimensional wide-area ocean observation. Several cases of underwater cruise
simulation using the autonomous underwater glider with independently controllable
main wings, SOARER, were carried out for the validation of the effectiveness of the
proposed system, and estimated the optimal required number of vehicle that cover theJapan's EEZ.

30
25
20
15

120

125

130

135 140 145
Longitude[deg]

150

155

OS29-3 Underwater Acoustic Communication using QPSK Modulation Method
Yuya Nishida, Yuichiro Uemura, Rikuto Tanaka, Kazuo Ishii (Kyushu Institute of Technology, Japan)
Acoustic transmission has less attenuation than those of radio or light and iscommonly used for communication between underwater robots. However, acoustic
communication has a lot of influence of noises, and difficulties in sending andreceiving data correctly because of the noise from robot’s thrusters and other acoustic
devices, and its baudrate is only 1/1000 of conventional Wi-Fi communication. To
improve the acoustic communication performance, this research developed acoustic
communication system against the thruster’s noise. The acoustic communication
system consists of a transducer, two Amp circuits, device including A/D and D/Aconvertor, and PC for modulation. Communication message includes not only data
(payloads) but also sync signal and error correction bytes, and the message isconverted to acoustic wave by QPSK modulation which four phase data represent twobits.

OS29-4 Ultrasonic Cleaner using Two Transducers for Ship Hull Cleaning Robot
Yuya Nishida, Toshihiro Matsumura, Kazuo Ishii (Kyushu Institute of Technology, Japan)
Fuel consumption of the ship gets worse by barnacles and stains put on its bottom, sothat the ship hull should be cleaned regularly. Usual methods such as cleaning byspecial divers and cleaning after pulling up to the dock are not used frequently due tothose high cost and the heavy burden on cleaners. We proposed a cleaning method
using underwater vehicle with brushes, however there is a possibility to remove paints
on the hull. To improve cleaning performance of the underwater vehicle, the ultrasoniccleaner is developed by using cavitation occurred by sound waves of the acoustic
transduces. The cleaner generates sound waves with sound pressure of 0.2MPa or
more required to occur cavitation at the point where sound waves from two
transducers overlap. In experimental results, the cleaner occurred cavitation enoughto make two holes in the aluminum foil located 50mm away from transducers.

- 105 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS29-5 Motion Control of a Ship Hull Cleaning Robot
Hyoga Yamamoto, Yuya Nishida, Takayuki Matsuo, Kazuo Ishii (Kyushu Institute of Technology, Japan)
Recent trend towards increased cost of fuel will continue further, so the reduction offuel consumption will be required more severely as well as the severe requirement of
reduction of CO2 emissions. To achieve these requirements, the reduction ofresistance is essential for efficient ship navigation. One of solution is the preventionof marine biofouling. Anti-fouling paint is effective to prevent biofouling to the ship
hulls like barnacles, however, even the painted hull acquires slime-like biofoulingcaused by marine alga on its surface easily. The cleaning of the ship hull is generally
carried out during inspection in dockyard once a year. Frequent cleaning while theship is berthing is desirable to keep good fuel efficiency. If frequent ship hull cleaning
is possible while ships dock at berth with ease, ships can keep good fuel efficiency
that makes the transportation costs and CO2 production less. Cleaning by divers costs
much and is a high risk task. One possible solution for this issue is to introduce
underwater robots for ship hull cleaning. In this paper, the motion control system of
the robot is described.

OS29-6 Development of a USV Testbed and Its System Check Experiments at Sea
Keisuke Watanabe, Masatoshi Shimpo (Tokai University, Japan)
The catamaran type USV is useful as an autonomous platform in the field of marine
engineering, such as collection of marine waste in ports, ocean observation platforms,
and automated vessels for offshore wind farm maintenance. The authors have beendeveloping an experimental testbed of USV platform to conduct basic studies oncontrol algorithms by simulation as well as hardware systems to conduct sea
experiments. In this paper, we report on the construction of an actual sea area
experimental system and basic experimental results.

OS29-7 Development of a Seabed Walking Platform for Ore Sample Drilling in Deep Sea
MiningKeisuke Watanabe1, Hideyuki Suzuki2, Yoshiyasu Watanabe1(1Tokai University, Japan), (2The University of Tokyo, Japan)
In deep-sea mineral resource development, exploratory drilling is indispensable for
estimating the amount of resources. In order to reduce the cost of exploration, a systemfor drilling on the seabed is needed instead of a support vessel at sea. This exploration
platform must be able to move along with the undulations of the seafloor and have astructure that supports the reaction force of the excavation. The authors have been
studying an eight-legged drilling platform. This paper introduces the system
configuration of an eight-legged walking robot.

- 106 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS29-8 Development of Remotely Operated Vehicle for Small-size Jellyfish Extermination andits Evaluation of Extermination Motion Control
Hiroyuki Yokota1, Shinsuke Yasukawa2, Jonghyun Ahn1
( Hiroshima Institute of Technology, Japan, 2Kyushu Institute of Technology, Japan)
1

In recent years, increase in the number of jellyfish has caused damage in the fisheryand tourism industries. Therefore, the extermination work of jellyfish is being carriedout by human hands. However, conventional methods for extermination are required
a lot of time and manpower. In this paper, we propose a method for extermination
work of jellyfish using underwater robot. Also, we introduce developed ROV typeunderwater robot, which is called J.E.N.O.S., and its extermination motion control.
The J.E.N.O.S. is developed in consideration of the attitude control during theextermination operation. Because, the attitude, such as surge and pitch angle, of
J.E.N.O.S. becomes unstable when performing jellyfish extermination. Therefore, we
equipped 8 thrusters to improve attitude stability during the jellyfish extermination.
As a result, surge acceleration is reduced to about 30.0%, and pitch angle velocity is
reduced to about 25.8%.

OS30 Intelligent Systems and Robotics -4-(6)Chair Jichao Zhao (Tianjin University of Science and Technology, China)
Co-Chair Hucheng Wang (Tianjin University of Science and Technology, China)
OS30-1 A Design of Micromouse Control System
Hucheng Wang (Tianjin University of Science and Technology, China)
This paper improves the problems of the traditional computer mouse, such as thevehicle weight, inflexible turning, and the sensor can not accurately feed back theexternal environment information. In terms of machinery, the solid, durable and lightweight material is used as the vehicle body, and the transmission mode adopts belt
indirect transmission, so that the computer mouse has a lighter, more stable and more
flexible structure. The sensor module is optimized to make it more sensitive andaccurate to perceive the external environment. The software part uses the potential
value search algorithm, combined with the external information collected by the
infrared sensor, so that the computer mouse can sprint from the starting point to thefocus more quickly. This paper also innovatively adds the voltage detection module,
which solves the problem that the traditional computer mouse can not know theremaining power in the competition, and ensures the stability of power supply.

OS30-2 A Driver Reaction Time Detection System Design
Yuhui Cheng1, Mochi Li2(1 Tianjin University of Science and Technology, China), (2 Ocean University of China, China)
This paper proposes a design scheme of driver reaction time detection system, whichcollects electroencephalography (EEG) data and reaction time required by the driverto complete corresponding test actions by deploying sensors on the driving simulator.
The scheme can be divided into control unit, data acquisition unit and interaction unit.
The test performs corresponding operations according to the instructions issued by theinteraction unit, and the system sorts out and saves the collected data. This system isof great significance to study the reaction time of drivers in different states andscenarios.
- 107 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS30-3 A PID Tracking Car Design based on STM32
Yande Xiang, Teng Zhang, Shixiang Zhao, Ling Zhou, Mingjuan Tian, Haoran Gong
(Tianjin University of Science and Technology, China)
Intelligent car is a high-order intelligent product integrating intelligent integrated
control, visual terminal, automatic control output and cognitive computing. This paper
introduces an innovative intelligent tracking car based on STM32 embedded chip. The
vehicle adopts fuzzy PID algorithm to control the vehicle operation, and adopts theinnovative grayscale card designed by the team hardware designer. This car fully
caters to the global environmental protection trend, the new concept of green
development. On the premise of low cost and low power consumption, it also ensures
the smooth, smooth and high precision operation of the vehicle.

OS30-4 Matrix Approach to Current-state Detectability of Discrete-event Systems
Jinliang Wang, Jiawei Wei, Xiaoguang Han (Tianjin University of Science and Technology, China)
In our previous work, a matrix-based framework is proposed to tackle the problem ofverifying strong detectability in the context of partially-observed nondeterministic
discrete event systems (DESs). Two key concepts, namely, unobservable reach anddetector, are redefined therein. Also, the dynamics of a detector, under the frameworksof the Boolean semi-tensor product of matrices, are converted equivalently into an
algebraic representation. In this paper, we extend our previous work to other versionsof detectability, including strong periodic detectability, weak detectability, and weak
periodic detectability. Several necessary and sufficient conditions are derived forverifying aforementioned three types of detectability, respectively. Compared with theexisting ones, the proposed methodology is easier to be implemented in software in
the sense that it avoids the symbolic manipulations. Finally, an example is given toillustrate the theoretical results.

OS30-5 Hardware Circuit Design Of Tracking Car Based On K60
Peng Jia, Yande Xiang (Tianjin University of Science and Technology, China)
The development of the robot industry is booming. For many repetitive and difficult
jobs, using industrial robots to complete them can greatly save money, manpower andtime costs. Industrial tracking vehicle AGV has been applied in many fields and has
shown good results. Taking the industrial AGV as the model, this paper analyzes theactual needs, explores, designs and builds a set of hardware model of intelligent
tracking car based on K60. The main work includes hardware circuit scheme design,
component selection, schematic diagram and PCB design, PCB board welding.

- 108 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS30-6 Detachable IoT Garbage Sorting Device Based on Machine Vision
Tao Zhu,Yang Su, Zhiqing Xiao, Fengzhi Dai (Tianjin University of Science and Technology, China)
China is promoting a garbage sorting system, but people have to spend more timechanging their habits, and the garbage bins on the road do not have the function of
automatic sorting. Therefore, a detachable IoT waste sorting device based on machine
vision is proposed. Through machine vision and a unique mechanical structure design,
it can be directly installed on existing trash cans, and is suitable for two and fourclassifications that meet the Chinese classification standards. Inside the device, it isfixed with an existing trash can with a mechanical electronic lock, and the switch lock
operation can be performed through the mechanical key and the Internet of Things
applet, which is convenient for the replacement of the device.

OS31 Approaches to Post-Narratology that Combines AI and Cognitive Science with
Narratology (9)Chair Jumpei Ono (Aomori University, Japan)
Co-Chair Hiroki Fxyma (Tainan University of Technology, Taiwan)
Co-Chair Takashi Ogata (Iwate Prefectural University, Japan)
OS31-1 Story Units of the Types of Japanese Folktales and the Combination with a Noun
Conceptual Dictionary1

Jumpei Ono, 2Motoki Kumagai, 2Takashi Ogata( Aomori University, Japan), (2Iwate Prefectural University, Japan),1

Story units in this study mean units described by Common Lisp based on the types offolktales analyzed by Seki and his group. In particular, we have been developing story
units to use in our narrative generation system, namely an Integrated Narrative
Generation System (INGS), as a type of narrative techniques that generate a narrative
structure based on the synthesis, transformation, expansion, etc. of a narrative
structure. Story units function in INGS through the combination with the conceptual
dictionaries in INGS. We have attempted the combination of story units with the verb
conceptual dictionary. The objective of this paper is the combination with the noun
conceptual dictionary. As the main constitutional elements of each story unit are verb
and noun concepts, their combinations with the noun conceptual dictionary enable thesubstantial function of story units based on the types of Japanese folktales as a groupof narrative techniques in INGS.

(motif0669 (鬼の面[demon-mask](被る1[put-on] 見る1[look] 逃げる1[run-away](or (取る1[take] 帰る1[go-home]) なる1[become])))((1 (event 被る1[put-on] (agent (&sc 女[woman]))(object (&sc 鬼の面[demon-mask]))(location (&sc 山[mountain]))))(2 (event 見る1[look](agent (&sc 化け物[monster]))(counter-agent (&sc 女[woman]))))(3 (event 逃げる1[run-away](agent (&sc 化け物[monster]))))(or(4a(event 取る1[take](agent (&sc 女[woman]))(object (&sc 宝物[treasure])))(event 帰る1[go-home](agent (&sc 女[woman]))))(4b (event なる1[become](agent (&sc 女[woman]))(to (&sc 化け物屋敷の主人[host-of-monster-house])))))))

OS31-2 Visualization of the Unconscious in Quality Inspection in Manufacturing
Jun Nakamura (Chuo University, Japan)
In quality inspection, which is the final stage of the manufacturing process, there is anoperational manual on how the object should be inspected. In this study, we followed
the gaze of the workers to search for the "way of looking" at the objects to beinspected, which is not described in the manual. As a result of experiment, we founda difference between the reciprocating eye movements that occur in skilled worker
and the static state of newcomers. It is suggested that this indicates a way of looking
at inspection that has been unconscious until now.

- 109 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS31-3 The Study on the Relationship Between the Comic Artists' Styles and the Visual
Languages: From the Stylistic Changes in the Work of Japanese Comic Artists
Kaori Otsuru (Tainan University of Technology, Taiwan (ROC))
As a first step for the machine-based comics analysis, we propose approaching thestylistic aspects of comics from the framework of linguistics and narrative theory.
Machine learning has been applied to paintings and text mining, but comics, a
synthesis of these works, contain elements that cannot be analyzed simply byintegrating pictures and texts. In this study, I propose a broad definition of the "style"of comics as covering the following concepts; the micro/macro-level development of
the story and composition of comics, the synchronous/diachronic changes in drawing,
and the impressions of the work obtained through the manga works. This study isintended as a basis for future research on manga style using machine learning.

OS31-4 Theoretical Backgrounds toward Text Mining for a Phenomenological Model of Taste
Perception
Hiroki Fxyma (Tainan University of Technology, Taiwan)
In this presentation, I discuss the temporal aspects of cognitive content generation andappreciation of taste. The cognitive content of taste evolves chronologically, as does
the appreciation of music. However, the time which is reconstructed and given
meaning as a story is considered to have a different time axis from the physical time(i.e., linear time, point time, cyclic time, and so on). Toward a chronological modelfor the taste phenomenon, I examine the language usage in the tasting comments ofwine and sake. A lot of tasting phrases potentially include the concept of time. For
example, "drifting" indicates continuous time. By examining how temporal terms cooccur with taste elements, I will discuss the model of taste phenomenon.

OS31-5 Why is the Early Detection of Dementia Failed?
Yuki Hayashi (Chiba University/National Institute for Japanese Language and Linguistics, Japan)
To prevent dementia, the early detection is important. However, it's often failed
because it's difficult to articulate "dementia" as "dementia" verbally. In this paper, I
analyzed semi-structured interview data stored in DIPEx-Japan, a database of personal
experiences of health and illness, and discussed the difficulty of early detection ofdementia.

OS31-6 Relationship Between World-view and Advertising Techniques
Yoji Kawamura (Kindai University, Japan)
The "world-view" plays an important role in advertising. In this research, we firstextracted the keywords of the world-view related to advertising. Next, those keywords
were classified by factor analysis, and a regression analysis was performed on therelationship between the classified genres and advertising techniques. 66 keywords
related to the world-view were extracted and classified into 8 genres by factor
analysis. The characters & product movements, atmosphere, and products (functions,
naming & logos) had a great influence on the world-view of the 8 genres. We also
quantitatively clarified the advertising techniques related to each genre. These
relationships provide implications for planning advertising creatives.

- 110 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS31-7 Adjective and Adjective Verb Conceptual Dictionaries in an Integrated Narrative Generation
SystemJumpei Ono (Aomori University, Japan), Takashi Ogata (Iwate Prefectural University, Japan)
Although main conceptual types of our previous narrative generation study using
conceptual dictionaries were verb and noun concepts, other conceptual types arenecessary for the implementation of more precise narrative generation functions. In
this paper, we prepare the frameworks for adjective concepts and adjective verb
concepts in our narrative generation system called Integrated Narrative Generation
System (INGS). Furthermore, we define the information of opposite meaning for eachadjective and adjective verb concept. For example, this function will contribute to
introduce a type of contrasting rhetoric into narrative generation.

Adjective

bitter

Property

State

…

Noisy

Emotion…

Sad…

OS31-8 Prototyping Animation System that Combines a Kabuki Work and its Background Story:
Kyōganoko Musume Dōjōji and the Legend of Dōjōji
1
Miku Kawai, 2Shunta Kudo, 3Jumpei Ono, 2Takashi Ogata
1( The Open University of Japan, 2Iwate Prefectural University, 3Aomori University, Japan),Kyōganoko Musume Dōjōji, a famous kabuki dance work, is an adaptation based on
the legend of Dōjōji. A series of research regarding Kyōganoko Musume Dōjōji
includes many themes, such as the analysis and simulation as an animation system of
the stage-performing structure, the survey and analysis of the relationships between
Kyōganoko Musume Dōjōji and the legend of Dōjōji, and the design and experimental
system development reflected the above relationships. Based on these studies, in thispaper, we present an animation-based mechanism that flexibly associates the narrative
flow of the stage-performing structure to the story of the legend of Dōjōji.

OS31-9 How Will Art Appreciations Change According to Information Change?
Akinori Abe (Chiba University, Japan),
For the art appreciation in museums, usually a certain information will be provided asa caption. Visitors usually read the description to help his/her understanding. Thus,
such a help will be necessary for ordinal person's understanding. Previously, we
conducted an experiment to determine viewers' artwork understandings by graduallyadding information in caption. In the previous experiment, we offered information
only with the official information. In this paper, we will generate information withartists' own writings (artist's explanation). In addition, in this experiment, we used arather abstract painting and representational but rather strange and difficult tounderstand paintings. In this paper, I will show how viewers' understanding orinterpretation of artworks, and sense of value and preference of artworks change
according to the changing information.

- 111 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS32 Human-Machine Interface and Automation (9)Chair Norrima Mokhtar (University of Malaya, Malaysia)
Co-Chair Fakhrul Hazman Yusoff (UITM, Malaysia)
OS32-1 A Derivative Oriented Thresholding Approach for Feature Extraction of Mold Defects
on Fine Arts Painting
Hilman Nordin, Bushroa Abdul Razak, Norrima Mokhtar, Mohd Fadzil Jamaludin(Universiti Malaya, Malaysia)
Identification of mold defects is an important step in the restoration of damaged
paintings. The process is usually lengthy and depends heavily on the qualitative visual
judgement of an expert restorer. This study proposes an automatic mold defectdetection technique based on derivative and image analysis to assist in the restoration
process. This new method designated as Derivative Level Thresholding (DLT) method
combines binarization and detection algorithms to rapidly and accurately detect moldfrom scanned high-resolution images of a painting. The proposed method is compared
to existing binarization methods of Otsu’s Thresholding Method, Minimum Error
Thresholding and Contrast Adjusted Thresholding Method. Experimental resultsfrom the analysis of 20 samples from high-resolution scans of 2 mold-stained painting
have shown that the DLT method is the most robust with the highest sensitivity rateof 84.73% and 68.40% accuracy.

.

OS32-2 Imaginary Finger Control Detection Algorithm Using Deep Learning with Brain
Computer Interface (BCI)
Suresh Gobee1, Norrima Mokhtar1, Hamzah Arof1, Noraisyah Md Shah1, Wan Khairunizam2(1Universiti Malaya, Malaysia), (2University Malaysia Perlis, Malaysia)
Before the advancement of deep learning technology, the brain signals are to beanalysed manually by the neuroscientist on how the brain signals reacts in proportion
with human body. This process is very time consuming and unreliable. Therefore, thisproject aims to develop a brain signal detection based on deep learning algorithm in
response to the output of EEG device on the imagery finger movements. These fingers
include thumb, index, middle ring and little of right hand. There are four CNN
classification models being developed in this project. The different between themodels are the pre-processing requirements and neural network architecture. The best
results for offline classification obtained in this project are 69.07% and 82.83%
respectively in terms of average accuracy from 6-class ad 2-class tests. The developed
work can be applied for proof of concept for online study.

- 112 ©ICAROB 2022 ALife Robotics Corp. Ltd.

.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS32-3 Investigating the Effect of Individuality Factors in Measuring Aggresion Induced by
Human Brain
Wan Khairunizam1, Kai Xu tung1, Lugieswaran1, Wan Azani Mustafa1, Hashimah Ali1, Zuradzman M.
Razlan2, Shahriman AB2, Norrima Mokhtar3
1( University Malaysia Perlis, Malaysia), (2Universiti Malaya, Malaysia)
Aggression is a behavior of human that may cause physical or emotional harm toothers. Several factors that cause aggressive behavior such as physical health, mental
health and socioeconomic. Many previous researchers reported that aggression could
be measured through either questionnaire or the brain signals. This paper proposes
the experimental studies to collect the brain signal of the human subject forinvestigating the effect of individuality in aggression. Ten subjects are selected toperform the aggression activities. The experimental protocol for inducing aggression
is proposed. In general, there are four tasks which is collecting brain data in relaxing
state before and after the experiments, and data collection while playing game inmuted and maximum volume levels. In the experiments, the subject are required toplay a popular non-violence smart phone game named “Subway Surfers” and at thesame time the EEG signals are recorded from the subject’s brain. In the signal preprocessing stage, a Butterworth filter is used to remove the noises contain in thesignals. A windowing technique is employed for extracting significant features. A
Pearson correlation technique is used to reduce and remain the less and mostsignificant features. In the methodologies, the aggressiveness level A, is defined toinvestigate the effect of individuality in inducing the aggression signals. The proposed
experimental protocol and signal processing techniques are seen able to generate levelof aggression.

OS32-4 Voice User Interface(VuI) Smart Office Door Application in the Context of Covid-19
Pandemic
Muhammad Zharif Aiman Alias, Wan Norsyafizan W. Muhamad, Suzi Seroja Sarnin, Darmawaty Mohd Ali(University Technology MARA, Malaysia)
Nowadays, all countries around the globe are trying their best to prevent the spread of
Covid-19 from reaching their people. However, the virus spread is through thetransmission of close contact with the infected person and touching a surface that
already contains the virus. This project presents Voice User Interface (VUI) Smart
Office Door System that interact with the Internet of Things (IoT) to execute thecommand given by the user. This project use Raspberry Pi as microcontroller which
Thonny Python software used for running the coding script of the system. The
electrical components such as dc motors and LEDs are connected to General-Purpose
Input Output (GPIO) pin of Raspberry Pi and motor driver. One of the dc motors used
for controlling the lock and another one used for controlling the door. Blue LED used
as locked door notification while green LED used as unlocked notification.
Microphone and speaker connect to the Raspberry Pi through usb port and Bluetooth.
This system used Google Assistant as its VUI to control the smart door contactless.
The user can give the command to the system through microphone to control the
output of the system. The purpose of this project is to invent the smart door with IoTtechnology that help prevent the spread of Covid-19 at the workplaces.

- 113 ©ICAROB 2022 ALife Robotics Corp. Ltd.

.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS32-5 Endometrial Cell Images Segmentation: A Comparative Study
Wan AzaniMustafa1, Nurul Umaira Salim1, Wan Khairunizam1, Shahrina Ismail1, Hiam Alquran2 (1Universiti
Malaysia Perlis, Malaysia; 2Yarmouk University, Jordan)
Uterine cancer, also known as endometrial cancer, is a form of cancer that affects thefemale reproductive system. Nowadays, there are 2 step methods that the physician orhealth care provider tend to use to diagnose cancer, which is using ultrasoundtechnique and endometrial biopsy. The biopsy procedure is used to extract the cell andsent to the pathologist for histopathological image analysis. The histopathologicalimage analysis is the crucial step in all the procedures because it determines thesituation for the patient, whether positive or negative. They are two types of cell
images known as high grade squamous intraepithelial lesion (HSIL) and low grade
squamous intraepithelial lesion (LSIL). The problem occurs when both LSIL and
HSIL are different, needing different medical treatment techniques but showing
slighter differences in nucleus size cell histopathological image analysis. Therefore,
the pathologist usually requires more time to identify whether it is LSIL or HSIL.
Based on the limitation, the paper aims to compare a few popular detection methods,
which are the Wolf method, Bernsen method, Otsu method and Feng method. Basedon the Image Quality Assessment (IQA), the Wolf method shows good performancecompared to the others. In a precise term, this finding could benefit the health care
community to reduce the diagnosis time to categorize the cell and lead to early
treatment of endometrial cancer.

OS32-6 Temperature Control Using Fuzzy Controller for Variable Speed Vapor Compression
Refrigerator System
Siti Qurrata Ain Suhaimi, M. Saifizi, S.M. Othman, Azri A. Aziz, Wan Azani Mustafa, Wan Khairunizam(Universiti Malaysia Perlis, Malaysia)
Keeping the cold chain vaccine is crucial to a stable immunization programme;
however, faulty processes may occur more frequently than are often thought indeveloping nations. This paper discusses the quick and accurate control process fordesigning fuzzy controllers for variable speed vapor compression refrigerator system.
The suggested controller is based on the fuzzy logic intended to improve performance
while keeping the cooler's constant internal temperature and increasing the refrigerator
efficiency. Despite the external changes such as the outside temperature change or thevolume change in the refrigerator vaccine, the fuzzy logic controller is utilised tomaintain the interior temperature. However, a variable speed compressor (VSC) must
be used to control the thermophysical characteristics, which dramatically alter thetemperature with a small pressure change. In this case, fuzzy rules of the sortdeveloped by Mamdani are used to build up the system. The programming platforms
utilised to implement the model include MATLAB, SIMULINK, and Fuzzy Logic
Toolbox (FLT). The efficiency of fuzzy logic controller design membership will becompared to ensure that the refrigerator temperature is more accurate and until it
achieves the best performance, maintains a temperature of 5°C, and adapts to its
surroundings. From the research done, the membership 2 with load shows the nearaccurate temperature of 5°C with steady-state error ±1.97°C.

- 114 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS32-7 Automatic Dry Waste Classification for Recycling Purpose
Muhammad Nuzul Naim Baharuddin1, Hasan Mehmood Khan1, Norrima Mokhtar1, Heshalini Rajagopal2,
Tarmizi Adam3, Wan Amirul Wan Mahiyiddin1, Jafferi Jamaluddin4(1Universiti Malaya, Malaysia). (2Manipal International University, Malaysia),
3( Universiti Teknologi Malaysia, Malaysia), (UMPEDAC Universiti Malaya, Malaysia)
There has been a serious increment in solid waste in the past decades due to rapid
urbanization and industrialization. Therefore, it becomes a big issue and challenges
which need to have a great concern, as accumulation of solid waste would result inenvironmental pollution. Recycling is a method which has been prominent to deal
with the problems, as it is assumed to be economically and environmentally beneficial.
It is important to have a wide number of intelligent waste management system andseveral methods to overcome this challenge. This paper explores the application ofimage processing techniques in recyclable variety type of dry waste. An automatedvision-based recognition system is modelled on image analysis which involves image
acquisition, feature extraction, and classification. In this study, an intelligent wastematerial classification system is proposed to extract 11 features from each dry waste
image. There are 4 classifiers, Quadratic Support Vector Machine, Cubic Support
Vector Machine, Fine K-Nearest Neighbor and Weighted K-Nearest Neighbor, wereused to classify the waste into different type such as bottle, box, crumble, flat, cup,
food container and tin. A Cubic Support Vector Machine (C-SVM) classifier led topromising results with accuracy of training and testing, 83.3% and 81.43%,
respectively. The performance of C-SVM classifier is considerably good which
provides consistent performance and faster computation time. Further classification
process is improved by utilization of Speeded-Up Robust Features (SURF) methodwith some limitations such as longer response and computation time.

OS32-8 A Low Cost Smart Parcel Box System with Enhanced Security
Ahmad Luqmanulhakim, Wan Norsyafizan W.Muhamad, Suzi Seroja Sarnin, Meor Mohd Azreen Meor
Hamzah (1Universiti Teknologi MARA, Malaysia)
A global pandemic of covid-19 has hastened the growth of online shopping or Ecommerce. Nowadays, E-commerce transactions provide various products fromluxury goods and services to everyday necessities. While the popularity of online
shopping has grown fast, there are several common issues that shoppers experience.
Common problems that customers experienced are failed delivery, missing parcels andeven the criminal case. Malaysia has introduced Pos Laju Ezi Box Kiosk, but stillcontemporary Kiosk type approach for the delivery system has some problems suchas high initial installation cost, the expense of management system and especiallysecurity weaknesses in the wireless communication. To overcome the aforementioned
problems, this paper proposes a low-cost smart parcel box system that will be installedat individual homes with enhanced security. This system used Arduino Mega 2560 tocontrol all the processes of the developed system. The system will be initiated whencouriers send the parcel's tracking number as a message to the user via applications to
get the password. For security purpose, password will be provided once the courier’s
message is the same as the message specified by the user. Couriers then can enter the
password provided and insert the parcel into the smart parcel box. The proposed lowcost smart parcel box system ensures that parcels are delivered safely and securely tothe customer's door.

- 115 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS32-9 Classification of Body Mass Index Based Face Images Using Facial Landmarks
Approach and PCA plus LDA
Hasimah Ali1, Ho Yong Kang1, Wan Khairunizam Wan Ahmad1, Mohamed Elshaikh1, Norrima Mokhtar2(1Universiti Malaysia Perlis, 2Universiti Malaya, Malaysia)
Human faces contain rich information. Recent studies found that facial features haverelation with human weight or body mass index (BMI). Decoding “facial
information” from the face in predicting the BMI could be linked to the various
health marker. This paper proposed the classification of body mass index (BMI)
using facial landmark approach based on facial images. In this framework,
Discriminative Response Map Fitting (DRMF) method has been used as feature
extraction technique to detect and locate the facial landmark points on the facial
images. About sixty-six (66) facial landmark points were identified. Only nineteen(19) of facial landmark points have been employed to extract the facial features interms of distance and ratio features. A total of 221 facial landmark features wereobtained and used as feature vector to classify the BMI classes. The rationale ofusing 221 facial landmark features is because these features were able to exhibit theunique characteristic of the BMI classes, which are normal, overweight and obese.
Then, the extracted features were further reduced using Principal Component
Analysis (PCA) plus Linear Discriminant Analysis (LDA) to map high dimension
features into low dimensional feature with maximize between class scatter andminimize within class variations. Later, the reduced features were subjected to kNN classifiers. A series of experiments has been conducted on MORPH II databaseusing the reduced facial landmark features to classify the three BMI classes. Basedon the experimental results, it shows that the reduced features using PCA plus LDA
based on k-NN classifier has achieve the highest recognition rate with accuracy of
83.33 %. The obtained results show that the reduced facial landmark features wereable to discriminate the three BMI classes of normal, overweight and obese, thus
shows the promising results- 116 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS33 Signal Processing and Chaotic System (5)Chair Huailin Zhao (Shanghai Institute of Technology, China)
Co-Chair Fengzhin Dai (Tianjin University of Science and technology, China)
OS33-1 A Visual Measurement Algorithm of Approaching Vehicle Speed Based on Deep
Learning
Yurong Zhu, Huailin Zhao, Liu Junjie, Zhang Jinping, Ji Xiaojun (Shanghai Institute of Technology, China)
With the urbanizational process expediting and the national economy developing
rapidly and healthily, the amount of private cars is on the rise, and traffic accidents
occur frequently due to speeding and other reasons, and the difficulty of traffic
supervision has also increased. This topic will use semantic segmentation and feature
extraction and matching. Based on the video data of the traffic surveillance camera,an algorithm is designed to quickly calculate the matching of feature points inadjacent frames with low computing power to achieve the calculation. The samevehicle moves within the two frames of the target, so as to calculate the speed of thevehicle. Firstly, performing semantic segmentation based on deep learning, wechoose a fully convolutional network to achieve semantic segmentation of depth
maps, and distinguish the picture’s principal part. After that, we can realize features
extraction and mapping. The HOG algorithm is used on the matching step, thetarget’s relative movement is calculated based on these matched point pairs tomeasure the moving speed of the vehicle. The experiment and the test prove that thesystem can realize the efficient speed measurement of moving vehicles.

OS33-2 Target Search Based on Scene Priors
Shengyang Lu, Lanjun Liang, Huailin Zhao, Fangbo Zhou, Feng yao(Shanghai Institute of Technology, China)
Aiming at the problems of reinforcement learning algorithm in target search tasks,
such as low accuracy and low fault tolerance, this article mainly introduces a methodof reinforcement learning target search based on scene prior in simulation
environment. This method mainly uses graph convolutional neural network to
extract the current object relationship as the input of prior knowledge. Secondly, it
uses the actor-critic algorithm to take the agent's vision, position and priorknowledge as input to decide the agent's next navigation. Finally, use path
planning to navigate to the target point to find the target. Through experiments
conducted in Habitat and compared with the previous algorithm, the experimentshows that this method is better than the previous algorithm in target search accuracy
and navigation efficiency.

- 117 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS33-3 A Generalized Hamiltonian Conservative Systems with Multi-scroll Chaotic Flows
Jingwen Liu, Zhonggao Chen (Tianjin University of Science and Technology, China)
By analyzing mechanics and energy of a three-dimensional volume conservative
chaotic system proposed by Vaidyanathan and Volos, a new generalized conservative
chaotic system with multi-scroll chaotic flows is found based on the corresponding
Hamiltonian energy. The new system satisfies both volume conservation and energy
conservation. By analyzing the equilibrium characteristics of the system,
equilibrium points of the new system are found to be a line. In addition, the numberof scrolls of conservative chaotic flows of the new system depend on thecorresponding Hamiltonian energy. The paper provides a new conservative chaotic
model for chaos application.

OS33-4 Multi-stability and FPGA Implementation of a Conservative Chaotic System
Minghan Song (Tianjin University of Science and Technology, China)
The paper first studies the reason why a three-dimensional volume conservative
chaotic system proposed by Vaidyanathan and Volos can generate chaos byanalyzing mechanics and energy. Then, based on numerical methods includingbalance characteristics, Lyapunov exponents, bifurcation diagrams, phasetrajectories and so on, multi-stability of the three-dimensional volume conservative
chaotic system are discovered. In addition, the three-dimensional volumeconservative chaotic system is realized by using FPGA, and all the results fromFPGA implementation are consistent with those from numerical analysis. Whichfurther verify multi-stability of the three-dimensional conservative chaotic systemfrom physical characteristics.

OS33-5 A New Hyperchaotic Financial System
Lei Gong (Tianjin University of Science and Technology, China)
In this paper, a new hyperchaotic financial system is obtained based on a financial
system. It is first transformed into Kolmogorov model, which is composed ofconservative torque, dissipative torque and external torque, to study the reason why
the new system can generate chaos. Then, by studying energy exchange andcombining different torques, dynamics of the new system is analyzed, the external
torque is found to be the main reason the new system generate chaos. The paper
provides a new method of analyzing chaotic dynamics in financial system, andfurther promotes new strategies are found to control chaos in financial market.

- 118 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS34 Robotics Navigation and Control (3)Chair Jiwu Wang (Beijing Jiaotong University, China)
Co-Chair Shilong Zhen (Beijing Jiaotong University, China)
OS34-1 Research on Path Planning Algorithms of Multiple Mobile Robots in Intelligent
Warehousing
Jiwu Wang, Shilong Zheng (Beijing Jiaotong University, China)
In recent years, with the rapid development of the e-commerce industry and theincreasing number of orders for commodities, the demand for intelligent automatedwarehousing systems has become more and more urgent. Therefore, the study ofintelligent storage systems based on multiple mobile robots has proved to be a hot
spot and development direction of the intelligent manufacturing industry. Amongthem, the collaborative path planning between multiple mobile robots has become akey issue to be solved urgently. In order to solve this problem, this paper will propose
an improved A* algorithm based on the reservation table to solve the collision andtraffic jams between robots and realize multi-robot collaborative path planning. The
effectiveness of the algorithm is verified by simulation.

OS34-2 Research on the effectiveness of improved ORB depth estimation in monocular visionslam
Jiwu Wang, Weipeng Wan (Beijing Jiaotong University, China)
The application of monocular vision to measure the depth information of image
feature points is one of the key points of monocular vision slam.Triangulation isoften used for monocular vision to measure the depth information of image featurepoints, but in actual applications, the uncertainty of feature point matching will cause
greater depth uncertainty.This article mainly optimizes the extraction and matchingof ORB feature points, improves the key point extraction strategy in ORB, combinesquad-tree and RANSAC to complete the feature point extraction and matching of
the image, and then uses the final matching result to estimate the depth.Experiments
show that the improved feature point extraction and matching technology caneffectively improve the depth estimation accuracy.

OS34-3 Research on Research on Corner Detection Algorithm Based on Edge Contour in
Automatic Loading Positioning
Jiwu Wang, Junwei Fu (Beijing Jiaotong University, China)
At present, automatic loading machines generally have problems such as low
efficiency and low degree of flexibility. In the loading process, the use of visual
methods to accurately position the cargo platform is one of the key links to improveloading automation. In the actual application process, The corner detection has the
problems of low positioning accuracy, high false detection and high missed detection
rate. This paper proposes a corner detection method based on the edge contour, andperforms the corner detection algorithm. Optimize to improve the false detection
rate and missed detection rate in the detection process, and obtain the required corner
information. Experiments show that this method can effectively improve theaccuracy of corner detection in the positioning link.

- 119 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

GS1 Control System Applications (6)Chair Hiroaki Wagatsuma (1Kyushu Institute of Technology, 2RIKEN CBS, Japan)
GS1-1 Design of local linear models using Self tuning Control System for PID Tuning According
to errorShinichi Imai (Tokyo gakugei university, Japan)
PID control is widely used in process systems represented by chemical processes
and petroleum refining processes. The reason is that PID control has a simple
structure. However, most of the existing systems are non-linear systems, and it isdifficult to always obtain good control results with fixed PID control. Therefore,
in this study, we propose a method of tuning the PID gain according to thedeviation (control error) of the control result, and verify the effectiveness of thismethod through experiments. For self-tuning PID control using a local linear
model, we propose a program that performs PID tuning only when the deviation
occurs with a certain magnitude. A simulation is performed on the Hammersteinmodel, which is a non-linear system. As a result of the experiment, the number of
PID gain changes could be significantly reduced.

y(t)rThreshold ：τ

t

switching

PID
Parameters

Local Linear
ModelsController

Systemy(t)r(t)

GS1-2 A Systematic Analysis of the Knee Support Exoskeleton Based on Multibody Dynamics
Toward Personalization with 3D Printed Spring-Damper Components
Shintaro Kasai1, Pancho Dachikinov1, Kohei Tanaka1, Hiroaki Wagatsuma1,2(1Kyushu Institute of Technology, Japan; 2RIKEN CBS, Japan)
Exoskeleton-type assistive devices have been studied a long time focusing on theuniversal design and a simplification for mass production, and recently the concept
is extended to the personalization according to the advancement of 3D printing,which allows to embed spring-damper systems in the form of compliant
mechanisms. Therefore, a sophisticated kinematic and kinetic analysis is highly
important for the realization of integrative systems and theories of multibody
dynamics enhance the capability to find best parameters that are suitable for target
body requirements. We analyzed a knee support exoskeleton in the form of thelinkage system as the rigid-body dynamics and estimated necessary spring-damper
components in the system to reduce burden on joint motions, especially persons
with joint dysfunctions.

- 120 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

GS1-3 A Drone-Based Concrete Crack Inspection System by Using Morphological Component
Analysis and Sub-Pixel Width Estimation
Ankur Dixit1, Wataru Oshiumi1, Hiroaki Wagatsuma1,2( Kyushu Institute of Technology, Japan; 2RIKEN CBS, Japan)
1Social infrastructure inspections were relying on human experts, and then a recent
topic is a possible implementation to realize an automated inspection based onmachines and sophisticated software algorithms. We have studied an advancementof Morphological Component Analysis (MCA) to apply the concrete-crack
position estimation especially for submillimeter-width cracks, which are highly
difficult for traditional methods to detect finely. We demonstrated a concrete crack
detection from images obtained from proximity cameras attached a specialized
multi-copter, by using the MCA-based crack position estimation and the linear
regression-based sub-pixel width estimation. It will contribute to the actual fieldwork not only for the concrete crack detection but also various social infrastructure
inspections.

GS1-4 A Systematic Geometric Design Method of Flexible Bars Available for Personalized Knee
Orthoses with Spring-Damper Functions
Pancho Dachikinov1, Shintaro Kasai1, Kohei Tanaka1, Hiroaki Wagatsuma1,2(1Kyushu Institute of Technology, Japan; 2RIKEN CBS, Japan)
3D printed compliant mechanisms were recently highlighted not only in the
traditional way, but also in the reverse engineering of human joint supportive
devices. However, a systematic design principle is unclear for solving of the issue
how it can be modifiable to fit to target body requirements in the sense of thepersonalization. We proposed a geometrical approach providing the target designby using a morphological replacement at the concentration of stress. This concept
can be verified in orthoses to improve the knee joint function by 3D printed flexible
prototypes. It allows larger deformations of the bars to control joint’s motion.
Theoretical analysis and experiments demonstrate the flexibility and support
during the flexion and extension of the knee. It implies the impact of the geometry
in orthosis designs.

GS1-5 State-space modeling of fingers motion measured by the Leap Motion Controller
Ryuichi Usami, Hideyuki Tanaka (Hiroshima University, Japan)
This paper studies modeling of the motion of experts in a sport to demonstrate theirmotion to beginners. It deals with the dynamics of transient response from one
position to another, such as a crouching start of a short-distance race. A modelingalgorithm is developed to remove personal habits of experts from their motion andto present simple models to learners according to their learning stages. The
algorithm is based on a step response of a state-space representation and thedeterministic realization theory. It is applied to fingers motion captured by the Leap
Motion Controller, and simplified models are obtained by reducing the order of thestate-space representation.

- 121 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

GS1-6 Applicability Verification of iWakka Game to Children with Developmental
Coordination Disorder
Masakazu Nomura1, Moe Nishiya1, Yoshifumi Morita1, Hideo Yamagiwa2( Nagoya Institute of Technology, Japan) (2Tokyo Metropolitan Tobu Medical Center, Japan)
1

In our previous study, we developed a testing and training device of adjustability
for grasping force “iWakka”. Moreover, we developed “iWakka Game” including
software for autistic patients by improving the game quality of the original one. In
this paper, we investigated the applicability of iWakka Game to children with
developmental coordination disorder (DCD). Based on the results of thepreliminary experiment, we developed a small-size grasping body “Wakka” andimproved the evaluation method for children with DCD. We applied iWakka Game
to 4 children aged 5 to 9 years with DCD. As a result, all the children could
complete the evaluation task with iWakka Game. The proposed evaluation method
made it possible to extract the characteristics of hand dexterity.

GS2 Learning Methods (5)Chair Masato Nagayoshi (Niigata College of Nursing, Japan)
GS2-1 A basic study of how to exchange work shifts using reinforcement learning on aconstructive nurse scheduling system
Masato Nagayoshi (Niigata College of Nursing, Japan), Hisashi Tamaki (Kobe University, Japan)
Various studies have been conducted on the nurse scheduling problem, which isthe creation of a work schedule for nurses. However, for practical use, adjustments
including various constraints and evaluation values are required, and the createdwork schedule is often not practical as it is, so many head nurses still feel burdenedby creating work schedules. In this paper, we propose a work revision method
using reinforcement learning for a constructive nurse scheduling system. The
constructive nurse scheduling system has the characteristic of having easy tounderstand shift schedule creation procedures and rules because the system does
not use the evaluation value for the entire shift schedule. We have confirmed thepossibility of improving the quality of the shift schedule by the proposed method.

GS2-2 Developing Machine Learning and Deep Learning Models for Customer Churn
Prediction in Telecomunication Industry
Teoh Jay Shen, Abdul Samad Shibghatullah (UCSI University, Malaysia)
Customer churn is always a significant problem and one of the biggest concernsof telecommunication companies. The companies are attempting to create anddesign an approach to predict customer churn. This is why determining factors thatcauses the customer to churn is significant. The proposed models constructed inthis work apply both the machine learning and deep learning algorithms. Thosemodels was constructed and run under the Python environment and it used an open
sources dataset that are available to everyone on www.kaggle.com. This dataset
contained 7043 rows of customer's data with 21 features, and it was applied in the
training and testing process of the models development. These models used four
different types of machine learning and deep learning algorithms, which are theArtificial Neural Network, Self-Organizing Map, Decision Tree and a hybrid
model with the combination of the Self-Organizing Map and Artificial Neuralnetwork algorithms.
- 122 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

GS2-3 Liver Segmentation in CT Images Using Deep-Learning and 3D CRF
Shuntaro Nagano1, Guangxu Li2, Tohru Kamiya1( Kyushu Institute of Technology, Japan), (2Tiangong University, Tianjin, China)
1

In recent years, the development of CAD systems aimed at reducing the burden on
doctors and improving diagnostic accuracy has been promoted. In this paper, we
propose a segmentation method for the liver site on abdominal CT images as apretreatment for a CAD system using Dynamic CT images. The method consistsof two stages. First, we segment the liver with a model based on U-net, asegmentation model using CNN. Next, the 3D CRF (Conditional Random Field)
is used to make corrections that take into account the three-dimensional
characteristics of the liver to improve the accuracy of segmentation. In theexperiment, the accuracy was evaluated for CT images of 20 cases.

GS2-4 Judgement on Shunt Sounds from Vascular Access using YOLO Deep Learning Model
1

Kyosuke Fujiwara, 1Takayuki Yamamoto, 1Lindsey Tate, 2Kazuya Kibune, 1Hiroki Tamura(1University of Miyazaki, Japan). (2Tokatsu Dialysis Hospital & Clinics, Japan)

A shunt is a blood vessel that connects a vein directly to an artery to allow a large
volume of blood to pass through for hemodialysis. The sound of a shunt is the soundmade at the junction. There is a risk of stenosis or blood clots in the shunt. The test isusually done by a doctor using an echo. However, an echocardiogram can only be
performed with a special machine. Therefore, we thought that we could link the resultsof the echocardiography to the shunt sound and use machine learning to accurately
diagnose the shunt as long as we had the shunt sound data and a computer. We used
the wavelet transform to image the shunt sounds before and after stress, and trained
YOLOv2tiny to classify the images with the labels "abnormal," "gray(uncertain)," and"normal. In this case, YOLOv2tiny alone did not improve the discrimination rate.
Therefore, we tried to improve the discrimination rate by performing multivariate
analysis using the multivariate calculated in the judgment of YOLOv2tiny. In thispaper, we compared the discrimination rate of the result of YOLOv2tiny alone and theresult of the combination of YOLOv2tiny and multivariate analysis, and explain how
to achieve a higher discrimination rate.

GS2-5 Research of Classification of Palmprint Based on Deep Learning
Kunyu Yu, Hiroshi Matsuki (Ashikaga University, Japan)
After many years of clinical research in traditional Chinese medicine, it was foundthat the large thenar part of the palm was related to allergic reactions such as theasthma. This paper classifies the thenar part of the palm according to thecharacteristics of the wrinkles through the transfer learning in the depth learning,so as to play an assistant role in the diagnosis. The palmprint of the thenar palm
can be divided into two categories (positive and negative). In this paper, the palm
data collected will be preprocessed to intercept the large thenar part. The
classification is mainly based on the deep learning convolution neural network,
using the TensorFlow framework and inception V3 model. Simulation results showthat the inception V3 model recognition algorithm has high accuracy in theclassification of negative and positive palmprints.

- 123 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

GS3 Robotics (3)Chair Hideyuki Tanaka (Hiroshima University, Japan)
GS3-1 A Three-Dimensional Design of the Multi-material Joint System to Realize a Structural
Spring-Damper Compliant Mechanism with Versatility in Engineering Fields
Pancho Dachkinov1, Anirudha Bhattacharjee2, Bishakh Bhattacharya2, Hiroaki Wagatsuma1,3( Kyushu Institute of Technology, Japan; 2Indian Institute of Technology Kanpur, India; 3RIKEN CBS, Japan)
1

Design of a 3D printed cross-spring compliant joint is an emerging topic for its
multipurpose applications in various fields due to its realization from a
combination of flexible materials with different mechanical properties. It performs
the motion by deformation in the elastic region and is suitable for precisionengineering applications and instruments. The proposed concept is a modificationof a traditional cross-spring pivot, which effectively provides frictionless and wear
free in-plane motion. The joint’s behavior is analyzed based on a non-linear FEA
simulation and the properties were investigated with various loading conditions.
Compliant joints are envisaged to bring paradigm shift in the design of highprecision actuators and robotic manipulators.

GS3-2Haptic Device that Presents Sensation Corresponding to Palm on Back of Hand
for Teleoperation of Robot Hand Report 5: Verification of development device specifications
Kyosuke Ushimaru, Noritaka Sato (Nagoya Institute of Technology, Japan)
Recently, research and development of disaster response robots gained momentum.
However, it is known that teleoperation of a robot hand equipped on a rescue robot
is difficult. So, in this research, we propose and develop a new tactile presentation
device for tele-operation of a robot hand. Proposed device is presented the tactile
sensation on the back of the operator's hand. The required parameters for device
development, Interval between stimulus points(i), Diameter of the stimulus
point(d), Force of the stimulus point(f), were determined by subject experiments.
The device was developed based on the optimized values (i, d, f) = (30mm, 6mm,
0.9kgf). A suction stimulus was used as the stimulus presentation. In this paper, we
confirm that the developed device can present tactile sensation correctly anddiscuss the results.

- 124 ©ICAROB 2022 ALife Robotics Corp. Ltd.

.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

GS3-3 HBV Epidemic Control Using Time-Varying Sliding Mode Control Method
Arsit Boonyaprapasorn1. Suwat Kuntanapreeda2, Parinya Sa Ngaimsunthorn2,
Thunyaseth Sethaput3, Tinnakorn Kumsaen4(1Chulachomklao Royal Military Academy, Thailand)
2( King Mongkut’s University of Technology North Bangkok, Thailand)(3Thammasat University, Thailand) (4Khon Kaen University, Thailand)
Hepatitis-B (HBV) disease is one of the life-threatening diseases due to causing
cirrhosis and liver cancer in the infected person. Setting the policy to control the
HBV epidemic is an important issue that can be achieved by using feedback
controller design procedure through the compartment mathematical model. In thisarticle, the sliding mode controller with a time-varying sliding surface was
employed to set the multiple measures control policy for controlling the HBV
epidemic. The stability of the control HBV epidemic system was investigated. The
simulation of the control system was conducted to confirm the feasibility ofapplying the time-varying sliding mode controller for setting the HBV control
policy. The simulation results showed that the designed control policy can drive
the target subpopulation to the desired levels. Thus, the time-varying sliding mode
controller is a feasible approach to set the measures for controlling the HBV
epidemic.

GS4 Applications (3)Chair Noritaka Sato (Nagoya Institute of Technology, Japan)
GS4-1 Blockchain Technology for Halal Supply Chain Management
Kadeer Zulihuma, Abdul Samad Shibghatullah, Chit Su Mon(Institute of Computer Science & Digital Innovation, UCSI University, Malaysia)
Blockchain technology (BT) is a distributed and decentralized database that storetransaction information in a network. Due to providing better visibility andtransparency, this technology has gained a considerable attention in the recent
years. This research is carried out with the purpose of exploring the potential ofblockchain technology to increase supply chain integrity in halal food industry.
Three features of smart contract including traceability, decentralized, andanonymity are added to the model as moderators to explore their influence on
integrity of halal supply chain. According to the survey of 251 halal supply chain
practitioners in Kuala Lumpur, the proposed model was tested. The results
demonstrated that BT has a positive and significant direct effect on integrity ofhalal supply chain, and traceability has a significantly positive influence on
integrity of halal supply chain. However, decentralization and anonymity haveinsignificant effect on integrity of supply chain.

- 125 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

GS4-2 Smart Tourism Guide Application Using Location-Based Services – Go.Travel
Wong Yit Meng, Abdul Samad Bin Shibghatullah, Kasthuri Subaramaniam (UCSI University, Malaysia)
Smart tourism technology is rapidly advancing, opening new prospects fortourism, and providing higher-quality, all-around travel services to the general
population. This research paper presents the creation of an assistive applicationthat allows travellers to use tourism-related services in Malaysia to improve theirtravel experience. The objective of this project is to develop and enhance a Smart
Tourism Guide Application, Go.Travel based on the limitations discovered.
Tourists can use the proposed application to view nearby destinations, getinformation about them, view nearby places in Google Maps, share their stories intravel forum, read the latest articles, and save their favourite spots. This projectuses an iterative development strategy. Android Studio was utilized extensively fordevelopment. It is best hoped that tourists will be able to travel more efficiently
and effectively in Malaysia with the useof the proposed application.

GS4-3 Gesturenomy: Touchless Restaurant Menu Using Hand Gesture Recognition
Ian Christian Susanto, Kasthuri Subaramaniam, Abdul Samad Bin Shibghatullah (UCSI University, Malaysia)
Hand gesture recognition is one of the more modern methods of human-computerinteraction. However, study of its application in real world setting is sparse,
especially its use in digital restaurant menus. We discuss various types of computer
vision-based hand gesture recognition and decide on hand pose estimation as themethod of recognition used. An analysis into the requirements show that
respondents are concerned with the hygiene of touchscreen digital menus. We
provide a description of the system being developed. The system passes the user
acceptance tests given. This project contributes to the knowledge base byproviding one case study of the use in hand gesture recognition in digital restaurant
menus, as research in this application of gesture recognition is currently minimal.
The authors hope that this project can open the doors for more research into thisarea.

- 126 ©ICAROB 2022 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

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]

Aoki

Kenji

OS13-1

30/73

A. AzizAzri

OS32-644/114

Arima

Masakazu

OS29-2

40/105

AB

Shahriman

OS32-3

44/113

Arof

HamzahOS32-2

44/112

AbbyasovBulat

OS17-1

37/79

Asada

Taro

OS7-3

42/61

OS17-4

38/80

OS7-4

42/60

Abdul Latef

Tarik

OS22-3

25/91

Azam

S. M. Kayser

OS22-3

25/91

Abdul Razak

Bushroa

OS32-1

43/112Azizul Hasan

Zati Hakim

OS22-2

24/91

Abe

Akinori

OS31-945/111

Abematsu

YusukeOS28-630/104[B]

AburadaKentaroOS10-2

26/67

Baharuddin

MuhammadOS32-7

44/115OS10-3

25/67

OS10-4

25/67

Befu

Akane

OS27-2

39/101

OS22-2

24/91

Bhattacharjee

Anirudha

GS3-1

26/124

Bhattacharya

Bishakh

GS3-1

26/124

Abu Talip

MohamadNuzul Naim

SofianAdam

Tarmizi

OS32-7

44/115

Boonyaprapasorn Arsit

GS3-3

26/125

Ahn

JonghyunOS28-429/103

Bose

IS2-1

21/48

OS29-840/107

IS2-2

21/49

Viet

OS23-427/93

RishavAin

Mohd FadzilOS22-3

25/91

Bui

Akiyama

Kouichi

OS10-1

25/66

Al-Talib

Ammar A.

OS20-1

42/85

OS20-2

42/86

CaoShengminOS12-7

46/72

OS20-6

42/87

Chang

Li-YinOS25-2

28/97

[C]

Ali

Darmawaty

OS32-4

44/113Chaw

Kam Heng

OS20-2

42/86

Ali

HashimahOS32-3

44/113

Chen

Linhui

OS9-6

43/65

OS32-944/116

Chen

WangziOS11-332/68

OS32-4

44/113Chen

XiaoyanOS11-1

32/68

OS11-2

32/68

OS11-332/68

OS11-4

32/69

Alias

MuhammadZharifAljunid Merican

Amir

Feisal

OS22-2

24/91

MericanAlquranHiam

OS32-5

44/114OS11-533/69

Ang

Chun Kit

OS22-1

24/90

OS11-6

33/69

Ang

Koon Meng

OS22-1

24/90

OS11-7

33/70

OS22-4

25/92

OS11-833/70

OS17-7

38/81

OS12-1

45/71

Antonov

Vladimir- 127 ©ICAROB 2021 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS12-2

45/71

OS12-3

46/71

Ding

OS12-4

46/71

OS12-5

46/72

OS12-6

46/72

OS12-7

46/72[E]

OS12-8

46/73

Edgar A.

Chen

Ya-ChunOS17-8

38/82

Chen

Yun-ju

OS2-3

22/52

Chen

Zhonggao

OS33-3

24/118Chen

ZhihuiOS11-1

32/68

OS12-145/71

OS30-6

24/109Ji-Feng

OS26-4

37/99

Dixit

Ankur

GS1-3

38/121Du

Meng

OS12-3

46/71

Martínez-

OS17-1

37/79

OS17-2

37/80

Mohamed

OS32-944/116

GarcíaElshaikh

[F]

Cheng

Wy-Liang

OS22-4

25/92

Fang

Jiayi

OS11-9

33/70

Cheng

Yuhui

OS3-5

41/54

Fawzi

Tarek

OS20-2

42/86

OS30-2

23/107Fei

Shumin

OS5-1

31/56

Chit

Su MonGS4-1

26/125Feng

Hao

OS11-2

32/68

Chou

Ming-Tao

OS26-437/99

Fu

JunweiOS34-3

28/119ChuangLi-MinOS25-3

28/97

Fuchi

MasakoOS21-2

31/88

OS25-4

28/97

Fuengfusin

Ninnart

OS15-1

36/76

OS25-5

28/98

Fujinaga

TakuyaOS27-4

39/101

OS19-1

34/83

Fujisawa

Ryusuke

OS19-335/84

OS19-2

34/83

OS19-435/84

OS19-3

35/84

Fujiwara

Kyosuke

GS2-4

34/123

OS19-4

35/84

Fujiwara

MasayukiOS23-6

27/94

OS19-5

35/84

FukudaRiku

OS28-2

29/102OS19-6

35/85

Fukumoto

Mana

OS7-3

42/61

OS19-7

35/85

Fxyma

HirokiOS31-445/110Prem

OS19-1

34/83

Chumkamon

Sakmongkon[D]
Dachikinov

Dai

[G]
PanchoFengzhi

GS1-2

38/120Gamolped

GS1-4

39/121

OS19-3

35/84

GS3-1

26/124OS19-7

35/85

OS3-1

40/52

Gao

Longyu

OS3-4

41/54

OS3-2

41/53

Gao

Yiting

OS4-4

23/56

OS3-3

41/53

OS4-5

23/56

OS3-4

41/54

OS8-2

41/62

OS3-5

41/54

Ge

Yang

OS9-4

43/64

OS3-6

41/54

GeiserSylvainOS19-4

35/84

OS5-1

31/56

OS19-535/84- 128 ©ICAROB 2021 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

Gobee

SureshOS32-2

44/112OS24-2

36/95

Goda

HirokiOS27-1

39/100

Hsiao

Su-Chiu

OS26-6

37/100Gong

HaoranOS30-3

23/108Hsieh

Cheng-En

OS26-1

37/98

Gong

Lei

OS33-5

24/118

Hsu

Chu-Ting

OS26-437/99

Guo

Chomgxu

OS9-4

43/64

Hsu

Ling-Mei

OS26-3

37/99

Guo

Jr-Hung

OS24-2

36/95

Hu

Jintao

OS5-2

31/57

Gurchinsky

MikhailOS17-6

38/81

OS5-3

31/57

[H]

Hu

Lintao

OS9-1

42/63

Hung

Chung-Wen

OS24-1

36/95

OS24-5

36/96

OS20-3

42/86

HamadaDaiki

OS28-1

29/102

HamzahMeor

OS32-844/115

Han

Xiaoguang

OS30-4

23/108OS20-4

42/86

Hanajima

Naohiko

OS5-4

31/57

OS20-5

42/87

HaradaKazukiOS28-2

29/102OS22-1

24/90

HaradaKensuke

OS16-1

28/78

OS16-4

29/79

GS4-3

26/126

HussinEryana[I]

HaradaKoji

OS27-1

39/100

Ian

ChristianHashimotoTakashiOS23-6

27/94

HayashiEiji

OS19-1

34/83

IizumiShinyaOS21-532/89

OS19-2

34/83

Ikeda

SatoshiOS13-1

30/73

OS19-335/84

OS13-2

30/74

OS19-435/84

OS13-330/74

OS19-535/84

OS13-430/74

OS19-6

35/85

Ikeda

Tsubasa

OS21-2

31/88

OS19-7

35/85

IlliasH. A.

OS22-3

25/91

SusantoHayashi

KatsukiOS21-2

31/88

Imai

ShinichiGS1-1

38/120HayashiYuki

OS31-545/110Inniyaka

Irmiya R.

OS28-1

29/102

Hayashida

Yuki

OS6-4

33/59

Ishii

Kazuo

OS27-2

39/101

OS6-5

34/60

OS27-3

39/101

Hirai

Hiroyasu

OS28-630/104OS27-539/101

Hiramitsu

Tatsuhiro

OS16-2

29/78

OS28-1

29/102OS16-329/79

OS28-2

29/102

Hiraoka

Toru

OS1-1

22/50

OS28-329/103

HirotaMasaharu

OS1-2

22/50

OS28-429/103

Hisamitsu

Shota

OS6-2

33/59

OS28-529/103

Ho

Chian C.

OS24-436/96

OS28-630/104

Ho

Yong Kang

OS32-944/116OS29-1

39/104

Hsia

Kuo-Hsien

OS17-337/80

OS29-3

40/105OS17-838/82

OS29-440/105- 129 ©ICAROB 2021 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

Ishikawa

Seiji

OS29-540/106

Kamiya

Tohru

GS2-3

34/123OS21-1

31/88

Kasai

Shintaro

GS1-2

38/120OS21-4

32/89

GS1-4

39/121OS21-532/89

Katayama

Daigo

OS27-2

39/101

Katayama

TetsuroOS10-2

25/67

Ishikawa

Shinnosuke

OS6-5

34/60

Ito

Kota

OS21-1

31/88

OS10-3

25/67

Ito

Takao

PS3

30/47

OS10-4

25/67

OS2-1

22/51

Kawai

Miku

OS31-845/111

OS2-2

22/51

Kawaguchi

Ryota

OS23-5

27/94

OS2-4

22/52

Kawaguchi

Yuki

OS21-432/89

OS13-1

30/73

Kawamura

Motoki

OS7-4

42/61

OS13-230/74

Kawamura

Yoji

OS31-645/110OS13-330/74

KibuneKazuyaGS2-4

34/123OS13-4

30/74

Kilin

MikhailOS17-5

38/81

OS2-1

22/51

KimuraKenji

OS28-630/104

OS2-2

22/51

Kita

Yoshihiro

OS1-3

22/50

OS2-4

22/52

OS10-2

25/67

OS13-1

30/73

OS10-3

25/67

OS13-2

30/74

OS10-425/67

Ito

Tsutomu

Iwanaga

Saori

OS23-1

26/92

Kloomklang

Nattapat

OS19-1

34/83

Iwanaga

TakuroOS13-330/74

Kobatake

KanakoOS29-2

40/105

Kobayashi

Sota

OS7-2

42/61

Kohno

TakashiOS15-2

36/77[J]Jamaluddin

Jafferi

OS32-7

44/115

Komori

Mochimitsu

OS21-2

31/88

Jamaludin

Mohd Fadzil

OS32-1

43/112

Kononov

KirillOS17-1

37/79

Ji

XiaojunOS33-1

24/117

KoyamaKeisuke

OS16-1

28/78

Jia

Peng

OS4-3

23/55

Kubo

Masao

OS23-2

26/93

OS30-523/108OS23-3

27/93

OS5-2

31/57

OS23-4

27/93

OS5-3

31/57

OS23-5

27/94

Jia

Yingmin

Jia

Yongnan

OS5-5

31/58

Kudo

ShuntaOS31-845/111

Jiang

Guan-Yu

OS24-1

36/95

Kumagai

MotokiOS31-145/109Jin

KosukeOS14-2

27/75

Kumsaen

TinnakornGS3-3

26/125

Kuntanapreeda

Suwat

GS3-3

26/125

Kuo

Chien-Chih

OS25-5

28/98

Hsin-Yu

OS25-1

27/96

OS26-2

37/99

[K]
Kai

ShiojiOS28-329/103Kai

Xu tung

OS32-3

44/113

Kamasaka

TaketoOS13-1

30/73

OS13-2

30/74

[L]
Lai

- 130 ©ICAROB 2021 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

Laosiripong

Lavrenov

Lee

Ranatchai

Roman

Yu-Po

OS19-1

34/83

Liu

Qingliang

OS9-5

43/64

OS19-3

35/84

Liu

Qunpo

OS5-4

31/57

OS17-2

37/80

Liu

Sidan

OS9-1043/66

OS17-538/81

Liu

Zilong

OS3-4

41/54

OS25-4

28/97

Liu

Ziyue

OS21-6

32/89

OS25-528/98

IsmailShahrina

OS32-5

44/114Li

Chu-Fen

OS26-1

37/98

Ishichi

TatsuyaOS16-3

29/79

LiGuangxu

GS2-3

34/123

Lu

Peng

OS3-3

41/53

Li

Hongbing

OS17-4

38/80

OS4-3

23/55

Li

Jianliang

OS12-6

46/72

OS4-4

23/56

Li

Jiaxin

OS4-2

23/55

OS4-5

23/56

Li

Jung-Shian

OS25-1

27/96

OS8-3

41/62

OS25-228/97

LuOS33-2

24/117OS25-6

28/98

Lugieswaran

OS32-3

44/113OS26-1

37/98

Lund

PS1

21/47

Shengyang

HenrikLi

Mochi

OS30-2

23/107

IS1-1

21/48

Li

Rui

OS9-10

43/66

IS1-2

21/48

Li

Ruitao

OS9-8

43/65

IS2-1

21/48

Li

Yaxin

OS5-2

31/57

IS2-2

21/49

OS5-3

31/57

Wendinig

OS9-3

43/64

Luo

Liang

LanjunOS33-2

24/117

Liang

Xiwen

OS11-2

32/68[M]

OS12-245/71

M. Razlan

Zuradzman

OS32-3

44/113OS22-1

24/90

Magid

EvgeniOS17-1

37/79

OS22-425/92

OS17-337/80

Lim

Wei Hong

Lin

Geng-Yi

OS24-5

36/96

OS17-438/80

Lin

Jun-HaoOS25-1

27/96

OS17-5

38/81

Lin

Tzu-YuanOS24-2

36/95

OS17-838/82

Lin

Wei-MinOS26-1

37/98

Maike

He

OS16-2

29/78

Linar

Zagidullin

OS17-337/80

Makarenko

SergeyOS17-6

38/81

Liu

Chuan-Gang

OS25-2

28/97

OS17-7

38/81

Liu

Hsiu-Hao

OS25-3

28/97

OS11-733/70

Liu

Huating

OS8-1

41/62

OS11-833/70

Liu

I-HsienOS25-1

27/96

Matsuki

Hiroshi

GS2-5

34/123OS25-2

28/97

MatsumuraToshimune

OS29-440/105OS25-6

28/98

MatsuoTakayukiOS29-540/106OS26-1

37/98

Matsuno

Seigo

OS2-1

22/51

Mao

Zhen

Liu

JingwenOS33-3

24/118

OS2-2

22/51

Liu

JunjieOS33-1

24/117

OS2-4

22/52

- 131 ©ICAROB 2021 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

Md Shah

Noraisyah

OS32-2

44/112

Nakaoka

Iori

OS2-3

22/52

Mehmood Khan

Hasan

OS32-7

44/115

NanamiTakuyaOS15-2

36/77

MeshcheryakovRoman

OS17-237/80

Ng

Joon Wen

OS20-442/86

OS17-3

37/80

Ngaimsunthorn

Parinya Sa

GS3-3

26/125OS11-432/69

NagatoShuseiOS16-1

28/78

OS12-6

46/72

NishidaYuya

OS27-3

39/101

Miao

Xia

Mishima

Kouta

OS28-2

29/102OS27-539/102

Miyamoto

Kodai

OS13-130/73

OS28-1

29/102OS13-230/74

OS28-2

29/102

Mizoguchi

YusukeOS28-2

29/102OS28-529/103

Mochizuki

RyuugoOS27-3

39/101

OS29-1

39/104OS28-529/103OS29-3

40/105

MohamadMahazaniOS22-2

24/91

OS29-440/105

MohamadZeeda

OS22-2

24/91

OS29-540/106

FatimahMohamedRizon

Nishiya

Moe

GS1-6

39/122Nitta

MasuhiroOS21-1

31/88

OS22-124/90

OS22-425/92

OS21-3

32/88

Mohd Salleh

Mohd Faiz

OS22-2

24/91

OS21-5

32/89

MokhtarNorrimaOS32-1

43/112OS21-632/89

OS32-2

44/112OS21-732/90

OS32-3

44/113

Niu

Hong

OS8-4

41/63

OS32-7

44/115

NomuraMasakazu

GS1-6

39/122OS32-944/116

NordinHilmanOS32-1

43/112

OS6-1

33/58

OS6-3

33/58

MoritaAkito[O]

MoritaYoshifumi

GS1-6

39/122

Oda

Tetsuya

OS1-2

22/50

MotodaTomohiroOS16-1

28/78

Ogata

TakashiOS31-145/109Mowshowitz

Abbe

OS19-635/85

OS31-745/111

Mustafa

Wan Azani

OS32-3

44/113OS31-845/111

OS32-644/114

OhnakaKento

OS13-531/75

OS10-3

25/67

Okada

Ryosuke

OS6-5

34/60

OkazakiNaonobu

OS10-2

25/67

OS10-3

25/67

OS10-4

25/67

OS6-1

33/58

Muto

Takafumi[N]
NaganoShuntaro

GS2-3

34/123

Nagayoshi

MasatoGS2-1

34/122

Nakadomari

Satoshi

OS27-2

39/101

OS6-2

33/59

Nakamura

Akira

OS16-4

29/79

OS6-3

33/59

NakamuraJun

OS31-245/109OS31-145/109Nakanishi

TsuneoOS27-4

39/101

OS31-745/111

Okuno

Ono- 132 ©ICAROB 2021 ALife Robotics Corp. Ltd.

Hirotsugu

Jumpei

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

Ono

Yuta

OS31-845/111OS21-3

32/88

OS21-532/89

RedzuanMuhammadOS20-6

42/87

OS11-3

32/68

R.
Ren

Keying

OshiumiWataruGS1-3

38/121OS11-432/69

OthmanMohamadariff

OS22-2

24/91

OS12-3

46/71

OS22-3

25/91

Rusli

Ahmad

OS32-844/115

Ryabtsev

SergeyOS17-6

38/81

OS17-7

38/81

YukihoOS21-231/88

OthmanS.M.

OS32-644/114

OtsuruKaori

OS31-3

45/110

Ouchi

Tomohito

OS7-1

41/60

Ryu

[P]
Pagliarini

Pan

[S]
Luigi

Li

IS1-1

21/48

Safarova

LiaisanOS17-4

38/80

IS1-2

21/48

Safin

Ramil

OS17-237/80

OS22-1

24/90

SaifiziM.

OS32-644/114OS22-4

25/92

Saito

Asaki

OS23-7

27/94

Park

Yousin

OS2-3

22/52

Saito

Masaya

OS1-4

22/51

Peng

Chi-ChungOS24-5

36/96

Sakai

DaimonOS15-2

36/77

Peng

Yizhun

OS9-1

42/63

Sakai

Nobuo

OS21-2

31/88

OS9-2

43/63

Sakamoto

Makoto

OS2-1

22/51

OS9-4

43/64

OS2-2

22/51

OS9-5

43/64

OS2-4

22/52

OS9-6

43/65

OS13-1

30/73

OS9-7

43/65

OS13-2

30/74

OS9-8

43/65

OS13-3

30/74

OS9-9

43/66

OS13-430/74

OS9-1043/66

OS13-531/75

OS17-6

38/81

SakataKoichiroOS10-1

25/66

OS17-7

38/81

Sakolchik

Artur

OS17-7

38/81

OS19-1

34/83

Sakurai

Kiyotaka

OS1-3

22/50

OS19-3

35/84

Salim

Nurul Umaira

OS32-5

44/114OS19-7

35/85

Sanaz Ulfitria

Riki Umami

OS24-436/96

SarninSuzi

OS32-4

44/113OS32-844/115

Petrenko

Piyavichayanon

Vyacheslav

Chanapol[Q]
Qasaymeh

YazeedOS22-3

25/91

SaruchiSarah 'Atifah

OS20-1

42/85

Qin

Jiang

OS15-3

36/77

Sato

HiroshiOS23-2

26/93

OS23-327/93

OS23-427/93

OS23-5

27/94

GS3-2

26/124[R]
Rajagopal

HeshaliniOS32-7

44/115

RahmanHameedurOS22-425/92

Sato- 133 -©ICAROB 2021 ALife Robotics Corp. Ltd.

Noritaka

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

SethaputThunyaseth

GS3-3

26/125

GS4-3

26/126

Sasaki

MasaruOS14-1

27/75

Suga

Kensuke

OS10-2

25/67

Seki

Hiroaki

OS16-2

29/78

SuginoAkihiroOS28-1

29/102OS16-3

29/79

SuhaimiSiti

OS32-644/114Qurrata

Shen

Luqi

OS3-4

41/54

Shen

Yaxin

OS9-9

43/66

Sun

Shengli

OS12-2

45/71

Sheng

Chang

OS4-1

23/55

Sun

Yue

OS11-4

32/69

Sheng

Yueqin

OS5-4

31/57

Suzuki

Hidekazu

OS29-740/106

Shi

Peng

OS9-7

43/65

Suzuki

YasuhiroOS18-1

35/82

Shi

Songyun

OS9-4

43/64

OS18-2

35/82

OS9-9

43/66

OS18-335/83

OS14-127/75

OS22-2

24/91

OS14-227/75

OS14-327/76

MikhailOS17-5

38/81

OS14-4

27/76

GS2-2

34/122

GS4-1

26/125Masayoshi

OS7-1

41/60

GS4-2

26/126

OS7-2

42/61

GS4-3

26/126

OS7-3

42/61

OS7-4

42/61

Shibanoki

Shibghatullah

Taro

Abdul Samad

Ain

Syed Taha Tahir

Syarifah
Nabilah

Svinin[T]
TabuseShimpoMasatoshi

OS29-640/106

Shinomiya

TakashiOS21-4

32/89

Tadokoro

MasayaOS14-3

27/76

Shirai

Daiki

OS15-4

36/77

Tai

Junjie

OS9-6

43/65

Shirahashi

KanakoOS27-539/102

TakagiTomohiko

OS10-1

25/66

Shou

Ho-Nien

OS26-2

37/99

Takaki

Ryosuke

OS1-1

22/50

SolpicoDominic B.

OS27-539/102

Takei

Amane

OS13-130/73

OS28-1

29/102OS13-2

30/74

OS29-1

39/104OS13-531/75

OS24-1

36/95

Takemura

Yasunori

OS28-429/103OS24-5

36/96

Tamaki

Hisashi

GS2-1

34/122

Tamukoh

HakaruOS15-1

36/76

OS15-5

36/78

Song

Chau-ChungSong

MinghanOS33-4

24/118Song

Yunzhong

OS3-1

40/53

OS5-1

31/56

TamuraHirokiGS2-4

34/123Tan

Joo Kooi

OS21-1

31/88

Struchkov

Igor

OS17-6

38/81

Su

Bo

OS5-4

31/57

OS21-3

32/88

Su

Wei

OS12-4

46/71

OS21-432/89

OS12-5

46/72

OS21-5

32/89

OS21-6

32/89

Su

Yang

OS30-6

24/109Su

Zirui

OS11-933/70

TanakaHideyukiGS1-5

39/121

Subaramaniam

KasthuriGS4-2

26/126

Tanaka

Kohei

GS1-2

38/120- 134 ©ICAROB 2021 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

TanakaTanakaRikutoYoshiki

GS1-4

39/121

OS28-1

29/102OS29-3

40/105OS27-539/102OS28-2

29/102OS16-3

29/79

ToshioOS14-1

27/75

Ueda

Kazuki

OS1-3

22/50

Tsuji

[U]

Tanikawa

Kiyotaka

OS1-4

22/51

Ueda

TakahiroOS10-4

25/67

Tasaki

Tetsufumi

OS6-5

34/60

UemuraYuuichiro

OS29-3

40/105

Tate

LindseyGS2-4

34/123

Ul Husnain

Anees

Tebueva

FarizaOS17-6

38/81

Usami

Ryuichi

GS1-5

39/121

OS17-7

38/81

Ushimaru

KyosukeGS3-2

26/124OS22-224/91

WanOS32-4

44/113OS32-844/115

Tengku Mohmed Tengku Faiz
Noor Izam

[W]

Teoh

Jay ShenGS2-2

34/122

W. Muhamad

Tian

Mingjuan

OS30-3

23/108Tiang

Sew SunOS22-124/90

OS22-4

25/92

Wada

KoichiOS27-2

39/101

Wagatsuma

Hiroaki

GS1-2

38/120Norsyafizan

Ting

Hui ChongOS22-1

24/90

Ting

Kee YuanOS20-1

42/85

GS1-3

38/121

Tominaga

Ayumu

OS19-3

35/84

GS1-4

39/121

OS19-4

35/84

GS3-1

26/124OS19-535/84

Wan

AzaniMustafa

OS32-5

44/114OS27-539/102

Wan

Khairunizam

OS32-2

44/112OS28-429/103OS32-3

44/113

OS19-435/84

OS32-5

44/114OS19-535/84

OS32-644/114OS32-944/116

Tominaga

Tomokawa

Moeko

TakumiToshimoriTomoyasu

OS13-430/74

Tonooka

HideyukiOS14-1

27/75

Wan

Weipeng

OS34-2

28/119OS14-3

27/76

Wan

WeiweiOS16-1

28/78

OS14-4

27/76

Wan Mahiyiddin

Wan Amirul

OS32-7

44/115Tsai

Wen Jung

OS26-537/100Wang

Chun-Chieh

OS24-3

36/95

Tsai

Yao-Chu

OS25-6

28/98

Wang

Dechao

OS9-5

43/64

Tseng

Yu-HsuanOS24-1

36/95

Wang

Di

OS12-8

46/73

Tsoy

TatyanaOS17-1

37/79

Wang

Hucheng

OS30-1

23/107OS17-3

37/80

Wang

Jinliang

OS30-4

23/108OS17-4

38/80

Wang

Jiwu

OS34-1

28/119OS19-1

34/83

OS34-2

28/119OS19-335/84

OS34-3

28/119OS19-735/85

OS12-7

46/72

OS16-2

29/78

OS12-8

46/73

Tsuji

Tsuji

Tomofumi

Tokuo

Wang

- 135 ©ICAROB 2021 ALife Robotics Corp. Ltd.

Qian

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

Wang

Sicong

OS9-2

43/63

Yamagiwa

Hideo

GS1-6

39/122

Wang

Shiming

OS12-1

45/71

Yamaguchi

AkihiroOS23-7

27/94

Wang

ZiChenOS11-4

32/69

Yamaji

Yuuki

OS6-3

33/59

OS12-8

46/73

Yamamoto

Hidehiko

PS2

21/47

OS27-1

39/100

Yamamoto

Hyoga

OS29-540/106OS29-640/106

Yamamoto

TakayukiGS2-4

34/123OS29-740/106

Yamamoto

YusukeOS28-2

29/102

Watanabe

Keisuke

Watanabe

Yoshiyasu

OS29-740/106

YamasakiHarunaOS19-2

34/83

Wei

JiaweiOS30-4

23/108

YamawakiAkira

OS15-3

36/77

Wen

Haokang

OS4-1

23/55

OS15-4

36/77

OS8-3

41/62

YamazakiYugo

OS14-4

27/76

Yan

Xiaoning

OS11-1

32/68

Wen

Xiran

OS11-9

33/70

Wong

Chee Ming

OS20-5

42/87

OS11-2

32/68

Wong

Chin HongOS22-4

25/92

OS11-3

32/68

Wong

Jie Jian

OS20-3

42/86

OS11-4

32/69

Wong

Yit Meng

GS4-2

26/126OS11-533/69

Wu

DashuoOS11-5

33/69

OS11-6

33/69

OS11-7

33/70

OS11-8

33/70

[X]
Xi

GuangyongOS12-5

46/72

Yan

Yihan

OS9-9

43/66

Xiang

Yande

OS30-523/108Yang

Bai

OS17-2

37/80

Xiang

YawnedOS30-3

23/108OS17-5

38/81

Xiao

Huimin

OS5-1

31/56

OS11-5

33/69

Xiao

Zhiqing

OS30-6

24/109OS11-6

33/69

Xie

Yong

OS5-5

31/58

Yang

Xinpeng

OS9-1043/66

XuChanghuaOS21-6

32/89

Yao

Feng

OS33-2

24/117

Xu

Jiarun

OS3-4

41/54

Yao

Pengyu

OS9-5

43/64

Xu

Nenghua

OS11-2

32/68

Yao

Shuen-Huei

OS26-537/100Xu

Qiqi

OS11-933/70

YehCheng Chung

OS26-537/100Xu

Zhuofan

OS9-8

43/65

YoshimotoYuma

OS15-5

36/78

Yoshitomi

Yasunari

OS7-3

42/61

OS7-4

42/61

OS6-4

33/59

Yang

Kunzhi[Y]
Yagi

Tetsuya

OS6-5

34/60

Yasukawa

Shinsuke

Yaji

Kaede

OS23-327/93

OS27-2

39/101

YamabaHisaaki

OS10-2

25/67

OS28-329/103OS10-3

25/67

OS28-529/103OS10-425/67

OS29-840/107

YamabeTakayukiOS16-3

29/79

Yin

JunhuiOS9-1043/66

YamadaChikako

OS27-2

39/101

Yokkampon

Umaporn

OS19-635/85- 136 ©ICAROB 2021 ALife Robotics Corp. Ltd.

The 2022 International Conference on Artificial Life and Robotics (ICAROB2022), on line, Oita in Japan, 2022

OS19-7

35/85

OS5-5

31/58

Yokomichi

MasahiroOS13-2

30/74

Zhao

FuChen

OS9-3

43/64

YokotaHiroyukiOS29-840/107

Zhao

Jichao

OS3-1

40/53

Yong

JonathanOS20-2

42/86

OS3-2

40/53

YotsumotoTakaakiOS21-332/88

OS33-1

24/117

YotsumotoTakanori

OS6-4

33/59

OS33-2

24/117

Yu

Kunyu

GS2-5

34/123

Zhao

Shixiang

OS30-3

23/108

OS9-5

43/64

Zhao

Yuwei

OS11-7

33/70

Zheng

Shilong

OS34-1

28/119Zheng

Shuangwu

OS11-1

32/68

OS11-833/70

Yucheng

Zhao[Z]

HuailinZeng

Xin-Ying

OS17-8

38/82

Zhang

Chuang

OS3-2

40/53

Zhong

Binfu

OS9-8

43/65

Zhang

Dongyang

OS11-3

32/68

Zhou

FangboOS33-2

24/117OS11-6

33/69

Zhou

Ling

OS30-3

23/108Zhang

Jinping

OS33-1

24/117Zhu

Tao

OS30-6

24/109

Zhang

Teng

OS30-3

23/108

Zhu

YurongOS33-1

24/117

Znang

Tianyi

OS3-6

41/54

Zulihuma

Kadeer

GS4-1

26/125

OS8-1

41/62

OS8-2

41/62

OS5-1

31/56

Zhang

Weicun- 137 ©ICAROB 2021 ALife Robotics Corp. Ltd.