Lecture Notes in Artificial Intelligence 9834 Subseries of Lecture Notes in Computer Science LNAI Series Editors Randy Goebel University of Alberta, Edmonton, Canada Yuzuru Tanaka Hokkaido University, Sapporo, Japan Wolfgang Wahlster DFKI and Saarland University, Saarbrücken, Germany LNAI Founding Series Editor Joerg Siekmann DFKI and Saarland University, Saarbrücken, Germany
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Lecture Notes in Artificial Intelligence 9834
Subseries of Lecture Notes in Computer Science
LNAI Series Editors
Randy GoebelUniversity of Alberta, Edmonton, Canada
Yuzuru TanakaHokkaido University, Sapporo, Japan
Wolfgang WahlsterDFKI and Saarland University, Saarbrücken, Germany
LNAI Founding Series Editor
Joerg SiekmannDFKI and Saarland University, Saarbrücken, Germany
More information about this series at http://www.springer.com/series/1244
This Springer imprint is published by Springer NatureThe registered company is Springer International Publishing AG Switzerland
Preface
The Organizing Committee of the 9th International Conference on Intelligent Roboticsand Applications aimed to facilitate interactions among active participants in the fieldof intelligent robotics and mechatronics and their applications. Through this confer-ence, the committee intended to enhance the sharing of individual experiences andexpertise in intelligent robotics with particular emphasis on technical challengesassociated with varied applications such as biomedical application, industrialautomations, surveillance, and sustainable mobility.
The 9th International Conference on Intelligent Robotics and Applications was mostsuccessful in attracting 148 submissions addressing the state-of-the-art developments inrobotics, automation, and mechatronics. Owing to the large number of valuable sub-missions, the committee was faced with the difficult challenge of selecting the mostdeserving papers for inclusion in these lecture notes and presentation at the conference.For this purpose, the committee undertook a rigorous review process. Despite the highquality of most of the submissions, a total of 114 papers were selected for publicationin two volumes of Springer’s Lecture Notes in Artificial Intelligence as subseries ofLecture Notes in Computer Science, with an acceptance rate of 77 %. The selectedpapers were presented at the 9th International Conference on Intelligent Robotics andApplications held during August 22–24, 2016, in Hachioji, Tokyo, Japan.
The selected articles were submitted by scientists from 22 different countries. Thecontribution of the Technical Program Committee and the reviewers is deeply appre-ciated. Most of all, we would like to express our sincere thanks to the authors forsubmitting their most recent work and to the Organizing Committee for their enormousefforts to turn this event into a smooth-running meeting. Special thanks go to the TokyoMetropolitan University for their generosity and direct support. Our particular thanksare due to Alfred Hofmann and Anna Kramer of Springer for enthusiastically sup-porting the project.
We sincerely hope that these volumes will prove to be an important resource for thescientific community.
June 2016 Naoyuki KubotaKazuo KiguchiHonghai LiuTakenori Obo
Organization
Advisory Committee
Jorge Angeles MgGill University, CanadaZhongqin Lin Shanghai Jiao Tong University, ChinaHegao Cai Harbin Institute of Technology, ChinaImre Rudas Obuda University, HungaryTianyou Chai Northeastern University, ChinaShigeki Sugano Waseda University, JapanJiansheng Dai King’s College London, UKGuobiao Wang National Natural Science Foundation of China, ChinaToshio Fukuda Meijo University, JapanKevin Warwick University of Reading, UKFumio Harashima Tokyo Metropolitan University, JapanBogdan M. Wilamowski Auburn University, USAHuosheng Hu University of Essex, UKMing Xie Nanyang Technological University, SingaporeHan Ding Huazhong University of Science and Technology, ChinaYoulun Xiong Huazhong University of Science and Technology, ChinaOussama Khatib Stanford University, USAHuayong Yang Zhejiang University, China
General Chair
Naoyuki Kubota Tokyo Metropolitan University, Japan
General Co-chairs
Xiangyang Zhu Shanghai Jiao Tong University, ChinaJangmyung Lee Pusan National University, KoreaKok-Meng Lee Georgia Institute of Technology, USA
Program Chair
Kazuo Kiguchi Kyushu University, Japan
Program Co-chairs
Honghai Liu University of Portsmouth, UKJanos Botzheim Tokyo Metropolitan University, JapanChun-Yi Su Concordia University, Canada
Special Sessions Chair
Kazuyoshi Wada Tokyo Metropolitan University, Japan
Special Sessions Co-chairs
Alexander Ferrein University of Applied Sciences, GermanyChu Kiong Loo University of Malaya, MalaysiaJason Gu Dalhousie University, Canada
Award Committee Chair
Toru Yamaguchi Tokyo Metropolitan University, Japan
Award Committee Co-chairs
Kentaro Kurashige Muroran Institute of Technology, JapanKok Wai (Kevin) Wong Murdoch University, Australia
Workshop Chair
Yasufumi Takama Tokyo Metropolitan University, Japan
Workshop Co-chairs
Simon Egerton Monash University, MalaysiaLieu-Hen Chen National Chi Nan University, Taiwan
Publication Chair
Takenori Obo Tokyo Metropolitan University, Japan
Publication Co-chairs
Taro Nakamura Chuo University, JapanChee Seng Chan University of Malaya, Malaysia
Publicity Chair
Hiroyuki Masuta Toyama Prefectural University, Japan
Publicity Co-chairs
Jiangtao Cao Liaoning Shihua University, ChinaSimon X. Yang University of Guelph, CanadaMattias Wahde Chalmers University of Technology, Sweden
VIII Organization
Financial Chairs
Takahiro Takeda Daiichi Institute of Technology, JapanZhaojie Ju University of Portsmouth, UK
Track Chairs
Lundy Lewis Southern New Hampshire University, USANarita Masahiko Advanced Institute of Industrial Technology, JapanGeorgy Sofronov Macquarie University, AustraliaXinjun Sheng Shanghai Jiao Tong University, ChinaKosuke Sekiyama Nagoya University, JapanFutoshi Kobayashi Kobe University, JapanTetsuya Ogata Waseda University, JapanRyas Chellali Nanjing Tech University, ChinaMin Jiang Xiamen University, ChinaShinji Fukuda Tokyo University of Agriculture and Technology, JapanBoris Tudjarov Technical University of Sofia, BulgariaHongbin Ma Beijing Institute of Technology, ChinaSung-Bae Cho Yonsei University, KoreaNobuto Matsuhira Shibaura Institute of Technology, JapanXiaohui Xiao Wuhan University, ChinaZhaojie Zu University of Portsmouth, UK
Local Arrangements Chairs
Takenori Obo Tokyo Metropolitan University, JapanTakahiro Takeda Daiichi Institute of Technology, Japan
Web Masters
Naoyuki Takesue Tokyo Metropolitan University, JapanYihsin Ho Tokyo Metropolitan University, Japan
Local Arrangements Committee
Shinji Fukuda Tokyo University of Agriculture and Technology, JapanKazunori Hase Tokyo Metropolitan University, JapanTakuya Hashimoto The University of Electro-Communications, JapanMime Hashimoto Tokyo Metropolitan University, JapanNarita Masahiko Advanced Institute of Industrial Technology, JapanKoji Kimita Tokyo Metropolitan University, JapanTaro Ichiko Tokyo Metropolitan University, JapanHitoshi Kiya Tokyo Metropolitan University, Japan
Organization IX
Lieu-Hen Chen Tokyo Metropolitan University, JapanDaigo Kosaka Polytechnic University, JapanYu Sheng Chen Tokyo Metropolitan University, JapanOsamu Nitta Tokyo Metropolitan University, Japan
A Study on Classification of Food Texture with Recurrent Neural Network. . . . 247Shuhei Okada, Hiroyuki Nakamoto, Futoshi Kobayashi,and Fumio Kojima
A Rotating Platform for Swift Acquisition of Dense 3D Point Clouds . . . . . . 257Tobias Neumann, Enno Dülberg, Stefan Schiffer, and Alexander Ferrein
Kinematic Calibration and Vision-Based Object Grasping for Baxter Robot. . . . 269Yanjiang Huang, Xunman Chen, and Xianmin Zhang
Stiffness Estimation in Vision-Based Robotic Grasping Systems . . . . . . . . . . 279Chi-Ying Lin, Wei-Ting Hung, and Ping-Jung Hsieh
Contour Based Shape Matching for Object Recognition . . . . . . . . . . . . . . . . 289Haoran Xu, Jianyu Yang, Zhanpeng Shao, Yazhe Tang, and Youfu Li
Robust Gaze Estimation via Normalized Iris Center-Eye Corner Vector . . . . . 300Haibin Cai, Hui Yu, Xiaolong Zhou, and Honghai Liu
Planning, Localization, and Mapping
Large Scale Indoor 3D Mapping Using RGB-D Sensor . . . . . . . . . . . . . . . . 313Xiaoxiao Zhu, Qixin Cao, Hiroshi Yokoi, and Yinlai Jiang
Performance Comparison of Probabilistic Methods Based CorrectionAlgorithms for Localization of Autonomous Guided Vehicle . . . . . . . . . . . . 322
Hyunhak Cho, Eun Kyeong Kim, Eunseok Jang, and Sungshin Kim
Driving Control by Based upon the Slip Pattern of the Ball Robot . . . . . . . . 334Howon Lee, Moonjeon Hwan, Dongju Park, Seon-ho Park,and Jangmyung Lee
Rishwaraj Gengarajoo, Ponnambalam S.G., and Chu Kiong Loo
Controlling Logistics Robots with the Action-Based Language YAGI . . . . . . 525Alexander Ferrein, Christopher Maier, Clemens Mühlbacher,Tim Niemueller, Gerald Steinbauer, and Stavros Vassos
Robots that Refuse to Admit Losing – A Case Study in Game PlayingUsing Self-Serving Bias in the Humanoid Robot MARC . . . . . . . . . . . . . . . 538
Mriganka Biswas and John Murray
Cognitive Architecture for Adaptive Social Robotics . . . . . . . . . . . . . . . . . . 549Seng-Beng Ho
Tatsuya Marumoto, Yuta Motoyasu, Yuji Gotoh, and Tatsuo Hiroshima
Examination of Evaluation Method of Power Generation Current UsingStatic Magnetic Field Around Polymer Electrolyte Fuel Cell. . . . . . . . . . . . . 770
Daiki Nagata, Yuji Gotoh, Ryota Naganoma, and Masaaki Izumi
Evaluation of Nondestructive Inspecting Method of Surface and OppositeSide Defect in Steel Plate Using Large Static and Minute AlternatingMagnetic Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 780
Akira Fujii and Yuji Gotoh
Evaluation of Positions of Thinning Spots in a Dual Structure Using ECTwith DC Magnetization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 790
Multi-layer Situation Map Based on a Spring Model for Robot Interaction . . . 90Satoshi Yokoi, Hiroyuki Masuta, Toru Oshima, Ken’ichi Koyanagi,and Tatsuo Motoyoshi
Service Robot Development with Design Thinking . . . . . . . . . . . . . . . . . . . 102Takeo Ainoya, Keiko Kasamatsu, Kouhei Shimizu, and Akio Tomita
Development of an Add-on Driving Unit for Attendant PropelledWheelchairs with Sensorless Power Assistance . . . . . . . . . . . . . . . . . . . . . . 168
Masashi Shibayama, Chi Zhu, and Wang Shui
Modeling Dynamic of the Human-Wheelchair System Applied to NMPC. . . . 179Gabriela M. Andaluz, Víctor H. Andaluz, Héctor C. Terán,Oscar Arteaga, Fernando A. Chicaiza, José Varela,Jessica S. Ortiz, Fabricio Pérez, David Rivas, Jorge S. Sánchez,and Paúl Canseco
FESleeve: A Functional Electrical Stimulation System with Multi-electrodeArray for Finger Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Tianqu Shao, Xiang Li, Hiroshi Yokoi, and Dingguo Zhang
Human-Wheelchair System Controlled by Through Brain Signals . . . . . . . . . 211Jessica S. Ortiz, Víctor H. Andaluz, David Rivas, Jorge S. Sánchez,and Edison G. Espinosa
Adaptive Control of the Human-Wheelchair System Through Brain Signals . . . 223Víctor H. Andaluz, Jessica S. Ortiz, Fernando A. Chicaiza, José Varela,Edison G. Espinosa, and Paúl Canseco
Mel-Frequency Cepstral Coefficient (MFCC) for Music Feature Extractionfor the Dancing Robot Movement Decision . . . . . . . . . . . . . . . . . . . . . . . . 283
Indra Adji Sulistijono, Renita Chulafa Urrosyda, and Zaqiatud Darojah
Sensing and Monitoring in Environment and Agricultural Sciences
Random Forests Hydrodynamic Flow Classification in a Vertical SlotFishway Using a Bioinspired Artificial Lateral Line Probe . . . . . . . . . . . . . . 297
Shinji Fukuda, Jeffrey A. Tuhtan, Juan Francisco Fuentes-Perez,Martin Schletterer, and Maarja Kruusmaa
Assessment of Depth Measurement Using an Acoustic Doppler CurrentProfiler and a CTD Profiler in a Small River in Japan . . . . . . . . . . . . . . . . . 308
Shinji Fukuda, Kazuaki Hiramatsu, and Masayoshi Harada