Proceedings of The Fifth International Symposium on

ARTIFICIAL LIFE AND ROBOTICS

(AROB 5th '00)

for Human Welfare and Artificial Life Robotics

January 26-28, 2000Compal Hall, Oita, JAPAN

Editors: Masanori Sugisaka and Hiroshi Tanaka

ISBN4-9900462-0-X, 2000

UB/TIB Hannover 89123 305 764

TB2- 5 Obstacle avoidance for autonomous mobile robot using anytime sensing 424

K. Fujisawa, T. Suzuki, S. Okuma (Nagoya University, Japan)

S. Hayakawa (Toyota Technological Institute, Japan)

T. Aoki (Nagoya Municipal Industrial Research Institute, Japan)

TB3: Interactive Self -Reflection (Organized Session) (Room 305)

TB3-1 Interactive self-reflection model: aim and overview 430

K. Takadama, K. Shimohara (ATR, Japan)

TB3-2 Learning is equal to participation: interactive acquisition of identity in a group 434

T. Shiose, T. Sawaragi, O. Katai (Kyoto University, Japan),

M. Okada (ATR, Japan)

TB3-3 Interactive self-reflection model for communications 438

N. Okada, K. Shimohara, K. Takadama, M. Okada (ATR, Japan)

O. Katai (Kyoto University, Japan)

TB3-4 Interactive self-reflection based reinforcement learning for multiagent coordination 442

T. Yamaguchi (Nara National College of Technology, Japan)

TB3-5 On the efficiency of a decentralized continuous double auction market of 446

locally aware agents -bridging the gap between economics and interactive

self-reflection

N. E. Nawa, K. Takadama, K. Shimohara (ATR, Japan)

O. Katai (Kyoto University, Japan)

TB3-6 Interactive self-reflection mechanism based on homogenized bipartite model 450

T. Maeshiro (ATR, Japan)

T. Morimoto, Y. Fujiwara (Kanagawa University, Japan)

TB3-7 Agent architecture based on self-reflection learning classifier system 454

H. Inoue, K. Takadama, K. Shimohara, M. Okada (ATR, Japan)

O. Katai (Kyoto University, Japan)

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TB3-8 Interactive self-reflection architecture using cellular automata 458

K. Takadama, K. Shimohara (ATR, Japan)

K. Hajiri (Sony Computer Science Labs. Inc., Japan)

TB4: Robotics III (General Session) (Room 305)

TB4-1A study on modeling and simulation of human-like pose of robot arms 462

K. Oura (Waseda University, Japan)

C. Sato, I. Hanazaki (Tokyo Denki University, Japan)

TB4-2 Simplification of visual sensing in skill-based manipulation 466

A. Nakamura, T. Suehiro (Electrotechnical Laboratory, Japan)

T. Ogasawara (Nara Institute of Science and Technology, Japan)

H. Tsukune (Oita Industrial Research Institute, Japan)

TB4-3 SlugBot: a robotic predator in the natural world. 470

I. Kelly, O. Holland, C. Melhuish

(University of the West of England, UK)

TB4-4 The predictive operation of a micro robot 476

M. Sugisaka, Y. Ninomiya (Oita University, Japan)

TCI: Complexity II (General Session) (Room B)

TC1-1 Cooperative action controller of multi-agent system 480

Y. B. Kim, H. M. Jang, D. J. Kim, Y. K. Choi, S. Kim

(Pusan National University, Korea)

TCl-2 Labeling Q-learning for partially observable Markov decision process environments 484

H. Lee, K. Abe (Tohoku University, Japan)

H. Kamaya (Hachinohe College of Technology, Japan)

TC 1-3 Multi agent simulation ofSika deers with GIS data 488

G. Yamamoto, K. Yamasaki, K. Hara , Y. Kinouchi

(Tokyo Universi ty of Information Sciences, Japan)

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TC 1-4 Complex control approach for Sumo robot 491

M. Sugisaka, S. Mishiro (Oita University, Japan)

TCl-5 Applications of conscious models to human-machine cooperative systems 495

K. Nakazato (Ishikawajima-Harima Heavy Industries Co., Ltd., Japan)

E. Bamba (Kinki University, Japan)

TC2: Super Mechano-Systems (General Session) (Room B)

TC2-1 Nonlinear control of snake robot 499

P. Prautsch, T. Mita (Tokyo Institute of Technology, Japan)

TC2-2 Stabilizing control of passive biped robot and its application to active walking 503

F. Asano, M. Yamakita, K. Furuta (Tokyo Institute of Technology, Japan)

TC2-3 Control of a snake robot with redundancy based on kinematic model 507

K. Mogi, F. Matsuno (Tokyo Institute of Technology, Japan)

TC2-4 Autonomous formation of a mechanical structure by a cellular automaton 511

N. Inou, K. Okumura, S. Ujihashi (Tokyo Institute of Technology, Japan)

TC2-5 An evolutionary optimization method for structural dynamics - to optimize 515

the structural components of super mechano-systems -

M. Okuma, K. Hashidume (Tokyo Institute of Technology, Japan)

H. Sakuma (Mitsubishi Heavy Industry, Ltd., Japan)

TC3: Neural Networks I (General Session) (Room B)

TC3-1A circularly linked synergetic neural networks 519

M. Nakagawa (Nagaoka University of Technology, Japan)

TC3-2 Neural network human-face recognition using wavelet mosaic pattern 523

L. Zhang, H. Kondo (Kyushu Institute of Technology, Japan)

TC3-3 Evolutionary neural network based on DNA coding method 528

W. H. Lee, H. Kang (Chung-Ang University, Korea)

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TC3-4 Application of the neural networks for the diagnosis of blood constituents '532

M. T. Yamawaki (Miyazaki University, Japan)

S. Yoshida (Oita Medical University, Japan)

TC3-5 Recognition of the sequential motion ofthehandby the GRBF network '534

M. Hirakawa (Fukuoka International University, Japan)

M. Ishibashi, T. Murakami, M. Okamoto

(Kyushu Institute of Technology, Japan)

TC3-6 Forecasting and precision on using multi-layer neural networks: introducing 539

of auxiliary functions

T. Teshima, H. Zhu, T. Aoyama, I. Yoshihara (Miyazaki University, Japan)

TC3-7 Long range forecasting for chaos by using multi-layer neural networks: 543

Ikeda 's chaos

H. Zhu, T. Teshima, T. Aoyama, I. Yoshihara (Miyazaki University, Japan)

TC3-8 Characteristics of an adaptive associative memory system based on autonomous 547

image reaction

Y. Kinouchi, N. Matsumoto, M. Mizutani

(Tokyo University of Information Sciences, Japan)

S. Inabayashi (Pacific Systems Corporation, Japan)

TC4: Genetic Algorithms III (General Session) (Room B)

TC4-1 Optimization of wavelet filters for image compression by using genetic algorithm '551

J. Tang (Beijing University of Posts and Telecommunications, China)

J. Sun (Shanghai Pudong Development Bank, China)

Y. G. Zhang (Academia Sinica, China)

TC4-2 Genetic algorithm-like expression of reproductive and competitive RBF network 555

K. Okuhara, T. Tanaka (Hiroshima Prefectural University, Japan)

TC4-3 Introducing a new genetic operator, schema extraction, to solve the traveling 559

salesman problem

Y. G. Jo, H. Kang (Chung-Ang University, Korea)

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TC4-4 A reinforcement learning scheme based on decision tree representation of 563

state space and its genetic acquisition

H. Fujiki, I. Ono, N. Ono (The University of Tokushima, Japan)

TC4-5 Approximation of a nonlinear function using neural network based on genetic 565

algorithm

M. Sugisaka, F. Dai (Oita University, Japan)

TD1: Evolutionary Computations II (General Session) (Room 302)

TD1-1 Neural network-like hierarchical sociogenesis as a common logic underlying 572

evolutionary semeiogenesis and machinogenesis in various levels of organic

individuals

K. Ohnishi, D. Kanbe (Niigata University, Japan)

TD 1-2 Evolution of modular structures for multiple reinforcement learning agents 576

T. Nijo, I. Ono, N. Ono (The University of Tokushima, Japan)

TD 1-3 An evolutionary approach to the synthesis of stable grasp in multi-fingered 580

robot hand

Y. Katada, M. Svinin, Y. Matsumura, K. Ohkura, K. Ueda

(Kobe University, Japan)

TD 1-4 Evolution of multi-agent system strategies using genetic programming 584

M. Sugisaka, X. Wang (Oita University, Japan)

TD 1-5 Emergence of individuality and sociality by reinforcement learning in 589

multi-agent systems

K. Shibata, M. Ueda, K. Itou (Tokyo Institute of Technology, Japan)

TD2: Mobile Vehicles II (General Session) (Room 302)

TD2-1 Experiments of a wheel type mobile robot 593

M. Sugisaka, M. Hara (Oita University, Japan)

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TD2-2 Autonomous mobile vehicle '597

M. Sugisaka, T. Adachi (Oita University, Japan)

TD2-3 Studies on 3-D image processing for autonomous vehicle 601

M. Sugisaka, N. Mitsuo (Oita University, Japan)

TD2-4 The steering control of the mobile vehicle 605

M. Sugisaka, S. Seki (Oita University, Japan)

TD3: Mobile Vehicles III & Related Fields (General Session) (Room 302)

TD3-1 Capturing a moving object using an active camera mounted on a mobile robot 609

J. W. Park, J. H. Park, H. R. Hur, J. M. Lee

(Pusan National University, Korea)

K. Tagawa, H. Haneda (Kobe University, Japan)

TD3-2 Development of mobile robot for autonomous navigation on line of welding 613

joint by using genetic algorithm

S. Kushida, T. Haseda, D. Y. Ju (Saitama Institute of Technology, Japan)

M. Kuge (ASPECTS INC., Japan)

TD3-3 Real-time image processing and lane recognition algorithm for autonomous driving 617

S. T. Park, S. Y. Yang, J. H. Jung (University of Ulsan, Korea)

J. I. Bae (Pukyong National University, Korea)

M. H. Lee (Pusan National University, Korea)

TD3-4 The development of inverter for generation of electricity from solar panel 621

M. Sugisaka, K. Sakamoto (Oita University, Japan)

TD3-5 Switching Petri Nets as a tool for user interface 625

Y. Funami (Shonai College of Industry and Technology, Japan)

K. Yamada (Yamagata University, Japan)

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TD3-6 Stochastic diffusion control for gene regulation protein

H. Hirayama, N. Kitagawa (Asahikawa Medical College, Japan)

Y. Okita (Shizuoka University, Japan)

T. Kazui (Hamamatsu Medical University, Japan)

TD3-7 Extracting an independent component with a microphone array

T. Iwamoto (Mitsubishi Electric Corp., Japan)

TD3-8 H2 control strategy for ion channels on the biological membrane

H. Hirayama, N. Kitagawa (Asahikawa Medical College, Japan)

Y. Okita (Shizuoka University, Japan)

T. Kazui (Hamamatsu Medical College, Japan)

FA1: Artificial Life II (General Session) (Room 304)

FA1-1 From human error to "agent error"

L. Chaudron, N. Maille (Onera-Cert, France)

FAl-2 Why people play: artificial lives acquiring play-instinct to stabilize productivity

S. Tamura (Osaka University, Japan)

T. Yokouchi, S. Inabayashi, W. Hayakawa, Y. Katou

(Pacific Systems Corporation, Japan)

FA1-3 The study of the language occurrence model using Associatron

M. Sugisaka, H. Aito (Oita University, Japan)

FAl-4 Artificial knowledge system constructed interconnectional network modeled

on the natural brain

N. Nishinomiya, Y. Yonezawa (Ibaraki University, Japan)

FAl-5 Multi-module reinforcement learning with situation decomposition algorithm

O. Itou, T. Omori (Tokyo University of Agriculture and Technology, Japan)

H. Okada, H. Yamakawa (Fujitsu Laboratories Ltd., Japan)

FAl-6 Multi-agent reinforcement learning applied to a chase problem in a continuous world

H. Tamakoshi, S. Ishii (Nara Institute of Science and Technology, Japan)

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FA2: Machine Intelligence and Robotic Control (Organized Session) (Room 304)

FA2-1 Intelligent control of inverted pendulum using LQR and neural network

T. Fujinaka, S. Omatu (Osaka Prefecture University, Japan)

FA2 -2 Dynamic identification of an industrial seven-link manipulator by evolving

Runge-Kutta-Gill RBF networks

T. Nanayakkara, K. Watanabe, K. Kiguchi, K. Izumi

(Saga University, Japan)

FA2-3 Control of robot manipulators via chaotic attractors and fuzzy model-based

regulators

L. Udawatta, K. Watanabe, K. Kiguchi, K. Izumi (Saga University, Japan)

FA2-4 A dynamic control ofholonomic and omnidirectional mobile robot platforms

with two active dual-wheel caster assemblies

F. Han, K. Watanabe, K. Kiguchi, K. Izumi (Saga University, Japan)

FA2-5 Environment cognition for a quadruped robot using an ART-based neural network

X. Chen, K. Watanabe, K. Kiguchi, K. Izumi (Saga University, Japan)

FBI: Biologically Inspired Systems (Organized Session) (Room 305)

FB1-1 Symbiotic artifact design by DOILS: design organization by information in

life systems

O. Katai, H. Kawakami, O. Toba (Kyoto University, Japan)

FB 1-2 Design of shared autonomy system based on biologically-inspired coordination

T. Sawaragi, Y. Horiguchi (Kyoto University, Japan)

FB 1-3 Development of virtual collaborator as an innovative interface agent system

between human and plant systems: its framework, present status and future

direction

H. Yoshikawa, H. Shimoda, W. Wu, H. Ishii, K. Ito (Kyoto University, Japan)

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FB 1-4̂ 4 simulation model to study an adaptive behavior offish school under

the dead-locked status

H. Nakamine (Kyoto University of Education, Japan)

N. Sannomiya (Kyoto Institute of Technology, Japan)

FBl-5 Autonomous decentralized control of a quadruped locomotion robot using

oscillators

K. Tsujita, A. Onat, K. Tsuchiya, Y. Kawano (Kyoto University, Japan)

FB2: Adaptive, Learning and Distributed Control in Animals

(Organized Session) (Room 305)

FB2-1 How human learns to control a non-linear system in iterative tracking tasks?

M. Arif (PIEAS, Pakistan)

H. Inooka, T. Ishihara (Tohoku University, Japan)

FB2-2 Emergence of optimal gait pattern of insect in the real world attaining its

required direction and velocity

M. Sato, K. Akimoto, Y. Makino, M. Yano (Tohoku University, Japan)

FB2-3 Breakthrough for artificial heart control based on adaptability of circulatory system

M. Yoshizawa, A. Tanaka, K. Abe, T. Yambe, S. Nitta

(Tohoku University, Japan)

H. Takeda (Tohoku Gakuin University, Japan)

FB2-4 Collective behavior of multi-agent system with simple interaction

K. Sugawara, T. Watanabe

(The University of Electro-Communications, Japan)

M. Sano, K. Abe (Tohoku University, Japan)

I. Yoshihara (Miyazaki University, Japan)

FB3: Life and Computation (Organized Session) (Room 305)

FB3-1 On the possibility of "complex systems biology"

H. Tanaka (Tokyo Medical and Dental University, Japan)

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FB3-2 A compact 8-node Linux PC cluster for protein information analysis

Y. Akiyama, T. Noguchi, K. Onizuka, M. Ando

(Real World Computing Partnership, Japan)

FB3-3 Inference of nonlinear biological systems by using linear programming

T. Akutsu, S. Miyano (The University of Tokyo, Japan)

S. Kuhara (Kyushu University, Japan)

FB3-4 Bio-computing in the 21st century

M. Arita (Electrotechnical Laboratory, Japan)

FB3-5 Analysis of viral evolution pattern by using mixed evolution model

F. Ren, S. Ogishima, H. Tanaka

(Tokyo Medical and Dental University, Japan)

FB3-6 Efficiencies of information criteria for topology selection in reconstructing

molecular phylogenetic tree

S. Ogishima, F. Ren, H. Tanaka

(Tokyo Medical and Dental University, Japan)

FB3-7 On a model of artificial cell

Y. Suzuki, H. Tanaka (Tokyo Medical and Dental University, Japan)

FCl: Neural Network Applications (Organized Session) (Room B)

FC1-1 Propagation of stochastic signals in probabilistic universal learning networks

and validation of its calculation method

C. Jin, K. Hirasawa, J. Murata, J. Hu (Kyushu University, Japan)

FC1-2 The convergency of GA for neural network

A. Uchibori, M. Oka (Ube National College of Technology, Japan),

T. Satoh, K. Tanaka (Yamaguchi University, Japan)

FCl-3 Independent component analysis using time delayed sampling

M. Yoshioka, S. Omatu (Osaka Prefecture University, Japan)

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FC1-4 Design and experimental evaluation of a neural-net based multivariable PID 765

controller

T. Yamamoto (Hiroshima University, Japan)

T. Oki (Okayama Prefectural University, Japan)

S. L. Shah (University of Alberta, Canada)

FC 1-5 Position control of hard disk driver by intelligent approach 769

T. Fujinaka, M. Yoshioka, S. Omatu

(Osaka Prefecture University, Japan)

FC1-6 Application of fuzzy behavior-based control for a PUMA robot 773

P. Dassanayake, K. Watanabe, K. Kiguchi, K. Izumi

(Saga University, Japan)

FC2: Genomic Dynamics and DNA Computing (Organized Session) (Room B)

FC2-1 DNA computing — a novel paradigm of artificial life in vitro 777

K. Shimohara, J. Q. Liu (ATR, Japan)

FC2-2 DNA computing by genomic dynamics I: — evolutionary modeling of 781

emergence and context-sensible grammar representation

J. Q. Liu, K. Shimohara (ATR, Japan)

FC2-3 DNA computing by genomic dynamics II: — a simulation wetware prototype 785

of dynamical DNA computation

J. Q. Liu, K. Shimohara (ATR, Japan)

FC2-4 Personal adaptation of human touching behavior recognizer using pressure sensors 789

K. Shinozawa, F. Naya, J. Yamato

(NTT Communication Science Labs, Japan)

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FDl: Robust Virtual Engineering (General Session) (Room 309)

FD1-1A conceptual framework on geino organization model for artificial geino

performers with lives

Y. Kawamura (Osaka University of Economics and Law, Japan)

T. Ogata (Yamanashi University, Japan)

FD1-2 Human characteristic on phase discrimination between visual and auditory

perception by using two-dimensional sine wave stimuli

O. Nobuki, Y. Sakai (Yamaguchi University, Japan)

J. L. Wu (Kagawa University, Japan)

FD1-3 Measurement of human visual and auditory calculate characteristic by

functional magnetic resonance imaging (fMRI)

H. Mizuhara (Yamaguchi University, Japan)

J. L. Wu (Kagawa University, Japan)

K. Negoro, M. Hashida, J. Ogasawara, S. Yamauchi, N. Matsunaga

(Yamaguchi University School of Medicine, Japan)

FDl-4 Subjective contours strength depends on the product of the length of

the subjective edges

S. Ge, S. Kawano (Yamaguchi University, Japan)

J. L. Wu (Kagawa University, Japan)

FD1-5 Designing a pattern generator for a walking robot by modeling the human

creative process

T. Inamoto, H. Murao, V. V. Kryssanov, Y. Kurematsu, S. Kitamura

(Kobe University, Japan)

FDl-6 Home medical support system by bilateral telecommication between patients

and doctors

H. Wakamatsu , S. Honma, X. Zhang

(Tokyo Medical and Denta l University, J apan )

H. Yamamoto (Ashikaga Ins t i tu te of Technology, J apan )

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FD2: Neurocomputing Technologies (General Session) (Room 309)

FD2-1 Modular neural network architecture for inverse modeling of mobile robots 817

S. Yamaguchi, H. Itakura (Chiba Institute of Technology, Japan)

FD2-2 Design space tradeoff in VLSI implementations of mixed-signal neuro-fuzzy 821

processors

J. Madrenas, E. Alarcon, J. Cosp, J. M. Moreno, A. Poveda,

J. Cabestany (Technical University of Catalunya, Spain)

FD2-3 Simulations of construction learning as for neuron-computer resources 525

T. Aoyama, H. Zhu, T. Teshima, I. Yoshihara (Miyazaki University, Japan)

FD2-4 Ultra-precision position control of a piezoelectric actuator using neuro-PD controller 829

B. R. Lee, S. W. Jeong, K. Y. Park (University of Ulsan, Korea)

FD2-5 Parameter identification and trajectory control of a DC motor using neural networks 833

D. S. Bae (Chang-Won Polytechnic College, Korea)

J. I. Bae (Pukyung National University, Korea)

J. M. Lee (Pusan National University, Korea)

FD3: Neural Networks II (General Session) (Room 309)

FD3-1 Emergence of cognitive space in rat navigation - a neural network model of 838

the shortcut problem

Y. Aota, Y. Miyake (Tokyo Institute of Technology, Japan)

S. Ukai (Yokohama National University, Japan)

FD3-2 A new method to improve generalization ability of neural networks 842

B. Lu, K. Hirasawa, J. Murata (Kyushu University, Japan)

FD3-3 Random iterated neural networks as dynamical systems universal 846

approximators

F. Nino, F . Botelho, G. H e r n a n d e z , A. Q u a s

(Univers i ty of Memphi s , Colombia)

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FD3-4 Reinforcement learning with autonomous state space construction using 850

unsupervised clustering method

K. Yamada, M. Svinin, K. Ueda (Kobe University, Japan)

FD3-5 The study on the optimization problem by neural network 854

M. Sugisaka, N. Watanabe (Oita University, Japan)

FD3-6 The prediction amount ofLD gas consumption by neural network 555

M. Sugisaka, H. Koga (Oita University, Japan)

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