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 305 756

TECHNICAL PAPER INDEX

Plenary Lectures (Plenary Talks)

P1 Intelligent systems -a new horizon of science and technology- 'P-l

F. Harashima (Tokyo Metropolitan Institute of Technology, Japan)

P2 Brain-style information systems —mathematical foundations 'P-2

S. Amari (RIKEN, Japan)

P3 Toward universal laws of evolving systems P-3

M. A. Bedau (Reed College, USA)

Banquet Talk

B1 Simulation in business and geopolitics 'B-l

J. L. Casti (Santa Fe Institute, USA)

Invited Lectures (Invited Talks)

IT1-1 The application of learning algorithms and uncertain variables in 7-i

the knowledge-based pattern recognition

Z. Bubnicki (Wroclaw University of Technology, Poland)

IT 1 -2 Compression and adaptation 7-6

C. E. Taylor, T. Teal (University of California-Los Angeles, USA)

IT 1-3 A review to the international symposium on artificial life and robotics 7-7

M. Sugisaka (Oita University, Japan)

Y. G. Zhang (ATR, Japan)

IT 1 -4 Measures of evolvability in tierra -1-12

T. S. Ray (Santa Fe Institute, USA)

C. Xu (ATR, Japan)

XI

IT2-1 The control structure of artificial creatures 7-i6

D. Zhou, R. Dai (Chinese Academy of Science, China)

IT2-2 Visual communication in swarms of intelligent robot agents 7-20

J. Johnson (The Open University, UK)

IT2-3 Evolutionary on-line self-organization of autonomous robots 7-30

J. D. Floreano, J. Urzelai (Swiss Federal Institute of Technology,

Switzerland)

WAI: Nonlinear Complex Dynamics on Medical Science (General Session)

(Room 304)

WAI-1 Prediction of significant oculocardiac reflex by nonlinear complex cardiac 1

dynamics

M. K. Yum (Hanyang University Kuri Hospital, Korea)

H. S. Kim (SNUH, Korea)

WA1-2 Nonlinear analysis ofEEG in patient with schizophrenia 5

J. H. Chae, D. J. Kim, K. S. Kim, T. Y. Jun, W. M. Bahk

(The Catholic University of Korea, Korea)

J. Jeong (Yale University, U.SA)

S. Y. Kim (Korea Advanced Institute of Science and Technology, Korea)

WA2: Healing Technology and Artificial Life (Organized Session) (Room 304)

WA2 -1 Healing technology with artificial life -unconscious flow- 9

N. Tosa (ATR, Japan)

WA2 - 2 Future communications based on KANSEI technologies 13

R. Nakatsu (ATR, Japan)

WA2-3 The artist and the automaton: evolving musics, a second nature, artists 19

gently break the news...

R. Berry (ATR, Japan)

xn

WA2-4 Integrating real and virtual worlds in shared space 22

I. Poupyrev (ATR, Japan)

M. Billinghurst, R. May (University of Washington, USA)

H. Kato (Hiroshima City University, Japan)

WA2-5 Sensing, communication and intentionality in artificial life. 26

S. Jones (ATR, Japan)

WB1: Self-Reproduction and Self-Decomposition (Organized Session)

(Room 305)

WB1 -1 Minimum density of functional proteins to make a system evolvable 30

H. Suzuki (ATR, Japan)

WB 1-2 Diffusible immortal ALife rarely exterminate diffusible mortal ALife in one finite, 34

heterogeneous ecosystem.

T. Maekawa, K. Shimohara, E. Nishina, N. Kawai, T. Oohashi

(ATR, Japan)

O. Ueno (Gifu University School of Medicine, Japan)

WB 1-3 Evolutionary advantage of self-decomposition mechanism 40

T. Maekawa, K. Shimohara, E. Nishina, N. Kawai, T. Oohashi

(ATR, Japan)

O. Ueno (Gifu University School of Medicine, Japan)

WB 1-4 Proposal of a general simulator "SIVA "for heterogeneous environment and 45

self-decomposable ALife.

T. Oohashi, T. Maekawa, E. Nihsina, N. Kawai, K. Shimohara

(ATR, Japan)

O. Ueno (Gifu University School of Medicine, Japan)

xm

WB2: Smart Micro Mechatronics (Organized Session) (Room 305)

WB2-1 Hybrid force and position control of miniature robotic fingers driven by 50

piezoelectric actuators

Z. Jiang (Yamaguchi University, Japan)

S. Chonan, Y. Namiki (Tohoku University, Japan)

WB2-2 Development of a miniature spray robot using conduit guided wire for 54

a Die casting process

M. Hisano, Y. Takeuchi, K. Kuribayashi, T. Sakamoto, K. Murakami

(Yamaguchi University, Japan)

WB2-3 A navigation system for bending profile ofEndoscope using strain gauges 58

T. Tarumoto, K. Kuribayashi (Yaniaguchi University, Japan)

WB2-4 Development & estimation of dynamic characteristic model of sensor for 62

sensing stiffness

T. J. Chung (Kunsan National University, Korea)

D. P. Hong, H. Y. Kang, S. Y. Hwang, Y. S. Ku

(Chonbuk National University, Korea)

WB2-5 Characteristics of a planar type micro electro magnetic sensor for inspection 66

of metal cracks

X. Ding, T. Hashida, K. Kuribayashi (Yamaguchi University, Japan)

WB3: Human Centered Systems (Organized Session) (Room 305)

WB3-1 Human motion recognition in intelligent space 70

T. Yamaguchi, J. H. Lee, H. Hashimoto (The University of Tokyo, Japan)

WB3-2 Realization of a mood congruency effects based on a model of knowledge, 76

emotion and intention

T. Hashimoto (Nasu University, Japan)

XIV

WB3-3 Human centered ITS 80

T. Yamaguchi, H. Nitta, K. Hirayama (Utsunomiya University, Japan)

H. Hashimoto (The University of Tokyo, Japan)

T. Takagi (Meiji University, Japan)

WB3-4 Diversity oriented evolutionary parallel computation based on cultural 84

background

N. Kohata, T. Yamaguchi, T. Baba (Utsunomiya University, Japan)

H. Hashimoto (The University of Tokyo, Japan)

WB3-5 Visualization of patterns and construction of fuzzy inference system for 88

integration of patterns and symbols

Y. Hattori, T. Furuhashi (Nagoya University, Japan)

WB3-6 Performance of information recommendation agent based on reinforcement 92

learning in society

N. Ishitani, T. Kinone, S. Tano

(University of Electro-Communications, Japan)

WB3-7 Agent systems driven by intentional reasoning 96

T. Takagi, M. Mukaidono (Meiji University, Japan)

T. Yamaguchi (Utsunomiya University, Japan)

WB4: Genetic Algorithms I (General Session) (Room 305)

WB4-1 Generalization ability of minimum description length for multiple-organisms 100

learning by genetic programming

A. Yoshida (Nara Institute of Science and Technology, Japan)

WB4-2 Emergent design of optimal postures for mobile manipulators by using a Java 104

interactive GA viewer

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

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

WB4-3 Effects of population topology in distributed parallel genetic algorithms 108

D. Hu, R. Jiang, Y. Luo (Tsinghua University, China)

XV

WB4-4 EcoGA: maintaining diversity through adaption in genetic algorithms 112

L. Sheehan, J. J. Collins, M. Eaton (University of Limerick, Ireland)

WC1: Artificial Life I (General Session) (Room 309)

WC1-1 Design of autonomous mobile robot action selector based on a learning 116

artificial immune network structure

D. J. Lee, M. J. Lee, Y. K. Choi, S. Kim (Pusan National University, Korea)

WC 1-2 The clear explanation of different adaptive behaviors between Darwinian 120

population and Lamarckian population in the changing environment

K. Yamasaki, M. Sekiguchi

(Tokyo University of Information Sciences, Japan)

WC1-3 PICO_SCAN -using body data to create artificial life forms 124

L. Mignonneau, C. Sommerer (ATR, Japan)

WC 1-4 Proposal of a function discovery system using artificial life model and its applications 128

S. Serikawa, T. Shimomura (Kyushu Institute of Technology, Japan)

WC1-5 Prediction of moving object position in visual perception system of artificial life 132

W. Nian, K. Okazaki (Fukui University, Japan)

S. Tamura (Osaka University, Japan)

WC2: Neural Network, Recognition and Behavior Control (Organized Session)(Room 309)

WC2-1 Application of stereovision neural network to continuous speech recognition 137

T. Ichiki, T. Kitazoe (Miyazaki University, Japan)

WC2-2 Verbal transformation effect by two and three layered neural network 141

M. Funamori, T. Kitazoe (Miyazaki University, Japan)

WC2-3 Control system for Khepera robot by neural network with competition and cooperation 145

K. Sugihara, M. Tabuse (Miyazaki University, Japan)

XVI

WC2-4 Pattern recognition of emotional states using voice, face image and thermal 149

image of face

S. I. Kim, Y. Yoshitomi, T. Kitazoe (Miyazaki University, Japan)

WC2-5 Quantitative analyses and fractal structures offish school movements 153

T. Shinchi, T. Kitazoe, M. Tabuse (Miyazaki University, Japan)

H. Nishimura (Hyogo University, Japan)

WC3: Chaos Engineering (Organized Session) (Room 309)

WC3-1 Contextual modulation with reinforcement learning in a temporal coding 157

neural network

M. Watanabe, K. Aihara (The University of Tokyo, Japan)

WC3-2 A simplified single neuron model as a rapid depolarization detector based on 161

the H-H type neuron

Y. Sakumura, K. Aihara (The University of Tokyo, Japan)

WC3-3 Effect of small random noise on the chaotic behavior of the Hodgikin-Huxley equations 165

H. Tanaka (CREST, Japan)

K. Aihara (The University of Tokyo, Japan)

WC3-4 A mixed analog I digital circuit for quadratic assignment problems 169

H. Hayashi, Y. Horio (Tokyo Denki University, Japan)

K. Aihara (The University of Tokyo, Japan)

WC3-5 A switched-capacitor chaotic neuro-computer: medium-scale implementation 173

M. Yoneda, I. Kobayashi (Tokyo Denki University, Japan)

K. Aihara (The University of Tokyo, Japan)

WC3-6 Inter-event interval reconstruction of chaotic dynamics 177

I. Tokuda (Muroran Institute of Technology, Japan)

K. Aihara (The University of Tokyo, Japan)

WC3-7 On measuring distances between strange attractors 181

T. Ikeguchi (Science University of Tokyo, Japan)

XVE

WC3-8 Chaotic EEG analysis and judgment of brain death 185

G. Hori (RIKEN, Japan)

K. Aihara (The University of Tokyo, Japan)

Y. Mizuno, Y. Okuma (Juntendo University, Japan)

WC3-9 Exploring dynamics of interest rate by nonlinear time series approaches 189

Z. Shi, Y. Tamura, T. Ozaki

(The Institute of Statistical Mathematics, Japan)

WC4: Artificial Brain (Organized Session) (Room 309)

WC4-1 CoDi technique: cellular automata as neural networks 192

A. Buller, K. Shimohara (ATR, Japan)

T. Chodakowski (Gdansk University, Poland)

H. Hemmi (NTT, Japan)

WC4-2 An interactive mechanism for CAM-brain 196

H. Hemmi, T. Hikage, K. Shimohara (NTT, Japan)

WC4-3 Multi-agent based neural network as a dynamical brain model 200

S. Ohtani, K. Shimohara (ATR, Japan)

M. Ishido (Kobe University, Japan)

WC4-4 Does the butterfly effect take place in human working memory ? 204

A. Buller, K. Shimohara (ATR, Japan)

WC4-5 Axonal growth in evolutionary neurogenesis 208

P. Eggenberger (ATR, Japan)

WD1: Genetic Algorithms II (General Session) (Room 302)

WD1-1 Optimization of neural network structure based on a hybrid method 212

M. Sugisaka, Z. Liu (Oita University, Japan)

WD1-2 The optimization of a neural network by genetic algorithm 216

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

WD1-3 Search optimum in multi-peak goal function space by genetic algorithm '220

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

WD 1-4 The optimal design of the fuzzy membership function which used genetic algorithm '224

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

WD2: Complexity I (General Session) (Room 309)

WD2-1A new approach of self-organization -from the DNA point of view 228

Y. Zhang, G. Cao, X. Zhu (Shanghai Jiaotong University, China)

WD2-2 Scale dependence of fractal dimensions in the human retinal blood vessel 232

• M. Monma, Y. Yonezawa (Ibaraki University, Japan)

T. Igarashi (Ibaraki Prefectural University of Health Sciences, Japan)

WD2-3 Mathematical analysis on an immune system 238

M. Kawakita, S. Shin (The University of Tokyo, Japan)

WD2-4 Adaptive iteration learning control of upper limb motion with functional 242

V neuromuscular stimulation (FNS)

* H. Wu, Z. Zhou, S. Xiong, G. Zhang (Tsinghua University, China)

s

i

\ WD3: Evolutionary Computations I (General Session) (Room 302)

WD3-1 Visualisation of evolutionary algorithms using principal components analysis 247

J. J. Collins, M. O'Neill (University of Limerick, Ireland)

WD3-2 Comparison between synchronous and asynchronous implementation of 251

parallel genetic programming

S. Tongchim, P. Chongstitvatana (Chulalongkorn University,

Thailand)

XK

WD3-3 A multi-agent reinforcement learning method with the estimation of the other '255

agent's actions

Y. Nagayuki, S. Ishii, M. Ito

(Nara Institute of Science and Technology, Japan)

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

WD3-4 How learning can affect the course of evolution in dynamic environments 260

R. Suzuki, T. Arita (Nagoya University, Japan)

WD3-5 Evolving a classifier system reward policy '264

T. Sepulveda, M. R. Gomes (INESC, Portugal)

WD3-6 Extending prediction term of GP-based time series model 268

I. Yoshihara, T. Aoyama (Miyazaki University, Japan)

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

M. Yasunaga (University of Tsukuba, Japan)

WD4: Intelligent Control and Modeling I (General Session) (Room 302)

WD4-1 Implementation of real-time control of assembly line on the back cover of a camera '272

M. H. Lee, K. Son, M.C. Lee, J. M. Lee, J. W. Choi, Y. H. Chang

(Pusan National University, Korea)

S. H. Han (Kyungnam University, Korea)

WD4-2 Controlling conditional information by a-information '277

R. Kamimura (Tokai University, Japan)

WD4-3 Complexity control method by stochastic analysis for recurrent neural '281

networks

M. Sakai, N. Honma, K. Abe (Tohoku University, Japan)

WD4-4 Control structure of stabilizing controllers for linear minimum phase single-input '285

and single-output systems

K. Yamada (Yamagata University, Japan)

XX

WD4-5 Relation between saturation and settling time of antiwindup control using '289

left coprime factorization method

K. Yamada (Yamagata University, Japan)

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

WD4-6 Modeling of human motor control on manual tracking to moving visual 293

target based on neurophysiological background

T. Sugi, M. Nakamura (Saga University, Japan)

J. Ide (Seinan Gakuin University, Japan)

H. Shibasaki (Kyoto University, Japan)

TA1: Mobile Vehicles I (General Session) (Room 304)

TAl-1 Path planning and navigation of a mobile robot as discrete optimization problems 297

H. Igarashi, K. Ioi (Kinki University, Japan)

TA1-2 High-level spatial scenarios in WAVE 301

P. S. Sapaty (National Academy of Sciences of Ukraine, Ukraine)

TA1-3 Towards a common set of experimental frameworks for the evaluation and 305

benchmarking of mobile robot control architectures

M. Eaton, J. J. Collins, L. Sheehan (University of Limerick, Ireland)

TAl-4^4n autonomous restoration of efficiency for AGV transportation system '309

T. Higashi (Murata Machinery, LTD., Japan)

K. Sekiyama (The Science University of Tokyo, Japan)

T. Fukuda (Nagoya University, Japan)

TAl-5 Self-localization of a mobile robot by recognizing color objects in an omnidirectional 313

image

T. K. Kim, Y. J. Lee, M. J. Chung (KAIST, Korea)

TAl-6 On-line scheduling of multiple mobile robot system using coordination protocol 317

D. H. Yoo, G. W. Chu, M. J. Chung (KAIST, Korea)

XXI

TA2: The State-of-The-Art of A-life Research in Korea (Organized Session)

(Room 304)

TA2-1 An on-line learning method for object-locating robots using genetic 321

programming on evolvable hardware

H. S. Seok, K. J. Lee, J. G. Joung, B. T. Zhang

(Seoul National University, Korea)

TA2 - 2 Generation of rules for swarm intelligence of autonomous mobile robots 325

S. K. Kim, S. G. Kong (Soongsil University, Korea)

TA2 - 3 Evolvable cellular neural networks: a new paradigm for classifiers '329

H. Kang (Chung-Ang University, Korea)

TA2-4 Applications of artificial life to developing robot and softbot 334

S. B. Cho (Yonsei University, Korea)

TA2-5 Cooperative behavior of collective autonomous mobile robots based on online '338

learning and evolution

D. W. Lee, H. B. Chun, K. B. Sim (Chung-Ang University, Korea)

TA3: Robotics I (Room 304) (General Session)

TA3-1 Daydreaming robots 342

S. I. Ahson (King Saud University, Saudi Arabia)

TA3-2 Four layered robot control architecture 347

J. J. Collins, L. Sheehan, M. Eaton, M. O'Neill

(University of Limerick, Ireland)

TA3-3 Automatic generation of robot behaviours using grammatical evolution '351

M. O'Neill, J. J. Collins, C. Ryan (University of Limerick, Ireland)

TA3-4 Behavior control of autonomous mobile robots using the block-based neural network 355

S. W. Moon, S. G. Kong (Soongsil University, Korea)

XXE

TA3-5 From life to robotics: social robots 359

S. Reimann (GMD, Germany)

A. Mansour (RIKEN, Japan)

TA3-6 Viewing autonomous robot design as self-organizing complex dynamical systems 363

A. D'Angelo (Udine University, Italy)

F. Montesello, E. Pagello (Padua University, Italy)

TA3-7 Experiments of a floating underwater robot with 2 link manipulator 367

S. Sagara, T. Tanikawa, M. Tamura, R. Katoh

(Kyusyu Institute of Technology, Japan)

TA4: Robotics II & Fuzzy Control (General Session) (Room 304)

TA4-1A target following robot system built on an autonomous mobile platform 371

K. Ishikawa, A. Sakurai

(Japan Advanced Institute of Science and Technology, Japan)

TA4-2 Eye-gaze tracking from sequential images '375

D. H. Kim, J. H. Kim, M. J. Chung (KAIST, Korea)

TA4-3 Fuzzy system modeling based on subtractive clustering and generalized 379

radial basis function network

I. H. Jo, K. B. Sim, H. Kang (Chung-Ang University, Korea)

TB1: Intelligent Systems (Organized Session) (Room 305)

TB1-1 Human direct teaching of industrial articulated robot arms based on 383

forceless control

D. Kushida, M. Nakamura, S. Goto (Saga University, Japan)

N. Kyura (Kinki University in Kyushu, Japan)

TB 1-2 Stable nonlinear controller design for Takagi-Sugeno fuzzy model 387

C. Y. Lee, T. D. Eom, J. J. Lee (KAIST, Korea)

xxm

TBl-3 Generalized asymmetrical bidirectional associative memory for human skill

transfer

T. D. Eom, J. J. Lee (KAIST, Korea)

TB 1-4 A new PID regulation controller with Lyapunov stability

J. H. Lee (Gyeongsang National University, Korea)

TBl-5 Primary control strategy based on the idea of Abrain

M. Sugisaka (Oita University, Japan)

X. Wang (Oita Institute of Technology, Japan)

TB1-6 Task priority control of redundant manipulators

Y. Choi, W. K. Chung (POSTECH, Korea)

S. R. Oh (KIST, Korea)

TB2: Toward Intelligence on Chip (Organized Session) (Room 305)

TB2-1 Mobile robot control by sophisticated evolution of multiple CAM-Brains

G. B. Song, S. B. Cho (Yonsei University, Korea)

TB2-2 Progressive evolution with subgoals that are common properties in elite population

M. Matsuzaki, T. Kawai, H. Ando, T. Shimada

(Nagoya University, Japan)

TB2-3 A proposal of hardware GA engine compiler using extended C language and

field programmable gate array

M. Fujii, T. Furuhashi (Nagoya University, Japan)

TB2-4v4 new genetic encoding for evolvable hardware - on the dilemma between

unconstrained approach and effective search -

A. Nakata, M. Mizumoto (Osaka Electro-Communication University,

Japan)

XXIV

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)

TB 3 - 3 Interactive self-reflection model for commun ications 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

V 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

h- 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

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

f 0. Katai (Kyoto University, Japan)

XXV