Volume 1, Issue1, June 2020
Journal of Advances in Artificial Life Robotics
Research Article
0.Preface introducing the journal
Masanori Sugisaka
ALife Robotics Co. Ltd., Handadai Higashi 2-8-4, Oita, 870-1108, Japan
pp. 1-1
ABSTRACT
It is my great honor to publish a new journal “Journal of Advances in Artificial
Life Robotics (JAALR)” together with ALife Robotics Corporation Ltd. &
Robot Artificial Society. The contents of this journal are often based
on articles submitted to The International Conference on Artificial Life
and Robotics (ICAROB).
ARTICLE INFO
Article History
Received 20 November 2019
Accepted 01 June 2020
Keywords
Artificial Life
Robotics
Society
JAALR1100
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Research Article
1.Robot Motion and Grasping for Blindfold Handover
Sakmongkon Chumkamon, Kota Kawamoto, Umaporn Yokkampon, Eiji Hayashi
Kyushu Institute of Technology, Japan
pp. 2–6
ABSTRACT
Autonomous robots in human-robot interaction (HRI) recently are becoming
part of human life as the number of services or personal robots increasingly
used in our home. In order to fulfill the gap of HRI merit, we would like
to propose a system of the autonomous robot motion and grasping creation
for assisting the disabled person such as the blind people for handover
tasks to help blind people in pick and place tasks. In this paper, we develop
the robot motion to receive the object by handing over from the blindfold
human to represent the blindness. To determine the target of the object
and human hand, we implement the 6DOF pose detection using a point cloud
and hand detection using the Single Shot Detection model in Deep learning
for planning motion using 9DOF arm robot with hand. We finally experiment
and evaluate the tasks from blindfold-robot handover tasks.
ARTICLE INFO
Article History
Received 11 November 2019
Accepted 06 June 2020
Keywords
Factory automation
Motion planning
Human-Robot interaction
JAALR1101
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Research Article
2.A Device Design Based on TDS Water Quality Detection
Fengzhi Dai1,2, Jichao Zhao1
1Tianjin University of Science and Technology, China
2Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China
pp. 7–11
ABSTRACT
The traditional water quality detection method is sampling and detection
by artificial nodes, which is easily interfered by weather and environment.
The presented design method is a new water quality detection device for
marine and other waters. The device is spherical in shape and uses a built-in
sensor and control system to detect the water quality in the form of drifting.
This device has a built-in micro control system, TDS detection module,
power voltage regulator module, GPS module and wireless signal transmission
module. The TDS module detects the concentration of total dissolved matter
in the water, and the GPS module measures the current location of the device,
which sends the data to the micro control system. The micro control system
sends the water quality information and the geographical location information
through the wireless transmitting module, and the user can view the water
quality status by the device in real time through the Internet. The power
supply voltage regulator module provides the different voltages required
by the entire device to achieve the function of detecting the current water
quality.
ARTICLE INFO
Article History
Received 25 October 2019
Accepted 29 June 2020
Keywords
TDS
Real-time detection
Micro control system
GPS module
JAALR1102
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Research Article
3.Robot competition for underwater technology researchers and students
Yuya Nishida1, Takashi Sonoda2, Takayuki Matsuo3, Shinsuke Yasukawa1, Masanori Sato4, Yasunori Takemura2,
Kazuo Ishii1
1Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu, Kitakyushu, Fukuoka
808-0196, Japan
2Nishinippon Institute of Technology, 1-11 Aratsu, Kanda, Miyako, Fukuoka
800-0394, Japan
3National Institute of Technology, Kitakyushu College, 5-20-1 Shii, Kokuraminami,
Kitakyushu, Fukuoka 802-0985, Japan
4Nagasaki Institute of Applied Science, 536 Abamachi, Nagasaki 851-0193,
Japan
pp. 12–16
ABSTRACT
To promote the research of oceanic engineering technology, an underwater
robot competition has been held since 2016. The seventh competition this
year consists of AUV leagues, in which vehicles developed by university
teams automatically cruise in the field, and junior leagues that participate
in making underwater craft. This paper presents the competition regulations
for the AUV and junior leagues and the results of the competition held
in October 2019.
ARTICLE INFO
Article History
Received 06 December 2019
Accepted 04 August 2020
Keywords
Robot competition
Autonomous underwater vehicle
Junior league
JAALR1103
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Research Article
4.A Design of the Intelligent Aircraft based on STM32
Fengzhi Dai1,2, Hongbo Hao1
1Tianjin University of Science and Technology, China
2Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China
pp. 17–21
ABSTRACT
With the chip STM32f767 igt6 (M7 series) as the core, the designed aircraft
will finally realize the intelligence by using the optimized attitude algorithm
(cascade PID and single-stage PID share the optimized control), omni-directional
ultrasonic radar detection barrier collision prevention technology, long-distance
wireless transmission technology (to realize the timely transmission of
images recognition), navigation technology (the Beidou and GPS double positioning
system to realize more accurate positioning), voice recognition technology,
man-machine interaction technology, and wireless local area network technology.
The experiment shows the result.
ARTICLE INFO
Article History
Received 23 October 2019
Accepted 01 July 2020
Keywords
Aircraft
Man-machine interaction
Wireless transmission
PID
JAALR1104
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Research Article
5.A Fundamental Study on Hidden Surface Removal for Interactions between
User’s Bare Hands and Virtual Objects in Augmented Reality
Makoto Sakamoto1, Takahiro Ishizu1, Kenji Sakoma1, Takahiro Shinoda1, Amane Takei1, Takao Ito2
1Department of Computer Science and System Engineering, University of Miyazaki,
Miyazaki-City, 889-2192, Japan
2Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima,
739-8527, Japan
pp. 22–26
ABSTRACT
Augmented reality (AR) technology is a technique of superimposing information
generated by a computer on perceptual information that we receive from
real space. Recently, much attention has been focused on interaction techniques
between users and virtual objects, such as the user directly manipulating
virtual objects with his/her bare hands. On the other hand, in AR technology,
since the 3-dimensional (3D) model is superimposed on the image of the
real space afterwards, it is always displayed on the front side than the
hand. Thus, it becomes an unnatural scene in some cases (occlusion problem).
In this study, this system considers the object-context relations between
the user's hand and the virtual object by acquiring depth information of
the user's finger. In the evaluation experiment, it is confirmed that the
hidden surface removal in this study not only makes it possible to consider
the object-context relations but also can distinguish between finger boundaries
and to clarify and process finger contours.
ARTICLE INFO
Article History
Received 23 October 2019
Accepted 01 July 2020
Keywords
Augmented reality (AR)
Occlusion problem
Hidden surface removal
Hand detection
JAALR1105
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Research Article
6.Parallel Full-Wave Electromagnetic Field Analysis Using Anatomical Human
Body Models
Amane Takei, Makoto Sakamoto
Department of Electrical and System Engineering, University of Miyazaki,
1-1 Gakuen Kibanadai-Nishi, Miyazaki, 889-2192, Japan
pp. 27–34
ABSTRACT
The authors have investigated a high-accuracy analysis for the electromagnetic
field of anatomical human body models using the parallel finite element
method. In the full-wave electromagnetic field analysis by the parallel
finite element analysis with anatomical human models, efficient conversion
from voxels to finite element meshes and speed-up of an analysis become
important topics. In this paper, we propose parallel mesh generation method
with mesh smoothing, and show to be able to generate large-scale mesh very
effective. Then, we evaluated the performance of two kinds of iterative
method by numerical experiments using large-scale human body model. As
the results, the COCR method is very useful as the interface solver in
the DDM for high-frequency electromagnetic field analysis using anatomical
human model.
ARTICLE INFO
Article History
Received 24 November 2019
Accepted 10 July 2020
Keywords
Iterative domain decomposition method
Parallel finite element method
Berenger’s PML
Large-scale analysis
Microwave analysis
JAALR1106
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Research Article
7.No Free Lunch Principle in Agent Swarm Systems: One Case Study
Yunzhong Song1, Fengzhi Dai2, Huimin Xiao3, Shumin Fei4
1School of Electrical Engineering and Automation, Henan Polytechnic University,
2001 Century Avenue, Jiaozuo, 454003, P.R. China
2School of Electronic Information and Automation, Tianjin University of
Science and Technology, 1038 Dagu Nanlu Tianjin, 300222, P.R. China
3School of Computer and Information Engineering, Henan University of Economics
and Law, 180 Jinshui Donglu Zhengzhou, 450046, P.R. China
4School of Automation, Southeast University, 2 Sipai Lou, Nanjing, 210096,
P.R. China
pp. 35–39
ABSTRACT
This note comes with information flooding of the control action of the
leader in leader follower framework. In this situation, even observer for
the leader velocity is built in a distributed style, the agent swarm system
in a whole could not be classified into distributed one. One case study
example will be borrowed to demonstrate the truth of the no free lunch
principle in agent swarm systems.
ARTICLE INFO
Article History
Received 01 October 2019
Accepted 15 July 2020
Keywords
Free lunch principle
Agent swarm systems
Distributed observer
Leader-follower framework
JAALR1107
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Research Article
8.Mouse Cursor Control System using Facial Movements
Masayoshi Tabuse1, Manase Mizobe2, Yasunari Yoshitomi1, Taro Asada1
1Graduate School of Life and Environmental Sciences, Kyoto Prefectural University,
1-5 Nakaragi-cho, Shimogamo, Sakyo-ku, Kyoto 606-8522, Japan
2Toray Engineering Co., Ltd., 3-22 Yaesu Ryumeikan Building, Yaesu 1-chome,
Chuo-ku, Tokyo 103-0028, Japan
pp. 40–45
ABSTRACT
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 facial movement. Recognition of facial movement of a person makes
it possible to operate a computer. Furthermore without the adjustment for
a user and adjustment for the distance from a user, it is possible to reduce
the burden on a user. We developed a system to resolve these problems.
In our system, a web camera, dlib C++ library and OpenCV library are used
to extract feature points of the face and obtain the face direction. Changing
the face direction, we can move a mouse cursor. Recognizing an open mouth
or closed eye, we can carry out an operation of mouse click. In this paper,
we evaluated the effect on operability due to the face direction and recognition
rate due to distance.
ARTICLE INFO
Article History
Received 13 November 2019
Accepted 16 July 2020
Keywords
Mouse cursor system
Dlib C++ library
Facial movements
Physically disabled people
JAALR1108
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Research Article
9.An Effective Visual Inspection Device for Wafer Physical Defects
Jianyong Chen, Xiaoyan Chen, Chundong Zhao
College of Electronic Information and Automation, Tianjin University of
Science and Technology, China
pp. 46–49
ABSTRACT
Wafer defect detection is an indispensable part of semiconductor manufacturing.
In this paper, an automatic and efficient device is designed and constructed
to detect wafer physical defects. Programmable logic controllers (PLCs)
are used as the controller of the transmission mechanism of the device,
and the servo motor is used for driving. Wafer images are captured by a
CMOS camera. In addition, in order to improve the detection accuracy, the
camera calibration is completed according to the mapping relationship between
the pixel coordinate system and the world coordinate system. A computer
is adopted for wafer image processing and displaying the final detection
results. The device proposed in this paper has low cost and high reliability.
It provides a new solution for wafer defect detection.
ARTICLE INFO
Article History
Received 10 November 2019
Accepted 17 July 2020
Keywords
Semiconductor manufacturing
Machine vision
Camera calibration
Programmable logic controller
JAALR1109
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Research Article
10.A Study on Prevention of Predictive Failures
Tsutomu Ito1, Takao Ito2, Makoto Sakamoto3
1Department of Business Administration, National Institute of Technology,
Ube College, 2-14-1 Tokiwadai, Ube City, Yamaguchi Pref.,755-8555, Japan
2Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama,
Higashi Hiroshima, 739-7527, Japan
3Faculty of Engineering, University of Miyazaki, 1-1 Gakuen Kibanadai-Nishi,
Miyazaki, 889-2192, Japan
pp. 50–55
ABSTRACT
Electric motors play an important role as the primary power for conveyor
and drop lifts in manufacturing systems especially in automobile manufacturing
factories. Many electric motors equipped with brake systems have sensors
that determine where they should stop. This brake system needs to be maintained
to keep proper brake gap consistent. Measuring the brake gap of electric
motors is one of the main jobs of maintenance department, but this is a
difficult task because most of the motors are located in unsafe spaces,
like the upper end or under the lift pit. This paper proposes a new approach
to measure the brake gap of motors to reduce maintenance risks, thus saving
costs. The method suggests using vibration acceleration to measure the
motor gap in running production system based on mechanical model. The effectiveness
of this research is indicative by experience results.
ARTICLE INFO
Article History
Received 25 November 2019
Accepted 18 July 2020
Keywords
Motor brake
Brake gap
Acceleration
Maintenance
JAALR1110
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