Contents2012.icrita.org/data/RiTA2012_FinalProgram.pdf · 2012. 12. 11. · Kyoo-Jae Shin, Suncheon...

02 Welcome to RiTA2012

03 Program at a Glance

04 Conference Organizers

05 Program Committee

06 Conference Sponsoring

Organizations

07 General Information

08 Social Program

09 Plenary Sessions

13 Tutorials & Workshop

16 Special Sessions

20 How to get to Gwangju

23 Hotel Information

24 Vicinity of KDJ Center and

Restaurants

27 Floor Map of KDJ Center

28 Technical Program Information

29 Technical Program Details &

Paper Abstracts

29 - Monday, 17 December

49 - Tuesday, 18 December

63 Author Index

Contents

RiTA 2012 The 1st International Conference on Robot Intelligence Technology and Applications 2012

2 December 16-18, 2012

I am very pleased to have the First International Conference on Robot IntelligenceTechnology and Applications (RiTA 2012) which will be held in Gwangju, Korea on December16 - 18, 2012. RiTA 2012 will be held in conjunction with the 14th 2012 International RobotOlympiad (IRO). IRO is an annual event for youths to build their dream of being a creativerobotic scientist of the future.

Intelligence Technology (IT) is very important to implement robots and intelligent systemsbecause they do not possess such knowledge and intelligence as humans to use the dataand information properly. IT will play a key role in enhancing our life in the future. The

conference topics focus on challenging aspects in the next generation of robot intelligence technology andapplications. RiTA 2012 will provide informative time to students and professionals from academia, enterprise, andresearch institute.

We have planned a technical program that consists of 4 plenary sessions, 6 special sessions of invited papers, 12regular sessions and 1 interactive session. A total of 110 papers include 91 oral presentation papers, 18 poster and1 video presentation papers. In addition to the technical program, an exciting series of social events will offer theconference participants the opportunities of strengthening the interactions and appreciating a traditional Koreansong performance. Prior to the conference, two tutorials and one workshop will be provided as shortly intensifyinglectures.

I feel thankful for all of the organizing committee’s efforts to make the conference a success. The conference issponsored by International Robot Olympiad Committee (IROC) of which members have initiated the firstconference. Also, I would thank IROC members, Gwangju Municipal, financial contributors and the otherorganizations for sponsoring the conference.

Sincerely yours,

Jong-Hwan Kim, KT Chair Professor, FIEEEGeneral Chair of RiTA 2012KAIST, Korea

Welcome to RiTA 2012


3www.rita2012.org

Program at a Glance


4 December 16-18, 2012

Marios M. Polycarpou, University of Cyprus, Cyprus Z. Zenn Bien, Ulsan National Institute of Science and

Technology, Korea

Jong-Hwan Kim, KAIST, Korea

Kay Chen TAN, National University of Singapore, SingaporeHisao Ishibuchi, Osaka Prefecture University, JapanXin Yao, University of Birmingham, UKGe, Shuzhi Sam, National University of Singapore, SingaporeByoung-Tak Zhang, Seoul National University, Korea

Peter Xu, Auckland University, New ZealandEric Matson, Purdue University, USAHyun Myung, KAIST, Korea

Kalyanmoy Deb, Indian Institute of Technology Kanpur, IndiaJun Jo, Griffith University, AustraliaKyoung Taik Park, KIMM, Korea

Jacky (Hansjorg) Baltes, University of Manitoba, CanadaSungho Jo, KAIST, Korea

Fernando Ramos, ITESM, MexicoIizuka Kojiro, Shinshu University, JapanHanlim Choi, KAIST, KoreaYoung J. Ryoo, Mokpo National University, Korea

Fakhri Karray, Univ. of Waterloo, CanadaGon-Woo Kim, Chungbuk National University, KoreaJunmo Kim, KAIST, Korea

De Silva Liyanage, University of Brunei Darussalam, Brunei Darussalam

Seul Jung, Choongnam National University, Korea

Ji Hyun Yang, Naval Postgraduate School, USAJung-Hoon Kim, Yonsei University, Korea

Jong-Tae Lim, KAIST, KoreaHyo-Sung Ahn, GIST, Korea

Prahlad Vadakkepat, National University of Singapore, SingaporeChang-Dong Yoo, KAIST, KoreaYaochu Jin, University of Surrey, UKMahmoud Al-Qutayri, Khalifa University, UAE

Jun Zhang, Sun Yat-sen Univ., ChinaKuo-Yang Tu, National Kaohsiung First University of

Science and Technology, TaiwanHyun Taek Choi, KORDI, KoreaTakashi Kubota, The University of Tokyo, Japan

Nak Yong Ko, Chosun University, KoreaKyoo-Jae Shin, Suncheon First College, KoreaJun Ho Cho, Wonkwang University, Korea

Gourab Sen Gupta, Massey University, New ZealandBumjoo Lee, Myung-Ji University, Korea

Seon-Woo Lee, Hallym University, KoreaJung-Min Yang, Catholic University of Daegu, Korea

Aiguo Zhou, Tongji University, ChinaDong-Han Kim, Kyunghee University, KoreaKookwon Ko, SeonMoon University, Korea

Christine Kim, FIRA, KoreaInwon Park, KAIST, Korea

RRiiTTAA22001122 SSeeccrreettaarriiaattC-Agency Co. Meeting Management#1313, Sungji B/d538 Dohwa-dong, Mapo-guSeoul 121-040, KoreaPhone: +82 2 717 3280Email: [email protected]: www.rita2012.org

Administration

Exhibition Chairs

Finance Chairs

Publications Chairs

Local Arrangement Chairs

Awards Committee Chairs

Publicity Chairs

Interactive Session Chairs

Invited Session Chairs

Plenary Session Chairs

Workshop/Tutorial Chairs

Special Session Chairs

Organizing Chairs

Program Co-chairs

Advisory Committee

General Chair

Honorary Chairs

Conference Organizers


5www.rita2012.org

Program Committee

Adrian Stoica, Jet Propulsion Laboratory, USA

Alan Liew, Griffith Univ., Australia

Anna Friesel, Copenhagen Univ., Denmark

Bela Stantic, Griffith Univ., Australia

Brijesh Verma, CQUniversity, Australia

Bruce MacDoanald, Univ. of Auckland, New Zealand

Chin-Teng Lin, National Chiao-Tung Univ., Taiwan

Chun-Liang Lin, National Chung Hsing Univ., Taiwan

Dae-Shik Kim, KAIST, Korea

Dalei (Daniel) Song, Ocean Univ. of China, China

Donald G Bailey, Massey Univ., New Zealand

Elmer P. Dadios, DLSU-Manila, Philippine

Fernando Ramos, ITESM, Mexico

Frank Chung-Hoon Rhee, Hanyang University, Korea

Georgios Yannakakis, IT Univ. of Copenhagen, Denmark

Guangming Xie, Peking Univ., China

Han Jae-Hung, KAIST, Korea

Hani Hagras, University of Essex, UK

Henrik Lund, Technical Univ. of Denmark, Denmark

Ho-Jin Choi, KAIST, Korea

Hussein Abbass, The Univ. of New South Wales, Australia

Igor Verner, Technion, Israel

Jaebyung Park, Chonbuk National Univ., Korea

Jaime Fonseca, Univ. Tecnica de Lisboa, Portugal

Ji Hyun Yang, Naval Postgraduate School, USA

Jihwan Ryu, KUT, Korea

John-John Cabibihan, National Univ. of Singapore, Singapore

Juan Wachs, Purdue Univ., USA

Julia Taylor, Purdue Univ., USA

Jun Zhang, Sun Yat-sen Univ., China

Junhu Wang, Griffith Univ., Australia

Kalyanmoy Deb, Indian Institute of Technology Kanpur, India

Ke Tang, Univ. of Science and Technology of China, China

Klaus-Dieter Kuhnert, Univ. of Siegen, Germany

Koen Hindricks, Delft Univ. of Technology, Netherlands

Kuo-Yang Tu, National Kaohsiung First Univ. of Science and Technology, Taiwan

Lakmal Seneviratne, Khalifa Univ., UAE

Li Haizhou, Institute for Infocomm Research, Singapore

Maki K. Habib, The American Univ. in Cairo, Egypt

Marley Maria B.R. Vellasco, Pontifical Catholic University of Rio de Janeiro, Brazil

Marcus Gallagher, The University of Queensland, Australia

Mengjie Zhang, Victoria Univ. of Wellington, New Zealand

Mikulas Hajduk, Technical University of Kosice, Slovakia

Naoufel Werghi, Khalifa Univ., UAE

Napoleon Reyes, Massey University, New Zealand

Ong Yew Soon, Nanyang Technological Univ., Singapore

Patrick Lim, Industrial Research Ltd, New Zealand

Paul Y. Oh, Drexel University, USA

Pauline Haddow, Norwegian Univ. of Science and Technology, Norway

Rhee Man Kil, KAIST, Korea

Rini Akmeliawati, Int. Islamic Univ. Malaysia, Malaysia

Saeid Nahavandi, Deakin Univ., Australia

Seong-Whan Lee, Korea Univ., Korea

Serge Demidenko, RMIT Int. Univ. Vietnam, Vietnam

Siti Norul Huda Sheikh Abdullah, National Univ. of Malaysia, Malaysia

Sung-Bae Cho, Yonsei University, Korea

Sunglok Choi, ETRI, Korea

Taezoon Park, Nanyang Technological Univ., Singapore

Tan Kay Chen, National Univ. of Singapore, Singapore

Tangwen Yang, Beijing Jiaotong Univ., China

Wan Chul Yoon, KAIST, Korea

Wei Li, California State Univ., USA

Yingzi Lin, Northeastern Univ., USA

Yuhui Shi, Xi'an Jiaotong-Liverpool Univ., China

Yun-Gyung Cheong , IT Univ. of Copenhagen, Denmark

Zahari Bin Taha, Univ. Malaysia Pahang, Malaysia

Zbigniew Michalewicz, Univ. of Adelaide, Australia


6 December 16-18, 2012

Sponsored by

International Robot Olympiad Committee

Organized by

Korea Advanced Institute of Science and Technology

Korea Robot Soccer Association

Technically Co-sponsored by

IEEE Computational Intelligence Society

Gwangju Technopark [GJTP]

Institute of Control, Robotics and Systems [ICROS]

Springer Publisher

Financially Contributed by

Samsung Electronics

Korea Advanced Institute of Science and Technology

Gwangju Municipal

Conference Sponsoring Organizations


7www.rita2012.org

All sessions and social events will be held at theKimdaejung Convention Center (KDJ Center). KDJ Centeris located nearby Gwangju Songjeong train station andGwangju Airport.Address: 1159-2 Chipyeong-dong, Seogu,

Gwangju-si 502-828 Phone: 82-62-611-2000Website: www.kdjcenter.or.kr

The registration and information desk will be open duringthe following times:Sunday, 16 December 12:00pm - 6:00pmMonday, 17 December 08:00am - 6:00pmTuesday, 18 December 08:30am - 6:00pm

The Information/Message Board will be located near theregistration desk. Messages or promotional leaflets will beposted in this area throughout the conference.

All attendees must wear their name badges at all times togain admission to all conference sessions, reception andbanquet.

A full manuscript of each paper presented at theconference is published in the conference proceedings ondigital media and in the series Advances in IntelligentSystems and Computing of Springer as a printed book.The registration fee includes a digital copy of theconference proceedings. The printed copy may bepurchased for $50 per each including shipping. Bookorders will be delivered after the conference.

The official language of the conference is English and willbe used for all presentations and printed materials.

Wireless internet service will be available in theconference area.

The registration fee includes two lunches. Meals areavailable at the Deli House restaurant on the 2nd floor ofKDJ Center. There are lots of Korean restaurants in theSangmu District close to KDJ Center. See the Gwangjurestaurants in page 25.

The unit of Korean currency is the Won. Foreign currencyand traveler's checks can be exchanged into Korean Wonat foreign exchange banks and other authorized moneyexchangers. Credit cards, including VISA, AmericanExpress, Diners Club, Master Card and JCB, are acceptedat major hotels, department stores, and large restaurants.The exchange rate is subject to fluctuation.

In Korea, outlets for 220 volts 60 Hertz are dominant.Always check the power supply before using yourequipment.

Korean weather shows distinct seasonal changes. Theclimate of Korea is relatively dry climate affected byseasonal wind. Gwangju temperature is expected to range-10℃to 0℃ in winter season during the conference.Relative humidity is 25~30%. The weather is subject tochange. It will be windy and snowy in December. You areadvised to put on a heavy coat.

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General Information


8 December 16-18, 2012

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The RiTA Organizer invites all attendees to enjoy an evening with colleagues and friends. A light buffet meal and drinkswill be offered to all participants and accompanying persons as a relaxing welcome. Attendees will be able to explore theconference venue.

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The banquet will include a best paper award ceremony and a performance. Theconference organizer will announce the RiTA2012 report and introduce the next RiTAconference. A western set menu will be served at the banquet. The banquet willfeature 'Pansori' performance, often referred to as Korean Opera. 'Pansori' is a type oftraditional Korean music which tells a themed story in the form of music theater. It willbe a very memorable part of visiting Korea.

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The conference organizer will offer you networking lunches. There will be a room to bearranged for RiTA attendees inside the restaurant. All kinds of food will be served inbuffet style. Enjoy plenty of Korean food in Gwangju.

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Social Program


9www.rita2012.org

Evaluating future concepts in complex systems, such as the Air Traffic Management (ATM) system, is a complex task. The interaction between the large numbers of elements in these systems can hide aspace of possible weaknesses and defects. The socio-technical interaction aggravates matters evenmore. The human-machine integration challenges raise the level of complexity to a level that can’t bemanaged using simple analytical techniques.Artificial Intelligence (AI), and in particular the sub-field of Computational Intelligence (CI), brings newsolutions to these problems. CI is a multi-disciplinary field that fuses knowledge across biology,

linguistics, artificial intelligence, engineering, and decision sciences. Computational Red Teaming (CRT) is a frameworkthat builds on CI to develop a test and evaluation environment for evaluating futures concepts for complex systems. Thefundamental concept of CRT is role-play the adversarial situations that a concept may face because of the complexinteractions in the system. CRT relies on Game Theory, Computational Intelligence, Data Mining, Optimization, andStrategy Formulation to create an intelligence environment in the computers to test and evaluate concepts as well asexisting systems.In this talk, I will introduce some of the challenges in Future Air Traffic Systems including, for example, the integration ofautonomous air vehicles in the system. I will present some of the future concepts and the difficulties in realizing them. Iwill then discuss how CRT addresses some of these problems. I will then explain how what we have achieved in the airdomain can translate easily into evaluation systems for land robotics, under-water vehicles, and autonomous systems ingeneral.

BBiiooggrraapphhyyHussein Abbass is a Professor of Information Technology at the University of New South Wales, Canberra Campus,Australia. He is a Fellow of the Operational Research Society (UK), a fellow of the Australian Computer Society, and aSenior Member of the IEEE. Hussein is an Associate Editor of the IEEE Transactions on Evolutionary Computation, theIEEE Computational Intelligence Magazine, the American Institute of Mathematical Sciences Journal of Industrial andManagement Optimization, and three other journals. Hussein's work integrates cognitive science, operations researchand artificial intelligence. He is the General Chair of the 2012 IEEE World Congress on Computational Intelligence, to beheld in Brisbane June 2012, and is the Premier and Largest event by the IEEE Computational Intelligence Society.

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Computational Red Teaming for Air Traffic Management

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Plenary Sessions


10 December 16-18, 2012

How can we jump-start the process to a point where it is actually possible for the service robotics industry tobe successful? For the fundamental problems, we need to look outward to work on the building blocks. Thatmay involve collaborations and using/contributing to the open robotics community. To complement this,universities need to train students on common reference platforms so they can walk into jobs and beimmediately useful. This is not idealism, it is an absolute imperative in order to reduce the costs of both thedevelopment process and the product. Incidentally, these same ideals also lower the bar for a postgraduatestudent or lab to do research. This speech will discuss this paradigm shift at Yujin as well as their plans for

university collaboration to assist in getting us to all start speaking robotics from very similar frames of reference.

BBiiooggrraapphhyyDr. Shin holds Bachelor Degree and Master of Mechanical Design from Seoul National University in 1982 and Ph. D. onMechanical Engineering from University of Michigan in 1988. After graduation, he started working as a senior researcher atSamsung Aeronautics for 2 years.After working at Samsung Aeronautics since 1990, he has been a president at Yujin Robot Co., Ltd. Under his leadership, YujinRobot is actively researching and developing and distributing the robots including cleaning robot, network service robot andtele-presence robot, etc , which are sold in Korea and overseas. Through technological development, he holds more than 60patents related to robot.Since 2008, Dr. Shin serves as executive vice president of Korea Association of Robot Industry and was a president of KoreaAdvanced Intelligent Robot Association for the years 2003-2008. He is also a fellow of The National Academy of Engineering ofKorea.

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Service Robot Platform for Open Robotics Community

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Plenary Sessions


11www.rita2012.org

The difficulty in understanding minds is that their problems are inherently multifaceted. We can delveinto so many different aspects and issues of minds, including subjectivity and consciousness inphenomenology, behavioral correlates in psychology, computational metaphors in cognitive science,biological implementation in neuroscience, social cognition with theory of minds, pathology andmechanisms of mental disorders in psychiatry. A good model of minds should, therefore, account forall these different aspects and would be better than having a different model for each. In this talk, Iintroduce the challenges in modeling minds that my research team has been attempting to solve as

part of a neuro-robotics research project over the past decade. We have proposed, as the core model in the project, a“generative model” with hierarchy which features two essential processes: a top-down process for predictive actiongeneration with the current intention and a bottom-up process for recognition of the reality with modulating the intention.Our neuro-robotic experiments, implemented with the model, have demonstrated a set of nontrivial phenomenaincluding i) self-organization of functional hierarchy which enables compositional goal-directed actions, ii) spontaneousgeneration of novel actions and mental imagery, iii) dynamic changes in neuronal activity representing shifts betweenconscious and unconscious states, iv) dynamic organization of understanding others and cooperative actions, and v)appearance of the diverse symptoms of schizophrenia and autism when “disconnection” is introduced into the modelnetwork. Our dynamical systems analysis revealed that these phenomena emerge as the result of nonlinear interactionsbetween the top-down and bottom-up processes and synaptic changes. Since these phenomena can be interrelated inmultiple aspects, the proposed model may capture some of the essential characteristics of minds.

BBiiooggrraapphhyyJun Tani received a B.S. in Mechanical Engineering from Waseda University, a dual M.S. in Electrical Engineering andMechanical Engineering from the University of Michigan, and a Dr. Eng. from Sophia University. He started his researchcareer in Sony Laboratory in 1990. He had been a Team Leader of the Lab. for Behavior and Dynamic Cognition, BrainScience Institute, RIKEN in Tokyo for 12 years until May 2012. He also held the position of Visiting Associate Professor atthe Univ. of Tokyo between 1997 and 2002. Now he is a full professor in Electrical Engineering Department in KAIST inKorea. He serves as editorial board members for IEEE TAMD, Frontiers in Neurorobotics and Adaptive Behavior.His research interests include neuroscience, cognitive science, phenomenology, complex adaptive systems, and robotics.In the 90s, he showed how robots, by utilizing his proposed dynamic neural network models, can perform mentalsimulation of the world based on their learned behavior experiences. This robotics study was furthermore developed toaccount for a phenomenological problem of “selves”. From these studies, Jun Tani has been recognized as a pioneerwho has explored an interdisciplinary research of combining robotics, neuro-dynamic systems, cognitive science andphenomenology. From 2001 to 2012, his research project about neuro-robotics study was awarded with 700,000,000JPYas total for 12 years. The major outputs from this project were proposal of a novel dynamic neural network model that

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Understanding Minds through Synthesis: A Neuro-Robotics Research Project

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Plenary Sessions


12 December 16-18, 2012

can account for developments of compositionality with functional hierarchy by learning and its applications to variouscognitive tasks experimented via humanoid robots as well as to modeling of mental disorders including schizophrenia.The model has been widely utilized in international neuro-robotics research projects by others, including iTALK, a FP7project in Europe. Jun Tani’s group in KAIST will continue to explore the above mentioned approaches in terms of basictheories, correspondences to brain science and scaled applications in various engineering problems.

With the great development of robotics in recent years, many field robots have been expected to carryout tasks in outdoor surroundings, where the robots may suffer from complex terrains, dynamicobstacles/dangerous, bad weather, and so on. Thus, one of the challenging topics will be: how a fieldrobot can survive the environment while handling the assigned tasks in an optimal/intelligentapproach. And the autonomy, which enables robots working on those complicated circumstances withreduced human-intervention, has been becoming one of the main goals of AIS. In order to improve theautonomy of field robots, there are at least four aspects of researches should be focused on:

1) modeling and understanding the behavior environment, i.e., how a robot senses, processes, and presents both itsinternal dynamics and external surroundings so that the robot controller can make decision according to 'currentsituation/scenario'; 2) behavior optimization, i.e., how a robot can make a optimal decision corresponding to both theinternal and external situations; 3) autonomous learning, i.e., a robot should be able to learn from its experiences, andusing the 'knowledge' while making a new decision; and 4) cooperation and coordination of multiple robots, i.e, how toimprove the performance by multiple robots rather than a single robot. In this speech, we will provide an overview of theabove-mentioned aspects, and introduce some experiments and applications currently being conducted in the State KeyLaboratory of Robotics, Shenyang Institute of Automation.

BBiiooggrraapphhyyHan Jianda received his PhD on Electrical Engineering from Harbin Institute of Technology in 1998. Currently he is aprofessor and deputy director of the State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS. He used towork in Cornell University as a visiting scientist on the topic of Software Enable Control in 2002, and in Michigan StateUniversity on the topic of mental development for humanoid robot in 2001. His research interests include the autonomy ofmobile robots, nonlinear estimation and control, medical and assistant robots, and robotic system integration such asflying robots, ground mobile robots for rescue and polar exploration. Outstanding accomplishments include:

Development of the first polar robot of China, which was tested in Antarctica in 2008 and 2011.Development of the robot for Minimally Invasive Spine Surgery, which was honored as one of the top 10 TechnologyNews of China, 2010.Development of 120kg flying robot and realize its extensive applications, including rescue, security, precisionagriculture, power cable construction, etc.

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Control for the Autonomy of Robots: Algorithm, Experiment and Application

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Plenary Sessions


13www.rita2012.org

Robots have changed the way we work, play, live and unfortunately fight wars. Robots invadedthe workplace many decades ago, initially for factory automation. They are increasing theirpresence in the home at a very rapid pace, primarily for assisted living. Wars are being foughtusing robots on the ground, above and below the waters and in the air. In the next decade, theworld will witness the largest growth of robots in the service industry. From the days ofindustrial automation using monstrous robots, the world has advanced to micro and nanorobots traversing the veins of a human body to deliver drugs.

What makes the robots so capable and versatile as they are today? Will they ever be able to attain the fullfunctionality, intelligence and versatility of human beings? Or is it a wishful thinking? What will be thebreakthrough technology that will enable the robots to make that quantum jump in their capabilities?For successful completion of tasks, robots have to perceive the world around them, the workspace in which theyoperate. At the heart of this perception are the inputs from a gamut of sensors. Accurate measurement ofphysical parameters and fusion of sensory data has a profound influence on the accuracy of the perceptionmodel. While a lot of energy and resources are still being expended for research into robot locomotion andactuators for motion, it is the advancement in sensors and measurement technology that will catapult the robotsto the next level of versatility and acceptance. Miniaturization of sensors and precision measurement will be theflavor of research in the next decade which will make a career in instrumentation and measurement a veryattractive proposition for young scientists and researchers. This presentation will -

Highlight the importance of sensing and measurement in the world of roboticsGive an overview of the various sensors and sensing technologies that are in vogue in roboticsDiscuss future direction of research and development of sensors for robotics - MEMS, biological sensors etc. Illustrate case studies of advanced sensing and instrumentation in autonomous robots such as a swarm ofsuper intelligent Nano Quadrocopters, a robot to inspect plant health and growth in a laboratory, and amanually operated robot to move hospital beds.

This presentation will be informative for industry and academicians and enthuse engineers and students to takeup a career in sensors and instrumentation.

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Sensors and Measurements for Robotics

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Tutorials & Workshop


14 December 16-18, 2012

FPGAs are increasingly being used as an implementation platform for real-time imageprocessing applications because their structure is able to exploit parallelism. Their small sizeand low power makes them well suited for embedded and mobile robot vision. The potentialspeed gains make it an attractive topic, although there are many challenges to successfullyimplementing working algorithms on FPGAs. Most newcomers simply port an existing softwarealgorithm to an FPGA implementation. Unfortunately, this generally gives disappointing results,

because most image processing algorithms have been optimised for a serial processor. This tutorial aims to helpthose wishing to use FPGAs to accelerate robot vision algorithms through some of the pitfalls, and provide arange of techniques that result in an efficient implementation, both computationally and in terms of resourcerequirements.The main advantage of coupling an image sensor with an FPGA is a small, compact, intelligent camera. Much ofthe vision processing can be implemented directly in such a camera, reducing the computational burden on thecomputing platform. For robot vision, having an intelligent camera can significantly reduce the size, weight andpower requirements of the complete system.To make effective use of the FPGA platform, it is necessary to exploit parallelism. The most common form ofparallelism for vision applications is through streaming, which introduces strict timing constraints. While this isstraight forward for low-level vision algorithms, transforming intermediate level and high level vision algorithmsto work in such a way is particularly difficult. The algorithm development process will be discussed, highlightingthe differences between software and FPGA based implementations. The structure of typical image processingalgorithms will be analysed with the implications for FPGA based implementation. Architecture selection isconsidered at both the system level, and also the computational level. A range of techniques will be reviewed forovercoming timing, bandwidth, and resource constraints.The development process will be illustrated with practical examples and case studies. This tutorial is targeted tothose who wish to explore using FPGAs for robot vision. It will

Introduce the basics of FPGA technologyExplain parallelism in the context of vision systemsPresent a design approach for FPGA based vision processingDemonstrate how vision can be implemented efficiently and effectively using FPGAs

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Accelerating Robot Vision Using FPGAs

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15www.rita2012.org

There are many humanoid robots, HUBO, ASIMO, CHARLI, etc in research site. However, it is stillstruggle to teach the humanoid robot in education site. Because a full-sized humanoid robot inresearch site is not affordable for an educational experimental set, but also heavy for student tomanage it. As a better solution, a small-sized humanoid robot, DARwIn-OP has affordable priceand light weight for easy handle. Also it is an open plat form that offers the CAD files to designthe mechanism of humanoid robot as well as the source files to program the motion of it.

We had tried to teach a class of humanoid robot to under graduated students in my university. The students wereinterested in the class, and enjoyed to understand humanoid robot technology and design it. To use the openplatform of a humanoid robot in education is very effective method. We’d like to share the experience about it in the workshop. The workshop includes the following contents.

Introduction of open platform of humanoid robot Design of mechanism for humanoid robotDesign of electronic hardware for humanoid robotSoftware and programming for humanoid robot - Walking theory and applications

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Effective Education of Humanoid Robot Using DARwIn - Open Platform

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16 December 16-18, 2012

The session organizers invited professionals in their fields or region, to organize the sessions below. Thesessions provide a chance to discuss a specific topic with experts.

The focus of the proposed special session is to solicit papers on the state-of-the-art techniques onthe promising fields of embodied and developmental robotics. In recent years, we have beenobserving the rapid proliferations of the usage of robots outside the traditional fields of theindustries. In the very near future, it is easy to predict that robots will become an integrated part ofour society. Robots, that currently run in structured settings, as in factories, will soon have to dealwith various tasks in unpredictable environments. Their flexibility and resiliency in dealing with these

dynamic settings should be addressed by enabling them to autonomously adapt not only their controllers, butalso their morphologies. Naturally, we also have to innovate the production process of the robots that will soonface difficulty in efficiently supplying robots with various morphologies and tasks. The implementation of machinelearning and self-organizing mechanisms, not only in running autonomous robots, but also in creating newmanufacturing process of the robots will be crucial in supporting the further proliferation of robotics technologyin our society. This special session focuses on the machine learning techniques implementable to physical robotsrunning in real-world environments, and to the novel manufacturing process of the robots. In addition, thespecial session also aims to provide an opportunity for international researchers to share and review recentadvances in the foundations, integration architectures and applications of hybrid, adaptive and real-time systemsin vision and control.

The major topic of the proposed session is emerging technologies in the field of intelligent systemsand its humans participate in organizations in almost every aspect or their lives; work, social andeducation. As common interactions with humans, robots, sensors, software agents and machines,become more pervasive, all of these actors will integrate together to form new cyber-physicalsystems. These new systems will require networking, communication, interaction, organization andhigh level interactive behaviors, like human organizations. These cyber-physical systems will be

IInntteerrffaacceess bbeettwweeeenn rroobboottss,, hhuummaannss aanndd hheetteerrooggeenneeoouuss ccyybbeerr --pphhyyssiiccaall ssyysstteemmssOrganizers: Prof. Eric T. Matson, Purdue University, USA

Dr. Byung-Cheol Min, Kyunghee University, Korea

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EEmmbbooddiieedd aanndd DDeevveellooppmmeennttaall RRoobboottiiccssOrganizers: Dr. Napoleon H. Reyes, Massey University, New Zealand

Prof. Pitoyo Peter Hartono, Chukyo University, JapanDr. Andre Luis C. Barczak, Massey University, New Zealand

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Special Sessions


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defined by not distinguishing between humans, agents, robots, machines and sensors, in how they applycapability or accomplish goals.To create this new class of cyber-physical systems, new models, enabling high-level interaction betweenhumans, agents, robots, machines and sensors, must be developed. This session concerns techniques, models, algorithms and infrastructures supporting the development of interactive scenarios for largeorganizations, or societies, of robots, seamlessly working together to accomplish large goal sets, in complex taskdomains. The need to often focus on numerous goals, tasks and events creates a domain scenario where theapplication of intelligence is used to convert information into decisions in a quicker and more deliberate manner.The result is an overall system model and architecture capable of efficiently integrating humans and variousinstances of non-human, but intelligent actors, within the same organization. This session will be split into twoattached sessions. One session will involve theoretical and technology-based approaches and the other onspecific applications of these approaches to specific robotic tasks and problems.

As robotics becomes more human friendly, there exists a need for a robot to “understand” the world thathuman may assume it understands in order to perform day-to-day operation. Such knowledge maybe domain specific (such as entertainment domain) or has more generic purpose (such as keepingcompany for elderly people). The actions that a robot takes should take into account not only its ownbody and mode of operation (which is typically assumed), but also the environment that it needs tosense, and adapt its sensors reading to human perception. Both the environment and the human

perceptions need to be represented in such a way that meaningful communication becomes possible. Thiscommunication may be done in natural language, with gestures, pictures, music, or any other form. It is also important to understand that it is not sufficient for a robot to sense some physical data or to identifysignals or words of a natural language ? it must have an ability to become aware of what information these datacontain for a human. To achieve that, it must possess an a-priory body or knowledge such as common senserules as well as domain specific basics or be able to learn from its experiences and modify its body of knowledgefrom what is learned. The purpose of this session is to present and discuss research in the direction ofrepresentation of knowledge and reasoning for robotic communication with humans in any of the forms. By thevery nature of their cyber-physical existence, robots in very aspect of their functionality should be addressed in anot only interdisciplinary, but also multi-disciplinary and transdisciplinary fashion. This session is particularlyinterested in development, merging, and forging such an approach to the problem of robotic knowledgerepresentation. Moreover, such knowledge representation should feasible for the applications andimplementations, not just as a theoretical constructs.

KKnnoowwlleeddggee RReepprreesseennttaattiioonn ffoorr RRoobboottiiccss AApppplliiccaattiioonnss:: TToowwaarrddss TTrraannssddiisscciipplliinnaarryy AApppprrooaacchhOrganizer: Prof. Julia M. Taylor, Purdue University, USA

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Special Sessions


18 December 16-18, 2012

For various industrial application areas, several mechanism design and control methodology have beenproposed to increase an efficiency of the required job and the work convenience. Especially, manyindustrial robots and automation equipment are applied in the manufacturing spot to increaseproductivity and safety of workers. This session focuses on the design philosophy of a mechanism ofindustrial robots and components (including H/W and S/W) and control methodology of the newlydesigned machine considering the industrial applications. For the usefulness in the industrial spot, an

interactive approach of functional S/W blocks or the teaching strategy of a robot will be dealt. Also, severalmechanism design and control methodology will be introduced. We hope to bring together outstanding researchersto discuss current trends and problems in this area.

The major topic of the proposed session is emerging technologies in the field of intelligent systems andits applications for robotics and vehicles. For the deployment of humanoids, mobile robots, unmannedvehicles and autonomous vehicles, various intelligent systems and its applications are needed to study.Intelligent systems for robotics and vehicles include computational intelligence techniques includingfuzzy logic control systems, neural networks, and evolutionary computation; machine learning andsmart systems including data mining, intelligent service practices; and intelligent information

processing including pattern recognition and image processing. Its applications include mechanisms, electronics,sensing and actuating system, and control system for robotics and vehicles.

IInntteelllliiggeenntt SSyysstteemmss aanndd AApppplliiccaattiioonnss ffoorr RRoobboottiiccss aanndd VVeehhiicclleessOrganizer: Prof. Young J. Ryoo, Mokpo National University, Korea

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DDeessiiggnn aanndd CCoonnttrrooll ffoorr IInndduussttrriiaall AApppplliiccaattiioonnssOrganizer: Dr. Hyun Min Do, Korea Institute of Machinery and Materials, Korea

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Special Sessions


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Rapid growth of robotics instruction in universities, schools and even kindergartens, supported byaccessible robot systems and components, represents one of the most important developments ineducation of the last two decades. Robotics courses focusing on project based learning, systemsthinking, and interdisciplinary design have become widely accepted. In the robot projects studentsdevelop and program intelligent robots to execute different tasks and participate in national andinternational robot competitions. The progress of robotics intelligence technology, as well as

educational theory and practice opens promising opportunities for further development of educational robotics.This thematic session aims to bring together academic researchers, educational practitioners and technologyspecialists and promote exchange of ideas and collaboration based on the common interest in educational robotics.Participants of RiTA and of the associated events, namely International Robot Olympiad and the industry fair, are invited to take active part in the Education Session. The purposes of the session are to consider and discuss theoretical approaches, technological innovations and bestpractices that enable to upgrade the level and extend the scope of learning with robot systems and make robotics ofinterest to a wider audience of students.

IInntteelllliiggeenntt RRoobboottss iinn EEdduuccaattiioonn:: OOppppoorrttuunniittiieess,, PPaatthhwwaayyss aanndd CChhaalllleennggeessOrganizer: Prof. Igor M. Verner, Technion - Israel Institute of Technology, Israel

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Special Sessions


20 December 16-18, 2012

With a population of 1.5 million, Gwangju Metropolitan City is the fifth largest city in South Korea. It is the leadingcity of the western south region, which is being sought for its cutting-edge industry and culture, and a coremiddle city leading the development of the southwestern region. For a long time Gwangju has been known as ahometown of justice, art and beauty because citizens have never turned a blind eye to injustice and enjoy art,flavor and taste. As the Mecca of high-tech industry, Gwangju is putting forth strength fostering high-techindustry with improving automobile and electronics industry; Kia Motors, Samsung Electronics, Kumho Tires.

Gwangju has been recognized as a city of democracy, human rights, and peace. The Nobel Peace Prize LaureateSummit and a Women's Forum in 2006 and 2007 respectively offered opportunities to raise awareness about thespirit of democracy, human rights, and peace around the world. Gwangju, with its harmony among culture,nature, and industry, has tried to realize the dream of being a global city that attracts attention in the 21st Century.

Gwangju is well connected by plane, high-speed train (KTX) and express bus, with Seoul, Incheon, Busan and allother major cities easily accessible within a day's trip. The capital city, Seoul, is 290.9km away, and can bereached in one hour minutes by plane, two and half hours by KTX, and four hours by express bus. GwangjuAirport and Gwangju Songjeong train station is at 15 minutes drive from the venue and hotels.You can choose one of the three ways to reach Gwangju.

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How to get to Gwangju

A. By Air Take AREX (Airport Railroad train) or a limousine bus at Incheon Airport and move to Gimpo Airport. Take adomestic flight for Gwangju. Fares: KRW 6,000 for subway, KRW 7,000 for limousine bus, KRW 63,400 for airReference website: www.flyasiana.com

B. By Train Take a limousine bus from Incheon Airport to Yong-San Train Station. Take a Honam Line train for GwangjuSongjeong Station, which gets easier access to the hotels and conference venue than Gwangju Station.Fares: KRW 15,000 for limousine bus, KRW 37,500 for KTX TrainReference website: www.korail.com

C. By Express Bus Non-stop express buses operate between Incheon Airport and Gwangju Bus Terminal. It takes about four hoursto reach Gwangju. Fare: KRW 30,900Reference website: www.airport.kr


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Gwangju Subway connects to Gwangju Songjeong train station, Gwangju Airport, KDJ Center and SangmuDistrict. Fare is KRW1,200.

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Address: 1158, Chipyung-dong, Seo-gu, Gwangju Phone: 062-610-7000Website: http://www.holidayinngwangju.com/kor/html/main.aspDistance from KDJ Center: 200 m, 5 minutes on footTransportations- Taxi: 10 min from Gwangju Airport / 15 min from Songjeong Train station- Subway: 5 min walk from KDJ Center (Mareuk) station

Address: 1250-9, Chipyung-dong, Seo-gu, GwangjuPhone: 062-384-9600

Website: http://www.firenzehotel.co.kr/Distance from KDJ Center: 3km, 15 min by taxiTransportations- Taxi: 15 min from Gwangju Airport (4km)/ 15 min from Express bus terminal (3km)

20 min from Gwangju Songjeong station (5km) - Subway: 5 min walk from Sangmu station

Address: 1218-3 Chipyung-dong, Seo-gu, GwangjuPhone: 062-383-7575Website: http://www.hotelcentral.co.kr/Distance from KDJ Center: 3km, 15 min by taxiTransportations- Taxi: 15 min from Gwangju Airport (4km)/ 15 min from Express bus terminal (3km)

20 min from Gwangju Songjeong station (5km) - Subway: 5 min walk from Sangmu station

Address: 1238-4 Chipyung-dong, Seo-gu, GwangjuPhone: 062-382-7700Website: http://www.mastershotel.com/Distance from KDJ Center: 3km, 15 min by taxiTransportations- Taxi: 15 min from Gwangju Airport (4km)/ 15 min from Express bus terminal (3km)

20 min from Gwangju Songjeong station (5km)

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Hotel Information

Gwangju hotspot, Sangmu district is located near the KDJ Center and official hotels. Also, there are lots ofrestaurants, drinking bars and shopping malls. Especially, 5.18 Memorial Park is worthy of visiting. Its exhibitionhall enlightens visitors to the incident that led to the violent democratic uprising on May 18th, 1980. You canexplore Gwangju there in style, culture and food.

Vicinity of Sangmu District in Gwangju


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Vicinity of KDJ Center and Restaurants

Recommended Korean restaurantsGwangju is renowned as the home of Korean food, taking pride of the excellent cuisine and unforgettable flavorthrough a long history in Korea. The western south region of Korea grows up plenty of vegetables, fruits, rice andfishes. Especially, Gwangju Kimchi is famous for the taste, by using the fresh and plentiful ingredients.Typical Korean meals named ”Hanjeongshik” are served with rice, soup and side dishes. The numbers of sidedishes accompany Kimchi, vegetables, tofu, fish, and meat. The Korean meals can be served for vegetarians.Price ranges from KRW 30,000 to 60,000.Grilled Pork Ribs, “Dduk Galbi” is much close to barbecued, L.A. style, galbi ribs which are crisply grilled toperfection with its tenderloins and bones still attached. However, Dduk galbi tends to be quite spicy in taste asgochujang (red chili pepper paste) is added to the base of this marinade sauce. Price ranges from KRW 15,000 to20,000.


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No Restaurant Address Phone No. Menu

1 Yejiwon 969-43 Ssangcheon-dong, Seo-gu, Gwangju 062-371-5566 Hanjeongshik

2 Keumdayon1218-5 Chipyeong-dong, Seo-gu, Gwangju

(in front of Central Hotel)062-374-1000 Hanjeongshik

3 Songhak 1211-10 Chipyeong-dong, Seo-gu, Gwangju 062-385-3333 Hanjeongshik

4 Minchokchon 885-33 Ssangcheon-dong, Seo-gu, Gwangju 062-376-9233 Hanjeongshik

5 Hanguijeong698 Seha-dong, Seo-gu, Gwangju

(inside Seochang folk culture town)062-383-7117 Hanjeongshik

6 Songjeong DdukGalbi

1003-143 Songjeong-dong, Gwangsan-gu,Gwangju

062-960-8225 Dduk Galbi

Sangmu District AttractionsThere are a few attractions below around Sangmu District. When you have a short break during the conference,take shortly sightseeing nearby Sangmu District. For detailed tour information, see the tour guide book ofGwangu.

·Mangwijeong Pavilion at the pond

Like islands, three pavilions stand between two ponds behind the downtown area in Seha-dong.Mangwijeong was built at the old site of the school of great teacher, Mangwi Changu Jangby his descendents. A small bridge across Mangwijeong leads to the elegantSeuphyanggak building at the center of the pond. Mukamjeongsa pavilion is not so far fromSeuphyanggak. These pavilions are enclosed with red flowers in autumn. You can feel thespirit of the ancestors in this extraordinary group of pavilions.

·Seochang Folk Culture Town

Take a walk from Mangwijeong to the Seochang folk culture town. The 10 minute walk bringsyou to a traditional tile-roofed house with low walls. The exhibition hall of old folk crafts at theentrance displays ink stones, ink sticks, female hats, wooden shoes, and traditional stringedinstruments. This house was constructed three years ago and has such facilities as lodgingrooms and a Korean teahouse.

·5.18 Memorial Park

5.18(May 18th) Memorial Park is located on an old 49-acre site called Sangmudae inSsangchon-dong, Seo-gu, and looks like a green island enclosed by an apartment complex. Itembraces tall tree forests and a wild flower garden such as day lilies and irises. It wasconstructed to retrieve the honor of the participants of the May 18 Uprising and teach historylessons to young people. It is composed of the May 18 Convention Center, the Owolru Tower, theGwangju Education Center for Students, restaurants, rest areas and trails.


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Floor Map of KDJ Center

2nd Floor Map of KDJ Center


28 December 16-18, 2012

The technical program consists of four plenary sessions, eighteen oral sessions and one interactive session.

PPlleennaarryy SSeessssiioonnssThe plenary sessions will be held twice a day at room #206+207 on the 2nd floor of KDJ Center.

OOrraall SSeessssiioonnssAll of the oral sessions will be held at room #202, 203 and 204 on the 2nd floor of KDJ Center.

IInntteerraaccttiivvee SSeessssiioonnPoster session will be held at the lobby on the 2nd floor of KDJ Center. Video session will take place at room#204.

GGuuiiddee ttoo UUnnddeerrssttaannddiinngg SSeessssiioonn NNuummbbeerriinnggEach session in the technical program is assigned a unique number which clearly indicates when and where the paper ispresented. A typical number is shown below:

Typical Session Number: M1A.2

The first letter (i.e. M) indicates the day of the conference.M= Monday T= Tuesday

The second number (i.e. 1) indicates the time of the day.1= the first time2= the second time3= the third time4= the fourth time

The third letter (i.e. A) shows the location of the presentation which is one of the session rooms.On Monday On TuesdayA= Rm#202 A = Rm#203B= Rm#203 B = Rm#204C= Rm#204 P = Lobby & #204

The fourth letter (i.e. 2) shows the presentation order in the session.1= the first presentation 2= the second presentation3= the third presentation4= the fourth presentation5= the fifth presentation

Technical Program Information

Contents2012.icrita.org/data/RiTA2012_FinalProgram.pdf · 2012. 12. 11. · Kyoo-Jae Shin, Suncheon...

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Transcript of Contents2012.icrita.org/data/RiTA2012_FinalProgram.pdf · 2012. 12. 11. · Kyoo-Jae Shin, Suncheon...