SICE 2004 Annual Conference

Sapporo, Japan

August 4-6, 2005

Volume 2 of 3

IEEE IEEE Catalog Number: 04TH8773

ISBN: 4-907764-22-7

TIB/UB Hannover

Genetic Network Programming with Reinforcement Learning for

Generating Agent Behavior in the Benchmark Problems 918

*Shingo Mabu, Kotaro Hirasawa, Jinglu Hu (Waseda University)

An Algorithm for the Minimum Dominating Set Problem Based on a

New Energy Function — Algorithm for MDSP 924

*Xinshun Xu, Zheng Tang (Toyama University)

Weidong Sun (Japan Open System) Xiaoming Chen, Yong Li,Guangpu Xia, Weixing Bi (Toyama University) Ziliang long (Shandong University)

Improved Approach to KDI-Based Fault Detection for Non-linear

Black-box Systems 927

*Kousuke Kumamaru, Katsuhiro Inoue, Tomomi Iwamura

(Kyushu Institute of Technology)

Evaluations of human physical burdens when using transfer aid robotic system 933

Yoshihiko Takahashi, *Takashi Suzuki, Yousuke Obuchi,Katsunori Kusakabe, Katsumi Takahashi, Takako Sakamoto

(Kanagawa Institute of Technology)

Anti-Sway Control of Container Cranes: An Active Mass-Damper approach 939

Chang Won Kim, *Keum-Shik Hong (Pusan National University)Gabriel Lodewijks (Delft University of Technology)

Face Detection Using Compound Features 945

*Linlin Huang, Akinobu Shimizu, Hidefumi Kobatake

(Tokyo University ofAgriculture and Technology)

Delayed Feedback Control of One-Legged Passive Running Robot 949

*Sang-Ho Hyon, Takashi Emura (Tohoku University)Tetsushi Ueta (Tokushima University)

Volume 2

Experiment Evaluation of Reliable Control Using EquivalentTransfer Function for Speed Feedback Loop Failure 955

*Takashi Imaizumi, Tsutomu Ohmae (Chuo University)

Back Handspring Control of a Four-Link Gymnastic Robot 960

*Sang-Ho Hyon, Naoto Yokoyama, Takashi Emura (Tohoku University)

Value Judgement for Evaluating the Sense of Security Based on

Various Utility Theoretic Approaches 966

Hiroyuki Tamura (Kansai University) *Yoshitomo Miura,Masahiro Inuiguchi (Osaka University)

Sampled-data audio signal compression with Huffman coding 972

Shinjiro Ashida, *Hironori Kakemizu, Masaaki Nagahara,Yutaka Yamamoto (Kyoto University)

XV

Modelling of Induction Motor using non-linear Neural

Network System Identification 977

*FaisalA Mohamad, Heikki Koivo (Helsinki University of Technology)

Fuzzy Control of Positive Output Luo Self-Lift Converter 983

*Ramanujan Kayalvizhi,Sirukarumbur Panduranga Natarajan (Annamalai University)

E.M.F. Drift and Inhomogeneity of Type K Thermocouples 989

*Tokio Hamada, Yukiharu Suyama (Tanaka Kikinzoku Kogyo K.K.)

Learning of torque pattern generator for locomotion based on

balance control 993

*Satoshi Ito (Gifu University/RIKEN) Yoshihisa Saka,

Haruhisa Kasasaki (Gifu University)

A Fast and Reliable Approach to TSP using PositivelySelf-feedbacked Hopfield Networks 999

*Yong Li, Zheng Tang, Guangpu Xia (Toyama University)

Ronglong Wang (Fukui University) Xinshun Xu (Toyama University)

Estimation of dynamic characteristics of machine structure by

pseudo inverse matrix 1005

*Yoshitaka Morimoto, Yoshio Ichida, Ryunosuke Sato,Kensuke Takahashi (Utsunomiya University)

Soft sensing of plant shoot-tip temperature 1011

*Hiroshi Shimizu, Shoji Moriizumi (Ibaraki University) Mayuko Wada

(Nishida Judicial Scrivener Office)

Development of an auto-parking system with physical limitations 1015

*Takuya Inoue, Minh Quan Dao, Kang-Zhi Liu (Chiba University)

Model Experiment of Anti-Roll Tank Based on Oscillation Platform 1021

*Xiaoyong Ai, Guobin Li, Hong Zhang,Lihua Liang(Harbin Engineering University)

High-Temperature Metal-Carbon Eutectic Fixed-Point Cells

with Improved Robustness 1027

*Yoshiro Yamada,Pieter Bloembergen (National Metrology Institute ofJapan /AIST)

Seamless Object Tracking in Distributed Vision Sensor Network 1031

*Kazuyuki Morioka (The University of Tokyo) Yoichi Kuroda

(Tokyo University of Science) Sosuke Takatsuka (Meiji University)Hideki Hashimoto (The University of Tokyo)

A fundamental study on the obstacle avoidance system for a humanoid

using the object recognition technique 1037

*Hiroyo Yamanaka (Hiroshima Institute of Technology) Mitsuhiko Kurata (Interface) ToyonakaHirai (Apcot) Takayuki Sugita (Hiroshima Sanyo High School) Yoshifumi Kitayama (HiroshimaInstitute of Technology)

xvi

Augmented Reality and Its Challenges 1041

*Md Atiqur Rahman Ahad (UNSW) Shahera Hossam (InternationalIslamic University Chittagong)

Automatic Generation of Virtual Human Motions for an Interactive MR System 1044

*lku Yamaguchi, Joo Kooi Tan, Seiji Ishikawa (Kyushu Institute of Technology)

A Novel C02 Absorbent and it's C02 Capturing Application Systems 1048

*Ryosuke Kogo, Yoshikazu Hagwara (Toshiba Mitsubishi-ElectncIndustrial Systems Corp)

Prototype of a High Temperature Standard Platinum Resistance

Thermometer Utilizing Alumina Disk Insulators 1052

*Kazuaki Yamazawa, Masaru Arai (National Metrology Institute of Japan)

The Design of The MeasurementCircuit Using Ultrasonic SoundWaves for Fuel Level of Automobile Tanks and The Detection of BadSectors of Tank by Neural Networks 1056

*K Burak Dalci, Kayhan Gulez, Tank Veil Mumcu (Yildiz Technical University)

Identification Methods for Excavator Arm Parameters 1061

Yahya H Zweiri, *Lakmal D Seneviratne,KasparA Althoefer (King's College London)

Wireless measurement system of cable tension force based on LabVIEW 1067

*Qi Fu, Yan Deng, Leshan Mao (Tsinghua University, China)

A Study on Designing Control System by Modular Learning 1071

*Mai Bando, Hiroaki Nakanishi (Kyoto University)Koichi Inoue (Osaka Sangyo University)

Simple Genetic Algorithm Started by Orthogonal Design of Experiments 1075

*Hidetoshi Tanaka (Mitsubishi Electric Corp.)

A study on the Automatic Height Measurement Technique for

Plural Pulverized Particles 1079

*Masahiro Kamimura (Hiroshima Institute of Technology)

Takayuki Sugita (Hiroshima Sanyo High School)Yoshifumi Kitayama (Hiroshima Institute of Technology)

Optimal Design of Stable Haptic Interfaces 1083

*Sandra H Dandach, Soura Dasgupta (University ofIowa)

On the Minimal Signal Recovery Error in Multirate

Filterbank Channel Equalization 1088

*Jie Chen (University of California)

Some new thoughts and findings on Bode integrals 1092

*Jie Chen, Gang Chen (University of California)

Biomimetic Machines — Motivations to the Research 1098

*Keigo Watanabe, Kiyotaka Izumi (Saga University)

xvii

Discrete Element Method (DEM) and its possible application 1104

*Hiroshi Nakashima (Kyoto University)

Concept of Virtual Master-Slave Systems and Its Application to the

Design of a Neuro-lnterface 1108

Rafiuddin Syam, *Keigo Watanabe, Kiyotaka Izumi (Saga University)

Fixed-Point Blackbodies at NIM 1114

*Zundong Yuan, Yuning Duan, Tiejun Wang (National Institute ofMetrolgy)

Ball position control by discrete input and output — experimental verification 1118

*Yosuke Takei, Tadanao Zanma, Muneaki Ishida (Mie University)

Major Industrial Network Systems and Their Applied Areas —

A Tutorial on the Latest Technical Trends - 1124

*Yoh Shimanuki, Yoichi Takayanagi (Toshiba Corporation)

Omnidirectional 3-D Reconstruction Using Stereo Multi-Perspective Panoramas 1128

Wei Jiang, Shigeki Sugimoto, Masatoshi Okutomi (Tokyo Institute of Technology, Japan)

Parameter Identification of 3-Way Catalytic Converter for

Use in Air Fuel Ratio Control 1134

Tetsuji Watanabe, *Takashi Watanabe, Kenichi Abe (Tohoku University)Hidekazu Yoshizawa (Hitachi Unisia Automotive,Ltd.)

Gain and Phase Margin Controller Tuning: FOPTD or IPDT

model-based methods? 1139

*Richard W. Jones (Seoul National University of Technology)M. T. Tham (University of Newcastle)

On Evolutionary Large Scale Optimization through IntelligentComposite Motion Control 1144

*Masakazu Suzuki (Tokai University)

An Hopfield Network Learning for Minimum Vertex Cover Problem 1150

*Xiaoming Chen, Zheng Tang, Xinshun Xu (Toyama University)Songsong Li (Toyama Prefectural University) Guangpu Xia, Ziliang Zong,Jiahai Wang (Toyama University)

Study ESD Effect in the Deshunting Process of Recording Head

Based on Machine Model 1156

*Nuttachai Jutong, Adirak Kanchanaharuthai (Rangsit University)

Design of Behavior Decision System with Storage in Mobile Robots 1159

*Shinji Yamada, Makoto Katoh, Xue Li, Koichi Wada

(Osaka Institute of Technology)

Humane Automotive System Using Driver Intention Recognition 1164

*Kunihiro Ohashi, Toru Yamaguchi, Ikuo Tamai (Tokyo Metropolitan Institute of Technology)

Application of case-based retrieval to thundercloud tracking for

lightning flash forecast 1168

*Wakasa Kise, Hiroshi Sakamaki, Atsuo Ozaki, Akitoshi Mitsuishi (Mitsubishi Electric Corporation)

xviii

High-temperature furnace controlled by a platinum resistance thermometer 1172

*Masaru Aral, Kazuaki Yamazawa (National Metrology Institute of Japan)

Development of the Gyro-free Handwriting Input Device based

on Inertial Navigation System (INS) Theory 1176

*Eun-Seok Choi, Wook Chang, Won-Chul Bang, Jing Yang,

Sung-Jung Cho, Jong-Koo Oh, Joon-Kee Cho,

Dong-Yoon Kim (Samsung Advanced Institute of Technology)

Simulation-based Scheduling System for Saving Energy Consumptions 1182

*Kazuyuki Mori, Syoichi Kitamura, Seiichi Shindo (Mitsubishi Electric Corp.)

A Stock Price Prediction Model by Using Genetic Network Programming 1186

*Shigeo Mori (Fukuoka Jogakuin High School) Kotaro Hirasawa,

Jinglu Hu (Waseda University)

Three-Dimensional Face Recognition System — System Configuration 1192

*Noriyuki Chiba, Hiroshi Hanaizumi (Hosei University)

Gain Scheduling Controller Design for Two Rotor Hovering System 1196

Makoto Yamashita, *Masami Saeki, Nobutaka Wada,

Izumi Masubuchi (Hiroshima University)

High-speed and High-precision Optical Flow Detection for

Real-time Motion Segmentation 1202

*Hiraku Ishiyama, Takayuki Okatani, Koichiro Deguchi (Tohoku University)

End-user Requirements on Industrial Networks — Issues at End-user

Site and Their Potential Solutions 1206

*Masatoshi Takano (Toyota Motor Corporation)

Inverse optimization for a nonlinear system with an input constraint 1210

*Nami Kidane (Nara Institute of Science and Technology)Yuh Yamashita (Hokkaido University) Hisakazu Nakamura,

Hirokazu Nishitani (Nara Institute of Science and Technology)

Theory of Road Traffic Flow at a Bottleneck 1214

*Shosuke Suzuki, Masanari Taniguchi,Tasuku Takagi (Tohoku Bunka Gakuen University)

The Renaissance of Routh 1220

*Li Qiu (Hong Kong University of Science and Technology)

A New Laser Rangefinder for Measuring 3-D Shapes of Specular

Objects in a Real Environment 1223

*Kozo Ohtani (Hiroshima Institute of Technology)Mitsuru Baba (Okayama University)

Approximation of Discrete-Time Systems with Time-varying Delay:Hankel Norm Criterion 1227

*Huijun Gao (Harbin Institute of Technology)

James Lam (University of Hong Kong)Changhong Wang (Harbin Institute of Technology)

xix

Reinforcement Learning for Continuous State Spaces Based on

Locally Weighted Regression 1233

*Haeyeon Lee, Yusuke Aizawa, Kenta Koike, KenichiAbe (Tohoku University)

High Resolution Tactile Display Using Acoustic Radiation Pressure 1239

*Takayuki Iwamoto, Daisuke Akaho, Hiroyuki Shinoda (The University of Tokyo)

Trajectory Tracking of Inverted Pendulums via Lie Derivative

of a Scalar Function 1245

*Takami Matsuo, Shuichiro Yasunaga, Haruo Suemitsu (Oita University)Kazushi Nakano (The University of Electro-Communications)

Characteristics of Constant-Temperature Type Micro Thermal Flow Sensor 1251

*Koichi Igarashi, Tatsuya Funaki, Kenji Kawashima,Toshiharu Kagawa (Tokyo Institute of Technology)

Autonomous Scene Monitoring System based on Multi Viewpoint Images 1257

Takayuki Moritani, Satoshi Kawabata, Reiko Miyagi,*Shinsaku Hiura, Kosuke Sato (Osaka University)

Non-Zero Initial Conditions in Filters of the Constant Component 1263

*Roman Kaszynski (Technical University of Szczecin)

The Proposal of Bessel Filters with Varying Parameters 1267

*Roman Kaszynski, Jacek Piskorowski (Technical University of Szczecin)

Petri Net-Based Design of Modular Supervisors for RemotelyHuman Control Systems 1271

*Jin-Shyan Lee (National Chiao-Tung University)Meng-Chu Zhou (New Jersey Institute of Technology)Pau-Lo Hsu (National Chiao-Tung University)

Positioning Performance of GNSS-based Quasi-Zenith Satellite System 1277

*Masaaki Murata (National Defense Academy)

Two Dimensional Bandwidth Extrapolation Technique for

Polarimetric Radar Images 1285

*Kei Suwa, Masafumi Iwamoto (Mitsubishi Electric Co.)

Interaction between Human and Humanoid Agent 1290

*Takashi Nishiyama, Akira Baba, Takehiro Sekine, Akira Terasawa,

Shinpei Hibiya, Fumiaki Obayashi, Ryoji Nakajima (Matsushita Electric Works, Ltd.)

Directional Selection using 2-Dimensional Complex Discrete Wavelet

Transform and its Application for Image Processing 1296

*Zhong Zhang (Industrial Technology Center of Okayama Prefecture)Hiroshi Tota, Hiroaki Kawabata (Okayama Prefectural University)

Cooperative Multi-agent Transport Based on Coevolution 1301

*Dongyong Yang, Qiong Tang, Luping Fang, Xiao Zhou

(Zhejiang University of Technology) Jingping Jiang (Zhejiang University)

Change in Mass Standards with a Passage of Time 1305

*Shigemitsu Kuwayama, Yoshikazu Watabe (Mettler-Toledo K.K.)

XX

Application of Robust Optimization to Power Systems 1311

Yuji Wakasa (Yamaguchi University) Masahiro Nishimura,*Takashi Ueno (Tokuyama Corp.) Kenya Tanaka (Yamaguchi University)

Impulsive Noise Reduction by Using M-transform and Wavelet Shrinkage 1315

*Hiroshi Harada, Hiroshi Kashiwagi (Kumamoto University)Kazuki Kaba (Kumamoto Technology and Industry Foundation)Toshiyuki Andoh (Kumamoto University)

Tracking of Colored Image Objects with a Robot ManipulatorControlled by Japanese Speech Commands 1319

*Kiyotaka Izumi, Yuya Tamano, Yoshiharu Nose,Keigo Watanabe (Saga University)

A model for movement pattern acquisition process 1323

*Kenichi Tokunaga ,Yasuhiro Wada (Nagaoka University of Technology)

Recursive Estimation of Time-Delay using a High-order Pade Approximant 1328

*Richard WJones (Seoul National University of Technology)

Simple Biped Robot with Multi-PIC Microcomputer Systemfor University Education 1334

Yoshihiko Takahashi, *Masayoshi Kohda,

Yoshimasa Ogihara (Kanagawa Institute of Technology)

Implementation and Applications of Open Data Network Interface 'ORiN' 1340

*Makoto Mizukawa (Shibaura Institute of Technology)Satorshi Sakakibara (Denso Wave Corporation)Nobuyuki Otera (Kobe Steel Incorporated)

A Study of Generalized Minimum Variance Control for Continuous-time

System with Time Delay 1344

*Futoshi Asami, Yasuchika Mori (Tokyo Metropolitan Institute of Technology)

Reorganization of brain activity for multiple internal models 1349

*Akihiro Toda (Nagaoka University of Technology) Hiroshi Imamizu

(ATR Computational Neuroscience Lab) SatomiHiguchi

(Nara Institute of Science and Technology) Yasuhiro Wada

(Nagaoka University of Technology) Mitsuo Kawato (ATR Computational Neuroscience

Researches on operators' mental model for structure of operationbased on situation theory 1354

*Hidetsugu Suto (Akita Municipal Junior College ofArts and Crafts)Hiroshi Kawakami, Osamu Katai (Kyoto University)

Development of Carbon dioxide sensing system for searching victims in

Large-scale disasters 1358

*Minh Huu Nguyen, Toshi Takamori (Kobe University)

Shigeru Kobayashi (Kobe City College of Technology) Shiro Takashima,

Akihiro Ikeuchi (Kobe University)

xxi

On Wavelet-based Convolutive Blind Separation of

Non-stationary Sound Sources 1362

*Kiyotaka Takada (The University of Electro-Communications)Manabu Maeda (Matsushita Electric Industrial Co., Ltd.) Hirokazu Watai,

Kazushi Nakano (The University of Electro-Communications)

Reinforcement Learning Using Chaotic Exploration in Maze World 1368

*Koichiro Morihiro, Nobuyuki Matsui (Himeji Institute of Technology)Haruhiko Nishimura (University ofHyogo)

Fuzzy Neural Network based Mobile Agent Control for Intelligent Space 1372

*Peter T. Szemes, Hideki Hashimoto (The University of Tokyo)

Prediction of Discrete-time Time-varying Systems via 4SID Method 1378

*Kentaro Kameyama, Akira Ohsumi (Kyoto Institute of Technology)

Robot task learning using haptic interface in virtual space 1384

*Shigeyuki Eguchi, Koichi Sugiyama, Yasuhiro Wada (Nagaoka University of Technology)

Mobile Agent Gain Scheduler Control in Inter-Continental Intelligent Space 1388

Rangsarit Vanijjirattikhan (North Carolina State University)*Peter T Szemes (University of Tokyo) Mo-Yuen Chow

(North Carolina State University) Hideki Hashimoto (University of Tokyo)

Morphological-Fuzzy Filter for Enhancement of Intravascular

Ultrasound Images 1394

*Esmeraldo Dos Santos Filho, Makoto Yoshizawa, Takahiro Iwamoto,Akira Tanaka, Yoshifumi Saijo (Tohoku University)

Artificial Neural Network based Object Tracking 1398

*Barna Resko (Budapest University of Technology and Economics)Peter T Szemes (University of Tokyo) Peter Korondi, Peter Baranyi (Budapest University of

Technology and Economics) Hideki Hashimoto (University of Tokyo)

Development of the Interactive Receptionist System by the Face Robot 1404

*Takuya Hashimoto, Masaru Senda, Taichi Shiiba,Hiroshi Kobayashi (Tokyo University of Science)

Utilization of NNs & GAs for improving the traditional technical

analysis in the financial market 1409

*Norio Baba, Tomoko Kawachi, Toshinori Nomura,Yuuki Sakatani (Osaka Kyoiku University)

A Study on Inventory Control for a Single Stage Production

System under Uncertain Demand 1413

*Tatsushi Nishi, Naoki Takami, Masami Konishi, Jun Imai (Okayama University)

Parameter Estimation of FM Signals in Random Noise

Using Wigner Distribution 1417

*Hiroshi Ijima, Akira Ohsumi (Kyoto Institute of Technology)Igor Djurovic (University of Montenegro)

xxii

Network Health Monitoring System in the Sleep 1421

*Hisanori Andoh, Kajiro Watanabe (Hosei University) Tetuo Nakamura,Isamu Takasu (JEPICO Co.)

PCB Assembly Optimization of Chip Mounters for Multiple FeederAssignment 1425

*Kyung-Min Kim, Tae-Hyoung Park (Chungbuk National University)

Noise reduction from MEG data 1431

*Shinpei Okawa, Satoshi Honda (Keio University)

A Mobile Agent Based Image Retrieval and Delivery Systemfor Remote Sensing Satellite 1436

"Roy Chaoming Hsu, L R. Chen, Cheng Ting Liu, Simen Huang (National Huwei University of

Science and Technology)

Modeling of LP Gas Single-stage Pressure Regulator and Simulation

of the Behavior of a Deteriorated Diaphragm 1442

*Tsukasa Ishigaki, Kajiro Watanabe (Hosei University)

Estimation of 3-D flow tomography through Electro Magnetic Induction 1446

*Takayuki Katoh, Satoshi Honda (Keio University)

MEG analysis with spatial filter and multiple linear regression 1453

*Shinpei Okawa, Satoshi Honda (Keio University)

Successive D.C. Relaxation of Parametrized LMIs — Control Applications 1458

*Hiroyuki Ichihara, Eitaku Nobuyama (Kyushu Institute of Technology)

Adaptive Robust Variable Structure Control with Pseudo Sliding Patch 1464

*Kenichi Ogawa, Hiromitsu Hikita, Naohiko Hanajima,Mitsuhisa Yamashita (Muroran Institute of Technology)

Strength Test of a Mobile Phone Screen by means of the

Levitated-mass Method — Levitated-mass Method 1469

*Tomokazu Suzuki, Yusaku Fuji! (Gunma University)Jesus D. R. Valera (Heriot-Watt University)

Intelligent Field Devices and Fieldbus Solutions in PA Industries —

FOUNDATION Fieldbus Updates 1473

*Hisashi Sasajima (Yamatake Corporation)

Optimal Spline Data Fitter and its Application in the Dynamic

Speed Measurement of BLDC Motor 1479

*Chao Bi (Data Storage Institute)

Ruoyu Huang (National University of Singapore/Data Storage Institute)

LQ control problem assuming state-observation noise 1485

*Mitsuyuki Saito, Kazuo Yamanaka (Ibaraki University)

Naoya Kawasaki (Joetsu University of Education)

The Dielectric Characteristics of Agricultural Land for On-Site

and Real Time Measurement 1489

*Yuji Ikenishi, T. Kawamura, H. Horio, H. /to, K. Shoji (Kobe University)

xxiii

Non-Destructive Inspection of Concrete Structures Using an

Electromagnetic Wave Radar 1493

*Shogo Tanaka (Yamaguchi University)

Delayed Feedback Control for Vibration Suppression in

Manual Control Systems 1498

*Takashi Takimoto, Shigeru Yamamoto (Osaka University)

Detection of Cracks in Concrete Pillars Using an Acceleration Pickup 1502

*Masayuki Okamoto (Yamaguchi University)Hiroshi Fujimoto (Tokuyama College of Technology)

Shogo Tanaka (Yamaguchi University)

Valve Hysteresis Compensation Considering Flow Conditions for

Digital Valve-Positioner 1507a

*Tetsuya Wakui, Takumi Hashizume (Waseda University)Takashi Nishijima (Yokogawa Electric Co.)

Picogram mass sensor using microcantilever 1508

*Hayato Sone, Yoshinori Fujinuma, Takashi Hieida, Takafumi Chiyoma

(Gunma University) Haruki Okano (Tokyo Sokki Kenkyujo Co., Ltd.)Sumio Hosaka (Gunma University)

Proposal for a world wide home security system using PC-cameras —

the e-Vigirante Network Project 1514

*Katsumasa Hagiwara, Yoshio Chigira, Noriaki Yoshiura, Yusaku Fujii (Gunma University)

Direct measurement of friction acting between a ballpoint pen and a paper 1518

*Yoshio Chigira, Yusaku Fujii (Gunma University) Jesus D. R. Valera

(Heriot-Watt University)

Robust Stability of Approximate Smith Predictor Control Systems 1522

*Shouli Wu, Keiji Watanabe, Eiichi Muramatsu, Yuuichi Ariga,

Shigeru Endo (Yamagata University)

Examination of Unlearned Face Discrimination in a Rotation and

Size Spreading Neural Network 1528

*Tsukasa Sakamoto, Hironobu Takano, Kiyomi Nakamura (Toyama Prefectural University)

Image processing of dynamic speckle patterns for effective velocity sensing 1534

*Naomichi Yokoi (Asahikawa National College of Technology)Yoshihisa Aizu (Muroran Institute of Technology)

Adaptive Control in Squid Jigging Machines 1540

*Hongliang Zhou, Sihua Peng (Zhejiang Univ.)

Hierarchical Heuristic Multi-Points Search Algorithm 1544

*Yoko Kobayashi (Tepco Systems Corporation) Eitaro Aiyoshi (Keio University)

Hardware Implementation of Fuzzy-PI-Sliding Mode SpeedController of Induction Motors 1548

*HaiderA. F. Mohamed, Hew Wooi Ping,Nasrudin Adb Rahim (University of Malaya)

xxiv

Improvement of stability of electromagnetic flowmeter withnon-wetted electrodes in low-conductivity liquid measurement 1554

*Hiroaki Nojiri, Tatsuya Kimura (Toshiba corporation)

Fault Detection of an Operator Manipulating a Switching Control System 1558

*Kazunari Uchida, Shigeru Yamamoto (Osaka University)Hiroshi Oku (Osaka Institute of Technology)

A System Theoretic Study on An Essential Mechanism of

Generation of Circadian Oscillation 1563

*Yosuke Yasuda, Hiroshi Ito (Kyushu Institute of Technology)

Real-time Measurement of Multi-point Distance and Displacement byFourier Transform Technique using Optical Frequency Modulation 1567

Yukitaka Shinoda, Manabu Itoh, *Masato Nichogi,Takashi Higo (Nihon University)

Multirate H2 Control Synthesis for a Micro-Tunneling Robot Navigation System 1573

*Koichi Yoshida (NTTAccess Network Service Systems Lab.)

Jigsaw Panel — A Tangible Approach for DelightfulHuman-Computer Interaction 1579

*Hirohiko Mori, Jiro Inoue (Musashi Institute of Technology)

Fundamental Experiment of Wavelength-shift Detection for StrainMeasurement using Fiber Bragg Grating 1583

Yukitaka Shinoda, Jiro Sanada, *Chikako Katano (Nihon University)Yoshitaka Sakumoto (JEMIC) Takashi Higo (Nihon University)

Development of Electromagnetic DC Actuator with Multi Degrees of Freedom 1589

*Yoshifumi Omata, Kajiro Watanabe (Hosei University)

Improvement of Control Performance of Pneumatic Artificial Muscle

Manipulator using Intelligent Switching Control 1593

*Ahn K.K., Thanh T.D.C., Yang S.Y. (UniversityofUlsan)

Unconstrained and Noninvasive Measurement of Heartbeat by a

Pneumatic Method for Drivers 1599

*Takayuki Ishikawa, Kajiro Watanabe (Hosei University) Tetsuo Nakamura,

Takuya Okada (Jepico Corporation)

A Study on the Click Recognition Improvement ofA Wearable Input Device 1603

*Yoon Sang Kim, Byung Seok Soh,

Sang-Goog Lee (Samsung Advanced Institute of Technology)

A Decomposition Approach to the Inverse Problem-Based Fault

Diagnosis of Liquid Rocket Propulsion Systems 1607

*Erfu Yang, Hongjun Xiang, Zhenpeng Zhang (Beijing University ofAeronautics and Astronautics)

Sampling rate conversion by Fourier interpolation 1613

*Manabu Inoue, Fuminori Kobayashi, Minoru Watanabe (Kyushu Institute of Technology)

xxv

Implementation of Novel Application using Bluetooth 1617

*Kyuhwan Seol, Yeongseog Lim (Chonnam National University)

Model following control of discontinuous mechanical systems 1621

*Takashi Nakakuki, Tielong Shen, Katsutoshi Tamura (Sophia University)

Development of Non-contact Real-time Blink Detection Systemfor Doze Alarm 1626

*Tomofumi Miyakawa, Hironobu Takano, Kiyomi Nakamura

(Toyama Prefectural University)

A Framework for Collaborative Design Based on Mathematical

Morphology and Modal Logic 1632

Tomoko Ohya, *Kentaro Toda, Takayuki Shiose, Hiroshi Kawakami,Osamu Katai (Kyoto University)

Robust Stabilization Using Jury Table 1638

Xiaodong Zhao, *Li Qiu (Hong Kong University of Science and Technology)

Immersion in interaction with a robot 1644

*Michita Imai (Keio University, JST Presto)

Wheelchair User Support System Using Humanoid Robots —

System Concept and Experiments on Pushing Wheelchair 1650

*Kotaro Sakata, Kenji Inoue, Tomohito Takubo,Tatsuo Aral (Osaka University) Yasushi Mae (University of Fukui)

Neuro-Fuzzy Controller Design for Industrial Process Controls 1656

*Vittaya Tipsuwanporn, Sathit Intajag (King Mongkuts Institute of Technology Ladkrabang)Kritchai Witheephanich (Srinakharinwirot University) Natham Koetsam-Ang, S Samiamak (KingMongkuts Institute of Technology Ladkrabang)

Ubiquitous Human Media for Social and Physical Interaction 1662

*Adrian D Cheok, Ke Xu, Wei Liu, Kok Hwee Goh, Hui Siang Teo,Sze Lee Teo, Farzam Farbiz, Shang Ping Lee (National University of Singapore) Osamu Katai,Hiroshi Kawakami, Akira Notsu (Kyoto University)

Joint Design Method of 2DOF Control System Based on Its

Factorized Representation 1668

*Kazuzhiro Yubai, Junji Hirai (Mie University)

D-stability of sampled-data control system with monotone conditions 1672

*Takeshi Kawamura (Kitami Institute of Technology)

Two-degree-of-freedom Control with Adaptive Inverse Model 1677

*Eiichi Muramatsu (Yamagata University)Keiji Watanabe (Yamagata University/RIKEN)

A Visualization of a 3-D Fractal Figure by using FPGA 1681

*Takashi Funasaka, Masami Iwase,Shoshiro Hatakeyama (Tokyo Denki University)

xxvi

Evaluation of Online Optimizer using Dynamic Simulator 1686

*Haruo Takatsu (Yokogawa Electric Corporation) Takashi Nozaki,Kenji Okada (Techno Systems Kyushu Corporation)

Specification of the bump on the disk surface by deviation of impulse force 1692

*Hiroto Kikuchi, Kiminori Sato (Fuji Electric Advanced Technology Co.)

Tracking of Feature Points in Image Sequence by SMCImplementation of PHD Filter 1696

*Norikazu Ikoma, Tsuyoshi Uchino,Hiroshi Maeda (Kyushu Institute of Technology)

3D Graphics for Everyday Communication 1702

*Takeo Igarashi (The University of Tokyo)

Adaptive Observers for Reducing Effects of Unmeasurable

Disturbances in Motion Control Systems 1705

*Keishi Shibayama, Valeri Kroumov,

Hiroyuki Narihisa (Okayama University of Science)

Internal Model Control for SUMI-Ink Rubbing Machine 1711

Ryoichi Suzuki, *Daisuke Yamashita, Kenji Mitani,Nobuaki Kobayashi (Kanazawa Institute of Technology)

Realization of Anterior Guidance with Canine and Occlusion by a

Mastication Motion Simulator 1715

Ryouji Sakai, *Hiroaki Yoshida, Nagakatsu Kawahata, Motohiro Kikuchi,Ichiro Nakajima (Nihon University)

Edge Detection Method with CNN 1721

*Tomoji Yoshida, Junji Kawata, Tetsuo Tada, Akio Ushida, Jiro Morimoto (Tokushima Bunri

University)

Relation among duration, position variance, and muscle activityin human arm movement control 1725

*Hiroshi Iwasaki (Nagaoka University of Technology) Rieko Osu (ATR ComputationalNeuroscience Laboratories) Naoki Kamimura (Nagaoka University of Technology) Eh Nakano

(ATR Computational Neuroscience Laboratories) Chris M. Harris (Institute ofNeuroscien

Measurement of Water Level in a Monitoring System of a Bathroom 1730

*Satoshi Isonaga, Satoshi Hattori, Masayuki Okamoto,

Shogo Tanaka (Yamaguchi University)

Setting Method of Smoothing Constant in Exponential Smoothing 1735

*Jiro Morimoto, Hiroshi Kasamatsu, Akira Higuchi, Tomoji Yoshida,

Toshiaki Tabuchi (Tokushima Bunri University)

Precise Navigation Indoor 1739

*/. Petrovski, I. Surouvtcev, T. Petrovskaia, K. Okano, M. Ishii (Institute of Advanced Satellite

Positioning Technology) H. Torimoto (GNSS Technologies lnc)K. Suzuki, M. Toda, J. Akita

(Future University - Hakodate)

xxvii

Pl-based multi-objective load-frequency control in a

restructured power system 1745

*Hassan Bevrani (Osaka university) Yasunori Mitani (Kyushu Institute of Technology) Kiichiro

Tsuji (Osaka university)

Legal Issues for Realizing Ubiquitous Information Society 1751

*Yasujiro Murakami (Japan/Tokyo University of Technology)

A Method of Obtaining Shape by Bilateral Vibration Touch Sensor 1756

*Kazuhiro Enokishima, Yoji Masui, Takanori Miyoshi,Kazuhiko Terashima (Toyohashi University of Technology)

Spontaneous Switching in Coupled Biological Oscillator Systems

Constructed with Living Cells of the True Slime Mold 1760

*Atsuko Takamatsu (Waseda University) Teruo Fujii (The University of Tokyo)

Numerical estimation of effective emissivities of low-temperature

blackbody cavities with apertures 1764

*Yuka Kaneko, Yukiko Shimizu, Juntaro Ishii (NMIJ/AIST)

An orbit estimation for the spacecraft at closest approach phase to the planet 1768

*Tsutomu Ichikawa (Japan Aerospace Exploration Agency/Institute of Space and Astronautical

Science)

Reinforcement Learning Approach to Motion Control of 2-Link

Planer Manipulator with a Free Joint 1774

*Takakuni Goto (Tohoku University) Hiroyuki Kamaya (HachinoheNational College of Technology) Kenichi Abe (Tohoku University)

From Nyquist/bode to GKYP design — Design algorithms wiht CACSD tools 1780

*Daisuke Shiokata, Shinji Hara (The University of Tokyo) Tetsuya Iwasaki

(University of Virginia)

EEG-Based Detection Technique of Moving Picture Image 1786

*Shinji Tasaki, Chikamune Wada (Kyushu Institute of Technology)Kazuhiro Koshi, Hiroaki Koga (Kumamoto National College of Technology)

Two Types Dynamics in Negative Asynchrony of Synchronization Tapping 1792

*Kouji Takano, Yoshihiro Miyake (Tokyo Instisute of Technology)

Responding technologies and standardization activities against recent user

requirements for open field network 1797

*Nobumasa Nakano (Mitsubishi Electric Mechatronics Software Co.) Kazuhiro Kusunoki, Hiroo

Kanamaru (Mitsubishi Electric Co.)

State of the arts of the infrared radiation thermometry standards in the middle

temperature range at NMIJ 1803

*Yukiko Shimizu, Juntaro Ishii, Yuka Kaneko, Fumihiro Sakuma,Akira Ono (National Metrology Institute of Japan/AIST)

xxviii

S8 RoboNet — a Multi-Robot Victim Search Scheme for aDevastated Closed Space - 1807

*Yoshiki Matsuo (Tokyo Institute of Technology)Yuka Tamura (Toshiba HA Products Co.,Ltd.)

Classifying Neuro-Biological Signals by Evolutionary FuzzyClassifier Construction 1813

*Min-Soeng Kim, Chang-Hyun Kim, Ju-Jang Lee (KAIST)

Development of An Inspection Robot Control System for 500KV

Extra-High Voltage Power Transmission Lines 1819

Li Tang, Jin Li Fang, *Guang Hong Wang (Shenyang Institute ofAutomation)

Tracking performance limits for SIMO discrete-time feedback control systems 1825

Ton/ Bakhtiar, Shinji Hara (The University of Tokyo)

Tracking control of the n-dimensional rigid body with output feedback 1831

*Noboru Sakamoto (Nagoya University)

Model predictive tracking control for Wiener model usingDynamic output feedback 1835

*Sangun Kim, Sangchul Won (Postech)

Measurement and Control System for Midstream Plant 1841

*Yoshinori Sato (JGC Corporation)

On Some Mathematical Problems in Sensing and Measurement 1846

*Shigeru Ando (The University of Tokyo)

Design of Estimator with Disturbance Model under Parameter Uncertaintyand Its Application to Autopilot 1853

*Fuyuki Hane, Satoshi Sakai, Minoru Watanabe (Tokimec Inc.)

An Image Processing Platform : RASH-IP 1859

*Hiroai Asami, Akira Yamagishi, Teruhisa Imai, Tetsuya Takimoto,Kazuhiko Amano, Masahiro Nakagawa, Hiroyuki Sato (Mitsubishi Electoric Corp.)

Plant Layout Planning Using ART Neural Networks 1863

"Takeshi Tateyama, Seiichi Kawata (Tokyo Metropolitan University)

Swing Up Intelligent Control of Double Inverted Pendulum

Based on Human Knowledge 1869

Seiji Yasunobu, *Takayuki Iwasaki (University of Tsukuba)

Stabilization of a cascade-connected nonlinear system with an

input constraint 1874

*Hisakazu Nakamura, Nami Kidane, Yuh Yamashita,Hirokazu Nishitani (Nara Institute of Science and Technology)

Spider Robot - Automatic Transfer System of the Plasma WeldingMachine for LNGC Membrane Sheet 1880

*Dong-Yeon Lee, J. H. Jung, S. H. Han, S. D. Lee, Y. J. Lee, Y. J. Park (Samsung HeavyIndustries Co., Ltd.)

XXIX

Analysis and modeling of a Direct Methanol Fuel Cell 1885*Yasuaki Tsujioku, Masami Iwase,

Shoshiro Hatakeyama (Tokyo Denki University)

Non-destructive Inspection of Concrete Structures using Ultrasonic Sensor 1890

*Hajime Morishige, Shogo Tanaka (Yamaguchi University)

An Intelligent Cooperative Control System Based on Predictive Fuzzy Control 1896

Seiji Yasunobu, 'Yoshiaki Okamoto (University of Tsukuba)

Real Time Human Motion Recognition Based on a Motion HistoryImage and an Eigenspace 1901

*Takehito Ogata, Masudur M Rahman, Joo Kooi Tan,

Seiji Ishikawa (Kyushu Institute of Technology)

An Ethernet protocol for real-time communications 1905

*Alimujiang Yiming, Toshio Eisaka (Kitami Institute of Technology)

Volume 3

Swing Up Control of Acrobot based on Switched Output Functions 1909

Toshiyasu Yonemura, *Masaki Yamakita (Tokyo Institute of Technology)

Tuning of Entertainment Robots for RAA/RAT Application based on

Fieldworks at Aged People's Home and Pediatrics Ward 1915

*Takamichi Sasaki, Takashi Negishi, Moriyasu Shioya, Akira Sawanobori,H. Umino, Eiichi Ohkubo, Ryuhei Kimura, Mitsuru Naganuma (Teikyo

University of Science and Technology)

Dynamic Model of Facial Color for Facial Image Synthesis in a

Virtual Arm Wrestling 1919

*Takashi Yamada (Kagawa University) Tomio Watanabe

(Okayama Prefectural University)

Effect of Particle Size and Mass on Nano to Micron Particle Agglomeration 1923

*Haeryung Kim, Manseung Seo, Jaesung Song (Tongmyong Univ. of IT)

Fault-tolerant design of decentralized H-infinite control systemsusing homotopy method 1927

*Ning Chen, Masao Ikeda (Osaka University)

A Method for Extracting Flow Lines in Coral Reef Field usingAerial Photographs 1932

*Mari Yoshida, Hiroshi Hanaizumi (Hosei University)

Analyzing Metal Fixed-Point Cells from Their Plateaus 1936

*Januarius V. Widiatmo, K. Harada, M. Aral (NMIJ/AIST)

Fault Tolerant Design for X-By-Wire Vehicle 1940

*Toshihiro Hiraoka (Kyoto University) Shingo Eto (Toyota Motor Corporation)Osamu Nishihara, Hiromitsu Kumamoto (Kyoto University)