Communications in Computer and Information Science 376 Editorial Board Simone Diniz Junqueira Barbosa Pontifical Catholic University of Rio de Janeiro (PUC-Rio), Rio de Janeiro, Brazil Phoebe Chen La Trobe University, Melbourne, Australia Alfredo Cuzzocrea ICAR-CNR and University of Calabria, Italy Xiaoyong Du Renmin University of China, Beijing, China Joaquim Filipe Polytechnic Institute of Setúbal, Portugal Orhun Kara TÜBİTAK BİLGEM and Middle East Technical University, Turkey Igor Kotenko St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences, Russia Krishna M. Sivalingam Indian Institute of Technology Madras, India Dominik Ślęzak University of Warsaw and Infobright, Poland Takashi Washio Osaka University, Japan Xiaokang Yang Shanghai Jiao Tong University, China
Khairuddin Omar Md Jan Nordin Prahlad Vadakkepat Anton Satria Prabuwono Siti Norul Huda Sheikh Abdullah Jacky Baltes Shamsudin Mohd Amin Wan Zuha Wan Hassan Mohammad Faidzul Nasrudin (Eds.) Intelligent Robotics Systems: Inspiring the NEXT 16th FIRA RoboWorld Congress, FIRA 2013 Kuala Lumpur, Malaysia, August 24-29, 2013 Proceedings 13
Volume Editors Khairuddin Omar Universiti Kebangsaan Malaysia Bangi, Selangor, Malaysia E-mail: ko@ftsm.ukm.my Prahlad Vadakkepat National University of Singapore Singapore E-mail: prahlad@nus.edu.sg Siti Norul Huda Sheikh Abdullah Universiti Kebangsaan Malaysia Bangi, Selangor, Malaysia E-mail: mimi@ftsm.ukm.my Shamsudin Mohd Amin Universiti Teknologi Malaysia Skudai, Johor, Malaysia E-mail: sham@fke.utm.my Mohammad Faidzul Nasrudin Universiti Kebangsaan Malaysia Bangi, Selangor, Malaysia E-mail: mfn@ftsm.ukm.my Md Jan Nordin Universiti Kebangsaan Malaysia Bangi, Selangor, Malaysia E-mail: jan@ftsm.ukm.my Anton Satria Prabuwono Universiti Kebangsaan Malaysia Bangi, Selangor, Malaysia E-mail: antonsatria@ftsm.ukm.my Jacky Baltes University of Manitoba Winnipeg, MB, Canada E-mail: jacky@cs.umanitoba.ca Wan Zuha Wan Hassan University Putra Malaysia Serdang, Selangor, Malaysia E-mail: wan@eng.upm.edu.my ISSN 1865-0929 e-issn 1865-0937 ISBN 978-3-642-40408-5 e-isbn 978-3-642-40409-2 DOI 10.1007/978-3-642-40409-2 Springer Heidelberg New York Dordrecht London Library of Congress Control Number: 2013945591 CR Subject Classification (1998): I.2.9, I.4, I.5, I.2, H.5 Springer-Verlag Berlin Heidelberg 2013 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher s location, in ist current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. While the advice and information in this book are believed to be true and accurate at the date of publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein. Typesetting: Camera-ready by author, data conversion by Scientific Publishing Services, Chennai, India Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
Preface The 16th FIRA RoboWorld Congress (FIRA 2013), which was co-hosted by Universiti Kebangsaan Malaysia, Department of Polytechnic Education (Ministry of Education) and MySET (Malaysian Society for Engineering and Technology), was held in Shah Alam, Malaysia, during August 26 27, 2013. That big event was also co-located with the Multi-Conference on Artificial Intelligence Technology (MCAIT 2013) organized by the Center for Artificial Intelligence Technolgy (CAIT). This volume contains papers selected from the 16th FIRA RoboWorld Congress. The Federation of International Robosoccer Association (FIRA - www.fira.net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The Robot Soccer competitions started in 1996 and FIRA was established on June 5, 1997. The Robotics competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and the future directions of technologies, and to enlarge the human networks in the robotics area. The objectives of the FIRA Cup and Congress are to explore technical developments and achievements in the field of robotics, and to provide participants with a robot festival including technical presentations, robot soccer competitions, and exhibitions. The main theme of the 16th FIRA RoboWorld Cup was Intelligent Robotics Systems: Inspiring the NEXT. Under this slogan, three international conferences were held for greater impact and scientific exchange: 5th International Conference on Advanced Humanoid Robotics Research (ICAHRR) 5th International Conference on Education and Entertainment Robotics (ICEER) 4th International Robotics Education Forum (IREF) This volume consists of selected quality papers from the three conferences. The volume is intended to provide readers with the recent technical progress in robotics, human robot interactions, cooperative robotics, and related fields. The volume contains 38 papers from the 112 contributed papers at the 16th FIRA RoboWorld Congress. The editors hope that readers find this volume informative. We thank Springer for undertaking the publication of this volume.
VI Preface We would like to thank the conference organization staff and the members of the International Program Committees for their hard work. We look forward to seeing all of you next year at FIRA 2014. Khairuddin Omar Md Jan Nordin Prahlad Vadakkepat Anton Satria Prabuwono Siti Norul Huda Sheikh Abdullah Shamsudin Mohd Amin Wan Zuha Wan Hasan Jacky Baltes Mohammad Faidzul Nasrudin
Organization Proceedings Chairs Othman A. Karim Khairuddin Omar Md Jan Nordin Prahlad Vadakkepat National University of Singapore, Singapore Local Organizing Committee Siti Norul Huda Sheikh Abdullah Mohd Faidzul Nasrudin Shahnorbanun Sahran Anton Satria Prabuwono Azizi Abdullah Siti Noridah Ali Bilal Bataineh Mir Shahriar Emami Norhayati Ibrahim Zamri Murah Noor Faridatul Ainun Zainal Mohamad Khairi Ishak Mohamad Shanudin Zakaria Politeknik Sultan Salahuddin Abdul Aziz Shah, Malaysia Politeknik Sultan Salahuddin Abdul Aziz Shah, Malaysia University of Bristol, UK 5th International Conference on Advances Humanoid Robotics Research (ICAHRR) Anton Satria Prabuwono Md Jan Nordin See Seng Chan Chu Kiong Loo HanafiahYussof Mohamad Khairi Ishak Jacky Baltes Kuo-Yang Tu John Anderson Universiti Malaya, Malaysia Universiti Malaya, Malaysia Universiti Teknologi MARA, Malaysia University of Bristol, UK University of Manitoba, Canada NKFUST, Taiwan University of Manitoba, Canada
VIII Organization 5th International Conference on Education and Entertainment Robotics (ICEER) Wan Zuha Wan Hasan Azura Che Soh Mohammad Faidzul Nasrudin Haslina Arshad Hairi Zamzuri Lai Weng Kin Chung-Hsien Kuo Universiti Putra Malaysia, Malaysia Universiti Putra Malaysia, Malaysia Universiti Teknologi Malaysia, Malaysia Tunku Abdul Rahman College, Malaysia NKFUST, Taiwan 4th International Robotics Education Forum (IREF) Shamsudin Mohd Amin Siti Norul Huda Sheikh Abdullah Shahnorbanun Sahran Nasharuddin Zainal Rizauddin Ramli Rubiyah Yusof Anna Friesel Igor Verner David Ahlgren Universiti Teknologi Malaysia, Malaysia Universiti Teknologi Malaysia, Malaysia Technical University of Denmark, Denmark Techion, Israel Institute of Technology, Israel Trinity College, USA International Program Committee Jong Hwan Kim Adalberto Llarena Abdullah Al Mamun Chung-Hsien Kuo Gourab Sen Gupta Guido Bugmann Guido Herrmann Han-Pang Huang Chen-Chien Hsu Pramod Kumar Pisharady Tan Kok Kiong Tan Kay Chen Hyun Myung P. Vivekananda Shanmuganathan Ulrich Rueckert KAIST, Korea UNAM, Mexico National University of Singapore, Singapore National Taiwan University, Taiwan Massey University, New Zealand University of Plymouth, UK University of Bristol, UK National Taiwan University, Taiwan National Taiwan Normal University, Taiwan IHPC, Singapore National University of Singapore, Singapore National University of Singapore, Singapore KAIST, Korea Vellore Institute of Technology, India Bielefeld University, Germany
Organization IX Ulrich Rückert Chao-Lieh Chen Peter Kopacek Zuwairie Ibrahim Mohd Fauzi Othman Zainal Rasyid bin Mahayuddin Riza bin Sulaiman Tang Sai Hong Zahari Taha Arief Syaichu Rohman M.S. Saleem Basha Wenzeng Zhang Amir Akramin Shafie Muralindran Mariappan Khairul Salleh Mohamed Sahari Eng Kiong Wong Saifudin Razali Mohd. Noh Karsiti Mohammad Hamiruce Marhaban Asnor Juraiza Ishak Sazali Yaacob Choong Yeun Liong Abdul Rahman Ramli Che Fai Yeong Ishkandar Baharin S.G. Ponnambalam University of Paderborn, Germany NKFUST, Taiwan Vienna University of Technology, Austria Universiti Malaysia Pahang, Malaysia Universiti Teknologi Malaysia, Malaysia Universiti Putra Malaysia, Malaysia Universiti Malaysia Pahang, Malaysia Institut Teknologi Bandung, Indonesia Pondicherry University, India Tsing Hua University, China International Islamic University Malaysia, Malaysia Universiti Malaysia Sabah Universiti Tenaga Nasional, Malaysia Multimedia University, Malaysia Universiti Malaysia Pahang, Malaysia Universiti Teknologi Petronas, Malaysia Universiti Putra Malaysia, Malaysia Universiti Putra Malaysia, Malaysia Universiti Malaysia Perlis, Malaysia Universiti Putra Malaysia, Malaysia Universiti Teknologi Malaysia Universiti Kuala Lumpur Malaysia France Institute, Malaysia Monash University Sunway Campus, Malaysia
Table of Contents Simulation of Dynamic Path Planning for Real-Time Vision-Base Robots... 1 Mohd Fauzi Othman, Masoud Samadi, and Mehran Halimi Asl Automatic Color Detection for MiroSOT Using Quantum-Inspired Evolutionary Algorithm... 11 Deok-Hwa Kim, Yong-Ho Yoo, Si-Jung Ryu, Woo-Young Go, and Jong-Hwan Kim Distributed Motion Synchronisation Control of Humanoid Arms... 21 Muhammad Nasiruddin Mahyuddin and Guido Herrmann Arm Gesture Generation of Humanoid Robot Mybot-KSR for Human Robot Interaction... 36 Seung-Jae Lee, Chang-Young Jung, Bum-Soo Yoo, Se-Hyoung Cho, Young-Min Kim, and Jong-Hwan Kim Kinematic Modeling of a Humanoid Soccer Player: Applied to BIOLOID Premium Type A Robot... 49 J. Ramón Cerritos Jasso, Karla Anhel Camarillo Gómez, J. Andrés Monsiváis Medina, Gabriela Castillo Alfaro, Gerardo I. Pérez Soto, and J. Alfonso Pámanes García Programming the Goalkeeper of 20 DOF for FIRA Cup... 64 Mauro Santoyo Mora, Víctor Hugo Cacique Borrego, Karla Anhel Camarillo Gómez, and J. Manuel Ibarrra Zannatha Options and Pitfalls in Embedded Systems Development for Intelligent Humanoid Robots... 77 Jacky Baltes, Kuo-Yang Tu, and John Anderson Error Analysis in Applying Fuzzy Logic Based Obstacle Avoidance Algorithm for Robot Soccer... 90 Jinjuli Jameson, Siti Norul Huda Sheikh Abdullah, and Keith Mackinjal Maluda Efficient Face Recognition Technique with Aid of Active Appearance Model... 101 Mohammed Hasan, Siti Norul Huda Sheikh Abdullah, and Zulaiha Ali Othman
XII Table of Contents Teaching Basic Probability Concept Using SocSim Robot Soccer Simulator: An Approach... 111 Yoong Chow Ho Set of Fuzzy Systems for Computation of Pass Optimality in Robot Soccer Strategy... 126 Alexey Kachalov Novice Learning in Robot Soccer Calibration... 135 Maryam Jaafar, Siti Norul Huda Sheikh Abdullah, Nur Saadah Bokhari, and Dwi Yanuar Panji Tresna Grammatical Evolution Algorithm for Position Prediction of the Ball in Robot-Soccer Goal Keeper Optimization... 147 Aulia El Hakim, Dadan Nur Ramadan, Indra Hidayatulloh, Ary Setijadi Prihatmanto, and Estiko Rijanto Client Server System for MiroSot Robot Soccer... 161 Dadan Nur Ramadan, Aulia El Hakim, Indra Hidayatulloh, Ary Setijadi Prihatmanto, and Estiko Rijanto Image Classification Using Optimized Synergetic Neural Network... 170 Ghazaleh Taherzadeh and Chu Kiong Loo Characteristics of Student Engagement in Robotics... 181 Igor Verner Portable and Fast Vision System Implementation Using Lab VIEW... 195 Dinna Fitriyana, Priadi Teguh Wibowo, Hafy Zaindini Jungjunan, Arief Syaichu-Rohman, Ary Setijadi Prihatmanto, and Kusprasapta Mutijarsa UAV Dynamic Path Planning for Intercepting of a Moving Target: A Review... 206 Hendri Himawan Triharminto, Anton Satria Prabuwono, Teguh Bharata Adji, Noor Akhmad Setiawan, and Nak Young Chong Anomaly Detection Using Cooperative Fuzzy Logic Controller... 220 Ali Feizollah, Shahaboddin Shamshirband, Nor Badrul Anuar, Rosli Salleh, and Miss Laiha Mat Kiah Formations Strategies for Obstacle Avoidance with Multi Agent Robotic System... 232 M. Azrai M. Norrazi, Wee Yang Ricky Yap, Ibrahim M.H. Sanhoury, Mahdi Tousizadeh, Mohd. Muhaimin Mahmood, and Shamsudin H.M. Amin
Table of Contents XIII Control System Development for One-Side Hip-Knee Joint of Reciprocating Gait Orthosis... 246 Mohd Aizat Ahmad Tarmizi, Rizauddin Ramli, Mohd Faizol Abdullah, Phun Li Teng, and Sallehuddin Mohamed Haris Object Class Recognition Using Surf Descriptors and Shape Skeletons... 255 Vahid Alizadeh Sahzabi and Khairuddin Omar Real Time Vision Based Object Detection from UAV Aerial Images: A Conceptual Framework... 265 A.F.M. Saifuddin Saif, Anton Satria Prabuwono, and Zainal Rasyid Mahayuddin Fuzzy Basketball Throwing Strength Control System for Vision-Based Humanoid Robot... 275 Chi-Tai Cheng, Ching-Chang Wong, Yueh-Yang Hu, I-Hsiang Tseng, Yi-Fan Chung, and Min-Wei Chou Design a Remote Environment Monitor Embedded System Based on SOPC... 286 Shih-An Li, Chih-En Wu, Kung-Han Chen, Yi-Ting Wu, and Ching-Chang Wong Task Allocation Design for Autonomous Soccer Robot... 297 Shih-An Li, Ming-Hua Hsieh, Cheng-Yao Ho, Kung-Han Chen, Ciao-Yun Lin, and Ching-Chang Wong Design and Implementation of Stereo Vision Systems Based on FPGA for 3D Information... 309 Kuo-Yang Tu, Chen-Yu Chiu, Shih-An Li, and Jacky Baltes Multi Agent Reinforcement Learning for Gridworld Soccer Leadingpass... 319 Safreni Candra Sari, Ary Setijadi Prihatmanto, and Kuspriyanto The Adaptive Algorithm of the Light Intensity Applied to Androsot... 334 Luo Zhongwen, Wang Ke, Sun Hongjian, and Chen Wen Camera Calibration: Transformation Real-World Coordinates into Camera Coordinates Using Neural Network... 345 Awang Hendrianto Pratomo, Mohamad Shanudin Zakaria, Anton Satria Prabuwono, and Choong-Yeun Liong Randomized Circle Detection Performance Based on Image Difficulty Levels and Edge Filters... 361 Yazan Alomari, Siti Norul Huda Sheikh Abdullah, and Khairuddin Omar
XIV Table of Contents Human Ear Recognition Using an Integrated Method of ICP and SCM Techniques... 375 Khamiss Masaoud S. Algabary, Khairuddin Omar, and Md. Jan Nordin Robots as Adjunct Therapy: Reflections and Suggestions in Rehabilitation for People with Cognitive Impairments... 390 Syamimi Shamsuddin, Norjasween Abdul Malik, Hafizan Hashim, Hanafiah Yussof, Fazah Akhtar Hanapiah, and Salina Mohamed Measure the Ability and Limitation of Gyroscope, Acceleration and Gyro-accelaration for Stabilized Platform... 405 Abdul Rashid Alias, Mohd Sofian Alias, Iskandar Zulkarnain Shamsuddin, Raja Abdullah Raja Ahmad, and Siti Norul Huda Sheikh Abdullah Transformative Robotic Education for the Realization of Malaysia National Philosophy of Education... 416 Sau Cheong Loh, Chu Kiong Loo, Hock Chuan Loh, and Yoke Kit Lim Stable Dynamic Walking Gait Humanoid... 427 Mohamad Noraffandi Daut, Nur Latif Azyze, Ibrahim M.H. Sanhoury, Mohamad Lukman Nafis, and Shamsudin H.M. Amin Implementation of Multi Robot Communication via Bluetooth... 441 Mohd. Muhaimin Mahmood, Ober Choo Sui Hong, Ibrahim M.H. Sanhoury, M. Azrai M. Norrazi, and Shamsudin H.M. Amin Programming Microcontroller via Hierarchical Finite State Machine... 454 Ragunathan Jayaraman, Haspirudin Bin Basiron, and Pavithra Malar Sanga Pillai Author Index... 465