Technical Program for Thursday June 21, 2007

ThAT1	Room T1
Adaptive and Learning Control	Regular
Chair: Oh, Se-Young	POSTECH
Co-Chair: Song, Kai-Tai	National Chiao Tung Univ.
09:50-10:10, Paper ThAT1.1
Learning Tactic-Based Motion Models of a Moving Object with Particle Filtering
Gu, Yang	Carnegie Mellon Univ.
Veloso, Manuela	Carnegie Mellon Univ.
10:10-10:30, Paper ThAT1.2
Mixed Reinforcement Learning for Partially Observable Markov Decision Process
Le, Tien Dung	Shibaura Inst. of Tech.
Komeda, Takashi	Shibaura Inst. of Tech.
Takagi, Motoki	Shibaura Inst. of Tech.
10:30-10:50, Paper ThAT1.3
Local Online Support Vector Regression for Learning Control
Choi, Younggeun	Univ. of Southern California
Cheong, Shin-Young	Univ. of Southern California
Schweighofer, Nicolas	USC
10:50-11:10, Paper ThAT1.4
Fast Localization Algorithm for the Cleaning Robot by Using Self-Organization Map
Baek, Sanghoon	POSTECH
Ahn, Suyong	POSTECH
Oh, Se-Young	POSTECH
11:10-11:30, Paper ThAT1.5
A Fast Learning Algorithm for Robotic Emotion Recognition
Hong, Jung-Wei	National Chiao Tung Univ.
Song, Kai-Tai	National Chiao Tung Univ.
Han, Meng-Ju	National Chiao Tung Univ.
Chang, Fuh-Yu	Industrial Tech. Res. Inst.

ThAT2	Room T2
Computer Vision I	Regular
Chair: Archibald, James	Brigham Young Univ.
Co-Chair: Repperger, Daniel	Air Force Res. Lab.
09:50-10:10, Paper ThAT2.1
Object Tracking by Introducing Stochastic Filtering into Window-Matching Techniques
Vidal, Flávio B.	Univ. of Brasilia
Casanova Alcalde, Victor Hugo	Univ. of Brasilia
10:10-10:30, Paper ThAT2.2
A General Framework for Vessel Segmentation in Retinal Images
Wu, Chang-Hua	Kettering Univ.
Agam, Gady	Illinois Inst. of Tech.
Stanchev, Peter	Kettering Univ.
10:30-10:50, Paper ThAT2.3
Adaptive Object Tracking Using Particle Swarm Optimization
Zheng, Yuhua	Stevens Inst. of Tech.
Meng, Yan	Stevens Inst. of Tech.
10:50-11:10, Paper ThAT2.4
Image Clustering Using Visual and Text Keywords
Agrawal, Rajeev	Kettering Univ.
Wu, Chang-Hua	Kettering Univ.
Grosky, William	Univ. of Michigan - Dearborn
Fotouhi, Farshad	Wayne State Univ.
11:10-11:30, Paper ThAT2.5
Real-Time Feature Tracking on an Embedded Vision Sensor for Small Vision-Guided Unmanned Vehicles
Anderson, Jonathan	Brigham Young Univ.
Lee, Dah-Jye	Brigham Young Univ.
Edwards, Barrett	Brigham Young Univ.
Archibald, James	Brigham Young Univ.
Greco, Christopher R.	Brigham Young Univ.

ThAT3	Room T3
Biologically Inspired Robotics	Regular
Chair: Coulter, Neal	Univ. of North Florida
Co-Chair: Elfayoumy, Sherif	Univ. of North Florida
09:50-10:10, Paper ThAT3.1
Bio-Inspired Model of Robot Spatial Cognition: Topological Place Recognition and Target Learning
Barrera, Alejandra	ITAM
Weitzenfeld, Alfredo	ITAM
10:10-10:30, Paper ThAT3.2
Autonomous Configuration of Transportation Network by Artificial Pheromone System
-, Herianto	Tokyo Inst. of Tech.
Kurabayashi, Daisuke	Tokyo Inst. of Tech.
10:30-10:50, Paper ThAT3.3
Reinforcement Learning with a Supervisor for a Mobile Robot in a Real-World Environment
Conn, Karla	Vanderbilt Univ.
Peters II, Richard Alan	Vanderbilt Univ. School of Engineering
10:50-11:10, Paper ThAT3.4
Optimization of Source Identification Algorithm Derived from Moth-Inspired Plume Tracing Strategies
Li, Wei	California State Univ. Bakersfield
11:10-11:30, Paper ThAT3.5
Physics-Based Animation for Qualitative Assessment of Biomimetic Subterranean Burrowing Behaviors
Bergeron, Bryan	Harvard Medical School & MIT

ThBT1	Room T1
Intelligent Systems I	Regular
Chair: Oubbati, Mohamed	Ulm Univ.
Co-Chair: Moon, Seungbin B.	Sejong Univ.
13:00-13:20, Paper ThBT1.1
Neural Fields for Controlling Formation of Multiple Robots
Oubbati, Mohamed	Ulm Univ.
13:20-13:40, Paper ThBT1.2
Delay Dependent Stability in the Real Time Control of a Mobile Robot Using Neural Networks
Vadrevu, Sree Krishna Chaitanya	Indian School of Mines, Dhanbad
P, Dwarikanath Patro	Indian School of Mines, Dhanbad
Sarkar, Prabir Kumar	Indian School of Mines, Dhanbad
13:40-14:00, Paper ThBT1.3
An Iterative Fuzzy Segmentation Algorithm for Recognizing an Odor Source in Near Shore Ocean Environments
Li, Wei	California State Univ. Bakersfield
14:00-14:20, Paper ThBT1.4
A Sensor Calibration Methodology for Evidence Theoretic Unmanned Ground Vehicle Localization
Vibeeshanan, Veera Jawahar	Univ. of Texas at Arlington
Subbarao, Kamesh	Univ. of Texas at Arlington
Huff, Brian	The Univ. of Texas at Arlington
14:20-14:40, Paper ThBT1.5
Eta-Filter: An Evidence Theoretic Approach to Unmanned Ground Vehicle Localization
Vibeeshanan, Veera Jawahar	Univ. of Texas at Arlington
Subbarao, Kamesh	Univ. of Texas at Arlington
Huff, Brian	The Univ. of Texas at Arlington

ThBT2	Room T2
Computer Vision II	Regular
Chair: Casanova Alcalde, Victor Hugo	Univ. of Brasilia
Co-Chair: Wu, Changhua	Kettering Univ.
13:00-13:20, Paper ThBT2.1
Computer Vision Studies Using Stochastic Resonance/ Information Theoretic Methods
Repperger, Daniel	Air Force Res. Lab.
13:20-13:40, Paper ThBT2.2
A Vision System for Precision MAV Targeted Landing
Edwards, Barrett	Brigham Young Univ.
Archibald, James	Brigham Young Univ.
Fife, Wade	Brigham Young Univ.
Lee, Dah-Jye	Brigham Young Univ.
13:40-14:00, Paper ThBT2.3
Facial Identity and Expression Recognition by Using Active Appearance Model with Efficient Second Order Minimization and Neural Networks
Choi, Hyun-Chul	POSTECH
Oh, Se-Young	POSTECH
14:00-14:20, Paper ThBT2.4
Investigation of Performance of Distributed Complex Systems Using Information-Theoretic Means and Genetic Algorithms
Repperger, Daniel	Air Force Res. Lab.
14:20-14:40, Paper ThBT2.5
Vision Aided Stabilization and the Development of a Quad-Rotor Micro UAV
Fowers, Spencer	Brigham Young Univ.
Lee, Dah-Jye	Brigham Young Univ.
Tippetts, Beau	Brigham Young Univ.
Lillywhite, Kirt D.	Brigham Young Univ.
Dennis, Aaron	Brigham Young Univ.
Archibald, James	Brigham Young Univ.

ThBT3	Room T3
Mobile Robots I	Regular
Chair: Parker, Gary	Connecticut Coll.
Co-Chair: Ishii, Kazuo	Kyushu Inst. of Tech.
13:00-13:20, Paper ThBT3.1
Development of Control for a Serpentine Robot
Hutchison, William	Behavior Systems LLC
Constantine, Betsy J.	Context Systems
Borenstein, Johann	Univ. of Michigan
Pratt, Jerry	Inst. for Human and Machine Cognition
13:20-13:40, Paper ThBT3.2
Extending the Capabilities of Mobile Robots through Knowledge Ecosystems
Mastrogiovanni, Fulvio	Univ. of Genova, Italy
Sgorbissa, Antonio	Univ. of Genova
Zaccaria, Renato	Univ. of Genova
13:40-14:00, Paper ThBT3.3
Robust Mobile Robot Visual Tracking Control System Using Self-Tuning Kalman Filter
Tsai, ChiYi	National Chiao Tung Univ.
Song, Kai-Tai	National Chiao Tung Univ.
Dutoit, Xavier	K.U.Leuven
Van Brussel, Hendrik	Katholieke Univ. Leuven
Nuttin, Marnix	K.U.Leuven
14:00-14:20, Paper ThBT3.4
Performance Evaluation Criteria for Autonomous Cleaning Robots
Rhim, Sungsoo	Kyung Hee Univ.
Ryu, Jaechang	Kyung Hee Univ.
Lee, Soon-Geul	Kyung Hee Univ.
Park, Kwang-Ho	Korea Agency for Tech. and Standards
14:20-14:40, Paper ThBT3.5
Design and Simulation Research on a New Type of Suspension for Lunar Rover
Chen, Baichao	Jilin Univ.
Wang, Rongben	Jilin Univ.
Yang, Lu	Jilin Univ.
Jin, Lisheng	Jilin Univ.
Guo, Lie	Jilin Univ.

ThCT1	Room T1
Intelligence in Robotics	Special
Chair: Kiguchi, Kazuo	Saga Univ.
Co-Chair: Kubota, Naoyuki	Tokyo Metropolitan Univ.
Organizer: Kiguchi, Kazuo	Saga Univ.
15:00-15:20, Paper ThCT1.1
Consept of Mechatronics Modular Design for an Autonomous Mobile Soccer Robot (I)
Nassiraei, Amir A.F.	FAIS
Takemura, Yasunori	Kyushu Inst. of Tech.
Sanada, Atsushi	Kyushu Inst. of Tech.
Kitazumi, Yuichi	the Univ. of Kitakyushu
Ogawa, Yu	the Univ. of Kitakyushu
Godler, Ivan	the Univ. of Kitakyushu
Ishii, Kazuo	Kyushu Inst. of Tech.
Miyamoto, Hiroyuki	Kyushu Inst. of Tech.
Ghaderi, Ahmad	Kyushu Inst. of Tech.
15:20-15:40, Paper ThCT1.2
Intelligent Control of a Multi-Agent System Based on Multi-Objective Behavior Coordination (I)
Kubota, Naoyuki	Tokyo Metropolitan Univ.
Aizawa, Naohide	Tokyo Metropolitan Univ.
15:40-16:00, Paper ThCT1.3
A Study on EMG-Based Human Motion Prediction for Power Assist Exoskeletons (I)
Kiguchi, Kazuo	Saga Univ.
16:00-16:20, Paper ThCT1.4
Simulation of Fine Gain Tuning Using Genetic Algorithms for Model-Based Robotic Servo Controllers (I)
Nagata, Fusaomi	Tokyo Univ. of Science, Yamaguchi
Kuribayashi, Katsutoshi	Tokyo Univ. of Science, Yamaguchi
Kiguchi, Kazuo	Saga Univ.
Watanabe, Keigo	Saga Univ.
16:20-16:40, Paper ThCT1.5
A Simple Rule How to Make a Reward for Learning with Human Interaction (I)
Kurashige, Kentarou	Muroran Inst. of Tech.

ThCT2	Room T2
Co-Operative Robotics I	Regular
Chair: Peng, Jian	Southeast Missouri State Univ.
Co-Chair: Meng, Yan	Stevens Inst. of Tech.
15:00-15:20, Paper ThCT2.1
Potentially Distributable Energy: Towards Energy Autonomy in Large Population of Mobile Robots
Ngo, Trung Dung	Aalborg Univ.
15:20-15:40, Paper ThCT2.2
Implementing Search-And-Retrieve Tasks by Multiple Heterogeneous Robots
Peng, Jian	Southeast Missouri State Univ.
Sekmen, Ali	Tennessee State Univ.
Zein-Sabatto, Saleh	TSU
15:40-16:00, Paper ThCT2.3
Algebraic Interval Constraint Driven Exploration in Human-Agent Collaborative Problem Solving
Wang, Yan	Univ. of Central Florida
16:00-16:20, Paper ThCT2.4
Robot Workload Distribution in Active Sensor Networks
Sheng, Weihua	Oklahoma State Univ.
Tewolde, Girma	Kettering Univ.
16:20-16:40, Paper ThCT2.5
Communication-Efficient Dynamic Task Scheduling for Heterogeneous Multi-Robot Systems
Kashyap, Shah	Stevens Inst. of Tech.
Meng, Yan	Stevens Inst. of Tech.

ThCT3	Room T3
Mobile Robotics II	Regular
Chair: Li, Wei	California State Univ. Bakersfield
Co-Chair: Rhim, Sungsoo	Kyung Hee Univ.
15:00-15:20, Paper ThCT3.1
Probabilistic Semantic Mapping with a Virtual Sensor for Building/Nature Detection
Persson, Martin	Örebro Univ.
Duckett, Tom	Univ. of Lincoln
Valgren, Christoffer	Örebro Univ.
Lilienthal, Achim	Örebro Univ.
15:20-15:40, Paper ThCT3.2
Design and Development of a Biped Robot
Madadi, Vishnu	Florida International Univ.
Tosunoglu, Sabri	Florida International Univ.
15:40-16:00, Paper ThCT3.3
Robot Self-Localization Based on a Single Image of Identified Landmarks
Liu, Wenfei	State Univ. of New York at Stony Brook
Zhou, Yu	SUNY at Stony Brook
16:00-16:20, Paper ThCT3.4
A Comparative Study of Smooth Path Planning for a Mobile Robot by Evolutionary Multi-Objective Optimization
Hung, Kao-Ting	Chang Gung U.
Liu, Jing-Sin	Acad. Sinica
Chang, YZ	Chang Gung Univ.
16:20-16:40, Paper ThCT3.5
A Comparison between a Fuzzy Behavioral Algorithm and a Vector Polar Histogram Algorithm for Mobile Robot Navigation
Shi, Dongqing	Florida State Univ.
Dunlap, Damion	Florida A&M Univ.
Collins, Emmanuel	FAMU-FSU Coll. of Engineering