2014 IEEE International Conference

on Robotics and Biomimetics

Padma Resort Bali at Legian

December 5-10,2014

Bali Indonesia

Financial Sponsors

IEEE Robotics and Automation Society

Harbin Institute of Technology

State Key Laboratory of Robotics and Systems

National University of Defense Technology

Shenzhen Institutes of Advanced Technology, CAS

Technical Sponsors

The Chinese University of Hong Kong Shanghai Jiao Tong University

Vietnam Academy of Science and Technology Institute of Information Technology, VAST

Heilongjiang Society of Biomedical Engineering

IEEE ROBIO 2014 Conference Digest

Message from the Conference Organizers

The 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014) is co-sponsored by IEEE Robotics and Automation Society, the State Key Laboratory of Robotics and Systems (Harbin Institute of Technology), the National University of Defense Technology, and Shenzhen Institute of Advanced Technology. The conference also received technical support from The Chinese University of Hong Kong, Shanghai Jiao Tong University, Institute of Information Technology of Vietnam Academy of Science and Technology, and Heilongjiang Society of Biomedical Engineering. The objective of this Conference is to provide a forum and opportunity for scientists and engineers to meet and assess the latest developments in the fast growing fields. The conference received 638 submissions from 40 countries and regions, which are much more than we anticipated. We have accepted 374 papers for oral presentation and 81 papers for poster presentation. We regret that many high quality papers could not be accommodated. A conscientious effort was made by the Program Committee to balance the program among papers in theoretic development and experimentation. Supplementing the technical presentation, three keynote speeches in biorobotics, robotics and nanotechnology are given by Professor Atsuo Takanishi, Professor Daniel E. Koditschek, and Professor Dong Sun, respectively.

We are grateful for the assistance of the staff members and students of Harbin Institute of Technology, Shanghai Jiao Tong University, and The Chinese University of Hong Kong. We would also thank all members of the organization committee for their help in organizing this event. We are grateful for the financial support from Harbin Institute of Technology, National University of Defense Technology, and Shenzhen Institute of Advanced Technology. Special thanks should be given to all the authors for contributing their research works, and all the participants for making the Conference a memorable event.

Bali is an Indonesian island with the provincial capital at Denpasar. Lying between Java to the west and Lombok to the east, this island is renowned for its volcanic lakes, spectacular rice terraces, stunning tropical beaches, ancient temples and palaces, dance and elaborate religious festivals. For this, the program committee made special efforts on finishing the technical session early so that you will have time to enjoy the beaches, the fantastic views, and water activities at Bali after the technical programs.

Finally, we wish you all a wonderful stay in Bali! General Chairs Program Chair

Yunhui Liu Yili Fu Hesheng Wang

The Chinese University of Hong Kong

Harbin Institute of Technology

Shanghai Jiao Tong University

Advisory Committee

Hegao Cai Harbin Institute of Technology

Jianping Fan Shenzhen Institute of Advanced Technology, CAS

Toshio Fukuda Nagoya University

Do Huu Hao Vietnamese Automation Association

Ossuma Khatib Stanford University

Chau Van Minh Vietnamese Academy of Science and Technology

Bruno Siciliano University of Naples Federico II ChaoJing Tang National University of Defense Technology

Tzyh-Jong Tarn Washington University Mssayosi Tomizuka University of California, Berkeley

Shuguo Wang Xi'an Jiao Tong University Youlun Xiong Huazhong University of Science and Technology Yangsheng Xu The Chinese University of Hong Kong

Zhaowen Zhuang National University of Defense Technology

Steering Committee

Hong Liu Harbin Institute of Technology

Guoqing Xu Shenzhen Institute of Advanced Technology, CAS

Yinxue Yao HIT Shenzhen Graduate School Jie Zhao Harbin Institute of Technology

General Chairs

Yunhui Liu The Chinese University of Hong Kong

Yili Fu Harbin Institute of Technology

General Co-Chairs

Duong Ngoc Hai Vietnamese Academy of Science and Technology Tim Lueth Technical University of Munich

James K. Mills University Toronto

Shigeki Sugano Waseda University

Program Chair

Hesheng Wang Shanghai Jiao Tong University

Program Co-Chairs

Hajimei Asama University of Tokyo Brad Nelson Swiss Federal Institute of Technology in Zurich

Xinyu Wu Shenzhen Institute of Advanced Technology, CAS Uche Wejinya University Arkansas

ROBIO 2014 Organizing Commitee

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Organizing Chair

Pham Thuong Cat Vietnamese Academy of Science and Technology

Organizing Co-Chairs

Weidong Chen Shanghai Jiao Tong University Thai Quang Vinh Vietnamese Academy of Science and Technology

Local Arrangement Chairs

Pham Minh Tuan Vietnamese Academy of Science and Technology Jun Cheng Shenzhen Institute of Advanced Technology, CAS

Bing Li HIT Shenzhen Graduate School

Award Chairs

Dong Sun City University of Hong Kong C. C. Cheah Nanyang Technological University

Stefano Chiaverini University of Cassino

Organized Sessions Chairs

Shugen Ma Ritsumeikan University Park Frank Seoul National University

Housheng Hu University of Essex

Workshop/Tutorial Chairs

Hong Zhang University of Alberta Shinichi Hirai Ritsumeikan University

Yongsheng Ou Shenzhen Institute of Advanced Technology, CAS Vu Ngoc Phat Vietnamese Academy of Science and Technology

Poster Session Chairs

Aiguo Ming University of Electro-Communications Xuanping Cai National University of Defense Technology

Ying Hu Shenzhen Institute of Advanced Technology, CAS Zhan Song Shenzhen Institute of Advanced Technology, CAS

Exhibition Chairs

Xiaorui Zhu HIT Shenzhen Graduate School Guohua Jiao Shenzhen Institute of Advanced Technology, CAS

Jianwei Zhang University of Hamburg

Publicity Chairs

Yantao Shen University of Nevada Yasuhisa Hirata Tohoku University

Yangmin Li University of Macau

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Dikai Liu University of Technology, Sydney Ta Cao Minh Hanoi University of Science and Technology

Publication Chair

Wei Liu The Chinese University of Hong Kong Nguyen Van Khang Hanoi University of Science and Technology

Zhidong Wang Chiba Institute of Technology

Financial Chairs

Dongxiang Zhou National University of Defense Technology Can Wang Shenzhen Institute of Advanced Technology, CAS

Zeyang Xia Shenzhen Institute of Advanced Technology, CAS

Registration Chairs

Min Li Shanghai University Tao He Shanghai Jiao Tong University

Ming Liu The Hong Kong University of Science and Technology Bui Trong Tuyen Vietnamese Academy of Science and Technology

Conference Secretariat

Sissi Fang HIT Shenzhen Graduate School Luyang Li The Chinese University of Hong Kong

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Satoko Abiko Martin Adams Narong Aphiratsakun Hitoshi Arisumi Carlo Alberto Avizzano Messaouda Azzouzi Hansjorg Baltes Young-bong Bang Luca Bascetta Zeki.Y Bayraktaroglu Faiz Ben Amar Pinhas Ben-Tzvi Christos Bergeles Peter Berkelman Zhuming Bi Sheng Bi Bin Xian Isil Bozma Genci Capi Pham Thuong Cat Weihai Chen Chin-Yin Chen Weidong Chen Yen-Lun Chen Zheng Chen Haoyao Chen XiaoQi Chen Zheng Chen Jun Cheng Karthik Dantu Xilun Ding Haibin Duan Imad Elhajj Gang Feng Fanny Ficuciello Alberto Finzi Yili Fu Osamu Fukuda Wai-keung Fung Wenpeng Gao Zhen Gao Bingtuan Gao Jason Gu Dongbing Gu Yisheng Guan Weian Guo Sami Haddadin Kensuke Harada Wei He Tao He Yasuhisa Hirata Zengguang Hou Tianjiang Hu Ying Hu Chao Hu Guoqiang Hu Qiang Huang Jian Huang Qingjiu Huang Weiwei Huang Kenji Inoue Kazuyuki Ito Ping Ji Songmin Jia Xin Kang Kuniaki Kawabata Behrad Khamesee Gabor Kosa Yoshinori Kuno Masamitsu Kurisu King Lai Chao-Chieh Lan Youfu Li Peng Li Baopu Li Zheng Li Bin Li Howard Li Yangmin Li Zhijun Li Bing Li Feng-Li Lian Xinwu Liang Wei-Hsin Liao Zongli Lin Wei Liu Yong Liu Jinguo Liu Chao Liu Ming Liu Dikai Liu Yunjiang Lou Zhenli Lu Lei Ma Xin Ma Alessandro Marino Gian Luca Mariottini Kei Matsushita K.A. Mclsaac Qinggang Meng Xianyong Meng Carlo Menon James K. Mills Aiguo Ming Atsushi Mitani Petr Musilek David Navarro-Alarcon Jeremiah Neubert Emmanuel Nuno Koichi Ogawara Kenichi Ohara Cagdas Denizel Onal Yusuke Ota Yongsheng Ou John Oyekan Wei Pan Jong Hyeon Park Maciej Petko Minh-Tuan Pham Francesco Pierri Huayan Pu Lin Qi Xiaomei Qi Chenkun Qi Yu Qiao Micky Rakotondrabe

International Program Committee Members

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Hongliang Ren Juha Roning Changhai Ru Yongsun Ryuh Hideyuki Sawada Yantao Shen Yajing Shen YangShi Shuang Song Zhan Song Zhangjun Song Rui Song Baoquan Song Chunyi Su Anan Suebsomran Dong Sun Tatsuya Suzuki Min Tan Jindong Tan Ying Tan Jin Tang Huajin Tang Kyoichi Tatsuno Guohui Tian Xincheng Tian Yung Ting Toshio Tsuji Mang I Vai Feng Wan Nianfeng Wang Kundong Wang Hesheng Wang Zhidong Wang Guolnai Wang Xin Wang Xiaona Wang Xin Wang Gang Wang Kerwin Wang Jian-Gang Wang Chaoli Wang Jing-Gang Wang Chaoli Wang Jingchuan Wang Pak Kin Wong Xinyu Wu Shanqiang Wu Qi Wu Jun Wu Li Xia Kui Xiang Yu Xie De Xu Kai Xu Qingsong Xu Yasushi Yagi Atsushi Yamashita Guocai Yang Xiaoli Yang Jiaqiang Yang Toshiyuki Yasuda Cang Ye Jibin Yin Yong Yu Xiaobu Yuan Jianjun Yuan Hong Zhang Biao Zhang Wei Zhang Ming Zhang Gexiang Zhang Wenzeng Zhang Guilin Zhang Qieshi Zhang Li Zhang Xuebo Zhang Dingguo Zhang Mingguo Zhang Yu Zhou Huiyu Zhou Xiaorui Zhu Anmin Zhu Yan Zhuang

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Financial Sponsors

Institute of Electrical and Electronics

Engineers

Robotics and Automation Society

Harbin Institute of Technology

State Key Laboratory of Robotics and

Systems

National University of Defense Technology

Shenzhen Institutes of Advanced

Technology, CAS

Technical Sponsors

The Chinese University of Hong Kong

Shanghai Jiao Tong University

Vietnam Academy of Science and

Technology

Institute of Information Technology, VAST

Heilongjiang Society of Biomedical

Engineering

Sponsors

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Plenary Talk I: (Sunday, December 7, 2014, 8:30-9:30)

Professor Atsuo Takanishi

Department of Modern Mechanical Engineering

Waseda University, Japan

Location: PLUMERIA B, Padma Resort Bali at Legian

Humanoid Robotics Research and Its Applications

Abstract: Even though the market size is still small at this moment, applicable fields of robots

are gradually spreading from the manufacturing industry to others in recent years. One can

now easily expect that applications of robots will expand into the first and the third industrial

fields as one of the important components to support our society in the 21st century. There

also raises strong anticipations in Japan that robots for the personal use will coexist with

humans and provide supports such as the assistance for the housework, care of the aged and

the physically handicapped, since Japan is one the fastest aging societies in the world.

Consequently, humanoid/human-like robots have been treated as subjects of robotics

researches in Japan such as a research tool for human science, an

entertainment/mental-commit robot or an assistant/agent for humans in the human living

environment. Over the last decade, some manufactures and telecommunication company

including famous global companies started to develop prototypes or even to sell mass

production robots for the purposes mentioned above, such as TOYOTA, HONDA, TMSUK,

SoftBank, etc. On the other hand, Waseda University that I belong to has been one of the

leading research sites on humanoid robot research since the late Prof. Ichiro Kato and his

colleagues started the WABOT (WAseda roBOT) Projects and developed the historical

humanoid robots that were WABOT-1 and WABOT-2 in the early 70s and 80s respectively.

One of the most important aspects of our research philosophy is as follows: By constructing

anthropomorphic/humanoid robots that functions and behaves like a human, we are

attempting to develop the design method of humanoid robots to coexist with humans naturally

and symbiotically, as well as to scientifically build not only the physical model of a human but

also its mental model from the engineering view point. Based upon the philosophy, I and my

colleagues have been developing bipedal walking robots and the running robots, emotion

expression robots, wind instruments player robots, talking robots, etc. By using those robots,

we are able to experimentally confirm the models of the human behavior/mind quantitatively. In

my keynote speech, I will introduce the researches on those humanoid robots and their

applications including commercialized ones both in mechatronics and medical education by

showing examples. Please see our web page for more detailed information:

http://www.takanishi.mech.waseda.ac.jp

Speaker Biography: ATSUO TAKANISHI is a Professor of the Department of Modern

Mechanical Engineering as well as the director of the Humanoid Robotics Institute, Waseda

University. He received the B.S.E. degree in 1980, the M.S.E. degree in 1982 and the Ph.D.

degree in 1988, all in Mechanical Engineering from Waseda University. His current researches

are related to Humanoid Robotics and its applications in medicine and well-being, such as the

biped walking/running humanoids, the emotion expression humanoids, the flute player

humanoids, the ultrasound medical inspection robots, the airway management training

humanoids, etc. He recently initiated a new mobile robot project for environmental monitoring.

He is currently the vice president of the Robotics Society of Japan (RSJ) and of the Japan

IFToMM. He is a member of many robotics and medicine related academic societies such as

IEEE, RSJ, and the Society of Mastication Systems, etc. He is a fellow of RSJ and the

Japanese Society of Mechanical Engineers (JSME). He received the RSJ Best Journal Paper

Award (1998), RSJ/JSME ROBOMECH Award (1998), BusinessWeek Best of Asia Award

(2001), IROS2003 Best Paper Award –Application (2004)，JSME Best Journal Paper Award

(2006), ROBIO2007 Best Conference Paper Award (2007) and many more domestic and

international awards.

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Plenary Talk II: (Monday, December 8, 2014, 8:30-9:30)

Professor Daniel E. Koditschek

Alfred Fitler Moore Professor

Department of Electrical and Systems Engineering

School of Engineering and Applied Science

University of Pennsylvania, USA

Location: PLUMERIA B, Padma Resort Bali at Legian

Sensorimotor Composition for Autonomous Robots

Abstract: I will review a two-decade program of research on juggling, running,

climbing and leaping robots that seeks to build increasingly complex behaviors from

constituent sensorimotor loops. Treating the attractor-basins arising from these closed

loops as symbols that encode desired subgoals promotes their formal composition via

series and parallel constructions whose efficacy emerges from their inheritance of the

underlying components’ stability properties. This talk will focus on the problem of

analyzing and then designing the syntax of these constructions that seems to be

governed in part by the hierarchy of joint-level, limb-level, body-level and

environmental sensory modalities comprising the loops. Our small legged machines

have logged kilometers of successful autonomous ascents of unfamiliar wooded

outdoor slopes and indoor stairwells and I will attempt to convey the relation of the

formalism to that success as well as some of the limitations and gaping holes in both.

Speaker Biography: Daniel E. Koditschek is the Alfred Fitler Moore Professor of

Electrical and Systems Engineering, within the University of Pennsylvania School of

Engineering and Applied Science. Koditschek received his bachelor’s degree in

Engineering and Applied Science and his M.S. and Ph.D. degrees in Electrical

Engineering in 1981 and 1983, all from Yale University. He served on the Yale Faculty

in Electrical Engineering until moving to the University of Michigan a decade later. In

January 2005, he moved to Penn as Chair of the recently formed Electrical and

Systems Engineering Department, a position which he held through 2012.Koditschek’s

research interests include robotics and, more generally, the application of dynamical

systems theory to intelligent mechanisms. His more than 200 archival journal and

refereed conference publications have appeared in a broad spectrum of venues

ranging from the Transactions of the American Mathematical Society through The

Journal of Experimental Biology, with a concentration in several of the IEEE journals

and related transactions. Various aspects of this work have received mention in

general scientific publications such as Scientific American and Science as well as in

the popular and general lay press such as The New York Times and Discover

Magazine. Dr. Koditschek is a member of the AMS, ACM, MAA, SIAM, SICB and

Sigma Xi and is a Fellow of the IEEE and the AAAS. He holds secondary

appointments within the School of Engineering and Applied Science in the

departments of Computer and Information Science and Mechanical Engineering.

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Plenary Talk III: (Tuesday, December 9, 2014, 8:30-9:30)

Professor Dong Sun

Head and Chair Professor

Department of Mechanical and Biomedical Engineering

City University of Hong Kong, Hong Kong, China

Location: PLUMERIA B, Padma Resort Bali at Legian

Robotic Single Cell Manipulation: New Frontiers in Bioengineering

Abstract: Robot-aided single cell manipulation opens up a new avenue for probing

cell functional mechanisms as well as developing new targeted therapy for human

diseases. This talk will introduce our recent development of automated single cell

manipulation tools utilizing robotically controlled optical tweezers and microfluidic chip

processing. These tools enable us to characterize cell properties and even control cell

behaviors through numerous manipulations such as cell stretching, cell migration, cell

fusion, cell sorting and various cellular engineering techniques. The underlying work

has brought together the diverse talents, expertise, and tools of cross-disciplinary

researchers from engineering, biology and medicine, and demonstrated a

proof-of-concept feasibility of table-top robotic cell manipulations at the

micro/nano-scale level of precision.

Speaker Biography: Professor Dong Sun is currently a Chair Professor and Head

of the Department of Mechanical and Biomedical Engineering, City University of Hong

Kong. He obtained his Bachelor and Master’s degree from Tsinghua University, and

his PhD degree from the Chinese University of Hong Kong. After performing his

Post-doctoral research in the University of Toronto and Ontario industry, Canada, he

joined City University of Hong Kong in 2000. Prof. Sun has achieved world renown for

his pioneering works in robotic single cell manipulation and multirobot synchronization

controls, with numerous outcomes in both fundamental and applied research. He has

published 2 books, 8 book chapters, 300 technical articles in referred journals and

conference proceedings, and held 5 patents. He received numerous best paper

awards from the international journal and conferences, as well as industrial awards

such as Hong Kong Awards for Industry. Professor Sun has also made great

contributions to his community. He has been actively involved in organizing several

international conferences as General or Program Chairs. He served on editorial

boards for several prestigious international journals and IEEE conference boards,

which include Associate Editor of the IEEE Transactions on Robotics and Technical

Editor of the IEEE/ASME Transactions on Mechatronics. He is currently serving as an

Engineering Panel Member of Hong Kong Research Grant Councils. He is Adjunct

Professor of the University of Toronto, Canada, and Guest Professor of the University

of Science and Technology of China.

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Bali is an island and province of Indonesia. The province includes the island of Bali and a

few smaller neighbouring islands, notably Nusa Penida. It is located at the westernmost end of

the Lesser Sunda Islands, between Java to the west and Lombok to the east. Its capital of

Denpasar is located at the southern part of the island.

With a population of 4,225,000 as at January 2014, the island is home to most of Indonesia's

Hindu minority. According to the 2010 Census, 84.5% of Bali's population adhered to Balinese

Hinduism, 12% to Islam, and most of the remainder followed Christianity.

Bali is the largest tourist destination in the country and is renowned for its highly developed

arts, including traditional and modern dance, sculpture, painting, leather, metalworking, and

music. Since the late 20th century, the province has had a rise in tourism.

Bali is part of the Coral Triangle, the area with the highest biodiversity of marine species. In

this area alone over 500 reef building coral species can be found. For comparison, this is

about 7 times as many as in the entire Caribbean. There is a wide range of dive sites with

high quality reefs, all with their own specific attractions. Many sites can have strong currents

and swell, so diving without a knowledgeable guide is inadvisable. Most recently, Bali was the

host of the 2011 ASEAN Summit, 2013 APEC and Miss World 2013.

The tourism industry of Bali is primarily focused in the south, while significant in the other

parts of the island as well. The main tourist locations are the town of Kuta (with its beach), and

its outer suburbs of Legian and Seminyak (which were once independent townships), the east

coast town of Sanur (once the only tourist hub), in the center of the island Ubud, to the south

of the Ngurah Rai International Airport, Jimbaran, and the newer development of Nusa Dua

and Pecatu.

Bali received the Best Island award from Travel and Leisure in 2010. The island of Bali won

because of its attractive surroundings (both mountain and coastal areas), diverse tourist

attractions, excellent international and local restaurants, and the friendliness of the local

people. According to BBC Travel released in 2011, Bali is one of the World's Best Islands,

rank in second after Greece.1

1 All information from http://en.wikipedia.org/wiki/Bali

General Information

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Attractions

Uluwatu

Uluwatu became favorite tourist attractions in Bali

because tourists can find tranquility, natural beauty,

and variety shows. For lovers of surfing, visit

Uluwatu can be right choice while on vacation. The

beaches in this area is famous for challenging the

waves. the world are familiar with this area as a

location that has a beach with perfect waves.

Kuta Beach

Kuta is the best and most famous tourist area in Bali.

Yes, do not be surprised if today Kuta still has the

allure for backpackers or travelers from all over the

world. Kuta is now turned into a very crowded area.

Bars, clubs, souvenir shops, shopping centers, and

vehicles filled the streets in Kuta. As if she never

slept, Kuta, become metropolitan city of Bali.

Regardless of the changes, Kuta also has the best

beaches while enjoying the sunset. Kuta beach was

become meeting place for tourists in Bali. Has a length of about 5 kilometers, Tourists who

come to Kuta Beach usually do a lot of activities, such as surfing, sunbathing, or just chatting.

Ubud

Ubud a town that offers a different beauty of Bali.

There is no music in the bar, bikini, and drunken

tourists. Therefore, Ubud is also known as the

cultural center of Bali. Tranquility, culture, and

natural landscapes with the rice fields of Bali is a

better value Ubud. Atmosphere of a traditional

village with a panoramic view of green paddy

become the other side of the beautiful panorama of

Bali. Here, tourists can visit the Goa Gajah (a cave) ,

Mount Kawi, Pura Kehen, Puri Saren Agung, Tirta Empul, and Yeh Pulu. Goa Gajah be one

exciting destinations that can be visited by tourists. Goa Gajah even nominated as a UNESCO

world heritage site.

Seminyak

Want to enjoy a more luxurious? Seminyak will become a fitting town for your vacation in Bali.

Traditional ambiance and modern luxury package was presented in Seminyak. In this elite

location, travelers can still find the atmosphere of the beach. Seminyak Beach and Petitenget

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became land to enjoy the atmosphere with a panoramic view of the ocean. Gray sand became

the second courtyard of the pretty beaches.

Tanjung Benoa

Area in Tanjung Benoa Beach has calm waters so

many watersport activities besides surfing. Many

watersport activities that will challenge you in Tanjung

Benoa, such as jetski, banana boat, parasailing,

flying fish, snorkeling, and diving. Each game is

always supervised by an instructor who will direct you.

The most favorite game in this place is the flying fish.

Tanah Lot

Tanah Lot Temple is the most renowned temple in Bali

and seems to have become an icon of the island. The

uniqueness of this temple is its location in the middle

of the sea, so the sea was high tide when you can not

close, but when the low tide you can cross and saw

one of the uniqueness of this temple is guarded by

two black and white snake who every day look

accompanied by the stakeholders.

Garuda Wisnu Kencana

Garuda Wisnu Kencana (GWK) is symbolized by the

20-meter high statue of the god Vishnu, who stood on

the hill Unggasan. Here, visitors can enjoy views of

the sunrise and sunset. It is also equipped with a

display area for theatrical dance performance. In front

of the entrance gate, greeted by Balinese music that

accompanies two Balinese dancers welcome guests.

On the GWK there are several shops, food stalls and

even factory outlets.

Bali Safari Marine Park

Is one of the 3 garden animals in Indonesia. Located

in three villages in Gianyar Bali. Provide a place for

wildlife in its natural habitat, which is constructed with

a blend of Balinese culture. There are various kinds of

rare animals came from three countries, namely

Indonesia, India and Africa. Consists of 80 species

and 400 rare species from Indonesia.2

2 All information from http://www.balitourismboard.org/

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Useful Information

Language: Balinese and Indonesian are the most widely spoken languages in Bali, and

the vast majority of Balinese people are bilingual or trilingual. The most common spoken

language around the tourist areas is Indonesian, as many people in the tourist sector are not

solely Balinese, but migrants from Java, Lombok, Sumatra, and other parts of Indonesia.

There are several indigenous Balinese languages, but most Balinese can also use the most

widely spoken option: modern common Balinese. The usage of different Balinese languages

was traditionally determined by the Balinese caste system and by clan membership, but this

tradition is diminishing. Kawi and Sanskrit are also commonly used by some Hindu priests in

Bali, for Hinduism literature was mostly written in Sanskrit.

English is a common third language (and the primary foreign language) of many Balinese,

owing to the requirements of the tourism industry. Other foreign languages, such as Chinese,

Japanese, Korean, French or German are often used in multilingual signs for foreign tourists.

Weather

Due to its location near the equator, Bali experiences tropical weather conditions throughout

the year. Climate of Bali can broadly be categorized into two seasons - the dry season and wet

season. The average temperature in Bali remains around 31° C all throughout the year. In Bali,

wet season can be highly experienced during December and January lasting through April.

During this period, Bali remains humid, relative humidity averaging 85% which makes the

weather somewhat unbearable. Rainfall is also ample with 280mm – 300mm falling monthly

through the months December to February. Throughout the rainy season, the heat remains at

its peak and the rain brings cooling effect but increased humidity. This season consists of

almost daily tropical downpours.

Currency: Indonesia Currency is called Rupiah (Rp). The Rupiah Notes are 100, 500,

1,000, 5,000, 10,000, 20,000, 50,000, 100,000 and Coins 25, 50, 100, 500, 1000.

If you bring American Dollars (US$) to Indonesia and Bali for further transaction, please kindly

noted that the following terms of US Currency/ US Dollar which not be accepted in major

banks or companies as follows:

1. Series Number with CB and DB code are not accepted

2. Year making is lowest than 2004 are not accepted

3. Money where there is its streak / illegally written/in a state of tearing/ its picture in

looked to be turn tail is not accepted

Money Changer: A lot of small money changer shop are available in the island and run

an illegal business which might lose your money after changing. The modus of operandi this

shop is putting the exchange rate are more higher than the market exchange rate which able

to deceive you and building the interest to change your money there. Once you are changing

the money, some shop staff will surround you and having nice talk to deceive you when the

money calculation. Therefore in order to save your money we recommend you to change the

money in the bank or in the hotel cashier although the exchange rates are below than the

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market exchange rate. In case you have been rash to change the money at the illegal shop,

please be assuring:

1. Bring your own calculator

2. Account your money before presenting to them

3. Calculate the rate in your own calculator and compare with them

4. Calculate the money (Rupiah) after given by the staff accurately

5. If the money is not correct, ask to them the rest or call the nearest security or police

Credit Cards: Majority of credit cards are accepted by most of the hotel including the bar,

restaurant and shop in Bali a long with American dollar travel check.

Getting Around: There is a lot of transportation available in this island from self-drive

cars, taxis and hotel courtesy cars. Many taxis do not have meter account so you may to

negotiate the price before having abroad. Local transportation which is called 'Bemo' is a

unique form of transport. Please ask the price/fare before join the Bemo to get your destination.

A lot of Motorcycles can also be hired in many places and ensure you have to check the

complete papers of the motorbike and insurance cover of the motorbike. On the way driving

the motorbike, you must use the helmet to secure you head of accident otherwise the police

will stop your way immediately. Some of motorbikes are manually gear and rest of them

automatically. Please do practice before starting to drive it. Traveling around Bali are very easy

to located the destination, due to Bali is a small island and not much road should be remember

and if you having loss the way, the Balinese will very happy to show you the way on every your

request. Stop your car or motorbike and say to them with a short language or just simple to say

the destination name. Please don't forget to bring the Bali Map to guide your travel in this

island.

Transportation Number

TAXI

Bali Taxi Tel.701111 Location : Nusa Dua, Jimbaran, Kuta, Denpasar, Sanur

Kowinu Taxi Tel. 773030 Location : Nusa Dua, Tanjung Benoa

Jimbaran Taxi Location : Jimbaran

Emergency Call Number

CONTACT DEPARTMENT PHONE NUMBER

Police 112 or (+62-361-112)

Fire Department 113 or (+62-361-113)

Ambulance 118 or (+62-361-118)

Search and Rescue +62-361-751111

International SOS Medical Clinic +62-361-761263

Bali International Medical Center(BIMC) +62-361-8953599/+62-813378887000

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3 All information from http://www.balistarisland.com/

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Social Events The Social events organized by ROBIO 2014 include the conference reception, the conference

banquet, the farewell party, etc.

Conference Reception

The Conference Reception will be held at the PLUMERIA Grand Ballroom, Ground Floor of

Padma Resort Bali at Legian, from 18:00 to 20:00 on December 6, 2014. All the conference

participants are welcome to join this event.

Conference Banquet

The Conference Banquet will be held at the PLUMERIA Grand Ballroom, Ground Floor of

Padma Resort Bali at Legian, from 19:00 to 22:00 on December 8, 2014. The ticket for the

banquet has already been included for the all registrants. Additional banquet tickets can be

purchased at the registration desk.

Farewell Party

The Farewell Party will be held at the pool side of Padma Resort Bali at Legian, from 18:00 to

20:00 on December 9, 2014. All the conference participants are welcome to join this event.

Conference Registration

A conference registration desk will be set up and opened at the Padma Resort Bali at Legian

during the following hours:

December 6,2014 13:30-17:30

December 7,2014 08:00-12:30

14:00-17:00

December 8,2014 08:00-12:30

14:00-17:00

December 9,2014 08:00-12:30

15

Gen

eral

Info

rmat

ion

IEEE

RO

BIO

201

4

Conference Venue

16

General Inform

ation IEEE R

OB

IO 2014

17

Gen

eral

Info

rmat

ion

IEEE

RO

BIO

201

4

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18

:00

-20

:00

F

are

well P

art

y:

Po

ol

Sid

e

21

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