2014 ieee international conference on robotics and...
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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
18
R
OB
IO 2
01
4 T
ech
nic
al P
rogr
am
Su
nd
ay,
Dec
emb
er 7
, 20
14
Trac
k A
Tr
ack
B
Trac
k C
Tr
ack
D
Trac
k E
Trac
k F
8:3
0-9
:30
P
LU
ME
RIA
B, P
ad
ma
Res
ort
Ba
li a
t L
eg
ian
Ple
na
ry S
peec
h –
Hu
ma
no
id R
ob
oti
cs
Rese
arc
h a
nd
Its
Ap
pli
cati
on
s /
Pro
f. A
tsu
o T
akan
ish
i
9:4
0-1
0:5
5
PLU
ME
RIA
B
So
ft R
ob
oti
cs
PL
UM
ER
IA A
Su
rgic
al
Ro
bo
ts
Ⅰ
HIB
ISC
US
Mo
bil
e R
ob
ots
Ⅰ
DE
LO
NIX
Imag
e
Pro
ce
ss
ing
AM
HE
RS
TIA
I
Sp
ac
e R
ob
ots
AM
HE
RS
TIA
II
Sim
ula
tio
n
Sys
tem
s
10
:55
-11
:15
C
off
ee B
reak
11
:15
-12
:30
PLU
ME
RIA
B
Bio
log
icall
y
Insp
ired
Ro
bo
ts
an
d S
yste
ms Ⅰ
PL
UM
ER
IA A
Su
rgic
al
Ro
bo
ts
Ⅱ
HIB
ISC
US
Mo
bil
e R
ob
ots
Ⅱ
DE
LO
NIX
Vis
ion
-ba
se
d
Ob
jec
t D
ete
cti
on
AM
HE
RS
TIA
I
Sm
art
Actu
ato
rs
AM
HE
RS
TIA
II
Hu
ma
n R
ob
ot
Inte
rac
tio
n Ⅰ
12
:30
-14
:00
Lu
nch
14
:00
-15
:15
PLU
ME
RIA
B
Bio
log
icall
y
Insp
ired
Ro
bo
ts
an
d S
yste
ms Ⅱ
PL
UM
ER
IA A
Me
dic
al
Ro
bo
tic
s
Ⅰ
HIB
ISC
US
Fie
ld R
ob
ots
DE
LO
NIX
Vis
ion
-ba
se
d
Rec
og
nit
ion
AM
HE
RS
TIA
I
Mic
ro
Ma
nip
ula
tio
n
AM
HE
RS
TIA
II
Hu
ma
n R
ob
ot
Inte
rac
tio
n Ⅱ
15
:15
-15
:35
C
off
ee B
reak
15
:35
-17
:05
PLU
ME
RIA
B
Sn
ake R
ob
ots
PL
UM
ER
IA A
Me
dic
al
Ro
bo
tic
s
Ⅱ
HIB
ISC
US
Mu
lti-
sen
so
r
Bas
ed
Na
vig
ati
on
an
d L
oc
ali
za
tio
n
DE
LO
NIX
Ste
reo
Vis
ion
AM
HE
RS
TIA
I
Mu
lti-
sca
le R
ob
ot
Se
ns
ing
an
d
Ma
nip
ula
tio
n
AM
HE
RS
TIA
II
Un
de
rwa
ter
Ro
bo
ts
19
R
OB
IO 2
01
4 T
ech
nic
al P
rogr
am
M
on
da
y, D
ecem
ber
8, 2
01
4
Tr
ack
A
Trac
k B
Tr
ack
C
Trac
k D
Tr
ack
E Tr
ack
F
8:3
0-9
:30
P
LU
ME
RIA
B, P
ad
ma
Res
ort
Ba
li a
t L
eg
ian
Ple
na
ry S
peec
h –
Sen
so
rim
oto
r C
om
po
sit
ion
fo
r A
uto
no
mo
us R
ob
ots
/ P
rof.
Dan
iel E
. K
od
itsch
ek
9:4
0-1
0:5
5
PLU
ME
RIA
B
Qu
ad
rup
ed
Ro
bo
ts
PL
UM
ER
IA A
Reh
ab
ilit
ati
on
Ro
bo
tic
s
HIB
ISC
US
Se
ns
ing
Sys
tem
s
DE
LO
NIX
Es
tim
ati
on
an
d
Cali
bra
tio
n
AM
HE
RS
TIA
I
Fo
rma
tio
n
Co
ntr
ol
AM
HE
RS
TIA
II
Hu
ma
n-M
ac
hin
e
Inte
rfac
es
10
:55
-11
:15
C
off
ee B
reak
11
:15
-12
:30
PLU
ME
RIA
B
Bio
log
icall
y
Insp
ired
Ro
bo
ts
an
d S
yste
ms I
II
PL
UM
ER
IA A
Me
dic
al
an
d
Ass
isti
ve
Ro
bo
ts
HIB
ISC
US
Mu
ltir
ob
ot
Sys
tem
s Ⅰ
DE
LO
NIX
Ro
bo
t V
isio
n
AM
HE
RS
TIA
I
Mo
tio
n P
lan
nin
g
AM
HE
RS
TIA
II
Hu
ma
no
id
Ro
bo
ts I
12
:30
-14
:00
Lu
nch
14
:00
-15
:15
PLU
ME
RIA
B
Bio
log
icall
y
Insp
ired
Ro
bo
ts
an
d S
yste
ms I
V
PL
UM
ER
IA A
Sm
art
Str
uctu
res
HIB
ISC
US
Mu
ltir
ob
ot
Sys
tem
s Ⅱ
DE
LO
NIX
Vis
ion
-ba
se
d
Co
ntr
ol
AM
HE
RS
TIA
I
Ro
bo
t C
on
tro
l
AM
HE
RS
TIA
II
Hu
ma
no
id
Ro
bo
ts I
I
15
:15
-15
:35
C
off
ee B
reak
15
:35
-17
:05
PLU
ME
RIA
B
Aeri
al
Ro
bo
ts Ⅰ
PL
UM
ER
IA A
Ro
bo
tic
s f
or
Reh
ab
ilit
ati
on
an
d A
ss
ista
nc
e
HIB
ISC
US
Lo
ca
liza
tio
n a
nd
Ma
pp
ing
DE
LO
NIX
Ma
ch
ine
Le
arn
ing
AM
HE
RS
TIA
I
Ma
nip
ula
tio
n
Co
ntr
ol
AM
HE
RS
TIA
II
Hu
ma
no
id
Ro
bo
ts I
II
19:
00
-22:
00
C
on
fere
nce
Ban
qu
et:
PL
UM
ER
IA G
ran
d B
allro
om
, G
rou
nd
Flo
or
20
R
OB
IO 2
01
4 T
ech
nic
al P
rogr
am
Tu
esd
ay,
Dec
emb
er 9
, 20
14
Trac
k A
Tr
ack
B
Trac
k C
Tr
ack
D
Trac
k E
Trac
k F
Trac
k P
8:3
0-9
:30
P
LU
ME
RIA
B, P
ad
ma
Res
ort
Ba
li a
t L
eg
ian
Ple
na
ry S
peec
h –
Ro
bo
tic S
ing
le C
ell M
an
ipu
lati
on
: N
ew
Fro
nti
ers
in
Bio
en
gin
eeri
ng
/ P
rof.
Do
ng
Su
n
9:4
0-1
0:5
5
PLU
ME
RIA
B
Aeri
al
Ro
bo
ts Ⅱ
PLU
ME
RIA
A
Ad
va
nce
d
Co
ntr
ol
Tech
no
log
y
HIB
ISC
US
SL
AM
DE
LO
NIX
Vis
ua
l S
erv
oin
g
AM
HE
RS
TIA
I
Te
le-r
ob
oti
cs
Ⅰ
AM
HE
RS
TIA
II
Se
ns
ing
Ⅰ
10
:55
-11
:15
C
off
ee B
reak
11
:15
-12
:30
PLU
ME
RIA
B
Aeri
al
Ro
bo
t
Co
ntr
ol
PLU
ME
RIA
A
Serv
ice R
ob
ots
Ⅰ
HIB
ISC
US
Mo
bil
e R
ob
ots
Des
ign
DE
LO
NIX
Hie
rarc
hic
al
Le
arn
ing
an
d
Mu
lti-
Pe
rcep
tio
n
AM
HE
RS
TIA
I
Te
le-r
ob
oti
cs
Ⅱ
AM
HE
RS
TIA
II
Se
ns
ing
Ⅱ
12
:30
-14
:00
Lu
nch
14
:00
-15
:15
PLU
ME
RIA
B
Mic
ro a
nd
Nan
o
Ro
bo
ts
PLU
ME
RIA
A
Serv
ice R
ob
ots
Ⅱ
HIB
ISC
US
Wh
eele
d R
ob
ots
DE
LO
NIX
Pa
tte
rn
Rec
og
nit
ion
an
d
3D
Rec
on
str
uc
tio
n
AM
HE
RS
TIA
I
Kin
em
ati
cs a
nd
Dyn
am
ics
AM
HE
RS
TIA
II
Au
tom
ati
on
Te
ch
no
log
y
15
:15
-15
:35
C
off
ee B
reak
15
:35
-17
:05
GA
RD
EN
IA
Leg
ged
Ro
bo
ts
PLU
ME
RIA
A
Serv
ice R
ob
ots
Ⅲ
HIB
ISC
US
Mo
bil
e R
ob
ot
Nav
iga
tio
n
DE
LO
NIX
Me
asu
rem
en
t
an
d C
on
tro
l o
f
Dyn
am
ic
AM
HE
RS
TIA
I
Gra
sp
ing
AM
HE
RS
TIA
II
Ad
va
nce
d
Ro
bo
tic
s f
or
Ap
pli
ca
tio
ns
PL
UM
ER
IA B
Inte
rac
tiv
e
Se
ssio
n
18
:00
-20
:00
F
are
well P
art
y:
Po
ol
Sid
e
21
22
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