International Journal of Robotics and Automation (IJRA) Volume 1, Issue 2, 2010 Edited By Computer Science Journals www.cscjournals.org International Journal of Robotics and Automation (IJRA) Book: 2010 Volume 1, Issue 2 Publishing Date: 31-07-2010 Proceedings ISSN (Online): 2180-1312 This work is subjected to copyright. All rights are reserved whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illusions, recitation, broadcasting, reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publication of parts thereof is permitted only under the provision of the copyright law 1965, in its current version, and permission of use must always be obtained from CSC Publishers. Violations are liable to prosecution under the copyright law. IJE Journal is a part of CSC Publishers http://www.cscjournals.org ©IJE Journal Published in Malaysia Typesetting: Camera-ready by author, data conversation by CSC Publishing Services – CSC Journals, Malaysia CSC Publishers Editorial Preface Robots are becoming part of people's everyday social lives - and will increasingly become so. In future years, robots may become caretaking assistants for the elderly or academic tutors for our children, or medical assistants, day care assistants, or psychological counselors. Robots may become our co-workers in factories and offices, or maids in our homes. It is the second issue of volume first of International Journal of Robotics and Automation (IJRA). IJRA published six times in a year and it is being peer reviewed to very high International standards. IJRA looks to the different aspects like sensors in robot, control systems, manipulators, power supplies and software. IJRA is aiming to push the frontier of robotics into a new dimension, in which motion and intelligence play equally important roles. IJRA scope includes systems, dynamics, control, simulation, automation engineering, robotics programming, software and hardware designing for robots, artificial intelligence in robotics and automation, industrial robots, automation, manufacturing, and social implications etc. IJRA cover the all aspect relating to the robots and automation. The IJRA is a refereed journal aims in providing a platform to researchers, scientists, engineers and practitioners throughout the world to publish the latest achievement, future challenges and exciting applications of intelligent and autonomous robots. IJRA open access publications has greatly speeded the pace of development in the robotics and automation field. IJRA objective is to publish articles that are not only technically proficient but also contains state of the art ideas and problems for international readership. In order to position IJRA as one of the top International journal in signal processing, a group of highly valuable and senior International scholars are serving its Editorial Board who ensures that each issue must publish qualitative research articles from International research communities relevant to signal processing fields. IJRA editors understand that how much it is important for authors and researchers to have their work published with a minimum delay after submission of their papers. They also strongly believe that the direct communication between the editors and authors are important for the welfare, quality and wellbeing of the Journal and its readers. Therefore, all activities from paper submission to paper publication are controlled through electronic systems that include electronic submission, editorial panel and review system that ensures rapid decision with least delays in the publication processes. To build its international reputation, we are disseminating the publication information through Google Books, Google Scholar, Directory of Open Access Journals (DOAJ), Open J Gate, ScientificCommons, Docstoc and many more. Our International Editors are working on establishing ISI listing and a good impact factor for IJRA. We would like to remind you that the success of our journal depends directly on the number of quality articles submitted for review. Accordingly, we would like to request your participation by submitting quality manuscripts for review and encouraging your colleagues to submit quality manuscripts for review. One of the great benefits we can provide to our prospective authors is the mentoring nature of our review process. IJRA provides authors with high quality, helpful reviews that are shaped to assist authors in improving their manuscripts. Editorial Board Members International Journal of Robotics and Automation (IJRA) Editorial Board Editor-in-Chief (EiC) Associate Editors (AEiCs) Professor. Hongbo Wang Yanshan University (China) Editorial Board Members (EBMs) Dr. Andrew Agapiou (Scotland) Dr. Xianwen Kong Heriot-Watt University (United Kingdom) Table of Contents Volume 1, Issue 2, July 2010. Pages 26 - 41 Dynamic Role Engine and Formation Control for Cooperating Agents with Robust Decision Making Algorithm S.Hamidreza Mohades Kasaei, S.Mohammadreza Mohades Kasaei, S. Alireza Mohades Kasaei 43 - 57 Advancement of Android from Ancient Time to Present Time and Contribution of Various Countries in the Research and Development of the Humanoid Platform Akhtaruzzaman Akhter International Journal of Robotics and Automation (IJRA) Volume (1) Issue (2) S.Hamidreza Kasaei, S.Mohammadreza Kasaei, S.Alireza Kasaei Development a Real Time Cooperative Behavior Approach for Autonomous Soccer Robots Applied in Robocup- MSL S.Hamidreza Mohades Kasaei [email protected] Department of Computer Engineering Islamic Azad University, Khorasgan branch Young researchers Club, Isfahan, Iran S.Mohammadreza Mohades Kasaei [email protected] Department of Computer Engineering Islamic Azad University, Khorasgan branch Young researchers Club, Isfahan, Iran S. Alireza Mohades Kasaei [email protected] Department of Computer Engineering Islamic Azad University, Khorasgan branch Young researchers Club, Isfahan, Iran Abstract Robocup is an international competition for multi agent research and related subject like: Artificial intelligence, Image processing, machine learning, Robot path planning, control, and obstacle avoidance. In a soccer robot game, the environment is highly competitive and dynamic. In order to work in the dynamically changing environment, the decision making system of a soccer robot system should have the features of flexibility and real time adaptation. In this paper we will focus on the Middle Size Soccer Robot league (MSL) and new hierarchical hybrid fuzzy methods for decision making and action selection of a robot in Middle Size Soccer Robot league (MSL) are presented. First, the behaviors of an agent are introduced, implemented and classified in two layers, the Low_Level_Behaviors and the High_Level_Behaviors. In the second layer, a two phase mechanism for decision making is introduced. In phase one, some useful methods are implemented which check the robot’s situation for performing required behaviors. In the next phase, the team strategy, team formation, robot’s role and the robot’s positioning system are introduced. A fuzzy logical approach is employed to recognize the team strategy and further more to tell the player the best position to move. We believe that a Dynamic role engine is necessary for a successful team. Dynamic role engine and formation control during offensive or defensive play, help us to prevent collision avoidance among own players when attacking the ball and obstacle avoidance of the opponents. At last, we comprised our implemented algorithm in the Robocup 2007 and 2008 and results showed the efficiency of the introduced methodology. The results are satisfactory which has already been successfully implemented in ADRO RoboCup team. This project is still in progress and some new interesting methods are described in the current report. Keywords: Cooperative Multi-agent system, Decision Making, Decision Tree, Role Assignment, Robocup International Journal of Robotics and Automation (IJRA), Volume (1): Issue (2) 26 S.Hamidreza Kasaei, S.Mohammadreza Kasaei, S.Alireza Kasaei 1. INTRODUCTION Robot soccer games had been popular with educational institutions around the world since the inauguration of the Robocup competition in 1997. This initiative provide a good platform for Machine Learning (ML) techniques and Multi Agent research, dealing with issues such as cooperation by distributed control, neural networks, genetic algorithms, decision tree, decision making, fuzzy logic and also many hybrid approaches as a combination of some aforementioned ones ML techniques. In order to work in the dynamically changing environment, the decision making system of a soccer robot system should have the features of flexibility and real time adaptation. The robots in middle-size league should only use local sensors and local vision. Each team can have a maximum number of six robots. They can communicate with each other through a central computer via a Wireless Network. The rules in the competition are the same as the international soccer rules as far as they are practical for robots. The image information of the entire soccer field is captured by robot CCD camera then analyzes the image information to determine the situation of the soccer field and sent to the corresponding host computer. The host computer then analyzes the information to determine the situation of the ball and robots position in the field [1][2]. According to the determined situation, the host computer decides