Language：English   Publishing type：Research paper (scientific journal)

Degradation in underwater imaging is as a result of absorption and scattering of light. Propagated
visible light rays through the water column are absorbed at rates that vary depending on the
wavelength of light. Large suspended particles also scatter the propagated light rays, as can be
observed in an underwater environment. Furthermore, color is distorted due to the inverse ratio
of attenuation that is proportional to the wavelength of light through a unit of length through the
water column. These phenomena distort underwater images by making them appear dark and have
low contrast. Conventional underwater image restoration techniques are largely based on the
image formation model (IMF) which restores the image based on estimates from the degraded
images. The results are solutions that are limited to specific underwater conditions. In this paper,
we propose a novel restoration strategy by considering the optical properties in the underwater
environment at the time of image capture, a robust restoration technique can be applied to images
captured in different underwater conditions. In so doing, we design a turbidity meter that capture
wavelength-dependent absorption data which are applied as parameters to restore the distorted
images based on the RGB channels. To validate our proposed technique, we conduct experiments
in a controlled underwater environment while varying the concentration of suspended particles
based on degree of kaolin mixture.

DOI： 10.57417/jrnal.10.2_141

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DOI： 10.23919/OCEANS52994.2023.10337342

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Autonomous Underwater Vehicles (AUVs) require long-distance communication, especially in the deep sea. Acoustics communication and wireless optical communication have limitations of low latency and water conditions effects respectively. Radiofrequency (RF) communication provides a high data rate with free orientation of the transmitter/receiver antennas. However, electromagnetic waves are highly restricted by high attenuation over short distances in the underwater medium. In this study, we investigated the RF communication in a tank full of seawater. A loop antenna and rectangular antenna were used for the base station and AUV respectively. The experiments were conducted to measure the transmission rate with different distances between the base station and the AUV using both User Datagram Protocol (UDP) and Transmission Control Protocol (TCP). Live video streaming with framerate analysis was considered. The results show the effect of the distance between the transmitter and receiver on the transmission rate, in addition, to the antenna's stability has huge effects on the connection stability. We successfully achieved a High-Definition (HD) video streaming with 25fps for over 1 meter.

DOI： 10.57417/jrnal.10.1_84

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

Recently, Autonomous Underwater Vehicles: AUVs are utilized as the tools for ocean survey and practical applications such as ocean mineral resources survey and marine biological investigations. We have developed an AUV “Tuna-Sand2” and have succeeded in automatic sampling of shells in sea trials at Suruga Bay in Japan. Tuna-Sand2 is designed for 2000m depth and 8 hours operation with the speed of 1 knot and has several computers for basic motion control with sensor handling, intelligent behaviors based on image processing and data transmission, however, the robot needs efforts in deployment and recovery because of weight and sizes, and must return to the surface in emergency conditions. That is, the system should be stable, reliable and conservative, and not suitable for testing new challenging algorithms and behaviors. We have developed a new AUV KYUBIC which can be operated by a few people as a small testbed of Tuna-Sand2 and have similar shape and thruster arrangement. In this paper, we describe the system architecture of KYUBIC and the experimental results in Underwater Robotics Competition in Okinawa 2020.

DOI： 10.57417/jrnal.10.1_6

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<p>In this work, we have incorporated an electronic travel aid (ETA) as a smartphone application that alerts fall risks to the visually impaired. The application detects negative obstacles, such as platform edges and stairs, and occlusion using a grid map including height information to estimate fall risk based on the distance from an area’s edge to the user, and the area ratio. Here, we describe a grid map correction method based on the surrounding conditions of each cell to avoid area misclassification. The smartphone application incorporating this correction method was verified in environments similar to station platforms by evaluating its usefulness, robustness against environmental changes, and stability as a smartphone application. The verification results showed that the correction method is, in fact, useful in actual environments and can be implemented as a smartphone application.</p>

DOI： 10.20965/jrm.2023.p0867

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Japan   Tokyo   2023.03.06  -  2023.03.09

Language：English   Publishing type：Research paper (international conference proceedings)

Japan   Tokyo   2023.03.06  -  2023.03.09

Language：English   Publishing type：Research paper (international conference proceedings)

Autonomous Underwater Vehicles (AUVs) require long-distance communication, especially in the deep sea. Radiofrequency (RF) communication provides a high data rate. However, electromagnetic wave is seriously limited by high attenuation in the water medium. In this study, we investigate Radiofrequency communication in seawater. The experiment results show the effects of the distance between the transmitter and receiver, and the stability of the antennas. We achieved HD video transmission with 25fps.

DOI： 10.5954/icarob.2023.os21-1

CiNii Research

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

A mechanical variable stiffness can adapt to external forces beyond the control cycle, such as overturning of walking robots, which can help solve problems such as actuator and joint destruction. In this research, we will clarify the structure of a two-input, one-output joint mechanism that can realize three functions: normal motion, instantaneous motion, and variable stiffness function. As part of the development of the variable stiffness function, a mathematical model is derived and simulated for the relationship between the joint angle of the output link and the disturbance torque when a disturbance torque is applied to the output link of the proposed mechanism.

DOI： 10.5954/icarob.2023.os21-6

CiNii Research

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

An International underwater robot competition, "RoboSub" is held in USA to demonstrate robot's autonomy by completing underwater tasks, with a new theme each year. Student project team, "Kyutech Underwater robotics" developed autonomous underwater vehicle (AUV) "KYUBIC" with built-in image processing module for the RoboSub. Sensors on the AUV are connected via ethernet and its automatic navigation program is built using ROS. The AUV moves through gate to the target objects based on self-localization using doppler velocity log and IMU. When approaching the object, the AUV aligns its direction to the object based on the red line detection by image processing as well as the type, position, and altitude of the target objects are detected by deep learning on the image processing module.

DOI： 10.5954/icarob.2023.os20-2

CiNii Research

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Crops are required to be processed in sanitary manner for lunchbox production in industries. Particularly, foreign object detection is crucial to guarantee consumer's health. Actually, foreign objects are mainly detected by human's eyes. For the automation, image processing is an example, however, is not effective for hidden objects. We propose a method of foreign object detection with ultrasonic reflection analysis. In our experiment, we selected four crops (lettuce, spinach, perilla and komatsuna) for masking material, and a coin for occluded objects. The coin were attached on the backside of the masking material. We recorded reflected wave moving the material linearly. As the result, reflection intensity doubled by the existence of occuluded object.

DOI： 10.5954/icarob.2023.os21-5

CiNii Research

Language：English   Publishing type：Research paper (international conference proceedings)

Light scattering from suspended particles and attenuation over the water column are constant phenomena that reduce underwater image quality due to low contrast and color distortion. Common image restoration techniques such as the image formation model, assumes a constant attenuation coefficient across color channels. This results in a restoration solution with limited application. We propose a method of image restoration that considers the wavelength-dependent attenuation of underwater images by providing concurrent measurements of the coefficient of attenuation for each color channel. In this paper, a description of the design of a turbidity meter is made. It used to extract absorbance of light in the RGB channel. We conduct experiments to validate the operation of the turbidity meter based on BeerLamberts law.

DOI： 10.5954/icarob.2023.os21-3

CiNii Research

Language：English   Publishing type：Research paper (international conference proceedings)

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Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

In food industry, shortage of workers is one of a serious problem. Automation of food handling is a critical nowadays. To alleviate the damage caused by food picking operation by robotic hand, we propose non-contact acoustic impedance estimation with ultrasonic wave, which should be preceded before the picking for optimization of grasp stiffness. We assume the correlation between hardness and acoustic impedance. That is, the harder the medium is, the larger the impedance should be. As cooked food, the unevenness of hardness should be considered. We made samples with media of different acoustic impedances, and experimented with ultrasonic to find the relation between reflection coefficient and hardness. As the result, reflection coefficient increased by 0.03-0.15 at the boundary of two media as the bottom medium is switched from urethane to Aluminum.

DOI： 10.57417/jrnal.9.4_343

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CiNii Research

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/UT49729.2023.10103416

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DOI： 10.1109/UT49729.2023.10103413

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/UT49729.2023.10103418

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.23919/EuCAP57121.2023.10133725

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We have developed a fall risk alert system using a smartphone with a LiDAR sensor, Apple’s iPhone 12 Pro, as an electronic travel aid (ETA) for visually impaired to reduce fall risks from the edge of station platform and the stairs. The proposed system generates the height grid map generated from 3D point clouds and posture from the smartphone, and classify the walking area to four areas, walkable, positive obstacle, negative obstacle and occlusion areas. In this paper, we describe the algorithm and the experimental results of the environmental recognition system for the fall risk alert. In the experiments, the accuracy, stability, and time delay are evaluat-ed in approaching a fall risk area, such as stairs. The results show the smartphone has the possibility to be the ETA to support the visually impaired and reduce the fall risks.

DOI： 10.57417/jrnal.9.4_349

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CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/UT49729.2023.10103384

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Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (other academic)

<p>The oceans occupy about 70% of the Earth ’s surface have vast space and mineral, energy, and biological resources. In recent years, AUV has been developed for resource surveys in various sea areas We are working on developing and implementing a robust control system to improve the AUV autonomy and to navigate safely. This paper reports about observation results by hovelling type AUV ”Tuna-Sand2” on seaweed bed habitat off Iwakuni on January 2023 and estimate currents from the dive data to design the observer to estimate currents and implement for AUV. The dive results show that there were Northwesterly current and AUV position is easily affected by current when change target direction.</p>

DOI： 10.1299/jsmermd.2023.1a2-c09

CiNii Research

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Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (other academic)

<p>To obtain a long-term data of marine resources which are distributed over a wide area of the deep sea, we have been developed a long-term observation system using cable-restricted underwater vehicle. This paper reports about long-term observation system and its wet test performed at 3 m depth. As an evaluation experiment result, the vehicle tethered by a cable was able to cruise with an error of less than 0.34 m against the planned route. The mosaic image generated based on the captured images was able to measure the width, length, and height of the object with an error of less than 4 cm.</p>

DOI： 10.1299/jsmermd.2023.1p1-c12

CiNii Research

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Improving the efficiency of fish feeding contributes to achieving sustainable expansion of the aquaculture industry. However, expert knowledge on feeding remains reliant on experience. This paper presents a new approach of applying digital transformation (DX) on such knowledge by measuring underwater currents induced by fishes as indicator of their hunger. A prototype sensor suite consisting of current sensors, cameras, and an inertial measurement unit (IMU) was constructed to measure the currents around the fish cage, measure the motion of the suite, and record fish activity, particularly during feeding. An initial experiment was performed in two fish cages during feeding activity. Current measurements were collected and analyzed together with the recorded videos to relate the changes in current to the feeding activities. Results suggest that the currents increase around when feeding was started continuously and decline to zero around when it was stopped. However, more data needs to be collected and analyzed for a better understanding of the relationship between the changes in current and fish activities so it can be used to optimize the feeding decisions of fish farmers.

DOI： 10.57417/jrnal.9.2_143

Scopus

CiNii Research

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Agriculture is one of the most important primary industries, however the agricultural workforce in Japan has been decreasing due to the aging, shortage of successors and their heavy work. Smart agriculture and farms, which aim to automate farm work, have been attracting attention for the future sustainable society. We have been organizing the Tomato-Harvesting-Robot Competitions since 2014 to introduce robotic technology and AI into agriculture and promote agricultural technology. The competition consists of a Junior League for young students and a Senior League for general competitors. In this paper, we report the results of the 6th Tomato-Harvesting-Robot Competition and the regulation changes toward practical applications.

DOI： 10.57417/jrnal.9.1_13

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CiNii Research

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)

Language：English   Publishing type：Research paper (international conference proceedings)

Language：English   Publishing type：Research paper (international conference proceedings)

Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)

Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Language：English   Publishing type：Research paper (international conference proceedings)

Autonomous Underwater Vehicle positioning is important for accurate control and high-quality data collection. Conventional positioning systems are expensive. This paper describes the design and performance results of control using equations of motion and an inexpensive acoustic positioning system implemented on a lightweight AUV "KYUBIC" for Underwater Robotic competition in Okinawa 2021. The velocity used to estimate the self-position of the AUV is calculated form the equation of motion without integrating the acceleration. The acoustic positioning method is based on Super-short baseline (SSBL) principle. The system design comprises of self-made hydrophone module using MEMS microphone. The estimated distance and angle are integrated for dynamic control of AUV to locate the position of a Pinger.

DOI： 10.5954/icarob.2022.os28-1

CiNii Article

CiNii Research

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Language：Japanese   Publishing type：Research paper (other academic)

<p>In agriculture, the aging and depopulation of farmers cause the shortages of farmers and manpower. Most of commercialized robots are industrial robots for factory automation, and most of robots for the first industry, agriculture, forestry and fisheries are still under developing. The reasons are cost-efficiency of the robotization, safety of the works using robots, difficulty of outdoor operations, and knowledge transfer problem from farmers to computer, etc. As one of solutions for the problems, robot technology into the agriculture is expected to contribute to the laborsaving, improvement of production, production line automation, and also the management toward smart-agriculture. We organize the Tomato-harvesting-robot competition to offer the research field and welcome researchers into agricultural robotics.</p>

DOI： 10.1299/jsmermd.2022.2p2-t08

CiNii Research

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Language：Japanese   Publishing type：Research paper (other academic)

<p>The ocean is one of extreme environments, and underwater robots are expected as the tools for observation of the ocean. Underwater robots require high autonomy and are self-contained to accomplish various deep-ocean observation missions. The next generation AUV is expected to have sampling function of marine benthos with end-effector to catch and bring back marine creatures. However, sampling is not easy task for AUV as the shape, size, motion of targets differs. So that the end-effectors is required to have enough accuracy in control manipulation. One of the key issues is the target recognition from underwater images. In this research, floating objects cancellation method from underwater images using optical flow is discussed.</p>

DOI： 10.1299/jsmermd.2022.2a2-a10

CiNii Research

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Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (other academic)

<p>Currently, underwater infrastructure facilities in Japan are rapidly aging, but most of them are not inspected by divers because the current inspection by divers is inefficient and potentially dangerous. To realize a system that can inspect underwater infrastructures safely and efficiently, this study develops a motion control system for an underwater robot that is part of the underwater infrastructure inspection system.</p>

DOI： 10.1299/jsmermd.2022.2a2-a11

CiNii Research

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (other academic)

<p>As crops in greenhouses are widely distributed, IoT devices placed near the crops should be stand-alone and modular, and data from the devices are collected over the networks. Smart agriculture requires knowledge of a wide range of fields including electricity, information, and image processing. We have designed an exercise on environmental monitoring and control of a greenhouse toward smart agriculture. The exercise consists of mechatronics, MATLAB/Simulink and system construction exercises. Students learns technology electrical circuit, embedded programing, network communication, and image processing required for smart agriculture. Almost students who took the exercise acquired technology related to micro-computers, image processing technology and control by MATLAB/Simulink, but a few students couldn’t acquire them. In the next school year, authors plan to teach from a little more basic technology.</p>

DOI： 10.1299/jsmermd.2022.2p2-s12

CiNii Research

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (other academic)

<p>Optimizing fish feeding is needed for a sustainable marine aquaculture production. We approach this problem by estimating the behavior of fishes during feeding by measuring currents they generate around the cage. In this paper, we present our development of an underwater sensor network consisting of current sensors, inertial measurement units, and cameras. This system was deployed in a fish cage and recorded measurements in three fish cages during feeding activities. Results showed that currents generated by fishes were largest at the surface during feeding and decline over time until the feeding ended. Further data analysis is needed for optimizing the farmer’s feeding decisions.</p>

DOI： 10.1299/jsmermd.2022.2a2-a12

CiNii Research

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Language：English   Publishing type：Research paper (international conference proceedings)

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Scopus

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Scopus

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Language：Japanese   Publishing type：Research paper (scientific journal)

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

In food industry, shortage of workers is a serious problem. Automation of food handling is a critical nowadays. To alleviate the damage during food picking by robotic hand, we propose non-contact acoustic impedance estimation with ultrasonic wave. We have the assumption of the correlation between hardness and acoustic impedance, and, built up ultrasonic transmission model considering attenuation by reflection and absorption, then, made an experiment to estimate the impedance. As the result, we succeeded in detecting acoustic impedance without contact.

DOI： 10.5954/icarob.2021.os23-6

CiNii Research

Language：English   Publishing type：Research paper (international conference proceedings)

In the future estimation of 2050, the food demand increases 70% and the production decreases 15% caused by global warming, and farmer population be 1/5 of current workers. Until 2050, we need an agricultural system of twice production with the same farmland area and 5 times effective operations. To realize the sustainable society, smart agriculture including robot technology, AI, IoT is one of the solutions for food issues. We have been working for a greenhouse project under enPiT-everi for implementation of robotic, AI and IoT technologies to agriculture. In this paper, we introduce the project and robotic applications.

DOI： 10.5954/icarob.2021.os22-5

CiNii Research

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Ocean is one of big challenging and extreme environments, and hard for human to access directly. As the tool for ocean survey, Autonomous Underwater Vehicles: AUVs are expected and developed from ‘80s. The recent rapid progress of computer and information technologies makes the development of AUVs easier and more practical. We had developed a handy AUV "Kyubic" for the observation of shallow water and artificial structures. In this paper, we describe the system architecture of Kyubic and the experimental results in Underwater Robotics Competition in Okinawa 2020.

DOI： 10.5954/icarob.2021.os22-4

CiNii Research

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/IEEECONF49454.2021.9382643

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DOI： 10.4031/MTSJ.54.5.10

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Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1109/JOE.2020.2978967

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Language：English   Publishing type：Research paper (international conference proceedings)

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.5954/ICAROB.2021.PS-1

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Language：English   Publishing type：Research paper (international conference proceedings)

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Scopus

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (other academic)

DOI： 10.1299/jsmermd.2021.1P1-B17

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130008134963

Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (other academic)

<p>Marine resource survey by an underwater vehicle is expected. To realize cheap self-positioning for the underwater vehicle, we have been developing on the acoustic positioning system which is low cost and easy to maintain. The acoustic positioning system has four hydrophones which consists of molding commercially available MEMS micro phones with pressure-resistant resin, an audio device, and a micro controller. To evaluate the system, positioning experiments was performed in the small tank. In the experiments, the system detected delay time among four hydrophones, however its positioning was not good accuracy. In the future, we will improve the accuracy of positioning by interpolating data and considering the effect of baseline.</p>

DOI： 10.1299/jsmermd.2021.1A1-B01

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130008134856

Language：Japanese   Publishing type：Research paper (other academic)

<p>Most of the conventional hydrophones (underwater microphones) use PZT ceramic as the material, and there are problems such as variation in sensitivity, the necessity of high-magnitude amplification and high cost.</p><p>We developed and evaluated a low-cost, easy-to-use MEMS hydrophone that is waterproof and pressure-resistant while maintaining the bandwidth of a commercially available MEMS microphone.</p>

DOI： 10.1299/jsmermd.2021.1A1-B03

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130008134877

Language：Japanese   Publishing type：Research paper (scientific journal)

<p></p>

DOI： 10.7210/jrsj.39.926

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130008130006

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.23919/OCEANS44145.2021.9705858

Scopus

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.23919/OCEANS44145.2021.9705674

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125935859&origin=inward

Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)

Other Link： https://alife-robotics.com/Volume1/Issue1/03.ICAROB2020(OS22-5)_Yuya%20Nishida(revised%20by%202020,%2008,%2004).pdf

Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1109/JOE.2018.2872500

Scopus

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)

<p>In food industry, autonomous food arrangement is expected. For the achievement of safety food arrangement by robots, in order to prevent from damaging food, rigidity of the hands is hopeful to be adjusted according to the food stiffness. Measurement of the food stiffness should be estimated before handling. In this research, we propose non-contact stiffness measurement with ultrasound to enable variable rigidity of hands while food handling is ongoing.</p><p>We measured power spectrum of ultrasound reflected on food. As the result of the experiment, the spectrum varied according to the stiffness.</p>

DOI： 10.1299/jsmermd.2020.1A1-K06

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130007943408

Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)

<p>There are many marine resources including mineral and energy resources in Japanese EEZ and those have been surveyed by Underwater vehicles. It is expected that time-varying data will be continuously obtained with low risk in environmental surveys of the seabed. Therefore, we proposed the long-term observation method using Cable-restricted Underwater vehicles.</p>

DOI： 10.1299/jsmermd.2020.1P1-C07

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130007943421

Authorship：Lead author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)

<p>Autonomous underwater vehicles (AUVs) observe a wide area by using mounted camera and LED lights and is used for bio-resource survey. However, AUVs is difficult to capture the sample useful for scientists. Previous AUVs can capture only specific benthos that its developer decided the target before resource survey, but scientists for fisheries resource can't chose sampling target during observation by AUVs. To realize an efficient bio-resources survey, the authors developed AUV that can capture the target instructed by the operator during observation. Because the slurp gun installed on the AUV has no canister, the AUV catches only one sample in one dive. This paper explains developed AUV and slurp gun with the canisters, and reports on sea trials using them.</p>

DOI： 10.1299/jsmermd.2020.1P1-C13

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130007943437

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Acquiring flexible and agile behaviors as seen in biological systems, the robot can achieve acrobatic movements such as jumping and throwing. These acrobatic movements are expected to extend the range of robot activity. In this research, we propose a special mechanism using a pair of motors, springs and cams, which has three functions: normal operation, instantaneous operation and variable rigidity. Then, we derived a mathematical model of the mechanism and discussed the input-output characteristics of the mechanism by changing the design parameters, and analyzed the difference between the theoretical and measured results.

DOI： 10.5954/ICAROB.2020.OS24-6

Scopus

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.5954/ICAROB.2020.OS23-1

Scopus

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.5954/ICAROB.2020.OS22-5

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.5954/ICAROB.2020.OS23-2

Scopus

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Language：English   Publishing type：Research paper (scientific journal)

Animals can achieve agile behaviors such as jumping and throwing in addition to flexible behaviors with the same musculoskeletal systems, and those movements can extend the range of their activities. We have been working on actuators capable of rapid and flexible motions learning the musculoskeletal systems. In this paper, we propose a new rotary actuator using a pair of motors, springs, and cams to perform three functions, namely, normal motion, rapid or instantaneous motion, and rigidity control using an antagonistic cam mechanism, and describe the operating principle of the proposed mechanism, the mathematical model of the mechanism during rapid motion, and the design principle of the cam, which is a key mechanical element in this mechanism. Finally, we present an analysis of the error between the theoretical the measurement results during rapid motion.

DOI： 10.57417/jaalr.1.3_144

CiNii Article

CiNii Research

Other Link： http://hdl.handle.net/10228/00008167

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/ICIIS47346.2019.9063345

Scopus

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Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1109/OCEANSE.2019.8867481

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85103860769&origin=inward

Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/UT.2019.8734330

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85068434323&origin=inward

Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/UT.2019.8734296

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85068484260&origin=inward

Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/UT.2019.8734461

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85068478136&origin=inward

Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/UT.2019.8734462

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

Inspection of underwater infrastructure of bridge pier is important for bridge maintenance, however, the underwater environment is dangerous and their observation is one of difficult problems. We have been developing the underwater inspection system which consists of an unmanned surface vehicle (USV) and a remotely operated vehicle (ROV). The concepts of the system are (1) Operation is executable with a small number of persons, (2) USV and ROV are controllable from land or bridge, (3) Build 3D model and images for crack detection. The ROV observes the status of whole infrastructure using cameras and control its posture using a depth sensor and IMU sensor. The USV vertically lifts up and down ROV by winch and carries ROV to the infrastructure. USV has GPS, LRF and IMU for horizontal positioning and pan-tilt control of the camera. In this paper, we discuss the results of the inspection operation test by the robot.

DOI： 10.5954/icarob.2019.os21-2

CiNii Research

Language：English   Publishing type：Research paper (international conference proceedings)

We developed an AUV's sampling device control system. It is employed the any toolboxes provided in MATLAB/Simulink by Mathworks. The toolboxes are powerful, useful, and functional. "Robotics System Toolbox" in theirs supports the ROS middle ware. It provides the cloud data communication. "Parallel Computing Toolbox" can struct a multi process and parallel computing on script base and Simulink model base program. "Stateflow" is a powerful tool for design of state transition control method. The toolboxes are employed in the sampling device control system of the AUV. This method with using the toolboxes of MATLAB/Simulink realize the rapid prototyping of the system designs, developments and system test. The developed system mounted on an AUV was powered in several real sea areas. Report on the results and problems when operating in real environments.

DOI： 10.5954/icarob.2019.os21-1

CiNii Research

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.5954/ICAROB.2019.OS21-3

Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)

<p>In this paper, we propose a new formula to accurately estimate the output value on the real machine of the proposed mechanism as a part of the development concerning the high power joint mechanism. The previously proposed formula did not consider the energy loss when the slider translated. Considering the mass of the slider, we derived an expression that can estimate the angular velocity of the output link from the energy conservation law and the geometrical relationship. As a result of comparing the theoretical value and measured value, the performance of real machine could be more accurately estimated by using the proposed mathematical formula.</p>

DOI： 10.1299/jsmermd.2019.1P2-K09

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130007774443

Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/OCEANSKOBE.2018.8559056

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/OCEANSKOBE.2018.8559319

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85060285350&origin=inward

Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/OCEANSKOBE.2018.8559296

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85060275645&origin=inward

Language：English   Publishing type：Research paper (international conference proceedings)

Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.20965/jrm.2018.p0238

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85049226634&origin=inward

Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.20965/jrm.2018.p0248

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85049165476&origin=inward

Language：English   Publishing type：Research paper (international conference proceedings)

Underwater imaging is an important part to seafloor observation by underwater robot. Underwater robots provide many images, which contain seafloor environment, and theses images contribute to various fields such as marine biology, marine geology and fishery science. However, underwater images has different properties, such as uneven illumination and light attenuation, compared to images which taken in air, and these properties impede image checking by researchers. In this paper we propose an image enhancement based on scale-gain Retinex, and the proposed method is experimented on the Suruga-bay in Japan.

DOI： 10.5954/icarob.2018.os20-2

CiNii Research

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.5954/ICAROB.2018.OS20-4

Authorship：Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.5954/ICAROB.2018.OS20-3

Language：Japanese   Publishing type：Research paper (scientific journal)

DOI： 10.1299/transjsme.17-00242

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130006401787

Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (other academic)

<p>Rich undersea mineral resources are confirmed around Japan and the research about undersea mineral resources and deep sea creatures has been conducted actively. Since three-dimensional data could not be get by human, three-dimensional measurement technology is important in the deep sea survey. Therefore we designed a measuring device suitable for underwater environment. </p>

DOI： 10.1299/jsmermd.2018.2P2-C07

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130007551964

Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/OCEANSE.2017.8084659

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/OCEANSE.2017.8084926

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/Techno-Ocean.2016.7890645

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/Techno-Ocean.2016.7890669

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85018251321&origin=inward

Language：English   Publishing type：Research paper (international conference proceedings)

Underwater robot is one of the important research tools to explore deep-sea. Especially, Autonomous Underwater Vehicles (AUVs) attract attentions as new tools because they are un-tethered and suitable for wide area observation. As the next generation AUV, we have been developing a Sampling-AUV that can dive into deep-sea and bring back marine creatures using a mounted manipulator. In the mission, the AUV transmits the deep-sea floor images to the support ship using acoustic communication, and the operator selects the marine creatures to sample and bring back them. In this talk, we introduce the new AUV, the underwater manipulator and image processing techniques for sampling.

DOI： 10.5954/icarob.2017.ps1

CiNii Research

Language：English   Publishing type：Research paper (international conference proceedings)

Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (other academic)

<p>Many mechanisms with Impulse Force Generator is generally operated at high speed and strong force. We have been working on high power joint mechanism imitating locust hind-leg in order to realize a mechanism capable of not only rapid motion but also normal motion. However, they have some problems as following. In rapid motion, The developed mechanism has energy loss due to the viscous resistance of the reduction gear of the actuator. And the direction of rotation during rapid motion is restricted. In this paper, we propose a high power joint mechanism with higher performance which solves this problem. The mechanism proposed by us can perform rapid motion and normal motion at clockwise and counterclockwise. And the mechanism can change of the articular compliance. The mechanism consist two motors with cams, two wires, one spring and some links. Our verification experiment of rapid motion showed that the proposed mechanism can realize rapid motion without viscous drag.</p>

DOI： 10.1299/jsmermd.2017.2a1-a06

CiNii Article

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A1-A06/_pdf

Language：Japanese   Publishing type：Research paper (other academic)

<p>We developed an image sensing system for an autonomous underwater robot with a benthos sampling function, namely sampling-AUV. The mission of a sampling-AUV consist of following four phases: observation phase (OP), return phase (RP), tracking phase (TP) and sampling phase (SP). For an achievement of the above mission, proposed image sensing system comprises software modules of image acquisition, image enhancement, object detection and image selection, and object tracking. The camera in proposed system acquires an image by intervals of five seconds during OP and RP and of a second during TP. The system completes all processing within image acquisition times by employing high-speed algorithms. We checked operations of proposed system in a pool.</p>

DOI： 10.1299/jsmermd.2017.2a2-g09

CiNii Article

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A2-G09/_pdf

Authorship：Corresponding author   Language：Japanese   Publishing type：Research paper (other academic)

<p>A rich undersea mineral resource is confirmed in the basin of Japan. Three-dimensional measurement technology is indispensable for developing undersea resources. By applying structural light to the underwater environment, it is possible to measure not only the three-dimensional topography but also the seabed creature. Therefore, we aim to develop an underwater three-dimensional measuring device using structured light and light cutting method. In order to develop a new three-dimensional measuring instrument, basic measurement theory was verified.</p>

DOI： 10.1299/jsmermd.2017.2a2-o07

CiNii Article

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A2-O07/_pdf

Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/AUV.2016.7778692

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/OCEANS.2016.7761471

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/OCEANS.2016.7761452

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/OCEANSAP.2016.7485453

Scopus

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.20965/jrm.2016.p0091

Scopus

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.20965/jrm.2016.p0086

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (other academic)

<p>In order to effectively investigate the distribution and amount of CRC (Cobalt-Rich manganese Crust) an AUV BOSS-A equipped with visual and acoustic instruments were developed. The AUV observes CRC on the seafloor along preset waypoints at a constant speed and altitude. Detailed 3D seafloor image is created based on navigation data from the AUV and images from visual instrument. In addition, an acoustic instrument measures the CRC thickness. We surveyed the CRC at Katayama seamount in February 2015. The results visually presented distribution of the CRC in this site. In the future, we will develop a reliable, accurate measurement method for CRC thickness by combining visual and acoustic instruments.</p>

DOI： 10.1299/jsmermd.2016.1a2-17b2

CiNii Article

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A2-17b2/_pdf

Language：Japanese   Publishing type：Research paper (other academic)

<p>The autonomous Underwater Vehicles (AUVs) are developed to contribute various science filed such as oceans biology, geology by deep-sea observation. The deep-sea observation by AUV provides various information such as lifestyle of deep-sea creature, volcano of deep-sea bottom, etc. by photographing image. Next mission using AUVs is required to sample targets such as creature, mud or stone in deep-sea floor. For success of this mission, AUV needs supports by researcher in support ship. However, underwater communication based on acoustic has less density compared to electronic. In this research, we proposed a method of image compression and reconstruction for acoustic communication. And we evaluated reconstruction image by Structural similarity.</p>

DOI： 10.1299/jsmermd.2016.1a1-16b7

CiNii Article

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-16b7/_pdf

Language：Japanese   Publishing type：Research paper (other academic)

<p>Underwater robots are employed to marine organisms' research in ultimate environments. In this study, we aim to do automation of marine organisms sampling by autonomous underwater vehicle with a manipulator. We developed a manipulator to pick up deep-sea benthic organisms. The developed manipulator is driven by a master-slave cylinder type hydraulic driven system. Moreover, the manipulator's joints are actuated by hydraulic cylinder, and linear motion of the cylinder is converted to rotational motion by a motion conversion cam-mechanism. This control system was integrated by MATLAB/Simulink. So we adopted Stateflow (this is a toolbox for Simulink) in the high level control layer.</p>

DOI： 10.1299/jsmermd.2016.1a1-17a3

CiNii Article

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-17a3/_pdf

Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/OCEANS-Genova.2015.7271614

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/OCEANS.2014.7003268

Scopus

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Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1186/s40648-014-0002-y

Scopus

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/OCEANS-TAIPEI.2014.6964503

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Language：English   Publishing type：Research paper (scientific journal)

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Language：English   Publishing type：Research paper (international conference proceedings)

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Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.20965/jrm.2011.p0225

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)

Scopus

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Language：English   Publishing type：Research paper (scientific journal)

DOI： 10.1016/S1672-6529(09)60238-9

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Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1109/ICSMC.2009.5346136

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Language：English   Publishing type：Research paper (international conference proceedings)

DOI： 10.1007/978-3-642-02490-0_96

Scopus

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Language：Japanese   Publishing type：Research paper (conference, symposium, etc.)

Today, we tend to waste considerable amount of things and energy and produce a large amount of garbage in our daily lives. We are now forced to use a lot of expenditures and time to dispose of a lot of waste materials. Under such circumstances, reusable bottles, one of familiar waste materials, are recycled more frequently than before. In addition, the washing process of collected bottles has been automated. However, caps of collected reusable bottles are sometimes replaced although there are some regional differences about the treatment of caps. One possible problem is that such caps have to be detached by hand. Therefore, with the commercialization of product in mind, this research made an attempt to develop a machine that automatically unscrews caps. As a result of this research, a decapping machine was successfully developed. Caps of reusable bottles are automatically unscrewed with a minimum failing rate.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110006392542

Event date： 2020.05.27 - 2020.05.30   Language：Japanese  

CiNii Article

Event date： 2020.05.27 - 2020.05.30   Language：Japanese  

CiNii Article

Event date： 2020.05.27 - 2020.05.30   Language：Japanese  

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Event date： 2017.01   Language：Japanese  

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Event date： 2016.01   Language：Japanese  

CiNii Article

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Event date： 2014.01   Language：Japanese  

CiNii Article

Event date： 2013.01   Language：Japanese  

CiNii Article

Event date： 2013.01   Language：Japanese  

CiNii Article

Event date： 2012.01   Language：Japanese  

CiNii Article

Event date： 2012.01   Language：Japanese  

CiNii Article

Event date： 2012.01   Language：Japanese  

CiNii Article

Event date： 2012.01   Language：Japanese  

CiNii Article

Event date： 2011.10.12   Language：Japanese  

CiNii Article

Event date： 2011.01   Language：Japanese  

CiNii Article

Event date： 2011.01   Language：English  

CiNii Article

Event date： 2010.01   Language：Japanese  

CiNii Article

Event date： 2010.01   Language：Japanese  

CiNii Article

Event date： 2009.01   Language：Japanese  

CiNii Article

Event date： 2009.01   Language：Japanese  

CiNii Article

Application no：PCT/JP2019/010609  Date applied：2019.03.14

Application no：特願2018-052108  Date applied：2018.03.20

Application no：特願2010-170680  Date applied：2010.07.29

Language：Japanese   Presentation type：Others   Venue：明専会東京支部  

Language：Japanese   Presentation type：Invited lecture   Venue：東京大学生産技術研究所 (online)  

Language：Japanese   Presentation type：Special lecture  

Presentation type：Special lecture  

Presentation type：Invited lecture  

Presentation type：Invited lecture  

Presentation type：Special lecture  

Presentation type：Invited lecture  

Presentation type：Invited lecture  

Presentation type：Special lecture  

Country：Japan

Country：Japan

Country：Japan

Country：Japan

Grant type：Joint research

指定されたエリアの海底浚渫工事を行う際には、バケットの正確な着底位置情報を把握して作業する必要があるが、潮流などの影響を受けてバケットの着底位置を特定することは困難である。

本研究は、バケット着底場所を正確に把握することを目的とし、バケットの着底の際に生じる音を複数の音響センサーを用いて計測することで着底位置を計測するものである

Grant type：Joint research

Grant type：Consigned research

Grant type：Consigned research

Grant type：Other joint research

Grant type：Other joint research

Grant type：Other joint research