Faculty Profiles - NISIDA Yuya

Papers - NISIDA Yuya

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Robot competition for underwater technology researchers and students Reviewed International journal

Yuya Nishida, Takashi Sonoda, Takayuki Mtsuo, Shinsuke Yasukawa, Masanori Sato, Yasunori Takemura, Kazuo Ishii

Journal of Advances in Artificial Life Robotics 1 ( 1 ) 11 - 15 2020.06

An Optical Image Transmission System for Deep Sea Creature Sampling Missions Using Autonomous Underwater Vehicle Reviewed

Ahn J., Yasukawa S., Sonoda T., Nishida Y., Ishii K., Ura T.

IEEE Journal of Oceanic Engineering 45 ( 2 ) 350 - 361 2020.04

Development of Antagonistic High Power Joint Mechanism with Cams Reviewed

Katsuaki Suzuki, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

2020.01

Long-term observation method using Cable-restricted Underwater Vehicle:-Self-localization based on cable constraints-

TANAKA Yoshiki, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2020 ( 0 ) 1P1 - C07 2020.01

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

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.

DOI： 10.1299/jsmermd.2020.1P1-C07

CiNii Article

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

Development of Autonomous Underwater Vehicle for benthos sampling:-Continuous benthos sampling using a slurp gun with canisters-

Nishida Yuya, Yasukawa Shinsuke, Sonoda Takashi, Inoue Shogo, Watanabe Keisuke, Ishii Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2020 ( 0 ) 1P1 - C13 2020.01

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

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.

DOI： 10.1299/jsmermd.2020.1P1-C13

CiNii Article

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

Stiffness Measurement of Object Targeted for Robotic Hand

MOCHIZUKI Ryuugo, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2020 ( 0 ) 1A1 - K06 2020.01

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

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.We measured power spectrum of ultrasound reflected on food. As the result of the experiment, the spectrum varied according to the stiffness.

DOI： 10.1299/jsmermd.2020.1A1-K06

CiNii Article

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

Sea trials for benthos sampling using autonomous underwater vehicle Reviewed

Nishida Y., Yasukawa S., Sonoda T., Watanabe K., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 2020 167 - 170 2020.01

Reports of 7th underwater robot festival in kitakyushu Reviewed

Nishida Y., Sonoda T., Matsuo T., Yasukawa S., Sato M., Takemura Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 2020 110 - 113 2020.01

Field experiments of underwater image transmission for auv Reviewed

Yasukawa S., Nishida Y., Ahn J., Sonoda T., Yanagise K., Watanabe K., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 2020 171 - 174 2020.01

Development of antagonistic high power joint mechanism with cams Reviewed

Suzuki K., Nishida Y., Sonoda T., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 2020 263 - 266 2020.01

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108843059&origin=inward

A new rotary actuator capable of rapid motion using an antagonistic cam mechanism Reviewed International journal

Suzuki Katsuaki, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

Journal of Advances in Artificial Life Robotics ( ALife Robotics Corporation Ltd ) 1 ( 3 ) 144 - 152 2020.01

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

Evaluation of Underwater Vehicle's Self-Localization Based on Visual Odometry or Sensor Odometry Reviewed

Yoshiki Tanaka, Akio Semmyo, Yuya Nishida, Shinsuke Yasukawe, Jyonghyon Ahn, Kazuo Ishin

2019.12

Evaluation of underwater vehicle's self-localization based on visual odometry or sensor odometry Reviewed

Tanaka Y., Semmyo A., Nishida Y., Yasukawa S., Ahn J., Ishii K.

2019 IEEE 14th International Conference on Industrial and Information Systems: Engineering for Innovations for Industry 4.0, ICIIS 2019 - Proceedings 384 - 389 2019.12

An AUV Based Method for Estimating Hectare-scale Distributions of Deep Sea Cobalt-rich Manganese Crust Deposits Reviewed

Neettiyath U., Thornton B., Sangekar M., Nishida Y., Ishii K., Sato T., Bodenmann A., Ura T.

OCEANS 2019 - Marseille, OCEANS Marseille 2019 2019-June 2019.06

Unmanned Seafloor Survey System Without Support Vessel and its Recent Operations in Sea Trials Reviewed

2019.04

Underwater Vehicle Localization Considering the Effects of its Oscillation Reviewed

2019.04

Development and Sea Trials of Vision-Based Control for Sampling-AUV Reviewed

2019.04

Benthos Sampling by Autonomous Underwater Vehicle Equipped a Manipulator with Suction Device Reviewed

2019.04

Inspection System for Underwater Structure of Bridge Pier Reviewed International journal

Ueda Takumi, Hirai Hiyoyasu, Fuchigami Kazuki, Yuki Ryoma, Jonghyun Ahn, Yasukawa Shinsuke, Nishida Yuya, Ishii Kazuo, Sonoda Takashi, Higashi Katsunori, Tanaka Katsunori, Ikeda Tomomasa

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 24 521 - 524 2019.01

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

System Development of AUV's Sampling Device Controller Employing MATLAB/Simulink Toolboxes Reviewed

Sonoda Takashi, Yasukawa Shinsuke, Ahn Jonghyun, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 24 517 - 520 2019.01

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

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