Faculty Profiles - NISIDA Yuya

Papers - NISIDA Yuya

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Underwater three-dimensional measurement using RGB structured-light

SHIINNOKI Tomoya, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2A2-O07 2017.01

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

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.

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

Development of Antagonistic High Power Joint Mechanism by using Cam

SUZUKI Katsuaki, NISHIDA Yuya, SONODA Takashi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2A1-A06 2017.01

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

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.

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

Real- Time autonomous multi resolution visual surveys based on seafloor scene complexity Reviewed

330 - 335 2016.12

Development of an autonomous underwater vehicle with human-aware robot navigation Reviewed

2016.11

Development of hovering-type AUV 'HOBALIN' for exploring seafloor hydrothermal deposits Reviewed

2016.11

Image enhancement and compression of deep-sea floor image for acoustic transmission Reviewed

2016.06

Autonomous Underwater Vehicle BOSS-A for Acoustic and Visual Survey of Manganese Crusts Reviewed International journal

Nishida Y., Nagahashi K., Sato T., Bodenmann A., Thornton B., Asada A., Ura T.

Journal of Robotics and Mechatronics 28 ( 1 ) 91 - 94 2016.02

Virtual Mooring Buoy ABA for Multiple Autonomous Underwater Vehicles Operation Reviewed International journal

Nishida Y., Kojima J., Itoh Y., Tamura K., Sugimatsu H., Kim K., Sudo T., Ura T.

Journal of Robotics and Mechatronics 28 ( 1 ) 86 - 90 2016.02

Development of an autonomous underwater vehicle for survey of cobalt-rich manganese crust Reviewed

2016.02

The Image Compression and Reconstruction Method to Monitor AUV’s Vision Information

AHN Jonghyun, YASUKAWA Shinsuke, SONODA Takashi, NISHIDA Yuya, ISHII Kazuo, URA Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1A1-16b7 2016.01

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

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.

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

Development of Manipulator for Deep-Sea Benthic Organism Sampling Tasks

SONODA Takashi, YASUKAWA Shinsuke, JONGHYUN Ahn, NASSIRAEI Amir Ali Forough, NISHIDA Yuya, ISHII Kazuo, URA Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1A1-17a3 2016.01

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

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.

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

Autonomous Survey System of Manganese Crusts using Acoustic and Visual Instruments

NISHIDA Yuya, NAGAHASHI Kenji, SATO Takumi, BODENMANN Adrian, THORNTON Blair, ASADA Akira, URA Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1A2-17b2 2016.01

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

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.

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

Development of an autonomous buoy system for AUV Reviewed

2015.09

Fish recognition method using vector quantization histogram for investigation of fishery resources Reviewed

2015.01

Resource investigation for Kichiji rockfish by autonomous underwater vehicle in Kitami-Yamato bank off Northern Japan Reviewed

1 ( 1 ) 2014.12

Investigation method for the biomass of kichiji rockfish by hovering type AUV Reviewed

2014.01

Autonomous underwater vehicle "Tuna-sand" for image observation of the seafloor at a low altitude Reviewed

26 ( 4 ) 519 - 521 2014.01

Hovering type AUV "Tuna-Sand" and its surveys on Smith caldera in Izu-Ogasawara ocean area Reviewed

2013.01

Design principle of high power joint mechanism possible to walking and jumping imitating locust leg structure Reviewed

23 ( 2 ) 225 - 230 2011.01

Kinematics analysis of a high power joint mechinasm imitating locust leg structure Reviewed International journal

Nishida Y., Sonoda T., Ishii K.

2010 World Automation Congress, WAC 2010 2010.12

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Papers - NISIDA Yuya