Faculty Profiles - NISIDA Yuya

Papers - NISIDA Yuya

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Development of Hull Cleaning Robot Reviewed

Ishii Kazuo, Matsuo Takayuki, Sonoda Takashi, Takemura Yasunori, Sanada Atsushi, Nishida Yuya, Yasukawa Shinsuke, Yamamoto Hyoga, Ura Tamaki

Marine Engineering ( The Japan Institute of Marine Engineering ) 59 ( 4 ) 483 - 490 2024.07

Development of antagonistic wire-driven joint mechanism capable of rapid motion and variable stiffness Reviewed International journal

Suzuki Katsuaki, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 29 634 - 637 2024.02

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

The advancement of digital transformation in manufacturing is expected to demand novel tasks for industrial machinery unlike before. When adding mechanisms or actuators to enhance machine functionality, concerns arise about potential system enlargement and increased complexity. The design concept of integrating multiple functions into mechanisms using a few actuators and components serves as one means to address these issues. We aim to elucidate the structural arrangement capable of achieving three functions, including normal motion, rapid motion, and variable stiffness, using two electric actuators. In this paper, we introduce a newly devised antagonistic wiredriven joint mechanism aimed at improving the variable stiffness function within the articulated mechanism we have developed, enabling three functionalities.

DOI： 10.5954/icarob.2024.os20-13

CiNii Research

Recognition of Fish in Aqua Cage by Machine Learning with Image Enhancement Reviewed International journal

2024.01

Wavelet OFDM Wireless Communication System for Autonomous Underwater Vehicles Using Loop-Shaped Antennas in Underwater Environments Reviewed International journal

Hasaba R., Eguchi K., Wakisaka T., Hirokawa J., Hirose M., Matsushima T., Fukumoto Y., Nishida Y., Ishii K.

IEEE Access 2024.01

An Inexpensive Acoustic Positioning System for Low-Cost Shallow Water AUV Operation Reviewed

Inniyaka Irmiya R., Solpico Dominic B., Hamada Daiki, Sugino Akihiro, Tanaka Rikuto, Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 2 ) 131 - 140 2023.10

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

Accurate localization of Autonomous Underwater Vehicles (AUVs) is fundamental to navigation
accuracy, and robust control which leads to an overall success of vehicles’ mission. Conventional
positioning systems are expensive and cannot be implemented for lightweight/budget AUV
systems. This paper describes the design and performance of an inexpensive acoustic positioning
system (APS) used to guide the mission strategy of a lightweight AUV (KYUBIC) for the
Underwater Robotics Competition in Okinawa. Using Position and Thrust control strategy, the
AUV velocity is used for self-positioning estimation, and this is calculated from the equation of
motion without integrating the acceleration. The acoustic positioning method is based on Supershort
baseline (SSBL) principle comprising of 2 self-made hydrophone module using MEMS
microphone. Our competition strategy searches and locates the position of a submerged Pinger
using detection and angle estimates that are integrated for dynamic control of the AUV.
Performance analysis show that the controller and low-cost acoustic system can search and
localize at Pinger position within the accepted boundary.

DOI： 10.57417/jrnal.10.2_131

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Underwater Image Restoration Using In-situ Turbidity Measurements Reviewed International journal

Inniyaka Irmiya R., Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 2 ) 141 - 151 2023.09

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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CiNii Research

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Motion Control of an AUV Based on Disturbance Observer for Tidal Current Estimation Reviewed

Miyakawa R., Nishida Y., Thornton B., Ishii K.

Oceans Conference Record (IEEE) 2023.09

Experimental Study of Underwater RF Communication for Live Video Transmission for AUVs Application Reviewed

Alahmad Raji, Ishii Kazuo, Nishida Yuya, Fukumoto Yuki, Matsushima Tohlu

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 1 ) 84 - 90 2023.09

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

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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Development of a Testbed AUV for Shallow Water Observation and Its Controller Evaluation Reviewed International journal

Tanaka Yoshiki, Matsumura Toshimune, Uemura Yuichiro, Yanagise Kentaro, Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 1 ) 6 - 16 2023.07

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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Grid Map Correction for Fall Risk Alert System Using Smartphone Reviewed International journal

Katayama Daigo, Ishii Kazuo, Yasukawa Shinsuke, Nishida Yuya, Nakadomari Satoshi, Wada Koichi, Befu Akane, Yamada Chikako

Journal of Robotics and Mechatronics ( Fuji Technology Press Ltd. ) 35 ( 3 ) 867 - 878 2023.06

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

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.

DOI： 10.20965/jrm.2023.p0867

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Development of the Autonomous Core Sampling System for AUV Reviewed International journal

Shogo Inoue , Sotaro Takashima , Kazunori Nagano, Kotohiro Masuda , Satoru Taoka , Blair Thornton , Harumi Sugimatsu , Yuya Nishida , Isao Koike , Tamaki Ura

International symposium on underwater technology 2023.03

Development of long-term observation system using cable-restricted underwater vehicle Reviewed International journal

Yoshiki Tanaka, Jiro Fukuda, Yuya Nishida, Kazuo Ishii

International symposium on underwater technology 2023.03

Underwater Live Video Streaming Experiment Using Radio Frequency Communication for AUVs Reviewed International journal

Alahmad Raji, Nishida Yuya, Ishii Kazuo, Fukumoto Yuki, Matsushima Tohlu

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 497 - 501 2023.02

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

Development of a Variable Stiffness Function for a New Multifunctional Wire Driven Joint Mechanism Reviewed International journal

Suzuki Katsuaki, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 523 - 526 2023.02

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

Image-based navigation of Small-size Autonomous Underwater Vehicle "Kyubic" in International Underwater Robot Competition Reviewed International journal

Mizoguchi Yusuke, Hamada Daiki, Fukuda Riku, Inniyaka Irmiya R., Kuwata Kaito, Nishimuta Keisuke, Sugino Akihiro, Tanaka Rikuto, Tanaka Yoshiki, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 469 - 474 2023.02

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

Occuluded Object Detection by Ultrasonic Sensors Reviewed

Mochizuki Ryuugo, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 517 - 522 2023.02

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

Sea-floor Image Restoration with Variable Absorbance Coefficient Reviewed International journal

Inniyaka Irmiya R., Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 508 - 512 2023.02

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

Underwater Live Video Streaming Experiment Using Radio Frequency Communication for AUVs Reviewed

Alahmad R., Nishida Y., Ishii K., Fukumoto Y., Matsushima T.

Proceedings of International Conference on Artificial Life and Robotics 499 - 503 2023.01

Development of a Variable Stiffness Function for a New Multifunctional Wire Driven Joint Mechanism Reviewed

Suzuki K., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 525 - 528 2023.01

Sea-floor Image Restoration with Variable Absorbance Coefficient Reviewed

Inniyaka I.R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 510 - 514 2023.01

Occuluded Object Detection by Ultrasonic Sensors Reviewed

Mochizuki R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 519 - 524 2023.01

A Method to Estimate Reflection Coefficient of Ultrasonic Wave at a Boundary of Two Media Reviewed International journal

Mochizuki Ryuugo, Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 4 ) 343 - 348 2023.01

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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A Network of Underwater Flow Sensors for Long-term Estimation of Fish Feeding Activity Reviewed International journal

Solpico D., Nishida Y., Mishima K., Ishii K., Suetsugu T., Yatsunami Y.

2023 IEEE International Symposium on Underwater Technology, UT 2023 2023.01

Development of long-term observation system using cable-restricted underwater vehicle Reviewed International journal

Tanaka Y., Nishida Y., Fukuda J., Ishii K.

2023 IEEE International Symposium on Underwater Technology, UT 2023 2023.01

Development of the Autonomous Core Sampling System for AUV Reviewed International journal

Inoue S., Takashima S., Nagano K., Masuda K., Taoka S., Thornton B., Sugimatsu H., Nishida Y., Koike I., Ura T.

2023 IEEE International Symposium on Underwater Technology, UT 2023 2023.01

Experimental Study of Wavelet-OFDM Radio Communication System for AUVs Under Seawater Reviewed International journal

Hasaba R., Eguchi K., Wakisaka T., Satoh H., Hirokawa J., Hirose M., Matsushima T., Fukumoto Y., Nishida Y., Ishii K.

17th European Conference on Antennas and Propagation, EuCAP 2023 2023.01

Fall Risk Estimation for Visually Impaired using iPhone with Li-DAR Reviewed International journal

Katayama Daigo, Ishii Kazuo, Yasukawa Shinsuke, Nishida Yuya, Nakadomari Satoshi

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 4 ) 349 - 357 2023.01

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

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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Report on the 8th Tomato-Harvesting Competition toward Smart Agriculture Reviewed

Ishii K., Matsuo T., Takemura Y., Sonoda T., Sanada A., Tominaga M., Nishida Y., Yasukawa S., Shirahashi K., Fujinaga T., Arita D., Kawajiri K., Ohshima K., Okada M.

Proceedings of International Conference on Artificial Life and Robotics 486 - 490 2023.01

Time-Synchronized Projector-Camera System Design and Underwater Sharpening Image Acquisition Experiment Reviewed International journal

Han J., Yamamoto H., Nishida Y., Yasukawa S.

2023 IEEE International Symposium on Underwater Technology, UT 2023 2023.01

Hovering Type AUV ”Tuna-Sand2” Dive Surveys on Seaweed Bed Habitat off Iwakuni.

MIYAKAWA Ryo, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2023 ( 0 ) 1A2-C09 2023.01

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

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.

DOI： 10.1299/jsmermd.2023.1a2-c09

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A2-C09/_pdf

Long-term observation system using a cable-restricted underwater vehicle

TANAKA Yoshiki, NISHIDA Yuya, FUKUDA Jiro, NAKAMURA Masahiro, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2023 ( 0 ) 1P1-C12 2023.01

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

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.

DOI： 10.1299/jsmermd.2023.1p1-c12

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1P1-C12/_pdf

Digital Transformation of Feeding Control Knowledge in Marine Aquaculture using Current Sensors Reviewed International journal

Solpico Dominic B., Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 2 ) 143 - 153 2022.09

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

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Toward Smart Tomato Greenhouse Reviewed International journal

Matsuo Takayuki, Takemura Yasunori, Sonoda Takashi, Nishida Yuya, Yasukawa Shinsuke, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 1 ) 13 - 19 2022.06

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

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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テレロボティクスインターフェイスを有した生物捕獲用自律型海中ロボット Reviewed

西田祐也，園田隆，安川真輔，安鍾賢，渡邉啓介，石井和男

海洋調査技術 32 ( 1-2 ) 124 - 129 2022.04

An Estimation Method of Coastal Ocean Debris Using Aerial Drone Reviewed

Kazuo Ishii, Kanako Shirahashi, Yuya Nishida, Moeko Tominaga, Yoshiki Tanaka, Dominic B. Solpico