担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）

DOI： 10.57417/jrnal.9.3_209

DOI： 10.57417/jrnal.9.3_209

記述言語：英語   掲載種別：研究論文（学術雑誌）

DOI： 10.57417/jrnal.9.1_13

DOI： 10.57417/jrnal.9.1_13

その他リンク： https://www.jstage.jst.go.jp/article/jrnal/9/1/9_2/_article/-char/ja/

担当区分：最終著者,　責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）

DOI： 10.57417/jrnal.9.1_66

DOI： 10.57417/jrnal.9.1_66

その他リンク： https://www.jstage.jst.go.jp/article/jrnal/9/1/9_11/_article/-char/ja

記述言語：日本語   掲載種別：研究論文（学術雑誌）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

2022年01月20日  -  2022年01月23日

Kyutacar

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

2022年01月20日  -  2022年01月23日

Kyutacar

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

2022年01月20日  -  2022年01月23日

Kyutacar

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

2022年01月20日  -  2022年01月23日

Kyutacar

担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

2022年01月20日  -  2022年01月23日

Kyutacar

記述言語：日本語   掲載種別：記事・総説・解説・論説等（学術雑誌）

<p></p>

DOI： 10.7210/jrsj.39.921

Kyutacar

CiNii Article

CiNii Research

その他リンク： https://ci.nii.ac.jp/naid/130008130004

記述言語：日本語   掲載種別：研究論文（学術雑誌）

<p>In recent years, extermination work has been carried out due to the increase in the number of jellyfish. In this research, we design and develop an AUV (Autonomous Underwater Vehicle) and conduct a jellyfish crushing experiment for the purpose of automating jellyfish extermination work. In the design and development of an AUV, electronic parts to operate autonomously were selected, and each electronic part was placed inside the hull to create a system diagram of them. Regarding the jellyfish extermination device, we designed and developed a device that sucks and crushes jellyfish together with water from the suction port. In this experiment, a jellyfish extermination device was mounted on developed AUV, and a crushing experiment was conducted using a jellyfish sample which is made by water and gelatin. As a result, it was confirmed that a jellyfish sample with a diameter of about 7 cm and a height of about 11 cm could be crushed to small pieces, which has average of volume 2885.6 mm³, during less in about 8 seconds.</p>

DOI： 10.14953/jjsde.2021.2931

Kyutacar

CiNii Article

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/jjsde/advpub/0/advpub_2021.2931/_article/-char/ja

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（学術雑誌）

© 2020, Fuji Technology Press. All rights reserved. To realize smart agriculture, we engaged in its system-atization, from monitoring to harvesting tomato fruits using robots. In this paper, we explain a method of generating a map of the tomato growth states to mon-itor the various stages of tomato fruits and decide a harvesting strategy for the robots. The tomato growth state map visualizes the relationship between the maturity stage, harvest time, and yield. We propose a generation method of the tomato growth state map, a recognition method of tomato fruits, and an estimation method of the growth states (maturity stages and harvest times). For tomato fruit recognition, we demonstrate that a simple machine learning method using a limited learning dataset and the optical properties of tomato fruits on infrared images exceeds more com-plex convolutional neural network, although the results depend on how the training dataset is created. For the estimation of the growth states, we conducted a survey of experienced farmers to quantify the maturity stages into six classifications and harvest times into three terms. The growth states were estimated based on the survey results. To verify the tomato growth state map, we conducted experiments in an ac-tual tomato greenhouse and herein report the results.

DOI： 10.20965/jrm.2020.p1279

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85098498979&origin=inward

記述言語：英語   掲載種別：研究論文（学術雑誌）

記述言語：英語   掲載種別：研究論文（学術雑誌）

© 1976-2012 IEEE. The exploration of oceans using autonomous underwater vehicles (AUVs) is necessary for activities, such as the sustainable management of fishery resources, extraction of seafloor minerals and energy resources, and inspection of underwater infrastructure. As the next step in ocean exploration, AUVs are expected to employ end-effectors to make physical contact with seafloor creatures and materials. We propose a scenario for realizing a sampling mission using an AUV that is equipped to sample marine life. In this scenario, the sampling AUV observes the seafloor while concurrently transmitting the observed images to a surface vessel for inspection by the AUV operators. If the received images show an object of interest, the object is selected as a candidate of sampling target by the operators, who send a sampling command to the AUV. After receiving the command, the AUV returns to the target area and attempts to sample it. In this paper, we propose a system for transmitting images of the seafloor as part of the sampling-mission scenario. The proposed image transmission system includes a process for enhancing images of the deep seafloor, a process for selecting interesting images, and processes for compressing and reconstructing images. The image enhancement process resolves imaging problems resulting from light attenuation, such as color attenuation and uneven illumination. The process for selecting interesting images selects those that contain interesting objects, such as marine life. The selection process prevents the transmission of meaningless images that contain only flat sand on the seafloor. The proposed image compression method, which is based on color depth compression, reduces the amount of data. The combined process of selecting an interesting image and compressing it reduces various problems in acoustic communication, such as low information density and data loss. Instead of an overall image, part of an overall image is transmitted by a set of data packet, and each received data packet is reconstructed onboard the vessel. Because of image compression, the colors of a reconstructed image differ from those of an enhanced image. However, the reconstructed image contains similar colors, and the structural similarity index was found to be 91.4% by evaluating images that were subjected to a 4-b color compression. The proposed image transmission system was tested in the Sea of Okhotsk, and these tests were performed four times in different sea areas (minimum depth 380 m, maximum depth 590 m). The results show that the size of the data for a single image was reduced by a factor of 18 using the proposed image compression process, with each image taking 3.7 s to be transmitted via an acoustic modem (20 kb/s). Of the automatically selected images, 63% contained marine life, and the total transmission success rate was 22%.

DOI： 10.1109/JOE.2018.2872500

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85055860272&origin=inward

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Japan   Oita   2020年01月13日  -  2020年01月16日

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Japan   Oita   2020年01月13日  -  2020年01月16日

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Japan   Oita   2020年01月13日  -  2020年01月16日

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Sri Lanka   Peradeniya   2019年12月18日  -  2019年12月20日

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Sri Lanka   Peradeniya   2019年12月18日  -  2019年12月20日

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

© 2019 IEEE. We investigated the setting method of exposure times for an adaptive multi-exposure image fusion. Because the range of luminance in the natural environment is wide and objects in captured image have inherent optical properties, the vision system need to adapt to the input light. The proposed system comprises an image sensor module and a field-programmable gate array (FPGA) which is composed of control signal generator for an image sensor, HDR (High-dynamic-range) image generator/evaluator. In this study, we employed and evaluated maximum entropy of HDR image as the exposure time setting method.

DOI： 10.1109/ICIIS47346.2019.9063302

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85084139742&origin=inward

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

© 2019 IEEE. This research focuses on two self-localization methods for observation of the sea floor and sampling. One is a method of estimate the self-localization using Kalman filter from the acceleration data calculated from equation of motion and the velocity data considering the effect of underwater vehicle's oscillation. The other is visual odometry using a stereo camera. The AUV was deployed in a sea area 40m depth to evaluate the performance of self-localization estimated by two methods. Self-localization estimation using Kalman filter was less accurate than visual odometry, but it was confirmed that the variance of the estimated velocity was smaller than before estimation. In the visual odometry using stereo camera, it was confirmed that the estimation error depends on the travel direction of AUV and the moving direction of a stereo camera.

DOI： 10.1109/ICIIS47346.2019.9063345

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85084155438&origin=inward

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

2019年10月18日  -  2019年10月19日

その他リンク： http://www.iciis.org/

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Japan   Tokyo   2019年09月04日  -  2019年09月06日

その他リンク： http://www.ieice-sisa.org/

担当区分：責任著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

DOI： 10.1109/UT.2019.8734462

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

DOI： 10.1109/UT.2019.8734330

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（学術雑誌）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

DOI： 10.1109/OCEANSKOBE.2018.8559296

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（学術雑誌）

<p>We developed a vision system for an autonomous underwater robot with a benthos sampling function, specifically sampling-autonomous underwater vehicle (AUV). The sampling-AUV includes the following five modes: preparation mode (PM), observation mode (OM), return mode (RM), tracking mode (TM), and sampling mode (SM). To accomplish the mission objective, the proposed vision system comprises software modules for image acquisition, image enhancement, object detection, image selection, and object tracking. The camera in the proposed system acquires images in intervals of five seconds during OM and RM, and in intervals of one second during TM. The system completes all processing stages in the time required for image acquisition by employing high-speed algorithms. We verified the effective operation of the proposed system in a pool.</p>

DOI： 10.20965/jrm.2018.p0248

CiNii Article

その他リンク： https://ci.nii.ac.jp/naid/130007499244

記述言語：英語   掲載種別：研究論文（学術雑誌）

<p>A hovering-type autonomous underwater vehicle (AUV) capable of cruising at low altitudes and observing the seafloor using only mounted sensors and payloads was developed for sea-creature survey. The AUV has a local area network (LAN) interface for an additional payload that can acquire navigation data from the AUV and transmit the target value to the AUV. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In this research, water tank tests and sea trials were performed using an AUV equipped with a visual tracking system developed in other laboratories. The experimental results proved that additional payload can control the AUV position with a standard deviation of 0.1 m.</p>

DOI： 10.20965/jrm.2018.p0238

CiNii Article

その他リンク： https://ci.nii.ac.jp/naid/130007499268

記述言語：英語   掲載種別：研究論文（学術雑誌）

<p>Due to the aging and decreasing the number of workers in agriculture, the introduction of automation and precision is needed. Focusing on tomatoes, which is one of the major types of vegetables, we are engaged in the research and development of a robot that can harvest the tomatoes and manage the growth state of tomatoes. For the robot to automatically harvest tomatoes, it must be able to automatically detect harvestable tomatoes positions, and plan the harvesting motions. Furthermore, it is necessary to grasp the positions and maturity of tomatoes in the greenhouse, and to estimate their yield and harvesting period so that the robot and workers can manage the tomatoes. The purpose of this study is to generate a tomato growth state map of a cultivation lane, which consists of a row of tomatoes, aimed at achieving the automatic harvesting and the management of tomatoes in a tomato greenhouse equipped with production facilities. Information such as the positions and maturity of the tomatoes is attached to the map. As the first stage, this paper proposes a method of generating a greenhouse map (a wide-area mosaic image of a tomato cultivation lane). Using the infrared image eases a correspondence point problem of feature points when the mosaic image is generated. Distance information is used to eliminate the cultivation lane behind the targeted one as well as the background scenery, allowing the robot to focus on only those tomatoes in the targeted cultivation lane. To verify the validity of the proposed method, 70 images captured in a greenhouse were used to generate a single mosaic image from which tomatoes were detected by visual inspection.</p>

DOI： 10.20965/jrm.2018.p0187

CiNii Article

その他リンク： https://ci.nii.ac.jp/naid/130007499459

記述言語：英語   掲載種別：研究論文（学術雑誌）

DOI： 10.1007/s00773-017-0442-1

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

DOI： 10.1109/OCEANSE.2017.8084926

記述言語：日本語   掲載種別：研究論文（国際会議プロシーディングス）

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

DOI： 10.1109/OCEANS.2016.7761471

記述言語：英語   掲載種別：研究論文（学術雑誌）

DOI： 10.1016/j.neunet.2016.05.002

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

DOI： 10.1109/OCEANSAP.2016.7485453

記述言語：英語   掲載種別：研究論文（学術雑誌）

DOI： 10.1504/IJMA.2014.066367

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

DOI： 10.1109/ICMA.2013.6618101

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

DOI： 10.1109/SII.2012.6427366

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

開催期間： 2021年06月06日 - 2021年06月08日   記述言語：日本語  

<p>In this paper, in order to evaluate the plane detection algorithm for detecting the edge of a station platform, we verified the algorithm by running it on the 3D distance data measured at the actual station platform. As the result, we were able to detect the plane with the error that is small enough to distinguish it from steps such as stairs. However, the correct answer rate and the true negative rate were greatly reduced by the distant point clouds and the movement of the sensor itself, so it is necessary to remove the distant point clouds and to reduce the error caused by the movement of the sensor itself in the current algorithm. In the future, we will verify the algorithm in other situations, and implement and verify additional processing.</p>

開催期間： 2021年06月06日 - 2021年06月08日   記述言語：日本語  

<p>We proposed a method for estimating the angular velocity of a rotating visual target robustly to changes in illumination conditions using event-based vision and spiking neural networks (SNNs). By using the output of the event-based vision directly as input to the SNN, the image processing function can be achieved by keeping the advantages of the vision sensor in the previous stage. A board printed with natural images was placed at a certain distance from the vision system as a viewing target. The vision system captured rotating objects at various angular velocities under multiple lighting conditions to generate a data set. Using this data set, we verified whether the SNN can estimate the visual target. We achieved about 80% accuracy on both the training and test datasets in both bright and dark lighting environments.</p>

開催期間： 2019年06月05日 - 2019年06月08日   記述言語：日本語  

開催期間： 2019年06月05日 - 2019年06月08日   記述言語：英語  

開催期間： 2018年01月   記述言語：日本語  

<p>This paper presents a generation method of tomato growth state map that has maturity and position of tomato. The tomato growth state map is used for the tomato harvesting robot to automatically plan the harvesting movement. As a first step of generating the tomato growth state map, a mosaic image expressing the tomato cultivation environment is generated. Next, immature to mature tomato are recognized by recognition method using infrared image. Based on color and depth information, maturity of tomato is judged and tomato position is calculated. This information is added to the mosaic image, and the tomato growth state map is generated. 19 immature tomatoes and 7 mature tomatoes were automatically detected from tomato state growth map that generated from 10 images.</p>

CiNii Article

開催期間： 2017年01月   記述言語：日本語  

<p>This paper presents a feature point matching to generate mosaic image that expresses a cultivation environment, as a part of behavior strategy of tomato harvesting robot. Since that mosaic image requires tomato fruits and stems in front face, in this study, an IR image suitable for detecting the object in front is used. Proposed method uses robot moving distance and location of original feature point to decide detection area to search for feature point. Compare features of feature points in this area and original feature point, then decide matching point. Feature point matching of two consecutive infrared images was performed. By adding detection area of feature point, it is possible to reduce false matching.</p>

CiNii Article

開催期間： 2017年01月   記述言語：日本語  

<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>

CiNii Article

開催期間： 2017年01月   記述言語：日本語  

<p>In recent years, the introduction of robot technology to the primary industry is very important, and introduction to the agricultural field is also expected. Among them, tomatoes have a long harvesting work time and high labor load. Therefore, automation of harvesting by robots is desired. In this research, we are targeting tomato production facilities with large-scale infrastructure. We are developing tomato harvesting robot aiming at practical application at Hibikinada Greenfarm Co., Ltd.. In this paper, we focused on end effector for harvesting tomato. When harvesting tomatoes, it need to have a stem end. In the previous study, it was pluck a tomato from a stem, but stem end took off from tomatoes. In order to harvest a tomato from cluster with stem end, we developed an end effector using suction mechanism and cutting mechanism.</p>

CiNii Article

開催期間： 2016年01月   記述言語：日本語  

<p>This paper presents a novel ripe tomato fruit detection method within a tomato cluster, as a part of behavior strategy of tomato harvesting robot. Proposed method uses infrared images and specular reflection based on the optical characteristic of tomatoes. The fruits of the tomato clusters are detected separately on the captured infrared images, searching the strong response at the center of fruits caused by specular reflection. To recognize the ripe tomatoes from the unripe fruits and other background objects, RGB images were used. The method was evaluated using infrared and RGB images captured by Xbox One Kinect sensor in a greenhouse environment. The result shows the detection accuracy of 88.1 percent of the proposed method.</p>

CiNii Article

開催期間： 2016年01月   記述言語：日本語  

<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>

CiNii Article

開催期間： 2016年01月   記述言語：日本語  

<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>

CiNii Article

開催期間： 2015年01月   記述言語：日本語  

日本において，現在実用化されているロボットのほとんどは産業用ロボットである．農林水産分野におけるロボットの割合はわずかであり，農業用ロボットの研究開発は行われているが，一般的にはまだあまり実用化されていない状況である．トマトは主要な果菜類の一種であり，多くがハウス等の施設で栽培されているが，高温・高湿度な作業環境と長い収穫期間があるため，労働負荷は大きく省力化が望まれている．本論文ではトマトロボット競技会を通じたトマト収穫ロボットの開発について述べる．

CiNii Article

開催期間： 2015年01月   記述言語：日本語  

This paper presents a visual information aided behavior strategy for tomato harvesting robot. Particularly, we have proposed an image analysis method for estimating the pose of the fruits as it is the most essential information for picking tomato. Tomato harvesting robot includes a six-axis serial manipulator with a monocular hand-eye and an end-effector, and autonomous mobile cart along with a digital computer. Multi-images of tomato bunch captured from different views by hand-eye are used to reconstruct a 3D point cloud of the bunch which provides the basic information for pose estimation. This information is used in the proposed algorithm to estimate the pose of tomatoes with different shapes and sizes.

CiNii Article

開催期間： 2015年01月   記述言語：日本語  

It is important to observe deep sea for using sea marine resources. However, observation is difficult. Because, deep sea is an extreme environment that has high pressure, darkness and radio attenuation. Recently, Autonomous Underwater Vehicles (AUVs) are used deep seafloor exploration in order to photograph seafloor. But, the images that photographed by AUVs has low color signal by light attenuation. In this paper, we have proposed a method to enhance color in deep seafloor images. As a result, the proposed method has shown enhanced colors in each image pixel.

CiNii Article

開催期間： 2015年01月   記述言語：日本語  

In late years, Japanese agriculture is aging and young people away from primary industries. For these problems, by using the robot and information communication technology, labor saving, automation, and "smart agriculture" that enables improvement of productivity is expected. Tomato is a kind of major vegetables, harvest and shipping amount is located in the upper level. However, the time required for harvesting to the total working time per 10a accounts also 30%〜40%. Also, many of the tomatoes are grown indoors, because of the high temperature and high humidity environment, labor burden greater labor-saving is desired. Studies have been made extensive aimed at commercialization of tomato harvesting robot so far. We are through the tomato robot competitions that aim to automate and practical application of the harvest of vegetables.

CiNii Article