論文 - 安川　真輔

System Development of Tomato Harvesting Robot Based on Modular Design 査読有り

Takuya Fujinaga, Shinsuke Yasukawa, Kazuo Ishii

In Proc. of Smart Info-Media Systems in Asia (SISA 2019), 2019 International Workshop on SISA 2019   1 - 6   2019年09月

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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/

Development and Sea Trials of Vision-Based-Control for Sampling-AUV 査読有り

Shinsuke Yasukawa, Yuya Nishida, Jyonhyon Ahn, Takashi Sonoda, Keisuke Watanabe, Kazuo Ishii

2019 IEEE Symposium on Underwater Technology   2019年04月

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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

Benthos Sampling by Autonomous Underwater Vehicle Equipped a Manipulator with Suction Device 査読有り

Jonghyun Ahn, Takashi Sonoda, Kazuo Ishii, Shinsuke Yasukawa, Sotaro Takashima, Yuya Nishida, Tamaki Ura

2019 IEEE International Underwater Technology Symposium, UT 2019 - Proceedings   2019年04月

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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

End-effector for robotic harvesting of a tomato fruit with calyx 査読有り

Binghe Li, Shinsuke Yasukawa, Takuya Fujinaga, Kazuo Ishii

International Conference of Artificial Life and Robotics 2019   2019年01月

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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）

System Development of AUV’s Sampling Device Controller Employing MATLAB/Simulink Toolboxes 査読有り

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

International Conference of Artificial Life and Robotics 2019   2019年01月

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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）

Saliency Map Based on Maximization of Difference between Central and Surround Visions and Its Relationship with Image Feature Points 査読有り

Ryuugo Mochizuki, Shinsuke Yasukawa, Kazuo Ishii

International Conference of Artificial Life and Robotics 2019   2019年01月

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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）

Inspection System for Underwater Structure of Bridge Pier 査読有り

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

International Conference of Artificial Life and Robotics 2019   2019年01月

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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）

An Optical Image Transmission System for Deep Sea Creature Sampling Missions Using Autonomous Underwater Vehicle 査読有り

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

IEEE Journal of Oceanic Engineering   2018年10月

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記述言語：英語   掲載種別：研究論文（学術雑誌）

Automatic Detection of Location and Maturity of Tomato Fruit with Wide Range Mosaic Image of Cultivation Block on Dutch Venlo Greenhouse 査読有り

Takuya Fujinaga, Shinsuke Yasukawa, Kazuo Ishii

Proceedings of the 9 th International Symposium on Machinery and Mechatronics for Agriculture and Biosystems Engineering (ISMAB)   2018年05月

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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）

Flounders Measurement System Using Obtained Optical Images by AUV 査読有り

Jonghyun Ahn, Takashi Sonoda, Kazuo Ishii, Shinsuke Yasukawa, Sotaro Takashima, Yuya Nishida, Tamaki Ura

In 2018 OCEANS-MTS/IEEE Kobe Techno-Oceans (OTO)   2018年05月

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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

Recognition of Tomato Fruit Regardless of Maturity by Machine Learning Using Infrared Image and Specular Reflection 査読有り

Takuya Fujinaga, Shinsuke Yasukawa, Binghe Li, Kazuo Ishii

International Conference of Artificial Life and Robotics 2018   2018年02月

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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）

Seafloor Image Color Enhancement Method based on Retinex model and Experiment Report in the undersea environment 査読有り

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

International Conference of Artificial Life and Robotics 2018   2018年02月

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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）

Vision System for an Autonomous Underwater Vehicle with a Benthos Sampling Function 査読有り

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

Journal of Robotics and Mechatronics   30 ( 2 )   248 - 256   2018年01月

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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

Underwater Platform for Intelligent Robotics and its Application in Two Visual Tracking Systems 査読有り

Nishida Yuya, Sonoda Takashi, Yasukawa Shinsuke, Nagano Kazunori, Minami Mamoru, Ishii Kazuo, Ura Tamaki

Journal of Robotics and Mechatronics   30 ( 2 )   238 - 247   2018年01月

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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

Image Mosaicing Using Multi-Modal Images for Generation of Tomato Growth State Map 査読有り

Fujinaga Takuya, Yasukawa Shinsuke, Li Binghe, Ishii Kazuo

Journal of Robotics and Mechatronics   30 ( 2 )   187 - 197   2018年01月

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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

Enhancement of Deep-Sea Floor Images Obtained by an Underwater Vehicle and its Evaluation by Crab Recognition 査読有り

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

Journal of Marine Science and Technology   2017年12月

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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

Generation of Mosaic Image in Tomato Greenhouse Using Infrared Image 査読有り

Takuya Fujinaga,Shinsuke Yasukawa, Binghe Li, Kazuo Ishii

Smart Info-Media Systems in Asia (SISA 2017)   2017年09月

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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）

Sea-floor image transmission system for AUV 査読有り

Jonghyun Ahn, Shinsuke Yasukawa, Tharindu Weerakoon, Takashi Sonoda, Yuya Nishida, Tamaki Ura, Kazuo Ishii

In OCEANS 2017-Aberdeen. IEEE.   2017年06月

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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

Development of a Tomato Harvesting Robot 査読有り

Shinsuke Yasukawa, Binghe Li, Takashi Sonoda, Kazuo Ishii

International Conference of Artificial Life and Robotics 2017   2017年01月

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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）

Development of an Autonomous Underwater Vehicle with Human-aware Robot Navigation 査読有り

Yuya Nishida，Takashi Sonoda, Shinsuke Yasukawa, Jonghyun Ahn, Kazunori Nagano, Kazuo Ishii, Tamaki Ura

MTS/IEEE Oceans’16   2016年09月

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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