Faculty Profiles - OHASHI Takeshi

Papers - OHASHI Takeshi

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Untying Cable by Combining 3D Deep Neural Network with Deep Reinforcement Learning Reviewed International journal

Zheming Fan, Wanpeng Shao, Toyohiro Hayashi, Takeshi Ohashi

Advanced Robotics ( Taylor & Francis ) 37 ( 0 ) 380 - 394 2022.09

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

In this study, we propose a framework to solve the cable traction problem where many cables are needed, such as in factories, schools, etc. Our framework is divided into three stages: First, we use SegNet to recognize the cable in the image, build a 3D voxel model by 3D-VAE-GAN, and transform the voxel model to a 3D particle model in Unity3D by the Position-Based Dynamics method. Second, features learned by a 3D deep neural network (PointNet++) from the 3D model are fed into a deep reinforcement learning (RL) network (DQN) to get a series of actions to untie the 3D cable model in Unity3D. Finally, we input the action sequence to the robot arm to untie the cable in the real world. Experimental results show that compared with traditional methods, our method has successfully applied artificial intelligence algorithms to help the computer learn how to untie knotted cables by itself in the virtual world. The untying operations learned in the virtual world can be also used to untie the cable in the real world.

DOI： 10.1080/01691864.2022.2126729

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85139094345&origin=inward

Make Simulatable 3D Cable Model from Single RGB Image Reviewed International journal

Fan Zheming, Hayashi Toyohiro, Ohashi Takeshi

IIAI AAI 2021 Winter Congress ( International Institute of Applied Informatics ) 12 - 23 2021.12

Planning Method of Untying Cable with Reinforcement Learning Technology Reviewed International journal

Fan Zheming, Hayashi Toyohiro, Ohashi Takeshi

RoboCup Asai-Pacific 2021 Symposium ( RoboCup Asai-Pacific 2021 Symposium ) 12pages 2021.11

Make 3D Cable Model from Single RGB Image Reviewed International journal

Fan Zheming, Hayashi Toyohiro, Ohashi Takeshi

IIAI AAI 2021, SCAI 2021 ( International Institute of Applied Informatics ) 482 - 286 2021.07

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

Japan Online 2021.07.11 - 2021.07.16

DOI： 10.1109/IIAI-AAI53430.2021.00083

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85133163893&origin=inward

Security improvement measures for Office365 based mail service:- Reinforcement of log monitoring and authentication procedure - Reviewed

Toyohiro Hayashi, Yutaka Fukuda, Akihiro Satoh, Takeshi Ohashi

Journal for Academic Computing and Networking ( National university corporation of Information Processing Center Council ) 24 ( 1 ) 104 - 115 2020.01

2nd Forestry Drone and Robots competition report

TAKEMURA Yasunori, HAYASHI Eiji, OHTAKE Hiroshi, OHASHI Takeshi, KAMEI Keiji, ISHII Kazuo

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 33 ( 0 ) 651 - 654 2017.01

D-9-33 Development of character segmentation software for handwriting investigation

TAGUCHI Yuichi, HAYASHI Toyohiro, OHASHI Takeshi

Proceedings of the IEICE General Conference ( The Institute of Electronics, Information and Communication Engineers ) 2015 ( 1 ) 2015.02

RoboCup@Home における課題設定と技術開発 Invited Reviewed

大橋　健

計測と制御 52 ( 6 ) 481 - 486 2013.06

Effective and Fast Optimization for a Dynamic Model of the Drosophila Circadian Oscillator Reviewed

Shin Tanaka,Hiroyuki Kurata,Takehshi Ohashi

2006 IEEE International Conference on Systems, Man, and Cybernetics 3596 - 3601 2006.10

Survival ratio GA for two-evaluation problem in parameter tuning of heat shock response in E. coli Reviewed

Shin Tanaka,Hiroyuki Kurata,Takehshi Ohashi

2005 IEEE International Conference on Systems, Man, and Cybernetics 2078 - 2083 2005.10

Feature-Based Actomyosin Complex Particles Detection Reviewed

Jianfei Yang,Takeshi Ohashi,Takuo Yasunaga

ISCIS Pacific 2005 2005.05

Automatic Detecting Particles Approach using AdaBoost-SVM Reviewed

Jianfei Yang,Takeshi Ohashi,Takuo Yasunaga

WSEAS TRANSACTIONS on BIOLOGY and BIOMEDICINE 2 ( 2 ) 163 - 168 2005.04

Reverse engineering for a dynamic model of the drosophila circadian oscillator Reviewed

Shin Tanaka,Hiroyuki Kurata,Takeshi Ohashi

International Conference on Computational Intelligence for Modeling Control and Automation 1 625 - 630 2005.04

Automatic Detecting Particles Approach Using AdaBoost-SVM Reviewed

Jianfei Yang,Takeshi Ohashi,Takuo Yasunaga

MATHEMATICS AND COMPUTERS IN BIOLOGY AND CHEMISTRY (MCBC'05) 2005.03

Automatic Actomyosin Complex Selection Using SVM Reviewed

Jianfei Yang,Takeshi Ohashi,Takuo Yasunaga

IADIS International Conference APPLIDE COMPUTING 2005 559 - 564 2005.02

Optimization of E.Coli Heat Shock Response parameter tuning usingDistributed and Integrated Genetic Algorithms Reviewed

Shin Tanaka,Hiroyuki Kurata,Takeshi Ohashi

IEEE SMC'2004 1243 - 1248 2004.10

The Kyushu United Team 2003 in the Four Legged Robot League Reviewed

Yoshihiro YASUTAKE,Kentaro ODA,Toshiyuki ISHIMURA,Takeshi OHASHI

RoboCup2003 Proceedings of the International Symposium with Team Description Papers 2003.07

An Open Robot Simulator Environment Reviewed

Toshiyuki ISHIMURA,Takeshi KATO,Kentaro ODA,Takeshi OHASHI

RoboCup2003 Proceedings of the International Symposium with Team Description Papers 2003.07

Dominant Direction Priority Searching Method for Real-Corded Genetic Algorithm Reviewed

Tanaka Shin,Kurata Hiroki,Ohashi Takeshi

Proceedings of the International Conference on Parallel and Distributed Processing Techniques and Applications PDPTA'03 1113 - 1119 2003.06

4足ロボットリーグのとりくみ Reviewed

大橋　健

日本ロボット学会誌 20 ( 1 ) 45 - 46 2002.01

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Papers - OHASHI Takeshi