Updated on 2024/04/17

写真a

 
ISHII Kazuo
 
Scopus Paper Info  
Total Paper Count: 0  Total Citation Count: 0  h-index: 12

Citation count denotes the number of citations in papers published for a particular year.

Affiliation
Graduate School of Life Science and Systems Engineering Department of Human Intelligence Systems
Job
Professor
E-mail
メールアドレス
Phone
+81-93-695-6102
Fax
+81-93-695-6102
External link

Research Interests

  • Underwater Robot

  • Neural Network

  • Field Robot

Research Areas

  • Informatics / Mechanics and mechatronics

  • Informatics / Robotics and intelligent system

  • Frontier Technology (Aerospace Engineering, Marine and Maritime Engineering) / Marine engineering

Undergraduate Education

  • 1991.03   The University of Tokyo   Faculty of Engineering   Department of Naval Architecture and Ocean Engineering   Graduated   Japan

Post Graduate Education

  • 1996.09   The University of Tokyo   Graduate School, Division of Engineering   Doctoral Program   Completed   Japan

Degree

  • The University of Tokyo  -  Doctor of Engineering   1996.09

Biography in Kyutech

  • 2022.04
     

    Kyushu Institute of Technology   Advanced Research and Social Cooperation Headquarters   Center for Socio-Robotic Synthesis  

  • 2018.04
    -
    2020.03
     

    Kyushu Institute of Technology   Center for Socio-Robotic Synthesis  

  • 2014.04
     

    Kyushu Institute of Technology   Graduate School of Life Science and Systems Engineering   Department of Human Intelligence Systems   Professor  

  • 2014.04
    -
    2015.03
     

    Kyushu Institute of Technology   Organization for Promotion of Research and Innovation  

  • 2011.04
    -
    2015.03
     

    Kyushu Institute of Technology   Collaboration Center  

  • 2011.04
    -
    2014.03
     

    Kyushu Institute of Technology   Graduate School of Life Science and Systems Engineering   Department of Brain Science and Engineering   Professor  

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Biography before Kyutech

  • 2003.04 - 2004.03   Fraunhofer AIS   Visiting Researcher   Germany

  • 1998.04   IIS Univ. of Tokyo   Researcher   Japan

  • 1996.10 - 1996.11   IIS Univ. of Tokyo   Researcher   Japan

Academic Society Memberships

  • 2018.04   建設ロボット研究連絡協議会   Japan

  • 2016.12 - 2018.09   日本機械学会 ROBOMECH2018   Japan

  • 2016.04   土木学会   Japan

  • 2008.04   北九州ロボットフォーラム   Japan

  • 2006.04   水中ロボット競技会推進会議   Japan

  • 2001.04   The Japan Society of Mechanical Engineers   Japan

  • 1995.04   The Robotics Society of Japan   Japan

  • 1995.04   The Institute of Electrical and Electronics Engineers, Inc.   United States

  • 1994.04   The Society of Instrument and Control Engineers(SICE)   Japan

  • 1991.04   日本船舶海洋工学会   Japan

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Papers

  • Tomato-Harvesting Robot Competition Invited Reviewed

    Ishii Kazuo, Matsuo Takayuki, Takemura Yasunori, Sonoda Takashi, Kawajiri Kazushi, Nishida Yuya

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )   39 ( 10 )   926 - 930   2021.12

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    Authorship:Lead author, Corresponding author   Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)

    <p></p>

    DOI: 10.7210/jrsj.39.926

    Kyutacar

    CiNii Article

    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130008130006

  • Development of Automatic Tomato Fruit Harvesting Robot for Facility Horticulture Invited Reviewed

    Fujinaga Takuya, Yasukawa Shinsuke, Ishii Kazuo

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )   39 ( 10 )   921 - 925   2021.12

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    Authorship:Last author, Corresponding author   Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)

    <p></p>

    DOI: 10.7210/jrsj.39.921

    Kyutacar

    CiNii Article

    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130008130004

  • Double the data rate in underwater acoustic communication using OFDM based on subcarrier power modulation Reviewed International journal

    Alraie H., Alahmad R., Ishii K.

    Journal of Marine Science and Technology (Japan)   2024.01

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    Authorship:Last author, Corresponding author   Language:English   Publishing type:Article, review, commentary, editorial, etc. (scientific journal)

    DOI: 10.1007/s00773-024-00989-2

    Scopus

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  • Energy Consumption of a Wheel/Track Reconfigurable Mobile Robot on the Farm Reviewed International journal

    Kamon S., Di Maria E., Alahmad R., Irmiya I.R., Puwei S., Giannocaro N.I., Ishii K.

    2024 IEEE/SICE International Symposium on System Integration, SII 2024   798 - 803   2024.01

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

    DOI: 10.1109/SII58957.2024.10417300

    Scopus

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  • Mandarin Orange Anomaly Detection with Cycle-GAN Reviewed International journal

    Noguchi K., Takemura Y., Tominaga M., Ishii K.

    2024 IEEE/SICE International Symposium on System Integration, SII 2024   644 - 649   2024.01

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

    DOI: 10.1109/SII58957.2024.10417370

    Scopus

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  • A New Reconfigurable Agricultural Vehicle Controlled by a User Graphical Interface: Mechanical and Electronic Aspects Reviewed International journal

    Kamon S., di Maria E., Giannoccaro N.I., Ishii K.

    Machines   11 ( 8 )   2023.08

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

    DOI: 10.3390/machines11080795

    Scopus

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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

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    <p>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.</p>

    DOI: 10.20965/jrm.2023.p0867

    Scopus

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  • 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   2023.03

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

    2023.03.26  -  2023.03.29

    DOI: 10.23919/EuCAP57121.2023.10133725

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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   1 - 7   7 pages   2023.03

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

    2023.03.06  -  2023.03.09

    DOI: 10.1109/UT49729.2023.10103416

    DOI: 10.1109/UT49729.2023.10103416

    Scopus

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  • 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   1 - 6   6 pages   2023.03

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

    2023.03.06  -  2023.03.09

    DOI: 10.1109/UT49729.2023.10103413

    DOI: 10.1109/UT49729.2023.10103413

    Scopus

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  • Fall Risk Estimation for Visually Impaired using iPhone with LiDAR Reviewed International journal

    Kimura Kenji, Yusuke Abematsu, Hiroyasu Hirai, Ishii Kazuo,Satoshi Nakadomari, Koichi Wada, Akane Befu, Chikako Yamada

    Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. )   9 ( 4 )   9 pages   2023.03

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  • 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   2023.03

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    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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  • 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   2023.03

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    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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  • An Analysis of Robot Speed Efficiency for Mobile Robot Adapted Three Omni Rollers Using Linear Transformation Reviewed International journal

    Kimura Kenji, Shigyo Yuki, Ishii Kazuo

    Journal of Advances in Artificial Life Robotics ( ALife Robotics Corporation Ltd )   3 ( 4 )   242 - 249   2023.03

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

    RoboCup Middle-sized-League soccer robots are mainly equipped with the three omni-roller mechanism. These mobile robots are expected to function efficiently in fields, such as logistics. These systems are easy to control and allow omnidirectional movement. However, theoretical research on these systems’ exercise efficiencies has not been conducted. In this research, we assume a mechanism that can arbitrarily change the roller arrangement based on a circular mechanism and evaluate the roller arrangement from a speed efficiency perspective. Additionally, we define an evaluation function using the theory of linear transformation to examine the roller arrangement.

    DOI: 10.57417/jaalr.3.4_242

    CiNii Research

  • A Modeling of Sphere Considering Slipping Adapted Three-Rollers Reviewed International journal

    Kimura K., Ogata K., Hirai H., Ueda T., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   28   491 - 494   2023.02

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    Many types of spherical robots use friction-drive systems for locomotion because such systems enable omnidirectional movement and are more capable of climbing steps than mobile robots equipped with multiple omni-wheels. Slipping between spheres and rollers is a remarkable issue with friction-driven mechanisms. However, the previously established sphere kinematic models do not consider slipping, and kinematic models consider slipping in only two constraint rollers. In this study, we propose a mathematical model that allows for slipping on three constraint rollers and simulate the angular velocity vector of the sphere and slip speed at each contact point.

    DOI: 10.5954/icarob.2023.os20-6

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

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

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   28   499 - 503   2023.02

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    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

    Scopus

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

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

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   28   510 - 514   2023.02

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    Authorship:Last author   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

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  • Roller Arrangement Problem of Omnidirectional Mobil Robot Adapted Three Omni Rollers Reviewed International journal

    Kimura K., Shigyo Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   28   495 - 498   2023.02

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

    DOI: 10.5954/ICAROB.2023.OS20-7

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

    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 ( ALife Robotics Corporation Ltd. )   28   486 - 490   2023.02

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

    Tomato is one of the important fruit vegetables and most tomatoes are produced in the greenhouses, or large-scale farms, where the high temperature and humidity, and long harvest age force the farmer heavy works. To develop the tomato harvesting robot, many research issues exist such as manipulator design, end-effector design, collaborative behavior, artificial intelligence, motor control, image processing, target recognition and so on. With an aim to promote the automation of tomato harvesting, we have organized the tomato harvesting robot competition since 2014, and currently changed the competition field to the greenhouse in 2020. In this paper, we discuss the results of 8th tomato harvesting robot competition in 2021.

    DOI: 10.5954/icarob.2023.os20-5

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  • Report of a robot competition on the problem of garbage in the sea and verification of learning effects Reviewed International journal

    Matsuo T., Sato M., Ozawa M., Miura S., Arima M., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   28   468 - 472   2023.02

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  • Occuluded Object Detection by Ultrasonic Sensors Reviewed International journal

    Mochizuki R., Nishida Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   28   519 - 524   2023.02

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    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

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

    Mizoguchi Y., Hamada D., Fukuda R., Inniyaka I.R., Kuwata K., Nishimuta K., Sugino A., Tanaka R., Yoshiki T., Nishida Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   28   473 - 476   2023.02

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    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

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

    Suzuki K., Nishida Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   28   525 - 528   2023.02

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    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

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  • Development of a Tomato Harvesting Robot for Farm Field Reviewed International journal

    Oda S., Fukumoto R., Hirata K., Tahara S., Yoshida K., Yasukawa S., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   28   481 - 485   2023.02

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    The 9th Tomato Harvesting Robot Competition was held at the green house in Kitakyushu Science and Research Park. The competition consisted of two leagues for different field areas: rail-style for greenhouses and free-style for open fields. Our team competed in the free-style league. Participation in the free-style category required the following: tomato harvesting mechanism; mobility mechanism to move on the rough terrain; camera to photograph tomato; and self-location system. We developed a 3-axis cartesian coordinates manipulator tomato harvesting robot using crawler to move on soil and using suction and cutting to harvest the tomatoes. In this paper, we described the system architecture of tomato harvesting robot and the results of 9th Tomato Harvesting Robot Competition in 2022.

    DOI: 10.5954/icarob.2023.os20-4

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  • Design of A Parameter Update Method of the Database-Driven PID Controller Considering H<inf>∞</inf> Norm of the System Reviewed International journal

    Ueda T., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   28   515 - 518   2023.02

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    DOI: 10.5954/icarob.2023.os21-4

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  • Control strategy to change the locomotion mode of a reconfigurable wheel/track robot based on the soil conditions Reviewed International journal

    Kamon S., Di Maria E., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   28   504 - 509   2023.02

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    The use of agricultural machinery damages the soil by compaction and distortion, where the compaction is due especially to vehicle with small contact areas like wheels, while the distortion is caused especially by tracked systems. In this work we discuss a wheel/track reconfigurable robot able to adjust the contact area based on the soil conditions, to minimize soil damage, energy consumption and adapt travers ability. After giving an overview, we propose a control strategy for switching between the locomotion modes.

    DOI: 10.5954/icarob.2023.os21-2

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  • Analyzing an OFDM System using Cyclic Prefix to Improve the Underwater Communication Reviewed International journal

    Alraie H., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   28   529 - 532   2023.02

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    Underwater Communication is one of the most difficult challenges facing researchers. OFDM technique has been used widely in 4G communication systems, and recently it was approved to be successfully implemented in 5G. Many researchers have improved the Underwater wireless communication system including Acoustic communication using the OFDM technique. We applied the Cyclic Prefix in this study to improve the underwater communication system. We started by studying the effects of Rician fading based on the OFDM system on the wireless channel. Then we analyzed the Bit Error Rate (BER) of the system in several scenarios, by applying the AWGN, Rician fading, and absorption factor to simulate the underwater channel.

    DOI: 10.5954/icarob.2023.os21-7

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  • Evaluation of Roller-Sphere Forward Kinematics for Sphere Transportation Control Using a Sphere Motion Measurement System

    Chikushi Shota, Kimura Kenji, Ahn Jonghyun, Ishii Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2023 ( 0 )   1A2-H21   2023.01

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    <p>Due to the social background of declining birthrates and an aging society, object transport requires automation and the introduction of robots. This study focuses on sphere transport as a means of efficient object transport by robots. This paper uses a spherical motion measurement system to evaluate the forward kinematics of sphere transportation. The results show the validity of roller-sphere forward kinematics in three patterns of roller arrangement.</p>

    DOI: 10.1299/jsmermd.2023.1a2-h21

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    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A2-H21/_pdf

  • Development of a Sphere Motion Measurement System and Evaluation of the Roller Arrangement Requirement Reviewed International journal

    Chikushi S., Kimura K., Ahn J., Ishii K.

    2023 20th International Conference on Ubiquitous Robots, UR 2023   250 - 254   2023.01

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    DOI: 10.1109/UR57808.2023.10202299

    Scopus

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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   2023.01

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    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

    CiNii Research

  • Report on Underwater Robot Festival Junior Division Aimed at Marine-Debris Cleanup Reviewed International journal

    Matsuo Takayuki, Sato Masanori, Ozawa Masayoshi, Miura Seiichiro, Arima Masakazu, Ishii Kazuo

    Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. )   10 ( 1 )   77 - 83   2023.01

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    A marine-cleaning robot competition was featured at the junior division of the Eighth Underwater Robot Festival held at Iwakuni, Japan in 2022. The theme of the competition was “Life Below Water,” which is the 14th goal of SDGs, and consisted of poster presentations on marine-debris problems and a robot competition to compete in debris-collection ability. In addition, questionnaires were sent out before and after the competition to analyze the level of understanding of robot development and SDGs after the competition. This paper reports an outline of the junior division and results of the educational effect using questionnaire analysis.

    DOI: 10.57417/jrnal.10.1_77

    Scopus

    CiNii Research

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  • Forward Kinematic of a Sphere Considering Slipping and Motion Analysis in Three Rollers Reviewed International journal

    Kimura Kenji, Ogata Koki, Hirai Hiroyasu, Ueda Takumi, Ishii Kazuo

    Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. )   10 ( 1 )   25 - 32   2023.01

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    Compared to mobile robots equipped with multiple rollers, spherical robots can move in all directions and are superior in durability and in their ability to climb steps. Slippage between balls and rollers is a significant problem in friction drives. However, previously established roller-driven ball kinematics model considers sliding on only two constraining rollers. In this research, we developed it, proposed a motion model of sphere with three-constraint rollers, and developed a mathematical model that simulates the angular velocity vector of the sphere and the slip vector at each contact point. And we considered the existence of an angular velocity vector of sphere adapted three constraint rollers from the viewpoint of forward kinematics and succeed demonstration of the trajectory of the endpoint of the angular velocity vector and slip velocity vector of sphere.

    DOI: 10.57417/jrnal.10.1_25

    Scopus

    CiNii Research

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

    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   2023.01

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    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

    Scopus

    CiNii Research

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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   2023.01

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    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

    Scopus

    CiNii Research

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  • Channel Estimation using Pilot-Assisted OFDM for Underwater Acoustic Communication Reviewed International journal

    Alraie Hussam, Ishii Kazuo

    Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. )   10 ( 2 )   160 - 165   2023.01

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    Underwater communications research is significant to researchers because of the challenges and
    difficulties in transmitting wireless signals within this environment. Underwater Acoustic
    Communications (UWA) are characterized by the fact that they can travel long distances
    compared to the radio signal, which makes it very effective compared to other types, in addition
    to the lack of costs in establishing these types of systems. OFDM technique has been used widely
    in 4G communication systems, and recently it was approved to be successfully implemented in
    5G. One of the most important aims of developing communications systems is to reduce the bit
    error rate (BER), and since the underwater communication signal is subject to many influencing
    factors that reduce the accuracy of the signal when it reaches the receiver, such as absorption and
    multipathing, researchers must improve the performance of the OFDM system by removing this
    effect. The channel effect is reduced by selecting some subcarriers from the OFDM system and
    assigning them as pilots. These Pilots are given higher power to determine the channel effect and
    then use the appropriate equalizer to reduce the effect and improve signal accuracy. In this study
    we tested the appropriate number of pilots to estimate the channel response, with a linear equalizer
    to reduce the effect at the receiver, then compared the BER before and after adding the equalizer.

    DOI: 10.57417/jrnal.10.2_160

    CiNii Research

  • Behavior Learning System for Robot Soccer Using Neural Network Reviewed International journal

    Tominaga M., Takemura Y., Ishii K.

    Journal of Robotics and Mechatronics   35 ( 5 )   1385 - 1392   2023.01

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    DOI: 10.20965/jrm.2023.p1385

    Scopus

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

    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   2023.01

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    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

    CiNii Research

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

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

    Oceans Conference Record (IEEE)   2023.01

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    DOI: 10.23919/OCEANS52994.2023.10337342

    Scopus

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  • 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

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    <p>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.</p>

    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

  • 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

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    <p>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.</p>

    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

  • Proposal of Framework for RoboCup Soccer Middle Size League

    TOMINAGA Moeko, SHIMOMATSUBAE Kota, TOMINAGA Ayumu, TAKEMURA Yasunori, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2023 ( 0 )   2A1-B13   2023.01

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    <p>Robot social implementation is expected nowadays, and in particular, for autonomous mobile robots, it is becoming necessary to be able to ”collaborate with others (other robots).” When dealing with such multi-agent systems (MAS), framework sharing has the effect of reducing the burden on designers and improving compatibility and code reuse between agents. In particular, RoboCup is a landmark project that includes the goal of accelerating development and research speed through the sharing of technology and knowledge among teams in competitions. Therefore, in order for engineering applications using MAS to progress to practical stages, a framework that supports the design, implementation, evaluation, and improvement of MAS must be available. This study aims to propose and implement a framework for the RoboCup middle-size league. ROS2 and its network were utilized for implementation, and a proposal including system configuration was made.</p>

    DOI: 10.1299/jsmermd.2023.2a1-b13

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_2A1-B13/_pdf

  • Design of Sphere Transport Mechanism Based on Roller-Sphere Kinematics Properties

    Chikushi Shota, Kimura Kenji, Ahn Jonghyun, Ishii Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2023 ( 0 )   1A1-H21   2023.01

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    <p>Efficient transportation of objects by robots is required due to the declining working-age population. This study focuses on sphere transport as a means of efficient object transport by robots. To date, there is no methodology for mechanism design based on kinematics properties for sphere transport by robots. Therefore, we propose a method for designing a sphere transport mechanism based on kinematic properties. The paper presents the requirements and methodology for designing a sphere transport mechanism based on kinematic properties.</p>

    DOI: 10.1299/jsmermd.2023.1a1-h21

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A1-H21/_pdf

  • Evaluation of Two Rollers Arrangement on a Hemisphere by Kinetic Energy Reviewed International journal

    Kimura Kenji, Yusuke Abematsu, Hiroyasu Hirai, Ishii Kazuo

    Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. )   9 ( 3 )   233 - 239   2022.12

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  • Roller's Kinetic Energy Efficency Problem in Upper Hemisphere Reviewed International journal

    Kimura K., Ishii K.

    2022 Joint 12th International Conference on Soft Computing and Intelligent Systems and 23rd International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2022   1 - 6   6 pages   2022.11

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

    DOI: 10.1109/SCISISIS55246.2022.10001945

    DOI: 10.1109/SCISISIS55246.2022.10001945

    Scopus

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  • Multibody Modeling of a New Wheel/Track Reconfigurable Locomotion System for a Small Farming Vehicle Reviewed International journal

    Grazioso A., di Maria E., Giannoccaro N.I., Ishii K.

    Machines   10 ( 12 )   1117 - 1146   2022.11

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    DOI: 10.3390/machines10121117

    DOI: 10.3390/machines10121117

    Scopus

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  • 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

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    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

    Scopus

    CiNii Research

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  • Efficiency Problem of Spherical Robot in Transfer Kinetic Energy Reviewed International journal

    Kimura Kenji, Ishii Kazuo

    Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. )   9 ( 1 )   87 - 92   2022.06

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    Previous spherical mobile robots were driven by two rollers with a fixed rotational axis, which restricts the angular velocity vector of the sphere to two dimensions. Three-dimensional freedom is expected to improve the rotational diversity of the sphere. This study proposes a spherical mobile robot with a variable roller-rotational axis that allows the movement of three degrees of freedom. Furthermore, the kinetic energy of transporting the sphere by the rollers is minimized by an optimization procedure and it is shown that the kinetic energy of sphere transport is efficient.

    DOI: 10.57417/jrnal.9.1_87

    Scopus

    CiNii Research

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  • Toward Smart Tomato Greenhouse: The 6th Tomato-Harvesting-Robot Competition and Regulation Changes Aiming at Practical Application 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

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    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

    Scopus

    CiNii Research

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  • An Attempt at Underwater Robot Competition which Aimed at Improvement of Learning Motivation Reviewed

    AHN Jonghyun, SONODA Takashi, ISHII Kazuo

    Journal of JSEE ( Japanese Society for Engineering Education )   70 ( 2 )   2_124 - 2_129   2022.04

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    Underwater robot competitions provide students with the opportunity to voluntarily learn engineering knowledge and skills. It is expected that students will be interested in the marine engineering and manufacturing by participating in such underwater robot competitions, and that interest will lead to motivation for university learning. In this study, we will conduct extracurricular activities for 8 students for about half a year with the aim of participating in underwater robot competitions, and evaluate their educational effectiveness. In the evaluation, changes in interest in the marine engineering and manufacturing were evaluated by questionnaire. In addition, changes in learning motivation were evaluated from the university GPA from 2018 to 2020. As a result, it was confirmed that the participating students were interested in the marine engineering and manufacturing through extracurricular activities and maintained high learning motivation.

    DOI: 10.4307/jsee.70.2_124

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsee/70/2/70_2_124/_pdf

  • Underwater Acoustic Positioning Based on MEMS Microphone for a Lightweight Autonomous Underwater Vehicle "Kyubic" Reviewed International journal

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

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   27   349 - 353   2022.01

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    2022.01.22  -  2022.01.24

    Autonomous Underwater Vehicle positioning is important for accurate control and high-quality data collection. Conventional positioning systems are expensive. This paper describes the design and performance results of control using equations of motion and an inexpensive acoustic positioning system implemented on a lightweight AUV "KYUBIC" for Underwater Robotic competition in Okinawa 2021. The velocity used to estimate the self-position of the AUV is calculated form the equation of motion without integrating the acceleration. The acoustic positioning method is based on Super-short baseline (SSBL) principle. The system design comprises of self-made hydrophone module using MEMS microphone. The estimated distance and angle are integrated for dynamic control of AUV to locate the position of a Pinger.

    DOI: 10.5954/icarob.2022.os28-1

    DOI: 10.5954/icarob.2022.os28-1

    Kyutacar

    CiNii Article

    CiNii Research

    Other Link: https://kyutech.repo.nii.ac.jp/records/7484

  • Autonomous Underwater Vehicle with Vision-based Navigation System for Underwater Robot Competition Reviewed International journal

    Kazuki Harada, Riku Fukuda, Yusuke Mizoguchi, Yusuke Yamamoto, Kota Mishima, Yoshiki Tanaka, Yuya Nishida, Kazuo Ishii

    Proceedings of 2022 International Conference on Artificial Life and Robotics   27   354 - 359   2022.01

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    2022.01.22  -  2022.01.24

    Kyutacar

  • An Estimation Method of Coastal Ocean Debris Using Aerial Drone Reviewed International journal

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

    Proceedings of 2022 International Conference on Artificial Life and Robotics   27   1095 - 1101   2022.01

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    2022.01.22  -  2022.01.24

    Kyutacar

  • Motion Control of a Ship Hull Cleaning Robot Reviewed International journal

    Hyoga Yamamoto,Yuya Nishida, Takayuki Matsuo, Kazuo Ishii

    Proceedings of 2022 International Conference on Artificial Life and Robotics   27   785 - 788   2022.01

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    2022.01.22  -  2022.01.24

    Kyutacar

  • Ultrasonic Cleaner using Two Transducers for Ship Hull Cleaning Robot Reviewed International journal

    Yuya Nishida, Toshihiro Matsumura, Kazuo Ishii

    Proceedings of 2022 International Conference on Artificial Life and Robotics   27   779 - 784   2022.01

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    2022.01.22  -  2022.01.24

    Kyutacar

  • Underwater Acoustic Communication using QPSK Modulation Method Reviewed International journal

    Yuya Nishida, Yuichiro Uemura, Rikuto Tanaka, Kazuo Ishii

    Proceedings of 2022 International Conference on Artificial Life and Robotics   27   774 - 778   2022.01

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    2022.01.22  -  2022.01.24

    Kyutacar

  • A Network of Underwater Sensors Estimating Feeding Behavior for Digitizing Optimized Feeding Decisions in Marine Aquaculture Reviewed International journal

    Dominic B. Solpico, Yuya Nishida, Kazuo Ishii

    Proceedings of 2022 International Conference on Artificial Life and Robotics   27   762 - 767   2022.01

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    2022.01.22  -  2022.01.24

    Kyutacar

  • Reflection Coefficient Estimation through the Modelling of Ultrasonic Transmission Reviewed International journal

    Ryuugo Mochizuki, Yuya Nishida, Kazuo Ishii

    Proceedings of 2022 International Conference on Artificial Life and Robotics   27   750 - 755   2022.01

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    2022.01.22  -  2022.01.24

    Kyutacar

  • Fall Risk Notification System using LiDAR Sensor for the Visually Impaired People Reviewed International journal

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

    Proceedings of 2022 International Conference on Artificial Life and Robotics   27   745 - 749   2022.01

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    2022.01.22  -  2022.01.24

    Kyutacar

  • Evaluation of roller arrangement of sphere by omnidirectional integral value Reviewed International journal

    Kenji Kimura, Yusuke Abematsu, Hirai Hiroyasu, Kazuo Ishi

    Proceedings of 2022 International Conference on Artificial Life and Robotics   27   374 - 377   2022.01

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

    2022.01.22  -  2022.01.24

    Kyutacar

  • Exercise on Environmental Monitoring and Control of Green house by IoT Devices toward Smart Agriculture Reviewed International journal

    Yuya Nishida, Ryuugo Mochizuki, Shinsuke Yasukawa, Kazuo Ishii

    Proceedings of 2022 International Conference on Artificial Life and Robotics   27   367 - 373   2022.01

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

    2022.01.22  -  2022.01.24

    Kyutacar

  • Inter-University Collaboration Aimed at Integrating Different Robotic Field: Development of Underwater Robots and Soccer Robots Though these Competitions Reviewed International journal

    Kai Shioji, Shinsuke Yasukawa, Kazuo Ishii

    Proceedings of 2022 International Conference on Artificial Life and Robotics   27   365 - 368   2022.01

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

    2022.01.22  -  2022.01.24

    Kyutacar

  • Tomato Harvesting in Greenhouse Considering the Effect of Sunlight Reviewed International journal

    Kai Shioji, Shinsuke Yasukawa, Kazuo Ishii

    Proceedings of 2022 International Conference on Artificial Life and Robotics   27   360 - 364   2022.01

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

    2022.01.22  -  2022.01.24

    Kyutacar

  • Underwater Acoustic Communication using QPSK Modulation Method Reviewed International journal

    Nishida Yuya, Uemura Yuichiro, Tanaka Rikuto, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   27   774 - 778   2022.01

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    Acoustic communication has a lot of influence of noises, and difficulties in sending and receiving data correctly because of the noise from robot's thrusters and other acoustic devices. To improve the acoustic communication performance, this research developed acoustic communication system against the thruster's noise. Communication message includes not only data (payloads) but also sync signal and error correction bytes, and the message is converted to acoustic wave by QPSK modulation which four phase data represent two bits.

    DOI: 10.5954/icarob.2022.os29-3

    CiNii Research

  • A Network of Underwater Sensors Estimating Feeding Behavior for Digitizing Optimized Feeding Decisions in Marine Aquaculture Reviewed International journal

    Solpico Dominic B., Mishima Kota, Nishida Yuya, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   27   762 - 767   2022.01

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    Optimization of fish feeding in marine aquaculture has relied on an expert farmer's decision-making based on subjective experience. This paper presents the development of a network of underwater current, imaging and IMU sensors for estimating fish feeding behavior for digitizing expert feeding decision-making. We constructed the sensor units and deployed them in fish cages and collected measurements during feeding activities. Experiment results indicate that currents were highest at the surface within the duration of the feeding activity.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

    DOI: 10.5954/icarob.2022.os29-1

    CiNii Article

    CiNii Research

    Other Link: http://hdl.handle.net/10228/00008703

  • An Estimation Method of Coastal Ocean Debris Using Aerial Drone Reviewed International journal

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

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   27   1095 - 1101   2022.01

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    The actual situation of marine litter has not been measured accurately; however innumerable floating garbage are drifting in the ocean. Especially, non-perishable waste such as microplastics continues to grow and is damaging marine life, including endangered species, and some are washed ashore and causing pollution damage to coastal areas. Microplastics incorporated into marine organisms, Arctic Sea ice, and deep-sea seafloor sediments have also been detected. The Ellen MacArthur Foundation in the United Kingdom estimates that the total amount of marine debris exceeds 150 million tons, with more than 8 million tons of new inflow each year. We measured and compared the amount of ocean debris in coasts in Hirado and Matsuura cities, Nagasaki with manual count and an aerial drone observation.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

    DOI: 10.5954/icarob.2022.os27-5

    CiNii Article

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    Other Link: http://hdl.handle.net/10228/00008702

  • Autonomous Underwater Vehicle with Vision-based Navigation System for Underwater Robot Competition Reviewed International journal

    Harada Kazuki, Fukuda Riku, Mizoguchi Yusuke, Yamamoto Yusuke, Mishima Kota, Tanaka Yoshiki, Nishida Yuya, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   27   354 - 359   2022.01

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    The underwater robot competition in international conference Techno-Ocean 2021 was held to advance underwater technology, in Dec. 2021. The competition consists of five leagues including AUV (Autonomous Underwater Vehicle) league, and Kyushu underwater robotics which is the Underwater Student Project team at our university that joint the AUV league using developed AUV. The wet test of the AUV league includes a Gate Pass mission which requires passing through an underwater green gate, Buoy Touch mission requiring contact with the yellow and red buoys, and Special mission requiring contact with the Pinger which has an unknown location. Our AUV navigates by image processing using underwater camera to achieve the mission. This paper explains the AUV system, the mission strategy and detail of image processing.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

    DOI: 10.5954/icarob.2022.os28-2

    CiNii Article

    CiNii Research

    Other Link: http://hdl.handle.net/10228/00008693

  • Exercise on Environmental Monitoring and Control of Green house by IoT Devices toward Smart Agriculture Reviewed International journal

    Nishida Yuya, Mchizuki Ryugo, Yasukawa Shinsuke, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   27   369 - 373   2022.01

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    As crops in greenhouses are widely distributed, IoT devices placed near the crops should be stand-alone and modular, and data from the devices are collected over the networks. Smart agriculture requires knowledge of a wide range of fields including electricity, information, and image processing. We have designed an AI and IoT technology exercise on environmental monitoring and control of a greenhouse where we have been preparing for grow up of tomatoes and other vegetables.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

    DOI: 10.5954/icarob.2022.os28-5

    CiNii Article

    CiNii Research

    Other Link: http://hdl.handle.net/10228/00008696

  • Fall Risk Notification System using LiDAR Sensor for the Visually Impaired People Reviewed International journal

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

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   27   745 - 749   2022.01

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    We have developed the fall risk notification system using LiDAR sensors to reduce number of fall accidents on platform involving visually impaired people. In this paper, we report the experiment results of the environment recognition algorithm for the fall risk notification system. In this algorithm, height grid map is generated from the depth image from LiDAR sensor and the posture of iPhone. In the experiment, we evaluated the accuracy and responsivity when approaching risky area of falling, such as stairs.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

    DOI: 10.5954/icarob.2022.os27-2

    CiNii Article

    CiNii Research

    Other Link: http://hdl.handle.net/10228/00008692

  • Inter-University Collaboration Aimed at Integrating Different Robotic Field: Development of Underwater Robots and Soccer Robots Though these Competitions Reviewed International journal

    Tominaga Moeko, Ahn Jonghyun, Takemura Yasunori, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   27   365 - 368   2022.01

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    In robotics, the problems and solutions to be focused on may differ due to the different fields of robots to be developed. In this research, we will verify the effect of exchanging opinions and sharing knowledge by collaborating with students aiming to participate in different robot competitions between underwater robots and soccer robots. As a result of analysis using neural networks, it was found that collaborative research between universities contributes to maintaining student motivation.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

    DOI: 10.5954/icarob.2022.os28-4

    CiNii Article

    CiNii Research

    Other Link: http://hdl.handle.net/10228/00008695

  • Motion Control of a Ship Hull Cleaning Robot Reviewed International journal

    Yamamoto Hyoga, Nishida Yuya, Matsuo Takayuki, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   27   785 - 788   2022.01

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    As the fuel cost will rise continuously, the reduction of fuel consumption and CO2 emissions are required more severely in the transportation industry. To achieve more efficient ship transportation, the prevention of marine biofouling is inevitable. Anti-fouling paint is effective to prevent biofouling to the ship hulls like barnacles, however, even the painted hull acquires slime-like biofouling caused by marine alga on its surface easily. In general, the cleaning of the ship hull is carried out during inspection in dockyard once a year or by divers, which are high costs and high risk task. Frequent cleaning during the ship berthing is desirable to keep good fuel efficiency, and if possible, ships can keep good fuel efficiency that contributes the reduction of costs and CO2 production. As a solution for this issue, we have been introducing underwater robots for ship hull cleaning. In this paper, the motion control system of the robot is described.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

    DOI: 10.5954/icarob.2022.os29-5

    CiNii Article

    CiNii Research

    Other Link: http://hdl.handle.net/10228/00008701

  • Reflection Coefficient Estimation through the Modelling of Ultrasonic Transmission Reviewed International journal

    Mochizuki Ryuugo, Nishida Yuya, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   27   750 - 755   2022.01

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

    In food industry, shortage of workers is one of a serious problem. Automation of food handling is a critical isSsue 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 have the assumption of the correlation between hardness and acoustic impedance. The impedance is calculated by the product of sonic velocity and density of a medium. From the point of view, the harder the medium is, the larger the impedance should be. We built up ultrasonic transmission model considering attenuation by ultrasonic reflection and absorption, then, made an experiment to estimate internal reflection of samples with two overwrapped media of different acoustic impedance.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

    DOI: 10.5954/icarob.2022.os27-3

    CiNii Article

    CiNii Research

    Other Link: http://hdl.handle.net/10228/00008698

  • Tomato Harvesting in Greenhouse Considering the Effect of Sunlight Reviewed International journal

    Shioji Kai, Yasukawa Shinsuke, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   27   360 - 364   2022.01

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

    Tomato is one of the important fruit vegetables and most tomatoes are produced in the greenhouses, or large-scale farms, where the high temperature and humidity, and long harvest age force the farmer heavy works. To develop the tomato harvesting robot, many research issues exist such as manipulator design, end-effector design, collaborative behavior, artificial intelligence, motor control, image processing, target recognition and so on. For the operation in greenhouses, the recognition system with color constancy under sunlight is necessary. In the harvesting, tomatoes should be handled gently for less damages so that the soft handling end-effector is needed. In this paper, we introduce the system configuration of the robot and the experiments conducted to solve the problem in the greenhouse.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

    DOI: 10.5954/icarob.2022.os28-3

    CiNii Article

    CiNii Research

    Other Link: http://hdl.handle.net/10228/00008694

  • Ultrasonic Cleaner using Two Transducers for Ship Hull Cleaning Robot Reviewed International journal

    Nishida Yuya, Matsumura Toshihiro, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   27   779 - 784   2022.01

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

    Fuel consumption of the ship gets worse by barnacles and stains put on its bottom, so that the ship hull should be cleaned regularly. Usual methods such as cleaning by special divers and cleaning after pulling up to the dock are not used frequently due to those high cost and the heavy burden on cleaners. We proposed a cleaning method using underwater vehicle with brushes, however there is a possibility to remove paints on the hull. To improve cleaning performance of the underwater vehicle, the ultrasonic cleaner is developed by using cavitation occurred by sound waves of the acoustic transduces. The cleaner generates sound waves with sound pressure of 0.2MPa or more required to occur cavitation at the point where sound waves from two transducers overlap. In experimental results, the cleaner occurred cavitation enough to make two holes in the aluminum foil located 50mm away from transducers.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

    DOI: 10.5954/icarob.2022.os29-4

    CiNii Article

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    Other Link: http://hdl.handle.net/10228/00008700

  • Evaluation of roller arrangement of sphere by omnidirectional integral value Reviewed International journal

    Kimura K., Abematsu Y., Hirai H., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   374 - 377   2022.01

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

    Scopus

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125144710&origin=inward

  • Remotely operated vehicle for underwater infrastructure inspection

    YAMAMOTO Yusuke, HUANG Zhoujie, NISHIDA Yuya, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2022 ( 0 )   2A2-A11   2022.01

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

    <p>Currently, underwater infrastructure facilities in Japan are rapidly aging, but most of them are not inspected by divers because the current inspection by divers is inefficient and potentially dangerous. To realize a system that can inspect underwater infrastructures safely and efficiently, this study develops a motion control system for an underwater robot that is part of the underwater infrastructure inspection system.</p>

    DOI: 10.1299/jsmermd.2022.2a2-a11

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2A2-A11/_pdf

  • Report on the 7th Tomato-Harvesting-Robot Competition

    ISHII Kazuo, MATSUO Takayuki, TAKEMURA Yasunori, SONODA Takashi, NISHIDA Yuya, YASUKAWA Shinsuke, TOMINAGA Moeko, FUJINAGA Takuya

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2022 ( 0 )   2P2-T08   2022.01

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    <p>In agriculture, the aging and depopulation of farmers cause the shortages of farmers and manpower. Most of commercialized robots are industrial robots for factory automation, and most of robots for the first industry, agriculture, forestry and fisheries are still under developing. The reasons are cost-efficiency of the robotization, safety of the works using robots, difficulty of outdoor operations, and knowledge transfer problem from farmers to computer, etc. As one of solutions for the problems, robot technology into the agriculture is expected to contribute to the laborsaving, improvement of production, production line automation, and also the management toward smart-agriculture. We organize the Tomato-harvesting-robot competition to offer the research field and welcome researchers into agricultural robotics.</p>

    DOI: 10.1299/jsmermd.2022.2p2-t08

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2P2-T08/_pdf

  • Floating objects cancellation from underwater images

    YANAGISE Kentaro, YASUKAWA Shinsuke, NISHIDA Yuya, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2022 ( 0 )   2A2-A10   2022.01

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

    <p>The ocean is one of extreme environments, and underwater robots are expected as the tools for observation of the ocean. Underwater robots require high autonomy and are self-contained to accomplish various deep-ocean observation missions. The next generation AUV is expected to have sampling function of marine benthos with end-effector to catch and bring back marine creatures. However, sampling is not easy task for AUV as the shape, size, motion of targets differs. So that the end-effectors is required to have enough accuracy in control manipulation. One of the key issues is the target recognition from underwater images. In this research, floating objects cancellation method from underwater images using optical flow is discussed.</p>

    DOI: 10.1299/jsmermd.2022.2a2-a10

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2A2-A10/_pdf

  • Exercise on Environmental Monitoring and Control of Greenhouse Using Smart devices

    NISHIDA Yuya, MOCHIZUKI Ryugo, YASUKAWA Shinsuke, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2022 ( 0 )   2P2-S12   2022.01

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

    <p>As crops in greenhouses are widely distributed, IoT devices placed near the crops should be stand-alone and modular, and data from the devices are collected over the networks. Smart agriculture requires knowledge of a wide range of fields including electricity, information, and image processing. We have designed an exercise on environmental monitoring and control of a greenhouse toward smart agriculture. The exercise consists of mechatronics, MATLAB/Simulink and system construction exercises. Students learns technology electrical circuit, embedded programing, network communication, and image processing required for smart agriculture. Almost students who took the exercise acquired technology related to micro-computers, image processing technology and control by MATLAB/Simulink, but a few students couldn’t acquire them. In the next school year, authors plan to teach from a little more basic technology.</p>

    DOI: 10.1299/jsmermd.2022.2p2-s12

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2P2-S12/_pdf

  • Small Wheel Design and Analysis of Omni Wheels in the RoboCup Middle Size League

    TOMINAGA Moeko, TANIGAWA Yamato, TAKEMURA Yasunori, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2022 ( 0 )   2P2-T04   2022.01

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

    <p>For omni wheels used for omnidirectional movement of soccer robots, the shape and number of small wheels affect driving stability and grip. In this research, we will realize the production of small wheels, which was difficult to manufacture by ourselves due to the history of using resin materials, by using a manual tabletop injection molding machine. By eliminating the bearings that have been used so far, we aimed for a more robust wheel. We designed a mold for injection molding and actually manufactured it.We verified the manufacturing method by injection molding with multiple types of resin materials using the manufactured mold.This research makes it possible to propose new small wheel shapes and materials .</p>

    DOI: 10.1299/jsmermd.2022.2p2-t04

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2P2-T04/_pdf

  • Evaluation of Two Rollers Arrangement on a Hemisphere by Kinetic Energy Reviewed International journal

    Kimura Kenji, Abematsu Yusuke, Hirai Hiroyasu, Ishii Kazuo

    Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. )   9 ( 3 )   233 - 239   2022.01

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

    A driving roller arrangement of hemisphere is one of the important problems by omnidirectional sphere conveyance. In this research, the roller arrangement problem, viewed as an evaluation function, is thought of as mean of roller’s kinetic energy with respect to the sphere direction. Furthermore, theoretically, we calculate the evaluation function, and find the contact point such that the evaluated value is minimal.

    DOI: 10.57417/jrnal.9.3_233

    Scopus

    CiNii Research

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85176580752&origin=inward

  • Design of the locomotion switching mechanism of a grape transporting robot

    Kamon Supaphon, Grazioso Andrea, Maria Enrico di, Ishii Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2022 ( 0 )   1P1-A12   2022.01

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    <p>The use of heavy machinery in agriculture has led to a progressive soil degradation and the consequent crop yield reduction and increase of maintenance costs. The soil damage is of two types: soil compaction (volume reduction) and distortion (shearing and deformation). Because this damage is affected by the state of the soil and by the contact area between soil and running gear, the design of a vehicle able to change its contact area is here considered. The vehicle is intended to transport the grape in the vineyards and replace the use of heavy tractors during the harvesting period. The proposed system can pass from a wheeled vehicle, suited for hard dry soil, to a half-tracked vehicle, suited for more soft and deformable soil. In this work, we provide the overview of the entire vehicle, and we show the design of the mechanism for switching between the two types of locomotion systems.</p>

    DOI: 10.1299/jsmermd.2022.1p1-a12

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_1P1-A12/_pdf

  • A sensor network for assisting in feeding decisions in marine aquaculture

    SOLPICO Dominic, MISHIMA Kota, NISHIDA Yuya, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2022 ( 0 )   2A2-A12   2022.01

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    Authorship:Last author, Corresponding author   Language:English   Publishing type:Research paper (other academic)

    <p>Optimizing fish feeding is needed for a sustainable marine aquaculture production. We approach this problem by estimating the behavior of fishes during feeding by measuring currents they generate around the cage. In this paper, we present our development of an underwater sensor network consisting of current sensors, inertial measurement units, and cameras. This system was deployed in a fish cage and recorded measurements in three fish cages during feeding activities. Results showed that currents generated by fishes were largest at the surface during feeding and decline over time until the feeding ended. Further data analysis is needed for optimizing the farmer’s feeding decisions.</p>

    DOI: 10.1299/jsmermd.2022.2a2-a12

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2A2-A12/_pdf

  • Underwater Acoustic Positioning Based on MEMS Microphone for a Lightweight Autonomous Underwater Vehicle “Kyubic” Reviewed International journal

    Inniyaka I.R., Solpico D.B., Hamada D., Sugino A., Tanaka R., Nishida Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   349 - 353   2022.01

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

    Scopus

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125132597&origin=inward

  • Underwater Acoustic Communication using QPSK Modulation Method Reviewed International journal

    Nishida Y., Uemura Y., Tanaka R., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   774 - 778   2022.01

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

    Scopus

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125138907&origin=inward

  • Ultrasonic Cleaner using Two Transducers for Ship Hull Cleaning Robot Reviewed International journal

    Nishida Y., Matsumura T., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   779 - 784   2022.01

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

    Scopus

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125147658&origin=inward

  • Tomato Harvesting in Greenhouse Considering the Effect of Sunlight Reviewed International journal

    Shioji K., Yasukawa S., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   360 - 364   2022.01

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

    Scopus

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125145644&origin=inward

  • Reflection Coefficient Estimation through the Modelling of Ultrasonic Transmission Reviewed International journal

    Mochizuki R., Nishida Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   750 - 755   2022.01

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

    Scopus

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125152388&origin=inward

  • Motion Control of a Ship Hull Cleaning Robot Reviewed International journal

    Yamamoto H., Nishida Y., Matsuo T., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   785 - 788   2022.01

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

    Scopus

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125147625&origin=inward

  • Inter-University Collaboration Aimed at Integrating Different Robotic Field: Development of Underwater Robots and Soccer Robots Though these Competitions Reviewed International journal

    Tominaga M., Ahn J., Takemura Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   365 - 368   2022.01

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

    Scopus

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  • Fall Risk Notification System using LiDAR Sensor for the Visually Impaired People Reviewed International journal

    Katayama D., Ishii K., Yasukawa S., Nakadomari S., Wada K., Befu A., Yamada C.

    Proceedings of International Conference on Artificial Life and Robotics   745 - 749   2022.01

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    Scopus

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  • Exercise on Environmental Monitoring and Control of Green house by IoT Devices toward Smart Agriculture Reviewed International journal

    Nishida Y., McHizuki R., Yasukawa S., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   369 - 373   2022.01

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    Scopus

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  • Autonomous Underwater Vehicle with Vision-based Navigation System for Underwater Robot Competition Reviewed International journal

    Harada K., Fukuda R., Mizoguchi Y., Yamamoto Y., Mishima K., Tanaka Y., Nishida Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   354 - 359   2022.01

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    Scopus

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  • An Estimation Method of Coastal Ocean Debris Using Aerial Drone Reviewed International journal

    Ishii K., Shirahashi K., Nishida Y., Tominaga M., Tanaka Y., Solpico D.B.

    Proceedings of International Conference on Artificial Life and Robotics   1095 - 1101   2022.01

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

    Scopus

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  • A Network of Underwater Sensors Estimating Feeding Behavior for Digitizing Optimized Feeding Decisions in Marine Aquaculture Reviewed International journal

    Solpico D.B., Mishima K., Nishida Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   762 - 767   2022.01

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    Scopus

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  • 視覚障害者の転落事故低減を目的とした白杖搭載型の電子式歩行補助具の研究開発

    片山大悟, 石井和男, 安川真輔, 仲泊聡, 和田浩一, 別府あかね, 山田千佳子

    第46回 感覚代行シンポジウム   講演番号2, 4頁   2021.12

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    2021.12.07  -  2021.12.08

  • A Puzzle-Based Sequencing System for Logistics Items Reviewed International journal

    Alahmad R., Ishii K.

    Logistics   5 ( 4 )   76   18 pages   2021.10

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

    DOI: 10.3390/logistics5040076

    Kyutacar

    Scopus

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  • Rolling resistance and sinkage analysis by comparing FEM andexperimental data for a grape transporting vehicle Reviewed International journal

    di Maria E., Reina G., Ishii K., Giannoccaro N.I.

    Journal of Terramechanics   97   59 - 70   2021.10

  • Motion control considering the effects of cable deflection caused by gravity and fluid resistance for Cable-restricted Underwater Vehicle Reviewed International journal

    Yoshiki Tanaka, Yuya Nishida, Kazuo Ishii

    Proc. of IEEE OCEANS 2021 San Diego - Porto   5 pages   2021.09

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  • Underwater Current Measurements for Fish Feeding Control in Marine Aquaculture Reviewed International journal

    Dominic B. Solpico, Yuya Nishida, Kazuo Ishii

    Proc. of IEEE OCEANS 2021 San Diego - Porto   5 pages   2021.09

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  • ピッキング作業効率化のための商品配置シミュレーション

    西村和真, 西田祐也,石井和男,滝澤千之

    日本ロボット学会学術講演会2021予稿集 ( 日本ロボット学会 )   2021.09

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    Kyutacar

  • Development of the acoustic positioning system using MEMS microphone

    HAMADA Daiki, SUEYOSHI Hiromasa, MASUDA Kotohiro, NISHIDA Yuya, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2021 ( 0 )   1A1 - B01   2021.06

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    <p>Marine resource survey by an underwater vehicle is expected. To realize cheap self-positioning for the underwater vehicle, we have been developing on the acoustic positioning system which is low cost and easy to maintain. The acoustic positioning system has four hydrophones which consists of molding commercially available MEMS micro phones with pressure-resistant resin, an audio device, and a micro controller. To evaluate the system, positioning experiments was performed in the small tank. In the experiments, the system detected delay time among four hydrophones, however its positioning was not good accuracy. In the future, we will improve the accuracy of positioning by interpolating data and considering the effect of baseline.</p>

    DOI: 10.1299/jsmermd.2021.1A1-B01

    Kyutacar

    CiNii Article

    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130008134856

  • 3D Plane Detection Algorithm for Detection of Station Platform Edge

    KATAYAMA Daigo, ISHII Kazuo, YASUKAWA Shinsuke, NAKADOMARI Satoshi, WADA Koichi, BEFU Akane, YAMADA Chikako

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2021 ( 0 )   1P1 - F11   2021.06

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    <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>

    DOI: 10.1299/jsmermd.2021.1P1-F11

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    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130008134919

  • Vision-Based Behavior Strategy for Tomato Harvesting Robot (V):-Estimation of total harvesting time using the tomato growth state map-

    FUJINAGA Takuya, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2021 ( 0 )   1P2 - A04   2021.06

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    <p>This paper presents an estimation method of total harvesting time using the tomato harvesting robot developed in this study. In this robot, the occlusion ratio of obstacles to the target tomato is one of the factors for harvestability. The occlusion ratio was quantified, and the criteria for tomatoes that are easy for this robot to harvest was determined based on the results of the harvesting experiment. Using the tomato growth state map, the total harvesting time was estimated from the location data of the tomatoes that can be shipped with the occlusion ratio of 0.07 or less.</p>

    DOI: 10.1299/jsmermd.2021.1P2-A04

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    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130008135064

  • Research on human-robot cooperative systems for a robot symbiotic society

    TOMINAGA Moeko, TAKEMURA Yasunori, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2021 ( 0 )   1A1 - K04   2021.06

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    <p>In the realization of symbiosis between humans and robots, how robots can understand human behavior is an important issue. In the soccer robot, it is possible to show that human-robot symbiosis in a dynamic environment is possible if humans and robots share the same understanding of behavior. In this paper, a robot in a simulator that behaves according to a certain rule is analyzed using a self-organizing map, and the rule is mapped to two dimensions as a feature map and evaluated. By using this map, a system that selects the next action from the position of each player is completed. This system can also be adapted to humans who act according to certain action decision rules.</p>

    DOI: 10.1299/jsmermd.2021.1A1-K04

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    Other Link: https://ci.nii.ac.jp/naid/130008134930

  • Motion Estimation of Visual Target Using Event-Based Vision and Spiking Neural Network

    YASUKAWA Shinsuke, YOSHIMATSU Hidetaka, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2021 ( 0 )   2P2 - H05   2021.06

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    <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>

    DOI: 10.1299/jsmermd.2021.2P2-H05

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    Other Link: https://ci.nii.ac.jp/naid/130008135692

  • Towards building of an underwater robot monitoring fish appetite for feeding management:Development of sensors for measuring fish-generated underwater currents as indicator for feeding behavior

    SOLPICO Dominic, NISHIDA Yuya, ISHII Kazuo

    ロボティクス・メカトロニクス講演会講演概要集 ( The Japan Society of Mechanical Engineers )   2021 ( 0 )   1P1 - B17   2021.06

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    <p>Predicting fish feeding behavior is crucial in improving marine aquaculture production. We are addressing this problem using a novel approach – measuring underwater currents generated by fish, especially at feeding times. In this paper, we present our development of a suite of sensors that will collect these measurements, as we investigate their relationship with fish behavior during feeding. We added we have further developed our sensor suite by adding another current sensor for calibrating the previously developed propeller sensors and tested them along a narrow river to examine the relationship of their measurements. While a strong linear relationship was observed between the measurements, it is difficult for the propeller sensors to measure currents accurately at slower currents. Experiment at the fish farm is still needed to determine if this constraint is acceptable in our application.</p>

    DOI: 10.1299/jsmermd.2021.1P1-B17

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    Other Link: https://ci.nii.ac.jp/naid/130008134963

  • 団体スポーツにおける自己組織化マップを用いたコーチング

    富永萌子,武村 泰範,石井 和男

    第33回自律分散システム・シンポジウム ( 計測自動制御学会 システム・情報部門 )   2021.03

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    2021.03.14  -  2021.03.15

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    CiNii Article

  • Acoustic impedance measurement through the modelling of ultrasonic wave transmission Reviewed International journal

    Mochizuki R., Nishida Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2021   271 - 274   2021.01

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    2021.01.21  -  2021.01.24

    In food industry, shortage of workers is a serious problem. Automation of food handling is a critical nowadays. To alleviate the damage during food picking by robotic hand, we propose non-contact acoustic impedance estimation with ultrasonic wave. We have the assumption of the correlation between hardness and acoustic impedance, and, built up ultrasonic transmission model considering attenuation by reflection and absorption, then, made an experiment to estimate the impedance. As the result, we succeeded in detecting acoustic impedance without contact.

    DOI: 10.5954/ICAROB.2021.OS23-6

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    CiNii Research

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  • A Greenhouse Project toward Smart Agriculture Reviewed International journal

    Ishii Kazuo, Nishida Yuya, Yasukawa Shinsuke, Shirahashi Kanako, Takemura Yasunori, Matsuo Takayuki

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   26   409 - 412   2021.01

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    2021.01.22  -  2021.01.24

    In the future estimation of 2050, the food demand increases 70% and the production decreases 15% caused by global warming, and farmer population be 1/5 of current workers. Until 2050, we need an agricultural system of twice production with the same farmland area and 5 times effective operations. To realize the sustainable society, smart agriculture including robot technology, AI, IoT is one of the solutions for food issues. We have been working for a greenhouse project under enPiT-everi for implementation of robotic, AI and IoT technologies to agriculture. In this paper, we introduce the project and robotic applications.

    DOI: 10.5954/ICAROB.2021.OS22-5

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    CiNii Research

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  • Tomato-harvesting-robot competition towards smart agriculture Invited Reviewed International journal

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

    Proc. of ICAROB2021   1 - 5   2021.01

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    2021.01.21  -  2021.01.24

    In agriculture, the aging and depopulation of farmers cause the shortages of farmers and manpower. Most of commercialized robots are industrial robots for factory automation, and most of robots for the first industry, agriculture, forestry and fisheries are still under developing. The reasons are cost-efficiency of the robotization, safety of the works using robots, difficulty of outdoor operations, and knowledge transfer problem from farmers to computer, etc. As one of solutions for the problems, robot technology into the agriculture is expected to contribute to the laborsaving, improvement of production, production line automation, and also the management toward smart-agriculture. We organize the Tomato-harvesting-robot competition to offer the research field and welcome researchers into agricultural robotics.

    DOI: 10.5954/ICAROB.2021.PS-1

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  • Crack detection in a concrete structure using an underwater vehicle Reviewed International journal

    Nishida Y., Sohara N., Yasukawa S., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2021   777 - 781   2021.01

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    2021.01.21  -  2021.01.24

    In this paper, to realize efficient underwater infrastructure inspection, automatic crack detection by image processing is proposed. In first process of our method generates enhanced image based on the absorbance from the turbidity meter and removes background component, and then detects crack from the enhanced image by using decision tree learning algorithm. This paper explains the algorithm of our method and shows evaluation experiment results.

    DOI: 10.5954/ICAROB.2021.OS23-1

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    CiNii Research

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  • Underwater image reconstruction using convolutional auto-encoder Reviewed International journal

    Yasukawa S., Raghura S.S., Nishida Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2021   262 - 265   2021.01

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    2021.01.21  -  2021.01.24

    One of the main tasks of AUVs is to capture deep-sea images like fishes, crabs, other living organisms and resources for information leading to research on deep-sea ecosystems. Acoustic transmission are used to establish wireless underwater communications between the AUV and the ship. However, there are some limitations in the communication channels due to limited bandwidth, multi-path, temperature distribution and change in the direction of transmitting source and receiving sensor which results in losses in data being transmitted. Initially, the captured images are enhanced to reduce the effect of light attenuation and then compressed for transmission through acoustic modems. Only an important part of image is being transmitted through set of data packets. The received data packets in the ship will be reconstructed to predict the presence of living organisms. The loss in data during transmission creates a difficulty for the operators to predict the exact information. In this research, to compensate this transmission loss, an efficient compression and reconstruction technique using convolutional autoencoder with minimal distortion is proposed. Finally, for evaluation of the proposed image compression technique, the quality of reconstruction of images with and without data loss will be compared using the quality metrics signal to noise ratio (PSNR), structural similarity index(SSIM) and perceptual quality of image.

    DOI: 10.5954/ICAROB.2021.OS23-4

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  • Tomato-harvesting robot competition: Aims and developed robot of 6th competitions Reviewed International journal

    Matsuo T., Takemura Y., Sonoda T., Nishida Y., Yasukawa S., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2021   397 - 400   2021.01

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    2021.01.21  -  2021.01.24

    In general, farm work is often hard work. In recent years, the number of farm laborers has been decreasing due to the aging of the workforce. Therefore, there is a need to automate agricultural work, and we are organizing a tomato harvesting robot competition to automate tomato harvesting. The competition includes a Junior Division for high school students and a Senior Division for college students. In this paper, we report on the results of 6th tomato harvesting robot competition.

    DOI: 10.5954/ICAROB.2021.OS22-2

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  • The spherical robot transfer problem with minimal total kinetic energy Reviewed International journal

    Kimura K., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   2021   266 - 270   2021.01

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    2021.01.21  -  2021.01.24

    DOI: 10.5954/ICAROB.2021.OS23-5

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  • Smart Agriculture IoT Education Course in enPiT-everi (Education Network for Practical Information Technologies - Evolving and Empowering Regional Industries) Reviewed International journal

    Takemura Y., Kamei K., Sanada A., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2021   401 - 404   2021.01

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    2021.01.21  -  2021.01.24

    In Japan, expectations for the utilization of IT such as AI (Artificial Intelligence) and IoT (Internet of Things) are becoming greater and greater to address the shortage of working population due to the declining birthrate and aging population, and the depopulation of rural areas. There is a serious shortage of IT human resources, especially in rural areas, and I believe that IT human resource development is an urgent task to promote the super-smart society, Society 5.0, which is being promoted by the government. Thus, in order to promote business efficiency and productivity improvement, the utilization of IT in companies will become even more important[1].
    Then, five universities, mainly in Kyushu and Chugoku regions, have been selected by the Ministry of Education, Culture, Sports, Science and Technology (MEXT) for the enPiT-Pro project, and will collaborate to provide systematic and practical IT education programs to working people from local companies, with the aim of fostering advanced IT human resources. In this paper, we report on a class of the enPIT-everi program, the Agricultural IoT Education course.

    DOI: 10.5954/ICAROB.2021.OS22-3

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  • Motion control of a cable-restricted underwater vehicle for long-term spot observation Reviewed International journal

    Tanaka Y., Nishida Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2021   253 - 256   2021.01

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    2021.01.21  -  2021.01.24

    In order to acquire a time fluctuation data of the resources which needs for a marine resource development, we developed an observation device with low operational risk and a wide observable area. The observation device consists of an underwater station and an underwater vehicle, and underwater vehicle is tethered with a cable. By using the restraint condition of the cable, our device was able to navigate the trajectory planned only by thrust control with an error of up to 0.14m.

    DOI: 10.5954/ICAROB.2021.OS23-2

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    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108863193&origin=inward

  • Development of current sensors for digitizing expert knowledge in fish feeding towards sustainable aquaculture Reviewed International journal

    Solpico D.B., Nishida Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2021   257 - 261   2021.01

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    2021.01.21  -  2021.01.24

    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 digitizing such knowledge by measuring underwater currents induced by fishes as indicator of their behavior and appetite. A prototype current sensor suite was constructed to measure the current around the fish cage, especially during feeding.

    DOI: 10.5954/ICAROB.2021.OS23-3

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  • Development of a handy autonomous underwater vehicle“kyubic" Reviewed International journal

    Matsumura T., Uemura Y., Yanagise K., Tanaka Y., Nishida Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2021   405 - 408   2021.01

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    Ocean is one of big challenging and extreme environments, and hard for human to access directly. As the tool for ocean survey, Autonomous Underwater Vehicles: AUVs are expected and developed from ‘80s. The recent rapid progress of computer and information technologies makes the development of AUVs easier and more practical. We had developed a handy AUV "Kyubic" for the observation of shallow water and artificial structures. In this paper, we describe the system architecture of Kyubic and the experimental results in Underwater Robotics Competition in Okinawa 2020.

    DOI: 10.5954/ICAROB.2021.OS22-4

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  • Underwater 3D Scanner using RGB Laser pattern Reviewed International journal

    Nishida Y., Yasukawa S., Ishii K.

    2021 IEEE/SICE International Symposium on System Integration, SII 2021   2021   229 - 232   2021.01

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    2021.01.11  -  2021.01.13

    DOI: 10.1109/IEEECONF49454.2021.9382643

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  • Evaluation of Tomato Fruit Harvestability for Robotic Harvesting Reviewed International journal

    Takuya Fujinaga, Shinsuke Yasukawa, Kazuo Ishii

    2021 IEEE/SICE International Symposium on System Integration, SII 2021 ( IEEE/SICE )   35 - 39   2021.01

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    2021.01.11  -  2021.01.13

    Harvestability is a quantitative index of how easy tomato fruits are to harvest using a robot. Previous studies on tomato harvesting robots have focused on tomato fruit detection methods, harvesting mechanisms, harvesting success rates, and harvesting times. However, tomato fruit harvestability using robots has not been quantitatively assessed. In this paper, we propose a method for evaluating the tomato fruit harvestability using a tomato harvesting robot. We first evaluated the harvestability qualitatively, based on the results of harvesting experiments conducted in a tomato greenhouse. Harvestability was then quantitatively evaluated using a camera (hereinafter referred to as a hand camera) attached to an end-effector of the tomato harvesting robot developed. The hand camera consists of an RGB camera and a depth camera. The occlusion ratio of obstacles (stems, peduncles, and other fruits) to a target fruit is calculated using the RGB image and depth image acquired by the hand camera. The larger the occlusion ratio was, i.e., the more obstacles there were in front of the target fruit, the more difficult the target fruit was to harvest. Conversely, if the occlusion ratio is low, the harvestability is high. This study shows that the occlusion ratio is effective as a quantitative indicator of the tomato fruit harvestability.

    DOI: 10.1109/IEEECONF49454.2021.9382603

    Kyutacar

    Scopus

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  • Development and Evaluation of a Tomato Fruit Suction Cutting Device Reviewed International journal

    Fujinaga T., Yasukawa S., Ishii K.

    2021 IEEE/SICE International Symposium on System Integration, SII 2021   628 - 633   2021.01

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    2021.01.11  -  2021.01.13

    DOI: 10.1109/IEEECONF49454.2021.9382670

    Kyutacar

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  • Deep-Sea Robotic Survey and Data Processing Methods for Regional-Scale Estimation of Manganese Crust Distribution Reviewed International journal

    Neettiyath U., Thornton B., Sangekar M., Nishida Y., Ishii K., Bodenmann A., Sato T., Ura T., Asada A.

    IEEE Journal of Oceanic Engineering   46 ( 1 )   102 - 114   2021.01

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    DOI: 10.1109/JOE.2020.2978967

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  • Underwater Current Measurements for Fish Feeding Control in Marine Aquaculture Reviewed International journal

    Solpico D.B., Nishida Y., Ishii K.

    Oceans Conference Record (IEEE)   2021-September   2021.01

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    DOI: 10.23919/OCEANS44145.2021.9705858

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  • Motion control considering the effects of cable deflection caused by gravity and fluid resistance for Cable-restricted Underwater Vehicle Reviewed International journal

    Tanaka Y., Nishida Y., Ishii K.

    Oceans Conference Record (IEEE)   2021-September   2021.01

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    DOI: 10.23919/OCEANS44145.2021.9705674

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  • Tomato growth state map for the automation of monitoring and harvesting Reviewed International journal

    Fujinaga T., Yasukawa S., Ishii K.

    Journal of Robotics and Mechatronics ( Fuji Technology Press. )   32 ( 6 )   1279 - 1291   2020.12

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    <p>To realize smart agriculture, we engaged in its systematization, 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 monitor 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 complex 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 actual tomato greenhouse and herein report the results.</p>

    DOI: 10.20965/jrm.2020.p1279

    Kyutacar

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    CiNii Article

    CiNii Research

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  • A new rotary actuator capable of rapid motion using an antagonistic cam mechanism Reviewed International journal

    Katsuaki Suzuki, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

    Journal of Advances in Artificial Life Robotics   1 ( 3 )   143 - 151   2020.12

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    Kyutacar

  • Design and optimisation of bio-inspired robotic stochastic search strategy Reviewed International journal

    Maroofkhani F., Ali Forough Nassiraei A., Ishii K.

    International Journal of Reasoning-based Intelligent Systems   12 ( 3 )   187 - 192   2020.09

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    DOI: 10.1504/IJRIS.2020.109647

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  • Behavior selection system for human-robot cooperation using tensor SOM Reviewed International journal

    Tominaga M., Takemura Y., Ishii K.

    Journal of Robotics, Networking and Artificial Life   7 ( 2 )   81 - 85   2020.09

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    DOI: 10.2991/jrnal.k.200528.002

    Kyutacar

    Scopus

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  • Development of a robot for automation of tomato harvesting and monitoring Invited

    ( Agricultural Biotechnology ) 4 ( 9 )   56 - 59   2020.08

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  • 白杖搭載型の情報提示装置による振動位置の提示に対する正答率測定 Reviewed

    片山大悟, 石井和男, 安川真輔, 仲泊聡, 和田浩一, 別府あかね, 山田千佳子

    第21回ロービジョン学会学術総会   講演番号23   2020.07

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  • Motion Analysis of a Sphere Driven by Rollers Reviewed

    Kimura Kenji, Chikushi Shota, Ishii Kazuo, Yamamoto Motoji

    Journal of the Robotics Society of Japan ( The Robotics Society of Japan )   38 ( 5 )   485 - 495   2020.06

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    <p>Friction drive systems are adopted for many robots of spherical locomotion type. Such systems have problems, including traversing uneven surfaces, slipping of the roller, and dust between the sphere and the roller. Despite of the disadvantages, these systems attract attention because of the possibility of stepped climbing and omnidirectional locomotion. In the future, it is anticipated that the mechanism using the sphere are developed. When the kinematics with respect to multiple rotational axes in arbitrary contacted on the sphere is clarified, the mechanism may be widely used. In the paper, a general theorem for kinematics is discussed including the number of rollers driving the sphere, the type of roller (constraint or unconstraint), and the contact points of the rollers on the sphere and the roller axes direction. To verify the validity of the kinematics model a locomotion model of the ball dribbling mechanism with the two rollers is presented as a special example by carrying out the experimental demonstration using the device robot. </p>

    DOI: 10.7210/jrsj.38.485

    Kyutacar

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    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130007855562

  • Evaluation of the relationships between saliency maps and keypoints Reviewed International journal

    Mochizuki R., Ishii K.

    Journal of Robotics, Networking and Artificial Life   7 ( 1 )   16 - 21   2020.06

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    DOI: 10.2991/jrnal.k.200512.004

    Kyutacar

    Scopus

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  • Robot competition for underwater technology researchers and students Reviewed International journal

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

    Journal of Advances in Artificial Life Robotics ( ALife Robotics Corporation Ltd )   1 ( 1 )   11 - 15   2020.06

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    To promote the research of oceanic engineering technology, an underwater robot competition has been held since 2016. The seventh competition this year consists of AUV leagues, in which vehicles developed by university teams automatically cruise in the field, and junior leagues that participate in making underwater craft. This paper presents the competition regulations for the AUV and junior leagues and the results of the competition held in October 2019.

    DOI: 10.57417/jaalr.1.1_12

    Kyutacar

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    CiNii Research

    Other Link: http://hdl.handle.net/10228/00008171

  • Development of Autonomous Underwater Vehicle for benthos sampling:-Continuous benthos sampling using a slurp gun with canisters-

    Nishida Yuya, Yasukawa Shinsuke, Sonoda Takashi, Inoue Shogo, Watanabe Keisuke, Ishii Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2020 ( 0 )   1P1 - C13   2020.05

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    <p>Autonomous underwater vehicles (AUVs) observe a wide area by using mounted camera and LED lights and is used for bio-resource survey. However, AUVs is difficult to capture the sample useful for scientists. Previous AUVs can capture only specific benthos that its developer decided the target before resource survey, but scientists for fisheries resource can't chose sampling target during observation by AUVs. To realize an efficient bio-resources survey, the authors developed AUV that can capture the target instructed by the operator during observation. Because the slurp gun installed on the AUV has no canister, the AUV catches only one sample in one dive. This paper explains developed AUV and slurp gun with the canisters, and reports on sea trials using them.</p>

    DOI: 10.1299/jsmermd.2020.1P1-C13

    CiNii Article

    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130007943437

  • Pose estimation of a rigid body in motion using an event-based vision

    YOSHIMATSU Hidetaka, YASUKAWA Shinsuke, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2020 ( 0 )   2P2 - J07   2020.05

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    <p>We proposed a method for estimating the rotation of a moving rigid body in the field of view using high-speed visual information from an event-based vision. We employed a method based on linear regression from the viewpoint of computation cost as a method of estimating the pose of an object using visual information. While changing the pose of the object in the yaw direction, information on the object's appearance was obtained using an event-based vision. The image was generated by accumulating information from an event-based vision for a certain time. By pre-processing these images, binarized images and ternary images were respectively generated. With the above method, a data set of the pose of the object and the appearance of the object was prepared. We verified whether the pose of the object can be estimated from the information of the event-based vision by a linear regression model using dataset.</p>

    DOI: 10.1299/jsmermd.2020.2P2-J07

    CiNii Article

    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130007944448

  • Long-term observation method using Cable-restricted Underwater Vehicle:-Self-localization based on cable constraints-

    TANAKA Yoshiki, NISHIDA Yuya, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2020 ( 0 )   1P1 - C07   2020.05

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    <p>There are many marine resources including mineral and energy resources in Japanese EEZ and those have been surveyed by Underwater vehicles. It is expected that time-varying data will be continuously obtained with low risk in environmental surveys of the seabed. Therefore, we proposed the long-term observation method using Cable-restricted Underwater vehicles.</p>

    DOI: 10.1299/jsmermd.2020.1P1-C07

    CiNii Article

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    Other Link: https://ci.nii.ac.jp/naid/130007943421

  • Behavior Learning System for Robot Soccer Using Neural Network

    TOMINAGA Moeko, TAKEMURA Yasunori, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2020 ( 0 )   2A1 - R06   2020.05

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    <p>With the progress of technology, the realization of a symbiotic society with human beings and robots sharing the same environment has become an important subject. An example of this kind of systems is soccer game. Soccer is a multi-agent game that requires strategies by taking into account each member's position and actions. In this paper, we discuss the results of the development of a learning system that uses SOM to select behaviors depending on the situation.This system can reproduce the action selection algorithm of all players in a certain team, and the robot can instantly select the next cooperative action from the information obtained during the game.Because of this system, common sense rules was shared to learn an action selection algorithm for a set of agents, not only a team consisting of robots alone, but also a group of heterogeneous agents consisting of humans and robots.</p>

    DOI: 10.1299/jsmermd.2020.2A1-R06

    CiNii Article

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    Other Link: https://ci.nii.ac.jp/naid/130007943934

  • Stiffness Measurement of Object Targeted for Robotic Hand

    MOCHIZUKI Ryuugo, NISHIDA Yuya, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2020 ( 0 )   1A1 - K06   2020.05

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    <p>In food industry, autonomous food arrangement is expected. For the achievement of safety food arrangement by robots, in order to prevent from damaging food, rigidity of the hands is hopeful to be adjusted according to the food stiffness. Measurement of the food stiffness should be estimated before handling. In this research, we propose non-contact stiffness measurement with ultrasound to enable variable rigidity of hands while food handling is ongoing.</p><p>We measured power spectrum of ultrasound reflected on food. As the result of the experiment, the spectrum varied according to the stiffness.</p>

    DOI: 10.1299/jsmermd.2020.1A1-K06

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    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130007943408

  • An Optical Image Transmission System for Deep Sea Creature Sampling Missions Using Autonomous Underwater Vehicle Reviewed International journal

    Ahn J., Yasukawa S., Sonoda T., Nishida Y., Ishii K., Ura T.

    IEEE Journal of Oceanic Engineering   45 ( 2 )   350 - 361   2020.04

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    DOI: 10.1109/JOE.2018.2872500

    Kyutacar

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  • Sea trials for benthos sampling using autonomous underwater vehicle Reviewed International journal

    Nishida Y., Yasukawa S., Sonoda T., Watanabe K., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   2020   167 - 170   2020.01

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    2020.01.13  -  2020.01.16

    DOI: 10.5954/ICAROB.2020.OS23-1

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  • Development of subsea creature monitoring station for auv exploration assistance Reviewed International journal

    Watanabe K., Utsunomiya K., Harada K., Sadiq A., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   25   175 - 178   2020.01

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    2020.01.13  -  2020.01.16

    DOI: 10.5954/ICAROB.2020.OS23-3

    Kyutacar

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  • Evaluation of the relationships between saliency maps and keypoints Reviewed International journal

    Mochizuki R., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2020   249 - 254   2020.01

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    2020.01.13  -  2020.01.16

    Saliency is a property of images that triggers bottom-up attention. For example, if a location in an image is sufficiently different from its surrounding and worthy of paying attention, such characteristic of image is saliency. From the point of view, the location of larger saliency is outstanding visually. On the other hand, As Image Feature extraction method, such as SIFT or SURF, robust feature matching has been realized under the existence of changing size or rotation of observed target. For the consequence, its advantage has been introduced into image stitching and Visual SRAM. However, the amount of image features is susceptive to changing photographing condition, such as luminance variety, defocus-ing etc. We assumed that feature extraction stability is large in salient region because of steep bright-ness gradient. We evaluated the relationship between saliency and feature extraction stability.

    DOI: 10.5954/ICAROB.2020.OS24-3

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  • Field experiments of underwater image transmission for auv Reviewed International journal

    Yasukawa S., Nishida Y., Ahn J., Sonoda T., Yanagise K., Watanabe K., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2020   171 - 174   2020.01

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    2020.01.13  -  2020.01.16

    In order to improve the efficiency of the seafloor survey, it is necessary for AUV to report the state of the seafloor to the operators on board reasonably. We have been developing seafloor image selection and image compression technology for the seafloor image transmission using the underwater acoustic communication device. In this paper, we report the results of underwater image selection and transmission in biological sampling experiments conducted in November 2019 off the coast of Suruga-bay, Shizuoka, Japan.

    DOI: 10.5954/ICAROB.2020.OS23-2

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  • Report on the 5th tomato-harvesting robot competition Reviewed International journal

    Takemura Y., Matsuo T., Sonoda T., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2020   106 - 109   2020.01

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    2020.01.13  -  2020.01.16

    Tomato is one of the important fruit vegetables and most tomatoes are produced in the greenhouses, or large-scale farms, where the high temperature and humidity, and long harvest age force the farmer heavy works. To develop the tomato harvesting robot, many research issues exist such as manipulator design, end-effector design, collaborative behavior, artificial intelligence, motor control, image processing, target recognition and so on. With an aim to promote the automation of tomato harvesting, we have organized the tomato harvesting robot competition since 2014. In this paper, we report on the results of 5th tomato harvesting robot competition in 2018.

    DOI: 10.5954/ICAROB.2020.OS22-4

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  • Reports of 7th underwater robot festival in kitakyushu Reviewed International journal

    Nishida Y., Sonoda T., Matsuo T., Yasukawa S., Sato M., Takemura Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics   2020   110 - 113   2020.01

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    2020.01.13  -  2020.01.16

    DOI: 10.5954/ICAROB.2020.OS22-5

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  • Development of antagonistic high power joint mechanism with cams Reviewed International journal

    Suzuki K., Nishida Y., Sonoda T., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2020   263 - 266   2020.01

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    2020.01.13  -  2020.01.16

    Acquiring flexible and agile behaviors as seen in biological systems, the robot can achieve acrobatic movements such as jumping and throwing. These acrobatic movements are expected to extend the range of robot activity. In this research, we propose a special mechanism using a pair of motors, springs and cams, which has three functions: normal operation, instantaneous operation and variable rigidity. Then, we derived a mathematical model of the mechanism and discussed the input-output characteristics of the mechanism by changing the design parameters, and analyzed the difference between the theoretical and measured results.

    DOI: 10.5954/ICAROB.2020.OS24-6

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  • Behavior selection system for robot using neural network Reviewed International journal

    Tominaga M., Takemura Y., Ishii K.

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   2020   98 - 101   2020.01

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    2020.01.13  -  2020.01.16

    With the progress of technology, the realization of a symbiotic society with human beings and robots sharing the same environment has become an important subject. An example of this kind of systems is soccer game. Soccer is a multi-agent game that requires strategies by taking into account each member's position and actions. In this paper, we discuss the results of the development of a learning system that uses SOM to select behaviors depending on the situation.

    DOI: 10.5954/ICAROB.2020.OS22-2

    Kyutacar

    Scopus

    CiNii Research

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108850030&origin=inward

  • A new rotary actuator capable of rapid motion using an antagonistic cam mechanism Reviewed International journal

    Suzuki Katsuaki, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

    Journal of Advances in Artificial Life Robotics ( ALife Robotics Corporation Ltd )   1 ( 3 )   144 - 152   2020.01

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    Animals can achieve agile behaviors such as jumping and throwing in addition to flexible behaviors with the same musculoskeletal systems, and those movements can extend the range of their activities. We have been working on actuators capable of rapid and flexible motions learning the musculoskeletal systems. In this paper, we propose a new rotary actuator using a pair of motors, springs, and cams to perform three functions, namely, normal motion, rapid or instantaneous motion, and rigidity control using an antagonistic cam mechanism, and describe the operating principle of the proposed mechanism, the mathematical model of the mechanism during rapid motion, and the design principle of the cam, which is a key mechanical element in this mechanism. Finally, we present an analysis of the error between the theoretical the measurement results during rapid motion.

    DOI: 10.57417/jaalr.1.3_144

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    Other Link: http://hdl.handle.net/10228/00008167

  • Evaluation of the roller arrangements for the ball-dribbling mechanisms adopted by robocup teams Reviewed International journal

    Kimura K., Chikushi S., Ishii K.

    Journal of Robotics, Networking and Artificial Life   6 ( 3 )   183 - 190   2019.12

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    DOI: 10.2991/jrnal.k.191203.002

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  • Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with an Adjustable Contact Patch for a Grape Transporting Robot Reviewed International journal

    Enrico di Maria, Kazuo Ishii

    Journal of Robotics, Networking and Artificial Life ( Atlantis Press )   6 ( 3 )   148 - 151   2019.12

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    DOI: 10.2991/jrnal.k.191202.002

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  • Evaluation of underwater vehicle's self-localization based on visual odometry or sensor odometry Reviewed

    Tanaka Y., Semmyo A., Nishida Y., Yasukawa S., Ahn J., Ishii K.

    2019 IEEE 14th International Conference on Industrial and Information Systems: Engineering for Innovations for Industry 4.0, ICIIS 2019 - Proceedings   384 - 389   2019.12

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    DOI: 10.1109/ICIIS47346.2019.9063345

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  • Entropy-Based Exposure Time Setting for an Adaptive Multi-Exposure Image Fusion Reviewed International journal

    Yasukawa S., Nasuno T., Ishii K.

    2019 IEEE 14th International Conference on Industrial and Information Systems: Engineering for Innovations for Industry 4.0, ICIIS 2019 - Proceedings   529 - 534   2019.12

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    DOI: 10.1109/ICIIS47346.2019.9063302

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  • Toward smart tomato greenhouse: The fourth tomato harvesting robot competition Reviewed International journal

    Matsuo T., Sonoda T., Takemura Y., Sato M., Ishii K.

    Journal of Robotics, Networking and Artificial Life   6 ( 2 )   138 - 142   2019.09

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    DOI: 10.2991/jrnal.k.190829.002

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  • System Development of Tomato Harvesting Robot Based on Modular Design Reviewed

    Takuya Fujinaga, Shinsuke Yasukawa, Kazuo Ishii

    2019 International Workshop on Smart Info-Media Systems in Asia   1 - 6   2019.09

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    東京   2019.09.04  -  2019.09.06

    DOI: 10.34385/proc.57.SS1-1

  • Novel Mathematical Modeling and Motion Analysis of a Sphere Considering Slipping Reviewed International journal

    Kimura K., Ogata K., Ishii K.

    Journal of Robotics, Networking and Artificial Life   6 ( 1 )   27 - 32   2019.06

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    DOI: 10.2991/jrnal.k.190531.006

    Scopus

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  • Development of Dam Inspection Underwater Robot Reviewed International journal

    Hirai H., Ishii K.

    Journal of Robotics, Networking and Artificial Life   6 ( 1 )   18 - 22   2019.06

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    DOI: 10.2991/jrnal.k.190531.004

    Scopus

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  • An AUV Based Method for Estimating Hectare-scale Distributions of Deep Sea Cobalt-rich Manganese Crust Deposits Reviewed International journal

    Neettiyath U., Thornton B., Sangekar M., Nishida Y., Ishii K., Sato T., Bodenmann A., Ura T.

    OCEANS 2019 - Marseille, OCEANS Marseille 2019   2019-June   1 - 6   2019.06

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

    France   Marseille   2019.06.17  -  2019.06.20

    DOI: 10.1109/OCEANSE.2019.8867481

    Scopus

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  • Development of Antagonistic High Power Joint Mechanism by using Cam (2nd Report):- Study on Improvement of Estimation Accuracy of Output Value in Rapid Motion-

    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 )   2019 ( 0 )   1P2 - K09   2019.06

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    日本   広島   2019.06.06  -  2019.06.09

    <p>In this paper, we propose a new formula to accurately estimate the output value on the real machine of the proposed mechanism as a part of the development concerning the high power joint mechanism. The previously proposed formula did not consider the energy loss when the slider translated. Considering the mass of the slider, we derived an expression that can estimate the angular velocity of the output link from the energy conservation law and the geometrical relationship. As a result of comparing the theoretical value and measured value, the performance of real machine could be more accurately estimated by using the proposed mathematical formula.</p>

    DOI: 10.1299/jsmermd.2019.1P2-K09

    CiNii Article

    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130007774443

  • Development of Electronic Travel Aid for Reducing the Fall Accident of the Visually Impaired:- Proposal and Evaluation of the Surrounding Environment Information Presentation Method by Vibration Stimulation of the Local Position -

    KATAYAMA Daigo, ISHII Kazuo, NAKADOMARI Satoshi, YAMADA Chikako, BEFU Akane, WADA Koichi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2019 ( 0 )   2A2 - B03   2019.06

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    日本   広島   2019.06.06  -  2019.06.09

    <p>This paper presents the information presentation device for alerting 4 dangerous situations on a platform by vibration stimulation of a local position. The vibrator mounted on the information presentation device is provided with vibration isolation to prevent confusion of the presented information. In order to confirm the occurrence of the vibration stimulus at the local position, the measurement experiment of the vibration acceleration was carried out using the acceleration sensor. From the result of power spectrum analysis using the fast Fourier transformation to the measured vibration acceleration, periodic damping was confirmed at a portion other than the vibrator that presents information.</p>

    DOI: 10.1299/jsmermd.2019.2A2-B03

    Kyutacar

    CiNii Article

    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130007774800

  • Exposure Time Adjustment Method for a Camera System with a Multi-Exposure Image Fusion

    NASUNO Tomohiro, YASUKAWA Shinsuke, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2019 ( 0 )   2P2 - H10   2019.06

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    日本   広島   2019.06.06  -  2019.06.09

    <p>We investigated the adjustment method of exposure times for multi-exposure image fusion. Because the range of luminance in the natural environment is wide, the camera system need to adapt to the ambient light. The proposed system comprises an image sensor module and a field-programmable gate array (FPGA) which is composed of control circuits for an image sensor, HDR image generator/evaluator and control circuits for external modules. In this study, the exposure time adjustment method is to select the combination with the maximum entropy or the minimum sum of squared difference between equalization histogram to original histogram. As a result, we obtained an image where has high contrast all of area.</p>

    DOI: 10.1299/jsmermd.2019.2P2-H10

    CiNii Article

    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130007775289

  • Development of Tomato Harvesting Robot Capable of Changing the Hardware Configuration

    FUJINAGA Takuya, LI Binghe, SUNAMOTO Kota, TANAKA Rei, NASUNO Tomohiro, MUTO Huyuki, YASUKAWA Shinsuke, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2019 ( 0 )   1A1 - E08   2019.06

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    日本   広島   2019.06.06  -  2019.06.09

    <p>A tomato harvesting robot that can change the hardware configuration depending on the greenhouse has few development cases, and such robots are also important in terms of operation and development cost. We focus on the tomato harvesting robot that can change only the hardware configuration without changing the basically software configuration. In developing such a robot, it is important to modularize the hardware as the component. Building a distributed system makes it unnecessary to change the software configuration even if the hardware and sensors are changed, and it is possible to develop different robots only by changing the modules. In this study, three tomato harvesting robots with different hardware configurations are developed based on the above development concept. Two types of manipulators and moving mechanisms are introduced. We also report harvest experiments using two manipulators.</p>

    DOI: 10.1299/jsmermd.2019.1A1-E08

    CiNii Article

    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130007774067

  • Tactical analysis of robot soccer using neural network

    TOMINAGA Moeko, TAKEMURA Yasunori, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2019 ( 0 )   1P2 - I01   2019.06

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    日本   広島   2019.06.06  -  2019.06.09

    <p>With the progress of technology, the realization of a symbiotic society with human beings and robots sharing the same environment has become an important subject. An example of this kind of systems is soccer game. Soccer is a multi-agent game that requires strategies by taking into account each member's position and actions. The behavior of a player changes depending on the game situation, such as the score gap, the remaining time and the importance of the match. In this paper, a futsal game played by agents is observed and analyzed to find a mapping relationship. The strategy in the team is analyzed based on the state vector parameters using a Self-Organizing Map (SOM) and different behaviors are analyzed and compared to achieve, in the future, the best possible result cooperation in a real game.</p>

    DOI: 10.1299/jsmermd.2019.1P2-I01

    CiNii Article

    CiNii Research

    Other Link: https://ci.nii.ac.jp/naid/130007774523

  • Benthos Sampling by Autonomous Underwater Vehicle Equipped a Manipulator with Suction Device Reviewed International journal

    Nishida Y., Sonoda T., Yasukawa S., Ahn J., Watanabe K., Ishii K., Ura T.

    2019 IEEE International Underwater Technology Symposium, UT 2019 - Proceedings ( IEEE )   4ページ   2019.04

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

    台湾   Kaohsiung   2019.04.16  -  2019.04.19

    DOI: 10.1109/UT.2019.8734330

    Scopus

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  • Underwater Vehicle Localization Considering the Effects of its Oscillation Reviewed International journal

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

    2019 IEEE International Underwater Technology Symposium, UT 2019 - Proceedings ( IEEE )   4ページ   2019.04

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

    台湾   Kaohsiung   2019.04.16  -  2019.04.19

    DOI: 10.1109/UT.2019.8734461

    Scopus

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  • Development and Sea Trials of Vision-Based Control for Sampling-AUV Reviewed International journal

    Yasukawa S., Nishida Y., Ahn J., Sonoda T., Watanabe K., Ishii K.

    2019 IEEE International Underwater Technology Symposium, UT 2019 - Proceedings ( IEEE )   4ページ   2019.04

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    台湾   Kaohsiung   2019.04.16  -  2019.04.19

    DOI: 10.1109/UT.2019.8734462

    Scopus

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  • Classification and statistical analysis of hydrothermal seafloor rocks measured underwater using laser-induced breakdown spectroscopy Reviewed International journal

    Yelameli M., Thornton B., Takahashi T., Weerakoon T., Ishii K.

    Journal of Chemometrics ( Wiley )   33 ( 2 )   e3092   13ページ   2019.02

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

    DOI: 10.1002/cem.3092

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  • End-effector for robotic harvesting of a tomato fruit with calyx Reviewed International journal

    Li Bingh, Yasukawa Shinsuke, Fujinaga Takuya, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   24   544 - 547   2019.01

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    日本   Beppu   2019.01.10  -  2019.01.14

    Tomato fruit harvesting is a labor-intensive process, and therefore robotic automation is required. For tomato fruit harvesting robot, we developed three types of end-effectors (EEs): scissor type, cylinder type and suction-cutting type. It is necessary to harvest the tomato fruit with calyx especially in Japan. Therefore, the proposed EE has a cutter mechanism for cut the peduncle. The results show that the scissor type and the cylinder type EE can cut the peduncle; however, it is difficult to separate one fruit from the cluster. On the other hand, the suction-cutting type can separate and cut one fruit from the cluster and therefore it is useful for harvesting tomato fruit with calyx.

    DOI: 10.5954/ICAROB.2019.OS22-3

    CiNii Research

  • Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with an Adjustable Contact Patch for a Grape Transporting Robot Reviewed International journal

    di Maria Enrico, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   24   501 - 504   2019.01

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    日本   Beppu   2019.01.10  -  2019.01.14

    Soil compaction is a form of soil degradation which causes soil erosion, drainage difficulties, and loss of nutrients. To mitigate this issue, in agricultural farms several methods have been adopted. In this paper the preliminary study of a locomotion system with adjustable contact patches is proposed. Aim is to reduce the compaction and optimize the rolling resistance of a grape transporting robot employed in vineyard. A Finite Element Method model supported by experimental results is developed to study the system.

    DOI: 10.5954/ICAROB.2019.OS20-5

    CiNii Research

  • Evaluation of Multi-Drone Wireless Network Properties for Tunnel Inspection Reviewed International journal

    Alahmad Raji, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   24   493 - 496   2019.01

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    日本   Beppu   2019.01.10  -  2019.01.14

    Communication is one of the challenges for UAVs during operations inside tunnels. In this paper, a wireless network system using multiple drones functioning as repeaters is proposed. A number of measurements for Wi-Fi signals are conducted to confirm the effect of different scenarios on the signal in virtual tunnel and real life tunnel. As a result, RSS with -64 dBm can provide five Mbps of bandwidth.

    DOI: 10.5954/ICAROB.2019.OS20-3

    CiNii Research

  • Proposition of Saliency map Based on the Maximization of Center-Surround Difference Reviewed International journal

    Ryuugo Mochizuki, Shinsuke Yasukawa, Kazuo Ishii

    Proc. of ICAROB2019   24   487 - 492   2019.01

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    日本   Beppu   2019.01.10  -  2019.01.14

    DOI: 10.5954/ICAROB.2019.OS20-2

  • Development of dam inspection underwater robot Reviewed International journal

    Hirai Hiroyasu, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   24   528 - 531   2019.01

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    日本   Beppu   2019.01.10  -  2019.01.14

    Maintenances of social infrastructures such as dam, bridge are important subjects. The more aging problem going on, the more the effective inspection methods have been expected. In the inspection of dams, divers observe the conditions of their surface manually, however underwater structure deeper than 30m is limited and their inspections are insufficient. In this paper, we propose the ROV whose functions are video capture, indirect measurement using laser, target depth keeping, heading keeping. The ROV is applied into the dam inspection and showed the effectiveness to find cracks. In this study, The Remotely Operated Vehicle (ROV) is developed with the aim of practical application of technologies capable of replacing and supporting dam inspection by diver. Using the developed ROV, we conducted in the 'Verification field of the next generation social infrastructure robot' which was publicly offered by the Ministry of Land, Infrastructure and Transport in FY 2015 and examined its usefulness. In the verification on-site, it was able to satisfy about half of the required inspection items.

    DOI: 10.5954/ICAROB.2019.OS21-4

    CiNii Research

  • Three-dimensional Measurement Using Laser Pattern And Its Application to Underwater Scanner Reviewed International journal

    Nishida Yuya, Shinnoki Tomoya, Yasukawa Shinsuke, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   24   525 - 527   2019.01

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    日本   Beppu   2019.01.10  -  2019.01.14

    In order to measure an accurate volume of the resources, the authors developed a new three-dimensional instrument consisting of a laser projector and a camera. The laser projector irradiates a sharp two-dimensional laser pattern independent the distance to the target object. Our instrument was able to measure three-dimensional shape of the target object with maximum error of 5% in the water, at one scan

    DOI: 10.5954/ICAROB.2019.OS21-3

    CiNii Research

  • Inspection System for Underwater Structure of Bridge Pier Reviewed International journal

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

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   24   521 - 524   2019.01

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    日本   Beppu   2019.01.10  -  2019.01.14

    Inspection of underwater infrastructure of bridge pier is important for bridge maintenance, however, the underwater environment is dangerous and their observation is one of difficult problems. We have been developing the underwater inspection system which consists of an unmanned surface vehicle (USV) and a remotely operated vehicle (ROV). The concepts of the system are (1) Operation is executable with a small number of persons, (2) USV and ROV are controllable from land or bridge, (3) Build 3D model and images for crack detection. The ROV observes the status of whole infrastructure using cameras and control its posture using a depth sensor and IMU sensor. The USV vertically lifts up and down ROV by winch and carries ROV to the infrastructure. USV has GPS, LRF and IMU for horizontal positioning and pan-tilt control of the camera. In this paper, we discuss the results of the inspection operation test by the robot.

    DOI: 10.5954/ICAROB.2019.OS21-2

    CiNii Research

  • System Development of AUV's Sampling Device Controller Employing MATLAB/Simulink Toolboxes Reviewed International journal

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

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   24   517 - 520   2019.01

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    日本   Beppu   2019.01.10  -  2019.01.14

    We developed an AUV's sampling device control system. It is employed the any toolboxes provided in MATLAB/Simulink by Mathworks. The toolboxes are powerful, useful, and functional. "Robotics System Toolbox" in theirs supports the ROS middle ware. It provides the cloud data communication. "Parallel Computing Toolbox" can struct a multi process and parallel computing on script base and Simulink model base program. "Stateflow" is a powerful tool for design of state transition control method. The toolboxes are employed in the sampling device control system of the AUV. This method with using the toolboxes of MATLAB/Simulink realize the rapid prototyping of the system designs, developments and system test. The developed system mounted on an AUV was powered in several real sea areas. Report on the results and problems when operating in real environments.

    DOI: 10.5954/ICAROB.2019.OS21-1

    CiNii Research

  • Evaluation for Ball Dribbling Mechanism of RoboCup Middle Size League Soccer Robot in The World Teams Reviewed International journal

    Kimura Kenji, Chikushi Shota, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   24   548 - 552   2019.01

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    日本   Beppu   2019.01.10  -  2019.01.14

    RoboCup is a platform designed to promote such research fields as artificial intelligence (AI) and robotics. In recent years the Middle size league soccer robot has a ball dribbling mechanism. This mechanism controls the ball with two driving rollers and in order to play soccer games well, ball control capability and holding capacity are indispensable. As the result of a survey at the 2017 World Cup, all teams in the world have determined the rollers arrangement heuristically, and no mathematical consideration has been made. In this research, we focus the sphere slip velocity and derive relationship sphere slip speed and sphere mobile speed. and evaluated the roller arrangement in the world teams.

    DOI: 10.5954/ICAROB.2019.OS22-4

    CiNii Research

  • Report of the 4th Tomato Harvesting Robot Competition Reviewed International journal

    Matsuo Takayuki, Sonoda Takashi, Takemura Yasunori, Sato Masanori, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   24   540 - 543   2019.01

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    日本   Beppu   2019.01.10  -  2019.01.14

    Tomato is one of important fruit vegetables and most tomatoes are produced in the greenhouses, or large scale farms, where the high temperature and humidity, and long harvest age force the famers heavy works. In this paper, we report on the results of 4th tomato harvesting robot competition.

    DOI: 10.5954/ICAROB.2019.OS22-2

    CiNii Research

  • A sea creatures classification method using convolutional neural networks Reviewed International journal

    Ahn J., Nishida Y., Ishii K., Ura T.

    International Conference on Control, Automation and Systems 2018 ( ICROS )   2018-October   420 - 423   2018.10

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

    韓国   PyeongChang   2018.10.17  -  2018.10.20

    Scopus

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  • Relationship Sugar Content of Ripe Tomatoes and Intensity on Infrared Image Reviewed International journal

    Takuya Fujinaga, Kazuo Ishii

    International Conference on Control, Automation and Systems 2018 ( ICROS )   2018-October   2018.10

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    韓国   PyeongChang   2018.10.17  -  2018.10.20

  • Recognition of an Object Pointed at by a Person by using Robot Head Control and Motion Sensor Reviewed International journal

    Moeko Tominaga, Yasunori Takemura, Kazuo Ishii

    International Conference on Control, Automation and Systems 2018 ( ICROS )   2018-October   2018.10

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    韓国   PyeongChang   2018.10.17  -  2018.10.20

  • Flounders measurement system using obtained optical images by AUV Reviewed International journal

    Ahn J., Sonoda T., Ishii K., Yasukawa S., Takashima S., Nishida Y., Ura T.

    2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018   2018.05

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    日本   神戸   2018.05.28  -  2018.05.31

    DOI: 10.1109/OCEANSKOBE.2018.8559296

    Scopus

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  • Image mosaicing using multi-modal images for generation of tomato growth state map Reviewed International journal

    Fujinaga Takuya, Yasukawa Shinsuke, Li Binghe, Ishii Kazuo

    Journal of Robotics and Mechatronics ( Fuji Technology Press )   30 ( 2 )   187 - 197   2018.04

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    <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

    Kyutacar

    Scopus

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  • Vision system for an autonomous underwater vehicle with a benthos sampling function Reviewed International journal

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

    Journal of Robotics and Mechatronics ( Fuji Technology Press )   30 ( 2 )   248 - 256   2018.04

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    <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

    Kyutacar

    Scopus

    CiNii Article

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  • Underwater platform for intelligent robotics and its application in two visual tracking systems Reviewed International journal

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

    Journal of Robotics and Mechatronics ( Fuji Technology Press Ltd. )   30 ( 2 )   238 - 247   2018.04

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    <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

    Kyutacar

    Scopus

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  • Special issue on advanced robotics in agriculture, forestry and fisheries Invited Reviewed International journal

    Ishii Kazuo, Hayashi Eiji, Misron Norhisam Bin, Thornton Blair

    Journal of Robotics and Mechatronics ( Fuji Technology Press Ltd. )   30 ( 2 )   163 - 164   2018.04

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    <p>The importance of primary industries, agriculture, forestry and fisheries, is obvious and needless to mention, however, the reduction of the working population and the aging problem make the situation of primary industry more sever. To compensate for the issues, the advanced technology in robotics has attracted attentions and expected the contributions in terms of productivity, cost effectiveness, pesticide-less, monitoring of the growth and harvesting, etc. Recently, robotic technologies are gradually being used in primary industry and their application area will expand more in the near future. This special issue’s objectives include collecting recent advances, automation, mechanization, research trends and their applications in agriculture, forestry and fisheries to promote a deeper understanding of major conceptual and technical challenges and facilitate spreading of recent breakthroughs in primary industries, and contribute to the enhancement of the quality of agricultural, forestry and fisheries robots by introducing the state-of-the-art in sensing, mobility, manipulation and related technologies.</p><p>In this special issue, twelve papers are included. The first paper by Noguchi is the survey paper of the state-of-the-art in the agricultural vehicle type robots and discusses the future scope of agriculture with robotics. The next three papers are on tomato-monitoring system, and Fukui et al. propose a tomato fruit volume estimation method using saliency-based image processing and point cloud and clustering technology, Yoshida et al. do the cutting point identification for tomato-harvesting using a RGBD sensor and evaluate in the real farm experiments, and Fujinaga et al. present an image mosaicking method of tomato yard based on the infrared images and color images of tomato-clusters in the large green house. The fifth paper by Sori et al. reports a paddy weeding robot in wet-rice field to realize the pesticide-free produce of rice, and the sixth paper by Shigeta et al. is about an image processing system to measure cow’s BCS (Body Condition Score) automatically before milking cows and analyzes the two months data by CNN (Convolutional Neural Network). The seventh paper by Inoue et al. reports on an upper-limb power assist robot with a single actuator to reduce the weight and cost. The assist machine supports the shoulder and elbow movements for viticulture operations and upper-limb holding for load transport tasks. In the next paper, Tominaga et al. show an autonomous robotic system to move between the trees without damaging them and to cut the weeds in the forest for the forest industry. The last four papers are for the fishery industry, and Komeyama et al. propose a methods for monitoring the size of fish, red sea bream (RSB) aquaculture by developing a stereo vision system to avoid the risks of physical injury and mental stress to the fish. Nishida et al. report on a hovering type underwater robot to measure seafloor for monitoring marine resources whose sensor can be replaced depending on missions as the open hardware system. Yasukawa et al. propose a vision system for an autonomous underwater robot with a benthos sampling function, especially, sampling-autonomous underwater vehicles (SAUVs) to achieve a new sampling mission. The last paper by Han et al. is for gait planning and simulation analysis of an amphibious quadruped robot in the field of fisheries and aquaculture.</p><p>We hope that this special issue can contributes to find solutions in primary industries, agriculture, forestry and fisheries.</p>

    DOI: 10.20965/jrm.2018.p0163

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  • Automatic recognition of benthic species using image processing Reviewed International journal

    Soejima Yuki, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   23   779 - 782   2018.02

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    For sustainable use of fisheries resources, it is important to estimate the amount of resources such as TAC (Total Allowable Catch), TAE (Total Allowable Effort) and their investigations have been conducted by bottomed net fishing, however, the method suffers environmental damages. The survey method for wider area that does not affect the ecosystem is needed. Recently, research using an autonomous underwater robot (AUV) is introduced as a new survey method as the solution. We also introduced an AUV for the survey of fish and crabs in the Sea of Okhotsk. The number of marine lives is measured manually, and the technique of automatic measurement of the number is needed for the observation. In this research, we propose an automatic marine life recognition method from seafloor images.

    DOI: 10.5954/icarob.2018.os20-3

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  • Recognition of Tomato Fruit Regardless of Maturity by Machine Learning Using Infrared Image and Specular Reflection Reviewed International journal

    Fujinaga Takuya, Yasukawa Shinsuke, Li Binghe, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   23   761 - 766   2018.02

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    This paper presents a tomato fruit recognition method using plant characteristics of tomato and infrared images. Labor shortage and aging are problems in Japanese agriculture field. We aim to realize automatic harvesting and production management system of tomato. For that, it is necessary to detect the position and maturity of tomato fruit. Tomato fruit shows high reflectance against infrared light. The specular reflection part of the tomato fruit in the infrared image is used as training data. The Tomato harvesting robot can focus only on tomato fruit in the harvestable range by using infrared image. We use the images acquired at the actual tomato greenhouse to evaluate this proposed method. As a result of machine learning, Precision is 0.940, Recall is 0.808, and F-measure is 0.868.

    DOI: 10.5954/icarob.2018.os21-5

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  • Strategy Analysis of Multi-Agent Games Using Self-Organizing Map Reviewed

    Tominaga Moeko, Takemura Yasunori, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   23   757 - 760   2018.02

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    As technology develops, realization of a symbiotic society between human beings and robots sharing their environment has become one of most important subjects. For example, soccer is a multi-agent game that require strategies such as each members' position and defense. The behavior of a player changes depending on the game situation such as winning or losing, score gap, remaining time. The players may play offensive when their team is losing, or be defensive when their team is winning with minimum score difference. In this paper, human soccer game is observed and analyzed to determine how the state vector of each players affect team behavior. The team strategy is analyzed based on parameters such as the positions, the number players, score, time and actions of soccer robots using Self-Organizing Map(SOM)

    DOI: 10.5954/icarob.2018.os21-4

    CiNii Research

  • AUV Homing Using Acoustic Chirp Signal Reviewed International journal

    Masuda Koji, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   23   783 - 785   2018.02

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    For autonomous underwater vehicle (AUV), high autonomy is required in order to accomplish mission such as inspection, observation, manipulation under extreme environments, deep-ocean. One of necessary function for AUV is acoustic navigation. In this paper, we conducted homing experiments using a small AUV and acoustic pinger with chirp signal. The chirp signal has the feature that the frequency of signal change gradually, so that the signal is suitable to calculate the correlation between the time difference between hydrophones. The homing experiments are carried out and evaluated through tank tests.

    DOI: 10.5954/icarob.2018.os20-4

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  • Seafloor Image Color Enhancement Method based on Retinex model and Experiment Report in the undersea environment Reviewed International journal

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

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   23   736 - 739   2018.02

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    Underwater imaging is an important part to seafloor observation by underwater robot. Underwater robots provide many images, which contain seafloor environment, and theses images contribute to various fields such as marine biology, marine geology and fishery science. However, underwater images has different properties, such as uneven illumination and light attenuation, compared to images which taken in air, and these properties impede image checking by researchers. In this paper we propose an image enhancement based on scale-gain Retinex, and the proposed method is experimented on the Suruga-bay in Japan.

    DOI: 10.5954/icarob.2018.os20-2

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  • Slip model of roller driven ball Reviewed International journal

    Kenji Kimura, Shota Chikushi, Kazuo Ishii

    Proc. of The 2018 International Conference on Artificial ALife and Robotics ( ALife Robotics Corporation Ltd. )   23   753 - 756   4 pages   2018.02

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    別府   2018.02.01  -  2018.02.04

    Spherical wheel motion driven by rollers attract attention due to the possibility of uneven surface. RoboCup is a platform designed to promote the research fields such as Artificial Intelligent (AI) and robotics, and one of examples is the ball dribbling mechanism of RoboCup Middle size league robot, and this mechanism controls the ball with two driving rollers. As the result of the survey at the 2017 World Cup, all teams in the world have determined the roller arrangement heuristically, and no mathematical consideration has been made. In this study, we propose a model considering slip, discuss the relationship between slip ratio and robot speed using evaluation function, and verify the model by experiment.

    DOI: 10.5954/ICAROB.2018.OS21-3

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  • Simulation of horizontal vibration suppression of a suspended structure for seabed mining Reviewed International journal

    Keisuke Watanabe, Kazuo Ishii

    Proc. of The 2018 International Conference on Artificial ALife and Robotics ( ALife Robotics Corporation Ltd. )   23   740 - 743   4 pages   2018.02

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    別府   2018.02.01  -  2018.02.04

    In a project of subsea mining in the near future, many work class robots such as crawlers, drilling machines, or ore collectors will be installed on the seabed. These robots are heavy but they must be landed on the seabed very softly to avoid impact damage from the seabed. So the installation method is very important and effective installation method should be investigated. In this paper, we examined vibration motion of a suspended heavy machine by a crane vessel through dynamics modeling and simulation in the horizontal plane. Descending speed of the machine affects the amplitude of the vibration, that is, if the descending speed is higher, larger amplitude will be observed. To suppress this vibration, we examined a velocity feedback control by attaching a thruster to the machine. From simulation results, we found horizontal vibration will be effectively suppressed by using simple feedback control.

    DOI: 10.5954/ICAROB.2018.OS20-5

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  • AUV homing using acoustic chirp signal Reviewed

    Koji Masuda, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

    Proc. of The 2018 International Conference on Artificial ALife and Robotics   4 pages   2018.02

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    別府   2018.02.01  -  2018.02.04

  • Automatic recognition of benthic species using image processing Reviewed

    Yuki Soejima, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

    Proc. of The 2018 International Conference on Artificial ALife and Robotics   4 pages   2018.02

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    別府   2018.02.01  -  2018.02.04

  • Seafloor Image Color Enhancement Method based on Retinex model and Experiment Report in the undersea environment Reviewed

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

    Proc. of The 2018 International Conference on Artificial ALife and Robotics   4 pages   2018.02

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    別府   2018.02.01  -  2018.02.04

  • Analysis of Characteristics of Tomato Fruits in Infrared Images Toward Automatic Tomato Harvesting System Reviewed

    Takuya Fujinaga, Shinsuke Yasukawa, Binghe Li, Kazuo Ishii

    Proc. of The 2018 International Conference on Artificial ALife and Robotics   4 pages   2018.02

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    別府   2018.02.01  -  2018.02.04

  • Strategy Analysis of Multi-Agent Games Using Self-Organizing Map Reviewed

    Moeko Tominaga, Yasunori Takemura, Kazuo Ishii

    Proc. of The 2018 International Conference on Artificial ALife and Robotics   4 pages   2018.02

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    別府   2018.02.01  -  2018.02.04

  • Visual Feature Selection Using Saliency Map

    MOCHIZUKI Ryuugo, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2018 ( 0 )   2A2 - L17   2018.01

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    <p>Many saliency maps in visual image researches are proposed as human attention models. In general saliency maps, three image feature extractions, color contrast, edge gradient and intensity are utilized and DoG (Difference of Gaussian) is applied for each image feature to have a saliency map. We are focusing on selecting stable feature extraction to have stable saliency map. Although various sizes of objects exist in an image, stability of feature extraction is very important in various scales of images. If the DoG filter scale is improper, feature extraction does not work stably and also important feature can be missed after feature selection. In order to solve the problems, we propose to calculate the scale values which maximize differences between two different scale DoG images' scales so as to important objects are extracted.</p>

    DOI: 10.1299/jsmermd.2018.2A2-L17

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  • Vision-Based Behavior Strategy for Tomato Harvesting Robot (IV):-Mapping maturity and position of tomato-

    FUJINAGA Takuya, YASUKAWA Shinsuke, LI Binghe, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2018 ( 0 )   1P1 - A05   2018.01

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    <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>

    DOI: 10.1299/jsmermd.2018.1P1-A05

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  • Analysis of Cooperative Behavior in Futsal for Human and Robot Multi Agent System

    TOMINAGA Moeko, TAKEMURA Yasunori, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2018 ( 0 )   2P2 - L09   2018.01

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    <p>As technology develops, realization of a symbiotic society between human beings and robots sharing their environment has become one of most important subjects. For example, soccer is a multi-agent game that require strategies such as each members' position and defense. The behavior of a player changes depending on the game situation such as winning or losing, score gap, remaining time. The players may play offensive when their team is losing, or be defensive when their team is winning with minimum score difference. In this paper, human soccer game is observed and analyzed to determine how the state vector of each players affect team behavior. The team strategy is analyzed based on parameters such as the positions, the number players, score, time and actions of soccer robots using Self-Organizing Map(SOM)</p>

    DOI: 10.1299/jsmermd.2018.2P2-L09

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  • Underwater three-dimensional measurement using RGB structured-light:-Development the measurement device and verification of the influence of underwater environment-

    SHIINNOKI Tomoya, NISHIDA Yuya, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2018 ( 0 )   2P2 - C07   2018.01

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    <p>Rich undersea mineral resources are confirmed around Japan and the research about undersea mineral resources and deep sea creatures has been conducted actively. Since three-dimensional data could not be get by human, three-dimensional measurement technology is important in the deep sea survey. Therefore we designed a measuring device suitable for underwater environment. </p>

    DOI: 10.1299/jsmermd.2018.2P2-C07

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  • Deep-sea image enhancement using multi-scale retinex with reverse color loss for autonomous underwater vehicles Reviewed International journal

    Mercado M., Ishii K., Ahn J.

    OCEANS 2017 - Anchorage   2017-January   1 - 6   2017.12

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  • Enhancement of deep-sea floor images obtained by an underwater vehicle and its evaluation by crab recognition Reviewed International journal

    Ahn J., Yasukawa S., Sonoda T., Ura T., Ishii K.

    Journal of Marine Science and Technology (Japan)   22 ( 4 )   758 - 770   2017.12

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    DOI: 10.1007/s00773-017-0442-1

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  • Kinematics of Two-Roller-Driven Ball for RoboCup Soccer Robot Reviewed

    Shota Chikushi, Tharindu Weerakoon, Takashi Sonoda, Kazuo Ishii

    4 ( 3 )   248 - 253   2017.12

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    DOI: 10.2991/jrnal.2017.4.3.15

  • Erratum to: Enhancement of deep-sea floor images obtained by an underwater vehicle and its evaluation by crab recognition (Journal of Marine Science and Technology, (2017), 22, 4, (758-770), 10.1007/s00773-017-0442-1) Reviewed

    Ahn J., Yasukawa S., Sonoda T., Ura T., Ishii K.

    Journal of Marine Science and Technology (Japan)   22 ( 4 )   2017.12

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    DOI: 10.1007/s00773-017-0448-8

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  • Automatic Extraction of Thickness Information from Sub-Surface Acoustic Measurements of Manganese Crusts Reviewed

    Neettiyath U., Thornton B., Sangekar M., Ishii K., Sato T., Bodenmann A., Ura T.

    OCEANS 2017 - Aberdeen   2017-October   1 - 7   2017.10

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    DOI: 10.1109/OCEANSE.2017.8084917

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  • Sea-floor image transmission system for AUV Reviewed International journal

    Ahn J., Yasukawa S., Weerakoon T., Sonoda T., Nishida Y., Ura T., Ishii K.

    OCEANS 2017 - Aberdeen   2017-October   1 - 6   2017.10

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    DOI: 10.1109/OCEANSE.2017.8084926

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  • Efficient Place Recognition by Mobile Robot with Saliency Detection Reviewed

    6 pages   2017.09

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    日本   太宰府   2017.09.06  -  2017.09.08

  • Generation of Mosaic Image in Tomato Greenhouse Using Infrared Image Reviewed

    6 pages   2017.09

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    日本   太宰府   2017.09.06  -  2017.09.08

  • Development of a Hydraulic Underwater Manipulator for Deep-Sea Survey AUV Reviewed

    Takashi Sonoda, Kazuo Ishii, Amir Ali Forough Nassiraei, Ivan Godler, Tharindu Weerakoon

    Proc. of The 2017 International Conference on Artificial ALife and Robotics   242 - 245   4 pages   2017.01

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    別府   2017.01.19  -  2017.01.22

  • Strategy Analysis of RoboCup Soccer Teams Using Self-Organizing Map Reviewed

    Moeko Tominaga, Yasunori Takemura, Kazuo Ishii

    Proc. of The 2017 International Conference on Artificial ALife and Robotics   421 - 424   4 pages   2017.01

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    別府   2017.01.19  -  2017.01.22

  • Ball Dribbling Control for RoboCup Soccer Robot Reviewed

    Shota Chikushi, Kenji Kimura, Kazuo Ishii

    Proc. of The 2017 International Conference on Artificial ALife and Robotics   416 - 420   5 pages   2017.01

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    別府   2017.01.19  -  2017.01.22

  • Development of a Tomato Harvesting Robot Reviewed

    Shinsuke Yasukawa, Bingh Li, Takashi Sonoda,Kazuo Ishii

    Proc. of The 2017 International Conference on Artificial ALife and Robotics   408 - 411   4 pages   2017.01

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    別府   2017.01.19  -  2017.01.22

  • Development of End-effector for Sampling-AUV TUNA-SAND2 Reviewed

    Kazuo Ishii, Takashi Sonoda, Atsushi Nishjima, Keisuke Watanabe

    Proc. of The 2017 International Conference on Artificial ALife and Robotics   262 - 265   4 pages   2017.01

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    別府   2017.01.19  -  2017.01.22

  • Development of Underwater Wireless Power Supply System Using Resonant Energy Transfer Reviewed

    Hidaka Shota, Kazuo Ishii, Keisuke Watanabe

    Proc. of The 2017 International Conference on Artificial ALife and Robotics   258 - 261   4 pages   2017.01

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    別府   2017.01.19  -  2017.01.22

  • Development of Self-Diagnosis System of an Autonomous Underwater Vehicle Tuna-Sand 2 Reviewed

    Naoya Fujii, Yuya Nishida, Kazuo Ishii

    Proc. of The 2017 International Conference on Artificial ALife and Robotics   254 - 257   4 pages   2017.01

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    別府   2017.01.19  -  2017.01.22

  • Floating LBL concept for underwater position detection Reviewed

    Keisuke Watanabe, Kazuo Ishii

    Proc. of The 2017 International Conference on Artificial ALife and Robotics   246 - 249   4 pages   2017.01

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    別府   2017.01.19  -  2017.01.22

  • A New Tool to Access Deep-Sea Floor "Sampling-AUV" Invited Reviewed International journal

    Ishii Kazuo, Sonoda Takashi, Nishida Yuya, Yasukawa Shinsuke, Ura Tamaki, Watanabe Keisuke

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   22   300 - 302   2017.01

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    Underwater robot is one of the important research tools to explore deep-sea. Especially, Autonomous Underwater Vehicles (AUVs) attract attentions as new tools because they are un-tethered and suitable for wide area observation. As the next generation AUV, we have been developing a Sampling-AUV that can dive into deep-sea and bring back marine creatures using a mounted manipulator. In the mission, the AUV transmits the deep-sea floor images to the support ship using acoustic communication, and the operator selects the marine creatures to sample and bring back them. In this talk, we introduce the new AUV, the underwater manipulator and image processing techniques for sampling.

    DOI: 10.5954/icarob.2017.ps1

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  • Development of End-effector for Sampling-AUV "TUNA-SAND2" Reviewed International journal

    Ishii Kazuo, Nishijima Atsushi, Sonoda Takashi, Watanabe Keisuke

    Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. )   22   262 - 265   2017.01

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    UV requires high autonomy to accomplish various deep-ocean observation missions, and the next AUV is expected to have sampling function of marine benthos, that is, the end-effector to catch and bring back marine creatures. However, sampling is not easy task for AUV as the shape, size, motion of targets differs. One of the effective end-effectors is the slurp-gun type device to absorb the target with water. In this research, we had developed a sampling device for deep-ocean observation and sampling AUV, Sampling-AUV TUNA-SAND2 in order to inspection of marine ecosystem.

    DOI: 10.5954/icarob.2017.os7-6

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  • Fostering Professional Personnel for Intelligent Car and Robotics in Car-Robo Joint Graduate School Reviewed

    MORIE Takashi, ISHII Kazuo, WAGATSUMA Hiroaki, TAMUKOH Hakaru, ENOKIDA Shuichi, SAITOH Takeshi, MATSUNAGA Ryoichi, MATSUNAMI Isamu, OGAI Harutoshi

    J. of JSEE ( Japanese Society for Engineering Education )   65 ( 4 )   4_51 - 4_56   2017.01

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    The Joint Graduate School Intelligent Car and Robotics Course, called “Car-Robo Joint Graduate School” is an educational program that started in 2012 mainly at The Kitakyushu Science and Research Park (KSRP). Graduate schools of engineering in Kyushu Institute of Technology, the University of Kitakyushu, and Waseda University at KSRP participate in this program. The purpose of this program is to foster highly skilled personnel in technical fields on intelligent car and robot technology. They will gain practical ability as leaders, mastering their special fields, understanding the peripheral technologies, and leading research and development teams. The special-feature program of this course is seven comprehensive practicums as team learning. Internship students of national colleges of technology and other universities as well as master and PhD course students of these graduate schools participate in the practicums.

    DOI: 10.4307/jsee.65.4_51

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  • 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

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    <p> </p>

    DOI: 10.14864/fss.33.0_651

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    Other Link: https://ci.nii.ac.jp/naid/130007611488

  • Underwater Manipulator for Sampling Mission with AUV in Deep-Sea

    Weerakoon Tharindu, Sonoda Takashi, Nassiraei Amir Ali Forough, Godler Ivan, Ishii Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   2P1-F11   2017.01

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    <p>Deep-sea exploration has taken a remarkable attention among the researchers and we are developing a group of autonomous underwater vehicles (AUVs) dedicated for deep-sea observations, collecting sea creatures and biological samples. We discuss the basic development of the mechanical, hydraulic and electrical systems of 4 degrees of freedom (DOF) underwater hydraulic manipulator. Manipulator system design is explained in details along with the design requirements and experimental results. The developed manipulator is successfully installed on the AUV named TunaSand2 and a number of experiments are performed in different deep-sea sites to realize the usability and reliability of the manipulator system.</p>

    DOI: 10.1299/jsmermd.2017.2p1-f11

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    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-F11/_pdf

  • Implementation Challenge & Cover tactics to the soccer robots

    MINAMIZAKI Ryogo, MATSUMOTO Kohei, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   2P1-J10   2017.01

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    <p>In RoboCup Soccer middle size league, we need to cope various enemy attacks such as dribble, pass and shoot. Therefore, cooperative defense behavior system by multiple robots is required. We aim to realize cooperative defensive behavior with reference to soccer tactics of human. There is Challenge & Cover as one of the basic defense tactics of human soccer. In this research, we develop the defensive behavior algorithm of Challenge & Cover using information of enemies, teammates and ball positions, and implement it to the soccer robots. We compared conventional algorithms and new algorithms by simulation, confirmed that it has higher defensive performance than those.</p>

    DOI: 10.1299/jsmermd.2017.2p1-j10

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    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J10/_pdf

  • Efficient Place Recognition Using Saliency Detection by Mobile Robot

    MOCHIZUKI Ryuugo, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   1P2-J04   2017.01

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    <p>Saliency detection is used to estimate which information in images attracts human attention in view of color and brightness contrast. Humans can perceive objects more sharply what they focus on than what they do not. In Saliency detection, Gaussian pyramid and Center-Surround difference realizes this human visual mechanism.<br>The author introduced Saliency detection in place recognition by mobile robots. The aim of the introduction is to lessen the amount of features and colors that are extracted from training images. Input data of Support Vector Machine is Color and Visual Word Histogram.<br>We evaluated the amount of extracted features and place recognition rate of Support Vector Machine. As the result, we succeeded in executing efficient environment recognition. The correct prediction rate increased by 14 percent, and the amount of features decreased by 85 percent compared to the case of no saliency detection.</p>

    DOI: 10.1299/jsmermd.2017.1p2-j04

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    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1P2-J04/_pdf

  • 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

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    <p>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.</p>

    DOI: 10.1299/jsmermd.2017.2a2-o07

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    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

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    <p>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.</p>

    DOI: 10.1299/jsmermd.2017.2a1-a06

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    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A1-A06/_pdf

  • Development of ball handling mechanism for RoboCup soccer robot

    CHIKUSHI Shota, WEERAKOON Tharindu, SONODA Takashi, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   2P1-K09   2017.01

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    <p>RoboCup is an international project to promote fields such as robotics, Artificial Intelligent (AI), and related field. It is an attempt to apply AI and Intelligent robotics research by providing standard problems where a wide variety of technologies can be integrated and examined. We organized RoboCup team “Hibikino-Musashi” for Middle-Size League soccer competition. Ball dribbling in soccer games of Middle size league is the most important action. Also recently, advanced co-operated behavior control system action is required. Therefore, in this research, the kinematics and effectiveness of the kinematics at the time of ball dribbling is focused.</p>

    DOI: 10.1299/jsmermd.2017.2p1-k09

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    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K09/_pdf

  • Development of self-localization system combining local / global position estimation for RoboCup soccer robot.

    MATSUDA Yukiko, WATANABE Shuta, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   2P1-J12   2017.01

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    <p>Various abilities are required for autonomous robots because they act judge and act on their own. The selflocalization problem that recognizes the surrounding environment and estimates the position is one of the most important tasks. The self-localization system is highly dependent on operating conditions, environment, and available sensors. That system is desirable operate stably for a long time. In this research, we focus on autonomous mobile robots for the RoboCup soccer meddle size league (MSL), but self-position kidnapping is a big problem. Therefore, we propose self-localization algorithm combining particle filter and perfect match, and aim for improvement of accuracy and stability of self-localization.</p>

    DOI: 10.1299/jsmermd.2017.2p1-j12

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    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J12/_pdf

  • Development of navigation system for AUV

    MASUDA Koji, FUJIWARA Shinya, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   2P1-E09   2017.01

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    <p>AUV is stable for a wide range of search because it does not have an umbilical cable. However, AUV cannot work for a long time because of internal power source. Utilization of charging station in the water is required for long-term operation to solve this problem. In this paper, it is described a navigation system to the station with acoustic positioning system that mounting is possible to the AUV. It has three hydrophones and receives signal from that pinger is mounted the station. Sound source detection is calculated by Cross Correlation Function and Super Short Base Line method. In addition, it is introduced chirp signal as the pinger to develop a robust the system against noises. It is applied the developed system and carried out the experiment for navigation to the pinger. The present result suggested that sound source detection and guidance to the station are feasible in this system.</p>

    DOI: 10.1299/jsmermd.2017.2p1-e09

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    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-E09/_pdf

  • Strategy Analysis by Self-Organizing Map Using player’s positioning

    TOMINAGA Moeko, TAKEMURA Yasunori, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   2P1-K07   2017.01

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    <p>In the soccer games, the behavior selection of each player changes depend on the positional relationship of the ball and the every player’s position on the field. The player closest to the ball near the opponent team’s goal aims at a shot, and the farthest player waits at a position where he can return at any time to his own goal to protect. Currently most of RoboCup soccer teams keep the same strategy during the game so that the result of game depends on the ability of each player like speed of robot, quality of localization, obstacle avoidance and ball handling. Next issue for the robot intelligence is collaborated team behavior and strategy. The autonomous soccer robots are required to behave cooperatively and make decision using environment and game situation. In this research, the team strategy is analyzed based on the positions of human player using Self-Organizing Map (SOM).</p>

    DOI: 10.1299/jsmermd.2017.2p1-k07

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    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K07/_pdf

  • Vision-Based Behavior Strategy for Tomato Harvesting Robot (III)

    FUJINAGA Takuya, YASUKAWA Shinsuke, Li Binghe, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   1A1-B05   2017.01

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    <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>

    DOI: 10.1299/jsmermd.2017.1a1-b05

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    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-B05/_pdf

  • Research and development for long-term deployment of autonomous underwater vehicle

    NAKAMURA Keisuke, NAKANISHI Ryota, ISHII Kazuo, SONODA Takashi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   2P1-F07   2017.01

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    <p>Japan is a maritime country with vast territorial waters. Long-term investigation by Autonomous Underwater Vehicle (AUV) is desired for efficient investigation. This paper reports about deployment of long-term deployment system based on underwater charging station and evaluation of the system by simulator. It succeeded in docking to the station with 68% probability. As a result of the simulation, this system has the ability to be able to search 110 meters square area every day.</p>

    DOI: 10.1299/jsmermd.2017.2p1-f07

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    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-F07/_pdf

  • Object tracking based on data integration by autonomous soccer robots

    GONDAI Takuhiro, SHIMADA Ryota, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   2P1-J11   2017.01

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    <p>In order to realize cooperative behavior in an autonomous robot, it is necessary to have uniform and highly accurate obstacle position information among robots. We aim to improve estimation accuracy by integrating object position estimation data by multiple robots whose error tendency is known in a dynamic environment accompanied by sensor and environment uncertainty.</p>

    DOI: 10.1299/jsmermd.2017.2p1-j11

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    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J11/_pdf

  • Image sensing system for an underwater robot with a benthos sampling function

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

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   2A2-G09   2017.01

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    <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>

    DOI: 10.1299/jsmermd.2017.2a2-g09

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  • Development of End-Effector for Harvesting Tomato Using Suction and Cutting Mechanism

    LI Binghe, URA Takanori, FUJINAGA Takuya, YASUKAWA Shinsuke, SONODA Takashi, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   1A1-D06   2017.01

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    <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>

    DOI: 10.1299/jsmermd.2017.1a1-d06

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  • Development of kick system in RoboCup Soccer

    MACHIDA Naoto, HISANO Kenji, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   2P1-K08   2017.01

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    <p>In RoboCup Soccer Middle Size League, strategy and behavior is improved annually. In recent years, the pass behavior has been required as cooperative behavior of multiple robots. Also, the kick power needs to be changed according to the distance to the goal to broaden the range of strategy. When doing the pass behavior it is necessary to use with the trajectory of ball which the receiver robot is easy to receive. However, our current kick device on our team can’t kick a suitable kick for pass behavior. In this research, we will develop a mechanism to lob and grounders shooting, aiming to realize the pass behavior and expand the range of strategy.</p>

    DOI: 10.1299/jsmermd.2017.2p1-k08

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  • Measurement of trees in the forest using Multi Rotor Helicopter

    SHINOHARA Kosuke, KATAYAMA Sho, HORI Wataru, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2017 ( 0 )   1A1-C04   2017.01

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    <p>Japan is a forestry country where forests account for about 70% of the land, and introduction of robots is expected in the field of forestry. However, there is already a method of measuring height using aircraft and laser scanner, but the diameter of breast height is investigated by human hands despite the lack of personnel. Therefore, in this research, we propose a trees diameter measurement system using multi rotor helicopter. We aim to stably fly through the forest and measure the breast height diameter of trees in the forest. We propose a tree detection algorithm using LRF data.</p>

    DOI: 10.1299/jsmermd.2017.1a1-c04

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  • Mathematical Modeling and Motion Analysis of the Wheel Based Ball Retaining Mechanism Reviewed International journal

    Kimura K., Ishii K., Takemura Y., Yamamoto M.

    Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016   518 - 523   2016.12

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    DOI: 10.1109/SCIS-ISIS.2016.0115

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  • Tomato Harvesting Robot Competiton Reviewed International journal

    Ishii K., Takemura Y., Matsuo T., Sonoda T.

    Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016   537 - 542   2016.12

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    DOI: 10.1109/SCIS-ISIS.2016.0118

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  • Motion Analysis and Control of the Ball Operation for Dribbling Action in RoboCup Soccer Robot Reviewed International journal

    Chikushi S., Weerakoon T., Ishii K., Sonoda T.

    Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016   532 - 536   2016.12

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    DOI: 10.1109/SCIS-ISIS.2016.0117

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

    Nishida Y., Sonoda T., Yasukawa S., Ahn J., Nagano K., Ishii K., Ura T.

    OCEANS 2016 MTS/IEEE Monterey, OCE 2016   2016.11

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    DOI: 10.1109/OCEANS.2016.7761471

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  • Real-time object tracking based on scale-invariant features employing bio-inspired hardware Reviewed International journal

    Yasukawa S., Okuno H., Ishii K., Yagi T.

    Neural Networks   81   29 - 38   2016.09

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    DOI: 10.1016/j.neunet.2016.05.002

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

    Ahn J., Yasukawa S., Sonoda T., Nishida Y., Ishii K., Ura T.

    OCEANS 2016 - Shanghai   2016.06

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    DOI: 10.1109/OCEANSAP.2016.7485453

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  • Support vector machine based classification of seafloor rock types measured underwater using Laser Induced Breakdown Spectroscopy Reviewed International journal

    Yelameli M., Thornton B., Takahashi T., Weerkoon T., Takemura Y., Ishii K.

    OCEANS 2016 - Shanghai   2016.06

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    DOI: 10.1109/OCEANSAP.2016.7485507

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  • Geometric feature extraction from 2D laser range data for mobile robot navigation Reviewed International journal

    Weerakoon T., Ishii K., Nassiraei A.

    2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings   326 - 331   2016.02

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    2015.12.17  -  2015.12.20

    DOI: 10.1109/ICIINFS.2015.7399032

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  • Vision-Based Behavior Strategy for Tomato Harvesting Robot (II)

    YASUKAWA Shinsuke, NISHIO Masaya, LI Binghe, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2016 ( 0 )   2A1-08b1   2016.01

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    <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>

    DOI: 10.1299/jsmermd.2016.2a1-08b1

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  • 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

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    <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>

    DOI: 10.1299/jsmermd.2016.1a1-16b7

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  • Report of 2nd tomato robot competition

    Takemura Yasunori, Sonoda Takashi, Ishii Kazuo, Ura Tamaki

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2016 ( 0 )   2P2-17b3   2016.01

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    <p>Robots for agriculture are still on developing phase. On the other hand, in the agriculture field of Japan, is progressing and aging and depopulation of the producer, the labor shortage due to lack of successors has become a serious problem. The authors organized a Tomato Robot Competition Committee for accelerating developing in agrirobot. In this competition, to foster the next generation of Agri-robot developer, we set up a junior department in order to nurture the robot developers that can be active in the real field. In this page, we reported an introduction about the robot education in the Junior department, to verify wether it is possible to obtain any kind of effect as the robot contest.</p>

    DOI: 10.1299/jsmermd.2016.2p2-17b3

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  • Development of underwater wireless power supply system using resonant energy transfer

    Hidaka Shota, Kawashima Susumu, Ryota Nakanishi, Ishii Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2016 ( 0 )   1P1-17a6   2016.01

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    <p>Autonomous Underwater Vehicles (AUV) is one of the key technologies for deep ocean research. However AUV cannot work long time due to battery capacity. To solve this problem, a noncontact power supply is required for AUV to conduct observations for extended durations. In this study, we use resonant energy transfer method which has a wide transmission distance. We report results of the performance evaluation in water environment.</p>

    DOI: 10.1299/jsmermd.2016.1p1-17a6

    CiNii Article

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1P1-17a6/_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

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    <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>

    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

  • Development of SSBL Acoustic positioning system for underwater robot

    KAWASHIMA Susumu, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2016 ( 0 )   1A1-17b2   2016.01

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    <p>Underwater is a challenging work environment with high risks for human beings. One of the needs of the robot, the development of robots working in water extreme environment is expected. Autonomous Underwater Vehicles (AUVs) are suitable for a wide range of search mission without restrictions from power cable, AUVs can move freely in every direction. In this research, we have developed a SSBL acoustic positioning system for underwater robot. Also we report the experimental results of acoustic positioning.</p>

    DOI: 10.1299/jsmermd.2016.1a1-17b2

    CiNii Article

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-17b2/_pdf

  • Formation Flight Control System for Multirotor Helicopters in Outdoors

    HORI Wataru, TAKIMOTO Takashi, Ishii Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2016 ( 0 )   1A1-04a4   2016.01

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    <p>A multirotor helicopter is a flight robot which can hover, take off, fly, and land in small areas. Recently, multirotor helicopters are getting a lot of attention for information gathering in disaster areas and photogrammetric measuring. They have some drawbacks such as a short duration of flight and a risk of confliction during multi vehicle operation. This paper deals with the formation flight control system for multirotor helicopters that can inspect a wide area in a short time. Practical experiments show that the photogrammetric measuring by using proposed formation flight is more suitable for practical use than the measuring by single vehicle.</p>

    DOI: 10.1299/jsmermd.2016.1a1-04a4

    CiNii Article

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-04a4/_pdf

  • Ball passing behavior for middle sized RoboCup soccer Robots

    SHIMADA Ryota, KUWADA Masafumi, ISHIKURA Makito, CHIKUSHI Shota, SONODA Takashi, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2016 ( 0 )   2P2-17a4   2016.01

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    <p>Action and strategy of the robots is sophisticated in RoboCup soccer middle sized league. Concerted action by multiple robots depends on the circumstances of the operation. Behavioral algorithm that can handle dynamic changing environments is necessary. We aim to realize the ball passing behavior in concerted action. We report on the developing of receive position selection map.</p>

    DOI: 10.1299/jsmermd.2016.2p2-17a4

    CiNii Article

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17a4/_pdf

  • Development of ball handling mechanism for RoboCup soccer robot

    CHIKUSHI Shota, ISHII Kazuo, SONODA Takashi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2016 ( 0 )   2P2-17a7   2016.01

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    <p>RoboCup is an international join project to promote fields such as Artificial Intelligent (AI), robotics, and related field. It is an attempt to apply AI and Intelligent robotics research by providing standard problems where a wide variety of technologies can be integrated and examined. In RoboCup, soccer game is selected as a main topic of research, aiming at innovations to be applied for socially significant problems and industries in the future. We also have organized RoboCup team “Hibikino-Musashi” for Middle-Size League soccer competition. In this paper, the control and verification experiments of the ball operation at the time of ball dribbling is described.</p>

    DOI: 10.1299/jsmermd.2016.2p2-17a7

    CiNii Article

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17a7/_pdf

  • Saliency detection method using prior information of signboard by machine learning

    MOCHIZUKI Ryuugo, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2016 ( 0 )   2A1-20a2   2016.01

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    <p>We are involved in a research of composing a self-positioning system of AGV(Automated Guided Vehicle). This system has two components, that are saliency detection part and machine learning part. We report the process of the latter of the two. We use SVM(Support Vector Machine) to execute the machine learning of landmark images. To use SVM, We extracted SURF(Speed-Up Robust Features) features from landmark images, and grouped them depending their similarity. The centroid of each cluster is treated as VW (Visual Words). Thus, these images are transformed into VW histograms. By using prior information of landmarks, that have been accumulated during the process of machine learning, the saliency detection regions are focused on the part where learned landmarks are estimated to exist in the environmental images. In this report, We are going to discuss the application of soft margin SVM(Support vector machine) into landmark detection.</p>

    DOI: 10.1299/jsmermd.2016.2a1-20a2

    CiNii Article

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2A1-20a2/_pdf

  • Obstacle avoidance algorithm with consideration of wheel load change

    ISHIKURA Makito, WATANABE Shuta, KUWADA Masafumi, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2016 ( 0 )   2P2-17a6   2016.01

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    <p>A lot of obstacle avoiding algorithm for mobile robot has been proposed. However, consideration of slippage that is caused by wheel load change is lacked in these methods. This causes unstable motion of mobile robot. This research aims to achieve safe motion of mobile robot by considering slippage. We propose obstacle avoidance algorithm for omni-wheeled mobile robot without slippage by load change. This was achieved by extension of Dynamic Window Approach algorithm. Proposal method is tested on RoboCup MSL robot. The result shows 60% reduction of slippage compared with conventional method.</p>

    DOI: 10.1299/jsmermd.2016.2p2-17a6

    CiNii Article

    CiNii Research

    Other Link: https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17a6/_pdf

  • An Artificial Potential Field Based Mobile robot Navigation Method to Prevent From Deadlock Reviewed

    5 ( 3 )   189 - 203   2015.10

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

  • Evolution and prospects of underwater robot competition in Japan Reviewed

    2015.09

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

    DOI: 10.1109/OCEANS-Genova.2015.7271559

    Scopus

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84957622328&origin=inward

  • Experimental Study for the Development of a Ship Hull Cleaning Robot Reviewed

    Watanabe Keisuke, Ishii Kazuo, Takashima Kyoko

    11th INTERNATIONAL CONFERENCE ON MARINE NAVIGATION AND SAFETY OF SEA TRANSPORTATION   7pages   2015.06

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    Porland   Gdynia  

  • アグリロボットの開発が加速化!「第 1 回トマトロボット競技会」開催!

    浦環,石井和男,松尾貴之,川尻一志

    ohm bulletin ( オーム社 )   51 ( 春 )   10 - 11   2015.04

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    Authorship:Corresponding author   Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (trade magazine, newspaper, online media)

  • Experimental study for the development of a ship hull cleaning robot Reviewed

    Watanabe K., Ishii K., Takashima K.

    Safety of Marine Transport: Marine Navigation and Safety of Sea Transportation   225 - 232   2015.01

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

    DOI: 10.1201/b18515

    Scopus

    Other Link: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85054399964&origin=inward

  • Dead-lock Free Mobile Robot Navigation Using Modified Artificial Potential Field Reviewed

    Tharindu Weerakoon, Kazuo Ishii, Amir Ali Nassiraei

    717 - 722   2014.12

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

    日本   北九州   2014.12.03  -  2014.12.06

    DOI: 10.1109/SCIS-ISIS.2014.7044812

    Scopus

  • Adaptative Motion Control System of a Snake-like Robot Using a Neural Oscillator Network Reviewed

    Takayuki Matsuo, Ishii Kazuo

    711 - 716   2014.12

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

    日本   北九州   2014.12.03  -  2014.12.06

    DOI: 10.1109/SCIS-ISIS.2014.7044782

    Scopus

  • Phase Lag Auto-adjustment System Using Neural Oscillators and Its Application into Motion Control of a Snake-like Robot Reviewed

    Takayuki Matsuo, Kakigi Takahiro, Kazuo Ishii

    143 - 148   2014.09

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    日本   札幌   2014.09.09  -  2014.09.12

  • An AUV Platform for Robot Behavior Development: Twin-Robot "DaryaBird" and "OCTA", and Their Mission Strategy Reviewed

    Wataru Hori, Remma Satoh, SungMin Nam, Jonghyun Ahn, Naoya Fujii, Ken Matsuoka, Yuki Soejima, Yasunori Takemura, Kazuo Ishii

    AUVSI&ONR's 17th Annual RoboSub Competition Journal Paper   1 - 8   2014.07

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  • Adjustment Method of Phase Lag Using Neural Oscillator Network for a Snake-like Robot (jointly worked) Reviewed

    International Journal of Robotics and Mechatronics   1 ( 1 )   16 - 24   2014.07

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  • 球体駆動式全方向移動機構とロボカップサッカー中型ロボットリーグへの応用 Reviewed

    石田秀一,新福宜侑,石井和男,宮本弘之

    日本知能情報ファジィ学会誌   26 ( 3 )   669 - 677   2014.06

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  • Design concept of an underwater robot for ship-hull cleaning Reviewed

    Kazuo Ishii, Amir Ali Forough Nassiraei, Takashi Sonoda

    540 - 545   2014.05

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    GB   Redworth   2014.05.12  -  2014.05.14

  • Ego-motion estimation algorithm for a small unmanned aerial vehicle using motion-detection model of the insect's visual system

    UENO Fuyuki, OKUNO Hirotsugu, ISHII Kazuo, YAGI Tetsuya

    IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers )   113 ( 382 )   37 - 42   2014.01

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    A compact ego-motion estimation system is required for autonomous control of an unmanned air vehicle whose demand is increasing recently. In this study, we proposed an algorithm that estimates the ego-motion by discriminating optical flow patterns, inspired by insect's visiomotor control system. First, this algorithm calculates the local velocity from images of the surface of the ground by using a motion-detection model inspired by an insect's visual system. Then, the algorithm integrates the local velocity to estimate ego-motion. We tested this algorithm assuming that the vehicle moves horizontally and rotates in yaw.

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/110009825558

  • Holonomic Omnidirectional Vehicle with Ball Wheel Drive Mechanism and Application to RoboCup Soccer Middle Size League Reviewed

    ISHIDA Shuichi, SHIMPUKU Noriyuki, ISHII Kazuo, MIYAMOTO Hiroyuki

    Journal of Japan Society for Fuzzy Theory and Intelligent Informatics ( Japan Society for Fuzzy Theory and Intelligent Informatics )   26 ( 3 )   669 - 677   2014.01

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    In this paper, we present a mechanical design of the holonomic omnidirectional vehicle using ball wheels for RoboCup Soccer Middle Size League (MSL). Most MSL team robots use the omni wheels, which have a lot of free rollers on the circumference of a wheel, to realize the omnidirectional motions. Omni wheels are easily implementable device, whereas they have drawbacks such as lack of moving stability due to the changes of friction or steps on the surface and their usable environment is limited. In order to play the games on a completely flat surface, we spread enough plates under the field carpet in MSL. Our aim is to overcome these drawbacks and develop actual prototypes for practical application not only for MSL. We evaluate the ability and accuracy of the prototype of omnidirectional vehicle using ball wheels.

    DOI: 10.3156/jsoft.26.669

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130004491926

  • Development of Next-Generation Soccer Robot "Musashi150" for RoboCup MSL

    Chikushi Shota, Kuwada Masafumi, Sonoda Takashi, Nassiraei Amir A.F., Ishii Kazuo

    Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics )   30 ( 0 )   624 - 627   2014.01

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    RoboCup is an international join project to promote Artificial Intelligent (AI), robotics, and related field. It is an attempt to foster AI and Intelligent robotics research by providing standard problems where a wide variety of technologies can be integrated and examined. In RoboCup, soccer game is selected as a main topic of research, aiming at innovations to be applied for socially significant problems and industries in the future. We also have organized RoboCup team "Hibikino-Musashi" Middle-Size League soccer competition. In this paper, we introduce the next generation soccer robot platform "Musashi150" with ball keeping ability and fast movement.

    DOI: 10.14864/fss.30.0_624

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130005480551

  • Development of Autonomous Underwater Vehicle using MATLAB/Simulink

    Hori Wataru, Fujii Naoya, Ishii Kazuo

    Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics )   30 ( 0 )   610 - 613   2014.01

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    Various kinds of robots have been developed as computers and information processing technology advance. Operations in extreme environments such as disaster areas, space and ocean are getting one of the practical solutions for hazardous missions. The underwater robots are one of the extreme environment robots that are expected as one of solutions for underwater activities; maintenance of underwater structures, observations, scientific research. These activities require robots that can cover large area deep under ocean water. Their efficiencies have been investigated during recent decades and are proven by ocean experiments. However, the robotic system including the support vessels is still large in scale, and is not so easy to handle without number of researchers. In this paper, we describe the design of "DaryaBird" developed to be easy to handle, small-scaled underwater robots that can operate only with two researchers. In addition, experimental results and mission strategies for Robosub2014 are reported.

    DOI: 10.14864/fss.30.0_610

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/130005480597

  • 1P1-S06 Development of Next-Generation Soccer Robot for RoboCup Middle size league(RoboCup and Robot Contest)

    CHIKUSHI Shota, SONODA Takashi, NASSIRAEI Amir A. F., ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2014 ( 0 )   _1P1 - S06_1-_1P1-S06_4   2014.01

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    RoboCup is an international join project to promote Artificial Intelligent (AI), robotics, and related field. It is an attempt to foster AI and Intelligent robotics research by providing standard problems where a wide variety of technologies can be integrated and examined. In RoboCup, soccer game is selected as a main topic of research, aiming at innovations to be applied for socially significant problems and industries in the future. We also have organized RoboCup team "Hibikino-Musashi" Middle-Size League soccer competition. In this paper, we introduce the next generation soccer robot platform "Musashi150" with ball keeping ability and fast movement.

    DOI: 10.1299/jsmermd.2014._1P1-S06_1

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/110009966746

  • 1P1-S05 Bipedal Robot Leg Architecture for RoboCup Humanoid League : Team FUB-KIT, Collaboration between Freie University of Berlin and Kyushu Institute of Technology(RoboCup and Robot Contest)

    SATOH Remma, NASSIRAEI Amir, MOBALEGH Hamid, HELGADOTTIR Lovisa Irpa, SONODA Takashi, ISHII Kazuo, ROJAS Raul

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2014 ( 0 )   _1P1 - S05_1-_1P1-S05_2   2014.01

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    This paper describes the hardware and software of bipedal robot leg architecture for RoboCup Humanoid League such as the RoboCup teen size team FUB-KIT. Team FUB-KIT was founded in 2012 on a collaboration between Free University of Berlin and Kyushu Institute of Technology. The research is aimed at developing bio-inspired legged mechanisms and controls. Both research groups have been working in Robotics research as well as in RoboCup. We organized the joint RoboCup team and won the third place at RoboCup 2013 Eindhoven Humanoid Teen Size League. The developed biped robot is introduced in this paper.

    DOI: 10.1299/jsmermd.2014._1P1-S05_1

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/110009966745

  • 1P1-S04 Tomato-harvesting robot Competition(RoboCup and Robot Contest)

    LI Binghe, SONODA Takashi, MATSUO Takayuki, Nassiraei Amir A. F., KAWANO Tomonori, KAWAJIRI Kazushi, ISHII Kazuo, URA Tamaki

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2014 ( 0 )   _1P1 - S04_1-_1P1-S04_2   2014.01

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    Japan is a developed country of the robot, and study of various robots have been actively conducted. However, most robots have been put to practical use in society is an industrial robot. Agricultural robots are not practically used yet. Being able to introduce agricultural robot disseminate, it can be expected labor saving, automation, and productivity improvement. We aim at the development of agricultural robot through the holding of competitions of the tomato harvest. It unites the interest of robot technology and interest in the natural environment. It is an object of the invention is introduced into agricultural technologies developed in the course of the competition, and disseminating agricultural robot.

    DOI: 10.1299/jsmermd.2014._1P1-S04_1

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/110009966744

  • 1P1-S02 Ball passing behavior for middle sized RoboCup soccer Robots(RoboCup and Robot Contest)

    KUWADA Masafumi, Chikushi Shota, ONO Yutaro, SONODA Takashi, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2014 ( 0 )   _1P1 - S02_1-_1P1-S02_4   2014.01

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    We developed the control system for RoboCup soccer robot with MATLAB / Simulink. Action and strategy of the robots is sophisticated in RoboCup soccer middle sized league. Concerted action by multiple robots depends on the circumstances of the operation. Behavioral algorithm that can handle dynamic changing environments is necessary. We aim to realize the ball passing behavior in concerted action.

    DOI: 10.1299/jsmermd.2014._1P1-S02_1

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/110009966742

  • 1P1-H07 Mobile Platform with Fin Actuator Based on the High Power Joint Mechanism(Underwater Robot and Mechatronics (2))

    NISHIDA Yuya, SONODA Takashi, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2014 ( 0 )   _1P1 - H07_1-_1P1-H07_2   2014.01

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    Many insects can jump several times their own body length. Locusts with their powerful hind-leg can for example jump up to five times as high 250mm. We have been working on high power joint mechanism imitating locust hind-leg. The mechanism can produce a several times as much power as mounted actuator and separates normal and rapid motion by controlling the actuator force. This paper proposes fin actuator with the high power joint mechanism which can realize rapid motion of two directions. The fin actuator consist two motors with cams, two wires, one spring and L-shape link. Our analysis of output characteristics showed that the proposed fin actuator develops higher output power than mounted actuator.

    DOI: 10.1299/jsmermd.2014._1P1-H07_1

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/110009968707

  • 1P1-G07 Development of a Small ROV for Education and Research Activities : MATLAB / Simulink Based Robot Control System(Underwater Robot and Mechatronics (2))

    IWANE Toyoaki, SONODA Takashi, ISHII Kazuo, YOKOICHI Takumi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2014 ( 0 )   _1P1 - G07_1-_1P1-G07_2   2014.01

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    Oceans cover more than 70% of the earth's surface and their space is 300 times larger than the space on land, and, ocean resources such as methane hydrate and cobalt rich crust exist in deep ocean. As the tools to access the deep ocean, underwater robots attract high attention, and it is important to give young generation motivations to underwater technologies. So that we are working on the outreach activities related underwater technologies through underwater competitions. In this paper, we introduce a small ROV (Remotely Operated Vehicle) and robot system using a graphical programing language MATLAB/Simulink.

    DOI: 10.1299/jsmermd.2014._1P1-G07_1

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/110009966706

  • 1P1-G06 Mechanical Design for High Speed Sampling Motion in Underwater(Underwater Robot and Mechatronics (2))

    SONODA Takashi, NISHIDA Yuya, ISHII Kazuo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2014 ( 0 )   _1P1 - G06_1-_1P1-G06_2   2014.01

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    Underwater is extreme environment. So, underwater robots are employed to some tasks for human's safe. However, high-speed motion in underwater condition is occurred drag forces. In this paper, we propose a sampling device for underwater robots. It was designed as a high-speed mechanism. Because, a mechanism which it has performances higher than human make new applications. The high-speed motion is needed an energy and an efficient transmission system. We explain a design of the mechanism.

    DOI: 10.1299/jsmermd.2014._1P1-G06_1

    CiNii Article

    Other Link: https://ci.nii.ac.jp/naid/110009966705

  • 1P1-F07 AUV Based Observation System for Benthos in Deep Ocean(Underwater Robot and Mechatronics (2))

    AHN Jonghyun, SONODA Takashi, ISHII Kazuo, URA Tamaki

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )   2014 ( 0 )   _1P1 - F07_1-_1P1-F07_4   2014.01

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    The ocean that covers 71% of the Earth's surface is the source of origin of the life and biological evolution. Furthermore, ocean plays major role in regulating the weather and the climate of the planet. The features of the deep ocean also effects on controlling the climate of the earth. In addition, lots of discoveries, abundant mineral resources, energy, marine lives, and hydrothermal vent in the deep ocean have attracted research scientists of various fields. In spite of attractive discoveries, we are still unable to get clear information about the mechanism of the Deep Ocean and ecological system, because Deep Ocean is an extreme environment that has high pressure, darkness and radio attenuation. Recently, Autonomous Underwater Vehicles (AUVs) are used in Deep Ocean research activities as a powerful tool. AUVs are enrich with various facilities that can take photographs include lifestyle of marine lives, etc. In this paper, we have proposed a method to recognize the Benthos on the deep seabed automatically for various research activities. As a result, the proposed method has shown that it can detect about 84.7% of targets in the deep ocean images and capability of recognition is about 74% of the detected targets.

    DOI: 10.1299/jsmermd.2014._1P1-F07_1

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  • A Design Method of CPG Network Using Energy Efficiency to Control a Snake-Like Robot (jointly worked) Reviewed

    Takayuki Matsuo, Kazuo Ishii

    5th International Conference on Emerging Trends in Engineering & Technology   287 - 292   2012.11

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    Japan   Himeji   2012.11.05  -  2012.11.07

    DOI: 10.1109/ICETET.2012.66

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  • Development of Ship Hull Cleaning Underwater Robot (jointly worked) Reviewed

    Amir Ali Forough Nassiraei, Kazuo Ishii

    5th International Conference on Emerging Trends in Engineering & Technology   293 - 298   2012.11

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    Japan   Himeji   2012.11.05  -  2012.11.07

    DOI: 10.1109/ICETET.2012.74

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  • Control of robotic joint by using antagonistic pair of Twist Drive Actuators Reviewed International journal

    Sonoda T., Ishii K., Nassiraei A., Godler I.

    IECON Proceedings (Industrial Electronics Conference)   5410 - 5415   2012.10

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    2012.10.25  -  2012.10.28

    DOI: 10.1109/IECON.2012.6389525

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  • The Improving Method of Energy Efficiency for a Snake-Like Robot Using Neural Oscillators (jointly worked) Reviewed

    Takayuki Matsuo, Takashi Sonoda,Kazuo Ishii

    International Conference on Mechatronics and Automation 2012   208 - 213   2012.08

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    Japan   Himeji   2012.08.05  -  2012.08.08

    DOI: 10.1109/ICMA.2012.6282843

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  • The Adjustment System of Phase Difference Using Neural Oscillator Network for a Snake-Like Robot (jointly worked) Reviewed

    Takayuki Matsuo,Kazuo Ishii

    SICE 2012   502 - 507   2012.08

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    Japan   Akita   2012.08.20  -  2012.08.23

  • 創立10周年記念シンポジウム報告

    石井和男

    明専会報 ( 明専会 )   856 ( 1月・2月 )   2012.02

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  • A cooperative self-localization method based on group robot information sharing Reviewed

    989 - 994   6 pages   2012.01

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    日本   別府   2012.01.19  -  2012.01.21

  • The adjustment system of phase difference using neural oscillator network for a snake-like robot Reviewed

    502 - 507   2012.01

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  • ロボット競技会を通じた工学教育への取り組み

    石井和男

    教育ブリティン ( 九州工業大学 )   ( 8 )   63 - 71   2011.12

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  • A cooperative self-localization method based for multi agent system Reviewed

    6 pages   2011.10

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    日本   千葉   2011.10.31  -  2011.11.01

  • Auto color calibration algorithm using neural networks and its application to RoboCup robot vision Reviewed

    7 ( 11 A )   368 - 383   2011.10

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  • Auto color calibration algorithm using neural networks and its application to RoboCup robot vision Reviewed

    7 ( A11 )   368 - 383   2011.10

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  • Development of the ocean-going underwater glider with independently controllable main wings, SOARER Reviewed

    274 - 278   2011.09

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  • System Design and Increment Hardware Development of an Autonomous Underwater Robot "DaryaBird" Reviewed

    1 - 8   2011.07

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

    23 ( 2 )   225 - 230   2011.01

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    DOI: 10.20965/jrm.2011.p0225

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  • Adaptive color calibration algorithm using brain inspired technology Reviewed

    2010.12

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  • Survey of cooperative algorithm in robocup middle size league Reviewed

    2010.12

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  • Self-localization of omni-directional mobile robot using silicon retina based optical flow sensor Reviewed

    2010.12

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  • New approach to the self-localization of autonomous sewer inspection robots Reviewed

    2010.12

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  • Memory based environment recognition system for mobile robots with omni-directional images Reviewed

    2010.12

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

    2010.12

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  • Evolutionary optimization method of mobile robot structure and control system Reviewed

    2010.12

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  • Dynamics classification of underwater robot and introduction to controller adaptation Reviewed

    2010.12

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  • Color Constancy in RoboCup Robot Vision Reviewed

    Takamura Yasunori,Ishii Kazuo

    ICIUS 2010   2010.11

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    Indonesia   Bali   2010.11.03  -  2010.11.05

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

    Nishida Yuya,Sonoda Takashi,Ishii Kazuo

    World Automation Congress (WAC) 2010   2010.09

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    神戸   2010.09.19  -  2010.09.22

  • Self-localization of omni-directional mobile robot using silicon retina based optical flow sensor Reviewed

    Sanada Atsushi,Ishii Kazuo,Tetsuya Yagi

    World Automation Congress (WAC) 2010   2010.09

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    神戸   2010.09.19  -  2010.09.22

  • Adaptive color calibration algorithm using brain inspired technology Reviewed

    Takamura Yasunori,Ishii Kazuo

    World Automation Congress (WAC) 2010   2010.09

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    神戸   2010.09.19  -  2010.09.22

  • Dynamics classification of underwater robot and introduction to controller adaptation Reviewed

    Takamura Yasunori,Ishii Kazuo

    World Automation Congress (WAC) 2010   2010.09

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    神戸   2010.09.19  -  2010.09.22

  • Survey of cooperative algorithm in robocup middle size league Reviewed

    Kitazumi Yuuichi,Ishii Kazuo

    World Automation Congress (WAC) 2010   2010.09

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    神戸   2010.09.19  -  2010.09.22

  • Evolutionary optimization method of mobile robot structure and control system Reviewed

    Masanori Sato,Ishii Kazuo

    World Automation Congress (WAC) 2010   2010.09

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    神戸   2010.09.19  -  2010.09.22

  • New approach to the self-localization of autonomous sewer inspection robots Reviewed

    Forough Nassiraei Amir Ali,Honda Masayoshi,Ishii Kazuo

    World Automation Congress (WAC) 2010   2010.09

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    神戸   2010.09.19  -  2010.09.22

  • Memory based environment recognition system for mobile robots with omni-directional images Reviewed

    Kanda Atsushi,Sato Masanori,Ishii Kazuo

    World Automation Congress (WAC) 2010   2010.09

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    神戸   2010.09.19  -  2010.09.22

  • Simultaneous optimization of robot structures and control systems using evolutionary algorithm Reviewed

    Masanori Sato,Kazuo Ishii

    Journal of Bionic Engineering   7 ( Suppl. )   185 - 190   2010.09

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    DOI: 10.1016/S1672-6529(09)60234-1

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  • Jacobian Matrix Derived from Cross Product and its Application into High Power Joint Mechanism Analysis Reviewed

    Yuya Nishida,Takashi Sonoda,Kazuo Ishii

    Journal of Bionic Engineering   7 ( Suppl. )   218 - 223   2010.09

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    DOI: 10.1016/S1672-6529(09)60238-9

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  • Self-Localization of an Omnidirectional Mobile Robot Based on an Optical Flow Sensor Reviewed

    Atsushi Sanada,Kazuo Ishii,Tetsuya Yagi

    Journal of Bionic Engineering   7 ( Suppl. )   172 - 176   2010.09

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    DOI: 10.1016/S1672-6529(09)60232-8

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  • System Design of an Autonomous Underwater Robot 'DaryaBird' Reviewed

    Minoru Kobayashi,Takatora Ando,Masayoshi Honda,Masanobu Baba,Takaaki Takemitsu,Kazuo Ishii

    AUVSI&ONR's 13th International Autonomous Underwater Vehicle Competition Journal   1 - 7   http://www.auvsi.org   2010.07

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    Kyutacar

  • The Study of Bio-inspired Robot Motion Control System Reviewed

    Takayuki Matsuo,Takeshi Yokoyama,Daishi Ueno,Kazuo Ishii

    Journal of Automation, Mobile Robotics & Intelligent Systems   4 ( 2 )   55 - 61   2010.03

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  • Development of antagonistic wire-driven joint employing kinematic transmission mechanism Reviewed

    Takashi Sonoda,Yuya Nishida,Amir Ali Forough Nassiraei,Kazuo Ishii

    Journal of Automation, Mobile Robotics & Intelligent Systems   4 ( 2 )   62 - 70   2010.03

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  • A Novel Embedded Computer Based Autonomous Robot for Sewer Pipe Inspection Reviewed

    Ahmad Ghaderi,Amir A. F. Nassiraei,Kazuo Ishii

    Brain-Inspired Information Technology /Studies in Computational Intelligence   266/2010   103 - 108   2010.02

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  • Depth Detection Using Optical Flow Obtained by Rotational Camera Reviewed

    Xeubing Wang,Kazuo Ishii

    Proc.of 2009 International Symposium on Nonlinear Theory and its Applications   266 - 269   2009.10

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    札幌   2009.10.18  -  2009.10.21

  • Simultaneous Optimization of a Robot Structure and a Control Parameter using Evolutionary Algorithm and Dynamics Engine Reviewed

    Masanori Sato,Atushi Kanda,Kazuo Ishii

    Proc.of 2009 International Symposium on Nonlinear Theory and its Applications   262 - 265   2009.10

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    札幌   2009.10.18  -  2009.10.21

  • Design Principle of Two Mass Jumping System Reviewed

    Yuya Nishida,Kazuo Ishii,Takashi Sonoda

    Proc. Of the 2009 IEEE International Conference on Systems, Man, and Cybernetics   132 - 136   2009.10

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    アメリカ   San Antonio   2009.10.11  -  2009.10.14

  • Estimation of Mobile Robot Ego-Motion and Obstacle Depth Detection by Using Optical Flow Reviewed

    Xuebing Wang,Kenji Ban,Kazuo Ishii

    Proc. Of the 2009 IEEE International Conference on Systems, Man, and Cybernetics   1832 - 1837   2009.10

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    アメリカ   San Antonio   2009.10.11  -  2009.10.14

  • Development of the Color Constancy Vision Algorithms using Bio-inspired Information Processing Reviewed

    Yasunori Takemura,Kazuo Ishii

    Proc. Of the 2009 IEEE International Conference on Systems, Man, and Cybernetics   1808 - 1813   2009.10

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    アメリカ   San Antonio   2009.10.11  -  2009.10.14

  • Environment Recognition System Based on Multiple Classification Analyses for Mobile Robots Reviewed

    Atsushi Kanda,Kazuo Ishii,Masanori Sato

    Proc. Of the 2009 IEEE International Conference on Systems, Man, and Cybernetics   2861 - 2866   2009.10

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    アメリカ   San Antonio   2009.10.11  -  2009.10.14

  • Simultaneous Optimization of a Wheeled Mobile Robot Structure and a Control Parameter Reviewed

    Masanori Sato,Atsushi Kanda,Ishii Kazuo

    Proc.of 5th International Workshop on Comutational Intelligence & Applications   230 - 235   2009.10

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    アメリカ   広島   2009.10.12  -  2009.10.12

  • 不整地移動ロボットのための環境適応型制御システム Reviewed

    佐藤雅紀,神田敦司,石井和男

    日本ロボット学会誌   27 ( 8 )   950 - 960   2009.09

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    Kyutacar

  • Property Evaluation and Motion Control of a Biommimetic Actuator Using Electroconductive Polymer Reviewed

    Kimikazu Sugiyama,Kazuo Ishii,Keiichi Kaneto

    Proc. of ICROS-SICE International Joint Conference 2009   3890 - 3895   2009.08

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    福岡   2009.08.18  -  2009.08.21

  • System Design of an Autonomous Underwater Robot "DaryaBird" Reviewed

    Yu Eriguchi,Shingo Shuto,Hiroki Matsuo,Minoru Kobayashi,Yasunori Takemura,Atsushi Kanda,Atsushi Sanada,Takatora Ando,Shohei Matsuoka,Kazuo Ishii,Keisuke Watanabe

    AUVSI & ONR's 12th International Autonomous Underawater Vehicle Competition Journal   1 - 10   インターネット   2009.07

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  • Evaluation of Color Costancy Vision Algorithm for Mobile Robots Reviewed

    Yasunori Takemura,Kazuo Ishii

    ICONIP 2009, Part I, LNCS (Lecture Note on Computer Science)   5864   409 - 419   2009.04

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    Thailand   バンコック   2009.04  -  2009.04

  • Brain-Inspired Emergence of Behaviors Based on Values and Curiosity in Mobile Robots Reviewed

    Masumi Ishikawa,Masahiro Nagamatsu,Takao Hagiwara,Naoyuki Yamamoto,Fumiko Kiriake,Takehiko Nishida,Takeshi Yamakawa,Kazuo Ishii,Hideki Nakagawa,Hong Zhang

    Brain-Inspired Information Technology /Studies in Computational Intelligence   266/2010   33 - 38   2009.02

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  • A Robot Vision System Using a Silicon Retina Reviewed

    Atsushi Sanada,Kazuo Ishii ,Tetsuya Yagi

    Brain-Inspired Information Technology /Studies in Computational Intelligence   266/2010   135 - 139   2009.02

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  • An Adaptive Controller System Using mnSOM (2nd Report: Implementation into an Autonomous Underwater Robot) Reviewed

    Yasunori Takemura,Makoto Ishitsuka,Shuhei Nishida,Kazuo Ishii,Tetsuo Furukawa

    Brain-Inspired Information Technology /Studies in Computational Intelligence   266/2010   91 - 96   2009.02

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  • An Environment Recognition System Using SOM Reviewed

    Atushi Kanda,Masanori Sato,Kazuo Ishii

    Brain-Inspired Information Technology /Studies in Computational Intelligence   266/2010   97 - 102   2009.02

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  • Power System and Drive-Train for Omni-Directional Autonomous Mobile Robots with Multiple Energy Storage Units Reviewed

    Ahmad Ghaderi,Amir A.F Nassiraei,Atsushi Sanada,Kazuo Ishii,Ivan Godler

    Journal of Power Electronics   8 ( 4 )   291 - 300   2008.12

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  • Depth perception using a monocular vision system Reviewed

    Xuebing Wang,Kazuo Ishii

    ICONIP 2008 in Auckland   380 - 381   2008.11

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    New Zealand   Auckland   2008.11.25  -  2008.11.28

  • A neural network based controller for an outdoor mobile robot Reviewed

    Masanori Sato,Atsushi Kanda,Kazuo Ishii

    ICONIP 2008 in Auckland   233 - 234   2008.11

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    New Zealand   Auckland   2008.11.25  -  2008.11.28

  • A Pipe Inspection Robot System for Underground Infrastructure with an Emergency Release Mechanism Reviewed

    A. Ghadei,A.A.F Nassiraei,K. Ishii

    IECON' 08 in Orlando, Florida   1566 - 1571   2008.11

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    America   Florida   2008.11.10  -  2008.11.13

  • System Design of an AUV Considering Modularity Concept and Performance Evaluation Through Yawing Control Experiment Reviewed

    Yasunori Takemura,Makoto Ishitsuka,Shingo Shuto,Takashi Ashikaga,Kazuo Ishii

    USYS' 08 in Bali   2008.11

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    Indonesia   Bali   2008.11.04  -  2008.11.05

  • 水中ロボットと競技会を通じた工学教育,計測と制御 Reviewed

    有馬正和,石井和男,渡邉啓介

    計測と制御   47 ( 10 )   817 - 823   2008.10

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  • Concept of Mechatronics Safety and Modularity Design for an Autonomous Mobile Soccor Robot Reviewed

    Yasunori Takemura,Yu Ogawa,Amir A. F. Nassiraei,Atushi Sanada,Yuichi Kitazumi,Ivan Godler,Kazuo Ishii,Hiroyuki Miyamoto,Ahamad Ghaderi

    IROS2008 in Nice (France)   3686 - 3691   2008.09

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    France   Nice   2008.09.22  -  2008.09.26

  • A Control Method of a Biomimetic Actuator Using Electroconductive Plymer Reviewed

    Kimikazu Sugiyama,Kazuo Ishii,Keiichi Kaneto

    SCIS & ISIS 2008 in Nagoya   1687 - 1692   2008.09

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    名古屋   2008.09.17  -  2008.09.21

  • SOM Based on Color Constancy Alogrithm for RoboCup Robots Reviewed

    Yasunori Takemura,Yusuke Sato,Kazuto Azeura,Ivan Godler,Kazuo Ishii

    SCIS & ISIS 2008 in Nagoya   1495 - 1500   2008.09

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    名古屋   2008.09.17  -  2008.09.21

  • A new approach in controlling wheeled mobile robots using PID-like controller Reviewed

    Masanori Sato,Atushi Kanda,Kazuo Ishii

    SCIS & ISIS 2008 in Nagoya   1551 - 1556   2008.09

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    名古屋   2008.09.17  -  2008.09.21

  • Unified Dynamics Calculation emplying COG Jacobian for Link Mechanisms Reviewed

    Takashi Sonoda,Kazuo Ishii,Daigoro Isobe

    SCIS & ISIS 2008 in Nagoya   1489 - 1494   2008.09

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    名古屋   2008.09.17  -  2008.09.21

  • Environment Recognition System Using Multiple Classification Analysis Reviewed

    Atushi Kanda,Masanori Sato,Kazuo Ishii

    SCIS & ISIS 2008 in Nagoya   1906 - 1911   2008.09

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    名古屋   2008.09.17  -  2008.09.21

  • A CPG Based Biomimetic Robot Control for a Multi Link Mobile Robot Reviewed

    Takayuki Matsuo,Takeshi Yokoyama,Kazuo Ishii

    SCIS & ISIS 2008 in Nagoya   1900 - 1905   2008.09

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    名古屋   2008.09.17  -  2008.09.21

  • Environment Recognition System Based on Multiple Classification Analyses for Mobile Robot Reviewed

    Atushi Kanda,Masanori Sato,Kazuo Ishii

    Journal of Bionic Engineering   5 ( Suppl. )   113 - 120   2008.09

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  • A System Design Concept Based on Omni-Directional Mobility, Safety and Modularity for an Autonomous Mobile Soccer Robot Reviewed

    Yasunori Takemura,Yu Ogawa,Amir A. F. Nassiraei,Atsushi Sanada,Yuichi Kitazumi,Ivan Godler,Kazuo Ishii,Hiroyuki Miyamoto

    Journal of Bionic Engineering   5 ( Suppl. )   121 - 129   2008.09

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  • A Controller Design Method Based on a Neural Network for an Outdoor Mobile Robot Reviewed

    Masanori Sato,Atushi Kanda,Kazuo Ishii

    Journal of Bionic Engineering   5 ( Suppl. )   130 - 137   2008.09

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  • Biomimetic Motion Control System Based on a CPG for an Amphibious Multi-Link Mobile Robot Reviewed

    Takayuki Matsuo,Takeshi Yokoyama,Daishi Ueno,Kazuo Ishii

    Journal of Bionic Engineering   5 ( Suppl. )   91 - 97   2008.09

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  • Environment Recognition System based on Multiple Classification Analyses for Mobile Robot Reviewed

    Atushi Kanda,Masanori Sato,Kazuo Ishii

    SICE Annual Conference 2008 in Chofu (Tokyo)   2528 - 2533   2008.08

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    2008.08.20  -  2008.08.22

  • Biomimetic Motion Cotrol System Using CPG for a Multi Link Mobile Robot Reviewed

    Takayuki Matsuo,Takeshi Yokoyama,Kazuo Ishii

    SICE Annual Conference 2008 in Chofu (Tokyo)   2519 - 2522   2008.08

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    2008.08.20  -  2008.08.22

  • System Design and Sound Localization System of an Autonomous Underwater Robot "AquaBox" Reviewed

    Yu Eriguchi,Ryo Kusakabe,Shingo Shuto,Hiroki Matsuo,Kunihiro Mori,Yasunori Takemura,Atushi Kanda,Kazuo Ishii,Keisuke Watanabe

    AUVSI & ONR's 11th International Autonomous Underawater Vehicle Competition Journal Paper   11   1 - 9   2008.07

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  • Environment Recognition System based on Multiple Classification Analyses for Mobile Robots Reviewed

    Atushi Kanda,Masanori Sato,Kazuo Ishii

    AIM2008 in Xi'an   412 - 417   2008.06

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    China   2008.06.02  -  2008.06.05

  • Dynamics Computation of Link Mechanisms Employing COG Jacobian Reviewed

    Takashi Sonoda,Kazuo Ishii

    AIM2008 in Xi'an   482 - 487   2008.06

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    China   2008.06.02  -  2008.06.05

  • Controller Parameter Tuning Based on Neural Network Gradient Reviewed

    Masanori Sato,Atushi Kanda,Kazuo Ishii

    AIM2008 in Xi'an   1384 - 1389   2008.06

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    China   2008.06.02  -  2008.06.05

  • Depth Perception Using a Monocular Vision System Reviewed

    Xeubing Wang,Kazuo Ishii

    ICONIP 2008, Part I, LNCS (Lecture Note on Computer Science)   5506   779 - 786   2008.04

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    New Zealand   Auckland   2008.04  -  2008.04

  • A Neural Network Based Controller for an Outdoor Mobile Robot Reviewed

    Masanori Sato,Atsushi Kanda,Kazuo Ishii

    ICONIP 2008, Part I, LNCS (Lecture Note on Computer Science)   5506   771 - 778   2008.04

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    New Zealand   Auckland   2008.04  -  2008.04

  • Environment Recognition Controller System for a Rough Terrain Movement Wheel Type Mobile Robot Reviewed

    Masanori Sato,Atushi Kanda,Kazuo Ishii

    Journal of Bionic Engineering   4 ( 4 )   217 - 226   2007.12

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  • Concept of Intelligent Mechanical Design for Autonomous Mobile Robots Reviewed

    A.A.F Nassiraei,K.Ishii

    Journal of Bionic Engineering   4 ( 4 )   281 - 289   2007.12

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  • マニピュレータを搭載した水中ロボットの開発 -動作シミュレーションとモジュール構造設計に基づく水中マニピュレータの開発・設計- Reviewed

    石塚誠,石井和男

    日本船舶海洋工学会論文集   6   35 - 43   2007.12

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    主要雑誌

    Kyutacar

  • 生物模倣型水中アクチュエータ -遊泳方法による魚種の分類と導電性高分子アクチュエータの開発- Reviewed

    杉山公一,大和健太郎,石井和男,金藤敬一

    日本船舶海洋工学会論文集   6   45 - 56   2007.12

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    主要雑誌

    Kyutacar

  • An Environmental Adaptive Control System of a Wheel Type Mobile Robot for the Rough Terrain Movement Reviewed

    Masanori Sato,Atushi Kanda,Kazuo Ishii

    IROS'07   3962 - 3967   2007.11

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    USA   サンディエゴ   2007.11  -  2007.11

  • Realization of Rapid Movement for Legged Entertainment Robots Using Two New Actuators, the Inertia Actuator and the Cam Charger Reviewed

    A.A. Nassiraei,K. Ishii,S. Masakado,T. Matsuo,K. Ichikawa,H. Fukushima,M. Murata,T. Sonoda,I. Takahira,T. Mik

    Journal of Advanced Computational Intelligence   11 ( 8 )   979 - 988   2007.10

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  • Modular network self-organizing map: Can it be an artificial cortex? Reviewed

    T. Furukawa,K. Tokunaga,S. Yasui,H. Tamukoh,K. Ishii,M. Ishikawa,K. Horio,K. Natsume

    Brain-Inspired IT   3   43 - 47   2007.07

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  • Mobile robot platforms for artificial and swarm intelligence researches Reviewed

    Kazuo Ishii,Tsutomu Miki

    Brain-Inspired IT   3   39 - 42   2007.07

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  • A CPG control system for a modular type mobile robot Reviewed

    Takayuki Matsuo,Kazuo Ishii

    Brain-Inspired IT   3   206 - 209   2007.07

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  • Brain-inspired emergence of behaviors in mobile robots Reviewed

    Masumi Ishikawa,Kazuo Ishii,Takeshi Yamakawa,Masahiro Nagamatsu,Hideki Nakagawa,Hong Zhang,Tetsuo Furukawa

    Brain-Inspired IT   3   48 - 51   2007.07

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  • Performance evaluation of a neural network controller system for a wheel type mobile robot Reviewed

    Masanori Sato,Atushi Kanda,Kazuo Ishii

    Brain-Inspired IT   3   160 - 163   2007.07

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  • Adaptability of mnSOM-based control system to changing dynamic property Reviewed

    Shuhei Nishida,Kazuo Ishii,Tetsuo Furukawa

    Brain-Inspired IT   3   197 - 200   2007.07

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  • Development of 'Hibikino-Musashi' omni-directional mobile robot Reviewed

    Yasunori Takemura,Atsushi Sanada,Takaaki Ichinose,Yuusuke Nakano,Amir A.F. Nassiraei,Kazuto Azeura,Yuichi Kitazumi,Yu Ogawa,Ivan Godler,Kazuo Ishii

    Brain-Inspired IT   3   201 - 205   2007.07

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  • Development of an oscillating fin type actuator for underwater robots Reviewed

    Kimikazu Sugiyama,Kazuo Ishii,Keiichi Kaneto

    Brain-Inspired IT   3   214 - 217   2007.07

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  • System Design and Control System of An Autonomous Underwater Robot'AquaBox' Reviewed

    Yu Eriguchi,Satomi Ohata,Ryo Kusakabe,Satoshi Araki,Kunihiro Mori,Atushi Kanda,Makoto Ishitsuka,Takayuki Matsuo,Kimikazu Sugiyama,Kazuo Ishii,Keisuke Watanabe

    AUVSI 10th International AUV Competition Journal Paper   2   1 - 9   2007.04

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  • Sound source localization for underwater robot Reviewed

    Yuu Eriguchi,Kazuo Ishii

    BrainIT2007   p.53   2007.04

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    北九州   2007.04  -  2007.04

  • Concept of Intelligent Mechanical Design for Autonomous Mobile Robots Reviewed

    A.A.F Nassiraei,K.Ishii

    ICIUS'07   6ページ   2007.04

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    Indonesia   バリ   2007.04  -  2007.04

  • Development of a Biomimetic Fin Actuator using Electroconductive Polymer Reviewed

    Kimikazu SUGIYAMA,Kazuo ISHII,Keiichi KANETO

    Oceans'07   6ページ   2007.04

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    Canada   バンクーバー   2007.04  -  2007.04

  • Development of a Biomimetic Motion Control System Using CPG Reviewed

    Takayuki Matsuo,Kazuo Ishii

    Oceans'07   6ページ   2007.04

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    Canada   バンクーバー   2007.04  -  2007.04

  • Environment Recognition Controller System for a Rough Terrain Movement Wheel Type Mobile Robot Reviewed

    Masanori Sato,Atushi Kanda,Kazuo Ishii

    ICIUS'07   6ページ   2007.04

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    Indonesia   バリ   2007.04  -  2007.04

  • Development of Neural Oscillator Based Motion Control System and Applied to Snake-like Robot Reviewed

    Takayuki Matsuo,Kazuo Ishii

    IROS'07   3697 - 3705   2007.04

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    USA   サンディエゴ   2007.04  -  2007.04

  • Concept and Design of A Fully Autonomous Sewer Pipe Inspection Mobile Robot: 'KANTARO' Reviewed

    Amir A.F. Nassiraei,Yoshinori Kawamura,Alireza Ahrary,Yoshikazu Mikuriya,Kazuo Ishii

    ICRA'07   136 - 143   2007.04

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    Italy   ローマ   2007.04  -  2007.04

  • Modularity Development and Control of an Underwater Manipulator for AUV Reviewed

    M.Ishitsuka,K.Ishii

    IROS'07   3648 - 3653   2007.04

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    USA   サンディエゴ   2007.04  -  2007.04

  • A Ribbon Like Fin Using Electro Conductive Polymer For Precise Motion Control Reviewed

    Kimikazu SUGIYAMA,Kazuo ISHII,Keiichi KANETO

    UT'07   391 - 396   2007.04

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    東京   2007.04  -  2007.04

  • Development of Glider type small AUV "SeaBird" Reviewed

    Satoshi Araki,Kazuo Ishii

    UT'07   320 - 325   2007.04

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    東京   2007.04  -  2007.04

  • Manipulator Control of Underwater Vehicle Considering Dynamic Manipulability Reviewed

    M.Ishitsuka,K.Ishii

    UT'07   337 - 342   2007.04

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    東京   2007.04  -  2007.04

  • Concept of Mechatronics Modular Design for an Autonomous Mobile Soccer Robot Reviewed

    Amir. A.F. Nassiraei,Y.Takemura,A.Sanada,Y.Kitazumi,Y.Ogawa,A.Gaderi,K.Ishii

    CIRA'07   178 - 183   2007.04

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    USA   ジャクソンビル   2007.04  -  2007.04

  • AquaBox Series: Small Underwater Robot Systems for Shallow Water Observation Reviewed

    S. Ohata,Y.Eriguchi,K.Ishii

    UT'07   314 - 319   2007.04

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    東京   2007.04  -  2007.04

  • Neural Oscillator based Motion Control System for Snake-like Robot Reviewed

    Takayuki Matsuo,Kazuo Ishii

    UT'07   397 - 402   2007.04

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    東京   2007.04  -  2007.04

  • Design and Implementation of an Embedded Computer Based Autonomous Pipe Inspection Robot Reviewed

    Ahmand Ghaderi,Amir A.F. Nassiraei,Kazuo Ishii

    BrainIT2007   p.54   2007.04

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    北九州   2007.04  -  2007.04

  • An adaptive controller system using mnSOM (2nd report: Inmplementation into an autonomous underwater robot) Reviewed

    Yasunori Takemura,Makoto Ishitsuka,Shuhei Nishida,kazuo Ishii,Tetsuo Furukawa

    BrainIT2007   p.51   2007.04

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    北九州   2007.04  -  2007.04

  • RoboCity: An Experimental Environment for Mobile Robots Reviewed

    Kazuo Ishii,Tsutomu Miki,Tetsuo Furukawa

    BrainIT2007   p.29   2007.04

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    北九州   2007.04  -  2007.04

  • A robot vision system using a silicon retina Reviewed

    Atsushi Sanada,Kazuo Ishii,Tetsuya Yagi

    BrainIT2007   p.61   2007.04

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    北九州   2007.04  -  2007.04

  • An environment recognision system using Som Reviewed

    Atsushi Kanda,Masanori Sato,Kazuo Ishii

    BrainIT2007   p.52   2007.04

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    北九州   2007.04  -  2007.04

  • 浅水域探査を目的とした小型水中ロボットおよびマニピュレータの開発 Reviewed

    石塚誠,石井和男,大畑智海

    日本設計工学会   43 ( 3 )   7 - 15   2007.03

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    Kyutacar

  • nSIR: A Novel Passive-Active Intelligent Moving Mechanism for Sewer Inspection Robots Reviewed

    A.A.F Nassiraei,Y.Mikuriya,K.Ishii

    ASME IMECE2006   ( IMECE2006-14265 )   2006.11

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    USA   2006.11  -  2006.11

  • An Online Adaptation Control System Using mnSOM Reviewed

    Shuhei Nishida,Kazuo Ishii,Tetsuo Furukawa

    ICONIP'06   6 - 6   2006.11

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    Hong Kong   2006.11  -  2006.11

  • Realization of the Rapid Movements for the Entertainment Robots by Us'ng Two New Actuators 'Inertia Actuator' & 'Cam Charger' Reviewed

    A.A.F Nassiraei,M. Murata,K. Ichikawa,K.Ishii

    Proc. ASME IMECE2006   IMECE2006-14257    2006.11

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    USA   2006.11  -  2006.11

  • A New Approach to the Sewer Pipe Inspection: Fully Autonomous Mobile Robot 'KANTARO' Reviewed

    A.A.F Nassiraei,K.Ishii

    Proc. IECON   2006.11

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    France   Paris   2006.11  -  2006.11

  • Development of an Artistic Robot 'Jumping Joe' Reviewed

    Amir A.F. Nassiraei,Seiji Masakado,Takayuki Matsuo,Takashi Sonoda,Isao Takahira,Hajime Fukushima,Masayuki Murata,Kodai Ichikawa,Kazuo Ishii,Tsutomu Miki

    Proc. of IEEE IROS'06   1720 - 1725   2006.10

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    China   Beijing   2006.10  -  2006.10

  • Development of 'Hibikino-Musashi' omni-directional mobile robot Reviewed

    Yasunori Takemura,Atsushi Sanada,Kazuo Ishii,Amir A.F.Nassiraei,Ivan Godler,Yuichi Kitazumi,Yu Ogawa

    BrainIT2006   83 - 83   2006.09

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    北九州   2006.09.27  -  2006.09.29

  • Mobile Robot Platforms for Artificial and Swarm Intelligence Research Reviewed

    Kazuo Ishii,Tsutomu Miki

    BrainIT2006   33 - 33   2006.09

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    北九州   2006.09.27  -  2006.09.29

  • Development of an oscillating fin type actuator for underwater robots Reviewed

    Kimikazu Sugiyama,Kazuo Ishii,Keiichi Kaneto

    BrainIT2006   86 - 86   2006.09

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    北九州   2006.09.27  -  2006.09.29

  • Adaptability of mnSOM Based Control System to Changing Dynamic Property Changes Reviewed

    Shuhei Nishida,Kazuo Ishii,Tetsuo Furukawa

    BrainIT2006   81 - 81   2006.09

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    北九州   2006.09.27  -  2006.09.29

  • Brain-inspired Emergence of Behaviors in Mobile Robots Reviewed

    Masumi Ishikawa,Kazuo Ishii,Takeshi Yamakawa,Masahiro Nagamatsu,HIdeki Nakagawa,Hong Zhang,Tetsuo Furukawa

    BrainIT2006   35 - 35   2006.09

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    北九州   2006.09.27  -  2006.09.29

  • A CPG Control System for a Module-Type Mobile Robot Reviewed

    Takayuki Matsuo,Kazuo Ishii

    BrainIT2006   84 - 84   2006.09

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    北九州   2006.09.27  -  2006.09.29

  • Performance Evaluation of a Network Controller System for a Wheel Type Mobile Robot Reviewed

    Masanori Sato,Atushi Kanda,Kazuo Ishii

    BrainIT2006   69 - 69   2006.09

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    北九州   2006.09.27  -  2006.09.29

  • Modular Network Self-Organizing Map: -Can it be an artificial cortex?- Reviewed

    Tetsuo Furukawa,Kazuhiro Tokunaga,Syozo Yasui,Hakaru Tamukoh,Kazuo Ishii,Masumi Ishikawa,Keiichi Horie,Kiyohisa Natsume

    BrainIT2006   34 - 34   2006.09

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    北九州   2006.09.27  -  2006.09.29

  • Development of a Control System for Autonomous Underwater Vehicles using mnSOM Reviewed

    Shuhei Nishida,Kazuo Ishii,Tetsuo Furukawa

    SCIS&ISIS'06   2006.09

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    2006.09  -  2006.09

  • Development of Actuators for Rapid Motion Reviewed

    Amir A.F. Nassiraei,Seiji Masakado,Takayuki Matsuo,Takashi Sonoda,Isao Takahira,Hajime Fukushima,Masayuki Murata,Kodai Ichikawa,Kazuo Ishii,Tsutomu Miki

    SCIS&ISIS'06   2006.09

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    2006.09  -  2006.09

  • AquaBox Series: Handy Underwater Robots for Shallow Water Reviewed

    Satomi Ohata,Yuu Eriguchi,Satoshi Araki,Makoto Ishitsuka,Takayuki Matsuo,Kimikazu Sugiyama,Kazuo Ishii,Keisuke Watanabe

    9th International AUV Competition Journal Paper   9   KIT.1 - KIT.6   2006.07

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  • Control of an underwater manipulator mounted for an AUV considering dynamic manipulability Reviewed

    Makoto Ishitsuka,Kazuo Ishii

    Brain-Inspired IT   2   269 - 272   2006.06

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  • Development of an artistic robot "Jumping Joe" Reviewed

    Amir A.F. Nassiraei,Seiji Masakado,Takayuki Matsuo,Kodai Ichikawa,hajime Fukushima,Masayuki Murata,Takashi Sonoda,Isao Takahira,Masaaki Yamashita,Masanori Sato,Kazuo Ishii,Tsutomu Miki,Tetsuya Yagi,Norbert Mayer,Tamaki Ura

    Brain-Inspired IT   2   281 - 284   Elsevier   2006.06

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  • An autonomous underwater vehicle for observation of underwater structure Reviewed

    S. Ohata,K.Ishii

    Brain-Inspired IT   2   277 - 280   Elsevier   2006.06

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  • 水中ロボットにおける自己組織的行動獲得システム(第一報:自己組織化マップを用いた運動制御システムの提案) Reviewed

    西田周平,石井和男,古川徹生

    日本船舶海洋工学会論文集   3   205 - 213   2006.06

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    代表的研究業績

  • A Neural Network Based Controller System for a Wheel Type Mobile Robot Reviewed

    M.Sato,K.Ishii

    Brain-Inspired IT   2   261 - 264   Elsevier   2006.06

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  • Toward Realization of Swarm Intelligence Mobile Robots Reviewed

    Y.Takemura,M.Sato,K.Ishii

    Brain-Inspired IT   2   273 - 276   Elsevier   2006.06

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  • An adaptive controller system using mnSOM Reviewed

    Shuhei Nishida,Kazuo Ishii,Tetsuo Furukawa

    Brain-Inspired IT   2   181 - 184   Elsevier   2006.06

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  • An Adaptive Neural Network Control System Using mnSOM Reviewed

    Shuhei Nishida,Kazuo Ishii,Tetsuo Furukawa

    IEEE Oceans Asia'06   2006.05

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    Singapore   2006.05  -  2006.05

  • Development of an Underwater Actuator by Artificial Muscles Reviewed

    Kimikazu Sugiyama,Kazuhito Kanamori,K.Ishii,Keiichi Kaneto

    IEEE Oceans Asia'06   2006.05

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    Singapore   2006.05  -  2006.05

  • アーティスティックロボット「J2:Jumping Joe」 Reviewed

    石井 和男

    日本ロボット学会誌   24 ( 2 )   50 - 50   2006.02

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  • Concept and design of an artistic robot "Jumping Joe" Reviewed

    Amir A.F. Nassiraei,Seiji Masakado,Takayuki Matsuo,Koudai Ichikawa,Hajime Fukushim1,Masayuki Murata,Takashi Sonoda,Isao Takahira,Masaaki Yamashita,Masanori Sato,Kazuo Ishii,Tsutomu Miki,Norbert Mayer,Tetuya Yagi,Tamaki Ura

    ISR2005   2005.12

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    東京   2005.11.29  -  2005.12.01

  • Development of an autonomous underwater vehicle for observation of underwater structures Reviewed

    Satomi Ohata,Kazuo Ishii,Hiroshi Sakai,Toshinari Tanaka,Tamaki Ura

    IEEE Oceans'05   2005.09

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    USA   2005.09.18  -  2005.09.23

  • Development of an underwater manipulator mounted for an AUV Reviewed

    Makoto Ishitsuka,Kazuo Ishii

    IEEE Oceans'05   2005.09

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    USA   2005.09.18  -  2005.09.23

  • A method to solve inverse kinematics of redundant manipulator using topology representing network Reviewed

    Keisuke Ueno,Keiichi Horio,Takeshi Yamakawa,Kazuo Ishii

    SICE 2005   2865 - 2870   2005.08

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    岡山   2005.08.07  -  2005.08.09

  • A neural network based control system for a mobile robot employing link mechanism Reviewed

    Masanori Sato,Kazuo Ishii

    AIM'05   426 - 431   2005.08

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    USA   2005.08  -  2005.08

  • A gait-transition method for a quadruped walking robot Reviewed

    Seiji Masakado,Takayuki Ishii,Kazuo Ishii

    AIM'05   432 - 437   2005.08

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    USA   2005.08  -  2005.08

  • Control of an underwater manipulator mounted for an AUV considering dynamic manipulability Reviewed

    Makoto Ishitsuka,Kazuo Ishii

    BrainIT2005   p.108   2005.04

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    北九州   2005.04  -  2005.04

  • An autonomous underwater vehicle for observation of underwater structure Reviewed

    S. Ohata,K.Ishii

    BrainIT2005   p.107   2005.04

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    北九州   2005.04  -  2005.04

  • An adaptive controller system using mnSOM Reviewed

    Shuhei Nishida,Kazuo Ishii,Tetsuo Furukawa

    BrainIT2005   p.85   2005.04

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    北九州   2005.04  -  2005.04

  • Toward Realization of Swarm Intelligence Mobile Robots Reviewed

    Y.Takemura,M.Sato,K.Ishii

    BrainIT2005   p.88   2005.04

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    北九州   2005.04  -  2005.04

  • A Neural Network Based Controller System for a Wheel Type Mobile Robot Reviewed

    M.Sato,K.Ishii

    BrainIT2005   p.86   2005.04

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    北九州   2005.04  -  2005.04

  • Development of an artistic robot "Jumping Joe" Reviewed

    Amir A.F. Nassiraei,Seiji Masakado,Takayuki Matsuo,Kodai Ichikawa,hajime Fukushima,Masayuki Murata,Takashi Sonoda,Isao Takahira,Masaaki Yamashita,Masanori Sato,Kazuo Ishii,Tsutomu Miki,Tetsuya Yagi,Norbert Mayer,Tamaki Ura

    BrainIT2005   p.98   2005.04

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    北九州   2005.04  -  2005.04

  • Identification of Motion with Echo State Network Reviewed

    K.Ishii,T.Zant,V.Becanovic,P.Ploeger

    Proc. IEEE Oceans'04   1205 - 1230   2004.11

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    横浜   2004.11.09  -  2004.11.12

  • Applicability and Improvement of Underwater Video Mosaic System Using AUV Reviewed

    H.Sakai,T.Tanaka,S.Ohata,M.Ishitsuka,K.Ishii,T.Ura

    Proc. IEEE Oceans'04   659 - 664   2004.11

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    横浜   2004.11.09  -  2004.11.12

  • Biomimetic Intelligence in Robotics Reviewed

    K.Ishii,H.Miyamoto

    CD-ROM Proc. of SCIS/ISIS2004   2004.09

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    2004.09.21  -  2004.09.24

  • Optimization of Parameters of Echo State Network and Its Application to Underwater Robot Reviewed

    K.Ishii,T.Zant,V.Becanovic,P.Ploeger

    Proc. of SICE2004   2800 - 2805   2004.08

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    札幌   2004.08.04  -  2004.08.06

  • Bipedal walk using a Central Pattern Generator Reviewed

    Hironobu Inada,Kazuo ISHIi

    Brain-Inspired IT   1   185 - 188   2004.08

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  • Locomotion of a Quadruped Robot Using CPG Reviewed

    T.Ishii,S.Masakado,K.Ishii

    CD-ROM Proc. of IJCNN'04   2004.07

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    ハンガリー   ブタペスト   2004.07.25  -  2004.07.29

  • Finding good echo state networks to control an underwater robot using evolutionary computations Reviewed

    T.Zant,K.Ishii,V.Becanovic,P.Ploeger

    CD-ROM Proc. of IAV'04   2004.07

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    イタリア   2004.07.04  -  2004.07.06

  • 水中ロボットとニューラルネットワーク Reviewed

    石井和男,藤井輝夫,浦環

    日本ロボット学会誌   22 ( 6 )   727 - 731   2004.07

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  • A Self-Organizing Map Based Navigation System for an Underwater Vehicle Reviewed

    K. Ishii,S. Nishida,T.Ura

    Proc. of IEEE ICRA'04   4466 - 4471   2004.05

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    アメリカ   ニューオーリンズ   2004.05.03  -  2004.05.07

  • Dynamics Analysis and Resolved Acceleration Control of an Autonomous Underwater Vehicle Equipped with a Manipulator Reviewed

    M.Ishitsuka,S.Sagara,K.Ishii

    Proc. of IEEE UT'04   277 - 280   2004.04

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    台湾   台北   2004.04.27  -  2004.04.29

  • Underwater Video Mosaicing Using AUV and Its Application to Vehicle Navigation Reviewed

    H.Sakai,T.Tanaka,S.Ohata,T.Mori,K.Ishii,T.Ura

    Proc. of IEEE UT'04   405 - 410   2004.04

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    台湾   台北   2004.04.27  -  2004.04.29

  • Adaptive Learning to Environment using Self-Organizing Map and Its Application for Underwater Vehicles Reviewed

    S.Nishida,K.Ishii,T.Ura

    Proc. of UT'04   223 - 228   2004.04

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    台湾   台北   2004.04.27  -  2004.04.29

  • Bipedal walk using a Central Pattern Generator Reviewed

    H.Inada,K.Ishii

    Brain-Inspired IT   1   185 - 188   2004.04

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    2004.04  -  2004.04

  • Behavior Generation of Bipedal Robot Using Central Pattern Generator (CPG) (1st Report: CPG Parameters Searching Method by Genetic Algorithm) Reviewed

    Hironobu Inada,Kazuo Ishii

    Proc. of IROS'03   2179 - 2184   2003.11

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    米国   ラスベガス   2003.11  -  2003.11

  • An Adaptive Learning Method for SOM Based Navigation System and Its Application to an Underwater Robot Reviewed

    Kazuo Ishii,Shuhei Nishida,Tamaki Ura

    Proc. of WSOM'03   287 - 292   2003.07

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    北九州   2003.07  -  2003.07

  • A Navigation System for An Underwater Vehicle Using Self-Organizing Map Reviewed

    Shuhei Nishida,Kazuo Ishii,Tamaki Ura

    roc. of GCUV2003   101 - 106   2003.04

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    イギリス   ニューポート   2003.04  -  2003.04

  • A Collision Avoidance System based on Self-Organizing Map and its application to an Underwater Vehicle Reviewed

    K.Ishii,S.Nishida,K.Watanabe,T.Ura

    ICARCV2002   602 - 607   2002.12

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    シンガポール   2002.12.02  -  2002.12.05

  • A Navigation System for un Underwater Vehicle using the Self-Organizing Map Reviewed

    K.Ishii,S.Nishida,K.Watanabe,T.Ura

    ISOPE2002   284 - 289   2002.05

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    北九州   2002.05.26  -  2002.05.31

  • Path Planning System for a Mobile Robot using Self-Organizing Map Reviewed

    K.Ishii,K.Yano

    Proc. of ICII'01   32 - 37   2001.12

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    Beijing   2001.11.29  -  2001.12.02

  • A Novel Robot Vision Employing a Silicon Retina Reviewed

    K.Shimonomura,S.Kameda,K.Ishii,T.Yagi

    Journal of Robotics and Mechatoronics   13 ( 6 )   614 - 620   2001.10

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  • 電動車椅子用低価格コントローラシステムの開発

    石井和男,中島賢

    北九州医工学術者協会誌   12 ( 1 )   53 - 54   2001.05

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  • 要介護者の自立を支援する自走式移動機器の開発

    小田敦子,佐藤隆制,石井和男,岡本卓,緒方純俊,竹内正俊

    北九州医工学術者協会誌   11 ( 1 )   44 - 47   2000.04

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  • An adaptive neural-net controller system for au underwater vehicle Reviewed

    Kazuo ISHII,Tamaki URA (Univ. of Tokyo)

    Control Engineering Practice   8 ( 2 )   177 - 184   2000.02

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  • Adaptive Neural-net Controller System for Underwater Vehicle Reviewed

    Kazuo ISHII,Tamaki URA

    Proc. of IFAC CAMS'98   195 - 200   1998.10

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    Fukuoka   1998.10.27  -  1998.10.30

  • Neural Network System for On-line Controller Adaptation and Its Application to Underwater Robot Reviewed

    Kazuo ISHII,Teruo FUJII(RIKEN),Tamaki URA(Univ. of Tokyo)

    Proc. of IEEE/ICRA '98   756 - 760   1998.05

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    ベルギー   Leuven, Belgium   1998.05.16  -  1998.05.20

  • ニューラルネットによる潜水艇の運動の同定(その3:学習による外乱への適応) Reviewed

    石井,藤井,浦,能勢

    日本造船学会論文集   182   469 - 479   1997.12

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  • 自己訓練と学習に基づく海中ロボットの運動制御 Reviewed

    藤井,浦,須藤,石井

    日本ロボット学会誌   13 ( 7 )   1006 - 1019   1995.10

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    代表的研究業績

  • Ishii. K, Fujii. T, Ura. T, "An On-Line Adaptation Method in a Neural Network Based Control System for AUVs" Reviewed

    Kazuo Ishii,Teruo Fujii,Tamaki Ura

    IEEE Journal of Oceanic Engineering   20 ( 3 )   221 - 228   1995.07

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  • ニュ-ラルネットワークによる潜水艇の運動の同定 (その2:学習過程の改良とコントローラ調整への適用) Reviewed

    石井,浦,藤井

    本造船学会論文集   177   29 - 435   1995.06

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  • ニューラルネットによる潜水艇の運動の同定 Reviewed

    浦,石井

    本造船学会論文集   174   887 - 892   1993.12

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  • ニューラルネット形成時の学習領域の記憶と知識の獲得 Reviewed

    浦,石井

    日本造船学会論文集   171   587 - 593   1992.06

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▼display all

Publications (Books)

  • Safety of Marine Transport, Marine Navigation and Safety of Sea Transportation

    K. Watanabe, K. Ishii, K, Takashima(Contributor ,  Experimental Study for the Development of Ship Hull Cleaning Robot)

    CRC Press  2015.06  ( ISBN:978-1-138-02859-3

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    Total pages:3006   Responsible for pages:233-240   Language:English

    Recent trend towards increased cost of fuel will continue further, so the reduction of fuel consumption will be required more severely as well as the severe requirement of reduction of C02 emissions. To achieve these requirements, the reduction of resistance is essential for efficient ship navigation. As there has been made many technological challenges to improve fuel efficiency, we believe the prevention of marine biofouling is one of the promising options. Anti-fouling paint is effective to prevent biofouling to the ship hulls like barnacles, however, even the painted hull acquires slime-like biofouling caused by marine alga on its surface easily. The cleaning of the ship hull is generally carried out during inspection in dockyard once a year. Frequent cleaning while the ship is berthing is desirable to keep good fuel efficiency. If frequent ship hull cleaning is possible while ships dock at berth with ease, ships can keep good fuel efficiency that makes the transportation costs and C02 production less. Cleaning by divers costs much and is a high risk task. One possible solution for this issue is to introduce underwater robots for ship hull cleaning.

Conference Prsentations (Oral, Poster)

  • 人間とロボットが共生する未来社会のあり方を考える学研ヒルズ学際駅伝大会

    藤永 拓矢,Sungmin Nam,筑紫 彰太,石井 和男,浦 環

    日本ロボット学会学術講演会2019  日本ロボット学会

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    Event date: 2019.09.03 - 2019.09.06   Language:English  

  • Strategy Analysis by Self-Organizing Map Using player's positioning

    TOMINAGA Moeko, TAKEMURA Yasunori, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Vision-Based Behavior Strategy for Tomato Harvesting Robot (III):- Feature point matching for mosaic image generation expressing cultivation environment-

    FUJINAGA Takuya, YASUKAWA Shinsuke, Li Binghe, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Research and development for long-term deployment of autonomous underwater vehicle

    NAKAMURA Keisuke, NAKANISHI Ryota, ISHII Kazuo, SONODA Takashi

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Object tracking based on data integration by autonomous soccer robots

    GONDAI Takuhiro, SHIMADA Ryota, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Image sensing system for an underwater robot with a benthos sampling function

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

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Development of End-Effector for Harvesting Tomato Using Suction and Cutting Mechanism

    LI Binghe, URA Takanori, FUJINAGA Takuya, YASUKAWA Shinsuke, SONODA Takashi, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Development of ball handling mechanism for RoboCup soccer robot:-Third report: Verification experiments and evaluation of the ball operation for dribbling action-

    CHIKUSHI Shota, WEERAKOON Tharindu, SONODA Takashi, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Development of kick system in RoboCup Soccer

    MACHIDA Naoto, HISANO Kenji, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Measurement of trees in the forest using Multi Rotor Helicopter

    SHINOHARA Kosuke, KATAYAMA Sho, HORI Wataru, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Underwater three-dimensional measurement using RGB structured-light:-Verification of basic theory-

    SHIINNOKI Tomoya, NISHIDA Yuya, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Implementation Challenge & Cover tactics to the soccer robots

    MINAMIZAKI Ryogo, MATSUMOTO Kohei, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Efficient Place Recognition Using Saliency Detection by Mobile Robot

    MOCHIZUKI Ryuugo, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Development of Antagonistic High Power Joint Mechanism by using Cam

    SUZUKI Katsuaki, NISHIDA Yuya, SONODA Takashi, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Underwater Manipulator for Sampling Mission with AUV in Deep-Sea

    Weerakoon Tharindu, Sonoda Takashi, Nassiraei Amir Ali Forough, Godler Ivan, Ishii Kazuo

    Robomech 

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    Event date: 2017.01   Language:English  

    CiNii Article

  • Development of self-localization system combining local / global position estimation for RoboCup soccer robot.

    MATSUDA Yukiko, WATANABE Shuta, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • Development of navigation system for AUV

    MASUDA Koji, FUJIWARA Shinya, ISHII Kazuo

    Robomech 

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    Event date: 2017.01   Language:Japanese  

    CiNii Article

  • 船底清掃を目的とした水中システムの開発 -第4報: 船底モザイク画像作成におけるキーポイントの変位推定-

    望月隆吾

    ロボティクスシンポジア2016 

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    Event date: 2016.03.17 - 2016.03.18   Language:Japanese  

  • 球体の運動制御とホイル配置の一般論 -ボール保持機構のホイル配置問題-

    木村憲二

    ロボティクスシンポジア2016 

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    Event date: 2016.03.17 - 2016.03.18   Language:Japanese  

  • Obstacle avoidance algorithm with consideration of wheel load change

    ISHIKURA Makito, WATANABE Shuta, KUWADA Masafumi, ISHII Kazuo

    Robomech 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Vision-Based Behavior Strategy for Tomato Harvesting Robot (II):- Ripe Fruit Detection Method Using Infrared Images and Specular Reflection -

    YASUKAWA Shinsuke, NISHIO Masaya, LI Binghe, ISHII Kazuo

    Robomech 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

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

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

    Robomech 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Report of 2nd tomato robot competition:- Report about Junior department competion -

    Takemura Yasunori, Sonoda Takashi, Ishii Kazuo, Ura Tamaki

    Robomech 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Development of underwater wireless power supply system using resonant energy transfer

    Hidaka Shota, Kawashima Susumu, Ryota Nakanishi, Ishii Kazuo

    Robomech 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Development of Manipulator for Deep-Sea Benthic Organism Sampling Tasks:-First Report: Manipulator Structure and Control System-

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

    Robomech 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Development of SSBL Acoustic positioning system for underwater robot

    KAWASHIMA Susumu, ISHII Kazuo

    Robomech 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Formation Flight Control System for Multirotor Helicopters in Outdoors

    HORI Wataru, TAKIMOTO Takashi, Ishii Kazuo

    Robomech 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Ball passing behavior for middle sized RoboCup soccer Robots:-Develop of receive point selection algorithm-

    SHIMADA Ryota, KUWADA Masafumi, ISHIKURA Makito, CHIKUSHI Shota, SONODA Takashi, ISHII Kazuo

    Robomech 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Development of ball handling mechanism for RoboCup soccer robot:-Second report: Control and verification experiments of the ball operation for dribbling action-

    CHIKUSHI Shota, ISHII Kazuo, SONODA Takashi

    Robomech 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • Saliency detection method using prior information of signboard by machine learning:-Landmark detection using soft margin SVM-

    MOCHIZUKI Ryuugo, ISHII Kazuo

    Robomech 

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    Event date: 2016.01   Language:Japanese  

    CiNii Article

  • ホイルによる球体駆動の一 般論とその応用

    木村憲二

    SI2015  計測自動制御学会

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    Event date: 2015.12.14 - 2015.12.16   Language:Japanese  

  • 船底清掃を目的とした水中システムの開発

    望月隆吾

    日本ロボット学会学術講演会2015  日本ロボット学会

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    Event date: 2015.09.03 - 2015.09.05   Language:Japanese  

  • カムとタイミングベルトを用いた拮抗駆動型可変剛性機構

    園田隆

    日本ロボット学会学術講演会2015  日本ロボット学会

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    Event date: 2015.09.03 - 2015.09.05   Language:Japanese  

  • 球体の運動制御に関する研究

    木村 憲二

    日本ロボット学会学術講演会2015  日本ロボット学会

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    Event date: 2015.09.03 - 2015.09.05   Language:Japanese  

  • 競技会を通じたトマト収穫ロボットの開発

    石井和男

    ファジィシステムシンポジウム2015 

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    Event date: 2015.09.02 - 2015.09.03   Language:Japanese  

  • 船底清掃用水中ロボットの行動制御アルゴリズムと制御実験に関する報告

    石井和男

    第59回システム制御情報学会研究発表講演会  システム制御情報学会

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    Event date: 2015.05.20 - 2015.05.22   Language:Japanese  

  • 海底生物採取のためのグリッパー付き吸引装置の開発

    園田隆

    日本ロボット学会学術講演会2015  日本ロボット学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 視覚情報に基づくトマト果実収穫ロボットの行動戦略

    安川真輔

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 海底生物採取のためのサンプリング装置の開発

    藤井尚也

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 沿岸域調査用 AUV“DaryaBird”の開発

    河島晋

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • Center of Gravity Control Mechanism for Underwater ROV

    Robomech2015 

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 磁界共鳴方式を用いた水中ワイヤレス給電システムの開発 水中環境下における磁気共鳴方式給電の性能評価

    日高翔太

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 船底清掃用水中ロボットの制御系設計と清掃実験に関する報告

    佐藤錬磨

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 水中ロボットにおけるスラスタ配置と運動性能への影響に関する考察

    堀航

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 通信時間遅れを有する半自律水中ロボットの行動計画システムの開発

    藤井直也

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 自律型水中ロボットのドッキング制御に関する研究

    中西亮汰

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 深海底環境におけるロバストな色彩補正システム構築

    安鍾賢

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • ロボカップサッカー中型リーグにおけるパス行動に関する研究 第二報 パス地点選択アルゴリズムの高速化

    桑田将史

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • MATLAB/Simulink によるロボカップサッカーロボットの自己位置推定システムの開発

    渡辺周太

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • ロボカップサッカーロボットにおけるボール保持機構の開発 第一報:ドリブル時におけるボール操ロ作の運動解析及び制御

    筑紫彰太

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 遠心力を考慮した動的環境下における経路計画アルゴリズムの開発

    石倉万希斗

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 視線追従機能を有するヘッドライトシステムの構築

    品川雅治

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • 静脈血栓予防を目的とした下肢運動補助ロボットの軌道制御 第3報:下肢静脈流測定による性能評価

    服部智

    ロボティクス・メカトロニクス講演会2015  日本機械学会

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    Event date: 2015.05.17 - 2015.05.19   Language:Japanese  

  • Development of Tomato Harvesting Robot Through Competition

    Kazuo Ishii, Shinsuke Yasukawa, Takashi Sonoda, Binghe Li

    Proceedings of the Fuzzy System Symposium 

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    Event date: 2015.01   Language:Japanese  

    CiNii Article

  • 2P1-C06 Vision-Based Behavior Strategy for Tomato Harvesting Robot : 3D Reconstruction from Multi-images of Tomato bunch and Fruits' Pose Estimation

    YASUKAWA Shinsuke, LI Binghe, SONODA Takashi, ISHII Kazuo

    Robomech 

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    Event date: 2015.01   Language:Japanese  

    CiNii Article

  • 2A2-E04 Development of AUV "DaryaBird" for coastal survey : Peripheral modules for small underwater robot and system integration

    Kawashima Susumu, Hidaka Shota, Nakanishi Ryota, FUJII Naoya, Ishii Kazuo

    Robomech 

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    Event date: 2015.01   Language:Japanese  

    CiNii Article

  • 2A2-E02 Development of underwater wireless power supply system using resonant energy transfer : Performance evaluation of the resonant energy transfer in the underwater environment

    Hidaka Shota, Kawashima Susumu, Nakanishi Ryota, Ishii Kazuo

    Robomech 

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    Event date: 2015.01   Language:Japanese  

    CiNii Article

  • 2A2-E01 Control System Design of Ship Hull Cleaning Robot Report on cleaning experiment

    SATOH Remma, YAMAMOTO Masayuki, TOMA Ryo, Nam SungMin, WATANABE Keisuke, SONODA Takashi, FOROUGH NASSIRAEI Amir ali, ISHII Kazuo

    Robomech 

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    Event date: 2015.01   Language:Japanese  

    CiNii Article

  • 2A2-D06 Research on docking control of autonomous underwater vehicle

    ISHII Kazuo, SONODA Takashi, NAKANISHI Ryota, KAWASHIMA Susumu, HIDAKA Shota

    Robomech 

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    Event date: 2015.01   Language:Japanese  

    CiNii Article

  • 2A1-T08 Develon of robust color enhancement for deep-seafloor environment

    AHN Jonghyun, YASUKAWA Shinsuke, ISHII Kazuo, URA Tamaki

    Robomech 

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    Event date: 2015.01   Language:Japanese  

    CiNii Article

  • 2A1-N10 Ball passing behavior for middle sized RoboCup soccer Robots : High speeding technique of path point selection algorithm

    KUWADA Masafumi, ISHIKURA Makito, CHIKUSHI Shota, SONODA Takashi, ISHII Kazuo

    Robomech 

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    Event date: 2015.01   Language:Japanese  

    CiNii Article

  • 2A1-N07 Development of ball handling mechanism for RoboCup soccer robot : First report:Motion analysis and control of the ball operation for dribbling action

    CHIKUSHI Shota, SONODA Takashi, KUWADA Masafumi, ISHIKURA Makito, WATANABE Shuta, NASSIRAEI Amir A.F., ISHII Kazuo

    Robomech 

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    Event date: 2015.01   Language:Japanese  

    CiNii Article

  • 2A1-N05 Development of tomato harvesting robot through the tomato harvest robot competition

    LI Binghe, HAYASHI Masaaki, NISHIO Masaya, YASUKAWA Shinsuke, SONODA Takashi, Nassiraei Amir A.F., HORIO Keiichi, ISHII Kazuo

    Robomech 

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    Event date: 2015.01   Language:Japanese  

    CiNii Article

  • 2A1-N04 Path planning algorithm in dynamic environment considering centrifugal force

    ISHIKURA Makito, KUWADA Masafumi, CHIKUSHI Shota, ISHII Kazuo

    Robomech 

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    Event date: 2015.01   Language:Japanese  

    CiNii Article

  • 1P1-E03 The trajectory control of the lower limbs movement assistant robot aimed to prevent Deep-Vein Thromboprophylaxis : Performance assessment by measure leg vein

    HATTORI Satoru, LI Binghe, NASSIRAEI Amir A.F., OKAMOTO Kohji, ISHII Kazuo

    Robomech 

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    Event date: 2015.01   Language:Japanese  

    CiNii Article

  • トマトロボット競技会を通じたアグリロボット開発

    李冰賀

    日本ロボット学会学術講演会2014  日本ロボット学会

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    Event date: 2014.09.04 - 2014.09.06   Language:Japanese  

  • 単眼カメラによるトマト収穫用ロボットアームの視覚フィードバック制御

    安川真輔

    日本ロボット学会学術講演会2014  日本ロボット学会

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    Event date: 2014.09.04 - 2014.09.06   Language:Japanese  

  • RETINEXモデルを用いた海底画像の補正と生物認識アルゴリズムの構築

    安鍾賢

    日本ロボット学会学術講演会2014  日本ロボット学会

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    Event date: 2014.09.04 - 2014.09.06   Language:Japanese  

  • RoboCup中型リーグに向けた次世代 サッカーロボット”Musashi150”の開発

    筑紫彰太

    日本ロボット学会学術講演会2014  日本ロボット学会

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    Event date: 2014.09.04 - 2014.09.06   Language:Japanese  

  • 繰り返し計算によるマニピュレータの速度解析法 第2報:多関節マニピュレータの軌道制御への応用

    園田隆

    日本ロボット学会学術講演会2014  日本ロボット学会

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    Event date: 2014.09.04 - 2014.09.06   Language:Japanese  

  • RoboCupMSLに向けた次世代サッカーロボット”Musashi150”の開発

    筑紫彰太

    ファジィシステムシンポジウム2014  日本知能情報ファジィ学会

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    Event date: 2014.09.01 - 2014.09.03   Language:Japanese  

  • MATLAB/Simulinkを用いた自律型水中ロボット開発

    堀航

    ファジィシステムシンポジウム2014  日本知能情報ファジィ学会

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    Event date: 2014.09.01 - 2014.09.03   Language:Japanese  

  • AUVを用いた底生生物の観測システム構築に関する研究

    安鍾賢

    ロボティクス・メカトロニクス講演会2014  日本機械学会

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    Event date: 2014.05.25 - 2014.05.29   Language:Japanese  

  • 小型自律飛行体制御のための昆虫視覚系に学んだ自己運動推定システム

    上野冬貴

    ロボティクス・メカトロニクス講演会2014  日本機械学会

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    Event date: 2014.05.25 - 2014.05.29   Language:Japanese  

  • RoboCup中型リーグに向けた次世代サッカーロボットの開発

    筑紫彰太

    ロボティクス・メカトロニクス講演会2014  日本機械学会

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    Event date: 2014.05.25 - 2014.05.29   Language:Japanese  

  • RoboCupヒューマノイドリーグ競技ロボットの脚構造に関する研究

    佐藤錬磨

    ロボティクス・メカトロニクス講演会2014  日本機械学会

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    Event date: 2014.05.25 - 2014.05.29   Language:Japanese  

  • トマトロボット競技会の提案

    李冰賀

    ロボティクス・メカトロニクス講演会2014  日本機械学会

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    Event date: 2014.05.25 - 2014.05.29   Language:Japanese  

  • ロボカップサッカー中型リーグにおけるパス行動に関する研究

    桑田将史

    ロボティクス・メカトロニクス講演会2014  日本機械学会

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    Event date: 2014.05.25 - 2014.05.29   Language:Japanese  

  • 高出力関節機構を有する鰭型移動プラットフォームの開発

    西田祐也

    ロボティクス・メカトロニクス講演会2014  日本機械学会

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    Event date: 2014.05.25 - 2014.05.29   Language:Japanese  

  • 教育・研究用遠隔操作型水中ロボットの開発

    岩根豊明

    ロボティクス・メカトロニクス講演会2014  日本機械学会

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    Event date: 2014.05.25 - 2014.05.29   Language:Japanese  

  • 水中での高速サンプリング動作のための機構設計

    園田隆

    ロボティクス・メカトロニクス講演会2014  日本機械学会

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    Event date: 2014.05.25 - 2014.05.29   Language:Japanese  

  • モンテカルロ近似を用いた目的地候補点表現による目的地探索アルゴリズム

    堀航

    ロボティクス・メカトロニクス講演会2014  日本機械学会

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    Event date: 2014.05.25 - 2014.05.29   Language:Japanese  

  • 繰り返し計算によるマニピュレータの速度解析法

    園田隆

    日本ロボット学会学術講演会2013  日本ロボット学会

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    Event date: 2013.09.04 - 2013.09.06   Language:Japanese  

  • 海底生物捕獲を目的とした水中ロボットハンドの研究開発

    石井和男

    日本ロボット学会学術講演会2013  日本ロボット学会

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    Event date: 2013.09.04 - 2013.09.06   Language:Japanese  

  • 船底清掃を目的とした水中システムの開発

    フォローナシライ アミルアリ

    日本ロボット学会学術講演会2013  日本ロボット学会

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    Event date: 2013.09.04 - 2013.09.06   Language:Japanese  

  • 海底生物捕獲を目的とした水中ロボットハンドの研究開発

    石井和男

    Movic2013  日本機械学会

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    Event date: 2013.08.27 - 2013.08.30   Language:Japanese  

  • 船底清掃ロボットにおける船底吸着力と清掃能力に関する研究

    石井和男

    Movic2013  日本機械学会

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    Event date: 2013.08.27 - 2013.08.30   Language:Japanese  

  • 海洋生物サンプリングデバイスの開発

    安鍾賢

    ロボティクス・メカトロニクス講演会2013  日本機械学会

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    Event date: 2013.05.22 - 2013.05.25   Language:Japanese  

  • 水中生物捕獲のための高速サンプリングデバイスの開発

    園田隆

    ロボティクス・メカトロニクス講演会2013  日本機械学会

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    Event date: 2013.05.22 - 2013.05.25   Language:Japanese  

  • AUVに搭載可能な海底土類採取装置に関する研究

    横道匠

    ロボティクス・メカトロニクス講演会2013  日本機械学会

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    Event date: 2013.05.22 - 2013.05.25   Language:Japanese  

  • RoboCup中型リーグに向けた高速移動サッカーロボットの開発

    筑紫彰太

    ロボティクス・メカトロニクス講演会2013  日本機械学会

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    Event date: 2013.05.22 - 2013.05.25   Language:Japanese  

  • RoboCup homeリーグ用全方位移動ロボットの開発

    樋口聖弥

    ロボティクス・メカトロニクス講演会2013  日本機械学会

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    Event date: 2013.05.22 - 2013.05.25   Language:Japanese  

  • 蛇型ロボットの傾斜環境登坂に関する研究

    松尾貴之

    ロボティクス・メカトロニクス講演会2013  日本機械学会

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    Event date: 2013.05.22 - 2013.05.25   Language:Japanese  

  • 自律型移動ロボットのた めの自動充電システムの開発と実機検証

    川口祐己, 石井和男

    SI2012  計測制御自動学会

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    Event date: 2012.12.18 - 2012.12.20   Language:Japanese  

  • 学的相互作用を用いて構成された神経振動子ネットワークによる蛇型ロボットの環境適応制御

    松尾貴之, 園田隆,浜松弘,石井和男

    SI2012  計測制御自動学会

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    Event date: 2012.12.18 - 2012.12.20   Language:Japanese  

  • 非線形な運動変換のためのカム設計

    園田隆, 石井和男

    SI2012  計測制御自動学会

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    Event date: 2012.12.18 - 2012.12.20   Language:Japanese  

  • RoboCupサッカーにおけるパス行動アルゴ リズムの有効性検

    藤本和孝,石井和男,北住祐一

    日本ロボット学会学術講演会2012  日本ロボット学会

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    Event date: 2012.09.17 - 2012.09.20   Language:Japanese