研究者詳細 - 石井　和男

口頭発表・ポスター発表等 - 石井　和男

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視覚情報に基づくトマト果実収穫ロボットの行動戦略（第二報）:―赤外線画像と鏡面反射を利用した果実検出技術を中心に―

安川真輔, 西尾将冶, 李冰賀, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2016年01月記述言語：日本語

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.

CiNii Article

自律海中ロボットの視覚情報共有を目的にした画像圧縮と復元手法

安鍾賢, 安川真輔, 園田隆, 西田祐也, 石井和男, 浦環

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2016年01月記述言語：日本語

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.

CiNii Article

第二回トマトロボット競技会の開催報告:―ジュニア部門大会報告―

武村泰範, 園田隆, 石井和男, 浦環

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2016年01月記述言語：日本語

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.

CiNii Article

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第二報

日高翔太, 河島晋, 中西亮汰, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2016年01月記述言語：日本語

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.

CiNii Article

深海底生生物サンプリングのための水中ロボットマニピュレータの開発:― 第一報：マニピュレータの構造及びシステム ―

園田隆, 安川真輔, 安鐘賢, ナシライ・アミール・アリ・フォロー, 西田祐也, 石井和男, 浦環

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2016年01月記述言語：日本語

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.

CiNii Article

水中ロボット用SSBL方式音源定位システムの開発

河島晋, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2016年01月記述言語：日本語

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.

CiNii Article

屋外環境下におけるマルチローターヘリコプターの編隊飛行制御システム

堀航, 滝本隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2016年01月記述言語：日本語

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.

CiNii Article

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3報レシーブ地点選択アルゴリズムの開発－

嶋田凌太, 桑田将史, 石倉万希斗, 筑紫彰太, 園田隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2016年01月記述言語：日本語

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.

CiNii Article

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:―第二報：ボールドリブル時におけるボール操作の制御及び実機での検証―

筑紫彰太, 石井和男, 園田隆

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2016年01月記述言語：日本語

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.

CiNii Article

ランドマークの事前情報を活用した環境画像のサリエンシー検出:―ソフトマージンSVMによるランドマーク認識―

望月隆吾, 石井和男

ロボティクス・メカトロニクス講演会講演概要集

開催期間： 2016年01月記述言語：日本語

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.

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

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

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

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

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

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

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

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

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

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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口頭発表・ポスター発表等 - 石井 和男

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口頭発表・ポスター発表等 - 石井　和男