研究者詳細 - 石井　和男

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Development of Dam Inspection Underwater Robot 査読有り国際誌

Hiroyasu Hirai, Kazuo Ishii

Journal of Robotics, Networking and Artificial Life ( Atlantis Press ) 6 ( 1 ) 18 - 22 2019年06月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

The maintenances of social infrastructures such as dams and bridges are important subjects. The older the infrastructure becomes, the more need there is for effective inspection methods. In the inspection of the underwater dam structure, divers can be used, but the inspection result is insufficient. We developed an underwater inspection robot for use not only with dams, but in bridges, etc. It can do video capture, indirect measurement using a laser, depth and heading keeping as well as having other functions too. The underwater inspection robot was tested in an actual dam inspection where it showed its’ effectiveness.

DOI： 10.2991/jrnal.k.190531.004

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An AUV Based Method for Estimating Hectare-scale Distributions of Deep Sea Cobalt-rich Manganese Crust Deposits 査読有り国際誌

Umesh Neettiyath, Blair Thornton, Mehu Sangekar, Yuya Nishida, Kazuo Ishii,Takumi Sato, Adrian Bodenmann

Proc. of OCEANS 2019 - Marseille ( IEEE ) 2019-June 1 - 6 2019年06月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

France Marseille 2019年06月17日 - 2019年06月20日

A method for estimating the volumetric distribution of Cobalt-rich Manganese Crusts (Mn-crusts) by combining multi modal sensor data collected using an Autonomous Underwater Vehicle (AUV) is described. The AUV calculates the thickness of Mn-crusts using a sub-bottom sonar and generates a 3D colour reconstruction of the seafloor using a light sectioning mapping system. The 3D map is classified into one of the 3 types of seafloor - crusts, sediments and nodules, using a machine learning classifier. The thickness measurements are made along a seafloor transect whereas the 3D maps have a width of ~1.5 m, depending on the AUV altitude. The thickness measurement is then extrapolated to areas not scanned by the sonar, by defining an area of influence which is the area over which the thickness of the Mn-crust is not expected to change significantly. Estimates for percentage coverage of the Mn-crust and mass of Mn-crust per unit area are determined along the AUV transect based on the extrapolated thickness. This method provides a novel approach to estimate the distribution of Mn-crusts over large areas.

DOI： 10.1109/OCEANSE.2019.8867481

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カムを用いた拮抗型高出力関節機構の開発（第２報）:―瞬発動作における出力値の推定精度向上に関する検討―

鈴木克彰, 西田祐也, 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 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 1P2 - K09 2019年06月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

日本広島 2019年06月06日 - 2019年06月09日

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.

DOI： 10.1299/jsmermd.2019.1P2-K09

その他リンク： https://ci.nii.ac.jp/naid/130007774443

視覚障害者の転落事故低減を目的とする電子歩行補助具の開発:―振動刺激位置提示による路面環境情報伝達法の提案と評価―

片山大悟, 石井和男, 仲泊聡, 山田千佳子, 別府あかね, 和田浩一

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 2A2 - B03 2019年06月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

日本広島 2019年06月06日 - 2019年06月09日

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.

DOI： 10.1299/jsmermd.2019.2A2-B03

Kyutacar

その他リンク： https://ci.nii.ac.jp/naid/130007774800

多段階露光型カメラの露光時間調整法の検討

奈須野智弘, 安川真輔, 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 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 2P2 - H10 2019年06月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

日本広島 2019年06月06日 - 2019年06月09日

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.

DOI： 10.1299/jsmermd.2019.2P2-H10

その他リンク： https://ci.nii.ac.jp/naid/130007775289

ハードウェア構成の変更可能なトマト収穫ロボットの開発

藤永拓矢, 李冰賀, 砂本滉太, 田中怜, 奈須野智弘, 武藤冬樹, 安川真輔, 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 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 1A1 - E08 2019年06月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

日本広島 2019年06月06日 - 2019年06月09日

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.

DOI： 10.1299/jsmermd.2019.1A1-E08

その他リンク： https://ci.nii.ac.jp/naid/130007774067

ニューラルネットワークを用いたロボットサッカーの戦術分析

富永萌子, 武村泰範, 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 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 1P2 - I01 2019年06月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

日本広島 2019年06月06日 - 2019年06月09日

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.

DOI： 10.1299/jsmermd.2019.1P2-I01

その他リンク： https://ci.nii.ac.jp/naid/130007774523

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

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年04月

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

台湾 Kaohsiung 2019年04月16日 - 2019年04月19日

© 2019 IEEE. This research has developed AUV Tuna-Sand2 for wide area survey and benthos sampling to understand biological diversity for sustainable use of living marine resources. For evaluating sampling system of the AUV, the AUV was deployed at 100 m depth in Sagami bay of Japanese. The AUV which received image number of sampling target, returned to its photographing point, and started to search the target by the image processing. After finding the target, the AUV shifted to sampling altitude and succeeded in suction the shell using suctioning of mounted manipulator.

DOI： 10.1109/UT.2019.8734330

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Underwater Vehicle Localization Considering the Effects of its Oscillation 査読有り国際誌

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

2019 IEEE International Underwater Technology Symposium, UT 2019 - Proceedings ( IEEE ) 4ページ 2019年04月

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

台湾 Kaohsiung 2019年04月16日 - 2019年04月19日

© 2019 IEEE. There are many marine resources in Japanese ocean, those have been surveyed by a underwater robot. The accuracy of the resources survey results using the vehicle depends on the accuracy of its self-localization. Thus, we propose a self-localization method by Kalman filter consdering the effect of vehicle's oscillation and the effect of the current. It is possible to reduce the positioning accuracy by 0.2 m by considering the effect of the vehicle's oscillation. In future work, we will develop an algorithm considering delay time for sensor fusion with acoustic positioning device.

DOI： 10.1109/UT.2019.8734461

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

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年04月

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

台湾 Kaohsiung 2019年04月16日 - 2019年04月19日

© 2019 IEEE. This study focuses on the two vision-based control technologies for sampling-AUV(S-AUV) to observe and sample objects on the seabed. One is the visual interface between shipboard researchers and the S-AUV via an acoustic modem for obtaining the seabed information. We are able to select the sampling target object in-situ using this visual interface and instruct it to the S-AUV. The other is the visual tracking technique for sampling target objects in the underwater environment. We succeeded three times in a row in sampling experiments at a depth of 80m-120m in Suruga Bay in March 2018.

DOI： 10.1109/UT.2019.8734462

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Classification and statistical analysis of hydrothermal seafloor rocks measured underwater using laser-induced breakdown spectroscopy 査読有り国際誌

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

Journal of Chemometrics ( Wiley ) 33 ( 2 ) e3092 13ページ 2019年02月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2018 John Wiley & Sons, Ltd. This study investigates the use of statistical methods for the classification of laser-induced breakdown spectroscopy (LIBS) measurements of water-immersed rocks with respect to their labels and geological groups. The analysis is performed on deep-sea hydrothermal deposit rocks. These rocks are categorized on the basis of the relative ratio of Zn-Pb-Cu on a ternary diagram. The proposed method demonstrates that the accurate classification of rocks with respect to their labels and geological group from the LIBS data can be successfully achieved by combining principal component analysis (PCA), which reduces the dimensionality of the data, with classification algorithms such as the support vector machine (SVM), k-nearest neighbor search (KNN), and artificial neural network (ANN) methods. The performance of the classification algorithms depends on the size of the dataset. Additionally, removing the linear trend from the data enhances the performance of the classification in terms of sensitivity. The best classification performance concerning the rock label is obtained using an SVM linear kernel algorithm with 95% sensitivity. The best classification performance concerning the geological group is obtained using the SVM method with 98% accuracy. The one-sided Wilcoxon signed rank test is applied to the classification results in the rock label and group cases, and the results indicate that the SVM algorithm has statistical significance over the other algorithms while classifying the rock labels and rock group.

DOI： 10.1002/cem.3092

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

Bingh Li, Shinsuke Yasukawa, Takuya Fujinaga, Kazuo Ishii

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 544 - 547 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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

Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with an Adjustable Contact Patch for a Grape Transporting Robot 査読有り国際誌

Enrico di Maria, Kazuo Ishii

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 501 - 504 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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

Evaluation of Multi-Drone Wireless Network Properties for Tunnel Inspection 査読有り国際誌

Raji Alahmad, Kazuo Ishii

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 493 - 496 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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

Proposition of Saliency map Based on the Maximization of Center-Surround Difference 査読有り国際誌

Ryuugo Mochizuki, Shinsuke Yasukawa, Kazuo Ishii

Proc. of ICAROB2019 24 487 - 492 2019年01月

Development of dam inspection underwater robot 査読有り国際誌

Hiroyasu Hirai, Kazuo Ishii

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 528 - 531 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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

Three-dimensional Measurement Using Laser Pattern And Its Application to Underwater Scanner 査読有り国際誌

Yuya Nishida, Tomoya Shinnoki, Shinsuke Yasukawa, Kazuo Ishii

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 525 - 527 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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

Inspection System for Underwater Structure of Bridge Pier 査読有り国際誌

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

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 521 - 524 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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