Faculty Profiles - ISHII Kazuo

Papers - ISHII Kazuo

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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

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

日本広島 2019.06.06 - 2019.06.09

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

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

Authorship：Last author,　Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

日本広島 2019.06.06 - 2019.06.09

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

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

Authorship：Last author,　Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

日本広島 2019.06.06 - 2019.06.09

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

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

Authorship：Last author,　Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

日本広島 2019.06.06 - 2019.06.09

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

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

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85068434323&origin=inward

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

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85068478136&origin=inward

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

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.2019.8734462

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85068449860&origin=inward

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

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

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

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

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

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 Article

CiNii Research

Other Link： https://kyutech.repo.nii.ac.jp/records/6965

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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 Article

CiNii Research

Other Link： https://kyutech.repo.nii.ac.jp/records/6986

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

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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Papers - ISHII Kazuo