研究者詳細 - 石井　和男

論文 - 石井　和男

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System Development of AUV's Sampling Device Controller Employing MATLAB/Simulink Toolboxes 査読有り国際誌

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

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 517 - 520 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

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 査読有り国際誌

Kenji Kimura, Shota Chikushi, Kazuo Ishii

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 548 - 552 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

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 査読有り国際誌

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

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 540 - 543 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 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 査読有り国際誌

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

International Conference on Control, Automation and Systems 2018 ( ICROS ) 2018-October 420 - 423 2018年10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）

韓国 PyeongChang 2018年10月17日 - 2018年10月20日

© ICROS. Recently, Autonomous Underwater Vehicles (AUVs) provide high resolution seafloor images to the researchers. The provided images are classified by the researchers one by one, and this task increases the burden on the researchers. In this research, we propose an automatic classification method for the sea creatures using convolutional neural networks to provide the requested information, such as crab images, to researcher. The proposed method is comprised image enhancement process, segmentation process and classification process. In the image enhancement process, which is used Retinex model, the visibility of seafloor images is improved. For the candidate’s area selection, the Saliency map is employed to extract the represented areas in seafloor images. In the classification process, the selected areas are recognized based on the biological group. The total candidate detection rate was 64%, and the total recognition accuracy was 67% by the evaluation.

Scopus

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Relationship Sugar Content of Ripe Tomatoes and Intensity on Infrared Image 査読有り国際誌

Takuya Fujinaga, Kazuo Ishii

International Conference on Control, Automation and Systems 2018 ( ICROS ) 2018-October 2018年10月

Recognition of an Object Pointed at by a Person by using Robot Head Control and Motion Sensor 査読有り国際誌

Moeko Tominaga, Yasunori Takemura, Kazuo Ishii

International Conference on Control, Automation and Systems 2018 ( ICROS ) 2018-October 2018年10月

Flounders measurement system using obtained optical images by AUV 査読有り国際誌

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

2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 ( IEEE/MTS ) 2018年05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）

日本神戸 2018年05月28日 - 2018年05月31日

© 2018 IEEE. The observation of marine life by autonomous underwater vehicle and the marine life counting and measurement system are highly required for the fisheries resources management. In this research, we propose an automatic flounder, which is valuable as a food resource, length measurement system. The proposed system consists of the image enhancement process, selection region of candidate process, recognition process and measurement process. In the image enhancement process, the Retinex theory is employed to improve visibility of seafloor image, and the enhanced image used to select candidate region in the selection region of candidate process. Then, AlexNet, which is object recognition algorithm based on convolutional neural networks, employed for the flounder recognition, and the length of recognized flounder is estimated by measurement process. Flounders are inhabited on seafloor and the shape does not change significantly, by these properties, the length of flounders is estimated using a straight line from head to tail in the measurement process. For evaluation, 10 seafloor images, which are obtained by AUV, are used. The result of evaluation, the region selection error was 31%, recognition accuracy was 85% and the average of error of estimated flounder’s length was 6 pixels.

DOI： 10.1109/OCEANSKOBE.2018.8559296

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85060275645&origin=inward

Vision system for an autonomous underwater vehicle with a benthos sampling function 査読有り国際誌

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

Journal of Robotics and Mechatronics ( 富士技術出版 ) 30 ( 2 ) 248 - 256 2018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（学術雑誌）

© 2018, Fuji Technology Press. All rights reserved. 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.

DOI： 10.20965/jrm.2018.p0248

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85049165476&origin=inward

Underwater platform for intelligent robotics and its application in two visual tracking systems 査読有り国際誌

Nishida Y., Sonoda T., Yasukawa S., Nagano K., Minami M., Ishii K., Ura T.

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 30 ( 2 ) 238 - 247 2018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（学術雑誌）

© 2018, Fuji Technology Press. All rights reserved. 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.

DOI： 10.20965/jrm.2018.p0238

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85049226634&origin=inward

Special issue on advanced robotics in agriculture, forestry and fisheries 招待有り査読有り国際誌

Ishii K., Hayashi E., Misron N., Thornton B.

Journal of Robotics and Mechatronics ( Journal of Robotics and Mechatronics ) 30 ( 2 ) 163 - 164 2018年04月

担当区分：筆頭著者記述言語：英語掲載種別：記事・総説・解説・論説等（学術雑誌）

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.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.We hope that this special issue can contributes to find solutions in primary industries, agriculture, forestry and fisheries.

DOI： 10.20965/jrm.2018.p0163

Scopus

CiNii Article

CiNii Research

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Image mosaicing using multi-modal images for generation of tomato growth state map 査読有り国際誌

Fujinaga T., Yasukawa S., Li B., Ishii K.

Journal of Robotics and Mechatronics ( 富士技術出版 ) 30 ( 2 ) 187 - 197 2018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（学術雑誌）

© 2018, Fuji Technology Press. All rights reserved. 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 har-vestable 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.

DOI： 10.20965/jrm.2018.p0187

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85049187587&origin=inward

Automatic recognition of benthic species using image processing 査読有り国際誌

Soejima Yuki, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 23 779 - 782 2018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（国際会議プロシーディングス）

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

CiNii Research

Recognition of Tomato Fruit Regardless of Maturity by Machine Learning Using Infrared Image and Specular Reflection 査読有り国際誌

Fujinaga Takuya, Yasukawa Shinsuke, Li Binghe, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 23 761 - 766 2018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（国際会議プロシーディングス）

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

CiNii Research

Strategy Analysis of Multi-Agent Games Using Self-Organizing Map 査読有り

Tominaga Moeko, Takemura Yasunori, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 23 757 - 760 2018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（国際会議プロシーディングス）

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 査読有り国際誌

Masuda Koji, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 23 783 - 785 2018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（国際会議プロシーディングス）

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

CiNii Research

Seafloor Image Color Enhancement Method based on Retinex model and Experiment Report in the undersea environment 査読有り国際誌

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

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 23 736 - 739 2018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（国際会議プロシーディングス）

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

CiNii Research

Slip model of roller driven ball 査読有り国際誌

Kenji Kimura, Shota Chikushi, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics ( 株式会社ALife Robotics ) 23 753 - 756 4 pages 2018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（国際会議プロシーディングス）

別府 2018年02月01日 - 2018年02月04日

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

CiNii Research

Simulation of horizontal vibration suppression of a suspended structure for seabed mining 査読有り国際誌

Keisuke Watanabe, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics ( 株式会社ALife Robotics ) 23 740 - 743 4 pages 2018年02月

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

別府 2018年02月01日 - 2018年02月04日

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

CiNii Research

AUV homing using acoustic chirp signal 査読有り

Koji Masuda, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics 4 pages 2018年02月

Automatic recognition of benthic species using image processing 査読有り

Yuki Soejima, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics 4 pages 2018年02月

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