研究者詳細 - 石井　和男

論文 - 石井　和男

分割表示489 件中 241 - 260 件目／全件表示 >>

Development of Underwater Wireless Power Supply System Using Resonant Energy Transfer 査読有り

Hidaka Shota, Kazuo Ishii, Keisuke Watanabe

Proc. of The 2017 International Conference on Artificial ALife and Robotics 258 - 261 4 pages 2017年01月

Development of Self-Diagnosis System of an Autonomous Underwater Vehicle Tuna-Sand 2 査読有り

Naoya Fujii, Yuya Nishida, Kazuo Ishii

Proc. of The 2017 International Conference on Artificial ALife and Robotics 254 - 257 4 pages 2017年01月

Floating LBL concept for underwater position detection 査読有り

Keisuke Watanabe, Kazuo Ishii

Proc. of The 2017 International Conference on Artificial ALife and Robotics 246 - 249 4 pages 2017年01月

A New Tool to Access Deep-Sea Floor "Sampling-AUV" 招待有り査読有り国際誌

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

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 ) 22 300 - 302 2017年01月

担当区分：筆頭著者,　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 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

Development of End-effector for Sampling-AUV "TUNA-SAND2" 査読有り国際誌

Ishii Kazuo, Nishijima Atsushi, Sonoda Takashi, Watanabe Keisuke

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 ) 22 262 - 265 2017年01月

担当区分：筆頭著者,　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）

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

カーロボ連携大学院での自動車・ロボットの知能化高度化に向けた専門人材育成査読有り

森江隆, 石井和男, 我妻広明, 田向権, 榎田修一, 齊藤剛史, 松永良一, 松波勲, 大貝晴俊

工学教育 ( 公益社団法人日本工学教育協会 ) 65 ( 4 ) 4_51 - 4_56 2017年01月

記述言語：日本語掲載種別：研究論文（学術雑誌）

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

その他リンク： https://ci.nii.ac.jp/naid/130005966874

第２回森のドローン・ロボット競技会開催報告

武村泰範, 林英治, 大竹博, 大橋健, 亀井圭史, 石井和男

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 33 ( 0 ) 651 - 654 2017年01月

Underwater Manipulator for Sampling Mission with AUV in Deep-Sea

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

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 ) 2017 ( 0 ) 2P1-F11 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-F11/_pdf

チャレンジ＆カバー戦術のサッカーロボットへの実装

南﨑亮吾, 松本康平, 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 ) 2017 ( 0 ) 2P1-J10 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J10/_pdf

サリエンシーマップを使用した移動ロボットの場所認識の高効率化

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 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 1P2-J04 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1P2-J04/_pdf

カムを用いた拮抗型高出力関節機構の開発

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 ) 2017 ( 0 ) 2A1-A06 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A1-A06/_pdf

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

筑紫彰太, タリンドゥウィラコーン, 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 ) 2017 ( 0 ) 2P1-K09 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K09/_pdf

RoboCup サッカーロボットにおける局所的/大域的な位置推定を組み合わせた自己位置推定システムの開発

松田恕子, 渡邊周太, 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 ) 2017 ( 0 ) 2P1-J12 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J12/_pdf

AUV のためのナビゲーションシステムの開発

益田晃次, 藤原晋也, 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 ) 2017 ( 0 ) 2P1-E09 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-E09/_pdf

選手のポジショニングを用いた自己組織化マップによる戦略分析

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 ) 2017 ( 0 ) 2P1-K07 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K07/_pdf

視覚情報に基づくトマト果実収穫ロボットの行動戦略（第三報）

藤永拓矢, 安川真輔, 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 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 1A1-B05 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-B05/_pdf

自律型水中ロボットの長期間展開に向けた研究開発

中村佳祐, 中西亮汰, 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 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2P1-F07 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-F07/_pdf

自律型サッカーロボット群によるデータ統合に基づく物体追跡

權代拓大, 嶋田凌太, 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 ) 2017 ( 0 ) 2P1-J11 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J11/_pdf

深海底生物捕獲ロボットのための画像センシングシステム

安川真輔, 安鍾賢, 西田祐也, 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 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2A2-G09 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A2-G09/_pdf

吸引と切断機構を用いたトマト収穫用エンドエフェクタの開発

李冰賀, 浦孝徳, 藤永拓矢, 安川真輔, 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 ) 2017 ( 0 ) 1A1-D06 2017年01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）

<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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-D06/_pdf

　前のページ - 次のページ　

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25