Faculty Profiles - ISHII Kazuo

Papers - ISHII Kazuo

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Development of End-effector for Sampling-AUV "TUNA-SAND2" Reviewed International journal

Ishii Kazuo, Nishijima Atsushi, Sonoda Takashi, Watanabe Keisuke

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 22 262 - 265 2017.01

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

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

Fostering Professional Personnel for Intelligent Car and Robotics in Car-Robo Joint Graduate School Reviewed

MORIE Takashi, ISHII Kazuo, WAGATSUMA Hiroaki, TAMUKOH Hakaru, ENOKIDA Shuichi, SAITOH Takeshi, MATSUNAGA Ryoichi, MATSUNAMI Isamu, OGAI Harutoshi

J. of JSEE ( Japanese Society for Engineering Education ) 65 ( 4 ) 4_51 - 4_56 2017.01

Language：Japanese Publishing type：Research paper (scientific journal)

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

Other Link： https://ci.nii.ac.jp/naid/130005966874

2nd Forestry Drone and Robots competition report

TAKEMURA Yasunori, HAYASHI Eiji, OHTAKE Hiroshi, OHASHI Takeshi, KAMEI Keiji, ISHII Kazuo

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 33 ( 0 ) 651 - 654 2017.01

Underwater Manipulator for Sampling Mission with AUV in Deep-Sea

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

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-F11 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-F11/_pdf

Implementation Challenge & Cover tactics to the soccer robots

MINAMIZAKI Ryogo, MATSUMOTO Kohei, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-J10 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J10/_pdf

Efficient Place Recognition Using Saliency Detection by Mobile Robot

MOCHIZUKI Ryuugo, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 1P2-J04 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1P2-J04/_pdf

Underwater three-dimensional measurement using RGB structured-light

SHIINNOKI Tomoya, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2A2-O07 2017.01

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

<p>A rich undersea mineral resource is confirmed in the basin of Japan. Three-dimensional measurement technology is indispensable for developing undersea resources. By applying structural light to the underwater environment, it is possible to measure not only the three-dimensional topography but also the seabed creature. Therefore, we aim to develop an underwater three-dimensional measuring device using structured light and light cutting method. In order to develop a new three-dimensional measuring instrument, basic measurement theory was verified.</p>

DOI： 10.1299/jsmermd.2017.2a2-o07

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A2-O07/_pdf

Development of Antagonistic High Power Joint Mechanism by using Cam

SUZUKI Katsuaki, NISHIDA Yuya, SONODA Takashi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2A1-A06 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A1-A06/_pdf

Development of ball handling mechanism for RoboCup soccer robot

CHIKUSHI Shota, WEERAKOON Tharindu, SONODA Takashi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-K09 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K09/_pdf

Development of self-localization system combining local / global position estimation for RoboCup soccer robot.

MATSUDA Yukiko, WATANABE Shuta, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-J12 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J12/_pdf

Development of navigation system for AUV

MASUDA Koji, FUJIWARA Shinya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-E09 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-E09/_pdf

Strategy Analysis by Self-Organizing Map Using player’s positioning

TOMINAGA Moeko, TAKEMURA Yasunori, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-K07 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K07/_pdf

Vision-Based Behavior Strategy for Tomato Harvesting Robot (III)

FUJINAGA Takuya, YASUKAWA Shinsuke, Li Binghe, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 1A1-B05 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-B05/_pdf

Research and development for long-term deployment of autonomous underwater vehicle

NAKAMURA Keisuke, NAKANISHI Ryota, ISHII Kazuo, SONODA Takashi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-F07 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-F07/_pdf

Object tracking based on data integration by autonomous soccer robots

GONDAI Takuhiro, SHIMADA Ryota, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-J11 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J11/_pdf

Image sensing system for an underwater robot with a benthos sampling function

YASUKAWA Shinsuke, AHN Jonghyun, NISHIDA Yuya, SONODA Takashi, ISHII Kazuo, URA Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2A2-G09 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A2-G09/_pdf

Development of End-Effector for Harvesting Tomato Using Suction and Cutting Mechanism

LI Binghe, URA Takanori, FUJINAGA Takuya, YASUKAWA Shinsuke, SONODA Takashi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 1A1-D06 2017.01

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

<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

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-D06/_pdf

Development of kick system in RoboCup Soccer

MACHIDA Naoto, HISANO Kenji, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-K08 2017.01

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

<p>In RoboCup Soccer Middle Size League, strategy and behavior is improved annually. In recent years, the pass behavior has been required as cooperative behavior of multiple robots. Also, the kick power needs to be changed according to the distance to the goal to broaden the range of strategy. When doing the pass behavior it is necessary to use with the trajectory of ball which the receiver robot is easy to receive. However, our current kick device on our team can’t kick a suitable kick for pass behavior. In this research, we will develop a mechanism to lob and grounders shooting, aiming to realize the pass behavior and expand the range of strategy.</p>

DOI： 10.1299/jsmermd.2017.2p1-k08

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K08/_pdf

Measurement of trees in the forest using Multi Rotor Helicopter

SHINOHARA Kosuke, KATAYAMA Sho, HORI Wataru, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 1A1-C04 2017.01

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

<p>Japan is a forestry country where forests account for about 70% of the land, and introduction of robots is expected in the field of forestry. However, there is already a method of measuring height using aircraft and laser scanner, but the diameter of breast height is investigated by human hands despite the lack of personnel. Therefore, in this research, we propose a trees diameter measurement system using multi rotor helicopter. We aim to stably fly through the forest and measure the breast height diameter of trees in the forest. We propose a tree detection algorithm using LRF data.</p>

DOI： 10.1299/jsmermd.2017.1a1-c04

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-C04/_pdf

Mathematical Modeling and Motion Analysis of the Wheel Based Ball Retaining Mechanism Reviewed International journal

Kimura K., Ishii K., Takemura Y., Yamamoto M.

Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016 518 - 523 2016.12

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