研究者詳細 - 石井　和男

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K08/_pdf

マルチロータヘリを用いた森林内樹木の計測

篠原浩佑, 片山将, 堀航, 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-C04 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）

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.

DOI： 10.1299/jsmermd.2017.1a1-c04

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-C04/_pdf

フルカラー構造化光を用いた水中三次元計測

進木智也, 西田祐也, 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 ) 2A2-O07 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）

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.

DOI： 10.1299/jsmermd.2017.2a2-o07

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A2-O07/_pdf

Mathematical Modeling and Motion Analysis of the Wheel Based Ball Retaining Mechanism 査読有り国際誌

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年12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）

© 2016 IEEE. The sphere kinematics has been discussed in the research field of multi-fingers grasping, mobile robot motion control driven by a sphere, ball handling, etc. In the multi-fingers grasping problem, a sphere and a plane correspond to a spherical finger and a cuboid object are used and the contact points of the sphere are analyzed. The mobile robot driven by a sphere is modeled as an inverted pendulum using a ball, and can move in any direction without changing orientation. The ball handling mechanism is discussed in the RoboCup soccer robot, which enables the robot to carry a ball with it. We consider that these problems are categorized as sphere kinematics, the relation between velocities of contact points and sphere motion, and discuss the sphere motion driven by two-wheel actuator with arbitral contact points on the sphere.

DOI： 10.1109/SCIS-ISIS.2016.0115

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85010303405&origin=inward

Tomato Harvesting Robot Competiton 査読有り国際誌

Ishii K., Takemura Y., Matsuo T., Sonoda T.

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）

© 2016 IEEE. 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 farmers heavy works. With an aim to promote the automation of tomato harvesting, we have organized the tomato harvesting robot competition. In this paper, we report on the results of tomato harvesting robot competition.

DOI： 10.1109/SCIS-ISIS.2016.0118

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85010297367&origin=inward

Motion Analysis and Control of the Ball Operation for Dribbling Action in RoboCup Soccer Robot 査読有り国際誌

Chikushi S., Weerakoon T., Ishii K., Sonoda T.

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）

© 2016 IEEE. RoboCup is a platform designed to promote the fields such as Artificial Intelligent (AI) and robotics for researchers. As a team 'Hibikino-Musashi' participating for RoboCup Middle-Size League soccer competition, we continuously upgrade the technology of our robots. In this paper, motion analysis and control of the ball operation at the time of ball dribbling is discussed. A ball handling mechanism is proposed based on the geometrical information of the robot and analysis is given in detail. A mathematical explanation of the control system is provided along with simulation studies performed in MATAB environment. Results have been evaluated to demonstrate the capability of controlling the motion of the ball and expected control could be achieved without prior calibration of the ball handling mechanism.

DOI： 10.1109/SCIS-ISIS.2016.0117

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85010339268&origin=inward

Development of an autonomous underwater vehicle with human-aware robot navigation 査読有り

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

OCEANS 2016 MTS/IEEE Monterey, OCE 2016 2016年11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）

© 2016 IEEE. AUV Tuna-Sand 2 developed in February 2016 can take photograph of the seafloor with high resolution using a camera and two LED strobe every five second and detect sea creature from it based on color information. If sea creature is detected from taken photograph, the AUV transmit its compressed image to the ship using acoustic modem for image transmission. Operator on the ship can select photographing position that the AUV return it, from received photograph. After instruction by operator using acoustic modem for command, the AUV can return to photographing position in the range of ± 0.3 m. In future work, we will develop visual feedback method and manipulation method for sea creature sampling.

DOI： 10.1109/OCEANS.2016.7761471

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85006851015&origin=inward

Real-time object tracking based on scale-invariant features employing bio-inspired hardware 査読有り国際誌

Yasukawa S., Okuno H., Ishii K., Yagi T.

Neural Networks 81 29 - 38 2016年09月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2016 Elsevier Ltd. We developed a vision sensor system that performs a scale-invariant feature transform (SIFT) in real time. To apply the SIFT algorithm efficiently, we focus on a two-fold process performed by the visual system: whole-image parallel filtering and frequency-band parallel processing. The vision sensor system comprises an active pixel sensor, a metal-oxide semiconductor (MOS)-based resistive network, a field-programmable gate array (FPGA), and a digital computer. We employed the MOS-based resistive network for instantaneous spatial filtering and a configurable filter size. The FPGA is used to pipeline process the frequency-band signals. The proposed system was evaluated by tracking the feature points detected on an object in a video.

DOI： 10.1016/j.neunet.2016.05.002

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84973126848&origin=inward

Image enhancement and compression of deep-sea floor image for acoustic transmission 査読有り国際誌

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

OCEANS 2016 - Shanghai 2016年06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）

© 2016 IEEE. One of the important missions of AUVs is to take deep-sea images and make maps of sea floor to contribute the understanding of deep-sea biology and geology. The sea floor images include lots of information such as distributions of creatures, minerals and so on. The next mission expected for AUVs is to bring the samples back concurrently with taking interesting photos, autonomously. However, this mission is difficult to perform fully-autonomous without the knowledge of biologists or geologists, as the AUVs don't know which objects are interesting or important for them and it takes long time to teach AUVs all features of target samples. It is necessary for AUVs to work semi-autonomously by collaborating with scientists on the ship and getting commands to indicate the important samples. In this research, we proposed an image enhancement and compression method for acoustic transmission with limited communication density. The proposed method enhances the effect of light attenuation in the deep-sea floor image and reduces the image depth from 24-bit of original images to 4-bit. The method is evaluated by transmission experiment using a new AUV "TUNA-SAND 2".

DOI： 10.1109/OCEANSAP.2016.7485453

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84978230456&origin=inward

Support vector machine based classification of seafloor rock types measured underwater using Laser Induced Breakdown Spectroscopy 査読有り国際誌

Yelameli M., Thornton B., Takahashi T., Weerkoon T., Takemura Y., Ishii K.

OCEANS 2016 - Shanghai 2016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（国際会議プロシーディングス）

© 2016 IEEE. Laser Induced Breakdown Spectroscopy (LIBS) is an analytical technique for rapid chemical sensing that is becoming increasingly in field applications. LIBS is a form of atomic emission spectroscopy. When a high-powered pulsed laser beam is focused on the sample, it produces a plasma that emits wavelengths of light that can be observed using a spectrograph to identify the composition of the target. One of the applications of LIBS is for in situ analysis in the ocean, where recently remotely operated vehicles equipped with a LIBS devices have demonstrated in situ chemical analysis of mineral deposits on the seafloor at depths of >1000m. In this paper, an automated method to detect the class of hydrothermal deposits is developed that uses Support Vector Machine (SVM) algorithm. The 10 rock samples used in this experiments consist of 9 rock samples collected from the seafloor and 1 rock sample collected from land. Powder pressed pellets were prepared from these samples and underwater LIBS measurements were made. The high dimensional spectral dataset was normalized and preprocessed using Principal Component Analysis (PCA) to reduce the dimensions of the data and then classification was performed using SVM. Linear and Radial Basis Function kernels were used to analyze data and the classification accuracy was determined using independent sets of training and test data. The effect of increasing features on the classification accuracy was analyzed. The 10 rock samples were classified with an accuracy of ∼91%, implying that the technique may be useful for in situ classification of seafloor deposits. In our future work, we will investigate the effects of increasing the number of samples on the accuracy of classification.

DOI： 10.1109/OCEANSAP.2016.7485507

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84978257349&origin=inward

Geometric feature extraction from 2D laser range data for mobile robot navigation 査読有り国際誌

Weerakoon T., Ishii K., Nassiraei A.

2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings 326 - 331 2016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）

2015年12月17日 - 2015年12月20日

© 2015 IEEE. Feature extraction and segmentation obviously play an utmost important role in autonomous mobile robot localization and navigation. In this paper we discuss some line segmentation and feature extraction algorithms and proposed an adaptive feature extraction algorithm for 2D laser range data. Features in indoor environments that are considered in this paper can be described as two geometric primitives: line segments which represent the walls, and corners. Segmentation process estimates the line segments belong to the walls and which represent the same object have been grouped together. Intersecting points of the line segments, called corners are treated as landmarks. Some segmentation algorithms are implemented and tested using laser range data captured in different environments and the effectiveness of them is analyzed. Finally, a better adaptive feature extraction and segmentation algorithm which generates a line map of an unstructured environment is proposed.

DOI： 10.1109/ICIINFS.2015.7399032

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84964617620&origin=inward

視覚情報に基づくトマト果実収穫ロボットの行動戦略（第二報）

安川真輔, 西尾将冶, 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 ) 2016 ( 0 ) 2A1-08b1 2016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）

This paper presents a novel ripe tomato fruit detection method within a tomato cluster, as a part of behavior strategy of tomato harvesting robot. Proposed method uses infrared images and specular reflection based on the optical characteristic of tomatoes. The fruits of the tomato clusters are detected separately on the captured infrared images, searching the strong response at the center of fruits caused by specular reflection. To recognize the ripe tomatoes from the unripe fruits and other background objects, RGB images were used. The method was evaluated using infrared and RGB images captured by Xbox One Kinect sensor in a greenhouse environment. The result shows the detection accuracy of 88.1 percent of the proposed method.

DOI： 10.1299/jsmermd.2016.2a1-08b1

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2A1-08b1/_pdf

自律海中ロボットの視覚情報共有を目的にした画像圧縮と復元手法

安鍾賢, 安川真輔, 園田隆, 西田祐也, 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 ) 2016 ( 0 ) 1A1-16b7 2016年01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）

The autonomous Underwater Vehicles (AUVs) are developed to contribute various science filed such as oceans biology, geology by deep-sea observation. The deep-sea observation by AUV provides various information such as lifestyle of deep-sea creature, volcano of deep-sea bottom, etc. by photographing image. Next mission using AUVs is required to sample targets such as creature, mud or stone in deep-sea floor. For success of this mission, AUV needs supports by researcher in support ship. However, underwater communication based on acoustic has less density compared to electronic. In this research, we proposed a method of image compression and reconstruction for acoustic communication. And we evaluated reconstruction image by Structural similarity.

DOI： 10.1299/jsmermd.2016.1a1-16b7

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-16b7/_pdf

第二回トマトロボット競技会の開催報告

武村泰範, 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 ) 2016 ( 0 ) 2P2-17b3 2016年01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）

Robots for agriculture are still on developing phase. On the other hand, in the agriculture field of Japan, is progressing and aging and depopulation of the producer, the labor shortage due to lack of successors has become a serious problem. The authors organized a Tomato Robot Competition Committee for accelerating developing in agrirobot. In this competition, to foster the next generation of Agri-robot developer, we set up a junior department in order to nurture the robot developers that can be active in the real field. In this page, we reported an introduction about the robot education in the Junior department, to verify wether it is possible to obtain any kind of effect as the robot contest.

DOI： 10.1299/jsmermd.2016.2p2-17b3

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17b3/_pdf

磁界共鳴方式を用いた水中ワイヤレス給電システムの開発第二報

日高翔太, 河島晋, 中西亮汰, 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 ) 2016 ( 0 ) 1P1-17a6 2016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）

Autonomous Underwater Vehicles (AUV) is one of the key technologies for deep ocean research. However AUV cannot work long time due to battery capacity. To solve this problem, a noncontact power supply is required for AUV to conduct observations for extended durations. In this study, we use resonant energy transfer method which has a wide transmission distance. We report results of the performance evaluation in water environment.

DOI： 10.1299/jsmermd.2016.1p1-17a6

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1P1-17a6/_pdf

深海底生生物サンプリングのための水中ロボットマニピュレータの開発

園田隆, 安川真輔, 安鐘賢, ナシライ・アミール・アリ・フォロー, 西田祐也, 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 ) 2016 ( 0 ) 1A1-17a3 2016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）

Underwater robots are employed to marine organisms' research in ultimate environments. In this study, we aim to do automation of marine organisms sampling by autonomous underwater vehicle with a manipulator. We developed a manipulator to pick up deep-sea benthic organisms. The developed manipulator is driven by a master-slave cylinder type hydraulic driven system. Moreover, the manipulator's joints are actuated by hydraulic cylinder, and linear motion of the cylinder is converted to rotational motion by a motion conversion cam-mechanism. This control system was integrated by MATLAB/Simulink. So we adopted Stateflow (this is a toolbox for Simulink) in the high level control layer.

DOI： 10.1299/jsmermd.2016.1a1-17a3

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-17a3/_pdf

水中ロボット用SSBL方式音源定位システムの開発

河島晋, 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 ) 2016 ( 0 ) 1A1-17b2 2016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）

Underwater is a challenging work environment with high risks for human beings. One of the needs of the robot, the development of robots working in water extreme environment is expected. Autonomous Underwater Vehicles (AUVs) are suitable for a wide range of search mission without restrictions from power cable, AUVs can move freely in every direction. In this research, we have developed a SSBL acoustic positioning system for underwater robot. Also we report the experimental results of acoustic positioning.

DOI： 10.1299/jsmermd.2016.1a1-17b2

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-17b2/_pdf

屋外環境下におけるマルチローターヘリコプターの編隊飛行制御システム

堀航, 滝本隆, 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 ) 2016 ( 0 ) 1A1-04a4 2016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）

A multirotor helicopter is a flight robot which can hover, take off, fly, and land in small areas. Recently, multirotor helicopters are getting a lot of attention for information gathering in disaster areas and photogrammetric measuring. They have some drawbacks such as a short duration of flight and a risk of confliction during multi vehicle operation. This paper deals with the formation flight control system for multirotor helicopters that can inspect a wide area in a short time. Practical experiments show that the photogrammetric measuring by using proposed formation flight is more suitable for practical use than the measuring by single vehicle.

DOI： 10.1299/jsmermd.2016.1a1-04a4

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-04a4/_pdf

ロボカップサッカー中型リーグにおけるパス行動に関する研究

嶋田凌太, 桑田将史, 石倉万希斗, 筑紫彰太, 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 ) 2016 ( 0 ) 2P2-17a4 2016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）

Action and strategy of the robots is sophisticated in RoboCup soccer middle sized league. Concerted action by multiple robots depends on the circumstances of the operation. Behavioral algorithm that can handle dynamic changing environments is necessary. We aim to realize the ball passing behavior in concerted action. We report on the developing of receive position selection map.

DOI： 10.1299/jsmermd.2016.2p2-17a4

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17a4/_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, 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 ) 2016 ( 0 ) 2P2-17a7 2016年01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）

RoboCup is an international join project to promote fields such as Artificial Intelligent (AI), robotics, 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. In RoboCup, soccer game is selected as a main topic of research, aiming at innovations to be applied for socially significant problems and industries in the future. We also have organized RoboCup team “Hibikino-Musashi” for Middle-Size League soccer competition. In this paper, the control and verification experiments of the ball operation at the time of ball dribbling is described.

DOI： 10.1299/jsmermd.2016.2p2-17a7