Faculty Profiles - ISHII Kazuo

Papers - ISHII Kazuo

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Motion Analysis and Control of the Ball Operation for Dribbling Action in RoboCup Soccer Robot Reviewed International journal

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

Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016 532 - 536 2016.12

Development of an autonomous underwater vehicle with human-aware robot navigation Reviewed

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

OCEANS 2016 MTS/IEEE Monterey, OCE 2016 2016.11

Real-time object tracking based on scale-invariant features employing bio-inspired hardware Reviewed International journal

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

Neural Networks 81 29 - 38 2016.09

Image enhancement and compression of deep-sea floor image for acoustic transmission Reviewed International journal

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

OCEANS 2016 - Shanghai 2016.06

Support vector machine based classification of seafloor rock types measured underwater using Laser Induced Breakdown Spectroscopy Reviewed International journal

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

OCEANS 2016 - Shanghai 2016.06

Geometric feature extraction from 2D laser range data for mobile robot navigation Reviewed International journal

Weerakoon T., Ishii K., Nassiraei A.

2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings 326 - 331 2016.02

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

YASUKAWA Shinsuke, NISHIO Masaya, LI Binghe, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 2A1-08b1 2016.01

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

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

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Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2A1-08b1/_pdf

The Image Compression and Reconstruction Method to Monitor AUV’s Vision Information

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

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1A1-16b7 2016.01

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

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

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Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-16b7/_pdf

Report of 2nd tomato robot competition

Takemura Yasunori, Sonoda Takashi, Ishii Kazuo, Ura Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 2P2-17b3 2016.01

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

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

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Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17b3/_pdf

Development of underwater wireless power supply system using resonant energy transfer

Hidaka Shota, Kawashima Susumu, Ryota Nakanishi, Ishii Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1P1-17a6 2016.01

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

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

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Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1P1-17a6/_pdf

Development of Manipulator for Deep-Sea Benthic Organism Sampling Tasks

SONODA Takashi, YASUKAWA Shinsuke, JONGHYUN Ahn, NASSIRAEI Amir Ali Forough, NISHIDA Yuya, ISHII Kazuo, URA Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1A1-17a3 2016.01

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

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

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Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-17a3/_pdf

Development of SSBL Acoustic positioning system for underwater robot

KAWASHIMA Susumu, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1A1-17b2 2016.01

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

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

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Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-17b2/_pdf

Formation Flight Control System for Multirotor Helicopters in Outdoors

HORI Wataru, TAKIMOTO Takashi, Ishii Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1A1-04a4 2016.01

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

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

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Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-04a4/_pdf

Ball passing behavior for middle sized RoboCup soccer Robots

SHIMADA Ryota, KUWADA Masafumi, ISHIKURA Makito, CHIKUSHI Shota, SONODA Takashi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 2P2-17a4 2016.01

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

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

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Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17a4/_pdf

Development of ball handling mechanism for RoboCup soccer robot

CHIKUSHI Shota, ISHII Kazuo, SONODA Takashi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 2P2-17a7 2016.01

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

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

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Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17a7/_pdf

Saliency detection method using prior information of signboard by machine learning

MOCHIZUKI Ryuugo, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 2A1-20a2 2016.01

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

We are involved in a research of composing a self-positioning system of AGV(Automated Guided Vehicle). This system has two components, that are saliency detection part and machine learning part. We report the process of the latter of the two. We use SVM(Support Vector Machine) to execute the machine learning of landmark images. To use SVM, We extracted SURF(Speed-Up Robust Features) features from landmark images, and grouped them depending their similarity. The centroid of each cluster is treated as VW (Visual Words). Thus, these images are transformed into VW histograms. By using prior information of landmarks, that have been accumulated during the process of machine learning, the saliency detection regions are focused on the part where learned landmarks are estimated to exist in the environmental images. In this report, We are going to discuss the application of soft margin SVM(Support vector machine) into landmark detection.

DOI： 10.1299/jsmermd.2016.2a1-20a2

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Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2A1-20a2/_pdf

Obstacle avoidance algorithm with consideration of wheel load change

ISHIKURA Makito, WATANABE Shuta, KUWADA Masafumi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 2P2-17a6 2016.01

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

A lot of obstacle avoiding algorithm for mobile robot has been proposed. However, consideration of slippage that is caused by wheel load change is lacked in these methods. This causes unstable motion of mobile robot. This research aims to achieve safe motion of mobile robot by considering slippage. We propose obstacle avoidance algorithm for omni-wheeled mobile robot without slippage by load change. This was achieved by extension of Dynamic Window Approach algorithm. Proposal method is tested on RoboCup MSL robot. The result shows 60% reduction of slippage compared with conventional method.

DOI： 10.1299/jsmermd.2016.2p2-17a6

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Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17a6/_pdf

An Artificial Potential Field Based Mobile robot Navigation Method to Prevent From Deadlock Reviewed

5 ( 3 ) 189 - 203 2015.10

Evolution and prospects of underwater robot competition in Japan Reviewed

2015.09

Experimental Study for the Development of a Ship Hull Cleaning Robot Reviewed

Watanabe Keisuke, Ishii Kazuo, Takashima Kyoko

11th INTERNATIONAL CONFERENCE ON MARINE NAVIGATION AND SAFETY OF SEA TRANSPORTATION 7pages 2015.06

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Papers - ISHII Kazuo