Faculty Profiles - ISHII Kazuo

Papers - ISHII Kazuo

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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.)

<p>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.</p>

DOI： 10.1299/jsmermd.2016.2a1-20a2

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CiNii Research

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.)

<p>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.</p>

DOI： 10.1299/jsmermd.2016.2p2-17a6

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CiNii Research

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

アグリロボットの開発が加速化!「第 1 回トマトロボット競技会」開催!

浦環，石井和男，松尾貴之，川尻一志

ohm bulletin ( オーム社 ) 51 ( 春 ) 10 - 11 2015.04

Experimental study for the development of a ship hull cleaning robot Reviewed

Watanabe K., Ishii K., Takashima K.

Safety of Marine Transport: Marine Navigation and Safety of Sea Transportation 225 - 232 2015.01

Dead-lock Free Mobile Robot Navigation Using Modified Artificial Potential Field Reviewed

Tharindu Weerakoon, Kazuo Ishii, Amir Ali Nassiraei

717 - 722 2014.12

Adaptative Motion Control System of a Snake-like Robot Using a Neural Oscillator Network Reviewed

Takayuki Matsuo, Ishii Kazuo

711 - 716 2014.12

Phase Lag Auto-adjustment System Using Neural Oscillators and Its Application into Motion Control of a Snake-like Robot Reviewed

Takayuki Matsuo, Kakigi Takahiro, Kazuo Ishii

143 - 148 2014.09

Adjustment Method of Phase Lag Using Neural Oscillator Network for a Snake-like Robot (jointly worked) Reviewed

International Journal of Robotics and Mechatronics 1 ( 1 ) 16 - 24 2014.07

An AUV Platform for Robot Behavior Development: Twin-Robot "DaryaBird" and "OCTA", and Their Mission Strategy Reviewed

Wataru Hori, Remma Satoh, SungMin Nam, Jonghyun Ahn, Naoya Fujii, Ken Matsuoka, Yuki Soejima, Yasunori Takemura, Kazuo Ishii

AUVSI&ONR's 17th Annual RoboSub Competition Journal Paper 1 - 8 2014.07

球体駆動式全方向移動機構とロボカップサッカー中型ロボットリーグへの応用 Reviewed

石田秀一，新福宜侑，石井和男，宮本弘之

日本知能情報ファジィ学会誌 26 ( 3 ) 669 - 677 2014.06

Design concept of an underwater robot for ship-hull cleaning Reviewed

Kazuo Ishii, Amir Ali Forough Nassiraei, Takashi Sonoda

540 - 545 2014.05

Ego-motion estimation algorithm for a small unmanned aerial vehicle using motion-detection model of the insect's visual system

UENO Fuyuki, OKUNO Hirotsugu, ISHII Kazuo, YAGI Tetsuya

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 113 ( 382 ) 37 - 42 2014.01

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

A compact ego-motion estimation system is required for autonomous control of an unmanned air vehicle whose demand is increasing recently. In this study, we proposed an algorithm that estimates the ego-motion by discriminating optical flow patterns, inspired by insect's visiomotor control system. First, this algorithm calculates the local velocity from images of the surface of the ground by using a motion-detection model inspired by an insect's visual system. Then, the algorithm integrates the local velocity to estimate ego-motion. We tested this algorithm assuming that the vehicle moves horizontally and rotates in yaw.

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110009825558

1P1-F07 AUV Based Observation System for Benthos in Deep Ocean(Underwater Robot and Mechatronics (2))

AHN Jonghyun, SONODA Takashi, ISHII Kazuo, URA Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2014 ( 0 ) _1P1 - F07_1-_1P1-F07_4 2014.01

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

The ocean that covers 71% of the Earth's surface is the source of origin of the life and biological evolution. Furthermore, ocean plays major role in regulating the weather and the climate of the planet. The features of the deep ocean also effects on controlling the climate of the earth. In addition, lots of discoveries, abundant mineral resources, energy, marine lives, and hydrothermal vent in the deep ocean have attracted research scientists of various fields. In spite of attractive discoveries, we are still unable to get clear information about the mechanism of the Deep Ocean and ecological system, because Deep Ocean is an extreme environment that has high pressure, darkness and radio attenuation. Recently, Autonomous Underwater Vehicles (AUVs) are used in Deep Ocean research activities as a powerful tool. AUVs are enrich with various facilities that can take photographs include lifestyle of marine lives, etc. In this paper, we have proposed a method to recognize the Benthos on the deep seabed automatically for various research activities. As a result, the proposed method has shown that it can detect about 84.7% of targets in the deep ocean images and capability of recognition is about 74% of the detected targets.

DOI： 10.1299/jsmermd.2014._1P1-F07_1

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110009966701

Holonomic Omnidirectional Vehicle with Ball Wheel Drive Mechanism and Application to RoboCup Soccer Middle Size League Reviewed

ISHIDA Shuichi, SHIMPUKU Noriyuki, ISHII Kazuo, MIYAMOTO Hiroyuki

Journal of Japan Society for Fuzzy Theory and Intelligent Informatics ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 26 ( 3 ) 669 - 677 2014.01

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

In this paper, we present a mechanical design of the holonomic omnidirectional vehicle using ball wheels for RoboCup Soccer Middle Size League (MSL). Most MSL team robots use the omni wheels, which have a lot of free rollers on the circumference of a wheel, to realize the omnidirectional motions. Omni wheels are easily implementable device, whereas they have drawbacks such as lack of moving stability due to the changes of friction or steps on the surface and their usable environment is limited. In order to play the games on a completely flat surface, we spread enough plates under the field carpet in MSL. Our aim is to overcome these drawbacks and develop actual prototypes for practical application not only for MSL. We evaluate the ability and accuracy of the prototype of omnidirectional vehicle using ball wheels.

DOI： 10.3156/jsoft.26.669

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130004491926

Development of Next-Generation Soccer Robot "Musashi150" for RoboCup MSL

Chikushi Shota, Kuwada Masafumi, Sonoda Takashi, Nassiraei Amir A.F., Ishii Kazuo

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 30 ( 0 ) 624 - 627 2014.01

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

RoboCup is an international join project to promote Artificial Intelligent (AI), robotics, and related field. It is an attempt to foster 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" Middle-Size League soccer competition. In this paper, we introduce the next generation soccer robot platform "Musashi150" with ball keeping ability and fast movement.

DOI： 10.14864/fss.30.0_624

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130005480551

Development of Autonomous Underwater Vehicle using MATLAB/Simulink

Hori Wataru, Fujii Naoya, Ishii Kazuo

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 30 ( 0 ) 610 - 613 2014.01

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

Various kinds of robots have been developed as computers and information processing technology advance. Operations in extreme environments such as disaster areas, space and ocean are getting one of the practical solutions for hazardous missions. The underwater robots are one of the extreme environment robots that are expected as one of solutions for underwater activities; maintenance of underwater structures, observations, scientiﬁc research. These activities require robots that can cover large area deep under ocean water. Their efficiencies have been investigated during recent decades and are proven by ocean experiments. However, the robotic system including the support vessels is still large in scale, and is not so easy to handle without number of researchers. In this paper, we describe the design of "DaryaBird" developed to be easy to handle, small-scaled underwater robots that can operate only with two researchers. In addition, experimental results and mission strategies for Robosub2014 are reported.

DOI： 10.14864/fss.30.0_610

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130005480597

1P1-S06 Development of Next-Generation Soccer Robot for RoboCup Middle size league(RoboCup and Robot Contest)

CHIKUSHI Shota, SONODA Takashi, NASSIRAEI Amir A. F., ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2014 ( 0 ) _1P1 - S06_1-_1P1-S06_4 2014.01

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

DOI： 10.1299/jsmermd.2014._1P1-S06_1

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/110009966746

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Papers - ISHII Kazuo