Faculty Profiles - ISHII Kazuo

Papers - ISHII Kazuo

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船底清掃用水中ロボットの開発 Invited Reviewed

石井和男、松尾貴之、園田隆、武村泰範、眞田篤、西田祐也、安川真輔、山本冰賀、浦環

日本マリンエンジニアリング学会誌 ( 日本マリンエンジニアリング学会 ) 59 ( 4 ) 85 - 92 2024.07

Development of Hull Cleaning Robot Reviewed

Ishii Kazuo, Matsuo Takayuki, Sonoda Takashi, Takemura Yasunori, Sanada Atsushi, Nishida Yuya, Yasukawa Shinsuke, Yamamoto Hyoga, Ura Tamaki

Marine Engineering ( The Japan Institute of Marine Engineering ) 59 ( 4 ) 483 - 490 2024.07

Tomato-Harvesting Robot Competition Invited Reviewed

Ishii Kazuo, Matsuo Takayuki, Takemura Yasunori, Sonoda Takashi, Kawajiri Kazushi, Nishida Yuya

Journal of the Robotics Society of Japan ( The Robotics Society of Japan ) 39 ( 10 ) 926 - 930 2021.12

Development of Automatic Tomato Fruit Harvesting Robot for Facility Horticulture Invited Reviewed

Fujinaga Takuya, Yasukawa Shinsuke, Ishii Kazuo

Journal of the Robotics Society of Japan ( The Robotics Society of Japan ) 39 ( 10 ) 921 - 925 2021.12

Practice of a Robotics Competition with Humans, Animals, and Robots Based on an Ekiden Reviewed International journal

Fujinaga Takuya, Tominaga Moeko, Katayama Daigo, Ishii Kazuo

Journal of Robotics and Mechatronics ( Fuji Technology Press Ltd. ) 37 ( 3 ) 677 - 687 2025.06

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)

<p>The role of robots has evolved with recent technological innovations and social challenges, such as declining workforce. Robots are no longer confined to the industrial field but are becoming an integral part of daily lives. Consequently, their optional environment has shifted from factories to human living space. As the presence of robots in these environments continues to grow, human-robot interaction has emerged as a critical issue that requires further exploration. Robotics competitions serve as a platform for testing solutions to these challenges, with many events focused on advancing robot integration into society. However, a competition specifically designed for human-robot coexistence has not yet been proposed. This study aims to present a vision for a future society where humans and robots coexist. To facilitate discussions on this concept, we organized a robotics competition in which humans, animals, and robots can participate. Accordingly, we designed a robotics competition incorporating humans, animals, and robots based on a relay race, known as Ekiden. Furthermore, we outlined the design principles of the competition, described its rules and results, and evaluated the validity of these rules.</p>

DOI： 10.20965/jrm.2025.p0677

CiNii Research

Modeling and Predicting Human Actions in Soccer Using Tensor-SOM Reviewed International journal

Tominaga M., Takemura Y., Ishii K.

Applied Sciences Switzerland 15 ( 9 ) 2025.05

Visual-Based System for Fish Detection and Velocity Estimation in Marine Aquaculture Reviewed International journal

Alahmad Raji, Solpico Dominic, Masuda Shoun, Ishizuzuka Takahito, Naramura Kenta, Dong Zhangchi, Li Zongru, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 30 351 - 355 2025.02

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)

As global aquaculture continues to expand to meet the rising seafood demand, optimization of feeding remains a crucial issue for the industry to address to achieve sustainable development. This study proposed a visual-based system for estimating fish velocity, which is to be integrated into a farmer's feeding operation to determine the optimal feed amount. The YOLOv8 algorithm was utilized to detect fish in underwater videos, enabling precise monitoring of fish behavior. The results indicate a successful fish detection with an accuracy of 85%. The fish velocity estimation approach demonstrated the difference between the hungry fish and the normal fish behavior. The findings suggested that integrating fish velocity data into feeding operations can significantly enhance feed efficiency, reduce waste, and promote sustainable aquaculture practices, ensuring optimal fish growth while minimizing environmental and economic impacts.

DOI： 10.5954/icarob.2025.os12-3

CiNii Research

Trajectory Analysis for a Mobile Robot Adapted Three Omni Rollers in Constant Roller's Speed Reviewed International journal

Kimura Kenji, Nakayama Kazuki, Suzuki Katsuaki, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 30 361 - 364 2025.02

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)

The mobile robot is being developed for use in the logistics industry. A mechanism with multiple omni rollers as an omni-directional moving mechanism has been developed and its kinematics analyzed. In this study, the kinematics were verified in a simulation environment as a preliminary step in order to reduce the cost and duration in the verification experiments with good prospects. The trajectory of the robot was derived and analyzed when a constant roller speed was given in the robot kinematics.

DOI： 10.5954/icarob.2025.os12-5

CiNii Research

Practical Exercise on An Autonomous Driving System Using Mobile Devices and IoT Devices for An Agricultural Tractor Reviewed International journal

Katayama Daigo, Nakazuru Yuto, Sato Hikaru, Masuda Shoun, Nishida Yuya, Yasukawa Shinsuke, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 30 342 - 346 2025.02

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)

The current method of agriculture is expected to make sustainable production difficult due to the effects of a declining and aging workforce. To solve these issues, research and development of smart agriculture technologies, including automated tractor operation, have been underway. We have developed an autonomous driving system for a commercially mini-tractor using mobile and IoT devices to more facilitate the introduction of automated driving technology for tractors. In addition, the exercise was conducted for students to implement and operate this system with an aim of education for robotics engineers. This exercise consists of lectures and development exercises for the system. The demonstration results showed that the students' difficulty level was able to set appropriate difficulty. The results of the rubric also showed that the students improved their proficiency in the algorithms and programming of applications that are fundamental to autonomous driving systems.

DOI： 10.5954/icarob.2025.os12-1

CiNii Research

Evaluating of Tree Branch Recognition Algorithm in Pruning Robots under Augmented Environmental Conditions. Reviewed International journal

Albaroudi Mohammad, Alahmad Raji, Alraee Abdullah, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 30 356 - 360 2025.02

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)

Integrating service robots has revolutionized several sectors, by enhancing accuracy, efficiency, and scalability. Those robots are crucial in automating labor-intensive processes such as tree pruning, where accurate branch detection is vital. This research evaluates the performance of YOLOv8-seg model for recognizing tree branches as a step towards fully autonomous pruning. To address the challenges posed by diverse and complex real-world conditions, video sequences are augmented using techniques that simulate environmental variations, such as changes in brightness, contrast, and Gaussian noise. The evaluation metrics including the number of true detections, number of false detections, and precision, demonstrate robust and accurate branch perception under real-world conditions. These results highlight the potential of YOLOv8-seg to improve pruning systems, paving the way for scalable, efficient, and accurate robotic solutions in tree maintenance.

DOI： 10.5954/icarob.2025.os12-4

CiNii Research

Estimation of Image-Based End-Effector Approach Angles for Tomato Harvesting Robots Reviewed International journal

Yoshinaga Kizuna, Sato Hikaru, Ishii Kazuo, Yasukawa Shinsuke

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 30 347 - 350 2025.02

Language：English Publishing type：Research paper (international conference proceedings)

We propose a method to estimate a suitable approach angle for the end-effector of a tomato harvesting robot based on image data. Agricultural harvesting robots often face obstacles such as other fruits or stems around the target crop. Additionally, it is important to approach the target from a direction appropriate for harvesting, considering the shape of the end-effector. The proposed method uses a deep learning-based instance segmentation model to extract regions of fruits and stems, and estimates the suitable approach angle based on their positional relationships. We demonstrated the usefulness of the proposed method using an image dataset acquired in an actual tomato greenhouse.

DOI： 10.5954/icarob.2025.os12-2

CiNii Research

Efficient Ball Position Estimation for Tennis Court Robot Assistants using DualCamera System Reviewed International journal

Alraee Abdullah, Alraie Hussam, Albaroudi Mohammad, Alahmad Raji, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 30 378 - 381 2025.02

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)

During tennis training, professional players use many balls that will be distributed randomly around the tennis court. Collecting the ball can be done manually, However, the effort and the time make it inefficient. The mobile robot for ball collection has been introduced as a solution to save power and training session time. The robot tasks involve several steps: ball detection, estimating their positions, and finding the best path for efficient collection. In our previous work, we addressed the ball detection issue utilizing a neural network algorithm using YOLOv8. This study focuses on the next step, ball position estimation, using two cameras to cover the entire court. The results demonstrate successful ball position estimation along the x-axis and y-axis, achieving an accuracy of 97.76 %.

DOI： 10.5954/icarob.2025.os12-9

CiNii Research

Development of a Rotary Actuator Capable of Multidirectional Rapid Motion and Variable Stiffness Reviewed International journal

Suzuki Katsuaki, Nishida Yuya, Kimura Kenji, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 30 369 - 373 2025.02

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)

With the advancement of automation and digital transformation in the manufacturing industry, it is expected that industrial machines will be required to perform new tasks. Enhancing the multifunctionality of actuators is one approach to achieving these tasks. This paper proposes a new mechanism that combines two types of cams with different contour shapes, springs, two motors, and other mechanical components, and introduces an electric actuator incorporating this mechanism. The key feature of this actuator is its ability to achieve three functions (normal motion, rapid motion, and variable stiffness) while maintaining the same output characteristics, even when the initial posture of the output shaft is changed by switching the driving patterns of the two motors.

DOI： 10.5954/icarob.2025.os12-7

CiNii Research

Sargassum Bed Survey Using AUV with a Disturbance Observer for Tidal Currents Estimation Reviewed International journal

Miyakawa Ryo, Yamada Seiji, Sugimoto Kenji, Ishii Kazuo, Nishida Yuya

Journal of Robotics and Mechatronics ( Fuji Technology Press Ltd. ) 37 ( 1 ) 240 - 248 2025.02

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

<p>The vast ocean, which accounts for 70% of the Earth’s surface area, contains abundant minerals, energy, and biological resources, and surveys have been conducted in various ocean areas in recent years. It is extremely difficult for humans to conduct direct underwater surveys. Autonomous underwater vehicles (AUV) are expected to serve as platforms for surveying marine resources widely distributed throughout the vast ocean. However, owing to disturbances such as tidal currents, AUVs are unable to control there position well, making waypoint tracking difficult and preventing the observation of targeted observation points. In this research, to improve the robustness of AUVs in a tidal environment, we design a disturbance observer that estimates tidal currents as disturbances, and estimate tidal currents based on the results of actual diving surveys in actual sea areas using AUVs.</p>

DOI： 10.20965/jrm.2025.p0240

Scopus

CiNii Research

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219407030&origin=inward

Trajectory Analysis for a Mobile Robot Adapted Three Omni Rollers in Constant Roller’s Speed Reviewed International journal

Kimura K., Nakayama K., Suzuki K., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 361 - 364 2025.01

A Sensor-Actuator Network Towards the Optimization of Feeding in Marine Aquaculture Reviewed International journal

Solpico D., Alahmad R., Li Z., Fuchigami M., Wada K., Yatsunami Y., Suetsugu T., Nishida Y., Ishii K.

2025 IEEE Underwater Technology Ut 2025 2025.01

An Underwater Self-Positioning System with a Smartphone Based on Visual-Inertial Odometry and Trajectory Matching Reviewed International journal

Katayama D., Yasukawa S., Nishida Y., Hara N., Fukukawa T., Ishii K.

2025 IEEE Underwater Technology Ut 2025 2025.01

Development of a Rotary Actuator Capable of Multidirectional Rapid Motion and Variable Stiffness Reviewed International journal

Suzuki K., Nishida Y., Kimura K., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 369 - 373 2025.01

Efficient Ball Position Estimation for Tennis Court Robot Assistants using Dual-Camera System Reviewed International journal

Alraee A., Alraie H., Albaroudi M., Alahmad R., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 378 - 381 2025.01

Estimation of Image-Based End-Effector Approach Angles for Tomato Harvesting Robots Reviewed International journal

Yoshinaga K., Sato H., Ishii K., Yasukawa S.

Proceedings of International Conference on Artificial Life and Robotics 347 - 350 2025.01

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Papers - ISHII Kazuo