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

Underwater robotics competition with online electronic circuit lecture Reviewed

SATO Masanori, MATSUO Takayuki, OZAWA Masayoshi, ARIMA Masakazu, ISHII Kazuo

Proceedings of Annual Conference of Japanese Society for Engineering Education ( Japanese Society for Engineering Education ) 2024 ( 0 ) 416 - 417 2024.11

Performance Analysis of Underwater Radiofrequency Communication in Seawater: An Experimental Study Reviewed International journal

Alahmad R., Alraie H., Hasaba R., Eguchi K., Matsushima T., Fukumoto Y., Ishii K.

Journal of Marine Science and Engineering 12 ( 11 ) 2024.11

Wavelet OFDM Wireless Communication System for Autonomous Underwater Vehicles Using Loop-Shaped Antennas in Underwater Environments Reviewed International journal

Hasaba R., Eguchi K., Wakisaka T., Hirokawa J., Hirose M., Matsushima T., Fukumoto Y., Nishida Y., Ishii K.

IEEE Access 12 129633 - 129645 2024.09

General Kinematics and Simulation for Mobile Robot Adapted Three Unconstraint Rollers Reviewed International journal

Kimura K., Ishii K.

International Conference on Electrical, Computer, and Energy Technologies, ICECET 2024 2024.07

The Method of Verification of Sphere Kinematics by Two Mouse Image Sensors Reviewed International journal

Kimura K., Ishii K.

International Conference on Electrical, Computer, and Energy Technologies, ICECET 2024 2024.07

Development of a Jellyfish Removal Device to Equip on Underwater Robot and Its Suction Performance Evaluation Reviewed International journal

Masuda S., Ahn J., Ishii K.

Oceans Conference Record (IEEE) 2024.04

Double the data rate in underwater acoustic communication using OFDM based on subcarrier power modulation Reviewed International journal

Alraie H., Alahmad R., Ishii K.

Journal of Marine Science and Technology (Japan) 29 ( 2 ) 457 - 470 2024.02

Gakken Hills Interdisciplinary Ekiden Competing with Humans, Animals, and Robots Reviewed International journal

Fujinaga Takuya, Tominaga Moeko, Katayama Daigo, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 29 638 - 641 2024.02

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

The number of robots exiting in human living spaces has increased, and interaction between humans and robots has become an important issue. The purpose of this study is to propose a future society where humans, animals, and robots coexist. We organize relay race, or ekiden in Japanese, where they compete together as runners. The competition rules have been established to ensure that each runner can compete fairly. This paper explains the competition rules and discuss the fairness of the rules

DOI： 10.5954/icarob.2024.os20-14

CiNii Research

Optimization method to improve visual SLAM in dynamic environment Reviewed International journal

Liu Yufei, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 29 590 - 593 2024.02

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

Aiming at the problem that the robustness of the classic visual SLAM system is greatly affected by dynamic target feature points in the environment, a method is proposed to use a target detection algorithm to identify and eliminate dynamic target feature points. First, use the target detection algorithm YOLOv5 to identify the collected environmental images, and select the surrounding environment. Objects identified as dynamic targets in the environment, and then the target detection results are integrated into the feature extraction of the visual SLAM frontend, the feature points belonging to the dynamic target part of the extracted image feature points are removed, and the remaining static feature points are used to map Construction and positioning, and finally testing on the TUM data set. The results show that after using the target detection algorithm to eliminate dynamic feature points, the root mean square error of the absolute trajectory error of the visual SLAM system in highly dynamic scenes is reduced by 97.89%, effectively improving the positioning accuracy and robustness of the system.

DOI： 10.5954/icarob.2024.os20-3

CiNii Research

Research on Driver Drowsiness Detection Method based on Deep Learning Reviewed International journal

Shi Puwei, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 29 599 - 602 2024.02

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

Drowsiness driving will pose a serious threat to the lives of drivers and others. Determining the state of the driver through face recognition has the advantages of low cost and convenience. Therefore, this study deploys the face recognition model to the mobile phone, and finally realizes the recognition of the driver's Drowsiness by the front camera of the mobile phone. The whole research is divided into three parts. The first part is to train the face 68keypoints recognition model based on the YOLO face algorithm. The second part is to deploy the trained model to the mobile phone using ONNX and NCNN. The third part is to calculate EAR and MAR using several facial key points, and finally complete the recognition of the driver's drowsiness state using EAR and MAR.

DOI： 10.5954/icarob.2024.os20-5

CiNii Research

An Analysis of Translational Motion for a Mobile Robot with Line-Symmetric Rollers Arrangement Reviewed International journal

Kimura Kenji, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 29 603 - 606 2024.02

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

In fields such as logistics, robots are required to have efficient mobility. There are various types of rollers used in mobile robots. Among them, omni-rollers have excellent omnidirectional mobility and are easy to control. In this study, mechanism kinematics has been proposed that assumes arbitrary changes in the roller arrangement position on a circular mechanism and the roller arrangement has been evaluated from the viewpoint of speed efficiency. Furthermore, we aim to evaluate the mobility of mobile robots by focusing on their translational components. Moreover, we have examined the behavior of the area of the area generated by the end point of the robot velocity vector and evaluated the velocity efficiency.

DOI： 10.5954/icarob.2024.os20-6

CiNii Research

Development of antagonistic wire-driven joint mechanism capable of rapid motion and variable stiffness Reviewed International journal

Suzuki Katsuaki, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 29 634 - 637 2024.02

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

The advancement of digital transformation in manufacturing is expected to demand novel tasks for industrial machinery unlike before. When adding mechanisms or actuators to enhance machine functionality, concerns arise about potential system enlargement and increased complexity. The design concept of integrating multiple functions into mechanisms using a few actuators and components serves as one means to address these issues. We aim to elucidate the structural arrangement capable of achieving three functions, including normal motion, rapid motion, and variable stiffness, using two electric actuators. In this paper, we introduce a newly devised antagonistic wiredriven joint mechanism aimed at improving the variable stiffness function within the articulated mechanism we have developed, enabling three functionalities.

DOI： 10.5954/icarob.2024.os20-13

CiNii Research

Design of flexible mechanism for flexible manipulator Reviewed International journal

Huang Jiawei, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 29 594 - 598 2024.02

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

Based on the study of the kinematic limitations of the rigid manipulator structure and the characteristics of the existing flexible manipulator in different categories, this paper proposes a structure assumption of flexible manipulator based on the advantages of high load of rigid joint and high flexibility of flexible manipulator. This paper designed a flexible manipulator structure driven by wires. Using the forward kinematics analysis, the sport model of the structure. The motion range of the end of the manipulator arm and the length changes of the wires were simulated with the movement of the model.

DOI： 10.5954/icarob.2024.os20-4

CiNii Research

Research on Driver Drowsiness Detection Method based on Deep Learning Reviewed International journal

Puwei S., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 599 - 602 2024.01

Optimization method to improve visual SLAM in dynamic environment Reviewed International journal

Liu Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 590 - 593 2024.01

Gakken Hills Interdisciplinary Ekiden Competing with Humans, Animals, and Robots Reviewed International journal

Fujinaga T., Tominaga M., Katayama D., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 638 - 641 2024.01

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Papers - ISHII Kazuo