研究者詳細 - 石井　和男

論文 - 石井　和男

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船底清掃用水中ロボットの開発招待有り査読有り

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年07月

船底清掃用水中ロボットの開発査読有り

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

マリンエンジニアリング ( 公益社団法人日本マリンエンジニアリング学会 ) 59 ( 4 ) 483 - 490 2024年07月

トマト果実の自動収穫能力を競うトマトロボット競技会招待有り査読有り

石井和男, 松尾貴之, 武村泰範, 園田隆, 川尻一志, 西田祐也

日本ロボット学会誌 ( 一般社団法人日本ロボット学会 ) 39 ( 10 ) 926 - 930 2021年12月

施設園芸を対象としたトマト果実自動収穫ロボットの開発招待有り査読有り

藤永拓矢, 安川真輔, 石井和男

日本ロボット学会誌 ( 一般社団法人日本ロボット学会 ) 39 ( 10 ) 921 - 925 2021年12月

オンライン講義を導入した水中ロボット競技会の開催査読有り

佐藤雅紀, 松尾貴之, 小澤正宜, 有馬正和, 石井和男

工学教育研究講演会講演論文集 ( 公益社団法人日本工学教育協会 ) 2024 ( 0 ) 416 - 417 2024年11月

Performance Analysis of Underwater Radiofrequency Communication in Seawater: An Experimental Study 査読有り国際誌

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

Journal of Marine Science and Engineering 12 ( 11 ) 2024年11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（学術雑誌）

Communication with the underwater vehicles during their tasks is one of the most important issues. The need for real-time data transfer raises the necessity of developing communication systems. Conventional underwater communication systems, such as acoustic systems, cannot satisfy applications that need a high transmission data rate. In this study, we investigate the radio frequency communication system in seawater, which is crucial for real-time data transfer with underwater vehicles. The experiments were in a water tank full of seawater and a real environment in the ocean. Three types of antennae were used: loop antenna, wire antenna, and helical antenna. An Autonomous Underwater Vehicle (AUV) is used as a transmitter to measure the transmission rate as a function of distance. The helical antenna showed better performance regarding the coverage area. Furthermore, the AUV could move freely within the helical and capture live video streaming successfully. This investigation underscores the potential of radio frequency communication systems for enhancing underwater vehicle operations, offering promising avenues for future research and practical implementation.

DOI： 10.3390/jmse12112104

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85210273972&origin=inward

Wavelet OFDM Wireless Communication System for Autonomous Underwater Vehicles Using Loop-Shaped Antennas in Underwater Environments 査読有り国際誌

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

IEEE Access 12 129633 - 129645 2024年09月

記述言語：英語掲載種別：研究論文（学術雑誌）

The manuscript introduces a radio wave-based wireless communication system tailored for Autonomous Underwater Vehicles (AUVs), optimized for underwater deployment. Initial experiments to ascertain the fundamental properties of a loop antenna were conducted in a small-scale water tank, followed by comprehensive communication and video transmission trials in a larger tank with an AUV. A specialized waterproof enclosure was developed to house a waterproof antenna, a Vector Network Analyzer (VNA), and a communication board. This setup facilitated the evaluation of the loop antenna's radio propagation attributes and the identification of frequencies conducive to underwater communication. Designed with practical deployment in mind, the system incorporates a 2-meter loop antenna for signal transmission and a 0.5m by 0.8m rectangular loop antenna integrated into the AUV for signal reception. Utilizing a wavelet Orthogonal Frequency Division Multiplexing (OFDM) communication board and tuning to lower frequencies, the system successfully established User Datagram Protocol (UDP) and Transfer Control Protocol (TCP) communications within a few meter radius from the transmitting antenna, achieving data transfer rates up to 6.8 Mbps.

DOI： 10.1109/ACCESS.2024.3457508

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85204135158&origin=inward

General Kinematics and Simulation for Mobile Robot Adapted Three Unconstraint Rollers 査読有り国際誌

Kimura K., Ishii K.

International Conference on Electrical, Computer, and Energy Technologies, ICECET 2024 2024年07月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In recent years, efficient mobility is required for omni-directional mobile robots in the logistics industry. There are various types of rollers mounted on mobile robots. Among them, omni-directional rollers (omni roller) are considered to have excellent omni-directional mobility and easy control. Assuming a circular mechanism, kinematics has been derived assuming an arbitrary arrangement along this circumference, and several studies have evaluated roller arrangements in terms of the speed efficiency of the driving rollers. To evaluate the roller arrangement, kinematics is necessary, in which not only the contact position of the rollers but also the direction is a parameter. In this study, kinematics is derived for a mobile robot equipped with three omni-rollers, with the contact position and direction of the rollers as parameters, and the behaviors of the roller velocity is investigated for the robot's movement in all directions.

DOI： 10.1109/ICECET61485.2024.10698134

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85207395128&origin=inward

The Method of Verification of Sphere Kinematics by Two Mouse Image Sensors 査読有り国際誌

Kimura K., Ishii K.

International Conference on Electrical, Computer, and Energy Technologies, ICECET 2024 2024年07月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In the past, omni-directional wheels, including omni-rollers, have been studied. The sphere has attracted attention as a shape with better running and overweight characteristics than this. Because of its excellent symmetry, it has been used as a wheel in omni-directional moving mechanisms. Spherical robots driven by two constrained rollers have been studied extensively, not only to derive their kinematics but also to study their validation methods. In this study, we propose a new method for verifying sphere kinematics, in which the rotational motion of spheres driving two rollers by two mouse sensors and used for estimation calculations.

DOI： 10.1109/ICECET61485.2024.10698436

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85207388860&origin=inward

Development of a Jellyfish Removal Device to Equip on Underwater Robot and Its Suction Performance Evaluation 査読有り国際誌

Masuda S., Ahn J., Ishii K.

Oceans Conference Record (IEEE) 2024年04月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In recent years, massive blooms of jellyfish have occurred due to the influence of rising water temperatures, causing damage to industries such as fisheries. To reduce the damage caused by jellyfish, fishermen conduct jellyfish removal work, however, it cannot be said to be efficient from a cost perspective. As one of the efficient methods, our research team is proposing an underwater robot-based jellyfish removal work. Our research team has developed a small-size underwater robot to test, and with the assistance of the fisheries workers, conducted jellyfish removal tests in the Seto Inland Sea in August 2022. Through this test, we confirmed that jellyfish removal using underwater robots is feasible, and based on the results of the test, we improved the jellyfish removal device. In this paper, we introduce the improved jellyfish removal devices, that we have developed, and then evaluate the performance of this device. In the results of the performance evaluation, compared to the test type device, the improved device showed a suction range that was 2.77 times wider, and the flow velocity increased by 2.28 times.

DOI： 10.1109/OCEANS51537.2024.10682331

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85206438465&origin=inward

Double the data rate in underwater acoustic communication using OFDM based on subcarrier power modulation 査読有り国際誌

Alraie H., Alahmad R., Ishii K.

Journal of Marine Science and Technology (Japan) 29 ( 2 ) 457 - 470 2024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：記事・総説・解説・論説等（学術雑誌）

Underwater communication is one of the most important and difficult challenges facing researchers due to the high attenuation of the signal, communication with the surface because of the harsh medium of water, and data transmission performance degradation as a result of various effects. Underwater acoustic communication (UWA) has a low data rate, which describes the disadvantage of this type of communication. In addition, it has a low bandwidth range and high latency but has a long transmission range as an advantage. Multicarrier wireless transmission systems increase the data rate by sending the data using more than one carrier. We proposed a noncoherent orthogonal frequency division multiplexing (OFDM) method to increase the data rate in UWA communication systems. In addition, doubling the data rate in the OFDM using Subcarrier Power Modulation (OFDM-SPM) system can save half of the bandwidth. The MATLAB simulation program was used to implement the system in the underwater acoustic environment to increase its throughput. The proposed design uses Differential Phase Shift Keying (DPSK) with power control, and the data stream is transmitted through two-dimensional modulation schemes, the DPSK, and the power level of each subcarrier in the OFDM system with cyclic prefix (CP). The underwater channel was designed using a Rician fading multipath with a spreading loss formula as a function of distance and frequency. We designed an equalizer at the receiver side to recover the original signal as a function of three parameters which are: the channel effect as a rate between transmitting and receiving symbols, the Rician channel response, and the UWA spreading loss. OFDM-Subcarrier Power Modulation (OFDM-SPM) using the proposed equalizer performed better than the theoretical OFDM-SPM in the Rayleigh channel. The designed equalizer increased the performance of the OFDM-SPM system by 25% which helped to enhance the system’s throughput and doubled the data rate compared with the OFDM system, doubling the data rate using OFDM-SPM had been validated in laboratory experiments in the Time domain.

DOI： 10.1007/s00773-024-00989-2

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85186173142&origin=inward

Gakken Hills Interdisciplinary Ekiden Competing with Humans, Animals, and Robots 査読有り国際誌

Fujinaga Takuya, Tominaga Moeko, Katayama Daigo, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 638 - 641 2024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）

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 査読有り国際誌

Liu Yufei, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 590 - 593 2024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）

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 査読有り国際誌

Shi Puwei, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 599 - 602 2024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）

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 査読有り国際誌

Kimura Kenji, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 603 - 606 2024年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

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 査読有り国際誌

Suzuki Katsuaki, Nishida Yuya, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 634 - 637 2024年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

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 査読有り国際誌

Huang Jiawei, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 594 - 598 2024年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

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 査読有り国際誌

Puwei S., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 599 - 602 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

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 68-keypoints 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.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85190283387&origin=inward

Optimization method to improve visual SLAM in dynamic environment 査読有り国際誌

Liu Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 590 - 593 2024年01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）

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85190269923&origin=inward

Gakken Hills Interdisciplinary Ekiden Competing with Humans, Animals, and Robots 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 638 - 641 2024年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85190271115&origin=inward

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