論文 - 石井　和男

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

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担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）

Kyutacar

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

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担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）

DOI： 10.5988/jime.59.483

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/jime/59/4/59_483/_pdf

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

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担当区分：筆頭著者,　責任著者   記述言語：日本語   掲載種別：記事・総説・解説・論説等（学術雑誌）

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DOI： 10.7210/jrsj.39.926

Kyutacar

CiNii Article

CiNii Research

その他リンク： https://ci.nii.ac.jp/naid/130008130006

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

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担当区分：最終著者,　責任著者   記述言語：日本語   掲載種別：記事・総説・解説・論説等（学術雑誌）

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DOI： 10.7210/jrsj.39.921

Kyutacar

CiNii Article

CiNii Research

その他リンク： https://ci.nii.ac.jp/naid/130008130004

Practice of a Robotics Competition with Humans, Animals, and Robots Based on an Ekiden 査読有り 国際誌

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

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 )   37 ( 3 )   677 - 687   2025年06月

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）

The role of robots has evolved with recent technological innovations and social challenges, such as declin-ing 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 crit-ical issue that requires further exploration. Robotics competitions serve as a platform for testing solutions to these challenges, with many events focused on advanc-ing 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 co-exist. To facilitate discussions on this concept, we orga-nized 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.

DOI： 10.20965/jrm.2025.p0677

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=105009146662&origin=inward

Modeling and Predicting Human Actions in Soccer Using Tensor-SOM 査読有り 国際誌

Tominaga M., Takemura Y., Ishii K.

Applied Sciences   15 ( 9 )   1 - 20   2025年05月

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）

As robots become increasingly integrated into society, a future in which humans and robots collaborate is expected. In such a cooperative society, robots must possess the ability to predict human behavior. This study investigates a human–robot cooperation system using RoboCup soccer as a testbed, where a robot observes human actions, infers their intentions, and determines its own actions accordingly. Such problems have typically been addressed within the framework of multi-agent systems, where the entity performing an action is referred to as an ‘agent’, and multiple agents cooperate to complete a task. However, a system capable of performing cooperative actions in an environment where both humans and robots coexist has yet to be fully developed. This study proposes an action decision system based on self-organizing maps (SOM), a widely used unsupervised learning model, and evaluates its effectiveness in promoting cooperative play within human teams. Specifically, we analyze futsal game data, where the agents are professional futsal players, as a test case for the multi-agent system. To this end, we employ Tensor-SOM, an extension of SOM that can handle multi-relational datasets. The system learns from this data to determine the optimal movement speeds in x and y directions for each agent’s position. The results demonstrate that the proposed system successfully determines optimal movement speeds, suggesting its potential for integrating robots into human team coordination.

DOI： 10.3390/app15095088

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=105005027203&origin=inward

Visual-Based System for Fish Detection and Velocity Estimation in Marine Aquaculture 査読有り 国際誌

Alahmad Raji, Solpico Dominic, Masuda Shoun, Ishizuzuka Takahito, Naramura Kenta, Dong Zhangchi, Li Zongru, 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 )   30   351 - 355   2025年02月

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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）

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 査読有り 国際誌

Kimura Kenji, Nakayama Kazuki, Suzuki Katsuaki, 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 )   30   361 - 364   2025年02月

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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 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 査読有り 国際誌

Katayama Daigo, Nakazuru Yuto, Sato Hikaru, Masuda Shoun, Nishida Yuya, Yasukawa Shinsuke, 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 )   30   342 - 346   2025年02月

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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 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. 査読有り 国際誌

Albaroudi Mohammad, Alahmad Raji, Alraee Abdullah, 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 )   30   356 - 360   2025年02月

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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）

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 査読有り 国際誌

Yoshinaga Kizuna, Sato Hikaru, Ishii Kazuo, Yasukawa Shinsuke

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 )   30   347 - 350   2025年02月

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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）

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 査読有り 国際誌

Alraee Abdullah, Alraie Hussam, Albaroudi Mohammad, Alahmad Raji, 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 )   30   378 - 381   2025年02月

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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）

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 査読有り 国際誌

Suzuki Katsuaki, Nishida Yuya, 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 )   30   369 - 373   2025年02月

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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）

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 査読有り 国際誌

Miyakawa R., Yamada S., Sugimoto K., Ishii K., Nishida Y.

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 )   37 ( 1 )   240 - 248   2025年02月

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記述言語：英語   掲載種別：研究論文（学術雑誌）

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.

DOI： 10.20965/jrm.2025.p0240

Scopus

CiNii Research

その他リンク： 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 査読有り 国際誌

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

Proceedings of International Conference on Artificial Life and Robotics   361 - 364   2025年01月

　詳細を見る

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 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.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219577667&origin=inward

A Sensor-Actuator Network Towards the Optimization of Feeding in Marine Aquaculture 査読有り 国際誌

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年01月

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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）

As the aquaculture industry continues to expand, optimization of feeding continues to be a crucial issue in mitigating the environmental and economic impacts of poor feeding management, improving the growth and health of the fish, and keeping the industry sustainable. Recognition of fish-feeding behavior and control systems are important tools for estimating the optimal amount of food to be dispensed. In this paper, we proposed a sensor-actuator network made for fish-feeding behavior recognition using fish-induced flow speed measurements and underwater fish imaging. This system also consists of a feeding control module, a motor control panel board, and a feeding machine to control the feeding. We deployed this system at a fish farm for one month. After collecting data, we trained a model to detect the fish from the video recorded near the surface and compared the results from the flow speed measurements. Similarities between the patterns of the fish count and the flow speed showed some promising results that can be used to optimize fish feeding.

DOI： 10.1109/UT61067.2025.10947439

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=105003107256&origin=inward

An Underwater Self-Positioning System with a Smartphone Based on Visual-Inertial Odometry and Trajectory Matching 査読有り 国際誌

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

2025 IEEE Underwater Technology Ut 2025   2025年01月

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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 introduction of net cleaning robots is required in aquaculture. For an efficient operation of net cleaning robots, a high-precision underwater self-positioning system is required. In this research, we have proposed and verified a method by VIO and trajectory matching using a smartphone for the purpose of implementing a small underwater self-positioning system to be implemented in a net cleaning robot. The verification results shows that the system is possible to achieve highly accurate self-position estimation by correcting the estimated position by trajectory matching.

DOI： 10.1109/UT61067.2025.10947434

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=105003194181&origin=inward

Development of a Rotary Actuator Capable of Multidirectional Rapid Motion and Variable Stiffness 査読有り 国際誌

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

Proceedings of International Conference on Artificial Life and Robotics   369 - 373   2025年01月

　詳細を見る

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）

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.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219581571&origin=inward

Efficient Ball Position Estimation for Tennis Court Robot Assistants using Dual-Camera System 査読有り 国際誌

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

Proceedings of International Conference on Artificial Life and Robotics   378 - 381   2025年01月

　詳細を見る

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）

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 %.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219552793&origin=inward

Estimation of Image-Based End-Effector Approach Angles for Tomato Harvesting Robots 査読有り 国際誌

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

Proceedings of International Conference on Artificial Life and Robotics   347 - 350   2025年01月

　詳細を見る

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）

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.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219574351&origin=inward