研究者詳細 - 石井　和男

論文 - 石井　和男

分割表示489 件中 21 - 40 件目／全件表示 >>

Development of antagonistic wire-driven joint mechanism capable of rapid motion and 査読有り国際誌

Stiffness V., Suzuki K., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 634 - 637 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）

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 wire driven joint mechanism aimed at improving the variable stiffness function within the articulated mechanism we have developed, enabling three functionalities.

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Design of flexible mechanism for flexible manipulator 査読有り国際誌

Jiawei H., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 594 - 598 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）

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.

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An Analysis of Translational Motion for a Mobile Robot with Line-Symmetric Rollers Arrangement 査読有り国際誌

Kimura K., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 603 - 606 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）

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.

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Energy Consumption of a Wheel/Track Reconfigurable Mobile Robot on the Farm 査読有り国際誌

Kamon S., Di Maria E., Alahmad R., Irmiya I.R., Puwei S., Giannocaro N.I., Ishii K.

2024 IEEE/SICE International Symposium on System Integration, SII 2024 798 - 803 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）

This paper presents the experimental results of energy consumption of a wheel/track reconfigurable mobile robot which has been developed for maintenance of vineyard. According to the Bekker's soil model, the wheel rolling resistance depends on the sinkage to the ground, so that the mobile mechanism consists of 2 rear wheels and 2 front tracks which is designed to lift up and down and control the contact area to the ground and to switch the modes based on the soil conditions to minimize energy consumption. The wheel mode is supposed to be operated for the firm soil where the front tracks are lifted up to decrease the contact area, and the track mode is for the soft soil where the front tracks push down the ground and increase the contact area and decrease sinkage. In the experiment, we compared the energy consumption between the wheel mode and the track mode in firm, soft, and wet soil conditions.

DOI： 10.1109/SII58957.2024.10417300

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Mandarin Orange Anomaly Detection with Cycle-GAN 査読有り国際誌

Noguchi K., Takemura Y., Tominaga M., Ishii K.

2024 IEEE/SICE International Symposium on System Integration, SII 2024 644 - 649 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）

In the agricultural field, many issues arose such as the decline of productivity due to population aging and the lack of new generations to replace the previous ones. Information and communication technology (ICT), the Internet of Things (IoT), and robotics are expected to provide solutions. Despite the enormous promise of these technologies, they are expensive to implement, require ongoing technical assistance, and have little affinity for the immediate demands of farmers. For example, when a new breed is improved, it is necessary to ask the developing company to outsource data analysis to identify defective new individuals. Therefore, the main objective of this study is to realize an economically viable and easily implementable smart agricultural system. For this purpose, interviews were conducted with actual farmers, and it became clear that even in the fruit sorting process, which is becoming increasingly automated, the burden on farmers with knowledge and skills is significant. In this study, we focus on mandarin oranges, which have the highest yield among Japanese oranges, to automate the identification of defective fruit, i. e. damaged or affected by a disease, which has been done by the human eye. In this study, an automatic fruit sorting system based on a conveyor belt mechanism was designed. The system performs fruit sorting using a CNN based on individual features derived from images, but since the number of images of defective individuals is far fewer than the number of images of good individuals, the system was supplemented by a Cycle-GAN. This integrated approach aims to alleviate labor intensity and enhance operational efficiency, thereby contributing to the promotion of smart agriculture.

DOI： 10.1109/SII58957.2024.10417370

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Recognition of Fish in Aqua Cage by Machine Learning with Image Enhancement 査読有り国際誌

Li Z., Alraie H., Solpico D., Nishida Y., Ishii K., Yatsunami Y., Fuchigami M., Suetsugu T.

2024 IEEE/SICE International Symposium on System Integration, SII 2024 637 - 643 2024年01月

担当区分：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）

With the gradual decrease in fisheries resources and the increasing demand for fishery production, the production of capture fisheries is saturated. On the other hand, aquaculture production is increasing rapidly and now accounts for almost half of all fishery production. In aquaculture, monitoring aqua cages and collecting basic information, such as the number of fish in the cages and their sizes, is one of the most crucial tasks. However, automation of these basic tasks is insufficient, and there is an expectation for the implementation of ICT (Information and Communication Technology) in the fisheries industry. To move towards smart fishery farms, efficient fisheries resource management is required. This paper introduces a computer vision-based fish counting system that utilizes image enhancement and machine learning algorithms to achieve automated fish counting in aqua cages. Experimental results demonstrate that the proposed method can detect fish and identify the same fish in images captured by underwater cameras set at different depths. The proposed method can contribute to fisheries management and ecological conservation.

DOI： 10.1109/SII58957.2024.10417229

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Research on Improving Accuracy of Dynamic Visual SLAM Detection 査読有り国際誌

Liu Y., Ishii K.

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 4 ) 323 - 327 2024年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

Currently, the application of SLAM systems in the field of navigation is quite active. However, the detection accuracy of classical SLAM systems when applied in dynamic environments is not high. This is because some dynamic objects in dynamic environments may occlude the environmental features that should have been extracted by the SLAM system. In order to solve this problem, my research conducts analysis on the detection process in dynamic environments and designs a solution: to identify and remove dynamic objects in dynamic environments to improve detection accuracy. In this research, an object detection algorithm YOLOv5 is first used to detect, identify, and remove dynamic objects in the environment extracted by the SLAM system. Then, the remaining static environmental features are passed into visual SLAM for conventional SLAM environment calculation and localization work. Finally, the modified integrated algorithm is validated and analyzed on the TUM dataset for feasibility. The results indicate that this approach successfully removes dynamic objects and effectively improves the robustness of visual SLAM applications in dynamic environments.

DOI： 10.57417/jrnal.10.4_323

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作業内容に応じて搭載機器が変更可能な農作業ロボットシステムの開発査読有り

佐藤光, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2024 ( 0 ) 2A2-A01 2024年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（その他学術会議資料等）

<p>In agriculture, labor shortages and a lack of manpower have become significant issues, prompting the development of smart agriculture solutions utilizing robot technology to automate agricultural tasks. Various types of agricultural robots have been developed, such as harvesting robots and transportation robots. The automation of agricultural tasks requires flexibility as the needs of workers vary widely depending on the crop and growing environment. To address this challenge, this study proposes a modularized system where arms and mobile carts can be reconfigured. This paper presents the fundamental study of this system.</p>

DOI： 10.1299/jsmermd.2024.2a2-a01

スマートフォンを用いた視覚障害者の転落リスク警告システムの駅ホームにおける実証実験

片山大悟, 石井和男, 安川真輔, 西田祐也, 仲泊聡, 和田浩一, 別府あかね, 山田千佳子, 原田敦史

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2024 ( 0 ) 1P2-E10 2024年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

<p>In this paper, the effectiveness of a fall risk alert system using a smartphone with a LiDAR sensor is verified based on the behavior of the system in a demonstration experiment at an actual station platform. As a result, we have confirmed that the estimated risk increased when entering the edge of the platform, indicating that this system works in a real environment and can alert fall risk. It was also shown that the alert timing occurs near the tactile paving, which means that the system can provide alerts equivalent to the tactile paving. In the future, we plan to verify the effectiveness of this system in more detail by conducting experiments involving more participants and situations other than the scenarios in this experiment.</p>

DOI： 10.1299/jsmermd.2024.1p2-e10

A New Reconfigurable Agricultural Vehicle Controlled by a User Graphical Interface: Mechanical and Electronic Aspects 査読有り国際誌

Kamon S., di Maria E., Giannoccaro N.I., Ishii K.

Machines 11 ( 8 ) 2023年08月

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 use of innovative mobile vehicles with increasingly advanced mechatronic aspects in the agricultural sector is becoming, in recent years, a stimulating field of research and comparison. In particular, the problem addressed in the present work refers to improving the locomotion of mobile vehicles on agricultural terrain by reducing the soil damage and improve the overall performance. Agricultural vehicles generally use tracks and wheels for locomotion; the main difference between the two systems is the contact area with the ground and, consequently, the pressure distribution. The present work presents a new reconfigurable agricultural vehicle that can switch from one locomotion system to another, choosing the suitable configuration according to the terrain conditions. All the mechanical and electronic aspects of the prototype developed are analyzed together with an in-depth analysis of the management of the innovative functions through a user-friendly graphical interface able to control the vehicle.

DOI： 10.3390/machines11080795

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Grid Map Correction for Fall Risk Alert System Using Smartphone 査読有り国際誌

Katayama Daigo, Ishii Kazuo, Yasukawa Shinsuke, Nishida Yuya, Nakadomari Satoshi, Wada Koichi, Befu Akane, Yamada Chikako

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 35 ( 3 ) 867 - 878 2023年06月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

<p>In this work, we have incorporated an electronic travel aid (ETA) as a smartphone application that alerts fall risks to the visually impaired. The application detects negative obstacles, such as platform edges and stairs, and occlusion using a grid map including height information to estimate fall risk based on the distance from an area’s edge to the user, and the area ratio. Here, we describe a grid map correction method based on the surrounding conditions of each cell to avoid area misclassification. The smartphone application incorporating this correction method was verified in environments similar to station platforms by evaluating its usefulness, robustness against environmental changes, and stability as a smartphone application. The verification results showed that the correction method is, in fact, useful in actual environments and can be implemented as a smartphone application.</p>

DOI： 10.20965/jrm.2023.p0867

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Experimental Study of Wavelet-OFDM Radio Communication System for AUVs Under Seawater 査読有り国際誌

Hasaba, R., Eguchi, K., Wakisaka, Satoh Hiroshi,Hirokawa Jiro,Hirose Miyuki,Matsushima Tohlu,Fukumoto Yuki, Nishida, Y., Ishii, K.

17th European Conference on Antennas and Propagation, EuCAP 2023 ( IEEE ) 2023年03月

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）

2023年03月26日 - 2023年03月29日

AUVs are used for marine resource exploration, and although acoustic, laser, etc., are often used for wireless communication for AUVs, wireless communication using RF signals is being studied. By placing the VNA in a waterproof container, we measured the insertion loss between the antennas under seawater and obtained good results with simulation results. Furthermore, using a Wavelet-OFDM module as the communication method, a maximum communication speed of 6.8 Mbps was achieved with the antennas embedded in the AUV immersed in seawater.

DOI： 10.23919/EuCAP57121.2023.10133725

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A Network of Underwater Flow Sensors for Long-term Estimation of Fish Feeding Activity 査読有り国際誌

Dominic Solpico, Yuya Nishida, Kota Mishima, Kazuo Ishii,Tokuo Suetsugu, Yoshinori Yatsunami

IEEE UT2023 ( IEEE ) 1 - 7 7 pages 2023年03月

担当区分：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）

2023年03月06日 - 2023年03月09日

Efficient feeding is crucial in cage aquaculture, reducing the cost spent on feeds while minimizing the pollution in water and maintaining optimal fish growth. Working towards digitization of fish feeding knowledge to optimize feeding decisions, we developed a modular sensor network estimating the fish feeding activity by measuring the fish-induced flow and recording underwater videos of the activity. We designed the system to collect data at multiple depths from at least two opposing sides of a fish cage. We also designed an offshore system and automatic data collection mechanism to enable the network to perform long-term observations. Two experiments were performed in cages located at two separate aquaculture farms to demonstrate and evaluate the functionality of the developed. We observed changes of flow during feeding and compared them to the videos of fish activity. Observed differences between the results of the two experiments could be attributed to various factors such as the characteristics of the fish cages as well as the method of feeding. Improvements to the sensor network and further analysis of data are needed to achieve a more effective system for estimating fish feeding activity.

DOI： 10.1109/UT49729.2023.10103416

DOI： 10.1109/UT49729.2023.10103416

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Development of long-term observation system using cable-restricted underwater vehicle 査読有り国際誌

Yoshiki Tanaka, Yuya Nishida, Jiro Fukuda, Kazuo Ishii

IEEE UT2023 ( IEEE ) 1 - 6 6 pages 2023年03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）

2023年03月06日 - 2023年03月09日

In order to obtain long-term data of marine resources, we proposed an observation system that can navigate the same trajectory repeatedly without highly expensive sensors such as DVL and INS. Our system consists of a station equipped with a reel and a vehicle for observing the sea floor. The vehicle is tethered to the station by a power and communication cable, and the cable winds or unwinds by the vehicle cruising around a reel. In this paper, we describe long-term observation system using a cable-restricted underwater vehicle and its sea trial performed at 3 m depth.

DOI： 10.1109/UT49729.2023.10103413

DOI： 10.1109/UT49729.2023.10103413

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Fall Risk Estimation for Visually Impaired using iPhone with LiDAR 査読有り国際誌

Daigo Katayama , Kazuo Ishii, Shinsuke Yasukawa, Yuya Nishida,

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 4 ) 9 pages 2023年03月

A Method to Estimate Reflection Coefficient of Ultrasonic Wave at a Boundary of Two Media 査読有り国際誌

Mochizuki Ryuugo, Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 4 ) 343 - 348 2023年03月

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）

In food industry, shortage of workers is one of a serious problem. Automation of food handling is a critical nowadays. To alleviate the damage caused by food picking operation by robotic hand, we propose non-contact acoustic impedance estimation with ultrasonic wave, which should be preceded before the picking for optimization of grasp stiffness. We assume the correlation between hardness and acoustic impedance. That is, the harder the medium is, the larger the impedance should be. As cooked food, the unevenness of hardness should be considered. We made samples with media of different acoustic impedances, and experimented with ultrasonic to find the relation between reflection coefficient and hardness. As the result, reflection coefficient increased by 0.03-0.15 at the boundary of two media as the bottom medium is switched from urethane to Aluminum.

DOI： 10.57417/jrnal.9.4_343

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Fall Risk Estimation for Visually Impaired using iPhone with Li-DAR 査読有り国際誌

Katayama Daigo, Ishii Kazuo, Yasukawa Shinsuke, Nishida Yuya, Nakadomari Satoshi

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 4 ) 349 - 357 2023年03月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

We have developed a fall risk alert system using a smartphone with a LiDAR sensor, Apple’s iPhone 12 Pro, as an electronic travel aid (ETA) for visually impaired to reduce fall risks from the edge of station platform and the stairs. The proposed system generates the height grid map generated from 3D point clouds and posture from the smartphone, and classify the walking area to four areas, walkable, positive obstacle, negative obstacle and occlusion areas. In this paper, we describe the algorithm and the experimental results of the environmental recognition system for the fall risk alert. In the experiments, the accuracy, stability, and time delay are evaluat-ed in approaching a fall risk area, such as stairs. The results show the smartphone has the possibility to be the ETA to support the visually impaired and reduce the fall risks.

DOI： 10.57417/jrnal.9.4_349

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An Analysis of Robot Speed Efficiency for Mobile Robot Adapted Three Omni Rollers Using Linear Transformation 査読有り国際誌

Kimura Kenji, Shigyo Yuki, Ishii Kazuo

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 3 ( 4 ) 242 - 249 2023年03月

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）

RoboCup Middle-sized-League soccer robots are mainly equipped with the three omni-roller mechanism. These mobile robots are expected to function efficiently in fields, such as logistics. These systems are easy to control and allow omnidirectional movement. However, theoretical research on these systems’ exercise efficiencies has not been conducted. In this research, we assume a mechanism that can arbitrarily change the roller arrangement based on a circular mechanism and evaluate the roller arrangement from a speed efficiency perspective. Additionally, we define an evaluation function using the theory of linear transformation to examine the roller arrangement.

DOI： 10.57417/jaalr.3.4_242

A Modeling of Sphere Considering Slipping Adapted Three-Rollers 査読有り国際誌

Kimura K., Ogata K., Hirai H., Ueda T., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 28 491 - 494 2023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）

Many types of spherical robots use friction-drive systems for locomotion because such systems enable omnidirectional movement and are more capable of climbing steps than mobile robots equipped with multiple omni-wheels. Slipping between spheres and rollers is a remarkable issue with friction-driven mechanisms. However, the previously established sphere kinematic models do not consider slipping, and kinematic models consider slipping in only two constraint rollers. In this study, we propose a mathematical model that allows for slipping on three constraint rollers and simulate the angular velocity vector of the sphere and slip speed at each contact point.

DOI： 10.5954/icarob.2023.os20-6

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Underwater Live Video Streaming Experiment Using Radio Frequency Communication for AUVs 査読有り国際誌

Alahmad R., Nishida Y., Ishii K., Fukumoto Y., Matsushima T.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 28 499 - 503 2023年02月

担当区分：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）

Autonomous Underwater Vehicles (AUVs) require long-distance communication, especially in the deep sea. Radiofrequency (RF) communication provides a high data rate. However, electromagnetic wave is seriously limited by high attenuation in the water medium. In this study, we investigate Radiofrequency communication in seawater. The experiment results show the effects of the distance between the transmitter and receiver, and the stability of the antennas. We achieved HD video transmission with 25fps.

DOI： 10.5954/icarob.2023.os21-1

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