Faculty Profiles - ISHII Kazuo

Papers - ISHII Kazuo

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Design of flexible mechanism for flexible manipulator Reviewed International journal

Jiawei H., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 594 - 598 2024.01

Energy Consumption of a Wheel/Track Reconfigurable Mobile Robot on the Farm Reviewed International journal

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 2024.01

Mandarin Orange Anomaly Detection with Cycle-GAN Reviewed International journal

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

2024 IEEE/SICE International Symposium on System Integration, SII 2024 644 - 649 2024.01

Recognition of Fish in Aqua Cage by Machine Learning with Image Enhancement Reviewed International journal

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 2024.01

Research on Improving Accuracy of Dynamic Visual SLAM Detection Reviewed International journal

Liu Yufei, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 4 ) 323 - 327 2024.01

Authorship：Last author,　Corresponding author Language：English Publishing type：Research paper (scientific journal)

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

Scopus

CiNii Research

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85204714729&origin=inward

Development of an agricultural robot system designed to exchange its on-board equipment depending on working tasks Reviewed

SATO Hikaru, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2024 ( 0 ) 2A2-A01 2024.01

Authorship：Last author,　Corresponding author Language：Japanese Publishing type：Research paper (other academic)

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.

DOI： 10.1299/jsmermd.2024.2a2-a01

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2024/0/2024_2A2-A01/_pdf

Demonstration Experiment on a Station Platform of a Fall Risk Alert System for Visually Impaired Using a Smartphone

KATAYAMA Daigo, ISHII Kazuo, YASUKAWA Shinsuke, NISHIDA Yuya, NAKADOMARI Satoshi, WADA Koichi, BEFU Akane, YAMADA Chikako, HARATA Atsushi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2024 ( 0 ) 1P2-E10 2024.01

Authorship：Corresponding author Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

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.

DOI： 10.1299/jsmermd.2024.1p2-e10

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2024/0/2024_1P2-E10/_pdf

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

Puwei S., Ishii K.

Journal of Robotics Networking and Artificial Life 10 ( 4 ) 313 - 317 2024.01

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 2024.01

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

Scopus

CiNii Research

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85190269669&origin=inward

A New Reconfigurable Agricultural Vehicle Controlled by a User Graphical Interface: Mechanical and Electronic Aspects Reviewed International journal

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

Machines 11 ( 8 ) 2023.08

Grid Map Correction for Fall Risk Alert System Using Smartphone Reviewed International journal

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

Journal of Robotics and Mechatronics ( Fuji Technology Press Ltd. ) 35 ( 3 ) 867 - 878 2023.06

Authorship：Corresponding author Language：English Publishing type：Research paper (scientific journal)

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.

DOI： 10.20965/jrm.2023.p0867

Scopus

CiNii Research

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85163615298&origin=inward

Experimental Study of Wavelet-OFDM Radio Communication System for AUVs Under Seawater Reviewed International journal

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

17th European Conference on Antennas and Propagation, EuCAP 2023 2023.03

A Network of Underwater Flow Sensors for Long-term Estimation of Fish Feeding Activity Reviewed International journal

Solpico D., Nishida Y., Mishima K., Ishii K., Suetsugu T., Yatsunami Y.

2023 IEEE International Symposium on Underwater Technology, UT 2023 1 - 7 7 pages 2023.03

Development of long-term observation system using cable-restricted underwater vehicle Reviewed International journal

Tanaka Y., Nishida Y., Fukuda J., Ishii K.

2023 IEEE International Symposium on Underwater Technology, UT 2023 1 - 6 6 pages 2023.03

Fall Risk Estimation for Visually Impaired using iPhone with LiDAR Reviewed International journal

Kimura Kenji, Yusuke Abematsu, Hiroyasu Hirai, Ishii Kazuo,Satoshi Nakadomari, Koichi Wada, Akane Befu, Chikako Yamada

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 4 ) 9 pages 2023.03

Fall Risk Estimation for Visually Impaired using iPhone with Li-DAR Reviewed International journal

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

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 4 ) 349 - 357 2023.03

Authorship：Corresponding author Language：English Publishing type：Research paper (scientific journal)

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

Scopus

CiNii Research

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85163666981&origin=inward

A Method to Estimate Reflection Coefficient of Ultrasonic Wave at a Boundary of Two Media Reviewed International journal

Mochizuki Ryuugo, Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 4 ) 343 - 348 2023.03

Authorship：Last author Language：English Publishing type：Research paper (scientific journal)

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

Scopus

CiNii Research

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85177809111&origin=inward

An Analysis of Robot Speed Efficiency for Mobile Robot Adapted Three Omni Rollers Using Linear Transformation Reviewed International journal

Kimura Kenji, Shigyo Yuki, Ishii Kazuo

Journal of Advances in Artificial Life Robotics ( ALife Robotics Corporation Ltd ) 3 ( 4 ) 242 - 249 2023.03

Authorship：Last author Language：English Publishing type：Research paper (scientific journal)

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

CiNii Research

A Modeling of Sphere Considering Slipping Adapted Three-Rollers Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 491 - 494 2023.02

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

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

Scopus

CiNii Research

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149449144&origin=inward

Underwater Live Video Streaming Experiment Using Radio Frequency Communication for AUVs Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 499 - 503 2023.02

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

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

Scopus

CiNii Research

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149482890&origin=inward

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Papers - ISHII Kazuo