Faculty Profiles - ISHII Kazuo

Papers - ISHII Kazuo

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Sea-floor Image Restoration with Variable Absorbance Coefficient Reviewed International journal

Inniyaka I.R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 510 - 514 2023.02

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

Light scattering from suspended particles and attenuation over the water column are constant phenomena that reduce underwater image quality due to low contrast and color distortion. Common image restoration techniques such as the image formation model, assumes a constant attenuation coefficient across color channels. This results in a restoration solution with limited application. We propose a method of image restoration that considers the wavelength-dependent attenuation of underwater images by providing concurrent measurements of the coefficient of attenuation for each color channel. In this paper, a description of the design of a turbidity meter is made. It used to extract absorbance of light in the RGB channel. We conduct experiments to validate the operation of the turbidity meter based on BeerLamberts law.

DOI： 10.5954/icarob.2023.os21-3

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Roller Arrangement Problem of Omnidirectional Mobil Robot Adapted Three Omni Rollers Reviewed International journal

Kimura K., Shigyo Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 28 495 - 498 2023.02

Report on the 8th Tomato-Harvesting Competition toward Smart Agriculture Reviewed International journal

Ishii K., Matsuo T., Takemura Y., Sonoda T., Sanada A., Tominaga M., Nishida Y., Yasukawa S., Shirahashi K., Fujinaga T., Arita D., Kawajiri K., Ohshima K., Okada M.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 486 - 490 2023.02

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

Tomato is one of the important fruit vegetables and most tomatoes are produced in the greenhouses, or large-scale farms, where the high temperature and humidity, and long harvest age force the farmer heavy works. To develop the tomato harvesting robot, many research issues exist such as manipulator design, end-effector design, collaborative behavior, artificial intelligence, motor control, image processing, target recognition and so on. With an aim to promote the automation of tomato harvesting, we have organized the tomato harvesting robot competition since 2014, and currently changed the competition field to the greenhouse in 2020. In this paper, we discuss the results of 8th tomato harvesting robot competition in 2021.

DOI： 10.5954/icarob.2023.os20-5

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Report of a robot competition on the problem of garbage in the sea and verification of learning effects Reviewed International journal

Matsuo T., Sato M., Ozawa M., Miura S., Arima M., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 28 468 - 472 2023.02

Occuluded Object Detection by Ultrasonic Sensors Reviewed International journal

Mochizuki R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 519 - 524 2023.02

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

Crops are required to be processed in sanitary manner for lunchbox production in industries. Particularly, foreign object detection is crucial to guarantee consumer's health. Actually, foreign objects are mainly detected by human's eyes. For the automation, image processing is an example, however, is not effective for hidden objects. We propose a method of foreign object detection with ultrasonic reflection analysis. In our experiment, we selected four crops (lettuce, spinach, perilla and komatsuna) for masking material, and a coin for occluded objects. The coin were attached on the backside of the masking material. We recorded reflected wave moving the material linearly. As the result, reflection intensity doubled by the existence of occuluded object.

DOI： 10.5954/icarob.2023.os21-5

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149481983&origin=inward

Image-based navigation of Small-size Autonomous Underwater Vehicle "Kyubic" in International Underwater Robot Competition Reviewed International journal

Mizoguchi Y., Hamada D., Fukuda R., Inniyaka I.R., Kuwata K., Nishimuta K., Sugino A., Tanaka R., Yoshiki T., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 473 - 476 2023.02

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

An International underwater robot competition, "RoboSub" is held in USA to demonstrate robot's autonomy by completing underwater tasks, with a new theme each year. Student project team, "Kyutech Underwater robotics" developed autonomous underwater vehicle (AUV) "KYUBIC" with built-in image processing module for the RoboSub. Sensors on the AUV are connected via ethernet and its automatic navigation program is built using ROS. The AUV moves through gate to the target objects based on self-localization using doppler velocity log and IMU. When approaching the object, the AUV aligns its direction to the object based on the red line detection by image processing as well as the type, position, and altitude of the target objects are detected by deep learning on the image processing module.

DOI： 10.5954/icarob.2023.os20-2

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Development of a Variable Stiffness Function for a New Multifunctional Wire Driven Joint Mechanism Reviewed International journal

Suzuki K., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 525 - 528 2023.02

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

A mechanical variable stiffness can adapt to external forces beyond the control cycle, such as overturning of walking robots, which can help solve problems such as actuator and joint destruction. In this research, we will clarify the structure of a two-input, one-output joint mechanism that can realize three functions: normal motion, instantaneous motion, and variable stiffness function. As part of the development of the variable stiffness function, a mathematical model is derived and simulated for the relationship between the joint angle of the output link and the disturbance torque when a disturbance torque is applied to the output link of the proposed mechanism.

DOI： 10.5954/icarob.2023.os21-6

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149473180&origin=inward

Development of a Tomato Harvesting Robot for Farm Field Reviewed International journal

Oda S., Fukumoto R., Hirata K., Tahara S., Yoshida K., Yasukawa S., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 481 - 485 2023.02

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

The 9th Tomato Harvesting Robot Competition was held at the green house in Kitakyushu Science and Research Park. The competition consisted of two leagues for different field areas: rail-style for greenhouses and free-style for open fields. Our team competed in the free-style league. Participation in the free-style category required the following: tomato harvesting mechanism; mobility mechanism to move on the rough terrain; camera to photograph tomato; and self-location system. We developed a 3-axis cartesian coordinates manipulator tomato harvesting robot using crawler to move on soil and using suction and cutting to harvest the tomatoes. In this paper, we described the system architecture of tomato harvesting robot and the results of 9th Tomato Harvesting Robot Competition in 2022.

DOI： 10.5954/icarob.2023.os20-4

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Design of A Parameter Update Method of the Database-Driven PID Controller Considering H<inf>∞</inf> Norm of the System Reviewed International journal

Ueda T., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 28 515 - 518 2023.02

Control strategy to change the locomotion mode of a reconfigurable wheel/track robot based on the soil conditions Reviewed International journal

Kamon S., Di Maria E., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 504 - 509 2023.02

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

The use of agricultural machinery damages the soil by compaction and distortion, where the compaction is due especially to vehicle with small contact areas like wheels, while the distortion is caused especially by tracked systems. In this work we discuss a wheel/track reconfigurable robot able to adjust the contact area based on the soil conditions, to minimize soil damage, energy consumption and adapt travers ability. After giving an overview, we propose a control strategy for switching between the locomotion modes.

DOI： 10.5954/icarob.2023.os21-2

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149474877&origin=inward

Analyzing an OFDM System using Cyclic Prefix to Improve the Underwater Communication Reviewed International journal

Alraie H., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 529 - 532 2023.02

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

Underwater Communication is one of the most difficult challenges facing researchers. OFDM technique has been used widely in 4G communication systems, and recently it was approved to be successfully implemented in 5G. Many researchers have improved the Underwater wireless communication system including Acoustic communication using the OFDM technique. We applied the Cyclic Prefix in this study to improve the underwater communication system. We started by studying the effects of Rician fading based on the OFDM system on the wireless channel. Then we analyzed the Bit Error Rate (BER) of the system in several scenarios, by applying the AWGN, Rician fading, and absorption factor to simulate the underwater channel.

DOI： 10.5954/icarob.2023.os21-7

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Evaluation of Roller-Sphere Forward Kinematics for Sphere Transportation Control Using a Sphere Motion Measurement System

Chikushi Shota, Kimura Kenji, Ahn Jonghyun, Ishii Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2023 ( 0 ) 1A2-H21 2023.01

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

<p>Due to the social background of declining birthrates and an aging society, object transport requires automation and the introduction of robots. This study focuses on sphere transport as a means of efficient object transport by robots. This paper uses a spherical motion measurement system to evaluate the forward kinematics of sphere transportation. The results show the validity of roller-sphere forward kinematics in three patterns of roller arrangement.</p>

DOI： 10.1299/jsmermd.2023.1a2-h21

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A2-H21/_pdf

Development of a Sphere Motion Measurement System and Evaluation of the Roller Arrangement Requirement Reviewed International journal

Chikushi S., Kimura K., Ahn J., Ishii K.

2023 20th International Conference on Ubiquitous Robots, UR 2023 250 - 254 2023.01

Underwater Image Restoration Using In-situ Turbidity Measurements Reviewed International journal

Inniyaka Irmiya R., Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 2 ) 141 - 151 2023.01

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

Degradation in underwater imaging is as a result of absorption and scattering of light. Propagated
visible light rays through the water column are absorbed at rates that vary depending on the
wavelength of light. Large suspended particles also scatter the propagated light rays, as can be
observed in an underwater environment. Furthermore, color is distorted due to the inverse ratio
of attenuation that is proportional to the wavelength of light through a unit of length through the
water column. These phenomena distort underwater images by making them appear dark and have
low contrast. Conventional underwater image restoration techniques are largely based on the
image formation model (IMF) which restores the image based on estimates from the degraded
images. The results are solutions that are limited to specific underwater conditions. In this paper,
we propose a novel restoration strategy by considering the optical properties in the underwater
environment at the time of image capture, a robust restoration technique can be applied to images
captured in different underwater conditions. In so doing, we design a turbidity meter that capture
wavelength-dependent absorption data which are applied as parameters to restore the distorted
images based on the RGB channels. To validate our proposed technique, we conduct experiments
in a controlled underwater environment while varying the concentration of suspended particles
based on degree of kaolin mixture.

DOI： 10.57417/jrnal.10.2_141

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Report on Underwater Robot Festival Junior Division Aimed at Marine-Debris Cleanup Reviewed International journal

Matsuo Takayuki, Sato Masanori, Ozawa Masayoshi, Miura Seiichiro, Arima Masakazu, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 1 ) 77 - 83 2023.01

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

A marine-cleaning robot competition was featured at the junior division of the Eighth Underwater Robot Festival held at Iwakuni, Japan in 2022. The theme of the competition was “Life Below Water,” which is the 14th goal of SDGs, and consisted of poster presentations on marine-debris problems and a robot competition to compete in debris-collection ability. In addition, questionnaires were sent out before and after the competition to analyze the level of understanding of robot development and SDGs after the competition. This paper reports an outline of the junior division and results of the educational effect using questionnaire analysis.

DOI： 10.57417/jrnal.10.1_77

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Forward Kinematic of a Sphere Considering Slipping and Motion Analysis in Three Rollers Reviewed International journal

Kimura Kenji, Ogata Koki, Hirai Hiroyasu, Ueda Takumi, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 1 ) 25 - 32 2023.01

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

Compared to mobile robots equipped with multiple rollers, spherical robots can move in all directions and are superior in durability and in their ability to climb steps. Slippage between balls and rollers is a significant problem in friction drives. However, previously established roller-driven ball kinematics model considers sliding on only two constraining rollers. In this research, we developed it, proposed a motion model of sphere with three-constraint rollers, and developed a mathematical model that simulates the angular velocity vector of the sphere and the slip vector at each contact point. And we considered the existence of an angular velocity vector of sphere adapted three constraint rollers from the viewpoint of forward kinematics and succeed demonstration of the trajectory of the endpoint of the angular velocity vector and slip velocity vector of sphere.

DOI： 10.57417/jrnal.10.1_25

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Experimental Study of Underwater RF Communication for Live Video Transmission for AUVs Application Reviewed International journal

Alahmad Raji, Ishii Kazuo, Nishida Yuya, Fukumoto Yuki, Matsushima Tohlu

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 1 ) 84 - 90 2023.01

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

Autonomous Underwater Vehicles (AUVs) require long-distance communication, especially in the deep sea. Acoustics communication and wireless optical communication have limitations of low latency and water conditions effects respectively. Radiofrequency (RF) communication provides a high data rate with free orientation of the transmitter/receiver antennas. However, electromagnetic waves are highly restricted by high attenuation over short distances in the underwater medium. In this study, we investigated the RF communication in a tank full of seawater. A loop antenna and rectangular antenna were used for the base station and AUV respectively. The experiments were conducted to measure the transmission rate with different distances between the base station and the AUV using both User Datagram Protocol (UDP) and Transmission Control Protocol (TCP). Live video streaming with framerate analysis was considered. The results show the effect of the distance between the transmitter and receiver on the transmission rate, in addition, to the antenna's stability has huge effects on the connection stability. We successfully achieved a High-Definition (HD) video streaming with 25fps for over 1 meter.

DOI： 10.57417/jrnal.10.1_84

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Development of a Testbed AUV for Shallow Water Observation and Its Controller Evaluation Reviewed International journal

Tanaka Yoshiki, Matsumura Toshimune, Uemura Yuichiro, Yanagise Kentaro, Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 1 ) 6 - 16 2023.01

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

Recently, Autonomous Underwater Vehicles: AUVs are utilized as the tools for ocean survey and practical applications such as ocean mineral resources survey and marine biological investigations. We have developed an AUV “Tuna-Sand2” and have succeeded in automatic sampling of shells in sea trials at Suruga Bay in Japan. Tuna-Sand2 is designed for 2000m depth and 8 hours operation with the speed of 1 knot and has several computers for basic motion control with sensor handling, intelligent behaviors based on image processing and data transmission, however, the robot needs efforts in deployment and recovery because of weight and sizes, and must return to the surface in emergency conditions. That is, the system should be stable, reliable and conservative, and not suitable for testing new challenging algorithms and behaviors. We have developed a new AUV KYUBIC which can be operated by a few people as a small testbed of Tuna-Sand2 and have similar shape and thruster arrangement. In this paper, we describe the system architecture of KYUBIC and the experimental results in Underwater Robotics Competition in Okinawa 2020.

DOI： 10.57417/jrnal.10.1_6

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Channel Estimation using Pilot-Assisted OFDM for Underwater Acoustic Communication Reviewed International journal

Alraie Hussam, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 2 ) 160 - 165 2023.01

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

Underwater communications research is significant to researchers because of the challenges and
difficulties in transmitting wireless signals within this environment. Underwater Acoustic
Communications (UWA) are characterized by the fact that they can travel long distances
compared to the radio signal, which makes it very effective compared to other types, in addition
to the lack of costs in establishing these types of systems. OFDM technique has been used widely
in 4G communication systems, and recently it was approved to be successfully implemented in
5G. One of the most important aims of developing communications systems is to reduce the bit
error rate (BER), and since the underwater communication signal is subject to many influencing
factors that reduce the accuracy of the signal when it reaches the receiver, such as absorption and
multipathing, researchers must improve the performance of the OFDM system by removing this
effect. The channel effect is reduced by selecting some subcarriers from the OFDM system and
assigning them as pilots. These Pilots are given higher power to determine the channel effect and
then use the appropriate equalizer to reduce the effect and improve signal accuracy. In this study
we tested the appropriate number of pilots to estimate the channel response, with a linear equalizer
to reduce the effect at the receiver, then compared the BER before and after adding the equalizer.

DOI： 10.57417/jrnal.10.2_160

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Behavior Learning System for Robot Soccer Using Neural Network Reviewed International journal

Tominaga M., Takemura Y., Ishii K.

Journal of Robotics and Mechatronics 35 ( 5 ) 1385 - 1392 2023.01

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