研究者詳細 - 石井　和男

論文 - 石井　和男

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An Inexpensive Acoustic Positioning System for Low-Cost Shallow Water AUV Operation 査読有り国際誌

Inniyaka Irmiya R., Solpico Dominic B., Hamada Daiki, Sugino Akihiro, Tanaka Rikuto, Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 2 ) 131 - 140 2023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（学術雑誌）

Accurate localization of Autonomous Underwater Vehicles (AUVs) is fundamental to navigation
accuracy, and robust control which leads to an overall success of vehicles’ mission. Conventional
positioning systems are expensive and cannot be implemented for lightweight/budget AUV
systems. This paper describes the design and performance of an inexpensive acoustic positioning
system (APS) used to guide the mission strategy of a lightweight AUV (KYUBIC) for the
Underwater Robotics Competition in Okinawa. Using Position and Thrust control strategy, the
AUV velocity is used for self-positioning estimation, and this is calculated from the equation of
motion without integrating the acceleration. The acoustic positioning method is based on Supershort
baseline (SSBL) principle comprising of 2 self-made hydrophone module using MEMS
microphone. Our competition strategy searches and locates the position of a submerged Pinger
using detection and angle estimates that are integrated for dynamic control of the AUV.
Performance analysis show that the controller and low-cost acoustic system can search and
localize at Pinger position within the accepted boundary.

DOI： 10.57417/jrnal.10.2_131

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85194250036&origin=inward

Motion Control of an AUV Based on Disturbance Observer for Tidal Current Estimation 査読有り国際誌

Miyakawa R., Nishida Y., Thornton B., Ishii K.

Oceans Conference Record (IEEE) 2023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）

Japan's territorial waters contain vast space and abundant marine resources. In recent years, AUVs have been developed that can conduct resource surveys in various ocean areas. Improving the control performance of AUVs is essential for conducting wide-area and detailed oceanographic surveys. In this paper, designed an algorithm to modify the thrust balance of the thruster and an observer to estimate the tidal current as a disturbance. By considering the thrust balance of the horizontal thrusters, it is possible to estimate the tidal currents on the AUV. In future work, tests will be conducted in sea without cables installed to eliminate estimation errors due to cable tension, and to evaluate the control performance of the control system with the addition of a disturbance observer to estimate the tidal current.

DOI： 10.23919/OCEANS52994.2023.10337342

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85181588232&origin=inward

ケーブル拘束型海中ロボットによる長期観測手法

田中良樹, 西田祐也, 福田次朗, 中村優裕, 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 ) 2023 ( 0 ) 1P1-C12 2023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（研究会，シンポジウム資料等）

To obtain a long-term data of marine resources which are distributed over a wide area of the deep sea, we have been developed a long-term observation system using cable-restricted underwater vehicle. This paper reports about long-term observation system and its wet test performed at 3 m depth. As an evaluation experiment result, the vehicle tethered by a cable was able to cruise with an error of less than 0.34 m against the planned route. The mosaic image generated based on the captured images was able to measure the width, length, and height of the object with an error of less than 4 cm.

DOI： 10.1299/jsmermd.2023.1p1-c12

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1P1-C12/_pdf

ホバリング型AUV”Tuna-Sand2”による岩国沖藻場生息域の潜航調査

宮川亮, 西田祐也, 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 ) 2023 ( 0 ) 1A2-C09 2023年01月

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

The oceans occupy about 70% of the Earth ’s surface have vast space and mineral, energy, and biological resources. In recent years, AUV has been developed for resource surveys in various sea areas We are working on developing and implementing a robust control system to improve the AUV autonomy and to navigate safely. This paper reports about observation results by hovelling type AUV ”Tuna-Sand2” on seaweed bed habitat off Iwakuni on January 2023 and estimate currents from the dive data to design the observer to estimate currents and implement for AUV. The dive results show that there were Northwesterly current and AUV position is easily affected by current when change target direction.

DOI： 10.1299/jsmermd.2023.1a2-c09

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A2-C09/_pdf

ロボカップサッカー中型リーグにおけるフレームワークの提案

富永萌子, 下松八重宏太, 富永歩, 武村泰範, 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 ) 2023 ( 0 ) 2A1-B13 2023年01月

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

Robot social implementation is expected nowadays, and in particular, for autonomous mobile robots, it is becoming necessary to be able to ”collaborate with others (other robots).” When dealing with such multi-agent systems (MAS), framework sharing has the effect of reducing the burden on designers and improving compatibility and code reuse between agents. In particular, RoboCup is a landmark project that includes the goal of accelerating development and research speed through the sharing of technology and knowledge among teams in competitions. Therefore, in order for engineering applications using MAS to progress to practical stages, a framework that supports the design, implementation, evaluation, and improvement of MAS must be available. This study aims to propose and implement a framework for the RoboCup middle-size league. ROS2 and its network were utilized for implementation, and a proposal including system configuration was made.

DOI： 10.1299/jsmermd.2023.2a1-b13

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_2A1-B13/_pdf

ローラ・球体の運動学特性に基づいた球体搬送機構の設計

筑紫彰太, 木村憲二, 安鍾賢, 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 ) 2023 ( 0 ) 1A1-H21 2023年01月

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

Efficient transportation of objects by robots is required due to the declining working-age population. This study focuses on sphere transport as a means of efficient object transport by robots. To date, there is no methodology for mechanism design based on kinematics properties for sphere transport by robots. Therefore, we propose a method for designing a sphere transport mechanism based on kinematic properties. The paper presents the requirements and methodology for designing a sphere transport mechanism based on kinematic properties.

DOI： 10.1299/jsmermd.2023.1a1-h21

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A1-H21/_pdf

Kinetic Analysis of Omnidirectional Mobile Robot with Symmetry Roller’s Arrangement 査読有り国際誌

Kimura Kenji, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 3 ) 275 - 281 2023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 recent years, the efficient mobility of omnidirectional mobile robots is desired in the logistics industry. Hence, various types of rollers are installed in mobile robots. These include omnidirectional rollers, which are characterized with excellent omnidirectional mobility and are considered easy to control. Herein, considering that the side surface of the mechanism is circular, the kinematics of the mechanism assuming an arbitrary arrangement on this circle is derived. Previous research has evaluated the roller arrangement from the perspective of the speed efficiency of the drive roller. Meanwhile, this research focuses on a mobile robot equipped with three omni-rollers. Furthermore, focusing only on the translational speed of the robot, its motion efficiency is evaluated. The distribution of the robot’s translational speed is studied, the area of the region is used as the evaluation function, and its behaviors are analyzed.

DOI： 10.57417/jrnal.10.3_275

CiNii Research

Improvement of the Database-Driven PID Control Method by H-Infinity Norm of the Local Model 査読有り国際誌

Ueda Takumi, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 3 ) 213 - 219 2023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（学術雑誌）

PID controllers are used in many applications and are considered an example of a fixed structure controller. For each specific system, the controller's PID parameters must be adjusted accordingly. Therefore, database-driven control, which automatically adjusts PID controller parameters using a large amount of experimental data, is attracting attention. Database-driven control is one of the methods that does not require model information. Therefore, in database-driven PID (DD-PID), the Jacobian of the system used for the steepest descent is unknown. In this paper, we propose an optimization method using gradient descent based on a local model of the system and confirm its effectiveness through simulation using the polystyrene reactor model as an example.

DOI： 10.57417/jrnal.10.3_213

CiNii Research

Evaluation of Two Rollers Arrangement on a Hemisphere by Kinetic Energy 査読有り国際誌

Kimura Kenji, Yusuke Abematsu, Hiroyasu Hirai, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 3 ) 233 - 239 2022年12月

Roller’s Kinetic Energy Efficency Problem in Upper Hemisphere 査読有り国際誌

Kenji Kimura, Kazuo Ishii,

2022 Joint 12th International Conference on Soft Computing and Intelligent Systems and 23rd International Symposium on Advanced Intelligent Systems (SCIS&ISIS) ( IEEE ) 1 - 6 6 pages 2022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（国際会議プロシーディングス）

The maximum freedoms of sphere's rotational movement is three. This fact is expected sphere conveyance (by rollers) method that kinetic energy is minimal. If we assumed that roller's rotational axis are variable, constraint roller enable that sphere rotational dimension is high dimensional freedom. Such the angular velocity vector of a sphere will improve the motion diversity of the sphere. It is desired to transport with high kinetic energy efficiency. In this research, Using mean of kinetic energy, we consider rollers arrangement on upper hemisphere, assuming that slip and friction do not exist between roller and sphere at contact point and focus on the minimality of kinetic energy.

DOI： 10.1109/SCISISIS55246.2022.10001945

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85146732535&origin=inward

Multibody Modeling of a New Wheel/Track Reconfigurable Locomotion System for a Small Farming Vehicle 査読有り国際誌

Andrea Grazioso , Enrico di Maria, Nicola Ivan Giannoccaro, Kazuo Ishii

Machines ( MDPI ) 10 ( 12 ) 1117 - 1146 2022年11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）

Tracks and wheels are the most widely used running gear for the locomotion of agricultural vehicles. The main difference between the two systems is the contact area with the ground and, consequently, the pressure distribution. Evaluating the pressure distribution on the ground is important because soil damage and vehicle performance depend on it. This analysis is especially difficult for tracked vehicles, owing to their complexity compared with wheeled systems. In this paper, we describe a multibody model of a flexible track to evaluate the pressure distribution upon contact with soft terrain. The track considered in this study is part of a reconfigurable locomotion system of a small farming vehicle, which can vary the pressure distribution by switching from a wheeled vehicle to a half-tracked vehicle. The aim of such a vehicle is to minimize soil damage in addition to optimizing its performance. The model is used to characterize this vehicle and evaluate the pressure distribution with varying characteristic parameters, such as track tension, the position of the vehicle’s center of gravity, the weight distribution on the track itself, and the stiffness of the suspension system.

DOI： 10.3390/machines10121117

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85144909763&origin=inward

Digital Transformation of Feeding Control Knowledge in Marine Aquaculture using Current Sensors 査読有り国際誌

Solpico Dominic B., Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 2 ) 143 - 153 2022年09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）

Improving the efficiency of fish feeding contributes to achieving sustainable expansion of the aquaculture industry. However, expert knowledge on feeding remains reliant on experience. This paper presents a new approach of applying digital transformation (DX) on such knowledge by measuring underwater currents induced by fishes as indicator of their hunger. A prototype sensor suite consisting of current sensors, cameras, and an inertial measurement unit (IMU) was constructed to measure the currents around the fish cage, measure the motion of the suite, and record fish activity, particularly during feeding. An initial experiment was performed in two fish cages during feeding activity. Current measurements were collected and analyzed together with the recorded videos to relate the changes in current to the feeding activities. Results suggest that the currents increase around when feeding was started continuously and decline to zero around when it was stopped. However, more data needs to be collected and analyzed for a better understanding of the relationship between the changes in current and fish activities so it can be used to optimize the feeding decisions of fish farmers.

DOI： 10.57417/jrnal.9.2_143

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85176607340&origin=inward

Efficiency Problem of Spherical Robot in Transfer Kinetic Energy 査読有り国際誌

Kimura Kenji, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 1 ) 87 - 92 2022年06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）

Previous spherical mobile robots were driven by two rollers with a fixed rotational axis, which restricts the angular velocity vector of the sphere to two dimensions. Three-dimensional freedom is expected to improve the rotational diversity of the sphere. This study proposes a spherical mobile robot with a variable roller-rotational axis that allows the movement of three degrees of freedom. Furthermore, the kinetic energy of transporting the sphere by the rollers is minimized by an optimization procedure and it is shown that the kinetic energy of sphere transport is efficient.

DOI： 10.57417/jrnal.9.1_87

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85146672464&origin=inward

Toward Smart Tomato Greenhouse: The 6th Tomato-Harvesting-Robot Competition and Regulation Changes Aiming at Practical Application 査読有り国際誌

Matsuo Takayuki, Takemura Yasunori, Sonoda Takashi, Nishida Yuya, Yasukawa Shinsuke, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 1 ) 13 - 19 2022年06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）

Agriculture is one of the most important primary industries, however the agricultural workforce in Japan has been decreasing due to the aging, shortage of successors and their heavy work. Smart agriculture and farms, which aim to automate farm work, have been attracting attention for the future sustainable society. We have been organizing the Tomato-Harvesting-Robot Competitions since 2014 to introduce robotic technology and AI into agriculture and promote agricultural technology. The competition consists of a Junior League for young students and a Senior League for general competitors. In this paper, we report the results of the 6th Tomato-Harvesting-Robot Competition and the regulation changes toward practical applications.

DOI： 10.57417/jrnal.9.1_13

Scopus

CiNii Research

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85178282719&origin=inward

学習意欲の向上を狙った水中ロボット競技会への取り組み査読有り

安鍾賢, 園田隆, 石井和男

工学教育 ( 公益社団法人日本工学教育協会 ) 70 ( 2 ) 2_124 - 2_129 2022年04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（学術雑誌）

Underwater robot competitions provide students with the opportunity to voluntarily learn engineering knowledge and skills. It is expected that students will be interested in the marine engineering and manufacturing by participating in such underwater robot competitions, and that interest will lead to motivation for university learning. In this study, we will conduct extracurricular activities for 8 students for about half a year with the aim of participating in underwater robot competitions, and evaluate their educational effectiveness. In the evaluation, changes in interest in the marine engineering and manufacturing were evaluated by questionnaire. In addition, changes in learning motivation were evaluated from the university GPA from 2018 to 2020. As a result, it was confirmed that the participating students were interested in the marine engineering and manufacturing through extracurricular activities and maintained high learning motivation.

DOI： 10.4307/jsee.70.2_124

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/jsee/70/2/70_2_124/_pdf

Underwater Acoustic Positioning Based on MEMS Microphone for a Lightweight Autonomous Underwater Vehicle “Kyubic” 査読有り国際誌

Irmiya R. Inniyaka, Dominic B. Solpico, Daiki Hamada, Akihiro Sugino, Rikuto Tanaka, Yuya Nishida, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 27 349 - 353 2022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）

2022年01月22日 - 2022年01月24日

Autonomous Underwater Vehicle positioning is important for accurate control and high-quality data collection. Conventional positioning systems are expensive. This paper describes the design and performance results of control using equations of motion and an inexpensive acoustic positioning system implemented on a lightweight AUV "KYUBIC" for Underwater Robotic competition in Okinawa 2021. The velocity used to estimate the self-position of the AUV is calculated form the equation of motion without integrating the acceleration. The acoustic positioning method is based on Super-short baseline (SSBL) principle. The system design comprises of self-made hydrophone module using MEMS microphone. The estimated distance and angle are integrated for dynamic control of AUV to locate the position of a Pinger.

DOI： 10.5954/icarob.2022.os28-1

Kyutacar

CiNii Article

CiNii Research

その他リンク： https://kyutech.repo.nii.ac.jp/records/7484

Autonomous Underwater Vehicle with Vision-based Navigation System for Underwater Robot Competition 査読有り国際誌

Kazuki Harada, Riku Fukuda, Yusuke Mizoguchi, Yusuke Yamamoto, Kota Mishima, Yoshiki Tanaka, Yuya Nishida, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 354 - 359 2022年01月

An Estimation Method of Coastal Ocean Debris Using Aerial Drone 査読有り国際誌

Kazuo Ishii, Kanako Shirahashi, Yuya Nishida, Moeko Tominaga, Yoshiki Tanaka, Dominic B. Solpico

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 1095 - 1101 2022年01月

Motion Control of a Ship Hull Cleaning Robot 査読有り国際誌

Hyoga Yamamoto,Yuya Nishida, Takayuki Matsuo, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 785 - 788 2022年01月

Ultrasonic Cleaner using Two Transducers for Ship Hull Cleaning Robot 査読有り国際誌

Yuya Nishida, Toshihiro Matsumura, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 779 - 784 2022年01月

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