Faculty Profiles - ISHII Kazuo

Papers - ISHII Kazuo

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Remotely operated vehicle for underwater infrastructure inspection

YAMAMOTO Yusuke, HUANG Zhoujie, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2022 ( 0 ) 2A2-A11 2022.01

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

Currently, underwater infrastructure facilities in Japan are rapidly aging, but most of them are not inspected by divers because the current inspection by divers is inefficient and potentially dangerous. To realize a system that can inspect underwater infrastructures safely and efficiently, this study develops a motion control system for an underwater robot that is part of the underwater infrastructure inspection system.

DOI： 10.1299/jsmermd.2022.2a2-a11

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2A2-A11/_pdf

Report on the 7th Tomato-Harvesting-Robot Competition

ISHII Kazuo, MATSUO Takayuki, TAKEMURA Yasunori, SONODA Takashi, NISHIDA Yuya, YASUKAWA Shinsuke, TOMINAGA Moeko, FUJINAGA Takuya

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2022 ( 0 ) 2P2-T08 2022.01

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

In agriculture, the aging and depopulation of farmers cause the shortages of farmers and manpower. Most of commercialized robots are industrial robots for factory automation, and most of robots for the first industry, agriculture, forestry and fisheries are still under developing. The reasons are cost-efficiency of the robotization, safety of the works using robots, difficulty of outdoor operations, and knowledge transfer problem from farmers to computer, etc. As one of solutions for the problems, robot technology into the agriculture is expected to contribute to the laborsaving, improvement of production, production line automation, and also the management toward smart-agriculture. We organize the Tomato-harvesting-robot competition to offer the research field and welcome researchers into agricultural robotics.

DOI： 10.1299/jsmermd.2022.2p2-t08

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2P2-T08/_pdf

Floating objects cancellation from underwater images

YANAGISE Kentaro, YASUKAWA Shinsuke, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2022 ( 0 ) 2A2-A10 2022.01

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

The ocean is one of extreme environments, and underwater robots are expected as the tools for observation of the ocean. Underwater robots require high autonomy and are self-contained to accomplish various deep-ocean observation missions. The next generation AUV is expected to have sampling function of marine benthos with end-effector to catch and bring back marine creatures. However, sampling is not easy task for AUV as the shape, size, motion of targets differs. So that the end-effectors is required to have enough accuracy in control manipulation. One of the key issues is the target recognition from underwater images. In this research, floating objects cancellation method from underwater images using optical flow is discussed.

DOI： 10.1299/jsmermd.2022.2a2-a10

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2A2-A10/_pdf

Exercise on Environmental Monitoring and Control of Greenhouse Using Smart devices

NISHIDA Yuya, MOCHIZUKI Ryugo, YASUKAWA Shinsuke, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2022 ( 0 ) 2P2-S12 2022.01

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

As crops in greenhouses are widely distributed, IoT devices placed near the crops should be stand-alone and modular, and data from the devices are collected over the networks. Smart agriculture requires knowledge of a wide range of fields including electricity, information, and image processing. We have designed an exercise on environmental monitoring and control of a greenhouse toward smart agriculture. The exercise consists of mechatronics, MATLAB/Simulink and system construction exercises. Students learns technology electrical circuit, embedded programing, network communication, and image processing required for smart agriculture. Almost students who took the exercise acquired technology related to micro-computers, image processing technology and control by MATLAB/Simulink, but a few students couldn’t acquire them. In the next school year, authors plan to teach from a little more basic technology.

DOI： 10.1299/jsmermd.2022.2p2-s12

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2P2-S12/_pdf

Small Wheel Design and Analysis of Omni Wheels in the RoboCup Middle Size League

TOMINAGA Moeko, TANIGAWA Yamato, TAKEMURA Yasunori, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2022 ( 0 ) 2P2-T04 2022.01

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

For omni wheels used for omnidirectional movement of soccer robots, the shape and number of small wheels affect driving stability and grip. In this research, we will realize the production of small wheels, which was difficult to manufacture by ourselves due to the history of using resin materials, by using a manual tabletop injection molding machine. By eliminating the bearings that have been used so far, we aimed for a more robust wheel. We designed a mold for injection molding and actually manufactured it．We verified the manufacturing method by injection molding with multiple types of resin materials using the manufactured mold．This research makes it possible to propose new small wheel shapes and materials .

DOI： 10.1299/jsmermd.2022.2p2-t04

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2P2-T04/_pdf

Evaluation of Two Rollers Arrangement on a Hemisphere by Kinetic Energy Reviewed International journal

Kimura Kenji, Abematsu Yusuke, Hirai Hiroyasu, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 3 ) 233 - 239 2022.01

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

A driving roller arrangement of hemisphere is one of the important problems by omnidirectional sphere conveyance. In this research, the roller arrangement problem, viewed as an evaluation function, is thought of as mean of roller’s kinetic energy with respect to the sphere direction. Furthermore, theoretically, we calculate the evaluation function, and find the contact point such that the evaluated value is minimal.

DOI： 10.57417/jrnal.9.3_233

Scopus

CiNii Research

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85176580752&origin=inward

Design of the locomotion switching mechanism of a grape transporting robot

Kamon Supaphon, Grazioso Andrea, Maria Enrico di, Ishii Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2022 ( 0 ) 1P1-A12 2022.01

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

The use of heavy machinery in agriculture has led to a progressive soil degradation and the consequent crop yield reduction and increase of maintenance costs. The soil damage is of two types: soil compaction (volume reduction) and distortion (shearing and deformation). Because this damage is affected by the state of the soil and by the contact area between soil and running gear, the design of a vehicle able to change its contact area is here considered. The vehicle is intended to transport the grape in the vineyards and replace the use of heavy tractors during the harvesting period. The proposed system can pass from a wheeled vehicle, suited for hard dry soil, to a half-tracked vehicle, suited for more soft and deformable soil. In this work, we provide the overview of the entire vehicle, and we show the design of the mechanism for switching between the two types of locomotion systems.

DOI： 10.1299/jsmermd.2022.1p1-a12

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_1P1-A12/_pdf

A sensor network for assisting in feeding decisions in marine aquaculture

SOLPICO Dominic, MISHIMA Kota, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2022 ( 0 ) 2A2-A12 2022.01

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

Optimizing fish feeding is needed for a sustainable marine aquaculture production. We approach this problem by estimating the behavior of fishes during feeding by measuring currents they generate around the cage. In this paper, we present our development of an underwater sensor network consisting of current sensors, inertial measurement units, and cameras. This system was deployed in a fish cage and recorded measurements in three fish cages during feeding activities. Results showed that currents generated by fishes were largest at the surface during feeding and decline over time until the feeding ended. Further data analysis is needed for optimizing the farmer’s feeding decisions.

DOI： 10.1299/jsmermd.2022.2a2-a12

CiNii Research

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2A2-A12/_pdf

Underwater Acoustic Positioning Based on MEMS Microphone for a Lightweight Autonomous Underwater Vehicle “Kyubic” Reviewed International journal

Inniyaka I.R., Solpico D.B., Hamada D., Sugino A., Tanaka R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 349 - 353 2022.01

Underwater Acoustic Communication using QPSK Modulation Method Reviewed International journal

Nishida Y., Uemura Y., Tanaka R., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 774 - 778 2022.01

Ultrasonic Cleaner using Two Transducers for Ship Hull Cleaning Robot Reviewed International journal

Nishida Y., Matsumura T., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 779 - 784 2022.01

Tomato Harvesting in Greenhouse Considering the Effect of Sunlight Reviewed International journal

Shioji K., Yasukawa S., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 360 - 364 2022.01

Reflection Coefficient Estimation through the Modelling of Ultrasonic Transmission Reviewed International journal

Mochizuki R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 750 - 755 2022.01

Motion Control of a Ship Hull Cleaning Robot Reviewed International journal

Yamamoto H., Nishida Y., Matsuo T., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 785 - 788 2022.01

Inter-University Collaboration Aimed at Integrating Different Robotic Field: Development of Underwater Robots and Soccer Robots Though these Competitions Reviewed International journal

Tominaga M., Ahn J., Takemura Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 365 - 368 2022.01

Fall Risk Notification System using LiDAR Sensor for the Visually Impaired People Reviewed International journal

Katayama D., Ishii K., Yasukawa S., Nakadomari S., Wada K., Befu A., Yamada C.

Proceedings of International Conference on Artificial Life and Robotics 745 - 749 2022.01

Exercise on Environmental Monitoring and Control of Green house by IoT Devices toward Smart Agriculture Reviewed International journal

Nishida Y., McHizuki R., Yasukawa S., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 369 - 373 2022.01

Autonomous Underwater Vehicle with Vision-based Navigation System for Underwater Robot Competition Reviewed International journal

Harada K., Fukuda R., Mizoguchi Y., Yamamoto Y., Mishima K., Tanaka Y., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 354 - 359 2022.01

An Estimation Method of Coastal Ocean Debris Using Aerial Drone Reviewed International journal

Ishii K., Shirahashi K., Nishida Y., Tominaga M., Tanaka Y., Solpico D.B.

Proceedings of International Conference on Artificial Life and Robotics 1095 - 1101 2022.01

A Network of Underwater Sensors Estimating Feeding Behavior for Digitizing Optimized Feeding Decisions in Marine Aquaculture Reviewed International journal

Solpico D.B., Mishima K., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 762 - 767 2022.01

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Papers - ISHII Kazuo