研究者詳細 - 石井　和男

論文 - 石井　和男

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水中インフラ点検のための遠隔操縦型ロボット

山本雄資, 黄洲頡, 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 ) 2022 ( 0 ) 2A2-A11 2022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）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2A2-A11/_pdf

第７回トマトロボット競技会開催報告

石井和男, 松尾貴之, 武村泰範, 園田隆, 西田祐也, 安川真輔, 富永萌子, 藤永拓矢

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 ) 2022 ( 0 ) 2P2-T08 2022年01月

担当区分：筆頭著者,　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）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2P2-T08/_pdf

水中画像における浮遊物体除去アルゴリズムの開発

栁瀨賢太郎, 安川真輔, 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 ) 2022 ( 0 ) 2A2-A10 2022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）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2A2-A10/_pdf

スマートデバイスを用いた農業用ハウス環境制御総合実習

西田祐也, 望月隆吾, 安川真輔, 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 ) 2022 ( 0 ) 2P2-S12 2022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）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2P2-S12/_pdf

ロボカップサッカー中型リーグにおけるオムニホイールの小車輪設計と解析

富永萌子, 谷川大和, 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 ) 2022 ( 0 ) 2P2-T04 2022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）

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

その他リンク： 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 査読有り国際誌

Kimura Kenji, Abematsu Yusuke, Hirai Hiroyasu, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 3 ) 233 - 239 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（学術雑誌）

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

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Design of the locomotion switching mechanism of a grape transporting robot

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

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 ) 2022 ( 0 ) 1P1-A12 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（その他学術会議資料等）

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

その他リンク： 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

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 ) 2022 ( 0 ) 2A2-A12 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（その他学術会議資料等）

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

その他リンク： 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” 査読有り国際誌

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）

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.

Scopus

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Underwater Acoustic Communication using QPSK Modulation Method 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 774 - 778 2022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）

Acoustic communication has a lot of influence of noises, and difficulties in sending and receiving data correctly because of the noise from robot’s thrusters and other acoustic devices. To improve the acoustic communication performance, this research developed acoustic communication system against the thruster’s noise. Communication message includes not only data (payloads) but also sync signal and error correction bytes, and the message is converted to acoustic wave by QPSK modulation which four phase data represent two bits.

Scopus

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

Nishida Y., Matsumura T., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 779 - 784 2022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）

Fuel consumption of the ship gets worse by barnacles and stains put on its bottom, so that the ship hull should be cleaned regularly. Usual methods such as cleaning by special divers and cleaning after pulling up to the dock are not used frequently due to those high cost and the heavy burden on cleaners. We proposed a cleaning method using underwater vehicle with brushes, however there is a possibility to remove paints on the hull. To improve cleaning performance of the underwater vehicle, the ultrasonic cleaner is developed by using cavitation occurred by sound waves of the acoustic transduces. The cleaner generates sound waves with sound pressure of 0.2MPa or more required to occur cavitation at the point where sound waves from two transducers overlap. In experimental results, the cleaner occurred cavitation enough to make two holes in the aluminum foil located 50mm away from transducers.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125147658&origin=inward

Tomato Harvesting in Greenhouse Considering the Effect of Sunlight 査読有り国際誌

Shioji K., Yasukawa S., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 360 - 364 2022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）

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. For the operation in greenhouses, the recognition system with color constancy under sunlight is necessary. In the harvesting, tomatoes should be handled gently for less damages so that the soft handling end-effector is needed. In this paper, we introduce the system configuration of the robot and the experiments conducted to solve the problem in the greenhouse.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125145644&origin=inward

Reflection Coefficient Estimation through the Modelling of Ultrasonic Transmission 査読有り国際誌

Mochizuki R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 750 - 755 2022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 food industry, shortage of workers is one of a serious problem. Automation of food handling is a critical issue 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 have the assumption of the correlation between hardness and acoustic impedance. The impedance is calculated by the product of sonic velocity and density of a medium. From the point of view, the harder the medium is, the larger the impedance should be. We built up ultrasonic transmission model considering attenuation by ultrasonic reflection and absorption, then, made an experiment to estimate internal reflection of samples with two overwrapped media of different acoustic impedance.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125152388&origin=inward

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

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

Proceedings of International Conference on Artificial Life and Robotics 785 - 788 2022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）

As the fuel cost will rise continuously, the reduction of fuel consumption and CO2 emissions are required more severely in the transportation industry. To achieve more efficient ship transportation, the prevention of marine biofouling is inevitable. Anti-fouling paint is effective to prevent biofouling to the ship hulls like barnacles, however, even the painted hull acquires slime-like biofouling caused by marine alga on its surface easily. In general, the cleaning of the ship hull is carried out during inspection in dockyard once a year or by divers, which are high costs and high risk task. Frequent cleaning during the ship berthing is desirable to keep good fuel efficiency, and if possible, ships can keep good fuel efficiency that contributes the reduction of costs and CO2 production. As a solution for this issue, we have been introducing underwater robots for ship hull cleaning. In this paper, the motion control system of the robot is described.

Scopus

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Inter-University Collaboration Aimed at Integrating Different Robotic Field: Development of Underwater Robots and Soccer Robots Though these Competitions 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 365 - 368 2022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 robotics, the problems and solutions to be focused on may differ due to the different fields of robots to be developed. In this research, we will verify the effect of exchanging opinions and sharing knowledge by collaborating with students aiming to participate in different robot competitions between underwater robots and soccer robots. As a result of analysis using neural networks, it was found that collaborative research between universities contributes to maintaining student motivation.

Scopus

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Fall Risk Notification System using LiDAR Sensor for the Visually Impaired People 査読有り国際誌

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）

We have developed the fall risk notification system using LiDAR sensors to reduce number of fall accidents on platform involving visually impaired people. In this paper, we report the experiment results of the environment recognition algorithm for the fall risk notification system. In this algorithm, height grid map is generated from the depth image from LiDAR sensor and the posture of iPhone. In the experiment, we evaluated the accuracy and responsivity when approaching risky area of falling, such as stairs.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125151724&origin=inward

Exercise on Environmental Monitoring and Control of Green house by IoT Devices toward Smart Agriculture 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 369 - 373 2022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）

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 AI and IoT technology exercise on environmental monitoring and control of a greenhouse where we have been preparing for grow up of tomatoes and other vegetables.

Scopus

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125145633&origin=inward

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

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 underwater robot competition in international conference Techno-Ocean 2021 was held to advance underwater technology, in Dec. 2021. The competition consists of five leagues including AUV (Autonomous Underwater Vehicle) league, and Kyushu underwater robotics which is the Underwater Student Project team at our university that joint the AUV league using developed AUV. The wet test of the AUV league includes a Gate Pass mission which requires passing through an underwater green gate, Buoy Touch mission requiring contact with the yellow and red buoys, and Special mission requiring contact with the Pinger which has an unknown location. Our AUV navigates by image processing using underwater camera to achieve the mission. This paper explains the AUV system, the mission strategy and detail of image processing.

Scopus

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

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年01月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The actual situation of marine litter has not been measured accurately; however innumerable floating garbage are drifting in the ocean. Especially, non-perishable waste such as microplastics continues to grow and is damaging marine life, including endangered species, and some are washed ashore and causing pollution damage to coastal areas. Microplastics incorporated into marine organisms, Arctic Sea ice, and deep-sea seafloor sediments have also been detected. The Ellen MacArthur Foundation in the United Kingdom estimates that the total amount of marine debris exceeds 150 million tons, with more than 8 million tons of new inflow each year. We measured and compared the amount of ocean debris in coasts in Hirado and Matsuura cities, Nagasaki with manual count and an aerial drone observation.

Scopus

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A Network of Underwater Sensors Estimating Feeding Behavior for Digitizing Optimized Feeding Decisions in Marine Aquaculture 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 762 - 767 2022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）

Optimization of fish feeding in marine aquaculture has relied on an expert farmer’s decision-making based on subjective experience. This paper presents the development of a network of underwater current, imaging and IMU sensors for estimating fish feeding behavior for digitizing expert feeding decision-making. We constructed the sensor units and deployed them in fish cages and collected measurements during feeding activities. Experiment results indicate that currents were highest at the surface within the duration of the feeding activity.

Scopus

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