研究者詳細 - 石井　和男

論文 - 石井　和男

分割表示489 件中 121 - 140 件目／全件表示 >>

視覚障害者の転落事故低減を目的とした白杖搭載型の電子式歩行補助具の研究開発

片山大悟, 石井和男, 安川真輔, 仲泊聡, 和田浩一, 別府あかね, 山田千佳子

第46回感覚代行シンポジウム講演番号2, 4頁 2021年12月

A Puzzle-Based Sequencing System for Logistics Items 査読有り国際誌

Alahmad R, Ishii K

Logistics 5 ( 4 ) 76 18 pages 2021年10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）

Background: The new demands of the current market including for space should be satisfied by designing modern material flow systems. Designing warehouses using effective material handling equipment significantly supports cost reduction and efficient space utilization. Sequencing of items is an important process that leads to enhanced logistics operations. Current approaches are not capable of fully fulfilling dynamic changes. Methods: In this paper, a puzzle-based sequencing system with a high density and highly efficient floor space utilization was successfully developed. Accordingly, two solving methods were investigated: game tree and pathfinding algorithms. A-star was chosen based on pathfinding algorithms in order to find the shortest solution of the puzzle in which the sequencing time was decreased. The pre-sorting strategy was proposed to overcome the unsolvable configuration issue that cannot be solved by the aforementioned methods. Moreover, the shape of the puzzle was considered. Results: Based on numerical calculations, we found that a square shape was better than a rectangle in terms of solution steps, and we confirmed the direct relationship between the aspect ratio and rectilinear distance, which directly affects the pre-sorting steps. Conclusion: Our results prove that the puzzle-based sequencing system should be highly preferred for effective floor space utilization compared to the current systems.

DOI： 10.3390/logistics5040076

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85146723705&origin=inward

Rolling resistance and sinkage analysis by comparing FEM andexperimental data for a grape transporting vehicle 査読有り国際誌

Enrico di Maria, Giulio Reina, Kazuo Ishii, Nicola Ivan Giannoccaro

Journal of Terramechanics ( ELSEVIER ) 97 59 - 70 2021年10月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

In this study a 2D FEM model was developed to analyze ruts formation, rolling resistance, and power loss for a grape transporting cart aimed to replace the use of heavy tractors while harvesting grape. The model was supported by experiments in a vineyard in South Italy. Cone penetration tests were conducted to estimate frictional and cohesive properties in three soil conditions: firm, soft, and wet saturated. A tractor pulled test rig for a single wheel was developed to measure rolling resistance and sinkage, and complete the selection of the soil parameters. Completed the model, the analysis was conducted for a range of different wheel dimensions, and the outputs analyzed through response surfaces. The results showed the different impacts that width and diameter have on ruts formation and rolling resistance for different soil conditions. Wider wheels determined a main reduction of the sinkage, while the width contribution to the rolling resistance was affected by the total soil volume deformed. Larger diameters led to lower rolling resistance, with a higher impact on more deformable soils. Contact stress was compared with the thresholds recommended in the literature to determine the acceptable designs. This analysis represents a tool to select the running gear dimensions.

DOI： 10.1016/j.jterra.2021.06.004

その他リンク： https://www.scopus.com/record/display.uri?eid=2-s2.0-85109871282&origin=resultslist&sort=plf-f&src=s&sid=c46e5b3c71a194265eed720844c428f9&sot=b&sdt=b&sl=33&s=DOI%2810.1016%2fj.jterra.2021.06.004%29&relpos=0&citeCnt=0&searchTerm=

Motion control considering the effects of cable deflection caused by gravity and fluid resistance for Cable-restricted Underwater Vehicle 査読有り国際誌

Yoshiki Tanaka, Yuya Nishida, Kazuo Ishii

Proc. of IEEE OCEANS 2021 San Diego - Porto 5 pages 2021年09月

Underwater Current Measurements for Fish Feeding Control in Marine Aquaculture 査読有り国際誌

Dominic B. Solpico, Yuya Nishida, Kazuo Ishii

Proc. of IEEE OCEANS 2021 San Diego - Porto 5 pages 2021年09月

ピッキング作業効率化のための商品配置シミュレーション

西村和真, 西田祐也,石井和男,滝澤千之

日本ロボット学会学術講演会2021予稿集 ( 日本ロボット学会 ) 2021年09月

MEMSマイクを用いた音響測位装置の開発

濱田大貴, 末吉弘昌, 増田殊大, 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 ) 2021 ( 0 ) 1A1 - B01 2021年06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）

<p>Marine resource survey by an underwater vehicle is expected. To realize cheap self-positioning for the underwater vehicle, we have been developing on the acoustic positioning system which is low cost and easy to maintain. The acoustic positioning system has four hydrophones which consists of molding commercially available MEMS micro phones with pressure-resistant resin, an audio device, and a micro controller. To evaluate the system, positioning experiments was performed in the small tank. In the experiments, the system detected delay time among four hydrophones, however its positioning was not good accuracy. In the future, we will improve the accuracy of positioning by interpolating data and considering the effect of baseline.</p>

DOI： 10.1299/jsmermd.2021.1A1-B01

その他リンク： https://ci.nii.ac.jp/naid/130008134856

駅のホーム縁端検出を目的とした3次元平面検出アルゴリズムの検討

片山大悟, 石井和男, 安川真輔, 仲泊聡, 和田浩一, 別府あかね, 山田千佳子

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 ) 2021 ( 0 ) 1P1 - F11 2021年06月

担当区分：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）

<p>In this paper, in order to evaluate the plane detection algorithm for detecting the edge of a station platform, we verified the algorithm by running it on the 3D distance data measured at the actual station platform. As the result, we were able to detect the plane with the error that is small enough to distinguish it from steps such as stairs. However, the correct answer rate and the true negative rate were greatly reduced by the distant point clouds and the movement of the sensor itself, so it is necessary to remove the distant point clouds and to reduce the error caused by the movement of the sensor itself in the current algorithm. In the future, we will verify the algorithm in other situations, and implement and verify additional processing.</p>

DOI： 10.1299/jsmermd.2021.1P1-F11

その他リンク： https://ci.nii.ac.jp/naid/130008134919

視覚情報に基づくトマト果実収穫ロボットの行動戦略（第五報）:―トマト生育状態マップを活用した総収穫時間の推定―

藤永拓矢, 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 ) 2021 ( 0 ) 1P2 - A04 2021年06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）

<p>This paper presents an estimation method of total harvesting time using the tomato harvesting robot developed in this study. In this robot, the occlusion ratio of obstacles to the target tomato is one of the factors for harvestability. The occlusion ratio was quantified, and the criteria for tomatoes that are easy for this robot to harvest was determined based on the results of the harvesting experiment. Using the tomato growth state map, the total harvesting time was estimated from the location data of the tomatoes that can be shipped with the occlusion ratio of 0.07 or less.</p>

DOI： 10.1299/jsmermd.2021.1P2-A04

その他リンク： https://ci.nii.ac.jp/naid/130008135064

ロボット共生社会に向けた人間ロボット協調システムに関する研究

富永萌子, 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 ) 2021 ( 0 ) 1A1 - K04 2021年06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）

<p>In the realization of symbiosis between humans and robots, how robots can understand human behavior is an important issue. In the soccer robot, it is possible to show that human-robot symbiosis in a dynamic environment is possible if humans and robots share the same understanding of behavior. In this paper, a robot in a simulator that behaves according to a certain rule is analyzed using a self-organizing map, and the rule is mapped to two dimensions as a feature map and evaluated. By using this map, a system that selects the next action from the position of each player is completed. This system can also be adapted to humans who act according to certain action decision rules.</p>

DOI： 10.1299/jsmermd.2021.1A1-K04

その他リンク： https://ci.nii.ac.jp/naid/130008134930

イベントビジョンシステムによる視対象の運動推定法の検討

安川真輔, 吉松秀峻, 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 ) 2021 ( 0 ) 2P2 - H05 2021年06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）

<p>We proposed a method for estimating the angular velocity of a rotating visual target robustly to changes in illumination conditions using event-based vision and spiking neural networks (SNNs). By using the output of the event-based vision directly as input to the SNN, the image processing function can be achieved by keeping the advantages of the vision sensor in the previous stage. A board printed with natural images was placed at a certain distance from the vision system as a viewing target. The vision system captured rotating objects at various angular velocities under multiple lighting conditions to generate a data set. Using this data set, we verified whether the SNN can estimate the visual target. We achieved about 80% accuracy on both the training and test datasets in both bright and dark lighting environments.</p>

DOI： 10.1299/jsmermd.2021.2P2-H05

その他リンク： https://ci.nii.ac.jp/naid/130008135692

Towards building of an underwater robot monitoring fish appetite for feeding management:Development of sensors for measuring fish-generated underwater currents as indicator for feeding behavior

SOLPICO Dominic, 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 ) 2021 ( 0 ) 1P1 - B17 2021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（研究会，シンポジウム資料等）

<p>Predicting fish feeding behavior is crucial in improving marine aquaculture production. We are addressing this problem using a novel approach – measuring underwater currents generated by fish, especially at feeding times. In this paper, we present our development of a suite of sensors that will collect these measurements, as we investigate their relationship with fish behavior during feeding. We added we have further developed our sensor suite by adding another current sensor for calibrating the previously developed propeller sensors and tested them along a narrow river to examine the relationship of their measurements. While a strong linear relationship was observed between the measurements, it is difficult for the propeller sensors to measure currents accurately at slower currents. Experiment at the fish farm is still needed to determine if this constraint is acceptable in our application.</p>

DOI： 10.1299/jsmermd.2021.1P1-B17

その他リンク： https://ci.nii.ac.jp/naid/130008134963

団体スポーツにおける自己組織化マップを用いたコーチング

富永萌子，武村泰範，石井和男

第33回自律分散システム・シンポジウム ( 計測自動制御学会システム・情報部門 ) 2021年03月

Acoustic impedance measurement through the modelling of ultrasonic wave transmission 査読有り国際誌

Mochizuki R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 271 - 274 2021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）

2021年01月21日 - 2021年01月24日

In food industry, shortage of workers is a serious problem. Automation of food handling is a critical nowadays. To alleviate the damage during food picking by robotic hand, we propose non-contact acoustic impedance estimation with ultrasonic wave. We have the assumption of the correlation between hardness and acoustic impedance, and, built up ultrasonic transmission model considering attenuation by reflection and absorption, then, made an experiment to estimate the impedance. As the result, we succeeded in detecting acoustic impedance without contact.

DOI： 10.5954/ICAROB.2021.OS23-6

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108800024&origin=inward

A Greenhouse Project toward Smart Agriculture 査読有り国際誌

Kazuo Ishii, Yuya Nishida, Shinsuke Yasukawa, Kanako Shirahashi, Yasunori Takemura, Takayuki Matsuo

Proc. of ICAROB2021 ( 株式会社ALife Robotics ) 26 409 - 412 2021年01月

担当区分：筆頭著者,　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）

2021年01月22日 - 2021年01月24日

In the future estimation of 2050, the food demand increases 70% and the production decreases 15% caused by global warming, and farmer population be 1/5 of current workers. Until 2050, we need an agricultural system of twice production with the same farmland area and 5 times effective operations. To realize the sustainable society, smart agriculture including robot technology, AI, IoT is one of the solutions for food issues. We have been working for a greenhouse project under enPiT-everi for implementation of robotic, AI and IoT technologies to agriculture. In this paper, we introduce the project and robotic applications.

DOI： 10.5954/ICAROB.2021.OS22-5

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108793739&origin=inward

Tomato-harvesting-robot competition towards smart agriculture 招待有り査読有り国際誌

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

Proc. of ICAROB2021 1 - 5 2021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）

2021年01月21日 - 2021年01月24日

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： 10.5954/ICAROB.2021.PS-1

Crack detection in a concrete structure using an underwater vehicle 査読有り国際誌

Nishida Y., Sohara N., Yasukawa S., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 777 - 781 2021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）

2021年01月21日 - 2021年01月24日

In this paper, to realize efficient underwater infrastructure inspection, automatic crack detection by image processing is proposed. In first process of our method generates enhanced image based on the absorbance from the turbidity meter and removes background component, and then detects crack from the enhanced image by using decision tree learning algorithm. This paper explains the algorithm of our method and shows evaluation experiment results.

DOI： 10.5954/ICAROB.2021.OS23-1

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108855210&origin=inward

Underwater image reconstruction using convolutional auto-encoder 査読有り国際誌

Yasukawa S., Raghura S.S., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 262 - 265 2021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）

2021年01月21日 - 2021年01月24日

One of the main tasks of AUVs is to capture deep-sea images like fishes, crabs, other living organisms and resources for information leading to research on deep-sea ecosystems. Acoustic transmission are used to establish wireless underwater communications between the AUV and the ship. However, there are some limitations in the communication channels due to limited bandwidth, multi-path, temperature distribution and change in the direction of transmitting source and receiving sensor which results in losses in data being transmitted. Initially, the captured images are enhanced to reduce the effect of light attenuation and then compressed for transmission through acoustic modems. Only an important part of image is being transmitted through set of data packets. The received data packets in the ship will be reconstructed to predict the presence of living organisms. The loss in data during transmission creates a difficulty for the operators to predict the exact information. In this research, to compensate this transmission loss, an efficient compression and reconstruction technique using convolutional autoencoder with minimal distortion is proposed. Finally, for evaluation of the proposed image compression technique, the quality of reconstruction of images with and without data loss will be compared using the quality metrics signal to noise ratio (PSNR), structural similarity index(SSIM) and perceptual quality of image.

DOI： 10.5954/ICAROB.2021.OS23-4

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108853723&origin=inward

Tomato-harvesting robot competition: Aims and developed robot of 6th competitions 査読有り国際誌

Matsuo T., Takemura Y., Sonoda T., Nishida Y., Yasukawa S., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 397 - 400 2021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）

2021年01月21日 - 2021年01月24日

In general, farm work is often hard work. In recent years, the number of farm laborers has been decreasing due to the aging of the workforce. Therefore, there is a need to automate agricultural work, and we are organizing a tomato harvesting robot competition to automate tomato harvesting. The competition includes a Junior Division for high school students and a Senior Division for college students. In this paper, we report on the results of 6th tomato harvesting robot competition.

DOI： 10.5954/ICAROB.2021.OS22-2

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108825700&origin=inward

The spherical robot transfer problem with minimal total kinetic energy 査読有り国際誌

Kimura K., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 2021 266 - 270 2021年01月

担当区分：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）

2021年01月21日 - 2021年01月24日

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 three-dimensional freedom of movement. Furthermore, the kinetic energy of transporting the sphere by the rollers is minimized by an optimization procedure.

DOI： 10.5954/ICAROB.2021.OS23-5

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108861855&origin=inward

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