Faculty Profiles - ISHII Kazuo

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Motion control of a cable-restricted underwater vehicle for long-term spot observation Reviewed International journal

Tanaka Y., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2021 253 - 256 2021.01

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

2021.01.21 - 2021.01.24

In order to acquire a time fluctuation data of the resources which needs for a marine resource development, we developed an observation device with low operational risk and a wide observable area. The observation device consists of an underwater station and an underwater vehicle, and underwater vehicle is tethered with a cable. By using the restraint condition of the cable, our device was able to navigate the trajectory planned only by thrust control with an error of up to 0.14m.

DOI： 10.5954/ICAROB.2021.OS23-2

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Development of current sensors for digitizing expert knowledge in fish feeding towards sustainable aquaculture Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2021 257 - 261 2021.01

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

2021.01.21 - 2021.01.24

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 digitizing such knowledge by measuring underwater currents induced by fishes as indicator of their behavior and appetite. A prototype current sensor suite was constructed to measure the current around the fish cage, especially during feeding.

DOI： 10.5954/ICAROB.2021.OS23-3

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Development of a handy autonomous underwater vehicle“kyubic" Reviewed International journal

Matsumura T., Uemura Y., Yanagise K., Tanaka Y., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2021 405 - 408 2021.01

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

Ocean is one of big challenging and extreme environments, and hard for human to access directly. As the tool for ocean survey, Autonomous Underwater Vehicles: AUVs are expected and developed from ‘80s. The recent rapid progress of computer and information technologies makes the development of AUVs easier and more practical. We had developed a handy AUV "Kyubic" for the observation of shallow water and artificial structures. In this paper, we describe the system architecture of Kyubic and the experimental results in Underwater Robotics Competition in Okinawa 2020.

DOI： 10.5954/ICAROB.2021.OS22-4

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Underwater 3D Scanner using RGB Laser pattern Reviewed International journal

Nishida Y., Yasukawa S., Ishii K.

2021 IEEE/SICE International Symposium on System Integration, SII 2021 2021 229 - 232 2021.01

Evaluation of Tomato Fruit Harvestability for Robotic Harvesting Reviewed International journal

Fujinaga T., Yasukawa S., Ishii K.

2021 IEEE/SICE International Symposium on System Integration, SII 2021 35 - 39 2021.01

Development and Evaluation of a Tomato Fruit Suction Cutting Device Reviewed International journal

Fujinaga T., Yasukawa S., Ishii K.

2021 IEEE/SICE International Symposium on System Integration, SII 2021 628 - 633 2021.01

Deep-Sea Robotic Survey and Data Processing Methods for Regional-Scale Estimation of Manganese Crust Distribution Reviewed International journal

Neettiyath U., Thornton B., Sangekar M., Nishida Y., Ishii K., Bodenmann A., Sato T., Ura T., Asada A.

IEEE Journal of Oceanic Engineering 46 ( 1 ) 102 - 114 2021.01

Underwater Current Measurements for Fish Feeding Control in Marine Aquaculture Reviewed International journal

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

Oceans Conference Record (IEEE) 2021-September 2021.01

Motion control considering the effects of cable deflection caused by gravity and fluid resistance for Cable-restricted Underwater Vehicle Reviewed International journal

Tanaka Y., Nishida Y., Ishii K.

Oceans Conference Record (IEEE) 2021-September 2021.01

A new rotary actuator capable of rapid motion using an antagonistic cam mechanism Reviewed International journal

Katsuaki Suzuki, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

Journal of Advances in Artificial Life Robotics 1 ( 3 ) 143 - 151 2020.12

Tomato growth state map for the automation of monitoring and harvesting Reviewed International journal

Fujinaga T., Yasukawa S., Ishii K.

Journal of Robotics and Mechatronics ( Fuji Technology Press. ) 32 ( 6 ) 1279 - 1291 2020.12

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

To realize smart agriculture, we engaged in its systematization, from monitoring to harvesting tomato fruits using robots. In this paper, we explain a method of generating a map of the tomato growth states to monitor the various stages of tomato fruits and decide a harvesting strategy for the robots. The tomato growth state map visualizes the relationship between the maturity stage, harvest time, and yield. We propose a generation method of the tomato growth state map, a recognition method of tomato fruits, and an estimation method of the growth states (maturity stages and harvest times). For tomato fruit recognition, we demonstrate that a simple machine learning method using a limited learning dataset and the optical properties of tomato fruits on infrared images exceeds more complex convolutional neural network, although the results depend on how the training dataset is created. For the estimation of the growth states, we conducted a survey of experienced farmers to quantify the maturity stages into six classifications and harvest times into three terms. The growth states were estimated based on the survey results. To verify the tomato growth state map, we conducted experiments in an actual tomato greenhouse and herein report the results.

DOI： 10.20965/jrm.2020.p1279

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Design and optimisation of bio-inspired robotic stochastic search strategy Reviewed International journal

Maroofkhani F., Ali Forough Nassiraei A., Ishii K.

International Journal of Reasoning-based Intelligent Systems 12 ( 3 ) 187 - 192 2020.09

Behavior selection system for human-robot cooperation using tensor SOM Reviewed International journal

Tominaga M., Takemura Y., Ishii K.

Journal of Robotics, Networking and Artificial Life 7 ( 2 ) 81 - 85 2020.09

Development of a robot for automation of tomato harvesting and monitoring Invited

( Agricultural Biotechnology ) 4 ( 9 ) 56 - 59 2020.08

白杖搭載型の情報提示装置による振動位置の提示に対する正答率測定 Reviewed

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21回ロービジョン学会学術総会講演番号23 2020.07

Motion Analysis of a Sphere Driven by Rollers Reviewed

Kimura Kenji, Chikushi Shota, Ishii Kazuo, Yamamoto Motoji

Journal of the Robotics Society of Japan ( The Robotics Society of Japan ) 38 ( 5 ) 485 - 495 2020.06

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

Friction drive systems are adopted for many robots of spherical locomotion type. Such systems have problems, including traversing uneven surfaces, slipping of the roller, and dust between the sphere and the roller. Despite of the disadvantages, these systems attract attention because of the possibility of stepped climbing and omnidirectional locomotion. In the future, it is anticipated that the mechanism using the sphere are developed. When the kinematics with respect to multiple rotational axes in arbitrary contacted on the sphere is clarified, the mechanism may be widely used. In the paper, a general theorem for kinematics is discussed including the number of rollers driving the sphere, the type of roller (constraint or unconstraint), and the contact points of the rollers on the sphere and the roller axes direction. To verify the validity of the kinematics model a locomotion model of the ball dribbling mechanism with the two rollers is presented as a special example by carrying out the experimental demonstration using the device robot.

DOI： 10.7210/jrsj.38.485

CiNii Article

Other Link： https://ci.nii.ac.jp/naid/130007855562

Robot competition for underwater technology researchers and students Reviewed International journal

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

Journal of Advances in Artificial Life Robotics ( ALife Robotics Corporation Ltd ) 1 ( 1 ) 11 - 15 2020.06

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

To promote the research of oceanic engineering technology, an underwater robot competition has been held since 2016. The seventh competition this year consists of AUV leagues, in which vehicles developed by university teams automatically cruise in the field, and junior leagues that participate in making underwater craft. This paper presents the competition regulations for the AUV and junior leagues and the results of the competition held in October 2019.

DOI： 10.57417/jaalr.1.1_12

CiNii Article

Other Link： http://hdl.handle.net/10228/00008171

Evaluation of the relationships between saliency maps and keypoints Reviewed International journal

Mochizuki R., Ishii K.

Journal of Robotics, Networking and Artificial Life 7 ( 1 ) 16 - 21 2020.06

Development of Autonomous Underwater Vehicle for benthos sampling:-Continuous benthos sampling using a slurp gun with canisters-

Nishida Yuya, Yasukawa Shinsuke, Sonoda Takashi, Inoue Shogo, Watanabe Keisuke, Ishii Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2020 ( 0 ) 1P1 - C13 2020.05

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

Autonomous underwater vehicles (AUVs) observe a wide area by using mounted camera and LED lights and is used for bio-resource survey. However, AUVs is difficult to capture the sample useful for scientists. Previous AUVs can capture only specific benthos that its developer decided the target before resource survey, but scientists for fisheries resource can't chose sampling target during observation by AUVs. To realize an efficient bio-resources survey, the authors developed AUV that can capture the target instructed by the operator during observation. Because the slurp gun installed on the AUV has no canister, the AUV catches only one sample in one dive. This paper explains developed AUV and slurp gun with the canisters, and reports on sea trials using them.

DOI： 10.1299/jsmermd.2020.1P1-C13

CiNii Article