研究者詳細 - 石井　和男

その他リンク： https://ci.nii.ac.jp/naid/130007944448

ケーブル拘束型海中ロボットによる長期観測手法:―第1報ケーブルの拘束条件を基にした自己位置推定―

田中良樹, 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 ) 2020 ( 0 ) 1P1 - C07 2020年05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）

There are many marine resources including mineral and energy resources in Japanese EEZ and those have been surveyed by Underwater vehicles. It is expected that time-varying data will be continuously obtained with low risk in environmental surveys of the seabed. Therefore, we proposed the long-term observation method using Cable-restricted Underwater vehicles.

DOI： 10.1299/jsmermd.2020.1P1-C07

その他リンク： https://ci.nii.ac.jp/naid/130007943421

ニューラルネットワークを用いたサッカーロボットの行動学習システム

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 ) 2020 ( 0 ) 2A1 - R06 2020年05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）

With the progress of technology, the realization of a symbiotic society with human beings and robots sharing the same environment has become an important subject. An example of this kind of systems is soccer game. Soccer is a multi-agent game that requires strategies by taking into account each member's position and actions. In this paper, we discuss the results of the development of a learning system that uses SOM to select behaviors depending on the situation.This system can reproduce the action selection algorithm of all players in a certain team, and the robot can instantly select the next cooperative action from the information obtained during the game.Because of this system, common sense rules was shared to learn an action selection algorithm for a set of agents, not only a team consisting of robots alone, but also a group of heterogeneous agents consisting of humans and robots.

DOI： 10.1299/jsmermd.2020.2A1-R06

その他リンク： https://ci.nii.ac.jp/naid/130007943934

ロボットハンドのための超音波計測による把持対象の硬さ計測

望月隆吾, 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 ) 2020 ( 0 ) 1A1 - K06 2020年05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）

In food industry, autonomous food arrangement is expected. For the achievement of safety food arrangement by robots, in order to prevent from damaging food, rigidity of the hands is hopeful to be adjusted according to the food stiffness. Measurement of the food stiffness should be estimated before handling. In this research, we propose non-contact stiffness measurement with ultrasound to enable variable rigidity of hands while food handling is ongoing.We measured power spectrum of ultrasound reflected on food. As the result of the experiment, the spectrum varied according to the stiffness.

DOI： 10.1299/jsmermd.2020.1A1-K06

その他リンク： https://ci.nii.ac.jp/naid/130007943408

An Optical Image Transmission System for Deep Sea Creature Sampling Missions Using Autonomous Underwater Vehicle 査読有り国際誌

Ahn J., Yasukawa S., Sonoda T., Nishida Y., Ishii K., Ura T.

IEEE Journal of Oceanic Engineering ( IEEE ) 45 ( 2 ) 350 - 361 2020年04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）

© 1976-2012 IEEE. The exploration of oceans using autonomous underwater vehicles (AUVs) is necessary for activities, such as the sustainable management of fishery resources, extraction of seafloor minerals and energy resources, and inspection of underwater infrastructure. As the next step in ocean exploration, AUVs are expected to employ end-effectors to make physical contact with seafloor creatures and materials. We propose a scenario for realizing a sampling mission using an AUV that is equipped to sample marine life. In this scenario, the sampling AUV observes the seafloor while concurrently transmitting the observed images to a surface vessel for inspection by the AUV operators. If the received images show an object of interest, the object is selected as a candidate of sampling target by the operators, who send a sampling command to the AUV. After receiving the command, the AUV returns to the target area and attempts to sample it. In this paper, we propose a system for transmitting images of the seafloor as part of the sampling-mission scenario. The proposed image transmission system includes a process for enhancing images of the deep seafloor, a process for selecting interesting images, and processes for compressing and reconstructing images. The image enhancement process resolves imaging problems resulting from light attenuation, such as color attenuation and uneven illumination. The process for selecting interesting images selects those that contain interesting objects, such as marine life. The selection process prevents the transmission of meaningless images that contain only flat sand on the seafloor. The proposed image compression method, which is based on color depth compression, reduces the amount of data. The combined process of selecting an interesting image and compressing it reduces various problems in acoustic communication, such as low information density and data loss. Instead of an overall image, part of an overall image is transmitted by a set of data packet, and each received data packet is reconstructed onboard the vessel. Because of image compression, the colors of a reconstructed image differ from those of an enhanced image. However, the reconstructed image contains similar colors, and the structural similarity index was found to be 91.4% by evaluating images that were subjected to a 4-b color compression. The proposed image transmission system was tested in the Sea of Okhotsk, and these tests were performed four times in different sea areas (minimum depth 380 m, maximum depth 590 m). The results show that the size of the data for a single image was reduced by a factor of 18 using the proposed image compression process, with each image taking 3.7 s to be transmitted via an acoustic modem (20 kb/s). Of the automatically selected images, 63% contained marine life, and the total transmission success rate was 22%.

DOI： 10.1109/JOE.2018.2872500

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85055860272&origin=inward

Sea trials for benthos sampling using autonomous underwater vehicle 査読有り国際誌

Nishida Y., Yasukawa S., Sonoda T., Watanabe K., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 2020 167 - 170 2020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）

2020年01月13日 - 2020年01月16日

For enhancement of oceanic engineering technology and researchers, underwater robot competition has been held since 2016. Seventh competition in this year consists AUV league that university’s vehicles automatically cruise at field and junior league that underwater craft is made. The paper reports competition regulations of AUV and junior league and results of the competition held in October 2019.

DOI： 10.5954/ICAROB.2020.OS23-1

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108784286&origin=inward

Development of Subsea Creature Monitoring Station for AUV Exploration Assistance 査読有り国際誌

Keisuke Watanabe, Koshi Utsunomiya, Amir Sadiq, Daichi Hiramaki, Kyoko Takashima, Kazuo Ishii

Proc. of ICAROB2020 25 175 - 178 2020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）

2020年01月13日 - 2020年01月16日

In this paper, we introduce our recent result on developing a low cost monitoring station. This station is intended to monitor underwater images of subsea creatures wirelessly from a boat in advance before an exploration AUV is put into water. We describe the concept, the design and system integration of the station in the paper. We also present an experimental result that was carried out to test the implemented functions at Suruga bay at 65m water depth.

DOI： 10.5954/ICAROB.2020.OS23-3

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108855170&origin=inward

Evaluation of the relationships between saliency maps and keypoints 査読有り国際誌

Mochizuki R., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2020 249 - 254 2020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）

2020年01月13日 - 2020年01月16日

Saliency is a property of images that triggers bottom-up attention. For example, if a location in an image is sufficiently different from its surrounding and worthy of paying attention, such characteristic of image is saliency. From the point of view, the location of larger saliency is outstanding visually. On the other hand, As Image Feature extraction method, such as SIFT or SURF, robust feature matching has been realized under the existence of changing size or rotation of observed target. For the consequence, its advantage has been introduced into image stitching and Visual SRAM. However, the amount of image features is susceptive to changing photographing condition, such as luminance variety, defocus-ing etc. We assumed that feature extraction stability is large in salient region because of steep bright-ness gradient. We evaluated the relationship between saliency and feature extraction stability.

DOI： 10.5954/ICAROB.2020.OS24-3

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108857253&origin=inward

Field experiments of underwater image transmission for auv 査読有り国際誌

Yasukawa S., Nishida Y., Ahn J., Sonoda T., Yanagise K., Watanabe K., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2020 171 - 174 2020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）

2020年01月13日 - 2020年01月16日

In order to improve the efficiency of the seafloor survey, it is necessary for AUV to report the state of the seafloor to the operators on board reasonably. We have been developing seafloor image selection and image compression technology for the seafloor image transmission using the underwater acoustic communication device. In this paper, we report the results of underwater image selection and transmission in biological sampling experiments conducted in November 2019 off the coast of Suruga-bay, Shizuoka, Japan.

DOI： 10.5954/ICAROB.2020.OS23-2

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85095943054&origin=inward

Report on the 5th tomato-harvesting robot competition 査読有り国際誌

Takemura Y., Matsuo T., Sonoda T., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2020 106 - 109 2020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）

2020年01月13日 - 2020年01月16日

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. With an aim to promote the automation of tomato harvesting, we have organized the tomato harvesting robot competition since 2014. In this paper, we report on the results of 5th tomato harvesting robot competition in 2018.

DOI： 10.5954/ICAROB.2020.OS22-4

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108825800&origin=inward

Reports of 7th underwater robot festival in kitakyushu 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 2020 110 - 113 2020年01月

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）

2020年01月13日 - 2020年01月16日

DOI： 10.5954/ICAROB.2020.OS22-5

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108830537&origin=inward

Development of antagonistic high power joint mechanism with cams 査読有り国際誌

Suzuki K., Nishida Y., Sonoda T., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2020 263 - 266 2020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）

2020年01月13日 - 2020年01月16日

Acquiring flexible and agile behaviors as seen in biological systems, the robot can achieve acrobatic movements such as jumping and throwing. These acrobatic movements are expected to extend the range of robot activity. In this research, we propose a special mechanism using a pair of motors, springs and cams, which has three functions: normal operation, instantaneous operation and variable rigidity. Then, we derived a mathematical model of the mechanism and discussed the input-output characteristics of the mechanism by changing the design parameters, and analyzed the difference between the theoretical and measured results.

DOI： 10.5954/ICAROB.2020.OS24-6

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108843059&origin=inward

Behavior selection system for robot using neural network 査読有り国際誌

Tominaga M., Takemura Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2020 98 - 101 2020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）

2020年01月13日 - 2020年01月16日

With the progress of technology, the realization of a symbiotic society with human beings and robots sharing the same environment has become an important subject. An example of this kind of systems is soccer game. Soccer is a multi-agent game that requires strategies by taking into account each member's position and actions. In this paper, we discuss the results of the development of a learning system that uses SOM to select behaviors depending on the situation.

DOI： 10.5954/ICAROB.2020.OS22-2

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108850030&origin=inward

A new rotary actuator capable of rapid motion using an antagonistic cam mechanism 査読有り国際誌

Suzuki Katsuaki, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 1 ( 3 ) 144 - 152 2020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）

Animals can achieve agile behaviors such as jumping and throwing in addition to flexible behaviors with the same musculoskeletal systems, and those movements can extend the range of their activities. We have been working on actuators capable of rapid and flexible motions learning the musculoskeletal systems. In this paper, we propose a new rotary actuator using a pair of motors, springs, and cams to perform three functions, namely, normal motion, rapid or instantaneous motion, and rigidity control using an antagonistic cam mechanism, and describe the operating principle of the proposed mechanism, the mathematical model of the mechanism during rapid motion, and the design principle of the cam, which is a key mechanical element in this mechanism. Finally, we present an analysis of the error between the theoretical the measurement results during rapid motion.

DOI： 10.57417/jaalr.1.3_144

その他リンク： http://hdl.handle.net/10228/00008167

Introduction 査読有り国際誌

Tateyama K., Ishii K., Inoue F.

Proceedings of the 37th International Symposium on Automation and Robotics in Construction, ISARC 2020: From Demonstration to Practical Use - To New Stage of Construction Robot 2020年01月

Evaluation of the Roller Arrangements for the Ball-Dribbling Mechanisms Adopted by RoboCup Teams 査読有り国際誌

Kenji Kimura, Shota Chikushi, Kazuo Ishii

Journal of Robotics, Networking and Artificial Life ( Atlantis Press ) 6 ( 3 ) 183 - 190 2019年12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）

The middle-size league soccer competition is an important RoboCup event designed to promote advancements in Artificial Intelligence (AI) and robotics. In recent years, soccer robots using a dribbling mechanism, through which the ball is controlled using two driving rollers, have been adopted by teams worldwide. A survey conducted during the 2017 World Cup in Nagoya revealed that the teams determined their roller arrangements heuristically without the use of a formal mathematical process. In this study, we focus on sphere slip speed to develop a mathematical model for sphere rotational motion, allowing for slip. Using this framework, we derived the relationship between the sphere slip and mobile speeds and evaluated the roller arrangements used by the participating teams.

DOI： 10.2991/jrnal.k.191203.002

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85146655857&origin=inward

Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with an Adjustable Contact Patch for a Grape Transporting Robot 査読有り国際誌

Enrico di Maria, Kazuo Ishii

Journal of Robotics, Networking and Artificial Life ( Atlantis Press ) 6 ( 3 ) 148 - 151 2019年12月

Evaluation of underwater vehicle's self-localization based on visual odometry or sensor odometry 査読有り国際誌

Tanaka Y., Semmyo A., Nishida Y., Yasukawa S., Ahn J., Ishii K.

2019 IEEE 14th International Conference on Industrial and Information Systems: Engineering for Innovations for Industry 4.0, ICIIS 2019 - Proceedings 384 - 389 2019年12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）

© 2019 IEEE. This research focuses on two self-localization methods for observation of the sea floor and sampling. One is a method of estimate the self-localization using Kalman filter from the acceleration data calculated from equation of motion and the velocity data considering the effect of underwater vehicle's oscillation. The other is visual odometry using a stereo camera. The AUV was deployed in a sea area 40m depth to evaluate the performance of self-localization estimated by two methods. Self-localization estimation using Kalman filter was less accurate than visual odometry, but it was confirmed that the variance of the estimated velocity was smaller than before estimation. In the visual odometry using stereo camera, it was confirmed that the estimation error depends on the travel direction of AUV and the moving direction of a stereo camera.

DOI： 10.1109/ICIIS47346.2019.9063345

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85084155438&origin=inward

Entropy-Based Exposure Time Setting for an Adaptive Multi-Exposure Image Fusion 査読有り国際誌

Yasukawa S., Nasuno T., Ishii K.

2019 IEEE 14th International Conference on Industrial and Information Systems: Engineering for Innovations for Industry 4.0, ICIIS 2019 - Proceedings 529 - 534 2019年12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）

© 2019 IEEE. We investigated the setting method of exposure times for an adaptive multi-exposure image fusion. Because the range of luminance in the natural environment is wide and objects in captured image have inherent optical properties, the vision system need to adapt to the input light. The proposed system comprises an image sensor module and a field-programmable gate array (FPGA) which is composed of control signal generator for an image sensor, HDR (High-dynamic-range) image generator/evaluator. In this study, we employed and evaluated maximum entropy of HDR image as the exposure time setting method.

DOI： 10.1109/ICIIS47346.2019.9063302

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85084139742&origin=inward

Toward Smart Tomato Greenhouse: The Fourth Tomato Harvesting Robot Competition 査読有り国際誌

Takayuki Matsuo, Takashi Sonoda, Yasunori Takemura, Masanori Sato, Kazuo Ishii

Journal of Robotics, Networking and Artificial Life ( Atlantis Press ) 6 ( 2 ) 138 - 142 2019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）

Agriculture, one of the most important industries for human life, is faced with serious problems, the shortage of workers, the falling birthrate and the aging population, global warming and natural disasters, etc. Tomato is one of the most important fruit vegetables, and most tomatoes in Japan are cultivated in the greenhouses, or large scale farms as the solution for effective production toward smart greenhouses, whereas the high temperature and high humidity, construction and management costs are big problems and technologies such as environmental control system, factory automation technology, AI, robotics are required. We had held Tomato Harvesting Robot competition from 2014 toward realization of smart tomato greenhouse aiming at promote the automated tomato harvesting to reduce the working time of harvesting. In this paper, we report on the tomato harvesting robot competition and the results mainly from the fourth competition.

DOI： 10.2991/jrnal.k.190829.002