Faculty Profiles - ISHII Kazuo

Optimization method to improve visual SLAM in dynamic environment Reviewed International journal

Liu Yufei, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 29 590 - 593 2024.02

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

Aiming at the problem that the robustness of the classic visual SLAM system is greatly affected by dynamic target feature points in the environment, a method is proposed to use a target detection algorithm to identify and eliminate dynamic target feature points. First, use the target detection algorithm YOLOv5 to identify the collected environmental images, and select the surrounding environment. Objects identified as dynamic targets in the environment, and then the target detection results are integrated into the feature extraction of the visual SLAM frontend, the feature points belonging to the dynamic target part of the extracted image feature points are removed, and the remaining static feature points are used to map Construction and positioning, and finally testing on the TUM data set. The results show that after using the target detection algorithm to eliminate dynamic feature points, the root mean square error of the absolute trajectory error of the visual SLAM system in highly dynamic scenes is reduced by 97.89%, effectively improving the positioning accuracy and robustness of the system.

DOI： 10.5954/icarob.2024.os20-3

Research on Driver Drowsiness Detection Method based on Deep Learning Reviewed International journal

Shi Puwei, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 29 599 - 602 2024.02

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

Drowsiness driving will pose a serious threat to the lives of drivers and others. Determining the state of the driver through face recognition has the advantages of low cost and convenience. Therefore, this study deploys the face recognition model to the mobile phone, and finally realizes the recognition of the driver's Drowsiness by the front camera of the mobile phone. The whole research is divided into three parts. The first part is to train the face 68keypoints recognition model based on the YOLO face algorithm. The second part is to deploy the trained model to the mobile phone using ONNX and NCNN. The third part is to calculate EAR and MAR using several facial key points, and finally complete the recognition of the driver's drowsiness state using EAR and MAR.

DOI： 10.5954/icarob.2024.os20-5

An Analysis of Translational Motion for a Mobile Robot with Line-Symmetric Rollers Arrangement Reviewed International journal

Kimura Kenji, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 29 603 - 606 2024.02

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

In fields such as logistics, robots are required to have efficient mobility. There are various types of rollers used in mobile robots. Among them, omni-rollers have excellent omnidirectional mobility and are easy to control. In this study, mechanism kinematics has been proposed that assumes arbitrary changes in the roller arrangement position on a circular mechanism and the roller arrangement has been evaluated from the viewpoint of speed efficiency. Furthermore, we aim to evaluate the mobility of mobile robots by focusing on their translational components. Moreover, we have examined the behavior of the area of the area generated by the end point of the robot velocity vector and evaluated the velocity efficiency.

DOI： 10.5954/icarob.2024.os20-6

Development of antagonistic wire-driven joint mechanism capable of rapid motion and variable stiffness Reviewed International journal

Suzuki Katsuaki, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 29 634 - 637 2024.02

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

The advancement of digital transformation in manufacturing is expected to demand novel tasks for industrial machinery unlike before. When adding mechanisms or actuators to enhance machine functionality, concerns arise about potential system enlargement and increased complexity. The design concept of integrating multiple functions into mechanisms using a few actuators and components serves as one means to address these issues. We aim to elucidate the structural arrangement capable of achieving three functions, including normal motion, rapid motion, and variable stiffness, using two electric actuators. In this paper, we introduce a newly devised antagonistic wiredriven joint mechanism aimed at improving the variable stiffness function within the articulated mechanism we have developed, enabling three functionalities.

DOI： 10.5954/icarob.2024.os20-13

Design of flexible mechanism for flexible manipulator Reviewed International journal

Huang Jiawei, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 29 594 - 598 2024.02

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

Based on the study of the kinematic limitations of the rigid manipulator structure and the characteristics of the existing flexible manipulator in different categories, this paper proposes a structure assumption of flexible manipulator based on the advantages of high load of rigid joint and high flexibility of flexible manipulator. This paper designed a flexible manipulator structure driven by wires. Using the forward kinematics analysis, the sport model of the structure. The motion range of the end of the manipulator arm and the length changes of the wires were simulated with the movement of the model.

DOI： 10.5954/icarob.2024.os20-4

Research on Driver Drowsiness Detection Method based on Deep Learning Reviewed International journal

Puwei S., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 599 - 602 2024.01

Optimization method to improve visual SLAM in dynamic environment Reviewed International journal

Liu Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 590 - 593 2024.01

Gakken Hills Interdisciplinary Ekiden Competing with Humans, Animals, and Robots Reviewed International journal

Fujinaga T., Tominaga M., Katayama D., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 638 - 641 2024.01

Development of antagonistic wire-driven joint mechanism capable of rapid motion and Reviewed International journal

Stiffness V., Suzuki K., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 634 - 637 2024.01

Design of flexible mechanism for flexible manipulator Reviewed International journal

Jiawei H., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 594 - 598 2024.01

An Analysis of Translational Motion for a Mobile Robot with Line-Symmetric Rollers Arrangement Reviewed International journal

Kimura K., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 603 - 606 2024.01

Energy Consumption of a Wheel/Track Reconfigurable Mobile Robot on the Farm Reviewed International journal

Kamon S., Di Maria E., Alahmad R., Irmiya I.R., Puwei S., Giannocaro N.I., Ishii K.

2024 IEEE/SICE International Symposium on System Integration, SII 2024 798 - 803 2024.01

Mandarin Orange Anomaly Detection with Cycle-GAN Reviewed International journal

Noguchi K., Takemura Y., Tominaga M., Ishii K.

2024 IEEE/SICE International Symposium on System Integration, SII 2024 644 - 649 2024.01

Recognition of Fish in Aqua Cage by Machine Learning with Image Enhancement Reviewed International journal

Li Z., Alraie H., Solpico D., Nishida Y., Ishii K., Yatsunami Y., Fuchigami M., Suetsugu T.

2024 IEEE/SICE International Symposium on System Integration, SII 2024 637 - 643 2024.01

Research on Improving Accuracy of Dynamic Visual SLAM Detection Reviewed International journal

Liu Yufei, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 4 ) 323 - 327 2024.01

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

Currently, the application of SLAM systems in the field of navigation is quite active. However, the detection accuracy of classical SLAM systems when applied in dynamic environments is not high. This is because some dynamic objects in dynamic environments may occlude the environmental features that should have been extracted by the SLAM system. In order to solve this problem, my research conducts analysis on the detection process in dynamic environments and designs a solution: to identify and remove dynamic objects in dynamic environments to improve detection accuracy. In this research, an object detection algorithm YOLOv5 is first used to detect, identify, and remove dynamic objects in the environment extracted by the SLAM system. Then, the remaining static environmental features are passed into visual SLAM for conventional SLAM environment calculation and localization work. Finally, the modified integrated algorithm is validated and analyzed on the TUM dataset for feasibility. The results indicate that this approach successfully removes dynamic objects and effectively improves the robustness of visual SLAM applications in dynamic environments.

DOI： 10.57417/jrnal.10.4_323

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Development of an agricultural robot system designed to exchange its on-board equipment depending on working tasks Reviewed

SATO Hikaru, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2024 ( 0 ) 2A2-A01 2024.01

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

In agriculture, labor shortages and a lack of manpower have become significant issues, prompting the development of smart agriculture solutions utilizing robot technology to automate agricultural tasks. Various types of agricultural robots have been developed, such as harvesting robots and transportation robots. The automation of agricultural tasks requires flexibility as the needs of workers vary widely depending on the crop and growing environment. To address this challenge, this study proposes a modularized system where arms and mobile carts can be reconfigured. This paper presents the fundamental study of this system.

DOI： 10.1299/jsmermd.2024.2a2-a01

Demonstration Experiment on a Station Platform of a Fall Risk Alert System for Visually Impaired Using a Smartphone

KATAYAMA Daigo, ISHII Kazuo, YASUKAWA Shinsuke, NISHIDA Yuya, NAKADOMARI Satoshi, WADA Koichi, BEFU Akane, YAMADA Chikako, HARATA Atsushi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2024 ( 0 ) 1P2-E10 2024.01

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

In this paper, the effectiveness of a fall risk alert system using a smartphone with a LiDAR sensor is verified based on the behavior of the system in a demonstration experiment at an actual station platform. As a result, we have confirmed that the estimated risk increased when entering the edge of the platform, indicating that this system works in a real environment and can alert fall risk. It was also shown that the alert timing occurs near the tactile paving, which means that the system can provide alerts equivalent to the tactile paving. In the future, we plan to verify the effectiveness of this system in more detail by conducting experiments involving more participants and situations other than the scenarios in this experiment.

DOI： 10.1299/jsmermd.2024.1p2-e10

A New Reconfigurable Agricultural Vehicle Controlled by a User Graphical Interface: Mechanical and Electronic Aspects Reviewed International journal

Kamon S., di Maria E., Giannoccaro N.I., Ishii K.

Machines 11 ( 8 ) 2023.08

Grid Map Correction for Fall Risk Alert System Using Smartphone Reviewed International journal

Katayama Daigo, Ishii Kazuo, Yasukawa Shinsuke, Nishida Yuya, Nakadomari Satoshi, Wada Koichi, Befu Akane, Yamada Chikako

Journal of Robotics and Mechatronics ( Fuji Technology Press Ltd. ) 35 ( 3 ) 867 - 878 2023.06

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

In this work, we have incorporated an electronic travel aid (ETA) as a smartphone application that alerts fall risks to the visually impaired. The application detects negative obstacles, such as platform edges and stairs, and occlusion using a grid map including height information to estimate fall risk based on the distance from an area’s edge to the user, and the area ratio. Here, we describe a grid map correction method based on the surrounding conditions of each cell to avoid area misclassification. The smartphone application incorporating this correction method was verified in environments similar to station platforms by evaluating its usefulness, robustness against environmental changes, and stability as a smartphone application. The verification results showed that the correction method is, in fact, useful in actual environments and can be implemented as a smartphone application.

DOI： 10.20965/jrm.2023.p0867

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Experimental Study of Wavelet-OFDM Radio Communication System for AUVs Under Seawater Reviewed International journal

Hasaba R., Eguchi K., Wakisaka T., Satoh H., Hirokawa J., Hirose M., Matsushima T., Fukumoto Y., Nishida Y., Ishii K.

17th European Conference on Antennas and Propagation, EuCAP 2023 2023.03

A Network of Underwater Flow Sensors for Long-term Estimation of Fish Feeding Activity Reviewed International journal

Solpico D., Nishida Y., Mishima K., Ishii K., Suetsugu T., Yatsunami Y.

2023 IEEE International Symposium on Underwater Technology, UT 2023 1 - 7 7 pages 2023.03

Development of long-term observation system using cable-restricted underwater vehicle Reviewed International journal

Tanaka Y., Nishida Y., Fukuda J., Ishii K.

2023 IEEE International Symposium on Underwater Technology, UT 2023 1 - 6 6 pages 2023.03

Fall Risk Estimation for Visually Impaired using iPhone with LiDAR Reviewed International journal

Kimura Kenji, Yusuke Abematsu, Hiroyasu Hirai, Ishii Kazuo,Satoshi Nakadomari, Koichi Wada, Akane Befu, Chikako Yamada

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 4 ) 9 pages 2023.03

A Method to Estimate Reflection Coefficient of Ultrasonic Wave at a Boundary of Two Media Reviewed International journal

Mochizuki Ryuugo, Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 4 ) 343 - 348 2023.03

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

In food industry, shortage of workers is one of a serious problem. Automation of food handling is a critical 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 assume the correlation between hardness and acoustic impedance. That is, the harder the medium is, the larger the impedance should be. As cooked food, the unevenness of hardness should be considered. We made samples with media of different acoustic impedances, and experimented with ultrasonic to find the relation between reflection coefficient and hardness. As the result, reflection coefficient increased by 0.03-0.15 at the boundary of two media as the bottom medium is switched from urethane to Aluminum.

DOI： 10.57417/jrnal.9.4_343

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85177809111&origin=inward

Fall Risk Estimation for Visually Impaired using iPhone with Li-DAR Reviewed International journal

Katayama Daigo, Ishii Kazuo, Yasukawa Shinsuke, Nishida Yuya, Nakadomari Satoshi

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 4 ) 349 - 357 2023.03

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

We have developed a fall risk alert system using a smartphone with a LiDAR sensor, Apple’s iPhone 12 Pro, as an electronic travel aid (ETA) for visually impaired to reduce fall risks from the edge of station platform and the stairs. The proposed system generates the height grid map generated from 3D point clouds and posture from the smartphone, and classify the walking area to four areas, walkable, positive obstacle, negative obstacle and occlusion areas. In this paper, we describe the algorithm and the experimental results of the environmental recognition system for the fall risk alert. In the experiments, the accuracy, stability, and time delay are evaluat-ed in approaching a fall risk area, such as stairs. The results show the smartphone has the possibility to be the ETA to support the visually impaired and reduce the fall risks.

DOI： 10.57417/jrnal.9.4_349

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An Analysis of Robot Speed Efficiency for Mobile Robot Adapted Three Omni Rollers Using Linear Transformation Reviewed International journal

Kimura Kenji, Shigyo Yuki, Ishii Kazuo

Journal of Advances in Artificial Life Robotics ( ALife Robotics Corporation Ltd ) 3 ( 4 ) 242 - 249 2023.03

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

RoboCup Middle-sized-League soccer robots are mainly equipped with the three omni-roller mechanism. These mobile robots are expected to function efficiently in fields, such as logistics. These systems are easy to control and allow omnidirectional movement. However, theoretical research on these systems’ exercise efficiencies has not been conducted. In this research, we assume a mechanism that can arbitrarily change the roller arrangement based on a circular mechanism and evaluate the roller arrangement from a speed efficiency perspective. Additionally, we define an evaluation function using the theory of linear transformation to examine the roller arrangement.

DOI： 10.57417/jaalr.3.4_242

A Modeling of Sphere Considering Slipping Adapted Three-Rollers Reviewed International journal

Kimura K., Ogata K., Hirai H., Ueda T., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 491 - 494 2023.02

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

Many types of spherical robots use friction-drive systems for locomotion because such systems enable omnidirectional movement and are more capable of climbing steps than mobile robots equipped with multiple omni-wheels. Slipping between spheres and rollers is a remarkable issue with friction-driven mechanisms. However, the previously established sphere kinematic models do not consider slipping, and kinematic models consider slipping in only two constraint rollers. In this study, we propose a mathematical model that allows for slipping on three constraint rollers and simulate the angular velocity vector of the sphere and slip speed at each contact point.

DOI： 10.5954/icarob.2023.os20-6

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Underwater Live Video Streaming Experiment Using Radio Frequency Communication for AUVs Reviewed International journal

Alahmad R., Nishida Y., Ishii K., Fukumoto Y., Matsushima T.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 499 - 503 2023.02

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

Autonomous Underwater Vehicles (AUVs) require long-distance communication, especially in the deep sea. Radiofrequency (RF) communication provides a high data rate. However, electromagnetic wave is seriously limited by high attenuation in the water medium. In this study, we investigate Radiofrequency communication in seawater. The experiment results show the effects of the distance between the transmitter and receiver, and the stability of the antennas. We achieved HD video transmission with 25fps.

DOI： 10.5954/icarob.2023.os21-1

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85149482890&origin=inward

Sea-floor Image Restoration with Variable Absorbance Coefficient Reviewed International journal

Inniyaka I.R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 510 - 514 2023.02

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

Light scattering from suspended particles and attenuation over the water column are constant phenomena that reduce underwater image quality due to low contrast and color distortion. Common image restoration techniques such as the image formation model, assumes a constant attenuation coefficient across color channels. This results in a restoration solution with limited application. We propose a method of image restoration that considers the wavelength-dependent attenuation of underwater images by providing concurrent measurements of the coefficient of attenuation for each color channel. In this paper, a description of the design of a turbidity meter is made. It used to extract absorbance of light in the RGB channel. We conduct experiments to validate the operation of the turbidity meter based on BeerLamberts law.

DOI： 10.5954/icarob.2023.os21-3

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Roller Arrangement Problem of Omnidirectional Mobil Robot Adapted Three Omni Rollers Reviewed International journal

Kimura K., Shigyo Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 28 495 - 498 2023.02

Report on the 8th Tomato-Harvesting Competition toward Smart Agriculture Reviewed International journal

Ishii K., Matsuo T., Takemura Y., Sonoda T., Sanada A., Tominaga M., Nishida Y., Yasukawa S., Shirahashi K., Fujinaga T., Arita D., Kawajiri K., Ohshima K., Okada M.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 486 - 490 2023.02

Authorship：Lead author Language：English Publishing type：Research paper (international conference proceedings)

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, and currently changed the competition field to the greenhouse in 2020. In this paper, we discuss the results of 8th tomato harvesting robot competition in 2021.

DOI： 10.5954/icarob.2023.os20-5

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Report of a robot competition on the problem of garbage in the sea and verification of learning effects Reviewed International journal

Matsuo T., Sato M., Ozawa M., Miura S., Arima M., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 28 468 - 472 2023.02

Occuluded Object Detection by Ultrasonic Sensors Reviewed International journal

Mochizuki R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 519 - 524 2023.02

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

Crops are required to be processed in sanitary manner for lunchbox production in industries. Particularly, foreign object detection is crucial to guarantee consumer's health. Actually, foreign objects are mainly detected by human's eyes. For the automation, image processing is an example, however, is not effective for hidden objects. We propose a method of foreign object detection with ultrasonic reflection analysis. In our experiment, we selected four crops (lettuce, spinach, perilla and komatsuna) for masking material, and a coin for occluded objects. The coin were attached on the backside of the masking material. We recorded reflected wave moving the material linearly. As the result, reflection intensity doubled by the existence of occuluded object.

DOI： 10.5954/icarob.2023.os21-5

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Image-based navigation of Small-size Autonomous Underwater Vehicle "Kyubic" in International Underwater Robot Competition Reviewed International journal

Mizoguchi Y., Hamada D., Fukuda R., Inniyaka I.R., Kuwata K., Nishimuta K., Sugino A., Tanaka R., Yoshiki T., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 473 - 476 2023.02

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

An International underwater robot competition, "RoboSub" is held in USA to demonstrate robot's autonomy by completing underwater tasks, with a new theme each year. Student project team, "Kyutech Underwater robotics" developed autonomous underwater vehicle (AUV) "KYUBIC" with built-in image processing module for the RoboSub. Sensors on the AUV are connected via ethernet and its automatic navigation program is built using ROS. The AUV moves through gate to the target objects based on self-localization using doppler velocity log and IMU. When approaching the object, the AUV aligns its direction to the object based on the red line detection by image processing as well as the type, position, and altitude of the target objects are detected by deep learning on the image processing module.

DOI： 10.5954/icarob.2023.os20-2

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Development of a Variable Stiffness Function for a New Multifunctional Wire Driven Joint Mechanism Reviewed International journal

Suzuki K., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 525 - 528 2023.02

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

A mechanical variable stiffness can adapt to external forces beyond the control cycle, such as overturning of walking robots, which can help solve problems such as actuator and joint destruction. In this research, we will clarify the structure of a two-input, one-output joint mechanism that can realize three functions: normal motion, instantaneous motion, and variable stiffness function. As part of the development of the variable stiffness function, a mathematical model is derived and simulated for the relationship between the joint angle of the output link and the disturbance torque when a disturbance torque is applied to the output link of the proposed mechanism.

DOI： 10.5954/icarob.2023.os21-6

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Development of a Tomato Harvesting Robot for Farm Field Reviewed International journal

Oda S., Fukumoto R., Hirata K., Tahara S., Yoshida K., Yasukawa S., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 481 - 485 2023.02

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

The 9th Tomato Harvesting Robot Competition was held at the green house in Kitakyushu Science and Research Park. The competition consisted of two leagues for different field areas: rail-style for greenhouses and free-style for open fields. Our team competed in the free-style league. Participation in the free-style category required the following: tomato harvesting mechanism; mobility mechanism to move on the rough terrain; camera to photograph tomato; and self-location system. We developed a 3-axis cartesian coordinates manipulator tomato harvesting robot using crawler to move on soil and using suction and cutting to harvest the tomatoes. In this paper, we described the system architecture of tomato harvesting robot and the results of 9th Tomato Harvesting Robot Competition in 2022.

DOI： 10.5954/icarob.2023.os20-4

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Design of A Parameter Update Method of the Database-Driven PID Controller Considering H<inf>∞</inf> Norm of the System Reviewed International journal

Ueda T., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 28 515 - 518 2023.02

Control strategy to change the locomotion mode of a reconfigurable wheel/track robot based on the soil conditions Reviewed International journal

Kamon S., Di Maria E., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 504 - 509 2023.02

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

The use of agricultural machinery damages the soil by compaction and distortion, where the compaction is due especially to vehicle with small contact areas like wheels, while the distortion is caused especially by tracked systems. In this work we discuss a wheel/track reconfigurable robot able to adjust the contact area based on the soil conditions, to minimize soil damage, energy consumption and adapt travers ability. After giving an overview, we propose a control strategy for switching between the locomotion modes.

DOI： 10.5954/icarob.2023.os21-2

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Analyzing an OFDM System using Cyclic Prefix to Improve the Underwater Communication Reviewed International journal

Alraie H., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 28 529 - 532 2023.02

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

Underwater Communication is one of the most difficult challenges facing researchers. OFDM technique has been used widely in 4G communication systems, and recently it was approved to be successfully implemented in 5G. Many researchers have improved the Underwater wireless communication system including Acoustic communication using the OFDM technique. We applied the Cyclic Prefix in this study to improve the underwater communication system. We started by studying the effects of Rician fading based on the OFDM system on the wireless channel. Then we analyzed the Bit Error Rate (BER) of the system in several scenarios, by applying the AWGN, Rician fading, and absorption factor to simulate the underwater channel.

DOI： 10.5954/icarob.2023.os21-7

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Evaluation of Roller-Sphere Forward Kinematics for Sphere Transportation Control Using a Sphere Motion Measurement System

Chikushi Shota, Kimura Kenji, Ahn Jonghyun, Ishii Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2023 ( 0 ) 1A2-H21 2023.01

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

Due to the social background of declining birthrates and an aging society, object transport requires automation and the introduction of robots. This study focuses on sphere transport as a means of efficient object transport by robots. This paper uses a spherical motion measurement system to evaluate the forward kinematics of sphere transportation. The results show the validity of roller-sphere forward kinematics in three patterns of roller arrangement.

DOI： 10.1299/jsmermd.2023.1a2-h21

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A2-H21/_pdf

Development of a Sphere Motion Measurement System and Evaluation of the Roller Arrangement Requirement Reviewed International journal

Chikushi S., Kimura K., Ahn J., Ishii K.

2023 20th International Conference on Ubiquitous Robots, UR 2023 250 - 254 2023.01

Underwater Image Restoration Using In-situ Turbidity Measurements Reviewed International journal

Inniyaka Irmiya R., Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 2 ) 141 - 151 2023.01

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

Degradation in underwater imaging is as a result of absorption and scattering of light. Propagated
visible light rays through the water column are absorbed at rates that vary depending on the
wavelength of light. Large suspended particles also scatter the propagated light rays, as can be
observed in an underwater environment. Furthermore, color is distorted due to the inverse ratio
of attenuation that is proportional to the wavelength of light through a unit of length through the
water column. These phenomena distort underwater images by making them appear dark and have
low contrast. Conventional underwater image restoration techniques are largely based on the
image formation model (IMF) which restores the image based on estimates from the degraded
images. The results are solutions that are limited to specific underwater conditions. In this paper,
we propose a novel restoration strategy by considering the optical properties in the underwater
environment at the time of image capture, a robust restoration technique can be applied to images
captured in different underwater conditions. In so doing, we design a turbidity meter that capture
wavelength-dependent absorption data which are applied as parameters to restore the distorted
images based on the RGB channels. To validate our proposed technique, we conduct experiments
in a controlled underwater environment while varying the concentration of suspended particles
based on degree of kaolin mixture.

DOI： 10.57417/jrnal.10.2_141

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Report on Underwater Robot Festival Junior Division Aimed at Marine-Debris Cleanup Reviewed International journal

Matsuo Takayuki, Sato Masanori, Ozawa Masayoshi, Miura Seiichiro, Arima Masakazu, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 1 ) 77 - 83 2023.01

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

A marine-cleaning robot competition was featured at the junior division of the Eighth Underwater Robot Festival held at Iwakuni, Japan in 2022. The theme of the competition was “Life Below Water,” which is the 14th goal of SDGs, and consisted of poster presentations on marine-debris problems and a robot competition to compete in debris-collection ability. In addition, questionnaires were sent out before and after the competition to analyze the level of understanding of robot development and SDGs after the competition. This paper reports an outline of the junior division and results of the educational effect using questionnaire analysis.

DOI： 10.57417/jrnal.10.1_77

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Forward Kinematic of a Sphere Considering Slipping and Motion Analysis in Three Rollers Reviewed International journal

Kimura Kenji, Ogata Koki, Hirai Hiroyasu, Ueda Takumi, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 1 ) 25 - 32 2023.01

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

Compared to mobile robots equipped with multiple rollers, spherical robots can move in all directions and are superior in durability and in their ability to climb steps. Slippage between balls and rollers is a significant problem in friction drives. However, previously established roller-driven ball kinematics model considers sliding on only two constraining rollers. In this research, we developed it, proposed a motion model of sphere with three-constraint rollers, and developed a mathematical model that simulates the angular velocity vector of the sphere and the slip vector at each contact point. And we considered the existence of an angular velocity vector of sphere adapted three constraint rollers from the viewpoint of forward kinematics and succeed demonstration of the trajectory of the endpoint of the angular velocity vector and slip velocity vector of sphere.

DOI： 10.57417/jrnal.10.1_25

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Experimental Study of Underwater RF Communication for Live Video Transmission for AUVs Application Reviewed International journal

Alahmad Raji, Ishii Kazuo, Nishida Yuya, Fukumoto Yuki, Matsushima Tohlu

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 1 ) 84 - 90 2023.01

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

Autonomous Underwater Vehicles (AUVs) require long-distance communication, especially in the deep sea. Acoustics communication and wireless optical communication have limitations of low latency and water conditions effects respectively. Radiofrequency (RF) communication provides a high data rate with free orientation of the transmitter/receiver antennas. However, electromagnetic waves are highly restricted by high attenuation over short distances in the underwater medium. In this study, we investigated the RF communication in a tank full of seawater. A loop antenna and rectangular antenna were used for the base station and AUV respectively. The experiments were conducted to measure the transmission rate with different distances between the base station and the AUV using both User Datagram Protocol (UDP) and Transmission Control Protocol (TCP). Live video streaming with framerate analysis was considered. The results show the effect of the distance between the transmitter and receiver on the transmission rate, in addition, to the antenna's stability has huge effects on the connection stability. We successfully achieved a High-Definition (HD) video streaming with 25fps for over 1 meter.

DOI： 10.57417/jrnal.10.1_84

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Development of a Testbed AUV for Shallow Water Observation and Its Controller Evaluation Reviewed International journal

Tanaka Yoshiki, Matsumura Toshimune, Uemura Yuichiro, Yanagise Kentaro, Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 1 ) 6 - 16 2023.01

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

Recently, Autonomous Underwater Vehicles: AUVs are utilized as the tools for ocean survey and practical applications such as ocean mineral resources survey and marine biological investigations. We have developed an AUV “Tuna-Sand2” and have succeeded in automatic sampling of shells in sea trials at Suruga Bay in Japan. Tuna-Sand2 is designed for 2000m depth and 8 hours operation with the speed of 1 knot and has several computers for basic motion control with sensor handling, intelligent behaviors based on image processing and data transmission, however, the robot needs efforts in deployment and recovery because of weight and sizes, and must return to the surface in emergency conditions. That is, the system should be stable, reliable and conservative, and not suitable for testing new challenging algorithms and behaviors. We have developed a new AUV KYUBIC which can be operated by a few people as a small testbed of Tuna-Sand2 and have similar shape and thruster arrangement. In this paper, we describe the system architecture of KYUBIC and the experimental results in Underwater Robotics Competition in Okinawa 2020.

DOI： 10.57417/jrnal.10.1_6

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Channel Estimation using Pilot-Assisted OFDM for Underwater Acoustic Communication Reviewed International journal

Alraie Hussam, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 2 ) 160 - 165 2023.01

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

Underwater communications research is significant to researchers because of the challenges and
difficulties in transmitting wireless signals within this environment. Underwater Acoustic
Communications (UWA) are characterized by the fact that they can travel long distances
compared to the radio signal, which makes it very effective compared to other types, in addition
to the lack of costs in establishing these types of systems. OFDM technique has been used widely
in 4G communication systems, and recently it was approved to be successfully implemented in
5G. One of the most important aims of developing communications systems is to reduce the bit
error rate (BER), and since the underwater communication signal is subject to many influencing
factors that reduce the accuracy of the signal when it reaches the receiver, such as absorption and
multipathing, researchers must improve the performance of the OFDM system by removing this
effect. The channel effect is reduced by selecting some subcarriers from the OFDM system and
assigning them as pilots. These Pilots are given higher power to determine the channel effect and
then use the appropriate equalizer to reduce the effect and improve signal accuracy. In this study
we tested the appropriate number of pilots to estimate the channel response, with a linear equalizer
to reduce the effect at the receiver, then compared the BER before and after adding the equalizer.

DOI： 10.57417/jrnal.10.2_160

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Behavior Learning System for Robot Soccer Using Neural Network Reviewed International journal

Tominaga M., Takemura Y., Ishii K.

Journal of Robotics and Mechatronics 35 ( 5 ) 1385 - 1392 2023.01

An Inexpensive Acoustic Positioning System for Low-Cost Shallow Water AUV Operation Reviewed International journal

Inniyaka Irmiya R., Solpico Dominic B., Hamada Daiki, Sugino Akihiro, Tanaka Rikuto, Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 2 ) 131 - 140 2023.01

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

Accurate localization of Autonomous Underwater Vehicles (AUVs) is fundamental to navigation
accuracy, and robust control which leads to an overall success of vehicles’ mission. Conventional
positioning systems are expensive and cannot be implemented for lightweight/budget AUV
systems. This paper describes the design and performance of an inexpensive acoustic positioning
system (APS) used to guide the mission strategy of a lightweight AUV (KYUBIC) for the
Underwater Robotics Competition in Okinawa. Using Position and Thrust control strategy, the
AUV velocity is used for self-positioning estimation, and this is calculated from the equation of
motion without integrating the acceleration. The acoustic positioning method is based on Supershort
baseline (SSBL) principle comprising of 2 self-made hydrophone module using MEMS
microphone. Our competition strategy searches and locates the position of a submerged Pinger
using detection and angle estimates that are integrated for dynamic control of the AUV.
Performance analysis show that the controller and low-cost acoustic system can search and
localize at Pinger position within the accepted boundary.

DOI： 10.57417/jrnal.10.2_131

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Motion Control of an AUV Based on Disturbance Observer for Tidal Current Estimation Reviewed International journal

Miyakawa R., Nishida Y., Thornton B., Ishii K.

Oceans Conference Record (IEEE) 2023.01

Long-term observation system using a cable-restricted underwater vehicle

TANAKA Yoshiki, NISHIDA Yuya, FUKUDA Jiro, NAKAMURA Masahiro, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2023 ( 0 ) 1P1-C12 2023.01

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

To obtain a long-term data of marine resources which are distributed over a wide area of the deep sea, we have been developed a long-term observation system using cable-restricted underwater vehicle. This paper reports about long-term observation system and its wet test performed at 3 m depth. As an evaluation experiment result, the vehicle tethered by a cable was able to cruise with an error of less than 0.34 m against the planned route. The mosaic image generated based on the captured images was able to measure the width, length, and height of the object with an error of less than 4 cm.

DOI： 10.1299/jsmermd.2023.1p1-c12

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1P1-C12/_pdf

Hovering Type AUV ”Tuna-Sand2” Dive Surveys on Seaweed Bed Habitat off Iwakuni.

MIYAKAWA Ryo, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2023 ( 0 ) 1A2-C09 2023.01

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

The oceans occupy about 70% of the Earth ’s surface have vast space and mineral, energy, and biological resources. In recent years, AUV has been developed for resource surveys in various sea areas We are working on developing and implementing a robust control system to improve the AUV autonomy and to navigate safely. This paper reports about observation results by hovelling type AUV ”Tuna-Sand2” on seaweed bed habitat off Iwakuni on January 2023 and estimate currents from the dive data to design the observer to estimate currents and implement for AUV. The dive results show that there were Northwesterly current and AUV position is easily affected by current when change target direction.

DOI： 10.1299/jsmermd.2023.1a2-c09

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A2-C09/_pdf

Proposal of Framework for RoboCup Soccer Middle Size League

TOMINAGA Moeko, SHIMOMATSUBAE Kota, TOMINAGA Ayumu, TAKEMURA Yasunori, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2023 ( 0 ) 2A1-B13 2023.01

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

Robot social implementation is expected nowadays, and in particular, for autonomous mobile robots, it is becoming necessary to be able to ”collaborate with others (other robots).” When dealing with such multi-agent systems (MAS), framework sharing has the effect of reducing the burden on designers and improving compatibility and code reuse between agents. In particular, RoboCup is a landmark project that includes the goal of accelerating development and research speed through the sharing of technology and knowledge among teams in competitions. Therefore, in order for engineering applications using MAS to progress to practical stages, a framework that supports the design, implementation, evaluation, and improvement of MAS must be available. This study aims to propose and implement a framework for the RoboCup middle-size league. ROS2 and its network were utilized for implementation, and a proposal including system configuration was made.

DOI： 10.1299/jsmermd.2023.2a1-b13

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_2A1-B13/_pdf

Design of Sphere Transport Mechanism Based on Roller-Sphere Kinematics Properties

Chikushi Shota, Kimura Kenji, Ahn Jonghyun, Ishii Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2023 ( 0 ) 1A1-H21 2023.01

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

Efficient transportation of objects by robots is required due to the declining working-age population. This study focuses on sphere transport as a means of efficient object transport by robots. To date, there is no methodology for mechanism design based on kinematics properties for sphere transport by robots. Therefore, we propose a method for designing a sphere transport mechanism based on kinematic properties. The paper presents the requirements and methodology for designing a sphere transport mechanism based on kinematic properties.

DOI： 10.1299/jsmermd.2023.1a1-h21

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A1-H21/_pdf

Kinetic Analysis of Omnidirectional Mobile Robot with Symmetry Roller’s Arrangement Reviewed International journal

Kimura Kenji, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 3 ) 275 - 281 2023.01

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

In recent years, the efficient mobility of omnidirectional mobile robots is desired in the logistics industry. Hence, various types of rollers are installed in mobile robots. These include omnidirectional rollers, which are characterized with excellent omnidirectional mobility and are considered easy to control. Herein, considering that the side surface of the mechanism is circular, the kinematics of the mechanism assuming an arbitrary arrangement on this circle is derived. Previous research has evaluated the roller arrangement from the perspective of the speed efficiency of the drive roller. Meanwhile, this research focuses on a mobile robot equipped with three omni-rollers. Furthermore, focusing only on the translational speed of the robot, its motion efficiency is evaluated. The distribution of the robot’s translational speed is studied, the area of the region is used as the evaluation function, and its behaviors are analyzed.

DOI： 10.57417/jrnal.10.3_275

Improvement of the Database-Driven PID Control Method by H-Infinity Norm of the Local Model Reviewed International journal

Ueda Takumi, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 10 ( 3 ) 213 - 219 2023.01

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

PID controllers are used in many applications and are considered an example of a fixed structure controller. For each specific system, the controller's PID parameters must be adjusted accordingly. Therefore, database-driven control, which automatically adjusts PID controller parameters using a large amount of experimental data, is attracting attention. Database-driven control is one of the methods that does not require model information. Therefore, in database-driven PID (DD-PID), the Jacobian of the system used for the steepest descent is unknown. In this paper, we propose an optimization method using gradient descent based on a local model of the system and confirm its effectiveness through simulation using the polystyrene reactor model as an example.

DOI： 10.57417/jrnal.10.3_213

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

Kimura Kenji, Yusuke Abematsu, Hiroyasu Hirai, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 3 ) 233 - 239 2022.12

Roller's Kinetic Energy Efficency Problem in Upper Hemisphere Reviewed International journal

Kimura K., Ishii K.

2022 Joint 12th International Conference on Soft Computing and Intelligent Systems and 23rd International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2022 1 - 6 6 pages 2022.11

Multibody Modeling of a New Wheel/Track Reconfigurable Locomotion System for a Small Farming Vehicle Reviewed International journal

Grazioso A., di Maria E., Giannoccaro N.I., Ishii K.

Machines 10 ( 12 ) 1117 - 1146 2022.11

Digital Transformation of Feeding Control Knowledge in Marine Aquaculture using Current Sensors Reviewed International journal

Solpico Dominic B., Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 2 ) 143 - 153 2022.09

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

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 applying digital transformation (DX) on such knowledge by measuring underwater currents induced by fishes as indicator of their hunger. A prototype sensor suite consisting of current sensors, cameras, and an inertial measurement unit (IMU) was constructed to measure the currents around the fish cage, measure the motion of the suite, and record fish activity, particularly during feeding. An initial experiment was performed in two fish cages during feeding activity. Current measurements were collected and analyzed together with the recorded videos to relate the changes in current to the feeding activities. Results suggest that the currents increase around when feeding was started continuously and decline to zero around when it was stopped. However, more data needs to be collected and analyzed for a better understanding of the relationship between the changes in current and fish activities so it can be used to optimize the feeding decisions of fish farmers.

DOI： 10.57417/jrnal.9.2_143

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85176607340&origin=inward

Efficiency Problem of Spherical Robot in Transfer Kinetic Energy Reviewed International journal

Kimura Kenji, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 1 ) 87 - 92 2022.06

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

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 the movement of three degrees of freedom. Furthermore, the kinetic energy of transporting the sphere by the rollers is minimized by an optimization procedure and it is shown that the kinetic energy of sphere transport is efficient.

DOI： 10.57417/jrnal.9.1_87

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Toward Smart Tomato Greenhouse: The 6th Tomato-Harvesting-Robot Competition and Regulation Changes Aiming at Practical Application Reviewed International journal

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

Journal of Robotics, Networking and Artificial Life ( ALife Robotics Corporation Ltd. ) 9 ( 1 ) 13 - 19 2022.06

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

Agriculture is one of the most important primary industries, however the agricultural workforce in Japan has been decreasing due to the aging, shortage of successors and their heavy work. Smart agriculture and farms, which aim to automate farm work, have been attracting attention for the future sustainable society. We have been organizing the Tomato-Harvesting-Robot Competitions since 2014 to introduce robotic technology and AI into agriculture and promote agricultural technology. The competition consists of a Junior League for young students and a Senior League for general competitors. In this paper, we report the results of the 6th Tomato-Harvesting-Robot Competition and the regulation changes toward practical applications.

DOI： 10.57417/jrnal.9.1_13

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85178282719&origin=inward

An Attempt at Underwater Robot Competition which Aimed at Improvement of Learning Motivation Reviewed

AHN Jonghyun, SONODA Takashi, ISHII Kazuo

Journal of JSEE ( Japanese Society for Engineering Education ) 70 ( 2 ) 2_124 - 2_129 2022.04

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

Underwater robot competitions provide students with the opportunity to voluntarily learn engineering knowledge and skills. It is expected that students will be interested in the marine engineering and manufacturing by participating in such underwater robot competitions, and that interest will lead to motivation for university learning. In this study, we will conduct extracurricular activities for 8 students for about half a year with the aim of participating in underwater robot competitions, and evaluate their educational effectiveness. In the evaluation, changes in interest in the marine engineering and manufacturing were evaluated by questionnaire. In addition, changes in learning motivation were evaluated from the university GPA from 2018 to 2020. As a result, it was confirmed that the participating students were interested in the marine engineering and manufacturing through extracurricular activities and maintained high learning motivation.

DOI： 10.4307/jsee.70.2_124

Other Link： https://www.jstage.jst.go.jp/article/jsee/70/2/70_2_124/_pdf

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

Inniyaka Irmiya R., Solpico Dominic B., Hamada Daiki, Sugino Akihiro, Tanaka Rikuto, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 349 - 353 2022.01

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

2022.01.22 - 2022.01.24

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.

DOI： 10.5954/icarob.2022.os28-1

Other Link： https://kyutech.repo.nii.ac.jp/records/7484

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

Kazuki Harada, Riku Fukuda, Yusuke Mizoguchi, Yusuke Yamamoto, Kota Mishima, Yoshiki Tanaka, Yuya Nishida, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 354 - 359 2022.01

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

Kazuo Ishii, Kanako Shirahashi, Yuya Nishida, Moeko Tominaga, Yoshiki Tanaka, Dominic B. Solpico

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 1095 - 1101 2022.01

Motion Control of a Ship Hull Cleaning Robot Reviewed International journal

Hyoga Yamamoto,Yuya Nishida, Takayuki Matsuo, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 785 - 788 2022.01

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

Yuya Nishida, Toshihiro Matsumura, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 779 - 784 2022.01

Underwater Acoustic Communication using QPSK Modulation Method Reviewed International journal

Yuya Nishida, Yuichiro Uemura, Rikuto Tanaka, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 774 - 778 2022.01

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

Dominic B. Solpico, Yuya Nishida, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 762 - 767 2022.01

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

Ryuugo Mochizuki, Yuya Nishida, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 750 - 755 2022.01

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

Daigo Katayama, Kazuo Ishii, Shinsuke Yasukawa, Satoshi Nakadomari, Koichi Wada, Akane Befu, Chikako Yamada

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 745 - 749 2022.01

Evaluation of roller arrangement of sphere by omnidirectional integral value Reviewed International journal

Kenji Kimura, Yusuke Abematsu, Hirai Hiroyasu, Kazuo Ishi

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 374 - 377 2022.01

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

Yuya Nishida, Ryuugo Mochizuki, Shinsuke Yasukawa, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 367 - 373 2022.01

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

Kai Shioji, Shinsuke Yasukawa, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 365 - 368 2022.01

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

Kai Shioji, Shinsuke Yasukawa, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 360 - 364 2022.01

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

Solpico Dominic B., Mishima Kota, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 762 - 767 2022.01

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

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.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

DOI： 10.5954/icarob.2022.os29-1

Other Link： http://hdl.handle.net/10228/00008703

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

Ishii Kazuo, Shirahashi Kanako, Nishida Yuya, Tominaga Moeko, Tanaka Yoshiki, B. Solpico Dominic

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 1095 - 1101 2022.01

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

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.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

DOI： 10.5954/icarob.2022.os27-5

Other Link： http://hdl.handle.net/10228/00008702

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

Harada Kazuki, Fukuda Riku, Mizoguchi Yusuke, Yamamoto Yusuke, Mishima Kota, Tanaka Yoshiki, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 354 - 359 2022.01

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

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.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

DOI： 10.5954/icarob.2022.os28-2

Other Link： http://hdl.handle.net/10228/00008693

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

Nishida Yuya, Mchizuki Ryugo, Yasukawa Shinsuke, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 369 - 373 2022.01

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

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.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

DOI： 10.5954/icarob.2022.os28-5

Other Link： http://hdl.handle.net/10228/00008696

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

Katayama Daigo, Ishii Kazuo, Yasukawa Shinsuke, Nakadomari Satoshi, Wada Koichi, Befu Akane, Yamada Chikako

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 745 - 749 2022.01

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

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.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

DOI： 10.5954/icarob.2022.os27-2

Other Link： http://hdl.handle.net/10228/00008692

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

Tominaga Moeko, Ahn Jonghyun, Takemura Yasunori, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 365 - 368 2022.01

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

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.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

DOI： 10.5954/icarob.2022.os28-4

Other Link： http://hdl.handle.net/10228/00008695

Motion Control of a Ship Hull Cleaning Robot Reviewed International journal

Yamamoto Hyoga, Nishida Yuya, Matsuo Takayuki, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 785 - 788 2022.01

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

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.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

DOI： 10.5954/icarob.2022.os29-5

Other Link： http://hdl.handle.net/10228/00008701

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

Mochizuki Ryuugo, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 750 - 755 2022.01

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

In food industry, shortage of workers is one of a serious problem. Automation of food handling is a critical isSsue 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.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

DOI： 10.5954/icarob.2022.os27-3

Other Link： http://hdl.handle.net/10228/00008698

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

Shioji Kai, Yasukawa Shinsuke, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 360 - 364 2022.01

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

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.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

DOI： 10.5954/icarob.2022.os28-3

Other Link： http://hdl.handle.net/10228/00008694

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

Nishida Yuya, Matsumura Toshihiro, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 779 - 784 2022.01

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

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.The 2022 International Conference on Artificial Life and Robotics (ICAROB 2022), January 20-23, 2022, on line, Oita, Japan

DOI： 10.5954/icarob.2022.os29-4

Other Link： http://hdl.handle.net/10228/00008700

Underwater Acoustic Communication using QPSK Modulation Method Reviewed International journal

Nishida Yuya, Uemura Yuichiro, Tanaka Rikuto, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 27 774 - 778 2022.01

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

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.

DOI： 10.5954/icarob.2022.os29-3

Evaluation of roller arrangement of sphere by omnidirectional integral value Reviewed International journal

Kimura K., Abematsu Y., Hirai H., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 374 - 377 2022.01

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

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

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

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

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

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

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

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

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

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 2021.12

A Puzzle-Based Sequencing System for Logistics Items Reviewed International journal

Alahmad R., Ishii K.

Logistics 5 ( 4 ) 76 18 pages 2021.10

Rolling resistance and sinkage analysis by comparing FEM andexperimental data for a grape transporting vehicle Reviewed International journal

di Maria E., Reina G., Ishii K., Giannoccaro N.I.

Journal of Terramechanics 97 59 - 70 2021.10

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

Yoshiki Tanaka, Yuya Nishida, Kazuo Ishii

Proc. of IEEE OCEANS 2021 San Diego - Porto 5 pages 2021.09

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

Dominic B. Solpico, Yuya Nishida, Kazuo Ishii

Proc. of IEEE OCEANS 2021 San Diego - Porto 5 pages 2021.09

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 ) 2021.09

Development of the acoustic positioning system using MEMS microphone

HAMADA Daiki, SUEYOSHI Hiromasa, MASUDA Kotohiro, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2021 ( 0 ) 1A1 - B01 2021.06

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

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.

DOI： 10.1299/jsmermd.2021.1A1-B01

Other Link： https://ci.nii.ac.jp/naid/130008134856

3D Plane Detection Algorithm for Detection of Station Platform Edge

KATAYAMA Daigo, ISHII Kazuo, YASUKAWA Shinsuke, NAKADOMARI Satoshi, WADA Koichi, BEFU Akane, YAMADA Chikako

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2021 ( 0 ) 1P1 - F11 2021.06

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

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.

DOI： 10.1299/jsmermd.2021.1P1-F11

Other Link： https://ci.nii.ac.jp/naid/130008134919

Vision-Based Behavior Strategy for Tomato Harvesting Robot (V):-Estimation of total harvesting time using the tomato growth state map-

FUJINAGA Takuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2021 ( 0 ) 1P2 - A04 2021.06

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

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.

DOI： 10.1299/jsmermd.2021.1P2-A04

Other Link： https://ci.nii.ac.jp/naid/130008135064

Research on human-robot cooperative systems for a robot symbiotic society

TOMINAGA Moeko, TAKEMURA Yasunori, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2021 ( 0 ) 1A1 - K04 2021.06

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

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.

DOI： 10.1299/jsmermd.2021.1A1-K04

Other Link： https://ci.nii.ac.jp/naid/130008134930

Motion Estimation of Visual Target Using Event-Based Vision and Spiking Neural Network

YASUKAWA Shinsuke, YOSHIMATSU Hidetaka, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2021 ( 0 ) 2P2 - H05 2021.06

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

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.

DOI： 10.1299/jsmermd.2021.2P2-H05

Other Link： 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 ( The Japan Society of Mechanical Engineers ) 2021 ( 0 ) 1P1 - B17 2021.06

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

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.

DOI： 10.1299/jsmermd.2021.1P1-B17

Other Link： 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 ) 2021.03

Acoustic impedance measurement through the modelling of ultrasonic wave transmission Reviewed International journal

Mochizuki R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2021 271 - 274 2021.01

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

2021.01.21 - 2021.01.24

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108800024&origin=inward

A Greenhouse Project toward Smart Agriculture Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 26 409 - 412 2021.01

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

2021.01.22 - 2021.01.24

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108793739&origin=inward

Tomato-harvesting-robot competition towards smart agriculture Invited Reviewed International journal

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

Proc. of ICAROB2021 1 - 5 2021.01

Authorship：Lead author Language：English Publishing type：Research paper (international conference proceedings)

2021.01.21 - 2021.01.24

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 Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2021 777 - 781 2021.01

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

2021.01.21 - 2021.01.24

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108855210&origin=inward

Underwater image reconstruction using convolutional auto-encoder Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2021 262 - 265 2021.01

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

2021.01.21 - 2021.01.24

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108853723&origin=inward

Tomato-harvesting robot competition: Aims and developed robot of 6th competitions Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2021 397 - 400 2021.01

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

2021.01.21 - 2021.01.24

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108825700&origin=inward

The spherical robot transfer problem with minimal total kinetic energy Reviewed International journal

Kimura K., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 2021 266 - 270 2021.01

Smart Agriculture IoT Education Course in enPiT-everi (Education Network for Practical Information Technologies - Evolving and Empowering Regional Industries) Reviewed International journal

Takemura Y., Kamei K., Sanada A., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2021 401 - 404 2021.01

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

2021.01.21 - 2021.01.24

In Japan, expectations for the utilization of IT such as AI (Artificial Intelligence) and IoT (Internet of Things) are becoming greater and greater to address the shortage of working population due to the declining birthrate and aging population, and the depopulation of rural areas. There is a serious shortage of IT human resources, especially in rural areas, and I believe that IT human resource development is an urgent task to promote the super-smart society, Society 5.0, which is being promoted by the government. Thus, in order to promote business efficiency and productivity improvement, the utilization of IT in companies will become even more important[1].
Then, five universities, mainly in Kyushu and Chugoku regions, have been selected by the Ministry of Education, Culture, Sports, Science and Technology (MEXT) for the enPiT-Pro project, and will collaborate to provide systematic and practical IT education programs to working people from local companies, with the aim of fostering advanced IT human resources. In this paper, we report on a class of the enPIT-everi program, the Agricultural IoT Education course.

DOI： 10.5954/ICAROB.2021.OS22-3

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108859790&origin=inward

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108863193&origin=inward

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

DOI： 10.5954/ICAROB.2021.OS23-3

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108850015&origin=inward

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108795234&origin=inward

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85098498979&origin=inward

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

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

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

Other Link： https://ci.nii.ac.jp/naid/130007943437

Pose estimation of a rigid body in motion using an event-based vision

YOSHIMATSU Hidetaka, YASUKAWA Shinsuke, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2020 ( 0 ) 2P2 - J07 2020.05

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

We proposed a method for estimating the rotation of a moving rigid body in the field of view using high-speed visual information from an event-based vision. We employed a method based on linear regression from the viewpoint of computation cost as a method of estimating the pose of an object using visual information. While changing the pose of the object in the yaw direction, information on the object's appearance was obtained using an event-based vision. The image was generated by accumulating information from an event-based vision for a certain time. By pre-processing these images, binarized images and ternary images were respectively generated. With the above method, a data set of the pose of the object and the appearance of the object was prepared. We verified whether the pose of the object can be estimated from the information of the event-based vision by a linear regression model using dataset.

DOI： 10.1299/jsmermd.2020.2P2-J07

Other Link： https://ci.nii.ac.jp/naid/130007944448

Long-term observation method using Cable-restricted Underwater Vehicle:-Self-localization based on cable constraints-

TANAKA Yoshiki, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2020 ( 0 ) 1P1 - C07 2020.05

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

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

Other Link： https://ci.nii.ac.jp/naid/130007943421

Behavior Learning System for Robot Soccer Using Neural Network

TOMINAGA Moeko, TAKEMURA Yasunori, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2020 ( 0 ) 2A1 - R06 2020.05

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

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

Other Link： https://ci.nii.ac.jp/naid/130007943934

Stiffness Measurement of Object Targeted for Robotic Hand

MOCHIZUKI Ryuugo, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2020 ( 0 ) 1A1 - K06 2020.05

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

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

Other Link： https://ci.nii.ac.jp/naid/130007943408

An Optical Image Transmission System for Deep Sea Creature Sampling Missions Using Autonomous Underwater Vehicle Reviewed International journal

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

IEEE Journal of Oceanic Engineering 45 ( 2 ) 350 - 361 2020.04

Sea trials for benthos sampling using autonomous underwater vehicle Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics 2020 167 - 170 2020.01

Development of subsea creature monitoring station for auv exploration assistance Reviewed International journal

Watanabe K., Utsunomiya K., Harada K., Sadiq A., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 25 175 - 178 2020.01

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

Mochizuki R., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2020 249 - 254 2020.01

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

2020.01.13 - 2020.01.16

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108857253&origin=inward

Field experiments of underwater image transmission for auv Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2020 171 - 174 2020.01

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

2020.01.13 - 2020.01.16

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85095943054&origin=inward

Report on the 5th tomato-harvesting robot competition Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2020 106 - 109 2020.01

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

2020.01.13 - 2020.01.16

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108825800&origin=inward

Reports of 7th underwater robot festival in kitakyushu Reviewed International journal

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 2020.01

Development of antagonistic high power joint mechanism with cams Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2020 263 - 266 2020.01

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

2020.01.13 - 2020.01.16

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

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108843059&origin=inward

Behavior selection system for robot using neural network Reviewed International journal

Tominaga M., Takemura Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 2020 98 - 101 2020.01

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

2020.01.13 - 2020.01.16

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

Other Link： 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 Reviewed International journal

Suzuki Katsuaki, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

Journal of Advances in Artificial Life Robotics ( ALife Robotics Corporation Ltd ) 1 ( 3 ) 144 - 152 2020.01

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

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

Other Link： http://hdl.handle.net/10228/00008167

Introduction Reviewed International journal

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 2020.01

Evaluation of the roller arrangements for the ball-dribbling mechanisms adopted by robocup teams Reviewed International journal

Kimura K., Chikushi S., Ishii K.

Journal of Robotics, Networking and Artificial Life 6 ( 3 ) 183 - 190 2019.12

Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with an Adjustable Contact Patch for a Grape Transporting Robot Reviewed International journal

Enrico di Maria, Kazuo Ishii

Journal of Robotics, Networking and Artificial Life ( Atlantis Press ) 6 ( 3 ) 148 - 151 2019.12

Evaluation of underwater vehicle's self-localization based on visual odometry or sensor odometry Reviewed International journal

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 2019.12

Entropy-Based Exposure Time Setting for an Adaptive Multi-Exposure Image Fusion Reviewed International journal

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 2019.12

Toward smart tomato greenhouse: The fourth tomato harvesting robot competition Reviewed International journal

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

Journal of Robotics, Networking and Artificial Life 6 ( 2 ) 138 - 142 2019.09

System Development of Tomato Harvesting Robot Based on Modular Design Reviewed

Takuya Fujinaga, Shinsuke Yasukawa, Kazuo Ishii

2019 International Workshop on Smart Info-Media Systems in Asia 1 - 6 2019.09

Novel Mathematical Modeling and Motion Analysis of a Sphere Considering Slipping Reviewed International journal

Kimura K., Ogata K., Ishii K.

Journal of Robotics, Networking and Artificial Life 6 ( 1 ) 27 - 32 2019.06

Development of Dam Inspection Underwater Robot Reviewed International journal

Hirai H., Ishii K.

Journal of Robotics, Networking and Artificial Life 6 ( 1 ) 18 - 22 2019.06

An AUV Based Method for Estimating Hectare-scale Distributions of Deep Sea Cobalt-rich Manganese Crust Deposits Reviewed International journal

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

OCEANS 2019 - Marseille, OCEANS Marseille 2019 2019-June 1 - 6 2019.06

Development of Antagonistic High Power Joint Mechanism by using Cam (2nd Report):- Study on Improvement of Estimation Accuracy of Output Value in Rapid Motion-

SUZUKI Katsuaki, NISHIDA Yuya, SONODA Takashi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2019 ( 0 ) 1P2 - K09 2019.06

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

日本広島 2019.06.06 - 2019.06.09

In this paper, we propose a new formula to accurately estimate the output value on the real machine of the proposed mechanism as a part of the development concerning the high power joint mechanism. The previously proposed formula did not consider the energy loss when the slider translated. Considering the mass of the slider, we derived an expression that can estimate the angular velocity of the output link from the energy conservation law and the geometrical relationship. As a result of comparing the theoretical value and measured value, the performance of real machine could be more accurately estimated by using the proposed mathematical formula.

DOI： 10.1299/jsmermd.2019.1P2-K09

Other Link： https://ci.nii.ac.jp/naid/130007774443

Development of Electronic Travel Aid for Reducing the Fall Accident of the Visually Impaired:- Proposal and Evaluation of the Surrounding Environment Information Presentation Method by Vibration Stimulation of the Local Position -

KATAYAMA Daigo, ISHII Kazuo, NAKADOMARI Satoshi, YAMADA Chikako, BEFU Akane, WADA Koichi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2019 ( 0 ) 2A2 - B03 2019.06

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

日本広島 2019.06.06 - 2019.06.09

This paper presents the information presentation device for alerting 4 dangerous situations on a platform by vibration stimulation of a local position. The vibrator mounted on the information presentation device is provided with vibration isolation to prevent confusion of the presented information. In order to confirm the occurrence of the vibration stimulus at the local position, the measurement experiment of the vibration acceleration was carried out using the acceleration sensor. From the result of power spectrum analysis using the fast Fourier transformation to the measured vibration acceleration, periodic damping was confirmed at a portion other than the vibrator that presents information.

DOI： 10.1299/jsmermd.2019.2A2-B03

Other Link： https://ci.nii.ac.jp/naid/130007774800

Exposure Time Adjustment Method for a Camera System with a Multi-Exposure Image Fusion

NASUNO Tomohiro, YASUKAWA Shinsuke, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2019 ( 0 ) 2P2 - H10 2019.06

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

日本広島 2019.06.06 - 2019.06.09

We investigated the adjustment method of exposure times for multi-exposure image fusion. Because the range of luminance in the natural environment is wide, the camera system need to adapt to the ambient light. The proposed system comprises an image sensor module and a field-programmable gate array (FPGA) which is composed of control circuits for an image sensor, HDR image generator/evaluator and control circuits for external modules. In this study, the exposure time adjustment method is to select the combination with the maximum entropy or the minimum sum of squared difference between equalization histogram to original histogram. As a result, we obtained an image where has high contrast all of area.

DOI： 10.1299/jsmermd.2019.2P2-H10

Other Link： https://ci.nii.ac.jp/naid/130007775289

Development of Tomato Harvesting Robot Capable of Changing the Hardware Configuration

FUJINAGA Takuya, LI Binghe, SUNAMOTO Kota, TANAKA Rei, NASUNO Tomohiro, MUTO Huyuki, YASUKAWA Shinsuke, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2019 ( 0 ) 1A1 - E08 2019.06

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

日本広島 2019.06.06 - 2019.06.09

A tomato harvesting robot that can change the hardware configuration depending on the greenhouse has few development cases, and such robots are also important in terms of operation and development cost. We focus on the tomato harvesting robot that can change only the hardware configuration without changing the basically software configuration. In developing such a robot, it is important to modularize the hardware as the component. Building a distributed system makes it unnecessary to change the software configuration even if the hardware and sensors are changed, and it is possible to develop different robots only by changing the modules. In this study, three tomato harvesting robots with different hardware configurations are developed based on the above development concept. Two types of manipulators and moving mechanisms are introduced. We also report harvest experiments using two manipulators.

DOI： 10.1299/jsmermd.2019.1A1-E08

Other Link： https://ci.nii.ac.jp/naid/130007774067

Tactical analysis of robot soccer using neural network

TOMINAGA Moeko, TAKEMURA Yasunori, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2019 ( 0 ) 1P2 - I01 2019.06

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

日本広島 2019.06.06 - 2019.06.09

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. The behavior of a player changes depending on the game situation, such as the score gap, the remaining time and the importance of the match. In this paper, a futsal game played by agents is observed and analyzed to find a mapping relationship. The strategy in the team is analyzed based on the state vector parameters using a Self-Organizing Map (SOM) and different behaviors are analyzed and compared to achieve, in the future, the best possible result cooperation in a real game.

DOI： 10.1299/jsmermd.2019.1P2-I01

Other Link： https://ci.nii.ac.jp/naid/130007774523

Benthos Sampling by Autonomous Underwater Vehicle Equipped a Manipulator with Suction Device Reviewed International journal

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

2019 IEEE International Underwater Technology Symposium, UT 2019 - Proceedings ( IEEE ) 4ページ 2019.04

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

台湾 Kaohsiung 2019.04.16 - 2019.04.19

DOI： 10.1109/UT.2019.8734330

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85068434323&origin=inward

Underwater Vehicle Localization Considering the Effects of its Oscillation Reviewed International journal

Tanaka Y., Nishida Y., Ahn J., Ishii K.

2019 IEEE International Underwater Technology Symposium, UT 2019 - Proceedings ( IEEE ) 4ページ 2019.04

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

台湾 Kaohsiung 2019.04.16 - 2019.04.19

DOI： 10.1109/UT.2019.8734461

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85068478136&origin=inward

Development and Sea Trials of Vision-Based Control for Sampling-AUV Reviewed International journal

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

2019 IEEE International Underwater Technology Symposium, UT 2019 - Proceedings ( IEEE ) 4ページ 2019.04

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

台湾 Kaohsiung 2019.04.16 - 2019.04.19

DOI： 10.1109/UT.2019.8734462

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85068449860&origin=inward

Classification and statistical analysis of hydrothermal seafloor rocks measured underwater using laser-induced breakdown spectroscopy Reviewed International journal

Yelameli M., Thornton B., Takahashi T., Weerakoon T., Ishii K.

Journal of Chemometrics ( Wiley ) 33 ( 2 ) e3092 13ページ 2019.02

End-effector for robotic harvesting of a tomato fruit with calyx Reviewed International journal

Li Bingh, Yasukawa Shinsuke, Fujinaga Takuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 24 544 - 547 2019.01

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

日本 Beppu 2019.01.10 - 2019.01.14

Tomato fruit harvesting is a labor-intensive process, and therefore robotic automation is required. For tomato fruit harvesting robot, we developed three types of end-effectors (EEs): scissor type, cylinder type and suction-cutting type. It is necessary to harvest the tomato fruit with calyx especially in Japan. Therefore, the proposed EE has a cutter mechanism for cut the peduncle. The results show that the scissor type and the cylinder type EE can cut the peduncle; however, it is difficult to separate one fruit from the cluster. On the other hand, the suction-cutting type can separate and cut one fruit from the cluster and therefore it is useful for harvesting tomato fruit with calyx.

DOI： 10.5954/ICAROB.2019.OS22-3

Soil Compaction and Rolling Resistance Evaluation of a Locomotion System with an Adjustable Contact Patch for a Grape Transporting Robot Reviewed International journal

di Maria Enrico, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 24 501 - 504 2019.01

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

日本 Beppu 2019.01.10 - 2019.01.14

Soil compaction is a form of soil degradation which causes soil erosion, drainage difficulties, and loss of nutrients. To mitigate this issue, in agricultural farms several methods have been adopted. In this paper the preliminary study of a locomotion system with adjustable contact patches is proposed. Aim is to reduce the compaction and optimize the rolling resistance of a grape transporting robot employed in vineyard. A Finite Element Method model supported by experimental results is developed to study the system.

DOI： 10.5954/ICAROB.2019.OS20-5

Evaluation of Multi-Drone Wireless Network Properties for Tunnel Inspection Reviewed International journal

Alahmad Raji, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 24 493 - 496 2019.01

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

日本 Beppu 2019.01.10 - 2019.01.14

Communication is one of the challenges for UAVs during operations inside tunnels. In this paper, a wireless network system using multiple drones functioning as repeaters is proposed. A number of measurements for Wi-Fi signals are conducted to confirm the effect of different scenarios on the signal in virtual tunnel and real life tunnel. As a result, RSS with -64 dBm can provide five Mbps of bandwidth.

DOI： 10.5954/ICAROB.2019.OS20-3

Proposition of Saliency map Based on the Maximization of Center-Surround Difference Reviewed International journal

Ryuugo Mochizuki, Shinsuke Yasukawa, Kazuo Ishii

Proc. of ICAROB2019 24 487 - 492 2019.01

Development of dam inspection underwater robot Reviewed International journal

Hirai Hiroyasu, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 24 528 - 531 2019.01

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

日本 Beppu 2019.01.10 - 2019.01.14

Maintenances of social infrastructures such as dam, bridge are important subjects. The more aging problem going on, the more the effective inspection methods have been expected. In the inspection of dams, divers observe the conditions of their surface manually, however underwater structure deeper than 30m is limited and their inspections are insufficient. In this paper, we propose the ROV whose functions are video capture, indirect measurement using laser, target depth keeping, heading keeping. The ROV is applied into the dam inspection and showed the effectiveness to find cracks. In this study, The Remotely Operated Vehicle (ROV) is developed with the aim of practical application of technologies capable of replacing and supporting dam inspection by diver. Using the developed ROV, we conducted in the 'Verification field of the next generation social infrastructure robot' which was publicly offered by the Ministry of Land, Infrastructure and Transport in FY 2015 and examined its usefulness. In the verification on-site, it was able to satisfy about half of the required inspection items.

DOI： 10.5954/ICAROB.2019.OS21-4

Three-dimensional Measurement Using Laser Pattern And Its Application to Underwater Scanner Reviewed International journal

Nishida Yuya, Shinnoki Tomoya, Yasukawa Shinsuke, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 24 525 - 527 2019.01

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

日本 Beppu 2019.01.10 - 2019.01.14

In order to measure an accurate volume of the resources, the authors developed a new three-dimensional instrument consisting of a laser projector and a camera. The laser projector irradiates a sharp two-dimensional laser pattern independent the distance to the target object. Our instrument was able to measure three-dimensional shape of the target object with maximum error of 5% in the water, at one scan

DOI： 10.5954/ICAROB.2019.OS21-3

Inspection System for Underwater Structure of Bridge Pier Reviewed International journal

Ueda Takumi, Hirai Hiyoyasu, Fuchigami Kazuki, Yuki Ryoma, Jonghyun Ahn, Yasukawa Shinsuke, Nishida Yuya, Ishii Kazuo, Sonoda Takashi, Higashi Katsunori, Tanaka Katsunori, Ikeda Tomomasa

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 24 521 - 524 2019.01

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

日本 Beppu 2019.01.10 - 2019.01.14

Inspection of underwater infrastructure of bridge pier is important for bridge maintenance, however, the underwater environment is dangerous and their observation is one of difficult problems. We have been developing the underwater inspection system which consists of an unmanned surface vehicle (USV) and a remotely operated vehicle (ROV). The concepts of the system are (1) Operation is executable with a small number of persons, (2) USV and ROV are controllable from land or bridge, (3) Build 3D model and images for crack detection. The ROV observes the status of whole infrastructure using cameras and control its posture using a depth sensor and IMU sensor. The USV vertically lifts up and down ROV by winch and carries ROV to the infrastructure. USV has GPS, LRF and IMU for horizontal positioning and pan-tilt control of the camera. In this paper, we discuss the results of the inspection operation test by the robot.

DOI： 10.5954/ICAROB.2019.OS21-2

System Development of AUV's Sampling Device Controller Employing MATLAB/Simulink Toolboxes Reviewed International journal

Sonoda Takashi, Yasukawa Shinsuke, Ahn Jonghyun, Nishida Yuya, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 24 517 - 520 2019.01

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

日本 Beppu 2019.01.10 - 2019.01.14

We developed an AUV's sampling device control system. It is employed the any toolboxes provided in MATLAB/Simulink by Mathworks. The toolboxes are powerful, useful, and functional. "Robotics System Toolbox" in theirs supports the ROS middle ware. It provides the cloud data communication. "Parallel Computing Toolbox" can struct a multi process and parallel computing on script base and Simulink model base program. "Stateflow" is a powerful tool for design of state transition control method. The toolboxes are employed in the sampling device control system of the AUV. This method with using the toolboxes of MATLAB/Simulink realize the rapid prototyping of the system designs, developments and system test. The developed system mounted on an AUV was powered in several real sea areas. Report on the results and problems when operating in real environments.

DOI： 10.5954/ICAROB.2019.OS21-1

Evaluation for Ball Dribbling Mechanism of RoboCup Middle Size League Soccer Robot in The World Teams Reviewed International journal

Kimura Kenji, Chikushi Shota, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 24 548 - 552 2019.01

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

日本 Beppu 2019.01.10 - 2019.01.14

RoboCup is a platform designed to promote such research fields as artificial intelligence (AI) and robotics. In recent years the Middle size league soccer robot has a ball dribbling mechanism. This mechanism controls the ball with two driving rollers and in order to play soccer games well, ball control capability and holding capacity are indispensable. As the result of a survey at the 2017 World Cup, all teams in the world have determined the rollers arrangement heuristically, and no mathematical consideration has been made. In this research, we focus the sphere slip velocity and derive relationship sphere slip speed and sphere mobile speed. and evaluated the roller arrangement in the world teams.

DOI： 10.5954/ICAROB.2019.OS22-4

Report of the 4th Tomato Harvesting Robot Competition Reviewed International journal

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

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 24 540 - 543 2019.01

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

日本 Beppu 2019.01.10 - 2019.01.14

Tomato is one of 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 famers heavy works. In this paper, we report on the results of 4th tomato harvesting robot competition.

DOI： 10.5954/ICAROB.2019.OS22-2

A sea creatures classification method using convolutional neural networks Reviewed International journal

Ahn J., Nishida Y., Ishii K., Ura T.

International Conference on Control, Automation and Systems 2018 ( ICROS ) 2018-October 420 - 423 2018.10

Relationship Sugar Content of Ripe Tomatoes and Intensity on Infrared Image Reviewed International journal

Takuya Fujinaga, Kazuo Ishii

International Conference on Control, Automation and Systems 2018 ( ICROS ) 2018-October 2018.10

Recognition of an Object Pointed at by a Person by using Robot Head Control and Motion Sensor Reviewed International journal

Moeko Tominaga, Yasunori Takemura, Kazuo Ishii

International Conference on Control, Automation and Systems 2018 ( ICROS ) 2018-October 2018.10

Flounders measurement system using obtained optical images by AUV Reviewed International journal

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

2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 2018.05

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

日本神戸 2018.05.28 - 2018.05.31

DOI： 10.1109/OCEANSKOBE.2018.8559296

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85060275645&origin=inward

Vision system for an autonomous underwater vehicle with a benthos sampling function Reviewed International journal

Yasukawa Shinsuke, Ahn Jonghyun, Nishida Yuya, Sonoda Takashi, Ishii Kazuo, Ura Tamaki

Journal of Robotics and Mechatronics ( Fuji Technology Press ) 30 ( 2 ) 248 - 256 2018.04

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

We developed a vision system for an autonomous underwater robot with a benthos sampling function, specifically sampling-autonomous underwater vehicle (AUV). The sampling-AUV includes the following five modes: preparation mode (PM), observation mode (OM), return mode (RM), tracking mode (TM), and sampling mode (SM). To accomplish the mission objective, the proposed vision system comprises software modules for image acquisition, image enhancement, object detection, image selection, and object tracking. The camera in the proposed system acquires images in intervals of five seconds during OM and RM, and in intervals of one second during TM. The system completes all processing stages in the time required for image acquisition by employing high-speed algorithms. We verified the effective operation of the proposed system in a pool.

DOI： 10.20965/jrm.2018.p0248

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85049165476&origin=inward

Underwater platform for intelligent robotics and its application in two visual tracking systems Reviewed International journal

Nishida Yuya, Sonoda Takashi, Yasukawa Shinsuke, Nagano Kazunori, Minami Mamoru, Ishii Kazuo, Ura Tamaki

Journal of Robotics and Mechatronics ( Fuji Technology Press Ltd. ) 30 ( 2 ) 238 - 247 2018.04

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

A hovering-type autonomous underwater vehicle (AUV) capable of cruising at low altitudes and observing the seafloor using only mounted sensors and payloads was developed for sea-creature survey. The AUV has a local area network (LAN) interface for an additional payload that can acquire navigation data from the AUV and transmit the target value to the AUV. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In this research, water tank tests and sea trials were performed using an AUV equipped with a visual tracking system developed in other laboratories. The experimental results proved that additional payload can control the AUV position with a standard deviation of 0.1 m.

DOI： 10.20965/jrm.2018.p0238

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85049226634&origin=inward

Special issue on advanced robotics in agriculture, forestry and fisheries Invited Reviewed International journal

Ishii Kazuo, Hayashi Eiji, Misron Norhisam Bin, Thornton Blair

Journal of Robotics and Mechatronics ( Fuji Technology Press Ltd. ) 30 ( 2 ) 163 - 164 2018.04

Authorship：Lead author Language：English Publishing type：Article, review, commentary, editorial, etc. (scientific journal)

The importance of primary industries, agriculture, forestry and fisheries, is obvious and needless to mention, however, the reduction of the working population and the aging problem make the situation of primary industry more sever. To compensate for the issues, the advanced technology in robotics has attracted attentions and expected the contributions in terms of productivity, cost effectiveness, pesticide-less, monitoring of the growth and harvesting, etc. Recently, robotic technologies are gradually being used in primary industry and their application area will expand more in the near future. This special issue’s objectives include collecting recent advances, automation, mechanization, research trends and their applications in agriculture, forestry and fisheries to promote a deeper understanding of major conceptual and technical challenges and facilitate spreading of recent breakthroughs in primary industries, and contribute to the enhancement of the quality of agricultural, forestry and fisheries robots by introducing the state-of-the-art in sensing, mobility, manipulation and related technologies.In this special issue, twelve papers are included. The first paper by Noguchi is the survey paper of the state-of-the-art in the agricultural vehicle type robots and discusses the future scope of agriculture with robotics. The next three papers are on tomato-monitoring system, and Fukui et al. propose a tomato fruit volume estimation method using saliency-based image processing and point cloud and clustering technology, Yoshida et al. do the cutting point identification for tomato-harvesting using a RGBD sensor and evaluate in the real farm experiments, and Fujinaga et al. present an image mosaicking method of tomato yard based on the infrared images and color images of tomato-clusters in the large green house. The fifth paper by Sori et al. reports a paddy weeding robot in wet-rice field to realize the pesticide-free produce of rice, and the sixth paper by Shigeta et al. is about an image processing system to measure cow’s BCS (Body Condition Score) automatically before milking cows and analyzes the two months data by CNN (Convolutional Neural Network). The seventh paper by Inoue et al. reports on an upper-limb power assist robot with a single actuator to reduce the weight and cost. The assist machine supports the shoulder and elbow movements for viticulture operations and upper-limb holding for load transport tasks. In the next paper, Tominaga et al. show an autonomous robotic system to move between the trees without damaging them and to cut the weeds in the forest for the forest industry. The last four papers are for the fishery industry, and Komeyama et al. propose a methods for monitoring the size of fish, red sea bream (RSB) aquaculture by developing a stereo vision system to avoid the risks of physical injury and mental stress to the fish. Nishida et al. report on a hovering type underwater robot to measure seafloor for monitoring marine resources whose sensor can be replaced depending on missions as the open hardware system. Yasukawa et al. propose a vision system for an autonomous underwater robot with a benthos sampling function, especially, sampling-autonomous underwater vehicles (SAUVs) to achieve a new sampling mission. The last paper by Han et al. is for gait planning and simulation analysis of an amphibious quadruped robot in the field of fisheries and aquaculture.We hope that this special issue can contributes to find solutions in primary industries, agriculture, forestry and fisheries.

DOI： 10.20965/jrm.2018.p0163

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85049177996&origin=inward

Image mosaicing using multi-modal images for generation of tomato growth state map Reviewed International journal

Fujinaga Takuya, Yasukawa Shinsuke, Li Binghe, Ishii Kazuo

Journal of Robotics and Mechatronics ( Fuji Technology Press ) 30 ( 2 ) 187 - 197 2018.04

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

Due to the aging and decreasing the number of workers in agriculture, the introduction of automation and precision is needed. Focusing on tomatoes, which is one of the major types of vegetables, we are engaged in the research and development of a robot that can harvest the tomatoes and manage the growth state of tomatoes. For the robot to automatically harvest tomatoes, it must be able to automatically detect harvestable tomatoes positions, and plan the harvesting motions. Furthermore, it is necessary to grasp the positions and maturity of tomatoes in the greenhouse, and to estimate their yield and harvesting period so that the robot and workers can manage the tomatoes. The purpose of this study is to generate a tomato growth state map of a cultivation lane, which consists of a row of tomatoes, aimed at achieving the automatic harvesting and the management of tomatoes in a tomato greenhouse equipped with production facilities. Information such as the positions and maturity of the tomatoes is attached to the map. As the first stage, this paper proposes a method of generating a greenhouse map (a wide-area mosaic image of a tomato cultivation lane). Using the infrared image eases a correspondence point problem of feature points when the mosaic image is generated. Distance information is used to eliminate the cultivation lane behind the targeted one as well as the background scenery, allowing the robot to focus on only those tomatoes in the targeted cultivation lane. To verify the validity of the proposed method, 70 images captured in a greenhouse were used to generate a single mosaic image from which tomatoes were detected by visual inspection.

DOI： 10.20965/jrm.2018.p0187

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85049187587&origin=inward

Automatic recognition of benthic species using image processing Reviewed International journal

Soejima Yuki, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 23 779 - 782 2018.02

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

For sustainable use of fisheries resources, it is important to estimate the amount of resources such as TAC (Total Allowable Catch), TAE (Total Allowable Effort) and their investigations have been conducted by bottomed net fishing, however, the method suffers environmental damages. The survey method for wider area that does not affect the ecosystem is needed. Recently, research using an autonomous underwater robot (AUV) is introduced as a new survey method as the solution. We also introduced an AUV for the survey of fish and crabs in the Sea of Okhotsk. The number of marine lives is measured manually, and the technique of automatic measurement of the number is needed for the observation. In this research, we propose an automatic marine life recognition method from seafloor images.

DOI： 10.5954/icarob.2018.os20-3

Recognition of Tomato Fruit Regardless of Maturity by Machine Learning Using Infrared Image and Specular Reflection Reviewed International journal

Fujinaga Takuya, Yasukawa Shinsuke, Li Binghe, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 23 761 - 766 2018.02

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

This paper presents a tomato fruit recognition method using plant characteristics of tomato and infrared images. Labor shortage and aging are problems in Japanese agriculture field. We aim to realize automatic harvesting and production management system of tomato. For that, it is necessary to detect the position and maturity of tomato fruit. Tomato fruit shows high reflectance against infrared light. The specular reflection part of the tomato fruit in the infrared image is used as training data. The Tomato harvesting robot can focus only on tomato fruit in the harvestable range by using infrared image. We use the images acquired at the actual tomato greenhouse to evaluate this proposed method. As a result of machine learning, Precision is 0.940, Recall is 0.808, and F-measure is 0.868.

DOI： 10.5954/icarob.2018.os21-5

Strategy Analysis of Multi-Agent Games Using Self-Organizing Map Reviewed

Tominaga Moeko, Takemura Yasunori, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 23 757 - 760 2018.02

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

As technology develops, realization of a symbiotic society between human beings and robots sharing their environment has become one of most important subjects. For example, soccer is a multi-agent game that require strategies such as each members' position and defense. The behavior of a player changes depending on the game situation such as winning or losing, score gap, remaining time. The players may play offensive when their team is losing, or be defensive when their team is winning with minimum score difference. In this paper, human soccer game is observed and analyzed to determine how the state vector of each players affect team behavior. The team strategy is analyzed based on parameters such as the positions, the number players, score, time and actions of soccer robots using Self-Organizing Map(SOM)

DOI： 10.5954/icarob.2018.os21-4

AUV Homing Using Acoustic Chirp Signal Reviewed International journal

Masuda Koji, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 23 783 - 785 2018.02

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

For autonomous underwater vehicle (AUV), high autonomy is required in order to accomplish mission such as inspection, observation, manipulation under extreme environments, deep-ocean. One of necessary function for AUV is acoustic navigation. In this paper, we conducted homing experiments using a small AUV and acoustic pinger with chirp signal. The chirp signal has the feature that the frequency of signal change gradually, so that the signal is suitable to calculate the correlation between the time difference between hydrophones. The homing experiments are carried out and evaluated through tank tests.

DOI： 10.5954/icarob.2018.os20-4

Seafloor Image Color Enhancement Method based on Retinex model and Experiment Report in the undersea environment Reviewed International journal

Ahn Jonghyun, Yasukawa Shinsuke, Nishida Yuya, Sonoda Takashi, Watanabe Keisuke, Ishii Kazuo

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 23 736 - 739 2018.02

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

Underwater imaging is an important part to seafloor observation by underwater robot. Underwater robots provide many images, which contain seafloor environment, and theses images contribute to various fields such as marine biology, marine geology and fishery science. However, underwater images has different properties, such as uneven illumination and light attenuation, compared to images which taken in air, and these properties impede image checking by researchers. In this paper we propose an image enhancement based on scale-gain Retinex, and the proposed method is experimented on the Suruga-bay in Japan.

DOI： 10.5954/icarob.2018.os20-2

Slip model of roller driven ball Reviewed International journal

Kenji Kimura, Shota Chikushi, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics ( ALife Robotics Corporation Ltd. ) 23 753 - 756 4 pages 2018.02

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

別府 2018.02.01 - 2018.02.04

Spherical wheel motion driven by rollers attract attention due to the possibility of uneven surface. RoboCup is a platform designed to promote the research fields such as Artificial Intelligent (AI) and robotics, and one of examples is the ball dribbling mechanism of RoboCup Middle size league robot, and this mechanism controls the ball with two driving rollers. As the result of the survey at the 2017 World Cup, all teams in the world have determined the roller arrangement heuristically, and no mathematical consideration has been made. In this study, we propose a model considering slip, discuss the relationship between slip ratio and robot speed using evaluation function, and verify the model by experiment.

DOI： 10.5954/ICAROB.2018.OS21-3

Simulation of horizontal vibration suppression of a suspended structure for seabed mining Reviewed International journal

Keisuke Watanabe, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics ( ALife Robotics Corporation Ltd. ) 23 740 - 743 4 pages 2018.02

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

別府 2018.02.01 - 2018.02.04

In a project of subsea mining in the near future, many work class robots such as crawlers, drilling machines, or ore collectors will be installed on the seabed. These robots are heavy but they must be landed on the seabed very softly to avoid impact damage from the seabed. So the installation method is very important and effective installation method should be investigated. In this paper, we examined vibration motion of a suspended heavy machine by a crane vessel through dynamics modeling and simulation in the horizontal plane. Descending speed of the machine affects the amplitude of the vibration, that is, if the descending speed is higher, larger amplitude will be observed. To suppress this vibration, we examined a velocity feedback control by attaching a thruster to the machine. From simulation results, we found horizontal vibration will be effectively suppressed by using simple feedback control.

DOI： 10.5954/ICAROB.2018.OS20-5

AUV homing using acoustic chirp signal Reviewed

Koji Masuda, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics 4 pages 2018.02

Automatic recognition of benthic species using image processing Reviewed

Yuki Soejima, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics 4 pages 2018.02

Seafloor Image Color Enhancement Method based on Retinex model and Experiment Report in the undersea environment Reviewed

Jonghyun Ahn, Shinsuke Yasukawa, Yuya Nishida, Takashi Sonoda, Keisuke Watanabe, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics 4 pages 2018.02

Analysis of Characteristics of Tomato Fruits in Infrared Images Toward Automatic Tomato Harvesting System Reviewed

Takuya Fujinaga, Shinsuke Yasukawa, Binghe Li, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics 4 pages 2018.02

Strategy Analysis of Multi-Agent Games Using Self-Organizing Map Reviewed

Moeko Tominaga, Yasunori Takemura, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics 4 pages 2018.02

Visual Feature Selection Using Saliency Map

MOCHIZUKI Ryuugo, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2018 ( 0 ) 2A2 - L17 2018.01

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

Many saliency maps in visual image researches are proposed as human attention models. In general saliency maps, three image feature extractions, color contrast, edge gradient and intensity are utilized and DoG (Difference of Gaussian) is applied for each image feature to have a saliency map. We are focusing on selecting stable feature extraction to have stable saliency map. Although various sizes of objects exist in an image, stability of feature extraction is very important in various scales of images. If the DoG filter scale is improper, feature extraction does not work stably and also important feature can be missed after feature selection. In order to solve the problems, we propose to calculate the scale values which maximize differences between two different scale DoG images' scales so as to important objects are extracted.

DOI： 10.1299/jsmermd.2018.2A2-L17

Other Link： https://ci.nii.ac.jp/naid/130007551777

Vision-Based Behavior Strategy for Tomato Harvesting Robot (IV):-Mapping maturity and position of tomato-

FUJINAGA Takuya, YASUKAWA Shinsuke, LI Binghe, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2018 ( 0 ) 1P1 - A05 2018.01

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

This paper presents a generation method of tomato growth state map that has maturity and position of tomato. The tomato growth state map is used for the tomato harvesting robot to automatically plan the harvesting movement. As a first step of generating the tomato growth state map, a mosaic image expressing the tomato cultivation environment is generated. Next, immature to mature tomato are recognized by recognition method using infrared image. Based on color and depth information, maturity of tomato is judged and tomato position is calculated. This information is added to the mosaic image, and the tomato growth state map is generated. 19 immature tomatoes and 7 mature tomatoes were automatically detected from tomato state growth map that generated from 10 images.

DOI： 10.1299/jsmermd.2018.1P1-A05

Other Link： https://ci.nii.ac.jp/naid/130007551123

Analysis of Cooperative Behavior in Futsal for Human and Robot Multi Agent System

TOMINAGA Moeko, TAKEMURA Yasunori, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2018 ( 0 ) 2P2 - L09 2018.01

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

As technology develops, realization of a symbiotic society between human beings and robots sharing their environment has become one of most important subjects. For example, soccer is a multi-agent game that require strategies such as each members' position and defense. The behavior of a player changes depending on the game situation such as winning or losing, score gap, remaining time. The players may play offensive when their team is losing, or be defensive when their team is winning with minimum score difference. In this paper, human soccer game is observed and analyzed to determine how the state vector of each players affect team behavior. The team strategy is analyzed based on parameters such as the positions, the number players, score, time and actions of soccer robots using Self-Organizing Map(SOM)

DOI： 10.1299/jsmermd.2018.2P2-L09

Other Link： https://ci.nii.ac.jp/naid/130007552222

Underwater three-dimensional measurement using RGB structured-light:-Development the measurement device and verification of the influence of underwater environment-

SHIINNOKI Tomoya, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2018 ( 0 ) 2P2 - C07 2018.01

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

Rich undersea mineral resources are confirmed around Japan and the research about undersea mineral resources and deep sea creatures has been conducted actively. Since three-dimensional data could not be get by human, three-dimensional measurement technology is important in the deep sea survey. Therefore we designed a measuring device suitable for underwater environment.

DOI： 10.1299/jsmermd.2018.2P2-C07

Other Link： https://ci.nii.ac.jp/naid/130007551964

Deep-sea image enhancement using multi-scale retinex with reverse color loss for autonomous underwater vehicles Reviewed International journal

Mercado M., Ishii K., Ahn J.

OCEANS 2017 - Anchorage 2017-January 1 - 6 2017.12

Enhancement of deep-sea floor images obtained by an underwater vehicle and its evaluation by crab recognition Reviewed International journal

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

Journal of Marine Science and Technology (Japan) 22 ( 4 ) 758 - 770 2017.12

Kinematics of Two-Roller-Driven Ball for RoboCup Soccer Robot Reviewed

Shota Chikushi, Tharindu Weerakoon, Takashi Sonoda, Kazuo Ishii

4 ( 3 ) 248 - 253 2017.12

Erratum to: Enhancement of deep-sea floor images obtained by an underwater vehicle and its evaluation by crab recognition (Journal of Marine Science and Technology, (2017), 22, 4, (758-770), 10.1007/s00773-017-0442-1) Reviewed

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

Journal of Marine Science and Technology (Japan) 22 ( 4 ) 2017.12

Automatic Extraction of Thickness Information from Sub-Surface Acoustic Measurements of Manganese Crusts Reviewed

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

OCEANS 2017 - Aberdeen 2017-October 1 - 7 2017.10

Sea-floor image transmission system for AUV Reviewed International journal

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

OCEANS 2017 - Aberdeen 2017-October 1 - 6 2017.10

Efficient Place Recognition by Mobile Robot with Saliency Detection Reviewed

6 pages 2017.09

Generation of Mosaic Image in Tomato Greenhouse Using Infrared Image Reviewed

6 pages 2017.09

Development of a Hydraulic Underwater Manipulator for Deep-Sea Survey AUV Reviewed

Takashi Sonoda, Kazuo Ishii, Amir Ali Forough Nassiraei, Ivan Godler, Tharindu Weerakoon

Proc. of The 2017 International Conference on Artificial ALife and Robotics 242 - 245 4 pages 2017.01

Strategy Analysis of RoboCup Soccer Teams Using Self-Organizing Map Reviewed

Moeko Tominaga, Yasunori Takemura, Kazuo Ishii

Proc. of The 2017 International Conference on Artificial ALife and Robotics 421 - 424 4 pages 2017.01

Ball Dribbling Control for RoboCup Soccer Robot Reviewed

Shota Chikushi, Kenji Kimura, Kazuo Ishii

Proc. of The 2017 International Conference on Artificial ALife and Robotics 416 - 420 5 pages 2017.01

Development of a Tomato Harvesting Robot Reviewed

Shinsuke Yasukawa, Bingh Li, Takashi Sonoda,Kazuo Ishii

Proc. of The 2017 International Conference on Artificial ALife and Robotics 408 - 411 4 pages 2017.01

Development of End-effector for Sampling-AUV TUNA-SAND2 Reviewed

Kazuo Ishii, Takashi Sonoda, Atsushi Nishjima, Keisuke Watanabe

Proc. of The 2017 International Conference on Artificial ALife and Robotics 262 - 265 4 pages 2017.01

Development of Underwater Wireless Power Supply System Using Resonant Energy Transfer Reviewed

Hidaka Shota, Kazuo Ishii, Keisuke Watanabe

Proc. of The 2017 International Conference on Artificial ALife and Robotics 258 - 261 4 pages 2017.01

Development of Self-Diagnosis System of an Autonomous Underwater Vehicle Tuna-Sand 2 Reviewed

Naoya Fujii, Yuya Nishida, Kazuo Ishii

Proc. of The 2017 International Conference on Artificial ALife and Robotics 254 - 257 4 pages 2017.01

Floating LBL concept for underwater position detection Reviewed

Keisuke Watanabe, Kazuo Ishii

Proc. of The 2017 International Conference on Artificial ALife and Robotics 246 - 249 4 pages 2017.01

A New Tool to Access Deep-Sea Floor "Sampling-AUV" Invited Reviewed International journal

Ishii Kazuo, Sonoda Takashi, Nishida Yuya, Yasukawa Shinsuke, Ura Tamaki, Watanabe Keisuke

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 22 300 - 302 2017.01

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

Underwater robot is one of the important research tools to explore deep-sea. Especially, Autonomous Underwater Vehicles (AUVs) attract attentions as new tools because they are un-tethered and suitable for wide area observation. As the next generation AUV, we have been developing a Sampling-AUV that can dive into deep-sea and bring back marine creatures using a mounted manipulator. In the mission, the AUV transmits the deep-sea floor images to the support ship using acoustic communication, and the operator selects the marine creatures to sample and bring back them. In this talk, we introduce the new AUV, the underwater manipulator and image processing techniques for sampling.

DOI： 10.5954/icarob.2017.ps1

Development of End-effector for Sampling-AUV "TUNA-SAND2" Reviewed International journal

Ishii Kazuo, Nishijima Atsushi, Sonoda Takashi, Watanabe Keisuke

Proceedings of International Conference on Artificial Life and Robotics ( ALife Robotics Corporation Ltd. ) 22 262 - 265 2017.01

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

UV requires high autonomy to accomplish various deep-ocean observation missions, and the next AUV is expected to have sampling function of marine benthos, that is, the 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. One of the effective end-effectors is the slurp-gun type device to absorb the target with water. In this research, we had developed a sampling device for deep-ocean observation and sampling AUV, Sampling-AUV TUNA-SAND2 in order to inspection of marine ecosystem.

DOI： 10.5954/icarob.2017.os7-6

Fostering Professional Personnel for Intelligent Car and Robotics in Car-Robo Joint Graduate School Reviewed

MORIE Takashi, ISHII Kazuo, WAGATSUMA Hiroaki, TAMUKOH Hakaru, ENOKIDA Shuichi, SAITOH Takeshi, MATSUNAGA Ryoichi, MATSUNAMI Isamu, OGAI Harutoshi

J. of JSEE ( Japanese Society for Engineering Education ) 65 ( 4 ) 4_51 - 4_56 2017.01

Language：Japanese Publishing type：Research paper (scientific journal)

The Joint Graduate School Intelligent Car and Robotics Course, called “Car-Robo Joint Graduate School” is an educational program that started in 2012 mainly at The Kitakyushu Science and Research Park (KSRP). Graduate schools of engineering in Kyushu Institute of Technology, the University of Kitakyushu, and Waseda University at KSRP participate in this program. The purpose of this program is to foster highly skilled personnel in technical fields on intelligent car and robot technology. They will gain practical ability as leaders, mastering their special fields, understanding the peripheral technologies, and leading research and development teams. The special-feature program of this course is seven comprehensive practicums as team learning. Internship students of national colleges of technology and other universities as well as master and PhD course students of these graduate schools participate in the practicums.

DOI： 10.4307/jsee.65.4_51

Other Link： https://ci.nii.ac.jp/naid/130005966874

2nd Forestry Drone and Robots competition report

TAKEMURA Yasunori, HAYASHI Eiji, OHTAKE Hiroshi, OHASHI Takeshi, KAMEI Keiji, ISHII Kazuo

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 33 ( 0 ) 651 - 654 2017.01

Underwater Manipulator for Sampling Mission with AUV in Deep-Sea

Weerakoon Tharindu, Sonoda Takashi, Nassiraei Amir Ali Forough, Godler Ivan, Ishii Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-F11 2017.01

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

Deep-sea exploration has taken a remarkable attention among the researchers and we are developing a group of autonomous underwater vehicles (AUVs) dedicated for deep-sea observations, collecting sea creatures and biological samples. We discuss the basic development of the mechanical, hydraulic and electrical systems of 4 degrees of freedom (DOF) underwater hydraulic manipulator. Manipulator system design is explained in details along with the design requirements and experimental results. The developed manipulator is successfully installed on the AUV named TunaSand2 and a number of experiments are performed in different deep-sea sites to realize the usability and reliability of the manipulator system.

DOI： 10.1299/jsmermd.2017.2p1-f11

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-F11/_pdf

Implementation Challenge & Cover tactics to the soccer robots

MINAMIZAKI Ryogo, MATSUMOTO Kohei, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-J10 2017.01

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

In RoboCup Soccer middle size league, we need to cope various enemy attacks such as dribble, pass and shoot. Therefore, cooperative defense behavior system by multiple robots is required. We aim to realize cooperative defensive behavior with reference to soccer tactics of human. There is Challenge & Cover as one of the basic defense tactics of human soccer. In this research, we develop the defensive behavior algorithm of Challenge & Cover using information of enemies, teammates and ball positions, and implement it to the soccer robots. We compared conventional algorithms and new algorithms by simulation, confirmed that it has higher defensive performance than those.

DOI： 10.1299/jsmermd.2017.2p1-j10

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J10/_pdf

Efficient Place Recognition Using Saliency Detection by Mobile Robot

MOCHIZUKI Ryuugo, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 1P2-J04 2017.01

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

Saliency detection is used to estimate which information in images attracts human attention in view of color and brightness contrast. Humans can perceive objects more sharply what they focus on than what they do not. In Saliency detection, Gaussian pyramid and Center-Surround difference realizes this human visual mechanism. The author introduced Saliency detection in place recognition by mobile robots. The aim of the introduction is to lessen the amount of features and colors that are extracted from training images. Input data of Support Vector Machine is Color and Visual Word Histogram. We evaluated the amount of extracted features and place recognition rate of Support Vector Machine. As the result, we succeeded in executing efficient environment recognition. The correct prediction rate increased by 14 percent, and the amount of features decreased by 85 percent compared to the case of no saliency detection.

DOI： 10.1299/jsmermd.2017.1p2-j04

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1P2-J04/_pdf

Development of Antagonistic High Power Joint Mechanism by using Cam

SUZUKI Katsuaki, NISHIDA Yuya, SONODA Takashi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2A1-A06 2017.01

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

Many mechanisms with Impulse Force Generator is generally operated at high speed and strong force. We have been working on high power joint mechanism imitating locust hind-leg in order to realize a mechanism capable of not only rapid motion but also normal motion. However, they have some problems as following. In rapid motion, The developed mechanism has energy loss due to the viscous resistance of the reduction gear of the actuator. And the direction of rotation during rapid motion is restricted. In this paper, we propose a high power joint mechanism with higher performance which solves this problem. The mechanism proposed by us can perform rapid motion and normal motion at clockwise and counterclockwise. And the mechanism can change of the articular compliance. The mechanism consist two motors with cams, two wires, one spring and some links. Our verification experiment of rapid motion showed that the proposed mechanism can realize rapid motion without viscous drag.

DOI： 10.1299/jsmermd.2017.2a1-a06

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A1-A06/_pdf

Development of ball handling mechanism for RoboCup soccer robot

CHIKUSHI Shota, WEERAKOON Tharindu, SONODA Takashi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-K09 2017.01

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

RoboCup is an international project to promote fields such as robotics, Artificial Intelligent (AI), and related field. It is an attempt to apply AI and Intelligent robotics research by providing standard problems where a wide variety of technologies can be integrated and examined. We organized RoboCup team “Hibikino-Musashi” for Middle-Size League soccer competition. Ball dribbling in soccer games of Middle size league is the most important action. Also recently, advanced co-operated behavior control system action is required. Therefore, in this research, the kinematics and effectiveness of the kinematics at the time of ball dribbling is focused.

DOI： 10.1299/jsmermd.2017.2p1-k09

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K09/_pdf

Development of self-localization system combining local / global position estimation for RoboCup soccer robot.

MATSUDA Yukiko, WATANABE Shuta, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-J12 2017.01

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

Various abilities are required for autonomous robots because they act judge and act on their own. The selflocalization problem that recognizes the surrounding environment and estimates the position is one of the most important tasks. The self-localization system is highly dependent on operating conditions, environment, and available sensors. That system is desirable operate stably for a long time. In this research, we focus on autonomous mobile robots for the RoboCup soccer meddle size league (MSL), but self-position kidnapping is a big problem. Therefore, we propose self-localization algorithm combining particle filter and perfect match, and aim for improvement of accuracy and stability of self-localization.

DOI： 10.1299/jsmermd.2017.2p1-j12

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J12/_pdf

Development of navigation system for AUV

MASUDA Koji, FUJIWARA Shinya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-E09 2017.01

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

AUV is stable for a wide range of search because it does not have an umbilical cable. However, AUV cannot work for a long time because of internal power source. Utilization of charging station in the water is required for long-term operation to solve this problem. In this paper, it is described a navigation system to the station with acoustic positioning system that mounting is possible to the AUV. It has three hydrophones and receives signal from that pinger is mounted the station. Sound source detection is calculated by Cross Correlation Function and Super Short Base Line method. In addition, it is introduced chirp signal as the pinger to develop a robust the system against noises. It is applied the developed system and carried out the experiment for navigation to the pinger. The present result suggested that sound source detection and guidance to the station are feasible in this system.

DOI： 10.1299/jsmermd.2017.2p1-e09

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-E09/_pdf

Strategy Analysis by Self-Organizing Map Using player’s positioning

TOMINAGA Moeko, TAKEMURA Yasunori, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-K07 2017.01

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

In the soccer games, the behavior selection of each player changes depend on the positional relationship of the ball and the every player’s position on the field. The player closest to the ball near the opponent team’s goal aims at a shot, and the farthest player waits at a position where he can return at any time to his own goal to protect. Currently most of RoboCup soccer teams keep the same strategy during the game so that the result of game depends on the ability of each player like speed of robot, quality of localization, obstacle avoidance and ball handling. Next issue for the robot intelligence is collaborated team behavior and strategy. The autonomous soccer robots are required to behave cooperatively and make decision using environment and game situation. In this research, the team strategy is analyzed based on the positions of human player using Self-Organizing Map (SOM).

DOI： 10.1299/jsmermd.2017.2p1-k07

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K07/_pdf

Vision-Based Behavior Strategy for Tomato Harvesting Robot (III)

FUJINAGA Takuya, YASUKAWA Shinsuke, Li Binghe, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 1A1-B05 2017.01

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

This paper presents a feature point matching to generate mosaic image that expresses a cultivation environment, as a part of behavior strategy of tomato harvesting robot. Since that mosaic image requires tomato fruits and stems in front face, in this study, an IR image suitable for detecting the object in front is used. Proposed method uses robot moving distance and location of original feature point to decide detection area to search for feature point. Compare features of feature points in this area and original feature point, then decide matching point. Feature point matching of two consecutive infrared images was performed. By adding detection area of feature point, it is possible to reduce false matching.

DOI： 10.1299/jsmermd.2017.1a1-b05

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-B05/_pdf

Research and development for long-term deployment of autonomous underwater vehicle

NAKAMURA Keisuke, NAKANISHI Ryota, ISHII Kazuo, SONODA Takashi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-F07 2017.01

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

Japan is a maritime country with vast territorial waters. Long-term investigation by Autonomous Underwater Vehicle (AUV) is desired for efficient investigation. This paper reports about deployment of long-term deployment system based on underwater charging station and evaluation of the system by simulator. It succeeded in docking to the station with 68% probability. As a result of the simulation, this system has the ability to be able to search 110 meters square area every day.

DOI： 10.1299/jsmermd.2017.2p1-f07

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-F07/_pdf

Object tracking based on data integration by autonomous soccer robots

GONDAI Takuhiro, SHIMADA Ryota, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-J11 2017.01

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

In order to realize cooperative behavior in an autonomous robot, it is necessary to have uniform and highly accurate obstacle position information among robots. We aim to improve estimation accuracy by integrating object position estimation data by multiple robots whose error tendency is known in a dynamic environment accompanied by sensor and environment uncertainty.

DOI： 10.1299/jsmermd.2017.2p1-j11

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J11/_pdf

Image sensing system for an underwater robot with a benthos sampling function

YASUKAWA Shinsuke, AHN Jonghyun, NISHIDA Yuya, SONODA Takashi, ISHII Kazuo, URA Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2A2-G09 2017.01

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

We developed an image sensing system for an autonomous underwater robot with a benthos sampling function, namely sampling-AUV. The mission of a sampling-AUV consist of following four phases: observation phase (OP), return phase (RP), tracking phase (TP) and sampling phase (SP). For an achievement of the above mission, proposed image sensing system comprises software modules of image acquisition, image enhancement, object detection and image selection, and object tracking. The camera in proposed system acquires an image by intervals of five seconds during OP and RP and of a second during TP. The system completes all processing within image acquisition times by employing high-speed algorithms. We checked operations of proposed system in a pool.

DOI： 10.1299/jsmermd.2017.2a2-g09

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A2-G09/_pdf

Development of End-Effector for Harvesting Tomato Using Suction and Cutting Mechanism

LI Binghe, URA Takanori, FUJINAGA Takuya, YASUKAWA Shinsuke, SONODA Takashi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 1A1-D06 2017.01

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

In recent years, the introduction of robot technology to the primary industry is very important, and introduction to the agricultural field is also expected. Among them, tomatoes have a long harvesting work time and high labor load. Therefore, automation of harvesting by robots is desired. In this research, we are targeting tomato production facilities with large-scale infrastructure. We are developing tomato harvesting robot aiming at practical application at Hibikinada Greenfarm Co., Ltd.. In this paper, we focused on end effector for harvesting tomato. When harvesting tomatoes, it need to have a stem end. In the previous study, it was pluck a tomato from a stem, but stem end took off from tomatoes. In order to harvest a tomato from cluster with stem end, we developed an end effector using suction mechanism and cutting mechanism.

DOI： 10.1299/jsmermd.2017.1a1-d06

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-D06/_pdf

Development of kick system in RoboCup Soccer

MACHIDA Naoto, HISANO Kenji, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2P1-K08 2017.01

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

In RoboCup Soccer Middle Size League, strategy and behavior is improved annually. In recent years, the pass behavior has been required as cooperative behavior of multiple robots. Also, the kick power needs to be changed according to the distance to the goal to broaden the range of strategy. When doing the pass behavior it is necessary to use with the trajectory of ball which the receiver robot is easy to receive. However, our current kick device on our team can’t kick a suitable kick for pass behavior. In this research, we will develop a mechanism to lob and grounders shooting, aiming to realize the pass behavior and expand the range of strategy.

DOI： 10.1299/jsmermd.2017.2p1-k08

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K08/_pdf

Measurement of trees in the forest using Multi Rotor Helicopter

SHINOHARA Kosuke, KATAYAMA Sho, HORI Wataru, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 1A1-C04 2017.01

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

Japan is a forestry country where forests account for about 70% of the land, and introduction of robots is expected in the field of forestry. However, there is already a method of measuring height using aircraft and laser scanner, but the diameter of breast height is investigated by human hands despite the lack of personnel. Therefore, in this research, we propose a trees diameter measurement system using multi rotor helicopter. We aim to stably fly through the forest and measure the breast height diameter of trees in the forest. We propose a tree detection algorithm using LRF data.

DOI： 10.1299/jsmermd.2017.1a1-c04

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-C04/_pdf

Underwater three-dimensional measurement using RGB structured-light

SHIINNOKI Tomoya, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2017 ( 0 ) 2A2-O07 2017.01

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

A rich undersea mineral resource is confirmed in the basin of Japan. Three-dimensional measurement technology is indispensable for developing undersea resources. By applying structural light to the underwater environment, it is possible to measure not only the three-dimensional topography but also the seabed creature. Therefore, we aim to develop an underwater three-dimensional measuring device using structured light and light cutting method. In order to develop a new three-dimensional measuring instrument, basic measurement theory was verified.

DOI： 10.1299/jsmermd.2017.2a2-o07

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A2-O07/_pdf

Mathematical Modeling and Motion Analysis of the Wheel Based Ball Retaining Mechanism Reviewed International journal

Kimura K., Ishii K., Takemura Y., Yamamoto M.

Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016 518 - 523 2016.12

Tomato Harvesting Robot Competiton Reviewed International journal

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

Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016 537 - 542 2016.12

Motion Analysis and Control of the Ball Operation for Dribbling Action in RoboCup Soccer Robot Reviewed International journal

Chikushi S., Weerakoon T., Ishii K., Sonoda T.

Proceedings - 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2016 532 - 536 2016.12

Development of an autonomous underwater vehicle with human-aware robot navigation Reviewed

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

OCEANS 2016 MTS/IEEE Monterey, OCE 2016 2016.11

Real-time object tracking based on scale-invariant features employing bio-inspired hardware Reviewed International journal

Yasukawa S., Okuno H., Ishii K., Yagi T.

Neural Networks 81 29 - 38 2016.09

Image enhancement and compression of deep-sea floor image for acoustic transmission Reviewed International journal

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

OCEANS 2016 - Shanghai 2016.06

Support vector machine based classification of seafloor rock types measured underwater using Laser Induced Breakdown Spectroscopy Reviewed International journal

Yelameli M., Thornton B., Takahashi T., Weerkoon T., Takemura Y., Ishii K.

OCEANS 2016 - Shanghai 2016.06

Geometric feature extraction from 2D laser range data for mobile robot navigation Reviewed International journal

Weerakoon T., Ishii K., Nassiraei A.

2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings 326 - 331 2016.02

Vision-Based Behavior Strategy for Tomato Harvesting Robot (II)

YASUKAWA Shinsuke, NISHIO Masaya, LI Binghe, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 2A1-08b1 2016.01

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

This paper presents a novel ripe tomato fruit detection method within a tomato cluster, as a part of behavior strategy of tomato harvesting robot. Proposed method uses infrared images and specular reflection based on the optical characteristic of tomatoes. The fruits of the tomato clusters are detected separately on the captured infrared images, searching the strong response at the center of fruits caused by specular reflection. To recognize the ripe tomatoes from the unripe fruits and other background objects, RGB images were used. The method was evaluated using infrared and RGB images captured by Xbox One Kinect sensor in a greenhouse environment. The result shows the detection accuracy of 88.1 percent of the proposed method.

DOI： 10.1299/jsmermd.2016.2a1-08b1

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2A1-08b1/_pdf

The Image Compression and Reconstruction Method to Monitor AUV’s Vision Information

AHN Jonghyun, YASUKAWA Shinsuke, SONODA Takashi, NISHIDA Yuya, ISHII Kazuo, URA Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1A1-16b7 2016.01

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

The autonomous Underwater Vehicles (AUVs) are developed to contribute various science filed such as oceans biology, geology by deep-sea observation. The deep-sea observation by AUV provides various information such as lifestyle of deep-sea creature, volcano of deep-sea bottom, etc. by photographing image. Next mission using AUVs is required to sample targets such as creature, mud or stone in deep-sea floor. For success of this mission, AUV needs supports by researcher in support ship. However, underwater communication based on acoustic has less density compared to electronic. In this research, we proposed a method of image compression and reconstruction for acoustic communication. And we evaluated reconstruction image by Structural similarity.

DOI： 10.1299/jsmermd.2016.1a1-16b7

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-16b7/_pdf

Report of 2nd tomato robot competition

Takemura Yasunori, Sonoda Takashi, Ishii Kazuo, Ura Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 2P2-17b3 2016.01

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

Robots for agriculture are still on developing phase. On the other hand, in the agriculture field of Japan, is progressing and aging and depopulation of the producer, the labor shortage due to lack of successors has become a serious problem. The authors organized a Tomato Robot Competition Committee for accelerating developing in agrirobot. In this competition, to foster the next generation of Agri-robot developer, we set up a junior department in order to nurture the robot developers that can be active in the real field. In this page, we reported an introduction about the robot education in the Junior department, to verify wether it is possible to obtain any kind of effect as the robot contest.

DOI： 10.1299/jsmermd.2016.2p2-17b3

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17b3/_pdf

Development of underwater wireless power supply system using resonant energy transfer

Hidaka Shota, Kawashima Susumu, Ryota Nakanishi, Ishii Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1P1-17a6 2016.01

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

Autonomous Underwater Vehicles (AUV) is one of the key technologies for deep ocean research. However AUV cannot work long time due to battery capacity. To solve this problem, a noncontact power supply is required for AUV to conduct observations for extended durations. In this study, we use resonant energy transfer method which has a wide transmission distance. We report results of the performance evaluation in water environment.

DOI： 10.1299/jsmermd.2016.1p1-17a6

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1P1-17a6/_pdf

Development of Manipulator for Deep-Sea Benthic Organism Sampling Tasks

SONODA Takashi, YASUKAWA Shinsuke, JONGHYUN Ahn, NASSIRAEI Amir Ali Forough, NISHIDA Yuya, ISHII Kazuo, URA Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1A1-17a3 2016.01

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

Underwater robots are employed to marine organisms' research in ultimate environments. In this study, we aim to do automation of marine organisms sampling by autonomous underwater vehicle with a manipulator. We developed a manipulator to pick up deep-sea benthic organisms. The developed manipulator is driven by a master-slave cylinder type hydraulic driven system. Moreover, the manipulator's joints are actuated by hydraulic cylinder, and linear motion of the cylinder is converted to rotational motion by a motion conversion cam-mechanism. This control system was integrated by MATLAB/Simulink. So we adopted Stateflow (this is a toolbox for Simulink) in the high level control layer.

DOI： 10.1299/jsmermd.2016.1a1-17a3

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-17a3/_pdf

Development of SSBL Acoustic positioning system for underwater robot

KAWASHIMA Susumu, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1A1-17b2 2016.01

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

Underwater is a challenging work environment with high risks for human beings. One of the needs of the robot, the development of robots working in water extreme environment is expected. Autonomous Underwater Vehicles (AUVs) are suitable for a wide range of search mission without restrictions from power cable, AUVs can move freely in every direction. In this research, we have developed a SSBL acoustic positioning system for underwater robot. Also we report the experimental results of acoustic positioning.

DOI： 10.1299/jsmermd.2016.1a1-17b2

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-17b2/_pdf

Formation Flight Control System for Multirotor Helicopters in Outdoors

HORI Wataru, TAKIMOTO Takashi, Ishii Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 1A1-04a4 2016.01

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

A multirotor helicopter is a flight robot which can hover, take off, fly, and land in small areas. Recently, multirotor helicopters are getting a lot of attention for information gathering in disaster areas and photogrammetric measuring. They have some drawbacks such as a short duration of flight and a risk of confliction during multi vehicle operation. This paper deals with the formation flight control system for multirotor helicopters that can inspect a wide area in a short time. Practical experiments show that the photogrammetric measuring by using proposed formation flight is more suitable for practical use than the measuring by single vehicle.

DOI： 10.1299/jsmermd.2016.1a1-04a4

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-04a4/_pdf

Ball passing behavior for middle sized RoboCup soccer Robots

SHIMADA Ryota, KUWADA Masafumi, ISHIKURA Makito, CHIKUSHI Shota, SONODA Takashi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 2P2-17a4 2016.01

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

Action and strategy of the robots is sophisticated in RoboCup soccer middle sized league. Concerted action by multiple robots depends on the circumstances of the operation. Behavioral algorithm that can handle dynamic changing environments is necessary. We aim to realize the ball passing behavior in concerted action. We report on the developing of receive position selection map.

DOI： 10.1299/jsmermd.2016.2p2-17a4

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17a4/_pdf

Development of ball handling mechanism for RoboCup soccer robot

CHIKUSHI Shota, ISHII Kazuo, SONODA Takashi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 2P2-17a7 2016.01

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

RoboCup is an international join project to promote fields such as Artificial Intelligent (AI), robotics, and related field. It is an attempt to apply AI and Intelligent robotics research by providing standard problems where a wide variety of technologies can be integrated and examined. In RoboCup, soccer game is selected as a main topic of research, aiming at innovations to be applied for socially significant problems and industries in the future. We also have organized RoboCup team “Hibikino-Musashi” for Middle-Size League soccer competition. In this paper, the control and verification experiments of the ball operation at the time of ball dribbling is described.

DOI： 10.1299/jsmermd.2016.2p2-17a7

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17a7/_pdf

Saliency detection method using prior information of signboard by machine learning

MOCHIZUKI Ryuugo, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 2A1-20a2 2016.01

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

We are involved in a research of composing a self-positioning system of AGV(Automated Guided Vehicle). This system has two components, that are saliency detection part and machine learning part. We report the process of the latter of the two. We use SVM(Support Vector Machine) to execute the machine learning of landmark images. To use SVM, We extracted SURF(Speed-Up Robust Features) features from landmark images, and grouped them depending their similarity. The centroid of each cluster is treated as VW (Visual Words). Thus, these images are transformed into VW histograms. By using prior information of landmarks, that have been accumulated during the process of machine learning, the saliency detection regions are focused on the part where learned landmarks are estimated to exist in the environmental images. In this report, We are going to discuss the application of soft margin SVM(Support vector machine) into landmark detection.

DOI： 10.1299/jsmermd.2016.2a1-20a2

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2A1-20a2/_pdf

Obstacle avoidance algorithm with consideration of wheel load change

ISHIKURA Makito, WATANABE Shuta, KUWADA Masafumi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2016 ( 0 ) 2P2-17a6 2016.01

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

A lot of obstacle avoiding algorithm for mobile robot has been proposed. However, consideration of slippage that is caused by wheel load change is lacked in these methods. This causes unstable motion of mobile robot. This research aims to achieve safe motion of mobile robot by considering slippage. We propose obstacle avoidance algorithm for omni-wheeled mobile robot without slippage by load change. This was achieved by extension of Dynamic Window Approach algorithm. Proposal method is tested on RoboCup MSL robot. The result shows 60% reduction of slippage compared with conventional method.

DOI： 10.1299/jsmermd.2016.2p2-17a6

Other Link： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17a6/_pdf

An Artificial Potential Field Based Mobile robot Navigation Method to Prevent From Deadlock Reviewed

5 ( 3 ) 189 - 203 2015.10

Evolution and prospects of underwater robot competition in Japan Reviewed

2015.09

Experimental Study for the Development of a Ship Hull Cleaning Robot Reviewed

Watanabe Keisuke, Ishii Kazuo, Takashima Kyoko

11th INTERNATIONAL CONFERENCE ON MARINE NAVIGATION AND SAFETY OF SEA TRANSPORTATION 7pages 2015.06

アグリロボットの開発が加速化!「第 1 回トマトロボット競技会」開催!

浦環，石井和男，松尾貴之，川尻一志

ohm bulletin ( オーム社 ) 51 ( 春 ) 10 - 11 2015.04

Experimental study for the development of a ship hull cleaning robot Reviewed

Watanabe K., Ishii K., Takashima K.

Safety of Marine Transport: Marine Navigation and Safety of Sea Transportation 225 - 232 2015.01

Dead-lock Free Mobile Robot Navigation Using Modified Artificial Potential Field Reviewed

Tharindu Weerakoon, Kazuo Ishii, Amir Ali Nassiraei

717 - 722 2014.12

Adaptative Motion Control System of a Snake-like Robot Using a Neural Oscillator Network Reviewed

Takayuki Matsuo, Ishii Kazuo

711 - 716 2014.12

Phase Lag Auto-adjustment System Using Neural Oscillators and Its Application into Motion Control of a Snake-like Robot Reviewed

Takayuki Matsuo, Kakigi Takahiro, Kazuo Ishii

143 - 148 2014.09

Adjustment Method of Phase Lag Using Neural Oscillator Network for a Snake-like Robot (jointly worked) Reviewed

International Journal of Robotics and Mechatronics 1 ( 1 ) 16 - 24 2014.07

An AUV Platform for Robot Behavior Development: Twin-Robot "DaryaBird" and "OCTA", and Their Mission Strategy Reviewed

Wataru Hori, Remma Satoh, SungMin Nam, Jonghyun Ahn, Naoya Fujii, Ken Matsuoka, Yuki Soejima, Yasunori Takemura, Kazuo Ishii

AUVSI&ONR's 17th Annual RoboSub Competition Journal Paper 1 - 8 2014.07

球体駆動式全方向移動機構とロボカップサッカー中型ロボットリーグへの応用 Reviewed

石田秀一，新福宜侑，石井和男，宮本弘之

日本知能情報ファジィ学会誌 26 ( 3 ) 669 - 677 2014.06

Design concept of an underwater robot for ship-hull cleaning Reviewed

Kazuo Ishii, Amir Ali Forough Nassiraei, Takashi Sonoda

540 - 545 2014.05

Ego-motion estimation algorithm for a small unmanned aerial vehicle using motion-detection model of the insect's visual system

UENO Fuyuki, OKUNO Hirotsugu, ISHII Kazuo, YAGI Tetsuya

IEICE technical report. Neurocomputing ( The Institute of Electronics, Information and Communication Engineers ) 113 ( 382 ) 37 - 42 2014.01

Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

A compact ego-motion estimation system is required for autonomous control of an unmanned air vehicle whose demand is increasing recently. In this study, we proposed an algorithm that estimates the ego-motion by discriminating optical flow patterns, inspired by insect's visiomotor control system. First, this algorithm calculates the local velocity from images of the surface of the ground by using a motion-detection model inspired by an insect's visual system. Then, the algorithm integrates the local velocity to estimate ego-motion. We tested this algorithm assuming that the vehicle moves horizontally and rotates in yaw.

Other Link： https://ci.nii.ac.jp/naid/110009825558

1P1-F07 AUV Based Observation System for Benthos in Deep Ocean(Underwater Robot and Mechatronics (2))

AHN Jonghyun, SONODA Takashi, ISHII Kazuo, URA Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2014 ( 0 ) _1P1 - F07_1-_1P1-F07_4 2014.01

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

The ocean that covers 71% of the Earth's surface is the source of origin of the life and biological evolution. Furthermore, ocean plays major role in regulating the weather and the climate of the planet. The features of the deep ocean also effects on controlling the climate of the earth. In addition, lots of discoveries, abundant mineral resources, energy, marine lives, and hydrothermal vent in the deep ocean have attracted research scientists of various fields. In spite of attractive discoveries, we are still unable to get clear information about the mechanism of the Deep Ocean and ecological system, because Deep Ocean is an extreme environment that has high pressure, darkness and radio attenuation. Recently, Autonomous Underwater Vehicles (AUVs) are used in Deep Ocean research activities as a powerful tool. AUVs are enrich with various facilities that can take photographs include lifestyle of marine lives, etc. In this paper, we have proposed a method to recognize the Benthos on the deep seabed automatically for various research activities. As a result, the proposed method has shown that it can detect about 84.7% of targets in the deep ocean images and capability of recognition is about 74% of the detected targets.

DOI： 10.1299/jsmermd.2014._1P1-F07_1

Other Link： https://ci.nii.ac.jp/naid/110009966701

Holonomic Omnidirectional Vehicle with Ball Wheel Drive Mechanism and Application to RoboCup Soccer Middle Size League Reviewed

ISHIDA Shuichi, SHIMPUKU Noriyuki, ISHII Kazuo, MIYAMOTO Hiroyuki

Journal of Japan Society for Fuzzy Theory and Intelligent Informatics ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 26 ( 3 ) 669 - 677 2014.01

Language：Japanese Publishing type：Research paper (scientific journal)

In this paper, we present a mechanical design of the holonomic omnidirectional vehicle using ball wheels for RoboCup Soccer Middle Size League (MSL). Most MSL team robots use the omni wheels, which have a lot of free rollers on the circumference of a wheel, to realize the omnidirectional motions. Omni wheels are easily implementable device, whereas they have drawbacks such as lack of moving stability due to the changes of friction or steps on the surface and their usable environment is limited. In order to play the games on a completely flat surface, we spread enough plates under the field carpet in MSL. Our aim is to overcome these drawbacks and develop actual prototypes for practical application not only for MSL. We evaluate the ability and accuracy of the prototype of omnidirectional vehicle using ball wheels.

DOI： 10.3156/jsoft.26.669

Other Link： https://ci.nii.ac.jp/naid/130004491926

Development of Next-Generation Soccer Robot "Musashi150" for RoboCup MSL

Chikushi Shota, Kuwada Masafumi, Sonoda Takashi, Nassiraei Amir A.F., Ishii Kazuo

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 30 ( 0 ) 624 - 627 2014.01

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

RoboCup is an international join project to promote Artificial Intelligent (AI), robotics, and related field. It is an attempt to foster AI and Intelligent robotics research by providing standard problems where a wide variety of technologies can be integrated and examined. In RoboCup, soccer game is selected as a main topic of research, aiming at innovations to be applied for socially significant problems and industries in the future. We also have organized RoboCup team "Hibikino-Musashi" Middle-Size League soccer competition. In this paper, we introduce the next generation soccer robot platform "Musashi150" with ball keeping ability and fast movement.

DOI： 10.14864/fss.30.0_624

Other Link： https://ci.nii.ac.jp/naid/130005480551

Development of Autonomous Underwater Vehicle using MATLAB/Simulink

Hori Wataru, Fujii Naoya, Ishii Kazuo

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 30 ( 0 ) 610 - 613 2014.01

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

Various kinds of robots have been developed as computers and information processing technology advance. Operations in extreme environments such as disaster areas, space and ocean are getting one of the practical solutions for hazardous missions. The underwater robots are one of the extreme environment robots that are expected as one of solutions for underwater activities; maintenance of underwater structures, observations, scientiﬁc research. These activities require robots that can cover large area deep under ocean water. Their efficiencies have been investigated during recent decades and are proven by ocean experiments. However, the robotic system including the support vessels is still large in scale, and is not so easy to handle without number of researchers. In this paper, we describe the design of "DaryaBird" developed to be easy to handle, small-scaled underwater robots that can operate only with two researchers. In addition, experimental results and mission strategies for Robosub2014 are reported.

DOI： 10.14864/fss.30.0_610

Other Link： https://ci.nii.ac.jp/naid/130005480597

1P1-S06 Development of Next-Generation Soccer Robot for RoboCup Middle size league(RoboCup and Robot Contest)

CHIKUSHI Shota, SONODA Takashi, NASSIRAEI Amir A. F., ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2014 ( 0 ) _1P1 - S06_1-_1P1-S06_4 2014.01

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

DOI： 10.1299/jsmermd.2014._1P1-S06_1

Other Link： https://ci.nii.ac.jp/naid/110009966746

1P1-S05 Bipedal Robot Leg Architecture for RoboCup Humanoid League : Team FUB-KIT, Collaboration between Freie University of Berlin and Kyushu Institute of Technology(RoboCup and Robot Contest)

SATOH Remma, NASSIRAEI Amir, MOBALEGH Hamid, HELGADOTTIR Lovisa Irpa, SONODA Takashi, ISHII Kazuo, ROJAS Raul

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2014 ( 0 ) _1P1 - S05_1-_1P1-S05_2 2014.01

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

This paper describes the hardware and software of bipedal robot leg architecture for RoboCup Humanoid League such as the RoboCup teen size team FUB-KIT. Team FUB-KIT was founded in 2012 on a collaboration between Free University of Berlin and Kyushu Institute of Technology. The research is aimed at developing bio-inspired legged mechanisms and controls. Both research groups have been working in Robotics research as well as in RoboCup. We organized the joint RoboCup team and won the third place at RoboCup 2013 Eindhoven Humanoid Teen Size League. The developed biped robot is introduced in this paper.

DOI： 10.1299/jsmermd.2014._1P1-S05_1

Other Link： https://ci.nii.ac.jp/naid/110009966745

1P1-S04 Tomato-harvesting robot Competition(RoboCup and Robot Contest)

LI Binghe, SONODA Takashi, MATSUO Takayuki, Nassiraei Amir A. F., KAWANO Tomonori, KAWAJIRI Kazushi, ISHII Kazuo, URA Tamaki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2014 ( 0 ) _1P1 - S04_1-_1P1-S04_2 2014.01

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

Japan is a developed country of the robot, and study of various robots have been actively conducted. However, most robots have been put to practical use in society is an industrial robot. Agricultural robots are not practically used yet. Being able to introduce agricultural robot disseminate, it can be expected labor saving, automation, and productivity improvement. We aim at the development of agricultural robot through the holding of competitions of the tomato harvest. It unites the interest of robot technology and interest in the natural environment. It is an object of the invention is introduced into agricultural technologies developed in the course of the competition, and disseminating agricultural robot.

DOI： 10.1299/jsmermd.2014._1P1-S04_1

Other Link： https://ci.nii.ac.jp/naid/110009966744

1P1-S02 Ball passing behavior for middle sized RoboCup soccer Robots(RoboCup and Robot Contest)

KUWADA Masafumi, Chikushi Shota, ONO Yutaro, SONODA Takashi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2014 ( 0 ) _1P1 - S02_1-_1P1-S02_4 2014.01

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

We developed the control system for RoboCup soccer robot with MATLAB / Simulink. Action and strategy of the robots is sophisticated in RoboCup soccer middle sized league. Concerted action by multiple robots depends on the circumstances of the operation. Behavioral algorithm that can handle dynamic changing environments is necessary. We aim to realize the ball passing behavior in concerted action.

DOI： 10.1299/jsmermd.2014._1P1-S02_1

Other Link： https://ci.nii.ac.jp/naid/110009966742

1P1-H07 Mobile Platform with Fin Actuator Based on the High Power Joint Mechanism(Underwater Robot and Mechatronics (2))

NISHIDA Yuya, SONODA Takashi, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2014 ( 0 ) _1P1 - H07_1-_1P1-H07_2 2014.01

Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Many insects can jump several times their own body length. Locusts with their powerful hind-leg can for example jump up to five times as high 250mm. We have been working on high power joint mechanism imitating locust hind-leg. The mechanism can produce a several times as much power as mounted actuator and separates normal and rapid motion by controlling the actuator force. This paper proposes fin actuator with the high power joint mechanism which can realize rapid motion of two directions. The fin actuator consist two motors with cams, two wires, one spring and L-shape link. Our analysis of output characteristics showed that the proposed fin actuator develops higher output power than mounted actuator.

DOI： 10.1299/jsmermd.2014._1P1-H07_1

Other Link： https://ci.nii.ac.jp/naid/110009968707

1P1-G07 Development of a Small ROV for Education and Research Activities : MATLAB / Simulink Based Robot Control System(Underwater Robot and Mechatronics (2))

IWANE Toyoaki, SONODA Takashi, ISHII Kazuo, YOKOICHI Takumi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2014 ( 0 ) _1P1 - G07_1-_1P1-G07_2 2014.01

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

Oceans cover more than 70% of the earth's surface and their space is 300 times larger than the space on land, and, ocean resources such as methane hydrate and cobalt rich crust exist in deep ocean. As the tools to access the deep ocean, underwater robots attract high attention, and it is important to give young generation motivations to underwater technologies. So that we are working on the outreach activities related underwater technologies through underwater competitions. In this paper, we introduce a small ROV (Remotely Operated Vehicle) and robot system using a graphical programing language MATLAB/Simulink.

DOI： 10.1299/jsmermd.2014._1P1-G07_1

Other Link： https://ci.nii.ac.jp/naid/110009966706

1P1-G06 Mechanical Design for High Speed Sampling Motion in Underwater(Underwater Robot and Mechatronics (2))

SONODA Takashi, NISHIDA Yuya, ISHII Kazuo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers ) 2014 ( 0 ) _1P1 - G06_1-_1P1-G06_2 2014.01

Language：Japanese Publishing type：Research paper (conference, symposium, etc.)

Underwater is extreme environment. So, underwater robots are employed to some tasks for human's safe. However, high-speed motion in underwater condition is occurred drag forces. In this paper, we propose a sampling device for underwater robots. It was designed as a high-speed mechanism. Because, a mechanism which it has performances higher than human make new applications. The high-speed motion is needed an energy and an efficient transmission system. We explain a design of the mechanism.

DOI： 10.1299/jsmermd.2014._1P1-G06_1