研究者詳細 - 石井　和男

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Wavelet OFDM Wireless Communication System for Autonomous Underwater Vehicles Using Loop-Shaped Antennas in Underwater Environments 査読有り国際誌

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

IEEE Access 12 129633 - 129645 2024年09月

記述言語：英語掲載種別：研究論文（学術雑誌）

The manuscript introduces a radio wave-based wireless communication system tailored for Autonomous Underwater Vehicles (AUVs), optimized for underwater deployment. Initial experiments to ascertain the fundamental properties of a loop antenna were conducted in a small-scale water tank, followed by comprehensive communication and video transmission trials in a larger tank with an AUV. A specialized waterproof enclosure was developed to house a waterproof antenna, a Vector Network Analyzer (VNA), and a communication board. This setup facilitated the evaluation of the loop antenna's radio propagation attributes and the identification of frequencies conducive to underwater communication. Designed with practical deployment in mind, the system incorporates a 2-meter loop antenna for signal transmission and a 0.5m by 0.8m rectangular loop antenna integrated into the AUV for signal reception. Utilizing a wavelet Orthogonal Frequency Division Multiplexing (OFDM) communication board and tuning to lower frequencies, the system successfully established User Datagram Protocol (UDP) and Transfer Control Protocol (TCP) communications within a few meter radius from the transmitting antenna, achieving data transfer rates up to 6.8 Mbps.

DOI： 10.1109/ACCESS.2024.3457508

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General Kinematics and Simulation for Mobile Robot Adapted Three Unconstraint Rollers 査読有り国際誌

Kimura K., Ishii K.

International Conference on Electrical, Computer, and Energy Technologies, ICECET 2024 2024年07月

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

In recent years, efficient mobility is required for omni-directional mobile robots in the logistics industry. There are various types of rollers mounted on mobile robots. Among them, omni-directional rollers (omni roller) are considered to have excellent omni-directional mobility and easy control. Assuming a circular mechanism, kinematics has been derived assuming an arbitrary arrangement along this circumference, and several studies have evaluated roller arrangements in terms of the speed efficiency of the driving rollers. To evaluate the roller arrangement, kinematics is necessary, in which not only the contact position of the rollers but also the direction is a parameter. In this study, kinematics is derived for a mobile robot equipped with three omni-rollers, with the contact position and direction of the rollers as parameters, and the behaviors of the roller velocity is investigated for the robot's movement in all directions.

DOI： 10.1109/ICECET61485.2024.10698134

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The Method of Verification of Sphere Kinematics by Two Mouse Image Sensors 査読有り国際誌

Kimura K., Ishii K.

International Conference on Electrical, Computer, and Energy Technologies, ICECET 2024 2024年07月

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

In the past, omni-directional wheels, including omni-rollers, have been studied. The sphere has attracted attention as a shape with better running and overweight characteristics than this. Because of its excellent symmetry, it has been used as a wheel in omni-directional moving mechanisms. Spherical robots driven by two constrained rollers have been studied extensively, not only to derive their kinematics but also to study their validation methods. In this study, we propose a new method for verifying sphere kinematics, in which the rotational motion of spheres driving two rollers by two mouse sensors and used for estimation calculations.

DOI： 10.1109/ICECET61485.2024.10698436

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Development of a Jellyfish Removal Device to Equip on Underwater Robot and Its Suction Performance Evaluation 査読有り国際誌

Masuda S., Ahn J., Ishii K.

Oceans Conference Record (IEEE) 2024年04月

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

In recent years, massive blooms of jellyfish have occurred due to the influence of rising water temperatures, causing damage to industries such as fisheries. To reduce the damage caused by jellyfish, fishermen conduct jellyfish removal work, however, it cannot be said to be efficient from a cost perspective. As one of the efficient methods, our research team is proposing an underwater robot-based jellyfish removal work. Our research team has developed a small-size underwater robot to test, and with the assistance of the fisheries workers, conducted jellyfish removal tests in the Seto Inland Sea in August 2022. Through this test, we confirmed that jellyfish removal using underwater robots is feasible, and based on the results of the test, we improved the jellyfish removal device. In this paper, we introduce the improved jellyfish removal devices, that we have developed, and then evaluate the performance of this device. In the results of the performance evaluation, compared to the test type device, the improved device showed a suction range that was 2.77 times wider, and the flow velocity increased by 2.28 times.

DOI： 10.1109/OCEANS51537.2024.10682331

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Double the data rate in underwater acoustic communication using OFDM based on subcarrier power modulation 査読有り国際誌

Alraie H., Alahmad R., Ishii K.

Journal of Marine Science and Technology (Japan) 29 ( 2 ) 457 - 470 2024年02月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：記事・総説・解説・論説等（学術雑誌）

Underwater communication is one of the most important and difficult challenges facing researchers due to the high attenuation of the signal, communication with the surface because of the harsh medium of water, and data transmission performance degradation as a result of various effects. Underwater acoustic communication (UWA) has a low data rate, which describes the disadvantage of this type of communication. In addition, it has a low bandwidth range and high latency but has a long transmission range as an advantage. Multicarrier wireless transmission systems increase the data rate by sending the data using more than one carrier. We proposed a noncoherent orthogonal frequency division multiplexing (OFDM) method to increase the data rate in UWA communication systems. In addition, doubling the data rate in the OFDM using Subcarrier Power Modulation (OFDM-SPM) system can save half of the bandwidth. The MATLAB simulation program was used to implement the system in the underwater acoustic environment to increase its throughput. The proposed design uses Differential Phase Shift Keying (DPSK) with power control, and the data stream is transmitted through two-dimensional modulation schemes, the DPSK, and the power level of each subcarrier in the OFDM system with cyclic prefix (CP). The underwater channel was designed using a Rician fading multipath with a spreading loss formula as a function of distance and frequency. We designed an equalizer at the receiver side to recover the original signal as a function of three parameters which are: the channel effect as a rate between transmitting and receiving symbols, the Rician channel response, and the UWA spreading loss. OFDM-Subcarrier Power Modulation (OFDM-SPM) using the proposed equalizer performed better than the theoretical OFDM-SPM in the Rayleigh channel. The designed equalizer increased the performance of the OFDM-SPM system by 25% which helped to enhance the system’s throughput and doubled the data rate compared with the OFDM system, doubling the data rate using OFDM-SPM had been validated in laboratory experiments in the Time domain.

DOI： 10.1007/s00773-024-00989-2

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Gakken Hills Interdisciplinary Ekiden Competing with Humans, Animals, and Robots 査読有り国際誌

Fujinaga Takuya, Tominaga Moeko, Katayama Daigo, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 638 - 641 2024年02月

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

The number of robots exiting in human living spaces has increased, and interaction between humans and robots has become an important issue. The purpose of this study is to propose a future society where humans, animals, and robots coexist. We organize relay race, or ekiden in Japanese, where they compete together as runners. The competition rules have been established to ensure that each runner can compete fairly. This paper explains the competition rules and discuss the fairness of the rules

DOI： 10.5954/icarob.2024.os20-14

Optimization method to improve visual SLAM in dynamic environment 査読有り国際誌

Liu Yufei, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 590 - 593 2024年02月

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

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 査読有り国際誌

Shi Puwei, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 599 - 602 2024年02月

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

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 査読有り国際誌

Kimura Kenji, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 603 - 606 2024年02月

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

In 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 査読有り国際誌

Suzuki Katsuaki, Nishida Yuya, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 634 - 637 2024年02月

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

The 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 査読有り国際誌

Huang Jiawei, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 29 594 - 598 2024年02月

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

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 査読有り国際誌

Puwei S., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 599 - 602 2024年01月

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

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 68-keypoints 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.

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Optimization method to improve visual SLAM in dynamic environment 査読有り国際誌

Liu Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 590 - 593 2024年01月

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

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Gakken Hills Interdisciplinary Ekiden Competing with Humans, Animals, and Robots 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 638 - 641 2024年01月

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

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Development of antagonistic wire-driven joint mechanism capable of rapid motion and 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 634 - 637 2024年01月

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

The 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 wire driven joint mechanism aimed at improving the variable stiffness function within the articulated mechanism we have developed, enabling three functionalities.

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Design of flexible mechanism for flexible manipulator 査読有り国際誌

Jiawei H., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 594 - 598 2024年01月

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

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An Analysis of Translational Motion for a Mobile Robot with Line-Symmetric Rollers Arrangement 査読有り国際誌

Kimura K., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 603 - 606 2024年01月

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

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Energy Consumption of a Wheel/Track Reconfigurable Mobile Robot on the Farm 査読有り国際誌

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年01月

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

This paper presents the experimental results of energy consumption of a wheel/track reconfigurable mobile robot which has been developed for maintenance of vineyard. According to the Bekker's soil model, the wheel rolling resistance depends on the sinkage to the ground, so that the mobile mechanism consists of 2 rear wheels and 2 front tracks which is designed to lift up and down and control the contact area to the ground and to switch the modes based on the soil conditions to minimize energy consumption. The wheel mode is supposed to be operated for the firm soil where the front tracks are lifted up to decrease the contact area, and the track mode is for the soft soil where the front tracks push down the ground and increase the contact area and decrease sinkage. In the experiment, we compared the energy consumption between the wheel mode and the track mode in firm, soft, and wet soil conditions.

DOI： 10.1109/SII58957.2024.10417300

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Mandarin Orange Anomaly Detection with Cycle-GAN 査読有り国際誌

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

2024 IEEE/SICE International Symposium on System Integration, SII 2024 644 - 649 2024年01月

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

In the agricultural field, many issues arose such as the decline of productivity due to population aging and the lack of new generations to replace the previous ones. Information and communication technology (ICT), the Internet of Things (IoT), and robotics are expected to provide solutions. Despite the enormous promise of these technologies, they are expensive to implement, require ongoing technical assistance, and have little affinity for the immediate demands of farmers. For example, when a new breed is improved, it is necessary to ask the developing company to outsource data analysis to identify defective new individuals. Therefore, the main objective of this study is to realize an economically viable and easily implementable smart agricultural system. For this purpose, interviews were conducted with actual farmers, and it became clear that even in the fruit sorting process, which is becoming increasingly automated, the burden on farmers with knowledge and skills is significant. In this study, we focus on mandarin oranges, which have the highest yield among Japanese oranges, to automate the identification of defective fruit, i. e. damaged or affected by a disease, which has been done by the human eye. In this study, an automatic fruit sorting system based on a conveyor belt mechanism was designed. The system performs fruit sorting using a CNN based on individual features derived from images, but since the number of images of defective individuals is far fewer than the number of images of good individuals, the system was supplemented by a Cycle-GAN. This integrated approach aims to alleviate labor intensity and enhance operational efficiency, thereby contributing to the promotion of smart agriculture.

DOI： 10.1109/SII58957.2024.10417370

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Recognition of Fish in Aqua Cage by Machine Learning with Image Enhancement 査読有り国際誌

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年01月

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

With the gradual decrease in fisheries resources and the increasing demand for fishery production, the production of capture fisheries is saturated. On the other hand, aquaculture production is increasing rapidly and now accounts for almost half of all fishery production. In aquaculture, monitoring aqua cages and collecting basic information, such as the number of fish in the cages and their sizes, is one of the most crucial tasks. However, automation of these basic tasks is insufficient, and there is an expectation for the implementation of ICT (Information and Communication Technology) in the fisheries industry. To move towards smart fishery farms, efficient fisheries resource management is required. This paper introduces a computer vision-based fish counting system that utilizes image enhancement and machine learning algorithms to achieve automated fish counting in aqua cages. Experimental results demonstrate that the proposed method can detect fish and identify the same fish in images captured by underwater cameras set at different depths. The proposed method can contribute to fisheries management and ecological conservation.

DOI： 10.1109/SII58957.2024.10417229

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Research on Improving Accuracy of Dynamic Visual SLAM Detection 査読有り国際誌

Liu Y., Ishii K.

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 4 ) 323 - 327 2024年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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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作業内容に応じて搭載機器が変更可能な農作業ロボットシステムの開発査読有り

佐藤光, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2024 ( 0 ) 2A2-A01 2024年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（その他学術会議資料等）

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

スマートフォンを用いた視覚障害者の転落リスク警告システムの駅ホームにおける実証実験

片山大悟, 石井和男, 安川真輔, 西田祐也, 仲泊聡, 和田浩一, 別府あかね, 山田千佳子, 原田敦史

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2024 ( 0 ) 1P2-E10 2024年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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 査読有り国際誌

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

Machines 11 ( 8 ) 2023年08月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

The use of innovative mobile vehicles with increasingly advanced mechatronic aspects in the agricultural sector is becoming, in recent years, a stimulating field of research and comparison. In particular, the problem addressed in the present work refers to improving the locomotion of mobile vehicles on agricultural terrain by reducing the soil damage and improve the overall performance. Agricultural vehicles generally use tracks and wheels for locomotion; the main difference between the two systems is the contact area with the ground and, consequently, the pressure distribution. The present work presents a new reconfigurable agricultural vehicle that can switch from one locomotion system to another, choosing the suitable configuration according to the terrain conditions. All the mechanical and electronic aspects of the prototype developed are analyzed together with an in-depth analysis of the management of the innovative functions through a user-friendly graphical interface able to control the vehicle.

DOI： 10.3390/machines11080795

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Grid Map Correction for Fall Risk Alert System Using Smartphone 査読有り国際誌

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

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 35 ( 3 ) 867 - 878 2023年06月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

In this 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 査読有り国際誌

Hasaba, R., Eguchi, K., Wakisaka, Satoh Hiroshi,Hirokawa Jiro,Hirose Miyuki,Matsushima Tohlu,Fukumoto Yuki, Nishida, Y., Ishii, K.

17th European Conference on Antennas and Propagation, EuCAP 2023 ( IEEE ) 2023年03月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

2023年03月26日 - 2023年03月29日

AUVs are used for marine resource exploration, and although acoustic, laser, etc., are often used for wireless communication for AUVs, wireless communication using RF signals is being studied. By placing the VNA in a waterproof container, we measured the insertion loss between the antennas under seawater and obtained good results with simulation results. Furthermore, using a Wavelet-OFDM module as the communication method, a maximum communication speed of 6.8 Mbps was achieved with the antennas embedded in the AUV immersed in seawater.

DOI： 10.23919/EuCAP57121.2023.10133725

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A Network of Underwater Flow Sensors for Long-term Estimation of Fish Feeding Activity 査読有り国際誌

Dominic Solpico, Yuya Nishida, Kota Mishima, Kazuo Ishii,Tokuo Suetsugu, Yoshinori Yatsunami

IEEE UT2023 ( IEEE ) 1 - 7 7 pages 2023年03月

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

2023年03月06日 - 2023年03月09日

Efficient feeding is crucial in cage aquaculture, reducing the cost spent on feeds while minimizing the pollution in water and maintaining optimal fish growth. Working towards digitization of fish feeding knowledge to optimize feeding decisions, we developed a modular sensor network estimating the fish feeding activity by measuring the fish-induced flow and recording underwater videos of the activity. We designed the system to collect data at multiple depths from at least two opposing sides of a fish cage. We also designed an offshore system and automatic data collection mechanism to enable the network to perform long-term observations. Two experiments were performed in cages located at two separate aquaculture farms to demonstrate and evaluate the functionality of the developed. We observed changes of flow during feeding and compared them to the videos of fish activity. Observed differences between the results of the two experiments could be attributed to various factors such as the characteristics of the fish cages as well as the method of feeding. Improvements to the sensor network and further analysis of data are needed to achieve a more effective system for estimating fish feeding activity.

DOI： 10.1109/UT49729.2023.10103416

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Development of long-term observation system using cable-restricted underwater vehicle 査読有り国際誌

Yoshiki Tanaka, Yuya Nishida, Jiro Fukuda, Kazuo Ishii

IEEE UT2023 ( IEEE ) 1 - 6 6 pages 2023年03月

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

2023年03月06日 - 2023年03月09日

In order to obtain long-term data of marine resources, we proposed an observation system that can navigate the same trajectory repeatedly without highly expensive sensors such as DVL and INS. Our system consists of a station equipped with a reel and a vehicle for observing the sea floor. The vehicle is tethered to the station by a power and communication cable, and the cable winds or unwinds by the vehicle cruising around a reel. In this paper, we describe long-term observation system using a cable-restricted underwater vehicle and its sea trial performed at 3 m depth.

DOI： 10.1109/UT49729.2023.10103413

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Fall Risk Estimation for Visually Impaired using iPhone with LiDAR 査読有り国際誌

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

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 4 ) 9 pages 2023年03月

A Method to Estimate Reflection Coefficient of Ultrasonic Wave at a Boundary of Two Media 査読有り国際誌

Mochizuki Ryuugo, Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 4 ) 343 - 348 2023年03月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

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Fall Risk Estimation for Visually Impaired using iPhone with Li-DAR 査読有り国際誌

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

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 4 ) 349 - 357 2023年03月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

Kimura Kenji, Shigyo Yuki, Ishii Kazuo

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 3 ( 4 ) 242 - 249 2023年03月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 28 491 - 494 2023年02月

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

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 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 28 499 - 503 2023年02月

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

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

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Sea-floor Image Restoration with Variable Absorbance Coefficient 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 28 510 - 514 2023年02月

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

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 Beer-Lamberts law.

DOI： 10.5954/icarob.2023.os21-3

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Roller Arrangement Problem of Omnidirectional Mobil Robot Adapted Three Omni Rollers 査読有り国際誌

Kimura K., Shigyo Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 28 495 - 498 2023年02月

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

Mobile robots adapted to omni rollers are required to have efficient mobility in areas like logistics. Since such systems are easily controlled and provide omnidirectional locomotion. However, theoretical research regarding the motion efficiency has not been conducted. In this study, to evaluate roller arrangements with respect to speed efficiency, a mechanism where the roller placement position can be changed arbitrarily on a round shape mechanism and evaluate the robot speed efficiency is designed. We consider existence domain of the robot speed vector using the theory of linear transformation.

DOI： 10.5954/ICAROB.2023.OS20-7

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Report on the 8th Tomato-Harvesting Competition toward Smart Agriculture 査読有り国際誌

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 ( 株式会社ALife Robotics ) 28 486 - 490 2023年02月

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

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 査読有り国際誌

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年02月

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

In the Junior League of the Eighth Underwater Robot Competition held in 2022, a marine cleaning robot competition was held under the theme of "life under the surface," the 14th goal of the SDGs. Specifically, we held a poster session on the problem of garbage in the sea and a robot competition to compete in garbage collection ability, and competed for points. In this paper, we give an overview of the junior league and discuss its learning effects.

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Occuluded Object Detection by Ultrasonic Sensors 査読有り国際誌

Mochizuki R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 28 519 - 524 2023年02月

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

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 査読有り国際誌

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 ( 株式会社ALife Robotics ) 28 473 - 476 2023年02月

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

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 board 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 panel based on self-localization using doppler velocity log and IMU. When approaching the panel, the AUV knows the direction to the panel based on the red line detection by image processing, and the type, the position and the attitude of the target panel are detected by deep learning on the board.

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 査読有り国際誌

Suzuki K., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 28 525 - 528 2023年02月

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

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 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 28 481 - 485 2023年02月

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

The 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 査読有り国際誌

Ueda T., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 28 515 - 518 2023年02月

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

PID controllers are used in many applications, and they are considered as typical examples of fixed-structure controllers. For each specific system, the PID parameters of the controller must be adjusted appropriately. Therefore, database-driven control, which automatically adjusts the parameters of the PID controller using a large amount of experimental data, has attracted attention. Database-driven control is one of the methods that does not require model information. Therefore, in the Database-driven PID (DD-PID), the Jacobian of the system used for the steepest descent method is unknown. In this paper, we present an optimization method using the Gradient descent method based on the local model of the system. And we proposed a method that can suppress the increase of H∞ norm more than the conventional DD-PID method.

DOI： 10.5954/icarob.2023.os21-4

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Control strategy to change the locomotion mode of a reconfigurable wheel/track robot based on the soil conditions 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 28 504 - 509 2023年02月

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

The 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 査読有り国際誌

Alraie H., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 28 529 - 532 2023年02月

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

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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球体運動計測システムを用いた球体搬送制御のためのローラ・球体の順運動学の評価

筑紫彰太, 木村憲二, 安鍾賢, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2023 ( 0 ) 1A2-H21 2023年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： 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 査読有り国際誌

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

2023 20th International Conference on Ubiquitous Robots, UR 2023 250 - 254 2023年01月

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

To conserve human resources and labor, there is a demand for robots to transport objects. Compared to previous object transport methods, sphere transport by a mobile robot is efficient for transporting objects without loading them and while on the ground. However, previous research on sphere transport has not clarified the methodology for designing and controlling sphere transport based on kinematic and dynamic properties. Therefore, this study attempts to develop a rollersphere motion measurement method for focusing on the roller angular velocity and to evaluate the effectiveness of the roller arrangement requirement. In particular, this study evaluates the 'roller arrangement requirement,' which is necessary for roller arrangement (position/orientation) considering kinematic characteristics in sphere transport. Experiments have shown the effectiveness of the roller arrangement requirement with a novel roller-sphere motion measurement method.

DOI： 10.1109/UR57808.2023.10202299

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85169453259&origin=inward

Underwater Image Restoration Using In-situ Turbidity Measurements 査読有り国際誌

Inniyaka Irmiya R., Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 2 ) 141 - 151 2023年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

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

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 1 ) 77 - 83 2023年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85176572473&origin=inward

Forward Kinematic of a Sphere Considering Slipping and Motion Analysis in Three Rollers 査読有り国際誌

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

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 1 ) 25 - 32 2023年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

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

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 1 ) 84 - 90 2023年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

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

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 1 ) 6 - 16 2023年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

Alraie Hussam, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 2 ) 160 - 165 2023年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

Tominaga M., Takemura Y., Ishii K.

Journal of Robotics and Mechatronics 35 ( 5 ) 1385 - 1392 2023年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

With technological developments, the prospect of a human-robot symbiotic society has emerged. A soccer game has characteristics similar to those expected in such a society. Soccer is a multiagent game in which the strategy employed depends on each agent’s position and actions. This paper discusses the results of the development of a learning system that uses a selforganizing map to select behaviors depending on the scenario (two-dimensional absolute coordinates of the agent, other agents, and the ball). The system can reproduce the action-selection algorithms of all the players on a certain team, and the robot can instantly select the next cooperative action from information obtained during the game. Thus, common-sense rules can be shared to learn an action-selection algorithm for a set of both human and robot agents.

DOI： 10.20965/jrm.2023.p1385

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An Inexpensive Acoustic Positioning System for Low-Cost Shallow Water AUV Operation 査読有り国際誌

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

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 2 ) 131 - 140 2023年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

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

Oceans Conference Record (IEEE) 2023年01月

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

Japan's territorial waters contain vast space and abundant marine resources. In recent years, AUVs have been developed that can conduct resource surveys in various ocean areas. Improving the control performance of AUVs is essential for conducting wide-area and detailed oceanographic surveys. In this paper, designed an algorithm to modify the thrust balance of the thruster and an observer to estimate the tidal current as a disturbance. By considering the thrust balance of the horizontal thrusters, it is possible to estimate the tidal currents on the AUV. In future work, tests will be conducted in sea without cables installed to eliminate estimation errors due to cable tension, and to evaluate the control performance of the control system with the addition of a disturbance observer to estimate the tidal current.

DOI： 10.23919/OCEANS52994.2023.10337342

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ケーブル拘束型海中ロボットによる長期観測手法

田中良樹, 西田祐也, 福田次朗, 中村優裕, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2023 ( 0 ) 1P1-C12 2023年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1P1-C12/_pdf

ホバリング型AUV”Tuna-Sand2”による岩国沖藻場生息域の潜航調査

宮川亮, 西田祐也, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2023 ( 0 ) 1A2-C09 2023年01月

担当区分：最終著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_1A2-C09/_pdf

ロボカップサッカー中型リーグにおけるフレームワークの提案

富永萌子, 下松八重宏太, 富永歩, 武村泰範, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2023 ( 0 ) 2A1-B13 2023年01月

担当区分：最終著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2023/0/2023_2A1-B13/_pdf

ローラ・球体の運動学特性に基づいた球体搬送機構の設計

筑紫彰太, 木村憲二, 安鍾賢, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2023 ( 0 ) 1A1-H21 2023年01月

担当区分：最終著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： 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 査読有り国際誌

Kimura Kenji, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 3 ) 275 - 281 2023年01月

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

In 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 査読有り国際誌

Ueda Takumi, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 10 ( 3 ) 213 - 219 2023年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

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 査読有り国際誌

Kimura Kenji, Yusuke Abematsu, Hiroyasu Hirai, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 3 ) 233 - 239 2022年12月

Roller’s Kinetic Energy Efficency Problem in Upper Hemisphere 査読有り国際誌

Kenji Kimura, Kazuo Ishii,

2022 Joint 12th International Conference on Soft Computing and Intelligent Systems and 23rd International Symposium on Advanced Intelligent Systems (SCIS&ISIS) ( IEEE ) 1 - 6 6 pages 2022年11月

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

The maximum freedoms of sphere's rotational movement is three. This fact is expected sphere conveyance (by rollers) method that kinetic energy is minimal. If we assumed that roller's rotational axis are variable, constraint roller enable that sphere rotational dimension is high dimensional freedom. Such the angular velocity vector of a sphere will improve the motion diversity of the sphere. It is desired to transport with high kinetic energy efficiency. In this research, Using mean of kinetic energy, we consider rollers arrangement on upper hemisphere, assuming that slip and friction do not exist between roller and sphere at contact point and focus on the minimality of kinetic energy.

DOI： 10.1109/SCISISIS55246.2022.10001945

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Multibody Modeling of a New Wheel/Track Reconfigurable Locomotion System for a Small Farming Vehicle 査読有り国際誌

Andrea Grazioso , Enrico di Maria, Nicola Ivan Giannoccaro, Kazuo Ishii

Machines ( MDPI ) 10 ( 12 ) 1117 - 1146 2022年11月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Tracks and wheels are the most widely used running gear for the locomotion of agricultural vehicles. The main difference between the two systems is the contact area with the ground and, consequently, the pressure distribution. Evaluating the pressure distribution on the ground is important because soil damage and vehicle performance depend on it. This analysis is especially difficult for tracked vehicles, owing to their complexity compared with wheeled systems. In this paper, we describe a multibody model of a flexible track to evaluate the pressure distribution upon contact with soft terrain. The track considered in this study is part of a reconfigurable locomotion system of a small farming vehicle, which can vary the pressure distribution by switching from a wheeled vehicle to a half-tracked vehicle. The aim of such a vehicle is to minimize soil damage in addition to optimizing its performance. The model is used to characterize this vehicle and evaluate the pressure distribution with varying characteristic parameters, such as track tension, the position of the vehicle’s center of gravity, the weight distribution on the track itself, and the stiffness of the suspension system.

DOI： 10.3390/machines10121117

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85144909763&origin=inward

Digital Transformation of Feeding Control Knowledge in Marine Aquaculture using Current Sensors 査読有り国際誌

Solpico Dominic B., Nishida Yuya, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 2 ) 143 - 153 2022年09月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85176607340&origin=inward

Efficiency Problem of Spherical Robot in Transfer Kinetic Energy 査読有り国際誌

Kimura Kenji, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 1 ) 87 - 92 2022年06月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85146672464&origin=inward

Toward Smart Tomato Greenhouse: The 6th Tomato-Harvesting-Robot Competition and Regulation Changes Aiming at Practical Application 査読有り国際誌

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

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 1 ) 13 - 19 2022年06月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85178282719&origin=inward

学習意欲の向上を狙った水中ロボット競技会への取り組み査読有り

安鍾賢, 園田隆, 石井和男

工学教育 ( 公益社団法人日本工学教育協会 ) 70 ( 2 ) 2_124 - 2_129 2022年04月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（学術雑誌）

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

その他リンク： 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” 査読有り国際誌

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

Proceedings of 2022 International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 27 349 - 353 2022年01月

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

2022年01月22日 - 2022年01月24日

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

その他リンク： https://kyutech.repo.nii.ac.jp/records/7484

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

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年01月

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

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年01月

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

Hyoga Yamamoto,Yuya Nishida, Takayuki Matsuo, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 785 - 788 2022年01月

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

Yuya Nishida, Toshihiro Matsumura, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 779 - 784 2022年01月

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

Yuya Nishida, Yuichiro Uemura, Rikuto Tanaka, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 774 - 778 2022年01月

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

Dominic B. Solpico, Yuya Nishida, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 762 - 767 2022年01月

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

Ryuugo Mochizuki, Yuya Nishida, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 750 - 755 2022年01月

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

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年01月

Evaluation of roller arrangement of sphere by omnidirectional integral value 査読有り国際誌

Kenji Kimura, Yusuke Abematsu, Hirai Hiroyasu, Kazuo Ishi

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 374 - 377 2022年01月

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

Yuya Nishida, Ryuugo Mochizuki, Shinsuke Yasukawa, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 367 - 373 2022年01月

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

Kai Shioji, Shinsuke Yasukawa, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 365 - 368 2022年01月

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

Kai Shioji, Shinsuke Yasukawa, Kazuo Ishii

Proceedings of 2022 International Conference on Artificial Life and Robotics 27 360 - 364 2022年01月

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

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

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 762 - 767 2022年01月

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

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

その他リンク： http://hdl.handle.net/10228/00008703

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

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

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 1095 - 1101 2022年01月

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

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

その他リンク： http://hdl.handle.net/10228/00008702

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

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

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 354 - 359 2022年01月

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

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

その他リンク： http://hdl.handle.net/10228/00008693

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

Nishida Yuya, Mchizuki Ryugo, Yasukawa Shinsuke, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 369 - 373 2022年01月

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

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

その他リンク： http://hdl.handle.net/10228/00008696

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

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

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 745 - 749 2022年01月

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

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

その他リンク： 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 査読有り国際誌

Tominaga Moeko, Ahn Jonghyun, Takemura Yasunori, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 365 - 368 2022年01月

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

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

その他リンク： http://hdl.handle.net/10228/00008695

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

Yamamoto Hyoga, Nishida Yuya, Matsuo Takayuki, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 785 - 788 2022年01月

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

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

その他リンク： http://hdl.handle.net/10228/00008701

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

Mochizuki Ryuugo, Nishida Yuya, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 750 - 755 2022年01月

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

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

その他リンク： http://hdl.handle.net/10228/00008698

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

Shioji Kai, Yasukawa Shinsuke, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 360 - 364 2022年01月

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

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

その他リンク： http://hdl.handle.net/10228/00008694

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

Nishida Yuya, Matsumura Toshihiro, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 779 - 784 2022年01月

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

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

その他リンク： http://hdl.handle.net/10228/00008700

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

Nishida Yuya, Uemura Yuichiro, Tanaka Rikuto, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 27 774 - 778 2022年01月

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

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 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics 374 - 377 2022年01月

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

Roller arrangement problem is a sphere conveyance problem of driving rollers. In this research, the roller arrangement problem, viewed as an evaluation function, is thought of as mean of roller kinetic energy with respect to the sphere direction. Furthermore, theoretically, we derive the function, and find the contact point such that the evaluated value is minimal.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125144710&origin=inward

水中インフラ点検のための遠隔操縦型ロボット

山本雄資, 黄洲頡, 西田祐也, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2022 ( 0 ) 2A2-A11 2022年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（その他学術会議資料等）

Currently, underwater infrastructure facilities in Japan are rapidly aging, but most of them are not inspected by divers because the current inspection by divers is inefficient and potentially dangerous. To realize a system that can inspect underwater infrastructures safely and efficiently, this study develops a motion control system for an underwater robot that is part of the underwater infrastructure inspection system.

DOI： 10.1299/jsmermd.2022.2a2-a11

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

第７回トマトロボット競技会開催報告

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

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2022 ( 0 ) 2P2-T08 2022年01月

担当区分：筆頭著者,　責任著者記述言語：日本語掲載種別：研究論文（その他学術会議資料等）

In agriculture, the aging and depopulation of farmers cause the shortages of farmers and manpower. Most of commercialized robots are industrial robots for factory automation, and most of robots for the first industry, agriculture, forestry and fisheries are still under developing. The reasons are cost-efficiency of the robotization, safety of the works using robots, difficulty of outdoor operations, and knowledge transfer problem from farmers to computer, etc. As one of solutions for the problems, robot technology into the agriculture is expected to contribute to the laborsaving, improvement of production, production line automation, and also the management toward smart-agriculture. We organize the Tomato-harvesting-robot competition to offer the research field and welcome researchers into agricultural robotics.

DOI： 10.1299/jsmermd.2022.2p2-t08

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

水中画像における浮遊物体除去アルゴリズムの開発

栁瀨賢太郎, 安川真輔, 西田祐也, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2022 ( 0 ) 2A2-A10 2022年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（その他学術会議資料等）

The ocean is one of extreme environments, and underwater robots are expected as the tools for observation of the ocean. Underwater robots require high autonomy and are self-contained to accomplish various deep-ocean observation missions. The next generation AUV is expected to have sampling function of marine benthos with end-effector to catch and bring back marine creatures. However, sampling is not easy task for AUV as the shape, size, motion of targets differs. So that the end-effectors is required to have enough accuracy in control manipulation. One of the key issues is the target recognition from underwater images. In this research, floating objects cancellation method from underwater images using optical flow is discussed.

DOI： 10.1299/jsmermd.2022.2a2-a10

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

スマートデバイスを用いた農業用ハウス環境制御総合実習

西田祐也, 望月隆吾, 安川真輔, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2022 ( 0 ) 2P2-S12 2022年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（その他学術会議資料等）

As crops in greenhouses are widely distributed, IoT devices placed near the crops should be stand-alone and modular, and data from the devices are collected over the networks. Smart agriculture requires knowledge of a wide range of fields including electricity, information, and image processing. We have designed an exercise on environmental monitoring and control of a greenhouse toward smart agriculture. The exercise consists of mechatronics, MATLAB/Simulink and system construction exercises. Students learns technology electrical circuit, embedded programing, network communication, and image processing required for smart agriculture. Almost students who took the exercise acquired technology related to micro-computers, image processing technology and control by MATLAB/Simulink, but a few students couldn’t acquire them. In the next school year, authors plan to teach from a little more basic technology.

DOI： 10.1299/jsmermd.2022.2p2-s12

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

ロボカップサッカー中型リーグにおけるオムニホイールの小車輪設計と解析

富永萌子, 谷川大和, 武村泰範, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2022 ( 0 ) 2P2-T04 2022年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（その他学術会議資料等）

For omni wheels used for omnidirectional movement of soccer robots, the shape and number of small wheels affect driving stability and grip. In this research, we will realize the production of small wheels, which was difficult to manufacture by ourselves due to the history of using resin materials, by using a manual tabletop injection molding machine. By eliminating the bearings that have been used so far, we aimed for a more robust wheel. We designed a mold for injection molding and actually manufactured it．We verified the manufacturing method by injection molding with multiple types of resin materials using the manufactured mold．This research makes it possible to propose new small wheel shapes and materials .

DOI： 10.1299/jsmermd.2022.2p2-t04

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2P2-T04/_pdf

Evaluation of Two Rollers Arrangement on a Hemisphere by Kinetic Energy 査読有り国際誌

Kimura Kenji, Abematsu Yusuke, Hirai Hiroyasu, Ishii Kazuo

Journal of Robotics, Networking and Artificial Life ( 株式会社 ALife Robotics ) 9 ( 3 ) 233 - 239 2022年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

A driving roller arrangement of hemisphere is one of the important problems by omnidirectional sphere conveyance. In this research, the roller arrangement problem, viewed as an evaluation function, is thought of as mean of roller’s kinetic energy with respect to the sphere direction. Furthermore, theoretically, we calculate the evaluation function, and find the contact point such that the evaluated value is minimal.

DOI： 10.57417/jrnal.9.3_233

その他リンク： 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

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2022 ( 0 ) 1P1-A12 2022年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（その他学術会議資料等）

The use of heavy machinery in agriculture has led to a progressive soil degradation and the consequent crop yield reduction and increase of maintenance costs. The soil damage is of two types: soil compaction (volume reduction) and distortion (shearing and deformation). Because this damage is affected by the state of the soil and by the contact area between soil and running gear, the design of a vehicle able to change its contact area is here considered. The vehicle is intended to transport the grape in the vineyards and replace the use of heavy tractors during the harvesting period. The proposed system can pass from a wheeled vehicle, suited for hard dry soil, to a half-tracked vehicle, suited for more soft and deformable soil. In this work, we provide the overview of the entire vehicle, and we show the design of the mechanism for switching between the two types of locomotion systems.

DOI： 10.1299/jsmermd.2022.1p1-a12

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_1P1-A12/_pdf

A sensor network for assisting in feeding decisions in marine aquaculture

SOLPICO Dominic, MISHIMA Kota, NISHIDA Yuya, ISHII Kazuo

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2022 ( 0 ) 2A2-A12 2022年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（その他学術会議資料等）

Optimizing fish feeding is needed for a sustainable marine aquaculture production. We approach this problem by estimating the behavior of fishes during feeding by measuring currents they generate around the cage. In this paper, we present our development of an underwater sensor network consisting of current sensors, inertial measurement units, and cameras. This system was deployed in a fish cage and recorded measurements in three fish cages during feeding activities. Results showed that currents generated by fishes were largest at the surface during feeding and decline over time until the feeding ended. Further data analysis is needed for optimizing the farmer’s feeding decisions.

DOI： 10.1299/jsmermd.2022.2a2-a12

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2022/0/2022_2A2-A12/_pdf

Underwater Acoustic Positioning Based on MEMS Microphone for a Lightweight Autonomous Underwater Vehicle “Kyubic” 査読有り国際誌

Inniyaka I.R., Solpico D.B., Hamada D., Sugino A., Tanaka R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 349 - 353 2022年01月

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

Autonomous Underwater Vehicle positioning is important for accurate control and high-quality data collection. Conventional positioning systems are expensive. This paper describes the design and performance results of control using equations of motion and an inexpensive acoustic positioning system implemented on a lightweight AUV “KYUBIC” for Underwater Robotic competition in Okinawa 2021. The velocity used to estimate the self-position of the AUV is calculated form the equation of motion without integrating the acceleration. The acoustic positioning method is based on Super-short baseline (SSBL) principle. The system design comprises of self-made hydrophone module using MEMS microphone. The estimated distance and angle are integrated for dynamic control of AUV to locate the position of a Pinger.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125132597&origin=inward

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

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

Proceedings of International Conference on Artificial Life and Robotics 774 - 778 2022年01月

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

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125138907&origin=inward

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

Nishida Y., Matsumura T., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 779 - 784 2022年01月

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

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

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

Shioji K., Yasukawa S., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 360 - 364 2022年01月

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

Tomato is one of the important fruit vegetables and most tomatoes are produced in the greenhouses, or large-scale farms, where the high temperature and humidity, and long harvest age force the farmer heavy works. To develop the tomato harvesting robot, many research issues exist such as manipulator design, end-effector design, collaborative behavior, artificial intelligence, motor control, image processing, target recognition and so on. For the operation in greenhouses, the recognition system with color constancy under sunlight is necessary. In the harvesting, tomatoes should be handled gently for less damages so that the soft handling end-effector is needed. In this paper, we introduce the system configuration of the robot and the experiments conducted to solve the problem in the greenhouse.

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

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

Mochizuki R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 750 - 755 2022年01月

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

In food industry, shortage of workers is one of a serious problem. Automation of food handling is a critical issue nowadays. To alleviate the damage caused by food picking operation by robotic hand, we propose non-contact acoustic impedance estimation with ultrasonic wave, which should be preceded before the picking for optimization of grasp stiffness. We have the assumption of the correlation between hardness and acoustic impedance. The impedance is calculated by the product of sonic velocity and density of a medium. From the point of view, the harder the medium is, the larger the impedance should be. We built up ultrasonic transmission model considering attenuation by ultrasonic reflection and absorption, then, made an experiment to estimate internal reflection of samples with two overwrapped media of different acoustic impedance.

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

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

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

Proceedings of International Conference on Artificial Life and Robotics 785 - 788 2022年01月

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125147625&origin=inward

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

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

Proceedings of International Conference on Artificial Life and Robotics 365 - 368 2022年01月

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125146847&origin=inward

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

Katayama D., Ishii K., Yasukawa S., Nakadomari S., Wada K., Befu A., Yamada C.

Proceedings of International Conference on Artificial Life and Robotics 745 - 749 2022年01月

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

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

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

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

Proceedings of International Conference on Artificial Life and Robotics 369 - 373 2022年01月

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

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

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

Harada K., Fukuda R., Mizoguchi Y., Yamamoto Y., Mishima K., Tanaka Y., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics 354 - 359 2022年01月

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125136790&origin=inward

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

Ishii K., Shirahashi K., Nishida Y., Tominaga M., Tanaka Y., Solpico D.B.

Proceedings of International Conference on Artificial Life and Robotics 1095 - 1101 2022年01月

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125133575&origin=inward

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

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

Proceedings of International Conference on Artificial Life and Robotics 762 - 767 2022年01月

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

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125149261&origin=inward

視覚障害者の転落事故低減を目的とした白杖搭載型の電子式歩行補助具の研究開発

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

第46回感覚代行シンポジウム講演番号2, 4頁 2021年12月

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

Alahmad R, Ishii K

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

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

DOI： 10.3390/logistics5040076

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

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

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

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

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

DOI： 10.1016/j.jterra.2021.06.004

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

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

Yoshiki Tanaka, Yuya Nishida, Kazuo Ishii

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

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

Dominic B. Solpico, Yuya Nishida, Kazuo Ishii

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

ピッキング作業効率化のための商品配置シミュレーション

西村和真, 西田祐也,石井和男,滝澤千之

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

MEMSマイクを用いた音響測位装置の開発

濱田大貴, 末吉弘昌, 増田殊大, 西田祐也, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2021 ( 0 ) 1A1 - B01 2021年06月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

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

駅のホーム縁端検出を目的とした3次元平面検出アルゴリズムの検討

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

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2021 ( 0 ) 1P1 - F11 2021年06月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

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

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

藤永拓矢, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2021 ( 0 ) 1P2 - A04 2021年06月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

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

ロボット共生社会に向けた人間ロボット協調システムに関する研究

富永萌子, 武村泰範, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2021 ( 0 ) 1A1 - K04 2021年06月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

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

イベントビジョンシステムによる視対象の運動推定法の検討

安川真輔, 吉松秀峻, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2021 ( 0 ) 2P2 - H05 2021年06月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

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

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

SOLPICO Dominic, NISHIDA Yuya, ISHII Kazuo

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2021 ( 0 ) 1P1 - B17 2021年06月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（研究会，シンポジウム資料等）

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

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

団体スポーツにおける自己組織化マップを用いたコーチング

富永萌子，武村泰範，石井和男

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

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

Mochizuki R., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 271 - 274 2021年01月

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

2021年01月21日 - 2021年01月24日

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

DOI： 10.5954/ICAROB.2021.OS23-6

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

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

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

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

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

2021年01月22日 - 2021年01月24日

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

DOI： 10.5954/ICAROB.2021.OS22-5

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

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

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

Proc. of ICAROB2021 1 - 5 2021年01月

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

2021年01月21日 - 2021年01月24日

In agriculture, the aging and depopulation of farmers cause the shortages of farmers and manpower. Most of commercialized robots are industrial robots for factory automation, and most of robots for the first industry, agriculture, forestry and fisheries are still under developing. The reasons are cost-efficiency of the robotization, safety of the works using robots, difficulty of outdoor operations, and knowledge transfer problem from farmers to computer, etc. As one of solutions for the problems, robot technology into the agriculture is expected to contribute to the laborsaving, improvement of production, production line automation, and also the management toward smart-agriculture. We organize the Tomato-harvesting-robot competition to offer the research field and welcome researchers into agricultural robotics.

DOI： 10.5954/ICAROB.2021.PS-1

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

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 777 - 781 2021年01月

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

2021年01月21日 - 2021年01月24日

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

DOI： 10.5954/ICAROB.2021.OS23-1

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

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

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 262 - 265 2021年01月

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

2021年01月21日 - 2021年01月24日

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

DOI： 10.5954/ICAROB.2021.OS23-4

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

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

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 397 - 400 2021年01月

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

2021年01月21日 - 2021年01月24日

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

DOI： 10.5954/ICAROB.2021.OS22-2

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

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

Kimura K., Ishii K.

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

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

2021年01月21日 - 2021年01月24日

Previous spherical mobile robots were driven by two rollers with a fixed rotational axis, which restricts the angular velocity vector of the sphere to two dimensions. Three-dimensional freedom is expected to improve the rotational diversity of the sphere. This study proposes a spherical mobile robot with a variable roller-rotational axis that allows three-dimensional freedom of movement. Furthermore, the kinetic energy of transporting the sphere by the rollers is minimized by an optimization procedure.

DOI： 10.5954/ICAROB.2021.OS23-5

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

Smart Agriculture IoT Education Course in enPiT-everi (Education Network for Practical Information Technologies - Evolving and Empowering Regional Industries) 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 401 - 404 2021年01月

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

2021年01月21日 - 2021年01月24日

In 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

その他リンク： 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 査読有り国際誌

Tanaka Y., Nishida Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 253 - 256 2021年01月

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

2021年01月21日 - 2021年01月24日

In 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

その他リンク： 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 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 257 - 261 2021年01月

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

2021年01月21日 - 2021年01月24日

DOI： 10.5954/ICAROB.2021.OS23-3

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108850015&origin=inward

Development of a handy autonomous underwater vehicle“kyubic” 査読有り国際誌

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2021 405 - 408 2021年01月

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

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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108795234&origin=inward

Underwater 3D Scanner Using RGB Laser Pattern 査読有り国際誌

Yuya Nishida, Shinsuke Yasukawa, Kazuo Ishii

2021 IEEE/SICE International Symposium on System Integrations (SII) ( IEEE/SICE ) 2021 229 - 232 2021年01月

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

2021年01月11日 - 2021年01月13日

To preserve and manage fishery resources, the authors developed the scanner based on the structured light method that efficiently measures the target shape at once time. The scanner irradiates the laser pattern that consists of the 6 color lasers and is coded in the De Bruijn sequence to measure the target even in water where light is easily attenuated. Data processing method including image processing and decoding for the reflection image captured by the scanner were proposed in this paper. The evaluation experiment results showed that the scanner can measure the color blocks other than black located in 1,000 mm away, less than 1.4 % error for the measurement range.

DOI： 10.1109/IEEECONF49454.2021.9382643

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85103741875&origin=inward

Evaluation of Tomato Fruit Harvestability for Robotic Harvesting 査読有り国際誌

Takuya Fujinaga, Shinsuke Yasukawa, Kazuo Ishii

2021 IEEE/SICE International Symposium on System Integration, SII 2021 ( IEEE/SICE ) 35 - 39 2021年01月

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

2021年01月11日 - 2021年01月13日

Harvestability is a quantitative index of how easy tomato fruits are to harvest using a robot. Previous studies on tomato harvesting robots have focused on tomato fruit detection methods, harvesting mechanisms, harvesting success rates, and harvesting times. However, tomato fruit harvestability using robots has not been quantitatively assessed. In this paper, we propose a method for evaluating the tomato fruit harvestability using a tomato harvesting robot. We first evaluated the harvestability qualitatively, based on the results of harvesting experiments conducted in a tomato greenhouse. Harvestability was then quantitatively evaluated using a camera (hereinafter referred to as a hand camera) attached to an end-effector of the tomato harvesting robot developed. The hand camera consists of an RGB camera and a depth camera. The occlusion ratio of obstacles (stems, peduncles, and other fruits) to a target fruit is calculated using the RGB image and depth image acquired by the hand camera. The larger the occlusion ratio was, i.e., the more obstacles there were in front of the target fruit, the more difficult the target fruit was to harvest. Conversely, if the occlusion ratio is low, the harvestability is high. This study shows that the occlusion ratio is effective as a quantitative indicator of the tomato fruit harvestability.

DOI： 10.1109/IEEECONF49454.2021.9382603

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85103742503&origin=inward

Development and Evaluation of a Tomato Fruit Suction Cutting Device 査読有り国際誌

Fujinaga T., Yasukawa S., Ishii K.

2021 IEEE/SICE International Symposium on System Integration, SII 2021 ( IEEE/SICE ) 628 - 633 2021年01月

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

2021年01月11日 - 2021年01月13日

This paper introduces a structure and harvesting motion for the suction cutting device of a tomato harvesting robot, and reports harvesting experiments conducted in a tomato greenhouse. The suction cutting device comprises a suction part and a cutting part. The suction part separates the target fruit from a tomato cluster and the cutting part cuts the peduncle of the target fruit. A photoresistor in the cutting part assesses whether or not the target fruit is harvestable, and the cutting motion is performed only when the fruit is assessed as harvestable. The harvesting experiments were conducted in a tomato greenhouse to evaluate the suction cutting device. In this experiments, 50 tomato clusters were randomly selected as the harvesting objects, and there were 203 tomato fruits (including immature fruits). Out of the 203 tomato fruits, 114 tomato fruits were mature and within the robot workspace. Out of the 114 tomato fruits, 105 tomato fruits were recognized as target fruits by the harvesting robot. Out of these 105 tomato fruits, 65 tomato fruits were assessed as harvestable and 55 were successfully harvested (the harvesting success rate was 85%). Based on the results of the harvesting experiments, this study clarified the issues of the suction cutting device, classified the fruits according to whether they were easy or difficult to harvest, and evaluated the fruit characteristics qualitatively.

DOI： 10.1109/IEEECONF49454.2021.9382670

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85103740620&origin=inward

Deep-Sea Robotic Survey and Data Processing Methods for Regional-Scale Estimation of Manganese Crust Distribution 査読有り国際誌

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年01月

記述言語：英語掲載種別：研究論文（学術雑誌）

Manganese crusts (Mn-crusts) are a type of mineral deposit that exists on the surface of seamounts and guyots at depths of >800 m. We have developed a method to efficiently map their distribution using data collected by autonomous underwater vehicles and remotely operated vehicles. Volumetric measurements of Mn-crusts are made using a high-frequency subsurface sonar and a 3-D visual mapping instrument mounted on these vehicles. We developed an algorithm to estimate Mn-crust distribution by combining continuous subsurface thickness measurements with the exposed surface area identified in 3-D maps. This is applied to data collected from three expeditions at Takuyo Daigo seamount at depths of ∼1400 m. The transects add to ∼11 km in length with 12 510 m2 mapped. The results show that 52% of the surveyed area is covered by Mn-crusts with a mean thickness of 69.6 mm. The mean Mn-crust occurrence is 69.6 kg/m2 with a maximum of 204 kg/m2 in the mapped region. The results are consistent with estimates made from samples retrieved from the area, showing more detailed distribution patterns and having significantly lower uncertainty bounds for regional-scale Mn-crust inventory estimation.

DOI： 10.1109/JOE.2020.2978967

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85099505024&origin=inward

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

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

Oceans Conference Record (IEEE) 2021-September 2021年01月

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

One of the key issues in improving marine aquaculture is achieving efficient control of feeding, which accounts for large percentages of the production costs in aquaculture operations. To quantify the feeding behavior in seas where the environment conditions are variable, we propose to measure underwater currents generated by fish movement in a feeding activity. We developed a sensor suite consisting of custom-made current sensors and underwater cameras. We deployed this prototype in two sea fish cages and measured the changes of currents during a feeding activity. Results suggest that changes in current may be related to the feeding behavior of the fishes, but more data needs to be collected and analyzed to understand this relationship. To improve on the experiences from the initial experiment, we designed a modular sensor system that will measure currents at more than one side of the fish cage during a feeding activity.

DOI： 10.23919/OCEANS44145.2021.9705858

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125949195&origin=inward

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

Tanaka Y., Nishida Y., Ishii K.

Oceans Conference Record (IEEE) 2021-September 2021年01月

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

For efficiently observing the marine resources, we developed an observation device with low operational risk and a wide observable area. The observation device consists of a seafloor station and an underwater vehicle tethered by a cable. As experimental validation result, we found that the vehicle tethered by a cable was able to navigate with an error of less than 0. 071m compared with the planned trajectory. The vehicle is controlled using the cable restraint condition and the forces exerted by the thrusters while considering the effect of the cable slack, without the need of any feedback signal.

DOI： 10.23919/OCEANS44145.2021.9705674

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85125935859&origin=inward

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

Katsuaki Suzuki, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

Journal of Advances in Artificial Life Robotics 1 ( 3 ) 143 - 151 2020年12月

Tomato growth state map for the automation of monitoring and harvesting 査読有り国際誌

Fujinaga T., Yasukawa S., Ishii K.

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 32 ( 6 ) 1279 - 1291 2020年12月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2020, Fuji Technology Press. All rights reserved. To realize smart agriculture, we engaged in its system-atization, 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 mon-itor 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 com-plex 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 ac-tual tomato greenhouse and herein report the results.

DOI： 10.20965/jrm.2020.p1279

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85098498979&origin=inward

Design and optimisation of bio-inspired robotic stochastic search strategy 査読有り国際誌

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

International Journal of Reasoning-based Intelligent Systems 12 ( 3 ) 187 - 192 2020年09月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2020 Inderscience Enterprises Ltd. An autonomous robot's search strategy is the set of rules that it employs while looking for targets in its environment. Biological systems (e.g., foraging animals) provide useful inspirations for designing optimal stochastic search algorithms for autonomous robots. Due to the complexity of interaction between the robot and its environment, optimisation must be performed in high-dimensional parameter space. We analyse the dependence of search efficiency on environmental parameters and robot characteristics using response surface methodology (RSM), a technique originally developed for experimental design. In this study, the efficiency of a strategy focuses on Lévy walk search strategies on two-dimensional landscapes with clumped resource distributions. We show how RSM techniques can be used to identify optimal parameter values and to describe how sensitive is the efficiency to the changes in these values.

DOI： 10.1504/IJRIS.2020.109647

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85091825023&origin=inward

Behavior selection system for human-robot cooperation using tensor SOM 査読有り国際誌

Tominaga M., Takemura Y., Ishii K.

Journal of Robotics, Networking and Artificial Life ( Atlantis press ) 7 ( 2 ) 81 - 85 2020年09月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2020 The Authors. Published by Atlantis Press SARL. This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/). 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 self-organizing map to select behaviors depending on the situation. A set of possible actions in soccer game is decided in advance and the algorithm is able to select the best option, given some specific conditions.

DOI： 10.2991/jrnal.k.200528.002

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85097091835&origin=inward

トマトの収穫及び観察の自動化を目的としたロボットの開発招待有り

藤永　拓矢,石井　和男,川尻　一志

アグリバイオ 4 ( 9 ) 56 - 59 2020年08月

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査読有り

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年07月

ローラ駆動される球体の運動解析査読有り

木村憲二, 筑紫彰太, 石井和男, 山本元司

日本ロボット学会誌 ( 一般社団法人日本ロボット学会 ) 38 ( 5 ) 485 - 495 2020年06月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（学術雑誌）

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

その他リンク： https://ci.nii.ac.jp/naid/130007855562

Robot competition for underwater technology researchers and students 査読有り国際誌

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

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 1 ( 1 ) 11 - 15 2020年06月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

その他リンク： http://hdl.handle.net/10228/00008171

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

Mochizuki R., Ishii K.

Journal of Robotics, Networking and Artificial Life ( Atlantis Press ) 7 ( 1 ) 16 - 21 2020年06月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2020 The Authors. Published by Atlantis Press SARL. This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/). The saliency map is proposed by Itti et al., to represent the conspicuity or saliency in the visual field and to guide the selection of attended locations based on the spatial distribution of saliency, which works as the trigger of bottom-up attention. If a certain location in the visual field is sufficiently different from its surrounding, we naturally pay attention to the characteristic of visual scene. In the research of computer vision, image feature extraction methods such as Scale-Invariant Feature Transform (SIFT), Speed-Up Robust Features (SURF), Binary Robust Invariant Scalable Keypoint (BRISK) etc., have been proposed to extract keypoints robust to size change or rotation of target objects. These feature extraction methods are inevitable techniques for image mosaicking and Visual SLAM (Simultaneous Localization and Mapping), on the other hand, have big influence to photographing condition change of luminance, defocusing and so on. However, the relation between human attention model, Saliency map, and feature extraction methods in computer vision is not well discussed. In this paper, we propose a new saliency map and discuss the stability of keypoints extraction and their locations using BRISK by comparing other saliency maps.

DOI： 10.2991/jrnal.k.200512.004

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85097061314&origin=inward

生物捕獲用自律型海中ロボットの開発:―小型キャニスター付きスラープガンを用いた連続サンプリング―

西田祐也, 安川真輔, 園田隆, 井上昇悟, 渡邉啓介, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2020 ( 0 ) 1P1 - C13 2020年05月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://ci.nii.ac.jp/naid/130007943437

イベントベースカメラを用いた運動中の剛体の姿勢推定

吉松秀峻, 安川真輔, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2020 ( 0 ) 2P2 - J07 2020年05月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

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

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

田中良樹, 西田祐也, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2020 ( 0 ) 1P1 - C07 2020年05月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

DOI： 10.1299/jsmermd.2020.1P1-C07

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

ニューラルネットワークを用いたサッカーロボットの行動学習システム

富永萌子, 武村泰範, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2020 ( 0 ) 2A1 - R06 2020年05月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

DOI： 10.1299/jsmermd.2020.2A1-R06

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

ロボットハンドのための超音波計測による把持対象の硬さ計測

望月隆吾, 西田祐也, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2020 ( 0 ) 1A1 - K06 2020年05月

担当区分：最終著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

DOI： 10.1299/jsmermd.2020.1A1-K06

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

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

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

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

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

DOI： 10.1109/JOE.2018.2872500

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

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

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

Proceedings of International Conference on Artificial Life and Robotics 2020 167 - 170 2020年01月

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

2020年01月13日 - 2020年01月16日

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

DOI： 10.5954/ICAROB.2020.OS23-1

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

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

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

Proc. of ICAROB2020 25 175 - 178 2020年01月

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

2020年01月13日 - 2020年01月16日

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

DOI： 10.5954/ICAROB.2020.OS23-3

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

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

Mochizuki R., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2020 249 - 254 2020年01月

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

2020年01月13日 - 2020年01月16日

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

DOI： 10.5954/ICAROB.2020.OS24-3

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

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

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2020 171 - 174 2020年01月

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

2020年01月13日 - 2020年01月16日

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

DOI： 10.5954/ICAROB.2020.OS23-2

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

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

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2020 106 - 109 2020年01月

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

2020年01月13日 - 2020年01月16日

Tomato is one of the important fruit vegetables and most tomatoes are produced in the greenhouses, or large-scale farms, where the high temperature and humidity, and long harvest age force the farmer heavy works. To develop the tomato harvesting robot, many research issues exist such as manipulator design, end-effector design, collaborative behavior, artificial intelligence, motor control, image processing, target recognition and so on. With an aim to promote the automation of tomato harvesting, we have organized the tomato harvesting robot competition since 2014. In this paper, we report on the results of 5th tomato harvesting robot competition in 2018.

DOI： 10.5954/ICAROB.2020.OS22-4

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

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

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

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

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

2020年01月13日 - 2020年01月16日

DOI： 10.5954/ICAROB.2020.OS22-5

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

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

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

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2020 263 - 266 2020年01月

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

2020年01月13日 - 2020年01月16日

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

DOI： 10.5954/ICAROB.2020.OS24-6

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

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

Tominaga M., Takemura Y., Ishii K.

Proceedings of International Conference on Artificial Life and Robotics ( 株式会社ALife Robotics ) 2020 98 - 101 2020年01月

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

2020年01月13日 - 2020年01月16日

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

DOI： 10.5954/ICAROB.2020.OS22-2

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

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

Suzuki Katsuaki, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

Journal of Advances in Artificial Life Robotics ( 株式会社 ALife Robotics ) 1 ( 3 ) 144 - 152 2020年01月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

DOI： 10.57417/jaalr.1.3_144

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

Introduction 査読有り国際誌

Tateyama K., Ishii K., Inoue F.

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

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

Kenji Kimura, Shota Chikushi, Kazuo Ishii

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

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

DOI： 10.2991/jrnal.k.191203.002

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

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

Enrico di Maria, Kazuo Ishii

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

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

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

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

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

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

DOI： 10.1109/ICIIS47346.2019.9063345

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

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

Yasukawa S., Nasuno T., Ishii K.

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

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

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

DOI： 10.1109/ICIIS47346.2019.9063302

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

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

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

Journal of Robotics, Networking and Artificial Life ( Atlantis Press ) 6 ( 2 ) 138 - 142 2019年09月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

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

DOI： 10.2991/jrnal.k.190829.002

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85107128249&origin=inward

System Development of Tomato Harvesting Robot Based on Modular Design 査読有り

Takuya Fujinaga, Shinsuke Yasukawa, Kazuo Ishii

2019 International Workshop on Smart Info-Media Systems in Asia 1 - 6 2019年09月

Novel Mathematical Modeling and Motion Analysis of a Sphere Considering Slipping 査読有り国際誌

Kenji Kimura, Kouki Ogata, Kazuo Ishii

Journal of Robotics, Networking and Artificial Life ( Atlantis Press ) 6 ( 1 ) 27 - 32 2019年06月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

Many mobile robots that use spherical locomotion employ friction-drive systems because such systems offer omnidirectional locomotion and are more capable of climbing steps than omni-wheel systems. One notable issue associated with friction-drive systems is slipping between the sphere and the roller. However, previously established sphere kinematics models do not consider slipping. This study proposes a mathematical model that allows for slipping and can be broadly applied to a variety of mobile robots in a range of situations.

DOI： 10.2991/jrnal.k.190531.006

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85146706460&origin=inward

Development of Dam Inspection Underwater Robot 査読有り国際誌

Hiroyasu Hirai, Kazuo Ishii

Journal of Robotics, Networking and Artificial Life ( Atlantis Press ) 6 ( 1 ) 18 - 22 2019年06月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

The maintenances of social infrastructures such as dams and bridges are important subjects. The older the infrastructure becomes, the more need there is for effective inspection methods. In the inspection of the underwater dam structure, divers can be used, but the inspection result is insufficient. We developed an underwater inspection robot for use not only with dams, but in bridges, etc. It can do video capture, indirect measurement using a laser, depth and heading keeping as well as having other functions too. The underwater inspection robot was tested in an actual dam inspection where it showed its’ effectiveness.

DOI： 10.2991/jrnal.k.190531.004

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85096704701&origin=inward

An AUV Based Method for Estimating Hectare-scale Distributions of Deep Sea Cobalt-rich Manganese Crust Deposits 査読有り国際誌

Umesh Neettiyath, Blair Thornton, Mehu Sangekar, Yuya Nishida, Kazuo Ishii,Takumi Sato, Adrian Bodenmann

Proc. of OCEANS 2019 - Marseille ( IEEE ) 2019-June 1 - 6 2019年06月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

France Marseille 2019年06月17日 - 2019年06月20日

A method for estimating the volumetric distribution of Cobalt-rich Manganese Crusts (Mn-crusts) by combining multi modal sensor data collected using an Autonomous Underwater Vehicle (AUV) is described. The AUV calculates the thickness of Mn-crusts using a sub-bottom sonar and generates a 3D colour reconstruction of the seafloor using a light sectioning mapping system. The 3D map is classified into one of the 3 types of seafloor - crusts, sediments and nodules, using a machine learning classifier. The thickness measurements are made along a seafloor transect whereas the 3D maps have a width of ~1.5 m, depending on the AUV altitude. The thickness measurement is then extrapolated to areas not scanned by the sonar, by defining an area of influence which is the area over which the thickness of the Mn-crust is not expected to change significantly. Estimates for percentage coverage of the Mn-crust and mass of Mn-crust per unit area are determined along the AUV transect based on the extrapolated thickness. This method provides a novel approach to estimate the distribution of Mn-crusts over large areas.

DOI： 10.1109/OCEANSE.2019.8867481

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85103860769&origin=inward

カムを用いた拮抗型高出力関節機構の開発（第２報）:―瞬発動作における出力値の推定精度向上に関する検討―

鈴木克彰, 西田祐也, 園田隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 1P2 - K09 2019年06月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

日本広島 2019年06月06日 - 2019年06月09日

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

その他リンク： https://ci.nii.ac.jp/naid/130007774443

視覚障害者の転落事故低減を目的とする電子歩行補助具の開発:―振動刺激位置提示による路面環境情報伝達法の提案と評価―

片山大悟, 石井和男, 仲泊聡, 山田千佳子, 別府あかね, 和田浩一

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 2A2 - B03 2019年06月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

日本広島 2019年06月06日 - 2019年06月09日

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

その他リンク： https://ci.nii.ac.jp/naid/130007774800

多段階露光型カメラの露光時間調整法の検討

奈須野智弘, 安川真輔, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 2P2 - H10 2019年06月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

日本広島 2019年06月06日 - 2019年06月09日

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

その他リンク： https://ci.nii.ac.jp/naid/130007775289

ハードウェア構成の変更可能なトマト収穫ロボットの開発

藤永拓矢, 李冰賀, 砂本滉太, 田中怜, 奈須野智弘, 武藤冬樹, 安川真輔, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 1A1 - E08 2019年06月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

日本広島 2019年06月06日 - 2019年06月09日

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

その他リンク： https://ci.nii.ac.jp/naid/130007774067

ニューラルネットワークを用いたロボットサッカーの戦術分析

富永萌子, 武村泰範, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 1P2 - I01 2019年06月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

日本広島 2019年06月06日 - 2019年06月09日

With the progress of technology, the realization of a symbiotic society with human beings and robots sharing the same environment has become an important subject. An example of this kind of systems is soccer game. Soccer is a multi-agent game that requires strategies by taking into account each member's position and actions. 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

その他リンク： https://ci.nii.ac.jp/naid/130007774523

Benthos Sampling by Autonomous Underwater Vehicle Equipped a Manipulator with Suction Device 査読有り国際誌

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年04月

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

台湾 Kaohsiung 2019年04月16日 - 2019年04月19日

© 2019 IEEE. This research has developed AUV Tuna-Sand2 for wide area survey and benthos sampling to understand biological diversity for sustainable use of living marine resources. For evaluating sampling system of the AUV, the AUV was deployed at 100 m depth in Sagami bay of Japanese. The AUV which received image number of sampling target, returned to its photographing point, and started to search the target by the image processing. After finding the target, the AUV shifted to sampling altitude and succeeded in suction the shell using suctioning of mounted manipulator.

DOI： 10.1109/UT.2019.8734330

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85068434323&origin=inward

Underwater Vehicle Localization Considering the Effects of its Oscillation 査読有り国際誌

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

2019 IEEE International Underwater Technology Symposium, UT 2019 - Proceedings ( IEEE ) 4ページ 2019年04月

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

台湾 Kaohsiung 2019年04月16日 - 2019年04月19日

© 2019 IEEE. There are many marine resources in Japanese ocean, those have been surveyed by a underwater robot. The accuracy of the resources survey results using the vehicle depends on the accuracy of its self-localization. Thus, we propose a self-localization method by Kalman filter consdering the effect of vehicle's oscillation and the effect of the current. It is possible to reduce the positioning accuracy by 0.2 m by considering the effect of the vehicle's oscillation. In future work, we will develop an algorithm considering delay time for sensor fusion with acoustic positioning device.

DOI： 10.1109/UT.2019.8734461

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85068478136&origin=inward

Development and Sea Trials of Vision-Based Control for Sampling-AUV 査読有り国際誌

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年04月

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

台湾 Kaohsiung 2019年04月16日 - 2019年04月19日

© 2019 IEEE. This study focuses on the two vision-based control technologies for sampling-AUV(S-AUV) to observe and sample objects on the seabed. One is the visual interface between shipboard researchers and the S-AUV via an acoustic modem for obtaining the seabed information. We are able to select the sampling target object in-situ using this visual interface and instruct it to the S-AUV. The other is the visual tracking technique for sampling target objects in the underwater environment. We succeeded three times in a row in sampling experiments at a depth of 80m-120m in Suruga Bay in March 2018.

DOI： 10.1109/UT.2019.8734462

その他リンク： 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 査読有り国際誌

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

Journal of Chemometrics ( Wiley ) 33 ( 2 ) e3092 13ページ 2019年02月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2018 John Wiley & Sons, Ltd. This study investigates the use of statistical methods for the classification of laser-induced breakdown spectroscopy (LIBS) measurements of water-immersed rocks with respect to their labels and geological groups. The analysis is performed on deep-sea hydrothermal deposit rocks. These rocks are categorized on the basis of the relative ratio of Zn-Pb-Cu on a ternary diagram. The proposed method demonstrates that the accurate classification of rocks with respect to their labels and geological group from the LIBS data can be successfully achieved by combining principal component analysis (PCA), which reduces the dimensionality of the data, with classification algorithms such as the support vector machine (SVM), k-nearest neighbor search (KNN), and artificial neural network (ANN) methods. The performance of the classification algorithms depends on the size of the dataset. Additionally, removing the linear trend from the data enhances the performance of the classification in terms of sensitivity. The best classification performance concerning the rock label is obtained using an SVM linear kernel algorithm with 95% sensitivity. The best classification performance concerning the geological group is obtained using the SVM method with 98% accuracy. The one-sided Wilcoxon signed rank test is applied to the classification results in the rock label and group cases, and the results indicate that the SVM algorithm has statistical significance over the other algorithms while classifying the rock labels and rock group.

DOI： 10.1002/cem.3092

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85055755940&origin=inward

End-effector for robotic harvesting of a tomato fruit with calyx 査読有り国際誌

Bingh Li, Shinsuke Yasukawa, Takuya Fujinaga, Kazuo Ishii

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 544 - 547 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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 査読有り国際誌

Enrico di Maria, Kazuo Ishii

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 501 - 504 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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 査読有り国際誌

Raji Alahmad, Kazuo Ishii

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 493 - 496 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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 査読有り国際誌

Ryuugo Mochizuki, Shinsuke Yasukawa, Kazuo Ishii

Proc. of ICAROB2019 24 487 - 492 2019年01月

Development of dam inspection underwater robot 査読有り国際誌

Hiroyasu Hirai, Kazuo Ishii

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 528 - 531 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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 査読有り国際誌

Yuya Nishida, Tomoya Shinnoki, Shinsuke Yasukawa, Kazuo Ishii

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 525 - 527 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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 査読有り国際誌

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

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 521 - 524 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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 査読有り国際誌

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

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 517 - 520 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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 査読有り国際誌

Kenji Kimura, Shota Chikushi, Kazuo Ishii

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 548 - 552 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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 査読有り国際誌

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

Proc. of ICAROB2019 ( 株式会社ALife Robotics ) 24 540 - 543 2019年01月

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

日本 Beppu 2019年01月10日 - 2019年01月14日

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 査読有り国際誌

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

International Conference on Control, Automation and Systems 2018 ( ICROS ) 2018-October 420 - 423 2018年10月

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

韓国 PyeongChang 2018年10月17日 - 2018年10月20日

© ICROS. Recently, Autonomous Underwater Vehicles (AUVs) provide high resolution seafloor images to the researchers. The provided images are classified by the researchers one by one, and this task increases the burden on the researchers. In this research, we propose an automatic classification method for the sea creatures using convolutional neural networks to provide the requested information, such as crab images, to researcher. The proposed method is comprised image enhancement process, segmentation process and classification process. In the image enhancement process, which is used Retinex model, the visibility of seafloor images is improved. For the candidate’s area selection, the Saliency map is employed to extract the represented areas in seafloor images. In the classification process, the selected areas are recognized based on the biological group. The total candidate detection rate was 64%, and the total recognition accuracy was 67% by the evaluation.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85060436185&origin=inward

Relationship Sugar Content of Ripe Tomatoes and Intensity on Infrared Image 査読有り国際誌

Takuya Fujinaga, Kazuo Ishii

International Conference on Control, Automation and Systems 2018 ( ICROS ) 2018-October 2018年10月

Recognition of an Object Pointed at by a Person by using Robot Head Control and Motion Sensor 査読有り国際誌

Moeko Tominaga, Yasunori Takemura, Kazuo Ishii

International Conference on Control, Automation and Systems 2018 ( ICROS ) 2018-October 2018年10月

Flounders measurement system using obtained optical images by AUV 査読有り国際誌

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

2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018 ( IEEE/MTS ) 2018年05月

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

日本神戸 2018年05月28日 - 2018年05月31日

© 2018 IEEE. The observation of marine life by autonomous underwater vehicle and the marine life counting and measurement system are highly required for the fisheries resources management. In this research, we propose an automatic flounder, which is valuable as a food resource, length measurement system. The proposed system consists of the image enhancement process, selection region of candidate process, recognition process and measurement process. In the image enhancement process, the Retinex theory is employed to improve visibility of seafloor image, and the enhanced image used to select candidate region in the selection region of candidate process. Then, AlexNet, which is object recognition algorithm based on convolutional neural networks, employed for the flounder recognition, and the length of recognized flounder is estimated by measurement process. Flounders are inhabited on seafloor and the shape does not change significantly, by these properties, the length of flounders is estimated using a straight line from head to tail in the measurement process. For evaluation, 10 seafloor images, which are obtained by AUV, are used. The result of evaluation, the region selection error was 31%, recognition accuracy was 85% and the average of error of estimated flounder’s length was 6 pixels.

DOI： 10.1109/OCEANSKOBE.2018.8559296

その他リンク： 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 査読有り国際誌

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

Journal of Robotics and Mechatronics ( 富士技術出版 ) 30 ( 2 ) 248 - 256 2018年04月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2018, Fuji Technology Press. All rights reserved. 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

その他リンク： 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 査読有り国際誌

Nishida Y., Sonoda T., Yasukawa S., Nagano K., Minami M., Ishii K., Ura T.

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 30 ( 2 ) 238 - 247 2018年04月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2018, Fuji Technology Press. All rights reserved. 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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85049226634&origin=inward

Special issue on advanced robotics in agriculture, forestry and fisheries 招待有り査読有り国際誌

Ishii K., Hayashi E., Misron N., Thornton B.

Journal of Robotics and Mechatronics ( Journal of Robotics and Mechatronics ) 30 ( 2 ) 163 - 164 2018年04月

担当区分：筆頭著者記述言語：英語掲載種別：記事・総説・解説・論説等（学術雑誌）

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

その他リンク： 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 査読有り国際誌

Fujinaga T., Yasukawa S., Li B., Ishii K.

Journal of Robotics and Mechatronics ( 富士技術出版 ) 30 ( 2 ) 187 - 197 2018年04月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2018, Fuji Technology Press. All rights reserved. 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 har-vestable 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

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85049187587&origin=inward

Automatic recognition of benthic species using image processing 査読有り国際誌

Soejima Yuki, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 23 779 - 782 2018年02月

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

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 査読有り国際誌

Fujinaga Takuya, Yasukawa Shinsuke, Li Binghe, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 23 761 - 766 2018年02月

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

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 査読有り

Tominaga Moeko, Takemura Yasunori, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 23 757 - 760 2018年02月

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

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 査読有り国際誌

Masuda Koji, Nishida Yuya, Sonoda Takashi, Ishii Kazuo

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 23 783 - 785 2018年02月

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

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 査読有り国際誌

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

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 23 736 - 739 2018年02月

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

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 査読有り国際誌

Kenji Kimura, Shota Chikushi, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics ( 株式会社ALife Robotics ) 23 753 - 756 4 pages 2018年02月

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

別府 2018年02月01日 - 2018年02月04日

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 査読有り国際誌

Keisuke Watanabe, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics ( 株式会社ALife Robotics ) 23 740 - 743 4 pages 2018年02月

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

別府 2018年02月01日 - 2018年02月04日

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 査読有り

Koji Masuda, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics 4 pages 2018年02月

Automatic recognition of benthic species using image processing 査読有り

Yuki Soejima, Yuya Nishida, Takashi Sonoda, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics 4 pages 2018年02月

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

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年02月

Analysis of Characteristics of Tomato Fruits in Infrared Images Toward Automatic Tomato Harvesting System 査読有り

Takuya Fujinaga, Shinsuke Yasukawa, Binghe Li, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics 4 pages 2018年02月

Strategy Analysis of Multi-Agent Games Using Self-Organizing Map 査読有り

Moeko Tominaga, Yasunori Takemura, Kazuo Ishii

Proc. of The 2018 International Conference on Artificial ALife and Robotics 4 pages 2018年02月

サリエンシーマップを用いた画像特徴点の選択

望月隆吾, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2018 ( 0 ) 2A2 - L17 2018年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://ci.nii.ac.jp/naid/130007551777

視覚情報に基づくトマト果実収穫ロボットの行動戦略（第四報）:―トマト果実の熟度及び位置情報のマッピング―

藤永拓矢, 安川真輔, 李冰賀, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2018 ( 0 ) 1P1 - A05 2018年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://ci.nii.ac.jp/naid/130007551123

人間とロボットのマルチエージェントシステムに向けたフットサルにおける協調行動の解析

富永萌子, 武村泰範, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2018 ( 0 ) 2P2 - L09 2018年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://ci.nii.ac.jp/naid/130007552222

フルカラー構造化光を用いた水中三次元計測:―第2報計測装置の開発および水中環境がおよぼす影響の検証―

進木智也, 西田祐也, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2018 ( 0 ) 2P2 - C07 2018年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://ci.nii.ac.jp/naid/130007551964

Deep-sea image enhancement using multi-scale retinex with reverse color loss for autonomous underwater vehicles 査読有り国際誌

Mercado M., Ishii K., Ahn J.

OCEANS 2017 - Anchorage 2017-January 1 - 6 2017年12月

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

© 2017 Marine Technology Society. Advances on underwater optical imaging has been rampant recently because of numerous applications it offers and the increasing use of underwater vehicles. Unfortunately, due to the inherent property of light in water, images tend to be hazy, have non-uniform illumination and colors get distorted. Retinex algorithms were formulated for dynamic range compression and tonal rendition to fix the illumination and color distortion problem. Multi-scale Retinex, an extension of the original Retinex algorithm, has been proven to enhance images. However, Retinex Theory is based on human visual system in air medium. Due to this, light attenuation is not considered. Through Beer-Lambert Law, the light attenuation percentage can be estimated and added back to the original image in a process the researchers call Reverse Color Loss. Thus, combining Multi-scale Retinex and Reverse Color Loss, an enhancement algorithm for deep-sea application for the use of AUVs is proposed.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85048121401&origin=inward

Enhancement of deep-sea floor images obtained by an underwater vehicle and its evaluation by crab recognition 査読有り国際誌

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

Journal of Marine Science and Technology (Japan) 22 ( 4 ) 758 - 770 2017年12月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2017, JASNAOE. The underwater robot is one of the most important research tools in deep-sea exploration where the high pressure, extreme darkness, and radio attenuation prevent direct access. In particular, Autonomous Underwater Vehicles (AUVs) are the focus of much attention since they do not have tethered cables and can navigate freely. However, ideally, AUVs should be able to make independent decisions even with limited information using mounted sensors. That is, AUVs need powerful programming and low-power consumption computer systems which enable them to recognize their surroundings and cruise for long distances. Thus, modern computer development makes it possible for AUVs to be one of the most practical solutions for deep-sea exploration and investigations. As a next-generation AUV, we have been developing a Sampling-AUV that can dive into deep-sea regions and bring back samples of marine creatures in order to more fully understand the marine ecosystem. Our mission scenario calls for the Sampling-AUV to transmit deep-sea floor images to scientists on the research ship using acoustic communication. The scientists select the marine creatures to sample, and the AUV is tasked with retrieving them. The AUV then returns to the area where the interesting marine creatures have been observed, and collects and brings back samples. In order to realize this mission scenario, the sea-floor images need to be enhanced to assist the judgment of the scientists as the color red attenuates rapidly and the images become bluish while small differences in AUV altitude to the sea-floor also affect the brightness of the images due to light attenuation. Moreover, although underwater acoustic communication is slow and inaccurate, the AUV is required to select interesting images that include marine life. In this paper, we propose a deep-sea floor image enhancement method based on the Retinex theory and its performance was evaluated using deep-sea floor images taken by an AUV. The performance of the image enhancement was evaluated through crab recognition.

DOI： 10.1007/s00773-017-0442-1

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85015873175&origin=inward

Kinematics of Two-Roller-Driven Ball for RoboCup Soccer Robot 査読有り

Shota Chikushi, Tharindu Weerakoon, Takashi Sonoda, Kazuo Ishii

Journal of Robotics, Networking and Artificial Life 4 ( 3 ) 248 - 253 2017年12月

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) 査読有り

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

Journal of Marine Science and Technology (Japan) ( Journal of Marine Science and Technology (Japan) ) 22 ( 4 ) 2017年12月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：記事・総説・解説・論説等（学術雑誌）

DOI： 10.1007/s00773-017-0448-8

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85017584395&origin=inward

Automatic Extraction of Thickness Information from Sub-Surface Acoustic Measurements of Manganese Crusts 査読有り

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

OCEANS 2017 - Aberdeen 2017-October 1 - 7 2017年10月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

© 2017 IEEE. Mapping and estimating the volumetric distribution of cobalt-rich manganese crusts (Mn-crust) is a challenging task that lies at the centre of deep-sea mineral prospecting. Acoustic methods are effective and capable of in-situ continuous measurements of Mn-crust thickness, providing much higher spatial resolutions compared to traditional methods involving sampling. However, processing acoustic signal in order to estimate thickness values is difficult due to low signal to noise ratios. This paper proposes a combination of image processing techniques in addition to acoustic signal processing in order to improve the accuracy of measurements. The advantage is the possibility of using the physical properties of Mn-crust, such as local continuity in order to recognize valid measurements. Testing the algorithm on data collected from sea experiments demonstrate that the reflected signals from the crust can be identified, resulting in spatially continuous thickness estimates.

DOI： 10.1109/OCEANSE.2017.8084917

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85044632642&origin=inward

Sea-floor image transmission system for AUV 査読有り国際誌

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

OCEANS 2017 - Aberdeen 2017-October 1 - 6 2017年10月

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

© 2017 IEEE. Autonomous Underwater Vehicle (AUV) has become one of the promising tool for ocean exploration during the last few decades, and, in particular, is the solution for the spatial-temporal investigations in wide areas for a long period. One of the next mission expected from AUV is deep sea specimen sampling, which is currently performed by Remotely Operated Vehicle (ROV) or Human Occupied Vehicle (HOV) where the sampling targets are selected by scientists on-line. In order to establish the similar on-line investigation with AUV system, the sea-floor images have to be transmitted to the scientists on the support vessel by acoustic communication. However, the speed of the acoustic communication is low compared with that of radio communication, and the data can be lost because of the directionality of acoustic modem, the positional relationship between the AUV and the support vessel, attenuation and so on. The robust image transmission system is necessary with acoustic communication for in-situ decision making for sampling by AUV with many tasks. In this paper, we propose a sea-floor image transmission system with image compression, and evaluated by sea trials in Suruga-bay. The image compression method is based on a set of color palettes, where the colors of a color palette are assigned as a set of main colors obtained from the minimum variance quantization, to represents a typical sea-floor image. The colors of the obtained images are replaced by the most similar colors in the color palette. The images compressed by a 16-colors color palette are evaluated by Structural SIMilarity (SSIM) method, and these compressed images have shown the SSIM index of 88.5%. The duration of one image transmission is about 40 seconds in the sea trials and the transmission success rate is 75%.

DOI： 10.1109/OCEANSE.2017.8084926

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85044653603&origin=inward

Efficient Place Recognition by Mobile Robot with Saliency Detection 査読有り

Ryuugo Mochizuki, Kazuo Ishii

Proc. of 2017 International Workshop on Smart Info-Media Systems in Asia 6 pages 2017年09月

Generation of Mosaic Image in Tomato Greenhouse Using Infrared Image 査読有り

Takuya Fujinaga , Shinsuke Yasukawa, Binghe Li, Kazuo Ishii

Proc. of 2017 International Workshop on Smart Info-Media Systems in Asia 6 pages 2017年09月

Development of a Hydraulic Underwater Manipulator for Deep-Sea Survey AUV 査読有り

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年01月

Strategy Analysis of RoboCup Soccer Teams Using Self-Organizing Map 査読有り

Moeko Tominaga, Yasunori Takemura, Kazuo Ishii

Proc. of The 2017 International Conference on Artificial ALife and Robotics 421 - 424 4 pages 2017年01月

Ball Dribbling Control for RoboCup Soccer Robot 査読有り

Shota Chikushi, Kenji Kimura, Kazuo Ishii

Proc. of The 2017 International Conference on Artificial ALife and Robotics 416 - 420 5 pages 2017年01月

Development of a Tomato Harvesting Robot 査読有り

Shinsuke Yasukawa, Bingh Li, Takashi Sonoda,Kazuo Ishii

Proc. of The 2017 International Conference on Artificial ALife and Robotics 408 - 411 4 pages 2017年01月

Development of End-effector for Sampling-AUV “TUNA-SAND2” 査読有り

Kazuo Ishii, Takashi Sonoda, Atsushi Nishjima, Keisuke Watanabe

Proc. of The 2017 International Conference on Artificial ALife and Robotics 262 - 265 4 pages 2017年01月

Development of Underwater Wireless Power Supply System Using Resonant Energy Transfer 査読有り

Hidaka Shota, Kazuo Ishii, Keisuke Watanabe

Proc. of The 2017 International Conference on Artificial ALife and Robotics 258 - 261 4 pages 2017年01月

Development of Self-Diagnosis System of an Autonomous Underwater Vehicle Tuna-Sand 2 査読有り

Naoya Fujii, Yuya Nishida, Kazuo Ishii

Proc. of The 2017 International Conference on Artificial ALife and Robotics 254 - 257 4 pages 2017年01月

Floating LBL concept for underwater position detection 査読有り

Keisuke Watanabe, Kazuo Ishii

Proc. of The 2017 International Conference on Artificial ALife and Robotics 246 - 249 4 pages 2017年01月

A New Tool to Access Deep-Sea Floor "Sampling-AUV" 招待有り査読有り国際誌

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

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 22 300 - 302 2017年01月

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

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" 査読有り国際誌

Ishii Kazuo, Nishijima Atsushi, Sonoda Takashi, Watanabe Keisuke

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 22 262 - 265 2017年01月

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

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

カーロボ連携大学院での自動車・ロボットの知能化高度化に向けた専門人材育成査読有り

森江隆, 石井和男, 我妻広明, 田向権, 榎田修一, 齊藤剛史, 松永良一, 松波勲, 大貝晴俊

工学教育 ( 公益社団法人日本工学教育協会 ) 65 ( 4 ) 4_51 - 4_56 2017年01月

記述言語：日本語掲載種別：研究論文（学術雑誌）

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

その他リンク： https://ci.nii.ac.jp/naid/130005966874

第２回森のドローン・ロボット競技会開催報告

武村泰範, 林英治, 大竹博, 大橋健, 亀井圭史, 石井和男

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 33 ( 0 ) 651 - 654 2017年01月

Underwater Manipulator for Sampling Mission with AUV in Deep-Sea

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

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2P1-F11 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-F11/_pdf

チャレンジ＆カバー戦術のサッカーロボットへの実装

南﨑亮吾, 松本康平, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2P1-J10 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J10/_pdf

サリエンシーマップを使用した移動ロボットの場所認識の高効率化

望月隆吾, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 1P2-J04 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1P2-J04/_pdf

カムを用いた拮抗型高出力関節機構の開発

鈴木克彰, 西田祐也, 園田隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2A1-A06 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A1-A06/_pdf

ロボカップサッカーロボットにおけるボール保持機構の開発

筑紫彰太, タリンドゥウィラコーン, 園田隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2P1-K09 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K09/_pdf

RoboCup サッカーロボットにおける局所的/大域的な位置推定を組み合わせた自己位置推定システムの開発

松田恕子, 渡邊周太, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2P1-J12 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J12/_pdf

AUV のためのナビゲーションシステムの開発

益田晃次, 藤原晋也, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2P1-E09 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-E09/_pdf

選手のポジショニングを用いた自己組織化マップによる戦略分析

富永萌子, 武村泰範, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2P1-K07 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K07/_pdf

視覚情報に基づくトマト果実収穫ロボットの行動戦略（第三報）

藤永拓矢, 安川真輔, 李冰賀, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 1A1-B05 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-B05/_pdf

自律型水中ロボットの長期間展開に向けた研究開発

中村佳祐, 中西亮汰, 石井和男, 園田隆

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2P1-F07 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-F07/_pdf

自律型サッカーロボット群によるデータ統合に基づく物体追跡

權代拓大, 嶋田凌太, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2P1-J11 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-J11/_pdf

深海底生物捕獲ロボットのための画像センシングシステム

安川真輔, 安鍾賢, 西田祐也, 園田隆, 石井和男, 浦環

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2A2-G09 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2A2-G09/_pdf

吸引と切断機構を用いたトマト収穫用エンドエフェクタの開発

李冰賀, 浦孝徳, 藤永拓矢, 安川真輔, 園田隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 1A1-D06 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-D06/_pdf

ロボカップサッカーにおけるキックシステムの開発

町田直人, 久野顕司, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2P1-K08 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_2P1-K08/_pdf

マルチロータヘリを用いた森林内樹木の計測

篠原浩佑, 片山将, 堀航, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 1A1-C04 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2017/0/2017_1A1-C04/_pdf

フルカラー構造化光を用いた水中三次元計測

進木智也, 西田祐也, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2017 ( 0 ) 2A2-O07 2017年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： 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 査読有り国際誌

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年12月

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

© 2016 IEEE. The sphere kinematics has been discussed in the research field of multi-fingers grasping, mobile robot motion control driven by a sphere, ball handling, etc. In the multi-fingers grasping problem, a sphere and a plane correspond to a spherical finger and a cuboid object are used and the contact points of the sphere are analyzed. The mobile robot driven by a sphere is modeled as an inverted pendulum using a ball, and can move in any direction without changing orientation. The ball handling mechanism is discussed in the RoboCup soccer robot, which enables the robot to carry a ball with it. We consider that these problems are categorized as sphere kinematics, the relation between velocities of contact points and sphere motion, and discuss the sphere motion driven by two-wheel actuator with arbitral contact points on the sphere.

DOI： 10.1109/SCIS-ISIS.2016.0115

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85010303405&origin=inward

Tomato Harvesting Robot Competiton 査読有り国際誌

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

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

© 2016 IEEE. 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 farmers heavy works. With an aim to promote the automation of tomato harvesting, we have organized the tomato harvesting robot competition. In this paper, we report on the results of tomato harvesting robot competition.

DOI： 10.1109/SCIS-ISIS.2016.0118

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85010297367&origin=inward

Motion Analysis and Control of the Ball Operation for Dribbling Action in RoboCup Soccer Robot 査読有り国際誌

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

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

© 2016 IEEE. RoboCup is a platform designed to promote the fields such as Artificial Intelligent (AI) and robotics for researchers. As a team 'Hibikino-Musashi' participating for RoboCup Middle-Size League soccer competition, we continuously upgrade the technology of our robots. In this paper, motion analysis and control of the ball operation at the time of ball dribbling is discussed. A ball handling mechanism is proposed based on the geometrical information of the robot and analysis is given in detail. A mathematical explanation of the control system is provided along with simulation studies performed in MATAB environment. Results have been evaluated to demonstrate the capability of controlling the motion of the ball and expected control could be achieved without prior calibration of the ball handling mechanism.

DOI： 10.1109/SCIS-ISIS.2016.0117

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85010339268&origin=inward

Development of an autonomous underwater vehicle with human-aware robot navigation 査読有り

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

OCEANS 2016 MTS/IEEE Monterey, OCE 2016 2016年11月

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

© 2016 IEEE. AUV Tuna-Sand 2 developed in February 2016 can take photograph of the seafloor with high resolution using a camera and two LED strobe every five second and detect sea creature from it based on color information. If sea creature is detected from taken photograph, the AUV transmit its compressed image to the ship using acoustic modem for image transmission. Operator on the ship can select photographing position that the AUV return it, from received photograph. After instruction by operator using acoustic modem for command, the AUV can return to photographing position in the range of ± 0.3 m. In future work, we will develop visual feedback method and manipulation method for sea creature sampling.

DOI： 10.1109/OCEANS.2016.7761471

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85006851015&origin=inward

Real-time object tracking based on scale-invariant features employing bio-inspired hardware 査読有り国際誌

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

Neural Networks 81 29 - 38 2016年09月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2016 Elsevier Ltd. We developed a vision sensor system that performs a scale-invariant feature transform (SIFT) in real time. To apply the SIFT algorithm efficiently, we focus on a two-fold process performed by the visual system: whole-image parallel filtering and frequency-band parallel processing. The vision sensor system comprises an active pixel sensor, a metal-oxide semiconductor (MOS)-based resistive network, a field-programmable gate array (FPGA), and a digital computer. We employed the MOS-based resistive network for instantaneous spatial filtering and a configurable filter size. The FPGA is used to pipeline process the frequency-band signals. The proposed system was evaluated by tracking the feature points detected on an object in a video.

DOI： 10.1016/j.neunet.2016.05.002

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84973126848&origin=inward

Image enhancement and compression of deep-sea floor image for acoustic transmission 査読有り国際誌

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

OCEANS 2016 - Shanghai 2016年06月

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

© 2016 IEEE. One of the important missions of AUVs is to take deep-sea images and make maps of sea floor to contribute the understanding of deep-sea biology and geology. The sea floor images include lots of information such as distributions of creatures, minerals and so on. The next mission expected for AUVs is to bring the samples back concurrently with taking interesting photos, autonomously. However, this mission is difficult to perform fully-autonomous without the knowledge of biologists or geologists, as the AUVs don't know which objects are interesting or important for them and it takes long time to teach AUVs all features of target samples. It is necessary for AUVs to work semi-autonomously by collaborating with scientists on the ship and getting commands to indicate the important samples. In this research, we proposed an image enhancement and compression method for acoustic transmission with limited communication density. The proposed method enhances the effect of light attenuation in the deep-sea floor image and reduces the image depth from 24-bit of original images to 4-bit. The method is evaluated by transmission experiment using a new AUV "TUNA-SAND 2".

DOI： 10.1109/OCEANSAP.2016.7485453

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84978230456&origin=inward

Support vector machine based classification of seafloor rock types measured underwater using Laser Induced Breakdown Spectroscopy 査読有り国際誌

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

OCEANS 2016 - Shanghai 2016年06月

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

© 2016 IEEE. Laser Induced Breakdown Spectroscopy (LIBS) is an analytical technique for rapid chemical sensing that is becoming increasingly in field applications. LIBS is a form of atomic emission spectroscopy. When a high-powered pulsed laser beam is focused on the sample, it produces a plasma that emits wavelengths of light that can be observed using a spectrograph to identify the composition of the target. One of the applications of LIBS is for in situ analysis in the ocean, where recently remotely operated vehicles equipped with a LIBS devices have demonstrated in situ chemical analysis of mineral deposits on the seafloor at depths of >1000m. In this paper, an automated method to detect the class of hydrothermal deposits is developed that uses Support Vector Machine (SVM) algorithm. The 10 rock samples used in this experiments consist of 9 rock samples collected from the seafloor and 1 rock sample collected from land. Powder pressed pellets were prepared from these samples and underwater LIBS measurements were made. The high dimensional spectral dataset was normalized and preprocessed using Principal Component Analysis (PCA) to reduce the dimensions of the data and then classification was performed using SVM. Linear and Radial Basis Function kernels were used to analyze data and the classification accuracy was determined using independent sets of training and test data. The effect of increasing features on the classification accuracy was analyzed. The 10 rock samples were classified with an accuracy of ∼91%, implying that the technique may be useful for in situ classification of seafloor deposits. In our future work, we will investigate the effects of increasing the number of samples on the accuracy of classification.

DOI： 10.1109/OCEANSAP.2016.7485507

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84978257349&origin=inward

Geometric feature extraction from 2D laser range data for mobile robot navigation 査読有り国際誌

Weerakoon T., Ishii K., Nassiraei A.

2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings 326 - 331 2016年02月

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

2015年12月17日 - 2015年12月20日

© 2015 IEEE. Feature extraction and segmentation obviously play an utmost important role in autonomous mobile robot localization and navigation. In this paper we discuss some line segmentation and feature extraction algorithms and proposed an adaptive feature extraction algorithm for 2D laser range data. Features in indoor environments that are considered in this paper can be described as two geometric primitives: line segments which represent the walls, and corners. Segmentation process estimates the line segments belong to the walls and which represent the same object have been grouped together. Intersecting points of the line segments, called corners are treated as landmarks. Some segmentation algorithms are implemented and tested using laser range data captured in different environments and the effectiveness of them is analyzed. Finally, a better adaptive feature extraction and segmentation algorithm which generates a line map of an unstructured environment is proposed.

DOI： 10.1109/ICIINFS.2015.7399032

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84964617620&origin=inward

視覚情報に基づくトマト果実収穫ロボットの行動戦略（第二報）

安川真輔, 西尾将冶, 李冰賀, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2016 ( 0 ) 2A1-08b1 2016年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2A1-08b1/_pdf

自律海中ロボットの視覚情報共有を目的にした画像圧縮と復元手法

安鍾賢, 安川真輔, 園田隆, 西田祐也, 石井和男, 浦環

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2016 ( 0 ) 1A1-16b7 2016年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-16b7/_pdf

第二回トマトロボット競技会の開催報告

武村泰範, 園田隆, 石井和男, 浦環

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2016 ( 0 ) 2P2-17b3 2016年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17b3/_pdf

磁界共鳴方式を用いた水中ワイヤレス給電システムの開発第二報

日高翔太, 河島晋, 中西亮汰, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2016 ( 0 ) 1P1-17a6 2016年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1P1-17a6/_pdf

深海底生生物サンプリングのための水中ロボットマニピュレータの開発

園田隆, 安川真輔, 安鐘賢, ナシライ・アミール・アリ・フォロー, 西田祐也, 石井和男, 浦環

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2016 ( 0 ) 1A1-17a3 2016年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-17a3/_pdf

水中ロボット用SSBL方式音源定位システムの開発

河島晋, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2016 ( 0 ) 1A1-17b2 2016年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-17b2/_pdf

屋外環境下におけるマルチローターヘリコプターの編隊飛行制御システム

堀航, 滝本隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2016 ( 0 ) 1A1-04a4 2016年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_1A1-04a4/_pdf

ロボカップサッカー中型リーグにおけるパス行動に関する研究

嶋田凌太, 桑田将史, 石倉万希斗, 筑紫彰太, 園田隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2016 ( 0 ) 2P2-17a4 2016年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17a4/_pdf

ロボカップサッカーロボットにおけるボール保持機構の開発

筑紫彰太, 石井和男, 園田隆

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2016 ( 0 ) 2P2-17a7 2016年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2P2-17a7/_pdf

ランドマークの事前情報を活用した環境画像のサリエンシー検出

望月隆吾, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2016 ( 0 ) 2A1-20a2 2016年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://www.jstage.jst.go.jp/article/jsmermd/2016/0/2016_2A1-20a2/_pdf

駆動輪の荷重変動を考慮した障害物回避行動

石倉万希斗, 渡辺周太, 桑田将史, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2016 ( 0 ) 2P2-17a6 2016年01月

担当区分：最終著者,　責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： 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 査読有り

Tharindu Weerakoon, Kazuo Ishi, Amir Ali Forough Nassiraei

Journal of Artificial Intelligence and Soft Computing Research 5 ( 3 ) 189 - 203 2015年10月

Evolution and prospects of underwater robot competition in Japan 査読有り

Arima M., Ishii K., Ura T., Maki T., Kondo H.

MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World 2015年09月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

© 2015 IEEE. This paper deals with the history of Japan's Underwater Robot Competitions and its future prospects. In Japan, an underwater robot festival was first held in October 2006. At present, such competitions take place twice a year in the Tokyo and Kobe/Kita-Kyushu areas. The AUV division sets various missions such as line-tracking, buoy-touching and designated-area landing. The mission of the Free-style division is presentation of a vehicle's distinctive performance. The mission of the Junior and Senior High School Students division is gate-passing, treasure-hunting, and pseudo-deep-sea expeditions. The NPO 'Japan Underwater Robot Network' aims to realise regional eliminations and international competitions in the near future.

DOI： 10.1109/OCEANS-Genova.2015.7271559

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84957622328&origin=inward

Experimental Study for the Development of a Ship Hull Cleaning Robot 査読有り

Watanabe Keisuke, Ishii Kazuo, Takashima Kyoko

11th INTERNATIONAL CONFERENCE ON MARINE NAVIGATION AND SAFETY OF SEA TRANSPORTATION 7pages 2015年06月

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年04月

Experimental study for the development of a ship hull cleaning robot 査読有り

Watanabe K., Ishii K., Takashima K.

Safety of Marine Transport: Marine Navigation and Safety of Sea Transportation 225 - 232 2015年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2015 Taylor & Francis Group, London, UK. In this paper, we present the system components of the robot and recent experimental results which is executed at Shimizu Port in Japan using Tokai university research and training ship Bosei-Maru. We tested the cleaning robot while Bosei-Maru is berthed at a pier. As the operation cost of the robot should be reduced as much as possible, so we designed the robot very small and light weighted (30kgf in air) that it can be handled by only two persons. The cleaning speed of the robot is also important for cost reduction, we designed the robot as fast as possible. The average speed is around 0.2m/s during the experiments. The cleaning result was examined to compare the difference between the cleaned surface and the non-cleaned surface in the dockyard when Bosei-Maru was under the annual inspection.

DOI： 10.1201/b18515

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85054399964&origin=inward

Dead-lock Free Mobile Robot Navigation Using Modified Artificial Potential Field 査読有り

Tharindu Weerakoon, Kazuo Ishii, Amir Ali Nassiraei

Proceedings of SCIS&ISIS2014 717 - 722 2014年12月

Adaptative Motion Control System of a Snake-like Robot Using a Neural Oscillator Network 査読有り

Takayuki Matsuo, Ishii Kazuo

Proceedings of SCIS&ISIS2014 711 - 716 2014年12月

Phase Lag Auto-adjustment System Using Neural Oscillators and Its Application into Motion Control of a Snake-like Robot 査読有り

Takayuki Matsuo, Kakigi Takahiro, Kazuo Ishii

Proceedings of SICE Annual Conference 2014 143 - 148 2014年09月

Adjustment Method of Phase Lag Using Neural Oscillator Network for a Snake-like Robot（共著）査読有り

Takayuki Matsuo, Takahiro Kakigi, Takashi Sonoda, Kazuo Ishii

International Journal of Robotics and Mechatronics 1 ( 1 ) 16 - 24 2014年07月

An AUV Platform for Robot Behavior Development : Twin-Robot “DaryaBird ” and “OCTA ”, and Their’ Mission Strategy 査読有り

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年07月

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査読有り

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年06月

Design concept of an underwater robot for ship-hull cleaning 査読有り

Kazuo Ishii, Amir Ali Forough Nassiraei, Takashi Sonoda

COMPIT’14 540 - 545 2014年05月

昆虫視覚系の運動検出モデルを活用した小型自律飛行体の自己運動推定アルゴリズム (ニューロコンピューティング)

上野冬貴, 奥野弘嗣, 石井和男, 八木哲也

電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 ( 一般社団法人電子情報通信学会 ) 113 ( 382 ) 37 - 42 2014年01月

記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

近年,小型自律飛行体の需要が高まっており,その制御のため小規模な自己運動推定システムが必要とされている.そこで,本研究では昆虫のもつ視覚情報を用いた運動制御システムに着目し,オプティカルフロー・パターンを識別することにより小型自律飛行体の自己運動を推定するアルゴリズムを提案した.アルゴリズムは,地表に向けて設置されたカメラから取得した画像に対し昆虫視覚系の運動検出モデルをもちいることで局所速度を検出する.次に,局所速度の分布を統合して機体の自己運動を推定する.機体が水平移動とヨー回転を含んだ運動を行う場合を想定してアルゴリズムの検討を行った.

その他リンク： https://ci.nii.ac.jp/naid/110009825558

1P1-F07 AUVを用いた底生生物の観測システム構築に関する研究(水中ロボット・メカトロニクス(2))

安鍾賢, 園田隆, 石井和男, 浦環

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2014 ( 0 ) _1P1 - F07_1-_1P1-F07_4 2014年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://ci.nii.ac.jp/naid/110009966701

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査読有り

石田秀一, 新福宜侑, 石井和男, 宮本弘之

知能と情報 ( 日本知能情報ファジィ学会 ) 26 ( 3 ) 669 - 677 2014年01月

記述言語：日本語掲載種別：研究論文（学術雑誌）

我々はロボカップサッカー中型ロボットリーグ（以下，MSLとする）での適用を想定し，球体を用いた全方向移動機構の開発を行った．MSLに参加する多くのロボットは，オムニホイールと呼ばれる車輪の円周上に複数個のフリーローラを取り付けた特殊車輪を用いて全方向移動を実現している．オムニホイールは容易に全方向移動を実現できるが，一方で使用環境が限定されることや走行面の段差や摩擦の変化に対して走行安定性を失いやすい等の欠点がある．MSLにおいても走行面を完全にフラットにするために，フィールドカーペットの下に板を敷き詰める等の対策が行われている．我々はこれらの課題克服を目指し，MSLだけでなく実用的な産業応用を視野に入れた移動機構の開発を行った．試作機を用いた外乱に対する走行実験や，積載重量の増加に伴う移動精度の検証を行うことで走行性能の評価を行った．

DOI： 10.3156/jsoft.26.669

その他リンク： https://ci.nii.ac.jp/naid/130004491926

RoboCup MSLに向けた次世代サッカーロボット"Musashi150"の開発

筑紫彰太, 桑田将史, 園田隆, アミルアリフォローナシライ, 石井和男

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 30 ( 0 ) 624 - 627 2014年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

RoboCup中型リーグにおける本チーム"Hibikino-Musashi"の取組み、及び、新たに開発したボール保持機構を搭載した次世代サッカーロボット"Musashi150"の開発について述べる．

DOI： 10.14864/fss.30.0_624

その他リンク： https://ci.nii.ac.jp/naid/130005480551

MATLAB/Simulinkを用いた自律型水中ロボット開発

堀航, 藤井直也, 石井和男

日本知能情報ファジィ学会ファジィシステムシンポジウム講演論文集 ( 日本知能情報ファジィ学会 ) 30 ( 0 ) 610 - 613 2014年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

情報処理技術やコンピュータの進歩により様々なロボットが開発されているなか，災害現場や宇宙，海中といった極限環境でのロボット運用が実践的な解決策の一つとして考えられている．水中ロボットは，水中構造物や観測，科学研究といった水中の活動において必要不可欠である．これらのロボットはここ数年で発展を遂げているが，支援船を含めた水中ロボットシステムは大掛かりであり複数人の研究者を必要とする．本研究では，1～2人で簡単に持ち運べる小型水中ロボット「DaryaBird」の開発について述べる．また，国際的水中ロボット競技会Robosub2014に向けての取り組みについても述べる．

DOI： 10.14864/fss.30.0_610

その他リンク： https://ci.nii.ac.jp/naid/130005480597

1P1-S06 RoboCup中型リーグに向けた次世代サッカーロボットの開発(ロボカップ・ロボットコンテスト)

筑紫彰太, 桑田将史, 園田隆, ナシライアミルアリフォロー, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2014 ( 0 ) _1P1 - S06_1-_1P1-S06_4 2014年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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： 10.1299/jsmermd.2014._1P1-S06_1

その他リンク： https://ci.nii.ac.jp/naid/110009966746

1P1-S05 RoboCupヒューマノイドリーグ競技ロボットの脚構造に関する研究 : 九州工業大学,ベルリン自由大学合同チームTeam FUB-KIT(ロボカップ・ロボットコンテスト)

佐藤練磨, NASSIRAEI Amir, MOBALEGH Hamid, HELGADOTTIR Lovisa Irpa, 園田隆, 石井和男, ROJAS Raul

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2014 ( 0 ) _1P1 - S05_1-_1P1-S05_2 2014年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://ci.nii.ac.jp/naid/110009966745

1P1-S04 トマトロボット競技会の提案(ロボカップ・ロボットコンテスト)

李冰賀, 園田隆, 松尾貴之, ナシライアミールアリフォロオ, 河野智謙, 川尻一志, 石井和男, 浦環

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2014 ( 0 ) _1P1 - S04_1-_1P1-S04_2 2014年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://ci.nii.ac.jp/naid/110009966744

1P1-S02 ロボカップサッカー中型リーグにおけるパス行動に関する研究(ロボカップ・ロボットコンテスト)

桑田将史, 筑紫彰太, 小野祐太郎, 園田隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2014 ( 0 ) _1P1 - S02_1-_1P1-S02_4 2014年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://ci.nii.ac.jp/naid/110009966742

1P1-H07 高出力関節機構を有する鰭型移動プラットフォームの開発(水中ロボット・メカトロニクス(2))

西田祐也, 園田隆, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2014 ( 0 ) _1P1 - H07_1-_1P1-H07_2 2014年01月

記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://ci.nii.ac.jp/naid/110009968707

1P1-G07 教育・研究用遠隔操作型小型水中ロボットの開発 : MATLAB/Simulinkを用いたロボットシステムの構築(水中ロボット・メカトロニクス(2))

岩根豊明, 園田隆, 石井和男, 横道匠

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2014 ( 0 ) _1P1 - G07_1-_1P1-G07_2 2014年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://ci.nii.ac.jp/naid/110009966706

1P1-G06 水中での高速サンプリング動作のための機構設計(水中ロボット・メカトロニクス(2))

園田隆, 西田祐也, 石井和男

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2014 ( 0 ) _1P1 - G06_1-_1P1-G06_2 2014年01月

記述言語：日本語掲載種別：研究論文（研究会，シンポジウム資料等）

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

その他リンク： https://ci.nii.ac.jp/naid/110009966705

A Design Method of CPG Network Using Energy Efficiency to Control a Snake-Like Robot（共著）査読有り

Takayuki Matsuo, Kazuo Ishii

5th International Conference on Emerging Trends in Engineering & Technology 287 - 292 2012年11月

Development of Ship Hull Cleaning Underwater Robot（共著）査読有り

Amir Ali Forough Nassiraei, Kazuo Ishii

5th International Conference on Emerging Trends in Engineering & Technology 293 - 298 2012年11月

Control of robotic joint by using antagonistic pair of Twist Drive Actuators 査読有り国際誌

Sonoda T., Ishii K., Nassiraei A., Godler I.

IECON Proceedings (Industrial Electronics Conference) ( IEEE ) 5410 - 5415 2012年10月

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

2012年10月25日 - 2012年10月28日

In this paper we present a control method for robotic finger that uses twisted strings actuator called Twist Drive. A five fingered robotic hand prototype was developed by using Twist Drive actuators to control 14 active degrees-of-freedom. This paper focuses on control of a thumb's CM joint, which is the only joint in the robotic hand prototype that uses two Twist Drive actuators configured in an antagonistic pair of actuators. Positioning accuracy and smoothness of the joint's motion is influenced by nonlinear characteristics of the actuators and by friction in the mechanism. To compensate for the disturbances, we used disturbance observer, and additionally enhance smoothness of motion by controlling the unwinding torque of opposing actuator. The robotic hand and the proposed control algorithm are explained in the paper, experimental results of CM joint positioning control are presented. © 2012 IEEE.

DOI： 10.1109/IECON.2012.6389525

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84872957434&origin=inward

The Improving Method of Energy Efficiency for a Snake-Like Robot Using Neural Oscillators（共著）査読有り

Takayuki Matsuo, Takashi Sonoda,Kazuo Ishii

International Conference on Mechatronics and Automation 2012 208 - 213 2012年08月

The Adjustment System of Phase Difference Using Neural Oscillator Network for a Snake-Like Robot　（共著）査読有り

Takayuki Matsuo, Kazuo Ishii

SICE 2012 502 - 507 2012年08月

創立10周年記念シンポジウム報告

石井和男

明専会報 ( 明専会 ) 856 ( 1月・2月 ) 2012年02月

A cooperative self-localization method based on group robot information sharing 査読有り

Yuichi Kitazumi, Kazuo Ishii

Proc. of AROB 17th '12 989 - 994 6 pages 2012年01月

The adjustment system of phase difference using neural oscillator network for a snake-like robot 査読有り

Matsuo T., Ishii K.

Proceedings of the SICE Annual Conference 502 - 507 2012年01月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Robot are expect to be new tools for the operations and observations in the extreme environments where human has difficulties for accessing directly, deep ocean, space, nuclear plants and so on. One of the important matters to realize mobile robots for extreme environments are to establish systems in the movement and their structures which are strong enough to disturbance. A solution for realization an adaptive control system is to learn and imitate biological systems. For example, in the spinal cord of animals, neural oscillator systems called Central Pattern Generator (CPG) are proven to exist and investigated that CPG control rhythmical signals such as swimming pattern, walking locomotion, heart beats, etc. In this paper, an adaptive control system based on the feature of neural oscillators was developed and applied to motion control of a snake-like robot. © 2012 SICE.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84869473308&origin=inward

ロボット競技会を通じた工学教育への取り組み

石井和男

教育ブリティン ( 九州工業大学 ) ( 8 ) 63 - 71 2011年12月

A cooperative self-localization method based for multi agent system 査読有り

Yuichi Kitazumi, Kazuo Ishii

Proc. of ICIUS'11 6 pages 2011年10月

Auto color calibration algorithm using neural networks and its application to RoboCup robot vision 査読有り

Takemura Y., Ishii K.

International Journal of Artificial Intelligence 7 ( 11 A ) 368 - 383 2011年10月

記述言語：英語掲載種別：研究論文（学術雑誌）

One of the most important aspects in mobile robots concerns vision based decision-making systems, where color constancy is a major problem for robots, since they often use the color property to recognize their environments. Animals can recognize the color and shape of objects despite large changes in lighting conditions in outdoor environments, for example. Biomimetic software and hardware have attracted much attention because of the possibility of realizing flexible and adaptive systems as in animals. We have been working on color constancy vision algorithms using a bio-inspired information processing technique. In this paper, we evaluate the performance of color recognition using bio-inspired information processing algorithms, namely the Self-Organizing Map (SOM), modular network SOM (mnSOM), and Neural Gas (NG), and discuss the experimental results under various lighting conditions. © 2011 by IJAI.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=80052156764&origin=inward

Auto color calibration algorithm using neural networks and its application to RoboCup robot vision 査読有り

Yasunori Takemura, Kazuo Ishii

International Journal of Artificial Intelligence 7 ( A11 ) 368 - 383 2011年10月

Development of the ocean-going underwater glider with independently controllable main wings, SOARER 査読有り

Arima M., Ishii K., Nassiraei A.

Proceedings of the International Offshore and Polar Engineering Conference 274 - 278 2011年09月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The authors are planning to realise three-dimensional multipoint and simultaneous measurement of ocean environment by swarm intelligent underwater vehicles. For this purpose, an ocean-going underwater glider with independently controllable main wings was developed and named 'SOARER'. This paper deals with concept and detailed design of the SOARER glider. Copyright © 2011 by the International Society of Offshore and Polar Engineers (ISOPE).

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=80052729888&origin=inward

System Design and Increment Hardware Development of an Autonomous Underwater Robot "DaryaBird" 査読有り

Takaaki Takemitsu, Masayoshi Honda, Masato Ogura, Taizo Tasaka Atsuhiro Minami, Takumi Yokomichi, Kazuo Ishii

AUVSI&ONR’s 14th RoboSub Competition Journal Paper 1 - 8 2011年07月

Design principle of high power joint mechanism possible to walking and jumping imitating locust leg structure 査読有り

Nishida Y., Sonoda T., Ishii K.

Journal of Robotics and Mechatronics 23 ( 2 ) 225 - 230 2011年01月

記述言語：英語掲載種別：研究論文（学術雑誌）

Many insects can jump several times their own body length. Locusts with their powerful hind legs can for example jump up to five times as high - 250 mm. We propose a high-power joint mechanism mimicking the locust leg structure in walking and jumping. The mechanism can produce power higher than motors mounted in the joint mechanism and separate walking and jumping using two motors. We also report the joint mechanism design principles.

DOI： 10.20965/jrm.2011.p0225

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84856259809&origin=inward

Adaptive color calibration algorithm using brain inspired technology 査読有り

Takemura Y., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

One of important subjects for mobile robots is the vision based decision making system, where the color constancy is big problem for robots which use color property to recognize environments. We have been working on color constancy vision algorithms using bio-inspired information processing as creatures can recognize color and shape of objects even if there exits a large change of light conditions in outdoor environments. We evaluate the performances of color recognition using brain-inspired processing algorithms such as Self-Organizing Map (SOM), modular network SOM (mnSOM) and Neural Gas (NG). In this paper, the experimental results in dynamical conditions are discussed. © 2010 TSI Press.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=78651465922&origin=inward

Survey of cooperative algorithm in robocup middle size league 査読有り

Kitazumi Y., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

RoboCup is an international joint project to promote Artificial Intelligence (AI), robotics, and related fields since 1996. RoboCup project has been held every year, and the performance of robot shows great advance. Especially, Soccer Middle Size League (MSL) uses big robots and the biggest field in the RoboCup projects, and audience can enjoy powerful games. During the l3 years RoboCup project, a lot of teams have advanced various researches for solving problems of multi-agent system. Our survey presents an overview of the cooperative algorithms used in MSL. We summarize about various approaches of multi agent system of different teams, and discuss what will become possible in near future and which kind of approach will be effective. We hope this survey will become good information for many researchers in robotics, and expect a lot of new teams will participate to the RoboCup. © 2010 TSI Press.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=78651444195&origin=inward

Self-localization of omni-directional mobile robot using silicon retina based optical flow sensor 査読有り

Sanada A., Ishii K., Yagi T.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The omni-directional mobile robot has advantage such that three degree of freedom motion in 2D plane can be set independently and can move in arbitrary direction with keeping same heading direction. With regards to self-localization using onboard sensors, dead reckoning is often used by means of measuring the wheel's velocities (motor encoder data) as well as car-like robots. However, omni-directional mobile robots are easy to slip by the nature of omni-wheels with many free rollers, dead reckoning will not work even if one wheel does not attached on ground. A method to measure odometry data which is not affected by wheel's slip should be introduced to acquire enough quality of self1ocation for omni-directional mobile robots. We describe a method to obtain robot ego-motion using camera images and optical flow calculation, that is, the camera is used as a velocity sensor. In this paper, a silicon retina vision camera developed by Vagi et al. is introduced as a mobile robot sensor, which has good dynamic range against various lighting condition. And a FPGA optical flow circuit for the silicon retina is developed to measure ego-motion of mobile robot The developed optical flow calculation system is introduced into a small omni-directional mobile robot and evaluation experiments using the mobile robot ego-motion are carried out. In the experiments, the accuracy of self-location by the dead reckoning and optical flow are evaluated by comparing with motion capture. The results show that the self-location obtained by the optical flow corresponds with motion capture data. © 2010 TSI Press.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=78651439842&origin=inward

New approach to the self-localization of autonomous sewer inspection robots 査読有り

Nassiraei A., Honda M., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Development of an autonomous pipe inspection system requires design and development of an un-tethered mobile robot platform equipped with the required sensors using for autonomous pipe assessment and damage detection. Autonomous sewer robots must include sensors for their own control, navigation and localization, not only those for sewer state assessment and damage detection. In addition, localization is an issue not only for the proper robot control, so that the robot knows where it is, but also for inspection, as detected damages have to be reported with their location. In this paper, a new approach is presented to simplify the conventional autonomous navigation and self-localization systems. In the presented method, robot self-localization is realized by a pair of passive arms mounted to the side of the developed mobile robot platform. © 2010 TSI Press.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=78651448415&origin=inward

Memory based environment recognition system for mobile robots with omni-directional images 査読有り

Kanda A., Sato M., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Autonomous mobile robot needs various applications such as a control system, environment recognition, decision making, self localization, mapping, and obstacle avoidance. We developed the environment recognition system for wheeled mobile robot because these applications are mostly based on the environment recognition. In our previous research, we developed the wheeled mobile robot with passive linkage mechanism for outdoor environment and evaluate the mobility. And, we proposed environment recognition system using passive linkage mechanism data analyzed self-organizing map. This paper describes our proposed method which is the environment recognition system using the image processing. Using our proposed method, the environment recognition system could succeed self localization and the number of templates is decreased because our method using self organizing map has interpolation function. © 2010 TSI Press.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=78651431162&origin=inward

Kinematics analysis of a high power joint mechinasm imitating locust leg structure 査読有り

Nishida Y., Sonoda T., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

We have been working on high power joint mechanism which is expected to improve robot functionality and the activities in various working environment. In general, the performance of joint mechanisms depends on actuators performance, and the power mass ratio of actuators is almost constant in the same type motors. Locusts whose length is about 50mm have powerful hind-leg to jump five times high (about 250mm) at the peak. The aim in this research is to develop high power joint mechanism by mimicking leg mechanism of locusts. Proposed high power joint mechanism consists of a closed link structure with 4 links, a spring and 2 linear slide actuators. This paper descries how to generate high power in the joint mechanism, and shows the characteristic of the joint mechanism by the analysis. © 2010 TSI Press.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=78651455327&origin=inward

Evolutionary optimization method of mobile robot structure and control system 査読有り

Sato M., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper describes one of the most important issues for mobile robots: it is simultaneous optimization of robot structures and its control systems using evolutionary algorithm and dynamics simulation. Generally, wheeled mobile robots have difficulty in traveling on the outdoor environments because of its mechanical limitations. And, the effective outdoor traveling has deeply relationship between the mobile robot structures and its control systems. Our proposed optimization method evaluates and optimizes the traveling ability, time consumption, energy consumption, control accuracy, and attitude of robot. The result of dynamics simulation the optimized mobile robot could overcome the three kinds of benchmark environment including the bump and stairs. And also, the mobile robot showed effective outdoor traveling. © 2010 TSI Press.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=78651449716&origin=inward

Dynamics classification of underwater robot and introduction to controller adaptation 査読有り

Takemura Y., Ishii K.

2010 World Automation Congress, WAC 2010 2010年12月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Underwater robots and underwater machines are counted on helping the salvage procedure, escaping prevention of pollution, lifesaving at sea, scientific exploration in the ocean and so on. In the underwater robot, therefore, Autonomous Underwater Vehicles (AUVs) have been developed actively during recent year. However, AUVs have various problems which should be solved such as motion control, acquisition of sensors' information, behavioral decision self-localization and so on. Regarding to consider about these problems, robot should be learning on self-organizing about relation ship to own status, environment and behaviors. In this paper, a new self-organizing controllers system for AUVs using modular network SOM proposed by Tokunaga et al., is described. The proposed control system is developed using Recurrent Neural Network (RNN) type mnSOM. And, we report that the control system is implemented into the AUV "Twin-Burger". © 2010 TSI Press.