Updated on 2024/01/31

写真a

 
NAMBA Kazuhiko
 
Organization
Faculty of Environmental, Life, Natural Science and Technology Associate Professor
Position
Associate Professor
Homepage
http://mama.agr.okayama-u.ac.jp/
External link

Degree

  • Doctor (Agriculture) ( Tokyo University of Agriculture and Technology )

  • Master (Agriculture) ( Tokyo University of Agriculture and Technology )

Research Interests

  • 植物工場

  • 植物生体計測

  • 植物環境調節

  • 農業機械

  • bio-production sysytems engineering

  • ファイトテクノロジー

  • スピーキングプラントアプローチ

Research Areas

  • Environmental Science/Agriculture Science / Agricultural environmental engineering and agricultural information engineering

Education

  • Tokyo University of Agriculture and Technology   大学院連合農学研究科   農業環境工学専攻

    1994.4 - 1994.7

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    Country： Japan

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  • Tokyo University of Agriculture and Technology   農学部   農業工学科

    1988.4 - 1992.3

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    Country： Japan

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Research History

  • Okayama University   The Graduate School of Environmental and Life Science   Associate Professor

    2012.4

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    Country：Japan

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  • Okayama University   大学院環境学研究科   Research Assistant

    2005.4 - 2005.9

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    Country：Japan

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  • Okayama University   Faculty of Agriculture   Research Assistant

    1994.8 - 2005.3

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    Country：Japan

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Professional Memberships

Committee Memberships

  • 関西農業食料工学会   情報委員会委員長  

    2023.4   

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  • 農業食料工学会   EAEF誌編集委員会副委員長  

    2021.6   

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    Committee type：Academic society

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  • 農業食料工学会   情報委員会委員  

    2021.6   

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  • 農業食料工学会   代議員  

    2021.6 - 2023.3   

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  • 関西農業食料工学会   幹事  

    2019.4   

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  • 関西農業食料工学会   表彰委員会委員長  

    2019.4 - 2023.3   

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    Committee type：Academic society

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  • Asian Agricultural and Biological Engineering Association   Managing Associate Editor  

    2005.8   

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    Committee type：Academic society

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Papers

  • Development of Direct Measurement Methods for Dynamic Assistive Force of Powered Exoskeleton Reviewed

    Masahiro TANAKA, Satoru UMENO, Yutaka KIKUCHI, Xiaohan XIANG, Kazuhiko NAMBA

    Journal of the Japanese Society of Agricultural Machinery and Food Engineers   85 ( 3 )   149 - 154   2023.6

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  • Biosensing Method of Growth Diagnosis in Forcing Culture of Strawberry: Study on Airflow Conditions required to Expose Growth Points Reviewed

    Shogo TSUBOTA, Kazuhiko NAMBA, Tokihiro FUKATSU

    Journal of the Japanese Society of Agricultural Machinery and Food Engineers   84 ( 5 )   321 - 331   2022.9

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  • Biosensing Method of Growth Diagnosis in Forcing Culture of Strawberry: Available Airflow Velocity for Monitoring of Young Leaves Reviewed

    S. TSUBOTA, K. NAMBA, T. FUKATSU, H. NAITO, S. YAMADA, T. OTA

    Journal of the Japanese Society of Agricultural Machinery and Food Engineers   84 ( 4 )   229 - 237   2022.7

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  • Development of High-Speed Ridge Forming Seeder for Soybeans : Seeding and Cultivation Tests Comparing Prototype and Conventional Machine Reviewed

    Journal of the Japanese Society of Agricultural Machinery and Food Engineers   83 ( 3 )   192 - 199   2021.5

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  • Optimization of the Lighting Environment in Sawdust-Based Shiitake Cultivation : Effect of Light Timing on Fruit Body Development During the Culture Stage Reviewed

    Journal of the Japanese Society of Agricultural Machinery and Food Engineers   82 ( 6 )   642 - 649   2020.11

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  • Development of High-Speed Ridge Forming Seeder for Soybeans, Adapted to Moist Soil Conditions : Seeding Performance of Prototype Seeder Reviewed

    Journal of the Japanese Society of Agricultural Machinery and Food Engineers   82 ( 6 )   617 - 623   2020.11

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  • Biosensing Method of Growth Diagnosis in Forcing Culture of Strawberry : Biological Indicators for Evaluating Growth Inhibition under Low Temperatures Reviewed

    Journal of the Japanese Society of Agricultural Machinery and Food Engineers   82 ( 6 )   593 - 600   2020.11

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  • Development of High Speed Ridge Forming Seeder for Soybeans Adapted to Moist Soil Conditions : Investigations of Seeding Mechanism for Soybean Seeds Coated with Insecticide and Fungicide Reviewed

    Journal of the Japanese Society of Agricultural Machinery and Food Engineers   82 ( 2 )   129 - 137   2020.3

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  • Development of High Speed Ridge Forming Seeder for Soybeans Adapting to Moist Soil Conditions:—Study of Disk Cultivation Ridging and Seeding Mechanism— Reviewed

    SHIGEMATSU Kenta, YAMADA Yuichi, GOTOH Takashi, NAMBA Kazuhiko

    Journal of the Japanese Society of Agricultural Machinery and Food Engineers   81 ( 2 )   104 - 111   2019

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    Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japanese Society of Agricultural Machinery and Food Engineers  

    <p>In recent years, the Japanese government has encouraged soybean planting. However, the suitable seeding period is only for 2 weeks, and more than 80 % of soybean fields are converted from rice paddy. The purpose of this study was to improve existing seeding techniques for rapid and stable seeding of soybean in moist soil conditions. A machine that combines rotary cultivation, ridging, and seeding has previously been developed. However, operation speeds were as slow as 0.3-0.6 m/s, and seeding was not effective in the moist soil conditions. In this study, we tested an experimental machine with disk cultivation that achieved a maximum ridging speed of 2 m/s and a new, high seeding speed of 1.5 m/s, which ensured stable seeding.</p>

    DOI： 10.11357/jsamfe.81.2_104

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    Other Link： https://agriknowledge.affrc.go.jp/RN/2010926865

  • Development of Energy-saving Ventilation System Considering Inside and Outside Temperatures of a Sawdust-based Shiitake Cultivation Facility Reviewed

    Kashino Yasuaki, Myokai Fumio, Namba Kazuhiko, Monta Mitsuji, Kanzaki Hiroshi

    Journal of the Japanese Society of Taste Technology   16 ( 2 )   4 - 12   2018

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    Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japanese Society of Taste Technology  

    The objective of this study was to develop an energy-saving ventilation system for a Shiitake cultivation facility. While in the cultivation stage, the spawns generate heat and CO2 during their growth. To maintain an optimal growth temperature and labor-safe CO2 concentration, an air conditioner and ventilation must employed. For energy saving, a heat exchange ventilator is widely used. For a more efficient utilization of this ventilator, we focused on two modes: heat exchange and normal ventilation. When the room temperature is higher than the outside temperature, using cool air with normal ventilation benefits the air conditioner. Moreover, we propose that spawn heat may be used as a heat source with heat exchange ventilation, when the room temperature is low. To determine the ventilation mode, we designed a control unit considering the inside and outside temperatures of a cultivation facility. After operating this system for one year, the highest efficiency was observed at an outside average temperature of 10 to 15℃. Therefore, a 25 % energy saving was achieved in this cultivation facility in Tamano city, Okayama.

    DOI： 10.11274/bimi.16.2_4

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  • Study of glutinous barley flour utilization for rice bread Reviewed

    Kumiko Fujii, Kazuhiko Namba, Naoko Matsumoto

    THE RESEARCH SOCIETY for DIEATARY HABITS   37 ( 3 )   142 - 148   2017

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  • Effects of the Cultivation Stage Temperature and CO2 Concentration on the Sawdust-based Culture Shiitake Yield Reviewed

    Yasuaki Kashino, Fumio Myokai, Kazuhiko Namba, Mitsuji Monta, Hiroshi Kanzaki

    Journal of the Japanese Society of Taste Technology   15 ( 1 )   5 - 11   2016

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  • Study of Bread Making Process Properties using Impact Crushing Milled Rice Flour : Relativity of Physical Properties and Sensory Evaluation Reviewed

    Kumiko Fujii, Kazuhiko Namba

    Journal of the Japanese Society of Taste Technology   14 ( 1 )   19 - 27   2015.7

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  • Mobile Quality Evaluation Robot for Making Agricultural Products Traceable

    M.Monta, K.Namba

    International Journal of Automation Technology   8 ( 2 )   238 - 242   2014

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  • Influence of Environmental Conditions on the Chrysanthemum Leaf Yellow Spot - Measurement of the Leaf Yellow Spot at Early Stage - Reviewed

    Naoki Eguchi, Kazuhiko Namba, Mitsuji Monta, Tanjuro Goto

    IFAC Proceedings Volumes   46 ( 4 )   366 - 371   2013

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier BV  

    DOI： 10.3182/20130327-3-jp-3017.00082

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  • A Study of the Properties of Bread Made from Rice Flour Produced by Impact Crushing : The Effects of Rice Flour Particle Size and Fermentation Conditions on Expansion Properties Reviewed

    Kumiko Fujii, Mitsuji Monta, Kazuhiko Namba

    Journal of the Japanese Society of Taste Technology   11 ( 1 )   20 - 28   2012.4

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  • 衝撃式粉砕法による米粉の製パン性に関する検討 －米粉粒度と生地調製条件が生地膨張に及ぼす影響－ Reviewed

    藤井久美子, 門田充司, 難波和彦, 笠井八重子

    美味技術研究会誌   2011 ( 18 )   19 - 27   2011

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    Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：美味技術学会  

    衝撃式粉砕法による米粉について，粒度区分（100μm未満，100～150μm未満，150～212μm未満）と，加水量，混捏時間，加糖量，加塩量などのパン生地調製条件が発酵時の生地膨張に及ぼす影響を調べた。生地は，各区分の米粉に粉末グルテンを添加して調製した。<br>100μm未満の粒度では，損傷でんぷん率が最も高く，膨張に適する加水量も多く必要であり，膨張停止がやや早かった。混捏時間は少なくとも10分は必要であったが，150～212μm未満の粒度では，長く混捏すると膨張率が低くなり，大きい粒子がグルテンネットワークを損傷したと考えられた。<br>3区分とも，無糖であっても高い膨張率が得られたことから，米の食味を生かした製パンが可能であり，グルテン添加米粉パンが，主食として副食を伴う健康的な食事構成に結びつくものと考えられた。

    DOI： 10.11274/bimi2002.2011.18_19

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  • 画像を用いたパン生地膨張過程の計測 Reviewed

    藤井久美子, 大田真平, 難波和彦, 門田充司

    美味技術研究会誌   2011 ( 18 )   28 - 33   2011

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    Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：美味技術学会  

    製パンにおいては，生地の材料や調製条件がその品質に大きく関わっており，発酵時に高い膨張を示す生地ほどパンの評価が高いとされている。しかし，これまでのパン生地膨張の計測は接触式の方法であり，本来の生地の挙動を正しく観察することは困難である。また，数値の読み取りにも誤差が生じる場合が多い。そこで本研究では，画像を用いて非接触かつ定量的にパン生地の膨張過程を3次元的に計測する手法を検討した。

    DOI： 10.11274/bimi2002.2011.18_28

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  • Precision citrus production concept based on information from mobile citrus fruit grading robot, field-server, and satellite Reviewed

    Y. Kohno, N. Kondo, S. Taniwaki, K. Namba, T. Nishi, M. Kurita

    Acta Horticulturae   824   237 - 244   2009

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    Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：International Society for Horticultural Science  

    Since citrus is often grown on terraced orchards in west Japan, their qualities and yields are various, because of different environments such as temperature, humidity, solar radiation, precipitation, soil condition, tree age, and other conditions on different elevation fields. In this study, the concept of a mobile fruit grading robot and measurements from the robot are described. This robot consists mainly of a roller pin conveyor, two machine vision systems, an NIR inspection system, a GPS, and a travelling device. One or two operators can operate this robot for harvesting, because the robot keeps a constant distance between operators and the robot by laser sensors as it travels. Harvested fruit are put into the roller pin conveyor through two gates, as information of growth in northern or southern canopy is added for the fruit canopy location. One vision machine inspects harvested fruit, while the other monitors tree leaf color and canopy size. An NIR inspection system measures internal sugar content and a GPS records robot location. It is possible to accumulate fruit color, size, shape, defect, sugar content, tree leaf color, and canopy size into a database corresponding to tree location. Adding to this robot's information, analysis of satellite images is conducted and field-server information is collected. The producers' operation records can be input to the database with the satellite and field-server information. This database is used both for farming guidance to conduct tree management and for food traceability in relationship to safety and security in food distribution.

    DOI： 10.17660/ActaHortic.2009.824.27

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  • SURFACE GLOSS MEASUREMENT ON EGGPLANT FRUIT Reviewed

    V. K. Chong, T. Nishi, N. Kondo, K. Ninomiya, M. Monta, K. Namba, Q. Zhang, H. Shimizu

    APPLIED ENGINEERING IN AGRICULTURE   24 ( 6 )   877 - 883   2008.11

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：AMER SOC AGRICULTURAL & BIOLOGICAL ENGINEERS  

    Surface gloss is one of the important quality factors affecting consumer opinion on purchasing eggplant fruits. The current manual gloss grading method is subject to human bias and the outcome is often very ambiguous. This study developed a sensing device consisting of two CCD monochrome cameras and three long tungsten lights and an associated quantitative method of measuring surface gloss of eggplant fruit using the device. Distinguishing various glossiness states of the fruit were made possible by analyzing the specular reflectance of the fruit surface. Specular reflection of the light on fruit surface was measured by digital image analysis method. Gradient filter was applied on the gray-level image for measuring magnitude of intensity changes. The algorithm consistency and validation test on the samples showed the algorithm was feasible of quantitatively, assessing eggplant fruit surface gloss with an accuracy rate of 0.806. Details of the sensing devices, outline of the algorithm and preliminary, results are presented in this article.

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  • FEATURES EXTRACTION FOR EGGPLANT FRUIT GRADING SYSTEM USING MACHINE VISION Reviewed

    V. K. Chong, N. Kondo, K. Ninomiya, T. Nishi, M. Monta, K. Namba, Q. Zhang

    APPLIED ENGINEERING IN AGRICULTURE   24 ( 5 )   675 - 684   2008.9

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：AMER SOC AGRICULTURAL & BIOLOGICAL ENGINEERS  

    Machine vision based grading for agricultural crops has been well developed and accepted as an attractive grading method. However, machine vision based grading for eggplant fruit is not available yet. This study reports oil the attempt to develop an eggplant grading machine using six CCD cameras as the sensing device. Feature extraction algorithms were developed to extract eggplant&apos;s features, i.e., length, diameter, volume, curvature, color homogeneity, calyx color, calyx area, and surface defect. The system could acquire six images per fruits covering the entire surface of the eggplant fruits. All agreement rate Of 78.0% was achieved in the feasibility study where the machine vision based grading was compared with manual grading. The throughput of the developed system was 0.3 second per fruit. Details of the system, an outline of the algorithm, and performance results are reported in this article.

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  • Construction of Virtual Low-Noise Space in Noisy Agricultural Facility for Safety and Comfort Reviewed

    SHIIGI Tomowo, KONDO Naoshi, NINOMIYA Kazunori, KURITA Mitsutaka, NISHI Takao, NAMBA Kazuhiko, SHIMIZU Hiroshi, NISHIZU Takahisa

    Engineering in Agriculture, Environment and Food   1 ( 2 )   77 - 83   2008

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：Asian Agricultural and Biological Engineering Association  

    Many types of agricultural facilities have been constructed at many places around the world. Although most of the operations are mechanized at these facilities, high noise from mechanical systems often prevents operators from discharging their duties efficiently and results in an unsafe environment. Virtual low-noise space is defined as the space required by operators in order to smoothly communicate in a high-noise environment, i.e., they feel as though they are working in a low-noise environment. The virtual low-noise space has three functions: to reduce the noise around the operators' ears, to communicate by speech without noise, to recreate the audio image on the basis of the operators' mutual positions. In this research, virtual low-noise space was constructed using noise-canceling headphones, microphones, a TV camera, and computers.

    DOI： 10.11165/eaef.1.77

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  • Development of mobile eggplant grading robot for dynamic in-field variability sensing: Manufacture of robot and performance test Reviewed

    Vui Kiong Chong, Mitsuji Monta, Kazunori Ninomiya, Naoshi Kondo, Kazuhiko Namba, Eichi Terasaki, Takao Nishi, Tanjuro Goto

    Engineering in Agriculture, Environment and Food   1 ( 2 )   68 - 76   2008

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    Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier B.V.  

    A machine vision-based mobile eggplant grading robot was developed as a model to sense and log essential data needed for precision farming and traceability of agricultural crops. The robot consisted of battery railcar, trailer, grading mechanisms including manipulator, end-effector, machine vision and divider. Manually operated, the robot moved along crop ridges during the harvesting process with the grading mechanisms all mounted on the trailer. The robot sensed and logged the field spatial variability dynamically by grading manually harvested eggplant fruit of individual tree. This paper presents the details of manufactured robot and results of the performance test conducted. Test results showed that the robot was feasible for field spatial variability sensing in greenhouse.

    DOI： 10.1016/S1881-8366(08)80005-5

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  • An illumination system for machine vision inspection of agricultural products

    Naoshi Kondo, Kazuhiko Namba, Kentaro Nishiwaki, Peter P. Ling, Mitsuji Monta

    2006 Portland, Oregon, July 9-12, 2006   063078   2006

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    Publishing type：Research paper (international conference proceedings)   Publisher：American Society of Agricultural and Biological Engineers  

    DOI： 10.13031/2013.20882

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  • Study of Efficient Lighting Periods Based on Plant Stoma Reaction

    Kazuhiko Namba, Naoshi Kondo, Mitsuji Monta, Akira Sasao

    2006 Portland, Oregon, July 9-12, 2006   064096   2006

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    Publishing type：Research paper (international conference proceedings)   Publisher：American Society of Agricultural and Biological Engineers  

    DOI： 10.13031/2013.21116

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  • Tele-robotics in Agriculture -Tomato Harvesting Experiment-

    Monta, M, Kobayashi, K, Hirai, T, Namba, K, Nishi, T

    Agricultural and Bio-systems Engineering   2005

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  • Study of Efficient Lighting Conditions Based on Plant Stoma Reaction

    NAMBA Kazuhiko, KONDO Naoshi, MONTA Mitsuji, SASAO Akira

    Shokubutsu Kojo Gakkaishi   16 ( 4 )   165 - 172   2004.12

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    Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

    The objective of this study was to detect the plant stoma response under the lighting conditions of continuous and 1 to 15 minutes of lighting. In this study, a real-time measurement system was developed to observe a living plant stoma continuously for a long period in a growth chamber, using a microscope and a color TV camera. A video recording system was adopted to obtain details of stoma movement, and images were captured every 30 seconds. From the experimental results, it was observed that the stoma opened slowly 5 minutes after the lights were turned on, and then opened rapidly until it reached the maximum pore size. In guard cells, light stimulus activates a proton pump, the resulting hyperpolarization of the plasma membrane opens voltage-sensitive K+ channels, and then the water entering the guard cells opens the stoma after the K+ ions have entered. This process may cause 5 minutes of delay, and delay was also observed after the light was turned off. Ten minutes of lighting opened the stoma to the maximum size, as well as 5 minutes of lighting with a 30-minute interval. For better utilization of lighting, these on/off controls were suggested to give a 14% production benefit with 8.3% more energy input.

    DOI： 10.2525/jshita.16.165

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  • Microscopic Imaging Measurement of Stomatal Reaction under Environmental Condition Change

    NAMBA Kazuhiko, KONDO Naoshi, MONTA Mitsuji, SASAO Akira

    JOURNAL of the JAPANESE SOCIETY of AGRICULTURAL MACHINERY   66 ( 5 )   63 - 73   2004.9

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    Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

    The purpose of this study was to create a mathematical model for a responding process of a plant stoma to a given environmental condition aiming at plant growth control. A real-time measurement system was developed to observe a living plant stoma continuously for a long period in a growth chamber, using a microscope equipped with a color TV camera. Sixteen treatments were investigated by changing PPFD (Photosynthetic Photon Flux Density), CO2 concentration, temperature and humidity, under the condition that the light was turned on and off every 6 hours. From the experimental results, it was observed that the stoma response was drastically changed by the environmental conditions and that the transient response with the 1st-order lag element could be adopted for the stoma response in cases of a higher PPFD and higher temperature. It was also observed that the stoma widely opened at a lower CO2 concentration.

    DOI： 10.11357/jsam1937.66.5_63

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  • Measurement of Plant Stomas under Several CO_2 Conditions using Microscopic Images

    NAMBA Kazuhiko, KONDO Naoshi, MONTA Mitsuji, SASAO Akira

    Shokubutsu Kojo Gakkaishi   16 ( 2 )   41 - 49   2004.6

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    Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

    The objective of this study was to create a model of the plant stoma response process under CO2 conditions (100 to 3000ppm) after lighting. In this study, a real-time measurement system was developed to observe living plant stomas continuously for a long period in a growth chamber using a microscope and a color TV camera. Six treatments were conducted by changing the CO2 density, ranging from 100 to 3000ppm, under the conditions of a 2-hour on/off light cycle. From the experimental results, it was observed that the pore size was drastically changed in response to the CO2 conditions. Lower CO2 density caused larger-size pores under conditions of less than 1000ppm CO2 density, while the pore size was almost constant under conditions of greater density. With CO2 density of over 2000ppm, pores continued opening after 60 minutes had elapsed. The transient response with the 1 st-order lag element could well express the stoma response, and its desired value had a high correlation with CO2 density.

    DOI： 10.2525/jshita.16.41

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  • Semiautomatic planting machine based on physical properties of the rush seedling

    M Monta, J Suyama, K Namba

    JARQ-JAPAN AGRICULTURAL RESEARCH QUARTERLY   38 ( 1 )   43 - 48   2004.1

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    Language：English   Publisher：JAPAN INT RESEARCH CENTER AGRICULTURAL SCIENCES  

    The purpose of this study is to develop a planting machine for rush seedlings. In rush seedling production systems, the use of plug seedlings has been widely popularized in Japan. However, the planting operation requires a great deal of labor and takes a long time because a large quantity of seedlings that have a few main stems and a bud are individually picked from the mother plants, and are planted in a tray by manual operations. Therefore, it is desirable to introduce machinery into the planting operation,. In this paper, a semiautomatic planting machine was manufactured based on the physical properties of the rush seedling and planting experiments were carried out. The machine mainly consisted of planting unit, tray shifter, controller and air compressor. From the results of planting experiments, the success rate for planting was approximately 90%.

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  • Three dimensional sensing system using laser scanner Reviewed

    M. Monta, K. Namba, N. Kondo

    ASAE Annual International Meeting 2004   1195 - 1205   2004

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  • Harvesting Robot for Strawberry Grown on Table Top Culture (part 2) Harvesting Robot with a Suspended Manipulator under Cultivation Bed

    ARIMA Seiichi, MONTA Mitsuji, NAMBA Kazuhiko, YOSHIDA Yuichi, KONDO Naoshi

    Shokubutsu Kojo Gakkaishi   15 ( 3 )   162 - 168   2003.9

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    Language：Japanese   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

    In part 1 of this series, a harvesting robot consisting of a 5 DOF polar-coordinate manipulator, a harvesting end-effector using sucking force, a visual sensor and a traveling device was manufactured and tested with strawberry grown on table top culture. From the results, it was observed that the table top culture was a suitable cultivation method for robotic operations because there were few obstacles around the target fruits, and that harvesting using a sucking force inflicted no damage on the fruits. However, it took the robot 14 to 20 seconds to harvest a single fruit because of the complicated construction and control method of the manipulator. <BR>In this study, a cartesian coordinate manipulator suspended under the planting bed of strawberry was employed in order to simplify construction and control method of the manipulator intended for practical use. The robot was capable of moving along the planting bed without a traveling device because one prismatic joint of the manipulator played the role of a traveling device. Furthermore, depth measurement by a visual sensor was simplified because distance between the robot and the fruits was kept approximately constant by suspending the robot under the planting bed. Harvesting experiments were conducted in a greenhouse by using the manipulator equipped with an improved end-effector and a visual sensor. From the results, time required to harvest a fruit was reduced to around 10 seconds because of the simplified construction and control method of the manipulator.

    DOI： 10.2525/jshita.15.162

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  • Three-dimensional sensing system for agricultural robots Reviewed

    M Monta, K Namba

    PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2   1216 - 1221   2003

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    Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    A three-dimensional sensing system that consisted of a laser scanner and a lift was developed for agricultural robot to capture precise external information. The laser scanner was moved vertically by the lift to collect three-dimensional distance information around the robots. In the experiments by using a laser scanner and a color camera, each tomato fruit in a same cluster was discriminates successfully. Furthermore, the sensing system detected not only objects but also human motion around a robot when infrared sensors were added to the sensing system.

    Web of Science

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  • Robotic Vision for Bioproduction Systems

    Mitsuji Monta, Naoshi Kondo, Seiichi Arima, Kazuhiko Namba

    Journal of Robotics and Mechatronics   2003

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  • 農業分野におけるテレロポの試み:トマト収穫を対象とした基礎実験

    門田 充司, 橋本 幸太, 三竿 暢広, 毛利 健太郎, 難波 和彦, 西 卓郎

    農業機械学会誌   65   419 - 420   2003

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    Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

    DOI： 10.11357/jsam1937.65.Supplement_419

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  • External Sensing System for Human Cooperative Agricultural Robots. Part 1. Sensing System using Laser Scanner.

    門田充司, 鐘ケ江修司, 毛利建太郎, 難波和彦, 近藤直

    植物工場学会誌   14 ( 1 )   2002

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  • External Sensing System for Human Cooperative Agricultural Robots. (Part 2). Discrimination of Human Bodies and Obstacle Avoidance Control of Manipulator.

    門田充司, 鐘ケ江修司, 毛利建太郎, 難波和彦, 近藤直

    植物工場学会誌   14 ( 2 )   2002

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  • Effective Utilization of Natural Energy in Agriculture : Use of Solar Energy for Heating a Seedling Greenhouse at Night

    ELBATAWI Ibrahim E. A., MOHRI Kentaro, NAMBA Kazuhiko

    Journal of the Japanese Society of Agricultural Technology Management   5 ( 2 )   1 - 6   1998

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    Language：English   Publisher：Japanese Society of Agricultural Technology Management  

    The temperature at night in the spring in Okayama City is under 20 ℃ the majority of the fine which is not adequate in order to germinate certain vegetable seeds. In order to promote germination and seedling growth at night, a heating system for a seedling greenhouse was constructed for this study. The above system is composed of a solar collector, a storage tank and a heat exchanger. The performance of the solar collector and heat exchange methods were tested and it was found that there was sufficient solar energy for heating a seedling greenhouse overnight. The quantity of heat delivery that was collected from solar radiation via a solar collector was approximately 50% per day. Pumpkin, eggplant, and tomato seeds were used in this study, and the promotion of germination was observed for all seeds in heating greenhouse (A) at night.

    DOI： 10.20809/seisan.5.2_1

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  • Study on Drying of Lavers Using Far-infrared Ray (Part 2) : Effect of Drying Item on Dried Laver Qualities

    LIU Huoqing, MOHRI Kentaro, NAMBA Kazuhiko

    Journal of the Japanese Society of Agricultural Technology Management   4 ( 2 )   55 - 60   1997

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    Language：Japanese   Publisher：Japanese Society of Agricultural Technology Management  

    It is the object of this study to find a method of high quality drying by far-infrared ray. This paper clarified the relationship between the chromatic properties of surface and the qualities on the dried lavers. The dried lavers had a high correlation between the grading and the chromatic properties of surface in the hue and luster values. Therefore, it was considered that the values of hue and luster can be used for the grading of dried lavers. A drying apparatus with the bar heater of far-infrared ray, was prepared for this experiment and the effects of the drying factors were analyzed. The surface temperatures of far-infrared heater and the air flow on the laver surface are the important factors for producing high quality lavers, and their combinations of drying conditions were clarified by this research.

    DOI： 10.20809/seisan.4.2_55

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  • Study on Bruise Detection on Apples Using Color Image

    CHEN Yong Bo, MOHRI Kentaro, NAMBA Kazuhiko

    Journal of the Japanese Society of Agricultural Technology Management   4 ( 2 )   19 - 28   1997

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    Language：English   Publisher：Japanese Society of Agricultural Technology Management  

    The possibilities of bruise detection on fruits by color images were analyzed by using two kinds of apples (Fuji and Oorin). Six kinds of colorimetric systems {RGB, HIS, Lab, xy, rg and U^*V^*W^*) were calculated by the tristimulus color theory on a camera after measuring the spectral reflections on apples. The bruises on Oorin apples could be easily classified by using RGB, XYZ, HIS, Lab, rg or U^*V^*W^*. On the other hand, it was difficult to detect the bruises on the Fuji apples.

    DOI： 10.20809/seisan.4.2_19

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  • Study on Drying of Lavers Using Far-infrared Ray

    LIU Huoqing, MOHRI Kentaro, NAMBA Kazuhiko

    Journal of the Japanese Society of Agricultural Technology Management   3 ( 2 )   31 - 35   1996

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    Language：Japanese   Publisher：Japanese Society of Agricultural Technology Management  

    This report describes drying methods for laver so that it can dry with high quality and efficiency. A far-infrared drying equipment was made with a bar heater. The drying characteristics of laver were tested by this epuipment. The following results were obtained, 1. During laver drying,the wave lengths which are selectively absorbed by the lavers existed in emitted far-infrared rays. 2. The constant drying rate and the falling drying rate periods clearly appeared in the drying characteristics of lavers. The constant drying rate period was an effective period in order to decrease the drying times. 3. The drying of lavers needed an air stream flowing along on the laver surface. The optimum velocity of the air stream was 0.75 m/s, and the drying times were shorter on the laver surface to circulate the air of drying room.

    DOI： 10.20809/seisan.3.2_31

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  • EFFECT OF MAGNETIC FIELD ON GERMINATION AND PLANT GROWTH

    K. Namba, A. Sasao, S. Shibusawa

    Acta Horticulturae   ( 399 )   143 - 148   1995.3

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    Publishing type：Research paper (scientific journal)   Publisher：International Society for Horticultural Science (ISHS)  

    DOI： 10.17660/actahortic.1995.399.15

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Books

  • ファイテクHow to みる・きく・はかる －植物環境計測－

    養賢堂  2002 

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  • ファイテクHow to みる・きく・はかる －植物環境計測－

    養賢堂  2002 

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  • ファイテクHow to みる・きく・はかる －植物環境計測－

    養賢堂  2002 

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  • ファイテクHow to みる・きく・はかる －植物環境計測－

    養賢堂  2002 

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  • ファイテクHow to みる・きく・はかる －植物環境計測－

    養賢堂  2002 

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MISC

  • 第14回農業食料工学会論文賞（研究論文）受賞論文梗概

    坪田将吾, 難波和彦, 深津時広

    農業食料工学会誌   85 ( 6 )   340 - 341   2023.12

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  • Research on Safety Systems of Agricultural Robots: Robot Arm Control Based on Degree of Danger

    Nodoka TAMEKUNI, Mitsuji MONTA, Kazuhiko NAMBA

    Report of Kansai Society of Agricultural Machinery and Food Engineerings   ( 134 )   19   2023.6

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  • Research on Safety Systems of Agricultural Robots: Robot Arm Control Based on Degree of Danger

    Ai SHIOGAMA, Mitsuji MONTA, Kazuhiko NAMBA

    Report of Kansai;Society of Agricultural Machinery;Food Engineerings   ( 134 )   20   2023.6

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  • Color Information, Sugar Content and Acidity in Determining Ripeness of Grape ‘Aurora Black’

    Mako FUJIKAWA, Kazuhiko NAMBA, Mitsuji MONTA

    Report of Kansai Society of Agricultural Machinery and Food Engineerings   ( 134 )   45   2023.6

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  • Measurement of strawberry leaf area in Green House using Camera Image

    Hideaki TOKUDOME, Shogo TSUBOTA, Kazuhiko NAMBA, Mitsuji MONTA

    Report of Kansai Society of Agricultural Machinery and Food Engineerings   ( 133 )   35 - 36   2023.2

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  • シイタケの光と影 Invited

    難波和彦, 門田充司

    機械化農業   2022 ( 8 )   33 - 39   2022.8

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    Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (trade magazine, newspaper, online media)  

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  • 画像による家庭用モモ出荷基準の検討

    田窪美帆, 門田充司, 難波和彦

    関西農業食料工学会会報   ( 132 )   47   2022.6

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  • Ripeness Measurement of Grapes on the Vine

    ( 132 )   49   2022.6

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  • YOLOv3の物体検出を用いた促成栽培イチゴ果実の生長計測

    勝部史也, 門田充司, 難波和彦

    関西農業食料工学会会報   ( 132 )   45   2022.6

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  • 促成栽培イチゴハウスでの画像による花の数計測

    徳留英明, 淺川瑞月, 門田充司, 難波和彦, 坪田将吾

    関西農業食料工学会会報   ( 132 )   48   2022.6

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  • 農業ロボットの安全システムに関する研究 -ロボット制御シミュレーションによる危険度の検討-

    塩釜愛, 門田充司, 難波和彦

    関西農業食料工学会会報   ( 130 )   20   2021.6

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  • 大規模トマト生産施設における収穫ロボットの開発—安全システムのための3次元距離センサによる人間の検出—

    瀬戸川友章, 門田充司, 難波和彦

    関西農業食料工学会会報   ( 128 )   22   2020.6

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  • ザンビア共和国ムピカ郡農村部における農業の現状と課題

    岡田晃治, 難波和彦, 門田充司

    関西農業食料工学会会報   ( 128 )   53   2020.6

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  • ザンビア共和国におけるJICAのプロジェクトと青年海外協力隊事業について

    岡田晃治, 難波和彦, 門田充司

    関西農業食料工学会会報   ( 127 )   2020.2

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  • 広島県生口島のウンシュウミカン生産現場の現状と今後の課題

    藤本晟生, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 126 )   12   2019.6

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  • 大規模トマト生産施設における収穫ロボットの開発—3次元距離センサによる果房内果実の分離—

    陣内瞭輔, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 126 )   31   2019.6

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  • 香川県三豊市高瀬町における茶産業の現状と課題

    齋藤亘, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 126 )   13   2019.6

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  • 促成栽培イチゴの生育制御に資する生体センシングシステムの構築—センシング指標の検討—

    茨木昭年, 坪田将吾, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 126 )   56   2019.6

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  • 岡山県内農業機械製造メーカへの農作業の安全に対する意識調査

    奥山真由, 門田充司, 難波和彦

    関西農業食料工学会会報   ( 126 )   11   2019.6

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  • 促成栽培イチゴの成育制御に資する生体センシングシステムの構築-効果的な成育指標とセンシングに向けた課題-

    坪田将吾, 深津時広, 内藤裕貴, 太田智彦, 難波和彦

    農業食料工学会年次大会講演要旨   2019   2019

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    Language：Japanese   Publishing type：Research paper, summary (national, other academic conference)  

    J-GLOBAL

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  • シイタケ菌床栽培環境の最適化—子実体発生における照射光の影響—

    竹内理人, 門田充司, 難波和彦, 柏野泰章

    農業食料工学会関西支部報   ( 124 )   2018.6

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  • 大規模トマト生産施設における収穫ロボットの開発—3次元距離センサを用いた収穫対象果実の識別—

    南 駿, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 122 )   2017.6

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  • シイタケ菌床栽培環境の最適化—子実体発生における光照射時間の影響—

    峯尾敏弘, 門田充司, 難波和彦, 柏野泰章

    農業食料工学会関西支部報   ( 122 )   2017.6

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  • 大規模トマト生産施設における収穫ロボットの開発—ガクを離脱させない収穫用エンドエフェクタの試作—

    陣内瞭輔,門田充司,難波和彦

    農業食料工学会関西支部報   ( 122 )   2017.6

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  • 大規模トマト生産施設における収穫ロボットの開発—3次元距離センサを用いた収穫対象果実の検出—

    南 駿, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 121 )   2017.2

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  • キクの黄斑発生に関わる環境条件の検討 ─ ほ場での計測と定量化 ─

    田中正浩, 門田充司, 難波和彦, 後藤丹十郎

    農業食料工学会関西支部報   ( 120 )   2016.6

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  • 未利用再生可能エネルギの有効利用に関する研究— 剪定木堆肥化時に発生する二酸化炭素について—

    井上和也, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 120 )   2016.6

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  • 大規模トマト生産施設における収穫ロボットの開発 ─ パターンマッチングによる果実認識 ─

    中村大輔,門田充司,難波和彦

    農業食料工学会関西支部報   ( 120 )   2016.6

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  • 高齢・障がい者のための農作業の軽労化技術の開発 ─ 知的障害者を対象とした耕耘機の改良 ─

    綾野宏紀, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 120 )   2016.6

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  • Optimization of Sawdust-Based Shiitake (Lentinula edodes) Cultivation Environment - Control of Fruit Body Development -

    ( 119 )   63 - 66   2016.2

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  • Influence of Environmental Conditions on the Chrysanthemum Leaf Yellow Spot - Under the Field Environment -

    Masahiro TANAKA, Kazuhiko NAMBA, Mitsuji MONTA, Tanjuro GOTO

    ( 119 )   67 - 70   2016.2

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  • Development of Labor-saving Technologies of Farmwork for the Aged and Intellectually Disabled People - Improvement of the Tiller Operation -

    Kouki AYANO, Mitsuji MONTA, Kazuhiko NAMBA

    ( 119 )   29 - 32   2016.2

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  • シイタケ菌床栽培環境の最適化 −光照射タイミングの検討−

    岡田晃治,難波和彦,門田充司,柏野泰章

    農業環境工学関連5学会2015年合同大会講演要旨集   2015.9

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  • キクの黄斑発生に関わる環境条件の検討 −温度の影響−

    田中正浩, 難波和彦, 門田充司, 後藤丹十郎

    農業環境工学関連5学会2015年合同大会講演要旨集   2015.9

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  • 大規模トマト生産施設における収穫ロボットの開発 −画像によるガクの位置推定−

    中村大輔, 門田充司, 難波和彦

    農業環境工学関連5学会2015年合同大会講演要旨集   2015.9

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  • 大規模トマト生産施設における収穫ロボットの開発 −3次元距離センサによる果実の認識−

    南 駿, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 118 )   9   2015.6

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  • 未利用再生可能エネルギの有効利用に関する研究 −剪定木堆肥化時の発酵熱について−

    佐藤元紀, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 118 )   38   2015.6

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  • 透過光を用いた画像による白桃の内部品質評価 −近赤外線による赤肉症の判別−

    山元冴人, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 118 )   57   2015.6

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  • シイタケ菌床栽培環境の最適化 −光照射方法の検討−

    岡田晃治, 門田充司, 難波和彦, 柏野泰章

    農業食料工学会関西支部報   ( 118 )   36   2015.6

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  • 障がい者の農業参入支援を目的とした農業機械の改良

    和田奈々, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 118 )   17   2015.6

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  • 大規模トマト生産施設における収穫ロボットの開発 —エンドエフェクタと視覚アルゴリズムの検討—

    篠原正旭, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 118 )   7   2015.6

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  • キクの黄斑発生に関わる環境条件の検討 −積算光量による評価−

    福守純弥, 門田充司, 難波和彦, 後藤丹十郎

    農業食料工学会関西支部報   ( 118 )   35   2015.6

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  • キクの黄斑発生に関わる環境条件の検討 −黄斑度の定量化−

    田中正浩, 難波和彦, 門田充司, 後藤丹十郎

    農業食料工学会関西支部報   ( 117 )   64 - 67   2015.2

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  • 3次元距離センサによる作業者の検出と追跡

    中村大輔, 門田充司, 難波和彦

    農業食料工学会関西支部報   ( 117 )   48 - 51   2015.2

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  • 農産物のトレーサビリティを構築するロボットシステム

    門田充司, 難波和彦

    システム制御情報学会研究発表講演会講演論文集(CD-ROM)   57th   2013

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  • キクの黄斑発生を軽減する物質の探索

    四谷亮介, 後藤丹十郎, 森美由紀, 難波和彦, 江口直輝, 吉田裕一

    園芸学研究 別冊   12 ( 1 )   2013

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  • キクの黄斑発生に関わる環境条件の検討-初期黄斑の計測-

    江口直輝, 難波和彦, 門田充司, 後藤丹十郎

    農業環境工学関連学会合同大会講演要旨集(CD-ROM)   2012   2012

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  • 1A1-A01 Tomato harvesting robot in large scale greenhouses : Improvement of End-effector(Robotics and Mechatronics in Agriculture)

    HORIKE Ryuichi, MONTA Mitsuji, NAMBA Kazuhiko, YAMAMOTO Chikahumi

    2011   "1A1 - A01(1)"-"1A1-A01(3)"   2011.5

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    A tomato harvesting robot to work in large scale greenhouse has been studied by our research group. This robot harvested a fruit by bending its stem instead of by cutting the stem. Some fruits without calyx were harvested by the robot, although tomato fruit with calyx for fresh market are sold in Japan. To solve this problem, in this study, a harvesting end-effector was improved to harvest a fruit with calyx.

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  • ナスを対象とした移動型選果ロボット －ICタグを用いた株の識別－

    山本親史, 門田充司, 難波和彦, 後藤丹十郎

    農業機械学会関西支部報   ( 109 )   28 - 31   2011

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  • 土壌水分量の空間的計測に関する研究 －MOTEを使ったデータログ－

    坪田将吾, 難波和彦, 門田充司

    農業機械学会関西支部報   ( 109 )   8 - 11   2011

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  • 土壌水分量の空間的計測に関する研究-多点計測用センサの検討-

    坪田将吾, 難波和彦, 門田充司

    日本生物環境工学会大会講演要旨   2011   2011

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  • 画像を用いたパン生地体積の計測

    大田真平, 門田充司, 難波和彦, 藤井久美子

    日本生物環境工学会大会講演要旨   2011   2011

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  • キクの黄斑発生に関わる環境条件の検討-黄斑の計測方法-

    江口直輝, 難波和彦, 門田充司, 後藤丹十郎

    日本生物環境工学会大会講演要旨   2011   2011

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  • Effect of dough preparating-conditions on expansion properties in using rice flour by impact type-crushing

    Fujii Kumiko, Oota Shinpei, Nanba Kazuhiko, Kasai Yaeko

    Abstracts of the Annual Meeting of the Japan Society of Cookery Science   22   159 - 159   2010

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    DOI： 10.11402/ajscs.22.0.159.0

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  • 1A1-B05 Mobile eggplant grading robot : Discriminating experiment of plants by using IC tags

    YAMAMOTO Chikafumi, MONTA Mitsuji, NAMBA Kazuhiko, GOTO Tanjuro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2010   _1A1 - B05_1-_1A1-B05_3   2010

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    In the progress of precision farming, it is very important to collect variety of information on crops and field. In this study, we developed a prototype mobile eggplant grading robot in order to get information that be used for presentation of better way on cultivation. This robot can collect and accumulate the fruit's features information and location information at the same time while harvesting. After the field test experiment, a prototype mobile eggplant grading robot has achieved its purpose which was acquiring and storing information in real time and has created field spatial maps from the information. In the previous experiments, a rotary encoder was used in order to discriminate plant location based on the distance from the start point of the robot. However, the detecting error of the distance increased in proportion to the travelling distance of the robot because of the slip of the rotary encoder. In this paper, the robot discriminated plants by using IC tags attached to individual plants and a transmitter-receiver mounted on the robot. From the results, the robot could discriminate individual plants correctly.

    DOI： 10.1299/jsmermd.2010._1A1-B05_1

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  • Measurement and analysis of fog flow in plastic greenhouse

    Scientific Reports of the Faculty of Agriculture, Okayama University   98   39 - 45   2009.2

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    This paper deals with measurement and analysis of fog flow in a greenhouse. In this study we applied a gas-liquid two phase flow spray and a pesticide spray using new technology such as a non-heating fog carrier, in order to prevent desease and insects in agricultural operations. Spray particle density was analyzed by a new method using an air sampler, and the behavior of fog particles in the space was studied. The following results were obtained,1. The spray particles were within a size of 15 ~ 30μm and the behavior of these particles were clarified in this experiment.2. The floating time after spray of particles, and the diffusing performance of spray particles in the greenhouse were clearly observed, tracked and recorded in this experiment.3. Effective methods of pesticide application in greenhouse were discovered in this study.

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    Other Link： http://ousar.lib.okayama-u.ac.jp/14485

  • Mobile eggplant grading robot-Construction and Evaluation of Prototype-

    寺崎栄一, CHONG Vui Kiong, 門田充司, 難波和彦, 後藤丹十郎, 二宮和則, 近藤直

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2008   _2A1 - B05_1-_2A1-B05_3   2008

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    In the progress of precision farming, it is very important to collect variety of information on crops and field. In this study, we developed a prototype mobile eggplant grading robot in order to get information that be used for presentation of better way on cultivation. This robot can collect and accumulate the fruit's features information and location information at the same time while harvesting. After the field test experiment, a prototype mobile eggplant grading robot has achieved its purpose which was acquiring and storing information in real time and has created field spatial maps from the information. These maps could be useful for site-specific management which contribute to cost saving and pollution reduction.

    DOI： 10.1299/jsmermd.2008._2A1-B05_1

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  • 光強度を変化させた間欠照明方法によるサラダナ栽培環境の最適化

    難波和彦, 門田充司

    日本生物環境工学会大会講演要旨   2008   2008

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  • 4232 Construction of Virtual Low-Noise Space for Safety and Comfortable Work under Noisy Environment

    SHIIGI Tomoo, KONDO Naoshi, TANIWAKI Shigemune, NINOMIYA Kazunori, NISHI Takao, KURITA Mitsutaka, NANBA Kazuhiko

    The proceedings of the JSME annual meeting   2007   475 - 476   2007

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    Many types of mechanized facilities have been constructed at many places in the world. Although automated systems have been introduced in the facilities to substitute human operators, there are many facilities where operators are forced to work under high noise and unsafe conditions from the mechanical systems. In this research, a speech and noise-sensing and reduction system was constructed and a virtual space was created with noise canceling headphones, microphones, a TV camera, and a host computer. The headphones reduced noise by providing inverse phase of the noise. Operators' speech signals including noise signals were collected by microphones at their mouths and were sent to the host computer from operators' small PCs through wireless LAN. The operators' positions on floor were measured by a TV camera installed on the ceiling of facility. The speech signals were sent back to individual operators' headphones after the speech levels were amplified based on the operators' positions, while the noise from the microphones was reduced by a method of spectral signal subtraction. An operator could hear the other operator's speeches in the virtual low-noise space according to their distances.

    DOI： 10.1299/jsmemecjo.2007.5.0_475

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  • 1A1-G03 Mobile Eggplant Grading Robot : Construction of prototype and field test

    CHONG Vui Kiong, MONTA Mitsuji, NINOMIYA Kazunori, KONDO Naoshi, NAMBA Kazuhiko, NISHI Takao, GOTO Tanjuro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2007   _1A1 - G03_1-_1A1-G03_4   2007

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    Precision Farming practices that required GIS and GPS system are too costly and impractical for small-scale farm. However, site-specific management is still necessary as it contribute in reducing the operation cost and also over usage of pesticides chemicals. A new approach in generating yield and quality map for small scale farm using mobile grading robot has been carried out. A prototype mobile eggplant grading robot was constructed and field test was done. The mobile robot consists of a battery railcar with the grading unit trailer hauled behind. Eggplant fruits were harvested manually and passed to the grading robot. Features information of the eggplant was taken simultaneously with the harvesting location information to create field variability map. Observations found that the constructed prototype robot was capable of accumulating the field variability information during the field test.

    DOI： 10.1299/jsmermd.2007._1A1-G03_1

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  • Tomato Harvesting Robot in Large Scale Greenhouses-End-effector and External Sensing System-

    門田充司, 西崎典子, 濱田聡, 難波和彦, 陶山純, 本荘絵未, 久枝和昇, 西卓郎, 近藤直, 藤原久永

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2007   _1A1 - G02_1-_1A1-G02_4   2007

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    Recently, large scale greenhouses of tomato are constructed in Japan. The environments of the greenhouses are suitable for robotic operations because equipments and planting system are standardized. In this study, a harvesting end-effector which consisted of four fingers and a suction cup was manufactured and tested. Furthermore, external sensing systems to detect fruits at harvesting stage and to monitor human motion for a safety operation.

    DOI： 10.1299/jsmermd.2007._1A1-G02_1

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  • Construction of Virtual Low-Noise Space for Safety and Comfortable Work under Noisy Environment

    椎木友朗, 近藤直, 谷脇滋宗, 二宮和則, 西卓郎, 栗田充隆, 難波和彦

    日本機械学会年次大会講演論文集   2007 ( Vol.5 )   2007

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  • 大規模施設におけるトマト収穫ロボットの開発

    門田充司, 濱田聡, 陶山純, 本荘絵未, 西卓郎, 久枝和昇, 近藤直, 藤原久永, 難波和彦

    日本生物環境工学会大会講演要旨   2007   2007

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  • トマト収穫ロボットのための果実の3次元相対位置認識アルゴリズム

    西卓郎, 門田充司, 難波和彦, 陶山純, 本荘絵未, 久枝和昇

    日本生物環境工学会大会講演要旨   2007   2007

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  • サラダナの光合成応答に基づく間欠照明方法の検討

    難波和彦, 門田充司

    日本生物環境工学会大会講演要旨   2007   2007

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  • Mobile Eggplant Grading Robot - Trial Manufacture of Components -

    V.K.Chong, M.Monta, K.Ninomiya, N.Kondo, K.Namba, T.Nishi

    Proceedings of 3rd IFAC International Workshop on Bio-Robotics, Information Technology and Intelligent Control for Bioproduction Systems   2006

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  • 2A1-B11 Tomato Harvesting Robot in Large Scale Greenhouse : Outline of Harvesting Robot System

    MONTA Mitsuji, NISHIZAKI Noriko, HAMADA Satoshi, NAMBA Kazuhiko

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2006   _2A1 - B11_1-_2A1-B11_4   2006

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    Recently, large scale greenhouses of tomato are constructed in Japan. The environments of the greenhouses are suitable for robotic operations because equipments and planting system are standardized. In this study, an outline of a tomato harvesting robot system is described and a potential for the practical use of the harvesting robot is discussed.

    DOI： 10.1299/jsmermd.2006._2A1-B11_1

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  • Tomato Harvesting Robot in Large Scale Greenhouse

    門田充司, 濱田聡, 西崎典子, 難波和彦, 陶山純, 久枝和昇, 西卓郎, 藤原久永

    日本ロボット学会学術講演会予稿集(CD-ROM)   24th   2006

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  • Measurement of photosynthetic rate and stomatal reaction of a plant

    伊藤祐介, 難波和彦, 門田充司

    日本ロボット学会学術講演会予稿集(CD-ROM)   24th   2006

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  • 2A1-B12 Mobile Eggplant Grading Robot : Fundamental experiments of basic components

    Chong Vui Kiong, Monta Mitsuji, Namba Kazuhiko, Ninomiya Kazunori, Kondo Naoshi

    2006   "2A1 - B12(1)"-"2A1-B12(4)"   2006

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    The practice of tracking and analyzing foods from farm to market, food traceability, has been well accepted by both producers and consumers. This system could assure a safe and sufficient food supply. In line with this, a mobile eggplant grading robot was proposed to fulfill the flow of information in food traceability. The robot, which travels together with a human worker inside the greenhouse while harvesting, was expected capable of generating yield and quality map the end of the grading process utilizing information collected during the grading process. Partly of the prototype robot was constructed and fundamental experiments of basic components were conducted in this study. Results showed that objective of these constructed basic component were achieved, which was transferring the fruit from the turntable and place on a rotary tray follow by turning the fruit 180 degree presenting the fruit to a machine vision system mounted on top of it.

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  • 農業分野におけるテレロボティクス －ロボットシステムの改良－

    門田充司, 平位拓也, 小林幸司, 難波和彦, 西 卓郎

    農業機械学会関西支部報   2005

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  • 2P1-S-001 Hyperspectral analysis based defect detection for eggplant fruit(Agriculture Robot and Mechatronics 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    ChongVui Kiong, Kondo Naoshi, Ninomiya Kazunori, Monta Mitsuji, Nishi Takao, Namba Kazuhiko

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2005   206 - 206   2005

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    DOI： 10.1299/jsmermd.2005.206_1

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  • Tele-robotics in Agriculture -Data collecting and Harvesting Robots-

    Y.Han, M.Monta, K.Namba, T.Nishi

    Proceedings of First Asian Conference on Precision Agriculture (CD-ROM)   137 - 142   2005

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  • Defects detection of eggplant fruit using multi spectral images Reviewed

    V.K. Chong, N. Kondo, K. Ninomiya, M. Monta, K. Namba

    Proceedings of the SICE Annual Conference   2381 - 2384   2005

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  • 2A1-S-005 Tele-robotics for Agriculture : Tomato Harvesting Experiment(Agriculture Robot and Mechatronics 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Monta Mitsuji, Namba Kazuhiko, Nishi Takao

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2005   164 - 164   2005

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    DOI： 10.1299/jsmermd.2005.164_1

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  • Near Infrared-Color Imaging for Detection of Eggplant Bruises and Diseases

    Chong V, Monta M, Kondo N, Namba K

    2004   205 - 205   2004.6

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  • 農業分野におけるテレロボティクス－ロボットシステムの改良－

    門田充司, 平位拓也, 小林幸司, 難波和彦, 西 卓郎

    農業機械学会関西支部報   2004

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  • 選別システムにおけるロボット化の現状(農業ロボットの最前線,W16 ロボティクス・メカトロニクス部門企画)

    近藤 直, 難波 和彦

    年次大会講演資料集   2004   458 - 459   2004

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    Language：Japanese   Publisher：一般社団法人 日本機械学会  

    DOI： 10.1299/jsmemecjsm.2004.8.0_458

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  • Defect detection of eggplant fruit by using machine vision systems

    V.K.Chong, N.Kondo, K.Ninomiya, M.Monta, K.Namba

    Proceedings of The Second International Symposium on Machinery and Mechatronics for Agriculture and Bio-systems Engineering (CD-ROM)   ( S1-2C04 )   2004

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  • Defect Detection on Eggplant Fruit by NIR-Color TV Camera

    N.Kondo, M.Monta, V.K.Chong, K.Namba

    EuroAgEng   CD-ROM   2004

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  • Comparison on eggplant fruit grading between nir-color camera and color camera Reviewed

    V.K. Chong, N. Kondo, K. Ninomiya, M. Monta, K. Namba

    Proceedings of the International Conference on Automation Technology for Off-road Equipment, ATOE 2004   387 - 393   2004

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  • 植物工場用ロボット(農業ロボットの最前線,W16 ロボティクス・メカトロニクス部門企画)

    難波 和彦, 近藤 直

    年次大会講演資料集   2004   456 - 457   2004

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    DOI： 10.1299/jsmemecjsm.2004.8.0_456

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  • 選別システムにおけるロボット化の現状

    近藤直, 難波和彦

    日本機械学会年次大会講演論文集   2004 ( Vol.8 )   2004

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  • 植物気孔の光応答に関するモデリング

    重松健太, 難波和彦, 門田充司

    日本農業気象学会全国大会日本生物環境調節学会大会合同大会講演要旨   2004   2004

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  • 光環境による植物気孔開孔制御

    難波和彦, 近藤直, 門田充司, 笹尾彰, 重松健太

    日本農業気象学会全国大会日本生物環境調節学会大会合同大会講演要旨   2004   2004

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  • 植物気孔の二酸化炭素濃度に対する応答とその開度予測

    難波和彦, 門田充司

    農業機械学会年次大会講演要旨   63rd   2004

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  • 植物工場用ロボット

    難波和彦, 近藤直

    日本機械学会年次大会講演論文集   2004 ( Vol.8 )   2004

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  • Terminal Velocity of Fluidizing Grains in a Vertical Pipe

    92   57 - 61   2003.2

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    It is necessary to know the characteristics of grain when grain is transferred and processed. In this research, in order to clarify the fundamental flow characteristics of grain, the flow state in a vertical pipe was investigated. Brown rice, BB shot (pellets) "BB's" and soybean were fluidized by the air style. We determined minimum fluidization velocity and terminal velocity, recorded the flow state, and observed the flow state with a video camera. The results of the experiment were as follows:1) Minimum fluidization wind velocities were 1.6-2.1m/s in soybean, and 1.2-1.7m/s in BB's. This might be because of the shapes of soybean and BB's.2)A fountain state appeared in brown rice, but not in either soybean or BB's. This might be because of the shapes of soybean and BB's.3)Terminal velocity was 6.8m/s in brown rice, 9.5m/s in BB's, and 12.2m/s in soybean respectively.

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    Other Link： http://ousar.lib.okayama-u.ac.jp/10594

  • 光量変化に対する植物気孔の動的解析

    毛利建太郎, 門田充司, 難波和彦, 南 豊

    農業機械学会誌関西支部報   2003

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  • 常温煙霧機における静電散布の有効性

    毛利建太郎, 濱田聡, 高雄, 門田充司, 難波和彦

    農業機械学会誌関西支部報   2003

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  • 農業分野におけるテレロボの試み－外界センシングシステム－

    門田充司, 橋本幸太, 三竿暢弘, 毛利建太郎, 難波和彦, 西 卓郎

    農業機械学会誌関西支部報   2003

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  • 鉛直管内穀粒の流動化について－均一流動化前の状態について－

    塔娜, 毛利建太郎, 門田充司, 難波和彦

    農業機械学会誌関西支部報   2003

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  • 遠隔操作型防除システムの開発

    難波和彦, 毛利建太郎, 門田充司, 鈴木雄一, 藤澤善久

    農業機械学会誌関西支部報   2003

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  • 精米と食味に関する研究

    毛利建太郎, 門田充司, 難波和彦, 平井拓也, 張 蘊, 三上隆司, 川上晃司

    農業機械学会誌関西支部報   2003

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  • トマト収穫多指ハンド

    毛利建太郎, 門田充司, 難波和彦, 小林幸司

    農業機械学会誌関西支部報   2003

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  • 農業分野におけるテレロボティクス －外界センシングシステム－

    門田充司, 三竿暢広, 毛利建太郎, 難波和彦, 西 卓郎

    農業機械学会誌関西支部報   2003

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  • 農業分野におけるテレロボティクス －インターネット回線を利用したロボット制御－

    門田充司, 橋本幸太, 毛利建太郎, 難波和彦, 西 卓郎

    農業機械学会誌関西支部報   2003

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  • Teleoperating Robotics in Agriculture : Experiment of tomato harvesting

    Monta M., Namba K., Nishi T.

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2003   43 - 43   2003

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    DOI： 10.1299/jsmermd.2003.43_1

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  • Terminal Velocity of Fluidizing Grains in a Vertical Pipe.

    TANA, 毛利建太郎, 難波和彦, 門田充司

    岡山大学農学部学術報告   92   2003

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  • Agricultural Teleoperating Robot System to Accumulate Information

    門田充司, 難波和彦, 西卓郎

    日本ロボット学会学術講演会予稿集(CD-ROM)   21st   2003

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  • 農業分野におけるテレロボの試み-トマト収穫を対象とした基礎実験-

    門田充司, 橋本幸太, 三竿暢広, 毛利健太郎, 難波和彦, 西卓郎

    農業機械学会年次大会講演要旨   62nd   2003

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  • 農業用テレロボティクスの研究-トマト収穫実験-

    門田充司, 難波和彦, 西卓郎

    日本農業気象学会全国大会日本生物環境調節学会大会合同大会講演要旨   2003   2003

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  • External Sensing System for Human Cooperative Agricultural Robots (Part 2) : Discrimination of Human Bodies and Obstacle Avoidance Control of Manipulator

    MONTA Mitsuji, KANEGAE Shuji, MOHRI Kentaro, NAMBA Kazuhiko, KONDO Naoshi

    Shokubutsu Kojo Gakkaishi   14 ( 2 )   104 - 111   2002.6

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    Language：Japanese   Publisher：JAPANESE SOCIETY OF AGRICULTURAL, BIOLOGICAL AND ENVIRONMENTAL ENGINEERS AND SCIENTISTS  

    In part 1 of this series, a sensing system consisting of a laser scanner and infrared sensors was manufactured and tested. The laser scanner was moved up and down by a lift to obtain a three-dimensional distance data, and the infrared sensors were used to detect the presence of human.<BR>In this paper, an algorithm for discriminating human bodies was investigated. From the results, discrimination was achieved even when human bodies overlapped each other crosswise with some distance between them.<BR>Furthermore, manipulator control experiments for obstacle avoidance were carried out to confirm effectiveness of the sensing system. First, the distances and the shapes of objects around a robot were measured by the laser scanner, and an avoidance motion of manipulator decided. Secondly, the manipulator moved while avoiding the object. The degree of danger was calculated when infrared sensors detected a human body around the robot, which then triggered adjustment of the speed of manipulator tip. From the experimental results, the manipulator avoided obstacles within its operating area and changed its speed according to the value of degree of danger.

    DOI： 10.2525/jshita.14.104

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  • RADARSAT画像による児島湾干拓地における水田調査

    毛利建太郎, 宮崎武志, 門田充司, 難波和彦

    農業機械学会誌関西支部報   2002

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  • キュウリ収穫ロボットの研究―2号機による収穫実験―

    門田充司, 光永賢一郎, 毛利建太郎, 難波和彦, 有馬誠一

    農業機械学会誌関西支部報   2002

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  • 高設栽培イチゴ収穫ロボットの研究 ―フック式エンドエフェクタを用いた収穫実験―

    門田充司, 山下福海, 毛利建太郎, 難波和彦, 吉田裕一, 有馬誠一

    農業機械学会誌関西支部報   2002

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  • 農業分野におけるテレロボの試み

    門田充司, 橋本幸太, 三竿暢弘, 毛利建太郎, 難波和彦, 西 卓郎

    農業機械学会誌関西支部報   2002

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  • 農業分野におけるテレロボの試み インターネット回線を利用したロボット制御

    門田充司, 橋本幸太, 三竿暢広, 毛利健太郎, 難波和彦, 西卓郎

    農業機械学会年次大会講演要旨   61st   2002

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  • 植物気孔運動のモデリング 光源点灯をステップ入力とした過渡応答モデルについて

    難波和彦, 谷川純一, 毛利建太郎, 門田充司

    農業機械学会年次大会講演要旨   61st   2002

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  • 農業用テレロボティクスに関する研究

    門田充司, 橋本幸太, 三竿暢広, 毛利建太郎, 難波和彦, 西卓郎

    日本農業気象学会全国大会日本生物環境調節学会大会合同大会講演要旨   2002   2002

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  • キュウリ収穫用ロボットシステムの開発 果実認識および収穫率の向上

    有馬誠一, 門田充司, 光永賢一郎, 毛利建太郎, 難波和彦

    日本農業気象学会全国大会日本生物環境調節学会大会合同大会講演要旨   2002   2002

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  • PI-SAR観測における農地の散乱特性の違い

    石塚直樹, 斎藤元也, 小川茂男, 大内和夫, 毛利建太郎, 難波和彦, 浦塚清峰, 佐竹誠, 梅原俊彦

    日本写真測量学会学術講演会発表論文集   2001   2001

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  • 生物生産分野におけるマン・マシン協調システム

    門田充司, 鐘ケ江修司, 毛利建太郎, 難波和彦

    日本農業気象学会全国大会日本生物環境調節学会大会合同大会講演要旨   2001   2001

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  • PI-SARによる湛水地・非湛水地の識別解析

    石塚直樹, 大内和夫, 毛利建太郎, 塩見潤, 難波和彦, 浦塚清峰, 佐竹誠, 梅原俊彦, 香月昇

    日本写真測量学会学術講演会発表論文集   2000   2000

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  • Next SAR specification at terrestrial ecosystem observation -Kojima reclaimed land observation project of various SAR-

    ISHITSUKA Naoki, SAITO Genya, OGAWA Shigeo, OUCHI Kazuo, MOURI Kentaro, SHIOMI Jun, NANBA Kazuhiko, URATSUKA Seiho, SATAKE Makoto, NADAI Akitsugu, UMEHARA Toshihiko, KAZUKI Noboru

    27   155 - 158   1999.11

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  • SARデータによる農地の判読とALOS/SARの利用計画 農業関連利用と関連研究 (資源協会地球科学技術推進機構S)

    斎藤元也, 石塚直樹, 浦塚清峰, 梅原俊彦, 毛利建太郎, 難波和彦, 森山隆, 大内和夫, 香月昇

    ALOS/PALSAR CRL&NASDA/PI-SARワークショップ報告書 平成11年   1999

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  • Solar Energy Required and Predicted in Okayama and Giza(Egypt)

    Elbatawi Ibrahim E. A., Mohri Kentaro, Elbatawi I.E.A.

    Scientific reports of the Faculty of Agriculture, Okayama University   ( 87 )   187 - 193   1998.2

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    Language：English  

    Egypt as a developed country still has no electricity in many villages but at the same time has enough natural energy such as solar energy. Solar radiation data is not always available in many areas of the world and they have to be estimated using some sort of empirical model. The results of this prediction are compared for the measured data of two different countries: Japan (Okayama City) and Egypt (Giza City). The comparison shows an acceptable level of prediction between both of them. On a June day, actual accumulated insolation through one day was 18.88 MJ/m2 in Okayama and 22.79 MJ/m2 in Giza. On the other hand on a January day, actual accumulated insolation through one day was 4.93 MJ/m2 in Okayama and 5.49 MJ/m2 in Giza. We can see also that in January the worst solar month, solar water heaters still provide 35.25% of the energy for Okayama and 40.37% for Giza, That was because in Okayama the number of sunny days was only 6 but there were 19 in Giza.

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    Other Link： http://ousar.lib.okayama-u.ac.jp/11116

  • Studies on Heat Transfer in Agricultural Products by Far-infrared Ray

    Liu Houqing, Mohri Kentaro, Namba Kazuhiko

    Scientific reports of the Faculty of Agriculture, Okayama University   ( 87 )   175 - 180   1998.2

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    Language：Japanese  

    Heat is transferred when the objected has temperature differences. In this research, the difference of two heating methods (far-infrared ray heating and hot wind heating) was analyzed. To compare their differences, the heat flux was measured by setting a heat flux meter beneath the surface of the object at different depths, then the heat conductivities and heat diffusion rates were analyzed. 1. Compared with hot wind, far-infrared ray heating has more heat flux before reaching a definite depth. 2. The heat conductivity and heat diffusion ratesby hot wind heating have specific properties with special objects. The heat conductivity and heat diffusion rate of far-infrared heating are higher than those of hot wind heating. The differences are considered to be caused by far-infrared rays.

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    Other Link： http://ousar.lib.okayama-u.ac.jp/11113

  • Bruise Detection Using Complexity for Oorin Apples

    CHEN Y. B., Mohri Kentaro, Namba Kazuhiko

    Scientific Reports of the Faculty of Agriculture Okayama University   ( 87 )   181 - 186   1998.2

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    Language：English  

    The complexity of binary image for apples as normal, bruised around centerbruised around edge, and bruised around both edge and center were analyzed. Amulti-threshold method (thresholds determined by area rates 0.3,0.4,...0.7 for complexity rates analysis) was used successfully for bruise classification. Leaving out apples with bruising around the edge, apples were classified 85.7% correctly.

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    Other Link： http://ousar.lib.okayama-u.ac.jp/11115

  • Effects of sound field on plant vital reactions. Temporal changes of stomatal aperture on various sound stimuli.

    難波和彦, 平松康平, 毛利建太郎

    農業機械学会年次大会講演要旨   57th   1998

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  • Monitoring of Plant Stoma Using Microscopic Image.

    難波和彦

    生体システムを利用した植物生産工学に関する研究 平成7-9年度 No.07306012   1998

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  • Research on drying of agricultural products by far infrared ray. Heat permeability of far infrared ray.

    劉厚清, 毛利建太郎, 難波和彦, 李勇

    農業機械学会年次大会講演要旨   56th   1997

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  • Effect of sound stimulation on plant stomatal aperture degrees.

    平松康平, 毛利建太郎, 難波和彦

    農業機械学会年次大会講演要旨   56th   1997

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  • Measurement of Magnetic Field : Measuring Method and Effect on Plant Growth of Magnetic Field

    NAMBA Kazuhiko

    JOURNAL of the JAPANESE SOCIETY of AGRICULTURAL MACHINERY   58 ( 5 )   96 - 98   1996.9

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    Language：Japanese   Publisher：The Japanese Society of Agricultural Machinery and Food Engineers  

    DOI： 10.11357/jsam1937.58.5_96

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  • Effect of Alternating Magnetic Field on Plant Growth

    Nanba Kazuhiko

    Scientific reports of the Faculty of Agriculture, Okayama University   ( 85 )   115 - 117   1996.2

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    This paper describes the effect of alternating magnetic fields on plant germination. Experiments were conducted utilizing various frequencies and two states of polarity.Electromagnetic coils were used to generate the fields and 'Komatsuna' plants were chosen as subjects. The frequency was varied from 1 to 1000 Hz,at a fixed intensity of 5 Gauss. The magnetic polarity was controlled by reversing the current direction. Measured parameter was the germination rate. The results indicated that magnetic fields do influence plant germination, and that frequency of the fields is a more important factor in germination rates than polarity. Maximum germination rates,which were 20% higher than control rates,were obtained at around 10 Hz.

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    Other Link： http://ousar.lib.okayama-u.ac.jp/11146

  • Research on drying of agricultural products by far infrared radiation. (2 ). Drying test on a few agricultural products.

    毛利建太郎, 難波和彦, 劉厚清

    日本農業気象学会全国大会日本生物環境調節学会大会合同大会講演要旨   1995-33rd   1995

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  • 磁気の植物に与える影響 (第2報) 低周波パルス状印加磁場のコマツナ種子発芽に与える影響

    難波和彦, 毛利建太郎, 笹尾彰, 渋沢栄

    農業機械学会年次大会講演要旨   54th   1995

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  • 磁気の植物に与える影響 パルス状磁場の印加について

    難波和彦, 笹尾彰, 渋沢栄

    農業機械学会関東支部年次報告   29th   1993

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  • 磁気の植物に与える影響 (第1報) パルス状磁場の印加について

    笹尾彰, 難波和彦

    農業機械学会年次大会講演要旨   52nd   1993

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Presentations

  • ブドウ‘オーロラブラック’の成熟に伴う果実の糖度，酸度，色情報の経時計測

    孫 若冉, 難波和彦, 門田充司

    関西農業食料工学会第150回例会  2023.9.26 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • 促成栽培イチゴハウスでの果実計数のためのパノラマ画像作成

    徳留英明, 坪田将吾, 難波和彦, 門田充司

    関西農業食料工学会第150回例会  2023.9.26 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • 農業ロボットの安全システムに関する研究：危険度に基づくロボットアームの制御

    塩釜愛, 門田充司, 難波和彦

    関西農業食料工学会第149回例会  2023.3.2 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • ブドウ‘オーロラブラック’の熟度判定に関わる色情報と糖酸度の関係

    藤川真子, 難波和彦, 門田充司

    関西農業食料工学会第149回例会  2023.3.2 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • 農業ロボットの安全システムに関する研究：危険度関数の検討

    為国のどか, 門田充司, 難波和彦

    関西農業食料工学会第149回例会  2023.3.2 

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  • 促成栽培イチゴハウスでの画像による葉面積計測

    徳留英明, 坪田将吾, 難波和彦, 門田充司

    関西農業食料工学会第148回例会  2022.9 

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  • ブドウの熟度に関する物理量の樹上の着果位置による違いの計測

    SHIN JaeEu, 門田充司, 難波和彦

    関西農業食料工学会第147回例会  2022.3 

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    Language：English   Presentation type：Oral presentation (general)  

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  • YOLOv3の物体検出を用いた促成栽培イチゴ果実の生長計測

    勝部史也, 門田充司, 難波和彦

    関西農業食料工学会第147回例会  2022.3 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • 促成栽培イチゴハウスでの画像による花の数計測

    徳留英明, 淺川瑞月, 門田充司, 難波和彦, 坪田将吾

    関西農業食料工学会第147回例会  2022.3 

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  • 画像による家庭用モモ出荷基準の検討

    田窪美帆, 門田充司, 難波和彦

    関西農業食料工学会第147回例会  2022.3 

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  • 農業ロボットの安全システムに関する研究 —ロボット制御シミュレーションによる危険度の検討—

    塩釜愛, 門田充司, 難波和彦

    関西農業食料工学会第145回例会  2021.3 

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  • 大規模トマト生産施設における収穫ロボットの開発—安全システムのための3次元距離センサによる人間の検出—

    瀬戸川友章, 門田充司, 難波和彦

    関西農業食料工学会第143回例会  2020.3 

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  • ザンビア共和国ムピカ郡農村部における農業の現状と課題

    岡田晃治, 難波和彦, 門田充司

    関西農業食料工学会第143回例会  2020.3 

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  • ザンビア共和国におけるJICAのプロジェクトと青年海外協力隊事業について

    岡田晃治, 難波和彦, 門田充司

    農業食料工学会関西支部第142回例会  2019.9 

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  • 広島県生口島のウンシュウミカン生産現場の現状と今後の課題

    農業食料工学会関西支部第141回例会  2019.3 

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  • 促成栽培イチゴの生育制御に資する生体センシングシステムの構築—センシング指標の検討—

    茨木昭年, 坪田将吾, 門田充司, 難波和彦

    農業食料工学会関西支部第141回例会  2019.3 

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  • 大規模トマト生産施設における収穫ロボットの開発—3次元距離センサによる果房内果実の分離—

    陣内瞭輔, 門田充司, 難波和彦

    農業食料工学会関西支部第141回例会  2019.3 

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  • 岡山県内農業機械製造メーカへの農作業の安全に対する意識調査

    奥山真由, 門田充司, 難波和彦

    農業食料工学会関西支部第141回例会  2019.3 

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  • 香川県三豊市高瀬町における茶産業の現状と課題

    農業食料工学会関西支部第141回例会  2019.3 

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  • シイタケ菌床栽培環境の最適化 -子実体発生における照射光の影響-

    竹内理人, 門田充司, 難波和彦, 柏野泰章

    農業食料工学会関西支部第139回例会  2018.3 

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  • 大規模トマト生産施設における収穫ロボットの開発 -3次元距離センサを用いた収穫対象果実の識別-

    南 駿, 門田充司, 難波和彦

    農業食料工学会関西支部第137回例会  2017.2 

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  • シイタケ菌床栽培環境の最適化 -子実体発生における光照射時間の影響-

    峯尾敏弘,門田充司,難波和彦,柏野泰章

    農業食料工学会関西支部第137回例会  2017.2 

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  • 大規模トマト生産施設における収穫ロボットの開発 -ガクを離脱させない収穫用エンドエフェクタの試作-

    陣内瞭輔, 門田充司, 難波和彦

    農業食料工学会関西支部第137回例会  2017.2 

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  • 大規模トマト生産施設における収穫ロボットの開発 ―3次元距離センサを用いた収穫対象果実の検出―

    南 駿,門田充司,難波和彦

    農業食料工学会関西支部第136回例会  2016.9 

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  • 未利用再生可能エネルギの有効利用に関する研究 ─ 剪定木堆肥化時に発生する二酸化炭素について ─

    井上和也, 門田充司, 難波和彦

    農業食料工学会関西支部第135回例会  2016.3 

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  • 高齢・障がい者のための農作業の軽労化技術の開発 ─ 知的障害者を対象とした耕耘機の改良 ─

    綾野宏紀,門田充司,難波和彦

    農業食料工学会関西支部第135回例会  2016.3 

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  • キクの黄斑発生に関わる環境条件の検討 ─ ほ場での計測と定量化 ─

    田中正浩,門田充司,難波和彦,後藤丹十郎

    農業食料工学会関西支部第135回例会  2016.3 

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  • 大規模トマト生産施設における収穫ロボットの開発 ─ パターンマッチングによる果実認識 ─

    中村大輔,門田充司,難波和彦

    農業食料工学会関西支部第135回例会  2016.3 

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  • 大規模トマト生産施設における収穫ロボットの開発 −画像によるガクの位置推定−

    中村大輔, 門田充司, 難波和彦

    農業環境工学関連5学会2015年合同大会  2015.9 

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  • 大規模トマト生産施設における収穫ロボットの開発 —3 次元距離センサを用いた収穫対象果実の認識—

    南 駿, 門田 充司, 難波 和彦

    農業食料工学会関西支部 第134回例会  2015.9 

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  • キクの黄斑発生に関わる環境条件の検討 ―圃場環境の影響―

    田中 正浩, 難波 和彦, 門田 充司, 後藤 丹十郎

    農業食料工学会関西支部 第134回例会  2015.9 

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  • 大規模トマト生産施設における収穫ロボットの開発 —パターンマッチングによるガクの推定—

    中村 大輔, 門田 充司, 難波 和彦

    農業食料工学会関西支部 第134回例会  2015.9 

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  • 高齢・障がい者のための農作業の軽労化技術の開発 —耕うん機の操作性の向上—

    綾野 宏紀, 門田 充司, 難波 和彦

    農業食料工学会関西支部 第134回例会  2015.9 

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  • シイタケ菌床栽培環境の最適化

    岡田 晃治, 難波 和彦, 門田 充司, 柏野 泰章

    農業食料工学会関西支部 第134回例会  2015.9 

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  • シイタケ菌床栽培環境の最適化 −光照射タイミングの検討−

    岡田晃治, 難波和彦, 門田充司, 柏野泰章

    農業環境工学関連5学会2015年合同大会  2015.9 

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  • キクの黄斑発生に関わる環境条件の検討 −温度の影響−

    田中正浩,難波和彦,門田充司,後藤丹十郎

    農業環境工学関連5学会2015年合同大会  2015.9 

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  • キクの黄斑発生に関わる環境条件の検討 −積算光量による評価−

    福守純弥,門田充司,難波和彦,後藤丹十郎

    農業食料工学会関西支部第133回例会  2015.3 

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  • 障がい者の農業参入支援を目的とした農業機械の改良

    和田奈々, 門田充司, 難波和彦

    農業食料工学会関西支部第133回例会  2015.3 

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  • シイタケ菌床栽培環境の最適化 −光照射方法の検討−

    岡田晃治, 門田充司, 難波和彦, 柏野泰章

    農業食料工学会関西支部第133回例会  2015.3 

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  • 透過光を用いた画像による白桃の内部品質評価 −近赤外線による赤肉症の判別−

    山元冴人,門田充司,難波和彦

    農業食料工学会関西支部第133回例会  2015.3 

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  • 大規模トマト生産施設における収穫ロボットの開発 –エンドエフェクタと視覚アルゴリズムの検討−

    篠原正旭, 門田充司, 難波和彦

    農業食料工学会関西支部第133回例会  2015.3 

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  • 大規模トマト生産施設における収穫ロボットの開発 −3次元距離センサによる果実の認識−

    南 駿, 門田充司, 難波和彦

    農業食料工学会関西支部第133回例会  2015.3 

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  • 未利用再生可能エネルギの有効利用に関する研究 −剪定木堆肥化時の発酵熱について−

    佐藤元紀, 門田充司, 難波和彦

    農業食料工学会関西支部第133回例会  2015.2 

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  • キクの黄斑発生に関わる環境条件の検討 −黄斑度の定量化−

    田中正浩, 難波和彦, 門田充司, 後藤丹十郎

    農業食料工学会関西支部第132回例会  2014.9 

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  • 3次元距離センサによる作業者の検出と追跡

    中村大輔, 門田充司, 難波和彦

    農業食料工学会関西支部第132回例会  2014.9 

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  • ナスを対象とした移動型選果ロボットの開発 －ロボットの試作と性能評価－

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008 

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  • ナスを対象とした移動型選果ロボット

    農業機械学会関西支部第120回例会  2008 

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  • 光強度を変化させた間欠照明方法によるサラダナ栽培環境の最適化

    光強度を変化させた間欠照明方法によるサラダナ栽培環境の最適化  2008 

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  • 植物光合成応答に基づく間欠照明方法の検討

    農業機械学会関西支部第119 回例会  2008 

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  • 高騒音環境下における安全・快適作業実現のための仮想低雑音空間の構築

    日本機会学会中国四国学生会第37回学生員卒業研究発表講演会  2007 

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  • Construction of Virtual Low-Noise Space at Agricultural Facility by Use of Machine Vision and Wireless LAN

    日本生物環境工学会創立記念大会  2007 

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  • Mobile Eggplant Grading Robot - Fundamental experiments in greenhouse -

    日本生物環境工学会創立記念大会  2007 

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  • サラダナの光合成応答に基づく間欠照明方法の検討

    日本生物環境工学会創立記念大会  2007 

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  • 大規模生産施設におけるトマト収穫ロボットの開発

    日本生物環境工学会創立記念大会  2007 

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  • トマト収穫ロボットのための果実の3次元相対位置認識アルゴリズム

    日本生物環境工学会創立記念大会  2007 

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  • 植物の光合成応答に基づく光環境の最適化

    農業機械学会関西支部第117回例会  2007 

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  • Mobile Eggplant Grading Robot -Construction of prototype and field test-

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007 

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  • 大規模トマト生産施設における収穫ロボット －エンドエフェクタと外界センシングシステム－

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007 

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  • 大規模生産施設におけるトマト収穫ロボットの開発 －外界センシングシステム－

    農業機械学会関西支部第117回例会  2007 

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  • 大規模生産施設におけるトマト収穫ロボットの開発 －ロボットの試作と収穫基礎実験－

    農業機械学会関西支部第117回例会  2007 

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  • ナスを対象とした移動型選果ロボット－ロボットの制御とほ場マッピング－

    農業機械学会関西支部第117回例会  2007 

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  • ナスを対象とした移動型選果ロボット－ロボットの試作と基礎実験－

    農業機械学会関西支部第117回例会  2007 

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  • 農業施設における安全・快適作業のためのバーチャルローノイズ空間

    農業機械学会関西支部第117回例会  2007 

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  • Development of Eggplant Grading Robot for Precision Farming

    第24回日本ロボット学会学術講演会  2006 

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  • 大規模トマト温室における収穫ロボット

    第24回日本ロボット学会学術講演会  2006 

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  • 植物の気孔開度と光合成速度の測定

    第24回日本ロボット学会学術講演会  2006 

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  • Mobile Eggplant Grading Robot - Trial Manufacture of Components -

    3rd IFAC International Workshop on Bio-Robotics, Information Technology and Intelligent Control for Bioproduction Systems  2006 

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  • 大規模トマト生産施設における収穫ロボット －ロボットシステムの概要－

    日本機械学会ロボティクス・メカトロニクス講演会2006  2006 

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  • 農産物トレーサビリティ構築のためのほ場マッピング

    農業機械学会関西支部第115回例会  2006 

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  • Effectiveness of PL filtering image with halogen lamp for agricultural products

    2006 ASABE Annual International Meeting  2006 

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  • ナスを対象とした移動型選果ロボットの開発 －構成要素の基礎実験－

    日本機械学会ロボティクス・メカトロニクス講演会2006  2006 

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  • ナスを対象とした移動型選果ロボット －ロボットの試作－

    農業機械学会関西支部第115回例会  2006 

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  • Study of Efficient Lighting Periods Based on Plant Stoma Reaction

    2006 ASABE Annual International Meeting  2006 

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  • 農業分野におけるテレロボティクス －外界センシングシステムの改良－

    農業機械学会関西支部第113回例会  2005 

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  • RGB及び近赤外画像を用いたナスの品質評価

    農業機械学会関西支部第113回例会  2005 

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  • 農業分野におけるテレロボティクス －収穫基礎実験－

    農業機械学会関西支部第113回例会  2005 

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  • 植物の気孔応答に基づく光環境の最適化

    農業機械学会関西支部第114回例会  2005 

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  • 孔辺細胞膜電位情報による植物気孔光応答のモデリング

    農業機械学会関西支部第113回例会  2005 

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  • Tele-robotics in Agriculture -Data collecting and Harvesting Robots-

    First Asian Conference on Precision Agriculture  2005 

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  • Application of NIR-Contain-ColorCCD Camera to Eggplant Grading Machine

    ASAE Annual International Meeting  2005 

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  • Defects Detection of Eggplant Fruit Using Multi Spectral Images

    SICE Annual Conference 2005 in Okayama  2005 

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  • Microscopic Imaging Measurement of Stomatal Reaction Changing Environmental Conditions

    ASAE Annual International Meeting  2005 

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  • 二酸化炭素濃度の植物気孔開口に与える影響

    農業機械学会誌関西支部第111回例会  2004 

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  • 農業分野におけるテレロボティクス－ロボットシステムの改良－

    農業機械学会誌関西支部第112回例会  2004 

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  • Three-dimensional Sensing System for Agricultural Robots

    The 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics  2003 

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  • 農業分野における情報蓄積型テレロボティクス

    日本ロボット学会第21回学術講演会  2003 

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  • 農業用テレロボティクスの研究，－トマト収穫実験－

    農業環境工学関連5学会2003年合同大会  2003 

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  • 農業ロボット用3次元センシングシステム

    （社）計測自動制御学会システムインテグレーション部門講演会  2003 

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  • トマト収穫多指ハンド

    農業機械学会誌関西支部第109回例会  2003 

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  • 精米と食味に関する研究

    農業機械学会誌関西支部第109回例会  2003 

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  • 農業分野におけるテレロボティクス ―インターネット回線を利用したロボット制御―

    農業機械学会誌関西支部第109回例会  2003 

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  • 農業分野におけるテレロボティクス ―外界センシングシステム―

    農業機械学会誌関西支部第109回例会  2003 

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  • 光量変化に対する植物気孔の動的反応解析

    農業機械学会誌関西支部第109回例会  2003 

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  • テレロボティクス農業 －トマト収穫基礎実験－

    ロボティクス・メカトロニクス講演会2003  2003 

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  • 農業分野におけるテレロボの試み －トマト収穫を対象とした基礎実験－

    第62回農業機械学会年次大会  2003 

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  • 農業分野におけるテレロボの試み-インターネット回線を利用したロボット制御-

    農業機械学会第61回年次大会  2002 

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  • キュウリ収穫ロボットの研究 －2号機による収穫実験－

    農業機械学会関西支部第107回例会  2002 

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  • RADARSAT画像による児島湾干拓地における水田調査

    農業機械学会関西支部第107回例会  2002 

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  • 高設栽培イチゴ収穫ロボットの研究 －フック式エンドエフェクタを用いた収穫実験－

    農業機械学会関西支部第107回例会  2002 

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  • 農業分野におけるテレロボの試み－外界センシングシステム－

    農業機械学会誌関西支部第108回例会  2002 

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  • 遠隔操作型防除システムの開発

    農業機械学会誌関西支部第108回例会  2002 

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  • 鉛直管内穀粒の流動化について－均一流動化前の状態について－

    農業機械学会誌関西支部第108回例会  2002 

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  • 常温煙霧機における静電散布の有効性

    農業機械学会誌関西支部第108回例会  2002 

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  • 植物気孔運動のモデリング-光源点灯をステップ入力とした過渡応答モデルについて-

    農業機械学会第61回年次大会  2002 

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  • 人間協調型農業用ロボットにおける外界センシングシステム

    農業機械学会関西支部第105回例会  2001 

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  • キュウリ収穫ロボットの研究 －2号機の試作と収穫基礎実験－

    農業機械学会関西支部第106回例会  2001 

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  • 高設栽培イチゴ収穫ロボットの開発 －フックを用いた収穫用エンドエフェクタの基礎実験－

    農業機械学会関西支部第106回例会  2001 

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  • 農業分野におけるテレロボの試み

    農業機械学会関西支部第106回例会  2001 

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  • 生物生産分野におけるマン・マシン協調システム

    農業環境工学関連4学会2001年合同大会  2001 

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  • 土耕内成栽培イチゴ収穫エンドエフェクタ ―吸引面積制御による収穫実験―

    農業機械学会関西支部第105回例会  2001 

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  • レーザ距離計を用いた農業ロボット用外界センシングシステム

    農業機械学会関西支部第105回例会  2001 

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  • 電磁場環境が乳酸菌増殖に与える影響

    農業機械学会関西支部第103回例会  2000 

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  • Effect of Electromagnetic Field on Lactic Acid Bacteria Proliferation

    日本植物工場学会平成12年度大会  2000 

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  • 植物気孔運動のモデリング

    農業機械学会関西支部第101回例会  1999 

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  • 植物に聞かせたいこの迷曲

    ファイトテクノロジー研究会  1999 

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Awards

  • Paper Award

    2023.9   The Japanese Society of Agricultural Machinery and Food Engineers   Biosensing Method of Growth Diagnosis in Forcing Culture of Strawberry: Study on Airflow Conditions required to Expose Growth Points

    Shogo TSUBOTA, Kazuhiko NAMBA, Tokihiro FUKATSU

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  • 論文賞

    2003   日本植物工場学会   人間協調型農業用ロボットの外界センシングシステム

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    Country：Japan

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Research Projects

  • Development of Fruit Grading Robot for creating innovation in Citrus Production

    Grant number：19380147  2007 - 2009

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

    KONDO Naoshi, IIDA Michihisa, NAMBA Kazuhiko, KURITA Mitsutaka, TANIWAKI Shigemune, KOHNO Yasushi, NISHI Takao

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    Grant amount：\20930000 （ Direct expense: \16100000 、 Indirect expense：\4830000 ）

    A fruit grading robot for citrus on terraced orchards spread in West Japan was developed in order to enhance product quality, to maintain environmental conservation, and to contribute informatization of "food safety and security". In addition, a system to collect environmental conditions from field servers and to analysis satellite images was constructed. It was expected to propel "precision agriculture" in citrus production based on the results of this research.

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  • 植物気孔開度に基づく光環境の最適化

    Grant number：17780198  2005 - 2007

    日本学術振興会  科学研究費助成事業  若手研究(B)

    難波 和彦

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    Grant amount：\3600000 （ Direct expense: \3600000 ）

    本研究は,明期開始前後の光照射方法を検討し,気孔の応答と光合成速度の観点から明らかにすることを目的としている。19年度は植物工場で多く栽培されているサラダ菜(Lactuca sativa L.)を光,温度,湿度の制御可能な照明付きインキュベータ内で成育して計測を行った。この中に,17年度購入した超小型炭酸ガス分析計(LICOR社製LI-820)と自作のリーフチャンバを組み合わせて,光合成速度としてCO_2固定量を計測し,18年度の結果をふまえて間欠照明利用のさらなる最適化を図った結果,以下の知見を得た。
    1.照明点灯直後の光合成速度には光を入力とした時間的遅れが生じることから,最初は光量を小さくして段階的に上げていく方法を検討した。
    2.まず,光量の最大値を100%として,50%で点灯し光合成が落ち着いた所で100%とした。その結果,点灯直後の光合成速度の変化(立ち上がりとする).は急であるが,光量に応じた光合成量の辺りでは緩やかとなった。これは,昨年度の結果の光に対する立ち上がりが過渡応答1次遅れ系で近似できると一致した。また,100%に変化させた時の立ち上がりも同様であった。
    3.そこで,光量を変化を10%ずつ10段階としたときの立ち上がりを計測した所,変化の急な所だけを組み合わせて直線的に光合成量を増加させられることが分かった。
    4.これらをふまえて昨年度の結果である明期暗期の比を1:1とする間欠照明と同等の光合成量が得られるような照明条件を検討した所,光量を変化させながら20minの明期,5minの暗期とすればよいことが分かり,照明コストの34%が削減出来ることが分かった。

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  • Tele-robotics in Agriculture

    Grant number：14560211  2002 - 2004

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)

    MONTA Mitsuji, NAMBA Kazuhiko, NISHI Takao

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    Grant amount：\4100000 （ Direct expense: \4100000 ）

    Tomato harvesting experiments were carried out by using a data-collecting robot, a harvesting robot and networks in order to develop a tele-robotics in agriculture.
    The data-collecting robot which consisted of a color camera, a laser scanner and a lift collected information including color images and three-dimensional data in a greenhouse and sent them to a server via wireless LAN. Discrimination and depth measurement of ripe fruits were carried out by the server and the results were stored in the server. A distant operator checked the judgment by the server at anytime. If there were errors or matters to be corrected in the judgment, they were modified by the operator. The results were sent to the harvesting robot via the server. The harvesting robot consisted of a 5 DOF articulated manipulator, a multi-fingered hand, a lift. The robot harvested fruits by rotating after the target fruits separated from the cluster by a suction cup moved back and forth. From the results, 74 % of fruits were discriminated by the server. The harvesting robot harvested a front fruit in a cluster, however could not harvest fruits when a cluster position was changed during harvesting action. The total success rate of harvesting was 56.7 %.
    To enhance the success rates, the algorithm of fruit discrimination was improved and a color camera was added to the harvesting robot so that fruit location could be detected even though it has been changed. From the results, more than 90 % of fruits were discriminated by the algorithm and were harvested successfully.
    In this study, it was considered that a feasibility of actualization of tele-robotics in agriculture was confirmed.

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  • EXTERNAL SENSING SYSTEM FOR AGRICULTURAL ROBOT

    Grant number：12660232  2000 - 2001

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)

    MONTA Mitsuji, KONDO Naoshi, NAMBA Kazuhiko

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    Grant amount：\2300000 （ Direct expense: \2300000 ）

    An external sensing system for human cooperative agricultural robots was developed and tested. The sensing system consisted of a laser scanner and infrared sensors. The laser scanner was mounted on a lift moved up and down at a distance of 300 mm to capture a three-dimensional distance data. The infrared sensors were used to detect the existence of human. From the experimental results, not only the distance to an object but also the shape of the object was detected by moving the laser scanner up and down. The human motions including location, speed and direction were detected based on the information obtained from the laser scanner and the infrared sensors. An algorithm for discriminating human bodies was also investigated. From the result, the discrimination was achieved even if human bodies overlapped each other crosswise when there was some distance between them.
    Furthermore, manipulator control experiments for obstacle avoidance were carried out to confirm effectiveness of the sensing system. First, the distances and the shapes of objects around a robot were measured by the laser scanner, and an avoidance motion of manipulator was decided. Secondly, the manipulator moved while avoiding the object. The degree of danger was calculated when infrared sensors detected a human body around the robot, then a speed of manipulator tip was controlled. From the experimental results, the manipulator avoided obstacles within its operating area and changed its speed in proportion to the value of degree of danger.

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  • DEVELOPMENT OF CHRYSANTHEMUM CUTTING STICKING ROBOT SYSTEM

    Grant number：10556055  1998 - 2000

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B).

    MONTA Mitsuji, HARA Hiroshi, WADA Kenji, NAMBA Kazuhiko

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    Grant amount：\5800000 （ Direct expense: \5800000 ）

    A chrysanthemum cutting sticking robot system was manufactured and tested to automate the chrysanthemum seedling production system. The robot system mainly consisted of four sections ; a cutting providing system, a machine vision system, a leaf removing device, and a sticking device. First, a bundle of cuttings was put into a water tank. The cuttings were spread out on the water by vibration of the water tank. The cuttings were picked by a manipulator based on information of cutting position from a TV camera to be sent one by one to next stage. Secondly, another TV camera detected the position and orientation of the transported cutting and indicated a grasping point in the cutting stem for another manipulator moving. Thirdly, the manipulator moved the cutting to the leaf removing device to arrange the shape of cutting. Finally, ten cuttings were stuck into a tray at a time. From the experimental results, feasibility to automate chrysanthemum cutting sticking operation was found. All the robotic components showed relative high success rates. To improve the percentage of success, it was considered not only that the performance of each robotic components should be improve but also that no-bent cuttings should be provided for the robot system.

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  • 電磁場を利用した植物生長制御に関する研究

    Grant number：09760232  1997 - 1998

    日本学術振興会  科学研究費助成事業  奨励研究(A)

    難波 和彦

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    Grant amount：\2300000 （ Direct expense: \2300000 ）

    電磁場の植物成長に与える影響を調べるために,各種磁場印加時の種子の発芽数の計測を行った。種子は野菜を用い,温度湿度の制御可能な環境室内で,播種後全ての種子が発芽するまで毎1時間について発芽勢の測定を行った。測定はCCDカメラを用いて記録し,発芽数のカウントはモニタ上で目視で行った。発芽勢は時間当たりの種子発芽数と定義した。
    印加磁場の周波数には1Hzから10kHzを用い,強度は地磁気の1/10レベルから最大10倍,波形は単一方向パルス状のものを用いた。印加は播種から発芽までの期間連続して行った。
    今回供試された種子はダイコン,カイワレ,ニラ,ハクサイ,ニンジン,ツケナ,カラシナでうちダイコンとカイワレの発芽勢に対する影響が大きかった。
    そこで,ダイコンとカイワレについて印加磁場周波数を細かく設定し発芽勢を比べたところ,1〜100Hz印加時か100〜10kHz印加時よりも高く,カイワレでは10Hz印加時,ダイコンでは100Hz印加時ににピーク値を得,最大20%の対照区よりも高い発芽勢の値を得た。また,磁場強度に関しては10Hz印加時において地磁気と同レベル以上で有意な影響を与えることが分かり,それよりも小さい強度では発芽勢に対して影響を及ぼすことはなかった。
    同質の磁場を種子に対して前処理として施した後発芽中には磁場を印加せずに行った発芽試験では,有意な差を得ることはなく,また吸水に用いた蒸留水に対して磁場を印加した後発芽中には磁場を印加せずに行った発芽試験でもやはり有意な差は得られなかった。このことから,今回用いた磁場レベルは植物の生理活性因子として影響を及ぼしていることが考えられた。

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  • Studies on development of drying system using the far-infrared heater for agricultural products

    Grant number：05556043  1993 - 1995

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Developmental Scientific Research (B)

    MOHRI Kentaro, MONTA Mituji, KONDO Naoshi, SHIBANO Yasunori, NAMBA Kazuhiko

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    Grant amount：\6800000 （ Direct expense: \6800000 ）

    This research studies on the drying system using the far-infrared heater and drying of agricultural products. This study is the most interesting research subject in Japan.
    This developmental scientific research was accomplished for three years. There were to make the trial manufacture of drying equipment with far-infrared heater and to establish the drying method for rough rices, sweet potatoes, SHIITAKE mushrooms and lavers using the drying equipment with far-infrared heater.
    In heating experiment of sweet potatoes, surface and inside temperatures of supplied materials were higher than the air temperatures inside drying room. This fact was considered a special characteristics of far-infrared drying.
    Maximum reduse ratio of moisture content per one hour for rough rice drying was 17.7%/h. Sweet potoes were dried the moisture content of 20% for 6-9 hours. SHIITAKE mushrooms drying by far-infrared heater were done a method which imitated the tradisional drying method by heating air, and the period of drying by far-infrared was shorter than the drying by heating air. In SHIITAKE mushroom drying, far-infrared drying was an effective drying method. For laver drying, a method according to use far-infrared heater could be established by this research, and was an effective method.

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