研究者詳細 - 松野　隆幸

講演・口頭発表等 - 松野　隆幸

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遺伝的アルゴリズムを用いたヒューマノイドの歩行解析

和田亮雅, 戸田雄一郎, 松野隆幸, 見浪護

インテリジェント・システム・シンポジウム(CD-ROM) 2019年

Improvement of 3D Pose Estimation Abilities by Light-Emitting-3D Marker for AUV Docking

Kohei Yamashita, Hsu Horng Yi, Daiki Yamada, Naoki Mukada, Khin New Lwin, Myo Myint, Yuichiro Toda, Takayuki Matsuno, Mamoru Minami

OCEANS 2018 MTS/IEEE CHARLESTON 2018年 IEEE

開催年月日： 2018年

記述言語：英語

Disturbances of turbidity and low illuminance are problems in real sea areas when recognizing objects with cameras. Therefore, the recognition target was made to emit light so that it can be recognized correctly even in that environment. However, a suitable light intensity of the target was not decided and it is obvious that recognition results was changed by light intensity of the target. This paper presents the analysis of recognition accuracy of the Real-time 3D estimation system by changing the current value of each color LED (red, green, blue) under turbid and low illuminance. Recognition experiments were conducted at the distance 600 [mm] between the ROV and 3D marker. The turbidity level was set constant value. The current value was changing from 0 [mA] to 16 [mA] for each LED individually. The best current for each LED was optimized by the fitness value and estimation value of position and orientation. The results showed that the recognition accuracy of the proposed system was improved by using optimized lighting intensity.

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Applying Lighting Marker and Stereo-vision to V-shaped-thruster Vehicle for AUV Deep Sea Docking

Yoshiki Kanda, Myo Myint, Naoki Mukada, Daiki Yamada, Khin Lwin, Takayuki Matsuno, Yuichiro Toda, Mamoru Minami

OCEANS 2018 MTS/IEEE CHARLESTON 2018年 IEEE

開催年月日： 2018年

記述言語：英語

A stereo-vision-based system of autonomous under-water vehicles (AUVs) for sea-bottom docking that enables for battery recharging to extend persistence time of underwater operation has been developed. This paper presents the docking experiment using a developed V-shaped-thruster typed under-water vehicle. A real-time 3D pose (position and orientation) estimation method using a real-time multi-step genetic algorithm (RM-GA) has been proposed by the authors in previous works and used for docking based on 3D recognition as a feedback pose information in real-time, named as 3D Move on Sensing (3D-MoS). Sea docking experiment results have confirmed the functionality and practicality of proposed docking approach using a hovering typed ROV in previous works. Since the hovering typed underwater vehicles are limited in mobilities concerning speed and operational space, verification of the 3D-MoS system using underwater vehicle that has more mobility deem to be meaningful direction for vision-based docking system to expand the utility value of AUVs. Therefore, in this study, control system for a new V-shaped-thruster typed vehicle is developed and docking experiment is conducted. This paper presents the development of the hardware design of V-shaped-thruster typed underwater vehicle and improvement of controlling with consideration of coupled configuration of thrusters.

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String Untying Planning Based on Knot Theory and Proposal of Algorithms to Generate the Motion of a Manipulator

Takayuki Matsuno, Tomoya Shirakawa, Tomotoshi Watanabe, Mamoru Minami

2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 2018年 IEEE COMPUTER SOC

開催年月日： 2018年

記述言語：英語

Recently, the demand to manipulate deformable objects such as a string and cloth by robots is growing. The reason is that it has the possibility of making our lives more convenient in many domains. The manipulation of deformable objects, however, is more difficult than that of rigid objects, because deformable objects have diversity of shape and behavior. Therefore, our research group has been focusing on the string shape operation. This paper describes planning method of string untying operation based on knot theory and algorithms to generate the motion of a manipulator. The novel contribution of our planning method is automatic selection of optimal shape operation based on cost function. At final, the results of string untying experiments are reported.

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Development of Dual-eyes Docking System for AUV with Lighting 3D Marker

Sho Nakamura, Daiki Yamada, Naoki Mukada, Myo Myint, Khin New Lwin, Takayuki Matsuno, Yuichiro Toda, Mamoru Minami

OCEANS 2018 MTS/IEEE CHARLESTON 2018年 IEEE

開催年月日： 2018年

記述言語：英語

This paper presents that our proposed docking system could apply for a new Remotely Operated Vehicle(ROV). The authors have proposed a 3D-perception based Move on Sensing (3D-MoS) system using a new 3D position and orientation (pose) estimation method with dual-eye camera that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as "Real-time Multi-step Genetic Algorithm (RM-GA)." We confirmed ROV have conducted docking that assumes charging battery under water by the system, having shown it effective. As a next step, docking experiment using the new ROV were conducted to verify the proposed system apply for new ROV. But, the new ROV is different from a ROV that have used previous experiments, on the point of thruster setting structure. Then, a new control system using Jacobian that shows relationship voltage and velocity was constructed. After it is confirmed the system is effective, docking experiments In the pool have been conducted. In this report, the structure and result of experiments are reported in detail.

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Development and Evaluation of Active/Lighting Marker in Turbidity and Illumination Variation Environments

Yoshiki Kanda, Naoki Mukada, Daiki Yamada, Khin Lwin, Myo Myint, Kohei Yamashita, Sho Nakamura, Takayuki Matsuno, Mamoru Minami

2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO) 2018年 IEEE

開催年月日： 2018年

記述言語：英語

To extend the persistence time of an underwater operation of AUVs in the sea, many studies have been performed worldwide. The docking function takes place as an important role not only for battery recharging but also for other advanced applications. Therefore, we developed the visual-servoing-based underwater vehicle using 3D perception based move on sensing (3D-MoS) system with dual-eye cameras and 3D marker for the docking operation. The vision-based underwater vehicle cannot avoid the turbidity and low illumination in the deep sea. In the present study, the active/lighting marker was newly designed and constructed to improve the recognizing ability of the proposed system for the real-time 3D pose estimation. The experiments were conducted in a simulated pool against different turbidity levels and illumination variations by adjusting the LED's brightness of the active marker in both day and night environments. This paper presents the analyses on the relations of the currents of LED installed inside each ball of the 3D marker and recognition results under turbidity and changing illumination conditions. According to the experimental results, the optimum current was chosen for the docking.

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Robustness of 3D Pose Estimation against Turbidity Using Dual-eye Cameras And Active/Lighting 3D Marker for Visual-servoing Based AUV

Khin Nwe Lwin, Myo Myint, Naoki Mukada, Daiki Yamada, Takayuki Matsuno, Mamoru Minami

2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO) 2018年 IEEE

開催年月日： 2018年

記述言語：英語

This paper presents the 3D pose estimation against turbidity under dark environment by using dual-eye cameras and an active meaning light emitting 3D marker for visualservoing based underwater vehicle. The authors have proposed a 3D-perception based move on sensing (3D-MoS) system using a 3D position and orientation (pose) estimation method with dual eye cameras that exploits the parallactic nature that enables reliable 3D pose estimation in real-time, named as "Real-time Multi-step Genetic Algorithm (RM-GA)." The active/lighting 3D marker was designed and constructed to improve the 3D pose estimation especially in turbidity and low illumination. In realtime pose estimation, not only recognition but also robustness are important. This paper focus on the robustness of 3D pose recognition performance using dual-eye cameras and 3D marker against turbidity. The experimental results have confirmed that the effectiveness and robustness of the proposed system for the real-time 3D pose estimation under turbidity and night condition.

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穿刺ロボット手術のためのCT画像を用いた針の姿勢補正

松野隆幸, 長尾明哲, 亀川哲志, 平木隆夫, 木村和志, 城戸脩希, 見浪護

システム制御情報学会研究発表講演会講演論文集(CD-ROM) 2018年

ロボットマニピュレータによるひも結びの動作計画のための位相情報Face-Listの提案

松野隆幸, 渡部知俊, 見浪護

ロボティクスシンポジア予稿集 2018年

Docking Experiment in Dark Environments Using Active/Lighting Marker and HSV Correlation

Daiki Yamada, Naoki Mukada, Myo Myint, Khin Nwe Lwin, Takayuki Matsuno, Mamoru Minami

2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO) 2018年 IEEE

開催年月日： 2018年

記述言語：英語

Recharging ability with underwater docking function would be a first primal step conducted to enable the AUV to operate independently of a surface vessel for extended periods. Therefore, the role of docking operation came in picture not only for battery recharging application but also other novel applications such as sleeping under mother ship, or new mission up and down loading. Moreover, docking capacity can be extended to provide navigation for other underwater vehicles on the way of their mission too. However, there are many challenging issues in achieving these applications that request high accuracy and robustness against disturbances that are provided by the underwater environment. The most challenging and unavoidable problems in sensing sphere for sea operations are, we think, turbidity and light changing. Turbidity is defined as cloudiness in a liquid caused by the presence of suspended particles that scatter and absorb light. Since underwater battery recharging are supposed as a first step to realize a full autonomous/intelligent robot, the deep-sea docking experiments cannot avoid turbidity and low light environment. In previous studies, we had conducted sea docking experiments using a passive (not lighting) marker and image-evaluation function based on only hue information, limiting its operational environment in lower turbid sea with sunshine. Whereas in this study, to improve our system removing above defects, we newly designed an active- light emitting 3D marker and a fitness function determined by HSV color components to improve the performance of the system especially in a more turbid environment. The advantage of using an active 3D marker and HSV-evaluated function is to be thought as being tolerable and seeable despite clipped whites and scattered light on the camera images caused by turbidity. Additionally, we conducted the docking experiments to verify the robustness of the proposed approach against turbidity and compared recognition results between the previous method and the improved method.

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複眼カメラを搭載したDELTA-150のビジュアルサーボ系構築

中村翔, 山田大喜, 神田佳希, 山下耕平, 向田直樹, 松野隆幸, 見浪護

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) 2018年

ベジエ曲面を用いた任意研削対象物の形状推定

山本一真, 佐藤篤, 和泉卓朗, 見浪護, 松野隆幸

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) 2018年

射影ベース認識法を用いたビジュアルサーボによる対象物追従

WANG Junxiang, TIAN Hongzhi, KOU Yejun, 舟久保龍希, LI Xiang, 山本太郎, 松野隆幸, 見浪護

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) 2018年

ひも形状操作におけるセグメント長の比率を考慮したマニピュレータ動作生成

松野隆幸, 渡部知俊, 見浪護

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(CD-ROM) 2018年

静/動摩擦を考慮したヒューマノイドのアイススケート歩行

LI Xiang, 井澤大時, 見浪護, 松野隆幸

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) 2018年

針穿刺ロボットの術前干渉チェックソフトの開発-針把持部の干渉の可視化-

松野隆幸, 亀川哲志, 平木隆夫

日本コンピュータ外科学会誌 2018年

穿刺ロボットアームのCTガントリ内壁との衝突防止システムの提案

城戸脩希, 松野隆幸, 木村和志, 亀川哲志, 平木隆夫, 見浪護

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(CD-ROM) 2018年

ボリュームCT画像情報を用いた針穿刺ロボットの姿勢修正に関する研究

松野隆幸, 亀川哲志, 平木隆夫, 木村和志, 城戸脩希, 見浪護

日本ロボット学会学術講演会予稿集(CD-ROM) 2018年

CT透視ガイド下針穿刺ロボットのためのジャミング転移現象を利用した剛性可変グリッパの試作

横内健人, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫, 多田隈建二郎

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) 2018年

逆射影変換を用いた対象物位置姿勢認識法の認識精度の検証

山本太郎, 舟久保龍希, KOU Yejun, TIAN Hongzhi, LI Xiang, 松野隆幸, 見浪護

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) 2018年

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講演・口頭発表等 - 松野 隆幸

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講演・口頭発表等 - 松野　隆幸