研究者詳細 - 亀川　哲志

論文 - 亀川　哲志

分割表示 87 件中 41 - 60 件目／全件表示 >>

Reactive motion for a snake-like robot in a crowded space 査読

Tetsushi Kamegawa, Tsubasa Watanabe, Suxiang Yuan, Akio Gofuku

International Journal of Nuclear Safety and Simulation 6 ( 2 ) 109 - 115 2015年

螺旋尺取り方式を用いて円柱を移動するヘビ型ロボットの提案査読

亀川哲志, 斉偉, 五福明夫

計測自動制御学会論文集 51 ( 1 ) 2015年

汎用測域センサで測定した水中スキャンデータの補正手法査読

藤原始史, 亀川哲志, 長谷川準, 五福明夫

日本機械学会論文集 81 ( 831 ) 2015年

記述言語：日本語出版者・発行元：The Japan Society of Mechanical Engineers

We propose a method that corrects effects of refractions and absorptions for underwater scan data obtained by general-purpose laser range finders (LRFs) using HOKUYO UTM-30LX (Top-URG). For measurements by LRFs in water, it is known that refractions make measurement distances longer and absorptions make reflection intensities weaker. In order to confirm those characteristics of measurements in water, we first conduct two basic experiments that Top-URG measures a target in the environment with the assumed turbid deep-sea and evaluate an accuracy and a performance of Top-URG in water. The first basic experiment is that Top-URG measures surroundings in a sink filled with water by changing the turbidity of the water. The second basic experiment is conducted by changing a location and an angle of a target. Next, we develop a method that (1) corrects scan data of Top-URG by considering a refractive index of water and (2) eliminates scan data with low reliabilities based on reflection intensities obtained by Top-URG using automatically calculated thresholds. We evaluate those two methods by using two types of target objects and seven situations. Our developed methods can correct distorted scan points by refractions in water and can eliminate ghost scan points which are not existent. We confirm that their performances for underwater scan data are effective enough to use Top-URG in water.

DOI： 10.1299/transjsme.15-00412

Reaction Force Analysis of Puncture Robot for CT-guided Interventional Radiology in Animal Experiment 査読

Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Akira Yanou, Mamoru Minami

2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 7 - 12 2015年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

A medical procedure called Interventional Radiology (IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. It has advantage that invasiveness is low compared with conventional surgery. In order to take patient's fluoroscopic image, computed tomography (CT) equipment is often used. In this case, it is problem that the doctor is exposed to radiation because the doctor should conduct the procedure close to CT equipment. Thus, we have developed a robot called "Zerobot" which has six DOF and remote-control feature with dedicated input device. In this paper, first, overview of Robotic IR is described. Then, we describes about animal puncture experiment of Zerobot, and discuss the result of puncture reaction force analysis in the experiment.

DOI： 10.1109/SII.2015.7404888

Development of a prototype of snake-like robot with contact sensors that moves in obstacles by reflexive behavior 査読

Suxiang Yuan, Tetsushi Kamegawa, Akio Gofuku

Proceedings of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2015) 2015年

Simulation results of behavior of a simple snake-like robot in a narrow passage 査読

Tsubasa Watanabe, Tetsushi Kamegawa, Akio Gofuku

Proceedings of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM2015) 2015年

Evaluation of snake robot's behavior using randomized EARLI in crowded obstacles 査読

Tetsushi Kamegawa, Ryoma Kuroki, Akio Gofuku

12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings 2014年1月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：Institute of Electrical and Electronics Engineers Inc.

We have proposed EARLI (Extended Asymmetrical Reverse Lateral Inhibition) which is a behavior of snake robot's obstacle aided locomotion. The idea of EARLI starts with an original idea of lateral inhibition. Joints rotate in reverse direction compared with the original lateral inhibition. Information of contact affects not only adjacent joints but also a couple of neighboring joints away from the contacting link. Distribution of torque are empirically set asymmetrically in order to propel a snake robot forward. The algorithm of EARLI is implemented to a model of snake robot in ODE (Open Dynamics Engine) to see its behavior and to verify its effectiveness. In this paper, we introduce randomized EARLI to avoid getting stuck in crowded obstacles when the snake robot uses only one pattern of EARLI. In addition, efficiency of the snake robot's locomotion is evaluated by measuring power of snake robot's joints. It is verified that the snake robot can move in crowded obstacles effectively by using random EARLI behavior.

DOI： 10.1109/SSRR.2014.7017666

CT Phantom for Development of Robotic Interventional Radiology 査読

Hirotaka Nakaya, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Takuya Inoue, Akira Yanou, Mamoru Minami, Akio Gofuku

2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 82 - 87 2014年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

There is a surgical method called Interventional Radiology (IVR) as one of lung cancer treatments. It has a problem that doctors are exposed to radiation because IVR is conducted in CT apparatus. In order to avoid the problem, a robotic IVR system that doctors conduct the puncture with a robot is developed. An operation test is necessary to develop the robotic IVR system, however, an experiment with real patients is rejected based on ethic regulation. Therefore, a phantom is used for experiments instead of patients. A phantom is a model of human used for both evaluation and adjustment of medical imaging equipments such as CT and MRI. However, ready-made phantoms can not be punctured, because they are only aimed to radiography and their surface are hard. Therefore a phantom for CT-IVR which can be punctured is developed.

DOI： 10.1109/SII.2014.7028016

Plane Detection to Improve 3D Scanning Speed Using RANSAC Algorithm 査読

Tomofumi Fujiwara, Tetsushi Kamegawa, Akio Gofuku

PROCEEDINGS OF THE 2013 IEEE 8TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) 1863 - 1869 2013年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

When an operator teleoperates a rescue robot, it is necessary for the operator to understand the relationship between the robot and its environment while indirect-vision driving. A LRF (Laser Range Finder) installed on a rotating stage is often used for scanning the environment in order to give the operator spatial information, while there is a trade-off between its scanning speed and point density. To solve the problem, we implement plane detection by RANSAC (RANdom SAmple Consensus) algorithm, integration of overlapped planes using tables and drawing them as convex hulls. The experimental results show that the scanning speed could be improved because the result of 3D scanning with a low point density shows a good match for that with a high point density by using the implemented methods.

DOI： 10.1109/ICIEA.2013.6566671

Evaluation of Plane Detection with RANSAC According to Density of 3D Point Clouds. 査読

Tomofumi Fujiwara, Tetsushi Kamegawa, Akio Gofuku

CoRR abs/1312.5033 2013年

Modeling and Control of a Snake-Like Robot Using the Screw-Drive Mechanism 査読

Hiroaki Fukushima, Shogo Satomura, Toru Kawai, Motoyasu Tanaka, Tetsushi Kamegawa, Fumitoshi Matsuno

IEEE TRANSACTIONS ON ROBOTICS 28 ( 3 ) 541 - 554 2012年6月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

In this paper, we develop a new type of snake-like robot using screw-drive units that are connected by active joints. The screw-drive units enable the robot to generate propulsion on any side of the body in contact with environments. Another feature of this robot is the omnidirectional mobility by combinations of screws' angular velocities. We also derive a kinematic model and apply it to trajectory tracking control. Furthermore, we design a front-unit-following controller, which is suitable for manual operations. In this control system, operators are required to command only one unit in the front; then, commands for the rest of the units are automatically calculated to track the path of the preceding units. Asymptotic convergence of the tracking error of the front-unit-following controller is analyzed based on a Lyapunov approach for the case of constant curvature. The effectiveness of the control method is demonstrated by numerical examples and experiments.

DOI： 10.1109/TRO.2012.2183050

Development of a practical mobile robot platform for NBC disasters and its field test 査読

Kazuyuki Kon, Hiroki Igarashi, Fumitoshi Matsuno, Noritaka Sato, Tetsushi Kamegawa

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012 1 - 6 2012年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

In this research, we present development of a mobile robot platform integrated with off-the-shelf sensors and equipments for disaster response. The proposed platform aims to offer an opportunity for researchers and engineers to let their effort on developing more advanced methods related to disaster response, allowing for further development from R&amp
D to practical or business purpose. Unlike the applications including research and education or military and civil defense forces, it is expected that the platform can be utilized for practical use with small initial budget and less effort for development. In this paper, we explain the development scheme of the proposed platform, which focuses on the outdoor environmental monitoring, and the progress on the development including its hardware and software configuration. Furthermore some experimental results, carried out in the nuclear power plant, are also shown. © 2012 IEEE.

DOI： 10.1109/SSRR.2012.6523894

A Stirrer Driven by a Spherical Stepping Motor 査読

Wanli Shan, Akio Gofuku, Mitsunobu Shibata, Tomoaki Yano, Tetsushi Kamegawa

PRZEGLAD ELEKTROTECHNICZNY 88 ( 7B ) 48 - 51 2012年

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：WYDAWNICTWO SIGMA-N O T SP Z O O

This study applies the spherical stepping motor the authors developed to the driving device of a stirrer and develops a proto-type stirrer. The developed stirrer is composed of a rotor, a stator, a control PC, an electric-magnet excitation circuit, and a power supply. The rotor is composed of double spherical shell in order to contain liquid in its inner spherical shell. Totally 91 permanent magnets are arranged in the rotor. On the other hand, 80 electro-magnets are arranged on the stator. The applicability of the stirrer to material production is evaluated by stirring experiments.

Proposal of EARLI for the Snake Robot's Obstacle Aided Locomotion 査読

Tetsushi Kamegawa, Ryoma Kuroki, Matthew Travers, Howie Choset

2012 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR) 1 - 6 2012年

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

In this paper, EARLI (Extended Asymmetrical Reverse Lateral Inhibition) is proposed for the snake robot's obstacle aided locomotion and behavior. The idea of EARLI starts with an original idea of lateral inhibition; although joints rotate in reverse direction compared with the original lateral inhibition; and information of contact affects not only adjacent joints but also a couple of neighboring joints away from a contacting link. Furthermore, distribution of adding torque is empirically set asymmetrically in order to propel the snake robot forward. The algorithm of EARLI is implemented to ODE (Open Dynamics Engine) to see its behavior in simulation environments and to verify its effectiveness. As a result, a behavior emerges in which the the snake robot is pushing obstacles for longer times and moving greater distances than when using original lateral inhibition. In addition, continuous pushing behavior is also observed when an obstacle is located behind the the snake robot.

DOI： 10.1109/SSRR.2012.6523889

球面モータ駆動の撹拌器の開発査読

五福明夫, 単万里, 柴田光宣, 山西輝裕, 亀川哲志

日本機械学会論文集 C編 77 ( 778 ) 2400 - 2406 2011年12月

出版者・発行元：The Japan Society of Mechanical Engineers

This study develops a mixing machine driven by a spherical motor that can rotate around any axis. The developed mixing machine is composed of a rotor, a stator, a control PC, an electro-magnet excitation circuit, and a power supply. The rotor that its outer diameter is 200 [mm] is composed of double spherical shells in order to contain liquid in its inner spherical shell. Totally 91 permanent magnets are arranged in almost spherical symmetry on the inner surface of the outer spherical shell. On the other hand, 80 electro-magnets are arranged on the stator of a semi-spherical shell. The applicability of the mixing machine to material production under the condition of small influence of gravitational force is evaluated by mixing experiments to dissolve salt of 50 [g] in water of 200 [g]. The mixing performance is compared for five mixing methods. The results show that the mixing performance of the method to change randomly the rotation direction is only slightly lower than that of the method of rotating continuously around a horizontal axis that exhibits the highest mixing performance. © 2011 The Japan Society of Mechanical Engineers.

DOI： 10.1299/kikaic.77.2400

Design and Implementation of Grouped Rescue Robot System Using Self-Deploy Networks 査読

Tetsushi Kamegawa, Noritaka Sato, Michinori Hatayama, Yojiro Uo, Fumitoshi Matsuno

JOURNAL OF FIELD ROBOTICS 28 ( 6 ) 977 - 988 2011年11月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：WILEY-BLACKWELL

In this study, we propose a new system for searching the inside of a damaged building using grouped rescue robots. Because the assumed target environment is broad and variable, the proposed system is designed to have adaptability, scalability, and usability. The system consists of robots, sensors, a network, a communication protocol, user interfaces, and database management systems; their complementary capabilities allow them to satisfy the requirements for the system. This study presents the requirements and design of the proposed system, briefly describes each element, and provides examples of how the elements function as an integrated system. (C) 2011 Wiley Periodicals, Inc.

DOI： 10.1002/rob.20413

Stereoscopic presentation of 3D scan data obtained by mobile robot 査読

Tomofumi Fujiwara, Tetsushi Kamegawa, Akio Gofuku

9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011 178 - 183 2011年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

It is necessary for rescue workers to understand the internal environment of a damaged building. A laser scanner mounted on a rotating platform on a mobile robot is commonly used for acquiring the 3D information of the building. In this study, a stereoscopic presentation system that displays 3D scan data is constructed in order to improve the cognitive ability of an operator who teleoperates the robot. Two types of experiments that an end user evaluates the constructed system are conducted and the experimental results show a good tendency to use the stereoscopic presentation. © 2011 IEEE.

DOI： 10.1109/SSRR.2011.6106745

An analysis about a possibility of continuous walk for a quadruped robot using leg-grope movement 査読

Kazuyuki Ishida, Tetsushi Kamegawa, Akio Gofuku

2011 IEEE/SICE International Symposium on System Integration, SII 2011 1287 - 1292 2011年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Currently, various rescue robots are developed to use them at a disaster site. It is suggested that legged-robots are useful on uneven and fragile terrain because a legged-robot can choose a grounding point discretely. In the previous study, leg-grope movement was proposed for a quadruped robot walking on fragile terrain. However, the walking experiment by using the leg-grope movement was carried out only for one cycle of walking gait, and the possibility of continuous walk that using the leg-grope movement has not analyzed yet. In this paper, we studied whether the leg-grope movement can be carried out continuously or not. As a result, we found the region for the leg-grope movement will never extend in future steps. Therefore, once the region for the leg-grope movement becomes small, the region cannot recover its groping area. The proposed leg-grope movement has to satisfy severe condition for a quadruped robot to walk continuously. © 2011 IEEE.

DOI： 10.1109/SII.2011.6147634

V-shift control for snake robot moving the inside of a pipe with helical rolling motion 査読

Tetsushi Kamegawa, Toshimichi Baba, Akio Gofuku

9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011 1 - 6 2011年

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

A snake robot would be applied to a machine that goes into a narrow space to investigate the inside of a structure. Recently, multiple locomotion modes of snake robots have been realized. In the previous study, we also achieved some kind of locomotion modes such as undulatory locomotion mode, sidewinding locomotion mode, lateral rolling locomotion mode and helical rolling locomotion mode to move along a pipe. The shape of the robot in each locomotion mode is calculated by using mathematical continuum curve model respectively. However, it is necessary to change these shape smoothly when the environment where the snake robot is moving changes. It is relatively easy to achieve this in the case that the snake robot moves along its body, namely it moves to a tangential direction, by using the traditional shift control. In this paper, we propose a s-shift control and a v-shift control for a snake robot moving vertical direction to its body. In this paper, the v-shift control is installed to an experimental snake robot and the locomotion performance of robot is evaluated for the pipe composed of a straight pipe and an elbow pipe. As a result, the snake robot could successfully changes its locomotion mode to move the inside of the pipes with two types of helical rolling motion. © 2011 IEEE.

DOI： 10.1109/SSRR.2011.6106789

Development of a holonomic omnidirectional vehicle driven by a spherical motor and proposal of a spherical deceleration driving method 査読

Wanli Shan, Akio Gofuku, Tetsushi Kamegawa, Mitsunobu Shibata

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 77 ( 784 ) 4630 - 4640 2011年

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：一般社団法人日本機械学会

This paper presents a prototype of holonomic omnidirectional moving vehicle driven by a spherical motor that rotates in all directions. This paper also proposes a method called spherical deceleration driving method that can increase the driving torque by tilting the rotation axis of the spherical motor. Experimental results to evaluate the moving performance of the prototype vehicle by the spherical deceleration driving method show that the measured driving forces are almost coincident with the theoretical values within the range that the driving torque of the spherical motor does not exceed the maximum static frictional force between the motor surface and floor. In addition, the driving force can be increased up to about twice the value at the inclination angle of 0 °. On the other hand, the measured moving speeds are well agreed with the theoretical speeds if the slip between the surface of the rotor of sperical motor and road surface does not exist. © 2011 The Japan Society of Mechanical Engineers.

DOI： 10.1299/kikaic.77.4630

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