日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
36 巻 , 3 号
選択された号の論文の13件中1~13を表示しています
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論文
  • 阿部 有貴, 金井 海渡, 小笠原 亮大, 尾崎 功一
    2018 年 36 巻 3 号 p. 217-221
    発行日: 2018年
    公開日: 2018/05/15
    ジャーナル フリー

    Technological development of expanding food production is necessary due to world population growth and environmental changes on earth. New Plant Breeding Techniques (NPBT) is developed. In the breeding, pollen is very important. We have achieved the estimation methods of pollens by imaging processing for the breeding. Techniques of collecting the precious pollens, as next stage, is needed. There are micro-objects such as pollen in micro-world. In the world, a problem is what adhesion has great effect on micromanipulation. We propose a micromanipulation method considering that an approach angle on pickup affects adhesion and mechanical balance on release with a system consisting of an optical microscope and micro-manipulators. Moreover, we present pickup approach by using an estimation a pollen's state from chromatic aberration in microscopic field in order that repeatability and accuracy of pickup and release uneven sized pollens is improved. The experimental results show the performance of the proposed pickup-and-place method.

  • 樋口 寛, 藤井 浩光, 谷口 敦史, 渡辺 正浩, 山下 淳, 淺間 一
    2018 年 36 巻 3 号 p. 222-232
    発行日: 2018年
    公開日: 2018/05/15
    ジャーナル フリー

    This paper presents an effective 3D measurement method from the inside of large structures such as railway vehicles, elevators, and escalators. In our proposed method, images are captured by a moving measurement device, which is composed of a ring laser and a camera, from the inside of the target object. Structures of the target are reconstructed from these images by integrating cross-section shapes, obtained by the light-section method, into unified coordinate by pose changes estimated by Structure from Motion (SfM). We focus on the method to extract information necessary for the light-section method and SfM from the captured images which contain both laser light and texture information. A color filter used in the proposed method enables to extract areas irradiated by the laser for the light-section method. Further, a new block matching technique is introduced to avoid the influence of the laser light, which causes to detect wrong corresponding points. In experiments, we confirmed the validity of the proposed 3D measurement method.

  • 奥井 学, 名倉 裕貴, 山田 泰之, 中村 太郎
    2018 年 36 巻 3 号 p. 233-241
    発行日: 2018年
    公開日: 2018/05/15
    ジャーナル フリー

    This paper proposes a novel hybrid pneumatic power source for a development of a portable pneumatic source. The hybrid source achieves light weight system by combination of multiple pneumatic sources. This paper is divided as follows. Firstly, the mobility of various pneumatic sources are evaluated by experiments. Evaluated methods are a small compressor driven by battery, tank, phase change of material, and chemical reaction. From the results, it was clarified that there is no best method since each method have advantages and disadvantages. Secondly, hybrid pneumatic source is proposed utilizing the result. Finally, a prototype is developed and the effectiveness of the proposed method is confirmed by experiments.

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