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*田中 秀弥, 井上 浩行, 八田 浩之, 安藤 泰宏
会議録・要旨集
フリー
The purpose of this study is to develop a lighter and smaller support device that can assist the user's arm to reduce burden on workers. The support device consists of a mounting part and a linkage mechanism in order to use a single actuator. In this paper, we used an actuator and a ratchet mechanism. The ratchet mechanism is used to adjust the posture of the arm part. The effectiveness of the proposed support device is verified by the result of the experiments.
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*内田 拓志, 井上 浩行, 曽利 仁, 八田 浩之, 安藤 泰宏
会議録・要旨集
フリー
The purpose of this study is to develop a motion control method that enables autonomous running and a sensor system to detect rice plants of weeding robot in paddy field. The motion control method consists running along rice plants rows and turning. The sensor system consists of six capacitive touch sensors to detect the rice plants. In this paper, we carried out running experiments using imitations of the rice plant in a paddy field. The effectiveness of the developed motion control method and sensor system is verified by the experiments.
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難波 圭介, 井上 浩行, 曽利 仁, 八田 浩之, 安藤 泰宏
会議録・要旨集
フリー
The purpose of this study is to develop a sensor system for a weeding robot in order to detect the end of rows of rice plants in a paddy field. The sensor system has two capacitive touch sensors to detect the rice plants. The function of the sensor system that is mounted on the weeding robot is to detect rice plants, it cannot be affected by another sensor or the robot main body. In this paper, we carried out two types experiments using imitations of the rice plant in a sandbox. The effectiveness of the developed sensor system is verified by the experiments.
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秋平 将吾, 井上 浩行, 曽利 仁, 八田 浩之, 安藤 泰宏
会議録・要旨集
フリー
The purpose of this study is to propose a tracking control method for a wheeled weeding robot based on the rice plant line in a paddy field. The weeding robot has a capacitive touch sensor to detect the rice plants, azimuth sensor, microcomputer and battery. In this paper, we considered to reduce the rotation radius in turning traveling of the weeding robot. The rotation speed of the wheel is controlled by the PWM control signal. The effectiveness of the proposed tracking control method is verified by the experiments.
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粕井 康平, 井上 浩行, 則次 俊郎, 八田 浩之, 安藤 泰宏
会議録・要旨集
フリー
The purpose of this study is to develop a lighter and smaller power assist machine that can assist the user's arm to reduce burden on farm workers. The assist machine consists of a mounting part and a linkage mechanism in order to use a single actuator. In this paper, we used a linear motion actuator and a ratchet mechanism. The ratchet mechanism is used to assist the upper limbs without using an actuator. As a result, it is possible to keep the work posture of the upper limbs without controlling an actuator. The effectiveness of the improved power assist machines is verified by the result of the experiments.
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曽利 仁, 井上 浩行, 八田 浩之, 安藤 泰宏
会議録・要旨集
フリー
In this paper, we propose movement locus acquisition of a paddy weeding robot using a simple pixel coordinate transformation method, because of an algorithm that guesses unweeding area from movement locus of the paddy weeding robot. First, we measure position information of the paddy weeding robot by cameras attached overhead and obliquely upward in the experiment filed. Then, the position coordinate obtained from obliquely upward camera are transformed into position coordinate obtained from overhead camera using a simple pixel coordinate transformation method. Experimental results demonstrated that the proposed method is effective for obtaining movement locus of the paddy weeding robot.
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綱島 大地, 曽利 仁, 井上 浩行, 八田 浩之, 安藤 泰宏
会議録・要旨集
フリー
In this paper, we propose the running control algorithm of a paddy weeding robot, after it detects the dike of paddy field. The paddy weeding robot detects the dike of paddy field using bumper touch sensors. Then, the paddy weeding robot runs toward the next rice plants line. The experimental results demonstrated that the proposed cruise control algorithm was effective for running and turning of the paddy weeding robot on the streaky stage.
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秋平 将吾, 井上 浩行, 曽利 仁, 八田 浩之, 安藤 泰宏
会議録・要旨集
フリー
The purpose of this study is to develop a wheel-type weeding robot in a paddy field. The weeding robot has a capacitive touch sensor to detect the rice plants, microcomputer and battery. The function of the sensor that is mounted on the weeding robot can detect rice plants and cannot be affected by water. In this paper, we design and develop two kinds of autonomous weeding robots. Kemp's linkages is used to keep the distance between the sensor and the robot main body. The effectiveness of the developed robots is verified by the preliminary experiments.
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井上 浩行, 秋平 将吾, 八田 浩之, 安藤 泰宏
会議録・要旨集
フリー
The purpose of this study is to develop a power assist machine that can assist the user's arm to reduce burden on farm workers. The assist machine consists of a linkage mechanism in order to use a single actuator. In this paper, we used a screw feed mechanism and a worm gear mechanism as a deceleration mechanism having a self-lock function. As a result, it is possible to keep the work posture of the upper limbs without controlling an actuator. The effectiveness of the proposed two kinds of power assist machines is verified by the result of the experiments.
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石井 雄也, 井上 浩行, 曽利 仁, 安藤 泰宏, 八田 浩之, 生駒 徹志
会議録・要旨集
フリー
The purpose of this study is to develop a sensor system for the weeding robot in a rice field. This sensor system is composed of the capacitive touch sensor to detect the rice plants. The weeding robot that we use in this study can autonomously move across the rice plants. The function of the sensor system that is mounted on the weeding robot can detect rice plants and cannot be affected by water. In order to elucidate the fundamental characteristics of the capacitive touch sensor, we carried out experiments with the rice plants. The effectiveness of capacitive touch sensor is verified by the experiments.
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石井 雄也, 井上 浩行, 八田 浩之, 生駒 徹志
会議録・要旨集
フリー
The purpose of this study is to develop a power assist device that can hold the user's arm to reduce burden on furl workers. This device consists of a linkage mechanism in order to use a ratchet mechanism. The ratchet mechanism is used to assist the upper limbs without using an actuator. As a result of simplified structure, it didn't cost much. In this papel the ratchet mechanism is designed to hold the shoulder joint and the elbow joint. The effectiveness of the proposed holding mechanism is verified bv the result of the preliminary experiments.
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山口 政昭, 井口 信洋
日本ロボット学会誌
1990年
8 巻
3 号
328-333
発行日: 1990/06/15
公開日: 2010/08/25
ジャーナル
フリー
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佐久田 博司, コナー ジェローム・R, 相澤 慶多, 矢吹 太朗
図学研究
2007年
41 巻
Supplement2 号
107-110
発行日: 2007年
公開日: 2010/08/25
ジャーナル
フリー
静力学の初等的なモデルは、従来の機械設計や建築土木の構造設計に必要なだけでなく、
ロボテック
スやマイクロメカニクスなどの、現代的な応用分野においても本質的に重要な設計要素である。本研究は、静定はりの様々な条件における、せん断力、曲げモーメント、たわみ角、たわみを対話的な図で表示し、クイズ形式で理解の支援を行うシステムの開発と結果を説明する。
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八田 浩之, 安藤 泰宏, 飯塚 浩二郎, 井上 浩行, 曽利 仁
会議録・要旨集
フリー
Recently, the rice cultivation without herbicide is required. Moreover, the autonomous systems for the rice cultivation is needed for manyfanners because of their works are very hard. Therefore, we propose a "Weeding Robot" which can travel all over of the paddy field for the rice cultivation. Furthermore, we design that the operation of the proposed robot is simple without difficult operation and is not complicated set up. In this paper, we describe the development status for each element of the proposed weeding robot. Thereafter, we report about the autonomous experiments.
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古川 正志, 渡辺 美知子, 池田 将晴, 木下 正博, 嘉数 侑昇
日本機械学会論文集 C編
2003年
69 巻
680 号
1051-1057
発行日: 2003/04/25
公開日: 2008/02/26
ジャーナル
フリー
Knowledge acquisition on AGV collision avoidance with other AGV has been investigated for realizing AGV autonomous driving by use of Q-learning. A proposed method adopts an indirect approach to solve collision avoidance problem. Namely, the knowledge acquisition method on AGV collision with other AGV is proposed by using Q-learning. Q-value in Q-learning plays a role in representing knowledge and it is obtained by trial and error. The obtained Q-value for collision is inversed and applied to collision avoidance. Through numerical experiments, it is verified that Q- value realizing collision knowledge is obtained and collision avoidance is realized by using inversed Q-value. At the same time, additional learning on Q-learning is also examined by comparing with simultaneous learning. As a result, it is found out that additional learning is as effective as simultaneous learning.
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真田 弘美
老年看護学
2017年
22 巻
1 号
3-4
発行日: 2017年
公開日: 2018/08/01
ジャーナル
フリー
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近江谷 和彦, 寺尾 日出男, 泉 哲次郎, 岸 弘夫
農業機械学会誌
1997年
59 巻
Supplement 号
1-2
発行日: 1997/04/01
公開日: 2010/04/30
ジャーナル
フリー
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*曽利 仁, 井上 浩行, 細谷 和範, 加藤 学, 漆原 史朗, 杉本 大志, 八田 浩之, 安藤 泰宏
会議録・要旨集
認証あり
As a herbicide-free weeding method, our research group are developing an autonomous running paddy weeding robot that can travel by a simple operation. The paddy weeding robot removes the weeds by churning up the soil and inhibits the growth of the weeds by blocking-off sunlight. In this paper, we propose a turning control method that performs a turning motion for repeating autonomous running. The proposed turning controller consists of three functions, final rice plant detection,turning control, and rows of rice plant detection. The experiment results demonstrate that the proposed turning control method is effective in turning motion for the paddy weeding robot.
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福田 敏男
日本ロボット学会誌
1985年
3 巻
1 号
77
発行日: 1985/02/15
公開日: 2010/08/25
ジャーナル
フリー
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*曽利 仁, 井上 浩行, 杉本 大志, 八田 浩之, 安藤 泰宏
会議録・要旨集
認証あり
As a herbicide-free weeding method, our research group are developing an autonomous running paddy weeding robot that can travel by a simple operation. The paddy weeding robot removes the weeds by churning up the soil and inhibits the growth of the weeds by blocking-off sunlight. Before now, the paddy weeding robot has detected rice seedlings with capacitive touch sensors and turned to next rice seedlings row. However, the detection accuracy to move next rice seedlings row wasn’t sufficient. In this paper, we propose new rice seedlings detection methods. One is method which can detect rice seedlings from images taken by a camera sensor using You Only Lock Once (YOLO). The other is method which can detect the rice plants by a Light Detection and Ranging (LiDAR). The experiment results demonstrate that the proposed rice seedlings detection methods are effective in turning motion for the paddy weeding robot.
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