Updated on 2022/05/25

写真a

 
KAMEZAKI, Mitsuhiro
 
Affiliation
Faculty of Science and Engineering, Waseda Research Institute for Science and Engineering
Job title
Researcher(Associate Professor)

Concurrent Post

  • Faculty of Science and Engineering   School of Creative Science and Engineering

Education

  •  
    -
    2010.03

    Waseda University   Graduate School of Creative Science and Engineering   Major in Modern Mechanical Engineering  

Degree

  • Waseda Univerisity   Doctor of Engineering

Research Experience

  • 2018.04
    -
    Now

    Waseda University   Research Institute for Science and Engineering   Associate Professor

  • 2017.10
    -
    2021.09

    JST PREST

  • 2015.04
    -
    2019.03

    Shibaura Institute of Technology   Department of Engineering Science and Machines, College of Engineering   Part-time Lecturer

  • 2013.04
    -
    2018.03

    Waseda University   Research Institute for Science and Engineering   Assistant Professor

  • 2010.04
    -
    2013.03

    Waseda University   Department of Modern Mechanical Engineering, School of Creative Science and Engineering   Research Associate

  • 2008.04
    -
    2010.03

    Waseda University   Faculty of Science and Engineering   Research Associate (Global COE)

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Professional Memberships

  • 2017.04
    -
    Now

    Society of Automotive Engineers of Japan (JSAE)

  • 2016.04
    -
    Now

    The Society of Instrument and Control Engineers

  • 2014.04
    -
    Now

    The Japan Society of Mechanical Engineers

  • 2011.04
    -
    Now

    Society of Biomechanisms(SOBIM) Japan

  • 2009.04
    -
    Now

    IEEE Robotics and Automation Society

  • 2008.04
    -
    Now

    Robotics Society in Japan

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Research Areas

  • Robotics and intelligent system

  • Control and system engineering

  • Mechanics and mechatronics

  • Intelligent robotics

  • Structural materials and functional materials

Research Interests

  • Smart Mobility

  • Smart Actuator

  • Disaster Response Robot

  • Intelligent Human-Machine Interface

  • Field Mechanical System Design

  • Human-machine system

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Papers

  • A situational understanding enhancer based on augmented visual prompts for teleoperation using a multi-monitor system

    Mitsuhiro Kamezaki, Junjie Yang, Ryuya Sato, Hiroyasu Iwata, Shigeki Sugano

    AUTOMATION IN CONSTRUCTION   131  2021.11

    DOI

  • 鉱山ショベルの掘削効率化に関する研究 : 掘削抵抗解析に基づく個別要素法パラメータ同定システムの設計

    水嶋 済也, 山村 真司, 佐藤 隆哉, 水越 勇一, 加藤 史洋, 亀﨑 允啓, 岩田 浩康

    建設機械   57 ( 6 ) 38 - 43  2021.06

    CiNii

  • A Wheeled Robot Chain Control System for Underground Facilities Inspection using Visible Light Communication and Solar Panel Receivers

    Zhao, W., Kamezaki, M., Yamaguchi, K., Konno, M., Onuki, A., Sugano, S.

    IEEE/ASME Transactions on Mechatronics    2021

    DOI

  • Toward Health-Related Accident Prevention: Symptom Detection and Intervention Based on Driver Monitoring and Verbal Interaction

    Hiroaki Hayashi, Mitsuhiro Kamezaki, Shigeki Sugano

    IEEE OPEN JOURNAL OF INTELLIGENT TRANSPORTATION SYSTEMS   2   240 - 253  2021

     View Summary

    Professional drivers are required to safely transport passengers and/or properties of customers to their destinations, so they must keep being mentally and physically healthy. Health problems will largely affect driving performance and sometimes cause loss of consciousness, which results in injury, death, and heavy compensation. Conventional systems can detect the loss of consciousness or urgently stop the vehicle to prevent accidents, but detection of symptoms of diseases and providing support before the driver loses consciousness is more reasonable. It is challenging to earlier detect symptoms with high confidence. Toward solving these problems, we propose a new method with a multi-sensor based driver monitoring system to detect cues of symptoms quickly and a verbal interaction system to confirm the internal state of the driver based on the monitoring results to reduce false positives. There is almost no data that records abnormal conditions while driving and tests with unhealthy participants are dangerous and ethically unacceptable, so we developed a system with pseudo-symptom data and did outlier detection only with normal driving data. From data collection experiments, we defined the confidence level derived from cue signs. The results of evaluation experiments showed that the proposed system worked well in pseudo headache and drowsiness detection scenarios. We found that signs of drowsiness varied with individual drivers, so the multi-sensor based driver monitoring system was proved to be effective. Moreover, we found that there were individual differences in how the cue signs appeared, so we can propose an online re-training method to make the system adapt to individual drivers.

    DOI

  • Investigation on image signal receiving performance of photodiodes and solar panel detectors in an underground facility visible light communication system

    Wen Zhao, Mitsuhiro Kamezaki, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    OPTICS EXPRESS   29 ( 2 ) 692 - 705  2021.01

     View Summary

    For the safety, underground facilities are required to be inspected regularly, especially with image analysis. Traditional wireless and wired transmission techniques have a weakness of limited transmission range in narrow underground environments. In this study, a new image transmission method based on visible light communication (VLC) has been thus proposed. Two types of detectors as an image signal receiver have been tested and discussed in the following experiments. The photodiodes (PDs) are widely used as a common image signal detector in VLC technology, but image signal detection using solar panels (SPs) has not been studied. PDs have a higher sensitivity and faster response time but a limited detection area and high cost. Besides, PDs require the lens to focus light. On the other hand, SPs have much larger optical signal receiving areas and stronger optical signal capture capabilities. They can realize lens-free detection and are inexpensive. These features of PD were firstly verified in experiments with several receiving areas and angles of detectors. The experimental result revealed that PD had better image detection and recovery capabilities than those of SP. Then, we tbund that a larger receiving area obtained by using double PDs/SPs improved the brightness of the restored image. In a supplementary experiment, the influence of different RGB optical components on VLC, especially the VLC-based image transmission, has been investigated by using two-dimensional Fourier transform frequency analysis. We found that the red optical component significantly increased the intensity and energy of the restored image as the image low-frequency signals were larger than the restored image using ordinary mixed white light, and moreover, the blue optical component decreased the low-frequency part of the image. (C) 2021 Optical Society of America under the terms of the OSA Open Access Publishing Agreement

    DOI

  • EPM-MRE: Electropermanent Magnet-Magnetorheological Elastomer for Soft Actuation System and Its Application to Robotic Grasping.

    Peizhi Zhang, Mitsuhiro Kamezaki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

    IEEE Robotics Autom. Lett.   6 ( 4 ) 8181 - 8188  2021

     View Summary

    Conventional soft robotic grippers have been developed based on soft pneumatic actuators or using smart soft materials, but they need external pressure sources, are easily deteriorated or used in millimetric-scale, which leads to increase of the independency, instability, and vulnerability. In this study, we propose an EPM-MRE (Electropermanent Magnet-Magnetorheological elastomer) actuation system, which strengthens the independency and stability of soft actuation by non-contact magnetic force. We established its fundamental principle and investigated parameter design through developing a suction cup as a robotic gripper. We prototyped an EPM-MRE actuated suction cup based on magnetic-charge and tensile modeling as well as optimized the structure of EPM by introducing axisymmetric EPM with frustum pole and suction cup by introducing bi-silicone structure to uniformly activate MRE membrane. The activation of EPM by different current pulses and suction force affected by contact shapes and air gaps were tested. Evaluations showed that the suction cup could be activated with 10 ms and generate a maximum suction force of 9.2 N at a steady state with 0 J energy consumption. In conclusion, the EPM-MRE soft actuation system can be used as a robotic gripper.

    DOI

  • 粘弾性流体とロボット機構の融合デザイン

    亀﨑允啓, 坂本裕之

    ロボット(日本ロボット工業会)     51 - 53  2020.11

  • Preliminary Development of a Powerful and Backdrivable Robot Gripper Using Magnetorheological Fluids

    Sahil Shembekar, Peizhi Zhang, Zhuoyi He, Ryuichiro Tsunoda, Mitsuhiro Kamezaki, Shigeki Sugano

    Proceedings of 2020 International Symposium on Automation and Robotics in Construction (ISARC2020)     1458 - 1463  2020.10  [Refereed]

  • A Robust Driver’s Gaze Zone Classification Using Single Camera for Self-occlusions and Non-aligned Head and Eyes Direction Driving Situations

    Catherine Lollett, Hiroaki Hayashi, Mitsuhiro Kamezaki, Shigeki Sugano

    Proceedings of 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2020)     4302 - 4308  2020.10  [Refereed]

     View Summary

    Distracted driving is one of the most common causes of traffic accidents around the world. Recognizing the driver's gaze direction during a maneuver could be an essential step for avoiding the matter mentioned above. Thus, we propose a gaze zone classification system that serves as a base of supporting systems for driver's situation awareness. However, the challenge is to estimate the driver's gaze inside not ideal scenarios, specifically in this work, scenarios where may occur self-occlusions or non-aligned head and eyes direction of the driver. Firstly, towards solving miss classifications during self-occlusions scenarios, we designed a novel protocol where a 3D full facial geometry reconstruction of the driver from a single 2D image is made using the state-of-the-art method PRNet. To solve the miss classification when the driver's head and eyes direction are not aligned, eyes and head information are extracted. After this, based on a mix of different data pre-processing and deep learning methods, we achieved a robust classifier in situations where self-occlusions or non-aligned head and eyes direction of the driver occur. Our results from the experiments explicitly measure and show that the proposed method can make an accurate classification for the two before-mentioned problems. Moreover, we demonstrate that our model generalizes new drivers while being a portable and extensible system, making it easy-adaptable for various automobiles.

    DOI

  • A Prototype Power Transmission System with Backdrivability and Responsiveness using Magnetorheological Fluid Direction Converter and Clutch

    Zhuoyi He, Mitsuhiro Kamezaki, Peizhi Zhang, Sahil Shembekar, Ryuichiro Tsunoda, Shigeki Sugano

    Proceedings of 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2020)   2020-October   3702 - 3707  2020.10  [Refereed]

     View Summary

    Transmission systems that enable speed, torque, and direction conversion with high responsiveness and backdrivability are strongly required for higher performance robotic systems. Engagement states can be changed by clutches, but traditional clutches cannot change the direction and provide sufficient backdrivability. On the other hand, direction conversion can be realized by gear box such as bevel gears, but its backdrivability is poor. Thus, we newly develop a prototype transmission system with backdrivablity and responsiveness integrating clutch and direction converter using magnetorheological fluid (MRF). MRF is a functional fluid consisted of magnetic particles and carrier fluids which can change its viscosity rapidly and continuously according to the strength of magnetic field. MRF clutch consists of driving and driven shaft connected by vanes and coils for controlling MRF. MRF direction converter consists of bevel gears, brake, and MRF for reversing the output direction. In addition to traditional functions, such as speed and torque conversion, the proposed power transmission system provides five working modes: forward direction, reverse direction, and three kinds of free, according to states of the MRF clutch, MRF direction converter, and brake. Preliminary experiments revealed that the proposed transmission system could adequately realize implemented functions.

    DOI

  • Development of a Situational Awareness Estimation Model Considering Traffic Environment for Unscheduled Takeover Situations

    Horyaki Hayashi, Naoki Oka, Mitsuhiro Kamezaki, Shigeki Sugano

    International Journal of Intelligent Transportation Systems Research (IJIT)   19 ( 1 ) 1 - 15  2020.10  [Refereed]

     View Summary

    In semi-autonomous vehicles (SAE level 3) that requires drivers to takeover (TO) the control in critical situations, a system needs to judge if the driver have enough situational awareness (SA) for manual driving. We previously developed a SA estimation system that only used driver's glance data. For deeper understanding of driver's SA, the system needs to evaluate the relevancy between driver's glance and surrounding vehicle and obstacles. In this study, we thus developed a new SA estimation model considering driving-relevant objects and investigated the relationship between parameters. We performed TO experiments in a driving simulator to observe driver's behavior in different position of surrounding vehicles and TO performance such as the smoothness of steering control. We adopted support vector machine to classify obtained dataset into safe and dangerous TO, and the result showed 83% accuracy in leave-one-out cross validation. We found that unscheduled TO led to maneuver error and glance behavior differed from individuals.

    DOI

  • Development of an Abnormal Sign Detection System Based on Driver Monitoring and Voice Interaction for Preventing Medical-Condition-Caused Car Accidents

    Hiroaki Hayashi, Mitsuhiro Kamezaki, Naoki, Oka, Shigeki Sugano

    Proceedings of 2020 IEEE Intelligent Transportation Systems Conference (ITSC 2020)     779 - 786  2020.09  [Refereed]

     View Summary

    The number of medical-condition-caused car accidents (MCCCAs) in transport industry (bus, truck, and taxi) recently increases. MCCCAs including cerebrovascular and cardiovascular disease lead to loss of consciousness, thus result in injury and loss of life, and heavy compensation payment. Toward this problem, conventional systems detect closing of eyes, and fallen down state as to prevent car collisions. However, the support is taken after driver losing consciousness. To prevent MCCCAs, it is important to find out abnormal signs before driver losing consciousness. It is challenging to detect abnormal signs not only early but also with high confidence level (CL). This paper proposes a novel method that multi-modally monitors driver to detect abnormal signs which can be cues for estimating a driving-disable state in future and performs voice interaction based on the result of monitoring to clarify the internal state of the driver. Considering no data of abnormal signs, this study developed the system using normal data and pseudo abnormal data, and method of outlier detection was used for abnormal signs detection. As results of experiment, we found the relationship between cue signs and CL, and the proposed system can detect 'sleepiness' state with accuracy of 80%. Voice interaction system did not increase driver's mental demand.

    DOI

  • Development of a Vacuum Suction Cup by Applying Magnetorheological Elastomers for Objects with Flat Surfaces

    Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

    Proceedings of 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020)     777 - 782  2020.07  [Refereed]

     View Summary

    In this paper, we present a suction cup by applying magnetorheological elastomers (MREs) that can be used for the wall climbing robot and picking application. MRE is a smart material in which the ferromagnetic particles are dispersed in the elastomer. In conventional research, MREs are often used as a vibration absorber, since the physical or mechanical properties can be altered upon the application of a magnetic field. In this paper, we focus on the expansion of the use of MRE material. When the magnetic field is added, the MRE will be attracted to the magnetic generator due to the ferromagnetic particles inside. The basic mathematical model between magnetic force and elasticity is discussed by us, which supports the working principle of building MRE suction cup. The MRE suction cup contains a permanent magnetic field generator unit and a MRE membrane unit. A servo motor is used to control the ON/OFF of the magnetic generator, so that the MRE membrane can be activated and deactivated. In this prototype, we focus on picking objects with flat surfaces as the first attempt. The proposed suction cup can achieve appropriate suction force, low noise, energy-saving. In this paper, the operation method of MREs, the design of the suction cup, and the evaluation of the prototype are conducted.

    DOI

  • An Experimental Analysis of Pipe Inspection using Solar Panel Receiver for Visible Light Communication and Energy Harvesting

    Wen Zhao, Mitsuhiro Kamezaki, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Proceedings of 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020)     1848 - 1853  2020.07  [Refereed]

     View Summary

    The maintenance of water pipelines is quite essential since the leakage, deformation, and damage can bring fatal problems to the stable supply and safe use of water resource. In our former study, the transmission approach of information (image, sensor data, etc.) from water pipe based on visible light relay communication technology has been proposed since the visible light has less signal attenuation, stronger anti-electromagnetic interference capability, and smaller bit error ratio (BER) than traditional wireless solutions in the water pipe. However, each inspection sensor in the pipe is still powered by the battery, and thus, the operation time of the sensor is severely restricted by the battery consumption. Solar panel has been introduced in the visible light communication (VLC) technology due to its large signal receiving area and higher efficiency than traditional photodiode (PD) receivers. In this study, the performance of the solar panel receiver for VLC and energy harvesting (EH) has been analyzed. Since the LED owns low irradiation energy for energy harvesting, the received power of solar panel is low. To solve these problems, a solution by using sunlight for EH and LED light for VLC was proposed. We performed several experiments to evaluate the energy harvesting based on current and voltage, and VLC quality based on waveform and BER. The results indicated that the hybrid transmission method could increase the receiving current of solar panel with less influence on the VLC quality.

    DOI

  • A Basic Framework of View Systems Allowing Teleoperators to Pre-Acquire Spatial Knowledge from Survey and Route Perspectives

    Ryuya Sato, Mitsuhiro Kamezaki, Shigeki Sugano, Hiroyasu Iwat

    Presence: Teleoperators and Virtual Environments   27 ( 3 ) 309 - 332  2020.07  [Refereed]

     View Summary

    One of the most important problems in teleoperation of heavy machinery is that the work efficiency of teleoperation is lower than half that of a typical boarding operation. This difference is primarily caused by operators' difficulty in creating mental representations (i.e., cognitive maps) of work sites. Operators have two opportunities to acquire information, namely before work and during work, because the introduction of teleoperation requires about one week. Therefore, we have developed a view system to be used before work to provide environmental information concerning work sites on the basis of human spatial cognition. Cognitive maps can be built by acquiring knowledge from two perspectives-the survey perspective and the route perspective. We display an external view from any viewpoint to acquire knowledge from a survey perspective and a view from an operator's viewpoint, which can be modified by the operator's intention to acquire knowledge from the route perspective. Experimental results using a simulator suggested that a proposed view system could help operators acquire cognitive maps, which may lead to a decrease in task time, the number of stops, and the moving distance and an increase in speed during grasping.

    DOI

  • Environmental camera placements for skilled operators in unmanned construction

    Ryuya Sato, Mitsuhiro Kamezaki, Mitsuru Yamada, Takeshi Hashimoto, Shigeki Sugano, Hiroyasu Iwata

    Automation in Construction   119 ( 103294 ) 1 - 11  2020.06  [Refereed]

     View Summary

    Work efficiency of unmanned construction is 40% lower than that of on-board operation because of lack of visual information. Despite previous researches to acquire external views using drones and image processing, finding out optimum and allowable camera placements on actual construction machinery for chosen scenario and machine has been difficult. This work therefore documents the derivation of optimum and allowable camera placements with skilled subjects and using an actual construction machinery for digging and releasing tasks. The experimental results indicate an optimum pan angle of 90 degrees, allowable pan angles of 60 degrees-90 degrees and allowable tilt angles of > 45 degrees during digging, and allowable pan angles of 45 degrees-135 degrees, an optimum tilt angle of 90 degrees, and al-lowable tilt angles of 60 degrees-90 degrees during releasing. These results can be referred to the camera placements for unmanned construction sites to improve work efficiency. We will derive the camera placements for other scenarios.

    DOI

  • Preliminary Study of a Separative Shared Control Scheme Focusing on Control-Authority and Attention Allocation for Multi-Limb Disaster Response Robots

    Mitsuhiro Kamezaki, Takahiro Katano, Kui Chen, Tatsuzo Ishida, Shigeki Sugano

    Advanced Robotics   34 ( 9 ) 575 - 591  2020.03  [Refereed]

     View Summary

    We previously developed a four-arm, four-flipper disaster response robot called OCTOPUS to perform complex tasks at severe disaster sites. Its 22 degrees of freedom (DOF) enable advanced mobility and workability, but requires a minimum of two operators to control it. Considering the limitations of the current automated systems and the need to reduce human resources, it is practical to control OCTOPUS through a shared control. This entails a human-automation (HA) control system that independently allocates control authority between a human and automated system so as to simultaneously cover all DOF in what we call 'separative shared control'. To establish an HA control system, control authority allocation (CAA) must be carefully designed. We first performed experiments with a human-human (HH) control system using a VR simulator. We determined four tasks and five CAAs and then selected the optimum CAA by analyzing the results. We then developed an HA control system utilizing the selected CAA that replaces either human operator with a simple automated system. We compared the performance of the HH and HA control systems in the above four tasks using the VR simulator and found that the HA achieved less workload and higher subjective usability than the HH.

    DOI

  • Autonomous Mobile Robot Moving Through Static Crowd: Arm with One DOF and Hand with Involute Shape to Maneuver Human Position

    Noriaki Imaoka, Kazuma Kitazawa, Mitsuhiro Kamezaki, Shigeki Sugano, Takeshi Ando

    Journal of Robotics and Mechatronics   32 ( 1 ) 59 - 67  2020.02  [Refereed]

     View Summary

    Owing to manpower shortages, robots are expected to be increasingly integrated into society in the future. Moreover, robots will be required to navigate through crowded environments. Thus, we proposed a new method of autonomous movement compatible with physical contact signaling used by humans. The method of contact was investigated before using an arm with six degrees of freedom (DoF), which increases the cost of the robot. In this paper, we propose a novel method of navigating through a human crowd by using a conventional driving system for autonomous mobile robots and an involute-shaped hand with an one-DoF arm. Finally, the effectiveness of the method was confirmed experimentally.

    DOI

  • A Robust Driver's Gaze Zone Classification using a Single Camera for Self-occlusions and Non-aligned Head and Eyes Direction Driving Situations

    Lollett, C., Hayashi, H., Kamezaki, M., Sugano, S.

    IEEE Transactions on Systems, Man, and Cybernetics: Systems   2020-October  2020

    DOI

  • A Low Cognitive Load and Reduced Motion Sickness Inducing Zoom Method Based on Typical Gaze Movement for Master-Slave Teleoperation Systems with HMD.

    Yuichi Mizukoshi, Kenji Hashimoto, Atsuo Takanishi, Hiroyasu Iwata, Ryuya Sato, Takahiro Eto, Mitsuhiro Kamezaki, Ayaka Matsuzaka, Liu Yang, Akio Namiki, Asaki Imai, Takashi Matsuzawa

    2020 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     28 - 33  2020  [Refereed]

     View Summary

    Teleoperation of humanoid robots for disaster response tasks, controlled by a master slave system using a head-mounted display, requires a detailed frame of view for precise operation. We previously investigated an automatic zoom method, and images zoomed when the robot arm entered the work area could improve teleoperation performance. However, automatic zooming failed to consider the operator's intentions, including zoom levels and timing, causing high mental workload and motion sickness for operators. Therefore, this study proposes a zoom method with a low mental workload and reduced level of motion sickness. Motion sickness is less likely to be induced under active conditions, wherein the operator can manually control the image. Moreover, upper limbs should not be used to operate the zoom feature because such use can disturb the master slave operation. Furthermore, a zoom method should reflect the operator's intentions, including zoom levels and timing. Thus, we develop a zoom method based on head movement, which can be regarded as typical gaze movement. The results of experiments using a real robot system indicated that the proposed method could reduce the mental workload and work time without inducing motion sickness, compared with zoom operation using a foot pedal interface.

    DOI

  • 新産業創出のための機能性材料とメカトロニクスの融合デザイン~磁気応答性材料を用いたロボットアクチュエータ~

    亀﨑允啓

    BIO INDUSTRY   37 ( 1 )  2020.01  [Invited]

  • 同調と主張に基づく人共存型モビリティの協調移動技術

    亀﨑允啓

    日本ロボット学会学会誌(特集号:協働ロボ・作業支援ロボット)   37 ( 10 ) 943 - 949  2019.12  [Invited]

  • Cognitive Untunneling Multi-View System for Teleoperators of Heavy Machines Based on Visual Momentum and Saliency

    Ryuya Sato, Mitsuhiro Kamezaki, Satoshi Niuchi, Shigeki Sugano, Hiroyasu Iwata

    Automation in Construction   110   1 - 9  2019.12  [Refereed]

     View Summary

    Work efficiency in unmanned construction is about 40% less than that in boarding operation owing to a lack of visual information. Thus, previous studies have developed methods to display rich visual information by adding multiple views. However, providing excess visual information can cause 'cognitive tunneling' in operators, which makes operators subconsciously attend to a limited view and ignore others. Therefore, we developed a cognitive untunneling multi-view system that enables operators to voluntarily select appropriate views depending on situations. The experimental results using a scale model indicate that the proposed view system could decrease work time, stoppage time and help operators switch views frequently and release their attention from a cab view compared with a conventional view system. These results suggest that the proposed view system can increase work efficiency and help operators avoid cognitive tunneling. In the future, we will develop a system to identify situations and change views automatically.

    DOI

  • Human-Centered Intervention Based on Tactical-Level Input in Unscheduled Takeover Scenarios for Highly-Automated Vehicles

    Mitsuhiro Kamezaki, Horyaki Hayashi, Udara Eshen Manawadu, Shigeki Sugano

    International Journal of Intelligent Transportatin Systems Research (IJIT)   18 ( 3 ) 1 - 10  2019.12  [Refereed]

     View Summary

    Due to functional limitations in certain situations, the driver receives a request to intervene from automated vehicles operating level 3. Unscheduled intervention of control authority would lead to insufficient situational awareness, then this will make dangerous situations. The purpose of this study is thus to propose tactical-level input (TLI) method with a multimodal driver-vehicle interface (DVI) for the human-centered intervention. The proposed DVI system includes touchscreen, hand-gesture, and haptic interfaces that enable interaction between driver and vehicle, and TLI along with such DVI system can enhance situational awareness. We performed unscheduled takeover experiments using a driving simulator to evaluate the proposed intervention system. The experimental results indicate that TLI can reduce reaction time and driver workload, and moreover, most drivers preferred the use of TLI than manual takeover.

    DOI

  • A Visible Light Relay Image Transmission System for Water Pipe Inspection

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Proceeding of 1st Workshop on Optical Wireless Communication for Smart City     57 - 59  2019.12  [Refereed]

  • A Preliminary Experimental Analysis of In-Pipe Image Transmission Based on Visible Light Relay Communication

    Wen Zhao, Mitsuhiro Kamezaki, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Sensors   19 ( 21 ) 1 - 20  2019.11  [Refereed]

     View Summary

    The regular inspection of underground facilities such as pipelines is absolutely essential. Pipeline leakage caused by corrosion and deformation must be detected in time, otherwise, it may cause fatal disasters for human beings. In our previous research, a robot chain system (RCS) based on visible light relay communication (VLRC) for pipe inspection has been developed. This system can basically realize the light-based transmission of control command signals and illuminance-based coordinated movement, whereas the collection and transmission approach of the pipe leakage image have not been studied. Compared with former in-pipe wireless communication techniques, VLRC can not only overcome the instability and inefficiency of in-pipe data transmission but also extend the communication range with high transmission rates. The most important feature is that it can provide a stable illumination and high-quality communication for pipe inspection robot and finally improve the energy efficiency. Hence, the aim of this article is to analyze the performance of VLRC-based image transmission in the pipe and in the future provide a high-quality, long-range, and high-efficiency image transmission for complex infrastructure inspection with RCS. The transmission systems based on two signal transmission modes analog image signal relay transmission (AISRT) and digital image frame relay transmission (DIFRT) have been proposed. Multiple experiments including the waveform test, the test of transmission features with different bit error rate (BER), and in the different mediums were conducted between these two systems. The experiment revealed that DIFRT was superior to the AISRT in terms of the relatively high-quality image transmission and reconstruction quality. It could better overcome the attenuation brought by the absorption and scattering effects and finally increased the transmission range than former communication methods. The DIFRT system could also operate at 50 kbps with relatively low BER whether in the air or water. The technique in this research could potentially provide a new strategy for implementations in the stable, effective, high-speed, and long-range image transmission of the robots in some other special environments such as tunnel, mine, and underwater, etc.

    DOI

  • 無人化施工における奥行感の把握が必要な手先作業時における外部カメラの最適・好適配置の実験的導出

    佐藤隆哉, 亀﨑允啓, 山田充, 橋本毅, 菅野重樹, 岩田浩康

    第19回建設ロボットシンポジウム論文集(SCR2019)     1 - 2  2019.10  [Refereed]

  • 材料×機構の融合デザイン:逆可動性を有する磁気粘性流体アクチュエータユニット

    亀﨑允啓

    油空圧技術   58 ( 10 ) 44 - 49  2019.10  [Invited]

  • 無人化施工の掘削・リリース作業における側面カメラの最適および好適配置の実験的導出

    佐藤隆哉, 亀﨑允啓, 山田充, 橋本毅, 菅野重樹, 岩田浩康

    日本機械学会論文集   85 ( 876 ) 1 - 12  2019.08  [Refereed]

    DOI

  • 低疲労空間内で人型ロボットの精密遠隔作業を可能とするマスタスレーブ相対手先位置調整手法の提案

    佐藤隆哉, 亀﨑允啓, 江藤孝鉱, 並木明夫, 岩田浩康

    第26回バイオメカニズム・シンポジウム論文集(SOBIM2019)     72 - 79  2019.07  [Refereed]

  • A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-by Scenario

    Mitsuhiro Kamezaki, Ayano Kobayashi, Yuta Yokoyama, Hayato Yanagawa, Moondeep Shrestha, Shigeki Sugano

    International Journal of Social Robotics   12 ( 2 ) 1 - 22  2019.07  [Refereed]

     View Summary

    Human-aware navigation is an essential requirement for autonomous robots in human-coexisting environments. The goal of conventional navigation is to find a path for a robot to pass through safely and efficiently without colliding with human. Note that if such a path cannot be found, the robot stops until a path is clear. Thus, such collision-avoidance based passive navigation does not work in a congested or narrow space. To avoid this freezing problem, the robot should induce humans to make a space for passing by an adequate inducement method, such as body movement, speech, and touch, depending on the situation. A robot that deliberately clears a path with such actions may make humans uncomfortable, so the robot should also utilize inducements to avoid causing negative feelings. In this study, we propose a fundamental framework of interactive navigation with situation-adaptive multimodal inducement. For a preliminary study, we target a passing scenario in a narrow corridor where two humans are standing and adopt a model-based approach focusing on common parameters. The suitable inducement basically varies depending on the largest space through which a robot can pass, distance between the robot and a human, and human behavior such as conversing. We thus develop a situation-adaptive inducement selector on the basis of the relationship between human-robot proximity and allowable inducement strength, considering robot efficiency and human psychology. The proposed interactive navigation system was tested across some contextual scenarios and compared with a fundamental path planner. The experimental results indicated that the proposed system solved freezing problems, provided a safe and efficient trajectory, and improved humans' psychological reaction although the evidence was limited to robot planner and hardware design we used as well as certain scenes, contexts, and participants.

    DOI

  • Development of Anti-Sedimentation Magnetorheological Fluids and Its Implementation to MRF Damper

    Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

    Proceedings of 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2019)     400 - 405  2019.07  [Refereed]

     View Summary

    Magnetorheological Fluid (MRF) is a functional fluid in which apparent viscosity changes quickly, continuously and reversibly according to the strength of the magnetic field applied. On the basis of the peculiar features of MRFs various studies have been conducted mainly on functional fluids in the power fluid field. MRF consists of magnetic substances of the size 1-10 mu m which are dispersed in lubrication oil having low viscosity and specific gravity. There is no MRF which can be used in robots for precise control because it cannot guarantee the reliability. We here aim to acquire advanced robot mechanism by fusing material-mechanical technology and crossing hypothesis-experiment cycle. As a result, we found that anti-sedimentation of MRF can be regarded as the most important features for implementation in robotic mechanisms. In this paper, the anti-sedimentation MRF is manufactured and tested in a MRF damper. We first obtained a common method to manufacture the anti-sedimentation MR fluid, by designing the medium, the magnetic substance, and the additive. In the sedimentation test, the proposed MR fluid had the minimum separation compared to the commercial product. Secondly, in experiment using the MR damper, the anti-sedimentation MRF had superior stability compared to the commercial product.

    DOI

  • A Driver Situational Awareness Estimation System Based on Standard Glance Model for Unscheduled Takeover Situations

    Hiroaki Hayashi, Mitsuhiro Kamezaki, Udara E. Manawadu, Takahiro Kawano, Takaaki Ema, Tomoya Tomita, Lollett Catherine, Shigeki Sugano

    Proceedings of 2019 IEEE Intelligent Vehicles Symposium (IV 2019)     718 - 723  2019.06  [Refereed]

     View Summary

    Highly-automated vehicles operating in level 3 issue a takeover request (TOR) to transfer the control authority from the autonomated driving (AD) system to a human driver when they encounter system limitations. In such 'unscheduled' situations, the driver is required to immediately re-engage in the driving task both physically and cognitively, and perform suitable action, e.g. lane change. Thus, evaluating driver engagement by the AD system would lead to safe takeover. Physical engagement is easily estimated but there are few studies on evaluating cognitive engagement. In this study, we thus developed a driver situational awareness estimation system based on glance information. We first defined seven standard glance areas and driver glance classification model using a convolutional neural network. We then obtained a large amount of glance data when both safe and dangerous takeover situations (lane change) by using a driving simulator, and we derived the standard glance model including the glance area and time, in order to estimate whether driver gained enough cognitive re-engagement in real-time. To evaluate the effectiveness of the proposed model, we created a situational awareness assist system to visually indicate regions with insufficient glance. As a result, we found that the assist system drastically improved driving performance and reduced the number of accidents during takeover.

    DOI

  • A Coordinated Wheeled Gas Pipeline Robot Chain System Based on Visible Light Communication and Illuminace Assessment

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Sensors   19 ( 10 ) 1 - 20  2019.05  [Refereed]

     View Summary

    The gas pipeline requires regular inspection since the leakage brings damage to the stable gas supply. Compared to current detection methods such as destructive inspection, using pipeline robots has advantages including low cost and high efficiency. However, they have a limited inspection range in the complex pipe owing to restrictions by the cable friction or wireless signal attenuation. In our former study, to extend the inspection range, we proposed a robot chain system based on wireless relay communication (WRC). However, some drawbacks still remain such as imprecision of evaluation based on received signal strength indication (RSSI), large data error ratio, and loss of signals. In this article, we thus propose a new approach based on visible light relay communication (VLRC) and illuminance assessment. This method enables robots to communicate by the light signal relay', which has advantages in good communication quality, less attenuation, and high precision in the pipe. To ensure the stability of VLRC, the illuminance-based evaluation method is adopted due to higher stability than the wireless-based approach. As a preliminary evaluation, several tests about signal waveform, communication quality, and coordinated movement were conducted. The results indicate that the proposed system can extend the inspection range with less data error ratio and more stable communication.

    DOI

  • Development of Anti-Sedimentation Magnetorheological Fluids and Preliminary Evaluation

    Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

    Proceedings of 2019 IEEE-RAS International Conference on Soft Robotics (Robosoft2019)     1 - 2  2019.04  [Refereed]

  • 重機の遠隔操作性向上のためのマルチカメラ最適配置に関する研究-第二報 掘削・配置作業におけるパン・チルト角が及ぼす作業効率への影響の実験的検証-

    佐藤隆哉, 亀﨑允啓, 山田充, 橋本毅, 菅野重樹, 岩田浩康

    第24回ロボティクスシンポジア予稿集     14 - 17  2019.03

  • Experimental Investigation of Optimum and Allowable Range of Side Views for Teleoperated Digging and Release Works by Using Actual Construction Machinery

    Ryuya Sato, Mitsuhiro Kamezaki, Mitsuru Yamada, Takeshi Hashimoto, Shigeki Sugano, Hiroyasu Iwata

    Proceedings of 2019 IEEE/SICE International Conference on System Integration (SII 2019)     794 - 798  2019.01  [Refereed]

     View Summary

    One of the most crucial problems associated with unmanned construction is low work efficiency due mainly to lack of visual information. External side views are necessary for efficient manipulation, but the optimum and allowable pan and tilt angles of side views have not been investigated. We thus conducted experiments using a scale model. However, experiments using actual construction machinery are necessary to confirm that these experimental results using a scale model can be applied to actual machines. Thus, the purpose of the present study is to investigate the optimum and allowable ranges of pan and tilt angles by using actual construction machinery. We focus on digging and releasing because these manipulation tasks require external views considering that precise operation is necessary. We conduct experiments based on a model task, including digging, which involves hook a target object, and releasing it in a designated area. The results suggest that the optimum pan angle for digging is 60 degrees, and the allowable range is 45 degrees-90 degrees. Moreover, the results indicate that the optimum tilt angle is 60 degrees, and the allowable range is 45 degrees-90 degrees.

    DOI

  • Derivation of an Optimum and Allowable Range of Pan and Tilt Angles in External Sideway Views for Grasping and Placing Tasks in Unmanned Construction Based on Human Object Recognition

    Ryuya Sato, Mitsuhiro Kamezaki, Satoshi Niuchi, Shigeki Sugano, Hiroyasu Iwata

    Proceedings of 2019 IEEE/SICE International Conference on System Integration (SII 2019)     776 - 781  2019.01  [Refereed]

     View Summary

    Herein, unmanned construction technology that allows remote control of construction machinery has been introduced for post-disaster recovery efforts. One of the most significant problems in unmanned construction is that work efficiency is less than half of that in manned operations owing to the lack of visual information. Thus, deriving optimum and allowable external sideway views can lead to higher efficiencies. In this study, we investigate optimum and allowable pan and tilt angles of external views for grasping and placing tasks as these tasks are required in disaster sites. Humans primarily recognize objects from canonical views with the least amount of occlusions, and with an allowable rotation of 30 degrees. Thus, we hypothesize that external views with pan and tilt angles of 90 degrees could be canonical views for grasping and placing; the allowable range of both pan and tilt angles was +/- 30 degrees. We conducted experiments using a 1/20 scale model to derive an optimum and allowable range of pan and tilt angles. The experimental results suggest that the optimum pan angle is 90 degrees, and the allowable range for grasping is +/- 30 degrees; the range for placing was from 30 degrees to 135 degrees. In addition, the results indicate that the optimum tilt angle is 60 degrees, and the allowable range is +/- 30 degrees.

    DOI

  • A Preliminary Experimental Study on Control Technology of Pipeline Robots based on Visible Light Communication

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Proceedings of 2019 IEEE/SICE International Conference on System Integration (SII 2019)     22 - 27  2019.01  [Refereed]

     View Summary

    Pipeline inspection robots are recently expected to be deployed to pipelines with longer distance and more complex configuration. These robots require high performance in wireless communication among robots and outside. The radio frequency or infrared radiation frequency can be one of the promising wireless communication method, but they would have drawbacks in pipeline environments, such as electromagnetic interference and low energy efficiency. In this study, we focus on visible light communication (VLC), which has a high transmission rate, strong anti-interference capability, and large bandwidth, compared with the above methods. VLC also has an interesting feature that can simultaneously realize data communication and illuminating dark pipeline environment for pipe robot. As a preliminary study of VLC application, we developed a control system based on VLC for a wheeled robot, which includes a VLC transmitter and receiver. The transmitter and receiver can encode and decode the light signals. Finally, we tested the signal waveform of transmitter and receiver, and evaluate the performance of this system in real pipeline robot. The experimental results revealed that the proposed VLC system could achieve a reliable signal transmission and provide well control and illumination for the robot in the pipe.

    DOI

  • Compound locomotion control system combining crawling and walking for multi-crawler multi-arm robot to adapt unstructured and unknown terrain

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    ROBOMECH Journal   5 ( 1 )  2018.12

     View Summary

    How to improve task performance and how to control a robot in extreme environments when just a few sensors can be used to obtain environmental information are two of the problems for disaster response robots (DRRs). Compared with conventional DRRs, multi-arm multi-flipper crawler type robot (MAMFR) have high mobility and task-execution capabilities. Because, crawler robots and quadruped robots have complementary advantages in locomotion, therefore we have the vision to combine both of these advantages in MAMFR. Usually, MAMFR (like four-arm four-flipper robot OCTOPUS) was designed for working in extreme environments such as that with heavy smoke and fog. Therefore it is a quite necessary requirement that DRR should have the ability to work in the situation even if vision and laser sensors are not available. To maximize terrains adaption ability, self-balancing capability, and obstacle getting over capability in unstructured disaster site, as well as reduce the difficulty of robot control, we proposed a semi-autonomous control system to realize this compound locomotion method for MAMFRs. In this control strategy, robot can explore the terrain and obtain basic information about the surrounding by its structure and internal sensors, such as encoder and inertial measurement unit. Except that control system also can recognize the relative positional relationship between robot and surrounding environment through its arms and crawlers state when robot moving. Because the control rules is simple but effective, and each part can adjust its own state automatically according to robot state and explored terrain, MRMFRs have better terrain adaptability and stability. Experimental results with a virtual reality simulator indicated that the designed control system significantly improved stability and mobility of robot in tasks, it also indicated that robot can adapt complex terrain when controlled by designed control system.

    DOI

  • An Automatic Tracked Robot Chain System for Gas Pipeline Inspection and Maintenance Based on Wireless Relay Communication

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018)     3978 - 3983  2018.10  [Refereed]

     View Summary

    Gas pipeline requires to be inspected regularly for leakages caused by natural disaster. Robots are widely used for pipeline inspection since they are more convenient than manual inspection. Several problems, however, exist due to the restriction by complex pipe networks. The most significant one is limited inspection range caused by restriction of cable length or wireless signal attenuation. In this paper, we proposed a concept of wireless relay communication to assist robot to extend the inspection range, and we newly developed a tracked robot chain system. In this system, each robot serves as a relay communication node. Leakage information of pipes are transmitted via these relay nodes. To ensure the stability of relay communication between adjacent robots, we adopted RSSI (received signal strength indication)-based evaluation method for cooperative and coordinated movement of robot chain system. Moreover, wireless application layer communication protocol (WALCP) was used to increase the stable performance of wireless relay communication. Each robot can self-navigate based on distance measurement module, which enables robots to pass through an elbow junction. Multiple experiments to evaluate relay transmission efficiency, RSSI-based cooperative movement, and comprehensive performance were conducted. Results revealed that our proposed system could realize relatively accurate relay transmission and RSSI-based coordinated movement.

    DOI

  • Machine Learning Based Skill-level Classification for Personal Mobility Devices Using Only Operational Characteristics

    Yifan Huang, Mitsuhiro Kamezaki, Taiga Mori, Udara E. Manawadu, Tatsuya Ishihara, Masahiro Nakano, Kohjun Koshiji, Naoki Higo, Toshimitsu Tubaki, Shigeki Sugano

    Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018),     5469 - 5476  2018.10  [Refereed]

     View Summary

    Some electric-powered wheelchairs are recently redefined as personal mobility devices. Their users are not only elderly or handicapped people, but also passengers with large baggage or pedestrians going from station to destination, i.e., last-mile transport. Consequently, people with different operation skills and expectations on personal mobility would become new users of this kind of devices. Safe and comfort travel in human co-existing environment such as sidewalks and airports is a social expectation for personal mobility. In order to realize this, understanding the operation skill of each user by a practical and simple method is essential. This paper thus introduced a skill level classification method by machine learning using only joystick data as input. In order to determine the number of skill level clusters, basic 26 features of joystick operation data are used for unsupervised clustering (single-linkage). We then made evaluation indexes by using speed, speed control, and direction control. For a five-level classification by using gradient boosting as supervised learning, we achieved a 67% accuracy (tolerance: 0) and a 98% accuracy (tolerance: 1). Further analysis of the feature importance of gradient boosting revealed key features to a good operation. Results also show that skill level differed among people with different driving experiences.

    DOI

  • A Preliminary Investigation into Human Motion Reaction Against a Robot’s Forearm Contact

    Moondeep C. Shrestha, Mitsuhiro Kamezaki, Yusuke Tsuburaya, Ryosuke Kono, Shigeki Sugano

    Workshop on From freezing to jostling robots: Current challenges and new paradigms for safe robot navigation in dense crowds, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018)     1 - 2  2018.10  [Refereed]

  • Utilizing Robot’s Forearm Contact for Handling Space Constraints in Congested Environment

    Mitsuhiro Kamezaki, Moondeep C. Shrestha, Yusuke Tsuburaya, Ryosuke Kono, Shigeki Sugano

    Workshop on From freezing to jostling robots: Current challenges and new paradigms for safe robot navigation in dense crowds, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018)     1 - 2  2018.10  [Refereed]

  • ダンプトラックの燃費向上・長寿命化に向けた状態抽出に関する基礎検討

    山下真司, 亀﨑允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

    第18回建設ロボットシンポジウム論文集(SCR2018)     1 - 6  2018.09  [Refereed]

  • A Preliminary Study of a Control Framework for Forearm Contact During Robot Navigation

    Moondeep Shrestha, Mitsuhiro Kamezaki, Yusuke Tsuburaya, Tomoya Onishi, Ayano Kobayashi, Ryuosuke Kono, Shigeki Sugano

    Proceedings of 2018 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2018)     410 - 415  2018.08  [Refereed]

     View Summary

    Efficient navigation in a congested environment is immensely difficult for the current state-of-the-art mobile robots owing to the challenges related to both sensing and actuation. Consequently, conventional approaches in mobile robotics research prioritize safety by slowing down or stopping robot's movement under challenging circumstances. This paper considers an alternative approach in which the robot utilizes forearm contact to create space for itself and to act as a safety buffer, during very close or congested navigation interactions. First, two categories of contact methods are defined based on different navigation scenarios. These contact methods are analyzed through different contact positions and force directions in a set of comparative experiments. The results of the comparative experiments are then incorporated into a contact-based framework that outputs the necessity, and the appropriate form of forearm contact. Finally, a set of evaluation experiments are performed to test the usability and effectiveness of the constructed framework. The results indicate that the proposed framework effectively outputs appropriate contact according to the situation, and aids the robot while navigating through space-constrained scenarios.

    DOI

  • A Communicating Directional Intent in Robot Navigation using Projection Indicators

    Moondeep Shrestha, Tomoya Onishi, Ayano Kobayashi, Mitsuhiro Kamezaki, Shigeki Sugano

    Proceedings of 2018 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2018)     746 - 751  2018.08  [Refereed]

     View Summary

    Smooth and efficient robot navigation among humans is a crucial requirement for successful integration of robots in human society. Towards this end, an indispensable characteristic of robot action is legibility while communicating its intention. However, unlike humans, present robots cannot convey its intention through human-like non-verbal communication. This paper explores the use of projection indicators for communicating directional intent of a robot across three different 'crossing scenarios' as a means of overcoming the shortcomings of the robot's non-verbal communication abilities. The results of the study show statistically significant improvement in perceived feelings of the measured attributes when using the auxiliary communication method. The studied method also improves cooperation from the participants. Nevertheless, the improvement in perceived feeling does not necessarily replicate in terms of smoothness across all the scenarios.

    DOI

  • Tactical-Level Input with Multimodal Feedback for Unscheduled Takeover Situations in Human-Centered Automated Vehicles

    Udara E. Manawadu, Takaaki Ema, Hiroaki Hayashi, Takahiro Kawano, Mitsuhiro Kamezaki, Shigeki Sugano

    Proceedings of 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2018)     1 - 6  2018.07  [Refereed]

     View Summary

    Automated vehicles operating in level 3 may request the human driver to intervene in certain situations due to system limitations. Unscheduled transferring of control to manual driving will create safety issues as consequences of inadequate situational awareness and sudden increase of driver workload. In this study, we propose and evaluate tactical-level input (TLI) method with a multimodal human-machine interface (HMI) for driver intervention in short-term system limitations. The HMI system consists of touchscreen, gesture, and haptic interfaces enabling bilateral driver-vehicle interaction. TLI along with the HMI capable of multimodal feedback can provide situation-adaptive spatial information which enhance the driver situational awareness in a short time. To evaluate the proposed system we conducted driving experiments involving unscheduled takeover situations in urban environment using a driving simulator. We analyzed driver reaction times, physiological responses including heart rate, skin conductance and subjective workload as well as qualitative feedback comparing with manual takeover. The results show that TLI can reduce driver workload, reaction times, and improve driver behavior. Moreover, 90% of drivers preferred to use TLI method over manual takeover.

    DOI

  • Modeling and Simulation of FLC-based Navigation Algorithm for Small Gas Pipeline Inspection Robot

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Akihiko Onuki, Shigeki Sugano

    Proceedings of 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2018)     1 - 6  2018.07  [Refereed]

     View Summary

    Pipeline robot are widely used since pipelines require to be inspected regularly for leakages caused by natural disaster, etc. Most robots which rely heavily on manual operation are incapable of self-navigation in pipe. Moreover incorrect operations would degrade the efficiency, and sometimes damage the robots especially when they pass through elbows or junctions. Some robots can realize navigation based on multi-sensor such as position sensitive detector and laser sensor, but navigation performance for such robots will be greatly influenced by the performance of these sensors, and space to install large number of sensors is limited. In this study, we propose an approach of pipeline robot's navigation based on fuzzy logic control (FLC) algorithm for passing through elbows or T-junctions. A CCD camera installed on the robot is used for locating region of interest (ROI) in elbow or junction. Moreover, ROIs formed by reflection of robot's LED light and edge of pipe's dark hole are considered as input variables in the FLC system. By analyzing system outputs, we can control the robot's speed and yaw angle in real time. Compared with conventional studies on pipeline robot's navigation method, the proposed method can be more precise and faster by using FLC algorithm and analyzing ROI with fewer sensors. Finally, we conducted a simulation validation, and the results showed that the robot was capable of adapting to known pipe environments and realizing navigation in straight part, elbow, and junction of pipe.

    DOI

  • Preliminary Design of a Pseudo-Inertia Adjustable Mechanism Based on Bidirectional Releasing of Stored Kinetic Energy

    Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Shan He, Gonzalo Aguirre Dominguez, Shigeki Sugano

    Proceedings of 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2018)     1 - 6  2018.07  [Refereed]

     View Summary

    In this paper, a mechanism which can adjust inertia significantly is presented. Such mechanism contains a flywheel, a group of clutches, a direction converter, and a magnetorheological hydraulic rotary actuator. According to the physical definition, inertia is the resistance of object changing in its state of motion, which always connects to the mass of the object. Inertia is also known as an inherent property of an object. Conventionally, among impedance factors of the mechanical system, inertia seems to be unchangeable, not like damping factor or elasticity. However, changing inertia might bring different behavior to mechanical networks. In this study, instead of changing the mass of the object, by controlling the flywheel energy collected from the motor pump to release to the object, the resistance of actuator motion can be adjusted. We call this the pseudo-inertia adjustable mechanism (pIAM). The clutches are used for controlling the engaging and disengaging of the flywheel, energy releasing direction and magnitude. The mechanism design, mathematical model, and experimental results are included in this paper. According to the results, the machine is able to release the maximum torque about 7 Nm and the maximum speed about 800 degrees/s with 1000 rpm of the flywheel speed, which reveals the feasibility of this mechanism.

    DOI

  • 高度自動運転車における半自動制御のための相互作用型力触覚インタフェースの提案

    亀﨑允啓, マナワドゥ ウダーラ, 河野陽大, 石川雅晃, 菅野重樹

    日本機械学会論文集   84 ( 864 ) 1 - 13  2018.07  [Refereed]

    DOI

  • Multiclass Classification of Driver Perceived Workload Using Long Short-Term Memory based Recurrent Neural Network

    Udara E. Manawadu, Takahiro Kawano, Shingo Murata, Mitsuhiro Kamezaki, Junya Muramatsu, Shigeki Sugano

    Proceedings of 2018 IEEE Intelligent Vehicles Symposium (IV 2018),     2009 - 2014  2018.06  [Refereed]

    DOI

  • Human-Agent Collaborative Control in Automated Vehicles for Takeover Situations in Dynamic Unstructured Urban Environments

    Udara E. Manawadu, Mitsuhiro Kamezaki, Shigeki Sugano

    Workshop on Robot Teammates Operating in Dynamic, Unstructured Environments (RT-DUNE), 2018 IEEE International Conference on Robotics and Automation (ICRA2018)     1 - 2  2018.05  [Refereed]

  • 重機の遠隔操作性向上のためのマルチカメラ最適配置に関する研究-第一報 パン・チルト角による作業性への影響の検証-

    仁内智志, 亀﨑允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

    第23回ロボティクスシンポジア予稿集     1 - 6  2018.03  [Refereed]

  • Usability test in different types of control-authority allocations for multi-operator single-robot system OCTOPUS

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Masatoshi Seki, Ken Ichiryu, Tatsuzo Ishida, Shigeki Sugano

    Advances in Intelligent Systems and Computing   607   675 - 685  2018

     View Summary

    Four-arm four-flipper disaster response robot called OCTOPUS, which has 26 degrees of freedom (DOF), has been developed to engage in complex disaster response work. OCTOPUS adopts a multi-operator single-robot (MOSR) control system, and two operators manually control the robot. The pattern of control-authority allocation (CAA) for two operators largely affects performance of MOSR systems, so this study conducts usability tests in various CAAs, and derives a reasonable CAA pattern. So far, there are no uniform standard allocation rules for flippers and crawlers in multi-limb robots like OCTOPUS, therefore we specify five CAA patterns for investigation. Three fundamental tasks that whole body of the robot must be cooperatively controlled were conducted to test the usability in each CAA pattern. From the results of analysis, we found that pattern 1, which one operator controls front two arms, flippers, and crawlers, and another operator controls remaining back parts, had best scores for all tasks, as well as pattern 2 had the best distribution of workload between two operators.

    DOI

  • Estimating driver workload with systematically varying traffic complexity using machine learning: Experimental design

    Udara E. Manawadu, Takahiro Kawano, Shingo Murata, Mitsuhiro Kamezaki, Shigeki Sugano

    Advances in Intelligent Systems and Computing   722   106 - 111  2018

     View Summary

    Traffic complexity is one of the factors affecting driver workload. In order to study the relationship between traffic complexity levels and workload, a designed experiment is required, especially to vary traffic flow parameters systematically in a simulated environment. This paper describes the experimental design of a simulator study for developing a computational model to estimate the behavior of driver workload based on traffic complexity. Driving simulators allow creating and testing different traffic scenarios and manipulating independent variables to improve the quality of data, as compared to real world experiments. Physiological responses such as heart rate, skin conductance, and pupil size have been found to be related to workload. By adapting a data-driven method, we integrated electrocardiography sensors, electro-dermal activity sensors, and eye-tracker to acquire driver physiological signals and gaze information. Preliminary results show a positive correlation between traffic complexity levels and corresponding physiological responses, performance, and subjective measures.

    DOI

  • A prototype of a small tracked robot for gas pipeline inspection and maintenance

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Ryoichi Toriumi, Shigeki Sugano

    Advances in Intelligent Systems and Computing   722   137 - 142  2018

     View Summary

    The gas pipeline networks cover approximately 200,000, km in urban region in Japan. The risk caused by severe leakage, cracking, or corrosion will lead to a big accidence for human. Therefore, the gas pipeline robots for regular inspection and maintenance are very essential for the safe operation and supply of gas. In this paper, as a fundamental study of pipeline inspection robots, a new small wireless tracked robot for gas pipeline inspection and maintenance has been developed. Due to robot’s special kinematics, it is capable of moving in straight pipe, turn at elbow and also climb the inclined pipe flexibly and efficiently. Compared with previous robots, it owns two working modes: self-navigation (automated control) and manual control mode for pipeline inspection. Moreover, a preliminary experiment has been implemented with a typical M-pipeline in 10, cm diameter/4, m length. The experiment results revealed that self-navigation could improve the efficiency of inspection.

    DOI

  • A semi-autonomous compound motion pattern using multi-flipper and multi-arm for unstructured terrain traversal

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    IEEE International Conference on Intelligent Robots and Systems   2017-   2704 - 2709  2017.12

     View Summary

    Disaster response crawler robot OCTOPUS has four arms and four flippers for better adaptability to disaster environments. To further improve the robot mobility and terrain adaptability in unstructured terrain, we propose a new locomotion control method called compound motion pattern (CMP) for multi-limb robots like OCTOPUS. This hybrid locomotion by cooperating the arms and flippers would be effective to adapt to the unstructured terrain due to combining the advantages of crawling and walking. As a preliminary study on CMP, we proposed a fundamental and conceptual CMP while clarifying problems in constructing CMP, and developed a semi-autonomous control system for realizing the CMP. Electrically-driven OCTOPUS was used to verify the reliability and correctness of CMP. Results of experiments on climbing a step indicate that the proposed control system could obtain relatively accurate terrain information and the CMP enabled the robot to climb the step. We thus confirmed that the proposed CMP would be effective to increase terrain adaptability of robot in unstructured environment, and it would be a useful locomotion method for advanced disaster response robots.

    DOI

  • A Reliable Communication and Localization Method for Gas Pipeline Robot Chain based on RSSI Theory,

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Ryoichi Toriumi, Shigeki Sugano

    Proceedings of 2017 IEEE/SICE International Conference on System Integration (SII 2017)     1 - 6  2017.12  [Refereed]

     View Summary

    Due to the huge microwave attenuation in small steel gas pipelines, the wireless in-pipe robots are unable to complete the inspection and maintenance in long distance. In this research, an approach of a reliable communication and localization method based on Received Signal Strength Indication (RSSI) theory and ultrasonic measurement for gas pipeline robot chain is proposed. Without any GPS modules in the pipe, the robots are able to measure and calculate a certain distance from the adjacent one by detecting and estimating the received wireless signal strength. Such approach enables the all members among the robot chain to cooperate and coordinate, and finally complete the pipeline inspection and maintenance. In addition, this paper describes a "leader-follower" control approach in pipe to support the RSSI-based communication. The leader robot is responsible for the task of whole pipe inspection with wireless remote control by operator, and the follower robots act as the wireless "signal relay station" for communication. Finally, such pipe robot chain cooperate and coordinate together, so that they are able to complete the inspection successfully. We evaluate the performance of the proposed method by using virtual reality simulation. The simulation result indicated that the proposed method could realize the reliable wireless communication and localization for the pipeline robots.

    DOI

  • Compound Manipulation Mode for Improving Task-Ability of Multi-Arm Multi-Flipper Crawler Robot

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Yusuke Uehara, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    Proceedings of 2017 IEEE/SICE International Conference on System Integration (SII 2017)     1 - 6  2017.12  [Refereed]

     View Summary

    This paper presents a new manipulation mode for multi-arm and multi-flipper robots to improve the manipulation ability of them. Multi-arm and multi-flipper crawler robots designed for disaster response or other uses are naturally divided into two function parts from the design stage. There are the crawlers and the flippers for robot locomotion tasks, and the arms for manipulation tasks. In this design concept, the flippers and arms are hardly to systematically and actively cooperate with each other, and these control systems cannot fully play the structural features of this kind of robot. To solve this problem, we proposed a compound manipulation mode (CMM) for multi -arm multi-flipper robot. In this control mode, the flippers and arms are controlled as a whole in manipulation tasks, the flippers will support the arms to own bigger manipulation space, to have better manipulation posture and to optimize the position of robot center of gravity (COG) to make sure robot in good stable state. Four arm and four flipper robot OCTOPUS was used as the test platform, and the verification experiments were carried out. The results indicated that CMM control mode can achieve all the proposals, therefore the concept of CMM control mode is successful and useful.

    DOI

  • A pre-offering view system for teleoperators of heavy machines to acquire cognitive maps

    Ryuya Sato, Mitsuhiro Kamezaki, Satoshi Niuchi, Shigeki Sugano, Hiroyasu Iwata

    SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference     61 - 66  2017.10  [Refereed]

     View Summary

    In teleoperation of heavy machines, work efficiency will be 50% lower than manned operation because operators cannot obtain effective information about work sites due to the limitation of current monitoring systems. Operators would have opportunities to obtain such information before work (about a week required to introduce teleoperation systems) and during work. As a fundamental study to support operator's spatial cognition, we developed views to provide spatial information of work sites before work. Humans have cognitive maps which are created based on knowledge acquired from survey and route perspectives. To make operators acquire the above two knowledge, we provide a bird's-eye view that can be changed by operators to acquire a knowledge from survey perspective, and a view from operator's viewpoint that can be changed by operator's intention to acquire a knowledge from route perspective. To evaluate two pre-offering views, we preformed experiments using a virtual reality simulator. The results indicated that a view to acquire a knowledge from survey perspective could help operators plan totally and one to acquire a knowledge from route perspective could help operators plan locally, and could increase work efficiency.

    DOI

  • A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Yusuke Uehara, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference     181 - 186  2017.10

     View Summary

    This paper proposes a basic near-environmental recognition framework based on groping for risk-tolerance disaster response robot (DRR). In extreme disaster sites, including high radiation and heavy smog, external sensors such as cameras and laser range finders do not work properly, and such sensors may be broken in accidents in the tasks. It is hoped that DRRs can continue to perform tasks, even if the external sensors cannot work, and at least, they can safely evacuate from the site. In this preliminary study, for recognizing near environments without using external sensors, we proposed a groping method. In this method, a robot actively touches the environment using arms or other movable parts, records the contact information, and then reconstructs a three-dimensional local map around the robot by the detected information, e.g., robot arm's position and reactive force. The proposed groping system can recognize the existence of three situations, such as an object, step, and pit, and those geometry, by exploring the designated space using arms. The groping strategy was designed considering both robot specification, time limitation, and required resolution. Experiments were performed using four-arm and four-crawler robot OCTOPUS. The results indicate that the proposed framework could recognize step, pit, and object, and calculate the position and size of the object, and confirm that the robot successfully removed the object on the basis of groped data.

    DOI

  • Experimental Characterization of a Magnetorheological Damper with Multiple Cylindrical Passages and Toroidal Magnetic Field Generator

    Mitsuhiro Kamezaki, Peizhi Zhang, Kenshiro Otsuki, Shan He, Gonzalo Aguirre Dominguez, Shigeki Sugano

    Proceedings of the 10th JFPS International Symposiums on Fluid Power (JFPS2017)     1 - 6  2017.10  [Refereed]

  • ヒトの認知構造に基づいた事前の環境把握映像提示による災害対応遠隔重機作業の効率化に関する研究

    佐藤隆哉, 亀﨑允啓, 仁内智志, 菅野重樹, 岩田浩康

    第17回建設ロボットシンポジウム論文集(SCR2017)     1 - 6  2017.08  [Refereed]

  • Development of a Prototype Electrically-Driven Four-Arm Four-Flipper Disaster Response Robot OCTOPUS

    Mitsuhiro Kamezaki, Kui Chen, Kohga Azuma, Takahiro Katano, Taisei Kaneko, Tatsuzo Ishida, Masayuki Nakayama, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    Proceedings of 2017 IEEE Conference on Control Technology and Applications (CCTA 2017)     1019 - 1024  2017.08  [Refereed]

     View Summary

    In a previous study, we have developed a four-arm four-crawler disaster response robot called 'OCTOPUS'. Advanced disaster response robots are expected to be capable of both mobility, such as entering narrow spaces over unstructured ground, and workability, such as preforming complex debris-removal work. We have confirmed experimentally that the four arms could make the robot perform complex tasks while ensuring stabilization when climbing steps while the four flippers could make it traverse rough terrain while avoiding toppling over when conducting manipulation task. OCTOPUS, renamed as H-OCTOPUS, is oil-hydraulically driven to perform outdoor demolition of heavy debris, and is teleoperated by two operators. In this study, we develop a prototype electrically-driven OCTOPUS, called E-OCTOPUS, to manipulate various light-objects mainly indoors such as valve operations in nuclear power plants. For reducing the size and weight while maximizing task performance, we introduced a mutual complementary strategy between its arms and flippers. To validate the capability of E-OCTOPUS, we performed preliminary experiments involving climbing high steps and manipulating and cutting wires by cooperating the four arms and four flippers. The results indicated that E-OCTOPUS could complete the tasks by coordinating its four arms and four flippers.

    DOI

  • A multimodal human-machine interface enabling situation-Adaptive control inputs for highly automated vehicles

    Udara E. Manawadu, Mitsuhiro Kamezaki, Masaaki Ishikawa, Takahiro Kawano, Shigeki Sugano

    IEEE Intelligent Vehicles Symposium, Proceedings     1195 - 1200  2017.07

     View Summary

    Intelligent vehicles operating in different levels of automation require the driver to fully or partially conduct the dynamic driving task (DDT) and to conduct fallback performance of the DDT, during a trip. Such vehicles create the need for novel human-machine interfaces (HMIs) designed to conduct high-level vehicle control tasks. Multimodal interfaces (MMIs) have advantages such as improved recognition, faster interaction, and situation-Adaptability, over unimodal interfaces. In this study, we developed and evaluated a MMI system with three input modalities
    touchscreen, hand-gesture, and haptic to input tactical-level control commands (e.g. lane-changing, overtaking, and parking). We conducted driving experiments in a driving simulator to evaluate the effectiveness of the MMI system. The results show that multimodal HMI significantly reduced the driver workload, improved the efficiency of interaction, and minimized input errors compared with unimodal interfaces. Moreover, we discovered relationships between input types and modalities: location-based inputs-Touchscreen interface, time-critical inputs-haptic interface. The results proved the functional advantages and effectiveness of multimodal interface system over its unimodal components for conducting tactical-level driving tasks.

    DOI

  • Investigation on Effect of Angular Deviation from Perpendicular Line to Lateral View Camera on Work Efficiency for Teleoperated Construction Machines

    Satoshi Niuchi, Mitsuhiro Kamezaki, Ryuya Sato, Shigeki Sugano, Hiroyasu Iwata

    Proceedings of 2017 International Symposium on Automation and Robotics in Construction (ISARC2017)     1 - 2  2017.07  [Refereed]

  • Pre-offering Work-Site Views to Acquire Spatial Knowledge from Survey and Route Perspective for Advanced Teleoperation of Construction Machines

    Ryuya Sato, Mitsuhiro Kamezaki, Satoshi Niuchi, Shigeki Sugano, Hiroyasu Iwata

    Proceedings of 2017 International Symposium on Automation and Robotics in Construction (ISARC2017),     1 - 2  2017.07  [Refereed]

  • Condition-Based Less-Error Data Selection for Robust and Accurate Mass Measurement in Large-Scale Hydraulic Manipulators

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT   66 ( 7 ) 1820 - 1830  2017.07  [Refereed]

     View Summary

    This paper proposes a practical scheme for measuring the mass of an object grasped by the end-effector of a large-scale hydraulic manipulator. Such a measurement system requires high accuracy and robustness considering the nonlinearity and uncertainty in hydraulic pressure-based force measurement during rigorous outdoor work. It is thus difficult to precisely model system behaviors and completely remove error force components (white-box modeling) under such conditions, so our scheme adopts a less-error data selection approach to relatively improving the accuracy and reliability of the measurand (gray-box modeling). It first removes dominant error forces, i.e., gravity and dynamic friction forces, then defines the on-load state by evaluating measurement conditions to omit data in indeterminate conditions, then extracts data during the object-grasp state identified by a grasp motion model and removes high-frequency components by a simple low-pass filter, and finally integrates data from multiple sensors using the posture-based priority and averages all selected data. Evaluation experiments were conducted using an instrumented hydraulic arm. Results indicate that our scheme can precisely measures the mass of the grasped object under various detection conditions with fewer errors.

    DOI

  • Proposal and Preliminary Feasibility Study of a Novel Toroidal Magnetorheological Piston

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Shigeki Sugano

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   22 ( 2 ) 657 - 668  2017.04  [Refereed]

     View Summary

    A new magnetorheological piston head design inspired by toroidal electromagnets was proposed in previouswork as an alternative to conventional annular dampers. A prototype with a circular valve array integrated inside the piston head was built and tested to measure its passive performance. The mechanical, electromagnetic, and hydraulic models used in the new design were explained, and the relevant parameters of the actuator were analyzed to construct a mathematical model to estimate its performance. These works showed the feasibility of the concept and its potential as an alternative to current damper technology, but lacked a baseline for comparison. This paper reviews and widens this groundwork. It adds a magnetic finite element method study to address the previously found leakage, and a new set of experiments, including a force controller, to compare its performance against a conventional annular piston head. The new findings show how the current force limitations can be overcome by striking a balance between the coil space and the size of electromagnet cores to achieve the performance of current dampers. They also highlight its potential in force control applications to provide a wider range of customization options, such as number and size of holes, electromagnets, and coils, and a better use of the active area of the gap.

    DOI

  • Preliminary Measurement and Analysis of Microwave Transmission Attenuation in Small Gas Pipeline

    Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Shigeki Sugano, Minoru Konno, Ryoichi Toriumi

    2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)     342 - 347  2017  [Refereed]

     View Summary

    The gas pipelines need to be inspected in the case of existence of pipeline's inner problems. Usually, inspection for leakage of gas pipeline has been carried out by wired probes or wired robots equipped with a CCD camera. However, the above inspection approaches are restricted by the cable in the pipe. This study thus focuses on an inspection approach based on microwave communication. However, obtaining the transmission properties (i.e., transmission loss, RSSI (received signal strength indication), maximum transmission distance, etc) in gas pipeline is crucial to determine which frequency is feasible to the further development. In this paper, a communication system for microwave communication in 2.4 and 5.8 GHz band is developed. Then, the transmission loss and RSSI of these microwaves in 2.5 x 100 cm (straight), 5 x 100cm (straight) and 5 x 200cm M-type curved steel gas pipe (with L-junctions) are then measured. The experimental results revealed that the microwave in 2.4 GHz band owns much stronger communication capability in complicated gas pipeline in consideration of few transmission loss, and three approximate linear functions could be modeled on the basis of the measured data.

    DOI

  • 視線計測カメラを用いた遠隔ロボットオペレータの映像注視分析

    亀﨑允啓

    月刊オプトロニクス(特集号:光×ロボット)   35 ( 420 ) 82 - 87  2016.12

  • Visibility Enhancement using Autonomous Multicamera Controls with Situational Role Assignment for Teleoperated Work Machines

    Mitsuhiro Kamezaki, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

    JOURNAL OF FIELD ROBOTICS   33 ( 6 ) 802 - 824  2016.09  [Refereed]

     View Summary

    The aim of this study is to provide a machine operator with enhanced visibility and more adaptive visual information suited to the work situation, particularly advanced unmanned construction. Toward that end, we propose a method for autonomously controlling multiple environmental cameras. Situations in which the yaw, pitch, and zoom of cameras should be controlled are analyzed. Additionally, we define imaging objects, including the machine, manipulators, and end points; and imaging modes, including tracking, zoom, posture, and trajectory modes. To control each camera simply and effectively, four practical camera roles with different combinations of the imaging objects and modes were defined: overview machine, enlarge end point, posture-manipulator, and trajectory-manipulator. A real-time role assignment system is described for assigning the four camera roles to four out of six cameras suitable for the work situation (e.g., reaching, grasping, transport, and releasing) on the basis of the assignment-priority rules. To test this system, debris-removal tasks were performed in a virtual reality simulation to compare performance among fixed camera, manual control camera, and autonomous control camera systems. The results showed that the autonomous system was the best of the three at decreasing the number of grasping misses and erroneous contacts and simultaneously increasing the subjective usability and time efficiency.

    DOI

  • Communicating Directional Intent in Robot Navigation using Projection and Display Indicators

    Moondeep Shrestha, Ayano Kobayashi, Tomoya Onishi, Hayato Yanagawa, Yuta Yokoyama, Erika Uno, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

    Proceedings of 2016 IEEE International Symposium on Robot and Human Interactive Communication, (RO-MAN2016)     415 - 416  2016.08  [Refereed]

  • Non-verbal Cues and Expressiveness; Motion Planning and Navigation in Human-Centered Environments

    Moondeep Shrestha, Ayano Kobayashi, Tomoya Onishi, Hayato Yanagawa, Yuta Yokoyama, Erika Uno, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

    Proceedings of 2016 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2016)    2016.08  [Refereed]

  • 遠隔操作オペレータの環境把握性を高める非映像化情報の可視化と推奨注視映像への誘導

    亀﨑允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

    第21回ロボティクスシンポジア予稿集     1 - 6  2016.03  [Refereed]

  • 災害対応ロボット「オクトパス」

    亀﨑允啓, 石井裕之, 石田健蔵, 関雅俊, 一柳健

    油空圧技術   55 ( 3 ) 30 - 34  2016.03  [Invited]

  • An Automatic Basic I/O Gain Tuning System Based on Shaping Control Input Histogram for Human-Machine Systems

    Kamezaki Mitsuhiro, Iwata Hiroyasu, Sugano Shigeki

    Journal of the Robotics Society of Japan   34 ( 1 ) 56 - 64  2016.01

     View Summary

    In this study, a fundamental method to tune a basic input/output gain (BIOG) according to usage conditions is proposed for improving work performance in human-machine systems. For improving operability and workability, an I/O gain tuning is effective, but frequent and drastic changes degrade the operability by confusing the machine dynamics. The proposed tuning system adjusts a BIOG at long intervals on the basis of comprehensive features in operator and work content obtained from histogram of control lever input. The target value is set to the normal distribution, meaning that all ranges of the control lever are evenly used in a spring-type lever, as leveling histogram independent of an operator and work content provides the consistent operational feeling, which leads to comfortable operability. To meet practicality and effectiveness, a BIOG curve is set to a polygonal line involving a break point and a saturation point that are tuned by equivalent transform of area differences between the obtained histogram and normal distribution curves. Results of experiments conducted by using a hydraulic arm system showed that the proposed BIOG tuning system improves time efficiency by reducing the area difference while increasing the subjective usability compared with a conventional fixed BIOG system.

    DOI CiNii

  • Intent Communication in Navigation through the Use of Light and Screen Indicators

    Moondeep C. Shrestha, Ayano Kobayashi, Tomoya Onishi, Erika Uno, Hayato Yanagawa, Yuta Yokoyama, Mitsuhiro Kamezaki, Alexander Schmitz, Shigeki Sugano

    ELEVENTH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN ROBOT INTERACTION (HRI'16)   2016-April   523 - 524  2016  [Refereed]

     View Summary

    Human's ability to perceive intent plays a crucial role in achieving smooth and efficient navigation. At the present state, even with the state-of-the-art anthropomorphic robots, displaying human-like non-verbal communication (kinesics) is a challenging task. This poses a significant difficulty in performing legible navigation behavior for robots. In this paper, we look into light (turn indicator) and screen (arrow indicator) indicators as a means of overcoming the shortcomings of the robot's non-verbal communication abilities. Our results show a statistically significant improvement in perceived comfort, predictability, and performance with the use of light indicators.

    DOI

  • Design of Four-Arm Four-Crawler Disaster Response Robot OCTOPUS

    Mitsuhiro Kamezaki, Hiroyuki Ishii, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Yo Kobayashi, Kenji Hashimoto, Shigeki Sugano, Atsuo Takanishi, Masakatsu G. Fujie, Shuji Hashimoto, Hiroshi Yamakawa

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   2016-June   2840 - 2845  2016  [Refereed]

     View Summary

    We developed a four-arm four-crawler advanced disaster response robot called OCTOPUS. Disaster response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional disaster response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.

    DOI

  • A Haptic Feedback Driver-Vehicle Interface for Controlling Lateral and Longitudinal Motions of Autonomous Vehicles

    Udara E. Manawadu, Mitsuhiro Kamezaki, Masaaki Ishikawa, Takahiro Kawano, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   2016-September   119 - 124  2016  [Refereed]

     View Summary

    Autonomous vehicles will significantly change the existing driver-vehicle relationship, since only a destination input from the human driver will suffice. However, reduced degree of human-control could result in lack of driving pleasure and excitement. Thus, we proposed a method to increase the flexibility in controlling of an autonomous vehicle by allowing the driver to control its lateral and longitudinal motions with a time lag. We first derived a set of vehicle movements to improve driver experience and related them to a set of control functions that the driver can input. We then created two types of driver-vehicle interfaces (DVIs) for vehicle control; a haptic interface with kinesthetic and tactile feedback, and a hand-gesture interface with augmented reality feedback. The joystick-type haptic interface provides feedback on driver input by dynamically varying its degrees of freedom through controlling the current supplied to axis motors, and through vibration motors. The gesture interface is based on Leap Motion controller and provides visual feedback to driver. We conducted driving experiments in a VR simulator using twenty drivers to evaluate the effectiveness of these DVIs. The results showed that haptic interface significantly reduced the average input time and input error, and drivers preferred the haptic interface due to its ability to provide immediate, active, and passive feedback.

    DOI

  • An Iterative Design Methodology for the Performance Optimisation of Magnetorheological Piston Head Configurations

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Morgan French, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   2016-September   228 - 233  2016  [Refereed]

     View Summary

    This work focuses on the analysis of the performance parameters of a new magneto-rheological device. Previously, a mathematical model of the actuator head was introduced; however, the complex relations between its parameters made its optimisation challenging, causing the device not to reach its full potential. In this work, the previous model is updated to fit a revised version of the toroidal design, as well as an annular design for comparison. The relations between different parameters are studied to find their trade-offs, and understand how they affect the performance of the actuators. Finally, an optimisation based on an iterative search for valid permutations of parameters, is used to find optimal combinations. Two prototypes are built and tested to validate the results of the optimisation. The study revealed the critical parameters of each design, which mostly depend on the relations between the magnetic flux density, and the active area exposed to the MRF; and successfully optimised the performance of the devices. However, work needs to be done to create a more complete tool with concrete guidelines for specific applications.

    DOI

  • Fundamental Development of a Virtual Reality Simulator for Four-Arm Disaster Rescue Robot OCTOPUS

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Junjie Yang, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   2016-September   721 - 726  2016  [Refereed]

     View Summary

    This paper presents a virtual reality (VR) simulator for four-arm disaster response robot OCTOPUS, which has high capable of both mobility and workability. OCTOPUS has 26 degrees of freedom (DOF) and is currently teleoperated by two operators, so it is quite difficult to operate OCTOPUS. Thus, we developed a VR simulator for training operation, developing operator support system and control strategy. Compared with actual robot and environment, VR simulator can reproduce them at low cost and high efficiency. The VR simulator consists of VR environment and human-machine interface such as operation-input and video-and sound-output, based on robot operation system (ROS) and Gazebo. To enhance work performance, we implement indicators and data collection functions. Four tasks such as rough terrain passing, high-step climbing, obstacle stepping over, and object transport were conducted to evaluate OCTOPUS itself and our VR simulator. The results indicate that operators could complete all the tasks but the success rate differed in tasks. Smooth and stable operations increased the work performance, but sudden change and oscillation of operation degraded it. Cooperating multi-joint adequately is quite important to execute task more efficiently.

    DOI

  • Exploring the Use of Light and Display Indicators for Communicating Directional Intent

    Moondeep C. Shrestha, Ayano Kobayashi, Tomoya Onishi, Hayato Yanagawa, Yuta Yokoyama, Erika Uno, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   2016-September   1651 - 1656  2016  [Refereed]

     View Summary

    Legible robot behavior is a key element for smooth and efficient navigation among humans. However, at present, even the state-of-the-art robots cannot communicate its internal state of directional intent by displaying human-like non-verbal cues. In this paper, we explore various modes for communicating directional intent of a robot across three different scenarios as a means of overcoming the shortcomings of the robot's non-verbal communication abilities. Specifically, we look into turn indicators, display indicators, and their combinations with sound and investigate their effectiveness across different passing scenarios. Our study shows us that using auxiliary communicating methods significantly improves the perceived feelings of our dependent measures. Further, communicating intention also helps in improving cooperation. However, the effectiveness greatly varies with the modes and the passing scenarios. In the case of 90 degrees crossing scenario, even though participants have positive perceived feelings, this does not necessarily translate into smooth and efficient navigation.

    DOI

  • Design Optimisation and Performance Evaluation of a Toroidal Magnetorheological Hydraulic Piston Head

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Shan He, Somlor Sophon, Alexander Schmitz, Shigeki Sugano

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)   2016-November   350 - 355  2016  [Refereed]

     View Summary

    The advantages of mechanical compliance have driven the development of devices using new smart materials. A new kind of magnetorheological piston based on a toroidal array of magnetorheological valves, has been previously tested to prove its feasibility. However, being an initial prototype its potential was still limited by its complex design, and low output force. This study presents the revisions done to the design with several improvements targeting key performance parameters. An improved annular piston design is also introduced as comparison with conventional devices. The toroidal and annular piston head prototypes are built and tested, and their force performance compared with the previous iteration. The experimental results show an overall performance improvement of the toroidal assembly. However, the force model used in the study still fails to accurately predict the magnetic flux at the gaps of the piston head. This deviation is later verify and corrected using a FEM analysis. The force performance of the new toroidal assembly is on par with the commonplace annular design. It also displays a more linear behaviour, at the expense of lower energy efficiency. Finally, it also shows potential for a greater degree of customisation to meet different system requirements.

    DOI

  • Performance Evaluation of a Compliant Magnetorheological Piston Actuator

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, He Shan, Shigeki Sugano

    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     254 - 259  2016  [Refereed]

     View Summary

    Compliant actuation is an indispensable element for safe physical human robot interaction. However, there is a lack of devices, which can integrate the high power density of hydraulic actuators with intrinsically safe mechanisms. This drove the development a new type of hydraulic magnetorheological piston. This device includes a novel toroidal array of magnetorheological valves in its head. In previous studies, the system performance was evaluated only as a traditional damping system. Now, the piston is connected to a pump to create a hydraulic compliant actuator. This novel compliant piston is capable to control the piston speed and force independently by using the pump and electromagnet voltages respectively. In this way, different combinations of these parameters can be used to achieve diverse system properties; e.g. low response time or energy efficiency. Several experiments are conducted to evaluate its performance, including force, friction, speed, and step response. The results display the potential of the devices to be used as an active system for compliant hydraulic robotic applications. They also hint to the possibilities to improve by using a more sophisticated control system for its speed and force.

    DOI

  • Analysis of Operation Strategy in a Multi-Operator Control System for Four-Arm Disaster Response Robot OCTOPUS

    Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     514 - 519  2016  [Refereed]

     View Summary

    Disaster response robot with four arms and flippers OCTOPUS has high mobility and task-execution capabilities. Owing to the higher number of degrees of freedom, OCTOPUS is controlled by two operators, however this kind of robots is inherently difficult to be operated. To design easy-to-use human machine interfaces and intelligent control systems, we need to analyze and quantify a reasonable operation strategy in multi-operator control systems. Thus, three different types of essential disaster response tasks were conducted by using OCTOPUS and we analyzed results of operations and work performance, by focusing on each operator and each pair. As the results, we derived basic operation strategies as follow; operators with higher number of simultaneously-operated joints (Ns) can control OCTOPUS more smoothly, and pairs with higher rate of cooperated operations (Rc) can finish tasks more efficiently. We also found that Ns and Rc can be used to quantify operational skills. Revealed strategies and parameters could be useful to design new human-machine interface and intelligent control system.

    DOI

  • A Hand Gesture based Driver-Vehicle Interface to Control Lateral and Longitudinal Motions of an Autonomous Vehicle

    Udara E. Manawadu, Mitsuhiro Kamezaki, Masaaki Ishikawa, Takahiro Kawano, Shigeki Sugano

    2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)     1785 - 1790  2016  [Refereed]

     View Summary

    Autonomous vehicles would make the future roads safer by keeping the human driver out of the loop. However, reduced degree of human-control could result in loss of the feeling of driving for some drivers. Therefore, in this study we proposed a method of interaction between the driver and autonomous vehicle by allowing the driver to control the vehicle's lateral and longitudinal motions. We adopted hand gestures as input modality because it can reduce driver's visual and cognitive demands. We first derived seven fundamental vehicle maneuvers to improve driver experience, and related them to seven independent hand gestures. We then created a hand gesture interface to control an autonomous vehicle, using Leap Motion as the gesture recognition platform. We conducted driving experiments involving twenty drivers in a virtual reality driving simulator to investigate the effectiveness of this interface for vehicle control. We evaluated the driving experience and drivers' opinions regarding the gestural interface. The results proved that semi-autonomous controlling using the hand gesture interface significantly reduced drivers' perceived work-load.

    DOI

  • Gaze Pattern Analysis in Multi-Display Systems for Teleoperated Disaster Response Robots

    Ryuya Sato, Mitsuhiro Kamezaki, Shigeki Sugano, Hiroyasu Iwata

    2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)     3534 - 3539  2016  [Refereed]

     View Summary

    In unmanned construction, work efficiency is lower than that in manned construction due to lack of visual information. Thus, we previously developed an autonomous camera control system to provide various visual information suited to work states through multiple displays. However, that system increased the cognitive load on operators, and required them to have much experience to choose appropriate views for various situations. Next, we should investigate the degree of effectiveness for each view in a certain state. Thus, in this study, we analyzed gaze patterns to clarify which are the displays that operators often watch in work states, i.e., moving, grasping, transport, and releasing. We then derived which gaze patterns have higher work performance, including time efficiency and safeness. We clustered gaze patterns using Ward's method, which is a criterion applied in hierarchical clustering. To evaluate the objective of this study, we conducted experiments involving debris transport tasks, using a virtual reality simulator. The results indicated that gaze patterns differed in operators and we found that better time efficiency related to specific gaze patterns for each work state.

    DOI

  • Analysis of Preference for Autonomous Driving Under Different Traffic Conditions Using a Driving Simulator

    Udara Eshan Manawadu, Masaaki Ishikawa, Mitsuhiro Kamezaki, Shigeki Sugano

    Journal of Robotics and Mechatronics   27 ( 6 ) 660 - 670  2015.12  [Refereed]

     View Summary

    Intelligent passenger vehicles with autonomous capabilities will be commonplace on our roads in the near future. These vehicles will reshape the existing relationship between the driver and vehicle. Therefore, to create a new type of rewarding relationship, it is important to analyze when drivers prefer autonomous vehicles to manually-driven (conventional) vehicles. This paper documents a driving simulator-based study conducted to identify the preferences and individual driving experiences of novice and experienced drivers of autonomous and conventional vehicles under different traffic and road conditions. We first developed a simplified driving simulator that could connect to different driver-vehicle interfaces (DVI). We then created virtual environments consisting of scenarios and events that drivers encounter in real-world driving, and we implemented fully autonomous driving. We then conducted experiments to clarify how the autonomous driving experience differed for the two groups. The results showed that experienced drivers opt for conventional driving overall, mainly due to the flexibility and driving pleasure it offers, while novices tend to prefer autonomous driving due to its inherent ease and safety. A further analysis indicated that drivers preferred to use both autonomous and conventional driving methods interchangeably, depending on the road and traffic conditions.

    DOI

  • Analysis of Spatial Perception Ability Based on Human Eyesight for Teleoperators

    Chen Kui, Yang Junjie, Katano Takahiro, Kamezaki Mitsuhiro, Sugano Shigeki

    The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts   2015 ( 6 ) 351 - 352  2015.12

     View Summary

    In this paper, we analyzed spatial perception ability based on human eyesight for teleoperation. Recognizing the space relationship between different objects by human eyesight from a two dimensional monitor quickly and correctly is a hard task. On the basis of the analysis about visual perception error, we make some assumptions about the alignment of multi monitors. The reasons which cause visual perception error were then investigated using our virtual reality simulator,and experiments were implemented to verify our assumptions. Results show when objects were fixed, continuously moving the viewpoint around the fixed objects, the position of viewpoint obviously affected spatial perception accuracy of human subjects. We also found that subjects tend to estimate object position deeper than its real position.

    CiNii

  • A Novel Toroidal Design for Magnetorheological Dampers

    Dominguez Gonzalo Aguirre, Kamezaki Mitsuhiro, He Shan, Sugano Shigeki

    The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts   2015 ( 6 ) 113 - 114  2015.12

     View Summary

    In recent years there has been interest in the development of magnetorheological actuators for robotic applications with adjustable compliance. In this paper we explore the conceptualization, design and test of a new kind magnetorheological piston head design. Inside the head of this new damper a circular assembly of magnetorheological valves is used to control the damping force of the piston. The results show the feasibility of the new design, and its potential for compliant robotic applications.

    CiNii

  • Scenario Authoring for a Driving Simulator to Evaluate Driver Experience in Intelligent Autonomous Vehicles

    Manawadu Udara, Ishikawa Masaaki, Kamezaki Mitsuhiro, Sugano Shigeki

    The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts   2015 ( 6 ) 94 - 95  2015.12  [Refereed]

     View Summary

    In this study, we focused on creating different scenarios and traffic conditions in a driving simulator to evaluate the differences in driving experience in conventional and autonomous vehicles. We conducted experiments using two groups of drivers and evaluated their subjective workload and preference for each driving method for different traffic conditions and scenarios.

    CiNii

  • Visual Attention to Appropriate Monitors and Parts Using Augmented Reality for Decreasing Cognitive Load in Unmanned Construction

    Sato Ryuya, Kamezaki Mitsuhiro, Yang Junjie, Sugano Shigeki, Iwata Hiroyasu

    The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts   2015 ( 6 ) 45 - 45  2015.12  [Refereed]

     View Summary

    In unmanned construction, operators watch multi views to know situations at a disaster site. However, such a vision system requires much cognitive load of the operators to determine monitors and its parts which they should watch according to situation. In order to decrease cognitive load, we developed a system to provide appropriate monitors and its parts by inducing visual attention using augmented reality.

    CiNii

  • Analysis of Preference for Autonomous Driving Under Different Traffic Conditions Using a Driving Simulator

    Udara Eshan Manawadu, Masaaki Ishikawa, Mitsuhiro Kamezaki, Shigeki Sugano

    Journal of Robotics and Mechatronics   27 ( 6 ) 660 - 670  2015.12  [Refereed]

    DOI

  • Modelling and Simulation of a New Magnetorheological Linear Device

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Morgan French, Shigeki Sugano

    Proceedings of 2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS2015)     235 - 240  2015.10  [Refereed]

    DOI

  • 無人化施工における視覚情報の強化に関する研究-作業状況に応じた環境カメラの自動制御と拡張現実技術を用いた注視支援-

    亀﨑允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

    第15回建設ロボットシンポジウム論文集(SCR2015)     1 - 6  2015.09  [Refereed]

  • 無人化施工の効率・安全性を高める映像の注視・解釈支援に関する調査研究

    亀﨑允啓, 岩田浩康, 菅野重樹

    建設機械施工   67 ( 3 ) 64 - 73  2015.03

  • 無人化施工における環境カメラのための半自動制御システムの基礎研究

    亀﨑允啓, 岩田浩康, 菅野重樹

    建設機械施工   67 ( 2 ) 92 - 100  2015.02

  • On special issue "Design of Human-Machine Interfaces for Large-Scale Robots"

    Kamezaki Mitsuhiro

    JRSJ   33 ( 6 ) 395 - 395  2015

    DOI CiNii

  • An Adaptive Basic I/O Gain Tuning System

    Kamezaki Mitsuhiro

    JRSJ   33 ( 6 ) 421 - 425  2015

    DOI CiNii

  • A 3D Sensing Model and Practical Sensor Placement Based on Coverage and Cost Evaluation

    Junjie Yang, Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2015 IEEE INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER)     1 - 6  2015  [Refereed]

     View Summary

    This paper proposes a sensor model in three dimensional (3D) space, where the height of sensor above ground is variable and the position of sensor on the ground is limited. Traditional sensor models treat the sensor placement area as a film and there is no placement limits as well. As a consequence, the number of sensors is very large and the performance is not such ideal as simulation. In this paper, we develop a novel model for sensor placement, which makes sensors possible to be set at different height above ground, so that the coverage rate can be analyzed in 3D space and the simulation result can be more dependable. We also propose a corresponding 3D coverage rate evaluation method to be used for our proposed 3D model. In order to test our proposed model and evaluation method, the system is designed and numerical and graphical simulators are developed. Experiments are conducted to quantify trade-off relationship between coverage rate and cost, i.e., the number of sensors, which can make sensor placement strategy more practical. From the experimental results, we confirmed that the proposed 3D model and evaluation method is effective in a 3D space.

    DOI

  • Performance Analysis in Advanced Tele-operation System Based on Introduction of Danger-Avoidance View

    Junjie Yang, Mitsuhiro Kamezaki, Ryuya Sato, Hiroyasu Iwata, Shigeki Sugano

    INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT III   9246   401 - 412  2015  [Refereed]

     View Summary

    Unmanned construction machines are used after disasters. Compared with manned construction, time efficiency is lower because of incomplete visual information, communication delay, and lack of tactile experience. We have developed an autonomous camera control system to supply appropriate visual information. In order to let operator easy to avoid unexpected collision, we first introduce the frame for each viewport according to its contents. And then, we exchange the danger view with an overlook view. The purpose of this study is to attract operators' attention to the danger area when there is a probable collision if operator won't stop or change their action. Besides, we also want to reveal the relationship between gaze habit and performance. The experimental results conducted using our virtual reality simulator confirms that operator tends to watch danger view when it appears. In addition, work strategy may influence the danger avoidance and work time efficiency in opposite way.

    DOI

  • Analysis of Individual Driving Experience in Autonomous and Human-Driven Vehicles Using a Driving Simulator

    Udara Manawadu, Masaaki Ishikawa, Mitsuhiro Kamezaki, Shigeki Sugano

    2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   2015-August   299 - 304  2015  [Refereed]

     View Summary

    Intelligent vehicles capable of autonomous driving will be commercially available in near future. To formulate a beneficial relationship between driver and vehicle, it is important to analyze how the drivers would react to autonomous vehicles compared to human-driven (conventional) vehicles. In this study, we focused on analyzing individual driving experience in several road conditions for autonomous and conventional vehicles among experienced and novice drivers. We first developed a simplified driving simulator that can connect arbitrary interfaces, create virtual environments consisting of scenarios and events that drivers encounter in real-world driving, and implement fully autonomous driving. We then conducted experiments to clarify differences of driving experiences for autonomous driving between the two groups. The experimental results showed that experienced drivers opt for conventional driving mainly due to the flexibility and driving fun it offers, while novices tend to prefer autonomous driving due to its inherent easiness and safety. An in-depth analysis indicated that drivers preferred to use both the driving methods interchangeably depending on the road and traffic conditions.

    DOI

  • A Concept for a Robot Arm with Adjustable Series Clutch Actuators and Passive Gravity Compensation for Enhanced Safety

    Alexander Schmitz, Soumya Bhavaraju, Sophon Somlor, Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Wei Wang, Shigeki Sugano

    2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   2015-August   1322 - 1327  2015  [Refereed]

     View Summary

    Passive compliance is useful for robotic arms to ensure their safety. Often springs are used, but they are problematic because they reduce the achievable accelerations and can lead to underdamped oscillations. Torque limiters enhance the safety, but usually the torque limit cannot be adjusted to a desired torque. Electronically adjustable torque limiters, also known as series clutch actuators, have several benefits, especially for robotic arms, but they also have severe limitations. This paper suggests incorporating series clutch actuators into a gravity compensated arm. Consequently, gravity should not limit the isotropically achievable force anymore and in the case of power outage the arm keeps its position. The benefits and limitations of a series clutch actuator in a gravity compensated arm are discussed, and a prototype of such an arm is presented. Commercially available magnetic friction clutches are used. Preliminary experiments demonstrate that the safety can be increased.

    DOI

  • A Haptic Interface with Adjustable Stiffness Using MR Fluid

    Sophon Somlor, Gonzalo Aguirre Dominguez, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

    2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   2015-August   1132 - 1137  2015  [Refereed]

     View Summary

    This paper describes a combined tactile sensor and haptic interface that can change its stiffness using magnetorheological fluids (MR fluid). The tactile sensor consists of 6 distributed capacitive sensors that can sense the location and the amount of applied force. Above the sensors is a chamber filled with MR fluid. By changing the magnetic field, the hardness of the MR fluid, and thereby of the haptic interface, can be changed. Fast changes of the magnetization direction lead to a sensation of vibration. The resulting device can be used for novel haptic input devices or for robotic grippers. A prototype device has been constructed, and the effects of the varying magnetic field and the resulting varying stiffness of the MR fluid on the distributed force sensing with the capacitive sensors has been evaluated. We discovered that the measured forces vary very little with changes in the strength of the magnetic field.

    DOI

  • An Investigation into the Social Acceptance of Using Contact for Inducing an Obstructing Human

    Moondeep C. Shrestha, Ayano Kobayashi, Tomoya Onishi, Erika Uno, Hayato Yanagawa, Yuta Yokoyama, Mitsuhiro Kamezaki, Alexander Schmitz, Shigeki Sugano

    2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)   2015-December   941 - 946  2015  [Refereed]

     View Summary

    In densely populated scenarios with cramped spaces, it is very difficult to achieve safe and efficient navigation without cooperation from humans. One way in which we can seek cooperation from humans is by using contact to influence them to give way. However, such a method may incur certain psychological implications and therefore requires an acceptability check to ensure whether such action is acceptable or not. For this purpose, we investigate the participant subjective response towards robot-initiated touch during the course of navigation. We conducted a 2 (robotic experience vs. none) x 2 (warning vs. none) between-subject experiment with 44 people in which a mobile robotic platform exerted contact on an unaware and obstructing participant to make way towards its goal. Our results show that prior experience with robots produces slightly better response even though the results are not statistically significant. However, a verbal warning prior to contact yielded much more favorable response. In general, the participants did not find contact to be uncomfortable and were not opposed to robot-initiated contact if deemed necessary.

    DOI

  • Development of a Backdrivable Magnetorheological Hydraulic Piston for Passive and Active Linear Actuation

    Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Morgan French, Shigeki Sugano

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   2015-December   6551 - 6556  2015  [Refereed]

     View Summary

    A new design of a magnetorheological piston prototype intended for passive or active force control in robotic applications for human robot interaction is introduced. It is based in a novel toroidal array of valves, contained within the piston head, which are used to control the output force of the actuator in order to achieve a high degree of reliability, size efficiency, and safety, by exploiting the material properties of magnetorheological fluids and permalloy metals. This paper describes the main points in the development of the magnetorheological piston prototype, the mathematical modelling of the magnetic circuit, and the results of the experiments conducted using a universal testing machine to evaluate the passive performance of the prototype. Results show the feasibility and performance of the new toroidal magnetic circuit of the magnetorheological hydraulic piston prototype. Improvements in order to be able to test the active performance of the design together with a pump setup are proposed.

    DOI

  • Inducement of Visual Attention Using Augmented Reality for Multi-Display Systems in Advanced Tele-operation

    Junjie Yang, Mitsuhiro Kamezaki, Ryuya Sato, Hiroyasu Iwata, Shigeki Sugano

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   2015-December   5364 - 5369  2015  [Refereed]

     View Summary

    Unmanned construction machines are used after disasters. Compared with manned construction, time efficiency is lower because of incomplete visual information, communication delay, and lack of tactile experience. We have developed an autonomous camera control system to supply appropriate visual information. In order to inform operators the potential data in the views, we introduced several augmented reality (AR) elements to induce visual attention to suitable images in a scenario. The purpose of this study is to develop an attention inducement system using AR technique and evaluate it under different conditions. We first improve our autonomous camera control system and then implement several kinds of AR items suitable for each work situation. The experimental results conducted using our virtual reality simulator confirm that AR items can supply a better positional relationship between machine and objects in the environment which makes operator handle the conditions as experienced. The results from eye-tracker data also indicate that AR items can induce visual attention to images suitable for situations.

    DOI

  • An Investigation into the Social Acceptance of Using Contact for Inducing an Obstructing Human

    Moondeep C. Shrestha, Ayano Kobayashi, Tomoya Onishi, Erika Uno, Hayato Yanagawa, Yuta Yokoyama, Mitsuhiro Kamezaki, Alexander Schmitz, Shigeki Sugano

    2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)   2015-December   941 - 946  2015

     View Summary

    In densely populated scenarios with cramped spaces, it is very difficult to achieve safe and efficient navigation without cooperation from humans. One way in which we can seek cooperation from humans is by using contact to influence them to give way. However, such a method may incur certain psychological implications and therefore requires an acceptability check to ensure whether such action is acceptable or not. For this purpose, we investigate the participant subjective response towards robot-initiated touch during the course of navigation. We conducted a 2 (robotic experience vs. none) x 2 (warning vs. none) between-subject experiment with 44 people in which a mobile robotic platform exerted contact on an unaware and obstructing participant to make way towards its goal. Our results show that prior experience with robots produces slightly better response even though the results are not statistically significant. However, a verbal warning prior to contact yielded much more favorable response. In general, the participants did not find contact to be uncomfortable and were not opposed to robot-initiated contact if deemed necessary.

    DOI

  • A practical operator support scheme and its application to safety-ensured object break using dual-arm machinery

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    ADVANCED ROBOTICS   28 ( 23 ) 1599 - 1615  2014.12  [Refereed]

     View Summary

    A practical operator support system for disaster response work using construction machinery is applied to object-break operations using a dual-arm machine. An object-break operation, which separates an object into two different parts by applying massive pulling force, requires skillful force and trajectory controls. Operators typically have trouble visually perceiving the movement of the manipulator because the target object is strongly restrained. As a result, after the object has been separated into two pieces, the operator may continue performing lever operations because of unavoidable perception reaction time and the manipulator may collide with the surrounding environment. A control input cancellation system based on object-break identification is proposed to reduce the time difference between the object break and operation stoppage. A support system for disaster response situations must be safe and efficient and accommodate operators with various skill levels; thus, common physical phenomena related to the object breakage should be exploited. The system cancels control inputs to stop the movement of the manipulator when an object-break flag is detected, which is defined as a situation where the force applied to each joint of a manipulator decreases rapidly when a lever operation and load on the inside of the grapple are detected. Demolition experiments were conducted using a hydraulic dual-arm system. The results indicate that the displacement of the end-point after the object breaks is greatly decreased and the completion time of the task is reduced as well.

    DOI

  • A Pragmatic Approach to Modeling Object Grasp Motion Using Operation and Pressure Signals for Demolition Machines

    KAMEZAKI Mitsuhiro, IWATA Hiroyasu, SUGANO Shigeki

    SICE JCMSI   7 ( 6 ) 356 - 363  2014.11  [Refereed]

     View Summary

    In this paper, an object grasp motion, which is a requisite condition to make a demolition machine grasp an object, is pragmatically modeled, considering accurate and robust identification. Grasping an object is a highly difficult task that requires safe and precise operations, particularly in disaster response work. Identifying a grasp or non-grasp state is essential for providing operational support. These types of outdoor machines lack visual and tactile sensors, so pragmatically available lever operation and cylinder pressure sensors are adopted as parameters for modeling. The grasp motion is simply defined by using sequential transitions of the on-off state of the operation signal and cylinder pressure data for the grapple and the manipulator. The results of experiments conducted to transport objects using an instrumented hydraulic arm indicated that the modeled grasp motion model effectively identifies a grasp or non-grasp state with high accuracy, independently of operators and work environments.

    DOI CiNii

  • Time-series primitive static states for detailing work state and flow of human-operated work machine

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    ADVANCED ROBOTICS   28 ( 20 ) 1357 - 1374  2014.10  [Refereed]

     View Summary

    This paper proposes a quantification method for a comprehensive work flow in construction work for describing work states in more detail on the basis of analyzing state transitions of primitive static states (PSS), which consist of 16 symbolic work states defined by using on-off state of the lever operations and joint loads for the manipulator and end-effector. On the basis of the state transition rules derived from a transition-condition analysis, practical state transitions (PST), which are common and frequent transitions in arbitrary construction work, are defined. PST can be classified into essential state transition (EST) or nonessential state transitions (NST). EST extracts common phases of work progress and estimates positional relations between a manipulator and an object. NST reveals wasted movements that degrade the efficiency and quality of work. To evaluate comprehensive work flows modeled by combining EST and NST, work-analysis experiments using our instrumented setup were conducted. Results indicate that all the PSS definitely changes on the basis of PST under various work conditions, and work analysis using EST and NST easily reveals work characteristics and untrained tasks related to wasted movements.

    DOI

  • A Basic Framework of Virtual Reality Simulator for Advancing Disaster Response Work Using Tele-Operated Work Machines

    Mitsuhiro Kamezaki, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

    Journal of Robotics and Mechatronics   26 ( 4 ) 939 - 948  2014.08  [Refereed]

    DOI

  • An Autonomous Multi-Camera Control System Using Situation-Based Role Assignment for Tele-Operated Work Machines

    Mitsuhiro Kamezaki, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     5971 - 5976  2014  [Refereed]

     View Summary

    A method to autonomously control multiple environmental cameras, which are currently fixed, for providing more adaptive visual information suited to the work situation for advanced unmanned construction is proposed. Situations in which the yaw, pitch, and zoom of cameras should be controlled were analyzed and imaging objects including the machine, manipulator, and end-point and imaging modes including tracking, zoom, posture, and trajectory modes were defined. To control each camera simply and effectively, four practical camera roles combined with the imaging objects and modes were defined as the overview-machine, enlarge-end-point, posture-manipulator, and trajectory-manipulator. A role assignment system was then developed to assign the four camera roles to four out of six cameras suitable for the work situation, e.g., reaching, grasping, transport, and releasing, on the basis of the assignment priority rules, in the real time. Debris removal tasks were performed by using a VR simulator to compare fixed camera, manual control, and autonomous systems. Results showed that the autonomous system was the best of the three at decreasing the number of grasping misses and error contacts and increasing the subjective usability while improving the time efficiency.

    DOI

  • Analysis of Effective Environmental-Camera Images Using Virtual Environment for Advanced Unmanned Construction

    Junjie Yang, Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)     664 - 669  2014  [Refereed]

     View Summary

    Unmanned construction machines are used after disasters. Compared with manned construction, time efficiency is lower because of incomplete visual information, communication delay, and lack of tactile experience. Visual information is the most fundamental items for planning and judgment, however, in current vision systems, even the posture and zoom of cameras are not adjusted. To improve operator's visibility, these parameters must be adjusted in accordance with the work situation. The purpose of this study is thus to analyze effective camera images from some comparison experiments, as a fundamental study of advanced visual support. We first developed a virtual reality simulator to enable experimental conditions to be modified easier. To effectively derive required images, experiments with two different camera positions and systems (fixed cameras and manually controllable cameras) were then conducted. The results indicate that enlarged views to show the manipulator is needed in object grasping and tracking images to show the movement direction of the manipulator is needed in largely end-point movement. The result also confirms that the operational accuracy increases and blind spot rate decreases by using the manual system, com-pared with fixed system.

    DOI

  • An Adaptive Basic I/O Gain Tuning Method Based on Leveling Control Input Histogram for Human-Machine Systems

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)     1926 - 1931  2014  [Refereed]

     View Summary

    A method to tune a basic input/output gain (BIOG) according to usage conditions for human-machine systems is proposed for improving work performance. Adapting a BIOG is effective in terms of improving operability and work efficiency, but frequent changes using a gain scheduling strategy degrade the operability by confusing the machine dynamics. The proposed tuning system adjusts a BIOG at long intervals on the basis of comprehensive features in operator and work content obtained from the histogram of control lever input. The target value is set to the normal distribution, meaning that all ranges of the control lever are evenly used in a spring-type lever, as leveling the histogram independent of an operator and work content provides the consistent operational feeling, which leads to comfortable operability. To ensure practicality and effectiveness, a BIOG curve is set to a polygonal line involving a break point and a saturation point that are tuned by equivalent transform of area differences between the obtained histogram and normal distribution curves. Two types of experimental task were performed using a hydraulic arm system. Results showed that the proposed BIOG tuning system improves time efficiency by reducing the area difference while increasing the subjective usability compared with a conventional fixed BIOG system.

    DOI

  • Robust Object-Mass Measurement Using Condition-Based Less-Error Data Selection for Large-Scale Hydraulic Manipulators

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014     1679 - 1684  2014  [Refereed]

     View Summary

    A practical framework for measuring the mass of an object grasped by the end-effector of a large-scale hydraulic manipulator, such as construction manipulators, is proposed. Such a measurement system requires high accuracy and robustness considering the nonlinearity and uncertainty in hydraulic pressure-based force measurement. It is thus difficult to precisely model the system behaviors and completely remove error force components, so our framework adopts a less-error data selection approach to improving the reliability of the measurand. It first detects the on-load state to extract reliable data for mass measurement, including evaluating measurement conditions to omit sensors in indeterminate conditions and redefining three-valued outputs such as on, off, or not determinate, to improve robustness, then extracts data during the object-grasp state identified by the grasp motion model and removes high-frequency component by a simple low-pass filter, to improve accuracy, and finally integrates date from plural sensors using the posture-based priority and averages all selected data, to improve reliability. Evaluation experiments were conducted using an instrumented hydraulic arm. Results indicate that our framework can precisely measures the mass of the grasped object in various detection conditions with less errors.

    DOI

  • Visualization of comprehensive work tendency using end-point frequency map for human-operated work machines

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    Proceedings - IEEE International Conference on Robotics and Automation     760 - 765  2013

     View Summary

    This paper proposes a framework for visualizing comprehensive work tendency using a frequency plot map of the end-point of a manipulator as a fundamental study of work analysis using long-term data for human-operated work machines. A visualization system requires high generality and commonality to enable to extract various characteristics to be extracted on an arbitrary time scale independently of the work machine specifications, work contents and environment, and machine operator. The proposed framework meets this requirement by first creating a two-dimensional end-point plot map with its origin fixed at the yaw joint of the manipulator to deal with arbitrary usage conditions. It then extracts arbitrary characteristics by using hierarchical feature extraction filters, including binary, quantity, and advanced filters, defined by three kinds of essential data: operation, movement, and load. Finally, it quantifies the filtered map by gridding and normalization to visually grasp its frequency distribution. Two experiments in which the work environments and completion time differed were conducted using an instrumented hydraulic arm. Results indicated that the comprehensive work tendency revealed by using the proposed framework corresponds to the actual work results independently of the various conditions. © 2013 IEEE.

    DOI

  • An Object Grasp Motion Model using Control Signal and Cylinder Pressure in Demolition Machines for Disaster Response Work

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)     307 - 312  2013  [Refereed]

     View Summary

    The purpose of this paper is to model and identify an object grasp motion, which is a requisite condition to make a demolition machine grasp an object. Grasping an object is a highly difficult task that requires safe and precise operations, so identifying a grasp or non-grasp is necessary for providing operational support, particularly in disaster response work. These types of outdoor machines lack visual and tactile sensors, so practically available lever operation and cylinder pressure sensors are adopted. The grasp motion is modeled by using sequential transitions of the on-off state of the control signal and cylinder pressure data for the grapple and the manipulator. The results of experiments conducted to transport objects using an instrumented hydraulic arm indicated that the modeled grasp motion effectively identifies a grasp or non-grasp with high accuracy, independently of operators and environments.

    DOI

  • Practical Object-Grasp Estimation without Visual or Tactile Information for Heavy-Duty Work Machines

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)     3210 - 3215  2013  [Refereed]

     View Summary

    This paper proposes a practical framework to estimate whether or not a grapple installed in demolition machines is in a grasp state. Object grasp is a highly difficult task that requires safe and precise operations, so identifying a grasp or non-grasp state is important for assisting an operator. These types of outdoor machines lack visual and tactile sensors, so the proposed framework adopts practically available lever operation and cylinder pressure sensors. The grasp is formed by a grasp motion, which is operations to make the grapple pinch an object, and the grasp state, where the grapple holds the object in any manipulator movements. Thus, the framework determinately confirms the grasp motion through the requisite conditions defined by using sequential changes of binarized operation and pressure data for the grapple and the manipulator, and stochastically confirms the grasp state through the enhancement conditions defined by using force and movement vectors including vertical downward force, movement in the longer direction, and horizontal reciprocating movement. The results of experiments conducted to transport objects using an instrumented hydraulic arm indicated that the proposed framework is effective for identifying grasp/non-grasp with high accuracy, independently of various operators and environments.

    DOI

  • Development of a Tele-Operation Simulator Based on Virtual Reality Environment for Advanced Unmanned Construction

    Mitsuhiro Kamezaki, Gonzalo Aguirre Dominguez, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     855 - 860  2013  [Refereed]

     View Summary

    This paper describes a tele-operation simulator using a virtual reality (VR) environment for advanced unmanned construction. VR simulators, which can measure arbitrary data, reproduce the same situations, and change the machine and environmental configurations more easily, compared with actual environments, are effective to create tele-operation technologies and quantitatively evaluate them as well as to improve operational skills in complex disaster response works. In this basic study, a VR simulator including a VR environment, operation-input, and video-output components was developed. (i) The VR environment is built using a basic graphic library and dynamics engine. (ii) The operation-input component consists of control levers for a demolition machine with a grapple and environmental cameras with yaw, pitch, and zoom functions. (iii) The video-output component consists of a two-dimensional monitor for displaying an in-vehicle camera view, environmental camera views, and machine status. The results of experiments conducted to transport debris using the VR simulator indicated that the operators adequately completed the debris transport in the VR environment while watching the monitor views from the in-vehicle and environmental cameras.

    DOI

  • A Pragmatic Load Detecting System Based on Uncertainty Evaluation for Construction Manipulator

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    SICE Journal of Control, Measurement, and System Integration (JCMSI)   5 ( 6 ) 366 - 373  2012.11  [Refereed]

    DOI

  • Identification of Dominant Error Force Component in Hydraulic Pressure Reading for External Force Detection in Construction Manipulator

    Mitsuhiro Kamezaki, Yosuke Shimada, Hiroyasu Iwata, Shigeki Sugano

    Journal of Robotics and Mechatronics   24 ( 6 ) 95 - 104  2012.02  [Refereed]

    DOI

  • Quantification of Comprehensive Work Flow Using Time-Series Primitive Static States for Human-Operated Work Machine

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     4487 - 4492  2012  [Refereed]

     View Summary

    This paper proposes a quantification method for a comprehensive work flow in construction work for describing work states in more detail on the basis of analyzing state transitions of primitive static states (PSS), which consist of 16 symbolic work states defined by using on-off state of the lever operations and joint loads for the manipulator and end-effector. On the basis of the state transition rules derived from a transition-condition analysis, practical state transitions (PST), which are common and frequent transitions in arbitrary construction work, are defined. PST can be classified into essential (EST) or nonessential state transitions (NST). EST extracts common phases of work progress and estimates positional relations between a manipulator and an object. NST reveals wasted movements that degrade the efficiency and quality of work. To evaluate comprehensive work flows modeled by combing EST and NST, work-analysis experiments using our instrumented setup were conducted. Results indicate that all the PSS definitely changes on the basis of PST under various work conditions, and work analysis using EST and NST easily reveals work characteristics and untrained tasks related to wasted movements.

    DOI

  • Operational Support for Ensuring Safety Object-Removal Using Dual-Arm Construction Machinery

    Mitsuhiro Kamezaki, Yosuke Shimada, Hiroyasu Iwata, Shigeki Sugano

    2012 FIRST INTERNATIONAL CONFERENCE ON INNOVATIVE ENGINEERING SYSTEMS (ICIES)     237 - 242  2012  [Refereed]

     View Summary

    This paper describes an operational support system to simplify removing objects from a building structure in demolition work using dual-arm construction machinery. An operator cannot recognize the manipulator movement visually when a target object is strongly restrained in an unmovable environment, so the operator continues large lever-operations for a while after the object has been removed. This could lead to a collision against the surrounding environment. An operational support in construction machinery filed requires the compatibility among efficiency, quality, and safety and the commonality among various operator skill levels. The proposed support system thus identifies the moment when an object has been removed and cancels any operational inputs to ensure safety work when generating intensive force applied to a manipulator, focusing only on the common physical phenomena. An object-removal flag is defined as a situation where force applied to the end-point of a manipulator decrease rapidly in which lever operation and hand load are detected. Demolition experiments are conducted using a hydraulic dual arm system. Result indicates that the displacement of end-effector after removal and the number of error contacts are decreased while decreasing time consumption.

    DOI

  • A symbolic constructionwork flow based on state transition analysis using simplified primitive static states

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    Journal of Robotics and Mechatronics   24 ( 6 ) 939 - 948  2012  [Refereed]

     View Summary

    In this paper, a quantitative analysis method for a comprehensive work flow in construction work for identifying work states in more detail is proposed. The proposed method is based on analyzing state transitions of simplified primitive static states (s-PSS), which consist of four symbolic work states defined by using the on-off state of lever operations and manipulator loads. First, practical state transitions (PST), which are common and frequent transitions in arbitrary construction work, are defined on the basis of the transition rules, according to which an operation flag changes arbitrarily and a load flag changes only during a lever operation. Second, PST is notionally classified into essential (EST) and nonessential (NST) state transitions whose definitions change depending on the task phase, including reaching, contacting, loadworking, and releasing. Third, closed loops formed by EST represent work content and those formed by NST represent wasted movements. In work-analysis experiments using our instrumented setup, results indicated that all s-PSS definitely changes on the basis of PST under various experimental conditions and that work analysis using EST and NST easily reveals untrained tasks related to wasted movements.

    DOI

  • Development of a Load Detecting System with Three-Valued Output for Construction Manipulator

    Mitsuhiro Kamezaki, Kosuke Nakamura, Satoshi Hashimoto, Hiroyasu Iwata, Shigeki Sugano

    Proceedings of SICE Annual Conference 2011 (SICE2011)     2194 - 2199  2011.09

  • A Practical Load Detection Framework Considering Uncertainty in Hydraulic Pressure-Based Force Measurement for Construction Manipulator

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     5869 - 5874  2011  [Refereed]

     View Summary

    This paper proposes a practical framework for detecting (identifying the on-off state of) the external force applied to a construction manipulator (front load) by using a hydraulic sensor. Such a detection system requires high accuracy and robustness considering the uncertainty in pressure-based force measurement. Our framework is thus organized into (i) identifying the dominant error force component (self-weight and driving force) using theoretical and experimental estimation and binarizing the analog external cylinder force, (ii) evaluating detection conditions to address indeterminate conditions such as stroke-end, singular posture, and impulsive or oscillatory force and redefining three-valued outputs such as on, off, or not determinate (ND), and (iii) outputting the front load decision by combining all the cylinder decisions to improve robustness through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our framework adequately detects on, off, and ND outputs of the front load in various detection conditions without misidentification.

    DOI

  • Relative Accuracy Enhancement System Based on Internal Error Range Estimation for External Force Measurement in Construction Manipulator

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS     3734 - 3739  2011  [Refereed]

     View Summary

    This paper proposes a practical framework for measuring the external force applied to a construction manipulator (front load vector) by using a hydraulic sensor. Such a force measurement system requires high accuracy and robustness considering the uncertainty in the construction machinery field, but it inevitably includes measurement errors owing to difficult-to-reduce modeling errors. Our framework thus adopts a relative accuracy improvement strategy without correcting the models for the practicality. It comprises (i) quantifying the internal error range (IER) by using the sum of the maximal measurement errors of static and dynamic friction forces, which change in postural and kinematic conditions, (ii) calculating the error force vector by using IER to select cylinders (sensors) that have less error, and (iii) outputting the front load vector using the cylinders whose error force vector is minimum. Experiments were conducted using an instrumented hydraulic arm. The results indicate that our framework can enhance the relative accuracy of external force measurement independently of various postural and kinematic conditions.

    DOI

  • Comprehensive state transition analysis using simplified primitive static states in construction machinery

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     2908 - 2913  2011

     View Summary

    This paper proposes an analysis method for a comprehensive work flow in construction work for identifying work states in more detail on the basis of analyzing state transitions of simplified primitive static states (s-PSS), which consist of four symbolic work states defined by using on-off state of the lever operations and manipulator loads. First, practical state transitions (PST), which are common and frequent transitions in arbitrary construction work, can be defined on the basis of the transition rules, according to which an operation flag changes arbitrary and load flag only changes during a lever operation. Second, PST can be classified into essential (EST) or nonessential state transitions (NST), and NST changes its definition depending on the task phase. Third, EST and NST represent work contents and wasted movements, respectively, so work-analysis experiments using our instrumented setup were conducted. Results indicate that all the s-PSS definitely changes on the basis of PST under various experimental conditions and that work analysis using EST and NST easily reveals untrained tasks related to wasted movements. © 2011 IEEE.

    DOI

  • Hydraulic Pressure-Based Dominant Error Force Component Identification for Detecting External Force Applied to Construction Manipulator

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    Proceedings of International Conference on Advanced Mechatronics 2010 (ICAM2010)     313 - 318  2010.10

  • 油圧センサを用いた建機マニピュレータの外力手先負荷有無システムの開発

    亀﨑允啓, 橋本諭, 岩田浩康, 菅野重樹

    第12回建設ロボットシンポジウム論文集(SCR2010)     323 - 328  2010.09  [Refereed]

  • A Framework to Identify Task-Phase and Attentional-Condition for Supporting Complicated Dual-Arm Operations

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    Journal of Robotics and Mechatronics   22 ( 4 ) 447 - 455  2010.08  [Refereed]

    DOI

  • A Practical Approach to Detecting External Force Applied to Hydraulic Cylinder for Construction Manipulator

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    Proceedings of SICE Annual Conference 2010 (SICE2010)     1255 - 1256  2010.08

  • A framework of state identification for operational support based on task-phase and attentional-condition identification

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    Proceedings - IEEE International Conference on Robotics and Automation     1267 - 1272  2010

     View Summary

    This paper proposes a state identification framework to support the complicated dual-arm operations in construction work. The operational support in construction machinery filed requires the compatibility with different types of support and the commonality among various operator skill levels. The proposed framework is therefore organized into two functions: real-time task phase identification and time-series attentional condition identification. The task phase is defined by utilizing the joint load applied according to the environment constraint condition. The attentional condition is defined as one of the internal work-state condition classified by the necessity level of operational support, and is dependent on the vectorial or time-series date selected by the identified task phase. Experiments are conducted using the hydraulic dual arm system to perform transporting and removing tasks. Results show that the number of error contacts, internal force applied, and mental workload is decreased without time-consumption increase. The result confirmed that the proposed framework greatly contribute to improving each operator's work performance. ©2010 IEEE.

    DOI

  • Development of a dual robotic arm system to evaluate intelligent system for advanced construction machinery

    Mitsuhiro Kamezaki, Satoshi Hashimoto, Hiroyasu Iwata, Shigeki Sugano

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM     1299 - 1304  2010

     View Summary

    This paper reports a newly developed hydraulic dual robotic arm system to create and evaluate intelligent systems, which support complicated machine operations, for advanced construction machinery. This kind of machine system (test-bed) requires functions to quantify its dynamic characteristics and operational difficulty (influential factors). In particular, construction manipulator nonlinearly changes its dynamics depending on various internal and external factors. To quantify such influential factors, our proposed test-bed is equipped with standard hydromechanical system which includes two manipulators and grapples, and practical sensing system which detects control input, oil pressure, oil temperature, and cylinder stroke data. Using the developed test-bed, fundamental experiments were conducted to clarify hydromechanical system characteristics. Experimental results indicate that the test-bed quantifies its hysteresis, pressure loss, and time delay, and show that variable dynamics complicates intuitive and precise machine operations and external force measurement. This analysis confirms the developed machine system is useful to quantify influential factors for creating intelligent system. © 2010 IEEE.

    DOI

  • 双腕作業機の知能化インタフェースに関する研究〜環境の複雑性および操作者の多様性に非依存な基底作業状態〜

    亀崎允啓, 岩田浩康, 菅野重樹

    計測自動制御学会論文集   45 ( 12 ) 646 - 653  2009.12  [Refereed]

    DOI

  • Work State Identification using Primitive Static States -Implementation to Demolition Work in Double-Front Work Machines-

    Mitsuhiro KAMEZAKI, Hiroyasu IWATA, Shigeki SUGANO

    Proceedings of 2009 International Symposium on Automation and Robotics in Construction (ISARC2009)     278 - 287  2009.06

  • Operation Skill Analysis using Primitive Static States in Human-Operated Work Machine

    Mitsuhiro KAMEZAKI, Hiroyasu IWATA, Shigeki SUGANO

    Proceedings of The 3rd International Conference on Construction Engineering and Management (ICCEM2009)     230 - 236  2009.05

  • Development of operator support system with primitive static states for intelligent construction machinery

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    IEEE 2009 International Conference on Mechatronics, ICM 2009   ThC1-1   345 - 350  2009

     View Summary

    Double-front construction machinery (DFCM), which has been developed for adaptation to complicated work, demands higher operational skills to control double fronts with more multiple joints. To handle DFCM skillfully for performing more complicated works, intelligent functions that can autonomously distinguish between diverse states and also provide informational and operational supports to their operators are inevitably required. In particular, a state identification method strongly requires high reliability and robustness due to the complexity of the construction work environment and the variety of the operator's skill level. However, most of the current construction machinery has unique functions that only reproduce the movements that are originated by the operator. In this study, which focuses on DFCM, we addressed the need for a new conceptual design of an operator support system (OSS) and evaluated it using our newly developed simulator. Our experimental results showed that the OSS improves the work performance, including decreasing the operational time for completing a task, reducing the mental workload on the operators, and the number of error operations. © 2009 IEEE.

    DOI

  • Primitive Static States for Intelligent Operated-Work Machines

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7     4224 - 4229  2009  [Refereed]

     View Summary

    Advanced operated-work machines, which have been designed for complicated tasks and which have complicated operating systems, requires intelligent systems that can provide the quantitative work analysis needed to determine effective work procedures and that can provide operational and cognitive support for operators. Construction work environments are extremely complicated, however, and this makes state identification, which is a key technology for an intelligent system, difficult. We therefore defined primitive static states (PSS) that are determined using on-off information for the lever inputs and manipulator loads for each part of the grapple and front and that are completely independent of the various environmental conditions and variation in operator skill level that can cause an incorrect work state identification. To confirm the usefulness of PSS, we performed experiments with a demolition task by using our virtual reality simulator. We confirmed that PSS could robustly and accurately identify the work states and that untrained skills could be easily inferred from the results of PSS-based work analysis. We also confirmed in skill-training experiments that advice information based on PSS-based skill analysis greatly improved operator's work performance. We thus confirmed that PSS can adequately identify work states and are useful for work analysis and skill improvement.

    DOI

  • Operator Support System Based on Primitive Static States in Intelligent Operated Work Machines

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    ADVANCED ROBOTICS   23 ( 10 ) 1281 - 1297  2009  [Refereed]

     View Summary

    Intelligent functions that can autonomously identify the current work states and also provide informational or operational support to their operators are inevitably required for double-front construction machinery (DFCM), which has been developed for complicated tasks. In this study, which focuses on DFCM, we address the need for a new conceptual design of an operator support system. In particular, a state identification method strongly requires high reliability and robustness to address the complexity of the construction work environment and the variety of the operator's skill level. We, therefore, define primitive static states (PSS) that are determined using on-off information for the]ever inputs and manipulator loads for each part of the grapple and front. We develop an intelligent system that provides a reduction of operational gain to make precise work easier and an indication of an enlarged image of the end-effector from a different viewpoint to assist depth perception based on PSS identification, and evaluate it using our newly developed simulator. Our experimental results show that the operator support system improves the work performance, including decreasing the operational time for completing a task, reducing the mental workload on the operators and the number of error operations. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009

    DOI

  • 双腕建機のための操作者支援システムの開発設計

    岩田浩康, 亀﨑允啓, 菅野重樹

    建設の施工企画   706   60 - 66  2008.12  [Refereed]  [Invited]

  • 双腕建機における操作技能訓練用シミュレータの開発〜訓練効果の検証および操作補助手法の検討〜

    亀﨑允啓, 島田陽介, 河合雄一郎, 岩田浩康, 菅野重樹

    第11回建設ロボットシンポジウム論文集(SCR2008)     329 - 334  2008.09

  • 双腕建機における知能化インタフェースに関する研究〜基底作業状態識別に基づく操作者支援システムの開発〜

    亀﨑允啓, 島田陽介, 河合雄一郎, 岩田浩康, 菅野重樹

    第11回建設ロボットシンポジウム論文集(SCR2008)     335 - 340  2008.09

  • Development of an Operation Skill-Training Simulator for Double-Front Construction Machinery -Training Effect for a House DemolitionWork-

    Mitsuhiro KAMEZAKI, Hiroyasu IWATA, Shigeki SUGANO

    Journal of Robotics andMechatronics   20 ( 4 ) 602 - 609  2008.09  [Refereed]

    DOI

  • Development of an operation skill-training simulator for double-front work machine

    Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM     170 - 175  2008

     View Summary

    This paper reports a newly developed simulator for operation skill training in Double-Front Construction Machinery (DFCM) that allows novices to virtually experience tough operations repeatedly using DFCM under various conditions, including dangerous congestion. First, we selected several situations targeted where the DFCM needs to be used to provide a high level of operation skills: sorted dismantling for recycling and reusing resources, rescue and recovery work in disaster areas, and building construction. In addition, we developed an operation skill-training simulator that enables novice operators to repeatedly train with the high level of operation skills needed to easily and safely handle the DFCM in even more complicated works. This simulator system has two joysticks (set in front of a monitor) to dependency control the two fronts of the animated DFCM on the monitor. Several modes involving basic construction tasks are provided and the effects of improvement in operability achieved by the training simulator can be verified. Evaluation experiments indicated that repeated training using the simulator successfully decreased the operation time to complete a task and enhanced positioning accuracy in cooperative transportation with the two fronts. The results confirm the effectiveness of the developed simulator. © 2008 IEEE.

    DOI

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Books and Other Publications

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    松繁怜, 亀崎允啓, 亀崎允啓, LAN Dongwon, 森大河, 瀬古俊一, 倉橋孝雄, 菅野重樹

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    金田太智, 亀崎允啓, 亀崎允啓, 円谷優佑, 平山三千昭, 菅野重樹

    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)   2020  2020

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    岡直樹, 林弘昭, MANAWADU Udara E., 江馬敬明, 亀崎允啓, 菅野重樹

    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)   2020  2020

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    日本ロボット学会学術講演会予稿集(CD-ROM)   38th  2020

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    J-GLOBAL

  • 多自由度災害対応ロボットにおける人と自動化機能との分散型共有操作システムの提案

    片野貴裕, 亀崎允啓, 金子大靖, 東宏河, 陳奎, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th   ROMBUNNO.1K3‐04  2017.09

    J-GLOBAL

  • 自律移動ロボットにおける軽接触を用いた人の移動誘導~人の向き・接触部位・方向に応じた人の移動性評価~

    円谷優佑, 亀崎允啓, 大西智也, 柳川勇人, 小林彩乃, 河野遼介, シュレスタ ムーンディプ, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th   ROMBUNNO.3G2‐01  2017.09

    J-GLOBAL

  • 電動型4腕式極限作業ロボットE‐OCTOPUSの開発

    亀崎允啓, 東宏河, 陳奎, 片野貴裕, 金子大靖, 石田健蔵, 中山正之, 関雅俊, 一柳健, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th   ROMBUNNO.1K2‐01  2017.09

    J-GLOBAL

  • 側面カメラ映像における撮影対象との垂直度が遠隔操作者の奥行き感把握に与える影響の調査

    仁内智志, 亀崎允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

    建設ロボットシンポジウム論文集(CD-ROM)   17th   ROMBUNNO.P2‐1  2017.08

    J-GLOBAL

  • ヒトの認知構造に基づいた事前の環境把握映像提示による災害対応遠隔重機作業の効率化に関する研究

    佐藤隆哉, 亀崎允啓, 仁内智志, 菅野重樹, 岩田浩康

    建設ロボットシンポジウム論文集(CD-ROM)   17th   ROMBUNNO.O3‐2  2017.08

    J-GLOBAL

  • タクティカルレベル入力に基づく自動運転システムとの協調運転~タッチパネルインタフェースを用いた位置変化入力~

    亀崎允啓, 江馬敬明, 石川雅晃, 河野陽大, MANAWADU, Udara Eshan, 菅野重樹

    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)   2017   ROMBUNNO.2P2‐D08  2017.05

    J-GLOBAL

  • 磁性流体を利用した能受動型直動デバイスの開発と基本コントローラの設計

    HE Shan, 亀崎允啓, 大槻健史郎, ZHANG Peizhi, AGUIRRE DOMINGUEZ Gonzalo, 菅野重樹

    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)   2017   ROMBUNNO.1A1‐H08  2017.05

    J-GLOBAL

  • 磁性流体を用いた逆可動性を有するベーン形ロータリアクチュエータの開発

    亀崎允啓, 大槻健史郎, ZHANG Peizhi, HE Shan, AGUIRRE DOMINGUEZ Gonzalo, 菅野重樹

    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)   2017   ROMBUNNO.1A1‐H09  2017.05

    J-GLOBAL

  • 脚ロボットにおける連続的な移動・手先動作遷移に対応可能な遠隔操作インタフェースの開発

    江藤孝紘, 佐藤隆哉, 仁内智志, 中村早紀, 亀崎允啓, 岩田浩康

    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)   2017   ROMBUNNO.1P1‐Q04  2017.05

    J-GLOBAL

  • 深層強化学習を用いた自律移動ロボットの人ごみ対応行動シミュレータ(第一報:シミュレータの基本設計と動作検証)

    難波孝彰, 安藤健, 今岡紀章, 北澤一磨, 亀崎允啓, 菅野重樹

    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)   18th  2017

    J-GLOBAL

  • タスク入力の即時性に着目した車両制御用エンボディドインタフェースの開発

    河野陽大, 亀崎允啓, 江馬敬明, 石川雅晃, MANAWADU Udara E., 菅野重樹

    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)   18th  2017

    J-GLOBAL

  • 小径ガス管内検査ロボットのための管内無線通信減衰の計測と分析

    亀崎允啓, 吉田健人, ZHAO Wen, 今野実, 鳥海良一, 菅野重樹

    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)   18th  2017

    J-GLOBAL

  • 連続的な働きかけによる協調移動手法の提案~ロボットから人への意図伝達度に着目した人状態推定技術~

    河野遼介, 亀崎允啓, 小林彩乃, 柳川勇人, 大西智也, 円谷優佑, SHRESTHA Moondeep, 菅野重樹

    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)   18th  2017

    J-GLOBAL

  • 遠隔操作導入前の映像提示システムによる直接描画法を用いた操作者の認知地図への影響分析

    佐藤隆哉, 亀崎允啓, 仁内智志, 菅野重樹, 岩田浩康

    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)   18th  2017

    J-GLOBAL

  • マルチ飛行カメラを用いた遠隔ロボット操作用映像提示システム~映像の連続性と映像間の相補性を考慮したカメラの動的配置~

    宮田雅博, 亀崎允啓, 菅野重樹

    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)   18th  2017

    J-GLOBAL

  • 多自由度災害対応ロボットにおける操作権限分配とユーザビリティの関連性評価

    金子大靖, 亀崎允啓, 片野貴裕, 東宏河, 上原悠嗣, KUI Chen, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

    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)   18th  2017

    J-GLOBAL

  • 災害対応重機の遠隔操作における操作者視点映像の事前提供による環境把握性効果の検証

    佐藤隆哉, 亀崎允啓, 仁内智志, 菅野重樹, 岩田浩康

    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)   2017  2017

    J-GLOBAL

  • 監視対象からの信号および現象の検知により自己発電するIoTセンサデバイスの試作

    長濱峻介, 亀崎允啓, 菅野重樹

    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)   2017  2017

    J-GLOBAL

  • 多自由度災害対応ロボットにおける人と自動化システムの協調制御のための操作権限分配の調査

    片野貴裕, 亀崎允啓, 金子大靖, 東宏河, CHEN Kui, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

    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)   2017  2017

    J-GLOBAL

  • 人の感情と印象に基づく協調移動時のロボットの行動評価と関連性分析

    亀崎允啓, 小林彩乃, 横山悠太, 柳川勇人, SHRESTHA Moondeep, 菅野重樹

    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)   2017  2017

    J-GLOBAL

  • 機械操作者のプランニング技能の定量化に関する研究~操作手順と操作意識に着目した特徴量の抽出~

    亀崎允啓, 佐藤淳平, 三矢隆史, 岩田浩康, 菅野重樹

    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)   2017  2017

    J-GLOBAL

  • 人とロボットの協調移動におけるロボットの行動と人の感情の関連性評価

    小林彩乃, 横山悠太, 柳川勇人, 亀崎允啓, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th  2016

    J-GLOBAL

  • ロボットの移動方向表出システムが人間の移動に及ぼす影響に関する調査

    大西智也, SHRESTHA Moondeep Chandra, 宇野絵莉香, 柳川勇人, SCHMITZ Alexander, 亀崎允啓, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th  2016

    J-GLOBAL

  • ロボットの移動効率と人の心理面に配慮した人-ロボット協調移動フレームワークの提案

    横山悠太, 柳川勇人, 小林彩乃, SCHMITZ Alexander, 亀崎允啓, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   34th  2016

    J-GLOBAL

  • 人になじむ人間操作型機械~入出力ゲインの自動適応に関する基礎研究~

    亀崎允啓

    立石科学技術振興財団助成研究成果集   ( 25 )  2016

    J-GLOBAL

  • ハンドジェスチャーを用いた自動運転車両制御用インタフェースの開発

    亀崎允啓, 石川雅晃, MANAWADU Udara E., 河野陽大, 菅野重樹

    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)   17th  2016

    J-GLOBAL

  • 操作型作業機械の知能化に関する研究~第11報:操作量ヒストグラムを用いた操作者の技能分析~

    亀崎允啓, 佐藤淳平, 小坂拓未, 岩田浩康, 菅野重樹

    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)   17th  2016

    J-GLOBAL

  • 双方向インタラクションのための自動運転車両制御用力覚インタフェースの開発

    河野陽大, MANAWADU Udara E., 石川雅晃, 亀崎允啓, 菅野重樹

    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)   17th  2016

    J-GLOBAL

  • 磁場解析に基づくMRピストンヘッドの構成パラメータとパフォーマンスの関連性評価

    亀崎允啓, HE Shan, DOMINGUEZ Gonzalo Aguirre, 菅野重樹

    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)   17th  2016

    J-GLOBAL

  • 人とロボットの協調移動におけるロボットの行動と人の印象の関連性評価

    小林彩乃, 亀崎允啓, 横山悠太, 柳川勇人, 菅野重樹

    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)   17th  2016

    J-GLOBAL

  • ウォード法を用いた複数映像提供型遠隔操作における視線パターンのクラスタリング

    佐藤隆哉, 亀崎允啓, 菅野重樹, 岩田浩康

    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)   17th  2016

    J-GLOBAL

  • 4腕式極限作業ロボットOCTOPUSのための遠隔操作シミュレータの開発

    亀崎允啓, 片野貴裕, CHEN Kui, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

    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)   2016  2016

    J-GLOBAL

  • 4腕式極限作業ロボットOCTOPUSの開発

    亀崎允啓, 石井裕之, 石田健蔵, 関雅俊, 一柳健

    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)   2016  2016

    J-GLOBAL

  • 手先位置頻度マップを用いた作業傾向の分析と操作技能の推定

    亀崎允啓, 峰田健司, 橋本諭, 岩田浩康, 菅野重樹

    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)   2016  2016

    J-GLOBAL

  • 磁気粘性流体ダンパのためのトロイダル型ピストンヘッドの開発

    亀崎允啓, HE Shan, AGUIRRE DOMINGUEZ Gonzalo, FRENCH Morgan, 菅野重樹

    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)   2016  2016

    J-GLOBAL

  • 1A1-G05 Development of a Driving Simulator to Evaluate User Experience for Advanced Intelligent Vehicles

    KAMEZAKI Mitsuhiro, MANAWADU Udara, ISHIKAWA Masaaki, SUGANO Shigeki

    ロボティクス・メカトロニクス講演会講演概要集   2015   "1A1 - G05(1)"-"1A1-G05(4)"  2015.05

     View Summary

    Advanced intelligent vehicles capable of autonomous driving will be commercially available in near future. To build a beneficial relationship between driver and vehicle, it is important to analyze how the drivers would react to autonomous driving compared to conventional human-driven driving. In this study, we develop a driving simulator for analyzing individual driving experience in several road conditions for autonomous and human-driven vehicles. The driving simulator incorporates fundamental functions to connect arbitrary interfaces, create virtual environments consisting of scenarios and events that drivers encounter in real-world driving, and reproduce fully autonomous driving. The results of preliminary experiments showed that experienced drivers opt for human-driven driving mainly due to the flexibility and driving fun it offers, while novices tend to prefer autonomous driving due to its inherent easiness and safety.

    CiNii

  • 2P1-P04 Research on Advanced Unmanned Construction Systems : Development of a Selective Visual Attention and Situational Awareness Support System Using Augmented Reality

    KAMEZAKI Mitsuhiro, SATO Ryuya, YANG Junjie, IWATA Hiroyasu, SUGANO Shigeki

    ロボティクス・メカトロニクス講演会講演概要集   2015   "2P1 - P04(1)"-"2P1-P04(4)"  2015.05

     View Summary

    An autonomous environmental camera control system we previously developed can provide operators with various and variable visual information suited to the work situation for unmanned construction. However, cognitive load of operators may increase, so we propose a selective visual attention and situational awareness support system using augmented reality (AR) to enhance the ability of visual attention. The components include (i) monitor frame, (ii) obscuration, (iii) distance arrow, and (iv) end-point vertical arrow, with variable color and flashing effect to facilitate understanding the situation. Moreover, the system adaptively draws visual attention by changing types and parameters of AR components according to situations. Debris removal tasks were conducted using a VR simulator to compare without and with AR support. Results showed that the AR support reduced the frequent changes of point of gaze and provided the sense of depth and attention to potential collisions.

    CiNii

  • 2P1-P05 Feature Analysis Using Input and Output Information in a Basic I/O Gain Tuning System

    KAMEZAKI Mitsuhiro, KOZAKA Takumi, IWATA Hiroyasu, SUGANO Shigeki

    ロボティクス・メカトロニクス講演会講演概要集   2015   "2P1 - P05(1)"-"2P1-P05(4)"  2015.05

     View Summary

    A basic input/output gain (BIOG) tuning system for a human-operated machine was previously proposed. It adjusts a BIOG at long intervals to conform the histogram of control input, representing global features in operator and work content, to a normal distribution curve, meaning that all ranges of control lever are evenly used. Experimental results showed that the system improved time efficiency and the subjective usability. As the next step, we analyze features of work and operator on the basis of input-output information in the BIOG tuning system. We first analyze relationship among I/O information, workability, and operability, and then analyze time-series variation of I/O information. The results indicate that some axes largely affected both workability and operability. We also found from the results that the form of BIOG map in each axis reveals the feature of operator and work content such as the movement direction of end-point where precise operations require, and also reveals improvements on the BIOG tuning system.

    CiNii

  • JCMA報告 平成24年度 研究開発助成 成果報告(その2)無人化施工の効率・安全性を高める映像の注視・解釈支援に関する調査研究

    亀﨑 允啓, 岩田 浩康, 菅野 重樹

    建設機械施工 = Journal of JCMA : 一般社団法人日本建設機械施工協会誌   67 ( 3 ) 64 - 73  2015.03

    CiNii

  • JCMA報告 無人化施工における環境カメラのための半自動制御システムの基礎研究

    亀﨑 允啓, 岩田 浩康, 菅野 重樹

    建設機械施工 = Journal of JCMA : 一般社団法人日本建設機械施工協会誌   67 ( 2 ) 92 - 100  2015.02

    CiNii

  • 識別性能の粒度を高める操作・運動・負荷情報を用いた拡張基底作業状態の提案

    亀崎允啓, 三矢隆史, 森島洋忠, 峰田健司, 岩田浩康, 菅野重樹

    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)   16th  2015

    J-GLOBAL

  • 複数画面を使った遠隔操作における注視映像と作業パフォーマンスの関連性分析

    亀崎允啓, 佐藤隆哉, YANG Junjie, 岩田浩康, 菅野重樹

    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)   16th  2015

    J-GLOBAL

  • 拡張現実感を利用した複数の視線誘導手法による遠隔操作者の認知負荷軽減に関する研究

    佐藤隆哉, 亀崎允啓, YANG Junjie, 菅野重樹, 岩田浩康

    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)   16th  2015

    J-GLOBAL

  • 被覆率とコスト評価に基づく3次元異方性センサ群の実用的配置手法の提案

    亀崎允啓, 楊俊傑, 岩田浩康, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   33rd  2015

    J-GLOBAL

  • 1P1-K02 Research on Advanced Unmanned Construction System : Orientation and Angle of View Adjustment Based on Camera Role Assignment for Environmental Cameras(Robotics and Mechatronics in Construction and Demolition)

    KAMEZAKI Mitsuhiro, YANG Junjie, IWATA Hiroyasu, SUGANO Shigeki

    ロボティクス・メカトロニクス講演会講演概要集   2014   "1P1 - K02(1)"-"1P1-K02(4)"  2014.05

     View Summary

    A method to autonomously control multiple environmental cameras for providing more adaptive visual information suited to the work situation for advanced unmanned construction is proposed. Situations in which the yaw, pitch, and zoom of cameras should be controlled were analyzed and imaging objects and imaging modes were defined. To control each camera simply and effectively, four practical camera roles combined with the imaging objects and modes were defined. A role assignment system was then developed to assign the four camera roles to four out of six cameras suitable for the work situation, on the basis of the assignment priority rules. Debris removal tasks were performed by using a VR simulator to compare fixed, manual control, and autonomous systems. Results showed that the autonomous system was the best of the three at decreasing the number of grasping misses and increasing the subjective usability while improving the time efficiency.

    CiNii

  • 操作量ヒストグラムを用いたBIOG自動調整手法~操作頻度の平準化による操作感の統一~

    亀崎允啓, 小坂拓未, 谷川雄介, 岩田浩康, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   32nd  2014

    J-GLOBAL

  • 1A1-Q10 Research on Intelligent Operated-Work Machines : Accuracy Improvement of Grasp-Estimation Using Force and Movement Vectors(Robotics and Mechatronics in Construction and Demolition)

    KAMEZAKI Mitsuhiro, ISHII Takahiro, IWATA Hiroyasu, SUGANO Shigeki

    ロボティクス・メカトロニクス講演会講演概要集   2013   "1A1 - Q10(1)"-"1A1-Q10(4)"  2013.05

     View Summary

    In this paper, a method to accurately estimate whether a grapple grasps an object or not for construction machinery is proposed on the basis of extending the requisite condition for grasp, considering robustness and practicality. Accurate grasp estimation requires confirmation that the hand and arm loads continue to be observed during arbitrary manipulator movements. Enhancement conditions are thus defined by using force and movement at the end-point, including (i) vertical downward force, (ii) longer direction movement, and (iii) horizontal direction reciprocating movement. In transport experiments conducted by using an instrumented hydraulic arm, results indicated that the ratio of error estimation decreases as formed conditions increase, and confirmed that the proposed method estimates grasp/non-grasp accurately and robustly.

    CiNii

  • 負荷変化率を用いた操作入力の無効化による双腕引き剥がし作業の安全性向上

    亀崎允啓, 島田洋介, 岩田浩康, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st  2013

    J-GLOBAL

  • 1A2-F02 Research on Intelligent Operated-Work Machines : Improvement of Identification Performance of Primitive Static States Based on State Transition Analysis(Robotics and Mechatronics in Construction and Demolition)

    KAMEZAKI Mitsuhiro, IWATA Hiroyasu, SUGANO Shigeki

    ロボティクス・メカトロニクス講演会講演概要集   2012   "1A2 - F02(1)"-"1A2-F02(2)"  2012.05

     View Summary

    In this paper, state transitions of primitive static states (PSS), which consist of 16 symbolic work states defined by using on-off state of the lever operations and joint loads for the manipulator and end-effector, are analyzed for describing work states in more detail. From a transition-condition analysis, practical state transitions (PST), which are frequent transitions in arbitrary construction work, are defined. PST can be classified into essential (EST) or nonessential state transitions (NST). EST extracts common phases of work progress and estimates positional relations between a manipulator and an object. NST reveals wasted movements that degrade the efficiency and quality of work. Work-analysis experiments using our instrumented setup were conducted. Results indicate that all the PSS definitely changes on the basis of PST under various work conditions, and EST and NST easily reveals work characteristics and untrained tasks related to wasted movements.

    CiNii

  • 操作型作業機械の知能化に関する研究~第8報:手先位置頻度マップを用いた大局的作業傾向の可視化~

    亀崎允啓, 橋本諭, 岩田浩康, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th  2012

    J-GLOBAL

  • 1A1-C03 External Force Vector Measurement Applied to Construction Manipulator : Relative Measurement Accuracy Improvement Based on Internal Error Range Estimation(Robotics and Mechatronics in Construction and Demolition)

    KAMEZAKI Mitsuhiro, NAKAMURA Kosuke, HASHIMOTO Satoshi, IWATA Hiroyasu, SUGANO Shigeki

    ロボティクス・メカトロニクス講演会講演概要集   2011   "1A1 - C03(1)"-"1A1-C03(2)"  2011.05

     View Summary

    This paper reports a practical framework for measuring the external force vector applied to a construction manipulator using hydraulic sensors. Such a measuring system inevitably includes measuring errors owing to difficult-to-reduce modeling errors, so our framework introduces relative measuring accuracy improvement. It is organized into (i) quantifying internal error range (IER) using the summation of the maximum measuring error of static and dynamic friction forces, (ii) calculating error force vectors using IER to select cylinders with less errors, and (iii) outputting the external force vector using the selected cylinders. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our framework enables to improve the relative measuring accuracy, independently of various postural and kinematic conditions.

    CiNii

  • 1A1-A30 Detection of External Force Applied to Hydraulic Cylinder based on Error-Component Identification according to Manipulator-Kinetic State

    KAMEZAKI Mitsuhiro, HASHIMOTO Satoshi, IWATA Hiroyasu, SUGANO Shigeki

    ロボティクス・メカトロニクス講演会講演概要集   2010   "1A1 - A30(1)"-"1A1-A30(2)"  2010

     View Summary

    This paper proposes a framework to detect (identify on-off state of) external force applied to hydraulic cylinder for construction manipulator, utilizing hydraulic sensor. Hydraulic sensor inherently detects not only external force but also self-weight, driving, and inertial forces. These error components generate depending on joint-kinetic state and they differ in identification-difficulty due to hydromechanical uncertainty and nonlinearity. Theoretical model-based, experimental estimation-based, and waveform analysis-based identification methods were respectively applied in static, uniform motion, and accelerated motion states. Experiments were conducted by utilizing an instrumented hydraulic arm system. Results indicated that the proposed framework greatly lowered a threshold to detect external force, independently of various kinetic conditions.

    CiNii

  • 1A2-D04 Research on Intelligent Operated-Work Machines : Work Property and Support Flag Identification focused on Operational Support

    KAMEZAKI Mitsuhiro, SHIMADA Yosuke, NAKAJIMA Yoshinori, IWATA Hiroyasu, SUGANO Shigeki

    ロボティクス・メカトロニクス講演会講演概要集   2009   "1A2 - D04(1)"-"1A2-D04(2)"  2009.05

     View Summary

    We understand that primitive static states (PSS), which we have defined, are useful for work or skill analysis, but PSS are not useful for operational support because PSS determine with using only on-off information. In this study, we propose a work state identification for operational support, which includes an identification of the most basic construction work property by modifying PSS and an extraction of operational support providing flag by applying modified-PSS to time-series data. Experiments in transporting and removing tasks using our hydraulic dual arm system indicated that operator supports based on the proposed identification method improves work performance, including decreasing the time taken to complete a task, and the number of error operation, and reducing the moving distance of end-effector after breaking an object.

    CiNii

  • 1A2-D05 Development of Hydraulic Dual Robotic Arm System : A Platform for Research and Development on Advanced Intelligent Construction Machinery

    KAMEZAKI Mitsuhiro, HASHIMOTO Satoshi, SHIMADA Yosuke, NAKAJIMA Yoshinori, IWATA Hiroyasu, SUGANO Shigeki

    ロボティクス・メカトロニクス講演会講演概要集   2009   "1A2 - D05(1)"-"1A2-D05(2)"  2009.05

     View Summary

    This paper reports a newly developed hydraulic dual robotic arm system for research and development on advanced intelligent construction machinery that has two joysticks to control the two manipulators with twelve degrees of freedom, control valves with load-sensing system, and sensors for detecting lever operation, cylinder oil pressure, and cylinder stroke information. To clarify important points at addressing an intelligent system, we evaluated basic characteristics of hydraulic machine system. Experimental results showed that hydraulic machine system has measurable time delay from lever input to cylinder actuation, which makes a cooperative operation with two arms difficult. We also found that magnitude of cylinder load greatly changes by lever operation and joint angle, which requires a sophisticated external load detecting method.

    CiNii

  • 2P1-B20 Research on Intelligent Operated-Work Machines : Design of Primitive Static States in Total Independence of Varieties of Environmental Condition and Operator's Skill Level

    KAMEZAKI Mitsuhiro, SHIMADA Yosuke, KAWAI Yuichiro, IWATA Hiroyasu, SUGANO Shigeki

    ロボティクス・メカトロニクス講演会講演概要集   2008   "2P1 - B20(1)"-"2P1-B20(4)"  2008.06

     View Summary

    In complicated work machines represented by Double-Front Construction Machinery, an intelligent system to which can provide operational and cognitive supports for an operator is essential. In construction work, a) work objects change consistently, b) environment is complicated, and c) operation methods are different by operators. We understand that there are so many unknown parameters that state identification technique to cover all is very difficult. Therefore, we think that the state unit in total independence of varieties of environmental condition and operator's skill level condition is important. We designed the state unit - PSS (Primitive Static States) with ON / OFF information of lever input and manipulator load divided into "end-effecter" and "except end-effecter". PSS classified working states in 256 (double front) ways every sampling period. As a result of having experimented with between different operators and between different environments with PSS, we confirmed that PSS have properties "in total independence of varieties of environmental condition and operator's skill".

    CiNii

  • Research on Intelligent Operated-Work Machines-Application of Primitive Static States to Operation-Skill Analysis for Efficient Skill Training-

    亀崎允啓, 河合雄一郎, 島田陽介, 岩田浩康, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   26th  2008

    J-GLOBAL

  • 1P1-M10 Development of an Operation Skill-Training Simulator for Double-Front Construction Machinery

    KAMEZAKI Mitsuhiro, IWATA Hiroyasu, SUGANO Shigeki

    ロボティクス・メカトロニクス講演会講演概要集   2007   "1P1 - M10(1)"-"1P1-M10(3)"  2007.05

     View Summary

    We developed a new simulator of operation skill training for Double-Front construction Machinery. As for a past construction machinery simulator, the one developed for a lot of educational for dangerous acknowledgment, and to train the operation skill is few. It was simple digging work by the backhoe, and work of the crane. In this research, Double-Front construction machinery which we make a target increases the number of fronts should be manipulated and demands an advanced operation skill. Moreover, the discretion dismantlement and the disaster relief and restoration are developed as assumption work as for Double-Front construction machinery. It is understood that the meaning of the developed simulator is high from these two points. As a result of the proof experiment, we obtained data with a different in the feature transition of expert and beginner's end-effecter orbits. Because the difference was confirmed, it becomes useful as a training machine for the skill improvement by being analyze this in the future and feeding back to the operator appropriately.

    CiNii

  • 2E1-02 Hand-Guiding Movement for Decreasing Knee Joint Torques of the Elderly in Standing-up Motion Support : Towards Facilitating Self-Care Support with Mobile Manipulator

    IWATA Hiroyasu, KAMEZAKI Mitsuhiro, AIKO Fumitaka, KANEKO Makoto, SUGANO Shigeki

    The JSME Symposium on Welfare Engineering   2006   168 - 170  2006.09

     View Summary

    We propose a method for designing the hand-guiding movement that enables to lessen knee joint torques of the elderly in standing-up motion support. The movement was derived based on the geometric analysis of transitional postures during a standing-up motion for an assisted person expressed with four link models comprising of a shoulder, waist, knee and feet. The postures satisfying the derived movement in which the center of gravity goes in a place near the toe in the foot contact area allows the elderly to reduce knee joint torques during the standing-up motion even if the burden grows most. Simulations and experiments using an actual robot for evaluation indicating the derived trajectory successfully lessens knee joint torques of the elderly confirm the validity of the proposed method.

    CiNii

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Industrial Property Rights

  • 状況認識推定システム及び運転支援システム

    亀﨑 允啓, 林 弘昭, 岡 直樹, マナワドゥ ウダーラ, 菅野 重樹

    Patent

  • アクチュエータシステム

    亀﨑 允啓, 大槻 健史郎, 裴之, 菅野 重樹

    Patent

  • 方向変換装置及び動力伝達システム

    亀﨑 允啓, 何 卓?, 裴之, 菅野 重樹

    Patent

  • ロボット及びその制御装置、並びに、移動範囲推定装置及びそのプログラム

    亀﨑 允啓, 河野 遼介, 菅野 重樹

    Patent

  • 情報提示システム、情報提示処理装置及びそのプログラム

    亀﨑 允啓, 富田 智哉, 河野 陽大, マナワドゥ ウダーラ, 菅野 重樹

    Patent

  • 移動物体の速度検出システム、速度検出装置及びそのプログラム

    亀﨑 允啓, 河野 遼介, 平山 三千昭, 菅野 重樹

    Patent

  • ロボット、移動経路生成装置及びそのプログラム、並びに、移動予測装置

    亀﨑 允啓, 円谷 優佑, 金田 太智, 菅野 重樹

    Patent

  • 自律型作業支援ロボットの環境適応性強化システム、動作シミュレーション装置及びそのプログラム

    亀﨑 允啓, 片野 貴裕, 菅野 重樹

    Patent

  • ロボット、並びに、その行動計画装置及び行動計画用プログラム

    亀﨑 允啓, 大西 智也, 円谷 優佑, 菅野 重樹

    Patent

  • ロボット、並びに、その行動計画装置及び行動計画用プログラム

    亀﨑 允啓, 小林 彩乃, 平山 三千昭, 菅野 重樹

    Patent

  • ロボット、並びに、その行動計画装置及び行動計画用プログラム

    亀﨑 允啓, 小林 彩乃, 河野 遼介, 菅野 重樹

    Patent

  • 管内移動体

    亀﨑 允啓, 山口 薫, 吉田 健人, 趙 聞, 菅野 重樹

    Patent

  • 複腕移動ロボット及びロボットの協調制御システム

    亀﨑 允啓, 東 宏河, 片野 貴裕, 菅野 重樹

    Patent

  • 移動体の追従画像提示システム

    亀﨑 允啓, 宮田 雅博, 菅野 重樹

    Patent

  • 自律移動ロボット、並びに、その制御装置及び動作制御プログラム

    小林 彩乃, 菅野 重樹, 亀﨑 允啓, 河野 遼介

    Patent

  • 移動体、並びに、これを用いた遠隔検査システム及び配管内の遠隔検査方法

    6779499

    亀﨑 允啓, 趙 聞, 吉田 健人, 菅野 重樹

    Patent

  • 回転型コンプライアント駆動装置

    亀﨑 允啓, アギーレ ドミンゲス ゴンザロ, 大槻 健史郎, 張 裴之, 菅野 重樹

    Patent

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Other

  • ティーチング・フェロ...

    2015.04
     
     

     View Summary

    ティーチング・フェロー(TF),リーディング大学院「実体情報学」,早稲田大学.

Awards

  • Educational Video Competition

    2021.08   TMI (Transdisciplinary Mobility Innovation)   Watch Out! Your Car is Watching – Part 1: Classifiers for Driver Monitoring Systems

  • 第9回e-Teching Award

    2021.03   早稲田大学 大学総合研究センター   Good Practice賞

  • 優秀講演奨励賞

    2021.03   日本機械学会 情報・知能・精密機器部門賞   Iterative Dynamic Waypoint Navigationによる複数移動障害物の回避軌道計画とその計算効率化

  • 優秀講演賞

    2020.12   計測自動制御学会 システムインテグレーション部門   異なるコンテキスト下での自律移動ロボットの行動に対する人の行動・心象分析

  • 優秀講演賞

    2020.12   計測自動制御学会 システムインテグレーション部門   深層強化学習シミュレータを用いた人混み環境における移動ロボットの能動的働きかけ効果の検証

  • Certificate of Merit for ROBOMECH Outstanding Research Activity

    2020.05   Robotics and Mechatronics Division, The Japan Society of Mechanical Engineers  

  • 優秀講演賞

    2019.12   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   操作型作業機械の知能化に関する研究~第13報:重回帰分析を用いた操作支援~

  • バリアフリーシステム開発財団奨励賞

    2019.09   2019年度ライフサポート学会大会   操作特徴量のみを用いた機械学習に基づく電動車いす操作者の基本操作技能レベル判定手法の提案

  • 優秀講演賞

    2018.12   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   パーソナルモビリティの運転評価手法に関する研究~操作入力と動作出力に係る調和性指標の提案~

  • 論文賞

    2018.09   日本ロボット学会   操作入力量ヒストグラムの波形整形に基づく基本入出力ゲインの自動調整システム

  • 9 Finalist Teams (Autonomous Vehicle)

    2018.06   VALEO Innovation Challenge 2018   A project for a system that can detect the need to switch from automatic to manual driving mode and facilitate this shift for the driver

  • 優秀講演賞

    2017.12   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   小径ガス管内検査ロボットのための管内無線通信減衰の計測と分析

  • 優秀講演賞

    2017.12   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   タスク入力の即時性に着目した車両制御用エンボディドインタフェースの開発

  • 優秀講演賞

    2016.12   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   人とロボットの協調移動におけるロボットの行動と人の印象の関連性評価

  • Best Paper Award

    2016.09   The Society of Instrument and Control Engineers   A Pragmatic Approach to Modeling Object Grasp Motion Using Operation and Pressure Signals for Demolition Machines

  • Best Paper Award

    2016.07   IEEE/ASME International Conference on Advanced Mechatronics   A Haptic Feedback Driver-Vehicle Interface for Controlling Lateral and Longitudinal Motion of Autonomous Vehicles

  • Honorable Mention

    2015.12   The 6th International Conference on Advanced Mechatronics (ICAM2015)   A Novel Toroidal Design for Magnetorheological Dampers

  • Young Investigator Excellence Award

    2015.09   The Robotics Society of Japan  

  • Finalists of Best Paper Awards

    2015.06   IEEE-CYBER 2015   A 3D Sensing Model and Practical Sensor Placement Based on Coverage and Cost Evaluation

  • Finalists of the SICE Annual Conference Young Author's Award

    2013.09   SICE Annual Conference 2013   An Object Grasp Motion Model using Control Signal and Cylinder Pressure in Demolition Machines for Disaster Response Work

  • Best Application Paper Award Finalist

    2011.09   2011 IEEE/RSJ International Conference on Intelligent Robots and Systems   Relative Accuracy Enhancement System Based on Internal Error Range Estimation for External Force Measurement in Construction Manipulator

  • Best Paper Award

    2008.09   11st Symposium on Construction Robotics in Japan   Research on Intelligent Double-Front Construction Machinery-Development of an Operator Support System by Primitive Static States-

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Research Projects

  • Creation of Human-Robot Coordination Control based on Observation and Insight

    Project Year :

    2019.04
    -
    2024.03
     

  • Adaptability-Enhancement Scheme Based on Active Information-Exploration in Real Space and Efficient Motion-Exploration in Virtual Space

    Project Year :

    2018.07
    -
    2021.03
     

  • An Auto-Tuning System of Basic Input-Output Gain for Human-Operated Machines

    Project Year :

    2016.04
    -
    2019.03
     

     View Summary

    Operational gain to define the actuation output of a machine to the operation input of a human will be important factors to largely affect the performance of human-machine systems. The operational gain should be adapted by operators and work contents where the suitable operational gains might be different among them, but it is essentially difficult for human-machine systems to be optimized the operational gain beforehand and change it frequently. In this study, an automatic tuning system of basic input-output gain (BIOG), which is gradually tuned based on characteristics extracted from long-term work data, was therefore developed. The experimental results using human-operated manipulators indicated that the proposed tuning system could improve work performance and usability, and this study can be regarded as a big step to contribute to construct a fundamental design of fitting technology for human-machine systems

  • Research on Vision Systems to Enhance Teleoperator's Visibility

    Project Year :

    2014.04
    -
    2016.03
     

     View Summary

    In this study, a vision system to enhance operator's visibility for teleoperetad work machines, called a visibility enhancement system, was developed. First, images which should be provided to operators were modeled with relation to work situatins, and a method of setting of environmental cameras and monitors that can provide defined images was developed. Second, camera roles which are assigned to cameras were defined, and a role assignment system that assigns camera roles to cameras depeding on work situations was developed in order to provide adaptive images suitble for situations considering constraints in actual environments. Experiments using a virtual reality simulator were conducted. The results indicates that the proposed visibility enhancement system could improve visibiliy and lead to improving work performance. A fundamental design method of vision system for teleoeration was derived by developing practical management method based on theoretical consideration

  • Efficiency and Safety Improvement Based on Semi-Autonomous Operation Support for Dual-Arm Construction Work

    Project Year :

    2012.04
    -
    2014.03
     

     View Summary

    In this study, an operator support system, which provides an operator with cognitive and operational support for achieving more complex tasks such as disaster rescue and recovery work using construction machinery, was developed. In particular, this study focuses on cooperative transport and object removal task using two manipulators with a grapple. This study aims at enabling any operators to work more safely and efficiently. The propose operator support system provides suitable support (gain switching, in this study) to an operator, according to the needs of support, which are determined by using the task phase and specific condition identification methods. The results of experiments conducted using a instrumented actual machine system indicate that the number of error contacts, internal force applied, and mental workload decreased without increasing time consumption. This result confirmed that the proposed framework greatly improves the work performance of individual operators

  • 操作型双腕建機の知能化に関する基礎的研究―操作者支援システム設計手法の構築―

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Presentations

  • 操作入力と動作出力の差分に着目したパーソナルモビリティの不整地運転支援システムの開発と評価

    松繁怜, 亀﨑允啓, 葛西優介, 菅野重樹

    第21回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論文集(SI2020) 

    Presentation date: 2020.12

  • 異なるコンテキスト下での自律移動ロボットの行動に対する人の行動・心象分析

    亀﨑允啓, 斎藤喬介, 柳川勇人, 大西智也, 小林彩乃, シュレスタ ムーンディプ, 菅野重樹

    第21回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論文集(SI2020) 

    Presentation date: 2020.12

  • 深層強化学習シミュレータを用いた人混み環境における移動ロボットの能動的働きかけ効果の検証

    亀﨑允啓, 濱田太郎, 李羽晗, 菅野重樹

    第21回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論文集(SI2020) 

    Presentation date: 2020.12

  • タクティカルレベル入力を用いた自動運転時の予定外権限移譲における制御介入手法の提案

    林弘昭, 亀﨑允啓, 岡直樹, ウダーラ マナワドゥ, 菅野重樹

    第18回ITSシンポジウム2020 

    Presentation date: 2020.12

  • Human Sensing and Interaction in Automated Vehicles

    Mitsuhiro Kamezaki  [Invited]

    The Future of In-Cabin Human-Sensing in Intelligent Mobility: Challenges and Opportunities (HSIM), 2020 IEEE Intelligent Vehicle Symposium (IV 2020) 

    Presentation date: 2020.11

  • 安全性と生産性の両立を目的とした人移動予測に基づくロボットアームの軌道調整手法

    和田智博, 亀﨑允啓, 坂本義弘, 菅野重樹, 佐藤葉介, 金天海, 寧霄光, 赤木哲也, 出澤純一, 菅原志門

    第38回日本ロボット学会学術講演会論文集(RSJ2020) 

    Presentation date: 2020.10

  • 自律移動ロボットのサービスタスク運用のための先導・追従行動計画フレームワークの提案

    濱田太郎, 斎藤喬介, 金田太智, 平山三千昭, 亀﨑允啓, 菅野重樹

    第38回日本ロボット学会学術講演会論文集(RSJ2020) 

    Presentation date: 2020.10

  • 移動ロボット軌道計画のロバスト化に関する研究~人の速度ベクトルの保持可能性および測定誤差の推定~

    斎藤喬介, 河野遼介, 平山三千昭, 亀﨑允啓, 菅野重樹

    第38回日本ロボット学会学術講演会論文集(RSJ2020) 

    Presentation date: 2020.10

  • Inducible Social Force Modelに基づく混雑環境下での自律移動ロボットの被接近時回避手法の開発

    金田太智, 亀﨑允啓, 円谷優佑, 平山三千昭, 菅野重樹

    第38回日本ロボット学会学術講演会論文集(RSJ2020) 

    Presentation date: 2020.10

  • 螺旋型脚車輪機構と単屈曲関節を有する小径ガス管路網移動ロボットの試作

    山口薫, 亀﨑允啓, 趙聞, 吉田健人, 今野実, 大貫彰彦, 菅野重樹

    第38回日本ロボット学会学術講演会論文集(RSJ2020) 

    Presentation date: 2020.10

  • 次世代産業用ソフトロボットの実現に向けた革新的MR材料×駆動機構の融合研究開発

    亀﨑允啓, 坂本裕之

    第38回日本ロボット学会学術講演会論文集(RSJ2020) 

    Presentation date: 2020.10

  • ギア・クラッチ・ブレーキを組み合わせた逆可動性と高応答性を有する動力伝達機構の試作

    何卓頤, 亀﨑允啓, 張裴之, シェンベカル サヒル, 角田龍一朗, 菅野重樹

    第38回日本ロボット学会学術講演会論文集(RSJ2020) 

    Presentation date: 2020.10

  • 磁気粘性流体を作動流体とした逆可動性と高出力性を有するロボットアームの開発

    角田龍一朗, 亀﨑允啓, 張裴之, シェンベカル サヒル, 何卓頤, 菅野重樹

    第38回日本ロボット学会学術講演会論文集(RSJ2020) 

    Presentation date: 2020.10

  • 鉱山ショベルの掘削効率化に関する研究(第一報)-掘削抵抗解析に基づく個別要素法パラメータ同定システムの設計-

    水嶋済也, 山村真司, 佐藤隆哉, 水越勇一, 加藤史洋, 亀﨑允啓, 岩田浩康

    第38回日本ロボット学会学術講演会論文集(RSJ2020) 

    Presentation date: 2020.10

  • Iterative Dynamic Waypoint Navigationによる複数移動障害物の回避軌道計画とその計算効率化

    平山三千昭, 亀﨑允啓, 河野遼介, 菅野重樹

    日本機械学会 2020年度年次大会 

    Presentation date: 2020.09

  • Inducible Social Force Modelを用いた複数人移動予測に基づく混雑環境下でのロボットの接近・接触移動

    金田太智, 亀﨑允啓, 円谷優佑, 平山三千昭, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2020論文集(Robomech’20) 

    Presentation date: 2020.05

  • パーソナルモビリティのためのPassability Indexに基づくプロアクティブ操作支援の提案

    松繁怜, 亀﨑允啓, ラン ドンウォン, 森大河, 中野将尚, 矢野裕季, 瀬古俊一, 倉橋孝雄, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2020論文集(Robomech’20) 

    Presentation date: 2020.05

  • 遠隔ロボット操作者個人に適した映像タイプを診断する基本フレームワークの開発

    板野峻也, 亀﨑允啓, 宮田雅博, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2020論文集(Robomech’20) 

    Presentation date: 2020.05

  • 人との協調を考慮した自律移動ロボットの制御および時系列データ分析

    亀﨑允啓  [Invited]

    日本機械学会ロボティクス・メカトロニクス講演会2020論文集(Robomech’20),ワークショップ「自律ロボットシステム開発に向けた MATLAB,Simulink 活用」 

    Presentation date: 2020.05

  • タクティカルレベル入力を用いた自動運転時の予定外権限移譲における制御介入手法の提案

    亀﨑允啓, 林弘昭, ウダーラ マナワドゥ, 菅野重樹

    第17回ITSシンポジウム2019 

    Presentation date: 2019.12

  • 2重課題を用いた無人化施工におけるCognitive Tunnelingを低減可能な視覚提示手法における認知負荷改善検証~

    佐藤隆哉, 亀﨑允啓, 仁内智志, 菅野重樹, 岩田浩康

    第20回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論文集(SI2019) 

    Presentation date: 2019.12

  • 多自由度災害対応ロボットにおける人と自動化機能との協調に関する研究~人の動作目的入力に着目した操作権限の動的配分手法~

    上原悠嗣, 亀﨑允啓, 東宏河, 片野貴裕, 金子大靖, 石田健蔵, 菅野重樹

    第20回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論文集(SI2019) 

    Presentation date: 2019.12

  • 交通負荷情報と運転者の生体・行動・主観指標を用いた再帰型深層学習による運転負担推定に関する研究

    岡直樹, 亀﨑允啓, 河野陽大, 江馬敬明, マナワドゥ ウダーラ, 菅野重樹

    第20回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論文集(SI2019) 

    Presentation date: 2019.12

  • リチウムイオン電池の等価回路モデル解析による劣化箇所推定に関する研究

    三宅太文, 鈴木智幸, 船橋賢, 亀﨑允啓, 荘田隆博, 石居真, 菅野重樹

    第20回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論文集(SI2019) 

    Presentation date: 2019.12

  • 操作型作業機械の知能化に関する研究~第13報:重回帰分析を用いた操作支援~

    板野峻也, 亀﨑允啓, 森島洋忠, 岩田浩康, 菅野重樹

    第20回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論文集(SI2019) 

    Presentation date: 2019.12

  • 主観評価を取り入れた基本入出力ゲイン調整に関する研究~使いやすさと作業効率性の関連性分析~

    松繁怜, 亀﨑允啓, 小坂拓未, 岩田浩康, 菅野重樹

    第20回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論文集(SI2019) 

    Presentation date: 2019.12

  • 材料と機構の融合デザイン~磁気機能材を応用したロボットデバイス~

    亀﨑允啓  [Invited]

    2019年度 磁性流体連合講演会 

    Presentation date: 2019.12

  • 新産業創出に向けた機能性材料とメカトロニクスの融合デザイン

    亀﨑允啓  [Invited]

    ナノ・マイクロ技術支援講座・ナノ茶論第7回セミナー 

    Presentation date: 2019.11

  • インボリュート形状を有する1自由度アームによる接触働きかけを行う人ごみ内自律移動ロボットの開発

    今岡紀章, 北澤一磨, 亀﨑允啓, 菅野重樹, 安藤健

    第37回日本ロボット学会学術講演会論文集(RSJ2019) 

    Presentation date: 2019.09

  • 重機の遠隔操作性向上のための マルチカメラ最適配置に関する研究-第三報 搭乗操作熟練者における掘削・配置作業でのパン・チルト角が及ぼす作業効率への影響の実験的検証ー

    佐藤隆哉, 亀﨑允啓, 山下雄輝, 菅野重樹, 岩田浩康

    第37回日本ロボット学会学術講演会論文集(RSJ2019) 

    Presentation date: 2019.09

  • 災害対応人型ロボット遠隔マニピュレーション作業 における操作者の疲労軽減および精度向上可能な スケール・ゲイン調整手法の実機適応性検証

    佐藤隆哉, 亀﨑允啓, 江藤孝紘, 水越勇一, 劉楊, 並木明夫, 今井朝輝, 松澤貴司, 橋本健二, 高西淳夫, 岩田浩康

    第37回日本ロボット学会学術講演会論文集(RSJ2019) 

    Presentation date: 2019.09

  • 磁気粘性流体を用いた低摺動ベーン形ロータリアクチュエータの開発

    大槻健史朗, 亀﨑允啓, 張裴之, 何卓頤, 菅野重樹

    第37回日本ロボット学会学術講演会論文集(RSJ2019) 

    Presentation date: 2019.09

  • MRエラストマーを利用したサクションカップユニットの開発

    張裴之, 亀﨑允啓, 大槻健史郎, 何卓頤, 菅野重樹

    第37回日本ロボット学会学術講演会論文集(RSJ2019) 

    Presentation date: 2019.09

  • 2D CNN Driver’s Gaze Direction Classification in Non-Aligned Head and Eyes Direction Situations

    Catherine Lollet, Hiroaki Hayashi, Mitsuhiro Kamezaki, Shigeki Sugano

    第37回日本ロボット学会学術講演会論文集(RSJ2019) 

    Presentation date: 2019.09

  • 作業傾向に基づく支援提供のための適応的作業状態分類~目的特徴量の変動幅を最大化する特徴量空間の抽出~

    亀﨑允啓, 板野峻也, 峰田健司, 森島洋忠, 岩田浩康, 菅野重樹

    第37回日本ロボット学会学術講演会論文集(RSJ2019) 

    Presentation date: 2019.09

  • 反復的行動探索の効率化による複数移動障害物の回避軌道計画

    亀﨑允啓, 金田太智, 平山三千昭, 小林彩乃, 河野遼介, 菅野重樹

    第37回日本ロボット学会学術講演会論文集(RSJ2019) 

    Presentation date: 2019.09

  • パーソナルモビリティの不整地移動に関する研究~操作主体感を考慮した半自律制御システムの提案~

    松繁怜, 亀﨑允啓, 森大河, ラン ドンウォン, 石原達也, 倉橋孝雄, 中野将尚, 矢野裕貴, 椿俊光, 越地弘順, 肥後直樹, 菅野重樹

    第37回日本ロボット学会学術講演会論文集(RSJ2019) 

    Presentation date: 2019.09

  • 人・ロボット系における相互の譲り合いを考慮した主張・同調的軌道計画手法

    亀﨑允啓, 小林彩乃, 河野遼介, 菅野重樹

    第37回日本ロボット学会学術講演会論文集(RSJ2019) 

    Presentation date: 2019.09

  • 操作特徴量のみを用いた機械学習に基づく電動車いす操作者の基本操作技能レベル判定手法の提案

    森大河, 亀﨑允啓, 黄逸凡, ナワドゥウダーラ, 石原達也, 中野将尚, 越地弘順, 肥後直樹, 椿俊光, 菅野重樹

    日本機械学会福祉工学シンポジウム2019 (LIFE2019) 

    Presentation date: 2019.09

  • いろいろなロボットアプリケーションにおけるマニピュレーション

    亀﨑允啓  [Invited]

    ロボティクス・メカトロニクス部門第1地区技術委員会・特別講演会 

    Presentation date: 2019.09

  • 重機の遠隔操作における作業状態の変化に適応可能な拡張現実技術を用いた低認知負荷リマインド手法の構築

    佐藤隆哉, 亀﨑允啓, 山下雄輝, 菅野重樹, 岩田浩康

    日本機械学会ロボティクス・メカトロニクス講演会2019論文集(Robomech’19) 

    Presentation date: 2019.06

  • 巧緻作業を伴う遠隔作業における低認知負荷Zooming手法の提案

    水越勇一, 亀﨑允啓, 佐藤隆哉, 江藤孝紘, 岩田浩康

    日本機械学会ロボティクス・メカトロニクス講演会2019論文集(Robomech’19) 

    Presentation date: 2019.06

  • テイクオーバー時の認知的関与度の推定に関する研究~基準視線パターンの導出と視線誘導支援システムの評価~

    林弘昭, マナワドゥ ウダーラ, 河野陽大, 江馬敬明, 富田智哉, 亀﨑允啓, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2019論文集(Robomech’19) 

    Presentation date: 2019.06

  • リスク・ベネフィットの推定と調整に基づく接近・接触移動フレームワークに関する研究

    亀﨑允啓, 金田太智, 大西智也, 円谷優佑, 小林彩乃, 河野遼介, シュレスタ ムーンディプ, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2019論文集(Robomech’19) 

    Presentation date: 2019.06

  • 多自由度災害対応ロボットの環境適応性に関する研究~実空間での能動的情報探索と仮想空間での高効率動作探索~

    亀﨑允啓, 上原悠嗣, 片野貴裕, 大久保覚子, 東宏河, 石田健蔵, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2019論文集(Robomech’19) 

    Presentation date: 2019.06

  • 平面可動型力覚グリップと入出力状態提示モニタを用いた車両制御インタフェース

    亀﨑允啓, 岡直樹, 石川雅晃, マナワドゥ ウダーラ, 河野陽大, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2019論文集(Robomech’19) 

    Presentation date: 2019.06

  • 運動エネルギーの双方向充放機構による擬似慣性可変システムの提案

    張裴之, 亀﨑允啓, 大槻健史郎, 何卓頤, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2019論文集(Robomech’19) 

    Presentation date: 2019.06

  • ファジィ論理を用いた小径管内移動ロボットの経路計画モデリングとシミュレーション

    亀﨑允啓, 山口薫, 趙聞, 吉田健人, 今野実, 大貫彰彦, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2019論文集(Robomech’19) 

    Presentation date: 2019.06

  • 操作型作業機械の知能化に関する研究~重回帰分析を用いた作業効率に係る要因解析~”

    亀﨑允啓, 板野峻也, 森島洋忠, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2019論文集(Robomech’19) 

    Presentation date: 2019.06

  • 材料×機構の融合デザイン:逆可動性を有する磁気粘性流体アクチュエータユニット

    亀﨑允啓

    JST新技術説明会 

    Presentation date: 2019.06

  • 災害対応ロボットの能動的環境接触による相互作用パラメータの推定

    上原悠嗣, 亀﨑允啓, 東宏河, 石田健蔵, 菅野重樹

    第19回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論文集(SI2018) 

    Presentation date: 2018.12

  • 無人化施工における認知的視野狭窄を低減する映像提示手法の構築

    佐藤隆哉, 亀﨑允啓, 仁内智志, 菅野重樹, 岩田浩康

    第19回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論文集(SI2018) 

    Presentation date: 2018.12

  • 運転者の負荷に応じて伝達モダリティを調整する注意喚起システムの開発

    富田智哉, 亀﨑允啓, マナワドゥ ウダーラ, 河野陽大, 江馬敬明, 林弘昭, 菅野重樹

    第19回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論文集(SI2018) 

    Presentation date: 2018.12

  • パーソナルモビリティの運転評価手法に関する研究~操作入力と動作出力に係る調和性指標の提案~

    森大河, 亀﨑允啓, 佐藤淳平, 河野陽大, 菅野重樹, 石原達也, 中野将尚, 矢野祐季, 越地弘順, 肥後直樹, 椿俊光

    第19回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論文集(SI2018) 

    Presentation date: 2018.12

  • カルマンフィルタの誤差分散および近似式窓長の調整に基づく推定精度と実時間性を両立する歩行者の速度ベクトル推定

    平山三千昭, 河野遼介, 円谷優佑, 亀﨑允啓, 菅野重樹

    第19回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論文集(SI2018) 

    Presentation date: 2018.12

  • Dynamic Waypoint Navigation による移動障害物の実時間回避軌道探索手法の提案

    小林彩乃, 河野遼介, 平山三千昭, 亀﨑允啓, 菅野重樹

    第19回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論文集(SI2018) 

    Presentation date: 2018.12

  • 機械学習を用いたパーソナルモビリティの運転技能判別~操作量のみに基づく運転技能分類モデルの構築と評価~

    森大河, 亀﨑允啓, 黄逸凡, マナワドゥ ウダーラ, 菅野重樹, 石原達也, 中野将尚, 越地弘順, 肥後直樹, 椿俊光

    第36回日本ロボット学会学術講演会論文集(RSJ2018) 

    Presentation date: 2018.09

  • 分離沈降抑制型磁気粘弾性流体の試製とMRダンパー機構への実装および評価

    大槻健史郎, 亀﨑允啓, 張裴之, 何卓頤, 菅野重樹, 坂本裕之

    第36回日本ロボット学会学術講演会論文集(RSJ2018) 

    Presentation date: 2018.09

  • 多自由度災害対応ロボットのための移動機構を利用した複合マニピュレーション手法の提案

    上原悠嗣, 亀﨑允啓, 陳奎, 東宏河, 石田健蔵, 菅野重樹

    第36回日本ロボット学会学術講演会論文集(RSJ2018) 

    Presentation date: 2018.09

  • 小径ガス管検査のためのRSSIを用いたロボットチェインシステムの提案

    吉田健人, 亀﨑允啓, 趙聞, 今野実, 大貫彰彦, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2018論文集(Robomech’18) 

    Presentation date: 2018.06

  • 自動運転システムとの多感覚相互作用を提供する円環型インタフェースの開発

    江馬敬明, 亀﨑允啓, 河野陽大, 石川雅晃, マナワドゥ ウダーラ, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2018論文集(Robomech’18) 

    Presentation date: 2018.06

  • グローピング動作に基づく災害対応ロボットの近接環境理解に関する基礎検討

    上原悠嗣, 亀﨑允啓, 陳奎, 片野貴裕, 金子大靖, 東宏河, 石田健蔵, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2018論文集(Robomech’18) 

    Presentation date: 2018.06

  • アームとフリッパの協調制御に基づく多自由度災害対応ロボットの半自律不整地移動手法の提案

    東宏河, 亀﨑允啓, 陳奎, 片野貴裕, 金子大靖, 上原悠嗣, 石田健蔵, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2018論文集(Robomech’18) 

    Presentation date: 2018.06

  • 人の移動性指標に基づく自律移動ロボットの軽接触移動制御手法の提案

    円谷優佑, 亀﨑允啓, 大西智也, 柳川勇人, 小林彩乃, 河野遼介, シュレスタ ムーンディプ, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2018論文集(Robomech’18) 

    Presentation date: 2018.06

  • 災害対応作業の複雑・連続・時限性を考慮したマスタ・スレーブシステムのスケール・ゲイン調整手法の開発

    亀﨑允啓, 江藤孝紘, 佐藤隆哉, 岩田浩康

    日本機械学会ロボティクス・メカトロニクス講演会2018論文集(Robomech’18) 

    Presentation date: 2018.06

  • マスタ・スレーブシステムにおける提示映像スケーリングの有効性検証

    江藤孝紘, 亀﨑允啓, 佐藤隆哉, 岩田浩康

    日本機械学会ロボティクス・メカトロニクス講演会2018論文集(Robomech’18) 

    Presentation date: 2018.06

  • さきがけ研究者からのアドバイス

    亀﨑允啓  [Invited]

    アーリーバード・さきがけ研究者(先輩研究者)講演・交流会 

    Presentation date: 2018.01

  • 多自由度災害対応ロボットにおける操作権限分配とユーザビリティの関連性評価

    金子大靖, 亀﨑允啓, 片野貴裕, 東宏河, 上原悠嗣, 陳奎, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

    第18回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論文集(SI2017) 

    Presentation date: 2017.12

  • タスク入力の即時性に着目した車両制御用エンボディドインタフェースの開発

    河野陽大, 亀﨑允啓, 江馬敬明, 石川雅晃, マナワドゥ ウダーラ, 菅野重樹

    第18回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論文集(SI2017) 

    Presentation date: 2017.12

  • マルチ飛行カメラを用いた遠隔操作用映像提示システム~映像の連続性と映像間の相補性を考慮したカメラの動的配置~

    宮田雅博, 亀﨑允啓, 菅野重樹

    第18回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論文集(SI2017) 

    Presentation date: 2017.12

  • 遠隔操作導入前の映像提示システムによる直接描画法を用いた操作者の認知地図への影響分析

    佐藤隆哉, 亀﨑允啓, 仁内智志, 菅野重樹, 岩田浩康

    第18回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論文集(SI2017) 

    Presentation date: 2017.12

  • 小径ガス管内検査ロボットのための管内無線通信減衰の計測と分析

    亀﨑允啓, 吉田健人, 趙聞, 今野実, 鳥海良一, 菅野重樹

    第18回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論文集(SI2017) 

    Presentation date: 2017.12

  • 連続的な働きかけによる協調移動手法の提案~ロボットから人への意図伝達度に着目した人状態推定技術~

    河野遼介, 亀﨑允啓, 小林彩乃, 柳川勇人, 大西智也, 円谷優佑, シュレスタ ムーンディプ, 菅野重樹

    第18回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論文集(SI2017) 

    Presentation date: 2017.12

  • 深層強化学習を用いた自律移動ロボットの人ごみ対応行動シミュレータ(第一報:シミュレータの基本設計と動作検証)

    難波孝彰, 安藤健, 今岡紀章, 北澤一磨, 亀﨑允啓, 菅野重樹

    第18回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論文集(SI2017) 

    Presentation date: 2017.12

  • 電動型4腕式極限作業ロボットE-OCTOPUSの開発

    亀﨑允啓, 東宏河, 陳奎, 片野貴裕, 金子大靖, 石田健蔵, 中山正之, 関雅俊, 一柳健, 菅野重樹

    第35回日本ロボット学会学術講演会論文集(RSJ2017) 

    Presentation date: 2017.09

  • 多自由度災害対応ロボットにおける人と自動化機能との分散型共有操作システムの提案

    片野貴裕, 亀﨑允啓, 金子大靖, 東宏河, 陳奎, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

    第35回日本ロボット学会学術講演会論文集(RSJ2017) 

    Presentation date: 2017.09

  • 高度自動運転システムとの協調運転のためのタクティカルレベル入力型マルチモーダルインタフェース

    江馬敬明, 亀﨑允啓, マナワドゥ ウダラ, 河野陽大, 石川雅晃, 菅野重樹

    第35回日本ロボット学会学術講演会論文集(RSJ2017) 

    Presentation date: 2017.09

  • 自律移動ロボットにおける軽接触を用いた人の移動誘導~人の向き・接触部位・方向に応じた人の移動性評価~

    円谷優佑, 亀﨑允啓, 大西智也, 柳川勇人, 小林彩乃, 河野遼介, シュレスタ ムーンディプ, 菅野重樹

    第35回日本ロボット学会学術講演会論文集(RSJ2017) 

    Presentation date: 2017.09

  • ハンドリング重機の遠隔操作における奥行き感把握のための側面映像の臨界角調査

    仁内智志, 亀﨑允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

    第17回建設ロボットシンポジウム論文集(SCR2017) 

    Presentation date: 2017.08

  • 重機ロボットのための操作インタフェース

    亀﨑允啓  [Invited]

    ROBOMECH2017 ImPACTプログラム合同ワークショップ「ロボットイノベーションのためのヒューマン・インタフェース」 

    Presentation date: 2017.05

  • 磁性流体を利用した能受動型直動デバイスの開発と基本コントローラの設計

    何山, 亀﨑允啓, 大槻健史郎, 張裴之, アギーレ・ドミンゲス・ゴンサロ, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2017論文集(Robomec’17) 

    Presentation date: 2017.05

  • 磁性流体を用いた逆可動性を有するベーン形ロータリアクチュエータの開発

    亀﨑允啓, 大槻健史郎, 張裴之, 何山, アギーレ・ドミンゲス・ゴンサロ, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2017論文集(Robomec’17) 

    Presentation date: 2017.05

  • 脚ロボットにおける連続的な移動・手先動作遷移に対応可能な遠隔操作インタフェースの開発

    江藤孝紘, 佐藤隆哉, 仁内智志, 中村早紀, 亀﨑允啓, 岩田浩康

    日本機械学会ロボティクス・メカトロニクス講演会2017論文集(Robomec’17) 

    Presentation date: 2017.05

  • 災害対応重機の遠隔操作における操作者視点映像の事前提供による環境把握性効果の検証

    佐藤隆哉, 亀﨑允啓, 仁内智史, 菅野重樹, 岩田浩康

    日本機械学会ロボティクス・メカトロニクス講演会2017論文集(Robomec’17) 

    Presentation date: 2017.05

  • 機械操作者のプランニング技能の定量化に関する研究~操作手順と操作意識に着目した特徴量の抽出~

    亀﨑允啓, 佐藤淳平, 三矢隆史, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2017論文集(Robomec’17) 

    Presentation date: 2017.05

  • 監視対象からの信号および現象の検知により自己発電するIoTセンサデバイスの試作

    長濱峻介, 亀﨑允啓, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2017論文集(Robomech’17) 

    Presentation date: 2017.05

  • 多自由度災害対応ロボットにおける人と自動化システムの協調制御のための操作権限分配の調査

    片野貴裕, 亀﨑允啓, 金子大靖, 東宏河, 陳奎, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2017論文集(Robomec’17) 

    Presentation date: 2017.05

  • 人の感情と印象に基づく協調移動時のロボットの行動評価と関連性分析

    亀﨑允啓, 小林彩乃, 横山悠太, 柳川勇人, シュレスタ・ムンディプ, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2017論文集(Robomech’17) 

    Presentation date: 2017.05

  • タクティカルレベル入力に基づく自動運転システムとの協調運転~タッチパネルインタフェースを用いた位置変化入力~

    亀﨑允啓, 江馬敬明, 石川雅晃, 河野陽大, マナワドゥ・ウダーラ, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2017論文集(Robomec’17) 

    Presentation date: 2017.05

  • Analysis of Driver Preference for Different Levels of Automation in Heterogeneous Traffic Scenarios

    Udara Manawadu, Mitsuhiro Kamezaki, Masaaki, Ishikawa, Shigeki Sugano

    Proceedings of 2017 JSAE Annual Congress (Spring) (JSAE2017S) 

    Presentation date: 2017.05

  • 自動運転車両のためのハンドジェスチャーを用いた車両制御用HMIの開発

    亀﨑允啓, 石川雅晃, マナワドゥ ウダーラ, 河野陽大, 菅野重樹

    第17回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論文集 

    Presentation date: 2016.12

  • 双方向力覚インタラクションのための力覚フィードバック型自動運転車両用HMIの開発

    河野陽大, 石川雅晃, マナワドゥ ウダーラ, 亀﨑允啓, 菅野重樹

    第17回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論文集(SI2016) 

    Presentation date: 2016.12

  • 操作型作業機械の知能化に関する研究~第11報:操作量ヒストグラムを用いた操作者の技能分析~

    亀﨑允啓, 佐藤 淳平, 小坂 拓未, 岩田浩康, 菅野重樹

    第17回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論文集(SI2016) 

    Presentation date: 2016.12

  • ウォード法を用いた複数映像提供型遠隔操作における視線パターンのクラスタリング

    佐藤隆哉, 亀﨑允啓, 菅野重樹, 岩田浩康

    第17回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論文集(SI2016) 

    Presentation date: 2016.12

  • 電磁流体力学解析に基づくMRピストンヘッドの構成パラメータとパフォーマンスの関連性評価

    亀﨑允啓, 何山, アギーレドミンゲス ゴンサロ, 菅野重樹

    第17回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論文集(SI2016) 

    Presentation date: 2016.12

  • 人とロボットの協調移動におけるロボットの行動と人の印象の関連性評価

    小林彩乃, 横山悠太, 柳川勇人, 亀﨑允啓, 菅野重樹

    第17回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論文集(SI2016) 

    Presentation date: 2016.12

  • ロボットの移動方向表出システムが人間の移動に及ぼす影響に関する調査

    大西智也, Moondeep Chandra Shrestha, 宇野絵莉香, 柳川勇人, Alexander Schmitz, 亀﨑允啓, 菅野重樹

    第34回日本ロボット学会学術講演会  日本ロボット学会

    Presentation date: 2016.09

  • 人とロボットの協調移動におけるロボットの行動と人の感情の関連性評価

    小林彩乃, 横山悠太, 柳川勇人, 亀﨑允啓, 菅野重樹

    第34回日本ロボット学会学術講演会  日本ロボット学会

    Presentation date: 2016.09

  • ロボットの移動効率と人の心理面に配慮した人-ロボット協調移動フレームワークの提案

    横山悠太, 柳川勇人, 小林彩乃, Alexander Schmitz, 亀﨑允啓, 菅野重樹

    第34回日本ロボット学会学術講演会  日本ロボット学会

    Presentation date: 2016.09

  • 4腕式極限作業ロボットOCTOPUSの開発

    亀﨑允啓, 石井裕之, 石田健蔵, 関雅俊, 一柳健

    日本機械学会ロボティクス・メカトロニクス講演会2016  日本機械学会

    Presentation date: 2016.06

  • 4腕式極限作業ロボットOCTOPUSのための遠隔操作シミュレータの開発

    亀﨑允啓, 片野貴裕, 陳奎, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2016  日本機械学会

    Presentation date: 2016.06

  • 磁気粘性流体ダンパのためのトロイダル型ピストンヘッドの開発

    亀﨑允啓, 何山, アギーレ・ドミンゲス・ゴンサロ, フレンチ・モルガン, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2016  日本機械学会

    Presentation date: 2016.06

  • 手先位置頻度マップを用いた作業傾向の分析と操作技能の推定

    亀﨑允啓, 峰田健司, 橋本諭, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2016  日本機械学会

    Presentation date: 2016.06

  • Design of Intelligent Human-Machine Systems focusing on Human-Machin Interfaces

    Mitsuhiro Kamezaki  [Invited]

    Invited Lecture in University of Moratuwa 

    Presentation date: 2016.05

  • 次世代ロボットのための知的ヒューマンマシンインタフェース

    亀﨑允啓  [Invited]

    次世代ロボットとRT技術の未来~次世代ロボット開発の最前線~  早稲田大学次世代ロボット研究機構

    Presentation date: 2016.03

  • 複数画面を使った遠隔操作における注視映像と作業パフォーマンスの関連性分析

    亀﨑允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

    第16回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  計測自動制御学会

    Presentation date: 2015.12

  • 拡張現実感を利用した複数の視線誘導手法による遠隔操作者の認知負荷軽減に関する研究

    佐藤隆哉, 亀﨑允啓, 楊俊傑, 菅野重樹, 岩田浩康

    第16回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  計測自動制御学会

    Presentation date: 2015.12

  • 識別性能の粒度を高める操作・運動・負荷情報を用いた拡張基底作業状態の提案

    亀﨑允啓, 三矢隆史, 森島洋忠, 峰田健司, 岩田浩康, 菅野重樹

    第16回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  測自動制御学会

    Presentation date: 2015.12

  • 無人化施工における視覚情報の強化に関する研究-作業状況に応じた環境カメラの自動制御と拡張現実技術を用いた注視支援-

    亀﨑允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

    第15回建設ロボットシンポジウム論文集  建設ロボットシンポジウム

    Presentation date: 2015.09

  • 被覆率とコスト評価に基づく3次元異方性センサ群の実用的配置手法の提案

    亀﨑允啓, 楊俊傑, 岩田浩康, 菅野重樹

    第33回日本ロボット学会学術講演会論文集  日本ロボット学会

    Presentation date: 2015.09

  • 人になじむ人間操作型機械~入出力ゲインの自動適応~

    亀﨑允啓  [Invited]

    第4回サステナブル/ロボティック・システムデザイン研究会 

    Presentation date: 2015.09

  • BIOG調整システムにおける入出力情報を用いた作業および操作者の特性分析

    亀﨑允啓, 小坂拓未, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2015  日本機械学会

    Presentation date: 2015.05

  • 遠隔重機作業の高度化に関する研究~拡張現実感を利用した映像の注視・解釈支援手法の開発~

    亀﨑允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2015  日本機械学会

    Presentation date: 2015.05

  • 次世代知能化車両におけるユーザエクスペリエンス評価のためのドライビングシミュレータの開発

    亀﨑允啓, マナワドゥ・ウダーラ, 石川雅晃, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2015  日本機械学会

    Presentation date: 2015.05

  • 測定条件に応じたデータ選定によるロバストな把持物体重量計測システムの開発

    亀﨑允啓, 三矢隆史, 岩田浩康, 菅野重樹

    第15回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論文集(SI2014) 

    Presentation date: 2014.12

  • 無人化施工の効率・安全を高める映像注目支援に関する調査研究

    亀﨑允啓  [Invited]

    平成26年度建設施工と建設機械シンポジウム 

    Presentation date: 2014.11

  • Design of Human-Robot Interface Systems-Toward Applications to Advanced Active Aging Research-

    Mitsuhiro Kamezaki  [Invited]

    The 2nd Institute of Advanced Active Aging Research Symposium-Paradigm shifts in a super-aged society- 

    Presentation date: 2014.10

  • 操作量ヒストグラムを用いたBIOG 自動調整手法〜操作頻度の平準化による操作感の統一〜

    亀﨑允啓, 小坂拓未, 谷川雄介, 岩田浩康, 菅野重樹

    第32回日本ロボット学会学術講演会論文集(RSJ2014) 

    Presentation date: 2014.09

  • 知的ヒューマンマシンインタフェースと事例紹介

    亀﨑允啓  [Invited]

    第3回サステナブル/ロボティック・システムデザイン研究会 

    Presentation date: 2014.08

  • 遠隔重機作業の高度化に関する研究—作業状況に応じたロールアサインメントに基づく環境カメラの向き・画角調整—

    亀﨑允啓, 楊俊傑, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2014論文集(Robomec’14) 

    Presentation date: 2014.05

  • 遠隔操作シミュレータを用いた無人化重機作業の時間効率性に関する基礎分析

    亀﨑允啓, 楊俊傑, 岩田浩康, 菅野重樹

    第14回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論文集(SI2013) 

    Presentation date: 2013.12

  • 複雑作業への適応を目的とした無人化施工における車載・環境カメラの可動性効果の検証とその半自動化コントロール手法に関する基礎的研究

    亀﨑允啓  [Invited]

    平成25年度建設施工と建設機械シンポジウム 

    Presentation date: 2013.11

  • 負荷変化率を用いた操作入力の無効化による双腕引き剥がし作業の安全性向上

    亀﨑允啓, 橋本諭, 岩田浩康, 菅野重樹

    第31回日本ロボット学会学術講演会論文集(RSJ2013) 

    Presentation date: 2013.09

  • 科研費・若手研究Bの獲得に向けて

    学内若手研究者向け勉強会  [Invited]

    研究推進部,早稲田大学

    Presentation date: 2013.07

  • 作業状態推定に基づく次世代重機の操作者支援システム

    亀﨑允啓  [Invited]

    情報・機械系融合ワークショップ 

    Presentation date: 2013.07

  • 操作型作業機械の知能化に関する研究〜第10 報:手先の外力・移動方向を用いた物体把持推定の高精度化〜

    亀﨑允啓, 石井孝洋, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2013論文集(Robomec’13) 

    Presentation date: 2013.05

  • 複雑作業への適応を目的とした無人化重機の遠隔操作シミュレータ〜操縦・映像提示系コンポーネントの基礎開発〜

    亀﨑允啓, 楊俊傑, 小坂拓未, 岩田浩康, 菅野重樹

    第13回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論文集(SI2012) 

    Presentation date: 2012.12

  • 操作型作業機械の知能化に関する研究〜第9報:操作・負荷フラグの時系列遷移を利用した物体把持・非把持推定〜

    亀﨑允啓, 石井孝洋, 岩田浩康, 菅野重樹

    第13回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論文集(SI2012) 

    Presentation date: 2012.12

  • Operational Support for Disaster Response Work Using Dual-Arm Construction Machinery

    Mitsuhiro Kamezaki  [Invited]

    Italy-Japan Workshop 2012 

    Presentation date: 2012.12

  • 操作型作業機械の知能化に関する研究〜第8報:手先位置頻度マップを用いた大局的作業傾向の可視化〜

    亀﨑允啓, 橋本諭, 岩田浩康, 菅野重樹

    第30回日本ロボット学会学術講演会論文集(RSJ2012) 

    Presentation date: 2012.09

  • 操作型作業機械の知能化に関する研究〜第7報:時系列遷移情報の利用による基底作業状態の識別性能向上〜

    亀﨑允啓, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2012論文集(Robomec’12) 

    Presentation date: 2012.05

  • 建機マニピュレータの手先外力ベクトル計測〜内在誤差範囲推定に基づく相対的計測精度向上〜

    亀﨑允啓, 中村晧祐, 橋本諭, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2011論文集(Robomec’11) 

    Presentation date: 2011.05

  • 油圧情報に基づく負荷計測の不確かさを考慮した建機マニピュレータの荷重有無検出

    亀﨑允啓, 橋本諭, 中村皓佑, 岩田浩康, 菅野重樹

    第11回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論文集(SI2010) 

    Presentation date: 2010.12

  • マニピュレータの運動状態に応じた負荷要因同定に基づく油圧シリンダの外力負荷有無検出手法の提案

    亀﨑允啓, 橋本諭, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2010論文集(Robomec’10) 

    Presentation date: 2010.06

  • 操作型作業機械の知能化に関する研究〜第6報:簡易化基底作業状態を用いた大局的状態遷移の分析〜

    亀﨑允啓, 岩田浩康, 菅野重樹

    第10回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論文集(SI2009) 

    Presentation date: 2009.12

  • 油圧駆動型双腕ロボットアームシステムの開発〜次世代知能化建機の研究・開発用プラットフォーム〜

    亀﨑允啓, 橋本諭, 島田陽介, 中島義統, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2009論文集(Robomec’09) 

    Presentation date: 2009.05

  • 操作型作業機械の知能化に関する研究〜第5報:操作支援に着目した作業特性および操作支援フラグの識別〜

    亀﨑允啓, 島田陽介, 中島義統, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2009論文集(Robomec’09) 

    Presentation date: 2009.05

  • 操作型作業機械の知能化に関する研究〜第4報:基底作業状態を用いた操作者支援システムの開発〜

    亀﨑允啓, 岩田浩康, 菅野重樹

    第9回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論文集(SI2008) 

    Presentation date: 2008.12

  • 操作型作業機械の知能化に関する研究〜第3報:基底作業状態を利用した操作者のスキル解析と操作トレーニングへの応用〜

    亀﨑允啓, 河合雄一郎, 島田陽介, 岩田浩康, 菅野重樹

    第26回日本ロボット学会学術講演会論文集(RSJ2008) 

    Presentation date: 2008.09

  • 操作型作業機械の知能化に関する研究〜第2報:環境・操作者に非依存な基底作業状態の提案〜

    亀﨑允啓, 島田陽介, 河合雄一郎, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2008論文集(Robomec’08) 

    Presentation date: 2008.06

  • 操作型作業機械の知能化に関する研究〜第1報:操作者支援システムの設計と双腕建機シミュレータによる有用性の検証〜

    亀﨑允啓, 岩田浩康, 菅野重樹

    第8回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論文集(SI2007) 

    Presentation date: 2007.12

  • Development of Operation Skill-Training Simulator for Double-Front Construction Machinery

    Mitsuhiro Kamezaki

    The 4th COE-CIR Joint Workshop -Future Collaborations on Robot Technologies between Korea and Japan- 

    Presentation date: 2007.09

  • Development of Double-Front Construction Machinery Simulator for Operation-Skill Training

    Mitsuhiro Kamezaki

    The 1st WSK Summer School –Fundamentals on Biorobotics- 

    Presentation date: 2007.09

  • 双腕建機における操作技能トレーニング用シミュレータの開発

    亀﨑允啓, 岩田浩康, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2007論文集 

    Presentation date: 2007.05

  • 起立動作介助における膝関節負荷を軽減可能な手先誘導軌道〜移動型力介助マニピュレータによる高齢者の自立支援の促進〜

    岩田浩康, 亀﨑允啓, 相子文孝, 金子真, 菅野重樹

    日本機械学会福祉工学シンポジウム2006論文集 

    Presentation date: 2006.09

  • 認知行動の基準モデルに基づくテイクオーバー時の状況認識不足推定手法の開発

    岡直樹, 林弘昭, マナワドゥ ウダーラ, 江馬敬明, 亀﨑允啓, 菅野重樹

    日本機械学会ロボティクス・メカトロニクス講演会2020論文集(Robomech’20)  20200528

▼display all

Specific Research

  • 災害対応作業を目的とした建設作業機のための手先荷重計測手法の開発

    2012  

     View Summary

     これまでに,災害救助や復旧作業への適応を目的とした次世代建設作業機のための操作者支援システムの開発を行っている.本研究課題では,この支援システムに不可欠となる負荷計測技術を対象としており,これまでに開発してきた負荷計測技術をベースとした研究である.具体的には,作業機マニピュレータの手先にかかる外力負荷(フロント負荷)をロバストかつ高精度に計測する手先荷重計測システムの開発を行った.災害現場など過酷な環境下で作業を行う災害対応作業機は,力センサなどを手先に搭載することが難しいため,搭載性・汎用性の観点から油圧センサを負荷計測センサとして用いている.よりロバストで高精度な計測を行う際には,外力以外の負荷要因(マニピュレータ自重力,シリンダ駆動摩擦力,慣性力による大きな振動成分など)を高精度に除去するアプローチが必要となる一方,完全に取り除き切れない不確定な負荷要因が存在することが問題となる,そこで本課題では,上述の不確実性を内包した実用性の高い荷重計測システムの開発を行った. はじめに,これまで開発してきた負荷要因同定手法を利用して,上述の主要な負荷要因を計測値から取り除いた.本手法は,実装性が容易な同定モデルを用いているため誤差を含むことが前提となる.次に,負荷計測の信頼性を高めるため,負荷有無が正しく判定できない状態を計測シリンダから除外した.この出力結果を複数シリンダで統合し,手先の負荷有無検出を行った.この負荷有無結果をベースとして手先にかかる荷重の計測を行った.負荷あり判定が2つ以上ある場合には,各荷重値の平均値を出力する方法も考えられるが,いずれかに大きな誤差が生じていれば出力値の信頼性が低下する可能性が高い.そこで相対的に誤差が小さいと考えられるシリンダを以下のルールを利用して1つ選出した:誤差の出やすさから動作状態よりも静止状態のシリンダを優先すること,誤差感度の小ささから,ブーム,アーム,バケットシリンダの順に利用すること.各種計測センサを備えた油圧マニピュレータにて評価実験を行った結果,提案した荷重計測システムを用いることで,マニピュレータの姿勢や運動状態などの計測条件によらず,適切にフロント負荷計測を行えることが示された.本年度の開発を踏まえた実装技術の開発を検討している.

  • 建機作業の作業評価システムの開発と実証~作業実施結果の改善ポイントの導出~

    2011  

     View Summary

     建設機械を使った重作業の分野では,ロボット技術(Robot Technology: RT)を利用した高機能作業機の開発や情報通信技術(Information-Communication Technology: ICT)を用いた情報化施工技術の開発をはじめとする「高度化」への取り組みが始まりつつある.これら新しい取り組みを適切に評価するためには,作業実施結果を定量化しその結果が示す貢献度や問題点などを数値化する包括的な評価システムが不可欠となる.しかしながら,操作者の多様性および環境の複雑性を有する建機作業の分野においては,作業結果を体系的に評価する枠組みについて論じた研究例は見当たらない.本研究では,これまでに開発を進めてきた作業状態識別技術を利用して作業実施結果の改善点を導出する基礎検討を行った. 作業状態識別手法には,環境や操作者の多様性に依存しないロバストな識別手法である基底作業状態(Primitive Static States: PSS)を用いた.PSSは作業状態を実時間に16通りに分類することが特徴である.はじめに,PSSの2状態間遷移の分析から基本状態遷移(Practical State Transition: PST)を定義した.次に,PSTを作業特性や作業フェーズを明らかにする本質的状態遷移(Essential State Transition: EST)と作業の効率や質を低下させる動作を明らかにする非本質的状態遷移(Nonessential State Transition: NST)とに分類した.実験機を用いた作業評価実験の結果,ESTにより適切に作業内容の把握できること,NSTにより無駄な操作や操作者の不得意作業を導出できることが確認された.本年度の基礎検討をベースに状態識別手法の拡張を行うことで,作業評価技術の基盤技術形成の構築を進めていく予定である.

  • 次世代建設作業機のための準自律型操作者支援システムの開発と実証

    2011  

     View Summary

     本研究では,次世代建設作業機のための準自律型操作者支援システムに不可欠となる負荷計測技術に関する開発を行った.建設作業機は,屋外の過酷な環境下で作業を行うため,搭載性・汎用性の観点から油圧センサを負荷計測センサとして用いることとした.本課題では,負荷計測技術の基盤技術開発として,建機マニピュレータの手先外力負荷(フロント負荷)の有無検出を行う汎用的フレームワークを提案した.油圧センサを用いて負荷計測を行う場合,計測されたデータには,外力だけでなくマニピュレータ自重力,シリンダ駆動摩擦力,慣性力による大きな振動成分などの負荷要因が発生してしまう.これらの主要負荷要因はマニピュレータの運動状態に応じて発生し,さらに油圧-機械システムの不確定性と非線形性に起因して同定の難易度が異なることが問題となる.そこで本課題では,上述の不確実性に対するロバスト性に着目して負荷有無判定のフレームワークの開発を行った. はじめに,上述の主要負荷要因を汎用的かつ簡易的に取り除くために,静止状態では理論的なモデルに基づく自重力計算,運動状態では実測値に基づく駆動摩擦力同定を行った.次に,特異姿勢やストロークエンドなどの負荷有無の判定が物理的にできない状態および,マニピュレータ振動や始動圧などの振動的かつ突発的な負荷要因の影響を回避するため,単純なフラグのみを用いたシリンダ状態評価手法を構築し,シリンダ負荷有無検出の信頼性向上を図った.最後に,複数シリンダ(本課題では3つのシリンダが対象)の負荷有無結果を利用優先度に基づき評価および統合し,よりロバストな手先負荷有無検出結果を出力する枠組みを提案した.各種計測センサを備えた油圧マニピュレータにて評価実験を行った結果,提案した外力負荷有無検出システムを用いることで,マニピュレータの姿勢や運動状態などの検出条件によらず,適切にフロント有無検出を行えることが示された.本年度の基礎開発をベースに,手先負荷計測技術の拡張を進めていく予定である.

  • 作業状態分類に基づく作業実施結果の定量化手法に関する基礎的研究~双腕建設作業機を用いた連続・複雑タスクへの適用~

    2010  

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     ロボット技術(Robot Technology: RT)を利用した高機能作業機の開発や情報通信技術(Information-Communication Technology: ICT)を用いた情報化施工技術の開発をはじめとする「建機作業の高度化」への取り組みが始まりつつある.これら新しい取り組みを適切に評価するためには,作業実施結果を定量化しその結果が示す貢献度や問題点などを数値化する包括的な評価システムが不可欠となる.しかしながら,建機作業が目的や性質の異なる複数のタスク群の連続により構成されていることから,建機作業の分野においては作業結果を体系的に評価する枠組みについて論じた研究例は見当たらない.そこで本研究では,作業状態分類に基づく作業実施結果の定量化手法に関する基礎検討を行った. これまでに開発している基底作業状態(Primitive Static States: PSS)をベースに分析を行った.本研究では,より簡潔に作業実施結果を定量化するために,PSSパラメータである「アーム操作有無・アーム負荷有無・ハンド操作有無・ハンド負荷有無」のうち,部位による分類を除外した「操作有無および負荷有無」で構成されるs-PSS(Simplified Primitive Static States)を定義した.s-PSSを用いた作業状態分類により,作業内容や作業環境の多様性に依存せずに共通の枠組みで作業実施結果の定量化を行うことが可能となる.VRシミュレータを用いて廃材運搬作業を模擬した実験タスクを行い,作業実施結果の定量化および評価を行った.その結果,s-PSSの遷移フローや各状態の継続時間などを比較することで,おおまかな作業内容の把握や操作者ごとの得意・不得意作業などを定量的に把握できることが分かった.本年度の基礎検討をベースにさらに発展させていくことにより,作業実施結果の評価手法の構築へ展開していく予定である.

 

Syllabus

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Committee Memberships

  • 2021.04
    -
    Now

    機能性流体工学研究会,日本機械学会  運営委員

  • 2021.04
    -
    2024.03

    IFToMM World Congress 2023  Organizing Committee Member

  • 2021.04
    -
    2023.03

    日本機械学会ロボメカ部門  部門代議員(第0地区)

  • 2021.04
    -
    2023.03

    IEEE/ASME Int. Conf. Adv. Intelligent Mechatronics (AIM 2022)  Organizing Committee Member

  • 2020.03
    -
    2023.02

    Transactions of the Society of Instrument and Control Engineers  Associate Editor

  • 2020.03
    -
    2023.02

    計測自動制御学会論文集  Associate Editor

  • 2019.10
    -
    2022.09

    IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2020)  Associate Editor

  • 2019.07
    -
    2022.09

    IEEE/ASME Int. Conf. Adv. Intelligent Mechatronics (AIM 2020)  Associate Editor

  • 2020.04
    -
    2021.03

    Workshop on 2020 IEEE Intelligent Vehicle Symposium (IV 2020)  Organizer

  • 2019.10
    -
    2020.11

    Int. Symp. Automation and Robotics in Construction (ISARC 2020)  Organizing Committee Member/Co-Chair of Program Committee

  • 2019.03
    -
    2020.04

    2019 IEEE Int. Conf. Robotics and Biomimetics (ROBIO 2019)  Program Committee Member

  • 2019.04
    -
    2020.03

    第19回建設ロボットシンポジウム  プログラム副委員長

  • 2019.01
    -
    2019.10

    The 37th annual conference of the Robotics Society of Japan (RSJ)  Organizing Committee Member

  • 2019.01
    -
    2019.10

    第37回日本ロボット学会学術講演会(RSJ2019)  実行委員

  • 2018.10
    -
    2019.09

    IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2019)  Associate Editor

  • 2018.07
    -
    2019.09

    IEEE/ASME Int. Conf. Adv. Intelligent Mechatronics (AIM 2019)  Associate Editor,

  • 2018.04
    -
    2019.03

    IEEE Int. Symposium on Safety, Security, and Rescue Robotics (SSRR 2018)  Technical Program Committee (TPC)

  • 2018.04
    -
    2019.03

    2018 IEEE Int. Conf. Robotics and Biomimetics (ROBIO 2018)  Program Committee Member

  • 2018.04
    -
    2019.03

    第18回建設ロボットシンポジウム  副実行委員長

  • 2017.10
    -
    2018.09

    IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2018)  Associate Editor

  • 2017.04
    -
    2018.03

    IEEE Int. Conf. Robotics and Biomimetics (ROBIO 2017)  Program Committee Member

  • 2017.04
    -
    2018.03

    IEEE Int. Symp. Robot and Human Interactive Communication (RO-MAN 2017)  Program Committee Member

  • 2017.04
    -
    2018.03

    IEEE Int. Symposium on Safety, Security, and Rescue Robotics (SSRR 2017)  Technical Program Committee

  • 2017.04
    -
    2018.03

    第17回ロボットシンポジウム  プログラム副委員長

  • 2017.10
    -
     

    建設ロボット研究連絡協議会(CCRR)  委員

  • 2016.04
    -
    2017.03

    IEEE Int. Conf. Robotics and Biomimetics (ROBIO 2016)  Program Committee Member

  • 2016.04
    -
    2017.03

    Symposium on Construction Robots (SCR 2016)  Program co-chair

  • 2016.04
    -
    2017.03

    第16回建設ロボットシンポジウム  プログラム副委員長

  • 2016.09
     
     

    第5回サステナブル/ロボティック・システムデザイン研究会.  実行委員

  • 2016.07
     
     

    日本ロボット学会学会誌特集号「大型機械のためのヒューマンインタフェースデザイン」  編集者

  • 2015.04
    -
    2016.03

    日本機械学会ロボティクス・メカトロニクス講演会  プログラム委員

  • 2015.04
    -
    2016.03

    日本ロボット学会学術講演会  プログラム委員

  • 2015.04
    -
    2016.03

    日本ロボット学会会誌編集委員会  編集委員

  • 2015.04
    -
    2016.03

    IEEE Int. Symp. Robot and Human Interactive Communication (RO-MAN 2015)  Program Committee Member

  • 2015.12
     
     

    JSME International Conference on Advanced Mechatronics (ICAM2015)  Local Arrangement Chair

  • 2014.04
    -
    2015.03

    日本ロボット学会会誌編集委員会  委員

  • 2013.11
     
     

    2013 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS2013)  Secretariat (Organization)

  • 2013.11
     
     

    2013 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS2013)  Secretariat (Organization)

  • 2013.03
    -
    2013.09

    IEEE Int. Conf. Robotics and Automation (ICRA)  Program Committee Member

  • 2013.05
     
     

    日本機械学会ロボティクス・メカトロニクス講演会  プログラム委員

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Media Coverage

  • ロボ関節、磁場で流体操り制御、早大など、出力下げず劣化抑制。

    Newspaper, magazine

    日本経済新聞  

    2020.04

  • 磁気粘弾性流体 開発 制振機・機械制御向け

    Newspaper, magazine

    日刊工業新聞  

    2020.04

  • 2020建設産業とICT

    Newspaper, magazine

    日刊建設工業新聞  

    2020.03

  • 長期貯蔵でも沈降しない高い安定性を持つ磁気粘弾性流体(MR流体)を開発

    Internet

    NEDOニュースリリース  

    2020.03

  • 奇才の早稲田軍団、登竜門の「発明コン」で決勝進出 自動運転切り替え技術

    Internet

    自動運転LAB(インターネットニュース)  

    2018.06

  • 災害ロボ最前線(上) 「手足」8本、縦横無尽

    Newspaper, magazine

    日本経済新聞  

    2015.08

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