Event date： 2024

Language：English   Presentation type：Oral presentation (general)  

In recent years, labor accidents and a shortage of skilled workers due to an aging population have become significant issues at construction sites in Japan. To address these challenges, we are developing a Cyber-Physical System (CPS) platform called ROS2-TMS for Construction, which aims to improve both the efficiency and safety of earthwork operations. In this study, we propose a task management system for construction machinery using an open platform named OPERA as an additional function of ROS2-TMS for Construction. This task management system controls construction machinery using environmental information stored in a database, which collects and stores data from sensors deployed throughout the construction site, and an extended Behavior Tree. At the end of this study, the results of the initial validation tests of autonomous earthwork operations using an OPERA-compatible backhoe ZX200 are presented.

DOI： 10.1109/RO-MAN60168.2024.10731421

Web of Science

Scopus

Event date： 2023

Language：English   Presentation type：Oral presentation (general)  

Soil compaction is one of the most important basic elements in construction work because it directly affects the quality of structures. Compaction work using vibratory rollers is generally applied to strengthen ground stiffness, and the method that focuses on the number of compaction cycles is widely used to manage the ground stiffness by vibratory rollers. In contrast to this method, the continuous compaction control (CCC) using accelerometers installed on the vibratory rollers has been proposed as a quantitative evaluation method more suited to actual ground conditions. This method quantifies the distortion rate of the acceleration waveform of the vibratory roller. However, this method based on acceleration response has problems in measurement discrimination accuracy and sensor durability because the accelerometer is installed on the vibration roller, which is the source of vibration. In this paper, we propose a new ground stiffness evaluation method using multiple accelerometers installed on the ground surface. The proposed method measures the acceleration response during compaction work by vibratory rollers using multiple accelerometers on the ground surface. Experiments show the proposed method has a higher discrimination than the conventional methods.

DOI： 10.22260/ISARC2023/0037

Scopus

Event date： 2022

Language：English   Presentation type：Oral presentation (general)  

Mobile robot navigation in a dynamic environment with pedestrians is essential for service robots operating in a living environment. Accordingly, the robot needs to understand and predict the behavior of pedestrians. However, predicting pedestrian behavior in advance is difficult because human behavior may be affected by factors that cannot be directly observed or modeled in advance, such as intentions and environmental influences. In addition, pedestrian behavior may be affected by the behavior of the robot.In this study, we apply a deep reinforcement learning method based on a novel predictive state representation (PSR) model to mobile robot navigation for realizing a navigation method considering the changes in pedestrian behavior caused by robot actions and other pedestrians. In addition, we propose two methods for integrating the states of the PSRs corresponding to each pedestrian and evaluate these methods in situations where the number of pedestrians differs between learning and testing.

DOI： 10.1109/SII52469.2022.9708775

Web of Science

Scopus

Language：Japanese  

<p>We have been working on the realization of an autonomous mowing robot to automate weeding work, which is an essential part of agriculture. The robot developed so far can do mowing work in open environments by localization using high-precision GNSS and performing exhaustive sweeping of the work area. This paper reports on the third robot, which is newly equipped with a Visual SLAM camera, and a path following algorithm is implemented to assume use in environments that are difficult to benefit from GNSS.</p>

DOI： 10.1299/jsmermd.2023.2p1-b03

CiNii Research

Language：Japanese  

<p>In facility construction of a building, illuminance measurement is required to verify that the illuminance condition satisfies JIS regulations before its completion. In order to perform illuminance measurement accurately, measurements are conducted at night, causing long working hours at night. In this paper, we propose an autonomous illuminance measurement robot system consisting of multiple robots. The experiments show that the measurement errors of illuminance compared to the human measurements is 1.36% and the measurement time is reduced about 12%.</p>

DOI： 10.1299/jsmermd.2023.1a1-b03

CiNii Research

Language：Japanese  

<p>In this study, we developed an outdoor surveillance robot system using public 5G. The robot patrolling outdoors is connected to a remote observer via 5G and ROS2, and the observer control the robot while monitoring camera images remotely. We tested three network configurations to realize remote communication. Experiments for remote autonomous surveillance were conducted.</p>

DOI： 10.1299/jsmermd.2023.1a1-i02

CiNii Research

Language：Japanese  

<p>We propose a novel navigation method applying an offline reinforcement learning method based on Implicit Policy Constraint to mobile robot navigation in environments with pedestrians. The proposed method utilizes a flow-based generative model for the behavior policy, and the latent policy is trained using a method based on Advantage-Weighted Regression. The proposed method is evaluated in a simulation environment.</p>

DOI： 10.1299/jsmermd.2023.2a2-g01

CiNii Research

Language：English   Presentation type：Oral presentation (general)  

Language：Japanese   Presentation type：Oral presentation (general)  

<p>This paper presents an interface of ROS2-TMS for Construction, a cyber-physical system designed to improve the efficiency and safety in earthwork, for an OPERA (Open Platform for Earthwork with Robotics and Autonomy) compatible backhoe. We focused on the excavation and loading operations of earth and sand and confirmed that the proposed system performs these operations appropriately on an actual OPERA-compatible backhoe.</p>

DOI： 10.1299/jsmermd.2024.2a1-b06

CiNii Research

Language：Japanese   Presentation type：Oral presentation (general)  

<p>In recent years, the shortage of human resources at earthwork sites has been accelerating due to industrial accidents and the declining birthrate and aging population. Against this background, Our lab is developing a CPS platform called ”ROS2-TMS for Construction” as a system that simultaneously improves the efficiency and safety of earthwork work. This paper introduces a newly developed task management mechanism as a continuation of the ROS2-TMS for Construction development. The task management mechanism is a mechanism for operating actual construction machinery based on scenarios called task sequences given to ROS2-TMS for Construction.In this time, I adopted the Behavior Tree as the task scheduler and incorporated it into ROS2-TMS for Construction with some extensions according to the ROS2 specification. An overview of the extensions of Behavior Tree we adopted to task management mechanism of ROS2-TMS for Construction will also be explained in this paper.</p>

DOI： 10.1299/jsmermd.2024.2a1-b05

CiNii Research

Language：Japanese   Presentation type：Oral presentation (general)  

<p>Marine microplastics are plastic products that are crushed while drifting through the ocean and washed up on beaches. The presence of these garbage threatens the safety of beaches and marine ecosystems seriously. However, it is difficult to manually collect small microplastics scattered on beaches. Therefore, this study aims to develop a cleaning robot that automatically collects marine microplastics scattered on beaches and eliminates the workload from people. In this paper, we first explain the concept of the cleaning robot, then describe the configuration of the robot (conveyor belt and transfer mechanism) for effective microplastics collection, and the integration experiment conducted on a beach.</p>

DOI： 10.1299/jsmermd.2024.2a1-g03

CiNii Research

Language：Japanese   Presentation type：Oral presentation (general)  

<p>In facility construction of a building, illuminance measurement is required to verify that the illuminance condition satisfies JIS regulations before its completion. In order to perform illuminance measurement accurately, measurements are conducted at night, causing long working hours at night. In this paper, we propose a GUI system for controlling autonomous illuminance measurement multiple robots system and report the result of scalability test by increasing the number of robots of the system. The experiments show that the system is able to complete the measurement by dividing areas for each of three robots.</p>

DOI： 10.1299/jsmermd.2024.2a2-c03

CiNii Research

Language：Japanese   Presentation type：Oral presentation (general)  

<p>This paper investigates using Neural Radiance Fields (NeRF) to enable autonomous navigation simulations without the need for actual robots. NeRF's strength lies in its ability to render photorealistic images, promising a solution to the long-standing challenge of the domain gap between simulation and real-world environments. We present findings that validate the effectiveness of a NeRF-simulated environment for training a reinforcement learning policy. Once trained in the NeRF environment, this policy can navigate an actual robot in the real world.</p>

DOI： 10.1299/jsmermd.2024.1p1-m09

CiNii Research