記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE International Workshop on Robot and Human Communication Ro Man  

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

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE International Symposium on Safety Security and Rescue Robotics 2024 Ssrr 2024  

In this study, we propose distributed sensor ter-minals named 'Sensor Pods' and 'Petit-Sensor Pods', and a Cyber-Physical System (CPS) platform named 'ROS2-TMS for Construction' that aims to improve both the efficiency and safety of earthwork operations. The proposed system collects on-site environmental information, stores it in a database, and visualizes it using virtual reality (VR). To evaluate the system's performance in environments simulating real-world earthwork operations, two types of experiments were conducted. In the first experiment, the integrated system of the Sensor Pods and ROS2-TMS for Construction successfully demonstrated the collection of environmental information, its storage, and visualization through VR. The results indicate that the proposed system has significant potential to provide a comprehensive understanding of on-site conditions. In the second experiment, the performance of the Petit-Sensor Pods was verified, confirming its proper functionality and suggesting expanded possibilities for the future use of ROS2- TMS for Construction. This paper presents the developed system and the experiments conducted to assess its performance. A demonstration video is available at: https: / /youtu. be/u4Jo-dU4ewo/.

DOI： 10.1109/SSRR62954.2024.10770031

Web of Science

Scopus

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.22260/ISARC2023/0037

担当区分：筆頭著者  

開催年月日： 2023年

開催年月日： 2023年

開催年月日： 2022年

開催年月日： 2022年

記述言語：日本語   会議種別：口頭発表（一般）  

記述言語：日本語  

<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

記述言語：日本語  

<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

記述言語：日本語  

<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

記述言語：日本語  

<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

記述言語：日本語   会議種別：口頭発表（一般）  

<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

記述言語：日本語   会議種別：口頭発表（一般）  

<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

記述言語：日本語   会議種別：口頭発表（一般）  

<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

記述言語：日本語   会議種別：口頭発表（一般）  

<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

記述言語：日本語   会議種別：口頭発表（一般）  

<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

記述言語：日本語   会議種別：口頭発表（一般）  

<p>Mobile robots used in our daily lives must be able to move safely and adaptively in a variety of situations, such as varying numbers of pedestrians, different walking speeds, and varying levels of crowd density. In this paper, we propose crowd-aware robot navigation methods using meta reinforcement learning. We verify whether our methods can adapt to multiple scenario through meta test.</p>

DOI： 10.1299/jsmermd.2025.2a2-r03

CiNii Research

記述言語：英語   会議種別：口頭発表（一般）