2025/05/16 更新

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写真a

イツカ トモヤ
井塚 智也
ITSUKA TOMOYA
所属
システム情報科学研究院 情報知能工学部門 助教
職名
助教

学位

  • 博士(工学) ( 2025年3月 九州大学 )

論文

  • Development of ROS2-TMS: new software platform for informationally structured environment 査読 国際誌

    Itsuka, T; Song, M; Kawamura, A; Kurazume, R

    ROBOMECH JOURNAL   9 ( 1 )   2022年1月   ISSN:2197-4225

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    担当区分:筆頭著者, 責任著者   掲載種別:研究論文(学術雑誌)   出版者・発行元:ROBOMECH Journal  

    This study proposes a new software platform, called ROS2-TMS, for an informationally structured environment. An informationally structured environment is vital for developing intelligent service robots by embedding various sensors in the environment to enhance the sensing capability and intelligence of robots. Thus far, we have been developing a software platform, named ROS-TMS, for an informationally structured environment, which connects various sensors and robots using ROS architecture. In recent years, ROS2, a next-generation version of ROS, has been released. ROS2 has many advantages, such as enhanced security, QoS control, and support for various platforms. ROS2-TMS, a new version of ROS-TMS, is developed not only by porting existing modules in ROS-TMS, such as the control system for a communication robot, but also by adding useful functions utilizing new features in ROS2. For instance, we added a voice user interface to control robots and various devices in the environment, such as lights or a bed. In addition, we implemented a new task scheduler that provides a cancelation function to stop running tasks and improve the security of the platform.

    DOI: 10.1186/s40648-021-00216-2

    Web of Science

    Scopus

講演・口頭発表等

  • Task management system for construction machinery using the open platform OPERA 国際会議

    Kasahara, Y; Itsuka, T; Shibata, K; Kouno, T; Maeda, R; Matsumoto, K; Kimura, S; Fukase, Y; Yokoshima, T; Yamauchi, G; Endo, D; Hashimoto, T; Kurazume, R

    2024 33RD IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, ROMAN 2024  2024年  IEEE International Workshop on Robot and Human Communication, RO-MAN

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    開催年月日: 2024年

    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

  • Indoor Position Estimation Using NLoS Reflected Path with Wireless Distance Sensors 国際会議

    Itsuka, T; Kurazume, R

    2024 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IROS 2024  2024年  IEEE International Conference on Intelligent Robots and Systems

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    開催年月日: 2024年

    Indoor robot localization is important for the realization of autonomous service robots. Various studies have been conducted on "indoor GPS"measurements using wireless distance sensors such as ultrasonic beacons. However, when these beacons encounter non-line-of-sight (NLoS) conditions due to obstacles, accurate distance measurements become challenging because of multipath and other effects. In this study, we propose a method for simultaneously estimating a robot's position and distance to reflective surfaces in an environment using wireless distance sensors. The proposed method can estimate not only the robot's position but also the reflection of the beacon signal. First, the wheel odometry of the robot is assumed to be the initial value, and the measured distance from the beacon to the robot is used as a factor to construct the factor graph. Second, the distance to the reflective surface of the beacon signal, which is parallel to the robot's movement plane, was estimated from the robot position sequence using the GMM and used as a noise model in the factor graph. Finally, the method is evaluated by acquiring data in a real environment with obstacles. Compared with a method that does not consider reflection paths, this method demonstrated improved accuracy and effectiveness.

    DOI: 10.1109/IROS58592.2024.10802063

    Web of Science

    Scopus

  • Sensor Pods and ROS2-TMS for Construction for Cyber-Physical System at Earthwork Sites 国際会議

    Maeda, R; Kouno, T; Matsumoto, K; Kasahara, Y; Itsuka, T; Nakashima, K; Tamaishi, Y; Kurazume, R

    2024 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY SECURITY RESCUE ROBOTICS, SSRR  2024年  IEEE International Symposium on Safety, Security, and Rescue Robotics 2024, SSRR 2024

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    開催年月日: 2024年

    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

  • Indoor Position Estimation using NLoS Information by Wireless Distance Sensors 国際会議

    Itsuka, T; Kurazume, R

    2023 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION, SII  2023年  2023 IEEE/SICE International Symposium on System Integration, SII 2023

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    開催年月日: 2023年

    This paper proposes a method for non-line-of-sight (NLoS) position estimation utilizing wireless distance sensors. Recently, the accuracy of wireless distance sensors that use ultra-wideband (UWB) or ultrasonic technologies to measure the distance between two sensor devices has increased significantly. By placing these sensors in the environment, it is possible to precisely determine the position of mobile robots in indoor environments. Owing to reflections in the environment, these sensors have a large measurement error in NLoS conditions, limiting their applicability to environments that satisfy the line-of-sight (LoS) condition. This study aims to develop a stable method for estimating the position of mobile robots in indoor environments, including NLoS conditions, using wireless distance sensors. Experiments were conducted in two real environments: one with obstacles in front of the beacon and one with dynamic obstacles. In both cases, the combining 2D-LiDAR and wireless distance sensors using the proposed method considering NLOS was more accurate than the method considering LoS only.

    DOI: 10.1109/SII55687.2023.10039195

    Web of Science

    Scopus

  • ワイヤレス距離センサのNLoS情報を活用した屋内ロボット位置推定手法の開発

    井塚 智也, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2024年  一般社団法人 日本機械学会

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    記述言語:日本語   会議種別:ポスター発表  

    <p>We develop an indoor robot localization method using wireless distance sensors. To take into account the case where the distance sensor measures the reflected path due to obstacles, we propose a method to estimate the reflected path at the same time and use it for position estimation.</p>

    DOI: 10.1299/jsmermd.2024.1p1-n04

    CiNii Research

  • 土工現場用CPSプラットフォームROS2-TMS for Constructionの開発

    前田 龍一, 井塚 智也, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2023年  一般社団法人 日本機械学会

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    記述言語:日本語   会議種別:ポスター発表  

    <p>The civil engineering and construction industry has seen an increase in occupational accidents in recent years. Although several systems to improve the efficiency of earthwork operations have been developed, they have not directly involved in improving safety. The objective of this study is to explore the use of a cyber-physical system (CPS) to improve both the efficiency and safety of earthwork operations. The CPS platform should have a function to store and manage environmental information in a database. The ROS2-TMS, which is the CPS platform for service robots, satisfies this requirement. However, the ROS2-TMS cannot handle environmental information specific to earthwork sites, such as terrain and ground data. Therefore, in this research, we developed an improved version of ROS2-TMS named ROS2-TMS for Construction that can store and manage site-specific environmental information in a database. Additionally, we developed a VR interface to visualize the stored environmental information.</p>

    DOI: 10.1299/jsmermd.2023.1p1-b03

    CiNii Research

  • 土工現場用CPSプラットフォームROS2-TMS for Constructionの開発

    笠原 侑一郎, 井塚 智也, 柴田 航志, 前田 龍一, 高野 智也, 松本 耕平, 木村 駿介, 深瀬 勇太郎, 横島 喬, 山内 元貴, 遠藤 大輔, 橋本 毅, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2024年  一般社団法人 日本機械学会

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    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

  • 土工現場用CPSプラットフォームROS2-TMS for Constructionの開発

    柴田 航志, 高野 智也, 笠原 侑一郎, 井塚 智也, 前田 龍一, 松本 耕平, 木村 駿介, 深瀬 勇太郎, 横島 喬, 山内 元貴, 遠藤 大輔, 橋本 毅, 倉爪 亮

    ロボティクス・メカトロニクス講演会講演概要集  2024年  一般社団法人 日本機械学会

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    記述言語:日本語   会議種別:ポスター発表  

    <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

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