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Kamewari, Ryusei*; Fujishima, Yusuke*; Kawabata, Kuniaki; Suzuki, Kenta; Sakagami, Norimitsu*; Takemura, Fumiaki*; Takahashi, Satoru*
Proceedings of the IUTAM Symposium on Optimal Guidance and Control for Autonomous Systems 2023 (IUTAM Bookseries No.40), p.85 - 101, 2024/01
Takemura, Fumiaki*; Taba, Ryo*; Hirayama, Keita*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
Artificial Life and Robotics, 22(4), p.405 - 411, 2017/12
The manta method is a survey method that divers investigate the degree of coral and whitening state while being towed to a boat. The manta method makes great physical burden. Therefore, the authors think that this task can substitute an underwater robot. This underwater robot is desirable to be able to keep altitude above the seabed. Hence, the authors have been developing the altitude (its distance above the sea floor) keeping system for an underwater robot. Visual recognition of distant underwater objects is possible in the water with high transparency, for example, in the coastal sea area of Okinawa prefecture, Japan. So, the authors have been adopting the distance measuring method using the two laser beams and a monocular camera with image processing. It realize to keep altitude of an underwater robot by using such devices. The evaluation experiments of the altitude keeping system are carried out in the pool.
Takahashi, Satoru*; Nota, Yoshiki*; Matsuda, Asahi*; Kawabata, Kuniaki; Suzuki, Tsuyoshi*; Takemura, Fumiaki*; Ogasawara, Kei*; Kaneko, Shunichi*
Journal of Signal Processing, 21(1), p.15 - 24, 2017/01
In recent years, many researchers try to observe the state of the global environment from marine information for the understanding of the global environment change. First, we introduce the recording system of underwater environment which is made by the authors. By using this system, we want to observe the change of global environment from the coral bleaching. In this paper, especially, we propose the generation method of underwater landmark which is used to measure the position of robot of oceanographic observation based on the dynamic image processing. In here, underwater landmark means the feature point in underwater image.
Taba, Ryo*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
Proceedings of 21st International Symposium on Artificial Life and Robotics (AROB 21st 2016) and 1st International Symposium on BioComplexity (ISBC-1) (Internet), p.395 - 399, 2016/01
Seki, Akiyuki; Takemiya, Hiroshi; Takahashi, Fumiaki; Saito, Kimiaki; Tanaka, Kei*; Takahashi, Yutaka*; Takemura, Kazuhiro*; Tsuzawa, Masaharu*
Progress in Nuclear Science and Technology (Internet), 4, p.47 - 50, 2014/04
The radionuclide distribution database and map system, which provide basic information for evaluations and countermeasures of the Fukushima nuclear accident, are explained. Due to massive earthquake and tsunami, Fukushima Dai-ichi Nuclear Power Plant has been damaged and had spread out radioactive materials around the Fukushima site. It is necessary to collect, analyze, and provide the information of radioactivity correctly and immediately. We developed two providing systems to identify the current distribution of released radionuclides and support decontamination activities.
Seki, Akiyuki; Takemiya, Hiroshi; Takahashi, Fumiaki; Saito, Kimiaki; Tanaka, Kei*; Takahashi, Yutaka*; Takemura, Kazuhiro*; Tsuzawa, Masaharu*
no journal, ,
Radioactive database and contamination map for the accident of Fukushima Dai-ichi Nuclear Power Plant are described. It is necessary to obtain precise data on the contamination conditions. Both systems have been developed to provide information to identify the current distribution of released materials and to support decontamination planning. The former is designed to provide quantitative data for detailed analysis, while another to provide intuitive images for the qualitative estimation. They contain air dose rates at around 2,200 locations within approximately 100 km from the plant, and radionuclide concentration data at each location. The vehicle-borne survey results are also included for the purpose of ascertaining the distribution of radioactive substances around roads in detail. All the data have been measured during the first investigation conducted in June, and the second in December 2011. The systems will become open to the public at the site of JAEA soon.
Seki, Akiyuki; Takemiya, Hiroshi; Takahashi, Fumiaki; Saito, Kimiaki; Tanaka, Kei*; Takahashi, Yutaka*; Takemura, Kazuhiro*; Tsuzawa, Masaharu*
no journal, ,
The construction of the database and map systems, which provide basic information for evaluations and countermeasures of the Fukushima nuclear accident, are explained. Fukushima Daiichi Nuclear Power Plant had been damaged and spread out radioactive materials around there on March 2011. There are still a lot of requests to know the distribution of radioactive material from government, local government, residents, and/or researchers. In order to meet those requests, we developed two systems to provide those data to the public. One of the systems is a database system which is designed to provide quantitative data for detailed analysis. Another is a map system which provides intuitive images for the qualitative estimation.
Matsuda, Asahi*; Takahashi, Satoru*; Kawabata, Kuniaki; Takemura, Fumiaki*; Ogasawara, Kei*
no journal, ,
In recent years, research of bleaching of coral based on change of underwater environment is important in order to know change of global environment. Currently, investigation of underwater is conducted by the diver. Therefore, several problems such as load for the diver and restriction of search area are occurred. To solve these problems, we are developing the underwater robot for investigating of coral reef for the wide and the long time. In here, to know the current situation of coral we consider the automatic extraction method of the coral based on texture analysis from image obtained by monitoring.
Noha, Kazuma*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sakagami, Norimitsu*; Sagara, Shinichi*
no journal, ,
This paper described an automatic visual tracking system for underwater mobile object. We developed a prototype system and reported the experiments.
Hirayama, Keita*; Takemura, Fumiaki*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
This paper discussed about the study and development of a towed underwater robot. We described about the required specifications for designing a robot prototype.
Taba, Ryo*; Hirayama, Keita*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
This paper proposed an observation altitude maintenance method with a monocular camera for realizing Manta method-like observation. We developed a test platform and attempted the basic experiments.
Ikeda, Kohei*; Suzuki, Tsuyoshi*; Yamashiro, Hideyuki*; Sawai, Kei*; Takemura, Fumiaki*; Kawabata, Kuniaki
no journal, ,
This paper proposed a attached algae removal ability for the wireless sensor node for the underwater observation. Basic experiments by the prototype system were reported in this paper.
Ozeki, Ryutaro*; Sekino, Kodai*; Suzuki, Tsuyoshi*; Sawai, Kei*; Takemura, Fumiaki*; Kawabata, Kuniaki; Yamashiro, Hideyuki*
no journal, ,
This paper proposed the browsing system and functions for underwater environmental data gathered by wireless sensor network. The discussions were done for the design approaches and implementation examples with gathered data.
Kobashigawa, Shuta*; Hirayama, Keita*; Hirayasu, Shimon*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*
no journal, ,
In this paper, we describe the development of hovering control of underwater robot for injecting the acetic acid to the crown-of-thorn. Underwater robot uses a hovering on image processing to operation assistance.
Takemura, Fumiaki*; Hirayama, Keita*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
This paper reported that the development of an underwater robot for coral reef inspection and also basic experiments with the prototype.
Koike, Kenji*; Takahashi, Satoru*; Kawabata, Kuniaki; Suzuki, Tsuyoshi*; Takemura, Fumiaki*
no journal, ,
We propose a method of estimating amount of attitude change of stationary sensor node which is important to realize observation of identical spot for a long term based on the tracked position data of underwater landmark, it is called marine tag, generated on underwater image, and then in order to see a target, in here a coral, in the fixed position on image, attitude of captured image is corrected based on the estimated amount of attitude data. Then, we estimate amount of attitude change of sensor unit of stationary sensor node by optimizing the evaluation function based on Steepest Descent Method, and correct the attitude of original image with the estimated attitude data. Through some experiments, we prove the effectiveness of our proposed method.
Ikeda, Kohei*; Suzuki, Tsuyoshi*; Yamashiro, Hideyuki*; Takemura, Fumiaki*; Kawabata, Kuniaki
no journal, ,
We develop a wiper device for underwater monitoring sensor nodes. Coral images are gathered by the sensor nodes, but a camera view of the sensor node is interfered by attached algae. Therefore, attached algae are removed by the wiper device. In this paper, we conducted an experiment to confirm the wiper function in the long term operation.
Ozeki, Ryutaro*; Suzuki, Tsuyoshi*; Sawai, Kei*; Takemura, Fumiaki*; Kawabata, Kuniaki; Yamashiro, Hideyuki*; Ogasawara, Kei*
no journal, ,
This article describes our latest stationary underwater sensor node configuration that is used to construct an underwater monitoring sensor network (UMSN) to support the coral ecological system survey activities, and also describes about study of the required functions of a data browsing system to monitor information of underwater environmental conditions gathered by UMSN.
Hirayama, Keita*; Taba, Ryo*; Takemura, Fumiaki*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
We have been studying and developing an underwater robot for coral reef conservation. In this research, we propose a towed robot using flap device for underwater survey. This underwater robot is developed for two purposes. The first purpose of this underwater robot is reducing the physical load on the research diver. The Seconds purpose of this underwater robot is to investigate underwater of improving efficiency. We designed with towed underwater robot and umbilical cable. The robot consist of three parts, two pressure vessels, and a flap device. The umbilical cable using PLC (Power Line Communication). Preliminary experiments indicate that the towed underwater robot have basic performance.
Taba, Ryo*; Hirayama, Keita*; Takemura, Fumiaki*; Tansuriyavong, S.*; Kawabata, Kuniaki; Sagara, Shinichi*; Ogasawara, Kei*
no journal, ,
Distribution map of the degree of coral has been created by Manta method to use coral conservation activities. The manta method is a survey method that divers investigate the degree of coral and whitening state while being towed to a boat. But the manta method makes great physical burden also underwater robot can substitute, and desirable underwater robot that can maintain an altitude between underwater robot and seabed. Therefore, we have developed the altitude maintenance system for underwater robot for the purpose of investigate by Manta method is described in this paper. The distance measuring method using the laser beams and a monocular camera with image processing is adopted reason that waters inhabiting coral is high transparency. The evaluation experiments in the pool with the system and underwater robots were confirmed to have sufficient accuracy for the assumed survey mission.
