最先端のロボティクス研究は他分野の知識はもちろん、これらの実務経験や各分野の
関連性を見つけ出す能力も必要となるため、複雑化・横断化が進んでいます。
そこで、当該研究ユニット構成員の特徴と長所を活かした相乗効果により、
効率的な研究を推進していきます。
ロボットおよびロボット要素技術を研究しているメカトロニクス関連教員を集結することで、
従来の着想にとらわれない新たなシステムの創出が可能なロボティクス研究を目指します。
輸出先の検疫条件を満たす目的でモモ害虫検査システムを開発しました。
このシステムは害虫（モモシンクイガ）によって被害を受けたモモ（以下、被害果と表記）を発見し、
被害の無いモモのみを自動で梱包し、出荷トラックまで自動搬送します。
以下に、被害果を検出するまでの各工程で行う処理・検査装置の概要を説明します。
図1は、モモ表面に付いている細かい毛（毛茸：モウジョウ）とモモシンクイガの卵を吹き飛ばす装置です。
図2は、モモ表面から入ったモモシンクイガの穴（食入孔）を検出する装置です。
図3は、モモ内部をX線で検査する装置です。モモは大きな種があるため、モモを回転させて複数枚のX線画像で判断します。
図4は、モモシンクイガの被害果をX線で撮影した画像です。この図は左上から右下にかけて、30°毎に回転させた画像です。
赤と緑で囲まれた領域がモモシンクイガの被害を受けた部分です。
図5は、開発したシステムの全体構成イメージ図です。
当該研究ユニットは図4（モモシンクイガ被害果検出装置による画像認識）までの工程を担当しました。
担当した各装置と後続の各装置（キャップ自動装着、密着収納による自動箱詰め、
出荷トラックへモモ箱自動搬送）によって、検査・梱包・搬送の全自動化が可能となります。
※本研究は、生研支援センターが実施する「革新的技術開発・緊急展開事業（うち地域戦略プロジェクト）」の
支援を受けて行いました。
| 所 属 | 職 名 | 氏 名 | 分 野 |
|---|---|---|---|
| 工学部メカトロニクス工学科 | 准教授 | 石田 和義 | 機械系 |
| 工学部メカトロニクス工学科 | 教 授 | 小谷 信司 | 電気系 |
| 工学部メカトロニクス工学科 | 教 授 | 寺田 英嗣 | 機械系 |
| 工学部メカトロニクス工学科 | 准教授 | 鈴木 裕 | 電気系 |
| 工学部メカトロニクス工学科 | 助 教 | 渡邉 寛望 | 情報系 |
| 工学部附属ものづくり教育実践センター | 准教授 | 牧野 浩二 | 組込み系 |
“Assessment of grip-motion characteristics in carpal tunnel syndrome patients using a novel finger grip dynamometer system”,
Toru Sasaki, Koji Makino, Akimoto Nimura, Shiro Suzuki, Tomoyuki Kuroiwa, Takafumi Koyama, Atsushi Okawa, Hidetsugu Terada, Koji Fujita,
Journal of Orthopaedic Surgery and Research Vol.15, No.1, p.245-252, 2020.6（査読有）:
DOI
“Recognition System of Positions of Joints of Hands in an X-ray photograph to Develop an Automatic Evaluation System for Rheumatoid Arthritis Using Machine Learning”,
Koji Makino, Kensuke Koyama, Yuri Hioki, Hirotaka Haro, Hidetsugu Terada,
HSI 2020 (13th IEEE International Conference on Human System Interaction), 2020.6.6-6.8（査読有）:
DOI
“Improvement of an ultrasonically controlled growing rod system for spinal implants”,
Yudai Kitano, Koji Makino, Takaaki Ishii, Tomohiro Natori, Hidetsugu Terada,
HSI 2020 (13th IEEE International Conference on Human System Interaction), 2020.6.6-6.8（査読有）:
DOI
“Prediction of Factors of Pincer Nail using Gravity Center Fluctuation based on Factor Analysis”,
Koji Makino, Youichi Ogawa, Shinji Shimada, Tatsuyoshi Kawamura, Hidetsugu Terada,
HSI 2020 (13th IEEE International Conference on Human System Interaction), 2020.6.6-6.8（査読有）:
DOI
“Study on a Manipulatable Endoscope with Fins Knit by a Biodegradable String”,
Koji Makino, Fumihiko Iwamoto, Hiromi Watanabe, Tadashi Sato, Hidetsugu Terada, Naoto Sekiya,
RO-MAN 2020 (29th IEEE International Conference on Robot and Human Interactive Communication), 2020.8.31-9.4（査読有）:
DOI
“Development of a Switchable Wearable Robot for Rehabilitation After Surgery of Knee”,
Koji Makino, Teppei Ogura, Masahiro Nakamura, Hidetsugu Terada,
ROMANSY 23 - Robot Design, Dynamics and Control, p.60-67, 2020.9（査読有）:
DOI
“Development of a Total Inspection System for Peaches”,
Kazuyoshi Ishida, Koji Makino, Hiromi Watanabe, Yutaka Suzuki, Tsutomu Tanzawa, Shinji Kotani, Hidetsugu Terada,
Mechanisms and Machine Science 88, p.66-79, 2020.10（査読有）:
DOI
“Elapsed time analysis of vascular stenosis by shunt sound using Dynamic Time Warping and Self-Organizing Map”,
Yusaku Andoa, Osamu Sakata, Yutaka Suzuki,
Proc. SPIE 11071, Tenth International Conference on Signal Processing Systems, 2019.4.17 (査読有) :
DOI
“Quantifying peristaltic activity of a small intestine based on tracking of digests in an abdominal B-mode movie”,
Yuichiro Iida, Osamu Sakata, Yutaka Suzuki,
Proc. SPIE 11071, Tenth International Conference on Signal Processing Systems, 2019.4.17 (査読有) :
DOI
“Evaluation of Swallowing Capacity Based on Esophageal and Bolus Movements by Ultrasound Video Processing”,
Yutaka Suzuki, Osamu Sakata, Morimasa Tanimoto, Kyosuke Hatsushika, Keisuke Masuyama, Masayuki Morisawa,
Proc. SPIE 11071, Tenth International Conference on Signal Processing Systems, 2019.4.17 (査読有) :
DOI
「嚥下評価のためのOptical Flow法とStable Extremal Region法を用いた超音波動画像処理による食道壁と食塊の分類」
鈴木 裕，初鹿恭介，増山敬祐，阪田 治，谷本守正，森澤正之
電気学会論文誌C, 2019年139巻5号, p.603-608（査読有）:
DOI
“Presence of a family history and excessive pressure on the first toe pad during walking in female subjects with pincer nails”,
Koji Makino, Youichi Ogawa, Takaiki Kanagawa, Miyuki Matsuzawa, Saori Yamamoto, Kazuki Yamada, Shinji Shimada, Tatsuyoshi Kawamura, Hidetsugu Terada,
Journal of Dermatology 46, p.631-633, 2019.5（査読有）:
DOI
“Development of a Vibration Exciter for Ultrasonic Controlled Growing Rod System at Minimally Invasive Surgery”,
Yudai Kitano, Koji Makino, Takaaki Ishii, Tomohiro Natori, Hidetsugu Terada,
HSI 2019 (12th IEEE International Conference on Human System Interaction), 2019.6.25-6.27（査読有）:
DOI
“Classification of Swing Motion of Tennis using a Recurrent-based Neural Network”,
Koji Makino, Yudai Kitano, Hiromitsu Nishizaki,
HSI 2019 (12th IEEE International Conference on Human System Interaction), 2019.6.25-6.27（査読有）:
DOI
“Classification of esophageal and bolus movements for evaluation of swallowing function by ultrasound video processing using optical flow and stable extremal region method”,
Yutaka Suzuki, Kyosuke Hatsushika, Keisuke Masuyama, Osamu Sakata, Morimasa Tanimoto, Masayuki Morisawa,
Electron Comm Jpn. Vol.139, No.5, p.19-26, 2019.7（査読有）:
DOI
「X線を利用したモモシンクイガ被害果検査システムの実証試験研究」
渡辺寛望, 鈴木 裕, 牧野浩二, 丹沢 勉, 石田和義, 寺田英嗣, 小谷信司
電気学会論文誌C, 2019年139巻9号, p.993-1000（査読有）:
DOI
“Improving English listening accuracy of native Japanese by ACE method”,
Ryota Yasui, Yutaka Suzuki, Yasuyuki Satoh, Osamu Sakata,
Proc. of the 7th IIAE International Conference on Intelligent Systems and Image Processing 2019, p.18-21, 2019.9.6（査読有）
“Auscultating Diagnosis Support System by Using Self-Organizing Map II”,
Yutaka Suzuki, Osamu Sakata, Shun'ichi Imamura, Shuichiro Endo, Keisuke Masuyama, Masayuki Morisawa,
Proc. of the 7th IIAE International Conference on Intelligent Systems and Image Processing 2019, p.325-329, 2019.9.6（査読有）
“Measurement of Electric Potential of a Plant using Electroconductive Cloth Sensor”,
Osamu Sakata, Makoto Iwashita, Yasuyuki Satoh, Yutaka Suzuki,
Proc. of the 7th IIAE International Conference on Intelligent Systems and Image Processing 2019, p.388-393, 2019.9.6（査読有）
“Releasable Locking Mechanism Using Friction and a Cuneus for Holding a Posture”,
Koji Makino, Tatsuya Kaneko, Kenji Matsumura, Hidetsugu Terada,
Mechanisms and Machine Science 79, p.81-90, 2019.9（査読有）:
DOI
“Analysis of Eye Tracking of Physiotherapist during Walk Rehabilitation”,
Zhen Liu, Koji Makino, Masahiro Nakamura, Kazuyoshi Ishida, Yoshinobu Hanagata, Shohei Ueda, Kohei Shirataki, Hidenori Omori, Hidetsugu Terada,
IECON 2019 (45th Annual Conference of the IEEE Industrial Electronics Society), 2019.10.14-10.17（査読有）:
DOI
“Temporal Change by Measurement of Swallowing Sound”,
Shun Maruyama, Yutaka Suzuki, Morimasa Tanimoto, Keisuke Masuyama, Mari Takahashi, Osamu Sakata, Motoki Arakawa, Masayuki Morisawa,
Proc. of IEEE GCCE 2019 (IEEE 8th Global Conference on Consumer Electronics), p.908-912, 2019.10.15（査読有）:
DOI
“Determining the Influence of Viscosity on Quantitative Indicators of Swallowing Function Using Ultrasound Video Processing”,
Takato Matsuzaki, Yutaka Suzuki, Morimasa Tanimoto, Keisuke Masuyama, Mari Takahashi, Motoki Arakawa, Osamu Sakata, Masayuki Morisawa,
Proc. of IEEE GCCE 2019 (IEEE 8th Global Conference on Consumer Electronics), p.913-917, 2019.10.15（査読有）:
DOI
“Development of a device for the Eustachian tube function test”,
Yutaka Suzuki, Osamu Sakata, Shun'ichi Imamura, Naoto Shimura, Shun Maruyama, Takato Matsuzaki, Masayuki Morisawa,
Proc. of IEEE GCCE 2019 (IEEE 8th Global Conference on Consumer Electronics), p.1174-1178, 2019.10.15（査読有）:
DOI
“Multi-Channelization Analytical Method of Swallowing Sounds for Swallowing Evaluation”,
Shun Maruyama, Yutaka Suzuki, Morimasa Tanimoto, Keisuke Masuyama, Mari Takahashi, Osamu Sakata, Masayuki Morisawa,
Journal of Signal Processing 23(6) p.277-283, 2019.11.15（査読有）:
DOI
“Examination of Image Processing Method and Image Selection Method for Region of Interest Extraction in an Ultrasound Moving Image for Swallowing Evaluation”,
Takato Matsuzaki, Yutaka Suzuki, Morimasa Tanimoto, Keisuke Masuyama, Mari Takahashi, Osamu Sakata, Masayuki Morisawa,
Journal of Signal Processing 23(6) p.285-291, 2019.11.15（査読有）:
DOI
“Fabrication of Sensors with Humidity Swelling Polymer for Plastic Optical Fibers by Electrospray Deposition”,
Ryota Ikki, Yutaka Suzuki, Masayuki Morisawa,
The 28th International Conference on Plastic Optical Fibers, p.93-94, 2019.11.20（査読有）
“Sensitivity Improvement of Plastic Optical Fiber Alkane Sensor Using Narrow and Concave Construction”,
Daiki Ushida, Yutaka Suzuki, Masayuki Morisawa,
The 28th International Conference on Plastic Optical Fibers, p.95-96, 2019.11.20（査読有）
“3-D Scan Matching for Mobile Robot Localization over Rough Terrain”,
Hiroyuki Nakagomi, Yoshihiro Fuse, Hidehiko Hosaka, Hironaga Miyamoto, Takashi Nakamura, Akira Yoneyama, Masashi Yokotsuka, Akiya Kamimura, Hiromi Watanabe, Tsutomu Tanzawa, Shinji Kotani,
ELECTRICAL ENGINEERING in JAPAN, Vol.209, No.3-4, p.14-25, 2019.12（査読有）:
DOI
“Automatic System for Generating Special Shaped Soft Sheet to Protect Fruit from Damage”,
Koji Makino, Kazuyoshi Ishida, Hiromi Watanabe, Yutaka Suzuki, Tsutomu Tanzawa, Shinji Kotani, Hidetsugu Terada,
SII2020 (2020 IEEE/SICE International Symposium on System Integration), 2020.1.12-1.15（査読有）:
DOI
“Development of a Rust Assessment System for Weathering Steel”,
Hiromi Watanabe, Tsutomu Tanzawa, Shinji Kotani, Tsuyoshi Shimizu,
SII2020 (2020 IEEE/SICE International Symposium on System Integration), 2020.1.12-1.15（査読有）:
DOI
“Classification of a Pincer Nail Using a Recurrent-based Neural Network”,
Koji Makino, Youichi Ogawa, Zhen Liu, Kazuki Yamada, Hiromitsu Nishizaki, Shinji Shimada, Tatsuyoshi Kawamura, Hidetsugu Terada,
SII2020 (2020 IEEE/SICE International Symposium on System Integration), 2020.1.12-1.15（査読有）:
DOI
“High-Accuracy Finger Force Distribution Measurement System with Precision Calibration Function”,
Lu Zhao, Koji Makino, Koji Fujita, Toru Sasaki, Nobutaka Sato, Kazuki Yamada, Kensuke Koyama, Hirotaka Haro, Hidetsugu Terada,
SII2020 (2020 IEEE/SICE International Symposium on System Integration), 2020.1.12-1.15（査読有）:
DOI
“Detecting Stenosis Eustachian Tube Insufflation Sound Using Dynamic Time Warping”,
Yutaka Suzuki, Osamu Sakata, Shun'ichi Imamura, Naoto Shimura, Shun Maruyama, Takato Matsuzaki, Masayuki Morisawa,
Proc. of IEEE LifeTech 2020, p.343-344, 2020.3.9（査読有）:
DOI
“A new technique to estimate the direction of sounds stemming from impending dangers”,
Osamu Sakata, Yutaka Suzuki,
Proc. of IEEE LifeTech 2020, p.347-348, 2020.3.9（査読有）:
DOI
“Motion Planning of a Rotation Type Peach Fruit Moth Inspection System”,
Koji Makino, Kazuyoshi Ishida, Hiromi Watanabe, Yutaka Suzuki, Shinji Kotani, Hidetsugu Terada,
Mechanisms and Machine Science 59, p.173-180（査読有）:
DOI
“Development of a Peach Fruit Moth Inspection System”,
Kazuyoshi Ishida, Koji Makino, Hiromi Watanabe, Yutaka Suzuki, Shinji Kotani, Hidetsugu Terada,
SICE Annual Conference 2018, 2018.9.11-9.14（査読有）:
DOI
“Development of Manufacturing Equipment for a Concavo-Convex Patterned Sheet to Protect Fruits”,
Koji Makino, Kazuyoshi Ishida, Hiromi Watanabe, Yutaka Suzuki, Shinji Kotani, Hidetsugu Terada,
IECON 2018 (44th Annual Conference of the IEEE Industrial Electronics Society), 2018.10.21-10.23（査読有）:
DOI
“Planning a Development of an Inspection System for Farm Products”,
Kazuyoshi Ishida, Koji Makino, Hiromi Watanabe, Yutaka Suzuki, Shinji Kotani, Hidetsugu Terada,
SII2019 (2019 IEEE/SICE International Symposium on System Integration), 2019.1.14-1.16（査読有）:
DOI
「モモシンクイガ検出システムを対象とした被害果の出荷リスク低減に関する検討」
牧野浩二, 石田和義, 渡辺寛望, 鈴木 裕, 小谷信司, 寺田英嗣
計測自動制御学会論文誌, 2019年55巻2号, p.110-117（査読有）:
DOI
“Development of a concavo-convex non-woven cloth to reduce shock to fruit”,
Koji Makino, Kazuyoshi Ishida, Hiromi Watanabe, Yutaka Suzuki, Shinji Kotani, Hidetsugu Terada,
RO-MAN 2017 (26th IEEE International Conference on Robot and Human Interactive Communication), 2017.8.28-9.1（査読有）:
DOI
“Study of the adaptation of a concavo-convex sheet for a peach fruit inspection system”,
Koji Makino, Kazuyoshi Ishida, Hiromi Watanabe, Yutaka Suzuki, Shinji Kotani, Hidetsugu Terada,
IECON 2017 (43rd Annual Conference of the IEEE Industrial Electronics Society), 2017.10.29-11.1（査読有）:
DOI
“Arrangement method of a peach for export to Taiwan in a peach moth inspection system”,
Koji Makino, Kazuyoshi Ishida, Hiromi Watanabe, Yutaka Suzuki, Shinji Kotani, Hidetsugu Terada,
SII2017 (IEEE/SICE International Symposium on System Integration), 2017.12.11-12.14（査読有）:
DOI
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