KINDAI UNIVERSITY


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TATSUNO Junya

Profile

FacultyDepartment of Mechanical Engineering / Research Institute of Fundamental Technology for Next Generation / Graduate School of System Enginnering
PositionProfessor
Degree
Commentator Guidehttps://www.kindai.ac.jp/meikan/415-tatsuno-junya.html
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Last Updated :2020/04/03

Education and Career

Education

  •   1989 04  - 1993 03 , Hosei University
  •   1993 04  - 1995 03 , Hosei University, Graduate School
  •   1995 04  - 1996 03 , Hosei University, Graduate School

Academic & Professional Experience

  •   2018 04 ,  - 現在, Kindai University
  •   2010 04 ,  - 2018 03 , Kindai University
  •   2006 04 ,  - 2010 03 , Kindai University
  •   2004 10 ,  - 2006 03 , Tokyo University of Agriculture
  •   1996 04 ,  - 2004 09 , Tokyo University of Agriculture

Research Activities

Research Areas

  • Manufacturing technology (mechanical, electrical/electronic, chemical engineering), Control and systems engineering
  • Informatics, Mechanics and mechatronics
  • Informatics, Robotics and intelligent systems
  • Environmental science/Agricultural science, Agricultural environmental and information engineering
  • Informatics, Human interfaces and interactions

Published Papers

  • Experimental Investigation of the Relationship Between Human Discomfort and Involuntary Movements in Vehicle Seat, Junya Tatsuno, Koki Suyama, Hiroki Mitani, Hitomi Nakamura, Setsuo Maeda, Advances in Intelligent Systems and Computing, Advances in Intelligent Systems and Computing, 964, 400 - 411, Jan. 01 2020
    Summary:& #x00A9; 2020, Springer Nature Switzerland AG. To evaluate human discomfort in a vehicle seat, we have focused on the involuntary movements of participants. In our previous studies, we carried out the driving simulator experiment to investigate a change in human discomfort during 60 min of traveling. In the experiment, we video-recorded the participant’s movements and checked all video off-line to obtain the frequencies of participants’ movement. Consequently, we could discuss the relationship between the subjective ratings of participants and the frequencies of the involuntary movements. However, we recognized that the visual judgment was too heavy for us to carry out. Thus, we have developed other methods to detect involuntary movements. In this paper, we proposed the unrestrained method with flex sensors, and we reported the comparison result between the subjective discomfort and the frequency of the involuntary index as an objective index.
  • Development of Simple Detection Method of Involuntary Movements to Evaluate Human Discomfort in Vehicle Seat, Junya Tatsuno, Setsuo Maeda, Advances in Intelligent Systems and Computing, Advances in Intelligent Systems and Computing, 786, 857 - 865, Jan. 01 2019
    Summary:© Springer International Publishing AG, part of Springer Nature 2019. We have studied the evaluation of human discomfort with the seat fidgets and movements (SFMs). In our previous studies, we video-recorded the participants’ movements during all experiment and checked all video off-line to derive the SFMs frequencies of participants. In this methodology, our workloads were too heavy to obtain SFMs of participants. In addition, we sometimes missed SFMs of participants due to the occlusion problem like as right leg overlapped the left leg when we video-recorded the participant from right side with the single camera. Thus, we have studied a simple detection method of SFMs to evaluate personal discomfort in a vehicle seat. In this article, we described a new methodology with flex sensors and showed a possibility of SFMs extraction by observing the outputs of six flex sensors attached to participant body.
  • Possibility of automobile seat evaluation with seat fidgets and movements, Junya Tatsuno, Setsuo Maeda, George Sammonds, Neil Mansfield, Advances in Intelligent Systems and Computing, Advances in Intelligent Systems and Computing, 597, 474 - 483, Jan. 01 2018 , Refereed
    Summary:© Springer International Publishing AG 2018. In the previous study, we suggested the seat fidgets and movements (SFMs) to evaluate driver discomfort which increases with time. As the next stage, we investigated application possibility of SFMs to the evaluation of the automobile seats. In the experiment, three types of automobile seat were provided. The participants were asked to travel on the road with some vibration section for 60 min. During the experiment, they executed reading task instead of a driving task to simulate front seat passenger. Besides, the participant movement was video-recorded to analyze the frequency of SFMs off-line. As a result, the acceleration values varied according to the type of seat and were significantly different. The participants’ discomfort ratings had a different tendency from the acceleration values. The SFMs frequency occasionally indicated a similar tendency to the discomfort ratings. These results exhibit that SFMs will be one of the useful ways to evaluate ride comfort objectively.
  • Possibility of Ride Comfort Evaluation of Automobile Seat by the Category Judgement Method, TATSUNO Junya, TAKEHARA Shin, MAEDA Setsuo, Human Factors in Japan, Human Factors in Japan, 22(1), 18 - 29, Aug. 31 2017
    Summary:It is common to evaluate automobile seats with the objective values like transmissibility. In such conventional evaluation methods, psychological factors of occupants have not been considered even though occupants eventually judge ride comfort. In this paper, we executed the driving simulator experiment to investigate the applicability of the evaluation by the subjective score as well as the objective value to ride comfort evaluation of automobile sear. In the experiment, five kinds of test seat were randomly fixed on the driving simulator, and twenty participants drove on the test course where the whole body vibration was exposed. We measured the vibration accelerations and obtained discomfort rating of the participants. From the experimental results of the scaling with the vibration accelerations and the participant's discomfort rating, we could show particular characteristics of the test seats. Since some previous studies reported that the measurement of the whole-body vibration based on ISO2631-1 has many problems, we recognized that we should explore the measurement of the whole-body vibration as well as continue the seat evaluation experiment under another course layout where the rolling and yawing vibration is exposed to participants.
  • Effect of hands-free device on braking operation of drivers, 樹野淳也, 前田節雄, ヒューマンファクターズ, ヒューマンファクターズ, 21(2), 49‐58, Feb. 28 2017
  • Omnidirectional motion planning for a leg-wheeled robot with reduced DOF and using passive wheels, Nobutake Hiraoka, Junya Tatsuno, Katsuhiko Inagaki, 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, Jan. 31 2017
    Summary:© 2016 IEEE. This paper presents a new type of leg-wheeled robot, which is constructed with passive wheels and the idea of reduced degrees of freedom (DOF). Even though there are variety types of mobile robots researched, some of them cannot be used practical purpose because of their high number of DOF, resulting in complex structure and complicated control system. Typical leg-wheeled robots also have a high number of DOF, and because of that, it is very difficult to put them in practical purpose. Thus, we try to develop another type of leg-wheeled robot with reduced DOF, which only have 10 DOF even though they have 6 legs. The motion plan for the robot discussed in previous study was simply moving forward, and those motion plans cannot be applied for moving omnidirectionaly. Therefore, we propose new motion plans, which can be applied for moving in omnidirection, and more details about the motion planning of moving forward by using the new motion plan.
  • Two-dimensional localization system of a legged robot for shaft tillage cultivation, Tatsuno Junya, Tajima Kiyoshi, Inagaki Katsuhiko, MECHANICAL ENGINEERING JOURNAL, MECHANICAL ENGINEERING JOURNAL, 4(2), 2017 , Refereed
  • A Study of an Omnidirectional Robotic Cart Using Passive Wheels, Nobutake Hiraoka, Junya Tatsuno, Katsuhiko Inagaki, PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 5850 - 5855, 2016 , Refereed
  • Omnidirectional motion planning for a leg-wheeled robot with reduced DOF and using passive wheels., Nobutake Hiraoka, Junya Tatsuno, Katsuhiko Inagaki, 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, Phuket, Thailand, November 13-15, 2016, 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016, Phuket, Thailand, November 13-15, 2016, 1 - 6, 2016 , Refereed
  • Reducing Whole-body Vibration Exposure of Occupants in Autonomous Car by Intelligent Behavior, Tatsuno Junya, Maeda Setsuo, 2015 10TH ASIAN CONTROL CONFERENCE (ASCC), 2015 10TH ASIAN CONTROL CONFERENCE (ASCC), 1 - 6, Sep. 08 2015 , Refereed
    Summary:© 2015 IEEE.Unlike other autonomous working vehicles such as farm and construction machinery, autonomous cars have at least one occupant inside, even if driving operations are automated. Thus, the whole-body vibration problem must continue to be a research topic for autonomous vehicles. We believe that an autonomous vehicle can mitigate whole body vibration by utilizing autonomous functions such as lane change control. Therefore, the purpose of this paper is to verify the effectiveness of lane change control in reducing the whole-body vibration exposure of occupants in autonomous cars. We performed numerical simulations with experimental data obtained using the measurement techniques of ISO2631-1. Thus, we observed that if an autonomous car could skirt rough road surfaces using a lane change function, the degree of ride comfort would be enhanced during travel and the maximum acceptable exposure time as health effect evaluation would be lengthened.
  • Evaluation of hand-arm vibration reducing effect of anti-vibration glove, 樹野 淳也, 前田 節雄, 横田 和樹, 平 雄一郎, 近畿大学次世代基盤技術研究所報告, 近畿大学次世代基盤技術研究所報告, 6, 61 - 66, Jun. 2015
    Summary:Many kinds of the anti-vibration glove have been developed for reducing hand-arm vibration during the operation with vibration tools. International standard ISO 10819 evaluates the physical effect of gloves' vibration transmissibility but not evaluates the physiological effect of human hands. Thus, in this paper, we proposed the evaluation using the temporary threshold shift of vibrotactile perception threshold to evaluate the hand-arm vibration reducing effect of anti-vibration glove. We performed the experiments where subjects were exposed to hand-arm vibration under the three glove conditions; two kinds of gloves and barehanded. As a result, we could confirm wearing the anti-vibration gloves provides positive effects for human hands physiologically and the proposed method might be effective for evaluation of the hand-arm vibration reducing effect of anti-vibration glove.Ⅲ.論文集
  • Usability Validation of Multi-modal Touch Panel, 樹野淳也, 米原牧子, 中村一美, 竹原伸, 藤井隆志, 近畿大学次世代基盤技術研究所報告, 近畿大学次世代基盤技術研究所報告, 5, 55 - 62, Jun. 2014
    Summary:The objectives of this paper are to investigate the effects of auditory feedback and tactile feedback on usability of touch panel and to find out the improving mechanism of touch panel usability. Four kinds of stimulus conditions are prepared with the absence or presence of auditory feedback and vibration feedback. In experiments, subjects are given phone number task under the stimulus conditions. In order to evaluate the usability, task duration is measured by using timer counter function in the touch panels, and eye-fixation duration is measured with an eye tracking system. From the experimental results of 24 subjects, it was found that not only the task duration but also the fixation duration on the touch panel are influenced by the stimulus conditions. Accordingly, the reason why the task duration under the condition with auditory feedback or vibration feedback becomes shorter seems to depend on the fixation duration on the touch panel. Since it is well known that auditory reaction time and tactile reaction time are faster than visual reaction time, it was guessed that subjects could more quickly judge the completion of phone number input by using auditory and tactile senses.
  • Influences of whole-body vibration on roughness sensation, Makiko Yonehara, Hirokazu Yoshino, Junya Tatsuno, Setsuo Maeda, Hideki Kyogoku, INTERNOISE 2014 - 43rd International Congress on Noise Control Engineering: Improving the World Through Noise Control, INTERNOISE 2014 - 43rd International Congress on Noise Control Engineering: Improving the World Through Noise Control, Jan. 01 2014
    Summary:"Texture"is one of the elements that contribute to the appearance of industrial products. It is an important element in improving a surface's added value. In this study, we quantified the surface of various irregular shapes using areal surface texture parameters compliant with ISO25178-2:2012. Then, we investigated the relations of roughness sensations and areal surface texture parameters. Moreover, we investigated the effects on a car passenger's sense of roughness when exposed to whole-body vibration. By investigating the areal surface texture parameters of textured surfaces, parameters that were effective for characterizing irregularities in different surfaces were described. In conclusion, design guidelinesfor surfaces that include tactile factors were suggested.
  • Effect of Gradational Patterns on Positional Accuracy of Active Touch, 米原 牧子, 樹野 淳也, 中村 一美, 近畿大学次世代基盤技術研究所報告, 近畿大学次世代基盤技術研究所報告, 5, 129 - 138, 2014
  • Effect of Gradational Patterns on Positional Accuracy of Active Touch, 米原牧子, 樹野淳也, 中村一美, 竹原伸, 藤井隆志, 福本知輝, 人間工学, 人間工学, 49(6), 279 - 288, Dec. 15 2013
    Summary:This paper describes some experiments on the positional accuracy of active touch. Plate surfaces having a gradational unevenness pattern are prepared. The gradational pattern consists of many dots. First, the condition of natural gradation is investigated. The height and pitch of the dots are constant, and their diameters are intergraded. The condition of the logarithmically changing diameter of the dots is evaluated as the natural pattern when the participants touch these dots. Then, the positional accuracy of active touch between a gradationally patterned plate and a smooth plate is compared. Further, the positional accuracy of the gradationally patterned plate is compared to that of a control switch using a lever. As a result, we conclude that the gradationally patterned plate can control the position of a fingertip more accurately than the other plate and switch. Moreover, the results obtained in both the abovementioned cases are significantly different statistically.
  • Measurement and evaluation of whole-body vibration in driving electrically powered scooters, 樹野淳也, 土屋賢太, 米原牧子, 中村一美, 竹原伸, 前田節雄, 近畿大学次世代基盤技術研究所報告, 近畿大学次世代基盤技術研究所報告, 4, 63 - 69, Jun. 2013
  • Guidance of a Transplanting Skid Steer Vehicle with Variable Center of Gravity, International Journal of Environmental Rural Development, International Journal of Environmental Rural Development, 4(1), 75 - 80, Apr. 2013
  • Effect of Multi-modal Whole-Body Vibration on Evaluation of Ride Comfort, Tatsuno Junya, Tsuchiya Kenta, Nakamura Hitomi, Yonehara Makiko, Takehara Shin, Maeda Setsuo, JSAE Transactions, JSAE Transactions, 44(1), 93 - 98, 2013
    Summary:ISO 2631-1, which defines methods for the measurement and evaluation of human exposure to whole-body vibration, describes factors contributing to the discomfort from vibration. However, investigations of the effect of sound and visual images on whole-body vibration are necessary to evaluate ride comfort truly. Then, we developed a new driving simulator to realize virtual driving easily. This paper reports the psychometric experiments with various conditions of vibration and audiovisual stimulation. For evaluation of whole-body vibration, we used the category judgment method. We discussed the relationship between the stimulation condition and subjects' assessment.
  • Effect of Multi-modal Whole-Body Vibration on Evaluation of Ride Comfort, 樹野 淳也, 土屋 賢太, 中村 一美, 自動車技術会論文集, 自動車技術会論文集, 44(1), 93 - 98, Jan. 2013
  • Effect of visual and auditory stimuli on human response to whole-body vibration, Junya Tatsuno, Hitomi Nakamura, Shin Takehara, Kenta Tsuchiya, Makiko Yonehara, Setsuo Maeda, 41st International Congress and Exposition on Noise Control Engineering 2012, INTER-NOISE 2012, 41st International Congress and Exposition on Noise Control Engineering 2012, INTER-NOISE 2012, 3, 2442 - 2450, Dec. 01 2012
    Summary:ISO 2631-1, which defines the methods for the measurement and evaluation of humans' exposure to whole-body vibration, describes factors that contribute to discomfort from vibration. Moreover, Annex C of ISO 2631-1 ("Guide to the effects of vibration on comfort and perception") states that "the reactions at various magnitudes depended on passenger expectancies with regards to trip duration and the type of activities passengers expect to accomplish (e.g., reading, eating, writing, etc.) and many other factors (acoustic noise, temperature, etc.)." However, only a few studies have been conducted on the effects of sound and visual images on whole-body vibration perception. Therefore, we developed a virtual driving system that easily simulates and can be used to clarify the extent to which visual images and acoustic noise contribute to vibration discomfort. This paper discusses our psychometric experiments using the driving simulator. In this study, as the first trial, two types of auditory stimuli and visual stimuli were prepared. Under the conditions of these stimuli combinations, the subjects were exposed to whole-body vibration while driving virtually on a road with various speed bumps. We summarized the relationship between the stimulus condition and subjects' assessments. The results suggested that the visual and auditory stimuli affect the subjects' sense of vibration.
  • Effect of visual and auditory stimuli on human response to whole- body vibration, Inter-Noise 2012, Inter-Noise 2012, Aug. 2012
  • The Possibility to Adapt the Shaft Tillage Cultivation Method to Arid Land Farming, JITSUNO Masataka, TAJIMA Kiyoshi, KATO Masayoshi, TOYODA Nariaki, LOPEZ Noe Velazquez, SAKAGUCHI Eiichiro, TATSUNO Junya, 沙漠研究 : 日本沙漠学会誌, 沙漠研究 : 日本沙漠学会誌, 22(1), 341 - 344, Jun. 25 2012
  • Effects of differences in the control switch of air conditioning units on maneuverability, 樹野淳也, 中村一美, 米原牧子, 田中一基, 竹原伸, 近畿大学次世代基盤技術研究所報告, 近畿大学次世代基盤技術研究所報告, 3, 47 - 54, Jun. 2012
    Summary:[Abstract] Most traffic accidents are caused by inattentive driving. Inattentive driving occurs when drivers operate devices unrelated to driving. This paper evaluates the maneuverability of control switch of the air conditioning unit. We performed an experiment to compare the operation of three kinds of control switches: lever switch, knob rotary switch, and dial rotary switch. The experimental results showed that the subjects could perform the tasks more accurately using the knob rotary switch compared to that using the dial rotary switch and lever switch. The difference in the operation of three different control switches is as follows: In the case of the knob rotary switch and lever switch, the subjects are able to hold the switch at the central position by arm kinesthetic sense, and the motion error gets canceled when the subjects operate the control switch continuously. In contrast, in the case of the dial rotary switch, subjects are not able to recognize the switch rotation without visual confirmation, and the error accumulates whenever the subjects operate the switch. The next stage of this research involves the development of a switch that operates without visual confirmation. In the future, it is expected that the control switch of the air conditioning unit will not only possess a merchantable design but will also produce better results during its operation.
  • Effect of surface texture on glossiness and color for wrinkly textured surfaces in automotive interior, 米原牧子, 樹野淳也, 中村一美, 竹原伸, 近畿大学次世代基盤技術研究所報告, 近畿大学次世代基盤技術研究所報告, 3, 73 - 77, Jun. 2012
    Summary:[Abstract] Texture is one of the important factors to characterize appearance of products. However, its quantitative evaluation is difficult and the proper evaluation method has not been developed yet. In order to solve this problem, in the present study, we proposed several parameters applicable for quantitative texture evaluation. Effects of surface roughness on glossiness and surface color were investigated for wrinkly textured surfaces in car interior. With decreasing skewness Rsk, glossiness increased. The lightness L* and color coordinate b* change with the arithmetical mean roughness, Ra. The present experimental results showed that the texture can be evaluated quantitatively by using three combined parameters: surface roughness, glossiness and surface color.
  • Effects of differences in the control switch of air conditioning units on maneuverability, 近畿大学次世代基盤技術研究所報告, 近畿大学次世代基盤技術研究所報告, 3, 47 - 54, 2012
  • Effect of surface texture on glossiness and color for wrinkly textured surfaces in automotive interior, 近畿大学次世代基盤技術研究所報告, 近畿大学次世代基盤技術研究所報告, 3, 73 - 77, 2012
  • Driving simulator for subjective scaling validation of the ISO 2631-1 standard, Junya Tatsuno, Hitomi Nakamura, Makiko Yonehara, Shin Takehara, Kazuma Ishimatsu, Setsuo Maeda, 40th International Congress and Exposition on Noise Control Engineering 2011, INTER-NOISE 2011, 40th International Congress and Exposition on Noise Control Engineering 2011, INTER-NOISE 2011, 4, 3576 - 3583, Dec. 01 2011
    Summary:ISO 2631-1, which defines the acceptable standard of body vibration, constitutes the generally accepted criteria for evaluating whole-body vibration as a part of overall in-vehicle comfort. Annex C of ISO 2631-1 (''Guide to the effects of vibration on comfort and perception'') states that "the reactions at various magnitudes depended on passenger expectancies with regards to trip duration and the type of activities passengers expect to accomplish (e.g., reading, eating, writing, etc.) and many other factors (acoustic noise, temperature, etc.)". Although previous studies have reported factors contributing to the discomfort from vibration, some studies on the effects of sound and visual images (i.e., audio-visual stimulation) on whole-body vibration perception have been reported recently. In order to validate the effect of sound and visual images on whole-body vibration evaluation, the multi-modal simulator or the driving simulator is necessary to perform the psychometric experiments. We developed a new driving simulator for the psychometric experiments. In this study, the hardware specification and control system of the driving simulator are described first. Then, we described plans for a psychometric experiment using the driving simulator to obtain data for the revision of the ISO 2631-1 standard.
  • Driving Simulator for Subjective Scaling VAlidation of the ISO 2631-1 standard, internise 2011, internise 2011, Sep. 2011
  • PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation, SHIRATO Yuki, MOCHIYAMA Hiromi, KOBAYASHI Hisato, TATSUNO Junya, KAWAI Hiroyuki, Journal of Robotics and Mechatronics, Journal of Robotics and Mechatronics, 23(3), 393 - 399, Jun. 20 2011 , Refereed
  • 「平成22年度次世代自動車技術調査研究事業」委託試験報告「次世代自動車技術であるHV技術の実効性評価・解析」, 竹原伸, 樹野淳也, 中村一美, 米原牧子, 近畿大学次世代基盤技術研究所報告, 近畿大学次世代基盤技術研究所報告, 2, 141 - 148, Jun. 2011
  • Evaluation of Touch Panel with Multimodal Interaction, 樹野淳也, 西澤貴史, 米原牧子, 中村一美, 竹原伸, 藤井隆志, 近畿大学次世代基盤技術研究所報告, 近畿大学次世代基盤技術研究所報告, 2, 83 - 88, Jun. 2011
    Summary:[Abstract] The touch panel iswidely used in many applications; ATM, FA instrument, car navigation system, cell phone and so on. Although the advantage of the touch panel is that change and update work are easy compared to mechanical switches, the touch panel has a serious problem that it gives no click feeling to operators. Therefore, as a result of researches on touch panel with tactile feedback, some items have been available commercially. However, there are few researches to evaluate the touch panel with tactile feedback. Then we carry out experiments where subjects enter sixteen telephone numbers to touch panel. So, we discuss the affects of differences in sensory feedback on task duration of subject.
  • 次世代農業ロボットの開発を目指して, 樹野淳也, 近畿大学次世代基盤技術研究所報告, 近畿大学次世代基盤技術研究所報告, 1, 51 - 56, Mar. 2011
  • Evaluation of touch panel with multimodal interaction, 2(0), 83 - 88, 2011
  • PWM controlled suction-and-exhalation master-slave system for Micro-Manipulation, Yuki Shirato, Hiromi Mochiyama, Hisato Kobayashi, Junya Tatsuno, Hiroyuki Kawai, Journal of Robotics and Mechatronics, Journal of Robotics and Mechatronics, 23, 393 - 399, Jan. 01 2011
    Summary:The master-slave suction/exhalation we proposed for micromanipulation enables remote operation between a master and slave. Specifically, solenoid valves connected to pressure sources controlled by Pulse Width Modulation (PWM) generate suction or exhalation at the end of a straw based on an air flow generated by an operator. Our exploration of its basic performance, i.e., force generation capability and response, demonstrates its micromanipulation potential.
  • Bio-manipulation with a robotic straw, Hiromi Mochiyama, Yuki Shirato, Hisato Kobayashi, Junya Tatsuno, Hiroyuki Kawai, 2010 International Symposium on Micro-NanoMechatronics and Human Science: From Micro and Nano Scale Systems to Robotics and Mechatronics Systems, MHS 2010, Micro-Nano GCOE 2010, Bio-Manipulation 2010, 2010 International Symposium on Micro-NanoMechatronics and Human Science: From Micro and Nano Scale Systems to Robotics and Mechatronics Systems, MHS 2010, Micro-Nano GCOE 2010, Bio-Manipulation 2010, 290 - 295, Dec. 01 2010
    Summary:In this paper, we demonstrate the usefulness of the micro-manipulation system with a robotic straw proposed by the authors for the microorganism isolation task. Isolating microorganism is one of the fundamental bio-manipulation tasks. This task has been conventionally achieved with a straw connected with a rubber tube. However, some skill is required by an operator for this isolation task, because it is difficult for a naive operator to place the tip of pipette at a desired position under a microscope. We show that the microorganism isolation task is successfully achieved with the proposed system even by a naive operator of the conventional microorganism isolation task without long-term training. ©2010 IEEE.
  • Networked cellular motion detection system by using pyroelectric infrared sensor for surveillance, Minoru Kanamaru, Hiroyuki Kawai, Hisato Kobayashi, Junya Tatsuno, Hiromi Mochiyama, Nobuaki Kobayashi, IECON Proceedings (Industrial Electronics Conference), IECON Proceedings (Industrial Electronics Conference), 2857 - 2862, Dec. 01 2010
    Summary:In this paper, we propose a networked cellular motion detection system for surveillance by using pyroelectric infrared sensors. The networked sensor technology has a potential to solve some of our most important scientific and societal problems. However, the distributed vision system makes it difficult to process the information acquired in such considerable amount. The proposed method gets a hint from the information processing of human hearing organs and compound eyes of insects. By constructing the testbed as a motion detection cell, we confirmed that the proposed method can be utilized to detect human behavior in a real situation. © 2010 IEEE.
  • Bio-manipulation with a Robotic straw, Proc. of 2010 International Symposium on Micro-Nano Mechatronics and Human Science (MHS2010), Proc. of 2010 International Symposium on Micro-Nano Mechatronics and Human Science (MHS2010), Nov. 2010
  • Networked Cellular Motion Detection System by Using Pyroelectric Infrared Sensor for Surveillance, Proc. of the 36th Annual Conference of the IEEE Industrial Electronics Society, pp. 2851-2856, Proc. of the 36th Annual Conference of the IEEE Industrial Electronics Society, pp. 2851-2856, Nov. 2010
  • Suck-and-blow master-slave system for micro-manipulation based on body image embedding, Hiromi Mochiyama, Yuki Shirato, Hisato Kobayashi, Junya Tatsuno, Hiroyuki Kawai, 20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science, 20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science, 332 - 337, Dec. 01 2009
    Summary:In this paper, we propose a novel master-slave system for micro-manipulation of the mechanical contact type. In the proposed system, suck and blow movements in the master side are scaled and transmitted to the slave side, i.e., we generate the air flow at the tip of the micro-straw in the slave side according to operator's suck and blow in the master side. The air flows by operator's suck and blow are detected by a series of two flow sensors opposite in direction each other. The output air flow at the micro-straw is controlled by switching a series of two solenoid valves whose three inputs are connected to an air compressor, a vacuum pump, and the atmosphere respectively. The switching law is calculated based on the data from the flow sensors. Moreover, by vibrating the straw at an operator's mouth according to the detected contact between the microstraw and a micro-object, we also expect immersive feel as if the operator sucks or blows the micro-object directly with the straw. The suck-and-blow master-slave system proposed here is compatible with the master-slave system based on the body image embedding the authors proposed previously. By combining the two systems, we expect to realize the rapid pick-and-place in a micro-world. We show some results on very basic experiments, i.e., measurement of air flows by operator's suck and blow, and picking a micro-particle by suction, to prove the potential of the proposed micro-manipulation system. ©2009 IEEE.
  • Positioning of an Autonomous Farm Vehicle for Conducting Shaft Tillage Cultivation, TATSUNO Junya, TAJIMA Kiyoshi, KATO Masayoshi, ISHII Tadashi, TAMAKI Koji, Journal of JSAM, Journal of JSAM, 71(2), 46 - 52, Mar. 01 2009
    Summary:We describe a solar-powered robotic farming system. A high-precision localization system with a laser distance sensor for guidance of a working vehicle was studied in the field. In addition, we attempted to develop a shaft-tillage and transplanting attachment based on our findings on robot-oriented farming. Here we report the findings of a vehicle positioning experiment in which the vehicle was instructed to undertake repeated stop-and-go driving and execute tillage and transplanting operations while the vehicle was stopped. The root mean square of the positioning error was approximately 13mm and was due to a measurement error of the developed localization system. Factoring in the decrease in measurement accuracy will result in an ideal positioning accuracy of less than 10mm.
  • Positioning of an Autonomous Farm Vehicle for Conducting Shaft Tillage Cultivation, 樹野淳也, 田島淳, 加藤雅義, 石井忠司, 玉木浩二, 農業機械学会誌, 農業機械学会誌, 71(2), 46 - 52, Mar. 01 2009
    Summary:We describe a solar-powered robotic farming system. A high-precision localization system with a laser distance sensor for guidance of a working vehicle was studied in the field. In addition, we attempted to develop a shaft-tillage and transplanting attachment based on our findings on robot-oriented farming. Here we report the findings of a vehicle positioning experiment in which the vehicle was instructed to undertake repeated stop-and-go driving and execute tillage and transplanting operations while the vehicle was stopped. The root mean square of the positioning error was approximately 13mm and was due to a measurement error of the developed localization system. Factoring in the decrease in measurement accuracy will result in an ideal positioning accuracy of less than 10mm.
  • Macro-micro tele-manipulation system based on body image embedding with contact feel, spatial motion and stereo vision., Hiromi Mochiyama, Takeyuki Dohda, Hisato Kobayashi, Junya Tatsuno, Hiroyuki Kawai, 18th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2009, Toyama International Conference Center, Japan, September 27 - October 2, 2009, 18th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2009, Toyama International Conference Center, Japan, September 27 - October 2, 2009, 466 - 471, 2009 , Refereed
  • Macro-micro tele-operation system based on body image embedding for bio-manipulation under microscope, Hiromi Mochiyama, Hisato Kobayashi, Junya Tatsuno, Hiroyuki Kawai, 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008, 285 - 290, Dec. 01 2008
    Summary:In this paper, in order to provide with an inex- pensive solution to efficient bio-manipulation under microscope, we propose a macro-micro tele-operation system based on body image embedding. It is known in neuroscience that we could feel our body image for the object which is not our own body in certain conditions. Our idea is to utilize the body image illusion for generating high immersive feelings in bio-manipulation under microscope, instead of aiming at the perfect transparency, the conventional target of tele-manipulation system, which is difficult to attain. Our proposed system has two additional components as well as the conventional system where micro manipulators hydraulically connected to joysticks or dials handled by an operator are used for fine bio-manipulation under a microscope. The one component is for the body posi- tion/orientation consistency between proprioception and vision. In this component, due to appropriate use of a camera for a microscope, a visual display, mirrors and tiny dummy hands, an operator can see the magnified visual image of the tiny dummy hands similar to his/her own hands in shape at the position and orientation where he/she feel them proprioceptively. The other component is for the contact consistency between touch and vision. In this component, the contact between a tool grasped by an operator's hands and a manipulated object observed by eyes should coincide to the contact felt by his/her hand skin. To do this, haptic stimulators such as piezo actuators are activated at the timing of contact which is detected, for example, by the vision processing from the microscopic images. © 2008 IEEE.
  • Development of automatic attachment for shaft tillage cultivation and transplanting, Japanese journal of farm work research, Japanese journal of farm work research, 43(3), 135 - 141, Sep. 2008
  • User-friendly Interface with Sensory Illusion for Multi-scale Tele-operation, KOBAYASHI Hisato, MOCHIYAMA Hiromi, TATSUNO Junya, KAWAI Hiroyuki, Journal of the Robotics Society of Japan, Journal of the Robotics Society of Japan, 25(2), Mar. 01 2007
  • A Scaled Tele-Operation Powered by Haptic Illusion., Hisato Kobayashi, Keisuke Murakawa, Junya Tatsuno, Hiromi Mochiyama, Hiroyuki Kawai, IEEE RO-MAN 2007, 16th IEEE International Symposium on Robot & Human Interactive Communication, August 26-29, 2007, Jeju Island, Korea, Proceedings, IEEE RO-MAN 2007, 16th IEEE International Symposium on Robot & Human Interactive Communication, August 26-29, 2007, Jeju Island, Korea, Proceedings, 1108 - 1112, 2007 , Refereed
  • Application of a Vertically-employed Electrical Conductivity Probe : Measurement of 3D salt distribution on saline land, HONG Youngki, TATSUNO Junya, SHIMADA Sawahiko, NAKAMURA Takahiko, TAJIMA Kiyoshi, TAMAKI Koji, Shokubutsu Kankyo Kogaku, Shokubutsu Kankyo Kogaku, 18(4), 247 - 254, Dec. 01 2006
    Summary:Numerous studies on the reclamation of saline land have been conducted in northeastern Thailand. Despite the importance of long-term evaluations of this phenomenon, relatively few studies on this have been reported in the scientific literature. Consequently, we propose a new method for understanding the 3D salt distribution in soil. The general technique employed for evaluating salt accumulation in soil is to measure the electrical conductivity of soil samples in the laboratory. However, the collection of soil samples can be difficult when groundwater levels increase such as they do during ...
  • JSME Yearbook 20. Industrial and chemical machinery., 大原良友, 児島淳, 手塚巌, 太田進, 佐田守弘, 佐々木正人, 福田隆文, 荒木克洋, 樹野淳也, 加部隆史, 日本機械学会誌, 日本機械学会誌, 109(1053), 682 - 683, Aug. 05 2006
  • Performance of a Vertically-employed Electrical Conductivity Probe : Measurement of Electrical Conductivity Dynamics in Saturated Soils, HONG Youngki, TATSUNO Junya, NAKAMURA Takahiko, TAJIMA Kiyoshi, TAMAKI Koji, Shokubutsu Kankyo Kogaku, Shokubutsu Kankyo Kogaku, 18(1), 28 - 34, Mar. 01 2006
    Summary:We developed an instrument capable of measuring electrical conductivity in saturated soils below groundwater level. Electrical conductivity of each layer is simply measured by inserting the probe into the soil. Initial research demonstrated the applicability of the probe for measuring the electrical conductivity in saturated soils. The next phase of this study was divided into two experiments designed to understand electrical conductivity dynamics in saturated soils. Specifically, the first experiment was designed to determine if the probe could be employed to differentiate between two soil...
  • Reclamation of saline soil in northeastern Thailand using a solar-powered pump to control groundwater levels, Junya Tatsuno, Yohei Hashimoto, Kiyoshi Tajima, Tsuneo Oishi, Chaiyanam Dissataporn, Pramote Yamclee, Koji Tamaki, Environmental Control in Biology, Environmental Control in Biology, 43, 155 - 163, Dec. 01 2005
    Summary:A low agricultural productivity in northeastern Thailand primarily results from saline soils predominately distributed throughout the region. We proposed a remediation technique for the saline soil by using a solar-powered pump and subsurface drainage system (SPSD system). This study was conducted in Khon Kaen Province, northeastern Thailand. The SPSD system could lower the groundwater levels and subsequently reduce the capillary rise of saline groundwater toward the soil surface. The SPSD system first collects excess groundwater through the drainage pipes connected to a water tank under the ground. Groundwater collected in the tank is automatically discharged out by the solar-powered pump. The electrical conductivity of groundwater (ECw) measured in the area where the SPSD system was installed suggested that lowering of the groundwater levels using the SPSD system could enhance salt leaching from the soil profile by rainfall. The electrical conductivity of soils at the sampling point where the SPSD system was installed was lower than those obtained from the same soil profile at the control sites. Consequently, this study suggests that lowering groundwater levels using the SPSD system may be an effective means for reducing salinity degree of soil and groundwater in northeastern Thailand.
  • Simple Quality Evaluation of Chili Pepper Based on Continuous Weight Measurement During Dehydration Process, Agricultural Mechanization in Asia, Africa and Latin America, Agricultural Mechanization in Asia, Africa and Latin America, 36(2), 84 - 89, Oct. 2005
  • Reclamation of Saline Soil in Northeastern Thailand Using a Solar-Powered Pump to Control Groundwater Levels, TATSUNO Junya, HASHIMOTO Yohei, TAJIMA Kiyoshi, OISHI Tsuneo, DISSATAPORN Chaiyanam, YAMCLEE Pramote, TAMAKI Koji, Environment control in biology, Environment control in biology, 43(3), 155 - 163, Sep. 30 2005
  • 2-D localization of autonomous farm vehicle using laser distance sensor, TATSUNO T, Journal of the Japanese Society of Agricultural Machinery, Journal of the Japanese Society of Agricultural Machinery, 67(5), 45 - 53, Sep. 2005
  • Collision-free Motion Planning for Multi-Degree of Freedom Manipulator with Electrified Wire, TATSUNO Junya, UMEKI Yoshimichi, ISHIDA Yuki, KOBAYASHI Hisato, IEEJ Transactions on Electronics, Information and Systems, IEEJ Transactions on Electronics, Information and Systems, 125(2), 308 - 313, Feb. 01 2005
    Summary:This paper proposes a practical method of collision-free motion planning for multi-degree of freedom manipulators. The proposed method has mainly two concepts. Under this method, the motion planning is considered in real space instead of configuration space in order to reduce the calculation amount. Meanwhile, it is well known that a path planning is executed without local minima under a potential field based on Laplaces equation because such environment has no minimal point. Therefore, we introduced an electrostatic field based on Laplaces equation for path planning of multi-degree of free...
  • Enhancement of Composting Process by the Addition of Chicken Manure and Rice Bran to Tree Pruning Chips, TAJIMA Kiyoshi, YOSHIMURA Masataka, KATO Masayoshi, TATSUNO Junya, TAMAKI Koji, Japanese journal of farm work research, Japanese journal of farm work research, 38(4), 207 - 213, Dec. 15 2003
  • Trajectory Planning for Dual Arm Manipulator to Demonstrate Human Arm Movements, TATSUNO Junya, OSONE Takefumi, NISHIDA Tomofumi, KOBAYASHI Hisato, The Japanese journal of ergonomics, The Japanese journal of ergonomics, 39(5), 201 - 209, Oct. 15 2003
  • Effect of Dressing Application Method on the Growth of Chinese Cabbage Under the Shaft Tillage Cultivation with Cut Weed Living Mulch, TAJIMA Kiyoshi, KATO Masayoshi, TATSUNO Junya, TAMAKI Koji, Japanese journal of farm work research, Japanese journal of farm work research, 38(1), 17 - 24, Mar. 15 2003
  • 塩分を含む農業用水の蒸留に関する研究 分離型太陽熱蒸留の提案と基礎実験, 樹野淳也, 大石常夫, 田島淳, 玉木浩二, 工業用水, 工業用水, 0(533), 2 - 8, Feb. 20 2003
  • Trajectory Planning for Dual Arm Manipulator to Demonstrate Human Arm Movements, TATSUNO Junya, OSONE Takefumi, NISHIDA Tomofumi, KOBAYASHI Hisato, JES Ergonomics, JES Ergonomics, 39(5), 201 - 209, 2003
    Summary:Human friendly robots should behave as human beings as well as their appearances. This paper proposes a motion planning method that let robots' motions look like humans'. This paper deals with a very typical case that dual-arm robots execute partially restricted coordinated tasks. The proposed method derives the desired trajectories by using a cost function consists of "minimum torque change" and "degree of visibility, " the concept, "degree of visibility" is first introduced in this paper. Several simulations and human subjects' experiences have shown that this method can derive more human like behaviors than the conventional methods. Especially, it could be recognized that the "degree of visibility" may play some important roles for human perceptions.
  • Enhancement of Composting Process by the Addition of Chicken Manure and Rice Bran to Tree Pruning Chips, TAJIMA Kiyoshi, YOSHIMURA Masataka, KATO Masayoshi, TATSUNO Junya, TAMAKI Koji, Japanese Journal of Farm Work Research, Japanese Journal of Farm Work Research, 38(4), 207 - 213, 2003
    Summary:Shortening the composting time for tree pruning chips obtained in urban areas is important in reducing the area required for composing. We have developed several composting techniques over the last ten years. According to our study, using the closed-type reactor with the intermittent aeration effectively enhanced composting of secondary-crushed wood chips under the initial condition of 60% (w. b.) moisutre content without turning the compost pile. In this paper, the effects of amendments on composting of secondary-crushed wood chips were examined using a small-scale reactor (0.125m<sup>3</sup>) with the intermittent aeration (aeration: 30min with 30L min.<sup>-1</sup> and 60 minites interruption).<br>The composting amendments used for this study were chicken manure, rice bran, rice bran & chicken manure and control (no amendment). From this experiment, we obtained the following results.<br>1) The amendment of rice bran & chicken manure had the highest rate of decomposition.<br>2) The chicken manure amendment rapidly increased the temperature of material in the early stage, and the rice bran amendment maintained material decomposition in the mid-stage of composting.<br>3) The C-N ratio of composting material amended with rice bran & chicken manure reduced 3 points, compared to the rice bran amendment.<br>4) The moisture loss of composting material due to the temperature rise was dependent on the type of amendment. Optimizing the aeration quantity of each amendment may allow composting material to be continuously decomposed.
  • Effect of Dressing Application Method on the Growth of Chinese Cabbage Under the Shaft Tillage Cultivation with Cut Weed Living Mulch., TAJIMA Kiyoshi, KATO Masayoshi, TATSUNO Junya, TAMAKI Koji, Japanese Journal of Farm Work Research, Japanese Journal of Farm Work Research, 38(1), 17 - 24, 2003
    Summary:Using some cover crops in vegetable production is expected that it can be beneficial to the cultivation such as reduction of erosion or splashing by covering the soil surface, weed control by shading sunshine or allelopathy, enrich ecological diversity by securing hangout for insects and nitrogen fixation or catching of surplus nutrition. And in cultivation under the living mulch with minimal tillage, the application of basal fertilizer is very important. In the shaft tillage cultivation that was devised by authors, these application method is influential elements for the growth of crops cause of competition of nutrition with weeds and salt injury at taking root.<br>In this report, a tool for shaft tillage cultivation equipping with injector of paste type fertilizer, which enable to simultaneous operation of tilling and fertilizing, was tested on trans-planting cultivation using of Chinese cabbage plug seedling. The results were as follows:<br>1) Tool for shaft tillage cultivation equipping with injector of paste type fertilizer was usefulness in simultaneous operation of tilling and fertilizing, but the fertilizer was overflowed without penetrating into the soil under the certain soil conditions. And the growth of some seedlings were influenced.<br>2) Since the growth of seedlings under the condition of solid type fertilizer with surface broadcasted application, it were suggested that there is no difference in competition of fertilizer between applications of surface broadcasting and under seedling penetration.<br>3) The differences of the seedlings' growths were clearly appeared the 2nd day from transplanting.
  • Cooperative motion planning for dual arm robot to demonstrate human arm movements, Takefumi Osone, Junya Tatsuno, Tomofumi Nishida, Hisato Kobayashi, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, 488 - 493, Dec. 01 2002
    Summary:Human friendly robots must not give us strange feelings in their behaviors. Namely, such robots should behave like human beings. This paper proposes a cost function, which generates human like movements when robots execute dual arm cooperative tasks. Considering human behaviors, we established a cost function based on two factors: "second derivatives of joint torques" and "degree of visibility". As a result of several simulations, we could conclude that the proposed cost function generated human like movements, which was closer to real human behavior comparing with the conventional cost functions. © 2002 IEEE.
  • Development of an Electric Conductivity Sensor for Saturated-saline Soil and Application to Field Measurement, HONG Youngki, TATSUNO Junya, TAJIMA Kiyoshi, SEKIYAMA Tetsuo, TAMAKI Koji, Bulletin of the Society of Sea Water Science,Japan, Bulletin of the Society of Sea Water Science,Japan, 56(5), 393 - 401, Oct. 01 2002
  • Development of an Electric Conductivity Sensor for Saturated-saline Soil and Application to Field Measurement., HONG Y, 樹野淳也, 田島淳, 関山哲雄, 玉木浩二, 日本海水学会誌, 日本海水学会誌, 56(5), 393 - 401, Oct. 01 2002
    Summary:For the improvement and restoration of soil saturated with salt, it is important to investigate the vertical and horizontal distribution of salt accumulation in a wide area. Under the conventional methods of soil sampling, the soil layer below groundwater level could not be measured. In this paper, a prototype sensor based on Edlefsen's 4-electrode method was developed in order to enable to measure vertical distribution of the electric conductivity. From experimental results in the laboratory as well as the experimental field in Northeastern Thailand, the following results were obtained.<BR>1) From the results of calibration using an NaCl solution and the experiment in saturated soil, it was found that the prototype sensor could be used as an electric conductivity sensor by calibrating the measurement value.<BR>2) Conventionally, it had been considered that electric conductivity was uniform in the vertical direction below groundwater, but the result in laboratory experiments with a controlled groundwater level showed the difference in electric conductivity at every soil layer<BR>3) The experimental results in saline soil in Northeast Thailand indicate that the prototype sensor enables to measure the extent of salt accumulation at various depths.
  • A practical way to apply the natural human like communication to human-robot interface, Takefumi Yamada, Junya Tatsuno, Hisato Kobayashi, Robot and Human Communication - Proceedings of the IEEE International Workshop, Robot and Human Communication - Proceedings of the IEEE International Workshop, 158 - 163, Dec. 01 2001
    Summary:This paper proposes a concept to build a human friendly interface for robot tele-operation. This interface is based on a knowledge database of our daily lives, thus any human-operators, men and women of all ages, can easily transfer their intentions to the robots. The proposed method also includes interactive communication path between human-operators and robots, which compensates for vague instructions.
  • A practical way to apply the natural human like communication to human-robot interface, Takefumi Yamada, Junya Tatsuno, Hisato Kobayashi, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, 158 - 163, Dec. 01 2001
    Summary:This paper proposes a concept to build a human friendly interface for robot tele-operation. This interface is based on a knowledge database of our daily lives, thus any human-operators, men and women of all ages, can easily transfer their intentions to the robots. The proposed method also includes interactive communication path between human-operators and robots, which compensates for vague instructions. © 2001 IEEE.
  • Continuous and Nondestructive Weighing System of the Dehydration Process of Chili Pepper in Application with a Rotary Type Dryer, WIDODO Teguh Wikan, TATSUNO Junya, TAJIMA Kiyoshi, TAMAKI Koji, Journal of the Society of Agricultural Structures, Japan. Nogyo shisetsu, Journal of the Society of Agricultural Structures, Japan. Nogyo shisetsu, 32(1), 1 - 10, Jun. 25 2001
  • Development of Planting Tool for the Bed with Cover Crop, TAJIMA K, Japanese journal of farm work research, Japanese journal of farm work research, 35(4), 223 - 228, Dec. 20 2000
  • Obstacle Avoidance Control of Hyper Redundant Manipulator Using Electrified Wire., 斎藤誠, 樹野淳也, 梅木嘉道, 川端邦明, 小林尚登, 日本ロボット学会学術講演会予稿集, 日本ロボット学会学術講演会予稿集, 18th, 1411 - 1412, Sep. 12 2000
  • Development of Planting Tool for the Bed with Cover Crop., TAJIMA Kiyoshi, KATO Masayoshi, TATSUNO Junya, Japanese Journal of Farm Work Research, Japanese Journal of Farm Work Research, 35(4), 223 - 228, 2000
    Summary:Cultivation with cover crop or organic mulch is recognized as one of the effective conservation agricultural methods. A tillage tool called "shaft tillage tool" was designed for planting vegetables onto the bed covered with organic mulch. In this study rooting of the Chinese cabbage seedlings and energy efficiency of the two types of the tool, one is for a paper pot seedling and another is for a plug seedling, were examined. These tools were driven by a hand drill driver, and bored vertical short-cylinder shaped to place seedlings and a deep narrow shaft shaped hole for rooting. The Chinese cabbage seedlings were grown in a paper pot and as plug seedlings before the transplant and were placed without covered with soil or tramped. Chemical fertilizer was broadcasted on the surface (solid fertilizer) and placed on a tip of the shaft (solid and paste). Non-fertilized seedlings were also examined as acomparison. Rooting of the Chinese cabbage were successfully confirmed without any damaging by fertilizer. On the comparison with application methods of the fertilizer, the effect was appeared rapidly under the broadcasted and paste fertilizer.<br>The power requirements of tillage were 230-300J/seedling at paper pot and 300 tillage operations were done in one charge of a 2Ah-capacity battery.
  • Human like active vision for service robot teleoperation, Kazuyuki Takahashi, Junya Tatsuno, Hisato Kobayashi, Robot and Human Communication - Proceedings of the IEEE International Workshop, Robot and Human Communication - Proceedings of the IEEE International Workshop, 412 - 415, Dec. 01 1999
    Summary:This paper describes the construction of a robot vision. In order to enable robots to participate actively in our living, image recognition by robots is important. However we have many problems to be solved in this area. Human being can recognize images naturally without special eãort. Even though an image of object isn't enough as it is, we can get the information by closing to the object or by bringing it to our face. These behavior are done unconsciously. We think that human natural behavior may be a great hint to construct a robot vision system. On this point of view, we propose a robot vision system that behaves like human natural manner.
  • Posture Determination Method of Human-Type Redundant Manipulator., 梅木嘉道, 高橋和幸, 松村勇, 樹野淳也, 小林尚登, 法政大学計算科学研究センター研究報告, 法政大学計算科学研究センター研究報告, 12, 25 - 32, Mar. 31 1999
  • An Attempt on Construction of Human Friendly Man-Machine Interface-Study and Apply about Human Communication-, TATSUNO Junya, KOKUBO Yoshiyuki, MATSUMURA Isamu, KOBAYASHI Hisato, The Transactions of the Institute of Electrical Engineers of Japan. C, The Transactions of the Institute of Electrical Engineers of Japan. C, 118(4), 599 - 605, Apr. 1998
  • An Attempt on Construction of Human Friendly Man-Machine Interface:Study and Apply about Human Communication, TATSUNO Junya, KOKUBO Yoshiyuki, MATSUNIURA Isamu, KOBAYASHI Hisato, IEEJ Transactions on Sensors and Micromachines, IEEJ Transactions on Sensors and Micromachines, 118(4), 599 - 605, 1998
    Summary:This paper discribes an attempt on a construction way of human friendly man-machine interface. At first, we do a simple experiment to find out the characteristic of human verbal communication. From the experimental results, we get some rules in case in human verbal communication. We construct the man-machine interface which is based on these rules. Through teaching process, we examine our verbal communication interface comparing with conventional interfaces. From this comparison, we recognize that the verbal communication interface is valid to construct the user-friendly man-machine interface.
  • Man-machine interface with verbal communication, Isamu Matsumura, Junya Tatsuno, Yoshiyuki Kokubo, Hisato Kobayashi, Robot and Human Communication - Proceedings of the IEEE International Workshop, Robot and Human Communication - Proceedings of the IEEE International Workshop, 398 - 401, Dec. 01 1997
    Summary:This paper describes about a construction of human-friendly man-machine interface. We think that we should model after human natural communication to construct human-friendly man-machine interface. In this paper, especially, we will try to realize the man-machine communication by the commands with demonstrative pronoun and simple action. We construct a fundamental system and do some simple experiment.
  • Control of the agricultural robot with flexible boom electrically driven by solar light power, Kiyoshi Tajima, Junya Tatsuno, Koji Tamaki, Paper - American Society of Agricultural Engineers, Paper - American Society of Agricultural Engineers, 1, Dec. 01 1997
    Summary:Natural energy is widely distributed and hard to utilize as a energy sources. When we think of development of agricultural robot using natural energy, such as solar energy, it is important to develop small and light body instead of current heavy equipment and a cultivation system that is suitable for the machine. The machine has specialized for each operation so that it stimulates to develop simpler machine. We have been developing the total system of agricultural robot for a field use. We introduce working vehicle positioning system for the robot, that is a combination of a movable guidance beacon along operating fields and flexible boom which connects working and control vehicle.
  • Human friendly teaching for industrial robots, Junya Tatsuno, Shingo Matsuyama, Yoshiyuki Kokubo, Kuniaki Kawabata, Hisato Kobayashi, Robot and Human Communication - Proceedings of the IEEE International Workshop, Robot and Human Communication - Proceedings of the IEEE International Workshop, 549 - 550, Dec. 01 1996
    Summary:A human friendly method of teaching industrial robots has been developed. The methods involved teaching by keywords which represent almost all tasks required from industrial robots. It was observed that there is a need to develop intelligent control method with visual or tactile feedback which is essential for fine motion teaching.
  • Extraction and transmission of human intention on teleoperation, J. Tatsuno, H. Kobayashi, S. Matsuyama, Robot and Human Communication - Proceedings of the IEEE International Workshop, Robot and Human Communication - Proceedings of the IEEE International Workshop, 80 - 83, Dec. 01 1996
    Summary:This paper tries to extract human intention from time series data in operator's arm action, and to let robots move as if robots have the same intention as the operator. Since human being is not always good at to verbalize one's own mind, it is helpful for human-machine interface of teleoperation to interpret human arm actions.
  • Human friendly teaching for industrial robots, Junya Tatsuno, Yoshiyuki Kokubo, Shingo Matsuyama, Kuniaki Kawabata, Hisato Kobayashi, Proceedings of the IEEE International Conference on Industrial Technology, Proceedings of the IEEE International Conference on Industrial Technology, 656 - 660, Dec. 01 1996
    Summary:In future, robots may be familiar to human-being. In such case, more human friendly communication methods are necessary. In this paper, we discuss the simple teaching way for robots. We represent robots' motion by a set of keywords, and try to describe robots' tasks by sequence of them. Furthermore, we simulate a simple task execution with our proposed method.
  • Human friendly teaching for industrial robots, Junya Tatsuno, Singo Matsuyama, Yoshiyuki Kokubo, Hisam Kobayashi, Robot and Human Communication - Proceedings of the IEEE International Workshop, Robot and Human Communication - Proceedings of the IEEE International Workshop, 456 - 460, Dec. 01 1996
    Summary:This paper considers a human friendly teaching way which can be used by every human being. The method represents robots' motion by a set of keywords which are frequently used in daily conversation. The sequence of keywords is interpreted as a sequence of robot command, and realized our intended motion. This paper also considers a method which translates human gesture to the keywords, because human gesture greatly assists to describe our intention as a set of keywords. To avoid misoperation, we can also verify the consistency between the human gesture and typed keywords. Moreover, keyword description enables us to expand the interface to being more human friendly.
  • Study on micro and macro-manipulator. Kobayashi Naoto laboratory., 小林尚登, 樹野淳也, 松山新吾, 計測技術, 計測技術, 24(13), 61 - 66, Dec. 1996
  • Forward Kinematics and Inverse Kinematics of Human Type Dual Arm Manipulator., 小林尚登, 樹野淳也, 松山新吾, 小久保芳行, 法政大学計算センター研究報告, 法政大学計算センター研究報告, 9, 43 - 50, 1996
  • Tele-operation through network with random time delay, H. Kobayashi, J. Tatsuno, S. Ito, S. Matsuyama, Robot and Human Communication - Proceedings of the IEEE International Workshop, Robot and Human Communication - Proceedings of the IEEE International Workshop, 49 - 52, Dec. 01 1995
    Summary:This paper describes a control structure of tele-operation system with communication time delay. Tele-operation systems need real time force and position information in bilateral way to realize natural operation feeling, while communication paths usually have nonnegligible time delay. To overcome this problem, this paper proposes a dual model approach, which has a master model in the slave side and a slave model in the master side.
  • Biodynamical measure of master-slave maneuverability, Hisato Kobayashi, Junya Tatsuno, Akinori Kuroda, Shingo Matsuyama, Kazuo Yana, Hirohisa Mizuta, Robot and Human Communication - Proceedings of the IEEE International Workshop, Robot and Human Communication - Proceedings of the IEEE International Workshop, 375 - 378, Dec. 01 1995
    Summary:This paper describes an attempt to use a biodynamical measure to evaluate the performance of human-robot interfaces that should be comfortable for human operators. Since the comfort is a sense of human being, we should adopt some biodynamical measure to evaluate the comforts of human operator; This paper proposes a quantitative biodynamical measure that depends on heart rate, instantaneous lung volume and arterial blood pressure. Experiments show that there exists clear relation between the measure and the task stress of operators.
  • Force Information Processing and its Application. Possibility of Tactile Recognition of Micro-Targets with Micro-Macro Master-Slave Manipulator., 樹野淳也, 小林尚登, 電気学会論文誌 C, 電気学会論文誌 C, 115(10), 1109 - 1114, Oct. 1995
  • Possibility of Tactile Recognition of Micro-Targets with Micro-Macro Master-Slave Manipulator, TATSUNO Junya, KOBAYASHI Hisato, The Transactions of the Institute of Electrical Engineers of Japan. C, The Transactions of the Institute of Electrical Engineers of Japan. C, 115(10), 1109 - 1114, Sep. 20 1995
  • Possibility of Tactile Recognition of Micro-Targets with Micro-Macro Master-Slave Manipulator, Tatsuno Jnnya, Kobayashi Hisato, IEEJ Transactions on Sensors and Micromachines, IEEJ Transactions on Sensors and Micromachines, 115(10), 1109 - 1114, 1995
    Summary:Recently we have to treat very small objects in various fields like as the biological field, the medical field and the industrial field. Especially, to do this operation well, we should recognize the tactile sense of the target. But, due to sparseness of our finger tactile sensor, we cannot have such small tactile feeling. Thus we need some intelligent tools to treat such small targets. This paper describes possibility of taclite recognition of micro-targets with a micromacro master-slave manipilator. The micro-macro master-slave manipualtor proposed here has a bilateral position and force feedback loop with proper scalling factor. By using this manipulator, we can recognize the softness of small particles of various materials.
  • Micro-macro manipulator with haptic interface, Hisato Kobayashi, Junya Tatsuno, American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, 55-1, 329 - 337, Dec. 01 1994
    Summary:This paper treats a basic system which realizes scaled manipulation environment. Tools for scaled manipulation are necessary when we manipulate an extremely large or small size target. This type of tool has to scale up or down size and force in bilateral way. But time scaling should also be considered to build up such ideal environment as we can feel our body size is scaled to the target size. This paper proposes a possible time scaling method which can be used in bilateral force-position control for unknown targets. On the other hand, in case of different scale, it is difficult to design these manipulators as same form. Thus, a different configuration with some intelligent control is necessary for such master-slave manipulators. This paper also proposes a primary control method by using virtual model to improve the maneuverability of different scale master-slave manipulators.
  • Micro-macro manipulator with haptic interface -2nd report: control by using virtual model-, Hisato Kobayashi, Junya Tatsuno, Satoshi Ito, Akinori Kuroda, Robot and Human Communication - Proceedings of the IEEE International Workshop, Robot and Human Communication - Proceedings of the IEEE International Workshop, 130 - 133, Dec. 01 1994
    Summary:This paper treats a basic system which realizes a scaled manipulation environment. Tools for scaled manipulation are necessary when we manipulate an extremely large or small size target. In case of manipulation without scaling, it is possible to let the slave-manipulators have same configuration as the master-manipulators. But in case of different scale, it is difficult to design these manipulators as same configuration. Thus a different configurations with some intelligent control is necessary for such master-slave manipulators. In this paper we propose a control method for different scale master-slave manipulator.

Books etc

  • Participatory Strategy for Soil and Water Conservation, 共著, Institute of Environment Rehabilitaion and Conservation,   2004 11

Conference Activities & Talks

  • ドライバの心理・生理状態の推定―心拍間隔と疲労/覚醒度の関係―, 中村一美, 岡信翔太, 曽根拓矢, 樹野淳也, 米田智史, 横山博志, Journal of the Japanese Council of Traffic Science,   2018 06 14
  • ドライバの心理・生理状態の推定―心拍間隔と疲労/覚醒度の関係―, 中村一美, 岡信翔太, 曽根拓矢, 樹野淳也, 米田智史, 横山博志, Journal of the Japanese Council of Traffic Science,   2018 06 14
  • 自動車空調システムにおける補助暖房の有用性の検討, 中村一美, 樹野淳也, 竹原伸, 日本感性工学会春季大会予稿集(CD-ROM),   2018
  • 1E2-3 Relationship between outside air temperature and comfort feeling of human during heating in winter, NAKAMURA Hitomi, HAMADA Yuki, OKADA Yugo, TATSUNO Junya, TAKEHARA Shin, The Japanese Journal of Ergonomics,   2018
  • 冬季暖房時における外気温と快適性の関係, 中村一美, 濱田勇輝, 岡田悠吾, 樹野淳也, 竹原伸, 人間工学,   2018
  • 職業性全身振動ばく露が立位重心動揺に及ぼす影響, 前田節雄, 樹野淳也, 宮下和久, 宮本邦彦, 日本機械学会交通・物流部門大会講演論文集(CD-ROM),   2017 12 01
  • 機械操作時の振動ばく露が作業者の立位平衡機能に及ぼす影響, 樹野淳也, 前田節雄, 宮下和久, 宮本邦彦, 農業食料工学会年次大会講演要旨,   2017 09 04
  • 中山間地域農業における電気軽トラック利用の可能性―回生量のシミュレーション―, 藤波俊亮, 江上親宏, 蕪木嶺介, 緒形百合恵, 田島淳, 樹野淳也, 農業食料工学会関東支部年次報告,   2017 06 09
  • 局所耕うん栽培を実践する脚式ロボットの開発―実スケールモデルの試作―, 樹野淳也, 稲垣克彦, 田島淳, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2017 05 09
    Summary:

    We studied shaft tillage cultivation as practiced by an autonomous robot. Through previous studies, we found that leg locomotion has a higher compatibility with the shaft tillage method than wheeled locomotion. Therefore, we are currently developing a legged robot for shaft tillage cultivation. In this article, we will report the progress on developing the real scale model of the legged robot. In particular, we describe the development of a backlash free servo module for the swing leg motion, the power transmission method of the standing leg and the sensing method of the ground contact.

  • Assistive technology device for helping speech intelligibility of emergency signal from outside under noise and vibration exposure condition of transportation vehicles, Setsuo Maeda, Junya Tatsuno, Yasunari Abe, Haruhisa Tomoda, INTER-NOISE 2017 - 46th International Congress and Exposition on Noise Control Engineering: Taming Noise and Moving Quiet,   2017 01 01
    Summary:© 2017 Institute of Noise Control Engineering. All Rights Reserved. Peoples such as drivers or passengers are listening to music by using a different kind of listening devices such as speaker, headphone, earphone, and bone conduction earphone. During this listening condition, when some accident has happened, driver or passenger has to recognize the emergency signals or speech from the outside of vehicle having different noise and vibration exposure environment conditions. But, during these conditions, it is not clear exactly whether which listening device is better to understand the external signals. To clarify the good listening device, during listening music, the signals with different STI (Speech Transmission Index) voice from the outside were presented to the driver or passenger on the driving simulator under some noise and vibration condition. They had to need to evaluate the speech intelligibility of each STI signals. After these experiments, it was clear that the speech intelligibility had the difference among speaker, headphone, earphone, and bone conduction earphone. It was also clear the bone conduction listening device was the best device.
  • Misunderstanding of Vehicle Ride Comfort Evaluation according to ISO 2631-1 standard in the world, Setsuo Maeda, Junya Tatsuno, INTER-NOISE 2017 - 46th International Congress and Exposition on Noise Control Engineering: Taming Noise and Moving Quiet,   2017 01 01
    Summary:© 2017 Institute of Noise Control Engineering. All Rights Reserved. On the ISO 2631-1 standard, although the ride comfort evaluation is defined by the 12-axis measurement and evaluation method, the real ISO 2631-1 standard algorithm has not been used by many researchers. Mainly, the ride comfort evaluation has been performed by using 3-axis measurement data on the seat. Also, on that ride comfort evaluation, they are using the comfort evaluation multiplier or the health evaluation multiplier of 3-axis measurement vibrations for assessing the ride comfort to compare the subjective scaling of the ISO 2631-1 standard. In this paper, the different kinds of evaluation algorithms were applied to the real 12-axis measurement data on the vehicle seat according to the ISO 2631-1 standard. From these calculations, this paper is showing the misunderstanding of usage of ISO 2631-1 standard in the world.
  • Ride comfort evaluation by using Seat Fidget Movements, TATSUNO Junya, junya.tatsuno,   2016 12 10
  • 中山間地域営農支援運搬システムの開発, 田島淳, 砂川光, 江上親宏, 樹野淳也, 農作業研究,   2016 03
  • A study of an omnidirectional robotic cart using passive wheels, Hiraoka Nobutake, Tatsuno Junya, Inagaki Katsuhiko, IEEE Conference Proceedings,   2016
  • 温冷感/快適感における季節の影響, 中村一美, 林克政, 樹野淳也, 竹原伸, 日本感性工学会大会予稿集(CD-ROM),   2016
  • ヒトの温冷感/快適感と生理指標に関する基礎研究, 中村一美, 樹野淳也, 竹原伸, 計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM),   2015 11 18
  • 2P1-C07 Development of Grafting Robot with High Efficiency, HANAMURA Takeshi, HANAMURA Kojiro, TATSUNO Junya, ロボティクス・メカトロニクス講演会講演概要集,   2015 05 17
    Summary:In this paper, we describe the newly grafting robot with high efficiency. The conventional semi-automatic grafting robot needs three workers to execute a series of grafting operation. Although the full-automatic grafting robot that can be operated by one worker has been developed, it is hard to say that both types of grafting robot has become widely used in Japan. The developed grafting robot can be operated by one worker and can graft about 1800 seedlings per hour. From the test results, we recognise the necessity of the mechanism improvement for easy operation as well as the cultivation system for super-uniform seedling.
  • 1P2-Q02 Development of Engineering Design Ability through Passive Walker Kit Assembly, TATSUNO Junya, HIRONO Kazuya, NISHIMURA Kiminobu, ロボティクス・メカトロニクス講演会講演概要集,   2015 05 17
    Summary:This paper reports the engineering design education through the project based learning in our department. This class consists of four experiments and the passive walker kit assembly is offered as the experiment on dynamics, measurement and control. Each team, which consisted of three students, develops passive walker in three weeks. While the goal of this project is set to 100cm walking, 17% of team could achieve the goal in FY 2014. We installed the mutual evaluation in order to evaluate an ability to work in a team. As a result, we recognized positive changing of students' attitude toward the class.
  • 受動歩行機の作製を通したデザイン能力の涵養, 樹野淳也, 広野和也, 西村公伸, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2015 05 16
  • 高効率での接ぎ木が可能な接ぎ木ロボットの開発, 花村健, 花村幸次朗, 樹野淳也, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2015 05 16
  • 自動車空調システムに関する基礎研究~性別・年齢が温冷感覚知覚におよぼす影響~, 中村一美, 樹野淳也, 米原牧子, 竹原伸, 計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM),   2014 11 21
  • 重心位置が横移動するスキッドステア車両の走行制御方法について, 劉錦洪, 實野雅太, 田島淳, 加藤雅義, 中野誠史, LOPEZ Noe Velazquez, THANH Do Tuan, 樹野淳也, 石井忠司, 農業食料工学会関東支部年次報告,   2014 07 31
  • ロール固有振動数についての一考察, 樹野淳也, 酒井英樹, 自動車技術会学術講演会前刷集,   2014 05 21
  • 中山間地域における運搬動力の省エネルギー化について, 田島淳, 加藤雅義, 森谷美紀, 井出章, 樹野淳也, 農作業研究,   2014 05
  • 局所耕うん器具を用いた耕うん同時評価法に関する研究―含水率が通気性指数に及ぼす影響について―, 實野雅太, 田島淳, 加藤雅義, 砂川光, 樹野淳也, 農作業研究,   2014 05
  • モニターの設置位置によるドライバーの反応時間への影響, 荻原昭夫, 中原大二朗, 田中一基, 樹野淳也, 竹原伸, 電子情報通信学会大会講演論文集(CD-ROM),   2014 03 04
  • D-21-8 Effect on Driver's Reaction Time due to Installation Position of Monitor, Ogihara Akio, Nakahara Daijiro, Tanaka Kazumoto, Tatsuno Junya, Takehara Shin, Proceedings of the IEICE General Conference,   2014 03 04
  • 防振手袋の評価方法の開発 -人工手を用いた測定-,   2013 12
  • 運転時の疲労軽減に関する研究~足趾内反対策靴下の試作~, 中村一美, 樹野淳也, 米原牧子, 竹原伸, 新宅光男, 産業保健人間工学研究,   2013 09 21
    Summary:わが国では自動車の安全性能向上により交通事故の件数が減少しているが、高齢人口の増加に伴い、高齢者の事故件数は増加している。高齢者が事故を起こす原因として加齢による認知機能・身体機能の低下がある。著者らはこれまで転倒予防靴下の開発を行ってきた。そして、足関節の背屈を支持し、母趾の外反を抑制する機構を備えた靴下を履くことで、足関節の背屈角度と母趾の伸展角度が増加し、下垂足の軽減に効果がみられ、転倒予防に役立つことが示唆された。他方、今川らは下垂足患者に対し、内反・尖足対策用の軟性短下肢装具を用いた場合の歩容改善について報告している。今回、高齢者が事故を起こす原因の一つである身体機能の低下、すなわち疲労に着目し、足関節と母趾の形状を矯正する靴下を用いて運転時の疲労軽減に関する基礎実験を行った。健常高齢者9名を対象とし、まず普段着用している靴下と従来の軟性短下肢装具(背屈位を支持する装具)を用いた「ペダル踏みかえ実験」、次に今回試作した靴下(内反小趾対策靴下)を用いた同実験を行った。結果、従来の軟性短下肢装具よりも内反小趾対策靴下のほうが精神的負担を感じにくいうえ、姿勢安定性に寄与する可能性が示唆された。
  • 車室内空間の快適性向上を目指して, 中村一美, 樹野淳也, 米原牧子, 山田康枝, 竹原伸, 生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM),   2013 09
  • Study on alleviation of fatigue during driving : prototyping of socks for bunionette, 中村 一美, 樹野 淳也, 米原 牧子, 産業保健人間工学研究 = Journal of ergonomics in occupational safety and health,   2013 09
  • 車室内空間の快適性向上を目指して, 中村 一美, 樹野 淳也, 米原 牧子, 山田 康枝, 竹原 伸, 生活生命支援医療福祉工学系学会連合大会講演要旨集,   2013 09
  • Comparison between Old JIS T 8114 and Current ISO10819 STANDARDS,   2013 08
  • 重心が横移動するスキッドステア車両の旋回シミュレーション, 中野誠史, LOPEZ Noe Velazquez, 田中秀幸, THANH Do Tuan, 田島淳, 加藤雅義, 石井忠司, 樹野淳也, 農業機械学会関東支部年次報告,   2013 07 29
  • Problems of Subjective Scaling of ISO 2631-1 Standard, 5th International Conference on Whole Body Vibration Injuries,   2013 06 , 5th International Conference on Whole Body Vibration Injuries
  • 悪臭物質がマウスの自発運動能におよぼす影響, 中村一美, 樹野淳也, 米原牧子, 竹原伸, 山田康枝, J Toxicol Sci,   2013 06
    Summary:【目的】交通環境では排気ガスをはじめとする悪臭物質が自動車室内へと流れ込んでいる.そこで本研究では自動車の空調システムにおいて異臭原因物質の主成分であるプロピオン酸,吉草酸,酪酸に着目し,各物質がマウスの自発運動能におよぼす影響を調べた.また,定量的な評価をおこなうため,各物質の投与方法は腹腔内への注射による投与とした.【方法】本研究には18週齢のC57BL雄性マウス24匹を用いた.全てのマウスに対し,自発運動能測定システム(Wheel Manager, MED Associates Inc.)を用いて回し車(直径10.9cm)の回転数を60分間測定し,controlデータとした.次に24匹のマウスを,注射の有無による影響を調べるためのリンゲル液投与群,悪臭物質による影響を調べるためのプロピオン酸(1µg/kg)投与群,吉草酸(1µg/kg)投与群,酪酸(0.5µg/kg)投与群の4群各6匹ずつに分けた.なお,4群のcontrolデータにおいて一元配置の分散分析をおこなった結果,各群の間に統計学的な有意差はなかった(P>0.05).各物質をそれぞれの群のマウスの腹腔内に投与し,controlデータと同様に自発運動能を60分間測定した.各物質の投与による統計学的有意差の検定にはウィルコクソンの符号順位和検定を用いた.【結果および考察】リンゲル液を投与した群では投与の有無による統計学的な有意差はなかった(P>0.05)ため,注射による腹腔内投与の影響はないと判断した.プロピオン酸,吉草酸,酪酸を投与した群では,controlデータと比較して回転数が減少した.とくに酪酸を投与した群においては,統計学的な有意差があった(P<0.05).本研究を通して,悪臭物質がマウスの自発運動能に影響をおよぼすことがわかった.以上のことから,ヒトにおいても悪臭物質は快/不快の感覚に影響を与えるだけではなく,運動能に影響を与える可能性が示唆された.
  • 音刺激の違いが乗り心地評価に与える影響(第2報), 土屋賢太, 樹野淳也, 米原牧子, 中村一美, 竹原伸, 前田節雄, 自動車技術会学術講演会前刷集,   2013 05 22
  • ヨー進み時定数が横加加速度や操舵反トルクに及ぼす影響, 樹野淳也, 酒井英樹, 自動車技術会学術講演会前刷集,   2013 05 22
  • 2次元表示画像と3次元表示画像の距離知覚性能比較, 荻原昭夫, 田中一基, 樹野淳也, 竹原伸, 電子情報通信学会大会講演論文集,   2013 03 05
  • D-21-4 Performance Comparison of Distance Perception by Two-Dimensional Displayed Image andThree-Dimensional Displayed Image, Ogihara Akio, Tanaka Kazumoto, Tatsuno Junya, Takehara Shin, Proceedings of the IEICE General Conference,   2013 03 05
  • 中山間地域における農用運搬車の役割について, 田島淳, 加藤雅義, 乗富夏紀, 松本海理, 樹野淳也, 農作業研究,   2013 03
  • ハウス栽培用全自動定植システムにおけるセル成型苗トレイ自動補給装置の開発(続報), 田中秀幸, ロペス ノエ ベラスケス, 行本航, 森裕太郎, タン ドウ タン, 田島淳, 加藤雅義, 坂口栄一郎, 樹野淳也, 石井忠司, 農作業研究,   2013 03
  • 局所耕うん器具を用いた耕うん同時評価法に関する研究―通気性指数と土壌物理性に関する基礎的研究―, 實野雅太, 田島淳, 加藤雅義, 豊田成章, 大神田憲, 深井智子, 坂口栄一郎, 樹野淳也, 農作業研究,   2013 03
  • 自動車室内の快適性・空気質に関する基礎研究, 中村一美, 樹野淳也, 米原牧子, 山田康枝, 竹原伸, 日本感性工学会大会予稿集(CD-ROM),   2013
  • 1C3-1 Effect of gradation patterns on positional accuracy of active touch, YONEHARA Makiko, TATSUNO Junya, NAKAMURA Hitomi, TAKEHARA Shin, FUJII Takashi, FUKUMOTO Tomoki, The Japanese Journal of Ergonomics,   2013
  • 2B4-3 Usability evaluation of multi-modal touch panels, TATSUNO Junya, NAKAMURA Hitomi, YONEHARA Makiko, TAKEHARA Shin, FUJII Takashi, The Japanese Journal of Ergonomics,   2013
  • 2D2-1 Preliminary study on air conditioner of automotive vehicle using temperature sense of human being, NAKAMURA Hitomi, TATSUNO Junya, YONEHARA Makiko, TAKEHARA Shin, The Japanese Journal of Ergonomics,   2013
  • 音刺激の違いが乗り心地評価に与える影響, 土屋賢太, 樹野淳也, 米原牧子, 中村一美, 竹原伸, 前田節雄, 自動車技術会学術講演会前刷集,   2012 10 03
  • Effect of Whole-Body Vibration on Roughness Sensation,   2012 09
  • Relationship between whole-body vibration exposure and seat location in automobile,   2012 09
  • Effect of whole-body vibration by the driving simulator on subjects' biological responses, Tsuchiya Kenta, Tatsuno Junya, Nakamura Hitomi, Yonehara Makiko, Takehara Shin, Maeda Setsuo, Ogura Yumi, Fujita Etsunori, Proceedings of the Annual Meeting of Japan Ergonomics Society,   2012 06 09
  • 脚式農作業ロボットの自己位置認識に関する研究, 樹野淳也, 横山弘樹, 稲垣克彦, 田島淳, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2012 05 27
  • 2A2-H08 Study on Localization Method for Agricultural Legged Robot(Localization and Mapping(2)), TATSUNO Junya, YOKOYAMA Hiroki, INAGAKI Katsuhiko, TAJIMA Kiyoshi, ロボティクス・メカトロニクス講演会講演概要集,   2012 05 27
    Summary:We propose a method of shaft tillage cultivation using an autonomous robot and discuss the possibility of introducing legged locomotion in our robot. In order to work autonomously in the field, the robot should have any positioning function. This paper presents an affordable and high-precision 2-D localization method for the agricultural legged robot. Particularly, we report the development of 2-D localization using a laser distance sensor, and the results of vehicle positioning experiments, in which the vehicle repeated stop-and-go driving, stopping every 1 m. As a result, the calculated RMS positioning error in stopping was found to be about 15 mm and 0.25°.
  • マルチモーダルな振動条件が乗り心地評価に与える影響, 樹野淳也, 土屋賢太, 中村一美, 米原牧子, 竹原伸, 前田節雄, 自動車技術会学術講演会前刷集,   2012 05 23
  • 局所耕うん圃場における有機物分解過程について―FTIRによる表層部分の有機物分子構造の解明―, 稲吉賢人, 田島淳, 加藤雅義, 橋本洋平, 樹野淳也, 農作業研究,   2012 03
  • 局所耕うん栽培用チェーンポット苗移植機の開発―活着試験による評価―, 樹野淳也, 田島淳, ロペス ノエベラスケス, 加藤雅義, 農作業研究,   2012 03
  • ハウス栽培用全自動定植システムにおけるセル成型苗トレイ自動補給装置の開発―補助苗トレイ補給動作の信頼性―, 田中秀幸, ロペス ノエベラスケス, 行本航, 田島淳, 加藤雅義, 坂口栄一郎, 樹野淳也, 石井忠司, 農作業研究,   2012 03
  • 四輪接地機構を有するスキッドステア車両の旋回特性について, ロペス ノエベラスケス, 田中秀幸, 伊藤淳, 田島淳, 加藤雅義, 坂口栄一郎, 樹野淳也, 石井忠司, 農作業研究,   2012 03
  • ハウス栽培用全自動定植システムにおけるセル成型苗トレイ自動補給装置の基礎的研究, 行本航, 田中秀幸, ロペス ノエベラスケス, 田島淳, 加藤雅義, 坂口栄一郎, 樹野淳也, 石井忠司, 農作業研究,   2012 03
  • 局所耕うん器具を用いた耕うん同時評価法に関する研究―圃場通気性試験装置モデルによる土壌物理性の推定―, 實野雅太, 田島淳, 加藤雅義, 豊田成章, 坂口栄一郎, 樹野淳也, 農作業研究,   2012 03
  • ハウス栽培用全自動定植システムにおけるセル成型苗トレイ自動補給装置の開発―補助苗トレイの補給機構について―, 田中秀幸, ノエベラスケス ロペス, 田島淳, 加藤雅義, 坂口栄一郎, 樹野淳也, 石井忠司, 農作業研究,   2011 07
  • 局所耕うん栽培圃場における耕うん同時評価法に関する研究―圃場通気性試験装置における通気性指数の算出方法について―, 實野雅太, 豊田成章, 田島淳, 加藤雅義, 坂口栄一郎, 樹野淳也, 農作業研究,   2011 07
  • 落ち葉処理槽(循環槽)中の有機物分子構造特性による分解過程の評価(続報), 田島淳, 加藤雅義, 渡邉慎太郎, 橋本洋平, 樹野淳也, 農作業研究,   2011 07
  • Effect of gradation patterns of raised dots on tactile perception, YONEHARA Makiko, TATSUNO Junya, NAKAMURA Hitomi, TAKEHARA Shin, FUJII Takashi, Proceedings of the Annual Meeting of Japan Ergonomics Society,   2011 06 06
  • Effects of differences in control switch of air conditioning unit on maneuverability:Comparison of three kinds of switches, Tatsuno Junya, Nakamura Hitomi, Yonehara Makiko, Tanaka Kazumoto, Takehara Shin, Proceedings of the Annual Meeting of Japan Ergonomics Society,   2011 06 06
  • 自動車運転時の情報提示方法の検討―タッチパネルのボタンの明度・色相について―, 中村一美, 西原健太, 樹野淳也, 米原牧子, 宮田繁春, 竹原伸, 人間工学,   2011 06 06
  • 1A1-B06 Development of Legged Robot for the Shaft Tillage Cultivation : Determination of ground position based on cultivation plan(Robotics and Mechatronics in Agriculture), TATSUNO Junya, MAGOCHI Hiroshi, INAGAKI Katsuhiko, TAJIMA Kiyoshi, ロボティクス・メカトロニクス講演会講演概要集,   2011 05 26
    Summary:We propose a method of shaft tillage cultivation using an autonomous robot and discuss the possibility of introducing legged locomotion in our robot. One of the advantages of legged locomotion is the ability it offers in selecting the ground contact points. Since the tillage and transplanting site is managed as point coordinates in shaft tillage cultivation, the compatibility between the leg locomotion and the shaft tillage method is high. This paper treats the locomotion of the five-legged robot for shaft tillage cultivation. The five-legged robot discovers its ground position based on a cultivation plan. We report about the computer simulation where the robot moves about to do various work based on the plan.
  • A study on method of information presentation during driving:value and hue of the button on touch panel, Nakamura Hiotmi, Nishihara Kenta, Tatsuno Junya, Yonehara Makiko, Miyata Shigeharu, Takehara Shin, Proceedings of the Annual Meeting of Japan Ergonomics Society,   2011
  • Study on usability of automotive instrument panel:Effects of differences in control switch of air conditioning unit on maneuverability, Tatsuno Junya, Nakamura Hitomi, Tanaka Kazumoto, Takehara Shin, Proceedings of the Annual Meeting of Japan Ergonomics Society,   2010 06 19
  • Visibility evaluation in operating instrument panel during driving, NAKAMURA Hitomi, TATSUNO Junya, TANAKA Kazumoto, MIYATA Shigeharu, TAKEHARA Shin, Proceedings of the Annual Meeting of Japan Ergonomics Society,   2010 06 19
  • バイオ操作効率化のための顕微鏡下画像情報からの聴覚情報の抽出, 樹野淳也, 河合宏之, 望山洋, 小林尚登, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2010 06 13
  • マイクロマニピュレーションのためのPWM制御型吸込み/吹出しマスタ・スレーブシステム, 白土勇輝, 望山洋, 小林尚登, 樹野淳也, 河合宏之, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2010 06 13
  • 局所耕うん栽培を実践する脚式ロボットの開発―スケールモデルの製作―, 樹野淳也, 稲垣克彦, 田島淳, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2010 06 13
  • ハウス栽培用全自動定植システムにおけるセル成型苗トレイ自動補給装置の開発, 田島淳, 加藤雅義, 石澤義崇, 樹野淳也, 石井忠司, 農作業研究,   2010 05
  • 局所耕うん栽培用チェーン式ペーパーポット苗移植機の開発, 樹野淳也, 田島淳, 加藤雅義, 宮内康弘, 川本靖信, 農作業研究,   2010 05
  • 局所耕うん法の開発―氷柱による耕うんについて―, 加藤雅義, 田島淳, 新堀祥英, 小谷周士, 豊田成章, 坂口栄一郎, 樹野淳也, 農作業研究,   2010 05
  • 局所耕うん器具における回転速度と貫入抵抗の関係, 實野雅太, 田島淳, 加藤雅義, 小泉絵理子, 坂口栄一郎, 樹野淳也, 農作業研究,   2010 05
  • 落ち葉処理槽(循環槽)中の有機物分子構造特性による分解過程の評価, 田島淳, 加藤雅義, 安岡寿々恵, 橋本洋平, 樹野淳也, 農作業研究,   2010 05
  • 局所耕うん栽培圃場における土壌団粒構造と有機物特性, 田島淳, 加藤雅義, 橋本洋平, 樹野淳也, 農作業研究,   2010 05
  • Networked Cellular Motion Detection System by Using Pyroelectric Infrared Sensor for Surveillance, KANAMARU Minoru, KAWAI Hiroyuki, KOBAYASHI Hisato, TATSUNO Junya, MOCHIYAMA Hiromi, KOBAYASHI Nobuaki, Annu Conf IEEE Ind Electron Soc,   2010
  • ストロー操作型マイクロマニピュレーションシステム, 白土勇輝, 望山洋, 小林尚登, 樹野淳也, 河合宏之, 日本ロボット学会学術講演会予稿集(CD-ROM),   2010
  • 2A2-A03 PWM Controlled Suck-and-blow Master-Slave System for Micro-Manipulation, SHIRATO Yuki, MOCHIYAMA Hiromi, KOBAYASHI Hisato, TATSUNO Junya, KAWAI Hiroyuki, ロボティクス・メカトロニクス講演会講演概要集,   2010
    Summary:In this paper, we show a performance of the suck-and-blow master-slave system for micro-manipulation. The system was proposed by authors. In the proposed system, we can generate the air flow at the tip of the micro-straw in the slave side according to operator's suck and blow in the master side. We measure the pulling and pushing force which are generated by the proposed system. We show results of the force measurement. the proposed system is constructed by simple mechanism and achieved a motion DOF like a straw. Moreover, by vibrating the straw at an operator's mouth according to the detec...
  • 2A2-A06 Extraction of Acoustic Information from Image Information Obtained through Microscope to Improve Maneuverability of Bio-manipulation, TATSUNO Junya, KAWAI Hiroyuki, MOCHIYAMA Hiromi, KOBAYASHI Hisato, ロボティクス・メカトロニクス講演会講演概要集,   2010
    Summary:The operability of micro-manipulator is a key issue to improve the efficiency of research and development in biological field. Though the real magnified haptic feedback must be helpful to improve the maneuverability of micro-manipulator, its realization is not so easy. Then we consider the use of acoustic sensory feedback. To improve the operability, pseudo or artificial acoustic information is provided to operator. In this paper, we describe the system structure to use acoustic sensory feedback in the micro-injection as a case study.
  • 1A1-A23 Development of Legged Robot for the Shaft Tillage Cultivation : Prototype of Scale Model, TATSUNO Junya, INAGAKI Katsuhiko, TAJIMA Kiyoshi, ロボティクス・メカトロニクス講演会講演概要集,   2010
    Summary:We propose a method of shaft tillage cultivation using an autonomous robot. In this cultivation system, a deep vertical shaft is drilled by rotating a tillage tool, after which seedlings are transplanted into the shaft, where they grow until harvest time. We discuss the possibility of the application of legged locomotion in our robot. One of the advantages of legged locomotion is the ability it offers in selecting the ground contact points. In shaft tillage cultivation, the tillage and transplanting site is managed as point coordinates. We propose the operation to utilize high compatibility...
  • Suck-and-Blow Master-Slave System for Micro-manipulation based on Body Image Embedding, Proc. of 2009 International Symposium on Micro-Nano Mechatronics and Human Science (MHS2009), pp. 33,   2009 11 , Proc. of 2009 International Symposium on Micro-Nano Mechatronics and Human Science (MHS2009), pp. 33
  • Macro-micro Tele-manipulation System based on Body Image Embedding via Contact Feel Display, 望山洋, 堂田丈行, 小林尚登, 樹野淳也, 河合宏之, 日本ロボット学会学術講演会予稿集(CD-ROM),   2009 09 15
  • Development of a Legged Robot for Shaft Tillage Cultivation - Proposal of Basic Concept-,   2009 09
  • Macro-Micro Tele-Manipulation System Based on Body Image Embedding with Contact Feel, Spatial Motion and Stereo Vision, Proceeding of 18th IEEE International Symposium on Robot and Human Interactive Communiation,   2009 09 , Proceeding of 18th IEEE International Symposium on Robot and Human Interactive Communiation
  • 1A2-C01 Developement of Legged Robot for the Shaft Tillage Cultivation : Determination of ground position, TATSUNO Junya, INAGAKI Katsuhiko, TAJIMA Kiyoshi, ロボティクス・メカトロニクス講演会講演概要集,   2009 05 25
    Summary:We proposed the shaft tillage cultivation for autonomous robot. Under this cultivation, deep vertical shaft is drilled by rotating the tillage tool, after that, seedling is transplanted to the shaft and grows until harvest time. We have discussed the possibility of application of legged locomotion to our robot. The feature of wheel locomotion is not made good use of, because the robot must stop to do the shaft tillage and transplanting. Meanwhile, one of the effectiveness of legged locomotion is to select ground contact point. Under the shaft tillage cultivation, the tillage and transplanti...
  • Developement of Legged Robot for the Shaft Tillage Cultivation-Determination of ground position-, 樹野淳也, 稲垣克彦, 田島淳, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2009 05 24
  • ハウス栽培用全自動定植システムの開発, 田島淳, 加藤雅義, 松葉知剛, 松田正吾, 山本淳平, 樹野淳也, 石井忠司, 農作業研究,   2009 04
  • クランク式耕うん機・スクリュー式耕うん機について, 田島淳, 加藤雅義, 渥美隆平, 石井彰, 樹野淳也, 農作業研究,   2009 04
  • 局所耕うん法の開発―クラッシュアイスを用いた耕うん器具の試作―, 田島淳, 加藤雅義, 安藤智哉, 川口渉, 豊田成章, 樹野淳也, 中山夏希, 農作業研究,   2009 04
  • Macro-micro tele-operation system based on body image embedding for bio-manipulation under microscope, Hiromi Mochiyama, Hisato Kobayashi, Junya Tatsuno, Hiroyuki Kawai, 2008 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2008,   2008 12 01
    Summary:In this paper, in order to provide with an inex- pensive solution to efficient bio-manipulation under microscope, we propose a macro-micro tele-operation system based on body image embedding. It is known in neuroscience that we could feel our body image for the object which is not our own body in certain conditions. Our idea is to utilize the body image illusion for generating high immersive feelings in bio-manipulation under microscope, instead of aiming at the perfect transparency, the conventional target of tele-manipulation system, which is difficult to attain. Our proposed system has two additional components as well as the conventional system where micro manipulators hydraulically connected to joysticks or dials handled by an operator are used for fine bio-manipulation under a microscope. The one component is for the body posi- tion/orientation consistency between proprioception and vision. In this component, due to appropriate use of a camera for a microscope, a visual display, mirrors and tiny dummy hands, an operator can see the magnified visual image of the tiny dummy hands similar to his/her own hands in shape at the position and orientation where he/she feel them proprioceptively. The other component is for the contact consistency between touch and vision. In this component, the contact between a tool grasped by an operator's hands and a manipulated object observed by eyes should coincide to the contact felt by his/her hand skin. To do this, haptic stimulators such as piezo actuators are activated at the timing of contact which is detected, for example, by the vision processing from the microscopic images. © 2008 IEEE.
  • Macro-micro Tele-manipulation System based on Body Image Embedding for Bio-manipulation under Microscope, Proc. of 2008 International Symposium on Micro-Nano Mechatronics and Human Science (MHS2008), pp. 28,   2008 11 , Proc. of 2008 International Symposium on Micro-Nano Mechatronics and Human Science (MHS2008), pp. 28
  • Study on Operation Assistance with Sensory Illusion to Improve Maneuverability of Micro-manipulator, 樹野淳也, 村川圭介, 河合宏之, 望山洋, 小林尚登, 日本ロボット学会学術講演会予稿集(CD-ROM),   2008 09 09
  • 局所耕うん栽培圃場における耕うん同時評価法に関する研究―耕うん所要動力による土壌物理性の評価―, 田島淳, 荒川直毅, 佐々木豊, 加藤雅義, 樹野淳也, 農作業研究,   2008 05
  • 局所耕うん法の開発―クラッシュアイスを用いた耕うん法の提案―, 田島淳, 中山夏希, 加藤雅義, 樹野淳也, 農作業研究,   2008 05
  • 太陽電池駆動型農作業システムの開発 消費電力の低減について, 川島平太, 田島淳, 佐々木豊, 樹野淳也, 農業環境工学関連学会合同大会講演要旨集(CD-ROM),   2007 09
  • 局所耕うん法の開発―クラッシュアイスを用いたシャフト底部の拡大―, 中山夏希, 田島淳, 佐々木豊, 加藤雅義, 樹野淳也, 農作業研究,   2007 06 15
  • A Scaled Tele-Operation Powered by Haptic Illusion., Hisato Kobayashi, Keisuke Murakawa, Junya Tatsuno, Hiromi Mochiyama, Hiroyuki Kawai, IEEE RO-MAN 2007, 16th IEEE International Symposium on Robot & Human Interactive Communication, August 26-29, 2007, Jeju Island, Korea, Proceedings,   2007
  • 局所耕うん・定植作業を行う自動作業車両の誘導, 樹野淳也, 田島淳, 寺田裕, 加藤雅義, 石井忠司, 宮内康弘, 木下栄一郎, 玉木浩二, 農業環境工学関連学会合同大会講演要旨集(CD-ROM),   2006 09
  • 太陽電池駆動型農作業システムの消費電力について, 川島平太, 田島淳, 樹野淳也, 石井忠司, 木下榮一郎, 宮内康弘, 農業機械学会関東支部年次報告,   2006 06 28
  • 局所耕うん用全自動移植機によるチンゲンサイの定植, 田島淳, 樹野淳也, 寺田裕, 加藤雅義, 石井忠司, 木下榮一郎, 宮内康弘, 農作業研究,   2006 06 15
  • セル成型トレイによる均一育苗技術について, 中滞基, 田島淳, 樹野淳也, 加藤雅義, 農作業研究,   2006 06 15
  • 局所耕うん栽培圃場の経年変化の評価, 中山夏希, 田島淳, 樹野淳也, 加藤雅義, 農作業研究,   2006 06 15
  • 画像処理による生長計測‐カメラ画像による植物の容積の推定‐, 洪寧基, 吉田雄司, 樹野淳也, 田島淳, 玉木浩二, 農業環境工学関連7学会合同大会講演要旨集,   2005 09 12
  • レーザ距離計を用いた車両・作業機の位置制御, 寺田裕, 田島淳, 樹野淳也, 加藤雅義, 玉木浩二, 石井忠司, 農業環境工学関連7学会合同大会講演要旨集,   2005 09 12
  • 施設内乗用型電動作業車の開発と走行特性, 洪寧基, 樹野淳也, 田島淳, 玉木浩二, 山本がい, 農業環境工学関連7学会合同大会講演要旨集,   2005 09 12
  • 圃場内運機車両の四輪接地機構について, 佐藤かける, 田島淳, 樹野淳也, 三浦雄介, 寺田裕, 玉木浩二, 石井忠司, 農業機械学会関東支部年次報告,   2005 06 28
  • 農作業研究,Vol.40,Ex.1,春季大会講演要旨集,pp.59-60,   2005 03
  • Effective Use of Reservoir Water with Solar Pumping System at Integrated Farming System in Northeastern Thailand, Abstracts of International Symposium on Participatory Strategy for Soil and Water Conservation, p.16,   2004 11 , Abstracts of International Symposium on Participatory Strategy for Soil and Water Conservation, p.16
  • A method for 3D salt distribution measurement on saline land in northeastern Thailand, Abstracts of International Symposium on Participatory Strategy for Soil and Water Conservation, p.27,   2004 11 , Abstracts of International Symposium on Participatory Strategy for Soil and Water Conservation, p.27
  • レーザー距離計による二次元座標計測の精度について, 寺田裕, 田島淳, 樹野淳也, 玉木浩二, 石井忠司, 農業機械学会関東支部年次報告,   2004 06 20
  • Extraction Intention from Motion of Upper Limbs, 郡司島淳, 樹野淳也, 小林尚登, 日本ロボット学会学術講演会予稿集(CD-ROM),   2003 09 20
  • 農業機械学会関東支部第39回年次大会講演要旨pp.12-13,,   2003 09
  • レーザー距離計による車両位置の二次元計測, 寺田裕, 樹野淳也, 田島淳, 玉木浩二, 石井忠司, 農業機械学会関東支部年次報告,   2003 08 25
  • 立体トラスハウスのエネルギー負荷特性に関する研究, 洪寧基, 樹野淳也, 小島寛明, 田島淳, 吉村正敬, 玉木浩二, 農業機械学会関東支部年次報告,   2003 08 25
  • 個体管理ロボットによる重量生長の自動計測, 洪寧基, 樹野淳也, 吉田雄司, 田島淳, 吉村正敬, 玉木浩二, 農業機械学会関東支部年次報告,   2003 08 25
  • 太陽電池駆動型農作業システムの開発, 田島淳, 樹野淳也, 吉村正敬, 玉木浩二, 加藤雅義, 農業機械学会関東支部年次報告,   2003 08 25
  • Cooperative motion planning for long object handling by dual arm manipulator-Proposal of a cost function to let robots demonstrate human movements-, 西田知史, 樹野淳也, 小林尚登, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2003 05 23
    Summary:本研究では, 双腕マニピュレータが長尺物を扱う際の協調動作計画を扱う。特に, 人間の動作に似た動作生成を目標とし, 最小トルク変化や可操作性, 手先の相対位置変化などで構成された評価関数の提案を行い, シミュレーションによりその有効性を確認する。
  • レーザ距離計を用いた2次元座標計測, 田島淳, 樹野淳也, 玉木浩二, 石井忠司, 農業機械学会年次大会講演要旨,   2003 04 01
  • Cooperative motion planning for dual arm robot to demonstrate human arm movements, Takefumi Osone, Junya Tatsuno, Tomofumi Nishida, Hisato Kobayashi, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication,   2002 12 01
    Summary:Human friendly robots must not give us strange feelings in their behaviors. Namely, such robots should behave like human beings. This paper proposes a cost function, which generates human like movements when robots execute dual arm cooperative tasks. Considering human behaviors, we established a cost function based on two factors: "second derivatives of joint torques" and "degree of visibility". As a result of several simulations, we could conclude that the proposed cost function generated human like movements, which was closer to real human behavior comparing with the conventional cost functions. © 2002 IEEE.
  • Cooperative Motion Planning for Dual Arm Robot to Demonstrate Human Arm Movements, Proceeding of 11th IEEE International Workshop on Robot and Human Communication, pp.488-493,,   2002 09 , Proceeding of 11th IEEE International Workshop on Robot and Human Communication, pp.488-493,
  • 土壌の深さ方向に測定可能な電気伝導度センサーの開発 飽和塩類集積土壌の電気伝導度の測定, 洪寧基, 樹野淳也, 田島淳, 関山哲雄, 玉木浩二, 日本農業気象学会全国大会日本生物環境調節学会大会合同大会講演要旨,   2002 08 06
  • Application of Solar Pumping and Subsurface Drainage System for Reclamation of Saline Land in Northeastern Thailand, Transactions of 17th World Congress of Soil Science, CDROM, Paper No. 2032,,   2002 08 , Transactions of 17th World Congress of Soil Science, CDROM, Paper No. 2032,
  • A practical way to apply the natural human like communication to human-robot interface, Takefumi Yamada, Junya Tatsuno, Hisato Kobayashi, Robot and Human Communication - Proceedings of the IEEE International Workshop,   2001 12 01
    Summary:This paper proposes a concept to build a human friendly interface for robot tele-operation. This interface is based on a knowledge database of our daily lives, thus any human-operators, men and women of all ages, can easily transfer their intentions to the robots. The proposed method also includes interactive communication path between human-operators and robots, which compensates for vague instructions.
  • A practical way to apply the natural human like communication to human-robot interface, Takefumi Yamada, Junya Tatsuno, Hisato Kobayashi, Proceedings - IEEE International Workshop on Robot and Human Interactive Communication,   2001 12 01
    Summary:This paper proposes a concept to build a human friendly interface for robot tele-operation. This interface is based on a knowledge database of our daily lives, thus any human-operators, men and women of all ages, can easily transfer their intentions to the robots. The proposed method also includes interactive communication path between human-operators and robots, which compensates for vague instructions. © 2001 IEEE.
  • A Practical Method of Collision-Free Motion Planning for Manipulators., 小池宏明, 樹野淳也, 小林尚登, 日本ロボット学会学術講演会予稿集,   2001 09 18
  • Cooperative Motion Planning with Considering Quasi-Optimization of Manipulability for Dual Arm Robot., 大曽根威文, 樹野淳也, 小林尚登, 日本ロボット学会学術講演会予稿集,   2001 09 18
  • 双腕マニピュレータのための操作性の準最適化を考慮した協調動作計画, 大曽根威文, 樹野淳也, 小林尚登, 日本ロボット学会学術講演会予稿集,   2001 09 18
  • 多自由度マニピュレータにおける障害物回避動作を生成する実際的方法, 小池宏明, 樹野淳也, 小林尚登, 日本ロボット学会学術講演会予稿集,   2001 09 18
  • A Single Object Transportation System using Multiple Homogeneous Modules. 3rd Report: Development of Mobile Modules., 関根大一郎, 金井康頼, 川端邦明, 樹野淳也, 小林尚登, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集,   2001 06 08
  • 2P1-F4 A Single Object Transportation System using Multiple Homogeneous Modules : 3rd Report: Development of Mobile Modules, Sekine T, Kanai Y, Kawabata K, Tatsuno J, Kobayashi H, ロボティクス・メカトロニクス講演会講演概要集,   2001 06 08
  • Development of an Active Colonoscopy-1st Report: Study of Recquired Functions and a Prototype., 横田祥, 川端邦明, 樹野淳也, 小林尚登, 日本機械学会関東支部総会講演会講演論文集,   2001 03 09
  • 805 Development of an Active Colonoscopy : 1st Report : Study of Recquired Functions and a Protoytype, Yokota Sho, Kawabata Kuniaki, Tatsuno Junya, Kobayashi Hisato, 日本機械学会関東支部総会講演会講演論文集,   2001 03 09
    Summary:We develop an active colonoscopy system for realizing easy medical operation. In this report, we discuss required functions and specifications for the active colonoscopy system, and construct a prototype. 0ur proposed system is like a hyper redundant manipulator, which consists of plural units. Each unit consists of one actuated joint and two links, and control system is contained in the units. FSR(Force Sensing Resister) is also equipped as a tactile sensor for detecting the collision with colon. Using our prototype, we have basic experiments with a colon-shaped tube model and confirm the ...
  • Human like active vision for service robot teleoperation, Kazuyuki Takahashi, Junya Tatsuno, Hisato Kobayashi, Robot and Human Communication - Proceedings of the IEEE International Workshop,   1999 12 01
    Summary:This paper describes the construction of a robot vision. In order to enable robots to participate actively in our living, image recognition by robots is important. However we have many problems to be solved in this area. Human being can recognize images naturally without special eãort. Even though an image of object isn't enough as it is, we can get the information by closing to the object or by bringing it to our face. These behavior are done unconsciously. We think that human natural behavior may be a great hint to construct a robot vision system. On this point of view, we propose a robot vision system that behaves like human natural manner.
  • Man-machine interface with verbal communication, Isamu Matsumura, Junya Tatsuno, Yoshiyuki Kokubo, Hisato Kobayashi, Robot and Human Communication - Proceedings of the IEEE International Workshop,   1997 12 01
    Summary:This paper describes about a construction of human-friendly man-machine interface. We think that we should model after human natural communication to construct human-friendly man-machine interface. In this paper, especially, we will try to realize the man-machine communication by the commands with demonstrative pronoun and simple action. We construct a fundamental system and do some simple experiment.
  • Control of the agricultural robot with flexible boom electrically driven by solar light power, Kiyoshi Tajima, Junya Tatsuno, Koji Tamaki, Paper - American Society of Agricultural Engineers,   1997 12 01
    Summary:Natural energy is widely distributed and hard to utilize as a energy sources. When we think of development of agricultural robot using natural energy, such as solar energy, it is important to develop small and light body instead of current heavy equipment and a cultivation system that is suitable for the machine. The machine has specialized for each operation so that it stimulates to develop simpler machine. We have been developing the total system of agricultural robot for a field use. We introduce working vehicle positioning system for the robot, that is a combination of a movable guidance beacon along operating fields and flexible boom which connects working and control vehicle.
  • Extraction and Transmission of Operator's Intention on Teleoperation., 小久保芳行, 松村勇, 小林尚登, 樹野淳也, 日本ロボット学会学術講演会予稿集,   1997 09
  • A Construction of Man-Machine Interface with Verbal Communication., 松村勇, 小林尚登, 樹野淳也, 小久保芳行, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集,   1997 06
  • Human friendly teaching for industrial robots, Junya Tatsuno, Singo Matsuyama, Yoshiyuki Kokubo, Hisam Kobayashi, Robot and Human Communication - Proceedings of the IEEE International Workshop,   1996 12 01
    Summary:This paper considers a human friendly teaching way which can be used by every human being. The method represents robots' motion by a set of keywords which are frequently used in daily conversation. The sequence of keywords is interpreted as a sequence of robot command, and realized our intended motion. This paper also considers a method which translates human gesture to the keywords, because human gesture greatly assists to describe our intention as a set of keywords. To avoid misoperation, we can also verify the consistency between the human gesture and typed keywords. Moreover, keyword description enables us to expand the interface to being more human friendly.
  • Extraction and transmission of human intention on teleoperation, J. Tatsuno, H. Kobayashi, S. Matsuyama, Robot and Human Communication - Proceedings of the IEEE International Workshop,   1996 12 01
    Summary:This paper tries to extract human intention from time series data in operator's arm action, and to let robots move as if robots have the same intention as the operator. Since human being is not always good at to verbalize one's own mind, it is helpful for human-machine interface of teleoperation to interpret human arm actions.
  • Human friendly teaching for industrial robots, Junya Tatsuno, Shingo Matsuyama, Yoshiyuki Kokubo, Kuniaki Kawabata, Hisato Kobayashi, Robot and Human Communication - Proceedings of the IEEE International Workshop,   1996 12 01
    Summary:A human friendly method of teaching industrial robots has been developed. The methods involved teaching by keywords which represent almost all tasks required from industrial robots. It was observed that there is a need to develop intelligent control method with visual or tactile feedback which is essential for fine motion teaching.
  • Human friendly teaching for industrial robots, Junya Tatsuno, Yoshiyuki Kokubo, Shingo Matsuyama, Kuniaki Kawabata, Hisato Kobayashi, Proceedings of the IEEE International Conference on Industrial Technology,   1996 12 01
    Summary:In future, robots may be familiar to human-being. In such case, more human friendly communication methods are necessary. In this paper, we discuss the simple teaching way for robots. We represent robots' motion by a set of keywords, and try to describe robots' tasks by sequence of them. Furthermore, we simulate a simple task execution with our proposed method.
  • A Construction of Tele-Operation with Communication Time Delay., 小林尚登, 樹野淳也, 松山新吾, 小久保芳行, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集,   1996 06
  • Biodynamical measure of master-slave maneuverability, Hisato Kobayashi, Junya Tatsuno, Akinori Kuroda, Shingo Matsuyama, Kazuo Yana, Hirohisa Mizuta, Robot and Human Communication - Proceedings of the IEEE International Workshop,   1995 12 01
    Summary:This paper describes an attempt to use a biodynamical measure to evaluate the performance of human-robot interfaces that should be comfortable for human operators. Since the comfort is a sense of human being, we should adopt some biodynamical measure to evaluate the comforts of human operator; This paper proposes a quantitative biodynamical measure that depends on heart rate, instantaneous lung volume and arterial blood pressure. Experiments show that there exists clear relation between the measure and the task stress of operators.
  • Tele-operation through network with random time delay, H. Kobayashi, J. Tatsuno, S. Ito, S. Matsuyama, Robot and Human Communication - Proceedings of the IEEE International Workshop,   1995 12 01
    Summary:This paper describes a control structure of tele-operation system with communication time delay. Tele-operation systems need real time force and position information in bilateral way to realize natural operation feeling, while communication paths usually have nonnegligible time delay. To overcome this problem, this paper proposes a dual model approach, which has a master model in the slave side and a slave model in the master side.
  • Trajectory Control of Redundant Manipulator Considering Maneuberability., 小林尚登, 樹野淳也, 松山新吾, 小久保芳行, 日本ロボット学会学術講演会予稿集,   1995 11
  • A Construction of Tele-Operation with Communication Time Delay., 小林尚登, 樹野淳也, 松山新吾, 増淵英行, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集,   1995 06
  • Micro-macro manipulator with haptic interface -2nd report: control by using virtual model-, Hisato Kobayashi, Junya Tatsuno, Satoshi Ito, Akinori Kuroda, Robot and Human Communication - Proceedings of the IEEE International Workshop,   1994 12 01
    Summary:This paper treats a basic system which realizes a scaled manipulation environment. Tools for scaled manipulation are necessary when we manipulate an extremely large or small size target. In case of manipulation without scaling, it is possible to let the slave-manipulators have same configuration as the master-manipulators. But in case of different scale, it is difficult to design these manipulators as same configuration. Thus a different configurations with some intelligent control is necessary for such master-slave manipulators. In this paper we propose a control method for different scale master-slave manipulator.
  • Micro-macro manipulator with haptic interface, Hisato Kobayashi, Junya Tatsuno, American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC,   1994 12 01
    Summary:This paper treats a basic system which realizes scaled manipulation environment. Tools for scaled manipulation are necessary when we manipulate an extremely large or small size target. This type of tool has to scale up or down size and force in bilateral way. But time scaling should also be considered to build up such ideal environment as we can feel our body size is scaled to the target size. This paper proposes a possible time scaling method which can be used in bilateral force-position control for unknown targets. On the other hand, in case of different scale, it is difficult to design these manipulators as same form. Thus, a different configuration with some intelligent control is necessary for such master-slave manipulators. This paper also proposes a primary control method by using virtual model to improve the maneuverability of different scale master-slave manipulators.
  • Human-Mastermanipulator Structure with High Manipulability Measure., 小林尚登, 樹野淳也, 黒田明伯, 日本ロボット学会学術講演会予稿集,   1994 11
  • Control of Micro-Macro Manipulator with Image Processing., 尚林尚登, 樹野淳也, 伊藤賢, 日本ロボット学会学術講演会予稿集,   1994 11
  • Time Scaling Problem on The Scaled Tele-Manipulation., 小林尚登, 樹野淳也, 伊藤賢, 日本ロボット学会学術講演会予稿集,   1994 11
  • Micro-Macro Telemanipulation. 2nd Report: Control using by Virtual Model., 小林尚登, 樹野淳也, 黒田明伯, 伊藤賢, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集,   1994 06
  • Micro-Macro Telemanipulation. Structure and Control., 小林尚登, 樹野淳也, 日本機械学会通常総会講演会講演論文集,   1994 03
  • Task Performance of Micro-Macro Manipulator (experiment study)., 小林尚登, 飯島秀治, 樹野淳也, 日本ロボット学会学術講演会予稿集,   1993 11
  • Micro-macro tele-manipulation system, H. Kobayashi, H. Nakamura, J. Tatsuno, S. Iijima, Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993,   1993 01 01
    Summary:© 1993 IEEE. In recent years, robotic manipulator system have been developed in various fields for various purposes. Today there are many systems in practical use. However most of them are considered on the assumption that the size of slave manipulator is nearly equal to the size of master manipulator. We have developed a bilateral controlled master-slave manipulator system to manipulate targets of quite different size from our body. We can not manipulate such size of targets by conventional ways. Thus, we try to make the target scale equal to our scale virtually. In this paper we describe the basic control structure, and report the primary experimental results.

Research Grants & Projects

  • Ministry of Education, Culture, Sports, Science and Technology, Grants-in-Aid for Scientific Research(基盤研究(C)), Analysis of the carbon sequestration function of the upland under the conservation tillage cultivation that introduced molecular structure analysis of the soil organic matter., The formation of soil aggregates was remarkable for the farmland under conservation tillage, compared to that under rotary tillage. For conservation tillage, the organic matter(OM) content in soil aggregated was found more in larger aggregated than in smaller ones. Our study showed that the change of functional groups in soil organic matter can be monitored easily by using a reflection type FTIR analyzer. A ratio of aromatic to aliphatic(Ar/Al) functional group determined by FTIR sensitively reflected the change of decomposition of OM more than a ratio of aromatic to amide(Ar/Am) functional group. The soil under conservation tillage had a greater value of Ar/Al than rotary tillage. The greatest Ar/Al value in the surface soil was found under conservation tillage, followed conventional cultivation and rotary tillage(control). Further study is needed to investigate the mechanistic relationship between soil OM functional groups and soil carbon sequestration.
  • Ministry of Education, Culture, Sports, Science and Technology, Grants-in-Aid for Scientific Research(若手研究(B)), Development of farm work machine for shaft tillage and transplanting by aged farmer, The purpose of this research is to develop the farm work machine for aged farmer. They can practice the shaft tillage cultivation with the farm work machine. The developed farm work machine consists of two units for shaft tillage and seedling supply. The seedling supply unit is manufactured using some parts of the chain pot planter on the market. The planting test was carried out by the developed farm. As a result of the experiment, the success rate became about 90%. The factor of the planting failure originated chiefly in the seedling. Then, we suggested the higher technology of sowing and raising seedling must to be researched to supply more uniform seedling.
  • Ministry of Education, Culture, Sports, Science and Technology, Grants-in-Aid for Scientific Research(基盤研究(C)), Study on Cultivation Way with Desalination of the Brackish Water, Because of deforestation, ecosystem has been devastated in Northeast of Thailand. More than 1.5million ha of area is nos affected by salt accumulation. In such area, water in ponds and groundwater are also including much salt, and there are many difficulties to use such water for agriculture.In this study, methods for effective utilization of the water in ponds and groundwater on saline land such as Northeast of Thailand were discussed.For desalination of the brackish water, a lot of ways as solar distillation methods were introduced. In this research, a new type of solar still was proposed. The system is separated ito two parts, one is evaporator and another is condenser, which forced to make vapor air condensed dirctly into the soil. This forced condensing process is called as the "Vapor irrigation".Some experiments of evaporation and condensation were carried out to evaluate the performance of the new type of solar still. In forced condensing process, it is important to increase the difference of temperature between water vapor and condensing surface. For that purpose, it might be effective to decrease heat losses of devices, to use heat collectors for increasing temperature of water vapor and to use the cooling devices like peltier element for decreasing temperature of condensign surface.With combining with PV drainage pump for groundwarer control, this study will be useful for recovering vegetalion on the saline land as Northeast of Thailand.