Performance information

• Complete Conquest of KOSEN ROBOCON 2021－Winning the Championship two years in a row & Robocon Grand Prize－　　　　　　　　　　　　　　　
  TOKOI Yoshinori; TANAKA Akio; SAM ANN RAHOK; OKADA Akira; IZAWA Satoru; MASUYAMA Tomoya; IMAIZUMI Fuminobu; INOUE Kazumichi
  RESEARCH REPORTS OF NATIONAL INSTITUTE OF TECHNOLOGY, OYAMA COLLEGE, Volume：55, First page：16, Last page：25, 2022
  This paper contains a report on the activities of the project at National Institute of Technology, Oyama College in 2021. In the ROBOCON Project, we are training engineers through robot contests such as KOSEN ROBOCON. In the national competition in KOSEN ROBOCON 2021, we won the 1st place and Robocon grand prize of 26 teams.
  National Institute of Technology,Oyama College, Japanese
  DOI：https://doi.org/10.24610/oyama.55.0_16
  DOI ID：10.24610/oyama.55.0_16, ISSN：0288-2825, eISSN：2432-3500
• レーザ反射強度分布の確率密度関数推定に基づく路面状態の識別法の提案　　　　　　　　　　　　　　　
  木村 優太郎; 井上 一道; サム アン ラホック
  Volume：57, Number：1, First page：47, Last page：57, Jan. 2021, [Reviewed], [Invited], [Last]
  Japanese, Scientific journal
• Enhancement of Scan Matching Using an Environmental Magnetic Field.　　　　　　　　　　　　　　　
  Sam Ann Rahok; Hirohisa Oneda; Taichi Nakayama; Kazumichi Inoue; Shigeji Osawa; Akio Tanaka; Koichi Ozaki
  JRM, Volume：30, Number：4, First page：532, Last page：539, 2018, [Reviewed]
  Scientific journal
  DOI：https://doi.org/10.20965/jrm.2018.p0532
  Dblp：https://dblp.uni-trier.de/db/journals/jrm/jrm30.html#RahokONIOTO18
  DOI ID：10.20965/jrm.2018.p0532, DBLP ID：journals/jrm/RahokONIOTO18
• Development of Flexible Cowl Covered Mobile Robot in Consideration with Safety and Design Property.　　　　　　　　　　　　　　　
  Yasunari Kakigi; Kazumichi Inoue; Masaaki Hijikata; Koichi Ozaki
  JRM, Volume：29, Number：4, First page：630, Last page：638, 2017, [Reviewed]
  Scientific journal
  DOI：https://doi.org/10.20965/jrm.2017.p0630
  Dblp：https://dblp.uni-trier.de/db/journals/jrm/jrm29.html#KakigiIHO17
  DOI ID：10.20965/jrm.2017.p0630, ISSN：0915-3942, DBLP ID：journals/jrm/KakigiIHO17, Web of Science ID：WOS:000408034300001
• Development of Mobile Robot "SARA" that Completed Mission in Real World Robot Challenge 2014.　　　　　　　　　　　　　　　
  Naoki Akai; Kenji Yamauchi; Kazumichi Inoue; Yasunari Kakigi; Yuki Abe; Koichi Ozaki
  JRM, Volume：27, Number：4, First page：327, Last page：336, 2015, [Reviewed]
  Scientific journal
  DOI：https://doi.org/10.20965/jrm.2015.p0327
  Dblp：https://dblp.uni-trier.de/db/journals/jrm/jrm27.html#AkaiYIKAO15
  DOI ID：10.20965/jrm.2015.p0327, DBLP ID：journals/jrm/AkaiYIKAO15
• Development of Mobile Robot to Accomplish Task in Actual Environments　　　　　　　　　　　　　　　
  AKAI Naoki; YAMAUCHI Kenji; INOUE Kazumichi; UNAI Ryutaro; YAMAMOTO Jotaro; OZAKI Koichi
  Transactions of the Society of Instrument and Control Engineers, Volume：51, Number：1, First page：24, Last page：31, Jan. 2015, [Reviewed]
  In Tsukuba Challenge 2013, every robot had to navigate on a given path and detect specific persons wearing showy color clothes. There are many ideal functions for achieving the mission. It is, however, difficult to implement all ideal functions since complex algorithms are required. This paper, therefore, considers simplified functions for achieving the mission even if complex algorithms are not implemented. Our robot can run long distance by using a unique localization method which uses both of magnetic and geometric landmarks. Moreover, it can detect the target based on a color extraction method. These abilities enable the robot to exactly work the simple functions. Through the experiments, it is shown that our robot can exactly achieve the given mission by using only the simplified functions.
  The Society of Instrument and Control Engineers, Japanese
  DOI：https://doi.org/10.9746/sicetr.51.24
  DOI ID：10.9746/sicetr.51.24, ISSN：0453-4654, CiNii Articles ID：130004855724, CiNii Books ID：AN00072392
• Development of magnetic navigation method based on distributed control system using magnetic and geometric landmarks　　　　　　　　　　　　　　　
  Naoki Akai; Sam Ann Rahok; Kazumichi Inoue; Koichi Ozaki
  Intensive Care Medicine, Volume：1, Number：1, First page：1, Last page：11, Nov. 2014, [Reviewed]
  Background: In order for a robot to autonomously run in outdoor environments, a robust and stable navigation method is necessary. Especially, to run in real-world environments, robustness against moving objects is important since many pedestrians and bicycles come and go. Magnetic field, which is not influenced by the moving objects, is considered to be an effective information for autonomous navigation.
  Methods: Localization technique using a magnetic map, which records ambient magnetic field, has been proposed. The magnetic map is expressed as a linear map. When using this linear magnetic map, swerving from the desired path is a fatal problem. It is because that the magnetic map contains only magnetic data on a desired path. In the paper, we propose a novel navigation method which allows a robot to precisely navigate on a desired path even if localization is performed on the basis of the linear magnetic map. The navigation is performed by using a control method based on a DCS (Distributed Control System). In the system, several navigation modules are executed in parallel, and they independently control the robot by using magnetic and geometric landmarks.
  Results and discussion: We conducted three navigation experiments. Our robot could perfectly accomplish all navigation even if it was disturbed by many moving objects during the navigation.
  Conclusions: The control method based on the DCS could switch the navigation module for controlling the robot to cope against the change of its surroundings. The precise and robust navigation was achieved with the proposed method.
  Springer Verlag, English, Scientific journal
  DOI：https://doi.org/10.1186/s40648-014-0021-8
  Scopus：https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84918782255&origin=inward
  Scopus Citedby：https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=84918782255&origin=inward
  DOI ID：10.1186/s40648-014-0021-8, ISSN：1432-1238, eISSN：1432-1238, SCOPUS ID：84918782255
• Autonomous Navigation Based on Magnetic and Geometric Landmarks on Environmental Structure in Real World　　　　　　　　　　　　　　　
  Naoki Akai; Kazumichi Inoue; Koichi Ozaki
  Journal of Robotics and Mechatronics, Volume：26, Number：2, First page：158, Last page：165, Apr. 2014, [Reviewed], [Corresponding]
  For the Real World Robot Challenge (RWRC) 2013, a new task was established: every robot was required to search for designated persons. In this paper, therefore, we consider the difficulty of the task and construct a navigation strategy to achieve the task. To navigate a robot on the basis of the strategy, long distance navigation is necessary. We have developed a unique navigation method based on magnetic and geometric landmarks on environmental structures in various locations. This method allows a robot to robustly localize by evaluating the reliability of magnetic and geometric landmarks. By using this method, a robot can navigate stably, even if there are no existing landmarks to serve as objects. We achieved autonomous navigation over long distances and successfully searched out designated persons as the challenge of the RWRC2013. This paper presents our navigation method and discusses long distance navigation using the method.
  Fuji Technology Press Ltd., Scientific journal
  DOI：https://doi.org/10.20965/jrm.2014.p0158
  Dblp：https://dblp.uni-trier.de/db/journals/jrm/jrm26.html#AkaiIO14
  Scopus：https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84899861030&origin=inward
  Scopus Citedby：https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=84899861030&origin=inward
  DOI ID：10.20965/jrm.2014.p0158, ISSN：0915-3942, eISSN：1883-8049, DBLP ID：journals/jrm/AkaiIO14, SCOPUS ID：84899861030
• Person Detection Method Based on Color Layout in Real World Robot Challenge 2013　　　　　　　　　　　　　　　
  Kenji Yamauchi; Naoki Akai; Ryutaro Unai; Kazumichi Inoue; Koichi Ozaki
  Journal of Robotics and Mechatronics, Volume：26, Number：2, First page：151, Last page：157, Apr. 2014, [Reviewed]
  In Real World Robot Challenge 2013, a mission was added that had robots search for a person wearing clothes featuring unique colors. We focus on the layout of such clothes with the aim of detecting persons wearing them by applying color extraction. Color extraction is improved by preprocessing of a clipping image from the robot’s vision and possibly extracting colors worn by target persons stably in natural light. Persons are detected by simply evaluating the layout of target colors. Our robots were equipped with person detection for this challenge and have detected all targeted persons. This paper describes considerations about person detection performance based on pre- and postchallenge results.
  Fuji Technology Press Ltd., Scientific journal
  DOI：https://doi.org/10.20965/jrm.2014.p0151
  Dblp：https://dblp.uni-trier.de/db/journals/jrm/jrm26.html#YamauchiAUIO14
  DOI ID：10.20965/jrm.2014.p0151, ISSN：0915-3942, eISSN：1883-8049, DBLP ID：journals/jrm/YamauchiAUIO14
• 5. 屋外公共空間における親しみやすさを考慮した移動ロボットの意匠・設計に関する研究　　　　　　　　　　　　　　　
  井上 一道
  Mar. 2014
  Doctoral thesis
• The Realization and Evaluation of The Reins' Control Method　　　　　　　　　　　　　　　
  Qingsong Han; Naoki Akai; Kazumichi Inoue; Koichi Ozaki
  PROCEEDINGS OF THE 2014 9TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), First page：621, Last page：+, 2014, [Reviewed]
  Realizing robots' controlling in controlling way of saving dof has a broad prospect and applied space using control technology. The paper discussed controlling horses using reins as inspiration, realizing the operation of mobile equipment of reins' control. The experiment confirmed the feasibility of operation by the first stage; Comparing the operating system of reins with the operating system of games' handle that people are very familiar by the experimental research of the second stage, getting the conclusion that the operating of reins is equivalent to handles' operation, and the evaluations of the implementation is better than the handles'. The test results show that the control system is very accordant for intuitive feelings of the user of mobile devices' control demand, and can skillfully master the main point of the operation in a very short time. The results of studying provide a useful way of thinking for the development and evaluation of the personal mobile way.
  IEEE, English, International conference proceedings
  ISSN：2156-2318, Web of Science ID：WOS:000349638300118
• Autonomous Mobile Robot MAUV - Mission Achievement on Tsukuba Challenge 2011, 12 and 13 -.　　　　　　　　　　　　　　　
  Naoki Akai; Kazumichi Inoue; Sam Ann Rahok; Masatoshi Shinohara; Koichi Ozaki
  JRM, Volume：26, Number：5, First page：657, Last page：658, 2014, [Reviewed]
  Scientific journal
  DOI：https://doi.org/10.20965/jrm.2014.p0657
  Dblp：https://dblp.uni-trier.de/db/journals/jrm/jrm26.html#AkaiIRSO14
  DOI ID：10.20965/jrm.2014.p0657, DBLP ID：journals/jrm/AkaiIRSO14
• Implementation of Magnetic Navigation Method based on Experimental Analysis of Magnetic Field　　　　　　　　　　　　　　　
  Naoki Akai; Sam Ann Rahok; Kohei Katayose; Ryo Shimada; Kazumichi Inoue; Koichi Ozaki
  Journal of the Robotics Society of Japan, Volume：32, Number：4, First page：395, Last page：402, 2014, [Reviewed], [Corresponding]
  In practical use of automatic guided vehicles, magnetic markers are widely used. However, an approach of which pattern of magnetic intensity in usual environment is defined as landmarks is not investigated. This reason is that it is difficult to be known environmental magnetic field since magnetic intensity is invisible. This paper shows investigation of environmental magnetic field in actual environment and describes implementation of the magnetic based navigation, magnetic navigation method. As the magnetic investigation, magnetic intensity of the mounted devices in a mobile robot was measured, and condition of efficient layout of the devices was obtained. By the measurement of environmental magnetic field in mentioned condition, pattern of magnetic intensity that is suitable as a landmark is shown in this paper. The mobile robot records magnetic intensity on its travel path as magnetic map, and achieves stable navigation based on the magnetic map. In this paper, performance of the magnetic navigation method is shown by an experiment.
  The Robotics Society of Japan, Japanese, Scientific journal
  DOI：https://doi.org/10.7210/jrsj.32.395
  DOI ID：10.7210/jrsj.32.395, ISSN：0289-1824, eISSN：1884-7145, CiNii Articles ID：130004561576, CiNii Books ID：AN00141189
• Monte Carlo Localization using magnetic sensor and LIDAR for real world navigation　　　　　　　　　　　　　　　
  Naoki Akai; Satoshi Hoshino; Kazumichi Inoue; Koichi Ozaki
  Proceedings of the 2013 IEEE/SICE International Symposium on System Integration, First page：682, Last page：687, Dec. 2013, [Corresponding]
  For realizing more stable outdoor navigation for mobile robots, this paper proposes a localization method using a magnetic sensor and a Light Detection and Ranging (LIDAR). In the proposed method, Monte Carlo Localization (MCL) using the LIDAR and a determination method of a heading direction using the ambient magnetic field are combined. In other words, the proposal distribution becomes dense at the true state of the robot by using the ambient magnetic field. The determination method is based on the advantage of the magnetic navigation proposed by us. By the proposed method, the robot enabled to navigate with accuracy in the outdoor environment, since the robust localization is realized. The effectiveness of the proposed method is shown through experiments. Moreover, two robots implemented the proposed method achieved the task of Real World Robot Challenge 2012. This means that the proposed method is effective for real world navigation.
  IEEE, English, International conference proceedings
  Dblp：https://dblp.uni-trier.de/db/conf/sii/sii2013.html#AkaiHIO13
  Dblp Cross Ref：https://dblp.uni-trier.de/conf/sii/2013
  DOI ID：10.1109/sii.2013.6776657, DBLP ID：conf/sii/AkaiHIO13, Web of Science ID：WOS:000352950900119
• Development of Localization Method Using Magnetic Sensor and LIDAR　　　　　　　　　　　　　　　
  Masatoshi SHINOHARA; Sam Ann RAHOK; Kazumichi INOUE; Koichi OZAKI
  Transactions of the Society of Instrument and Control Engineers, Volume：49, Number：8, First page：795, Last page：801, 2013, [Reviewed], [Corresponding]
  In mobile robot's localization, it is well known that odometry can provide a reliable accuracy in short term navigation and a very high sampling rate. However, odometry produces cumulative error because of uneven terrains or wheel slippage and this error increases proportionally with the distance traveled by the mobile robot. Therefore, it is necessary to augment odometry with other sensors to improve its accuracy. This paper proposes an estimation method of mobile robot orientation using an environmental magnetic field (magnetic field that occurs in the environment). A three-axis magnetic sensor is utilized to scan the environmental magnetic field to build a magnetic database on a grid map called "a magnetic map" with the mobile robot operated with a joystick on a desired route. The mobile robot then estimates its orientation by comparing the magnetic sensor readings with the magnetic data stored in the magnetic map. However, even if the proposed method can improve the accuracy of the odometry, positioning error still remains as a major problem in long term navigation. In this work, a localization method using Monte Carlo Localization (MCL) based on a Light Detection and Ranging (LIDAR) is utilized to fix the positioning error at the areas where landmark can be observed. The experimental results showed that the mobile robot could localize robustly in any environments with the proposed method.
  The Society of Instrument and Control Engineers, Japanese, Scientific journal
  DOI：https://doi.org/10.9746/sicetr.49.795
  DOI ID：10.9746/sicetr.49.795, ISSN：0453-4654, eISSN：1883-8189, CiNii Articles ID：10031193238, CiNii Books ID：AN00072392
• Implementation of a Long-Distance Navigation Method of Low Cost Structure That Combines a Localization Using Magnetic Information and a Lateral Position Compensation
  Naoki AKAI; Rahok SAM ANN; Kazumichi INOUE; Koichi OZAKI
  TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C, Volume：79, Number：799, First page：681, Last page：690, 2013, [Reviewed], [Corresponding]
  We have proposed a navigation method using magnetic information that occurs in the environment. This paper proposes a improve navigation method that combines a localization using magnetic information and a lateral error compensation based on external geometric information. In our previous method, it is required to adjust parameters used for the robot navigation. This adjustment is needed excluding unreliable magnetic information. On the other hand, our proposed method enables a robot to travel long distance without adjustment parameters even if the unreliable magnetic information is included. The robot is able to identify its position with the particle filter on a topological map using magnetic information. Furthermore, the robot uses external geometric information for only compensate the lateral error. As a result, the localization accuracy is increased and is not depend on geometric information. In addition, these methods are applicable to the robot using simple algorithm, computational and memory costs are low. Through the navigation experiments, we show that the robot achieved over 2 km navigation in real world. Moreover, the proposed method is compared to other two methods. Finally, the usefulness and advantage of the proposed method are presented. © 2013 The Japan Society of Mechanical Engineers.
  Japan Society of Mechanical Engineers, Japanese, Scientific journal
  DOI：https://doi.org/10.1299/kikaic.79.681
  Scopus：https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84876946764&origin=inward
  Scopus Citedby：https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=84876946764&origin=inward
  DOI ID：10.1299/kikaic.79.681, ISSN：0387-5024, eISSN：1884-8354, SCOPUS ID：84876946764
• Development of a Mobile Robot to Run in Tsukuba Challenge 2010　　　　　　　　　　　　　　　
  Sam Ann Rahok; Kazumichi Inoue; Koichi Ozaki
  Advanced Robotics, Volume：26, Number：14, First page：1555, Last page：1575, Sep. 2012, [Reviewed]
  Informa UK Limited, Scientific journal
  DOI：https://doi.org/10.1080/01691864.2012.694631
  Dblp：https://dblp.uni-trier.de/db/journals/ar/ar26.html#RahokIO12
  DOI ID：10.1080/01691864.2012.694631, ISSN：0169-1864, eISSN：1568-5535, DBLP ID：journals/ar/RahokIO12
• Proposal and Consideration of Design Policy for Autonomous Mobile Robots in Real World Robot Challenge　　　　　　　　　　　　　　　
  INOUE Kazumichi; RAHOK Sam Ann; OZAKI Koichi
  JRSJ, Volume：30, Number：3, First page：234, Last page：244, Apr. 2012, [Reviewed], [Lead]
  Functionality is not the only major objective of service robots design, but safety and affinity are also necessary. This study focuses on a design policy for a service robot that can be used to transport people in a real world environment. In this paper, a design policy which referred to the rules of a real world robot challenge (RWRC) called "Tsukuba Challenge 2010" and an idea to design the robot's body which is suitable for navigation method based on internal sensors, are presented. The design policy emphasizes functionality, safety, and affinity. Therefore, a service robot which can ensure the functionality and the safety during coexistence with humans can be developed. In 2010, we developed a robot with affinity and applied it in many events including Tsukuba Challenge. A questionnaire on the robot's perfection level was taken during the events. Feasibility of the proposed policy is shown by the results and performance of the demonstrations.
  The Robotics Society of Japan, Japanese
  DOI：https://doi.org/10.7210/jrsj.30.234
  DOI ID：10.7210/jrsj.30.234, ISSN：0289-1824, CiNii Articles ID：10030542136, CiNii Books ID：AN00141189
• 4. 公共空間における親和性を考慮した自律移動ロボットデザインの提案　　　　　　　　　　　　　　　
  井上 一道
  Volume：9, Number：2, First page：860, Last page：868, Feb. 2010, [Reviewed]
  DOI：https://doi.org/10.5057/jjske.J11-090520-3
  DOI ID：10.5057/jjske.J11-090520-3, CiNii Articles ID：10029659428

• Activity Report of KOSEN ROBOCON 2022-National Tournament Top 8-　　　　　　　　　　　　　　　
  床井良徳; 田中昭雄; 長尾和樹; RAHOK Sam Ann; 岡田晃; 伊澤悟; 増山知也; 今泉文伸; 井上一道
  小山工業高等専門学校研究紀要(Web), Number：56, 2023
  ISSN：2432-3500, J-Global ID：202402229167085211
• 効率的な全天球カメラ画像計測システムの構築と深層学習への応用　　　　　　　　　　　　　　　
  井上一道; 松本貴志; ウメイニ・マイケル・オネディカチュク; 藤倉駆; 椿規良; 小島拓 登; 正田晃己
  Feb. 2021, [Lead]
  Japanese, Technical report
• Activity Report of ROBOCON project at KOSEN ROBOCON 2020－Success story of First Victory at National Competition of KOSEN ROBOCON－　　　　　　　　　　　　　　　
  TOKOI Yoshinori; TANAKA Akio; SAM ANN RAHOK; OKADA Akira; IZAWA Satoru; MASUYAMA Tomoya; IMAIZUMI Fuminobu; INOUE Kazumichi
  RESEARCH REPORTS OF NATIONAL INSTITUTE OF TECHNOLOGY, OYAMA COLLEGE, Volume：54, First page：20, Last page：29, 2021
  This paper contains a report on the activities of the project at National Institute of Technology, Oyama College in 2020. In the ROBOCON Project, we are training engineers through robot contests such as KOSEN ROBOCON. In a regional tournament in KOSEN ROBOCON 2020, we won the 1st place of 26 teams. Moreover, in the national competition in KOSEN ROBOCON 2020, we won the 1st place of 28 teams for the first time.
  National Institute of Technology,Oyama College, Japanese
  DOI：https://doi.org/10.24610/oyama.54.0_20
  DOI ID：10.24610/oyama.54.0_20, ISSN：0288-2825, eISSN：2432-3500, CiNii Articles ID：130008161842
• Two Teams Played at National Competition of KOSEN ROBOCON:First Place in Regional Tournament and Second Place in National Competition of KOSEN ROBOCON 2019　　　　　　　　　　　　　　　
  TOKOI Yoshinori; TANAKA Akio; SAM ANN RAHOK; OKADA Akira; IZAWA Satoru; MASUYAMA Tomoya; IMAIZUMI Fuminobu; INOUE Kazumichi
  RESEARCH REPORTS OF NATIONAL INSTITUTE OF TECHNOLOGY, OYAMA COLLEGE, Volume：53, Number：0, First page：10, Last page：19, 2020
  This paper contains a report on the activities of the project at National Institute of Technology, Oyama College in 2019. In the ROBOCON Project, we are training engineers through robot contests such as KOSEN ROBOCON. In a regional tournament in KOSEN ROBOCON 2019, the two teams from our college won the first place and the second place respectively. In addition, both of the two teams qualified for a national competition. In the national competition in KOSEN ROBOCON 2019, we won the 2^nd place of 26 teams.
  National Institute of Technology,Oyama College, Japanese
  DOI：https://doi.org/10.24610/oyama.53.0_10
  DOI ID：10.24610/oyama.53.0_10, ISSN：0288-2825, CiNii Articles ID：130007961011
• つくばチャレンジ2017への取り組みについて　　　　　　　　　　　　　　　
  中山太知; 松岡健太; 永吉拓磨; 増渕友晶; 木村優太郎; 齋藤洸; 清水太一; Sam Ann Rahok; 井上一道; 大根田浩久
  つくばチャレンジシンポジウム、つくばチャレンジ2017参加レポート集 pp.46-47, Jan. 2018
  Japanese, Summary national conference
• 1. 自律移動ロボット 「Coyomi」の開発　　　　　　　　　　　　　　　
  井上 一道
  05 Jan. 2017
• つくばチャレンジ2016への取り組みについて　　　　　　　　　　　　　　　
  中山太知; 三ツ木和也; 畠中裕太郎; Sam Ann Rahok; 井上一道; 大根田浩久
  つくばチャレンジシンポジウム、つくばチャレンジ2016参加レポート集 pp.53-54, Jan. 2017
  Japanese, Summary national conference
• 磁気センサとレーザ測域センサを組み合わせた自律ナビゲーション法に関する研究
  中山太智; SAM ANN Rahok; 井上一道; 大根田浩久; 田中昭雄
  計測自動制御学会システムインテグレーション部門講演会(CD-ROM), Volume：17th, First page：ROMBUNNO.1B1‐1, 15 Dec. 2016
  Japanese
  J-Global ID：201702244031776245
• 全身触覚ボディを実現するための応力・歪み分布シミュレーションに基づくセンサ配置の決定　　　　　　　　　　　　　　　
  柿木泰成; 赤井直紀; 井上一道; 尾崎功一
  Volume：2015, 2015
  ISSN：2424-3124, J-Global ID：201602222840167389
• 2. 子ども達が乗って遊べる自律移動ロボット「ERIE」　　　　　　　　　　　　　　　
  井上 一道
  Sep. 2014
• 広域空間における磁気収集を目的としたパーソナルモビリティロボットの開発　　　　　　　　　　　　　　　
  赤井直紀; 松田卓也; 井上一道; 宇内隆太郎; 山内健司; 山本条太郎; 尾崎功一
  Volume：2014, 2014
  ISSN：2424-3124, J-Global ID：201702215638197352
• Development of a Personal Mobility Robot "NENA".　　　　　　　　　　　　　　　
  Kazumichi Inoue; Naoki Akai; Koichi Ozaki
  JRM, Volume：26, Number：5, First page：659, Last page：659, 2014, [Reviewed], [Lead]
  Introduction scientific journal
  DOI：https://doi.org/10.20965/jrm.2014.p0659
  Dblp：https://dblp.uni-trier.de/db/journals/jrm/jrm26.html#InoueAO14
  DOI ID：10.20965/jrm.2014.p0659, DBLP ID：journals/jrm/InoueAO14
• パーソナルモビリティの設計構想とロボット特区での開発チャレンジ　　　　　　　　　　　　　　　
  松田卓也; 井上一道; 赤井直紀; 中田未央; 尾崎功一
  Volume：2013, May 2013
  ISSN：2424-3124, J-Global ID：201702222788283753
• 5. 名 称）果物類の容器及びその容器の使用方法　　　　　　　　　　　　　　　
  柏嵜 勝; 青山 リエ; 尾崎 功一; 井上 一道; 原 紳
  13 Nov. 2012
• 8. 親和性を考慮した自律移動ロボットデザイン　　　　　　　　　　　　　　　
  井上 一道
  First page：999, Last page：1000, Dec. 2009
  CiNii Articles ID：10029659433
• 9. 公共空間における親和性を考慮した自律移動ロボットデザインの提案　　　　　　　　　　　　　　　
  井上 一道
  Sep. 2009
• 10. 公共空間における移動ロボットの配色についての考察　　　　　　　　　　　　　　　
  井上 一道
  May 2009

• 子ども達が乗って遊べる 自律移動ロボット「ERIE」　　　　　　　　　　　　　　　
  井上一道; 尾崎功一
  Mar. 2025, [Invited]
  Mar. 2025 - Mar. 2025, Invited oral presentation
• 単眼カメラ画像の透視変換を用いた人との相対距離推定と動作指令生成　　　　　　　　　　　　　　　
  井上 一道; 椎名 柚; 床井 良徳; サム・アン・ラホック; 大根田 浩久; 田中 昭雄
  Mar. 2025
  Mar. 2025 - Mar. 2025, Oral presentation
• 加速度時系列データに基づく自律移動ロボットの路面衝撃緩和法の検討　　　　　　　　　　　　　　　
  井上 一道; 牧野 空知; 大根田 浩久; 今泉 文伸; サムアン ラホック
  Sep. 2024
  Sep. 2024 - Sep. 2024
• 画像を用いた YOLO V3 によるロボットと人の相対位置関係の認識　　　　　　　　　　　　　　　
  椎名 柚; 井上一道; 床井良徳; 田中昭雄
  Mar. 2024
  Mar. 2024 - Mar. 2024
  優秀発表賞受賞
• 搭乗型小型移動ロボットの旋回安定性を考慮した速度指令生成の検討　　　　　　　　　　　　　　　
  亀井温由樹; 井上一道; 床井良徳; 田中昭雄
  Mar. 2024
  Mar. 2024 - Mar. 2024
• Dynamic Window Approachを用いた自律移動ロボットにおける選択的追従点設定によるリカバリー行動の検証　　　　　　　　　　　　　　　
  井上 一道; 相澤 怜昂; 島袋 太陽; 天野 史敬; 亀井 温由樹; 椎名 柚; 齊藤 星南; 牧野 空知; 大根田 浩久
  Dec. 2023
  Dec. 2023 - Dec. 2023
• 画像を用いたYOLO V3によるロボットと人の相対位置関係の認識　　　　　　　　　　　　　　　
  椎名柚; 田中昭雄; 井上一道
  Mar. 2023
  Mar. 2023 - Mar. 2023
• 自律移動ロボットにおける路面からの衝撃緩和を目的とした速度制御法の提案　　　　　　　　　　　　　　　
  牧野空知; 齊藤星南; サムアンラホック; 田中昭雄; 井上一道
  Mar. 2023
  Mar. 2023 - Mar. 2023
• ニューラルネットワークとLiDARを用いた路面材質判別法の検討　　　　　　　　　　　　　　　
  齋藤星南; 牧野空知; 床井良徳; 井上一道
  Mar. 2023
  Mar. 2023 - Mar. 2023
• Development of long-working robot for collecting reflection intensity data of LiDAR　　　　　　　　　　　　　　　
  井上 一道; 大根田 浩久
  Dec. 2021
  Dec. 2021 - Dec. 2021
• Examination of discrimination of moving objects by bird’s-eye view conversion of ORB feature points using monocular camera images　　　　　　　　　　　　　　　
  清水 美羽; 齊藤 星南; 牧野 空知; ウメイニ マイケル オネディカチュク; 井上 一道
  Dec. 2021
  Dec. 2021 - Dec. 2021
• A Study on Discrimination of Road Surface Condition by Deep Learning Using Acceleration Time Series Data　　　　　　　　　　　　　　　
  牧野 空知; 齊藤 星南; 清水 美羽; ウメイニ マイケル オネディカチュク; 井上 一道
  Dec. 2021
  Dec. 2021 - Dec. 2021
• Investigation of Data Set Construction for Road Surface Recognition by Laser Reflection Intensity　　　　　　　　　　　　　　　
  齊藤 星南; ウメイニ マイケル オネディカチュク; 清水 美羽; 牧野 空知; 井上 一道
  Dec. 2021
  Dec. 2021 - Dec. 2021
• Dynamic Window Approach とPure Pursuit法における選択的な追従点設定に基づく自律移動の実験的検証　　　　　　　　　　　　　　　
  井上一道; 藤倉駆; 小島拓登; ウメイニ・マイケル・オネディカチュク; 清水美羽; 牧野空知; 齊藤星南
  Jun. 2021
  Jun. 2021 - Jun. 2021
• Dynamic Window Approachにおける適応的な予測経路生成に基づく障害物回避行動の検討　　　　　　　　　　　　　　　
  小島拓登; 藤倉駆; 井上一道
  Dec. 2020
  Dec. 2020 - Dec. 2020
• レーザ反射強度分布の測定環境依存性を考慮した確率密度関数の修正と路面推定への適用　　　　　　　　　　　　　　　
  正田 晃己; 井上 一道
  Dec. 2020
  Dec. 2020 - Dec. 2020
• U-Modelに基づくパラレルリンクロボットの軌道追従制御の設計および検証　　　　　　　　　　　　　　　
  ウメイニ マイケル オネディカチュク; 井上 一道
  Dec. 2020
  Dec. 2020 - Dec. 2020
• Pure Pursuit法による柔軟な目標地点設定に基づく自律移動ロボットの行動計画　　　　　　　　　　　　　　　
  藤倉駆; 小島拓登; 井上一道
  Dec. 2020
  Dec. 2020 - Dec. 2020
• 全天球カメラを用いた深層学習によるMCL誤推定からの自己位置復帰　　　　　　　　　　　　　　　
  松本貴志; ウメイニ マイケル オネディカチュク; 井上 一道
  Dec. 2020
  Dec. 2020 - Dec. 2020
• 不均等分割NDTを評価に用いた自己位置推定の提案　　　　　　　　　　　　　　　
  椿 規良; 井上 一道
  Dec. 2020
  Dec. 2020 - Dec. 2020
• Recognize road condition using LIDAR and path planning for autonomous mobile robot　　　　　　　　　　　　　　　
  Kazumichi INOUE; Sam Ann Rahok; Akio TANAKA
  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), May 2020, Japan Society of Mechanical Engineers
  May 2020 - May 2020

• Apr. 2024 - Present
  制御工学II, 非常勤講師, Undergraduate special subjects
• Apr. 2024 - Present
  制御工学, 非常勤講師, Undergraduate special subjects
• Apr. 2024 - Present
  情報とコンピュータ（実習を主とする）
• Apr. 2024 - Present
  ロボット制御基礎
• Apr. 2024 - Present
  情報基礎
• Sep. 2023 - Mar. 2024
  ;, Saitama University, Faculty of Education
• Sep. 2022 - Mar. 2024
  ;, Saitama University, Faculty of Education
• Sep. 2022 - Mar. 2023
  ;, Saitama University
• 2022 - 2023
  V, National Institute of Technology, Oyama College
• 2022 - 2023
  Control engineering II, National Institute of Technology, Oyama College
• 2021 - 2023
  Life science, National Institute of Technology, Oyama College
• 2020 - 2023
  II, National Institute of Technology, Oyama College
• 2021 - 2021
  応用制御工学
• 2018 - 2021
  エンジニアリング数学IV
• 2020 - 2020
  数値解析
• 2018 - 2019
  ロボット工学
• 2016 - 2019
  制御工学II
• 2015 - 2019
  エンジニアリング数学II
• 2016 - 2016
  情報工学

• 2024