ヤノウ　アキラ   Akira Yanou   矢納　陽    所属   川崎医療福祉大学  医療技術学部 診療放射線技術学科    職種   教授
言語種別	英語
発表タイトル	Simulated Decontamination Experiments by Mobile Manipulator with Visual Recognition -Autonomous Behavior Driven by Environment Programming-
会議名	17th International Symposium on Applied Electromagnetics and Mechanics (ISEM2015)
学会区分	国際学会及び海外の学会
発表形式	口頭
講演区分	一般
発表者・共同発表者	Ryohei ARAKI, Yusuke SUNAMI, Mamoru MINAMI, Shinntaro ISHIYAMA and ◎Akira YANOU
発表年月日	2015/09
開催地 （都市, 国名）	Kobe, Japan
概要	Since Tohoku Earthquake off the coast of Pacific Ocean at Fukushima Prefecture and subsequent Tsunami devastated nuclear power station, No.1, in Fukushima, radioactive substances have been scattered off wide area of Fukushima. Then decontamination works have started, but they have not been progressing rapidly because there are not sufficient workers and they have risks that they should be exposed to radiation, which restrict working duration. So this research aims at developing a robot that moves and collects polluted soil by itself. This machine, controlled by visual information, recognizes and collects simulated contaminated soils automatically, where Model-based Matching Method and Genetic Algorithm are used to recognize the contaminated-soil-model. In this paper, recognition methods, structure of mobile manipulator with hand-eye cameras and results of simulated decontamination experiments are reported, in which a concept of autonomous behavior driven by ``Environment Programming'' that environment give programmed commands to the autonomous mobile manipulator.