Language：Japanese   Publishing type：Research paper (scientific journal)  

コンバイン風選別部を電動化し無段変速機構を実現することで，選別風の微調整が可能となり，選別精度向上につながるとともに汎用性向上も期待できる。また，コンバインの自動化に向けて，トラブル発生時の対応策として利用できる可能性がある。本研究は，穀粒流量の変化前と後の電動唐箕ファンの負荷電流から穀粒流量の変化点を状態空間モデルで検出することとした。また，判別分析で選別精度の良し悪しに分類し，交差検証で判別分析の妥当性を確認した。これらの結果に基づき，検出アルゴリズムを立案した。

Authorship：Lead author   Language：English   Publishing type：Research paper (international conference proceedings)  

Authorship：Lead author   Language：Japanese   Publishing type：Master’s thesis  

Language：Japanese   Publishing type：Research paper (scientific journal)  

近年，汎用コンバインの研究開発が進んでいるが，対象作物の拡大に伴い作業精度に課題が生じているため，各作業部を電動化し微調整可能にすることで汎用性向上が期待できると考えた。刈取部で作物量を検知し，制御パラメータとすることでより最適な制御システムの構築を目指す。本研究では，極低速で駆動する往復電動刈刃機構を作成し，準静的条件下での切断負荷と作物情報との相関を示す特徴的なパラメータ抽出や消費電力波形から切断負荷の特徴について考察した。その結果，消費電力と切断力の波形には相関性が見られ，作物量予測モデルのパラメータには最大曲げ荷重，切断エネルギ，茎径，茎の水分が抽出された。

Authorship：Lead author   Language：Japanese   Publishing type：Thesis (other)  

Language：Japanese   Presentation type：Poster presentation  

Venue：つくば国際会議場   Country：Japan  

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：つくば国際会議場   Country：Japan  

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：つくば国際会議場   Country：Japan  

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：つくば国際会議場   Country：Japan  

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京大学   Country：Japan  

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：京都大学   Country：Japan  

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：九州大学   Country：Japan  

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：九州大学   Country：Japan  

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京農業大学   Country：Japan  

Language：Japanese   Presentation type：Poster presentation  

<p>Citrus cultivation in Ehime Prefecture has been flourishing on steep slopes and has not been mechanized, so it is necessary to develop automation and robotization to save labor, especially in citrus orchards. Therefore, we are developing a small autonomous unit and designing a field adaptable to the robot on steep slopes. Designing a field is essential to realize a small robotic agricultural system, and we confirmed that simpler and safer traveling is possible on a flat road with a working aisle width of approximately 1 m and a leveled slope. In this study, path detection and traveling control methods that are safe, energy-efficient, and can follow along the detected path were investigated.</p>

DOI： 10.1299/jsmermd.2024.2a2-a06

CiNii Research

Language：Japanese   Presentation type：Poster presentation  

<p>The harvesting of tomatoes grown in greenhouses requires automation and robotization. We are developing a robot that directly separates the pedicel without grasping the tomato fruit to harvest. In this study, we have developed supporting racks for ease of harvesting and a plant extraction algorithm for detection. The support racks were tried strings and cucumber nets. A depth camera was used for the detection of plant bodies. The results show that using strings to support fruit branches is practical, and it is possible to extract stem clusters. In the future, we will develop an algorithm to classify the fruit stalk.</p>

DOI： 10.1299/jsmermd.2024.2a2-a07

CiNii Research