{"created":"2023-06-20T13:25:20.421813+00:00","id":2087,"links":{},"metadata":{"_buckets":{"deposit":"07d09b88-4e80-4312-a97b-208d4dd51c8d"},"_deposit":{"created_by":11,"id":"2087","owners":[11],"pid":{"revision_id":0,"type":"depid","value":"2087"},"status":"published"},"_oai":{"id":"oai:kougei.repo.nii.ac.jp:00002087","sets":["12:17:277:278"]},"author_link":["3541","3542","3540","3538","3536","3535","3537","3539"],"item_10002_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2020-06-30","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicPageEnd":"14","bibliographicPageStart":"10","bibliographicVolumeNumber":"43","bibliographic_titles":[{"bibliographic_title":"東京工芸大学工学部紀要"},{"bibliographic_title":"The Academic Reports, the Faculty of Engineering, Tokyo Polytechnic University","bibliographic_titleLang":"en"}]}]},"item_10002_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"近年，深層学習を活用することでロボットによるピッキング作業の自動化が進んできており作業の効率化が行われている。本研究では深層学習を用いて一般物体認識を行い、物体との距離を深度カメラで測定し、ピッキングを行うシステムを制作することを目的とする。\n実験では、認識システムのモデル選定実験、深度カメラの性能実験、ピッキング実験を行った。\n結果、認識システムは YOLOv3·Tinyを採用した。深度カメラは実距離との誤差が平均 0.2cm だった。ヒ゜ッキング実験では物体をピッキングすることに成功した。課題として、座標に問題があるため修正が必要である。","subitem_description_type":"Abstract"},{"subitem_description":"In recent years, industrial robots has been improved in automatic works by using deep learning. For example, a system has been developed in order to pick up parts piled in a bulk.This system recognizes objects and generates gripping motions and accurately pick up parts using various gripping methods. The purpose of this research is to create a system that performs general object recognition on an object projected by the camera using deep learning. The proposed system could measure the distance to the object with the depth of camera and perform pick-up action.","subitem_description_type":"Abstract"}]},"item_10002_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"東京工芸大学工学部"}]},"item_10002_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"03876055","subitem_source_identifier_type":"ISSN"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"坂田, 修一"},{"creatorName":"サカタ, シュウイチ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"3535","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"清水, 智"},{"creatorName":"シミズ, サトル","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"3536","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"福田, 聖斗"},{"creatorName":"フクダ, マサト","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"3537","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"辛, 徳"},{"creatorName":"シン, トク","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"3538","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Sakata, Shuichi","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"3539","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Shimizu, Satoru","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"3540","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Fukuda, Masato","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"3541","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Shin, Duk","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"3542","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-06-30"}],"displaytype":"detail","filename":"vol43-1-03.pdf","filesize":[{"value":"5.0 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"vol43-1-03","url":"https://kougei.repo.nii.ac.jp/record/2087/files/vol43-1-03.pdf"},"version_id":"c50d383e-1a3d-421e-b4d0-3336c667fc9e"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"深層学習","subitem_subject_scheme":"Other"},{"subitem_subject":"ピッキング","subitem_subject_scheme":"Other"},{"subitem_subject":"深度カメラ","subitem_subject_scheme":"Other"},{"subitem_subject":"物体認識","subitem_subject_scheme":"Other"},{"subitem_subject":"Deep learning","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"picking","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"depth camera","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"object recognition","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"深層学習を用いたロボットアームのピックアップ作業に関する研究","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"深層学習を用いたロボットアームのピックアップ作業に関する研究"},{"subitem_title":"Study on Pick-up Works using Deep Learning","subitem_title_language":"en"}]},"item_type_id":"10002","owner":"11","path":["278"],"pubdate":{"attribute_name":"公開日","attribute_value":"2020-06-30"},"publish_date":"2020-06-30","publish_status":"0","recid":"2087","relation_version_is_last":true,"title":["深層学習を用いたロボットアームのピックアップ作業に関する研究"],"weko_creator_id":"11","weko_shared_id":-1},"updated":"2023-06-20T13:37:25.809623+00:00"}