{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1390001205276228224.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.11165/eaef.2.108"}},{"identifier":{"@type":"NAID","@value":"130000120378"}}],"dc:title":[{"@language":"en","@value":"Path Planning of Tomato Cluster Harvesting Robot for Realizing Low Vibration and Speedy Transportation"}],"dc:language":"en","description":[{"type":"abstract","notation":[{"@language":"en","@value":"A manipulator control method was developed to realize the harvesting of operation for tomato clusters at high speeds.  In robot harvesting, both speedy transportation and vibration damping are required when a tomato cluster is transported into a box or a basket by using a manipulator.  An input shaping method (ISM) is one of the typical control methods for such control problems.  Although the ISM requires accurate natural frequencies of the controlled object, the natural frequencies are different for each tomato cluster.  Then, the identification of the natural frequency was combined with the ISM in our method.  This identification is based on the data obtained in real time using a machine vision system, a force sensor, and a database on the physical properties of tomato clusters.  A numerical simulation study and experiments were conducted and it was verified that the proposed method was applicable to the tomato harvesting robot motion."}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1420845751136987136","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"20183353"},{"@type":"NRID","@value":"1000020183353"},{"@type":"ORCID","@value":"0000-0001-5010-966X"},{"@type":"CINII_AUTHOR_ID","@value":"DA11855510"},{"@type":"URI","@value":"https://ci.nii.ac.jp/author/DA11855510#entity"},{"@type":"URI","@value":"https://viaf.org/viaf/NII%7CDA11855510"},{"@type":"NRID","@value":"9000248241273"},{"@type":"NRID","@value":"9000021327981"},{"@type":"NRID","@value":"9000255907715"},{"@type":"NRID","@value":"9000256707173"},{"@type":"NRID","@value":"9000256705345"},{"@type":"NRID","@value":"9000256706310"},{"@type":"NRID","@value":"9000256701224"},{"@type":"NRID","@value":"9000001007025"},{"@type":"NRID","@value":"9000022182957"},{"@type":"NRID","@value":"9000019962992"},{"@type":"NRID","@value":"9000254521756"},{"@type":"NRID","@value":"9000255907720"},{"@type":"NRID","@value":"9000256699177"},{"@type":"NRID","@value":"9000001209557"},{"@type":"NRID","@value":"9000319056612"},{"@type":"NRID","@value":"9000021108303"},{"@type":"NRID","@value":"9000019968745"},{"@type":"NRID","@value":"9000405732816"},{"@type":"NRID","@value":"9000256702758"},{"@type":"NRID","@value":"9000256706376"},{"@type":"NRID","@value":"9000390927568"},{"@type":"NRID","@value":"9000408497044"},{"@type":"NRID","@value":"9000264267714"},{"@type":"NRID","@value":"9000000644480"},{"@type":"NRID","@value":"9000018674378"},{"@type":"NRID","@value":"9000021937519"},{"@type":"NRID","@value":"9000022108469"},{"@type":"NRID","@value":"9000397426958"},{"@type":"NRID","@value":"9000256706299"},{"@type":"NRID","@value":"9000256703376"},{"@type":"NRID","@value":"9000022139542"},{"@type":"NRID","@value":"9000022179263"},{"@type":"NRID","@value":"9000021363229"},{"@type":"NRID","@value":"9000405918271"},{"@type":"NRID","@value":"9000254521561"},{"@type":"NRID","@value":"9000256704338"},{"@type":"NRID","@value":"9000256702486"},{"@type":"NRID","@value":"9000256706322"},{"@type":"NRID","@value":"9000256703349"},{"@type":"NRID","@value":"9000256701558"},{"@type":"NRID","@value":"9000256707366"},{"@type":"NRID","@value":"9000015254928"},{"@type":"NRID","@value":"9000271445387"},{"@type":"NRID","@value":"9000021946427"},{"@type":"NRID","@value":"9000412317823"},{"@type":"NRID","@value":"9000256698985"},{"@type":"NRID","@value":"9000256698997"},{"@type":"NRID","@value":"9000256707485"},{"@type":"NRID","@value":"9000256715291"},{"@type":"NRID","@value":"9000254521567"},{"@type":"NRID","@value":"9000257995677"},{"@type":"NRID","@value":"9000256282654"},{"@type":"NRID","@value":"9000256696147"},{"@type":"NRID","@value":"9000310741670"},{"@type":"NRID","@value":"9000022172018"},{"@type":"NRID","@value":"9000021352963"},{"@type":"NRID","@value":"9000254521984"},{"@type":"NRID","@value":"9000254522085"},{"@type":"NRID","@value":"9000240066368"},{"@type":"NRID","@value":"9000412317871"},{"@type":"NRID","@value":"9000256699004"},{"@type":"NRID","@value":"9000256703058"},{"@type":"NRID","@value":"9000256705340"},{"@type":"NRID","@value":"9000256708780"},{"@type":"NRID","@value":"9000256702543"},{"@type":"NRID","@value":"9000256711949"},{"@type":"NRID","@value":"9000022163226"},{"@type":"NRID","@value":"9000254521764"},{"@type":"NRID","@value":"9000412317923"},{"@type":"NRID","@value":"9000255906989"},{"@type":"NRID","@value":"9000256702901"},{"@type":"NRID","@value":"9000000293369"},{"@type":"NRID","@value":"9000018297496"},{"@type":"NRID","@value":"9000020314098"},{"@type":"NRID","@value":"9000021058098"},{"@type":"NRID","@value":"9000020505631"},{"@type":"NRID","@value":"9000256703085"},{"@type":"NRID","@value":"9000256702469"},{"@type":"NRID","@value":"9000019962921"},{"@type":"NRID","@value":"9000412317853"},{"@type":"NRID","@value":"9000408430328"},{"@type":"NRID","@value":"9000256700545"},{"@type":"NRID","@value":"9000256707177"},{"@type":"NRID","@value":"9000256705302"},{"@type":"NRID","@value":"9000256709102"},{"@type":"NRID","@value":"9000256707183"},{"@type":"NRID","@value":"9000003825555"},{"@type":"NRID","@value":"9000021946422"},{"@type":"NRID","@value":"9000410347697"},{"@type":"NRID","@value":"9000240066324"},{"@type":"NRID","@value":"9000256698991"},{"@type":"NRID","@value":"9000256698979"},{"@type":"NRID","@value":"9000256696150"},{"@type":"NRID","@value":"9000256702478"},{"@type":"NRID","@value":"9000390927555"},{"@type":"NRID","@value":"9000018836455"},{"@type":"NRID","@value":"9000003772035"},{"@type":"NRID","@value":"9000254521386"},{"@type":"NRID","@value":"9000257995689"},{"@type":"NRID","@value":"9000256706320"},{"@type":"NRID","@value":"9000256703397"},{"@type":"NRID","@value":"9000017691900"},{"@type":"NRID","@value":"9000261681381"},{"@type":"NRID","@value":"9000413695716"},{"@type":"NRID","@value":"9000254521750"},{"@type":"NRID","@value":"9000256703369"},{"@type":"NRID","@value":"9000014277438"},{"@type":"NRID","@value":"9000397708364"},{"@type":"NRID","@value":"9000254521788"},{"@type":"NRID","@value":"9000256700071"},{"@type":"NRID","@value":"9000413391399"},{"@type":"NRID","@value":"9000021938694"},{"@type":"NRID","@value":"9000240066371"},{"@type":"NRID","@value":"9000256701898"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/7000008671"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/7000008671-kondo704"}],"foaf:name":[{"@language":"en","@value":"KONDO Naoshi"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Agriculture, Kyoto University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410001205276228224","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000021937520"}],"foaf:name":[{"@language":"en","@value":"TANIHARA Koichi"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Science and Engineering, Ehime University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410001205276228227","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000021937526"}],"foaf:name":[{"@language":"en","@value":"TANIWAKI Shigemune"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Science and Engineering, Ehime University"}]},{"@id":"https://cir.nii.ac.jp/crid/1030285133686524678","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"00451302"},{"@type":"NRID","@value":"1000000451302"},{"@type":"NRID","@value":"9000021327994"},{"@type":"NRID","@value":"9000259842625"},{"@type":"NRID","@value":"9000021108310"},{"@type":"NRID","@value":"9000021937523"},{"@type":"NRID","@value":"9000022108477"},{"@type":"NRID","@value":"9000022139553"},{"@type":"NRID","@value":"9000021363243"},{"@type":"NRID","@value":"9000004895632"},{"@type":"NRID","@value":"9000006907676"},{"@type":"NRID","@value":"9000021058118"}],"foaf:name":[{"@language":"en","@value":"KURITA Mitsutaka"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Technology development department, S.I.Seiko Co.Ltd"}]},{"@id":"https://cir.nii.ac.jp/crid/1410001205276228229","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000021937521"}],"foaf:name":[{"@language":"en","@value":"SHIIGI Tomowo"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Agriculture, Kyoto University"}]},{"@id":"https://cir.nii.ac.jp/crid/1420564276188172672","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"70293925"},{"@type":"NRID","@value":"1000070293925"},{"@type":"NRID","@value":"9000365036176"},{"@type":"NRID","@value":"9000404317486"},{"@type":"NRID","@value":"9000398819641"},{"@type":"NRID","@value":"9000020429827"},{"@type":"NRID","@value":"9000380979777"},{"@type":"NRID","@value":"9000411522072"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/PermanentLink-13"}],"foaf:name":[{"@language":"en","@value":"TSUTSUMI Mitsuyoshi"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Science and Engineering, Ehime University"}]},{"@id":"https://cir.nii.ac.jp/crid/1410001205260336512","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000018674374"}],"foaf:name":[{"@language":"en","@value":"CHONG Vui Kiong"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Agriculture, Kyoto University"}]},{"@id":"https://cir.nii.ac.jp/crid/1030003658373580674","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"50206207"},{"@type":"NRID","@value":"1000050206207"},{"@type":"CINII_AUTHOR_ID","@value":"DA02660576"},{"@type":"URI","@value":"https://ci.nii.ac.jp/author/DA02660576#entity"},{"@type":"URI","@value":"https://viaf.org/viaf/NII%7CDA02660576"},{"@type":"NRID","@value":"9000020142957"},{"@type":"NRID","@value":"9000021328015"},{"@type":"NRID","@value":"9000014188667"},{"@type":"NRID","@value":"9000022139537"},{"@type":"NRID","@value":"9000243894857"},{"@type":"NRID","@value":"9000021937522"},{"@type":"NRID","@value":"9000022108473"},{"@type":"NRID","@value":"9000253685028"},{"@type":"NRID","@value":"9000283274002"},{"@type":"NRID","@value":"9000256700929"},{"@type":"NRID","@value":"9000366123765"},{"@type":"NRID","@value":"9000022139548"},{"@type":"NRID","@value":"9000256700016"},{"@type":"NRID","@value":"9000018521463"},{"@type":"NRID","@value":"9000021024831"},{"@type":"NRID","@value":"9000391814010"},{"@type":"NRID","@value":"9000022172012"},{"@type":"NRID","@value":"9000350548245"},{"@type":"NRID","@value":"9000002125455"},{"@type":"NRID","@value":"9000240541497"},{"@type":"NRID","@value":"9000293836920"},{"@type":"NRID","@value":"9000265561282"},{"@type":"NRID","@value":"9000020314116"},{"@type":"NRID","@value":"9000255907535"},{"@type":"NRID","@value":"9000243894782"},{"@type":"NRID","@value":"9000240066352"},{"@type":"NRID","@value":"9000242763192"},{"@type":"NRID","@value":"9000017691956"},{"@type":"NRID","@value":"9000361295900"},{"@type":"NRID","@value":"9000242673668"},{"@type":"NRID","@value":"9000014277425"},{"@type":"NRID","@value":"9000021530887"},{"@type":"NRID","@value":"9000256715175"},{"@type":"NRID","@value":"9000014277431"},{"@type":"NRID","@value":"9000347040923"},{"@type":"NRID","@value":"9000256700020"},{"@type":"NRID","@value":"9000283604752"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/read0013080"}],"foaf:name":[{"@language":"en","@value":"SHIMIZU Hiroshi"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Graduate School of Agriculture, Kyoto University"}]}],"publication":{"publicationIdentifier":[{"@type":"EISSN","@value":"18818366"},{"@type":"LISSN","@value":"18818366"}],"prism:publicationName":[{"@language":"en","@value":"Engineering in Agriculture, Environment and Food"},{"@language":"en","@value":"Engineering in Agriculture, Environment and Food"}],"dc:publisher":[{"@language":"en","@value":"Asian Agricultural and Biological Engineering Association"},{"@language":"ja","@value":"Asian Agricultural and Biological Engineering Association"}],"prism:publicationDate":"2009","prism:volume":"2","prism:number":"3","prism:startingPage":"108","prism:endingPage":"115"},"availableAt":"2009","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=harvesting%20robot","dc:title":"harvesting robot"},{"@id":"https://cir.nii.ac.jp/all?q=tomato","dc:title":"tomato"},{"@id":"https://cir.nii.ac.jp/all?q=fruit%20cluster","dc:title":"fruit cluster"},{"@id":"https://cir.nii.ac.jp/all?q=manipulator","dc:title":"manipulator"},{"@id":"https://cir.nii.ac.jp/all?q=motion%20and%20vibration%20control","dc:title":"motion and vibration control"}],"dataSourceIdentifier":[{"@type":"JALC","@value":"oai:japanlinkcenter.org:0033339198"},{"@type":"CIA","@value":"130000120378"}]}