{"id":1530,"date":"2024-10-10T13:23:53","date_gmt":"2024-10-10T04:23:53","guid":{"rendered":"https:\/\/www.kikulab.it-chiba.ac.jp\/Eng\/?page_id=1530"},"modified":"2026-02-24T19:23:13","modified_gmt":"2026-02-24T10:23:13","slug":"autonomous-construction-system","status":"publish","type":"page","link":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/research\/autonomous-construction-system\/","title":{"rendered":"Autonomous Construction System"},"content":{"rendered":"<div data-colibri-id=\"1530-c1\" class=\"style-706 style-local-1530-c1 position-relative\">\n  <!---->\n  <div data-colibri-component=\"section\" data-colibri-id=\"1530-c2\" id=\"initial-content\" class=\"h-section h-section-global-spacing d-flex align-items-lg-center align-items-md-center align-items-center style-707 style-local-1530-c2 position-relative\">\n    <!---->\n    <!---->\n    <div class=\"h-section-grid-container h-section-boxed-container\">\n      <!---->\n      <div data-colibri-id=\"1530-c3\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-720 style-local-1530-c3 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-721-outer style-local-1530-c4-outer\">\n            <div data-colibri-id=\"1530-c4\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-721 style-local-1530-c4 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c5\" class=\"h-text h-text-component style-722 style-local-1530-c5 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>We are developing the automatic excavation system by caisson shovels operating in high air pressure and narrow underground space. Here, we implement the sensors into the caisson shovel with five DOFs to measure three rotary joint angles\n                      and two prismatic joint lengths and reproduce the trajectory of soil mountain removal by a skilled human operator. Additionally, we assess the trajectory tracking performance and the motion characteristics.<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1530-c6\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-870 style-local-1530-c6 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-871-outer style-local-1530-c7-outer\">\n            <div data-colibri-id=\"1530-c7\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-871 style-local-1530-c7 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c8\" class=\"d-block style-872 style-local-1530-c8 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-image__frame-container-outer\">\n                    <div class=\"h-image__frame-container\">\n                      <!---->\n                      <!---->\n                      <img loading=\"lazy\" decoding=\"async\" width=\"892\" height=\"551\" src=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/10\/caisson00.png\" class=\"wp-image-2023 style-872-image style-local-1530-c8-image\" alt=\"\" srcset=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/10\/caisson00.png 892w, https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/10\/caisson00-300x185.png 300w, https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/10\/caisson00-768x474.png 768w\" sizes=\"auto, (max-width: 892px) 100vw, 892px\" \/>\n                      <div class=\"h-image__frame h-hide-lg h-hide-md h-hide-sm style-872-frameImage style-local-1530-c8-frameImage\"><\/div>\n                    <\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-873-outer style-local-1530-c9-outer\">\n            <div data-colibri-id=\"1530-c9\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-873 style-local-1530-c9 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c10\" class=\"d-block style-874 style-local-1530-c10 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-image__frame-container-outer\">\n                    <div class=\"h-image__frame-container\">\n                      <!---->\n                      <!---->\n                      <img loading=\"lazy\" decoding=\"async\" width=\"732\" height=\"531\" src=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/10\/caisson01.png\" class=\"wp-image-2024 style-874-image style-local-1530-c10-image\" alt=\"\" srcset=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/10\/caisson01.png 732w, https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/10\/caisson01-300x218.png 300w\" sizes=\"auto, (max-width: 732px) 100vw, 732px\" \/>\n                      <div class=\"h-image__frame h-hide-lg h-hide-md h-hide-sm style-874-frameImage style-local-1530-c10-frameImage\"><\/div>\n                    <\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1530-c11\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-1310 style-local-1530-c11 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1311-outer style-local-1530-c12-outer\">\n            <div data-colibri-id=\"1530-c12\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-1311 style-local-1530-c12 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c13\" class=\"h-text h-text-component style-722 style-local-1530-c13 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <h6>Collision Avoidance Simulations:<\/h6>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1530-c14\" class=\"h-row-container gutters-row-lg-0 gutters-row-md-0 gutters-row-0 gutters-row-v-lg-0 gutters-row-v-md-0 gutters-row-v-0 style-1307 style-local-1530-c14 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-0 gutters-col-md-0 gutters-col-0 gutters-col-v-lg-0 gutters-col-v-md-0 gutters-col-v-0\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1308-outer style-local-1530-c15-outer\">\n            <div data-colibri-id=\"1530-c15\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1308 style-local-1530-c15 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c16\" class=\"d-block style-1314 style-local-1530-c16 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-image__frame-container-outer\">\n                    <div class=\"h-image__frame-container\">\n                      <!---->\n                      <!---->\n                      <img loading=\"lazy\" decoding=\"async\" width=\"793\" height=\"371\" src=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2025\/08\/Caisson01.png\" class=\"wp-image-3769 style-1314-image style-local-1530-c16-image\" alt=\"\" \/>\n                      <div class=\"h-image__frame h-hide-lg h-hide-md h-hide-sm style-1314-frameImage style-local-1530-c16-frameImage\"><\/div>\n                    <\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1309-outer style-local-1530-c17-outer\">\n            <div data-colibri-id=\"1530-c17\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1309 style-local-1530-c17 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1530-c18\" class=\"d-block h-video d-block h-video style-1315 style-local-1530-c18 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/2ztzumGAXbQ?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1313-outer style-local-1530-c20-outer\">\n            <div data-colibri-id=\"1530-c20\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1313 style-local-1530-c20 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c21\" class=\"h-text h-text-component style-1317 style-local-1530-c21 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>Potential method and geometric constraints (by Fukuda, 2025):<\/p>\n                    <p>determine the shovel direction without collision based on t<span style=\"color: rgb(70, 112, 127); font-family: &quot;Open Sans&quot;; font-size: 16px; font-weight: 400;\">he gradient<\/span>.&nbsp;<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1530-c22\" class=\"h-row-container gutters-row-lg-0 gutters-row-md-0 gutters-row-0 gutters-row-v-lg-0 gutters-row-v-md-0 gutters-row-v-0 style-1318 style-local-1530-c22 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-0 gutters-col-md-0 gutters-col-0 gutters-col-v-lg-0 gutters-col-v-md-0 gutters-col-v-0\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1319-outer style-local-1530-c23-outer\">\n            <div data-colibri-id=\"1530-c23\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1319 style-local-1530-c23 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c24\" class=\"d-block style-1322 style-local-1530-c24 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-image__frame-container-outer\">\n                    <div class=\"h-image__frame-container\">\n                      <!---->\n                      <!---->\n                      <img loading=\"lazy\" decoding=\"async\" width=\"719\" height=\"520\" src=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2025\/08\/Caisson00.png\" class=\"wp-image-3768 style-1322-image style-local-1530-c24-image\" alt=\"\" \/>\n                      <div class=\"h-image__frame h-hide-lg h-hide-md h-hide-sm style-1322-frameImage style-local-1530-c24-frameImage\"><\/div>\n                    <\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1320-outer style-local-1530-c25-outer\">\n            <div data-colibri-id=\"1530-c25\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1320 style-local-1530-c25 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1530-c26\" class=\"d-block h-video d-block h-video style-1323 style-local-1530-c26 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/7QVz2Xyp_30?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1321-outer style-local-1530-c28-outer\">\n            <div data-colibri-id=\"1530-c28\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1321 style-local-1530-c28 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c29\" class=\"h-text h-text-component style-1325 style-local-1530-c29 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>Deep learning (by Nagamine, 2025):&nbsp;<\/p>\n                    <p>predicts the future collision time from the shovel motions.<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1530-c30\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-1326 style-local-1530-c30 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1327-outer style-local-1530-c31-outer\">\n            <div data-colibri-id=\"1530-c31\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-1327 style-local-1530-c31 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c32\" class=\"h-text h-text-component style-722 style-local-1530-c32 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <h6>Earth Bucket Recognition<\/h6>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1530-c33\" class=\"h-row-container gutters-row-lg-0 gutters-row-md-0 gutters-row-0 gutters-row-v-lg-0 gutters-row-v-md-0 gutters-row-v-0 style-1329 style-local-1530-c33 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-0 gutters-col-md-0 gutters-col-0 gutters-col-v-lg-0 gutters-col-v-md-0 gutters-col-v-0\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1330-outer style-local-1530-c34-outer\">\n            <div data-colibri-id=\"1530-c34\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1330 style-local-1530-c34 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c35\" class=\"d-block style-1333 style-local-1530-c35 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-image__frame-container-outer\">\n                    <div class=\"h-image__frame-container\">\n                      <!---->\n                      <!---->\n                      <img loading=\"lazy\" decoding=\"async\" width=\"815\" height=\"510\" src=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2025\/08\/Caisson02.png\" class=\"wp-image-3767 style-1333-image style-local-1530-c35-image\" alt=\"\" \/>\n                      <div class=\"h-image__frame h-hide-lg h-hide-md h-hide-sm style-1333-frameImage style-local-1530-c35-frameImage\"><\/div>\n                    <\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1331-outer style-local-1530-c36-outer\">\n            <div data-colibri-id=\"1530-c36\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1331 style-local-1530-c36 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1530-c37\" class=\"d-block h-video d-block h-video style-1334 style-local-1530-c37 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/k4Cs_OTqqQo?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1332-outer style-local-1530-c39-outer\">\n            <div data-colibri-id=\"1530-c39\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1332 style-local-1530-c39 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c40\" class=\"h-text h-text-component style-1336 style-local-1530-c40 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>Earth bucket recognition method by RGBD camera (by Bato, 2025):<\/p>\n                    <p>calculates the attitude based on point cloud processing, then predicts the handle angle, and finally determines the camera-invisible wire position.<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1530-c41\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-717 style-local-1530-c41 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-718-outer style-local-1530-c42-outer\">\n            <div data-colibri-id=\"1530-c42\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-718 style-local-1530-c42 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c43\" class=\"h-text h-text-component style-719 style-local-1530-c43 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <h6>References:<\/h6>\n                    <p><span style=\"font-weight: 400; font-size: 16px; font-family: &quot;Open Sans&quot;; color: rgb(102, 102, 102);\">. Kazumasa TAKADA, Renato SATO, Shoma SATO, Morito ITO, Ryota TSUCHIYA, Koki KIKUCHI, Masahiro SHINDO, Akira KAMEI, and Toshihiro KONDO:&nbsp;<\/span>\n                      <a\n                        href=\"https:\/\/www.jstage.jst.go.jp\/article\/jjsde\/57\/8\/57_2021.2947\/_article\/-char\/ja\" style=\"font-weight: 400; font-size: 16px; font-family: &quot;Open Sans&quot;; color: rgb(2, 110, 159);\" class=\"customize-unpreviewable\">Autonomous Operation System of Caisson Shovels in Narrow Underground Space at High Air Pressure (Development of a Job Scheduling Algorithm using a 1\/10 Caisson Platform)<\/a><span style=\"font-weight: 400; font-size: 16px; font-family: &quot;Open Sans&quot;; color: rgb(102, 102, 102);\">\uff0cJSDE, Vo.57, No.8, (2022), pp.381-396.<\/span><\/p>\n                    <p>.&nbsp;<span style=\"color: rgb(102, 102, 102); font-family: &quot;Open Sans&quot;; font-size: 16px; font-weight: 400;\">Toshitaka TSUNEKI, Naoto NEGISHI, Ryota TSUCHIYA, Koki KIKUCHI, Toshihiro KONDO, Tetsuya KOYO, Akira KAMEI, and Keigo HAYAKAWA,&nbsp;<\/span>\n                      <a\n                        href=\"http:\/\/www.jsde.or.jp\/icdes\/proceedings\/4th-2017\/PDF\/232.pdf\" style=\"color: rgb(2, 110, 159); font-family: &quot;Open Sans&quot;; font-size: 16px; font-weight: 400;\" class=\"customize-unpreviewable\">A Study on Autonomous Operation System of Caisson Shovels in High Air Pressure and Narrow Underground Space (Development of a 1\/10 Test Platform and the Demonstration)<\/a><span style=\"color: rgb(102, 102, 102); font-family: &quot;Open Sans&quot;; font-size: 16px; font-weight: 400;\">, JSDE, The 4rd International Conference on Design Engineering and Science: ICDES2017, (Sep. 2017), Aachen, Germany.<\/span><\/p>\n                    <p><span style=\"color: rgb(102, 102, 102); font-family: &quot;Open Sans&quot;; font-size: 16px; font-weight: 400;\">.&nbsp;Akira KAMEI, Koki KIKUCHI, Tetsuya KOYO and Toshihiro KONDO,&nbsp;<\/span>\n                      <a href=\"http:\/\/www.jsde.or.jp\/icdes\/proceedings\/4th-2017\/PDF\/231.pdf\"\n                        style=\"color: rgb(2, 110, 159); font-family: &quot;Open Sans&quot;; font-size: 16px; font-weight: 400;\" class=\"customize-unpreviewable\">A Study on Autonomous Operation System of Caisson Shovels in High Air Pressure and Narrow Underground Space (Terrain Mapping by RGB- and Depth-sensing Camera Mounted on the Shovel)<\/a><span style=\"color: rgb(102, 102, 102); font-family: &quot;Open Sans&quot;; font-size: 16px; font-weight: 400;\">, JSDE, The 4rd International Conference on Design Engineering and Science: ICDES2017, (Sep. 2017), Aachen, Germany.<\/span><\/p>\n                    <p>. Taiki FUKUDA, Kenta OBATA, Riko BATO, Ryusei YAMAMOTO, Takuya NAGAMINE, Takuma KACHI, Koki KIKUCHI, Masahiro SHINDO, Masaki MATSUMURA, Yoshinao KURACHI and Akihisa IWASAKI, Autonomous Operation System of Caisson Shovels in Narrow\n                      Underground Space at High Air Pressure (Collision Avoidance Using Multiple Dynamic Potentials and Geometrical Constraints), JSDE, The 6th International Conference on Design Engineering and Science: ICDES2025, (Aug. 2025), Alexandria\n                      Egypt.<\/p>\n                    <p>. Riko BATO, Kenta OBATA, Ryusei YAMAMOTO, Taiki FUKUDA, Takuya NAGAMINE, Takuma KACHI, Koki KIKUCHI, Masahiro SHINDO, Masaki MATSUMURA, Yoshinao KURACHI and Akihisa IWASAKI, Autonomous Operation System of Caisson Shovels in Narrow\n                      Underground Space at High Air Pressure (Pose Estimation of an Earth Bucket using 3D point cloud Data), JSDE, The 6th International Conference on Design Engineering and Science: ICDES2025, (Aug. 2025), Alexandria Egypt.<\/p>\n                    <p>. Takuya NAGAMINE, Taiki FUKUDA, Kenta OBATA, Riko BATO, Ryusei YAMAMOTO, Takuma KACHI, Koki KIKUCHI, Masahiro SHINDO, Yoshinao KURACHI, Masaki MATUMURA and Akihisa IWASAKI, Autonomous Operation System of Caisson Shovels in Narrow\n                      Underground Space at High Air Pressure (Development of a Collision Prediction System using Machine Learning), JSDE, The 6th International Conference on Design Engineering and Science: ICDES2025, (Aug. 2025), Alexandria Egypt.<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1530-c44\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-714 style-local-1530-c44 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-715-outer style-local-1530-c45-outer\">\n            <div data-colibri-id=\"1530-c45\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-715 style-local-1530-c45 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c46\" class=\"h-text h-text-component style-716 style-local-1530-c46 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p><strong style=\"color: rgb(0, 0, 0); font-family: Arial, Osaka, Verdana, Chicago, sans-serif; font-size: 13.3333px;\">Links:<\/strong>\n                      <br>1)&nbsp;\n                      <a href=\"http:\/\/www.orsc.co.jp\/english\/tec\/con03.html\" style=\"color: rgb(51, 102, 255); font-family: Arial, Osaka, Verdana, Chicago, sans-serif; font-size: 13.3333px; font-weight: 400;\" class=\"customize-unpreviewable\">Oriental Shiraishi Corporation: Pneumatic Caisson<\/a>\n                    <\/p>\n                    <p>2)&nbsp;\n                      <a href=\"https:\/\/www.sankei-k.jp\" style=\"color: rgb(51, 102, 255); font-family: Arial, Osaka, Verdana, Chicago, sans-serif; font-size: 13.3333px; font-weight: 400;\" class=\"customize-unpreviewable\">Sankei kogyo Co. Ltd.<\/a>&nbsp;<\/p>\n                    <p>3)&nbsp;\n                      <a href=\"https:\/\/www.mlit.go.jp\/tec\/i-construction\" class=\"customize-unpreviewable\">i-Construction of&nbsp;<\/a>Ministry of Land, Infrastructure, Transport and Tourism<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1530-c47\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-875 style-local-1530-c47 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-876-outer style-local-1530-c48-outer\">\n            <div data-colibri-id=\"1530-c48\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-876 style-local-1530-c48 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1530-c49\" class=\"h-text h-text-component style-877 style-local-1530-c49 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <h6>Acknowledgement:<\/h6>\n                    <p>The part of this project was supported by an &#8220;R&amp;D for Construction Technology&#8221; grant from the Ministry of Land, Infrastructure, Transport, and Tourism of Japan and a grant from the &#8220;Sentan Sangyo Souzou Project (Saitama Prefecture)&#8221;.&nbsp;\n                      &nbsp;<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n    <\/div>\n  <\/div>\n<\/div>","protected":false},"excerpt":{"rendered":"<p>We are developing the automatic excavation system by caisson shovels operating in high air pressure and narrow [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":437,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-templates\/full-width-page.php","meta":{"footnotes":""},"class_list":["post-1530","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/1530","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/comments?post=1530"}],"version-history":[{"count":20,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/1530\/revisions"}],"predecessor-version":[{"id":3986,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/1530\/revisions\/3986"}],"up":[{"embeddable":true,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/437"}],"wp:attachment":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/media?parent=1530"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}