Journal Papers

Last updated on May 4, 2025

Japanese version is HERE.

Papers

• Anxiang Huang, Chenhao Yu, Junzhe Feng, Xing Tong, Ayanori Yorozu, Akihisa Ohya and Yaohua Hu: "A motion planning method for winter jujube harvesting robotic arm based on optimized Informed-RRT* algorithm", Smart Agricultural Technology, Vol.10, 11 pages (2025.3)

• Sumiya Ejaz, Ayanori Yorozu, and Akihisa Ohya: "Face Mask Surveillance Using Mobile Robot Equipped with an Omnidirectional Camera", Journal of Robotics and Mechatronics, Vol.36, No.6, pp.1495-1506 (Dec. 2024)

• Yushi Ogiwara, Ayanori Yorozu, Akihisa Ohya and Hideyuki Kawashima: "Transactional TF: Transform Library with Concurrency and Correctness", IEICE Transactions on Information and Systems, Vol.E106.D, No.12, pp.1951-1959 (Dec. 2024)

• Mikiya Kato, Hisashi Date, Shintaro Nakatani and Akihisa Ohya: "Control of Quadcopter Considering Collision with Wall Utilizing Monte Carlo Model Predictive Control", Transactions of the Society of Instrument and Control Engineers, Vol.57, No.9, pp.379-390 (Sep. 2021) [in Japanese]

• Asahi Handa, Azumi Suzuki, Hisashi Date, Kosuke Shigematsu, Ryohsuke Mitsudome, Takashi Tsubouchi and Akihisa Ohya: "Navigation Based on Metric Route Information in Places Where the Mobile Robot Visits for the First Time", Journal of Robotics and Mechatronics, Vol.31, No.2, pp.180-193 (Apr. 2019)

• Yuichi Konishi, Kosuke Shigematsu, Takashi Tsubouchi and Akihisa Ohya: "Detection of Target persons using deep learning and training data generation for Tsukuba Challenge", Journal of Robotics and Mechatronics, Vol.30, No.4, pp.513-522 (Aug. 2018)

• Ryohsuke Mitsudome, Hisashi Date, Azumi Suzuki, Takashi Tsubouch and Akihisa Ohya: "Autonomous Mobile Robot Searching for Persons with Specific Clothing on Urban Walkway", Journal of Robotics and Mechatronics, Vol.29, No.4, pp.649-659 (Aug. 2017)

• Taichi Yamada and Akihisa Ohya: "Statistical Laser-Scanner Measurement Model for Mobile Robot Localization in Human Living Environment", Transactions of the Society of Instrument and Control Engineers, Vol.52, No.12, pp.661-670 (Dec. 2016) [in Japanese]

• Ryan Arya Pratama and Akihisa Ohya: "State Estimation and Control of an Unmanned Air Vehicle from a Ground-Based 3D Laser Scanner", Journal of Robotics and Mechatronics, Vol.28, No.6, pp.878-886 (Dec. 2016)

• Helio Perroni Filho and Akihisa Ohya: "Image Correspondence Based on Interest Point Correlation in Difference Streams: Method and Applications to Mobile Robot Localization", Journal of Robotics and Mechatronics, Vol.28, No.2, pp.234-241 (Apr. 2016)

• Kouhei Ito, Akihisa Ohya, Naohiro Shimaji and Takeshi Aoki: "Reduction of Distance Drift with Temperature in Uniaxial Laser Rangefinder by Using Multiecho Sensing", Journal of Robotics and Mechatronics, Vol.27, No.1, pp.64-73 (Feb. 2015)

• Sanngoen Wanayuth, Akihisa Ohya and Takashi Tsubouchi: "Inside Vehicle Inspection System Utilizing a Mobile Robot with LRF Sensor", Journal of Robotics and Mechatronics, Vol.26, No.1, pp.59-67 (Feb. 2014)

• Taichi Yamada, Takuya Ishida, Makoto Sekiguchi, Kimimochi Okamura, Kazumi Fukunaga and Akihisa Ohya: "Mobile Robot Outdoor Navigation with Upper Landmark Localization and Explicit Motion Planning", Journal of the Robotics Society of Japan, Vol.30, No.3, pp.253-261 (Apr. 2012) [in Japanese]

• Alexander Carballo, Akihisa Ohya and Shin'ichi Yuta: "Reliable People Detection Using Range and Intensity Data from Multiple Layers of Laser Range Finders on a Mobile Robot", International Journal of Social Robotics, Vol.3, No.2, pp.167-186 (Apr. 2011) [PDF]

• Mahrez Kristou, Akihisa Ohya and Shin'ichi Yuta: "Target Person Identification and Following Based on Omnidirectional Camera and LRF Sensor Fusion from a Mobile Robot", Journal of Robotics and Mechatronics, Vol.23, No.1, pp.163-172 (Feb. 2011)

• Hirohiko Kawata, Tatsuro Ueda, Tetsuo Tomizawa, Akihisa Ohya and Shin'ichi Yuta: "A Method for Accurate Map Construction Using Time Registration from a Moving SOKUIKI Sensor", Advanced Robotics, Vol.24, No.1-2, pp.69-83 (2010)

• Natsuki Yoshizumi, Shigemi Saito, Daisuke Koyama, Kentaro Nakamura, Akihisa Ohya and Iwaki Akiyama: "Multiple-frequency Ultrasonic Imaging by Transmitting Pulsed Waves of Two Frequencies", Journal of Medical Ultrasonics, Vol.36, No.2, pp.53-60 (Jun. 2009)

• Toshio Tkeuchi, Hideo Saito, Akihisa Ohya, Yoshimitsu Aoki, humitoshi Matsuno and Iwaki Akiyama: "Rescue Rader System with Array Antennas", Transactions of the Society of Instrument and Control Engineers, Vol.44, No.12, pp.962-969 (Dec. 2008) [in Japanese]

• Edgar A. Martinez-Garcia, Akihisa Ohya and Shin'ichi Yuta: "Guiding a Group of People by a Team of Mobile Robots", International Journal of Vehicle Autonomous Systems, Vol.4, No.2/3/4, pp.308-327 (2006)

• Iwaki Akiyama, Shigemi Saito and Akihisa Ohya: "Development of an ultra-broadband ultrasonic imaging system: prototype mechanical sector device", Journal of Medical Ultrasonics, Vol.33, No.2, pp.71-76 (Jun. 2006)

• Edgar A. Martinez-Garcia, Akihisa Ohya & Shinichi Yuta: "Cutting Edge Robotics, Chapter VI. Human-Robot Interaction, A Multi-Robot System Architecture for Trajectory Control of Groups of People", Edited by Vedran Kordic, Aleksandar Lazinica and Munir Merdan, ARS Press, Vienna, Austria / Pro Literatur Verlag, Mammendorf, Germany (2005)

• T. Tomizawa, A. Ohya, & S. Yuta: "A Robot System for Remote Book Browsing", IEEJ Transactions on Electronics, Information and Systems, Vol.125-C, No.6, pp.863-869 (Jun. 2005) [in Japanese]

• Martinez-Garcia E., Yoshida T., Ohya A., and Yuta S.: "Multi-robot communication architecture for human-guiding", Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, Vol.219, No.1, pp.183-190 (Jan. 2005)

• Edgar Martinez-Garcia, Akihisa Ohya and Shin'ichi Yuta: "A People-Localization Method for Multi-Robot Systems: First Approach for Guiding-Tours", International Journal of Advanced Robotic Systems, Vol.1, No.3, pp.171-182 (Sep. 2004) [PDF]

• Gosuke Ohashi, Akihisa Ohya, Kazunobu Tobise and Iwaki Akiyama: "Enhancement of Stents Using Interference of Low-frequency Ultrasonic Echo Images", Journal of Medical Ultrasonics, Vol.31, No.2, pp.67-73 (2004)

• Tetsuo Tomizawa, Akihisa Ohya and Shin'ichi Yuta: "Book Extraction for Remote Book Browsing Robot", Journal of Robotics and Mechatronics, Vol.16, No.3, pp.264-270 (2004)

• Tomoaki Yoshida, Akihisa Ohya and Shin'ichi Yuta: "Autonomous Mobile Robot Navigation Using Braille Blocks in Outdoor Environment", Journal of the Robotics Society of Japan, Vol.22, No.4, pp.469-477 (May 2004) [in Japanese]

• Teruko Yata, Akihisa Ohya, Jun'ichi Iijima and Shin'ichi Yuta: "Fast, Accurate Sonar-Ring System", Journal of Robotics and Mechatronics, Vol.16, No.1, pp.44-53 (2004)

• Naoki Takizawa, Akihisa Ohya and Iwaki Akiyama: "Ultrasonic Imaging with Narrow Aperture Phased Array", Electronics and Communications in Japan, Part 3, Vol.86, No.2, pp.72-81 (2003)

• G. Ohashi, T. Toyoda, A. Ohya, I. Akiyama, "A Study on Speckle Tracking Method for Three-Dimensional Ultrasonic Imaging", Electronics and Communications in Japan Part 3: Fundamental Electronic Science, Vol.85, No.12, pp.1-8 (2002)

• Akihisa Ohya, Gosuke Ohashi and Iwaki Akiyama: "A Method for Data Compression of Medical Ultrasonic Echograms", The Transactions of the Institute of Electronics, Information and Communication Engineers, Vol.J84-A, No.12, pp.1469-1474 (Dec. 2001) [in Japanese]

• Teruko Yata, Akihisa Ohya and Shin'ichi Yuta: "A Fast and Accurate Reflecting Points Measurable Sonar-ring System", Journal of the Robotics Society of Japan, Vol.17, No.8, pp.1173-1182 (Nov. 1999) [in Japanese]

• Akihisa Ohya, Yoshiaki Nagashima and Shin'ichi Yuta: "High-Speed Measurement of Normal Wall Direction by Ultrasonic Sensor", Journal of Robotics and Mechatronics, Vol.11, No.1, pp.13-16 (Feb. 1999)

• Shoichi Maeyama, Akihisa Ohya and Shin'ichi Yuta: "Autonomous Mobile Robot System for Long Distance Outdoor Navigation in University Campus", Journal of Robotics and Mechatronics, Vol.9, No.5, pp.348-353 (1997) [PDF]

• Shoichi Maeyama, Akihisa Ohya and Shin'ichi Yuta: "Robust Dead Reckoning System by Fusion of Odometry and Gyro for Mobile Robot Outdoor Navigation", Journal of the Robotics Society of Japan, Vol.15, No.8, pp.1180-1187 (Nov. 1997) [in Japanese]

• Shoichi Maeyama, Akihisa Ohya and Shin'ichi Yuta: "Retroactive Positioning for a Mobile Robot -To Cope with time Consuming External Sensors-", Journal of the Robotics Society of Japan, Vol.15, No.7, pp.1075-1081 (Oct. 1997) [in Japanese]

• Akihisa Ohya, Takayuki Ohno and Shin'ichi Yuta: "Obstacle Detectability of Ultrasonic Ranging System and Sonar Map Understanding", Robotics and Autonomous Systems, Vol.18, pp.251-257 (1996) [PDF]

• Gousuke Ohashi, Akihisa Ohya, Oscal Atobe, Michiya Natori, Masato Nakajima: "Automatic Determination of Organ Volume Using the Bubble Filling Method", Japanese Journal of Medical Ultrasonics, Vol.22, No.12, pp.23-29 (Dec. 1995) [in Japanese]

• Xiang-Yong Cheng, Akihisa Ohya, Michiya Natori and Masato Nakajima: "Boundary Extraction Method of Ultrasonic Echo Images Using Fuzzy Reasoning", Japanese Journal of Medical Ultrasonics, Vol.21, No.5, pp.1-9 (May 1994) [in Japanese]

• Iwaki Akiyama, Akihisa Ohya, Michiru Nakamura, Nobuyuki Taniguchi, Kouichi Itoh: "Fractal Analysis of Ultrasonic Images for Tissue Characterization", Japanese Journal of Medical Ultrasonics, Vol.20, No.11, pp.19-28 (Nov. 1993) [in Japanese]

• Akihisa Ohya, Junji Kashioka and Masato Nakajima: "A Method of Estimating the Irregularity of Scattering Medium Using Characteristics of Ultrasonic Speckle", Electronics and Communications in Japan, Part III: Fundamental Electronic Science, Vol.76, No.4, pp.9-16 (Apr. 1993)

• Gousuke Ohashi, Akihisa Ohya, Michiya Natori, Masato Nakajima: "Edge Extraction Method Using Neural Network for Three Dimensional Display of Ultrasonic Echo Image", The Transactions of the Institute of Electronics, Information and Communication Engineers, Vol.J76-D-II, No.2, pp.368-373 (Feb. 1993) [in Japanese]

• Michiya Natori, Akihisa Ohya, Joji Yoshida, Michiyasu Sakaida, Mamoru Tanaka, Hachiro Kohno, Hitoshi Ishimoto, Toshibumi Kobayashi, Shiro Nozawa: "Factors Influencing Umbilical Artery Velocity Waveform -Computer Simulation of Mathematical Model-", Japanese Journal of Medical Ultrasonics, Vol.18, No.6, pp.603-611 (Aug. 1991) [in Japanese]

• Akihisa Ohya, Shin'ichi Yuta, Tohru Shimazaki, Masato Nakajima: "Speckle Reduction by Compact Spatial Compounding System", Japanese Journal of Medical Ultrasonics, Vol.18, No.1, pp.1-11 (Feb. 1991) [in Japanese]

• Akihisa Ohya, Shin'ichi Yuta, Masato Nakajima: "Quantitative Analysis of Ultrasonic Speckle Region -Scatterers' Density and Speckle Region-", Japanese Journal of Medical Ultrasonics, Vol.16, No.4, pp.303-312 (Aug. 1989) [in Japanese]

• Kazuo Nakazawa, Akihisa Ohya, Masato Nakajima, Shin'ichi Yuta: "3-D Shape Measurement Using Fiber Grating Vision Sensor Attached to Manipulator", The Transactions of the Institute of Electrical Engineers of Japan, Vol.107-C, No.7, pp.659-665 (Jul. 1987) [in Japanese]

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Short Papers

• Akihisa Ohya, Akio Kosaka and Avi Kak: "Vision-Based Navigation by a Mobile Robot with Obstacle Avoidance using Single Camera Vision and Ultrasonic Sensing", IEEE Transactions on Robotics and Automation, Vol.14, No.6, pp.969-978 (Dec. 1998)

• Iwaki Akiyama, Akihisa Ohya, Nobuyuki Taniguchi and Koichi Itoh: "Computer Simulation of Ultrasonic Images with Self-Similarity of Tissue Structures", Japanese Journal of Applied Physics, Vol.34, Part 1, No.5B, pp.2826-2830 (May 1995)

• Y. Nagashima, Akihisa Ohya and Shin'ichi Yuta: "Ultrasonic Sensor for Mobile Robot to Measure the Normal Direction of Walls", The Journal of the Acoustical Society of Japan, Vol.51, No.1, pp.39-42 (Jan. 1995) [in Japanese]

• Akihisa Ohya, Hiroyuki Amada, Katsuya Hattori, Kouichi Itoh, Iwaki Akiyama: "Three-dimensional Display Method for Ultrasonic Echo Image -Stereoscopic Echography for Display of Superimposed Image of Cross Section and Projection-", The Transactions of the Institute of Electronics, Information and Communication Engineers, Vol.J76-D-II, No.12, pp.2649-2651 (Dec. 1993) [in Japanese]

• Akihisa Ohya, Junji Kashioka and Masato Nakajima: "Relationship between Regularity of Scatterers' Distribution and Speckle Appearing on Ultrasonic Echograms", Japanese Journal of Applied Physics, Vol.30, Supplement 30-1, pp.257-259 (1991)

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