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Engineering educational research section Mechanical and Intelligent Engineering Program |
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KAWASUE Kikuhito
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Research Areas 【 display / non-display 】
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Informatics / Perceptual information processing
Papers 【 display / non-display 】
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Khin Dagon Win, Kikuhito Kawasue, Masatoki Kaneko
Sensors 25 ( 6 ) 2025.3
Authorship：Corresponding author Publishing type：Research paper (scientific journal) Publisher：Sensors
Highlights: What are the main findings? A non-contact method for measuring neonatal head circumference using a 3D imaging sensor was developed. What is the implication of the main finding? A top-view 3D imaging system can be used to estimate the head circumferences of neonates without direct contact, ensuring safety for their delicate skin. Because some portions of the head may be missing in the top-view images, these missing areas are estimated using mat information. The extracted features and head surface values contribute to the head circumference measurement. This approach enhances the feasibility of non-contact head circumference measurement, which could improve neonatal monitoring in clinical settings. In Japan, birth rates are declining, but there are a rising number of underweight newborns who require specialized care in neonatal intensive care units (NICUs). Head circumference is an important indicator of brain development for low-birth-weight infants. However, measuring head circumference requires extreme care because low-birth-weight infants have fragile skin. Therefore, a non-contact measurement system using a 3D imaging sensor was developed. Using this system, three-dimensional data for a newborn’s head can be obtained from outside the incubator. Briefly, the images are taken from above the incubator, so there is an area behind the head that cannot be captured by the camera, but the head circumference estimation takes into account the fact that the head is in contact with the mat. The proposed method allows head circumference estimation without touching the newborn. This approach minimizes stress for both the neonate and the nurse and improves efficiency and safety in the NICU.
DOI： 10.3390/s25061869
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Handheld Pig-Weight Estimation Using an RGB-D Sensor Reviewed
Win K.D., Kawasue K., Tokunaga T., Iki Y.
Lecture Notes in Electrical Engineering 1322 LNEE 95 - 103 2025.2
Publishing type：Research paper (scientific journal) Publisher：Lecture Notes in Electrical Engineering
Although mechanical weighing machines specialized for pigs are normally used to measure animal weights on pig farms, guiding those animals onto the weighing machines is a difficult and unpleasant chore that normally takes 20 seconds to complete after the pig is positioned on the load cell. Additionally, pig weighing machines are prone to mechanical breakdowns and are unpleasant to repair because of the farm residue they collect. Therefore, the development of a more practical and robust weight measurement apparatus is desired. In the present paper, we report on a handheld weight estimation device using a red-green-blue-depth (RGB-D) sensor with a laser slit system. An RGB-D sensor system is used to estimate pig weights, and the laser slit is used to align the measurement direction of the RGB-D sensor along the pig’s body. In operation, this system captures a depth image of the pig under examination and then uses it to create three-dimensional (3D) data. The 3D body parameters are extracted using image processing, and those extracted 3D body parameters for the pig are then fed into a random forest algorithm to produce the weight estimation. We also report on experimental results that demonstrate the reliability of our pig weight estimation system and its suitability for practical use.
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Robust pig extraction using ground base depth images for automatic weight estimation Reviewed
Win K.D., Kawasue K., Tokunaga T.
Artificial Life and Robotics 30 ( 1 ) 42 - 50 2025.1
Authorship：Corresponding author Language：English Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
Dark colored pigs (Berkshire, Duroc, etc.) are widely recognized nationwide in Japan for their exceptional taste, with the southern Kyushu region being a renowned production area for these esteemed breeds. However, estimating the weight of these pigs using a camera presents a unique challenge. The key process in a camera-based weight estimation system is the precise extraction of the target pig from the background. Typically, cameras capture images from above, as the top-view images provide the most specific growth indicators. However, the image from above contains a ground image. Since Berkshire and Duroc pigs are black and red, respectively, they blend into the ground, making it difficult to accurately segment the pigs in the images. Thus, it is crucial to perfectly distinguish between the ground and the pigs. Therefore, a new extraction method is proposed to distinguish between the ground and pigs by converting depth data based on the pig's position. To enhance the efficiency of pig farming and alleviate the burden on workers, our goal is to develop a system that automatically measures the weight of Berkshire pigs for shipment without background interference. In this study, we installed the system at a Berkshire pig farm and demonstrated the effectiveness of this innovative extraction method for camera-based weight estimation.
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Kawasue K., Win K.D., Yoshida K., Lee G.
Artificial Life and Robotics 29 ( 1 ) 37 - 42 2024.2
Authorship：Lead author Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
In pig production, the number of pigs raised on each farm is increasing, but the population of workers involved in pig production is decreasing, so lighter labor is expected. On the other hand, it is also important to improve pig grading and profitability. Weight is a major criterion for pig grading. Too heavy or too light will decrease profits, and pigs need to be shipped at the appropriate weight. However, since each pig weighs more than 100 kg, weighing each pig is very labor-intensive. In large farms, more than 50 pigs are kept in a single piggery, and they are shipped together at the same time, after determining the day when they have reached the proper weight for shipment. In order to improve profitability, it is important to control the growth of pigs in a piggery so that they grow uniformly and to determine the appropriate shipping date. In this study, a prototype system was developed to automatically measure daily weight distribution. If the weight distribution in the piggery is known, appropriate shipping dates can be determined. This paper reports the results of a valid experiment using the developed system.
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Kawasue K., Wai P.P., Win K.D., Lee G., Iki Y.
Artificial Life and Robotics 28 ( 1 ) 89 - 95 2023.2
Authorship：Lead author Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Artificial Life and Robotics
Pig weights are important indicator for the healthcare and the economic operation of pig farms, and the development of a system to easily estimate these weights is desired. Although load cells are usually used for actual measurement in pig farms, it is not easy to guide pigs weighing more than 100 kg to the scales because many pigs do not like to get on the scales. Therefore, a convenient pig weight estimation system using RGB-D sensors has been developed. An RGB-D sensor (Intel Realsense D455) is used as the sensing device for weight estimation. Weight estimation is performed on 3D point cloud data of photographed pig images. When capturing pigs, it is desirable to have a constant camera orientation toward the pigs However, it is not easy to always capture from the same direction because pigs move around quickly in the piggery. A method with a high degree of freedom in the capture direction by exploiting pig symmetry of the pig’s body is introduced in this paper. The system is applied for a wearing device using AR (Augmented Reality) glasses. Experimental results show the feasibility of this system.
MISC 【 display / non-display 】
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「AR（拡張現実）を用いた豚の体重推定システム」
川末紀功仁
BIO九州 2021.10
Publishing type：Article, review, commentary, editorial, etc. (trade magazine, newspaper, online media)
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カメラによる豚の体重推定とソーティングシステム
川末紀功仁
ゼロからわかる！スマート養豚 緑書房 2021.6
Publishing type：Article, review, commentary, editorial, etc. (trade magazine, newspaper, online media)
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畜産王国 宮崎でスマート畜産技術を発信！
川末紀功仁
臨床獣医 2020.8
Language：Japanese Publishing type：Article, review, commentary, editorial, etc. (trade magazine, newspaper, online media)
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円形シフト法による三次元計測技術
川末紀功仁
三次元画像センシングの新展開 2015.5
Language：Japanese Publishing type：Article, review, commentary, editorial, etc. (scientific journal) Publisher：（株）エヌ・ティー・エス
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液晶パネルを用いた高精細画像計測
川末紀功仁
ケミカルエンジニアリング 54 ( 2 ) 1 - 6 2009.2
Language：Japanese Publishing type：Article, review, commentary, editorial, etc. (trade magazine, newspaper, online media) Publisher：化学工業社
Presentations 【 display / non-display 】
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カメラによる豚の体重推定（スカブター）と新生児の身体測定への展開 Invited
川末紀功仁
第65回日本母性衛生学会総会・学術集会 2024.10.19
Event date： 2024.10.18 - 2024.10.19
Language：Japanese Presentation type：Oral presentation (invited, special)
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Measurement of pigs by RGB-D camera and its application to low-birth-weight infants Invited International conference
Kiukhito Kawasue
ICWAPR2024 2024.9.21
Event date： 2024.9.20 - 2024.9.23
Language：English Presentation type：Oral presentation (invited, special)
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Pig Sorting System with Three Exits that Incorporates an RGB-D Sensor for Constant Use During Fattening International conference
川末紀功仁
29th International Symposium on Artificial Life and Robotics
Event date： 2024.1.24 - 2024.1.26
Presentation type：Oral presentation (general)
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カメラによる新生児の身体測定
川末紀功仁
東九州メディカルバレー構想本郷展示・商談会
Event date： 2023.11.9
Presentation type：Oral presentation (general)
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宮崎の特徴を味方に！地域性満載のDXへのチャレンジ －豚の体重が見えるメガネ「スカブター」－
川末紀功仁
MIYAZAKI UX 次世代を担うデジタル人材育成シンポジウム
Event date： 2023.3.13
Presentation type：Oral presentation (invited, special)
Awards 【 display / non-display 】
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宮崎日日新聞賞（科学賞）
2023.10 宮崎日日新聞社
川末紀功仁
Award type：Award from publisher, newspaper, foundation, etc.
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2021年農業技術10大ニュース
2021.12 農林水産省
川末紀功仁
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SI2021優秀講演
2021.12 計測自動制御学会
金澤波音、川末紀功仁、Khin Dagon Win, 壱岐侑祐
Award type：Award from Japanese society, conference, symposium, etc. Country：Japan
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SI2019優秀講演
2019.12 計測自動制御学会
吉田久美子，川末紀功仁，Khin Dagon Win
Award type：Award from Japanese society, conference, symposium, etc. Country：Japan
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SI2011優秀講演
2011.12 計測自動制御学会
川末紀功仁，小松貴幸，李 涛
Award type：Award from Japanese society, conference, symposium, etc. Country：Japan
Grant-in-Aid for Scientific Research 【 display / non-display 】
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大群管理下におけるAIとIoTによる養豚の自動化
Grant number：20H03108 2020.04 - 2024.03
独立行政法人日本学術振興会 科学研究費補助金 基盤研究(B)
Authorship：Principal investigator
国内の養豚場では大規模化が進んでいる。しかしながら，人手不足などの問題から作業者当たりの飼育頭数が増加すると，豚の状態（体重，健康状態）を一頭一頭確認し，状態に応じて個体別に対応することは困難になる。そこで，本研究では，大群飼育されている養豚場において，豚の状態を自動観測し，観測された状態に応じて豚の行動を制御する個体管理自動化システムを構築する。具体的にはカメラで取得された画像からAIにより高精度に体重を測定する技術と局所体温検出技術，およびIoTによる遠隔制御技術を組み合わせて自動管理を実現する。これにより，体重に応じた餌の選択や異常のある豚の選別が自動化される。
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非接触画像計測による和牛の体重推定システムの開発
Grant number：23658218 2011.04 - 2013.03
科学研究費補助金 挑戦的萌芽研究
Authorship：Principal investigator
肉用牛において体重を測定することは重要であるが，牛衡器を保有している農家はほとんど無く，一般的には熟練した人が目視で重量を推定するか，局所的な体各部測定値から体重を推定する方法がとられている。そのため，可搬性があり簡便な牛の体重測定方法の開発が期待されている。そこで画像計測技術を用い，非接触で和牛の体重を自動推定するシステムを試作する。手に保持したレーザ投光器によりマーカーとなるレーザを測定したい箇所に照射し，ＣＣＤカメラで体表面に現れるレーザ輝点（輝線）を撮影することで三次元位置を計測し，体重算出式を用いて体重を求めるハンディタイプの計測システムを開発することを目的とする。
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自動走行ロボットによる下水管形状計測技術の確立
Grant number：18656153 2006.04 - 2009.03
科学研究費補助金 萌芽研究
Authorship：Principal investigator
下水管軸に対して垂直方向にレーザ光を投光し，管内面で反射する光をＣＣＤで撮影することで下水管形状を計測するシステムを試作した．
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高速円形シフトによる多点の三次元位置と速度の同時計測
Grant number：16300060 2005.04 - 2008.03
科学研究費補助金 基盤研究(B)
Authorship：Principal investigator
画像による三次元計測を行うにあたり，計測点が多数存在する場合，それぞれの軌跡が重なり画像処理が困難になる．そこで，撮影される中心点を利用してそれぞれの円軌跡の切り出しを行うアルゴリズムを開発した．
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不規則な運動を伴う三次元現象の計測に関する研究
Grant number：15656099 2005.04 - 2006.03
科学研究費補助金 萌芽研究
Other research activities 【 display / non-display 】
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AI用豚体重推定データベースの構築
2019.04 - 2020.03
Available Technology 【 display / non-display 】
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AIとAR（拡張現実）を用いた家畜の体重（枝肉重量）推定
AIとIoTを用いた養豚の自動化システム
AI，IoT, Cloudを組み合わせた遠隔制御技術Home Page： 川末研究室
Related fields where technical consultation is available：・三次元画像計測
・ＩｏＴ，遠隔制御
・AI応用Message：画像計測技術や県内の産業に有益な技術に興味があります。