Kochi University of Technology Academic Resource Repository

赤塚, 広洋

柔軟支持機構による果実摘み取りハンド

石川, 遼太郎

市堀川における賑わい創出のための水辺空間のデザイン

佐藤, 京香

自己充填性能の経時変化抑制のためフレッシュコンクリートの炭酸水練混ぜ手順

深江, 翔希

高知新港における物流と観光機能が共存できる空間設計

柏原, 星司

可用性とレスポンスタイムを考慮したVMの再配置手法

藤田, 和音

同棋力帯の人間とAIの差異の平均悪手による分析

井上, 昂輝

機械学習を用いたエンセラドスのクレーター分布解析ツールの開発とその地形的理解

高知工科大学博士（学術）doctoral thesi

Md Saiful Islam

論 文 内 容 の 要 旨 
 
The study focused on the fabrication of carbon nanotube (CNT) film-based solar 
absorber designed for solar thermal applications. It emphasized the development of 
highly efficient and wavelength-selective MWCNT absorbers by precisely controlling 
their structure and properties. The study presented a systematic approach to 
optimizing the characteristics of MWCNTs, aiming to develop scalable and cost-
effective solutions for harnessing solar thermal energy. 
 
The first part of this research identified critical gaps in the existing literature, 
including the lack of absorbers that were both scalable and cost-effective while 
maintaining high efficiency under varying solar intensities. The study emphasized the 
importance of wavelength-selective absorbers for applications such as water 
purification, thermoelectric generation, and solar water heating. The efficiency of such 
devices across large- and small-scale operations and under both low- and high-
intensity irradiance was thoroughly analyzed. 
 
The second part provided a detailed explanation of the drop-casting technique 
employed for coating the absorbers. The fabrication process was detailed, 
supported by comprehensive analytical techniques such as field-emission scanning 
electron microscopy (FESEM), Raman spectroscopy, and reflectance 
measurements, which were used to investigate the morphology, alignment, and 
optical properties of the absorbers. 
 
The third part introduced a novel honeycomb-structured MWCNT absorber, 
fabricated using the drop-casting technique. By controlling the MWCNT solution 
concentration, self-organized honeycomb patterns with varying cell area ratios 
(CAR) were achieved. The study demonstrated the wavelength selectivity of these 
structures, with the 17% CAR absorber showing superior performance: 8.4 ± 0.8% 
reflectance at 550 nm (visible) and 80.5 ± 0.9% at 1321 nm (IR). These properties 
significantly enhanced thermal efficiency by reducing IR losses while optimizing 
visible light absorption. The solar thermal performance of the absorbers was also 
evaluated under irradiance intensities ranging from 0.04 to 0.39 W/cm². The 17% 
CAR absorber exhibited superior temperature absorption, reaching up to 285.5°C, 
outperforming fully coated and higher CAR absorbers. The study established a 
direct relationship between CAR, reflectance ratio, and thermal efficiency, 
highlighting the potential for these absorbers in large-scale solar thermal 
applications. 
 
The fourth part focused on fabricating and evaluating MWCNT-based solar water 
heater. The device was designed using a spiral copper coil for water circulation, a 
polycarbonate glass cover to protect it from external dust, and a wood frame to 
create a practical and efficient system. MWCNT solution and Okitsumo paint were 
applied over two similar devices for comparison. Performance testing validated the 
system's effectiveness in producing hot water for domestic applications, 
demonstrating superior efficiency compared to uncoated and Okitsumo paint-based 
systems. A cost analysis further supported its economic viability for large-scale 
adoption. 
 
In conclusion, this research successfully developed scalable, cost-effective, and 
highly efficient MWCNT-based solar absorbers and a solar water heater, 
demonstrating significant potential for sustainable solar thermal applications and 
large-scale adoption. 


English

Study on Optimization of Multi-Walled Carbon Nanotube Coatings for Enhanced Solar Thermal Absorption in Hot Water Applications

蝶野, 成臣

巻頭言
本巻には、特集テーマ「里山基盤科学技術の社会実装モデルプロジェクト 2024」に関する
3編の論文と、4編の一般研究論文が掲載されています。特集論文は、2014年に立ちあがっ
た「里山プロジェクト」の成果報告ですので、プロジェクトの活動内容と着実な進展をご理
解いただけるものと思います。一般研究論文は、本学の志願者数の予測に関する報告、家計
調査の食消費データを経営学視点から分析したケーススタディ、そして高知県の小中学校の
学校現場に関する研究報告となっております。
本巻の記事を通じて、本学の活動の一端を知っていただければ幸いに存じます。
さて、本学の紀要につきましては、諸般の事情により、本巻をもちまして終刊とさせてい
ただくこととなりました。
本紀要は、通常の研究論文集ではなく、本学の教育や地域貢献を含む大学全体の活動や存
在意義等を広く社会に発信する媒体として、2004年 3月に第 1巻が発刊されました。爾来、
21年余の歳月が流れ、この間に掲載された記事の総数は 452件に上ります。これらの記事
には、時代の変化に合わせて柔軟に進化し続けてきた本学の特色や強みが随所に込められて
いると自負しております。
発刊初期の頃は、本学設立の背景や趣旨や、教員評価制度や教育講師制度のような本学の
特徴的な取り組みの紹介等も掲載されました。その後、様々な特集テーマが組まれたり、委
員会からの依頼論文や海外研修の報告記等も掲載されたりするなど、紀要委員会の時宜を得
た工夫のお陰で、学外の方々に “本学の姿”を知ってもらえたと思っております。
今後は、国内外の学会発表の場や学術雑誌等を積極的に活用することで、引き続き、本学
の研究、教育、社会貢献活動を、より迅速かつ効果的に情報発信してまいります。
終わりに、紀要委員会委員、執筆者、編集作業ご担当の職員をはじめ、長年にわたりご支
援くださった関係の皆様に心より感謝申し上げます。
学長　蝶野成臣
高知工科大学紀要
目次
特集 里山基盤科学技術の社会実装モデルプロジェクト 2024
1. 2番池から南西部既存池における木灰コンクリートを用いた水路および里道の施工
秋山将太郎,伊藤祐太朗,恩藤慎太郎,川添崚平,篠原由樹,細川昌樹,
高木方隆,村井亮介
2. 放置竹林における竹の「資材化」と「利用拠点」の設計・施工
遠藤壮真,大西竜司,山下由乃,村井亮介,高木方隆
3. 里山研究フィールドにおける飲料水確保手法の構築
池田陽,池本千馬,犬塚健斗,村井亮介,高木方隆
研究論文
4. 有効志願者層数と学力水準範囲に基づく志願者数変動の予測と検証
～2017年以降の 8年データでの検証と現状分析および適用の将来的終焉～
篠森敬三
5. 家計調査（加工食品）・品目別支出金額 1位の 2つのケースに関する考察
大原高秋
6. コミュニティ・スクールと学校運営協議会の活性化と教育経営構造の革新に関する一
考察～高知県内のコミュニティ・スクールと学校運営協議会の事例研究を中心に～
中村直人,立田理紗
7. 国語の学力と数学的文章題における意味理解の関係性に関する一考察
中村直人,織田佳乃子
Kochi University of Technology Research Bulletin
Contents
Feature Articles
Activity Reports on Implementation of Science and Technology for “Satoyama” 2024
1. Construction of Waterways and Satoyama Paths Using Wood Ash Concrete in the Area
from Pond No. 2 to the Existing Pond in the Southwest
Shotaro Akiyama, Yutaro Ito, Shintaro Ondo, Ryohei Kawazoe,
Yoshiki Shinohara, Masaki Hosokawa, Masataka Takagi, Ryosuke Murai
2. Bamboo Resource Utilization and Hub Development in Abandoned Bamboo Forests
Soma Endo, Ryuji Onishi, Yoshino Yamashita, Ryosuke Murai,
Masataka Takagi
3. Development of a Sustainable Drinking Water Procurement Method in the Satoyama
Research Field
Haru Ikeda, Kazuma Ikemoto, Kento Inuzuka, Ryosuke Murai,
Masataka Takagi
Research Articles
4. Prediction and Verification of Changes in the Number of Applicants Based on the Number
of Effective Applicants in a Matched Class Group to the University and the Range of
Academic Ability — Verification using 8 years of data from 2017 onwards, analysis of
current situation and the future end of application —
Keizo Shinomori
5. Discussions on Two Cases where the Amount of Processed Foods Expenditure Ranks First
in the Household Survey
Takaaki Ohara
6. A Study on Revitalization of Community Schools and School Management Councils and
Innovation of Educational Management Structure
Naoto Nakamura, Risa Tateda
7. A Study of the Relationship between Academic Skills in the Subject of Japanese and
Comprehensive Understanding in Math Word Problems
Naoto Nakamura, Kanoko Oda


Japanese

巻頭言及び目次

Tasneem Zinat

－1－ 
（様式 ６） 
Form 6 
 
2025 年度 博士論文要旨 
Abstract of doctoral dissertation 
submitted in the fiscal year of 2025  
 
論文題目 Title of dissertation in Japanese (optional) 
    ソフト空圧アクチュエータを用いた自動収穫 
英文題目  Title of dissertation in English 
Automatic Harvesting: Innovative Approaches Using Soft Pneumatic Actuators 
for Detection, Manipulation, and Cutting 
 
学籍番号 (Student ID number) 1268004 
氏  名 (Name in alphabet) Zinat Tasneem 
(ローマ字表記) 
 
 
（要旨）Abstract of dissertation 
 
（注）論文要旨：内容は4,000字程度とし、電子ファイル及び紙媒体で提出 
The abstract of doctoral dissertation should be approximately 2,000 words and must be submitted in both 
electronic and printed formats. 
 
Abstract 
 
The global fresh vegetable market attained a valuation of USD 813.20 billion in 2024, encompassing 
un-canned, unfrozen, and non-preserved edible plant products, as reported by the Statista Market 
Forecast. Concurrently, Japan’s horticultural sector demonstrates significant economic scale, with 
Grand View Research (2024) estimating the national fruits and vegetables market at USD 20,868.2 
million in 2024, projected to expand to USD 28,649.3 million by 2030. This growth trajectory aligns 
with global consumer demand for fresh produce but intensifies pressure on Japan’s decreasing 
agricultural workforce. Data from The Japan News (2024) reveals a 30% reduction in farming labor 
over the past decade, with current farmer numbers approximating 1.1 million and forecasts predicting 
a further decline to 300,000 within two decades. Compounding this issue, almost 70% of remaining 
farmers are aged 65 or older (Ministry of Agriculture, Forestry and Fisheries, MAFF 2024), 
highlighting systemic risks to knowledge transfer and operational continuity. This accelerating labor 
shortage, compounded by the aging demographic of agricultural workers, poses substantial risks to the 
economic sustainability of Japan’s agricultural sector. 
 
 
－2－ 
In response, the Japanese government has prioritized robotic automation as a strategic intervention. 
MAFF is actively collaborating with industry and academic stakeholders to advance smart agriculture 
technologies, with a dual focus on labor reduction and production quality enhancement through robotic 
integration. This aligns with Japan’s Society 5.0 initiative, which targets cyber-physical integration to 
address national challenges like agricultural labor scarcity. Within this technological paradigm, 
automated harvesting systems represent a critical innovation area. Such systems employ robotics to 
execute traditionally labor-intensive tasks, including crop picking, sorting, and collecting, that 
conventionally require significant manual effort and time investment. 
 
Robotic harvesting has become a vital area of research worldwide, particularly in Japan, to address 
labor shortages in agriculture. Researchers have focused on automating the harvest of high-value crops 
like apples, tomatoes, and sweet peppers, which require careful handling. However, crops with uneven 
ripening patterns, where fruits mature at different times pose unique challenges. Harvesting systems 
must accurately detect and pick only ripe produce while avoiding damage to unripe fruits, leaves, and 
stems. This precision is critical for maintaining crop quality and yield. 
 
Japanese sweet peppers present additional difficulties compared to standard bell peppers. These 
peppers are longer, irregularly shaped, and blend in visually with their surrounding leaves and stems 
due to similar colors and textures. Furthermore, Japanese greenhouses cultivate sweet peppers in 
dense clusters, where fruits grow in multiple orientations (horizontal, diagonal, or vertical) due to 
crowded stems and overlapping branches. These conditions create a complex environment for robots, 
requiring advanced navigation and manipulation skills to avoid collisions while harvesting. 
 
Therefore, this research presents an innovative robotic harvesting system designed explicitly for sweet 
pepper harvesting in greenhouse environments. The system addresses three critical challenges: (i) 
reliable and continuous fruit detection, (ii) development of a highly extendable yet lightweight 
manipulator that ensures plant safety, and (iii) design of an effective end-effector with a safe, 
lightweight structure. Notably, while soft pneumatic actuators have shown promise in medical and 
aerospace applications, their potential in agricultural robotics, particularly for force-intensive tasks like 
cutting, remains underexplored. This work systematically investigates the capabilities of soft 
pneumatic actuators for manipulation, gripping, and cutting operations in robotic harvesting. 
 
The core innovation is the “Orimura” actuator, inspired by the Yoshimura origami pattern. Through 
rigorous evaluation of eight modified Yoshimura paper models, a rectangular design was selected for its 
optimal performance. The actuator was fabricated by coating a watercolor paper origami structure with 
Ecoflex 00-50 elastomer, creating a paper-elastomer composite that combines flexibility with strength. 
Experimental testing of three Orimura sizes revealed that the largest variant (c = 15 mm) achieved a 
significant extension ratio of 638% while supporting loads up to 15 times its weight without notable 
performance degradation. Remarkably, the same actuator could bear 22 times its own weight with only 
a minimal reduction in extension (585%). Crucially, the paper reinforcement almost eliminated lateral 
expansion during operation, which is a critical feature for safe navigation in dense plant environments. 
To enable horizontal deployment, the system incorporates a 3D-printed scissor-lift mechanism, 
resulting in a complete manipulator (“Orimura Arm”) weighing approximately 700g. Two 
configurations were developed: a dual-actuator design, and a single-actuator variant (currently in 
development). The manipulator’s compact retracted form and significant extension capability make it 
ideal for greenhouse applications, while its lightweight construction ensures easy integration with 
mobile robotic platforms. This innovation demonstrates significant potential for improving robotic 
harvesting in constrained agricultural settings where space optimization is crucial. When not in use, 
－3－ 
the entire system collapses into a space-efficient configuration, allowing for easy integration with 
mobile harvesting platforms without interfering with other greenhouse operations. 
 
Another critical challenge addressed in this research was the development of a safe, lightweight stem 
cutter compatible with the Orimura Arm, exploring the capabilities of soft pneumatic actuators. The 
solution culminated in the “Linear Cutter,” a novel cutting mechanism featuring a dual-plate design 
with a stationary base plate and a moving cutting plate inclined at 30⁰. This innovative configuration 
integrates a blade within an inward housing, ensuring collision-free operation by preventing contact 
with adjacent plants during harvesting. The cutting action is achieved through linear translation of the 
blade, driven by soft pneumatic actuators upon pressurization. 
 
Initial testing employed a soft bellows actuator, which generated a maximum force of 3.75N. 
Evaluation with 100 sweet peppers from KUT greenhouse (January 2024) demonstrated a 74% success 
rate in cutting thin-to-medium stems (diameter ≤ 4mm), though thicker stems (≥ 4mm) required 
approximately 6N of force and could not be severed. To address this limitation, the system was 
upgraded by replacing the bellows with a more effective Orimura actuator (c=7mm, 6 rows), capable of 
producing 16N of force, quite above the required threshold. Concurrently, the blade was upgraded to a 
standardized OLFA model for improved sharpness and durability. This enhanced configuration is 
projected to significantly improve cutting performance across all stem diameters while maintaining the 
system’s lightweight and plant-safe characteristics. 
 
 
Furthermore, to address the challenge of securely gripping irregularly shaped sweet peppers without 
causing damage, this research adopted an innovative stem-holding approach. Recognizing the 
structural consistency of stems compared to the variable morphology of pepper fruits, we developed a 
specialized stem holder comprising two paper-reinforced pneumatic grippers fabricated from Ecoflex 
00-50. When pressurized, these soft actuators expand inward with controlled force, creating a conformal 
grip on stems while maintaining complete safety for adjacent plants due to their compliant nature. The 
system demonstrated perfect operational reliability during field testing, achieving a 100% success rate 
in stem securing across all trials. The holder's lightweight construction (enabling integration with the 
Orimura Arm) and collision-safe operation fulfill the critical requirements for greenhouse deployment, 
where plant safety is crucial. 
 
Finally, the challenge of reliable sweet pepper detection under varying lighting conditions was resolved 
through an adaptive two-phase perception system. Phase one utilizes thermal-depth fusion to overcome 
visual clutter, capitalizing on fundamental thermal properties: peppers' hollow structure creates slower 
temperature changes compared to thin, rapidly transpiring leaves. This physics-based approach 
achieves robust 83.2% recognition precision at night when thermal contrasts are maximized, while 
maintaining 73.7% daytime accuracy through algorithmic compensation of solar effects. Phase two 
implements YOLOv4-based stem localization, demonstrating > 90% accuracy for vertical stems across 
all lighting conditions in real-world testing at KUT greenhouse. The system's all-day capability stems 
from three innovations: (a) dynamic threshold adjustment for thermal imagery that accommodates 
day-night temperature variations, (b) depth-guided background subtraction (700 mm range threshold) 
that maintains precision in dense foliage regardless of illumination, and (c) shape-invariant stem 
detection that handles natural growth variations. This system uniquely addresses the 24-hour 
operational requirements of commercial greenhouses. 
 
 
－4－ 
This study demonstrates a robotic harvesting approach through the novel integration of soft pneumatic 
systems. By incorporating thermal-depth perception, origami-inspired actuation, and motor-free cutting 
mechanics, the developed system successfully addresses the unique constraints of greenhouse 
environments, demonstrating that soft robotics can achieve both precision and robustness in 
agricultural applications. Experimental results validate the lightweight robotic arm's capacity to 
maintain safe operation while achieving precise positioning accuracy in controlled settings. Again, the 
proposed soft pneumatic actuator “Orimura” simplifies fabrication by eliminating air bubble removal 
and complex mold development, reducing production barriers inherent to conventional pneumatic 
systems. Consequently, the work presents the viability of soft robotic actuators for real-world tasks 
requiring delicate manipulation in dense cultivation. However, current limitations, including 
challenges in detecting curved stems and severing thick stems ( ≥4 mm diameter), may be mitigated 
through enhanced stem annotation protocols for machine learning datasets and the deployment of 
scaled Orimura actuators paired with the proposed cutting mechanism. In Overall, these findings show 
a new direction for agricultural automation, where safety and adaptability substitute traditional rigid 
paradigms, while laying critical groundwork for scalable implementations across high-value crop 
industries. 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 


Automatic Harvesting : Innovative Approaches Using Soft Pneumatic Actuators for Detection, Manipulation, and Cutting

Kochi University of Technology

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