HANNIBAL PAUL

RESEARCH FIELDS

• Unmanned aerial vehicle (UAV) design • Aerial manipulator design and control • System integration (ROS) • Robot vision • Sensor development • Industrial robot control • Food handling robots • VLSI design • Embedded systems

EDUCATION & EXPERIENCE

2024/04 - present : Assistant Professor at Department of Robotics, College of Science and Engineering, Ritsumeikan University, Japan

2021/10 - 2024/03 : Senior Researcher at Research Organization of Science and Technology, Ritsumeikan University, Japan

2021/04 - 2021/09 : Assistant Researcher at Research Organization of Science and Technology, Robotics Research Center, Ritsumeikan University, Japan

2017/09 - 2021/03 : Ph.D. in Advanced Mechanical Engineering and Robotics at Graduate School of Science and Engineering, Ritsumeikan University, Japan

2016/09 - 2017/08 : Exchange student at Graduate School of Science and Engineering, Ritsumeikan University, Japan

2015/09 - 2017/08 : Master of Technology in V.L.S.I. Design and Embedded Systems at Nitte Mahalinga Adyanthaya Memorial Institute of Technology, Nitte, India

2012/09-2015/06 : Bachelor of Engineering in Electronics and Communication Engineering at Nitte Mahalinga Adyanthaya Memorial Institute of Technology, Nitte, India

2009/08-2012/05 : Diploma in Electronics and Communication Engineering at Nitte Rukmini Adyanthaya Memorial Polytechnic, Nitte, India

PUBLICATIONS

Papers published in academic journals and Books

1. Borwonpob Sumetheeprasit, Ricardo Rosales Martinez, Hannibal Paul, and Kazuhiro Shimonomura, "Long-Range 3D Reconstruction Based on Flexible Configuration Stereo Vision Using Multiple Aerial Robots," Remote Sensing, vol.16, no.2, 234, 2024.1.
2. Zhe Qiu, Hannibal Paul, Zhongkui Wang, Shinichi Hirai, and Sadao Kawamura, "An Evaluation System of Robotic End-Effectors for Food Handling," Foods, vol.12, no.22, 4062, 2023.11.
3. Ricardo Rosales Martinez, Hannibal Paul, and Kazuhiro Shimonomura, "Aerial Torsional Work Utilizing a Multirotor UAV with Add-on Thrust Vectoring Device," Drones, vol.7, no.9, 551, 2023.8.
4. Borwonpob Sumetheeprasit, Ricardo Rosales Martinez, Hannibal Paul, Robert Ladig, and Kazuhiro Shimonomura, "Variable Baseline and Flexible Configuration Stereo Vision using Two Aerial Robots," Sensors, vol.23, no.3, 1134, 2023.1.
5. Hannibal Paul, Ricardo Rosales Martinez, Robert Ladig, and Kazuhiro Shimonomura, "Lightweight Multipurpose Three-Arm Aerial Manipulator Systems for UAV Adaptive Leveling after Landing and Overhead Docking," Drones, vol. 6, no. 12, 380 (15 pages), 2022.11.
6. Ryo Miyazaki, Hannibal Paul, Takamasa Kominami, Ricardo Rosales Martinez, and Kazuhiro Shimonomura, “Flying Washer: Development of High-Pressure Washing Aerial Robot Employing Multirotor Platform with Add-On Thrusters,” Drones, vol. 6, no. 10, 286 (16 pages), 2022.10.
7. 宮崎遼, Hannibal Paul, 小南貴雅, Ricardo Rosales Martinez, Borwonpob Sumetheeprasit, 下ノ村和弘, "アドオン型水平並進駆動モジュールを備えたマルチロータUAVと高圧洗浄作業への応用," 日本ロボット学会誌, vol. 40, no. 2, pp. 170-173, 2022.3.
8. Hannibal Paul, Ryo Miyazaki, Takamasa Kominami, Robert Ladig, and Kazuhiro Shimonomura, "A Versatile Aerial Manipulator Design and Realization of UAV Take-Off from a Rocking Unstable Surface," Applied Sciences, vol. 11, no. 19, 9157, 2021.10.
9. Ryo Miyazaki, Hannibal Paul, and Kazuhiro Shimonomura, "Development of Add-On Planar Translational Driving System for Aerial Manipulation with Multirotor Platform," Applied Sciences, vol. 11, no. 4, 1462, 2021.2.
10. Robert Ladig, Hannibal Paul, Ryo Miyazaki, and Kazuhiro Shimonomura, "Aerial Manipulation Using Multirotor UAV: A Review from the Aspect of Operating Space and Force," Journal of Robotics and Mechatronics, vol. 33, no. 2, pp. 196-204, 2021.1.
11. Hannibal Paul, Ryo Miyazaki, Robert Ladig, and Kazuhiro Shimonomura, "TAMS: development of a multipurpose three-arm aerial manipulator system," Advanced Robotics, vol. 35, pp. 31-47, 2021.1. 日本ロボット学会 Advanced Robotics Excellent Paper Award.
12. Ryo Miyazaki, Hannibal Paul, Takamasa Kominami, and Kazuhiro Shimonomura, "Wire-Suspended Device Control Based on Wireless Communication with Multirotor for Long Reach-Aerial Manipulation," IEEE Access, vol.8, pp. 172096-172104, 2020.9.
13. Ryo Miyazaki, Rui Jiang, Hannibal Paul, Yanzhao Huang, and Kazuhiro Shimonomura, "Long-Reach Aerial Manipulation Employing Wire-Suspended Hand with Swing-Suppression Device," IEEE Robotics and Automation Letters (RA-L), vol.4, no.3, pp. 3045-3052, 2019.7. (IF=4.3)

International conference papers and presentation

1. Ricardo Rosales Martinez, Hannibal Paul, Kazuhiro Shimonomura, "Control Framework for Multirotors with Additional Horizontal Thrusters," In 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2024), Boston, MT, USA, 2024.7.
2. Takamasa Kominami, Liang Zou, Ricardo Rosales Martinez, Hannibal Paul, and Kazuhiro Shimonomura, "Physical Contact with Wall Using a Multirotor UAV Equipped with Add-On Thruster for Inspection Work," In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, MI, USA, 2023.10.
3. Hannibal Paul, Ricardo Rosales Martinez, Borwonpob Sumetheeprasit, and Kazuhiro Shimonomura, "A Tiltable Airframe Multirotor UAV Designed for Omnidirectional Aerial Manipulation," In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2023), Seattle, WA, USA, 2023.6.
4. Hannibal Paul, Zhe Qiu, Zhongkui Wang, Shinichi Hirai, and Sadao Kawamura, "A ROS 2 Based Robotic System to Pick-and-Place Granular Food Materials," In 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO 2022), Jinghong, China, 2022.12.
5. Ryo Miyazaki, Wataru Matori, Takamasa Kominami, Hannibal Paul, and Kazuhiro Shimonomura, “Multirotor Long-Reach Aerial Pruning with Wire-Suspended Saber Saw,” In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), IEEE, October 2022.10.
6. Toshiki Yamada, Takayoshi Tsuji, Hannibal Paul, Ricardo Rosales Martinez, Robert Ladig, and Kazuhiro Shimonomura, "Exploration of UAV Rope Handling and Flight in Narrow Space Strategies, using a Three-arm Aerial Manipulator System," In 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2022), pp. 677-682. IEEE, 2022.7.
7. Yuyan Wang, Hannibal Paul, Ryo Miyazaki, Ricardo Rosales Martinez, Takamasa Kominami, Robert Ladig, and Kazuhiro Shimonomura, "Active Translatory Drive System with Docking Capability for UAV Power Line Inspection,” In 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2022), pp. 689-694. IEEE, 2022.7.
8. Hannibal Paul, Ryo Miyazaki, Takamasa Kominami, Robert Ladig, and Kazuhiro Shimonomura, "Adaptively Leveling a UAV with Three-arm Aerial Manipulator System on Shifting Ground," In 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO 2021), pp. 1-4. IEEE, 2021.10.
9. Ryo Miyazaki, Hannibal Paul, Takamasa Kominami, Ricardo Rosales Martinez, Borwonpob Sumetheeprasit, and Kazuhiro Shimonomura, "Development of High-Pressure Washing Aerial Robot Employing Multirotor Platform with Add-on Planar Translational Driving System," In 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO 2021), pp. 1-4. IEEE, 2021.10.
10. Takao Sato, Takamasa Kominami, Hannibal Paul, Ryo Miyazaki, Robert Ladig, and Kazuhiro Shimonomura, "Passive Perching and Landing Mechanism for Multirotor Flying Robot," In 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2021), pp. 396-401. IEEE, 2021.7.
11. Hannibal Paul, Ryo Miyazaki, Robert Ladig, and Kazuhiro Shimonomura, "Landing of a Multirotor Aerial Vehicle on an Uneven Surface Using Multiple On-board Manipulators," In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), pp. 1926-1933. IEEE, 2019.11. IROS2019 Best Paper Award on Safety, Security, and Rescue Robotics in memory of Motohiro Kisoi, Finalist.
12. Ryo Miyazaki, Rui Jiang, Hannibal Paul, Koji Ono, and Kazuhiro Shimonomura, "Airborne docking for multi-rotor aerial manipulations," In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), pp. 4708-4714. IEEE, 2018.10. IROS2018 Best Paper Award, Finalist.
13. Hannibal Paul, Koji Ono, Robert Ladig, and Kazuhiro Shimonomura, "A Multirotor Platform Employing a Three-Axis Vertical Articulated Robotic Arm for Aerial Manipulation Tasks," In 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2018), pp. 478-485. IEEE, 2018.7. AIM-Machines Best Paper Award.

International conference presentation - Late breaking result

1. Ricardo Rosales Martinez, Hannibal Paul, Kazuhiro Shimonomura, "Control of Multirotor with Integrated Horizontal Thrusters," (poster), 2024 IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, 2024.5.
2. Hannibal Paul, Ricardo Rosales Martinez, and Kazuhiro Shimonomura, "Transformable Multirotor Airframe Design for Infrastructure Inspection," (oral and poster), In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, MI, USA, 2023.10.
3. Ricardo Rosales Martinez, Hannibal Paul, Kazuhiro Shimonomura, "Exploration of Aerial Torsional Work Using an Add-On Thrust Vectoring Device," (poster), IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2023), Seattle, WA, USA, 2023.6.
4. Ricardo Rosales Martinez, Ryo Miyazaki, Hannibal Paul, Takamasa Kominami, Robert Ladig, Kazuhiro Shimonomura, "Valve Turning Work Utilizing a Multirotor Aerial Robot with Add-On Thrust Vectoring Device," (poster), 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, 2022.10.
5. Takayoshi Tsuji, Toshiki Yamada, Hannibal Paul, Ricardo Rosales Martinez, Robert Ladig, Kazuhiro Shimonomura, "Collision Avoidance of a Multirotor UAV with Three-arm Aerial Manipulator System," (poster), IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2022), Sapporo, Hokkaido, Japan, 2022.7.
6. Ryo Miyazaki, Hannibal Paul, Kazuhiro Shimonomura, "Position Control of Wire-Suspended Hand for Long-Reach Aerial Manipulation," (poster), 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Macau, China, 2019.11.
7. Hannibal Paul, Koji Ono, Robert Ladig, Kazuhiro Shimonomura, "Deployment of a three-axis vertical articulated manipulator using an aerial robot," (poster), 2018 IEEE International Conference on Robotics and Automation (ICRA 2018), Brisbane, Australia, 2018.5.

International conference presentation - EXPO

1. Hannibal Paul, Ricardo Rosales Martinez, and Kazuhiro Shimonomura, "Tilting Frame Multirotor UAV with Bidirectional Thruster System," In 2024 IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, 2024.5.

Presentations at academic conferences, symposiums, etc held in Japan

1. Hannibal Paul, Ricardo Rosales Martinez, Kazuhiro Shimonomura, "Aerial Manipulator Coupled UAV with Tiltable Airframe Design for Infrastructure Inspection," 第41回日本ロボット学会学術講演会 (RSJ 2023)，仙台，2023.9.
2. Sumetheeprasit Borwonpob, Ricardo Rosales Martinez, Hannibal Paul, Kazuhiro Shimonomura, "Variable Baseline and Flexible Configuration Stereo Vision using Multiple Aerial Robots," 第41回日本ロボット学会学術講演会 (RSJ 2023)，仙台，2023.9.
3. 前川 竜輝，Ricardo Rosales Martinez，Hannibal Paul，下ノ村 和弘， ”下向き推進装置を備えたマルチロータUAVの試作と評価，”　 日本機械学会ロボティクス・メカトロニクス講演会2023 (ROBOMECH 2023)， 名古屋，2023.6.
4. Zou Liang，柴田 航士，小南 貴雅，Ricardo Rosales Martinez，Hannibal Paul，下ノ村 和弘， ”水平推進装置を備えたマルチロータUAVによる壁面への接触，”　 日本機械学会ロボティクス・メカトロニクス講演会2023 (ROBOMECH 2023)， 名古屋，2023.6.
5. Hannibal Paul，Kazuhiro Shimonomura, "Three-arm Aerial Manipulator System for Adaptive Leveling and Docking," 第40回日本ロボット学会学術講演会 (RSJ 2022)，東京，2022.9.
6. 尾山颯汰，Hannibal Paul，下ノ村和弘， ”モバイルマニピュレータに搭載する小型触覚画像センサの開発，” 日本機械学会ロボティクス・メカトロニクス講演会2022 (ROBOMECH 2022)， 北海道，2022.6.
7. 眞鳥航，宮崎遼，小南貴雅，Hannibal Paul，Robert Ladig，下ノ村和弘， ”ワイヤ懸架レシプロソーを備えた飛行ロボットによる枝打ち作業，” 日本機械学会ロボティクス・メカトロニクス講演会2022 (ROBOMECH 2022)， 北海道，2022.6.
8. 宮崎遼, Hannibal Paul, 小南貴雅, Ricardo Rosales Martinez, Borwonpob Sumetheeprasit, 下ノ村和弘, "アドオン型水平並進駆動モジュールを備えたマルチロータUAVと高圧洗浄作業への応用," 第39回日本ロボット学会学術講演会 (RSJ 2021)，オンライン，2021.9.
9. Ricardo Rosales Martinez, Hannibal Paul, Ryo Miyazaki, Borwonpob Sumetheeprasit, Robert Ladig, Kazuhiro Shimonomura, "Add-on Thrust Vectoring System for Multirotor Aerial Manipulation," 第39回日本ロボット学会学術講演会 (RSJ 2021)，オンライン，2021.9.
10. Hannibal Paul, "Three-arm Aerial Manipulator System (TAMS) for UAVs to realize multiple tasks," 11th ISAJ Symposium on Innovations Science and Technology for New Issues and Challenges, web conference, 2020.12. Best Presentation Award.
11. Hannibal Paul, Robert Ladig, Kazuhiro Shimonomura, "Aerial robot with three manipulators for grasping and landing," The 15th Joint Workshop on Machine Perception and Robotics (MPR 2019), Shiga, Japan, 2019.11.
12. Hannibal Paul, Robert Ladig, Kazuhiro Shimonomura, "Aerial robot with three manipulators for grasping and landing, " 第37回日本ロボット学会学術講演会 (RSJ 2019)， 東京，2019.9.
13. 宮崎遼，Hannibal Paul，下ノ村和弘， ”ワイヤ懸架ハンドによるロングリーチ空中マニピュレーション，” 日本機械学会ロボティクス・メカトロニクス講演会2019 (ROBOMECH 2019)， 広島，2019.6.
14. Hannibal Paul, Robert Ladig and Kazuhiro Shimonomura, "Design of a Multi-purpose Aerial Manipulator System," The 14th Joint Workshop on Machine Perception and Robotics (MPR 2018), Fukuoka, Japan, 2018.10.
15. 小野晃嗣，Hannibal Paul，Robert Ladig，下ノ村和弘， ”垂直多関節型マニピュレータを備えた高所作業用飛行ロボット，” 計測自動制御学会第18回SI部門講演会(SI 2017)， 仙台，2017.12.
16. 小野晃嗣，Hannibal Paul，Robert Ladig，下ノ村和弘， ”機体固定用ハンドと作業用マニピュレータを備えた高所作業用飛行ロボットの作業範囲拡大，” 日本機械学会ロボティクス・メカトロニクス講演会2017， 福島，2017.5.

AWARDS & ACHEIVEMENTS

1. RSJ Advanced Robotics Excellent Paper Award for the paper “TAMS: Development of a Multipurpose Three-arm Aerial Manipulator System" published in Advanced Robotics, received in 2022.
2. Best Presentation Award - 11th ISAJ Symposium on Innovations Science and Technology for New Issues and Challenges for "Three-arm Aerial Manipulator System (TAMS) for UAVs to realize multiple tasks", in 2020.
3. IROS2019 Best Paper Award on Safety, Security, and Rescue Robotics in memory of Motohiro Kisoi [finalist] for the paper, "Landing of a Multirotor Aerial Vehicle on an Uneven Surface Using Multiple On-board Manipulators", in 2019.
4. IROS2018 Best Paper Award [finalist] for the paper, "Airborne Docking for Multi-Rotor Aerial Manipulations", in 2018.
5. AIM-Machines Best Paper Award for the paper "A Multirotor Platform Employing a Three-Axis Vertical Articulated Robotic Arm for Aerial Manipulation Tasks", in 2018.

MEMBERSHIPS

1. Review Editor for Frontiers in Robotics and AI
2. The Robotics Society of Japan
3. Institute of Electrical and Electronics Engineers

TRAININGS & INTERNSHIPS

1. 2014 Hindustan Aeronautics Limited (HAL)
2. 2012 Bharat Sanchar Nigam Limited (BSNL)

RESEARCH FUNDINGS

1. Grant-in-Aid for Scientific Research (KAKENHI) 令和5年度 若手研究 (2023/04 to 2025/03).

CONTACT

Hannibal Paul (Ph.D.)
Department of Robotics, College of Science and Engineering,
Ritsumeikan University
1-1-1 Nojihigashi, Kusatsu, Shiga, 525-8577 Japan

E-mail: hpaulfc.ritsumei.ac.jp