論文 - 石上　玄也

Experimental Analysis on Landing Dynamics of Martian Moon Spacecraft based on Similarity Law

Daiki Yamaguchi, Genya Ishigami

Proceedings of the 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2018)    3a-4 (8 pages) 2018年06月

研究論文（国際会議プロシーディングス）, 共著, 最終著者

Strategic Deployment and Rerouting Methods for Wide-range Surface Exploration using Multiple Rovers

Reina Nakanishi, Genya Ishigami

Proceedings of the 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2018)    6c-a (5 pages) 2018年06月

研究論文（国際会議プロシーディングス）, 共著, 最終著者

Simulation Study on Landing Behavior of Spacecraft in Microgravity Environment based on Multibody Dynamics Model

Haruhi Katsumata, Genya Ishigami

Proceedings of the 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2018)    3a-3 (7 pages) 2018年06月

研究論文（国際会議プロシーディングス）, 共著, 最終著者

Computationally efficient mapping for a mobile robot with a downsampling method for the iterative closest point

Deguchi S., Ishigami G.

Journal of Robotics and Mechatronics （Journal of Robotics and Mechatronics）  29 （ 6 ） 65 - 75 2018年02月

研究論文（学術雑誌）, 共著, 最終著者, 査読有り,  ISSN  09153942

　概要を見る

© 2018, Fuji Technology Press. All rights reserved. This paper proposes a computationally efficient method for generating a three-dimensional environment map and estimating robot position. The proposed method assumes that a laser range finder mounted on a mobile robot can be used to provide a set of point cloud data of an environment around the mobile robot. The proposed method then extracts typical feature points from the point cloud data using an intensity image taken by the laser range finder. Subsequently, feature points extracted from two or more different sets of point cloud data are correlated by the iterative closest point algorithm that matches the points between the sets, creating a large map of the environment as well as estimating robot location in the map. The proposed method maintains an accuracy of the mapping while reducing the computational cost by downsampling the points used for the iterative closest point. An experimental demonstration using a mobile robot test bed confirms the usefulness of the proposed method.

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Strategy Optimization for Energy Efficient Extraterrestrial Drilling Using Combined Power Map

Pan, Siyi, Ishigami Genya

IEEE Robotics and Automation Letters 2 （ 4 ） 1980 - 1987 2017年10月

研究論文（学術雑誌）, 共著, 最終著者, 査読有り

Development and performance evaluation of planar travel distance sensors for mobile robots in sandy terrain

Yanagisawa Arata, Ishigami Genya

Journal of Robotics and Mechatronics （Fuji Technology Press）  29 （ 5 ） 887 - 894 2017年10月

研究論文（学術雑誌）, 共著, 最終著者, 査読有り,  ISSN  0915-3942

　概要を見る

<p>A planar travel distance sensor (two-dimensional sen-sor) was developed for a mobile robot in sandy terrain. The sensor system uses an optical flow device integrated into a small module with a simple configuration. The system achieves a high sampling rate on the order of milliseconds as well as precise measurement on a sub-millimeter order. Its performance was evaluated experimentally for measurement accuracy and repeatability, velocity response, robustness at varied heights with respect to terrain, and terrain surface characteristics. The experimental results confirm that the two-dimensional sensor system is accurate, having an error of distance traveled of less than a few percent, and that it possesses a wide dynamic range for the robot’s traveling velocity. This paper also discusses the applicability of the two-dimensional sensor for practical scenarios on the basis of the experimental findings.</p>

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Traversability-based RRT∗ for planetary rover path planning in rough terrain with LIDAR point cloud data

Takemura Reiya, Ishigami Genya

Journal of Robotics and Mechatronics （Fuji Technology Press）  29 （ 5 ） 838 - 846 2017年10月

研究論文（学術雑誌）, 共著, 最終著者, 査読有り,  ISSN  0915-3942

　概要を見る

<p>Sampling-based search algorithms such as Rapidly-Exploring Random Trees (RRT) have been utilized for mobile robot path planning and motion planning in high dimensional continuous spaces. This paper presents a path planning method for a planetary exploration rover in rough terrain. The proposed method exploits the framework of a sampling-based search, the optimal RRT (RRT∗) algorithm. The terrain geometry used for planning is composed of point cloud data close to continuous space captured by a light detection and ranging (LIDAR) sensor. During the path planning phase, the proposed RRT∗ algorithm directly samples a point (node) from the LI-DAR point cloud data. The path planner then considers the rough terrain traversability of the rover during the tree expansion process of RRT∗. This process improves conventional RRT∗ in that the generated path is safe and feasible for the rover in rough terrain. In this paper, simulation study on the proposed path planning algorithm in various real terrain data confirms its usefulness.</p>

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Wheel slip classification method for mobile robot in sandy terrain using in-wheel sensor

Omura Takuya, Ishigami Genya

Journal of Robotics and Mechatronics （Fuji Technology Press）  29 （ 5 ） 902 - 910 2017年10月

研究論文（学術雑誌）, 共著, 最終著者, 査読有り,  ISSN  0915-3942

　概要を見る

<p>This paper proposes a method that can estimate and classify the magnitude of wheel slippage for a mobile robot in sandy terrains. The proposed method exploits a sensor suite, called an in-wheel sensor, which measures the normal force and contact angle at the wheel-sand interaction boundary. An experimental test using the in-wheel sensor reveals that the maximum normal force and exit angle of the wheel explicitly vary with the magnitude of the wheel slippage. These characteristics are then fed into a machine learning algorithm, which classifies the wheel slippage into three categories: non-stuck wheel, quasi-stuck wheel, and stuck wheel. The usefulness of the proposed method for slip classification is experimentally evaluated using a four-wheel-drive test bed rover.</p>

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Modeling of Bucket-soil Interaction Mechanics based on Improved Resistive Force Theory

Ryota Yoneyama, Takuya Omura, Genya Ishigami

Proceedings of the 19th International & 14th European-African Regional Conference of the International Society of Terrain Vehicle Systems    SES-09-1 (12 pages) 2017年09月

研究論文（国際会議プロシーディングス）, 共著, 最終著者, 査読有り

Slip Estimation and Classification Using In-wheel Sensor for Mobile Robot in Sandy Terrain

Takuya Omura, Genya Ishigami

Proceedings of the 19th International & 14th European-African Regional Conference of the International Society of Terrain Vehicle Systems    SES-09-2 (10 pages) 2017年09月

研究論文（国際会議プロシーディングス）, 共著, 最終著者, 査読有り

Automated Dust Devil Detection on Mars

Kazunori OGOHARA, Daiki YASUNAGA, Genya ISHIGAMI

Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan 14 （ ists30 ） Pk_131 - Pk_136 2017年02月

研究論文（学術雑誌）, 共著, 査読有り

　概要を見る

A system for automated dust devil detection on Mars is developed based on images taken by the navigation camera aboard the Mars Exploration Rover, Spirit. This system enables us to pick up dust devils from the large number of images without checking each image visually and affords us a powerful tool for searching for dust devils and revealing their statistical properties for scientific studies. From an engineering point of view, the volume of dust devil image data to be downlinked to Earth for dust devil studies can also be drastically reduced by automated detection of dust devils because we can trim dust devil regions on the images onboard. A simple performance test using images taken on a particular sol shows that this system can detect almost all of the dust devils though also includes some false positives. Precision and recall are 0.85 and 0.81, respectively, which are comparable with or more effective than those in previous studies.

LDM (Life Detection Microscope): In situ Imaging of Living Cells on Surface of Mars

Akihiko YAMAGISHI, Takehiko SATOH, Keigo ENYA, Atsuo MIYAKAWA, Yoshitaka YOSHIMURA, Hajime HONDA, Eiichi IMAI, Satoshi SASAKI, Genya ISHIGAMI, Kazuhisa FUJITA, Hideaki MIYAMOTO

Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan （Japan Society for Aeronautical and Space Sciences）  14 （ ists30 ） Pk_117 - Pk_124 2017年02月

研究論文（学術雑誌）, 共著, 査読有り

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Energy Efficient Slope Traversability Planning for Mobile Robot in Loose Soil

Go Sakayori, Genya Ishigami

Proceedings of the 2017 IEEE International Conference on Mechatronics    99-104 2017年02月

研究論文（国際会議プロシーディングス）, 共著, 最終著者, 査読有り

Gyro-based odometry associated with steering characteristics for wheeled mobile robot in rough terrain

Nagata Takuma, Ishigami Genya

Advanced Robotics （TAYLOR & FRANCIS LTD）  30 （ 23 ） 1495 - 1508 2016年12月

研究論文（学術雑誌）, 共著, 査読有り,  ISSN  0169-1864

　概要を見る

<p>Mobile robot used for planetary exploration performs several scientific missions over long distance travel and needs to have a high degree of autonomous mobility system because the communication delay from the Earth impedes its direct teleoperation. Localization of a mobile robot is of particular importance on the autonomous mobility. Classical localization methods such as wheel/visual odometry have been widely investigated and demonstrated, but they possess a well-known trade-off between computational cost and localization accuracy. This paper proposes an accurate gyro-based odometry method for a wheeled mobile robot in rough terrain. The robot in rough terrain is often subject to large wheel slip or vehicle sideslip related with its steering maneuver, and those slips degrade the localization accuracy. The basic approach of the proposed method is to exploit odometry data for the robot distance traveled as well as gyroscope data for the robot heading calculation; however each data-set is weighted in accordance with steering characteristics of a robot in rough terrain. The usefulness of the proposed method is examined through field experiments using a wheeled mobile robot testbed in Martian analog site. The experimental result confirms that the proposed method accurately estimates the robot trajectory.</p>

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Experimental Investigation of Stuck Wheel Characteristics in Loose Sand

Takuya Ohmura, Genya Ishigami

Proceedings of the 8th Americas Regional Conference of the International Society for Terrain-Vehicle Systems    #56 (9 pages) 2016年09月

研究論文（国際会議プロシーディングス）, 共著, 最終著者, 査読有り

Power Consumption Model for Slope Traversal of Wheeled Robot based on Dynamic Simulation

Go Sakayori, Genya Ishigami

Proceedings of the 8th Americas Regional Conference of the International Society for Terrain-Vehicle Systems    #79 (11 pages) 2016年09月

研究論文（国際会議プロシーディングス）, 共著, 最終著者, 査読有り

Modeling of Wheel-soil Interaction Mechanisms based on Accurate Measurement of Pressure Distribution for Lightweight Vehicle

Hiroki Tsubaki, Genya Ishigami

Proceedings of the 8th Americas Regional Conference of the International Society for Terrain-Vehicle Systems    #39 (11 pages) 2016年09月

研究論文（国際会議プロシーディングス）, 共著, 最終著者, 査読有り

Experimental Evaluation of Gyro-based Odometry Focusing on Steering Characteristics of Wheeled Mobile Robot in Rough Terrain

Takuma Nagata, Genya Ishigami

Proceedings of the 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016)    8b-4 2016年06月

研究論文（国際会議プロシーディングス）, 共著, 最終著者

Power-synchronized Path Planning for Mobile Robot in Rough Terrain

Go Sakayori, Genya Ishigami

Proceedings of the 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016)    5c-4 2016年06月

研究論文（国際会議プロシーディングス）, 共著, 最終著者

Modeling of LiDAR Measurement Uncertainty for Rover Path Planning

Koki Tanaka, Genya Ishigami

Proceedings of the 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016)    5c-2 2016年06月

研究論文（国際会議プロシーディングス）, 共著, 最終著者