研究者詳細 - 石上　玄也

論文 - 石上　玄也

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Experimental Evaluation of Voltage Control Methods in Electrical Power System for Planetary Rover

Takahiro Akutsu, Genya Ishigami

Proceedings of the 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016) 8a-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

Mission Concepts of Unprecedented Zipangu Underworld of the Moon Exploration (UZUME) Project

HARUYAMA Junichi, KAWANO Isao, KUBOTA Takashi, OTSUKI Masatsugu, KATO Hiroki, NISHIBORI Toshihiko, IWATA Takahiro, YAMAMOTO Yukio, ISHIHARA Yoshiaki, NAGAMATSU Aiko, SHIMADA Kazuhito, HASENAKA Toshiaki, MOROTA Tomokatsu, NISHINO Masaki N., HASHIZUME Ko, SAIKI Kazuto, SHIRA Motomaro, KOMATSU Goro, HASEBE Nobuyuki, SHIMIZU Hisayoshi, MIYAMOTO Hideaki, KOBAYASHI Kensei, YOKOBORI Shinichi, MICHIKAMI Tatsuhiro, YAMAMOTO Satoru, YOKOTA Yasuhiro, ARISUMI Hitoshi, ISHIGAMI Genya, FURUTANI Katsushi, MICHIKAWA Yuichi

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN （一般社団法人日本航空宇宙学会） 14 （ ists30 ） Pk_147 - Pk_150 2016年

研究論文（学術雑誌）, 共著, 査読有り

We are planning to explore the caverns through the skylight holes on the Moon and Mars. The holes and their associated subsurface caverns are among the most important future exploration targets. The importance of the lunar and Martian holes and their associated caverns is categorized from two aspects: (1) fresh materials are easily observed and sampled there, and (2) the subsurface caverns provide a safe, quiet environment. The expectation of lunar and Martian hole and cavern exploration is increasing in Japan. We name the project as UZUME (Unprecedented Zipangu (Japan) Underworld of the Moon Exploration) whose name is after a Japanese mythology. The ultimate purpose of the UZUME project is to investigate how to expand human activity and survival in space and on extraterrestrial bodies.

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Excavation model of soil sampling device based on particle image velocimetry

Mori, Daiki, Ishigami, Genya

JOURNAL OF TERRAMECHANICS （PERGAMON-ELSEVIER SCIENCE LTD） 62 19 - 29 2015年12月

研究論文（学術雑誌）, 共著, 最終著者, 査読有り, ISSN 0022-4898

This work aims to establish an energy-efficient strategy for sampling Martian subsurface soil for future extraterrestrial-life exploration missions. To this end, requirements for a robotic arm are carefully examined and an end-effector shape suitable for subsurface soil sampling is determined. A soil tool interaction model is formulated based soil-flow measured by particle image velocimetry (PIV). The proposed model calculates the resistance forces and torque generated during the sampling procedure and is validated through a comparison of experimental data obtained from the force sensor and numerical data calculated from the proposed model. Results indicate that the proposed model provides an accurate estimation of the force generated during soil sampling. Furthermore, the interaction model is capable of estimating the robotic arm's energy consumption and calculating the most efficient tool size to use. (C) 2015 ISTVS. Published by Elsevier Ltd. All rights reserved.

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Development of in-wheel sensor system for accurate measurement of wheel terrain interaction characteristics

Shirai, Takayuki, Ishigami, Genya

JOURNAL OF TERRAMECHANICS （PERGAMON-ELSEVIER SCIENCE LTD） 62 51 - 61 2015年12月

研究論文（学術雑誌）, 共著, 最終著者, 査読有り, ISSN 0022-4898

Planetary rovers need high mobility on a rough terrain such as sandy soil, because such a terrain often impedes the rover mobility and causes significant wheel slip. Therefore, the accurate estimation of wheel soil interaction characteristics is an important issue. Recent studies related to wheel soil interaction mechanics have revealed that the classical wheel model has not adequately addressed the actual interaction characteristics observed through experiments. This article proposes an in-wheel sensor system equipped with two sensory devices on the wheel surface: force sensors that directly measure the force distribution between the wheel and soil and light sensors that accurately detect the wheel soil surface boundary line. This sensor design enables the accurate measurement of wheel terrain interaction characteristics such as wheel force distribution, wheel soil contact angles, and wheel sinkage when the powered wheel runs on loose sand. In this article, the development of the in-wheel sensor system is introduced along with its system diagram and sensor modules. The usefulness of the in-wheel sensor system is then experimentally evaluated via a single wheel test bench. The experimental results confirm that explicit differences can be observed between the classical wheel model and practical data measured by the in-wheel sensor system. (C) 2015 ISTVS. Published by Elsevier Ltd. All rights reserved.

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Design and Development of Built-in-Clutch Joint for Single-Drive and Multi-Degrees of Freedom Manipulator

Saki Morita. Daiki Mori, and Genya Ishigami

The 6th International Conference on Advanced Mechatronics 2A1-11 2015年12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

Design, Development, and Mobility Evaluation of an Omnidirectional Mobile Robot for Rough Terrain

Ishigami, Genya, Iagnemma, Karl, Overholt, Jim, Hudas, Greg

JOURNAL OF FIELD ROBOTICS （WILEY-BLACKWELL） 32 （ 6 ） 880 - 896 2015年09月

研究論文（学術雑誌）, 共著, 筆頭著者, 責任著者, 査読有り, ISSN 1556-4959

Omnidirectional vehicles have been widely applied in several areas, but most of them are designed for the case of motion on flat, smooth terrain, and are not feasible for outdoor usage. This paper presents the design and development of an omnidirectional mobile robot that possesses high mobility in rough terrain. The omnidirectional robot consists of a main body with four sets of mobility modules, called an active split offset caster (ASOC). The ASOC module has independently driven dual wheels that produce arbitrary planar translational velocity, enabling the robot to achieve its omnidirectional motion. Each module is connected to the main body via a parallel link with shock absorbers, allowing the robot to conform to uneven terrain. In this paper, the design and development of the ASOC-driven omnidirectional mobile robot for rough terrain are described. A control scheme that considers the kinematics of the omnidirectional mobile robot is presented. The mobility of the robot is also evaluated experimentally based on a metric called the ASOC mobility index. The mobility evaluation test clarifies a design tradeoff between terrain adaptability and omnidirectional mobility due to the shock absorbers. In addition, an odometry improvement technique that can reduce position estimation error due to wheel slippage is proposed. Experimental odometry tests confirmed that the proposed technique is able to improve the odometry accuracy for sharp-turning maneuvers.

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Generalized Force-and-Energy Manipulability for Design and Control of Redundant Robotic Arm

Daiki Mori, Genya Ishigami

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) pp. 1131-1136 2015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 Yasunaga1, Genya Ishigami

Proceedings of the 30th International Symposium on Space Technology and Science (ISTS 2015) k-44 2015年07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

Design and Development of Navigation/Geological Cameras for a Mars Rover

Takehiko Satoh, Hideaki Miyamoto, Takafumi Niihara, Genya Ishigami

Proceedings of the 30th International Symposium on Space Technology and Science (ISTS 2015) k-41 2015年07月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

LDM (Life Detection Microscope): In situ imaging of living cells on surface of Mars

Akihiko Yamagishi, Takehiko Satoh, Keigo Enya, Atsuo Miyakawa, YoshimuraYoshitaka, Hajime Honda, Eiichi Imai, Satoshi Sasaki, Genya Ishigami, Hirohide Demura, Kazuhisa Fujita, Hideaki Miyamoto

Proceedings of the 30th International Symposium on Space Technology and Science (ISTS 2015) k-40 2015年07月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

Preliminary Thermal Design of a Mars Rover Mission "MELOS"

Ryuta Hatakenaka, Kazuhisa Fujita, Taku Nonomura, Moto Takai, Hiroyuki Toyota, Takehiko Satoh, Hiroyuki Sugita, Genya Ishigami, Akihiko Yamagishi, Hideaki Miyamoto, Kazuhiro Umetani

Proceedings of the 45th International Conference on Environmental Systems ICES-2015-247 2015年07月

研究論文（国際会議プロシーディングス）, 共著

Mission Scope Definition and Preliminarily Design Study of Mars Surface Exploration Rover

Genya Ishigami, Kazuhisa Fujita, Ryuta Hatakenaka, Hiroyuki Toyota, Takehiko Sato, Moto Takai, Taku Nonomura

Proceedings of the 30th International Symposium on Space Technology and Science (ISTS 2015) k-39 2015年07月

研究論文（国際会議プロシーディングス）, 共著, 筆頭著者, 責任著者, 査読有り

Mission Concepts of Unprecedented Zipangu Underworld of the Moon Exploration (UZUME) Project

Junichi Haruyama, Isao Kawano, Takashi Kubota, Masatsugu Otsuki, Hiroki Kato, Toshihiko Nishibori, Takahiro Iwata, Yukio Yamamoto, Yoshiaki Ishihara, Aiko Nagamatsu, Kazuto Shimada, Toshiaki Hasenaka, Tomokatsu Morota, Masaki N. Nishino, Ko Hashizume, Kazuto Saiki, Motomaro Shirao, Goro Komatsu, Nobuyuki Hasebe, Hisayoshi Shimizu, Hideaki Miyamoto, Kensei Kobayashi, Shinichi Yokobori, Tatsuhiro Michikami, Satoru Yamamoto, Yasuhiro. Yokota, Hitoshi Arisumi, Genya Ishigami, Katsusi Furutani, Yuichi Michikawa

Proceedings of the 30th International Symposium on Space Technology and Science (ISTS 2015) k-29 2015年07月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

Japan’s Mars Rover Mission - System Design and Development Status

Kazuhisa Fujita, Genya Ishigami, Ryuta Hatakenaka, Moto Takai, Hiroyuki Toyota, Naoko Ogawa, Misuzu Haruki, Hiroshi Takeuchi, Taku Nonomura, Kazuhiko Yamada, Hiroki Takayanagi, Takashi Ozawa, Shingo Matsuyama, Akira Oyama, Akihiko Yamagishi, Shingo Kameda, Hirdy Miyamoto, Takehiko Satoh

Proceedings of the 30th International Symposium on Space Technology and Science (ISTS 2015) 2015年07月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

車輪走行実験による沈下過渡状態におけるせん断変形モデル有効性の評価

水上憲明，石上玄也，吉光徹雄，久保田孝

日本機械学会論文集（日本機械学会） 81 （ 825 ） 14 - 00514-14-00514 2015年01月

研究論文（学術雑誌）, 共著, 査読有り, ISSN 2187-9761

Soft soils cover on planetary surfaces, so the wheels for exploration rovers easily slip. Understanding an interaction between a wheel and soft soils is important for a traction control to improve rover traversability. The interaction between the wheel and soft soils has been studied in a field of terramechanics. Since the classical terramechanics-based wheel model considers only a static state of a wheel sinkage, the wheel model is not applicable to the wheel sinkage and slip. Thus the dynamic normal stress model and shear deformation model were proposed to deal with the problems of the wheel sinkage and the slip. The dynamic normal stress model was proposed by considering the wheel sinking velocity and a variation of soil state for solving the problem of wheel sinkage. And the shear deformation model was proposed by considering the shear characteristics for solving the problem of wheel slip. The shear deformation model was formulated by the shear test. The simulation verified the validity of the dynamic normal stress model and the shear deformation model in the transient state. In this paper, a single wheel experiments was performed to evaluate the shear deformation model by comparing the simulation results and the experimental results. Then the characteristics of the wheel sinkage and slip and the effectiveness of the model were confirmed.

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Accurate Measurement of Multidirectional Interaction Mechanisms between Wheel Stress and Soil Deformation using In-wheel Sensor and PIV techniques

Hiroki Tsubaki, Takayuki Shirai, Genya Ishigami

Proceedings of the 13th European Conference of the International Society for Terrain-Vehicle Systems 97-109 2015年01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

Towards Terrain Classification Method based on Force-sinkage Characteristics measured with In-wheel Sensor System

Takayuki Shirai, Hiroki Tsubaki, and Genya Ishigami

Proceedings of the 13th European Conference of the International Society for Terrain-Vehicle Systems 282-289 2015年01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

Japan's mars rover mission for edl demonstration and life search

Kazuhisa Fujita, Genya Ishigami, Takehiko Satoh, Akihiko Yamagishi, Hirdy Miyamoto

Proceedings of the International Astronautical Congress, IAC 2 1061 - 1068 2015年

研究論文（国際会議プロシーディングス）, 共著, ISSN 0074-1795

A Martian rover mission is currently entertained in Japan Aerospace Exploration Agency (JAXA) for launch in 2020s. The primary scopes of this mission are to demonstrate the entry-descent-landing and surface exploration technologies on Mars, to search for signs of live organisms, and to determine when the ocean is lost in the past Martian history. In order to cut down the mission cost and the development risk, the spacecraft is designed as a compact medium-class spacecraft whose total wet mass at Earth departure is approximately 900 kg. The spacecraft system consists of the cruise module and the atmospheric entry module which is subdivided into a forebody and an aftbody aeroshell, a landing module, and a rover, in a typical reference mission design under consideration. The current status of research and development is briefly presented as well.

Accurate Estimation of Wheel Pressure-Sinkage Traits on Sandy Terrain using In-wheel Sensor System

Takayuki Shirai, Genya Ishigami

Proceedings of the 12th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2014) 8a-2 2014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

Current Status and Prospects of Terramechanics-based Simulation Techniques for Planetary Rover Locomotion

Taizo Kobayashi, Genya Ishigami, Shingo Ozaki, Masataku Sutoh

Proceedings of the 12th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2014) 11b-3 2014年06月

研究論文（国際会議プロシーディングス）, 共著

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石上 玄也

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