論文 - 石上　玄也

Soil Interaction Model of Hemispherical Sampling Device based on PIV Analysis

Daiki Mori, Genya Ishigami

Proceedings of the 12th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2014)    9a-2 2014年06月

研究論文（国際会議プロシーディングス）, 共著

Light-Independent Feature Detection using Intensity Data of Laser Range Finder

Kentaro Kimura, Genya Ishigami

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

Conceptual Design Study of Mars EDL System with a Compact Rover

Kazuhisa Fujita, Genya Ishigami, Naoko Ogawa, Akira Oyama, Kazuhiko Yamada, Takashi Kubota, Akihiko Yamagishi, Hirdy Miyamoto, and Takehiko Satoh

Proceedings of the AIAA Science and Technology Forum and Exposition 2014     1739890 2014年01月

研究論文（国際会議プロシーディングス）, 共著

Design, development, and mobility test of an omnidirectional mobile robot for rough Terrain

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

Springer Tracts in Advanced Robotics 92   599 - 611 2014年

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,  ISSN  1610-7438

　概要を見る

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 an omnidirectional mobile robot that possesses highmobility in rough terrain. The omnidirectional robot employs four sets of mobility modules, called active split offset caster (ASOC). The ASOCmodule has two independently-driven wheels that produce arbitrary planar translational velocity, enabling the robot to achieve its omnidirectional mobility. Each module is connected to the main body of the robot via a parallel link with shock absorbers. In this paper, a design and development of the ASOC-driven omnidirectional mobile robot for rough terrain are described. Also, a control scheme that considers a kinematics of the omnidirectional mobile robot is presented. The omnidirectional mobility of the robot regardless of ifs heading direction is experimentally evaluated based on ametric called omnidirectional mobility index. © Springer-Verlag Berlin Heidelberg 2014.

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Particle Filter based 3D Position Tracking for Terrain Rovers using Laser Point Clouds

Peshala G. Jayasekara, Genya Ishigami, Takashi Kubota

2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014) （IEEE）     2369 - 2374 2014年

研究論文（国際会議プロシーディングス）, 共著, 査読有り,  ISSN  2153-0858

　概要を見る

Difficult conditions on outdoor terrains make outdoor autonomy for rovers, a challenging task. The conventional wheel odometry method uses orientation measurements to assume a momentary plane to apply wheel encoder readings. On uneven terrains, this method often gives poor results for position tracking, and therefore rarely used. To improve the conventional odometry motion model, immediate terrain data can be used. This paper proposes a novel state variable extension (SVE) method to establish a connection between state space variables of a terrain rover by combining terrain point clouds with rover kinematics. The simulation results show that when the 2D state variables (x, y, yaw) are known, the 2D state can be extended to its 3D state (x, y, z, roll, pitch, yaw) with minimal error. The proposed SVE method is employed in a particle filter to determine the 2D state variables, which in turn results in achieving the full 3D position tracking of the rover.

Path planning and navigation framework for a planetary exploration rover using a laser range finder

Genya Ishigami, Masatsugu Otsuki, Takashi Kubota

Springer Tracts in Advanced Robotics 92   431 - 447 2014年

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,  ISSN  1610-7438

　概要を見る

This chapter presents a path planning and navigation framework for a planetary exploration rover and its experimental tests at a Lunar/Martian analog site. The framework developed in this work employs a laser range finder (LRF) for terrain feature mapping. The path planning algorithm generates a feasible path based on a cost function consisting of terrain inclination, terrain roughness, and path length. A set of navigation commands for the rover is then computed from the generated path. The rover executes those navigation commands to reach a desired goal. In this paper, a terrain mapping technique that uses a LRF is described along with an introduction to a cylindrical coordinate digital elevation map (C2DEM). The gird-based path planning algorithm is also presented. Field experiments regarding the path planning and navigation that evaluate the feasibility of the framework developed in this work are reported. © Springer-Verlag Berlin Heidelberg 2014.

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Terrain adaptive detector selection for visual odometry in natural scenes

Kyohei Otsu, Masatsugu Otsuki, Genya Ishigami, Takashi Kubota

Advanced Robotics 27 （ 18 ） 1465-1476 - 1476 2013年10月

研究論文（学術雑誌）, 共著, 査読有り

　概要を見る

カメラ画像を用いたビジュアルオドメトリの精度向上のため，地形の種類ごとに異なる特徴点検出アルゴリズムを適用する手法を提案し，ロボットを用いたフィールド試験によって有用性を実証した．

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Range-Dependent Terrain Mapping and Multi-path Planning using Cylindrical Coordinates for Planetary Exploration Rover

Genya Ishigami, Masatsugu Otsuki, Takashi Kubota

Journal of Field Robotics （WILEY-BLACKWELL）  30 （ 4 ） 536-551 - 551 2013年07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

　概要を見る

本論文では，月惑星探査ロボットの自律移動システムについて，特に下記の2点に注目したアプローチを構築した．（１）レーザ距離計の特性を反映した円柱座標系を用いた地図構築，（２）複数の経路生成手法による不整地走行に最適な経路の選択．テストベッドロボットを用いた屋外試験によって，これら提案手法の妥当性の評価を行った．

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Case Study of Trajectory Design for Synergetic Mars Exploration by Orbiter and Lander

Naoko Ogawa, Kazuhisa Fujita, Takashi Kubota, Genya Ishigami, Akira Oyama, Kazuhiko Yamada, and Takehiko Satoh

Proceedings of the 29th International Symposium on Space Technology and Science (ISTS 2013)    k-66p 2013年06月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

MELOS Life Search Plan: Search for Microbes on the Mars Surface with Special Interest in Methane-oxidizing Bacteria

Akihiko Yamagishi, Yoshitaka Yoshimura, Hajime Honda, Aatsuo Miyakawa, Takehiko Satoh, Gennya Ishigami, Junichi Haruyama, Kensei Kobayashi, Takeshi Naganuma, Sho Sasaki, Hideaki Miyamoto

Proceedings of the 29th International Symposium on Space Technology and Science (ISTS 2013)    k-13 2013年06月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

Feasibility Study of a Small, Lightweight Rover for Mars Surface Exploration

Genya Ishigami, Takashi Kubota, Kazuhisa Fujita, Naoko Ogawa, Takehiko Sato

Proceedings of the 29th International Symposium on Space Technology and Science (ISTS 2013)    k-12 2013年06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

Design Study of Mars EDL Demonstrator for MELOS mission

Kazuhisa Fujita, Genya Ishigami, Naoko Ogawa, Akira Oyama, Kazuhiko Yamada, Takashi Kubota, Hirdy Miyamoto, and Takehiko Satoh

Proceedings of the 29th International Symposium on Space Technology and Science (ISTS 2013)    k-11 2013年06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 Design Study of EDL System for Japan's Mars Rover Mission

Kazuhisa Fujita, Genya Ishigami, Naoko Ogawa, Akira Oyama, Kazuhiko Yamada, Takashi Kubota, Hirdy Miyamoto, and Takehiko Satoh

Proceedings of the 4th International Atmospheric reentry Association Days 2013年04月

研究論文（国際会議プロシーディングス）, 共著

An examination of feature detection for real-time visual odometry in untextured natural terrain

Kyohei Otsu, Masatsugu Otsuki, Genya Ishigami, Takashi Kubota

Advances in Intelligent Systems and Computing （Springer Verlag）  208   405 - 414 2013年

研究論文（国際会議プロシーディングス）, 共著, 査読有り,  ISSN  2194-5357

　概要を見る

Estimating the position of a robot is an essential requirement for autonomous mobile robots. Visual Odometry is a promising localization method in slippery natural terrain, which drastically degrades the accuracy of Wheel Odometry, while relying neither on other infrastructure nor any prior knowledge. Visual Odometry, however, suffers from the instability of feature extraction from the untextured natural terrain. To date, a number of feature detectors have been proposed for stable feature detection. This paper compares commonly used detectors in terms of robustness, localization accuracy and computational efficiency, and points out their trade-off problems among those criteria. To solve the problem, a hybrid algorithm is proposed which dynamically switches between multiple detectors according to the texture of terrain. Validity of the algorithm is proved by the simulation using dataset at volcanic areas in Japan. © 2013 Springer-Verlag.

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個別観測機器提案「火星生命探査機器群提案」ー細胞，アミノ酸，メタン検出を目的としたー

山岸明彦, 吉村義隆, 長沼毅, 宮川厚夫, 出村裕英, 豊田岐聡, 本多元, 小林憲正, 三田肇, 大野宗佑, 石丸亮, 小林喬郎, 戸野倉賢一, 石上玄也, 佐々木晶, 宮本英昭

日本惑星科学会誌 （日本惑星科学会）  21 （ 2 ） 276 - 282 2012年09月

研究論文（学術雑誌）, 共著, 査読有り,  ISSN  0918-273X

火星生命探査機器群提案 -- 細胞，アミノ酸，メタン検出を目的とした --

山岸明彦，吉村義隆，長沼毅，宮川厚夫，出村裕英，豊田岐聡，本多元，小林憲正，三田肇，大野宗祐，石丸亮，小林喬郎，戸野倉賢一，石上玄也，佐々木晶，宮本英昭

日本惑星科学会誌 （日本惑星科学会）  21 （ 3 ） 276-282 - 282 2012年09月

研究論文（学術雑誌）, 共著, 査読有り,  ISSN  0918-273X

　概要を見る

本論文では，日本のアストロバイオロジーの研究者グループはJAMP（Japan Astrobiology Mars Project）と呼ばれる火星での生命探査計画を紹介し，これまでの生命関連探査とJAMP計画を概説するとともに，火星生命探査に用いる3 つの機器（蛍光顕微鏡，アミノ酸分析装置，メタン測定装置）を提案した．

Advanced Visual Odometry for Planetary Exploration Rover,

Kyohei Otsu, Masatsugu Otsuki, Genya Ishigami, Takashi Kubota

Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2012)    9a-2 2012年09月

研究論文（国際会議プロシーディングス）, 共著

Testing and Validation of Autonomous Navigation for Planetary Exploration Rover, Cuatro, using Opensource Simulation Tools,

Peshala G. Jayasekara, Genya Ishigami, Takashi Kubota

Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2012)    9c-4 2012年09月

研究論文（国際会議プロシーディングス）, 共著

Motion Control with Modification ofAcceleration for planetary Rover on soft Terrain,

Masatsugu Otsuki, Genya Ishigami, Shinichiro Narita, Sachiko Wakabayashi

Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2012)    11a-2 2012年09月

研究論文（国際会議プロシーディングス）, 共著