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ANEKO TO NBE

( )

Graduate school of Human and Environmental Studies,

Kyoto University, Yoshida-nihonmatsu-cho, Sakyo-ku,

Faculty of Science, Kyoto University, Kitashirakawa-

Monitoring of volcanic phenomena close to active volcanic vents and inside active craters is needed to predict

change of volcanic activities and to understand dynamics of volcanic eruptions. In order to carry out safe

volcanic monitoring, we have developed a prototype of a mobile sensor for volcanic observation “HOMURA”,

which is a new robotic system that has been designed to observe volcanic phenomena inside active volcanic craters.

HOMURA is a small unmanned ground vehicle (approx. mm in dimension and kg in weight)

with six wheels driven by electric motors and it is operated by wireless remote control at a distance of more than

km. Data measured by some sensors in HOMURA are sent to the base station in real time. Materials of the

vehicle body and wheels are aluminum with mm thick and plywood with mm thick, respectively. HOMURA

can climb up and down a rough surface with slope angle of degree. In addition, HOMURA does not readily

become undrivable even in overturning during climbing because it has a unique body shape with a horizontal

symmetry plane. HOMURA can be made and transported to mission fields at small costs. These allow us to

make a new vehicle even if HOMURA should be lost by accident during missions and promptly to explore a

sudden volcanic event by HOMURA. In test campaigns at Aso volcano and Izu-Oshima volcano, we confirmed

that HOMURA has planned abilities on moving on rough surfaces and wireless communication.

: robot, unmanned ground vehicle, monitoring, active vent, volcanic exploration

oiwake-cho, Sakyo-ku, Kyoto , Japan.

Corresponding author : Katsuya Kaneko

Kyoto , Japan. email : katsuya@gaia.h.kyoto-u.ac.jp

tel :

fax :

Katsuya K , Ko-ichi I and Yu-ichi A

Development of Mobile Sensor for Volcanic Observation “HOMURA”

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maps stand for start and end points of drive routes

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Aso volcano. (b) Urasabaku of Mihara-yama vol-

cano, Izu-Oshima.

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(Shino-

117

Fig. . Photographs of the test trials at volcanic fields. (a) HOMURA climbing up a rough-

surface slope near Nakadake crater, Aso volcano. (b) At the rim of Nakadake crater. (c)

HOMURA climbing up a slope covered with scoriae at Urasabaku of Mihara-yama volcano.

(d) Following MOVE at Urasabaku. MOVE is a robot for volcanic observation developed

by Tohoku University.

( )

( )

( ) km

http : //www.gaia.h.kyoto-u.ac.jp/~

homura/

hara, ) MOVE

1

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(B) MOVE

robot. Proceedings of IEEE/RSJ International Con-

ference

118

on climbing and walking robots, .

Muscato, G., Caltabiano, D., Guccione, S., Longo, D.,

Coltelli, M., Cristaldi, A., Pecora, E., Sacco, V., Sim, P.,

Virk, G.S., Briole, P., Semerano, A. and White, T.

( ) ROBOVOLC: a robot for volcano exploration

result of first test campaign. , ,

.

Shinohara, H. ( ) A new technique to estimate volcanic

gas composition : plume measurements with a portableApostolopoulos, D. and Bares, J. ( ) Locomotion con-

multi-sensor system. ,figuration of a robust rappelling robot. Proceedings of

.IEEE/RSJ International Conference on Intelligent

( ) SKY-Robots and Systems , Human Robot Interaction and

Cooperative Robots, , ..

Bares, J.E. and Wettergreen, D.S. ( ) Dante II : techni-( )

cal description, results and lessons lerned. The interna-.

tional Journal of Robotics Research, .( )

Caltabiano, D. and Muscato, G. ( ) A robotic systemMOVE .

for volcano exploration. InWettergreen, D., Pangels, H. and Bares, J. ( ) Behavi-

(Kordic, V., Lanzinica, A., and Merdan, M. eds.),our based gait execution for the DANTE II walking

. ARS/pIV, Germany.

Guccione, S., Muscato, G., Nunnari, G., Virk, G.S., Azad,on Intelligent Robots and Systems , Human

A.K.M., Semerano, A., Ghrissi, M., White, T. andRobot Interaction and Cooperative Robots, , .

Glazebrook, C. ( ) Robots for volcanos : the state of

the art. Proceedings of the rd international conference

The Industrial Robot,

J. Volcanol. Geotherm. Res.,

Cutting Edge Robotics

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