Transcript
Page 1: ˘ ˇˆ ˙ ˝ ˛˚˘ ˜ ! ˝"#$ %&’( ) *+ , + -. /0123 4˜56789 :4 ; - ? @ ab cde fghi j a hi kl ml n oep q rs r4 t 4 4 u o v 4w -xy z[ \x/0][ ^ ˙ q7 e _

� �� �

� � �

� �

� � � �

�� �� � � �

� ��

� � � �

� � �� �

�� �� ��� �� ������� ������

��� �� � � � ! �� � !

" # " #

$%&'()*+,-./01234156 78&99 :;<= ;&>?@A7BC8DE$%DFG H15IB;JK &KLMN4O P&QR8S. TU&1 ; +V ;WXYZ[\D ].^ ? ^I)I*+=8_`Iab6SB3)c&O ;JK dT&O;J &efBE$%D ND$g.h 1 9 gi&SB;<Dj 4 Hklmnop= q8SB $g8O ;JK &eI 7B;J e2rsMK D, :*+.tu&v$75O ;<9 Dwxy&/0dz);J{|}&2B B)c&O �~���&2B*+�\��D� =�� �� �� ����:*+`�D�� �: CzB �D;<D*+.^3)c&O � ^*+=^�z5IB STU(c 9;<&eI5�� �`�. I)��*+4 ;<� .�? :�&�D23`� `*+��.��N4=8_z� �zO U3 ���^�&2B �*+D �D ¡~¢£=IN48SB= u5D9;<& D*+��. SB ��*+O ¤¥¦§V��D¨\©ª`�.«MN4O$v:& 1I C) SB¬ Dklmno :&^3N4=8_B8S­3 �*+O :�p=^�z5IB;<&eI56 9 =9 H1)a &®7BN4=8_z� �N84�C? ¯y�Db �D23`$%=°NBUO +± 8S? �D ²:`*+.7BN4=³ 8SB

� �� ��´ ´µ ¶ · ¸ ¹ º » t »

¼ ½

�� � ���

�� � �� � �

� � �

� � � � �� � � �

� � � � �� � � � �� � �

� � � � �� !

" �# $% &

' ( ) � !� � *

� ' +

, � -

��

� � � � �

��

��������� ��� ���

��

�� � � �

� � �

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 : [email protected]

tel :

fax :

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

Development of Mobile Sensor for Volcanic Observation “HOMURA”

Key words

// ,*+*, +*3 ++2

,**3 ++ ,0 ,*+* - ,0

12* /0* -** +*

+, 3

-*

,

0*0 2/*+0*0 2/*,

0*0 2/*+0*0 2/*, 2+ 1/ 1/- 021.

2+ 1/ 1/- 021,

+

Page 2: ˘ ˇˆ ˙ ˝ ˛˚˘ ˜ ! ˝"#$ %&’( ) *+ , + -. /0123 4˜56789 :4 ; - ? @ ab cde fghi j a hi kl ml n oep q rs r4 t 4 4 u o v 4w -xy z[ \x/0][ ^ ˙ q7 e _

� ��� � � ��� �� �

� �

� � �� � � � � �

� � � �� � �

� � � �� � � �

� �� � �

� ��

� � �� � � �

� � �� � �

� � �� �

�� � �

�� �� � � �

� �� � � �

� � � �� � �� � �

� � � � � � � � � ��� �

� �� � �� �

� � � ��

� � �� � �

� � ��

� � � �� �

� � � �� � �

�� �� �� � � � �

� �

���� �������

���� � !"# $

��� �!%���&��'(�)*+,-.

/ 0 12 3 2

45�� � � 6'(� � � �7�8� -.9 :;< �= > �?%@� �A � 68�� ��� B � CD� E'�76 � F G H ���8� � � ?%@� � IJK �L' IJK� 8<M� NG EGOP'Q � � R# S�A T<' #RUV�W �: � �X > Y��N���Z'7 ;�'( � [\�&]� ��� ^ _`abc�#� d*� � G�+\e*f � g�����G :� E hi � �Wj �k d* �l �W � > m 'Y G��)*+,� ���8�� � �7� �W > Z�8�Z n�8��o ��� IJK� �+\ $���.6GpqR%>�GP�7G7 �e*� ���r^ 45 > � � � � � T����'(����!%?"�� ^ OK s� -.9 >t�u� v&wx� ��N��N�� � D= $ y<' ;�z{B �IJK�A > �� �W>-7 �k|$�� � }N ~��� D= �� ���"��#R"�� ��' <' $� T<' M' ��� 8�IJK�8<M�� ��>G7 +*�>N H �7� O G$K > 7!%?"�� ;�)*+,�� -.9 "���e�$ '� = � $� [\�&]� y<' Dz{>�7� �� GT<�7G7�� ���

�8<M�N � Q ��`# %�� � ' ^��&�"� >A T<' WIO��>.�� )*+,�A $7l�O �K mT<�7� ���)��&<�7� � �� � �� �A ' �: >� � w���� )*+,G

�� e����>.� � 6 T ��>-7� � � Z� ��� ����� � Y � (�I�

} �� �� P' j �� j��>�. � � G�OK� ��$3�G � ��&� � �� : T<  O ¡$ � �>�¢£�¤�

NA $��(K<�7� WIO M�� :¥�=9 �� M';� �¦ ��§(���¨ ?%@�>.��`

©> ª�� ����$8<M�A T<' # %�� 68�� � �7�E« 8<M� y<' D�� ¬ >-7��

� � $� ��Z M' w��N �� -.9 ��'( hi $ 78�$ T<' M'

�­ A T<' ®� ����� :���*> �7�'( ¯R��]N ��l M' ° ±��P�N= > �G7

� � T >² �� M��2 ���� �W >-Z � d*� -.9;�� 68�� � �7� 9S%+u��%e*w�> '� o ³

�S�*w� � �W� D NA T< = N lGP�7� �= $ y<' � �hi � M��S"��´ $ T<�7�� >-7���}� � >y'Z�W� � ' µG� � $� ���� EK<� �� �6�� � � ?%@�� Z> �� Q �Q $¶ T<��©Z ·¸�d* � '

O G$K �WOK ��'( �7� > 3 � 7 © z³¹��8����GOP' � � >-L B � IJKA >-7� �WQ � �7�� � ~ Gº»©>-L�p�#� > H $ ¡$�W¼M�j½l8�$���� �W>-

�� �� � ��

� �� ��

��� � ��

� �� � � � ���� �� �� � �� � � �� ! " # $

� ����� %&' �� � (

� ) �� � *� +� ,- � . /

01 2 3 4 5 67 8 9 :;) � < +� /4 �� ) =

7 � �>? �� @AB � CD � � � 0

E �CD F G G � �: � �

� HI +J � K1 LMN OPN Q: � R # � S LMN��RT U :;/4VW # GX Y Z [\ � ]^� � : ]^ _`

� � �� abc de � f � � : gh i6j kl

� d � � m n �op �� � 0 @

Gq ���rs l t u N �v v w xNyP z � {� G |} q9 ~x� � � i6j ��� � l t ��{� �� � f � ��

�� � �� � $ � ��

� : Q� Q� R op 0�R

6j�R 0 +�� � ���� " c

� � �� LM�� @ 0 N�� �1 1 ���� ��

) � /4 �C� � �� op � N �

G � : � �� 0 ��� � � �� 6j � N �� M5 �� k � d �� � � � R � � +J

�0  C ¡ � � �¢ £ ¤ �� q ¥# �¦

§¨�© J ¦ ª «¬­ ®

� � ��� ¯ 4° # �

� � �

������ ���������

�� �������� �� !"#$��%��

(Caltabiano and Muscato,

R-MAX

MOVE

110

( ) ROBOVOLC

ROBOVOLC

; Muscato )

. m

ROBOVOLC cm

cm

ROBOVOLC

( ) MOVE

Mobile Observatory for Volcanic Eruption (MOVE)

YAMAHA MPX

m

MOVE

SKY-

Guccione km

( ) Dante II

Dante II NASA Carnegie Mellon University

kg

(Apostolopoulos and Bares, ; Bares and Wettergreen,

; Wettergreen ) . m

Dante II Spurr MOVE

Dante II

m

(Bares and

Wettergreen, )

Dante II Spurr

et al.,

et al.,

et al.,

,***

,

0

,**/ ,**-

+ 2

,**, ,**-

.*

-*

,**-

-

,**3

+*

-

,***

+ ,**3 ,**3

-

,*** ,

+

3**

+33/

+333 +33/ - 1 ,0

+33.

/ +0/

. +

+333

,

-

- +

Page 3: ˘ ˇˆ ˙ ˝ ˛˚˘ ˜ ! ˝"#$ %&’( ) *+ , + -. /0123 4˜56789 :4 ; - ? @ ab cde fghi j a hi kl ml n oep q rs r4 t 4 4 u o v 4w -xy z[ \x/0][ ^ ˙ q7 e _

� �

� � �� � � �

� ��

� � � �� � � ��

� � �� � �

�� � �

�� � �� � �

� �� � � � �

� � � � ��

� � ��

�� �

� � �� � �

� � � � � � �� � � �

� � � � �� � �

� �� �

� ��

� � �

� ��

� �� �

��

� � ��

�� ���� ��� �� ��� ���

����� ��� !"�# $% "&'

( )$*+,-./ 01234567+0�

��8' 123 ( � 9

:;< = >?6@A BC� $#

�D :EFG� H�2I JK :E L�MI:E �< N ��� O �P !"� " Q $ "R6?ST$�" U ( V � �&D &' !$ � W 'X � Y'! ����� Z "&DBC��# W !"�KL�# JK':;< ���T$[\]^A &' _$:E� �[\` �a �� S�T�b &' L' $` [\�cd& TefS�# W 'X BC�� g Y�h �

$ �b &' !K�� Lg i �Qj$2 � X'�2IV � � ����� :E � &'k � $Ml�m

RnT$ P ` ` &D�� !" a ��Ko:EG�pqW '$ �BC�$# R6?ST"&' X $ l��� !"

$R6?ST( :;rsA+t( ����T u&'?6@A�2 vAe�w*+e� �W xy��z{�|}��I ���T$ f/� & ~ �� �� !"

��XD��� ��! "� �$�"� � & Q $ R,�-�A��6�JK' _ ([\` � &D � �g !"

L' � ��( g Y�i "&D( &D���� $��O i����� ��I � �� �1y H�2����� $a �&'� ���#W !"��XD &� :E < 'X BC� � ��� $$'X$���T( ��!��� � � 'X$?6@A� u& �� !"�[� Q( �!8D� � ����� � ��� $i � �&'S�TefSBC�$� �Qj�

Y T�P !"(� � a �� � � �

$R6?ST( P�` ���RnT� BC�$� � �L"X' BC�$����T�( [\� _$` �� "�� �$�RnT� �"�8D� "� �$�" JK �D PJK' � �@f�(' !KL�# JK'���T( �i � �� ��X'@f�(I �$ P�(��RnT� �� !$2 � �� � ( $ f���T( ��¡s¢n$ $'X� L' � ^A+*6¡£� J¤ 'X ¥ "�8D� �< �� 'X� �� �$� � go BC�$ v¦f6$!KL�$���T���§K !"�¨K _$` � &'z{�|} �� "&D *6¡£�©$ � ��'�� jj�$ �[\�'X�§K _$` ª� « $� �&D� !" ¬ �� "��­�

� �&��� L' ®�[\�` � §K � �� 2 � �JKD� !"�¯°�KD&L8' ± ²$ � PW !"�³´$G� &� ±� ���� ([\` �§KD&L� �$µ$# � ¶&' L' �Y' �$���T( �`Y 2 �@f��(�� ���T�:;rsA+tL�`·'X

$` $ � �� � "ª¸� W :;N � & �< ¹�� ± !$��`RnT( $ º"� BC�# $R6?ST( �!"�� ��»§�¼ !KL�$:;< ���T�(�LI �I °�K !"$�G8' &�R6?ST"�g R6?ST ( BC�$ � �2I R6?ST ( !KL�$���T� Y �RnT .6��8D� !"�1�D�K½K �JKD� h (µ JK

�� � �

�� �� �

� �

� � �

�� �

� �� �� � � �� �� � �� � �� �� � �� � ! �" ��#$ % %&� � �' � ( ��)* +* ' , � �-. -/ � � � 0 1� 2 34567 8 9 � � �

: 5; ;<; 34=� > ?@

� - AB 4 CB. -/ D E F � #G� % � -. �

H ( � �� �6 � � I-. JK � �� �L

� M N � O P� ����?@-. -/ > ��

� ��� �� � � � % Q

%� � R� ���

8 9 �� Q ��P% �

S E � � 8 �T U � L� �T V

8 �� ��W X #GFB�YZ ; [\ ]

� ^� _ ` �� ab % � 1� cd e f �

gh % � i jk � lm nop: � b ^q 7

r �� 8 opM r s �

b t u $R^v9 wx a Q r* i� j yz �j r

9 w � ^�

� { ?� |

�� �� a}

%��N~

������

�����

� ��

� �

��

mm

ROBOVOLC MOVE

111

MOVE

MOVE

( ) ( )

( )

( ) ( )

( ) km

Dante II

GPS

( )

( ) Table

(Fig. )

mm

mm (Fig. )

Table . Specification of HOMURADante II

( )

( )

,

, -*

+

+

+

+ /0*

-/0 /, 12* /0* -**

,

+

-

- ,

- -

Page 4: ˘ ˇˆ ˙ ˝ ˛˚˘ ˜ ! ˝"#$ %&’( ) *+ , + -. /0123 4˜56789 :4 ; - ? @ ab cde fghi j a hi kl ml n oep q rs r4 t 4 4 u o v 4w -xy z[ \x/0][ ^ ˙ q7 e _

� �

� � � � � �� �

� � � �� � � �

� ��

� � �� � �

�� � � � �� � �

� �� � �

�� � �

� �� � �

� � � �� � � � �

� � �� � � �� � � � �

� � �� �� ���

� ����� ��� ��������

���� � ! �"#$�

%&'( ) *+ , +

� -.� /0123 4�56789 :4 ; � -<=� >? @� ABCDE FGHI J AHI KL MLN OEP ��� � Q RS�R4 T�4 � 4 U O V 4W�-XY Z[�\X/0][��^�� �Q7 E _` a�9b��� -� �V9b ;CD� .65� c.deRS�R� f � !10g6hiE_j_k4lm9Xg6n ckk o� EpbD.65�

V �� q Yrst4G.u v s4 O�t w 4 O 4l�-X�l5 x4hYs565la.ulDl5 ly10o�� �Djv 34 Uz=_.9 � � { |Y} G�b� hi 4c.~.+��� _.�-X4 f X e� �Yg65� f X4 j.65U g9�@4n� P 4�t� k9 ;CD � �B� � "#$�3Xc.Y} G� � g��E , ��U j�� g4lm9 ��\�2��3X�v4 m6 �} _.65�A4�� E 4 G�-X4l� g9 -.� O 4� e� 4jj���Y�t��aEm6 � gV 4lm6n � Y jgcV |4 �l5 :4G�9b��� - �� ��0RY g6 OP l���X �G�-XE � � n 4��-X�tl5;CD t�t� l Xlm65� H����\��� E t�

4� �l<= � 4�a� kj A4� �Y G� E�� ;CD� ��l� n@��6�g6�� ;CD� 4 � �  � 5 e ¡ ¢ �� £R3Y¤U

g ¡ O4 g9� �VY ¥g c�¦> § A3\¨ ©q ª � � � 4«m9 � f ��� f� ¬­OG� ®�����c.~. g9 1¯3° ±²E ³ ´ µ _Y @G�X .9f ���¯£¶�° _.� �¯£¶ 1¯3� 1\ � + � � ?·¸¹H�� µ jXº»��¯¼\½ dh jDl 4l�E cncn fE �� :l?·i��

� � � �

� �

�� � � � � � � � � ���� �� �� � �� � �� ��

! � �� "�� #� � � $ % �& � ��

� ' ( )� * +� , � , � -�� . � / �/0 )� � ) � 1 )� 2* 3 � ' � �� � � ( � ( 45 � � 6 ,� � 7 8

9: ; 8�< �=� 8 > ?@ AB C>

� D0 > ; E F � 2 * �G � 2� H � I

8 J �K � � L � C � " ,MN ( O P Q R S "

. ( % ,� � 8 Q& TUV � , W

cm (Figs.

K

d and ) mm mm

112

Fig. . Photographs of HOMURA in the test trial during the Observation Robot Symposium

and Field Experiment in Izu-Oshima Volcano in September, . (a) HOMURA vehicle.

(b) Top view. (c) Side view. (d) A wheel.

( ) km h .

GPS

(Fig. )

Fig.

kg cm rpm

. V mAh

-* /

0 /.* -**

+ - 3 -

+,**3

, + /

,

/

,

-

.2 //

0

+ 0

1 , ,,**

Page 5: ˘ ˇˆ ˙ ˝ ˛˚˘ ˜ ! ˝"#$ %&’( ) *+ , + -. /0123 4˜56789 :4 ; - ? @ ab cde fghi j a hi kl ml n oep q rs r4 t 4 4 u o v 4w -xy z[ \x/0][ ^ ˙ q7 e _

� �

� � �� � �

� �� � � � �

�� � � �

� ��

� � �� � � �

� � �

��� ������ ��� ���

������� !"#$%&'()*+,-. /� ,012345) �6�78�9:;<=>?@ AB&-CDE-F7�G.H80?I-,(JK0 ELMN �6<OPE-0QR<S0 '�TUV$12) WX 2<YZ[\��E@]^_E`ab cde078E [\��EB012�]^`a$6Ffgh]i$? �j�X()klE]. [\��E 7 /�am 12<n,@! n,712EopbfBq]^r<sFt�f@uv<wh0�$xy78 7z�{��9:;<o|?@,012E!}~bf0�����$)8��3� � $ 78 LM�#<�.-0'(<��bf7�q�47 �7[\��<��E�f-,B&E � ��9��:��� �B������ � ��:��$[\�������9 ���) �|�(� EB0¡j¢��£¤��$¥�B&E]^rE�q�47 [\��EB0]^ �¦�$6& � §¨E) ���1©(�|�ªj`a<-,QR =«|�6E�,@ |¬<­�5- 5 ®� §¨z¯£�:,78,.°I�12<n,@?�F7(i o|?@ ± ²³´µ¯{:§¨ µ�{¶·¸¹)

113

Fig. . Dimensions of HOMURA.

Fig. Bearing plate

( )

cm mm

Futaba FDJ- TH .

GHz .

,

-

,

,

+* ,

*- *+* + ,

+. -

Page 6: ˘ ˇˆ ˙ ˝ ˛˚˘ ˜ ! ˝"#$ %&’( ) *+ , + -. /0123 4˜56789 :4 ; - ? @ ab cde fghi j a hi kl ml n oep q rs r4 t 4 4 u o v 4w -xy z[ \x/0][ ^ ˙ q7 e _

� �

� � � �� � � �

� �� �

� �� � �

� �� � �

� �� �� ��

� �

� � � �� ��

���� �������� � ���

��� ���� !" #�$�%&�'()*

+,-. /012 3452

6789:;< =>"?@9ABCDE()F G H�I)J)*�I�%��KLM NOPQ B8R�S� D)*)R�S�>TU�V� !WX CDE()F�Y�)%Z[�\< ]��N^L�_`�R�S��\< a ^L�bc_d e[!f dVgh`> !iG j:�kl"`�2mn�o!

gh pk�`> !iqr ���sqAPt!�kl e[!fG���� ;\uvwx�yYSz��{�|}6

~� ��!" >�� j:���6g�:OG " ?@9A,��8R�S� D)*)R�S�>TU�V� !W��G" BCklDE()F>�c]q vwx���

�� �g;\uH�I)��J)*����� 6���< �A�������:J)*6vwx��G�g" ��c]qAD)*)���R D)*)6�W�G`>�\<g�qG D)*)���R"

E���\<��]q D)*)��9:  ¡ ¢¡£�) D)*)��9¤�¥6��¦O§¨ �©)

A FET H

Fig.

114

kbps

km

Microchip PIC F PIC

PIC

PIC

PIC

Fig. . Dimensions and structure of the wheel of

HOMURA.

Fig. . Block diagram of HOMURA system.

,*

.

+/

,

+2 ,/,*

-

.

Page 7: ˘ ˇˆ ˙ ˝ ˛˚˘ ˜ ! ˝"#$ %&’( ) *+ , + -. /0123 4˜56789 :4 ; - ? @ ab cde fghi j a hi kl ml n oep q rs r4 t 4 4 u o v 4w -xy z[ \x/0][ ^ ˙ q7 e _

� �

� �

� �� � � ��

� ��� ��

� ���

�� �

� � � � �

� �� �

�� �

�� �� �

� � ��

� � ��

� � � � �� �

� � � � �

� � ��

� ��� � �� � �

� � �� � � �� � �

� � � ��

� � � ��

� �� �

� � � � ��� � � �

� � �

� � ����� ����� ��

� �� ��� � !"�#$%&'��

�( &� ) % *+�,'-�.

/01 2 34�5� 678 �9

: ; <�= >�?�@A�?BC ' D�E�?��FG� � H I 5�JK?LH I M 5��NB� !O�PQ 4�5� MD�NK

R�>SRTBUVW�678 4�5�%9 X YX

X OZ! [!O8V:\] �^ %

( _` B���4�5�@A�a bcd �(� % YX ,e8= ' feg:� X 4�5��Zh PQ 4�5�' MD�NK= 678�i

� 678 �j.'k:g:� k�l!mne� � �4�5� = Mo Ecp

@� q+�q r r �DKd

�����% s678 � q =t��� t� �����% YX

g:� 4�5�% s � quv= t% owgxy ,e&��z{cd! | }~:! :q 'Vwg:� ,� � FG����r �-�ne 'Xg� - ����,'��n

�g �� % ��� �! q�.� & 678xO�� ��KpC= ���y ,e8� g

� ��?�%oy!ss+� � %��+� % � ������ ��%m Xgr �.���?��o = �8� /0�S��b��r !x:g� :e�;�

�!Oy -^ ��� 4�5� Vr -^ ��� ,e8�,'= 678�r!O�>�? = ! fe ������ r % DKd�*Z,'-�. D�4�d %

D�E�?� ! �;Xg:�,'%�Xg:�Oy*ne D�E�?�! fe 4�5�>�?= ! 8e +�! �����% Xg� �! fe� ,��KpC!x �¡ �5��@�¢£�d= ��� ¤ ! ¥ /0 ¦ §/¨© �� ���KpC= 678 ' ª ���� *pKd%*w «X ,�'.�FG�' § VN�¬­�D�®��? xO� �= X �¯��!O� � #=*wg���BKpScU Oy :V: ,�FG� = [!O� *�FV� �����=�@A���d G 4�5�!O�>�?�@A�?BC �FG� ��BKpScU= �N¬D�' fe�N¬D� � q+�678�D�dz���z¢(C *FG!x:g ¥ z��°¯�0 ± ©%%9 X 'X !k�: � %²y "Xg y

4�5� ¦ §/¨� �@C!³wg:g:� D�E�?��´ !Oy �. ¥ /0 µ!Oy/¨ ! feg:� �

�4�5�� = �8 X ��K¶��· � ��� ·��� -�� & 6 � !¡ ¸ �/0 -¹º+78= ���y »Bz�b� .sV:�� �. � � ¡ ¸ � �/0 ! ne�«  �¼ �4�5�%9 +�,'- &X !x:g= j½� f:½ *� � &

� ��

����

�� �

�� � �

� ��� �

� ��� ��� � �

��� � �

�� � ! "#

$% �&� �

'(() ���� �

*+, �� -. /0 1 2 � 3�4� 5 �

�� 6 -.78 � 9 :; : ; ���� �

6 -. � ;< =

� 9 �-. -. >

-. ? @ �� > A

BC D � � 5E � D F

G ��HI " 2 � " 5�� () � =

����

J �� �� J� K

: L 1M N O P QRS� T. U �� �VF !� �� -W 4XY

�� �F � Z[���� ��

()1 4 � N \ ] ^

� �� _ : ` a2 O P RS

� b () N cd e fg^X fh �

i� jk lm1 K n> K Z[� K K>b n o> p � q Z[� > r� s

� �������� ��� �������������

joystick. (a) Photograph. (b) User interface design

GPS GPS

m Fig.

115

AD

k

TP T

Kionix KXM

Geosensory RDCM-

CMOS EYE

PIC

( )

Fig. . The control system of HOMURA at the base

station. The control system is composed of a

wireless transceiver, a personal computer, and a

for operation and sensor data.

PIC Pulse Width Modulation

(PWM)

PIC ( )

bit A D Microchip MCP

A D

PIC

kHz

(Fig. a)

Buffalo BGC-UCF

(Figs. and a)

USB

(Fig. b) m

( ) (Fig. a) (Fig.

AD b) A

V

V a A-route cm

cm

/**

+*

+* /2-

- /,

2*,

+0* +,*

-

.

0

+-/ ,*

. +

,

2

+, -,*2

+* ,**3 -

0

+0*+

. /

/ +*

- 1 1

*

/ 0 -*

-*

.

. + ,**3 -

��

Page 8: ˘ ˇˆ ˙ ˝ ˛˚˘ ˜ ! ˝"#$ %&’( ) *+ , + -. /0123 4˜56789 :4 ; - ? @ ab cde fghi j a hi kl ml n oep q rs r4 t 4 4 u o v 4w -xy z[ \x/0][ ^ ˙ q7 e _

� �

�� �

� � �

��

��

� ��

� �� �

��

�� �

�� �

� �

�� �

�� �

��

� � � �� � �

� � � �� �

� �� � � �

� � ��� � �

� � � � �� �

� � � � �� � � �

� � � �� � � � �

� � �� �

� � �� �� �

�� � �� � �

�� �� �� �� ������� ��� � � !" �� � �"#��� �� $% � &'� (�) * +,-./�01'�#2� 3� ������45�678 9:;<� %= >'���#1?@AB �CD� � "EF� 0�GH I� "E%= J�678�K

�� � � � J) 678 ��L" 678� 9:;<48 8M=1�N � O"�?5� P�QR AB " #S T �

U ��� V WXYZ�U ��5= :;<N �[-\]^_� " �`K���O 678�a �#�8 J�b,Zcde�:;<N �������f� �)#% ���5= g �:;<\h.e�)AB )i ����%jk�� #% ��lm) n�� o"pm'� ���� AB �� "'��q") rO % � n� %� N s�tuc �v8'#2 w � ���

x� "= �y z {|^_\-}~�e�?jM� x " ����o�Er� � �� �C��?jM� �"�(ML "C���f��)�% %� �"678�c�o��'����f�(L ����o� I� � � ��C��

� �� � ���?@ �") f# "r� ?5� �� ) #1 �f� o8"f# �� �" F�����f ?"��=i � ��"#5�` � �O#�8� �)#1 heu�#a �� ��5� � � `" �� �=�(5�� �� #1� �H � � ��) C? 1����f � " ? "�8#%������"rO # �Zu_�C'��"rOQR " oM������f� �� �Zu_"r5=) 1 P��'� �^.b �'���#�" �^.����fL heu�# ���f��)�% % b  � �h¡b,� � ?.h_���i �lm) �`" �p ��q � ?5� ¢ £ � ¤¥ z �%� � �=%� ¦F�) �'��q tuc� `K¢ � ��5��q 678�_ZX� � a � " �'��q�� �§K�#5=%���¨" ©ªuZ�.u«�� ���q _ZX� ¬'���� �­® O ��# �¯�� �O�®L�C��" �r@" °� �±²u- �)�5�� 678) ?C� Er�P"r� Q�?5� #E 678) �� �` � ��³q �`K� ¢"o8oM�" �j8´ 4 � ��� P���"rO ? L 1 � µ#45� ?C��) 678)"#���)#45� o8" ¶ {u«�²u· �^.b� 1#�(� � �h¡b,� ��¸ I� ��= jf� Er� o �= �� �` � ?��M�¶ ·�¹ � I(�� � ��C�"E%= º �� "» �f` � #1 ?�f� � � �� ?��f����� oM�

"��=) ¶ · 48¼· ½ (�

� ��

� � � � �� � �� � �

� �� �� �

� � ��� �

�� � � ��� ! "# �� $%

� & ' (�� �� �� ) �'� * '�

' +, -�� �� . ��

' "#" �� /, 01 ��2�

3 �� �2 ��2� 01 � ' 4

5 6 ��

7 89: ; 0< => ?

@ A � BC� /

?� DE F GF H 9 I 9 ��� F JK LM

N O P L / F QR S T. � UV � W%Q XR JK .

�YF"# � � � � FG Z L ��"#V G [ \

G G . ]^G / 5�_ @ A F L

/ G � � ` Wa 9:b b 9:cd� e =fg H h� Wa G 5

�i .j� 9k ) W%Wa l �� m nopq

$ rs tu a v nopq L w.xy G r Q

� W% RzR{ L �� | JK } L~ � 0 @ A F �

� ��� �� � � �� ! � 2! L~ �� ��� f� ! B C� �

2! JK L � � F L \01�� ~ � � r

� �������� ������

116

km

m

Fig. a B-route .

m

m

Fig. . Route maps of the test trials. S and E in the

maps stand for start and end points of drive routes

in the test trials. (a) The first crater of Nakadake,(Fig. b)

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

cano, Izu-Oshima.

m

mm

(Fig. )

m km (Fig.

km c, d)

km Fig. a B-route

-

+**

0 +,0+ +

+*

2* 0*

/

,**3 +*0

+* 0

0

-*

-

-*

+ + 0

+

-

2** , 1

+

, 0

. , ,**3 +*

Page 9: ˘ ˇˆ ˙ ˝ ˛˚˘ ˜ ! ˝"#$ %&’( ) *+ , + -. /0123 4˜56789 :4 ; - ? @ ab cde fghi j a hi kl ml n oep q rs r4 t 4 4 u o v 4w -xy z[ \x/0][ ^ ˙ q7 e _

� �

� �� � � � � ��� � � � � � �

� � �

��

� �

� �

� � �� �

� � �

� ��

� �� �

�� ������� �

��� � ����� �� ��

��� � ! " #$%�&'( ) %* ! ��+,�-./0123 / 4 5 6 7 8 9: " ;�<=>/9? @A B�C D E F 9GH�I JK ( L@(J 91HMNOC ��� � ����� �� > * ! /���E >4%�PQ/R�� J S ����T /0U�VW�X�Y � Z[> [J21� / \]����T> ^R Z���# %�_` [J2 /0U�abE >4Q c� d�ef/Pg

h � ij ����k�l� 4 m n / J /opKq >r%21s tu�vw-lx= yz Ks ) {K� |/c��T �X�� / L9��t[� B}~���;��> J Z � �� �1)A@/A12(Z�[` �/ab>4Q>�A�MClx�>� ��K ��! V\� �� c����T abE >4QZ[� `� /9�2 ��� !1�[ �R� /2��� 21�� V | ! \]/� >4QK�� �GH������ # � c� ��� ! J) ��� MNOC#X� 4Q� [J2� #c ��� /cKg � � �� � ������! ���x�C�VW�� ��0P� � @ ¡¢�£¤ ¥/ I �m����� /

¦9§¨>1K©1K ���6 ��+,�-. 9: c� {K ! [J2 �ab/cK�2! �E ab[ �/4ª

J9@�K# �«¬­0P�����@ �21K©` � w®w�¡��l�� T2)�k�l/P��� n>F [R� !¯` °± ¥[² ³ ¥ � � �¡'�´µ`4Q Z >F [R�K�/! #Pg ¶ ¥/· J21K©` q �K� ¦9§¨>) ¸¹ /º1 ;�<=# c� � 1K©1K � » � ¤ ¼ ¥ ½ J

� � �� ���

� � �

� ��� � �� � ���� � ��� � ��� �

� � !"#$ %& � � '� � () * + ,- '�.� , / �0 1� �2� �345 � �0 6 7 8 9: ;4 <$ + �= . � %4 !" > � ? @0 �

* �� ABCD = � E

� � � � F� � G � H� � I

J � KL M> �NO %�

PQR ,- > @ E < ST� ST U

6 � V0 W L X YL S � 4Z [� #$\� \ L 0 ;] %

4 ^ !" 9: _P PQR ` ab c d L e

� ���������

���

(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

,*++

,*+*

-*

+

,**/

/

Page 10: ˘ ˇˆ ˙ ˝ ˛˚˘ ˜ ! ˝"#$ %&’( ) *+ , + -. /0123 4˜56789 :4 ; - ? @ ab cde fghi j a hi kl ml n oep q rs r4 t 4 4 u o v 4w -xy z[ \x/0][ ^ ˙ q7 e _

� �

� ��

� � �

� � �

��

� � �� �

� � �

� �

�� � ��������������

���� � !" #$%"

&'�('�)*+,-. /012-.34 *56789:;<=>?@AB7'�('� *��"$34 6$CDECD�FGA� HI JK

LMNO PQRS 7TUV�

/012 WXY� Z2PQ[ �\]^_`ab=�cdPQRS e*\]Df JKghifjklmn/ o pqrOZ2stuvw3x;>y]\z{|�PQ }~���[���z�� � �� ���� \]� ��PQ��`��� ��� ����

�n�� ����

� � � �

��

(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

+33/

111 122

+3 ,+

,**--

,-+ ,.,,**/

+33/

-+3 ---+33/

,**3 +3/

,**3,2* ,2.

11+333

,***.. .1

0,+ 0.3,**3

,**/+* +1

+33/.33

/+2

3/,1. ,13

,***-

-*

+.-

-

-+

+21

-


Top Related