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Field experiments of MOVE for the construction of robot system for volcano observation

Research Project

Project/Area Number 19310114
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Natural disaster science
Research InstitutionTohoku University

Principal Investigator

TANIGUCHI Hiromitsu  Tohoku University, 東北アジア研究センター, 名誉教授 (70125251)

Co-Investigator(Kenkyū-buntansha) GOTO Akio  東北大学, 東北アジア研究センター, 助教 (80312685)
UEKI Sadato  東北大学, 大学院・理学研究科, 准教授 (40004501)
NAGATANI Keisi  東北大学, 大学院・工学研究科, 准教授 (80314649)
KANEKO Katsuya  京都大学, 大学院・環境学研究科, 助教 (40335229)
西村 太志  東北大学, 理学研究科, 准教授 (40222187)
市原 美恵  東京大学, 地震研究所, 助教 (00376625)
Co-Investigator(Renkei-kenkyūsha) NISHIMURA Takeshi  東北大学, 大学院・理学研究科, 准教授 (40222187)
OSHIMA Hiromitsu  北海道大学, 大学院・理学研究科, 准教授 (10213703)
ICHIHARA Mie  東京大学, 地震研究所, 助教 (00376625)
SAIKI Kazuto  大阪大学, 理学系研究院, 准教授 (50292363)
Project Period (FY) 2007 – 2009
Project Status Completed (Fiscal Year 2009)
Budget Amount *help
¥19,760,000 (Direct Cost: ¥15,200,000、Indirect Cost: ¥4,560,000)
Fiscal Year 2009: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2008: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2007: ¥9,360,000 (Direct Cost: ¥7,200,000、Indirect Cost: ¥2,160,000)
Keywords火山 / 噴火 / ロボット / システム / 野外実験 / 火山探査 / 火山噴火 / 野外走行実験 / 観測実験 / 防災 / MOVE / 機動基地局 / 近傍観測
Research Abstract

We are aiming at the development of the robotic system that can observe the volcano by wireless control in a near future. For that purpose, we developed MOVE (Mobile Observatory for Volcanic Explosions) based on Grant-in-Aid for Scientific Research on Priority Areas "Volcanic Explosion" that had ended in 2002 fiscal year. This MOVE is improved in the present study for the achievement of the robotic system. In addition, we tried to clarify various problems for development and the solutions based on the field experiment of MOVE.
The vegetation and geographical barriers became the troubles when MOVE was used on an actual volcano, and the problem occurred in the wireless control. To avoid this, the base station vehicle was produced in the present study. The wireless machine and the extensible antenna, etc. were installed in the base station car.
Next, we selected the volcanoes they were able to be applied actually. The selection was judged based on the possibility of volcanic eruption and th … More e absence of trouble in wireless control. The trouble to the wireless was judged by the examination using the geographical software (KASHMIR) and the site investigation. As a result, two volcanoes (the Aso volcano and the Oshima volcano) were selected for the field experiment.
Running and observation experiments in the field were performed twice (March and October, 2009) at these two volcanoes. In these experiments, the wireless control became possible by moving the base station at the points where the wireless control was impossible in the experiment before. As a result, the transport of MOVE from a point parting at about 2km to the summit crater succeeded by the wireless control at the Aso volcano and the Miharayama volcano.
Moreover, at the Miharayama experiment, we exchanged the information with the robot researcher in a different field like the engineering system etc. and obtained useful information for the robotic system construction in the future. However, to use the robotic system for the progress in science and disaster prevention, it was clarified that a lot of problems were left such as an increase in the capital, the number of researchers and the construction of operation organization. Less

Report

(4 results)
  • 2009 Annual Research Report   Final Research Report ( PDF )
  • 2008 Annual Research Report
  • 2007 Annual Research Report
  • Research Products

    (21 results)

All 2010 2009 2008 2007

All Journal Article (11 results) (of which Peer Reviewed: 9 results) Presentation (8 results) Book (2 results)

  • [Journal Article] 火山観測用自走式センサー「ほむら」の開発2010

    • Author(s)
      金子克哉・伊藤公一・安部祐一
    • Journal Title

      火山 (印刷中)

    • NAID

      110007658276

    • Related Report
      2009 Annual Research Report 2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] 火山探査移動観測ステーションMOVEの開発2009

    • Author(s)
      谷口宏充・後藤章夫・市原美恵
    • Journal Title

      ロボット 187

      Pages: 10-16

    • Related Report
      2009 Annual Research Report 2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Basic Running Test of the Cylindrical Tracked Vehicle with Sideways Mobility2009

    • Author(s)
      K. Tadakuma, R. Tadakuma, K. Nagatani, other 4 authors
    • Journal Title

      2009 IEEE/RSJ International Conference on Intelligent Robots and Systems 10

      Pages: 1679-1684

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Slope traversal controls for planetary exploration rover on sandy terrain2009

    • Author(s)
      G. Ishigami, K. Nagatani, K. Yoshida
    • Journal Title

      Journal of Field Robotics 26, 3

      Pages: 264-286

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Basic running test of the cylindrical tracked vehicle with side ways mobility2009

    • Author(s)
      K.Tadakuma, R.Tadakuma, K.Nagatani, other 4 authors
    • Journal Title

      IEEE/RSJ Interactional Conference on Intelligent Robots and System 10

      Pages: 1679-1684

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Accurate Estimation of Drawbar Pull of Wheeled Mobile Robots Traversing Sandy Terrain Using Built-in Force Sensor Array Wheel2009

    • Author(s)
      K.Nagatani, A.Ikeda, K.Sato, K.Yoshida
    • Journal Title

      2009 IEEE/RSJ International Conference on Intelligent Robots and Systems 10

      Pages: 2373-2378

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Slip Ratio for Lugged Wheel of Planetary Rover in Deformable Soil : Definition and Estimation2009

    • Author(s)
      L.Ding, H.Gao, K.Yoshida, K.Nagatani
    • Journal Title

      2009 IEEE/RSJ International Conference on Intelligent Robots and Systems 10

      Pages: 3343-3348

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article]2009

    • Author(s)
      井田喜明・谷口宏充 編
    • Journal Title

      火山爆発に迫る-噴火メカニズムの解明と火山災害の軽減-(東京大学出版会)

      Pages: 1-256

    • Related Report
      2009 Annual Research Report
  • [Journal Article] 火山探査移動観測ステーションMOVEの開発2009

    • Author(s)
      谷口宏充
    • Journal Title

      ロボット 187

      Pages: 10-16

    • Related Report
      2008 Annual Research Report
  • [Journal Article] Continuous Acquisition of Three Dimensional Environment Information for Tracked Vehicles on Uneven Terrain2008

    • Author(s)
      K. NAGATANI, N. TOKUNAGA, Y. OKADA, K. YOSHIDA
    • Journal Title

      Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics 10

      Pages: 25-30

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Development of transformable mobile robot with mechanism of variable wheel diameter2007

    • Author(s)
      Keiji Nagatani, Mitsuhiro Kuze, Kazuya Yoshida
    • Journal Title

      Journal of Robotics and Mechatronics 8

      Pages: 252-257

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Presentation] 火山探査を目的としたクローラ型移動ロボット Kenaf による桜島での遠隔操作実験2009

    • Author(s)
      永谷圭司
    • Organizer
      第10回 計測自動制御学会 システムインテグレーション部門 講演会
    • Place of Presentation
      熊本
    • Year and Date
      2009-12-26
    • Related Report
      2009 Final Research Report
  • [Presentation] 火山探査を目的としたクローラ型移動ロボットKenafによる桜島での遠隔操作実験2009

    • Author(s)
      永谷圭司
    • Organizer
      計測自動制御学会
    • Place of Presentation
      東京・芝浦工業大学
    • Year and Date
      2009-12-26
    • Related Report
      2009 Annual Research Report
  • [Presentation] 三次元距離センサを搭載するクローラ型移動ロボットを用いた東北大学永谷研のつくばチャレンジへの取り組み2009

    • Author(s)
      永谷圭司
    • Organizer
      計測自動制御学会
    • Place of Presentation
      東京・芝浦工業大学
    • Year and Date
      2009-12-24
    • Related Report
      2009 Annual Research Report
  • [Presentation] 火山観測用自走式センサー「ほむら」の開発2009

    • Author(s)
      金子克哉
    • Organizer
      日本火山学会秋季大会
    • Place of Presentation
      神奈川県立生命の星・地球博物館, 神奈川
    • Year and Date
      2009-10-09
    • Related Report
      2009 Final Research Report
  • [Presentation] 無人観測機SKY-1の火山フィールドでの空中観測実験2009

    • Author(s)
      佐伯和人
    • Organizer
      日本火山学会度秋季大会
    • Place of Presentation
      神奈川県立生命の星・地球博物館, 神奈川
    • Year and Date
      2009-10-09
    • Related Report
      2009 Final Research Report
  • [Presentation] 火山観測用自走式センサーの開発2009

    • Author(s)
      金子克哉
    • Organizer
      地球惑星科学合同大会
    • Place of Presentation
      千葉
    • Year and Date
      2009-05-18
    • Related Report
      2009 Final Research Report
  • [Presentation] 火山観測用自走式センサーの開発2009

    • Author(s)
      金子克哉
    • Organizer
      地球惑星科学合同大会
    • Place of Presentation
      千葉市・幕張メッセ
    • Year and Date
      2009-05-18
    • Related Report
      2009 Annual Research Report
  • [Presentation] Development and A Maneuver of "Mobile Observatory for Volcanic Explosion (MOVE)"2007

    • Author(s)
      Hiromitsu Taniguchi, ほか7名
    • Organizer
      Cities on Volcanoes 5
    • Place of Presentation
      島原市 雲仙岳災害記念館・島原復興アリーナ
    • Related Report
      2007 Annual Research Report
  • [Book] 火山爆発に迫る-噴火メカニズムの解明と火山災害の軽減-2009

    • Author(s)
      井田喜明・谷口宏充, 編
    • Publisher
      東京大学出版会
    • Related Report
      2009 Final Research Report
  • [Book] 火山爆発に迫る-噴火メカニズムの解明と火山災害の軽減-2009

    • Author(s)
      谷口宏充
    • Publisher
      東京大学出版会
    • Related Report
      2008 Annual Research Report

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Published: 2007-04-01   Modified: 2016-04-21  

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