Three-Dimensional Analyses of Powder with PEPT for Evaluation of Motion Performance of Planetary Rover
| Project/Area Number |
24360352
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Partial Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Aerospace engineering
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| Research Institution | Okayama University of Science |
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Principal Investigator |
KUWAGI Kenya 岡山理科大学, 工学部, 教授 (80302917)
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| Co-Investigator(Kenkyū-buntansha) |
KINUGASA Tetsuya 岡山理科大学, 工学部, 教授 (20321474)
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| Research Collaborator |
PARKER David J. Birmingham大学
LEADBEATER Thomas W. Birmingham大学
GARGIULI Joseph Birmingham大学
SEVILLE Jonathan P. K. Surrey大学
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| Project Period (FY) |
2012-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥18,720,000 (Direct Cost: ¥14,400,000、Indirect Cost: ¥4,320,000)
Fiscal Year 2015: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2014: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2013: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2012: ¥10,270,000 (Direct Cost: ¥7,900,000、Indirect Cost: ¥2,370,000)
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| Keywords | 宇宙利用・探査 / 紛体工学 / 混相流 / ロボティクス / 可視化 / テラメカニクス / 粉体工学 / 惑星探査 / 紛体 / ロボット |
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| Outline of Final Research Achievements |
Planetary rovers may have to move on soft terrain. The movement of sand or soil particles under the wheels or tracks greatly affects the robot’s ability to maneuver. There is a simple but difficult problem with measuring particle movement. Only 2D visualization techniques that take a surface picture of the ground or use transparent boards are available. A nuclear 3D imaging technique called positron emission particle tracking (PEPT) was adopted in this study. PEPT detects pairs of gamma rays emitted by a positron-emitting radionuclide of a tracer particle. We proposed a 3D dynamic imaging technique for describing the movement of sand under a rotating wheel using PEPT, and we examined the trajectory of sand particles for slippage ratios from -25% to 50%. The obtained results are novel and significant because there was previously no method available to observe the 3D trajectory of a sand particle under a wheel.
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Report
(5 results)
Research Products
(14 results)
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[Presentation] 滑り角を持つ車輪下における砂粒の３次元軌跡の可視化2015
Author(s)
衣笠哲也, 桑木賢也, T. W. Leadbeater, J. Gargiuli, D. J. Parker, J. P. K. Seville, 吉田浩治, 天野久徳
Organizer
第33回日本ロボット学会学術講演会
Place of Presentation
東京電機大学東京千住キャンパス
Year and Date
2015-09-03
Related Report
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