Three-Dimensional Analyses of Powder with PEPT for Evaluation of Motion Performance of Planetary Rover

• Project/Area Number: 24360352
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Aerospace engineering
• Research Institution: Okayama University of Science
• Principal Investigator: KUWAGI Kenya 岡山理科大学, 工学部, 教授 (80302917)
• Co-Investigator(Kenkyū-buntansha): KINUGASA Tetsuya 岡山理科大学, 工学部, 教授 (20321474)
• 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
• Project Period (FY): 2012-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥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)
• 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

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.

Research Products

• [Int'l Joint Research] Birmingham大学/Surrey大学(英国)
• [Journal Article] Three-dimensional dynamic imaging of sand particles under wheel via gamma-ray camera system (2015)
  • Author(s): Tetsuya Kinugasa, Kenya Kuwagi, Thomas W. Leadbeater, Joseph Gargiuli, David J. Parker, Jonathan P. K. Seville, Koji Yoshida, Hisanori Amano
  • Journal Title: Journal of Terramechanics Volume: 62 Pages: 5-17
  • DOI: 10.1016/j.jterra.2015.06.004
  • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
• [Presentation] 転動する車輪下における砂粒軌跡の再現性について (2016)
  • Author(s): 岡 雄大, 濱口 航貴, 衣笠 哲也, 桑木 賢也，吉田 浩治
  • Organizer: 日本機械学会中国四国支部第54期総会・講演会
  • Place of Presentation: 愛媛大学工学部, 松山
  • Year and Date: 2016-03-09
• [Presentation] VALIDATION OF 3-D VISUALIZATION TECHNIQUE FOR SAND PARTICLE MOVEMENT VIA POSITRON EMISSION PARTICLE TRACKING (2015)
  • Author(s): Tetsuya Kinugasaa, Kenya Kuwagia, Thomas W. Leadbeaterb, Joseph Gargiulib, David J. Parkerb, Jonathan P. K. Sevillec, Koji Yoshidaa, and Hisanori Amano
  • Organizer: 13TH EUROPEAN CONFERENCE of the of the International Society for Terrain Vehicle Systems
  • Place of Presentation: Rome, Italy
  • Year and Date: 2015-10-21
  • Int'l Joint Research
• [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
• [Presentation] 車輪にかかるせん断力を求めるための砂粒子の軌跡データの変換 (2015)
  • Author(s): 桑木賢也, 衣笠哲也, T. W. Leadbeater, J. Gargiuli, D. J. Parker, J. P. K. Seville
  • 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
• [Presentation] PEPT測定により得られた砂の粒子軌跡データからオイラー速度場への変換 (2014)
  • Author(s): 桑木 賢也，重政 秀道，藤岡 拓也，衣笠 哲也
  • Organizer: 第20回流動化・粒子プロセッシングシンポジウム
  • Place of Presentation: 岡山市，岡山理科大学
  • Year and Date: 2014-12-11 – 2014-12-12
• [Presentation] PEPTを用いた砂粒の３次元運動の可視化と解析(滑り率の変化と砂粒の移動量の関係) (2014)
  • Author(s): 衣笠哲也, 桑木賢也, 岡雄大, 柴圭一, Thomas W. Leadbeater, Joseph Gargiuli, David J. Parker, Jonathan P. K. Seville, 吉田浩治, 天野久徳
  • Organizer: 第20回流動化・粒子プロセッシングシンポジウム
  • Place of Presentation: 岡山市，岡山理科大学
  • Year and Date: 2014-12-11 – 2014-12-12
• [Presentation] PEPT測定により得られた砂の粒子軌跡からの車輪にかかるせん断力の推算 (2014)
  • Author(s): 桑木 賢也，衣笠 哲也，Leadbeater Thomas W.，Joseph Gargiuli，David J. Parker，Jonathan P. K. Seville
  • Organizer: 化学工学会第46回秋季大会
  • Place of Presentation: 福岡市，九州大学
  • Year and Date: 2014-09-17 – 2014-09-19
• [Presentation] Three-dimensional imaging for sand under wheels: application of PEPT to terramechanics (2013)
  • Author(s): T. Kinuagsa, K. Kuwagi, T. W. Leadbeater, J. Gargiuli, D. J. Parker, J. P. K. Seville, K. Yoshida, H. Amano
  • Organizer: The 7th Americas regional conf. of the ISTVS
  • Place of Presentation: Tampa, Florida, USA
• [Presentation] 車輪下における砂粒子の3次元軌跡について―PEPTを用いた3D動的位置計測－ (2013)
  • Author(s): 衣笠，桑木，Leadbeater, Gargiuli, Parker, Seville, 吉田，天野
  • Organizer: 第34回テラメカニックス研究会
  • Place of Presentation: 石垣市
• [Presentation] 車輪下の砂粒子挙動を3次元的に可視化する (2013)
  • Author(s): 衣笠，桑木，Leadbeater, Gargiuli, Parker, Seville, 吉田，天野
  • Organizer: 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SI2013
  • Place of Presentation: 神戸市
• [Presentation] PEPTを用いた車輪下の砂の運動の可視化 (2013)
  • Author(s): 桑木，衣笠，Leadbeater, Gargiuli, Parker, Seville,
  • Organizer: 混相流シンポジウム2013
  • Place of Presentation: 長野市
• [Book] 粉・粒体の構造制御、表面処理とプロセス設計 (2013)
  • Author(s): 桑木 他
  • Total Pages: 873
  • Publisher: 技術情報協会