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Kazuya Yoshida

Section

Graduate School of Engineering

Job title

Professor

Degree

工学博士（東京工業大学）
工学修士（東京工業大学）

researchmap

https://researchmap.jp/read0008260

J-GLOBAL ID

200901030852332195

Research History 6

2003/03 - Present

Graduate School of Engineering, Tohoku University　Professor
1998/08 - Present

International Space University　Visiting Faculty
1997/04 - 2003/02

Graduate School of Engineering, Tohoku University　Accociate Professor
1995/01 - 1997/03

Faculty of Engineering, Tohoku University　Associate Professor
1994/03 - 1995/03

Massachusetts Institute of Technology　Visiting Scientist
1986/04 - 1994/12

Faculty of Engineering, Tokyo Institute of Technology　Research Associate

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Education 2

Tokyo Institute of Technology　Graduate School, Division of Science and Engineering　機械物理工学専攻

- 1986/03/26
Tokyo Institute of Technology　Faculty of Engineering　機械物理工学科

- 1984/03/31

Committee Memberships 14

Journal of Field Robotics　Editorial Board Member

2006/01 - Present
日本航空宇宙学会北部支部　支部長

2013/03 - 2014/03
日本ロボット学会　庶務担当理事

2010/04 - 2012/03
計測自動制御学会　評議員

2008/04 - 2010/03
日本機械学会・東北支部　商議員

2008/04 - 2010/03
計測自動制御学会　評議員

2008/04 - 2010/03
日本機械学会・東北支部　商議員

2008/04 - 2010/03
Institute for Electric and Electronics Engineers　Transaction of Robotics and Automation: Associate Editor

2003/04 - 2005/11
日本機械学会　論文校閲委員

2000/04 - 2002/03
日本ロボット学会　評議員

1998/04 - 2002/03
計測自動制御学会　論文集委員会委員

1997/04 - 1999/03
日本機械学会　論文校閲委員

1996/04 - 1998/03
日本ロボット学会　評議員

1992/04 - 1996/03
日本ロボット学会　会誌編集委員

1992/01 - 1993/12

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Professional Memberships 5

計測自動制御学会
日本航空宇宙学会
日本機械学会
日本ロボット学会
Institute for Electric and Electronics Engineers

Research Interests 4

Control
Dynamics
Planetary Exploration
Space Robotics

Research Areas 4

Informatics / Mechanics and mechatronics / Dynamics and Control of Robots
Aerospace, marine, and maritime Engineering / Aerospace engineering / Dynamics and Control of Space Systems
Informatics / Mechanics and mechatronics / Space Robotics
Informatics / Robotics and intelligent systems / Space Robotics

Awards 23

平成26年度科学技術分野の文部科学大臣表彰・科学技術賞(研究部門)

2014/04　文部科学省　宇宙ロボットの技術開発と極限探査への応用に関する研究
「はやぶさ」功労者感謝状

2010/12/02　宇宙開発戦略本部事務局および文部科学省研究開発局
IROS RoboCup Best Paper Award

2009/10　IROS　Semi-autonomous Operation of Tracked Vehicles on Rough Terrain using Autonomous Control of Active Flippers
工学教育賞文部科学大臣賞

2009/08/07　日本工学教育協会
日本機械学会ロボティクス・メカトロニクス部門学術業績賞

2009/05/25　日本機械学会ロボティクス・メカトロニクス部門
ROBOMEC表彰

2009/05　日本機械学会　横方向移動を可能にする円形断面クローラ，基本概念の提案と第一次試作機の設計・開発
JSME Fellow

2009/03/24　日本機械学会
2008 Award for Excellence in Physical Science & Methematics

2009/02/05　Association of American Publishers, Inc.　Springer Handbook of Robotics
Best Paper Award

2008/08/08　2008 IEEE International Conference on Mechatronics and Automation　Mechanical Design of Cylindrical Track for Sideways Motion
2008 IEEE International Conference on Mechatronics and Automation， Best Paper Award

2008/08　2008 IEEE International Conference on Mechatronics and Automation　Mechanical Design of Cylindrical Track for Sideways Motion
Best Paper Award

2008/07/12　第14回日本IFToMM会議シンポジウム　円形断面により横方向移動を実現するクローラユニットの開発～球状全方向車輪"Omni-Ball"の発展型機構として～
The 12th RoboCup World Championship

2008/07/01　The RoboCup Federation　Third place in the Best-In-Class Autonomy, Competition of the Rescue Robot League
The 11th RoboCup World Championship

2007/07/01　The RoboCup Federation　First place in the Best-In-Class Mobility, Competition of the Rescue Robot League
SI2006ベストセッション講演賞

2006/12/16　計測自動制御学会　火山探査移動観測ステーションMOVEの遠隔操作性能の向上に向けて
SI2005ベストセッション講演賞

2005/12/18　計測自動制御学会　遠隔ロボットを用いた災害時マルチメディア情報収集技術の研究
日本航空宇宙学会論文賞

2004/04/06　日本航空宇宙学会　ETS-VII を用いた宇宙ロボット制御実験
IEEE ICRA 2001 Award for Best Conference Paper

2001/05/24　IEEE Robotics and Automation Society　Paper title "Zero Reaction Maneuver: Flight Validation with ETS-VII Space Robot and Extension to Kinematically Redundant Arm" presented at 2001 IEEE International Conference on Robotics and Automation
トーキン科学技術振興財団研究奨励賞

1997/03/13　トーキン科学技術振興財団　研究奨励金
平成５年日本ロボット学会論文賞

1993/11/12　日本ロボット学会　「宇宙ロボットの多腕協調制御」
第１回佐藤記念知能ロボット研究奨励賞

1991/07/26　佐藤記念財団　宇宙ロボットの研究
平成３年計測自動制御学会論文賞

1991/07/18　計測自動制御学会　「宇宙用マニピュレータの作業領域および可操作性解析」
平成２年度手島記念研究賞・中村研究賞

1991/03/20　東京工業大学・手島記念財団　宇宙ロボットの研究
平成２年日本ロボット学会研究奨励賞

1990/04/16　日本ロボット学会

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Papers 533

Tightly-coupled LiDAR-IMU-wheel odometry with an online neural kinematic model learning via factor graph optimization

Taku Okawara, Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno, Kentaro Uno, Kazuya Yoshida

Robotics and Autonomous Systems　187　104929-104929　2025/05
Publisher: Elsevier BV
DOI： 10.1016/j.robot.2025.104929 　

ISSN： 0921-8890
Traction Performance Evaluation for a Rashid-1 Rover Wheel

James Hurrell, Keisuke Takehana, Tomomi Tanaka, Kentaro Uno, Amna Khalifa Busoud, Kazuya Yoshida

Space Science Reviews　221　(3)　2025/04/08
Publisher: Springer Science and Business Media LLC
DOI： 10.1007/s11214-025-01164-8 　

ISSN： 0038-6308

eISSN： 1572-9672

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Abstract Single-wheel experiments and discrete element method simulations of a micro-rover wheel modelled on the Rashid-1 rover designed for the Emirates lunar mission. The interaction of the wheel with Toyoura sand and FJS-1 lunar regolith simulant is studied. Slip conditions, traction coefficient and grouser pitch for single-wheel experiments are measured for a range of fixed slip values at the expected rover load of 24.5 N. The angle of repose is used to calibrate the simulation parameters with measured soil parameters. Single-wheel simulations are verified by comparison to experimental results. Lunar simulations can predict lunar gravity performance. Toyoura and FJS-1 results for traction coefficient and dynamic sinkage at 24.5 N in the 0–50% slip range show good agreement between experiment and simulation. 4.1 N lunar gravity matches the 24.5 N Earth gravity results for traction coefficient and tractive efficiency. There is a 1–2 mm difference in total sinkage. Tractive force and resistive torque reduce by 1/6 from Earth to lunar gravity for the same mass. The grouser pitch is unchanged with gravity variation. The angle of repose can independently determine parameters for use in single-wheel simulations. Experimental results validate the models for Toyoura sand and FJS-1. Wheel performance regarding traction coefficient and tractive efficiency under lunar gravity matches that under Earth gravity. Traction performance in tractive force and resistive torque is reduced by the ratio of Earth to lunar gravity, 1/6, for the same mass.
Comparison of lunar rover wheel performance in soils with different cohesive properties

Keisuke Takehana, Shino Kizaki, Tomomi Tanaka, Kentaro Uno, Kazuya Yoshida

Journal of Terramechanics　117　101011-101011　2025/02
Publisher: Elsevier BV
DOI： 10.1016/j.jterra.2024.101011 　

ISSN： 0022-4898
Rutting Caused by Grouser Wheel of Planetary Rover in Single-Wheel Testbed: LiDAR Topographic Scanning and Analysis

Keisuke Takehana, Vinicius Emanoel Ares, Shreya Santra, Kentaro Uno, Eric Rohmer, Kazuya Yoshida

Aerospace　12　(1)　71-71　2025/01/20
Publisher: MDPI AG
DOI： 10.3390/aerospace12010071 　

eISSN： 2226-4310

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This paper presents datasets and analyses of 3D LiDAR scans capturing the rutting behavior of a rover wheel in a single-wheel terramechanics testbed. The data were acquired using a LiDAR sensor to record the terrain deformation caused by the wheel’s passage through a Toyoura sandbed, which mimics lunar regolith. Vertical loads of 25 N, 40 N, and 65 N were applied to study how rutting patterns change, focusing on rut amplitude, height, and inclination. This study emphasizes the extraction and processing of terrain profiles from noisy point cloud data, using methods like curve fitting and moving averages to capture the ruts’ geometric characteristics. A sine wave model, adjusted for translation, scaling, and inclination, was fitted to describe the wheel-induced wave-like patterns. It was found that the mean height of the terrain increases after the grouser wheel passes over it, forming ruts that slope downward, likely due to the transition from static to dynamic sinkage. Both the rut depth at the end of the wheel’s path and the incline increased with larger loads. These findings contribute to understanding wheel–terrain interactions and provide a reference for validating and calibrating models and simulations. The dataset from this study is made available to the scientific community.
Evaluation Of The Multi-Pass Effect Of An Exploration Rover By Single Wheel Testing Assuming Lunar Gravity And Soil

Tomomi Tanaka, Keisuke Takehana, James Hurrell, Kentaro Uno, Kazuya Yoshida

Proceedings of the 21st International and 12th Asia-Pacific Regional Conference of the ISTVS　2024
Publisher: International Society for Terrain-Vehicle Systems
DOI： 10.56884/u5vdlhln 　
Safe Attitude and Orbit Control for ISS-Deployed CubeSat HOKUSHIN-1 with Cold-Gas Propulsion System

Saki Komachi, Shinya Fujita, Kohei Takeda, Hayate Nakaoka, Toshinori Kuwahara, Kazuya Yoshida, Junichiro Kawaguchi

2024 IEEE/SICE International Symposium on System Integration, SII 2024　1445-1451　2024

DOI： 10.1109/SII58957.2024.10417713 　
Lunar rover discrete element method study and calibration

James Hurrell, Keisuke Takehana, Kentaro Uno, Kazuya Yoshida

Proceedings of the 16th European-African Regional Conference of the ISTVS　2023
Publisher: International Society for Terrain-Vehicle Systems
DOI： 10.56884/xuac7188 　
Evaluation and comparison of driving performance of a lunar exploration rover wheel in different soils

Keisuke Takehana, Shino Kizaki, Kentaro Uno, Tomomi Tanaka, Gentaro Suda, Kazuya Yoshida

Proceedings of the 16th European-African Regional Conference of the ISTVS　2023
Publisher: International Society for Terrain-Vehicle Systems
DOI： 10.56884/jsfs4189 　
RAMP: Reaction-Aware Motion Planning of Multi-Legged Robots for Locomotion in Microgravity

Warley F. R. Ribeiro, Kentaro Uno, Masazumi Imai, Koki Murase, Kazuya Yoshida

2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2023)　11845-11851　2023

DOI： 10.1109/ICRA48891.2023.10161185 　

ISSN： 1050-4729

eISSN： 2577-087X
Asynchronous One-Way Range Measurement Applied to Microspace Probes

Junichiro Kawaguchi, Yuichiro Nada, Yuka Ishigooka, Toshinori Kuwahara, Kazuya Yoshida

Journal of Spacecraft and Rockets　59　(5)　1602-1612　2022/09

DOI： 10.2514/1.A35241 　

ISSN： 0022-4650

eISSN： 1533-6794
Low-Reaction Trajectory Generation for a Legged Robot in Microgravity

Warley F. R. Ribeiro, Kentaro Uno, Kazuya Yoshida

2022 IEEE/SICE International Symposium on System Integration (SII)　2022/01/09
Publisher: IEEE
DOI： 10.1109/sii52469.2022.9708772 　
Rebound stabilization for an asteroid lander by flexible plate design

Kazuya Yoshida

Aerospace Science and Technology　2022

DOI： 10.1016/J.AST.2022.107969 　
Motion Estimation of Orbital Objects Using SfM Method

OKABAYASHI Hiroki, UNO Kentaro, KUWAHARA Toshinori, YOSHIDA Kazuya

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　1A1-K02　2022
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2022.1a1-k02 　

eISSN： 2424-3124

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Currently, there are an increasing number of space debris in the Earth’s orbit, such as parts from satellites and rockets that are no longer in operation but hold crucial risks of collision with other operational spacecraft. In order to safely approach and capture space debris with an unmanned orbital space robot, it is essential to understand its motion state before the active removal operation. In this paper, we experimentally verify the motion estimation method that uses the Structure from Motion (SfM) algorithm, which is a technique to reconstruct the three-dimensional shape of a target object and the pose of a camera by inputting a group of images with different viewpoints.
On The Low-Cost Asynchronous One-Way Range Measurement Method and the Device for Micro to Nano Deep Space Probes

Junichiro Kawaguchi, Masahiro Fujita, Shinya Fujita, Yuji Sakamoto, Toshinori Kuwahara, Kazuya Yoshida

Proceedings of the International Astronautical Congress, IAC　2022-September　2022

ISSN： 0074-1795
Simulation-Based Climbing Capability Analysis for Quadrupedal Robots

Kentaro Uno, Giorgio Valsecchi, Marco Hutter, Kazuya Yoshida

Lecture Notes in Networks and Systems　324 LNNS　179-191　2022

DOI： 10.1007/978-3-030-86294-7_16 　

ISSN： 2367-3370

eISSN： 2367-3389
ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics

Kentaro Uno, Warley F.R. Ribeiro, Yusuke Koizumi, Keigo Haji, Koki Kurihara, William Jones, Kazuya Yoshida

Lecture Notes in Networks and Systems　324 LNNS　229-241　2022

DOI： 10.1007/978-3-030-86294-7_20 　

ISSN： 2367-3370

eISSN： 2367-3389
Terrain-Dependent Slip Risk Prediction for Planetary Exploration Rovers

Masafumi Endo, Shogo Endo, Kenji Nagaoka, Kazuya Yoshida

Robotica　39　(10)　1883-1896　2021/10/23
Publisher: Cambridge University Press
DOI： 10.1017/S0263574721000035 　

ISSN： 1469-8668 0263-5747
HubRobo: A Lightweight Multi-Limbed Climbing Robot for Exploration in Challenging Terrain

Kentaro Uno, Naomasa Takada, Taku Okawara, Keigo Haji, Arthur Candalot, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)　2021/07/19
Publisher: IEEE
DOI： 10.1109/humanoids47582.2021.9555799 　
Correction to: Orbit insertion strategy of Hayabusa2’s rover with large release uncertainty around the asteroid Ryugu (Astrodynamics, (2020), 4, 4, (309-329), 10.1007/s42064-020-0080-y)

Yusuke Oki, Kent Yoshikawa, Hiroshi Takeuchi, Shota Kikuchi, Hitosi Ikeda, Daniel J. Scheeres, Jay W. McMahon, Junichiro Kawaguchi, Yuto Takei, Yuya Mimasu, Naoko Ogawa, Go Ono, Fuyuto Terui, Manabu Yamada, Toru Kouyama, Shingo Kameda, Kazuya Yoshida, Kenji Nagaoka, Tetsuo Yoshimitsu, Takanao Saiki, Yuichi Tsuda

Astrodynamics　5　(2)　183　2021/06

DOI： 10.1007/s42064-021-0100-6 　

eISSN： 2522-0098
Analysis of soil flow and traction mechanics for lunar rovers over different types of soils using particle image velocimetry

Shoko Ono, Shohei Namikawa, Kazuya Yoshida

Journal of Terramechanics　95　89-100　2021/06

DOI： 10.1016/j.jterra.2021.01.001 　

ISSN： 0022-4898
In-Flight Target Pointing Calibration of the Diwata-2 Earth Observation Microsatellite

Edgar Paolo Violan, Shinya Fujita, Yuji Sato, Yuji Sakamoto, Julie Ann Banatao, Toshinori Kuwahara, Kazuya Yoshida

IEEE Aerospace Conference Proceedings　2021-March　2021/03/06

DOI： 10.1109/AERO50100.2021.9438197 　

ISSN： 1095-323X
A Monocular Pose Estimation Case Study: The Hayabusa2 Minerva-II2 Deployment

Kazuya Yoshida

PROCEEDINGS IEEE/CVF CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION WORKSHOPS (CVPRW)　2021

DOI： 10.1109/CVPRW53098.2021.00227 　
Should spring water cysts of the mediastinum require excisional resection? A case report

Kazuya Yoshida

International Journal of Surgery Case Reports　2021

DOI： 10.1016/J.IJSCR.2021.106293 　
SegVisRL: development of a robot's neural visuomotor and planning system for lunar exploration

Tamir Blum, Gabin Paillet, Watcharawut Masawat, Kazuya Yoshida

Advanced Robotics　35　(21-22)　1359-1373　2021
Publisher: Robotics Society of Japan
DOI： 10.1080/01691864.2021.1977696 　

ISSN： 1568-5535 0169-1864
Analysis of Motion Control for a Quadruped Ground-Gripping Robot for Minor Body Exploration on Uneven Terrain

Warley F. R. RIBEIRO, Kentaro UNO, Kenji NAGAOKA, Kazuya YOSHIDA

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN　19　(5)　794-801　2021
Publisher: Japan Society for Aeronautical and Space Sciences
DOI： 10.2322/tastj.19.794 　

eISSN： 1884-0485
Bimodal mobility actuated by inertial forces with surface elastic bodies in microgravity

Kenji Nagaoka, Toshiyasu Kaneko, Kazuya Yoshida

Robotica　2021

DOI： 10.1017/S0263574721000539 　

ISSN： 0263-5747

eISSN： 1469-8668
Multi-rover Exploration Strategies: Coverage Path Planning with Myopic Sensing

Mickael Laine, Kazuya Yoshida

Springer Proceedings in Advanced Robotics　16　205-218　2021

DOI： 10.1007/978-981-15-9460-1_15 　

ISSN： 2511-1256

eISSN： 2511-1264
Preface

Genya Ishigami, Kazuya Yoshida

Springer Proceedings in Advanced Robotics　16　vii-viii　2021

ISSN： 2511-1256

eISSN： 2511-1264
Orbit insertion strategy of Hayabusa2’s rover with large release uncertainty around the asteroid Ryugu

Yusuke Oki, Kent Yoshikawa, Hiroshi Takeuchi, Shota Kikuchi, Hitosi Ikeda, Daniel J. Scheeres, Jay W. McMahon, Junichiro Kawaguchi, Yuto Takei, Yuya Mimasu, Naoko Ogawa, Go Ono, Fuyuto Terui, Manabu Yamada, Toru Kouyama, Shingo Kameda, Kazuya Yoshida, Kenji Nagaoka, Tetsuo Yoshimitsu, Takanao Saiki, Yuichi Tsuda

Astrodynamics　4　(4)　309-329　2020/12

DOI： 10.1007/s42064-020-0080-y 　

eISSN： 2522-0098
Special issue on field and service robotics 2019

Genya Ishigami, Kazuya Yoshida

Journal of Field Robotics　37　(8)　1299　2020/12

DOI： 10.1002/rob.21996 　

ISSN： 1556-4959

eISSN： 1556-4967
Tumbling and hopping locomotion control for a minor body exploration robot

Keita Kobashi, Ayumu Bando, Kenji Nagaoka, Kazuya Yoshida

IEEE International Conference on Intelligent Robots and Systems　1871-1878　2020/10/24

DOI： 10.1109/IROS45743.2020.9341223 　

ISSN： 2153-0858

eISSN： 2153-0866
Soil flow analysis for grouser wheels based on a particle image velocimetry method

Hirotoshi Nakamura, Kenji Nagaoka, Kazuya Yoshida

Journal of Terramechanics　91　233-241　2020/10

DOI： 10.1016/j.jterra.2020.07.001 　

ISSN： 0022-4898
Shape effects of wheel grousers on traction performance on sandy terrain

Kenji Nagaoka, Kazumasa Sawada, Kazuya Yoshida

Journal of Terramechanics　90　23-30　2020/08

DOI： 10.1016/j.jterra.2019.08.001 　

ISSN： 0022-4898
Analysis of Soil Deformation and Wheel Traction on Loose Terrain Using PIV

Shoko Ono, Shohei Namikawa, Kazuya Yoshida

IEEE Aerospace Conference Proceedings　2020/03

DOI： 10.1109/AERO47225.2020.9172541 　

ISSN： 1095-323X
Commercial Uncooled Microbolometer Camera Applied to 50-kg Class Satellite

Tetsuya Fukuhara, Yuji Sakamoto, Toshinori Kuwahara, Nobuo Sugimura, Kazuya Yoshida, Yukihiro Takahashi

IEEE Geoscience and Remote Sensing Letters　17　(2)　332-336　2020/02

DOI： 10.1109/LGRS.2019.2918197 　

ISSN： 1545-598X

eISSN： 1558-0571
PPMC Training Algorithm: A Deep Learning Based Path Planner and Motion Controller

Tamir Blum, William Jones, Kazuya Yoshida

2020 International Conference on Artificial Intelligence in Information and Communication, ICAIIC 2020　193-198　2020/02

DOI： 10.1109/ICAIIC48513.2020.9065237 　
Gripping Target Detection in Terrain Based on Geometrical Configuration of a Gripper for Free-Climbing Robots

Keigo HAJI, Kentaro UNO, Kenji NAGAOKA, Kazuya YOSHIDA

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2020　2P1-B06　2020
Publisher: Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2020.2p1-b06 　

eISSN： 2424-3124
Adaptive Slope Locomotion with Deep Reinforcement Learning

William Jones, Tamir Blum, Kazuya Yoshida

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020　546-550　2020/01

DOI： 10.1109/SII46433.2020.9025928 　
Dynamic equilibrium of climbing robots based on stability polyhedron for gravito-inertial acceleration

Warley F.R. Ribeiro, Kentaro Uno, Kazuya Yoshida, Kenji Nagaoka

Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020　297-304　2020

DOI： 10.13180/clawar.2020.24-26.08.18 　
Convolutional neural network for automated image processing of earth observation microsatellite images

Julie Ann Banatao, Julius Anthony Banatao, Yuji Sakamoto, Kazuya Yoshida

Proceedings of the International Astronautical Congress, IAC　2020-October　2020

ISSN： 0074-1795
High-speed mobility on planetary surfaces: A technical review

David Rodríguez-Martínez, Michel Van Winnendael, Kazuya Yoshida

Journal of Field Robotics　36　(8)　1436-1455　2019/12/01

DOI： 10.1002/rob.21912 　

ISSN： 1556-4959

eISSN： 1556-4967
Stress distributions of a grouser wheel on loose soil

Shoya Higa, Kenji Nagaoka, Kazuya Yoshida

Journal of Terramechanics　85　15-26　2019/10

DOI： 10.1016/j.jterra.2019.07.001 　

ISSN： 0022-4898
Gait Planning for a Free-Climbing Robot Based on Tumble Stability

Kentaro Uno, Warley F.R. Ribeiro, William Jones, Yuki Shirai, Hayato Minote, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019　289-294　2019/04

DOI： 10.1109/SII.2019.8700455 　
Attitude Maneuvering Sequence Design of High-Precision Ground Target Tracking Control for Multispectral Earth Observations Peer-reviewed

Shinya Fujita, Yuji Sato, Toshinori Kuwahara, Yuji Sakamoto, Kazuya Yoshida

2019 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　153-158　2019/04

DOI： 10.1109/SII.2019.8700434 　

ISSN： 2474-2317
Towards generating simulated walking motion using position based deep reinforcement learning

Jones, W., Gangapurwala, S., Havoutis, I., Yoshida, K.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　11650 LNAI　2019
Publisher: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
DOI： 10.1007/978-3-030-25332-5_42 　
Development and Ground Evaluation of Ground-Target Tracking Control of Microsatellite RISESAT

Shinya FUJITA, Yuji SATO, Toshinori KUWAHARA, Yuji SAKAMOTO, Kazuya YOSHIDA

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN　17　(2)　120-126　2019
Publisher: Japan Society for Aeronautical and Space Sciences
DOI： 10.2322/tastj.17.120 　

eISSN： 1884-0485
Characteristics Evaluation and Performance Improvement Method of Balloon-Borne Telescope Pointing Control System

Toshihiko NAKANO, Makoto TAGUCHI, Yasuhiro SHOJI, Mao TAKAMURA, Daiki SUNAGUCHI, Masataka IMAI, Makoto WATANABE, Yukihiro TAKAHASHI, Yuji SAKAMOTO, Kazuya YOSHIDA

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN　17　(1)　51-56　2019
Publisher: Japan Society for Aeronautical and Space Sciences
DOI： 10.2322/tastj.17.51 　

eISSN： 1884-0485
Repeated impact-based capture of a spinning object by a dual-arm space robot Peer-reviewed

Nagaoka, K., Kameoka, R., Yoshida, K.

Frontiers Robotics AI　5　(OCT)　1-11　2018/10/18

DOI： 10.3389/frobt.2018.00115 　

ISSN： 2296-9144
Passive spine gripper for free-climbing robot in extreme terrain Peer-reviewed

Nagaoka, K., Minote, H., Maruya, K., Shirai, Y., Yoshida, K., Hakamada, T., Sawada, H., Kubota, T.

IEEE Robotics and Automation Letters　3　(3)　1765-1770　2018/01/17

DOI： 10.1109/LRA.2018.2794517 　

ISSN： 2377-3766
Qualification of a Time-of-Flight Camera as a Hazard Detection and Avoidance Sensor for a Moon Exploration Microrover

Kentaro UNO, Louis-Jerome BURTZ, Marc HULCELLE, Kazuya YOSHIDA

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN　16　(7)　619-627　2018
Publisher: Japan Society for Aeronautical and Space Sciences
DOI： 10.2322/tastj.16.619 　

eISSN： 1884-0485
Preliminary Radiation Test Result for Space-Ready Qualification of Lunar Micro Rover

Takuto OIKAWA, Toshiki TANAKA, Yuto SUEBE, Kentaro UNO, Hugo ZULIANI, Louis-Jerome BURTZ, Kazuya YOSHIDA

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN　16　(7)　613-618　2018
Publisher: Japan Society for Aeronautical and Space Sciences
DOI： 10.2322/tastj.16.613 　

eISSN： 1884-0485
HPT: A High Spatial Resolution Multispectral Sensor for Microsatellite Remote Sensing. Peer-reviewed

Junichi Kurihara, Yukihiro Takahashi, Yuji Sakamoto, Toshinori Kuwahara, Kazuya Yoshida

Sensors　18　(2)　619　2018

DOI： 10.3390/s18020619 　

eISSN： 1424-8220
Improvement and Verification of Satellite Dynamics Simulator Based on Flight Data Analysis Peer-reviewed

Yuji Sato, Shinya Fujita, Toshinori Kuwahara, Hiroto Katagiri, Yuji Sakamoto, Kazuya Yoshida

2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　686-691　2017/12

DOI： 10.1109/SII.2017.8279301 　

ISSN： 2474-2317
Special Issue on AI, Robotics, and Automation in Space

Takashi Kubota, Kazuya Yoshida, Shinichi Kimura, Takehisa Yairi

JOURNAL OF ROBOTICS AND MECHATRONICS　29　(5)　791-791　2017/10

DOI： 10.20965/jrm.2017.p0791 　

ISSN： 0915-3942

eISSN： 1883-8049
On-Ground Verification of Attitude Control System for 50-kg-class Microsatellite Using a Hardware-in-the-Loop-Simulator

Fujita Shinya, Yuji Sato, Toshinori Kuwahara, Yuji Sakamoto, Kazuya Yoshida

68th International Astronautical Congress　2017/09/25
Microsatellite bus system technologies of Tohoku University

Toshinori Kuwahara, Yuji Sakamoto, Shinya Fujita, Yuji Sato, Ryo Taba, Hiroto Katagiri, Masafumi Endo, Pasith Tangdhanakanond, Tomoyuki Honda, Kazuya Yoshida

1st IAA North East Asia Symposium on Small Satellites　2017/08/21
Sprites identification and their spatial distributions in JEM-GLIMS nadir observations Peer-reviewed

Mitsuteru Sato, Toru Adachi, Tomoo Ushio, Takeshi Morimoto, Masayuki Kikuchi, Hiroshi Kikuchi, Makoto Suzuki, Atsushi Yamazaki, Yukihiro Takahashi, Ryohei Ishida, Yuji Sakamoto, Kazuya Yoshida, Yasuhide Hobara

TERRESTRIAL ATMOSPHERIC AND OCEANIC SCIENCES　28　(4)　545-561　2017/08

DOI： 10.3319/TAO.2016.09.21.02 　

ISSN： 1017-0839

eISSN： 2311-7680
Safety assessment and verification results for micro and nano satellites with deployable mechanism

Yuji Sakamoto, Shinya Fujita, Toshinori Kuwahara, Kazuya Yoshida

1st IAA North East Asia Symposium on Small Satellites, Ulaanbaatar, Mongolia, Aug. 21 - 23, 2017.　2017/08
Development and Ground Evaluation of Fast Tracking Algorithm for Star Trackers

Yuji Sato, Toshinori Kuwahara, Shinya Fujita, Yuji Sakamoto, Kazuya Yoshida

31st International Symposium on Space Technology and Science　2017/06/05
Development and Flight Operations of Microsatellite Bus System for DIWATA-1

Yuji SAKAMOTO, Ariston GONZALEZ, John Leur LABRADOR, Gerwin Policarpio GUBA, Harold Bryan PALER, Toshinori KUWAHARA, Kazuya YOSHIDA, Tetsuo ISHIDA, Junichi KURIHARA, Yukihiro TAKAHASHI

31st International Symposium on Space Technology and Science, Matsuyama, Japan, June 3 - 9, 2017.　2017/06
Design and Implementation of an Attitude Determination Module with Real-Time Sensor Calibration for Small-Satellite Systems Including Performance Verification using DIWATA-1 Flight Data

Ariston GONZALEZ, Yuji SAKAMOTO, John Leur LABRADOR, Kazuya YOSHIDA, Toshinori KUWAHARA

31st International Symposium on Space Technology and Science, Matsuyama, Japan, June 3 - 9, 2017.　2017/06
Development of an Improved Micro-Satellite Environment Simulator for Attitude Determination and Control System Verification Through DIWATA-1 Flight Data Analysis

John Leur LABRADOR, Ariston GONZALEZ, Yuji SAKAMOTO, Toshinori KUWAHARA, Kazuya YOSHIDA

31st International Symposium on Space Technology and Science, Matsuyama, Japan, June 3 - 9, 2017.　2017/06
Development and Ground Evaluation of Optical Ground Station Tracking Control System of Microsatellite RISESAT

Shinya Fujita, Yuji Sato, Toshinori Kuwahara, Hiroto Katagiri, Yuji Sakamoto, Kazuya Yoshida, Hiroo Kunimori

2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　201-207　2017

ISSN： 2474-2317
Software Demodulation Technique for the Stora and Forward System of Vietnam’s first Micro-Satellite MicroDragon Peer-reviewed

Toshinori Kuwahara, James Harpur, Ngo Thanh Cong, Ta Phuong Linh, Tran Van Ninh, Nguyen Minh Thao, Yuji Sakamoto, Kasuya Yoshida, Kaname Kojima, Takahiro Shinke, Tomoya Mochizuki

31st International Symposium on Space Technology and Science, 3-9 June, 2017, Matsuyama, Japan.　2017
Static Closed Loop Simulation for Ground-Target Tracking Control of Microsatellite RISESAT Peer-reviewed

Shinya Fujita, Yuji Sato, Toshinori Kuwahara, Yuji Sakamoto, Kazuya Yoshida

31st International Symposium on Space Technology and Science, 3-9 June, 2017, Matsuyama, Japan.　2017
Reaction Force/Torque Sensing Wheel System for In-Situ Monitoring on Loose Soil Peer-reviewed

Shoya Higa, Kenji Nagaoka, Kazuya Yoshida

The 19th International & 14th European-African Regional Conference of the ISTVS, 2017. (accepted)　2017
A Four-Limbed Robot with Insect-Inspired Spine Grippers for Cliff Climbing on Extraterrestrial Bodies Peer-reviewed

Kenji Nagaoka, Hayato Minote, Yuki Shirai, Kazuya Yoshida, Takeshi Hakamada, Takahiro Sawada, Takashi Kubota

The 27th Workshop on JAXA Astrodynamics and Flight Mechanics, 2017.　2017
軟弱地盤における車輪走行性能を統合的に推定する知覚車輪システムの開発 Peer-reviewed

比嘉翔弥, 永岡健司, 吉田和哉

ロボティクス・メカトロニクス講演会2017, 2017.　2017
岩石把持グリッパを用いた4足歩行ロボットの開発 Peer-reviewed

蓑手勇人, 丸谷恭平, 永岡健司, 吉田和哉, 袴田武, 澤田弘崇, 久保田孝

ロボティクス・メカトロニクス講演会2017, 2017.　2017
回転浮遊剛体系の衝突を介した運動量交換則の検討 Peer-reviewed

長谷直, 永岡健司, 吉田和哉

ロボティクス・メカトロニクス講演会2017, 2017.　2017
慣性特性誤差を有する回転浮遊物体を対象とした宇宙ロボットの可変インピーダンス制御に基づく相対運動停止 Peer-reviewed

小坂岳文, 長谷直, 永岡健司, 吉田和哉

第17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, #1J2-5, 2016. SI2016優秀講演賞　2017
Development of Reaction Wheels for Cubesats Using a Solid Lubricant Bearing Peer-reviewed

Shinya FUJITA, Yuji SAKAMOTO, Ryo ISHIMARU, Toshiya GONAI, Kazuya YOSHIDA, Takafumi MATSUI

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN, Vol. 14 (2016) No. ists30, Oct. 2016, Pf_113-Pf_118　2016/10/30
FUJIN-2:Balloon Borne Telescope for Optical Observation of Planets Peer-reviewed

Yasuhiro SHOJI, Makoto TAGUCHI, Toshihiko NAKANO, Atsunori MAEDA, Masataka IMAI, Yuya GOUDA, Makoto WATANABE, Yukihiro TAKAHASHI, Yuji SAKAMOTO, Kazuya YOSHIDA

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN, Vol. 14 (2016) No. ists30, Oct. 2016, Pk_95-Pk_102　2016/10/30
Identification of sprites in JEM-GLIMS nadir observations and their spatial distributions Peer-reviewed

M. Sato, T. Adachi, T. Ushio, T. Morimoto, M. Kikuchi, H. Kikuchi, M. Suzuki, A. Yamazaki, Y. Takahashi, R. Ishida, Y. Sakamoto, K. Yoshida, Y. Hobara

Terrestrial, Atmospheric and Oceanic Sciences (TAO), accepted 21 Sep. 2016.　2016/09/21
An overview of VHF lightning observations by digital interferometry from ISS/JEM-GLIMS Peer-reviewed

Morimoto Takeshi, Kikuchi Hiroshi, Sato Mitsuteru, Ushio Tomoo, Yamazaki Atsushi, Suzuki Makoto, Ishida Ryohei, Sakamoto Yuji, Yoshida Kazuya, Hobara Yasuhide, Sano Takuki, Abe Takumi, Kawasaki Zen-Ichiro

EARTH PLANETS AND SPACE　68　(1)　2016/08/15

DOI： 10.1186/s40623-016-0522-1 　

ISSN： 1880-5981

eISSN： 1880-5981
Development of fast tracking algorithm using nearest neighbor star search approach Peer-reviewed

Yuji Sato, Nobuo Sugimura, Toshinori Kuwahara, Kazuya Yoshida

IEEE Aerospace Conference Proceedings　2016-　2016/06/27
Publisher: IEEE Computer Society
DOI： 10.1109/AERO.2016.7500673 　

ISSN： 1095-323X
Horizontal distributions of sprites derived from the JEM-GLIMS nadir observations Peer-reviewed

M. Sato, M. Mihara, T. Adachi, T. Ushio, T. Morimoto, M. Kikuchi, H. Kikuchi, M. Suzuki, A. Yamazaki, Y. Takahashi, U. Inan, I. Linscott, R. Ishida, Y. Sakamoto, K. Yoshida, Y. Hobara

JOURNAL OF GEOPHYSICAL RESEARCH-ATMOSPHERES　121　(7)　3171-3194　2016/04

DOI： 10.1002/2015JD024311 　

ISSN： 2169-897X

eISSN： 2169-8996
Electrolyzed Saline Irrigation for Elimination of Bacterial Colonization in the Empyema Space

Kazuya Yoshida

Surgical Infections　2016

DOI： 10.1089/SUR.2015.267 　
Navigation System for a Small Size Lunar Exploration Rover With a Monocular Omnidirectional Camera

Mickael Laine, Silvia Cruciani, Emanuele Palazzolo, Nathan J. Britton, Xavier Cavarelli, Kazuya Yoshida

FIRST INTERNATIONAL WORKSHOP ON PATTERN RECOGNITION　0011　2016

DOI： 10.1117/12.2242871 　

ISSN： 0277-786X

eISSN： 1996-756X
Horizontal distributions of sprites derived fromthe JEM-GLIMS nadir observations Peer-reviewed

M. Sato, M. Mihara, T. Adachi, T. Ushio, T. Morimoto, M. Kikuchi, H. Kikuchi, M. Suzuki, A. Yamazaki, Y. Takahashi, U. Inan, I. Linscott, R. Ishida, Y. Sakamoto, K. Yoshida, Y. Hobara

Journal of Geophysical Research　121　(7)　3171-3194　2016

DOI： 10.1002/2015JD024311 　

ISSN： 0148-0227

eISSN： 2156-2202
Development of Fast Tracking Algorithm Using Nearest Neighbor Star Search Approach Peer-reviewed

Yuji Sato, Nobuo Sugimura, Toshinori Kuwahara, Kazuya Yoshida

2016 IEEE AEROSPACE CONFERENCE　2016

ISSN： 1095-323X
Update on the Qualification of the Hakuto Micro-rover for the Google Lunar X-Prize Peer-reviewed

John Walker, Nathan Britton, Kazuya Yoshida, Toshiro Shimizu, Louis-Jerome Burtz, Alperen Pala

FIELD AND SERVICE ROBOTICS: RESULTS OF THE 10TH INTERNATIONAL CONFERENCE　113　313-330　2016

DOI： 10.1007/978-3-319-27702-8_21 　

ISSN： 1610-7438
Four-Wheel Rover Performance Analysis at Lunar Analog Test Peer-reviewed

Nathan Britton, John Walker, Kazuya Yoshida, Toshiro Shimizu, Tommaso Paniccia, Kei Nakata

FIELD AND SERVICE ROBOTICS: RESULTS OF THE 10TH INTERNATIONAL CONFERENCE　113　361-371　2016

DOI： 10.1007/978-3-319-27702-8_24 　

ISSN： 1610-7438
Low-Cost Simulation and Verification Environment for Micro-Satellites Peer-reviewed

Toshinori KUWAHARA, Kazufumi FUKUDA, Nobuo SUGIMURA, Tatsuaki HASHIMOTO, Yuji SAKAMOTO, Kazuya YOSHIDA

Transactions of Japan Society for Aeronautical and Space Science (JSASS) Aerospace Technology Japan, 14, ists30 (2016), Pf_83-Pf_88.　2016
Design and Implementation of a Thermopile-Based Earth Sensor Peer-reviewed

Toshinori KUWAHARA, Kazufumi FUKUDA, Nobuo SUGIMURA, Yuji SAKAMOTO, Kazuya YOSHIDA, Ariana DORSA, Pietro PAGANI, Franco Z. BERNELLI

Transactions of Japan Society for Aeronautical and Space Science (JSASS) Aerospace Technology Japan, 14, ists30 (2016), Pf_77-Pf_81.　2016
Improvement of Star Sensor in Generic Test Environment Peer-reviewed

Nobuo SUGIMURA, Tatsuaki HASHIMOTO, Toshinori KUWAHARA, Yuji SAKAMOTO, Kazuya YOSHIDA, Yuji SATO, Tomohiro TAKANO

Transactions of Japan Society for Aeronautical and Space Science (JSASS) Aerospace Technology Japan, 14, ists30 (2016), Pf_97-Pf_103.　2016
Development and Flight Results of Microsatellite Bus System for RISING-2 Peer-reviewed

Yuji SAKAMOTO, Nobuo SUGIMURA, Kazufumi FUKUDA, Toshinori KUWAHARA, Kazuya YOSHIDA, Junichi KURIHARA, Tetsuya FUKUHARA, Yukihiro TAKAHASHI

Transactions of Japan Society for Aeronautical and Space Science (JSASS) Aerospace Technology Japan, 14, ists30 (2016), Pf_89-Pf_96.　2016
Attitude Determination and Control System for Nadir Pointing Using Magnetorquer and Magnetometer Peer-reviewed

Nobuo Sugimura, Toshinori Kuwahara, Kazuya Yoshida

2016 IEEE AEROSPACE CONFERENCE　2016

DOI： 10.1109/AERO.2016.7500665 　

ISSN： 1095-323X
Analysis on Motion Control Based on Reaction Null Space for Ground Grip Robot on an Asteroid Peer-reviewed

Yudai Yuguchi, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida

Transactions of The Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan, Vol. 14, No. ists30, pp. Pk_125-Pk_130, 2016.　2016

DOI： 10.1109/ICRA.2016.7487444 　
Measurement of Stress Distributions of a Wheel with Grousers Traveling on Loose Soil Peer-reviewed

Shoya Higa, Kazumasa Sawada, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　2828-2833　2016

DOI： 10.1109/ICRA.2016.7487445 　

ISSN： 1050-4729
Verification of Gait Control Based on Reaction Null-Space for Ground-Gripping Robot in Microgravity Peer-reviewed

Yudai Yuguchi, Kenji Nagaoka, Kazuya Yoshida

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　2822-2827　2016

DOI： 10.1109/ICRA.2016.7487444 　

ISSN： 1050-4729
Mobility Performances of Ciliary Locomotion for an Asteroid Exploration Robot under Various Environmental Conditions Peer-reviewed

Kenji Nagaoka, Kazuki Watanabe, Toshiyasu Kaneko, Kazuya Yoshida

Proceedings of the 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space, #S-5a-2, 2016.　2016
Mobility Characteristics and Control of a Skid-Steering Micro-Rover for Planetary Exploration on Loose Soil Peer-reviewed

Kenji Nagaoka, Kei Nakata, Shoya Higa, Kazuya Yoshida

Proceedings of the 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space, #S-9a-4, 2016.　2016
Three-Dimensional Stress Distribution of a Rigid Wheel on Lunar Regolith Simulant Peer-reviewed

Shoya Higa, Kazumasa Sawada, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space, #S-9a-3, 2016.　2016
Microgravity Experiment of Rock Climbing Locomotion for Exploration Robot in Minor Body Peer-reviewed

Yudai Yuguchi, Wudong, Kyohei Maruya, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space, #S-3a-2, 2016.　2016
Extended Gripping Conditions Including Asymmetric Configuration of Gripper and Ground in Microgravity Peer-reviewed

Kyohei Maruya, Yudai Yuguchi, Wudong, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 13th International Symposium on Artificial Intelligence, Robotics and Automation in Space, #S-9a-2, 2016.　2016

DOI： 10.1109/ICRA.2016.7487444 　
Online Estimation of Wheel Sinkage and Silippage Using a ToF Camera on Loose Soil Peer-reviewed

Shoya Higa, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 8th ISTVS Americas Regional Conference, #64, 2016.　2016
車輪沈下量・スリップ推定と地盤反力・トルク計測を統合した知的車輪システムの開発と評価 Peer-reviewed

比嘉翔弥, 永岡健司, 吉田和哉

第37回テラメカニックス研究会, 2016.　2016
軟弱地盤における剛性車輪のグラウサ形状に応じた走行性能評価 Peer-reviewed

沢田一将, 比嘉翔弥, 永岡健司, 吉田和哉

第37回テラメカニックス研究会, 2016.　2016
小惑星探査ロボットのための繊毛推進機構の繊毛の傾きと長さを考慮した運動解析 Peer-reviewed

金子利康, 渡辺和輝, 永岡健司, 吉田和哉

ロボティクス・メカトロニクス講演会2016, 2016.　2016
軟弱地盤を走行するグラウサ車輪における車輪幅方向の影響を考慮した応力分布計測 Peer-reviewed

沢田一将, 比嘉翔弥, 永岡健司, 吉田和哉

ロボティクス・メカトロニクス講演会2016, 2016.　2016
軟弱斜面におけるスキッドステア型マイクロローバの走行特性 Peer-reviewed

中田圭, 比嘉翔弥, 永岡健司, 吉田和哉

第21回ロボティクスシンポジア予稿集, pp. 160-165, 2016.　2016
Measurement and modeling for two-dimensional normal stress distribution of wheel on loose soil Peer-reviewed

Shoya Higa, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

JOURNAL OF TERRAMECHANICS　62　63-73　2015/12

DOI： 10.1016/j.jterra.2015.04.001 　

ISSN： 0022-4898

eISSN： 1879-1204
JEM-EUSO: Meteor and nuclearite observations International-journal International-coauthorship Peer-reviewed

The JEM-EUSO Collaboration, J. H. Adams, S. Ahmad, J. N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Błȩcki, S. Blin-Bondil, J. Blümer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J. N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellinic, C. Catalano, G. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell’Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernández-Gómez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. González Alvarado, P. Gorodetzky, F. Guarino, A. Guzmán, Y. Hachisu, B. Harlov, A. Haungs, J. Hernández Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgrò, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, J. S. Kim, S. W. Kim, S. W. Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. López, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los Ríos, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano Murakami, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleański, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prévôt, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodríguez, M. D. Rodríguez Frías, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczyński, M. D. Sabau, G. Sáez-Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sánchez, A. Santangelo, L. Santiago Crúz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Oziȩbło, H. H. Silva López, J. Sledd, K. Słomińska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdés-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villaseñor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Włodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov, A. Zuccaro Marchi

Experimental Astronomy　40　(1)　253-279　2015/11/01
Publisher: Springer Netherlands
DOI： 10.1007/s10686-014-9375-4 　

ISSN： 1572-9508 0922-6435

eISSN： 1572-9508
Performances of JEM-EUSO: angular reconstruction: The JEM-EUSO Collaboration International-journal International-coauthorship Peer-reviewed

The JEM-EUSO Collaboration, J. H. Adams, S. Ahmad, J. N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Błȩcki, S. Blin-Bondil, J. Blümer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J. N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellinic, C. Catalano, G. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell’Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernández-Gómez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. González Alvarado, P. Gorodetzky, F. Guarino, A. Guzmán, Y. Hachisu, B. Harlov, A. Haungs, J. Hernández Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgrò, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, J. S. Kim, S. W. Kim, S. W. Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. López, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los Ríos, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano Murakami, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleański, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prévôt, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodríguez, M. D. Rodríguez Frías, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczyński, M. D. Sabau, G. Sáez-Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sánchez, A. Santangelo, L. Santiago Crúz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Oziȩbło, H. H. Silva López, J. Sledd, K. Słomińska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdés-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villaseñor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Włodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov, A. Zuccaro Marchi

Experimental Astronomy　40　(1)　153-177　2015/11/01
Publisher: Springer Netherlands
DOI： 10.1007/s10686-013-9371-0 　

ISSN： 1572-9508 0922-6435

eISSN： 1572-9508
Ground-based tests of JEM-EUSO components at the Telescope Array site, “EUSO-TA” International-journal International-coauthorship Peer-reviewed

The JEM-EUSO Collaboration, J. H. Adams, S. Ahmad, J. N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Błȩcki, S. Blin-Bondil, J. Blümer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J. N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellinic, C. Catalano, G. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell’Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernández-Gómez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. González Alvarado, P. Gorodetzky, F. Guarino, A. Guzmán, Y. Hachisu, B. Harlov, A. Haungs, J. Hernández Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgrò, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, J. S. Kim, S. W. Kim, S. W. Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. López, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los Ríos, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano Murakami, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleański, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prévôt, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodríguez, M. D. Rodríguez Frías, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczyński, M. D. Sabau, G. Sáez-Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sánchez, A. Santangelo, L. Santiago Crúz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Oziȩbło, H. H. Silva López, J. Sledd, K. Słomińska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdés-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villaseñor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Włodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov, A. Zuccaro Marchi

Experimental Astronomy　40　(1)　301-314　2015/11/01
Publisher: Springer Netherlands
DOI： 10.1007/s10686-015-9441-6 　

ISSN： 1572-9508 0922-6435

eISSN： 1572-9508
The JEM-EUSO instrument International-journal International-coauthorship Peer-reviewed

The JEM-EUSO Collaboration, J. H. Adams, S. Ahmad, J. N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Błȩcki, S. Blin-Bondil, J. Blümer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J. N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellinic, C. Catalano, G. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell’Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernández-Gómez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. González Alvarado, P. Gorodetzky, F. Guarino, A. Guzmán, Y. Hachisu, B. Harlov, A. Haungs, J. Hernández Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgrò, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, J. S. Kim, S. W. Kim, S. W. Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. López, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los Ríos, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano Murakami, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleański, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prévôt, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodríguez, M. D. Rodríguez Frías, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczyński, M. D. Sabau, G. Sáez-Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sánchez, A. Santangelo, L. Santiago Crúz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Oziȩbło, H. H. Silva López, J. Sledd, K. Słomińska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdés-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villaseñor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Włodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov, A. Zuccaro Marchi

Experimental Astronomy　40　(1)　19-44　2015/11/01
Publisher: Springer Netherlands
DOI： 10.1007/s10686-014-9418-x 　

ISSN： 1572-9508 0922-6435

eISSN： 1572-9508
The JEM-EUSO mission: An introduction International-journal International-coauthorship Peer-reviewed

J. H. Adams, S. Ahmad, J. -N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Blecki, S. Blin-Bondil, J. Bluemer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J-N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellini, C. Catalano, O. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. de Donato, C. de la Taille, C. de Santis, L. del Peral, A. Dell'Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernandez-Gomez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. Gonzalez Alvarado, P. Gorodetzky, F. Guarino, A. Guzman, Y. Hachisu, B. Harlov, A. Haungs, J. Hernandez Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgro, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, Jeong-Sook Kim, Soon-Wook Kim, Sug-Whan Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. Lopez, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de Los Rios, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleanski, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prevot, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodriguez, M. D. Rodriguez Frias, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczynski, M. D. Sabau, G. Saez Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sanchez, A. Santangelo, L. Santiago Cruz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Ozieblo, H. H. Silva Lopez, J. Sledd, K. Slominska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdes-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villasenor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Wlodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov, A. Zuccaro Marchi

EXPERIMENTAL ASTRONOMY　40　(1)　3-17　2015/11

DOI： 10.1007/s10686-015-9482-x 　

ISSN： 0922-6435

eISSN： 1572-9508
The atmospheric monitoring system of the JEM-EUSO instrument International-journal International-coauthorship Peer-reviewed

J. H. Adams, S. Ahmad, J. -N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Blecki, S. Blin-Bondil, J. Bluemer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J-N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellini, C. Catalano, O. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell'Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernandez-Gomez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. Gonzalez Alvarado, P. Gorodetzky, F. Guarino, A. Guzman, Y. Hachisu, B. Harlov, A. Haungs, J. Hernandez Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgro, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, Jeong-Sook Kim, Soon-Wook Kim, Sug-Whan Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. Lopez, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los Rios, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleanski, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prevot, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodriguez, M. D. Rodriguez Frias, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczynski, M. D. Sabau, G. Saez Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sanchez, A. Santangelo, L. Santiago Cruz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Ozieblo, H. H. Silva Lopez, J. Sledd, K. Slominska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdes-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villasenor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Wlodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov, A. Zuccaro Marchi

EXPERIMENTAL ASTRONOMY　40　(1)　45-60　2015/11

DOI： 10.1007/s10686-014-9378-1 　

ISSN： 0922-6435

eISSN： 1572-9508
The infrared camera onboard JEM-EUSO International-journal International-coauthorship Peer-reviewed

J. H. Adams, S. Ahmad, J. -N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Blecki, S. Blin-Bondil, J. Bluemer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J-N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellini, C. Catalano, O. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell'Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernandez-Gomez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. Gonzalez Alvarado, P. Gorodetzky, F. Guarino, A. Guzman, Y. Hachisu, B. Harlov, A. Haungs, J. Hernandez Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgro, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, Jeong-Sook Kim, Soon-Wook Kim, Sug-Whan Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. Lopez, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los Rios, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleanski, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prevot, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodriguez, M. D. Rodriguez Frias, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczynski, M. D. Sabau, G. Saez Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sanchez, A. Santangelo, L. Santiago Cruz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Ozieblo, H. H. Silva Lopez, J. Sledd, K. Slominska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdes-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villasenor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Wlodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashini, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotovi, A. Zuccaro Marchi

EXPERIMENTAL ASTRONOMY　40　(1)　61-89　2015/11

DOI： 10.1007/s10686-014-9402-5 　

ISSN： 0922-6435

eISSN： 1572-9508
Calibration aspects of the JEM-EUSO mission International-journal International-coauthorship Peer-reviewed

J. H. Adams, S. Ahmad, J. -N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Blecki, S. Blin-Bondil, J. Bluemer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J-N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellini, C. Catalano, O. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. de Donato, C. de la Taille, C. de Santis, L. del Peral, A. Dell'Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernandez-Gomez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. Gonzalez Alvarado, P. Gorodetzky, F. Guarino, A. Guzman, Y. Hachisu, B. Harlov, A. Haungs, J. Hernandez Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgro, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, Jeong-Sook Kim, Soon-Wook Kim, Sug-Whan Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. Lopez, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los Rios, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleanski, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prevot, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prevot, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodriguez, M. D. Rodriguez, M. D. Rodriguez Frias, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczynski, M. D. Sabau, G. Saez Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sanchez, A. Santangelo, L. Santiago Cruz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Ozieblo, H. H. Silva Lopez, J. Sledd, K. Slominska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdes-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villasenor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Wlodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov, A. Zuccaro Marchi

EXPERIMENTAL ASTRONOMY　40　(1)　91-116　2015/11

DOI： 10.1007/s10686-015-9453-2 　

ISSN： 0922-6435

eISSN： 1572-9508
The JEM-EUSO observation in cloudy conditions International-journal International-coauthorship Peer-reviewed

J. H. Adams, S. Ahmad, J. -N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Blecki, S. Blin-Bondil, J. Bluemer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J-N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellini, C. Catalano, O. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell'Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernandez-Gomez, S. Ferrarese, D. Finco, M. Flamini, C. Fornarodo, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. Gonzalez Alvarado, P. Gorodetzky, F. Guarino, A. Guzman, Y. Hachisu, B. Harlov, A. Haungs, J. Hernandez Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgro, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, Jeong-Sook Kim, Soon-Wook Kim, Sug-Whan Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. Lopez, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los Rios, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleanski, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircakja, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prevot, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodriguez, M. D. Rodriguez Frias, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczynski, M. D. Sabau, G. Saez Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sanchez, A. Santangelo, L. Santiago Cruz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Ozieblo, H. H. Silva Lopez, J. Sledd, K. Slominska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdes-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villasenor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Wlodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov, A. Zuccaro Marchi

EXPERIMENTAL ASTRONOMY　40　(1)　135-152　2015/11

DOI： 10.1007/s10686-014-9377-2 　

ISSN： 0922-6435

eISSN： 1572-9508
Performances of JEM-EUSO: angular reconstruction (vol 30, pg 153, 2015) International-journal International-coauthorship Peer-reviewed

J. H. Adams, S. Ahmad, J. -N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Blecki, S. Blin-Bondil, J. Bluemer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J-N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellini, C. Catalano, O. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csoma, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell'Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fern'andez-G'omez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. Gonz'alez Alvarado, P. Gorodetzky, F. Guarino, A. Guzman, Y. Hachisu, B. Harlov, A. Haungs, J. Hern'andez Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgr'o, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, Jeong-Sook Kim, Soon-Wook Kim, Sug-Whan Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. L'opez, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los R'ios, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orlea'nski, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Pr'evot, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodr'iguez, M. D. Rodr'iguez Fr'ias, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczy'nski, M. D. Sabau, G. S'aez Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. S'anchez, A. Santangelo, L. Santiago Cr'uz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Ozieblo, H. H. Silva L'opez, J. Sledd, K. Slomi'nska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Vald'es-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villasenor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Wlodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov

EXPERIMENTAL ASTRONOMY　40　(1)　179-181　2015/11

DOI： 10.1007/s10686-014-9420-3 　

ISSN： 0922-6435

eISSN： 1572-9508
Performances of JEM-EUSO: energy and X (max) reconstruction International-journal International-coauthorship Peer-reviewed

J. H. Adams, S. Ahmad, J. -N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Blecki, S. Blin-Bondil, J. Bluemer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J-N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellini, C. Catalano, O. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell'Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernandez-Gomez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. Gonzalez Alvarado, P. Gorodetzky, F. Guarino, A. Guzman, Y. Hachisu, B. Harlov, A. Haungs, J. Hernandez Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgro, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, Jeong-Sook Kim, Soon-Wook Kim, Sug-Whan Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. Lopez, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de Los Rios, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleanski, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prevot, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodriguez, M. D. Rodriguez Frias, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczynski, M. D. Sabau, G. Saez Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sanchez, A. Santangelo, L. Santiago Cruz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Ozieblo, H. H. Silva Lopez, J. Sledd, K. Slominska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdes-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villasenor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Wlodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov

EXPERIMENTAL ASTRONOMY　40　(1)　183-214　2015/11

DOI： 10.1007/s10686-014-9427-9 　

ISSN： 0922-6435

eISSN： 1572-9508
Ultra high energy photons and neutrinos with JEM-EUSO (vol 40, pg 215, 2015) International-journal International-coauthorship Peer-reviewed

J. H. Adams, S. Ahmad, J. -N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Blecki, S. Blin-Bondil, J. Bluemer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J-N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellini, C. Catalano, O. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell'Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernandez-Gomez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. Gonzalez Alvarado, P. Gorodetzky, F. Guarino, A. Guzman, Y. Hachisu, B. Harlov, A. Haungs, J. Hernandez Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgr'o, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, Jeong-Sook Kim, Soon-Wook Kim, Sug-Whan Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. Lopez, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los Rios, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleanski, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prevot, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodriguez, M. D. Rodriguez Frias, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczynski, M. D. Sabau, G. Saez Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sanchez, A. Santangelo, L. Santiago Cruz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Ozieblo, H. H. Silva Lopez, J. Sledd, K. Slominska, A. Sobey, T. Sugiyama, A. D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdes-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villasenor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Wlodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov, A. Zuccaro Marchi

EXPERIMENTAL ASTRONOMY　40　(1)　235-237　2015/11

DOI： 10.1007/s10686-015-9470-1 　

ISSN： 0922-6435

eISSN： 1572-9508
Science of atmospheric phenomena with JEM-EUSO International-journal International-coauthorship Peer-reviewed

J. H. Adams, S. Ahmad, J. -N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Blecki, S. Blin-Bondil, J. Bluemer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J-N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellini, C. Catalano, O. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell'Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernandez-Gomez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. Gonzalez Alvarado, P. Gorodetzky, F. Guarino, A. Guzman, Y. Hachisu, B. Harlov, A. Haungs, J. Hernandez Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgro, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, Jeong-Sook Kim, Soon-Wook Kim, Sug-Whan Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. Lopez, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los Rios, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleanski, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prevot, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodriguez, M. D. Rodriguez Frias, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczynski, M. D. Sabau, G. Saez Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sanchez, A. Santangelo, L. Santiago Cruz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Ozieblo, H. H. Silva Lopez, J. Sledd, K. Slominska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdes-Galiciaga, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villasenor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Wlodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov, A. Zuccaro Marchi

EXPERIMENTAL ASTRONOMY　40　(1)　239-251　2015/11

DOI： 10.1007/s10686-014-9431-0 　

ISSN： 0922-6435

eISSN： 1572-9508
The EUSO-Balloon pathfinder International-journal International-coauthorship Peer-reviewed

J. H. Adams, S. Ahmad, J. -N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Blecki, S. Blin-Bondil, J. Bluemer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J-N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellini, C. Catalano, O. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell'Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernandez-Gomez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchari, C. Gonzalez Alvarado, P. Gorodetzky, F. Guarino, A. Guzman, Y. Hachisu, B. Harlov, A. Haungs, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgro, Y. Itowen, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, Jeong-Sook Kim, Soon-Wook Kim, Sug-Whan Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. Lopez, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los Rios, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleanski, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prevot, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodriguez, M. D. Rodriguez Frias, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczynski, M. D. Sabau, G. Saez Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sanchez, A. Santangelo, L. Santiago Cruz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Ozieblo, H. H. Silva Lopez, J. Sledd, K. Slominska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdes-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villasenor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Wl Odarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov, A. Zuccaro Marchi

EXPERIMENTAL ASTRONOMY　40　(1)　281-299　2015/11

DOI： 10.1007/s10686-015-9467-9 　

ISSN： 0922-6435

eISSN： 1572-9508
Space experiment TUS on board the Lomonosov satellite as pathfinder of JEM-EUSO International-journal International-coauthorship Peer-reviewed

J. H. Adams, S. Ahmad, J. -N. Albert, D. Allard, L. Anchordoqui, V. Andreev, A. Anzalone, Y. Arai, K. Asano, M. Ave Pernas, P. Baragatti, P. Barrillon, T. Batsch, J. Bayer, R. Bechini, T. Belenguer, R. Bellotti, K. Belov, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, N. Blanc, J. Blecki, S. Blin-Bondil, J. Bluemer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J-N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellini, C. Catalano, O. Catalano, A. Cellino, M. Chikawa, M. J. Christl, D. Cline, V. Connaughton, L. Conti, G. Cordero, H. J. Crawford, R. Cremonini, S. Csorna, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, C. De Santis, L. del Peral, A. Dell'Oro, N. De Simone, M. Di Martino, G. Distratis, F. Dulucq, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernandez-Gomez, S. Ferrarese, D. Finco, M. Flamini, C. Fornaro, A. Franceschi, J. Fujimoto, M. Fukushima, P. Galeotti, G. Garipov, J. Geary, G. Gelmini, G. Giraudo, M. Gonchar, C. Gonzalez Alvarado, P. Gorodetzky, F. Guarino, A. Guzman, Y. Hachisu, B. Harlov, A. Haungs, J. Hernandez Carretero, K. Higashide, D. Ikeda, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgro, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, M. Karus, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, Jeong-Sook Kim, Soon-Wook Kim, Sug-Whan Kim, M. Kleifges, P. A. Klimov, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, A. Kusenko, E. Kuznetsov, M. Lacombe, C. Lachaud, J. Lee, J. Licandro, H. Lim, F. Lopez, M. C. Maccarone, K. Mannheim, D. Maravilla, L. Marcelli, A. Marini, O. Martinez, G. Masciantonio, K. Mase, R. Matev, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, A. Monaco, D. Monnier-Ragaigne, J. A. Morales de los Rios, C. Moretto, V. S. Morozenko, B. Mot, T. Murakami, M. Nagano, M. Nagata, S. Nagataki, T. Nakamura, T. Napolitano, D. Naumov, R. Nava, A. Neronov, K. Nomoto, T. Nonaka, T. Ogawa, S. Ogio, H. Ohmori, A. V. Olinto, P. Orleanski, G. Osteria, M. I. Panasyuk, E. Parizot, I. H. Park, H. W. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, S. Perez Cano, T. Peter, P. Picozza, T. Pierog, L. W. Piotrowski, S. Piraino, Z. Plebaniak, A. Pollini, P. Prat, G. Prevot, H. Prieto, M. Putis, P. Reardon, M. Reyes, M. Ricci, I. Rodriguez, M. D. Rodriguez Frias, F. Ronga, M. Roth, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczynski, M. D. Sabau, G. Saez Cano, H. Sagawa, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sanchez, A. Santangelo, L. Santiago Cruz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Ozieblo, H. H. Silva Lopez, J. Sledd, K. Slominska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, H. Tokuno, T. Tomida, N. Tone, S. Toscano, F. Trillaud, R. Tsenov, Y. Tsunesada, K. Tsuno, T. Tymieniecka, Y. Uchihori, M. Unger, O. Vaduvescu, J. F. Valdes-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villasenor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Wlodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, M. Yu. Zotov, A. Zuccaro Marchi

EXPERIMENTAL ASTRONOMY　40　(1)　315-326　2015/11

DOI： 10.1007/s10686-015-9465-y 　

ISSN： 0922-6435

eISSN： 1572-9508
Three-Dimensional Stress Distribution on a Rigid Wheel Surface for a Lightweight Vehicle Peer-reviewed

Shoya Higa, Kazumasa Sawada, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

Proceedings of the ISTVS 13th European Conference　2015/10
クローラロボットの自己位置推定を目的とした駆動電流から滑り率を計測する方法の検討 Peer-reviewed

遠藤大輔, 永谷圭司, 吉田和哉

日本ロボット学会誌　33　(6)　433-440　2015/08

DOI： 10.7210/jrsj.33.433 　
Analysis on Motion Control Based on Reaction Null Space for Ground Grip Robot on an Asteroid Peer-reviewed

Yudai Yuguchi, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshid

Proceedings of the 30th International Symposium on Space Technology and Science　2015/07
Development and Flight Results of Microsatellite Bus System for RISING-2 Peer-reviewed

Yuji Sakamoto, Nobuo Sugimura, Kazufumi Fukuda, Toshinori Kuwahara, Kazuya Yoshida, Junichi Kurihara, Tetsuya Fukuhara, Yukihiro Takahashi

the 30th International Symposium on Space Technology and Science (30th ISTS), Kobe, Japan, July 4 - 10, 2015.　2015/06
Flight Verification of Attitude Determination Methods for Microsatellite RISING-2 Using Magnetometers, Sun Sensors, Gyro Sensors, and Observation Images Peer-reviewed

Yuji Sakamoto, Nobuo Sugimura, Kazufumi Fukuda, Toshinori Kuwahara, Kazuya Yoshida

the 30th International Symposium on Space Technology and Science (30th ISTS), Kobe, Japan, July 4 - 10, 2015.　2015/06
Development of Attitude Control System and Testing Simulator for Microsatellite MicroDragon Peer-reviewed

Trinh Hoang Quan, Nguyen Son Duong, Nguyen Van Thuc, Le The Soat, Cao Xuan Hiep, Toshinori Kuwahara, Yuji Sakamoto, Kazuya Yoshida, Pham Anh Tuan

the 30th International Symposium on Space Technology and Science (30th ISTS), Kobe, Japan, July 4 - 10, 2015.　2015/06
Static Closed Loop Simulation of Attitude Control System of Microsatellite RISESAT Peer-reviewed

Kazufumi Fukuda, Toshinori Kuwahara, Yuji Sakamoto, Kazuya Yoshida

the 30th International Symposium on Space Technology and Science (30th ISTS), Kobe, Japan, July 4 - 10, 2015.　2015/06
Design and Implementation of a Thermopile-Based Earth Sensor Peer-reviewed

Toshinori Kuwahara, Kazufumi Fukuda, Nobuo Sugimura, Yuji Sakamoto, Kazuya Yoshida, Arianna Dorsa, Pietro Pagani, Franco Z. Bernelli

the 30th International Symposium on Space Technology and Science (30th ISTS), Kobe, Japan, July 4 - 10, 2015.　2015/06
Improvement of Star Sensor in Generic Test Environment Peer-reviewed

Nobuo Sugimura, Tatsuaki Hashimoto, Toshinori Kuwahara, Yuji Sakamoto, Kazuya Yoshida

the 30th International Symposium on Space Technology and Science (30th ISTS), Kobe, Japan, July 4 - 10, 2015.　2015/06
Low-cost Simulation and Verification Environment for Micro-Satellites Peer-reviewed

Toshinori Kuwahara, Kazufumi Fukuda, Nobuo Sugimura, Yuji Sakamoto, Kazuya Yoshida

the 30th International Symposium on Space Technology and Science (30th ISTS), Kobe, Japan, July 4 - 10, 2015.　2015/06
FUJIN-2 : Balloon Borne Telescope for Optical Observations of Planets Peer-reviewed

Yasuhiro Shoji, Makoto Taguchi, Toshihiko Nakano, Atsunori Maeda, Masataka Imai, Yuya Gouda, Makoto Watanabe, Yukihiro Takahashi, Yuji Sakamoto, Kazuya Yoshida

the 30th International Symposium on Space Technology and Science (30th ISTS), Kobe, Japan, July 4 - 10, 2015.　2015/06
Overview and early results of the Global Lightning and Sprite Measurements mission Peer-reviewed

Sato, M, T. Ushio, T. Morimoto, M. Kikuchi, H. Kikuchi, T. Adachi, M. Suzuki, A. Yamazaki, Y. Takahashi, U. Inan, I. Linscott, R. Ishida, Y. Sakamoto, K. Yoshida, Y. Hobara, T. Sano, T. Abe, M. Nakamura, H. Oda, Z.-I. Kawasaki

J. Geophys. Res. - Atmos.　120　(9)　3822-3851　2015/05

DOI： 10.1002/2014JD022428 　

ISSN： 0148-0227

eISSN： 2156-2202
Ultra high energy photons and neutrinos with JEM-EUSO Peer-reviewed

Adams, J.H., Ahmad, S., Albert, J.-N., Allard, D., Anchordoqui, L., Andreev, V., Anzalone, A., Arai, Y., Asano, K., Ave Pernas, M., Baragatti, P., Barrillon, P., Batsch, T., Bayer, J., Bechini, R., Belenguer, T., Bellotti, R., Belov, K., Berlind, A.A., Bertaina, M., Biermann, P.L., Biktemerova, S., Blaksley, C., Blanc, N., Błȩcki, J., Blin-Bondil, S., Blümer, J., Bobik, P., Bogomilov, M., Bonamente, M., Briggs, M.S., Briz, S., Bruno, A., Cafagna, F., Campana, D., Capdevielle, J.-N., Caruso, R., Casolino, M., Cassardo, C., Castellinic, G., Catalano, C., Catalano, G., Cellino, A., Chikawa, M., Christl, M.J., Cline, D., Connaughton, V., Conti, L., Cordero, G., Crawford, H.J., Cremonini, R., Csorna, S., Dagoret-Campagne, S., de Castro, A.J., De Donato, C., de la Taille, C., De Santis, C., del Peral, L., Dell’Oro, A., De Simone, N., Di Martino, M., Distratis, G., Dulucq, F., Dupieux, M., Ebersoldt, A., Ebisuzaki, T., Engel, R., Falk, S., Fang, K., Fenu, F., Fernández-Gómez, I., Ferrarese, S., Finco, D., Flamini, M., Fornaro, C., Franceschi, A., Fujimoto, J., Fukushima, M., Galeotti, P., Garipov, G., Geary, J., Gelmini, G., Giraudo, G., Gonchar, M., González Alvarado, C., Gorodetzky, P., Guarino, F., Guzmán, A., Hachisu, Y., Harlov, B., Haungs, A., Hernández Carretero, J., Higashide, K., Ikeda, D., Ikeda, H., Inoue, N., Inoue, S., Insolia, A., Isgrò, F., Itow, Y., Joven, E., Judd, E.G., Jung, A., Kajino, F., Kajino, T., Kaneko, I., Karadzhov, Y., Karczmarczyk, J., Karus, M., Katahira, K., Kawai, K., Kawasaki, Y., Keilhauer, B., Khrenov, B.A., Kim, J.-S., Kim, S.-W., Kim, S.-W., Kleifges, M., Klimov, P.A., Kolev, D., Kreykenbohm, I., Kudela, K., Kurihara, Y., Kusenko, A., Kuznetsov, E., Lacombe, M., Lachaud, C., Lee, J., Licandro, J., Lim, H., López, F., Maccarone, M.C., Mannheim, K., Maravilla, D., Marcelli, L., Marini, A., Martinez, O., Masciantonio, G., Mase, K., Matev, R., Medina-Tanco, G., Mernik, T., Miyamoto, H., Miyazaki, Y., Mizumoto, Y., Modestino, G., Monaco, A., Monnier-Ragaigne, D., Morales de los Ríos, J.A., Moretto, C., Morozenko, V.S., Mot, B., Murakami, T., Murakami, M.N., Nagata, M., Nagataki, S., Nakamura, T., Napolitano, T., Naumov, D., Nava, R., Neronov, A., Nomoto, K., Nonaka, T., Ogawa, T., Ogio, S., Ohmori, H., Olinto, A.V., Orleański, P., Osteria, G., Panasyuk, M.I., Parizot, E., Park, I.H., Park, H.W., Pastircak, B., Patzak, T., Paul, T., Pennypacker, C., Perez Cano, S., Peter, T., Picozza, P., Pierog, T., Piotrowski, L.W., Piraino, S., Plebaniak, Z., Pollini, A., Prat, P., Prévôt, G., Prieto, H., Putis, M., Reardon, P., Reyes, M., Ricci, M., Rodríguez, I., Rodríguez Frías, M.D., Ronga, F., Roth, M., Rothkaehl, H., Roudil, G., Rusinov, I., Rybczyński, M., Sabau, M.D., Sáez-Cano, G., Sagawa, H., Saito, A., Sakaki, N., Sakata, M., Salazar, H., Sánchez, S., Santangelo, A., Santiago Crúz, L., Sanz Palomino, M., Saprykin, O., Sarazin, F., Sato, H., Sato, M., Schanz, T., Schieler, H., Scotti, V., Segreto, A., Selmane, S., Semikoz, D., Serra, M., Sharakin, S., Shibata, T., Shimizu, H.M., Shinozaki, K., Shirahama, T., Siemieniec-Oziȩbło, G., Silva López, H.H., Sledd, J., Słomińska, K., Sobey, A., Sugiyama, T., Supanitsky, D., Suzuki, M., Szabelska, B., Szabelski, J., Tajima, F., Tajima, N., Tajima, T., Takahashi, Y., Takami, H., Takeda, M., Takizawa, Y., Tenzer, C., Tibolla, O., Tkachev, L., Tokuno, H., Tomida, T., Tone, N., Toscano, S., Trillaud, F., Tsenov, R., Tsunesada, Y., Tsuno, K., Tymieniecka, T., Uchihori, Y., Unger, M., Vaduvescu, O., Valdés-Galicia, J.F., Vallania, P., Valore, L., Vankova, G., Vigorito, C., Villaseñor, L., von Ballmoos, P., Wada, S., Watanabe, J., Watanabe, S., Watts, J., Weber, M., Weiler, T.J., Wibig, T., Wiencke, L., Wille, M., Wilms, J., Włodarczyk, Z., Yamamoto, T., Yamamoto, Y., Yang, J., Yano, H., Yashin, I.V., Yonetoku, D., Yoshida, K., Yoshida, S., Young, R., Zotov, M.Y., Zuccaro Marchi, A.

Experimental Astronomy　40　(1)　215-233　2015

DOI： 10.1007/s10686-013-9353-2 　

ISSN： 0922-6435

eISSN： 1572-9508
JEM-EUSO observational technique and exposure Peer-reviewed

Adams, J.H., Ahmad, S., Albert, J.-N., Allard, D., Anchordoqui, L., Andreev, V., Anzalone, A., Arai, Y., Asano, K., Ave Pernas, M., Baragatti, P., Barrillon, P., Batsch, T., Bayer, J., Bechini, R., Belenguer, T., Bellotti, R., Belov, K., Berlind, A.A., Bertaina, M., Biermann, P.L., Biktemerova, S., Blaksley, C., Blanc, N., Błȩcki, J., Blin-Bondil, S., Blümer, J., Bobik, P., Bogomilov, M., Bonamente, M., Briggs, M.S., Briz, S., Bruno, A., Cafagna, F., Campana, D., Capdevielle, J.-N., Caruso, R., Casolino, M., Cassardo, C., Castellinic, G., Catalano, C., Catalano, G., Cellino, A., Chikawa, M., Christl, M.J., Cline, D., Connaughton, V., Conti, L., Cordero, G., Crawford, H.J., Cremonini, R., Csorna, S., Dagoret-Campagne, S., de Castro, A.J., De Donato, C., de la Taille, C., De Santis, C., del Peral, L., Dell’Oro, A., De Simone, N., Di Martino, M., Distratis, G., Dulucq, F., Dupieux, M., Ebersoldt, A., Ebisuzaki, T., Engel, R., Falk, S., Fang, K., Fenu, F., Fernández-Gómez, I., Ferrarese, S., Finco, D., Flamini, M., Fornaro, C., Franceschi, A., Fujimoto, J., Fukushima, M., Galeotti, P., Garipov, G., Geary, J., Gelmini, G., Giraudo, G., Gonchar, M., González Alvarado, C., Gorodetzky, P., Guarino, F., Guzmán, A., Hachisu, Y., Harlov, B., Haungs, A., Hernández Carretero, J., Higashide, K., Ikeda, D., Ikeda, H., Inoue, N., Inoue, S., Insolia, A., Isgrò, F., Itow, Y., Joven, E., Judd, E.G., Jung, A., Kajino, F., Kajino, T., Kaneko, I., Karadzhov, Y., Karczmarczyk, J., Karus, M., Katahira, K., Kawai, K., Kawasaki, Y., Keilhauer, B., Khrenov, B.A., Kim, J.-S., Kim, S.-W., Kim, S.-W., Kleifges, M., Klimov, P.A., Kolev, D., Kreykenbohm, I., Kudela, K., Kurihara, Y., Kusenko, A., Kuznetsov, E., Lacombe, M., Lachaud, C., Lee, J., Licandro, J., Lim, H., López, F., Maccarone, M.C., Mannheim, K., Maravilla, D., Marcelli, L., Marini, A., Martinez, O., Masciantonio, G., Mase, K., Matev, R., Medina-Tanco, G., Mernik, T., Miyamoto, H., Miyazaki, Y., Mizumoto, Y., Modestino, G., Monaco, A., Monnier-Ragaigne, D., Morales de los Ríos, J.A., Moretto, C., Morozenko, V.S., Mot, B., Murakami, T., Murakami, M.N., Nagata, M., Nagataki, S., Nakamura, T., Napolitano, T., Naumov, D., Nava, R., Neronov, A., Nomoto, K., Nonaka, T., Ogawa, T., Ogio, S., Ohmori, H., Olinto, A.V., Orleański, P., Osteria, G., Panasyuk, M.I., Parizot, E., Park, I.H., Park, H.W., Pastircak, B., Patzak, T., Paul, T., Pennypacker, C., Perez Cano, S., Peter, T., Picozza, P., Pierog, T., Piotrowski, L.W., Piraino, S., Plebaniak, Z., Pollini, A., Prat, P., Prévôt, G., Prieto, H., Putis, M., Reardon, P., Reyes, M., Ricci, M., Rodríguez, I., Rodríguez Frías, M.D., Ronga, F., Roth, M., Rothkaehl, H., Roudil, G., Rusinov, I., Rybczyński, M., Sabau, M.D., Sáez-Cano, G., Sagawa, H., Saito, A., Sakaki, N., Sakata, M., Salazar, H., Sánchez, S., Santangelo, A., Santiago Crúz, L., Sanz Palomino, M., Saprykin, O., Sarazin, F., Sato, H., Sato, M., Schanz, T., Schieler, H., Scotti, V., Segreto, A., Selmane, S., Semikoz, D., Serra, M., Sharakin, S., Shibata, T., Shimizu, H.M., Shinozaki, K., Shirahama, T., Siemieniec-Oziȩbło, G., Silva López, H.H., Sledd, J., Słomińska, K., Sobey, A., Sugiyama, T., Supanitsky, D., Suzuki, M., Szabelska, B., Szabelski, J., Tajima, F., Tajima, N., Tajima, T., Takahashi, Y., Takami, H., Takeda, M., Takizawa, Y., Tenzer, C., Tibolla, O., Tkachev, L., Tokuno, H., Tomida, T., Tone, N., Toscano, S., Trillaud, F., Tsenov, R., Tsunesada, Y., Tsuno, K., Tymieniecka, T., Uchihori, Y., Unger, M., Vaduvescu, O., Valdés-Galicia, J.F., Vallania, P., Valore, L., Vankova, G., Vigorito, C., Villaseñor, L., von Ballmoos, P., Wada, S., Watanabe, J., Watanabe, S., Watts, J., Weber, M., Weiler, T.J., Wibig, T., Wiencke, L., Wille, M., Wilms, J., Włodarczyk, Z., Yamamoto, T., Yamamoto, Y., Yang, J., Yano, H., Yashin, I.V., Yonetoku, D., Yoshida, K., Yoshida, S., Young, R., Zotov, M.Y., Zuccaro Marchi, A.

Experimental Astronomy　40　(1)　117-134　2015
Publisher: Springer Netherlands
DOI： 10.1007/s10686-014-9376-3 　

ISSN： 1572-9508 0922-6435

eISSN： 1572-9508
Scale effect analysis for locomotion systems in different gravity fields Peer-reviewed

Kazuya Yoshida, Havard Lund

Progress in Scale Modeling, Volume II: Selections from the International Symposia on Scale Modeling, ISSM VI (2009) and ISSM VII (2013)　265-274　2015/01/01
Publisher: Springer International Publishing
DOI： 10.1007/978-3-319-10308-2_21 　
Lunar Micro Rover Design for Exploration through Virtual Reality Tele-operation Peer-reviewed

Nathan Britton, Kazuya Yoshida, John Walker, Keiji Nagatani, Graeme Taylor, Loic Dauphin

Field and Service Robotics　105　259-272　2015

DOI： 10.1007/978-3-319-07488-7_18 　

ISSN： 1610-7438
Evaluation of hovering thrust performance of shrouded rotors for multi-rotor UAVs to reduce weight Peer-reviewed

Hikaru Otsuka, Keiji Nagatani, Kazuya Yoshida

AIAA Atmospheric Flight Mechanics Conference, 2015　2015
Publisher: American Institute of Aeronautics and Astronautics Inc.
DOI： 10.2514/6.2015-0013 　
Experimental Evaluation of Gripping Characteristics Based on Frictional Theory for Ground Grip Locomotive Robot on an Asteroid Peer-reviewed

Yudai Yuguchi, Warley F. R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida

2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　2822-2827　2015

DOI： 10.1109/ICRA.2015.7139583 　

ISSN： 1050-4729
Experimental Evaluation of Thermal Simulation Model for Lunar Exploration Rover Peer-reviewed

Takuto Oikawa, John Walker, Kazuya Yoshida

2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　882-887　2015

DOI： 10.1109/SII.2015.7405116 　
Verification of RISING-2 Attitude Control System in Generic Hardware-in-the-Loop Simulation Environment Peer-reviewed

Nobuo Sugimura, Yoshihiro Tomioka, Toshinori Kuwahara, Yuji Sakamoto, Kazufumi Fukuda, Kazuya Yoshida

65th International Astronautical Congress　2014/10/03
Development of a Very Small High-Performance Image Acquisition System for Asteroid Exploration Rover MINERVA-II2 Peer-reviewed

Ryosuke Sugano, Tomohiro Narumi, Naohiro Uyama, Shinichi Kimura, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 65th International Astronautical Congress　2014/09
Dual rover robotic mission architecture for exploration of a potential lava tube skylight on the lunar surface Peer-reviewed

WALKER, J, YOSHIDA, K, BRITTON, N, AND SEO, M

Proceedings of the 65th International Aeronautical Congress (2014)　IAC-10-B4.2.12.　2014/09
Aanalysis and Evaluation of Deployment Mechanism of a Tiny Rover in a Microgravity by Drop Tower Experiments Peer-reviewed

Kenji Nagaoka, Hiroyuki Yatsunami, Kazuya Yoshida, Tadashi Adachi, Masamitsu Kurisu, Yoji Kuroda, Tetsuo Yoshimitsu, Takashi Kubota, Hajime Yano

Proceeding s of the 40th COSPAR Scientific Assembly　2014/08
Low-Cost Development and Operation of Tohoku University Scientific Microsatellites Peer-reviewed

Yuji Sakamoto, Toshinori Kuwahara, Kazuya Yoshida

11th Annual Meeting, Asia Oceania Geosciences Society (AOGS 2014), Sapporo, Jul. 2014.　2014/07
Establishment of the Ground Testing Environment for Verification and Integration of Micro-satellite Peer-reviewed

Yoshihiro Tomioka, Kazufumi Fukuda, Nobuo Sugimura, Yuji Sakamoto, Toshinori Kuwahara, Kazuya Yoshida

Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan, Vol.12(2014) No.ists29, Jun. 12, 2014, p.Tf_33-Tf_38　2014/06/12

DOI： 10.2322/tastj.12.Tf_33 　
Dynamic Simulator for HTV Capture with Space Station Remote Manipulator System Peer-reviewed

Ryo Yoshimitsu, Yudai Yuguchi, Akinori Kobayashi, Riku Takano, Kenji Nagaoka, Kazuya Yoshida, Satoko Abiko, Hiroki Nakanishi, Mitsushige Oda, Hiroshi Ueno

Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space　2014/06
Development and Field Testing of Moonraker: a Four-Wheel Rover in Minimal Design Peer-reviewed

Kazuya Yoshida, Nathan Britton, John Walker

Proceedings of the 12th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2014)　2014/06
Operation Results of Cubesat RAIKO Released from International Space Station Peer-reviewed

Yuji Sakamoto, Yuta Tanabe, Hitoshi Yagisawa, Nobuo Sugimura, Kazuya Yoshida, Masanori Nishio, Tomoyuki Nakajo, Hiroaki Akiyama

Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan, Vol.12(2014) No.ists29, Apr. 4, 2014, p.Tf_7-Tf_12　12　(29)　Tf_7-Tf_12　2014/04/04
Publisher: THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
DOI： 10.2322/tastj.12.Tf_7 　

ISSN： 1884-0485

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The 2-unit size cubesat RAIKO is a nanosatellite developed by Tohoku University and Wakayama University. This paper shows the mission and system specifications. The satellite was released to space on October 4, 2012 from International Space Station, which was the 419-km alt. circular orbit. The techniques for 50-kg microsatellites by Tohoku University are transferred to this satellite, so a lot of functions are included although the power and mass budgets are strongly restricted. The primary missions are the photo storage by different 3 optical sensors, the de-orbit mechanism experiment by expandable thin films, and Ku-band downlink communication experiment. The satellite operation was finished by orbital decay on August 6, 2013. The telemetry data were successful received in total 123 passes, in which total 63 photo images were obtained and maximum 100 kbps (200 ksps) downlink was successful. Using color CMOS camera, gradually separating ISS could be confirmed. From analysis of house-keeping data, the solar generation power in sunshine was 3.38 W (no paddles) to 5.77 W (with paddles) in average, the temperature of onboard computer was in the range of 20.8 to 28.7 deg C, and the battery temperature was 4.2 deg C in average. The real flight data from the 10-month operation will be precious information for future nanosatellite projects.
Evaluation of Rotary wing Thrust of Small UAVs in High Altitude Flight Conditions Peer-reviewed

Hikaru Otsuka, Masaki Okochi, Keiji Nagatani, Keisuke Asai, Kazuya Yoshida

The 1st International Conference on Computational Engineering and Science for Safety and Environmental Problems　2014/04
Development of the Stratospheric Telescope for Observations of Planets-FUJIN-1-and Evaluation of the Pointing Control System

SHOJI YASUHIRO, TAGUCHI MAKOTO, NAKANO TOSHIHIKO, MAEDA ATSUNORI, TAKAHASHI YUKIHIRO, IMAI MASATAKA, NAKAMOTO JUMPEI, WATANABE MAKOTO, GODA YUYA, KAWAHARA TAKESHI, YOSHIDA KAZUYA, SAKAMOTO YUJI

宇宙航空研究開発機構研究開発報告　13　(11)　87-15　2014/03

ISSN： 1349-1113
Improvement of slope traversability for a multi-DOF tracked vehicle with active reconfiguration of its joint forms Peer-reviewed

Genki Yamauchi, Takahiro Noyori, Keiji Nagatani, Kazuya Yoshida

12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings　2014/01/21
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI： 10.1109/SSRR.2014.7017678 　
Development and field testing of UAV-based sampling devices for obtaining volcanic products Peer-reviewed

Ryosuke Yajima, Keiji Nagatani, Kazuya Yoshida

12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings　2014/01/21
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI： 10.1109/SSRR.2014.7017680 　
Space robotics Peer-reviewed

Kazuya Yoshida, Dragomir Nenchev, Genya Ishigami, Yuichi Tsumaki

The International Handbook of Space Technology　541-573　2014/01/01
Publisher: Springer Berlin Heidelberg
DOI： 10.1007/978-3-642-41101-4_19 　
Collaborative mapping of an earthquake damaged building via ground and aerial robots Peer-reviewed

Nathan Michael, Shaojie Shen, Kartik Mohta, Vijay Kumar, Keiji Nagatani, Yoshito Okada, Seiga Kiribayashi, Kazuki Otake, Kazuya Yoshida, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　92　33-47　2014

DOI： 10.1007/978-3-642-40686-7_3 　

ISSN： 1610-7438 1610-742X

eISSN： 1610-742X
CubeSat mission for UV-Visible observations of meteors from space: S-CUBE (S3: Shootingstar Sensing Satellite)

R Ishimaru, Y. Sakamoto, M. Kobayashi, S. Fujita, T. Gonai, H. Senshu, K. Wada, M, Yamada, K. Kurosawa, S. Hosokawa, K. Yoshida, M. Sato, Y. Takahashi, T. Matsui

LPS XXXXV, Abstract　1846　2014
Three-dimensional thermography mapping for mobile rescue robots Peer-reviewed

Keiji Nagatani, Kazuki Otake, Kazuya Yoshida

Springer Tracts in Advanced Robotics　92　49-63　2014

DOI： 10.1007/978-3-642-40686-7_4 　

ISSN： 1610-7438 1610-742X
Attitude Control for Earth Observation Microsatellite RISING-2 Peer-reviewed

Nobuo Sugimura, Kazufumi Fukuda, Masato Fukuyama, Yoshihiro Tomioka, Toshinori Kuwahara, Yuji Sakamoto, Kazuya Yoshida, Yukihiro Takahashi

Small Satellite Missions for Earth Observation: Missions & Technologies, Operational Responsive Space, Commercial Constellations　1　(4)　262-269　2014
Attitude Control for Earth Observation Microsatellite RISING-2 Peer-reviewed

Nobuo Sugimura, Kazufumi Fukuda, Masato Fukuyama, Yoshihiro Tomioka, Toshinori Kuwahara, Yuji Sakamoto, Kazuya Yoshida, Yukihiro Takahashi

Small Satellite Missions for Earth Observation: Missions & Technologies, Operational Responsive Space, Commercial Constellations, p.262-269, 2014　2014
Modeling and Analysis of Tether-Based Mobile Robot Based on Flight Experiments Peer-reviewed

Daichi Hirano, Akinori Kobayashi, Kenji Nagaoka, Kazuya Yoshida, Hiroki Kato, Keisuke Watanabe, Atsushi Ueta, Satoko Abiko, Shinichiro Nishida, Mitsushige Oda, Hiroki Nakanishi, Masahiro Yoshii, Satoshi Suzuki

2014 IEEE AEROSPACE CONFERENCE　2014

DOI： 10.1109/AERO.2014.6836266 　
Simultaneous Control for End-Point Motion and Vibration Suppression of a Space Robot Based on Simple Dynamic Model Peer-reviewed

Daichi Hirano, Yusuke Fujii, Satoko Abiko, Roberto Lampariello, Kenji Nagaoka, Kazuya Yoshida

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　6631-6637　2014

DOI： 10.1109/ICRA.2014.6907838 　

ISSN： 1050-4729
Development and Field Test of Teleoperated Mobile Robots for Active Volcano Observation Peer-reviewed

Keiji Nagatani, Ken Akiyama, Genki Yamauchi, Kazuya Yoshida, Yasushi Hada, Shin'ichi Yuta, Tomoyuki Izu, Randy Mackay

2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)　1932-1937　2014

DOI： 10.1109/IROS.2014.6942818 　

ISSN： 2153-0858
Measurement Method for Two-dimensional Normal Stress Distribution of Wheels on Lateral Loose Soil Slopes Peer-reviewed

Shoya Higa, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　603-608　2014

DOI： 10.1109/SII.2014.7028107 　
Development of Small Optical Transmitter for Microsatellites Peer-reviewed

Kazufumi Fukuda, Tatsuaki Hashimoto, Toshinori Kuwahara, Hiroo Kunimori, Kazuya Yoshida

2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　370-375　2014

DOI： 10.1109/SII.2014.7028066 　
Modeling, Analysis, and Control of an Actively Reconfigurable Planetary Rover for Traversing Slopes Covered with Loose Soil Peer-reviewed

Hiroaki Inotsume, Masataku Sutoh, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

JOURNAL OF FIELD ROBOTICS　30　(6)　2013/11

DOI： 10.1002/rob.21479 　

ISSN： 1556-4959

eISSN： 1556-4967
Modeling, Analysis, and Control of an Actively Reconfigurable Planetary Rover for Traversing Slopes Covered with Loose Soil Peer-reviewed

Hiroaki Inotsume, Masataku Sutoh, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

JOURNAL OF FIELD ROBOTICS　30　(6)　875-896　2013/11

DOI： 10.1002/rob.21479 　

ISSN： 1556-4959

eISSN： 1556-4967
Development and Operation of Tohoku University Micro Satellite Series for Earth Observation Science Peer-reviewed

Yuji Sakamoto, Toshinori Kuwahara, Kazuya Yoshida

Asian Conference on Remote Sensing (ACRS 2013), Bali, Oct. 2013.　2013/10
Model-Based Environment for Verification and Integration of Micro-Satellites Peer-reviewed

Toshinori Kuwahara, Yoshihiro Tomioka, Kazufumi Fukuda, Nobuo Sugimura, Yuji Sakamoto, Kazuya Yoshida

19th IFAC Symposium on Automatic Control in Aerospac　2013/09/03
Impacts of Space Plug-And-Play Technology on Micro and Nano-Satellites Peer-reviewed

Toshinori Kuwahara, Yoshihiro Tomioka, Kazufumi Fukuda, Kazuya Yoshida, Johan Baeckstroem, Fredrik Bruhn

19th IFAC Symposium on Automatic Control in Aerospace　2013/09/03
Generic Thermal Design Strategy for 50kg-class Micro-Satellites Peer-reviewed

Yoshihiro Tomioka, Toshinori Kuwahara, Yuji Sakamoto, Kazufumi Fukuda, Nobuo Sugimura, Kazuya Yoshida

64th International Astronautical Congress, Beijing, Sep. 2013.　2013/09
DYNAMIC CLOSED LOOP ATTITUDE CONTROL SIMULATION AND VERIFICATION ENVIRONMENT FOR MICRO-SATELLITES Peer-reviewed

Kazufumi Fukuda, Toshinori Kuwahara, Yoshihiro Tomioka, Yuji Sakamoto, Kazuya Yoshida

64th International Astronautical Congress　2013/09
A SERIES OF DE-ORBIT MECHANISM FOR ACTIVE PREVENTION AND REDUCTION OF SPACE DEBRIS Peer-reviewed

Toshinori Kuwahara, Kazuya Yoshida, Yuji Sakamoto, Yoshihiro Tomioka, Kazufumi Fukuda, Nobuo Sugimura

64th International Astronautical Congress　2013/09
MODEL-BASED SIMULATION AND VERIFICATION ENVIRONMENT FOR SPACE PLUG-AND-PLAY AVIONICS Peer-reviewed

Toshinori Kuwahara, Kazuya Yoshida, Yuji Sakamoto, Yoshihiro Tomioka, Kazufumi FUkuda, Nobuo Sugimura

64th International Astronautical Congress　2013/09
Constellation of Earth Observation Micro-satellites with Multi-spectral High-resolution Telescopes Peer-reviewed

Toshinori Kuwahara, Kazuya Yoshida, Yuji Sakamoto, Yoshihiro Tomioka, Kazufumi Fukuda, Nobuo Sugimura, Junichi Kurihara, Tetsuya Fukuhara, Yukihiro Takahashi

27th Annual AIAA/ASU Conference on Small Satellites　(SSC13-IV-7)　1-6　2013/08/13
Laser Data Downlink System of Micro-satellite RISESAT Peer-reviewed

Toshinori Kuwahara, Kazuya Yoshida, Yoshihiro Tomioka, Kazufumi Fukuda, Hiroo Kunimori, Morio Toyoshima, Tetsuharu Fuse, Toshihiro Kubooka, Junichi Kurihara, Yukihiro Takahashi

27th Annual AIAA/ASU Conference on Small Satellites　(SSC13-II-5)　1-11　2013/08/12
Positioning device for outdoor mobile robots using optical sensors and lasers Peer-reviewed

Isaku Nagai, Genki Yamauchi, Keiji Nagatani, Keigo Watanabe, Kazuya Yoshida

Advanced Robotics　27　(15)　1147-1160　2013/07

DOI： 10.1080/01691864.2013.819603 　

ISSN： 0169-1864 1568-5535
Qualification and Characterization of Very Small Optical Transponder Component (VSOTA) Flight Model for a Micro Satellite RISESAT Peer-reviewed

Hiroo Kunimori, Toshihiro Kubo-oka, Hideki Takenaka, Tetsuharu Fuse, Morio Toyoshima, Toshinori Kuwahara, Yoshihiro Tomioka, Kazufumi Fukuda, Masato Fukuyama, Kazuya Yoshida

29th International Symposium on SpaceTechnology and Science　2013/06/05
Dynamic Test Table with Spherical Air Bearing for Microsatellite Peer-reviewed

Kazufumi Fukuda, Toshinori Kuwahara, Yoshihiro Tomioka, Nobuo Sugimura, Kazuya Yoshida

29th International Symposium on SpaceTechnology and Science　2013/06/05
Operation Results of Cubesat RAIKO Released from International Space Station

Yuji Sakamoto, Yuta Tanabe, Hitoshi Yagisawa, Nobuo Sugimura, Kazuya Yoshida, Masanori Nishio, Tomoyuki Nakajo, Hiroaki Akiyama

The 29th International Symposium on Space Technology and Science (29th ISTS)　2013/06
Attitude Control System of International Scientific Micro-satellite RISESAT Peer-reviewed

Toshinori KUWAHARA, Kazufumi FUKUDA, Yoshihiro TOMIOKA, Masato FUKUYAMA, Yuji SAKAMOTO, Kazuya YOSHIDA

The 29th International Symposium on Space Technology and Science　2013/06
Establishment of the Ground Testing Environment for Verification and Integration of Micro-satellite Peer-reviewed

Yoshihiro Tomioka, Kazuya Yoshida, Yuji Sakamoto, Toshinori Kuwahara, Kazufumi Fukuda, Nobuo Sugimura

The 29th International Symposium on Space Technology and Science　2013/06

DOI： 10.2322/tastj.12.Tf_33 　
A Coordination Method of Gondola Attitude Control and Telescope Pointing Control on a Balloon-Borne Telescope Peer-reviewed

Toshihiko Nakano, Yasuhiro Shoji, Yuji Sakamoto, Toshinori Kuwahara, Makoto Watanabe, Yukihiro Takahashi, Makato Taguchi, Kazuya Yoshida

The 29th International Symposium on Space Technology and Science　2013/06
Demands on Reliable and Robust Wireless Communications under Land-Sea-and-Air Extreme Environments Invited Peer-reviewed

Kazuya Yoshida, Koji Izumi, Hiroshi Yoshida, Ryu Miura, Fumie Ono

IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES　E96A　(5)　844-852　2013/05

DOI： 10.1587/transfun.E96.A.844 　

ISSN： 0916-8508

eISSN： 1745-1337
An evaluation of the exposure in nadir observation of the JEM-EUSO mission International-journal International-coauthorship Peer-reviewed

J. H. Adams, S. Ahmad, J. -N. Albert, D. Allard, M. Ambrosio, L. Anchordoqui, A. Anzalone, Y. Arai, C. Aramo, K. Asano, M. Ave, P. Barrillon, T. Batsch, J. Bayer, T. Belenguer, R. Bellotti, A. A. Berlind, M. Bertaina, P. L. Biermann, S. Biktemerova, C. Blaksley, J. Biccki, S. Blin-Bondil, J. Bluemer, P. Bobik, M. Bogomilov, M. Bonamente, M. S. Briggs, S. Briz, A. Bruno, F. Cafagna, D. Campana, J. -N. Capdevielle, R. Caruso, M. Casolino, C. Cassardo, G. Castellini, O. Catalano, A. Cellino, M. Chikawa, M. J. Christi, V. Connaughton, J. F. Cortes, H. J. Crawford, R. Cremonini, S. Csorna, J. C. D'Olivo, S. Dagoret-Campagne, A. J. de Castro, C. De Donato, C. de la Taille, L. del Peral, A. Dell'Oro, M. P. De Pascale, M. Di Martino, G. Distratis, M. Dupieux, A. Ebersoldt, T. Ebisuzaki, R. Engel, S. Falk, K. Fang, F. Fenu, I. Fernandez-Gomez, S. Ferrarese, A. Franceschi, J. Fujimoto, P. Galeotti, G. Garipov, J. Geary, U. G. Giaccari, G. Giraudo, M. Gonchar, C. Gonzalez Alvarado, P. Gorodetzky, F. Guarino, A. Guzman, Y. Hachisu, B. Harlov, A. Haungs, J. Hernandez Carretero, K. Higashide, T. Iguchi, H. Ikeda, N. Inoue, S. Inoue, A. Insolia, F. Isgro, Y. Itow, E. Joven, E. G. Judd, A. Jung, F. Kajino, T. Kajino, I. Kaneko, Y. Karadzhov, J. Karczmarczyk, K. Katahira, K. Kawai, Y. Kawasaki, B. Keilhauer, B. A. Khrenov, Jeong-Sook Kim, Soon-Wook Kim, Sug-Whan Kim, M. Kleifges, P. A. Klimov, S. H. Ko, D. Kolev, I. Kreykenbohm, K. Kudela, Y. Kurihara, E. Kuznetsov, G. La Rosa, J. Lee, J. Licandro, H. Lim, F. Lopez, M. C. Maccarone, K. Mannheim, L. Marcelli, A. Marini, G. Martin-Chassard, O. Martinez, G. Masciantonio, K. Mase, R. Matev, A. Maurissen, G. Medina-Tanco, T. Mernik, H. Miyamoto, Y. Miyazaki, Y. Mizumoto, G. Modestino, D. Monnier-Ragaigne, J. A. Morales de los Rios, B. Mot, T. Murakami, M. Nagano, M. Nagata, S. Nagataki, T. Nakamura, J. W. Nam, S. Nam, K. Nam, T. Napolitano, D. Naumov, A. Neronov, K. Nomoto, T. Ogawa, H. Ohmori, A. V. Olinto, P. Orleanski, G. Osteria, N. Pacheco, M. I. Panasyuk, E. Parizot, I. H. Park, B. Pastircak, T. Patzak, T. Paul, C. Pennypacker, T. Peter, P. Picozza, A. Pollini, H. Prieto, P. Reardon, M. Reinabi, M. Reyes, M. Ricci, I. Rodriguez, M. D. Rodriguez Frias, F. Ronga, H. Rothkaehl, G. Roudil, I. Rusinov, M. Rybczynski, M. D. Sabau, G. Saez Cano, A. Saito, N. Sakaki, M. Sakata, H. Salazar, S. Sanchez, A. Santangelo, L. Santiago Cruz, M. Sanz Palomino, O. Saprykin, F. Sarazin, H. Sato, M. Sato, T. Schanz, H. Schieler, V. Scotti, M. Scuderi, A. Segreto, S. Selmane, D. Semikoz, M. Serra, S. Sharakin, T. Shibata, H. M. Shimizu, K. Shinozaki, T. Shirahama, G. Siemieniec-Ozigbio, H. H. Silva Lopez, J. Sledd, K. Slomiriska, A. Sobey, T. Sugiyama, D. Supanitsky, M. Suzuki, B. Szabelska, J. Szabelski, F. Tajima, N. Tajima, T. Tajima, Y. Takahashi, H. Takami, M. Takeda, Y. Takizawa, C. Tenzer, O. Tibolla, L. Tkachev, T. Tomida, N. Tone, F. Trillaud, R. Tsenov, K. Tsuno, T. Tymieniecka, Y. Uchihori, O. Vaduvescu, J. F. Valdes-Galicia, P. Vallania, L. Valore, G. Vankova, C. Vigorito, L. Villasenor, P. von Ballmoos, S. Wada, J. Watanabe, S. Watanabe, J. Watts, M. Weber, T. J. Weiler, T. Wibig, L. Wiencke, M. Wille, J. Wilms, Z. Wlodarczyk, T. Yamamoto, Y. Yamamoto, J. Yang, H. Yano, I. V. Yashin, D. Yonetoku, K. Yoshida, S. Yoshida, R. Young, A. Zamora, A. Zuccaro Marchi

ASTROPARTICLE PHYSICS　44　76-90　2013/04

DOI： 10.1016/j.astropartphys.2013.01.008 　

ISSN： 0927-6505

eISSN： 1873-2852
Space Plug and Play Compatible Earth Observation Payload Instruments Peer-reviewed

Toshinori Kuwahara, Yoshihiro Tomioka, Kazufumi Fukuda, Yuji Sakamoto, Kazuya Yoshida

The 9th IAA Symposium on Small Satellites for Earth Observation　2013/04
Attitude Control for Earth Observation Microsatellite RISING-2 Peer-reviewed

Nobuo Sugimura, Kazufumi Fukuda, Masato Fukuyama, Yoshihiro Tomioka, Toshinori Kuwahara, Yuji Sakamoto, Kazuya Yoshida, Yukihiro Takahashi

The 9th IAA Symposium on Small Satellites for Earth Observation　2013/04
Down link optical communication experiment using micro satellite body pointing and collaboration with co-located science instrument

Hiroo Kunimori, Toshihiro Kubooka, Tetsuharu Fuse, Hideki Takenaka, Morio Toyoshima, Toshinori Kuwahara, Kazuya Yoshida, Yoshihiro Tomioka, Kazufumi Fukuda, Junichi Kurihara, Yukihiro Takahashi

Proceedings of the International Astronautical Congress, IAC　4　3132-3136　2013

ISSN： 0074-1795
PERFORMANCE EVALUATION FOR POINTING CONTROL SYSTEM OF THE BALLOON-BORNE TELESCOPE Peer-reviewed

Kazuya Yoshida

FIRST IAA CONFERENCE ON DYNAMICS AND CONTROL OF SPACE SYSTEMS 2012, PTS I AND II　2013
Design of Wheels with Grousers for Planetary Rovers Traveling over Loose Soil Peer-reviewed

Masataku Sutoh, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

Journal of Terramechanicss　2013

DOI： 10.1016/j.jterra.2013.05.002 　
Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots Peer-reviewed

Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada, Kazuki Otake, Kazuya Yoshida, Satoshi Tadokoro, Takeshi Nishimura, Tomoaki Yoshida, Eiji Koyanagi, Mineo Fukushima, Shinji Kawatsuma

Journal of Field Robotics　30　(1)　44-63　2013/01

DOI： 10.1002/rob.21439 　

ISSN： 1556-4959 1556-4967

eISSN： 1556-4967
Design of wheels with grousers for planetary rovers traveling over loose soil Peer-reviewed

Masataku Sutoh, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

Journal of Terramechanics　50　(5-6)　345-353　2013

DOI： 10.1016/j.jterra.2013.05.002 　

ISSN： 0022-4898
Path Planning for Mobile Robot on Rough Terrain based on Sparse Transition Cost Propagation in Extended Elevation Maps Peer-reviewed

Takeshi Ohki, Keiji Nagatani, Kazuya Yoshida

2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)　494-499　2013

DOI： 10.1109/ICMA.2013.6617967 　
Volcanic Ash Observation in Active Volcano Areas using Teleoperated Mobile Robots - Introduction to Our Robotic-Volcano-Observation Project and Field Experiments Peer-reviewed

Keiji Nagatani, Ken Akiyama, Genki Yamauchi, Hikaru Otsuka, Takuma Nakamura, Seiga Kiribayashi, Kazuya Yoshida, Yasushi Hada, Shini'chi Yuta, Kenichi Fujino, Tomoyuki Izu, Randy Mackay

2013 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR)　5A1　2013

ISSN： 2374-3247
Development of Multi-DOF Tracked Vehicle to Traverse Weak Slope and Climb up Rough Slope Peer-reviewed

Keiji Nagatani, Takahiro Noyori, Kazuya Yoshida

2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　2849-2854　2013

DOI： 10.1109/IROS.2013.6696759 　

ISSN： 2153-0858
Modeling and Analysis of Ciliary Micro-Hopping Locomotion Actuated by an Eccentric Motor in a Microgravity Peer-reviewed

Kenji Nagaoka, Kazuya Yoshida

2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　763-768　2013

DOI： 10.1109/IROS.2013.6696437 　

ISSN： 2153-0858
Vibration Suppression Control of a Space Robot with Flexible Appendage based on Simple Dynamic Model Peer-reviewed

Daichi Hirano, Yusuke Fujii, Satoko Abiko, Roberto Lampariello, Kenji Nagaoka, Kazuya Yoshida

2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　789-794　2013

DOI： 10.1109/IROS.2013.6696441 　

ISSN： 2153-0858
Design of Underactuated Hand for Caging-Based Grasping of Free-Flying Object Peer-reviewed

Daichi Hirano, Kenji Nagaoka, Kazuya Yoshida

2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　436-442　2013
Qualification Results of a Sail Deployment Mechanism for Active Prevention and Reduction of Space Debries Peer-reviewed

Toshinori Kuwahara, Kazuya Yoshida, Yuji Sakamoto, Yoshihiro Tomioka, Kazufumi Fukuda, Masato Fukuyama, Yuta Tanabe, Yoshihiko Shibuya

63rd International Astronautical Congress　(IAC-12.A6.4.5)　2012/10
Space Plug and Play Avionics for Small Satellites Peer-reviewed

Toshinori Kuwahara, Kazuya Yoshida, Yuji Sakamoto, Yoshihiro Tomioka, Kazufumi Fukuda, Yoshihiko Shibuya

63rd International Astronautical Congress　(IAC-12.B4.7A.5)　2012/10
Establish the Environment to Support Cost-Effective and Rapid Development of Micro-Satellites Peer-reviewed

Yoshihiro Tomioka, Kazuya Yoshida, Yuji Sakamoto, Toshinori Kuwahara, Kazufumi Fukuda, Nobuo Sugimura, Masato Fukuyama, Yoshihiko Shibuya

63rd International Astronautical Congress　(IAC-12-D1.6.4)　2012/10
System Description and Result of Ground Test for Cubesat RAIKO

Hitoshi Yagisawa, Yuji Sakamoto, Yuta Tanabe, Nobuo Sugimura, Toshinori Kuwahara, Kazuya Yoshida

UN/Japan Nano-Satellite Symposium　2012/10
EVALUATION OF INFLUENCE OF WHEEL SURFACE SHAPES ON TRACTIVE EFFICIENCIES OF PLANETARY ROVERS IN VARIOUS SOIL ENVIRONMENTS Peer-reviewed

Masataku Sutoh, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

The international Symposium on Artificial Intelligence， Robotics and Automation in Space (iSAIRAS 2012)　7-C-3　2012/09
Collaborative mapping of an earthquake-damaged building via ground and aerial robots Peer-reviewed

Nathan Michael, Shaojie Shen, Kartik Mohta, Yash Mulgaonkar, Vijay Kumar, Keiji Nagatani, Yoshito Okada, Seiga Kiribayashi, Kazuki Otake, Kazuya Yoshida, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro

JOURNAL OF FIELD ROBOTICS　29　(5)　832-841　2012/09

DOI： 10.1002/rob.21436 　

ISSN： 1556-4959

eISSN： 1556-4967
International Scientific Micro-satellite RISESAT based on Space Plug and Play Avionics Peer-reviewed

Toshinori Kuwahara, Kazuya Yoshida, Yuji Sakamoto, Yoshihiro Tomioka, Kazufumi Fukuda, Masahiro Fukuyama, Yoshihiko Shibuya

26th Annual AIAA/ASU Conference on Small Satellites　(SSC12-I-1)　1-10　2012/08/13
Evaluation of Power Control System for Micro and Nano Satellites by Hardware-in-the-Loop Simulator Peer-reviewed

Yuji Sakamoto, Toshinori Kuwahara, Yoshihiro Tomioka, Kazufumi Fukuda, Kazuya Yoshida

26th Annual AIAA/ASU Conference on Small Satellites　(SSC12-X-8)　1-7　2012/08/12
A Balloon-borne Telescope for Planetary Observations Peer-reviewed

Yasuhiro Shoji, Yukihiro Takahashi, Makoto Taguchi, Kazuya Yoshida, Yuji Sakamoto, Makoto Watanabe, Toshihiko Nakano, Ryosuke Fujimura, Mutsumi Yamamoto

39th COSPAR Scientific Assembly　39　1794　2012/07/14
Improvements to the rescue robot Quince Toward future indoor surveillance missions in the Fukushima Daiichi Nuclear Power Plant Peer-reviewed

Tomoaki Yoshida, Keiji Nagatani, Satoshi Tadokoro, Takeshi Nishimura, Eiji Koyanagi

Preprints of the 8th International Conference on Field and Service Robotics　2012/07
Traveling performance evaluation of planetary rovers on loose soil Peer-reviewed

Masataku Sutoh, Junya Yusa, Tsuyoshi Ito, Keiji Nagatani, Kazuya Yoshida

JOURNAL OF FIELD ROBOTICS　29　(4)　648-662　2012/07

DOI： 10.1002/rob.21405 　

ISSN： 1556-4959
VSOTA: ほどよし2号機の光通信ミッションについて Peer-reviewed

國森裕生, 吉田和哉

The Institute of Electronics, Information and Communication Engineers (IEICE), The Committee on Space, Aeronautical and Navigational Electronics Technical Report　2012/06
Analysis of the Traveling Performance of Planetary Rovers with Wheels Equipped with Lugs over Loose Soil Peer-reviewed

M. Sutoh, K. Nagatani, K. Yoshida

Earth and Space 2012, , 5th NASA/ASCE Workshop on Granular Materials in Lunar and Martian Exploration　1-10　2012/04
伊豆大島における不整地移動ロボットの走行試験および自己位置推定試験 Peer-reviewed

永谷圭司, 大木健, Nathan Britton, 佐藤毅一, 野寄敬博, 高橋悠輔, 山内元貴, 秋山健, 吉田和哉

日本惑星科学会誌Vol. 21， No. 2　121-129　2012/03

DOI： 10.14909/yuseijin.21.2_121 　
Lunar robotics challenge

Yoshida, K., Wettergreen, D.

Journal of Field Robotics　29　(4)　2012

DOI： 10.1002/rob.21429 　
Editorial

Yoshida, K., Wettergreen, D.

Journal of Field Robotics　29　(3)　2012

DOI： 10.1002/rob.21425 　
Sensing Applications Using Micro-Satellites

KIMURA Shinichi, NAKASUKA Shinichi, GOUDA Naoteru, YAMAMOTO Masaya, IWASAKI Akira, KURAHARA Naomi, YOSHIDA Kazuya, TAKAHASHI Yukihiro

Aeronautical and Space Sciences Japan　60　(4)　137-148　2012
Publisher: THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
DOI： 10.14822/kjsass.60.4_137 　

ISSN： 0021-4663
Development and Verification Environment for the Attitude Determination and Control System of the Micro-satellite RISESAT Peer-reviewed

Toshinoi Kuwahara, Yuji Sakamoto, Kazuya Yoshida, Yoshihiro Tomioka, Kazushi Fukuda, Nobuo Sugimura, Masato Fukuyama, Yoshihiko Shibuya

第20回スペース・エンジニアリング・コンファレンス【SEC’11】　2012/01

DOI： 10.2322/tastj.10.Td_11 　
Contact Dynamics Simulation for Capture Operation by Snare Wire Type of End Effector Peer-reviewed

Satoko Abiko, Naohiro Uyama, Tetsuya Ikuta, Kenji Nagaoka, Kazuya Yoshida, Hiroki Nakanishi, Mitsushige Oda

11th International Symposium on Artificial Intelligence, Robotics and Automation in Space　#3B-2　2012
Experimental Analysis on Contact/Impact Mechanics with a Free-flying Object Peer-reviewed

Naohiro Uyama, Yusuke Fujii, Takayuki Izumo, Kenji Nagaoka, Kazuya Yoshida

11th International Symposium on Artificial Intelligence, Robotics and Automation in Space　#3B-4　2012
Ciliary Locomotion of an Asteroid Exploration Rover with an Eccentric Motor Peer-reviewed

Kenji Nagaoka, Riku Takano, Takayuki Izumo, Kazuya Yoshida

11th International Symposium on Artificial Intelligence, Robotics and Automation in Space　#6A-4　2012
System Integration of a Star Sensor for the Small Earth Observation Satellite RISING-2 Peer-reviewed

Toshinori KUWAHARA, Steve BATTAZZO, Yoshihiro TOMIOKA, Kazufumi FUKUDA, Yuji SAKAMOTO, Kazuya YOSHIDA

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN　10　((ists28))　1-6　2012
Publisher: THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
DOI： 10.2322/tastj.10.Td_1 　

ISSN： 1884-0485

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Tohoku University is now finishing the development of its second 50-kg class Earth observation microsatellite RISING-2. RISING-2 is equipped with four camera systems with eight different imaging sensors, including a 5-m ground resolution cassegrain mirror telescope with three fixed wavelength filters in red, green, and blue, as well as a liquid crystal tunable filter. RISING-2 aims to achieve agile high resolution multi-spectral Earth observations. For this mission, Tohoku University has been developing a precise and agile attitude control system including multiple sensors and actuators. The pointing error is required to be less than 0.1 deg and the pointing knowledge shall be better than 0.06 deg. The designed star sensor is based on CCD image sensor which has a flight heritage by the university's first satellite RISING. This system utilizes a pyramid algorithm for secure constellation identification and works with a maximum update frequency of 2 Hz. Its availability is also very high in terms of the satellite's operating angular velocity. In this paper, the system integration of the star sensor as well as the results of its ground based performance evaluation is described in detail.
Contact Dynamics Modeling for Snare Wire Type of End Effector in Capture Operation Peer-reviewed

Naohiro UYAMA, Kazuya YOSHIDA, Hiroki NAKANISHI, Mitsushige ODA, Hirotaka SAWADA, Satoshi SUZUKI

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN　10　(ists28)　77-84　2012
Publisher: THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
DOI： 10.2322/tastj.10.Pd_77 　

ISSN： 1884-0485

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It is essential to perform dynamic simulation in order to verify the safety of capture operation at time of contact between the grapple fixture of the H-II Transfer Vehicle (HTV) and the Latching End Effector (LEE) of the Space Station Remote Manipulator System. This paper presents the contact dynamics model for a snare wire inside the LEE in capturing the grapple fixture of the HTV. An explicit method for modeling contact dynamics is chosen so as to achieve a simple form and low computational cost in dynamic simulation. A contact model is developed using a rigid bar (grapple fixture) and a rigid wire. Wire stiffness is derived from the simplified equation of motion of the wire. The proposed stiffness model enables one to predict contact force during capture operation. Experimental measurement of the wire stiffness in static conditions verifies the proposed stiffness model. For the verification of the proposed model in dynamic conditions, a contact dynamics experiment is conducted using an air-floating test bed, which is capable of emulating two-dimensional planar micro-gravity environment. The experiment and corresponding dynamic simulation confirm the validity and usability of the proposed contact dynamics model.
Evaluation of Influence of Surface Shape of Locomotion Mechanism on Traveling Performance of Planetary Rovers Peer-reviewed

Masataku Sutoh, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　3419-3424　2012

DOI： 10.1109/ICRA.2012.6225024 　

ISSN： 1050-4729
Evaluation of the Reconfiguration Effects of Planetary Rovers on their Lateral Traversing of Sandy Slopes Peer-reviewed

Hiroaki Inotsume, Masataku Sutoh, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　3413-3418　2012

DOI： 10.1109/ICRA.2012.6224887 　

ISSN： 1050-4729
Local Path Planner for Mobile Robot in Dynamic Environment based on Distance Time Transform Method Peer-reviewed

Takeshi Ohki, Keiji Nagatani, Kazuya Yoshida

ADVANCED ROBOTICS　26　(14)　1623-1647　2012

DOI： 10.1080/01691864.2012.694648 　

ISSN： 0169-1864

eISSN： 1568-5535
Slope Traversability Analysis of Reconfigurable Planetary Rovers Peer-reviewed

Hiroaki Inotsume, Masataku Sutoh, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　4470-4476　2012

DOI： 10.1109/IROS.2012.6386044 　

ISSN： 2153-0858
Impedance-Based Contact Control of a Free-Flying Space Robot with a Compliant Wrist for Non-Cooperative Satellite Capture Peer-reviewed

Naohiro Uyama, Hiroki Nakanishi, Kenji Nagaoka, Kazuya Yoshida

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　4477-4482　2012

DOI： 10.1109/IROS.2012.6386082 　

ISSN： 2153-0858
The Pointing Control Method of Balloon-Borne Telescope Compensating the Motion of Flexible Base Peer-reviewed

Toshihiko Nakano, Yasuhiro Shoji, Mutsumi Yamamoto, Ko Hamamoto, Jumpei Nakamoto, Masataka Imai, Yuji Sakamoto, Toshinori Kuwahara, Makoto Watanabe, Yukihiro Takahashi, Kazuya Yoshida, Makoto Taguchi

2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　313-318　2012

DOI： 10.1109/SII.2012.6427318 　
Satellite-to-Ground Optical Communication System on Low Earth Orbit Micro-satellite RISESAT Peer-reviewed

Toshinori Kuwahara, Kazuya Yoshida, Yuji Sakamoto, Yoshihiro Tomioka, Kazufumi Fukuda, Masato Fukuyama, Nobuo Sugimura, Hiroo Kunimori, Hideki Takenaka, Morio Toyoshima, Tetsuharu Fuse, Toshihiro Kubooka

2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　939-944　2012

DOI： 10.1109/SII.2012.6427336 　
Lessons Learned on Structural Design of 50kg Micro-satellites based on Three Real-life Micro-satellite Projects Peer-reviewed

Yoshihiro Tomioka, Kazuya Yoshida, Yuji Sakamoto, Toshinori Kuwahara, Kazufumi Fukuda, Nobuo Sugimura

2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　319-324　2012

DOI： 10.1109/SII.2012.6427314 　
Ground Test of Attitude Control System for Micro Satellite RISING-2 Peer-reviewed

Nobuo Sugimura, Kazufumi Fukuda, Yoshihiro Tomioka, Masato Fukuyama, Yuji Sakamoto, Toshinori Kuwahara, Tetuya Fukuhara, Kazuya Yoshida, Yukihiro Takahashi

2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　301-306　2012

DOI： 10.1109/SII.2012.6427322 　
Satellite system Integration based on Space Plug and Play Avionics Peer-reviewed

Yoshida Kazuya, Yuji Sakamoto

2011 IEEE/SISE International Symposium on Space Integration　2011/12/20

DOI： 10.1109/SII.2011.6147568 　
Development Method of Command and Data Handling System for Micro and Nano Satellites

Yuji Sakamoto, Toshinori Kuwahara, Steve Battazzo, Kazufumi Fukuda, Yoshihiro Tomioka, Kazuya Yoshida

The 3rd Nano-Satellite Symposium, Kitakyushu, Japan, Dec. 12-13, 2011　2011/12
Micro-satellite structure system for cost-effective and rapid development,

Yoshihiro Tomioka, Toshinori Kuwahara, Yuji Sakamoto, Hironori Fukuchi, Yuta Tanabe, Kazuya Yoshida

The 3rd Nano-Satellite Symposium, Kitakyushu, Japan, Dec. 12-13, 2011.　2011/12
Development Status of Micro-satellite De-orbit Mechanisms for Active Prevention and Reduction of Space Debris,

Toshinori Kuwahara, Yoshihiro Tomioka, Yuta Tanabe, Masato Fukuyama, Yuji Sakamoto, Kazuya Yoshida

The 3rd Nano-Satellite Symposium, Kitakyushu, Japan, Dec. 12-13, 2011.　2011/12
ほどよし2号機の開発状況 Peer-reviewed

坂本祐二, 吉田和哉

第55回宇宙科学技術連合講演会　2011/11/30
次世代型超小型衛星の低コスト短期開発手法及びその支援環境の構築 Peer-reviewed

冨岡義弘, 坂本祐二, 吉田和哉

第55回宇宙科学技術連合講演会　2011/11/30
50kg級超小型衛星の効率的な熱設計および評価手法 Peer-reviewed

坂本祐二, 吉田和哉

第55回宇宙科学技術連合講演会　2011/11/30
Shared Autonomy System for Tracked Vehicles on Rough Terrain Based on Continuous Three-Dimensional Terrain Scanning Peer-reviewed

Yoshito Okada, Keiji Nagatani, Kazuya Yoshida, Satoshi Tadokoro, Tomoaki Yoshida, Eiji Koyanagi

JOURNAL OF FIELD ROBOTICS　28　(6)　875-893　2011/11

DOI： 10.1002/rob.20416 　

ISSN： 1556-4959

eISSN： 1556-4967
Development of Leg-Track Hybrid Locomotion to Traverse Loose Slopes and Irregular Terrain Peer-reviewed

Keiji Nagatani, Hiroaki Kinoshita, Kazuya Yoshida, Kenjiro Tadakuma, Eiji Koyanagi

JOURNAL OF FIELD ROBOTICS　28　(6)　950-960　2011/11

DOI： 10.1002/rob.20415 　

ISSN： 1556-4959

eISSN： 1556-4967
Evaluation of influence of surface shape of wheel on traveling performance of planetary rovers over slope Peer-reviewed

Masataku Sutoh, Keiji Nagatani, Kazuya Yoshida

The 17th International Society of Terrain Vehicle Systems International Conference　2011/09
The Evaluation Tests of the Attitude Control System of the 50-kg Micro Satellite RISING-2 Peer-reviewed

Kazufumi Fukuda, Nobuo Sugimura, Yuji Sakamoto, Toshinori Kuwahara, Kazuya Yoshida, Yukihiro Takahashi

Proceedings of the 28th International Symposium on Space Technology and Science　10　(28)　Td_11-Td_16　2011/06
Publisher: THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
DOI： 10.2322/tastj.10.Td_11 　

ISSN： 1884-0485

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The 50-kg class micro satellite RISING-2 is now under development by Tohoku University and Hokkaido University. The development is at Flight Model phase and some components are tested to evaluate its specifications. In this paper, the endurance tests using vacuum chamber and thermal test chamber in Tohoku University are described. There was no problem in those tests. In addition, the attitude control accuracy of the RISING-2 was analyzed in the simulation. This simulation based on component specifications and also included noise data. The results show the pointing error angle was less than required error angle.
System Integration of a Star Sensor for the Small Earth Observation Satellite RISING-2 Peer-reviewed

Toshinori Kuwahara, Steve Battazzo, Yoshihiro Tomioka, Yuji Sakamoto, Kazuya Yoshida

Proceedings of the 28th International Symposium on Space Technology and Science　10　(28)　Td_1-Td_6　2011/06
Publisher: THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
DOI： 10.2322/tastj.10.Td_1 　

ISSN： 1884-0485

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Tohoku University is now finishing the development of its second 50-kg class Earth observation microsatellite RISING-2. RISING-2 is equipped with four camera systems with eight different imaging sensors, including a 5-m ground resolution cassegrain mirror telescope with three fixed wavelength filters in red, green, and blue, as well as a liquid crystal tunable filter. RISING-2 aims to achieve agile high resolution multi-spectral Earth observations. For this mission, Tohoku University has been developing a precise and agile attitude control system including multiple sensors and actuators. The pointing error is required to be less than 0.1 deg and the pointing knowledge shall be better than 0.06 deg. The designed star sensor is based on CCD image sensor which has a flight heritage by the university's first satellite RISING. This system utilizes a pyramid algorithm for secure constellation identification and works with a maximum update frequency of 2 Hz. Its availability is also very high in terms of the satellite's operating angular velocity. In this paper, the system integration of the star sensor as well as the results of its ground based performance evaluation is described in detail.
Experimental Verification of Vibration Control of a Flexible Arm for REX-J Robotic Demonstration on JEM Peer-reviewed

Daichi Hirano, Kazuya Yoshida, Mitsushige Oda, Hiroki Nakanishi

Proceedings of the 28th International Symposium on Space Technology and Science　10　(28)　Pd_27-Pd_32　2011/06
Publisher: THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
DOI： 10.2322/tastj.10.Pd_27 　

ISSN： 1884-0485

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This paper discusses the dynamics and control of an extendable arm for tether-based mobile robots on the International Space Station (ISS). The Japan Aerospace Exploration Agency (JAXA) is developing the robotic system which has an extendable arm and several tethers to support extravehicular activities (EVAs) by astronauts. The robotic experiment, called REX-J, will be conducted on the Japanese Experiment Module (JEM) of the ISS in 2012.The robot used in REX-J has an extendable and retractable arm that deploys tethered-grippers and attaches them to holding points. The arm is highly flexible due to its light-weight design and slender structure. This flexibility causes vibrations that make operation inefficient and difficult. To cope with this issue, we propose a dynamic model and a vibration control method for the arm, and verify their effectiveness by numerical simulation and experiment. The dynamic model of the arm is introduced as a planar two link model with a virtual passive joint. The proposed control method is capable of suppressing the vibrations of the arm using the inertial coupling between the arm and the wrist attached to the arm tip. The results of the simulation and experiment show the validity of the proposed model and control method.
Contact Dynamics Modeling for Snare Wire Type of End Effector in Capture Operation Peer-reviewed

Naohiro Uyama, Kazuya Yoshida, Hiroki Nakanishi, Mitsushige Oda, Hirotaka Sawada, Satoshi Suzuki

Proceedings of the 28th International Symposium on Space Technology and Science　10　(28)　Pd_77-Pd_84　2011/06
Publisher: THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
DOI： 10.2322/tastj.10.Pd_77 　

ISSN： 1884-0485

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It is essential to perform dynamic simulation in order to verify the safety of capture operation at time of contact between the grapple fixture of the H-II Transfer Vehicle (HTV) and the Latching End Effector (LEE) of the Space Station Remote Manipulator System. This paper presents the contact dynamics model for a snare wire inside the LEE in capturing the grapple fixture of the HTV. An explicit method for modeling contact dynamics is chosen so as to achieve a simple form and low computational cost in dynamic simulation. A contact model is developed using a rigid bar (grapple fixture) and a rigid wire. Wire stiffness is derived from the simplified equation of motion of the wire. The proposed stiffness model enables one to predict contact force during capture operation. Experimental measurement of the wire stiffness in static conditions verifies the proposed stiffness model. For the verification of the proposed model in dynamic conditions, a contact dynamics experiment is conducted using an air-floating test bed, which is capable of emulating two-dimensional planar micro-gravity environment. The experiment and corresponding dynamic simulation confirm the validity and usability of the proposed contact dynamics model.
Development Status and Operation Plan of 50-kg Microsatellite RISING-2 for Earth Observations by Multi-Spectrum Instruments Peer-reviewed

Yuji Sakamoto, Toshinori Kuwahara, Kazufumi Fukuda, Kazuya Yoshida, Tetsuya Fukuhara, Junichi Kurihara, Yukihiro Takahashi

Proceedings of the 28th International Symposium on Space Technology and Science　2011/06
Multirobot Exploration for Search and Rescue Missions: A Report on Map Building in RoboCupRescue 2009 Peer-reviewed

Keiji Nagatani, Yoshito Okada, Naoki Tokunaga, Seiga Kiribayashi, Kazuya Yoshida, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro, Hidehisa Akiyama, Itsuki Noda, Tomoaki Yoshida, Eiji Koyanagi

JOURNAL OF FIELD ROBOTICS　28　(3)　373-387　2011/05

DOI： 10.1002/rob.20389 　

ISSN： 1556-4959

eISSN： 1556-4967
A Series of 50kg-Class Micro-Satellites for Advanced Science Missions Peer-reviewed

Kazuya Yoshida, Yuji Sakamoto, Toshinori Kuwahara

Proceedings of the 8th IAA Symposium on Small Satellites for Earth Observation　2011/04
Mission and System of the Earth Observation Microsatellite RISING-2 Peer-reviewed

Toshinori Kuwahara, Yuji Sakamoto, Kazuya Yoshida, Yukihiro Takahashi, Tetsuya Fukuhara, Junichi Kurihara

Proceedings of the 8th IAA Symposium on Small Satellites for Earth Observation　2011/04
International Scientific Missions on a Japan-led Micro-satellite Peer-reviewed

Toshinori Kuwahara, Kazuya Yoshida, Yuji Sakamoto, Yukihiro Takahashi, Junichi Kurihara, Hiroshi Yamakawa, Atsushi Takada

2nd Nano-Satellite Symposium　2011/03
Experimental study and analysis on driving wheels' performance for planetary exploration rovers moving in deformable soil Peer-reviewed

Liang Ding, Haibo Gao, Zongquan Deng, Keiji Nagatani, Kazuya Yoshida

JOURNAL OF TERRAMECHANICS　48　(1)　27-45　2011/02

DOI： 10.1016/j.jterra.2010.08.001 　

ISSN： 0022-4898
Planetary rovers' wheel-soil interaction mechanics: New challenges and applications for wheeled mobile robots Peer-reviewed

Liang Ding, Zongquan Deng, Haibo Gao, Keiji Nagatani, Kazuya Yoshida

Intelligent Service Robotics　4　(1)　17-38　2011

DOI： 10.1007/s11370-010-0080-5 　

ISSN： 1861-2776 1861-2784
Editorial: special issue on space robotics

Kazuya Yoshida

INTELLIGENT SERVICE ROBOTICS　4　(1)　1-1　2011/01

DOI： 10.1007/s11370-010-0085-0 　

ISSN： 1861-2776

eISSN： 1861-2784
Static closed loop test system for attitude control system of micro satellite RISING-2 Peer-reviewed

Kazufumi Fukuda, Yuji Sakamoto, Toshinori Kuwahara, Kazuya Yoshida, Yukihiro Takahashi

2011 IEEE/SICE International Symposium on System Integration, SII 2011　890-895　2011

DOI： 10.1109/SII.2011.6147567 　
Path Planning and Evaluation for Planetary Rovers Based on Dynamic Mobility Index Peer-reviewed

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　601-606　2011

ISSN： 2153-0858
Time-Optimal Detumbling Maneuver along an Arbitrary Arm Motion during the Capture of a Target Satellite Peer-reviewed

Tomohisa Oki, Satoko Abiko, Hiroki Nakanishi, Kazuya Yoshida

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　625-630　2011

DOI： 10.1109/IROS.2011.6048758 　

ISSN： 2153-0858
A Japanese microsatellite bus system for international scientific missions Peer-reviewed

T. Kuwahara, K. Yoshida, Y. Sakamoto, Y. Takahashi, J. Kurihara, H. Yamakawa, A. Takada

62nd International Astronautical Congress 2011, IAC 2011　5　3699-3706　2011
Impedance-based contact control of a free-flying space robot with respect to coefficient of restitution Peer-reviewed

Naohiro Uyama, Daichi Hirano, Hiroki Nakanishi, Kenji Nagaoka, Kazuya Yoshida

2011 IEEE/SICE International Symposium on System Integration, SII 2011　1196-1201　2011

DOI： 10.1109/SII.2011.6147619 　
Gamma-ray irradiation test of electric components of rescue mobile robot Quince - Toward emergency response to nuclear accident at Fukushima Daiichi Nuclear Power Station on March 2011 Peer-reviewed

Keiji Nagatani, Seiga Kiribayashi, Yoshito Okada, Kazuki Otake, Kazuya Yoshida, Satoshi Tadokoro, Takeshi Nishimura, Tomoaki Yoshida, Eiji Koyanagi, Mineo Fukushima, Shinji Kawatsuma

9th IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2011　56-60　2011

DOI： 10.1109/SSRR.2011.6106756 　
Development and evaluation of autonomous mobile manipulator for large scale outdoor environment Peer-reviewed

Takeshi Ohki, Kiichi Sato, Keiji Nagatani, Kazuya Yoshida

2011 IEEE/SICE International Symposium on System Integration, SII 2011　463-468　2011

DOI： 10.1109/SII.2011.6147493 　
Traveling performance estimation for planetary rovers over slope Peer-reviewed

Masataku Sutoh, Ryosuke Yajima, Keiji Nagatani, Kazuya Yoshida

2011 IEEE/SICE International Symposium on System Integration, SII 2011　884-889　2011

DOI： 10.1109/SII.2011.6147566 　
Mechanical Design of the Wheel-Leg Hybrid Mobile Robot to Realize a Large Wheel Diameter Peer-reviewed

Kenjiro TADAKUMA, Riichiro TADAKUMA, Akira MARUYAMA, Eric Rohmer, K eiji NAGATANI, Kazuya YOSHIDA, Aigo MING, Makoto SHIMOJO, Mitsuru HIGASHIMORI, Makoto KANEKO

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems　3358-3365　2010/10
Connected Tracked Robot with Offset Joint Mechanism for Multiple Configurations Peer-reviewed

Kenjiro TADAKUMA, Chigusa OHISHI, Akira MARUYAMA, Riichiro TADAKUMA, Keiji NAGATANI, Kazuya YOSHIDA, Aiguo MING, Makoto SHIMOJO

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems　3366-3371　2010/10
Shared Autonomy System for Turning Tracked Vehicles on Rough Terrain Using Real-Time Terrain Scanning Peer-reviewed

Yoshito Okada, Keiji Nagatani, Kazuya Yoshida, Tomoaki Yoshida, Eiji Koyanagi

International Conference on Advanced Mechatronics　2010　195-200　2010/10
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmeicam.2010.5.195 　

ISSN： 1348-8961

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Tracked vehicles are frequently used as search-andrescue robots for exploring areas affected by disasters. To enable good locomotion during search-and-rescue operations on rough terrain, some of those robots are equipped with active flippers. However, the manual control of such flippers requires a highly skilled operator, particularly when teleoperating with limited camera views. To eliminate this problem, we have developed a shared autonomy system that uses a manual controller for the main tracks and an autonomous controller for the active flippers. However, this system has a limitation in that the controller spreads out the flippers to maintain contact with the ground, and thus, the autonomous flipper motions hinder the turning motion of the robot. In this paper, we introduce a new autonomous controller for the flippers to support the turning motion of tracked vehicles. The new controller can be used instead of the previously developed controller, and it complements our shared autonomy system. We also validate the reliability of the new controller by performing experiments on an actual rough terrain.
Quince: A Collaborative Mobile Robotic Platform for Rescue Robots Research and Development Peer-reviewed

Eric Rohmer, Tomoaki Yoshida, Kazunori 0hno, Keiji Nagatani, Satoshi Tadokoro, Eiji Koyanagi

International Conference on Advanced Mechatronics　2010　225-230　2010/10
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmeicam.2010.5.225 　

ISSN： 1348-8961

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Rapid information gathering during the initial stage of investigation is an important process in case of disasters. However this task could be very risky for human rescue crews, when the infrastructure of the building has been compromised or the environment contaminated by nuclear, biological, or chemical weapons. To be able to develop robots that can go inside the site instead of humans, several area of robotics need to be addressed and integrated inside a common robotic platform. To facilitate such integrations, we developed a highly maneuverable mobile robot which software and hardware architecture has been designed keeping in mind collaboration between research and development groups of different interests. In this paper, we described the modular interoperable and extensive hardware and software architecture of Quince, a high degree of mobility rescue robot.
Development of the microsatellite RISING-2 by Tohoku University and Hokkaido University Peer-reviewed

Yukihiro Takahashi, Kazuya Yoshida, Kazufumi Fukuda, Toshihiko Nakano, Steve Battazzo, Tetsuya Fukuhara, Junichi Kurihara

Proceedings of the 61th International Astronautical Congress　2010/09
Traveling Performance Evaluation for Planetary Rovers on Weak Soil Peer-reviewed

M.Sutoh, J.Yusa, K.Nagatani, K.Yoshida

Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space　546-551　2010/08
Vibration Control of Flexible Arm for Robot Experiment on JEM Peer-reviewed

D.Hirano, H.Nakanishi, K.Yoshida, Tohoku Univ, T.Ueno, M.Oda, T.Kuratomi

Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space　2010/08
パノラマ地平線画像を用いた惑星探査ローバーのグローバル位置推定システムの構築 Peer-reviewed

Akira Oiri, Keiji Nagatani, Kazuya Yoshida

日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2010　1A2-B21　2010/06
レーザ光源と光学センサを用いたスリップに頑強な移動ロボット用位置推定システムの構築 Peer-reviewed

Isaku Nagai, Keigo Watanabe, Keiji Nagatani, Kazuya Yoshida

日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2010　2A2-D30　2010/06
移動物体検知のための高速三次元距離情報取得システムの構築 Peer-reviewed

Kazuki Otake, Naoki Tokunaga, Keiji Nagatani, Kazuya Yoshida

日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2010　1P1-E01　2010/06
軟弱地盤及び不整地走行を目的とした小型の脚・クローラハイブリット機構の開発 Peer-reviewed

Hiroaki Kinoshita, Keiji Nagatani, Kazuya Yoshida

日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2010　2A1-E25　2010/06
軟弱地盤における車輪機構の走行性能に車輪パラメータが及ぼす影響の評価 Peer-reviewed

Masataku Suto, yunya Yusa, Keiji Nagatani, Kazuya Yoshida

日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2010　1A2-B23　2010/06
路面の逐次三次元計測に基づいたクローラ型ロボットの不整地走行支援システムの構築 Peer-reviewed

Yoshito Okada, Keiji Nagatani, Kazuya Yoshida

第15回ロボティクスシンポジア予稿集　2010/03
応力測定に基づいた車輪型砂上移動ロボットの登坂能力に関する研究 Peer-reviewed

Keisuke Sato, Keiji Nagatani, Kazuya Yoshida

第15回ロボティクスシンポジア予稿集　2010/03
Development of the microsatellite rising-2 by Tohoku University and Hokkaido University

Yuji Sakamoto, Yukihiro Takahashi, Kazuya Yoshida, Kazufumi Fukuda, Toshihiko Nakano, Steve Battazzo, Tetsuya Fukuhara, Junichi Kurihara

61st International Astronautical Congress 2010, IAC 2010　1　469-473　2010
Analysis of contact dynamics for free-flying target capture operation with hybrid simulation Peer-reviewed

Hiroki Nakanishi, Hayato Sato, Kazuya Yoshida, Hirotaka Sawada, Mitsushige Oda

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C　76　(769)　2294-2299　2010
Publisher: Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.76.2294 　

ISSN： 0387-5024
Dynamic Simulation-Based Action Planner for a Reconfigurable Hybrid Leg-Wheel Planetary Exploration Rover Peer-reviewed

Eric Rohmer, Giulio Reina, Kazuya Yoshida

ADVANCED ROBOTICS　24　(8-9)　1219-1238　2010

DOI： 10.1163/016918610X501499 　

ISSN： 0169-1864

eISSN： 1568-5535
Virtual Mass of Impedance System for Free-Flying Target Capture Peer-reviewed

Hiroki Nakanishi, Naohiro Uyama, Kazuya Yoshida

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　2010

ISSN： 2153-0858
Adaptive Reaction Control for Space Robotic Applications with Dynamic Model Uncertainty Peer-reviewed

Satoko Abiko, Kazuya Yoshida

ADVANCED ROBOTICS　24　(8-9)　1099-1126　2010

DOI： 10.1163/016918610X501264 　

ISSN： 0169-1864

eISSN： 1568-5535
Highly Precise Pointing Control System on a Balloon-Borne Telescope for Optical Observations of Planets Peer-reviewed

Yasuhiro Shoji, Tomoya Onishi, Steve Battazzo, Tomoko Teraguchi, Atsushi Yoshimura, Yuji Sakamoto, Yukihiro Takahashi, Kazuya Yoshida, Makoto Taguchi

Transactions of the Japan Society for Aeronautical and space sciences, Aerospace Technology Japan, Vol.8(2010), No.ists27, pp.Pm_15-Pm_20.　2010
Time-Optimal Manipulator Control for Management of Angular Momentum Distribution during the Capture of a Tumbling Target Peer-reviewed

Tomohisa Oki, Hiroki Nakanishi, Kazuya Yoshida

ADVANCED ROBOTICS　24　(3)　441-466　2010

DOI： 10.1163/016918609X12619993300584 　

ISSN： 0169-1864

eISSN： 1568-5535
Field Experiment on Multiple Mobile Robots Conducted in an Underground Mall Peer-reviewed

Tomoaki Yoshida, Keiji Nagatani, Eiji Koyanagi, Yasushi Hada, Kazunori Ohno, Shoichi Maeyama, Hidehisa Akiyama, Kazuya Yoshida, Satoshi Tadokoro

FIELD AND SERVICE ROBOTICS　62　365-375　2010

ISSN： 1610-7438
Scan-Point Planning and 3-D Map Building for a 3-D Laser Range Scanner in an Outdoor Environment Peer-reviewed

Keiji Nagatani, Takayuki Matsuzawa, Kazuya Yoshida

FIELD AND SERVICE ROBOTICS　62　207-217　2010

ISSN： 1610-7438
Odometry Correction Using Visual Slip Angle Estimation for Planetary Exploration Rovers Peer-reviewed

Giulio Reina, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

ADVANCED ROBOTICS　24　(3)　359-385　2010

DOI： 10.1163/016918609X12619993300548 　

ISSN： 0169-1864
Development of a Visual Odometry System for a Wheeled Robot on Loose Soil using a Telecentric Camera Peer-reviewed

Keiji Nagatani, Ayako Ikeda, Genya Ishigami, Kazuya Yoshida, Isaku Nagai

ADVANCED ROBOTICS　24　(8-9)　1149-1167　2010

DOI： 10.1163/016918610X501282 　

ISSN： 0169-1864

eISSN： 1568-5535
Terramechanics-based High-Fidelity Dynamics Simulation for Wheeled Mobile Robot on Deformable Rough Terrain Peer-reviewed

Liang Ding, Keiji Nagatani, Keisuke Sato, Andres Mora, Kazuya Yoshida, Haibo Gao, Zongquan Deng

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　4922-4927　2010

DOI： 10.1109/ROBOT.2010.5509217 　

ISSN： 1050-4729
Development of leg-track hybrid locomotion to traverse loose slopes and irregular terrain Peer-reviewed

Keiji Nagatani, Hiroaki Kinoshita, Kazuya Yoshida, Kenjiro Tadakuma, Eiji Koyanagi

8th IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR-2010　2010

DOI： 10.1109/SSRR.2010.5981549 　
Shared Autonomy System for Tracked Vehicles to Traverse Rough Terrain Based on Continuous Three-Dimensional Terrain Scanning Peer-reviewed

Yoshito Okada, Keiji Nagatani, Kazuya Yoshida, Tomoaki Yoshida, Eiji Koyanagi

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　357-362　2010

DOI： 10.1109/IROS.2010.5648974 　

ISSN： 2153-0858
Noncontact Position Estimation Device with Optical Sensor and Laser Sources for Mobile Robots Traversing Slippery Terrains Peer-reviewed

Isaku Nagai, Keigo Watanabe, Keiji Nagatani, Kazuya Yoshida

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　3422-3427　2010

DOI： 10.1109/IROS.2010.5650346 　

ISSN： 2153-0858
Collision Avoidance Method for Mobile Robot Considering Motion and Personal Spaces of Evacuees Peer-reviewed

Takeshi Ohki, Keiji Nagatani, Kazuya Yoshida

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　1819-1824　2010

DOI： 10.1109/IROS.2010.5653217 　

ISSN： 2153-0858
Safety path planning for mobile robot on rough terrain considering instability of attitude maneuver Peer-reviewed

Takeshi Ohki, Keiji Nagatani, Kazuya Yoshida

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　55-60　2010

DOI： 10.1109/SII.2010.5708301 　
Integration of a sub-crawlers' autonomous control in Quince highly mobile rescue robot Peer-reviewed

Eric Rohmer, Kazunori Ohno, Tomoaki Yoshida, Keiji Nagatani, Eiji Konayagi, Satoshi Tadokoro

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　78-83　2010

DOI： 10.1109/SII.2010.5708305 　
Influence evaluation of wheel surface profile on traversability of planetary rovers Peer-reviewed

Masataku Sutoh, Tsuyoshi Ito, Keiji Nagatani, Kazuya Yoshida

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　67-72　2010

DOI： 10.1109/SII.2010.5708303 　
Integrated experimental environment for orbital robotic systems, using ground-based and free-floating manipulators Peer-reviewed

Naohiro Uyama, Håavard Lund, Koki Asakimori, Yuki Ikeda, Daichi Hirano, Hiroki Nakanishi, Kazuya Yoshida

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　108-113　2010

DOI： 10.1109/SII.2010.5708310 　
The balloon-borne telescope system for optical observation of planets Peer-reviewed

Toshihiko Nakano, Yuji Sakamoto, Kazuya Yoshida, Toshinori Kuwahara, Yasuhiro Shoji, Makoto Taguchi, Mutumi Yamamoto, Yukihiro Takahashi

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　236-241　2010

DOI： 10.1109/SII.2010.5708331 　
A bio-inspired compliant claw for arboreal locomotion in microgravity environments Peer-reviewed

Robert Matthew, Håvard Lund, Kazuya Yoshida

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　114-119　2010

DOI： 10.1109/SII.2010.5708311 　
Attitude control system of micro satellite RISING-2 Peer-reviewed

Kazufumi Fukuda, Toshihiko Nakano, Yuji Sakamoto, Toshinori Kuwahara, Kazuya Yoshida, Yukihiro Takahashi

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings　373-378　2010

DOI： 10.1109/SII.2010.5708354 　
Achievements in Space Robotics Expanding the Horizons of Service and Exploration

Kazuya Yoshida

IEEE ROBOTICS & AUTOMATION MAGAZINE　16　(4)　20-28　2009/12

DOI： 10.1109/MRA.2009.934818 　

ISSN： 1070-9932

eISSN： 1558-223X
不整地走破性向上を目指した小型移動ロボットの展開車輪機構の開発 Peer-reviewed

Hiroaki Kinoshita, Asami Sunaga, Tuyoshi Ito, Seiga Kiribayashi, Keiji Nagatani, Kazuya Yoshida

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論文集　1O1-4　2009/12
GPSおよびオドメトリ機能を搭載した移動ロボットの不整地フィールドにおける位置推定実験 Peer-reviewed

Kazuhiko Otani, Keiji Nagatani, Kazuya Yoshida

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論文集　1O2-1　2009/12
距離時間変換による移動ロボットの移動障害物回避動作生成 Peer-reviewed

Takeshi Oki, Keiji Nagatani, Kazuya Yoshida

第27回日本ロボット学会学術講演会予稿　2009/09
「東北大学スプライト観測衛星(SPRITE-SAT)の開発および運用報告

坂本祐二, 吉田和哉, 澤上友貴, 坂野井健, 高橋幸弘

日本機械学会2009年度年次大会　2009/09
SPRITE-SAT:a Micro Satellite for Scientific Observation of Transient Luminous Events and Terrestrial Gamma-ray Flashes Peer-reviewed

Kazuya Yoshida, Yukihiro Takahashi, Yuji Sakamoto, Eriko Ujiie, Kei Takiuchi, Yasuhiro Nakazato, Tomoki Sawakami, Takeshi Sakanoi, Yasumasa Kasaba, Satoshi Kondo, Kozo Yamashita, Shinya Ueda, Takeshi Takashima, Kazuhiro Nakazawa, Takefumi Mitani, Teruaki Enoto, Mitsuteru Sato, Umran Inan, Ivan Linscott, Fredrik Bruhn, Yoshinari Masumoto

The 27th International Symposium on Space Technology and Science　2009/07
Development of the Structural System for Tohoku University SPRITE-SAT Peer-reviewed

Tomoki Sawakami, Kei Takiuchi, Eriko Ujiie, Yuji Sakamoto, Kazuya Yoshida, Yukihiro Takahashi

ISTS 2009-f-11　2009/06
Pre-Flight Analysis, Test Evaluation and Flight Verification of the Thermal System of Tohoku University SPRITE-SAT Peer-reviewed

Yuji Sakamoto, Yasuhiro Nakazato, Tomoki Sawakami, Kazuya Yoshida, Yukihiro Takahashi

ISTS 2009-f-12　2009/06
Development and Flight Data Analysis of the Attitude Determination and Control System of Tohoku University SPRITE-SAT Peer-reviewed

Yuji Sakamoto, Kazuya Yoshida, Yukihiro Takahashi

ISTS 2009-f-13　2009/06
形態可変機能を有する2車体連結クローラ Peer-reviewed

大石千種, 多田隈建二郎, 多田隈理一郎, 永谷圭司, 吉田和哉, 明愛国, 下条誠

日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2009， 1A2-G18　2009/05
逐次３次元環境取得システムを用いた不整地移動ロボットの遠隔操作支援 Peer-reviewed

Naoki Tokunaga, Yoshito Okada, Keiji Nagatani, Kazuya Yoshida

日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2009， 1A2-H08　2009/05
軟弱地盤や急斜面の走行を可能とする面接触型移動ロボットの設計と開発 Peer-reviewed

Yoshida Kazuya, Nagatani Keiji, Kenjiro Tadakuma, Hiroaki Kinoshita

日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2009， 2P1-D17　2009/05
大車輪径を構成可能な脚車輪可変モジュール Peer-reviewed

多田隈建二郎, 丸山央, エリックロメール, 永谷圭司, 吉田和哉, 明愛国, 下条誠

日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2009， 2P1-D19　2009/05
SPRITE-SAT:a University Small Satellite for Observation of High-Altitude Luminous Events Peer-reviewed

Takahashi, Y, Yoshida, K, SPRITE-SAT Development Team

7th IAA Symposium on Small Satellites for Earth Observation　2009/05
Report of the development and the initial operation of Tohoku University SPRITE-SAT (RISING) for sprites and terrestrial gamma-ray flashes observation

Yuji Sakamoto, Yukihiro Takahashi, Takeshi Sakanoi, Kazuya Yoshida

日本地球惑星連合大会　2009/05
実験的アプローチによる軟弱地盤走行ロボットのための駆動力発生モデルの検討 Peer-reviewed

Ayako Ikeda, Keisuke Sato, Keiji Nagatani, Kazuya Yoshida

ロボティクスシンポジア予稿集　2009/03/15
横方向への移動を特徴とする円形断面クローラロボットの開発第２報：円弧状地形および軟弱地での基本走行試験 Peer-reviewed

多田隈建二郎, 多田隈理一郎, 永谷圭司, 吉田和哉, 明愛国, 下条誠

第14回ロボティクスシンポジア予稿集　2009/03
Slope Traversal Controls for Planetary Exploration Rover on Sandy Terrain Peer-reviewed

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

JOURNAL OF FIELD ROBOTICS　26　(3)　264-286　2009/03

DOI： 10.1002/rob.20277 　

ISSN： 1556-4959

eISSN： 1556-4967
東北大学スプライト観測衛星(SPRITE-SAT)の構体系・熱系

坂本祐二, 滝内圭, 中里泰裕, 澤上友貴, 氏家恵理子, 吉田和哉, 高橋幸弘

日本航空宇宙学会北部支部 2009年講演会　2009/03
東北大学スプライト観測衛星(SPRITE-SAT)の姿勢制御系

澤上友貴, 坂本祐二, 吉田和哉, 高橋幸弘

日本航空宇宙学会北部支部 2009年講演会　2009/03
東北大学スプライト観測衛星(SPRITE-SAT)の開発完了および打上報告

吉田和哉, 坂本祐二, 坂野井健, 高橋幸弘

日本航空宇宙学会北部支部 2009年講演会　2009/03
Motion Control of Multi-Limbed Robots for Asteroid Exploration Missions Peer-reviewed

Marco Chacin, Andres Mora, Kazuya Yoshida

ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7　4439-4444　2009

ISSN： 1050-4729
A Path Planning System based on 3D Occlusion Detection for Lunar Exploration Rovers Peer-reviewed

Andres Mora, Keiji Nagatani, Kazuya Yoshida, Marco Chacin

SMC-IT 2009: THIRD IEEE INTERNATIONAL CONFERENCE ON SPACE MISSION CHALLENGES FOR INFORMATION TECHNOLOGY, PROCEEDINGS　106-+　2009

DOI： 10.1109/SMC-IT.2009.59 　
Tracked Vehicle with Circular Cross-Section to Realize Sideways Motion Peer-reviewed

Kenjiro Tadakuma, Riichiro Tadakuma, Keiji Nagatani, Kazuya Yoshida, Steve Peters, Martin Udengaard, Karl Iagnemma

ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7　3280-+　2009

ISSN： 1050-4729
気球搭載望遠鏡による惑星圏観測

田口真, 吉田和哉, 坂本祐二, 荘司泰弘, 金澤知明, 高橋幸弘, 星野直哉, 佐藤隆雄, 坂野井健, 宇野健

第9回惑星圏研究会集録　2009
Armadillo-Inspired Wheel-Leg Retractable Module Peer-reviewed

Tadakuma, Kenjiro, Tadakuma, Riichiro, Maruyama, Akira, Rohmer, Eric, Nagatani, Keiji, Yoshida, Kazuya, Ming, Aiguo, Makoto, Shimojo, Higashimori, Mitsuru, Kaneko, Makoto

2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4　610-+　2009

DOI： 10.1109/ROBIO.2009.5420604 　
Influence of Control Time Delay on the Dynamics of Satellite Capture Peer-reviewed

Hiroki Nakanishi, Masaaki Kodama, Kazuya Yoshida

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, SPACE TECHNOLOGY JAPAN　7　(26)　Pf_29-Pf_34　2009
Publisher: THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
DOI： 10.2322/tstj.7.Pf_29 　

ISSN： 1347-3840

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One of the most important phases of satellite servicing operations by a space robot is the "contact" phase. During the contact between the end-effector and grasping point, there is a risk that the target and the robot can be pushed away from each other by the contact force. Therefore, the method to control the end-effector by the impedance control so as not to deflect the target was suggested. However, all of real control systems have the control time delay. In case of the target capture operation, the time delay of the impedance control makes the impulse of the contact larger. In this paper, to verify the effect of the time delay of the impedance control, experiments with a air-floating testbed and numerical simulations are carried out.
Basic Running Test of the Cylindrical Tracked Vehicle with Sideways Mobility Peer-reviewed

Kenjiro Tadakuma, Riichiro Tadakuma, Keiji Nagatani, Kazuya Yoshida, Aigo Mingi, Makoto Shimojoi, Karl Iagnemma

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　1679-1684　2009

DOI： 10.1109/IROS.2009.5354064 　
Throwable Tetrahedral Robot with Transformation Capability Peer-reviewed

Kenjiro Tadakuma, Riichiro Tadakuma, Keiji Nagatani, Kazuya Yoshida, Ming Aigo, Makoto Shimojo, Karl Iagnemma

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　2801-2808　2009

DOI： 10.1109/IROS.2009.5354196 　
Semi-autonomous Operation of Tracked Vehicles on Rough Terrain using Autonomous Control of Active Flippers Peer-reviewed

Yoshito Okada, Keiji Nagatani, Kazuya Yoshida

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　2815-2820　2009

DOI： 10.1109/IROS.2009.5354549 　
Accurate Estimation of Drawbar Pull or Wheeled Mobile Robots Traversing Sandy Terrain Using Built-in Force Sensor Array Wheel Peer-reviewed

Keiji Nagatani, Ayako Ikeda, Keisuke Sato, Kazuya Yoshida

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　2373-2378　2009

DOI： 10.1109/IROS.2009.5354566 　
Slip Ratio for Lugged Wheel of Planetary Rover in Deformable Soil: Definition and Estimation Peer-reviewed

Liang Ding, Haibo Gao, Zongquan Deng, Kazuya Yoshida, Keiji Nagatani

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　3343-3348　2009

DOI： 10.1109/IROS.2009.5354565 　
Parameter Identification for Planetary Soil Based on a Decoupled Analytical Wheel-Soil Interaction Terramechanics Model Peer-reviewed

Liang Ding, Kazuya Yoshida, Keiji Nagatani, Haibo Gao, Zongquan Deng

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　4122-+　2009

DOI： 10.1109/IROS.2009.5354538 　
Multi-robot exploration for search and rescue missions - A report of map building in RoboCupRescue 2009 - Peer-reviewed

Keiji Nagatani, Yoshito Okada, Naoki Tokunaga, Kazuya Yoshida, Seiga Kiribayashi, Kazunori Ohno, Eijiro Takeuchi, Satoshi Tadokoro, Hidehisa Akiyama, Itsuki Noda, Tomoaki Yoshida, Eiji Koyanagi

2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009　2009

DOI： 10.1109/SSRR.2009.5424148 　
Teleoperation of all-terrain robot using continuous acquisition of three-dimensional environment under time-delayed narrow bandwidth communication Peer-reviewed

Keiji Nagatani, Naoki Tokunaga, Yoshito Okada, Kazuya Yoshida, Yasushi Hada, Tomoaki Yoshida, Eiji Koyanagi

2009 IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2009　2009

DOI： 10.1109/SSRR.2009.5424165 　
不整地移動ロボットのための逐次三次元環境取得システムの構築 Peer-reviewed

Naoki Tokunaga, Yoshito Okada, Keiji Nagatani, Kazuya Yoshida

第9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論文集　2008/12/05
新型伸展マストを搭載する東北大学SPRITE-SATの姿勢制御系

坂本祐二, 吉田和哉, 氏家恵理子, 坂野井健, 高橋幸弘

第52回宇宙科学技術連合講演会　2008/11
高高度発光現象及び地球ガンマ線観測を目指す超小型科学衛星SPRITE-SATの開発

氏家恵理子, 吉田和哉, 高橋幸弘, 坂本祐二, 坂野井健, 升本喜就, 笠羽康正, 近藤哲志

宇宙・航行エレクトロニクス研究会（SANE）　2008/10
測域センサと全方位視覚システムによる色情報を付加した三次元環境モデルの構築 Peer-reviewed

和田史彦, 永谷圭司, 吉田和哉, 鈴木俊哉, 八木康史

第26回日本ロボット学会学術講演会予稿集1Ｌ2-04（CDROM)　2008/09/09
Development of the Attitude Control System for Tohoku University SPRITE-SAT Using a New-Model Deployable Mast Peer-reviewed

Yuji Sakamoto, Kazuya Yoshida, Eriko Ujiie, Yukihiro Takahashi, Takeshi Sakanoi, Kei Takiuchi, Tomoki Sawakami, Yasuhiro Nakazato, Satoshi Kondo

59th International Astronautical Congress　IAC-08-C1.8.14　2008/09
円形断面により横方向移動を実現するクローラユニットの開発～球状全方向車輪"Omni-Ball"の発展型機構として～ Peer-reviewed

多田隈建二郎, 多田隈理一郎, 木下宏晃, 永谷圭司, 吉田和哉, Karl Iagnemma(MIT

第14回日本IFToMM会議シンポジウム　2008/07/12
Dynamic Modeling and Experimental Verification of the Pointing Technology in Balloon-Borne Telescope System for Optical Remote Sensing of Planets Peer-reviewed

Yuji Sakamoto, Tomoaki Kanazawa, Yasuhiro Shouji, Yukihiro Takahashi, Kazuya Yoshida, Makoto Taguchi

26th International Symposium on Space Technology and Science　7　(26)　Pd_23-Pd_28　2008/06
Publisher: THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
DOI： 10.2322/tstj.7.Pd_23 　

ISSN： 1347-3840

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Tohoku University and Rikkyo University are carrying out the project of Venus observation with high precision using a balloon-borne telescope. In this paper, the outline of Balloon-Borne Telescope for the optical remote sensing of Venus is introduced, and the simulation model of three-stage control method is constructed. For this observation, the pointing technology with high precision to restrain the slight moving of image is necessary. The target precision is only 0.1 arc seconds. The dynamics and control model is defined firstly, and the model parameters are determined by the experimental verification. By developing the numerical simulation tool, the motion can be estimated in the simulator, and the control strategy can be more easily optimized compared to the gain adjustment only based on experiments.
On Robotic Motion for Planetary Exploration under Microgravity Environments Peer-reviewed

Marco Chacin, Kazuya Yoshida

26th International Symposium on Space Technology and Science　2008/06
A Novel Teleoperated Hybrid Wheel-Limbed Hexapod for the Exploration of Lunar Challenging Terrains Peer-reviewed

Eric Rohmer, Giulio Reina, Kazuya Yoshida

26th International Symposium on Space Technology and Science　2008/06

DOI： 10.2322/tstj.7.Tk_71 　
Development of a Multi-Spectrum Imager for the S-520 Sounding Rocket Peer-reviewed

Yasuhiro Shoji, Takashi Yoshikawa, Yuji Sakamoto, Yukihiro Takahashi, Kazuya Yoshida

26th International Symposium on Space Technology and Science　7　(26)　Tn_7-Tn_12　2008/06
Publisher: THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
DOI： 10.2322/tstj.7.Tn_7 　

ISSN： 1347-3840

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An S-520 sounding rocket was launched in the summer of 2007 in order to observe magneto electric phenomena in high sky and to verify a new spectroscopic observation method. A Multi-Spectrum Imager (MSI) was developed for the latter aim. The observation device is equipped a spectroscopic camera with a liquid crystal tunable filter and a pointing system to control the pointing direction to take spectroscopic images of a target against the spin of the rocket body. With the successful flight of the sounding rocket, the MSI succeeded in taking and sending approximately 30 pictures and the house keeping data.
ARLISS Comeback Competition: Six-year History of Autonomous Rover Challenge Peer-reviewed

Kazuya Yoshida, Keiji Nagatani, Yuji Sakamoto

26th International Symposium on Space Technology and Science　2008/06
Development of Tohoku University SPRITE-SAT

Yuji Sakamoto, Yukihiro Takahashi, Kazuya Yoshida

日本地球惑星科学連合2008年大会　2008/05
気球搭載望遠鏡による金星観測

田口真, 吉田和哉, 坂本祐二, 荘司泰弘, 高橋幸弘, 坂野井健

平成20年度大気球シンポジウム集録　2008
Development of the sprite and lightning imaging system onboard the SPRITE-SAT

Sato, M, Y. Takahashi, T. Sakanoi, S. Ueda, S. Kondo, K. Yoshida, Y. Sakamoto, T. Takashima

EOS Trans, AGU　88　(52)　2008
Development of a networked robotic system for disaster mitigation - System description of multi-robot system and performance tests of the robots Peer-reviewed

Keiji Nagatani, Kazuya Yoshida, Kiyoshi Kiyokawa, Yasushi Yagi, Tadashi Adachi, Hiroaki Saitoh, Toshiya Suzuki, Osamu Takizawa

FIELD AND SERVICE ROBOTICS: RESULTS OF THE 6TH INTERNATIONAL CONFERENCE　42　453-+　2008

ISSN： 1610-7438
Slope traversal experiments with slip compensation control for lunar/planetary exploration rover Peer-reviewed

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9　2295-2300　2008

DOI： 10.1109/ROBOT.2008.4543556 　

ISSN： 1050-4729
Vision-based estimation of slip angle for mobile robots and planetary rovers Peer-reviewed

Giulio Reina, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9　486-+　2008

DOI： 10.1109/ROBOT.2008.4543254 　

ISSN： 1050-4729
Mechanical Design of Cylindrical Track for Sideways Motion Peer-reviewed

Kenjiro Tadakuma, Riichiro Tadakuma, Hiroaki Kinoshita, Keiji Nagatani, Kazuya Yoshida, Martin Udengaard, Karl Iagnemma

2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2　161-+　2008

DOI： 10.1109/ICMA.2008.4798744 　
Development of a networked robotic system for disaster mitigation - System description of multi-robot system and performance tests of the robots Peer-reviewed

Keiji Nagatani, Kazuya Yoshida, Kiyoshi Kiyokawa, Yasushi Yagi, Tadashi Adachi, Hiroaki Saitoh, Toshiya Suzuki, Osamu Takizawa

FIELD AND SERVICE ROBOTICS: RESULTS OF THE 6TH INTERNATIONAL CONFERENCE　42　453-+　2008

ISSN： 1610-7438
Sensing Position Planning for Lunar Exploration Rovers Peer-reviewed

Andres Mora, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2　TA3-3　731-736　2008

DOI： 10.1109/ICMA.2008.4798847 　
Mechanical Design of Cylindrical Track for Sideways Motion Peer-reviewed

Kenjiro Tadakuma, Riichiro Tadakuma, Hiroaki Kinoshita, Keiji Nagatani, Kazuya Yoshida, Martin Udengaard, Karl Iagnemma

2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2　WA2-4　161-+　2008

DOI： 10.1109/ICMA.2008.4798744 　
Time-Optimal Manipulator Control of a Free-Floating Space Robot with Constraint on Reaction Torque Peer-reviewed

Tomohisa Oki, Hiroki Nakanishi, Kazuya Yoshida

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　2828-2833　2008

DOI： 10.1109/IROS.2008.4650835 　
Trafficability Analysis for Lunar/Planetary Exploration Rover using Thrust-Cornering Characteristic Diagram Peer-reviewed

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　2228-+　2008

DOI： 10.1109/IROS.2008.4651186 　
Crawler Vehicle with Circular Cross-Section Unit to Realize Sideways Motion Peer-reviewed

Kenjiro Tadakuma, Riichiro Tadakuma, Keiji Nagatani, Kazuya Yoshida, Steve Peters, Martin Udengaard, Karl Iagnemma

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　2422-+　2008

DOI： 10.1109/IROS.2008.4651223 　
Semi-autonomous Traversal on Uneven Terrain for a Tracked Vehicle using Autonomous Control of Active Flippers Peer-reviewed

Keiji Nagatani, Ayato Yamasaki, Kazuya Yoshida, Tomoaki Yoshida, Eiji Koyanagi

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　2667-+　2008

DOI： 10.1109/IROS.2008.4650643 　
Improvement of the Operability of a Tracked Vehicle on Uneven Terrain using Autonomous Control of Active Flippers Peer-reviewed

Keiji Nagatani, Ayato Yamasaki, Kazuya Yoshida, Tomoaki Yoshida, Eiji Koyanagi

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　2717-+　2008

DOI： 10.1109/IROS.2008.4650642 　
Action Planner of Hybrid Leg-Wheel Robots for Lunar and Planetary Exploration Peer-reviewed

Eric Rohmer, Giuho Reina, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　3902-+　2008

DOI： 10.1109/IROS.2008.4651134 　
Continuous Acquisition of Three-Dimensional Environment Information for Tracked Vehicles on Uneven Terrain Peer-reviewed

Keiji Nagatani, Naoki Tokunaga, Yoshito Okada, Kazuya Yoshida

2008 IEEE INTERNATIONAL WORKSHOP ON SAFETY, SECURITY & RESCUE ROBOTICS　25-30　2008

DOI： 10.1109/SSRR.2008.4745872 　
東北大学における宇宙開発プロジェクト～成層圏気球・観測ロケット・小型人工衛星

坂本祐二, 高橋幸弘, 吉田和哉

第51回宇宙科学技術連合講演会　2007/10
東北大学スプライト観測衛星の開発

坂本祐二, 高橋幸弘, 吉田和哉

日本地球惑星科学連合2007年大会　2007/05
東北大学スプライト観測衛星の開発～構体系・姿勢制御系

氏家恵理子, 堀内貴史, 木村一貴, Phongsatorn Saisutjarit, 坂本祐二, 高橋幸弘, 吉田和哉

日本航空宇宙学会北部支部2007年講演会　2007/03
Terramechanics-based model for steering maneuver of planetary exploration rovers on loose soil Peer-reviewed

Genya Ishigami, Akiko Miwa, Keiji Nagatani, Kazuya Yoshida

JOURNAL OF FIELD ROBOTICS　24　(3)　233-250　2007/03

DOI： 10.1002/rob.20187 　

ISSN： 1556-4959
Development of a Transformable Mobile Robot with a Variable Wheel Diameter

Kazuya Yoshida

Journal of Robotics and Mechatronics　2007

DOI： 10.20965/JRM.2007.P0252 　
Balloon-borne telescope system for optical remote sensing of planetary atmospheres and plasmas Peer-reviewed

Makoto Taguchi, Kazuya Yoshida, Hiroki Nakanishi, Yasuhiro Shoji, Kohei Kawasaki, Junichi Shimasaki, Yukihiro Takahashi, Jun Yoshida, Daisuke Tamura, Takeshi Sakanoi

Advances in Geosciences: Volume 7: Planetary Science (PS)　169-179　2007/01/01
Publisher: World Scientific Publishing Co.
DOI： 10.1142/6494-vol7 　
Assisted teleoperated navigation system based on 3D mapping Peer-reviewed

Andres Mora, David G. Axelson, Marco Chacin, Keiji Nagatani, Kazuya Yoshida

2007 1ST ANNUAL IEEE SYSTEMS CONFERENCE　104-+　2007
A High Mobility 6-Crawler Mobile Robot ‘Kenaf’ Peer-reviewed

Tomoaki Yoshida, Eiji Koyanagi, Satoshi Tadokoro, Kazuya Yoshida, Keiji Nagatani, Kazunori Ohno, Takashi Tsubouchi, Shoichi Maeyama, Itsuki Noda, Osamu Takizawa, Yasushi Hada

Proceedings of 4th International Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster (SRMED2007)　38　2007
Path planning for planetary exploration rovers and its evaluation based on wheel slip dynamics Invited Peer-reviewed

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10　2361-+　2007

DOI： 10.1109/ROBOT.2007.363672 　

ISSN： 1050-4729
Improvement of the odometry accuracy of a crawler vehicle with consideration of slippage Invited Peer-reviewed

Keiji Nagatani, Daisuke Endo, Kazuya Yoshida

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10　2752-+　2007

DOI： 10.1109/ROBOT.2007.363881 　

ISSN： 1050-4729
Adaptive Kalman filtering for GPS-based mobile robot localization Invited Peer-reviewed

Giulio Reina, Andres Vargas, Keiji Nagatani, Kazuya Yoshida

2007 IEEE INTERNATIONAL WORKSHOP ON SAFETY, SECURITY AND RESCUE ROBOTICS　84-+　2007

DOI： 10.1109/SSRR.2007.4381270 　
Development and control method of six-wheel robot with rocker structure Invited Peer-reviewed

Keiji Nagatani, Ayato Yamasaki, Kazuya Yoshida, Tadashi Adachi

2007 IEEE INTERNATIONAL WORKSHOP ON SAFETY, SECURITY AND RESCUE ROBOTICS　189-+　2007

DOI： 10.1109/SSRR.2007.4381279 　
Path following control for tracked vehicles based on slip-compensating odometry Invited Peer-reviewed

Daisuke Endo, Yoshito Okada, Keiji Nagatani, Kazuya Yoshida

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　2877-2882　2007

DOI： 10.1109/IROS.2007.4399228 　
Return to the Moon: A Telerobotic Platform for Prospecting Lunar H2O Peer-reviewed

Eric Rohmer, Filipo Mendoza, Marco Chacin, Kazuya Yoshida

11th Annual Symposium of the International Space University: Why the Moon?　2007
Network support for long distance telerobotic platform Peer-reviewed

Jean-Patrick Gelas, Laurent Lef vre, Eric Rohmer, Kazuya Yoshida

International Conference for High Performance Computing, Networking, Storage and Analysis　2007
Improvement of the odometry accuracy of a crawler vehicle with consideration of slippage Peer-reviewed

Keiji Nagatani, Daisuke Endo, Kazuya Yoshida

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10　2752-+　2007

DOI： 10.1109/ROBOT.2007.363881 　

ISSN： 1050-4729
Path planning for planetary exploration rovers and its evaluation based on wheel slip dynamics Peer-reviewed

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10　2361-+　2007

DOI： 10.1109/ROBOT.2007.363672 　

ISSN： 1050-4729
Whole-body motion control for capturing a tumbling target by a free-floating space robot Peer-reviewed

Tomohisa Oki, Hiroki Nakanishi, Kazuya Yoshida

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　2262-2267　2007

DOI： 10.1109/IROS.2007.4399591 　
Terramechanics-Based Analysis on Slope Traversability for a Planetary Exploration Rover Peer-reviewed

G.Ishigami, A.Miwa, K.Nagatani, K.Yoshida

Proc. of the 25th International Sympo. on Space Technology and Science　1025-1030　2006/12
火山探査移動観測ステーションMOVE の遠隔操作性能の向上にむけて --伊豆大島三原山における三次元環境情報取得実験-- Peer-reviewed

永谷圭司, 吉田和哉

第7回システムインテグレーション部門講演会予稿集　664-665　2006/12
Soil Mechanics of Lunar Regolith Simulants for Probe Landing and Rover Locomotion Peer-reviewed

K. Yoshida, K. Nagatani, G. Ishigami, S.Shimizu, K. Sekimoto, A. Miyahara, T. Yokoyama

Preprints of Space Resources Roundtable VIII　2006/11
Scale Modeling for Landing Behavior of a Lunar Probe Peer-reviewed

Kazuya Yoshida, Shigehito Shimizu, Kozo Sekimoto, Akira Miyahara, Takaaki Yokoyama

The 5th International Symposium on Scale Modeling,　2006/09
軟弱地盤走行ローバーのスリップ率オンライン推定土壌圧力を測定する圧力センサ内蔵型ホイールの開発 Peer-reviewed

永谷圭司, 山名克尚, 石上玄也, 吉田和哉

第24回日本ロボット学会学術講演会予稿集，１J31 （CDROM）　2006/09
滑りを考慮したデッドレコニングによるクローラ型移動ロボットの推定位置精度の向上 Peer-reviewed

遠藤大輔, 永谷圭司, 吉田和哉

第24回日本ロボット学会学術講演会予稿集，２G17 （CDROM）　2006/09
Scale Modeling for Landing Behavior of a Lunar Probe and Exprerimental Verification Peer-reviewed

Kazuya YOSHIDA, Shigehito SHIMIZU, Kozo SEKIMOTO, Akira MIYAHARA, Takashi YOKOYAMA

Proceedings of the 16th workshop of JAXA Astrodynamics and Flight Mechanics　225-230　2006/08
Next-Generation Rover Development for Asteroid Surface Exploration: System Description Peer-reviewed

M.Chacin, K.Yoshida, K.Nagatani

25th International Symposium on Space Technology and Science, Paper 2006-d-101P　2006/06
Touchdown of the Hayabusa spacecraft at the Muses Sea on Itokawa Peer-reviewed

H Yano, T Kubota, H Miyamoto, T Okada, D Scheeres, Y Takagi, K Yoshida, M Abe, S Abe, O Barnouin-Jha, A Fujiwara, S Hasegawa, T Hashimoto, M Ishiguro, M Kato, J Kawaguchi, T Mukai, J Saito, S Sasaki, M Yoshikawa

SCIENCE　312　(5778)　1350-1353　2006/06

DOI： 10.1126/science.1126164 　

ISSN： 0036-8075
車輪径可変機構を有する小型二輪ローバーの開発 Peer-reviewed

吉田和哉, 永谷圭司, 久瀬満広

ロボティクス・メカトロニクス講演会'06予稿集，2P2-D25　2006/05
不整地移動ロボット搭載用吊下げ型三次元距離センサユニットの開発 Peer-reviewed

吉田和哉, 永谷圭司, 関口晃博, 水内健祐

ロボティクス・メカトロニクス講演会'06予稿集，2P1-C17　2006/05
遠隔ロボットを用いた災害時マルチメディア情報収集技術の研究 -親子型複数ローバーを用いた被災環境探索システムの構築 Invited Peer-reviewed

吉田和哉, 永谷圭司, 遠藤大輔, 水内健祐, Mora Andres, 清川清, 八木康史, 近藤一晃, 足立忠司, 斉藤浩明, 新美義博, 矢代裕之, 芹澤一雅, 田中紘幸, 大野浩之

ロボティクス・メカトロニクス講演会'06予稿集，2P2-D07　2006/05
Development of a 10 Kg-class Micro Satellite for the Observation of Sprites and Atmospheric Lightning Events Peer-reviewed

Yukihiro Takahashi, Kazuya Yoshida, Hiroki Nakanishi, Takafumi Hoichi, Kazutaka Kimura, Shinya Ueda, Tohoku Univ, Tomonao Hayashi, Koji Yokoyama, Shigeru Hosokawa, Chiba, Inst. Tech, Yoshidanari Masumoto, Masumoto, P.E. Office

Development of a 10 Kg-class Micro Satellite for the Observation of Sprites and Atmospheric Lightning Events　2006/04
フリーフライング宇宙ロボットの手先インピーダンス制御 Peer-reviewed

中西洋喜, 吉田和哉

第11回ロボティクスシンポジア論文集　351-356　2006/03
空気浮上型テストベッドを用いた宇宙機の衝突模擬実験と接触力の数値モデリング Peer-reviewed

田中大輔, 中西洋喜, 吉田和哉

日本航空宇宙学会北部支部2006年講演会論文集　27-32　2006/03
空気浮上テストベッドを用いた衝突力学解析とインピーダンス特性の同定 Peer-reviewed

田中大輔, 中西洋喜, 吉田和哉

日本機械学会東北支部第41期講演会論文集，論文番号525　2006/03
宇宙用柔軟ベースマニピュレータの制御におけるロバスト性の向上 Peer-reviewed

吉田和哉, 渡辺紘充, 中西洋喜

日本航空宇宙学会北部支部2006年講演会論文集　21-26　2006/03
テラメカニクスに基づく月・惑星探査ローバーの登坂性能解析 Peer-reviewed

三輪章子, 石上玄也, 永谷圭司, 吉田和哉

第11回ロボティクスシンポジア論文集　514-519　2006/03
Terramechanics-based analysis and traction control of a lunar/planetary rover Peer-reviewed

Kazuya Yoshida, Toshinobu Watanabe, Noriyuki Mizuno, Genya Ishigami

FIELD AND SERVICE ROBOTICS: RECENT ADVANCES IN RESEARCH AND APPLICATIONS　24　225-+　2006

ISSN： 1610-7438
Evolving legged rovers for minor body exploration missions Peer-reviewed

Marco Chacin, Kazuya Yoshida

2006 1ST IEEE RAS-EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, VOLS 1-3　332-+　2006

ISSN： 2155-1782
Development of a networked robotic system for disaster mitigation - Test bed experiments for remote operation over rough terrain and high resolution 3D geometry acquisition Peer-reviewed

Kazuya Yoshida, Keiji Nagatani, Kiyoshi Kiyokawa, Yasushi Yagi, Tadashi Adachi, Hiroaki Saitoh, Hiroyuki Tanaka, Hiroyuki Ohno

FIELD AND SERVICE ROBOTICS　25　415-+　2006

DOI： 10.1007/11736592_35 　

ISSN： 1610-7438
Impedance Control of Free-Flying Space Robot for Orbital Servicing Peer-reviewed

Kazuya Yoshida

Journal of Robotics and Mechatronics　18　(5)　608-617　2006

DOI： 10.20965/JRM.2006.P0608 　
A high level teleoperation platform for space robotic missions Peer-reviewed

Marco Chacin, Eric Rohmer, Andres Mora, Kazuya Yoshida

SMC-IT 2006: 2ND IEEE INTERNATIONAL CONFERENCE ON SPACE MISSION CHALLENGES FOR INFORMATION TECHNOLOGY, PROCEEDINGS　133-+　2006

DOI： 10.1109/SMC-IT.2006.8 　
Contact Dynamics Analysis of a Spacecraft in Micro Gravity with an Air-Floating Test Bed Peer-reviewed

Hiroki Nakanishi, Kazuya Yoshida, Daisuke Tanaka

Proc. of the 25th International Symposium on Space Technology and Science　2006
Path following control with slip compensation on loose soil for exploration rover Peer-reviewed

Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　5552-+　2006

DOI： 10.1109/IROS.2006.282271 　
Development of a networked robotic system for disaster mitigation - Navigation system based on 3D geometry acquisition Peer-reviewed

Andres E. Mora Vargas, Kenzuke Mizuuchi, Daisuke Endo, Eric Rohmer, Keiji Nagatani, Kazuya Yoshida

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　4821-+　2006

DOI： 10.1109/IROS.2006.282357 　
Stability and adaptability analysis for legged robots intended for asteroid exploration Peer-reviewed

Marco Chacin, Kazuya Yoshida

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　1744-+　2006

DOI： 10.1109/IROS.2006.282135 　
On the capture of tumbling satellite by a space robot Peer-reviewed

Kazuya Yoshida, Dimitar Dimitrov, Hiroki Nakanishi

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　4127-+　2006

DOI： 10.1109/IROS.2006.281900 　
Utilization of holonomic distribution control for reactionless path planning Peer-reviewed

Dimitar Dimitrov, Kazuya Yoshida

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　3387-+　2006

DOI： 10.1109/IROS.2006.282574 　
Impedance control for free-flying space robots - Basic equations and applications Peer-reviewed

Hiroki Nakanishi, Kazuya Yoshida

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　3137-+　2006

DOI： 10.1109/IROS.2006.282334 　
A novel distributed telerobotic system for construction machines based on modules synchronization Peer-reviewed

E. Rohmer, K. Yoshida, Eiji Nakano

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　4199-+　2006

DOI： 10.1109/IROS.2006.281913 　
K^+/Na^+ Transport Mechanisms in Plants and Molecular Breeding of Salt-tolerant plants

YOSHIDA Kazuya

KAGAKU TO SEIBUTSU　43　(11)　719-726　2005/11/01
Publisher: Japan Society for Bioscience, Biotechnology, and Agrochemistry
DOI： 10.1271/kagakutoseibutsu1962.43.719 　

ISSN： 0453-073X
Steering Trajectory Analysis of Planetary Exploration Rovers Based on All-Wheel Dynamics Model Peer-reviewed

G.Ishigami, A.Miwa, K.Yoshida

The 8th Int. symposium on Artificial Intelligence, Robotics and Automation in Space,Munich, Germany　2005/09
Utilization of Distributed Momentum Control for Planning Approaching Trajectories of a Space Manipulator to a Target Satellite Peer-reviewed

Dimitar Dimitrov, Kazuya Yoshida

Proc. of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space　3345-3350　2005/09
Utilization of the Bias Momentum Approach for Capturing a Tumbling Satellite Peer-reviewed

Dimitar Dimitrov, Kazuya Yoshida

Proc. of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space　3333-3338　2005/09
Multi-Limbed Rover for Asteroid Surface Exploration Using Static Locomotion Peer-reviewed

Marco Chacin, Kazuya Yoshida

Proc. of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space　3333-3338　2005/09
Steering Trajectory Analysis of Planetary Exploration Rovers Based on All-Wheel Dynamics Model Peer-reviewed

Genya Ishigami, Akiko Miwa, Kazuya Yoshida

The 8th Int. symposium on Artificial Intelligence, Robotics and Automation in Space SP-603　1-8　2005/09
Steering Characteristics of a Rigid Wheel for Exploration on Loose Soil Peer-reviewed

Kazuya Yoshida, Genya Ishigami

Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems　3995-4000　2005
フリーフライングロボットの手先インピーダンス制御－基礎方程式の定式化 Peer-reviewed

中西洋喜, 吉田和哉

ロボティクス・メカトロニクス講演会’05 講演論文集(CD-ROM)1P1-S-053(1-4)　2005
ターゲット捕獲時におけるフリーフライング宇宙ロボットの手先インピーダンス制御 Peer-reviewed

中西洋喜, 吉田和哉

ISAS 15th Workshop on Astrodynamics and Flight Mechanics　335-340　2005
An adaptive control of a space manipulator for vibration suppression Peer-reviewed

S Abiko, K Yoshida

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　2888-2893　2005

DOI： 10.1109/IROS.2005.1545414 　
Steering characteristics of an exploration rover on loose soil based on all-wheel dynamics model Peer-reviewed

G Ishigami, K Yoshida

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　2041-2046　2005

DOI： 10.1109/IROS.2005.1545277 　
Utilization of the Bias Momentum Approach for Capturing a Tumbling Satellite Peer-reviewed

Dimitar Dimitrov.Kazuya Yoshida

Proc.2004 IEEE/RSJ IROS,Sep.28-Oct.2,Sendai,Japan　3333　(3338)　2004/09/28
Momentum Distribution in a Space Manipulator for Facilitating the Post-Impact Control Peer-reviewed

Dimitar Dimitrov, Kazuya Yoshida

Proc.2004 IEEE/RSJ IROS,Sep.28-Oct.2,Sendai,Japan　3345-3350　2004/09/28
On-line Parameter Identification of a Payload Handled by Flexible Based Manipulator Peer-reviewed

S.Abiko, K.Yoshida

Proc.of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS`04),Sendai,Japan　2930-2935　2004/09

DOI： 10.1109/IROS.2004.1389854 　
Steering Characteristics of a Rigid Wheel for Exploration on Loose Soil Peer-reviewed

K.Yoshida, G.Ishigami

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems,Miyagi,Japan　2004/09
On-line Parameter Identification of JEMRMS based on Vibration Dynamics for Precise End-Point Control Peer-reviewed

S.Abiko, K.Yoshida

Proc.of the 24th International Symposium on Space Technology and Science,paper no.2004-d-20,Miyazaki,Japan,June 2004.　2004/06
Long Range Navigation on Desert by a Dual-Wheel Micro Rover Peer-reviewed

G.Ishigami, N.Mizuno, A.Miwa, K.Yoshida

The 24th International Symposium on Space Technology and Science,Miyazaki,Japan　2004/06
Dynamics, control and impedance matching for robotic capture of a non-cooperative satellite Peer-reviewed

K Yoshida, H Nakanishi, H Ueno, N Inaba, T Nishimaki, M Oda

ADVANCED ROBOTICS　18　(2)　175-198　2004

DOI： 10.1163/156855304322758015 　

ISSN： 0169-1864

eISSN： 1568-5535
Contact Dynamics and Control Strategy Based on Impedance Matching for Robotic Capture of a Non-cooperative Satellite Peer-reviewed

Kazuya Yoshida, Hiroki Nkanishi, Noriyasu Inaba, Hiroshi Ueno, Mitsushige Oda

Proc.of the RoManSy 2004,15th CISM-IFToMM Symposium,Montreal,Canada,(CD-ROM),2004　2004
CAPTERE OF A NON-COOPERATIVE SATELLITE BY A ROBOT MANIPULATOR UNDER THE IMPEDANCE CONTROL Peer-reviewed

Hiroki Nakanishi, Kazuya Yoshida, Noriyasu Inaba, Hiroshi Ueno, Mitsushige Oda

Proc.of 24th International Symposium on Space Technology and Science,Miyazaki,Japan,ISTS2004-o-2-07v　2004
Terramechanics-Based Analysis for Slope Climbing Capability of a Lunar/Planetary Rover Peer-reviewed

K.Yoshida, N.Mizuno, G.Ishigami, A.Miwa

The 24th International Symposium on Space Technology aned Science,2004　2004
Long Range Navigation on Desert by a Dual-Wheel Micro Rover Peer-reviewed

Genya ISHIGAMI, Noriyuki MIZUNO, Akiko MIWA, Kazuya YOSHIDA

The 24th International Symposium on Space Technology and Science, Miyazaki, Japan　1-6　2004
An Effective Control Strategy of Japanese Experimental Module Remote Manipulator System (JEMRMS) Using Coupled and Un-Coupled Dynamics Peer-reviewed

S. Abiko, K. Yoshida

Proc. of the 7th International Symposium on Artificial Intelligence, Robotics and Automation in Space　AS18　2003/05
Engineering Test Satellite VII flight experiments for space robot dynamics and control: Theories on laboratory test beds ten years ago, now in orbit Peer-reviewed

K Yoshida

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH　22　(5)　321-335　2003/05

ISSN： 0278-3649

eISSN： 1741-3176
Slip-based traction control of a planetary rover

Kazuya Yoshida

Springer Tracts in Advanced Robotics　2003

DOI： 10.1007/3-540-36268-1_59 　
Impedance matching in capturing a satellite by a space robot Peer-reviewed

K Yoshida, H Nakanishi

IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　3059-3064　2003
Inertia Parameter Identification for a Free-Flying Space Robot Peer-reviewed

K. Yoshida, S. Abiko

Proc. of the AIAA Guidance, Navigation, and Control Conference　AIAA 2002-4568　2002/08
Development of an articulated gripper for an underwater ROV

Yoshida, K., Abiko, S., Ota, J.M.

Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C　68　(11)　2002
Motion dynamics and control of a planetary rover with slip-based traction model Peer-reviewed

Kazuya Yoshida, Hiroshi Hamano

Proceedings of SPIE - The International Society for Optical Engineering　4715　275-286　2002

DOI： 10.1117/12.474459 　

ISSN： 0277-786X
水中作業ロボット用多関節グリッパの開発 Peer-reviewed

吉田和哉, 安孫子聡子, Jeffrey M. OTA

日本機械学会論文集（C編）　68　(675)　3373-3380　2002

DOI： 10.1299/kikaic.68.3373 　
Inertia Parameter Identification of a Free-Flying Space Robot Peer-reviewed

Kazuya Yoshida, Satoko Abiko

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C　68　(672)　2388-2394　2002

DOI： 10.1299/kikaic.68.2388 　

ISSN： 0387-5024
ETS-VIIを用いた宇宙ロボット制御実験 Peer-reviewed

吉田和哉, ドゥラゴミル N, ネンチェフ, 橋詰健一, 安孫子聡子, 小田光茂

日本航空宇宙学会論文集　50　(584)　351-359　2002

DOI： 10.2322/jjsass.50.351 　
A Proposal For Performance Improvement of JEMRMS With Reactionless Manipulation Peer-reviewed

Kazuya Yoshida

23rd International symposium on Space Technology and Science,Matsue,Japan　1-6　2002
Frictional Contact Dynamics in Micro Gravity Peer-reviewed

Kazuya Yoshida, Arata Noguchi, Haruaki Katoh

23rd International Symposium on Space Technology and Science,Matsue,Japan　1-6　2002
Motion dynamics of a rover with slip-based traction model Peer-reviewed

K Yoshida, H Hamano

2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS　3155　(3160)　3155-3160　2002
Motion Dynamic Simulations and Experiments of an Exploration Rover on Natural Terrain Peer-reviewed

Kazuya Yoshida, Hisafumi Asai, Hiroshi Hamano

Proceedings of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space (CD-ROM)　1-8　2001/06
Post Flight Analysis of ETS-VII Space Robotic Experiments Peer-reviewed

Satoko Abiko, Kazuya Yoshida

Proceedings of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space (CD-ROM)　1-8　2001/06
The TAKO (Target Collaborativize) Flyer: a New Concept for Future Satellite Servicing Peer-reviewed

Kazuya Yoshida, Hiroki Nakanishi

Proceedings of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space (CD-ROM)　1-4　2001/06
Motion Dynamics of Exploration Rovers on Natural Terrain: Experiments and Simulation Peer-reviewed

Kazuya Yoshida, Hisafumi Asai, Hiroshi Hamano

Proceedings 3rd International Conference on Field and Service Robotics　281-286　2001/06
MUSES-C Touch-down Simulation on the Ground Peer-reviewed

Kazuya Yoshida, Takashi Kubota, Shujiro Sawai, Akira Fujiwara, Masashi Uo

AAS/AIAA Space Flight Mechanics Meeting,Santa Barbara,California　1-10　2001/02
ETS-VII flight experiments for space robot dynamics and control - Theories on laboratory test beds ten years ago, Now in orbit Peer-reviewed

K Yoshida

EXPERIMENTAL ROBOTICS VII　271　209-218　2001

ISSN： 0170-8643
Zero reaction maneuver: Flight validation with ETS-VII space robot and extension to kinematically redundant arm Peer-reviewed

K Yoshida, K Hashizume, S Abiko

2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS　441-446　2001

ISSN： 1050-4729
Robots for Space Exploration Peer-reviewed

Kazuya Yoshida

Journal of the Society of Instrument and Control Engineers　39　(9)　576-580　2000/09
Publisher:
DOI： 10.11499/sicejl1962.39.576 　

ISSN： 0453-4662
The SpaceDyn: a MATLAB Toolbox for Space and Mobile Robots Peer-reviewed

Kazuya Yoshida

Journal of Robotics and Mechatronics　12　(4)　411-416　2000/08
Space Robot Dynamics and Control: a Historical Perspective Peer-reviewed

Kazuya Yoshida

Journal of Robotics and Mechatronics　12　(4)　402-410　2000/08
Leonid Meteor Observer in LEO: A University Microsatellite to Observe a Meteor Shower From Space Peer-reviewed

Kazuya Yoshida, Hajime Yano, Christopher A. Kitts, Jeffrey M. Ota

Proc. of the 14th AIAA/USU Conference on Small Satellites (CD-ROM)　1-5　2000/08
Control of a Spavce Manipulator for Autonomous Target Capture: ETS-VII Flight Experiment and Analysis Peer-reviewed

Kazuya Yoshida, Kenuchi Hashizume, Dragomir N. Nenchev, Noriyasu Inaba, Mitsushige Oda

AIAA Guidance, Navigation, and Control Conference　AIAA-2000　(4376)　1-10　2000/08
Small Robotic Systems and Space Missions Proposed with Students Peer-reviewed

Kazuya Yoshida

Proc. of the 22nd International Symposium on Space Technology and Sciences　2342-2347　2000/05
Extended ETS-VII Experiments for Space Robot Dynamics and Attitude Disturbance Control Peer-reviewed

Kazuya Yoshida, Dragomir N. Nenchev, Noriyasu Inaba, Mitsushige Oda

Proc. of the 22nd International Symposium on Space Technology and Sciences　755-760　2000/05
Space robot dynamics and control: To orbit, from orbit, and future

Kazuya Yoshida

Robotics Research　2000

DOI： 10.1007/978-1-4471-0765-1_54 　
Motion control of dual-arm long-reach manipulators Peer-reviewed

A Gouo, DN Nenchev, K Yoshida, M Uchiyama

ADVANCED ROBOTICS　13　(6)　617-631　2000

ISSN： 0169-1864

eISSN： 1568-5535
Vibration suppression and zero reaction maneuvers of flexible space structure mounted manipulators Peer-reviewed

K Yoshida, DN Nenchev, M Uchiyama

SMART MATERIALS AND STRUCTURES　8　(6)　847-856　1999/12

DOI： 10.1088/0964-1726/8/6/312 　

ISSN： 0964-1726

eISSN： 1361-665X
Reaction null-space control of flexible structure mounted manipulator systems Peer-reviewed

DN Nenchev, K Yoshida, P Vichitkulsawat, M Uchiyama

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION　15　(6)　1011-1023　1999/12

DOI： 10.1109/70.817666 　

ISSN： 1042-296X
On special issue "Robot Experimetns on ETS - VII"

YOSHIDA Kazuya

JRSJ　17　(8)　1053-1054　1999/11/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.17.1053 　

ISSN： 0289-1824
Impact analysis and post-impact motion control issues of a free-floating space robot subject to a force impulse Peer-reviewed

DN Nenchev, K Yoshida

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION　15　(3)　548-557　1999/06

DOI： 10.1109/70.768186 　

ISSN： 1042-296X
A Proposal of Reactionless Operations for ETS-VII

Kazuya Yoshida

Proc. 4th Robotics Symposia　236-239　1999/03
The SpaceDyn: a MATLAB Toolbox for Dynamics Simulation Peer-reviewed

Kazuya Yoshida

J. of SICE　38　(2)　138-143　1999/02

DOI： 10.11499/sicejl1962.38.138 　
Reaction null space control of free-floating and elastic base robots Peer-reviewed

Nenchev, D.N., Yoshida, K., Uchiyama, M.

Revista Brasileira de Ciencias Mecanicas/Journal of the Brazilian Society of Mechanical Sciences　21　(2)　175-184　1999
フレキシブルベースロボットの力学と制御 Peer-reviewed

吉田和哉

日本ロボット学会誌　17　(6)　786-789　1999
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.17.786 　

ISSN： 0289-1824
Reaction Null-Space Approach to Underactuated Manipulators Peer-reviewed

Dragomir N. Nenchev, Kazuya Yoshida

Proc. 3rd Int. Conf. on Advanced Mechatronics　185-190　1998/08
Dynamic Simulation of an Articulated Off-Road Vehicle Peer-reviewed

Kazuya Yoshida, Tomoko Shiwa, Mitsunori Oda

AIAA Modeling & Simulation Technologies Conference　AIAA-98　(4362)　1-5　1998/08
Touch Down Simulation of the MUSES-C Satellite for Asteroid Sampling Peer-reviewed

Kazuya Yoshida, Tadashi Hiraoka

AIAA Modeling & Simulation Technologies Conference　AIAA-98　(4376)　1-7　1998/08
Modeling and Identification of Impact Dynamics of Robot Manipulators with Instantaneous Joint Motion Peer-reviewed

Kazuya Yoshida, Constantinos Mavroidis, Steven Dubowsky

Journal of the Robotics Society of Japan　16　(1)　110-117　1998/01

DOI： 10.7210/jrsj.16.110 　
Impact analysis and post-impact motion control issues of a free-floating space robot contacting a tumbling object Peer-reviewed

DN Nenchev, K Yoshida

1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4　913-919　1998

ISSN： 1050-4729
Dual-arm long-reach manipulators: Noncontact motion control strategies Peer-reviewed

A Gouo, DN Nenchev, K Yoshida, M Uchiyama

1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3　449-454　1998
Reaction null-space based control of under-actuated manipulators Peer-reviewed

K Yoshida, DN Nenchev

1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3　1358-1363　1998
Navigation Data Acquisition with an Experimental Test-Bed of Planetary Exploration Rover Peer-reviewed

Tomoko Shiwa, Kazuya Yoshida

Proceedings of the International Conference on Field and Service Robotics　109-114　1997/12
Dynamic Simulation of Free-Flying Space Robots for Service and Exploration Peer-reviewed

Koichi Fujishima, Tadashi Hiraoka, Kazuya Yoshida

Proceedings of the International Conference on Filed and Service Robotics　456-462　1997/12
A General Formulation of Under Actuated Manipulator Systems Peer-reviewed

Kazuya Yoshida, Dragomir N. Nenchev

Robotics Research, The Eighth International Symposium　33-44　1997/10
Development and Initial Experiments of "Proto-Explorer": a laboratory test bed for a planetary exploration rover

Kazuya Yoshida, Tomoko Shiwa

Proc. of JSME 2nd Robotics Symposia　184-197　1997/07
A Gnereral Formulation for Moving Base/ Under-Actuated Systems

Kazuya Yoshida, Dragomir. N. Nenchev

Proc. of 2nd JSME Robotics Symposia　265-268　1997/07
The Space Warm:A Micro Robot for Inspection of Spacecraft Surface Peer-reviewed

Tomoko SHIWA, Kouichi FUJISHIMA, Tadashi HIRAOKA, Kazuya YOSHIDA

i-SAIRA'97,International Symposium on Artificial Intelligence,Robotics and Automation in Space,Proceedings,Tokyo,Japan　451-454　1997/07
Experiments on the point-to-point operations of a flexible structure mounted manipulator system Peer-reviewed

K Yoshida, DN Nenchev, P Vichitkulsawat, H Kobayashi, M Uchiyama

ADVANCED ROBOTICS　11　(4)　397-411　1997

ISSN： 0169-1864

eISSN： 1568-5535
からくり人形からロボット100年の推移

猪岡光, 吉田和哉

日本機械学会誌　100　(1)　34-38　1997/01
Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system Peer-reviewed

DN Nenchev, K Yoshida, P Vichitkulsawat, A Konno, M Uchiyama

1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4　2528-2534　1997

ISSN： 1050-4729
宇宙開発のシナリオと宇宙ロボット Peer-reviewed

狼嘉彰, 吉田和哉

日本ロボット学会誌　14　(7)　916-918　1996/10
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.14.916 　

ISSN： 0289-1824
ミッションスペシャリスト・若田光一宇宙飛行士に聞く Peer-reviewed

狼嘉彰, 梅谷陽二, 松本甲太郎, 若林靖史, 吉田和哉, 藤原芳明

日本ロボット学会誌　14　(7)　919-926　1996/10
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.14.919 　

ISSN： 0289-1824
宇宙ロボットに求められるインテリジェンスとその現状 Peer-reviewed

吉田和哉

計測と制御　35　(4)　297-299　1996/04
Publisher: The Society of Instrument and Control Engineers
DOI： 10.11499/sicejl1962.35.4_297 　

ISSN： 0453-4662
知能ロボットのめざすもの Peer-reviewed

石黒浩, 梶田秀司, 金子真, 川村貞夫, 菅野重樹, 中村仁彦, 松井俊浩, 三浦純, 吉田和哉, 松野文峻

計測と制御　35　(4)　305-322　1996/04
宇宙ロボットのための研究開発プラットフォ-ム Peer-reviewed

吉田和哉

日本ロボット学会誌　14　(1)　18-21　1996/02
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.14.18 　

ISSN： 0289-1824
Development of a Research Testbed for Exploration Rover at Tohoku University Peer-reviewed

Kazuya Yoshida, Tomoko Shiwa

Journal of Space Technology and Science　12　(1)　9-16　1996

DOI： 10.11230/jsts.12.1_9 　
Moving Base Robotics and Reaction Management Control Peer-reviewed

Kazuya Yoshida, Dragomir N. Nenchev, Masaru Uchiyama

ROBOTICS RESEARCH,The Seventh International Symposium　100　(109)　1996
Impact dynamics of space long reach manipulators Peer-reviewed

K Yoshida, C Mavroidis, S Dubowsky

1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4　1909-1916　1996

ISSN： 1050-4729
Dynamics and control of a robot satellite to obtain samples from an asteroid Peer-reviewed

K Yoshida

DYNAMICS AND CONTROL OF STRUCTURES IN SPACE III　67-81　1996
Impact dynamics of space manipulators mounted on a flexible structure Peer-reviewed

K Yoshida, C Mavroidis, S Dubowsky

DYNAMICS AND CONTROL OF STRUCTURES IN SPACE III　117-132　1996
Experiments on the PTP operations of a flexible structure mounted manipulator system Peer-reviewed

K Yoshida, DN Nenchev, P Vichitkulsawat, H Kobayashi, M Uchiyama

IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3　246-251　1996
Reaction null-space based control of flexible structure mounted manipulator systems Peer-reviewed

DN Nenchev, K Yoshida, M Uchiyama

PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4　4118-4123　1996

ISSN： 0191-2216
A general formulation for under-actuated manipulators Peer-reviewed

K Yoshida

IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3　1651-1657　1996
Design of Impact Optimization for Floating-Base Manipulator Systems Peer-reviewed

Dragomir N. Nenchev, Kazuya Yoshida

IFToMM Ninth World Congress on the Theory of Machines and Mechanisms, Proceedings, Milano, Italy　2137-2140　1995/08
Experimental Research on Impact Dynamics of Spaceborne Manipulator Systems Peer-reviewed

Kazuya Yoshida, Constantinos Mavroidis, Steven Dubowsky

Experimental Robotics IV, Lecture Notes in Control and Information Sciences　223　436-447　1995/07
Dynamics and Control of a Space Robot Capturing a Floating Target: Impact Estimation Experiments Peer-reviewed

Kazuya Yoshida, Constantinos Mavroidis, Steven Dubowsky

Journal of Space Technology and Science　11　(1)　22-33　1995

DOI： 10.11230/jsts.11.1_22 　

ISSN： 0911-551X
Space Robotics Research at the Tokyo Institute of Technology Peer-reviewed

Yoshiaki Ohkami, Saburo Matsunaga, Kazuya Yoshida

Journal of Robotics and Mechatronics　6　(5)　390-393　1995
Passive/Active サスペンションシステムを用いた 3D 無重力シミュレ-タの開発 Peer-reviewed

吉田和哉, 広瀬茂男, 小川雅

日本ロボット学会誌　13　(8)　1186-1189　1995
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.13.1186 　

ISSN： 0289-1824

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This paper develops a new methodology of Combined Passive/Active Suspension System for the 3D micro-gravity simulation, and demonstrates its validity with a prototype test bed. The system is a combination of low-impedance passive suspension, which is transparent to the high frequency dynamics, and tribial servo-tracking control which covers global motion of the system. The prototype shows a good performance for 3D dynamics hardware simulation such as impact, collision, or docking of space systems.
Experimental study on the dynamics and control of a space robot with experimental free-floating robot satellite (EFFORTS) simulators Peer-reviewed

K Yoshida

ADVANCED ROBOTICS　9　(6)　583-602　1995

ISSN： 0169-1864
Moving base robotics and reaction management control Peer-reviewed

K. Yoshida, D.N. Nenchev, M. Uchiyama

Robotics Research 7　100-109　1995
Space robot impact analysis and satellite-base impulse minimization using reaction null-space Peer-reviewed

K YOSHIDA, DN NENCHEV

PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3　1271-1277　1995

ISSN： 1050-4729
A Development of the Dynamic Motion Simulator of 3D Micro-Gravity with a Combined Passive/Active Suspension System Peer-reviewed

Kazuya Yoshida, Shigeo Hirose, Tadashi Ogawa

Proc. of 3rd Int. Symp. on AI, Robotics and Automation for Space　197-200　1994/10
Space Robotics Research at the Tokyo Institute of Technology Peer-reviewed

Yoshiaki Ohkami, Saburo Matunaga, Kazuya Yoshida

Journal of Robotics and Mechatronics　390-393　1994/06
Future Robots in Frontier Research and Science Fictions Peer-reviewed

YOSHIDA Kazuya, SAKAGUCHI Ken, KAJITA Syuji, YOKOKOJI Yasuyoshi, KUNIYOSHI Yasuo, YOKOTA Kazutaka

Journal of the Robotics Society of Japan　12　(3)　34-54　1994/04/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.12.368 　

ISSN： 0289-1824
PRACTICAL COORDINATION CONTROL BETWEEN SATELLITE ATTITUDE AND MANIPULATOR REACTION DYNAMICS BASED ON COMPUTED MOMENTUM CONCEPT Peer-reviewed

K YOSHIDA

IROS '94 - INTELLIGENT ROBOTS AND SYSTEMS: ADVANCED ROBOTIC SYSTEMS AND THE REAL WORLD, VOLS 1-3　1578-1585　1994
拡張逆慣性行列を用いた浮遊リンク系の衝突運動の定式化 Peer-reviewed

吉田和哉, 指田直毅, 梅谷陽二

日本ロボット学会誌　11　(3)　410-418　1993/04
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.11.410 　

ISSN： 0289-1824

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This paper presents a basic formulation of motion dynamics of free-floating link systems, to establish a basis of the collision dynamics. The authors propose a new concept named "Extended Inversed Inertia Tensor (Ex-IIT) ", which is an extended version of the IIT for ground-based arms, and discuss the virtual mass concept. By means of the concepts, they formulate the collision problem focusing on a velocity relationship just before and after the collision without sensing the impact force, but considering the momentum conservation law. The validity of the formulation is confirmed by a simple free-floating experiment.
MODELING OF IMPACT DYNAMICS AND IMPULSE MINIMIZATION FOR SPACE ROBOTS Peer-reviewed

K YOSHIDA, N SASHIDA

IROS 93 : PROCEEDINGS OF THE 1993 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOL 1-3　2064-2069　1993
Impact Dynamics Representation and Control with Extended Inversed Inertia Tensor for Space Manipulators Peer-reviewed

Kazuya Yoshida

Robotics Research 6: The Sixth International Symposium　453-463　1993
Feed-Forward Reaction Compensation Based on Computed Momentum: A Practical Spacecraft/Manipulator Coordination in Space Robots Peer-reviewed

K.Yoshida, K.Kawai

Proc. 1993 JSME International Conference on Advanced Mechatronics　848-853　1993
Space Robot Research Activity with Experimental Free-Floating Robot Satellite (EFFORTS) Simulators Peer-reviewed

Kazuya Yoshida

Experimental Robotics III, Lecture Notes in Control and Information Sciences　200　561-578　1993
SPACE STRUCTURE CAPTURING AND ASSEMBLING BY EXPERIMENTAL FREE-FLOATING ROBOT SATELLITE (EFFORTS) SIMULATORS Peer-reviewed

K YOSHIDA

DYNAMICS AND CONTROL OF STRUCTURES IN SPACE II　141-160　1993
ANALYSIS OF A REDUNDANT FREE-FLYING SPACECRAFT MANIPULATOR SYSTEM Peer-reviewed

D NENCHEV, Y UMETANI, K YOSHIDA

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION　8　(1)　1-6　1992/02

DOI： 10.1109/70.127234 　

ISSN： 1042-296X
MODELING OF COLLISION DYNAMICS FOR SPACE FREE-FLOATING LINKS WITH EXTENDED GENERALIZED INERTIA TENSOR Peer-reviewed

K YOSHIDA, R KURAZUME, N SASHIDA, Y UMETANI

1992 IEEE INTERNATIONAL CONF ON ROBOTICS AND AUTOMATION : PROCEEDINGS, VOLS 1-3　899-904　1992
COSMO-LAB CONCEPT:A COOPERATION OF SPACE ROBOTS AND STRUCTURES Peer-reviewed

Kazuya Yoshida, Yoji Umetani

SECOND JOINT JAPAN/U.S CONFERENCE ON ADAPTIVE STRUCTURES　59-76　1991/11
Torque Optimization Control in Space Robots with Redundant Arm Peer-reviewed

K.Yoshida, R.Kurazume, Y.Umetani

Proc. of 1991 IEEE/RSJ International Workshop on Intelligent Robots and Systems　1647-1652　1991
宇宙ロボットの運動制御 Peer-reviewed

吉田和哉

機械の研究　43　(1)　183-190　1991/01
DUAL ARM COORDINATION IN SPACE FREE-FLYING ROBOT Peer-reviewed

K YOSHIDA, R KURAZUME, Y UMETANI

1991 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3　2516-2521　1991
Coordinated Control of Multiple Manipulators in Space Robots. (Optimization of Control Torque using a Stabilizing Arm).:(Optimization of Control Troque using a Stabilizing Arm) Peer-reviewed

YOSHIDA Kazuya, KURAZUME Ryo, UMETANI Yoji

Journal of the Robotics Society of Japan　9　(6)　718-726　1991
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.9.718 　

ISSN： 0289-1824

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This paper investigates a coordinate control of multiple manipulators in space robots. The authors firstly derive the generalized Jacobian matrix and equation of motion for a space robot with multiple arms, then develop a method optimizing the sum of squared control torque in the sence of local (instantaneous) minimization by means of redundancy. The method is applied to a realistic model installing with a mission arm, a stbilizing arm and reaction wheels. The simulation results show the effectiveness of the presented coordinated control method with assistance of the stabilizing arm. This paper concluds that the installation and utilization of such redundant arm as the stabilizing arm makes a good hardware configuration and of great importance from the view point of satellite attitude controller design.
Modeling and Control of Redundant Space Manipulator Peer-reviewed

Kazuya YOSHIDA, Dragomir NENCHEV, Yoji UMETANI

計測自動制御学会論文集　26　(12)　1421-1426　1990/12

DOI： 10.9746/sicetr1965.26.1421 　
宇宙用マニピュレ-タの作業領域および可操作性解析 Peer-reviewed

梅谷陽二, 吉田和哉

計測自動制御学会論文集　26　(2)　188-195　1990/02
Publisher: The Society of Instrument and Control Engineers
DOI： 10.9746/sicetr1965.26.188 　

ISSN： 0453-4654

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This paper investigates operational performance of space manipulators installed on a free-flying robot satellite, by difining and analyzing its workspace and manipulability measure.<br>The one-to-one correspondence is not found between joint space and inertial task space in space free-flying manipulators, therefore, their workspaces should be defined with some additional restrictions on a base satellite motion or an operation path of manipulator hand. According to these conditions, the authors classify and define five types of workspaces, which are new and important concept for operating space manipulators.<br>A manipulability measure is defined by the generalized Jacobian matrix, which describes kinematic and dynamic property of a space free-flying manipulator. The manipulability of space manipulators is evaluated lower than that of ground-fixed manipulators, because it is reduced by dynamical coupling between the manipulator motion and the base satellite.<br>Operation posture and configuration design problems for a two dimensional robot satellite model are discussed with respect to wide workspace and high manipulability.
Analysis, Design and Control of Free-Flying Space Robots Using Fixed-Attitude-Restricted Jacobian Matrix Peer-reviewed

Dragomir Nenchev, Kazuya Yoshida, Yoji Umetani

Robotics Research 5: The Fifth International Symposium　251-258　1990
CONTROL OF SPACE FREE-FLYING ROBOT Peer-reviewed

K YOSHIDA, Y UMETANI

PROCEEDINGS OF THE 29TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6　97-102　1990
自由浮遊する宇宙用テレロボットモデルによる対象物捕捉制御実験 Peer-reviewed

梅谷陽二, 吉田和哉, 藤森光章, 岡村宏樹

日本ロボット学会誌　7　(6)　725-732　1989/12
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.7.6_725 　

ISSN： 0289-1824

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This paper presents an experimental study on a control problem of a space manipulator installed on a free-flying telerobot. The authors' main goal is to develop a control method for dexterous operation of telerobot, with considering the dynamical interaction between the manipulator arm and the base satellite in space micro-gravity environment. In order to control space free-flying manipulators, the generalized Jacobian matrix is introduced. By substituting the conventional Jacobian for this matrix, conventional control methods for ground-fixed manipulators is directly applicable for space manipulators. In order to simulate the free-flying behavior of mechanical links in micro-gravity environment, a laboratory model of space telerobot supported on air bearings is developed. An on-line resolved motion-rate control scheme with vision feedback is proposed for experimenting target capture operation, by means of the generalized Jacobian matrix. The telerobot model can properly chase and capture both a standing target and a moving target in spite of complex satellite/manipulator dynamical interaction. The experimental results confirm the validity of the generalized Jacobian concept and proposed control method.
一般化ヤコビ行列を用いた宇宙用ロボットマニピュレ-タの分解速度制御 Peer-reviewed

梅谷陽二, 吉田和哉

日本ロボット学会誌　7　(4)　327-337　1989/08
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.7.327 　

ISSN： 0289-1824

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In recent years, space has attracted special interest as a new application field of robotics. A robotic teleoperator system installed with space manipulators will play an important role in future space projects, such as constructing space structures or servicing satellites. However, in space environment, the lack of a fixed base arises many problems in controlling space robotic systems. In general, any motion of the manipulator arm will induce reaction forces and moments which disturb position and attitude of the supporting base satellite. To establish a control method for space manipulators taking dynamical interaction between the manipulator arm and the base satellite into account, the authors investigate the kinematics of free-flying multi-jointed link systems by introducing the momentum conservation law into the formulation and derive a new Jacobian matrix in generalized form for space robotic arms. By means of the new matrix, they develop a control method for space manipulators based on the resolved motion rate control concept. The proposed method is widely applicable for not only free-flying manipulation problems but also attitude control problems. The validity of the method is demonstrated by computer simulations with a realistic model of robot satellite.
RESOLVED MOTION RATE CONTROL OF SPACE MANIPULATORS WITH GENERALIZED JACOBIAN MATRIX Peer-reviewed

Y UMETANI, K YOSHIDA

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION　5　(3)　303-314　1989/06

DOI： 10.1109/70.34766 　

ISSN： 1042-296X
Experimental Study on Two-Dinemsional Free-Flying Robot Satellite Model

Yoji Umetani, Kazuya Yoshida

Proc. NASA Conference on Space Telerobotics　5　215-224　1989
Theoretical and Experimental Study on In-Orbit Capture Operation with Satellite Mounted Manipulator Peer-reviewed

Yoji Umetani, Kazuya Yoshida

Automatic Control in Aerospace (Selected Papers from the IFAC Symposium)　121-126　1989
Is Lobster More Dexterous Than Crab?-A Morphology of Robot Satellite Peer-reviewed

Yoji Umetani, Kazuya YOSHIDA

PROCEEDINGS OF THE SAIRA'89(SPACE ARTIFICIAL-INTELLIGENCE/ROBOTICS/AUTOMATION SYMPOSIUM'89)　60　(63)　1989
EXPERIMENTAL STUDY ON TWO-DIMENSIONAL FREE-FLYING ROBOT SATELLITE MODEL Peer-reviewed

Yoji UMETANI, Kazuya YOSHIDA

Proceedings of the NASA Conference on Space Telerobotics　215　(224)　1989/01
How to Reduce the Fluctuation of Space Vehicle During Manipulator Movement Peer-reviewed

Yoji Umetani, Kazuya Yoshida

Proc. of the 16th Int. Symp. on Space Technology and Science　1223-1230　1988
Introduction of Redundant Arms for Manipulation in Space Peer-reviewed

D.Nenchev, K.Yoshida, Y.Umetani

Proc. of 1988 IEEE/RSJ International Workshop on Intelligent Robots and Systems, Tokyo, Japan　679-684　1988
CONTINUOUS PATH CONTROL OF SPACE MANIPULATORS MOUNTED ON OMV Peer-reviewed

Y UMETANI, K YOSHIDA

ACTA ASTRONAUTICA　15　(12)　981-986　1987/12

ISSN： 0094-5765
Unfettered Behaviour of Space Robot Peer-reviewed

Yoji Umetani, Kazuya Yoshida

Proc. of the 3rd Int. Conf. on Advanced Robotics　103-114　1987

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Misc. 142

Orbit Demonstration Progress Report of RISESAT

桑原聡文, 藤田伸哉, 佐藤悠司, 坂本祐二, 吉田和哉

宇宙科学技術連合講演会講演集(CD-ROM)　64th　2020

ISSN： 1884-1945
Development and Ground Evaluation of Ground-Target Tracking Control of Microsatellite RISESAT

FUJITA Shinya, SATO Yuji, KUWAHARA Toshinori, SAKAMOTO Yuji, YOSHIDA Kazuya

Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan (Web)　17　(2)　2019

ISSN： 1884-0485
Development and On-orbit operation of Attitude Control System of the Microsatellite RISESAT

藤田伸哉, 佐藤悠司, 桑原聡文, 坂本祐二, 吉田和哉

宇宙科学技術連合講演会講演集(CD-ROM)　63rd　2019

ISSN： 1884-1945
Orbit Demonstration Progress Report of RISESAT

桑原聡文, 藤田伸哉, 佐藤悠司, 坂本祐二, 吉田和哉, 栗原純一, 國森裕生, 竹中秀樹

宇宙科学技術連合講演会講演集(CD-ROM)　63rd　2019

ISSN： 1884-1945
Operation results and international collaborations on 50-kg microsatellite DIWATA-1 using satellite deployment service of International Space Station

坂本祐二, 桑原聡文, 吉田和哉, 石田哲朗, 栗原純一, 高橋幸弘

宇宙科学技術連合講演会講演集(CD-ROM)　62nd　2018

ISSN： 1884-1945
Development and Ground Evaluation of Attitude Control System of the Microsatellite RISESAT

藤田伸哉, 佐藤悠司, 桑原聡文, 坂本祐二, 吉田和哉

宇宙科学技術連合講演会講演集(CD-ROM)　62nd　2018

ISSN： 1884-1945
Research and Development on Biomimetic Exploration Robots

久保田孝, 澤田弘崇, 中村太郎, 山田泰之, 袴田武史, 吉田和哉, 渡辺公貴, 加藤國彦, 羽柴健太

宇宙科学技術連合講演会講演集(CD-ROM)　61st　2017

ISSN： 1884-1945
Design and Ground Evaluation of Attitude Control System of the Microsatellite RISESAT

藤田伸哉, 佐藤悠司, 桑原聡文, 坂本祐二, 吉田和哉

宇宙科学技術連合講演会講演集(CD-ROM)　61st　2017

ISSN： 1884-1945
Operation results of S-band beacon data downlink communication system for nanosatellite S-CUBE

石丸亮, 坂本祐二, 小島要, 新家隆広, 望月知也, 藤田伸哉, 郷内稔也, 吉田和哉, 松井孝典

宇宙科学技術連合講演会講演集(CD-ROM)　61st　2017

ISSN： 1884-1945
Development Status of Micro-satellite RISESAT

60　4p　2016/09/06
Publisher: 日本航空宇宙学会
ISSN： 1884-1945
Development Status of the HAKUTO Micro Lunar Rover Flight Model

60　3p　2016/09/06
Publisher: 日本航空宇宙学会
ISSN： 1884-1945
Experimental Analysis of Two-Dimensional Collision with Friction for an On-Orbit Servicing Robot

59　6p　2015/10/07
Publisher: 日本航空宇宙学会
ISSN： 1884-1945
1P2-T02 Contact Dynamics for Relative Rotation Control of Tumbling Space Debris

NAGAOKA Kenji, KOBAYASHI Akinori, YOSHIDA Kazuya

2015　"1P2-T02(1)"-"1P2-T02(4)"　2015/05/17
Publisher: The Japan Society of Mechanical Engineers

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Space debris mitigation is a key technology for on-orbit servicing. In order for secure capture of space debris by a space robot, contact control with translational and rotational motion is necessary for detumbling and grasping the debris. This paper elaborates on collision experiments in micro-gravity and numerical simulations based on contact dynamics model. We examined contact characteristics with/without mechanical compliance, which is equipped on the space robot and needed for contact control by its robotic arms. On the basis of these analyses, we introduce theoretical contact conditions for relatively detumbling. The validity of the conditions is experimentally shown by using air-floating test beds in planar micro-gravity. The result contributes to relative motion control after contact.
1P2-U02 Traveling performance analysis of skid steering rover based on energy consumption and grouser's height

Nakata Kei, Nagaoka Kenji, Britton Nathan, Higa Shoya, Paula Costa do Valle Gondim, Reboucas Iure Barros, Yoshida Kazuya

2015　"1P2-U02(1)"-"1P2-U02(4)"　2015/05/17
Publisher: The Japan Society of Mechanical Engineers

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In this paper, we performed experiments to investigate how the height of grousers influences a skid steering rover's traveling performance. We measured steering/linear movement energy efficiency of a rover with changing grouser's height. In a linear movement experiment, we find there is significant influence of grouser height to energy efficiency, when traction force is relatively high. Also, in a steering experiment, we find grousers have little influences of energy efficiency compared to the method of steering.
1P2-V06 Two-dimensional Measurement Method of Shear Stress Distribution for a Wheeled Robot on Loose Soil

HIGA Shoya, NAGAOKA Kenji, NAGATANI Keiji, YOSHIDA Kasuya

2015　"1P2-V06(1)"-"1P2-V06(4)"　2015/05/17
Publisher: The Japan Society of Mechanical Engineers

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This paper describes a two-dimensional measurement method for shear stress distribution of a wheel on loose soil. The stress measurement device was improved to enable detect the shear stress distribution of a wheel. Normal stress distribution and circumferential shear stress distribution and lateral shear stress distribution were measured using this device. By combining the two-directional shear stress distribution, the directions of shear stress distribution were estimated. With this, soil flow direction was also estimated. By calculating vertical components of normal stress and shear stress, measurement validity was evaluated. In addition, the classical shear stress model and measured data were compared. As a result, both were accurately estimated, and a significant difference was not found under the low slippage conditions.
Flow Visualization on a Shrouded Rotor in Cross Wind Using a Laser Light Sheet Technique

46　10p　2015/04/16
Publisher: 日本航空宇宙学会
国際宇宙ステーションからの雷放電と高高度発光現象の観測

牛尾知雄, 佐藤光輝, 鈴木睦, 森本健志, 菊池博史, 菊池雅行, 足立透, 山崎敦, 高橋幸弘, INAN U., LINSCOTT I., 石田良平, 坂本祐二, 吉田和哉, 芳原容英, 阿部琢己, 中村正人, 織田裕久

日本気象学会大会講演予稿集　(108)　2015
惑星観測を目指した極周回成層圏テレスコープFUJINの開発

前田惇徳, 田口真, 荘司泰弘, 中野壽彦, 今井正尭, 合田雄哉, 高橋幸弘, 渡辺誠, 吉田和哉, 坂本祐二

地球電磁気・地球惑星圏学会総会及び講演会予稿集(CD-ROM)　138th　2015
Contact Dynamics for a Space Robot Based on Two-Dimensional Collision Experiments in a Microgravity

58　6p　2014/11/12
Publisher: 日本航空宇宙学会
ISSN： 1884-1945
Editorial-Special Issue on Field and Service Robotics

Kazuya Yoshida, Satoshi Tadokoro

JOURNAL OF FIELD ROBOTICS　31　(5)　729-730　2014/09

DOI： 10.1002/rob.21544 　

ISSN： 1556-4959

eISSN： 1556-4967
1P1-H03 Development of Sample-Return Devices for Obtaining Volcaniclastic Materials(Search and Rescue Robot and Mechatronics (1))

YAJIMA Ryosuke, NAGATANI Keiji, YOSHIDA Kazuya

2014　"1P1-H03(1)"-"1P1-H03(2)"　2014/05/24
Publisher: The Japan Society of Mechanical Engineers

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When an active volcano erupts, typically, a restricted area is set around the crater for safety. However, it is important to observe inside of the restricted area for a forecast of disasters, such as debris flow. There arc some proposals of visual observation methods in restricted areas, e.g. a tele-operated mobile ground robot with cameras. However, there is no sample-return method for obtaining volcaniclastic materials from such restricted areas. Therefore, in this research, we developed two sample-return devices that hang down from multi-rotor UAV. In this paper, we introduce our developed devices, and report indoor and outdoor experiments.
1P2-E05 Under an unstable radio communication teleoperating mobile robots via hybrid connection system(Search and Rescue Robot and Mechatronics (2))

TSUZUKI Ryohei, AKIYAMA Ken, YAMAUCHI Genki, NAGATANI Keiji, YOSHIDA Kazuya

2014　"1P2-E05(1)"-"1P2-E05(3)"　2014/05/24
Publisher: The Japan Society of Mechanical Engineers

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When an active volcano erupts, it is important to observe in the area for forecasting debris flood and/or a pyroclastic flow for inhabitants. However, typically, a restricted area is set, such as within a few kilometers radius of the crater. Therefore, we proposed an observation system based on a tele-operated mobile robot via radio communication in active volcanoes. To evaluate the system, we conducted some field tests via 3G communication in Mt. Asama and Mt. Mihara etc. During the experiments, we faced some critical situations that the robot stopped all motion because of weakness of communication signal of 3G. To solve the problem, in this research, we developed a hybrid connection system with multi-robots that is composed of two radio communication lines. In this paper, we explain how the system works, introduce our new robots equipped with the system, and report operation tests on them.
1P2-E06 Autonomous stair climbing/descending method for a tracked vehicle based on small range sensors mounted on its subtracks(Search and Rescue Robot and Mechatronics (2))

KOUMURA Takaomi, NAGATANI Keiji, YOSHIDA Kazuya

2014　"1P2-E06(1)"-"1P2-E06(3)"　2014/05/24
Publisher: The Japan Society of Mechanical Engineers

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When a disaster occurs, there is a risk of secondary disasters for rescue crews. To use a robotic technology for search and rescue is a good solution to reduce the risk. Recent tracked vehicles for search and rescue missions have some additional actuators to improve traversability on rough terrains. However, it is very hard for operators to control such robots remotely because of the additional control of actuators. So, assist system of remote control of a tracked vehicle is effective. In this research, we proposed a method of autonomous stair climbing/descending method for a tracked vehicle based on small range sensors mounted on its subtracks. The method was implemented on one of the tracked vehicles called "Quince", and was evaluated by some indoor environments. In this paper, we introduce our system, and report the results of the experiments.
1P2-E07 Development of a Portable Unmanned Observation Device for Long-term Observation of a Volcanic Eruption(Search and Rescue Robot and Mechatronics (2))

Yamauchi Genki, AKIYAMA Ken, YAJIMA Ryosuke, OTSUKA Hikaru, NAGATANI Keiji, KURI Miwa, YOSHIDA Kazuya

2014　"1P2-E07(1)"-"1P2-E07(3)"　2014/05/24
Publisher: The Japan Society of Mechanical Engineers

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Once a volcano erupts, severe disasters might be caused by molten rock, ashes, pyroclastic flow, and debris flow. To keep neighborhood safety from these disasters, it is important to observe the volcano, and to conduct hazard predictions. However, when a volcano erupts, a restricted area is set in a few kilometers radius around it, and it is difficult to obtain information inside the area. Based on the above situations, in this study, we developed a self-contained portable unmanned observation device that observes a volcano for a long time. The device includes some sensors and a satellite communication module. In this paper, we introduce design and development of the device, and report some satellite communication tests.
Preface

Kazuya Yoshida, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　92　2014

ISSN： 1610-7438

eISSN： 1610-742X
惑星観測を目指した極周回成層圏望遠鏡FUJIN

前田惇徳, 田口真, 吉田和哉, 坂本祐二, 中野壽彦, 荘司泰弘, 高橋幸弘, 仲本純平, 今井正尭, 渡辺誠, 合田雄哉

地球電磁気・地球惑星圏学会総会及び講演会予稿集(CD-ROM)　136th　2014
流星観測衛星S-CUBEのミッション紹介と開発進捗報告

石丸亮, 坂本祐二, 坂本祐二, 小林正規, 郷内稔也, 藤田伸哉, 千秋博紀, 和田浩二, 石橋高, 黒澤耕介, 山田学, 阿部新助, 吉田和哉, 佐藤光輝, 高橋幸弘, 松井孝典

日本惑星科学会秋季講演会予稿集(Web)　2014　2014
Field and Service Robotics: Results of the 8th International Conference

Kazuya Yoshida, Satoshi Tadokoro

Springer Tracts in Advanced Robotics　92　2014

DOI： 10.1007/978-3-642-40686-7 　

ISSN： 1610-7438 1610-742X

eISSN： 1610-742X
超小型地球観測衛星RISING‐2の開発および初期運用成果

坂本祐二, 杉村伸雄, 冨岡義弘, 桑原聡文, 吉田和哉, 栗原純一, 福原哲哉, 高橋幸弘

宇宙科学技術連合講演会講演集(CD-ROM)　58th　ROMBUNNO.1K07　2014

ISSN： 1884-1945
S192024 Knowledge of Thermal Design for Micro and Nano Satellites Based on Design, Test, and Flight Data

SAKAMOTO Yuji, TOMIOKA Yoshihiro, TANABE Yuta, KUWAHARA Toshinori, YOSHIDA Kazuya

Mechanical Engineering Congress, Japan　2013　"S192024-1"-"S192024-5"　2013/09/08
Publisher: The Japan Society of Mechanical Engineers

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Recently the activities for the development of micro- and nano- satellites are being increased, and Tohoku University has developed total 4 satellites in which 2 satellites are already in space. This paper shows the efficient thermal design techniques including the environmental test method are shown which have been accumulated through the sufficient experience. And the effectiveness of the method are shown by the comparison with analysis and real flight data.
A12 Measurement of 2-Dimensional Stress Distribution of Wheels on Loose Soil

HIGA Shoya, SUTOH Masataku, NAGATANI Keiji, YOSHIDA Kazuya

Dynamics and Design Conference　2013　(13)　"A12-1"-"A12-6"　2013/08/25
Publisher: The Japan Society of Mechanical Engineers

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On the Moon or Mars, common exploration targets for mobile robots (rovers) are covered in loose soil, which can cause slippage. To reduce the risk of wheel slippage, analysis of the mechanics of contact interaction between the soil and wheel is important. Various normal stress distribution models have been proposed until now, but most models assume that the stress distribution is uniform across the width of the wheel that for the sake of ease. This assumption is inaccurate. Therefore, in this research, we measured 2-dimensional normal stress distributions of a wheel traversing over soft soil, with 10 data points across the width of the wheel. In addition, the curved surfaces of each 2-dimensional normal stress distribution have clear relationships to the wheel's center of gravity at each time of measurement. Finally, we intend to use this data to build a 2-dimentional stress distribution model for a wheels on soft sand. In this paper, we report the results of a 2-dimensional stress distribution experiment and the relationship between the stress distributions and wheel's center of gravity.
A11 Development of Planetary Rover Simulator in case of Traversing Loose Soil

EMOTO Yujiro, INOTSUME Hiroaki, SUTOH Masataku, NAGATANI Keiji, YOSHIDA Kazuya

Dynamics and Design Conference　2013　(13)　"A11-1"-"A11-7"　2013/08/25
Publisher: The Japan Society of Mechanical Engineers

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Planetary rovers that explore surface of the Moon or Mars easily slip in both longitudinal and lateral directions because it is covered with fine-grained sand. Particularly, when rovers traverse lateral slopes, the side slip occurs significantly. In the worst case, the rovers may deviate significantly on the slopes, and there is a possibility that fails to planetary exploration. To mitigate the slippage problems, we have confirmed in our previous research that the side slip of a rover is able to be reduced by changing the attitude of the rover. In order to study further the traversal behavior of a rover, in this research, we developed a dynamics simulator that includes a wheel-soil interaction model based on terramechanics on slope. To validate the simulator, we conducted numerical simulations for slope-traversing scenarios and compared the results with those of experiments. According to the comparison, the simulation results qualitatively match the tendencies of experimental results in the most cases and thus verify the usefulness of the simulator.
南極2.5m赤外線望遠鏡計画

市川隆, 小原隆博, 笠羽康正, 吉田和哉, 持田灯, 板由房, 坂野井健, 中川広務, 大風翼, 沖田博文, 小山拓也, 中井直正, 瀬田益道, 高遠徳尚, 本山秀明, 宮岡宏, 金高義, 香川博之

日本天文学会年会講演予稿集　2013　264　2013/08/20

ISSN： 1347-0639
Preface

Yoshida K.

Planetary People　22　(2)　67-67　2013/06/25
Publisher: The Japanese Society for Planetary Sciences
ISSN： 0918-273X
2A2-R06 Development of Star-shaped Wheel with Light-weight Mobile Volcano Exploration Robot and Evaluation of Performance on Gravel Field(Wheeled Robot / Tracked Vehicle (2))

TAKAHASHI Yusuke, SUTOH Masataku, NAGATANI Keiji, YOSHIDA Kazuya

2013　"2A2-R06(1)"-"2A2-R06(4)"　2013/05/22
Publisher: The Japan Society of Mechanical Engineers

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The surfaces of volcanoes are covered with loose soil and gravel. Because of the weakness of the ground, the wheels of mobile robots can slip and get stuck. To avoid this problem and enhance the traveling performance, we developed a star-shaped wheel. In this paper, the star-shaped wheel is described in detail and its traveling performance is evaluated. To verify the effectiveness of the star-shaped wheel, we carried out slope-climbing test using a two-wheeled robot equipped with lugged/star-shaped wheels and compared their traveling performances. The experimental results confirmed that the star-shaped wheel has a higher traveling performance than the lugged wheel in gravel field.
1P1-P15 Development of Compact and Lightweight Mobile Robot that is Mountable on Electric Multi-rotor UAV to Observe Active Volcanoes(Search and Rescue Robot and Mechatronics)

AKIYAMA Ken, YAMAUCHI Genki, NAGATANI Keiji, YOSHIDA Kazuya, IZU Tomoyuki, Mackay Randy

2013　"1P1-P15(1)"-"1P1-P15(4)"　2013/05/22
Publisher: The Japan Society of Mechanical Engineers

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When an active volcano erupts, typically, a restricted area is set, such as within a few kilo-meter radius of the crater, according to the eruption level. However, it is very important to observe inside the area, and to forecast a debris flood and/or a pyroclastic flow for inhabitants. Therefore, we proposed a robotic observation system in active volcanoes, which is composed of a mobile robot and a multi-rotor UAV. To realize the scenario, we developed a compact and lightweight mobile robot called CLOVER to mount on small-sized multi-rotor UAV. In this paper, we introduce a volcano observation scenario, field experiments and our new robot CLOVER, and report an operation test with a multi-rotor UAV.
2P1-R10 Motion Control of multi-D.O.F. Tracked Vehicle Based on Contact Load(Wheeled Robot/Tracked Vehicle (3))

NOYORI Takahiro, NAGATANI Keiji, YOSHIDA Kazuya, KOYANAGI Eiji

2013　"2P1-R10(1)"-"2P1-R10(4)"　2013/05/22
Publisher: The Japan Society of Mechanical Engineers

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To plan people's evacuation from volcanic disasters, robotic remote observation system in restricted area would be quite useful. Thus, we conducted several field tests in some volcanic environments using tracked vehicles. As the result of those experiments, we have discovered some problems of locomotion of the conventional tracked vehicles on weak and uneven slopes. To solve the problems, we developed a multi-D.O.F. tracked vehicle, called ELF. In this research, to solve the problem of slippage in case of slope climbing, we developed a sensing system to measure the contact load of the robot, and propose a control scheme of 2-D.O.F subtracks that are relied on the contact data. In this paper, we introduce the robot system and the control scheme, and report the result of indoor experiments.
1A1-G03 Development of a Multi-Rotor UAV to transport a Small Rover in a Mountainous Area(Aerial Robot and Mechatronics (1))

OTSUKA Hikaru, KIRIBAYASHI Seiga, NAGATANI Keiji, YOSHIDA Kazuya

2013　"1A1-G03(1)"-"1A1-G03(3)"　2013/05/22
Publisher: The Japan Society of Mechanical Engineers

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Tele-operated mobile robots play an important role in observing active volcano areas in restricted areas. However, it is very difficult for current mobile robotic technology to traverse a whole path from unrestricted area to the destination in restricted area by itself. Therefore, we drew up a scenario in which an electronic rotary-wing UAV transported a small-sized mobile robot by air. Based on the scenario, we developed a prototype rotary-wing UAV and conducted some field experiments, in which the UAV carries a small robot. In this paper, firstly, we discuss changing factors in thrust of rotary wings in different altitude, then introduce the prototype UAV, and finally, report some field experiments and evaluations of them.
Project-Based Learning Program of Frontier Technology in Graduate Education of Mechanical Engineering

YOSHIDA Kazuya

44　(1)　28-30　2013/01/15
Publisher: 日本フルードパワーシステム学会
ISSN： 1346-7719
EVA支援ロボット実証実験REX-Jの軌道上実験に基づく伸展アームの振動特性評価

小林明誉, 平野大地, 永岡健司, 安孫子聡子, 吉田和哉, 上田敦史, 中西洋喜, 鈴木悟史, 渡邊恵佑, 加藤裕基, 吉井正広, 小田光茂, 西田信一郎

宇宙科学技術連合講演会講演集(CD-ROM)　57th　2013

ISSN： 1884-1945
ほどよし二号の開発状況

桑原聡文, 坂本祐二, 吉田和哉, 栗原純一, 高橋幸弘, 高田淳史, 山川宏

宇宙科学技術連合講演会講演集(CD-ROM)　57th　ROMBUNNO.3O10　2013

ISSN： 1884-1945
超小型衛星の宇宙科学応用について

栗原純一, 高橋幸弘, 桑原総文, 吉田和哉

宇宙科学技術連合講演会講演集(CD-ROM)　57th　ROMBUNNO.3O08　2013

ISSN： 1884-1945
国際宇宙ステーションからの雷放電とスプライトの国際共同観測

牛尾知雄, 森本健志, 佐藤光輝, 鈴木睦, 山崎敦, 芳原容英, 菊地雅行, 高橋幸弘, INAN Umran, 石田良平, 坂本祐二, 吉田和哉, 阿部琢美, 河崎善一郎

大気電気学会誌 = / Society of Atmospheric Electricity of Japan　6　(2)　82-82　2012/11/15

ISSN： 1882-0549
J192011 Traversal Experiments on rough terrain for "TrackWalker II" : in Mihara-Yama and Nakatajima dune

NAGATANI Keiji, AKIYAMA Ken, YOSHIDA Kazuya, NISHIDA Shinichiro

Mechanical Engineering Congress, Japan　2012　"J192011-1"-"J192011-3"　2012/09/09
Publisher: The Japan Society of Mechanical Engineers

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To explore in extreme environments, such as a lunar surface or volcanic area in the earth, our research group has been developing small-sized tracked robots, called "Trackwalker" and "Trackwalker II", in a joint research project with JAXA Each robot mounts two side sub-tracks, and each sub-track has a swing mechanism to enable simple legged locomotion for traversal on a weak a soil From 2010 to 2011, we have conducted some field tests using the tracked robots and improved its weakness, and executed performance assessments In 13^<th>, March, 2012, JAXA organized a debrief session combined with field test in Nakatajima dune, in Hamamatsu, and we performed hill-climbing demonstration In this paper, we introduce a brief of mechanism of TrackWalker-II, and report some field tests, including Nakatajima experiment
AI-2-1 Some Thoughts on Wireless Communication for Remote Operation of Mobile Robots in Disaster Application

YOSHIDA Kazuya

Proceedings of the Society Conference of IEICE　2012　"SS-40"-"SS-41"　2012/08/28
Publisher: The Institute of Electronics, Information and Communication Engineers

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This article introduces research and development on the remote operation of exploration robots, and their application to the incident at the Fukushima Nuclear Power Plant.
Progress Report of the Development of microsatellite RISING2 : Observation of Cumulonimbus and SPRITE by Multi-Spectrum Telescope system

TOMIOKA Yoshihiro, SAKAMOTO Yuji, FUKUDA Kazufumi, SUGIMURA Nobuo, KUWAHARA Toshinori, YOSHIDA Kazuya

Technical report of IEICE. SANE　112　(107)　83-88　2012/06/21
Publisher: The Institute of Electronics, Information and Communication Engineers
ISSN： 0913-5685

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The development of 50kg-class micro-satellite RISING-2 was started in 2009 by Tohoku University. At the time of Jun, 2012, the development of flight model of hardware was completed, and the adjustment of software and others is continued aimed its launch in 2013. The satellite has a telescope with 10cm diameter and lm focal length, and it takes images with 5m resolution. It can observe multi-spectrum images using liquid crystal tunable filter as well as RGB color photos. The primary mission is the observation of cumulonimbus clouds in visible near infrared. Also, transient luminous events in upper atmosphere such as sprite are observed using CMOS sensors. This paper shows the latest specifications of FM, and the result of test was carried out so far and task-schedule of future.
2A1-L11 Development and Evaluation of Localization Module using Non-contact Translation Measurement Device(Localization and Mapping(1))

YAMAUCHI Genki, NAGAI Isaku, NAGATANI Keiji, YOSHIDA Kazuya

2012　"2A1-L11(1)"-"2A1-L11(4)"　2012/05/27
Publisher: The Japan Society of Mechanical Engineers

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In extreme environments, such as lunar surface or disaster area in the earth, it is expected for mobile robots to explore instead of human. However, in such environments, wheels or tracks of the robots are typically slipped, and thus, localization based on odometry is unreliable. To improve odometry localization, our research group has been developing a non-contact translation measurement device that uses a red laser module and an optical device. In this research, we developed a localization module that consists of the measurement device, Inertial Measurement Unit (IMU), and Global Positioning System (GPS). Furthermore, we developed 3D range system based on the localization module and a Laser Range Finder (LRF). In this paper, we introduce the localization module and an initial experimental result of recognition of 3D environment.
1P1-C08 3D-map-based Teleoperation-assist-system for Mobile Manipulator in Narrow Environment(Robotics for Hazardous Fields)

KIRIBAYASHI Seiga, NAGATANI Keiji, OKADA Yoshito, YOSHIDA Kazuya

2012　"1P1-C08(1)"-"1P1-C08(4)"　2012/05/27
Publisher: The Japan Society of Mechanical Engineers

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In disaster environments, rescue robots have been expected for searching victims and exploring target environments. Particularly, a mobile manipulator can be useful for exploration in unknown environment. However, in such target environments, there are chances to have a communication delay and narrow space problem for the manipulator activity. Therefore, we constructed a teleoperation assist system for multi-degree of freedom (D.O.F.) manipulator. In this paper, we introduce the developing system, and improvement of the method.
1P1-G11 Improvement of Cross-traversability for a Tracked Vehicle on Weak Slope by Changing its Contact Angle on the Ground(Wheeled Robot/Tracked Vehicle(3))

NOYORI Takahiro, NAGATANI Keiji, YOSHIDA Kazuya, KOYANAGI Eiji

2012　"1P1-G11(1)"-"1P1-G11(4)"　2012/05/27
Publisher: The Japan Society of Mechanical Engineers

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A robotic observation in an active volcanic area is required for plotting strategies of people's evacuation. In volcanic environment, high traversability is required for mobile robots in weak and uneven terrain. Therefore, in this research, we developed a small-sized robot to handle rough terrains, particularly, for volcanic environment. The robot has 11 D.O.F. actuators. The robot can change its contact angle on the ground, which improves cross-slope traverse. In this paper, we introduce the mechanism and the system of the robot and report the result of experiments of cross-slope traverse in a test field.
1A2-L06 Traveling performance evaluation of wheeled rover climbing various soil slopes(Space Elevator)

SUTOH Masataku, NAGATANI Keiji, YOSHIDA Kazuya

2012　"1A2-L06(1)"-"1A2-L06(4)"　2012/05/27
Publisher: The Japan Society of Mechanical Engineers

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This paper presents the influence of lugs (i.e., grousers) on the traveling performance of wheeled rover in various loose soils. To evaluate the influence of lugs, slope-climbing tests were performed using a two-wheeled rover with wheels equipped with lugs in sandboxes covered with Toyoura sand/lunar regolith simulant. According to the experimental results, we confirmed that an increase in the number of lugs enhances traveling performance on both soils, and it has a greater impact on lunar regolith simulant, especially for wheels with short lugs. Furthermore, an increase in lug height has a great impact even on the traveling performance of wheels with small numbers of lugs on lunar regolith simulant.
1A2-L09 Mobility Performance of Ciliary Micro-Hopping Locomotion for an Asteroid Exploration Robot : Micro-Gravity Experiments with an Air Floating Test Bed(Space Engineering and Robotics and Mechatronics(1))

NAGAOKA Kenji, TAKANO Riku, IZUMO Takayuki, YOSHIDA Kazuya

2012　"1A2-L09(1)"-"1A2-L09(4)"　2012/05/27
Publisher: The Japan Society of Mechanical Engineers

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Development of a locomotion mechanism under micro-gravity is a key technology for an asteroid exploration robot in future missions. As one of the locomotion mechanisms, we have proposed a ciliary micro-hopping locomotion mechanism. The proposed mechanism is driven by an eccentric motor, and the elastic cilia enable a robot to move over an asteroid surface under micro-gravity. In this paper, we deliver fundamental locomotion characteristics of the ciliary micro-hopping mechanism based on indoor micro-gravity experiments using an air floating test bed.
1A2-J06 Experimental Evaluation of Contact Characteristics of a Space Robot with a Compliant Wrist(Space Engineering and Robotics and Mechatronics(1))

UYAMA Naohiro, Fujii Yusuke, NAGAOKA Kenji, YOSHIDA Kazuya

2012　"1A2-J06(1)"-"1A2-J06(4)"　2012/05/27
Publisher: The Japan Society of Mechanical Engineers

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This paper presents the experimental evaluation of contact characteristics of a space robot equipped with a compliant wrist. Introduction of a compliant wrist allows a space robot to ease contact control issues in microgravity environment, such as satellite capture and soft landing on asteroid surface, because a compliant wrist increases contact duration and reduces peak of contact force. The contact dynamics model between a compliant wrist and a floating object is constructed as oscillatory systems, and the model is simplified by assumption that dominant frequency of the system is given by a compliant wrist. Contact duration and coefficient of restitution are formulated based on the simplified contact dynamics model. Finally, experimental evaluation is conducted using an air-floating-based two dimensional microgravity emulator. The experimental results showed that the simplified model can be used to predict contact duration and resulting coefficient of restitution in a specific range.
1A2-I11 Research for slope traversability of a small-sized wheeled mobile robot on loose gravel field(Wheeled Robot/Tracked Vehicle(2))

TAKAHASHI Yusuke, SUTOH Masataku, NAGATANI Keiji, YOSHIDA Kazuya

2012　"1A2-I11(1)"-"1A2-I11(4)"　2012/05/27
Publisher: The Japan Society of Mechanical Engineers

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When a volcano erupts, it is very dangerous to approach. However, if we use a rover, we can approach there. But there are loose sand field and loose gravel field in volcano. So the main challenge when developing a rover is traversability. To avoid slippage and increase the wheel's drawbar pull, the wheels of the rover typically have lugs, i.e., grousers. Experimental verification for traversability of a lugged wheeled rover has been done on loose sand field. But it has not been done on loose gravel field. Therefore, we conducted experiments on the traversability in loose sand field and loose gravel field using a two-wheeled testbed. And we evaluated the results of the experiments.
1A2-I10 Development and Evaluation of a Wheel with Verticality-penetration-lug Mechanism(Wheeled Robot/Tracked Vehicle(2))

AKIYAMA Ken, NAGATANI Keiji, YOSHIDA Kazuya

2012　"1A2-I10(1)"-"1A2-I10(4)"　2012/05/27
Publisher: The Japan Society of Mechanical Engineers

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Robotic explorations on lunar or planet surfaces have a possibility to discover important science information. However, such surface is typically covered with loose soil, and it is very difficult for mobile robots to traverse in a wide area. To increase traction, a conventional wheel equips lugs. However, it deforms soil when lugs enter/exit the soil, and it causes sinkage of wheels that decreases traversability. Therefore, in this research, we have developed a verticality-penetration-lug mechanism to prevent wheel slippage. In this paper, we introduce the mechanism, and report the result of performance test using these wheels.
1A2-J09 A Proposal of a Soft Landing Method using Robotic Arms of an Asteroid Exploration Robot(Space Engineering and Robotics and Mechatronics(1))

FUJII Yusuke, UYAMA Naohiro, NAGAOKA Kenji, YOSHIDA Kazuya

2012　"1A2-J09(1)"-"1A2-J09(4)"　2012/05/27
Publisher: The Japan Society of Mechanical Engineers

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Gravity on an asteroid surface is generally much smaller than one on planets such as Earth or Mars. So far, some locomotion strategies for an asteroid exploration robot under micro-gravity have been proposed. However, most of these strategies have not taken into acount soft landing on asteroids. Thus, the robot accompanies hard collisions with the asteroid surface before stopping its motion due to uncertainty of the asteroid environment. In addition, the hard collisions are concerns for embedded instruments. Therefore, as one of the soft-landing methods, we propose an asteroid exploration robot with robotic arms. The robot can achieve soft-landing under micro-gravity by controlling the arms. In this paper, the proposed landing method is validated through micro-gravity experiments using an air floating testbed.
Micro-Satellites for International Scientific Missions

YOSHIDA Kazuya, SAKAMOTO Yuji, KUWAHARA Toshinori, TAKAHASHI Yukihiro

計測と制御 = Journal of the Society of Instrument and Control Engineers　51　(5)　438-443　2012/05/10
Publisher: 計測自動制御学会
DOI： 10.11499/sicejl.51.438 　

ISSN： 0453-4662
Study on locomotion mechanism of planetary rovers over loose soil

32　85-90　2012/05
Publisher: テラメカニックス研究会
ISSN： 1345-644X
Research and development of space exploration robots

Kazuya Yoshida

応用物理　81　(3)　191-195　2012/03/10
Publisher: 応用物理学会
ISSN： 0369-8009
B4 Development Method of Command and Dat Handling System Based on Microsatellite RISING-2 and Cubesat RAIKO

Sakamoto Yuji, Kuwahara Toshinori, Battazzo Steve, Fukuda Kazufumi, Yagisawa Hitoshi, Yoshida Kazuya

2011　(20)　"B4-1"-"B4-5"　2012/01/26
Publisher: The Japan Society of Mechanical Engineers
ISSN： 0918-9238

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Tohoku University and Hokkaido University completed the development of 50-kg microsatellite RISING-2 for earth observation in 2011. It has a telescope with 5-m resolution, total 8 image sensors, and wheel-based attitude control system, for the observation missions of multi-spectrum cumulonimbus clouds and terrestrial lightning events such as sprite. The launch opportunity has not been decided yet, so the improvement of onboard codes for FPGA and CPU are being continued at this time. This paper shows the development method of command and data handling system (C&DH) based on the actual experience for the project RISING-2 and project RAIKO. This method and experience are expected to contribute for the development of future micro and nano satellites.
国際宇宙ステーション放出キューブサットRAIKOの開発および運用成果

坂本祐二, 田邊勇太, 八木澤仁史, 杉村伸雄, 吉田和哉, 秋山演亮

宇宙科学技術連合講演会講演集(CD-ROM)　56th　2012

ISSN： 1884-1945
地上走行ロボットと飛行ロボットの協調による被災ビルの探査実験

吉田和哉, 永谷圭司, 岡田佳都, 桐林星河, 大竹一樹, 大野和則, 竹内栄二朗, 田所諭, MICHAEL Nathan, SHEN Shaojie, MOHTA Kartik, KUMAR Vijay

日本ロボット学会学術講演会予稿集(CD-ROM)　30th　2012
極周回成層圏テレスコープによる惑星大気観測

田口真, 山元夢摘, 吉田和哉, 坂本祐二, 中野壽彦, 荘司泰弘, 高橋幸弘, 渡辺誠, 濱本昂, 今井正尭, 仲本純平

日本天文学会年会講演予稿集　2012　2012

ISSN： 1347-0639
ほどよし2号機のミッションと開発状況

桑原聡文, 坂本祐二, 吉田和哉, 栗原純一, 高橋幸弘, 高田淳史, 山川宏

宇宙科学技術連合講演会講演集(CD-ROM)　56th　ROMBUNNO.2M12　2012

ISSN： 1884-1945
The Global Lightning and sprIte Measurement (GLIMS) mission on International Space Station

Tomoo Ushio, Mitsuteru Sato, Takeshi Morimoto, Makoto Suzuki, Hiroshi Kikuchi, Atsushi Yamazaki, Yukihiro Takahashi, Yasuhide Hobara, Umran Inan, Umran Inan, Ivan Linscott, Ivan Linscott, Yuji Sakamoto, Yuji Sakamoto, Ryohei Ishida, Ryohei Ishida, Masayuki Kikuchi, Masayuki Kikuchi, Kazuya Yoshida, Kazuya Yoshida, Zen Ichiro Kawasaki

IEEJ Transactions on Fundamentals and Materials　131　(12)　971-976　2011/12/01
Publisher: The Institute of Electrical Engineers of Japan
DOI： 10.1541/ieejfms.131.971 　

ISSN： 0385-4205
J192022 Traversal Experiments on rough terrain for "TrackWalker II"

NAGATANI Keiji, AKIYAMA Ken, YOSHIDA Kazuya, NISHIDA Shin' ichiro

Mechanical Engineering Congress, Japan　2011　"J192022-1"-"J192022-3"　2011/09/11
Publisher: The Japan Society of Mechanical Engineers

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In extreme environments, such as a lunar surface or volcanic area in the earth, exploration by mobile robots instead of human is considered of value from the point of view of safety. To traverse a challenging surface, such as bumpy surface or loose soils, high locomotion ability is required for such mobile robots. Therefore, in our research group, we have developed a small-sized tracked robot, called "TrackWalker", which mounted two side sub-tracks. Each sub-track has a swing mechanism to enable simple legged locomotion for traversal on a weak a soil. In 2010, we have conducted some field tests using the tracked robot, and found advantages and weaknesses. To improve the weaknesses, we have been developing the next generation tracked robot, called "TrackWalker II". In June, 2011, we conducted a field test in Mt. Asama using the robot to confirm advantages of our locomotion mechanisms. In this paper, we report results of the field test.
Pre-Flight Verification for the Bus System Development of Earth Observation Microsatellite RISING-2

SAKAMOTO Yuji, KUWAHARA Toshinori, YOSHIDA Kazuya, TAKAHASHI Yukihiro

Mechanical Engineering Congress, Japan　2011　"S192025-1"-"S192025-3"　2011/09/11
Publisher: The Japan Society of Mechanical Engineers

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The development of 50-kg class microsatellite RISING-2 was started in July, 2009 by Tohoku Univ. and Hokkaido Univ. At the time of May, 2011, the fabrication and evaluation tests of engineering model (EM) and the fabrication of flight model (FM) were finished. The launch opportunity has been not decided yet. The satellite has a telescope with 10-cm diameter and 1-m focal length, and the resolution of image is 5 meters. It observes multi-spectrum images of cumulonimbus clouds using liquid crystal tunable filter as well as RGB color photos. Also, transient luminous events in upper atmosphere such as sprite are observed using CMOS sensors. This paper shows the final specifications of FM, and the verification tests of bus system.
B108 Evaluation of influence of surface shape of wheel on traversability of wheeled mobile robots on loose soil

Sutoh Masataku, Nagatani Keiji, Yoshida Kazuya

Dynamics and Design Conference　2011　(12)　106-111　2011/06/28
Publisher: The Japan Society of Mechanical Engineers

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Planetary rovers play a significant role in surface explorations on the Moon and/or Mars. However, because of wheel slippage, the wheels of planetary rovers can get stuck in loose soil, and the exploration mission can fail because of this situation. To avoid slippage and increase the wheels' drawbar pull, the wheels of planetary rovers typically have lugs, i.e., grousers, on their surface. In this study, we conducted experiments using two-wheeled testbeds in a sandbox to evaluate the influence of lugs on the traversability of wheeled mobile robots. According to the experimental results, we confirmed that the lugs have a greater effect on the travesability of the mobile robots than the increase of the effective diameter of the wheel. Furthermore, we concluded that the bulldozing force of lugs, rather than shear stress between lugs at the tip, contributes to the traversability, especially over steep slopes.
B102 Study on the Effect of Shifting Center of Gravity on Mobile Robots Traversing Loose Soil Slopes Laterally

Inotsume Hiroaki, Sutoh Masataku, Nagatani Keiji, Yoshida Kazuya

Dynamics and Design Conference　2011　(12)　76-79　2011/06/28
Publisher: The Japan Society of Mechanical Engineers

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Mobile Robots, which explore craters on the Moon or the Mars, are required mobility to negotiate with sandy slopes on which slippage can easily occur. It is known that such slippage can be reduced by sifting the center of gravity on robots. In this paper, we quantitatively discuss the effect of shifting of the center of gravity on wheeled mobile robots on side slip. We conducted slope-traversing experiments using a wheeled mobile robot under various roll angles and slope angles. Based on the experiments, we found the relationship between robot's roll angle and side slip. Furthermore, we also found that the slip is able to be minimized not by just making the robot horizontal, but by inclining it toward uphill direction more than such attitude. It indicates that to minimize side slip over slopes we have to focus on the mechanics model of wheels and optimize their load distribution.
1P1-E03 3D Thermography Mapping for Mobile Robots using 3D SOKUIKI Sensor and Infrared Camera(3D Measurement/Sensor Fusion)

OTAKE Kazuki, OKADA Yoshito, NAGATANI Keiji, YOSHIDA Kazuya

2011　"1P1-E03(1)"-"1P1-E03(4)"　2011/05/26
Publisher: The Japan Society of Mechanical Engineers

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In urban search arid rescue situations, a 3D mapping technology by rescue robots is very useful to plan rescue missions. Furthermore, it is important to obtain temperature information for discovering victims in disaster scenes. Therefore, we set our research object to construct a 3D thermography map by mobile robots. To realize the above, we fuse both temperature image acquired from infrared camera and range data acquired from 3D SOKUIKI sensor. In addition, to improve a quality of the 3D thermography map, we propose improved ICP(Iterative Closest Point) scan matching algorithm using the temperature information applied to 3D scan points. Through initial experiments, we validated an advantage of our algorithm over traditional ICP scan matching. In this paper, we explain construction method of 3D thermography map, scan matching method using temperature information, and report an initial experiments.
1A2-K09 Development of mobile robot with spoked wheels and its performance evaluation on loose soil(Space Robotics and Mecahtoronics)

ISHIKAWA Daiki, NAGATANI Keiji, SUNAGA Asami, SUTOH Masataku, YOSHIDA Kazuya

2011　"1A2-K09(1)"-"1A2-K09(4)"　2011/05/26
Publisher: The Japan Society of Mechanical Engineers

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Mobile robots play an important part in planetary or volcano exploration. However, their fields are covered with loose soil. Therefore, wheels of the robots may slip and, in the worst case scenario, they get stuck into the weak soil. To deal with this problem, spoked wheels that have long spokes radially may have a good performance to traverse on such loose soil. In this study, we developed a mobile robot with spoked wheels and conducted experiments using the robot with different spoke parameters in various environments. In this paper, we first explain the mobile robot with spoked wheels and the experiments using the robot. Furthermore, we introduce an improved version of the robot with spoked wheels on the basis of the evaluation in the experiments.
2A2-L14 Development of a Leg-Track Hybrid Mobile Robot to traverse on weak and steep slopes(Mobile Robot with Special Mechanism)

AKIYAMA Ken, KINOSHITA Hiroaki, NAGATANI Keiji, YOSHIDA Kazuya, TADAKUMA Kenjiro, NISHIDA Shinichiro

2011　"2A2-L14(1)"-"2A2-L14(4)"　2011/05/26
Publisher: The Japan Society of Mechanical Engineers

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In extreme environments, such as lunar surface or volcanic area in the earth, exploration by mobile robots instead of human is considered of value from the point of view of safety. However, such a natural environment is uneven, and usually, it is covered with rocks and/or loose soil. Thus, the mobile robot is required to obtain a high traversability. So, we have been developing a mobile robot that equips both a simple leg motion and tracked locomotion to traverse weak and rocky surfaces. To evaluate its performance, in this research, we conduct a stability analysis of the mechanism. In this paper, we introduce the mechanism of our developing mobile robot, explain a robot, and discuss the stability analysis.
1P1-K01 Development of a small-sized volcanic exploration robot and its motion simulation(Wheeled Robot/Tracked Vehicle)

NOYORI Takahiro, NAGATANI Keiji, YOSHIDA Kazuya, KOYANAGI Eiji

2011　"1P1-K01(1)"-"1P1-K01(4)"　2011/05/26
Publisher: The Japan Society of Mechanical Engineers

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In case of volcanic explosion, observation of its activity is very important to reduce second disasters. However, it is forbidden for human to approach an active volcanic area. Therefore, a visual observation by tele-operated mobile robots is one possibility instead of human. One key technology to realize the above observation is traversability on volcanic rough and weak terrains for mobile robots. However, no mobile robot have succeeded in traversing such challenging environments completely. So, in this research, we developed a small-sized robot to handle rough terrains, particularly, for volcanic environment. The robot has 11 D.O.F. actuators, and it is very important to use them appropriatel for traversing rough terrains. Therefore, we developed a motion simulator for the robot to plan and to confirm its motion. In this paper, we introduce the mechanism of the robot and report the result of simulation of the robot.
1P1-K04 Development of a Large-diameter Wheeled Robot to Traverse on Loose-soil Sloped and Field Experiments(Wheeled Robot/Tracked Vehicle)

ITO Tsuyoshi, SUTOH Masataku, NAGATANI Keiji, YOSHIDA Kazuya

2011　"1P1-K04(1)"-"1P1-K04(4)"　2011/05/26
Publisher: The Japan Society of Mechanical Engineers

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Terrain of planets, such as Mars and the moon, is mostly covered with loose soil, boulders and rocks, whose features are basically unknown. So, planetary rovers are required high mobility performance to traverse not only over sands but also over boulders and rocks. According to our past researches, we understood that large diameter wheels and large lugs were effective to produce such high mobility performance on rough and weak terrains. So, in this research, we developed two-wheeled robots which have large diameter wheels and large lugs. We examined it's mobility performance on variety of fields such as volcano and coast. Our experimental result indicates that there is a close connection between the rover's mobility performance and the soil density, and our developed robots have high mobility performance to traverse over sands, boulders and rocks.
Lightning and sprite observation from international space station

Tomoo Ushio, Mitsuteru Sato, Takeshi Morimoto, Makoto Suzuki, Hiroshi Kikuchi, Atsushi Yamazaki, Yukihiro Takahashi, Yasuhide Hobara, Umran Inan, Umran Inan, Ivan Linscott, Ivan Linscott, Yuji Sakamoto, Yuji Sakamoto, Ryohei Ishida, Ryohei Ishida, Masavuki Kikuchi, Masavuki Kikuchi, Kazuya Yoshida, Kazuya Yoshida, Zen Ichiro Kawasaki

IEEJ Transactions on Fundamentals and Materials　131　(1)　16-20　2011/02/28
Publisher: The Institute of Electrical Engineers of Japan
DOI： 10.1541/ieejfms.131.16 　

ISSN： 0385-4205
B1 Trend of European Small Satellite Development Activities

Kuwahara Toshinori, Sakamoto Yuji, Yoshida Kazuya

2010　(19)　"B1-1"-"B1-4"　2011/01/27
Publisher: The Japan Society of Mechanical Engineers
ISSN： 0918-9238

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This paper briefly summarizes the trend of small satellite development activities in European community. Recently, the importance of small satellite development activity, especially in terms of education, is getting recognized in Europe and a large amount of organizations and institutions are now taking part of the stream. Though the initiation of the CubeSat projects in Europe was relatively late, there are nowadays not only CubeSat projects but also many middle-sized small satellites under development. In this paper some exemplary small satellite projects in Europe both CubeSats and middle-sized small satellites are described. Based on the experience of author obtained through a 5-years-long research activity at the University of Stuttgart in Germany, exemplary system architecture of modern middle-sized small satellites is described. Along the European small satellite development activities future key technologies are becoming available, which can be also of Japanese interest. For example, space plug and play avionics products marketed in Europe are possible targets to be introduced to Japanese future small satellites. The aspect that most of the European products are ITAR-free makes them very attractive to communities outside Europe including Japan. On the contrary, Japanese small satellites-related products and technologies will be highly welcomed by the European community. In this sense Europe can be one of the strong partners of Japan as well as a possible customer of Japanese small satellite technologies. The author strongly recommends that Japan actively cooperate with European community to achieve rapid technology development and demonstrations.
Evaluation of Efficient Development Methods of 50-kg Microsatellites Based on SPRITE-SAT and RISING-2

Sakamoto Yuji, Kuwahara Toshinori, Yoshida Kazuya, Takahashi Yukihiro

スペース・エンジニアリング・コンファレンス講演論文集 : Space Engineering Conference　2010　(19)　"F3-1"-"F3-6"　2011/01/27
Publisher: The Japan Society of Mechanical Engineers
ISSN： 0918-9238

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Tohoku University and Hokkaido University started the development of a new 50-kg microsatellite RISING-2 at July 2009. This satellite inherits the development technique of RISING (SPRITE-SAT) launched on January 2009. The progress is shown in this paper. Using a Cassegrain telescope with 10-cm diameter and 1-m focal length, earth surface is observed with 5-m resolution from 700-km-alt sun synchronous orbit. By 3-axis attitude stabilization using reaction wheels and star sensors, the designated area on earth surface can be observed. In addition to color images, multi-spectrum images of cumulonimbus are observed by using a liquid crystal tunable filter. As a secondary mission, transient luminous events such as sprite are observed, which is same mission as SPRITE-SAT.
Development of mobile robots for lunar/planetary exploration

Kazuya Yoshida

精密工学会誌　77　(1)　12-15　2011/01/01
Publisher: The Japan Society for Precision Engineering
DOI： 10.2493/jjspe.77.12 　

ISSN： 0912-0289
4-328 Creation of Frontier Technology in Graduate Education of Mechanical Engineering

YOSHIDA Kazuya

22　542-543　2010/08/19
Publisher: Japanese Society for Engineering Education
Development and Evaluation for Fine Optical Pointing Control System Using Tip-Tilt Mirror

Yoshida Kazuya, Shoji Yasuhiro, Sakamoto Yuji, Taguchi Makoto, Takahashi Yukihiro

Proceedings of the IEICE General Conference　2010　(1)　"SS-78"-"SS-79"　2010/03/02
Publisher: The Institute of Electronics, Information and Communication Engineers
A balloon-borne telescope developed for remote sensing of planets from the polar stratosphere

TAGUCHI Makoto, SHOJI Yasuhiro, SAKAMOTO Yuji, YOSHIDA Kazuya, TAKAHASHI Yukihiro, TERAGUCHI Tomoko, OHNISHI Tomoya, BATTAZZO Steve, SATO Takao, HOSHINO Naoya, UNO Takeru, YOSHIMURA Atsushi

JAXA research and development report　9　53-72　2010/03
Publisher: Japan Aerospace Exploration Agency
ISSN： 1349-1113

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A long-term continuous observation is essential for studies of time-dependent phenomena of the planetary atmospheres and plasmas. A balloon-borne telescope system has been developed for remote sensing of the planets from the polar stratosphere. In this system, a Schmidt-Cassegrain telescope with a 300-mm clear aperture is mounted on a gondola whose attitude is controlled by control moment gyros, an active decoupling motor, and attitude sensors. The gondola can float in the stratosphere for periods in excess of 1 week. A pointing stability of 0.1"rms will be achieved by the cooperative operation of the following three-stage pointing devices: a gondola-attitude control system, twoaxis telescope gimbals for coarse guiding, and a tip/tilt mirror mount for guiding error correction. The first experiment of the balloon-borne telescope system was conducted on June 3, 2009 in Taikicho, Hokkaido targeting Venus. The balloon was launched at 4:10 JST and the system has been operating perfectly for two hours after launch. During the first level flight at an attitude of 14 km attitude control was activated. Oscillation of the azimuthal angle of the gondola was damped at an expected rate and the gondola was stabilized within an error of 1?rms for a several minutes. Unfortunately capture of Venus images by the telescope was aborted because of failure in the onboard computer occurred at two hours after launch. However, from the video signal from the Sun sensor azimuthal angular velocity of the free gondola is estimated to be 20°/min or slower. These results from the experiments including the ground-based tests suggest that the basic system concept of the balloon-borne telescope, especially the attitude control and tracking technology, is correct. A more robust and a dependable onboard computer is required for a future experiment.
B2 Progress Report and Future Plan of Microsatellite RISING Series

SAKAMOTO Yuji, YOSHIDA Kazuya, TAKAHASHI Yukihiro

2009　(18)　35-39　2010/01/28
Publisher: The Japan Society of Mechanical Engineers
ISSN： 0918-9238

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The microsatellite RISING(SPRITE-SAT) developed by Tohoku University was launched in January 2009. The former part of this paper shows the outline of mission and system design. The operation result of initial phase and the reason of serious trouble are introduced. On July 2009, our team initiated the development of second microsatellite named RISING-2. This satellite has a high precision telescope and reaction wheels. The outline of this new project is shown in the latter part.
1A2-C06 Restitution Coefficient Control by a Free-Flying Space Robot for Capturing a Floating Satellite

UYAMA Naohiro, NAKANISHI Hiroki, YOSHIDA Kazuya

2010　"1A2-C06(1)"-"1A2-C06(4)"　2010
Publisher: The Japan Society of Mechanical Engineers

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This paper presents the Restitution Coefficient Control method by a free-flying space robot for capturing a floating target in space. One of the most difficult tasks by a space robot is to capture a floating object autonomously in space because too much momentum exchange might push the object away from the operational space of a space robot. In order to overcome this issue, the authors propose a new control method, named the Restitution Coefficient Control, for controlling the restitution coefficient between the manipulator hand of a space robot and a floating object. The restitution coefficient is defined through a simplified dynamics model, and the control input is derived from the inverse problem of the derivation of the restitution coefficient. The dynamics simulation verifies that the Restitution Coefficient Control is capable of realizing the restitution coefficient of zero.
1A2-B28 Experimental Examination of Double Joint Mechanism Composition for Connected Two Units Crawlers to Realize Multiple Configurations

OHISHI Chigusa, TADAKUMA Kenjiro, MARUYAMA Akira, NAGATANI Keiji, YOSHIDA Kazuya, MING Aiguo, SHIMOJO Makoto

2010　"1A2-B28(1)"-"1A2-B28(4)"　2010
Publisher: The Japan Society of Mechanical Engineers

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This paper describes various configurations of two connected unit crawlers. By changing the relative position of the two connected vehicle units, the overall robot comprising such a mechanism can automatically adapt to surface obstacles on the field, including complicated structures such as disaster-generated debris. We examined the drive system for the roll axis of the joint mechanism that achieved four configurations. Moreover, we developed test model and experimented basic performances.
A209 国際宇宙ステーションからの雷放電と高高度発光現象の観測(GLIMS)(降水システムI,一般口頭発表)

牛尾知雄, 森本健志, 佐藤光輝, 鈴木睦, 山崎敦, 芳原容英, 菊地雅行, 高橋幸弘, Inan Umran, 石田良平, 坂本祐二, 吉田和哉, 阿部琢美, 河崎善一郎

大会講演予講集　97　52-52　2010
Publisher: 日本気象学会
Research Issues on Lunar/Planetary Exploration Robots : A Technical Note on Traction Mechanics

Kazuya Yoshida

日本ロボット学会誌　27　(5)　506-509　2009/06/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.27.506 　

ISSN： 0289-1824
Tribology in Space Exploration Robots

Kazuya Yoshida

JOURNAL OF JAPANESE SOCIETY OF TRIBOLOGISTS　54　(5)　325-330　2009

ISSN： 0915-1168
小型衛星による雷ガンマ線検出をめざした地球起源ガンマ線カウンターの開発

上田剛, 榎戸輝揚, 中澤知洋, 三谷烈史, 高島健, 坂野井健, 氏家恵理子, 笠羽康正, 吉田和哉, 高橋幸弘, 森國城, 牧島一夫

日本物理学会講演概要集　63　(2)　94　2008/08/25

ISSN： 1342-8349
2P2-C18 Three-Dimensional Odometry for Tracked Vehicles Based on Multiple Internal Sensor Fusion

OKADA Yoshito, NAGATANI Keiji, YOSHIDA Kazuya

2008　"2P2-C18(1)"-"2P2-C18(4)"　2008/06/06
Publisher: The Japan Society of Mechanical Engineers

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Gyro-based odometry is a robust and easy-to-use localization method for mobile robots. However, the Gyro-based odometry for tracked vehicles has difficulties to estimate its exact localization because of track-terrain slippage and gyroscopes' bias-drifts. To solve these problems, we propose an extended 3-dimensional odometry method for tracked vehicles based on multiple internal sensor fusion. The proposed method consists of slippage- compensation using encoders and gyroscopes, attitude correction using an acceleration sensor and gyroscopes' bias value update. Finally, a performance test was carried out in real environment to confirm a validity of our approach. In this paper, we introduce the three-dimensional localization method by extended gyro-based odometry and report the experimental results.
2P2-A19 Estimation of Soil Parameters Using a Wheel with Built-in Force Sensor Array

YOSHIDA Kazuya, NAGATANI Keiji, YAMANA Katsuhisa, ISHIGAMI Genya

2008　"2P2-A19(1)"-"2P2-A19(4)"　2008/06/06
Publisher: The Japan Society of Mechanical Engineers

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Generally, wheels of a planetary rover slip easily and lose their traction on loose soil on the Moon or Mars. Hence, it is very important to keep traction for each wheel. Such interaction between a wheel and a soil is studied in the research area called "Terra-mechanics." In the Terra-mechanics, the traction force is calculated with soil parameters that are estimated under ideal configuration. However, real environment does not have ideal configuration constantly. Therefore, it is difficult to estimate an accurate traction force online. In this research, to estimate an accurate traction force, a wheel with built in force-sensors-array (BFSA) was developed. It acquires normal stress distribution online. By using such sensors, we performed measurement experiments in different slip ratio and different soils. Finally, one soil parameter which is difficult to estimate by way of conventional method was estimated by comparison between calculated traction forces (based on the BSFA wheel) and actual measured forces.
2P2-A14 The Analysis of the Contact Dynamics for Satellite Capture under Impedance Control with Control Time Delay

NAKANISHI Hiroki, KODAMA Masaaki, YOSHIDA Kazuya

2008　"2P2-A14(1)"-"2P2-A14(4)"　2008/06/06
Publisher: The Japan Society of Mechanical Engineers

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One of the most important phases of satellite servicing operarions by a space robot is the "contact" phase. During the contact between the end-effector and grasping point, there is a risk that the target and the robot can be pushed away from each other by the contact force. Therefore, the method to control the end-effector by the impedance control so as not to deflect the target was suggested. However, all of real control systems have the control time delay. In case of the target capture operation, the time delay of the impedance control makes the impulse of the contact larger. In this paper, to velify the effect; of the time delay of the impedance control, experiments with a air-floating testbed and numerical simulations are carried out.
2P1-G21 Sensing Point Planning for 3-dimensional Scanning System to Obtain Outdoor Information

YOSHIDA Kazuya, NAGATANI Keiji, MATSUZAWA Takayuki

2008　"2P1-G21(1)"-"2P1-G21(4)"　2008/06/06
Publisher: The Japan Society of Mechanical Engineers

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This paper reports a sensing point planning for mobile robots to obtain 3-dimensional environment information which includes range and visual data. Generally, to avoid an occlusion problem and a low resolution problem, it is necessary for robots to sense in different places. Therefore, a suitable sensing point planning is required to reduce redundant sensing. This problem is called "Art Gallery and Illumination Problems" in 3-dimensional environment, and our approach is to solve the problem with consideration of both valid-sensing-area and partially-unknown environment. In this paper, we explain our planning-approach and introduce some initial experimental results.
2P1-C14 Crawler Mechanism with Circular Cross Section to Realize Sideling Motion : Basic Concept and the First Prototype Model

TADAKUMA Kenjiro, TADAKUMA Riichiro, KINOSHITA Hiroaki, NAGATANI Keiji, YOSHIDA Kazuya, Iagnemma Karl

2008　"2P1-C14(1)"-"2P1-C14(4)"　2008/06/06
Publisher: The Japan Society of Mechanical Engineers

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In this paper, a novel crawler mechanism for sideways motion is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional Crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments, with a test vehicle are also presented.
2P1-C15 Tetrahedral Mobile Robot with Transformation Capability

TADAKUMA Kenjiro, TADAKUMA Riichiro, NAGATANI Keiji, YOSHIDA Kazuya, Iagnemma Karl

2008　"2P1-C15(1)"-"2P1-C15(4)"　2008/06/06
Publisher: The Japan Society of Mechanical Engineers

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In this paper, the tetrahedral mobile robot as a throwable robot for search and rescue mission is presented. Especially, the tetrahedral mobile robot with the central rotational axis as a expanding mechanism has been developed to illustrate the concept. Motion experiments confirm the novel properties and function of this central axis: Motion experiments, with a test model are also presented.
SPRITE‐SAT搭載の小型ガンマ線検出器の開発と製作

榎戸輝揚, 三谷烈史, 中澤知洋, 牧島一夫, 坂野井健, 高島健, 吉田和哉, 高橋幸弘

地球電磁気・地球惑星圏学会総会及び講演会予稿集(CD-ROM)　124th　ROMBUNNO.B005-26　2008
Robotics for Space Exploration : Challenges to Extreme Environments

YOSHIDA Kazuya

77　119-120　2007/11/20

ISSN： 0919-5998
2A2-L10 Measurement of Normal Stress and Estimation of Slip-ratio using Wheel with Built in Force Sensor Array for Exploration Rover on Loose Soil

YOSHIDA Kazuya, NAGATANI Keiji, YAMANA Katsuhisa, ISHIGAMI Genya

2007　"2A2-L10(1)"-"2A2-L10(4)"　2007/05/11
Publisher: The Japan Society of Mechanical Engineers

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Planetary rovers usually slip on a surface of the planet because of sandy and loose ground. Because of the slip, it becomes very difficult for rovers to follow a target trajectory. In the worst case, the rover falls into a state of stack. To avoid such situation, it is very important to understand the relationship between wheels and the ground, and slip-ratio is one of the important parameters. To estimate the slip-ratio online, we developed a wheel with built-in force sensor array (BFSA-wheel) which enables measurement of distribution of normal stress. Based on terrarnechanics approach, slip-ratio can be calculated. by measuring the distribution of normal stress. In this paper, we report our experimental result of slip-ratio estimation by using the BFSA-wheel. Then we discuss a possibility of slip-ratio-estimation based on our proposed method.
2A2-L08 The Analysis of the Contact Dynamics for Capturing a Target with a Space St ation Manipulator

NAKANISHI Hiroki, SATO Hayato, YOSHIDA Kazuya, SAWADA Hirotaka, ODA Mitsushige

2007　"2A2-L08(1)"-"2A2-L08(4)"　2007/05/11
Publisher: The Japan Society of Mechanical Engineers

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In order to make space missions succeed surely and safely, it is necessary to assume various cases and take measures at the stage of development or designing an operation! plan. For this purpose, computer simulations play a key role in the development and operation of space systems because of the difficulty in performing ground-based hardware testing. In a dynamics simulation for space missions, the most difficult thing to model, and can easily cause sonic simulation errors is the contact force. In this paper, a novel strategy of identifying contact dynamics parameters by a hybrid simulator is described. The evaluation of the time delay which exists in the hybrid simulator is also described. The parameter identification with a hybrid simulator is substantially enabled by this evaluation.
2A2-L09 Experiments of the Adaptive Vibration Suppression Control for the Macro-Micro o Manipulator using a Hybrid Simulation

NAKANISHI Hiroki, SHIBAHARA Masashi, YOSHIDA Kazuya

2007　"2A2-L09(1)"-"2A2-L09(4)"　2007/05/11
Publisher: The Japan Society of Mechanical Engineers

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Space arms such as SSRMS and JEMRMS are modeled as a macro-micro manipulator system, where a macro arm perform a passive flexible base during the operation of a micro arm. Paying attention to the reaction dynamics, it is possible to perform vibration suppression control with arbitrary positioning of the endtip. In this paper, the application of the adaptive control methods for the adaptive control under the parameter errors is verified through the hardware in the loop simulations.
1P1-M03 Development of 3-D range sensor which can change the angle of its 2-D scan plane

YOSHIDA Kazuya, NAGATANI Keiji, TOKUNAGA Naoki

2007　"1P1-M03(1)"-"1P1-M03(3)"　2007/05/11
Publisher: The Japan Society of Mechanical Engineers

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It is useful for mobile robot navigation or mapping to use three-dimensional environment information. To obtain such information by sensor, one of conventional methods is to rotate two-dimensional laser-range-finder. The method has advantages of (1) wide angle of visibility and (2) small effect of light quantity. However, it has disadvantages of (3) slow-scan speed and (4) existence of limit point. To improve these disadvantages, our research group proposes a novel scanning method. One of the features of the method is that a scanning plane (of the two-dimensional range sensor) is not perpendicular to revolving plane of the sensor. To verify the validity of the method, we performed a basic experiment using a three-dimensional range sensor whose scanning angle can be changed. In this paper, we introduce the scanning method, and report the basic experiment in real world.
2P1-L01 Trajectory control of crawler type mobile robot with consideration of a slip

YOSHIDA Kazuya, NAGATANI Keiji, OKADA Yoshito, ENDO Daisuke

2007　"2P1-L01(1)"-"2P1-L01(4)"　2007/05/11
Publisher: The Japan Society of Mechanical Engineers

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Trajectory tracking for crawler robot is considered in this paper. Such robot has a difficulty to estimate it's exact position because of slippage between the crawler and the ground. To compensate the slippage, we propose a trajectory tracking method for crawler robot based on slip-estimation using its encoders and a gyro sensor. An actual experiment testing was carried out to confirm its performance. In this paper, we introduce the trajectory tracking method and report the experimental result.
惑星宇宙望遠鏡TOPS:観測計画ならびに搭載機器開発の現状

坂野井健, 高橋幸弘, 上野宗孝, 笠羽康正, 吉田和哉, 山崎敦, 今村剛, 阿部琢美, 田口真, 澤井秀次郎, 高橋幸弘

地球電磁気・地球惑星圏学会総会及び講演会予稿集(CD-ROM)　122nd　2007
1P1-B12 A Control Strategy of a Free-Floating Space Robot for Capturing a Tumbling Target Using Angular Momentum Distribution

Yoshida Kazuya, Oki Tomohisa, Nicolaev Dimitar Dimitrov, Nakanisi Hiroki

2006　"1P1-B12(1)"-"1P1-B12(4)"　2006
Publisher: The Japan Society of Mechanical Engineers

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A control strategy of a free-floating space robot for capturing a tumbling target is proposed, which uses angular momentum distribution. Angular momentum distribution is utilized in order to minimize the base attitude deviation of the robot. This minimization is assumed to be the priority task for target capturing. During the impact phase of the capturing operation impedance control that guarantees that the target is not pushed away is applied. In addition, during the post-impact phase a strategy for the control of the reaction wheels that absorbs the angular momentum stored in the manipulator arm is proposed.
Development and Operation of the Hayabusa Asteroid Surface Sampling Device and Its Sample Analysis Preparation

矢野創, 藤原顕, 長谷川直, 安部正真, 高山和喜, 吉田和哉, 高木靖彦, 土屋和雄, 花田俊也, 八坂哲雄

宇宙科学技術連合講演会講演集(CD-ROM)　50th　2H14　2006

ISSN： 1884-1945
1P1-S-057 Pointing Control for a Balloon-borne Telescope using CMG(Space Robotics 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

YOSHIDA Kazuya, KAWASAKI Kohei, SHOJI Yasuhiro, SHIMASAKI Jyunichi, SONG Sokuhou, OLSSON Henrik, TAGUCHI Makoto

2005　88-88　2005/06/09
Publisher: The Japan Society of Mechanical Engineers
1P1-S-054 Hybrid Simulation of a Space Station Manipulator System and Vibration Suppression Control by Using the Redundancy(Space Robotics 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Yoshida Kazuya, Watanabe Hiromitsu, Abiko Satoko, Sato Yoichiro

2005　87-87　2005/06/09
Publisher: The Japan Society of Mechanical Engineers
1A1-S-055 Terramechanics-Based Analysis on Locomotion Mechanics of Wheeled Mobile Robots : Part 1. Analysis of Wheel Mechanics on Lunar Regolith Simulant(Space Robotics 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Ishigami Genya, Mizuuchi Kensuke, Yoshida Kazuya

2005　43-43　2005/06/09
Publisher: The Japan Society of Mechanical Engineers
1A1-S-056 Terarmechanics-Based Analysis on Locomotion Mechanics of Wheeled Mobile Robots : Part 2. Motion Trajectory Simulation(Space Robotics 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Ishigami Genya, Miwa Akiko, Yoshida Kazuya

2005　44-44　2005/06/09
Publisher: The Japan Society of Mechanical Engineers
1A1-S-057 Dynamics Simulation of a Space Station Based Manipulator System and Improvement of the Operational Performance by Using the Redundancy(Space Robotics 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

Yoshida Kazuya, Sato Yoichiro, Shoji Kaori, Abiko Satoko

2005　44-44　2005/06/09
Publisher: The Japan Society of Mechanical Engineers
気球搭載望遠鏡による惑星観測計画

田口真, 吉田和哉, 中西洋喜

宇宙科学シンポジウム　5　396-399　2005/01/06
Publisher: 宇宙科学研究所
惑星宇宙望遠鏡のサイエンステーマと光学系設計

坂野井健, 高橋幸弘, 吉田和哉

宇宙科学シンポジウム　5　392-395　2005/01/06
Publisher: 宇宙科学研究所
惑星宇宙望遠鏡の科学目標と技術検討

高橋幸弘, 坂野井健, 吉田和哉

宇宙科学シンポジウム　5　368-375　2005/01/06
Publisher: 宇宙科学研究所
Innovative Sample Collection Landing in HAYABUSA Mission-Autonomous Descent Navigation and Touchdown Dynamics-

久保田孝, 吉田和哉, 橋本樹明, 沢井秀次郎, 卯尾匡史

日本航空宇宙学会誌　53　(619)　2005

ISSN： 0021-4663
小型衛星搭載惑星宇宙望遠鏡開発計画

高橋幸弘, 坂野井健, 吉田和哉

宇宙科学シンポジウム　4　445-448　2004/01/08
Publisher: 宇宙科学研究所
宇宙ステーションにおけるロボットアームの制御法に関する研究

吉田和哉, 安孫子聡子

豊田研究報告　(56)　9-16　2003/05
Publisher: 豊田理化学研究所
ISSN： 0372-039X
Space Robot

Yoji Umetani, Kazuya Yoshida

日本ロボット学会誌　21　(3)　229-231　2003/04/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.21.229 　

ISSN： 0289-1824
Dynamics Simulation of JEMRMS and its Vibration Suppression Control

Abiko S., Yoshida K.

2003　(38)　152-153　2003/03/15
Publisher: The Japan Society of Mechanical Engineers
惑星専用宇宙望遠鏡の構想

高橋幸弘, 坂野井健, 吉田和哉

宇宙科学シンポジウム　3　453-456　2003/01/09
Publisher: 宇宙科学研究所
An adaptive control for JEMRMS

安孫子聡子, 吉田和哉

日本ロボット学会学術講演会予稿集(CD-ROM)　21st　2003
Proposal of the observation of meteor-related phenomena using small satellite.

山本真行, 矢野創, 阿部新助, 吉田和哉, 高橋幸弘, 海老塚昇, 清水裕彦

宇宙科学シンポジウム平成14年度第3回　423-426　2003
A Control Strategy for Precision Handling by Japanese Experimental Module Remote Manipulator System (JEMRMS).

吉田和哉, 安孫子聡子

自動制御連合講演会講演論文集　45th　2002
Analysis of Regulatory Mechanisms of Gene Expression and Its Applications in Plants : Monograph

YOSHIDA KAZUYA

80　(3)　102-110　2002
Publisher: 日本生物工学会
ISSN： 0919-3758

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Genetic engineering to improve various functions of plants-plant biotechnology-is useful for increasing food production, environmental purification, and the production of industrial, chemical, and pharmaceutical materials. We investigated the regulatory mechanisms of gene expression and isolated some strong promoters for development of useful transgene expression systems in plant cells. It was also found that an insulator element suppresses variation in transgene expression in tobacco (Nicotiana tabacum) cells. Furthermore, we are inrestigating the molecular breeding of salt-tolerant plants. Ectoine as a compatible solute conferred hyperosmotic tolerance and expression of the ENA1 gene encoding Na^+ -ATPase enhanced tolerance to Li^+ in tobacco cells. The OsHKT1 and OsHKT2 genes, which respectively encode an Na+ transporter and K^+ -Na^+ cotransporter, were isolated from japonica rice (Oryza sativa) and a salt-tolerant indica rice.
Proposal on Reactionless Coordinated Control of for JEMRMS

Yoshida K., Abiko S.

2002　39-39　2002
Publisher: The Japan Society of Mechanical Engineers
A Slip Based Control for a Lunar/Planetary Exploration Rover

Yoshida K., Hamano H., Watanabe T.

2002　17-17　2002
Publisher: The Japan Society of Mechanical Engineers
究極の流星および大気発光現象観測用カメラ紫外線(‐近赤外線カラー)高感度ビデオカメラシステムの開発

海老塚昇, 吉田和哉, 矢野創, 清水裕彦, SCARCI P

太陽系科学シンポジウム　22nd　28-31　2001/03
しし座流星群軌道上観測の提案と大学主導による小型観測衛星の開発計画

吉田和哉, 矢野創, 海老塚昇

宇宙科学シンポジウム　1　395-398　2001/01/11
Publisher: 宇宙科学研究所
ETS-VIIロボット実験のフライトデータ解析

安孫子聡子, 橋詰健一, 吉田和哉

日本航空宇宙学会北部支部講演会講演論文集　2001　2001
Analysis of regulatory mechanisms of plant gene expression and its applications

Yoshida Kazuya

13　135-135　2001
Publisher: 日本生物工学会
Robotics for Space Exploration

Kazuya Yoshida

Journal of the Society of Instrument and Control Engineers　39　(9)　576-580　2000/09/10
Publisher: The Society of Instrument and Control Engineers
DOI： 10.11499/sicejl1962.39.576 　

ISSN： 0453-4662
2A1-05-001 水中ロボット用多関節グリッパーの開発

吉田和哉, 安孫子聡子

ロボティクス・メカトロニクス講演会講演概要集　2000　61-61　2000
Publisher: 一般社団法人日本機械学会

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米国サンタクララ大学にて開発される水中ROV (Remotely Operated Vehicle) に搭載可能で応用範囲の広い多関節グリッパーを開発した。同グリッパーは3本指構造とし, 様々な大きさの不定形状の対象物をアダプティブに把持することができる。東工大・広瀬教授によって提案されているソフトグリッパーを基本設計とし, 改良をおこなった。水中動作試験の結果, 良好な結果が得られた。
Dynamics and Control for a Flexible Base Robot

Kazuya Yoshida

日本ロボット学会誌　17　(6)　786-789　1999/09/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.17.786 　

ISSN： 0289-1824
Kinematic and Dynamic Calibration of the Manipulator Mounted on ETS-VII.

吉田和哉, 藤島幸一, 稲場典康, 小田光茂, 福島洋介

日本機械学会ロボティクス・メカトロニクス講演会講演論文集　1999　(Pt.1)　1999
Reaction Null Space Control of Free-Floating and Elastic Base Robots

D. N. Nenchev, K. Yoshida, M. Uchiyama

Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS '97　119-124　1997
Space Development Scenarios and Space Robots

Yoshiaki Ohkami, Kazuya Yoshida

日本ロボット学会誌　14　(7)　916-918　1996/10/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.14.916 　

ISSN： 0289-1824
Interview to Mr. Koichi Wakata, a Japanese Mission Specialist of the Space Shuttle

Yoshiaki Ohkami, Yoji Umetani, Kohtaro Matsumoto, Kazuya Yoshida, Yasufumi Wakabayashi, Yoshiaki Hujiwara

日本ロボット学会誌　14　(7)　919-926　1996/10/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.14.919 　

ISSN： 0289-1824
Experimental Platforms for Research and Development of Space Robots

Kazuya Yoshida

日本ロボット学会誌　14　(1)　18-21　1996/01/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.14.18 　

ISSN： 0289-1824
Future Robots in Frontier Research and Science Fictions

YOSHIDA Kazuya, SAKAGUCHI Ken, KAJITA Syuji, YOKOKOJI Yasuyoshi, KUNIYOSHI Yasuo, YOKOTA Kazutaka

Journal of the Robotics Society of Japan　12　(3)　34-54　1994/04/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.12.368 　

ISSN： 0289-1824
ロボットにおける心とヒューマンインターフェース

菅野重樹, 原文雄, 佐藤知正, 大熊道雄, 佐野明人, 中谷和夫, 広瀬茂男, 加藤一郎, 吉田和哉

日本ロボット学会誌　12　(3)　401-408　1994/04/15
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.12.401 　

ISSN： 0289-1824
Control of Free-Flying Robot with Multiple Manipulaters. Pt. III. Coordinated Control of Dual Arms with RDC method.

吉田和哉, 倉爪亮, 川村俊一, 梅谷陽二

日本ロボット学会ロボットシンポジウム予稿集　1st　1991

ISSN： 0918-7375
Modeling of Collision Dynamocs of Free-Flying Rigid Link Systems.

吉田和哉, 倉爪亮, 指田直毅, 梅谷陽二

日本ロボット学会学術講演会予稿集　9th　(1)　1991
Control of free-flying robot with multiple manipulaters. Pt. II: Target capture operation by dual arm coordination.

吉田和哉, 倉爪亮, 梅谷陽二

日本ロボット学会学術講演会予稿集　8th　(2)　1990
Control of free-flying robot with multiple manipulaters. Pt. I: Modeling and formulation of generalized Jacobian.

吉田和哉, 倉爪亮, 梅谷陽二

日本ロボット学会学術講演会予稿集　8th　(2)　1990
Capture of free-flying target with satellite mounted manipulater. PT.X; Unified computation of kinematics and dynamics.

梅谷陽二, 吉田和哉, 倉爪亮

日本ロボット学会学術講演会予稿集　7th　(1)　1989

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Books and Other Publications 6

マイクロサット開発入門

吉田和哉, 東北大学超小型衛星開発チーム

東北大学出版会　2011/04
Hand Book of Robotics

Kazuya Yoshida, Brian Wilcox

Springer　2008

ISBN: 9783540239574

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Edited by B.Siciliano and O.Khatib
機械工学便覧デザイン編β６制御システム

企画, 編集)伊藤, 井前, 内山, 太田, 三平, 杉江,松野, 安信,吉田

日本機械学会　2006/04/10
Intelligence for Space Robotics

Kazuya Yoshida

TSI Press　2006
Concise Encyclopedia of Aeronautics and Space Syetems

Kazuya Yoshida

1993
Space Robotics: Dynamics and Control

Kazuya Yoshida, Yoji Umetnai

1992

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Presentations 8

Robotics, Friction and Lubrication in Space International-presentation

Workshop on Space Tribology in 21st Century　2000/04/18
宇宙ロボットの課題

宇宙フォーラム　1998/03/10
宇宙ロボットの運動制御

日本航空宇宙学会関西支部第357回航空懇談会　1996/07/05
宇宙ロボティクス - 軌道上作業，小惑星探査そして走行ローバーにおけるダイナミクスと制御

筑波大学工学システム学類特別講演会　1996/01/23
Dynamics and Control Experiments of Space Long Reach Manipulators International-presentation

Acoustic and Vibration Seminar, Massachusetts Institute of Technology　1995/03/16
Dynamics of Space Robot Systems International-presentation

Special Course at School for Advanced Studies in Industrial and Applied Mathematics　1993/06/28
宇宙におけるロボティクス

システム制御情報学会インテリジェントＦＡ研究分科会　1993/01/20
宇宙ロボット

宇宙探査の最前線 - 惑星から深宇宙まで -第29回東京工業大学総合研究館講演会　1990/12/11

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Research Projects 34

Development of Micro-satellites Competitive

System: Grants and Funding

2003/04 - Present
Development of Disaster Response Robots Competitive

System: Funded Research

2002/04 - Present
Mechanism and Control of Planetary Rovers Competitive

1996/04 - Present
Robotic Systems for International Space Station Competitive

1995/04 - Present
Dynamics and Control of Space Robots Competitive

1995/04 - Present
Space Battery Stable for 100 Years in Extreme Space Environments

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Challenging Research (Pioneering)

Institution: Tohoku University

2024/06/28 - 2027/03/31
A study on temporal variation of the Venus atmosphere using a circumpolar stratospheric telescope FUJIN

TAGUCHI Makoto

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Scientific Research (B)

Institution: Rikkyo University

2015/04/01 - 2018/03/31

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The circumpolar stratospheric telescope FUJIN-2 has been developed for observations of planetary atmospheres and plasmas. The dynamics, chemistry and identification of an UV abosorber of the Vinus atmosphere are selected as the first scientific target. Development of the hardware of FUJIN-2 has been promoted based on the experimental data obtained by FUJIN-1. Development of the optics, electrical and attitude control systems has been completed. A balloon experiment at ESRANGE in Kiruna, Sweden has been proposed. As an important scientific result about the Venus atmosphere large stationary thermal structures have been discovered by the Longwave Infrared Camera onboard the Venus orbiter Akatsuki. From detaied analysis of the observed data it is suggested that atmospheric gravity waves generated in the lower atmosphere by the solar radiation energy propagate to the cloud-top altitudes forming the structures.
Force-response-type remote operation device for mobile manipulators on rough terrain based on 3D environment observation

NAGATANI Keiji, YOSHIDA Tomoaki, YOSHIDA Kazuya

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Scientific Research (B)

Institution: Tohoku University

2012/04/01 - 2015/03/31

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Tracked vehicles that mount multi-degrees of freedom manipulator are of service to find and support victims in disaster environments. However, it requires high-skill for tele-operation of such complicated system. Therefore, in this research, we aimed at researching and developing easy handling tele-operation system, particularly, (1) representation of 3D map on display, (2) contact estimation and presentation with master arm, (3) stability analysis and display to operators. Finally, we integrated the above system and evaluated by some experiments in indoor and outdoor fields. According to the experiment, we confirmed the advantages of the proposed system.
Study on the Venusian atmosphere by a circumpolar stratospheric telescope

TAGUCHI Makoto, YOSHIDA Kazuya, SAKAMOTO Yuji, TAKAHASHI Yukihiro, WATANABE Makoto, SHOJI Yasuhiro

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Scientific Research (A)

Institution: Rikkyo University

2012/04/01 - 2015/03/31

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A balloon-borne telescope system FUJIN lifted up in the Arctic stratosphere has been developed for a long-term continuous observation of planetary atmospheres and plasmas. FUJIN-1 which was a domestic balloon experiment in order to verify techniques of high-precision attitude control and pointing of a target planet was cancelled twice because of a bad weather condition and an accident in the balloon control system. However, the purpose of FUJIN-1 has been accomplished by ground-based prelaunch tests, and development of FUJIN-2 was started aiming at a long-duration flight in the Arctic. In the future a 1-meter class circumpolar stratospheric telescope will be operated as a quasi-permanent platform in the environment without atmospheric turbulent as ground-based and satellite telescopes.
Robot Control for Lunar, Planetary and Asteroid Exploration with Understanding of Geometry and Physical Characteristics of the Environment

YOSHIDA Kazuya, NAGATANI Keiji, KENJI Nagaoka

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Scientific Research (A)

Institution: Tohoku University

2009 - 2012

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Robotics technologies for lunar, planetary and asteroid exploration were investigated with understanding of geometry and physical characteristics of the environment. Traction model of wheels and tracks for traversing over loose-soil terrain was studied. Rover localization with integrating different types of sensors was also investigated and tested in outdoor field.
Robust positioning system for tracked vehicles on rough terrain

NAGATANI Keiji, NAGAI Isaku, YOSHIDA Kazuya

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Scientific Research (B)

Institution: Tohoku University

2009 - 2011

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Typically, it is said that conventional odometry system is inaccurate for tracked vehicles, because of slippage between tracks and the ground. In this research, we proposed slip compensated odometry, 3D odometry, and visual odometry to enable positioning for tracked vehicle on rough terrains. Furthermore, we implemented these technologies on actual tracked vehicles to evaluate its effectiveness and disadvantages.
Investigations on TLEs and TGFs using micro-satellite and ground observation network

TAKAHASHI Yukihiro, YOSHIDA Kazuya, SAKAMOTO Yuji, SAKANOI Takeshi, FUJIWARA Hitoshi, MURATA Isao, MITANI Takefumi, NAKAZAWA Kazuhiro, TAKASHIMA Takeshi, TSUCHIYA Fuminori, OHYA Hiroyo, KAMOGAWA Masashi, SATO Mitrsuteru, ADACHI Toru

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Specially Promoted Research

2007 - 2009

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In order to investigate TLEs, TGFs, global lightning activities, and their effects on the atmosphere/ionosphere/magnetosphere, university microsatellite, named SPRITE-SAT (RISING) was developed successfully and launched in January 2009. Ground-based lightning observation networks using ELF and VLF radio wave were also developed and operated. Based on the data obtained by the ground-based instruments and previously launched satellites, various kinds of data analysis have been carried out, which contribute to the understanding of basic mechanisms of TLEs/TGFs, global lightning activity and their quantitative effects.
ハイブリッドシミュレーションに基づく探査ロボットの総合型遠隔操作システムの開発

吉田和哉, ROHMER Eric

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 特別研究員奨励費

Institution: 東北大学

2006 - 2008

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月惑星探査ロボットの遠隔操縦の研究を行うため,脚車輪型ハイブリッド移動ロボットのテストベッドLEON,および実時間ダイナミクスエンジンを持つモジュール統合型遠隔操作プラットフォームを開発し,その評価実験を行った. 移動探査ロボットテストベッドLEONは六角形のボディーを持ち,対照的に6本の脚が取り付けられている.凹凸の激しい岩質の不整地では,これら6本の脚を用いて歩行移動する.特に重力が小さい環境では,脚によって岩石の表面にしがみつくことによって,ロボットの安定性を保つために有効である. 一方,砂状の平坦地においては,特別な形態を持つ2本の客を折りたたむことにより車輪へと変形し高速で車輪走行することが可能となる.脚の先端には様々なツールを装備することが可能であり,センサーの位置決め,岩石表面の掘削,研磨およびサンプルの採集やハンドリングなどの作業を行うことができる.車輪型に変形した後も4本の脚が残されているため,上記の作業は可能である. LEONはバッテリー駆動であり,オンボード計算機としてSONY PSPを搭載している.PSPのワイヤレス機能を使って遠隔操縦を行うことが可能であり,後述する遠隔操作シミュレータと同期をとりながら,様々な歩行経路,歩行パターンについて不整地走行実験を行い,車輪モードおよび脚モードのそれぞれにおいて,不整地移動特性が十分に高いことを検証した. また,LEONの行動計画を立てるため,ダイナミクスシミュレーションに基づいて,複数の指標評価が可能な行動計画エンジンを開発した.3次元の地形モデルが与えられた場合,この行動計画エンジンがLEONの最適探査経路を探索する.さまざまなケーススタディの結果,車輪のみあるいは脚のみによる探査よりも,車輪と脚を適切に使い分けて探査することが,時間,距離,エネルギー消費の各観点で,有利であることが確認された.
マイクロサテライトが拓くスプライト及び雷放電逃走電子の科学

高橋幸弘, 坂井野健, 吉田和哉, 中西洋樹, 高島健, 田口真

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 基盤研究(A)

Institution: 東北大学

2005 - 2008

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雲地上間の雷放電に伴う上空放電のひとつであるスプライトと呼ばれる現象は、1990年の最初の報告以来、精力的な研究が、観測、理論の両面から続けられている。しかし、これまでの地上観測ではスプライトを真下から見ることができないため、その水平構造については三角測量観測による数例しか調べられていない。一方、高エネルギー電子によって放射される地球ガンマ線が、雷雲活動に同期して人工衛星で観測されている。本研究では、CMOS及びCCDイメージャーとガンマ線センサーを搭載した、スプライト・地球ガンマ線観測専用のマイクロサテライトを開発、打ち上げ、それらの解明を目指す。検討の結果、本計画では、衛星を50cm立方、40kg級に変更することとした。2006年度は、以下の機器開発、校正、環境試験を実施するとともに、TLEおよびTGF観測戦略を作成するために、それらの地上および衛星観測データの解析を行い、海外研究者と議論する機会をもった。 1.搭載機器の製作・環境試験・校正 2005年度に引き続き、CMOS及びCCDを用いた超小型・軽量のイメージセンサーの製作・環境試験、及び校正を行い、ソフトウェアも含め、フライト品の製作に目途をつけた。また、米国カリフォルニア大学サンタクルズ校のスミス博士の助言に基づき、ガンマ線センサーの最終的な仕様を確定した。 2.衛星BUSの設計・開発および環境試験 BUSの最終設計を完了し、各パーツのフライト部品の仕様決定・購入を行った。必要部品を購入して構造モデルを製作し、振動試験を実施した。 3.海外研究者との打合せおよび成果発表 10月にフランスを訪れ、同様の衛星計画(打上は本計画の3年後)を持つフランスチームと会合を持ち、観測戦略についての意見交換を行った。また、12月のAGU(米国)学会に参加し、研究経過の発表(招待講演)と、海外研究者(スミス博士及びイナン教授他)と議論を行った。
Study on planetary atmospheres and plasmas by a balloon-borne telescope

TAGUCHI Makoto, YOSHIDA Kazuya, NAKANISHI Hiroki, TAKAHASHI Yukihiro, SAKANOI Takeshi

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Scientific Research (C)

Institution: National Institute of Polar Research

2005 - 2006

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This research has promoted the ongoing development of a balloon-borne telescope system for remote sensing of planetary atmospheres and plasmas. In this system, a Schmidt-Cassegrain telescope with a 300-mm clear aperture is mounted on a gondola whose attitude is controlled by control moment gyros, an active decoupling motor, and a Sun sensor. The gondola can float in the stratosphere for periods in excess of 1 week. A pointing stability of 10 arcsec/sec will be achieved via the cooperative operation of the following three-stage pointing devices: a gondola-attitude control system, two-axis telescope gimbals for coarse guiding, and a tip/tilt mirror mount for guiding error correction. The tip/tilt mirror is controlled by a real-time correction signal from a position-sensitive photomultiplier tube. Video images of an object in near-infrared and ultraviolet are obtained by analog and digital CCD video cameras, respectively. Power is supplied by solar cell panels and Ni-MH batteries, of which low temperature characteristics have been tested. A pressurized cell contains two PCs, DC/DC converters, pre-amplifiers and a high-voltage power supply for a tip/tilt mirror mount. System performance under a low-temperature and low-pressure condition has been confirmed by a thermal vacuum test. ESRANGE in Kiruna, Sweden was investigated for a candidate launch site of a future experiment in the Arctic. The first target for the system is Venus. Wind vectors in the Venusian upper atmosphere will be derived from the tracking of cloud patterns observed in the ultraviolet and near-infrared regions. An experiment designed to test the system performance is scheduled to take place in Japan during June 2007, and a long-duration flight in the Arctic is scheduled for 2008.
火山探査移動観測ステーションの遠隔制御および地形の遺動計測に関する研究

吉田和哉, 永谷圭司

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 特定領域研究

Institution: 東北大学

2005 - 2006

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本研究は,特定領域研究「火山爆発のダイナミックス」A04班において開発されている火山探査移動観測ステーションMOVE(火口移動探査ロボット)に関して,ロボット工学の立場から,1.遠隔制御技術の開発ならびに,2.地形の移動計測技術の確立を目指している.これらを実現することで,観測対象である火山火口周辺の詳細な3次元地形図を獲得し,火山爆発のダイナミクスの理解に寄与することを目指して研究開発を行った. 上述の目標を実現するため,ロボットの遠隔操作ならびに地形マッピングのためのセンサシステムを開発した.このセンサは,全方位カメラ,レーザレンジセンサ,回転テーブルおよび,吊り下げ機構から構成される.全方位カメラは,ロボットが走行中,周囲の画像情報を逐次オペレータに送信することが可能である.また,ロボットが停止中,レーザレンジセンサを搭載した回転テーブルを回転し,360度の距離情報を獲得することで,三次元メッシュ状の地形データを獲得することができる.さらに,不整地において,ロボットが傾いたときにも,センサ自身が常に水平を保つ機能を実現するため,このセンサをパッシブなジョイントで吊り下げた. 製作したセンサの評価を行うため,平成18年5月に伊豆大島三原山において実施された移動探査ロボットMOVEの走行実験において,データ取得実験を行った.製作したセンサを用いて,MOVEの移動経路に沿って,三原山登山道および火口付近の三次元地形データを獲得することができた.また,取得データのオフライン処理として,複数地点で獲得した三次元地形データを統合し,任意の視点から環境表示を行うオペレータ・インターフェース技術を開発した.フィールドでの実用化のためには,信頼性の高い無線通信技術が重要であることも明らかとなった.
Space Robotics for Capture and Service to Non-Cooperative Satellites

YOSHIDA Kazuya, NAKANISHI Hiroki

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Scientific Research (B)

Institution: Tohoku University

2002 - 2005

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We have studied control technologies and basic system design of space robots for orbital servicing, which are able to capture and repair malfunctioning non-cooperative satellites using their manipulator arm(s). In this project, the following results have been obtained : 1. Modeling of Contact Dynamics Modeling and analysis of the contact dynamics for free-flying objects have been carried out both theoretically and experimentally. A method for identifying the mechanical impedance of the target object has been established. We developed a micro-gravity experimental setup using a spacecraft model that floats slightly on a horizontal granite table by pressurized air. The validity of our model and theory have been confirmed throughout the experiments 2. Manipulator Control to Prevent Pushing the Target Away in the Capture When a free-flying space robot captures a target satellite, the target object can be easily bounced away by the contact force. Impedance control is effective to reduce the contact force. We have investigated the dynamic conditions to maintain the contact between the free-flying manipulator arm and the target based on the "Impedance Matching" theory. It is proved throughout experiments that the equivalent mass of the end tip of the arm coming from the impedance control is a reasonable criterion for preventing pushing the target away. 3. Advanced Control for Space Redundant Macro-Micro Manipulators The macro-micro manipulator is a promising system for orbital servicing, which consists of a long (macro) arm and a small fine (micro) arm. The macro arm provides a long-reach capability and the micro arm performs the dexterous manipulation. However, the macro part can generate vibrations due to structural flexibility. The motion of the small arm induces vibrations onto the macro part, hence, resulting in the reduction of its positioning accuracy. In this study, a control method for an accurate and quick manipulation preventing such vibrations has been established.
匍匐により小惑星表面を移動探査するロボットの設計と評価

吉田和哉, 矢野創

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 萌芽研究

Institution: 東北大学

2003 - 2004

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小惑星の表面は1万分の1G以下の微小重力環境であり,探査機が安定して着陸することができない.よって,地上でイメージされるような,車輪型,歩行型の移動ロボットは宙に舞い上がってしまって成立しない.わが国初の小惑星探査機MUSES-Cでは,表面に数秒間タッチダウンする間にサンプルを回収する方式が開発されたが,岩陰や窪みのような小惑星の表面をくまなく探査するためには,自在に移動できる装置が必要である.本研究では,小惑星表面を構成するBoulderと呼ばれる岩塊に,ロッククライミングのようにしがみつきながら匍匐前進する探査ロボットを着想し,その可能性を追求した. 平成16年度の研究では,小惑星表面を移動する方式として脚型のロボットについて詳細な検討を行った.まず1自由度の運動をし,先端に把持機構を持たない単純な脚を複数本持つ場合について検討を行った.この場合,足先を微小に振動させる動歩行を行うことにより,大きくジャンプしたり転げ回ることなく,あたかも表面に張り付いて移動するかのように面に沿って移動するモードが存在することを明らかにした.次いで,グリッパを用いて表面に機械的にしがみついて移動する方式について検討し,グリッパのモデルを製作して岩石を把持する力を測定した.グリッパによる把持は十分に大きな力を得ることができ,有望な方式であることが確認できたが,グリッパを持つ複数脚のロボットは機構的にも制御的にも複雑なシステムとなることが,欠点として挙げられる.実際のフライトミッションにおいては,単純機構による動歩行か,複雑度が大きい静歩行を選択するかのトレードオフが必要である.本研究では,このトレードオフに必要な基礎データを得ることができた.
ロボット身体スキルのシステム統合と制御に関する研究

内山勝, 吉川恒夫, 中村仁彦, 吉田和哉, 平井真一, 金子真

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 基盤研究(C)

Institution: 東北大学

2001 - 2001

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本研究では、ロボットの能力を「身体スキル」という切り口で俯瞰し、その源泉が、ハードウェア要素を統合するシステム技術とそれに立脚した制御技術にあると考え、この立場より、ロボットの能力向上に必要なシステム統合と制御の仕組みを調査、研究した。調査、研究の過程で、合計3回の研究会を持ち、この分野の今後の方向性について議論した。その結果、知能ロボットを実現するために我々が今後目指すべき方向として、「身体知能の集積とデザイン」という研究課題を抽出した。この研究課題の下、特定領域研究の企画、立案を行い、領域申請を行った。また、調査、研究の成果は、まず、計測自動制御学会システムインテグレーション部門学術講演会において、オーガナイズドセッション「ロボット身体スキルのシステム統合」を組み、11編の論文として一般に公表した。つぎに、最終成果を成果報告集「ロボット身体スキルのシステム統合と制御」にまとめ、日本機械学会ロボティクス・メカトロニクス部門、計測自動制御学会システムインテグレーション部門、日本ロボット学会の協賛を得て、成果報告会を開催し、一般に配布した。成果報告集においては、各研究分担者がそれぞれの立場から、「身体スキル」についての調査、研究の成果をまとめた。内容は、人間の観察から、腕、手、足などロボット各部の設計、制御、作業解析、協調、遠隔操作、ビジョンアルゴリズムまで広範囲にわたり、各研究者による「スキル」についての深い洞察が述べられ、また、それぞれの分野の文献も十分に列挙されている。
小惑星等の微小重力天体上を移動探査するロボットの新展開

吉田和哉

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 萌芽的研究

Institution: 東北大学

1999 - 2001

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小惑星のような微小天体上では,重力が地上の千分の1から1万分の1程度であると言われており,地球上を移動・走行する概念では探査ロボットは成立しない.地上の車輪走行では重力による鉛直荷重に面の摩擦係数をかけたものが推進力となるが,重力がきわめて小さい環境では円著悪荷重がほほゼロとなってしまうため,車輪はそのままでは原理的に微小重力天体での走行には適用できない.よって重力の大きさによらず確実に移動が可能な方式が求められる. 本研究では,微小重力天体上で推進力を得る方式について,(1)表面を蹴ることにより跳躍移動する,(2)ロボットを索状構造体としヘビのように表面に絡みつきながら推進力を得る,という2つの斬新な推進方式を検討し,それぞれについて実験を通して力学的考察を行しプロトタイプモデルを試作することにより実現性についてフィージビリティースタディをおこなった. 実験については,日本無重量総合研究所(MGLAB)において垂直落下微小重力実験を行う機会を得て,微小重力状態における,接触,反発,跳躍の様子を力学的に観察し,解析・検証をおこなった.実験の結果,表面が金属のように滑りやすい状況では摩擦力が非常に小さいものの,自然岩石のように表面が粗いものでは突起状のメカニズムが引っかかりを生じ,摩榛係数が1を越えるスティック状態がおこることが確認され,跳躍によって水平方向に駆動力を得ることが可能であることが示された. しかしながら,跳躍運動はロボット本体の回転を伴い,どこへ移動しどのような姿勢で運動が停止するかが偶発的なものとなってしまう.そこで,ヘビのように屈曲する体幹節を持ち,天体表面の岩に絡みつきながら移動する方式を検証するプロトタイプモデルを試作した.ヘビ型移動方式では,メカニズムの構成が複雑となってしまうが,機構設計・製作上の問題点が解決されれば,安定確実な移動方式であることが確認された.
DYNAMICS AND NAVIGATION CONTROL OF PLANETARY EXPLORATION ROVERS

YOSHIDA Kazuya

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Scientific Research (B).

Institution: TOHOKU UNIVERSITY

1998 - 2000

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The goal of this research is to investigate the motion dynamics and navigation control methods for planetary exploration rovers that negotiate natural rough terrain covered by sands, gravel and rocks. This research focus the following three points : (1) Modeling of rover dynamics and tire mechanics that enable us to simulate the rover motion numerically, (2) Evaluation of the model by comparing the experimental observation and the numerical simulation, (3) Investigation of the navigation control laws for less slip, more efficient and safe operation. In the modeling of the rover dynamics, a simulation software toolbox named the SpaceDyn that works with MATLAB has been developed and applied. Mars exploration rovers under the development by NASA have a unique suspension system called Rocker-Bogie, which capability to go over obstacles was proven by Maars PathFinder mission in 1997. The Rocker-Bogie requires a complicated model of the force-torque equilibrium although, the SpaceDyn simulates such complicated motion of obstacle negotiation with relatively easy programming. In the experiments, key parameters to model the traction mechanics between the tire and soil are estimated. Slip and stack phenomena is observed with excessive loads and actuator torque saturation, when the rover is climbing up a slope for example. This phenomena is clearly simulated by the numerical model developed here with the experimentally identified traction coefficient versus slip. Based on the above observation and simulation analysis, it is suggested that (a) equal load distribution on all tires, or if the equalizing is difficult, (b) weighted tire torque distribution, shall be effective for the navigation control with higher efficiency and lower probability of slip, stack and tip-over.
惑星探査ローバーの知的テレオペレーションの研究

吉田和哉

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 奨励研究(A)

Institution: 東北大学

1997 - 1998

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本研究では,21世紀初頭に想定される月・惑星の無人探査を行いうる遠隔支援型の自律走行ローバーに関する基礎研究を行った.ローバーのハードウェアテストベッドとそれに対応する力学シミュレーションおよびグラフィクスモデルを用いて,月・惑星上の不整地における走行ダイナミクスおよび地球とのコミュニケーションがきわめて疎である環境において実際に機能しうるテレオペレーションの方法について研究を行った. 平成9年度に,不整地走行性能が高い6輪連節車輪走行ロボットを採用した,全長およそ1mのローバーテストベッドを製作した.本ローバーはステアリングのための専用自由度を持たず,節間の連結も受動関節とすることにより,構造の単純化および軽量化をはかっている.同ロボットの上には,マルチプロセス,マルチタスクが可能で,リアルタイム割り込みが可能なRealtime-Linux OSを採用したボード型PCを搭載した. 平成10年度には,タイヤの力学および連接シャーシの力学を検討することにより,左右の車輪の速度差とローバーのステアリング制御角の関係を明らかにし,オペレータが角度コマンドを指示することによりステアリングを行う制御インターフェースを構築した. また,砂上ではタイヤが空転をはじめると穴を掘って沈み込んでしまい,前進も後進もできない状況(スタック)に陥ってしまう.この様子を明らかにするため,タイヤの速度,加速度とスリップおよび牽引力の関係を詳細に検討し,(1)タイヤの加速度の大きさをあるしきい値以下にすること,および(2)スリップを検出した際には車輪の回転速度を落とすこと,によりスタックを回避できることを明らかにした.このスタック回避のための制御則をローバーの自律機能としてオンボード計算機にインプリメントすることにより,オペレータはスタックを気にせずにステアリング等の走行指令を与えることができる.
Study on Integration of Advanced Space Telerobots Technology

TSUMAKI Yuichi, ABE Koyu, YOSHIDA Kazuya, NENCHEV Dragomir, UCHIYAMA Masaru

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for international Scientific Research

Institution: Tohoku University

1997 - 1998

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In this project, we mainly developed a model based teleoperation system, singularity-consistent teleoperation system and a compact high performance 6-D.O.F haptic interface system. In addition, finally, these systems are integrated to an advanced space teleoperation system. The fruits of this project are addressed bellow. 1. Model based teleoperation system which has robustness against both geometric and dynamic modeling errors is established. This system can display force reflection to an operator in spite of long time delay. Consequently, the slave arm can realize its task safely. 2. Singularity-consistent approach, which can handle a singularity problem without any error in the command direction with feasible joint velocity, is applied to space teleoperation system. This system includes command direction compensation based on shared control and a virtual reality based operator support system. We realized a specific peg-in-hole insertion task which requires a motion through the wrist singularity. 3. A high-performance compact 6-D.O.F haptic interface is developed. It can exhibit both a wide work space and quick motion ability. 4. Above three systems are integrated into an advanced space teleoperation system. As a result, we can achieve both high safety level and robust operation ability. Finally, experiments of teleoperation between DLR in Germany and Tohoku University in Japan have been conducted using Internet to confirm the effectiveness of the system.
移動ベース上でインピーダンス作業を行うロボットの制御

吉田和哉

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 重点領域研究

Institution: 東北大学

1997 - 1997

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本研究では、原子炉内のメンテナンス,廃棄物処理施設での作業,電力線・通信線のメンテナンスやビルの外壁補修のための高所作業や宇宙ステーション日本モジュールにおけるマニピュレータ作業など,ごく近い将来にロボットが社会的に貢献すべき分野を想定し,このような具体的なアプリケーションにおいて,作業対象との接触をともなう力・インピーダンス制御時の作業における技量を力学的に解明することを目的とする. 上に例示したアプリケーションにおいては,作業用高精度マニピュレータシステムを支持するベースの力学的条件により,マニピュレータが実現しうるスキルが低下してしまうという問題に直面する.また,関節部に機構的なコンプライアンスを積極的に導入することにより柔らかさを実現し,人間と共存する環境でマニピュレータシステムを使用する方向性が検討されているが,柔らかさの導入は同時にスキルの低下をもたらす. 本研究では,上記の問題を包括的に取り扱うことのできる力学的定式化をおこなった.ここで考える一般化システムは,ロボットベースが一般的なバネーダンパ系(拘束インピーダンス)によって拘束され,関節では機構的な柔らかさである(関節インピーダンス)と,制御による柔らかさの(制御インピーダンス)が存在する.また,手先作業においても一般的なバネーダンパ系(作業インピーダンス)として定式化される. このような力学状態におけるロボットマニピュレータの力学関係を解析するシュミレーションプログラムをMatlab言語を用いて開発した.さらに平面運動に動作を限定した検証実験を行うため,能動3自由度,受動コンプライアンス5自由度を持つテストベッドも開発した. これらの道具立てにより,受動コンプライアンスをもつシステムの制御限界および,安定なインピーダンス作業を行うための制御方式について基礎的な検討を行い,安定化制御の方式を明らかにした.
RESEARCH ON REACTIONLESS MANIPULATOR

NENCHEV Dragomir, ABE Koyu, TSUMAKI Yuichi, YOSHIDA Kazuya

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Scientific Research (C)

1995 - 1997

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We developed a general method for reaction compensation via inertial coupling. This method we called "reaction null space" method. In our early work we focused on moving base systems, such as free-flying space robots and long-reach manipulators or flexible base manipulators. We have shown that via the reaction null space, the dynamics of the manipulator are decoupled from the dynamics of the base. Using the notation, we can analyze the system, for example, to obtain the so-called "reactionless paths" in the workspace of the manipulator. Any motion along these paths will not excite the base dynamics.Also, the reaction null space is useful for design purposes. This is clear from the fact that the reaction null space may exist with different types of design. In our latest work we extend the scope of the reaction null space method to cover the whole class of underactuated manipulators. In addition to moving base robots, this class includes also free-and flexible-joint robots and flexible-link robots. We designed a planar experimental system of a flexible-base manipulator comprising a flexible base with an elastic cantilever beam. Initially, a small 2R rigid link manipulator was mounted on the tip of the base. A force/torque sensor with a special design was mounted on the base of the rigid link manipulator to measure reactions in the plane. Control feedback from elastic base deflection was obtained through a strain gauge. With this design we could obtain useful experimental data for the one-arm case, which confirmed our expectation regarding reactionless motion. Later, we attached a second rigid-link manipulator to the system. With this experimental setup we could perform noncontact motion experiments, as follows. First, feasibility of reactionless path tracking was confirmed both under open loop and closed-loop control.In either case, the disturbance of the base was ignorable. This situation didn't change when the acceleration and the speed along the reactionless path were changed. This is well in agreement with theory. We note that the reactionless paths do exist also for a dual-arm manipulator holding an object. This was verified experimentally. Second, we developed a three-phase path planning method for a single arm. The experimental performance confirmed our expectations. We compared the results with the well-known method of Disturbance Map. Finally, we implemented vibration suppression control by active damping. We have shown that vibration suppression is decoupled from the reactionless path motion. This means that feedback gains of the two control subtasks can be designed independently. It is possible to suppress vibrations while moving along a reactionless path. We have also confirmed the possibility of vibration suppression with a dual-arm manipulator holding an object.
Fundamental Research and Development on Ground Simulators for Space System Dynamics and Control

OHKAMI Yoshiaki, YOSHIDA Kazuya, MATUNAGA Saburo

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Scientific Research (A)

Institution: Tokyo Institute of Technology

1995 - 1997

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To aid in the research and development of docking and capture missions by robotic manipulators, ground simulators to test space systems dynamics and control are needed. In this study, two types of hardware simulators were developed. The first is a two-dimensional free-flying simulator system which has the following features : 1) completely wireless, 2) very low fiction air-support, 3) air-thrusters for translational and attitude control, and 4) joy-stick controllability through computer interfase. The second is a six-DOF Stewart-type platform system which has the following features : 1) air-shielded air-cylinder actuators for very low friction, 2) high-speed electro-magnetic valves for high response, and 3) capability to simulate motions due to impact forces. Fundamental trsts of the two simulators were successfully conducted to evaluate the performance, and preliminary experiments for docking and capture were also carried out. On the theoretical side, dynamic analysis of flexible multibody systems under impact, dynamics of multibody systems with configuration changes, and an arbitrary viewpoint reconstruction method for teleoperation human interfaces were investigated. In addition, some work has been carried with the goal of developing an on-ground evaluation method for the motion dynamics of space free-flying systems that involve impact dynamics. For hardware simulations, the simulation accuracy was discussed and evaluated on a hybrid-type simulator using a Stewart platform system. For software simulations, a general and multi-purpose program which can handle any type of open-tree system configuration with flexibility was developed using the MATLAB language. For graphics animations, Xanimate, a free software program, was utilized. Using the developed software simulator, motion dynamics of the manipulator arm and satellite attitude of the Engineering Test Satellite VII(ETS-VII) was studied.
移動ベース上でインピーダンス制御作業を行うロボットの技量の力学的解明

吉田和哉

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 重点領域研究

Institution: 東北大学

1996 - 1996

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本研究では,移動ベース型ロボットシステムを 1.ベース無拘束のフリーフライングロボット 2.粘弾性拘束を受けるフレキシブルベースロボット 3.アクティブ拘束を受けるマイクローマイクロロボットに分類し,これらを一般的に記述する力学モデルを導出し,共通性と相違点について考察し,以下の結論を得た. (1) 1.〜3.に共通して,能動関節変数と手先作業座標を関連づける行列として,一般化ヤコビ行列が定義される.一般化ヤコビ行列は,これまで,積分型の拘束条件が成立する1.のシステムにおいてのみ定義されていたが,本研究ではこれを1.〜3.に拡大定義した. (2) 1, 2.のシステムにおいて,アームとベースとの動的干渉を記述する干渉慣性行列の零空間を使って,反動零空間が定義される.これを用いることにより,アームの反動によるベースの回転(システム1.)もしくは振動(システム2.)を生じない無反動軌道の存在を明らかにし,制御によるその実現方法を示した. (3)システム2.が環境と接触する問題について,一般化ヤコビ行列とインピーダンス関係を用いた基礎方程式を導出した. (4)上記(2)については,コンピュータシミュレーションおよび2次元テストベッド実験によって,その有効性を確認した.(3)については,今後更に詳細のシミュレーションおよび実験的検討が必要であると考えられる.
Development of Mars Exploration Four Wheeled Rover (MARS Rover)

HIROSE Shigeo

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for General Scientific Research (B)

Institution: Tokyo Institute of Technology

1993 - 1994

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In this research we have made a fundamental considerations for a planetary rover. First, shapes which utilize limitless rotation such as wheels and drawlers, legged shapes, and articulated body shapes were compared, and it was found that the wheel type is currently the optimum for a planetary rover. Next, we studied specific methods for configuring a planetary rovers with one, two, and three wheels, which is a topic that has not been studied much before, and in particular, we indicate that it is effective to equip these vehicles with manipulator arms and make joint use of the arm for movement. We have also studied a four-wheel rover, and have proposed a rhomboid four wheels vehicle arrangement as a mechanism to manifest terrain adaptability comparative to the six wheels. In oder to demonstrate the validity of the proposed vehicle concept, a new quadra rover for Mars exploration has been designed and manufactured. The rover is designed to show high terrain adaptability with simple mechanism so as to be lightweight and reliable. The undercarriage mass of the rover is 35 Kg. To overcome obstacles, the rover has a passive front suspension with two degrees of freedom, and four spherical wheels located in a rhomb shape. DC servo motors are built in the spherical-shaped wheels for high road clearance.
Fundamental Research for Fluctuation Control of Microgravity Environment within Low-Earth Orbiting space Laboratory

OHKAMI Yoshiaki, YOSHIDA Kazuya, MATUNAGA Saburo

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for General Scientific Research (B)

Institution: the Tokyo Institute of Technology

1993 - 1994

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In low-earth oribiting spacecraft acceleration is induced by various kinds of environmental disturbance sources (e.g.gravity gradient, rotational motion of spacecraft, solar radiation pressure, aerodynamic drag, vibration caused by spacecraft's flexibility, rotating machines and crew activities). To get a better microgravity environment, it is essential to know the level and fluctuation of the microgravity environment in spacecraft. Based on the investigation of fundamental aspects of microgravity, the authors have analyzed the level and fluctuation of the microgravity environment for a single rigid spacecraft and a large flexible spacecraft. Both of them are under influence of gravitational force, solar radiation pressure and aerodynamic drag. The analysis covers the dependency upon the (1) orbital position, (2) position from center of mass within spacecraft and (3) structural vibration. For various configurations of Space Station Freedom, the residual acceleration levels have been evaluated as examples of the approached noted above. It is shown that the residual acceleration fluctuates significantly, the magnitude, and the direction achieving the order of 10-5 G,and that the residual acceleration is strongly dependent on the structural flexibility, attitude control and structural configuration. In order to suppress the above vibration of the structure, we also studied basic characteristics and control performance of a bang-bang actuator : we analyzed 2/3 DOF model and conducted numerical simulations and experiments using 2/3 DOF model and a free-free beam model. The control methods using information on velocity, acceleration and displacement, fuzzy logic control and rule based control were applied.
軌道上ユニットの捕捉および組立のための宇宙ロボットの動力学制御法の研究

吉田和哉

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 奨励研究(A)

Institution: 東京工業大学

1992 - 1992
移動体捕捉のための宇宙ロボットの動的制御法の研究

吉田和哉

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 奨励研究(A)

Institution: 東京工業大学

1990 - 1990
ロボット衛星搭載マニピュレータによる浮遊対象物の捕捉性御の研究

吉田和哉

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 奨励研究(A)

Institution: 東京工業大学

1989 - 1989
Study on Control of Orbital Satellite Robot by Graphic simulation.

UMETANI Yoji, YOSHIDA Kazuya

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for General Scientific Research (B)

Institution: Tokyo Institute of Technology

1988 - 1989

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The control of an orbital satellite robot mounted with manipulators is studied employing computer graphic simulation method. Movement of the satellite when the manipulators are working in space should be treated as free flying multi-linked body, therefore its control is consequently different to that of the robot working on the ground. The investigators settle a typical kinematic problem arising in such case as the satellite makes capture of a moving target with the manipulator in space. Visual information of the target obtained through CCD camera mounted on the satellite is assumed available for the robot to control its manipulator to capture along with optimal trajectory. The configuration, dimension, and relative velocity are given in consideration with actual cases. As a result of the investigation , the followings are concluded; (a) the optimal control of manipulators considering the guaranteed working area, (b) on-line resolved rate control of the manipulator moving along linearly straight trajectory, and (c) capturing without any shocking force against the target.
ロボット衛星搭載用マニピュレータの運動制御法の研究

吉田和哉

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 奨励研究(A)

Institution: 東京工業大学

1988 - 1988

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Social Activities 33

仙台市天文台ブレインサポーター

2009/04/01 - Present

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仙台市天文台の広報活動等に協力する
静岡科学館企画展「そうだ！宇宙へいこう！る・く・る宇宙展」

2012/01/21 - 2012/01/22

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静岡科学館企画展「そうだ！宇宙へいこう！る・く・る宇宙展～宇宙探査ロボット最前線～」において、探査ロボットの展示、実演、講演を行った。
国際航空宇宙展（ジャパンエアロスペース2008/JA2008）

2008/10/01 - 2008/10/05

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スプライト観測衛星等の展示
スプライト観測衛星が見た宇宙（仙台市天文台）

2008/07/01 - 2008/08/25

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仙台市天文台オープニングテーマ特別展にて実物大模型および説明パネル等を展示．
宇宙開発事業団客員開発部員

1996/04 - 2000/03

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宇宙開発事業団客員開発部員
つくばエキスポセンター公開講座

2013/09/14 -

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つくばエキスポセンターにて開催された公開講座にて、「月面探査ローバーの研究開発」と題した講演を行い、ロボットのデモを実施した。
仙台市天文台トワイライトサロン

2013/01/19 -

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仙台市天文台トワイライトサロンにて「宇宙から地球をうつす：大学衛星の挑戦」と題した講演を行った。
みやぎ工業会新春産学官交流大会・特別講演

2013/01/17 -

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みやぎ工業会第51回新春産学官交流大会（東北大学イノベーションフェアと共同開催）において、「『はやぶさ』から災害対応ロボットへの展開」の題目で特別講演をおこなった。
東京都大田区入新井第二小学校開校９０周年記念講演会

2012/10/26 -

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東京都大田区入新井第二小学校開校９０周年記念講演会に際して、同小学校の全校生徒511名とその父兄、教員に対して「宇宙探査ロボット～小学生の夢から「はやぶさ」へ、そして次の夢へ～」と題した特別講演を行った。
日本機械学会東北支部秋季講演会・特別講演

2012/09/22 -

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日本機械学会東北支部秋季講演会にて「宇宙ロボットとその応用研究：「はやぶさ」から「原発対応ロボット」へ」と題した特別講演を行った。
青葉工業会平成２３年度通常総会記念講演会

2012/06/18 -

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青葉工業会平成２３年度（関東地区支部・東京支部）通常総会記念講演会にて「小惑星探査機「はやぶさ」の機構と奇跡」と題した講演をおこなった。
日本科学未来館ボランティアスキルアップ研修会・特別講演

2012/03/11 -

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日本科学未来館ボランティアスキルアップ研修会において、「宇宙探査ロボットの研究～「はやぶさ」「月ローバー」から「災害対応ロボット」まで～」の題目で講演をおこなった。
日本技術士会機械部会例会

2011/10/14 -

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日本技術士会機械部会例会で「「はやぶさ」と探査ロボット」と題した講演行った。
JAXA「宇宙こどもワークショップキャラバンin仙台」

2011/09/24 -

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JAXA「宇宙こどもワークショップキャラバンin仙台」にて探査ロボット実演、講演等を行った。
仙台市天文台トワイライトサロン

2011/06/04 -

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仙台市天文台トワイライトサロンにて「宇宙から地球をみつめる「雷神」のおはなし」と題した講演を行った。
獨協大学天文・宇宙Week特別講演会

2011/05/22 -

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獨協大学天文・宇宙Weekにて「「はやぶさ」、月探査、福島第一原発～探査ロボットの技術開発と使命～」と題した講演を行った。
東北大学・読売新聞共同プロジェクト「市民のためのサイエンス講座2010：『はやぶさ』の奇跡の物語」

2010/12/23 -

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東北大学・読売新聞共同プロジェクト「市民のためのサイエンス講座2010：『はやぶさ』の奇跡の物語」にて講演を行った。
「宇宙に届け，私たちの人工衛星！」

2008/09/07 -

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日本航空宇宙学会北部支部主催の第15回科学講演会「親子のためのロケット公開教室：作って飛ばそう！ぼく・わたしのロケット」にて「宇宙に届け，私たちの人工衛星！」の題目で講演
知の広場「宇宙探査のためのロボット工学」

2008/08/02 -

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河合塾主催の標記公開講座にて講演．
親子で楽しむ：レゴブロックで探査ロボットを作ろう！

2008/07/27 -

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ＮＨＫ文化センター仙台定禅寺通り教室にて，標記の公開講座を実施．
宇宙少年団（仙台たなばた分団）

2008/07/06 -

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宇宙少年団（仙台たなばた分団）の親子連れ30名に対して，開発中のスプライト観測衛星の概要説明および見学会を実施した．
宮城教育大学附属小学校にて出張授業

2008/06/23 -

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「七夕の星の話を聞く会」と題して宇宙と人工衛星の話をした．
「スプライト衛星が開く未来―宇宙へのメッセージ」

2008/05/13 -

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仙台市泉区市名坂小学校六年生107人に対して，標記の授業を行った．その内容は，河北新報にて記事展開された．
「月・惑星探査で利用される日本のロボット技術」

2008/04/25 -

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日本ロボット学会主催ロボット工学セミナー第45回シンポジウムにおいて，標記題目にて講演を行った.
八木山市民センター：「集まれ！惑星探査隊！」

2008/03/09 -

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八木山市民センター主催の標記行事において，講演およびロボットの実演を行った．
「実演・情報通信技術を駆使したレスキューロボット」

2007/11/24 -

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JST主催のサイエンスアゴラ（東京・お台場）にて，レスキューロボットに関するこれまでの研究開発の成果について講演・展示・実演を行った．
「宇宙探査ロボット～極限環境への挑戦～」

2007/11/21 -

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(社) 低温工学協会東北・北海道支部主催2007年度秋季低温工学・超電導学会の特別行事として，市民向け公開講座にて標記の講演を行った．
ロボットが拓く宇宙開発のNEXT STAGE

2007/03/28 -

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JAXAの標記シンポジウム（東京・日本科学未来館・大ホール）に，パネリストとして登壇した．
東北大学サイエンスカフェ

2007/02/16 -

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東北大学サイエンスカフェにて「宇宙開発とロボティクス～はやぶさ探査機、月面探査、そしてレスキューロボット～」と題して講演をおこなった．
楽しい科学教室「ロボット講座」（千葉県佐倉市教育委員会）

2007/01/27 -

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千葉県佐倉市教育委員会主催の標記行事において，講演およびロボットデモを行った．
仙台第二高等学校への出張授業

2005/11/24 -

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仙台第二高等学校への出張授業を行った．
宮城県立佐沼高等学校への出張授業

2004/08/03 -

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宮城県立佐沼高等学校への出張授業を行った．
静岡県立磐田南高校への出張授業

2003/09/24 -

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静岡県立磐田南高校への出張授業を行った．

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Media Coverage 62

月面移動車試作、砂丘で公開実験

毎日新聞

2013/09/06

Type: Newspaper, magazine
グーグル月面レース「日本丸」挑む

日経産業新聞

2013/08/21

Type: Newspaper, magazine
超小型衛星新市場開拓、開発から実証段階へ、宇宙をビジネスの場に

日刊工業新聞

2013/08/15

Type: Newspaper, magazine
"Giant Leaps for Micro-Satellites" in J-TECH Innovation & Evolution

NHK 国際放送

2013/07/28

Type: TV or radio program

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日本の先端技術を紹介するNHK国際放送のJ-TECH Innovation & Evolutionという50分番組の中で、日本の大学における超小型衛星の研究開発の現状が紹介された。短時間ではあったが、東北大学の活動も紹介された。
ムーンラッシュ！月開発最前線（コズミックフロント）

NHK-BS

2013/02/14

Type: TV or radio program
東北大産学連携イベントで最先端技術を紹介

毎日新聞

2013/01/23

Type: Newspaper, magazine
東北大イノベーションフェア災害対応ロボ、技術披露

河北新報

2013/01/18

Type: Newspaper, magazine
超小型衛星「RAIKO」感度良好地球撮影データ送受信に成功

河北新報

2012/12/19

Type: Newspaper, magazine
東北大の超小型衛星世界初！高速データ通信

Nスタみやぎ (東北放送)

2012/12/18

Type: TV or radio program
東北大など製作超小型衛星RAIKO成果報告

スーパーJチャンネルみやぎ (東日本放送)

2012/12/18

Type: TV or radio program
火山探査ロボ公開実験

日本経済新聞、日経産業新聞

2012/10/25

Type: Newspaper, magazine
小型衛星を放出世界発 ISSから5基

毎日新聞

2012/10/06

Type: Newspaper, magazine
「きぼう」から衛星放出

日本経済新聞

2012/10/05

Type: Newspaper, magazine
宇宙基地から衛星放出 5基、2回に分け JAXA世界で初

日刊工業新聞

2012/10/04

Type: Newspaper, magazine
衛星放出、あすから実験 JAXA ISSから５基

日経産業新聞

2012/10/03

Type: Newspaper, magazine
「宇宙で働くロボット開発」

読売新聞

2012/09/06

Type: Newspaper, magazine

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夕刊・科学
日本実験棟から小型衛星放出へ

河北新報

2012/08/31

Type: Newspaper, magazine
月探査レース「Xプライズ」：日本の探査車も参戦

日経サイエンス2012年10月号

2012/08/30

Type: Newspaper, magazine
「きぼう」から衛星放出

日本経済新聞

2012/07/16

Type: Newspaper, magazine
小型衛星を公開 JAXA、来月打ち上げ

日経産業新聞

2012/06/26

Type: Newspaper, magazine
超小型衛星「雷神２」 JAXA打ち上げ相乗り

読売新聞

2012/04/14

Type: Newspaper, magazine
Nスタみやぎ

東北放送

2012/02/29

Type: TV or radio program

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「Nスタみやぎ」のメインキャスター・石川太郎氏との対談。宇宙探査ロボットについて。
月をしらべたい！（ふしぎがいっぱい）

NHK教育

2012/02/21

Type: TV or radio program
月の大地を走破せよ！人類初月面車開発秘話（コズミックフロント）

NHK-BS

2012/01/24

Type: TV or radio program
月面探査で猛レース

日刊工業新聞

2012/01/01

Type: Newspaper, magazine
「極限状況で働くロボットを作りたい！」宇宙、原子炉、火山で・・・極限ロボットにかける夢（夢の扉＋）

TBSテレビ

2011/11/13

Type: TV or radio program

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ドリームメーカーとして、極限ロボットに挑戦する様子を取材、放送される。
社会システムとしてロボが入る仕組みを、吉田極限ロボ国際研究センター長

日刊工業新聞社・ロボナブル（オンライン）

2011/08/05

Type: Newspaper, magazine
走行・飛行災害ロボが合体被災建物内をくまなく探査

河北新報

2011/08/04

Type: Newspaper, magazine
東北大、ロボット研究拠点設置災害救助・宇宙探査に応用

日本経済新聞

2011/07/08

Type: Newspaper, magazine
ゲリラ豪雨、解明を超小型衛星「雷神２」完成東北大など

河北新報

2011/06/04

Type: Newspaper, magazine
謎の発光現象、解明へ雪辱狙う東北大の衛星「雷神２」

朝日新聞

2011/06/04

Type: Newspaper, magazine
小型地球観測衛星：「雷神２」完成東北大と北大、発光現象撮影へ

毎日新聞

2011/06/04

Type: Newspaper, magazine
宇宙と七夕関連学ぶ

河北新報朝刊17面

2008/07/05

Type: Newspaper, magazine
特集「スプライト観測衛星を打ち上げよう！」

「瀬名秀明がゆく！」

2008/06/06

Type: Other
小さな宇宙の旅体感「スプライト衛星が開く未来」

河北新報朝刊14・15面

2008/06/01

Type: Newspaper, magazine
スプライト衛星を公開組み立て最終段階に

河北新報（27面）

2008/05/16

Type: Newspaper, magazine
東北大学、自主開発のマイクロサット「SPRITE-SAT」を報道公開

Robot Watch

2008/05/16

Type: Newspaper, magazine
スプライト観測衛星報道公開

NHK仙台，仙台放送，東日本放送，宮城テレビ放送，東北放送（順不同）

2008/05/15

Type: TV or radio program
スプライト観測衛星を公開東北大、Ｈ２Ａで打ち上げ

共同通信

2008/05/15

Type: Other
宇宙の謎分かりやすくスプライト衛星・公開授業

河北新報朝刊（25面）

2008/05/14

Type: Newspaper, magazine
宇宙に届け！みんなの思いメッセージと絵を募集

河北新報朝刊（１面）

2008/05/09

Type: Newspaper, magazine
FreescaleのMRAM，日本で打ち上げ予定の衛星に搭載

Semiconductor Japan Net

2008/03/03

Type: Other
MRAMが宇宙へ旅立つ、JAXAの小型副衛星に搭載へ

EEtimes.jp

2008/02/28

Type: Other
「東北大が独自衛星」高層大気の発光現象観測

読売新聞朝刊仙台圏

2008/02/17

Type: Newspaper, magazine
「上がれ！大学発人工衛星 H2Aロケットに、今秋にも小型衛星相乗り」

朝日新聞朝刊（21面）

2008/01/14

Type: Newspaper, magazine
ユニークな手作り小型衛星を宇宙に～GOSAT相乗りミッションに選定された6機関が一堂に会す

Robot Watch

2007/08/06

Type: Newspaper, magazine
小型副衛星合同ワークショップについて

JAXA AEROSPACE Biz

2007/07/23

Type: Newspaper, magazine
東北大学100周年企画東北みらいプロジェクト「天文少年の夢／衛星打ち上げ実現へ」

河北新報社

2007/06/20

Type: Newspaper, magazine
Sprite Sat 打ち上げ決定

東北大学惑星大気研究室

2007/05/24

Type: Other
JAXA,HIIAの”相乗り”小型衛星を選定

CNET Japan

2007/05/18

Type: Other
JAXA、H-IIAの“相乗り”小型衛星を選定

livedoor ニュース

2007/05/18

Type: Other
「東北大衛星来夏宇宙へ」

河北新報朝刊

2007/05/17

Type: Newspaper, magazine
JAXA,６機の公募小型衛星に打ち上げ機械を提供

AstroArts

2007/05/17

Type: Other
H-IIAに相乗りする小型副衛星の選定結果

JAXA プレスリリース

2007/05/16

Type: Newspaper, magazine
Registration in JAXA Dual Launch Program Candidate List

東北大学ニュース

2007/02/01

Type: Other
小惑星探査に挑む（東北大学１００周年企画「学び究めて」第１部）

2007/01/07

Type: Newspaper, magazine
「東北大研究者の夢乗せ飛行小型衛星宇宙へ」

河北新報朝刊（1面トップ）

2007/01/01

Type: Newspaper, magazine
東北大学小型衛星開発

河北新報

2007/01/01

Type: Newspaper, magazine
ロボット技術で世界に挑む！(シリーズ東北大学100年物語)

仙台放送

2006/10/07

Type: TV or radio program
ロボット技術と未来社会（シリーズ東北大学100年物語）

仙台放送

2006/08/25

Type: TV or radio program
親子形レスキューロボット報道公開

河北新報，読売新聞，日本経済新聞等

2006/03/11

Type: Newspaper, magazine
親子形レスキューロボット報道公開

ＮＨＫ首都圏イブニングニュース，テレビ朝日，フジテレビ・FNNスーパーニュース，仙台放送，ミヤギテレビ，東北放送

2006/03/10

Type: TV or radio program

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Other 7

飛行ロボットによる自律探査と地図生成

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災害時に地上走行ロボットと飛行ロボットの協調により、現場の自律探査と地図生成を行う技術を開発する。
極限ロボティクスの国際研究拠点形成

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極限ロボティクスに関して、世界と切磋琢磨する国際研究拠点を形成し、社会に貢献する成果をあげる。
大学院教育改革支援プログラム「機械工学フロンティア創成」

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大学院教育を充実させるため「機械工学フロンティア創成」プログラムを実施した．
魅力ある大学院教育イニシアティブ：フライト実践による航空宇宙フロンティア

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フライト実践活動を主体とした，魅力ある大学院教育科目「航空宇宙フロンティア」を創設した．
遠隔ロボットを用いた災害時マルチメディア情報収集技術に関する研究開発

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大規模震災等の現場において適切な情報収集を行うための，無線通信技術，移動探査ロボット技術，効率的なデータ収集と臨場感の高いデータ提示技術の確立を目指して，産学官共同プロジェクトとして研究開発を行う．
宇宙情報通信システムの軌道上保全技術の研究「故障衛星の捕獲技術の研究」

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宇宙情報通信システムの軌道上保全を実現するため，宇宙ロボットによる故障衛星の捕獲技術の研究を行い，宇宙ロボット専用グリッパーの開発を行った．
再構成・歩行機能を備えた精細作業対応小型多自由度ロボットの研究

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宇宙ステーションで使用されることを想定した再構成・歩行機能を備えた精細作業対応小型多自由度ロボットの研究を行った

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