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小柳出 匠, 藤澤 徹
原稿種別: 本文
セッションID: S1501-1-4
発行日: 2010/09/04
公開日: 2017/08/01
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Trial DC motor controller was designed and manufactured for use of 600W class electric scooter. Trial controller possesses n-MOS FET, photo coupler, Hall detector, dsPIC30F and Interrupt programming. Control target is 3 phase SPMPM DC brushless motor, which diameter is 180 mm, thickness is 55 mm. The motor have 8 Poles and 24 coils, and its armature core is 25mm stacked silicon steel plate of 0.2 mm thick. As a result of no-load-rotating test, followings are confirmed. Gate pulse (width of 120° each) which dead-time is few dozens of micro-second was added on the MOS FET, and the blushless DC motor rotates smoothly, 3 phase voltage of V_U, V_V, V_W are appeared clearly.
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上荒磯 学, 藤澤 徹
原稿種別: 本文
セッションID: S1501-1-5
発行日: 2010/09/04
公開日: 2017/08/01
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Conventionally, it was popular way that the charge-and-discharge protection circuit for rechargeable Li-ion battery of electric vehicles only breaks circuit against the over-heating, overcharging and over-discharging. So, in this study, the authors proposed simple and convenient method of a protection circuit by using of PIC microcontroller, MOS FETs and power relays. Proposal protection control circuit surveys above mentioned electric failures simultaneously with A/D converter, voltage-dividing circuit and watch-and-control program. In the 16 series Li-ion modules, we made individual voltage checker per single Li-ion module. And we also attached detour circuit with power relay for each 4 series Li-ion modules in the 16 series Li-ion modules. As a result, proposal protection control of operating Li-ion battery system was confirmed from the bench-test.
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井上 宏昭
原稿種別: 本文
セッションID: S1501-2-1
発行日: 2010/09/04
公開日: 2017/08/01
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油圧ショベルの旋回装置を電気駆動化するハイブリッドシステムを開発し大幅な燃費低減効果を達成することにより、地球温暖化問題とりわけCO2排出に対する社会的貢献を果たす。また、一向に進まぬ温暖化ガス低減に対し建設業界においても今後規制が厳しくなることが予想される経営環境下にあって、お客様に燃費低減可能な商品を提供することによりご満足いただくと共にマーケットの活性化に結びつける。上記目標のもとに2008年弊社よりPC200ハイブリッドを限定発売し、お客様よりいただいた評価を基に本格量産を2009年より開始したので、その燃費低減達成手段について報告する。
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高橋 良彦, 西村 一郎
原稿種別: 本文
セッションID: S1501-2-2
発行日: 2010/09/04
公開日: 2017/08/01
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This paper describes the developments of the mechanical system considering ecology. Two examples are explained: the small fuel cell electrical vehicles to decrease Carbon Dioxide, and the plant growth observation system to increase Oxygen. The small fuel cell electrical vehicles are designed using small fuel cell to achieve low cost fuel cell vehicles.
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田中 豊, 鈴木 隆司, 五嶋 裕之
原稿種別: 本文
セッションID: S1501-2-3
発行日: 2010/09/04
公開日: 2017/08/01
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In viewpoint of environmental compatibility, energy saving, cost saving, high performance and high efficiency, one trend in hydraulic systems, particularly in mobile markets, is to be designed in a more compact fashion and requiring less hydraulic fluid in the reservoir and long lifetime of the working hydraulic fluid. Air bubble entrained in working hydraulic fluids has greatly detrimental effects on function and lifetime of the hydraulic fluids, components and systems. Bubble eliminator using swirl flow capable of eliminating air bubbles from the hydraulic fluid has been proposed and developed by our smart & clean hydraulic project. We focus on the technical issue for the air bubbles, aging behavior of the hydraulic oil and a field test for performance of the bubble eliminator.
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河村 隆, 田澤 秀博
原稿種別: 本文
セッションID: S1502-1-1
発行日: 2010/09/04
公開日: 2017/08/01
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POI is used by MAORI for the traditional fire performance of New Zealand. The POI performance became popular for young performers in resent years even in Japan. However, there are some difficulties to use real fire. The LED POI was developed for the POI performance instead of read fire. This paper reports a outline of development of LED POI and its capability. This project was done by "MONODUKURI" engineer promotion program. The schema of this promotion program is also describes in this paper.
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川副 嘉彦, 伊倉 良明, 石川 恵介, 高野 悠人, 満岡 将樹
原稿種別: 本文
セッションID: S1502-1-2
発行日: 2010/09/04
公開日: 2017/08/01
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There is no robot around us in our society at the current stage if we define a robot as an autonomous machine working in the arena of offices, homes, and disaster sites, etc. outside the factories. Mechatronics, dynamics and robotics involving humans are the world of strong nonlinearity. The realized movements of humanoid biped robot using simple nonlinear optimal control use only small active power with simple chaotic limit cycles and showed robustness during walking, running everywhere even on the ice and snow. This paper showed the application of the simple nonlinear optimal control to various movements making full use of instability as a source of driving force and developed into practical education curriculum as an introduction with humanoid biped robot to Robotics having an intellectual and emotional appeal.
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酒井 伸明, 前刀 大輝, 矢野 賢一, 安藤 幸二, 佐々木 利春
原稿種別: 本文
セッションID: G1500-1-1
発行日: 2010/09/04
公開日: 2017/08/01
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For high-variety low-volume manufacturing, parts are processed by the handwork because of the problem of the production cost. However, when a precise finishing process is required, the process by handwork has the problems not only a processing error occurs but also required processing accuracy cannot be secured. To clear up this problem, we develop the fixture robot with parallel mechanism and propose assist control for accurate finishing process considering a material removal rate (MRR). We realized high accurate finishing process by means of controlling pressed force and feed speed to keep MRR constant. In the end, the effectiveness of the proposed method is shown by the experiments and user's tests.
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清水 輝, Muhamad Safwan Bin Muhamad Azmi, 池浦 良淳, 早川 聡一郎, 澤井 秀樹
原稿種別: 本文
セッションID: G1500-1-2
発行日: 2010/09/04
公開日: 2017/08/01
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This paper considers a power assist system of elbow as an example of human-assist system and describes impedance control of it. The assist system is required not only to assist the movement of elbow but also to be strictly stable. Impedance control based on position control is often used for the assist devices because the control system is simpler than that of the devices based on force control. But if the impedance parameters are made to be small in order to get good maneuverability, the system becomes unstable because of the delay of the position control system especially when the assisted tool touches high stiffness environment such as a wall. So, an impedance control method based on position control with passive elements is proposed. As a result, the stability and the effects on time delay of the proposed system showed good performance.
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松澤 俊介, 柴田 隆弘, 佐藤 直柔, 岩瀬 将美, 貞弘 晃宜, 畠山 省四朗
原稿種別: 本文
セッションID: G1500-1-3
発行日: 2010/09/04
公開日: 2017/08/01
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認証あり
A low for the safety of bicycles that are able to be ridden with two children is established in 2009. Consequently, development of such bicycles has been attracting a lot of attention. As a result of a previous study, it is shown that to increase safety children have to sit on the frontal seat comparing with the rear seat. But, in this case, weight and inertia of the handle is increased, and the handling is worse. In this paper, to compensate for the problem, a power steering system for such bicycles is proposed. Effectiveness of the proposed system is verified by frequency and impulse response analysis on numerical simulations.
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小倉 佑太, 大澤 淳司, 森田 良文, 正原 進
原稿種別: 本文
セッションID: G1500-1-5
発行日: 2010/09/04
公開日: 2017/08/01
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Recently, power assist systems (PASs) have been attracted special interest in industries. However, the operation methods of PASs for light and large scale structures (flexible structures) have not been fully addressed yet. The authors have studied on an assist control method for positioning and vibration reduction in such a problem. Concretely, the human operation input is frequency-shaped by using a notch filter in order to suppress the vibration of flexible structure. In this paper, we investigate how the notch filter generates assistance to human operation in the authors' method. Moreover, the characteristics of human operation when he/she operates the PAS with the authors' method are discussed.
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井上 琢麻, 中川 秀夫
原稿種別: 本文
セッションID: G1500-1-6
発行日: 2010/09/04
公開日: 2017/08/01
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The ultrasonic motor that has only little weight and can hold the position without energy, is paid to attention as an actuator of the robot. However, a current product is difficult to use it as a servo motor because of narrow the velocity range. Then, it was tested what was effective in a lowest speed by superimposing a different frequency to the frequency of the motor drive voltage. As a result, the effect of 70% or less was able to be confirmed. It was thought that the friction of contact area between the rotor and stator decreased in such a method, but most decreases were not seen though the transfer torque.
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網谷 大輔, 笹木 亮, 小原 治樹
原稿種別: 本文
セッションID: G1500-2-1
発行日: 2010/09/04
公開日: 2017/08/01
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Recently, the robot is developed by various purposes. However, the robot that enters the human society and the association makes is not so achieved. The present study develops the migratory mechanism for the robot that suits the dwelling environment, and has aimed at the achievement of a miniature robot not inferior to human's movement ability. The robot that develops in the present study has two features. One is "It is an Omni-directional mobile robot", and another one is "Expand one's field of activities by taking an outside thing as an own frame". By giving these features, it corresponds to obstacles, such as a narrow passage in a dwelling, and a minute level difference. This report describes a basic driving characteristic of the produced drive mechanism.
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江本 京介, 笹木 亮, 小原 治樹
原稿種別: 本文
セッションID: G1500-2-2
発行日: 2010/09/04
公開日: 2017/08/01
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Currently, the transfer mechanism under mud and water mediated crawler mechanism also tend to see civil engineering machinery and agricultural machinery. This is a smaller than normal wheels ground against the pressure of the weight of the vehicle around the area is difficult to sink in soft ground. Crawler mechanism has been applied to robots of paddy weeds. However, it is impossible to be a problem running a small range of twists and crawlers that need to be maintained by the attachment of the mud. In this paper, moving in all directions for use while coexisting with humans in various fields from, but they will also apply to this situation, eliminating the need for maintenance, we develop a robot capable of running in mud and swamps. Because paddy fields are very similar to the driving situation, to develop a robot for paddy weed control.
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小森 雅晴, 姜 晶哲, 木村 幸彦
原稿種別: 本文
セッションID: G1500-2-3
発行日: 2010/09/04
公開日: 2017/08/01
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The industrial vehicles are expected to reduce the transportation time. Therefore, driving system is needed to realize the high speed when it moves for a long distance. However, the current driving system uses reducers with high ratio to respond the high load in the working process. Therefore there is a limitation in moving speed. Both the high speed with small torque and low speed with large torque are necessary to solve this problem and the system which changes the angular velocity ratio is demanded. However, the current ratio-varying systems can not realize changing the ratio while transmitting the motion precisely and supporting the load. In this research, we propose a novel ratio-varying system, which can change the angular velocity ratio supporting the load and transmitting the motion precisely. In this paper, the mechanism of the ratio-varying system and its process are explained.
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丸木 岳, 丹羽 昌平
原稿種別: 本文
セッションID: G1500-2-4
発行日: 2010/09/04
公開日: 2017/08/01
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This paper describes the development of experimental attitude control apparatus which enables the research and development of attitude control system for many kinds of VTOL aircraft. In this equipment experimental VTOL model is set to the central base column through the supporting ball joint. The ball joint admits about ±sixty degrees roll and pitch motion and ±180 degrees yaw motion. Easy and safety experimental research and development can be conducted by this teststand. A design of attitude control system is tried for an experimental VTOL model. A strap-down inertial measurement sensor which includes gyros, accelerometers and magneto-meters is used as a attitude sensor for this test-stand.
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坂本 浩章, 丹羽 昌平
原稿種別: 本文
セッションID: G1500-2-5
発行日: 2010/09/04
公開日: 2017/08/01
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The purpose of this paper is the research about the usage of the flight simulator system in the process between the fundamental design and the construction of the aircraft. The flight simulator enables the verification of the performance and the characteristics of the designed aircraft to a large extent before prototyping and its test flight. Here the design and prototyping of the electric motor powered small model airplane is performed and the comparison of the performance of the model and its counterpart in the flight simulator is conducted.
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長田 大, 石本 唯常, 池浦 良淳, 早川 聡一郎, 澤井 秀樹
原稿種別: 本文
セッションID: G1500-3-1
発行日: 2010/09/04
公開日: 2017/08/01
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In the advancing society of the aging, the construction of the power assist device which can contral translation direction and rotary direction is demanded. In this study, to obtain the indicator to develop the power assist device of multiple degrees of freedom, we analyzes lifting task by human including rotary movement. The lifting task was measured 40 times a day and measured daily for five days. We examine it about the posture of the person and the exercise of the object which is carried. As a result, we confirmed that a characteristic of the lifting task changed.
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三村 宣治, 笠井 真
原稿種別: 本文
セッションID: G1500-3-2
発行日: 2010/09/04
公開日: 2017/08/01
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When a grasped object makes contact with external environment, it is necessary to identify a contact conditions. This paper presents an effective method for identification of contact conditions. The contact conditions mean contact position, contact force, and contact type. The conventional method needs a great many random measurement data to identify a contact condition. We suggest a method to identify a contact conditions with few data with the correlation. Furthermore, we inspect the effectiveness of this method by an experiment.
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中村 喬之, 有隅 仁, 横井 一仁
原稿種別: 本文
セッションID: G1500-3-3
発行日: 2010/09/04
公開日: 2017/08/01
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Humanoid robots are being expected to do various kinds of jobs in our daily environment in near future. In that case, passing through a door is one of the important functions to be realized by humanoid robots. We analyzed the area that fulfills two conditions: the humanoid robot can reach a doorknob without other collisions with environments, and the humanoid robot can keep stability against the reaction force from the door. The trajectory of the humanoid was then designed by connecting centers of inscribed circles drawn in the area. Effectiveness of the proposed method was experimentally confirmed with the humanoid robot HRP-2.
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小笠原 隆倫, 齋藤 直樹, 嵯峨 宣彦, 佐藤 俊之
原稿種別: 本文
セッションID: G1500-3-4
発行日: 2010/09/04
公開日: 2017/08/01
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In this paper, we examined joint stiffness of a wrist robot consists of a spherical bearing and three pneumatic artificial muscles. A joint of this robot has flexibility by two causes. One is due to the robot structure, and another one is due to the artificial muscle. In this paper, we confirmed the stiffness changed by these causes through experiment.
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石垣 光暁, 齋藤 直樹, 佐藤 俊之
原稿種別: 本文
セッションID: G1500-3-5
発行日: 2010/09/04
公開日: 2017/08/01
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In this paper, we propose a simple structural constant torque spring using cross-sectional deformation. We call this Cross-Sectional Deformation Spring (CSDS). The CSDS consists of cutting a part of the elastic tube. In this paper, we examined the relationship between the cutting shape and elastic property of the CSDS through experiment. For these result, the CSDS has possibility to achieve constant torque spring property.
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二井見 博文, 小池 稔, 竹内 誠一, 堂原 教義
原稿種別: 本文
セッションID: G1500-3-6
発行日: 2010/09/04
公開日: 2017/08/01
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So far, we made various motions by using humanoid robot. Person's motion, moving images and the motion of myself were observed, and those were imitated, and the motions of humanoid robots were made. With considering physical laws of the center of gravity, the inertia, the frictional power, the motions were made. In this paper, we collected our thoughts. For the simplification, we think about horizontal plane and a robot with arms and legs. The physical relationships between the robot and floor had 4 patterns (S): Static, (A): The gravity point was on the support polygon, (B): The gravity point was out of the support polygon, (C): Jumping). We considered the state transition of 4 patterns. And we described the strategy of the movement motion of humanoid robot
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中村 毅志, 高田 洋吾, 野々垣 元博, 荒木 良介, 田尻 智紀, 脇坂 知行
原稿種別: 本文
セッションID: G1500-4-1
発行日: 2010/09/04
公開日: 2017/08/01
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Autonomously working small fish robots are ideal for surveys of fish resources and structural inspection in water where electric wires hinder the movement of the robot or radio signal (GPS etc) does not reach. The fish robot needs the self-position estimation to swim autonomously. Self-position estimation becomes possible by using visual information of bottom image in the sea or a water tank. The visual information is analyzed by means of digital image correlation method. In the study, self-position estimation is tried with use of real-time digital image correlation method and the use of FPGA (Field Programmable Gate Array), whose VHDL programming and control board was developed originally. This FPGA board executes both the control of a swimming fish robot and image processing at the same time. As a result, it has been confirmed that the small fish robot can measure swimming distance itself.
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茂木 千恵子, 羽多野 正俊
原稿種別: 本文
セッションID: G1500-4-2
発行日: 2010/09/04
公開日: 2017/08/01
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The purpose of this research is to realize an amusement robot system to perform interactive motions by evaluating emotion of audiences at theme parks. In this paper, we proposed the robot system with the evaluation method by recognizing motion of audiences with camera images. Then, we confirmed the validity of the proposed method with experimental results.
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三村 宣治, 熊倉 彰紀
原稿種別: 本文
セッションID: G1500-4-3
発行日: 2010/09/04
公開日: 2017/08/01
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This paper describes a method of obtaining posture information on the camera installed in robot from the visual information. We can presume own posture from the visual information in addition to semicircular canal, and it is thought that the method uses the direction of the outlines in the buildings etc. expands horizontally or vertically. We reproduce this method by image processing, and propose the technique for presuming posture by examine the directions of the outline information of the photographic image.
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古野 誠治, 平野 剛
原稿種別: 本文
セッションID: G1500-4-4
発行日: 2010/09/04
公開日: 2017/08/01
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We develop a rescue robot that searches for the victim in the disaster scene. To go into a narrow space in such a scene, size of the robot should be small. In this paper, we show the crawler type robot which has expandable side crawler. This mechanism can enlarge mobility of the robot by expanding side crawler when it is necessary. Details of the developed robot and several experiments are denoted in this paper.
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関山 浩介, 梅田 崇之, 福田 敏男
原稿種別: 本文
セッションID: G1500-4-5
発行日: 2010/09/04
公開日: 2017/08/01
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This paper proposes a cooperative visual object tracking by multi-robot system, where robust cognitive sharing is essential between the robots. However, one of the main issues in vision-based distributed observation is the significant differences in the background image for the interested object. According to the observing point of the robot, effective invariant feature to identify the interested object is different. In this paper, we propose an ambiguity index to select better feature algorithm for object tracking. Experimental result shows promising result for the effective multi-robot cognitive sharing.
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大平 聖, 小澤 圭由, 飯島 健介, 大西 正敏
原稿種別: 本文
セッションID: G1500-4-6
発行日: 2010/09/04
公開日: 2017/08/01
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In this paper, we describe a basic guide robot system in the school campus. Our developed robot is a self-moved type one by detecting abstractions and visitors using a stereo camera, LRF and PSD. Robot body has movable arms for gestures using servo motors and a touch panel of LCD to provide location maps, staff information and route guidance. A field trial was conducted at our university. The experimental results revealed basic performance as a guide robot in campus and seem to need some further improvement for practical use.
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松野 優, 前田 安正, 田村 陽介, 三石 洋之
原稿種別: 本文
セッションID: G1800-1-1
発行日: 2010/09/04
公開日: 2017/08/01
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In this study, we conducted hydrogen gas fueling and defueling cycling tests to examine the thermal behavior in hydrogen storage tanks under actual use conditions. As a result, it was confirmed that the gas temperature in the tank varied depending on the initial test conditions such as the ambient temperature of the tank and the fueling gas temperature, and that the gas temperature tended to stabilize after several gas fueling and defueling cycles.
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田村 陽介, 前田 安正, 松野 優, 三石 洋之
原稿種別: 本文
セッションID: G1800-1-2
発行日: 2010/09/04
公開日: 2017/08/01
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As a method to control a partial gas temperature rise inside the VH4 hydrogen storage tank on fast filling, we conducted fast filling test with different inlet nozzle diameter of tanks. As a result, a partial gas temperature rise was suppressed when we reduced inlet nozzle diameter. Furthermore, we changed jet direction of hydrogen in the tank, a gas temperature rise hardly changed in this test.
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糸井 裕彦, 田村 陽介, 三石 洋之
原稿種別: 本文
セッションID: G1800-1-3
発行日: 2010/09/04
公開日: 2017/08/01
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The polymeric material is used as layer of the VH4 container for the compressed hydrogen car fuel device, so that it is predicted that the amount of hydrogen permeation is different between the different environmental temperature conditions. The permeation test of SAE proposal is carried out to take the basic data for the hydrogen permeation amount value of the VH4 container for 70 MPa, the following results are obtained. The amount of the hydrogen permeation is different in the case of different polymeric materials. The amount of the hydrogen permeation is increased according to the increase of environmental temperature. The amount of the hydrogen permeation is increase according to the increase of filling pressure. Moreover, in the case of gas transmission coefficient in the container shape, it is confirmed that the temperature influence of gas transmission coefficient is in accordance with the relational expression of Arrhenius law to the polymer.
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冨岡 純一, 木口 和博, 田村 陽介, 三石 洋之
原稿種別: 本文
セッションID: G1800-1-4
発行日: 2010/09/04
公開日: 2017/08/01
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The pressure of compressed hydrogen changes with temperature when mass and volume are constant. Therefore, when a compressed-hydrogen tank is filled with a certain amount of hydrogen it is necessary to adjust the filling pressure according to the temperature. In this study, we conducted hydraulic pressure-cycle tests to investigate the fatigue life of VH3 compressed-hydrogen tanks at actual pressure and extreme temperatures. The results indicated that the fatigue life at low temperatures (-40℃, 28MPa) and room temperature (15℃, 35MPa) was almost equal. However, the fatigue life at high temperatures (85℃, 44MPa) was shorter than that under other conditions, suggesting that stress changes caused by thermal stress affect the fatigue life of the VH3 tank.
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田村 陽介, 高林 勝, 竹内 正幸, 三石 洋之
原稿種別: 本文
セッションID: G1800-1-5
発行日: 2010/09/04
公開日: 2017/08/01
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The following two vehicle fire tests were conducted to investigate the fire spreading to an adjacent vehicle when the PRD of the fuel-cell vehicle was activated, A) Fire test involving adjacent gasoline vehicle. B) Fire test involving three adjacent fuel-cell vehicles assuming ship transportation. The test results, indicated that the adjacent vehicles were ignited by burning interior and exterior materials of the fire source vehicle, but that the hydrogen flame produced by the activated PRD was not a factor.
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戸谷 剛, 脇田 督司, 永田 晴紀, UNITEC-1開発チーム
原稿種別: 本文
セッションID: S1901-1-1
発行日: 2010/09/04
公開日: 2017/08/01
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UNITEC-1 (UNIsec Technology Experiment Carrier-1) is an interplanetary probe that is developed by 22 universities in UNISEC (University Space Engineering Consortium). The dimensions and weight of UNITEC-1 are about 35cm×35cm×40cm and 22kg, respectively. UNITEC-1 was launched by H-IIA rocket on May 21, 2010 as a piggyback payload of Planet-C (Akatsuki) Venus probe developed by JAXA/ISAS. It is expected that the temperature of UNITEC-1 in the worst hot condition near Earth is 40.6 degree Celsius at the battery. UNITEC-1 will pass outside the orbital path of Earth partly in our expecting orbit and will become the lowest temperature. The temperature of UNITEC-1 in the worst cold condition at the furthest point from the sun will be 3.8 degree Celsius. The temperature of UNITEC-1 in the worst hot condition near Venus will be 84.8 degree Celsius.
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竹腰 卓博, 佐藤 峻哉, 田村 正佳, 萩原 俊輔, 脇田 督司, 戸谷 剛, 永田 晴紀, 植松 努
原稿種別: 本文
セッションID: S1901-1-2
発行日: 2010/09/04
公開日: 2017/08/01
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The authors developed a 1.3-m-long small scale CAMUI hybrid rocket of 4.7 kg in total weight to obtain an easy test launch system for CanSat. Two test launches without CanSat made altitude less than 250 m. Launches below 250 m is not regulated by the Civil Aeronautics Act in Japan. The avionics system loaded in the rocket consisted of a microcomputer, acceleration sensor, angular velocity sensor and altitude sensor. The avionics system can do wireless communication using the Bluetooth technology, real-time onboard data were obtained during the test flights successfully.
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澤田 弘崇, IKAROSデモンストレーションチーム, IKAROS構造専門部会
原稿種別: 本文
セッションID: S1901-1-3
発行日: 2010/09/04
公開日: 2017/08/01
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Japan Aerospace Exploration Agency (JAXA) developed a small demonstrator of solar power sail orbiter to demonstrate solar sail technology that utilizes photons from the sun for continuous acceleration and electrical power generation by thin flexible solar arrays. The small demonstrator "Interplanetary Kite-craft Accelerated by Radiation Of the Sun (IKAROS)" was launched on May 21st 2010, and succeeded in deploying solar power sail on Jun 9th. In this paper, we introduce the deployment mechanism for solar power sail of IKAROS, and report on flight data of sail deployment mission in orbit.
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松永 三郎, 稲川 慎一, 澤田 弘崇
原稿種別: 本文
セッションID: S1901-1-4
発行日: 2010/09/04
公開日: 2017/08/01
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An inspection nano-probe, or deployable camera (DCAM) for a solar power sail demonstrator IKAROS is developed in order to monitor the IKAROS deployable large membrane on orbit to Venus in space. This paper shows its functional test result and pictures taken by the DCAMs in deep space that is the world first successful achievement.
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萩原 俊輔, 金子 雄大, 野原 正寛, 永田 晴紀, 戸谷 剛, 脇田 督司, 松岡 常吉, 植嶋 健太, 植松 努
原稿種別: 本文
セッションID: S1901-1-5
発行日: 2010/09/04
公開日: 2017/08/01
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The authors have been developing CAMUI type hybrid rockets which have a new fuel grain design to accelerate burning rate. Regression formulae for CAMUI type rockets have been developed as functions of local O/F. The authors carried out combustion tests with various oxidizer flow rate and burning duration to obtain empirical constants of these regression formulae. Additionally, a simulation model of static firing was built using the fuel regression formulae. In these studies, regression rates were mean values during firing. This paper discusses the effect of firing duration on the accuracy of regression formulae by using the simulation model.
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田原 弘一, 西川 出, 上田 整, 羽賀 俊雄, 上辻 靖智, 池田 知行, 藤原 達也, 尾崎 淳一, 西澤 雅也, 荒木 俊輔, 渡辺 ...
原稿種別: 本文
セッションID: S1901-1-6
発行日: 2010/09/04
公開日: 2017/08/01
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The Project of Osaka Institute of Technology Electric-Rocket-Engine onboard Small Space Ship (PROITERES) was started at Osaka Institute of Technology in 2007. In PROITERES, a nano-satellite with electrothermal pulsed plasma thrusters (PPTs) will be launched in 2010. The main mission is to achieve powered flight of nano-satellite by an electric thruster and to observe Kansai district in Japan with a high-resolution camera. The flight model of the satellite was successfully developed, and the satellite FM was under final test.
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坂本 祐二, 吉田 和哉, 高橋 幸弘
原稿種別: 本文
セッションID: S1901-2-1
発行日: 2010/09/04
公開日: 2017/08/01
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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.
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和田 豊, 土岐 仁, 廣瀬 圭, 秋田大学学生宇宙プロジェクトチーム
原稿種別: 本文
セッションID: S1901-2-2
発行日: 2010/09/04
公開日: 2017/08/01
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This paper introduces the effect of the space education program applied to science and engineering education with experience of project execution. Akita University Student Space Project (ASSP) Team have developed eleven small sounding hybrid rockets and launched them since 2006 in Noshiro city, Akita. This team that is supported by Akita University performs to the education program. The education program provides the practical engineering design education for students. Students of the team have to find the method to attain goal indicated in this program. They study risk management and develop a sense of responsibility, a communication skill and an ability to find solutions to the problem through the activity. All of them can study a practical engineering design using our proposed education program.
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秋山 恭平, 松永 三郎, TSUBAME開発チーム
原稿種別: 本文
セッションID: S1901-2-3
発行日: 2010/09/04
公開日: 2017/08/01
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The Laboratory for Space Systems (LSS) in Tokyo Institute of Technology has developed a small satellite named "TSUBAME", which has two main missions: polarized gamma-ray observation by high speed maneuver, and earth observation with a small optical camera. In addition, the Micro-CMG, which has been jointly-developed by LSS and TAMAGAWA SEIKI Co., Ltd., is one of the most important devices to achieve the high speed maneuver and high accuracy control. The object of this paper is to introduce the system and Engineering Model development of TSUBAME.
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Tao Meng, Kyohei Akiyama, Saburo Matunaga
原稿種別: 本文
セッションID: S1901-2-4
発行日: 2010/09/04
公開日: 2017/08/01
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Rapid attitude maneuver is one of key requirements of next generation satellites for advanced missions. Single-Gimbal Control Moment Gyro (CMG) can provide a greater agility than reaction wheel due to their torque amplification. However, the complex steering mechanism and the inherent singular problem limit the application of CMG. In this paper, a practical rapid attitude maneuver strategy using CMGs is proposed, considering synchronization operation of gimbal. A simple method for attitude trajectory guidance is developed based on the Euler's principal rotation theorem instead of using optimal control theory. Then nonlinear feedback control logic is used to obtain robustness against model errors and disturbances. The numerical simulations show that the proposed mixed control logic can achieve a large-angle and rapid maneuver with high robustness.
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米本 浩一, 永田 晴紀, 渡辺 大地
原稿種別: 本文
セッションID: S1901-2-5
発行日: 2010/09/04
公開日: 2017/08/01
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The Space Systems Laboratory of Kyushu Institute of Technology has been studying unmanned suborbital winged rocket as a research subject of future fully reusable space transportation system since 2005. The flight tests of a small scaled winged rocket were conducted five times from 2008 to 2009. A larger winged rocket with a hybrid rocket developed by Hokkaido University, which will reach to a higher altitude, is under development for validating INS/GPS hybrid navigation system, real time trajectory generation and guidance algorithm using GA implemented on FPGA, H_∞ and adaption control theory. This paper reports current design, development and flight test plan of the winged rocket.
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宮崎 康行, 渡邊 秋人, 酒井 良次, 尾崎 毅志, 荒木 友太, 山崎 政彦
原稿種別: 本文
セッションID: S1901-2-6
発行日: 2010/09/04
公開日: 2017/08/01
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The nano-satellites after the end-of-life, which become the orbital debris, can be a threat to the other spacecrafts, especially in low Earth orbit (LEO). NASA, the DOD, JAXA, and other space agencies have been making action to the debris issue of the nano-satellites, i.e. requesting the developers of new nano-satellites to comply with the 25-year post-mission orbital lifetime restrictions. To enable the compliance with the restriction, the atmospheric-reentry is the most available method for the nano-satellites in LEO. In this paper, we will present the conceptual study on the de-orbit module for a 50kg-class micro-satellite. The proposed deorbit module is the light-weight panel structures with simple mechanisms, which is activated when the mission is completed, and deploys the panel structure. Then, the altitude of the satellite will get descent by the aerodynamic drag acting upon the panels.
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黒田 大介, 鈴木 拓哉, 御手洗 容子, 小野 嘉則, 香河 英史, 後藤 大亮
原稿種別: 本文
セッションID: S1903-1-1
発行日: 2010/09/04
公開日: 2017/08/01
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L-605 alloy has been used for the mono-propellant structure and screen materials because of its excellent combination of high strength and high oxidation resistance. However, deterioration of L-605 alloy in a high temperature environment with nitrogen and ammonia has been reported. Therefore, the composition, microstructure, hardness and tensile properties of L-605 alloy were evaluated with and without heat treatment in a nitrogen gas atmosphere in order to investigate the degradation mechanism of the alloy. The chromium nitride and the tungsten carbide were precipitated in the alloy after the heat treatment. These precipitates were increased with increasing heat treatment duration. Tensile strength and elongation to fracture of L-605 alloy were decreased with heat treatment at 1173 K for up to 86.4 ks in nitrogen gas atmosphere. These results indicate that the chromium nitride and tungsten carbide formations are causal factors of deterioration of L-605 alloy.
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内田 治郎, 岩田 稔, 趙 孟佑, 岸本 直子, 樋口 健
原稿種別: 本文
セッションID: S1903-1-2
発行日: 2010/09/04
公開日: 2017/08/01
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Carbon fiber reinforced composite material has been used as structural material for satellite. Recently, it has been used for large deployable reflector having high surface accuracy. Therefor, superior physical properties and its stability are required for the materials. Especially in space, environmental factors such as deteriorating radiation, thermal fluctuation, etc, exist. So the properties of material may not be preserved in the long time. Thus, it is important to predict the variation of characteristics on orbit that must be guaranteed and preserved in advance. In this research the variation of mechanical characteristic due to radiation on Carbon Fiber Reinforced Plastic for satellite usage is investigated by simulating space radiation environment. And then, the variation of mechanical characteristic on orbit is predicted.
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石坂 和也, 松永 三郎
原稿種別: 本文
セッションID: S1903-1-3
発行日: 2010/09/04
公開日: 2017/08/01
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This paper deals with polymer actuators using carbon nanotube bucky-gel, or CNT actuators for use in space. CNT actuators are composed of a pair of CNT bucky-gel electrode films and an ionic liquid polymer electrolyte membrane. When a voltage is applied to the electrodes the CNT actuators bend due to movement of the ionic liquid. This actuator type is studied in order to confirm its operating principles and methods of fabrication, and to improve its displacement characteristics, producible stress and responsiveness. The paper reports the results of this study with emphasis on the displacement characteristics.
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仙場 淳彦, 荻 芳郎
原稿種別: 本文
セッションID: S1903-1-4
発行日: 2010/09/04
公開日: 2017/08/01
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This study describes basic properties and applications of the shape memory polymers (SMPs) as actuators for lightweight structures. Advantages and challenging technical issues are discussed when SMPs are used in space environment. Basic experiments and discussions are presented for conceptual SMP actuators for deployable space structures.
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