Development and field test of teleoperated mobile robots for active volcano observation

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

doi:10.1109/iros.2014.6942818

Cited by 20 publications

(6 citation statements)

References 6 publications

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“…However, because the weight of such a robot tends to be large, it is not suitable for use with the MUAV. Therefore, in this project, research and development of a lightweight and robust mobile robot was carried out at the expense of mobility performance (Nagatani et al, ).…”

Section: Mobile Sensing Device Transported By An Muavmentioning

confidence: 99%

“…Figure shows the waterproof mobile robot called CLOVER‐III. It is a next‐generation version of CLOVER, which was designed for observing volcanic environments and can be deployed by an MUAV using the sky‐crane method (Nagatani et al, ). The robot has dimensions of

400 \times 465 \times 220 mm

(width × length × height, respectively) and space to mount a device at its center.…”

Section: Mobile Sensing Device Transported By An Muavmentioning

confidence: 99%

“…To unite the advantages of ground and aerial robots to observe restricted areas, there are some approaches with a ground–aerial combination system (Grocholsky, Keller, Kumar, & Pappas, ; Michael et al, ). In 2014, the authors’ group proposed the mobile robot, which is transported by an MUAV (Nagatani et al, ). In Section 9, this paper introduces the next version of the mobile robot.…”

Section: Related Workmentioning

confidence: 99%

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Micro‐unmanned aerial vehicle‐based volcano observation system for debris flow evacuation warning

Nagatani

Kiribayashi

Yajima

et al. 2018

Journal of Field Robotics

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When a volcano erupts, molten rocks, ash, pyroclastic flow, and debris flow can cause disasters. Debris flow is responsible for enormous damage across large areas. This makes debris flow simulations a crucial means of determining whether to issue an evacuation warning for area residents. For safety purposes, restricted areas are designated around volcanos during eruptions, making it difficult to gather information (such as the amount and permeability of ash) required for precise debris flow simulations. An unmanned observation system, intended for use in such restricted areas, was developed to address this issue. The proposed system is based on a multirotor micro-unmanned aerial vehicle (MUAV) that transports cameras, small devices to measure target environments, and a small robot to active volcanic areas.Several field tests were performed around active volcanoes for validation and system improvement. This study investigates five unmanned systems with field tests. The first one is an autonomous flight to collect three-dimensional (3D) terrain information. The MUAV conducted the long flight at Mt. Unzen-Fugen and evaluated the accuracy and calculation time of the developed 3D terrain model. The second one is a drop-down-type ash-depth measurement scale. The scales were deployed at Mt.Unzen-Fugen and confirmed its function. The third system is a soil-sampling device to estimate permeability. The device is hung from the MUAV by a long tether and collects soil and gravels directly with two rollers, while the MUAV is hovering. Indoor experiments were conducted to evaluate the performance of the device, and field experiments were conducted to confirm the validation of the system in different volcanic environments. The fourth system is an unmanned surface flow measurement device to estimate permeability. The device carries a water balloon and breaks it when it lands on the ground. By observing water flow with mounted cameras, qualitative permeability can be estimated. Initial experiments were conducted at Mt.Unzen-Fugen to confirm its function. The fifth system is a small ground vehicle with a rainfall sensor deployed by an MUAV. The MUAV carries a capturing net suspended from it and delivers and retrieves the ground vehicle, while it is hovering. Field experiments were conducted at Mt. Asama and Mt. Unzen-Fugen to validate the J Field Robotics. 2018;35:1222-1241. wileyonlinelibrary.com/journal/rob 1222 |

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Section: Mobile Sensing Device Transported By An Muavmentioning

confidence: 99%

400 \times 465 \times 220 mm

(width × length × height, respectively) and space to mount a device at its center.…”

Section: Mobile Sensing Device Transported By An Muavmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

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Micro‐unmanned aerial vehicle‐based volcano observation system for debris flow evacuation warning

Nagatani

Kiribayashi

Yajima

et al. 2018

Journal of Field Robotics

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“…Loper used Tri-Lobe wheel that three small wheels mounted to a central hub (Herbert et al 2008). CLOVER used special wheel like gear and used in a volcanic environment (Nagatani et al 2014). These mechanisms are useful in each environment, but these wheels mechanisms have not well maintained using mechanical model and not meet our target environment.…”

Section: Introductionmentioning

confidence: 99%

A Study of a Wheel Shape for Increasing Climbing Ability of Slopes and Steps

Tanaka

Ishii

Endo

et al. 2016

ROMANSY 21 - Robot Design, Dynamics and Control

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“…[A]A small mobile robot ('CLOVER', <3 kg and <0.5 m long) for groundbased sampling and observation being transported by a ZionPro800 hexa-rotor at Mt. Asama, during operational tests[Nagatani et al 2014]. [B] Deployment of a 5-kg seismic observation module slung under a RMAX-G1 singlerotor vehicle at Kuchinoerabujima, Japan, 2015 (adapted from…”

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confidence: 99%

Volcanological applications of unoccupied aircraft systems (UAS): Developments, strategies, and future challenges

James

Carr²,

D'Arcy³

et al. 2020

Volcanica

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Unoccupied aircraft systems (UAS) are developing into fundamental tools for tackling the grand challenges in volcanology; here, we review the systems used and their diverse applications. UAS can typically provide image and topographic data at two orders of magnitude better spatial resolution than space-based remote sensing, and close-range observations at temporal resolutions down to those of video frame rates. Responsive deployments facilitate dense time-series measurements, unique opportunities for geophysical surveys, sample collection from hostile environments such as volcanic plumes and crater lakes, and emergency deployment of ground-based sensors (and robots) into hazardous regions. UAS have already been used to support hazard management and decisionmakers during eruptive crises. As technologies advance, increased system capabilities, autonomy, and availabilitysupported by more diverse and lighter-weight sensors-will offer unparalleled potential for hazard monitoring. UAS are expected to provide opportunities for pivotal advances in our understanding of complex physical and chemical volcanic processes. Non-technical SummaryUnoccupied aircraft systems (UAS) are developing into essential tools for understanding and monitoring volcanoes. UAS can typically provide much more detailed imagery and 3-D maps of the Earth's surface, and more frequently, than satellites are able to. They can also make measurements and collect samples for geochemical analysis from hazardous regions such as volcanic plumes and near active vents. Through being quick to deploy, they offer key advantages during initial stages of volcano unrest as well as throughout eruptions. Data from UAS have already been used to support hazard management and decision-makers during crises. In the future, UAS will become increasingly capable of flying longer and more complex missions, more autonomously and with more sophisticated sensors, and are likely to become key components of broader sensor networks for monitoring and research.

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Development and field test of teleoperated mobile robots for active volcano observation

Cited by 20 publications

References 6 publications

Micro‐unmanned aerial vehicle‐based volcano observation system for debris flow evacuation warning

Micro‐unmanned aerial vehicle‐based volcano observation system for debris flow evacuation warning

A Study of a Wheel Shape for Increasing Climbing Ability of Slopes and Steps

Volcanological applications of unoccupied aircraft systems (UAS): Developments, strategies, and future challenges

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