Faculty Profiles - NAGAOKA Kenji

Papers - NAGAOKA Kenji

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Development of a very small high-performance image acquisition system for asteroid exploration rover MINERVA-I12 Reviewed

Sugano R., Narumi T., Uyama N., Kimura S., Wada K., Nagaoka K., Yohida K.

Proceedings of the International Astronautical Congress, IAC 9 6702 - 6708 2014.01

Language：English Publishing type：Research paper (international conference proceedings)

Copyright © 2014 by the International Astronautical Federation. All rights reserved. Hayabusa-2 is a new C-type asteroid exploration mission scheduled for launch with the aim of arriving at Asteroid 1999-JU3. The asteroid could provide valuable information regarding the origin and evolution of the solar system as well as the development of life on Earth and elsewhere. In addition to the mission to sample and bring back asteroid surface materials, Hayabusa-2 will deploy MINERVA-II2, a tiny hopping rover. MINERVA- 112 can potentially perform wide-range exploration to acquire various data on the asteroid surface. In particular, for detailed asteroid surface exploration, in-situ image acquisition is essential to survey the surface conditions because the shape, size, and components of the surface materials are not clear. However, the touchdown positions of Hayabusa-2 are limited. We are therefore planning an image acquisition mission to visually survey the asteroid surface conditions. We expect to obtain data on the color and shape of the rock, sand, or floating dust on the asteroid surface. We have developed a very small high-performance image acquisition system for MINERVA-II2 using commercial off-the-shelf technologies. The camera only weighs 40 g and is considered as the smallest space camera. In addition, the camera can capture images at megapixel resolutions. However, precisely predicting the imaging conditions is difficult because the asteroid surface conditions are still ambiguous. Moreover, remotely operating the image acquisition systems in real-time is difficult because the communication bandwidth is limited. To solve these problems, we need to implement robust autonomous control software for the image acquisition system to adapt to uncertain conditions. To implement this software, we first need to determine the possible asteroid surface conditions. We designed experiments to determine the image acquisition conditions by simulating the asteroid surface environment. From these experiments, we successfully implemented robust and autonomous control software that will reliably acquire images of the asteroid surface. This paper presents the miniature image acquisition system for the asteroid exploration mission. The results of the image acquisition experiments for a simulated asteroid surface environment and the control software are also introduced.

Scopus

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Design of Underactuated Hand for Caging-Based Grasping of Free-Flying Object Reviewed

Daichi Hirano, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 2013 IEEE/SICE International Symposium on System Integration 2013.12

Vibration Suppression Control of Space Robot with Flexible Appendage Based on Simple Dynamics Model Reviewed

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

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems 2013.11

Modeling and Analysis of Ciliary Micro-Hopping Locomotion Actuated by an Eccentric Motor in a Microgravity Reviewed

Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems 2013.11

Modeling, Analysis, and Control of an Actively Reconfigurable Planetary Rover for Traversing Slopes Covered with Loose Soil Reviewed International journal

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

Journal of Field Robotics 30 ( 6 ) 875 - 896 2013.09

Design of Wheels with Grousers for Planetary Rovers Traveling over Loose Soil Reviewed International journal

Masataku Sutoh, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

Journal of Terramechanics 50 ( 5-6 ) 345 - 353 2013.07

Impedance-Based Contact Control of a Free-Flying Space Robot with a Compliant Wrist for Non-Cooperative Satellite Capture Reviewed

Naohiro Uyama, Hiroki Nakanishi, Kenji Nagaoka, Kazuya Yoshida

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems 2012.10

Slope Traversability Analysis of Reconfigurable Planetary Rovers Reviewed

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

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems 2012.10

Contact Dynamics Simulation for Capture Operation by Snare Wire Type of End Effector Reviewed

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

Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space 2012.09

Ciliary Locomotion of an Asteroid Exploration Rover with an Eccentric Motor Reviewed

Kenji Nagaoka, Riku Takano, Takayuki Izumo, and Kazuya Yoshida

Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space 2012.09

Experimental Analysis on Contact/Impact Mechanics with a Free-flying Object Reviewed

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

Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space 2012.09

Evaluation of Wheel Shape Influence on Traveling Performance of Wheeled Rover over Various Loose Soils Reviewed

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

Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space 2012.09

Prediction of Tractive Limitations of a Rigid Wheel on Loose Soil Reviewed International journal

Kenji Nagaoka, Noriaki Mizukami, Takashi Kubota

Journal of Asian Electric Vehicles 10 ( 1 ) 1583 - 1590 2012.06

Evaluation of the Reconfiguration Effects of Planetary Rovers on their Lateral Traversing of Sandy Slopes Reviewed

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

Proceedings of the 2012 IEEE International Conference on Robotics and Automation 2012.05

Evaluation of Influence of Surface Shape of Locomotion Mechanism on Traveling Performance of Planetary Rovers Reviewed

Masataku Sutoh, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

Proceedings of the 2012 IEEE International Conference on Robotics and Automation 2012.05

Impedance-Based Contact Control of a Free-Flying Space Robot with Respect to Coefficient of Restitution Reviewed

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

Proceedings of the 2011 IEEE/SICE International Symposium on System Integration 2011.12

Terramechanics-based Propulsive Characteristics of Mobile Robot Driven by Archimedean Screw Mechanism on Soft Soil Reviewed

Kenji Nagaoka, Masatsugu Otsuki, Takashi Kubota, Satoshi Tanaka

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems 2010.10

Maneuverability of Mobile Robot Driven by Archimedean Screw Units on Sand Reviewed

Kenji Nagaoka, Takashi Kubota

Proceedings of the Joint 9th Asia-Pacific ISTVS Conference, and Annual Meeting of Japanese Society for Terramechanics 2010.09

Modeling and Analysis on Exploration Rover with Screw Drive Mechanism over Loose Soil Reviewed

Kenji Nagaoka,Takashi Kubota

Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space 2010.08

Robotics Technology for Planetary Surface Exploration Reviewed

Takashi Kubota, Kenji Nagaoka, Edmond Wai Yan So

Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Workshop on Planetary Rover 2010.05

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Papers - NAGAOKA Kenji