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

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

When an active volcano erupts, a restricted area is typically set according to the eruption level. However, it is very important to observe eruption products inside of this area to predict the timing and scale of volcanic hazards, such as debris flows. Therefore, we propose a robotic observation system for active volcanoes that is composed of a multi-rotor unmanned aerial vehicle (UAV) and a mobile ground robot. To deliver the ground robot safely from the multi-rotor UAV to the ground, we implemented a sky-crane mechanism and confirmed the feasibility of the mechanism theoretically. In this paper, we introduce our volcano observation scenario as well as the observation system and sky-crane mechanism we have developed. Finally, we report on a field test conducted at Mount Asama in September 2013.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1932-1937
Number of pages6
ISBN (Print)9781479969340
DOIs
Publication statusPublished - 2014 Oct 31
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago
Duration: 2014 Sep 142014 Sep 18

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CityChicago
Period14/9/1414/9/18

Fingerprint

Volcanoes
Mobile robots
Cranes
Unmanned aerial vehicles (UAV)
Rotors
Robots
Debris
Hazards
Robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Nagatani, K., Akiyama, K., Yamauchi, G., Yoshida, K., Hada, Y., Yuta, S., ... Mackay, R. (2014). Development and field test of teleoperated mobile robots for active volcano observation. In IEEE International Conference on Intelligent Robots and Systems (pp. 1932-1937). [6942818] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942818

Development and field test of teleoperated mobile robots for active volcano observation. / Nagatani, Keiji; Akiyama, Ken; Yamauchi, Genki; Yoshida, Kazuya; Hada, Yasushi; Yuta, Shinichi; Izu, Tomoyuki; Mackay, Randy.

IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1932-1937 6942818.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nagatani, K, Akiyama, K, Yamauchi, G, Yoshida, K, Hada, Y, Yuta, S, Izu, T & Mackay, R 2014, Development and field test of teleoperated mobile robots for active volcano observation. in IEEE International Conference on Intelligent Robots and Systems., 6942818, Institute of Electrical and Electronics Engineers Inc., pp. 1932-1937, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, 14/9/14. https://doi.org/10.1109/IROS.2014.6942818
Nagatani K, Akiyama K, Yamauchi G, Yoshida K, Hada Y, Yuta S et al. Development and field test of teleoperated mobile robots for active volcano observation. In IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1932-1937. 6942818 https://doi.org/10.1109/IROS.2014.6942818
Nagatani, Keiji ; Akiyama, Ken ; Yamauchi, Genki ; Yoshida, Kazuya ; Hada, Yasushi ; Yuta, Shinichi ; Izu, Tomoyuki ; Mackay, Randy. / Development and field test of teleoperated mobile robots for active volcano observation. IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1932-1937
@inproceedings{7606f4cd1cd6453fa875a12b353b3891,
title = "Development and field test of teleoperated mobile robots for active volcano observation",
abstract = "When an active volcano erupts, a restricted area is typically set according to the eruption level. However, it is very important to observe eruption products inside of this area to predict the timing and scale of volcanic hazards, such as debris flows. Therefore, we propose a robotic observation system for active volcanoes that is composed of a multi-rotor unmanned aerial vehicle (UAV) and a mobile ground robot. To deliver the ground robot safely from the multi-rotor UAV to the ground, we implemented a sky-crane mechanism and confirmed the feasibility of the mechanism theoretically. In this paper, we introduce our volcano observation scenario as well as the observation system and sky-crane mechanism we have developed. Finally, we report on a field test conducted at Mount Asama in September 2013.",
author = "Keiji Nagatani and Ken Akiyama and Genki Yamauchi and Kazuya Yoshida and Yasushi Hada and Shinichi Yuta and Tomoyuki Izu and Randy Mackay",
year = "2014",
month = "10",
day = "31",
doi = "10.1109/IROS.2014.6942818",
language = "English",
isbn = "9781479969340",
pages = "1932--1937",
booktitle = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Development and field test of teleoperated mobile robots for active volcano observation

AU - Nagatani, Keiji

AU - Akiyama, Ken

AU - Yamauchi, Genki

AU - Yoshida, Kazuya

AU - Hada, Yasushi

AU - Yuta, Shinichi

AU - Izu, Tomoyuki

AU - Mackay, Randy

PY - 2014/10/31

Y1 - 2014/10/31

N2 - When an active volcano erupts, a restricted area is typically set according to the eruption level. However, it is very important to observe eruption products inside of this area to predict the timing and scale of volcanic hazards, such as debris flows. Therefore, we propose a robotic observation system for active volcanoes that is composed of a multi-rotor unmanned aerial vehicle (UAV) and a mobile ground robot. To deliver the ground robot safely from the multi-rotor UAV to the ground, we implemented a sky-crane mechanism and confirmed the feasibility of the mechanism theoretically. In this paper, we introduce our volcano observation scenario as well as the observation system and sky-crane mechanism we have developed. Finally, we report on a field test conducted at Mount Asama in September 2013.

AB - When an active volcano erupts, a restricted area is typically set according to the eruption level. However, it is very important to observe eruption products inside of this area to predict the timing and scale of volcanic hazards, such as debris flows. Therefore, we propose a robotic observation system for active volcanoes that is composed of a multi-rotor unmanned aerial vehicle (UAV) and a mobile ground robot. To deliver the ground robot safely from the multi-rotor UAV to the ground, we implemented a sky-crane mechanism and confirmed the feasibility of the mechanism theoretically. In this paper, we introduce our volcano observation scenario as well as the observation system and sky-crane mechanism we have developed. Finally, we report on a field test conducted at Mount Asama in September 2013.

UR - http://www.scopus.com/inward/record.url?scp=84911478223&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84911478223&partnerID=8YFLogxK

U2 - 10.1109/IROS.2014.6942818

DO - 10.1109/IROS.2014.6942818

M3 - Conference contribution

AN - SCOPUS:84911478223

SN - 9781479969340

SP - 1932

EP - 1937

BT - IEEE International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

ER -