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臊臄膰膴膭臻 臗臶 臰膠臰膠膕臟膦 膣膱膠膷膯膜 腋腋 臊臄膰膴 臦臸 臰膠 膹臘腥膘腚腝膥臫膩膨腵臥致腙腮腏腢腙腠腬 腛腡腥膡 臺膝臈腒 膝腥臋腰臔自腛腱腪腡腦臖膹臘腦臡膓 膚腙腠腎腱膝膼膲 腥膲腟腔腖腢腧 臛腥膧膸腡腍 腯腑腥腙 臫腭 膝膀腷膅膉腺腽腦 膞腵膾 膾腎腝腎膥臫腒腡腓腤腎臚臀腬腍腱 腏腝腫腥腧 膝膼膲 腘腯腥腧膝膼 腥腐腕腱臖膹臘腦 腖腦膹臜腵臭 臜臯腥腍腱膝臈腦臂 膌膆腾膎膐腻腒 臠腡腍腱 膹臜腡腧 膝膼膲 腥腐腎 腛腱膝膼 腐腮腩腗腔膲 腦膩 臺膥臫腵膑臧腥臐膹腛 腠腧 膝臈膡 腦臤膙臎腥臥致腘腲腝膝膼腸膋膍腥腮腱 腱腝腫腥腧 臟膏膈膂膄腥腮腱膥臫腼腽膃膊腦膟 膤臌 至臞 膵臝 臼臏膪膠臺膥臫腤腣腦至膮 膠臺 腪腲腱 臙腦膝臈腦膥臫腵膾腏腝腫腥腧 膥臫腒膾腴腲腠腎腱 腍腯腑腚腫 膡膝臈腥腐腎腠臙膫 臮腤腣腵 腎腝膵臵膥臫腢 膝臈至 腵臨腰 臺至腥膽 腦腮腏腤臕 腤膥臫臮臢腵臍腞腖腢腒腡腓腲腨 腜腲腧 腑腏 臣至臨膾臑腥腮腱 臙膥臫腦 腞腦腶膇膏腄膁腒 腎腖腢腡腍腱腒 臧腠腦膡膝臈腥 腦膥臫臮臢腵 腍腱 膵臵膥臫腧 膗臩臇膖腭臙膵腦腹腽臆臒腤腣腵膻 腔腖腢腧膹臐臺腥 腙腎 腪腝 腍腱臹 腦膌膆腾膎膐 臺腥膾腏腖腢腒腡腓腱腡腍腳腏 臙膥臫腧 臺至 腻腒膾腴腲腠腎腱膝臈腥腐腎腠腬 腒膡 膚腙腝臚 腥臲腛腱腖腢腒腡腓腲腨 腜腖腡腢腣腪腰 臷臎膦腦 腣腦腮腏腤膹臘腒膬腖腱腑腧 臫臃 腡腍腰 腜腦 臬臺腤膥臫腵腛腱腖腢腒膛 腡腍腱 腋腋 腋腋 膳臉臁臅 膺膔 腀腔 腇腟 腀腔 腞腌 腗腧 腄腥 腖腣 ῒΐ ῐ῎ῑ῏ ῍῍ ῍῍ 腈腋腊腏腑腌腎腍腆腇腅腀 腂腃腄 腁腉腐 ANEKO TO NBE ( ) Graduate school of Human and Environmental Studies, Kyoto University, Yoshida-nihonmatsu-cho, Sakyo-ku, Faculty of Science, Kyoto University, Kitashirakawa- Monitoring of volcanic phenomena close to active volcanic vents and inside active craters is needed to predict change of volcanic activities and to understand dynamics of volcanic eruptions. In order to carry out safe volcanic monitoring, we have developed a prototype of a mobile sensor for volcanic observation “HOMURA”, which is a new robotic system that has been designed to observe volcanic phenomena inside active volcanic craters. HOMURA is a small unmanned ground vehicle (approx. mm in dimension and kg in weight) with six wheels driven by electric motors and it is operated by wireless remote control at a distance of more than km. Data measured by some sensors in HOMURA are sent to the base station in real time. Materials of the vehicle body and wheels are aluminum with mm thick and plywood with mm thick, respectively. HOMURA can climb up and down a rough surface with slope angle of degree. In addition, HOMURA does not readily become undrivable even in overturning during climbing because it has a unique body shape with a horizontal symmetry plane. HOMURA can be made and transported to mission fields at small costs. These allow us to make a new vehicle even if HOMURA should be lost by accident during missions and promptly to explore a sudden volcanic event by HOMURA. In test campaigns at Aso volcano and Izu-Oshima volcano, we confirmed that HOMURA has planned abilities on moving on rough surfaces and wireless communication. : robot, unmanned ground vehicle, monitoring, active vent, volcanic exploration oiwake-cho, Sakyo-ku, Kyoto , Japan. Corresponding author : Katsuya Kaneko Kyoto , Japan. email : [email protected] tel : fax : Katsuya K , Ko-ichi I and Yu-ichi A Development of Mobile Sensor for Volcanic Observation “HOMURA” Key words // ,*+* , +*3 ++2 ,**3 ++ ,0 ,*+* - ,0 12* /0* -** +* + , 3 -* , 0*0 2/*+ 0*0 2/*, 0*0 2/*+ 0*0 2/*, 2+ 1/ 1/- 021. 2+ 1/ 1/- 021, +

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ANEKO TO NBE

( )

Graduate school of Human and Environmental Studies,

Kyoto University, Yoshida-nihonmatsu-cho, Sakyo-ku,

Faculty of Science, Kyoto University, Kitashirakawa-

Monitoring of volcanic phenomena close to active volcanic vents and inside active craters is needed to predict

change of volcanic activities and to understand dynamics of volcanic eruptions. In order to carry out safe

volcanic monitoring, we have developed a prototype of a mobile sensor for volcanic observation “HOMURA”,

which is a new robotic system that has been designed to observe volcanic phenomena inside active volcanic craters.

HOMURA is a small unmanned ground vehicle (approx. mm in dimension and kg in weight)

with six wheels driven by electric motors and it is operated by wireless remote control at a distance of more than

km. Data measured by some sensors in HOMURA are sent to the base station in real time. Materials of the

vehicle body and wheels are aluminum with mm thick and plywood with mm thick, respectively. HOMURA

can climb up and down a rough surface with slope angle of degree. In addition, HOMURA does not readily

become undrivable even in overturning during climbing because it has a unique body shape with a horizontal

symmetry plane. HOMURA can be made and transported to mission fields at small costs. These allow us to

make a new vehicle even if HOMURA should be lost by accident during missions and promptly to explore a

sudden volcanic event by HOMURA. In test campaigns at Aso volcano and Izu-Oshima volcano, we confirmed

that HOMURA has planned abilities on moving on rough surfaces and wireless communication.

: robot, unmanned ground vehicle, monitoring, active vent, volcanic exploration

oiwake-cho, Sakyo-ku, Kyoto , Japan.

Corresponding author : Katsuya Kaneko

Kyoto , Japan. email : [email protected]

tel :

fax :

Katsuya K , Ko-ichi I and Yu-ichi A

Development of Mobile Sensor for Volcanic Observation “HOMURA”

Key words

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2+ 1/ 1/- 021,

+

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and Field Experiment in Izu-Oshima Volcano in September, . (a) HOMURA vehicle.

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Fig. . Photographs of the test trials at volcanic fields. (a) HOMURA climbing up a rough-

surface slope near Nakadake crater, Aso volcano. (b) At the rim of Nakadake crater. (c)

HOMURA climbing up a slope covered with scoriae at Urasabaku of Mihara-yama volcano.

(d) Following MOVE at Urasabaku. MOVE is a robot for volcanic observation developed

by Tohoku University.

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