{"created":"2023-06-20T15:18:50.860466+00:00","id":49217,"links":{},"metadata":{"_buckets":{"deposit":"821d966f-590a-4b37-8ef2-df55a1ae3eca"},"_deposit":{"created_by":1,"id":"49217","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"49217"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00049217","sets":["1543:1827:2263","1887:1891"]},"author_link":["554794","554797","554798","554793","554795","554796"],"item_4_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"自己位置推定と自律制御を用いた軌道上微小デブリ衝突痕観測ロボットの開発"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2023-02-28","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"296","bibliographicPageStart":"287","bibliographic_titles":[{}]}]},"item_4_description_14":{"attribute_name":"会議概要（会議名, 開催地, 会期, 主催者等）","attribute_value_mlt":[{"subitem_description":"第10回スペースデブリワークショップ (2022年11月28-30日. 主催: 宇宙航空研究開発機構研究開発部門(JAXA), 宇宙航空研究開発機構調布航空宇宙センター(JAXA)(CAC)), 調布市, 東京","subitem_description_type":"Other"}]},"item_4_description_15":{"attribute_name":"会議概要（会議名, 開催地, 会期, 主催者等）（英）","attribute_value_mlt":[{"subitem_description":"The 10th Space Debris Workshop (November 28-30, 2022. Organizer: Research and Development Directorate, Japan Aerospace Exploration Agency (JAXA), Chofu Aerospace Center, Japan Aerospace Exploration Agency (JAXA)(CAC)), Chofu, Tokyo, Japan","subitem_description_type":"Other"}]},"item_4_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"軌道上における微小デブリの存在密度情報にはデータギャップが存在する。回収した宇宙機による解析や観測が比較的困難であるSSO や静止軌道において特に顕著である。我々はこれらの軌道上にある宇宙機の観測機器の１つとして、デブリ衝突痕観測システムODIM を開発している。ODIM は搭載した宇宙機の外観のデブリ衝突痕を自律的に観測することが可能であり、その情報を集約することで微小デブリの存在密度情報の取得を目的としたシステムである。ODIM の観測部は深度カメラと外力を加えても形状維持が可能な構造材料Morphable Beam(MB)にて構成されている。課題点として、MB 制御はアップリンクによる手動の操作に依存している点が挙げられる。これはMB の柔軟性によって曲げの精度が十分ではないこと、非ホロノミック系であることにより先端位置制御が容易ではことに起因している。本研究ではこれを解決するため、新たなMB を搭載した統合システムMBD-4 とMB の自律制御システムの開発と評価を行った。宇宙機全体の形状データをもとに３次元的に地図情報を作成し、深層学習によって画像処理と自己位置推定技術により，MB 先端位置を割り出すというものである。これにより、ODIM 単体でデブリ衝突痕観測の完全な自動化が見込める。","subitem_description_type":"Abstract"}]},"item_4_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"There is a data gap in the information on the spatial density of micro debris in orbit. This is particularly noticeable in SSO and GEO, where analysis and inspection by recovered spacecraft are relatively difficult. We are developing a debris impact masks observation system, ODIM, as one of the observation instruments for spacecraft in these orbits, which can autonomously observe debris impact marks on the exterior of the onboard spacecraft and obtain information on the existence spatial density of micro debris. The ODIM consists of a depth camera and a morphable beam (MB), a structural material that can maintain its shape even when subjected to external forces. One of the challenges is that the MB control relies on manual operation via uplink. This is because the bending accuracy is not sufficient due to the MB's flexibility, and because it is a nonholonomic system, it is not easy to control the tip position. In this research, in order to solve this problem, we developed and evaluated an integrated system MBD-4 equipped with a new MB and an autonomous control system for the MB. The system creates a three-dimensional map based on the geometry data of the entire spacecraft and determines the current position of the MB tip using image processing on deep learning and localization. This system is expected to fully automate debris impact marks observation with ODIM alone.","subitem_description_type":"Other"}]},"item_4_description_18":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"形態: カラー図版あり","subitem_description_type":"Other"}]},"item_4_description_19":{"attribute_name":"内容記述（英）","attribute_value_mlt":[{"subitem_description":"Physical characteristics: Original contains color illustrations","subitem_description_type":"Other"}]},"item_4_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA2230027026","subitem_description_type":"Other"}]},"item_4_identifier_registration":{"attribute_name":"ID登録","attribute_value_mlt":[{"subitem_identifier_reg_text":"10.20637/00049199","subitem_identifier_reg_type":"JaLC"}]},"item_4_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構(JAXA)"}]},"item_4_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Japan Aerospace Exploration Agency (JAXA)"}]},"item_4_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"秋田大学"},{"subitem_text_value":"秋田大学"},{"subitem_text_value":"秋田大学"}]},"item_4_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Akita University"},{"subitem_text_language":"en","subitem_text_value":"Akita University"},{"subitem_text_language":"en","subitem_text_value":"Akita University"}]},"item_4_version_type_30":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"八木, 宗一郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"中山, 元晴"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"平山, 寛"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"YAGI, Soichiro","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"NAKAYAMA, Motoharu","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"HIRAYAMA, Hiroshi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2023-02-28"}],"displaytype":"detail","filename":"AA2230027026.pdf","filesize":[{"value":"2.6 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"AA2230027026.pdf","url":"https://jaxa.repo.nii.ac.jp/record/49217/files/AA2230027026.pdf"},"version_id":"074b4ee6-c8d3-4ef7-8da3-397f2aed6132"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"conference object","resourceuri":"http://purl.org/coar/resource_type/c_c94f"}]},"item_title":"Development of In-situ Observation Robot for Micro Space Debris Impact Marks Using Localization and Autonomous Control","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Development of In-situ Observation Robot for Micro Space Debris Impact Marks Using Localization and Autonomous Control","subitem_title_language":"en"}]},"item_type_id":"4","owner":"1","path":["1891","2263"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-02-28"},"publish_date":"2023-02-28","publish_status":"0","recid":"49217","relation_version_is_last":true,"title":["Development of In-situ Observation Robot for Micro Space Debris Impact Marks Using Localization and Autonomous Control"],"weko_creator_id":"1","weko_shared_id":1},"updated":"2023-06-20T18:39:37.071851+00:00"}