{"created":"2023-06-20T14:40:24.763042+00:00","id":7291,"links":{},"metadata":{"_buckets":{"deposit":"07c0b0a0-d637-48df-bc27-8f2da5e60539"},"_deposit":{"created_by":1,"id":"7291","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7291"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007291","sets":["1543:1544:1553","1887:1891"]},"author_link":["38532","38531","38529","38530","38528","38527"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"軟弱地盤走行におけるScrew Drive Rover の機動性解析"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2011-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"269","bibliographicPageStart":"264","bibliographicVolumeNumber":"20","bibliographic_titles":[{"bibliographic_title":"アストロダイナミクスシンポジウム講演後刷り集"},{"bibliographic_title":"The 20th Workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_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20回アストロダイナミクスシンポジウム (2010年7月26-27日. 宇宙航空研究開発機構宇宙科学研究所), 相模原市, 神奈川県　","subitem_description_type":"Other"}]},"item_5_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 20th Workshop on JAXA Astrodynamics and Flight Mechanics 2010 (July 26-27, 2010. Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)(ISAS)), Sagamihara, Kanagawa Japan","subitem_description_type":"Other"}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"摘要: 月・惑星表面上において，移動ローバが自律探査活動を遂行する上での重要な機能の一つに機動性（マヌーバビリティ）が挙げられる．筆者らはこれまで，移動機構にアルキメデス・スクリュ機構を採用した新型ローバとして，Screw Drive Rover と名付けるシステムを提案している．提案システムは，汎用車輪と異なりスクリュ機構は砂地に埋没した状態でも十分な推進力を生成可能という観点から，軟弱な砂地において高い移動性能を発揮することが期待できる．しかしその一方で，砂とスクリュ機構との相互作用は非常に難解であり，移動制御の実現へ向けて相互作用の解明が現状での課題といえる．そこで本研究では，相互作用の知見を得るため，Screw Drive Rover の試作機を用いた室内砂地走行試験により機動性解析を実施した．特に本稿では，試作機による多様な移動軌跡を体系的に整理することで，提案システムの持つ移動性能を実験的に提示する．","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"Maneuverability of a mobile rover is one of the significant factors to accomplish autonomous exploration on the lunar and planetary surfaces. The author has proposed a novel rover driven by dual Archimedean screw units, named Screw Drive Rover. The rover is expected to have better tractive performance on soft terrain covered with fine soil particles since the screw unit can propel the rover even it is completely buried into soil. A soil-screw interaction is, however, quite complicated, and thus the rover's propulsion characteristics remain to be elucidated. So this paper aims at investigating its maneuverability based on laboratory tests using the prototyped rover. In particular, locomotion trajectories are empirically analyzed by varying screw's angular velocities inputted independently to indicate the maneuverability.","subitem_description_type":"Other"}]},"item_5_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_5_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_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0065115044","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構宇宙科学研究所 (JAXA)(ISAS)"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)(ISAS)"}]},"item_5_source_id_24":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11567475","subitem_source_identifier_type":"NCID"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"総合研究大学院大学"},{"subitem_text_value":"宇宙航空研究開発機構 (JAXA)"},{"subitem_text_value":"宇宙航空研究開発機構 (JAXA)"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Graduate University for Advanced Studies (Sokendai)"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency (JAXA)"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency (JAXA)"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"永岡, 健司"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"久保田, 孝"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"田中, 智"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nagaoka, Kenji","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kubota, Takashi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Tanaka, Satoshi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Archimedean screw mechanism","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Screw Drive Rover","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Maneuverability","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Soft terrain","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"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 paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"Maneuverability Analysis of Screw Drive Rover on Soft Terrain","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Maneuverability Analysis of Screw Drive Rover on Soft Terrain","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1553","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7291","relation_version_is_last":true,"title":["Maneuverability Analysis of Screw Drive Rover on Soft Terrain"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:41:46.862888+00:00"}