学会等発表 - 平山　寛

Morphable Beam 伸展変形制御装置2号機の開発

齊藤翔吾, 平山寛

第63回宇宙科学技術連合講演会  (徳島)  2019年11月  -  2019年11月    日本航空宇宙学会

This paper describes mechanism of a Morphable Beam (MB) with a camera to observe surface of satellite. Increasing number of space debris is serious problem on sustainable space development. Especially, micro debris is believed to exist in huge number but its distribution is not clearly known. Thus, we propose the mechanism to solve these problems. First, we have previously proposed a mechanism “MBD”to control the MB. We propose "MBD-2" which is an improvement on "MBD" in this paper. And then, we conducted experiments to verify its performance of extension, stowing and deformation of the MB. Results of the experiments showsthe proposed mechanism is capable to control the MB. Moreover, the "MBD-2" succeeded in stable operation and reduced the weight and size of the device compared to the "MBD". According to the proposed mechanism, in-situ surface inspection of satellite becomes possible and the density data of micro debris can be acquired.

月の縦孔内の多点懸垂移動システムの実験モデル開発

鈴木岳大, 平山寛

第63回宇宙科学技術連合講演会  (徳島)  2019年11月  -  2019年11月    日本航空宇宙学会

This paper proposes a new method to descend into lunar hole for an unmanned explorer. The vertical holes of about 50 m diameter were found on the lunar surface in 2009. A candidate method to explore is tether suspended descent, but single tethered probe is limited onlyalong vertical movement. So, we propose a lunar hole explorer that has a descending probe suspended by tethers from two or three points on a rim of the hole. The probe can move in two or three dimensionally by controlling length of each tether so that hasadvantage for geological survey on wall in the hole at close range. However it has limitation on movable region. First, the movable region was formulated from equilibrium of forces. Next the region is calculated and visualized assuming values of design parameters. Finally the movable area considering acceleration is illustrated under the set route.

能代宇宙イベントをはじめとした共同実験における企業連携と人材育成の取り組み

前田恵介, 和田豊, 堤明正, 平山寛, 永田晴紀, 秋山演亮

第63回宇宙科学技術連合講演会  (徳島)  2019年11月  -  2019年11月    日本航空宇宙学会

The 15th Noshiro Space Event was held in Noshiro city, Akita prefecture from 15 August to 23 August, 2019. Main purpose of this event is to provide opportunity of space education. Noshiro Space Event consists of hybrid rocket launches, a cansat competition, and a model rocket competition. In this paper, result of these space educations and their corporate collaboration, human resource development has been reported.

ロケット講演会:「ロケットの話 歴史と技術」

平山寛  [招待有り]

日本機械学会2019年度年次大会  (秋田市)  2019年09月  -  2019年09月    日本機械学会

DOI

火星極冠の氷上走行に適した車輪形状の提案

平山寛, 大山翼

日本機械学会2019年度年次大会  (秋田)  2019年09月  -  2019年09月    日本機械学会

Mars exploration is rapidly progressing in this century by orbiters, landers and rovers. Recently, they have discovered several evidences of existence of water and water ice under the surface. Water on Mars is one of the most important subject both for useful resource and scientific interest. Especially, Mars polar caps are believed to be formed from huge amount of ice of water or carbon dioxide, and direct exploration on the polar caps by rover will bring valuable knowledge on water on Mars. However, almost all studies of Mars rovers assume Martian surface as rocky or sandy terrain, no ice. Therefor we propose design of wheels which is suitable on ice. The proposed shape has sharp spikes along both sides of cylindrical wheels to prevent slip on ice. In order to evaluate effectiveness of the proposed shape on ice, experimental models has been made by 3D printing, together with some other shapes for comparison. Result shows the proposed shapes give better friction coefficient on ice than conventional model.

Morphable Beam 伸展変形制御装置2号機の開発

齊藤翔吾, 平山寛

日本機械学会2019年度年次大会  (秋田)  2019年09月  -  2019年09月    日本機械学会

This paper describes mechanism of a Morphable Beam (MB) with a camera to observe surface of satellite. Increasing number of space debris is serious problem on sustainable space development. Especially, micro debris is believed to exist in huge number but its distribution is not clearly known. Thus, we propose the mechanism to solve these problems. First, we developed an extension and bending mechanism for the MB attached with an observation camera on the tip, which is controlled to reach target point. And then, we conducted experiments to verify i ts performance of extension, st o w ing and deformation of the MB. Results of the experiments shows that the proposed mechanism is capable to control the MB. According to the proposed mechanism, in situ su rface inspection of satellite becomes possible and the density data of micro debris can be acquired.

月の縦孔内の多点懸垂移動システムの力学的考察

鈴木岳大, 平山寛

日本機械学会2019年度年次大会  (秋田)  2019年09月  -  2019年09月    日本機械学会

This paper proposes a new method to descend into lunar hole for an unmanned explorer. The vertical holes of about 50 m diameter were found on the lunar surface in 2009. A candidate method to explore is tether suspended descent, but single tethered probe is limited only along vertical movement. So, we propose a lunar hole explorer that has a descending probe suspended by tethers from two or three points on a rim of the hole. The probe can move in two or three dimensionally by controlling length of each tethe r so that has advantage for geological survey on wall in the hole at close range. However it has limitation on movable region. First, the movable region was formulated from equilibrium of forces. Next the region is calculated and visualized assuming values of des ign parameters. Finally the movable area considering accelerati on is illustrated under the set route.

Motion Analysis of Capturing Space Debris using Tether

Hiroshi Hirayama, Keigo Sato

第32回宇宙技術および科学の国際シンポジウム  (福井市)  2019年06月  -  2019年06月    日本航空宇宙学会

This paper describes motion analysis of a tethered satellite which contacts to a space debris in order to capture and remove it. One of difficulties about removal of the debris is how to capture an uncooperative object. We propose a capturing method using a tether. First, a mother satellite extends a tether with a daughter satellite, after a while they will be vertically stabilized by gravity gradient torque. Next, the satellites approaches to a target object in slow relative velocity. If the tether intercept the object in appropriate condition, the tether will wind around the target while the daughter will turn around it. The daughter is assumed to have some mechanisms to catch their own tether. Two dimensional motions of the mother, daughter and target are numerically simulated in this study. Some successful motions of the daughter turning around the target are shown when the parameters are appropriate. This method of capturing is very adaptable to electro-dynamic tether (EDT), which is a promising candidate to decelerate the space debris without propellant. So, this study will contribute to the removal of the space debris.

A Study on Movement of a Multipoint Suspended Explorer in a Lunar Hole

Takehiro Suzuki, Hiroshi Hirayama

第32回宇宙技術および科学の国際シンポジウム  (福井市)  2019年06月  -  2019年06月    日本航空宇宙学会

This paper proposes a new method to descend into lunar hole for an unmanned explorer. The vertical holes of about 50 m diameter were found on the lunar surface in 2009. A candidate method to explore is tether suspended descent, but single tethered probe is limited only along vertical movement. So, we propose a lunar hole explorer that has a descending probe suspended by tethers from two or three points on a rim of the hole. The probe can move in two or three dimensionally by controlling length of each tether so that has advantage for geological survey on wall in the hole at close range. However it has limitation on movable region. First, the movable region was formulated from equilibrium of forces. Next the region is calculated and visualized assuming values of design parameters. Finally descending trajectories are proposed within the region.

A Study on Deformation of Tape Tether with Rarefied Atmospheric Drag

Morie Koseki, Hiroshi Hirayama

第32回宇宙技術および科学の国際シンポジウム  (福井市)  2019年06月  -  2019年06月    日本航空宇宙学会

This paper describes a study on deformation analysis of the tape tether. A tape shaped tether has advantages that it is easy to extend and it has better survivability, compared to conventional string shaped tether. We focus on the tape tether in this study, because there are a lot of studies on behaviour or control of the string tether but not many analysis have been done on deformation of the tape tether.Hence, we study a deformation analysis of the tape tether considering rarefied atmospheric drag. Result of the numerical simulation shows the deformation of the tape tether and overall atmospheric drag.

Extension and Deformation Control Device of Morphable Beam

Shogo Saito, Hiroshi Hirayama

第32回宇宙技術および科学の国際シンポジウム  (福井市)  2019年06月  -  2019年06月    日本航空宇宙学会

This paper describes mechanism of a Morphable Beam (MB) with a camera to observe surface of satellite. Increasing number of space debris is serious problem on sustainable space development. Especially, micro debris is believed to exist in huge number but its distribution is not clearly known, because it can be estimated only from inspection of damages on surface of objects retrieved from orbit. Thus, we propose the mechanism to solve these problems. First, we developed an extension and bending mechanism for the MB attached with an observation camera on the tip, which is controlled to reach target point. And then, we conducted three types of experiments to verify its performance of extension and deformation of the MB. Results of the experiments shows that the extension lengths and the deformations are almost proportional to control inputs. Therefore, it is considered that the proposed mechanism is capable to control the MB. According to the proposed mechanism, in-situ surface inspection of satellite becomes possible and the density data of micro debris can be acquired.

スペースデブリ捕獲における金属溶着技術の利用

吉村建, 平山寛

日本航空宇宙学会北部支部2019年講演会ならびに第20回再使用型宇宙推進系シンポジウム  (角田市)  2019年03月  -  2019年03月    日本航空宇宙学会

This paper describes consideration on capturing space debris using metal welding. Various capturing methods have been studied in the use of electro-dynamic tethers to remove space debris, but it is difficult to fabricate a mechanism suitable for various moments and conditions. On the other hand, laser welding technology has developed dramatically in recent years, and efficient welding in vacuum can be expected. In this study, the feasibility of the fixing method of space debris by welding is investigated by heat conduction simulation. From this research, welding can be proposed as one of method to capture space debris.

小惑星土壌コアサンプラーの研究

中村壱利, 平山寛

日本航空宇宙学会北部支部2019年講演会ならびに第20回再使用型宇宙推進系シンポジウム  (角田市)  2019年03月  -  2019年03月    日本航空宇宙学会

In this research, we conducted a study on a sampler that enables soil core sampling on asteroids, which are microgravity environments. Dropping experiments, static loading experiments and sampling experiments of simulated strata were carried out to describe the superiority of the sampling-capable mechanism while maintaining stratigraphy, which is the greatest characteristic of this mechanism. In addition, when comparing the relationship between the sampling amount and the penetration depth in the drop experiment and the static load experiment, it was also found that the sampling with the static load is more efficient because the sampled quantity related to the penetration depth is larger.

希薄大気抵抗によるテープテザーの変形に関する研究

小関森恵, 平山寛

日本航空宇宙学会北部支部2019年講演会ならびに第20回再使用型宇宙推進系シンポジウム  (角田市)  2019年03月  -  2019年03月    日本航空宇宙学会

This paper describes a study on deformation analysis of the tape tether. A tape shaped tether has advantages that it is easy to extend and it has better survivability, compared to conventional string shaped tether. We focus on the tape tether in this study, because there are a lot of studies on behaviour or control of the string tether but not many analysis have been done on deformation of the tape tether. Hence, we study a deformation analysis of the tape tether considering rarefied atmospheric drag. Result of the numerical simulation shows the deformation of the tape tether and overall atmospheric drag.

火星極冠の氷上を走行可能な車輪の形状の提案

大山翼, 平山寛

日本航空宇宙学会北部支部2019年講演会ならびに第20回再使用型宇宙推進系シンポジウム  (角田市)  2019年03月  -  2019年03月    日本航空宇宙学会

Mars exploration is rapidly progressing in this decade by orbiters, landers and rovers. Recently, they have discovered several evidences of existence of water and water ice under the surface. Water on Mars is one of the most important subject both for useful resource and scientific interest. Especially, Mars polar caps are believed to be formed from huge amount of ice of water or carbon dioxide, and direct exploration on the polar caps by rover will bring valuable knowledge on water on Mars. However, almost all studies of Mars rovers assume Martian surface as rocky or sandy terrain, no ice. Therefor we propose design of wheels which is suitable on ice. The proposed shape has sharp spikes along both sides of cylindrical wheels to prevent slip on ice. In order to evaluate effectiveness of the proposed shape on ice, experimental models has been made by 3D printing, together with some other shapes for comparison. Result shows the proposed shapes give better friction coefficient on ice than conventional model.

スペースデブリ捕獲のための小型展開エンドエフェクタ

平山寛, 大谷裕樹

第62回宇宙科学技術連合講演会  (久留米)  2018年10月  -  2018年10月    日本航空宇宙学会

This paper describes development of a small end effector to capture space debris. It is assumed to be installed at a tip of manipulator arm or an end of tether. The most remarkable feature of the end effector is its deployable fingers. Each element of the fingers are retracted into next element from the tip to the bottom so that the fingers are stowed in compact palm unit. Motion of deployment and holding force of the fingers are driven by tension of wires along the fingers. Results of three types of experiments are explained in the paper, two dimensional capture region test, vertical pinching force test and vertical holding load test.

電磁石を用いた宇宙構造物の展開機構

平山寛, 根本雄平

第62回宇宙科学技術連合講演会  (久留米)  2018年10月  -  2018年10月    日本航空宇宙学会

This paper introduces development of a deployable structure driven by electromagnets. This study aims to provide deployable beam used for a large space structure such as a space solar power satellite. First, we designed a scale model of a deployable beam with electromagnets, and then built one segment of the beam. Next, deployment of single longitudinal element was tested. Finally, deployment of the beam segment was verified. Results of the experiment show that the structure can be deployed by the force of electromagnets and it requires some modifications to improve its performance.

能代宇宙イベントをはじめとした宇宙教育活動における安全管理と企業連携

前田恵介, 和田豊, 堤明正, 平山寛, 永田晴紀, 秋山演亮

第62回宇宙科学技術連合講演会  (久留米)  2018年10月  -  2018年10月    日本航空宇宙学会

The 14th Noshiro Space Event was held in Noshiro city, Akita prefecture from 16 August to 23 August, 2018. Main purpose of this event is to provide opportunity of space education. Noshiro Space Event consists of hybrid rocket launches, a cansat competition, and a model rocket competition. In this paper, result of these space educations and their safety management, corporate collaboration has been reported.

Morphable Beam 伸展変形制御装置

齊藤翔吾, 平山寛

第62回宇宙科学技術連合講演会  (久留米)  2018年10月  -  2018年10月    日本航空宇宙学会

This paper describes mechanism of a Morphable Beam (MB) with a camera to observe surface of satellite. Increasing number of space debris is serious problem on sustainable space development. Especially, micro debris is believed to exist in huge number but its distribution is not clearly known, because it can be estimated only from inspection of damages on surface of objects retrieved from orbit. Thus, we propose the mechanism to solve these problems. First, we developed an extension and bending mechanism for the MB attached with an observation camera on the tip, which is controlled to reach target point. And then, we conducted three types of experiments to verify its performance of extension and deformation of the MB. Results of the experiments shows that the extension lengths and the deformations are almost proportional to control inputs. Therefore, it is considered that the proposed mechanism is capable to control the MB. According to the proposed mechanism, in-situ surface inspection of satellite becomes possible and the density data of micro debris can be acquired.

月の縦孔内の多点懸垂移動システムの力学的考察

鈴木岳大, 平山寛

第62回宇宙科学技術連合講演会  (久留米)  2018年10月  -  2018年10月    日本航空宇宙学会

This paper proposes a new method to descend into lunar hole for an unmanned explorer. The vertical holes of about 50 m diameter were found on the lunar surface in 2009. A candidate method to explore is tether suspended descent, but single tethered probe is limited only along vertical movement. So, we propose a lunar hole explorer that has a descending probe suspended by tethers from two or three points on a rim of the hole. The probe can move in two or three dimensionally by controlling length of each tether so that has advantage for geological survey on wall in the hole at close range. However it has limitation on movable region. First, the movable region was formulated from equilibrium of forces. Next the region is calculated and visualized assuming values of design parameters. Finally descending trajectories are proposed within the region.