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Measurement of LaB6 hollow cathode emitter region temperature and plasma characteristics

Journal of Electric Propulsion 2025年第1期4卷 1-19页

作者： Oshio, Yuya Masuyama, Shogo Watanabe, Hiroki Funaki, Ikkoh Mechanical Engineering and Robotics Course Ryukoku University Otsu-Shi520-2194 Japan Japan Aerospace Exploration Agency Kanagawa Sagamihara252–5210 Japan

Hollow cathodes are widely used as electron sources in electric propulsion systems owing to their high electron generation efficiency. Research findings allude to the significant impact of the temperature and plasma characteristics of the emitter region of a hollow cathode, which supplies thermionic electrons, on its operation. However, these characteristics are not yet fully understood. The objective of this study is to investigate these characteristics under different orifice diameters and operating conditions. The emitter temperature increased with the discharge current for both orifice diameters. The electron density was higher downstream for larger orifice diameters. The emitter temperature was compared with the orifice temperature and was found to be lower than the latter for smaller orifices. © The Author(s) 2025.

关键词： Plasma diagnostics

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Orifice plate surface temperature measurement of a LaB6 hollow cathode using a near-infrared two-color radiation thermometer

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Journal of Electric Propulsion 2024年第1期3卷 1-19页

作者： Oshio, Yuya Hirai, Keito Watanabe, Hiroki Horisawa, Hideyuki Funaki, Ikkoh Mechanical Engineering and Robotics Course Ryukoku University Otsu-Shi520-2194 Japan Department of Mechanical Engineering Tokai University Hiratsuka259-1292 Japan Japan Aerospace Exploration Agency Kanagawa Sagamihara252–5210 Japan

This study measured the two-dimensional orifice plate surface temperature of a 20-A-class LaB6 hollow cathode using a near-infrared two-color radiation thermometer. The thermometer technique resolved the orifice plate temperature with an accuracy of approximately 166 ℃. With this technique, the surface temperature of the orifice plate was found nearly uniform, with no observed temperature gradient on the orifice plate. Consequently, the operational characteristics of the hollow cathode are discussed in relation to the average surface temperature. Data analysis revealed that the orifice plate temperature was not sensitive to the mass flow rate;conversely, it was highly sensitive to the discharge current. Moreover, for the same input power, the orifice plate temperature was higher in the high-current, low-voltage mode also known as the spot mode indicating efficient emitter heating. The measurement system developed in this study provides a more precise evaluation of the orifice plate temperature and allows for estimating the internal conditions of a hollow cathode, thus facilitating more appropriate design evaluations under various operating conditions. © The Author(s) 2024.

关键词： Infrared devices

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Miniaturized Leg Adsorption Mechanisms of a Small Hexapod Mobile Robot for Inspecting Narrow Spaces on Walls and in Pipes 19

Miniaturized Leg Adsorption Mechanisms of a Small Hexapod Mo...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Matsuura, Ami Domon, Ai Mizukami, Masato Hanajima, Naohiko Fujihira, Yoshinori Muroran Institute of Technology Hokkaido050-8585 Japan Muroran Institute of Technology Course of Robotics and Mechanical Engineering Hokkaido050-8585 Japan

ISBN: (纸本)9798350320695

Most public infrastructure facilities in Japan built during a period of high economic growth are rapidly deteriorating. Inspecting buried infrastructure requires a great amount of labor and time, so autonomous mobile robots are required to improve efficiency and labor costs. To alleviate this shortage, robots have been developed that can inspect in-pipe and wall surfaces. However, most robots are for working in a single environment;ones that can work in multiple environments are needed. We focused on robots that can move not only on a flat surface but also inside pipes and on walls and developed a leg mechanism equipped with a removable passive suction cup. A string and winding take-up mechanism were used as the leg-up and leg-down mechanism. The leg tips are detachable so that different tips can be mounts for moving on a flat surface, inside a pipe, or on a wall. We fabricated a prototype robot equipped with this mechanism. The walking experiments with the prototype robot indicated the effectiveness of the proposed leg mechanism. We confirmed the feasibility of the compact moving mechanism of the legs with an adsorption mechanism. © 2023 IEEE.

关键词： Mobile robots

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A Sensorless Parallel Gripper Capable of Generating Sub-Newton Level Grasping Force

A Sensorless Parallel Gripper Capable of Generating Sub-Newt...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Sato, Mutsuhito Arita, Hikaru Mori, Yoshiki Kawamura, Sadao Wang, Zhongkui Robotics Course of the Graduate School of Science and Engineering Ritsumeikan University Kusatsu Japan Kyushu University Department of Mechanical Engineering Fukuoka Japan Ritsumeikan University Department of Information Science and Engineering Kusatsu Japan Ritsumeikan Global Innovation Research Organization Ritsumeikan University Japan Ritsumeikan University Department of Robotics Kusatsu Japan

ISBN: (纸本)9798350312072

Upon grasping a fragile object, small grasping force and gripper compliance are required to avoid large deformation or damage to the object. In this study, linear servomotor based mechanism is used to construct a parallel gripper which is able to achieve small gripping force and compliance without using external force sensors. The linear motor mechanism has low friction and no reduction gear. Therefore, it can produce small thrust force with high back-drivability. The proposed parallel gripper consists of two linear motor mechanisms, a guide rail, a frame, and two fingers. The thrust force of the linear motor can be controlled through a driver. The components of the gripper were manufactured using metal machining and 3D printing, and they were carefully assembled to ensure good axial alignments. Force calibration was conducted and the minimum grasping force was confirmed as a value of 0.076 N. The friction force of the guide rail was also experimentally measured and it was confirmed to be 0.090 N. Finally, grasping experiments were conducted on potato chips and tofu. Results suggested that the proposed parallel gripper is able to handle fragile objects with sub-Newton level force. © 2024 IEEE.

关键词： Grippers

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Analysis of the performance of robotic assembly systems considering the usage of tools or jigs for the task-board task in the WRS 2018

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Advanced robotics 2023年第20期37卷 1329-1346页

作者： Dobashi, Hiroki Ogawa, Koki Shibata, Mizuho Uemura, Wataru Yokokohji, Yasuyoshi Faculty of Systems Engineering Wakayama University Wakayama Japan Graduate School of Systems Engineering Wakayama University Wakayama Japan Department of Robotics Faculty of Engineering Kindai University Higashi-Hiroshima Japan Electronics Information and Communication Engineering Course Faculty of Advanced Science and Technology Ryukoku University Otsu Japan Department of Mechanical Engineering Graduate School of Engineering Kobe University Kobe Japan

A task-board task is a task in which robots perform a set of fundamental assembly operations related to the assembly of a specific product such as inserting a part into another part, tightening bolts and nuts, attaching flexible parts, etc. In the task-board task competition in the industrial robotics category of the World Robot Summit (WRS) 2018, 15 teams from around the world performed the task. In our previous work, we observed recorded videos of the competition frame by frame and manually investigated the performance of robotic systems of the top four teams, focusing only on whether robots contact target parts. In this paper, we introduce frame sets to represent mainly contact states between robots, tools, or jigs and target parts to be handled for such a frame-by-frame analysis of the recorded videos, and based on the frame sets, we analyze the performance of robotic assembly systems of other teams as well as the top four teams in the task-board task competition in the WRS 2018, considering the usage of tools or jigs. © 2023 Informa UK Limited, trading as Taylor & Francis Group and The robotics Society of Japan.

关键词： Robotic assembly

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Supernumerary Robotic Limbs to Augment Astronauts Performing Post-Fall Recoveries during Partial-Gravity Spacewalks

Supernumerary Robotic Limbs to Augment Astronauts Performing...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Ballesteros, Erik Carpenter, Kalind Asada, H. Harry Department of Mechanical Engineering Massachusetts Institute of Technology Course 2 CambridgeMA02139 United States Advanced Robotics Systems Group 347Z NASA Jet Propulsion Laboratory PasadenaCA91011 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper investigates the effectiveness of a type of wearable robot, known as Supernumerary Robotic Limbs (SuperLimbs) in assisting an astronaut performing partial-gravity ExtraVehicular Activities (EVAs). SuperLimbs can directly address a key technology gap identified by NASA concerning that of incapacitated crew rescue devices during partial-gravity EVAs. To contextualize SuperLimbs in human spaceflight application, we start by reviewing other forms of wearable robotics technologies and perform a qualitative comparison with SuperLimbs. From there, we present a suite of operational modes that SuperLimbs is capable of delivering in a suited partial-gravity EVA. Within the operational mode suite, we selected the most urgent use-case: that of performing a post-fall recovery, and reviewed the results from a pilot-human study. To validate the effectiveness of SuperLimbs in providing the necessary assistive forces needed for a post-fall recovery, a series of validation experiments was performed with a prototype SuperLimbs system. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： NASA

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Comparison of Facial Expression Sensors and Skin Potential Response Sensors for Emotion Estimation by Communication Robots 23

Comparison of Facial Expression Sensors and Skin Potential R...

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23rd International Conference on Control, Automation and Systems, ICCAS 2023

作者： Hasegawa, Naoya Hirahara, Rin Takahashi, Yoshihiko Kindai University Technical College Department of Comprehensive Engineering - Mechanical Systems Course 7-1 Kasugaoka Mie Nabari518-0459 Japan Kanagawa Institute of Technology Department of Robotics and Mechatronics Kanagawa Atsugi243-0292 Japan

ISBN: (纸本)9788993215274

A communication system that quantifies human emotions and provides feedback control was fabricated for a communication robot. The robot can provide suggestions to users and relay transmissions during human-to-human communication. For instance, if the user is excited, the robot can calm them down, and if the user is sad, the robot can cheer them up. The reliability in estimating emotions from facial expressions of a proposed sensor was compared with that of galvanic skin reflex (GSR) and skin potential response (SPR) sensors, which have been reported in several papers. A GSR sensor can measure tension and agitation in humans. The sensor estimating emotions from facial expressions can measure five facial expressions: 'Happiness', 'Surprise', 'Anger', 'Sadness', and 'Neutrality'. Furthermore, the method is non-contact and suitable for practical use because it uses images. As the emotion-estimated values are output, they can be used without any privacy issues. The changes in emotions toward subjects using an entertainment robot that can eject soap bubbles were evaluated. An experimental chamber was created to prevent disturbances and measure only the effects of the soap bubble ejection and cessation events. This study reports that SPR sensors and emotion estimation sensors can be handled similarly. © 2023 ICROS.

关键词： Electrophysiology

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Supplemental Human-Machine Interface for Haptic Shared Control to Convey Sensor Reliability Information to an Operator of Underwater Vehicles

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IEEE Transactions on Haptics 2025年 PP卷 PP页

作者： Sato, Eito Orita, Yasuaki Sakagami, Norimitsu Wada, Takahiro Nara Institute of Science and Technology Human Robotics Laboratory Information Science and Engineering Graduate School of Science and Technology Ikoma Japan Ryukoku University Mechanical Engineering and Robotics Course Faculty of Advanced Science and Technology Faculty of Advanced Science and Technology Shiga Japan

In haptic shared control (HSC) for teleoperation, the human operator and autonomous system share control via torque on the input device. When a discrepancy exists between the human's maneuvering intent and the autonomous maneuver presentation, the human can apply additional force to the device to achieve the desired maneuvering. The required force level is generally predetermined during design and closely relates to the human workload. This study investigated scenarios where discrepancies between human and machine control occur frequently owing to unreliable sensor information. We propose a method to allow the operator to adjust the machine's assist level, facilitating smoother control transitions and proving useful when machine suggestions are unreliable. Conventional HSC systems generally lack sufficient information for operators to make informed decisions regarding adjusting assist levels, leading to delayed decisions and increased workloads. To address this, our research objective is to communicate sensor reliability to humans, thereby facilitating deciding the machine's assist level. We focused on the HSC of a remotely operated underwater vehicle (ROV) where the sensor system is prone to unreliable. Maneuvering experiments with an ROV simulation involving sixteen participants demonstrated the proposed method effectively communicates sensor reliability to operators and reduces mental demand compared to conventional methods. © 2025 IEEE.

关键词： Remotely operated vehicles

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Dynamic Behavior of Levitated Flexible Steel Plate in Bending Electromagnetic Levitation System During Disturbance Input 27

Dynamic Behavior of Levitated Flexible Steel Plate in Bendin...

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27th International Conference on Electrical Machines and Systems, ICEMS 2024

作者： Uchida, Yamato Ogawa, Kazuki Kobayashi, Ikkei Kuroda, Jumpei Uchino, Daigo Ikeda, Keigo Kato, Taro Endo, Ayato Narita, Takayoshi Kato, Hideaki Tokai University Course of Mechanical Engineering Kanagawa Hiratsuka Japan Aichi University of Technology Department of Electronics and Robotics Aichi Gamagori Japan National Institute of Standards and Technology Tokai University Kanagawa Hiratsuka Japan Research of Institute of Science and Technology Tokai University Kanagawa Hiratsuka Japan Numazu National College of Technology Department of Mechanical Engineering Shizuoka Numazu Japan Hokkaido University of Science Department of Mechanical Engineering Hokkaido Sapporo Japan Tokyo University of Technology Department of Mechanical Engineering Hachioji Tokyo Japan Fukuoka Institute of Technology Department of Electrical Engineering Fukuoka Fukuoka Japan Tokai University Department of Mechanical Systems Engineering Kanagawa Hiratsuka Japan

ISBN: (纸本)9784886864406

In thin steel plate production lines, contact conveying by rollers is used, which sometimes results in scratches and plating defects on the steel plate surface. To solve this problem, non-contact conveyance by magnetic levitation is expected. When thin steel plates are magnetically levitated, magnetic levitation control becomes difficult due to deflection caused by the flexibility of the plate. Therefore, we have proposed a curved magnetic levitation system that improves the levitation stability by curving the steel plate for magnetic levitation. However, the dynamic behavior of thin steel plates during bending magnetic levitation have not been clarified. In this report, we performed a levitation experiments of bending steel plate, and input disturbance to the bending levitation device. From the measured response of levitated and oscillated steel plate, it was confirmed that the bending thin steel plate was in rigid body motion due to the disturbance. © 2024 The Institute of Electrical Engineers of Japan.

关键词： Magnetic levitation

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Miniaturized Leg Adsorption Mechanisms of a Small Hexapod Mobile Robot for Inspecting Narrow Spaces on Walls and in Pipes

Miniaturized Leg Adsorption Mechanisms of a Small Hexapod Mo...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Ami Matsuura Ai Domon Masato Mizukami Naohiko Hanajima Yoshinori Fujihira Muroran Institute of Technology Hokkaido Japan Course of Robotics and Mechanical Engineering Muroran Institute of Technology Hokkaido Japan

Most public infrastructure facilities in Japan built during a period of high economic growth are rapidly deteriorating. Inspecting buried infrastructure requires a great amount of labor and time, so autonomous mobile robots are required to improve efficiency and labor costs. To alleviate this shortage, robots have been developed that can inspect in-pipe and wall surfaces. However, most robots are for working in a single environment; ones that can work in multiple environments are needed. We focused on robots that can move not only on a flat surface but also inside pipes and on walls and developed a leg mechanism equipped with a removable passive suction cup. A string and winding take-up mechanism were used as the leg-up and leg-down mechanism. The leg tips are detachable so that different tips can be mounts for moving on a flat surface, inside a pipe, or on a wall. We fabricated a prototype robot equipped with this mechanism. The walking experiments with the prototype robot indicated the effectiveness of the proposed leg mechanism. We confirmed the feasibility of the compact moving mechanism of the legs with an adsorption mechanism.

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