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,**3  +, 3 1 4 ,*+*  / 3 +. 4Development of an Unmanned Observation Aerial Vehicle (UAV)
as a Tool for Volcano Survey
Kazuto SAIKI῍ and Takeshi OHBA῍῍
An unmanned aerial vehicle (UAV) named “Osaka University Sky-+” was developed as a ﬁeld survey tool
based on the concept that the researchers and the sta# of the municipality who investigate volcanic ﬁeld were able
to operate it easily, safely, and at low cost. Sky-+ is a radio control airplane with wingspan of 3* cm. It is
controlled by three channel signal for motor, aileron, and elevator. Remote control distance is about .** mlimited by human distance vision. The strong points of Sky-+ are as follows ; custom-designed manufacturing of
the black polypropylene foam for the airframe material, an electric ducted fan is employed to secure the safety,
portable on one’s back because of the new design of the airframe division, the payload that reaches -** g is secured,and achievement of the high ﬂight performance against the strong wind around +* m/s. Field test for Sky-+ was
performed at Kusatsu-Shirane volcano on +/ May ,**2. During the ﬁeld tests, Sky-+ obtained movies of thecrater lake and data of H, S gas concentration in the air. A training course in assembly and operation of Sky-+was held at Osaka University and Kansai Mokei Airport (KMA) on -ῌ. August ,**2. By the ﬁeld test and thetraining course, we proved that the development concept of Sky-+ had been achieved.
Key words : Unmanned Aerial Vehicle (UAV), radio control, airplane, volcanic survey+ῌ ῐ ῎ ῑ ῏5,6789:;<=>?@A:B/C&>

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Department of Earth and Space Science, Graduate
School of Science, Osaka University, +ῌ+ Machikaneyama, Toyonaka /0*ῌ**.-, Osaka, Japan.
  .ῌ+ῌ+,/3ῌ+,3,  !


Department of Chemistry, School of Science, Tokai
University, .ῌ+ῌ+ Kitakaname, Hiratsuka-shi, Kanagawa,/3ῌ+,3,, Japan.
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Table +.

139

Speciﬁcations of “Osaka University Sky-+”.

*( + ,- . /012
Fig. +. Photographs of Osaka University Sky-+. Wing
span is 3* cm. The position of a ducted fan unit
is indicated with a white arrow.

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-ῌ ῏ῐ῍῎ῑy!   BIJEFK Lbd #    Sky-+  !" Fig. + S" Table + TJ Sky-+9,-5

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140

Fig. ,. Disassembling instructions for Sky-+. Sky-+ canbe disassembled for its transport and reassembled
on site.
 


Sky-+

     !"#$%& $ "'() * *+,% "  .  / 0#1

 0#1

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 Sky-+0 -._ 1 2`Nab#34;45

Fig. -. Observation equipments installable on Sky-+.
(a) H,S sensor, (b) GPS, (c) SD-video camera,(d) Wireless camera (+/* m range), (e) Wirelesscamera (/** m range), and (x) Wireless camera
receiver. Details for each equipment are shownat Table ,.

67cW9(dZ[N78#$

e:f:g7 9hN:;4*#-*  <
i3;4 jk"l m1;n5 ;o cW
9(dZ[ 

Table ,.

Equipments onboard Sky-+.

! cWdZ[=>p*Pn!

q?*6r@ sNAB !45- N6pt*#
$ uvBC"  Dwxy  z:I{:(L7ZN|} 5uEdZ[Z B5 ~/N
FU5< GH

I%P*! J* GH NI#- K4 H*

LMNGONQ B5230#

I N 1$%P*; 4 &$ GLMNG LMPI  QR

45BB

5FV/$% 3$& NG QRPINI%S;ITt  N} U;q?)c0VNI] 5 (Fig. ,) GLMNGN #IT% 5WNX*YZ !o [t \    "<! 5- ] ;V^"#-~E;

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=Z0

*

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MnNy !z¨*@$% B5 Nk# r@{ ©|N7ª[xh*5« [}-50#4 Sky-+.-~

6%  h 54¬ FV­A;4

5< 6789:  ®NnIZ

D* F¯FV r@°|N­;V±²#_%O WW !41³´# 

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¹ºN»0>¼ *½!7/U;T  "

 !

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=+

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LM

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M

Fig. .. Photographs showing how to carry Sky-+.
Kusatsu-Shirane volcano on +/ May ,**2.

At

SD KL

%34 5* 4>&



W $ ./XY0=;61Z %23[\J%]^3_` 5L.a456 b'(&)  78 $%I9 Wc4 =+5de&> fg

5L.%:;3*>(<= g4 $h> i1j )!3=Q)65  ,=Pk?%l Sky-+? DE4 =C) g4  f D

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GPS %34,- + V{

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((f%Zb4

 <X]`%-6|6%a4 5*
4>& , -** g

KL , M se NE  Sky-+Q"XuBCN/vwC%RxAT  GPS  ,%$ - %@AmnB@Wc

:cdeOftP

# #

STy + M f - M;6 zU 6F  $ - WW  !X  }~ +* [

/C Y

pwu

  [E );6W W5 \%
KLI=W^6 (Fig. .) h>?

$ -  _ 2

kg %@Am@A) X[Eb _ 0 kg %wOwOF fe6 g ,3, #P&

h?Zb8T4 =* ie( /ῌ. j r]kFig. /Bl J ,-Y)Gg%m; Wo GPS (23 g)

1n

 Fig. /!

(/0 g) % /ῌ/j opqr9]ko GPS (23 g) !
(/0 g) opqf (03 g) %6 g t !
(/0 g)SD KLM% ]^|6%!

(+/+ g)GPS (23 g)QQ SD

Bl A @$%W7 YP& .** m  Bl S @s%8) - Bl S P& Bl A @

_ +./ kmu = g-% ./ Y P

xvw 6 -5 x%I W7
4 4,- Sky-+9^y%6  4

D<z]%#T )T1Z5 p$h> ?g @@$ {|}! 58e

1J ~u#T  $ |6%**Hῌ ῌ*%{W7= $=e),T S%xke3>( n1deh?

>4 P;6/ῌ, 

Zb%34 =*

R\y%H3  Sky-+/    Sky-+ &%H34==T  ,;#T L<Uko% ,**2  /  +/ F





d&=MpBv>(  YZ=#;6  ¡¢£¤¥ |63-&> m $  ¦ R\

D ,+0* my % U' 36F

 J§ ¨©=- 



GPS %  6 Sky-+ª «(>¬B ;)  ­nP&op%KL ® d&=x¯F°3 )TuBC

q±B=) *1t ,*** ²° ª% <³6 / [ /Cx¯F°%

 |63±B S¨g(P&6 <Uko Sky-+! A1¶C c W^¡¢ £¦¡¢ §¡¢ %zU64;6´ $g 5 = &P)4 vµ=¤¥3|=)4 P& ·¸H°
*6 67 4 °& x¯FBl#/ῌ+ Sky-+ %¨©3ª¹«=W L$b ºB» s§¼x) 45CH,) vµ =¬&½$5,

vwW^*4 =W @6 + 7x $5$=./34  )



142/ῌ. 

 GPS  
!"# "$ GPS

%&"' (%)

Fig. /  A  GPS * ,**- m  * +333m!"+),-#$ #$)%&'%()% !./0
*- 12)*3-+4&5%6789:;

<=>? - D DAN ,-@.

3  Sky-+  GPS A>B

Sky-+ "$ )/ (Fig. /)  A>BA
CB?;>DEFGHC>0I1  
*A>B <=>? -D JK8,-23
45LM%6-*78
Fig. /. Flying track of Sky-+ (gray curve) and walking
track of our survey party (white curve) imposedon the map of Kusatsu-Shirane volcano. Point J
is the junction of the national route ,3, and amountain trail. Point S is the point where theparty started to walk. Point A is the take-o#point and point B is the point from where thephoto shown in Fig. 0 was taken.

N<O*P+.** mAh ++.+ V QR9STQU>VNEQ>

W9"XWYZ: / ;Y% * ,***m [ \]"Z<(# "

=^Z_`

MaZd)>#e?f*@-cAg

# bcP

8)Bh4%&5%J>ij>B),#C
DkE^kFl%,m)a#%
GZ "nHo"pIJqa  KL%
MLM% Q;?BKS)R:NF5%
&r% s NOPZ/ῌ- 

QtRu4%vwPZ 6

SY)x#K#4&

5a R:NFZT4%U

RuyVz{4&|W RuX}~Y% bcP

ZZ M) M|;[\5%&m]|# E^#) .** m _`Y%

X# +/* m

8#M|X# s&M)"# /* 7

K8[),/"

@` Sky-+ "c"da)MZNO=D),#efE^gh  i
)j

Z

a\b

"4%,ma Z q##|da # Fig. 0 klm)nl8opjq)% H>?cAL%(rj%?

stb s% &M  | uv

H wxj h Sky-+ Z %& E

yz{M + WY[|[}"X)

^k

a#

&MZ>cAL%(rj% > f  -L)`YaYyZ Sky-+ Z-a£}oqPm&a.Xa,m)LM%&% vwPy

;01n#&§ [~(^D4%&5%

E&j D¡Jq%D¢",-|M
% W¤ GPS )¥LMA>B' Fig. 1 ) 7 K8 + Y¦"*8 Sky-+ E^e*¨ *8}|Xa% &&©ª4%.3«¬­H®

(" +./ KS)Z 0 l% q¯ - _8Ru),% &Y°8Z ; +3* m *8+1* K*8¥)h#¯ "Dd)La±- V

J²; #  "³Y°"8Z[\´µ¶|·4%&Xrm W .- km # ¥WY GPS W

)PmqZ ª¸ @¹Xa|¯ -   Fig. / Fig. 1  B 

% [\q|º|M¯RuyV"pIKk'a "4%Z -J

|RX%

K»ZE^#) .** m C¼±½% >#



143

   ! ,0* m "# !$-** m $ #% !&' .** m ()*+, -./012345(6,-.7)89: -** m ;<6=>$?) @ABC-.D:+,EF7) 23G
B(HIJ KLM  ! ,0* m NO9: -** mP7)QR8 ST ,, U 9:1VW7)* 3/ UXY$?) Z[89:VW\]ST
^)QR ST_`1ab)XY8(^cd6e^ fghijk -.GB_` / l``.GB(mnopqrs$tl-.GB$?)*
6u+Q/ῌ/ 

vwxyz1{Q|}~k E Z1.Q Fig. - @ r|}~:1v
wxyz1k i7)
Fig. 2 8!O+,Q-.\ Sky-+ T vwxyz1$dQ]$?) d
QT1)*$|}~:6@AQ+1
)*6$) 8 #@+ m E1 ¡¢ Q£¤ |}~:+,*+-* ppm $?Q ¥ @m1-.Q
Fig. 0. Air photograph of the crater lake of KusatsuShirane volcano taken by Sky-+.

W,¢QH9|}~:8 -.0 ppm $?Q6 *¦1§¨7)8©p6XY$?) ª«{¨Q|}~E8¬­D:6H® + l¯ 1°7±
Q$²³6´u) (µ¶$?Q$ :8·

Fig. 1. The ﬂight absolute altitude of Sky-+ obtained by an onboard GPS and the groundelevation of the sub-airplane point on the air photography mission for the crater lake.

 

144

Fig. 2. A screenshot of the observation video on the
H,S measurement mission. The main frame is anobjective view of Sky-+ ﬂight. Sub frame is theview of an onboard wireless video camera shooting
the indicator of a portable H, S sensor. These
two frame are synchronized by a video-editing
software.

Fig. 3. A photo of the training course for assembly of
Sky-+ at Osaka University on - August ,**2.

 KMA



 

       
 ! "# $% Sky-+ &'!()'! *+,

-.

/ 0! . 1234"# $5%6789:; <9&"#'#()(=)AB!+-C,DE F=-.GH/0-I1J(>K :) LMN>:;  ?2@*%

B 2 m "#MG'#3OJ(:;45678-PQ

>:;

9R

+ G):S;#;TUV<=N.* 1234"# );W)N + ! 

 F= YVZ-?@ DJ[>C, \G F#0>A-DQ]B^CDEAF

X>

YVZ-GH_`2aID);b3Yb;%);>cJN 45D  - !d%W)-eKJ

"#fALMg)AB!

0ῌ ΐῒ῎ῑ῍ῐ῏r,-stu]BDQ  PQv

wxyiZVnopqVZ)J( z{B!(fhijk2l0m)J( 45>AQ

nopqVZGNOJ ><=N Sky-+ -]BJ(. Flying Model Simulator (FMS) R. MöllerM. Möller);|}ZV~RS-F( Sky-+ T.UVWX );1xV14bN YZ

(1234nopqVZA- ,**2 [ 2  - . !

 B

 Sky-+ -XJ X>GD);

\[u]^_D `J( nopqVZ 

N  f/Qfhv9a B$ ]^ _D "Q ~RD- , b bjcbj5,d%d_'%(%% B-~RDf/ + b r,er, dWu [(fgh

B-~RD¡i r,j¢£4X¤j ¥kD¦ u -d§§l  - TN K mnDW)> FMS $ Sky-+ ->:;U¨V4n©£iopª «qJ

D Sky-+ drsYVZ-tJ u   

v0!9 Nu[¬Q_£4Jwx¨xij­q

U34 (http : //astrosis.ess.sci.osaka-u.ac.jp/MBO.html)

)T.U(®.¯?41°±}£4-BcJy:¯jV²>:; J(N W Sky-+ z[udX-³´J( µgd{ +* gd

drsYVZ Sky-+ ¶y | }~ `D:/ Sky-+ -·t'¸W)> (Fig. 3) W

S ] |VZV¹- º»D:;

µ + !  µ-G¸QT

U( !N):W)B[v!9

X>- Sky-+ §t'!( {B¼ X>-DW)>  Sky-+ 1½Qd§- (GB> (Fig. +*) mnT.U(  

145    !"#$%
& '()*+,- ./0 12%&$34,'&'
,5! 

6$0 473!8&$39:;
<=,9>?
B&&"#
"#

!"@#A$%'CD ("%-** m 1)E! F*11/+,G$.

0
Sky-+ G-HIJ,K.2L! /0.M .** m  12345 -** g '560 467/ N87OD9P&Q5
Fig. +*. A screenshot of FMS ﬂight simulator. A
virtual Sky-+ is ﬂying in the virtual ﬁeld.

RS1T:4$U; <VW=XYZ)[>D"#>,9 2\ R?,E7@]2\A!+,> ^ B 

C_D`EF + G/aC_D`bcde;
CUg\ NO/0O!/PQR,S/fH&IJ$K&''5LM! GG)Eh4<T' 9-H6I!UVW4$U2 2i bcde;$'^N

XYM\/k'l^,/ N,?m`n1

IJ$a

!doU&'

0MfghihDp7= ,E7@]2 $0!"@?! -e'qj C9,$0

Z[\,j]9^_ b/0c)9 , km '5/

$ klmn +31. 47!9o$ , m rst)uvw,Np 9,hx4yZ]D'4 <7/q/0Er

2''5s$j^04 NOh.&z2/0{tL4|$4U'uv}7 G

Sky-+ $wxE/SWyz.04$j]7 , 2K! h!

}72

{XYM,~>3|/

R^3 , km !7

$0|5 F} Sky-+ /125 - , +1ῌ ῐῑ,*q>? ~9!

h gl 9aC_,e Sky-+  Z$N. km  9!+,.0   G

-H,q2K! GPS ,29b#F'4$j]}72 ^h! ~w12$3/&&=^0 ,**3 \

LM,G^2,$04$^!dy9 GPS /0&6

2 9 2c! "&&%|$4

!!&^ 2$

"#



$q@)

'"@!GU~>37g\ GPS  b

"%b,[\6 /0¡¢*£x¤*£$ -**  }75

"#2K~¥j($''9& 2 4¡¢*£ Sky-+ ¦12!+,.

h! ¡§"#$¢& '$ §0£¨%©$ª  ¤2K ¥«&|ª"#^3!c$}7' 12 +3/* 

2ῌ ῎ ῍ ῏+331 c"#¦E -0 G

 !,¬­ED~§®$¨¯>§/ 0 G¡¡©/ - G$ª«  4¬4¨ Sky-+ ,2 °­}7'5 c¦E$4®¯,°K

$5Z'&^2¯®±¢,= ¥% ,**-±µ> !E$²³h ¨¯ ¡§!²£bu³´

$.0/ c!</±¶´ %' 9& 2 µ&&

!<"#>$04^3 c&'LM,1K ~¶0·¸,9}·¸*£!4U'~>37¹¹t)ºeLºy»  |&U»+^&$3*¼½,>¥,j  ½¯

 .* km 9~! + ¼ +* m

%

146

 

&'()*+,-./&01234'565*+'78/ 9 :;<-,= -** g >?@A'B C;9 !"D #E9  !" FG H<$I-J%&=K'L()M *-N/ +,-<O.<9 ;/P0Q !"4LRS- !')TU &V1,)M
5/*+'B2U $ Sky-+ 3W4'LX5[)T FG %&\]^@_@BC
Ia+Ubcdefg?hij'JCU
KF Mq GPS 'TrUsUtV'L&)
X !FG|}Y'Zd5/ ~[usU'
L&:K5 0FG a('b4c*&]5: '}d U5῏῎H< Sky-+ r1:stu9     MOVE  !

"#  $ MOVE x@

 "#: MXtV8/| K'56

5*+'78/ >ku'L:9 d!'L&['}U565*+'78/ ~7Le ~7 e 9@ ¡¢: Sky-+ 3W4'LX5[£¤¥¦'
78/ `>Ri¢: Sky-+ 'L(§ d}Y {¨©?ª¨ X5[X«+| K¬-FK **78/ ­¢:X
5[X«!"'U565*+'78/ ±wx¨'565²³®¡ ´¡ U565µ¶¡   FG >g·¸¹/: l'ºd/»K"¼½

ῌ ῑ ῐ ῍67 8  9Y:; (+31.) Z< = : >?@A` DZ<EF[ DZ;<GH ,/* p.
kKLM YlmN  O7P  DQRn  opS(,**.) 9uivwx'L&yz\{j/QW\ ]s^XX+_  `Q9/, ,,+ῌ,,..
dWe (,**-) +f J. Mass Spectrom. Soc.
Jpn., /+, ++3ῌ+,..
7ghi (+31.) j%&kuwg_@/ <t Xl< 2* +.+ῌ+.-
9Y:;9mnSo (+31/) @ pEqtV+vw @ x\  i .3
y +,  i /* y -  ;<9sz
s{9  0,ῌ00.
Nogami, K., Hirabayashi, J., Ohba, T., Ossaka, J.,
Yamamoto, M., Akagi, S., Ozawa, T. and Yoshida, M.
(,**+) Temporal variations in the constituents of volcanic ash and adherent water-soluble components in the
Unzen Fugendake eruption during +33*ῌ+33+. Earth
Planets Space, /-, 1-,ῌ1-*.
Nonami, K. (,**1) Prospect and recent research & development for civil use autonomous unmanned aircraft as
UAV and MAV, J. System Design Dynamics, +, +,*ῌ+,2.
 dWe p® (,***) +,-S¯ °;< .3 +0-ῌ+1/.
Taddeucci, J., Scarlato, P., Andronico, D., Cristaldi, A.,
Buttner, R., Zimanowski, B., and Kuppers, U. (,**1)
Advances in the study of volcanic ash. EOS Trans. Amer.
Geophys. Union, 22, ,., ,/-ῌ,/0.
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