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Development of Mobile Sensor for Volcanic Observation “HOMURA”
Katsuya KANEKO῍, Ko-ichi ITO῍῍ and Yu-ichi ANBE῍῍
Monitoring of volcanic phenomena close to active volcanic vents and inside active craters is needed to predictchange of volcanic activities and to understand dynamics of volcanic eruptions. In order to carry out safe
volcanic monitoring, we have developed a prototype of a mobile sensor for volcanic observation “HOMURA”,
which is a new robotic system that has been designed to observe volcanic phenomena inside active volcanic craters.
HOMURA is a small unmanned ground vehicle (approx. 12*/0*-** mm in dimension and +* kg in weight)
with six wheels driven by electric motors and it is operated by wireless remote control at a distance of more than+ km. Data measured by some sensors in HOMURA are sent to the base station in real time. Materials of thevehicle body and wheels are aluminum with , mm thick and plywood with 3 mm thick, respectively. HOMURA
can climb up and down a rough surface with slope angle of -* degree. In addition, HOMURA does not readily
become undrivable even in overturning during climbing because it has a unique body shape with a horizontal
symmetry plane. HOMURA can be made and transported to mission ﬁelds at small costs. These allow us tomake a new vehicle even if HOMURA should be lost by accident during missions and promptly to explore asudden volcanic event by HOMURA. In test campaigns at Aso volcano and Izu-Oshima volcano, we conﬁrmedthat HOMURA has planned abilities on moving on rough surfaces and wireless communication.
Key words : robot, unmanned ground vehicle, monitoring, active vent, volcanic exploration+ῌ ῐ ῎ ῑ ῏$%&'()*+,-./01234156 78&9

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Graduate school of Human and Environmental Studies,
Kyoto University, Yoshida-nihonmatsu-cho, Sakyo-ku,
Kyoto 0*0ῌ2/*+, Japan.
0*0ῌ2/*,    

Faculty of Science, Kyoto University, Kitashirakawaoiwake-cho, Sakyo-ku, Kyoto 0*0ῌ2/*,, Japan.
Corresponding author : Katsuya Kaneko
email : katsuya@gaia.h.kyoto-u.ac.jp
t e l : !2+ῌ1/ῌ1/-ῌ021.
fax : !2+ῌ1/ῌ1/-ῌ021,

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Fig. 1. Photographs of the test trials at volcanic ﬁelds. (a) HOMURA climbing up a roughsurface slope near Nakadake crater, Aso volcano. (b) At the rim of Nakadake crater. (c)HOMURA climbing up a slope covered with scoriae at Urasabaku of Mihara-yama volcano.
(d) Following MOVE at Urasabaku. MOVE is a robot for volcanic observation developedby Tohoku University.

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LMNOPQRS 7TUVῌ ῏ ῎ ῍Apostolopoulos, D. and Bares, J. (+33/) Locomotion conﬁguration of a robust rappelling robot. Proceedings of+33/ IEEE/RSJ International Conference on Intelligent
Robots and Systems 3/, Human Robot Interaction andCooperative Robots, -, ,2*ῌ,2..
Bares, J.E. and Wettergreen, D.S. (+333) Dante II : technical description, results and lessons lerned. The international Journal of Robotics Research, 0,+ῌ0.3.
Caltabiano, D. and Muscato, G. (,**/) A robotic systemfor volcano exploration. In Cutting Edge Robotics(Kordic, V., Lanzinica, A., and Merdan, M. eds.), .33ῌ/+2. ARS/pIV, Germany.
Guccione, S., Muscato, G., Nunnari, G., Virk, G.S., Azad,
A.K.M., Semerano, A., Ghrissi, M., White, T. andGlazebrook, C. (,***) Robots for volcanos : the state of
the art. Proceedings of the -rd international conference

on climbing and walking robots, 111ῌ122.
Muscato, G., Caltabiano, D., Guccione, S., Longo, D.,
Coltelli, M., Cristaldi, A., Pecora, E., Sacco, V., Sim, P.,
Virk, G.S., Briole, P., Semerano, A. and White, T.
(,**-) ROBOVOLC : a robot for volcano exploration
result of ﬁrst test campaign. The Industrial Robot, -*, -,,-+ῌ,.,.
Shinohara, H. (,**/) A new technique to estimate volcanic
gas composition : plume measurements with a portable
multi-sensor system. J. Volcanol. Geotherm. Res., +.-,-+3ῌ---.
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z     (,**3) \]PQ` MOVE   +21 +*ῌ+1.
Wettergreen, D., Pangels, H. and Bares, J. (+33/) Behaviour based gait execution for the DANTE II walking
robot. Proceedings of +33/ IEEE/RSJ International Conference on Intelligent Robots and Systems 3/, Human
Robot Interaction and Cooperative Robots, -, ,1.ῌ,13.
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