Many of the brain-machine interfaces (BMIs), which detect the motor imagery or the movement states by noninvasive method, use the event related desynchronization (ERD) phenomena. The ERD is known as the intensity change of the specific frequency bands such as mu, beta, theta, and gamma. However, these bands can not be strictly defined because they are slightly different from each user. In this study, we use a l1-constrained least squares learning to obtain the coefficients of the discriminator which specialize frequency-bands and electrode-positions in each user. This parameter of the discriminator is sparse and it employs only few efficient features for discrimination. Experiment results show that the proposed method can obtain higher performance than the existing method.

This paper presents a high-speed transportation of capsule by launch. One of the main issues for the transportation is how to decelerate the capsule during its flight to avoid a large landing impact. In order to stop the capsule temporally in the air just before its landing, we propose a flight control method by multidirectional tension of wires. Since the capsule is connected with both auxiliary weights and reel system via wires, it can be geometrically constrained not to move by multiple pull of the wires. We develop the motion planner which makes the capsule reach the target at the desired speed, and control algorithm for it. The proposed method is applied to the soft landing of the capsule. The effectiveness of the proposed method is verified through the experiment.

Supposing a space mission of setting monitoring devices at suitable positions on the moon, we discuss how to apply a casting manipulation to the mission. This paper addresses a mechanism of a casting manipulator system and control method to launch a penetrator to the desired position. First, we discuss launching methods, and focus on a method by using rotation of a boom. We then propose the mechanism that keeps a posture of the penetrator equipped at the tip of the boom constant for the absolute coordinate system during its rotation. This mechanism prevents the wire which connects the penetrator and the robot's base from winding the boom. Analyzing a position error of landing point caused by delay of releasing the penetrator, we propose the motion control of the boom to reduce the error. Finally, we develop the system and verify the effectiveness of the proposed method through experiment.

In this paper new procedures for the measurement of mobility parameters, such as contact pressure, and an analysis of a low-pressure wheel model on deformable terrain, are presented. Because the lunar surface is covered by regolith which implies an irregular and rough terrain, the rover has difficulty in moving. Therefore a new low-pressure wheel is recommended for high mobility performance and low power consumption with a less complex mechanism. A low-pressure wheel can change its contact shape and pressure distribution to account for terrain. The presented measurement is achieved by a new measurement instrument on the wheel, and we presented analysis model is conducted through analysis of terramechanics mobility dynamics of a low-pressure wheel with normal stress. These procedures are valuable for evaluating the longitudinal velocity of the low-pressure wheel on deformable terrain.

In Earth orbit, astronomical observations are possible free from any absorption or disturbances by the Earth's atmosphere. Therefore, some large space telescopes and large space radio telescopes are planned for the future. We discuss the design of a radio telescope reflector which can be assembled in orbit by a space robot arm, with its networks and connecting mechanisms suitable for robot tasks. The characteristics of the new end-effector of robot arm and their suitability for onboard assembly tasks were confirmed by testing using a prototype end-effector and a two dimensional ground test arm. The test results are also described in this paper

An algorithm is developed for estimating the motion (relative attitude and relative position) of large pieces of space debris, such as failed satellites. The algorithm is designed to be used by a debris removal system which would perform various operations on space debris such as observation, investigation, capture, repair, refuel and de-orbit. During these operations, the debris removal system must control its position and attitude simultaneously. Such six degree-of-freedom control becomes more difficult if the failed satellite is changing attitude, such as by nutation. The information required as feedback signals for such a controller is relative - position, velocity, attitude and angular velocity - and these are expected to be measured or estimated from image data. The algorithm uses a combination of stereo vision and 3D model matching, applying the ICP (iterative closest point) algorithm, and uses time series of images to increase the reliability of the relative attitude and position estimates. To evaluate the algorithm, a visual simulator is prepared to simulate the on-orbit optical environment in terrestrial experiments, and the motion of a miniature satellite model is estimated using images obtained from the simulator

There are many tasks to be performed by space robots. However a single end-effector can not meet the individual task's requirements. NASDA is to launch an experimental robot satellite named ETS-VII. The satellite has a 6-DOF robot-arm to handle many experimental payloads. Payloads vary in mass, shape and size. Interfaces between payloads and the end-effector are standardized using grapple fixtures. Additional tools with grapple fixtures are also developed to meet specific task requirements. This paper shows current status of the space-robot's EVA end-effector and development result of the ETS-VII's end-effector, grapple fixtures and tools.