Curriculum Vitaes

Shoichiro Takehara

  (竹原 昭一郎)

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Professor, Faculty of Science and Technology, Department of Engineering and Applied Sciences, Sophia University

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  • Kazuki Nirayama, Shoichiro Takehara, Satoshi Takayama, Yusuke Ito
    Automation, 3(3) 364-377, Jul 19, 2022  Peer-reviewedCorresponding author
    Tethers (strings and wires) are used in various mechanical systems because they are lightweight and have excellent storability. Examples of such systems include elevators and cranes. In recent years, the use of tethers in special environments, such as outer space, is expected, and various systems have been proposed. In this study, we propose a mobility system using a tether that moves a human by winding a tether attached to a wall. However, the method has a problem whereby the attitude of the human can lack stability during the winding of the tether. We developed the attitude control method of the Tether Space Mobility Device during tether winding while focusing on fluctuations in the rotational kinetic energy of systems. The effectiveness of the control method was shown using numerical simulation. In this paper, the proposed control system is installed in the experimental device for validating the numerical simulation model. Then, we verified the effectiveness of the proposed control method through experiments using an actual system. The experimental results confirm that the angular velocity of the Tether Space Mobility Device converges to 0 deg/s when control is applied. In addition, it was shown that the proposed control method is effective for automatically winding the tether.
  • Hirokiyo Nomura, Takanari Yoshikawa, Kosuke Hamabe, Shoichiro Takehara, Soichiro Inoue
    Journal of St. Marianna University, 13(2) 77-86, 2022  Peer-reviewed
  • Satoshi Takayama, Shoichiro Takehara, Ryota Yuasa
    Modelling, 2(3) 370-384, Aug 20, 2021  Peer-reviewedCorresponding author
    Advances in space technology have opened up opportunities for human beings to work in outer space. It is expected that the upsizing of manned space facilities, such as the International Space Station, will further this trend. A unique means of transportation is necessary to ensure that human beings can move about effectively in microgravity environments. Here, we propose a tether-based mobility system that moves the user by winding a tether attached to a structure at the destination. To overcome the attitude instability of the user during tether winding, the Tether Space Mobility Device (TSMD) attitude control method for winding a tether is applied and examined through numerical analysis. The proposed analytical model for motion analysis consists of one flexible body and three rigid bodies. The contact force between the tether and the TSMD inlet is determined. Using the numerical analysis model, we investigated the effect of slit shape during tether extension and winding.
  • Daiki Ishihsra, Yoshiaki Terumichi, Shoichiro Takehara
    Vibration Engineering for a Sustainable Future, 219-225, Apr 26, 2021  Peer-reviewedLast author
  • 立原 誠也, 竹原昭一郎, 松岡 正憲, 西澤 幸男
    自動車技術会論文集, 52(2) 492-499, Mar, 2021  Peer-reviewedCorresponding author



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