Japanese lunar robotics exploration by co-operation with lander and rover

Unmanned mobile robots for surface exploration of the Moon or planets have been extensively studied and developed. A lunar rover is expected to travel safely in a wide area and explore in detail. Japanese lunar robotics exploration is under study to conduct an unmanned geological survey in the vicinity of central peaks of impact craters for investigation of the sub-surface materials. This will give us the key information to study the lunar inner structure and understand the Moon’s origin and evolution as well as to investigate the evolution of magma ocean and later igneous processes. To carry out the geological exploration in the central peak, lander and rover co-operative exploration is proposed. The working group has been conducting feasibility study of advance technologies. This paper addresses an overview of lunar exploration with lander and rover and also enumerates future technologies to be established. The rover R&D group has developed an innovative science micro rover with a new mobility system and a lightweight manipulator. The design and implementation of a science rover for the near future lunar missions requiring long traverses and scientific observations are described and some experimental results are presented.     

A complex earth slide–earth flow induction by the heavy rainfall in July 2006, Okaya City, Nagano Prefecture, Japan

A seasonal rain front (Baiu front) accompanied a long-term accumulation of precipitation propagated over the wide areas of the main island of Japan during 15–24 July 2006. In Okaya City, Nagano Prefecture, several flow-type landslides occurred in the early morning of 19 July 2006, claiming eight lives. Among these landslides, a most peculiar complex earth slide–earth flow occurred on a north gentle slope of the upstream portion of the Motosawagawa River. In the source area, volcanoclastic soils overlying tuffaceous rocks at about 4-m depth slid due to the prolonged precipitation that raised the water table level in the soil. Along with the travel path, the failed materials fluidized causing the liquefaction of the volcanoclastic soils underlain by volcanic black ash soils. The resulting flow spread over a wide area up to the final deposition. Constant volume box-shear tests on undisturbed volcanoclastic soil specimens taken from the source area showed effective normal stress tended to decrease during shearing. The ring shear tests on saturated disturbed specimens produced the large loss of shear resistance, which may explain the fluidized motion of the complex landslide.     

Petrological variation of large-volume felsic magmas from Hakkoda-Towada caldera cluster: Implications for the origin of high-K felsic magmas in the Northeast Japan Arc

Abstract The Hakkoda‐Towada caldera cluster (HTCC) is a typical Late Cenozoic caldera cluster located in the northern part of the Northeast Japan Arc. The HTCC consists of five caldera volcanoes, active between 3.5 Ma and present time. The felsic magmas can be classified into high‐K (HK‐) type and medium‐ to low‐K (MLK‐) type based on their whole‐rock chemistry. The HK‐type magmas are characterized by higher K₂O and Rb contents and higher ⁸⁷Sr/⁸⁶Sr ratios than MLK‐type magmas. Both magmas cannot be derived from fractional crystallization of any basaltic magma in the HTCC. Assimilation‐fractional crystallization model calculations show that crustal assimilation is necessary for producing the felsic magmas, and HK‐type magmas are produced by higher degree of crustal assimilation with fractional crystallization than MLK‐type magmas. Although MLK‐type magmas were erupted throughout HTCC activity, HK‐type magmas were erupted only during the initial stage. The temporal variations of magma types suggest the large contribution of crustal components in the initial stage. A major volcanic hiatus of 3 my before the HTCC activity suggests a relatively cold crust in the initial stage. The cold crust probably promoted crustal assimilation and fractional crystallization, and caused the initial generation of HK‐type magmas. Subsequently, the repeated supply of mantle‐derived magmas raised temperature in the crust and formed relatively stable magma pathways. Such a later system produced MLK‐type magmas with lesser crustal components. The MLK‐type magmas are common and HK‐type magmas are exceptional during the Pliocene–Quaternary volcanism in the Northeast Japan Arc. This fact suggests that exceptional conditions are necessary for the production of HK‐type magmas. A relatively cold crust caused by a long volcanic hiatus (several million years) is considered as one of the probable conditions. Intensive crustal assimilation and fractional crystallization promoted by the cold crust may be necessary for the generation of highly evolved HK‐type felsic magmas.     

Experimental and numerical study on the fracture of rocks during injection of CO<Subscript>2</Subscript>-saturated water

Geological sequestration of CO₂ into depleted hydrocarbon reserviors or saline aquifers presents the enormous potential to reduce greenhouse gas emission from fossil fuels. However, it may give rise to a complicated coupling physical and chemical process. One of the processes is the hydro-mechanical impact of CO₂ injection. During the injection project, the increase of pore pressures of storing formations can induce the instability, which finally results in a catastrophic failure of disposal sites. This paper focuses mainly on the role of CO₂-saturated water in the fracturing behavior of rocks. To investigate how much the dissolved CO₂ can influence the pore pressure change of rocks, acoustic emission (AE) experiments were performed on sandstone and granite samples under triaxial conditions. The main innovation of this paper is to propose a time dependent porosity method to simulate the abrupt failure process, which is observed in the laboratory and induced by the pore pressure change due to the volume dilatancy of rocks, using a finite element scheme associated with two-phase characteristics. The results successfully explained the phenomena obtained in the physical experiments.     

Paleoseismological evidence for non-characteristic behavior of surface rupture associated with the 2004 Mid-Niigata Prefecture earthquake, central Japan

The 2004 Mid-Niigata Prefecture earthquake sequence (mainshock magnitude, M_JMA 6.8), which occurred in an active fold-and-thrust belt in northern central Japan, generated a small thrust surface rupture (< 20 cm of vertical displacement) along a previously unmapped northern extension of the active Muikamachi–Bonchi–Seien fault zone, on the eastern margin of the epicentral region. To better understand past seismic behavior of the rupture, we conducted a paleoseismic trenching study across the 10-cm-high west-side-up surface rupture at the foot of a pre-existing 1.8-m-high east-facing scarp, which probably resulted from past earthquake(s). A well-defined west-dipping thrust fault zone accompanied by drag folding and displacing the upper Pliocene to lower Pleistocene strata and the unconformably overlying upper Pleistocene (?) to Holocene strata was exposed. The principal fault zone is connected directly to the 2004 surface rupture. From the deformational characteristics of the strata and radiocarbon dating, we inferred that two large paleoseismic events occurred during the past 9000 years prior to the 2004 event. These two pre-2004 events have a nearly identical fault slip (at minimum, 1.5 m), which is ≥ 15 times that of the 2004 event (∼ 10 cm). These paleoseismic data, coupled with the geological and geomorphological features, suggest that the 2004 event represented non-characteristic behavior of the fault, which can potentially generate a more destructive earthquake accompanied by meter-scale surface displacement. This study provides insight into the interpretation of past faulting events and increases our understanding of rupture behavior.     

Evidence for ocean water invasion into the Chicxulub crater at the Cretaceous/Tertiary boundary

Abstract The possibility of ocean water invasion into the Chicxulub crater following the impact at the Cretaceous/Tertiary boundary was investigated based on examination of an impactite between approximately 794.63 and 894.94 m in the Yaxcopoil‐1 (Yax‐1) core. The presence of cross lamination in the uppermost part of the impactite suggests the influence of an ocean current at least during the sedimentation of this interval. Abundant occurrence of nannofossils of late Campanian to early Maastrichtian age in the matrices of samples from the upper part of the impactite suggests that the carbonate sediments deposited on the inner rim margin and outside the crater were eroded and transported into the crater most likely by ocean water that invaded the crater after its formation. The maximum grain size of limestone lithics and vesicular melt fragments, and grain and bulk chemical compositions show a cyclic variation in the upper part of the impactite. The upward fining grain size and the absence of erosional contact at the base of each cycle suggest that the sediments were derived from resuspension of units elsewhere in the crater, most likely by high energy currents association with ocean water invasion.     

Seasonal variation in the energy and water exchanges above and below a larch forest in eastern Siberia

The water and energy exchanges in forests form one of the most important hydro‐meteorological systems. There have been far fewer investigations of the water and heat exchange in high latitude forests than of those in warm, humid regions. There have been few observations of this system in Siberia for an entire growing season, including the snowmelt and leaf‐fall seasons. In this study, the characteristics of the energy and water budgets in an eastern Siberian larch forest were investigated from the snowmelt season to the leaf‐fall season. The latent heat flux was strongly affected by the transpiration activity of the larch trees and increased quickly as the larch stand began to foliate. The sensible heat dropped at that time, although the net all‐wave radiation increased. Consequently, the seasonal variation in the Bowen ratio was clearly ‘U’‐shaped, and the minimum value (1·0) occurred in June and July. The Bowen ratio was very high (10–25) in early spring, just before leaf opening. The canopy resistance for a big leaf model far exceeded the aerodynamic resistance and fluctuated over a much wider range. The canopy resistance was strongly restricted by the saturation deficit, and its minimum value was 100 s m^?1 (10 mm s^?1 in conductance). This minimum canopy resistance is higher than values obtained for forests in warm, humid regions, but is similar to those measured in other boreal conifer forests. It has been suggested that the senescence of leaves also affects the canopy resistance, which was higher in the leaf‐fall season than in the foliated season. The mean evapotranspiration rate from 21 April 1998 to 7 September 1998 was 1·16 mm day^?1, and the maximum rate, 2·9 mm day^?1, occurred at the beginning of July. For the growing season from 1 June to 31 August, this rate was 1·5 mm day^?1. The total evapotranspiration from the forest (151 mm) exceeded the amount of precipitation (106 mm) and was equal to 73% of the total water input (211 mm), including the snow water equivalent. The understory evapotranspiration reached 35% of the total evapotranspiration, and the interception evaporation was 15% of the gross precipitation. The understory evapotranspiration was high and the interception evaporation was low because the canopy was sparse and the leaf area index was low. Copyright © 2001 John Wiley & Sons, Ltd.     

Drainage density, slope angle, and relative basin position in Japanese bare lands from high-resolution DEMs

Relationships between drainage density and slope angle for three bare lands in Japan were analyzed with special attention to channels at early erosion stages and channels in a badland-type terrain. Two of the bare lands were caused by volcanic eruptions 1 or 30–40 years ago, and the other one is a landslide scar formed more than 100 years ago. Raster digital elevation models (DEMs) with a 1-m resolution and ortho aerial photos were generated using digital photogrammetry to enable detailed stream-net extraction and topographic analyses. Data for drainage density, slope angle, and relative height for 88 subwatersheds were obtained from the DEMs and derived stream-nets. The relationship between drainage density and slope angle for each subwatershed can be divided into two types: downward sloping and convex upward. Although previous studies suggested that drainage density positively correlates with slope angle if overland flow is dominant, this correlation seldom occurs in the study areas. The two types of drainage density–slope angle relationships correspond to differing channelization stages that reflect the extension and integration of existing channels, as well as the formation of new low-order streams in response to base-level lowering. The location of subwatersheds within each study area seems to play a major role in determining the stages of channel development and, in turn, the types of drainage density–slope angle relationships.     

Seismicity changes related to a water injection experiment in the Nojima Fault Zone

Abstract A water injection experiment was carried out by the scientific drilling program named the 'Nojima Fault Zone Probe' during the two periods 9–13 February and 16–25 March 1997. The pumping pressure at the surface was approximately 4 MPa. The total amount of injected water was 258 m³. The injection was made between depths of 1480 m and 1670 m in the Disaster Prevention Research Institute, Kyoto University (DPRI) 1800 m borehole drilled into the Nojima Fault zone. A seismic observation network was deployed to monitor seismic activity related to the water injections. Seismicity suddenly increased in the region not far from the injection hole 4 or 5 days after the beginning of each water injection. These earthquakes were likely to be induced by the water injections. Most of the earthquakes had magnitudes ranging from −2 to +1. Numerous earthquakes occurred during the first injection, but only one could be reliably located and it was approximately 2 km north of the injection site. Between the two injection periods, earthquakes concentrated in the region approximately 1 km northwest of the injection site. During and after the second injection experiment, earthquakes were located approximately 1.5 km west of the injection site. Those earthquakes were located approximately 3 km or 4 km from the injection point and between 2 km and 4 km in depth. Values of intrinsic permeability of 10⁻¹⁴–10⁻¹⁵ m² were estimated from the time lapse of the induced seismic activity. The coefficient of friction in the area where the induced earthquakes occurred was estimated to be less than 0.3.