Tomoki Koshi

Designing an Efficient Excavator Bucket for Lunar ISRU: A Comparative Study with Vision-Based Fill and Displacement Analysis

This paper present a spiral-cavity wheel for lunar regolith excavation and a sensor-light evaluation stack that jointly estimates fill ratio (vision), sinkage (vision), and specific energy from actuator logs. In benchtop tests (four revolutions at 5, 10, and 15 RPM) against two literature baselines,…