On Ice and In Space, Drawing Trajectories

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At JAXA Sagamihara Campus where this dialogue was conducted

Special Talk
On Ice and In Space,
Drawing Trajectories

MACHIDA TatsukiSports Scientist and Choreographer

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OZAKI NaoyaAssociate Professor
DESTINY⁺ Project Team
Institute of Space and Astronautical Science (ISAS)

The path that an object takes when it moves is called a trajectory. Wanting to take a look behind the scenes at the trajectories that people follow on the ice and that space probes follow in space, we brought together MACHIDA Tatsuki, a former figure skater who now specializes in sports science, and OZAKI Naoya, a researcher who designs trajectories for spacecraft, to catch a glimpse of where their trajectories intersect.


Spacecraft trajectories and figure skating: the dynamics of each

On the whiteboard in Ozaki's laboratory are mathematical formulas for trajectory design
On the whiteboard in Ozaki's laboratory are mathematical formulas for trajectory design

Machida

I'm a researcher in the humanities so I'm not familiar at all with physics, but if you give an object in space a push, will it never stop moving? Because there's no air resistance in a vacuum.

Ozaki

Yes, it won't stop. Strictly speaking, there's actually a slight amount of gas and dust floating around in space so it isn't a perfect vacuum, but we can basically say that there is "no" air, and objects will keep moving forward without stopping. On the ground, it's easy to stop and make a sudden right or left turn, for example, but in space, it becomes more difficult. While it's not impossible to force a left or right turn, the efficiency is extremely poor.

Machida

Conversely, what kind of trajectory would be more efficient?

Ozaki

A trajectory that embraces dynamics and goes with the flow. There's no air in space, but there is gravity. The use of celestial bodies' gravity is a very important part of the dynamics when designing a spacecraft trajectory.

Ozaki noted, “If we follow the equations of motion comprising Kepler's laws (laws concerning the motion of celestial bodies), the trajectory of an object in motion under the action of gravity is itself relatively simple to calculate. But the problem is ......,” and then explained the difficulties of trajectory design.
Ozaki noted, “If we follow the equations of motion comprising Kepler's laws (laws concerning the motion of celestial bodies), the trajectory of an object in motion under the action of gravity is itself relatively simple to calculate. But the problem is ......,” and then explained the difficulties of trajectory design.

Machida

A swing-by, right? I love HIGASHINO Keigo's Detective Galileo series of mystery novels and I've watched the dramatizations as well, so I learned about this through a scene portraying an experiment in which the main character, the genius physicist Dr. Yukawa, corrects the trajectory of a satellite using the gravity of a celestial body.

Ozaki

That's exactly right. When a satellite or spacecraft passes near a celestial body, the effect of universal gravitation becomes stronger, and it's pulled by the tremendous gravity of the celestial body. By utilizing this force and the orbital speed of the celestial body, we can increase the degree of freedom we have in trajectory control, such as accelerating or decelerating and correcting the flight direction. This is called swing-by. For an intuitive understanding of the concept, you can imagine "Earth" running on a tennis court that represents the "solar system" and hitting a ball called a "probe" with a tennis racket. In reality, the Earth doesn't physically hit the probe, but rather bends its trajectory through gravity.

Ozaki's bookshelf in the laboratory. The upper shelf contains books on physics and mathematics essential for trajectory design, such as analytical mechanics, N-body problems, and probability theory, while the lower shelf contains a variety of books to gain broad knowledge for mission design, such as the “Modern Astronomy Series.”
Ozaki's bookshelf in the laboratory. The upper shelf contains books on physics and mathematics essential for trajectory design, such as analytical mechanics, N-body problems, and probability theory, while the lower shelf contains a variety of books to gain broad knowledge for mission design, such as the “Modern Astronomy Series.”

Machida

I see. That's an interesting analogy.

Ozaki

A spacecraft must be loaded with a lot of fuel to reach a distant celestial body but, if it performs a swing-by, it can change its trajectory with less fuel. So we designers have to ask ourselves, how can we design a more efficient trajectory while performing a swing-by? We design the optimal trajectory to solve this problem by calculating the equations and simulating the trajectory on a computer.

Machida

You're showing us the results of such a simulation in a two-dimensional diagram (see image ➊ below) but, in reality, celestial bodies and spacecraft are in constant motion, so it seems a difficult task beyond my imagination.

➊ Ozaki is in charge of trajectory design for the DESTINY+ deep space exploration technology demonstrator, which will be propelled by ion engines in accelerating and gaining altitude while orbiting the Earth hundreds of times, then employing the Moon's gravity to change its trajectory and accelerate to the asteroid Phaethon. The image shows the actual blueprint that Ozaki drew of the trajectory of DESTINY+ from Earth to deep space.
➊ Ozaki is in charge of trajectory design for the DESTINY+ deep space exploration technology demonstrator, which will be propelled by ion engines in accelerating and gaining altitude while orbiting the Earth hundreds of times, then employing the Moon's gravity to change its trajectory and accelerate to the asteroid Phaethon. The image shows the actual blueprint that Ozaki drew of the trajectory of DESTINY+ from Earth to deep space.
The diagram depicts the interplanetary trajectory of DESTINY+ to visit multiple asteroids
The diagram depicts the interplanetary trajectory of DESTINY+ to visit multiple asteroids

Ozaki

There are so many possible trajectories that there's no end to the pursuit, and they can't be calculated in a realistic amount of time. Therefore, we try to narrow down the trajectories and then optimize them, but what is needed at that point is intuition and sense cultivated through experience. This is where the individuality of the designer comes into play.

Machida

Actually, I think trajectory design and figure skaters' thinking have very similar patterns.

Ozaki

I was sure there would be similarities.

CG image of DESTINY+
CG image of DESTINY+

Machida

Figure skating got its name from the fact that skaters draw figures as they skate on the ice, and this eventually evolved into a competition over the precision of the figures. Nowadays, it's not only technique but also choreography and skill in expressing the choreography that are scored, so skaters compose the space by considering how they can use the 30m wide x 60m long skating rink to appeal to the largest number of people. Figure skating is a world dominated by air resistance and frictional resistance from the ice, the exact opposite of outer space where there is no air resistance in a vacuum. If you push off the ice, your body will eventually come to a stop, so you need to keep pushing to keep moving. And what if you wanted to do a triple axel, for example? You'd first need the proper speed to jump. In other words, what would be the best steps to take to follow a trajectory from point A to point B? Can you get up the speed to jump efficiently? It's also important to create a line with your body that appears the most beautiful to many people.

The first video collection of figure skating works Machida choreographed and performed “Machida Tatsuki: Choreographed and Performed Figure Skating Works, Prince Ice World Video Collection 2013-2018”. The image shows a self-drawn tracing of the trajectory of one of the scenes from the work “Boléro: Origine et Magie” presented in 2018.
The first video collection of figure skating works Machida choreographed and performed “Machida Tatsuki: Choreographed and Performed Figure Skating Works, Prince Ice World Video Collection 2013-2018”. The image shows a self-drawn tracing of the trajectory of one of the scenes from the work “Boléro: Origine et Magie” presented in 2018.

Ozaki

It would seem even more complicated if we consider the external factor of music.

Machida

Machida: That's right. I think about how to take steps backward so I can land on the ice at the moment a particular sound is made. Even though there are tens of thousands of expressions in choreography, it's important to find the best way to adapt to those external factors and constraints. This is where a skater's sense shines the brightest. This process is exactly the same as your trajectory design, isn't it?That's right. I think about how to take steps backward so I can land on the ice at the moment a particular sound is made. Even though there are tens of thousands of expressions in choreography, it's important to find the best way to adapt to those external factors and constraints. This is where a skater's sense shines the brightest. This process is exactly the same as your trajectory design, isn't it?

Extreme functionality is the essence of beauty

“I think the trajectory of DESTINY+ is beautiful.” A work by an artist who heard Ozaki's story and drew that trajectory with brass wire
“I think the trajectory of DESTINY+ is beautiful.” A work by an artist who heard Ozaki's story and drew that trajectory with brass wire

Machida

Under the laws of physics that govern the universe, things that have been pushed to their utmost limits of functionality are imbued with beauty. For example, humans naturally tend to find beauty in the Fibonacci sequence (in which every number is the sum of the previous two numbers) and fractal structures (in which each part has a similar shape to the whole), and I think this trajectory design is just an extension of that. In fact, the lines and shapes of the trajectory are beautiful, and it would be interesting if we could connect them to the creation of art.

Ozaki

As you say, trajectory design becomes beautiful by eliminating any waste and using the flow of dynamics as much as possible. At the same time, I think that "beauty" is subjective. Having seen many trajectories myself, I feel that an optimized trajectory is beautiful but this beauty includes not only the resultant trajectory but also the story behind it, such as the designer's hard work. A trajectory finally emerging after about a year of grueling mathematical equation-solving looks especially beautiful.

Machida is a space enthusiast and often reads space-related books. KAWAI Hikaru's Hajimete no cho-himo riron (
Machida is a space enthusiast and often reads space-related books. KAWAI Hikaru's Hajimete no cho-himo riron ("A First Look at Superstring Theory"; published by Kodansha) and Machida's handwritten notes to help him organize his thoughts on his interpretation of the book

Machida

The sensitivity to see something and find it beautiful doesn't happen overnight. Even if they see the same thing, person A may be moved by it but person B may not think anything of it. That's why it's important to navigate so that not only the creators but also the general public find something beautiful. No matter how many elite artists you bring together to perform, people who have never been exposed to figure skating or theater will not know how to appreciate it or what the beautiful points are. When trying to develop the arts, it's also very important to educate the audience and cultivate their sensitivity. This holds true not only in the world of art but also in the world of science.

From trajectory design to overall exploration mission design

Machida

With my days as a competing athlete behind me, I'm now a researcher specializing in sports science and engaged in research and educational activities, but I concurrently work as a figure skating choreographer and commentator. Take the "Études Project" that I started in July of this year, for example. This project offers not choreographic works for athletes but universal design works that allow anyone to freely experience the true joy of skating, and they're available on a dedicated YouTube channel.

Ozaki

What prompted you to start the project?

Machida

Just as in the field of music, there's practice music such as Beyer that anyone can play, there are educational works in all artistic genres. However, there was nothing like that in figure skating. I wanted to change that. I wanted to offer everyone the opportunity to skate with high-quality choreography for free to help them enjoy a more enriching experience. By handling everything from music selection to choreography and model performances, we made it possible for anyone to skate to these works free and unlicensed as long as it's for non-commercial purposes.

Ozaki

That's a very good project. There are several things I'd like to create someday as well from the perspective of universal design and public interest. There's a crewed lunar exploration project called the "Artemis Project" underway internationally, and people from all walks of life may be able to go to the Moon in the near future. I'd like to create a system that allows anyone to easily design a trajectory, something like a trajectory-design version of Google Maps, so that human space exploration won't come to a halt with that project.

Machida

If that were to happen, is there any fear that your expertise and craftsmanship would be lost, that AI would take over your role?

Ozaki

I'm not personally afraid of that and, indeed, I'm on the side of trying to accelerate it. In fact, if such a future comes, I'd like to concentrate on how to make the entire exploration mission more interesting, leaving trajectory design itself to AI. To begin with, trajectory design isn't a task completed by drawing a route for a spacecraft's journey in space, but one that must be carried out in conjunction with creating the entire exploration mission. For example, the distance between the spacecraft and the Sun is determined only after the trajectory is designed, greatly changing conditions for the spacecraft's power and thermal design. In other words, trajectory design is also relevant to the specifications of the spacecraft and it's the task that determines the exploration program's primary schedule, as the launch date and arrival time at the target celestial body are also determined only after the trajectory is designed. This is called space mission design. The route of the trip is drawn taking these conditions into account so, if AI starts doing the trajectory design part in the future, I'd like to shift my own focus to space mission design.

Combining existing knowledge to create something new

Machida

There's a position in the world of performing arts called a dramaturg, and you're like a dramaturg for space exploration.

Ozaki

Dramaturg ... I've never heard that term before.

Machida

They're involved in all the intellectual work that takes place in the creative arena, so they're always keeping eyes on the whole creative process to determine what we should be creating in the current era and in what form it should be presented to the public. Dramaturgs oversee everything, planning things from scratch, giving them shape and presenting them to the world.

Books authored by Machida, from left to right: “Letters to a Young Athlete” (Yama-Kei Publishers), “Artistic Sport Management: Interdisciplinary Studies Based on Figure Skating” (Hakusuisha Publishing), “Figure Skating and Music: On Now to a World of Art on Ice” (Ongaku no Tomo Sha).
Books authored by Machida, from left to right: “Letters to a Young Athlete” (Yama-Kei Publishers), “Artistic Sport Management: Interdisciplinary Studies Based on Figure Skating” (Hakusuisha Publishing), “Figure Skating and Music: On Now to a World of Art on Ice” (Ongaku no Tomo Sha).

Ozaki

May I call myself a dramaturg from now on? (Laughs)

Machida

By all means (laughs).

Ozaki

But I really am a dramaturg. As an trajectory design specialist, I believe we are at a time when it's no longer enough to think just about trajectories and missions. Instead, what's important is properly grasping current trends and proposing missions based on what the world expects of us today and what we should do within that context.

Machida

As a researcher, I'm exactly the same way. I believe it's important to think about how my research can benefit society and then put this into practice. Writing papers, publishing them in academic journals, and properly producing research results in the world of academia are the primary responsibilities of any researcher, but I'd like to focus on generating new knowledge and giving back to society by actively collaborating with outside parties rather than confining myself to my own laboratory. This is because I believe that the nucleus of innovation arises more from combining existing things in different ways rather than creating them from scratch. In that sense, today's dialogue is one such example.

Machida and Ozaki visit an exhibition hall (Communication Hall of Space Science and Exploration) on the Sagamihara Campus
Machida and Ozaki visit an exhibition hall (Communication Hall of Space Science and Exploration) on the Sagamihara Campus

Ozaki

For me, too, today's dialogue has been a good inspiration that could well lead to innovation.

Machida

Machida: That's why my research is interdisciplinary. Sometimes I take a sociological approach, sometimes an artistic approach, and sometimes I incorporate law and economics. I explore each discipline horizontally instead of vertically, connecting each theory and creating new analytical tools to deepen my research. That's my own research style. Adopting this style lets me not only capture trends but also create them.

Ozaki

It really does.

Machida

In terms of creation, there's a space exploration project that we're currently considering. The idea is to send multiple probes to explore many asteroids at a frequency of about one per month.

Ozaki

In terms of creation, there's a space exploration project that we're currently considering. The idea is to send multiple probes to explore many asteroids at a frequency of about one per month.

Machida

Why target so many asteroids?

The surface of Ryugu as photographed by the Hayabusa2 asteroid explorer; Hayabusa2's shadow can also be seen in the image
The surface of Ryugu as photographed by the Hayabusa2 asteroid explorer; Hayabusa2's shadow can also be seen in the image

Ozaki

About 1.2 million asteroids such as Ryugu (the asteroid reached by the Hayabusa2 asteroid explorer) have been discovered, but humans have directly explored fewer than 20 of these. Having only looked at 20 in 1.2 million, we don't have all the statistical information we need. Another concept that hasn't been used in past, space exploration is targeting a large number of asteroids without having a specific target object in mind. Space exploration thus far has had target objects, and specialized spacecraft have been sent to explore them. However, I think it'd be good to have a mission based on the concept of not deciding until later which celestial body you want to go to.

Machida

You're truly creating the trend.

Ozaki

There's a scientific explanation that water was first brought to the Earth by countless asteroids and comets: asteroids with rock-bound water and comets containing chunks of ice flew into the Earth, and their moisture may have been the source of water on the Earth. Asteroids are good research matter from the perspective of understanding the Earth's water.

Machida

It's exciting for us as ordinary citizens to see that the mission will create new scientific value while also exploring the origins of the Earth's water.

Ozaki

I really hope we can make it happen. What kind of path do you want to take in the future?

Machida

Well, I'm a researcher and an artist, so I'd like to create new value through this dual identity as I press forward on these two wheels. Given the interplay between these two personae, I feel the more research results I actually produce, the richer my artistic creativity becomes. When I want to create valuable choreographic works that I've never produced before as an artist, for instance, how I stand on the shoulders of giants is important. In other words, I can ultimately find my sweet spot as an artist by refining my scholarship as a researcher.

Ozaki

I think I understand. I myself am exploring cutting-edge science and technology while conducting advanced research within the cross-fertilization between academia and engineering. It's true that the possibilities expand only when both wheels are involved.

Machida

I'd like to create new value by switching back and forth between the two faces.

The tiles laid in a radial pattern are filled with such images as the Sun, Halley's Comet, the universe, and the Big Bang.
The tiles laid in a radial pattern are filled with such images as the Sun, Halley's Comet, the universe, and the Big Bang.

Profile

MACHIDA Tatsuki

MACHIDA Tatsuki
Sports Scientist and Choreographer

A sports science researcher and choreographer born in 1990, he is currently an assistant professor in Kokugakuin University's Faculty of Human Development, having received his doctorate in sports science in March 2020. He specializes in sport and art management and performing art theory, and his principal publications include “Letters to a Young Athlete” (Yama-Kei Publishers, 2022). He is a big space freak.

OZAKI Naoya
Associate Professor
DESTINY⁺ Project Team
Institute of Space and Astronautical Science (ISAS)

Born in Hyogo Prefecture, he was involved in the development of the world's first deep space micro spacecraft PROCYON during his graduate school years, and fell in love with the field of space engineering. Following his training at ESA and NASA, he has taken part in trajectory design at JAXA for many deep space exploration missions such as DESTINY+ and MMX. He enjoys playing the electric guitar and sometimes performs at JAXA events.

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