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Performance Evaluation And Dynamics Of Rovers For Planetary Exploration
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Book Synopsis Performance Evaluation and Dynamics of Rovers for Planetary Exploration by : Bahareh Ghotbi
Download or read book Performance Evaluation and Dynamics of Rovers for Planetary Exploration written by Bahareh Ghotbi and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "Planetary exploration and off-road applications require rovers to operate in unstructured environments, involving interaction with soft soil, non-homogeneous terrain and sloped and rocky surfaces. In this context, simulation and analysis tools can be very helpful to characterize the mobility of rovers under various terrain conditions. Modelling of rovers with the objective of predicting their behaviour requires adequate knowledge of the parameters of the system and its environment. Due to the existence of uncertainties in estimation of terrain properties, accurate prediction of wheel-soil interaction poses the main challenge in the simulation of rover manoeuvres. However, accurate prediction of a rover behaviour may not be necessary for evaluation and improvement of its design and operational strategies. To this end, an alternative approach is introduced which relies on what is termed observative models, as opposed to the predictive ones. The objective of using observative models is to develop an understanding of the way the system performance would be affected by the change of its design and operation parameters. Observative models of rovers are able to capturethe trends that are generally observed and it is shown that variations in terrain parameters do not affect the validity of the results obtained with these models. A detailed study of the wheel-soil interaction phenomena is carried out which shows that the ability of rovers in developing drawbar pull is greatly influenced by the distribution of the normal load among their wheels. The normal force dispersion isused as a performance indicator to compare the mobility of different rover configurations. Based on the type of soil and other factors such as the multipass effect, a series of design and operation guidelines are proposed in order to improve the ability of rovers to generate higher drawbar pull and climb steeper slopes and larger obstacles. These guidelines include the modification of the chassis internal force distribution via redundant actuation. The effectiveness of the proposed approaches is investigated via simulation studies and extensive sets of experiments with two rovers, the Juno and the Rover Chassis Prototype (RCP). Redundant actuation is realized by introducing some design modifications to the RCP which enables online modification of normal force dispersion. The simulation studies are carried out using a generic multibody dynamics library which is developed as a part of this research. This library can serve as a generic and rover-specific analysis tool and addresses some of the shortcomings in the available simulation packages." --
Book Synopsis Dynamics and Control of Autonomous Space Vehicles and Robotics by : Ranjan Vepa
Download or read book Dynamics and Control of Autonomous Space Vehicles and Robotics written by Ranjan Vepa and published by Cambridge University Press. This book was released on 2019-05-02 with total page 371 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents the established principles underpinning space robotics with a thorough and modern approach. This text is perfect for professionals in the field looking to gain an understanding of real-life applications of manipulators on satellites, and of the dynamics of satellites carrying robotic manipulators and of planetary rovers.
Download or read book Planetary Rovers written by Alex Ellery and published by Springer. This book was released on 2015-12-30 with total page 721 pages. Available in PDF, EPUB and Kindle. Book excerpt: This will be the only book on planetary rover development covering all aspects relevant to the design of systems
Download or read book Planetary Rovers written by Lutz Richter and published by Springer. This book was released on 2019-09-11 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book opens with an introduction to the use of robotic rovers for planetary exploration and their relationship to other terrestrial applications, including oceanography. The terrain in particular, in planetary environment, is a major design driver for the planetary rover and therefore a review of each planet and small bodies of the solar system and their impact on rover design is provided. Mars is the best known example for the NASA ‘follow the water’ strategy in astrobiology research and is the most likely planet to be explored in the near term. Planetary missions are designed with a different engineering philosophy than Earth-orbiting missions. There are great uncertainties about the operational environment, new scientific instruments, and the requirement for new spacecraft and robotic technologies to make them economically feasible. These include rover design, locomotion, autonomous navigation, rover avionics, mission communications’ architecture and power generation and thermal control. The authors conclude by speculating on the need for the manned astrobiological investigation of Mars in terms of near-term evolution of robotic terminology and how robotic rovers can support manned mission by relieving the astronaut/cosmonaut workload. In addition, the future of robotic astrobiology missions will be explored with the implementation of biomimetic robots which attempt to utilise biological solutions to engineering problems. Finally, Nanotechnology and its limitations in the miniaturisation of actuation systems will be covered.
Book Synopsis Field and Service Robotics by : David S. Wettergreen
Download or read book Field and Service Robotics written by David S. Wettergreen and published by Springer. This book was released on 2016-03-15 with total page 646 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains the proceedings of the 10th FSR, (Field and Service Robotics) which is the leading single-track conference on applications of robotics in challenging environments. The 10th FSR was held in Toronto, Canada from 23-26 June 2015. The book contains 42 full-length, peer-reviewed papers organized into a variety of topics: Aquatic, Vision, Planetary, Aerial, Underground, and Systems. The goal of the book and the conference is to report and encourage the development and experimental evaluation of field and service robots, and to generate a vibrant exchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments: on the ground (Earth or other planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. The first FSR was held in Canberra, Australia, in 1997. Since that first meeting, FSR has been held roughly every two years, cycling through Asia, Americas, Europe.
Book Synopsis Modelling and Contact Analysis of Planetary Exploration Rovers by : Sadhbh Mac Mahon
Download or read book Modelling and Contact Analysis of Planetary Exploration Rovers written by Sadhbh Mac Mahon and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "ABSTRACT Autonomous navigation is a requirement of any planetary exploration rover moving in an environment too far from Earth for efficient communication between the rover and ground control. An important feature of this autonomy is the ability of the rover to successfully negotiate obstacles that may lie in its chosen path. To accommodate this need, planetary rovers are furnished with many actively actuated or passive degrees of freedom to influence the rover configuration, and in turn, the wheel-terrain contact forces that propel the rover forth. Analysis of these methods however, depends on the use of parameters which can only be ascertained with detailed knowledge of the geometry, and constitutive properties of the terrain. This can produce considerable difficulty for the analysis of systems operating in unknown or unfamiliar environments. In this thesis, a performance indicator know as the "effective kinetic energy of impact", is explored for use in planetary rover operations. The effective kinetic energy is an indicator of how system configuration at the onset of an impact, will affect the resulting contact and impact forces. This indicator requires no knowledge of constitutive properties of the system. The indicator is discussed and developed for use with a model of an existing planetary rover prototype. Simulations with the rover model are used to compare the effective kinetic energy indicator with a more traditional, continuous force model method of evaluating contact force, and to demonstrate the similar trend between the two where contact configuration is concerned. These simulations are validated experimentally with the physical model of the rover engaging in a series of impacts with an obstacle, where the configuration is systematically varied. The experimental results are discussed, and a direction for future work and experimental validation are considered. " --
Book Synopsis Analysis and Traction Control of a Rocker-bogie Planetary Rover by : Hervé Hacot
Download or read book Analysis and Traction Control of a Rocker-bogie Planetary Rover written by Hervé Hacot and published by . This book was released on 1998 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Contemporary Planetary Robotics by : Yang Gao
Download or read book Contemporary Planetary Robotics written by Yang Gao and published by John Wiley & Sons. This book was released on 2016-06-03 with total page 432 pages. Available in PDF, EPUB and Kindle. Book excerpt: For readers from both academia and industry wishing to pursue their studies and /or careers in planetary robotics, this book represents a one-stop tour of the history, evolution, key systems, and technologies of this emerging field. The book provides a comprehensive introduction to the key techniques and technologies that help to achieve autonomous space systems for cost-effective, high performing planetary robotic missions. Main topics covered include robotic vision, surface navigation, manipulation, mission operations and autonomy, being explained in both theoretical principles and practical use cases. The book recognizes the importance of system design hence discusses practices and tools that help take mission concepts to baseline design solutions, making it a practical piece of scientific reference suited to a variety of practitioners in planetary robotics.
Book Synopsis Human Health and Performance Risks of Space Exploration Missions by : Jancy C. McPhee
Download or read book Human Health and Performance Risks of Space Exploration Missions written by Jancy C. McPhee and published by U. S. National Aeronautics & Space Administration. This book was released on 2009 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis International Exploration of Mars by :
Download or read book International Exploration of Mars written by and published by . This book was released on 1991 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Field and Service Robotics by : Christian Laugier
Download or read book Field and Service Robotics written by Christian Laugier and published by Springer Science & Business Media. This book was released on 2008-04-24 with total page 589 pages. Available in PDF, EPUB and Kindle. Book excerpt: This books presents the results of the 6th edition of "Field and Service Robotics" FSR03, held in Chamonix, France, July 2007. The conference provided a forum for researchers, professionals and robot manufacturers to exchange up-to-date technical knowledge and experience. This book offers a collection of a broad range of topics including: Underwater Robots and Systems, Autonomous Navigation for Unmanned Aerial Vehicles, Simultaneous Localization and Mapping, and Climbing Robotics.
Download or read book ROMANSY 11 written by A. Morecki and published by Springer. This book was released on 2014-05-04 with total page 421 pages. Available in PDF, EPUB and Kindle. Book excerpt: The CISM-IFToMM RoManSy Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the eleven symposia to date present a world view of the state of the art. The proceedings of this eleventh edition focus mainly on problems of mechanical engineering and control.
Book Synopsis Planetary Surface Exploration by : National Aeronaut Administration (Nasa)
Download or read book Planetary Surface Exploration written by National Aeronaut Administration (Nasa) and published by Createspace Independent Publishing Platform. This book was released on 2018-07-10 with total page 74 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planetary surface exploration micro-rovers for collecting data about the Moon and Mars was designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA-Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental SURvey (MESUR) Alpha Particle/Proton/X-ray instruments (APX). The system is to be launched with the sixteen MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker was developed to deploy the APX from the lander to the Martian surface. While on Mars the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar-terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation which NASA can use for future lunar exploratory missions. A detailed description of the designs, methods, and procedures which the University of Idaho design teams followed to arrive at the final designs are included. Stauffer, Larry and Dilorenzo, Matt and Austin, Dave and Ayers, Raymond and Burton, David and Gaylord, Joe and Kennedy, Jim and Lentz, Dale and Laux, Richard and Nance, Preston Unspecified Center...
Book Synopsis Mars Rover. Planetary Exploration from the Standpoint of Mobile Robotics by : Gérard Berger
Download or read book Mars Rover. Planetary Exploration from the Standpoint of Mobile Robotics written by Gérard Berger and published by . This book was released on 1990 with total page 10 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Autonomous Localisation of Rovers for Future Planetary Exploration by : Abhinav Bajpai
Download or read book Autonomous Localisation of Rovers for Future Planetary Exploration written by Abhinav Bajpai and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Nuclear Science Abstracts written by and published by . This book was released on with total page 654 pages. Available in PDF, EPUB and Kindle. Book excerpt: NSA is a comprehensive collection of international nuclear science and technology literature for the period 1948 through 1976, pre-dating the prestigious INIS database, which began in 1970. NSA existed as a printed product (Volumes 1-33) initially, created by DOE's predecessor, the U.S. Atomic Energy Commission (AEC). NSA includes citations to scientific and technical reports from the AEC, the U.S. Energy Research and Development Administration and its contractors, plus other agencies and international organizations, universities, and industrial and research organizations. References to books, conference proceedings, papers, patents, dissertations, engineering drawings, and journal articles from worldwide sources are also included. Abstracts and full text are provided if available.
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 700 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.
