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Sökning: WFRF:(Zhou B) > Högskolan i Halmstad

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1.
  • 2019
  • Tidskriftsartikel (refereegranskat)
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3.
  • Iagnemma, Karl, et al. (författare)
  • Terramechanics Modeling of Mars Surface Exploration Rovers for Simulation and Parameter Estimation
  • 2011
  • Ingår i: Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference--2011. - New York : ASME Press. - 9780791854815 ; , s. 805-812
  • Konferensbidrag (refereegranskat)abstract
    • In 1997 and 2004, small wheeled robots ("rovers") landed on the surface of Mars to conduct scientific experiments focused on understanding the planet's climate history, surface geology, and potential for past or present life. Recently, the Mars Exploration Rover(MER)"Spirit"became deeply embedded in regolith at a site called Troy, ending its mission as a mobile science platform. The difficultyfaced in navigating mobile robots over sloped, rocky, and deformable terrain has highlighted the importance of developing accurate simulation tools for use in a predictive mobility modeling capacity. These simulation tools require accurate knowledge of terrain model parameters.This paperdescribes a terramechanics-based toolfor simulation of rover mobility. It also describes ongoing work toward estimation of terrain parameters of Mars soil. Copyright © 2011 by ASME.
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4.
  • Trease, B., et al. (författare)
  • Dynamic Modeling And Soil Mechanics For Path Planning Of Mars Exploration Rovers
  • 2011
  • Ingår i: Proceedings of the ASME International Design Engineering Technical Conference. - New York : ASME Press. - 9780791854839 ; , s. 755-765
  • Konferensbidrag (refereegranskat)abstract
    • To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers. Copyright © 2011 by ASME.
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