1 / 10

Technical Review

Technical Review. Alex Miller Jordan Bridgeman Diane Van Hoy. Revised requirements. Requirements continued. More requirements. Conops Update. Conops Update (cont.). Rocker –Bogie Design. http://www.youtube.com/watch?v=H0KQF50vV5E. Wheels. Suspension Arms. Motors.

elgin
Download Presentation

Technical Review

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. Technical Review Alex Miller Jordan Bridgeman Diane Van Hoy

  2. Revised requirements

  3. Requirements continued

  4. More requirements

  5. Conops Update

  6. ConopsUpdate (cont.)

  7. Rocker –Bogie Design http://www.youtube.com/watch?v=H0KQF50vV5E

  8. Wheels Suspension Arms Motors • Must provide 50 cm of ground clearance from bottom frame of rover • Suspension arms will produce ground clearance beyond the wheel radius (minus expected soil sink) • Must be able to turn wheels independently • In-wheel design • Electric motors • Torque requirement such that rover can climb 45 deg. Slopes with 30% power loss (slippage) on 4 wheels • 6 wheels = 6 motors • In the event of motor loss, “freewheeling” ability. • Forward and reverse ability. • David A. Kring conducted a mobility review of lunar missions as part of the lunar exploration initiative. • http://www.lpi.usra.edu/science/kring/lunar_exploration/briefings/lunar_mobility_review.pdf • His investigation warned of soft lunar soil with average wheel sink of 2 cm away from craters, and up to 20 cm near and inside of craters • Apollo LRV was stuck, had to be moved by astronauts to become free; not possible with Intrepid rover. • Also indicated that round wheels work well as long as contact pressure does not exceed 7-10 kPa • This translates into wheel dimensions such that contact area with lunar surface is at least 0.004 m^2 per wheel per 100kg of rover mass.

  9. Collision Avoidance System • Stereo imaging from navcams and hazcams sent to computer • Computer processes stereo data with collision avoidance software • Preset navigation choices (geologic POIs) are the destinations for autonomous travel. Routes are designed from lunar orbiter topographic data, but real-time processing of navcam and hazcam images decides the safest route in immediate vicinity (<1000m) • Safe routes determined by height of rocks and slope/roughness of terrain; ability for rover to traverse based on pre-determined parameters. • Real-time autonomous software will allow for average speed of 1km/hr • Hazcams will initiate 'safe-mode' if unsafe obstacle is 3m away to prevent impact (2m @ 1km/hr ~7 sec. until impact)

  10. Collision Avoidance System Topographical data from lunar orbiters Initial route planning >1000m Image data from NavCam Coarse path corrections based on NavCam data <1000m Image data from HazCams Fine path corrections based on HazCam data <10m Safe Navigation! Mission Success!

More Related