Technical review
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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.

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Technical Review

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Technical review

Technical Review

Alex Miller

Jordan Bridgeman

Diane Van Hoy


Revised requirements

Revised requirements


Requirements continued

Requirements continued


More requirements

More requirements


Conops update

Conops Update


Conops update cont

ConopsUpdate (cont.)


Rocker bogie design

Rocker –Bogie Design

http://www.youtube.com/watch?v=H0KQF50vV5E


Wheels

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.


Collision avoidance system

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)


Collision avoidance system1

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!


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