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

Alex Miller

Jordan Bridgeman

Diane Van Hoy


Revised requirements


Requirements continued


More requirements


Conops Update


ConopsUpdate (cont.)


Rocker –Bogie Design

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


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

  • 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 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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