Barefoot Rover: A Sensor-Embedded Rover Wheel Demonstrating In-Situ Engineering and Science Extractions Using Machine Learning
No abstract provided
Yates, Devon↗
Engineering topics
Cross, Matthew
Publications and source records attributed to Cross, Matthew.
Barefoot Rover: a Sensor-Embedded Rover Wheel Demonstrating In-Situ Engineering and Science Extractions using Machine Learning
No abstract provided
Mandrake, Lukas↗
Barefoot Rover: a Sensor-Infused Rover Wheel Demonstrating In-Situ Engineering and Science Extractions using Machine Learning
In this work, we demonstrate an instrumented wheel concept which utilizes a 2D pressure grid, an electrochemical impedance spectroscopy (EIS) sensor and machine learning (ML) to extract meaningful metrics from the interaction between the wheel and surface terrain. These include continuous slip/skid estimation, balance, and sharpness for engineering applications. Estimates of surface hydration, texture, terrain patterns, and regolith physical properties such as cohesion and angle of internal friction are additionally calculated for science applications. Traditional systems rely on post-processing of visual images and vehicle telemetry to estimate these metrics. Through in-situ sensing, these metrics can be calculated in near real time and made available to onboard science and engineering autonomy applications. This work aims to provide a deployable system for future planetary exploration missions to increase science and engineering capabilities through increased knowledge of the terrain.
Marchetti, Yuliya↗
Thermal Performance Testing of Single Channel GRCop-84 SLM Components
The surface finish found on components manufactured by sinter laser manufacturing (SLM) is rougher (0.013 - 0.0006 inches) than parts made using traditional fabrication methods. Internal features and passages built into SLM components do not readily allow for roughness reduction processes. Alternatively, engineering literature suggests that the roughness of a surface can enhance thermal performance within a pressure drop regime. To further investigate the thermal performance of SLM fabricated pieces, several GRCop‐84 SLM single channel components were tested using a thermal conduction rig at MSFC. A 20 kW power source running at 25% duty cycle and 25% power level applied heat to each component while varying water flow rates between 2.1 - 6.2 gallons/min (GPM) at a supply pressure of 500 to 750 psi. Each test was allowed to reach quasi‐steady state conditions where pressure, temperature, and thermal imaging data were recorded. Presented in this work are the heat transfer responses compared to a traditional machined OHFC Copper test section. An analytical thermal model was constructed to anchor theoretical models with the empirical data.
Garcia, Chance P.↗
Computer Modeling of Direct Metal Laser Sintering
A computational approach to modeling direct metal laser sintering (DMLS) additive manufacturing process is presented. The primary application of the model is for determining the temperature history of parts fabricated using DMLS to evaluate residual stresses found in finished pieces and to assess manufacturing process strategies to reduce part slumping. The model utilizes MSC SINDA as a heat transfer solver with imbedded FORTRAN computer code to direct laser motion, apply laser heating as a boundary condition, and simulate the addition of metal powder layers during part fabrication. Model results are compared to available data collected during in situ DMLS part manufacture.
Cross, Matthew↗
Additive Manufacturing Thermal Performance Testing of Single Channel GRCop-84 SLM Components
The surface finish found on components manufactured by sinter laser manufacturing (SLM) is rougher (0.013 - 0.0006 inches) than parts made using traditional fabrication methods. Internal features and passages built into SLM components do not readily allow for roughness reduction processes. Alternatively, engineering literature suggests that the roughness of a surface can enhance thermal performance within a pressure drop regime. To further investigate the thermal performance of SLM fabricated pieces, several GRCop-84 SLM single channel components were tested using a thermal conduction rig at MSFC. A 20 kW power source running at 25% duty cycle and 25% power level applied heat to each component while varying water flow rates between 2.1 - 6.2 gallons/min (GPM) at a supply pressure of 550 to 700 psi. Each test was allowed to reach quasi-steady state conditions where pressure, temperature, and thermal imaging data were recorded. Presented in this work are the heat transfer responses compared to a traditional machined OHFC Copper test section. An analytical thermal model was constructed to anchor theoretical models with the empirical data.
Garcia, Chance P.↗