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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Proposed rolling robot routinely traverses rough terrain, clearing rocks as high as 1 m. Climbs steps 1 m high and spans ditches 2.3 m wide. Simple but rugged semiautonomous rover has large wheels and articulated body. With combined yaw, roll, and four-wheel drive, robot crawls slowly to pass over soft or sandy terrain. Senses terrain along corridor, chooses path to avoid insurmountable obstacles, and monitors state of vehicle for unexpected hazards.
The invention provides a rough terrain vehicle which maintains a substantially constant weight, and therefore traction, on all wheels, despite one wheel moving considerably higher or lower than the others, while avoiding a very soft spring suspension. The vehicle includes a chassis or body to be supported and a pair of side suspensions at either side of the body. In a six wheel vehicle, each side suspension includes a middle wheel, and front and rear linkages respectively coupling the front and rear wheels to the middle wheel. A body link pivotally connects the front and rear linkages together, with the middle of the body link rising or falling by only a fraction of the rise or fall of any of the three wheels. The body link pivotally supports the middle of the length of the body. A transverse suspension for suspending the end of the body on the side suspensions includes a middle part pivotally connected to the body about a longitudinal axis and opposite ends each pivotally connected to one of the side suspensions along at least a longitudinal axis.
A proof-of-principle model of a two wheeled lunar dump truck was designed to display at the 1989 Summer Conference. The dump truck consists of a cylindrical bucket suspended between two wheels with the center of gravity of the bucket lower than the axis of the wheels. This gives the truck great stability in rough terrain. One motor on each wheel controls the movement of the truck and limits the moving parts to only two. The design of the mechanical drive, the electrical system, and the control systems are examined. Conclusion and recommendations are given.
Frequency spectra of horizontal winds in the troposphere and stratosphere, over a range of periods and frequencies, have been studied by means of two radar profilers, located at Plattenville, Colorado, and Poker Flat, Alaska, to determine if the spectra deviations from a consistent power law behavior can be verified in a statistical sense. At Plattenville, the spectrum of both zonal and meridional winds in the troposphere is found to obey a low-frequency regime at periods longer than a few hours and a high-frequency regime at periods less than 1/2 hour. The energy levels in the high-frequency regime are enhanced over those obtained by extrapolation of the low-frequency regime by a factor of 4. At Poker Flat, a similar pattern is found in the stratosphere, and the magnitude of the enhancement factor is 1.7. It is suggested that the enhanced amplitudes reflect the effects of upward-propagating gravity waves launched by the flow over a rough terrain, and that they influence the dynamics of the large-scale circulation to a great extent.
Proposed lightweight dolly enables operator to cart heavy towbar to remote site over unpaved roads or rough terrain. Acts as simple, lightweight towed vehicle to support rear of towbar. Removed quickly at point of use. Saves labor, and eliminates need for truck and forklift.
The effect of topography as a source of mesoscale variability was investigated using aircraft measurements of winds and temperature collected during the Global Atmospheric Sampling Program, with results showing marked increases in the variance of zonal and meridional wind speeds and of potential temperature over rough terrain. In addition, four cases of mesoscale variance enhancements of horizontal velocity and temperature due to frontal activity, nonfrontal convection, and wind shear were studied. The implications of these episodic enhancements of variances for the vertical transports of energy and momentum are considered in the framework of the gravity wave theory.
Self-damping sprung wheel provides shock-absorbing suspension for wheelchair, reducing user's discomfort when traversing rough terrain or obstacles. Pair of self-damping sprung wheels installed in place of conventional large rear wheels of standard wheelchair, which user operates in conventional manner. Rim deflects in vicinity of contact with ground or floor. Includes inner and outer hoops bending when obstacle encountered. Shear deformation of elastomeric hoop between them absorbs energy. Thus, three hoops act together as damping spring. Alternative version of wheel designed for bicycle.
Radio-controlled microrover features light weight and agility. Miniature robotic vehicle, called Go-For, implements new fork-wheeled mobility concept to traverse extremely rough terrain. Weighs 4 kg and is 0.4 m long, climbs over obstacles as large as 60 percent of its length. Mobility concept applied to much larger vehicles. Demonstrates such applications as exploration of planetary surfaces, military surveillance, and assessing hazardous situations. Video camera on vehicle sends images to control station, where human supervisor chooses sequence of paths to traverse to reach locations of interest. For planetary exploration, spectrometer and seisometer on vehicle sends scientific data to control station, and onboard tools collect soil and rock samples. Terrestrial version equipped similarly to take samples in chemically and/or biologically contaminated areas.
The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.
The three year goal for the Kansas State USRA/NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of crossing rough terrain, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation, and path planning skills.
Carnegie Mellon University has undertaken a research, development, and demonstration program to enable a robotic lunar mission. The two-year mission scenario is to traverse 1,000 kilometers, revisiting the historic sites of Apollo 11, Surveyor 5, Ranger 8, Apollo 17, and Lunokhod 2, and to return continuous live video amounting to more than 11 terabytes of data. Our vision blends autonomously safeguarded user driving with autonomous operation augmented with rich visual feedback, in order to enable facile interaction and exploration. The resulting experience is intended to attract mass participation and evoke strong public interest in lunar exploration. The encompassing program that forwards this work is the Lunar Rover Initiative (LRI). Two concrete technology demonstration projects currently advancing the Lunar Rover Initiative are: (1) The Dante/Mt. Spurr project, which, at the time of this writing, is sending the walking robot Dante to explore the Mt. Spurr volcano, in rough terrain that is a realistic planetary analogue. This project will generate insights into robot system robustness in harsh environments, and into remote operation by novices; and (2) The Lunar Rover Demonstration project, which is developing and evaluating key technologies for navigation, teleoperation, and user interfaces in terrestrial demonstrations. The project timetable calls for a number of terrestrial traverses incorporating teleoperation and autonomy including natural terrain this year, 10 km in 1995. and 100 km in 1996. This paper will discuss the goals of the Lunar Rover Initiative and then focus on the present state of the Dante/Mt. Spurr and Lunar Rover Demonstration projects.
Robotic vehicles resembling large beach balls proposed for carrying scientific instruments. Conceived for use in exploring planet Mars, also useful on Earth to carry meteorological or pollution-monitoring equipment to remote locations across rough terrain and even across water. Each vehicle features approximately spherical balloonlike outer shell inflated to suitable pressure. Three diametral tethers approximately perpendicular to each other attached to shell. Control box moves itself along tethers to shift center of gravity, causing vehicle to roll. Alternatively, instead of shell, structure of approximately spherical outline made of twisted rods; of course, not suitable for traversing water or thick vegetation.
Suppose you have just created a revolutionary bicycle suspension which allows a bike to be ridden over rough terrain at 60 miles per hour. In addition, suppose that you are deeply concerned about the plight of hungry children. Which should you do: be sure all hungry children have bicycles; transfer the technology for your new suspension to bicycle manufacturers worldwide; or start a company to supply premium sports bicycle based on your patented technology, and donate the profits to a charity which feeds hungry children? Woven through this somewhat trivial example is the paradox of technology transfer - the supplier (owner) may want to transfer technology; but to succeed, he or she must reformulate the problem as a user need for which there is a new and better solution. Successful technology transfer is little more than good marketing applied to an existing invention, process, or capability. You must identify who needs the technology, why they need it, why the new technology is better than alternatives, how much the customers are willing and able to pay for these benefits, and how to distribute products based on the technology tc the target customers. In market-driven development, the term 'technology transfer' is rarely used. The developers focus on studying user needs and designing solution They may have technology needs, but they don't have technology in search of a use.
Photoclinometric analysis of Mariner 9 narrow-angle (approx. 80 m/pixel) images of the south polar layered deposits indicates that even relatively rough terrains in the images studied rarely include slopes greater than 10 degrees.
In contrast to fly-by and orbital missions, in situ missions face an incredible array of challenges in near-target navigation, landing site selection, descent, landing, science operations, sample collection and handling, drilling, anchoring, subsurface descent, communications, and contamination. The wide range of materials characteristics and environments threaten mission safety and success. For example, many physical properties are poorly characterized, including strength, composition, heterogeneity, phase change, texture, thermal properties, terrain features, atmospheric interaction, and stratigraphy. Examples of the range of materials properties include, for example: (1) Comets, with a possible compressive strength ranging from a light fluff to harder than concrete: 10(exp 2) to 10 (exp 8) Pa; (2) Europa, including a possible phase change at the surface, unknown strength and terrain roughness; and (3) Titan, with a completely unknown surface and possible liquid ocean. Additional information is contained in the original extended abstract.
Previous investigators have demonstrated that midlatitude convection is capable of generating gravity waves that propagate into the stratosphere. Gravity waves contribute significantly to the overall mass circulation of the stratosphere, which is driven by the breaking of planetary and mesoscale waves generated in the troposphere. In the southern hemisphere stratosphere, where planetary wave amplitudes are substantially smaller than in the northern hemisphere, gravity wave breaking may play a more important role. At the same time, the major mechanism for exciting gravity waves, namely flow over rough terrain, is much less widespread in the ocean-covered southern hemisphere. This presentation examines gravity waves as observed in the first three deployments of the ASHOE/MAESA campaign. Among the issues to be examined are: 1: The incidence of turbulence during the flights as compared to the arctic campaigns. 2: The relationship of turbulence to vertical tracer gradients. 3: The relationship of observed gravity waves to underlying satellite imagery.
Whereas the surface units of the northern plain of Mars generally exhibit ages ranging from late Hesperian to Amazonian, interpretation of precise topographic measurements indicate that the age of the underlying "basement" is early Noachian, or almost as old as the southern highlands. This suggests that widespread but relatively superficial resurfacing has occurred throughout the northern plains since the end of early heavy bombardment. In this abstract I examine some of the possible implications of the subsurface structure inferred for the Utopia basin from gravity data on the nature of this resurfacing. The large, shallow, circular depression in Utopia Planitia has been identified as a huge impact basin, based on both geological evidence and detailed analysis of MOLA topography. Its diameter (approx. 3000 km) is equivalent to that of the Hellas basin, as is its inferred age (early Noachian). However, whereas Hellas is extremely deep with rough terrain and large slopes, the Utopia basin is a smooth, shallow, almost imperceptible bowl. Conversely, Utopia displays one of the largest (non-Tharsis-related) positive geoid anomalies on Mars, in contrast to a much more subdued negative anomaly over Hellas.
The surface of Mars is currently being explored with a combination of orbiting spacecraft, stationary landers and wheeled rovers. However, only a small portion of the Martian surface has undergone in-situ examination. Landing sites must be chosen to insure the safety of the vehicles (and human explorers) and provide the greatest opportunity for mission success. While wheeled rovers provide the ability to move beyond the landing sites, they are also limited in their ability to traverse rough terrain; therefore, many scientifically interesting sites are inaccessible by current vehicles. In order to access these sites, a capability is needed that can transport scientific instruments across varied Martian terrain. A new "rover" concept for exploring the Martian surface, known as the Mars Tumbleweed, will derive mobility through use of the surface winds on Mars, much like the Tumbleweed plant does here on Earth. Using the winds on Mars, a Tumbleweed rover could conceivably travel great distances and cover broad areas of the planetary surface. Tumbleweed vehicles would be designed to withstand repeated bouncing and rolling on the rock covered Martian surface and may be durable enough to explore areas on Mars such as gullies and canyons that are currently inaccessible by conventional rovers. Achieving Mars wind-driven mobility; however, is not a minor task. The density of the atmosphere on Mars is approximately 60-80 times less than that on Earth and wind speeds are typically around 2-5 m/s during the day, with periodic winds of 10 m/s to 20 m/s (in excess of 25 m/s during seasonal dust storms). However, because of the Martian atmosphere#s low density, even the strongest winds on Mars equate to only a gentle breeze on Earth. Tumbleweed rovers therefore need to be relatively large (4-6 m in diameter), very lightweight (10-20 kg), and equipped with lightweight, low-power instruments. This paper provides an overview of the Tumbleweed concept, presents several notional design concepts, mission scenarios, and highlights recent tests and analyses of Tumbleweed prototypes.