Search NASA⌕ Search

SEARCH · Search NASA

Results for “rough terrain”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Sources of mesoscale variability of gravity waves. I - Topographic excitation. II - Frontal, convective, and jet stream excitation

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.

Nastrom, Gregory D.↗
NASA NTRS1993

Self-Damping Sprung Wheel

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.

Weddendorf, Bruce↗
NASA NTRS1993

Compact Robotic Vehicle

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.

Wilcox, Brian H.↗
NASA NTRS1990

Human-like robots for space and hazardous environments

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.

Cogley, Allen↗
NASA NTRS1994

Human-like robots for space and hazardous environments

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.

Source record↗
NASA NTRS1994

Lunar rover technology demonstrations with Dante and Ratler

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.

Krotkov, Eric↗
NASA NTRS1995

"Beach-Ball" Robotic Rovers

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.

Smyth, David E.↗
NASA NTRS1994

Invention-driven marketing

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.

Carlson, William E.↗
NASA NTRS2001

The Extraterrestrial Materials Simulation Laboratory

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.

Green, J. R.↗
NASA NTRS1994

Gravity Waves and Turbulence as Observed in ASHOE/MAESA

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.

Pfister, Leonhard↗
NASA NTRS2004

Implications of the Utopia Gravity Anomaly for the Resurfacing of the Northern Plains of Mars

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.

Banerdt, W. B.↗
NASA NTRS2005

A New Vehicle for Planetary Surface Exploration: The Mars Tumbleweed

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.

Antol, Jeffrey↗
NASA NTRS2005

Sensor Data Distribution With Robustness and Reliability: Toward Distributed Components Model

In planetary surface exploration mission, sensor data distribution is required in many aspects, for example, in navigation, scheduling, planning, monitoring, diagnostics, and automation of the field tasks. The challenge is to distribute such data in the robust and reliable way so that we can minimize the errors caused by miscalculations, and misjudgments that based on the error data input in the mission. The ad-hoc wireless network on planetary surface is not constantly connected because of the nature of the rough terrain and lack of permanent establishments on the surface. There are some disconnected moments that the computation nodes will re-associate with different repeaters or access points until connections are reestablished. Such a nature requires our sensor data distribution software robust and reliable with ability to tolerant disconnected moments. This paper presents a distributed components model as a framework to accomplish such tasks. The software is written in Java and utilized the available Java Message Services schema and the Boss implementation. The results of field experimentations show that the model is very effective in completing the tasks.

Alena, Richard L.↗
NASA NTRS2007

Surface Operations: Two Case Studies of Simulated Lunar Operations

In September 2007, a team of scientists and engineers from several NASA centers participated in a field exercise at Meteor Crater, Arizona. The tests in this field exercise utilized recently developed robots of varying scales and capabilities and humans in pressurized space suits. Two examples of operations performed in the field are presented: a surface operations scenario involving suited crew supported by a number of mobile robots and setup operations for accessing a crater. The surface operations scenario simulated the end of a crew sortie and involved the following agents: 1) Suit subjects from Johnson Space Center s (JSC) advanced spacesuit laboratory 2) JSC's unpressurized crewed rover testbed, SCOUT 3) The Jet Propulsion Laboratory s (JPL) rough terrain, payload carrying robot, ATHLETE 4) JSC's Astronaut assist robot, Robonaut 5) Ames Research Center's (ARC) inspection robot, K-10. Operations began with ATHLETE positioning a pressurized rover compartment (PRC) as two crew members drove the SCOUT unpressurized rover from the field. The crew dismounted SCOUT, walked to the PRC for recharging. Robonaut then removed a sample box from the SCOUT equipment tray. K-10 then performed a drive around inspection of SCOUT, assembling a mosaic image. Lastly, the SCOUT vehicle was remotely driven to the next site. The setup operations for crater access scenario involved ATHLETE and Robonaut. This scenario began with Robonaut approaching ATHLETE and extracting a tether line. ATHLETE then extracted a drill and drilled an anchor into the surface. Robonaut then reconnected the tether to the anchor and backed away. ATHLETE is then ready to descend into the crater. This descending into the crater step is currently in the planning phase.

Bluethmann, William J.↗
NASA NTRS2007

Crew/Robot Coordinated Planetary EVA Operations at a Lunar Base Analog Site

Under the direction of NASA's Exploration Technology Development Program, robots and space suited subjects from several NASA centers recently completed a very successful demonstration of coordinated activities indicative of base camp operations on the lunar surface. For these activities, NASA chose a site near Meteor Crater, Arizona close to where Apollo Astronauts previously trained. The main scenario demonstrated crew returning from a planetary EVA (extra-vehicular activity) to a temporary base camp and entering a pressurized rover compartment while robots performed tasks in preparation for the next EVA. Scenario tasks included: rover operations under direct human control and autonomous modes, crew ingress and egress activities, autonomous robotic payload removal and stowage operations under both local control and remote control from Houston, and autonomous robotic navigation and inspection. In addition to the main scenario, participants had an opportunity to explore additional robotic operations: hill climbing, maneuvering heaving loads, gathering geo-logical samples, drilling, and tether operations. In this analog environment, the suited subjects and robots experienced high levels of dust, rough terrain, and harsh lighting.

Diftler, M. A.↗
NASA NTRS2004

The Challenges of Landing on Mars

Humans have been fascinated with the idea of exploring Mars since the very beginning of the space age. Largely due to the belief that life may have at one time existed in some form, surface exploration has been the ultimate ambition of this exploration. Unfortunately engineers and scientists discovered early on that landing a spacecraft on the surface of Mars was to become one of the most difficult and treacherous challenges of robotic space exploration. At arrival to Mars, a spacecraft will be traveling at velocities between 4 and 7 km/s. 100% of this kinetic energy (KE) must be safely removed for a lander to deliver its payload to the surface. Fortunately Mars has an atmosphere substantial enough to allow the combination of a high drag heatshield and a parachute to remove 99% and 0.98% respectively of this kinetic energy. Unfortunately the atmosphere is not substantial enough to bring a lander to a safe touchdown. This means that an additional landing system is required to remove the remaining kinetic energy. On all previous successful missions the landing system has consisted of 2 major elements, a propulsion subsystem to remove an additional 0.002% (approx.50 - 100 m/s ) of the original KE and a final dedicated touchdown system. The first generation Mars landers used legs to accomplish touchdown. The second generation of Mars lander touchdown systems used airbags to mitigate the last few meters per second of residual velocity. NASA is currently developing a third generation landing system in an effort to reduce cost, mass and risk while simultaneously increasing performance as measured by payload fraction to the surface and accessible terrain roughness.

sky cranes↗
NASA NTRS1990

Body steered rover

A rough terrain vehicle is described which includes auxiliary wheels that can be deployed to avoid overturning the vehicle when turning while traversing a slope, to climb an embankment or the like, and to right the vehicle when it is overturned. The vehicle includes a pair of front and rear primary wheels, and a pair of auxiliary arms having inner ends pivotally mounted on the front wheel axes and outer ends that carry auxiliary wheels. A motor can turn the arms to move the auxiliary wheels from a stowed position about halfway between the front and rear wheels and above the ground, to a second position against the ground to stabilize the vehicle. The arms can be turned more than 180.degree. to move the auxiliary wheels in front of the front primary wheels to help climb an embankment. The primary wheels can be mounted at the end of primary arms, so when the primary arms are turned they not only move the primary front wheels but also the inner ends of the auxiliary arms.

Collins, Jr., Earl R.↗