A Lunar Surface Operations Simulator

Nayar, Hari; Balaram, Bob; Cameron, Jonathan; Jain, Abhinandan; Lim, Christopher; Mukherjee, Rahul; Peters, Sheila Annie; Pomerantz, Marc; Reder, Leonard J.; Shakkottai, P.; Wall, S. D.

doi:10.1007/978-3-540-89076-8_10

Cited by 7 publications

(3 citation statements)

References 6 publications

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“…Following analytical Matlab optimization of the 2-D kinematic rocker–bogie configuration described in section “Design optimization,” full 3-D dynamic simulations of the rover driving over the terrains were performed in M3Tk 45 to further investigate performance that the 2-D optimization analysis might have missed and to validate the model optimization. This approach of verifying performance using dynamics simulators has been pursued by other researchers, for example, to optimize a rhombus-configured, parallel-mechanism suspension rover, 43 to demonstrate the improvements in mobility over rugged terrain using weight distribution control algorithms, 30 to compare performance of alternative designs of mobility platforms, 31 and to evaluate performance of Mars 46,47 and Lunar 48 rovers.…”

Section: Simulation Analysismentioning

confidence: 99%

Design optimization of a lightweight rocker–bogie rover for ocean worlds applications

Nayar

Kim

Chamberlain-Simon

et al. 2019

International Journal of Advanced Robotic Systems

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Relatively recent discoveries have shown that large quantities of water can be found on moons of some of the planets among the gas giants in our solar system. Robotic mobility systems can study the varied geology and origins of these bodies if they are able to navigate the complex terrains of ocean worlds. The topographical features of ocean worlds present a unique combination of challenges for mobility. These include cryogenic ice, penitentes, salt evaporites, chaotic regions, and regolith with uncertain shear and sinkage properties. Uncertainty in both terrain properties and geometry motivates design of a platform that is mobile within a large range of obstacle geometries and terrain properties. This article reports on a research effort to study the requirements and numerically optimize the kinematic parameters of the rover to satisfy these goals. The platforms selected in the process were further verified via simulation. A simulation and analysis of grousers generated suitable designs for interaction with similar ledges and rough terrain. From this analysis, a prototype was developed and tested to meet the wide range of topography and terramechanics conditions expected on these bodies.

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Section: Simulation Analysismentioning

confidence: 99%

Design optimization of a lightweight rocker–bogie rover for ocean worlds applications

Nayar

Kim

Chamberlain-Simon

et al. 2019

International Journal of Advanced Robotic Systems

Self Cite

View full text Add to dashboard Cite

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“…By taking advantage of the scene rendering capability in Dspace and by utilizing hardware acceleration provided by modern graphics cards, the operations described below can be executed quickly and are general enough to be used in a variety of simulation scenarios. The Lunar Surface Operations System [15] (LSOS) project simulation makes extensive use of the Dspace features described below…”

Section: Engineering Analysismentioning

confidence: 99%

Dspace: Real-Time 3D Visualization System for Spacecraft Dynamics Simulation

Pomerantz

Jain

Myint

2009

2009 Third IEEE International Conference on Space Mission Challenges for Information Technology

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The multi-mission Dshell++ simulation framework has formed the basis for high-performance, physics-based simulations for a large variety of space mission simulations including cruise and orbiter spacecraft, Entry, Descent, Landing (EDL) missions as well as for planetary surface rovers. The Dspace interactive, reusable 3D visualization system has been developed to support the diverse visualization needs of such complex real-time simulations

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“…The Lunar Surface Operations Simulator (LSOS) [15] is one of the simulators under development. As its name suggests, it models surface systems, their mechanical properties, dynamic interactions and operations.…”

Section: Introductionmentioning

confidence: 99%

Recent Developments on a Simulator for Lunar Surface Operations

Nayar

Jain

Balaram

et al. 2009

AIAA SPACE 2009 Conference &Amp; Exposition

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New models and capabilities in the Jet Propulsion Laboratory's (JPL) Lunar Surface Operations Simulator (LSOS) are reported in this paper. LSOS is a simulator built to support surface operations design and planning for future lunar missions. LSOS models surface systems, their mechanical properties, and operations. In addition to simulating the dynamic interactions during operations, for example, wheel-soil interaction or component motion, LSOS also models associated environmental, and system mechanical and physical processes. These include thermal, radiation and power transients, and terrain. Lighting models are used to generate material textures, reflectance and shadows. LSOS's integrated architecture allows use of common models and enables interactions between components operating in different domains to be easily modeled. Models used in LSOS simulations and results from the simulation of two traverses are reported. The first is a replication of a traverse conducted during a field trial of prototype systems. The second is a traverse from a lunar outpost site near Shackleton Crater to Malapert Mountain. LSOS simulations and analyses will provide data to help in the optimization of mission plans.

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A Lunar Surface Operations Simulator

Cited by 7 publications

References 6 publications

Design optimization of a lightweight rocker–bogie rover for ocean worlds applications

Design optimization of a lightweight rocker–bogie rover for ocean worlds applications

Dspace: Real-Time 3D Visualization System for Spacecraft Dynamics Simulation

Recent Developments on a Simulator for Lunar Surface Operations

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