An Unmanned Tracked Vehicle for Snow Research Applications

Abstract

Lightweight robotic vehicles can be designed for over-snow mobility to carry out a variety of snow and glacier related studies like carrying out ground penetrating radar and global positioning system surveys, collecting snow samples, and carrying out sub-surface experiments on terrain that are dangerous for human movement. Sinkage, resistance to snow compaction, loss of traction and ingestion of snow into the driving system are some of the challenges that an unmanned lightweight tracked vehicle faces in snowbound terrain. In present work, a lightweight and unmanned remotely operated vehicle (ROV) is conceptualized and developed as a technological solution. In this study, design and features of this vehicle, named HimBot, are presented along with the results obtained from tests carried over snow at one of the field research stations of SASE. The outcome of this work will help in developing an optimised design of an ROV for over-snow mobility for a variety of applications.

Common Noninteracting Control with Simultaneous Common Partial Zeroing with Application to a Tracked UGV

“…Moreover, it is observed that (15) can be covered by (17). Hence, the only assumption considered here is (17), in the sense that all the system assumptions are covered by the definition of the problem in (18) and (19) and the regularity of the controller (17). However, the inequalities in ( 16) are quite useful to exclude system cases before testing the solvability conditions that will be presented in Section 3.3.…”

“…If ( 21) is satisfied, then the problem is reduced to that of solving only (53) (see Appendix A) under the constraints ( 17) and (19). Thus, using the definitions in (22), the problem is reduced to that of solving the following set of linear equations with respect to the unknowns γ i , φ M,i , and h i (j, s),…”

“…Tracked Unmanned Ground Vehicles (UGVs) are important for open land applications, where conventional robotic vehicles or two-legged robots are not appropriate. Indicative applications (see [15][16][17][18][19][20][21][22]) are met in agriculture, surveillance, patrols, the transfer of goods, emergency situations, the military, underwater operations, and constructions. It is important to mention that the control problem of the two-model robot-tracked vehicle description in [15,16] has not yet been studied.…”

A Retrofit Passive Foldable Snow Shoe for A Legged Robot to Walk on Snowfield

“…Well-known examples are the crawler machines, such as snowmobiles, that have wide and long treads. A snow country rescue robot HimBot [1] is a typical crawler type robot. Blade Walker [2] is another proposal that uses very Manuscript received September 5, 2018.…”