Design, Analysis and Testing of Mars Tumbleweed Rover Concepts

Wilson, Jenna; Mazzoleni, Andre P.; Dejarnette, Fred R.; Antol, Jeffrey; Hajos, Gregory A.; Strickland, Christopher V.

doi:10.2514/1.31288

Cited by 24 publications

(12 citation statements)

References 29 publications

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“…1 between rovers and will increase in time as the rovers are blown across the Martian landscape. Typical values of transmissivity, Υ , have been found to vary wildly on Mars from 0 to 0.5 (unit less value that describes the attenuation a electromagnetic waves in space) based on time of day, dust storms, increased radiation hot spots, temperature, location on the planet, geography, solar flares, and distance from the sun [1], [2], [6], [18]. A transmissivity value of 50% indicates the following; given all variables in Eq.…”

Section: Deterministic Problem Definitiomentioning

confidence: 99%

Probability of data loss between mars tumbleweed rovers

Hook

Barhorst

2015

2015 11th International Conference on the Design of Reliable Communication Networks (DRCN)

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This research advances Wireless Sensor Network (WSN) theories in support of the exploration and mapping of Mars. A Mars Tumbleweed Rover is designed to use wind to propel a network of sensors across the Martian surface. While navigating the surface of Mars, the rovers' collect, aggregate, and communicate environmental and spatial sensor data. The Mars Tumbleweed program envisions releasing numerous autonomous rovers packed with sensors into a remote, desolate, and harsh dynamic environment, requiring a self-configurable, adaptable Wireless Sensor Network. This research examines the probability of sensor data loss between rovers as the range between them increases over time. The research shows the potential of selecting different network parameters to minimize the total power required to sense, process, and transmit data back to a base station. The impact of utilizing probabilistic analysis allows for optimal methods in the design of the WSN to better manage power consumption and maximize data collection over the course of the node lifetime. The research establishes a basic framework from which the general rules of power and network node distance can be established.

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Section: Deterministic Problem Definitiomentioning

confidence: 99%

Probability of data loss between mars tumbleweed rovers

Hook

Barhorst

2015

2015 11th International Conference on the Design of Reliable Communication Networks (DRCN)

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“…One of the most intriguing projects here is a ballbot for interplanetary missions (e.g. a Mars rover, [14]). …”

Section: Equations Of Motionmentioning

confidence: 99%

“…Recent advances in the design of controlled devices that use one or several balls for their propulsion (see, e.g., [3,4,[7][8][9][10][12][13][14]) has recently evoked an increasing interest in various models (in particular, non-holonomic ones) for rolling motion of spherical shells, including the case where some of the shells contain intricate mechanisms inside. The classical problem of rolling motion of a dynamically non-symmetric balanced Chaplygin ball has been sufficiently well investigated [11].…”

Section: Introductionmentioning

confidence: 99%

Two non-holonomic integrable problems tracing back to Chaplygin

Borisov

Mamaev

2012

Regul. Chaot. Dyn.

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The paper considers two new integrable systems which go back to Chaplygin. The systems consist of a spherical shell that rolls on a plane; within the shell there is a ball or Lagrange's gyroscope. All necessary first integrals and an invariant measure are found. The solutions are shown to be expressed in terms of quadratures.MSC2010 numbers: 76M23, 34A05 INTRODUCTIONRecent advances in the design of controlled devices that use one or several balls for their propulsion (see, e.g., [3,4,[7][8][9][10][12][13][14]) has recently evoked an increasing interest in various models (in particular, non-holonomic ones) for rolling motion of spherical shells, including the case where some of the shells contain intricate mechanisms inside. The classical problem of rolling motion of a dynamically non-symmetric balanced Chaplygin ball has been sufficiently well investigated [11]. A newer version of it, namely the rolling of a Chaplygin's ball over a sphere, has recently been discussed in a number of papers [1, 5, 6].Here we consider two new integrable systems that trace back to Chaplygin. His paper [2] is essentially concerned with generalized conditions for the existence of integrals linear in velocities for mechanical systems that consist of several spheres. These conditions are even now far from being completely appreciated. Chaplygin discusses in detail two problems. The first of them deals with a system that consists of a spherical, geometrically and dynamically symmetric shell with a homogeneous ball rolling inside; the shell itself rolls without slipping on a horizontal plane (Fig. 1). Chaplygin established the integrability of this system by expressing the solutions in terms of quadratures. Although his method for obtaining quadratures is quite natural (and also applies to the problem of rolling of a body of revolution on a plane), we believe that in solving this problem Chaplygin committed a few inaccuracies which resulted in enormously complicated and hardly verifiable formulas. Besides, Chaplygin missed one of the additional first integrals. The complexity of the results seems to discourage Chaplygin himself. Indeed, for each newly obtained analytical solution he always pursued clarification of its dynamical and geometrical aspects, but not in that case! Here we present a new approach to this system, a complete set of first integrals and reduce the problem to quadratures.The second problem is concerned with rolling of a shell (with a spherical pendulum inside) on a plane. For this problem the equations of motion were integrated by Chaplygin. We show that a more general system which consists of a Lagrange's gyroscope placed inside a rolling sphere is also integrable. The equations can be integrated using some generalized versions of the Chaplygin vector integrals and two additional linear integrals.

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“…Thus, for example, in [21] a ball model of a Mars rover is considered. In addition, more complicated machines whose design involves sophisticated arrangements of balls, which interact via the non-holonomic constraints, are treated 1) kinematically (various sorts of manipulators [6]); 2) dynamically (e.g., in the design of a Ballbot [14,15,17]).…”

Section: Introductionmentioning

confidence: 99%

Generalized Chaplygin’s transformation and explicit integration of a system with a spherical support

2012

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We discuss explicit integration and bifurcation analysis of two non-holonomic problems. One of them is the Chaplygin's problem on no-slip rolling of a balanced dynamically non-symmetric ball on a horizontal plane. The other, first posed by Yu. N. Fedorov, deals with the motion of a rigid body in a spherical support. For Chaplygin's problem we consider in detail the transformation that Chaplygin used to integrate the equations when the constant of areas is zero. We revisit Chaplygin's approach to clarify the geometry of this very important transformation, because in the original paper the transformation looks a cumbersome collection of highly non-transparent analytic manipulations. Understanding its geometry seriously facilitate the extension of the transformation to the case of a rigid body in a spherical supportthe problem where almost no progress has been made since Yu. N. Fedorov posed it in 1988. In this paper we show that extending the transformation to the case of a spherical support allows us to integrate the equations of motion explicitly in terms of quadratures, detect mostly remarkable critical trajectories and study their stability, and perform an exhaustive qualitative analysis of motion. Some of the results may find their application in various technical devices and robot design. We also show that adding a gyrostat with constant angular momentum to the spherical-support system does not affect its integrability.

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Design, Analysis and Testing of Mars Tumbleweed Rover Concepts

Cited by 24 publications

References 29 publications

Probability of data loss between mars tumbleweed rovers

Probability of data loss between mars tumbleweed rovers

Two non-holonomic integrable problems tracing back to Chaplygin

Generalized Chaplygin’s transformation and explicit integration of a system with a spherical support

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