Reconfigurability in planetary surface vehicles

Siddiqi, Afreen; Weck, Olivier L. de

doi:10.1016/j.actaastro.2008.10.010

Cited by 31 publications

(40 citation statements)

References 10 publications

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“…Results from this study demonstrated that the optimal wheel configuration was dependent on the weighting parameter used in the objective function. Reconfigurability has also been studied when designing a fleet of Mars Astronaut Transport Vehicles (ATVs) 9 . This work demonstrated that increased mission value could be obtained by employing a team of five reconfigurable vehicles to do the work of six 2 American Institute of Aeronautics and Astronautics static vehicles.…”

Section: Introductionmentioning

confidence: 99%

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Tradespace Exploration of Reconfigurability using Surrogate Points to Simplify Dominance Determination

Denhart

Gemmer

Ferguson

et al. 2013

54th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference

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Reconfigurable system design is known to be a strategy that offers vast performance improvement over traditional designs. Extending from previous work, this paper presents a strategy for assessing the domination of a reconfigurable concept. By considering the performance demands placed upon a system at different segments of a mission, reconfigurable systems are shown in a multi-objective space as a collection of points. This is different than static designs which are typically represented as a single point. The principles of Pareto dominance are extended to describe the comparisons between systems in this space. A surrogate point is introduced to reduce calculation burden and provide a foundation for the development of a necessary condition for dominance. This approach is then demonstrated on a case study of Mars exploration rovers where a traditional rocker-bogie architecture is compared to the two-state Transforming Rolling Roving Explorer architecture. These principles lay the groundwork for choosing between reconfigurable and static systems when multiple objectives are considered. I. IntroductionR econfigurability and flexibility are concepts associated with complex system design that offer large improvements in system performance and robustness. Reconfigurability is the ability of a system to change "configurations … repeatedly and reversibly," 1 and benefits include multi-ability (operating at multiple performance points in the design space non-simultaneously), evolvability (changes to meet new demands), and survivability (changes to maintain functionality despite component failures). The goal of this paper is to explore the advantages of multi-ability when initially selecting system architecture. Specifically, this paper explores the architecture selection for a Mars rover.Tradespace visualization is a powerful tool for navigating the trade-offs inherent in system design, especially when multiple objectives are considered. This paper explores the challenges with, and establishes initial groundwork for, visualizing the complexity associated with reconfigurable systems in a multidimensional environment. Key challenges of this task relate to understanding how performance domination in a multi-objective space can be extended to a reconfigurable system, and how this domination may be explored visually. Solving these challenges will allow for the development of fundamental rules for evaluating reconfigurable architectures that can then be used to facilitate the application of multi-objective optimization techniques toward reconfigurable designs.Research over the last decade has seen an increased interest in the optimization of reconfigurable systems. Unmanned aerial vehicles have been a popular topic in particular. Work in this area has conducted sensitivity studies 2 , explored concept embodiment 3 , and developed analyses engines capable of spanning multiple disciplines 4-6 . Reconfigurable UAVs have also been envisioned with offline reconfigurations where the UAV is changed between missions by swapping out wi...

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Section: Introductionmentioning

confidence: 99%

“…Planetary rovers have also been considered as prime applications of reconfigurability. Research in this area has considered a wheel capable of changing width and diameter in response to different soil types 8 . In this work, wheel shape is changed to optimize a performance objective consisting of drawbar force and wheel drive torque.…”

Section: Introductionmentioning

confidence: 99%

Tradespace Exploration of Reconfigurability using Surrogate Points to Simplify Dominance Determination

Denhart

Gemmer

Ferguson

et al. 2013

54th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference

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“…As the limitations of static systems become increasingly apparent, reconfigurable and changeable systems have recently been identified as a potential solution to this demand for increased performance [1]. These systems are designed to maintain a high level of performance by changing their configuration in use to meet multiple functional requirements or changing operating conditions [2,3]. The goal of this work, and a primary contribution of this paper, is integrating the mathematics of system optimization with transformational design concepts.…”

Section: Introductionmentioning

confidence: 99%

Development of a Changeable Airfoil Optimization Model for Use in the Multidisciplinary Design of Unmanned Aerial Vehicles

Ferguson

Tilstra

Seepersad

et al. 2009

Volume 5: 35th Design Automation Conference, Parts a and B

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Complex systems need to perform in a variety of functional states and under varying operating conditions. Therefore, it is important to manage the different values of design variables associated with the operating states for each subsystem.The research presented in this paper uses multidisciplinary optimization (MDO) and changeable systems methods together in the design of a reconfigurable Unmanned Aerial Vehicle (UAV). MDO is a useful approach for designing a system that is composed of distinct disciplinary subsystems by managing the design variable coupling between the subsystem and system level optimization problems. Changeable design research addresses how changes in the physical configuration of products and systems can better meet distinct needs of different operating states. As a step towards the development of a realistic reconfigurable UAV optimization problem, this paper focuses on the performance advantage of using a changeable airfoil subsystem. Design principles from transformational design methods are used to develop concepts that determine how the design variables are allowed to change in the mathematical optimization problem. The performance of two changeable airfoil concepts is compared to a fixed airfoil design over two different missions that are defined by a sequence of mission segments. Determining the configurations of the static and changeable airfoils is accomplished using a genetic algorithm. Results from this study show that aircraft with changeable airfoils attain increased performance, and that the manner by which the system transforms is significant. For this reason, the changeable airfoil optimization developed in this paper is ready to be integrated into a complete MDO problem for the design of a reconfigurable UAV.

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“…This strategy includes building in capability to a system to handle new objectives and customer requirements [35,36,37,38]. This can also be considered a type of flexibility.…”

Section: Reconfigurablementioning

confidence: 99%

Exploring Natural Strategies for Bio-Inspired Fault Adaptive Systems Design

Arroyo¹,

Huisman²,

Jensen³

2018

Preprint

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Fault adaptive design seeks to find the principles and properties that enable robustness, reliability and resilience to implement those features into engineering products. In nature, this characteristic of adaptability is the fundamental trait that enables survival. Utilizing adaption strategy is a new area of research exploration for bio-inspired design. In this paper we introduce a tool for bio-inspired design for fault adaption. Further we discuss insights from using this tool in a undergraduate design experiment. The goal of the tool is to assist designers to develop fault adaptive behaviors in engineering systems using nature as inspiration. This tool is organized as a binary tree where branches that represent the specific details of how an organism achieves an adaptive behavior or characteristic.Results from an initial study indicate, for the specific challenge of designing fault adaption into a system, a strategy based method can provide designers with innovative analogies and help provide the details needed to bridge the gap between analogy and engineering implementation.

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Reconfigurability in planetary surface vehicles

Cited by 31 publications

References 10 publications

Tradespace Exploration of Reconfigurability using Surrogate Points to Simplify Dominance Determination

Tradespace Exploration of Reconfigurability using Surrogate Points to Simplify Dominance Determination

Development of a Changeable Airfoil Optimization Model for Use in the Multidisciplinary Design of Unmanned Aerial Vehicles

Exploring Natural Strategies for Bio-Inspired Fault Adaptive Systems Design

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