North Carolina Federal Advanced Technologies Symposium May 9, 2013 Ground Vehicles and Robotics Panel Hosted by: Office of Senator Richard Burr NC Military Business Center NC Military Foundation Institute for Defense & Business University of North Carolina System Reception Sponsor: Bronze Sponsor:
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North Carolina Federal Advanced Technologies Symposium May 9, 2013
Ground Vehicles and Robotics Panel
Hosted by: Office of Senator Richard Burr NC Military Business Center NC Military Foundation Institute for Defense & Business University of North Carolina System
Reception Sponsor:
Bronze Sponsor:
Biologically Inspired Transforming Roving-Rolling
Explorer (TRREx) Rover for Planetary Exploration*
Engineering Mechanics and Space Systems Laboratory
Mechanical and Aerospace Department
North Carolina State University
Lab Director: Dr. Andre Mazzoleni.
, .
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• Funded by NASA Innovative Advanced Concepts (NIAC) • Faculty: Dr. Andre Mazzoleni, Dr. Scott Ferguson • Graduate Students: Lionel Edwin, Tom Gemmer, Jason Denhart
Motivation
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Motivation
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Mars Topography
Controller/Sensor package
Actuators
The Golden wheel uses the inherent dynamic advantages of a sphere to roll down dunes when escaping danger.
A Pangolin curls up into a ball as defense from predators.
Bio-Inspiration
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An Armadillo curls up into a ball for protection.
Transforming Roving-Rolling Explorer
‘TRREx’
TRREx Roving
TRREx Rolling
Rolling: • ‘Free rolling’ due to gravity down a slope
• ‘Actuated rolling’ by cyclically extending legs and shifting CG to move in desired direction
• ‘Controlled rolling’ by intermittent actuations to avoid obstacles while free rolling.
Transformation: • Continuous
• Possible to explore smooth transformation transferring inertia from roving to rolling or vice versa
Roving: • Equal distribution of weight on four legs for
maximum traction achieved by ‘Active suspension’.
• Detachable-tethered halves
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Unique design capabilities
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Above: Exploring a crater base possible due to
detachable tethered halves design.
Above: Climbing a ledge using the actuated hip joint.
Left: Another
possible way
of actuated
rolling
Tether
Modeling and Analysis of Rolling Motion Free Rolling:
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Mathematical Path Prediction models in free rolling
Modeling and Analysis of Rolling Motion
Actuated Rolling:
When no significant gradient is present, actuated rolling is produced by a continuous cyclic actuation and dynamic shifting of the center of gravity.
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Dynamic modeling Compared to Free rolling complexity is increased because now control inputs exist that can be used
to control the dynamics of the system. As a first step into investigation of actuated rolling of the
TRREx, a planar version of the problem is considered.
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: Normal reaction : Frictional reaction : Rolling resistanceN fr RF F F
4
, ,
1j
OO O O
B sys B sys B Cext O Oj
dh v m v
dt
Modeling and Analysis of Rolling Motion
Roadmap:
• The roadmap for future of the TRREx includes developing a mathematical model to describe the dynamics of the spherical rover during actuated rolling. Once we have this model, we can integrate it with the model describing free rolling to come up with a control scheme that will perform controlled rolling.
• The roving mode of operation of the TRREx and the transformation between the modes will also be individually studied.
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Controlled Rolling
Thank You
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TRREx Roving
TRREx Rolling
SOLUTIONS FOR
INCREASING
MISSION
READINESS
Protective Coatings for Ground Vehicles and Robotics
May 9th, 2013
Presented by:
Peter Venema
SP3EC™ Wear Coating on Aluminum
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ASTM G-77 Block-on-Ring Testing of SP3EC Coating on 6061
Aluminum vs. Other Internal Engine Component Coatings
SP3EC™ thin film coating provides protection for both materials in contact
Falex Test Parameters
Speed (rpm): 2000
Temperature (ºC): 125
Load (lb): 44 – 60 – 65 - 70
Duration (min): 5 - 5 - 10 - 5
Superhydrophobic Coatings Wide Range of Applicable Surfaces