相关论文: Integrated Sensing and Earthmoving Vehicle for Lun…
The interlock drive system generates traction by inserting narrow articulated spikes into the ground and by leveraging the soil's strength to resist horizontal draft forces. The system promises high tractive performance in low gravity…
The interlock drive system generates traction by penetrating narrow articulated spikes into the ground and by using the strength of the deeper soil layers to resist horizontal draft forces. The system promises good tractive performance in…
A current problem in the design of small and lightweight autonomous agricultural robots is how to create sufficient traction on soil to pull an agricultural implement or load. One promising solution is offered by the interlock drive system,…
Establishing lunar infrastructure is paramount to long-term habitation on the Moon. To meet the demand for future lunar infrastructure development, we present CraterGrader, a novel system for autonomous robotic earthmoving tasks within…
Lunar explorations have provided us with information about its abundant resources that can be utilized in orbiting-resource depots as lunar-derived commodities. To reduce the energy requirements of a launcher to send these commodities from…
Locomotion under reduced gravity is commonly realized through jumping, yet continuous pronking in lunar gravity remains challenging due to prolonged flight phases and sparse ground contact. The extended aerial duration increases landing…
Landing robotic spacecrafts and humans on Mars has become one of the inevitable technological necessities for humans. Effectuating perfect Mars expedition requires landing of enormous cargoes, crewed modules, ascent vehicles, and scientific…
Several physical mechanisms are involved in excavating granular materials beneath a vertical jet of gas. These occur, for example, beneath the exhaust plume of a rocket landing on the soil of the Moon or Mars. A series of experiments and…
We present a simulation framework for lunar construction work involving multiple autonomous machines. The framework supports modelling of construction scenarios and autonomy solutions, execution of the scenarios in simulation, and analysis…
In the companion paper ("Erosion rate of lunar soil under a landing rocket, part 1: identifying the rate-limiting physics", this issue) an equation was developed for the rate that lunar soil erodes under the exhaust of a landing rocket.…
With NASA's planned return to the moon and possibly with lunar outposts being formed, repeated landings at the same site will be necessary. Understanding rocket plume interaction with lunar and Martian surfaces is of paramount importance in…
We develop an integrated guidance and control system that in conjunction with a stabilized seeker and landing site detection software can achieve precise and safe planetary landing. The seeker tracks the designated landing site by adjusting…
This contribution reports on a software framework that uses physically-based rendering to simulate camera operation in lunar conditions. The focus is on generating synthetic images qualitatively similar to those produced by an actual camera…
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…
Wheeled rovers have been the primary choice for lunar exploration due to their speed and efficiency. However, deeper areas, such as lunar caves and craters, require the mobility of legged robots. To do so, appropriate end effectors must be…
Recent successful lunar landing missions have generated significant interest among space agencies in establishing a permanent human settlement on the Moon. Building a lunar base requires multiple and frequent landing missions to support…
Lunar Laser Ranging (LLR) measurements are crucial for advanced exploration of the laws of fundamental gravitational physics and geophysics. Current LLR technology allows us to measure distances to the Moon with a precision approaching 1…
Celestial bodies such as the Moon and Mars are mainly covered by loose, granular soil, a notoriously challenging terrain to traverse with (wheeled) robotic systems. Here, we present experimental work on traversing steep, granular slopes…
Experiments, analyses, and simulations have shown that the engine exhaust plume of a Mars lander large enough for human spaceflight will create a deep crater in the martian soil, blowing ejecta to approximately 1 km distance, damaging the…
Tools have been developed to model and simulate the effects of lunar landing vehicles on the lunar environment, mostly addressing the effects of regolith erosion by rocket plumes and the fate of the ejected lunar soil particles. The KSC…