1,737,732 research outputs found
Lunar Rover with Multiple Science Handling Capability
No full textA rover design study was undertaken for exploration of the Moon. Rovers that have been
launched in the past carried a suite of science payload either onboard its body or on the
robotic arm’s end. No rover has so far been launched and tasked with “carrying and
deploying” a payload on an extraterrestrial surface. This paper describes a lunar rover
designed for deploying payload as well as carrying a suite of instruments onboard for
conventional science tasks. The main consideration during the rover design process was the
usage of existing, in-house technology for development of some rover systems. The
manipulation subsystem design was derived from the technology of Light Weight Robot, a
dexterous arm originally developed for terrestrial applications. Recent efforts have led to
definition of a mission architecture for exploration of the Moon with such a rover. An outline
of its design, the manipulating arm technology and the design decisions that were made has
been presented
Rover vertical dynamics: modeling and experimental validation
No full textreservedVertical vibrations of a rover have been analysed to understand what disturbances a camera that has to be mounted on it is subject to. Work was done to identify the rover dynamic properties and to build numerical models representative of reality, that is, capable of providing realistic vibrations in the vertical plane as an output. The so called “full-vehicle model”, typical of vehicle dynamics, has been applied to the rover to get an estimate of the vibration modes and the response to the road. A multibody model has also been created: the results obtained through simulation were compared with those obtained experimentally to achieve the experimental validation.Vertical vibrations of a rover have been analysed to understand what disturbances a camera that has to be mounted on it is subject to. Work was done to identify the rover dynamic properties and to build numerical models representative of reality, that is, capable of providing realistic vibrations in the vertical plane as an output. The so called “full-vehicle model”, typical of vehicle dynamics, has been applied to the rover to get an estimate of the vibration modes and the response to the road. A multibody model has also been created: the results obtained through simulation were compared with those obtained experimentally to achieve the experimental validation
Designing an indoor rover with WiFi module
No full textopenIn questa tesi si è progettato un rover, ovvero un veicolo a propulsione elettrica, che può muoversi all'interno di un'abitazione ed essere comandato tramite WiFi.
Noto il percorso è possibile inviare un comando per richiedere al rover di spostarsi da un punto a un altro.
Tramite l'utilizzo del sistema operativo open source Home Assistant è possibile far eseguire in maniera autonoma uno spostamento all'interno del percorso prestabilito.
Viene utilizzato il protocollo MQTT per inviare e ricevere dati nella rete locale (LAN).
Il percorso viene salvato come grafo non diretto, pesato, per permettere la ricerca del cammino minimo tra nodi del grafo con algoritmo di Dijkstra
Riskiarviointi maastoajotapahtumassa : Land Rover Experience Finland
Get PDFOpinnäytetyössä käsitellään maastoajotapahtumassa esiintyviä riskejä, niiden kartoittamista ja niiden vaikutusten minimoimista. Työ on tehty toimeksiantona hämeenlinnalaiselle Land Rover Experience Finland:lle, joka järjestää maastoajotapahtumia yksityishenkilöille ja yritysvieraille. Opinnäytetyön tavoitteena on tutustua maastoajotapahtuman riskeihin ja tuottaa Land Rover Experience Finland:lle asianmukainen riskiarviointi yrityksen maastoajotapahtumiin. Opinnäytetyössä käydään läpi toimeksiantavan yrityksen toimintaa ja tutustutaan riskejä maastossa aiheuttaviin tekijöihin. Lisäksi opinnäytetyössä käsitellään maastoajamisen kouluttamista ja muita työtä laatiessa huomioitavia asioita. Riskiarviointi on tuotettu Excel-pohjalle Land Rover Experience:n ohjeiden mukaisesti. Laadittu riskiarviointi kuuluu yrityssalaisuuden piiriin, ja se on tarkoitettu vain LRE:n ajokouluttajien käyttöön. Työn valmistuttua se on hyväksytetty yrityksen johdolla ja ajokouluttajilla. Riskiarviointi otettiin käyttöön kesäkuussa 2020 osaksi yrityksen normaalia toimintakultuuria.This thesis handles off road driving, risk assessing of off road driving events and how to minimize those risks. This thesis was an assignment from Land Rover Experience Finland located in Hämeenlinna, which hosts off road driving events for other companies and private persons. The goal of this thesis was to learn how to identify risks and hazards at off road driving events and to assemble a risk assessment for such events. This thesis runs trough the company operations and what factors cause risks and hazards in off road driving. Thesis also includes thoughts on how instructors guide guests during these events and other topics that are related to assembling a risk assessment. Risk assessment has been done on Excel-base according to the instructions given by Land Rover Experience. Risk assessment is confidential and only made for Land Rover Experience instructors. Final work was accepted by the company management and driving instructors, and was taken into use June 2020 as a part of common company policy
Strategic alliances, organisational learning and new product development: the cases of Rover and Seat.
Get PDFThe importance of the automotive industry in the global economy is widely recognised. The sector has undergone enormous changes in order to prepare for the fierce competition of the 21st century. Among these transformations, the most relevant are those technologies developed for the rapid evolution of activities linked to new designs, new products, and new manufacturing processes and systems. Innovative Japanese carmakers have stimulated international performance comparisons in these activities. International technology alliances may be one way of gaining access to new competitive technologies. Risks and costs associated with new product development can be shared among the partners and more effective use can be made of manufacturing facilities and production capabilities. Sometimes, an alliance agreement may lead to the deployment of new capabilities. However, in spite of this potential, the literature presents the success rate of alliances at less than 50%. Our study considers two examples of companies that developed international joint ventures (IJVs): Rover with Honda, and Seat with Volkswagen. Since these two European peripheral companies, Rover and Seat, no longer remain as independent firms, we are interested in identifying the reasons leading to the success or failure of these IJVs as regards the New Product Development (NPD) process. In particular, in both cases the paper looks at the problems of the weaker partner becoming increasingly dependent on the other partner and the need for a well-defined strategy to benefit from IJVs.Alianzas estratégicas; desarrollo de productos; Rover; Seat;
Multibody and Contact Dynamics: From Satellite Capturing to Planetary Rover Terrainability
No full textThis paper gives a short overview of the multibody and contact dynamics based modelling and simulation activities
performed at the German Aerospace Center. These cover two different applications, one in the orbital satellite servicing
field and a second one in planetary explorations with rovers, specifically on Mars and Moon. Both topics require efficient
and reliable contact dynamics modelling for both, satellite grasping and capturing and for the interaction between
rover wheels and soft and hard planetary soils, i.e. the power transmission from the wheel actuators to the ground. Although
the two applications areas, at first glance, are not necessarily common to each other, the contact dynamics modelling
approach for both areas can rely on the same algorithms
Visual Prediction of Rover Slip: Learning Algorithms and Field Experiments
Get PDFPerception of the surrounding environment is an essential tool for intelligent navigation in any autonomous vehicle. In the context of Mars exploration, there is a strong motivation to enhance the perception of the rovers beyond geometry-based obstacle avoidance, so as to be able to predict potential interactions with the terrain. In this thesis we propose to remotely predict the amount of slip, which reflects the mobility of the vehicle on future terrain. The method is based on learning from experience and uses visual information from stereo imagery as input. We test the algorithm on several robot platforms and in different terrains. We also demonstrate its usefulness in an integrated system, onboard a Mars prototype rover in the JPL Mars Yard.
Another desirable capability for an autonomous robot is to be able to learn about its interactions with the environment in a fully automatic fashion. We propose an algorithm which uses the robot's sensors as supervision for vision-based learning of different terrain types. This algorithm can work with noisy and ambiguous signals provided from onboard sensors. To be able to cope with rich, high-dimensional visual representations we propose a novel, nonlinear dimensionality reduction technique which exploits automatic supervision. The method is the first to consider supervised nonlinear dimensionality reduction in a probabilistic framework using supervision which can be noisy or ambiguous.
Finally, we consider the problem of learning to recognize different terrains, which addresses the time constraints of an onboard autonomous system. We propose a method which automatically learns a variable-length feature representation depending on the complexity of the classification task. The proposed approach achieves a good trade-off between decrease in computational time and recognition performance.</p
Automatic goal allocation for a planetary rover with DSmT
No full textIn this chapter, we propose an approach for assigning aninterest level to the goals of a planetary rover. Assigning an interest level to goals, allows the rover to autonomously transform and reallocate the goals. The interest level is defined by data-fusing payload and navigation information. The fusion yields an 'interest map',that quantifies the level of interest of each area around the rover. In this way the planner can choose the most interesting scientific objectives to be analysed, with limited human intervention, and reallocates its goals autonomously. The Dezert-Smarandache Theory of Plausible and Paradoxical Reasoning was used for information fusion: this theory allows dealing with vague and conflicting data. In particular, it allows us to directly model the behaviour of the scientists that have to evaluate the relevance of a particular set of goals. This chaptershows an application of the proposed approach to the generation of a reliable interest map
La polemica antiscettica nel IV libro di Lucrezio. Un'eco antiochea?
No full textThis contribution suggests the hypothesis of a rather late dating, in the context of the Epicurean tradition, of the anti-sceptical dispute conducted by Lucretius in the fourth book of his poem (spec. vv. 469-521). To this end, some parallels between the Lucretian polemic and the position that Cicero, in the Lucullus, attributes to Lucullus, spokesman of Antiochus of Ascalon (135/130-68 BC), will be examined. The assonance between the controversy conducted by Lucullus against academic scepticism and the arguments outlined in the fourth book of De rerum natura, together with the elements of Stoicism ascribed to Antiochus’ “syncretism”, testify to how Lucretius’ verses could be the result of a comparison with various “endemic” instances of the philosophical temperament of the years in which their author lived and wrote
Dark Ages Interferometer (DALI) Deployment Rover: Energy System
No full textThe cosmic “Dark Ages” is the cosmic era between the epochs of recombination of cosmic microwave background and the formation of the first stars. The only signal from this epoch is from neutral hydrogen, which could represent one of the richest data sets in cosmology. In order to extract this data, NASA/JPL has proposed a rover mission to the farside of the moon to deploy several radio arrays. Here the arrays would gather data undisturbed by human interference. This thesis examines the possibility of using photovoltaic and electric batteries as an energy solution for a rover on the moon. The requirement for such a system to survive on the moon is discussed in a literature study. A proof of concept simulation using a Simulink model has also been done. The thesis concludes that a rover can deploy the radio array using solar energy. It would be able to hibernate through the night using radioisotope heating. It would need to wait for its batteries to charge before each night.I kosmologi kallas epoken mellan “rekombinationen till väte” och bildandet av de första stjärnorna för “den mörka tidsåldern”. Från denna tid finns endast spår i form av strålning från neutralt väte. Denna strålning kan enligt astronomer vara en viktigare källa till data om universums uppkomst än den kosmiska mikrovågsstrålningen. Därför arbetar NASA/JPL med att hitta metoder att observera denna rika källa till data. Den mest använda metoden är att använda lågfrekventa radioteleskop för att observera strålning med våglängder mellan 3-30 m och frekvenser mellan 10-100 Mhz. Ett stort problem med så kort strålning är den lätt störs ut av mänsklig påverkan och andra radiokällor, tillexempel solen. Ett sätt att undvika antropogen störning är att bygga ett radioteleskop på månens baksida. Eftersom månen är i en låst bana runt jorden vänder den alltid samma sida bort från planeten. Därför är platsen alltid i radioskugga från jorden ochstörs inte av mänsklighetens radiotrafik. JPL har lång erfarenhet av användandet av robotfarkoster för att utforska himlakroppar. År 2030 vill de sända en så kallad rover för att upprätta en grupp radioteleskop på månen med syftet att införskaffa data om “den mörka tidsåldern.” Högskolan i Halmstad erbjuder sedan 2013 studenter möjligheten att skriva sitt examensarbete i samarbete med NASA/JPL om konstruktionen av denna rover. Detta arbete har ämnat finna en lösning på rovens energiförsörjning genom att använda solceller och batterier. Slutsatsen har varit att det är möjligt att driva en rover på månen med solceller samt batterier. Ett krav är att rovern värms med radioisotoperunder natten för att minska energianvändningen
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