Rover Technology Research Articles

Rover with Enhanced Manipulation and Vision Capabilities

Abstract: From planetary exploration to terrestrial uses, rovers are essential in many sectors. This research aims to improve the adaptability and efficacy of the rover in a variety of contexts by presenting a revolutionary design that is outfitted with sophisticated manipulation and vision capabilities. Modern robotic grippers, arms, and vision systems are all integrated into the system architecture to provide a holistic solution for challenging jobs. The creation, integration, and coordination of these upgraded capabilities are described in depth in this work, with experimental data demonstrating improved performance and providing support. Case studies and real-world applications show the potential effect of the proposed rover, and talks about future work and problems offer ideas for additional improvements in rover technology. This work opens up new possibilities for improved capabilities in difficult circumstances and ads to the field of robotic exploration and manipulation

MarsSim: A high-fidelity physical and visual simulation for Mars rovers

Simulation has deeply infiltrated into the development and validation of planetary rover technologies concerning mobility and autonomy, by providing large amounts of data in a variety of conditions and environments, as well as high-fidelity prototypes. Prevalent approaches for rover simulation focus either on physical behaviors or visual scenarios. In this paper, we present a simulator named MarsSim developed upon ROS/Gazebo platform that supports both physical and visual realistic simulations. The interaction between the wheel and the rough deformable terrain is modeled with improved contact solutions, and the model is integrated into a refined physical simulation architecture as an independent terramechanics plugin. Using multi-scale planetary data and representation models, Martian scenarios are constructed, considering characteristics in terms of the surface, rock and atmosphere. Compared with experiments, the terramechanics plugin shows great modelling accuracy in fitting interactive force/torque and slip-sinkage phenomenon. The simulation of traverses with a six- wheeled planetary rover on Martian landscape are demonstrated with near-photoreal images, coupled with physical-realistic locomotive data under different terrains.

Experimental Parameter Identification for Moving Base Nonholonomic Robot Consisting Primary Joints

Main aim of this paper is to study dynamic modeling and parameter identification of a nonholonomic moving based robot with chain of serial manipulators with primary joints. One of the main scenarios for analyzing mechanical systems including the no holonomic constraints will be carried out by using Lagrangian formulation and its associated “Lagrange multipliers”. Most research on movable manipulators are limited to robots with only rotating joints. The dynamic equations of robots with rotational and prismatic movement is a very important subject with many applications. The combination of this system with a movable base will bring capability of operating in a wider area than a fixed base manipulator. The moving ability added to the agility of the manipulator, is requirement of many application such as; space explores, rescue operations, operation in hazardous locations, agriculture, and so on. Eliminating these variables from the obtained equations is a time-consuming and cumbersome task. To prevent computing the Lagrange multipliers associated with the nonholonomic constraints; Gibbs-Appell formulation shall be implemented. To automatically derive the motion equations and upgrade the computational efficiency, a recursive algorithm has been derived in the simulation of the system. In the concept of this algorithm, all the mathematical scheme is carried out by only 3 × 3 and 3 × 1 matrices. In the last section, computational modeling for a chain of the manipulator with 3 links and primary joints in each arm is performed to show the aptitude of the proposed scheme in implementation of the motion equations and parametric analysis for complex systems at this level. One of the main purposes of this study is to develop rover technologies for interplanetary explorations.

Imaging rover technology: characteristics, possibilities and possible improvements

The terrestrial photogrammetric survey allows to acquire geometric characteristics of objects quickly and with handy and inexpensive hardware. Traditionally, these measurements require some hours of time between the choice of the acquisition points, the setting up of the camera, the survey of the topographic support network and subsequent processing of the acquired data. The upcoming of advanced algorithms such as “structure from motion” (SFM) [1] and the recent availability of optical cameras with increasing resolution combined with increasing resources of mass storage [1], make it possible to create dedicated hardware with potentials not possible with these technologies so far. Of particular interest in this field is the coming of so-called “imaging rovers”, i.e. cameras that allow simultaneous acquisition of multiple images, covering a 360-degree panorama and in some cases, directly positioned thanks to GPS/GNSS differential receivers with centimeter accuracy. The recent availability of these innovative techniques requires careful verification to assess their capabilities, accuracy, precision and possible limitations. This work presents the first systematic verification of one of these latest generation devices in different conditions and for different applications. It has been verified that in many cases it is possible to obtain three-dimensional surveys quickly with information contents comparable to those of more expensive and less handy instruments such as terrestrial laser scanning. The development of these techniques could lead to operational simplifications and greater efficiency also in complementarity with the reliefs from UAVs that, as it’s well known, show some limitations in the so-called urban canyons.

Design and Analysis of Robotic Rover with Gripper Arm using Embedded C

This paper confers the development and working of robotic rover performing various autonomous tasks to identify, pick and drop an object at an appropriate position using microcontroller 8051 in conjunction with embedded C programming. The system employs infrared proximity sensors, DC geared motors, microcontroller board, etc. Robotic rover technology offers many applications in space explorations, military operations, etc. The motive of this research work is to design a wireless robotic rover being autonomous controlled that is capable of completing tasks with proliferated accuracy in smooth terrain.

Axel and DuAxel rovers for the sustainable exploration of extreme terrains

AbstractSome of the most appealing science targets for future exploration missions in our solar system lie in terrains that are inaccessible to state‐of‐the‐art rover technology. This paper discusses the challenges and constraints of designing a robotic explorer for these “extreme'' terrains and then examines the trade‐offs among different mobility architectures. To address many of these challenges, we have developed the Axel family of rovers. The Axel rover is a two‐wheeled tethered robot capable of rappelling down steep slopes and traversing rocky terrain. The DuAxel rover, which is a four‐wheeled vehicle formed from two Axel rovers, provides untethered mobility to get to extreme terrains. We describe the basic design principles of these rovers and review our efforts to implement the key features of the Axel concept. Limitations found during experiments with prior Axel rover prototypes led to the design of a third‐generation Axel rover. We describe the features of this new rover and then present a thermal analysis conducted to assess the feasibility of exploring lunar cold traps, which are expected to have a temperature range of 40 to 70 K. We conclude the paper with results showcasing Axel and DuAxel's extreme‐terrain performance as evaluated during two recent field tests in a steeply sloped Southern California rock quarry and at a location in Arizona that closely resembles rugged Martian terrain. We also summarize lessons learned during the Axel development program. © 2012 Wiley Periodicals, Inc.

Colonialism and Place Creation in Mars Pathfinder Media Coverage

This paper addresses the representation of the planet Mars during the 1997 Mars Pathfinder mission through a content analysis of major U.S. newspapers as well as transcripts of television and radio news shows. Content analysis identified three threads of representation: scientific advance and the search for life, the naming of Martian places, and the Earth analogy. Together these converge in a language of colonialism that both advances the economic goals of the media and the National Aeronautics and Space Administration and represents Mars as a space fit for human colonization. This article focuses on how the Sojourner rover technology simulated human activity on the surface of Mars and led to the constitution of Mars as a place of social activity, thereby enabling the language of colonialism.

Science crew operations and utility testbed

PurposeThe goal of this research has been to design and field test a multi‐use planetary rover vehicle. SCOUT has been developed to test advanced rover hardware and software technologies and to enable the development and demonstration of mission operations concepts applicable to future planetary rover vehicle development activities.Design/methodology/approachThis paper presents a description of the SCOUT vehicle capabilities and the results of the remote field testing conducted recently in Meteor Crater, AZ. These tests included (among others) onboard driving by suited crewmembers, remote teleoperation, autonomous point‐to‐point navigation, obstacle avoidance, human tracking and following, gesture recognition and onboard suit‐recharge.FindingsSCOUT was successfully tested in all three driving modes (onboard by two suited crewmembers, teleoperation and autonomous) and additional capabilities verified over the course of the testing period.Research limitations/impilicationsVarious tests experienced periodic telemetry drop‐outs to the vehicle. Future research should improve upon the communications architecture to minimize the loading on system bandwidth.Practical implicationsA multi‐use planetary rover will prove very useful on future Lunar and Martian exploration missions on an assortment of activities. In addition to equipment transport, riding on the rover will allow crewmembers to cover more surface area while conserving important extravehicular activity suit consumables.Originality/valueSeveral new concepts for rover technologies are presented here including on‐board suit recharge, stereo‐vision human tracking and following, gesture recognition and autonomous driving and navigation.

JPL Rover and Telerobotics Technology Program [Research Perspectives

JPL Rover and Telerobotics Technology Program [Research Perspectives

IARES-L: A ground demonstrator of planetary rover technologies

The paper presents the current status of the Eureka 969 project IARES. The project, which stems from the study programme undertaken by the French Space Agency (CNES) to develop the base-line concepts for planetary rovers, concerns the development, tests and experimentation of an on-ground mobile robot emulating a generic rover. The Lunar demonstrator IARES-L1 as well as its control modes allowing different levels of autonomy are described. Preliminary performance evaluations are discussed leading to the IARES-L1 future activities. The IARES-L2 full autonomous rover for a Mars mission is mentioned.

Robot windrower is first unmanned harvester

Explains that the first robotics commercialization project of the National Robotics Engineering Consortium (USA) is Demeter, the first unmanned, fully automated windrower. Describes how lunar rover and terrestrial military vehicle technology is combined to define two core technologies for mobile agricultural equipment ‐ FieldNav, the digital machine; and FieldHand, the digital operator. Outlines the hardware and software used; standard and custom components used for safety and customized electronics; modifications for drive‐by‐wire; the event‐driven, behaviour‐based architecture (SAUSAGES); sensing for crop line tracking; other detectors, trackers and GPS used for guidance. Finally, explains the benefits of such automation to agriculture and what the future holds for commercialization of Demeter.

The Pathfinder Microrover

An exciting scientific component of the Pathfinder mission is the rover, which will act as a mini‐field geologist by providing us with access to samples for chemical analyses and close‐up images of the Martian surface, performing active experiments to modify the surface and study the results, and exploring the landing site area. Structures, textures, and fabrics revealed in the rover camera images will provide a bounty of geologic information, which can be put in the larger context of geologic features seen in lander camera images. Rover technology experiments will improve our understanding of “soil” properties (grain size, bulk density, friction angle, cohesion, and compressibility) by contributing information not provided by the other Pathfinder instruments. Unplanned opportunities and activities are also likely to provide valuable science information, such as examination of any slumped or eroded soil that has been piled up by the rover wheels, and examination of overturned rocks. Using its ability to actively explore and experiment, the rover will fill in key gaps in our understanding of the landing site.

The Mars Pathfinder Mission

Mars Pathfinder, one of the first Discovery‐class missions (quick, low‐cost projects with focused science objectives), will land a single spacecraft with a microrover and several instruments on the surface of Mars in 1997. Pathfinder will be the first mission to use a rover, carrying a chemical analysis instrument, to characterize the rocks and soils in a landing area over hundreds of square meters on Mars, which will provide a calibration point or “ground truth” for orbital remote sensing observations. In addition to the rover, which also performs a number of technology experiments, Pathfinder carries three science instruments: a stereoscopic imager with spectral filters on an extendable mast, an alpha proton X ray spectrometer, and an atmospheric structure instrument/meteorology package. The instruments, the rover technology experiments, and the telemetry system will allow investigations of the surface morphology and geology at submeter to a hundred meters scale, the petrology and geochemistry of rocks and soils, the magnetic properties of dust, soil mechanics and properties, a variety of atmospheric investigations, and the rotational and orbital dynamics of Mars. Landing downstream from the mouth of a giant catastrophic outflow channel, Ares Vallis at 19.5°N, 32.8°W, offers the potential of identifying and analyzing a wide variety of crustal materials, from the ancient heavily cratered terrain, intermediate‐aged ridged plains, and reworked channel deposits, thus allowing first‐order scientific investigations of the early differentiation and evolution of the crust, the development of weathering products, and the early environments and conditions on Mars.

Robotic vehicles for planetary exploration

A program to develop planetary rover technology is underway at the Jet Propulsion Laboratory (JPL) under sponsorship of NASA. Developmental systems with the necessary sensing, computing, power, and mobility resources to demonstrate realistic forms of control for various missions have been developed, and initial testing has been completed. These testbed systems and the associated navigation techniques used are described. Particular emphasis is placed on three technologies: Computer-Aided Remote Driving (CARD), Semiautonomous Navigation (SAN), and behavior control. It is concluded that, through the development and evaluation of such technologies, research at JPL has expanded the set of viable planetary rover mission possibilities beyond the limits of remotely teleoperated systems such as Lunakhod. These are potentially applicable to exploration of all the solid planetary surfaces in the solar system, including Mars, Venus, and the moons of the gas giant planets. >