Wei Hu, Pei Li, Arno Rogg, Alexander Schepelmann, Samuel Chandler, Ken Kamrin, Dan Negrut
{"title":"一项研究表明,使用重力偏移来准备地外移动任务是误导的","authors":"Wei Hu, Pei Li, Arno Rogg, Alexander Schepelmann, Samuel Chandler, Ken Kamrin, Dan Negrut","doi":"10.1002/rob.22597","DOIUrl":null,"url":null,"abstract":"<p>Recently, there has been a surge of international interest in extraterrestrial exploration targeting the Moon, Mars, the moons of Mars, and various asteroids. This contribution discusses how current state-of-the-art Earth-based testing for designing rovers and landers for these missions currently leads to overly optimistic conclusions about the behavior of these devices upon deployment on the targeted celestial bodies. The key misconception is that gravitational offset is necessary during the <i>terramechanics</i> testing of rover and lander prototypes on Earth. The body of evidence supporting our argument is tied to a small number of studies conducted during parabolic flights and insights derived from newly revised scaling laws. We argue that what has prevented the community from fully diagnosing the problem at hand is the absence of effective physics-based models capable of simulating terramechanics under low-gravity conditions. We developed such a physics-based simulator and utilized it to gauge the mobility of early prototypes of the Volatiles Investigating Polar Exploration Rover. This contribution discusses the results generated by this simulator, how they correlate with physical test results from the NASA-Glenn SLOPE lab, and the fallacy of the gravitational offset in rover and lander testing. The simulator, which is open-source and publicly available, also supports studies for in situ resource utilization activities, for example, digging, bulldozing, and berming, in low-gravity environments.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3772-3794"},"PeriodicalIF":5.2000,"publicationDate":"2025-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22597","citationCount":"0","resultStr":"{\"title\":\"A Study Demonstrating That Using Gravitational Offset to Prepare Extraterrestrial Mobility Missions Is Misleading\",\"authors\":\"Wei Hu, Pei Li, Arno Rogg, Alexander Schepelmann, Samuel Chandler, Ken Kamrin, Dan Negrut\",\"doi\":\"10.1002/rob.22597\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>Recently, there has been a surge of international interest in extraterrestrial exploration targeting the Moon, Mars, the moons of Mars, and various asteroids. This contribution discusses how current state-of-the-art Earth-based testing for designing rovers and landers for these missions currently leads to overly optimistic conclusions about the behavior of these devices upon deployment on the targeted celestial bodies. The key misconception is that gravitational offset is necessary during the <i>terramechanics</i> testing of rover and lander prototypes on Earth. The body of evidence supporting our argument is tied to a small number of studies conducted during parabolic flights and insights derived from newly revised scaling laws. We argue that what has prevented the community from fully diagnosing the problem at hand is the absence of effective physics-based models capable of simulating terramechanics under low-gravity conditions. We developed such a physics-based simulator and utilized it to gauge the mobility of early prototypes of the Volatiles Investigating Polar Exploration Rover. This contribution discusses the results generated by this simulator, how they correlate with physical test results from the NASA-Glenn SLOPE lab, and the fallacy of the gravitational offset in rover and lander testing. The simulator, which is open-source and publicly available, also supports studies for in situ resource utilization activities, for example, digging, bulldozing, and berming, in low-gravity environments.</p>\",\"PeriodicalId\":192,\"journal\":{\"name\":\"Journal of Field Robotics\",\"volume\":\"42 7\",\"pages\":\"3772-3794\"},\"PeriodicalIF\":5.2000,\"publicationDate\":\"2025-05-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22597\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Field Robotics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1002/rob.22597\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Field Robotics","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rob.22597","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
A Study Demonstrating That Using Gravitational Offset to Prepare Extraterrestrial Mobility Missions Is Misleading
Recently, there has been a surge of international interest in extraterrestrial exploration targeting the Moon, Mars, the moons of Mars, and various asteroids. This contribution discusses how current state-of-the-art Earth-based testing for designing rovers and landers for these missions currently leads to overly optimistic conclusions about the behavior of these devices upon deployment on the targeted celestial bodies. The key misconception is that gravitational offset is necessary during the terramechanics testing of rover and lander prototypes on Earth. The body of evidence supporting our argument is tied to a small number of studies conducted during parabolic flights and insights derived from newly revised scaling laws. We argue that what has prevented the community from fully diagnosing the problem at hand is the absence of effective physics-based models capable of simulating terramechanics under low-gravity conditions. We developed such a physics-based simulator and utilized it to gauge the mobility of early prototypes of the Volatiles Investigating Polar Exploration Rover. This contribution discusses the results generated by this simulator, how they correlate with physical test results from the NASA-Glenn SLOPE lab, and the fallacy of the gravitational offset in rover and lander testing. The simulator, which is open-source and publicly available, also supports studies for in situ resource utilization activities, for example, digging, bulldozing, and berming, in low-gravity environments.
期刊介绍:
The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments.
The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.