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

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Wei Hu, Pei Li, Arno Rogg, Alexander Schepelmann, Samuel Chandler, Ken Kamrin, Dan Negrut
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引用次数: 0

摘要

最近,国际上对以月球、火星、火星卫星和各种小行星为目标的地外探索兴趣激增。这篇文章讨论了目前为这些任务设计漫游车和着陆器的最先进的地面测试如何导致对这些设备在目标天体上部署时的行为过于乐观的结论。关键的误解是,在地球上对漫游者和着陆器原型进行地形力学测试时,重力偏移是必要的。支持我们的论点的证据与在抛物线飞行期间进行的少量研究和新修订的缩放定律得出的见解有关。我们认为,阻碍社区全面诊断手头问题的原因是缺乏有效的基于物理的模型,能够模拟低重力条件下的地球力学。我们开发了这样一个基于物理的模拟器,并利用它来测量挥发物极地探测车早期原型的机动性。这篇文章讨论了这个模拟器产生的结果,它们如何与NASA-Glenn SLOPE实验室的物理测试结果相关联,以及漫游车和着陆器测试中重力偏移的谬论。该模拟器是开源和公开的,还支持在低重力环境下进行就地资源利用活动的研究,例如挖掘、推土和筑堤。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

A Study Demonstrating That Using Gravitational Offset to Prepare Extraterrestrial Mobility Missions Is Misleading

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.

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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
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.
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