Your SlideShare is downloading. ×
0
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Ground Vehicle and Robotics
Upcoming SlideShare
Loading in...5
×

Thanks for flagging this SlideShare!

Oops! An error has occurred.

×
Saving this for later? Get the SlideShare app to save on your phone or tablet. Read anywhere, anytime – even offline.
Text the download link to your phone
Standard text messaging rates apply

Ground Vehicle and Robotics

147

Published on

Published in: Technology, Business
0 Comments
0 Likes
Statistics
Notes
  • Be the first to comment

  • Be the first to like this

No Downloads
Views
Total Views
147
On Slideshare
0
From Embeds
0
Number of Embeds
0
Actions
Shares
0
Downloads
2
Comments
0
Likes
0
Embeds 0
No embeds

Report content
Flagged as inappropriate Flag as inappropriate
Flag as inappropriate

Select your reason for flagging this presentation as inappropriate.

Cancel
No notes for slide

Transcript

  • 1. North Carolina Federal Advanced Technologies SymposiumMay 9, 2013Ground Vehicles and Robotics PanelHosted by:Office of Senator Richard BurrNC Military Business CenterNC Military FoundationInstitute for Defense & BusinessUniversity of North Carolina SystemReception Sponsor:Bronze Sponsor:
  • 2. Biologically Inspired Transforming Roving-RollingExplorer (TRREx) Rover for Planetary Exploration*Engineering Mechanics and Space Systems LaboratoryMechanical and Aerospace DepartmentNorth Carolina State UniversityLab Director: Dr. Andre Mazzoleni.,.2• Funded by NASA Innovative Advanced Concepts (NIAC)• Faculty: Dr. Andre Mazzoleni, Dr. Scott Ferguson• Graduate Students: Lionel Edwin, Tom Gemmer, Jason Denhart
  • 3. Motivation3
  • 4. Motivation4Mars Topography
  • 5. Controller/SensorpackageActuatorsThe Golden wheel uses the inherentdynamic advantages of a sphere to rolldown dunes when escaping danger.A Pangolin curls up into a ball as defensefrom predators.Bio-Inspiration5An Armadillo curls up into a ball forprotection.
  • 6. Transforming Roving-Rolling Explorer‘TRREx’TRREx RovingTRREx RollingRolling:• ‘Free rolling’ due to gravity down a slope• ‘Actuated rolling’ by cyclically extending legsand shifting CG to move in desired direction• ‘Controlled rolling’ by intermittent actuationsto avoid obstacles while free rolling.Transformation:• Continuous• Possible to explore smooth transformationtransferring inertia from roving to rolling orvice versaRoving:• Equal distribution of weight on four legs formaximum traction achieved by ‘Activesuspension’.• Detachable-tethered halves6
  • 7. Unique design capabilities7Above: Exploring a crater base possible due todetachable tethered halves design.Above: Climbing a ledge using the actuated hip joint.Left: Anotherpossible wayof actuatedrollingTether
  • 8. Modeling and Analysis of Rolling MotionFree Rolling:8Mathematical Path Prediction models in free rolling
  • 9. Modeling and Analysis of Rolling MotionActuated Rolling:When no significant gradient ispresent, actuated rolling is producedby a continuous cyclic actuation anddynamic shifting of the center ofgravity.9
  • 10. Dynamic modelingCompared to Free rolling complexity is increased because now control inputs exist that can be usedto control the dynamics of the system. As a first step into investigation of actuated rolling of theTRREx, a planar version of the problem is considered.10: Normal reaction : Frictional reaction : Rolling resistanceN fr RF F F   4, ,1jOO O OB sys B sys B Cext O Ojdh v m vdt     Modeling and Analysis of Rolling Motion
  • 11. Roadmap:• The roadmap for future of the TRREx includes developing a mathematicalmodel to describe the dynamics of the spherical rover during actuatedrolling. Once we have this model, we can integrate it with the modeldescribing free rolling to come up with a control scheme that will performcontrolled rolling.• The roving mode of operation of the TRREx and the transformationbetween the modes will also be individually studied.11Controlled Rolling
  • 12. Thank You12TRREx RovingTRREx Rolling
  • 13. SOLUTIONS FORINCREASINGMISSIONREADINESSProtective Coatingsfor Ground Vehiclesand RoboticsMay 9th, 2013Presented by:Peter Venema
  • 14. SP3EC™ Wear Coating on Aluminum14ASTM G-77 Block-on-Ring Testing of SP3EC Coating on 6061Aluminum vs. Other Internal Engine Component CoatingsSP3EC™ thin film coating provides protection for both materials in contactFalex Test ParametersSpeed (rpm): 2000Temperature (ºC): 125Load (lb): 44 – 60 – 65 - 70Duration (min): 5 - 5 - 10 - 5
  • 15. Superhydrophobic CoatingsWide Range of Applicable Surfaces15• Polymers• Concrete• Composites• Fiberglass• Metallic Surfaces Painted Non-Painted• Fabrics Self Cleaning Non-Fouling Non-Toxic Field Repairable Lightweight Low Cost UPT diatomaceous earth
  • 16. Passive Anti-Icing16Omniphobicity• Modified superhydrophobic coating• Inert film sheds general fluids andwater before it can freeze• Low roughness and ContactAngle Hysteresis <5° limitscrystallization• Anti-biofouling• No consumables used for icingprevention• Frosting/sublimation resistance andenhanced recovery1 hour freezing rain Mil-STD-810GLeft: Control coatingMiddle: Anti-Icing modified coatingRight: Aluminum control
  • 17. Transparent Superhydrophobic17• Tailored for specialty optics• Optical transparency (> 95%) over abroad range• Anti-reflective• Durability (including scratch and crackresistance)• Reduces transmittance in UV-regimeCoated and uncoated fused silica slidesAnti-Reflective propertiesSEM image of nanotopography on silicon
  • 18. Peter VenemaCoatings Process EngineerJeff NeurauterTribological Engineer
  • 19. ITcNANOFLUIDIC LUBRICANTS FOR INCREASEDFUEL EFFICIENCY IN HEAVY DUTY VEHICLESG.E. McGuireInternational Technology Center, USAOlga ShenderovaAdámas Nanotechnologies, USAD-Tribowww.adamasnano.com
  • 20. ITcCoefficient of FrictionH30 block over H60 ringMobil 5W30 with ND, time dependence7 hour testPure OilOil: DNDLoadVelocityof rotation:30kg200rpm
  • 21. ITc3hrs testsH30 block over H60 ring (“soft on hard”)Mobil 5W30Wear scar profile (mm)Pure oilOil with ND
  • 22. ITcH30 block, 200rpm30kg, 3hrs testWear scars ImagesPure Mobil 5W30 Mobil+ ND
  • 23. ITcConclusions• Nanodiamond-based lubricant additive results in:• Improved coefficient of friction resulting in increased fuel efficiency• Reduction in wear• Improved extreme pressure to failure• Reduced engine operating temperature• Extend oil lifetime• Tests were conducted using a wide variety of test conditions (speed,load, type of oil).

×