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North Carolina Federal Advanced Technologies SymposiumMay 9, 2013Ground Vehicles and Robotics PanelHosted by:Office of Sen...
Biologically Inspired Transforming Roving-RollingExplorer (TRREx) Rover for Planetary Exploration*Engineering Mechanics an...
Motivation3
Motivation4Mars Topography
Controller/SensorpackageActuatorsThe Golden wheel uses the inherentdynamic advantages of a sphere to rolldown dunes when e...
Transforming Roving-Rolling Explorer‘TRREx’TRREx RovingTRREx RollingRolling:• ‘Free rolling’ due to gravity down a slope• ...
Unique design capabilities7Above: Exploring a crater base possible due todetachable tethered halves design.Above: Climbing...
Modeling and Analysis of Rolling MotionFree Rolling:8Mathematical Path Prediction models in free rolling
Modeling and Analysis of Rolling MotionActuated Rolling:When no significant gradient ispresent, actuated rolling is produc...
Dynamic modelingCompared to Free rolling complexity is increased because now control inputs exist that can be usedto contr...
Roadmap:• The roadmap for future of the TRREx includes developing a mathematicalmodel to describe the dynamics of the sphe...
Thank You12TRREx RovingTRREx Rolling
SOLUTIONS FORINCREASINGMISSIONREADINESSProtective Coatingsfor Ground Vehiclesand RoboticsMay 9th, 2013Presented by:Peter V...
SP3EC™ Wear Coating on Aluminum14ASTM G-77 Block-on-Ring Testing of SP3EC Coating on 6061Aluminum vs. Other Internal Engin...
Superhydrophobic CoatingsWide Range of Applicable Surfaces15• Polymers• Concrete• Composites• Fiberglass• Metallic Surface...
Passive Anti-Icing16Omniphobicity• Modified superhydrophobic coating• Inert film sheds general fluids andwater before it c...
Transparent Superhydrophobic17• Tailored for specialty optics• Optical transparency (> 95%) over abroad range• Anti-reflec...
Peter VenemaCoatings Process EngineerJeff NeurauterTribological Engineer
ITcNANOFLUIDIC LUBRICANTS FOR INCREASEDFUEL EFFICIENCY IN HEAVY DUTY VEHICLESG.E. McGuireInternational Technology Center, ...
ITcCoefficient of FrictionH30 block over H60 ringMobil 5W30 with ND, time dependence7 hour testPure OilOil: DNDLoadVelocit...
ITc3hrs testsH30 block over H60 ring (“soft on hard”)Mobil 5W30Wear scar profile (mm)Pure oilOil with ND
ITcH30 block, 200rpm30kg, 3hrs testWear scars ImagesPure Mobil 5W30 Mobil+ ND
ITcConclusions• Nanodiamond-based lubricant additive results in:• Improved coefficient of friction resulting in increased ...
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Ground Vehicle and Robotics

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Ground Vehicle and Robotics

  1. 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. 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. 3. Motivation3
  4. 4. Motivation4Mars Topography
  5. 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. 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. 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. 8. Modeling and Analysis of Rolling MotionFree Rolling:8Mathematical Path Prediction models in free rolling
  9. 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. 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. 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. 12. Thank You12TRREx RovingTRREx Rolling
  13. 13. SOLUTIONS FORINCREASINGMISSIONREADINESSProtective Coatingsfor Ground Vehiclesand RoboticsMay 9th, 2013Presented by:Peter Venema
  14. 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. 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. 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. 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. 18. Peter VenemaCoatings Process EngineerJeff NeurauterTribological Engineer
  19. 19. ITcNANOFLUIDIC LUBRICANTS FOR INCREASEDFUEL EFFICIENCY IN HEAVY DUTY VEHICLESG.E. McGuireInternational Technology Center, USAOlga ShenderovaAdámas Nanotechnologies, USAD-Tribowww.adamasnano.com
  20. 20. ITcCoefficient of FrictionH30 block over H60 ringMobil 5W30 with ND, time dependence7 hour testPure OilOil: DNDLoadVelocityof rotation:30kg200rpm
  21. 21. ITc3hrs testsH30 block over H60 ring (“soft on hard”)Mobil 5W30Wear scar profile (mm)Pure oilOil with ND
  22. 22. ITcH30 block, 200rpm30kg, 3hrs testWear scars ImagesPure Mobil 5W30 Mobil+ ND
  23. 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).

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