Matching Items (2)
Description
The overall goal of this research project was to assess the feasibility of investigating the effects of microgravity on mineralization systems in unit gravity environments. If possible to perform these studies in unit gravity earth environments, such as earth, such systems can offer markedly less costly and more concerted research efforts to study these vitally important systems. Expected outcomes from easily accessible test environments and more tractable studies include the development of more advanced and adaptive material systems, including biological systems, particularly as humans ponder human exploration in deep space. The specific focus of the research was the design and development of a prototypical experimental test system that could preliminarily meet the challenging design specifications required of such test systems. Guided by a more unified theoretical foundation and building upon concept design and development heuristics, assessment of the feasibility of two experimental test systems was explored. Test System I was a rotating wall reactor experimental system that closely followed the specifications of a similar test system, Synthecon, designed by NASA contractors and thus closely mimicked microgravity conditions of the space shuttle and station. The latter includes terminal velocity conditions experienced by both innate material systems, as well as, biological systems, including living tissue and humans but has the ability to extend to include those material test systems associated with mineralization processes. Test System II is comprised of a unique vertical column design that offered more easily controlled fluid mechanical test conditions over a much wider flow regime that was necessary to achieving terminal velocities under free convection-less conditions that are important in mineralization processes. Preliminary results indicate that Test System II offers distinct advantages in studying microgravity effects in test systems operating in unit gravity environments and particularly when investigating mineralization and related processes. Verification of the Test System II was performed on validating microgravity effects on calcite mineralization processes reported earlier others. There studies were conducted on calcite mineralization in fixed-wing, reduced gravity aircraft, known as the `vomit comet' where reduced gravity conditions are include for very short (~20second) time periods. Preliminary results indicate that test systems, such as test system II, can be devised to assess microgravity conditions in unit gravity environments, such as earth. Furthermore, the preliminary data obtained on calcite formation suggest that strictly physicochemical mechanisms may be the dominant factors that control adaptation in materials processes, a theory first proposed by Liu et al. Thus the result of this study may also help shine a light on the problem of early osteoporosis in astronauts and long term interest in deep space exploration.
ContributorsSeyedmadani, Kimia (Author) / Pizziconi, Vincent (Thesis advisor) / Towe, Bruce (Committee member) / Alford, Terry (Committee member) / Arizona State University (Publisher)
Created2013
Description
In-situ exploration of planetary bodies such as Mars or the Moon have provided geologists and planetary scientists a detailed understanding of how these bodies formed and evolved. In-situ exploration has aided in the quest for water and life-supporting chemicals. In-situ exploration of Mars carried out by large SUV-sized rovers that travel long distance, carry sophisticated onboard laboratories to perform soil analysis and sample collection. But their large size and mobility method prevents them from accessing or exploring extreme environments, particularly caves, canyons, cliffs and craters.
This work presents sub- 2 kg ball robots that can roll and hop in low gravity environments. These robots are low-cost enabling for one or more to be deployed in the field. These small robots can be deployed from a larger rover or lander and complement their capabilities by performing scouting and identifying potential targets of interest. Their small size and ball shape allow them to tumble freely, preventing them from getting stuck. Hopping enables the robot to overcome obstacles larger than the size of the robot.
The proposed ball-robot design consists of a spherical core with two hemispherical shells with grouser which act as wheels for small movements. These robots have two cameras for stereovision which can be used for localization. Inertial Measurement Unit (IMU) and wheel encoder are used for dead reckoning. Communication is performed using Zigbee radio. This enables communication between a robot and a lander/rover or for inter-robot communication. The robots have been designed to have a payload with a 300 gram capacity. These may include chemical analysis sensors, spectrometers and other small sensors.
The performance of the robot has been evaluated in a laboratory environment using Low-gravity Offset and Motion Assistance Simulation System (LOMASS). An evaluation was done to understand the effect of grouser height and grouser separation angle on the performance of the robot in different terrains. The experiments show with higher grouser height and optimal separation angle the power requirement increases but an increase in average robot speed and traction is also observed. The robot was observed to perform hops of approximately 20 cm in simulated lunar condition. Based on theoretical calculations, the robot would be able to perform 208 hops with single charge and will operate for 35 minutes. The study will be extended to operate multiple robots in a network to perform exploration. Their small size and cost makes it possible to deploy dozens in a region of interest. Multiple ball robots can cooperatively perform unique in-situ science measurements and analyze a larger surface area than a single robot alone on a planet surface.
This work presents sub- 2 kg ball robots that can roll and hop in low gravity environments. These robots are low-cost enabling for one or more to be deployed in the field. These small robots can be deployed from a larger rover or lander and complement their capabilities by performing scouting and identifying potential targets of interest. Their small size and ball shape allow them to tumble freely, preventing them from getting stuck. Hopping enables the robot to overcome obstacles larger than the size of the robot.
The proposed ball-robot design consists of a spherical core with two hemispherical shells with grouser which act as wheels for small movements. These robots have two cameras for stereovision which can be used for localization. Inertial Measurement Unit (IMU) and wheel encoder are used for dead reckoning. Communication is performed using Zigbee radio. This enables communication between a robot and a lander/rover or for inter-robot communication. The robots have been designed to have a payload with a 300 gram capacity. These may include chemical analysis sensors, spectrometers and other small sensors.
The performance of the robot has been evaluated in a laboratory environment using Low-gravity Offset and Motion Assistance Simulation System (LOMASS). An evaluation was done to understand the effect of grouser height and grouser separation angle on the performance of the robot in different terrains. The experiments show with higher grouser height and optimal separation angle the power requirement increases but an increase in average robot speed and traction is also observed. The robot was observed to perform hops of approximately 20 cm in simulated lunar condition. Based on theoretical calculations, the robot would be able to perform 208 hops with single charge and will operate for 35 minutes. The study will be extended to operate multiple robots in a network to perform exploration. Their small size and cost makes it possible to deploy dozens in a region of interest. Multiple ball robots can cooperatively perform unique in-situ science measurements and analyze a larger surface area than a single robot alone on a planet surface.
ContributorsRaura, Laksh Deepak (Author) / Thangavelautham, Jekanthan (Thesis advisor) / Berman, Spring (Thesis advisor) / Lee, Hyunglae (Committee member) / Asphaug, Erik (Committee member) / Arizona State University (Publisher)
Created2016