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Towards automated Soil Preparation for Planetary Rovers - Methods for reproducible Measurements in Regolith Simulants

Lichtenheldt, Roy and Burlet, Jean-Yves and Buse, Fabian and Rebele, Bernhard (2017) Towards automated Soil Preparation for Planetary Rovers - Methods for reproducible Measurements in Regolith Simulants. Symposium on Advanced Space Technologies in Robotics and Automation, ASTRA 2017, Leiden, Niederlande.

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Abstract

Testing and qualification of planetary rovers most times require the interaction with soil simulants. In order to yield comparable results, nimble and accurate soil preparation is required. Unfortunately state of the art preparation methods feature either bad reproducibility and/or take most of the time of the test campaigns. This often leads to fewer, less reliable data in the narrow time frame of planetary exploration missions, as many tests need to be repeated. The problem gets stronger the softer the simulant gets - thus worst-case scenarios, crucial for rover missions, are least reliable. Hence in this article methods to automatically prepare soil simulants will be presented and evaluated. Furthermore an outlook to fully automated testbed preperation and testing is given using DLR’s robotic terramechanics laboratory TROLL.

Item URL in elib:https://elib.dlr.de/112794/
Document Type:Conference or Workshop Item (Speech)
Title:Towards automated Soil Preparation for Planetary Rovers - Methods for reproducible Measurements in Regolith Simulants
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lichtenheldt, Royroy.lichtenheldt (at) dlr.dehttps://orcid.org/0000-0002-2539-4910
Burlet, Jean-YvesDLR SRUNSPECIFIED
Buse, FabianFabian.Buse (at) dlr.deUNSPECIFIED
Rebele, BernhardUNSPECIFIEDUNSPECIFIED
Date:2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:soil preparation, planetary rover, testbed
Event Title:Symposium on Advanced Space Technologies in Robotics and Automation, ASTRA 2017
Event Location:Leiden, Niederlande
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Project Morex
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lichtenheldt, Roy
Deposited On:17 Jul 2017 13:10
Last Modified:11 Jul 2019 13:53

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