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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

Development of a Test Platform and Control System to Demonstrate Autonomous Excavation for Space Exploration Applications

Law, Kenneth 07 January 2011 (has links)
Increased interestin In-Situ Resource Utilization (ISRU) concept for lunar outpost construction has motivated to the development of autonomous excavation rovers. The system design of two autonomous excavation rover prototypes UNEMEEP and The Musketeers are detailed in this thesis. The problem of autonomous excavation has been explored in the area of agriculture and mining. However, to date very little have been accomplished in the area of an autonomous excavation rover aimed towards space application. A hybrid position and admittance control strategy is implemented on autonomous excavation rovers to achieve digging and leveling capabilities. Integration tests and a full scale multirover mission scenario were also carried out. The results from the experiments are analyzed and recommendations are made to improve upon the capabilities of the rovers.
2

Development of a Test Platform and Control System to Demonstrate Autonomous Excavation for Space Exploration Applications

Law, Kenneth 07 January 2011 (has links)
Increased interestin In-Situ Resource Utilization (ISRU) concept for lunar outpost construction has motivated to the development of autonomous excavation rovers. The system design of two autonomous excavation rover prototypes UNEMEEP and The Musketeers are detailed in this thesis. The problem of autonomous excavation has been explored in the area of agriculture and mining. However, to date very little have been accomplished in the area of an autonomous excavation rover aimed towards space application. A hybrid position and admittance control strategy is implemented on autonomous excavation rovers to achieve digging and leveling capabilities. Integration tests and a full scale multirover mission scenario were also carried out. The results from the experiments are analyzed and recommendations are made to improve upon the capabilities of the rovers.

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