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Lauren Van Dyke
Department of Earth and Planetary Sciences
Washington University in St. Louis
Jet Propulsion Laboratory
NASA Mentors: Brian Trease and Scott Maxwell
Abstract
The Adams-based Rover Terramechanics and Mobility Interaction Simulator (ARTEMIS), a dynamic modeling tool for the Mars Exploration Rover (MER), has been developed using MSC dynamics software. ARTEMIS currently uses the classical Bekker-Wong soil parameters to simulate rover movement over deformable soils, including static sinkage and slip. Simulations of MER were performed in ARTEMIS to study rover response to various terrains. Specifically, Opportunity drives onto the rim of Endeavour crater were simulated, as well as Spirit drives near Scamander crater. Simulations were also completed in a contact force model based on the Stribeck friction parameters, and using the Rover Sequencing and Visualization Program (RSVP), a kinematic model that is currently the primary drive planning tool. Post-processing produced data including yaw, pitch, and roll for each drive. These data will be used for planning Opportunity's landfall and drives onto the rim of Endeavour. In addition to simulating future drives, rover drivers were observed and previous drives were replicated in RSVP to learn the current driving process. Understanding this process will allow ARTEMIS to be developed into a useful tactical and strategic tool for rover driving and retrieval of terrain and soil properties.
Lauren Van Dyke is a junior at Washington University in St. Louis majoring in Earth and Planetary Science and minoring in Environmental Engineering. She spent summer 2010 at the Jet Propulsion Laboratory in Pasadena, California, participating in terramechanics research. After graduation, Lauren plans to attend graduate school in Planetary Science or Environmental Engineering.
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