Ground Vehicle and Robotics
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1) The document summarizes a presentation given at the North Carolina Federal Advanced Technologies Symposium on May 9, 2013. 2) It describes a transforming rover called TRREx being developed at NC State University that can both rove and roll over terrain, drawing inspiration from armadillos and other ball-curling animals. 3) It then discusses various protective coatings for vehicles and robotics presented by Peter Venema, including wear-resistant, self-cleaning superhydrophobic, and anti-icing coatings.
Ground Vehicle and Robotics
- 1. North Carolina Federal Advanced Technologies Symposium May 9, 2013 Ground Vehicles and Robotics Panel Hosted by: Office of Senator Richard Burr NC Military Business Center NC Military Foundation Institute for Defense & Business University of North Carolina System Reception Sponsor: Bronze Sponsor:
- 2. Biologically Inspired Transforming Roving-Rolling Explorer (TRREx) Rover for Planetary Exploration* Engineering Mechanics and Space Systems Laboratory Mechanical and Aerospace Department North Carolina State University Lab 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. Motivation 3
- 5. Controller/Sensor package Actuators The Golden wheel uses the inherent dynamic advantages of a sphere to roll down dunes when escaping danger. A Pangolin curls up into a ball as defense from predators. Bio-Inspiration 5 An Armadillo curls up into a ball for protection.
- 6. Transforming Roving-Rolling Explorer ‘TRREx’ TRREx Roving TRREx Rolling Rolling: • ‘Free rolling’ due to gravity down a slope • ‘Actuated rolling’ by cyclically extending legs and shifting CG to move in desired direction • ‘Controlled rolling’ by intermittent actuations to avoid obstacles while free rolling. Transformation: • Continuous • Possible to explore smooth transformation transferring inertia from roving to rolling or vice versa Roving: • Equal distribution of weight on four legs for maximum traction achieved by ‘Active suspension’. • Detachable-tethered halves 6
- 7. Unique design capabilities 7 Above: Exploring a crater base possible due to detachable tethered halves design. Above: Climbing a ledge using the actuated hip joint. Left: Another possible way of actuated rolling Tether
- 8. Modeling and Analysis of Rolling Motion Free Rolling: 8 Mathematical Path Prediction models in free rolling
- 9. Modeling and Analysis of Rolling Motion Actuated Rolling: When no significant gradient is present, actuated rolling is produced by a continuous cyclic actuation and dynamic shifting of the center of gravity. 9
- 10. Dynamic modeling Compared to Free rolling complexity is increased because now control inputs exist that can be used to control the dynamics of the system. As a first step into investigation of actuated rolling of the TRREx, a planar version of the problem is considered. 10 : Normal reaction : Frictional reaction : Rolling resistanceN fr RF F F 4 , , 1 j O O O O B sys B sys B Cext O Oj d h v m v dt Modeling and Analysis of Rolling Motion
- 11. Roadmap: • The roadmap for future of the TRREx includes developing a mathematical model to describe the dynamics of the spherical rover during actuated rolling. Once we have this model, we can integrate it with the model describing free rolling to come up with a control scheme that will perform controlled rolling. • The roving mode of operation of the TRREx and the transformation between the modes will also be individually studied. 11 Controlled Rolling
- 12. Thank You 12 TRREx Roving TRREx Rolling
- 13. SOLUTIONS FOR INCREASING MISSION READINESS Protective Coatings for Ground Vehicles and Robotics May 9th, 2013 Presented by: Peter Venema
- 14. SP3EC™ Wear Coating on Aluminum 14 ASTM G-77 Block-on-Ring Testing of SP3EC Coating on 6061 Aluminum vs. Other Internal Engine Component Coatings SP3EC™ thin film coating provides protection for both materials in contact Falex Test Parameters Speed (rpm): 2000 Temperature (ºC): 125 Load (lb): 44 – 60 – 65 - 70 Duration (min): 5 - 5 - 10 - 5
- 15. Superhydrophobic Coatings Wide Range of Applicable Surfaces 15 • 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. Passive Anti-Icing 16 Omniphobicity • Modified superhydrophobic coating • Inert film sheds general fluids and water before it can freeze • Low roughness and Contact Angle Hysteresis <5° limits crystallization • Anti-biofouling • No consumables used for icing prevention • Frosting/sublimation resistance and enhanced recovery 1 hour freezing rain Mil-STD-810G Left: Control coating Middle: Anti-Icing modified coating Right: Aluminum control
- 17. Transparent Superhydrophobic 17 • Tailored for specialty optics • Optical transparency (> 95%) over a broad range • Anti-reflective • Durability (including scratch and crack resistance) • Reduces transmittance in UV-regime Coated and uncoated fused silica slides Anti-Reflective properties SEM image of nanotopography on silicon
- 18. Peter Venema Coatings Process Engineer Jeff Neurauter Tribological Engineer
- 19. ITc NANOFLUIDIC LUBRICANTS FOR INCREASED FUEL EFFICIENCY IN HEAVY DUTY VEHICLES G.E. McGuire International Technology Center, USA Olga Shenderova Adámas Nanotechnologies, USA D-Tribo www.adamasnano.com
- 20. ITc Coefficient of Friction H30 block over H60 ring Mobil 5W30 with ND, time dependence 7 hour test Pure Oil Oil: DND LoadVelocity of rotation: 30kg200rpm
- 21. ITc 3hrs tests H30 block over H60 ring (“soft on hard”) Mobil 5W30 Wear scar profile (mm) Pure oil Oil with ND
- 22. ITc H30 block, 200rpm30kg, 3hrs test Wear scars Images Pure Mobil 5W30 Mobil+ ND
- 23. ITc Conclusions • 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).