201208 – Sorry for the delay, but I updated my Excel spreadsheet to do wheel force calculations for both four- and six-wheeled rovers.
201207 – As promised, here is a brief white paper I wrote in 2007 for a committee looking at lightweight pressurized rovers for NASA. The salient information in this document is the information on how long Apollo LRV traverses were, and how long it was parked between traverses. This may help you with the overall usage models for your rovers, which will in turn affect your power storage requirements.
201202 – It turns out I have a university committee meeting today that will conflict with class. Please spend the time working on your term project, and e-mail me (firstname.lastname@example.org) if you have any questions. Sorry for the late notice.
201109 – Just a reminder that today is the interim project review in class, and you should send me your slides (email@example.com) before the start of class today.
201107 – ERRATA: In the calculations of motor speed for Wednesday's lecture, I mistook rev/sec for rad/sec and had an extraneous value of 2pi in the numbers. The corrected pages are here. While the analysis technique is correct, the example actually showed that the motor I was considering is not adequate to meet the stated requirements. Sorry about that.
201026 – I am very sorry, but the Dean's Office dropped a task in my lap which has taken every available hour in the last few days (and has to be finished today), so there won't be a lecture today in ENAE 788X. Please use this time to work with your team on the term project.
201011 – I have gone over the first assignment again and do not see the same problems people are describing to me. I suspect it's because you either are not being consistent with units, or you may not be using the right soil parameters. If you are having problems, I'll give an automatic extension on the deadline, and I will go over a summary of the solution method tomorrow in class to make sure everyone is on the same page.
201010 – I understand a lot of people are having problems with the first problem set. I'm working through it and will let you know what I find out here shortly.
200928 – The first problem set is here. It will be due on Monday, Oct. 12.
200922 – I have to attend a virtual conference today, so I'm going to take advantage of this to make some revisions in the lecture notes. Because of this today's lecture will be asynchronous - no live lecture, but I'll record it and post it in the next day or so. Please watch it before class next Monday. Also, please keep an eye out here for a homework assignment, coming soon.
#01 - Monday, Aug. 31 Course Introduction and Term Projects [PDF: 6.2 Mb, 68 pgs.]
#02 - Wednesday, Sept. 2 Free Space and Airless Body Mobility [PDF: 5.8 Mb, 52 pgs.]
#03 - Wednesday, Sept. 9 Atmospheric Flight [PDF: 6.4 Mb, 56 pgs.]
#04 - Monday, Sept. 14 Entry, Descent, and Landing [PDF: 5.2 Mb, 62 pgs.]
#05 - Wednesday, Sept. 16 Case Study: Apollo Lunar Roving Vehicle [PDF: 9.5 Mb, 52 pgs.]
#06 - Monday, Sept. 21 Terramechanics 1 [PDF: 4.4 Mb, 51 pgs.]
#07 - Monday, Sept. 28 Terramechanics 2 [PDF: 3.6 Mb, 45 pgs.]
#08 - Wednesday, Sept. 30 Case Study: Term Project [PDF: 7.3 Mb, 67 pgs.]
#09 - Monday, Oct. 5 Case Study: Lunar Mobility [PDF: 11.7 Mb, 81 pgs.]
#10 - Wednesday, Oct. 7 Steering and Suspension Systems [PDF: 5.9 Mb, 69 pgs.]
#11 - Monday, Oct. 12 - Slopes and Static Stability [PDF: 2 Mb, 42 pgs.]
#12 - Wednesday, Oct. 14 Robotic Sensors [PDF: 4.6 Mb, 63 pgs.]
#13 - Monday, Oct. 19 Case Study: MER/MSL Mars Rovers [PDF: 5.1 Mb, 73 pgs.]
#14 - Wednesday, Oct. 21 Steering and Tracked Vehicles [PDF: 8.5 Mb, 27 pgs.]
#15 - Monday, Oct. 26 Work on Team Projects
#16 - Wednesday, Oct. 28 Case Study: Space Exploration Vehicles [PDF: 15.3 Mb, 103 pgs.]
#17 - Monday, Nov. 2 Climbing [PDF: 4.5 Mb, 35 pgs.]
#18 - Wednesday, Nov. 4 Robotic Actuators [PDF: 10.5 Mb, 75 pgs.]
#19 - Monday, Nov. 9 Term Project Status Presentations
#20 - Wednesday, Nov. 11 Legged Locomotion Overview [PDF: 3.5 Mb, 56 pgs.]
#21 - Monday, Nov. 16 Mobile Robot Kinematics [PDF: 1.1 Mb, 19 pgs.]
#22 - Wednesday, Nov. 18 Localization, Bug Algorithms, and Path Planning [PDF: 4.4 Mb, 77 pgs.]
#23 - Monday, Nov. 23 Roadmap Methods, Potential Fields, and Kinematics [PDF: 4.7 Mb, 67 pgs.]
#24 - Monday, Nov. 30 Final Project Rubric, Steering, and Flexible Wheels [PDF: 2.5 Mb, 39 pgs.]
#25 - Wednesday, Dec. 2 Work on Team Projects
#26 - Monday, Dec. 7 Independent Suspension Calculations and Wheel Steering Torque Estimation [PDF: 1.8 Mb, 14 pgs.]
a#27 - Wednesday, Dec. 9 Work on Team Projects (Zoom open for consulations)
#28 - Monday, Dec. 14 Term Project Final Presentations – Note time 1:00-3:15