ENAE 788X
Planetary Surface Robotics
Fall, 2022

  Space Systems Laboratory - Department of Aerospace Engineering - University of Maryland

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 Notes

221024 – Due to imminent deadlines, there isn't going to be a lecture today - please use the time to meet with your teams and work on your projects. Unless a disaster happens (and I'm not ruling that out) I plan to be on Zoom (434 305 7745) during class time tomorrow in case you have any questions you need answered.

221004 – Rather than a lecture today, please spend the time working (hopefully with your team) on the term project. I will shortly be posting some more details about expectations for the term project, and for the midterm draft coming up in a couple of weeks.

 220912 – I have added a few slides to the portion of Lecture 3 that we are going to cover today – please refresh and download it again to get the full slide set

 220829 – Please be advised that this is a notional schedule at this point, and is liable to future modifications as the term progresses.

 Schedule

#01 – Monday, Aug. 29 – Course Introduction/Syllabus and Term Projects [PDF: 7.7 Mb, 59 pgs.]

#02 – Wednesday, Aug. 31 – Free Space and Airless Body Mobility [PDF: 6.1 Mb, 59 pgs.]

#03 – Wednesday, Sept. 7 – Atmospheric Entry and Flight [PDF: 5.8 Mb, 55 pgs.]

#04 – Monday, Sept. 12 – LTV Overview and Term Project Discussion [PDF: 6 Mb, 31 pgs.]

#05 – Wednesday, Sept. 14 – Case Study: Apollo Lunar Roving Vehicle [PDF: 13.7 Mb, 53 pgs.]

#06 – Monday, Sept. 19 – Terramechanics 1: Rolling Resistance [PDF: 4.9 Mb, 66 pgs.] – revised 9/21/2022

#07 – Wednesday, Sept. 21 – Terramechanics 2: Traction [PDF: 2.0 Mb, 26 pgs.]

#08 – Monday, Sept. 26 – Steering and Suspension Systems Overview [PDF: 6.2 Mb, 68 pgs.]

#09 – Wednesday, Sept. 28 – Case Study: MER/MSL Mars Rovers [PDF: 6.6 Mb, 77 pgs.]

#10 – Monday, Oct. 3 – Steering Forces/Slopes and Static Stability [PDF: 2.7 Mb, 39 pgs.]

#11 – Wednesday, Oct. 5 – No lecture – Work on Term Project

#12 – Monday, Oct. 10 – Term Project Discussion [PDF: 0.4 Mb, 12 pgs.]
                                          Suspension Analysis [PDF: 1.8 Mb, 27 pgs.]

#13 – Wednesday, Oct. 12 – Case Study: Lunar Mobility [PDF: 12.1 Mb, 78 pgs.]

#14 – Monday, Oct. 17 – Suspension Systems [PDF: 1.9 Mb, 34 pgs.]

#15 – Wednesday, Oct. 19 – Robotic Actuators [PDF: 3.2 Mb, 74 pgs.]

#16 – Monday, Oct. 24 – No lecture – Work on Term Project

#17 – Wednesday, Oct. 26 – Sensors [PDF: 3.4 Mb, 65 pgs.]

#18 – Monday, Oct. 31 – Steering Forces/Flexible Wheels [PDF: 2.2 Mb, 35 pgs.]
            Midterm draft of term projects due

#19 – Wednesday, Nov. 2 – Introduction to Legged Locomotion [PDF: 4.2 Mb, 54 pgs.]

#20 – Monday, Nov. 7 – Mobile Robot Kinematics [PDF: 0.8 Mb, 28 pgs.]
                              Bug Algorithms and Path Planning [PDF: 3.9 Mb, 46 pgs.]

#21 – Wednesday, Nov. 9 – Tracked Vehicles [PDF: 1.2 Mb, 25 pgs.]
                              Introduction to Mapping [PDF: 1.8 Mb, 25 pgs.]

#22 – Monday, Nov. 14 – No lecture – Work on Term Project

#23 – Wednesday, Nov. 16 – No lecture – Work on Term Project

#24 – Monday, Nov. 21 – Roadmap Methods and Potential Fields [PDF: 6.2 Mb, 54 pgs.]

#25 Monday, Nov. 28 Simutaneous Localization and Mapping [PDF: 6.0 Mb, 104 pgs.]

#26 – Wednesday, Nov. 30 – TBD [PDF: X Mb, Y pgs.]

#27 – Monday, Dec. 5 – TBD [PDF: X Mb, Y pgs.]

#28 – Wednesday, Dec. 7 – TBD [PDF: X Mb, Y pgs.]

#29 – Monday, Dec. 12 – Guest lecture: Lem Carpenter, NASA Langley
            Final report on term projects due