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:

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.

, .

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• Funded by NASA Innovative Advanced Concepts (NIAC) • Faculty: Dr. Andre Mazzoleni, Dr. Scott Ferguson • Graduate Students: Lionel Edwin, Tom Gemmer, Jason Denhart

Motivation

3

Motivation

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Mars Topography

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

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An Armadillo curls up into a ball for protection.

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

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Unique design capabilities

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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

Modeling and Analysis of Rolling Motion Free Rolling:

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Mathematical Path Prediction models in free rolling

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.

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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.

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: Normal reaction : Frictional reaction : Rolling resistanceN fr RF F F

4

, ,

1j

OO O O

B sys B sys B Cext O Oj

dh v m v

dt

Modeling and Analysis of Rolling Motion

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.

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Controlled Rolling

Thank You

12

TRREx Roving

TRREx Rolling

SOLUTIONS FOR

INCREASING

MISSION

READINESS

Protective Coatings for Ground Vehicles and Robotics

May 9th, 2013

Presented by:

Peter Venema

SP3EC™ Wear Coating on Aluminum

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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

Superhydrophobic Coatings Wide Range of Applicable Surfaces

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• Polymers

• Concrete

• Composites

• Fiberglass

• Metallic Surfaces

Painted

Non-Painted

• Fabrics

Self Cleaning

Non-Fouling

Non-Toxic

Field Repairable

Lightweight

Low Cost

UPT diatomaceous earth

Passive Anti-Icing

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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

Transparent Superhydrophobic

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• 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

Peter Venema

Coatings Process Engineer

Jeff Neurauter

Tribological Engineer

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

ITc

Coefficient of Friction

H30 block over H60 ring

Mobil 5W30 with ND, time dependence

7 hour test

Pure Oil Oil: DND Load\Velocity

of rotation:

30kg\200rpm

ITc

3hrs tests

H30 block over H60 ring (“soft on hard”)

Mobil 5W30

Wear scar profile (mm)

Pure oil

Oil with ND

ITc

H30 block, 200rpm\30kg, 3hrs test

Wear scars Images

Pure Mobil 5W30 Mobil+ ND

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).