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Please use this identifier to cite or link to this item: http://hdl.handle.net/1807/25746

Title: Development of a Test Platform and Control System to Demonstrate Autonomous Excavation for Space Exploration Applications
Authors: Law, Kenneth
Advisor: D'Eleuterio, Gabriele M. T.
Department: Aerospace Science and Engineering
Keywords: Excavation
Lunar
Autonomous
Rover
Bulldoze
Issue Date: 7-Jan-2011
Abstract: Increased interestin In-Situ Resource Utilization (ISRU) concept for lunar outpost construction has motivated to the development of autonomous excavation rovers. The system design of two autonomous excavation rover prototypes UNEMEEP and The Musketeers are detailed in this thesis. The problem of autonomous excavation has been explored in the area of agriculture and mining. However, to date very little have been accomplished in the area of an autonomous excavation rover aimed towards space application. A hybrid position and admittance control strategy is implemented on autonomous excavation rovers to achieve digging and leveling capabilities. Integration tests and a full scale multirover mission scenario were also carried out. The results from the experiments are analyzed and recommendations are made to improve upon the capabilities of the rovers.
URI: http://hdl.handle.net/1807/25746
Appears in Collections:Master
Institute for Aerospace Studies - Master theses

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