Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

A number of problems related to unmanned exploration of planets or other extraterrestrial bodies with Mars as a case in point were investigated. The design and evaluation of a prototype rover concept with emphasis on mobility, maneuverability, stability, control and propulsion is described along with the development of terrain sensor concepts and associated software for the autonomous control of any planetary rover. Results are applicable not only to the design of a mission rover but the vehicle is used as a test bed for the rigorous evaluation of alternative autonomous control systems

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

Problems related to the design and control of an autonomous rover for the purpose of unmanned exploration of the planets were considered. Building on the basis of prior studies, a four wheeled rover of unusual mobility and maneuverability was further refined and tested under both laboratory and field conditions. A second major effort was made to develop autonomous guidance. Path selection systems capable of dealing with relatively formidable hazard and terrains involving various short range (1.0-3.0 meters), hazard detection systems using a triangulation detection concept were simulated and evaluated. The mechanical/electronic systems required to implement such a scheme were constructed and tested. These systems include: laser transmitter, photodetectors, the necessary data handling/controlling systems and a scanning mast. In addition, a telemetry system to interface the vehicle, the off-board computer and a remote control module for operator intervention were developed. Software for the autonomous control concept was written. All of the systems required for complete autonomous control were shown to be satisfactory except for that portion of the software relating to the handling of interrupt commands

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

Problems related to an unmanned exploration of the planet Mars by means of an autonomous roving planetary vehicle are investigated. These problems include: design, construction and evaluation of the vehicle itself and its control and operating systems. More specifically, vehicle configuration, dynamics, control, propulsion, hazard detection systems, terrain sensing and modelling, obstacle detection concepts, path selection, decision-making systems, and chemical analyses of samples are studied. Emphasis is placed on development of a vehicle capable of gathering specimens and data for an Augmented Viking Mission or to provide the basis for a Sample Return Mission

Groundwater pumping by heterogeneous users

Farm size is a significant determinant of both groundwater irrigated farm acreage and groundwater irrigation application rates per unit land area. This paper analyzes the patterns of groundwater exploitation when resource users in the area overlying a common aquifer are heterogeneous. In the presence of user heterogeneity, the common resource problem consists of inefficient dynamic and spatial allocation of groundwater because it impacts income distribution not only across periods but also across farmers. Under competitive allocation, smaller farmers pump groundwater faster if farmers have a constant marginal periodic utility of income. However, it is possible that larger farmers pump faster if the Arrow-Pratt coefficient of relative risk-aversion is sufficiently decreasing in income. A greater farm-size inequality may either moderate or amplify income inequality among farmers. Its effect on welfare depends on the curvature properties of the agricultural output function and the farmer utility of income. Also, it is shown that a flat-rate quota policy that limits the quantity of groundwater extraction per unit land area may have unintended consequences for the income distribution among farmers

Reconstruction of multiple cracks from experimental electrostatic boundary measurements

This paper describes an algorithm for recovering a collection of linear cracks in a homogeneous electrical conductor from boundary measurements of voltages induced by speci ed current uxes. The technique is a variation of Newton's method and is based on taking weighted averages of the boundary data. We also describe an apparatus that was constructed speci cally for generating laboratory data on which to test the algorithm. apply the algorithm to a number of di erent test cases and discuss the results.