Planetary rover locomotion on soft granular soils – efficient adaption of the rolling behaviour of nonspherical grains for discrete element simulations

In consequence of growing interests of science exploration on our solar system’s planets and moons, increased mobility demands are arising for planetary exploration vehicles. The locomotion capabilities of these systems strongly depend on the interaction with soft granular soils. Thus a major design challenge is to develop suitable solutions for locomotion equipment and strategies. The mastering of these challenges depends on detailed soil interaction models to predict the system behaviour and get a better understanding of the underlying effects. To meet these demands a new soil interaction model based on the three-dimensional Discrete Element Method (DEM) is developed. The strength of granular materials is highly dependent on the grain’s shape and friction. Since non-spherical particles are less computational efficient than spheres, a new interparticle contact model has been developed to mathematically cover the rotational behaviour of anisotropically elongated and angular grains, while using computationally efficient spheres for contact detection. To show the applicability of the model, bevameter as well as single wheel simulations for planetary rovers were carried out

Stress Analysis of Soil Beneath Grouser Wheel for Planetary Rover by Using Discrete Element Method

Modeling the interaction between rover's wheel and soft terrain is of great importance in predicting or evaluating wheel performance for lunar and planetary rovers. The current wheel-soil interaction models predict or evaluate wheel performance under certain conditions. However, most of them do not consider the soil flow and deformation, and thus, they cannot capture the physical phenomena of wheel-soil interaction. Developing a new model that includes such physical phenomena contributes to the improvement of prediction accuracy. To develop such a model, it is necessary to analyze soil flow and deformation beneath the wheel. This study analyzes the stress distributions in the soil and soil flow fields beneath the grouser wheel by performing experiments using the discrete element method (DEM) with the particle simulation tool "Sir partsival". In addition to the single wheel simulation, two simple test simulations - an angle of repose test and a shear test - are performed to confirm the soil flow fields and stress distributions in the soil. In the field of fluid dynamics, (shear) stress generally exists along high gradients of flow velocity. These two tests confirm if the soil stress shows the same trend. The wheel simulations are performed under several slip conditions to investigate their influences on soil flow characteristics. The shape of the soil flow region - the shape of the slip line - can be divided into two patterns depending on the slip conditions. The stress increases along the slip line in all simulations. The findings of this study contribute to understanding the relationship between soil velocity field and stress distribution in the soil

Mars Regolith Properties as Constrained from HP3 Mole Operations and Thermal Measurements

The Heat Flow and Physical Properties Package HP3 onboard the Nasa InSight mission has been on the surface of Mars for more than one Earth year. The instrument's primary goal is to measure Mars' surface heat flow through measuring the geothermal gradient and the thermal condunctivity at depths between 3 and 5m. To get to depth, the package includes a penetrator nicknamed the "Mole" equipped with sensors to precisely measure the thermal conductivity. The Mole tows a tether with printed temperature sensors; a device to measure the length of the tether towed and a tiltmeter will help to track the path of the Mole and the tether. Progress of the Mole has been stymied by difficulties of digging into the regolith. The Mole functions as a mechanical diode with an internal hammer mechanism that drives it forward. Recoil is balanced mostly by internal masses but a remaining 3 to 5N has to be absorbed by hull friction. The Mole was designed to work in cohesionless sand but at the InSight landing a cohesive duricrust of at least 7cm thickness but possibly 20cm thick was found. Upon initial penetration to 35cm depth, the Mole punched a hole about 6cm wide and 7cm deep into the duricrust, leaving more than a fourth of its length without hull friction. It is widely agreed that the lack of friction is the reason for the failure to penetrate further. The HP3 team has since used the robotic arm with its scoop to pin the Mole to the wall of the hole and helped it penetrate further to almost 40cm. The initial penetration rate of the Mole has been used to estimate a penetration resistance of 300kPa. Attempts to crush the duricrust a few cm away from the pit have been unsuccessful from which a lower bound to the compressive strength of 350kPa is estimated. Analysis of the slope of the steep walls of the hole gave a lower bound to cohesion of 10kPa. As for thermal properties, a measurement of the thermal conductivity of the regolith with the Mole thermal sensors resulted in 0.045 Wm-1K-1. The value is considerably uncertain because part of the Mole having contact to air. The HP³ radiometer has been monitoring the surface temperature next to the lander and a thermal model fitted to the data give a regolith thermal inertia of 189 ± 10 J m-2 K-1 s-1/2. With best estimates of heat capacity and density, this corresponds to a thermal conductivity of 0.045 Wm-1K-1, consistent with the above measurement using the Mole. The data can be fitted well with a homogeneous soil model, but observations of Phobos eclipses in March 2019 indicate that there possibly is a thin top layer of lower thermal conductivity. A model with a top 5 mm layer of 0.02 Wm-1K-1 above a half-space of 0.05 Wm-1K-1 matches the amplitudes of both the diurnal and eclipse temperature curves. Another set of eclipses will occur in April 2020

A Pre-Landing Assessment of Regolith Properties at the InSight Landing Site

This article discusses relevant physical properties of the regolith at the Mars InSight landing site as understood prior to landing of the spacecraft. InSight will land in the northern lowland plains of Mars, close to the equator, where the regolith is estimated to be ≥3--5 m thick. These investigations of physical properties have relied on data collected from Mars orbital measurements, previously collected lander and rover data, results of studies of data and samples from Apollo lunar missions, laboratory measurements on regolith simulants, and theoretical studies. The investigations include changes in properties with depth and temperature. Mechanical properties investigated include density, grain-size distribution, cohesion, and angle of internal friction. Thermophysical properties include thermal inertia, surface emissivity and albedo, thermal conductivity and diffusivity, and specific heat. Regolith elastic properties not only include parameters that control seismic wave velocities in the immediate vicinity of the Insight lander but also coupling of the lander and other potential noise sources to the InSight broadband seismometer. The related properties include Poisson’s ratio, P- and S-wave velocities, Young’s modulus, and seismic attenuation. Finally, mass diffusivity was investigated to estimate gas movements in the regolith driven by atmospheric pressure changes. Physical properties presented here are all to some degree speculative. However, they form a basis for interpretation of the early data to be returned from the InSight mission.Additional co-authors: Nick Teanby and Sharon Keda

Catalytic Transformations of Alkynes via Ruthenium Vinylidene and Allenylidene Intermediates

NOTICE: This is the peer reviewed version of the following book chapter: Varela J. A., González-Rodríguez C., Saá C. (2014). Catalytic Transformations of Alkynes via Ruthenium Vinylidene and Allenylidene Intermediates. In: Dixneuf P., Bruneau C. (eds) Ruthenium in Catalysis. Topics in Organometallic Chemistry, vol 48, pp. 237-287. Springer, Cham. [doi: 10.1007/3418_2014_81]. This article may be used for non-commercial purposes in accordance with Springer Verlag Terms and Conditions for self-archiving.Vinylidenes are high-energy tautomers of terminal alkynes and they can be stabilized by coordination with transition metals. The resulting metal-vinylidene species have interesting chemical properties that make their reactivity different to that of the free and metal π-coordinated alkynes: the carbon α to the metal is electrophilic whereas the β carbon is nucleophilic. Ruthenium is one of the most commonly used transition metals to stabilize vinylidenes and the resulting species can undergo a range of useful transformations. The most remarkable transformations are the regioselective anti-Markovnikov addition of different nucleophiles to catalytic ruthenium vinylidenes and the participation of the π system of catalytic ruthenium vinylidenes in pericyclic reactions. Ruthenium vinylidenes have also been employed as precatalysts in ring closing metathesis (RCM) or ring opening metathesis polymerization (ROMP). Allenylidenes could be considered as divalent radicals derived from allenes. In a similar way to vinylidenes, allenylidenes can be stabilized by coordination with transition metals and again ruthenium is one of the most widely used metals. Metalallenylidene complexes can be easily obtained from terminal propargylic alcohols by dehydration of the initially formed metal-hydroxyvinylidenes, in which the reactivity of these metal complexes is based on the electrophilic nature of Cα and Cγ, while Cβ is nucleophilic. Catalytic processes based on nucleophilic additions and pericyclic reactions involving the π system of ruthenium allenylidenes afford interesting new structures with high selectivity and atom economy

Geology and Physical Properties Investigations by the InSight Lander

Although not the prime focus of the InSight mission, the near-surface geology and physical properties investigations provide critical information for both placing the instruments (seismometer and heat flow probe with mole) on the surface and for understanding the nature of the shallow subsurface and its effect on recorded seismic waves. Two color cameras on the lander will obtain multiple stereo images of the surface and its interaction with the spacecraft. Images will be used to identify the geologic materials and features present, quantify their areal coverage, help determine the basic geologic evolution of the area, and provide ground truth for orbital remote sensing data. A radiometer will measure the hourly temperature of the surface in two spots, which will determine the thermal inertia of the surface materials present and their particle size and/or cohesion. Continuous measurements of wind speed and direction offer a unique opportunity to correlate dust devils and high winds with eolian changes imaged at the surface and to determine the threshold friction wind stress for grain motion on Mars. During the first two weeks after landing, these investigations will support the selection of instrument placement locations that are relatively smooth, flat, free of small rocks and load bearing. Soil mechanics parameters and elastic properties of near surface materials will be determined from mole penetration and thermal conductivity measurements from the surface to 3–5 m depth, the measurement of seismic waves during mole hammering, passive monitoring of seismic waves, and experiments with the arm and scoop of the lander (indentations, scraping and trenching). These investigations will determine and test the presence and mechanical properties of the expected 3–17 m thick fragmented regolith (and underlying fractured material) built up by impact and eolian processes on top of Hesperian lava flows and determine its seismic properties for the seismic investigation of Mars’ interior

Soil modeling for InSight's HP³-Mole: From highly accurate particle-based towards fast empirical models

As a payload of NASA's discovery mission InSight, DLR's HP3-instrument is used to measure the internal heat ow of Mars. In order to reach the maximum penetration depth of 5m HP3's locomotion system, the self-impelling nail nicknamed "the Mole" will hammer itself into the martian subsurface. In order to improve, optimize and analyze the Mole's dynamic behaviour and its interaction with the soil several models were developed. In the article the enhanced multi-body model of the mechanism will be presented in combination with two soil models used during the mission's development phase. A highly precise particle model is used to analyze the dynamic interaction with the mechanism, as well as to enhance the simple but fast analytical soil model based on soil mechanics. Both techniques will be explained and the transfer of e�ects from detailed models to simple models will be shown

The Development and first Cruise Activity of the MASCOT Lander onboard the Hayabuse 2 mission

Since December 2014 the Japanese spacecraft Hayabusa-II is on its journey to asteroid 1999 JU3. Like its famous predecessor it is foreseen to study and return samples from its target body. This time, the mother spacecraft has several small passengers. One of them is a compact landing package called MASCOT (Mobile Asteroid surface SCOuT), which has been developed by the German Aerospace Centre (DLR) and the Centre National d'Etudes Spatiales (CNES). Once having been released from its motherspacecraft's cradle, MASCOT will descend to the asteroid and after a few bounces will come to rest at a certain location on the surface. Sitting on the surface, it will perform its scientific investigations of the asteroids surface structure, mineralogical and physical properties, thermal behaviour and magnetic effects by using its suite of four scienti c instruments: a spectrometer (MicrOmega, IAS Paris), a camera (CAM, DLR Berlin), a radiometer (MARA, DLR Berlin) and a magnetometer (MAG, TU Braunschweig). These payload operations are made possible, amongst others, by a clever thermal subsystem design specifically devised to cope with the contrasting requirements of cold cruise and hot on-surface operations and a primary battery optimizing mass versus energy output. A mobility mechanism realizes locomotion in the surface supported by an according attitude and motion sensing system and an intelligent autonomy manager, which is implemented in the onboard Software, can operate MASCOT when ground intervention is not available. In a nutshell, with its many challenging technical hurdles that have been solved, the MASCOT lander can serve as a benchmark for extremely lightweight (10kg), highly integrated mobile small body landing systems with onboard autonomy and high science output. This paper will summarize the mission and system development. We will provide an overview over the final capabilities of the system as well as discuss the latest challenging pre-launch activities and tests. Further a summary and an outlook regarding the already performed as well as upcoming post-launch activities will follow