Business Rules: Die Wissensverarbeitung erreicht die Betriebswirtschaft ; Einsatzmöglichkeiten und Marktübersicht

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The DLR Rover Simulation Toolkit

Autonomous exploration rovers are currently the primary means of research on extra-terrestrial bodies. Due to the circumstances of their deployment it is vital to ensure their unassisted performance in a harsh environment. Preliminary simulations are therefore indispensable. To facilitate these simulations we introduce the DLR Rover Simulation Toolkit (RST). The RST constitutes a framework of libraries, allowing engineers to quickly assemble digital rover twins, particularly for early design phases. Enabled by the modelling language Modelica it covers a wide range of aspects from different domains in one unifying framework. This paper establishes in detail the RST’s structure and design decisions before showing its practical application in a Software-in-the loop (SiL) simulator, elaborating on future enhancements and its use during collaborative engineering studies in the DLR Systems and Control Innovation Lab

Heterogeneous,multi-tier wheel ground contact simulation for planetary exploration

Today's growing scientific interest in extraterrestrial bodies increases the necessity of extended mobility on these bodies. Thus, planetary exploration systems are facing new challenges in terms of mission planning, obstacle and soil traversability. In order to fit the tight schedules of space missions and to cover a large variety of environmental conditions, experimental test setups are complemented by numerical simulation models used as virtual prototypes. In this context we present an integrated simulation environment which allows for using different available contact models, ranging from simple but real-time capable approximations based on rigid-body modeling techniques up to very accurate solutions based on Discrete Element Method (DEM). For this work, a one-point Bekker based approach and the so-called Soil Contact Model (SCM), which is a multi-point extension of the \textsc{Bekker}-\textsc{Wong} method taking soil deformation into account, are used. These two contact models are applied for homogeneous models with only one type of contact model for all wheels as well as for a heterogeneous multi-tiered model with different contact models for the wheels. It will be shown that the multi-tiered approach enhances the simulation result accuracy compared to the results of a homogeneous model with a low level of detail while speeding up the simulation in comparison to a homogeneous higher tier model

Wheel-Ground Modeling in Planetary Exploration: From Unified Simulation Frameworks Towards Heterogeneous, Multi-tier Wheel Ground Contact Simulation

Today’s growing scientific interest in extraterrestrial bodies increases the necessity of extended mobility on these objects. Thus, planetary exploration systems are facing new challenges in terms of mission planning as well as obstacle and soil traversability. In order to fit the tight schedules of space missions and to cover a large variety of environmental conditions, experimental test setups are complemented by numerical simulation models used as virtual prototypes. In this context we present an integrated simulation environment which allows for using different available contact models, ranging from simple but real-time capable approximations based on rigid-body modeling techniques up to very accurate solutions based on Discrete Element Method (DEM). The models are explained and classified for their applications. For this work, a one-point Bekker based approach (BCM) and the so-called Soil Contact Model (SCM), which is a multi-point extension of the Bekker–Wong method taking soil deformation into account, are used for further analysis. These two contact models are applied for homogeneous simulations with only one type of contact model for all wheels as well as for a heterogeneous multi-tiered simulation with different contact models for the wheels. It will be shown that the multi-tiered approach enhances the simulation result accuracy compared to the results of a homogeneous model with a low level of detail while speeding up the simulation in comparison to a homogeneous higher-tier model