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Soil Sampling on an Extreme Terrain Rover: A Pneumatic Device

Holtz, Kristen (2012) Soil Sampling on an Extreme Terrain Rover: A Pneumatic Device. California Institute of Technology , Pasadena, CA. (Unpublished) http://resolver.caltech.edu/CaltechAUTHORS:20160226-150111573

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Abstract

A key problem in rover exploration missions is that many of the scientifically interesting areas to investigate are extremely difficult to access given typical flat-topography rovers. The Axel rover was designed to rappel down steep cliffs using a tether held securely at the top. It is very important that this rover is capable of taking and analyzing samples of soil on Mars. Goals for such a sampling mechanism are to collect a sample of at least 2 grams and store it, and to repeat this. The system developed here is a preliminary system that takes one sample and stores it using a pneumatic device. A pneumatic approach was chosen due to its simplicity, as minimal actuation will be needed to move soil. This design can be easily integrated with a multi-sample system later on. Tests to maximize soil collection were done to choose a design for the system, and this design will be implemented on Axel soon to test its effectiveness. This work was done in conjunction with another SURF student.


Item Type:Report or Paper (Technical Report)
Related URLs:
URLURL TypeDescription
http://kiss.caltech.edu/study/extreme-terrain/papers/soil.pdfOrganizationTechnical Report
Additional Information:I would like to thank Yifei Huang, a fellow Summer Undergraduate Research Fellowship student who did this work with me. I thank Professor Joel Burdick and Melissa Tanner for all of their guidance and assistance, as well as the entire Axel team at Caltech and the Jet Propulsion Laboratory. I thank Kris Zacny from Honeybee Robotics for all of his help and the design for the cyclone separator. In addition I thank the Keck Institute for Space Studies as well as the SURF office, which provided funding for this project. I also would like to thank Professor Melanie Hunt for her advice and the use of her sand, as well as Professor Tim Colonius for his advice.
Group:Keck Institute for Space Studies
Funders:
Funding AgencyGrant Number
Caltech Summer Undergraduate Research Fellowship (SURF)UNSPECIFIED
Keck Institute for Space Studies (KISS)UNSPECIFIED
DOI:10.26206/B31K-YT45
Record Number:CaltechAUTHORS:20160226-150111573
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20160226-150111573
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:64817
Collection:CaltechAUTHORS
Deposited By: Colette Connor
Deposited On:06 Mar 2016 17:39
Last Modified:21 Mar 2019 21:51

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