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Tools and Algorithms for Sampling in Extreme Terrains

Tanner, Melissa and Burdick, Joel and Nesnas, Issa (2013) Tools and Algorithms for Sampling in Extreme Terrains. . (Unpublished) http://resolver.caltech.edu/CaltechAUTHORS:20190213-142207704

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Abstract

Extreme-terrain robots such as JPL’s Axel rover are enabling access to new and exciting science opportunities. The goal of this mini-program was to develop a compact sampling instrument for Axel. Over the summer of 2012, a small group of students designed, built, and tested prototype sampling devices. Nikola Georgiev created a versatile four-degree-of-freedom scoop, which can acquire up to 4 different samples in clean self-sealing containers. Hima Hassenruck-Gudipati studied percussive scooping, and prototyped a percussive scoop that takes advantage Axel’s independent body rotation to acquire samples. Kristen Holtz and Yifei Huang collaborated on a pneumatic sampling system, which uses a puff of air to propel loose grains into flexible tubing, and separates the grains into an interchangeable sample container. Each of these sampling systems has been demonstrated, and each proved useful for different conditions. In turn, the students gained valuable design experience and the opportunity to work alongside a number of experts in various fields.


Item Type:Report or Paper (Technical Report)
Group:Keck Institute for Space Studies
DOI:10.26206/KZK9-WM63
Record Number:CaltechAUTHORS:20190213-142207704
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190213-142207704
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92896
Collection:CaltechAUTHORS
Deposited By: Iryna Chatila
Deposited On:15 Feb 2019 22:50
Last Modified:21 Mar 2019 21:52

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