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Automated design of lightweight exploration rovers www.DLR.de Slide 1> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013 Alexandre Carvalho.

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Presentation on theme: "Automated design of lightweight exploration rovers www.DLR.de Slide 1> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013 Alexandre Carvalho."— Presentation transcript:

1 Automated design of lightweight exploration rovers www.DLR.de Slide 1> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013 Alexandre Carvalho Leite Bernd Schäfer

2 Scope Introduction Choice of suitable scenarios Optimization Results Conclusion and Outlook www.DLR.de Slide 2> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

3 Introduction Parts Configuration TerrainFinal design www.DLR.de Slide 3> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

4 Introduction www.DLR.de Slide 4> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

5 Choice of suitable scenarios www.DLR.de Slide 5> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

6 Choice of suitable scenarios REQ #001 REQ #002 REQ #003 REQ #004 REQ #005 REQ #006 REQ #007 REQ #008 REQ #009 REQ #010 www.DLR.de Slide 6> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

7 Choice of suitable scenarios REQ #001 REQ #002 REQ #003 REQ #004 REQ #005 REQ #006 REQ #007 REQ #008 REQ #009 REQ #010 The rover shall be capable to surmount rocks with a height up to 0.25m. This shall include rocks with a width larger than the wheel track. Average consumed power Travelled distance The rover designer acts here www.DLR.de Slide 7> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

8 Choice of suitable scenarios Objective functions 19 Scenarios 27 Objective functions evaluated 7 Scenarios 16 Objective functions evaluated www.DLR.de Slide 8> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

9 Optimization www.DLR.de Slide 9> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

10 Optimization www.DLR.de Slide 10> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

11 Optimization www.DLR.de Slide 11> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

12 Results www.DLR.de Slide 12> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

13 Results www.DLR.de Slide 13> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

14 Results www.DLR.de Slide 14> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

15 Conclusion and Outlook Scenario-oriented, distributed computation, optimization setup Synthesis and Metrics to evaluate suspension configurations Optimization of suspension configurations Mixed optimization of suspension configuration and geometry (parametric and structural simultaneously) www.DLR.de Slide 15> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

16 Conclusion and Outlook www.DLR.de Slide 16> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

17 Acknowledgement Parts of the work on contact modeling development was performed in conjunction with the HGF alliance project "Planetary Evolution and Life" (HGF - "Helmholtz-Gemeinschaft der Großforschungsanstalten"). And parts of the work leading to the parameter estimation results and optimization have received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under Grant Agreement no 262744. The authors wish to gratefully acknowledge the support by HGF and EC. www.DLR.de Slide 17> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

18 Thank you for your attention! www.DLR.de Slide 18> Automated rover design > Alexandre C. Leite ASTRA 2013 > 17.05.2013

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