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Please use this identifier to cite or link to this item: http://hdl.handle.net/2014/38332

Title: Concept for coring from a low-mass rover
Authors: Backes, Paul G.
Khatib, Oussama
Diaz-Calderon, Antonio
Warren, James
Collins, Curtis
Chang, Zensheu
Keywords: Mars exploration
rovers
Issue Date: 4-Mar-2006
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2006.
Citation: IEEE Aerospace Conference, Big Sky, MT, March 04, 2006.
Abstract: Future Mars missions, such as the Mars Sample Return (MSR) mission, may benefit from core sample acquisition from a low-mass rover where the rover cannot be assumed to be stationary during a coring operation. Manipulation from Mars rovers is currently done under the assumption that the rover acts as a stationary, stable platform for the arm. An MSR mission scenario with a low-mass rover has been developed and the technology needs have been investigated. Models for alternative types of coring tools and tool-environment interaction have been developed and input along with wheel-soil interaction models into the Stanford Simulation & Active Interfaces (SAI) simulation environment to enable simulation of coring operations from a rover. Coring tests using commercial coring tools indicate that the quality of the core is a critical criterion in the system design. Current results of the models, simulation, and coring tests are provided.
URI: http://hdl.handle.net/2014/38332
Appears in Collections:JPL TRS 1992+

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