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Reconfigurability in planetary surface vehicles: Modelling approaches and case study
MIT, USA.
MIT, USA.
MIT, USA.
2006 (English)In: JBIS - Journal of the British Interplanetary Society, ISSN 0007-084X, Vol. 59, no 12, p. 450-460Article in journal (Refereed) Published
Abstract [en]

Reconfigurability is being recognized as increasingly important for space systems for reasons of efficiency, extensibility and mission robustness. Planetary Surface Vehicles (PSVs), that may be used in future manned exploration missions, can especially benefit from reconfigurability. Two frameworks for studying reconfigurable systems are proposed that allow for analyzing systems that undergo changes over time. The first framework, using Non-Homogeneous Markov Models (NHMM), allows for identifying useful configurations or states. The second framework, based on control theory, enables issues such as reconfiguration time, and dynamics of the reconfiguration process to be assessed. The application of these models is shown for a PS V in a future human exploration mission that can reconfigure to respond to changing terrain conditions. The results for the specific case considered show that reconfigurability improves the performance of the vehicle over the course of a simulated sortie by approximately 30%.

Place, publisher, year, edition, pages
London: British Interplanetary Society , 2006. Vol. 59, no 12, p. 450-460
Keywords [en]
Controls theory, Non-homogeneous markov model, Planetary surface vehicle, Reconfigurability
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20778ISI: 000241924300003Scopus ID: 2-s2.0-34249855817OAI: oai:DiVA.org:hh-20778DiVA, id: diva2:586724
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2018-03-22Bibliographically approved

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Iagnemma, Karl

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Citation style
  • apa
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  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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  • text
  • asciidoc
  • rtf