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DTSTART:20151025T030000
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UID:calendar.7133.field_data.0@www.u-gov-ricerca.uniroma1.it
DTSTAMP:20260404T184634Z
CREATED:20151009T032442Z
DESCRIPTION:Abstract:The target environment for lunar/planetary exploration
 \, such as the surface of the Moon and Mars\, is covered with fine granula
 r material\, called regolith. The wheels of an exploration rover easily sl
 ip when traveling on such loose soil. Wheel slippage adversely affects its
  path-following performance\, and in the worst case\, a wheel is buried in
  the soil and gets stuck. To prevent such situations\, understanding of th
 e wheel-soil interaction is quite important. The research field regarding 
 wheel-soil interaction is called 'terramechanics' and was originally studi
 ed with heavyweight vehicles (e.g.\, construction machines\, agricultural 
 machines\, or military vehicles). In recent years\, terramechanics has bee
 n applied for lightweight vehicles such as lunar/planetary rovers. Modelin
 g of the normal and shear stress distribution under the contact patch of t
 he wheel is the key to predicting the traction force\, slippage\, and sink
 age of the wheel in the given terrain and soil conditions. In the research
  field of terramechanics\, the stress distribution has been modeled and va
 lidated for heavyweight vehicles. However\, of late\, some researchers hav
 e pointed out that the classical model does not give us reasonable results
  for lightweight vehicles. Since I became a master’s program student\, I h
 ave been deeply devoted to the experimental measurement of stress distribu
 tion by a force/torque sensor embedded inside a wheel\, and have collected
  useful data to understand the stress distribution under the wheel of a li
 ghtweight vehicle. In this talk\, first\, I will introduce past research a
 ctivities on rover terramechanics conducted at the Space Robotics Laborato
 ry to provide background. Then\, I will report the findings from my experi
 ments about the wheel stress distribution.Biosketch:Shoya Higa is a Ph.D. 
 student in the Space Robotics Laboratory at Tohoku University. He complete
 d the Advanced Course of Okinawa National College of Technology and receiv
 ed a bachelor's degree from NIAD-UE (National Institution for Academic Deg
 rees and University Evaluation) in 2012\, then he received his master's de
 gree in engineering from Tohoku University in 2014. His research interests
  focus on mobility performance analysis of lunar/planetary rovers\, partic
 ularly\, wheel–soil interaction (terramechanics). He has been working on e
 xperiment-based measurement and modeling of wheel-soil interaction forces 
 (normal stress and shear stress) for lunar/planetary rovers.
DTSTART;TZID=Europe/Paris:20151029T120000
DTEND;TZID=Europe/Paris:20151029T120000
LAST-MODIFIED:20210526T101032Z
LOCATION:A4
SUMMARY:Seminar: Shoya Higa\, 'Stress distribution beneath the wheel of a l
 unar/planetary rover on loose soil' - Shoya Higa (Space Robotics Laborator
 y\, Tohoku University)
URL;TYPE=URI:http://www.u-gov-ricerca.uniroma1.it/node/7133
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