1. North Carolina Federal Advanced Technologies Symposium
May 9, 2013
Ground Vehicles and Robotics Panel
Hosted by:
Office of Senator Richard Burr
NC Military Business Center
NC Military Foundation
Institute for Defense & Business
University of North Carolina System
Reception Sponsor:
Bronze Sponsor:

2. Biologically Inspired Transforming Roving-Rolling
Explorer (TRREx) Rover for Planetary Exploration*
Engineering Mechanics and Space Systems Laboratory
Mechanical and Aerospace Department
North Carolina State University
Lab Director: Dr. Andre Mazzoleni.
,
.
2
• Funded by NASA Innovative Advanced Concepts (NIAC)
• Faculty: Dr. Andre Mazzoleni, Dr. Scott Ferguson
• Graduate Students: Lionel Edwin, Tom Gemmer, Jason Denhart

3. Motivation
3

4. Motivation
4
Mars Topography

5. Controller/Sensor
package
Actuators
The Golden wheel uses the inherent
dynamic advantages of a sphere to roll
down dunes when escaping danger.
A Pangolin curls up into a ball as defense
from predators.
Bio-Inspiration
5
An Armadillo curls up into a ball for
protection.

6. Transforming Roving-Rolling Explorer
‘TRREx’
TRREx Roving
TRREx Rolling
Rolling:
• ‘Free rolling’ due to gravity down a slope
• ‘Actuated rolling’ by cyclically extending legs
and shifting CG to move in desired direction
• ‘Controlled rolling’ by intermittent actuations
to avoid obstacles while free rolling.
Transformation:
• Continuous
• Possible to explore smooth transformation
transferring inertia from roving to rolling or
vice versa
Roving:
• Equal distribution of weight on four legs for
maximum traction achieved by ‘Active
suspension’.
• Detachable-tethered halves
6

7. Unique design capabilities
7
Above: Exploring a crater base possible due to
detachable tethered halves design.
Above: Climbing a ledge using the actuated hip joint.
Left: Another
possible way
of actuated
rolling
Tether

8. Modeling and Analysis of Rolling Motion
Free Rolling:
8
Mathematical Path Prediction models in free rolling

9. Modeling and Analysis of Rolling Motion
Actuated Rolling:
When no significant gradient is
present, actuated rolling is produced
by a continuous cyclic actuation and
dynamic shifting of the center of
gravity.
9

10. Dynamic modeling
Compared to Free rolling complexity is increased because now control inputs exist that can be used
to control the dynamics of the system. As a first step into investigation of actuated rolling of the
TRREx, a planar version of the problem is considered.
10
: Normal reaction : Frictional reaction : Rolling resistanceN fr RF F F
   
4
, ,
1
j
O
O O O
B sys B sys B Cext O Oj
d
h v m v
dt 
    
Modeling and Analysis of Rolling Motion

11. Roadmap:
• The roadmap for future of the TRREx includes developing a mathematical
model to describe the dynamics of the spherical rover during actuated
rolling. Once we have this model, we can integrate it with the model
describing free rolling to come up with a control scheme that will perform
controlled rolling.
• The roving mode of operation of the TRREx and the transformation
between the modes will also be individually studied.
11
Controlled Rolling

12. Thank You
12
TRREx Roving
TRREx Rolling

13. SOLUTIONS FOR
INCREASING
MISSION
READINESS
Protective Coatings
for Ground Vehicles
and Robotics
May 9th, 2013
Presented by:
Peter Venema

14. SP3EC™ Wear Coating on Aluminum
14
ASTM G-77 Block-on-Ring Testing of SP3EC Coating on 6061
Aluminum vs. Other Internal Engine Component Coatings
SP3EC™ thin film coating provides protection for both materials in contact
Falex Test Parameters
Speed (rpm): 2000
Temperature (ºC): 125
Load (lb): 44 – 60 – 65 - 70
Duration (min): 5 - 5 - 10 - 5

15. Superhydrophobic Coatings
Wide Range of Applicable Surfaces
15
• Polymers
• Concrete
• Composites
• Fiberglass
• Metallic Surfaces
 Painted
 Non-Painted
• Fabrics
 Self Cleaning
 Non-Fouling
 Non-Toxic
 Field Repairable
 Lightweight
 Low Cost UPT diatomaceous earth

16. Passive Anti-Icing
16
Omniphobicity
• Modified superhydrophobic coating
• Inert film sheds general fluids and
water before it can freeze
• Low roughness and Contact
Angle Hysteresis <5° limits
crystallization
• Anti-biofouling
• No consumables used for icing
prevention
• Frosting/sublimation resistance and
enhanced recovery
1 hour freezing rain Mil-STD-810G
Left: Control coating
Middle: Anti-Icing modified coating
Right: Aluminum control

17. Transparent Superhydrophobic
17
• Tailored for specialty optics
• Optical transparency (> 95%) over a
broad range
• Anti-reflective
• Durability (including scratch and crack
resistance)
• Reduces transmittance in UV-regime
Coated and uncoated fused silica slides
Anti-Reflective properties
SEM image of nanotopography on silicon

18. Peter Venema
Coatings Process Engineer
Jeff Neurauter
Tribological Engineer

19. ITc
NANOFLUIDIC LUBRICANTS FOR INCREASED
FUEL EFFICIENCY IN HEAVY DUTY VEHICLES
G.E. McGuire
International Technology Center, USA
Olga Shenderova
Adámas Nanotechnologies, USA
D-Tribo
www.adamasnano.com

20. ITc
Coefficient of Friction
H30 block over H60 ring
Mobil 5W30 with ND, time dependence
7 hour test
Pure Oil
Oil: DND
LoadVelocity
of rotation:
30kg200rpm

21. ITc
3hrs tests
H30 block over H60 ring (“soft on hard”)
Mobil 5W30
Wear scar profile (mm)
Pure oil
Oil with ND

22. ITc
H30 block, 200rpm30kg, 3hrs test
Wear scars Images
Pure Mobil 5W30 Mobil+ ND

23. ITc
Conclusions
• Nanodiamond-based lubricant additive results in:
• Improved coefficient of friction resulting in increased fuel efficiency
• Reduction in wear
• Improved extreme pressure to failure
• Reduced engine operating temperature
• Extend oil lifetime
• Tests were conducted using a wide variety of test conditions (speed,
load, type of oil).