Scott Moreland

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Scarab is a prototype rover for Lunar missions to survey resources in polar craters. It is designed as a prospector that would use a deep coring drill and apply soil analysis instruments to measure the abundance of elements of hydrogen and oxygen and other volatiles including water. Scarab's chassis can adjust the wheelbase and height to stabilize its drill(More)
Scarab is a prototype rover for lunar missions to survey resources, particularly water ice, in polar craters. It is designed as a prospector that would use a deep coring drill and apply soil analysis instruments. Its chassis can transform to stabilize its drill in contact with the ground and can also adjust posture to ascend and descent steep slopes. Scarab(More)
Though much research has been conducted regarding traction of tires in soft granular terrain, little empirical data exist on the motion of soil particles beneath a tire. A novel experimentation and analysis technique has been developed to enable investigation of terramechanics fundamentals in great detail. This technique, the Shear Interface Imaging(More)
Scarab is a prospecting rover for lunar missions to survey resources, particularly water ice, in polar craters. It is designed for the deployment of a deep coring drill and for transport of soil analysis instruments. Its chassis can transform to stabilize the drill in contact with the ground and can also adjust to ascend and descent steep slopes of(More)
— Grousers, sometimes called lugs, are recognized as a way to improve wheel performance and traction, but there have been, to date, no comprehensive guidelines for choosing grouser patterns. This work presents a quantitative expression for determining appropriate grouser spacing for rigid wheels. Past empirical studies have shown that increasing grouser(More)
The binding sites and biochemical effects of angiotensin (A) II were investigated in rat pheochromocytoma (PC12W) cells. Sarcosine1, [125I]-tyrosine4, isoleucine8-AII ([125I]-SI-AII) bound to a saturable population of sites on membranes with an equilibrium dissociation constant (Kd) of 0.4 nM and a binding site maximum of 254 fmol/mg protein. Competitive(More)
—New articulated planetary rovers offer alternative locomotion modalities beyond conventional rolling wheel mobility. 12 These new modalities should be explored to overcome the limitations of traditional rolling mobility, and expand the areas of planetary surfaces amenable to exploration. The topic of this study is a hybrid push-roll locomotion mode called(More)
Though much research has been conducted regarding traction of tires in soft granular terrain, little empirical data exist on the motion of soil particles beneath a tire. A novel experimentation and analysis technique has been developed to enable detailed investigation of robot interactions with granular soil. This technique , the Shear Interface Imaging(More)
1 Abstract Planetary rovers are increasingly challenged to negotiate extreme terrain. Early destinations have been benign to preclude risk, but canyons, funnels, and newly discovered holes present steep slopes that defy tractive descent. Steep craters and holes with unconsolidated material pose a particularly treacherous danger to modern rovers. This thesis(More)