Robotic technologies in space applications Peter Hubinský
Space for Education, Education for Space ESA Contract No. 4000117400/16NL/NDe
Specialized lectures Robotic technologies in space applications Space for Education, Education for Space Robotic technologies in space applications
• Teleoperated and semi-autonomous devices • Motion on the ground - wheeled chassis - tracked chassis - legged robots - special kind of motion • Motion on the water surface and under it • Motion in atmosphere • Motion in cosmic space
Robotic technologies in space applications 2 Space for Education, Education for Space Robot scheme
Energy
Robot
Actuators Control HMI system Environment Sensors
Robotic technologies in space applications Space for Education, Education for Space Detailed robot scheme
Control system goal Actuation system C task and plans plan effectors solver realization
model of Environment environment O R notification C perception and information receptors cognition processing Sensor system
R - reflex loop O - operation loop C - cognitive loop
Robotic technologies in space applications Space for Education, Education for Space Autonomy of robotic devices
Teleoperated device: it is controlled by the operator that uses the implementation of feedback from sensors placed on the device, this is typically outside his supervision - robots on the Moon. Directional radio transmission of signals is used. Problem with time delay!
Energy Radio (optical) transmission
Actuation system Control HMI system Environment Sensor system
Information from sensors of Information from sensors local controlled variables replacing human remote senses (camera-vision)
Robotic technologies in space applications Space for Education, Education for Space Autonomy of robotic devices
Partially autonomous control (with supervision - a supervisory control) to meet the specified goal will require planned or unplanned interventions operator – Mars rover control.
Energy
Commands
Actuator system Control HMI system Environment Sensor system
Notifications + remote sensors information Information from sensors All sensor information replacing human remote senses (camera-vision)
Robotic technologies in space applications Space for Education, Education for Space Problems with radio transmission - increased attenuation in specific environments (fog, clouds, sea water, ionized air during the fire/storm...) - interference from other sources of radio signal (GSM, 3G networks, LTE networks, WiFi, Meteoradar, military technology, earthly storms, solar activity, cosmic radiation sources ...). - signal delay of the limited speed of light (delay = 2 d / c). Notable in the spacecraft, but also relevant in the case of retransmission via geostationary satellites (35,786 km from the earth's surface). The Moon is from Earth on average 384,400 kilometers (lag back and forth about 2.5 sec.), The distance of Mars varies from 54.6 to 401 million km (6-45 minutes), depending on their relative positions - shift of the carrier frequency at high speed distancing transceiver will Doppler effect (the robot moves away from the base frequency of the RF signal decreases and vice versa) - the need for line of sight between the receiver and the transmitter at high frequencies and need to ensure the directional antenna with appropriate swiveling of the two degrees of freedom (azimuth and elevation) - specific problems associated with space probes include: * the rotation of the Earth (multiple antennas distributed throughout the Earth needed) * rotation of the body, where the robot is operating or occultation by this body, around which it revolves (addresses the retransmission through other space probe(s) nearby and/or the transition to the autonomous mode during the loss of the connection) * the conjunction of the Sun (line connecting the probe - the Earth passes close to the Sun, which is a powerful source of radio interference) * lost of contact during braking in the atmosphere of planet with own atmosphere (about the probe creates a plasma) * in some maneuvers should probe head off its main parabolic antenna from Earth direction and later on to re-direct it back to Earth ...
Robotic technologies in space applications Space for Education, Education for Space Problems with radio transmission
Robotic technologies in space applications 8 Space for Education, Education for Space Problems with radio transmission
34 and 70 m parabolas Goldstone (Californa, USA) Record connection – space probe Voyager 1: TX power 23 W, distance approx. 20 billion km (134 AU) – time delay 37 hrs.
Robotic technologies in space applications Space for Education, Education for Space Optical transmission
Optical connection with Moon probe LADEE: 600 Mbps downlink, 20 Mbps uplink
Robotic technologies in space applications Space for Education, Education for Space Source of energy
- primary electrochemical cells - (primary) radioisotope thermoelectric generator - (secondary) accumulators saving energy from photovoltaic panels or other renewable energy source (wind, temperature gradient of soil etc.) available in the location of mission
Robotic technologies in space applications 11 Space for Education, Education for Space Robotic space probes
Cassini Juno
Robotic technologies in space applications 12 Space for Education, Education for Space Robotic space probes
Steerable instrument platform of Voyager probe
Robotic technologies in space applications 13 Space for Education, Education for Space Static robot landers
Venera lander Viking lander
Robotic technologies in space applications 14 Space for Education, Education for Space Static robot landers
Phoenix lander Philae lander
Robotic technologies in space applications 15 Space for Education, Education for Space Instrumental equipment of robot landers
- panoramic/microscopic imaging system - meteorology instruments - measurement of vibrations and sound - spectrometers - gas/liquid (when any…) chemical analyser - instruments for exploring physical characteristics of the soil - biochemical lab - …
Robotic technologies in space applications 16 Space for Education, Education for Space Mobile robotic landers
Mobile robotic lander – teleoperated or autonomous device, which has the base able to move in 3 or more degrees of freedom
Robotic technologies in space applications 17 Space for Education, Education for Space Motion on the ground
- wheeled chassis: Segway, tricycle, car-like structure (static stability requires 3 or more wheels, for 4 and more wheels it’s necessary to apply the suspension system). While the center of gravity is under the axis connecting the two wheels, such system has ensured static stability, too !!! - tracked: 2 tracks, 2 main tracks with auxiliary tracks, multistage constructions - walking (legged): 2 legs, 4 legs, 6 legs, more legs (statically stable motion is requiring 4+ legs) - hybrid constructions (wheels+tracks, wheels+legs, roller blades...) - sliding motion (snake or caterpillar) - other types of motion (gyroscopic rolling, jumping, “soft robot”, climbing...) - hovercraft (amphibian)
Robotic technologies in space applications 18 Space for Education, Education for Space Motion on the water surface and under the surface robotic boats – driven by motor or sail robotic submarines robotic fish or water snake – eel robotic crab for the work on the sea bed robotic amoeba or medusa seaglider
Motion in the air lighter than air: vacuum/helium/hot-air free/captive balloon, airship heavier than air: (a) flying dragon (kite) (b) controlled parachute (c) airplane (glider, propeller, jet) (d) helicopter (1 rotor, 2/3/4/6/8 rotors) (e) ornitopthera (robotic bird) (f) entompthera (robotic dragonfly)
Motion in cosmic space reactive drive (pressed gas, chemical fuel, ionic engine, atomic engine), solar sail ship or combination of previous ones
Combined motion in various surroundings (robot - amphibian) hovercraft, hydroplanes and combinations of the boat and the ground vehicle
Robotic technologies in space applications 19 Space for Education, Education for Space Wheeled mobile robots
Types of wheels: a) standard wheel – passive, driving, steering or both b) castor/caster wheel (swivel wheel) – mostly passive (supporting) c) spherical wheel - not convenient for planetary research d) omni-directional wheel - not convenient for planetary research
a b
c d
Robotic technologies in space applications 20 Space for Education, Education for Space Standard wheel variants
Sojourner, Opportunity and Curiosity Lunochod
Robotic technologies in space applications 21 Space for Education, Education for Space Commonly used structures of wheeled chassis
1 wheel: monocycle
driving wheel 2 wheels: bicycle, Segway or dicycle – differential drive
passive wheel steering wheel 3 wheels: tricycle with differential drive and single supporting wheel tricycle with rear-wheel drive and steering in front tricycle with the front-wheel drive and steering tricycle with synchronous drive
Robotic technologies in space applications 22 Space for Education, Education for Space Commonly used structures of wheeled chassis
4 wheels: Ackerman chassis with rear-wheel or front-wheel drive
differential wheel with 2+2 driving or 2 driving and 2 supporting wheels
synchronous swerve drive drive (universal chassis)
Robotic technologies in space applications 23 Space for Education, Education for Space Commonly used structures of wheeled chassis Increasing of total number of wheels – improving the carrying capacity and terrain crossing ability
Increasing of number of driving wheels: Ackerman chassis with 4 driven wheels (4WD/AWD system) – increasing of the traction in the slick terrain (sand, mad, snow…)
Robotic technologies in space applications 24 Space for Education, Education for Space Stability of the robot with wheeled chassis
Center Unstability of gravity
Supporting polygon
Shape of supporting polygon for variants of differential drive
Robotic technologies in space applications 25 Space for Education, Education for Space Commonly used structures of wheeled chassis
ARTI robot with two degree of freedom joint
Robotic technologies in space applications 26 Space for Education, Education for Space Commonly used structures of wheeled chassis
Robot KTR-X1 8x8 RC
Robotic technologies in space applications 27 Space for Education, Education for Space Mathematical model of the mobile robot
2D space y x cos 0 vT x y sin 0 vT P T 0 1
P
vT - tangential velocity of the center of gravity
P - angular velocity of the robot rotation around center of gravity
Robotic technologies in space applications 28 Space for Education, Education for Space Differential drive L v v R . R L R 2 vR vL
VL VR v v VT R L vT T 2 ICR v v P R L L P L
ICR – instantaneous center of rotation R – radius from ICR
If vR=vL, then R=∞ (straight-line motion)
If vR=-vL, then R=0 (rotation around center)
Robotic technologies in space applications 29 Space for Education, Education for Space Variants of differential drive
T O T
Structures without any supporting wheels - center of gravity bellow the axis of the wheels (stable structure) - center of gravity above the axis of the wheels (unstable structure – Segway)
1 supporting wheel (swivel, spherical, omni-directional) 2 supporting wheels
Tracked chassis 4 supporting wheels Coupled pairs of driving wheels
Robotic technologies in space applications 30 Space for Education, Education for Space Differential drive
Examples of differential drive
Robotic technologies in space applications 31 Space for Education, Education for Space Differential drive
Robotic technologies in space applications 32 Space for Education, Education for Space Differential drive
Robotic technologies in space applications 33 Space for Education, Education for Space Differential drive
Dicycle
Robotic technologies in space applications 34 Space for Education, Education for Space Segway chassis
Concept Centaur Dean Kamen
Bombardier Embrio Segway Human Transporter Independence iBOT
Robotic technologies in space applications 35 Space for Education, Education for Space Application of Segway platform in robotics
PEA Bot by WowWee
nBot by David P. Anderson
Emiew by fy Hitachi NASA Robonaut Robot-football player from Carnegie Mellon
Robotic technologies in space applications 36 Space for Education, Education for Space Chassis with 6 wheels
Robotic technologies in space applications 37 Space for Education, Education for Space Chassis with 6 wheels
Mars rover Spirit/Opportunity
Robotic technologies in space applications 38 Space for Education, Education for Space Chassis with 6 wheels
Mars rover Curiosity
Robotic technologies in space applications 39 Space for Education, Education for Space Tracked chassis
Robotic technologies in space applications 40 Space for Education, Education for Space Tracked chassis
Tracks design © Paul E. Sandin
Robotic technologies in space applications 41 Space for Education, Education for Space Tracked vs. wheeled chassis
L
l
b b A 4bl mg / P A 2bL p mg / A P p mg / A Max. surface pressure: concrete – more than 1 MPa m – robot mass asphalt – 0,5 MPa grass – 0,3 MPa p – ground pressure compacted sand – 0,35 MPa P – tire pressure loose sand – 0,2 MPa snow – less than 0,1 MPa Example: m=500 kg, tire pressure P=2 atm=0,2 MPa, b=20 cm (l=15 cm), L=125 cm. Surface pressure p is in the case of wheeled chassis equal to tire pressure P, while in the case of tracked chassis the pressure is only p=10.500/(2.0,2.1,25)=0,01 MPa.
Robotic technologies in space applications 42 Space for Education, Education for Space Tracked vs. wheeled chassis
Wheeled: - cheaper, faster, better maneuverability, smaller mass - problematic crawling the terrain obstacles easily stuck in the snow, sand, mud ...
Tracked: - higher motion efficiency, good traction on slippery surface, motion over the surfaces with limited carrying capacity, high throughput over terrain obstacles - slower, worse maneuverability, higher vulnerability and shorter life (rubber) belt against the wheel, complex repair
Robotic technologies in space applications 43 Space for Education, Education for Space Differential chassis based on Archimedes screws
STAR chassis (The Spiral Track Autonomous Robot) from Lawrence Livermore National Laboratory in California
Robotic technologies in space applications 44 Space for Education, Education for Space Bicycle kinematics
s
Rs d /sin s
vS R d /tg s d.cot s
vT vS cos s
R vS d s sin P d s
s
R ICR d – wheel base vs - velocity of steering wheel αs – steering wheel angle
Robotic technologies in space applications 45 Space for Education, Education for Space Robot – cyclist by Murata company
Robotic technologies in space applications 46 Space for Education, Education for Space s Tricycle with the front drive
v S R d.cot s
vT vS cos s
vS d sin P d s
s T
ICR L
R d – wheel base L – wheel tread (track) vs – velocity of steering wheel
Robotic technologies in space applications 47 Space for Education, Education for Space Car drive (Ackerman steering)
o i
Rudolf Ackermann
coto coti L/ d d
o T i
ICR L
R
Robotic technologies in space applications 48 Space for Education, Education for Space Ackerman steering – wheel geometry
Robotic technologies in space applications 49 Space for Education, Education for Space Ackerman steering – suspension system
mass of chassis
Undamped spring damper system
Damped mass wheel system
flexibility of tyre
Model of ¼ of chassis Model of whole chassis
Robotic technologies in space applications 50 Space for Education, Education for Space Ackerman steering – construction example
Robotic technologies in space applications 51 Space for Education, Education for Space Synchronous drive
s y vx vs .cos s v v .sin vS y s s x vT vT vs
P P 0
vs – velocity of the wheels Radius of the path curvature R=∞
Robotic technologies in space applications 52 Space for Education, Education for Space Example of the synchronous drive
Robotic technologies in space applications 53 Space for Education, Education for Space 4WS/4WD – swerve drive (universal chassis)
Robotic technologies in space applications 54 Space for Education, Education for Space 4WS/4WD – swerve drive (universal chassis)
GRP platform by American Robot Company
Robotic technologies in space applications 55 Space for Education, Education for Space Summary of the chassis characteristics
Tricycle, Ackermann chassis: motion along circular arcs Differential chassis: motion along with circular arcs with the radius of curvature Rmin ÷ ∞. It’s not possible with radius 0 ÷ ∞. It’s possible to turn around the to turn around the center and to move in side direction. center, but not to move in side direction.
Synchronous chassis: motion along with straight lines in all directions. It’s possible to move in side Swerve drive - universal chassis: motion along direction, but it’s not available rotation around with the straight lines in all directions (together it’s center. Needs extra motor to turn upper part with the side direction) + rotation around it’s of robot body center = holonomic motion (3 DOF)
Robotic technologies in space applications 56 Space for Education, Education for Space Throughput of wheeled chassis
What force F acting in the horizontal axis of rotation of the passive wheel of radius r has to be developed to overcome the obstacle of height h? 2 2 2r h.h Fr h mg r r h F .mg balance of moments acting r h on the point of contact B
F / mg
h / r Passive wheel in real conditions is able to overcome obstacle of height h equal to max. 0,8 r. Standard value to be assumed is 0,5 r. Active (driven) wheel is able under ideal traction conditions overcome the obstacle with the height h equal to wheel radius r. Ability to overcome vertical obstacles is improving when using the wheel suspension or passive/active mechanisms able to move the center of rotation of the wheel upwards.
Robotic technologies in space applications 57 Space for Education, Education for Space Throughput of wheeled chassis
Mars rover Sojourner
Robotic technologies in space applications 58 Space for Education, Education for Space Application of the Weinstein’s wheel (tri-star wheel)
Robotic technologies in space applications 59 Space for Education, Education for Space Combination track - wheel
Robotic technologies in space applications Galileo Wheel 60 Space for Education, Education for Space Spherical robots
Robotic technologies in space applications 61 Space for Education, Education for Space Robot Cubli
Robotic technologies in space applications 62 Space for Education, Education© Raffaello for Space Da'Andrea Rolling and jumping the robot to a low-gravity using 3 flywheels
Robotic technologies in space applications 63 Space for Education, Education for Space Motion based on the cyclical deformation of the wheel’s shape
©Yuuta Sugiyama et al. Robotic technologies in space applications 64 Space for Education, Education for Space Motion on base of cyclic shape deformation
Robot Super Ball Bot for motion over Saturn moon Titan
Robotic technologies in space applications 65 Space for Education, Education for Space Peristaltic motion
Robotic technologies in space applications 66 Space for Education, Education for Space Legged (walking) robots Static stability – at least 3 legs has to be in contact with the ground and the center of gravity should be within the polygon created by the contact points of the legs with the ground.
Dynamic stability – either the body or the legs have to be in the motion to keep the center of gravity within supporting polygon.
Robotic technologies in space applications 67 Space for Education, Education for Space Legged robots
Advantage of the legged robots in comparison with wheeled ones: - it’s possible to overcome smaller obstacles (convenient for the outdoor application – it’s not required the road). - constructions with more legs enable smooth motion of the platform also in the rough terrain - it’s possible to move over the stairs and various steps (it’s not needed barrier free space in the case of indoor apps)
Disadvantage of the legged robots in comparison with wheeled ones: - more complex mechanics and more engines for comparable number of degrees of freedom - greater consumption of energy for the comparable operations - typically they are allowing only slower motion - more complex algorithms of the motion control
Robotic technologies in space applications 68 Space for Education, Education for Space Static stability
2 legs 4 legs 6 legs
Robotic technologies in space applications 69 Space for Education, Education for Space The slowest, but the The fastest, but less most stable gait 6-leg robot gaits stable gait
T1 T2 T3 T4 T5 T6 T1 T2 T3 T1 T2
R1 R1 R1
R2 R2 R2
R3 R3 R3
L L1 1 L1
L L L2 2 2
L L L3 3 3 At least 5 legs in contact with the ground At least 4 legs in the At least 3 legs in contact (wave gait) contact (ripple gait) (tripod gait)
L 1 R1
L2 R2
L3 R3
Robotic technologies in space applications 70 Space for Education, Education for Space Kinematic leg structure
Leg has to have at least 2 DOF (for moving up and forward)
1 rotation + 2 rotations parallelogram 3 rotations 1 translation (2 DOF)
Robotic technologies in space applications 71 Space for Education, Education for Space Kinematic leg structure
3 motors
2 motors (parallelogram implementation)
Design of the leg for hexapod
Robotic technologies in space applications 72 Space for Education, Education for Space Kinematic leg structure
Robot RHex with 6 flexible legs (with 1 DOF each)
Robotic technologies in space applications 73 Space for Education, Education for Space Alternative design of legged robots
wheels + legs = whegs
Combination wheel-leg by company Vex Robotics
Robotic technologies in space applications 74 Space for Education, Education for Space Alternative design of legged robots
Other variant of combination wheel-leg developed at Harvard University Robotic technologies in space applications 75 Space for Education, Education for Space Alternative design of legged robots
Project Asguard v2
Robotic technologies in space applications 76 Space for Education, Education for Space Alternative design of legged robots
Robot IMPASS Intelligent Mobility Platform with Actuated Spoke System
Robotic technologies in space applications 77 Space for Education, Education for Space Alternative design of legged robots
A walking balloon robot BALLU and side stepping robot NABiRoS
Robotic technologies in space applications 78 Space for Education, Education for Space Walking robots – examples
Biped, Quadruped and Hexapod robot
Robotic technologies in space applications 79 Space for Education, Education for Space Walking robots – examples
Standard kinematic structure of biped robot
Robotic technologies in space applications 80 Space for Education, Education for Space Walking robots – examples
Walking military robot Big Dog by Boston Dynamics
Robotic technologies in space applications 81 Space for Education, Education for Space Walking robots – examples
Monopod robot
Robotic technologies in space applications 82 Space for Education, Education for Space Walking robots – examples Dennis Hong
Robot tripod - STRiDER
Robotic technologies in space applications 83 Space for Education, Education for Space Walking mechanism with single degree of freedom
Chebyshev’s walking 4-legged machine from mid of 19th century
Robotic technologies in space applications 84 Space for Education, Education for Space Mechanisms of Theo Jansen
Robotic technologies in space applications 85 Space for Education, Education for Space Mechanisms of Theo Jansen
Robotic Chassis Duodeped from ATH Bielsko-Biała
Robotic technologies in space applications 86 Space for Education, Education for Space Mechanisms of Joseph C. Klann
Robotic technologies in space applications 87 Space for Education, Education for Space Robot – centipede
Robotic technologies in space applications 88 Space for Education, Education for Space Special kinds of the motion
Climbing with help of supporting points
Robotic technologies in space applications 89 Space for Education, Education for Space Special kinds of the motion
Hybrid structures
Robotic technologies in space applications 90 Space for Education, Education for Space Special kinds of the motion
Tethered robot Axel by JPL
Robotic technologies in space applications 91 Space for Education, Education for Space Special kinds of the motion
Jumping robot © Kitagawa Tsukagoshi Lab.
Robotic technologies in space applications 92 Space for Education, Education for Space Special kinds of the motion
Robotic technologies in space applications 93 Space for Education, Education for Space Special kinds of the motion
Robotic technologies in space applications 94 Space for Education, Education for Space Special kinds of the motion
Robot OmniTread from University of Michigan
Robotic technologies in space applications 95 Space for Education, Education for Space Application of robot arm
Mars probes Viking, Phoenix and rovers Opportunity and Curiosity
Robotic technologies in space applications 96 Space for Education, Education for Space Motion on the water surface and under it
Robotic technologies in space applications 97 Space for Education, Education for Space Motion on the water surface and under it
Water pump by Archimedes
Josef Ressel
Screw propeller
Robotic technologies in space applications 98 Space for Education, Education for Space Motion on the water surface and under it
Submarine PLA-N Type 98 SSBN Ship Yamato 1 Magnetohydrodynamic propulsion
Robotic technologies in space applications 99 Space for Education, Education for Space Motion on the water surface and under it
Ship’s hull design
Robotic technologies in space applications 10 Space for Education, Education for Space 0 Motion on the water surface and under it
Ship stability Vasa ship disaster (1628) Robotic technologies in space applications 10 Space for Education, Education for Space 1 Motion on the water surface and under it
Rudder control
Differential control
Ship (boat) control
Robotic technologies in space applications 10 Space for Education, Education for Space 2 Motion on the water surface and under it
Sailing vessel control
Robotic technologies in space applications 10 Space for Education, Education for Space 3 Motion on the water surface and under it
Robotic sailing boat by Austrian company Innoc
Robotic technologies in space applications 10 Space for Education, Education for Space 4 Motion on the water surface and under it
Hovercraft
Robotic technologies in space applications 10 Space for Education, Education for Space 5 Motion on the water surface and under it
Submarine control
Robotic technologies in space applications 10 Space for Education, Education for Space 6 Motion on the water surface and under it
Mining equipment for the collection of polymetallic nodules from the seabed
Robotic technologies in space applications 10 Space for Education, Education for Space 7 Motion on the water surface and under it
Credit: NASA/JPL Submarine for Europa moon exploration
Robotic technologies in space applications 108 Space for Education, Education for Space Motion on the water surface and under it
Rover for the motion beneath the ice of Europa moon
Robotic technologies in space applications 109 Space for Education, Education for Space Motion on the water surface and under it
Robot – octopus
Robotic technologies in space applications 110 Space for Education, Education for Space Motion on the water surface and under it
Seaglider
Robotic technologies in space applications 111 Space for Education, Education for Space Motion in atmosphere
3 basic principles of lifting force generation
Robotic technologies in space applications 112 Space for Education, Education for Space Motion in atmosphere
C Av 2 F L L 2
FL - dynamic buoyant force CL - lift coefficient ρ – air density v – flight velocity A – wing area
Robotic technologies in space applications 113 Space for Education, Education for Space Motion in atmosphere
Static in sense, that propeller is not moving relative to air mass ahead it
4 2 FT CT rP P
FT – static thrust CT – thrust coefficient ρ – air density
rP – radius of propeller ωP – angular velocity of propeller
Parameters of propeller with diameter 8 inches and pitch 5,5 inches iFlight iCF 8055 Carbon Fiber DJI Hub (TE Style blade)
Throttle Amps Watts RPM Thrust(g) 25% 0.60 10 4424 49 50% 1.55 19 6244 124 75% 2.37 29 7536 196 100% 4.46 54 9674 323
Robotic technologies in space applications 114 Space for Education, Education for Space Motion in atmosphere
V Fv Vair mediumg mconstrg
Usable lift force after subtraction of own gravitational force of balloon construction Gas density at 0°C Air density at various temperatures Air ...... 1,292 kg/m3 0°C ………… 1,292 kg/m3 Helium ...... 0,178 kg/m3 20°C ……….. 1,204 kg/m3 Hydrogen ...... 0,090 kg/m3 40°C ……….. 1,127 kg/m3 Vacuum ...... 0,000 kg/m3 60°C ……….. 1,059 kg/m3 80°C ……….. 0,999 kg/m3 100°C ……… 0,946 kg/m3 - standard 120°C ……… 0,898 kg/m3 140°C ……… 0,854 kg/m3 Helium balloon with the volume 1 m3 has lift capacity 1,1 kg (including own mass!). Hot air balloon with volume 1 m3 for air temperature 100°C has lift capacity only 0,35 kg.
Robotic technologies in space applications 115 Space for Education, Education for Space Motion in atmosphere
Combination of hot air and helium balloon principles used by Steve Fossett
Robotic technologies in space applications 116 Space for Education, Education for Space Motion in atmosphere
Slovak stratospheric baloon JULO2
Robotic technologies in space applications 117 Space for Education, Education for Space Motion in atmosphere
Balloon for Venus exploration (ESA/Russia) project VEGA
Robotic technologies in space applications 118 Space for Education, Education for Space Motion in atmosphere
Helium airship
Hot air airship History and present of Zeppelin airships Detail of the propulsion system Airship variants
Robotic technologies in space applications 119 Space for Education, Education for Space Motion in atmosphere
Airship for Titan exploration
Robotic technologies in space applications 12 Space for Education, Education for Space 0 Motion in atmosphere
Round parachute and parachute - wing
Robotic technologies in space applications 12 Space for Education, Education for Space 1 Motion in atmosphere
Application of parachutes for landing the piloted spaceships
Robotic technologies in space applications 12 Space for Education, Education for Space 2 Motion in atmosphere
Application of parachute for landing of Huygens Spacecraft on Titan
Robotic technologies in space applications 12 Space for Education, Education for Space 3 Motion in atmosphere
Landing of Mars rovers Spirit/Opportunity with aid of airbags
Robotic technologies in space applications 12 Space for Education, Education for Space 4 Motion in atmosphere
Landing maneuver of Mars rover Curiosity
Robotic technologies in space applications 125 Space for Education, Education for Space Motion in atmosphere
Paraglider CQ-10A SnowGoose
Robotic technologies in space applications 126 Space for Education, Education for Space Motion in atmosphere
Turbofan Jet Turboprop
Pulse jet Scramjet (supersonic combusting ramjet) Rocket Plane propulsion systems
Robotic technologies in space applications 127 Space for Education, Education for Space Motion in atmosphere
Straight Swept Forward swept
Flying wing Variable sweep Variable geometry
Tailess delta
Tailed delta
Aircraft fuselage/wings/tail design
Robotic technologies in space applications Cranked arrow 128 Space for Education, Education for Space Motion in atmosphere
Plane flight controls
Robotic technologies in space applications 129 Space for Education, Education for Space Motion in atmosphere
Collective control
Cyclic control
Helicopter flight controls Tail rotor control
Robotic technologies in space applications 130 Space for Education, Education for Space Motion in atmosphere
Northrop Grumman B-2 Spirit Differential thrust control
Robotic technologies in space applications 131 Space for Education, Education for Space Motion in atmosphere
Bell-Boeing V-22 Osprey McDonnell Douglas AV-8B Harrier VTOL (vertical take-off and landing) planes
Robotic technologies in space applications 132 Space for Education, Education for Space Motion in atmosphere
Gliders (sailplanes)
Robotic technologies in space applications 133 Space for Education, Education for Space Motion in atmosphere
Project of Martian plane ARES
Robotic technologies in space applications 134 Space for Education, Education for Space Motion in atmosphere
Control of quadrocopter
Robotic technologies in space applications 135 Space for Education, Education for Space Motion in atmosphere
Hexacopter
Robotic technologies in space applications 136 Space for Education, Education for Space Motion in atmosphere
Tricopter
Robotic technologies in space applications 137 Space for Education, Education for Space Motion in atmosphere
Alternative multicopter design
Robotic technologies in space applications 138 Space for Education, Education for Space Motion in atmosphere
Monocopter
Robotic technologies in space applications 139 Space for Education, Education for Space Motion in atmosphere
VTOL design with thrust vector control
Robotic technologies in space applications 140 Space for Education, Education for Space Motion in atmosphere
Henri Coanda
“Flying saucer” using Coanda effect
Robotic technologies in space applications 141 Space for Education, Education for Space Motion in atmosphere
Viktor Schauberger
Flying saucers with Repulsine propulsion
Robotic technologies in space applications 142 Space for Education, Education for Space Motion in atmosphere
10-50 kV
Ionic wind propulsion
Robotic technologies in space applications 143 Space for Education, Education for Space Motion in atmosphere
Space Shuttle liftoff and landing
Robotic technologies in space applications 144 Space for Education, Education for Space Motion in cosmic space
SpaceX Falcon 9 liftoff and landing
Robotic technologies in space applications 145 Space for Education, Education for Space Motion in cosmic space
Solar sail ship
Robotic technologies in space applications 146 Space for Education, Education for Space Motion in cosmic space
Electric solar sail ship ESTCube-1
Robotic technologies in space applications 147 Space for Education, Education for Space Motion in cosmic space
AERCam Sprint – control by means of 12 jets through which compressed gas is flowing
Robotic technologies in space applications 148 Space for Education, Education for Space Motion in cosmic space
Robotic SPHERES on board of ISS
Robotic technologies in space applications 149 Space for Education, Education for Space Motion in cosmic space
Canadarm2 and Dextre – ISS manipulation arms Robotic technologies in space applications 150 Space for Education, Education for Space Motion in cosmic space
Robonaut 2 – antropomorphic robot on board of ISS Robotic technologies in space applications 151 Space for Education, Education for Space