PhD Studentship: Development of a dynamics simulator for an exploration robot. (2018)

What you get

£14,296 stipend plus a fee waiver at the UK/EU rate.

Type of award

Postgraduate Research.

PhD project

Background

Planetary exploration has been enhanced by the development and deployment of mobile robots (rovers) which can move through various environments and that can collect and send important data to earth [1]. From early stages the need for moving exploration and the challenging requirements for it were clear since exploration robots need to move through rough and sometimes unknown terrain, they have to be reliable in their exploration and data collection while operating in challenging environments. To achieve this, most exploration robots have been big, robust and teleoperated, and their designs and characteristics have been selected accordingly; however in recent years, compactness, autonomy and adaptability are increasingly important characteristics of exploration rovers.

Terramechanics is the study of wheel-soil interaction and the first classical models were developed by Bekker in the 1950's and since then it has been used for the design, modelling and operation of the exploration rovers [2]. Most early studies found that such interaction for rovers of relatively big size, but in more recent years terramechanics has focused on the modelling and development of smaller rovers with emphasis on the rovers' navigation [3].

The study of wheel-soil interaction mechanics for planetary rovers involves a close relation between theories and experiments. In the last 15 years, some single-wheel testbeds with high-performance instrumentation have been developed for experimental research. An example of these works is the testbed developed in 2005 by Iagnemma et al. at MIT under contract with NASA to support the development of better estimation, motion planning, and control algorithms [4].

Another example is the study of wheel-soil interaction models on a slope by researchers from Chuo University, Meiji University, and the Japan Aerospace Exploration Agency (JAXA) [5]. These models have contributed significantly to the development of new smaller rovers for space exploration. The development of a dynamics simulator with identification capabilities will contribute to the trafficability, maneuverability and terrainability of these rovers, hence enhancing their adaptability and autonomy.

Research contributions

This research investigates the relationship between a rover’s wheels and the ground, so that suitable control strategies and algorithms are implemented in order for the rover to improve its trafficability, manoeuvrability and terrainability. These algorithms should enable the rover to investigate unknown environment and difficult terrains.

Research Environment

The successful candidate will be joining our robotics research group, which includes staff and other PhD students with expertise in mobile robots (ground, and aerial), control systems, soft robotics, medical robotics, image processing, IoT and communications, and human-robot interaction. Moreover, you will be part of the School of Engineering and Informatics with research groups in areas such as sensors, dynamics and control, image processing, data science, evolutionary and adaptive systems, and software systems amongst others.

Qualifications and skills

Candidates from engineering degrees are encouraged to applied, with particular interest in candidates with Mechatronics, Mechanical or Electrical/Electronics engineering degrees. MSc and/or publications in related areas are an advantage. Experience in control systems and systems modelling is essential, and experience in designing and implementing mechatronic systems is desirable.

[1] https://www.nasa.gov/topics/history/index.html (A. Almeida, B. Dunbar, 2016)

[2] Bekker, M. G. (1962), "Theory of land locomotion," Vol. 1, University of Michigan Press

[3] Meirion-Griffith, G. (2012), PhD thesis, Illinois Institute of Technology

[4] Iagnemma, K. et al. (2005), Tech. Rep. of MIT Field and Space Robotics Lab 01- 05-05 [5] Iizuka, K. et al. (2006), Proc. of the 2006 IEEE/RSJ IROS, pp. 4272-4277

Eligibility

The studentship will include a three year stipend at a standard rate (currently £14,553 per annum) and, in addition, fees at the UK/EU rate. Since the studentship only covers fees at the UK/EU rate, overseas applicants are kindly requested to state in their application how they propose to cover the difference between the UK/EU rate and the overseas fees (for more details visit: http://www.sussex.ac.uk/study/phd/fees-and-scholarships).

Deadline

How to apply

Apply for a Engineering PhD for September 2018 using this step by step guide: http://www.sussex.ac.uk/study/phd/apply

In the 'Finance information' section of the application form clearly state you are applying for the "PhD Studentship: Development of a dynamics simulator for an exploration robot."

Sponsors

Research webpages: http://www.sussex.ac.uk/engineering/research

Contact us

For informal enquiries about the project contact Dr Luis Ponce Cuspinera, Lecturer in Mechatronics: http://www.sussex.ac.uk/profiles/215677

For general enquires contact: phd.engineering@sussex.ac.uk