New rocker-bogie and terramechanics-based wheel/soil interaction models for planetary rovers
Bibliographic record
Abstract
Mars rovers have to this point been almost completely reliant on the solar panel/rechargeable battery combination as a source of power. Curiosity, currently en route, relies on radio isotope decay as its source of electrical power. Given the limited amount of space available for solar panels and that the wattage available from radioisotope decay is limited; power is clearly a critical resource for any rover. The goal of this work is to estimate the energy cost of traversing terrains of various properties. Knowledge of energy costs for terrain traversal will allow for more efficient path planning enabling rovers to have longer periods of activity. Our system accepts grid-based terrain elevation data in the form of a Digital Elevation Model (DEM) along with rover and soil parameters, and uses a newly developed model of the most common rover suspension design (rocker-bogie) along with a terramechanics-based wheel-soil interaction model to build a map of the estimated torque required by each wheel to move the rover to each adjacent terrain square. Future work will involve real world testing and verification of our model.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".