Mathematics – Logic
Scientific paper
Apr 2003
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2003eaeja....14528g&link_type=abstract
EGS - AGU - EUG Joint Assembly, Abstracts from the meeting held in Nice, France, 6 - 11 April 2003, abstract #14528
Mathematics
Logic
Scientific paper
30 years have passed since the second Soviet research Lunokhod-2 rover landed on the Moon on January 16, 1973 within the framework of the Luna-21 mission. Scientific explorations of the lunar surface and space, begun with the Lunokhod-1 rover (1970-1971), were continued with Lunokhod-2. Creation of Lunokhod-1 and Lunokhod-2 marked realization of direction on study of planets using mobile self-propelled robots. Other direction connected with using planetary rovers to transport astronauts, scientific equipment and weights was realized as a result of creation of the American LRV lunar rover. Astronauts during Apollo-15 (1971), Apollo-15 (1972) and Apollo-15 (1972) missions used it. Programs of operation for Lunokhod-1,-2 on the Moon envisaged investigations of topographic and morphological peculiarities of the terrain, determination of the chemical composition and physical and mechanical properties of soil, experiments on the laser detection and ranging of the Moon and, etc. Successful fulfilment of programs was ensured, to a considerable extent, with the self-propelled chassis developed at VNIITRANSMASH to order of the Lavochkin Scientific and Production Association (NPOL). The chassis, on the one hand, ensured necessary cross-country ability for Lunokhod-1,-2, on the other hand, it was as the independent scientific instrument, which provided investigation as temperature measurement of the lunar surface, surface topography and craters distribution, physical and mechanical properties of soil with the special PROP instrument equipped with the penetrometer, chassis traction-cohesive characteristics, upper surface layer by a character its deformation by the mover, etc. A number of improvements of Lunokhod-2 improving its operating characteristics were performed on the basis of results of Lunokhod-1 operation. Lunokhod-1,-2 operation confirmed that automatic mobile robots can be used as effective means for studying planets and their satellites. At the same time, an operational experience of Lunokhod-1,-2, also American LRV rover, given extensive material, which as being used while developing and manufacturing chassis and their systems for new-generation planetary rovers, as well as special equipment to Earth-based tests. The present paper considers features of the Lunochod-2 design, some results of the Lunokhod-1,-2 operation on the Moon, examples of locomotion systems for new-generation rovers with the ski-walking, wheel-walking and hopping movers. A brief review of locomotion system demonstrators (IDD-1,-2, IARES, LRMC, JRover-1,-2, etc), developed at VNIITRANSMASH and Science &Technology Rover Co. Ltd. to order of ESA and foreign organizations taking part in space explorations. The locomotion systems description for the RoSA-2 project and ExoMaDeR model for "ExoMars-2009" project, developed by RCL in cooperation and to order of ESA, is given.
Bogatchev A. A.
Gromov V. V.
Kemurdjian A.
Khakhanov Y.
Koutcherenko V.
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