{"id":"https://openalex.org/W1583173390","doi":null,"title":"Terrain identification methods for planetary exploration rovers","display_name":"Terrain identification methods for planetary exploration rovers","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W1583173390","mag":"1583173390"},"language":"en","primary_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/30303","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/30303","pdf_url":"http://hdl.handle.net/1721.1/30303","source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},"volume":null,"type":"dissertation","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/30303","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056198541","display_name":"Christopher Allen Brooks","orcid":"https://orcid.org/0000-0003-0875-0204","observed_orcids":["https://orcid.org/0000-0003-0875-0204"]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Christopher Allen Brooks","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5056198541"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9535999894142151,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9535999894142151,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.03819999843835831,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.002400000113993883,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/planetary-rovers","display_name":"planetary rovers","score":0.7739999890327454},{"id":"https://openalex.org/keywords/terrain-identification","display_name":"terrain identification","score":0.8629999756813049},{"id":"https://openalex.org/keywords/autonomous-mobility","display_name":"autonomous mobility","score":0.6150000095367432},{"id":"https://openalex.org/keywords/uneven-terrain","display_name":"uneven terrain","score":0.7649999856948853},{"id":"https://openalex.org/keywords/wheel-sinkage","display_name":"wheel sinkage","score":0.7870000004768372},{"id":"https://openalex.org/keywords/vibration-signals","display_name":"vibration signals","score":0.5509999990463257},{"id":"https://openalex.org/keywords/accelerometer","display_name":"accelerometer","score":0.7739999890327454},{"id":"https://openalex.org/keywords/supervised-learning","display_name":"supervised learning","score":0.6930000185966492},{"id":"https://openalex.org/keywords/linear-discriminant-analysis","display_name":"linear discriminant analysis","score":0.9089999794960022}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6645477414131165},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5447391867637634},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.4701557159423828},{"id":"https://openalex.org/C2989411428","wikidata":"https://www.wikidata.org/wiki/Q2368937","display_name":"Planetary exploration","level":3,"score":0.42522478103637695},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.3143906593322754},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.27551141381263733},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.15709277987480164},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10392290353775024},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07575693726539612},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.05232354998588562}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:dspace.mit.edu:1721.1/30303","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/30303","pdf_url":"http://hdl.handle.net/1721.1/30303","source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},{"id":"mag:1583173390","doi":null,"is_oa":false,"landing_page_url":"https://dspace.mit.edu/handle/1721.1/30303","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/30303","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/30303","pdf_url":"http://hdl.handle.net/1721.1/30303","source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1583173390.pdf","grobid_xml":"https://content.openalex.org/works/W1583173390.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7010969875","https://openalex.org/W1483387591","https://openalex.org/W2342933559","https://openalex.org/W7100190848","https://openalex.org/W2129996194","https://openalex.org/W764639542","https://openalex.org/W2908016989","https://openalex.org/W133792285","https://openalex.org/W7039465453","https://openalex.org/W2522888397"],"abstract_inverted_index":{"Autonomous":[0],"mobility":[1],"in":[2,97,108,127,174,201],"rough":[3,31],"terrain":[4,16,44,111,122,157,168,181],"is":[5,18,77,89,190],"becoming":[6],"increasingly":[7],"important":[8],"for":[9,37],"planetary":[10],"exploration":[11],"rovers.Increased":[12],"knowledge":[13],"of":[14,51,72,82,117,207],"local":[15,43],"properties":[17],"critical":[19],"to":[20,41,104,151,155,178],"ensure":[21],"a":[22,52,60,67,70,114,147,153,194,199],"rover's":[23],"safety,":[24],"especially":[25],"when":[26],"driving":[27],"on":[28,59,124,141,159,193,198,210],"slopes":[29],"or":[30,63,187],"surfaces.This":[32],"thesis":[33],"presents":[34],"two":[35],"methods":[36],"using":[38,138],"on-board":[39],"sensors":[40],"identify":[42,179],"conditions.The":[45,118],"first":[46],"method":[47,120,145],"visually":[48],"measures":[49],"sinkage":[50],"rover":[53,129,143,200],"wheel":[54],"into":[55],"deformable":[56],"terrain,":[57],"based":[58,123,158],"single":[61],"color":[62],"grayscale":[64],"image":[65],"from":[66],"camera":[68],"with":[69,94],"view":[71],"the":[73,80,83,86,92,110,128,142,175,205,208],"wheelterrain":[74],"interface.Grayscale":[75],"intensity":[76],"computed":[78],"along":[79],"rim":[81],"wheel,":[84],"and":[85,197],"wheel-terrain":[87],"interface":[88],"identified":[90],"as":[91,184],"location":[93],"maximum":[95],"change":[96],"intensity.The":[98],"algorithm":[99,189,209],"has":[100],"been":[101],"shown":[102],"experimentally":[103,191],"give":[105],"accurate":[106],"results":[107],"identifying":[109],"characteristics":[112],"under":[113],"wide":[115],"range":[116],"second":[119],"classifies":[121],"vibrations":[125],"induced":[126],"structure":[130],"by":[131],"rover-terrain":[132],"interaction":[133],"during":[134,163],"driving.Vibrations":[135],"are":[136],"measured":[137],"an":[139,164],"accelerometer":[140],"structure.The":[144],"uses":[146,170],"supervised":[148],"learning":[149,166],"approach":[150],"train":[152],"classifier":[154],"recognize":[156],"representative":[160],"vibration":[161],"signals":[162],"off-line":[165],"phase.Real-time":[167],"classification":[169],"linear":[171],"discriminant":[172],"analysis":[173],"frequency":[176],"domain":[177],"gross":[180],"classes":[182],"such":[183],"sand,":[185],"gravel,":[186],"clay.The":[188],"validated":[192],"laboratory":[195],"testbed":[196],"outdoor":[202],"conditions.Results":[203],"demonstrate":[204],"robustness":[206],"both":[211],"systems.":[212]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-11-08T12:12:28.789561","created_date":"2016-06-24T00:00:00"}