{"id":"https://openalex.org/W2953337740","doi":"https://doi.org/10.82308/1711","title":"Modelling and contact analysis of planetary exploration rovers","display_name":"Modelling and contact analysis of planetary exploration rovers","publication_year":2016,"publication_date":"2016-01-01","ids":{"openalex":"https://openalex.org/W2953337740","doi":"https://doi.org/10.82308/1711","mag":"2953337740"},"language":"en","primary_location":{"id":"pmh:oai:escholarship.mcgill.ca:dv13zx16z","doi":null,"is_oa":true,"landing_page_url":"https://escholarship.mcgill.ca/concern/theses/dv13zx16z","pdf_url":"https://escholarship.mcgill.ca/concern/theses/dv13zx16z","source":{"id":"https://openalex.org/S4306401568","display_name":"eScholarship@McGill (McGill)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I5023651","host_organization_name":"McGill University","host_organization_lineage":["https://openalex.org/I5023651"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},"volume":null,"type":"dissertation","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://escholarship.mcgill.ca/concern/theses/dv13zx16z","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073522270","display_name":"Sadhbh MacMahon","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Mac Mahon, Sadhbh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5073522270"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":4,"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":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0015999999595806003,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.000699999975040555,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9079999923706055},{"id":"https://openalex.org/keywords/impact-force","display_name":"impact force","score":0.6309999823570251},{"id":"https://openalex.org/keywords/obstacle-crossing","display_name":"obstacle crossing","score":0.7300000190734863},{"id":"https://openalex.org/keywords/autonomous-navigation","display_name":"autonomous navigation","score":0.8980000019073486}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7481794357299805},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.5731605291366577},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5239934325218201},{"id":"https://openalex.org/C2989411428","wikidata":"https://www.wikidata.org/wiki/Q2368937","display_name":"Planetary exploration","level":3,"score":0.4901481568813324},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4283728003501892},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3408215045928955},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32887014746665955},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.19390317797660828},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12398535013198853},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08940395712852478},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"pmh:oai:escholarship.mcgill.ca:dv13zx16z","doi":null,"is_oa":true,"landing_page_url":"https://escholarship.mcgill.ca/concern/theses/dv13zx16z","pdf_url":"https://escholarship.mcgill.ca/concern/theses/dv13zx16z","source":{"id":"https://openalex.org/S4306401568","display_name":"eScholarship@McGill (McGill)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I5023651","host_organization_name":"McGill University","host_organization_lineage":["https://openalex.org/I5023651"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},{"id":"pmh:doi:10.82308/1711","doi":null,"is_oa":false,"landing_page_url":"https://hdl.handle.net/20.500.14905/105333","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"https://vocabularies.coar-repositories.org/resource_types/c_46ec/"},{"id":"pmh:oai:digitool.library.mcgill.ca:143571","doi":null,"is_oa":false,"landing_page_url":"http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=143571","pdf_url":null,"source":{"id":"https://openalex.org/S4306401568","display_name":"eScholarship@McGill (McGill)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I5023651","host_organization_name":"McGill University","host_organization_lineage":["https://openalex.org/I5023651"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Electronic Thesis or Dissertation"},{"id":"pmh:oai:mcgill.scholaris.ca:20.500.14905/105333","doi":null,"is_oa":false,"landing_page_url":"https://doi.org/10.82308/1711","pdf_url":null,"source":{"id":"https://openalex.org/S4306401568","display_name":"eScholarship@McGill (McGill)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I5023651","host_organization_name":"McGill University","host_organization_lineage":["https://openalex.org/I5023651"],"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":"https://vocabularies.coar-repositories.org/resource_types/c_46ec/"},{"id":"doi:10.82308/1711","doi":"https://doi.org/10.82308/1711","is_oa":true,"landing_page_url":"https://doi.org/10.82308/1711","pdf_url":null,"source":{"id":"https://openalex.org/S7407060097","display_name":"McGill-DEV","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Dissertation"},{"id":"mag:2953337740","doi":null,"is_oa":false,"landing_page_url":"https://oatd.org/oatd/record?record=oai%5C%3Adigitool.library.mcgill.ca%5C%3A143571","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:escholarship.mcgill.ca:dv13zx16z","doi":null,"is_oa":true,"landing_page_url":"https://escholarship.mcgill.ca/concern/theses/dv13zx16z","pdf_url":"https://escholarship.mcgill.ca/concern/theses/dv13zx16z","source":{"id":"https://openalex.org/S4306401568","display_name":"eScholarship@McGill (McGill)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I5023651","host_organization_name":"McGill University","host_organization_lineage":["https://openalex.org/I5023651"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2953337740.pdf","grobid_xml":"https://content.openalex.org/works/W2953337740.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2561438810","https://openalex.org/W2337756552","https://openalex.org/W194621286","https://openalex.org/W2080584328","https://openalex.org/W3179595666","https://openalex.org/W2189205027","https://openalex.org/W331629096","https://openalex.org/W2789014339","https://openalex.org/W2892724439","https://openalex.org/W2109024989"],"abstract_inverted_index":{"ABSTRACT":[0],"Autonomous":[1],"navigation":[2],"is":[3,34,143,155,189,242,268],"a":[4,132,196,219,258,277],"requirement":[5],"of":[6,31,37,66,86,94,104,110,121,141,158,165,181,184,198,226,253,260],"any":[7],"planetary":[8,55,148,201],"exploration":[9],"rover":[10,24,39,71,83,149,202,207,255],"moving":[11],"in":[12,47,74,124,147,257],"an":[13,156,166,199,263],"environment":[14],"too":[15],"far":[16],"from":[17],"Earth":[18],"for":[19,118,145,193,279],"efficient":[20],"communication":[21],"between":[22,236],"the":[23,35,38,70,76,82,92,105,111,119,137,163,170,185,206,213,233,237,250,254,266],"and":[25,73,107,173,191,230,276,282],"ground":[26],"control.":[27],"An":[28],"important":[29],"feature":[30],"this":[32,53,130],"autonomy":[33],"ability":[36],"to":[40,68,211,231],"successfully":[41],"negotiate":[42],"obstacles":[43],"that":[44,80],"may":[45],"lie":[46],"its":[48],"chosen":[49],"path.":[50],"To":[51],"accommodate":[52],"need,":[54],"rovers":[56],"are":[57,209,246,274,285],"furnished":[58],"with":[59,101,195,205,218,249,262],"many":[60],"actively":[61],"actuated":[62],"or":[63,126],"passive":[64],"degrees":[65],"freedom":[67],"influence":[69],"configuration,":[72],"turn,":[75],"wheel-terrain":[77],"contact":[78,172,228,240],"forces":[79],"propel":[81],"forth.":[84],"Analysis":[85],"these":[87],"methods":[88],"however,":[89],"depends":[90],"on":[91],"use":[93,146,194],"parameters":[95],"which":[96],"can":[97,114],"only":[98],"be":[99],"ascertained":[100],"detailed":[102],"knowledge":[103,180],"geometry,":[106],"constitutive":[108,182],"properties":[109,183],"terrain.":[112],"This":[113,176],"produce":[115],"considerable":[116],"difficulty":[117],"analysis":[120],"systems":[122],"operating":[123],"unknown":[125],"unfamiliar":[127],"environments.":[128],"In":[129],"thesis,":[131],"performance":[133],"indicator":[134,157,177,188,217],"know":[135],"as":[136],"\"effective":[138],"kinetic":[139,153,215],"energy":[140,154,216],"impact\",":[142],"explored":[144],"operations.":[150],"The":[151,187,271],"effective":[152,214],"how":[159],"system":[160],"configuration":[161,241,267],"at":[162],"onset":[164],"impact,":[167],"will":[168],"affect":[169],"resulting":[171],"impact":[174],"forces.":[175],"requires":[178],"no":[179],"system.":[186],"discussed":[190],"developed":[192],"model":[197,208,224,252],"existing":[200],"prototype.":[203],"Simulations":[204],"used":[210],"compare":[212],"more":[220],"traditional,":[221],"continuous":[222],"force":[223],"method":[225],"evaluating":[227],"force,":[229],"demonstrate":[232],"similar":[234],"trend":[235],"two":[238],"where":[239,265],"concerned.":[243],"These":[244],"simulations":[245],"validated":[247],"experimentally":[248],"physical":[251],"engaging":[256],"series":[259],"impacts":[261],"obstacle,":[264],"systematically":[269],"varied.":[270],"experimental":[272,283],"results":[273],"discussed,":[275],"direction":[278],"future":[280],"work":[281],"validation":[284],"considered.":[286]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2026-10-12T09:40:04.860316","created_date":"2019-06-27T00:00:00"}
