{"id":"https://openalex.org/W7225159176","doi":"https://doi.org/10.48550/arxiv.2611.02872","title":"Design and Experimental Validation of the Separation and Deployment System for the CHERI Lunar Micro-Rovers","display_name":"Design and Experimental Validation of the Separation and Deployment System for the CHERI Lunar Micro-Rovers","publication_year":2026,"publication_date":"2026-11-02","ids":{"openalex":"https://openalex.org/W7225159176","doi":"https://doi.org/10.48550/arxiv.2611.02872"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2611.02872","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2611.02872","pdf_url":"https://arxiv.org/pdf/2611.02872","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2611.02872","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5119023775","display_name":"Ahmet Mustafa Kangal","orcid":"https://orcid.org/0000-0002-8841-0949","observed_orcids":["https://orcid.org/0000-0002-8841-0949"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kangal, Ahmet Mustafa","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160487698","display_name":"O\u011fuzhan \u015eahan","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"\u015eahan, O\u011fuzhan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121324457","display_name":"Teoman Efe Aycan","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aycan, Teoman Efe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066922717","display_name":"Gorkem E. Guloglu","orcid":"https://orcid.org/0000-0002-1119-2533","observed_orcids":["https://orcid.org/0000-0002-1119-2533"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"G\u00fclo\u011flu, G\u00f6rkem Egemen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020570168","display_name":"Halil Ersin S\u00f6ken","orcid":"https://orcid.org/0000-0002-4796-8188","observed_orcids":["https://orcid.org/0000-0002-4796-8188"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"S\u00f6ken, Halil Ersin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008860691","display_name":"Ali Emre Turgut","orcid":"https://orcid.org/0000-0002-9837-1007","observed_orcids":["https://orcid.org/0000-0002-9837-1007"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Turgut, Ali Emre","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071461538","display_name":"Uluc\u0323 Saranl\u0131","orcid":"https://orcid.org/0000-0002-2259-3578","observed_orcids":["https://orcid.org/0000-0002-2259-3578"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Saranl\u0131, Ulu\u00e7","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5067544950","display_name":"Mustafa Mert Ankaral\u0131","orcid":"https://orcid.org/0000-0002-1235-5373","observed_orcids":["https://orcid.org/0000-0002-1235-5373"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ankaral\u0131, Mustafa Mert","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"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/T12449","display_name":"Spacecraft Design and Technology","score":0.426800012588501,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12449","display_name":"Spacecraft Design and Technology","score":0.426800012588501,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.36910000443458557,"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/T10406","display_name":"Planetary Science and Exploration","score":0.03920000046491623,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ejection-system","display_name":"ejection system","score":0.5360000133514404},{"id":"https://openalex.org/keywords/multibody-dynamics","display_name":"multibody dynamics","score":0.6859999895095825},{"id":"https://openalex.org/keywords/density-based-topology-optimization","display_name":"density-based topology optimization","score":0.8849999904632568},{"id":"https://openalex.org/keywords/vibration-testing","display_name":"vibration testing","score":0.3400000035762787},{"id":"https://openalex.org/keywords/shock-testing","display_name":"shock testing","score":0.652999997138977},{"id":"https://openalex.org/keywords/optical-motion-capture","display_name":"optical motion capture","score":0.7049999833106995},{"id":"https://openalex.org/keywords/landing-dynamics","display_name":"landing dynamics","score":0.6050000190734863},{"id":"https://openalex.org/keywords/cheri","display_name":"CHERI","score":0.8970000147819519}],"concepts":[{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.8309000134468079},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.6851999759674072},{"id":"https://openalex.org/C2776061190","wikidata":"https://www.wikidata.org/wiki/Q7451805","display_name":"Separation (statistics)","level":2,"score":0.6779000163078308},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.4966999888420105},{"id":"https://openalex.org/C2781300812","wikidata":"https://www.wikidata.org/wiki/Q178061","display_name":"Shock (circulatory)","level":2,"score":0.4814999997615814},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4318999946117401},{"id":"https://openalex.org/C190743461","wikidata":"https://www.wikidata.org/wiki/Q211251","display_name":"Shock absorber","level":2,"score":0.42089998722076416},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3874000012874603},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.3873000144958496},{"id":"https://openalex.org/C173209714","wikidata":"https://www.wikidata.org/wiki/Q923906","display_name":"Settling","level":2,"score":0.3312000036239624},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.3183000087738037},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.3174000084400177},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.3068999946117401},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.304500013589859},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.29280000925064087},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.2906999886035919},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.27799999713897705},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.27459999918937683},{"id":"https://openalex.org/C130076159","wikidata":"https://www.wikidata.org/wiki/Q7291997","display_name":"Random vibration","level":3,"score":0.26829999685287476},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2646999955177307},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2624000012874603},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.2540000081062317},{"id":"https://openalex.org/C70477161","wikidata":"https://www.wikidata.org/wiki/Q190688","display_name":"Shock wave","level":2,"score":0.25220000743865967},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.251800000667572}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2611.02872","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2611.02872","pdf_url":"https://arxiv.org/pdf/2611.02872","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"doi:10.48550/arxiv.2611.02872","doi":"https://doi.org/10.48550/arxiv.2611.02872","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2611.02872","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2611.02872","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2611.02872","pdf_url":"https://arxiv.org/pdf/2611.02872","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4416024110","https://openalex.org/W4409585415","https://openalex.org/W7046577241","https://openalex.org/W4405662660","https://openalex.org/W2723954363","https://openalex.org/W2587854519","https://openalex.org/W2351689416","https://openalex.org/W2794935730","https://openalex.org/W7117982300","https://openalex.org/W1570059858"],"abstract_inverted_index":{"Reliable":[0],"separation":[1,32,72],"mechanisms":[2],"are":[3],"critical":[4],"for":[5,41,46],"planetary":[6],"micro-rovers,":[7],"which":[8],"must":[9],"withstand":[10],"launch":[11],"vibrations":[12],"and":[13,28,62,65,86,105,125,172,196,223,238],"then":[14,126],"eject":[15],"the":[16,20,25,31,35,51,83,89,106,122,134,143,150,155,194,198,204,208,228,233,247],"vehicle":[17],"clear":[18],"of":[19,30,34,133,154,193,207,246],"lander.":[21],"This":[22,92],"paper":[23],"presents":[24],"design,":[26],"optimization,":[27],"testing":[29,174],"system":[33],"CHERI":[36],"(Challenging":[37],"Environment":[38],"Exploration":[39],"Rovers":[40],"Intelligence)":[42],"lunar":[43],"micro-rovers.":[44],"Sized":[45],"a":[47,58,75,101,128,158,181],"5":[48],"kg":[49,160],"vehicle,":[50],"assembly":[52],"comprises":[53],"an":[54,66,243],"aluminum":[55],"ground":[56,136],"plate,":[57],"central":[59],"non-explosive":[60],"hold-down":[61],"release":[63],"mechanism,":[64],"asymmetric":[67],"four-spring":[68],"ejection":[69,90,210],"array.":[70],"Initial":[71],"trials":[73],"revealed":[74],"velocity":[76],"deficit":[77],"caused":[78],"by":[79,187,221],"energy":[80],"absorption":[81],"in":[82,100,121],"flexible":[84],"wheel-legs":[85],"chassis":[87,98],"during":[88],"stroke.":[91],"loss":[93],"was":[94],"represented":[95],"as":[96,242],"equivalent":[97],"damping":[99],"multi-body":[102],"dynamic":[103],"model,":[104,185],"springs":[107],"were":[108],"re-optimized":[109],"accordingly.":[110],"Early":[111],"hardware":[112],"iterations":[113],"failed":[114],"vibration":[115],"testing,":[116],"first":[117],"through":[118,127],"spring":[119],"jamming":[120],"guide":[123],"housings":[124],"34":[129],"Hz":[130,152],"fundamental":[131,144],"mode":[132],"flat":[135],"plate.":[137],"A":[138],"density-based":[139],"topology":[140],"optimization":[141],"raised":[142],"frequency":[145],"to":[146,202],"84":[147],"Hz,":[148],"above":[149],"70":[151],"requirement":[153],"lander,":[156],"within":[157,203],"1.6":[159],"mass":[161,184],"budget.":[162],"The":[163],"final":[164],"configuration":[165],"passed":[166],"acceptance-level":[167],"sinusoidal":[168],"vibration,":[169,171],"random":[170],"shock":[173],"without":[175],"structural":[176],"degradation.":[177],"Separation":[178],"tests":[179,213],"with":[180],"weight-matched":[182],"one-sixth":[183],"tracked":[186],"optical":[188],"motion":[189],"capture,":[190],"confirmed":[191],"clearance":[192],"lander":[195],"reproduced":[197],"simulated":[199],"free":[200],"flight":[201],"run-to-run":[205],"variation":[206],"measured":[209],"velocity.":[211],"These":[212],"further":[214],"showed":[215],"that":[216,227],"landing":[217],"outcome":[218],"is":[219,232],"dominated":[220],"touchdown":[222],"settling":[224],"dynamics,":[225],"indicating":[226],"residual":[229],"pitch":[230],"rate":[231],"main":[234],"controllable":[235],"design":[236],"parameter":[237],"confirming":[239],"self-righting":[240],"recovery":[241],"integral":[244],"element":[245],"deployment":[248],"architecture.":[249]},"counts_by_year":[],"updated_date":"2026-11-05T12:25:35.769452","created_date":"2026-11-04T00:00:00"}
