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Helically-Driven Dynamics in Granular Media


Abstract Vehicles traverse granular media through complex reactions with large numbers of small particles. Many approaches rely on empirical trends derived from wheeled vehicles in well-characterized media. However, the environments of numerous bodies such as Mars or the moon are primarily composed of fines called regolith which require different design considerations. This dissertation discusses research aimed at understanding the role and function of empirical, computational, and theoretical granular physics approaches as they apply to helical geometries, their envelope of applicability, and the development of new laws. First, a static Archimedes screw submerged in granular material (glass beads) is analyzed using two methods: Granular Resistive F... (more)
Created Date 2019
Contributor Thoesen, Andrew Lawrence (Author) / Marvi, Hamidreza (Advisor) / Berman, Spring (Committee member) / Emady, Heather (Committee member) / Lee, Hyunglae (Committee member) / Klesh, Andrew (Committee member) / Arizona State University (Publisher)
Subject Engineering / Robotics / Geophysics / Granular Media / Lunar / Robotics / Simulation / Space / Terramechanics
Type Doctoral Dissertation
Extent 147 pages
Language English
Copyright
Note Doctoral Dissertation Mechanical Engineering 2019
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis