Is this project an undergraduate, graduate, or faculty project?
Undergraduate
Project Type
individual
Campus
Daytona Beach
Authors' Class Standing
Nicolas Bonasoro, Senior
Lead Presenter's Name
Nicolas Bonasoro
Lead Presenter's College
DB College of Engineering
Faculty Mentor Name
Dr. Cagri Kilic
Abstract
Understanding how lunar regolith interacts with robotic systems is important for safe surface operations because uncertain terrain conditions can affect rover traversability and lunar lander stability. This work applies terramechanics to two space robotics applications: in-situ cone penetration testing (CPT) for terrain assessment and lunar lander touchdown analysis for evaluating sinkage, force response, and stability. The study compares the Discrete Element Method (DEM), which resolves particle-scale interactions and captures detailed regolith behavior, with the Continuum Representation Method (CRM), which models soil response more efficiently and supports rigid CAD components such as lander footpads, legs, and body geometries. Current CPT results include DEM penetration trends in beach sand and CRM penetration response for GRC-1 lunar regolith simulant under lunar gravity, providing an initial comparison of how terrain behavior is represented by the two methods. For the lander application, DEM and CRM are used to study touchdown behavior, including penetration, sinkage per foot, and normal force response over time. Current CRM results show nonuniform sinkage and force distribution across the footpads during landing, indicating asymmetric touchdown behavior even on flat terrain. Research from the Simulation-Based Engineering Lab (SBEL) at the University of Wisconsin–Madison, developers of Project Chrono, has identified CRM as a validated alternative to DEM, motivating its use here for faster simulation, easier implementation of rigid parts, and broader parametric studies. This work will continue through summer 2026 and supports improved lunar terrain assessment and touchdown stability prediction for future space robotics missions.
Did this research project receive funding support (Spark, SURF, Research Abroad, Student Internal Grants, Collaborative, Climbing, or Ignite Grants) from the Office of Undergraduate Research?
No
Included in
Computer-Aided Engineering and Design Commons, Geotechnical Engineering Commons, Space Vehicles Commons
Terramechanics-Based Comparison of DEM and CRM for Lunar Surface Applications
Understanding how lunar regolith interacts with robotic systems is important for safe surface operations because uncertain terrain conditions can affect rover traversability and lunar lander stability. This work applies terramechanics to two space robotics applications: in-situ cone penetration testing (CPT) for terrain assessment and lunar lander touchdown analysis for evaluating sinkage, force response, and stability. The study compares the Discrete Element Method (DEM), which resolves particle-scale interactions and captures detailed regolith behavior, with the Continuum Representation Method (CRM), which models soil response more efficiently and supports rigid CAD components such as lander footpads, legs, and body geometries. Current CPT results include DEM penetration trends in beach sand and CRM penetration response for GRC-1 lunar regolith simulant under lunar gravity, providing an initial comparison of how terrain behavior is represented by the two methods. For the lander application, DEM and CRM are used to study touchdown behavior, including penetration, sinkage per foot, and normal force response over time. Current CRM results show nonuniform sinkage and force distribution across the footpads during landing, indicating asymmetric touchdown behavior even on flat terrain. Research from the Simulation-Based Engineering Lab (SBEL) at the University of Wisconsin–Madison, developers of Project Chrono, has identified CRM as a validated alternative to DEM, motivating its use here for faster simulation, easier implementation of rigid parts, and broader parametric studies. This work will continue through summer 2026 and supports improved lunar terrain assessment and touchdown stability prediction for future space robotics missions.