Energid Technologies is developing a tool under contract to NASA for simulation-based verification of lunar excavator designs. This tool combines the best of 1) automatic control system generation from computer aided design (CAD) models, 2) rapid validation of complex mechanism designs, and 3) detailed simulation models of the lunar environment, including regolith, dust, temperature, remote supervision, and communication latency to create a system of high value to NASA. Energid has previously developed unique algorithms for controlling and simulating complex robotic mechanisms automatically from just a CAD description. These algorithms will be leveraged to create a system to quickly test excavation systems by generating optimal control algorithms for use in studies. Energid has also developed high-fidelity real-time physics-based simulation algorithms that include models of internal forces and the forces produced when a mechanism interacts with the outside world. This existing capability is combined in this tool with an innovative organization for simulation algorithms, new regolith simulation methods, and a unique control and study architecture to make a powerful tool with the potential to transform the way NASA verifies and compares excavator designs.

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