This paper presents the design and experimental validation of a modular robotic platform for planetary exploration. A rover, ORYX 2.0, is designed and developed to serve as a research platform that can transport payloads over rough terrain. Field testing is conducted to evaluate the mobility potential of ORYX 2.0's passive kinematic suspension. Data from field testing is analyzed to identify the wheel velocities over rough terrain when straight line trajectories are desired. A simulation tool is used to estimate the terrain profile, using the 3-axis orientation data and angle of the rocking suspension. The approach used in estimating terrain profiles can effectively be used to improve the rover performance for trajectory tracking control.

Software inspection is a method of static testing to verify that software meets its requirements. It engages the developers and others in a formal process of investigation that usually detects more defects in the product-and at lower cost-than does machine testing. Studies and experiences are presented which enhance the use of the inspection process and improve its contribution to development of defect-free software on time and at lower cost. Examples of benefits are cited followed by descriptions of the inspection process and some methods of obtaining the enhanced results. Users of the method report very significant improvements in quality that are accompanied by lower development costs and greatly reduced maintenance efforts. Excellent results have been obtained by small and large organizations in all aspects of new development as well as in maintenance. There is some evidence that developers who participate in the inspection of their own product actually create fewer defects in subsequent work. Because inspections formalize the development process, productivity-enhancing and quality-enhancing tools can be adopted more easily and rapidly.