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Iagnemma and Senatore refined the model with experiments in the lab. The researchers set up a bed of both coarse and fine soil, similar to sediment that has been observed on Mars. They built a straight track overhead, and attached a spare wheel from the Mars rover Opportunity. Powering the wheel with a motor, the team observed the wheel’s performance, noting how much the wheel sank into the soil, and the amount of torque needed to overcome sinking.
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