Copyright © 2012. Published by the Mars Society with ... · Aggrey Chepkwony Sambay Dmitry...
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Transcript of Copyright © 2012. Published by the Mars Society with ... · Aggrey Chepkwony Sambay Dmitry...
Frank Crossman
Copyright © 2012. Published by the Mars Society with permission
THE TEAM
York University Rover Team
Jasper Grond Rafia Naz Patrick Joesph Hazzard Matthew Pocsai Carina Hoang Cindy Lorena Valdes Vaibhav Kapoor Alejandreo Saldarriaga Manjeet Kaur Aggrey Chepkwony Sambay Dmitry Kuznetsov Ian Michael Tomaszewski Hou In Lio
Facutly Advisors: Micheal Daly & Regina Lee
Student Team Lead: Jesse Tebbs Shailja Sahani
Team Members: Mrunal Amin Maciej Lis Herman Singh Badwal Dennis Liu Jordan Bailey Xiao Liu Glen P Berseth Daanish Maan Oyindamola O Daramola Valerie McCarrol Isaac DeSouza Carla Mejia Alexander Franz Estermann Raveesh Nagpal
OUTREACH
• Engineering Summer Camp • Career Day • Conferences • And much more!
• facebook: YorkURoverTeam • Twitter: @yuroverteam • YouTube: “YURoverTeam” • Website:
www.yuroverteam.com
WORKSHOPS
“If you want to build a ship, don't drum up people together to collect wood and don't assign them tasks and work, but rather teach them to long for the endless immensity of the sea”
– Antoine de Saint-Exupery
• Micro controller workshop
• 3D-modelling workshop
FUNDRAISING
• University Funding • Corporate Sponsorship • Bake Sale • Donations
Total Fundraising: $44,000.00
THE GOAL
To design a modular and reliable rover platform suited to human exploration of space
ASSESSMENT Competition Requirements
Resources available
Design Approach
PROCESS
SCHEDULE
THE DESIGN
ARES M.C.R-5
• Multi Configuration Rover Platform • Low Mean Time To Repair (MTTR) • High Mean Time To Failure(MTTF) • Low Mean Time To Configure(MTTC) • Unique pultruded structures design • High Modularity • Backwards Compatibility
THE DESIGN
ARES M.C.R-5
• Multi Configuration Rover Platform • Low Mean Time To Repair (MTTR) • High Mean Time To Failure(MTTF) • Low Mean Time To Configure(MTTC) • Unique pultruded structures design • High Modularity • Backwards Compatibility
TELE-ROBOTIC LUNAR REGOLITH TRANSPORTATION SYSTEM (LRTS)
ROVER SYSTEMS
ROVER SYSTEMS
Improvements and New Features
• Standardized Chassis Interface • 10X Increase in F.O.S. • 1lb weight reduction
ROVER SYSTEMS
Improvements and New Features
• Standardized Arm Link System • 5X lift capacity • 50% weight reduction • High Modularity • Low MTTR • Low MTTC
ROVER SYSTEMS
Improvements and New Features
• Standardized Arm Link System • 5X lift capacity • 50% weight reduction • High Modularity • Low MTTR • Low MTTC • Improved Range • Improved Workspace Area
ROVER SYSTEMS
ROVER SYSTEMS
ROVER SYSTEMS
ROVER SYSTEMS
FABRICATION
• Student Machine Shop
• Pieces machined by team members
• Mostly mill and lathe work done manually
FABRICATION
• Student Machine Shop
• Pieces machined by team members
• Mostly mill and lathe work done manually
FABRICATION
• Student Machine Shop
• Pieces machined by team members
• Mostly mill and lathe work done manually
FABRICATION
• Student Machine Shop
• Pieces machined by team members
• Mostly mill and lathe work done manually
DEVELOPMENT
Hardware • Single Board Computer
and Motor Controllers • 900 Mhz Wifi
Software • Communication
interfaces • Graphical User Interface
DEVELOPMENT
• Functionality: supply wireless communications
• Special Features: low power, upgradable
• Unique Feature: mini PCI slots
DEVELOPMENT
CONTROL SYSTEMS
Designed to be Modular
If more motors are desired add another controller in the RS485 chain.
Easily replicable if a controller fails.
Dust tolerant Very energy efficient
COMMUNICATIONS
900mhz Wi-Fi High level IP protocol to
On Board Computer (OBC)
Server program on OBC receives messages, parses them that forwards the message down the peripheral device protocol.
Peripheral Device Protocol is a host entity to monitor the client motor controllers and give them commands
Variable length data Communications loss detection
COMMUNICATIONS
G.U.I.
VISION SYSTEM
H.264 high video compression
Video from camera comes pre-compressed
1080p video at 256KB/s
Video stream sent
VIA RTSP Protocol Allows for more
cameras on the same bus
Solved low bandwidth, high resolution video problem
SURVEYING
Survey based on pixel data
Space Resection and Space Intersection
Ideally 3 known landmarks per obsveration
Minimum two observations
Photogrammetry Based Surveying
Can attain up to cm accuracy
SURVEYING
SCIENCE
SCIENCE
SCIENCE
SCIENCE
PHYSICAL PROPERTIES OF THE SOIL…
•Electroconductivity •pH •Moisture PLUS… a methane detector
QUESTIONS
