BY:

Muhammad Shazor Parihar 07ES11

Mehran University Of Engineering and Technology , Jamshoro.

Position Control Rover System

People are so much interested in space exploration, which is sometimes full of danger, therefore for Safety purposes the space exploration missions require robotic systems called WHEEL MOBILE ROBOT (WMR) or “ROVER”.

Introduction

Science Goals

•Determine whether Life ever arose on Mars

•Characterize the Climate of Mars

•Characterize the Geology of Mars

•Prepare for Human Exploration

History

USSR and USA were amongst the first country to travel to space and visited some planet like Mars and Moon surface.

China has already planned one mission to moon for 2012

What is Mars?

Rocky red planet next out from the Sun Smaller, colder, dryer than Earth Martians have not invaded Earth in modern

times But perhaps in ancient times (controversial) Earthlings continue to invade Mars

August 28th Mars closer than in nearly 60,000 yrs public awareness event (discovery-free

zone)

A Face On Mars

Close-up of the Face on Mars

A Face On Mars

Apollo 17 Lunarscape: A Magnificent Desolation

First Shuttle Launch

Construction Of Mars Rover In some sense, the rovers´ parts are similar to what any living creature would need to keep it "alive" and able to explore. The rover has:

•A Body:   a structure that protects the rovers´ "vital organs“

•Brains:   computers to process information

•Temperature Controls:   internal heaters, a layer of insulation, and more

• “Neck” And “Head”:  a mast for the cameras to give the rovers a human-scale view

•Eyes And Other “Senses”:  cameras and instruments that give the rovers information about their environment

•Arm:  a way to extend its reach

•Wheels and legs:  parts for mobility

•Energy:  batteries and solar panels

•Communications:  antennas for "speaking" and "listening"

DescriptionWireless vehicle equipped with various sensors.

Sensors may include: temperature, SONAR, GPS, video, light, audio, etc.

Vehicle can be controlled by serial, RF, and/or 802.11B communication.

The data will be transferred back wirelessly to a base station connected to a computer.

Data can be viewed in Real Time by a user interface.

Description(cont.)An RC or other type of circuits will be

used.

We will control 2 stepper motors.

Data can also be stored on a flash card in the car.

Hardware Implementation: Base Station

Computer

SerialRS-232

BaseStation68HC11

802.11b RF Transmitter/Receiver

Rover

Red Rover68HC11

SerialRS-232

802.11b RF Transmitter/Receiver

FlashCard

GPSSensor

LightSensor

TemperatureSensor

SonarTransducer

LCDScreen

Camera

2 StepperMotors

Hardware Implementation: Red Rover

ProcessorMotorola 68HC11 micro-

controller

Internal SDI Serial Interfaces

Parallel Interface

Several I/O Bus-lines

SDI Serial Interface Cable

Long Range 433MHz Serial RF Modem w/ Antenna and Interface Cable

One Wire Digital Temperature Sensor

Possible Parts

Ultrasonic 25kHz Transducers

GPS RS232 Dual Port Carrier Board - Lassen IQ

Possible Parts(cont.)

The Panoramic Camera (Pancam)Pancam is a high-resolution color stereo pair of CCD cameras that will be used to image the surface and sky of Mars. The cameras are located on a "camera bar" that sits on top of the mast of the rover.

*Charged coupled Device

Miniature Thermal Emission Spectrometer (Mini-TES)

Mini-TES is an infrared spectrometer that can determine the mineralogy of rocks and soils from a distance by detecting their patterns of thermal radiation. All warm objects emit heat, but different objects emit heat differently. This variation in thermal radiation can help scientists identify the minerals on Mars.

Rock Abrasion Tool (RAT)

The Rock Abrasion Tool is a powerful grinder, able to create a hole 45 millimeters (about 2 inches) in diameter and 5 millimeters (0.2 inches) deep into a rock on the Martian surface. It is located on the Rover arm.

The Microscopic Imager

The Microscopic Imager is a combination of a microscope and a camera that will provide information on the small-scale features of Martian rocks and soils. It will complement the findings of other science instruments by producing close-up views of surface materials.

Mössbauer Spectrometer (MB)

Many of the minerals that formed rocks on Mars contain iron, and the soil is iron-rich. The Mössbauer Spectrometer is an instrument that was specially designed to study iron-bearing minerals.

Alpha Particle X-Ray Spectrometer (APXS)

The APXS is designed to study the alpha particles and x-rays emitted by rocks and soils in order to determine their elemental chemistry. Alpha particles are emitted during radioactive decay and X-rays are a type of electromagnetic radiation, like light and microwaves.

How we can increase the IMAGING RANGE of Rover vehicle?

Can this Rover can detect another rover if yes what should be its behaviors ?

How we can make its battery charged for long periods of time?

What should it do when there is any hole in the path of rover?

How we can make its battery charged with the help of another system?

Below are a few links that may give you a good starting point. Website –•www.umrover.org• www.exploremarsnow.org/NASA homepage • www.nasa.govMars Homestead Project • www.marshome.org Encyclopedia Astronautica • www.astronautix.com/index.html•http://en.wikipedia.org/wiki/Main_PageSome

Questions ?

Thanks