ROBOT PROBE FOR SPACE RESEARCH MARSBOT Catalin Roman

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ROBOT PROBE FOR SPACE RESEARCH - MARSBOTCatalin
Roman Sarosh Patel, Advisor Prof. Tarek
Sobh Department of Mechanical Engineering,
University of Bridgeport.
ABSTRACT
TECHNICAL DESCRIPTION
The Robot-Probe for Space Research (MARSBOT)
project intends to implement a robot that brings
innovative features for the development of
research projects on other planets. The
innovation in the product is mainly demonstrated
through the ability to land in any position and
to move on rough, hard-to-drive surfaces, which
can be achieved by the robots special
aero-dynamic design. Furthermore, part of its
intended capability is to analyze data on other
planets, navigate and collect probes in order to
send environmental, geological and atmospheric
data to a team of scientists on Earth. The robot
could be produced initially as a toy for
educational purposes.
SUMMARY OF IMPACT AND INNOVATION
A summary of the innovative features of the
proposed robot includes 1. continuous weight
center control (depending on the situation
encountered) 2. aero-dynamical design which
enables it to land in any position and navigate
through rough, hard-to-drive terrains
thereafter 3. excellent stability through its low
center of gravity and power efficiency 4.
economy due to its efficient mobility
dynamics These characteristics will enable the
proposed robotic device to make important
contributions in special research on other
planets. We also intend to produce a toy
prototype which addresses children education
needs. As a toy, it will attract childrens
attention to this field of research and science.
Fig. 2 Another position for the prototype

• The proposed robotic system is designed as a
  hexagonal tube covered with solar cells. In the
  prototype stage, we will use the robot without
  the solar cells, but we will introduce 2 or 3
  accumulators which will provide the necessary
  power for the engines to work properly.
• The motion system consists of six wheels, each
  with its separate engine three on each side. A
  general image of each is depicted in Fig.1. All
  three wheels on a side can (depending on the
  situation) be simultaneously engaged by a smaller
  cogged disc coupled at one of the engines. On the
  edge of each wheel there is a cogged crown. From
  the rotation center of each wheel, there is a
  link through the telescopic arm to the axis of
  the engines protection device.
• The three wheels can be in contact with each
  other (depending on the situation). The home
  position of each wheel is at 120 degrees from
  each other. This position is illustrated in
  Fig.2.
• The exterior part of the wheels will be made out
  of silicon material that can automatically take
  the form of the surface it is in contact with.
• Another possible solution would be that the
  exterior part be made out of multitude of very
  small balls kept in a string net (similar in
  principle to a semi-swollen wheel).
• The most important advantage of this invention is
  the fact that we can modify and control the
  weight center of the robot, given its
  position/environmental conditions inclined plan,
  rough, obstacle surfaces or resistance to
  powerful winds providing the robot with
  significant stability. This can be realized by
  the variation of the positions of one, two or
  three wheels that are not in contact with the
  soil, by aid of the telescopic arm.
• By operating a telescopic arm, that wheel will be
  decoupled from the cogged disc mechanism it
  engages. By correlating the six telescopic arms,
  each is dependent on one another. In the case of
  damages or defects of a wheel or telescopic arm,
  the system is able to cancel the affected part
  and performs the correlation among the remaining
  wheels and arms.
• The mechanism can adapt very well to the rough
  surfaces it encounters. Practically, this robot
  will be independent of its command source as it
  follows all the time its weight center to be able
  to adapt itself to the corresponding surface
  encountered.
• By aid of the sensors that will be placed on the
  robot body, the robot will be able to scan the
  area around itself and therefore, will be able to
  choose the route that is most appropriate for its
  wheeled system to surpass the obstacles it
  encounters.
• For power efficiency and economy, the robot will
  use solar energy. In the prototype case, this
  function will be delegated to the battery.

Fig. 1 Simple geometrical form of the prototype
PROJECT TIMELINE

• The projected course of the proposed research
  over the period of one year (March 2006 March
  2007) can be broadly classified into the
  following six phases
• Study Phase (1 Month) In this initial phase we
  plan to continue reviewing existing research in
  the areas of sensing and control of autonomous
  mobile robots. We plan to re-examine the NCIIA
  architecture, in order to investigate its
  limitations and drawbacks. This will help us in
  exploring ways of enhancing the MARSBOT
  architecture, particularly within the areas of
  machine locomotion. We intend to place greater
  emphasis on developing faster control
  methodology.
• 2. Simulation Phase (2 Months) In this phase
  will would like to concentrate on simulating the
  robot and its subsystems under different
  environments and terrains. Appropriate design
  changes will be incorporated accordingly.
• 3. Hardware Implementation/ Building Phase (3
  Months) In this phase we will focus on the
  mechanical and electronic construction of the
  prototype. This phase deals with assembling the
  first MARSBOT prototype. This includes setting up
  the various hardware and software interfaces and
  the remote operation module. First prototype will
  use batteries, but later versions of MARSBOT will
  have solar panels to recharge the batteries.
• 4. Software Implementation Phase (2 Months) In
  this phase, we will be updating the existing
  MARSBOT prototype with the interface software,
  and assuring compatibility with other
  sub-systems. In case of incompatibility or
  undesired results, corresponding corrective
  changes will be made.
• 5. Evaluation Phase (2 Months) We will be doing
  extensive trial runs on the updated prototype, to
  verify the real-time performance of the mobile
  robot. Corrective measures will be undertaken in
  the case of any deviations from the desired
  outcomes.
• 6. Final Phase (2 Months) Testing/Feedback/Redes
  ign - Finally, after incorporating all the above
  listed technologies on MARSBOT, we will be adding
  more features to the robot which might be needed
  when it is sent to other planets. Outdoor field
  testing will be realized to assess MARSBOTs
  performance. This will help us assess whether or
  not the robot will perform adequately in
  unstructured environments as those that could be
  found on other planets. In the case of inadequate
  feedback, the prototype should be redesigned
  accordingly, construction changes will be applied
  and the robot will be tested until it meets
  quality requirements.

METHODOLOGY

• The methodology for implementing the MARSBOT
  architecture and control can be outlined in the
  following components
• Mechanical Design Pro Engineer (Pro/E) was used
  to design and visualize various configurations of
  the robot in the initial design phase. The best
  design was selected based on stability
  criterions, speed, floor clearance and
  appearance.
• Simulation We plan to extensively simulate the
  MARSBOT architecture before starting the building
  phase. The robot and all of its component
  sub-systems will be tested and simulated under
  worst case conditions. The complete architecture
  will be tested and validated using CATIA and
  ENOVIA. Appropriate corrective measures will be
  taken to incorporate any error changes.
• Building We will focus on building the first
  prototype of MARSBOT. This will include
  developing the necessary control software, the
  onboard electronics and the mechanical subsystems
  and also the navigational algorithms associated
  with the MARSBOT. This phase will focus on the
  construction of the robot. In particular,
  materials, test equipment and tools procurement
  and the building plan to the mechanical and
  electronic assembly of the robotic parts as well
  as the software interface implementation will be
  developed.
• Testing We will be doing extensive trial runs
  on the updated MARSBOT prototype, to verify the
  real-time performance of the mobile robot. We
  will also be assigning and experimenting with
  remote tasks from the Internet to test the remote
  interface. We will be evaluating the incorporated
  map-building capabilities. Corrective measures
  will be undertaken in the case of any deviations
  from the desired outcomes.