File:SEDSIC2007 Rover Paper 02.pdf
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SEDSIC2007_Rover_Paper_02.pdf (file size: 1,007 KB, MIME type: application/pdf)
Paper submitted by Ganesh Kumar, first place winner in the 2007 SEDS International Conference Mini Lunar Rover Design Competition, Vellore Institute of Technology, India.
Abstract:
Objective of the mission is to explore the moon surface terrain, find the oxygen present in the soil and to find the mystery inside the deep craters on the moon. Our focus is on to make a rover which traverses a wide variety of terrain. Its sensitive components are fully isolated from the surrounding, giving more stable operating environment. The rover will capable of performing various tasks with its own board sample collecting robotic arm and 3d viewing image cameras.
Motion of rover is vital for the mission success. I suggest hybrid motion having two mode of movements-rolling and walking for each leg. Each of the six legs have its own individual control mechanism and microprocessors and these are connected through a network which according to the path plan decide whether the particular leg will be in rolling mode or walking. Wheels are designed considering the proper traction mechanism on regolith. Wheels outer vertical side is used as the bottom in the walking mode. This solve the problem of moving through regolith, craters, stones , boulders and pulling out itself when trapped in such conditions and also it come out of the Lander itself.
An attachment to the rover has designed called LUNAR HAWKER, which is a small flying, individually control unit. It acts as a pathfinder for the rover and covers the images of that region of deep craters where a rover hardly able to go. Also it brings back the sample from that region to the rover or the Lander.
Subsystem consists of sensors system, communication system, onboard computer system, thermal system, power system, driving and steering system. These are designed considering the environment constraints and solar hazards. For protection of communication system from solar and cosmic noises we are testing a technique to form an artificial magnetosphere around the concerned unit. Navigation and obstacle detection through 3D viewing system (video camera, alpha proton X-ray spectrometer etc.) using image processing technique are considered to make the rover autonomous. Main body hoses soil testing and oxygen production plant from the sample along with the sophisticate electronics components. To tackle the unpredictable terrain, rover is made flexible.
I am designing a rough moon map to decide where our Lander to be landed to get maximum sunlight and some instruction can be feed in the rover regarding its destination. Also I would suggest simple structures of the Lander for easy and successful landing and deployment of the rover.
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| current | 04:58, 24 October 2007 | No thumbnail | (1,007 KB) | Kittell (Talk | contribs) | (Paper submitted by Ganesh Kumar, first place winner in the 2007 SEDS International Conference Mini Lunar Rover Design Competition, Vellore Institute of Technology, India. Abstract:<br /> Objective of the mission is to explore the moon surface terrain) |
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