Robotic Rover Research Articles

Exploring the surface of the Moon and Mars: What kind of ground vehicles are required?

On the surface of the Moon and Mars, the astronauts must have at their disposal means for exploring a suitable area of the planet. A ground vehicle was tested for the first time outside Earth during the Apollo program, but the longer stay and the wider extent of the exploration will make similar vehicles designed for Mars larger, faster and more complex. In later missions, transportation on the planet will possibly require aerial vehicles and finally the realization of a whole transportation infrastructure. Furthermore, robotic rovers will be required to assist the astronauts in their exploration duties.

Implementation of Robotics as a Modern Trend in STEM Education

The article is devoted to the issues of implementation of STEM-education in the learning process of educational institutions. The authors analyze the development of STEM-education in Ukraine, determine the level of readiness of educators for understanding of the principles of STEM-education, substantiate the need in the introduction of robotics into the educational process as the modern and important trend in STEM education. The concept of educational robotics is analyzed. This makes possible identification of the technical inclinations of students (at an early stage) and development of these inclinations as well as formation of STEM competency in general. The study focuses on the interdisciplinary aspect of STEM education, in particular the implementation of interdisciplinary links between STEM subjects and robotics in the conduction process of research and training projects. The authors provide examples of the implementation of robotics in the educational process based on the use of project method. There is a description of the project for the creation of the Juno Rover robot based on the Arduino robotic platform and an example of the Poppy Project robotics project in school education that is implemented on an open platform with freely distributed materials for creating and using 3D printed robots. All this is for implementation of research projects on robotics in university education

Cleaning and Inspection of Air Conditioning Ducts with Rover Explorer Robot

This work presents a diverse artifact of a Rover robot prototype, which can inspect ventilation and AC ducts, using a FPV (First Person View) camera. This camera system transmits real time images for the human operator, making it possible for an on spot cleaning, using rotating brushes, coupled to the robot, which can adapt according to the ducts geometry. Besides the mechanical cleaning, fungicides and bactericides can be applied in the ducts, ensuring a clean and sterile environment. Additionally, a mechanical claw is present, making it possible for the rover to manipulate objects, ensuring a more flexible operation, when compared to the solutions already present in the market.

A Novel Utilization of Image Registration Techniques to Process Mastcam Images in Mars Rover With Applications to Image Fusion, Pixel Clustering, and Anomaly Detection

The Mars Science Laboratory is a robotic rover mission to Mars launched by NASA on November 26, 2011, which successfully landed the Curiosity rover in Gale Crater on August 6, 2012. The Curiosity rover has two mast cameras (Mastcams) that acquire stereo images at a number of different wavelengths. Each camera has nine bands of which six bands are overlapped in the two cameras. These acquired stereo band images at different wavelengths can be fused into a 12-band multispectral image cube, which could be helpful to guide the rover to interesting locations. Since the two Mastcams’ fields of view are three times different from each other, in order to fuse the left- and right-camera band images to form a multispectral image cube, there is a need for a precise image alignment of the stereo images with registration errors at the subpixel level. A two-step image alignment approach with a novel utilization of existing image registration algorithms is introduced in this paper and is applied to a set of Mastcam stereo images. The effect of the two-step alignment approach using more than 100 pairs of Mastcam images, selected from over 500000 images in NASA's Planetary Data System database, clearly demonstrated that the fused images can improve pixel clustering and anomaly detection performance. In particular, registration errors in the subpixel level are observed with the applied alignment approach. Moreover, the pixel clustering and anomaly detection performance have been observed to be better when using fused images.

A General Architecture for Robotics Systems: A Perception-Based Approach to Artificial Life.

Departing from the conventional view of the reasons for the behavior of living systems, this research presents a radical and unique view of that behavior, as the observed side effects of a hierarchical set of simple, continuous, and dynamic negative feedback control systems, by way of an experimental model implemented on a real-world autonomous robotic rover. Rather than generating specific output from input, the systems control their perceptual inputs by varying output. The variables controlled do not exist in the environment, but are entirely internal perceptions constructed as a result of the layout and connections of the neural architecture. As the underlying processes are independent of the domain, the architecture is universal and thus has significant implications not only for understanding natural living systems, but also for the development of robotics systems. The central process of perceptual control has the potential to unify the behavioral sciences and is proposed as the missing behavioral principle of Artificial Life.

Marsobot: design and performance characterization of a low-cost, ground-based multispectral camera on an open source rover

ABSTRACTOpen source, low cost sensors, and robotic systems have developed to the point of being able to produce meaningful, repeatable results in real-life applications. We developed a low-cost, open source multispectral camera mounted on a small custom-built robotic rover. We compared the performance of our camera with a commercial multispectral camera and a laboratory spectrometer using minerals commonly found on Mars that exhibited different reflectance values in visible and near-infrared wavelengths. Our camera performed favourably when compared to the commercial instruments. It is a very cost effective solution for operating in extreme situations, where damage to instruments is possible. Our total system of rover and sensor would, therefore, be very useful for operating in delicate and inaccessible environments where damage to the area under investigation and to human observers is of concern.

A novel traveling wave piezoelectric actuated tracked mobile robot utilizing friction effect

A novel traveling wave piezoelectric-actuated tracked mobile robot with potential application to robotic rovers was proposed and investigated in this study. The proposed tracked mobile robot is composed of a parallelogram-frame-structure piezoelectric transducer with four rings and a metal track. Utilizing the converse piezoelectric and friction effects, traveling waves were propagated in the rings and then the metal track was actuated by the piezoelectric transducer. Compared with traditional tracked mechanisms, the proposed tracked mobile robot has a simpler and more compact structure without lubricant, which eliminates the problem of lubricant volatilization and deflation, thus, it could be operated in the vacuum environment. Dynamic characteristics were simulated and measured to reveal the mechanism of actuating track of the piezoelectric transducer. Experimental investigations of the traveling wave piezoelectric-actuated tracked mobile robot were then carried out, and the results indicated that the robot prototype with a pair of exciting voltages of 460 Vpp is able to achieve a maximum velocity of 57 mm s−1 moving on the foam plate and possesses the obstacle crossing capability with a maximum height of 27 mm. The proposed tracked mobile robot exhibits potential to be the driving system of robotic rovers.

Design and construction of an inspection robot for the sewage pipes

Robotic systems are used wherever human limits are achieved. The inspection robots are used for securing the access to the manholes, pipes and sewage systems, for monitoring faults and for the eventual minor repairs. The paper presents the design, construction and assembly of a four-wheeled inspection robotic rover used in sewage pipes with diameters larger than 200 mm. We managed to design the robust, waterproof and dirt-resistant washable rover solution, which has been proved to be very functional and easy to produce.

A novel sandwich-type traveling wave piezoelectric tracked mobile system

In this paper, a novel sandwich-type traveling wave piezoelectric tracked mobile system was proposed, designed, fabricated and experimentally investigated. The proposed system exhibits the advantages of simple structure, high mechanical integration, lack of electromagnetic interference, and lack of lubrication requirement, and hence shows potential application to robotic rovers for planetary exploration. The tracked mobile system is comprised of a sandwich actuating mechanism and a metal track. The actuating mechanism includes a sandwich piezoelectric transducer and two annular parts symmetrically placed at either end of the transducer, while the metal track is tensioned along the outer surfaces of the annular parts. Traveling waves with the same rotational direction are generated in the two annular parts, producing the microscopic elliptical motions of the surface particles on the annular parts. In this situation, if the pre-load is applied properly, the metal track can be driven by friction force to achieve bidirectional movement. At first, the finite element method was adopted to conduct the modal analysis and harmonic response analysis of the actuating mechanism, and the vibration characteristics were measured to confirm the operating principle. Then the optimal driving frequency of the system prototype, namely 35.1kHz, was measured by frequency sensitivity experiments. At last, the mechanical motion characteristics of the prototype were investigated experimentally. The results show that the average motion speeds of the prototype in dual directions were as 72mm/s and 61.5mm/s under the excitation voltage of 500VRMS, respectively. The optimal loading weights of the prototype in bi-directions were 0.32kg and 0.24kg with a maximum speed of 59.5mm/s and 61.67mm/s at the driving voltage of 300VRMS, respectively.

Investigation of a Planetary Rover Locomotion System with Wheel-walking Propulsion by Applying the Method of Object-oriented Modeling

Objectives: The study aims to identify the capabilities of the locomotion systems based on the wheel-walking propulsion as the means of improving the mobility and maneuverability of the planetary rovers. Method: Principal method of this study is represented by object-oriented modeling that helps undertake complex investigation of the object. Findings: Current importance of the study is predetermined by the intensive investigations of celestial bodies assisted by mobile robotic systems and planetary rovers that are delivered to the surface of the planet. The study considers the opportunities provided by computerized modeling for the purposes of estimating the behavior of a planetary rover in the process of overcoming such obstructions as escarp, sloping surface of hard and loose soils and sinusoidal profile of surface that imitates coarse irregularities of the relief. The locomotion system under investigation is represented by a four-wheeled platform equipped with the two-lever wheel-walking mechanisms. The algorithms have been suggested for controlling the actuator mechanisms of the locomotion systems in the course of overcoming the obstacles under consideration. Improvements: The results make it possible to evaluate qualitative and quantitative kinematic and force requirements to the drives of the locomotion systems of planetary rovers and are of practical engineering significance.

Safety-informed design: Using subgraph analysis to elicit hazardous emergent failure behavior in complex systems

AbstractIdentifying failure paths and potentially hazardous scenarios resulting from component faults and interactions is a challenge in the early design process. The inherent complexity present in large engineered systems leads to nonobvious emergent behavior, which may result in unforeseen hazards. Current hazard analysis techniques focus on single hazards (fault trees), single faults (event trees), or lists of known hazards in the domain (hazard identification). Early in the design of a complex system, engineers may represent their system as a functional model. A function failure reasoning tool can then exhaustively simulate qualitative failure scenarios. Some scenarios can be identified as hazardous by hazard rules specified by the engineer, but the goal is to identify scenarios representing unknown hazards. The incidences of specific subgraphs in graph representations of known hazardous scenarios are used to train a classifier to distinguish hazard from nonhazard. The algorithm identifies the scenario most likely to be hazardous, and presents it to the engineer. After viewing the scenario and judging its safety, the engineer may have insight to produce additional hazard rules. The collaborative process of strategic presentation of scenarios by the computer and human judgment will identify previously unknown hazards. The feasibility of this methodology has been tested on a relatively simple functional model of an electrical power system with positive results. Related work applying function failure reasoning to a team of robotic rovers will provide data from a more complex system.

Field Measurements of Terrestrial and Martian Dust Devils

Surface-based measurements of terrestrial and martian dust devils/convective vortices provided from mobile and stationary platforms are discussed. Imaging of terrestrial dust devils has quantified their rotational and vertical wind speeds, translation speeds, dimensions, dust load, and frequency of occurrence. Imaging of martian dust devils has provided translation speeds and constraints on dimensions, but only limited constraints on vertical motion within a vortex. The longer mission durations on Mars afforded by long operating robotic landers and rovers have provided statistical quantification of vortex occurrence (time-of-sol, and recently seasonal) that has until recently not been a primary outcome of more temporally limited terrestrial dust devil measurement campaigns. Terrestrial measurement campaigns have included a more extensive range of measured vortex parameters (pressure, wind, morphology, etc.) than have martian opportunities, with electric field and direct measure of dust abundance not yet obtained on Mars. No martian robotic mission has yet provided contemporaneous high frequency wind and pressure measurements. Comparison of measured terrestrial and martian dust devil characteristics suggests that martian dust devils are larger and possess faster maximum rotational wind speeds, that the absolute magnitude of the pressure deficit within a terrestrial dust devil is an order of magnitude greater than a martian dust devil, and that the time-of-day variation in vortex frequency is similar. Recent terrestrial investigations have demonstrated the presence of diagnostic dust devil signals within seismic and infrasound measurements; an upcoming Mars robotic mission will obtain similar measurement types.

Cartography of the Luna-21 landing site and Lunokhod-2 traverse area based on Lunar Reconnaissance Orbiter Camera images and surface archive TV-panoramas

The Lunar Reconnaissance Orbiter Camera (LROC) system consists of a Wide Angle Camera (WAC) and Narrow Angle Camera (NAC). NAC images (∼0.5 to 1.7m/pixel) reveal details of the Luna-21 landing site and Lunokhod-2 traverse area. We derived a Digital Elevation Model (DEM) and an orthomosaic for the study region using photogrammetric stereo processing techniques with NAC images. The DEM and mosaic allowed us to analyze the topography and morphology of the landing site area and to map the Lunokhod-2 rover route. The total range of topographic elevation along the traverse was found to be less than 144m; and the rover encountered slopes of up to 20°. With the orthomosaic tied to the lunar reference frame, we derived coordinates of the Lunokhod-2 landing module and overnight stop points. We identified the exact rover route by following its tracks and determined its total length as 39.16km, more than was estimated during the mission (37km), which until recently was a distance record for planetary robotic rovers held for more than 40 years.

The matter of media in outer space: Technologies of cosmobiopolitics

Media technologies are steadily populating outer space – satellites and their debris clutter earth’s orbital regions, robotic rovers are surveying Mars, exploratory probes are appraising moons, planets and asteroids in our solar system and further still. Drawing together a range of these earth-born human-made devices, this paper reframes them as an object of critical inquiry into the human ‘mediatic’ condition. These technologies occupy outer space as extraterrestrial footprints of global capitalism, and they provide the vital infrastructure for its ‘high-tech’ pursuit of power, knowledge and wealth. Yet, their presence in space exerts its own material and social effects, unsettling strategic attempts to control the productive ambits of life, thus complicating what is at stake in the purview of biopolitical governance. Extending Michel Foucault’s concept of biopolitics into outer space, this paper explores the ways in which human relations with space-based media apparatus reinforce new approaches to the governance of life and the living, shaping the horizon of the ‘cosmobiopolitical’ on and beyond the globe.

Design and Analysis of Robotic Rover with Gripper Arm using Embedded C

This paper confers the development and working of robotic rover performing various autonomous tasks to identify, pick and drop an object at an appropriate position using microcontroller 8051 in conjunction with embedded C programming. The system employs infrared proximity sensors, DC geared motors, microcontroller board, etc. Robotic rover technology offers many applications in space explorations, military operations, etc. The motive of this research work is to design a wireless robotic rover being autonomous controlled that is capable of completing tasks with proliferated accuracy in smooth terrain.

Simulated real-time lunar volatiles prospecting with a rover-borne neutron spectrometer

In situ resource utilization (ISRU) may one day enable long duration lunar missions. But the efficacy of such an approach greatly depends on (1) physical and chemical makeup of the resource, and (2) the logistical cost of exploiting the resource. Establishing these key strategic factors requires prospecting: the capability of locating and characterizing potential resources. There is already considerable evidence from orbital and impact missions that the lunar poles harbor plausibly rich reservoirs of volatiles. The next step is to land on the Moon and assess the nature, “ore-grade”, and extractability of water ice and other materials. In support of this next step, a mission simulation was carried out on the island of Hawai’i in July of 2012. A robotic rover, provided by the Canadian Space Agency, carried several NASA ISRU-supporting instruments in a field test to address how such a mission might be carried out. This exercise was meant to test the ability to (a) locate and characterize volatiles, (b) acquire subsurface samples in a volatile-rich location, and (c) analyze the form and composition of the volatiles to determine their utility. This paper describes the successful demonstration of neutron spectroscopy as a prospecting and decision support system to locate and evaluate potential ISRU targets in the field exercise.

Kinematic Trajectories Reconstruction Based On Motors Encoders Feedback For A Rover Skidsteering Robot

Abstract In this paper some procedures for accurately defining the kinematic trajectories described by skid-steering robots by using only the kinematic data of the wheels (or tracks) are presented and discussed. These procedures have been analysed with several experimental tests carried out moving a rover skid-steering robot on different surfaces. The particularity of the skid steering mobile robots is the presence of the high slippage effects that heavily influence the correct kinematic reconstruction by using the classical kinematic equation. For this reason, the possibility of using particular strategies based on the instantaneous centre radiuses is here considered; these strategies use parameters such as the equivalent ‘carriageway’, the slipping coefficients and the slipping ratio for including the effect of vehicle dynamics. Moreover, the effect of different surfaces is evident on the parameters that characterize the considered strategies for kinematic reconstruction; anyway, the high repeatability of the experiments carried out on the same conditions and a certain trend of the slipping ratio that seems to characterise the different types of surfaces, allow foreseeing positive developments of the considered strategies. The experiments have been carried out on a particular skid-steering robot (rover 4WD1); the generalization of the results for other types of skid-steering robot may be easily foreshadowed. The original value of the paper is related to the systematic experimental validation of the procedures indicated and to the comments that may be very useful in defining the limits of the procedure for the kinematic reconstruction with high slipping effects

The Future of the Digital Millennium Copyright Act: How Automation and Crowdsourcing Can Protect Fair Use

On August 6, 2012, NASA completed one of the most technologically advanced missions in the agency's history. 1 After a decade of work and input from hundreds of employees, NASA successfully landed a robotic rover named Curiosity on the planet Mars. 2 Curiosity travelled over 350 million miles and landed almost flawlessly. 3 NASA anticipated a global audience for this historic event and prepared a YouTube channel to exhibit video taken from this mission. 4 Just one hour after Curiosity landed on Mars, while popping champagne and exchanging high-fives, NASA engineers posted a thirteen-minute video of the extraordinary landing on their YouTube channel. 5 Ten minutes later the video was inaccessible. 6

State estimation technique for a planetary robotic rover

Given the long traverse times and severe environmental constraints on a planet like Mars, the only option feasible now is to observe and explore the planet through more sophisticated planetary rovers. To achieve increasingly ambitious mission objectives under such extreme conditions, the rovers must have autonomy. Increased autonomy, obviously, relies on the quality of estimates of rover's state i.e. its position and orientation relative to some starting frame of reference. This research presents a state estimation approach based on Extended Kalman Filter (EKF) to fuse distance from odometry and attitude from an Inertial Measurement Unit (IMU), thus mitigating the errors generated by the use of either system alone. To simulate a Sun-sensor based approach for absolute corrections, a magnetic compass was used to give absolute heading updates. The technique was implemented on MotherBot, a custom-designed skid steered rover. Experimental results validate the application of the presented estimation strategy. It showed an error range within 3% of the distance travelled as compared to about 8% error obtained from direct fusion.

Onboard centralized frame tree database for intelligent space operations of the Mars Science Laboratory Rover.

Planetary surface science operations performed by robotic space systems frequently require pointing cameras at various objects and moving a robotic arm end effector tool toward specific targets. Earlier NASA Mars Exploration Rovers did not have the ability to compute actual coordinates for given object coordinate frame names and had to be provided with explicit coordinates. Since it sometimes takes hours to more than a day to get final approval of certain calculated coordinates for command uplink via the Earth-based mission operations procedures, a highly desired enhancement for future rovers was to have the onboard automated capability to compute the coordinates for a given frame name. The Mars Science Laboratory (MSL) rover mission is the first to have a centralized coordinate transform database to maintain the knowledge of spatial relations. This onboard intelligence significantly simplifies communication and control between Earth-based human mission operators and the robotic rover on Mars by supporting higher level abstraction of commands using object and target names instead of coordinates. More specifically, the spatial relations of many object frames are represented hierarchically in a tree data structure, called the frame tree. Individual frame transforms are populated by their respective modules that have specific knowledge of the frames. Through this onboard centralized frame tree database, client modules can query transforms between any two frames and support spacecraft commands that use any frames maintained in the frame tree. Various operational examples in the MSL mission that have greatly benefitted from this onboard centralized frame tree database are presented.