Mars Rover Manipal | System Acceptance Review | University Rover Challenge 2024

Summary

Masro Manipal from Manipal Institute of Technology presents their rover for the University Rover Challenge 2024. Comprising 45 undergraduate students, the team has engineered a sophisticated system featuring a custom PCB stack, ESP32 microcontroller, and an array of sensors, including RTK GNSS for precise navigation. The rover is equipped with a robotic manipulator, a science module for sample retrieval, and advanced autonomous navigation using YOLO for object detection. With intensive testing, a focus on performance optimization, and a strong outreach program, Masro aims for success in URC 2024.

Takeaways

• 😀 The team, 'Masro Manipal,' is from Manipal Institute of Technology and is participating in the University Rover Challenge 2024.
• 😀 The team consists of 45 undergraduate students from diverse engineering backgrounds, organized into five subsystems.
• 😀 A custom four-layered PCB stack is used to control the rover, featuring a motor driver and modular child boards with ESP32 microcontrollers.
• 😀 The rover operates up to 1 km in non-line-of-sight and 3 km in line-of-sight conditions, with communication handled by 915 MHz and 2.4 GHz modules.
• 😀 A custom power distribution board and accessible kill switch ensure safety and effective power management.
• 😀 The rover’s suspension system has been optimized to reduce weight and improve performance, especially over rough terrains.
• 😀 The rover uses 3D-printed wheels with PLA barrels and TPU treads, along with a new bearing assembly to improve torque transmission and serviceability.
• 😀 The six-degree freedom robotic manipulator can perform various tasks, such as opening toolboxes and picking up containers, with smooth control through a new lead-through base PGrier.
• 😀 Autonomous navigation is powered by ROS, Jetson Xavier NX, and RPI, achieving centimeter-level GNSS accuracy through RTK corrections.
• 😀 For the science mission, a 3D-printed science module with multiple layers is used for sample retrieval, and the rover is equipped with various sensors for life detection, meteorological analysis, and mineralogical measurements.

Q & A

What is the composition of the team behind this Rover project?

The team consists of 45 undergraduate students from diverse engineering backgrounds, organized into five subsystems.

What is the key feature of the custom PCB stack in this Rover design?

The custom PCB stack features a four-layer motherboard housing motor drivers and modular child boards, controlled by an ESP32 microcontroller.

How does the Rover ensure emergency shutdowns?

The Rover includes an accessible kill switch that allows for emergency shutdowns during operation.

What is the role of the LORA modules in the Rover?

The LORA modules at 915 MHz handle command and feedback, while 2.4 GHz omnidirectional antennas transmit the radio feed.

How does the Rover handle navigation in different conditions?

The Rover operates over 1 km in non-line of sight and 3 km in line of sight conditions, using LORA modules for communication.

How does the Rover manage its suspension and weight distribution?

The Rover's suspension system has been upgraded to optimize performance, with weight reduction and improvements over rough terrain. Reconfigurable torsion springs ensure optimal ground compliance over rocky obstacles.

What technology is used for object detection and path-following?

The Rover uses a YOLO V8 model for object detection and OpenCV AROKA library for detecting markers at close distances.

How is the Rover's autonomous navigation system structured?

The Rover's autonomous navigation system is based on ROS (Robot Operating System), integrating all onboard sensors with the Jetson Xavier NX and RPI, achieving centimeter-level GNSS accuracy using RTK.

What is the function of the 3D printed science module?

The 3D printed science module is designed for sample retrieval, implementing a multi-tier system with a hollow auger and shutter to collect and deposit samples onto a science tray for onboard analysis.

How does the Rover detect and analyze potential signs of life?

The Rover conducts life detection tests, including the Bradford labile carbonates test and a fluorescence assay, while utilizing a microscope and spectral sensors to search for water and analyze geological history.