at3lr lunar shaastra

AT3LR (All Terrain Tracking Type Lunar Rover)

(ALL TERRAIN TRACKING TYPE LUNAR ROVER)

Team nameLUNE LAUNCERS

MembersShomick mohanty

Prathamesh y vichareAishwarya rose sen

Achyuth reddy

Dept: aerospaceHINDUSTAN UNIVERSITY

AT3LR

MISSION GOAL

•To design a rover which is capable to travel on most of natural terrains and reach remote locations.

•To send valuable information about topography in the form of images, videos etc

INTRODUCTION• AT3LR stands for All Terrain Tracking Type Lunar Rover . • It is an advanced rover capable to locomote on almost every natural terrains .• It is a quick ,intelligent, and situation adaptable rover . Its Innovative locomotive design gives it capabilities to perform most of the tasks related to exploration.• It’s powerful cameras can send details about topography, surface features and information about various objects. • The greatest advantage of AT3LR is it’s flexible design and ease of control. • It is smart enough to configure itself and work efficiently in ever changing circumstances and hence reducing errors.

ROVER DIMENSION

•Estimated weight =8 to 9 kg•Max speed: 70cm to 80cm per second

AT3LR

POWERSYSTEMS

SENSING

COMMUNICATION

PROCESSING

LOCOMOTION

Basic working systems of AT3LR

POWER SYSTEMS (energy flow diagram)

All parts of rover

Li-Po Batteries

Solar panelsdimensions

13 inch x 13 inch x 0.787 inch.Solar panel

BATTERIESDimensions: 4.49 in x 2.24 in x 0.83 in (11.4 cm x 5.7 cm x 2.1 cm)

Weight: 6.24 oz (177 g)

Type: Lithium-Polymer

Mark Capacity: 6800mA

Battery Voltage: 12 V

Rechargeable Times: 3000

Buitl-in Protected Circuit: Yes

Over Voltage Protection: Yes

Short-circuit Protection: Yes

Locomotion

Arm

Upper arm

Tentacles

Claw

Tracksprojections

BASIC STRUCTURE OF LOCOMOTION SYSTEM

TRACKS•Designed for speed, endurance on irregular flat terrain.

•Consists of

projections .

20 inch long track belt.

2 inch dia. driving wheels, supporting wheels.

•Powered by 4, 6v servo motors each producing 20 kg

cm torque.

PROJECTIONS•They are basically made of Carbon steel with 0.5% more carbon than conventional steel.•The bottom portion contain rubber treads and metal spike projections.• the curve design enables great combination of strength and flexibility.•Dimensions•Height= 1.75 inch•Breadth(base)=1.91 inch•Length(base)=2.25inch

TENTACLES.

•Tentacles are introduced for assisting in locomotion and for grabbing things.

• Connected to the main arm unit to give it more freedom and operational space.

•Rails to provide greater grip.

CLAWS

•This is an advance technology claw which is capable of grabbing any kind of uneven surface.

•There are four claws, each attached at the end of tentacles.

•It works on ball and socket joints.

CONTROLLED HYDRAULIC SYSTEM

Controlled Hydraulic system is used to operate tentacles in 3D motion in a hemispherical region.

These hydraulics are programmed to control the fluid passing through the tentacles in according to the pressure detected by the pressure sensors.

SENSORS•Lidar mapper

•Pancamera,hd camera

•Proximity,

•Accelerometer,

•Gyro meter,

•Speedometer.

3D MINI LIDAR(3D MINI Light Detection And Ranging)

•Lidar is used to map the surrounding of our rover

• uses a lidar system to map the surroundings

•3D MiniLIDAR (3DML) is a sensor system that provides real-

time 3D “pictures”.

•3DML attains a 90° horizontal x 60° vertical (field of view).

•.

PANCAM•Pancam (panoramic camera) is fixed at the neck of our rover which can rotate a full 360° to obtain a panoramic view of the Lunar landscape. •The camera bar itself can swing up or down through 180° of elevation.

HD CAMERA•It is fixed on the nose of our rover to take some HQ pictures.

GYROSCOPE•For balancing robot and keeping it upright

•For detection of direction.

•For maintaining the orientation.

SPEEDOMETER•For speed measurement.

ACCELEROMETER•To measure the change in speed and gravitational pull.•To measure the distance travelled.

PROXIMITY SENSOR•Ultrasonic proximity detector are used for safety measure.•Range of 100- 800mm

UDOO is a powerful prototyping board for software development and design.

Processing board

•2 Micro USB (1 OTG type a+b) and 2 USB type A (x2) and 1

USB connector .

•Analog Audio and Mic.

•CSI Camera Connection.

•WiFi Module

•Power Supply (6-15V)

•RAM DDR3 1GB•76 fully available GPIO with Arduino-compatible R3 1.0 pinout•HDMI and LVDS + Touch

•SATA connector with power plug.

•76 fully available GPIO with Arduino-compatible R3

1.0 pinout

•HDMI and LVDS + touch

•On board Micro SD card reader reader (boot device).

•Power Supply (6-15V) and External Battery connector.

Ethernet RJ45 (10/100/1000 MBit)

UDOO’s size are 4.33 inch x 3.35 inch (11 cm x 8.5 cm).

Algorithms and pseudo codes

The way of interaction of the rover according to the commands is not done in a direct way.

The rover has a capability to understand its scenario and based upon which it can understand the command given .

For example.• By its sensors it knows the condition of its surroundings and

position of its parts• Through which it could judge the types of available functions it

could perform and wait for the command for execution of the program

• Programming is done in arduino integrated development environment (IDE) which is compatible with udoo

• Rover is not autonomous because it is better to let human take decision in an unknown environment than machine