Proposal Report

by

Pragyan NITK
10326

December 2023

NATIONAL INSTITUTE OF
TECHNOLOGY KARNATAKA
Table of Contents

Sr.no Topic Page

number
1 System Architecture 3-4
2 Roving Mechanism 5-7
3 Mechanism for sample pick and place activity 7-9
4 Emergency Response System 9-10
5 Hardware Identification 10-13
6 Software Identification 13-15
7 Hardware and Software Realization Plan 16-19
8 Test Plan 19-21
9 System Specifications 22-23
10 Project Management 24-25
11 Novelty Aspects 25-26
Introduction
Understanding the problem statement is the most important aspect so we the requirement rover satisfies are
as follows:

1. Obstacle Navigation:
a. Use Case: The rover encounters obstacles and successfully navigates through them.
b. System Requirements:The rover must utilize sensors to identify obstacles (150 mm X 150
mm X 150 mm and 300 mm X 300 mm X 300 mm).
c. The mobility system must allow the rover to traverse over 150 mm X 150 mm X 150 mm
obstacles, avoiding the larger ones.
2. Crater Navigation:

a. Use Case: The rover approaches craters and navigates through them without getting stuck.
b. System Requirements: Sensors must identify craters with diameters of 200 mm.
c. The rover must be capable of traversing through craters of diameter 200 mm while avoiding
the larger ones (400 mm diameter).
3. Autonomous Navigation
a. Use Case: The rover demonstrates autonomous navigation capabilities.
b. System Requirements: The rover must perform waypoint navigation in both commanded
and autonomous modes.
2. Sample Picking Use Cases:
2.1 Target Identification:
a. Use Case: The rover identifies the sample target for picking.
b. System Requirements:Visual sensors must successfully identify sample targets (hollow cylinders
with closed ends).
c. Sample tubes should have specific characteristics (mass, shape, size, material, color).
2.2 Picking and Loading:
a. Use Case: The manipulator arm picks up the sample and loads it securely onto the rover.
b. System Requirements:A manipulator arm must be mounted on the chassis.
c. The manipulator should use a gripper to pick up the sample tube.
2.3 Target Location Identification:
a. Use Case: The rover identifies the location to unload the sample into a cylindrical container.
b. System Requirements:The rover must identify a cylindrical container of specific dimensions at
the target location.
2.4 Unloading and Placement:
a. Use Case: The rover approaches the target, and unloads the sample into the cylindrical container.
b. System Requirements:The rover must approach the target, and unload the sample inside the
specified cylindrical container.
2.5 Final Parking:
a. Use Case: After dropping the sample, the rover positions itself within a specified circle.

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 b. System Requirements:After dropping the sample, the rover must be positioned within a circle of
diameter 1500 mm from the final point.

3. General Rover and Manipulator Use Cases:

3.1 Compliance and Specifications:

a. Use Case: The proposed rover complies with the specified specifications.
b. System Requirements:Teams must specify compliance with rover and manipulator specifications
in the proposal report.
3.2 Safety and Stability:
a. Use Case: The rover operates safely and remains stable during tasks.
b. System Requirements: A "kill switch" must be present for emergency shutdown.
c. The rover and manipulator should be stable during operations.
3.3 Environmental Adaptability:
a. Use Case: The rover performs effectively in challenging terrains and environmental conditions.
b. System Requirements:The rover and manipulator should be built to handle challenging terrain
with dust.
c. Operational temperature range: +20 to +40 °C.

3.4 Prohibitions Compliance:

a. Use Case: The team adheres to competition rules and prohibitions.
b. System Requirements: Prohibition of satellite-based navigation, external markers, and local
positioning systems.
3.5 Speed and Control:
a. Use Case: The rover achieves controlled speeds during navigation tasks.
b. System Requirements:The rover should have a minimum speed of 1 cm/s and a maximum speed
of less than or equal to 50 cm/s.
c. Real-time radio control with a maximum distance of less than 25 m is required.
3.6 Manipulator Arm Performance:
a. Use Case: The manipulator arm successfully picks up and handles the sample without damage.
b. System Requirements:Teams must specify the type of manipulator arm and its degrees of
freedom.
c. The manipulator should not damage the sample tube while gripping and handling.
3.7 Battery Efficiency:
a. Use Case: The rover operates continuously during navigation tasks without recharging.
b. System Requirements:The battery capacity must be sufficient for continuous navigation without
recharging during tasks.
3.8 Task Duration Compliance:
a. Use Case: The rover completes both tasks within the specified time frame.
b. System Requirements:The total time available for both tasks by the rover and manipulator arm is
40 min.

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 3.9 Prohibition of Robotics Kits:
a. Use Case: Teams build their rovers without using readymade robotics kits.
b. System Requirements:Use of readymade robotics kits is strictly prohibited.
These use cases and system requirements collectively define the functionalities and performance
expectations for the lunar rover in the competition.

System Architecture

Fig.1 System architecture overview.

The figures illustrate the system architecture, categorizing subsystems for clear visibility and easy
recognition. These categories are based on the specific tasks each subsystem performs to make the Pragyan
Rover work.
The key subsystems are
1. Autonomous Navigation System:
This system helps the rover move independently by analyzing its surroundings and making decisions
without human control.
2. Picking Mechanism System:
This system focuses on a mechanism that allows the rover to grab or pick up objects, crucial for tasks like
collecting samples.
3. Emergency Response System:
This system is designed to handle unexpected situations during the rover's mission, triggering appropriate

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responses to address potential issues.
The organization of interfaces among these subsystems is well-planned, considering the connections and
interdependencies between them.

Fig2: System Architecture Flow Chart

Fig3 : Architecture of emergency response system

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Roving Mechanism

Proposal for Roving Mechanism: Modified Rocker-Bogie Suspension System

1. Introduction to Roving Mechanisms:
Choosing a suitable roving mechanism is critical for the success of the tasks. Various mechanisms
such as Four-Wheel Differential Drive and Leg-Based Roving Mechanism present specific
advantages and limitations. However, the Rocker-Bogie Suspension System stands out as a robust
solution due to its equilibrated wheel pressure, consistent surface contact, and efficient obstacle
negotiation.
2. Rocker-Bogie Suspension System Overview:
a. Equilibrated Wheel Pressure: Prevents sinking in soft terrains, ensuring balanced pressure.
b. Consistent Surface Contact: All six wheels maintain contact, aiding propulsion over varied
terrains.
c. Independent Motorized Wheels: Six wheels with independent motors and steering for
adaptability.
d. Obstacle Negotiation Mechanism: Efficient climbing over obstacles through strategic
wheel coordination.
e. Pitch Stability: Ensures chassis stability by managing the average pitch angle.
f. Reduced Body Motion: Minimizes main body motion, enhancing overall stability.
g. Vertical Obstacle Navigation: Navigate high obstacles while keeping all wheels in constant
contact.
h. Independent Side Movement: Enhances adaptability by allowing independent movement
on both sides.
3. Advantages Over Other Mechanisms:
a. Terrain Conformance: Superior navigation on uneven surfaces for enhanced stability.
b. Obstacle Negotiation: Robust solution with articulated suspension system capabilities.
c. Payload Stability: Instruments remain undisturbed during rover movements.
d. Redundancy: Six-wheeled configuration ensures mission continuity, even in the face of
wheel

Modified Rocker-Bogie Mechanism-DDRB(Damper Driven Rocker Bogie)

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 a. issues.

Fig4 : Modified Rocker-Bogie Mechanism - DDRB(Damper driven rocker bogie)

(Source: IEEE Robotics and Automation Letters)
Enhanced Mobility: Incorporates a rotary damper and two actuators for improved control of
damper velocity.
Efficiency: Achieves enhanced mobility with fewer motors compared to conventional mobile
robots.
Reduced Friction: DDRB reduces friction in the mechanism, resulting in improved mobility
4. Mechanical Configuration of DDRB:
a. Tensile Springs for Force Management: Rockers and bogies linked through tensile springs to
prevent excessive force from the damper.
b. Pivot Configuration and Transmission: Pivot allows free rotation and is subject to torque from the
damper connected to a rocker.
c. Simplified Mechanical Structure: DDRB introduces a simplified structure with reduced complexity
compared to the original rocker-bogie.
Working Principle:
Counter-Clockwise Rotational Moment: Involves obtaining a counter-clockwise rotational moment of the
bogie through a rotary damper for obstacle traversing.
Mobility Adjustment: When obstacles are detected, the motor's angular velocity adjusts to position the front
wheel, allowing for mobility adjustment on stairs or rough terrain.
Conclusion:
The Modified Rocker-Bogie Suspension System, specifically the Dampened Differential Rocker-Bogie
(DDRB), presents an innovative leap in rover design. Incorporating a rotary damper, reduced friction, and
simplified mechanical structure contribute to improved mobility, efficiency, and adaptability. The DDRB
retains the advantages of the conventional Rocker-Bogie and addresses certain limitations, making it a
promising choice for future planetary exploration missions. The enhanced performance in obstacle
negotiation, reduced complexity, and improved mobility make the DDRB a groundbreaking solution for
the challenges of dynamic and challenging environments.

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 Mechanism for Sample Pick-and-Place Activity:
Schematic representation of the chosen Mechanism:

Fig5: Architecture of Robotic arm

Tasks:
1) Pick up a hollow cylindrical tube with closed ends, dimensions - OD 80mm, ID 70mm, L
125mm
2) Place it on the chassis of the rover safely.
3) Identify the target location.
4) Place the sample in the target cylinder with 150mm and 150mm dimensions.

Working Conditions:
The arm activates in two different scenarios to perform two different tasks.
1) When the rover stops, the arm starts and searches for the sample and target with the help
of the stereo cameras, and it proceeds to pick up the sample and place it in the target
cylinder.
2) When the rover topples, we command the arm to help get the rover upright by applying
force on the ground. We use high-torque servo motors for the same.
Considering the above requirements for a Manipulator Arm specific to space operations, we
have developed the following to implement on our Rover.

Components of Rover Picking Mechanism

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 Fig6: CAD design of Robotic arm

Material and Parts of arm:

1) We make the arm using carbon fibre slabs and cover it with aluminium sheets.
2) The arm mounted on our Rover shall be a 5-axis arm capable of reaching all the
local points in the arm’s workspace.
3) The Arm includes a Hip Joint, Shoulder joint, elbow joint, Wrist joint and wrist
rotation.
4) Five high-torque servo motors are used at the joints.
1 Base/Shoulder joint motor,
1 Elbow motor,
1 wrist motor,
1 for wrist rotation,
1 for Gripper movement.

Autonomic Functioning:
1) The Teensy 4.1 development board is used to command the arm.
2) The Inverse Kinematics algorithms shall be hard-coded into the controller of the
rover.
3) Concerning the Position and Orientation data of the sample provided by the
onboard stereo camera, the controller then calculates the position and mobility of
each of the components of the arm autonomously.
4) Transformation matrices of the joints will be developed for the specs of the
manipulator's arm.
Justification:
Microcontroller:
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 Arduino Atmega328P Teensy 4.1

8-bit RISC, runs at 20MHz 180 MHz ARM Cortex-M4

No SD sockets SD slots available, along with ethernet slot

The Teensy 4.1 is not only more precise than the competitor, but it also makes it easy to hardcode
algorithms with help of an SD card. It has more potential to be accurate, which is very important while
dealing with tiny objects such as our sample.

Emergency Response System

Emergency Situations encountered during task execution and strategic solutions for potential emergencies:
1. COMMUNICATION LOSS:
a. Interruption or loss of communication with the rover, making it challenging to receive
commands or gather data.
b. The rover is communicated via the Radio Frequency
c. Including redundant communication pathways, such as multiple communication
frequencies, to ensure continuous communication.
d. Rover is coded with the software to have the ability to autonomously switch to alternative
communication channels if the primary link is lost.
2. NAVIGATION ISSUES:
Navigation difficulties like the rover might get stuck in soft soil, encounter obstacles, or it might
not travel according to the desired movement of the rover, which could impede its progress.
a. During autonomous navigation failure, we switch to Human-loop control using controllers.
b. Rovers are equipped with features to protect sensitive equipment and instruments.
Retractable components or protective covers will be employed to shield instruments from
dust or debris that could be kicked up during traversal.
c. There are deep craters and obstacles, which act as barriers to traversing along the arena's
surface. The rover will have to traverse the adverse conditions using the stereo cameras
that provide the RGB and depth images that detect the craters and obstacles by measuring
the depth of craters and height of the obstacle, deciding whether to traverse it or avoid it.
d. The IMU contains Accelerometers that detect the changes in velocity and tilts for earth
gravity and gyroscopes that provide information about the changes in angular velocities
and orientation.
e. Emergency stop is used during undesired movement of the rover during task execution.
The rover then will be given some time to relocate itself and then start moving after
analyzing the path.
3. POWER DEPLETION:

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 Issues with the power source, such as reduced efficiency, leading to a decrease in the rover’s
operational capabilities.
a. Dynamic Voltage and Frequency Scaling(DVFS) is a technique that aims to reduce
dynamic power consumption by dynamically adjusting the voltage and frequency of the
ROS system.
b. The power consumption of the peripheral components is minimized when the instrument
malfunctions and is not actively used.
4. HEALTH MONITORING SYSTEM:
Uncontrolled fires due to equipment malfunctions and failures, overloading, and short-circuiting of
the electrical components.
a. The temperature sensor is used to detect the overall temperature of the rover components;
this temperature sensor will pass on the information to the Raspberry Pi, which will decide
on whether to turn off the component depending on the algorithms assigned to it and avoid
uncontrolled fires due to overheating etcetera.
b. Voltage and current sensors detect irregularities or fluctuations in the power supplied to
the rover. Ensure proper working of the instruments; in case the power supply becomes
overloaded or a Short circuiting, emergency shutdown is enabled and the rover is turned
off temporarily. If the problem persists then the kill switch button will be enabled and the
rover will be turned off completely.
5. INSTRUMENT MALFUNCTIONS:
Problems with scientific instruments, cameras, or sensors hinder the rover’s ability to collect
accurate data. Malfunctions in critical components such as wheels, joints, or the robotic arm affect
the rover’s ability to move or conduct experiments.
a. The Malfunctioning instrument will be turned off if it does not perform the desired work
so that the power is conserved.
b. When the rover’s function is out of control, we will enable the Kill Switch button to turn
off the rover system. The condition to enable the Kill Switch button is coded as a set of
algorithms in the Raspberry Pi, which gives instructions to the Robotic arm that turns off
the rover system. These actions may include stopping movement and activating protective
measures.

Hardware Identification
Through thorough research on rover hardware, we've identified essential components and their
justification, along with the estimated bill of materials. These carefully selected parts ensure optimal rover
performance. Our commitment to precision and efficiency is reflected in the well-justified choices,
promising a robust and capable rover.

Quantity Justification for

No. Hardware Details Subsystem Category
Needed Chosen Type

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 Simple, cost-effective,
Roving Brushed DC Motor
1 Motors 6 controllable for
Mechanism with encoders
mobility

Easily rechargeable and

2 Batteries Power Li-ion 1
compatibility

Roving
3 Wheels Traction wheels 6 Better shock absorption
Mechanism
Raspberry Pi 4
Navigation 1
(8GB RAM)
4 Controllers Optimal Rover Control
Picking
Teensy 4.1 1
Mechnism
Carbon Fibre Composite
5 Structural 12pcs
Sheets Materials Good balance of weight
and strength
6 Aluminium Sheets
Structural
Metal 8pcs
Picking Precision in rover arm
7 Motors
Mechanism
Servo motors 15
control
Enhances 3D
Navigation Stereo camera 1 perception, navigation
precision

Navigation IMU 1 Orientation,Speed

8 Sensors
Temperature
Health monitor 1 Optimal functionality
Sensor

Voltage-current
Health monitor 1 Battery management
sensor
Communication Roving Radio Frequency Enhances rover control
9 1
system Mechanism Module and communication
Best insulation and
Emergency Thermosetting
11 Switch
Response System Plastics
1 poor conductivity of
current

Reasons for choosing the above:

1. BATTERIES:
a. Lithium-ion batteries are ideal for basic rovers, offering versatile recharging, high energy
density, and lightweight design for effective weight management.
b. Low self-discharge and high voltage output ensure prolonged operational lifespans.
c. Lithium-ion batteries promote environmental sustainability, are crafted with non-toxic
materials, and are easily recyclable.
d. This conscious and sustainable choice aligns technological efficiency with environmental
consciousness in rover design.

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2. WHEELS:
a. Traction wheels provide a better grip because of friction, helping for better movement on
the arena(M-sand).
b. It helps distribute the rover's weight evenly, reducing ground pressure and thus preventing
sinking.
c. They provide better stability.
3. CHASSIS:
a. Aluminium is lightweight and durable, offering good strength, while carbon fibre provides
outstanding strength with minimal weight and machinability.
b. The carbon fibre helps reduce vibrations, which is helpful as we are not using any
suspensions in the rover.
c. Because of its conductive properties, Aluminium helps in heat transmission to the
environment, which can improve the rover's performance.
4. MOTORS:
a. We use brushed DC motors with encoders for roving mechanisms because they are
advantageous in rovers due to their simplicity and ease of control. These motors allow the
speed and direction of the rover to be regulated with minimal complexity using navigation
algorithms.
b. We use a servo motor for the robotic arm in the picking mechanism for the following
reason: they are ideal for robotic arms in rovers because of their precise and accurate
control. It also enables smooth and delicate movements.
c. The servo motor allows the robotic arm to hold a fixed position, improving the rovers’s
dexterity and accuracy in manipulating objects and making them vital for tasks that need
precision and reliability in different areas.

5. SENSORS:
a. Opting for a stereo camera over a depth camera in a rover proves advantageous, leveraging
its capacity to discern depth by comparing offset views from two lenses. This results in
highly accurate 3D environmental perception, effective in various lighting conditions.
b. The IMU captures acceleration, gyroscope, and magnetometer data, facilitating precise
orientation and motion tracking.
c. Temperature sensors monitor environmental conditions, ensuring optimal functionality.
This comprehensive dataset enhances navigation, obstacle avoidance, and system health
monitoring, fortifying the rover's reliability and performance across diverse terrains and
contributing to extended mission success.
d. Voltage and current sensors are crucial in battery management and Power Distribution.
6. CONTROLLERS:
a. Employing Raspberry Pi and Teensy as controllers for our rover bestows unique
advantages.
b. Raspberry Pi can work on ROS2 packages without hassle compared to other
microcontrollers like Arduino.
c. The Teensy board synergizes with this setup, contributing real-time control capabilities
that ensure precision in managing motors and sensors. This harmonious blend achieves an
optimal equilibrium between computational prowess and real-time responsiveness, making
it an exemplary choice for rover applications.

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 d. Teensy board has a 64-bit floating point number, which helps manage data points, and has
Cortex M7 running at 600MHz, which helps control, which is the main reason for choosing
this controller.
e. Its distinguishing features include flexibility, reliability, and a community-driven
development ethos, setting it apart from alternative controllers.

BUDGET ESTIMATION:

No. Component Quantity Cost per item Cost

1 Motors 6 2000 12,000

2 Batteries 1 18000 18000

3 Wheels 6 1200 7,200

4 Raspberry Pi 1 6000 6,000

5 Teensy 1 3000 3,000

6 Aluminium Sheets 8pcs 400 3,200

7 Carbon Fibre 12pcs 1000 12,000

8 Servo Motors 10 500 5,000

9 Stereo Camera 1 6000 6,000

IMU(Absolute Orientation 2500 2,500

10 1
Sensor)

11 Temperature Sensor 2 450 900

Voltage and current 1200 1200

12 1
sensors

13 Receiver and Transmitter 1 1500 1,500

Other required and testing As per 20,000 20,000

14
tools requirement

Total 98,500

Software Identification
Software systems of an autonomous robot follow a specific Architecture.

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 a. Physical World
b. Sensor (collect data from the sensor for spatial awareness and localization)
c. Perceive (Interpreting sensor data)
d. Plan (Includes motion planning)
e. Execute (Actuator inputs are calculated)

A robot communicates with the real world through sensors. It is the major interaction between the
autonomous body and the real world.

Fig7: Software Architecture

1. SENSORS AND FILTERING ALGORITHMS:

a. Sensors include visual sensors, Inertial Measurement Units (IMU), and wheel encoders.
Fusing the data from sensors reading similar data helps improve the quality of the
measurements by decreasing the reading's overall noise.
b. We use filters, namely, Extended Kalman Filter (EKF) and Interactive Multi-Model
filters, which use mathematical functions to predict and smooth the data from the sensors.
EKF, a recursive algorithm, by fusing input data from IMU, odometry, and other sensors
with different noise measurements, gives an estimated state(position and orientation) as
outputs, which is particularly useful for providing a more accurate and robust estimate .

2. ODOMETRY SYSTEM:
a. This data is then interpreted and broken down into valuable coordinates, which the
controllers can process to provide actuation and movement, and the perceived data is
processed for obstacle detection. We will use Visual odometry by integrating IMU and

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 encoders in our rover, which uses the visual information from the stereo camera and
gives an updated pose and trajectory of poses, hence providing a reliable and accurate
estimation of motion for autonomous navigation.
b. For the localization of rovers, Monte Carlo localization algorithms allow flexible sensor
fusion, considering uncertainties in motion and sensor measurements, thus being
adaptable to navigating in dynamic environments. We get the pose estimate and
associated uncertainty measure by giving sensor measurements and odometry inputs.

3. NAVIGATION STACK:
Once the filtered odometry data is obtained, the ROS2 nav2 package facilitates navigation and
path planning, which includes high-level path planning along with local planning to avoid
obstacles and adjust trajectory to traverse through free spaces.nav2 includes tools for
incorporating SLAM and sensor data, into our rover navigation system. This also computes the
actuation and motion required for the robot to traverse that point.

Sensors IMU, Wheel encoders

Filter Extended Kalman Filter

Odometry System Visual Odometry

Localisation Algorithm Monte Carlo Localisation algorithm

Path Planning Navigation Stack ROS2 Nav2 package; SLAM toolbox

4. Health Monitoring System(HMS):

For monitoring the thermal health of the rover we are using two thermal sensors, one for monitoring
the temperature of components and the other one for monitoring the temperature of the
surroundings. So that the rover will respond accordingly depending on the temperature range. Also
for monitoring the voltage requirements of the components we are using a voltage sensor that is
going to make sure that every component is getting an adequate amount of voltage to operate as
required. A detailed description of the working of HMS is provided in the software realisation plan.

Hardware and Software Realisation Plan

Procurement Source
Hardware Specifications/ Estimat
No. (Market/Fabrication/3 Quantity
Details Realization Plan ed Cost
D Printing/…..)
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 Torque
Speed
1 Motor Market Voltage 6 12,000
Current
And so on…
Energy Density, Battery
2 Battery Market 1 14,500
life, Reusability, Weight
CAD Modelling
Fabrication, Sheet
3 Rover Structure Strength of material and 20 9,200
metalling,3D Printing
stability
5 Servo Motors Market Accuracy and Precision 10 5,000
Cost-effective,
Image Processing,
6 Raspberry Pi Market 1 6,200
Communication,
Software Libraries
Real-time control, Good
7 Teensy Market control, 1 3,200
Reliability
Obstacle Detection,
8 Camera Market Depth Perception, Object 1 6,000
recognition
Compact, Navigation,
9 IMU Market 1 2,500
Cost, Precision
Temperature Real-time Monitoring,
10 Market 2 800
Sensor High Sensitivity
12 Voltage sensor Market Power Distribution 1 1,200
Shock absorbance,
11 Wheels Market 6 7,200
Gripping

Software Realisation Plan

1. AUTONOMOUS NAVIGATION OF OUR ROVER:

a. SENSORS and ODOMETRY:

To perceive the world through sensors a stereo camera and an IMU will be used. The stereo
camera captures pairs of images and provides visual information about the environment;
with depth information being obtained from disparity in pixels. The RGB image provides
visual context to a depth image by capturing color information. The x y z coordinate of the
robot and its yaw, pitch, and roll for the world's reference frame is found. The data and
information obtained by the sensors will be analyzed to give odometry for the robot. The
odometry system fuses information from the stereo camera (position and orientation) and
the IMU (rover’s orientation and acceleration in 3D) to estimate the rover's motion.

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 This information is fed into the Robot localization node to filter noise and sensor fusion. It
implements an Extended Kalman Filter (EKF) by taking inputs from odometry, and IMU
and refining the estimate of the rover’s state to provide an accurate and stable position and
orientation of the rover as output, to be used in navigation and mapping.

b. NAVIGATION

The filtered-out odometry values are provided to the RTABMAP function in the ROS2
Nav2 package along with the coordinates of obstacles that need to be traversed and
avoided. RTABMAP generates a 3D point cloud representing the surroundings and a 2D
cost map with obstacles marked. The Nav2 package uses a 3D map generated by
RTABMAP for path planning. Information from a 2D cost map enables navigation around
obstacles. Based on the path planned, it computes control signals for the rover’s actuators
to follow the trajectory while avoiding the stated obstacles. These computed control signals
are fed to motor wheels to control the speed and direction of our rover.

c. FEEDBACK SYSTEM

The rover continuously receives feedback from its sensors, depth information, including
odometry updates, and information from the 2D cost map. Path planning and control
signals are adjusted based on the feedback received; so that the rover corrects errors and
follows a path adapting to changing conditions.

2. BEFORE AND AFTER WAYPOINT:

We will be using commanded mode to move till the waypoint traversing across the
obstacles 2,12,4 . Once the rover reaches the designated waypoint, the autonomous mode
is switched on.

3. PICK AND PLACE FUNCTION:

The stereo camera provides information about the position and orientation of the sample
object to be picked and placed. This is fed into an inverse kinematics algorithm to compute
the joint angles to perform the task autonomously. Once the sample is on board, the rover
switches back to autonomous navigation mode. The nav2 plans a path considering the

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 current state of the rover and executes while avoiding obstacles. After reaching the target
destination, the manipulator places the object in the desired position.

Fig8: RTABMAP 3D point cloud generation is visualized on Rviz

Fig9: 2D Laser scan and is provided manually, whereas the 3D automap and point cloud are computed by
RTABMAP.

4. HEALTH MONITORING SYSTEM (HMS) :

a. Temperature detection:

There are two temperature sensors, one for internal temperature which is to monitor the working
temperature of elements of the rover, and the other is to monitor the surrounding
temperature.Once the sensor determines the temperature, then if it’s in the range of working

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 temperature, it’ll proceed. But if the temperature is abnormal that is not in the range the whole
system will go into sleep mode.

In sleep mode, the motor driver, the stereo cam, and all the sensors except the temperature
sensors will go into sleep/ standby mode. And since the extreme difference in temperature may
cause damage to certain parts of the rover hence, they are saved by using materials like gold foil,
etc.

b. Voltage inspection:

This part focuses on monitoring that an adequate amount of voltage is provided to each part of the
rover so that it functions properly. The data is collected by a voltage sensor which is used to
monitor the voltage supply to all parts of the rover, especially all the 6 motors.

If the voltage supply is as per the req. the rover will go on as per the plan. But if the voltage is
less than required, then the devices that aren’t in use currently will be withdrawn power from and
be provided to the motors. But if the voltage supplied is more than required then there will be an
immediate stop of the working of the rover.

Test Plan
1. COMPONENT TESTING:
a. Manipulator Arm Testing:
1. Full range testing: Verifying that the arm can move through its full range of motion.
2. Joint testing: Testing the movement of joints in all 5 degrees of freedom.
3. Gripper testing: Testing the gripper movements and ability to hold the sample tube
without damaging the tube.
4. Confirmation of Power on Built-in Test
b. Sensor Testing:
Validating sensor accuracy, range, resolution, and responsiveness of the following sensors
1. Stereo camera: Fixed distances and patterns on the wall
2. IR Sensors: Creating hotspots Using water with different temperatures.
3. Inertial Measurement Unit (IMU): Testing in different terrains where accelerations and
orientations are measured.
4. Wheel encoders: Moving the wheels at different speeds and measuring
The power supply to the arm and sensors is confirmed with the help of a green LED light placed
near the manipulator arm.
2. INTEGRATION TESTING:
a. Manipulator Arm system integration test:
Ensure seamless integration of the following while conducting a picking activity of a sample
cylindrical tube.

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 1. The stereo camera, IMU position, and orientation data are fed to the onboard Raspberry
Pi microcomputer.
2. Perform inverse kinematics calculations and calculate the angles of each joint.
3. Ensuring the manipulator arm executes the movements to pick/drop the sample.

b. Autonomy Testing:
Validating our rover's ability to autonomously navigate and identify obstacles using navigation
algorithms based on sensor inputs.
1. Sensor inputs from IMU and stereo camera are used to make path planning and obstacle
avoidance in ROS.
2. Output motion is achieved through 6 motors in each wheel from the microcontroller
(Arduino).

c. Odometry testing:
1. Ensuring capture of synchronised stereo camera image pairs in different scenarios,
including light conditions, textures, and depth
2. Recording IMU data synchronised with the stereo camera.
3. Ensuring the timestamps of stereo camera images and IMU data are accurately
synchronised. Timestamp alignment is crucial for associating visual and inertial
measurements correctly.
3. ENVIRONMENTAL TESTING:
Dust and Particle Testing:
Assess the rover's performance in M-sand. Ensuring the rover can recover when it gets stuck in
the sand.
4. FUNCTIONAL TESTING:
a. Sample Collection Tests:
Executing a scenario where the rover autonomously identifies, approaches, and collects samples
using the manipulator arm and drops off at a designated drop point.
b. Mobility Tests:
Validating the rover's ability to navigate various terrains (rocker -bogie) and obstacles while
carrying out sample collection tasks.
1. Testing the ability of the rover to climb a sloped terrain of minimum 15⁰.
2. Climbing a cube of side 150mm
3. Traverse through a crater with a diameter of 200mm
c. Communication Tests:
Ensuring continuous and reliable Radio communication between the rover and the base station
with incremental distances of 5m from 0 to 25m since the maximum distance between the rover
and the antenna is less than 25m.
5. ENDURANCE AND RELIABILITY TESTING:
a. Long-Term Testing:
Assessing the rover's performance over extended periods to ensure sustained functionality.

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 b. Failure Mode Testing:
Simulating potential failure scenarios and ensuring that the “kill switch” is executed on
command would cease all rover movements and withdraw all the power from the battery.
6. SIMULATION AND VALIDATION:
a. Software Simulation:
Running simulated missions to validate the rover's sample and obstacle detection algorithms,
navigation algorithms, and response to various scenarios.
1. Autonomous navigation algorithms are tested using Gazebo and Rviz.
2. Ensuring implementation of Extended Kalman Filter (EKF) to filter noise and produce
accurate and reliable position and orientation of the rover.
3. Validating through conducting scenarios in various terrains for path planning and
obstacle avoidance.
b. Field Testing:
Conducting real-world tests in environments similar to the intended operational arena.
7. SAFETY TESTING:
a. Safety Checks: Ensuring safety protocols are in place to prevent hazards during operation.
b. Emergency response system:
Ensuring the effective activation and functioning of the emergency response system of the rover.
A red LED light is turned on whenever emergencies arise and the rover switches to the
emergency response mode, which would allow the base station to make informed decisions.
1. Communication loss: Simulating a scenario where the main communication link
fails, then testing our rover’s ability to switch to alternative radio frequencies of
communication.
2. Power depletion: Executing a situation where there is a reduction in power supply
efficiency of the battery, and ensuring the working of dynamic voltage frequency
scaling(DVFS) technique which dynamically adjusts the voltage and frequency of
ROS.
3. Health Monitoring system (HMS):
a. Exposing the temperature sensor in a hot water whose temperature is
higher than operating temperature of the components and validating HMS’
ability to turn off the component using HMS algorithm.
b. Conducting an overloading and short circuit scenarios and testing the
emergency shutdown of the rover.

System Specifications

No. Part Specification

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1 Motor DC Geared Motor with encoder,75rpm
Rated Voltage: 12V
No-load Current:70mA
Rated current:410mA
Rated Torque: 3kg-cm
Shaft Diameter: 6mm
Gear Ratio:60:1

2 Battery NMC 21700 22.2V 20000mAh 3C 6S4P Li-Ion Battery Pack

Output Voltage: 22.2 VDC

3 Raspberry pi 5 4GB SD RAM

PCIe 2.0x1 interface
5V/5A

4 Teensy Teensy 4.1 Development Board

Cortex-M7 600MHz
024K RAM(512K tightly coupled)
55 I/O pins

5 Wheels Traction Wheels(Diameter 125-150mm)

6 Aluminum Sheet 200mm*100mm*1mm

7 Carbon Fiber Dimensions:125mm *75mm *4mm

sheet

8 Servo Motor Weight: 55g

Dimension: 40.7×19.7×42.9mm
Stall torque: 9.4kg/cm (4.8v); 11kg/cm (6.0v)
Operating speed: 0.19sec/60 degree (4.8v); 0.15sec/60 degree (6.0v)
Operating voltage: 4.8 ~ 6.6V
Gear Type: Metal gear
Dead band width: 1us
Wire length: 32cm

9 Stereo Camera product:IMX219-83 Stereo Camera

8 Megapixels
Sensor: IMX219
Resolution: 3280 × 2464 (per camera)
Dimension: 24mm × 85mm

10 Absolute BNO055 9-DOF Absolute Orientation (Euler Vector, 100Hz)

Orientation Absolute Orientation (Quaternion, 100Hz) n
Sensor Angular Velocity Vector (100Hz)
Acceleration Vector (100Hz

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 Magnetic Field Strength Vector (20Hz)
Linear Acceleration Vector (100Hz)
Gravity Vector (100Hz)
Temperature (1Hz) Ambient temperature in
degrees Celsius

11 Temperature DHT11 Temperature And Humidity Sensor Module

sensor module 3.12 x 1.4 x 0.5 cm; 10 Grams

12 VoltageCurrent Voltage:100V
EnergySensor Amperes:100A
Module Ampere hour Serial UART Communication Over Current Detection
MODBUS Compatible
No Shunt Required

13 Transmitter and TS835 Fpv 5.8G 600Mw 48Ch (2-6S) Wireless Av Transmitter
Receiver
No. of Channels: 48CH
Antenna Gain: 2db
Frequency: 5.8G
Video Format: NTSC / PAL Auto
48 CH compatible with all FPV 5.8g receivers.
5.8G 600mW 40 Channels AV wireless FPV transmitter
Super small 200mA current for 600mW wireless transmitter power.
600mW transmitter power assures 5 KM distance in the open area,

Project management
Responsibility Identification
No. Task Main Responsibility Secondary Responsibility

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 Hardware Team Member 2
1 Team Member 6
Procurement Team member 5
Team Member 7
2 Chassis Structuring Team Member 8
Team Member 6
Team Member 3
3 Design Team member 1
Team Member 6
Algorithm Team Member 1
4 Team Member 3
Management Team Member 10
Team Member 4
5 Circuit Ideation Team Member 9
Team member 5
Team Member 8
6 Test Planning Team member 2
Team Member 9
Team Member 1
7 Inspection Team Member 4
Team Member 2
8 Logistics Team Member 6 Team Member 5
Fundraising and Team Member 2 Team Member 3
9
sponsorship Team Member 4 Team Member 5

Schedule Management

No. Task Start Date End Date Duration

(Days)

1 Rulebook Realization 10-11-2023 18-11-2023 8

2 Literature Reading 18-11-2023 28-11-2023 10

3 Ideation 28-11-2023 04-12-2023 7

4 Proposal Formation 05-11-2023 05-01-2024 31

5 Presentation 06-01-2024 11-01-2024 6

6 Proposal and 11-01-2023 13-01-2023 2

Presentation
Finalisation

7 Designing 25-12-2023 20-02-2024 57

8 Design Finalisation 20-02-2024 25-02-2024 5

9 Fundraising and 25-01-2024 05-05-2024 100

Sponsorship

10 Procurement of 01-02-2024 25-02-2024 25

materials

11 Software building 10-01-2024 25-02-2024 45

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 12 Circuit building 05-03-2024 25-03-2024 20

13 Chassis Structuring 05-03-2023 30-03-2024 25

14 Assembly 05-04-2024 05-05-2024 30

15 Testing 05-05-2024 15-05-2024 10

Cost Estimation

No. Task Cost

1 Hardware Procurement 77,000

2 Chassis (Laser cutting) 4,000

3 3D Printing 10,000

4 Testing and other required tools 9,000

Novelty in the overall Proposal

1. Design:
After a deep research on the rovers and their designs we come up with a new design for the rover
which we can consider as a novelty.
Here we are designing our PCBs in such a way that we can make it more compact inside the rover.
We are placing the sensors in such a way that it is compatible and safe. We have come up with very
simple sensors in order to reduce the complexity and make sure that we don’t compromise on the
quality and functions assigned.
Our placement of the robotic arm on the rover is decided after research about the stability and
orientation of the rover at different situations.
2. Roving Mechanism
We use motors with encoders where we are planning to make the encoders give us feedback while
the rovers perform tasks assigned and this feedback is then fed into the onboard computers and
helps in taking decisions by the onboard computers.
The Rocker-Bogie mechanism which we chose is different from the common rocker bogie
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 mechanism , where we decided to make a rocker bogie mechanism which is mainly controlled by
suspensions and dampers here the suspension means the tensile springs which helps in safeguarding
the parts in the rover.
3. Picking Mechanism:
We are coming up with a new design for a robotic arm .The plan we have is to make a robotic arm
in such a way that the base of a robotic arm is controlled by gears.
4. Software:
We are using open source softwares for communication control and many actions of the rover.
We are using custom build algorithms for health monitoring system along with existing algorithms
with some modifications in it .
So to conclude we can say that the works that we do here ranging from design to building are are our own
ideas we have come up after deep research and our team is still researching on new techniques that can be
implemented making the rover unique.

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