Missouri University of Science and Technology

[layneson]

They were the 2017 University Rover Challenge winners. Here's there GitHub organization: https://github.com/MST-MRDT.

It contains 62 repositories, many of which hold hardware design files. However, some do contain software. Some notable examples:

• https://github.com/MST-MRDT/ArmBoardSoftware contains software for controlling their robotic arm. It has a .ino file in it, which indicates that it might have something to do with Arduino.
• https://github.com/MST-MRDT/RoveBoard is a library that was designed to be abstracted over any microcontroller they wanted to use so that teams could use the same API regardless of the hardware. It looks like they only implemented it for one microcontroller, the Tiva tm4c1294ncpdt.
• https://github.com/MST-MRDT/RED-droid is the start of an android application for a "base controller". It was started three days ago.
• https://github.com/MST-MRDT/BmsBoardSoftware - battery management stuff.
• https://github.com/MST-MRDT/Science-Software holds the "science stuff" (the on-rover sensors and drill).

Their website is http://marsrover.mst.edu.

[ay-shimizu]

MRDT 2017 Critical Design Review

• custom engineered suspension - inspired by rocker bogie design
  • six wheel system; regular link structure and differential bar
    • clear large obstacles and stable at speed; increase mobility and maximize endurance
• hybrid aluminum carbon frame
  • supports new suspension, allows better integration and accessibility of the core systems
• motor controllers are customizable; texas instrument three phase gate drive
  • controllers able to react to changed in torque and speed
• streamlined power management system
• at base station, data provided by BMS (voltage, current, temp) monitored
  • communication accomplished by using Rover signal array and base station
    • custom made command console and dual polarity yagi antenna
• reduce mechanical complexity of arm to minimize cost and weight without sacrificing functionality
  • using custom made, manufactured cycle gearboxes to drive the arm to increase power and reliability
  • high strength carbon fiber
  • hollow tube structure allows for protected and internal routing of power throughout the arm
  • single multi purpose gripper
• strategy for sampling:
  • site selection criteria - based on geo-biology of Utah and Mars, visual cues (scripted biotic soil press, washes, mud cracks)
  • while taking sample, takes temperature and moisture readings
  • deposit sample into sample cache then analyze on board
  • base has five different chemical experiments to analyze habitability of site