MECH_404_Module_1_6_Rover

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Dec 6, 2023

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P a g e | 1 Proposed Rover Design: Titan Mission By Jason L. Wilson Introduction The mission to Saturn's moon Titan requires the development of a rover prototype that can withstand unique and challenging environmental conditions. It is necessary that during the design phase all appropriate sensors, actuators, and control units are researched thoroughly prior to the build phase of the rover. This mission will present challenges such as the lack of GPS, limited energy sources, and sound transmission rates, which must be considered during and recommendations on how the design team will take these into consideration. The design will require the integration of several engineering disciplines to overcome the environmental limitations of the moon while executing its mission autonomously, this will include the selection of proper materials for the rover to be made with and how to battle the climate. Structure The structure of the rover would be designed according to the environmental conditions present on Titan. The following are the required components of the rover: Sensors: -Visible Light Camera -Infrared Spectrometer -Radar Altimeter -Radar Sounder -Microphone Actuators: -Wheels -Drilling Mechanism -Sample Acquisition Arm -Mast Control Units: -Computers and Data Storage Devices -Communication Devices -Power Source

P a g e | 2 The above-mentioned sensors and actuators, which are just a base line to have, will facilitate the rover to collect data on Titan and move freely. Since a solar power system will not be able to be used for power, a nuclear-powered generator could be utilized as it can generate power for an extended period. Titan’s temperature can reach as low as -180°C, this must be taken into consideration when selecting the materials for the rover to be built along with the component's ability to withstand the cold temperatures. Housing the components to keep away from the icy environment along with specially designed wheels with the appropriate tread for the harsh climate will also need to be considered and designed. The robotic arm will house the drill and specialized tooling to ensure the rover can collect rock and soil samples from Titan's surface. While being able to collect samples, onboard instrumentation will be necessary and utilized to analyze the samples to gain a better comprehension of the composition of the moon and its geology. The mast will ensure the visible light camera and the radar sounder are positioned in a way that will enable the rover to take panoramic images and map the terrain. This will also ensure these items remain safe while transiting the terrain. Other cameras and sensors will be placed on the rover to prevent the rover from running into items and estimate how far away the rover is from certain points. The computers and data storage devices will collect and store all the data collected by the sensors, which will be transmitted back to Earth via other means. The onboard communication system will also allow scientists to send commands and instructions to the rover in real-time. Overall, the rover's structure will be designed to withstand the harsh environmental conditions on Titan while collecting valuable data and samples to further our understanding of this mysterious moon.

P a g e | 3 Diagram: The control units will receive the data from the sensors, which will in turn control the maneuverability of the actuators and communicate with Earth via communication devices. The mast, which houses the cameras, would be mounted on a motorized pivot, which can be moved to different positions. The drilling mechanism and sample acquisition arm would be used to collect samples from Titan. Figure 1: 2020 Perseverance Rover, MARS Mission As seen in Figure 1, by taking current designs and modifying them to our needs for Titan, we would be able to incorporate all necessary items as previously discussed.

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P a g e | 4 Discussion The lack of GPS on Titan limits the rover's navigation abilities, which might make it challenging to find a specific location. The sound transmission rate is also different on Titan, making it difficult to measure the distance accurately using ultrasonic sensors. The extremely low temperature on Titan will create issues with the rover's components and its electronics, which could lead to damage and affect its performance. Testing will need to be done on the reliability and functionality of the items in question. Hard choices will be needed on how to protect, house, and ensure the longest life possible of the sensor or instrument while on board the rover. The rover's nuclear-powered generator will be advantageous as it will provide power even in the absence of sunlight. The addition of a radar could also provide information about the moon's composition, which traditional drilling techniques may fail to acquire. However, handling nuclear power requires sensitive regulations and cautionary handling procedures. The environmental limitations of the Titan will present a considerable challenge for the design of the rover. The low temperature will require the design to incorporate an adequate power source and heating system. The absence of GPS will require an alternative navigation system, such as visual odometry. The insufficient harvestable solar energy will require the design to incorporate a nuclear power source. Additionally, the inaccuracy of the ultrasonic sensors will require alternative distance sensors, such as LIDAR or RADAR. The advantages of the proposed design are the incorporation of a nuclear power source, visual odometry, and an adequate heating system, ensuring that the rover operates autonomously and for an extended period. Furthermore, the processing unit allows the rover to execute its mission autonomously without relying on ground control.

P a g e | 5 Summary The limitations of the proposed design are the high cost of implementation and the technical expertise required for designing a nuclear power source and integrating a visual odometry system. The rover's design for this mission must account for the specific environmental conditions of Titan while incorporating technological advancements from the last 20 years. While we cannot completely affirm that this design is superior to its predecessors of the early 2000s such as the Spirit, Opportunity, or even now the Perseverance, it is safe to say that the incorporation of new technological advancements such as the nuclear-powered generator and radar will increase the rover's functionality and efficiency for the mission on Titan.

P a g e | 6 References Bornstein, J., Everett, H. R., Feng, L., & Wehe, D. (1997). Mobile robot positioning: Sensors and techniques. Journal of Robotic Systems , 14 (4), 231– 249. https://doi.org/10.1002/(sici)1097-4563(199704)14:4<231::aid- rob2>3.0.co;2-r Crane, L. (2020, March 5). NASA's next Mars Rover is called Perseverance and will search for life. Retrieved from https://www.newscientist.com/article/2236562-nasas-next-mars-rover-is-called- perseverance-and-will-search-for-life/ NASA. (2018). The Rover’s “Eyes” and Other “Senses.” NASA Mars. Retrieved February 19, 2023, from https://mars.nasa.gov/mer/mission/rover/eyes-and- senses/ Links to an external site.

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