1. Computerized and Enhanced Robotic Excavation System (C.E.R.E.S.)
Akashita Sareen, Nicholas Persing, May Nyien Chan, Naifeng Lin, Tamerlan Yeleussizov, Ashish Khoyani, Daniel Chojnowski, Peng Peng Zhang, Micah Crawford, Nigel Murillo, Terry Washburn, Raven Stubbs, Catherine Grover
Faculty Advisors: Dr. Markus Wilde, Dr. Kimberly Demoret, Dept. of Mechanical and Aerospace Engineering, Florida Institute of Technology
Introduction
C.E.R.E.S. is a partially autonomous robot built to compete at the annual NASA Robotic Mining Competition in May. The competition is held to encourage clever excavation techniques by university-level students that can be used in future in-situ resource utilization missions on Mars.
Robot Specifications
Mass of Robot = 65kg
Dimensions of Robot = 1.3m x 0.7m x 0.7m
Carbon Fiber Wheel tread height and number:
The CAD models are older versions and act as placeholders until the updated models are added.
ϕ =angular tread spacing, i =Wheel Slip, ĥ=tread height, z=Wheel Sinkage
Figure 4. Impeller System for Collection of BP-1
Problem Statement
To design and build a mining robot that can traverse simulated Martian regolith (BP-1), excavate BP-1 and gravel and return the excavated mass to a collector bin to simulate an off-world mining mission.
Figure 1. Carbon Fiber Wheel Safety Factor Analysis, 2.82 Min.
Impeller Mining Rate :
The auger-impeller system is a novel solution for regolith excavation on Mars.
Robot Control and Power
Manual Control
Two cameras are used for visual feedback.
Xbox One controller provides operational control.
Autonomous Control
Power
Two Lithium Polymer (LiPo) batteries in parallel.
Estimated energy consumption = 123W-h
Battery Supplied Energy = 176W-h
Objectives
Number
Description
OBJ-01
The robot shall be able to navigate either autonomously or manually or both.
OBJ-02
The robot shall weigh less than 80kg.
0BJ-03
The length, width, and height of the robot shall be no greater than 1.5m x 0.75m x 0.75m.
0BJ-04
The robot shall be able to mine with dust tolerance, reaching the gravel placed under a 30cm layer of BP-1.
OBJ-05
The robot shall perform its tasks by utilizing minimum energy and average data bandwidth.
OBJ-06
The robot shall be able to mine a minimum of 10kg of BP-1 and gravel.
Figure 2. CAD Render of C.E.R.E.S.
Mining and Collection Technique
Figure 5. Control Flow Diagram
Conclusion
The C.E.R.E.S. team goal is to verify all requirements through tests and analysis and perform well at the NASA Robotic Mining Competition.
Figure 3. Auger System for Mining BP-1 and gravel
Auger Mining Rate :