• Analysis of a Systems Engineering Based Approach to the University Rover Challenge

      Kosbar, Kurt; Jetter, Joshua; Missouri University of Science and Technology (International Foundation for Telemetering, 2013-10)
      The University Rover Challenge is a competition to build a scaled down version of a next-generation Mars rover. This paper describes the comprehensive systems engineering based approached used by the Missouri S&T Mars Rover Design Team. This student run, interdisciplinary team of approximately 50 students followed a comprehensive systems-engineering based approach to the conceptualization, design, implementation, test and evaluation of the project. This has allowed students to leverage their discipline specific expertise, while simultaneously facilitating the cross-disciplinary communication which is essential to the successful completion of the project. The team's performance in the competition will provide metrics to analyze the efficacy of this organization and approach.
    • Design and Semi-Autonomous Control of a 6-Axis Robotic Arm Used in a Remote Sensing Application

      Kosbar, Kurt; Sullivan, John; Coffman, Amy; Roberds, Benjamin; Roberts, Jordan; Missouri University of Science and Technology (International Foundation for Telemetering, 2013-10)
      This paper describes the sensor and actuator package for a 6-axis articulated arm which is part of a robotic vehicle entered in the Mars Rover Challenge competition. The robot is intended to perform some of the same duties as a human, but be remotely controlled. It uses an articulated arm for many of these duties. Because of the large number of degrees of freedom, it would be tedious to control each joint individually. A system was developed to measure the state of each joint, transmit this information back to a base station, and semi-autonomously control the arm.
    • Telemetry and Command Link for University Mars Rover Vehicle

      Kosbar, Kurt; Hobbs, Jed; Meye, Mellissa; Trapp, Brad; Ronimous, Stefan; Ayerra, Irati; Missouri University of Science and Technology (International Foundation for Telemetering, 2013-10)
      This paper describes a telemetry and command communication link used as part of a rover entered in the University Mars Rover competition. The link is capable of transmitting multiple real time video streams, along with other telemetry data from a rover to a base station approximately one kilometer away, under non-line-of-sight conditions. Low data rate commands are sent to the rover, to control its movement. To simulate conditions on Mars, the link cannot use existing cellular or satellite communication infrastructure. The data link uses the 70 cm Amateur Radio band for transmission in both directions.