Kosbar, Kurt; Dlouhy, Sarah; Arneson, Ethan; Missouri University of Science and Technology (International Foundation for Telemetering, 2019-10)
      This paper describes a module used to provide autonomous navigation and obstacle avoidance to a teleoperated prototype Mars rover designed to compete in the 2019 University Rover Challenge. For the competition’s Autonomous Traversal task, the rover must be capable of traversing difficult desert terrain in search of visual waypoints. Our design uses a custom Navigation Board (NavBoard), a mobile robotics computer, and a sensor capable of producing a dense point cloud. NavBoard provides quaternion-based orientation data, distance measurements from a 1D LiDAR system, and GPS data over ethernet to a mobile robotics computer. This computer derives a 3D point cloud from a three-headed collinear stereoscopic camera then processes that data along with the data from NavBoard to determine the correct action to navigate through sparsely mapped terrain.
    • CSI Estimation Using Artificial Neural Network

      Gajjar, Viraj; Kosbar, Kurt; Missouri University of Science and Technology (International Foundation for Telemetering, 2019-10)
      We propose using machine learning to estimate channel state information (CSI) for MIMO communication links. The goal is to use information such as atmospheric conditions, amount of path loss, and Doppler shift to improve the accuracy of CSI estimates. We start by designing an algorithm which estimates the CSI based on previously mentioned factors. Using this algorithm, we simulate a dataset of CSI over varying atmospheric conditions, receiver position, and receiver velocity. We then use this dataset to train an artificial neural network, which is able to estimate the CSI by using the current atmospheric condition, receiver position, and velocity.

      Kosbar, Kurt; Lipina, Jacob; Christmas, Austin; Marcolina, Rebecca; Missouri University of Science and Technology (International Foundation for Telemetering, 2019-10)
      This paper discusses the development of wireless inertial measurement units (IMUs) designed to transmit data from a prototype Mars rover to a remote base station. These nine degree of freedom, multi-chip modules provide measurements for linear acceleration, angular rotation velocity, and magnetic field vectors for the rover’s chassis and robotic arm end-effector. To facilitate integration into these dynamic systems, each unit is independently powered and has a form factor of 108 cc. IMU data is sent from 32-bit microcontrollers with embedded IEEE 802.11 b/g/n Wi-Fi to the rover via UDP transport through a custom publish/subscribe distributed IP protocol. Data is relayed over two circular polarized omnidirectional antennas to the base station’s dual linear MIMO Yagi-Uda antenna. The information gathered provides operators a heading and orientation to improve situational awareness, as camera visuals are often inadequate.

      Kosbar, Kurt; Verbrugge, Eli; Dahlman, Brian; Missouri University of Science and Technology (International Foundation for Telemetering, 2019-10)
      This paper examines the usage of telemetry for the six degrees of freedom robotic arm designed to compete on a mars rover in the 2019 University Rover Challenge. The arm utilizes three microcontrollers to receive control commands and translates them directly to motor signals for the six brushed DC motors. The usage of the 32-bit microcontrollers facilitates inverse kinematics, an intuitive process that allows commands to be sent as 3D coordinates to the arm, ensuring fine control for arm manipulation. Telemetry is transmitted from the rover to a remote base station over a 900 MHz RF link, using two omnidirectional cloverleaf antennas. Communication between the embedded systems is achieved with the ethernet User Datagram Protocol standard. This ensures seamless transferal of commands from the driver’s joystick to the arm, and a stream of telemetry containing motor currents, positional values, and limit switch states - a necessity for the open and closed loop control systems.