PHOBETOR

Phobetor is our second generation rover, made for the Qualifying round of the World Robot Olympiad (WRO) . The goal of this rover is to find vital resources, such as Ice, Dry Ice and Lava Tube entrances, on the Martian as well as the lunar surface.

 
Phobetor breakdown

AI & RESOURCE DETECTION

 To accomplish the resource identification, we used a custom AI model, which we developed and trained ourselves. This model, provided with the footage from our front-mounted camera,  recognizes the resources mentioned above (Ice, Dry Ice, Lava Tube entrance) and commands the rover to navigate torwards them. When the rover arrives, it performs a 180° turn, as the on-board drill is positioned on the back of the rover, and drills near the resource. The drilling is supposed to release certain gases from the subsoil, such as methane, which we can measure with our enviromental sensors.

AUTO NAVIGATION & MAPPING

Phobetor possesses autonomous navigation and obstacle avoidance capabilities. By utilizing a LiDAR sensor (Light Detection and Ranging), it is able to evade any obstacle and ensure safe exploration. With the same LiDAR sensor, we can accurately map the surrounding area of the robot. On the map, the presise position of the resources that have been detected and the path that the robot has taken are also projected. The map incorporates an additional feature: by simply selecting a point, Phobetor autonomously navigates to the designated location before resuming its expedition.

Below is an example of a map generated by Phobetor:

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SENSORS & DATA PROCCESSING

Phobetor is equipped with temperature, light, uv, humidity, methane and particulate matter sensors, that help us collect useful information about the Martian or lunar atmosphere. The values of these sensors are projected live, in graphs. Also, by performing real-time data analysis, we are able to calculate a viability score, which provides enhanced insight into the most suitable area for future human habitation.

Below is an example of the sensors values being projected in graphs:

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ENERGY INDEPENDENCE

Energy independence is extremely importnant for sustaining long-duration missions in other planets. Phobetor achieves this with the use of a solar panel that charges the battery of the rover. However, a problem that comes with solar solutions, especially, on Martian rovers, is the dust accumulation on the solar panels which results in the obscuration of the photovoltaic cells, that in turn eliminates the generation of energy. Phobetor provides a solution to this problem by having an automatic wiper positioned next to the solar panel. When a dust storm is detected, the rover stops and waits for it to end, and when that happens, the wiper initiates its movement and cleans the solar panel effectively. A famous problem that caused the first martian rovers to fail, is now solved by Phobetor.

Below is how the wiper perfoms its cleaning movement:

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Photos of Phobetor

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