The results obtained

by the YASHAGO team at ARLISS 2006

KODAMA Masaaki, SHUDO Shinichi, TSUCHIDA Itsuro,

YAMASAKI Ayato, YOSHIKAWA Takashi

Department of Aerospace Engineering

Tohoku University
ARLISS Comeback competition

We developed a openclass rover,

adopting the Runback approachr.
Rover overview

GPS
receiver
MPU
stabilizer

„ Diameter 142 [mm] ×Width 230 [mm], 1.03 [kg]

„ Each wheel is independently driven by a DC-motor.
„ Commercial lithium ion battery(2000mAh) is mounted as a power source.
„ In order to avoid the main body from flipping over,
a stabilizer is attached on the main body.
Rover overview

GPS
receiver
MPU
stabilizer

„ EEPROM is mounted to store the data.

„H8/3694 is used as Micro processor (MPU)
„ motor driver is made by ourselves.
Features
„ The parachute can’t interfere with the rover by a fishing rod.
„ NiCr line burns off the fishing line to separate the parachute.
„ Max speed is 3 [km/h].
(maybe the fastest velocity in the history of Runback payloads)
„ Autonomous navigation system with only GPS receiver.
How to control

MPU mounted on the rover controls the

both of motors to make θ zero with PWM.
The duty ratio is determined by PI control
on the error angle θ .
How to control

Direction of velocity can be calculated from the difference

between current position and the position 1[sec] before
Comeback challenge
„ It was windy on that day.
„ Our rover was launched successfully by Erik.
The flight profile of our challenge

The horizontal distance

between the goal and landing point was 7.3 [km].
Comeback challenge
„ After 45[min] from the launch , we found the rover running.
„ At the time , the rover was at 4.8 [km] from the goal.
The velocity profile
„ Our rover ran at 3.0 [km/h] max , and 2.43 [km/h] average
„ At last, the rover stopped at the point of 44[m] from the goal
because the battery ran out.
The track of the 2nd challenge

The rover landed at the point

of 7.3 [km] from the goal

The rover took 3 hours to come back

to the point of 44[m] from the landing point.
Wind velocity
The horizontal velocity is
considered the wind velocity.

Horizontal：horizontal velocity
Vertical：altitude

Stronger wind was found in

higher area than 2500[m].
If the rover had stayed shorter in
the area, it could have landed at
nearer point.
The number of the GPS in the view
Even in the rocket,
GPS receiver caught the radio wave from GPS satellites.

GPS receiver faced to the ground?

Conclusion
„ We developed the micro rover for the ARLISS
comeback competition.
„ In our challenge, the rover was successfully
launched and came back to the point of 44[m] to
the goal, after 3 hours travel from the landing
point of 7.3[km].
(speed : average 2.43 [km/h], max 3.0 [km/h])
„ We have analyzed the detailed flight data, such as
the rover speed, the wind velocity, the number
of GPS satellites in the view.
Thank you for your attention

http://www.astro.mech.tohoku.ac.jp/home-e.html