Difference between revisions of "RoboNav"

From RoboJackets Wiki
Jump to navigation Jump to search
m (→‎Past Competitions)
 
(31 intermediate revisions by 6 users not shown)
Line 1: Line 1:
−
[[Category: RoboNav]]
+
[[Category:RoboNav]]
−
[[File:Jessii.jpg|thumb|right|400px|Our 2019 robot, Jessii]]
 
−
The IGVC competition is centered around building the next generation of off-road, all-weather autonomous vehicles. The idea is to create a vehicle and tech stack that can navigate through an obstacle course to given GPS waypoints without human intervention. The map is not known beforehand, and while there are certain obstacles that are commonly used, theoretically anything can be placed onto the course. The competition is scored in three main areas. First is the design of the robot as presented in the TDP (a written report on the vehicle) that is given to industry experts for judging. Next, the team is scored based on their presentation of the robot, including a Q&A from the judges. Finally, the robot is put to the test by trying to navigate the fastest route on the AutoNav course. '''If''' multiple robots complete the course, the winner is the robot that completed it in the fastest time. Otherwise, the robot that navigates the farthest is the winner. In other words, speed is second to safety.
 
  
−
<!--
+
[[File:Equipment servicing1.jpg|thumb|right|250px|Rover before equipment servicing mission at URC 2025]]
−
{{countdown
+
 
−
|year      = 2019
+
URC is a multi-stage competition which involves designing, building, and commanding a rover-style robot in both manual and autonomous challenges. The competition is meant to simulate the conditions faced by Mars rovers, and as such consists of several missions: determining the presence of life in soil samples, retrieving rocks and other items, servicing equipment, and autonomously navigating the surface of "Mars" (actually the deserts of Utah). Teams must qualify through various reports and video submissions before being invited to compete. The RoboNav team has competed in the 2024 and 2025 competitions and hopes to qualify again in 2026.
−
|month      = 6
 
−
|day        = 8
 
−
|hour      = 13
 
−
|minute    = 1
 
−
|event      = IGVC Competition
 
−
|duration  = 1400
 
−
|eventstart = Let's go
 
−
|eventend  = Did we win?}}
 
−
-->
 
  
 
== Meeting Times ==
 
== Meeting Times ==
Line 23: Line 12:
  
 
== Current Leadership ==
 
== Current Leadership ==
−
* Project Manager: Tan Gemicioglu
+
<onlyinclude>
−
* Mechanical Lead: Charles Li
+
* Project Manager: Dylan Winer
−
* Electrical Lead: Nathan Koh
+
* Mechanical Lead: Cooper DelGandio
−
* Software Lead: Matthew Hannay
+
* Electrical Lead: Lindsey Zhang
 +
* Software Lead: Mrinal Jain
 +
* Science Lead: Madelyn Wayne
 +
* Drone Lead: Michael Lagana
 +
* MRC Lead (new member training): Ellie Pierburg
 +
</onlyinclude>
  
 
== Competition ==
 
== Competition ==
 +
This page describes our finals’ performances with photo galleries.
 +
 +
* [[RoboNav/University Rover Challenge Finals|University Rover Challenge Finals]]
 +
 
==== Guidelines ====
 
==== Guidelines ====
−
* [http://www.igvc.org/rules.htm Rules]
+
* [https://urc.marssociety.org/home  URC Official Website] 
 +
* [https://urc.marssociety.org/home/requirements-guidelines Rules]
 +
* [https://www.youtube.com/results?search_query=university+rover+challenge URC Videos]
 
==== Important Dates ====
 
==== Important Dates ====
−
* June 5-8, 2020: 28th Annual IGVC
+
* May 28 - May 31, 2025: 2025 University Rover Challenge
 +
* 2026 University Rover Challenge: TBD
  
 
== Past Competitions ==
 
== Past Competitions ==
  
 
{| class = "wikitable" style = "width:95%;"
 
{| class = "wikitable" style = "width:95%;"
−
|-  style="font-size:15px;" |
+
|-  style="font-size:15px;"  
 
| style="width:20%;" | '''Bot'''
 
| style="width:20%;" | '''Bot'''
 
| style="width:20%;" | '''Competition Years'''
 
| style="width:20%;" | '''Competition Years'''
 
| style="width:20%;" | '''Versions'''
 
| style="width:20%;" | '''Versions'''
 
| style="width:40%;" | '''Design Reports'''
 
| style="width:40%;" | '''Design Reports'''
 +
|-
 +
| style="font-size:15px;" | '''[[WALL-I]]'''
 +
| 2022 - 2025
 +
| Wall-I, Wall-II
 +
|
 +
* '''WALL-I:''' [https://youtu.be/jIm-jgbV9rE?si=YKKlaitTAGrA4KjM WALL-I SAR Video]
 +
* '''WALL-I:''' [[Media:2024_RoboJackets_SAR.pdf | WALL-I SAR Report]]
 +
* '''WALL-II:''' [https://youtu.be/J1OPRSGh6qM?si=9qchxkMxYmSkUhVj WALL-II SAR Video]
 +
* '''WALL-II:''' [[Media:2025_RoboJackets_SAR.pdf | WALL-II SAR Report]]
 
|-  
 
|-  
 
| style="font-size:15px;" | '''[[Jessi]]'''
 
| style="font-size:15px;" | '''[[Jessi]]'''
Line 69: Line 79:
 
|-
 
|-
 
| style="font-size:15px;" | '''[[Roxi]]'''
 
| style="font-size:15px;" | '''[[Roxi]]'''
−
| 2011-2012
+
| 2011–2012
 
| Roxi, Roxii
 
| Roxi, Roxii
−
|  
+
|
 
* '''Version 1:''' [[Media:RoxiDesignPresentation.pdf | Roxi Design Report]]
 
* '''Version 1:''' [[Media:RoxiDesignPresentation.pdf | Roxi Design Report]]
 
* '''Version 2:''' [[Media:RoxiiDesignReport.pdf | Roxii Design Report]]
 
* '''Version 2:''' [[Media:RoxiiDesignReport.pdf | Roxii Design Report]]
Line 83: Line 93:
 
| 2007 - 2009
 
| 2007 - 2009
 
| Candi, Candii, Candiii
 
| Candi, Candii, Candiii
−
|  
+
|
 
* '''Version 1:''' [[Media:CandiDesignReport.pdf | Candi Design Report]]
 
* '''Version 1:''' [[Media:CandiDesignReport.pdf | Candi Design Report]]
 
* '''Version 2:''' [[]]
 
* '''Version 2:''' [[]]
Line 96: Line 106:
 
| 2003 - 2004
 
| 2003 - 2004
 
| Buzzbot, Buzzbot II
 
| Buzzbot, Buzzbot II
−
|  
+
|
 
* '''Version 1:''' [[Media:BuzzBotDesignReport.pdf | BuzzBot Design Report]]
 
* '''Version 1:''' [[Media:BuzzBotDesignReport.pdf | BuzzBot Design Report]]
 
* '''Version 2:''' [[Media:BuzzBotIIDesignReport.pdf | BuzzBot II Design Report]]
 
* '''Version 2:''' [[Media:BuzzBotIIDesignReport.pdf | BuzzBot II Design Report]]
 
|}
 
|}
−
 
−
====Gallery of Past Robots====
 
  
 
====The Year of No Robot====
 
====The Year of No Robot====
Line 107: Line 115:
  
 
== Subteam Resources ==
 
== Subteam Resources ==
−
=== [[IGVC Electrical]] ===
+
=== Mechanical ===
−
* Overview
+
Overview
−
The IGVC Electrical Team focuses on the development of a high-power motor control system with various other subsystems for other forms of robot control. Motor control is centered around an mbed LPC1768 development board who handles Proportional-Integral-Derivative (PID) and light control.
+
* The URC Mechanical Team designs, integrates, and tests all structural and mechanical systems on our rover platform, including: 
 +
** Chassis and suspension design (currently a four-wheel rocker suspension with carbon-fiber leg joints) 
 +
** Robotic arm structure, kinematics, and custom cycloidal gearbox 
 +
** Science module mounting, coring drill integration, and modular payload interfaces 
 +
** Wheel and drivetrain component selection, bearing integration, and fabrication 
 +
** Structural analysis (FEA), load testing, and weight optimization 
 +
** Thermal and environmental protection, sealing, and serviceability features 
  
−
* Training info
+
Training info 
 +
* All new members complete a structured onboarding sequence: 
 +
** MRC orientation: the Mini Rover Challenge (MRC) is an internal, small-scale rover build-and-drive competition that gives hands-on experience in mechanical design, prototyping, and assembly before advancing to full URC rover
 +
** CAD modeling (SolidWorks), drawing standards, and version control best practices 
 +
** Finite-element analysis (ANSYS, SolidWorks) and stress analysis fundamentals 
 +
** CNC machining, mill, lathe, water jet, 3D printing, composite layup, and shop tooling safety 
 +
** GD&T, tolerancing, and manufacturing drawing review 
 +
** Assembly procedures, torque specifications, and preventative maintenance protocols
 +
 
 +
=== Electrical ===
 +
Overview 
 +
* The URC Electrical Team designs, integrates, and tests all electrical and embedded systems on our rover platform, including: 
 +
** High-voltage battery packs & Battery Management System (BMS) 
 +
** Power Distribution Units (PDUs) and custom PCBs 
 +
** Motor controllers and real-time control loop firmware 
 +
** Sensor interfaces (IMU, LiDAR, cameras, encoders) 
 +
** Communication networks (CAN bus, ROS2, Ethernet) 
 +
** Wiring harness design, cable routing, and ESD protection 
 +
 
 +
Training info
 +
* All new members complete a structured onboarding sequence:
 +
** MRC orientation: gives hands-on experience in electrical integration and control before advancing to full URC tasks
 +
** High-voltage safety & ESD handling
 +
** Soldering, PCB assembly, and DFM/DFT best practices 
 +
** Harness layout, strain relief, and cable management 
 +
** CAN bus, message arbitration, and ROS2 node communication 
 +
** Embedded firmware development (Teensy toolchains)
  
−
=== Mechanical ===
 
−
* Overview
 
−
* Training info
 
 
=== Software ===
 
=== Software ===
−
* Overview
+
Overview 
−
* Training info
+
* The URC Software Team develops and maintains all software components for rover autonomy, control, and operator interfaces, including: 
 +
** ROS2 node architecture and middleware integration 
 +
** Localization & mapping (EKF, LiDAR SLAM, visual odometry) 
 +
** Path planning algorithms (RRT, A*, traversability mapping) 
 +
** Perception pipelines (camera/LiDAR data processing, feature extraction) 
 +
** Teleoperation & base-station GUIs (custom dashboards) 
 +
** Simulation environments, CI/CD pipelines, and automated testing 
 +
 
 +
Training info 
 +
* All new members complete a structured onboarding sequence: 
 +
** ROS2 fundamentals: publishers, subscribers, services, parameters 
 +
** Git workflows, code review practices, and branching strategies 
 +
** Gazebo simulation integration and rosbag playback/debugging 
 +
** Algorithm testing & performance profiling (rqt, custom benchmarks) 
 +
** CI/CD pipeline setup: unit tests, linters, and automated deployment 
 +
 
 +
=== Science ===
 +
Overview
 +
* The URC Science Team designs, integrates, and validates all scientific payloads and instrumentation for mission objectives, including: 
 +
** Environmental sensing (temperature, humidity, atmospheric composition) 
 +
** Ninhydrin & chlorophyll fluorescence assays for organic detection 
 +
** Core drilling and soil sample collection modules 
 +
** In-situ spectroscopy and multispectral imaging systems 
 +
** Sample handling, contamination control, and sterilization protocols 
 +
** Data acquisition, storage, and real-time processing pipelines 
 +
** Astrobiology & Martian science: planetary geology, habitability assessment, biosignature detection, and Martian environmental context 
 +
 
 +
Training info
 +
* All new members complete a structured onboarding sequence: 
 +
** MRC orientation: the Mini Rover Challenge science task provides hands-on experience with assay integration, sample collection, and data logging before advancing to URC modules 
 +
** Instrument calibration: sensor characterization, calibration curves, and uncertainty analysis 
 +
** Lab procedures: aseptic technique, reagent handling, and safety best practices 
 +
** Software tools: data pipeline development, ROS2 integration, and dashboard visualization 
 +
** Field operations: drill operation, sample transfer, and contamination prevention 
 +
** Mars & geology fundamentals: planetary geology, mineralogy, regolith mechanics, and Martian environmental context 
 +
** Data analysis: statistical methods, visualization, and scientific reporting standards
 +
 
 +
=== Drone ===
 +
Overview 
 +
* The URC Drone Team designs, integrates, and operates an unmanned aerial vehicle to support rover missions, including: 
 +
** Airframe selection (multi-rotor) 
 +
** Flight controller firmware & autopilot integration
 +
** Payload integration (imaging sensors, communications relay, delivery modules) 
 +
** Communication networks 
 +
** Gimbal stabilization, camera interfacing, & sensor data streaming 
 +
** Power systems: LiPo battery management & payload power distribution 
 +
 
 +
Training info 
 +
* All new members complete a structured onboarding sequence: 
 +
** Flight safety & FAA regulations: pre-flight inspections, airspace classification, & risk mitigation 
 +
** Flight simulation & testing: software-in-the-loop and hardware-in-the-loop validation 
 +
** Autopilot mission planning: QGroundControl, MAVLink, waypoints, geofencing, & ROS2 integration 
 +
** Payload mounting & data link setup: camera/LiDAR mounts, telemetry tuning, & troubleshooting 
 +
** Battery management & maintenance: LiPo handling, charging best practices, & failure diagnostics 
 +
** Field operations: site selection, flight execution, recovery procedures, & post-flight analysis

Latest revision as of 20:41, 8 July 2025


Rover before equipment servicing mission at URC 2025

URC is a multi-stage competition which involves designing, building, and commanding a rover-style robot in both manual and autonomous challenges. The competition is meant to simulate the conditions faced by Mars rovers, and as such consists of several missions: determining the presence of life in soil samples, retrieving rocks and other items, servicing equipment, and autonomously navigating the surface of "Mars" (actually the deserts of Utah). Teams must qualify through various reports and video submissions before being invited to compete. The RoboNav team has competed in the 2024 and 2025 competitions and hopes to qualify again in 2026.

Meeting Times

We meet in the Student Competition Center (575 14th St). If you are working in the machine shop or mechanical room you will need to wear closed-toe shoes and a t-shirt (no long sleeves). Bring a hair tie if needed.

  • Wednesdays 6:30PM to 9PM
  • Sundays 4PM to 7PM

Current Leadership

  • Project Manager: Dylan Winer
  • Mechanical Lead: Cooper DelGandio
  • Electrical Lead: Lindsey Zhang
  • Software Lead: Mrinal Jain
  • Science Lead: Madelyn Wayne
  • Drone Lead: Michael Lagana
  • MRC Lead (new member training): Ellie Pierburg


Competition

This page describes our finals’ performances with photo galleries.

Guidelines

Important Dates

  • May 28 - May 31, 2025: 2025 University Rover Challenge
  • 2026 University Rover Challenge: TBD

Past Competitions

Bot Competition Years Versions Design Reports
WALL-I 2022 - 2025 Wall-I, Wall-II
Jessi 2018 - 2019 Jessi, Jessii, Jessiii
Woodi 2017 See Jaymi Jaymi's design report was submitted for Woodi.
Jaymi 2016 See Woodi Jaymi Design Report
Misti (IGVC) 2013 - 2015 Misti, Mistii
Roxi 2011–2012 Roxi, Roxii
Jeanni 2010 Jeani Jeani Design Report
Candi 2007 - 2009 Candi, Candii, Candiii
Trixxie 2006 Trixxie Trixxie Design Report
Buzzbot 2003 - 2004 Buzzbot, Buzzbot II

The Year of No Robot

In 2005, a year of transition, RoboJackets lacked the manpower to send a team to competition.

Subteam Resources

Mechanical

Overview

  • The URC Mechanical Team designs, integrates, and tests all structural and mechanical systems on our rover platform, including:
    • Chassis and suspension design (currently a four-wheel rocker suspension with carbon-fiber leg joints)
    • Robotic arm structure, kinematics, and custom cycloidal gearbox
    • Science module mounting, coring drill integration, and modular payload interfaces
    • Wheel and drivetrain component selection, bearing integration, and fabrication
    • Structural analysis (FEA), load testing, and weight optimization
    • Thermal and environmental protection, sealing, and serviceability features

Training info

  • All new members complete a structured onboarding sequence:
    • MRC orientation: the Mini Rover Challenge (MRC) is an internal, small-scale rover build-and-drive competition that gives hands-on experience in mechanical design, prototyping, and assembly before advancing to full URC rover
    • CAD modeling (SolidWorks), drawing standards, and version control best practices
    • Finite-element analysis (ANSYS, SolidWorks) and stress analysis fundamentals
    • CNC machining, mill, lathe, water jet, 3D printing, composite layup, and shop tooling safety
    • GD&T, tolerancing, and manufacturing drawing review
    • Assembly procedures, torque specifications, and preventative maintenance protocols

Electrical

Overview

  • The URC Electrical Team designs, integrates, and tests all electrical and embedded systems on our rover platform, including:
    • High-voltage battery packs & Battery Management System (BMS)
    • Power Distribution Units (PDUs) and custom PCBs
    • Motor controllers and real-time control loop firmware
    • Sensor interfaces (IMU, LiDAR, cameras, encoders)
    • Communication networks (CAN bus, ROS2, Ethernet)
    • Wiring harness design, cable routing, and ESD protection

Training info

  • All new members complete a structured onboarding sequence:
    • MRC orientation: gives hands-on experience in electrical integration and control before advancing to full URC tasks
    • High-voltage safety & ESD handling
    • Soldering, PCB assembly, and DFM/DFT best practices
    • Harness layout, strain relief, and cable management
    • CAN bus, message arbitration, and ROS2 node communication
    • Embedded firmware development (Teensy toolchains)

Software

Overview

  • The URC Software Team develops and maintains all software components for rover autonomy, control, and operator interfaces, including:
    • ROS2 node architecture and middleware integration
    • Localization & mapping (EKF, LiDAR SLAM, visual odometry)
    • Path planning algorithms (RRT, A*, traversability mapping)
    • Perception pipelines (camera/LiDAR data processing, feature extraction)
    • Teleoperation & base-station GUIs (custom dashboards)
    • Simulation environments, CI/CD pipelines, and automated testing

Training info

  • All new members complete a structured onboarding sequence:
    • ROS2 fundamentals: publishers, subscribers, services, parameters
    • Git workflows, code review practices, and branching strategies
    • Gazebo simulation integration and rosbag playback/debugging
    • Algorithm testing & performance profiling (rqt, custom benchmarks)
    • CI/CD pipeline setup: unit tests, linters, and automated deployment

Science

Overview

  • The URC Science Team designs, integrates, and validates all scientific payloads and instrumentation for mission objectives, including:
    • Environmental sensing (temperature, humidity, atmospheric composition)
    • Ninhydrin & chlorophyll fluorescence assays for organic detection
    • Core drilling and soil sample collection modules
    • In-situ spectroscopy and multispectral imaging systems
    • Sample handling, contamination control, and sterilization protocols
    • Data acquisition, storage, and real-time processing pipelines
    • Astrobiology & Martian science: planetary geology, habitability assessment, biosignature detection, and Martian environmental context

Training info

  • All new members complete a structured onboarding sequence:
    • MRC orientation: the Mini Rover Challenge science task provides hands-on experience with assay integration, sample collection, and data logging before advancing to URC modules
    • Instrument calibration: sensor characterization, calibration curves, and uncertainty analysis
    • Lab procedures: aseptic technique, reagent handling, and safety best practices
    • Software tools: data pipeline development, ROS2 integration, and dashboard visualization
    • Field operations: drill operation, sample transfer, and contamination prevention
    • Mars & geology fundamentals: planetary geology, mineralogy, regolith mechanics, and Martian environmental context
    • Data analysis: statistical methods, visualization, and scientific reporting standards

Drone

Overview

  • The URC Drone Team designs, integrates, and operates an unmanned aerial vehicle to support rover missions, including:
    • Airframe selection (multi-rotor)
    • Flight controller firmware & autopilot integration
    • Payload integration (imaging sensors, communications relay, delivery modules)
    • Communication networks
    • Gimbal stabilization, camera interfacing, & sensor data streaming
    • Power systems: LiPo battery management & payload power distribution

Training info

  • All new members complete a structured onboarding sequence:
    • Flight safety & FAA regulations: pre-flight inspections, airspace classification, & risk mitigation
    • Flight simulation & testing: software-in-the-loop and hardware-in-the-loop validation
    • Autopilot mission planning: QGroundControl, MAVLink, waypoints, geofencing, & ROS2 integration
    • Payload mounting & data link setup: camera/LiDAR mounts, telemetry tuning, & troubleshooting
    • Battery management & maintenance: LiPo handling, charging best practices, & failure diagnostics
    • Field operations: site selection, flight execution, recovery procedures, & post-flight analysis
Retrieved from "https://wiki.robojackets.org/index.php?title=RoboNav&oldid=23065"