Making of OOZ2Mars Rover

@luisfcorreia Making of OOZ2Mars Rover Luis Correia OOZLabs

@luisfcorreia Luís Correia Hacker, Geek, Maker since the 70’s OOZLabs
co-creator (July 2014)

@luisfcorreia OOZ2Mars OOZLabs is a fun, YouTube based project Created
by three guys in a basement

@luisfcorreia OOZ2Mars

@luisfcorreia OOZ2Mars OOZ 2 Mars was created for Maker Faire
Lisboa 2015 It promoted public interaction and interest for space exploration

@luisfcorreia OOZ2Mars Pitching the project to Maker Faire

@luisfcorreia OOZ2Mars Pitching it to the public

@luisfcorreia OOZ2Mars Our generation saw the Man on the Moon
Current generations will see the Man on Mars

@luisfcorreia OOZ2Mars Space is vast, real time communication is problematic
Round trip comms to Mars go from 6 to 44 seconds

@luisfcorreia OOZ2Mars Misson Commander prepares a sequence of commands Mars
Rover executes the sequence, avoiding obstacles

@luisfcorreia OOZ2Mars How does it work inside?

@luisfcorreia OOZ2Mars Mission Control Wireless Access Point, MQTT Server HTML
Interface and a MQTT gateway

@luisfcorreia OOZ2Mars Mission Control Command sequences are sent to MQTT
gateway Into rover/command queue

@luisfcorreia OOZ2Mars # wsmqtt.py import cherrypy import paho.mqtt.publish as paho
class WS(object): @cherrypy.expose def index(self,msg=""): print "got this! " + msg if msg[:3] == 'MIS' and msg[-3:] == 'SIM': paho.single("rover/command",msg,hostname=”10.42.0.1”) return "ok" if __name__ == '__main__': cherrypy.quickstart(WS())

@luisfcorreia OOZ2Mars Mars Rover Raspberry Pi 2 with raspicam Arduino
Leonardo for motor control Arduino 328p RedBoard for sensors and telemetry

@luisfcorreia OOZ2Mars Mars Rover L298 motor drivers, HC-04 ultrasound sensors
Two 11.1V LiPO batteries in parallel

@luisfcorreia OOZ2Mars Mars Rover Connects to Mission Control via WiFi
Provides a camera livestream (unreal but good for the public)

@luisfcorreia OOZ2Mars Mars Rover mjpegstreamer daemon app.py, serial1.py and serial2.py
do all the magic

@luisfcorreia OOZ2Mars Mars Rover app.py runs two threads, serial2.py listens
rover/command serial1.py for rover/telemetry and collision detection to rover/command

@luisfcorreia OOZ2Mars Mars Rover Collision detection injects a command into
rover/command with a move into the opposite direction

@luisfcorreia OOZ2Mars Code available on Github https://github.com/OOZLabs/MakerFaire2015

@luisfcorreia OOZ2Mars Rover DEMO

@luisfcorreia OOZ2Mars What went well

@luisfcorreia OOZ2Mars Server and Rover worked mostly fine during all
three days Switching batteries without shutting down Rover Batteries lasted about five hours

@luisfcorreia OOZ2Mars The project won three “Maker of Merit” badges
Interviews for Television and Newspapers

@luisfcorreia OOZ2Mars What went less well

@luisfcorreia OOZ2Mars Mechanical problems in the Rover Problems with obstacles
in Martian terrain Wifi signal loss

@luisfcorreia OOZ2Mars Robotic arm and probe wasn’t implemented Camera and
wheel rotation Battery level status displayed in Mission Control

@luisfcorreia OOZ2Mars We were planning to deliver photos and videos
from each mission to the Commander

@luisfcorreia OOZ2Mars If today, what would you change?

@luisfcorreia OOZ2Mars Not using MQTT One Arduino MEGA (more available
pins) Most logic would be transferred to Raspberry Pi Mission Control would be a physical panel

@luisfcorreia OOZ2Mars Simplify mission control panel even more Improved collision
avoidance algorithm Provided more deliverables

@luisfcorreia OOZ2Mars Free Maker Tip If you make something out
of 3D printed parts Please, don’t leave them in a car on a warm day (sensitive images follow)

@luisfcorreia OOZ2Mars Before: bit.ly/OOZ2MarsHeat1 After: bit.ly/OOZ2MarsHeat2

@luisfcorreia OOZ2Mars Thanks go to Basílio Vieira - 3D design
and printing Nuno Correia - Rover Chassis Bruno Amaral - HTML Mission Control design

@luisfcorreia OOZ2Mars Thanks for the journey http://bit.ly/ooz2mars

Making of OOZ2Mars Rover

Making of OOZ2Mars Rover

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