Some posters presenting platforms and work done by SpaceMasters
Hardware available for Master's Thesis research
The Department holds plenty of hardware that can be used as a platform for project work studies and research work. Below are presented some of those, but there exist many more. Each platform carries several subsystems that can be developed further. These include mechanical systems, control electronics, communications systems, measuring and diagnostics systems, control and guidance software and human-machine interfaces.
The research topic for each SpaceMaster student will be selected together with the student and staff. Thesis work is done in the lab. Examples from previous years' SpaceMaster Theses can be found behind the links 'Previous Years' -> (Select year) ->'Theses'.
The Mars Ball demonstration model was built at the laboratory in context with a project for European Space Agency. SpaceMaster research with the ball shall produce a prototype of micro-controller controlled mobility including electronics, software and communication.
The Mars drill testing and development bench was built in context with a student project for European Space Agency student competition. Since then the system has been used in preparation of a doctoral thesis and in Mars drill development work for European Space Agency. The set-up is currently fully manual-operated and it needs to be automatized.
This tracked rover is an exact copy of MRosa-2 drilling system platform that was delivered by a Finnish consortium for European Space Agency. The platform carries 6 motors that need a proper control system. SpaceMaster research work shall develop a computer based control system for the rover including system design for computer and control architecture, communications, diagnostics and human-machine interface, and development of software for all systems.
6-wheeled Mars rover
This multi-freedom rover body procured together by TKK Automation Technology Laboratory and Russian RCL Company. Marsokhod demonstrates an extreme locomotion capability in rough terrain. Just like for
the drilling rover, also for this platform SpaceMaster research work shall develop a computer based control system for the rover including system design for computer and control architecture, communications, diagnostics and human-machine interface, and development of software for all systems.
The first round and second round SpaceMaster students worked with Marsokhod. Now the robot is not available any more.
Motherbot is a demonstration and development model for a large tracked robot to carry and serve several smaller marsupian robots. In 2007-2008 SpaceMaster studied motor control and balancing of this platform. Baby robot ('Marsupian'):
GimBall and Wopa
Wopa is a large and comlex mobile robot built over ten years in the lab. In 2007-2008 SpaceMaster developed a system to transfer human arm motion for the Wopa arm motion.
Gimball is a 40-cm spherical robot used for developing control and guidance methods. Spherical shape introduces its own challenges with respect to stability and steering. In 2007-2008 SpaceMaster developed motor control, communications and basic control algorithms for the robot. Sophisticated control and navigation deserve still a lot of work. The transparent spherical cover is a nice donation from Alppilux-company in Finland.
Balancing robot is a platform entirely built by a SpaceMaster student in 2007-2008. The robot monitors its attitude and uses its manipulator to maintain stability in difficult environmental circumstances.
J2B2 is a platform used on Field and Service robotics class. It has been used for studying teleoperation and immersive methods with time delay as well as navigation, location and SLAM-techniques.