LIST OF TABLESLIST OF FIGURESIntroductionMotivationPRISMApproachThesis OrganizationMobile Base SelectionRequirementsPlatform TypesSnowmobilesVehiclesConversion KitUGV SnowmobilesATVsVehiclesWinterizationUGV ATVsAmphibious ATVsVehiclesUGV Amphibious ATVsRemote Controlled TanksCustomized VehiclesNomadDanteMars RoverBase SelectionActuationRequirementsMeasurementsMotorsMechanical vs. ElectromagneticLinear versus AngularComparisonMotor ControlMicrocontrollerComputerWinterizationProtective ShellStandard AdditionsCarbon FiberMetalT-slotted ExtrusionsSealingRubberAutomotive Weather StrippingSiliconeQuick WeldAir FiltersEngine AdjustmentsGenerator ExhaustRe-JettingOilEngine Weather KitSoftwareBackgroundDesignDeviceAbstract SensorPositionGPSHeadingTiltTemperatureDistanceBumpImageOther SensorsExtension to SensorSimple SensorLogging and Logs as SensorsRemote SensingActuationMotorSwitchesNull ActuatorsSystemPan-and-Tilt Zoom CameraMovement2DJoystick ControlNavigatorMobile Radar NavigatorSensor FusionSystemsHealth MonitoringEvent HandlingRemote Sensing and ControlApplicationImplementationActuationMAXATVPowerActuators - Linmot MotorsComputer - GoBook Max LaptopSensorsTopcon GPSMotionPak II GyroscopeTCM 2Sick Laser Range FinderPelco Camera + Axis 2400 Video ServerWS2000 Weather StationFuel SensorsWeather ProofingShellSealingFinished ProductSoftware Control SystemsPosition2Heading SensorMovement2DJoystick ControlSimple NavigatorObstacle AvoidanceMobile RadarRemote ControlSAR Tracked VehicleTopcon GPSHeads Up DisplayEvaluationSimulationTesting Platform - BobNomadic ScoutSony Vaio PicturebookOptional EquipmentGarmin GPSMotionPak IILocal Joystick ControlRemote Joystick ControlRemote SensingWaypoint NavigationMobile Radar NavigationObstacle AvoidanceMARVIN 2003 ResultsVehicle PerformanceAutomationMotorControlGoBook Max LaptopWeatherProofingShellSiliconeWeather StrippingRubber SealsQuick WeldEngine Weather KitOilHigh Altitude JetsAir Filters2003 AssessmentMARVIN 2004 ResultsWeather ProofingWaypoint NavigationKansas TestsGreenlandOverall Accuracy2004 AssessmentConclusionSummaryContributionsLimitationsFuture WorkDESIGN AND CONSTRUCTION OF A ROBOT FORPOLAR REGION NAVIGATIONByHans P. HarmonB.S.- Computer ScienceUniversity of Kansas, 2001Submitted to the Department of Electrical Engineering and Computer Scienceand the Faculty of the Graduate School of the University of Kansasin partial fulfillment of the requirements for the degree of Master of ScienceArvin Agah(Committee Chair)Costas Tsatsoulis(Committee Member)Chris Allen(Committee Member)Date of AcceptanceABSTRACTThis thesis presents how to build, weather proof, and control a robot to performwaypoint navigation in polar regions. Several platforms are analyzed for theability to survive polar environmental conditions, the ease of automation, payloadcapacity, and space available for extra equipment. A base platform is selected andthen analyzed to determine what is required to actuate the driving of the vehicle.The selected vehicle then undergoes winterization, determining what modificationsallow the vehicle to perform in polar regions. A weather proof enclosure is builtto protect instruments on board the platform. Control software then performswaypoint navigation on a test platform and the main robot in both Kansas andGreenland.iiACKNOWLEDGEMENTSI would like to acknowledge the contributions, support and encouragement ofothers who have helped me to complete my thesis. I would like to recognize mythesis chair and adviser Dr. Arvin Agah for giving me guidance and a placeto work. Next I say thanks to Dr. Chris Allen and Dr. Costas Tsatsoulas forserving on my committee. I also would like to recognize all of the f aculty, staff,and students on the PRISM project, for without them I would not have had theresources necessary for completing this thesis. Particularly Dr. Prasad Gogineni,who headed the project, my lab-mates Rich Stansbury and Eric Akers who helpedto build MARVIN and develop the API. I thank my wife Jenifer, w hose supportis greatly appreciated. And finally, I thank my family and friends.This work was supported by the National Science Foundation (grant OPP-0122520), the National Aeronautics and Space Administration (grants NAG5-12659 and NAG5-12980), the Kansas Technology Enterprise Corporation, andthe University of Kansas.iiiCONTENTSLIST OF TABLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xLIST OF FIGURES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.2 PRISM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.3 Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.4 Thesis Organization . . . . . . . . . . . . . . . . . . . . . . . . . . 42. Mobile Base Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52.1 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52.2 Platform Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62.2.1 Snowmobiles . . . . . . . . . . . . . . . . . . . . . . . . . . 72.2.1.1 Vehicles . . . . . . . . . . . . . . . . . . . . . . . 72.2.1.2 Conversion Kit . . . . . . . . . . . . . . . . . . . 72.2.1.3 UGV Snowmobiles . . . . . . . . . . . . . . . . . 92.2.2 ATVs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112.2.2.1 Vehicles . . . . . . . . . . . . . . . . . . . . . . . 112.2.2.2 Winterization . . . . . . . . . . . . . . . . . . . . 132.2.2.3 UGV ATVs . . . . . . . . . . . . . . . . . . . . . 142.2.3 Amphibious ATVs . . . . . . . . . . . . . . . . . . . . . . 172.2.3.1 Vehicles . . . . . . . . . . . . . . . . . . . . . . . 192.2.3.2 UGV Amphibious ATVs . . . . . . . . . . . . . . 202.2.4 Remote Controlled Tanks . . . . . . . . . . . . . . . . . . 222.2.5 Customized Vehicles . . . . . . . . . . . . . . . . . . . . . 232.2.5.1 Nomad . . . . . . . . . . . . . . . . . . . . . . . 242.2.5.2 Dante . . . . . . . . . . . . . . . . . . . . . . . . 252.2.5.3 Mars Rover . . . . . . . . . . . . . . . . . . . . . 252.3 Base Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28iv3. Actuation . . . . . . . …