ARLISS Comeback Competition:

- Evolution of Run-Back Rovers -

Kazuya Yoshida
Dept. of Aerospace Engineering
Tohoku University, Japan
Outline of the talk
† Introduction of ARLISS and the
Comeback Competition
† History of runback payloads
developed by Tohoku University
† Design evolution
† Tests and verification
† Data analysis
† Summary and future issues
 ARLISS: A Rocket Launch for
International Student Satellites
† The ARLISS program is designed to provide an
educational experience to students in the design,
flight and data analysis of a space experiment.
† This program is to prepare students for an exciting,
technical challenge that may lead to launching
space experiments into low earth orbits and
beyond.
 ARLISS Payload Requirement

Can-Sat : 350ml soda Open Class :

pop-can size φ150mm×250mm

1,050 g
φ65mm×120mm
350 g
Typical mission sequence (original idea)
Launch site:
Black Rock desert, Nevada,
U.S.A.

Ground station
CanSats 1999-2003
“Come Back Competition” Since 2002
Compete with autonomous navigation of a payload to
reach a specified point on the ground (the goal is given
by latitude and longitude data.)
GPS navigation became a key technology.

Fly Back
vs.
Run Back
“Run-back” Approach: Mission Sequence

“ Launch
“ Separation from the Rocket
“ Autonomous sequence starts
“ Parachute Open
“ Touchdown
“ Wish no damage
“ Separate the Parachutes
“ Navigation
“ Using GPS
“ Goal
Outline of the talk
† Introduction of ARLISS and the
Comeback Competition
† History of runback payloads
developed by Tohoku University
† Design evolution
† Tests and verification
† Data analysis
† Summary and future issues
Tohoku University: Run-back payloads
model 2002 model 2003 model 2004 model 2005

220 m

Parachute Didn’t Move Parachute

Didn’t Open After Landing Didn’t Open

model 2006 A

6m 44 m
model 2006 B
Koriki Mamorukun
Model 2002
GPS MPU
BATT

Radio
Motor
Driver
Side View Top View Stabilizer
Expandable Wheel

During the launch After the separation

form the rocket
(diameter =
140mm) (diameter =
175mm)
Mechanical Design

“ Expandable Wheels
“ Compliant spokes
“ Extend the wheel diameter
“ Versatility on natural rough terrain
“ Shock absorption (particularly at landing)
Navigation Algorithm
Target point

V
θ
ref
Present point

Velocity of
left wheel
Velocity of
right wheel
Past point V C

Tohoku University
Electronics Components
“ MPU :H8/3048F(HITACHI)
“ Memory :TC551001CP-85L (128K SRAM)
“ Power is supplied from a large capacitor. Data will
be hold for a few days.
“ BATT ：Sony InfoLithium (7.2V 28.8mAh)
“ GPS ：TH-79(FURUNO)
“ Modem IC :MN6127A
(National) BATT
“ Motor Driver:TA8429H
(Toshiba) MPU

Modem
Memory
GPS Radio
Result of 2002 challenge
The launch was beautiful
Parachute did not open
Impact landing & survival
Model 2002: Long-Range Navigation
“ Precise navigation using a commercial GPS
“ Cruising velocity 0.2-0.3 m/s
“ Total travel distance over the desert more
than 1,000m 40.856

N
40.854

40.852

700m
40.85

W 40.848
119.145 119.143 119.141 119.139 119.137
 Model 2003 : Desert Crawler-2
@ARLISS2003
GPS Radio

Stabilizer MPU

Width 220 [mm] ×Diameter 145 [mm]

Tohoku University
 Design Update from 2002 to 2003

• More effective locomotion

→ Circular wheels
(the expandable wheels are a good idea
but the power efficiency is not so good.)

• Refine the electronics

→ the number of circuit boards was reduced
from 5 to 2.

Tohoku University
Result of ARLISS 2003

Tohoku University
 Mission summary 2003

¾ Launch was beautiful.

¾ Parachute opened at the apogee.

¾ Due to the shock and vibration of the launch, the

GPS receiver was suspended.

Tohoku University
 Mission summary (2/2)

¾There was only a little damage on the payload at

landing.
¾After restart the GPS, the rover worked perfectly to
the goal.
¾ The rover traveled more than 3 hours/3 km to reach
the goal !!!

Tohoku University
Parachute separated & navigation started

Tohoku University
Travel on the desert

Tohoku University
Goal !!!!!

Tohoku University
Result (navigation profile)

2.01km
Traveling distance: 3 km
Traveling time: 3 hours

Tohoku University
Outline of the talk
† Introduction of ARLISS and the
Comeback Competition
† History of runback payloads
developed by Tohoku University
† Design evolution
† Tests and verification
† Data analysis
† Summary and future issues
Drop tests
Vibration tests
Parachute separation
Parachute separation
Rough terrain negotiation
Design improvement around the
motor shaft against impact landing

impacted parts
( Red parts )
Wheel Motor
protected part
Bearing ( Blue part )
 Flow chart of program sequence
Detect separation
loading Launching from the rocket
Waiting several minutes Using light
sensor’s value

Parachute Detect
Falling
separation landing
Using motors for Using GPS data of height Using a parachute module
drive wheels

Navigation Detect arrival YES

Goal!!
running at goal
Using GPS data NO Using GPS data
ARLISS 2006
 Prof. Twiggs !!

Target
Dr. Sako

6m
Rover
 History of ARLISS Rover challenge
Tohoku University

2002 Parachute Not Open

(1 km ground travel tested)
2003 Rover Not Start
(3 km ground travel tested)
2004 Parachute Not Open
2005 1st : 4.2 m after 2.1 km travel (unofficial)
2nd : 222 m after 4.2 km travel (battery run out)
2006 A: 6 m after 2.9 km travel
B: 44m after 7.4 km travel (battery run out)
Outline of the talk
† Introduction of ARLISS and the
Comeback Competition
† History of runback payloads
developed by Tohoku University
† Design evolution
† Tests and verification
† Data analysis
† Summary and future issues
The flight profile of 2006 rover -B
Navigation Data

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.
 The velocity profile of 2006 rover-B
„ Our rover ran at 3.0 [km/h] max , and 2.43 [km/h] average
„ At last, the battery ran out, and he stopped at 44[m] from the goal.
Wind velocity 20 m/s

The horizontal velocity is

considered the wind velocity.

Horizontal：horizontal velocity
Vertical：altitude 10 m/s

Maximum speed was 20 [m/s]

Outline of the talk
† Introduction of ARLISS and the
Comeback Competition
† History of runback payloads
developed by Tohoku University
† Design evolution
† Tests and verification
† Data analysis
† Summary and future issues
 Lessens Learned
Key tips:
1.2003
Make parachute
Parachute open securely
Not Open
(1 km ground
(two-stage, travel tested)
sizing)
2004 Rover Not Start
2. Get(3stared aftertravel
km ground landing
tested)
(impact
2005 → crash,
Parachute Not Openelectronics malfunction,
parachute
2006 1st : 4.2 mseparation → congestion)
after 2.1 km traveled (unofficial)
2nd : 222 m after 4.2 km traveled (battery out)
3. Navigation on ground
2007 A: 6 m after 1.5 km traveled
(GPS based,
B: 44m afterditches & obstacles,
7 km traveled (battery run out)
robust algorithms, speed, power)
 Proposed New Rules for
Comeback Competition
1. Goal qualification within 10 m
(normal GPS accuracy)
+
Ranking by traveling velocity

2. Require downlink data collection

through a radio signal repeater

3. Enable uplink commanding

(tele-operation)
→ More intelligent/interactive/
adaptive navigation
 Come-Back Competition since 2002

ARLISS2002