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## Use of magnetic field measurement in the functional aims of „Syriusz” the Mars rover

### Karolina Maria Popowska

#### Abstract

The dynamic development of commercial vehicle production, that we can observe in recent years is associated with a growing range of applications, from mowing lawns to space missions. An important feature of modern vehicles, regardless of the application, is their broadly understood autonomy, especially of functional processes. The basis of approach presented in this dissertation is all kinds of signals which, by providing relevant information, become useful in considered task. An important source of such a signal can be a measurement of the magnetic field. The aim of the thesis, therefore, is to propose technical solutions based on measuring magnetic field in "Syriusz"- the Mars rover. At the beginning of the thesis, chapter presents the results of literature studies in the field of magnetic sensors in various branches of industry and in the scientific - research and development area. The next chapter describes the area of interest of the robotics section of the Astronautics Student Club and thus presents the origins and concept of the "Syriusz" vehicle development. The result of such review is an appropriate division of the magnetic field sensors and the identification of their limitations and advantages depending on the specific applications. In the further part, there have been selected tasks, which implemented, with the use of magnetometers, would improve the autonomy of the vehicle. Among many tasks, the focus was on obtaining the information from wheels and other rotating elements, i.e.: rotational speed and angle of rotation. It is possible in a modern approach to the use of a bearing integrated with a concentrically multipolar - magnetized ring, at the same time fulfilling the function of sealing the rolling elements of the bearing. The following chapters describe the research carried out at positions specifically adapted for the analysis of the phenomena related to the task. The tests considered the influence of distance of the test object from the measuring instrument and the type of sensor used. A result of the thesis is a practical examination of the possibility of measuring the rotational speed of the wheels. However, considering the reliability of such a solution, the simulated states have been tested in the case of various levels of coder damage. The proposed concept of measuring and adjusting the rotational speed of the wheels to the speed of the vehicle can solve the problem of vehicle sinking in difficult terrain, although the implementation of this solution requires wider changes in the construction of the vehicle. The summary of the thesis indicates a large perspective of the use of magnetic field measurement, both in the implementation of the proposed solutions, as well as the broadening of the vehicle's research functions with geological research on the magnetic properties of the ground and the vehicle's environment.
Diploma type
Engineer's / Bachelor of Science
Diploma type
Engineer's thesis
Author
Karolina Maria Popowska (FACME) Karolina Maria Popowska,, Faculty of Automotive and Construction Machinery Engineering (FACME)
Title in Polish
Wykorzystanie pomiaru pola magnetycznego w celach funkcjonalnych łazika marsjańskiego "Syriusz"
Supervisor
Szymon Gontarz (FACME/IV) Szymon Gontarz,, Institute of Vehicles (FACME/IV)Faculty of Automotive and Construction Machinery Engineering (FACME)
Certifying unit
Faculty of Automotive and Construction Machinery Engineering (FACME)
Affiliation unit
Institute of Automotive Engineering (FACME/IV)
Study subject / specialization
, Inżynieria Pojazdów Elektrycznych i Hybrydowych
Language
(pl) Polish
Status
Finished
Defense Date
01-07-2019
Issue date (year)
2019
Internal identifier
SIMR; D-2216
Reviewers
Szymon Gontarz (FACME/IV) Szymon Gontarz,, Institute of Vehicles (FACME/IV)Faculty of Automotive and Construction Machinery Engineering (FACME) Krzysztof Szczurowski (FACME/IV) Krzysztof Szczurowski,, Institute of Vehicles (FACME/IV)Faculty of Automotive and Construction Machinery Engineering (FACME)
Keywords in Polish
koder magnetyczny, pole magnetyczne, łazik marsjański
Keywords in English
magnetic coder, magnetic field, Mars rover
Abstract in Polish
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Identyfikator pracy APD: 34602

Uniform Resource Identifier
https://repo.pw.edu.pl/info/bachelor/WUT3665c0dcfb9b44f3b01d667a9c76a0ce/
URN
urn:pw-repo:WUT3665c0dcfb9b44f3b01d667a9c76a0ce

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