My Contributions
Unique Control System
I analyzed electrical signals with an oscilloscope and created a unique control system by introducing a Digital To Analog converter (DAC) that simulated analog current, mimicking the functionality of pots used in e-bike throttles. To use the factroy 36v motor driver that came with the motor
Bidirectional Capability
I enabled the unidirectional motors to rotate in both directions by altering a mechanical feature (welding a one-way bearing inside the planetary gearbox) and incorporating 8 Double Pull Double Throw (DPDT) relays (12v trigger) and 4 single channel relays (5v trigger). This concept of using a DPDT relay to reverse the polarity was innovated by me when I was trying to reverse a drone motor used in my RC car gearbox using the same unidirectional ESC.
Sole Programmer
I have done all the programming for our 2022 rover. This includes Body control, Arm control, and Camera control. The 3 sub-control system.
Closed Feedback Loop
I Used 4 Encoders on the stepper motors and created a feedback loop to ensure precise angle locking and autonomous navigation.
Electrical System
I established the entire electrical system. I have done soldering, wire selection by current flow, wire routing, etc.
Hacking the Drive Motor
The motor faced a mechanical constraint due to a one-way bearing, limiting the rotation of the ring gear to only one direction, regardless of the input from the sun gear. Despite successfully rotating the coil in the opposite direction, the output gear remained unresponsive in that direction. Upon opening the motor and inspecting its gears, I identified the one-way bearing as the culprit. Through a welding solution, I successfully addressed the issue, enabling the motor to rotate in both directions.
PCB design and fabrication
I designed 3 pcbs in Proteus and fabricated them from local pcb manufacturing company. Instead of using one big circuit I divided them into 3 modules according to there action.
Automation
During the Automation mission, I have done the automation as the autonomous team couldn't finish and wasn't ready to execute the mission. Though I couldn't do much in one night, I secured 3 marks in that mission after spending the full night to program the rover.
Controller
I have controlled the rover from the base.
No malfunctions occurred in the electrical architecture, control systems, and programming throughout the entire contest, which spanned five days of rigorous tasks.
Testimony
"He is a resilient fighter and fought for his team and country in the most challenging situations."
Assistant Professor (World’s Top 2% Scientists)
Computer Science and Engineering
Team Supervisor, ARC 2022
Computer Science and Engineering
Team Supervisor, ARC 2022
"He is the steady hand on our team, always ready to tackle any issue, no matter how complex."
Shafayatul Islam
Team Leader - ARC 2022
Resilience and Perseverance
In the pursuit of victory, despite holding the roles of controller and electrical leader, I took immediate action by personally solving a critical situation during the ARC’22 competition. While performing the tasks, I noticed a malfunction in the Arm Base joint. Quickly returning the rover, I suspected an electrical issue, but upon inspection, it turned out to be a mechanical failure. Without thinking twice, I went under the rover and re-attached the sprocket following an unexpected separation from the Arm base - a potential disaster. Despite this setback, our team persevered, securing second place for 2nd mission. Had the incident not occurred, we likely would have secured the first position. Finally, our work and many sleepless nights paid off by securing a 3rd position in the world.
Our success in the ARC competition earned us a spot in the news
ARC 2022
ARC 2023
This year our juniors again secured 5th place with the same rover! Due to some unfortunate problems they couldn't make it to TOP 3.
Journey from mist (bd) to ITU (turkey)
