Dependability in a Mission Critical Scenario: D.I.A.N.A. Mars Rover System Analysis

In this thesis thanks to the collaboration with the students team D.I.A.N.A of Politecnic of Turin, that design and build rover aimed to support possible martian colonists, it is underlined all of the previous design problems in a real project work. The aim of this thesis work is to improve the driveability of the rover by the user and to increase its dependability in a possible mission critical scenarios. For what concern the drivability a mobility controller is developed. Thanks to this controller, the driver control the rover as if it is on its Center of Mass. In order to increase the dependability of the rover a Failure Mode and Effect Analysis (FMEA) is applied on the rover design. After underlined the possible failures and their effect it is important to try a diagnostic and mitigation, Failure Mode Effect and Diagnostic Analysis (FMEDA) of them to avoid uncorrect behaviour of the rover. The FMEDA is applied only on Mobility system even if the FMEA is applied on the entire rover. Thanks to simulations on Coppeliasim with a virtual rover with integrated both Mobility controller and Diagnostic algorithm code-generations is checked the correct work of them.