ABOUT

SOLAR PANEL AUTONOMOUS ROBOTIC CLEANER (SPARC)

The Solar Panel Autonomous Robotic Cleaner (SPARC) is a semi-autonomous robotic system designed to mitigate dust accumulation on solar panels operating in Mars-like environments. Dust deposition is one of the most severe threats to photovoltaic power generation in extraterrestrial missions, leading to reduced efficiency, thermal stress, and premature mission termination. SPARC addresses this challenge through a lightweight, low-voltage, and energy-aware robotic cleaning solution optimized for safe prototyping and future mission scalability.

The system integrates a hybrid dust-removal approach that combines microfiber cleaning, adaptive airflow, and sensor-driven autonomous control. A precision rail-mounted locomotion system enables movement across the solar panel surface, while onboard sensing and control logic ensure cleaning occurs only when sufficient surplus energy is available.

The development methodology includes mechanical design of a positive-drive carriage, integration of stepper-based actuation, implementation of EEPROM-backed positional recovery, and validation through simulated dust exposure and power recovery measurements. SPARC demonstrates how low-impact robotic maintenance can significantly enhance solar panel reliability and operational lifespan in dusty planetary environments.

TEAM

INTRODUCTION

ABSTRACT

Solar energy is a critical power source for extraterrestrial missions, particularly on Mars, where fine dust accumulation severely degrades photovoltaic performance. Low gravity, frequent dust storms, and electrostatic adhesion accelerate solar panel soiling, leading to power loss and mission failure. SPARC presents a semi-autonomous, low-voltage solar panel cleaning system that combines microfiber-based mechanical cleaning with adaptive airflow and energy-aware control logic. The system employs rail-mounted locomotion, sensor-triggered operation, and EEPROM-based positional recovery for fault tolerance. Electrical load analysis, component selection, and environmental adaptations are discussed, demonstrating a practical and scalable approach to maintaining solar power reliability on Mars.

Keywords: Solar panel cleaning, Mars environment, autonomous robotics, electrostatic dust mitigation, renewable energy maintenance

INTRODUCTION

Sustained solar power is essential for long-duration Mars missions, yet dust accumulation on photovoltaic arrays remains one of the leading causes of power degradation. Fine Martian regolith adheres to solar panel surfaces due to dust storms. Even small amounts of dust can drastically reduce power output, threatening rover mobility, communication, thermal regulation, and scientific operations.

Manual cleaning is impossible on Mars, and Earth-based teleoperation is impractical due to communication delays and limited energy availability. Past missions such as Opportunity and InSight have demonstrated that reliance on natural wind-driven cleaning is unreliable and often insufficient to sustain long-term operations.

SPARC is designed as a safe, low-voltage, and energy-aware robotic maintenance system that autonomously cleans solar panels only when conditions allow, ensuring efficient use of limited power resources. The system prioritizes durability, fault tolerance, and repeatable performance, making it suitable for both laboratory validation and future planetary deployment.

PROBLEM STATEMENT

Martian dust accumulation is a mission-critical problem that has directly contributed to the loss of high-value surface assets. Persistent dust deposition and planet-wide storms reduce incident solar irradiance, forcing solar-powered landers and rovers into low-power states or permanent shutdown. NASA’s InSight lander experienced progressive power loss as dust covered its solar arrays, ultimately ending scientific operations, while Opportunity ceased communication following a global dust storm.

Existing mitigation strategies present significant limitations. High-voltage electrostatic cleaning systems, while promising, require complex safety infrastructure and increased mass. Purely mechanical solutions risk abrasion and wear, while passive cleaning approaches are unpredictable. There is a clear need for a low-voltage, energy-efficient, and fault-tolerant cleaning system that can restore panel output, operate autonomously, and be safely prototyped and validated on Earth.

OBJECTIVES

The primary objective of SPARC is to develop a reliable autonomous cleaning system that maintains solar panel efficiency in dusty extraterrestrial environments.

Key Objectives

• Demonstrate a low-voltage, mission-relevant cleaning subsystem suitable for laboratory validation.
• Achieve deterministic motion and positional recovery using EEPROM-backed absolute positioning.
• Validate hybrid dust removal combining microfiber electrostatic pickup and adaptive airflow.
• Implement energy-aware control logic that protects mission power budgets.

Ensure safe operation, fault tolerance, and repeatability under simulated Mars-like conditions.

SYSTEM OVERVIEW

SPARC is implemented using the HELIOS (Hybrid Electrostatic-assisted Low-impact Intelligent Operation System) architecture. HELIOS serves as the core prototype platform, emphasizing deterministic motion, low mechanical wear, and intelligent energy management.

Key Features

• Hybrid Cleaning Head: Microfiber cloth for passive electrostatic capture combined with an ESC-controlled blower.
• HelioTrack Positive-Drive Carriage: Toothed rail and interlocked stepper system for slip-free motion.
• EEPROM Position Recovery: CRC-verified mirrored records enable resume after power loss.
• Energy-Aware Autonomy: Cleaning occurs only when surplus power is available.
• Mechanical Parking Latch: Prevents drift when the system is unpowered.

System Overview: 

PROPOSED SOLUTION

SPARC employs a single-axis rail-mounted robotic cleaner designed for safe, low-voltage operation. The system uses dual stepper motors to move a hybrid cleaning head across the solar panel surface. Dust removal is achieved through gentle microfiber wiping and directed airflow, minimizing abrasion while effectively removing both fine and loose particles.

Electrostatic high-voltage dust removal is documented as a future enhancement and is not included in the current physical prototype.

HARDWARE COMPONENTS

• Arduino Uno (central controller)
• HelioTrack toothed rail and carriage
• 2 × 28BYJ-48 stepper motors with ULN2003 drivers
• A2212 BLDC motor with ESC (blower)
• Microfiber cleaning cloth with preload springs
• EEPROM for positional memory
• Voltage sensor and photoresistor (LDR)
• Rechargeable battery and solar charging system
• I2C LCD for system monitoring

SYSTEM OPERATION

The system performs an automated sweep across the solar panel surface:

1. Sensors assess light availability and panel voltage.
2. Cleaning is initiated only when surplus energy is detected.
3. The carriage moves along the rail while the hybrid cleaning head operates.
4. Voltage recovery is monitored in real time.
5. The system terminates cleaning once target recovery is achieved.
6. Position is stored in EEPROM for fault-tolerant recovery.

MECHANICAL DESIGN

Isometric view

Front view

Back view

Left view

Right view

Top view

Bottom view

Circuit diagram

RESULT AND PERFORMANCE EVALUATION

Cleaning Effectiveness

• Significant restoration of panel output after dust removal.
• Hybrid microfiber-airflow approach improves dust mitigation without surface damage.

Reliability

• Deterministic motion and EEPROM recovery enable resume after power loss.
• Stall detection and safe parking routines improve system robustness.

Energy Efficiency

• Energy-aware logic minimizes unnecessary cleaning cycles.
• Low-voltage design ensures safe and efficient operation.

ADVANTAGES & LIMITATIONS

Advantages

• Low-voltage and student-safe design
• Energy-aware autonomous operation
• Minimal mechanical wear
• Modular and scalable architecture
• Suitable for Mars-like environments

Limitations

• Limited processing power for advanced AI
• Mechanical wear over extended operation
• Electrostatic module not implemented in prototype
• Requires further testing under thermal-vacuum conditions

FUTURE SCOPE

• Integration of electrostatic dust removal module
• Advanced image-based dust detection
• Swarm-based cleaning for large solar farms
• Radiation-hardened electronics
• Autonomous docking and self-charging systems
• Deployment for Mars habitats and long-duration missions

CONCLUSION

SPARC demonstrates that effective solar panel maintenance on Mars can be achieved using a low-voltage, energy-aware, and fault-tolerant robotic system. By combining deterministic rail-based motion, hybrid dust removal, and intelligent power management, the system provides a practical solution to one of the most persistent challenges in planetary exploration. SPARC bridges the gap between conceptual research and deployable technology, offering a scalable pathway toward sustainable solar power generation on dusty planetary surfaces.