M.A.R.S.U.P.I.A.L. Advisor: Les Moore Sean Greenslade. Nico Gallardo Chris Griffin Jared Raby

Transcription

1 M.A.R.S.U.P.I.A.L. Advisor: Les Moore Sean Greenslade Nico Gallardo Chris Griffin Jared Raby Wesley Wesly Rice 1

2 Agenda Background Review of previous presentation 1. Customer Requirements 2. Engineering Requirements System Analysis 1. House of Quality 2. Functional Diagram Concept of Architecture Development Engineering Analysis Risk Assessment Test Plan 2

3 Background Carnegie Robotics Badger Robot Achieves versatility through modular attachment system Advantages Rugged All terrain Chassis Universal mounts Field payloads Disadvantages Limited Payload Capacity Excessive Weight Limited Radio Range No included peripherals 3

4 Current Products Talon Specialized for military only use Tracked drivetrain lb robot weight 1000m Transmitter Range $230k 4

5 Current Products Packbot Used by military and civilian personnel Tracked drivetrain 5

6 Current Products Husky Civilian Use Four Wheel Drive train 2.3 mph 3 Hour Runtime 6

7 Problem Statement Robotic platforms 1. Search and Rescue 2. Bomb defusal 3. Farm field seeding These robots aren't versatile MARSUPIAL aims to combine the functionality of separate platforms into a single system. 7

8 Additional Deliverables Functional Prototype Test Data Documentation (User Manual, Design, etc.) Software 8

9 Customers and Users Robotics have a multitude of uses Military and civilian applications Search and rescue Bomb defusal Farm field seeding Fire Department Existing robots are effective at their respective tasks Less frequently robot incorporate task versatility into their design 9

10 Open Items Functional Decomposition Risk Assessment Engineering Requirements 10

11 Customer Requirements Customer Requirements # Weight Requirement 1 3 Mobile Ground Platform 2 3 Modular payload design 3 3 Follows industry standards 4 3 All terrain - rubble / indoor stairs 5 3 Reliable communication (Controller / Platform) 6 3 Durable chassis/maintenance Interval 7 2 Adequate computational power 8 3 Keep base mechcanical design 9 2 Remote viewing capability 10 3 Obstructed line of site communication 11 2 Reparability (Failure rate, not normal maintenance) 3 - Most Important - Must Have Legend: 2 - Medium Important - Preferable to have Least Important - Nice if possible

12 Engineering Requirements Engineering Requirements # Requirement Source Units of Measure Threshhold Objective Test 1 Mean Time Between Failures CR11 Hours > 400 > 600 Calculated 2 Quick Change Payloads CR2 Minutes < 10 < 5 N/A 3 Safety Standards CR3 N/A MIL-STD-883-E MIL-STD-883-E Comparison to Known 4 Environmental Standards CR3 N/A > IP-54 > IP-68 Dust & Water Test 5 Base Platform Weight CR1 Lbs < 125 < 75 Scale 6 Data Transfer Rate over Mesh CR9 Mb/s > 2 > 3 Throutput Tests 7 Vehicle Speed CR1 M/s >2.2 >6.8 Speed Test 8 Max Payload Weight CR2 Lbs >50 >100 TBD 9 Maintain Current Size Envelope CR8 inches 30 x x 22 Tape Measure 10 Video Feed Resolution CR9 Pixels > 320 x 240 > 1080 x 720 N/A 11 Frame Rate CR9 Frames/sec > 25 > 30 N/A 12 Flat ground incline CR4 Degrees > 40 > 45 Inclined Drive 13 Stair Incline CR4 Degrees > 38 > 42 Stair Climb 14 Step Obstacle Size CR4 Inches > 6hx8w > 8hx6w Obstacle Test 15 Ground pressure exerted by vehicle CR4 PSI < 4 < 1.5 Weight over Area 16 Mechanical Shock test CR6 g > 3 > 4 Drop test 17 Platform Runtime with Payload CR1 Hours > 3 > 4 Runtime Tests 18 Communication Range CR5 Meters > 200 > 400 Range Test 19 Computation Benchmarking - FFT 8192K CR7 milli sec < 500 < 120 Prime Communication Packet Loss CR10 % < 10 0 Network Reliability

13 House of Quality Customer Requirements # Weight Requirement Mean Time Between Failures Quick Change Payloads Safety Standards Environmental Standards 1 3 Mobile Ground Platform x x x x x x x x x Base Platform Weight Data Transfer Rate over Mesh Vehicle Speed Max Payload Weight Maintain Current Size Envelope Video Feed Resolution Frame Rate Flat ground incline Stair Incline Step Obstacle Size Ground pressure exerted by vehicle Mechanical Shock test Platform Runtime with Payload Communication Range Computation Benchmarking - FFT 8192K Communication Packet Loss 2 3 Modular payload design x x x x 3 3 Follows industry standards x x 4 3 All terrain - rubble / indoor stairs x x x x x x x 5 3 Reliable communication (Controller / Platform) x x x x x 6 3 Durable chassis/maintenance Interval x x x x 7 2 Adequate computational power x x x x 8 3 Keep base mechcanical design x x x x x x x 9 2 Remote viewing capability x x x 10 3 Obstructed line of site communication x x x x x 11 2 Reapairability (Failure rate, not normal maintinance) x x

14 Benchmarking Specs. Units MARSUPIAL PackBot Talon Runtime Hrs Speed m/s Platform Weight lbs Payload Weight lbs Footprint in. x in. 30 x x x 22 14

15 15 Concept & Architecture Development

16 Drawings 16

17 Functional Decomposition 17

18 Morph Chart Mode Of Transportation PackBot Concept A Concept B Concept C Concept D Tracks Tracks Legs Wheel Tracks Overcome Rubble Arms Suspension Walk Over Jump Over Grappking Hook Overcome Stairs Arms Suspension Walk Over Jump Over Roll Over Moving Power Source Battery Battery Fossil Fuel Engine Solar H2 Fuel Cell Coms To Robot Raio Radio Radio IR Tether Visual Feedback Still Camera IR Lidar Still Camera Coms With Payload CAN? CAN Ethernet Serial Serial Apply Payload Pins/Spring/Slots Bolts/Slots Picatinny Ratchets/Springs 18

19 Video Feedback Yes S S S S S - S Runtime w/payload ~2.5hrs Computational Power Minimal + S S S Environmental rating IP67 S S S S S S S Summation Summation Summation S Morph Chart Cont. Concept Criteria Datum/PackBot Concept A Concept B Concept C Concept D Talon Husky Badger Vehicle Speed 5.8mph Overcome Stairs 8"x10" S S S S S - S Overcome Rubble 12" S - Flat Ground Incline 60deg Surface Pressure Low(tracks) S - - S S - - Modularity Yes S S - S S S S Payload Application Time <10min + - S S None LOS Comms None + + S S S S S Comms Range 1000m S - S Safety Standards Yes S S S S S S S Max Payload Weight ~25lbs Size Envelope(mm^3) 17.8Hx52.1Wx88.9L S - S

20 Selected Concept Mode Of Transportation PackBot Concept A Concept B Concept C Concept D Tracks Tracks Legs Wheel Tracks Overcome Rubble Arms Suspension Walk Over Jump Over Grappking Hook Overcome Stairs Arms Suspension Walk Over Jump Over Roll Over Moving Power Source Battery Battery Fossil Fuel Engine Solar H2 Fuel Cell Coms To Robot Raio Radio Radio IR Tether Visual Feedback Still Camera IR Lidar Still Camera Coms With Payload CAN? CAN Ethernet Serial Serial Apply Payload Pins/Spring/Slots Bolts/Slots Picatinny Ratchets/Springs 20

21 System Architecture 21

22 Engineering Analysis Power Requirements Torque Requirements Center of Gravity Requirements Processing Capabilities System Weight Network Bandwidth 22

23 Engineering Analysis Power Idle (W) Nominal (W) Max (W) CPU (i7) CPU (beaglebone) Radio unit System microcontroller Camera Headlights Drive train Battery Data Battery Capacity Units BB Wh x4 828 Wh Cumulative Power (W) Estimated Runtime (hrs)

24 Engineering Analysis - Torque Vehicle Load/ Radius Drive Accel Angle Crr (rolling Coeff of Resistance Weight(lb) Wheel (lb) Wheel (in) Time(s) Velocity (fps) Incline(deg) resistance) friction Factor(bearings) % TTE=total tractive Effort RR=Force to overcome rolling resistance GR=force to climb Grade FA=force to accelerate to Velocity MTT=Max tractive Torque Tw=Wheel Torque Needed TTE(lb) = RR(lb) + GR(lb) + FA(lb) RR(lb)=VW*Crr GR(lb)=VW*sin(Angle Incline) FA(lb)=VW*Velocity(ft/s)/(32.2(ft/s2)*accel time(s)) MTT=loadwheel(lb)*Coeff*radius Tw=TTE(lb)*radius*Resistance factor TTE(lb) RR(lb) GR(lb) FA(lb) MTT(lb) RPM English Metric(N) TTE has to be Less that MTT possible Tw(in-lb) Torque per motor Power Needed English kw Metric(NM)

25 Engineering Analysis Center of Gravity Forward Slope Theta Base Line Max angle before tip Max Height of CG Factor of safety Max Y distance from CG Max X distance from CG New max height 8.51in 21.62cm Side Slope Theta Max angle before tip Baseline Max Height of CG

26 Preliminary Test Plan Data Transfer Rate Experimental Test File Speed Flat Surface Measured Distance timed Maximum Incline Adjustable Ramp Incline Test Stair Incline Stair Climb Test Specified Step Incline Clear-able Obstacle Size Specified Size (Rubble, Cinderblocks, etc.) 26

27 Preliminary Test Plan Cont. Mechanical Shock Drop Test (dropped from height) Run Time Guaranteed by Design and Verified by Experimental Testing Communication Range Experimentally Tested During Proof of Concept Field Range Test On-board Computational Power Benchmarking Prime95 Benchmark 27

28 Project Schedule Project Definition and Problem Statement Customer/Engineering Requrements Finalize System Requirements Customer Review Systems Level flow chart Subsystems Design Radio/Comm. feed proof of concept Drive train proof of concept Chassis design drive train design Modules bays completion Remote communications Camera integration Customer Review Detailed Design Power management design Motor control design Internal Communication design lighting design Internal computer specifications Critical design review Gate review

29 Risk Assessment Risk Severity Occurance Probability Mitigation Owner 1 Staffing/engineering ability 4 1 Consultation with advisor/customer Scale back of scope Nico 2 Budget 5 1 Consultation with advisor/customer Scale back of scope 3 Machine setbacks 3 1 Plenty of lead time Wes 4 Shipping setbacks 3 1 Plenty of lead time Nico 5 Part setbacks 3 1 Plenty of lead time Jared 6 Incorrect Engineering Analysis 2 3 Thourough verification of analysis Per subsystem 7 Ordering errors 3 3 Thourough verification of BOM Nico Wes 8 Catostrophic prototype failure 5 1 Proof of concepts Small scale tests befor large scale tests Chris 9 Time constraints Hardware failure Mechanical failure 3 4 Consultation with advisor/customer Scale back of scope Thorough design verification Spare components Thorough design verification Spare components Jared Chris Wes 12 Software failure 3 4 Thorough design verification Spare components Sean 13 Environmental factors 1 5 Review weather conditions Jared 14 Technological limits 3 1 Review current technologies Sean 29

30 Conclusions Questions? 30

31 31 Backup Slides

32 Use Scenarios 32

33 Use Scenarios 33

34 Use Scenarios 34

35 Use Scenarios 35