MARSUPIAL Detailed Design Review

Transcription

1 MARSUPIAL Detailed Design Review Carnegie Robotics LLC. #10 40th Street Pittsburgh, PA Jared Raby Nico Gallardo Chris Griffin Sean Greenslade Wesly Rice Use or disclosure of document data is subject to the restrictions on the title page Page 1

2 Agenda Introduction Systems Detailed Design Tracks/Suspension Wireless Node Payload Wireless Node Deployment Electrical Systems Test Plans Risks MSD II Schedule Questions Use or disclosure of document data is subject to the restrictions on the title page Page 2

3 Introduction MARSUPIAL Tracked Rover for CRL Scope Suspended Track System Wireless Node System Electrical Systems Deliverables Suspended Track System Mesh Network Payload Use or disclosure of document data is subject to the restrictions on the title page Page 3

4 Wes TRACKS AND SUSPENSION Use or disclosure of document data is subject to the restrictions on the title page Page 4

5 Tracked Suspension System Suspension Rugged Against Impact Shock Various Environmental Areas Climb Obstacles Self Contained IP Rated Seals Drive-Train Off The Shelf Motors Meet Speed And Torque Requirements Simple Gearing Integrated Electronics Odometry Use or disclosure of document data is subject to the restrictions on the title page Page 5

6 Suspension Design Improved Christie Volute Emphasis Tracked Suspension System Maintainable 2 SHCS Sizes Retaining Rings Sealed Bearings Sealed Gas Springs Use or disclosure of document data is subject to the restrictions on the title page Page 6

7 Tracked Suspension System Use or disclosure of document data is subject to the restrictions on the title page Page 7

8 Tracked Suspension System Use or disclosure of document data is subject to the restrictions on the title page Page 8

9 Drive-Train Required Speed Min Of 5mph On Level Ground Require Torque To Move 150 lbs Of Robot And Payload Off The Shelf Motor Reduce Overall Price Maxon ec60 Flat Realistic Gear Train 14.0:1 Planetary Small Package Tracked Suspension System Use or disclosure of document data is subject to the restrictions on the title page Page 9

10 Tracked Suspension System Risk Assessment Use or disclosure of document data is subject to the restrictions on the title page Page 10

11 Upper Christie Arm Bronze Bearings Retaining Rings Ball End Spring Joints Tracked Suspension System Materials 6061-T6 Alum 914 Stainless 950 Igus Flange Bearings Use or disclosure of document data is subject to the restrictions on the title page Page 11

12 Lower Christie Arm Bronze Bearings Press Fit Axel Ball Bearings for Tensioning Wheels Ball End Spring Joints Tracked Suspension System Materials 6061-T6 Alum 914 Stainless 950 Use or disclosure of document data is subject to the restrictions on the title page Page 12

13 Dedicated Tensioner Bronze Bearings Press Fit Axel Ball Bearings for Tensioning Wheels Clock Spring For Preload Tracked Suspension System Use or disclosure of document data is subject to the restrictions on the title page Page 13

14 Non-driven Wheel Top Assembly Ball Bearings Preload Grease Seal O-Rings Stock Pulley Magnetic Encoder Odometry Tracked Suspension System Use or disclosure of document data is subject to the restrictions on the title page Page 14

15 Tracked Suspension System Motor Assembly Sealed Planetary Gearbox Parking Brake Use or disclosure of document data is subject to the restrictions on the title page Page 15

16 Tracks Proper materials Polyurethane Outdoor resistant Steel Banded Ease to install and remove Release Tensioning Wheels Tracked Suspension System Use or disclosure of document data is subject to the restrictions on the title page Page 16

17 Ordering Process Tracked Suspension System Major Design Review With CRL May 25th Through June 6 th Request Quotes On June 6 th Place Orders June 10th With 8-10 Week Lead Times Receive Parts In Pittsburgh By August 20th At Latest Pre-Assembly Process Inspect Parts Upon Arrival Aluminum Parts Sent Out For Alodine All Parts Are Powder Coated Assembly Process Insert All Threaded Inserts, Press All Bearings Build Sub Assemblies Tensioner, Motor, Gearbox, Lower Christies, Upper Christies, Non-Driven Wheel Attach Side Hull Plates to Chassis Attach Sub Assemblies to Hull Plates Use or disclosure of document data is subject to the restrictions on the title page Page 17

18 Tracked Suspension System BOM Preliminary Mechanical BOM Index Component Indv Price Qty System Price Est 1 TENSIONER BASE $ UPPER TENSIONING ASSY $ TENSIONER ARM $ UPPER TENSIONING ASSY $ UPPER TENSION SHAFT $ UPPER TENSIONING ASSY $ UPPER TENSIONING WHEEL $ UPPER TENSIONING ASSY $ BEARING, ZFM_1214 $ UPPER TENSIONING ASSY $ WASHER, FLAT, M12 $ UPPER TENSIONING ASSY $ WASHER,FLAT,M10 $ UPPER TENSIONING ASSY $ WASHER,BELVILE 10MM $ UPPER TENSIONING ASSY $ WASHER,BELVILE 18.5MM $ UPPER TENSIONING ASSY $ RETAINING RING,SMALLEY,VSM-1 $ UPPER TENSIONING ASSY $ RETAINING RING,SMALLEY,VSM-1 $ UPPER TENSIONING ASSY $ RETAINING RING,SMALLEY,VSM-6 $ UPPER TENSIONING ASSY $ RETAINING RING,SMALLEY,VSM-1 $ UPPER TENSIONING ASSY $ CLOCK TORSION SPRING $ UPPER TENSIONING ASSY $ M5-0.8X16MM $ UPPER TENSIONING ASSY $ BALLBEARING,SEALED,10MMID $ UPPER TENSIONING ASSY $ CHRISTIE ARM LOWER $ LOWER ARM ASSY $ BALLBEARING SEALED, 8MMID $ LOWER ARM ASSY $ BALLJOING ROD END $ LOWER ARM ASSY $ NUT NYLOC M5-0.8 $ LOWER ARM ASSY $ LOWER CHRISTIE AXEL $ LOWER ARM ASSY $ M5-0.8X25MM $ LOWER ARM ASSY $ TENION WHEEL SHAFT $ TENSIONWHEEL ASSY $ TENSIONING WHEEL $ TENSIONWHEEL ASSY $ 1, Use or disclosure of document data is subject to the restrictions on the title page Page 18

19 Tracked Suspension System BOM 2 25 RETAINING RING SMALLEY VSM-8 $ TENSIONWHEEL ASSY $ WASHER, FLAT, M8 $ TENSIONWHEEL ASSY $ WASHER, BELVILLE M8 $ TENSIONWHEEL ASSY $ CHRISTIE ARM, UPPER $ CHRISTIE ARM,UPPER ASSY $ BALLBEARING SEALED, 8MMID $ CHRISTIE ARM,UPPER ASSY $ BALLJOING ROD END $ CHRISTIE ARM,UPPER ASSY $ BEARING,ZFM_1214 $ CHRISTIE ARM,UPPER ASSY $ BEARING,ZFM_2023 $ CHRISTIE ARM,UPPER ASSY $ AIR SPRING, TGF $ CHRISTIE ARM,UPPER ASSY $ M5-0.8X35MM $ CHRISTIE ARM,UPPER ASSY $ NUT NYLOC M5-0.8 $ CHRISTIE ARM,UPPER ASSY $ UPPER ARM TO CHASSIS MOUNT $ SUSPENSION MOUNT TO CHASSIS $ RETAINING RING SMALLEY FS020 $ SUSPENSION MOUNT TO CHASSIS $ FLAT WASHER, M20 $ SUSPENSION MOUNT TO CHASSIS $ WASHER,BELVILLE M20 $ SUSPENSION MOUNT TO CHASSIS $ CHRISTIE ARM UPPER REVERSE $ CHRISTIE ARM,UPPER REVERSE ASSY $ BALLBEARING SEALED, 8MMID $ CHRISTIE ARM,UPPER REVERSE ASSY $ BALLJOING ROD END $ CHRISTIE ARM,UPPER REVERSE ASSY $ BEARING,ZFM_1214 $ CHRISTIE ARM,UPPER REVERSE ASSY $ BEARING,ZFM_2023 $ CHRISTIE ARM,UPPER REVERSE ASSY $ AIR SPRING, TGF $ CHRISTIE ARM,UPPER REVERSE ASSY $ AIR SPRING, TGF $ CHRISTIE ARM,UPPER REVERSE ASSY $ M5-0.8X35MM $ CHRISTIE ARM,UPPER REVERSE ASSY $ 2.00 Use or disclosure of document data is subject to the restrictions on the title page Page 19

20 Tracked Suspension System BOM 3 48 NUT NYLOC M5-0.8 $ CHRISTIE ARM,UPPER REVERSE ASSY $ FRONT UNDRIVEN BASE $ UNDRIVEN WHEEL TOP ASSY $ BALLBEARING,SEALED,35MMID $ UNDRIVEN WHEEL TOP ASSY $ ENCODER SHAFT HOLDER $ UNDRIVEN WHEEL TOP ASSY $ USGIDITAL MAE3-X X $ UNDRIVEN WHEEL TOP ASSY $ UNDRIVEN WHEEL BEARING CAP $ UNDRIVEN WHEEL TOP ASSY $ GREASE SEAL, 40MMID $ UNDRIVEN WHEEL TOP ASSY $ FRONT UNDRIVEN, AL 70 TK20K13 $ UNDRIVEN WHEEL TOP ASSY $ WASHER BELVILLE 35.5MMID $ UNDRIVEN WHEEL TOP ASSY $ M4-0.7X12MM $ UNDRIVEN WHEEL TOP ASSY $ M5-0.8X12MM $ UNDRIVEN WHEEL TOP ASSY $ BEARING CAP, LOWER, LEFT $ CHRISTIE UPPER BEARING ASSY $ BEARING,ZFM_1214 $ CHRISTIE UPPER BEARING ASSY $ BEARING CAP, LOWER, RIGHT $ CHRISTIE UPPER BEARING REVERSE ASSY $ BEARING,ZFM_1214 $ CHRISTIE UPPER BEARING REVERSE ASSY $ CHASIS LEFT SIDE $ LEFTSIDE SUSPENSION_TOP ASSY $ M5 THREADED INSERTS $ LEFTSIDE SUSPENSION_TOP ASSY $ M5-0.7X12MM $ LEFTSIDE SUSPENSION_TOP ASSY $ M5-0.7X14MM $ LEFTSIDE SUSPENSION_TOP ASSY $ CHASIS RIGHT SIDE $ RIGHTSIDE SUSPENSION_TOP ASSY $ M5 THREADED INSERTS $ RIGHTSIDE SUSPENSION_TOP ASSY $ M5-0.7X12MM $ RIGHTSIDE SUSPENSION_TOP ASSY $ M5-0.7X14MM $ RIGHTSIDE SUSPENSION_TOP ASSY $ MAXON EC60 FLAT $ MOTOR TOP ASSY $ SEPAC BRAKE SEB-175 $ MOTOR TOP ASSY $ MOTOR,BRAKE,MOUNTING FLANG$ MOTOR TOP ASSY $ MOTOR CHASSIS CASE $ MOTOR TOP ASSY $ REAR DRIVE WHEEL $ MOTOR TOP ASSY $ M4-0.7X10MM $ MOTOR TOP ASSY $ Est Total $ 9, Use or disclosure of document data is subject to the restrictions on the title page Page 20

21 Sean WIRELESS NODE PAYLOAD Use or disclosure of document data is subject to the restrictions on the title page Page 21

22 Droppable Node Wireless Node Payload OLinuXino 575 MHz ARM Core Running Arch Linux with B.A.T.M.A.N. wireless mesh protocol USB Wi/Fi adapter Buck converter Li-on battery providing upwards of 6 hours of runtime Current Prototype 3D printed shell Off-the-shelf antenna Use or disclosure of document data is subject to the restrictions on the title page Page 22

23 Wireless Node Payload Block Diagram Use or disclosure of document data is subject to the restrictions on the title page Page 23

24 Wireless Mesh Node BOM Manufacturer Part Syste Price Index Component Cost Distributor Manufacturer Number Qty. m Est. 1 5 Volt Buck RECOM Converter $6.71 Mouser Power R Puck $ Single Board $32.9 IMX233-OLINUXINO- Computer 5 Mouser Olimex Ltd. NANO 8 Puck $ WLAN USB $14.3Amazon Adapter 3 LLC TP-Link TP-LINK TL-WN722N 8 Puck $ Li-Ion Battery Battery $3.39 Space Battery Space PL C 24 Puck $ Battery Protection Battery Board $5.87 Space Battery Space PCB-LiS3A4 8 Puck $46.96 Total $ Use or disclosure of document data is subject to the restrictions on the title page Page 24

25 Jared WIRELESS NODE DEPLOYMENT Use or disclosure of document data is subject to the restrictions on the title page Page 25

26 Wireless Node Deployment System Needs to readily deploy the node while keeping in place during high impact moments High holding strength Ability to drop the puck easily Deployment system should be isolated from the outside to comply with IP standards Dust / water prevention Short circuit protection Magnetic holding system developed Magnetic arm Use or disclosure of document data is subject to the restrictions on the title page Page 26

27 Wireless Node Deployment System CAD Use or disclosure of document data is subject to the restrictions on the title page Page 27

28 Wireless Node Deployment Schematic Use or disclosure of document data is subject to the restrictions on the title page Page 28

29 Wireless Node Deployment System PCB Use or disclosure of document data is subject to the restrictions on the title page Page 29

30 Wireless Node Deployment System BOM Index Component Cost Distributor Manufacturer Manufacturer Part Number 1 ALEL 1uF 50V $0.23 Mouser Nichicon UVR1H010MDD1TD MLCC 0.1uF 50V X7R $0.10 Mouser Kemet C0603C104K5RACTU 1 $ Qty. Price Est. ISP Connection Headers $0.54 Mouser Molex $ Servo Connections $0.19 Mouser Molex $ Payload Microcontroller $1.30 Mouser Atmel ATTINY2313A-SUR 1 $ TTL to RS232 Converter $3.84 Mouser Maxim Integrated MAX232ACSE+ 1 $ MHz Crystal $0.49 Mouser Vishay XT9SNLANA12M 1 $ pf capacitor $0.20 Digikey Yageo CC0402JRNPO9BN220 2 $ Magnets $2.43 KJ Magnetics KJ Magnetics D78 2 $ Servos $3.56 Hobby King Hobby King HK $3.56 Total $17.12 Use or disclosure of document data is subject to the restrictions on the title page Page 30

31 Nico and Chris POWER MANAGEMENT AND DISTRIBUTION Use or disclosure of document data is subject to the restrictions on the title page Page 31

32 Electrical Diagram Use or disclosure of document data is subject to the restrictions on the title page Page 32

33 Electrical Diagram Batteries Use or disclosure of document data is subject to the restrictions on the title page Page 33

34 Electrical Diagram Power Train Use or disclosure of document data is subject to the restrictions on the title page Page 34

35 Electrical Diagram Peripherals Use or disclosure of document data is subject to the restrictions on the title page Page 35

36 Power Budget Device Rail Voltage (V) Power (W) Efficiency (converters, drivers, etc) Motor # Motor # Motor Controller # Motor Controller # Main Computer 5 10 Power Management uc E-02 Payload (Pucks) Payload (Dispenser) 5 10 Lighting Camera Ethernet Switch 5 5 Level Shifter E-Stop Comm Receiver IMU 5 1 WLAN Radio 5 5 5V DC-DC V DC-DC Rail Power (W) Current (A) 24V V V Use or disclosure of document data is subject to the restrictions on the title page Page 36

37 Power Management Schematic Use or disclosure of document data is subject to the restrictions on the title page Page 37

38 Power Management Schematic (cont.) Two 24V Lithium Ion batteries provide 2kW of power (max) All current is sourced through pin 5 of the current sensor Use or disclosure of document data is subject to the restrictions on the title page Page 38

39 Power Management Schematic (cont.) Use or disclosure of document data is subject to the restrictions on the title page Page 39

40 Power Management Schematic (cont.) Low current will be passed through the circuit Low power dissipation Potentiometer is used to tune the divider Use or disclosure of document data is subject to the restrictions on the title page Page 40

41 Power Management Schematic (cont.) Use or disclosure of document data is subject to the restrictions on the title page Page 41

42 Power Management Schematic (cont.) Rail # of outputs 24Vu 5 5V 8 3.3V 3 GNF 20 TX 1 RX 1 Use or disclosure of document data is subject to the restrictions on the title page Page 42

43 Power Management Pin Allocations ATMEGA328 Serial Communication ISP Sampling Crystal Total Analog Digital Input Output Use or disclosure of document data is subject to the restrictions on the title page Page 43

44 Power Management Flowchart Use or disclosure of document data is subject to the restrictions on the title page Page 44

45 Wire Routing Diagram Use or disclosure of document data is subject to the restrictions on the title page Page 45

46 ROS Communication Diagram Use or disclosure of document data is subject to the restrictions on the title page Page 46

47 Electrical BOM Inde x Component Ind. Price Estimat e Manufacturer Manufacturer Part Number Qty. Function Price Est. 1 ATMega328 $3.74 ATMEL ATMEGA328-PW 1 Power management Control $ MHz Crystal $0.81 ECS Inc. ECS X 1 Crystal for ATMega328 $ pf capacitor $0.20 Yageo CC0402JRNPO9BN Caps for Crystal $ k resistor $0.20 Vishay PR JR Resistor for ATMega328 $ pin header $0.50 3M AR 1 Programming header for ATMega $0.50 Sense the battery current and Allegro Microsystems ACS770LCB-50B- supply that 6 Current Sensor $7.26 LLC PFF-T 1 as a voltage input to ATMega $ uf Capacitor $0.10 Paiyo Yuden EMK105B7104KV-F 1 Caps for current sensing $ V DC-DC $36.68 Murata UWS-12/4.5-Q48NM- C 1 Regulates 24V to 12V $ V DC-DC $36.68 Murata UWS-5/10-Q48NM-C 1 Regulates 24V to 5V $ V Linear Reg. $1.61 TI LM2937ET-3.3/NOPB 1 Regulates 5V TO 3.3V $ uf Capacitor $0.10 Paiyo Yuden TMK105B7104KV-F 1 Cap for 3.3V regulator $ uf Capacitor $0.16 Yageo CC0805ZKY5V6BD Cap for 3.3V regulator $0.16 Trimmer Potentiometer ( k) $2.31 Bournes Inc 3296W-1-222LF Resistor for resistive divider for 1 battery level $ k resistor $0.20 Vishay PR JR5 00 Resistor for resistive divider for 1 battery level $ uf Capacitor $0.10 Paiyo Yuden TMK105B7104KV-F 1 Cap output of resistive divider $ Circuit breaker $5.23 TE Connectivity W58-XB1A4A-30 1 Circuit breaker $ Power Switch $25.64 NKK Switches S822D 1 Power switch $ nf cap $0.10 Kemet C0402C103K4RACTU 1 output cap for current sensing $ k resistor $0.10 Yageo RC0603JR-074K7L 1 resistor for curren sensing $0.10 Total Cost $ Use or disclosure of document data is subject to the restrictions on the title page Page 47

48 Misc. Electrical BOM Index Compone Cost Distributo ManufactuManufactuQty. Price Est. 1 Chassis N/A N/A CRL N/A 1 Free 2 Motors N/A N/A Maxon EC-60 2 Free 3 Speed ConN/A N/A Texas Inst Stellaris LM 2 Free 4 Batteries N/A N/A N/A BB Free 5 Battery ch N/A N/A N/A BB-2590 ch 2 Free 6 GPS USB a $33.95 Amazon Global Sat U-353-S4 1 $ IMU $79.95 Spark Fun DIY Drone DEV $ Arduino N $32.95 Mouser Arduino A $ PCB $ Oshpark 1 $ Total $ Use or disclosure of document data is subject to the restrictions on the title page Page 48

49 Systems Total Costs System Total Cost Puck Dispenser $ Wireless Mesh Puck $ Mechanical $9, Power Management $ Miscellaneous $ Total $11, Use or disclosure of document data is subject to the restrictions on the title page Page 49

50 Test Plans Index System/Subsystem Subsystem Function to be tested Engineering Req. Customer Req. 1 Communications Pucks Data transfer rate E6 C5 2 Mechanical/Electrical Motor Control Drive Train Suspension Platform speed E7 C1 3 Mechanical/Electrical Motor Control Drive Train Suspension Max incline capabilities E12 C4 4 Mechanical/Electrical Motor Control Drive Train Suspension Stair climbing E13 C4 5 Mechanical/Electrical Motor Control Drive Train Suspension Overcoming obstacles E15 C4 6 Mechanical Drive Train Suspension Chassis Durability (shock test) E16 C6 7 Electrical Power Management Battery Life (runtime) E17 C1 8 Communications Pucks Communication range E18 C5 9 Electrical CPU Computational Power E19 C7 10 Electrical Power Management Voltage Level lines (proper voltage/current) 11 Communications Pucks Obstructed LOS communication/mesh reliability E20 C10 Electrical/Communication 12 s Pucks/User Interface Remote viewing capability E10, E11 C9 13 Entire System Follows industry and environmental safety standards E3, E4 C3 14 Payload Communications Payload can be removed to allow the use of a different payload E2 C2 15 Entire System Max payload weight E8 C2 Suspension Driver Train Ground pressure exerted by vehicle E15 C4 16 Mechanical 17 Entire System/Mechanical Overall size/form factor E9 C8 18 Entire System Mean time between failures E1 C11 19 Entire System Weight (no Payload) E5 C1 Use or disclosure of document data is subject to the restrictions on the title page Page 50

51 Tests Descriptions Index 1 Mesh Network Data Rate Test 2 Vehicle Speed Test 3 Incline Test 4 Stair Climb Test 5 Obstical Test 6 Shock Test 7 Battery Life Test 8 Communication Range Test 9 Main CPU Benchmark Test 10 Regulated Voltage Output Test 11 Data Packet Loss Test 12 Video Playback Test 13 Industy and Environmental Standards Test 14 Payload Switching Test 15 Payload Carrying Test 16 Ground Force Test 17 Vehicle Footprint Test 18 Mechanical Failure Test 19 Vehicle Weight Test Test description Use or disclosure of document data is subject to the restrictions on the title page Page 51

52 RISKS Use or disclosure of document data is subject to the restrictions on the title page Page 52

53 1 Risk Severity System Risks Staffing/engineering ability 4 1 Occurrence Probability Mitigation Owner Consultation with advisor/customer Scale back of scope Nico Consultation with advisor/customer Scale back of scope 2 Budget 5 1 Wes 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 Thorough verification of analysis Per subsystem 7 Ordering errors 3 3 Thorough verification of BOM Nico Catastrophic prototype Proof of concepts Small scale tests before large 8 failure 5 1 scale tests Chris 9 Time constraints 2 4 Consultation with advisor/customer Scale back of scope Jared 10 Hardware failure 3 4 Thorough design verification Spare components Chris 11 Mechanical failure 3 4 Thorough design verification Spare components Wes 12 Software failure 3 4 Thorough design verification Spare components Sean 13 Environmental factors 1 5 Review weather conditions Jared Use or disclosure of document data is subject to the restrictions on the title page Page 53

54 Mechanical Risks Risk Severity Occurrence Probability Mitigation Owner Unstable control of the robot while it's hanging from straps connected to 1 mini-crane 5 0 Consultation with advisor/customer Scale back of scope Wes 2 Module being dropped 5 2 Reinforced chassis and shock absorption Wes Lose control of vehicle while it's descending 4 from the ramp 5 1 Manual brakes/emergency brakes Limited/no power to the motors -> -> "coasting function" or clutch Wes 4 Limited slip to turn 5 3 Make sure motors are powerful enough to cause slipping Wes Use or disclosure of document data is subject to the restrictions on the title page Page 54

55 1 Risk Severity Visual inspection of robot is not adequate in identifying all malfunctions 5 2 Electrical Risks Occurrence Probability Mitigation Owner Perform electrical self tests to identify other malfunctions 2 Battery short circuits 5 1 Fuse to break circuit Chris 3 Emergency stop malfunction 5 1 Rigorous testing Chris Proper signal conditioning and 4 Electrical noise in the system 4 1 isolation Nico 5 Packet loss 5 5 Apply failsafe Sean 6 Lighting malfunction 2 1 Infrared / additional backup Jared 7 Faulty IMU readings 4 1 redundant IMU Jared Nico Use or disclosure of document data is subject to the restrictions on the title page Page 55

56 Software Risks Risk Severity Occurrence Probability Mitigation Owner 1 Packet loss 5 5 Apply software failsafe Sean / Jared 2 Wheel slippage causes bad odometry readings 3 4 Use GPS / Inertial sensors to correct odometry readings Jared 3 Poor / Unavailable GPS connectivity 3 3 Fall back on inertial sensors / odometry alone Jared / Sean 4 Faulty IMU readings 4 1 redundant IMU Jared 5 Unstable control loop 5 1 Vigorous control loop testing Nico Use or disclosure of document data is subject to the restrictions on the title page Page 56

57 1 2 Safety Risks Risk Severity Occurrence Probability Mitigation Owner Weight consideration when lifting the >1 person is used to lift the robot 5 1 robot Chris There needs to be 3 hook Unstable control of the robot while it's points it's hanging from straps connected to in order to safely move the mini- robot crane 5 1 using a crane Wes Needs to meet military safety 3 Safety to personnel Lose control of vehicle while it's descending from the ramp 4 1 standard MIL 883E Chris Manual brakes/emergency brakes Limited/no power to the motors -> -> "coasting function" or clutch Wes Use or disclosure of document data is subject to the restrictions on the title page Page 57

58 Schedule Use or disclosure of document data is subject to the restrictions on the title page Page 58

59 Questions Use or disclosure of document data is subject to the restrictions on the title page Page 59