GROVER: An Autonomous Vehicle for Ice Sheet Research
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1 GROVER: An Autonomous Vehicle for Ice Sheet Research April 17, 2014
2 Introduction What is GROVER? Goddard Remotely Operated Vehicle for Exploration and Research Developed closely with Lora Koenig
3 Introduction What is GROVER? Goddard Remotely Operated Vehicle for Exploration and Research Developed closely with Lora Koenig
4 Introduction What is GROVER? Goddard Remotely Operated Vehicle for Exploration and Research Developed closely with Lora Koenig Fully autonomous (GPS, Telemetry, Failure modes)
5 Introduction What is GROVER? Goddard Remotely Operated Vehicle for Exploration and Research Developed closely with Lora Koenig Fully autonomous (GPS, Telemetry, Failure modes) Solar-powered
6 Introduction What is GROVER? Goddard Remotely Operated Vehicle for Exploration and Research Developed closely with Lora Koenig Fully autonomous (GPS, Telemetry, Failure modes) Solar-powered Controlled via satellite or line-of-sight radio (WiFi)
7 Introduction What is GROVER? Goddard Remotely Operated Vehicle for Exploration and Research Developed closely with Lora Koenig Fully autonomous (GPS, Telemetry, Failure modes) Solar-powered Controlled via satellite or line-of-sight radio (WiFi) Tested in the field in May/June 2013
8 Original Demonstrate that it could: Operate 24/7, in harsh environment Summit Kilometers 50 km Grid WiFi grid and Iceast line Kilometers Summit
9 Original Demonstrate that it could: Operate 24/7, in harsh environment Complete track within two weeks Summit Kilometers 50 km Grid WiFi grid and Iceast line Kilometers Summit
10 Original Demonstrate that it could: Operate 24/7, in harsh environment Complete track within two weeks Go over same point to maximize crossover Summit Kilometers 50 km Grid WiFi grid and Iceast line Kilometers Summit
11 Original Demonstrate that it could: Operate 24/7, in harsh environment Complete track within two weeks Go over same point to maximize crossover Successfully completed stage 2
12 Original Demonstrate that it could: Operate 24/7, in harsh environment Complete track within two weeks Go over same point to maximize crossover Successfully completed stage 2 Performed additional power failure tests 1Km Path Traveled Base Camp
13 Requirements Zero emissions vehicle
14 Requirements Zero emissions vehicle Running 24/7
15 Requirements Zero emissions vehicle Running 24/7 Operational in the extreme cold High efficiency solar panels (300W, 20%)
16 Requirements Zero emissions vehicle Running 24/7 Operational in the extreme cold High efficiency solar panels (300W, 20%) Constant sensor monitoring GPS 2 Temperature 2 Voltage 1 Current Two 20 Amp motors, travel over powder and sastrugi
17 POWER CONSUMPTION POWER SYSTEM SOLAR CHARGER 12V 60A 12V 60A 12V 60A 12V 60A 2 x 300W MICROCONTROLLER IRIDIUM SENSORS 1W RADAR 30W COMPUTER 50W INSTRU MENT 6W 570W TEMP SENSOR VOLT SENSOR TEMP SENSOR VOLT SENSOR CURRENT SENSOR GPS MODULE PYTHON MAIN COMPUTER INSTRUMENT COMPUTER MATLAB RADAR MOTORS 480W 20A 20A MOTOR CONTROLLER SENSORS MOTORS MICRO CONTROLLER IRIDIUM LINK CTL MICRO CONTROLLER IRIDIUM BOARD
18 Instrument FMCW radar, low-power 4GHz - 10GHz c Charly Whisky
19 Introduction Instrument FMCW radar, low-power 4GHz - 10GHz Footprint between tracks
20 Instrument FMCW radar, low-power 4GHz - 10GHz Footprint between tracks Ice layer present between 50cm-100cm c NASA
21 Power Consumption Autonomy of 6 hours (14Km) recharges in 6 hours Total power consumption 570W Can power on-board or external instruments Voltage (v) Samples (every ~246s)
22 Power Consumption Autonomy of 6 hours (14Km) recharges in 6 hours Total power consumption 570W Can power on-board or external instruments Sensor malfunction (disclaimer) Current sensor failed within 48 hours Had no replacement Took us days to figure it out Computer battery failed as well
23 Power Consumption Autonomy of 6 hours (14Km) recharges in 6 hours Total power consumption 570W Can power on-board or external instruments 26 Voltage (v) Samples (every ~246s) Time Series Plot: Voltage over time v unnamed Voltage Linear Fit 1 hour Time (seconds)
24 28 Data lost due defective battery on PC Power (volts) Heading (degrees) 400 Batteries charging x 10 4
25 28 Data lost due defective battery on PC Power (volts) Heading (degrees) 400 Batteries charging x 10 4
26 Designed to be used in many applications
27 Designed to be used in many applications Publisher/Subscriber design pattern
28 Designed to be used in many applications Publisher/Subscriber design pattern Written in Python gpscomponentpy headingcomponentpy iridiumcomponentpy motorcomponentpy navigationcomponentpy radarcomputercomponentpy telemetrycomponentpy
29 CONTROL GROVER CONTROLLER COMMUNICATIONS STACK COMMUNICATIONS LOS WIRELESS COMMUNICATIONS WIRED CONNECTION COMMUNICATIONS IRIDIUM LINK DATA BUS COMPONENT COMPONENT COMPONENT COMPONENT GPS NAVIGATION MOTOR CONTROL INSTRUMENT CONTROL OPERATIONAL COMPONENTS FACTORY FACTORY SERVER COMMUNICATIONS FACTORY COMPONENT FACTORY GROVER SERVER
30 GUI
31 GUI
32 GUI
33 Communications CONTROLLER-BOUND Internet Iridium Satellite GROVER-BOUND Ground Station Directional Antenna Robot Controller GUI GROVER Controller Computer
34 Field Performance Collected 20GB of data
35 Field Performance Collected 20GB of data Covered 30+ Km
36 Time Series Plot: Temperature PC Section Time (seconds) x 10 4 Introduction Field Performance Collected 20GB of data Covered 30+ Km Found that temperature didn t affect performance Temperature (C)
37 Field Performance Collected 20GB of data Covered 30+ Km Found that temperature didn t affect performance Simple engineering mistakes were very expensive yet
38 Introduction Field Performance Collected 20GB of data Covered 30+ Km Found that temperature didn t affect performance Simple engineering mistakes were very expensive yet Mark Robertson, Cryogars working on data
39 GROVER demonstrates that autonomous rovers can be a revolutionary tool in polar research
40 GROVER demonstrates that autonomous rovers can be a revolutionary tool in polar research The technology and the software are available and ready to be implemented
41 GROVER demonstrates that autonomous rovers can be a revolutionary tool in polar research The technology and the software are available and ready to be implemented Exciting new opportunities using this platform for scientific data collection
42 Future/Current Work Working with Alberto Behar Bigger/better solar panels Redundancy in sensors Rewiring electrical systems Optimize travel path to maximize exposure to the Sun Add visual indicators to facilitate the localization of the robot in poor visibility conditions
43 References Gary Koh, James H Lever, Steven A Arcone, Hans-Peter Marshall, and Laura E Ray "Autonomous FMCW Radar Survey of Antarctic Shear Zone" 13th International Conference on Ground Penetrating Radar (2010): 1-5 JH Lever and LR Ray, Revised Solar-Power Budget for Cool Robot Polar Science Campaigns, Cold Regions Science and Technology, 52(2), (2008): CM Gifford, EL Akers, RS Stansbury, and A Agah, "Mobile Robots for Polar Remote Sensing," In Guarav S Sukhatme (Ed), The Path to Autonomous Robots, Springer-Verlag, Heidelberg, Germany, (2009): 1-22 Acknowledgements NASA EPSCoR grant #NNX10AN30A For founding this project CH2M HILL Polar Field Services Logistics support and invaluable help in the field NASAś Engineering Bootcamp Michael Comberiate and students who prototyped and built GROVER Contact Information gabrieltrisca@boisestateedu
44
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