M.A.R.S.U.P.I.A.L.

Sean GreensladeNico Gallardo

Chris GriffinJared Raby

Wesley Rice

Advisor: Les Moore Sean GreensladeNico Gallardo

Chris GriffinJared RabyWesly Rice

Advisor: Les Moore

Agenda• Project Intro• Customer• Current Robots• Benchmarking

• Use Scenarios• Problem Statement• Issues with current platform

• Customer Requirements• Engineering Requirements• Project Plan Schedule• Risks• Questions

Project Introduction• Robotics have a multitude of uses• Military and civilian applications• Search and rescue• Bomb defusal• Farm field seeding

• Existing robots are effective at their respective tasks• Less frequently robot incorporate task versatility into their design

Project Intro Cont.• 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

Benchmarking• Talon• Specialized for military only use• Tracked drivetrain• 60-100 lb robot weight • 1000m Transmitter Range• $230k

• Packbot• Used by military and civilian personnel• Tracked drivetrain

• Husky• Civilian Use• Four Wheel Drive train• 2.3 mph• 3 Hour Runtime

Use Scenarios

Use Scenarios

Use Scenarios

Use Scenarios

Problem Statement• Issues• Platforms specialization• Badger limitations

• Improvements• Modularity• Radio Systems• Computing power

• Stakeholders• Carnegie Robotics• Military users• Commercial users

Customer Requirements# Weight Requirement1 3 Mobile Ground Platform2 3 Modular payload design3 3 Follows industry standards4 3 All terrain - rubble / indoor stairs5 3 Reliable communication (Controller / Platform)6 3 Durable chassis/Maintenance Interval7 2 Adequate computational power8 3 Keep base mechcanical design9 2 Remote viewing capability10 3 Obstructed line of site communication11 2 Reapairability (Failure rate, not normal maintinance)

Engineering Requirements# Requirement Source Units of Measure Threshhold Objective Comments/Status Test1 Mean Time Between Failures CR11 Hours 400 600 TBD Further2 Quick Change Payloads CR2 Minutes 10 53 Safety Standards CR3 N/A MIL-STD-883-E MIL-STD-883-E4 Environmental Standards CR3 N/A IP-54 IP-685 Base Platform Weight CR1 Lbs <125 756 Data Transfer Rate over Mesh CR9 Mb/s 2 37 Vehicle Speed CR1 M/s 2.2 6.88 Max Payload Weight CR2 Drop test+C5:H22 50 1009 Maintain Current Size Envelope CR8 inches 30 x 22 30 x 2210 Video Feed Resolution CR9 Pixels 320 x 240 1080 x 72011 Frame Rate CR9 Frames/sec 25 3012 Flat ground incline CR4 Degrees 40 4513 Stair Incline CR4 Degrees 38 4214 Step Obstacle Size CR4 Inches 6hx8w 8hx6w15 Ground pressure exerted by vehicle CR4 PSI 4 1.516 Mechanical Shock test CR6 g 3 4 Drop test17 Platform Runtime with Payload CR1 Hours 3 418 Communication Range CR5 Meters 200 400

Project Schedule Draft

Risk Assessment

R+A3:E6isk Likelihood Severity Consequence Action Plan

Over Budget4 4

Unable to proceed with project, customer over spending

Verify usefulness and necessity of each part purchased with both advisors and

CRL to keep spending in check

Track Design Failure5 5

Project break down, leads to main customer concern

Work with CRL and test / prototype as necessary to mitigate failure scenarios

Staff Limitations5 2 Deadline failures, incomplete work

Utilize the full breadth of CRL staff and advisor staff available

Conclusions

Questions?