Drone-Rover Integrated Fire Tracker...Design • Single scissor jack • Two forward points topped...
Transcript of Drone-Rover Integrated Fire Tracker...Design • Single scissor jack • Two forward points topped...
TestReadinessReview
Team:AmberBishop,DanielCollins,BrandonCott,Syamimah AnwarDeen,SamanthaGrowley,PierceLieberman,KelseyOwens,Nur Abd Rashid,AnthonyStanco,MatthewStoffle,NicholasWiemelt
Customer:BarbaraStreiffert,JetPropulsionLaboratory
Advisor:Dr.Jelliffe Jackson
Drone-RoverIntegratedFireTracker
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AgendaØProjectOverview
ØMotherRoverDesign
ØTestReadinessReviewØ SoftwareandElectronicsTesting
ØModelVerification
Ø IntegratedTesting
ØSchedule
ØBudget
ØConclusion
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ProjectOverview
TestReadiness Schedule Budget Conclusion
MissionStatement
Drone-RoverIntegratedFire-Tracker(DRIFT)willdevelopamotherrovertosecure,carry,andlevelan
UnmannedAerialVehicle(UAV)forthepurposesofgatheringpertinentenvironmentaldataregardinglocationsatriskofor
exposedtoawildfire.
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ProjectOverview
TestReadiness Schedule Budget Conclusion
ProjectOverview
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ProjectOverview
TestReadiness Schedule Budget Conclusion
ProjectOverview:FireTrackerSystemo Asaresultofclimatechange,wildfireseasonsarebecominghotterandlonger
• Thisallowsforawildfiretoeasilyigniteandrapidlyspread• UnitedStatesForestServiceisconsistentlyincreasingitsbudgetforwildfiremitigation,risingfrom16to50%oftheForestServiceBudgetsince19951
o Adeployablemotherroverandautonomousdroneprovidealowcostmeansoflong-rangereconnaissanceforearlydetectionofwildfires
o Thesesystemscanassistfirefightersininvestigatingareassometimesimpassiblebyground-basedmethodsalone
1TheRisingCostofWildfireOperations:EffectsontheForestService’sNon-FireWork.”UnitedStatesDepartmentofAgriculture: ForestService,4Aug.2015.
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ProjectHeritageDRIFT willutilizeboththeINFERNO andCHIMERA hardwareandsoftwareshownbelow:
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Project Name INFERNOINtegrated FlightEnabledRoverforNaturaldisasterObservation
Timeline 2015-2016
Overview Semi-autonomousChildDronecapableoftransportinganddeployingatemperaturesensorpackagetoalocationofinterest
Capabilities o MissionDuration: 13.5mino FullyAutonomousTakeoffatinclinations
<3.5degreeso 10m/sTranslationalFlighto Video/Imaging:720pat30fpso SensorPackage:>90%transmissionof
SPSdata
Project Name CHIMERACHIld dronedeploymentMEchanism andRetrievalApparatus
Timeline 2016-2017
Overview The landing,securing,anddeploymentsystemfortheautonomousdroneinheritedfromINFERNO(LandingPlatform)
Capabilities o CapableofsecuringCDupto200mfromGS
o DronerechargingsystemcanchargetheCDSLiPo batteryuponcommand
o Autonomouslandingfunctionalityutilizingimagerecognitionuponcommandfromgroundstation
Upto250m(500mroundtrip) Upto200m
MRpath
MRCommunicationswithGS
CDCommunicationswithGS
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Wirelesscommunication
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GroundStation
CHIMERA
INFERNO
DRIFT
MR- MotherRover
GS- GroundStation
CD- ChildDrone
8&
DRIFTMission
20° slope
MotherRoverandChilddrone
5”tallobstacle Movearound
obstacleslargerthan5”tall
LevelPlatform
DRIFTMission
Video,control,telemetry
Travelupto0.5m/s
DRIFTCONOPS
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FunctionalBlockDiagram
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DesignSolution
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ProjectOverview
TestReadiness Schedule Budget Conclusion
DesignSolution:AnOverviewINFERNOChildDrone
ChargingBracket
LevelingSystem
Fixed-ChassisBody
LandingplatformSecurementMechanism
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DesignSolution:AnOverviewTopView
Side View
FrontView
58.9in
46.3in
41.9in
TotalWeight:383.77lbs
DesignModificationsfromMSRLevelingo Previousmulti-directionalsystemshownbymodelstobedynamicallyunstable
o One-directionallevelingsystemprototypebuiltandsuccessfullydemonstrated
o Pairedwithourskidsteeringcapability,thischangedoesnotimpactourabilitytomeetourrequirementsorachieveourthirdlevelofsuccess
o Budget– Saves$165.25o Schedule– Savesapproximately12.5hoursofmachining
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Design• Singlescissorjack• Twoforwardpointstoppedwithone-
directionalpivotjoint• Bottomofjackconnectedtorover
withpivotjoint• Jackremainstoppedwithsingleball
joint.
CriticalProjectElements
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o TranslationalSystemo FixedChassisdesignenablesthemotherrovertotraverseroughterrainincluding
finedirt,smallgravel,andlawngrass.o LevelingSystem
o Utilizesinternallevelingjackdesigntolevelthelandingplatformtotherequired3.50 necessaryforthechilddronetodeployandautonomouslylandsafely.
o ElectronicsandCommunicationo NecessaryforcommunicationbetweenGroundStationandMotherRover
o Commandslevelingsystemo Provideslivevideofeedforoperatoro CommandsMotherRoverforTranslationalmotion
o $5000Budgeto Currentlyonly$322.36 margin,improvedfromMSR$163.31margino Appliedforanadditional$675.00throughEngineeringExcellenceFund(EEF)
LevelsofSuccess
Level1• MRcantraverseoveraflatdirtpathwhilesupportingthesizeandtheweightoftheattachedLPandCD
• MRcanbedrivenbyoperatortothedesiredlocation(andback)whileoperatorwalksalongside• MRcanrelaylocationatleastat5Hzatadistanceof100mbacktoGS• MRcanbepoweredtoachievearoundtripof100m
Level2•MRcanovercomeslopes≤ 10degreesatspeedupto0.5m/s•MRcantraverseapaththathasobstacleslessthanorequalto5inchtallwhiletheCDandLPremainsecurelyfixedtoMR•MRcanleveltheplatformto𝟎° ± 𝟑. 𝟓° fortheCDtotakeoffandlandona10slope•MRcanbedrivenbyanoperatoratGSvialivevideofeedtodesiredlocation•MRcanrelaylivevideofeedandlocationatleastat5Hzforadistanceof150mtotheGS•MRcanbepoweredtoachievearoundtripof300m
Level3•MRcanovercomeslopes≤ 20degreesatspeedsupto0.5m/s•MRcanmaneuveraroundobstacleover5inchestallwhiletheCDandLPremainssecurelyfixedtotheMR•MRcanleveltheplatformto𝟎° ± 𝟑. 𝟓° totakeoffandlandona20degreesslope•MRcanrelaylivevideofeedandlocationatleastat5Hzforadistanceof250mtotheGS•MRcanbepoweredtoachievearoundtripmissionof500m
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SoftwareandElectronicsTesting ModelVerification
IntegratedTesting
TestReadinessReview
ProjectOverview
TestReadiness Schedule Budget Conclusion
TestBreakdown
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SoftwareandElectronicsTesting
ModelVerification IntegratedTesting
TippingModel/COMVerification
TractionModelVerification
DropTest
TorqueModelVerification
MotorDriver-MotorIntegrationTest
ElectronicsSystemUnitTesting
BatteryDepletionTest
LevelingSystemTest
CameraTesting
CommunicationsTest
DistanceTest
SlopeCapabilityandLevelingTest
ObstacleClearanceTest
ManeuverabilityTest
FullMissionSimulationDiscussedinthispresentation
Otherteststobecompleted
GPSTest
FacilitiesandTransportationLocationso SwitzerlandTrail(PendingTrailerAccess)oChautauqua (Testsonlyusingcomponentsnotfullroverbody)
oBackupindoormethodsprovidedweatherrestrictions
17Switzerland Trail Chautauqua Trailer
Transportationo LocallyaroundEngineeringCenter
o PalletJackso RollingCarts
o SwitzerlandTrailAccesso Trailer
Software&ElectronicTesting
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ProjectOverview
TestReadiness Schedule Budget Conclusion
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FunctionalRequirement
Description
FR5.0 TheMRshallpositionitselffortheCDtotake-offandlandsafelysuchthatitisabletobesecuredbytheMR’ssecurementmechanism
DR5.1 TheMRmustlevelitselfto0° +/- 3.5° ofthegravitationalnormalonaslopeupto20° aftercomingtoacompletestop.
DR5.1.1 TheMRwilluseanaccelerometertomeasuretheangleoftheLP withrespecttolevelground.
LevelingSystemSoftwareandElectronicsTestingRequirementsVerified
LevelingSystemSoftwareandElectronicsTesting
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o Overviewo Verifythefunctionalityofthecomplete
levelingsystemwithleveling,resetting,andcalibrationcommandswiththeArduino.
o TestEquipmento LevelingJacko LevelingRelayCircuito ArduinoMegao 12VPowerSupplyo IMU
o Resultso Success forbothjacksoperating– ableto
levelusingtwojackso Inprogressforoperatingonejacksystem–
softwarehasbeentestedusingIMU,theleveling,resetting,andcalibrationcommandsarefunctional,waitingonjacktorunfulldemonstration
o RiskReductiono Fixingtheissueswithwiring,andeditingrelaycircuit
LandingPlatform
LevelingSystem-IntegrationTestSoftwareandElectronicsTestingProcedure
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ArduinoMega
RelayCircuit
IMU
LevelingJack
PowerSupply
Power
Data
Power
Power
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GroundStation&FullSoftwareSoftwareandElectronicsTestingRequirementsVerified
FunctionalRequirement
Description
FR1.0 TheMRshallintegratewiththeattachedlandingplatformsuchthatitispermanentlyfixedandsecurelycarriestheCDwithouttippingwhiletraversingthedefinedroughterrain.
FR2.0 TheMRshallreceivecommandsfromtheGSatarateofatleast5Hz.
FR3.0 TheMRshalltransmitdatatotheGSatarateof30HZ.
FR4.0 TheMRshall traverse 250metersawayfromtheGStoaspecifiedGPSlocation overroughterraindefinedbyvaryingslopesandobstacleswhichrequiretheMRto navigate overandaroundthem.TheMRshallreturntotheGS afterthemissioniscomplete.
FR5.0 TheMRshallpositionitself fortheCDtotake-offandlandsafelysuchthatitisabletobesecuredbytheMR'ssecurementmechanism.
GroundStation&FullSoftwareSoftwareandElectronicsTesting
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o Overviewo Verifythefunctionalityofthegroundstation’sabilitytosendcommandsanddisplaydata,andthe
rover’sabilitytorespondtocommandso TestEquipment
o IMUo XBees
o ArduinoMegao GPSreceiver
o GScomputer
o Resultso Success fortwojacklevelingsystem– abletolevelusingtwojackso Success formotorcontrol– abletocontrolmotordriverviaArduinoMegawithDIOpinso Inprogressforoperatingonejacksystem– softwarehasbeentestedusingIMU,theleveling,resetting,
andcalibrationcommandsarefunctional,waitingonjacktorunfulldemonstrationo Inprogresswithcommunicationsystem– groundstationcontrolunderconstruction
o RiskReductiono Fixingtheissueswithwiring,andeditingrelaycircuito Placeafusebetweenthebatteryandthemotordrivertolimitpeakcurrentthroughthemotordriver
ArduinoMega
GroundStation-IntegrationTestSoftwareandElectronicsTestingProcedure
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GroundStation
ComputertoMonitorArduino
responses
XBee
GPSReceiver
XBee
IMU
Data
Data
Data Data
MotorDriver-MotorIntegrationTestSoftwareandElectronicsTestingRequirementsVerified
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FunctionalRequirement
Description
FR4.0 The MRshalltraverseoverroughterrainupto250metersawayfromtheGStoaspecifiedlocationofinterest.
DR4.1 TheMRshall travelataspeedwithintherangeof0to0.5m/sinforwardandreverse.
DR4.2.1 Thebatteriesshallhaveenoughpoweravailabletoprovidetothemotorsandmotordriverssuchthatthe MRisabletotraversethedefinedroughterrain
DR4.5 The MRshalltraverseupanddowna200 slope.
DR4.5.1 TheMRmotors shallprovideenoughtorque totraverseupanddownthedefinedslope.
RoughTerraino Materials:lawngrass,smallgravel,andfinedirto Varyingslopesfrom0to200o Traversableobstaclesupto5intallo Non-traversableobstaclesatleast10feetapart.
MotorDriver-MotorIntegrationTestSoftwareandElectronicsTestingCompleted:1/23/2018
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o Overviewo Verifythefunctionalitybetweenthemotordriversandmotorswith
speed,stop,anddirectioncontrolwiththeArduinoMega.o TestEquipment
o DC60-12/24-4QMotorDrivero DigitalPotentiometerCircuito MarathonElectricDCBrushedMotoro ArduinoMegao 24VPowerSupply
o Resultso Success forbothmotors– abletocontrolmotordriverviaArduino
MegawithDIOpinso RiskReduction
o Placeafusebetweenthebatteryandthemotordrivertolimitpeakcurrentthroughthemotordriver
MotorDriver-MotorIntegrationTestSoftwareandElectronicsTestingProcedure
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ArduinoMega
MotorDriver#1
DigitalPotentiometer
#1
Motor#1
MotorDriver#2
DigitalPotentiometer
#2
Motor#2
Data
Data
Data
Data
ModelVerification
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ProjectOverview
TestReadiness Schedule Budget Conclusion
ModelValidation
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TorqueModelVerificationo Overview
o Verifythatthedriveshaftandrespectivecomponentswillbestructurallycapableofdrivingtheroverwhensubjecttoforcesandtorquesduringfullmission.
o TestEquipmento CADModelofCompletedMotherRover
o ResultsExpectedo Von-Misesstresscontourso Displacementso Strains
o RiskReductiono SolidWorksmodelstoensuresuccessbeforephysicaltesting
DropTesto Overview
o Verifythatallrovercomponents(I.e.CHIMERALandingPlatform,levelingsystem,roverhousing,andtranslationalsystem)remainstructurallysound afterdroppingfromaheightof5inches
o TestEquipmento Solidworks modelsimulation
o ResultsExpected• VonMisesstresscontours• Displacements• Strains
o RiskReductiono SolidWorksmodelscompletetoensuresuccessbefore
physicaltesting
TorqueModelTestModelValidationProcedure
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DefineComponentMaterials
SetAllComponentConnections
(Rigid&Flexible)
InputParameters
MeshGeneration
MeshControls
ErrorReduction
RunTorqueSimulation
DefineExternalForcesandMoments
GeometricBasis
TestDefinition
Stress
Displacement
Strain
Results
DefineFixtures
DropTestModelSimulationProcedure
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DefineComponentMaterials
SetAllComponentConnections
(Rigid&Flexible)
InputParameters
MeshGeneration
MeshControls
ErrorReduction
RunDropTestSimulation
DefineDropTest
Characteristics
GeometricBasis
TestDefinition
Stress
Displacement
Strain
Results
IntegratedTesting
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ProjectOverview
TestReadiness Schedule Budget Conclusion
CommunicationsTestRequirements
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FunctionalRequirement
Description
FR2.0 TheMRshallreceivecommandsfromtheGSat5Hz.
DesignRequirement Definition
DR2.1 TheMRshallrecordalog ofreceivedcommandsfromtheGSdetailedinDR2.4.
DR2.2 TheMRshallreceivesignalswithasignaltonoiseratioofatleast6dB-Hz(industrystandard).
DR2.3 TheMRshallreceivecommandsatadistanceof250meters.
DR2.4 ThecommandstobereceivedbytheMRfromtheGSinclude:forward/backwardtranslationalmotion,turningmotion,toturnon/offtheMRvideofeed,opening/closingtheCDsecurementmechanism,andtoleveltheLP.
FunctionalRequirement
Description
FR3.0 TheMRshalltransmitspecifieddatatotheGSat30Hz.
DesignRequirement Definition
DR3.1 TheMRshalltransmititscurrentGPSlocation totheGSwithanaccuracyof5m.
DR3.2 TheMRshalltransmitlivevideofeedat1080pat30fpstotheGS
CommunicationsTestIntegratedTesting
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o Overviewo MeasurewhethertheMRcantransmitdesireddatainspecifiedenvironmentsatspecifiedrates
o TestEquipmento FullCommunicationsSystem
o Including XBees andcamerasandcorrespondingantennaso GroundStationo ChatauquaMountainPark
o ResultsExpectedo SignaltoNoiseRatioo Frequencyofdatareceivedo Frequencyofdatasento Latencyo Maxdistanceintreescapableofcommunicating.
o RiskReductiono Onlyusingsuitetopreventmovingwholeroverandmakingdatacollectioneasier
Ground Station
61.9m.
CommunicationsSystem
188.1m.
Forestwithtrees~10ft.apart
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GSMove5mFartherfromMR
Maneuverability TestRequirements
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FunctionalRequirement
Description
FR4.0 TheMRshall traverse250metersawayfromtheGStoaspecifiedGPSlocationoverroughterraindefinedbyvaryingslopesandobstacleswhichrequiretheMRtonavigateoverandaroundthem.TheMRshallreturntotheGSafterthemissioniscomplete.
DesignRequirement
Definition
DR4.3 TheMRshallturn90degreesina10ft.radius
ManeuverabilityTestIntegratedTesting
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o Overviewo Verifiesthatrovercanexecutea90 degreeturnendingatmost10ft frombeginningpositionoftherover
o TestEquipmento FullRovero GroundStationo Markero TapeMeasure
o ResultsExpectedo Distanceinbetweencenterofroverbeforeandafter90degreeturn
o RiskReductiono Testincleararea.Observingturncarefullyandmakesurenodangertorover.
Forward
Forward
TurningRadius
ManeuverabilityTestIntegratedTesting
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Createcircle10ft.inradiusfromcenterofrover and
markstartlocation
ExecuteTurningcommand Executeturning
command
RECORDDATAANDENDTEST
Recorddistancefromstartpointtocenter
ofrover
Checklocationofcenterofroverrecord
whetherincircle
Hasnotturned90°
Hasturned90°
TranslationalSystemRequirements
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FunctionalRequirement
Description
FR4.0 TheMRshall traverse250metersawayfromtheGStoaspecifiedGPSlocationoverroughterraindefinedbyvaryingslopesandobstacleswhichrequiretheMRtonavigateoverandaroundthem.TheMRshallreturntotheGSafterthemissioniscomplete.
DesignRequirement
Definition
DR4.5 TheMRshalltraverseupanddownaslopeof20degrees.
FunctionalRequirement
Description
FR5.0 TheMRshallpositionitselffortheCDtotake-offandlandsafelysuchthatitisabletobesecuredbytheMR'ssecurementmechanism
DesignRequirement Definition
DR5.1 TheMRshalllevelitselfwithin3.5degreesaftercomingtoacompletestop.
DR5.2 TheMRshallholdacompletelystoppedpositiononaslopeof20degrees
SlopeCapabilityandLevelingTestIntegratedTesting
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o Overviewo VerifiestheMRiscapableoftraversinga20° slopeupthedefinedrough
terrain.o VerifiesMRiscapableoflevelingLPwithin3.5 ° whenstoppedon20 °
slopeo TestEquipment
o Slopeof20degrees(SwitzerlandTrail)o Fullrovero GroundStationo TapeMeasureo Stopwatch
o ResultsExpectedo Maximumslopecapableo Timetolevelo Distancerovertravelsduringlevelingo Verificationorfailureof20degreeslope
o RiskReductiono Utilizecenterofgravitymodeltoconstrainmaximumslopewithout
tippingo Havemanyteammembersathandincaseofemergency.o Moniterbatteryforinfieldteststofacilitateloadingandunloading.
20oSwitzerlandTrail
GroundStation
LeveltheLPwhileonslope
SlopeCapabilityandLevelingTestIntegratedTesting
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Placeroveratthebase
Driveroverupslope markwheellocation
Sendlevelingcommand andbegintimer
Endtimerandmeasuremovement
ofwheel
Drivedownslopeandcheckspeed
RECORDDATAANDENDTEST
ContinueLeveling
Ifoutsideofrequiredthreshold
Ifinsideofrequiredthreshold
ScheduleBreakdown
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ProjectOverview
TestReadiness Schedule Budget Conclusion
ManufacturingSchedule
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DarkBlue:%CompleteLightBlue:InProgress
DarkOrange:%CompleteLightOrange:InProgress
SpringBreak
Hardware&ElectricalFinalIntegration
TestingSchedule
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DarkGreen:%CompleteLightGreen:InProgress
Hardware&ElectricalFinal
Integration
Symposium
SpringBreak
Electrical/SoftwareSchedule
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DarkBlue:%CompleteLightBlue:InProgressLightTurquoise:Non-Test
SpringBreak
FinancialStatusUpdate
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ProjectOverview
TestReadiness Schedule Budget Conclusion
FinancialStatus:SubsystemsBudgetMSRBudget
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TRRBudgetWhatChanged?oCommunications
o Foundpartsfrompreviousyears
o LevelingSystemo Changeindesign– reducedcost
o Translationalo Additionofpins,connectors,shaftkey,chaintensioners
o Receivedmetalplatesforfree
o Shippingo Developedmoreaccurateestimates
AmountSpent:$3,375.88
FinancialStatus:MajorComponentProcurementArrived(3/2/2018)
o 2BisonGearMotorso 2AmericanControlMotorDrivers
o RoverRawMaterials
o 2LevelingJacks
o ArduinoMegaMicrocontroller
o Wheels,Tires,Bearings
o 2Cameras
o AluminumPlates
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En Routeo 2Xbee Pros
EEF(3/15/2018)o 212V100AhBatterieso Backupcomponents
o Indoortestingcomponents
o Additionalallocationtoprintingposters/reports
MajorcomponentstobepurchasedbyMarch9EEFcomponentstobepurchasedbyMarch22
Plannedo LevelingRawMaterialso Chains,connectors,tensioners
o Electronicsconnections
Conclusion
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oChangesfromMSR• LevelingSystemModifications
oSchedule• UnitTestingforElectrical/Software85%Complete• ManufacturingandIntegrationofsubsystempartswillbecompletedbyMarch23rd
• IntegratedTestingwillbeginonApril
ProjectOverview
TestReadiness Schedule Budget Conclusion
Questions?
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BackupSlides
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ScheduleBackup
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Electrical&SoftwareBackup
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Electrical&SoftwareUnitTesting
GPS
IMU
MotorDriver
BatteryMonitor
Arduino
GroundStation
XBee
JackControl
Motors
XBee
MotherRover
Computer
LEGENDCompleted
CommunicationLink/Interface
FutureWork
InProgress
VideoTransmitterCameras
VideoReceiver Monitor
5/5
60/60
6/8
6/6
20/20
0/8
23/25
6/40 3/3
129/175
Hours/Total
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SpeedTorqueCurveWithReducer
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SpeedTorqueCurveWithoutReducer
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GPSTestSoftwareandElectronicsTesting
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o Overviewo VerifythepositionalaccuracyoftheGPSincludingwhenitissurroundedbymetals
o TestEquipmento GP20U7o OpenLogger– DEV-13712o ArduinoMegao 2GBmicroSDCardo microSDCardAdapter
o RiskReduction
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GPSTestSoftwareandElectronicsTesting
GPS ArduinoMega
OpenLogger
Computer
Data Data
Data
GPSFunctionality&MetalsTest2/26/2018
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Purpose ThistestservestoprovideevidenceforwhetherornotmetalsaffecttheGPSreadingsfromtheGP20U7
Results SUCCESS – metaldoesnotproducesignificantchangesinGPSreadings
Test:NoMetal
Test:Metal
GPSTestingIntegratedTesting• ConductedonFebruary28th2018• Collected4setsof5-10minutedatasets
• KnownGPSlocation(40°00'00.3"N105°15'41.0"W)
• OpenSpace• ApproximatelyMissionDefined(Trees10ftapart)
• GreaterInterferencethanMissionDefined.Denserforestandunderalog.
• FindAccuracywithknownGPSthenfindhowforestenvironmenteffectedGPSreadings.• AttempttoVerifyDR3.1(GPSaccuracyof5m.inmissionenvironment)
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KnownLocation OpenSpace
MissionAnalog GreaterInterference
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GPSTestingIntegratedTesting• InitialDataAnalysis– UseaGPSplotterandconstructa5mcircletofindpointsvariationwithrespecttotherequirement
• HighpercentageofconfidenceinmissionGPSbeingwithin5mofactual.• Willperformmoreanalysistoquantifythisconfidence
Legend
5mradiuscicle
GPSpointsreceivedKnownLocation
OpenSpace
MissionSimulated
HighDensityEnvironment
CameraTestingSoftwareandElectronicsTestingRequirementsVerified
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FunctionalRequirement
Description
FR3.0 TheMRshalltransmitdatatotheGSatarateof30HZ.
DR3.2 TheMRShallTransmitLiveVideoFeedat1080pat30 fps.ValidationandVerification:
CameraTestingSoftware&ElectronicsTestingo Overview
o TwocamerasusedforMRnavigationo LivevideotransmittedfromMRtoGS
o TestEquipmento 900TVLWDRFatShark Camerao Foxeer HS1177V22.8mmMiniFPVCamerao Two5.8GHzTransmitterso 3 5.8GHzAntennaso NexWave RFReceivero Monitor withAVConnection
o RiskReduction
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FatShark Camera
Foxeer Camera
CameraTestingSoftware&ElectronicsTestingProcedure
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Foxeer Camera
12VPowerSupply
5.8GHZTransmitter
5.8GHZTransmitter
RFReceiver
12VPowerSupply
5.8GHzAntenna
5.8GHzAntenna
PowerData
Status:80%Completed
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Date Test
01/22/2018 MotorDriverElectricalFunctionalityTest
01/22/2018 MotorDriverCommandTest
01/23/2018 MotorDriver– MotorIntegrationTest
02/05/2018 DigitalPotFunctionalityTest
02/06/2018 MotorDriver,Motor,andDigitalPotentiometerTest
02/09/2018 MotorDriver,MotorCommandsTest
02/19/2018 TwoPermanentlyCircuitedDigitalPotentiometerswithMotorsandMotorDriversTest
MotorDriverTestingBreakdown
Purpose Testtheelectricalfunctionalityofthemotordriversat12Vwithasmallmotor.
Results SUCCESS – canbeginprogrammingtheArduinoMegatocontrolthemotordriver.
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MotorDriverFunctionalityTest1/22/2018
BatteryDepletionSoftwareandElectronicsTestingRequirementsVerified
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FunctionalRequirement
Description
FR4.0 The MRshalltraverseoverroughterrainupto250metersawayfromtheGStoaspecifiedlocationofinterest.
DR4.1 TheMRshall travelataspeedwithintherangeof0to0.5m/sinforwardandreverse.
DR4.2.1 Thebatteriesshallprovideenoughpowertothe motors suchthatthe MRisabletotraversethedefinedroughterrain
DR4.5 The MRshalltraverseupanddowna200 slope.
DR4.5.1 TheMRmotors shallprovideenoughtorque totraverseupanddownthedefinedslope.
RoughTerraino Materials:lawngrass,smallgravel,andfinedirto Varyingslopesfrom0to200o Traversableobstaclesupto5intallo Non-traversble obstaclesatleast10feetapart.
BatteryDepletionSoftware&ElectronicsTesting
o Overviewo Toprovideevidencethatthetranslationalmotorsandscissorjack
motor(s)willbedeliveredenoughpowerthroughoutthedurationofthemission
o Verifycurrentdrawfrommotorsbyapplyingloadstomotorsandmeasuringcurrentdrawandremainingbatteryvoltage
o TestEquipmento MarathonElectricDCBrushedMotoro ScissorJackMotor(s)o 12V55/100AhBatterieso BatteryMonitoro Voltmetero Ammeter
o ResultsExpectedo The12V55Ahbatteriesborrowedwillnotprovidesufficientpowerfor
theexpecteddurationofthemissiono IfEEFfundingisreceived,the12V100Ahbatterieswillbepurchasedand
willundergothesametest
o RiskReductiono Implementingabatterymonitortocalculatebatteryvoltage 69
12V55Ah
12V
TranslationalMotors
ScissorJackMotors
24V
12V55Ah
LEGEND60ASlowBlowFuse
VoltageRegulatorAmmeterVoltmeter
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ModelVerificationBackup
COG
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o Overviewo Locate thecenterofgravityoftheroverinall3- axisbytakingweightexperiencedon4scalesonceallthatthesamelevelandagainwithtwoscaleselevated.
o Re-executethetippinganalysistofindthemaximumslopetherovercanovercomewithouttipping
o TestEquipmento 4Scaleso FullyConstructedRoverwithChildDrone
o ResultsExpectedo CenterofGravityofRovero Maximumslopebeforetipping
o RiskReductiono Verifysecurityofroveratallstages
Friction
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o Overviewo Findcoefficientoffrictionandcomparetomodel.o Pushroveruntilitmoveswhilerecordingforceanduseforceandweighttofindcoefficientoffriction
o TestEquipmento Twoscaleso Rovero Teammates
o ResultsExpectedo CoefficientofFriction toverifytorquemodel
oRiskReductiono Onlyusingstrengthenedareasofroverforpushing
LevelingSimulationModelValidation
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o Overviewo Verifies thedynamicsofthelevelingsystemwithtwosmall
scalemodels
o TestEquipmento T-slottedframingtofunctionasscissorjackso Plywoodo MiniatureU-jointso BallJointso Springso Hinges
o ResultsExpectedo Thesimulationisexpectedtodemonstratethedynamicsof
thelevelingsystempriortocompleteconstruction,allowingforthedeterminationofwhichfinalizedsystemtouse.
o RiskReductiono Noriskstoproject
1-DSystemModel Spring-supportedsystemmodel
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Software
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o Overviewo Sendtheentirecontrolschemetotheroverandverifyeachcommandisexecutedproperly
o Forwardo Reverseo Turningo Levelingo Cameracontrol
o TestEquipmento Rovero GroundStation
o ResultsExpectedo Executionofallcommands
oRiskReductiono ConductinsidewithGSnearrovertonothavetomoveroverandmaximizetestingwindow.
IntegratedTestingBackup
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Distance/BatteryCapabilityTesto Overview
o Measure distancetherovercantraverseonthespecifiedterrainwithafullbattery.
o Requirement500mtotalcapability
o TestEquipmento Distancemeasurementtoolo FullRovero FullCommunicationSuite
o ResultsExpectedoDistancecapableonfullbatteryo Speed
o RiskReductiono Makesurebatterycanbechargedorreplacedtoreturn
DistanceBatteryCapabilityTest
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Arrive atTestSightwithFullBattery
Mark StartingPointofRover
Begin TimerandBeginForwardTranslation
ContinueTranslationand CollectData:Speed
CameraSignalqualitySignaltoNoiseRatio
FrequencyofsentsignalFrequencyofreceivedsignalAnyFailuresoranomalies
Stop Timer
Battery diesorotherfailureUse DistanceWheeltomeasuredistancetraveledfromstartingpointtofinal
location
Record DataandENDTEST
ObstacleClearance
79
o Overviewo Verifythattherovercanovercome5in. Obstacleso Findthemaximumheightobstacletherovercanachieve.
o TestEquipmento Variousheightobjectso FullRovero FullCommunicationSuite
o ResultsExpectedoMaximumobstacleheightachievable
o RiskReductiono Constructionofadroptestwithsolidworkso Checkfordeformationsonroveraftereachobstacle
ObstacleClearance
80
FindObstacles ofvarioussizeshavea heightbeawholenumberofinches +- 1/8in.
Put anobstaclenear1in.InfrontoftheRover
AttemptTranslationoverobstacle CheckforDeformations
Recordheightof lasttranslationENDTEST
TranslationSuccessful nounsafe/criticaldeformation
UnsuccessfulTranslationorDeformationdeemedunsafe/critical
FullMissionSimulation(TimePermitting)
81
• RequirementsSatisfying: DR4.2• GeneralGoal: Executeanentiremissionasdefinedbytherequirementsforcompletion.• DataRequired:Passfailureofmission• TasksRequiredbeforeTestExecution:Fullconstructionandintegrationofroverandsoftware• LocationUsed:SwitzerlandTrail
PoorWeatherBackupTests
• ObstacleTest– Conducttestsamebutindoors• Nonidealduetolackofdefinedterrain.Indoorgroundmorelikelytoleadtodropdanger
• Maneuverability– Conducttestbutindoorswithdirtunderroverbudgetpermitting• Difficultywithprovidingdefinedterraininlargeenoughareafortest
• Communications– Outdoorsbututilizewarmthprotectionorrainprotectionasneeded.(Tarp,insulation,umbrellaetc.)• Distance/Battery- UsehallwayinEngineeringCenterorusinggrassyareanearEngineeringCenterifBouldernotweatherconstrained• Nonidealduetolackofdefinedterrain
• SlopeCapabilityandLeveling– Construct20degreeslopeandcoverindirt.• Requiresextrabudgetandrequiresalargeconstructiontoaccommodatethesizeoftherover
82
ModelBackupImages- Mesh
83
GearMesh
84
RimMesh
85