NASA Lunabotics Mining Competition 2012, Chondrobot-2, Bangladesh

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Md. Md. Md. Md. JonayetJonayetJonayetJonayet HossainHossainHossainHossain

MahmudulMahmudulMahmudulMahmudul HasanHasanHasanHasan OyonOyonOyonOyon

KaziKaziKaziKazi Mohammad Mohammad Mohammad Mohammad RazinRazinRazinRazin AnikAnikAnikAnik

MdMdMdMd. . . . MashiurMashiurMashiurMashiur RahmanRahmanRahmanRahman MiranMiranMiranMiran

Team Members

NASA LMC 2012NASA LMC 2012NASA LMC 2012NASA LMC 2012

CHONDROBOT 2

BRAC University, BANGLADESH

MdMdMdMd. . . . MashiurMashiurMashiurMashiur RahmanRahmanRahmanRahman MiranMiranMiranMiran

Sarah Sarah Sarah Sarah BinteBinteBinteBinte NasirNasirNasirNasir NabiaNabiaNabiaNabia

NabilNabilNabilNabil ShakerShakerShakerShaker

Bonny Bonny Bonny Bonny AminAminAminAmin KhanKhanKhanKhan

FahimFahimFahimFahim Al Al Al Al HasnaeenHasnaeenHasnaeenHasnaeen

MeemMeemMeemMeem GaziGaziGaziGazi

KhairulKhairulKhairulKhairul HasanHasanHasanHasan

Faculty AdvisorsFaculty AdvisorsFaculty AdvisorsFaculty AdvisorsDr. Md. Dr. Md. Dr. Md. Dr. Md. KhalilurKhalilurKhalilurKhalilur RhamanRhamanRhamanRhaman

Dr. Dr. Dr. Dr. BelalBelalBelalBelal BhuianBhuianBhuianBhuianDr. Dr. Dr. Dr. MosaddequrMosaddequrMosaddequrMosaddequr RahmanRahmanRahmanRahman

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MISSION OBJECTIVES

� Development of an excavation system to collect regolith

� The system must be capable of moving in lunar like environment

� Autonomous control scheme for the system

CHONDROBOT 2

BRAC University, Bangladesh

� Limiting data transfer rate in case of wireless communication

� Feedback from the operation area

� System capable of digging maximum amount of regolith

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CONCEPT OF OPERATION

Start

Position

Deposit

SimulantTraverse to

Mining Zone

Traverse to

Collector Bin

Mining Zone

Excavate &

Collect

Simulants

ConOps Flow chartCHONDROBOT 2


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PREVIOUS DESIGN

3DS max design of Chondrobot

CHONDROBOT 2


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PREVIOUS DESIGN

� Conveyer-belt, 2 motors driving system

� Wireless controlled (Not Autonomous)

� Two excavation arms for digging � Two excavation arms for digging

� Deposition System was based on kopi call & pulley

system

� Live video stream transfer causes of high data rate

3DS max design CHONDROBOT 2


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PREVIOUS DESIGN PITFALLS

� Two 12v DC motor was not enough to Provide sufficient Torque to

the wheels which resulted in slow movement

� System weight was higher, so much power was needed for the system

� Traction to the wheels were huge than its capability

� Data Transfer rate was High so consumed higher bandwidth

� High risk factors were present

CHONDROBOT 2


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NEW DESIGN CONSIDERATIONS

� Keeping weight smaller

� Efficient wheel design

� Providing enough torque to the wheels hence increasing speed

� Sub-systems must be easy to repair and replaced if necessary

� Giving full Autonomy to the system

� Dismantle ability

CHONDROBOT 2


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PROJECT DEVELOPMENT PLANS

� Integration of multidisciplinary Team

� Breaking the system into sub-systems

� Sub-groups were assigned to develop respective sub-system

Team

Sub Group

Sub-System

Design

� Fix Timeline for each sub-system design &implementation

� Interfacing the sub-systems

� Testing , Trial & Error check

Design

Implement

Interface

TestCHONDROBOT 2


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SYSTEM HIERARCHY

Depositor Excavator Wheel

Control Power Mechanical Communication Structure

CHONDROBOT 2

MCC

Software

On-Board

Software

System

Driving

Circuit

Depositor

Motors

Excavator

Motors

Wheel

Motors

BasementAccess

Point Wi-Fi

Excavator

+

Depositor

CHONDROBOT 2


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PRELIMINARY DESIGNS

Design with Mechanical suspension Design with Six wheels using Hub motors (CAD)

CHONDROBOT 2


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FINAL CHONDROBOT 2 STRUCTURE

CAD of Final Design Real Design of final structure

CHONDROBOT 2


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PREVIOUS WHEEL DRIVING SUBSYSTEM

� The Conveyer-belt wheel was made of Metals

� One motor for one side wheel of the excavator

� Got a huge traction according to the motors torque

� Very rigid motion

� No independent suspension

Previous wheel (up) and Frame (down)

CHONDROBOT 2


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NEW DRIVING SUBSYSTEM

� Four(4) wheels interfaced with 4 motors

� Motors are driven by 24V

� Enough Torque for movement

� Less traction and distributed traction

� Steel Grips to move spontaneously in BP1

� Independent speed controlling for every wheel to overcome craters

CAD of Wheel

CHONDROBOT 2


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NEW DRIVING SUBSYSTEM

Motor Shaft

Bearing

HousingNut

Wheel

Bearing

Wheel Interfacing System

CHONDROBOT 2


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EXCAVATION SUBSYSTEM

� One excavation arm instead of two

� Dust Tolerance to protect the controller by covered

conveyer-belt

� Lifting excavator according to the sand level

� Digs at a rate of 14-15 kg sand (less denser than BP1)

per minute

CAD of excavator

CHONDROBOT 2


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DEPOSITOR SUBSYSTEM

� Rail Based Modified Rack-pinion system

� Capacity of depositor is 20 kg at a time

CAD of depositor

CHONDROBOT 2


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Motor

String

Cylinder

Depositor

Bucket

2D design of depositor (Collection) 3D design of depositor (Collection)

CHONDROBOT 2


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Sting

BearingDepositor

Bucket

MotorCylinder

2D design of depositor (Deposition)

3D design of depositor (Deposition)

CHONDROBOT 2


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CONTROL SUBSYSTEM

� Feedback system for autonomous

mode

� Independent four(4) wheel speed

controlled

� Auto stopping of digger & depositor

� USB communication with onboard

computer

Proteus Design of Controller circuit Schematic

CHONDROBOT 2


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COMMUNICATION SUBSYSTEM

� Connected through WAP from control room

to LunArena

� Socket protocol for less BW

Remote

Software

in MCCHardware

command

+ Sensor

Wired

Wi-Fi

� 0.8 Mbits/sec BW on an average

+ Sensor

System

Control

Circuit

WAP

On Board

SoftwareKINECT

Communication System Block Diagram

CHONDROBOT 2


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FUNCTIONALITY OF SOFTWARE

� Got connection to control room when

Autonomous mode malfunctions

� Safely handle even after the Autonomous

system failssystem fails

� Controlling the System Control circuit

� Process Feedback from operation area

CHONDROBOT 2


On-Board Control Software

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� Detecting The Obstacle depth

Image

� Auto Path Mapping

OBSTACLE 3

AUTONOMOUS CONTROL

� Detecting The Cleavages of the

Surface

� Detecting the Mining Zone

Obstacle Depth image for Autonomy

CLOSEST OBSTACLE 1

OBSTACLE 2

CHONDROBOT 2


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� Detecting the Lunabin

� Auto limited Sand collection

� Auto deposition

AUTONOMOUS CONTROL

OBSTACLE: WALL

� Auto deposition

� Detecting the sidewalls to

avoid collision

LUNABIN

Wall & Lunabin Detection

CHONDROBOT 2


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FRAME Bearing Housing Shaft Wheel

Wheel System

INTERFACING

Depositor Wheel SystemExcavation

arms Control System

Complete Structure

CHONDROBOT 2


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Control System

+ +

INTERFACING

Feedback from Complete structure WAP Image Processing + +

CHONDROBOT 2


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UNIQUE FEATURES CONSUMPTION

� Innovative Depositor design

� KINECT as an eye to CHONDROBOT2 for autonomous movement

� Socket protocol communication for limiting bandwidth

CHONDROBOT 2


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Verification

criteria

Verified

results

Verification analysis

Frame 6

Excavator 12

Wheel 16

Verification

criteria

Verified

results

Verification

analysis

Dimension 1.21 m ×

0.66 m ×

0.74 m

Verified

SYSTEM VERIFICATION & VALIDATION

Weight

65kg

Wheel 16

Depositor 8

Control 6

Power 10

Others 5

Total 65 kg

Verified

0.74 m

Kill SwitchYes Verified

Communication WAP Verified

BW Within

5Mbps

Verified

CHONDROBOT 2


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MONTH AUGUST

2011

SEPTEMBER

2011

OCTOBER

2011

NOVEMBER

2011

DECEMBER

2011

JANUARY

2012

FEBRUARY

2012

MARCH

2012

APRIL

2012

MAY

2012

OUT REACH

CONCEPT STUDY

SYSTEM ANALYSIS

DESIGN

IMPLEMENT

TESTING

PROJECT TIME LINE

TESTING

CONTROL ANALYSIS

AUTOMATION ANALYSIS

AI IMPLEMENT

CONTROL IMPLEMENT

COMMUNICATION IMPLEMENT

CHONDROBOT 2


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CHONDROBOT 2


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CHONDROBOT 2


NASA Lunabotics Mining Competition 2012, Chondrobot-2, Bangladesh

Engineering

Transcript of NASA Lunabotics Mining Competition 2012, Chondrobot-2, Bangladesh