UP MARS: Multi-Device Autonomous Robotic Excavation System University of Portland Donald P. Shiley...
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![Page 1: UP MARS: Multi-Device Autonomous Robotic Excavation System University of Portland Donald P. Shiley School of Engineering November 14, 2014.](https://reader030.fdocuments.net/reader030/viewer/2022032803/56649e3a5503460f94b2bd68/html5/thumbnails/1.jpg)
UP MARS: Multi-Device Autonomous Robotic Excavation System
University of PortlandDonald P. Shiley School of EngineeringNovember 14, 2014
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OVERVIEW
Develop extraterrestrial mining systems capable of implementing in situ resource utilization (ISRU) to reduce the difficulty of human expansion into space by mining resources off Earth
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PROJECT HISTORY
2011 2012 2013
EXCAVATION ZONE
OBSTACLE ZONE
STARTING ZONE
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SINGLE-DEVICE OPERATION
Images acquired from NASA RMC and WVU’s Facebook
DeviceDeployment
ObstacleTraversal
RegolithExcavation
ObstacleTraversal
RegolithDeposition
Operational Diagram
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What do we do on Earth?
MULTI-DEVICE OPERATION
Advantages:- Specialization allows parallelization, reduction of individual complexities- Operational scalability
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RegolithTransfer
TransportDeployment
ObstacleTraversal
Excavator Deployment
RegolithExcavation
ObstacleTraversal
RegolithDeposition
RegolithExcavation
ObstacleTraversal
OPERATIONAL DIAGRAM
One-time op.Separation op.Cyclical op.
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INTENDED SYSTEM PERFORMANCE
0 1 2 3 4 5 6 7 8 9 100
50
100
150
200
250
Expected Results as Compared to WVU
Multiple, DepositedMultiple, ExcavatedSingle, DepositedSingle, Excavated
Time (minutes)
Rego
lith
Mas
s (k
g)
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OUR DESIGN: TRANSPORT
Conveyor Belt
Haul Truck
Rocker Bogie
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OUR DESIGN: EXCAVATOR
Bucket Wheel Excavation
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MINING TEST FACILITY
0.010.11101000
20
40
60
80
100BP-1UPR Triple Dry 1
Particle Diameter (mm)
Perc
ent F
iner
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40-minute round trip signal time to Mars.
WHY AUTONOMY?
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State Machine Architecture- Commands given based on state driven by sensor data- Multiple sensors used- Computer vision crucial
AUTONOMOUS CONTROL
Excavator Example
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OBSTACLE TRAVERSAL LOAD SENSING DOCKING/DEPOSITING
SENSORS
Computer Vision Computer VisionComputer Vision
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COMPUTER VISION SYSTEM
STEREOVISION:NASA Curiosity Rover
LIDAR LASER LINE SCANNING
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Oct 27: #1 systems, detail design / FDR #1Nov 13: #2 systems, detail design / FDR #2Nov 21: #3 systems, detail design / FDR #3Nov 28: #4 systems, detail design / FDR #4Dec 5: #5 systems, detail design / FDR #5Dec 12: Submit drawings for fabrication / FDR #6Jan 5: Fabricate composites / Machine in-house partsJan 12: Assemble devices / Part check, troubleshootJan 15: Agile development of autonomy code
Apr 21: Ship system to FloridaMay 18: NASA RMCMid-July: PISCES Competition
PROJECT SCHEDULE
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PROJECT BUDGET System Cost ($)
Transport (Framing, Conveyor, Electronics Box, Winch, Rocker Bogey, Articulation, Drive/Wheels) 8,500 Excavator (Bucket Wheel, Conveyor, Framing, Drive/Wheels) 5,450 Electrical components 2,500 Carbon Fiber 25,000 Facility Safety Supplies 1,500 Facility Dust 250 Travel to Florida: Transportation / Lodging 15,000 Shipping Costs 1,000
TOTAL COST $59,200
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STEM OUTREACH
Establish relationships with the local community for a connection that will spread far for generations.
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EFFORTS TO DATE
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• Refinement of Systems• Dig deeper• Better Navigation
• Swarm Technology• Martian Source-able• Cost Improvement
FUTURE RESEARCH
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Dr. Thomas Greene – Provost, University of PortlandDr. Sharon Jones – Dean, Shiley School of EngineeringDr. Deborah Munro – Professor, Shiley School of EngineeringDr. Kenneth Lulay – Professor, Shiley School of EngineeringDr. Wayne Lu – Professor, Shiley School of EngineeringDr. Matthew Kuhn – Professor, Shiley School of EngineeringTim Vanderwerf – ESCO CorporationCathy Myers – Director, University Industry PartnershipsAllen Hansen – Shop Technician, Shiley School of EngineeringJacob Amos – Shop Technician, Shiley School of EngineeringJared Rees – Shop Technician, Shiley School of EngineeringPaige Hoffert – Shop Technician, Shiley School of EngineeringJeff Rook – EHS Officer, University Public SafetyPaul Luty – Director, University Facilities Planning and ConstructionJim Ravelli – Vice President, University OperationsGregory Shean – University AlumnusDr. Sup Premvuti – Kirinson Inc.Dr. David Laning – InSitu Inc.
Our Sponsors and many more
ACKNOWLEDGEMENTS
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KEEP UPDATED AT:wordpress.up.edu/upmarsrobotics
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Funding sources Funds allocated
Senior Project Budget $300
Shiley Student Project Travel Funds 5000
Robotics Club (pre-existing) 6,000
Oregon Space Grant Consortium 10,000
ICE Industrial In-Kind Donation (Carbon Fiber) 25,000
ASUP Funding 4,200
ASME Project Funding 1,000
ESCO Donation (3D Printing) 1,000
Alumni Donations $5,000
Total $57,500
Additional funds needed $1,700