Autonomous Robotic Screening of Tubular Structures based ...
UP MARS: Multi-Device Autonomous Robotic Excavation...
Transcript of UP MARS: Multi-Device Autonomous Robotic Excavation...
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UP MARS: Multi-Device Autonomous Robotic Excavation System University of Portland Donald P. Shiley School of Engineering November 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
Device Deployment
Obstacle Traversal
Regolith Excavation
Obstacle Traversal
Regolith Deposition
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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Regolith Transfer
Transport Deployment
Obstacle Traversal
Excavator Deployment
Regolith Excavation
Obstacle Traversal
Regolith Deposition
Regolith Excavation
Obstacle Traversal
OPERATIONAL DIAGRAM
One-time op. Separation op. Cyclical op.
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INTENDED SYSTEM PERFORMANCE
050
100150200250
0 2 4 6 8 10
Rego
lith
Mas
s (kg
)
Time (minutes)
Expected Results as Compared to WVU
Multiple, DepositedMultiple, ExcavatedSingle, DepositedSingle, Excavated
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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
20
40
60
80
100
0.010.1110100
Perc
ent F
iner
Particle Diameter (mm)
BP-1UPR Triple Dry 1
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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 Vision Computer 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 #1 Nov 13: #2 systems, detail design / FDR #2 Nov 21: #3 systems, detail design / FDR #3 Nov 28: #4 systems, detail design / FDR #4 Dec 5: #5 systems, detail design / FDR #5 Dec 12: Submit drawings for fabrication / FDR #6 Jan 5: Fabricate composites / Machine in-house parts Jan 12: Assemble devices / Part check, troubleshoot Jan 15: Agile development of autonomy code
Apr 21: Ship system to Florida May 18: NASA RMC Mid-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 Portland Dr. Sharon Jones – Dean, Shiley School of Engineering Dr. Deborah Munro – Professor, Shiley School of Engineering Dr. Kenneth Lulay – Professor, Shiley School of Engineering Dr. Wayne Lu – Professor, Shiley School of Engineering Dr. Matthew Kuhn – Professor, Shiley School of Engineering Tim Vanderwerf – ESCO Corporation Cathy Myers – Director, University Industry Partnerships Allen Hansen – Shop Technician, Shiley School of Engineering Jacob Amos – Shop Technician, Shiley School of Engineering Jared Rees – Shop Technician, Shiley School of Engineering Paige Hoffert – Shop Technician, Shiley School of Engineering Jeff Rook – EHS Officer, University Public Safety Paul Luty – Director, University Facilities Planning and Construction Jim Ravelli – Vice President, University Operations Gregory Shean – University Alumnus Dr. 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