1. Use or disclosure of document data is subject to the restrictions on the title pagePage 1 © 2014 Carnegie Robotics LLC. MARSUPIAL Detailed Design Review Carnegie Robotics LLC. #10 40th Street Pittsburgh, PA 15201 Jared Raby Nico Gallardo Chris Griffin Sean Greenslade Wesly Rice

2. Use or disclosure of document data is subject to the restrictions on the title pagePage 2 © 2014 Carnegie Robotics LLC. Agenda Introduction Systems Design  Tracks/Suspension  Wireless Node Payload  Wireless Node Deployment  Electrical Systems Risks MSD II Schedule Questions

3. Use or disclosure of document data is subject to the restrictions on the title pagePage 3 © 2014 Carnegie Robotics LLC. Introduction MARSUPIAL Tracked Rover for CRL Scope  Suspended Track System  Wireless Node System  Electrical Systems Deliverables  Suspended Track System  Mesh Network Payload

4. Use or disclosure of document data is subject to the restrictions on the title pagePage 4 © 2014 Carnegie Robotics LLC. TRACKS AND SUSPENSION Wes

5. Use or disclosure of document data is subject to the restrictions on the title pagePage 5 © 2014 Carnegie Robotics LLC. Tracked Suspension System Suspension  Rugged against impact shock  Various environmental areas  Climb obstacles  Self Contained –IP Rated seals Drive-Train  Off the shelf motors  Meet speed and torque requirements –Simple gearing  Integrated electronics –Odometry

6. Use or disclosure of document data is subject to the restrictions on the title pagePage 6 © 2014 Carnegie Robotics LLC. Tracked Suspension System Tracks  Proper materials –Coefficient of friction –Material stretch  Outdoor resistant –Chemical and physical ruggedness  Ease to install and remove

7. Use or disclosure of document data is subject to the restrictions on the title pagePage 7 © 2014 Carnegie Robotics LLC. Tracked Suspension System Drive-Train  Required Speed –Min of 5mph on level ground  Require Torque –To move 150 lbs of robot and payload  Off the Shelf Motor –Reduce overall price  Realistic Gear Train –8.0:1 – 12.0:1 –Planetary

8. Use or disclosure of document data is subject to the restrictions on the title pagePage 8 © 2014 Carnegie Robotics LLC. Tracked Suspension System BOM

9. Use or disclosure of document data is subject to the restrictions on the title pagePage 9 © 2014 Carnegie Robotics LLC. Tracked Suspension System BOM 2

10. Use or disclosure of document data is subject to the restrictions on the title pagePage 10 © 2014 Carnegie Robotics LLC. Tracked Suspension System BOM 3

11. Use or disclosure of document data is subject to the restrictions on the title pagePage 11 © 2014 Carnegie Robotics LLC. WIRELESS NODE PAYLOAD Sean

12. Use or disclosure of document data is subject to the restrictions on the title pagePage 12 © 2014 Carnegie Robotics LLC. Wireless Node Payload Droppable Node  OLinuXino – 575 MHz ARM Core –Running Arch Linux with B.A.T.M.A.N. wireless mesh protocol –USB Wi/Fi adapter –Buck converter –Li-on battery providing upwards of 6 hours of runtime Current Prototype  3D printed shell  Off-the-shelf antenna

13. Use or disclosure of document data is subject to the restrictions on the title pagePage 13 © 2014 Carnegie Robotics LLC. Wireless Node Payload Block Diagram

14. Use or disclosure of document data is subject to the restrictions on the title pagePage 14 © 2014 Carnegie Robotics LLC. Wireless Mesh Node BOM ComponentCostDistributorManufacturerManufacturer Part NumberQty.System Price Est. 5 Volt Buck Converter$6.71MouserRECOM PowerR-785.0-0.58Puck$53.68 Single Board Computer$32.95MouserOlimex Ltd.IMX233-OLINUXINO-NANO8Puck$263.60 WLAN USB Adapter$14.33Amazon LLCTP-LinkTP-LINK TL-WN722N8Puck$114.64 Li-Ion Battery$3.39Battery Space PL-402248-2C24Puck$81.36 Battery Protection Board$5.87Battery Space PCB-LiS3A48Puck$46.96 Total$560.24

15. Use or disclosure of document data is subject to the restrictions on the title pagePage 15 © 2014 Carnegie Robotics LLC. WIRELESS NODE DEPLOYMENT Jared

16. Use or disclosure of document data is subject to the restrictions on the title pagePage 16 © 2014 Carnegie Robotics LLC. Wireless Node Deployment System Needs to readily deploy the node while keeping in place during high impact moments  High holding strength  Ability to drop the puck easily Deployment system should be isolated from the outside to comply with IP standards  Dust / water prevention  Short circuit protection Magnetic holding system developed  Magnetic slide in the track

17. Use or disclosure of document data is subject to the restrictions on the title pagePage 17 © 2014 Carnegie Robotics LLC. Wireless Node Deployment System CAD

18. Use or disclosure of document data is subject to the restrictions on the title pagePage 18 © 2014 Carnegie Robotics LLC. Wireless Node Deployment Schematic

19. Use or disclosure of document data is subject to the restrictions on the title pagePage 19 © 2014 Carnegie Robotics LLC. Wireless Node Deployment System PCB

20. Use or disclosure of document data is subject to the restrictions on the title pagePage 20 © 2014 Carnegie Robotics LLC. Wireless Node Deployment System BOM IndexComponentCostDistributorManufacturer Manufacturer Part NumberQty. Price Est. 1ALEL 1uF 50V$0.23MouserNichiconUVR1H010MDD1TD3$0.69 2MLCC 0.1uF 50V X7R$0.10MouserKemetC0603C104K5RACTU1$0.10 3 ISP Connection Headers$0.54MouserMolex10-89-70611$0.54 4Servo Connections$0.19MouserMolex87891-030610$1.88 5Payload Microcontroller$1.30MouserAtmelATTINY2313A-SUR1$1.30 6 TTL to RS232 Converter$3.84Mouser Maxim IntegratedMAX232ACSE+1$3.84 712 MHz Crystal$0.49MouserVishayXT9SNLANA12M1$0.49 822 pF capacitor$0.20DigikeyYageoCC0402JRNPO9BN2202$0.40 Total$9.24

21. Use or disclosure of document data is subject to the restrictions on the title pagePage 21 © 2014 Carnegie Robotics LLC. POWER MANAGEMENT AND DISTRIBUTION Nico and Chris

22. Use or disclosure of document data is subject to the restrictions on the title pagePage 22 © 2014 Carnegie Robotics LLC. Electrical Diagram

23. Use or disclosure of document data is subject to the restrictions on the title pagePage 23 © 2014 Carnegie Robotics LLC. Electrical Diagram – Batteries

24. Use or disclosure of document data is subject to the restrictions on the title pagePage 24 © 2014 Carnegie Robotics LLC. Electrical Diagram – Power Train

25. Use or disclosure of document data is subject to the restrictions on the title pagePage 25 © 2014 Carnegie Robotics LLC. Electrical Diagram – Peripherals

26. Use or disclosure of document data is subject to the restrictions on the title pagePage 26 © 2014 Carnegie Robotics LLC. Power Budget DeviceRail Voltage (V)Power (W) Efficiency (converters, drivers, etc) Motor #124100 Motor #224100 Motor Controller #124150.85 Motor Controller #224150.85 Main Computer510 Power Management uC55.00E-02 Payload (Pucks)241.68 Payload (Dispenser)510 Lighting2440 Camera51.2 Ethernet Switch55 Level Shifter51.44 E-Stop Comm Receiver2410 IMU51 WLAN Radio55 5V DC-DC245.117250.85 3.3V DC-DC50.4250.66 RailPower (W)Current (A) 24V286.811.94 5V34.1156.823 3.3V0.8250.25

27. Use or disclosure of document data is subject to the restrictions on the title pagePage 27 © 2014 Carnegie Robotics LLC. Power Management Schematic

28. Use or disclosure of document data is subject to the restrictions on the title pagePage 28 © 2014 Carnegie Robotics LLC. Power Management Schematic (cont.) Two 24V Lithium Ion batteries provide 2kW of power (max) All current is sourced through pin 5 of the current sensor

29. Use or disclosure of document data is subject to the restrictions on the title pagePage 29 © 2014 Carnegie Robotics LLC. Power Management Schematic (cont.)

30. Use or disclosure of document data is subject to the restrictions on the title pagePage 30 © 2014 Carnegie Robotics LLC. Power Management Schematic (cont.) Low current will be passed through the circuit → Low power dissipation Potentiometer is used to tune the divider

31. Use or disclosure of document data is subject to the restrictions on the title pagePage 31 © 2014 Carnegie Robotics LLC. Power Management Schematic (cont.)

32. Use or disclosure of document data is subject to the restrictions on the title pagePage 32 © 2014 Carnegie Robotics LLC. Power Management Schematic (cont.) Rail# of outputs 24Vu 5 5V 8 3.3V3 GNF20 TX1 RX1

33. Use or disclosure of document data is subject to the restrictions on the title pagePage 33 © 2014 Carnegie Robotics LLC. Power Management Pin Allocations ATMEGA328Serial CommunicationISPSamplingCrystalTotalAnalogDigital Input1422936 Output1 110

34. Use or disclosure of document data is subject to the restrictions on the title pagePage 34 © 2014 Carnegie Robotics LLC. RISKS

35. Use or disclosure of document data is subject to the restrictions on the title pagePage 35 © 2014 Carnegie Robotics LLC. System Risks RiskSeverity Occurrence ProbabilityMitigationOwner 1 Staffing/engineering ability41 Consultation with advisor/customer Scale back of scopeNico 2Budget51 Consultation with advisor/customer Scale back of scopeWes 3Machine setbacks31Plenty of lead timeWes 4Shipping setbacks31Plenty of lead timeNico 5Part setbacks31Plenty of lead timeJared 6 Incorrect Engineering Analysis 23 Thorough verification of analysis Per subsystem 7Ordering errors33Thorough verification of BOMNico 8 Catastrophic prototype failure51 Proof of concepts Small scale tests before large scale testsChris 9Time constraints24 Consultation with advisor/customer Scale back of scopeJared 10Hardware failure34 Thorough design verification Spare componentsChris 11Mechanical failure34 Thorough design verification Spare componentsWes 12Software failure34 Thorough design verification Spare componentsSean 13Environmental factors15Review weather conditionsJared 14Technological limits31Review current technologiesSean

36. Use or disclosure of document data is subject to the restrictions on the title pagePage 36 © 2014 Carnegie Robotics LLC. Mechanical Risks RiskSeverity Occurrence ProbabilityMitigationOwner 1 Unstable control of the robot while it's hanging from straps connected to mini-crane5 0 Consultation with advisor/customer Scale back of scope Wes 2Module being dropped 5 2 Reinforced chassis and shock absorption Wes 4 Lose control of vehicle while it's descending from the ramp5 1 Manual brakes/emergency brakes Limited/no power to the motors -> -> "coasting function" or clutch Wes 4Limited slip to turn5 3 Make sure motors are powerful enough to cause slipping Wes

37. Use or disclosure of document data is subject to the restrictions on the title pagePage 37 © 2014 Carnegie Robotics LLC. Electrical Risks RiskSeverity Occurrence ProbabilityMitigationOwner 1 Visual inspection of robot is not adequate in identifying all malfunctions 5 2 Perform electrical self tests to identify other malfunctions Nico 2Battery short circuits 5 1 Fuse to break circuit Chris 3Emergency stop malfunction 51 It doesn't. Chris 4Electrical noise in the system41 Proper signal conditioning and isolation Nico 5Packet loss5 5Apply failsafe Sean 6Lighting malfunction2 1 Infrared / additional backup Jared 7Faulty IMU readings41 redundant IMU Jared

38. Use or disclosure of document data is subject to the restrictions on the title pagePage 38 © 2014 Carnegie Robotics LLC. Software Risks RiskSeverity Occurrence ProbabilityMitigationOwner 1Packet loss5 5Apply software failsafe Sean / Jared 2 Wheel slippage causes bad odometry readings3 4 Use GPS / Inertial sensors to correct odometry readings Jared 3 Poor / Unavailable GPS connectivity3 3 Fall back on inertial sensors / odometry alone Jared / Sean 4Faulty IMU readings41 redundant IMU Jared 5Unstable control loop5 1 Vigorous control loop testingNico

39. Use or disclosure of document data is subject to the restrictions on the title pagePage 39 © 2014 Carnegie Robotics LLC. Safety Risks RiskSeverity Occurrence ProbabilityMitigationOwner 1 Weight consideration when lifting the robot5 1 >1 person is used to lift the robot Chris 2 Unstable control of the robot while it's it's hanging from straps connected to mini- crane5 1 There needs to be 3 hook points in order to safely move the robot using a crane Wes 3Safety to personnel53 Needs to meet military safety standard MIL 883E Chris 4 Lose control of vehicle while it's descending from the ramp4 1 Manual brakes/emergency brakes Limited/no power to the motors -> -> "coasting function" or clutch Wes

40. Use or disclosure of document data is subject to the restrictions on the title pagePage 40 © 2014 Carnegie Robotics LLC. Schedule

41. Use or disclosure of document data is subject to the restrictions on the title pagePage 41 © 2014 Carnegie Robotics LLC. To be accomplished EMF interference mitigation Further node deployment development  Prototyping Schematic and PCB design Full BOMs Detailed Design Review Slideshow Final Detailed Design Review Slideshow Continued EDGE Updates

42. Use or disclosure of document data is subject to the restrictions on the title pagePage 42 © 2014 Carnegie Robotics LLC. Questions