UP MARS: Multi-Device Autonomous Robotic Excavation System University of Portland Donald P. Shiley School of Engineering November 14, 2014

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

PROJECT HISTORY EXCAVATION ZONE OBSTACLE ZONE STARTING ZONE

SINGLE-DEVICE OPERATION Images acquired from NASA RMC and WVU’s Facebook Device Deployment Obstacle Traversal Regolith Excavation Obstacle Traversal Regolith Deposition Operational Diagram

What do we do on Earth? MULTI-DEVICE OPERATION Advantages: - Specialization allows parallelization, reduction of individual complexities - Operational scalability

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.

INTENDED SYSTEM PERFORMANCE

OUR DESIGN: TRANSPORT Conveyor Belt Haul Truck Rocker Bogie

OUR DESIGN: EXCAVATOR Bucket Wheel Excavation

MINING TEST FACILITY

40-minute round trip signal time to Mars. WHY AUTONOMY?

State Machine Architecture -Commands given based on state driven by sensor data -Multiple sensors used - Computer vision crucial AUTONOMOUS CONTROL Excavator Example

OBSTACLE TRAVERSALLOAD SENSINGDOCKING/DEPOSITING SENSORS Computer Vision

COMPUTER VISION SYSTEM STEREOVISION: NASA Curiosity Rover LIDAR LASER LINE SCANNING

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

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 components2,500 Carbon Fiber25,000 Facility Safety Supplies1,500 Facility Dust250 Travel to Florida: Transportation / Lodging15,000 Shipping Costs1,000 TOTAL COST$59,200

STEM OUTREACH Establish relationships with the local community for a connection that will spread far for generations.

EFFORTS TO DATE

END GOALS Complete Robots Compete in NASA RMC REVOLUTIONIZE

Refinement of Systems Dig deeper Better Navigation Swarm Technology Martian Source-able Cost Improvement FUTURE RESEARCH

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

KEEP UPDATED AT: wordpress.up.edu/upmarsrobotics

Funding sourcesFunds allocated Senior Project Budget$300 Shiley Student Project Travel Funds5000 Robotics Club (pre-existing)6,000 Oregon Space Grant Consortium10,000 ICE Industrial In-Kind Donation (Carbon Fiber)25,000 ASUP Funding4,200 ASME Project Funding1,000 ESCO Donation (3D Printing)1,000 Alumni Donations$5,000 Total$57,500 Additional funds needed$1,700