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

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

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 Payload  Electrical Systems  Odometry Deliverables  Suspended Track System  Mesh Network Payload

Use or disclosure of document data is subject to the restrictions on the title pagePage 4 © 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 Tracks  Proper materials –Coef of friction –Material stretch  Outdoor resistant –Chemical and physical ruggedness  Ease to install and remove

Use or disclosure of document data is subject to the restrictions on the title pagePage 5 © 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

Use or disclosure of document data is subject to the restrictions on the title pagePage 6 © 2014 Carnegie Robotics LLC. Tracked Suspension System

Use or disclosure of document data is subject to the restrictions on the title pagePage 7 © 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 Deployment System  Still in development

Use or disclosure of document data is subject to the restrictions on the title pagePage 8 © 2014 Carnegie Robotics LLC. Wireless Node Deployment System

Use or disclosure of document data is subject to the restrictions on the title pagePage 9 © 2014 Carnegie Robotics LLC. Power Management Systems

Use or disclosure of document data is subject to the restrictions on the title pagePage 10 © 2014 Carnegie Robotics LLC. Questions