MARSUPIAL Detailed Design Review Carnegie Robotics LLC. #10 40th Street Pittsburgh, PA 15201 Jared Raby Nico Gallardo Chris Griffin Sean Greenslade Wesly Rice

Agenda Introduction Systems Design Risks MSD II Schedule Questions Tracks/Suspension Wireless Node Payload Wireless Node Deployment Electrical Systems Risks MSD II Schedule Questions

Introduction MARSUPIAL Tracked Rover for CRL Scope Deliverables Suspended Track System Wireless Node System Electrical Systems Deliverables Mesh Network Payload

Wes Tracks and suspension

Tracked Suspension System 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

Tracked Suspension System Suspension Design Improved Christie Volute Idea

Tracked Suspension System

Tracked Suspension System

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

Tracked Suspension System Upper Christie Arm Bronze Bearings Retaining Rings Ballend Spring Joints

Tracked Suspension System Lower Christie Arm Bronze Bearings Press Fit Axel Ball Bearings for Tensioning Wheels Ballend Spring Joints

Tracked Suspension System Dedicated Tensioner Bronze Bearings Press Fit Axel Ball Bearings for Tensioning Wheels Clock Spring For Preload

Tracked Suspension System Undriven Wheel Top Assy Ball Bearings Preload Grease Seal O-Rings Stock Pulley Magnetic Encoder Odometry

Tracked Suspension System Motor Assembly Sealed Planetary Gearbox Parking Brake

Tracked Suspension System Tracks Proper materials Coef of friction Material stretch Outdoor resistant Chemical and physical ruggedness Ease to install and remove

Tracked Suspension System BOM

Tracked Suspension System BOM 2

Tracked Suspension System BOM 3

Sean Wireless node payload

Wireless Node Payload Droppable Node Current Prototype 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

Wireless Node Payload Block Diagram

Wireless Mesh Node BOM Component Cost Distributor Manufacturer Manufacturer Part Number Qty. System Price Est. 5 Volt Buck Converter $6.71 Mouser RECOM Power R-785.0-0.5 8 Puck $53.68 Single Board Computer $32.95 Olimex Ltd. IMX233-OLINUXINO-NANO $263.60 WLAN USB Adapter $14.33 Amazon LLC TP-Link TP-LINK TL-WN722N $114.64 Li-Ion Battery $3.39 Battery Space PL-402248-2C 24 $81.36 Battery Protection Board $5.87 PCB-LiS3A4 $46.96 Total $560.24

Wireless node deployment Jared Wireless node deployment

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

Wireless Node Deployment System CAD

Wireless Node Deployment System Wiring Diagram

Wireless Node Deployment System PCB

Wireless Node Deployment System BOM Index Component Cost Distributor Manufacturer Manufacturer Part Number Qty. Price Est. 1 ALEL 1uF 50V $0.23 Mouser Nichicon UVR1H010MDD1TD 3 $0.69 2 MLCC 0.1uF 50V X7R $0.10 Kemet C0603C104K5RACTU ISP Connection Headers $0.54 Molex 10-89-7061 4 Servo Connections $0.19 87891-0306 10 $1.88 5 Payload Microcontoller $1.30 Atmel ATTINY2313A-SUR 6 TTL to RS232 Converter $3.84 Maxim Integrated MAX232ACSE+ 7 12 MHz Crystal $0.49 Vishay XT9SNLANA12M 8 22 pF capacitor $0.20 Digikey Yageo CC0402JRNPO9BN220 $0.40 Total $9.24

Power management and distribution Nico and Chris Power management and distribution

Electrical Diagram

Electrical Diagram – Batteries

Electrical Diagram – Power Train

Electrical Diagram – Peripherals

Power Budget Device Rail Voltage Power (W) Efficiency (converters, drivers, etc) Motor #1 24 100 Motor #2 Motor Controller #1 15 0.85 Motor Controller #2 Main Computer 5 10 Power Management uC 5.00E-02 Payload (Pucks) 1.68 Payload (Dispenser) Lighting 40 Camera 1.2 Ethernet Switch Level Shifter 1.44 E-Stop Comm Reciever IMU 1 WLAN Radio 5V DC-DC 5.11725 3.3V DC-DC 0.425 0.66 Rail Power Current 24V 286.79725 11.94988542 5V 34.115 6.823 3.3V 0.825 0.25

Electrical Systems

Risks

System Risks Risk Severity Occurance Probability Mitigation Owner 1 Staffing/engineering ability 4 Consultation with advisor/customer Scale back of scope Nico 2 Budget 5 Wes 3 Machine setbacks Plenty of lead time Shipping setbacks Part setbacks Jared 6 Incorrect Engineering Analysis Thourough verification of analysis Per subsystem 7 Ordering errors Thourough verification of BOM 8 Catostrophic prototype failure Proof of concepts Small scale tests befor large scale tests Chris 9 Time constraints 10 Hardware failure Thorough design verification Spare components 11 Mechanical failure 12 Software failure Sean 13 Environmental factors Review weather conditions 14 Technological limits Review current technologies

Mechanical Risks Risk Severity Occurance Probability Mitigation Owner 1 Unstable control of the robot while it's it's hanging from straps connected to mini- crane 5   0 Consultation with advisor/customer Scale back of scope  Wes 2 Module being dropped  5  2 Reinforced chassis and shock absortion 4 Lose control of vehicle while it's descending from the ramp 1  Manual brakes/emergency brakes Limited/no power to the motors -> -> "coasting function" or clutch Limited slip to turn  3 Make sure motors are powerful enough to cause slipping

Electrical Risks Risk Severity Occurance Probability Mitigation Owner 1 Visual inspection of robot is not adequate in identifying all malfunctions  5  2 Perform electrical self tests to identify other malfunctions  Nico 2 Battery short circuits  1 Fuse to break circuit  Chris 3 Emergency stop malfunction 1  It doesn't. 4 Electrical noise in the system  4 Proper signal conditioning and isolation 5 Packet loss 5  Apply failsafe  Sean 6 Lighting malfunction 2  Infrared / additional backup  Jared 7 Fauly IMU readings redundant IMU

Software Risks Risk Severity Occurance Probability Mitigation Owner 1 Packet loss 5   5 Apply software failsafe  Sean / Jared 2 Wheel slippage causes bad odometry readings 3   4 Use GPS / Inertial sensors to correct odometry readings  Jared 3 Poor / Unavailable GPS connectivity  3 Fall back on inertial sensors / odometry alone  Jared / Sean 4 Fauly IMU readings 1  redundant IMU 5 Unstable control loop  1 Vigorous control loop testing Nico

Safety Risks Risk Severity Occurance Probability Mitigation Owner 1 Weight consideration when lifting the robot  5  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- crane 5  There needs to be 3 hook points in order to saftely move the robot using a crane  Wes 3 Safety to personnel 3  Needs to meet military safety standard MIL 883E 4 Lose control of vehicle while it's descending from the ramp 4  1  Manual brakes/emergency brakes Limited/no power to the motors -> -> "coasting function" or clutch

Schedule

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

Questions