1. COSGC-Summer Internship 2010
Independent Project
Sean Throckmorton, Luke Slominski
Travis Histed , Ben Gindl

2. System Two Part: Lander – houses rover, delivers rover from altitude
Rover - previous Robot Challenge contender, modified to interface to lander hardware, software modified for flight sequence

3. Project Goals Lander Rover 3kg including rover payload
Minimum height drop of 100 feet
Self contained power source
Rover
Less than 1.5 kg weight
Fits into lander
Complies with Robot Challenge guidelines and rules

4. Rover Modifications Created new sensor plate
Improved sensor reading (different physical layout)
Designed and manufactured a hitching system

5. Lander Sequence Parachute will deploy and slow decent
At programmed height, chute and lid are released, lander free falls
Foam cone will dissipate kinetic impact energy
Rover will be securely fastened to platform
Platform will orient itself using rover center of gravity

8. Programming Programming Analog Sensors Bascom AVR programming
Programmed rover with decision making
Programmed lander with sequence of landing step
Transceiver
Compass
Power

9. Impact foam Conducted compressing testing of three types of foam
Charcoal packaging foam shell
Composite hobby foam and newspaper inside

10. Avionics Built separate circuit board for Lander control
Used to control motors, light chute charge and detect Sonar data

11. Testing
Impact Testing
Pin Testing
Foam Testing
Parachute testing

12. Reliability Main modes of failure: Free-fall:
Concern-Initial drag force from chute could damage release mechanisms
Release
Concern-Pin release was not %100 reliable in testing
Impact
Impact angle was strongly dependent on a uniform pin release
Considered increasing length, however was not feasible
Rover would stay fastened during impact
Compress as much as possible

13. First Test Sequence
Attach lander to two weather balloons that are tethered to the ground
Lander will rise to 500 feet
After 8 minutes lander will be released
Parachute deploys
Sonar triggers lid release 10 feet from the ground
Platform swivels until the rover is upright
After 15 minutes from being turned on the Rover will drive out and operate autonomously

14. First Test Results Unforeseen elements…
Weather balloons were destroyed before payload left surface
~ ¼ of our budget lost in the atmosphere

15. Second Test
Adequate
not able to drop from desired height
Instead rigged to a boom and swung over edge of 4-story CSU parking garage
Minus the failure of lid detachment; the Lander worked as designed

16. Lessons Learned Testing crucial to success
Layout procedures for testing and define modes of success and failure
Assume you will need to conduct your final test twice and set aside money for it

17. Questions?