Post on 05-Aug-2020
transcript
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
2011 2012 2013
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
050
100150200250
0 2 4 6 8 10
Rego
lith
Mas
s (kg
)
Time (minutes)
Expected Results as Compared to WVU
Multiple, DepositedMultiple, ExcavatedSingle, DepositedSingle, Excavated
OUR DESIGN: TRANSPORT
Conveyor Belt
Haul Truck
Rocker Bogie
OUR DESIGN: EXCAVATOR
Bucket Wheel Excavation
MINING TEST FACILITY
0
20
40
60
80
100
0.010.1110100
Perc
ent F
iner
Particle Diameter (mm)
BP-1UPR Triple Dry 1
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 TRAVERSAL LOAD SENSING DOCKING/DEPOSITING
SENSORS
Computer Vision Computer Vision 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 components 2,500 Carbon Fiber 25,000 Facility Safety Supplies 1,500 Facility Dust 250 Travel to Florida: Transportation / Lodging 15,000 Shipping Costs 1,000
TOTAL COST $59,200
STEM OUTREACH
Establish relationships with the local community for a connection that will spread far for generations.
EFFORTS TO DATE
• 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 sources Funds allocated
Senior Project Budget $300
Shiley Student Project Travel Funds 5000
Robotics Club (pre-existing) 6,000
Oregon Space Grant Consortium 10,000
ICE Industrial In-Kind Donation (Carbon Fiber) 25,000
ASUP Funding 4,200
ASME Project Funding 1,000
ESCO Donation (3D Printing) 1,000
Alumni Donations $5,000
Total $57,500
Additional funds needed $1,700