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MARSUPIAL Detailed Design Review

Carnegie Robotics LLC. #10 40th Street

Pittsburgh, PA 15201

Jared Raby Nico Gallardo

Chris Griffin Sean Greenslade

Wesly Rice

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Agenda

• Introduction • Systems Detailed Design

→Tracks/Suspension →Wireless Node Payload →Wireless Node Deployment →Electrical Systems

• Test Plans • Risks • MSD II Schedule • Questions

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Introduction

• MARSUPIAL Tracked Rover for CRL • Scope

→Suspended Track System →Wireless Node System →Electrical Systems

• Deliverables →Suspended Track System →Mesh Network Payload

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TRACKS AND SUSPENSION Wes

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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

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Tracked Suspension System • Suspension Design

→ Improved Christie →Volute Emphasis

• Maintainable →2 SHCS Sizes →Retaining Rings →Sealed Bearings →Sealed Gas Springs

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Tracked Suspension System

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Tracked Suspension System

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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 – Maxon ec60 Flat

→Realistic Gear Train – 14.0:1 – Planetary – Small Package

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Tracked Suspension System • Risk Assessment

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Tracked Suspension System • Upper Christie Arm

→Bronze Bearings →Retaining Rings →Ball End Spring Joints

• Materials →6061-T6 Alum →914 Stainless 950 → Igus Flange Bearings

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Tracked Suspension System • Lower Christie Arm

→Bronze Bearings →Press Fit Axel →Ball Bearings for Tensioning Wheels →Ball End Spring Joints

• Materials →6061-T6 Alum →914 Stainless 950

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Tracked Suspension System • Dedicated Tensioner

→Bronze Bearings →Press Fit Axel →Ball Bearings for Tensioning Wheels →Clock Spring For Preload

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Tracked Suspension System • Non-driven Wheel Top Assembly

→Ball Bearings – Preload

→Grease Seal →O-Rings →Stock Pulley →Magnetic Encoder

– Odometry

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Tracked Suspension System • Motor Assembly

→Sealed →Planetary Gearbox →Parking Brake

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Tracked Suspension System • Tracks

→Proper materials – Polyurethane

→Outdoor resistant – Steel Banded

→Ease to install and remove – Release Tensioning Wheels

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Tracked Suspension System • Ordering Process

→Major Design Review With CRL May 25th Through June 6th →Request Quotes On June 6th →Place Orders June 10th With 8-10 Week Lead Times →Receive Parts In Pittsburgh By August 20th At Latest

• Pre-Assembly Process → Inspect Parts Upon Arrival →Aluminum Parts Sent Out For Alodine →All Parts Are Powder Coated

• Assembly Process → Insert All Threaded Inserts, Press All Bearings →Build Sub Assemblies

– Tensioner, Motor, Gearbox, Lower Christies, Upper Christies, Non-Driven Wheel →Attach Side Hull Plates to Chassis →Attach Sub Assemblies to Hull Plates

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Tracked Suspension System BOM

Index Component Indv Price Qty System Price Est1 TENSIONER BASE 150.00$ 4 UPPER TENSIONING ASSY 600.00$ 2 TENSIONER ARM 50.00$ 4 UPPER TENSIONING ASSY 200.00$ 3 UPPER TENSION SHAFT 30.00$ 4 UPPER TENSIONING ASSY 120.00$ 4 UPPER TENSIONING WHEEL 75.00$ 4 UPPER TENSIONING ASSY 300.00$ 5 BEARING, ZFM_1214 10.00$ 8 UPPER TENSIONING ASSY 80.00$ 6 WASHER, FLAT, M12 0.50$ 8 UPPER TENSIONING ASSY 4.00$ 7 WASHER,FLAT,M10 0.50$ 4 UPPER TENSIONING ASSY 2.00$ 8 WASHER,BELVILE 10MM 2.00$ 4 UPPER TENSIONING ASSY 8.00$ 9 WASHER,BELVILE 18.5MM 2.00$ 4 UPPER TENSIONING ASSY 8.00$

10 RETAINING RING,SMALLEY,VSM-1 2.00$ 4 UPPER TENSIONING ASSY 8.00$ 11 RETAINING RING,SMALLEY,VSM-1 2.00$ 8 UPPER TENSIONING ASSY 16.00$ 12 RETAINING RING,SMALLEY,VSM-6 2.00$ 4 UPPER TENSIONING ASSY 8.00$ 13 RETAINING RING,SMALLEY,VSM-1 2.00$ 4 UPPER TENSIONING ASSY 8.00$ 14 CLOCK TORSION SPRING 30.00$ 4 UPPER TENSIONING ASSY 120.00$ 15 M5-0.8X16MM 0.50$ 4 UPPER TENSIONING ASSY 2.00$ 16 BALLBEARING,SEALED,10MMID 8.00$ 8 UPPER TENSIONING ASSY 64.00$ 17 CHRISTIE ARM LOWER 75.00$ 4 LOWER ARM ASSY 300.00$ 18 BALLBEARING SEALED, 8MMID 10.00$ 8 LOWER ARM ASSY 80.00$ 19 BALLJOING ROD END 5.00$ 4 LOWER ARM ASSY 20.00$ 20 NUT NYLOC M5-0.8 0.50$ 4 LOWER ARM ASSY 2.00$ 21 LOWER CHRISTIE AXEL 20.00$ 4 LOWER ARM ASSY 80.00$ 22 M5-0.8X25MM 0.50$ 4 LOWER ARM ASSY 2.00$ 23 TENION WHEEL SHAFT 20.00$ 8 TENSIONWHEEL ASSY 160.00$ 24 TENSIONING WHEEL 65.00$ 16 TENSIONWHEEL ASSY 1,040.00$

Preliminary Mechanical BOM

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Tracked Suspension System BOM 2

25 RETAINING RING SMALLEY VSM-8 3.00$ 16 TENSIONWHEEL ASSY 48.00$ 26 WASHER, FLAT, M8 0.50$ 16 TENSIONWHEEL ASSY 8.00$ 27 WASHER, BELVILLE M8 2.00$ 8 TENSIONWHEEL ASSY 16.00$ 28 CHRISTIE ARM, UPPER 150.00$ 2 CHRISTIE ARM,UPPER ASSY 300.00$ 29 BALLBEARING SEALED, 8MMID 10.00$ 4 CHRISTIE ARM,UPPER ASSY 40.00$ 30 BALLJOING ROD END 5.00$ 4 CHRISTIE ARM,UPPER ASSY 20.00$ 31 BEARING,ZFM_1214 10.00$ 2 CHRISTIE ARM,UPPER ASSY 20.00$ 32 BEARING,ZFM_2023 10.00$ 4 CHRISTIE ARM,UPPER ASSY 40.00$ 33 AIR SPRING, TGF-8-20-150 40.00$ 2 CHRISTIE ARM,UPPER ASSY 80.00$ 34 M5-0.8X35MM 0.50$ 4 CHRISTIE ARM,UPPER ASSY 2.00$ 35 NUT NYLOC M5-0.8 0.50$ 4 CHRISTIE ARM,UPPER ASSY 2.00$ 36 UPPER ARM TO CHASSIS MOUNT 150.00$ 4 SUSPENSION MOUNT TO CHASSIS 600.00$ 37 RETAINING RING SMALLEY FS020 10.00$ 4 SUSPENSION MOUNT TO CHASSIS 40.00$ 38 FLAT WASHER, M20 0.50$ 8 SUSPENSION MOUNT TO CHASSIS 4.00$ 39 WASHER,BELVILLE M20 2.00$ 4 SUSPENSION MOUNT TO CHASSIS 8.00$ 40 CHRISTIE ARM UPPER REVERSE 150.00$ 2 CHRISTIE ARM,UPPER REVERSE ASSY 300.00$ 41 BALLBEARING SEALED, 8MMID 10.00$ 4 CHRISTIE ARM,UPPER REVERSE ASSY 40.00$ 42 BALLJOING ROD END 5.00$ 4 CHRISTIE ARM,UPPER REVERSE ASSY 20.00$ 43 BEARING,ZFM_1214 10.00$ 2 CHRISTIE ARM,UPPER REVERSE ASSY 20.00$ 44 BEARING,ZFM_2023 10.00$ 4 CHRISTIE ARM,UPPER REVERSE ASSY 40.00$ 45 AIR SPRING, TGF-8-20-150 40.00$ 2 CHRISTIE ARM,UPPER REVERSE ASSY 80.00$ 46 AIR SPRING, TGF-8-20-500 40.00$ 2 CHRISTIE ARM,UPPER REVERSE ASSY 80.00$ 47 M5-0.8X35MM 0.50$ 4 CHRISTIE ARM,UPPER REVERSE ASSY 2.00$

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Tracked Suspension System BOM 3 48 NUT NYLOC M5-0.8 0.50$ 4 CHRISTIE ARM,UPPER REVERSE ASSY 2.00$ 49 FRONT UNDRIVEN BASE 95.00$ 2 UNDRIVEN WHEEL TOP ASSY 190.00$ 50 BALLBEARING,SEALED,35MMID 10.00$ 4 UNDRIVEN WHEEL TOP ASSY 40.00$ 51 ENCODER SHAFT HOLDER 75.00$ 2 UNDRIVEN WHEEL TOP ASSY 150.00$ 52 USGIDITAL MAE3-X-197-220-7-X 35.00$ 2 UNDRIVEN WHEEL TOP ASSY 70.00$ 53 UNDRIVEN WHEEL BEARING CAP 95.00$ 2 UNDRIVEN WHEEL TOP ASSY 190.00$ 54 GREASE SEAL, 40MMID 20.00$ 2 UNDRIVEN WHEEL TOP ASSY 40.00$ 55 FRONT UNDRIVEN, AL 70 TK20K13 250.00$ 2 UNDRIVEN WHEEL TOP ASSY 500.00$ 56 WASHER BELVILLE 35.5MMID 5.00$ 2 UNDRIVEN WHEEL TOP ASSY 10.00$ 57 M4-0.7X12MM 0.50$ 8 UNDRIVEN WHEEL TOP ASSY 4.00$ 58 M5-0.8X12MM 0.50$ 10 UNDRIVEN WHEEL TOP ASSY 5.00$ 59 BEARING CAP, LOWER, LEFT 50.00$ 2 CHRISTIE UPPER BEARING ASSY 100.00$ 60 BEARING,ZFM_1214 10.00$ 2 CHRISTIE UPPER BEARING ASSY 20.00$ 61 BEARING CAP, LOWER, RIGHT 50.00$ 2 CHRISTIE UPPER BEARING REVERSE ASSY 100.00$ 62 BEARING,ZFM_1214 10.00$ 2 CHRISTIE UPPER BEARING REVERSE ASSY 20.00$ 63 CHASIS LEFT SIDE 750.00$ 1 LEFTSIDE SUSPENSION_TOP ASSY 750.00$ 64 M5 THREADED INSERTS 1.00$ 36 LEFTSIDE SUSPENSION_TOP ASSY 36.00$ 65 M5-0.7X12MM 0.50$ 12 LEFTSIDE SUSPENSION_TOP ASSY 6.00$ 66 M5-0.7X14MM 0.50$ 42 LEFTSIDE SUSPENSION_TOP ASSY 21.00$ 67 CHASIS RIGHT SIDE 750.00$ 1 RIGHTSIDE SUSPENSION_TOP ASSY 750.00$ 68 M5 THREADED INSERTS 1.00$ 36 RIGHTSIDE SUSPENSION_TOP ASSY 36.00$ 69 M5-0.7X12MM 0.50$ 12 RIGHTSIDE SUSPENSION_TOP ASSY 6.00$ 70 M5-0.7X14MM 0.50$ 42 RIGHTSIDE SUSPENSION_TOP ASSY 21.00$ 71 MAXON EC60 FLAT 280.00$ 2 MOTOR TOP ASSY 560.00$ 72 SEPAC BRAKE SEB-175 150.00$ 2 MOTOR TOP ASSY 300.00$ 73 MOTOR,BRAKE,MOUNTING FLANG 150.00$ 2 MOTOR TOP ASSY 300.00$ 74 MOTOR CHASSIS CASE 100.00$ 2 MOTOR TOP ASSY 200.00$ 75 REAR DRIVE WHEEL 250.00$ 2 MOTOR TOP ASSY 500.00$ 76 M4-0.7X10MM 0.50$ 22 MOTOR TOP ASSY 11.00$

Est Total 9,980.00$

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WIRELESS NODE PAYLOAD Sean

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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

• Current Prototype

→3D printed shell →Off-the-shelf antenna

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Wireless Node Payload Block Diagram

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Wireless Mesh Node BOM

Index Component Cost Distributor Manufacturer Manufacturer Part Number Qty.

System

Price Est.

1 5 Volt Buck Converter $6.71 Mouser

RECOM Power R-785.0-0.5 8 Puck $53.68

2 Single Board Computer

$32.95 Mouser Olimex Ltd.

IMX233-OLINUXINO-NANO 8 Puck $263.60

3 WLAN USB Adapter

$14.33

Amazon LLC TP-Link TP-LINK TL-WN722N 8 Puck $114.64

4 Li-Ion Battery $3.39 Battery Space Battery Space PL-402248-2C 24 Puck $81.36

5 Battery Protection Board $5.87

Battery Space Battery Space PCB-LiS3A4 8 Puck $46.96

Total $560.24

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WIRELESS NODE DEPLOYMENT

Jared

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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 arm

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Wireless Node Deployment System CAD

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Wireless Node Deployment Schematic

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Wireless Node Deployment System PCB

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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 Mouser Kemet C0603C104K5RACTU 1 $0.10

3 ISP Connection Headers $0.54 Mouser Molex 10-89-7061 1 $0.54

4 Servo Connections $0.19 Mouser Molex 87891-0306 10 $1.88

5 Payload Microcontroller $1.30 Mouser Atmel ATTINY2313A-SUR 1 $1.30

6 TTL to RS232 Converter $3.84 Mouser

Maxim Integrated MAX232ACSE+ 1 $3.84

7 12 MHz Crystal $0.49 Mouser Vishay XT9SNLANA12M 1 $0.49

8 22 pF capacitor $0.20 Digikey Yageo CC0402JRNPO9BN220 2 $0.40

9 Magnets $2.43 KJ Magnetics KJ Magnetics D78 2 $4.86

10 Servos $3.56 Hobby King Hobby King HK15138 1 $3.56

Total $17.12

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POWER MANAGEMENT AND DISTRIBUTION

Nico and Chris

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Electrical Diagram

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Electrical Diagram – Batteries

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Electrical Diagram – Power Train

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Electrical Diagram – Peripherals

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Power Budget

Device Rail Voltage (V) Power (W) Efficiency (converters, drivers, etc)

Motor #1 24 100 Motor #2 24 100 Motor Controller #1 24 15 0.85 Motor Controller #2 24 15 0.85 Main Computer 5 10 Power Management uC 5 5.00E-02 Payload (Pucks) 24 1.68 Payload (Dispenser) 5 10 Lighting 24 40 Camera 5 1.2 Ethernet Switch 5 5 Level Shifter 5 1.44 E-Stop Comm Receiver 24 10 IMU 5 1 WLAN Radio 5 5 5V DC-DC 24 5.11725 0.85 3.3V DC-DC 5 0.425 0.66

Rail Power (W) Current (A) 24V 286.8 11.94 5V 34.115 6.823 3.3V 0.825 0.25

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Power Management Schematic

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Power Management Schematic (cont.)

• Two 24V Lithium Ion batteries provide 2kW of power (max) • All current is sourced through pin 5 of the current sensor

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Power Management Schematic (cont.)

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Power Management Schematic (cont.)

• Low current will be passed through the circuit → Low power dissipation

• Potentiometer is used to tune the divider

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Power Management Schematic (cont.)

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Power Management Schematic (cont.)

Rail # of outputs 24Vu 5 5V 8 3.3V 3 GNF 20 TX 1 RX 1

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Power Management Pin Allocations

ATMEGA328 Serial Communication ISP Sampling Crystal Total Analog Digital Input 1 4 2 2 9 3 6

Output 1 1 1 0

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Power Management Flowchart

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Wire Routing Diagram

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ROS Communication Diagram

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Electrical BOM

Index Component

Ind. Price Estimate Manufacturer

Manufacturer Part Number Qty. Function

Price Est.

1 ATMega328 $3.74 ATMEL ATMEGA328-PW 1 Power management Control $3.74 2 16MHz Crystal $0.81 ECS Inc. ECS-160-20-4X 1 Crystal for ATMega328 $0.81

3 22 pF capacitor $0.20 Yageo CC0402JRNPO9BN220 2 Caps for Crystal $0.40

4 10 k resistor $0.20 Vishay PR010000101002JR500 1 Resistor for ATMega328 $0.20

5 16 pin header $0.50 3M 951110-8622-AR 1 Programming header for ATMega $0.50

6 Current Sensor $7.26 Allegro Microsystems LLC

ACS770LCB-50B-PFF-T 1

Sense the battery current and supply that as a voltage input to ATMega $7.26

7 0.1 uF Capacitor $0.10 Paiyo Yuden EMK105B7104KV-F 1 Caps for current sensing $0.10

8 12V DC-DC $36.68 Murata UWS-12/4.5-Q48NM-C 1 Regulates 24V to 12V $36.68

9 5V DC-DC $36.68 Murata UWS-5/10-Q48NM-C 1 Regulates 24V to 5V $36.68 10 3.3V Linear Reg. $1.61 TI LM2937ET-3.3/NOPB 1 Regulates 5V TO 3.3V $1.61 11 0.1 uF Capacitor $0.10 Paiyo Yuden TMK105B7104KV-F 1 Cap for 3.3V regulator $0.10

12 10 uF Capacitor $0.16 Yageo CC0805ZKY5V6BD106 1 Cap for 3.3V regulator $0.16

13

Trimmer Potentiometer (0-2.2k) $2.31 Bournes Inc 3296W-1-222LF 1

Resistor for resistive divider for battery level $2.31

14 10 k resistor $0.20 Vishay PR010000101002JR500 1

Resistor for resistive divider for battery level $0.20

15 0.1 uF Capacitor $0.10 Paiyo Yuden TMK105B7104KV-F 1 Cap output of resistive divider $0.10 16 Circuit breaker $5.23 TE Connectivity W58-XB1A4A-30 1 Circuit breaker $5.23 17 Power Switch $25.64 NKK Switches S822D 1 Power switch $25.64 18 10 nF cap $0.10 Kemet C0402C103K4RACTU 1 output cap for current sensing $0.10 19 4.7k resistor $0.10 Yageo RC0603JR-074K7L 1 resistor for curren sensing $0.10

Total Cost $121.92

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Misc. Electrical BOM

Index Compone Cost Distributo ManufactuManufactu Qty. Price Est.1 Chassis N/A N/A CRL N/A 1 Free2 Motors N/A N/A Maxon EC-60 2 Free3 Speed ConN/A N/A Texas Inst Stellaris LM 2 Free4 Batteries N/A N/A N/A BB-2590 2 Free5 Battery ch N/A N/A N/A BB-2590 ch 2 Free6 GPS USB a $33.95 Amazon Global Sat U-353-S4 1 $33.957 IMU $79.95 Spark Fun DIY Drone DEV-11055 1 $79.958 Arduino N $32.95 Mouser Arduino A000005 1 $32.959 PCB $150.00 Oshpark 1 $150.00

Total $146.85

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Systems Total Costs

System Total CostPuck Dispenser $709.24Wireless Mesh Puck $560.24Mechanical $9,980.00Power Management $121.92Miscellaneous $146.85

Total $11,518.25

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Test Plans

Index System/Subsystem Subsystem Function to be tested Engineering Req. Customer Req.

1 Communications Pucks Data transfer rate E6 C5

2 Mechanical/Electrical

Motor Control Drive Train Suspension Platform speed E7 C1

3 Mechanical/Electrical

Motor Control Drive Train Suspension Max incline capabilities E12 C4

4 Mechanical/Electrical

Motor Control Drive Train Suspension Stair climbing E13 C4

5 Mechanical/Electrical

Motor Control Drive Train Suspension Overcoming obstacles E15 C4

6 Mechanical

Drive Train Suspension Chassis Durability (shock test) E16 C6

7 Electrical Power Management Battery Life (runtime) E17 C1 8 Communications Pucks Communication range E18 C5 9 Electrical CPU Computational Power E19 C7

10 Electrical Power Management Voltage Level lines (proper voltage/current) 11 Communications Pucks Obstructed LOS communication/Mesh reliability E20 C10

12 Electrical/Communications Pucks/User Interface Remote viewing capability E10, E11 C9

13 Entire System Follows industry and environmental safety standards E3, E4 C3

14 Payload Communications Payload can be removed to allow the use of a different payload E2 C2

15 Entire System Max payload weight E8 C2

16 Mechanical Suspension Driver Train Ground pressure exerted by vehicle E15 C4

17 Entire System/Mechanical Overall size/form factor E9 C8 18 Entire System Mean time between failures E1 C11 19 Entire System Weight (no Payload) E5 C1

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Tests Descriptions

Index Test description1 Mesh Network Data Rate Test2 Vehicle Speed Test3 Incline Test4 Stair Climb Test5 Obstical Test6 Shock Test7 Battery Life Test8 Communication Range Test9 Main CPU Benchmark Test

10 Regulated Voltage Output Test11 Data Packet Loss Test12 Video Playback Test13 Industy and Environmental Standards Test14 Payload Switching Test15 Payload Carrying Test16 Ground Force Test17 Vehicle Footprint Test18 Mechanical Failure Test19 Vehicle Weight Test

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RISKS

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System Risks

Risk Severity Occurrence Probability Mitigation Owner

1 Staffing/engineering

ability 4 1

Consultation with advisor/customer Scale back of scope Nico

2 Budget 5 1

Consultation with advisor/customer Scale back of scope Wes

3 Machine setbacks 3 1 Plenty of lead time Wes 4 Shipping setbacks 3 1 Plenty of lead time Nico 5 Part setbacks 3 1 Plenty of lead time Jared

6 Incorrect Engineering

Analysis 2 3 Thorough verification of analysis

Per subsystem

7 Ordering errors 3 3 Thorough verification of BOM Nico

8 Catastrophic prototype

failure 5 1

Proof of concepts Small scale tests before large scale tests Chris

9 Time constraints 2 4

Consultation with advisor/customer Scale back of scope Jared

10 Hardware failure 3 4 Thorough design verification Spare components Chris

11 Mechanical failure 3 4 Thorough design verification Spare components Wes

12 Software failure 3 4 Thorough design verification Spare components Sean

13 Environmental factors 1 5 Review weather conditions Jared

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Mechanical Risks

Risk Severity Occurrence Probability Mitigation Owner

1

Unstable control of the robot while 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 absorption Wes

4

Lose control of vehicle while it's descending from the ramp 5 1

Manual brakes/emergency brakes Limited/no power to the motors -> -> "coasting function" or clutch Wes

4 Limited slip to turn 5 3 Make sure motors are powerful enough to cause slipping Wes

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Electrical Risks

Risk Severity Occurrence 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 5 1 Fuse to break circuit Chris

3 Emergency stop malfunction 5 1 Rigorous testing Chris

4 Electrical noise in the system 4 1 Proper signal conditioning and isolation Nico

5 Packet loss 5 5 Apply failsafe Sean

6 Lighting malfunction 2 1 Infrared / additional backup Jared

7 Faulty IMU readings 4 1 redundant IMU Jared

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Software Risks

Risk Severity Occurrence 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 3 Fall back on inertial sensors / odometry alone Jared / Sean

4 Faulty IMU readings 4 1 redundant IMU Jared 5 Unstable control loop 5 1 Vigorous control loop testing Nico

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Safety Risks

Risk Severity Occurrence 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 1

There needs to be 3 hook points in order to safely move the robot using a crane Wes

3 Safety to personnel 5 3 Needs to meet military safety standard MIL 883E Chris

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 Wes

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Schedule

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Questions