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M E T ROVER M SCD E ngineering T echnology

M E T ROVER M SCD E ngineering T echnology. Critical Design Review Metropolitan State College of Denver April 2004. Mission Description. Deploy rover from the payload carrier upon landing. Image flight and landing site autonomously. Accomplish mission under strict mass limitations.

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M E T ROVER M SCD E ngineering T echnology

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  1. METROVERMSCD Engineering Technology Critical Design Review Metropolitan State College of Denver April 2004

  2. Mission Description • Deploy rover from the payloadcarrier upon landing. • Image flight and landing site autonomously. • Accomplish mission under strictmass limitations.

  3. Mission Goals • Design and build an autonomous roverand its carrier under strict mass limitation of 1.8 kg. • Incorporate imaging system on the rover to video entire fight and the landing site. • Carrier & Rover must survive: • high altitude • extreme cold temperatures • impact forces during landing • Include additional Windsat mission into Rover package

  4. NASA Benefits • Prototype development which maybe used during future missions toMars or the moon. • Test existing paradigms of rover design. • Explore new methods of rover design, construction, and deployment.

  5. Project Requirements • Carrier and Rover combined must meet 1.8 kg mass limitation. • Rover must image the landing site. • Rover must deploy at the landing site. • Rover must have a drive systemallowing it to maneuver on the groundat the landing site.

  6. Mass Budget Carrier 400g Camera (w/out battery) 166g Drive motor/gearbox assembly 200g Chassis & Electronics 400g Wheels 400g WindSat addition 234g Total 1800g

  7. Rover Design • Must operate in either orientation. • Drive arms move to raise chassis height. • Each wheel has independent motor. • Chassis made of carbon fiber composite. • Electronics will be insulated inside chassis.

  8. Rover Design

  9. Rover Design

  10. Wheel Design

  11. Rover Drive System • Drive the Rover out of the carrier and around the landing site. • One electric motor per wheel to get four wheel drive and steering. • Operate the rover in either of twopossible carrier landing orientations. • Incorporate obstacle avoidance system.

  12. Drive Components • Orientation sensor. • Drive motors inside each wheel. • Movable side arms to raise chassis height. • Obstacle avoidance system. • Drive wheels.

  13. Drive System Interfaces Orientation Sensor Obstacle Sensor Controller Drive Arms Motors

  14. Drive System Prototyping • Aluminum wheels: • Machined from solid 4.25 inch diameteraluminum bar stock. • Goal weight (mass) of 100 grams per wheel. • Drive arms machined from ¼” x ¾” stock.

  15. Carrier System • Securely carry the Rover payload to high altitude and back. • Constructed foam and carbon fiber composite. • Open to allow the deployment of the Rover upon landing in correct orientation.

  16. Carrier Components • Air piston system to open carrier • Foam-core with carbon fiber Carrier. • Rover door latching mechanism. • Rover opening mechanism.

  17. Carrier Design

  18. Imaging System • Digital video system will be employed to document entire flight plus image landing site. • Mounted to the Rover so multipleviews of the landing site will be recorded upon deployment.

  19. Imaging Components • Panasonic SD mini digital video camera. • MPEG4 video compression. • Over 2 hr. 20 Min. of recording time. • 320x240 dot/ 420 Kbps. • 512 MB memory card. • Solar power unit to power video camera.

  20. Electrical Requirements • Control and operate the Imaging & Drive Systems. • Open the Rover carrier upon landing. • Orientate the Rover and chassis. • Direct rover around obstacles. • Process and store in flight data.

  21. Electrical Systems Embedded Computer Actuators Subsystem Sensors Subsystem USB Subsystem GPS Subsystem

  22. Subsystem - Stamp (Sensors) • Purpose: Read data from sensors, communicate with embedded computer • Interface: SPI (Serial Peripheral Interface)

  23. Subsystem - Stamp (Sensors) Embedded Computer BASIC STAMP II Controllers Altimeters Temp Sensors SPI Interface Tilt Sensors Digital Compass Wheel Encoders Arm Angle Encoders

  24. Subsystem - Stamp (Actuators) • Purpose: Control actuators, communicate with embedded computer • Interface: SPI (Serial Peripheral Interface)

  25. Subsystem - Stamp (Actuators) Embedded Computer Parallax Servo Controller BASIC STAMP II Controllers Servos SPI Interface Pololu Motor Controllers Motors Relays LCD

  26. Subsystem – USB • Purpose: Provide communication between embedded computer and USB Devices • Interface: System Bus

  27. Subsystem – USB Hub Embedded Computer TD OT243 USB Host Controller Camera 1 Camera 2 System Bus Interface Hub Camera 3 Flash Memory

  28. Subsystem – GPS • Purpose: receive GPS signals and communicate coordinates to embedded computer • Interface: RS232 Serial

  29. Subsystem – GPS Embedded Computer Gamin GPS OEM RS232 Serial Interface Antenna

  30. Power Budget (incomplete)

  31. Budget (Electronics/Software)

  32. Prototyping (Electronics/Software) • Set up development computer with compiler, dev tools, NFS. Ran simple program on embedded computer to flash LED's • Tested various USB cams and software • Experiences/Hardware from last year

  33. Electronics Components • Altitude sensor. • Rover orientation sensor. • Obstacle avoidance sensor. • Micro-controller. • Wiring to/from sensors, camera and drive motors. • Carrier door latch servo. • Onboard programming.

  34. Project Organization Professor Keith Norwood Don Grissom Team Lead Imaging Brian Don Chris Carrier Oscar Leah Walter John Chassis John Walter Matt Leah Brian Don Power Oscar Matt Luke Nathan Chris Amparo Electronics Luke Nathan Amparo

  35. Budget Expenses to date: Beginning total $4000 Carbon fiber materials $ 150 Camera $ 800 Motors/gearbox assy. $ 40 Wheel material $ 100 Machining tools $ 50 Carrier material $ 30 Misc. Material and Electronics $1800 subtotal $2970 Remaining Balance $1030

  36. Schedule • Construction Completed June 15 • Operational testing Completed July 20 • Final Construction Completed July 30 • Mission Readiness Review July 30 • Launch Readiness Review Aug 6 • Launch Aug 7

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