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MARSUPIAL Detailed Design Review

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 Tracks/Suspension Wireless Node Payload Wireless Node Deployment Electrical Systems

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MARSUPIAL Detailed Design Review

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  1. MARSUPIALDetailed Design Review Carnegie Robotics LLC.#10 40th StreetPittsburgh, PA 15201 Jared Raby Nico Gallardo Chris Griffin Sean Greenslade Wesly Rice

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

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

  4. Wes Tracks and suspension

  5. 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

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

  7. 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

  8. Tracked Suspension System BOM

  9. Tracked Suspension System BOM 2

  10. Tracked Suspension System BOM 3

  11. Sean Wireless node payload

  12. 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

  13. Wireless Node Payload Block Diagram

  14. Wireless Mesh Node BOM

  15. Jared Wireless node deployment

  16. 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

  17. Wireless Node Deployment System CAD

  18. Wireless Node Deployment Schematic

  19. Wireless Node Deployment System PCB

  20. Wireless Node Deployment System BOM

  21. Nico and Chris Power management and distribution

  22. Electrical Diagram

  23. Electrical Diagram – Batteries

  24. Electrical Diagram – Power Train

  25. Electrical Diagram – Peripherals

  26. Power Budget

  27. Power Management Schematic

  28. 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

  29. Power Management Schematic (cont.)

  30. Power Management Schematic (cont.) • Low current will be passed through the circuit → Low power dissipation • Potentiometer is used to tune the divider

  31. Power Management Schematic (cont.)

  32. Power Management Schematic (cont.)

  33. Power Management Pin Allocations

  34. Risks

  35. System Risks

  36. Mechanical Risks

  37. Electrical Risks

  38. Software Risks

  39. Safety Risks

  40. Schedule

  41. 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

  42. Questions

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