UP MARS: Multi-Device Autonomous Robotic Excavation ?· UP MARS: Multi-Device Autonomous Robotic Excavation…

Download UP MARS: Multi-Device Autonomous Robotic Excavation ?· UP MARS: Multi-Device Autonomous Robotic Excavation…

Post on 07-Jun-2018

212 views

Category:

Documents

0 download

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 WVUs 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

    UP MARS: Multi-Device Autonomous Robotic Excavation SystemSlide Number 2Slide Number 3Slide Number 4Slide Number 5Slide Number 6Slide Number 7Slide Number 8Slide Number 9Slide Number 10Slide Number 11Slide Number 12Slide Number 13Slide Number 14Slide Number 15Slide Number 16Slide Number 17Slide Number 18Slide Number 20ACKNOWLEDGEMENTSSlide Number 22Slide Number 23