1 6/21/2015 space cowboys team project final report mobility subsystem brett padgett
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104/18/23 Space Cowboys Team Project Final Report
Mobility Subsystem
Brett Padgett
204/18/23 Space Cowboys Team Project Final Report
Subsystem Concept
AlternativesWheels or tracks
Review of BattleBot videosMost successful vehicles relied on wheels
Review of BattleBot rulesSpecify weight, size, speed, power, etc
Selected subsystemWheelsElectric motorsSpeed controllersOther capabilities
304/18/23 Space Cowboys Team Project Final Report
Model Organizationpkg [Package] Mobility Subsystem Model Organziation
Mobility Subsystem
Structure
Behavior
Requirements
Parametrics
System-Level - All::ValueTypes
«import»
bdd - Structure ibd - Interfaces
ucd - Use casesact - Activity diagrams for use casessd - Sequence diagram for single use case
Top level requirements derived from BattleBot Rules
Used for unique value types
pkg [Package] Mobility Subsystem Model Organziation
Mobility Subsystem
Structure
Behavior
Requirements
Parametrics
System-Level - All::ValueTypes
«import»
bdd - Structure ibd - Interfaces
ucd - Use casesact - Activity diagrams for use casessd - Sequence diagram for single use case
Top level requirements derived from BattleBot Rules
Used for unique value types
404/18/23 Space Cowboys Team Project Final Report
Requirements Diagrams
504/18/23 Space Cowboys Team Project Final Report
Requirements Diagramreq [Package] Mobility Subsystem Requirements
«requirement»
id#MS00
Mobility Subsystem Requirements
«requirement»
id#MS01
Interfaces
«requirement»
id#MS01.01
Power Interface«requirement»
id#MS01.02
Control Interface«requirement»
id#MS01.03
Physical Interface
«requirement»
id#MS02
Control
«requirement»
id#MS02.01
satisfiedBy«block» Control
Turn Right
«requirement»
id#MS02.02
satisfiedBy«block» Control
Turn Left
«requirement»
id#MS02.03
satisfiedBy«block» Control
Accelerate Forward
«requirement»
id#MS02.04
satisfiedBy«block» Control
Accelerate Backward
«requirement»
id#MS03
Chassis Material
«requirement»
id#MS03.01
Base Plate
«requirement»
id#MS03.02
Bulkhead
«requirement»
id#MS03.03
Drive Train Housing
«requirement»
id#MS04
rationaleBattleBot Rules Section 2.1
Weight
«requirement»
id#MS05
rationaleBattleBot Rules Section 2.2
satisfiedBy«block» Control
Speed
«requirement»
id#MS06
rationaleBattleBot Rules Section 5.1
satisfiedBy«block» Hybrid Power Plant
Electrical Power
req [Package] Mobility Subsystem Requirements
«requirement»
id#MS00
Mobility Subsystem Requirements
«requirement»
id#MS01
Interfaces
«requirement»
id#MS01.01
Power Interface«requirement»
id#MS01.02
Control Interface«requirement»
id#MS01.03
Physical Interface
«requirement»
id#MS02
Control
«requirement»
id#MS02.01
satisfiedBy«block» Control
Turn Right
«requirement»
id#MS02.02
satisfiedBy«block» Control
Turn Left
«requirement»
id#MS02.03
satisfiedBy«block» Control
Accelerate Forward
«requirement»
id#MS02.04
satisfiedBy«block» Control
Accelerate Backward
«requirement»
id#MS03
Chassis Material
«requirement»
id#MS03.01
Base Plate
«requirement»
id#MS03.02
Bulkhead
«requirement»
id#MS03.03
Drive Train Housing
«requirement»
id#MS04
rationaleBattleBot Rules Section 2.1
Weight
«requirement»
id#MS05
rationaleBattleBot Rules Section 2.2
satisfiedBy«block» Control
Speed
«requirement»
id#MS06
rationaleBattleBot Rules Section 5.1
satisfiedBy«block» Hybrid Power Plant
Electrical Power
604/18/23 Space Cowboys Team Project Final Report
Requirements Table
Name Id# Txt Rationale Satisfied By
Mobility Subsystem Requirements MS00The Mobility Subsystem shall provide transport, power, and control to the Offensive and Defensive Weapon Subsystems.
«block» Mobility Subsystem (System-Level - All::Structure::BattleBot Domain::BattleBot System::BattleBot Vehicle)
Interfaces MS01The Mobility Subsystem shall provide control, physical, and power interfaces to the Offensive and Defensive Weapon Subsystems.
Control MS02The Mobility Subsystem shall execute commands received from the Remote Controller Subsystem.
Chassis Material MS03 The Mobility Subsystem shall be constructed of aluminum alloy.Weight MS04 The Mobility Subsystem shall weigh 90 pounds. BattleBot Rules Section 2.1
Speed MS05The Mobility Subsystem shall be capable of a maximum speed of 30 feet per second.
BattleBot Rules Section 2.2 «block» Control (Mobility Subsystem::Structure::Mobility Subsystem)
Electrical Power MS06The Mobility Subsystem shall produce electrical power having a maximum nominal voltage of 36 DC volts.
BattleBot Rules Section 5.1«block» Hybrid Power Plant (Mobility Subsystem::Structure::Mobility Subsystem)
Power Interface MS01.01The Mobility Subsystem shall provide power to the Offensive and Defensive Weapon Subsystems.
Control Interface MS01.02The Mobility Subsystem shall provide commands to the Offensive and Defensive Weapon Subsystems.
Physical Interface MS01.03The Mobility Subsystem shall provide a physical mounting point for the Offensive and Defensive Weapon Subsystems.
Turn Right MS02.01The Mobility Subsystem shall turn right when the command is received from the Remote Controller Subsystem.
«block» Control (Mobility Subsystem::Structure::Mobility Subsystem)
Turn Left MS02.02The Mobility Subsystem shall turn left when the command is received from the Remote Controller Subsystem.
«block» Control (Mobility Subsystem::Structure::Mobility Subsystem)
Accelerate Forward MS02.03The Mobility Subsystem shall accelerate forward when the command is received from the Remote Controller Subsystem.
«block» Control (Mobility Subsystem::Structure::Mobility Subsystem)
Accelerate Backward MS02.04The Mobility Subsystem shall accelerate backward when the command is received from the Remote Controller Subsystem.
«block» Control (Mobility Subsystem::Structure::Mobility Subsystem)
Base Plate MS03.01 The base plate shall be constructed of aluminum plate.Bulkhead MS03.02 Bulkheads shall be constructed of aluminum bar.
Drive Train Housing MS03.03The drive train housing shall be constructed of aluminum rectangular tubing.
704/18/23 Space Cowboys Team Project Final Report
Behavior Diagrams
804/18/23 Space Cowboys Team Project Final Report
Use Cases
BattleBotOperator
Pit CrewMember
DriveBattleBot
MaintainBattleBot
Prepare forBattle
Perform CorrectiveMaintenance
PerformPreventitiveMaintenance
Activate
AccelerateBackward
AccelerateForward
Turn Left
Turn Right
Deactivate
«include»
«include»
«include»
«include»
«include»
«extend»
«extend»
«extend»«extend»
ucd [Package] Mobility Subsystem Use Cases
Mobility Subsystem
BattleBotOperator
Pit CrewMember
DriveBattleBot
MaintainBattleBot
Prepare forBattle
Perform CorrectiveMaintenance
PerformPreventitiveMaintenance
Activate
AccelerateBackward
AccelerateForward
Turn Left
Turn Right
Deactivate
«include»
«include»
«include»
«include»
«include»
«extend»
«extend»
«extend»«extend»
ucd [Package] Mobility Subsystem Use Cases
Mobility Subsystem
904/18/23 Space Cowboys Team Project Final Report
Activity Hierarchybdd [Package] Mobility Subsystem Activities
Drive BattleBot
Activate
Accelerate Forward Accelerate Backward
Deactivate
Maintain BattleBot
Turn RightTurn Left Perform Corrective Maintenance
Perform Preventitive Maintenance
Prepare for Battle
allocatedTo«Actor» BattleBot Operator
allocatedTo«block» Control
allocatedTo«block» Control
allocatedTo«block» Control
allocatedTo«block» Control
allocatedTo«block» Control
allocatedTo«block» Control
allocatedTo«Actor» Pit Crew Member
allocatedTo«Actor» Pit Crew Member
allocatedTo«Actor» Pit Crew Member
allocatedTo«Actor» Pit Crew Member
bdd [Package] Mobility Subsystem Activities
Drive BattleBot
Activate
Accelerate Forward Accelerate Backward
Deactivate
Maintain BattleBot
Turn RightTurn Left Perform Corrective Maintenance
Perform Preventitive Maintenance
Prepare for Battle
allocatedTo«Actor» BattleBot Operator
allocatedTo«block» Control
allocatedTo«block» Control
allocatedTo«block» Control
allocatedTo«block» Control
allocatedTo«block» Control
allocatedTo«block» Control
allocatedTo«Actor» Pit Crew Member
allocatedTo«Actor» Pit Crew Member
allocatedTo«Actor» Pit Crew Member
allocatedTo«Actor» Pit Crew Member
1004/18/23 Space Cowboys Team Project Final Report
Allocation Table
Allocated From Relation Allocated To«Activity» Accelerate Backward (Mobility Subsystem::Behavior.Accelerate Allocate «block» Control (Mobility Subsystem::Structure::Mobility Subsystem)«Activity» Accelerate Forward (Mobility Subsystem::Behavior.Accelerate Forward) Allocate «block» Control (Mobility Subsystem::Structure::Mobility Subsystem)«Activity» Activate (Mobility Subsystem::Behavior.Activate) Allocate «block» Control (Mobility Subsystem::Structure::Mobility Subsystem)«Activity» Drive BattleBot (Mobility Subsystem::Behavior.Drive BattleBot) Allocate «Actor» BattleBot Operator (Mobility Subsystem::Behavior)«Activity» Deactivate (Mobility Subsystem::Behavior.Deactivate) Allocate «block» Control (Mobility Subsystem::Structure::Mobility Subsystem)«Activity» Maintain BattleBot (Mobility Subsystem::Behavior.Maintain BattleBot) Allocate «Actor» Pit Crew Member (Mobility Subsystem::Behavior)«Activity» Perform Corrective Maintenance (Mobility Subsystem::Behavior.Perform Corrective Maintenance)
Allocate «Actor» Pit Crew Member (Mobility Subsystem::Behavior)
«Activity» Perform Preventitive Maintenance (Mobility Subsystem::Behavior.Perform Preventitive Maintenance)
Allocate «Actor» Pit Crew Member (Mobility Subsystem::Behavior)
«Activity» Prepare for Battle (Mobility Subsystem::Behavior.Prepare for Battle) Allocate «Actor» Pit Crew Member (Mobility Subsystem::Behavior)«Activity» Turn Left (Mobility Subsystem::Behavior.Turn Left) Allocate «block» Control (Mobility Subsystem::Structure::Mobility Subsystem)«Activity» Turn Right (Mobility Subsystem::Behavior.Turn Right) Allocate «block» Control (Mobility Subsystem::Structure::Mobility Subsystem)
1104/18/23 Space Cowboys Team Project Final Report
“Prepare for Battle” Activity Diagram
Prepare for Battle
Pit
Cre
w
Begin
Check Fuel Level
Fuel Low?
Check Battery
Voltage Low?
Check Oil Level
Oil Low?
Check IndicatorLight
Burned Out?End
Bat
tleB
ot
: Fill Fuel Tank : Recharge Battery : Fill Oil : Replace Indicator Light
Pit
Cre
wP
it C
rew
Begin
Check Fuel Level
Fuel Low?
Check Battery
Voltage Low?
Check Oil Level
Oil Low?
Check IndicatorLight
Burned Out?EndBegin
Check Fuel Level
Fuel Low?
Check Battery
Voltage Low?
Check Oil Level
Oil Low?
Check IndicatorLight
Burned Out?End
Bat
tleB
otB
attle
Bot
: Fill Fuel Tank : Recharge Battery : Fill Oil : Replace Indicator Light: Fill Fuel Tank : Recharge Battery : Fill Oil : Replace Indicator Light
Prepare for Battle
Pit
Cre
wP
it C
rew
Begin
Check Fuel Level
Fuel Low?
Check Battery
Voltage Low?
Check Oil Level
Oil Low?
Check IndicatorLight
Burned Out?EndBegin
Check Fuel Level
Fuel Low?
Check Battery
Voltage Low?
Check Oil Level
Oil Low?
Check IndicatorLight
Burned Out?EndP
it C
rew
Begin
Check Fuel Level
Fuel Low?
Check Battery
Voltage Low?
Check Oil Level
Oil Low?
Check IndicatorLight
Burned Out?End
Bat
tleB
otB
attle
Bot
: Fill Fuel Tank : Recharge Battery : Fill Oil : Replace Indicator Light: Fill Fuel Tank : Recharge Battery : Fill Oil : Replace Indicator Light
Bat
tleB
ot
: Fill Fuel Tank : Recharge Battery : Fill Oil : Replace Indicator Light
1204/18/23 Space Cowboys Team Project Final Report
“Drive BattleBot” Sequence Diagram
if DeactivatedActivate
end if
refActivate
loop
Accelerate Forward ref Accelerate Forward
Accelerate Backward ref Accelerate Backward
Turn Right ref Turn Right
Turn Left ref Turn Left
if ActivatedDeactivate
end if
refDeactivate
if DeactivatedActivate
end if
refActivate
refActivate
refActivate
loop
Accelerate Forward
Accelerate Backward
Turn Right
Turn Left
end loop
Accelerate Forward ref Accelerate Forwardref Accelerate Forward
Accelerate Backward ref Accelerate Backwardref Accelerate Backward
Turn Right ref Turn Rightref Turn Right
Turn Left ref Turn Leftref Turn Left
end loop
Accelerate Forward ref Accelerate Forwardref Accelerate Forwardref Accelerate Forward
Accelerate Backward ref Accelerate Backwardref Accelerate Backwardref Accelerate Backward
Turn Right ref Turn Rightref Turn Rightref Turn Right
Turn Left ref Turn Leftref Turn Leftref Turn Left
if ActivatedDeactivate
end if
refDeactivate
refDeactivate
refDeactivate
1304/18/23 Space Cowboys Team Project Final Report
Structure Diagrams
1404/18/23 Space Cowboys Team Project Final Report
Mobility Subsystem Hierarchybdd [Package] Mobility Subsystem Structure
«block»Mobility Subsystem
«block»
allocatedFromAccelerate Forward ()Activate ()Deactivate ()Turn Left ()Turn Right ()Accelerate Backward ()
Control«block»Lighting
«block»Chassis
«block»Bulkhead
«block»Baseplate
«block»Drive Train Assembly
«block»Antenna
«block»Receiver Electronics
«block»CPU
«block»Speed Controller
«block»Tachometer
«block»Hybrid Power Plant
«block»BattleBot Vehicle
«block»Electric Motor
«block»Axle
«block»Sprocket
«block»Housing
«block»Chain
«block»Wheel
«constraint»
constraints{Torque=(5252*Horse Power)/RPM}
parametersHorse Power : RealRPM : RealTorque : Real
Full-load Torque
21
blk11
bsp
2
1dtr
1
1ant
1
1cpu
1
1 rcv2
1spd
11 Vehicle
4
1tach
4
1
mtr
4
1
ax4
1
spr 4
1
hs 4
1
ch
4
1
wh
41
tach
11
hyb1
1cntr
1
1lt
1
1chs
1 1
flt
bdd [Package] Mobility Subsystem Structure
«block»Mobility Subsystem
«block»
allocatedFromAccelerate Forward ()Activate ()Deactivate ()Turn Left ()Turn Right ()Accelerate Backward ()
Control«block»Lighting
«block»Chassis
«block»Bulkhead
«block»Baseplate
«block»Drive Train Assembly
«block»Antenna
«block»Receiver Electronics
«block»CPU
«block»Speed Controller
«block»Tachometer
«block»Hybrid Power Plant
«block»BattleBot Vehicle
«block»Electric Motor
«block»Axle
«block»Sprocket
«block»Housing
«block»Chain
«block»Wheel
«constraint»
constraints{Torque=(5252*Horse Power)/RPM}
parametersHorse Power : RealRPM : RealTorque : Real
Full-load Torque
21
blk11
bsp
2
1dtr
1
1ant
1
1cpu
1
1 rcv2
1spd
11 Vehicle
4
1tach
4
1
mtr
4
1
ax4
1
spr 4
1
hs 4
1
ch
4
1
wh
41
tach
11
hyb1
1cntr
1
1lt
1
1chs
1 1
flt
1504/18/23 Space Cowboys Team Project Final Report
Mobility Subsystem Detailbdd [Package] Mobility Subsystem Structure Detail
«block»
standardPortsArm/Safe : DiscreteCompressor On/Off : DiscreteDefense Power : WattsFire Hammer : DiscreteFire Plunger : DiscreteOffense Power : WattsPneumatic Power : Watts
Mobility Subsystem
«block»
allocatedFromAccelerate Forward ()Activate ()Deactivate ()Turn Left ()Turn Right ()Accelerate Backward ()
Control«block»
standardPortsEngine On/Off : DiscreteInternal Power : Watts
Hybrid Power Plant
«block»BattleBot Vehicle
1
1
hyb1
1cntr
1
1Vehicle
satisfies«requirement» Mobility Subsystem Requirements
satisfies«requirement» Electrical Power
satisfies«requirement» Turn Right«requirement» Turn Left«requirement» Accelerate Forward«requirement» Accelerate Backward«requirement» Speed
bdd [Package] Mobility Subsystem Structure Detail
«block»
standardPortsArm/Safe : DiscreteCompressor On/Off : DiscreteDefense Power : WattsFire Hammer : DiscreteFire Plunger : DiscreteOffense Power : WattsPneumatic Power : Watts
Mobility Subsystem
«block»
allocatedFromAccelerate Forward ()Activate ()Deactivate ()Turn Left ()Turn Right ()Accelerate Backward ()
Control«block»
standardPortsEngine On/Off : DiscreteInternal Power : Watts
Hybrid Power Plant
«block»BattleBot Vehicle
1
1
hyb1
1cntr
1
1Vehicle
satisfies«requirement» Mobility Subsystem Requirements
satisfies«requirement» Electrical Power
satisfies«requirement» Turn Right«requirement» Turn Left«requirement» Accelerate Forward«requirement» Accelerate Backward«requirement» Speed
1604/18/23 Space Cowboys Team Project Final Report
Mobility Subsystem Interfacesibd [block] Mobility Subsystem Interfaces
«block»
Mobility Subsystem
«part»
cntr : Control