1 6/30/2015 space cowboys team project final report offensive subsystem chris hokans
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104/18/23 Space Cowboys Team Project Final Report
Offensive Subsystem
Chris Hokans
204/18/23 Space Cowboys Team Project Final Report
Offensive Weapon Subsystem
Reviewed BattleBots requirements to establish initial design space:
All BattleBots Robots are required to have at least one actively-powered weapon system clearly designed to work by either taking control of the opposing robot (e.g., lifting, grabbing), or by damaging through direct physical contact (e.g., hammers, flippers, spinners, drums)
Banned weapon types included:
Lasers, flame, projectiles and toxic materials.
304/18/23 Space Cowboys Team Project Final Report
“The Puncher”
High torque electric motor or hydraulic pump drives “puncher”
Metal arm supporting weapon of choice
“The Puncher”Is a kinetic weapon that sings like a hammer, pick or axe.
This version would have interchangeable weapon head
best suited for opponent. Would have a pick, hammer,
axe, etc.
Second configuration could mount sing arm in the middle of vehicle to allow “dual” weapons
– hammer / axe or hammer / pick etc.
High speed kinetic weapon of choice. Can be made interchangeable depending on
opponent.
404/18/23 Space Cowboys Team Project Final Report
“The Pincher”Threaded member with “pinchers” mounted on it. Drive the threaded piece with electric
motor(s) . “Pinchers” open and close together on threaded member.
High torque electric motor or hydraulic pump drives “pinchers”
“Pinchers” made from metal and immobilize the target.
“The Pincher”Main purpose is to grab and immobilize the target. Works most effectively in conjunction with another weapon system.
Second configuration could include spikes on “pinchers” to immobilize and cause damage
simultaneously.
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“The Maceman”
High torque electric motor or hydraulic pump rotates the hub at a high rate.
Springs keep arms retracted and mace from damaging own vehicle system.
“The Maceman”Is a kinetic weapon that spins
like a helicopter. The arms are spring-loaded and extend to
desired radius based on speed of hub (spinning).
Configuration could include single or double maces.
Chains connect mace to arms. Arms are mounted to hub by hinges and connected to springs. Centripetal force causes arms and
mace to extend out.
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“The Catapult”
High torque electric motor or hydraulic pump rotates the hub at a high rate.
Arm flips opponent forward or backward over the vehicle.
“The Catapult”This weapon flips the opponent over in an attempt to score hits and ultimately immobilize him.
A secondary mode can make the catapult a hammer device.
The ramp allows the body to position opponents onto the catapult.
704/18/23 Space Cowboys Team Project Final Report
Offensive Weapon Subsystem
Subsystem Selection:Picked a design that minimized complexity, offerred COTS systems and would work with defensive subsystem (pneumatics).
The PuncherThree Heads: Hammer
PickAxe
804/18/23 Space Cowboys Team Project Final Report
Offensive Subsystem SysML Strategy
Used standard structure as defined by group
Defined Weapon Requirements
Used system interface definition as an “Interface Control”
Kept signal definition and flow constant and coordinated between models and users
Ensured that there was proper linkage and associations
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Offensive Subsystem Structure
Used standard structure agreed to as team.
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Offensive Weapon Requirements
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bdd [Package] Structure [BattleBot Domain]
«block»BattleBot System
«block»BattleBot Vehicle
«block»Remote Control Subsystem
«block»Mobility Subsystem
«block»Pit Crew Environment
«block»BattleBot Pit Crew Domain
«block»BattleBot Arena Domain
«block»BattleBot Domain
«block»Vehicle Environment
«block»Pneumatic Subsystem
«block»Defensive Weapon Subsystem
«block»Offensive Weapon Subsystem
Operator
Contestant
Pit Crew
JudgeRefereeCrewbot
Official
1
1RC
1
1battlebot
1
1
Vehicle
1
1PCE
1..2
1
OP
1
1PCD
1
1 AD
3..5
1
J1
1VE
*
2
R
1
1..*
C
1
1
BS
1..*
1
PC
1
1
Pneumatic
1
1
Defense
1
1
Offense
System-Level HierarchyLast Updated 22-Apr-2010
Jim Smith
Brett Padgett
Chris Hokans
Shared
Chris Hokans
bdd [Package] Structure [BattleBot Domain]
«block»BattleBot System
«block»BattleBot Vehicle
«block»Remote Control Subsystem
«block»Mobility Subsystem
«block»Pit Crew Environment
«block»BattleBot Pit Crew Domain
«block»BattleBot Arena Domain
«block»BattleBot Domain
«block»Vehicle Environment
«block»Pneumatic Subsystem
«block»Defensive Weapon Subsystem
«block»Offensive Weapon Subsystem
Operator
Contestant
Pit Crew
JudgeRefereeCrewbot
Official
1
1RC
1
1battlebot
1
1
Vehicle
1
1PCE
1..2
1
OP
1
1PCD
1
1 AD
3..5
1
J1
1VE
*
2
R
1
1..*
C
1
1
BS
1..*
1
PC
1
1
Pneumatic
1
1
Defense
1
1
Offense
System-Level HierarchyLast Updated 22-Apr-2010
Jim Smith
Brett Padgett
Chris Hokans
Shared
Chris Hokans
System-Level Domain (bdd)
1204/18/23 Space Cowboys Team Project Final Report
ibd [block] BattleBot System [Subsystem Interfaces]
«part»
RC : Remote Control Subsystem
Subsystem-Level Interfaces (ibd)
1304/18/23 Space Cowboys Team Project Final Report
Offensive Subsystem SysML Strategy
Go to Artisan ModelThe following slides can be “hidden” during presentation unless model issues arise
Show Hierarchy, go to Offensive Weapon, Actuator Subsystem, Weapon Assembly Subsystem
Use Case, Activities (Operate, Maintenance, WH Replacement, Adjust Valves)
Requirements Review
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Offensive Subsystem Hierarchybdd Offensive Weapon Structure [Hierarchy]
«block»Actuator Controller
«block»Pnuematic Rotary Actuator
«block»Weapon Assembly
«block»Weapon Arm
«block»Interchangeable Weapon Head
«block»Pneumatic Rotary Actuator Assembly
«constraint»
constraints{Rotational Kinetic Energy=0.5*Moment of Inertia*(Angular Speed)^2}
parametersAngular Speed : RealMoment of Inertia : RealRotational Kinetic Energy : Real
Rotational Kinetic Energy
«block»Offensive Weapon Subsystem
1
1
Weapon Arm
1
1
Weapon Head
1
1Actuator Controller
1
1
Pnuematic Rotary Actuator
1
1
RKE
1
1
Actuator Assembly
1
1
Weapon Assembly
bdd Offensive Weapon Structure [Hierarchy]
«block»Actuator Controller
«block»Pnuematic Rotary Actuator
«block»Weapon Assembly
«block»Weapon Arm
«block»Interchangeable Weapon Head
«block»Pneumatic Rotary Actuator Assembly
«constraint»
constraints{Rotational Kinetic Energy=0.5*Moment of Inertia*(Angular Speed)^2}
parametersAngular Speed : RealMoment of Inertia : RealRotational Kinetic Energy : Real
Rotational Kinetic Energy
«block»Offensive Weapon Subsystem
1
1
Weapon Arm
1
1
Weapon Head
1
1Actuator Controller
1
1
Pnuematic Rotary Actuator
1
1
RKE
1
1
Actuator Assembly
1
1
Weapon Assembly
1504/18/23 Space Cowboys Team Project Final Report
Offensive Weapon Subsystem (ibd)
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Actuator Assembly (ibd)
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Weapon Assembly (ibd)
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Offensive Weapon Use Case
Operator
Pit Crew WeaponMaintnance
Weapon HeadReplacement
Adjust PnuematicValves
Operate OffensiveWeapon
Subsystem
«extend»
«extend»
UCOW Use Case [Offensive Weapon Domain]
Operator
Pit Crew WeaponMaintnance
Weapon HeadReplacement
Adjust PnuematicValves
Operate OffensiveWeapon
Subsystem
«extend»
«extend»
UCOW Use Case [Offensive Weapon Domain]
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Offensive Weapon Activity: Operate Weapon
2004/18/23 Space Cowboys Team Project Final Report
Offensive Weapon Activity: Weapon Head Replacement
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Offensive Weapon Activity: Valve Adjustment
2204/18/23 Space Cowboys Team Project Final Report
Offensive Weapon Requirementsreq [Package] OWeapRequirements
«requirement»
id#Req_OW_1
txtThe BattleBots Robots shall have at least one actively-powered weapon system clearly designed to work by either taking control of the opposingrobot (e.g., lifting, grabbing), or by damaging through direct physical contact (e.g., hammers, flippers, spinners, drums).
Weapons System
«requirement»
«requirement» «requirement»
«requirement»
«requirement»
id#Req_OW_2.4
txtThe System shall deactivate, orenter a safe mode, within 60seconds.
Weapons System Deactivation
«requirement»
«requirement»
txtThe Weapon System shall be actively powered either by an independentactuator, or by linkage to a Mobility System power source.
Powered Actuation
«requirement»
txtThe Weapon System shall be activated orcontrolled by levers or switches that operateseparately from ALL other BB Systems controlson the remote controller
Seperate Control
«requirement»
txtThe System shall be capable of actuating its Weapon System(s)while simultaneously moving around the BattleBox in a controlledmanner in multiple directions.
Independent Control«requirement»
txtThe Weapon System shall demonstrate that it hassufficient power and/or energy to lift, damage, restrain orotherwise incapacitate a robot of similar weight.
Effectiveness
«requirement»
txtThe System shall have a unique control switchand onboard discrete to operate the offensiveweapon system.
Independent Weapon Control
«requirement»
«requirement»
«requirement»
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req [Package] OWeapRequirements
«requirement»
id#Req_OW_1
txtThe BattleBots Robots shall have at least one actively-powered weapon system clearly designed to work by either taking control of the opposingrobot (e.g., lifting, grabbing), or by damaging through direct physical contact (e.g., hammers, flippers, spinners, drums).
Weapons System
«requirement»
«requirement» «requirement»
«requirement»
«requirement»
id#Req_OW_2.4
txtThe System shall deactivate, orenter a safe mode, within 60seconds.
Weapons System Deactivation
«requirement»
«requirement»
txtThe Weapon System shall be actively powered either by an independentactuator, or by linkage to a Mobility System power source.
Powered Actuation
«requirement»
txtThe Weapon System shall be activated orcontrolled by levers or switches that operateseparately from ALL other BB Systems controlson the remote controller
Seperate Control
«requirement»
txtThe System shall be capable of actuating its Weapon System(s)while simultaneously moving around the BattleBox in a controlledmanner in multiple directions.
Independent Control«requirement»
txtThe Weapon System shall demonstrate that it hassufficient power and/or energy to lift, damage, restrain orotherwise incapacitate a robot of similar weight.
Effectiveness
«requirement»
txtThe System shall have a unique control switchand onboard discrete to operate the offensiveweapon system.
Independent Weapon Control
«requirement»
«requirement»
«requirement»
«deriveReqt»«deriveReqt»
«deriveReqt» «deriveReqt»
«deriveReqt»
«deriveReqt»
2304/18/23 Space Cowboys Team Project Final Report
Offensive Weapon Requirementsreq [Package] OWeapRequirements
«requirement»
id#Req_OW_1
txtThe BattleBots Robots shall have at least one actively-powered weapon system clearly designed to work by either taking control of the opposingrobot (e.g., lifting, grabbing), or by damaging through direct physical contact (e.g., hammers, flippers, spinners, drums).
Weapons System
«requirement»
id#Req_OW_2
txtThe BattleBots Robot Weapon System shall be nonhazardous to all personnel and objects in thevicinity of the robot when the Weapon System OR BB System has been deactivated.
Weapon Safety
«requirement»
id#Req_OW_2.1
txtThe System shall protect against PinchHazards.
Pinch Hazards are where a body part(such as a finger) can be squeezedbetween external robotparts that can freely move relative to oneanother. A pinch hazard restraint can beeither:a. A cover or guard that prevents placinga body part in the area of the pinchhazard.b. A pin, block, chain or similar restraintthat prevents relative movement of thepinching parts.
Pinch Hazard Restraint
«requirement»
id#Req_OW_2.2
txtThe System shall protect against MotionHazards.
Motion Hazards are where the drivenmovement of a weapon or other robotpart can strike a personwith injurious force. Motion hazardprotection can be either:a. A pin, block, chain or other similarrestraint that will prevent significantmovement of ahazardous part.b. A method of physically disconnectingthe actuator from the hazardous part,such that anyexterior parts cannot move in ahazardous fashion.
Motion Hazard Protection
«requirement»
id#Req_OW_2.3
txtThe System shall not require placing any body part in the path ofany moveable part of the robot during the installation and removalof any hazard protection restraint, as required in “4.2.3ACTIVATION/DEACTIVATION CONDITIONS”.
Hazard Protection Installation and Removal Safety
«requirement»
id#Req_OW_2.4
txtThe System shall deactivate, orenter a safe mode, within 60seconds.
Weapons System Deactivation
«requirement»
txtAll Weapon Systems shall be designed and built so thatduring normal operation they will not damage theBattleBox floor or walls, where repairs would be requiredbefore the next scheduled Match can begin.
Arena Safety
«requirement»
«requirement»
«requirement» «requirement»
«requirement»
«requirement»
txtThe System shall have a pin that locks weapon inthe down / unpressurized position.
Weapon Lock
«requirement»
txtThe System shall close inlet air valve and openinternal release valve upon power off commandreleasing all pressure.
Valve Control
«requirement»
txtThe System shall have a mechanical stop that keeps thehammer head from reaching the Battlebox floor.
Weapon Stop
«deriveReqt»
«deriveReqt»
«deriveReqt» «deriveReqt»
«deriveReqt»
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req [Package] OWeapRequirements
«requirement»
id#Req_OW_1
txtThe BattleBots Robots shall have at least one actively-powered weapon system clearly designed to work by either taking control of the opposingrobot (e.g., lifting, grabbing), or by damaging through direct physical contact (e.g., hammers, flippers, spinners, drums).
Weapons System
«requirement»
id#Req_OW_2
txtThe BattleBots Robot Weapon System shall be nonhazardous to all personnel and objects in thevicinity of the robot when the Weapon System OR BB System has been deactivated.
Weapon Safety
«requirement»
id#Req_OW_2.1
txtThe System shall protect against PinchHazards.
Pinch Hazards are where a body part(such as a finger) can be squeezedbetween external robotparts that can freely move relative to oneanother. A pinch hazard restraint can beeither:a. A cover or guard that prevents placinga body part in the area of the pinchhazard.b. A pin, block, chain or similar restraintthat prevents relative movement of thepinching parts.
Pinch Hazard Restraint
«requirement»
id#Req_OW_2.2
txtThe System shall protect against MotionHazards.
Motion Hazards are where the drivenmovement of a weapon or other robotpart can strike a personwith injurious force. Motion hazardprotection can be either:a. A pin, block, chain or other similarrestraint that will prevent significantmovement of ahazardous part.b. A method of physically disconnectingthe actuator from the hazardous part,such that anyexterior parts cannot move in ahazardous fashion.
Motion Hazard Protection
«requirement»
id#Req_OW_2.3
txtThe System shall not require placing any body part in the path ofany moveable part of the robot during the installation and removalof any hazard protection restraint, as required in “4.2.3ACTIVATION/DEACTIVATION CONDITIONS”.
Hazard Protection Installation and Removal Safety
«requirement»
id#Req_OW_2.4
txtThe System shall deactivate, orenter a safe mode, within 60seconds.
Weapons System Deactivation
«requirement»
txtAll Weapon Systems shall be designed and built so thatduring normal operation they will not damage theBattleBox floor or walls, where repairs would be requiredbefore the next scheduled Match can begin.
Arena Safety
«requirement»
«requirement»
«requirement» «requirement»
«requirement»
«requirement»
txtThe System shall have a pin that locks weapon inthe down / unpressurized position.
Weapon Lock
«requirement»
txtThe System shall close inlet air valve and openinternal release valve upon power off commandreleasing all pressure.
Valve Control
«requirement»
txtThe System shall have a mechanical stop that keeps thehammer head from reaching the Battlebox floor.
Weapon Stop
«deriveReqt»
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«deriveReqt» «deriveReqt»
«deriveReqt»
«deriveReqt»