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MARSUPIAL System/Subsystem Review

Carnegie Robotics LLC.#10 40th Street

Pittsburgh, PA 15201

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Agenda

• Introduction• System/Subsystem Rework• Subsystem Design

® Tracks® Wireless Node Payload® Odometry® Electrical Systems

• Risks• Questions

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Introduction

• MARSUPIAL Tracked Rover for CRL• Scope

® Suspended Track System® Wireless Node Payload® Electrical Systems® Odometry

• Deliverables® Suspended Track System® Odometry

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System/Subsystem Rework

Options/Steps to accomplish action Parameters needed complete action Parameter specifications Risks associated with action Mitigation of risk

Person lifts the robot Handles Two on either sideWeight consideration when lifting robot >1 person is used to lift the robot

Mini-crane Holes for hooks/straps Hole must be at least 1.5" to fitstandard strap hooks

Unstable control of the robot while its hanging from straps connected to mini-crane.

There needs to be 3 hookpoints in order to saftely move the robot using a crane

Drop from transportation platform Able to withstand impact Bumpers/suspension to absorb shockModule safety when beingdropped Reinforced chassis and shock absorbtion

Durable Chassis Safety to Personel Needs to meet Military safetystandard MIL 883E

Ramp Braking system with manual release (parking brake) This can be in the form of a buttonthat engages the brake when thebutton is not pressed and disengageswhen the button is pressed.

Loose control of vehiclewhile it is decending fromthe ramp

Manual brakes/emergency brakesLimited/no power to the motors ->->"coasting function" or clutch

Motor controller to control descent speed Elmo motor controllerPre-inspection Visual inspection of robot Check off sheet must be completed Visual inspection doesn't

is not adequate in idenfyingall malfunctions.

Perform electrical self tests to identifyother malfunctions

Power-up logic Robot power bb2590 Battery shorts circuits Fuse to break circuitSwitch on robot chassis (computer/logic systems) Key/toggle switchSelf Tests Check all subsystem functionality

NOT including drive system (motors)

Establish communications w/ base station and payloadAll systems power-up Motor controller initialization and test Check motor control input range and

controller configuration.Disengage Emergency Stop switch Emergency stop malfunction

Receive drive command Channel in control signals from CPU to microcontroller Serial/Ethernet/bus Noise in the system Proper signal conditioning and isolationInterpret control signals and send PWM to motor controller Arduino/MSP430/other uCControl brakes intellegently Arduino/MSP430/other uCFailsafe mode for loss of communications Detect loss of communication

Run failsafe routine (deceleration)Wireless E-stop

Packet loss Apply failsafe

Power Motors Supply power to motor controllers Battery railsMotors: ec60 maxoms

Limited slip to turn Make sure motors are powerful enoughto cause slipping

DC/DC convertersMonitor Power use/motor status Monitor speed Optical encoders

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System/Subsystem Rework

Monitor power usage Arduino/MSP430/other uCMonitor stall conditions Arduino/MSP430/other uC

Navigation View obsticals LED lighting Lighting malfunction Infared failsafeCamera subsystems

Aquire environmental data Ultrasound/Lidar Environmental interferance Analyze weather conditions before operation

Track robot stateTrack motor odometry

Wheel slippage causes falseodometry readings Use GPS to confirm odometry readings

Obtain accelerometer/gyro data

Obtain GPS dataPoor or unavailableGPS connectivity

First Downstep Manage tipping IMU data about system state Faulty IMU readings redundant IMU?Partial automation (autopilot) Unstable control loop Vigorous control loop testing

Belt tension adjustment Electronic control of track tensionActive suspension elements

Situational limits/caps limited max speed up/down stairsManaging stairs/obsticals Track slippage Track tread suffi cient for step grip

Overcoming obsticles Slopped track frontIndependent suspension elementsSealed/rugged undercarriageRugged/durable tread materialSuffi cient power/torque to overcomeobsticles

Slopped front for small obsticles

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Subsystem Design - Tracks

• Tracks• Suspension• Drivetrain

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Subsystem Design – Wireless Node Payload

• Dropable 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

• Deployment System® Still in development

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Subsystem Design - Odometry

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Subsystem Design – Electrical Systems

MARSUPIAL Preliminary Electrical Bill of MaterialsIndex component Qty System Function

1iMX233-OLinuXino-NANO Single Board Computer 1 puck

Manages mesh communication protocols

2

TP-LINK TL-WN722N Wireless N150 High Gain USB Adapter,150Mbps, w/4 dBi High Gain Detachable Antenna 1 puck wireless mesh link

3 5v Buck Regulator 1 pucksteps down battery voltage for ARM Board

4 Lithium Battery Pack 2 puck powers puck5 24V Lithium Battery Pack 2 Power Electronics provides robot power

6 Power management microcontoller 1 Power Electronics

controls internal battery charging, power draw metering, peripheral power switching

7 Vicor DC-DC Array 1 Power Electronicsprovides fixed voltage rails for peripherals

8 Motor Speed Controller 2 Power Electronics variable velocity control for drivetrain9 EC60Flat Maxon Brushless Motors 2 Power Electronics powers drivetrain

10 Power Distribution Switching Module 1 Power Electronics Switches peripheral electrical power

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Schedule

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Risks

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Questions