nasa lunabotics mining competition 2012, chondrobot-2, bangladesh
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1
Md. Md. Md. Md. JonayetJonayetJonayetJonayet HossainHossainHossainHossain
MahmudulMahmudulMahmudulMahmudul HasanHasanHasanHasan OyonOyonOyonOyon
KaziKaziKaziKazi Mohammad Mohammad Mohammad Mohammad RazinRazinRazinRazin AnikAnikAnikAnik
MdMdMdMd. . . . MashiurMashiurMashiurMashiur RahmanRahmanRahmanRahman MiranMiranMiranMiran
Team Members
NASA LMC 2012NASA LMC 2012NASA LMC 2012NASA LMC 2012
CHONDROBOT 2
BRAC University, BANGLADESH
MdMdMdMd. . . . MashiurMashiurMashiurMashiur RahmanRahmanRahmanRahman MiranMiranMiranMiran
Sarah Sarah Sarah Sarah BinteBinteBinteBinte NasirNasirNasirNasir NabiaNabiaNabiaNabia
NabilNabilNabilNabil ShakerShakerShakerShaker
Bonny Bonny Bonny Bonny AminAminAminAmin KhanKhanKhanKhan
FahimFahimFahimFahim Al Al Al Al HasnaeenHasnaeenHasnaeenHasnaeen
MeemMeemMeemMeem GaziGaziGaziGazi
KhairulKhairulKhairulKhairul HasanHasanHasanHasan
Faculty AdvisorsFaculty AdvisorsFaculty AdvisorsFaculty AdvisorsDr. Md. Dr. Md. Dr. Md. Dr. Md. KhalilurKhalilurKhalilurKhalilur RhamanRhamanRhamanRhaman
Dr. Dr. Dr. Dr. BelalBelalBelalBelal BhuianBhuianBhuianBhuianDr. Dr. Dr. Dr. MosaddequrMosaddequrMosaddequrMosaddequr RahmanRahmanRahmanRahman
2
MISSION OBJECTIVES
� Development of an excavation system to collect regolith
� The system must be capable of moving in lunar like environment
� Autonomous control scheme for the system
CHONDROBOT 2
BRAC University, Bangladesh
� Limiting data transfer rate in case of wireless communication
� Feedback from the operation area
� System capable of digging maximum amount of regolith
3
CONCEPT OF OPERATION
Start
Position
Deposit
SimulantTraverse to
Mining Zone
Traverse to
Collector Bin
Mining Zone
Excavate &
Collect
Simulants
ConOps Flow chartCHONDROBOT 2
BRAC University, Bangladesh
5
PREVIOUS DESIGN
� Conveyer-belt, 2 motors driving system
� Wireless controlled (Not Autonomous)
� Two excavation arms for digging � Two excavation arms for digging
� Deposition System was based on kopi call & pulley
system
� Live video stream transfer causes of high data rate
3DS max design CHONDROBOT 2
BRAC University, Bangladesh
6
PREVIOUS DESIGN PITFALLS
� Two 12v DC motor was not enough to Provide sufficient Torque to
the wheels which resulted in slow movement
� System weight was higher, so much power was needed for the system
� Traction to the wheels were huge than its capability
� Data Transfer rate was High so consumed higher bandwidth
� High risk factors were present
CHONDROBOT 2
BRAC University, Bangladesh
7
NEW DESIGN CONSIDERATIONS
� Keeping weight smaller
� Efficient wheel design
� Providing enough torque to the wheels hence increasing speed
� Sub-systems must be easy to repair and replaced if necessary
� Giving full Autonomy to the system
� Dismantle ability
CHONDROBOT 2
BRAC University, Bangladesh
8
PROJECT DEVELOPMENT PLANS
� Integration of multidisciplinary Team
� Breaking the system into sub-systems
� Sub-groups were assigned to develop respective sub-system
Team
Sub Group
Sub-System
Design
� Fix Timeline for each sub-system design &implementation
� Interfacing the sub-systems
� Testing , Trial & Error check
Design
Implement
Interface
TestCHONDROBOT 2
BRAC University, Bangladesh
9
SYSTEM HIERARCHY
Depositor Excavator Wheel
Control Power Mechanical Communication Structure
CHONDROBOT 2
MCC
Software
On-Board
Software
System
Driving
Circuit
Depositor
Motors
Excavator
Motors
Wheel
Motors
BasementAccess
Point Wi-Fi
Excavator
+
Depositor
CHONDROBOT 2
BRAC University, Bangladesh
10
PRELIMINARY DESIGNS
Design with Mechanical suspension Design with Six wheels using Hub motors (CAD)
CHONDROBOT 2
BRAC University, Bangladesh
11
FINAL CHONDROBOT 2 STRUCTURE
CAD of Final Design Real Design of final structure
CHONDROBOT 2
BRAC University, Bangladesh
12
PREVIOUS WHEEL DRIVING SUBSYSTEM
� The Conveyer-belt wheel was made of Metals
� One motor for one side wheel of the excavator
� Got a huge traction according to the motors torque
� Very rigid motion
� No independent suspension
Previous wheel (up) and Frame (down)
CHONDROBOT 2
BRAC University, Bangladesh
13
NEW DRIVING SUBSYSTEM
� Four(4) wheels interfaced with 4 motors
� Motors are driven by 24V
� Enough Torque for movement
� Less traction and distributed traction
� Steel Grips to move spontaneously in BP1
� Independent speed controlling for every wheel to overcome craters
CAD of Wheel
CHONDROBOT 2
BRAC University, Bangladesh
14
NEW DRIVING SUBSYSTEM
Motor Shaft
Bearing
HousingNut
Wheel
Bearing
Wheel Interfacing System
CHONDROBOT 2
BRAC University, Bangladesh
15
EXCAVATION SUBSYSTEM
� One excavation arm instead of two
� Dust Tolerance to protect the controller by covered
conveyer-belt
� Lifting excavator according to the sand level
� Digs at a rate of 14-15 kg sand (less denser than BP1)
per minute
CAD of excavator
CHONDROBOT 2
BRAC University, Bangladesh
16
DEPOSITOR SUBSYSTEM
� Rail Based Modified Rack-pinion system
� Capacity of depositor is 20 kg at a time
CAD of depositor
CHONDROBOT 2
BRAC University, Bangladesh
17
Motor
String
Cylinder
Depositor
Bucket
2D design of depositor (Collection) 3D design of depositor (Collection)
CHONDROBOT 2
BRAC University, Bangladesh
18
Sting
BearingDepositor
Bucket
MotorCylinder
2D design of depositor (Deposition)
3D design of depositor (Deposition)
CHONDROBOT 2
BRAC University, Bangladesh
19
CONTROL SUBSYSTEM
� Feedback system for autonomous
mode
� Independent four(4) wheel speed
controlled
� Auto stopping of digger & depositor
� USB communication with onboard
computer
Proteus Design of Controller circuit Schematic
CHONDROBOT 2
BRAC University, Bangladesh
20
COMMUNICATION SUBSYSTEM
� Connected through WAP from control room
to LunArena
� Socket protocol for less BW
Remote
Software
in MCCHardware
command
+ Sensor
Wired
Wi-Fi
� 0.8 Mbits/sec BW on an average
+ Sensor
System
Control
Circuit
WAP
On Board
SoftwareKINECT
Communication System Block Diagram
CHONDROBOT 2
BRAC University, Bangladesh
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FUNCTIONALITY OF SOFTWARE
� Got connection to control room when
Autonomous mode malfunctions
� Safely handle even after the Autonomous
system failssystem fails
� Controlling the System Control circuit
� Process Feedback from operation area
CHONDROBOT 2
BRAC University, Bangladesh
On-Board Control Software
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� Detecting The Obstacle depth
Image
� Auto Path Mapping
OBSTACLE 3
AUTONOMOUS CONTROL
� Detecting The Cleavages of the
Surface
� Detecting the Mining Zone
Obstacle Depth image for Autonomy
CLOSEST OBSTACLE 1
OBSTACLE 2
CHONDROBOT 2
BRAC University, Bangladesh
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� Detecting the Lunabin
� Auto limited Sand collection
� Auto deposition
AUTONOMOUS CONTROL
OBSTACLE: WALL
� Auto deposition
� Detecting the sidewalls to
avoid collision
LUNABIN
Wall & Lunabin Detection
CHONDROBOT 2
BRAC University, Bangladesh
24
FRAME Bearing Housing Shaft Wheel
Wheel System
INTERFACING
Depositor Wheel SystemExcavation
arms Control System
Complete Structure
CHONDROBOT 2
BRAC University, Bangladesh
25
Control System
+ +
INTERFACING
Feedback from Complete structure WAP Image Processing + +
CHONDROBOT 2
BRAC University, Bangladesh
26
UNIQUE FEATURES CONSUMPTION
� Innovative Depositor design
� KINECT as an eye to CHONDROBOT2 for autonomous movement
� Socket protocol communication for limiting bandwidth
CHONDROBOT 2
BRAC University, Bangladesh
27
Verification
criteria
Verified
results
Verification analysis
Frame 6
Excavator 12
Wheel 16
Verification
criteria
Verified
results
Verification
analysis
Dimension 1.21 m ×
0.66 m ×
0.74 m
Verified
SYSTEM VERIFICATION & VALIDATION
Weight
65kg
Wheel 16
Depositor 8
Control 6
Power 10
Others 5
Total 65 kg
Verified
0.74 m
Kill SwitchYes Verified
Communication WAP Verified
BW Within
5Mbps
Verified
CHONDROBOT 2
BRAC University, Bangladesh
28
MONTH AUGUST
2011
SEPTEMBER
2011
OCTOBER
2011
NOVEMBER
2011
DECEMBER
2011
JANUARY
2012
FEBRUARY
2012
MARCH
2012
APRIL
2012
MAY
2012
OUT REACH
CONCEPT STUDY
SYSTEM ANALYSIS
DESIGN
IMPLEMENT
TESTING
PROJECT TIME LINE
TESTING
CONTROL ANALYSIS
AUTOMATION ANALYSIS
AI IMPLEMENT
CONTROL IMPLEMENT
COMMUNICATION IMPLEMENT
CHONDROBOT 2
BRAC University, Bangladesh
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