fuel cells for robots - energy.gov · packbot • mission capable robots • rugged, portable tools...
TRANSCRIPT
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Fuel Cells For RobotsFuel Cells For Robots
Pavlo RudakevychiRobot
Pavlo RudakevychiRobot
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Product NeedsProduct Needs
• Military/Police/Search and Rescue– PackBot– Gladiator– ThrowBot/UGCV
• Industrial and Oil– CoWorker– MicroRig
• Military/Police/Search and Rescue– PackBot– Gladiator– ThrowBot/UGCV
• Industrial and Oil– CoWorker– MicroRig
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PackBotPackBot
• Mission capable robots• Rugged, portable tools for minimal
casualty engagements• Assisting behaviors• Small size and weight
• Mission capable robots• Rugged, portable tools for minimal
casualty engagements• Assisting behaviors• Small size and weight
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System ConceptSystem Concept
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System ConceptSystem Concept
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System Concept ContinuedSystem Concept Continued• Modular payload bays
– 3 primary– 1 head– 4 side pods
• Each payload socket supports– Ethernet– 2 Analog video inputs– USB– 2 serial ports– Raw power input/output– FARnet (low latency motor/sensor bus)
• Mission Specific Sensors/Effectors
• Modular payload bays– 3 primary– 1 head– 4 side pods
• Each payload socket supports– Ethernet– 2 Analog video inputs– USB– 2 serial ports– Raw power input/output– FARnet (low latency motor/sensor bus)
• Mission Specific Sensors/Effectors
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System Concept ContinuedSystem Concept Continued
• On-board functionality– Full Pentium III system– Accelerometers– GPS– Compass/Inclinometers– Health (temperature, current, etc)– Radio– Active power routing– Active power conservation
• User or system specified conservation measures
– Intelligent payload management
• On-board functionality– Full Pentium III system– Accelerometers– GPS– Compass/Inclinometers– Health (temperature, current, etc)– Radio– Active power routing– Active power conservation
• User or system specified conservation measures
– Intelligent payload management
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Packbot CapabilitiesPackbot Capabilities• Climbing/scrambling• Rugged (survives drops of 3m)• Expandable (payloads)• Low profile (thermal, visible)• Watertight to 3m• Quiet• Fast (4+ m/s)
• Climbing/scrambling• Rugged (survives drops of 3m)• Expandable (payloads)• Low profile (thermal, visible)• Watertight to 3m• Quiet• Fast (4+ m/s)
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Mission Sensors/Prototype PayloadsMission Sensors/Prototype Payloads
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Power & DurationPower & Duration• 230 Watt-Hours Capacity (2 NiCad packs)• 3x with LiIon secondary, 5x Lithium primary (est)• 16-30 Volts (24 nominal), 30amp fuse• Payload Power Supplies Supported
– Lithium– Fuel Cells– Hybrid power
• Using NiCad Packs– 2+ hours at 2.2 m/s (on-road)– 2+ hours at 1.5 m/s (off-road)– 12+ hours (sentry/monitoring duty)
• Each NiCad Pack about 6lbs.
• 230 Watt-Hours Capacity (2 NiCad packs)• 3x with LiIon secondary, 5x Lithium primary (est)• 16-30 Volts (24 nominal), 30amp fuse• Payload Power Supplies Supported
– Lithium– Fuel Cells– Hybrid power
• Using NiCad Packs– 2+ hours at 2.2 m/s (on-road)– 2+ hours at 1.5 m/s (off-road)– 12+ hours (sentry/monitoring duty)
• Each NiCad Pack about 6lbs.
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Other MilSysOther MilSys
• ThrowBot: pocket sized, 1kg– 9-12V, 1-2A, 25WHr
• Gladiator: 800lb class– 2 kW continuous @48 Volts,
• 5 kW peaks– total: 30 kWh over 24 hrs– One dimension <12"
• Military front end:– strip hydrogen out of diesel
• ThrowBot: pocket sized, 1kg– 9-12V, 1-2A, 25WHr
• Gladiator: 800lb class– 2 kW continuous @48 Volts,
• 5 kW peaks– total: 30 kWh over 24 hrs– One dimension <12"
• Military front end:– strip hydrogen out of diesel
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MicroRig OverviewMicroRig Overview
• MicroRig is a fully autonomous downhole robotic vehicle.
• Its purpose is to carry oil field sensors to the bottom of oil wells to take data critical for reservoir management.
• This information is very valuable to the oil companies in that if the reservoir is properly managed, more oil may be recovered at less cost.
• Currently sensors are carried down on ends of long cables or pushed down on the end of long flexible tubes.
• MicroRig is a fully autonomous downhole robotic vehicle.
• Its purpose is to carry oil field sensors to the bottom of oil wells to take data critical for reservoir management.
• This information is very valuable to the oil companies in that if the reservoir is properly managed, more oil may be recovered at less cost.
• Currently sensors are carried down on ends of long cables or pushed down on the end of long flexible tubes.
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Successful Return from 7000 ft.
Chain and IdlerClose-up
MicroRig at end of run
Successful Returnfrom 7000 ft.Successful Returnfrom 7000 ft.
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Competitive AdvantageAgainst Coiled Tube
Competitive AdvantageAgainst Coiled Tube
• The MicroRig has the most competitive advantage in the newer non-vertical (highly deviated) wells. These wells have sections that are greater than 50 degrees from vertical.
• In these wells, gravity alone will not get the sensors to the bottom, so the old technology requires them to be pushed down on the ends of flexible coiled tube.
• These wells are 15 to 25 k ft deep. As a result, the spool of coiled tube is huge, not to mention the handling equipment to push the tube and the control van. For offshore wells, a coiled tube unit requires a barge for transportation.
• The MicroRig has the most competitive advantage in the newer non-vertical (highly deviated) wells. These wells have sections that are greater than 50 degrees from vertical.
• In these wells, gravity alone will not get the sensors to the bottom, so the old technology requires them to be pushed down on the ends of flexible coiled tube.
• These wells are 15 to 25 k ft deep. As a result, the spool of coiled tube is huge, not to mention the handling equipment to push the tube and the control van. For offshore wells, a coiled tube unit requires a barge for transportation.
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MicroRig being lowered into wellMicroRig being lowered into well
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No Need for Tube or CableNo Need for Tube or Cable• The MicroRig is fully Autonomous, so there is
no need for connection to the surface.• The MicroRig ships in two 7 ft long shipping
cases that may be flown to the sight on a helicopter.
• The MicroRig uses behavioral software to carry out the mission as well as health monitoring such as remaining battery capacity.
• The MicroRig currently used 32 D-D lithium primary cells as its fuel source.
• The MicroRig is fully Autonomous, so there is no need for connection to the surface.
• The MicroRig ships in two 7 ft long shipping cases that may be flown to the sight on a helicopter.
• The MicroRig uses behavioral software to carry out the mission as well as health monitoring such as remaining battery capacity.
• The MicroRig currently used 32 D-D lithium primary cells as its fuel source.
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MicroRig Operation in Pressurized WellMicroRig Operation in Pressurized Well
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Project BackingProject Backing
• The MicroRig project currently receives fund from:– BP– Halliburton– Marathon Oil– Stat Oil
• The MicroRig project currently receives fund from:– BP– Halliburton– Marathon Oil– Stat Oil
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MicroRig PowerMicroRig Power– Small Vehicle Specs:
• Max Environmental Temperature: 125 deg C• Average Power: 200 watts• Peak Power: 300 watts• Voltage: 105 to 120V ( 200 V max)• Mission duration: 24 hrs ave (longer is better only
draws 200 watts returning)• Min Capacity: 10 Mega Joule (10 * 106)• Max OD for Cell Packaging: 1.687"• Length: < 20 ft.
– Small Vehicle Specs:• Max Environmental Temperature: 125 deg C• Average Power: 200 watts• Peak Power: 300 watts• Voltage: 105 to 120V ( 200 V max)• Mission duration: 24 hrs ave (longer is better only
draws 200 watts returning)• Min Capacity: 10 Mega Joule (10 * 106)• Max OD for Cell Packaging: 1.687"• Length: < 20 ft.
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MicroRig PowerMicroRig Power
– Large vehicle Specs:• Max Environmental Temperature: 125 deg C• Average Power: 700 watts• Peak Power: 900 watts• Voltage: 150 to 200 V or higher• Mission duration: 24 hrs average• Min Capacity: 50 Mega Joule (50*106)• Max OD for Cell Packaging: 3.25"• Length: < 20 ft.
– Large vehicle Specs:• Max Environmental Temperature: 125 deg C• Average Power: 700 watts• Peak Power: 900 watts• Voltage: 150 to 200 V or higher• Mission duration: 24 hrs average• Min Capacity: 50 Mega Joule (50*106)• Max OD for Cell Packaging: 3.25"• Length: < 20 ft.
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CoWorkerCoWorker
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Coworker is:Coworker is:
• An internet connected remote presence robot.• A revolutionary new form of worker to worker
communication.• A more cost effective way to closely link multiple
worksites.• A way to enable your best workers to be in two or
more places at once.• A new way to work…
• An internet connected remote presence robot.• A revolutionary new form of worker to worker
communication.• A more cost effective way to closely link multiple
worksites.• A way to enable your best workers to be in two or
more places at once.• A new way to work…
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CoWorkerCoWorker• Digitally controlled pan/tilt/zoom
camera -- Allows you to see the office from a whole new angle.
• High quality speaker and microphone --Audio quality lets you carry on a conversation.
• Rugged platform that turns on a dime --Highly maneuverable & easy to drive. Makes getting around the office easy.
• Ethernet 802.11 LAN radios -- Robust wireless communication.
• Digitally controlled pan/tilt/zoom camera -- Allows you to see the office from a whole new angle.
• High quality speaker and microphone --Audio quality lets you carry on a conversation.
• Rugged platform that turns on a dime --Highly maneuverable & easy to drive. Makes getting around the office easy.
• Ethernet 802.11 LAN radios -- Robust wireless communication.
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CoWorkerCoWorker
• Bus Voltage 18 to 30V, 24 nominal• 15AHr lead acid batteries• 2.5A active non-driving current• Max 10A continuous driving
– fuzed
• Bus Voltage 18 to 30V, 24 nominal• 15AHr lead acid batteries• 2.5A active non-driving current• Max 10A continuous driving
– fuzed
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ReviewReview
• Military/Police/Search and Rescue– PackBot (scooter class)– Gladiator (bicycle class)– ThrowBot (cell phone class)
• Industrial and Oil– CoWorker (bicycle)– MicroRig (high temp, cyl form factor)
• Military/Police/Search and Rescue– PackBot (scooter class)– Gladiator (bicycle class)– ThrowBot (cell phone class)
• Industrial and Oil– CoWorker (bicycle)– MicroRig (high temp, cyl form factor)