up mars: multi-device autonomous robotic excavation system university of portland donald p. shiley...
TRANSCRIPT
UP MARS: Multi-Device Autonomous Robotic Excavation System
University of PortlandDonald P. Shiley School of EngineeringNovember 14, 2014
OVERVIEW
Develop extraterrestrial mining systems capable of implementing in situ resource utilization (ISRU) to reduce the difficulty of human expansion into space by mining resources off Earth
PROJECT HISTORY
2011 2012 2013
EXCAVATION ZONE
OBSTACLE ZONE
STARTING ZONE
SINGLE-DEVICE OPERATION
Images acquired from NASA RMC and WVU’s Facebook
DeviceDeployment
ObstacleTraversal
RegolithExcavation
ObstacleTraversal
RegolithDeposition
Operational Diagram
What do we do on Earth?
MULTI-DEVICE OPERATION
Advantages:- Specialization allows parallelization, reduction of individual complexities- Operational scalability
RegolithTransfer
TransportDeployment
ObstacleTraversal
Excavator Deployment
RegolithExcavation
ObstacleTraversal
RegolithDeposition
RegolithExcavation
ObstacleTraversal
OPERATIONAL DIAGRAM
One-time op.Separation op.Cyclical op.
INTENDED SYSTEM PERFORMANCE
0 1 2 3 4 5 6 7 8 9 100
50
100
150
200
250
Expected Results as Compared to WVU
Multiple, DepositedMultiple, ExcavatedSingle, DepositedSingle, Excavated
Time (minutes)
Rego
lith
Mas
s (k
g)
OUR DESIGN: TRANSPORT
Conveyor Belt
Haul Truck
Rocker Bogie
OUR DESIGN: EXCAVATOR
Bucket Wheel Excavation
MINING TEST FACILITY
0.010.11101000
20
40
60
80
100BP-1UPR Triple Dry 1
Particle Diameter (mm)
Perc
ent F
iner
40-minute round trip signal time to Mars.
WHY AUTONOMY?
State Machine Architecture- Commands given based on state driven by sensor data- Multiple sensors used- Computer vision crucial
AUTONOMOUS CONTROL
Excavator Example
OBSTACLE TRAVERSAL LOAD SENSING DOCKING/DEPOSITING
SENSORS
Computer Vision Computer VisionComputer Vision
COMPUTER VISION SYSTEM
STEREOVISION:NASA Curiosity Rover
LIDAR LASER LINE SCANNING
Oct 27: #1 systems, detail design / FDR #1Nov 13: #2 systems, detail design / FDR #2Nov 21: #3 systems, detail design / FDR #3Nov 28: #4 systems, detail design / FDR #4Dec 5: #5 systems, detail design / FDR #5Dec 12: Submit drawings for fabrication / FDR #6Jan 5: Fabricate composites / Machine in-house partsJan 12: Assemble devices / Part check, troubleshootJan 15: Agile development of autonomy code
Apr 21: Ship system to FloridaMay 18: NASA RMCMid-July: PISCES Competition
PROJECT SCHEDULE
PROJECT BUDGET System Cost ($)
Transport (Framing, Conveyor, Electronics Box, Winch, Rocker Bogey, Articulation, Drive/Wheels) 8,500 Excavator (Bucket Wheel, Conveyor, Framing, Drive/Wheels) 5,450 Electrical components 2,500 Carbon Fiber 25,000 Facility Safety Supplies 1,500 Facility Dust 250 Travel to Florida: Transportation / Lodging 15,000 Shipping Costs 1,000
TOTAL COST $59,200
STEM OUTREACH
Establish relationships with the local community for a connection that will spread far for generations.
EFFORTS TO DATE
• Refinement of Systems• Dig deeper• Better Navigation
• Swarm Technology• Martian Source-able• Cost Improvement
FUTURE RESEARCH
Dr. Thomas Greene – Provost, University of PortlandDr. Sharon Jones – Dean, Shiley School of EngineeringDr. Deborah Munro – Professor, Shiley School of EngineeringDr. Kenneth Lulay – Professor, Shiley School of EngineeringDr. Wayne Lu – Professor, Shiley School of EngineeringDr. Matthew Kuhn – Professor, Shiley School of EngineeringTim Vanderwerf – ESCO CorporationCathy Myers – Director, University Industry PartnershipsAllen Hansen – Shop Technician, Shiley School of EngineeringJacob Amos – Shop Technician, Shiley School of EngineeringJared Rees – Shop Technician, Shiley School of EngineeringPaige Hoffert – Shop Technician, Shiley School of EngineeringJeff Rook – EHS Officer, University Public SafetyPaul Luty – Director, University Facilities Planning and ConstructionJim Ravelli – Vice President, University OperationsGregory Shean – University AlumnusDr. Sup Premvuti – Kirinson Inc.Dr. David Laning – InSitu Inc.
Our Sponsors and many more
ACKNOWLEDGEMENTS
KEEP UPDATED AT:wordpress.up.edu/upmarsrobotics
Funding sources Funds allocated
Senior Project Budget $300
Shiley Student Project Travel Funds 5000
Robotics Club (pre-existing) 6,000
Oregon Space Grant Consortium 10,000
ICE Industrial In-Kind Donation (Carbon Fiber) 25,000
ASUP Funding 4,200
ASME Project Funding 1,000
ESCO Donation (3D Printing) 1,000
Alumni Donations $5,000
Total $57,500
Additional funds needed $1,700