COSGC-Summer Internship 2010 Independent Project Sean Throckmorton, Luke Slominski Travis Histed , Ben Gindl

System Two Part: Lander – houses rover, delivers rover from altitude Rover - previous Robot Challenge contender, modified to interface to lander hardware, software modified for flight sequence

Project Goals Lander Rover 3kg including rover payload Minimum height drop of 100 feet Self contained power source Rover Less than 1.5 kg weight Fits into lander Complies with Robot Challenge guidelines and rules

Rover Modifications Created new sensor plate Improved sensor reading (different physical layout) Designed and manufactured a hitching system

Lander Sequence Parachute will deploy and slow decent At programmed height, chute and lid are released, lander free falls Foam cone will dissipate kinetic impact energy Rover will be securely fastened to platform Platform will orient itself using rover center of gravity

Programming Programming Analog Sensors Bascom AVR programming Programmed rover with decision making Programmed lander with sequence of landing step Transceiver Compass Power

Impact foam Conducted compressing testing of three types of foam Charcoal packaging foam shell Composite hobby foam and newspaper inside

Avionics Built separate circuit board for Lander control Used to control motors, light chute charge and detect Sonar data

Testing Impact Testing Pin Testing Foam Testing Parachute testing

Reliability Main modes of failure: Free-fall: Concern-Initial drag force from chute could damage release mechanisms Release Concern-Pin release was not %100 reliable in testing Impact Impact angle was strongly dependent on a uniform pin release Considered increasing length, however was not feasible Rover would stay fastened during impact Compress as much as possible

First Test Sequence Attach lander to two weather balloons that are tethered to the ground Lander will rise to 500 feet After 8 minutes lander will be released Parachute deploys Sonar triggers lid release 10 feet from the ground Platform swivels until the rover is upright After 15 minutes from being turned on the Rover will drive out and operate autonomously

First Test Results Unforeseen elements… Weather balloons were destroyed before payload left surface ~ ¼ of our budget lost in the atmosphere

Second Test Adequate not able to drop from desired height Instead rigged to a boom and swung over edge of 4-story CSU parking garage Minus the failure of lid detachment; the Lander worked as designed

Lessons Learned Testing crucial to success Layout procedures for testing and define modes of success and failure Assume you will need to conduct your final test twice and set aside money for it

Questions?