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UP MARS: Multi-Device Autonomous Robotic Excavation System University of Portland Donald P. Shiley School of Engineering November 14, 2014
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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
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PROJECT HISTORY 201120122013 EXCAVATION ZONE OBSTACLE ZONE STARTING ZONE
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SINGLE-DEVICE OPERATION Images acquired from NASA RMC and WVU’s Facebook Device Deployment Obstacle Traversal Regolith Excavation Obstacle Traversal Regolith Deposition Operational Diagram
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What do we do on Earth? MULTI-DEVICE OPERATION Advantages: - Specialization allows parallelization, reduction of individual complexities - Operational scalability
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Regolith Transfer Transport Deployment Obstacle Traversal Excavator Deployment Regolith Excavation Obstacle Traversal Regolith Deposition Regolith Excavation Obstacle Traversal OPERATIONAL DIAGRAM One-time op. Separation op. Cyclical op.
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INTENDED SYSTEM PERFORMANCE
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OUR DESIGN: TRANSPORT Conveyor Belt Haul Truck Rocker Bogie
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OUR DESIGN: EXCAVATOR Bucket Wheel Excavation
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MINING TEST FACILITY
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40-minute round trip signal time to Mars. WHY AUTONOMY?
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State Machine Architecture -Commands given based on state driven by sensor data -Multiple sensors used - Computer vision crucial AUTONOMOUS CONTROL Excavator Example
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OBSTACLE TRAVERSALLOAD SENSINGDOCKING/DEPOSITING SENSORS Computer Vision
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COMPUTER VISION SYSTEM STEREOVISION: NASA Curiosity Rover LIDAR LASER LINE SCANNING
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Oct 27: #1 systems, detail design / FDR #1 Nov 13:#2 systems, detail design / FDR #2 Nov 21:#3 systems, detail design / FDR #3 Nov 28:#4 systems, detail design / FDR #4 Dec 5:#5 systems, detail design / FDR #5 Dec 12:Submit drawings for fabrication / FDR #6 Jan 5:Fabricate composites / Machine in-house parts Jan 12:Assemble devices / Part check, troubleshoot Jan 15:Agile development of autonomy code Apr 21: Ship system to Florida May 18: NASA RMC Mid-July:PISCES Competition PROJECT SCHEDULE
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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 components2,500 Carbon Fiber25,000 Facility Safety Supplies1,500 Facility Dust250 Travel to Florida: Transportation / Lodging15,000 Shipping Costs1,000 TOTAL COST$59,200
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STEM OUTREACH Establish relationships with the local community for a connection that will spread far for generations.
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EFFORTS TO DATE
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END GOALS Complete Robots Compete in NASA RMC REVOLUTIONIZE
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Refinement of Systems Dig deeper Better Navigation Swarm Technology Martian Source-able Cost Improvement FUTURE RESEARCH
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Dr. Thomas Greene – Provost, University of Portland Dr. Sharon Jones – Dean, Shiley School of Engineering Dr. Deborah Munro – Professor, Shiley School of Engineering Dr. Kenneth Lulay – Professor, Shiley School of Engineering Dr. Wayne Lu – Professor, Shiley School of Engineering Dr. Matthew Kuhn – Professor, Shiley School of Engineering Tim Vanderwerf – ESCO Corporation Cathy Myers – Director, University Industry Partnerships Allen Hansen – Shop Technician, Shiley School of Engineering Jacob Amos – Shop Technician, Shiley School of Engineering Jared Rees – Shop Technician, Shiley School of Engineering Paige Hoffert – Shop Technician, Shiley School of Engineering Jeff Rook – EHS Officer, University Public Safety Paul Luty – Director, University Facilities Planning and Construction Jim Ravelli – Vice President, University Operations Gregory Shean – University Alumnus Dr. Sup Premvuti – Kirinson Inc. Dr. David Laning – InSitu Inc. Our Sponsors and many more ACKNOWLEDGEMENTS
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KEEP UPDATED AT: wordpress.up.edu/upmarsrobotics
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Funding sourcesFunds allocated Senior Project Budget$300 Shiley Student Project Travel Funds5000 Robotics Club (pre-existing)6,000 Oregon Space Grant Consortium10,000 ICE Industrial In-Kind Donation (Carbon Fiber)25,000 ASUP Funding4,200 ASME Project Funding1,000 ESCO Donation (3D Printing)1,000 Alumni Donations$5,000 Total$57,500 Additional funds needed$1,700
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