1. Use or disclosure of document data is subject to the restrictions on the title pagePage 1 © 2014 Carnegie Robotics LLC. MARSUPIAL Preliminary Detailed Design Review Carnegie Robotics LLC. #10 40th Street Pittsburgh, PA 15201 Jared Raby Nico Gallardo Chris Griffin Sean Greenslade Wesly Rice

2. Use or disclosure of document data is subject to the restrictions on the title pagePage 2 © 2014 Carnegie Robotics LLC. Agenda Introduction Detailed Design  Tracks  Wireless Node Payload  Wireless Node Deployment System  Electrical Systems Questions

3. Use or disclosure of document data is subject to the restrictions on the title pagePage 3 © 2014 Carnegie Robotics LLC. Introduction MARSUPIAL Tracked Rover for CRL Scope  Suspended Track System  Wireless Node Payload  Electrical Systems  Odometry Deliverables  Suspended Track System  Mesh Network Payload

4. Use or disclosure of document data is subject to the restrictions on the title pagePage 4 © 2014 Carnegie Robotics LLC. Tracked Suspension System Suspension  Rugged against impact shock  Various environmental areas  Climb obstacles  Self Contained –IP Rated seals Drive-Train  Off the shelf motors  Meet speed and torque requirements –Simple gearing  Integrated electronics –Odometry Tracks  Proper materials –Coef of friction –Material stretch  Outdoor resistant –Chemical and physical ruggedness  Ease to install and remove

5. Use or disclosure of document data is subject to the restrictions on the title pagePage 5 © 2014 Carnegie Robotics LLC. Tracked Suspension System Drive-Train  Required Speed –Min of 5mph on level ground  Require Torque –To move 150 lbs of robot and payload  Off the Shelf Motor –Reduce overall price  Realistic Gear Train –8.0:1 – 12.0:1 –Planetary

6. Use or disclosure of document data is subject to the restrictions on the title pagePage 6 © 2014 Carnegie Robotics LLC. Tracked Suspension System

7. Use or disclosure of document data is subject to the restrictions on the title pagePage 7 © 2014 Carnegie Robotics LLC. Wireless Node Payload Droppable Node  OLinuXino – 575 MHz ARM Core –Running Arch Linux with B.A.T.M.A.N. wireless mesh protocol –USB Wi/Fi adapter –Buck converter –Li-on battery providing upwards of 6 hours of runtime Deployment System  Still in development

8. Use or disclosure of document data is subject to the restrictions on the title pagePage 8 © 2014 Carnegie Robotics LLC. Wireless Node Deployment System

9. Use or disclosure of document data is subject to the restrictions on the title pagePage 9 © 2014 Carnegie Robotics LLC. Power Management Systems

10. Use or disclosure of document data is subject to the restrictions on the title pagePage 10 © 2014 Carnegie Robotics LLC. Questions