TestReadinessReview

Team:AmberBishop,DanielCollins,BrandonCott,Syamimah AnwarDeen,SamanthaGrowley,PierceLieberman,KelseyOwens,Nur Abd Rashid,AnthonyStanco,MatthewStoffle,NicholasWiemelt

Customer:BarbaraStreiffert,JetPropulsionLaboratory

Advisor:Dr.Jelliffe Jackson

Drone-RoverIntegratedFireTracker

1

AgendaØProjectOverview

ØMotherRoverDesign

ØTestReadinessReviewØ SoftwareandElectronicsTesting

ØModelVerification

Ø IntegratedTesting

ØSchedule

ØBudget

ØConclusion

2

ProjectOverview

TestReadiness Schedule Budget Conclusion

MissionStatement

Drone-RoverIntegratedFire-Tracker(DRIFT)willdevelopamotherrovertosecure,carry,andlevelan

UnmannedAerialVehicle(UAV)forthepurposesofgatheringpertinentenvironmentaldataregardinglocationsatriskofor

exposedtoawildfire.

3

ProjectOverview

TestReadiness Schedule Budget Conclusion

ProjectOverview

4

ProjectOverview

TestReadiness Schedule Budget Conclusion

ProjectOverview:FireTrackerSystemo Asaresultofclimatechange,wildfireseasonsarebecominghotterandlonger

• Thisallowsforawildfiretoeasilyigniteandrapidlyspread• UnitedStatesForestServiceisconsistentlyincreasingitsbudgetforwildfiremitigation,risingfrom16to50%oftheForestServiceBudgetsince19951

o Adeployablemotherroverandautonomousdroneprovidealowcostmeansoflong-rangereconnaissanceforearlydetectionofwildfires

o Thesesystemscanassistfirefightersininvestigatingareassometimesimpassiblebyground-basedmethodsalone

1TheRisingCostofWildfireOperations:EffectsontheForestService’sNon-FireWork.”UnitedStatesDepartmentofAgriculture: ForestService,4Aug.2015.

5

ProjectHeritageDRIFT willutilizeboththeINFERNO andCHIMERA hardwareandsoftwareshownbelow:

6

Project Name INFERNOINtegrated FlightEnabledRoverforNaturaldisasterObservation

Timeline 2015-2016

Overview Semi-autonomousChildDronecapableoftransportinganddeployingatemperaturesensorpackagetoalocationofinterest

Capabilities o MissionDuration: 13.5mino FullyAutonomousTakeoffatinclinations

<3.5degreeso 10m/sTranslationalFlighto Video/Imaging:720pat30fpso SensorPackage:>90%transmissionof

SPSdata

Project Name CHIMERACHIld dronedeploymentMEchanism andRetrievalApparatus

Timeline 2016-2017

Overview The landing,securing,anddeploymentsystemfortheautonomousdroneinheritedfromINFERNO(LandingPlatform)

Capabilities o CapableofsecuringCDupto200mfromGS

o DronerechargingsystemcanchargetheCDSLiPo batteryuponcommand

o Autonomouslandingfunctionalityutilizingimagerecognitionuponcommandfromgroundstation

Upto250m(500mroundtrip) Upto200m

MRpath

MRCommunicationswithGS

CDCommunicationswithGS

1

2

Wirelesscommunication

3

4

5

6

7

GroundStation

CHIMERA

INFERNO

DRIFT

MR- MotherRover

GS- GroundStation

CD- ChildDrone

8&

DRIFTMission

20° slope

MotherRoverandChilddrone

5”tallobstacle Movearound

obstacleslargerthan5”tall

LevelPlatform

DRIFTMission

Video,control,telemetry

Travelupto0.5m/s

DRIFTCONOPS

7

FunctionalBlockDiagram

8

DesignSolution

9

ProjectOverview

TestReadiness Schedule Budget Conclusion

DesignSolution:AnOverviewINFERNOChildDrone

ChargingBracket

LevelingSystem

Fixed-ChassisBody

LandingplatformSecurementMechanism

11

DesignSolution:AnOverviewTopView

Side View

FrontView

58.9in

46.3in

41.9in

TotalWeight:383.77lbs

DesignModificationsfromMSRLevelingo Previousmulti-directionalsystemshownbymodelstobedynamicallyunstable

o One-directionallevelingsystemprototypebuiltandsuccessfullydemonstrated

o Pairedwithourskidsteeringcapability,thischangedoesnotimpactourabilitytomeetourrequirementsorachieveourthirdlevelofsuccess

o Budget– Saves$165.25o Schedule– Savesapproximately12.5hoursofmachining

12

Design• Singlescissorjack• Twoforwardpointstoppedwithone-

directionalpivotjoint• Bottomofjackconnectedtorover

withpivotjoint• Jackremainstoppedwithsingleball

joint.

CriticalProjectElements

13

o TranslationalSystemo FixedChassisdesignenablesthemotherrovertotraverseroughterrainincluding

finedirt,smallgravel,andlawngrass.o LevelingSystem

o Utilizesinternallevelingjackdesigntolevelthelandingplatformtotherequired3.50 necessaryforthechilddronetodeployandautonomouslylandsafely.

o ElectronicsandCommunicationo NecessaryforcommunicationbetweenGroundStationandMotherRover

o Commandslevelingsystemo Provideslivevideofeedforoperatoro CommandsMotherRoverforTranslationalmotion

o $5000Budgeto Currentlyonly$322.36 margin,improvedfromMSR$163.31margino Appliedforanadditional$675.00throughEngineeringExcellenceFund(EEF)

LevelsofSuccess

Level1• MRcantraverseoveraflatdirtpathwhilesupportingthesizeandtheweightoftheattachedLPandCD

• MRcanbedrivenbyoperatortothedesiredlocation(andback)whileoperatorwalksalongside• MRcanrelaylocationatleastat5Hzatadistanceof100mbacktoGS• MRcanbepoweredtoachievearoundtripof100m

Level2•MRcanovercomeslopes≤ 10degreesatspeedupto0.5m/s•MRcantraverseapaththathasobstacleslessthanorequalto5inchtallwhiletheCDandLPremainsecurelyfixedtoMR•MRcanleveltheplatformto𝟎° ± 𝟑. 𝟓° fortheCDtotakeoffandlandona10slope•MRcanbedrivenbyanoperatoratGSvialivevideofeedtodesiredlocation•MRcanrelaylivevideofeedandlocationatleastat5Hzforadistanceof150mtotheGS•MRcanbepoweredtoachievearoundtripof300m

Level3•MRcanovercomeslopes≤ 20degreesatspeedsupto0.5m/s•MRcanmaneuveraroundobstacleover5inchestallwhiletheCDandLPremainssecurelyfixedtotheMR•MRcanleveltheplatformto𝟎° ± 𝟑. 𝟓° totakeoffandlandona20degreesslope•MRcanrelaylivevideofeedandlocationatleastat5Hzforadistanceof250mtotheGS•MRcanbepoweredtoachievearoundtripmissionof500m

14

15

SoftwareandElectronicsTesting ModelVerification

IntegratedTesting

TestReadinessReview

ProjectOverview

TestReadiness Schedule Budget Conclusion

TestBreakdown

16

SoftwareandElectronicsTesting

ModelVerification IntegratedTesting

TippingModel/COMVerification

TractionModelVerification

DropTest

TorqueModelVerification

MotorDriver-MotorIntegrationTest

ElectronicsSystemUnitTesting

BatteryDepletionTest

LevelingSystemTest

CameraTesting

CommunicationsTest

DistanceTest

SlopeCapabilityandLevelingTest

ObstacleClearanceTest

ManeuverabilityTest

FullMissionSimulationDiscussedinthispresentation

Otherteststobecompleted

GPSTest

FacilitiesandTransportationLocationso SwitzerlandTrail(PendingTrailerAccess)oChautauqua (Testsonlyusingcomponentsnotfullroverbody)

oBackupindoormethodsprovidedweatherrestrictions

17Switzerland Trail Chautauqua Trailer

Transportationo LocallyaroundEngineeringCenter

o PalletJackso RollingCarts

o SwitzerlandTrailAccesso Trailer

Software&ElectronicTesting

18

ProjectOverview

TestReadiness Schedule Budget Conclusion

19

FunctionalRequirement

Description

FR5.0 TheMRshallpositionitselffortheCDtotake-offandlandsafelysuchthatitisabletobesecuredbytheMR’ssecurementmechanism

DR5.1 TheMRmustlevelitselfto0° +/- 3.5° ofthegravitationalnormalonaslopeupto20° aftercomingtoacompletestop.

DR5.1.1 TheMRwilluseanaccelerometertomeasuretheangleoftheLP withrespecttolevelground.

LevelingSystemSoftwareandElectronicsTestingRequirementsVerified

LevelingSystemSoftwareandElectronicsTesting

20

o Overviewo Verifythefunctionalityofthecomplete

levelingsystemwithleveling,resetting,andcalibrationcommandswiththeArduino.

o TestEquipmento LevelingJacko LevelingRelayCircuito ArduinoMegao 12VPowerSupplyo IMU

o Resultso Success forbothjacksoperating– ableto

levelusingtwojackso Inprogressforoperatingonejacksystem–

softwarehasbeentestedusingIMU,theleveling,resetting,andcalibrationcommandsarefunctional,waitingonjacktorunfulldemonstration

o RiskReductiono Fixingtheissueswithwiring,andeditingrelaycircuit

LandingPlatform

LevelingSystem-IntegrationTestSoftwareandElectronicsTestingProcedure

21

ArduinoMega

RelayCircuit

IMU

LevelingJack

PowerSupply

Power

Data

Power

Power

22

GroundStation&FullSoftwareSoftwareandElectronicsTestingRequirementsVerified

FunctionalRequirement

Description

FR1.0 TheMRshallintegratewiththeattachedlandingplatformsuchthatitispermanentlyfixedandsecurelycarriestheCDwithouttippingwhiletraversingthedefinedroughterrain.

FR2.0 TheMRshallreceivecommandsfromtheGSatarateofatleast5Hz.

FR3.0 TheMRshalltransmitdatatotheGSatarateof30HZ.

FR4.0 TheMRshall traverse 250metersawayfromtheGStoaspecifiedGPSlocation overroughterraindefinedbyvaryingslopesandobstacleswhichrequiretheMRto navigate overandaroundthem.TheMRshallreturntotheGS afterthemissioniscomplete.

FR5.0 TheMRshallpositionitself fortheCDtotake-offandlandsafelysuchthatitisabletobesecuredbytheMR'ssecurementmechanism.

GroundStation&FullSoftwareSoftwareandElectronicsTesting

23

o Overviewo Verifythefunctionalityofthegroundstation’sabilitytosendcommandsanddisplaydata,andthe

rover’sabilitytorespondtocommandso TestEquipment

o IMUo XBees

o ArduinoMegao GPSreceiver

o GScomputer

o Resultso Success fortwojacklevelingsystem– abletolevelusingtwojackso Success formotorcontrol– abletocontrolmotordriverviaArduinoMegawithDIOpinso Inprogressforoperatingonejacksystem– softwarehasbeentestedusingIMU,theleveling,resetting,

andcalibrationcommandsarefunctional,waitingonjacktorunfulldemonstrationo Inprogresswithcommunicationsystem– groundstationcontrolunderconstruction

o RiskReductiono Fixingtheissueswithwiring,andeditingrelaycircuito Placeafusebetweenthebatteryandthemotordrivertolimitpeakcurrentthroughthemotordriver

ArduinoMega

GroundStation-IntegrationTestSoftwareandElectronicsTestingProcedure

24

GroundStation

ComputertoMonitorArduino

responses

XBee

GPSReceiver

XBee

IMU

Data

Data

Data Data

MotorDriver-MotorIntegrationTestSoftwareandElectronicsTestingRequirementsVerified

25

FunctionalRequirement

Description

FR4.0 The MRshalltraverseoverroughterrainupto250metersawayfromtheGStoaspecifiedlocationofinterest.

DR4.1 TheMRshall travelataspeedwithintherangeof0to0.5m/sinforwardandreverse.

DR4.2.1 Thebatteriesshallhaveenoughpoweravailabletoprovidetothemotorsandmotordriverssuchthatthe MRisabletotraversethedefinedroughterrain

DR4.5 The MRshalltraverseupanddowna200 slope.

DR4.5.1 TheMRmotors shallprovideenoughtorque totraverseupanddownthedefinedslope.

RoughTerraino Materials:lawngrass,smallgravel,andfinedirto Varyingslopesfrom0to200o Traversableobstaclesupto5intallo Non-traversableobstaclesatleast10feetapart.

MotorDriver-MotorIntegrationTestSoftwareandElectronicsTestingCompleted:1/23/2018

26

o Overviewo Verifythefunctionalitybetweenthemotordriversandmotorswith

speed,stop,anddirectioncontrolwiththeArduinoMega.o TestEquipment

o DC60-12/24-4QMotorDrivero DigitalPotentiometerCircuito MarathonElectricDCBrushedMotoro ArduinoMegao 24VPowerSupply

o Resultso Success forbothmotors– abletocontrolmotordriverviaArduino

MegawithDIOpinso RiskReduction

o Placeafusebetweenthebatteryandthemotordrivertolimitpeakcurrentthroughthemotordriver

MotorDriver-MotorIntegrationTestSoftwareandElectronicsTestingProcedure

27

ArduinoMega

MotorDriver#1

DigitalPotentiometer

#1

Motor#1

MotorDriver#2

DigitalPotentiometer

#2

Motor#2

Data

Data

Data

Data

ModelVerification

28

ProjectOverview

TestReadiness Schedule Budget Conclusion

ModelValidation

29

TorqueModelVerificationo Overview

o Verifythatthedriveshaftandrespectivecomponentswillbestructurallycapableofdrivingtheroverwhensubjecttoforcesandtorquesduringfullmission.

o TestEquipmento CADModelofCompletedMotherRover

o ResultsExpectedo Von-Misesstresscontourso Displacementso Strains

o RiskReductiono SolidWorksmodelstoensuresuccessbeforephysicaltesting

DropTesto Overview

o Verifythatallrovercomponents(I.e.CHIMERALandingPlatform,levelingsystem,roverhousing,andtranslationalsystem)remainstructurallysound afterdroppingfromaheightof5inches

o TestEquipmento Solidworks modelsimulation

o ResultsExpected• VonMisesstresscontours• Displacements• Strains

o RiskReductiono SolidWorksmodelscompletetoensuresuccessbefore

physicaltesting

TorqueModelTestModelValidationProcedure

30

DefineComponentMaterials

SetAllComponentConnections

(Rigid&Flexible)

InputParameters

MeshGeneration

MeshControls

ErrorReduction

RunTorqueSimulation

DefineExternalForcesandMoments

GeometricBasis

TestDefinition

Stress

Displacement

Strain

Results

DefineFixtures

DropTestModelSimulationProcedure

31

DefineComponentMaterials

SetAllComponentConnections

(Rigid&Flexible)

InputParameters

MeshGeneration

MeshControls

ErrorReduction

RunDropTestSimulation

DefineDropTest

Characteristics

GeometricBasis

TestDefinition

Stress

Displacement

Strain

Results

IntegratedTesting

32

ProjectOverview

TestReadiness Schedule Budget Conclusion

CommunicationsTestRequirements

33

FunctionalRequirement

Description

FR2.0 TheMRshallreceivecommandsfromtheGSat5Hz.

DesignRequirement Definition

DR2.1 TheMRshallrecordalog ofreceivedcommandsfromtheGSdetailedinDR2.4.

DR2.2 TheMRshallreceivesignalswithasignaltonoiseratioofatleast6dB-Hz(industrystandard).

DR2.3 TheMRshallreceivecommandsatadistanceof250meters.

DR2.4 ThecommandstobereceivedbytheMRfromtheGSinclude:forward/backwardtranslationalmotion,turningmotion,toturnon/offtheMRvideofeed,opening/closingtheCDsecurementmechanism,andtoleveltheLP.

FunctionalRequirement

Description

FR3.0 TheMRshalltransmitspecifieddatatotheGSat30Hz.

DesignRequirement Definition

DR3.1 TheMRshalltransmititscurrentGPSlocation totheGSwithanaccuracyof5m.

DR3.2 TheMRshalltransmitlivevideofeedat1080pat30fpstotheGS

CommunicationsTestIntegratedTesting

34

o Overviewo MeasurewhethertheMRcantransmitdesireddatainspecifiedenvironmentsatspecifiedrates

o TestEquipmento FullCommunicationsSystem

o Including XBees andcamerasandcorrespondingantennaso GroundStationo ChatauquaMountainPark

o ResultsExpectedo SignaltoNoiseRatioo Frequencyofdatareceivedo Frequencyofdatasento Latencyo Maxdistanceintreescapableofcommunicating.

o RiskReductiono Onlyusingsuitetopreventmovingwholeroverandmakingdatacollectioneasier

Ground Station

61.9m.

CommunicationsSystem

188.1m.

Forestwithtrees~10ft.apart

35

GSMove5mFartherfromMR

Maneuverability TestRequirements

36

FunctionalRequirement

Description

FR4.0 TheMRshall traverse250metersawayfromtheGStoaspecifiedGPSlocationoverroughterraindefinedbyvaryingslopesandobstacleswhichrequiretheMRtonavigateoverandaroundthem.TheMRshallreturntotheGSafterthemissioniscomplete.

DesignRequirement

Definition

DR4.3 TheMRshallturn90degreesina10ft.radius

ManeuverabilityTestIntegratedTesting

37

o Overviewo Verifiesthatrovercanexecutea90 degreeturnendingatmost10ft frombeginningpositionoftherover

o TestEquipmento FullRovero GroundStationo Markero TapeMeasure

o ResultsExpectedo Distanceinbetweencenterofroverbeforeandafter90degreeturn

o RiskReductiono Testincleararea.Observingturncarefullyandmakesurenodangertorover.

Forward

Forward

TurningRadius

ManeuverabilityTestIntegratedTesting

38

Createcircle10ft.inradiusfromcenterofrover and

markstartlocation

ExecuteTurningcommand Executeturning

command

RECORDDATAANDENDTEST

Recorddistancefromstartpointtocenter

ofrover

Checklocationofcenterofroverrecord

whetherincircle

Hasnotturned90°

Hasturned90°

TranslationalSystemRequirements

39

FunctionalRequirement

Description

FR4.0 TheMRshall traverse250metersawayfromtheGStoaspecifiedGPSlocationoverroughterraindefinedbyvaryingslopesandobstacleswhichrequiretheMRtonavigateoverandaroundthem.TheMRshallreturntotheGSafterthemissioniscomplete.

DesignRequirement

Definition

DR4.5 TheMRshalltraverseupanddownaslopeof20degrees.

FunctionalRequirement

Description

FR5.0 TheMRshallpositionitselffortheCDtotake-offandlandsafelysuchthatitisabletobesecuredbytheMR'ssecurementmechanism

DesignRequirement Definition

DR5.1 TheMRshalllevelitselfwithin3.5degreesaftercomingtoacompletestop.

DR5.2 TheMRshallholdacompletelystoppedpositiononaslopeof20degrees

SlopeCapabilityandLevelingTestIntegratedTesting

40

o Overviewo VerifiestheMRiscapableoftraversinga20° slopeupthedefinedrough

terrain.o VerifiesMRiscapableoflevelingLPwithin3.5 ° whenstoppedon20 °

slopeo TestEquipment

o Slopeof20degrees(SwitzerlandTrail)o Fullrovero GroundStationo TapeMeasureo Stopwatch

o ResultsExpectedo Maximumslopecapableo Timetolevelo Distancerovertravelsduringlevelingo Verificationorfailureof20degreeslope

o RiskReductiono Utilizecenterofgravitymodeltoconstrainmaximumslopewithout

tippingo Havemanyteammembersathandincaseofemergency.o Moniterbatteryforinfieldteststofacilitateloadingandunloading.

20oSwitzerlandTrail

GroundStation

LeveltheLPwhileonslope

SlopeCapabilityandLevelingTestIntegratedTesting

41

Placeroveratthebase

Driveroverupslope markwheellocation

Sendlevelingcommand andbegintimer

Endtimerandmeasuremovement

ofwheel

Drivedownslopeandcheckspeed

RECORDDATAANDENDTEST

ContinueLeveling

Ifoutsideofrequiredthreshold

Ifinsideofrequiredthreshold

ScheduleBreakdown

42

ProjectOverview

TestReadiness Schedule Budget Conclusion

ManufacturingSchedule

43

DarkBlue:%CompleteLightBlue:InProgress

DarkOrange:%CompleteLightOrange:InProgress

SpringBreak

Hardware&ElectricalFinalIntegration

TestingSchedule

44

DarkGreen:%CompleteLightGreen:InProgress

Hardware&ElectricalFinal

Integration

Symposium

SpringBreak

Electrical/SoftwareSchedule

45

DarkBlue:%CompleteLightBlue:InProgressLightTurquoise:Non-Test

SpringBreak

FinancialStatusUpdate

46

ProjectOverview

TestReadiness Schedule Budget Conclusion

FinancialStatus:SubsystemsBudgetMSRBudget

47

TRRBudgetWhatChanged?oCommunications

o Foundpartsfrompreviousyears

o LevelingSystemo Changeindesign– reducedcost

o Translationalo Additionofpins,connectors,shaftkey,chaintensioners

o Receivedmetalplatesforfree

o Shippingo Developedmoreaccurateestimates

AmountSpent:$3,375.88

FinancialStatus:MajorComponentProcurementArrived(3/2/2018)

o 2BisonGearMotorso 2AmericanControlMotorDrivers

o RoverRawMaterials

o 2LevelingJacks

o ArduinoMegaMicrocontroller

o Wheels,Tires,Bearings

o 2Cameras

o AluminumPlates

48

En Routeo 2Xbee Pros

EEF(3/15/2018)o 212V100AhBatterieso Backupcomponents

o Indoortestingcomponents

o Additionalallocationtoprintingposters/reports

MajorcomponentstobepurchasedbyMarch9EEFcomponentstobepurchasedbyMarch22

Plannedo LevelingRawMaterialso Chains,connectors,tensioners

o Electronicsconnections

Conclusion

49

oChangesfromMSR• LevelingSystemModifications

oSchedule• UnitTestingforElectrical/Software85%Complete• ManufacturingandIntegrationofsubsystempartswillbecompletedbyMarch23rd

• IntegratedTestingwillbeginonApril

ProjectOverview

TestReadiness Schedule Budget Conclusion

Questions?

50

BackupSlides

51

ScheduleBackup

52

53

Electrical&SoftwareBackup

54

Electrical&SoftwareUnitTesting

GPS

IMU

MotorDriver

BatteryMonitor

Arduino

GroundStation

XBee

JackControl

Motors

XBee

MotherRover

Computer

LEGENDCompleted

CommunicationLink/Interface

FutureWork

InProgress

VideoTransmitterCameras

VideoReceiver Monitor

5/5

60/60

6/8

6/6

20/20

0/8

23/25

6/40 3/3

129/175

Hours/Total

55

SpeedTorqueCurveWithReducer

56

SpeedTorqueCurveWithoutReducer

57

GPSTestSoftwareandElectronicsTesting

58

o Overviewo VerifythepositionalaccuracyoftheGPSincludingwhenitissurroundedbymetals

o TestEquipmento GP20U7o OpenLogger– DEV-13712o ArduinoMegao 2GBmicroSDCardo microSDCardAdapter

o RiskReduction

59

GPSTestSoftwareandElectronicsTesting

GPS ArduinoMega

OpenLogger

Computer

Data Data

Data

GPSFunctionality&MetalsTest2/26/2018

60

Purpose ThistestservestoprovideevidenceforwhetherornotmetalsaffecttheGPSreadingsfromtheGP20U7

Results SUCCESS – metaldoesnotproducesignificantchangesinGPSreadings

Test:NoMetal

Test:Metal

GPSTestingIntegratedTesting• ConductedonFebruary28th2018• Collected4setsof5-10minutedatasets

• KnownGPSlocation(40°00'00.3"N105°15'41.0"W)

• OpenSpace• ApproximatelyMissionDefined(Trees10ftapart)

• GreaterInterferencethanMissionDefined.Denserforestandunderalog.

• FindAccuracywithknownGPSthenfindhowforestenvironmenteffectedGPSreadings.• AttempttoVerifyDR3.1(GPSaccuracyof5m.inmissionenvironment)

61

KnownLocation OpenSpace

MissionAnalog GreaterInterference

62

GPSTestingIntegratedTesting• InitialDataAnalysis– UseaGPSplotterandconstructa5mcircletofindpointsvariationwithrespecttotherequirement

• HighpercentageofconfidenceinmissionGPSbeingwithin5mofactual.• Willperformmoreanalysistoquantifythisconfidence

Legend

5mradiuscicle

GPSpointsreceivedKnownLocation

OpenSpace

MissionSimulated

HighDensityEnvironment

CameraTestingSoftwareandElectronicsTestingRequirementsVerified

63

FunctionalRequirement

Description

FR3.0 TheMRshalltransmitdatatotheGSatarateof30HZ.

DR3.2 TheMRShallTransmitLiveVideoFeedat1080pat30 fps.ValidationandVerification:

CameraTestingSoftware&ElectronicsTestingo Overview

o TwocamerasusedforMRnavigationo LivevideotransmittedfromMRtoGS

o TestEquipmento 900TVLWDRFatShark Camerao Foxeer HS1177V22.8mmMiniFPVCamerao Two5.8GHzTransmitterso 3 5.8GHzAntennaso NexWave RFReceivero Monitor withAVConnection

o RiskReduction

64

FatShark Camera

Foxeer Camera

CameraTestingSoftware&ElectronicsTestingProcedure

65FatShark Camera

Foxeer Camera

12VPowerSupply

5.8GHZTransmitter

5.8GHZTransmitter

RFReceiver

12VPowerSupply

5.8GHzAntenna

5.8GHzAntenna

PowerData

Status:80%Completed

66

Date Test

01/22/2018 MotorDriverElectricalFunctionalityTest

01/22/2018 MotorDriverCommandTest

01/23/2018 MotorDriver– MotorIntegrationTest

02/05/2018 DigitalPotFunctionalityTest

02/06/2018 MotorDriver,Motor,andDigitalPotentiometerTest

02/09/2018 MotorDriver,MotorCommandsTest

02/19/2018 TwoPermanentlyCircuitedDigitalPotentiometerswithMotorsandMotorDriversTest

MotorDriverTestingBreakdown

Purpose Testtheelectricalfunctionalityofthemotordriversat12Vwithasmallmotor.

Results SUCCESS – canbeginprogrammingtheArduinoMegatocontrolthemotordriver.

67

MotorDriverFunctionalityTest1/22/2018

BatteryDepletionSoftwareandElectronicsTestingRequirementsVerified

68

FunctionalRequirement

Description

FR4.0 The MRshalltraverseoverroughterrainupto250metersawayfromtheGStoaspecifiedlocationofinterest.

DR4.1 TheMRshall travelataspeedwithintherangeof0to0.5m/sinforwardandreverse.

DR4.2.1 Thebatteriesshallprovideenoughpowertothe motors suchthatthe MRisabletotraversethedefinedroughterrain

DR4.5 The MRshalltraverseupanddowna200 slope.

DR4.5.1 TheMRmotors shallprovideenoughtorque totraverseupanddownthedefinedslope.

RoughTerraino Materials:lawngrass,smallgravel,andfinedirto Varyingslopesfrom0to200o Traversableobstaclesupto5intallo Non-traversble obstaclesatleast10feetapart.

BatteryDepletionSoftware&ElectronicsTesting

o Overviewo Toprovideevidencethatthetranslationalmotorsandscissorjack

motor(s)willbedeliveredenoughpowerthroughoutthedurationofthemission

o Verifycurrentdrawfrommotorsbyapplyingloadstomotorsandmeasuringcurrentdrawandremainingbatteryvoltage

o TestEquipmento MarathonElectricDCBrushedMotoro ScissorJackMotor(s)o 12V55/100AhBatterieso BatteryMonitoro Voltmetero Ammeter

o ResultsExpectedo The12V55Ahbatteriesborrowedwillnotprovidesufficientpowerfor

theexpecteddurationofthemissiono IfEEFfundingisreceived,the12V100Ahbatterieswillbepurchasedand

willundergothesametest

o RiskReductiono Implementingabatterymonitortocalculatebatteryvoltage 69

12V55Ah

12V

TranslationalMotors

ScissorJackMotors

24V

12V55Ah

LEGEND60ASlowBlowFuse

VoltageRegulatorAmmeterVoltmeter

70

ModelVerificationBackup

COG

71

o Overviewo Locate thecenterofgravityoftheroverinall3- axisbytakingweightexperiencedon4scalesonceallthatthesamelevelandagainwithtwoscaleselevated.

o Re-executethetippinganalysistofindthemaximumslopetherovercanovercomewithouttipping

o TestEquipmento 4Scaleso FullyConstructedRoverwithChildDrone

o ResultsExpectedo CenterofGravityofRovero Maximumslopebeforetipping

o RiskReductiono Verifysecurityofroveratallstages

Friction

72

o Overviewo Findcoefficientoffrictionandcomparetomodel.o Pushroveruntilitmoveswhilerecordingforceanduseforceandweighttofindcoefficientoffriction

o TestEquipmento Twoscaleso Rovero Teammates

o ResultsExpectedo CoefficientofFriction toverifytorquemodel

oRiskReductiono Onlyusingstrengthenedareasofroverforpushing

LevelingSimulationModelValidation

73

o Overviewo Verifies thedynamicsofthelevelingsystemwithtwosmall

scalemodels

o TestEquipmento T-slottedframingtofunctionasscissorjackso Plywoodo MiniatureU-jointso BallJointso Springso Hinges

o ResultsExpectedo Thesimulationisexpectedtodemonstratethedynamicsof

thelevelingsystempriortocompleteconstruction,allowingforthedeterminationofwhichfinalizedsystemtouse.

o RiskReductiono Noriskstoproject

1-DSystemModel Spring-supportedsystemmodel

74

Software

75

o Overviewo Sendtheentirecontrolschemetotheroverandverifyeachcommandisexecutedproperly

o Forwardo Reverseo Turningo Levelingo Cameracontrol

o TestEquipmento Rovero GroundStation

o ResultsExpectedo Executionofallcommands

oRiskReductiono ConductinsidewithGSnearrovertonothavetomoveroverandmaximizetestingwindow.

IntegratedTestingBackup

76

77

Distance/BatteryCapabilityTesto Overview

o Measure distancetherovercantraverseonthespecifiedterrainwithafullbattery.

o Requirement500mtotalcapability

o TestEquipmento Distancemeasurementtoolo FullRovero FullCommunicationSuite

o ResultsExpectedoDistancecapableonfullbatteryo Speed

o RiskReductiono Makesurebatterycanbechargedorreplacedtoreturn

DistanceBatteryCapabilityTest

78

Arrive atTestSightwithFullBattery

Mark StartingPointofRover

Begin TimerandBeginForwardTranslation

ContinueTranslationand CollectData:Speed

CameraSignalqualitySignaltoNoiseRatio

FrequencyofsentsignalFrequencyofreceivedsignalAnyFailuresoranomalies

Stop Timer

Battery diesorotherfailureUse DistanceWheeltomeasuredistancetraveledfromstartingpointtofinal

location

Record DataandENDTEST

ObstacleClearance

79

o Overviewo Verifythattherovercanovercome5in. Obstacleso Findthemaximumheightobstacletherovercanachieve.

o TestEquipmento Variousheightobjectso FullRovero FullCommunicationSuite

o ResultsExpectedoMaximumobstacleheightachievable

o RiskReductiono Constructionofadroptestwithsolidworkso Checkfordeformationsonroveraftereachobstacle

ObstacleClearance

80

FindObstacles ofvarioussizeshavea heightbeawholenumberofinches +- 1/8in.

Put anobstaclenear1in.InfrontoftheRover

AttemptTranslationoverobstacle CheckforDeformations

Recordheightof lasttranslationENDTEST

TranslationSuccessful nounsafe/criticaldeformation

UnsuccessfulTranslationorDeformationdeemedunsafe/critical

FullMissionSimulation(TimePermitting)

81

• RequirementsSatisfying: DR4.2• GeneralGoal: Executeanentiremissionasdefinedbytherequirementsforcompletion.• DataRequired:Passfailureofmission• TasksRequiredbeforeTestExecution:Fullconstructionandintegrationofroverandsoftware• LocationUsed:SwitzerlandTrail

PoorWeatherBackupTests

• ObstacleTest– Conducttestsamebutindoors• Nonidealduetolackofdefinedterrain.Indoorgroundmorelikelytoleadtodropdanger

• Maneuverability– Conducttestbutindoorswithdirtunderroverbudgetpermitting• Difficultywithprovidingdefinedterraininlargeenoughareafortest

• Communications– Outdoorsbututilizewarmthprotectionorrainprotectionasneeded.(Tarp,insulation,umbrellaetc.)• Distance/Battery- UsehallwayinEngineeringCenterorusinggrassyareanearEngineeringCenterifBouldernotweatherconstrained• Nonidealduetolackofdefinedterrain

• SlopeCapabilityandLeveling– Construct20degreeslopeandcoverindirt.• Requiresextrabudgetandrequiresalargeconstructiontoaccommodatethesizeoftherover

82

ModelBackupImages- Mesh

83

GearMesh

84

RimMesh

85