Drone-Rover Integrated Fire Tracker...Design • Single scissor jack • Two forward points topped...

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


ProjectOverview

4

ProjectOverview


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


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


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


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


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


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


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


CommunicationsTestRequirements

33


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.


Description

FR3.0 TheMRshalltransmitspecifieddatatotheGSat30Hz.


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


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


Description

FR4.0 TheMRshall traverse250metersawayfromtheGStoaspecifiedGPSlocationoverroughterraindefinedbyvaryingslopesandobstacleswhichrequiretheMRtonavigateoverandaroundthem.TheMRshallreturntotheGSafterthemissioniscomplete.

DesignRequirement

Definition

DR4.5 TheMRshalltraverseupanddownaslopeof20degrees.


Description

FR5.0 TheMRshallpositionitselffortheCDtotake-offandlandsafelysuchthatitisabletobesecuredbytheMR'ssecurementmechanism


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


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


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


Questions?

50

BackupSlides

51

ScheduleBackup

52

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


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


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

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

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FindObstacles ofvarioussizeshavea heightbeawholenumberofinches +- 1/8in.

Put anobstaclenear1in.InfrontoftheRover

AttemptTranslationoverobstacle CheckforDeformations

Recordheightof lasttranslationENDTEST

TranslationSuccessful nounsafe/criticaldeformation

UnsuccessfulTranslationorDeformationdeemedunsafe/critical

FullMissionSimulation(TimePermitting)

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• 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

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ModelBackupImages- Mesh

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GearMesh

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RimMesh

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Drone-Rover Integrated Fire Tracker...Design • Single scissor jack • Two forward points topped...

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