Gas Line Rover Noah Baker Douglas Maxey Ken Mentasti N. Alex Scott Matthew Stewart BP Gas Line Rover...
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Transcript of Gas Line Rover Noah Baker Douglas Maxey Ken Mentasti N. Alex Scott Matthew Stewart BP Gas Line Rover...
Gas Line Gas Line RoverRover
Noah Baker
Douglas Maxey
Ken Mentasti
N. Alex Scott
Matthew Stewart
BP Gas Line Rover 1/ 27/ 04
British PetroleumBritish PetroleumBrandon McNerlin
Presentation OutlinePresentation Outline
BP Gas Line Rover 1/ 27/ 04
• Labor and Responsibilities
• Schedule
• Risk and Contingency Plan
• Conclusion
• Project History
• Objectives
• Electrical Components
• Design Approach
• Implementation
Project HistoryProject History
• Project Background
• Design Specifications
• Navigational Capabilities
• Mechanical Integrity
• Electrical Subsystems
• User Interface
BP Gas Line Rover 1/ 27/ 04
ObjectivesObjectives• Control System
• Power Distribution
• Video Feeds/Control
• User Interface
• Additional Items:
• Tether Reel Motor
• Laser Range Finder
• Manipulator Arm
BP Gas Line Rover 1/ 27/ 04
Current Electrical ComponentsCurrent Electrical Components
BP Gas Line Rover 1/ 27/ 04
• Power Supply/Converter
• Tether Reel
• Lighting System
• Front/Rear Camera System
• Drive/Steering Motor Control
Implementation - PowerImplementation - Power
BP Gas Line Rover 1/ 27/ 04
Fan
Motor (Y)
Motor (X)
Power Supply
(external)
AC
Power Supply
(onboard)
12 VDC24 VDC
Rear Camera
Front Camera
5 VDC
24 VDC
Rear Driving Motor
Front Driving Motor
Microprocessor
FrontSteering Driver
Front Steering Motor
Front Driver
Rear Driver
80 VDC
LEDs
LEDs
Control
Video Output
RearSteering Driver
Rear Steering Motor
Implementation - ControlImplementation - Control
BP Gas Line Rover 1/ 27/ 04
Motor (Y)
Motor (X)
Rear Camera
Front Camera
Rear Driving Motor
Front Driving Motor
Microprocessor
FrontSteering Driver
Front Steering MotorFront Driver
Rear Driver
Video Output
Controls (Camera, Motors)
LEDs
LEDs
RearSteering Driver
Rear Steering Motor
Design ApproachDesign Approach
BP Gas Line Rover 1/ 27/ 04
• Review Requirements
• Reverse Engineering
• Design Modular Components
• Integrate Components
ScheduleSchedule
BP Gas Line Rover 1/ 27/ 04
ID Task Name
1 PDR
2 CDR
3 Milestone 1
4 Milestone 2
5 Long Lead Item Procurement
6 Computer Input/Ouput
7
Control Logic
8 Motor Drive Control Interface
9 CameraInterface
10 Additional Modules
11 Test
12 Documentation
13 Design Expo
1/27PDR
2/17CDR
3/16Milestone 1
4/6Milestone 2
Long Lead Item Procurement
Computer Input/Output
Control Logic
Motor Drive Control Interface
Camera Interface
Additional Modules
Test
Documentation
DesignExpo
S T T S M W F S T T S M W F S T T S M W F S T T S M W F S T
Labor and ResponsibilitiesLabor and Responsibilities
BP Gas Line Rover 1/ 27/ 04
• Noah – Power Distribution and Motor Control
• Doug – Power Distribution and Motor Control
• Ken – User Interface, Control System
• Alex – Control System, Video
• Matt – Processor
Risk and Contingency PlanRisk and Contingency Plan
BP Gas Line Rover 1/ 27/ 04
• Temperature
• Size and Weight
• Modular Integration
• Avoiding Obstructions
• System Failure Recovery
Safety and YouSafety and You
BP Gas Line Rover 1/ 27/ 04
• Magnetic Wheels
• 80V Power Supply
• UL compliant
• Rotating Chain Drive Assembly
• Capacitor Discharge
Economic and Environmental Economic and Environmental AspectsAspects
BP Gas Line Rover 1/ 27/ 04
• Financial Support From BP
• Being Developed for Commercial Application
• Other Investigative Potentials
• Leave Only Wheel Tracks and Take Only Video
Manufacturability & Manufacturability & SustainabilitySustainability
BP Gas Line Rover 1/ 27/ 04
• Prototype Testbed
• Mass Production Possible
• Most Components Modular
• Will Provide Multiple Non-Modular Components to BP
ConclusionConclusion
BP Gas Line Rover 1/ 27/ 04
• Provide BP with an up close and personal approach to investigating pipe obstructions.
• Save time and money.
• Provide a platform for a future autonomous rover
Questions?
http://ieee.colorado.edu/capstone/capstone.htm