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System Design Review (SDR) Florida Institute of Technology / Capstone Search and Rescue Robot

Team LeadProject Foreman

Computer Science

Computer Engineering

Electrical EngineeringMechanical Engineering

Dr. Barry WebsterZackary LermenDevin MartinezMilton StaffordTyler CulpDale DrinksDavid ElliottChristopher CarterEric Bettinger

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• Provide review of Concept of Operations (CONOPS)• Description of current system and subsystem architecture• Derived Requirements• To be Determined (TBD) and To be Resolved (TBR) Requirements• Critical Success Factors• Technical Performance Measures• Interfaces• System Level Risks• Predicted System Performance• Initial System Cost Estimate

SDR Exit Criteria

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• The FIT/CSRR is a system whose purpose is to locate survivors trapped in rubble following a manmade or natural disaster

• The stakeholders are the operator, survivors, and maintenance operator– The operator remotely maneuvers the robot– The survivors are the object of interest for the robot for discovery– The maintenance operator configures the robot outside of missions

• An operator will control the robot from a safe location, wirelessly through a debris field, reaching the goal, and returning to the safe location

• The allocation of specifications into subsystems will affect the future design of the robot

CONOPS

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● FIT/CSRR will interface with survivor via audio/visual data● FIT/CSRR will interface with the operator via a controller● FIT/CSRR will interface with the maintenance operator via access panels● FIT/CSRR will interface with location services based on software/government standards

as determined by later implementation● FIT/CSRR will interface with power via external power interface and environmentally

sealed access panel

High-level Architectural View

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• System overview– The system will be fully deployable in

locations hazardous or too small for humans.

– The system will be controlled by an operator via an interface

– The system will relay audio to and from the operator

– The system will send video to the operator

– The system will be able to traverse a debris field

System Architecture View

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● 45 total requirements○ 17 allocated to the vehicle

subsystem○ 9 allocated to the

communications subsystem

○ 5 to the electronics subsystem

○ 4 to the power subsystem○ 10 to the operation and

control subsystem

System Architecture by Subsystems

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● The system must be in compliance with requirements given in the International Protection (IP) 65 specification (dust tight and resistant to water ingress)

● The system must be in compliance with Federal Communications Commission (FCC) and Verband der Elektrotechnik, Elektronik und Informationstechnik (VDE) regulations for radiated Radio Frequency (RF) emissions

All of these requirements will be considered derived, as they come from external specifications

Derived Requirements

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To be Determined (TBD) andTo be Resolved (TBR) Requirements

TBD TBR

64- Transmission frequency- dBm RF attenuation through debris field

15- 1 ft/s movement speed

65- Transmitting dBm Equivalent

isotropically radiated power (EIRP) peak- Minimum Electromagnetic (EM)

frequency- Maximum EM frequency

26- 80 db speaker output

67- Field combined potentials- Minimum band frequency- Maximum band frequency

84- 12 pounds for vehicle

64, 65, 57 still to be decided15, 26, 84, 85 still use original values

85- 42 pounds for entire system

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Critical Success Factors

Critical Success Factors (CSF) Source Requirement(s)

FIT/CSRR is able to maneuver through a debris field.

FIT/CSRR - 15, 16, 17, 18, 39, 43, 48, 53, 58, 60

FIT/CSRR is able to provide wireless camera feed, in the visual and infrared spectrum.

FIT/CSRR - 20, 21, 22

FIT/CSRR is able to provide wireless two-way audio between the operator and the survivor.

FIT/CSRR - 24, 25, 26, 27.1, 27.2

FIT/CSRR is able to operate at maximum duty cycle for one hour.

FIT/CSRR - 32

FIT/CSRR is able to transmit and receive data wirelessly.

FIT/CSRR - 62, 64, 65

FIT/CSRR is IP-65 compliant. FIT/CSRR - 91

FIT/CSRR end cost is less than or equal to $10,000.

N/A

FIT/CSRR preliminary design completed by the end of fall semester, and the prototype completed by the end of spring semester.

N/A

FIT/CSRR has well defined adjacent systems and system interfaces.

N/A

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Technical Performance Measures

Technical Performance Measures (TPM)

Source Requirement

Required TPM Value

Current TPM Value

Weight (Robot) FIT/CSRR - 84 ≤ 12 Pounds N/A

Weight (System) FIT/CSRR - 85 ≤ 42 Pounds N/A

Deployment Time FIT/CSRR - 34 ≤ 5 Minutes N/A

Speed FIT/CSRR - 15 ≥ 1 ft/s N/A

Size FIT/CSRR - 82 ≤ 12in x 12in x 12in N/A

Power Required (Mission Duration) FIT/CSRR - 32 ≥ 1 Hour Operating Time

N/A

Wireless Connection Range FIT/CSRR - 39 ≥ 50 Meters (164 Feet)

N/A

Camera Feeds FIT/CSRR - 20/21 ≥ 120 Hz N/A

Charge Time FIT/CSRR - 35 ≤ 1 Hour N/A

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• External Interfaces (Physical, Functional, Logical, and Procedural)○ Location Services○ Power○ User input• Internal Interfaces (Physical, Functional, Logical, and Procedural)○ Controller communication

■ Transceivers○ Sensor data

■ Video (Infrared (IR), Visual)■ Audio (full duplex)

○ Platform control■ Servos■ Motors

○ ICD■ ICD spread sheet underway

○ System diagram featured on next slide

Interfaces

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Interface Diagram

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System Level Risks

RiskInitial

SeverityInitial

FrequencyInitial Risk

Factor MitigationMitigation

VerificationResidual Severity

Residual Frequency

Residual Risk Factor

Loses power 2 D 2D N/A N/A 2 D 2DRuns into a human 4 C 4C N/A N/A 4 C 4C

Explodes 1 E 1E N/A N/A 1 E 1E

Loss of communication 2 C 2C

Test communication equipment before each mission. Maintenance logs 2 D 2D

System overheats 2 C 2C

Implement cooling system. Inspection 2 D 2D

Becomes immobile 2 C 2C

Properly trained operator.

Proper operating classes 2 E 2E

Cause debris collapse 1 F 1F N/A N/A 1 F 1F

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Predicted System Performance

SPEED/MANEUVERABILITYFIT/CSRR-16FIT/CSRR-16FIT/CSRR-18OPTICAL CAMERAFIT/CSRR-20AUDIO/ACOUSTICSFIT/CSRR-25FIT/CSRR-27ILLUMINATIONFIT/CSRR-29OPERATIONAL ENDURANCEFIT/CSRR-32OPERATIONAL AVAILABILITYFIT/CSRR-35DISTANCEFIT/CSRR-39DEBRISFIT/CSRR-48FIT/CSRR-53FIT/CSRR-58FIT/CSRR-60SIZE/WEIGHTFIT/CSRR-82FIT/CSRR-84FIT/CSRR-85TEMPERATUREFIT/CSRR-88

Travels up to 1 ft/s18” minimum turning circleSelf-righting, inverted drive, or other anti-tip-over strategy

Minimum 1280 x 960 resolution, 120 Hz refresh rate (Visual & IR)

Minimum 5db audio output over 20 Hz to 20 kHzVolume up to 80 db from 1 meter away

Omni-directional lighting of 5000 lumens

Minimum operational endurance time of 1 hour (100% duty cycle)

Full charge cycle complete within 1 hour

50 meter minimum range

Traverse minimum opening of 12” high x 12” wideFord standing water up to 1” deep (max)Traverse curb heights up to 4 inchesTraverse trenches up to 6” wide

Maximum size of 12” cubedVehicle shall not exceed 12 pounds (TBR)System shall not exceed 42 pounds (TBR)

Operating temperature range from -4 to 140 degrees Fahrenheit

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Initial System Cost Estimate

FIT/CSRR COST ESTIMATE

Item Cost/unit Multiplier # of units Cost Requirement(s) Met

Vehicle $2,500.00 1.3 1 $3,250.00 FIT/CSRR 15, 16, 17, 18, 39, 43, 48, 53, 58, 60, 62, 84, 88, 91, 93

Battery $200.00 1.3 1 $260.00 FIT/CSSR 13, 32, 35, 69

5000 Lumen Led System $50.00 1.3 1 $65.00 FIT/CSSR 29

Go Pro 4 (Black) $1,200.00 1.3 1 $1,560.00 FIT/CSRR 20

7" Black Pearl FPV monitor $300.00 1.3 1 $390.00 FIT/CSRR 30

Military Grade Laptop $1,000.00 1.3 1 $1,300.00 FIT/CSRR 12

Anti-Glare Protector $20.00 1.3 1 $26.00 FIT/CSRR 30

Military Grade Transit Case $430.00 1.3 1 $559.00 FIT/CSRR 34, 73, 74

Trip to Certified Rubble Pile $200.00 1.3 3 $780.00 Testing

GPS Receiver $190.00 1.3 1 $247.00 Location Tracking

Microphone Preamp $140.00 1.3 1 $182.00 FIT/CSRR 24, 25, 27.1, 27.2

Robot Microphone $60.00 1.3 1 $78.00 FIT/CSRR 24, 25, 27.1, 27.2

User Headset (Speaker/Mic) $100.00 1.3 1 $130.00 FIT/CSRR 24, 25, 27.1, 27.2

Robot Speaker $70.00 1.3 1 $91.00 FIT/CSRR 24, 25, 27.1, 27.2

Infrared Camera $450.00 1.3 1 $585.00 FIT/CSRR 21

Estimated Total $9,503.00

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Appendices: MIL-STD-882CTable 1 - Hazard Severity Categories

Description Category Definition

CATASTROPHIC 1 Single death and/or destruction of equipment or property

CRITICAL 2 Severe personnel injury and/or major damage to equipment or property

MARGINAL 3 Minor personnel injury and/or minor damage to equipment or property

NEGLIGIBLE 4 Less than minor personnel injury and/or minor damage to equipment or property

Table 2 - Hazard Frequency Levels

Description Level Frequency of Individual Failure

FREQUENT A Likely to be continually experienced; daily;λ = 4.167E-2 per hour

PROBABLE B Likely to occur often; weekly; λ = 5.95E-3 per hour

OCCASIONAL C Likely to occur several times; annually; λ = 1.14E-4 per hour

REMOTE D Likely to occur some time; every ten years; λ = 1.14E-5 per hour

IMPROBABLE E Unlikely, but may exceptionally occur; every hundred years; λ = 1.14E-6 per hour

INCREDIBLE F Extremely unlikely that the event will occur; every thousand years; λ = 1.14E-7 per hour

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Appendices: MIL-STD-882C

Table 3 - Hazard Risk Assessment Matrix

Hazard Category Catastrophic Critical Marginal Negligible

Frequency

(A) FREQUENT I I I II

(B) PROBABLE I I II III

(C) OCCASIONAL I II III III

(D) REMOTE II III III IV

(E) IMPROBABLE III III IV IV

(F) INCREDIBLE IV IV IV IV

Table 4 - Hazard Risk Levels (Acceptability Criteria)

Risk Level Criteria

I Intolerable risk, mitigation required.

II Undesirable risk, tolerable only if risk reduction is impractical or the costs are grossly disproportionate to the improvement gained. Must be accepted by the approving authority.

III Tolerable risk if the cost of risk reduction would exceed the improvement gained. Must notify the approving authority.

IV Acceptable risk.