M E T ROVER MSCD Engineering Technology

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M E T ROVER MSCD Engineering Technology

• Critical Design Review
• Metropolitan State College of Denver
• 4 April 2003

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Mission Description

• Deploy rover from the payloadcarrier upon
  landing.
• Image flight and landing site autonomously.
• Accomplish mission under strictmass limitations.

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Mission Goals

• Design and build an autonomous roverand its
  carrier under strict mass limitation of 1.4 kg.
• Incorporate imaging system on the rover to
  photograph the fight and the landing site.
• Carrier Rover must survive
• high altitude
• extreme cold temperatures
• impact forces during landing

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NASA Benefits

• Prototype development which maybe used during
  future missions toMars or the moon.
• Test existing paradigms of rover design.
• Explore new methods of rover design,
  construction, and deployment.

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System Requirements

• Carrier and Rover combined must meet 1.4 kg mass
  limitation.
• Rover or Carrier must image thelanding site.
• Rover must deploy at the landing site.
• Rover must have a drive systemallowing it to
  maneuver on the groundat the landing site.

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Systems Overview
Controller
Imaging
Rover Drive
Carrier
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Carrier System

• Securely carry the Rover payload.
• Constructed of foam-core.
• Operational door to allow the deployment of the
  Rover upon landing.

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Carrier Components

• Foam-core Carrier.
• Rover door latching mechanism.
• Rover door opening mechanism.

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Carrier Prototyping

• Three test Carriers have been constructed
• First simple foam-core box to test impact.
• Second more complex box with integral and added
  on angled sides to further test impacts as well
  as landing orientation.
• Third initial attempt at constructing carrier
  from single continuous foam-core sheet.

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Imaging System

• Image at predetermined intervals during the
  flight and continuing after landing.
• Mounted to the Rover so multipleviews of the
  landing site will be recorded.

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Imaging Components

• Modified BellHowell 35mm standard film camera.
• Extended film capacity capable of approximately
  70 photographs.
• Micro-controller and/or timer circuit.

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Imaging Interfaces
Altitude Sensor
Controller
Camera
Obstacle Sensor
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Rover Drive System

• Drive the Rover out of the carrier and around the
  landing site.
• Power the Rover via the rear wheels in skid steer
  fashion.
• Operate the rover in either of twopossible
  carrier landing orientations.
• Incorporate obstacle avoidance system.

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Drive Components

• Orientation sensor.
• Integral drive motor / gearbox assembly.
• Obstacle contact sensor.
• Drive wheels.

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Drive System Interfaces
Orientation Sensor
Obstacle Sensor
Controller
Left Motor
Right Motor
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Drive System Prototyping

• Aluminum wheels
• Machined from solid 4.25 inch diameteraluminum
  bar stock.
• Goal weight (mass) of 100 grams per wheel.

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Electronics System

• Control and operate the Imaging Drive Systems.
• Open the Rover Door upon landing.

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Electronics Components

• Altitude sensor.
• Rover orientation sensor.
• Obstacle contact sensor.
• Micro-controller.
• Wiring to/from sensors, camera and drive motors.
• Carrier door latch servo.
• Onboard programming.

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Electronics Interfaces
Altitude Sensor
Camera
Controller
Orientation Sensor
Right Drive Motor
Obstacle Sensor
Left Drive Motor
Carrier Door Latch
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Electronics Prototyping

• Initial testing has been done with obstacle
  avoidance inputs and outputs.
• This testing was done on an RC car chassis and
  utilized micro-controllers operating the cars
  drive motors.

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Mass Budget

• Carrier 300g
• Camera (before modifications) 234g
• Drive motor/gearbox assembly 166g
• Chassis Electronics 400g
• Wheels 300g
• Total 1400g

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Power Budget

• Drive system 2 x 1.5v AA batteries
• Camera 1 x 3.0v lithium battery
• Electronics 1 x 9.0v battery
• We are exploring the possibility of sharing power
  between the drive system and the camera.

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Project Organization
Professor Keith Norwood
Dr. Mingli He
Professor David McCallum
Pete C. Team Lead
Don G. Drive / Chassis
John D. Drive
Brian P. Carrier
Luke T. Electronics
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Budget

• Expenses to date
• Beginning total 3000
• Carbon fiber materials 152
• Camera 51
• Motors/gearbox assy. 12
• Wheel material 33
• Machining tools 50
• Carrier material 23
• subtotal 322
• Remaining Balance 2678

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Schedule

• Prototype Testing Completed June 20
• Internal Readiness Review July 11
• Mission Readiness Review July 18
• Launch Readiness Review Aug 1
• Launch Aug 2