More people: Tim Hegadron, Al Kelley, Paul (networking) Lunch: 12:40-1:00 p.m. Mechanical: Eric Overview, Structure, Programmatics Size: 6 x 6ft, 100 in height Expanded: 8 x 8ft, 100 in height Overview: MassBudget 433 kg total (full fuel tank) Target: 375 kg And this is somewhat passimistic approximation. Performance: Three steering mode: Deployment, double ackerman, point turn max velocity: 0.75 m/s, avg velocity: 0.25 m/sec slopes: 28 deg obstacles: 20 in clearance under body: 16 in. Support polygon nearly doubles from compact to expanded position (Bares) If soil were not the limiting factor, what would be slope climbing capability. (Dimi) About 40 deg (Waldron) Why deploying? (Red) Improvement still based on simulations and not experiments. Still to be seen. (Reid) Is there a requirement that navigation system should be able to turn the vehicle at the min. radius? FOV of sensors? Structure: Wheel weighs 22 lbs right now (Murph/Lalit) Wheel design criterion? (Dimi) Contact area, ... (Red) Is the grouser pattern drawn the consensus? (Eric) Approx. same. (Red) Should have enough overlap between the grousers. (hans) C/s on grousers? (Eric) Probably trapezoid. (Waldron) Any kind of fatigue testing? (Eric) probably not. (red) Chances are that the desert will di it for you. Wheel design: 30 in dia, 20 in wide Brushless DC motor and harmonic drives and another gear in the wheel, total gear ratio is 220. (Wladron) How do you get the heat out? (Eric) We don't (Waldron) Does the wheel have temperature sensor? (Eric/Sib) yes, motors have temperature sensor. (Waldron) Is everything Al (Eric) Yes, except the gears which are steel (Waldron) How are they together (Eric) Bolted. Bolts not shown in the drawing. (Bares) If it is very effieceint, then its going to backdrive (Eric) Yes, I can backdrive it with my hands (Bares) Then if you put this 100 lbs machine on 40 deg sleep it will come down. (Eric) yes (Bares) But thats not what I heard in the morning. Linkage components: (Waldron) How does this averaging thing works. (Eric) Passive. (Waldron) would there be a problem with stick slip? (Dimi) We are using teflon. (Hans) How are you sealing driveing and steer actuator? (Mike B.) Why to deploy it? Why not make it wide from the begining? (Eric) It won't fit in the rocket ferry in deployed position. (Hans) Do you have enough room in generator housing ot have shock mount? (Eric) yes. Long discussion on steering mechansim, linear rails (THK), whether THK can take any torsional loads, ... (Bares) How many times are you going to deploy? (Red) If team masters the manuer probably 20 times, may be once a day. One demonstration is not good enough. We are going to bank on it for flight programs, other programs and may be for military programs. (Waldron) What is the weak link in the system? (Eric) Push bars. (Red) Do you have strategy for control? (Eric) Whell rotations can be used to aid deployment. (Dave W.) Is there any encoding to know wheere is the wheel during the deployment? (Eric) Yes- encoders on steering actuator and also encoders for body angle sensing. (Hans) We had this problem on the marsokhod that the fastenersused to shed after 300-400 m due to these rigid suspensions. Chassis: (Hans) Do you need to pull the bogie for any maintenance on the generator? (Eric) No. It comes off from the back. (Waldron) Where would you run your auxillary? (Eric) On the back. (Waldron) How much load on the chassis? (Eric) It supports the body and the mast. Body: 2 electronic enclosures. (Hans) Is the c.g. near the center? (Eric) no. Its slightly on the back. (hans) How ae you going to circulate the cooling air for the engine. (Eric) The vendor claims that the flow through the vent should be enough. (hans) Not sure. Mast: Pointing system on the top. Thats the only thing on the mast. (Hans) How much FOV of the panospheric is the mast going to obstruct (Eric) Consederably. Btut Murph says its ok. Panospheric camera on left- on the drivers seat. (Bares) how are the electronic enclosures sealed? (Eric) Metal sheet plate, welded. (Bares) Then how is it accessible? (Eric) Front- door with hinges. (Bares) Then how do you seal this door? (Eric) Some sort of ... Testing - Different grousers - Actuator cycling - Functionality - System Remaining - Boots, fabrication, fenders, hard stops, lubrication, pointing mechansim, seal;ing, simplified CAD model, steering kinemetics, water proofing, weight reduction, wheel experimentation (Bares) Consider brakes. (Hans) Try to get air filters as high as you can manage (Hans) How many pounds of battery (Jim) 25 lbs -------------------------------------------- 2:20 Site operations (Mike, Alex) (Bares) What sort of site are you looking for? (Mike P.) Terrainable, enough texture, not completely flat () How often did you see other tire tracks? (Mike) Not very often (John) Can you accomplish the objectives moving in circular tracks? (Mike) That was the oroginal intention. But after looking at the terrain we changed out minds. The terrain is so diverse that its worth taking the trouble to go through different sites. (Bares) Its not just moving the satelite dish- its moving a lot of stuff, degradation, breakge etc. (Hans) Much simpler to do the mission in a concentrated area. You can satify all the objectives there. (Bares) Right. Do all the stuff first and do exotic stuff later. (Tim H.) You are not really talking of optimizing performance. (Hans) A novice driver would not really know if you re repeating hte terrain. (Tim) What if you can't make 200kms in difficult terrain? (Dave W) Baseline such that you are there 2 weeks befoe the satellite goes up and complete 150 kms by then. () Geology science? (Hans) All the interesting geology is in cuts- thats what geologist are interesting. Geologist try to drive up/down very single cut. (Hans) Where are you settihng the command truck? (Mike) At the bse camp. (Hans) Would they have mini-shop or do you need all your own tools? (Mike) We need to carry all out tools. (Bares) Do a half km travrse in Anta Fagasta itself with satellite link. (Hans) Has anybody checked on the avaialbility of the satellite equipments in Chile? (Mike) No. (Red) TRIWG in Pittsburgh 26-28 June, 96 (Bares) 6 people in hot seat for 60 days. I don't recommend it. (Hans) It doesn't cost much to put more people in the field. () Media () Security (Tim) Let the police know well in advance that you are on a mission sanctioned by Chilean govt. and that you might call them. 3:30 Murph State Side Operations Control Station- carnegie Science center - Interactive control modeule (Robocon) - Immersive display theatre (Electric Horizon) Hardware for UI - RoboCon: hagen developin from DOE. No permission from DOE yet. - Electric Horizon: Spitz Inc., 3 seamless projectors (220 by 60 deg), all 50 seats with 3 button apds, driven by SGI Infinite reality. Its currently in-place in science center. Other option: planeterium option with sutherland hardware UI details: (check slide) Discussion on mouse cliks vs steering wheels. Problem of time delay (DaveW) Robot moves in circle as people don't wait for robot to move. (Reid) Predictive display- dots showing the path robot is going to move in response to a command. there is no delay in displaying dot. So peple steer dots and so there is a problem. (Bares) You can have a software for PC and you can distribute it to Millions of people. So they can practice drivng before they actually drive the robot. (Red) We will find a way to do the flyover of the terrain. the point is what we do with the data. (Bares) Early flyover can really save you time. You can get lot of things done here for whihc you would need to fly people there and do it yurself. (DaveW) Make sure you make progress with novice drivers driving the robot. Science: Current thoughts include: - Weather center (temp, humidity, pressure, wind) - Specialized camera - Meteorite Search Sensors (Eddy current, magnetometer) (Hans) Weather center and high res camera should be able to satisfy the science objectives. Scientists would work around it. You should not add any other sensor until its no work on your part. (Reid) Can you put one of the camera with pan/tilt and zoom lens? People would die for it. (Murph) Nobodyis working on it right now. But if one is availble and is plug and play- Yes, its possible. 4:10 Eric Rollins: Programmatics Budgets Initial Funding- 1.25 M Budgets needed- 1.6 M Additional Money from NASA Personnel- 712.316 K Operating Expenses- 539.640 K Equipment- 375.856K Additional 185.500 K TOTAL: 1815.313 K DEFICIT: 219.812 K Personnel (Lalit) Whats the game plan for finding missing persons? (Murph) Needs few people from our team to be on call during those 30 days at sceince center. Also looking for few undergrads. (EricR) Kept some money for hiring undergrads. (Hans) Part of the solution is to push on people who signed on for the studd. Ex: push Ames for science. Schedule - Design phase wrap up before Christmas - Fabrication Phase- Feb1- Chassis rolling with steering March1- Complete Fabrication - Testing phase- March through Mid May - Readiness review in Mid May - Atacama Desert Trek- June-July - Documentation- August - Meteorite Search (Red) Antartic Meteorite Mission is going to be desperate. (Red) If the feasibility process is approved for the discovery proposal its going to start on April 1 and through Aug 31. Its about 330,000K (Red) Some other wild cars still in play (SBIRs, LRI) (Red) Funding is Red's and Eric's concern. Team should concentrate on trek. Programmatics (financially) we are OK at this stage. (Gump) If LunaCorps come up with additional 300K on Jan1, would you do second rover. (Red) Not sure. There are other stuff though- fly over, speech interface, motion platform. (Deepak) Not from the comm perspectives. (Murph/Lalit) How about leap frog fashion? (Deepak) Thats possible. (Red) We would be interested in doing the second rover. (Lalit) Can we still make it with 300 K and Jan 15? (Red) Jan 15 is the absolute deadline.