Development of an Autonomous Palletized Loading System for the SMSS
1. Development of an Autonomous Palletized Loading System for
the Squad Mission Support System
Project Sponsor: Lockheed Martin Corporation
Advisor: Robin Ott
Team Members:
Joshua Bell, Ryan Holland, Chris Lagos, Greg Lawrence, Matthew Megyeri, Garrett Moore,
Jeremy Sipantzi, Robert Skinker
2. I. Background and Customer Needs
II. Subsystem Implementation/Testing
III. Logistics and Conclusions
2
http://www.lockheedmartin.com/us/products/smss.html
This presentation details our completed design that we
manufactured for Lockheed Martin
3. Tasked to create a Mission Equipment Package (MEP) for the
Squad Mission Support System (SMSS), enabling pallets to be
autonomously loaded and unloaded.
• Load/Unload 800-1200 lbs of palletized equipment.
• Powered by onboard Auxiliary Power, controlled by SMSS computer.
• Create a versatile pallet design compatible with our loading system
• Increase versatility and marketability of SMSS, expanding markets beyond military.
3http://www.lockheedmartin.com/us/products/smss.html http://www.military-today.com/trucks/oshkosh_pls.htm
4. We obtained customer needs from our client, and derived a set of
target specifications which guided the course of our design
4
Priority Customer Needs
● Load/Unload Pallet
● Run on Auxiliary Hydraulic and/or Electrical Power
● Load/Unload as fast as possible
● Does not hinder other vehicle functions
● Low Cost
Priority Target Specifications
● Speed of Load/Unload
● Weight
● Power Need
● Lift Capacity
http://www.riceconsulting.biz/wp-
content/uploads/2013/09/Survey1.png
5. 5
Here is a video of our most successful test loading the pallet
6. 6
This is our finalized mechanical design for an automated
palletized loading MEP for the existing model of the SMSS
7. 7
Once the SMSS arrived, we had to create reinforced mounts to
attach the MEP. This brace covers the engine mount and
distributes weight across a large area.
This brace attaches to the SMSS in six places surrounding the engine:
● Left and Right bars on the front roll cage
● Wings on the both sides of the engine
● Two center bars across the top of the engine
8. 8
Two braces were bolted directly to the SMSS frame at the
vehicle’s rear.
● Aircraft Lifts are attached to the SMSS
frame on the front and rear
● Both braces attach to existing bolts on the
Aircraft Lift points at the rear
9. Positive Results:
➢ Welds and joints supported MEP without observable deformation
➢ Reinforcement braces successfully supported MEP during
loading/unloading
Improvements:
➢ Closer attention to tolerances
➢ Improve design for ease of manufacture
9
After the MEP was completely attached to the SMSS, these are
the results of our design from a Mechanical standpoint
10. The motion of our MEP is powered through the use of parallel
hydraulic cylinders
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Long Cylinders:
“Stage 1”
Short Cylinders:
“Stage 2”
Flow Divider
Directional Control
Valve (DCV)
11. QD (out)
Schematic of the Hydraulics power system using pressure
generated by the SMSS on-board hydraulic pump
11
(in)
DCV Flow Dividers
Stage 2
Stage 1
12. The images below illustrate how the hydraulic system is
integrated onto the SMSS
12
Results:
- Error +/- 1.5in in piston sync (flow dividers)
- Brand B100AB flow divider series, allows full extension
- External hose exposure
13. Arduino Uno
ATmega328P Microcontroller
6 Analog Input Pins
6 PWM Digital I/O pins
5V Operating Voltage
MPU-9150
onboard Digital Motion Processor
3-axis gyroscope
3-axis accelerometer
3-axis digital compass
The mechanical and hydraulic systems are controlled using a
microcontroller receiving feedback from inertial measurement units
13
https://www.sparkfun.com/products/11486
https://upload.wikimedia.org/wikipedia/commons/3/38/Arduino_Uno_-_R3.jpg
14. The diagram below details the integration of our sensing/controlling
framework with the hydraulic and electrical systems
14
15. 15
We performed preliminary testing on the prototype below in
order to practice controlling and measuring system dynamics
16. The IMUs are positioned at key locations on our MEP and the
SMSS, allowing us to monitor the system kinematics
16
Two IMUs mounted on the
MEP
Microcontroller under this panel
17. We experienced positive results, but several limitations
prevented us from fully implementing our control system
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Positive Results
- Established control over the hydraulic cylinders via the
directional control valves and the arduino
- We were able to monitor critical angles of the MEP using the
IMU sensors
Blockers
- As a result of asymmetry in the system, we were unable to
fine-tune a repeatable loading/unloading algorithm
- Without access to the onboard autonomy, we were unable to
test communications between our vehicle and the SMSS
21. Allotted Finances:
- Full Scale
- SMSS Commitment
Overspending:
- SMSS reinforcement
- Hydraulic testing
Error:
- 3rd Party Purchasing
Current Budget Sittings
21
Initial Granted Finances $3,000
Awarded Finances $2,000
Verbal Commitment
Finances
$1,800
Total Allotted Finances $6800
Total Spent $6917.82
+/- $200, 2.9%
22. 22
In summary, our project is complete but will require
additional testing before it can be fully implemented
Project Technology Readiness Level (TRL) 6
Mechanical:
● Successfully designed, built, and attached the MEP
● Reinforcement braces should be attached directly to the SMSS frame, eliminating
weight and space from the frame covering the engine.
Hydraulics:
● Schematic works as designed
● Pistons and hydraulic power can sufficiently power MEP
● Piston synchronization, flow dividers (Brand B100AB)
Controls:
● Successfully controlled hydraulics with the code
● Measured the stage 1 and stage 2 angles with the mounted IMU sensors
● Due to asymmetry in the hydraulic system, unable to fine tune a repeatable
loading/unloading sequence.
