![Problem Statement: NASA Goddard Design rover to explore region of Greenland Summit for resources ,[object Object],Withstand Greenland climate and terrain Cover 90,000 sq. mi. during summer operation Self-Sustainable Support 300 lb of electrical equipment 300 mi 0](data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7)
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Greenland Rover Final Presentation
- 1. NASA GODDARD Greenland Rover Project JAC Consulting Inc. Anthony Williams Carlaton Wong Jonathan Wong
- 3. Developing Rover Systems How to detect resources? Ground Penetrating Radar How to keep the rover powered? Solar Panels, Peak Power Tracking How to track and control the rover? Iridium Satellite Radar Plane Recorded Near Whitmore Mountains, Antarctica
- 4. Prototype Implementation Plan Scale down rover ~ 1:3 Focus on Autonomous/ Manual Control Move in set path with obstacle avoidance Emergency Manual Override Electrical Component Integration with Wireless Control Problem Statement: Design Rover to explore Greenland
- 8. Optimized Autonomous Path n=2 Problem Statement: Design Rover to explore Greenland 300 mi 0 dturn D D D=300 mi Deploy at Summit Retrieve near Coast
- 9. Optimized Autonomous Path n=2 V =rover speed (5mph) t = travel time (20hr/day*60days =1200 hr) D = Vertical travel distance (300 mi) dturn = 16.7 miles (18 vertical radar sweeps) Problem Statement: Design Rover to explore Greenland dturn D D D=300 mi D D=300 mi
- 10. Conceptual Design Dual Track Quad Track Snow Tires Problem Statement: Design Rover to explore Greenland
- 11. Power Budget Assessment Problem Statement: Design Rover to explore Greenland
- 12. Product Architecture: Production Design Problem Statement: Design Rover to explore Greenland
- 13. Design to Prototype Xbee Wireless (Satellite) Arduino (Computer) Dual Tracks Problem Statement: Design Rover to explore Greenland
- 14. Communication System Problem Statement: Design Rover to explore Greenland
- 15. Communication Center Problem Statement: Design Rover to explore Greenland
- 16. Prototype Design Problem Statement: Design Rover to explore Greenland Motors Breadboard Microcontroller Battery Dual Track
- 17. Initial Prototype | Final Prototype Problem Statement: Design Rover to explore Greenland
- 18. Improvements for Future Developments Integrate rover with solar panels to verify and validate that the system is self sufficient Include GPS, Compass Module, optical encoders for better automatic control Utilize satellite transceivers for long range 2-way communication Additional research and development towards rover traction in snowy climate Problem Statement: Design Rover to explore Greenland
- 19. Acknowledgements Dr. SalahFeteih- Faculty Advisor Gene Sherman- Lab Manager/ Machine Shop Manager Corey Hardin- Teaching Assistant Younghoon Kim- Teaching Assistant Kevin Hon- Geophysicist from MALA Jun Wang- Professional Development Officer Visit http://www.greenlandrover.com/ for source codes and more information
Editor's Notes
- Design rover to explore region of Greenland Summit for resources Resources: Gold, natural gas, petroleum, diamondsDesign RequirementsWithstand Greenland climate and terrain (-3ºC, 20 hours/day) Talk about temperatures, relatively flat surface (refer to contours on map)SustainableRover must be able to generate enough energy to run on its ownCover 90,000 sq. mi during summer operation (Jun-Aug)Refer to map, two months timeSupport 300 lb of electrical equipment Electrical equipment such as radar, satellite, sensors, computer
- 3 major systems that we need to understand in order to address the problem statementHow to detect resources? (MEASUREMENT SYSTEM)Ground Penetrating RadarAntenna (See pic) directs radio frequency to the ground and measures the reflections. Able to detect resources in iceData is stored in computer, rover must be retrieved to get data, inefficient to constantly send data through satelliteHow keep the rover powered? (POWER SUBSYSTEM)Solar Panels, Peak Power TrackingUsed to maximize power generationHow to track and control the rover? (COMMUNICATION SYSTEM)Satellite- Use iridium Satellite because it covers the entire Greenland region
- HOW WE WILL IMPLEMENT OUR PROTOTYPEScale down rover ~ 1:3 (to reduce cost in motor, materials,)Focus on Autonomous/Manual Movement (Rover will not carry measurement system or designed to be self-sustainable) Move in set path with obstacle avoidance (possibility of rocks/ice in front of path, crevasse on ground)Emergency Manual OverrideComponent Integration with Wireless ControlArduino Microcontroller, Proximity Sensor, wireless radio module(xbee),
- Explain the path and how we implemented obstacle avoidance
- The Reason why we choose this path is to cover Northern Greenland RegionRover is deployed near the Summit base allowed to run and collect data for 2 months and retrieved near the western coastlineIn order to cover this region, the rover will traverse in fixed path. Orange Arrows: GPR Profile planesTalk about…. How turning distance affects coverage area and resolution of gpr data.
- Quadratic equation, need to pick the term such that d_turn<D and n>118 vertical sweeps, is that enough? Need to ask geologist about typical oil reservoir sizes.
- 3 Conceptual DesignsExplain several key criteria
- Complied data most from manufacture specs.Motor: weighted average between acceleration power and stall power. Solar: assumed sinusoidal increase from zero to 250W at peak hours back to zero Talk about prototype power budget no solar generation
- BE CLEAR THAT THIS IS PRODUCTIONExplain each systemPower subsystem Solar passes PPT, which maximizes energy through solar panels battery for charging to Volt regulator(power dissipation)
- Iridium-xbee : Being able to transmit data wirelessly. Iridium provides global coveragexbee- limited wireless range of ~ 100 ft GPR and PPT: Non functional models. Computer system: Command center of rover. Microcontroller scaled down computation speed and memory. Motors and battery and solar panel: Scaled down version (weight and size, capabilities) for the prototype. Sonar Sensor vs Infrared: sonar is larger range than infrared, (IR-up to 79 cm , Sonar -10ft or more)
- Talk about detailed communication process, one of the detailed things that we focused onGUI was developed using iPod app called TouchOSC (used ipod because of multitouch capabilities)The Touch OSC sends commands through Wi-Fi and is directed to the laptop’s IP addressThe Laptop acts as the control center and captures the commands sent through ipod, using a software called Processing, command is complied and sent through xbee moduleThe a receiver on the rover captures command and is processed through the microcontroller, where commands are sent to the mobility system to move the rover.
- Focus on Chassis Building: did solidworks first for interferences , Talk how changes in final design vs current drawings. Addition of switches, IR Sensor
- Initial prototype to gain understanding of how controls and code implementation works.