An Amphibious Search and Discovery Rover Intel-Cornell Cup Final - - PowerPoint PPT Presentation

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an amphibious search and discovery rover
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An Amphibious Search and Discovery Rover Intel-Cornell Cup Final - - PowerPoint PPT Presentation

Jan 13, 2024 432 likes •652 views

An Amphibious Search and Discovery Rover Intel-Cornell Cup Final Presentation Advised By: Team: Professors Taskin Padir, Sonia Chernova Brian Eccles, Brendan McLeod & Kenneth Stafford Tim Murcko, TJ Watson, Mitch Wills 2 Presentation

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SLIDE 1

Team: Brian Eccles, Brendan McLeod Tim Murcko, TJ Watson, Mitch Wills

Advised By: Professors Taskin Padir, Sonia Chernova & Kenneth Stafford

An Amphibious Search and Discovery Rover

Intel-Cornell Cup Final Presentation

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SLIDE 2

Presentation Outline

  • 1. Project Introduction
  • Project Motivation
  • Mission
  • The WALRUS Rover
  • Design Overview
  • 2. Evaluation
  • 3. Logistics

2

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SLIDE 3
  • Robots have been used in search and humanitarian

missions since September 11th, 2001.

  • Current robots are…
  • Limited by deep water.
  • Targeted solutions.
  • High cost.
  • Closed systems with narrow expandability.

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Project Motivation

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SLIDE 4

Mission

To create a highly configurable amphibious rover for search and humanitarian missions at a competitive cost.

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SLIDE 5

The WALRUS Rover

  • “Water and Land Remote Unmanned Search Rover”
  • Provide a mobile platform that…
  • Can overcome difficult terrain and bodies of water
  • Offers expansion through payload interfaces
  • Easily deployed & reconfigured in the field
  • Low cost solution

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SLIDE 6

Design Overview

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Rear Camera Rear Flipper Motor & Gearing Left Drive Motor Main Contactor SMBus Isolation Board Main Proprioception Board Front Flipper Motor & Gearing Front Camera Right Drive Motor Front Flipper Controller Front Flipper Controller 9” 20” 25” Main Computer DC-DC Converter Power Failover Wireless Module Right Drive Controller Left Drive Controller Diagnostics Display & Control

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SLIDE 7

Presentation Outline

  • 1. Project Introduction
  • 2. Evaluation
  • System Specification
  • Mobility
  • Power & Communications
  • Supervised Autonomy
  • User Interface
  • Payload Specifications
  • Future Improvements
  • 3. Logistics

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SLIDE 8

Specification Requirement Actual Evaluation Maximum Land Speed:

≥ 6.5 ft/s 7 ft/s ✔

Maximum Water Speed: ≥ 1.69 ft/s

1 ft/s

✖

Static Stability Limit:

≥ 45° pitch, 30° roll 80° pitch, ≥ 65° roll ✔

Stair Capability:

≥ 37° 37° metal & rounded ✔

Total Weight:

80 lbs 82 lbs

✖

Stow Size:

32 in 20 x 25 x 9 in ✔

Typical Battery Life:

1.5 hours 3 hours ✔

Control Distance:

975 ft LoS 1200 ft ✔

Payload Capability:

≥ 10 lbs 10 lbs ✔

Water Payload Capability: ≥ 1 lb

1 lb ✔

System Specifications

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SLIDE 9

Mobility

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  • Land
  • Max speed: 7 ft/s
  • Tested terrains:
  • Tight pile carpet
  • Symmetric stepfield
  • 35° stairs
  • Crossing ramps
  • Pavement
  • Grass and mud
  • Water
  • Max speed: 1 ft/s
  • 20-30 minute safe runtime
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SLIDE 10

Power & Communications

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  • Power consumption:
  • ~3 hour runtime (two

batteries)

  • Charge state reported by

BMS

  • Communications
  • Maintains video stream and

control over 1000 ft

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SLIDE 11

User Interface

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Supervised Autonomy

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  • Autonomous stair climbing
  • Region growing based plane extraction
  • RANSAC model parameter estimation
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Payload Communication

  • Internal IPC2 Intel Core i7:
  • USB 3.0
  • Gigabit Ethernet
  • HDMI
  • DE2i-150 FPGA Dev Kit:
  • USB 2.0, RS-232 & TTL Serial
  • Gigabit Ethernet
  • Two-Way Audio
  • GPIO
  • HDMI & VGA
  • Power Options:
  • 5V, 12V, 24V & Unregulated 32V

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Payload Power (5V, 12V, 24V) Payload Power (5V, 36V) Payload Ethernet (2) & USB 3.0 (1) Payload Ethernet (1), USB 3.0 (1) & HDMI (1) Payload USB 3.0 (1) & Wi-Fi Antenna E-Stop Diagnostics Display & Control 2” #10-32 Grid Plate Heat Fins DE2i-150 FPGA Dev Kit

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Future Improvements

  • Remove weight
  • Cost: 3 Months, $3,000
  • Gain: Lower power required, water speed increase
  • Add cowlings to treads
  • Cost: 1 week, $50
  • Gain: Water speed increase
  • Dynamic tread tensioner
  • Cost: 2 weeks, $200
  • Gain: Better traversal over gravel

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SLIDE 15

Presentation Outline

  • 1. Project Introduction
  • 2. Evaluation
  • 3. Logistics
  • Gantt Chart
  • Outreach
  • Rover Costs
  • Sponsors

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Gantt Chart

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SLIDE 17

Outreach

17 Worcester Art Museum Cambridge Science Festival VECNA Robot Race Turkish Military General Delegation USAID’s Innovation on the Edge: Accelerating Solutions in the Fight Against Ebola

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Rover Costs

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Chassis & Actuation Cost

Motors $2,750 Motor Controllers $2,000 Power Transmissions $3,430 Treads $2,800 Raw Materials $1,500 Hardware $1,000 Total $13,480

Electronics Cost

Main Computer $1,000 Custom PCBs $2,000 Wiring and Connectors $1,500 Sensors $1,500 Batteries and Chargers $4,400

  • Misc. Electronics

$1,600 Total $12,000 Total Cost: $25,480

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SLIDE 19

Sponsors

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SLIDE 20

Email us: walrus@wpi.edu Visit us on the web: walrusrover.com Like us on Facebook: facebook.com/walrusrover

Questions?

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