Roverside Assistance Team I: Moon Wreckers Daniel Arnett, Matt - - PowerPoint PPT Presentation

Roverside Assistance

Team I: Moon Wreckers

Daniel Arnett, Matt Swenson, Karthik Paga, Abdul Moeed Zafar, Dicong Qiu

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Draft Functional Requirements

Rover shall:

• Signal to other rovers when entrapment is detected
• Detect when they are freed
• Push and pull stuck rovers
• Tow the stuck rover
• Cooperate with assisting rovers when stuck
• Reason about the best way to liberate rovers
• Plan a feasible paths for rovers to follow
• Mark obstacles
• Avoid obstacles

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Revised Functional Requirements

Rover shall:

• Autonomously navigate in the environment
• Build shared terrain map of the environment
• Tow a rover off a high-centering obstacle
• Detect and avoid large obstacles

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Draft Non-Functional Requirements

• Docking mechanism shall be impact resistant
• Budget Constraints
• Rover shall navigate to commanded waypoints
• Improved shared terrain map should be more accurate than the

static terrain map

• Rover shall be able to take diagnostic pictures automatically
• Live video stream should be available to test personnel
• System should optionally be able to function without GPS

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Revised Non-Functional Requirements

• Rover shall navigate to commanded waypoints
• Improved shared terrain map should be more accurate than the

static terrain map

• Rover shall be able to take diagnostic pictures automatically
• Live video stream should be available to test personnel

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Draft Performance Requirements

Functional:

• Detect within 10 sec when entrapped or freed
• Signal to rovers within 100 m when new status detected in 5 sec
• Have sufficient friction on wheels to push or tow with 300 ~ 500 N
• Withstand continuous push or tow force of up to 600 ~ 1000 N
• Mark and avoid obstacles whose diameter is larger than 0.1m

Non-Functional:

• Plan the optimal way to liberate other rovers within 60 sec
• Dynamic plannings during execution shall cost less than 50 ms
• Accept up to 10 waypoints given by the user
• At least 60% diagnostic pictures shall see another rover

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Revised Performance Requirements

Functional:

• Navigate to within .5m of a desired location in the environment.
• Navigate to within .5m of the other rover such that their long axes are

aligned to within 30° and the wheel axes are less than .25m apart.

• Mark and avoid obstacles larger than 1m x .5m x .5m
• Tow a high-centered rover off objects between .18m and .25m in

height along both the long and wheel parallel axes of the rover. Non-Functional:

• Localize detected obstacles to within .5m
• Rover shall take pictures of self when stuck at least once every 30

seconds

• Live feed will be 480p mjpeg stream

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Revised Functional Architecture

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Revised Cyberphysical Architecture

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WBS

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* Project Management and FVE WBS have been considered separately.

Schedule Management

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* OpenProj

Schedule Management

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13

Risks

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FVE

• AutoDrive to Waypoint
• AutoDock
• Tow
• Demonstrate Component Technologies
• Tracking
• Camera
• Gimbal
• Tether
• Switchable-Permanent Magnet

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Questions? Comments? Concerns?

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