NASA Lunabotics Competition BP-1 Excavating Autonomous Rover Evan Carroll, Andrew Bolton, Ben Bennett, Nalin Randeniya, Nathaniel Greenberg Dr. Ramesh Varahamurti
Team Members and Faculty Advisor Team Members (From Left to Right) Ross “Botsauce” Bailey Andrew “TT Showbiz” Bolton Evan “Christmas” Carroll Ben “Magic Beard” Bennett Nathaniel “Jazz Hands” Greenberg Nalin “Rampage” Randeniya Faculty Advisor Dr. Ramesh “The Hurricane” Varahamurti NASA Lunabotics Competition
Industrial Sponsors NASA Lunabotics Competition
Background Excavation is a necessary first step in living off of the land • Oxygen extraction • Habitat foundation New concepts for excavation technologies needed NASA Lunabotics Competition
Background LunArena • 10 minute run • Minimum of 10 kg • Rocks and craters NASA Lunabotics Competition
Problem Definition Engineering Requirement Specification Metric Method/Device Target Condition Inclusive of all Lightweight Vehicle Mass kg Scale < 80 kg parts < 1.5m x .75m x Starting Compact Size m Tape Measure .75m Footprint Amount of BP-1 mined Mass kg Scale > 10 kg During 10 min Average Bandwidth Test As minimal as Communications Bandwith kb/sec Software -1/50 kb/sec possible By trained team Set-up Time min Stopwatch < 10 min members By trained team Removal Time min Stopwatch < 10 min members NASA Lunabotics Competition
Design Solution NASA Lunabotics Competition
Design Solution NASA Lunabotics Competition
Design Solution NASA Lunabotics Competition
Design Solution NASA Lunabotics Competition
Autonomous Control NASA Lunabotics Competition
Fabrication NASA Lunabotics Competition
Testing • Emergency Stop button – As a requirement ø > 5 cm • Maneuverability and Mining capability • 10 kg BP-1 collection capability Targets • Dust reduction – Bonus points NASA Lunabotics Competition
Testing List of Experimental Tests 1. Set-up and Power-up 2. E-Stop Verify 3. Maneuverability and Digging Controls 4. 10 kg Remote Trial Run 5. Dust Mitigation NASA Lunabotics Competition
Testing E-stop Verification Test NASA Lunabotics Competition
Testing Maneuverability and Digging Controls NASA Lunabotics Competition
Testing NASA Lunabotics Competition
Testing 10 kg Sand Collection Trial Run NASA Lunabotics Competition
Testing Dust Mitigation NASA Lunabotics Competition
Testing Results Review TEST STATUS Set-up and Power-up Successful E-Stop Verification Reliable Maneuverability and Digging Smooth and Accurate Controls 10 kg Sand Collection within Achieved 10 minutes Dust Mitigation Satisfactory NASA Lunabotics Competition
Final Budget Sources of Funding: Industrial Sponsor – NASA Mission Directorate_______ $ 3,000.00 Donations – Total Donations_______________________$1,250.00 Sponsors – Transfer Flow A Main Hobbies Galil Dimension Engineering Royal Printing Total Material Donated___________________$ 2,803.68 Donated Labor – Transfer Flow • Manufacturing: The Frame The Lever Arm The Wheels Estimated hour of donated labor/ Approx. employee wage ~ 45 hrs x $40/hr = ________________________$1800.00 NASA Lunabotics Competition
Final Budget Receipt Date Cost Number Purchased Supplier Part Number Part Description Quantity Each Subtotal Total 0024469251905 Seachoice ATO / ATC Fuse Block 10 2209 1/18/2012 Amazon.com B000N9PJ7W Gang 1 17.49 17.49 17.49 0024469251905 Bussmann VP/ATC-30 30 Amp Faast 2209 1/18/2012 Amazon.com VPATC30 Acting Blade Fuse, 1 6.73 6.73 6.73 Orchard 3810568190118 Supply 000003069927651 2012 1/18/12 Hardwear 6 MCH SCR-RND 8-32x1 1 0.99 0.99 1.06 Orchard 3810568190118 Supply 000003900810170 2012 1/18/12 Hardwear 9 EXT SPRING 2-3/8" 2 2.29 4.58 4.91 Orchard 3810568190118 Supply 000003861314625 2012 1/18/12 Hardwear 9 2-1/2" ZN LT NAR B 1 3.19 3.19 3.42 Orchard 3810568190118 Supply 000003900303011 2012 1/18/12 Hardwear 0 1" OD LEG TIP 1 1.99 1.99 2.13 Orchard 0381026902011 Supply 000064873841473 72012 1/17/12 Hardwear 9 T-10 TORX DRIVER 1 3.99 3.99 4.28 Orchard 0381026902011 Supply 000003069918512 72012 1/17/12 Hardwear 2 MCH SCR-RND 8-32x2 1 3.49 3.49 3.74 Orchard 0381026902011 Supply 000003069918512 72012 1/17/12 Hardwear 2 HEX MACH NUT 8-32 1 2.99 2.99 3.21 Orchard 0381026902011 Supply 000003069919802 72012 1/17/12 Hardwear 3 WASHER SAE #8 ZINC 1 1.99 1.99 2.13 All Metals NASA Lunabotics Competition 495349 1/4/12 Supply FL460-184 6061-T6 1/8 x 4 FLAT ALUMINUM 8 3.14 25.13 26.95 All Metals 6061-T6 1 x 1x .065 SQ TUBE 495349 1/4/12 Supply ST480-WW065 ALUMINUM 20 1.19 23.73 25.45
Date Part Cost Receipt Number Purchased Supplier Number Part Description Quantity Each Subtotal Total A Main Final Budget Donated 1/25/12 Hobbies LOSB7240 LOSI Nomad Tire Set (2) 1 32.99 32.99 0.00 A Main Donated 1/25/12 Hobbies LOSB3225 Fr/R Wheel Hex & Pin (2) 1 22.49 22.49 0.00 A Main Donated 1/25/12 Hobbies LOSB3227 Wheel Nuts, Blue Anodized (4) 1 13.49 13.49 0.00 A Main Donated 1/25/12 Hobbies LOSB7028 Beadlock Set, Inner & Outer (2) 1 11.75 11.75 0.00 A Main Donated 1/25/12 Hobbies LOSB3224 Fr/R Stub Axle & Pins (1) 1 16.49 16.49 0.00 170.9 Home Depot Bosch DDS180-02 1 9 170.99 170.99 159.9 Amazon.com Bosch DDS180-02 3 9 479.97 479.97 McMaster 16837190 2/1/12 Carr 5912k4 Aluminum Bronze Bearing 1/2 Diameter 4 11.11 44.44 52.53 Dimension Sabertooth 124.9 2/4/12 Engineering 2X25 Sabertooth dual 25A motor driver 3 9 374.97 0.00 Orchard Supply 38103602402172012 2/17/12 Hardwear 6435994 ALUMINUM ROUND RD 1 11.49 11.49 12.32 Orchard 03810295800204201 Supply 2 2/4/12 Hardwear 39008705945 BRONZE BEARING 1/2 1 6.29 6.29 6.75 Orchard 03810295800204201 Supply 2 2/4/12 Hardwear 614121130487 1/2 ALUMINUM ROD 1 4.79 4.79 5.14 Orchard 03810295800204201 Supply 2 2/4/12 Hardwear 39008705945 BRONZE BEARING 1/2 1 6.29 6.29 6.75 Orchard 03810113540204201 Supply 2 2/4/12 Hardwear 39008215574 RBR WASH 5/8X2X1/8 4 1.19 4.76 5.11 A Main Donated 2/23/12 Hobbies LOSB7240 LOSI Nomad Tire Set (2) 1 32.99 32.99 0.00 A Main NASA Lunabotics Competition Donated 2/23/12 Hobbies LOSB3225 Fr/R Wheel Hex & Pin (2) 1 22.49 22.49 0.00 A Main Donated 2/23/12 Hobbies LOSB7027 Wheel and Beadlock Set (2) 2 30.99 61.98 0.00 A Main
Date Quantit Cost Subtota Receipt Number Purchased Supplier Part Number Part Description y Each l Total STOCK Final Budget DRIVE A 1C 2- C-1203-S1593 3/16/12 PRODUCTS N24144 GEAR SP.24P.ST. 6inDP(US) 2 56.98 113.96 122.55 STOCK DRIVE C-1203-S1593 3/16/12 PRODUCTS A 1C 2N24012 GEAR SP.24P.ST. 0.5in DP(US) 2 9.80 19.60 28.10 Steel Finished-Bore Roller Chain Sprocket, for #25 20948590 3/19/12 McMaster Carr 2737T1 Chain, 1/4" Pitch, 9 Teeth, 1/4" Bore 1 5.61 5.61 8.53 Steel Finished-Bore Roller Chain Sprocket, for #25 20948590 3/19/12 McMaster Carr 2737T151 Chain, 1/4" Pitch, 23 Teeth, 1/4" Bore 1 7.80 7.80 10.72 Total Cost of Robot : Black-Oxide Alloy Steel Socket Head Cap Screw,10-32 24463834 4/23/12 McMaster Carr 91251A359 Thread, 2-3/4" Length, Packs of 10 1 13.89 13.89 14.90 24463834 4/23/12 McMaster Carr 8632T132 D-Profile Shaft, 1045 Steel, 1/4" OD, 6" Length 1 6.64 6.64 7.12 24463834 4/23/12 McMaster Carr 6261K108 #25 Connecting Link for, Standard ANSI Roller Chain 4 0.96 3.84 4.12 Donated Galil DMC-2183 Galil Motion Controller 1 1595.00 1595.00 0.00 Galil ICM-20105 Interconnect with Optoisolated I/O 2 195.00 390.00 0.00 $ 1,519.09 Arduino ATmega328 Arduino Uno Microcontroller 1 38.00 38.00 0.00 Microsoft Microsoft XBOX Kinect Sensor 1 129.99 129.99 0.00 NTC SPST RELAY 2 0.00 0.00 SBR Rubber Edge Trim, 3/32" Opening, 21/64" Inside 24598862 4/24/2012 McMaster Carr 8510K14 Depth. 25 0.42 10.50 11.26 24598862 4/24/2012 McMaster Carr 5542T85 Push-on Corner Cap, fits 1/8" to 3/16" Thickness, Black 16 0.42 6.72 7.21 24598862 4/24/2012 McMaster Carr N/A Shipping Expense 1 5.53 5.53 5.93 Orchard 381067178042120 4/21/2012 Supply 30699192427 00 Hardwear NYLN LKNT 8-32 1 4.99 4.99 4.99 Orchard 381067178042120 4/21/2012 Supply 30699276226 MCH SCR-RD 8-32x1 1 2.79 00 Hardwear 2.79 2.79 The Home 6609584205904 4/14/2012 726941107010 .093-18x24 LEXAN XL 1 19.98 Depot 19.98 21.43 The Home 6609584205904 4/20/2012 786102105002 HONDA FILTER 2 9.97 Depot 19.94 21.39 The Home 6609584205904 4/20/2012 076812402011 HACKSAW 1 5.47 NASA Lunabotics Competition Depot 5.47 5.87 The Home 66095833801 4/20/2012 726941107010 .093-18x24 LEXAN XL 1 19.98 Depot 19.98 21.43
Final Budget NASA Lunabotics Competition
Final Budget Labor: Average Semester Total Man Hours Engineering Amount Wage Fall 1271 $40/hr $ 50,840.00 Spring 1632 $40/hr $ 65,280.00 Total: $ 116,120.00 NASA Lunabotics Competition
Final Budget Total Project Cost Estimate: $ 121,028.55 NASA Lunabotics Competition
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