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 1

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 MRSD Class of 2018, Team I 2

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 MRSD Class of 2018, Team I 3

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 MRSD Class of 2018, Team I 4

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 MRSD Class of 2018, Team I 5

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 MRSD Class of 2018, Team I 6

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 MRSD Class of 2018, Team I 7

Revised Functional Architecture MRSD Class of 2018, Team I 8

Revised Cyberphysical Architecture MRSD Class of 2018, Team I 9

WBS * Project Management and FVE WBS have been considered separately. MRSD Class of 2018, Team I 10

Schedule Management * OpenProj MRSD Class of 2018, Team I 11

Schedule Management MRSD Class of 2018, Team I 12

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Risks MRSD Class of 2018, Team I 14

MRSD Class of 2018, Team I 15

FVE • AutoDrive to Waypoint • AutoDock • Tow • Demonstrate Component Technologies • Tracking • Camera • Gimbal • Tether • Switchable-Permanent Magnet MRSD Class of 2018, Team I 16

Questions? Comments? Concerns? MRSD Class of 2018, Team I 17