UP MARS: Multi-Device Autonomous Robotic Excavation System

University of PortlandDonald P. Shiley School of EngineeringNovember 14, 2014

OVERVIEW

Develop extraterrestrial mining systems capable of implementing in situ resource utilization (ISRU) to reduce the difficulty of human expansion into space by mining resources off Earth

PROJECT HISTORY

2011 2012 2013

EXCAVATION ZONE

OBSTACLE ZONE

STARTING ZONE

SINGLE-DEVICE OPERATION

Images acquired from NASA RMC and WVU’s Facebook

DeviceDeployment

ObstacleTraversal

RegolithExcavation

ObstacleTraversal

RegolithDeposition

Operational Diagram

What do we do on Earth?

MULTI-DEVICE OPERATION

Advantages:- Specialization allows parallelization, reduction of individual complexities- Operational scalability

RegolithTransfer

TransportDeployment

ObstacleTraversal

Excavator Deployment

RegolithExcavation

ObstacleTraversal

RegolithDeposition

RegolithExcavation

ObstacleTraversal

OPERATIONAL DIAGRAM

One-time op.Separation op.Cyclical op.

INTENDED SYSTEM PERFORMANCE

0 1 2 3 4 5 6 7 8 9 100

50

100

150

200

250

Expected Results as Compared to WVU

Multiple, DepositedMultiple, ExcavatedSingle, DepositedSingle, Excavated

Time (minutes)

Rego

lith

Mas

s (k

g)

OUR DESIGN: TRANSPORT

Conveyor Belt

Haul Truck

Rocker Bogie

OUR DESIGN: EXCAVATOR

Bucket Wheel Excavation

MINING TEST FACILITY

0.010.11101000

20

40

60

80

100BP-1UPR Triple Dry 1

Particle Diameter (mm)

Perc

ent F

iner

40-minute round trip signal time to Mars.

WHY AUTONOMY?

State Machine Architecture- Commands given based on state driven by sensor data- Multiple sensors used- Computer vision crucial

AUTONOMOUS CONTROL

Excavator Example

OBSTACLE TRAVERSAL LOAD SENSING DOCKING/DEPOSITING

SENSORS

Computer Vision Computer VisionComputer Vision

COMPUTER VISION SYSTEM

STEREOVISION:NASA Curiosity Rover

LIDAR LASER LINE SCANNING

Oct 27: #1 systems, detail design / FDR #1Nov 13: #2 systems, detail design / FDR #2Nov 21: #3 systems, detail design / FDR #3Nov 28: #4 systems, detail design / FDR #4Dec 5: #5 systems, detail design / FDR #5Dec 12: Submit drawings for fabrication / FDR #6Jan 5: Fabricate composites / Machine in-house partsJan 12: Assemble devices / Part check, troubleshootJan 15: Agile development of autonomy code

Apr 21: Ship system to FloridaMay 18: NASA RMCMid-July: PISCES Competition

PROJECT SCHEDULE

PROJECT BUDGET System Cost ($)

Transport (Framing, Conveyor, Electronics Box, Winch, Rocker Bogey, Articulation, Drive/Wheels) 8,500 Excavator (Bucket Wheel, Conveyor, Framing, Drive/Wheels) 5,450 Electrical components 2,500 Carbon Fiber 25,000 Facility Safety Supplies 1,500 Facility Dust 250 Travel to Florida: Transportation / Lodging 15,000 Shipping Costs 1,000

TOTAL COST $59,200

STEM OUTREACH

Establish relationships with the local community for a connection that will spread far for generations.

EFFORTS TO DATE

• Refinement of Systems• Dig deeper• Better Navigation

• Swarm Technology• Martian Source-able• Cost Improvement

FUTURE RESEARCH

Dr. Thomas Greene – Provost, University of PortlandDr. Sharon Jones – Dean, Shiley School of EngineeringDr. Deborah Munro – Professor, Shiley School of EngineeringDr. Kenneth Lulay – Professor, Shiley School of EngineeringDr. Wayne Lu – Professor, Shiley School of EngineeringDr. Matthew Kuhn – Professor, Shiley School of EngineeringTim Vanderwerf – ESCO CorporationCathy Myers – Director, University Industry PartnershipsAllen Hansen – Shop Technician, Shiley School of EngineeringJacob Amos – Shop Technician, Shiley School of EngineeringJared Rees – Shop Technician, Shiley School of EngineeringPaige Hoffert – Shop Technician, Shiley School of EngineeringJeff Rook – EHS Officer, University Public SafetyPaul Luty – Director, University Facilities Planning and ConstructionJim Ravelli – Vice President, University OperationsGregory Shean – University AlumnusDr. Sup Premvuti – Kirinson Inc.Dr. David Laning – InSitu Inc.

Our Sponsors and many more

ACKNOWLEDGEMENTS

KEEP UPDATED AT:wordpress.up.edu/upmarsrobotics

Funding sources Funds allocated

Senior Project Budget $300

Shiley Student Project Travel Funds 5000

Robotics Club (pre-existing) 6,000

Oregon Space Grant Consortium 10,000

ICE Industrial In-Kind Donation (Carbon Fiber) 25,000

ASUP Funding 4,200

ASME Project Funding 1,000

ESCO Donation (3D Printing) 1,000

Alumni Donations $5,000

Total $57,500

Additional funds needed $1,700