UP MARS: Multi-Device Autonomous Robotic Excavation System University of Portland Donald P. Shiley School of Engineering November 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

Device Deployment

Obstacle Traversal

Regolith Excavation

Obstacle Traversal

Regolith Deposition

Operational Diagram

What do we do on Earth?

MULTI-DEVICE OPERATION

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

Regolith Transfer

Transport Deployment

Obstacle Traversal

Excavator Deployment

Regolith Excavation

Obstacle Traversal

Regolith Deposition

Regolith Excavation

Obstacle Traversal

OPERATIONAL DIAGRAM

One-time op. Separation op. Cyclical op.

INTENDED SYSTEM PERFORMANCE

050

100150200250

0 2 4 6 8 10

Rego

lith

Mas

s (kg

)

Time (minutes)

Expected Results as Compared to WVU

Multiple, DepositedMultiple, ExcavatedSingle, DepositedSingle, Excavated

OUR DESIGN: TRANSPORT

Conveyor Belt

Haul Truck

Rocker Bogie

OUR DESIGN: EXCAVATOR

Bucket Wheel Excavation

MINING TEST FACILITY

0

20

40

60

80

100

0.010.1110100

Perc

ent F

iner

Particle Diameter (mm)

BP-1UPR Triple Dry 1

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 Vision Computer Vision

COMPUTER VISION SYSTEM

STEREOVISION: NASA Curiosity Rover

LIDAR LASER LINE SCANNING

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

Apr 21: Ship system to Florida May 18: NASA RMC Mid-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 Portland Dr. Sharon Jones – Dean, Shiley School of Engineering Dr. Deborah Munro – Professor, Shiley School of Engineering Dr. Kenneth Lulay – Professor, Shiley School of Engineering Dr. Wayne Lu – Professor, Shiley School of Engineering Dr. Matthew Kuhn – Professor, Shiley School of Engineering Tim Vanderwerf – ESCO Corporation Cathy Myers – Director, University Industry Partnerships Allen Hansen – Shop Technician, Shiley School of Engineering Jacob Amos – Shop Technician, Shiley School of Engineering Jared Rees – Shop Technician, Shiley School of Engineering Paige Hoffert – Shop Technician, Shiley School of Engineering Jeff Rook – EHS Officer, University Public Safety Paul Luty – Director, University Facilities Planning and Construction Jim Ravelli – Vice President, University Operations Gregory Shean – University Alumnus Dr. 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