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The University of Sydney Page 1William Reid | MATLAB Conference Sydney | 1
Using MATLAB/Simulink on Mars*
*+/- 401 million km
William Reid
May 24, 2016MATLAB Conference SydneyThe Museum of Applied Arts and Sciences, Sydney
The University of Sydney Page 2William Reid | MATLAB Conference Sydney | 2
• Engineer/Educator/Space Enthusiast
• The Mars Lab• The MAMMOTH Rover• MATLAB/Simulink• MAMMOTH Software• Other MAMMOTH adventures
• Engineer/Educator/Space Enthusiast
• The Mars Lab• The MAMMOTH Rover• MATLAB/Simulink• MAMMOTH Software• Other MAMMOTH adventures
Introduction/Outline
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Schools
The University of Sydney Page 4William Reid | MATLAB Conference Sydney | 4
The University of Sydney Page 5
The University of Sydney Page 6
The University of Sydney Page 7William Reid | MATLAB Conference Sydney | 7
The MAMMOTH Rover
12 x 100 W Rotary
Actuators
12 x 100 W Rotary
Actuators
4 x 1.5 kNLinear Actuators
4 x 1.5 kNLinear Actuators
Mass = 75 kgMax Footprint: 1800 mm x 1800 mmMin Footprint: 650 mm x 650 mmMax Flat Plane Clearance: 800 mm
Mass = 75 kgMax Footprint: 1800 mm x 1800 mmMin Footprint: 650 mm x 650 mmMax Flat Plane Clearance: 800 mm
12 x 97 WhLi-Ion Batteries12 x 97 Wh
Li-Ion Batteries
Vision/IMU Fused Localization
Vision/IMU Fused Localization Front and Side
Haz CamsFront and Side
Haz Cams
4 x Leg Force
Sensors
4 x Leg Force
Sensors
RBG-D Sensor (Not shown)
RBG-D Sensor (Not shown)
Abs. Encoders for each actuator
Abs. Encoders for each actuator
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Hip
Thigh
Ankle
Wheel
Body
Leg 4
Leg 3
Leg 2
Leg 1
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MATLAB/Simulink Software Development
Algorithmic Development
Software-In-The-Loop
Hardware-In-The-Loop
C++ Generation for Deployment
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Body pose vector:
Body velocity vector:
Wheel contact point velocity:
Hip and thigh joints:
Single leg kinematic model:
Actively Articulated Suspension – Algorithmic Development
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Actively Articulated Suspension – Algorithmic DevelopmentSteering Joint Drive Joint Wheel contact-point velocity estimation
Kinematic equation reduction
Re-arrange
Solve for the joint actuation rates
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Simulink Model
The University of Sydney Page 13William Reid | MATLAB Conference Sydney | 13
Simulink Model
Common interface for SIL and HIL blocks
SIL uses Simulink numerical ODE solver to run native simulation
SIL may be interfaced with external simulation applications:– Gazebo, V-REP
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The University of Sydney Page 15William Reid | MATLAB Conference Sydney | 15
Simulink Model
Common interface for SIL and HIL blocks
HIL receives and transmits inputs and outputs over LAN
Robotics System Toolbox used to interface directly with ROS
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RGB-D SensorRGB-D Sensor
Input Body VelocityInput Body Velocity
Joint Articulation
Rates
Joint Articulation
Rates
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The University of Sydney Page 19William Reid | MATLAB Conference Sydney | 19
Analytical Tools
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Other MAMMOTH Adventures – Digging Mission
MAMMOTH is used to dig a series of trenches along an operator-defined path
The Mawson Rover follows MAMMOTH to inspect each of the trenches
The University of Sydney Page 21William Reid | MATLAB Conference Sydney | 21
Multi-rover digging mission video
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Digging Mission
MAMMOTHMawson
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MAMMOTH the Farmer
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• Novel wheel-on-leg platform• Model-based design for rapid
software development• Interfacing with various
sensors/actuators/software-in-the-loop applications
• Variety of applications
• Novel wheel-on-leg platform• Model-based design for rapid
software development• Interfacing with various
sensors/actuators/software-in-the-loop applications
• Variety of applications
Conclusions
