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VITL Critical Design Review (Sec 2.1). Thursday, September 25, 2014. Team Members: Ryan Hickman, Chris Homolac, Jen Krupp, Kyle Ligon, Heather Love, Alex Paulson, Kathryn Rash, Veronica Vertucci. Objectives Overview.

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VITL Critical Design Review (Sec 2.1)

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Vitl critical design review sec 2 1

VITLCritical Design Review (Sec 2.1)

Thursday, September 25, 2014

Team Members: Ryan Hickman, Chris Homolac, Jen Krupp, Kyle Ligon,

Heather Love, Alex Paulson, Kathryn Rash, Veronica Vertucci


Objectives overview

Objectives Overview

Design and build a prototype for the locomotion system of a vehicle exploring a Europa-like surface capable of traversing 1 km of icy terrain in 7 days with characteristic obstacles.

Vehicle for Icy Terrain Locomotion

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Characteristic mission profile

Characteristic Mission Profile

Aerial View

Vehicle for Icy Terrain Locomotion

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Characteristic mission profile1

Characteristic Mission Profile

Side View

Not to Scale

Vehicle for Icy Terrain Locomotion

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Theoretical europa mission tem

What makes a Europa mission?

Surface Characteristics

Ice

Friction (µ~0.55) and Hardness (~6 mohs)

Obstacles

Inclines, Bumps and Ruts

Environment

Low Temperature (100K)

Reduced Gravity (1/6 g)

Power Supply challenges-Solar power not viable

Radiation (1MRad)

Low Pressure (10-6 Pa)

Scientific Objectives

One of the best candidates for liquid water and life beyond Earth

3 proposed instruments (camera, magnetometer and radiation sensor)

A Theoretical Europa Mission (TEM) would accommodate all of these.

Theoretical Europa Mission (TEM)

Vehicle for Icy Terrain Locomotion

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Tem simplification

The VITL locomotion will concentrate on:

Surface Characteristics (previously shown)

Simplified Environment

Low Temperature

100K manufacturing and testing is infeasible due to resources and experience.

Instead vehicle will be designed for 0°C operation

Entire vehicle can be tested on a “cold” Earth day on frozen lake

Design methods can be extended for TEM using materials for 100K operation

Reduced Gravity

Accommodate mass of a traditional power supply

NOT worrying about pressure or radiation on Europa (out of scope)

Simplified Scientific Objectives

Accommodate mass of 10kg payload

Additional locomotion and sensing requirements

These form the design requirements of the Engineering Design and Manufactured Unit (EDMU) for Senior Projects

TEM Simplification

Vehicle for Icy Terrain Locomotion

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Top level system requirements

Top Level System Requirements

Vehicle for Icy Terrain Locomotion

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Requirement flow down from tem to edmu

Requirement Flow-down from TEM to EDMU

TEM EDMU

Vehicle for Icy Terrain Locomotion

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Requirement flow down from tem to edmu1

Requirement Flow-down from TEM to EDMU

TEM EDMU

Vehicle for Icy Terrain Locomotion

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Vitl critical design review sec 2 1

Requirement Flow-down from TEM to EDMU

TEM EDMU

Vehicle for Icy Terrain Locomotion

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Vitl critical design review sec 2 1

Requirement Flow-down from TEM to EDMU

TEMEDMU

Vehicle for Icy Terrain Locomotion

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Edmu system breakdown

EDMU System Breakdown

Vehicle for Icy Terrain Locomotion

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Edmu preliminary layout

EDMU Preliminary Layout

Science Payload

TEM Power (dummy mass)

Batteries

Sonar and

Proximity

Sensor

Laser Range

Suspension

and Drive train

Attachments

Motor Controller

Thermal Strip

Vehicle for Icy Terrain Locomotion

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Structures edmu layout

Structures EDMU Layout

Accelerometer and

Rate Gyro

ThermalStrip

For Analysis, assume Aluminum alloy

Receiver, C&DH

Board, and Motor Controller

Vehicle for Icy Terrain Locomotion

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Structures edmu layout1

Structures EDMU Layout

Science Payload

TEM Power (dummy mass)

Batteries

Sonar and

Proximity

Sensor

Laser Range

Thermal Strip

and Motor Controller

Suspension

and Drive train

Attachments

Vehicle for Icy Terrain Locomotion

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Electrical interconnects block diagram

Electrical Interconnects Block Diagram

Vehicle for Icy Terrain Locomotion

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Friction analysis

Fw

Ff

Fslip

FN

φincline

Friction Analysis

  • Required Coefficient of Friction

  • μs = 0.36397

    • Difficult to design to

Vehicle for Icy Terrain Locomotion

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Penetration analysis

F

Fspike

α

Fslide

FN

φincline

Penetration Analysis

  • Spike Penetration

    • Easy to design to

    • Fspike > Fslide

    • mrover = 70 kg

    • 20° Inclination

    • α < 70°

Vehicle for Icy Terrain Locomotion

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Design system calculations

h

w

θroll

Design System Calculations

  • Equivalent Earth Inclination

φinclination,Earth = 2.62°

  • Rollover Angle

Vehicle for Icy Terrain Locomotion

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Structures load analysis load distribution

Structures Load Analysis – Load Distribution

Science Payload

Min FOS = 22

TEM Power (dummy mass)

Vehicle for Icy Terrain Locomotion

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Cdr prototyping

CDR Prototyping

  • Traction tests

    • Surface hardness

    • Spike penetration

    • Slippage

Vehicle for Icy Terrain Locomotion

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Acronym list

Acronym List

  • ADC: Analog to Digital Converter

  • C&DH: Command and Data Handling

  • COTS: Commercial Off The Shelf

  • CPU: Central Processing Unit

  • EDMU: Engineering Design and Manufactured Unit

  • RF: Radio Frequency

  • RHU: Radioisotope Heater Unit

  • RTG: Radioisotope Thermoelectric Generator

  • RX: Receiver

  • TEM: Theoretical Europa Mission

  • TX: Transmitter

  • WBS: Work Breakdown Structure

Vehicle for Icy Terrain Locomotion

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References

References

  • Trudy Schwartz

  • SolidWorks 2005

  • Vable, Madhukar. Mechanics of Materials.

  • www.onlinemetals.com

  • www.matweb.com

  • www.analog.com

  • www.pcb.com

  • www.thomasnet.com

  • www.globalspec.com

  • www.servosystems.com

  • www.sensotech.com

  • www.omega.com

  • www.powerelectrics.co.uk

  • www.quadratureencoders.com

  • www.panasonic.com

  • www.powerstream.com

  • www.all-battery.com

  • www.media.popularmechanics.com

  • www.maxon.com

  • www.nasa.gov

Vehicle for Icy Terrain Locomotion

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Quick links

Objectives Overview

Theoretical Europa Mission (TEM)

Top Level System Requirements

EDMU Preliminary Layout

Electrical Interconnects Block Diagram

CDR Prototyping

Quick Links

Vehicle for Icy Terrain Locomotion

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