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© 2014 Carnegie Robotics LLC.

Carnegie Robotics LLC.#10 40th Street

Pittsburgh, PA 15201

Materials contained are proprietary to Carnegie Robotics LLC.

Recipient, by accepting this document, agrees that neither this document nor the information disclosed herein nor any part thereof shall be reproduced or transferred to other documents or used or disclosed to others for any other purpose except as specifically authorized in writing by Carnegie Robotics LLC.

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Subsystem situational decompositionAction Options/Steps to

accomplish action/Functions

Parameters needed complete action Parameter specifications Risks associated with action Mitigation of risk

Deploy Robot

Person lifts the robot Handles Two on either side Weight consideration when lifting robot

>1 person is used to lift the robot

Mini-crane Holes for hooks/straps Hole must be at least 1.5" to fitstandard strap hooks

Unstable control of the robot while its hanging from straps connected to mini-crane.

There needs to be 3 hookpoints in order to safely move the robot using a crane

Drop from transportation platform Able to withstand impact

Bumpers/suspension to absorb shock Module safety when beingdropped

Reinforced chassis and shock absorption

Durable Chassis Safety to Personnel Needs to meet Military safetystandard MIL 883E

RampBraking system with manual release (parking brake)

This can be in the form of a buttonthat engages the brake when thebutton is not pressed and disengageswhen the button is pressed.

Loose control of vehiclewhile it is descending fromthe ramp

Manual brakes/emergency brakesLimited/no power to the motors ->->"coasting function" or clutch

Motor controller to control descent speed Elmo motor controller

Power-up

Pre-inspection Visual inspection of robot Check off sheet must be completedVisual inspection is not adequate in identifyingall malfunctions.

Perform electrical self tests to identifyother malfunctions

Power-up logic

Robot power bb2590 Battery shorts circuits Fuse to break circuit

Switch on robot chassis (computer/logic systems)Key/toggle switch

Self Tests Check all subsystem functionality NOT including drive system (motors)

Establish communications w/ base station and payload

All systems power-up Motor controller initialization and test Check motor control input range and controller configuration.

Disengage Emergency Stop switch Emergency stop malfunction

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Drive

Receive drive command

Channel in control signals from CPU to microcontroller Serial/Ethernet/bus Noise in the system

Proper signal conditioning and isolation

Interpret control signals and send PWM to motor controller Arduino/MSP430/other uC

Control brakes intelligently Arduino/MSP430/other uC

Failsafe mode for loss of communications

Detect loss of communicationRun failsafe routine (deceleration)Wireless E-stop

Packet loss Apply failsafe

Power Motors Supply power to motor controllersBattery railsMotors: ec60 maxoms Limited slip to turn

Make sure motors are powerful enoughto cause slipping

DC/DC converters

Monitor Power use/motor statusMonitor speed Optical encoders Monitor power usage Arduino/MSP430/other uC Monitor stall conditions Arduino/MSP430/other uC

Navigation

View obstacles LED lighting Lighting malfunction Infrared failsafeCamera subsystems

Acquire environmental data Ultrasound/LIDAR Environmental interferenceAnalyze weather conditions before operation

Track robot state

Track motor odometry Wheel slippage causes falseodometry readings

Use GPS to confirm odometry readings

Obtain accelerometer/gyro data

Obtain GPS data Poor or unavailableGPS connectivity

Overcome Stairs/Obstacles

First Down step

Manage tippingIMU data about system state Faulty IMU readings redundant IMU?

Partial automation (autopilot) Unstable control loop Vigorous control loop testing

Belt tension adjustment Electronic control of track tension Active suspension elements

Situational limits/caps limited max speed up/down stairs

Managing stairs/obstacles

Track tread sufficient for step grip Track slippage

Overcoming obstacles

Slopped track front Independent suspension elements Sealed/rugged undercarriage Rugged/durable tread material

Sufficient power/torque to overcomeobstacles

The robot might get stuck or become inoperable without enough torque

Situational awareness

Slopped front for small obstacles

Action Options/Steps to accomplish action/Functions

Parameters needed complete action Parameter specifications Risks associated with action Mitigation of risk

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Radio Transmitter Drop

Radio Storage/Transport

Securely holds radiosDroppable on command Dropping mechanism fails Reliable radio

despenser design

Charge radios

Radio Use

Determine drop necessity

Radio strength/packet loss measurement Severe packet loss Intelligent radio

droppingManual activation Too many radios are dropped to reach

desired rangeIntelligent radio dropping

Distance-based drop (linear distance to last node) Situational drop (stair head, sharp turns, etc,)

Too many radios are dropped to reach desired range

Intelligent radio dropping

Initialize radios before drop Radio power-up sequence & trigger Radio doesn't power up Routine maintanence of the radios

Communications test before drop

Radio requirements

Fully charged/self contained Charging failsCheck all radios for full charge before departing

Standby/low-power mode while on robot Self-righting/omni-directional antenna(s)

Low cost/semi-disposable Unit ends up being too expensiveThorough benchmarking for lowest cost solution

Mesh protocol Status info for each node (batter, link, etc. Rugged/durable tread material Long battery life Battery failure Buy high quality, long

lasting batteries

Action Options/Steps to accomplish

action/Functions

Parameters needed complete action

Parameter specifications Risks associated with action Mitigation of risk

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Payload Use

Attachment means

Rails

Electrical connectionsPower requirements Insufficient power is supplied to the

systemThorough worst case testing

regulated vs. unregulated power monitoring/limits Too much current is pulled from the

battery and is critically damagedReal time power data and electrical limits

Data connectionsEthernet RS-485

Bays

Physical size Payload is not the right size and doesn’t fit in the module bay

Bay count Number of possible modules

Directions of expansion

How payloads can extend outside the bounds of the bay Provisions for disjoint payload connections (e.g. rear radio deployment module)

Software

Protocols Physical (Ethernet) & layer 2 (UDP)

API's

Systems that payloads can/cannot interact with or control Make computational power available to payloads

Provide comms to operator

Action Options/Steps to accomplish

action/Functions

Parameters needed complete action

Parameter specifications Risks associated with action Mitigation of risk