Micro Rover Micro Rover Micro Rover Micro Rover 창의 창의 설계 설계 II II 창의 창의 설계 설계 II II 장영근 장영근 교수 교수 한국항공대학교 한국항공대학교 [email protected]
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Micro Rover II [email protected]
Contents(1/2) ( / )IntroductionExploration of Mars Mars Exploration Rover Lunar Exploration Rover p
Project Objective Requirements & Constraints Micro Rover Architecture Micro Rover Operation
2
Contents(2/2) ( / )Micro Rover SubsystemOn Board Computer Subsystem Communication Subsystem Localization Subsystem oca a o Subsys e Motion Subsystem Mechanical & Structure Subsystem Hazard Detection Subsystem Power Subsystem
Project Progress Project Schedule
3
Introduction
Exploration of Mars p1962 1 1964 4 , , ,
Rover ,
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Mars Exploration Rover(1/2) p ( / )(Sojourner) NASA 1996 12 4 1997 7 4 3 ,
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Mars Exploration Rover(2/2) p ( / )(Spirit), (Opportunity) NASA : 2003 6 10 2004 1 4 :2003 7 8 2004 1 25 , 90 1700
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Lunar Rover(1/3) ( / ) Lunokhod 1 1970 11 10 1970 11 17 , , X-ray 10540m 20000 3 10
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Lunar Rover(2/3) ( / ) Lunokhod 2 1973 1 8 1973 1 15 , , , 37km 80000 86 4
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Lunar Rover(3/3) ( / ) ATHLETEAll-Terrain Hex-Legged Extra-Terrestrial All Terrain Hex Legged Extra Terrestrial Explorer NASA 2010 6 10km/h 35 70%
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Project Objective j jMicro Rover Micro Rover Option : (Specified Mission)
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Requirements & Constraints q 2kg , 15cm GPS RF RF GPS (Limited Cost) (Schedule)
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Micro Rover Architecture
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Micro Rover Operation(1/4) p ( / )Micro Rover Operation
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Micro Rover Operation(2/4) p ( / )Concept of Operation
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Micro Rover Operation(3/4) p ( / )System Block Diagram ExampleNS Sensor ModuleLED IR Super p sonic GPS
CSRF
GPS Satellite
OBC ModuleMCU Motor Controller
Payload ModuleDCC
GS
EPSBattery
Power
Sensor Data
StructureDC Motor Servo Motor Reguator Control Signal Communication Data
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Micro Rover Operation(4/4) p ( / )Data Interface Example
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Micro Rover [email protected]
On Board Computer Subsystem (1/4)Command Data HandlingCommand Subsystem Subsystem
Command , Telemetry
Subsystem
OBCHandling
Subsystem
Subsystem S b t
Command & D t Flow C d Data Fl
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On Board Computer Subsystem (2/4)OBC Block Diagram Example0.08W 0.08W 0.15W
NSLED Sensor Supersonic Sensot Distance data IR Sensor
On O / Off
On O / Off
OBC PayloadMCU Digital Data Camera Module Mission On / Off Register 1.50W Digital Data NS Data Servo Motor Controller 0.10W DC Motor Controller 0.10W Digital Data Memory 1.25W GPS Data 0.80W RPM Data
Structure
Servo Motor
RPM Data DC Motor
Digital Data
CSGPS Module
Digital Data GS Communication
EPSRF Module Digital Data (image) 0.20W 0.17W LM2575-5.0 5V LM317T 3.3V LM317T 1.5V
0.40W
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On Board Computer Subsystem (3/4)OBC Schematic ExamplePower 1.5V EPS RF Power DCC Mode Signal Power Transmit Signal SHOT Receive Signal MODE USB Payload J2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 G S GPS CS 3.3V J3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 5V
OBC
Power Position data CS
SMC S C Power Contol Pulse Structure
DMC Power Contol Voltage Structure
VCC PE0 PE1 PE2 PE3 PE4 PE5 6 PE6 PE7 GND AREF PB0 PB1 PB2 PB3 PB4 PB5 PB6 PB7 AGND CON20
VCC PF0 PF1 PF2 PF3 PF4 PF5 PF6 6 PF7 GND AVCC PD0 PD1 PD2 PD3 PD4 PD5 PD6 PD7 AGND CON20
SS. Sensor Power Input Pulse Output Signal NS IR Sensor 1 Power Output Signal NS LED Circuit Power Output Signal NS NS IR Sensor 2 Power Output Signal
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On Board Computer Subsystem (4/4)OBC Data Flow Chart Example
og al An
Analog
Output O
Output O
I/O
og al An
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Communication Subsystem(1/4) y ( / )GS Architecture Network Communication Architecture Example
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Communication Subsystem(2/4) y ( / )Ground Station()Rover Data Rover Earth station, ground terminal, earth terminal , airborne, shipborne
Uplink : Rover Downlink : Rover Line-of-sight : [email protected]
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Communication Subsystem(4/4) y ( / )GS Diagram ExampleOBCATmaga128 Digital Data Register Digital Data Memory Image Data Instruction Data
EPSRegulator LM2575 5V
Ground StationDigital Data Analog ADC GS Processing DAC Analog Tranceiver
RF BIM2-433-64Analog Digital Data ADC Tranceiver Analog DAC Analog Digital Data RF Processing
Digital Data
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Localization Subsystem yGPS Data , , GPS
4 Rover Tracking Example
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Motion Subsystem(1/4) y ( / )Rover Micro Controller, Controller Servo Motor, Motor Controller DC Motor Motor
Servo Motort on C ro l
Micro Controller
Co
m
m an
d
Motor Controller C ll
Control
DC Motor
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Motion Subsystem(2/4) y ( / )Micro ControllerController Servo Motor Motor Controller
Servo MotorRover ( )
Motor ControllerDC M t Motor ,
DC Motor Rover
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Motion Subsystem(3/4) y ( / )Motion Subsystem Diagram Example
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Motion Subsystem(4/4) y ( / )Software Algorithm
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Mechanical & Structure Subsystem (1/4) Subsystem (Wheel ) ()
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Mechanical & Structure Subsystem (2/4) Wheel type Wh l Wheel
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Mechanical & Structure Subsystem (3/4)Wheel trade-off Example a pe
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Mechanical & Structure Subsystem (4/4)Mechanical & Structure Configuration Ultrasonic Example RF & GPS PCB sensorCamera MCU & SMC PCB No.2 Infrared sensor
Battery
Regulator & shaft No.1 Infrared sensor Servo motor DC motor DMC PCB
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Hazard Detection Subsystem y(IR ) Micro Rover Micro Rover
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Power Subsystem(1/3) y ( / )Electrical Power Rover , , , Design processPower source ex) solar cell mission type, average load requirement Energy storage ex) battery average and peak load requirement Power regulation and control mission life, regulating mission load life
Power budget subsystem power Power budget
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Power Subsystem(2/3) y ( / )Power budget Elements CS ADCS Power(W) 20 150 200.25 (100.25) 25 15 Details(W) Antenna Actuator Gyroscope Star sensor Heater Temp. Temp sensor Camera 410.25 (310.25 ) * eclipse(daylight) 20 100 50 10 200 (100) 0.25 0 25 15
TCS C&DH Payload Total
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Power Subsystem(3/3) y ( / )Power Interface Example
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( S l (or Solarcell) : ll)
: : Wheel :
Link :
: GS Rover Command signal Controller(atmega128) : command data-handling command, data handling Servo : GPS Module : Option sensor(IR sensor ) : camera O ti (IR ,[email protected]
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(1/2) ( / ) Controller (Atmega128) Compiler : AVR Edit Download Program : Ponyprog2000 System Clock : 14.7406 MHz I/O : 53Programmable I/O Lines ATM128 128K Bytes of In-System Reprogrammable Flash 4K Bytes I l 4K B Internal SRAM 4K Bytes EEPROM 4.5V to 5.5V Operation Range p g Up to 64K Bytes Optional External Memory Space SPI Interface for In-System [email protected]
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(2/2) ( / ) GPS Module (UIGGUB01-R004) - 1m Raw - 10Hz Raw - 18 GPS GALILEO : : - Max. update : 4Hz - Sensitivity : Acquisition : -160 dBm 160 Tracking : -160 dBm - Operating Temp. -40C to 85C - Protocol : [email protected]
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Project Progress(1/3) j g ( / ) Mission Objective
Concept of Operations(CONOPS) Design
Requirements Analysis : :
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Project Progress(2/3) j g ( / ) System Design ( ) (, , (CONOPS) , , spec spec.
System Design Review (SDR)Mission objective system design , 6 [email protected]
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Project Progress(3/3) j g ( / ) Critical Design Review (CDR) integration 10 CDR
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Project Schedule(1/2) j ( / )
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Project Schedule(2/2) 1~3 1 3 4~5 6(109) 7 8~9 10(116) 11~12 13(1127) 14~15 , (SDR) (CDR) Prototype , Design Contest ,
: / 30%, 30%, Design Contest 30%, 10% [email protected]
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Brain storming ! TA
(system engineer), TA : 110-1 (, ) ( , ) 30 ( AM 9:00~11:50) (10): (5): (5):[email protected]
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Micro Rover 1 Rover . 385 (1 55 X 7)
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() ( ) PPT + ( ) (SDR) (CDR) ()
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Brain storming //
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(1/2) ( )
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(2/2) ( ) 2002121087 2003121115 2004121007 2004121115 2004121167 2004121233 2007121060 2002121176 2003121139 2004121009 2004121128 2004121196 2006121073 2007121146 2002121218 2003121182 2004121027 2004121149 2004121203 2006121106 2007121186
1 1 1 1 1 1 1 2 2 2 2 2 2 2 3 3 3 3 3 3 3
2003121081 2003121208 2004121003 2004121036 2004121217 2006121232 2007121196 2003121105 2003121253 2004121077 2004121157 2004121223 2007121004 2007121227
4 4 4 4 4 4 4 5 5 5 5 5 5 5
1
4
2
5
2003121111 2004121089 2004121153 2004121160 2004121227 2007121010 2007711011
6 6 6 6 6 6 6
3
6
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