Technical & Management Proposal¶
Introduction¶
Purpose of the document¶
The purpose of this document is to raise Orion Team’s willingness to participate in European Rover Challenge 2020. Thus, the document provides an analysis of ERC requirements and proposes a solution, which is a complete Mars rover. Moreover, it presents a management methodology and expected time and financial costs.
Scope of the document¶
- The document has been divided into three main chapters:
- Technical Proposal
- Management Proposal
- Time And Financial Costs Proposal
The document is meant to draft an overall process to design, construct and manage the interplanetary, Mars rover project that is to be undertaken by the Orion Team.
Acronyms¶
| Acronym | Full form | Description |
|---|---|---|
| AR | Acceptance Review | A phase in which the product is verified on customer’s infrastructure |
| COTS | Commercial, Off-The-Shelf | A product that can be purchased/obtained freely in the market and utilized in a project |
| CDR | Critical Design Review | A development phase in which the project is reviewed critically, ideally by the external entity. It is to check compilance with requirements and test a so-far developed device. |
| FOV | Field of View | An area that is perceived by a camera |
| HMI | Human-Machine Interface | Any interface that facilitates sending/receiving commands to/from software or hardware |
| SW | Software | A set of commands to be executed on a computer, expressed in a human-readable format |
| SFR | Simple Fetching Rover | A type of a Mars rover that supposed to quickly transport an object, e.g. a boxed specimen, to the ground control |
Applicable documents¶
| Reference ID | Title | Short document description |
|---|---|---|
| [ERC-2020] | European Rover Challenge 2020 - STUDENT Rules | Rules and formula of ERC2020 |
Technical proposal¶
Task analysis and resulting requirements¶
- Science task
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- Maintenance task
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- Collection task
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- Autonomous task
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- Rover safety
| REQ-ID | Requirement name | Description | Bidder’s comment |
Proposed solution¶
ADD STUFF AND PICTURES, LOTS AND LOTS OF PICTURES WHEN I GET THEM
- Mechanical solution
Our rover solution is based on a four wheeled chassis divided longitudinally into two sections connected by a free axle. The front section will be a base for the arm. The back section will house the main computer, measurement equipment, networking and batteries. The RF antenna, emergency power button and indicator light will be mounted on a straight vertical mast no higher than one meter. The arm and the manipulator will include six separate axes of movement, including one for rotation of the whole assembly, two to drive first and second stages and three for the manipulator.
The chassis propulsion will consist of four BLDC motors and motor drivers from hoverboards. The motors and drivers are rated 36V 10A. This solution is self-contained, provides simple maintenance, high efficiency due to the lack of gearing, is easily replacable and offers significant torque.
- Electronics solution
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- Communication solution
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- Safety solution
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- Data and measurements solution
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- Navigation solution
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Feasibility study and integration plan¶
Schedule and deliveries¶
| Milestone ID | Name | Time | Description |
|---|---|---|---|
| SCH-MLST-0010 | Milestone 1: Chassis | \(T_0\) + 2 months | By the end of the milestone the rover shall move freely and reliably as a remotely controlled vehicle. Software shall be capable of registering logs, including power consumption and angular velocities of each wheels. A preliminary PID controller for each wheel shall be implemented. |
| SCH-MLST-0020 | Milestone 2: Manipulator | \(T_0\) + 4 months | The rover shall be equipped with a fully functional manipulator, capable of grasping objects and operate safely and reliably. The ground control shall retrieve feedback data such as position of each of robotic arm segments, crushing strength of the gripper. A basic automation, e.g. deploying an arm into an initial operation position, shall be implemented. |
| SCH-MLST-0030 | Milestone 3: Science, collection, maintenance tasks | \(T_0\) + 6 months | The rover shall be able to store specimens samples and perform basic scientific trials. The rover shall be also to collect a cache object fulfiling the requirements. The rover shall be able to all defined 3 tasks with a user intervention. Rover automation shall be improved to the degree some manipulation operations will be done automatically such as approaching to an object. The rover shall be able to recognize, categorize and label basic maintenance-related objects. |
| SCH-MLST-0040 | Milestone 3: Autonomy task | \(T_0\) + 8 months | The rover shall be able to traverse the terrain in a semi-autonomous manner. Path routing and hazard categorization based on simple conditions shall be implemented. The rover shall traverse automatically a designated path, without obstacle finding abilities. The Team shall have a solid basis and undestanding in using IMU and VO to further improve autonomy. |
| SCH-MLST-0050 | Milestone 3: Autonomy task | \(T_0\) + 11 months | The rover shall be a well equipped robotic platform capable of performing several geological task, help an astronaut, collect cache objects and traverse terrain in at least semi-automated manner. All tests defined in VTP shall be successfully completed. |
| Name | Type | Deliverable | Delivery date | Notes |
|---|---|---|---|---|
| PROP | Document | Proposal | Initial submission | Announcing willingness to participate in ERC |
| PREP | Document | Preliminary Report | Initial submission + 6months | Part of Team’s admission process |
| CDRV | Video | Critical Design Review video | T - 3 months | Part of Team’s admission process |
| FREP | Document | Final Report | T - 2months | Final part of Team’s admission process |
| VTP | Document | Verification Test Procedure | Along with FREP | A set of test descriptions. |
| TPR | Document | Test Procedure Report | Along with FREP | Final results of tests defined in VTP |
Management proposal¶
Background¶
Orion Team participated in European Rover Challenge twice.
Project Organization¶
Key Personnel¶
| Name | Function | Experience |
|---|---|---|
| Marcin M. | Supervisor, MacGyver | Veteran of ERC (2 times), PhD Eng. of Electronic Engineering, employed as a assistant professor at LUT |
| Wojciech O. | Project Manager, Software Developer | Veteran of ERC (1 time), a student of Software Engineering, interests in statically typed, compiled, programming languages |
| Przemysław M. | Vice Project Manager, Software Developer | PLACEHOLDER HERE |
| Krzysztof K. | External Expert | Veteran of ERC (2 times), Bachelor of Biomedical Engineering, employed as a software developer in space industry, division of Payload Data Processing |
ADD MORE DATA AND EXPERIENCE TO THE TEAM
ADD FINANCIAL SOURCES (ORION, EMBIQ, POLLUB)
Time And Financial Costs Proposal¶
| REQ-ID | Task description | Time estimation (hours) |
|---|---|---|
| CST-TIME-0010 | Preparation of documentation | 120 (24h per document) |
| CST-TIME-0020 | Preparation of CDRV | 30 (shooting + editing, 3 working days) |
| ID | Item name | Category | Price estimation in Euro (\({\pm\sigma}\)) |
|---|---|---|---|
| CST-EURO-0010 | Aluminum and welding | Structure components | 250 \({\pm}\) 50 |
| CST-EURO-0020 | Motors and transmission | Propulsion | 300 \({\pm}\) 50 |
Project Commercialization¶
Development of BLDC driven mobile platforms for use in exploration, transportation, industry and recreation.
