SAR 2023 - Projects

Listed below are a description of high level goals for each project
Descriptions have been added to Improve clarity of targeted goal
Priorities have been assigned in rough order of importance (I for very important / do this first, II for second, III for third … )

Arm

Task Breakdown

ID	Task Description	Subteam	Priority	Status

ID	Task Description	Subteam	Priority
ARM1	Vet / validate full mechanical build	Mechanical	I
ARM2	Select wrist mount camera ; design wrist mount	Mechanical / Software	II
ARM3	Achieve position and speed control for each arm joint	Firmware	I
ARM4	Complete joint level load testing	Mechanical / Firmware	III
ARM5	Design low level control hardware interface	Software / Firmware	III
ARM6	Wire up the arm	Electrical	II
ARM7		Mechanical	IV

ARM1
- Ensure all encoders are properly installed, all screws/bolts/retaining features are engaged, mechanical system should be ready to go
ARM2
- Look into blackfly cameras; thats what we used in the past. Select a suitable camera that interfaces well with ROS2 and the jetson that can provide operators with a good view point to line up fine object manipulation tasks
- Figure out how to mount the camera on the wrist
ARM3
- Position and velocity control needs to work on each arm joint. Ideally we want to be able to command the arm joints to move X degrees and Y speed.
- If we need to reselect/refit encoders to achieve this, determine new encoders ASAP
ARM4
- If time permits, validate that we can lift full designed loads on each arm joint
- Monitor the following parameters
  - PWM Cycle
  - Voltage In
  - Current Draw
  - Motor RPM
- Apply a controlled torque to the output shaft of the motor, see how motor characteristics behave
- Work up to max joint torque requirements, determine how close motors are to stall
- estimate actuator efficiencies (bonus)
ARM5
- Set up a very low level control interface to articulate motor joints. Something even as simple as two potentiometers (one for position, one for PWM) would be perfect
- Ensure selected firmware properly communicates with Jetson controls
ARM6
- Wire up the arm to allow for testing. Select appropriate wire lengths to allow for articulation of joints, add cable relief
ARM7
- Design and manufacture allen key tool to interface with gripper

JR

Ideal SAR Footage

Footage ID	Description	Priority

Footage ID	Description	Priority
V-ARM_A	B - Roll of assembled arm on driving drivetrain	I
V-ARM_B	Joint level testing of fixed arm	II
V-ARM_C	Whole arm moving on rover (joint level controls, very robotic feel)	III
V-ARM_D	Footage of arm picking up various small items, interacting with buttons and switches POV footage using wrist camera if possible	IV
V-ARM_E	Load testing of arm picking up 5kg	V

Drivetrain and Power Systems

Task Breakdown

ID	Task Description	Subteam	Priority	Status

ID	Subteam	Priority
DT1	Electrical	I
DT2	Electrical	I
DT3	Electrical	I
DT4	Firmware	I
DT5	Mechanical	I
DT6	Mechanical	II
DT7	Electrical	II
DT8	Software	II
DT9	Software	III
DT10	Mechanical	III

DT3
- Ensure charging process is safe, reliable and documented
DT4
- Only need velocity control working (plus direction)
DT5
- Includes LED matrix
DT7
- Need DT5 and DT6 to be completed

JR

Ideal SAR Footage (All footage collected teleoperated, not wired)

Footage ID	Description	Priority

Footage ID	Description	Priority
V-DT_A	Rover driving on flat terrain (straight, turn in place, backing up)	I
V-DT_B	Rover driving uphill (30deg incline or more)	II
V-DT_C	Rover driving over tall osbtacles (12” obstacles, independant rocks, etc)	III
V-DT_D	Rover driving on a loose sandy/dirt terrain	IV
V-DT_E	Proper E-Stop functionality demo	V

Comms

Task Breakdown

ID	Task Description	Subteam	Priority	Status

ID	Subteam	Priority
COM1	Electrical	I
COM2	Electrical	III
COM3	Software	I
COM3	Software	II

Advance comms station to allow for short range control of rover (publishing and sending commands within 500m of range)
Achieve video streaming (latency less important for now)

Autonomy

Task Breakdown

ID	Task Description	Subteam	Priority	Status

ID	Subteam	Priority
NAV1	Software	I
NAV2	Software/Firmware	II
NAV3	Firmware/Electrical	I
NAV3	Software	II
NAV4	Mechanical	III
NAV5	Software	III
NAV6	Software	IV

NAV4
- Gate refers to a goal post with ArCu codes
NAV5
- Create a simple script where the rover visually sweeps the surrounding area, detects “gate”, goes thru goal posts, then displays a visual change in LED matrix
- This would be awesome!

Ideal SAR Footage

Footage ID	Description	Priority

Footage ID	Description	Priority
V-NAV_A	POV Gimbal Footage detecting various ArCuo codes in environment	I
V-NAV_B	POV Gimbal Footage of Autonomous test script (NAV5)	II
V-NAV_C	Third Person Gimbal Footage of Autonomous test script (NAV5)	III
V-NAV_C	GNSS Localization in Google Maps API (or similar)	IV

Science

Task Breakdown

ID	Task Description	Subteam	Priority	Status

ID	Subteam	Priority
SCI1	Mechanical	I
SCI2	Science	I
SCI3	Mechanical	II
SCI4	Mechanical/Science	III
SCI5	Software	IV

SCI2
- Transposing existing information
SCI4
- Don’t need to process a full sample in one continuous operation; discontinuous is great

CB

Ideal SAR Footage

Footage ID	Description	Priority

Footage ID	Description	Priority
V-SCI_A	B-Roll of drivetrain driving around with science mechanism	I
V-SCI_B	Close up of drill and suction soil operation	II
V-SCI_C	Close up of sensor head application / sensor readouts	III
V-SCI_D	Close up of soil samples being deposited into test tubes	IV
V-SCI_E	Close up of chemical tests being applied to soil samples	V
V-SCI_F	DinoLite POV Footage / third person application	VI