P07201 Project Readiness Package
Table of Contents
This document describes and serves as a template for preparation of a Project Readiness Package.
The objective of the Project Readiness Package is to document:
- Customer needs and expectations
- Project deliverables (including time frame)
- Personnel / organizations affiliated with the project
It will serve as the primary source of information for students necessary during Phase 0 (Planning) to develop a SD I plan and schedule including specific deliverables and due dates. The Project Readiness Package will also support Faculty evaluation of project suitability in terms of depth, scope, and student / faculty resources by discipline.
- Project Name
- Motor Module - Robotic Platform 10 kg (RP10)
- Project Number
- Vehicle Systems Technology
- Start Term
- End Term
- Faculty Consultant
- Jeff Webb, Prof. George Slack
- Faculty Guide
- Dr. Wayne Walter
- Primary Customer
- Dr. Hensel (ME Dept. Head)
- Secondary Customers
- Dr. Crassidis (ME), Dr. Hu (CE), Dr. Yang (CE), Dr. Sahin (EE), and Dr. Walter (ME)
- Customer contact information
- Dr. Edward Hensel, PE
- Professor and Head
The mission of this student team is to develop a fully functional, scalable motor module subsystem for use on the 10 kg (RP10) robotic vehicular platform. The team must provide complete documentation of the analysis, design, manufacturing, fabrication, test, and evaluation of this subsystem to a level of detail that a subsequent team can build upon their work with no more than one week of background research.
|Discipline||Number of Students||Skills Required|
|EE||4||Ability to work with microcontrollers, DC motor controllers, encoders, power supplies et. al; and their interaction with each other and mechanical systems.|
|ME||2||Ability to characterize power transmission within mechanical systems, and to work with the interaction between electrical and mechanical systems.|
Continuation, Platform, or Building Block Project Information
The mission of the Vehicle Systems Technology Track of projects is to develop a land-based, scalable, modular open architecture, open source, full instrumented robotic/remote controlled vehicular platform for use in a variety of education, research & development, and outreach applications within and beyond the RIT KGCOE. The collection of projects should use an engineering design process to develop modules and subsystems that can be integrated by subsequent senior design teams. This project, P07200, serves as the foundation or starting point for a series of senior design projects.
The mission of each student team contributing to this track is to develop or enhance a particular subsystem for a robotic vehicular platform, and provide complete documentation of the analysis, design, manufacturing, fabrication, test, and evaluation of each subsystem to a level of detail that a subsequent team can build upon their work with no more than one week of background research.
This roadmap will be initiated during the Fall Quarter, 2006-1, with three closely related projects. Additionally, these three projects have significant overlap with projects from the Aerospace Systems and Technology Track (P07100), and the Systems and Controls Track (P07300).
Principle Sponsor or Sponsoring OrganizationGleason Foundation
Detailed Project Description
- The motor module must be scalable, and specificaly shown to have the ability to be scaled down to 1kg.
- The motor module must be modular (Modules must be inter-changeable between platforms of same scale)
- The motor module must be open architecture (All COTS components must be available from multiple vendors)
- The motor module must be open source (All drawings, programs, documentation, data, etc. must be open source published in standard formats)
- The motor module must be manufacturable in lots as small as one and as large as 10.
- The motor module shall NOT be designed assuming that it is targeted for a commercial product.
- The motor module design shall be available for use and adoption by other commercially oriented SD teams.
- The motor modules of the robotic platform shall be re-configurable into many different configurations. For example, it should be EASY and LOW COST to take expensive drive components for individual wheel drives and assemble them into 3-wheel, 4-wheel, and 6-wheel configurations, with the number of driven wheels ranging from 1 to 6.
- The motor modules must be able to be constructed as either idler or driven modules. They must also be easily converted from idler to driven and back.
- The results of this platform should increase the reputation and visibility of the RIT SD program and our robotics technology "skill level" on a national basis.
- This robotic platform must be clearly impressive to any student, parent, engineer, mentor, or individual familiar with the US FIRST robotics competition.
Design, build, and fully characterized working prototypes of 4 idler modules and 3 powered motor modules. See the "Detailed Course Deliverables" section for more specifics.
Customer and Sponsor Involvement
The team will be expected to carry out the vast majority of their interactions with the Team Guide (Dr. Walter), and the teaching assistant (Jeff Webb). Dr. Hensel (The sponsor and customer) will be available for a series of meetings during the course of the project. Dr. Hensel will meet with a group of teams during the beginning of SD1 to lay out common goals, objectives, and philosophies for the sequence of projects being sponsored by the Gleason Foundation gift to the ME Department. It is anticipated that Dr. Hensel will meet with the team (or multiple related teams) for 2 hour meetings approximately 4 times during senior design 1, and twice during senior design 2. Dr. Hensel will participate with team communications electronically, through the web site as well.
- The design shall comply with all applicable federal, state, and local laws and regulations. The team's design project report should include references to, and compliance with all applicable federal, state, and local laws and regulations.
- The design shall comply with all applicable RIT Policies and Procedures. The team's design project report should include references to, and compliance with all applicable RIT Policies and Procedures.
- Wherever practical, the design should follow industry standard codes and standards (e.g. Restriction of Hazardous Substances (RoHS), FCC regulations, IEEE standards, and relevant safety standards as prescribed by IEC, including IEC60601). The team's design project report should include references to, and compliance with industry codes or standards.
Project Budget and Special Procurement Processes
- The total development budget for the Vehicle Systems Technology Track is not anticipated to exceed $15,000 during AY06-07 and 07-08 for first article prototypes of each project. The distribution of this amount between projects in the roadmap is left to the discretion of the Coordinator.
- The cost to manufacture subsequent copies of the final design, sub-assembly, or part should decrease with increasing volume.
- The cost to manufacture subsequent copies of the final design, sub-assembly, or part should decrease with decreasing levels of instrumentation, but shall remain capable of being retro-fitted with instrumentation after initial manufacturing.
- The cost to manufacture subsequent copies of the final design, sub-assembly, or part should be borne by the team, faculty member, research project, company, or department desiring to use the item for their research and development work.
- The design team is not expected to account for the nominal labor costs of RIT shop personnel as long as their time commitment does not greatly exceed that of other typical SD projects.
- The design team is not expected to account for the nominal labor costs of TA's, Faculty, or other staff assigned to assist and guide then team, as long as their time commitment does not greatly exceed that of other typical SD projects.
- The design team is not expected to recover the investment costs associated with the platform development.
Intellectual Property Considerations
Everything associated with this project is public domain.
- Motor Module Specifications
- The motor module must be capable of integrating onto a platform with future features and projects such as data acquisition, data logging, advanced user interface, power and control of peripherals, and autonomous control.
- The motor module must be designed in such a way as to be easily modified for future work with active steering.
- The motor module must be easy for a third party to understand, use, and modify.
- The motor module must have some way to determine the angular speed and total number of rotations of the motor (e.g. an encoder).
- The speed of the wheel must be easily controlled.
- The preferred motion control technology is drive by wire.
- Each motor module must be addressable and able to "talk" with a central processor.
- A braking system must be included. The team will research braking systems and determine requirements. These requirements will mostly be driven by safety considerations for humans, facilities, and the motor modules themselves (in that order). Team decisions must be approved by the coordinator.
- The preferred energy source is rechargeable DC battery.
- Each module will have a steady-state run time of at least one hour.
- 10kg Robot Specifications
The motor modules must be able to meet the following requirements when used together on a platform:
- The range of the robotic platform shall be the floor of 9-2230 the Mechanical Engineering Robotics Lab in the James E. Gleason Building, RIT Bldg #09.
- The platform must be functional in the two different configurations shown below.
- The design enveloped for relevant engineering specifications for this platform are tabulated below.
|Model||Size (m)||Tare Weight (kg)||Payload Capacity (kg)||Speed (m/s)||Turning Radius (m)||Remote Range (m)|
|R10||0.30 x 0.15 x 0.30||9||10||2.25||0.30||30|
- The top speed of the vehicular platform should be scaled with its size, and should be safe for its operating range and environment.
- The vehicular platform shall have on-board and remote "kill switches".
- Human safety takes precedence over all other design objectives.
- Building and facilities safety takes precedence over robotic vehicle platform damage.
- The vehicle should be robust to damage by inexperienced operators.
Detailed Course Deliverables
Note that this level describes an absolute level of expectation for the design itself, and for the hardware. However, the student team must also meet all requirements related to analysis, documentation, presentations, web sites, and posters, etc. that are implicit to all projects.
See Senior Design I Course Deliverables for detail.
- The following tasks should be completed by the end of SD1:
- Build the baseline system provided by the Teaching Assistant.
- Fully characterize the baseline system. This will
include, but is not limited to:
- Design a new motor module system.
- The following tasks should be completed by the end of SD2:
- Deliver working prototypes of 4 idler modules and 3 powered motor modules.
- Fully characterize the prototypes in the same manner as the baseline system.
Preliminary Work Breakdown
The following roles are not necessarily to be followed by the team. It is merely to justify the number of students from each discipline. The student team is expected to develop their own work breakdown structure, consistent with the general work outline presented in the workshop series at the beginning of SD1. However, the customer requests a level of detail NO GREATER than weekly tasks to be completed by each student team member for the benefit of the other team members. The customer DOES NOT request any level of detail finer than one-week intervals, but will assist the team members if they wish to develop a finer level of detail to support their own efforts.
- Powertrain (i.e. motor, transmission, etc.).
- Yoke and any other necessary hardware not previously mentioned.
- Microprocessor hardware and integration, sensing, and overall architecture.
- Power electronics (i.e. motor controller, etc.).
- Power (i.e. batteries, AC/DC converters, etc.).
Grading and Assessment Scheme
Grading of students in this project will be fully consistent with grading policies established for the SD1 and SD2 courses. The following level describes an absolute level of expectation for the design itself, and for the hardware. However, the student team must also meet all requirements related to analysis, documentation, presentations, web sites, and posters, etc. that are implicit to all projects.
- Level D:
- The student team will build and fully characterize the baseline robot kit provided by the Teaching Assistant. The student team will deliver cost effective working motor module prototypes, capable of controlled motion. The prototypes will also be fully characterized.
- Level C:
- The student team will deliver all elements of Level D PLUS: The motor module prototypes will meet all customer specifications. The prototypes developed will be 100% open architecture and open source. They will use no proprietary components, only COTS components available from multiple manufacturers.
- Level B:
- The student team will deliver all elements of Level D and C PLUS: The motor module prototypes will show quantitative improvements over the baseline robot kit for the customer's application. There will also be marked improvement over the baseline robot kit in the areas of control and user interface.
- Level A:
- The student team will deliver all elements of Level D, C, and B PLUS: The motor module prototypes will exceed the baseline robot kit in every aspect asked for by the customer. The prototypes will be completely ready for "plug and play" use on a robot platform.
Three-Week SDI Schedule
This project will closely follow the three week project workshop schedule presented in SD1. See the Course Calender for Details.
In addition, the following tasks should be completed ASAP:
- Go over the information on the edge website, from the Design Project Management Robotics Platform Roadmap, and in the Preliminary Information binder.
- Build the kit provided by the Teaching Assistant.
- Test and fully characterize the equipment in the kit.
- Compare the results with the other Vehicle Systems Technology Track teams.
|Prof. Walter||ME||Faculty Guide/Coordinator/Mentor||Yes|
|Prof. Slack||EE||Technical Consultant||Yes|
|Robotics Lab||ME 09-2230||Work Space/Storage||Yes|
|Sr Design Lab||EE 09-3xxx||Work Space||Yes|
|ME Shop||ME 09-2360||Parts Fabrication||Yes|
|DC Motor Dyno||EE Electric Machines Lab||Characterization||Unknown|
|Power-supply||EE Department||Used for Testing||Unknown|
The team members will be expected to procure the materials needed for the project, excluding the following:
|Super Droid Robot ATR||Teaching Assistant||10kg payload example||Yes|
|IFI Robotics Kit||Teaching Assistant||100kg payload example||Yes|