Gas Line Gas Line RoverRover

Noah Baker

Douglas Maxey

Ken Mentasti

N. Alex Scott

Matthew Stewart

BP Gas Line Rover 1/ 27/ 04

British PetroleumBritish PetroleumBrandon McNerlin

Presentation OutlinePresentation Outline

BP Gas Line Rover 1/ 27/ 04

• Labor and Responsibilities

• Schedule

• Risk and Contingency Plan

• Conclusion

• Project History

• Objectives

• Electrical Components

• Design Approach

• Implementation

Project HistoryProject History

• Project Background

• Design Specifications

• Navigational Capabilities

• Mechanical Integrity

• Electrical Subsystems

• User Interface

BP Gas Line Rover 1/ 27/ 04

ObjectivesObjectives• Control System

• Power Distribution

• Video Feeds/Control

• User Interface

• Additional Items:

• Tether Reel Motor

• Laser Range Finder

• Manipulator Arm

BP Gas Line Rover 1/ 27/ 04

Current Electrical ComponentsCurrent Electrical Components

BP Gas Line Rover 1/ 27/ 04

• Power Supply/Converter

• Tether Reel

• Lighting System

• Front/Rear Camera System

• Drive/Steering Motor Control

Implementation - PowerImplementation - Power

BP Gas Line Rover 1/ 27/ 04

Fan

Motor (Y)

Motor (X)

Power Supply

(external)

AC

Power Supply

(onboard)

12 VDC24 VDC

Rear Camera

Front Camera

5 VDC

24 VDC

Rear Driving Motor

Front Driving Motor

Microprocessor

FrontSteering Driver

Front Steering Motor

Front Driver

Rear Driver

80 VDC

LEDs

LEDs

Control

Video Output

RearSteering Driver

Rear Steering Motor

Implementation - ControlImplementation - Control

BP Gas Line Rover 1/ 27/ 04

Motor (Y)

Motor (X)

Rear Camera

Front Camera

Rear Driving Motor

Front Driving Motor

Microprocessor

FrontSteering Driver

Front Steering MotorFront Driver

Rear Driver

Video Output

Controls (Camera, Motors)

LEDs

LEDs

RearSteering Driver

Rear Steering Motor

Design ApproachDesign Approach

BP Gas Line Rover 1/ 27/ 04

• Review Requirements

• Reverse Engineering

• Design Modular Components

• Integrate Components

ScheduleSchedule

BP Gas Line Rover 1/ 27/ 04

ID Task Name

1 PDR

2 CDR

3 Milestone 1

4 Milestone 2

5 Long Lead Item Procurement

6 Computer Input/Ouput

7

Control Logic

8 Motor Drive Control Interface

9 CameraInterface

10 Additional Modules

11 Test

12 Documentation

13 Design Expo

1/27PDR

2/17CDR

3/16Milestone 1

4/6Milestone 2

Long Lead Item Procurement

Computer Input/Output

Control Logic

Motor Drive Control Interface

Camera Interface

Additional Modules

Test

Documentation

DesignExpo

S T T S M W F S T T S M W F S T T S M W F S T T S M W F S T

Labor and ResponsibilitiesLabor and Responsibilities

BP Gas Line Rover 1/ 27/ 04

• Noah – Power Distribution and Motor Control

• Doug – Power Distribution and Motor Control

• Ken – User Interface, Control System

• Alex – Control System, Video

• Matt – Processor

Risk and Contingency PlanRisk and Contingency Plan

BP Gas Line Rover 1/ 27/ 04

• Temperature

• Size and Weight

• Modular Integration

• Avoiding Obstructions

• System Failure Recovery

Safety and YouSafety and You

BP Gas Line Rover 1/ 27/ 04

• Magnetic Wheels

• 80V Power Supply

• UL compliant

• Rotating Chain Drive Assembly

• Capacitor Discharge

Economic and Environmental Economic and Environmental AspectsAspects

BP Gas Line Rover 1/ 27/ 04

• Financial Support From BP

• Being Developed for Commercial Application

• Other Investigative Potentials

• Leave Only Wheel Tracks and Take Only Video

Manufacturability & Manufacturability & SustainabilitySustainability

BP Gas Line Rover 1/ 27/ 04

• Prototype Testbed

• Mass Production Possible

• Most Components Modular

• Will Provide Multiple Non-Modular Components to BP

ConclusionConclusion

BP Gas Line Rover 1/ 27/ 04

• Provide BP with an up close and personal approach to investigating pipe obstructions.

• Save time and money.

• Provide a platform for a future autonomous rover

Questions?

http://ieee.colorado.edu/capstone/capstone.htm