Gas Line Rover
Noah Baker
Douglas Maxey
Ken Mentasti
N. Alex Scott
Matthew Stewart
British Petroleum
Brandon McNerlin
BP Gas Line Rover
1/ 27/ 04
Presentation Outline
• Project History
• Labor and Responsibilities
• Objectives
• Schedule
• Electrical Components
• Risk and Contingency Plan
• Design Approach
• Conclusion
• Implementation
BP Gas Line Rover
1/ 27/ 04
Project History
• Project Background
• Design Specifications
• Navigational Capabilities
• Mechanical Integrity
• Electrical Subsystems
• User Interface
BP Gas Line Rover
1/ 27/ 04
Objectives
• 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 Components
• Power Supply/Converter
• Tether Reel
• Lighting System
• Front/Rear Camera System
• Drive/Steering Motor Control
BP Gas Line Rover
1/ 27/ 04
Implementation - Power
24 VDC
A
C
Power
Supply
(external)
Power
Supply
(onboard)
12 VDC
5 VDC
Rear
Camera
24 VDC
Microprocessor
LEDs
Front Steering
Front
Motor
Steering Driver
Control
80 VDC
Fan
Rear Steering
Rear
Motor
Steering Driver
Motor
(X)
Video Output
Front Driving
Motor
BP Gas Line Rover
Motor
(Y)
LEDs
Front Driver
Rear Driver
Front
Camera
Rear Driving
Motor
1/ 27/ 04
Implementation - Control
Microprocessor
Rear
Camera
Video Output
LEDs
Front
Camera
Controls
(Camera, Motors)
LEDs
Front Driving
Motor
Front Driver
Rear Driver
BP Gas Line Rover
Motor
(X)
Motor
(Y)
Front
Steering Driver
Front Steering
Motor
Rear
Steering Driver
Rear Steering
Motor
Rear Driving
Motor
1/ 27/ 04
Design Approach
• Review Requirements
• Reverse Engineering
• Design Modular Components
• Integrate Components
BP Gas Line Rover
1/ 27/ 04
Schedule
ID
Task Name
1
PDR
S
2
CDR
3
Milestone 1
T
T
S
M
W
F
S
T
T
S
M
W
F
Milestone 2
Long Lead Item
Procurement
Long Lead Item Procurement
Computer
Input/Ouput
Computer Input/Output
9
10
11
Test
Design Expo
F
S
T
T
S
M
W
F
S
T
Camera Interface
Additional Modules
Documentation
W
Motor Drive Control Interface
Camera
Interface
13
M
Control Logic
Motor Drive
Control Interface
12
S
4/6
Milestone 2
Control Logic
8
T
3/16
Milestone 1
5
7
T
2/17
CDR
4
6
S
1/27
PDR
Additional Modules
Test
Documentation
BP Gas Line Rover
Design
Expo
1/ 27/ 04
Labor and Responsibilities
• Noah – Power Distribution and Motor Control
• Doug – Power Distribution and Motor Control
• Ken – User Interface, Control System
• Alex – Control System, Video
• Matt – Processor
BP Gas Line Rover
1/ 27/ 04
Risk and Contingency Plan
• Temperature
• Size and Weight
• Modular Integration
• Avoiding Obstructions
• System Failure Recovery
BP Gas Line Rover
1/ 27/ 04
Safety and You
• Magnetic Wheels
• 80V Power Supply
• UL compliant
• Rotating Chain Drive Assembly
• Capacitor Discharge
BP Gas Line Rover
1/ 27/ 04
Economic and Environmental Aspects
• Financial Support From BP
• Being Developed for Commercial Application
• Other Investigative Potentials
• Leave Only Wheel Tracks and Take Only Video
BP Gas Line Rover
1/ 27/ 04
Manufacturability & Sustainability
• Prototype Testbed
• Mass Production Possible
• Most Components Modular
• Will Provide Multiple Non-Modular Components to BP
BP Gas Line Rover
1/ 27/ 04
Conclusion
• 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
BP Gas Line Rover
1/ 27/ 04