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SE401 Final Project
Presenters:Farhad ShroffJerome PinedaLyndon KidwellSteve Meagher
May 11, 2010
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• Team Establishment• Virtual team, diversity of experience and domain backgrounds
• Farhad Shroff – Everett, WA ; Aerospace • Lyndon Kidwell – Bellevue, WA Software• Steve Meagher – Houston, TX ; Mechanical• Jerome Pineda – El Segundo, CA ; Aerospace
• Project Selection• Existing requirements and design structure
• Operating Mantra• Weekly WebEx / Teleconference meetings• Email for more frequent communication• Ownership of subsystem and model definition
• Presentation Goals:• Show our model and approach to MBSE of the system• SysML diagrams• Use of Artisan Software
Introduction
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Outline
• Introduction - Jerome• Requirements – Jerome • High level Use Cases - Farhad• System Level Structure – Farhad• Chassis – Farhad• Estop - Farhad• Pnuematic - Jerome • R/C Transmitter - Jerome• R/C Receiver - Lyndon• Controller - Lyndon• Drive Train - Lyndon• Power - Steve• Primary/Secondary Weapons - Steve• Summary / Conclusions
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• Basis for project: Professional Class / College Building Rules for Battlebots
• Parsed out requirements for Subsystems into packages• System• Activation / Deactivation• Controller• Electrical Power• Pneumatics• Weapon
• Allocate requirements to each subsystem to drive block and internal definition diagrams
Requirements
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Requirements Packages
req [Package] BattlebotRequirements
System Weapon Actiation/Deactivation
ElectricalPower Controller Pneumatics
[Package]SystemLevelReqs
[Package]WeaponRequirements
[Package]Actiation/Deactivation
[Package]Controller
[Package]ElectricalPower
[Package]PneumaticsRequirements
req [Package] BattlebotRequirements
System Weapon Actiation/Deactivation
ElectricalPower Controller Pneumatics
[Package]SystemLevelReqs
[Package]WeaponRequirements
[Package]Actiation/Deactivation
[Package]Controller
[Package]ElectricalPower
[Package]PneumaticsRequirements
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System Requirementsreq [Package] SystemLevelReqs
BattlebotModel::01 Battlebot_Requirements::System
«requirement»
id#REQ_8
txtThe battlebot shall have a turning radiusof less than 21 feet.
Manuevering{Abstract}
«requirement»
id#REQ_9
txtThe battlebot shall fit in an 8'x8' squarearea.
Size{Abstract}
«requirement»
id#REQ_2
txtThe noise from the battlebot shall notexceed 120dB(A), as measured in anopen area, 10 feet from the robot in anydirection.
Sound{Abstract}
«requirement»
id#REQ_1
txtThe battlebot shall move at least 2ft/secin a straight line.
Speed{Abstract}
«requirement»
id#REQ_7
txtThe battlebot fuel powered engine shallstart in less than 60 seconds.
Engine Start{Abstract}
«requirement»
id#REQ_11
txtThe battlebot shall have a robust fail-safesystem that electronically or mechanicallyshuts off all motion-system and weaponspower within two seconds after theremote-control transmitter or receiverelectrical power is lost.
Fail-Safe - Electrical{Abstract}
«requirement»
id#REQ_10
txtThe battlebot shall either shut off (ceaseproducing power) the engine or return toidle speed within 5 seconds of signal lossfrom the remote-control signal.
Fail-Safe - Engine{Abstract}
«requirement»
id#REQ_5
txtThe battlebot jump height shall be lessthan 6 feet.
Jumping{Abstract}
«requirement»
id#REQ_6
txtThe battlebot shall weigh less than 220.0pounds.
Weight{Abstract}
req [Package] SystemLevelReqs
BattlebotModel::01 Battlebot_Requirements::System
«requirement»
id#REQ_8
txtThe battlebot shall have a turning radiusof less than 21 feet.
Manuevering{Abstract}
«requirement»
id#REQ_9
txtThe battlebot shall fit in an 8'x8' squarearea.
Size{Abstract}
«requirement»
id#REQ_2
txtThe noise from the battlebot shall notexceed 120dB(A), as measured in anopen area, 10 feet from the robot in anydirection.
Sound{Abstract}
«requirement»
id#REQ_1
txtThe battlebot shall move at least 2ft/secin a straight line.
Speed{Abstract}
«requirement»
id#REQ_7
txtThe battlebot fuel powered engine shallstart in less than 60 seconds.
Engine Start{Abstract}
«requirement»
id#REQ_11
txtThe battlebot shall have a robust fail-safesystem that electronically or mechanicallyshuts off all motion-system and weaponspower within two seconds after theremote-control transmitter or receiverelectrical power is lost.
Fail-Safe - Electrical{Abstract}
«requirement»
id#REQ_10
txtThe battlebot shall either shut off (ceaseproducing power) the engine or return toidle speed within 5 seconds of signal lossfrom the remote-control signal.
Fail-Safe - Engine{Abstract}
«requirement»
id#REQ_5
txtThe battlebot jump height shall be lessthan 6 feet.
Jumping{Abstract}
«requirement»
id#REQ_6
txtThe battlebot shall weigh less than 220.0pounds.
Weight{Abstract}
«requirement»
id#REQ_8
txtThe battlebot shall have a turning radiusof less than 21 feet.
Manuevering{Abstract}
«requirement»
id#REQ_9
txtThe battlebot shall fit in an 8'x8' squarearea.
Size{Abstract}
«requirement»
id#REQ_2
txtThe noise from the battlebot shall notexceed 120dB(A), as measured in anopen area, 10 feet from the robot in anydirection.
Sound{Abstract}
«requirement»
id#REQ_1
txtThe battlebot shall move at least 2ft/secin a straight line.
Speed{Abstract}
«requirement»
id#REQ_7
txtThe battlebot fuel powered engine shallstart in less than 60 seconds.
Engine Start{Abstract}
«requirement»
id#REQ_11
txtThe battlebot shall have a robust fail-safesystem that electronically or mechanicallyshuts off all motion-system and weaponspower within two seconds after theremote-control transmitter or receiverelectrical power is lost.
Fail-Safe - Electrical{Abstract}
«requirement»
id#REQ_10
txtThe battlebot shall either shut off (ceaseproducing power) the engine or return toidle speed within 5 seconds of signal lossfrom the remote-control signal.
Fail-Safe - Engine{Abstract}
«requirement»
id#REQ_5
txtThe battlebot jump height shall be lessthan 6 feet.
Jumping{Abstract}
«requirement»
id#REQ_6
txtThe battlebot shall weigh less than 220.0pounds.
Weight{Abstract}
«requirement»
id#REQ_8
txtThe battlebot shall have a turning radiusof less than 21 feet.
Manuevering{Abstract}
«requirement»
id#REQ_9
txtThe battlebot shall fit in an 8'x8' squarearea.
Size{Abstract}
«requirement»
id#REQ_2
txtThe noise from the battlebot shall notexceed 120dB(A), as measured in anopen area, 10 feet from the robot in anydirection.
Sound{Abstract}
«requirement»
id#REQ_1
txtThe battlebot shall move at least 2ft/secin a straight line.
Speed{Abstract}
«requirement»
id#REQ_7
txtThe battlebot fuel powered engine shallstart in less than 60 seconds.
Engine Start{Abstract}
«requirement»
id#REQ_11
txtThe battlebot shall have a robust fail-safesystem that electronically or mechanicallyshuts off all motion-system and weaponspower within two seconds after theremote-control transmitter or receiverelectrical power is lost.
Fail-Safe - Electrical{Abstract}
«requirement»
id#REQ_10
txtThe battlebot shall either shut off (ceaseproducing power) the engine or return toidle speed within 5 seconds of signal lossfrom the remote-control signal.
Fail-Safe - Engine{Abstract}
«requirement»
id#REQ_5
txtThe battlebot jump height shall be lessthan 6 feet.
Jumping{Abstract}
«requirement»
id#REQ_6
txtThe battlebot shall weigh less than 220.0pounds.
Weight{Abstract}
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System Domain Diagram
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Pre-Battle Demo Use Case
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Operational Use Case
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Attack Use Case
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Judging Use Case
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Maintenance Use Case
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Battlebot Top Level Structure
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Battlebot Top Level Structure
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Battlebot Chassis
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Battlebot Chassis
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Battlebot Chassis Mass Properties
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EStop
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EStop Sequence Diagram
:R/C Receiver Subsystem :EStopRelay :ElectricalPowerSubsystem :Bus BarOperator(s)
If operator commands Estop
Command Estop
Send Estop Cmd
Open Main Power Circuit
Power Removed
max {2 sec}
If loss of transmitter comm
Send Estop Cmd
Open Main Power Circuit
Power Removed
max {2 sec}
If loss of receiver comm
Loss of signal
Open Main Power Circuit
Power Removed
max {2 sec}
end if
end if
Satisfies REQ_10 and REQ_11
:R/C Receiver Subsystem :EStopRelay :ElectricalPowerSubsystem :Bus BarOperator(s)
If operator commands Estop
Command EstopCommand Estop
Send Estop CmdReceiverEstopCmd
Open Main Power CircuitOpenCircuit
Power Removed
max {2 sec}
Power Removedelse
Command EstopCommand Estop
Send Estop CmdReceiverEstopCmd
Open Main Power CircuitOpenCircuit
Power Removed
max {2 sec}
Power Removed
max {2 sec}
If loss of transmitter comm
Send Estop CmdReceiverEstopCmd
Open Main Power CircuitOpenCircuit
Power Removed
max {2 sec}
Power Removedelse
Send Estop CmdReceiverEstopCmd
Open Main Power CircuitOpenCircuit
Power Removed
max {2 sec}
Power Removed
max {2 sec}
If loss of receiver comm
Loss of signalNoSignal
Open Main Power CircuitOpenCircuit
Power Removed
max {2 sec}
Power Removedend if
Loss of signalNoSignal
Open Main Power CircuitOpenCircuit
Power Removed
max {2 sec}
Power Removed
max {2 sec}
end if
end if
Satisfies REQ_10 and REQ_11
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Pneumatic Subsystemibd [block] PneumaticSubsystem
«block»
PneumaticSubsystem
«part»
res : Reservoir
«part»
psv1 : PneumaticSolenoidValve1
«part»
comp : Compressor
«part»
act : Actuator
«part»
accum : Accumulator
«part»
reg : Regulator
«part»
bfrtnk : BufferTank
«part»
psv2 : PneumaticSolenoidValve2
comp - res accum - bfrtnk
res - reg reg - bfrtnk
bfrtnk - psv1
psv1 - actact - psv2
ibd [block] PneumaticSubsystem
«block»
PneumaticSubsystem
«part»
res : Reservoir
«part»
psv1 : PneumaticSolenoidValve1
«part»
comp : Compressor
«part»
act : Actuator
«part»
accum : Accumulator
«part»
reg : Regulator
«part»
bfrtnk : BufferTank
«part»
psv2 : PneumaticSolenoidValve2
«part»
res : Reservoir
«part»
psv1 : PneumaticSolenoidValve1
«part»
comp : Compressor
«part»
act : Actuator
«part»
accum : Accumulator
«part»
reg : Regulator
«part»
bfrtnk : BufferTank
«part»
psv2 : PneumaticSolenoidValve2
«part»
res : Reservoir
«part»
psv1 : PneumaticSolenoidValve1
«part»
comp : Compressor
«part»
act : Actuator
«part»
accum : Accumulator
«part»
reg : Regulator
«part»
bfrtnk : BufferTank
«part»
psv2 : PneumaticSolenoidValve2
comp - res accum - bfrtnk
res - reg reg - bfrtnk
bfrtnk - psv1
psv1 - actact - psv2
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Pneumatic Subsystem ActivityOperatePneumaticSystem
: ControllerSubsystem
Command PrimaryWeapon
CmdSignal
SpeedCmd
bt2 : 12 V battery2
EnergizeSolenoids
Pressurized Nitrogen
Electrical Power
PressurizeReservoir
Nitrogen Gas
RegulatePressure
PressureValve
Nitrogen Gas Fill Buffer Tank
Nitrogen Gas
Extend Actuator
Force
Mechanical Motion
WeaponPosCmd
SpdCntrl
PowerTrainI/F
WeaponsI/F
PressurizeReservoir
RegulatePressure
Fill Buffer Tank
Extend ActuatorSpdCntrl
PowerTrainI/F
WeaponsI/F
: ControllerSubsystem: ControllerSubsystem
Command PrimaryWeapon
CmdSignal
SpeedCmd
CmdSignal
SpeedCmd Command PrimaryWeapon
bt2 : 12 V battery2bt2 : 12 V battery2
EnergizeSolenoids
Pressurized Nitrogen
Electrical Power
Pressurized Nitrogen
Electrical PowerEnergizeSolenoids
Nitrogen GasNitrogen GasPressurizeReservoir
PressureValve
Nitrogen Gas
PressureValve
Nitrogen Gas
RegulatePressure
Nitrogen GasNitrogen Gas
Fill Buffer Tank
Force
Mechanical Motion
WeaponPosCmd
Force
Mechanical Motion
WeaponPosCmd
Extend ActuatorSpdCntrl
PowerTrainI/F
WeaponsI/F
OperatePneumaticSystem
: ControllerSubsystem: ControllerSubsystem
Command PrimaryWeapon
CmdSignal
SpeedCmd
CmdSignal
SpeedCmd Command PrimaryWeapon
: ControllerSubsystem
CmdSignal
SpeedCmd
CmdSignal
SpeedCmd Command PrimaryWeapon
CmdSignal
SpeedCmd
bt2 : 12 V battery2bt2 : 12 V battery2
EnergizeSolenoids
Pressurized Nitrogen
Electrical Power
Pressurized Nitrogen
Electrical PowerEnergizeSolenoids
bt2 : 12 V battery2
Pressurized Nitrogen
Electrical Power
Pressurized Nitrogen
Electrical PowerEnergizeSolenoids
Pressurized Nitrogen
Electrical Power
Nitrogen GasNitrogen GasPressurizeReservoir
Nitrogen Gas
PressureValve
Nitrogen Gas
PressureValve
Nitrogen Gas
RegulatePressure
PressureValve
Nitrogen GasNitrogen GasNitrogen Gas
Fill Buffer Tank
Nitrogen Gas
Force
Mechanical Motion
WeaponPosCmd
Force
Mechanical Motion
WeaponPosCmd
Extend Actuator
Force
Mechanical Motion
WeaponPosCmd
SpdCntrl
PowerTrainI/F
WeaponsI/F
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Pneumatic Sequence Diagram
:Reservoir :Regulator :Compressor :PneumaticSolenoid :ActuatorOperator
if reservoir low
fill tank
loop
limit pressure
bleed air
ready compressor
activate solenoid valves
initialize subsystem
if commanded input
execute command
delopy actuation
:Reservoir :Regulator :Compressor :PneumaticSolenoid :ActuatorOperator
if reservoir low
fill tank
end alt
fill tankadd fluidadd fluid
end alt
fill tankadd fluidadd fluid
loop
limit pressure
bleed air
ready compressor
activate solenoid valves
initialize subsystem
end loop
limit pressure
set pressure limitset pressure limit
bleed airrelease air < limitrelease air < limit
ready compressorcompress gascompress gas
activate solenoid valvesswith valves "ON"swith valves "ON"
initialize subsystemactivate pnematic subsystemactivate pnematic subsystem
end loop
limit pressure
set pressure limitset pressure limit
bleed airrelease air < limitrelease air < limit
ready compressorcompress gascompress gas
activate solenoid valvesswith valves "ON"swith valves "ON"
initialize subsystemactivate pnematic subsystemactivate pnematic subsystem
if commanded input
execute command
delopy actuation
end alt
execute commandreceive commandreceive command
delopy actuationfire cylinderfire cylinder
end alt
execute commandreceive commandreceive command
delopy actuationfire cylinderfire cylinder
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bdd [Package] Pnuematic System Analysis
«constraint»
constraints{Volume=PistonArea*Stroke}
Cylinder Volume
Volume : cu-in
PistonArea : sq-in
Stroke : inches
«constraint»
constraints{TanksGasVolume=(TankPressure*Volume)/WorkingPressure}
Gas Volume of Tank
TanksGasVolume : cu-in
TankPressure : psi
Volume : cu-in
WorkingPressure : psi
«constraint»
constraints{CompressionRatio=(CylinderPressure+14.7)/14.7}
Compression Ratio
CompressionRatio : Real
CylinderPressure : psi
«constraint»
constraints{CFM=(Volume*CompressionRatio)/(Time*28.8)}
CFM
CFM : cu-ft/min
CompressionRatio : Real
Time : seconds
Volume : cu-in
«block»Pneumatic System Analysis
«constraint»
constraints{CylinderForce=PistonArea*Pressure}
Cylinder Force
CylinderForce : psi
PistonArea : sq-in
Pressure : psi
1
1
1
1
1
1
11
1
1
bdd [Package] Pnuematic System Analysis
«constraint»
constraints{Volume=PistonArea*Stroke}
Cylinder Volume
Volume : cu-in
PistonArea : sq-in
Stroke : inches
«constraint»
constraints{TanksGasVolume=(TankPressure*Volume)/WorkingPressure}
Gas Volume of Tank
TanksGasVolume : cu-in
TankPressure : psi
Volume : cu-in
WorkingPressure : psi
«constraint»
constraints{CompressionRatio=(CylinderPressure+14.7)/14.7}
Compression Ratio
CompressionRatio : Real
CylinderPressure : psi
«constraint»
constraints{CFM=(Volume*CompressionRatio)/(Time*28.8)}
CFM
CFM : cu-ft/min
CompressionRatio : Real
Time : seconds
Volume : cu-in
«block»Pneumatic System Analysis
«constraint»
constraints{CylinderForce=PistonArea*Pressure}
Cylinder Force
CylinderForce : psi
PistonArea : sq-in
Pressure : psi
1
1
1
1
1
1
11
1
1
Pneumatic Parametric Diagram
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R/C Controller TransmitterControl Assignment & Controller Inputs
Two choices for steering:Conventional (car like)Tank Steering
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R/C Transmitter
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R/C ReceiverReceive Signal Activity
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R/F Receiver Sequence Diagram
:Antenna :Amplifier :ModulatorOperator
if xmtr transponding
receive cmd
loop
strengthen signal
set modulation scheme
set cmd channel
send cmd
:Antenna :Amplifier :ModulatorOperator
if xmtr transponding
receive cmd
loop
send cmd
end alt
receive cmdop cmdop cmd
loop
strengthen signal
set modulation scheme
set cmd channel
end loop
strengthen signalboost signalboost signal
set modulation scheme
determine schemedetermine scheme
set cmd channeldetermine channel cmddetermine channel cmd
end loop
send cmdsend responsesend response
end alt
receive cmdop cmdop cmd
loop
strengthen signal
set modulation scheme
set cmd channel
end loop
strengthen signalboost signalboost signal
set modulation scheme
determine schemedetermine scheme
set cmd channeldetermine channel cmddetermine channel cmd
end loop
strengthen signalboost signalboost signal
set modulation scheme
determine schemedetermine scheme
set cmd channeldetermine channel cmddetermine channel cmd
send cmdsend responsesend response
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R/C Receiver
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Controller Subsystem
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Electronic Speed Controller
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Electronic Speed Control
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Drive TrainDrive Activity
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Drive Train Electrical Power Analysis
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Drive Train Mechanical Power Analysis
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Drive Train Components
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Electrical Power Subsystem
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Electrical Power Distribution
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Primary Weapon (Lifting Arm)
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Primary Weapon (Lifting Arm)
44
Primary Weapon Constraints
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Primary Weapon Activity
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Secondary Weapon Subsystem
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Secondary Weapon Activity
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Summary• Exporting issues• Stand alone models – lack of a repository to work simultaneous• Integration of components and data flows manually intensive• Organization of the model
• Packages• Naming conventions
• Naming, namespaces, data types • Benefits
• Export of individual package to reuse• Consistent interface definition• Data types defined by industry or domain• Clear compartmentalization
• Tutorial was too task oriented • Hard to learn SysML and tool at the same time
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References[1] Battlebotshttp://www.battlebots.com/BattleBots.com/Home/Home.html [2] Vantec Electronic Speed Controllershttp://www.vantec.com [3] Futaba R/C Controllershttp://www.futaba-rc.com/ [4] Kickin' Bot : An illustrated guide to Building Combat RobotsGrant Imahara (Myth Busters)ISBN0-7645-4113-7
[5] Team TBD – Florida State Universityhttp://www.eng.fsu.edu/ME_senior_design/2003/team9/
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Questions
