Article View: comp.robotics
Article #1511Dante (Erebus) Specifications
From: Kerien Fitzpatrick
Date: Thu, 17 Dec 1992 17:10
Date: Thu, 17 Dec 1992 17:10
214 lines
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4854 bytes
Well, I finally got ahold of a spec sheet. I am also getting ahold of a revised schedule for the actual operation. Dante Specifications GENERAL CHARACTERISTICS Means of Propulsion: 4 legs on each of 2 frames Height: 2.5m Body Width: 1.7m Overall Width 1.875m (foot to foot) Ground Clearance: zero minimum, 1.45m (maximum) Length: 3m (foot to foot) Weight: 450kg Speed: 2m/minute Slope Handling: 30 (without tether) COMPUTERS Communications: (1) Motorola 68030 VME, 8Mbytes memory, 3mips, 0.5Mflop, with Ethernet and serial ports Servo Control: (1) Motorola 68030 VME, 8Mbytes memory, 3mips, 0.5Mflop TELEOPERATION CAMERAS General: (6) RGB color CCD cameras Lens: 6mm Distance: 0.2m minimum, infinite maximum Field of View: 45 Format: Standard NTSC TELEMETRY Means: 400m single mode fiber (Dante to Virgil) 3km single mode fiber (Virgil to Base Station) Mode: High speed parallel and serial data communications LASER SCANNER Field of View: 350 degrees circular scan, ~30 degrees elevation Range: 3m minimum, 30m maximum KINESTHETIC SENSING Sensed Variable Sensor Frame crank angle resolver Vertical leg position potentiometers Vertical leg motion limits microswitches Tether tension instrumented pin on reel Tether exit direction potentiometers Tether motor position resolver Relative frame yaw potentiometer Yaw motion limits microswitches Enclosure temperatures temperature sensor ICs PROXIMITY/CONTACT SENSING Sensed Variable Sensor Foot proximity cylindrical capaciflector Foot contact optical proximity detector Foot contact force LVDT and spring Foot temperature temperature sensor IC Body contact sensors tape switches SCIENCE PACKAGE SENSORS Sensed Variable Sensor Aerosol mass concentration 4-stage quartz crystal microbalance impactor Fumarole gas composition gas chromatograph Sampled gas temperature thermocouple Surface temperature infrared thermometer on pan & tilt mount U, K, Th concentration in geologic mat'l gamma spectrometer SCIENCE PACKAGE SAMPLERS Collected Sample sampling device Aerosol 47 mm filter cassette & vacuum pump fumarole gas evacuated and Giggenbach bottles Virgil Specifications (Virgil was not sent since ice would be questionable) GENERAL CHARACTERISTICS Height: 1m Width: 1.2m Length: 4m Weight: 4540kg Speed: 30kph Track: 2.6m Ground Clearance: 0.1m (4") minimum, 0.4m (16") maximum Slope Handling: 45 COMPUTERS Comm & control: (1) Motorola 68030 VME, 8 Mbytes memory, 3 MIPs, 0.5 MFLOPs, with Ethernet and serial ports Planning & Perception: (1) Sun SparcStation IPX, 64 Mbytes memory, 28 MIPs, 4 MFLOPs, 400 Mbyte hard drive, with Ethernet and serial ports POWER SOURCES Main: Lycoming internal combustion engine Hydraulic: twin variable displacement pumps Electrical: 5kW Honda generator & Behlman 1700W UPS Control Consoles BASE STATION (EREBUS HUT) COMPUTERS Planning & comm: Sun SparcStation IPX, 64 Mbytes memory, 28 MIPs, 4 MFLOPs, 400 Mbyte hard drive, with Ethernet and serial ports and (2) additional Ethernet ports Perception: Sun SparcStation IPX, 48 Mbytes memory, 28 MIPs, 4 MFLOPs, 400 Mbyte hard drive, high speed parallel interface for laser interface, with Ethernet and serial ports Satellite comm: Sun SparcStation2, 48 Mbytes memory, 28 MIPs, 4 MFLOPs, 400 Mbyte hard drive, high speed serial port, live video acquisition/compression system, with Ethernet and serial ports. VIDEO Recorders: (2) Panasonic S-VHS VCRs Monitors: (2) 19" Sony monitors MISSION CONTROL (NASA GODDARD SPACE FLIGHT CENTER) COMPUTERS Satellite comm: Sun SparcStation2, 48 Mbytes memory, 28 MIPs, 4 MFLOPs, 400 Mbyte hard drive, high speed serial port, live video acquisition/compression system, with Ethernet and serial ports. --- Kerien Fitzpatrick Pittsburgh, PA 15213 Field Robotics Center (412)268-6564 The Robotics Institute Internet: fitz@frc.ri.cmu.edu Carnegie Mellon University
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arc1-ca.pugleaf.net!sparky!uunet!zaphod.mps.ohio-state.edu!uwm.edu!ogicse!das-news.harvard.edu!cantaloupe.srv.cs.cmu.edu!newsShow Full Headers
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Path: arc1-ca.pugleaf.net!sparky!uunet!zaphod.mps.ohio-state.edu!uwm.edu!ogicse!das-news.harvard.edu!cantaloupe.srv.cs.cmu.edu!news From: fitz@frc.ri.cmu.edu (Kerien Fitzpatrick) Newsgroups: comp.robotics Subject: Dante (Erebus) Specifications Message-ID: <BzEyD3.23K.2@cs.cmu.edu> Date: 17 Dec 92 17:10:13 GMT Article-I.D.: cs.BzEyD3.23K.2 Sender: news@cs.cmu.edu (Usenet News System) Reply-To: fitz@frc.ri.cmu.edu Organization: Field Robotics Center, Carnegie Mellon University Lines: 214 Nntp-Posting-Host: dirt.frc.ri.cmu.edu