From: fitz@frc.ri.cmu.edu (Kerien Fitzpatrick)
Newsgroups: comp.robotics
Subject: Dante (Erebus) Specifications
Date: 17 Dec 92 17:10:13 GMT
Article-I.D.: cs.BzEyD3.23K.2
Reply-To: fitz@frc.ri.cmu.edu
Organization: Field Robotics Center, Carnegie Mellon University

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