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Introduction text goes here
Log Day 1
The Beginning.Log Day 2
First mapping of Bruceton Safety mine using both the Quantapoint scanner and one of Sebastian's laser equiped rovers.Log Day 3
Robotic mine mapping is publically started with a press conference at the NREC based around Senator Spector's visit.Log Day 4
Press coverage of Senator Specter's commitment to mine mapping contiues. Planning for the course continues.Log Day 5
Meeting at the Quecreek with the Blackwolf mining company. Access to, maps of, and information about Quecreek is gained.Log Day 6 & 7
CMU president Cohon expresses his support for mine mapping.Log Day 8
Informal class meeting discusses technical and programmatic challenges. A proposal to map Quecreek/Saxman is initiated.Log Day 9
A proposal for robotic mine mapping of the Quecreek/Saxman breach is sent to MSHA. Technical, business and marketing discussions occur.Log Day 10
Robot archetypes were examined. Business students joined the class.Log Day 11
Feedback on inital proposal to map Quecreek/Saxman. HCII team becomes part of the class.Log Day 12
Conditions at the breach are acquired. Quick look options are brainstormed and the Radio Shack Robot is cannablized.Log Day 13 & 14
The former Radio Shack Robot's chassis is revealed and modifed. Planning for the quick-look continues.Log Day 15
Team offically commits to the quick-look. ATV components for the chassis are ordered.Log Day 16
Robot actuation is simplified, a new map of the Saxman mine is found, the concept of a boreholepeeker is persued, and a new course video is compiled.Log Day 17
First viewing of the new course video. Course sponsorship is obtained. Radioshack chassis is dubbed the "Groundhog", boreholepeeker is dubbed "Gopher".Log Day 18
Components begin arriving for both Groundhog and Gopher. Specifications for robot archetypes are developed. Commitment to mine mappping symposium.Log Day 19
Agreement to use new, smaller quantapoint sensor onboard Groundhog is reached. Preparations for weekend chassis work.Log Day 20 & 21
"Chassis in a day" Groundhog's chassis is greatly modified. First movement of Groundhog.Log Day 22
First controlled movement of Groundhog, both driving and steering. Localization discussed in class.Log Day 23
Gopher, renamed to "Ferret", close to operational. Groundhog control circuitry is acquired but not wired.Log Day 24
"Magellan" borehole deployable mobile robot choosen as the next platform to develop. Preperations for Morgantown Summit.Log Day 25
Intent to map the breace declared by MSHA, Black Wolf. Groundhog control electronics integrated.Log Day 26
Access to Quecreek/Saxman is denied by regulatory agencies. Team regroups, then responds.Log Day 27
New proposal for mapping Quecreek/Saxman initiated. Wireless slipring proposed.Log Day 28
Ferret and Groundhog demonstrated to interested parties. First computer control of Groundhog. Proposal work continues.Log Day 29
New mine mapping proposal distributed. Ferret specification generated. Groundhog reinforced.Log Day 30
Groundhog, Ferret laser, and Sebastian's garden cart are tested in the Bruceton Research Mine.Log Day 31
Review of work to this point. Explosion-proofing of Groundhog explored.Log Day 32
Explosion-proof enclosures for Groundhog obtained. Business plan drafted.Log Day 33
Explosion-proofing of Groundhog begins with integration of 400lbs XP box. IP presentation in class.Log Day 34
Hydraulics are assembled and preperations for hydraulic integration proceed.Log Day 35
Groundhog hydraulics refuse to work. Mismanufactured manifold finally identified and remedied.Log Day 36
Grounhog hydraulics operational. Integration effort for Tuesday morning meeting with MSHA continue.Log Day 37
Groundhog moves under hydraulic power. Simultaneous meetings with MSHA and DEP.Log Day 38
Hydraulic steering cylinder is installed in Groundhog. Quecreek investigators leave the site of the breach.Log Day 39
Public hearing on Quecreek convenes. Mine certified batteries for Groundhog are located.Log Day 40
Push to finish Groundhog by Tuesday. Interaction with DEP.Log Day 41
Start of Groundhog integration push. Fiber optic tether accidentally damaged.Log Day 42
Groundhog integration continues. 50 hour marathon starts.Log Day 43
50 hour integration marathon continues.Log Day 44
Visit to MSHA Tridelphia with computer controlled Groundhog. Groundhog review documentation assembled and delivered.Log Day 45
Quecreek/Saxman breach sealed. Groundhog explosion proofing planning continues.Log Day 46
Groundhog explosion proofing planning continues. Mine mapping thrust adjusts to closure of Quecreek/Saxman breach.Log Day 47
Team refocuses on Magellan.Log Day 48 & 49
Magellan subsystem concepts developed.Log Day 50
Presentation of Magellan subsystem concepts.Log Day 51
Funding and business options are explored.Log Day 52
Remote mine mapping experience presented and considered. Additional possible Magellan configurations discussed.Log Day 53
Magellan design continues to evolve. Groundhog integration for first mapping run begins.Log Day 60
First Ferret scan of the highbay. Mine for Groundhog test identified.Log Day 61
Burgettstown abandoned mine map studied. Ferret scans are corrected to remove distortion. Groundhog RI open house.Log Day 62
Preparations for Groundhog field test. Additional laser software integration.Log Day 63
Groundhog maps the abandoned Florence Mine in Burgettstown, PA. Ferret scans the void near the Mellon Institute. Preparations for the Charleston Symposium continue.Log Day 64
Preparations for Charleston Symposium continue. Groundhog and Ferret are reworked based on experiences in the field. | |
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