{"action":"created","comment":{"url":"https://api.github.com/repos/RIT-Space-Exploration/SPEX-Project-Definition-Documents/pulls/comments/214759143","pull_request_review_id":151878042,"id":214759143,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIxNDc1OTE0Mw==","diff_hunk":"@@ -0,0 +1,405 @@\n+%% *************************************************************************\n+%%\n+%% This is the PDD for Rovers 2018\n+%%\n+%% This document uses IEEEtran.cls, the official IEEE LaTeX class\n+%% for authors of the Institute of Electrical and Electronics Engineers\n+%% (IEEE) Transactions journals and conferences.\n+%%\n+%% *************************************************************************\n+\n+\\documentclass[conference]{IEEEtran} % http://www.ctan.org/pkg/ieeetran\n+ \\usepackage{ltxtable, tabularx, longtable} \n+\\usepackage{tabularx} % fix tables\n+  \\newcolumntype{L}{>{\\raggedright\\arraybackslash}X}   \n+\\usepackage{multirow}  \n+\\usepackage{blindtext} % enable placeholder text generator\n+\\usepackage{graphicx} % enable toolbox for embedding figures and pictures\n+\\usepackage{nomencl} % enable package for adding a list of variables and constants at the beginning, aka \"nomenclature\"\n+\\usepackage{siunitx} % enable package for easily formatting units\n+\\usepackage{hyperref} % enable package for cross-referencing figures, sections, references etc.\n+% how to use hyperref: http://www2.washjeff.edu/users/rhigginbottom/latex/resources/lecture09.pdf\n+\\usepackage[T1]{fontenc} % change text encoding to make it more crisp\n+\\usepackage{etoolbox} % enable conditionals for help text\n+\\usepackage{booktabs} % make beautiful tables!\n+\\usepackage[utf8]{inputenc}\n+\\usepackage[english]{babel}\n+ \n+\\usepackage{hyperref}\n+\\hypersetup{\n+    colorlinks=true,\n+    linkcolor=blue,\n+    filecolor=magenta,      \n+    urlcolor=cyan,\n+}\n+\n+% initialize nomenclature package\n+\\makenomenclature{}\n+\n+% set title. choose something as descriptive and precise as possible. Descriptive > sounding cool. remember this!\n+\\title{Rovers} %TODO come up with a better title\n+\n+\\author{\n+  \\IEEEauthorblockN{Thomas~Hall\\IEEEauthorrefmark{1}}\n+  \\IEEEauthorblockA{RIT Space Exploration, Rochester Institute of Technology \\\\ Rochester, N.Y. \\\\ Email: \\IEEEauthorrefmark{1}tjh2822@g.rit.edu }\n+}\n+\n+% page header for pages other than cover page\n+\\markboth{Project Design Document Standard}%\n+{Hall \\MakeLowercase{\\textit{et al.}}: RIT Space Exploration}\n+\n+\\begin{document}\n+\\maketitle\n+\\hyphenation{explor-ation}\n+\n+\\begin{abstract}\n+Design and construction of a mock-rover. \n+The goal of this project is delivering a functioning mock rover.\n+We define mock rover as a functioning rover built to specifications for a mock mission as it will not be launched.\n+A rover would be an area of space exploration completely new to RIT SPEX, because of this there are a lot of unknowns that need to be answered before starting this project. \n+Because of this the project will require a large amount of prototyping and testing. \n+The team would look at the talent and skills of RIT Space Exploration and answer the question: what caliber of rover are we able to make. \n+It would employ a multidisciplinary team for construction and development. The project would be slated to run for two semesters. \n+The rover would be extremely promotable and would look great at Imagine RIT. \n+\\end{abstract}\n+\n+\\label{sec:nomenclature}\n+\\newcommand{\\nomunit}[1]{\\renewcommand{\\nomentryend}{\\hspace*{\\fill}#1}}\n+\\renewcommand{\\nompreamble}{}\n+\n+\\nomenclature{RIT}{Rochester Institute of Technology}\n+\\nomenclature{SPEX}{RIT Space Exploration}\n+\\nomenclature{PDD}{Project Design Document}\n+\\nomenclature{URC}{University Robotics Competition}\n+\\nomenclature{MVP}{Minimum Viable Product}\n+\n+% Intro\n+\\section{Introduction}\n+\\label{sec:introduction}\n+\n+\\IEEEPARstart{R}{obotics}  and by extension rovers are a tremendously important\n+part of space exploration. \n+This is also an area that RIT Space Exploration has very little experience with project-wise.\n+The purpose of this project is to assess and assert the capability of RIT SPEX regarding the construction and fabrication of a mock-rover and then begin construction. \n+As this is a new area to RIT SPEX, prototyping and experimenting is necessary to most effectively accomplish this goal. \n+This project will look at the unknowns, technical challenges, project management, and member skills of RIT Space Exploration in regard to a University Rover Competition (URC) capable rover and rover construction. \n+The URC is hosted by The Mars Society annually. \n+It is very competitive and requires a very complex and expensive rover that is currently out of scope for SPEX. \n+This rover would need to be capable of full autonomous navigation, soil collection and analysis, and precise robotics. \n+This project is the first step in building the skills for such a team.\n+Rovers are important, they are one of the primary ways we explore space and other planets. \n+This project exists to get our members experience with rovers by building such a rover. \n+\n+\\section{Primary Objective}\n+\\label{sec:primary-obj}\n+The goal of this project is delivering a functioning mock rover.\n+We define mock rover as a functioning rover built to specifications for a mock mission as it will not be launched. \n+We define rover as a vehicle for driving over rough terrain, especially one driven by remote control.\n+The rover will allow the team to develop skills and knowledge to build a\n+more feature completer rover in the future. \n+These skills include rover fabrication and design, autonomous navigation, electrical system design, rover testing, computer vision, and robotics.\n+The rover will be testing using events designed like the URC but scaled down to fit the scope of this rover. \n+We will be using time as a metric as well as binary metrics for completion of the parts of the competition. \n+Some features might behave differently than expected or planned these features will be evaluated accordingly.\n+This includes ’does the rocker-bogie system works as intended’, ’will the rover stop when directed at an obstacle’, etc. \n+The details are defined in the minimum viable product section.\n+\n+\\subsection{Minimum Viable Product}\n+\\label{subsec:mvp}\n+The minimum viable product (MVP) has been defined by the basics of what can be called a 'functioning rover'. This includes features like suspension, motors, power and controls. The MVP is defined by the following features: \n+\n+\\begin{table}[hb!]\n+    \\caption{Minimum Viable Product}\n+    \\centering\n+    {\\renewcommand{\\arraystretch}{1.5}\n+    \\begin{tabularx}{\\linewidth}{LL} \n+    \\hline\n+    \\textbf{Feature} & \\textbf{Reason} \\\\\n+    \\hline\n+    Rocker-bogie-like suspension & This is the NASA preferred rover suspension style. \\\\\n+    Ability to control remotely (such as a gamepad) & Remote control is essential for rovers. \\\\\n+    Ability to traverse terrain such as gravel, cement, and asphalt & Multi-terrain traversal is important for rovers. \\\\\n+    Technical report on GitHub & This will allow for future teams to easily learn from this teams experience. \\\\\n+    Rover hardware & Having a physical rover is important for a rover project as it allows for lessons to be learned in construction. \\\\ \n+    Present at Imagine RIT & This is essential for promotional value. \\\\\n+    Partial self-driving & Partially autonomous navigation for future URC readiness. \\\\\n+    \\hline\n+    \\end{tabularx}\n+    }\n+\\label{tab:mvp-one}\n+\\end{table}\n+\n+\\subsection{Improvements}\n+\\label{subsec:improvements}\n+The MVP is intended to be flexible in implementation depending on funding. \n+The purpose of the project is to gain experience in rovers and robotics and this can be done in a number of form factors.\n+The size and materials are not defined because of this. \n+Should the funding allow for it there are many improvements that can be made beyond the MVP. \n+This allows for more experience to be gained, thus fulfilling the goals of the project.\n+\n+\\begin{table}[ht!]\n+    \\caption{Improvements}\n+    \\centering\n+    {\\renewcommand{\\arraystretch}{1.5}\n+    \\begin{tabularx}{\\linewidth}{LL}\n+    \\hline\n+    \\textbf{Feature} & \\textbf{Reason} \\\\  \n+    \\hline\n+    Lidar based CV & Autonomous navigation for future URC readiness. \\\\\n+    Improved navigation with use of GPS system & Additional navigation options. \\\\\n+    Robotic arm with 3+ degrees of freedom & URC readiness and rover capabilities. \\\\ ","path":"Rovers/Rovers.tex","position":150,"original_position":150,"commit_id":"797f8bf26d4fea47b0c9f212c92ae0e7479a2b6f","original_commit_id":"797f8bf26d4fea47b0c9f212c92ae0e7479a2b6f","user":{"login":"tjh2822","id":22133499,"node_id":"MDQ6VXNlcjIyMTMzNDk5","avatar_url":"https://avatars0.githubusercontent.com/u/22133499?v=4","gravatar_id":"","url":"https://api.github.com/users/tjh2822","html_url":"https://github.com/tjh2822","followers_url":"https://api.github.com/users/tjh2822/followers","following_url":"https://api.github.com/users/tjh2822/following{/other_user}","gists_url":"https://api.github.com/users/tjh2822/gists{/gist_id}","starred_url":"https://api.github.com/users/tjh2822/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tjh2822/subscriptions","organizations_url":"https://api.github.com/users/tjh2822/orgs","repos_url":"https://api.github.com/users/tjh2822/repos","events_url":"https://api.github.com/users/tjh2822/events{/privacy}","received_events_url":"https://api.github.com/users/tjh2822/received_events","type":"User","site_admin":false},"body":"1. Depends, it would have to fit on the rover so it be reletave to that. \r\n2. not nearly as useful except for a drill\r\n3. Sure but you might as well do that if you can","created_at":"2018-09-03T22:17:23Z","updated_at":"2018-09-03T22:17:23Z","html_url":"https://github.com/RIT-Space-Exploration/SPEX-Project-Definition-Documents/pull/37#discussion_r214759143","pull_request_url":"https://api.github.com/repos/RIT-Space-Exploration/SPEX-Project-Definition-Documents/pulls/37","author_association":"MEMBER","_links":{"self":{"href":"https://api.github.com/repos/RIT-Space-Exploration/SPEX-Project-Definition-Documents/pulls/comments/214759143"},"html":{"href":"https://github.com/RIT-Space-Exploration/SPEX-Project-Definition-Documents/pull/37#discussion_r214759143"},"pull_request":{"href":"https://api.github.com/repos/RIT-Space-Exploration/SPEX-Project-Definition-Documents/pulls/37"}},"in_reply_to_id":214755798},"pull_request":{"url":"https://api.github.com/repos/RIT-Space-Exploration/SPEX-Project-Definition-Documents/pulls/37","id":207802517,"node_id":"MDExOlB1bGxSZXF1ZXN0MjA3ODAyNTE3","html_url":"https://github.com/RIT-Space-Exploration/SPEX-Project-Definition-Documents/pull/37","diff_url":"https://github.com/RIT-Space-Exploration/SPEX-Project-Definition-Documents/pull/37.diff","patch_url":"https://github.com/RIT-Space-Exploration/SPEX-Project-Definition-Documents/pull/37.patch","issue_url":"https://api.github.com/repos/RIT-Space-Exploration/SPEX-Project-Definition-Documents/issues/37","number":37,"state":"open","locked":false,"title":"Rover","user":{"login":"tjh2822","id":22133499,"node_id":"MDQ6VXNlcjIyMTMzNDk5","avatar_url":"https://avatars0.githubusercontent.com/u/22133499?v=4","gravatar_id":"","url":"https://api.github.com/users/tjh2822","html_url":"https://github.com/tjh2822","followers_url":"https://api.github.com/users/tjh2822/followers","following_url":"https://api.github.com/users/tjh2822/following{/other_user}","gists_url":"https://api.github.com/users/tjh2822/gists{/gist_id}","starred_url":"https://api.github.com/users/tjh2822/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tjh2822/subscriptions","organizations_url":"https://api.github.com/users/tjh2822/orgs","repos_url":"https://api.github.com/users/tjh2822/repos","events_url":"https://api.github.com/users/tjh2822/events{/privacy}","received_events_url":"https://api.github.com/users/tjh2822/received_events","type":"User","site_admin":false},"body":"### Authors\r\n* Thomas Hall tjh2822\r\n\r\n### Abstract\r\nDesign and construction of a mock rover. \r\nA rover would be an area of space exploration completely new to RIT SPEX, because of this there are a lot of unknowns that need to be answered before starting this project. \r\nBecause of this the project will require a large amount of prototyping and testing. \r\nThe team would look at the talent and skills of RIT Space Exploration and answer the question: what caliber of rover are we able to make. \r\nIt would employ a multidisciplinary team for construction and development. The project would be slated to run for two semesters. \r\nThe rover would be extremely promotable and would look great at Imagine RIT. \r\n\r\n#### PDF\r\nhttps://github.com/RIT-Space-Exploration/SPEX-Project-Definition-Documents/blob/Rover/Rovers/Rovers.pdf\r\n\r\n### Comments for Reviewers (optional)\r\nInclude notes for the reviewers 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