Tactical Mobile Robot Components

			Voltage		Current	Power	Power	Mass	Temps		Dimensions								Totals
			Low	High	Max	Max	Nominal	Each	Low	High	h	w	d	vol			Max	Nom.
Company	Item	Description	(V)	(V)	(mA)	(W)	(W)	(g)	(C)	(C)	(cm)	(cm)	(cm)	(cc)	Other	No.	Power	Power	Mass	Vol.	Cost
SENSORS & COMPONENTS
Etran Devices	EGCS3	Triaxial Accelerometer	-15.0	15.0	15.0	0.5	0.5	50.0	-40.0	120.0	2.5	2.5	2.1	13.1	2.5V/g sensativity, 100 Hz	1.0	0.5	0.5	50.0	13.1	2200
Systron Donner	QRS11-00200-101	Quartz rate sensor	-5.0	5.0	80.0	0.8	0.8	57.0	-40.0	80.0	3.8	3.8	1.4	20.2	range=200deg/s, 0.02 deg/s/g	3.0	2.4	2.4	171.0	60.6	7350
Precision Navigation	TCM2-50	Compass, roll/pitch	0.0	5.0	20.0	0.1	0.1	45.4	-20.0	70.0	6.4	5.1	3.2	102.6	range: y=+-180: p,r=+-50	1.0	0.1	0.1	45.4	102.6	769
ITC	High frequency	Sonar sensors	0.0	5.0		0.0								0.0	10 deg, 0.5-6.5 ft range	8.0	0.0	0.0	0.0	0.0
	"	Sonar board									10.2	10.2	1.0	104.0		1.0			0.0	104.0
Sharp	GP2D02	IR proximity sensor	-0.3	10.0	35.0	0.4	0.4	6.0	-10.0	60.0	1.5	1.4	4.1	8.6	7 deg, 7 - 24 inches range	6.0	2.2	2.2	36.0	51.7
	"	IR board									5.1	5.1	1.0	26.0		1.0			0.0	26.0
Acuity Research	AccuRange 4000	High freq circuit board	0.0	5.0	500.0	2.5	2.5	113.4	0.0	140.0	7.6	6.4	7.6	368.7	20 mW optical power	1.0	2.5	2.5	113.4	368.7
	"	Digital circuit board				0.0					7.6	7.6	1.3	73.7		1.0	0.0	0.0	0.0	73.7
		Scanner assembly						1345.9								1.0			1345.9
Columbia/CMU	Omnicam	Omnidirectional cam	0.0	9.0	200.0	1.8	1.8	454.0	0.0	60.0	5.0		12.0	236.0		1.0	1.8	1.8	454.0	236.0
	"	Deployment arm				0.0								0.0		1.0	0.0	0.0	0.0	0.0
Videology	20VC3405	BW CCD bd camera	0.0	9.0	167.0	1.5	1.5	113.4	?	?	5.5	4.2	2.5	57.8	interlaced,ext sync, man exp	2.0	3.0	3.0	226.8	115.5	676
Novatel	OEM RT-2	DGPS	0.0	5.0	1600.0	8.0	8.0	175.0	-40.0	85.0	1.7	10.0	17.7	300.9	2 cm RTK DGPS, 4 Hz	1.0	8.0	8.0	175.0	300.9	24000
Subtotal																	12.4	12.4	2442.5	1152.01	34995.00
COMMUNICATIONS
FreeWave	DGRO9RAA	RS232 OEM Modem	0.0	5.0	600.0	3.0	0.4	65.0	-40.0	75.0	1.7	6.2	12.9	136.0	902-928 MHz, 115 Kbaud	1.0	3.0	0.4	65.0	136.0	2000
?	?	Video/Audio Tranmitter

Subtotal																	3.0	0.4	65.0	135.97	2000.00
HIGH-LEVEL COMPUTER SYSTEM
E.E.P.D.	PROFIVE CPU-P5	PC104+ processor bd	0.0	5.0	3100.0	15.5	15.5	240.0	0.0	55.0	2.3	9.0	9.6	197.0	266 MHz Pentium MMX	1.0	15.5	15.5	240.0	197.0	849
Adastra Systems	P586-104	PC104 processor bd	0.0	5.0	1600.0	8.0	8.0	226.8	0.0	70.0	2.3	9.0	9.6	197.0	133 MHz Intel 486 CPU	1.0	8.0	8.0	226.8	197.0	500
ImageNation	PX610	Frame grabber	0.0	5.0	650.0	3.3	3.3	96.0	0.0	60.0	1.9	9.0	9.6	164.2	1/30 s/frame NTSC	2.0	6.5	6.5	192.0	328.3	2000
E.E.P.D.	PROFIVE Ethernet-100	100BaseT Ethernet bd	0.0	5.0	500.0	2.5	2.5	101.0	0.0	55.0	1.9	9.0	9.6	164.2	10/100 Mbps	1.0	2.5	2.5	101.0	164.2	288
Adastra Systems	NSP-104	10BaseT Ethernet bd	0.0	5.0	500.0	2.5	2.5	100.0	0.0	70.0	1.9	9.0	9.6	164.2	10 Mbps, 2 serial ports	1.0	2.5	2.5	100.0	164.2	225
Real Time Devices	DM6420 DataModule	Analog & Digital I/O	0.0	5.0	500.0	2.5	2.5	81.6	-40.0	80.0	1.9	9.0	9.6	164.2	8 diff A in, 1 A out, 8 D I/O	1.0	2.5	2.5	81.6	164.2	695
MicroComputer Sys	MSI-J477 Filter board	Low-pass Analog Filter	0.0	5.0	70.0	0.4	0.4	85.1	-40.0	85.0	1.9	9.0	9.6	164.2	16 ch differential inputs	1.0	0.4	0.4	85.1	164.2	800
VersaLogic	PCM-3640	RS-232 module	0.0	5.0	180.0	0.9	0.9	78.4	0.0	60.0	1.9	9.0	9.6	164.2	4 ports	1.0	0.9	0.9	78.4	164.2	219
VersaLogic	PCM-3115	PCMCIA module	0.0	5.0	70.0	0.4	0.4	99.2	-20.0	85.0	1.9	9.0	9.6	164.4	Type I,II,II compatible	1.0	0.4	0.4	99.2	164.4	189
VersaLogic	EPM-SVGA-2	SVGA Display module	0.0	5.0	450.0	2.3	2.3	81.0	0.0	60.0	1.9	9.0	9.6	164.4	PC/104+, 1-2 MB VRAM	1.0	2.3	2.3	81.0	164.4	247
Win Systems Inc.	PCM-AUDIO	Sound Blaster module	0.0	5.0	30.0	0.2	0.2	100.0	0.0	70.0	1.9	9.0	9.6	164.4	ESPCM/ADPCM compress	1.0	0.2	0.2	100.0	164.4	195
Babber	830171 (IBM Travelstar)	IDE hard drive	0.0	5.0	380.0	1.9	1.9	99.0	5.0	55.0	1.0	7.0	10.0	66.5	2.1GB	1.0	1.9	1.9	99.0	66.5	298
Subtotal																	43.4	43.4	1484.1	2102.7	6505.0
LOW-LEVEL COMPUTER SYSTEM
Reflex Technology	Coldfire MCF2XX	Microprocessor									7.6	10.2	1.0	77.5		1.0			0.0	77.5

Subtotal																	0.0	0.0	0.0	77.5	0.0
CUSTOM ELECTRONICS
Artesyn Technology	WR24S05/50K	DC to DC converter	18.0	36.0	2700.0	14.8	15.3	339.0	-25.0	71.0	14.0	9.9	2.3	318.8	78% efficiency, +5	1.0	14.8	15.3	339.0	318.8	215
Artesyn Technology	BXA3-24D05	DC to DC converter	18.0	36.0	140.0	0.9	0.8	15.0	-25.0	105.0	3.2	2.0	1.3	8.3	76% efficiency, +/-5	1.0	0.9	0.8	15.0	8.3	48
Artesyn Technology	PM682	DC to DC converter	0.0	5.0	145.0	0.8	0.3	14.0	-25.0	71.0	3.2	2.0	1.0	6.4	57% efficiency, +/-15	1.0	0.8	0.3	14.0	6.4	50
?unknown?	?unknown?	Motor controller				0.0								0.0			0.0	0.0	0.0
?	?	Fan(s)				0.0								0.0			0.0	0.0	0.0	0.0
Ultralife Batteries	P-120AS	LiMnO2 D cell	0.0	1.5	8000.0	12.0	12.0	118.3			6.1	3.3	3.3	67.3	20Ah , 60A peak	12.0	144.0	144.0	1419.6	807.2	51.72
Subtotal																	16.4	16.4	1787.6	1140.7	364.7
MOTORS
?unknown?	?unknown?					0.0		below						0.0	? lines/rev encoding	3.0	0.0	0.0	below	0.0
Subtotal																	0.0	0.0	0.0	0.0	0.0
MECHANICAL COMPONENTS
	Tracks - drive							630.0								2.0			1260.0
	Tracks - articulated							230.0								2.0			460.0
Maxon	RE035 actuator	for articulation						340.0								1.0			340.0
	Drive actuator assembly	w/ 2 Maxon RE035						730.0								2.0			1460.0
	Chasis assembly	w/ HDT20						2210.0								1.0			2210.0
	Drive idler assembly							290.0								2.0			580.0
	Drive pully assembly							410.0								2.0			820.0
	Articulation assembly							300.0								2.0			600.0
	Lexan shells							520.0								1.0			520.0
	Radio Control	receiver, controller						380.0							3 speed controller	1.0			380.0
Subtotal																			8630.0
Total																	75.2	72.7	14409.2	4531.4	43864.7
DESIGN LIMITS
Vehicle mass								10000.0											10000.0
Payload mass								10500.0											10500.0
Payload Volume											8.2	24.5	26.6	5343.9						5343.9
Lowlevel power	Driving on flat terrain	forward @1.6 m/s					52.0											52.0
	Turning in place	130 deg/s					202.0											202.0
	Driving up stairs	1 m/s					245.0											245.0
Subtotal																			20500.0	5343.9



LASER SCANNER ASSEMBLY
	Glass dome							589.7								1			589.7
	Motor							46.3								1			46.3
	Mirror							59								1			59
	Ball Bearings							127								1			127
	Stationary housing							258.5								1			258.5
	Rotary housing							235.9								1			235.9
	Mounting ring							29.5								1			29.5
Subtotal																			1345.9	0.0
SINGLE BOARD COMPUTER SPECS
Toronto Microelec 2111	AMD K6 266 MHz
	32 bit PCI BUS
	32 or 64 MB DRAM
	2-72 MB Flash memory	(configured as SS drive)
	1 MB display memory
	LPT, 2 COM, 2 USB
	AT mouse/keyboard ports
	Supports 4 IDE drives	(2.5" IDE drive connector)
	10/100 Base-T
	0-60 deg C, 5-95% humidity
	30G shock, 20G vibration
	DOS,Win NT/CE/95,QNX	(RWI believes it can
	pSOS,VxWorks,Novell,	support Linux)
	OS/2, SCO UNIX, UNIX
Subtotal
B&W CAMERA CANDIDATES
Videology 20VC3405	1/3" IT-CCD
	72 x 54 deg FOV
	768H x 492V pixels
	2.17 x 1.65 x 1.0 inch		*checking to see if manufacturer will modify to accept a lens without having to use CS mount
	9 VDC, 1.5 Watts
	External Synch
	2:1 Interlace
	AGC, BLC, elec iris	(programable exp cntrl)
	RS-170 video out

Ultrak BC-460	1/3" IT-CCD
	768H x 492V pixels
	1.6 x 1.6 x 0.08 inch
	12 VDC, 1.5 Watts
	External Synch
	2:1 Interlace
	AGC, Auto iris	(1/60 - 1/100,000)
	RS-170 video out

Subtotal
MISCELLANIOUS NOTES
a) 2 Imagination framegrabbers required, still looking for an RGB framegrabber
b) Looking for a three-axis acceleromter, rather than using 3 linear accelerometer
c) Checking to see if camera manufacturer will modify design to accept a lens w/o having to use CS mount
d) Looking for alternate IDE hard drive, listed one allows 150 G shock, 0.67G vibration (5-500Hz)
e) Compass Yaw Accuracy Comparison: (Precision Nav, +-1.0 deg rms static, +-1.5 deg rms moving), (Microstrain, +-3.6 deg rms static, raw accel data is available)
Subtotal

Last Updated on 11/13/98
By Art Rankin
Email: arankin@robotics.jpl.nasa.gov