about cybernet systems · pdf filecan power driver/motor controller (esd) can pio module ......
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www.cybernet.com 2012 1
Founded in 1988, Ann Arbor, MI, spin-off of ERIM & Univ. of Michigan: Mixed office
highbay. Second location Orlando, FL, Information Assurance and M&S;
People deployed in Michigan, Florida, Maryland, California, Pennsylvania
Small 8(a), Woman Owned Business; ~60 employees; 20+ year old since ERIM spinoff
31 U.S. Patents Granted, similar number Patents Pending: Force Feedback,
Gesture recognition, M&S, Telemedicine, Robotics, Information Assurance, AI
Project & Products
Tactical Automation, High Speed Inspection
(focus on ammunition automation, plastic
cased ammunition manufacturing automation)
Position Location and Navigation Systems
Robotics
Computer Vision Development
Information Assurance
Nondestructive Evaluation
Telemedicine
Human Interface Systems
(Force Feedback, Body/Eye Tracking)
Gesture & Voice Recognition
(New) Pre-crime, Human activity analysis
About Cybernet Systems Corporation
www.cybernet.com 2012; Charles Jacobus
Ann Arbor, MI
(50 MI from
TACOM &
TARDEC) Orlando, FL (On PEO
STRI Campus)
www.cybernet.com 2012 2
Cybernet Ann Arbor Integration Facilities
Outdoor Overland test range
Roadway Tests
Highbay Facilities
Controlled parking
Electronics & Test Mechanical Highbay Highbay #1
Highbay #3&4
Highbay #5
Highbay #2
Open Office & Experiment space Open Office space
www.cybernet.com 2012 3
Robotics Past Performance
VSIL – Virtual Systems Integration Lab US Army TARDEC through University of Mississippi 060803 360384 01 In this effort for TARDEC, Cybernet implements vehicle test and analysis software to automate TARDEC design oversight analysis process. Current phase supports building two UGVs (one small and electric) one larger (midsize, Gladiator diesel) so that platform model behavior can be validated against actual platform behavior. Under VSIL, TARDEC has GFE’ed Gladiator TDP to Cybernet for construction of the platform. Automated Material Handling Machine Controller Kit Alion Science and technology (IDIQ prime) for the US Army STM1213705; US Army Picatinny Arsenal (ARDEC for CASCOM) W15QKN-10-C-0121 Under this effort Cybernet is evaluating and productizing forklift automation developed by the MIT Robotic Lab for a Toyota lift truck. This kit is being productized, simplified with automotive electronics, and applied to a Hyster truck compatible with those used by the Army. Cybernet has an NDA with Hyster and MIT to support the collaboration. The controller inherits the architecture and logic of the MIT and Cybernet Urban Challenge robotics teams. The kit will support a wide range of material handling trucks with different version of the physical actuator interface kit.
www.cybernet.com 2012 4
Robotics Past Performance
Large Caliber Ammunition Resupply Robotics Boeing (FCS subcontract to the Army) 5ES2648 Under this effort Cybernet was contracted (with its partner ESYS) to develop the detailed design of a large caliber ammunition handling system to support automated load/unload of ordnance from NOLOS C, -M, and MCS platforms. A unique feature of Cybernet’s design was leverage of commercial material handling robotics, and a unique computer-vision-based large caliber round type identification system so that there was positive identification of each round type loaded or unloaded.
ATACS-II (Army Tactical Ammunition Classification System-II) US AESC (US Army) W912DY-06-D-0008 Under this effort Cybernet has deployed over ½ dozen automated ammunition handling and recertifying systems both OCONUS and CONUS into unimproved environments. The earliest ATACS machine shipped and deployed in Kuwait has been in continuous operation at Camp Arifjan since 2001. Later we deployed and continue to service machines at the Defense Ammunition Center, Nation Training Center, Ft. Benning, and other locations.
www.cybernet.com 2012 5
From Simulation to Control to Full Platform Deployment
DARPA Urban Challenge
Autonomous Ground
Vehicle
Robotics Expertise
www.cybernet.com 2012 6
Robotics Kit Products
Operation Control Unit (Electronic Dash) – Operator Control Station based on SWMA MIL810G Tablet (Also includes Vehicle Mount Kit for Electronic Dash) Power Management Module Linear Actuator Package (Brake/Accelerator) Rotary Actuator Package (Steer) CAN Interface Package – Integrated into the Driver Controller CAN Encoder Package Video Sensor (Video-IP) Video Sensor (RFID; Video-IP) LADAR Sensor (Automotive) – SICK LD-MRS LADAR Sensor (Scanned) – Hokuyo UTM-30LX & Cybernet Pan Mount) LADAR Sensor Proximity (Backup) -- Hokuyo UTM-30LX Driving Controller (Axiomtek) CAN Power Driver/Motor Controller (esd) CAN PIO Module (esd) CAN A/D-D/A (esd) CAN Ultrasonic Proximity (Backup /Safety Sensors) Precision GPS -- Novatel IMU Module -- Cybernet IP Hub Module Safety Estop Module Video Radio – Customer Choice (Best: Cobham – SOLO COFDM) Command Net Radio – Customer Choice (Best: Cobham -- NetNode COFDM)
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The magic is in the software
• GPS/IMU/Speed Control fusion
• Physics based speed and brake control
• Reflexive obstacle avoidance over steer authority range
• Path planning & execution – road march – traffic rules
• Path planning & execution – area traversal – traverse-ability analysis
• Operator controls & comms
• Safety & comms
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JAUS Architecture
Map and
Track
GPS up
Nav up
Track
Load
Map
Load
Mission
Vehicle
Status
Run
Pause
E-stop
Speed
OCU
Subsystem
Global
Vector
Driver
Reflexive
Drive
Vehicle
Subsystem
Primitive Vehicle
Control
Steer actuator set
Brake actuator set
Accel actuator set
Horn
Audible & flasher
Headlight
L/R turn signal
Global
Waypoint
Driver Global
Pose
Sensor
Velocity
State
Sensors
Primitive
Driver
Vehicle
Control
Run
Pause
E-stop
Speed
set
Wireless
Global
Path
Segment
Driver
Visual
Sensor:
Road
Features
Sonar &
Range
Sensors
Speed
Actuators
Brake
Accel
Deadman
Heartbeat
Link
Status:
Deadman
heartbeat
Speed
minder
Steer
Actuator
I3M -- Inertial
(3) Magnetometer
(3) Gyro
(3) Accelerometer
Wheel
Encoder
Counts
Periods
Mission Executive
(Global Path
Planner)
System
Commander
GPS
Visual
Sensor:
Vehicle
Obstacles
E-Stops Vision
Heartbeat
Vision
Subsystem
CVI
VCI GPE
Warning
Audible,
Flasher &
Horn
Turn
Signals
Head
Lights
FOG
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Dimensions (minus backplane): Width = 11.75”, Height = 9”.
Depth = 3.375”, Weight = ~5.5 lbs.
MIL-STD 810G Enclosure: Method 512.4 Procedure 1 (Sand/Dust/Salt Fog) Solar Radiation, UVB, IP67 (Equiv.)
Temperature Ratings: MIL-STD 810G -4° to 140° (operational) -60° to 160° (storage) Humidity 3% to 95%
Shock & Vibration Ratings: MIL-STD 810G Method 516.5 Up to 4ft. Drop (to concrete) 75g, 11ms Crash Shock
Display: 10.4” XGA (1024x768), Pen & Finger
Touch Dual Mode
Processor Options: Intel Core i7 620 UE (1.06 GHz, 2.13
GHz Turbo)
Hard Drive Options: 320GB (standard) or 80GB Solid State
(option)
Memory Options (two slots): 2GB DDR3 (standard) or up to 8GB*
DDR3 RAM (option)
Wireless: Bluetooth 2.1 + EDR, FIPS 140-2
compliant 802.11a/b/g/n (option), other wireless methods (option)
Battery: 10-cell (68.5Whr) battery, up to 6.5
hour battery life, warm-swap capability.
Ports/Connections: USB 2.0 (x3), SWMA Module Connector
(x2), RJ-45 Gigabit LAN Ethernet, Serial Port (RS232/422/485), VGA-out (option, replaces serial port), Smartcard Reader (option), Headset Jack, Microphone Jack, AC/DC Power.
www.cybernet.com 2012 10
Cybernet Real-Time OCU
Interface and Dynamic
Terrain System
Operator Map Views/Dash Data Overlays
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• CISSP IA Engineers and Certified Army IA Security Officers.
• Experience in CM/DM Process.
• Experts in Certifying/Accrediting Systems Using DIACAP,
NIAP, JAFAN and DCID.
• Experts in DIACAP/SSP Package Creation.
• Backed by 20+ years of Cybernet Software and Hardware
Development Expertise.
• Certified for Security Sensitive Applications.
• FDA-approved, HIPAA-compliant Medical Application
Experience.
• Development of Unique Security Technology Solutions.
Information Assurance Services: Cybernet Has In-house Capability