kine logic technology
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A Brief Overview
Copyright 2002, Cybermotion, Inc.
all rights reserved.
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Introduction
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The technical challenge of designing and fielding
autonomous security robots has caused Cybermotion topush sensor and mobility technology in exciting newdirections.
In almost two decades of thinking out of the box,Cybermotion has developed technologies and
methods that are far ahead of conventional ones.
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Components of CyberGuard Robot
Novel Synchro-Drive mobility
system. Open autonomous navigation
architecture
Advanced adaptive sensor systems. Advanced graphic programming
and control environments.
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The CyberGuard robotic system is ahighly integrated suite of unique
technologies, many of which haveindependent applications:
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Drive System TechnologyDrive System Technology
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Patented, 3rd Generation,
Concentric-Shaft,Synchro-Drive
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Critical Drive System Qualities
Zero turning radius Accurate odometry Tenacious traction Rugged, reliable, and clean Responsiveness to controls
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Cybermotions patented Synchro-Drive system hasthese important advantages over conventional systems:
While Cybermotion hasimplemented the ideal indoorvehicle using this technology,
outdoor vehicles could also profit from these important
advantages.
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What is Synchro-Drive?What is Synchro-Drive?
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Single
DriveMotorPowers
allWheels
SingleSingle
DriveDriveMotorMotorPowersPowers
allallWheelsWheels
Single SteerMotor
Steers allWheels
Single SteerSingle SteerMotorMotor
Steers allSteers allWheelsWheels
Direct gear drive(no differential)
Direct gear driveDirect gear drive(no differential)(no differential)
ConcentricShafts
(no belts
or chains)
ConcentricConcentricShaftsShafts
(no belts(no belts
or chains)or chains)
Near perfect traction,maneuverability, and
odometry
Near perfect traction,Near perfect traction,maneuverability, andmaneuverability, and
odometryodometry
A revolutionary drive mechanism developed by Cybermotion.A revolutionary drive mechanism developed by Cybermotion.A revolutionary drive mechanism developed by Cybermotion.
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DrivingWhen driving in a straight line, all six wheels of aK3A Synchro-Drive platform rotate at exactly the
same speed and in the same direction regardless of the surface conditions.
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The platform remains facing in the same direction atall times. A sub-turret turns with the wheels toface in the direction of motion.
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SteeringWhen steering in place, the two wheels of eachfoot of a Synchro-Drive platform rotate at exactly
the same speed but in opposite directions regardlessof the surface conditions. The base does not move.
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When driving and steering occur at the same time,the wheels perform a combination of these twoactions.
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Why is this the ideal drive foran autonomous vehicle?
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Indoor environments often require dead end turns.Right angle turns save aisle space and thus money.
Ackerman (car) drives require complex maneuvers.
Complex maneuvers take space.
Complex maneuvers take time.
Synchro-drive saves time and space.
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Synchro-Drive in ActionNow watch the wheels of a K3A in action as itperforms a turn in place.
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Traction and Odometry
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Since all wheels pull together at the same speed,Synchro-Drive provides almost ideal traction andodometry.
A Synchro-Drive vehicle has two independentdegrees of freedom; heading and distance. Thismakes dead reckoning easy and precise, while
providing excellent maneuverability.
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Stability and PayloadNow observe the versatile K3A with its 500 poundpayload in an actual automatic nuclear inspection role
at the DOE Fernald Site.
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Strong IP ProtectionStrong IP Protection
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Cybermotion holds patents on Synchro-Drive usingchain drive, three-wheel shaft drive, and six-wheelshaft drive!
Cybermotion holds patents on Synchro-Drive usingchain drive, three-wheel shaft drive, and six-wheelshaft drive!
This strong patent position provides a significant barrier
to entry for potential competitors.
This strong patent position provides a significant barrier
to entry for potential competitors.
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Navigation and Obstacle DetectionSensor Technology
Navigation and Obstacle DetectionSensor Technology
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Innovative sensor systems Advanced sensor fusion techniques
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BumperBumper
Auto-chargingreceptacle
Auto-chargingreceptacle
Sonar transducersSonar transducers Micro-power
Subsystemcomputers
Micro-power
Subsystemcomputers
Payload, lift, orcover (as shown)Payload, lift, orcover (as shown)
Proprietary and 3rd Party* Subsystems
Lidar Navigation*(optional).
Lidar Navigation*
(optional).
RFID Tag Reader*(optional)
RFID Tag Reader*(optional)
Puddle Detector*(optional)
Puddle Detector*(optional)
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Proprietary Digital SonarProprietary Digital Sonar
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Digitally processes out ambient noise
Filters out pings fromeven identical systems
Distinguishes type of target
Doubles asintrusion sensor
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Rock Solid On-Board Firmware
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Proprietary signal processing
Although the NavMaster is the mobility system forCybermotions SR-3 Security
Robot, it is in-fact designed as a general-purpose
modular system.
Proprietary navigation language
Proprietary multi-tasking environment
Proprietary sensor fusion
Open, expandable, architecture
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Advanced Security SensorsAdvanced Security Sensors
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Revolutionary scanning PIR, MW, and UV
sensor systems
Advanced fuzzy logic techniques
Static and Dynamiclearning
Comprehensive airquality assessment
Although the SPI sensor system was designed forCybermotions SR-3Security Robot, it caneasily be adapted to
stand-alone, portable, or stationary configurations.
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Scanning Intrusion Sensor SystemScanning Intrusion Sensor System
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Proprietary Signal ProcessingAdvanced Hamming filtersStatic LearningDynamic LearningIndividual Target Assessment and Tracking
Fusion of PIR, MW, and UltrasonicsIntegrated to Camera Motion
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1 2 3 4
UP
DOWN
ReportsReports
Reports
System Level SoftwareSystem Level Software
PathCAD
PathCAD Graphical Programming Environment PathCAD Graphical Programming Environment
ReportsReports
GraphsReports
ReportsInventory
i-Con DataMining
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The CyberGuard System has three system level components:The CyberGuard System has three system level components:
I-Con Central Control and Human Interface I-Con Central Control and Human Interface
Logging and Data Mining ApplicationLogging and Data Mining Application
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Why PathCAD ?
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Robots must be programmed to perform their tasks.
Elevators and automatic doors must be programmed. Programming cost / time must be minimized. Installation cost becomes critical in service model.
Programming errors must be minimized. Programmer training must be minimized.
The answer was to advance from traditional text programming to graphical programmingthus PathCAD.
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PathCADPathCAD
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tocontinue .
The programmer uses acombination of drop-downmenus and graphical toolsto quickly generate the textprograms that control the
whole NavMaster system.
The programmer uses acombination of drop-downmenus and graphical toolsto quickly generate the textprograms that control the
whole NavMaster system.
These programs create theroutes that the robot canuse to go from one place toanother, and tell it whatlandmarks to use for
navigation.
These programs create theroutes that the robot canuse to go from one place toanother, and tell it whatlandmarks to use for
navigation.
These programs also tellthe robot what actions itshould take along a path,or at a destination where itmust interface with fixed
equipment.
These programs also tellthe robot what actions itshould take along a path,or at a destination where itmust interface with fixed
equipment.
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What About Other Systems ?
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As robot programming became more and moregraphical, the question arose.
As a result, Cybermotion has developed a whole
new concept of integrating systems at the floor plan level!
Why couldnt the integration of fixed alarms, dooropeners, and elevator controls be done graphically
as well ?
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Assure safe, reliable operation at all times.
Minimize operator training requirements. Prevent operator mistakes. Reduce operator workload. Allow supervisors to assess performance. Enable fast, remote maintenance.
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i-Con Development Goals Like much of Cybermotions technology, i-Conis a break with traditional methods and
assumptions. The goal was to:
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Everything possible is represented graphically. Clicking any graphical object will open a display
or control for that object. Objects on these displays and controls may in
turn be clicked to yield ever greater details. Expert systems offer advice and control
options available to the operator. All data maintenance is automated.
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i-Con PhilosophyThe i-Con development goals were successfully
accomplished using the following techniques:
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i-Con Control Software
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i-Con is written in Visual Basic and runs on anymodern Windows 95, 98, 2000, XP, or NT basedcomputer.
Like the vehicle itself, i-Con is modular and
general purpose in nature. It can be used as: A multi-robot control console
A GUI alarm central station
A system control console for elevators, doors, etc.
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Searches can be restricted by position, map,and time of day.
Instant Data Mining
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Operational Reports are generated bya single mouse click. They beginwith a concise summary of theoperation of the system over thereporting period.
Operational Reports are generated bya single mouse click. They beginwith a concise summary of theoperation of the system over thereporting period.
The user of this report can then look at subsequent pages for details, orgenerate map or graph displays of the information.
The user of this report can then look at subsequent pages for details, orgenerate map or graph displays of the information.
Event Report Generated by Cybermotion Event ReporterVersion 1.01.Reporting period:Beginning 20 Apr 1999 at 14:00
and Ending 21 Apr 1999 at 15:13
Data was not restricted by position.This report includes the TEMPLATE, and 406FL1 maps.The graph file for this report is C:\406\Apr20_1999Ev_1.dat.
There were 1638 Valid Events reported.Total operating hours: 15.1
Total forPeriod
Jobs Performed: 163Operator Assists: 0
Communication Timeout: 34Navigation blockages: 0
Path Recalls: 0Circumnavigations: 42
Navigation Alerts: 6
Management Reports
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Environmental Reports also begin
with a concise summary of theenvironment over the reporting periodand include details on subsequent
pages.
Environmental Report Generated by Cybermotion Environment Surveyor Ver. 1.00.Reporting period:Beginning 12 Apr 1999 at 18:00
and Ending 20 Apr 1999 at 14:18
Data was not restricted by position.This report includes the 405F1, 405F2, and 405F3 maps.The graph file for this report is C:\404405\Apr12_1999_2.dat.
There were 1505 Valid Readings reported.
Parameter Value Date Time X Pos. Y Pos. Map-------------------------------------------------------------------------------------------Min.Temperature(F) 71.1 4/19/1999 3:24 -69.72 -0.95 405F1Max.Temperature(F) 78.7 4/16/1999 19:0 -5.35 -0.34 405F2Ave.Temperature(F) 75.6 for whole facility.
Parameter Value Date Time X Pos. Y Pos. Map-------------------------------------------------------------------------------------------Min.Rel.Humidity(%) 12.2 4/13/1999 20:50 -5.16 -47.96 405F3
Environmental Reports
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Environmental graph files arealso generated with a singlemouse click. These files are
readable by all popular graphingprograms and can be droppedinto all Microsoft Officedocuments.
Environmental graph files arealso generated with a singlemouse click. These files are
readable by all popular graphingprograms and can be droppedinto all Microsoft Office
documents.0
20
4060
80100120
9:421/7/98
15:551/7/98
5:321/16/98
20:561/16/98
13:402/23/98
TempHumid
SmokeGas1Gas2LightAux1
Time Based Graphs
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Map Displays(Actual Incident)
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Applications Experience
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As the result of a wide range of government andcommercial projects, Cybermotion hasdeveloped many special configurations. Each of
these projects has added to our toolbox,making the core system extremely flexible.
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Applications
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Cybermotion technology hasapplication to a wide range of markets:
Nuclear inspection and surveysHazardous materials handlingAutomated materials transportClean room transportAutomated and remote inspectionMail and parcel pick-up and deliveryPortable surveillance systemsCentral station monitoringCounter terror patrol
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Introduction to i-Con (33 animated slides)Basic i-Con Operator Training (101 animated slides)Introduction to CyberGuard (54 animated slides)NavMaster Technology (24 animated slides)Robots in Security (34 animated slides)The i-Con Users ManualThe PathCAD Programmers ManualThe DataLog and EventLog Users Manual
Introduction to i-Con (33 animated slides)Basic i-Con Operator Training (101 animated slides)
Introduction to CyberGuard (54 animated slides)NavMaster Technology (24 animated slides)Robots in Security (34 animated slides)The i-Con Users ManualThe PathCAD Programmers ManualThe DataLog and EventLog Users Manual
Cybermotion Inc.1354 8th St. SW, Suite 400Roanoke, VA 24015www.cybermotion.com
1-800-Robot-4U Press space bar to end.
Additional Data AvailableAdditional Data Available