mcgill/drdc - degree-of-freedom robot

I r I Hall, Sharon From: Sent: To: Cc: Subject:

Jasmine Scott [[email protected]) Friday, October 28, 2011 9:00AM Beckman, Blake Hall, Sharon; Mony Lee Request for Proposals W7702-125267

RELEASED UNDER THE AlA- UNCLASSIFIED INFORMATION

DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFI E

Attachments: Proposal1 W7705-125267.pdf; Proposal2 W7702-125267.pdf

Dear Mr. Beckman:

Solicitation No. W7702-125267/A Degree of Freedom Robot

1te: October 27, 2011 @ 2:00 p.m. MDT

Enclosed is an electronic copy of the two (2) proposals received in response to our above referenced request for proposal. These have been forwarded without the cost detail, in accordance with PWGSC policy, so that each firm's proposal may be fairly and objectively assessed.

Would you please complete your technical evaluation of each proposal in accordance with the pre-established evaluation criteria. As per Treasury Board Policy, would you then please provide me with a WRITIEN narrative of the proposal evaluations, including the points awarded which are to be arrived at by consensus, and your scoring notes, making comparison with the evaluation criteria and the points available.

If any clarification is required from the proposers, all communications with the proposers MUST be routed through this office.

After we have received a copy of the completed technical evaluations, we will examine them for fairness and equity, and will contact you with any questions, or the results of the best value calculations and a winner. Within reason, PWGSC retains the option of negotiating pricing with one, or all, of the proposers.

IT SHOULD BE NOTED THAT PROPOSAL INFORMATION IS TO BE DIVULGED ONLY TO DEPARTMENT OR AGENCY OFFICIALS AUTHORIZED TO PARTICIPATE IN THIS PROCUREMENT. NONE OF THIS INFORMATION IS TO BE DIVULGED TO OR DISCUSSED WITH THE TRADE.

Your response is requested as soon as possible. Subsequently, we can arrange a mutually convenient time to finalize contractor selection.

Should you have any questions, please contact me at phone (780) 497-3535, or by facsimile at (780) 497-3510.

Yours truly,

Jasmine Scott I on behalf of Mony Lee

Mony Om Supply Specialist

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LEASED UNDER THE AlA- UNCLASSIFIED INFORMATION

IVULGUE EN VERTU DE LA LAI- RENSEIGNEMENTS NON CLASSIFIE

DATE: ________ _

COMPANY NAME: ________________________ _

I. MANDATORY CRITERIA

Mandatory Criteria at Solicitation Closing Failure to meet any of the following mandatory requirements at solicitation closing will render your submission non-compliant and given no further consideration.

1. Education: Ph.D in a robotics-related discipline.

MET_ NOT MET __

EVALUATION CRITERIA

Point Rated Criteria Each Technical Bid which meets all the Mandatory Criteria specified above, will be evaluated and scored in accordance with the following evaluation criteria:

II. POINT RATED REQUIREMENTS: (Rating: 4=excellent, 3=very good, 2=average, 1=poor, O=nothing)

A. STUDY STRATEGY WEIGHT RATING SCORE 1. Demonstated understanding of scope and importance 5.0 of study and the Statement of Work as set out in RFP 2. breakdown of project into logical tasks; planning and 10.0 detail of tasks; detailed schedule and timetable; realistic estimation of the time required to complete the work 3. methods of handling potential problems during the 5.0 project 4. demonstrated original and innovative ideas 10.0

Maximum points available 120.0 Minimum points acceptable 84.0 Points awarded

B. TRAINING & EXPERIENCE WEIGHT RATING SCORE 1. demonstrated corporate experience in projects of this 5.0 nature 2. suitability of academic backgrounds of personnel 10.0 assigned 3. relevant experience of personnel assigned to the 5.0 project (project leader must have minimum of 5 years experience in robotic legged locomotion projects) 4. adequacy and availability of personnel to carry out the 10.0 project 5. Experience with LMS Virtual lab Motion or a similar 10.0 mechanical simulation tool 6. Experience with MATLAB 10.0

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7. Experience with a VI CON motion capture system or similar non contact motion capture system Maximum points available Minimum points acceptable Points awarded C. PROJECT ORGANIZATION 1. allocation of manpower for efficient use of personnel 2 assurance of liaison with the Technical Authority 3. overall organization of the project

Maximum points available Minimum points acceptable Points awarded

TOTAL POINTS AWARDED

EVALUATION:

10.0

WEIGHT 10.0 10.0 10.0

I


DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFII

240.0 168.0

RATING SCORE

120.0 84.0

I

Each proposal must meet all of the mandatory requirements set out in the evaluation criteria. Proposals that fail to meet these requirements will be discarded without further consideration.

Each evaluation criterion has a number allotment (weight) that reflects its importance in proposal submissions. The degree to that the proposal satisfies the requirement of each criterion will be assessed and a "rating" will be assigned ranging from 0 to 4, with 0 meaning the proposal completely fails to satisfy the requirements, and the total allotment meaning the proposal fully meets the outlined criterion. A score will be assessed by multiplying the weight by the rating.

Each proposal must achieve a minimum score of 70% of the maximum points available in EACH category subject to point rating. Bids that fail to achieve this score will be considered technically unacceptable and will be given no further consideration.

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Pages 4 to I a 20 are withheld pursuant to sections

sont retenues en vertu des articles

20(1 )(b), 20(1 )(c), 24(1)

of the Access to Information Act de Ia Loi sur l'acces a l'information



19(1 ), 24(1)



IVULGUE EN VERTU DE LA LAI- RENSEIGNEMENTS NON CLASSIF!E!

DATE: ________ _

COMPANY NAME: ___________________ _

I. MANDATORY CRITERIA

Mandatory Criteria at Solicitation Closing Failure to meet any of the following mandatory requirements at solicitation closing will render your submission non-compliant and given no further consideration.

1. Education: Ph.D in a robotics-related discipline.

MET_ NOT MET __

EVALUATION CRITERIA

Point Rated Criteria Each Technical Bid which meets all the Mandatory Criteria specified above, will be evaluated and scored in accordance with the following evaluation criteria:

II. POINT RATED REQUIREMENTS: (Rating: 4:::::excellent, 3=very good, 2=average, 1 =poor, O=nothing)

A. STUDY STRATEGY WEIGHT RATING SCORE i . Demonstated understanding of scope and importance 5.0 of study and the Statement of Work as set out in RFP 2. breakdown of project into logical tasks; planning and 10.0 detail of tasks; detailed schedule and timetable; realistic estimation of the time required to complete the work 3. methods of handling potential during the 5.0 project 4. demonstrated original and innovative ideas 10.0

Maximum points available 120.0 Minimum points acceptable 84.0 Points awarded

B. TRAINING & EXPERIENCE WEIGHT RATING SCORE 1. demonstrated corporate experience in projects of this 5.0 nature 2. suitability of academic backgrounds of personnel 10.0 assigned 3. relevant experience of personnel assigned to the 5.0 project (project leader must have minimum of 5 years experience in robotic legged locomotion projects) 4. adequacy and availability of personnel to carry out the 10.0 project 5. Experience with LMS Virtual lab Motion or a similar 10.0 mechanical simulation tool 6. Experience with MATLAB 10.0

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7. Experience with a VICON motion capture system or similar non contact motion capture system Maximum points available Minimum points acceptable Points awarded C. PROJECT ORGANIZATION 1. allocation of manpower for efficient use of personnel 2 assurance of liaison with the Technical Authority 3. overall organization of the project

Maximum points available Minimum points acceptable Points awarded

I TOTAL POINTS AWARDED

EVALUATION:

10.0

WEIGHT 10.0 10.0 10.0


DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFIE!

240.0 168.0

RATING SCORE

120.0 84.0

I

Each proposal must meet all of the mandatory requirements set out in the evaluation criteria. Proposals that fail to meet these requirements will be discarded without further consideration.

Each evaluation criterion has a number allotment (weight) that reflects its importanco in proposal submissions. The degree to that the proposal satisfies the requirement of each criterion will be assessed and a "rating" will be assigned ranging from 0 to 4, with 0 meaning the proposal completely fails to satisfy the requirements, and the total allotment meaning the proposal fully meets the outlined criterion. A score will be assessed by multiplying the weight by the rating.

Each proposal must achieve a minimum score of 70% of the maximum points available in EACH category subject to point rating. Bids that fail to achieve this score will be considered technically unacceptable and will be given no further consideration.

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5.24(1) RELEASED UNDER THE AlA- UNCLASSIFIED INFORMATION

DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON

ENGINEERING SERVICES INC. (ESI) Automation & Robotics Systems 890 Yonge Street Unit 800 Toronto Ontario M4W 3P4 Canada Phone: (416) 595-5519 Fax: (416) 595-9994 URL: www.esit.com

SECTION I

TECHNICAL BID

Sou ciTATION No: W7702-125267 I A

COMPANY NAME COMPANY ADDRESS

Engineering Services Inc. (ESI) 890 Yonge St., Unit #800

PBN#: PGOOOl Toronto, ON M4W 3P4

PROJECT TITLE

Multi Degree-of-Freedom Robot Autonomous Control and Navigation of a Multi Degree-cf-Freedom Robot

PROJECT SUMMARY

The objective of the project is to develop control algorithms for the Micro Hydraulic Toolkit (MHT) robot developed by DRDC-Suffield. The control algorithms will allow the robot to perform locomotion over various terrains based on behaviours focused on performance, posture, and stability. The control algorithms will be first developed in Matlab/Simulink that will be linked with the MHT Virtuai.Lab Motion-based MHT and terrains models available at Suffield. This phase will cover the development of static and dynamic behaviour algorithms, control of motion stability and posture over various terrains, control of steering and turning, and gait control over uneven terrains. This phase will be followed by the implementation of the control algorithms on the MHT, performing of tests, analysis of test data, and refinement of the control algorithms and models. Finally, the controlled behaviours will be integrated with vision-based leader/follower software and a man-machine interface.

OCTOBER 26, 2011

TABLE OF CONTENTS



Technical Bid ................................................................................................................................................. 3

1. Scope and Importance of Study (5 pt) .................................................................................................. 3

2. Project Tasks and Schedule (10 pt) ....................................................................................................... 5

2.1 Control Algorithm Development ................................................................................................. 5

Static Proprioceptive Algorithms ............................................................................................ 6

2.1.2 Dynamic Proprioceptive Algorithms ....................................................................................... 8

2.1.3 Stability Algorithm on Various Terrain Surfaces ..................................................................... 9

2.1.4 Turning Radius on Various Terrain Surfaces ......................................................................... 11

2.1.5 Discontinuous Locomotion Algorithms ................................................................................ 11

2.2 Control Algorithm Validation .................................................................................................... 12

2.3 Control Algorithm Integration with Leader/Follower behaviours and MMI ............................ 13

2.4 Tasks and schedule ......................................... : ......................................................................... 14

3. Potential problems and Mitigation Methods (5 pt) ........................................................................... 15

4. Original and Innovative Ideas (10 pt) ................................................................................................. 16

5. References .......................................................................................................................................... 17

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Technical Bid

1. Scope and Importance of Study {5 pt)



To enhance soldiers' actions in combat missions, the Autonomous Intelligent Systems Section (AISS) at Defence R&D Canada -Suffield (DRDC Suffield) conducts research in UGV intelligence for mobility in complex terrains with emphasis on the locomotion performance as a first priority [1, 2, 3]. DRDC-Suffield is developing and demonstrating practical, cost effective, autonomous intelligent systems capable of supporting military missions in complex operating environments. Their work covers novel mobility platforms and intelligent mobility algorithms.

The Micro Hydraulic Toolkit (MHT} mobile robot is one of the vehicles that were developed by DRDC- Suffield. The vehicle is a platform with 12 degrees-of-freedom (dof). Four hips and four knees dof are actuated by non-continuous rotary hydraulic motors that are capable of 90 degree rotations. The vehicle is reconfigurable using structural members connecting the hip to knee and knee to wheel that can be fastened in 22.5 degree increments. Four electric actuators are providing continuous rotary motion of the wheels. MHT robot is designed to operate in challenging environments by controlling the body pose to relocate its centre of gravity, thus improving its mobility and stability over uneven terrains.

In general terms, legged robot locomotion mechanisms are inspired by biological systems. They are capable of moving through a wide variety of uneven terrains. They can climb steps and obstacles, cross large. ditches and gaps, and walk on extreme terrains where, due to ground irregularity, the use of wheels would not be feasible. In general legged robots have at least four legs, and each leg has at least two dof {hip and knee). Thus, a four legged robot would require at least eight actuators [4]. Nonetheless, wheeled locomotion has several advantages over legged locomotion such as simpler traction mechanism; stability is not a profound problem as is in legged locomotion; it is power efficient; and can have high speed on flat and hard ground. However, there are challenges such as providing and maintaining traction and stability over rough terrain, manoeuvrability on slippery or very soft ground, in mud, etc.

To benefit from the advantages of both, legged and wheel locomotion mechanisms, the design of MHT is a hybrid of leg and wheel locomotion, a hybrid wheel-legged locomotion system. Hybrid wheel-legged robots are vehicles with active and coordinated control of both, legs and wheels. With these mutually redundant subsystems, the motility can be improved, and an overall uneven terrain mobility enhancement is achieved.

The functionality provided by the hybrid design of MHT covers two modes of motion: (i) a continuous locomotion mode or rolling mode with legs configured but locked; and (ii) a discontinuous locomotion mode or walking mode with the wheels are locked. Due to the

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complexity of the structure and interaction with various unstructured environments, the capability of two-mode motion raises significant challenges in providing a high performance MHT.

Based on the results presented in [1] the difficulties related to the control of MHT include:

(1) Highly interacting dynamics - The system state is 12-dimensional (4 hips, 4 knees and 4 wheels) and the highly variable configuration indicates strong dynamics interaction between the moving elements within a given leg, of all legs, and across the lines of symmetry of the vehicle. Under many circumstances, contact with the ground may be lost and the vehicle changes from 4 to 3 or even 2 wheels on contact with the ground generating markedly different dynamics;

(2) Nonlinear system - The time varying nature of the system parameters implies significant variations in the moments of inertia as the vehicle evolves through various geometries during the motion. Moreover, the hydraulic servo actuators are inherently nonlinear.

{3) Event-dependent variable time delay - As the hydraulics are taxed under varying dynamic operating environments, the time delays experienced by the system vary, at times they vary significantly. Furthermore, as a result of conduits fluid supply lines may give rise to different time delays for various actuators. Due to the difficulty in developing a mathematical model of the MHT system, the authors of [1] decided to use a model-free control design methodology. Two main approaches were considered: Model Reference Adaptive Control (MRAC) and Fuzzy Logic Control (FLC).

Engineering Services Inc. has wide experience and expertise as it conducted numerous development projects of various robotic systems: industrial automation systems driven by electronic motors, hydraulic and pneumatic actuators, or 'smart' materials-based actuators. Projects directly relevant to MHT control include mobile robot control, hydraulic system control, terrain profile scanning, impedance control, robust control, etc [5 - 10, 32]. In these applications various types of control systems have been developed including position, force, impedance, adaptive, robust, autonomous, free and constrained motion control, in applications to various domains.

Through an extensive literature review and based on past experience and acquired expertise at ESI, a systematic approach to developing a controller for MHT is proposed herewith. The work plan and tasks are presented in the following sections.

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5.20(1 )(b) 5.20(1 )(c)

2. Project Tasks and Schedule (10 pt)

2.1 Control Algorithm Development



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2.2 Control Algorithm Validation



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2.3 Control Algorithm Integration with Leader/Follower behaviours and MMI

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2.4 Tasks and schedule

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3. Potential problems and Mitigation Methods (5 pt}



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4. Original and Innovative Ideas (10 pt)


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5. References



[1] M. Trentini, B. Beckman, J. Collier, B. Digney, and I. Vincent, "Intelligent Mobility Research at Defence R&D Canada for Autonomous UGV Mobility in Complex Terrain", NATO Research and Technology Agency, Applied Vehicle Technology Panel Symposium on Platform Innovations and System Integration for Unmanned Air, Land and Sea Vehicles, May 2007. [2] B. Beckman and M. Trentini, "Kinematic Range of Motion Analysis for a High Degree-of-Freedom Unmanned Ground Vehicle", Technical Memo. DRDC Suffield TM 2009-231, Dec 2009. [3] G. Lambert, B. Beckman, "Micro-Hydraulic Toolkit Report", Contract Report, DRDC Suffield CR 2008-212, December 2006. [4] C. Ridderstrom, "Legged locomotion: Balance, control and tools- from equation to action", Doctoral thesis, 2003.

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[5] P, Ben-Tzvi, A. A. Goldenberg, W. J. Zu, "Articulated Hybrid Mobile Robot Mechanism with Compounded Mobility and Manipulation and On-Board Wireless Sensor/Actuator Control Interfaces", Mechatronics Journal, Vol. 20, Issue 6, pp. 627-639, September 2010.

[6] S. R. Habibi, A. A. Goldenberg, "Design of a New High Performance ElectroHydraulic Actuator"; IEEE/ASME Transactions on Mechatronics, Vol.5, No.2, pp. 158-164, June 2000. [7] C. Raoufi, A. A. Goldenberg, W. Kucharczyk, "Design and Control of a Novel Hydraulically/Pneumatically Actuated Robotic System for MRI-Guided Neurosurgery", Journal of Biomedical Science and Engineering (JBISE}, Vol. 1, pp. 61-74, June 2008.

[8] H. Najjaran, A. A. Goldenberg, "Landmine Detection Using an Autonomous Terrain-Scanning Robot", International Journal of Industrial Robots, Vol. 32, No. 3, pp. 240-247, March 2005. [9] Z. Lu, A. A. Goldenberg, "Robust Impedance Control Based on Sliding Modes", International Journal of Robotics Research, Vol. 3, No. 14, pp. 225-254, 1995.

(10] G. J. Liu, A. A. Goldenberg, "Robust Control of Robot Manipulators Based on Dynamics Decomposition", IEEE Trans. on Robotics & Automation, Vol. 13, No.5, pp. 783-789, Oct 1997. (11] Z. H. Jiang, A. A. Goldenberg, "Task Space Trajectory Control of Flexible Micro-Macro Robot in the Presence of Parametric Uncertainty", Mechanism and Machine Theory, Vol. 34, pp. 1281-1302, 1999.

[12] Papadopoulos, E.G. and Rey, D.A., "A new measure of tip-over stability for mobile manipulators", Proc. of the IEEE Intern. Conf. on Robotics and Autom., pp. 3111-3116, 1996.

[13] Grand, C. and Benamar, F. and Plumet, F. and Bidaud, P."Stability and traction optimization of a reconfigurable wheel-legged robot", The International Journal of Robotics Research, vol 23, pp. 1041-1058, 2004.

[14) M. S. Saidonr, H. Desa, R. M. Noor, "A Differential Steering Control with Proportional Controller for An Autonomous Mobile Robot", IEEE 7th International Colloquium on Signal Processing and its Applications, 2011.

[15] A. Halme, I. Leppanen, 5. Salmi, S. YlonenHybrid, "Locomotion of a Wheel-legged Machine", In 3rd Int. Conference on Climbing and Walking Robots, 2000.

[16] Fort Eustis, "Logistical vehicle off-road mobility", U.S. Army Transportation Combat Developments Agency, 1967

[17] M.G. Bekker, "Introduction to Terrain-Vehicle Systems", University of Michigan Press, Ann Arbor, 1969.

[18] Kenneth J. Waldron, Vincent J. Vohnout, Arrie Pery, and Robert B. McGhee, "Configuration of the Adaptive Suspension Vehicle", Int. J. of Robotics Research, 1984.

[19] Christian Ridderstrom, "legged locomotion: Balance, control and tools - from equation to action", Doctoral thesis, Department of Machine Design, Royal Institute of Technology, 2003.

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[20], E. I. Kugushev, V. S. Jaroshevskij, "Problems of selecting a gait for an integrated locomotion robot", In 4th Int. Conf. Artificial Intelligent, 1975.

[21], R. B. McGhee, G. I. lshwandhi, "Adaptive locomotion of a multilegged robot over rough terrain", IEEE Trans. Systems, Man, and Cybernetics, 1979.

[22] J. Emilio, V. Soto, "Free Locomotion Gaits for a Four Legged Machine", International Congress on Industrial Automation and Material Science, March 1999. [23] J. Emilio, V. Soto, "Free Locomotion Gaits for a Four Legged Machine", International Congress on Industrial Automation and Material Science, March 1999. (24) Chun-Hung Chen, Vijay Kumar, Yuh-Chyuan Luo, "Motion planning of walking robots using ordinal optimization", IEEE Robotics and Automation, 1998. [25] Pablo Gonzalez de Santos, Maria A. Jimenez, "Generation of discontinues gaits for quadruped walking vehicles", J. Robotic Systems, 1995. [26] B. Shamah, M.D. Wagner, $.Moorehead, J. Teza, D.Wettergreen, and W. Whittaker,

"Steering and control of a passively articulated robot" SPIE Sensor Fusion and Decentralized Control in Robotics Systems IV. 2001. [27] Sven Bottcher, "Principles of robot locomotion", http://www2.cs.siu.edu/-hexmoor/classes/CS404-S09/Robotlocomotion.pdf [28] Sciavicco, l. and Siciliano, B, "Modelling and control of robot manipulators", Springer Verlag, 2000. [29] A. Schneider, U. Schmucker, "Force Sensing for Multi-legged Walking Robots: Theory and Experiments - Part 1: Overview and Force Sensing", Mobile Robots, Moving Intelligence, www.i-techonline.com. (30] U. Asif, J. Iqbal, "Ari Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait", Journal of Control Science and Engineering, 2011. [31] B. Beckman, J. Pieper, D. Mackay, M. Trentini, D. Erickson, "Two Dimensional Dynamic Stability for Reconfigurable Robots Designed to Traverse Rough Terrain", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2447-52, 2008. [32] Mantegh, 1., Jenkin, M.R.M., and Goldenberg, A. A., "Path Planning for Autonomous Mobile Robots Using the Boundary Integral Equation Method", Journal of Intelligent and Robotic Systems, DOl 10.1007 /s10846-010-9394-y, February 2010. [33] B. Beckman, M. Trentini, J. Pieper, "Control algorithms for stable range-of-motion behaviours of a multi degree-of-freedom robot", International Conference on Autonomous and Intelligent Systems {AIS), 2010.

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5.24(1)




SECTION II

MANAGEMENT BID

Sou ciTATION No: W7702-125267 I A




PROJECT TITLE

Multi Degree-of-Freedom Robot Autonomous Control and Navigation of a Multi Degree-of-Freedom Robot

PROJECT SUMMARY

The objective of the project is to develop control algorithms for the Micro Hydraulic Toolkit (MHT) robot developed by DRDC-Suffield. The control algorithms will allow the robot to perform locomotion over various terrains based on behaviours focused on performance, posture, and stability. The control algorithms will be first developed in Matlab/Simulink that will be linked with the MHT Virtuai.Lab Motion-based MHT and terrains models available at Suffield. This phase will cover the development of static and dynamic behaviour algorithms, control of motion stability and posture over various terrains, control of steering and turning, and gait control over uneven terrains. This phase will be followed by the implementation of the control algorithms on the MHT, performing of tests, analysis of test data, and refinement of the control algorithms and models. Finally, the controlled behaviours will be integrated with vision-based leader/follower software and a man-machine interface.

OCTOBER 26, 2011



t!

TABLE OF CONTENTS

Management Bid ............................................................................................................................. 3

1. Experience of Company in This Domain (5 pt) ...................................................................... 3

2. Team and Academic Background (10 pt) ............................................................................... 4

3. Experience of Assigned Personnel (10 pt) ............................................................................. 5

4. Adequacy and Availability of Personnel (10 pt) .................................................................... 7

5. Experience with LMS (10 pt) .................................................................................................. 7

6. Experience with Matlab (10 pt) ............................................................................................. 8

7. Experience with Vicon (10 pt) ................................................................................................ 8

8. Client contacts ....................................................................................................................... 9

9. Allocation of Manpower (10 pt) ............................................................................................ 9

10. Assurance of Liaison with the Technical Authority (10 pt) ..................................................... 9

11. Overall Organization of the Project {10 pt) ......................................................................... 10

11.1 Team Structure ............................................................................................................. 10

11.2 WBS structure ............................................................................................................... 11 12. On site Integration ................................................................................................................ 12 13. References ........................................................................................................................... 12 Appendix A- CV's of Team Members .......................................................................................... 13

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Management Bid

1. Experience of Company in This Domain (5 pt)



Engineering Services Inc. (ESI} has been in operation since 1982. Dr. Andrew Goldenberg a world re-known robotics specialist is the founder and current President of the company. ESI is specialized in the development of advanced robotics and automation products and custom robotics systems. ESI is recognized as a world leader, and is well known for developments of robotics-based modular automation, mobile robots, customized robotic systems, intelligent mechatronics systems, and expert systems. ESI's emphasis on mobility and modularity of hardware and software allows it to create highly flexible and adaptable solutions that can be easily and rapidly reconfigured to meet the needs of various industries.

ESI operations are divided into five divisions: Mobile Robots, Medical Robots, Robotics and Automation, Space Robotics, and Security and Defense. The technologies developed by ESI to date are used in the following industrial sectors:

- Law enforcement -Security and Defense - Medical Surgery -Nuclear - Laboratory automation - Utilities -Space - Robotics Research - Industrial automation

To date, ESI has exported its technology and products to the United States, Mexico, Sweden, Denmark, Belgium, France, Germany, Switzerland, Israel, Turkey, India, Korea, Singapore, Australia, New Zealand, Tajikistan, and other.

ESI has extensive experience in control systems development, and conducted numerous projects that included the development of position, force, impedance, adaptive, robust, autonomous, free and constrained motion, and remote human-in-loop control.

The management team for the proposed project brings in a wealth of relevant experience in robotics systems and control engineering with applications to defense, law enforcement, mining, nuclear, medical, utilities, and space and planetary explorations.

ESI has developed mobile robot products for the law enforcement and military. Some of the products have been adapted for research in Universities. Members of the proposed team are currently engaged in several contracts with the Canadian Space Agency as part of the Exploration Surface Mobility (ESM} project. ESI, Cohort Systems Inc. (CSI) of Ottawa and several University Professors as consultants have been developing as a team the MRPTA (Micro-Rover Platform with Tooling Arm} for CSA. ESI, and another group of University Professors as consultants, have been engaged in the development of the SMA (Small Manipulator Arm) for CSA. ESI, CSI and NORCAT (of Sudbury, ON) have been engaged in the development of the PMM (Planetary Medium Manipulator} for CSA.

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5.19(1)

2. Team and Academic Background (10 pt) Andrew Goldenberg, Ph. D.- Executive Project Manager

Professor 1987- present Department of Mechanical and Industrial Engineering, University of Toronto; Cross-appointed in Department of Electrical and Computer Engineering and Institute of Biomaterials & Biomedical Engineering, University of Toronto

Associate Professor 1982-1987 Department of Mechanical Engineering, University of Toronto; Cross-appointed in Department of Electrical Engineering and Institute of Biomaterials & Biomedical Engineering, University of Toronto

NSERC Univ. Research Fellow and Research Assistant Professor

Department of Electrical Engineering, University of Toronto 1981-1982

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3. Experience of Assigned Personnel (10 pt) Andrew Goldenberg, Ph. D.- Executive Project Manager



Dr. Andrew Goldenberg has pioneered the application of diverse robotic technologies to new industrial niches. He has been involved in robotics since 1975 when he started work on the Canadarm at Spar Aerospace Ltd. Dr. Goldenberg is a recognized world authority in robotics and automation: has published over 125 journal papers in robotics, 350 conference papers, and is the co-holder of 34 patents. Dr. Goldenberg has also been a Professor at the University of Toronto in the area of Robotics and Automation since 1982. He is involved in day-to-day executive management of ESI, and participates actively in technical work. Dr. Goldenberg is currently the Executive Project Manager of three CSA-funded projects as part of the ESM program.

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4. Adequacy and Availability of Personnel (10 pt) The project team will consist of Dr. Andrew Goldenberg as the principal investigator. Working with Dr Goldenberg will be and This core team will have access to the full range of technical expertise at ESI including System Engineering, Aerospace Engineering, Mechanical Engineering, and Electrical Engineering on and as needed basis. Included in the technical expertise are Software Developers with in depth robotics experience ranging from low level embedded systems, Vision Systems Designers, PLC's, RTOS, GUI right up to system level planning, development and implementation experience.

Supporting the technical team will be the Management team consisting of Dr. Andrew Goldenberg at Executive Project Manager,

as Technical Manager, and as Project Manager,

as Project Administrator. Combined, this management team has dozens of successfully completed projects in many diverse applications.

The team listed above will be made available from approximately December 1, 2011 to March 31, 2014 as required for the duration of the project.

5. Experience with lMS (10 pt) LMS Virtuai.Lab Motion (LMS-VLM) is a software program that has the basic capabilities to simulate rigid multi-body mechanical systems, including modeling, solving and analysis. Mechanical elements include an extensive list of joint and constraint features and an extensive library for force elements modeling including stiffness, damping, friction, and contact forces. The simulation results include displacement, velocity, acceleration, and all reactive forces and moments for all bodies in the simulation. LMS-VLM provides post-processing capabilities like animation and graphing. It integrates all required functionalities into a single, user-friendly desktop environment. Users can quickly create and refine fully parameterized virtual prototype models of mechanical systems using a fully integrated CAD engine based on CATIA VS.

ESI has extensive experience with several mechanical simulation programs that provides similar functionalities or working environment with LMS-VLM such as Dymola, a Multi-Engineering Modeling and Simulation tool.

Dynamic Modeling Laboratory (Dymola), is a complete tool for modeling and simulation of integrated and complex systems for use within automotive, aerospace, robotics, process and other applications. Dymola simulates the dynamic behavior and complex interactions between systems of many engineering fields, such as mechanical, electrical, thermodynamic, hydraulic, pneumatic, thermal, and control systems. Dymola can build more integrated models and have simulations results. that better depict reality.

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ESI used Dymola to simulate a complete system which includes control system, mechanical system, driving system and biological system. The simulated biological system is a human neck including the models of bones, muscles, ligaments, soft disks, etc (1].

ESI also used or are using other multi-engineering simulation tools such as Matlab SimMechanics, Solidworks Simulation, Autonyn, and other in past projects to perform various analyses such as general dynamics, computational solid dynamics, or fluid dynamics, etc. (2, 3, 4].

6. Experience with Matlab (lOpt) Matrix Laboratory (MATLAB) provides a computing environment and high-level programming language. MATLAB allows matrix manipulations, plotting of functions and data, implementation of algorithms, creation of user interfaces, and interfacing with programs written in other languages. MATLAB has various add-on tools that provide many additional capabilities such as symbolic computing, graphical multi-domain simulation and model-based design for dynamic and embedded systems.

ESI has extensive experience using Matlab programs for system modeling, control algorithms design and test, signal and data modeling and processing, etc. used in several projects including robotic system (2], expert system [5], biological control system [6].

7. Experience with Vicon (10 pt) As a member of OxfordMetricsGroup (OMG), VICON provides advanced tools for capturing and analyzing the motion of humans, animals and machines in 20 and 3D. The tools provide high-precision data to customers in research, medicine, sport, engineering, game development, broadcast and film.

ESI's software engineers (refer to section 3) have experience with motion capturing system that uses multi-cameras and National Instrument (NI) Vision software to record motions of an overhead device (pantograph} on a railway car. The recording speed is 50Hz in real time. The light source can be normal sun light or inferred light. The features of overhead device image are used to calculate the positions in 3D space.

ESI has also extensive experience with vision guided robotic systems. The robot is guided by a vision system that catches target object images, identifies features, calculates target positions and then sends them to the robot motion controller to reach the target object (2].

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5.19(1) 5.20(1 )(b) 5.20(1 )(c)

8. Client contacts Role Name


DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFIE! -------------------------------------

Telephone Fax E-mail Executive Project Manager Andrew Goldenberg 416-595-5519 x236 416-59 5-9994 [email protected] Project Administrator Project Manager Technical Project Manager

- - ---

9. Allocation of Manpower {10 pt)

Description Name Days Allocated FY 2011-2012 I FY 2012-2013 I FY 2013-2014

10. Assurance of liaison with the Technical Authority {10 pt) Liaison with the technical authority will be done through the Systems Engineer on a regular basis. In addition, the Executive Project Manager and Project Manager will monitor the communication regularly and provide backup to the Technical Project Manager and Systems Engineer.

Depending on the nature of the particular communication with the Technical Authority the Systems Engineer as well as the Control System Designer will supplement the discussions when participating in conference calls or milestone meetings.

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11. Overall Organization of the Project (10 pt) 11.1 Team Structure

Principal Investigator/Executive

Project Manager



Project Manager Systems Engineer

Technical Project Manager

Project Administrator

Control System Design

Other Technical Experts

Figure 1 Team Structure

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5.20(1 )(b) 5.20(1 )(c)

11.2 WBS structure

Figure 2 WBS Structure



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12. Onsite Integration



The intent in this project is to have a staff member on-site at DRDC for the last 7 months of the project. The budget for this travel is included in the estimates. The time frame for this onsite integration is scheduled from May 2013 to November 2013.

13. References [1} ESI, "Design, Integration and Development of Neck Supporting Systems for S&R Helicopter Pilots", Project report, 2006

[2] ESI, "Preliminary Design and Analysis Report", 'Planetary Medium Manipulator Prototype', 2011

[3] ESI, "Development of A Non-Traditional Expert System for Blast Analysis and Target Hardening in Urban Environment", Project report, 2006

[4) ESI, "Development of Continuous System Model for HESCO Structures", Project report, 2005

[5] W. D. Fraser, V. Askari, Z. Lu, A. Kapps, "A physiological Data Analysis Toolbox for the Analysis of Acceleration data", RTO HFM Specialists Meeting on "Models for Aircrew Safety Assessment: Uses, Limitations and Requirements", 1998

[6] W. D. Frazer, Z. Lu, V. Askari, A. Kapps, "Modeling of the Physiological Responses to Non-linear G-suit and Positive Pressure Breathing Schedules" RTO HFM Specialists Meeting on "Models for Aircrew Safety Assessment: Uses, Limitations and Requirements", 1998

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Appendix A- CV's of Team Members



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Pages 88 to I a 100 are withheld pursuant to section

sont retenues en vertu de l'article

19(1)


Pages 101 to I a 104 are withheld pursuant to section

sont retenues en vertu de l'article

19(1)


----------------------------

Richardson AM@Corp Sec DAIP@Ottawa-Hull

From: Sent:

Hall SP@CFB Suffield@Suffield Thursday, 30, January, 2014 14:36

To: Richardson AM@Corp Sec DAIP@Ottawa-Hull Cc: Lapointe DM (Contractor)@ADM(S&T) DRDKIM@Ottawa-Hull Subject: FW: W7702-125267/B Attachments: W7702-125267 ESI. pdf

From: Hall, Sharon [mailto:[email protected]] Sent: Thursday, 30, January, 2014 12:28 PM To: Hall SP@CFB Suffield@Suffield Subject: FW: W7702-125267 /B

From: Elaine Barton [mailto:[email protected]] Sent: December-09-11 3:10PM To: Beckman, Blake Cc: Hall, Sharon Subject: W7702-125267 /B ESI Bid Elaine Barton, s.sc, CPPB 780-497-35191 facsimile I tE!Il!copieur 780-497-3510 I [email protected]


DIVULGUE EN VERTU DE LA L \' - RENSfiGNEt1E"'TS NON CLASSIFIE! 4 .:.

-----------

Public Works and Government Services Canada 1 5th Floor Telus Plaza North 10025 Jasper Ave Edmonton AB T5J 1 S6 Travaux publics et Services gouvemementaux Canada 1 Plaza Tel us Nord 10025 ave Jasper 5e etage Edmonton AB T5J 1 S6 Government of Canada 1 Gouvernement du Canada

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5.24(1) RELEASED UNDER THE AlA- UNCLASSIFIED INFORMATION



SECTION I

TECHNICAL BID

SOLICITATION No: W7702-125267 /B


Engineering Services Inc. (ESI} 890 Yonge St., Unit #800


PROJECT TITLE


PROJECT SUMMARY

The objective of the project is to provide control algorithms for the Micro Hydraulic Toolkit (MHT) robot that has been developed by DRDC-Suffield. The control algorithms will allow the robot to perform locomotion over various terrains based on behaviours focused on performance, posture, and stability. The control algorithms will be first developed in Matlab/Simulink that will be linked with the MHT Virtuai.Lab Motion-based MHT and terrains models available at Suffield. This phase will cover the development of static and dynamic behaviour algorithms, control of motion stability and posture over various terrains, control of steering and turning, and gait control over uneven terrains. This phase will be followed by the implementation of the control algorithms on the MHT, performing of tests, analysis of test data, and refinement of the control algorithms and models. Finally, the controlled behaviours will be integrated with vision-based leader/follower software and a man-machine interface.

DECEMBER 6, 2011

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TABLE OF CONTENTS



Technical Bid ................................................................................................................................................. 3

1. Scope and Importance of Study (5 pt) .................................................................................................. 3

2. Project Tasks and Schedule (10 pt) ....................................................................................................... 5

2.1 Control Algorithm Development ................................................................................................. 5

2.1.1 Static Proprioceptive Algorithms ............................................................................................ 6

2.1.2 Dynamic Proprioceptive Algorithms ....................................................................................... 8

2.1.3 Stability Algorithm on Various Terrain Surfaces ..................................................................... 9

2.1.4 Turning Radius on Various Terrain Surfaces ......................................................................... 11

2.1.5 Discontinuous Locomotion Algorithms ................................................................................ 11

2.2 Control Algorithm Validation .................................................................................................... 12

2.3 Control Algorithm Integration with Leader/Follower Behaviours and MMI ............................ 13

2.4 Tasks and Schedule ................................................................................................................... 14

3. Potential problems and Mitigation Methods (5 pt) ........................................................................... 15

4. Original and Innovative Ideas (10 pt) ................................................................................................. 17

5. References .......................................................................................................................................... 19

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Technical Bid

1. Scope and Importance of Study (5 pt)



To enhance soldiers' actions in combat missions, the Autonomous Intelligent Systems Section (AISS) at Defence R&D Canada -Suffield (DRDC Suffield) conducts research in UGV intelligence for mobility in complex terrains with emphasis on locomotion performance as a first priority [1, 2, 3]. DRDC-Suffield is developing and demonstrating practical, cost effective, autonomous intelligent systems capable of supporting military missions in complex operating environments. Their work covers novel mobility platforms and intelligent mobility algorithms.

The Micro Hydraulic Toolkit (MHT) mobile robot is one of the vehicles that were developed by DRDC- Suffield. The vehicle is a platform with 12 degrees-of-freedom (dof). Four hips and four knees dof are actuated by non-continuous rotary hydraulic motors that are capable of 90 degree rotations. The vehicle is reconfigurable using structural members connecting the hip to the knee and the knee to wheel that can be fastened in 22.5 degree increments. Four electric actuators are providing continuous rotary motion of the wheels. MHT robot is designed to operate in challenging environments by controlling the body pose to relocate its centre of gravity to improve its mobility and stability over uneven terrains.

In general terms, legged robot locomotion mechanisms are inspired by biological systems. They are capable of moving through a wide variety of uneven terrains. They can climb steps and obstacles, cross large ditches and gaps, and walk on extreme terrains where, due to ground irregularity, the use of wheels would not be feasible. In general legged robots have at least four legs, and each leg has at least two dof (hip and knee or ankle). Thus, a four legged robot would require at least eight actuators [4]. Nonetheless, wheeled locomotion has several advantages over legged locomotion such as simpler traction mechanism; stability is not a profound problem as in legged locomotion; it is power efficient; and can have high speed on flat and hard grounds. However, there are challenges such as providing and maintaining traction and stability over rough terrain, manoeuvrability on slippery or very soft ground, in mud, etc.

To benefit from the advantages of both, legged and wheel locomotion mechanisms, the design of MHT is a hybrid of leg and wheel locomotion, a hybrid wheel-legged locomotion system. Hybrid wheel-legged robots are vehicles with active and coordinated control of both, legs and wheels. With these mutually redundant subsystems, the motility can be improved, and an overall uneven terrain mobility enhancement is achieved.

The functionality provided by the hybrid design of MHT covers two modes of motion: (i) a continuous locomotion mode or rolling mode with legs configured but locked; and (ii) a discontinuous locomotion mode or walking mode with the wheels locked. Due to the

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complexity of the structure and interaction with various unstructured environments, the two-mode motion raises significant challenges for maintaining the operation of the MHT.

Based on the results presented in [1] the difficulties related to the control of MHT include:

(1) Highly interacting dynamics - The system state is 12-dimensiona! (4 hips, 4 knees and 4 wheels) and the highly variable configuration indicates strong dynamics interaction between the moving elements within a given leg, of all legs, and across the lines of symmetry of the vehicle. Under many circumstances, contact with the ground may be lost and the vehicle changes from 4 to 3 or even 2 wheels on contact with unstructured ground, thus generating markedly different dynamics;

(2) Nonlinear and time variant system - The time varying nature of the system parameters implies significant variations in the moments of inertia as the vehicle evolves through various geometries during the motion. Furthermore, the hydraulic servo actuators are inherently nonlinear.

(3) Event-dependent variable time delay - As the hydraulics are taxed under varying dynamic operating environments, the time delays experienced by the system vary, at times vary significantly. Furthermore, the conduit fluid supply lines may give rise to different time delays for various actuators. Due to the difficulty in developing a mathematical model of the MHT system, the authors of [1] decided to use a model-free control design methodology. Two main approaches were considered: Model Reference Adaptive Control (MRAC) and Fuzzy Logic Control (FLC).

Engineering Services Inc. has wide experience and expertise as it conducted numerous development projects of various robotic systems including legged robotics and industrial automation systems driven by electrical, hydraulic and pneumatic actuators, as well as 'smart' materials-based actuators. Projects directly relevant to MHT control include mobile robot control with various modes of mobility including legged operation, hydraulic system control, terrain profile scanning, impedance control, robust control, etc [5 - 10, 32]. In these applications various types of control systems have been developed including position, force, impedance, adaptive, robust, autonomous, free and constrained motion control, for applications in various domains.

Through an extensive literature review and based on past experience and acquired expertise, ESI proposes a systematic approach to developing the controller for MHT. The work plan and tasks are presented in the following sections.

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5.20(1 )(b) 5.20(1 )(c)

2. Project Tasks and Schedule (10 pt)

2.1 Control Algorithm Development



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5.20(1 )(b) 5.20(1 )(c)

2.1.1 Static Proprioceptive Algorithms



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is withheld pursuant to sections

est retenue en vertu des articles

20(1 )(b), 20(1 )(c)


.-------------- ---

5.20(1 )(b) 5.20(1 )(c)

2.1.2 Dynamic Proprioceptive Algorithms



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5.20(1 )(b) 5.20(1 )(c)

2.1.3 Stability Algorithm on Various Terrain Surfaces


DIVULGUE EN VERTU DE LA LA! - RENSEIGNEMENTS NON CLASSIFIE!

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20(1 )(b), 20(1 )(c)


5.20(1 )(b) 5.20(1 )(c)

2.1.4 Turning Radius on Various Terrain Surfaces

2.1.5 Discontinuous locomotion Algorithms



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5.20(1 )(b) 5.20(1 )(c)

2.2 Control Algorithm Validation



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2.3 Control Algorithm Integration with Leader/Follower Behaviours and MMI

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2.4 Tasks and Schedule



14

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5.20(1 )(b) 5.20(1 )(c)

3. Potential problems and Mitigation Methods (5 pt)



15

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20(1 )(b), 20(1 )(c)


5.20(1 )(b) 5.20(1 )(c)

4. Original and Innovative Ideas (10 pt)



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20(1 )(b), 20(1 )(c)


5.20(1 )(b) 5.20(1 )(c)

5. References



[1} M. Trentini, B. Beckman, J. Collier, B. Digney, and I. Vincent, "Intelligent Mobility Research at Defence R&D Canada for Autonomous UGV Mobility in Complex Terrain", NATO Research and

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Technology Agency, Applied Vehicle Technology Panel Symposium on Platform Innovations and System Integration for Unmanned Air, Land and Sea Vehicles, May 2007. [2] B. Beckman and M. Trentini, "Kinematic Range of Motion Analysis for a High Degree-of-Freedom Unmanned Ground Vehicle", Technical Memo. DRDC Suffield TM 2009-231, Dec 2009. [3) G. Lambert B. Beckman, "Micro-Hydraulic Toolkit Report", Contract Report, DRDC Suffield CR 2008-212, December 2006. [4] C. Ridderstrom, "Legged locomotion: Balance, control and tools- from equation to action", Doctoral thesis, 2003. [5] P. Ben-Tzvi, A. A. Goldenberg, W. J. Zu, "Articulated Hybrid Mobile Robot Mechanism with Compounded Mobility and Manipulation and On-Board Wireless Sensor/ Actuator Control Interfaces", Mechatronics Journal, Vol. 20, Issue 6, pp. 627-639, September 2010. [6) S. R. Habibi, A. A. Goldenberg, "Design of a New High Performance ElectroHydraulic Actuator"; IEEE/ASME Transactions on Mechatronics, Vol.5, No.2, pp. 158-164, June 2000. [7] C. Raoufi, A. A. Goldenberg, W. Kucharczyk, "Design and Control of a Novel Hydraulically/Pneumatically Actuated Robotic System for MRI-Guided Neurosurgery", Journal of Biomedical Science and Engineering (JBISE), Vol. 1, pp. 61-74, June 2008. [8] H. Najjaran, A. A. Goldenberg, "Landmine Detection Using an Autonomous Terrain-Scanning Robot", International Journal of Industrial Robots, Vol. 32, No.3, pp. 240-247, March 2005. [9] z. Lu, A. A. Goldenberg, "Robust Impedance Control Based on Sliding Modes", International Journal of Robotics Research, Vol. 3, No. 14, pp. 225-254, 1995. [10) G. J. Liu, A. A. Goldenberg, "Robust Control of Robot Manipulators Based on Dynamics Decomposition", IEEE Trans. on Robotics & Automation, Vol. 13, No.5, pp. 783-789, Oct 1997. [11] Z. H. Jiang, A. A. Goldenberg, "Task Space Trajectory Control of Flexible Micro-Macro Robot in the Presence of Parametric Uncertainty", Mechanism and Machine Theory, Vol. 34, pp. 1281-1302, 1999. [12] Papadopoulos, E.G. and Rey, D.A., "A new measure of tip-over stability for mobile manipulators", Proc. of the IEEE Intern. Conf. on Robotics and Autom., pp. 3111-3116, 1996. [13] Grand, C. and Benamar, F. and Plumet, F. and Bidaud, P."Stability and traction optimization of a reconfigurable wheel-legged robot", The International Journal of Robotics Research, vol 23, pp.1041-1058,2004. [14] M. S. Saidonr, H. Desa, R. M. Noor, "A Differential Steering Control with Proportional Controller for An Autonomous Mobile Robot", IEEE 7th International Colloquium on Signal Processing and its Applications, 2011. [15] A. Halme, I. Leppanen, S. Salmi, S. YlonenHybrid, "Locomotion of a Wheel-legged Machine", In 3rd Int. Conference on Climbing and Walking Robots, 2000. [16] Fort Eustis, "Logistical vehicle off-road mobility", U.S. Army Transportation Combat Developments Agency, 1967 [17] M. G. Bekker, "Introduction to Terrain-Vehicle Systems", University of Michigan Press, Ann Arbor, 1969.

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IVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFIE!

[18] Kenneth J. Waldron, Vincent J. Vohnout, Arrie Pery, and Robert B. McGhee, "Configuration of the Adaptive Suspension Vehicle", Int. J. of Robotics Research, 1984. [19] Christian Ridderstrom, "Legged locomotion: Balance, control and tools -from equation to action", Doctoral thesis, Department of Machine Design, Royal Institute of Technology, 2003. [20], E. I. Kugushev, V. S. Jaroshevskij, "Problems of selecting a gait for an integrated locomotion robot", In 4th Int. Conf. Artificial Intelligent, 1975. [21], R. B. McGhee, G. I. lshwandhi, "Adaptive locomotion of a multilegged robot over rough terrain", IEEE Trans. Systems, Man, and Cybernetics, 1979. [22] J. Emilio, V. Soto, "Free Locomotion Gaits for a Four Legged Machine", International Congress on Industrial Automation and Material Science, March 1999. [23] J. Emilio, V. Soto, "Free Locomotion Gaits for a Four Legged Machine", International Congress on Industrial Automation and Material Science, March 1999. [24] Chun-Hung Chen, Vijay Kumar, Yuh-Chyuan Luo, "Motion planning of walking robots using ordinal optimization", IEEE Robotics and Automation, 1998. [25] Pablo Gonzalez de Santos, Maria A. Jimenez, "Generation of discontinues gaits for quadruped walking vehicles", J. Robotic Systems, 1995. [26] B. Shamah, M.D. Wagner, $.Moorehead, J. Teza, D.Wettergreen, and W. Whittaker, "Steering and control of a passively articulated robot" SPIE Sensor Fusion and Decentralized Control in Robotics Systems IV. 2001. [27] Sven Bottcher, "Principles of robot locomotion",

[28] Sciavicco, L. and Siciliano, B, "Modelling and control of robot manipulators", Springer Verlag, 2000. [29] A. Schneider, U. Schmucker, "Force Sensing for Multi-legged Walking Robots: Theory and Experiments - Part 1: Overview and Force Sensing", Mobile Robots, Moving Intelligence, www.i-techonline.com. [30] U. Asif, J. Iqbal" "An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait", Journal of Control Science and Engineering, 2011. [31] B. Beckman, J. Pieper, D. Mackay, M. Trentini, D. Erickson, "Two Dimensional Dynamic Stability for Reconfigurable Robots Designed to Traverse Rough Terrain", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2447-52, 2008. [32] Mantegh, 1., Jenkin, M.R.M., and Goldenberg, A. A., "Path Planning for Autonomous Mobile Robots Using the Boundary Integral Equation Method", Journal of Intelligent and Robotic Systems, DOl 10.1007/sl0846-010-9394-y, February 2010. [33] B. Beckman, M. Trentini, J. Pieper, "Control algorithms for stable range-of-motion. behaviours of a multi degree-of-freedom robot", International Conference on Autonomous and Intelligent Systems (AISL 2010.

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5.24(1)




SECTION II

MANAGEMENT BID

SOLICITATION No: W7702-125267 /B



PBN#: PG0001 Toronto, ON M4W 3P4

PROJECT TITLE


PROJECT SUMMARY

The objective of the project is to develop control algorithms for the Micro Hydraulic Toolkit {MHT) robot developed by DRDC-Suffield. The control algorithms will allow the robot to perform locomotion over various terrains based on behaviours focused on performance, posture, and stability. The control algorithms will be first developed in Matlab/Simulink that will be linked with the MHT Virtuai.Lab Motion-based MHT and terrains models available at Suffield. This phase will cover the development of static and dynamic behaviour algorithms, control of motion stability and posture over various terrains, control of steering and turning, and gait control over uneven terrains. This phase will be followed by the implementation of the control algorithms on the MHT, performing of tests, analysis of test data, and refinement of the control algorithms and models. Finally, the controlled behaviours will be integrated with vision-based leader/follower software and a man-machine interface.

DECEMBER 6, 2011

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TABLE OF CONTENTS



Management Bid ............................................................................................................................. 3

1. Experience of Company in This Domain (5 pt) ...................................................................... 3

2. Team and Academic Background (10 pt) ............................................................................... 5

3. Experience of Assigned Personnel (10 pt) in This Domain .................................................... 6

4. Adequacy and Availability of Personnel (10 pt) .................................................................... 8

5. Experience with LMS (10 pt) .................................................................................................. 9

6. Experience with Matlab (10 pt) ........................................................................................... 11

7. Experience with Vicon (10 pt) .............................................................................................. 13

8. Client Contacts ..................................................................................................................... 16

9. Allocation of Manpower (10 pt) .......................................................................................... 17

10. Assurance of Liaison with the Technical Authority (10 pt) .................................................. 17

11. Overall Organization of the Project (10 pt) ......................................................................... 17

11.1 Team Structure ................ ............................................................................................. 17

11.2 WBS Structure ............................................................................................................... 18

11.3 WBS Packages ............................................................................................................... 19

12. Onsite Integration ................................................................................................................ 23

13. References ........................................................................................................................... 23

Appendix A- CV's of Team Members .......................................................................................... 24

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Management Bid



1. Experience of Company in This Domain (5 pt) Engineering Services Inc. (ESI} has been in operation since 1982. Dr. Andrew Goldenberg a world re-known robotics specialist is the founder and current President of the company. ESI is specialized in the domain of advanced robotics and automation products and custom robotics systems. ESI is recognized as a world leader, and is well known for developments of robotics-based modular automation, mobile robots, customized robotic systems, intelligent mechatronics systems, and expert systems. ESI's emphasis on mobility and modularity of hardware and software allows it to create highly flexible and adaptable solutions that can be easily and rapidly reconfigured to meet the needs of various industries.

ESI operations are divided into five divisions: Mobile Robots, Medical Robots, Robotics and Automation, Space Robotics, and Security and Defense. The technologies developed by ESI to date are used in the following industrial sectors:

- Law enforcement -Security and Defense - Medical Surgery - Nuclear - Laboratory automation - Utilities -Space - Robotics Research - Industrial automation

To date, ESI has exported its technology and products to the United States, Mexico, Sweden, Denmark, Belgium, France, Germany, Switzerland, Israel, Turkey, India, Korea, Singapore, Australia, New Zealand, Tajikistan, and other.

ESI has extensive experience in control systems development. ESI and conducted numerous projects that included system engineering, control systems design (position, force, impedance, adaptive, robust, autonomous, free and constrained motion, remote human-in-loop control}, integration of custom and off-the-shelf hardware and software, and user training.

The management team for the proposed project brings in a wealth of relevant experience in robotics systems and control engineering with applications to space and planetary exploration, defense, law enforcement, mining, nuclear, medicat and utilities.

ESI has developed mobile robot and arms products for the law enforcement and military. Some of the products have been adapted for research in Universities. Members of the proposed team are currently engaged in several contracts with the Canadian Space Agency as part of the Exploration Surface Mobility (ESM) project. ESI, Cohort Systems Inc. {CSI) of Ottawa and several University Professors as consultants, have been developing as a team the MRPTA (Micro-Rover Platform with Tooling Arm} for CSA. ESI, and another group of University Professors as consultants, have been engaged in the development of the SMA (Small Manipulator Arm} for CSA. ESJ, CSI and NORCAT (of Sudbury, ON) have been engaged in the development of the PMM (Planetary Medium Manipulator} for CSA.

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The MRPTA project for CSA included the development of mobile platform with multiple locomotion options including wheels, tracked, legs, and independently actuated flippers. The flippers in figure 1 items 5-9 can be implemented as support for legged locomotion (item 9).

(1) Tracks & one flipper mode (2) Four wheels & no flipper mode (3) Flat tracks & no fliwer mode

(7) Four wheels & two flippers with motorized (8} Flat tracks & two flippers with motorized (9} Six motorized wheels modE' planetary wheels mode planetary wheels mode

Fig. 1 Nine Configurations of MRPTA Platform ESI also has developed the concept of a robot with hybrid locomotion (MESR) also for CSA (Fig. 2). The MESR robot has a primary wheeled locomotion system that is augmented by a legged operation. Each of the wheels is mounted on an articulated leg. The legs at the four corners of a mobile platform provide active suspension. During rolling operation, they provide vibration and damping control. For legged operation, the active suspension of each leg is a linear actuator that modifies the leg length. In addition, the independent flippers connected to the middle of the chassis can support either mode of locomotion. Please refer to figure 2.

ESI has also conducted a study of legged locomotion for Singapore Defense. The application was for detecting near shore mines in shallow water.

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5.19(1)

- ------------------RELEASED UNDER THE AlA- UNCLASSIFIED INFORMATION


Traction: 6 in-wheel motors (6 wheels)

Steering: 4 steering motors

Active suspension: 4 motors

Swing: 2 motors

Fig. 2 MESR hybrid locomotion system

2. Team and Academic Background {10 pt) Andrew Goldenberg, Ph. D.- Executive Project Manager

Professor 1987- present Department of Mechanical and Industrial Engineering, University of Toronto; Cross-appointed in Department of Electrical and Computer Engineering and Institute of Biomaterials & Biomedical Engineering, University of Toronto

Associate Professor 1982-1987 Department of Mechanical Engineering, University of Toronto; Cross-appointed in Department of Electrical Engineering and Institute of Biomaterials & Biomedical Engineering, University of Toronto

NSERC Univ. Research Fellow and Research Assistant Professor Department of Electrical Engineering, University of Toronto

1981-1982

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5.19(1)



3. Experience of Assigned Personnel (10 pt) in This Domain Andrew Goldenberg, Ph. D.- Executive Project Manager

Dr. Andrew Goldenberg has pioneered the application of diverse robotic technologies to new industrial niches. He has been involved in robotics since 1975 when he started work on the Canadarm at Spar Aerospace Ltd. Dr. Goldenberg is a recognized world authority in robotics and automation: has published over 125 journal papers in robotics, 350 conference papers, and is the co-holder of 34 patents. Dr. Goldenberg has also been a Professor at the University of Toronto in the area of Robotics and Automation since 1982. He is involved in day-to-day executive management of ESI, and participates actively in technical work. Dr. Goldenberg is currently the Executive Project Manager of three CSA-funded projects as part of the ESM program. He has been the key technical person at ESI in the legged robotics developments mentioned in the previous section.

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is withheld pursuant to section

est retenue en vertu de l'article

19(1)


5.19(1)

4. Adequacy and Availability of Personnel (10 pt)



The project team will consist of Dr. Andrew Goldenberg as the principal investigator. Working with Dr Goldenberg will be and This core team will have access to the full range of technical expertise at ESI including System Engineering, Aerospace Engineering, Mechanical Engineering, and Electrical Engineering on and as needed basis. Included in the technical expertise are Software Developers with in depth robotics experience ranging from low level embedded systems, Vision Systems Designers, PLC's, RTOS, GUI right up to system level planning, development and implementation experience.

Supporting the technical team will be the Management team consisting of Dr. Andrew Goldenberg at Executive Project Manager, as Project Manager,

as Technical Manager, and as Project Administrator. Combined, this management team has dozens of successfully completed projects in many diverse applications.

The team listed above will be made available from approximately December 1, 2011 to March 31, 2014 as required for the duration of the project.

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5. Experience with LMS (10 pt)



LMS Virtuai.Lab Motion (LMS-VLM) is a software program that provides basic capabilities to simulate rigid multi-body mechanical systems, including modeling, solving and analysis. Mechanical elements include an extensive list of joint and constraint features and an extensive library of statics and dynamics elements including stiffness, damping, friction, and contact force. The simulation results include displacement, velocity, acceleration, and all reactive forces and moments for all bodies modeled in the simulation. LMS-VLM provides post-processing capabilities like animation and graphing. It integrates all required functionalities into a single, user-friendly desktop environment. Users can quickly create and refine fully parameterized virtual prototype models of mechanical systems using a fully integrated CAD engine based on CATIA VS.

ESI has extensive experience with several mechanical simulation programs that provide similar functionalities or working environments with LMS-VLM, such as Dymola, a Multi-Engineering Modeling and Simulation tool.

Dynamic Modeling Laboratory (Dymola) is a complete tool for modeling and simulation of integrated and complex systems for use within automotive, aerospace, robotics, process and other applications. Dymola simulates the dynamic behavior and complex interactions between systems of many engineering fields, such as mechanical, electrical, thermodynamic, hydraulic, pneumatic, thermal, and control systems. Dymola can build more integrated models and have simulations results that depict reality quite accurately.

ESI used Dymola to simulate complete systems including control, mechanical, traction, and biological systems. The simulated biological system is a human neck including the models of bones, muscles, ligaments, soft disks, etc [1] for the design of helicopter pilot helmet support.

The software program analyzes the effect of load from pilot head equipment on the neck and efficiency of a separate support device. This software program was used to optimize the design of the supporting device through iterations of device model parameters for pilots with different body size and strength. The major work using Dymola/Modelica multi-body simulation software was to develop various components' models in a human head-neck system. Some relevant component models include: (a) Vertebrae of cervical bones modeled as rigid bodies, a local coordinate system is defined for each bone; (b) Cervical muscles providing stability; movement; and protection to human body. The formulations to define muscle active and passive behaviors based on its physical properties were used to develop the model. To simulate the functions of brain to control the muscles, feedback control mechanism was added in the muscle model; (c) Intervertebral disc, which is a fibrocartilaginous joint between the endplates of two adjacent vertebral bodies. The disc was modeled as a parallel connection of a spring and a damper for each of its six degrees of freedom (translational and rotational); (d) Ligaments in the spine, which allow motion within physiologic limits and prevent excessive motion. Ligament was

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modeled as an element producing force only in tension; (e) Facet joints, which are formed by articular facets of adjacent vertebrae and enclosed by joint capsules. Facet Joints only have one-way translational stiffness (compression) in the vertical direction to the facets. The compression stiffness was modeled as nonlinear static compression stiffness of the disc.

Using Dymola/Modelica, a 3D GUI with various 1/0 and viewing capabilities was developed to facilitate the simulation and analysis processes (Fig. 3).

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Fig. 3 3D GUJ

ESI also used or are using other multi-body system simulation tools such as Adam, Matlab SimMechanics, Solidworks Simulation to simulate robotic systems such as planetary 7 DOF robot arm and mobile robot to develop kinematics and dynamics models, simulate motions and contact models of robot system with environment, and verify control algorithms, etc.

ESI is currently involved in development of the 7DOF Planetary Medium Manipulator (PMM) for CSA [2]. Dynamics Model of PMM has been set up in Matlab/Simulink using the SimMechanics toolbox by importing the PMM drawings in SolidWorks. Friction was added into the robot joints using the SimMechanics or Simscape blocks (Fig. 4).

Fig. 4 Simulation of 7 DOF Space arm

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ESI has also conducted projects where solid and fluid dynamics models were developed by using Autodyn and LS-DYNA FEA software programs [3, 4]. The programs calculate impact loads and structural responses (buildings or cars) and 3D GUI is based on CAD technologies {Fig. 5}.

Fig. 5 Structural Response due to Impact Loads

6. Experience with Matlab (10 pt) Matrix Laboratory (MATLAB) provides a computing environment and high-level programming language. MATLAB allows matrix manipulations, plotting of functions and data, implementation of algorithms, creation of user interfaces, and interfacing with programs written in other languages. MATLAB has various add-on tools that provide many additional capabilities such as symbolic computing, graphical multi-domain simulation and model-based design for dynamic and embedded systems.

:

ESi has extensive experience using Matlab programs for system modeling, control algorithms design and testing, signal and data modeling and processing, etc. that were used in several projects including robotic system [2], expert system [5], biological control system [6].

ESI is currently involved in the development of a 7DOF Planetary Medium Manipulator (PMM) for CSA (2]. In the design and development stage of the PMM control system Matlab with Simulink and its various toolboxes were extensively used to fine-tune and verify the control algorithms.

The control system design required kinematics and dynamics modeling and analysis. The kinematics and dynamics models have been developed in Matlab, and verified with the Matlab Robotics Toolbox, and SimMechanics model of the arm. The motion controller consists of joint level and task level controllers. The motion controller in joint level includes joint space control, gravity compensation unit, and adaptive friction compensation. The motion controller in task level includes Cartesian space controller, translational and rotational impedance controller, and force controller. All joint level and task level controllers have been designed and developed in Matlab Simulink using various toolboxes such as SimMechnics, SimScape, Control System,

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Robust Control, and Signal Processing. The overall simulation process is shown schematically in Fig. 6.

3D model Solid\V or.ks

Input: material properties, constraints, dri:dng components, joint

Create elements fat' each link

frictions, springs, etc r---1 I I I I I I I

---------- I I I

S im:.\.f.ec hanic; I Link 1

'----__,..--__,,_....., Lcadin!l I : ............ ;-;. ........... ....

TL.-ill: Sint:!.\Iechanics

PM:\fFEA model

Solid Works

Fig. 6 Schematic of Simulation Process

Identification algorithms for dynamics and friction models were developed and verified by using extensive simulations in Matlab scripts in conjunction with Matlab Simulink. Various gravity and friction compensation methods as well as motion control algorithms used in the joint level and task level controllers were also tested, verified and fine tuned using various Matlab toolboxes [2]. ESl is involved also in development of the SMA (Small Manipulator Arm) for CSA. The accuracy of the model construction based on target visual features and camera pose estimations are studied in a simulation environment using Matlab toolboxes such as Image Processing [7]. The computer simulation program has been done by modeling the camera characteristics, the robot kinematics, and the generation of artificial target features and their measurements. Realistic levels of uncertainty in the intrinsic camera calibration parameters, robot motion measurement and image plane feature measurements were used. A Kalman filter-based relative pose estimation algorithm was developed using Matlab toolboxes such as Signal Processing.

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mcgill/drdc - degree-of-freedom robot

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