about cybernet systems · pdf filecan power driver/motor controller (esd) can pio module ......

www.cybernet.com 2012 1

Founded in 1988, Ann Arbor, MI, spin-off of ERIM & Univ. of Michigan: Mixed office

highbay. Second location Orlando, FL, Information Assurance and M&S;

People deployed in Michigan, Florida, Maryland, California, Pennsylvania

Small 8(a), Woman Owned Business; ~60 employees; 20+ year old since ERIM spinoff

31 U.S. Patents Granted, similar number Patents Pending: Force Feedback,

Gesture recognition, M&S, Telemedicine, Robotics, Information Assurance, AI

Project & Products

Tactical Automation, High Speed Inspection

(focus on ammunition automation, plastic

cased ammunition manufacturing automation)

Position Location and Navigation Systems

Robotics

Computer Vision Development

Information Assurance

Nondestructive Evaluation

Telemedicine

Human Interface Systems

(Force Feedback, Body/Eye Tracking)

Gesture & Voice Recognition

(New) Pre-crime, Human activity analysis

About Cybernet Systems Corporation

www.cybernet.com 2012; Charles Jacobus

([email protected])

Ann Arbor, MI

(50 MI from

TACOM &

TARDEC) Orlando, FL (On PEO

STRI Campus)


Cybernet Ann Arbor Integration Facilities

Outdoor Overland test range

Roadway Tests

Highbay Facilities

Controlled parking

Electronics & Test Mechanical Highbay Highbay #1

Highbay #3&4

Highbay #5

Highbay #2

Open Office & Experiment space Open Office space


Robotics Past Performance

VSIL – Virtual Systems Integration Lab US Army TARDEC through University of Mississippi 060803 360384 01 In this effort for TARDEC, Cybernet implements vehicle test and analysis software to automate TARDEC design oversight analysis process. Current phase supports building two UGVs (one small and electric) one larger (midsize, Gladiator diesel) so that platform model behavior can be validated against actual platform behavior. Under VSIL, TARDEC has GFE’ed Gladiator TDP to Cybernet for construction of the platform. Automated Material Handling Machine Controller Kit Alion Science and technology (IDIQ prime) for the US Army STM1213705; US Army Picatinny Arsenal (ARDEC for CASCOM) W15QKN-10-C-0121 Under this effort Cybernet is evaluating and productizing forklift automation developed by the MIT Robotic Lab for a Toyota lift truck. This kit is being productized, simplified with automotive electronics, and applied to a Hyster truck compatible with those used by the Army. Cybernet has an NDA with Hyster and MIT to support the collaboration. The controller inherits the architecture and logic of the MIT and Cybernet Urban Challenge robotics teams. The kit will support a wide range of material handling trucks with different version of the physical actuator interface kit.


Robotics Past Performance

Large Caliber Ammunition Resupply Robotics Boeing (FCS subcontract to the Army) 5ES2648 Under this effort Cybernet was contracted (with its partner ESYS) to develop the detailed design of a large caliber ammunition handling system to support automated load/unload of ordnance from NOLOS C, -M, and MCS platforms. A unique feature of Cybernet’s design was leverage of commercial material handling robotics, and a unique computer-vision-based large caliber round type identification system so that there was positive identification of each round type loaded or unloaded.

ATACS-II (Army Tactical Ammunition Classification System-II) US AESC (US Army) W912DY-06-D-0008 Under this effort Cybernet has deployed over ½ dozen automated ammunition handling and recertifying systems both OCONUS and CONUS into unimproved environments. The earliest ATACS machine shipped and deployed in Kuwait has been in continuous operation at Camp Arifjan since 2001. Later we deployed and continue to service machines at the Defense Ammunition Center, Nation Training Center, Ft. Benning, and other locations.


From Simulation to Control to Full Platform Deployment

DARPA Urban Challenge

Autonomous Ground

Vehicle

Robotics Expertise

http://www.cybernet.com/

http://www.sparton.com/

http://www.chrysler.com/en/

http://www.extramileonline.com/

http://www.ford.com/

http://www.idealautorestyling.com/

http://www.kvh.com/

http://www.ltu.edu/

http://www.petersenbrands.com/

http://www.robofest.net/

http://tardec.army.mil/default.asp

http://www.tynerfurniture.com/


Robotics Kit Products

Operation Control Unit (Electronic Dash) – Operator Control Station based on SWMA MIL810G Tablet (Also includes Vehicle Mount Kit for Electronic Dash) Power Management Module Linear Actuator Package (Brake/Accelerator) Rotary Actuator Package (Steer) CAN Interface Package – Integrated into the Driver Controller CAN Encoder Package Video Sensor (Video-IP) Video Sensor (RFID; Video-IP) LADAR Sensor (Automotive) – SICK LD-MRS LADAR Sensor (Scanned) – Hokuyo UTM-30LX & Cybernet Pan Mount) LADAR Sensor Proximity (Backup) -- Hokuyo UTM-30LX Driving Controller (Axiomtek) CAN Power Driver/Motor Controller (esd) CAN PIO Module (esd) CAN A/D-D/A (esd) CAN Ultrasonic Proximity (Backup /Safety Sensors) Precision GPS -- Novatel IMU Module -- Cybernet IP Hub Module Safety Estop Module Video Radio – Customer Choice (Best: Cobham – SOLO COFDM) Command Net Radio – Customer Choice (Best: Cobham -- NetNode COFDM)


The magic is in the software

• GPS/IMU/Speed Control fusion

• Physics based speed and brake control

• Reflexive obstacle avoidance over steer authority range

• Path planning & execution – road march – traffic rules

• Path planning & execution – area traversal – traverse-ability analysis

• Operator controls & comms

• Safety & comms


JAUS Architecture

Map and

Track

GPS up

Nav up

Track

Load

Map

Load

Mission

Vehicle

Status

Run

Pause

E-stop

Speed

OCU

Subsystem

Global

Vector

Driver

Reflexive

Drive

Vehicle

Subsystem

Primitive Vehicle

Control

Steer actuator set

Brake actuator set

Accel actuator set

Horn

Audible & flasher

Headlight

L/R turn signal

Global

Waypoint

Driver Global

Pose

Sensor

Velocity

State

Sensors

Primitive

Driver

Vehicle

Control

Run

Pause

E-stop

Speed

set

Wireless

Global

Path

Segment

Driver

Visual

Sensor:

Road

Features

Sonar &

Range

Sensors

Speed

Actuators

Brake

Accel

Deadman

Heartbeat

Link

Status:

Deadman

heartbeat

Speed

minder

Steer

Actuator

I3M -- Inertial

(3) Magnetometer

(3) Gyro

(3) Accelerometer

Wheel

Encoder

Counts

Periods

Mission Executive

(Global Path

Planner)

System

Commander

GPS

Visual

Sensor:

Vehicle

Obstacles

E-Stops Vision

Heartbeat

Vision

Subsystem

CVI

VCI GPE

Warning

Audible,

Flasher &

Horn

Turn

Signals

Head

Lights

FOG


Dimensions (minus backplane): Width = 11.75”, Height = 9”.

Depth = 3.375”, Weight = ~5.5 lbs.

MIL-STD 810G Enclosure: Method 512.4 Procedure 1 (Sand/Dust/Salt Fog) Solar Radiation, UVB, IP67 (Equiv.)

Temperature Ratings: MIL-STD 810G -4° to 140° (operational) -60° to 160° (storage) Humidity 3% to 95%

Shock & Vibration Ratings: MIL-STD 810G Method 516.5 Up to 4ft. Drop (to concrete) 75g, 11ms Crash Shock

Display: 10.4” XGA (1024x768), Pen & Finger

Touch Dual Mode

Processor Options: Intel Core i7 620 UE (1.06 GHz, 2.13

GHz Turbo)

Hard Drive Options: 320GB (standard) or 80GB Solid State

(option)

Memory Options (two slots): 2GB DDR3 (standard) or up to 8GB*

DDR3 RAM (option)

Wireless: Bluetooth 2.1 + EDR, FIPS 140-2

compliant 802.11a/b/g/n (option), other wireless methods (option)

Battery: 10-cell (68.5Whr) battery, up to 6.5

hour battery life, warm-swap capability.

Ports/Connections: USB 2.0 (x3), SWMA Module Connector

(x2), RJ-45 Gigabit LAN Ethernet, Serial Port (RS232/422/485), VGA-out (option, replaces serial port), Smartcard Reader (option), Headset Jack, Microphone Jack, AC/DC Power.


Cybernet Real-Time OCU

Interface and Dynamic

Terrain System

Operator Map Views/Dash Data Overlays


• CISSP IA Engineers and Certified Army IA Security Officers.

• Experience in CM/DM Process.

• Experts in Certifying/Accrediting Systems Using DIACAP,

NIAP, JAFAN and DCID.

• Experts in DIACAP/SSP Package Creation.

• Backed by 20+ years of Cybernet Software and Hardware

Development Expertise.

• Certified for Security Sensitive Applications.

• FDA-approved, HIPAA-compliant Medical Application

Experience.

• Development of Unique Security Technology Solutions.

Information Assurance Services: Cybernet Has In-house Capability

about cybernet systems · pdf filecan power driver/motor controller (esd) can pio module ......

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