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■■ DEMO#1: Manual Teaching Mode, Task Creation, Basic Autonomous RunDEMO#1: Manual Teaching Mode, Task Creation, Basic Autonomous Run
■■DEMO#2: Obstacle Avoidance DemoDEMO#2: Obstacle Avoidance Demo
■■DEMO # 3: Complete reproduction of manual driveDEMO # 3: Complete reproduction of manual drive
■■DEMO#4 : Creation of Route on desk and DemoDEMO#4 : Creation of Route on desk and Demo
Manual/ Teaching/ PDA/ Task creation/ ATV performance(Ride over, slope)/ Autonomous Run/ Mobility
Smooth Avoidance/ Reaction against moving obstacle(Emergent Stop)/ Dead-End reaction/ Remote control/ Return back of mode
Various Speed range/ Learning of Application operation/Easy Teaching
Without Teaching/ Create Route on PC/ Two type of Creation/Calculation route
DEMO SDEMO SCENARIO
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DEMO#1: Manual Teaching Mode, Task Creation, Basic DEMO#1: Manual Teaching Mode, Task Creation, Basic Autonomous RunAutonomous Run
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There is a van stopped. UGV is contained inside.
Board for getting down has already be put on the ground.
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On Base Station, Personal Computer for Monitors, Image Picture Monitor,
Remote Control Switch, and Joy Stick are located.
These equipments can be shown to Customer.
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In a Van, person do Engine starting, Generator engine starting,
and System starting mannually.
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Base Station Monitor On, information is displayed
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Operator comes in and operate PDA..
UGV gets down automatically, comes and stops to a home position
(engine stops with generator running on).
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Operator takes a sheet cover and ride on.
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Operator command" Start Teaching ".
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Engine starts, Manual Run starts, Teaching starts.
Recording of running path starts.
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UGV runs fairly fast like ATV with manual Teaching running
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Operator pushes a marking button at the desired surveillance point,
and record(input) the position.
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Operator come back near the HOME position, and stop UGV at the spot where UGV can easily go back to HOME position.
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Operator command "Finish Teaching "and Engine stop by PDA.
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Operator get off UGV and put the Cover on UGV.
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Operator put the name on "the taken route data " and save it by PDA.
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Operator change the mode into "Create Task " by PDA.
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Operator choose Route, establish Task, name it and save it.
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Operator select "TASK" and push "Autonomous Mode".button
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PC at base station has an Information screen,
and another Monitor has a Picture taken by Camera.
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UGV move into Home position and stop once
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UGV stop for a while, and start Autonomous running.
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UGV stop at the First designated point,
(stop engine), and execute designated Task.
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Same as at the next point.
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Return back to Home position and stop engine.
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On PDA and Base station Monitor , sign of "Task finished "flush
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DEMO#2: Obstacle Avoidance DemoDEMO#2: Obstacle Avoidance Demo
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Staff put the obstacle on the way of path(road).
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Operator select the Task and push Autonomous Start button on with using PDA.
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Base Station Monitor On, information is displayed,
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Start "Autonomous Run".
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UGV avoids first obstacle (object) easily (smoothly) and keep on running
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At the second moving obstacle, make a emergent stop,
and wait until obstacle run across, then restart (rerun).
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A dead-end obstacle:
UGV send HELP signal to base station.
Base station monitor has a flushing Help sign. Automatically operation mode turns into "Remote control mode"
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Base station operator runs UGV with remote-control watching
picture image through Camera.
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Return to a regular Route, and Operator at Base station runs UGV
with remote-control watching picture image through Camera.
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After few seconds, mode turns into Autonomous mode again.
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UGV returns back to Home position.
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On PDA and Base Station Monitor, sign"Task finished" flush..
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DEMO # 3: Complete reproduction of manual driveDEMO # 3: Complete reproduction of manual drive
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Operator takes a sheet cover and ride on.
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Operator command" Start Teaching ".
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Engine starts, Manual Run starts, Teaching starts.
Recording of running path starts.
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Like normal ATV running, Operator (Driver) runs UGV with
various speed range, and sometimes make a stop to operate Camera or Light.
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UGV returns back to the point near Home position.
Operator parks UGV so that it can moves into Home position easily.
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Operator command “Finish Teaching” and stop engine
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Operator get off UGV and put the Cover on UGV.
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Operator put the name on "the taken route data " and save it by PDA.
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Operator select "TASK" and push "Autonomous Mode".button
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PC at Base Station has an Information screen on, and another Monitor
has a Picture taken by Camera
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UGV moves into Home position and stops once.
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UGV stop for a while, and start Autonomous running.
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UGV reproduce every movement of manual running completely and return back.
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Return back to Home position and stop engine
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On PDA and Base Station Monitor , sign of "Task finished "flush
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DEMO#4 : Creation of Route on desk and DemoDEMO#4 : Creation of Route on desk and Demo
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SCEAN CONTENTS1 On Base Station PC, operator turn on "Programming Mode"
and Map information appear on screen.
2 On the Map, Operator create ROUTE:Waypoint click, and then input Speed of each section.
3 Select the way to create ROUTE;"Speed oriented mode" or "Position oriented mode"
4 Calculate the Route, and Final route with connecting "R"is shown. PC ask "OK ? " Operator reply it.
5 Operator create the name of the Route, save it, and transmit it to UGV.
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ApplicationApplication
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Application Components for DemonstrationApplication Components for Demonstration
Camera -Present Heli system(Fron/Rear camera plus application camera) (option: EyeSee360)
-Use present Heli system
-Apply “Joystick” for Base station/ Vehicle
Search Light -Search Light for Marine use or Police use (ex. PATLITE)
-Put it separate from Head Light
-Move
Voice speeker/Mike/ Tranceiver
-Broadcast Recording Message at the points
-When Base Station Switch On, operator voice is broadcast
-Mike on UGV is always ON
-At Base Station, Volume only
-For Interactive Conversation (ex.PATLITE)
Patrol Light -Just WARNING purpose (ex. PATLITE)
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Detail design of the VehicleDetail design of the Vehicle
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System diagramfrom KAMIYA-san
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componentsYMC CMU PROTO SHOP YMC CMU PROTO SHOP
vehicle actuatorlower controllerlower controller mountremote control comunication antenna
autonomous sensors sensor mountupper controllerupper controller mountpower supplypower supply mountcomunication antenna
indicator & switchinstrumental panel & switch mount
serveilance equipmentsequipments mountcontrollercontroller mountcomunication antenna
minor modification of ATV fenderfootboardbody bumperequipment tower
UGV assemble & finish
design fablication
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Detail size of Laser Scanner and MotorDriver
Detail size of Upper Computer
Detail size ofApplanix computer
Detail size ofDC power Supply
Detail size ofBack-up Power Supply
Still missing:Laser Scanner Driver Camera controllerDC Power supplyBack-up Power Supply
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Detail size ofGyroRequirement for mounting
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Requirement for mounting GPS antennaAnd quantity
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Redesigning front of Body Panel and Head light
Redesigning tail of Body Paneland Tail light
Redesigning camera & antenna mount tower
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Base StationBase Station
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Detail of Base StationDetail of Base StationPDA -Vehicle ON/ OFF/ STANBY
-Mode switching
-Mode display
-Teaching Operation
-Route Registration(Save)
-Task Creation/ Save
-Start running/ Stop
-Display of Vehicle Information
PC at Base Station
-Display Map Information
-Display Vehicle Information ( position/ speed/ normal_abnormal/ mode)
-Task name/ Task Status
Joystick/
Switch
-Vehicle Operation
Start Engine/Stop/Speed/Steering/ Brake/ Switch for Forward_Rear/
Parking/ operation of Headlight
-Camera Operation (Search Light interlocked movement)
-Mike ON/ Speeker Volume
-Recording Voice Reproduction/Stop
-Search Light ON/OFF
-Patrol Light ON/ OFF
Image Monitor -Display of Image