Note: This paper has been space reduced the complete paper is in the Downloads section.

In the wake of the natural and non-natural disasters and human expansion within the world, it has been decided that robots could augment humans in their endeavors. This paper outlines the underlying foundation of a product development project that will have significant worldwide implications. The project is based on a family of autonomous robotic vehicles (ARV). The innovation of the ARV family will be the indirect or non-operator handling, off-the-shelf materials, reconfigurable job function packages, low cost and as earth friendly as possible.

The Sovereign Autonomous Robotic Vehicle Family Overview

The Sovereign Autonomous Robotic Vehicle (SARV) family is currently comprised of four vehicles. These vehicles cover the power and weight scale from miniature, which fits into a suitcase, to the massive, requiring a tractor-trailer for transportation. The initial design requirements were for ARVs that could be utilized in disaster relief efforts, thus releasing human workers for other tasks or maintaining their distance from hazardous materials. Transportation became one of the major considerations of the family; this along with cost became the driving forces for the project. At the time of this writing all family members can be flown to the scene of a disaster via commercial or private aircraft, the largest ARV requiring a large transport aircraft. All units can have their jobs downloaded via wireless connection from a computer, memory card with the job profile, controlled via an interface handheld pod (similar to a radio-controlled car), or a similar approach utilizing a wireless headset and speech recognition.

Utilization of exchangeable payload bays enhances the effectiveness of each family; payloads are only changeable within a family. This concept allows for features such as low light vision for tunnel work in the morning but later that day could be exchanged for a multi-axis arm payload for functioning above ground on a different project. Since the initial design concept the SARV’s singular role in disaster relief has been expanded to numerous commercial endeavors and some potential military applications.

Description of the Sovereign Family Members

Vole-Bot is the smallest SARV in the family. Measuring less than 12 inches in length and cross sectional small enough to fit through an 8 inch (203mm) pipe, Vole-Bot utilizes tracks, to generate its motion (see specification). Vole-Bot weighs less than 10 pounds, thus allowing it to be transported within a carry case by a single person. The SSARV uses leading edge technology in its control and motion system, which is based on a single Field Programmable Gate Array (FPGA) containing all major functional components and a 32-bit system processor. This technology, and its’ implementation, was adopted because it allowed for commercial off-the-shelf (COTS) technology to be used and reconfiguration in the field. A 360° proximity ranging system was implemented to prevent collisions but can also be utilized in searching for objects. The motivating forces with this family member were physical size, cost, and simplicity. Design envelope forced the pioneering of molded ABS plastic for the chassis. Other benefits from the construction were maintenance, weight, durability, and the ability to traverse water. The onboard CCD color camera sends a video feed via a Zig-Bee connection. Payloads may be changed in the field, allowing for higher versatility and rapid situational response time. Vole-Bot was conceived to search through rubble from a natural or man-made disaster, it is also being readied for certification by Mine Safety and Health Administration. Because it was created for the mine Vole-Bot is water tight allowing it submerge in fluids other then water, providing they are not in a solvent category to dissolve the actual body. Vole-Bot can be coupled with the other family members to form a collective for search patterns.

Forager is perhaps the most versatile of the ARV family. Forager-ARV is 72in (182.9cm) in length, 46in. (116.8cm) and weighs approximately 600 pounds (272Kg) without payload (see specifications). This unit was designed to fit in the back of a standard size pickup truck. Forager is a 6-wheeled unit with a ground pressure of 10.2psi for the base unit. The drive system is PMDC at 24V.  Transference of technology from the SSARV design to Forager's design permitted cost reduction within the design cycle, for similar functionalities. Systems such as the proximity sensing only require expansion to ensure full 360° coverage. The FPGA processor system was adopted and expanded allowing for the use of multiple processors within the same FPGA. The chassis for Forager is a completely welded aircraft grade aluminum unit, which reduced weight and cost over a similar steel chassis. Because the base chassis is all welded the unit has the ability to go into water without detriment to the unit. Forager, like the smaller SSARV, is run entirely from batteries and can be configured with the intelligence to return for recharge. A solar panel will be available to charge the battery as Forager is working, providing it does not interfere with the payload function. Payloads or functions are changed in the field allowing for higher versatility.

Functional Utilization

There are far more tasks for the different families than listed here, but we felt a catalog of some of the more important endeavors should be displayed. In parentheses are the recommended SARVs for the activity.

Rubble removal is a time consuming action that, in the instance of a disaster, can cost numerous man-hours. The listed SARVs have sufficient physical weight and power to accomplish this type of job. Payload selection will be crucial to the efficiency of the ARV, i.e. not having a wood cutting blade installed on the manipulator while working in a steel and concrete pile. With a remote vision system in the payload mix, a single operator can monitor, correct, and direct multiple SARVs. While the SARVs are working, a secondary function of the payload is to monitor for hazardous chemicals. These are chemicals that are potentially harmful or fatal to human workers.

Disasters have the unfortunate side effect of trapping the living. The two smaller SARVs can climb over or through toppled buildings in search of survivors. Search packages for the payload bays contain Infrared (heat) sensors, directional sound pickups to analyze sounds for human voice and, again, the chemical sensors for hazardous materials. In larger arenas SSARVs can be combined with SFARV or SGARV in “swarms”, This in conjunction with a mesh communications network keeps all units in constant communications, so that while Forager and/or Goliath are removing rubble they can be alerted to possible action changes. This also allows SSARV to move deeper into the tangle in search of casualties. SFARV can be equipped with Ground Penetrating RADAR (GPR). This gains the advantage of finding open pocket areas in the rubble that could sustain life or locate potential hazards such as gas mains.

With the climatic changes occurring and an increase in average rain fall areas are beginning to dike or sandbag to slow flooding. A split payload system will be available to both fill the bags and place them in a predefined pattern. The SARVs offer a consistent pace in the filling operation and placing of the bag.

The term inspection has a very broad connotation in both action and method. Visual inspection would be the most common function. Any of the SARVs could be equipped with stereoscopic CCD cameras that relay or store live pictures. The smallest of the family will be limited in the size of the camera system it can carry, but has the advantage of accessing smaller spaces. Following visual is Infrared, used in heat sensing of living organisms. Other forms of inspection such as magnetic flux, Ground Penetrating RADAR (GPR), or X-ray are possible. The larger SARVs can be used to visually inspect power transmission lines or pipe lines. Because of the open nature of these lines any fault could be GPS tagged for repair or closer inspection by actual operators or repair crews. Because of the tunnel mining environment Vole-Bot was created for this unit is water tight and can be submerged.

Chemical production or utilization brings a new set of requirements and handling procedures. The SARV family has the ability search (sniff out) chemicals, based on the payload package. The SARVs are used in areas where the risk to human life is considerable or the proper protective equipment for humans is unavailable. An example would be a chemical plant being struck by a natural disaster. A large number of chemicals and compounds are not readily detectable by humans (sight or scent) and could be deadly. An SARV set up with the correct payload could grid search for a leak. Upon locating the leak, the SARV could either repair it, or become a beacon for a human repair team or larger SARV.

A completely open arena is in agriculture and environmental protection (EP). It is recommended that the smaller two SARVs be used for this task. Sample retrieval would be varied in accordance with the material being gathered but would progress along these lines:

Farm soil sampling: Only a few parameters are required, first is the starting point, then the space between the grid paths, followed by how often the samples are taken (example; 25 foot intervals). An optional feature is at what depth to take the sample (6 inches down) and sample amount. Should the sample holder become full prior to completion, the SARV will return home to change out the sample holder for an empty one, returning to the place last sampled. All samples have a relative coordinate assignment (referenced to the start point). This information, combined with a PC program, will depict the field and the sample locations. Soil analysis will indicate the field condition allowing for soil maintenance that does not exceed or go beneath the requirements.

Environmental protection example - water sampling: As with the soil sampling, the same principle applies with the variation that the coordinate would be derived from a GPS location. If the overhead coverage is dense enough that the signal fails, the onboard guidance will interpolate its’ current position, confirming accuracy at the next GPS reading. This will allow data to be plotted on a geodetic map.

“Hazardous material” is an expansive idiom, but for the intents of this paper are materials that are harmful to humans and other life forms. Some examples of the intended materials are: chlorine, nitric acid, gasoline, explosives, or live electrical wires. The larger SARVs will have the ability to pickup or move these items without the need for a human in close proximity. For the disastrous happening of an oil spill at a coastline, the SFARV is capable of entering the water to begin the placement of containment barriers. With proper construction, an end-effecter capable of life retrieval could be used to rescue contaminated wildlife.

In the case of a train derailment, one of the larger SARVs could be used to patch a leaking tank car, or, at the very least, attach lines in an attempt to empty the remaining material from the tank car.

The construction and landscaping trade is by far the largest arena the SARVs can enter. It is such a diverse application group that this to will warrant a second paper on the possibilities. A few possibilities are briefed below.

Marking of underground cables or pipes: For this job, the unit best suited is SFARV due to the size. With a sensor attached to one robotic arm and landscape paint or flags on another, the SFARV follows the underground line either paint marking or flagging at set intervals.

Landscaping scenario: The construction of a decorative rock wall is in progress by a single person. Utilizing voice control, the operator directs the movement of the rocks into position including selecting the rocks from a nearby truck or pile.

Building construction becomes easier for small crews, by using the SGARV: The construction of a decorative rock wall is in progress by a single person. Utilizing voice control, the operator directs the movement of the rocks into position including selecting the rocks from a nearby truck or pile.

Continuous pipe can be handled by SGARV with its’ multiple arms: While one arm aligns the pipe into the trench, two other arms move the next section into position and weld it to an already laid length.

The movement of raw and finished material within a factory is critical to the economic survival of the company. With the advent of automated production lines and machine tooling equipment, factories can run around the clock. The use of automated material handlers brings the movement and tracking of work product materials under tighter computer tracking and control.

This scenario works well with factories that have a cell configuration, like machining. Material is pulled from stores via an automated material selector and loaded on the SARV, which then delivers the materials to the cell or cells as directed by the main computer. Upon delivery, the finished product can be gathered and returned to stores for check-in inventory.

Conclusion

The information put forth in this paper is the basis of an on-going developmental project that began 4-years ago by c-Link Systems, Inc. The project brings to fruition the needed equipment for disaster assistance and pushes leading edge technology in the industrial and commercial market. The SARVs and the spin-off technology penetrate the market at an effective implementation cost.

All Application Notes and Application Papers can be found on the company website, as they become available. Included with the notes is the actual development schedule and photos of test units and actual units.

Basic Physical Characteristic Information of Sovereign Family

Vole-Bot ARV

Overall Length – 12 inches

Overall Width – 7 inches - Includes tracks

Overall Height – 7 inches - Includes tracks

Gross Weight – Target is less then 10 lbs

Locomotion – Track

MC - FPGA based single Nios®

GPS - Optional

Power System – 12VDC 7A/Hr battery

Chassis Material – ABS Plastic

Target sell price under $950

Forager-ARV

Overall Length – 72 inches

Overall Width – 46 inches - Includes wheels

Overall Height – 16 inches - Includes wheels

Ground Clearance - 7 inches

Curb Weight – 600 lbs

GVW - 1200 lbs

Speed - 2.5mph

Locomotion – 6-wheel

MC - FPGA based Quad Nios II® processors

GPS - Delorme

Power System – 24VDC 10A/Hr battery packs

Chassis Material – Aircraft grade Aluminum

Target sell price under $19,500

Forager-R²V

Overall Length – 72 inches

Overall Width – 46 inches - Includes wheels

Overall Height – 16 inches - Includes wheels

Ground Clearance - 7 inches

Curb Weight – 600 lbs

GVW - 1200 lbs

Speed - 2.5mph

Locomotion – 6-wheel

MC - 32-bit MCU

GPS - Optional

Power System – 24VDC 10A/Hr battery packs

Chassis Material – Aircraft grade Aluminum

Target sell price under $15,500

Forager-FM²

Overall Length – 72 inches

Overall Width – 46 inches - Includes wheels

Overall Height – 16 inches - Includes wheels

Ground Clearance - 3 inches

Curb Weight – 600 lbs

GVW - 2600 lbs

Speed - .25mph

Locomotion – 6-wheel

MC - FPGA based Dual Nios II® processors

GPS - Optional

Power System – 24VDC 10A/Hr battery packs

Chassis Material – Aircraft grade Aluminum

Target sell price under $21,500