Cybernet Systems Corporation 1

Amplifying Human Performance Through Advanced Technology

Team Cybernet • The Only Michigan Centric Team

that Qualified for the Finals • Over 10 Km segments traveled

through obstacles, intersections, GPS denied areas, and among moving and still vehicles

• Integrated Urban and Terrain Planning & Behavior Technology validated

• Strap-down kit Qty 1 cost of goods < $20,000 per vehicle

• JAUS compliant architecture proves out

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Michigan Centric

IVS was a Honeywell, Minneapolis team with Ford as a partner GM was a partner on a CMU team

Cybernet Systems Corporation 3

Partners and Sponsors

Team Cybernet thanks the organizations that helped us, including:

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Other Results

• Nav with GPS denied to GPS CEP (+/-10cm) for over 1 km – 0.02% distance traveled < $10,000 in parts

• A ladar obstacle detection system that detects people or vehicles at relevant ranges reliably

• Novel computer vision/motion-change range detection demonstrated

• Lane departure system that is at 97%-99% reliability • 75 Hz Ladar processing • 30 Hz (8 camera) JPEG-based video processing using an

off-the-shelf security architecture • Relationship with IBEO for Lux Ladar – in automotive

quantities ~$400 per unit; self calibrating; 200m range; tolerant of obscurants, dirt, environmental

• New CAN control architecture under development

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Purely Strapdown Approach

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Sensors and Hardware Architecture

180 deg. FOV

Front Ladar

Ladar hood

Color CCD -- All except this one are inside passenger area

Warning light & audible GPS

antenna

I3M MEMS INS

Long Look CCD

Rear Ladar Ladar hood

Fiber Optic Gyro

Side Sonar

Side Sonar

Wheel Rotation Sensors

Short Look CCD

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Leverages Prior Work

Portable OCU for Field Use Robot Control

Mobile IMU

Miniaturized MEMS Navigation System

(3) MEMS Gyros

(3) MEMS Accelerometer

(3) 3 axis Digital Magnetometers

Wheel Encoder Counts (Via USB Counter)

GPS

URBAN1: Control Computer

USB Serial

SYSTEM

Subsystem Subsystem Subsystem

Node Node Node Node

Comp1, Inst1 Comp2, Inst1 Comp2, Inst2 CompN, Inst1

JAUS Architecture Topology

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Machine Vision – Change, Range, Land Departure

0

90

180

-90 Vehicle

Range from Image Change

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Novel Path Planner Based on Turn Radius and Obstacle Avoidance Margin

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Test Range B Run on Track Plot & Shots from Other Runs

Track Plot

Video Log

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Automotive LADAR

3D ERIM Ladar

Cybernet Engineers

ERIM LADAR for DARPA ALV & Navlab

IBEO LUX Distributed by Cybernet

• Automotive Temp. & Environmental Qualified • Scan Frequency: 25 Hz • Horizontal Angle: 100 Degree • Range: 0.3 to 200m (support up to 80mph) • Vertical FOV: 12.6 degree (four scans @3.2º) • Up to three returns per range measure (automatic

detection of optical and rain obscuration) • Size/Weight: 3.3’ x 6’ x 3.3’/2 lbs • Built-in ground and obstacle detection • Class 1 eye safe • Ethernet or CAN bus interfaces • R&D Pricing: €9k; Automotive pricing: €400

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IBEO in Action

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Vehicle Test

Cybernet Grand Challenge Vehicle

under test at the General Motors

Electromagnetic Test Facility for

determination of microwave weapon

assault susceptibility

GM Milford

Ford Romeo

Chrysler Chelsea

SwRI, San Antonio

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Power

Vehicle Battery

Vehicle Generator

12 VDC Direct Feed

Fuse

Fuse

Sinusoidal Inverter (120VAC)

Uninterruptable Power Module

Uninterruptable Power Module

Uninterruptable Power Module

Vehicle ElectronicSystems

Safety Systems

System Control PC

Computer Vision PC

Other Subsystems

Vehicle Fuses

Safe 12VDC

Interruptable 120VAC

Uninterruptable 120VAC

Second Vehicle Battery

Surge Current Ultracap

Sinusoidal Inverter (120VAC)

Steering Servo

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Safety

Software tie into the System Controller to effect coordinated Pause/Run Behavior

Pause: 1. Turn on (keep on) Headlights

and running lights 2. Retract Accelerator 3. Push Brake 4. Turn off Audible/Flasher

warning

Run: 1. Turn on (keep on) Headlights

and running lights 2. Initiate Audible/Flasher 3. Wait 5 seconds 4. Restart path march behavior

a. Set Speed b. Set next point

E-stop 1. Turn off headlight and

running lights 2. Turn off Audible/Flasher 3. Retract Accelerator 4. Push Brake 5. Kill Ignition 6. Put Controller into Pause

State

Disable Switches

Deadman Heartbeat Lost

Link with OCU Lost

Computer Vision Lost

Global Position System Lost (GPS out – operating on INS too long a period

Speed Minder Triggers (Acceleration is initiated but no speed encoder input received – i.e. speed estimated is zero)

DARPA E-Stop

E-Stop

Pause

OCU Run/Pause GUI

Controller PC Run/Pause GUI

Three function Gate opener

Run

E-Stop Run

Pause

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Control

URBAN1: Control Computer

USB Digital Analog Counter

Headlights

Running Lights

Left Turn Signal

Right Turn Signal

Audible & Flasher

Brake Actuator

Brake Limit sense

Accel Actuator

Accel Limit sense

Shifter Actuator

Shifter Limit sense

Steer Actuator

Steer Encoder

Left Wheel Encoder

Right Wheel Encoder

Ladars Power up

Ladars Power Sense

Horn

PC Power Sense

External Run/Pause

External E-Stop

Deadman Heartbeat

Hardware Deadman Logic

Ignition Kill

Push

Retract

Digital: USB Analog Out Mechanical Connection Digital Out Analog In Counter In Hardwired

Push

Push

Push

Retract

Retract

Retract

Encoder Reader Left

Encoder Reader Right

GPS

FOG

I3M

Sonar

Color CCD Auto Iris

Color CCD Auto Iris

Color CCD Auto Iris

Color CCD Auto Iris

Color CCD Auto Iris

Color CCD Auto Iris

Color CCD Auto Iris

Color CCD Auto Iris

Color CCD Auto Iris

Quad Channel Video to JPEG

Quad Channel Video to JPEG

URBAN2: Computer Vision Computer

PC Power Sense

URBAN1: Control Computer

Ladar Data Hub

Ladar

Wireless Router Hub (802.11g)

OCU Computer (Wireless E-Stop)

Vehicle 1Gbit Ethernet

External Networks

URBAN4: Range Data Processing Computer

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NextGen CAN Driving Control

CAN Accel Servo

CAN Brake Servo

CAN Digital I/O

CAN eBrake Servo

CAN Steer Servo

Accel Actuator

Brake Actuator

eBrake Actuator

Steer Actuator

Steer Encoder

Accel Push Feedback

Brake Push Feedback

eBrake Pull Feeback

Hardware Safety System (Deadman Logic)

Vehicle Safe/Kill Relay Controller to Interface with Vehicle Systems

CAN Shift Servo

Shift Actuator

Shift Position

CAN Encoder Left

Left Wheel Encoder

Right Wheel Encoder

CAN Encoder Right

IBEO Ladar 1

IBEO Ladar 2

IBEO Ladar 3

IBEO Ladar 4 CAN Digital I/O to Interface with Vehicle Systems

Vehicle Control Harness

Vehicle Sense Harness

CAN Bus to CV1 Controller

CAN Bus to CV1

Controller

CAN

CAN

CAN Bus for Control Systems Interconnect Fault Tolerance Noise immunity

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Contact Information

Dr. Charles Jacobus Mr. Steve Rowe Dr. Charles Cohen Cybernet Systems Corporation chuck@cybernet.com www.cybernet.com www.openskies.com www.netmax.com, www.netmax.org www.cybernetmedical.com www.gesturecentral.com www.atacs.com