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Robot Research
DR.Ivan Marsic
Robot:
Introduction:
PIONEER 2-AT packs the power needed by a 4-wheel drive all-terrain robot, yet maintains good balance and control. Tele-operate for remote viewing. Operate the P2-AT autonomously with onboard computer and multiple PC104 accessory cards. GPS, PTZ robotic camera and a growing suite of other options make P2-AT a robot far more capable than others in its class.
The P2-AT stores up to 252 watt-hours of hot-swappable batteries. Optional 8 forward and 8 rear sonar sense obstacles from 15 cm to 7 m. 2-AT's powerful motors and four monster wheels can reach speeds of .8 meters per second and carry a payload of up to 30 kg. The P2-AT uses 100 tick encoders with inertial correction recommended for dead reckoning to compensate for skid steering. Its sensing extends far beyond the ordinary with laser-based navigation options, GPS, bumpers, gripper, vision, stereo rangefinders, compass and a rapidly growing suite of other options. The bare P2-AT base with included ARIA and Saphira8+ software has the ability to: WANDER randomly DRIVE controlled by keys or joystick PLAN PATHS with gradient navigation DISPLAY a map of its sonar and/or laser readings LOCALIZE using sonar (with optional laser upgrade) COMMUNICATE SENSOR & CONTROL information relating sonar, motor encoder, motor controls, user I/O, and battery charge data RUN C/C++ PROGRAMS created with or without Saphira or our other software development environments TEST ACTIVITIES QUICKLY with Saphira's Colbert real-time programming language SIMULATE BEHAVIORS OFFLINE with the simulator that accompanies each development environment
The Pioneer 2-AT is an all-purpose outdoor base, used for research and prototyping applications involving: mapping
P2-AT's are made for use outdoors; they run on many earth, stone, sand or paved surfaces. Unencumbered, they can climb steep 45% grades. To operate on carpet, select Indoor wheels, which may be swapped as needed. P2-AT's are not water-proof.
P2-AT COMPONENTS
Pioneer 2-AT's provide a ready-to-use all-terrain base with: body with hinged battery access door 1 battery 4 wheels 4 motors with encoders microcontroller sonar board motor power board P2OS microcontroller server software user I/O bus integrated into hardware and ARIA software ARIA Robotics API for developers Saphira 8+ localization & gradient navigation Colbert real-time programming language operations manual
In addition, the robot requires: communication with a PC client, via one of the following: o wireless radio modem o robot-to-laptop connector o robot-to-desktop tether o or connection to an embedded computer a recharger o standard for overnight charging o high-capacity to cut charge time 80% or to use as a computer power supply (requires 3 batteries)
TECHNICAL SPECIFICATIONS
The rugged P2-AT 50cm x 49cm x 26cm aluminum body with 21.5cm dia drive wheels loves to run outdoors. The four motors use 66:1 gear ratios and contain 100-tick encoders. This skid-steer
platform is holonomic and can rotate in place moving both wheels, or it can move wheels on one side only to form a circle of 40cm radius. P2-AT can climb a 45% grade and sills of 9cm. On flat floor, the P2-AT can move at speeds of .7 mps. At slower speeds on flatter terrains, it can carry payloads up to 30 kg. Payloads include additional batteries and all accessories and must be balanced appropriately for effective operation of the robot. P2-AT's hinged battery door makes hot-swapping batteries simple, though a bare P2-AT base can run 4-8 hours on three fully charged batteries. With a high-capacity charger, re-charging time is only 2.4 hours. The P2-AT's easily removable nose allows quick access to any optional embedded computer for addition of up to 2 PC104+ cards. All P2-AT's include a Siemens C166-based microcontroller. On the microcontroller, we have 8 digin and 8 digout plus 1 dedicated A/D port; 4 digin can be reconfigured as A/D in; 4 digout can be reconfigured to PWM outputs. This user I/O is integrated into the packet structure, accessible through ARIA and Saphira.
Class 1 lasers are considered safe under reasonably foreseeable conditions of operation. Class 2 lasers emit visible light at higher levels than Class 1, but eye protection is provided by aversion responses such as the human blink reflex.
Class 3A lasers have higher power levels than Class 2 and the beam has a larger cross section such that the power of the beam entering the eye does not exceed the power of Class 2. This class of laser can be a hazard if optical devices such as binoculars focus the beam onto the retina (see diagram). Class 3B (Restricted) lasers are similar to Class 3A except that the irradiance (power density) limit is increased by a factor of two. Class 3B lasers are sufficiently powerful to cause eye damage in a time shorter than the human blink reflex (0.25 seconds). Laser products with power output near the upper range of Class 3B may also cause skin burns. Class 4 lasers are high power devices capable of causing both eye and skin burns, and diffuse reflections may also be hazardous.
Most laser pointers manufactured before 1993 were Class 2 lasers, with a power output of less than 1 mW. These lasers are safe to view directly for short periods of time. In 1993, the Radiation Health Committee of Australia's National Health and Medical Research Council determined that laser pointers (and other consumer laser products) should not exceed Class 2. For visible laser emissions, a Class 2 laser is limited to a maximum power level of 1 milliwatt (mW) continuous wave emission. Unfortunately, there are laser pointers on the market with output powers well above 1 mW (that is, Class 3B). To make matters worse, some of these products are incorrectly labelled and hence their hazard potential is not known to the user. In particular, owing to different classification criteria in the U.S.A. and Australia, some lasers imported into Australia may be labelled as Class 3A when they are actually Class 3B. A recent report by James Rockwell, et al, in the Journal of Laser Applications noted that more powerful laser pointers are now being imported from Russia and China. Some of these lasers lack the appropriate warning labels. These lasers emit green beams from frequency doubled Nd:YAG lasers operating at 532 nm and have emissions significantly exceeding the maximum permissible exposure (as per the ANSI laser standard, Z136). One of the lasers has a filter in the cap, which, if removed, allows the laser to emit both 532 nm and 1064 nm beams, in excess of 15 mW, making it an even more hazardous Class 3b laser. The same article noted a recent advertisement for a "super power diode pointer that is 20 times brighter than other conventional lasers." In 1997 the FDA issued a warning on misuse of laser pointers. In some states such as California, it is a criminal misdemeanor to shine a laser pointer at individuals who perceive they are at risk, and it is a felony to aim one at an aircraft. Some local governments have passed regulations requiring anyone purchasing a laser pointer to be 18 years of age or older. It is expected that the pending revision of ANSI Z136.1 will have a special section commenting on laser pointers. In summary, laser pointers are helpful tools but they must be used responsibly. Common sense dictates that users should never direct a laser pointer beam at another person. And lasers with power over 5 mW should not be used as pointers.
Potential Hazards: The hazards of laser pointers are limited to the eye. Although with most visible lasers, the largest concern is potential damage to the retina, most laser pointers are not likely to cause retinal damage. The possible exception might be the green light lasers described above. The most likely effects from exposure to viewing the beam from a laser pointer are afterimage, flashblindness and glare. Flashblindness is temporary vision impairment after viewing a bright light. This is similar to looking directly at a flashbulb when having a picture taken. The impairment may last several minutes.
Afterimage is the perception of spots in the field of vision. This can be distracting and annoying, and may last several minutes, although there have been reports of afterimages lasting several days. Glare is a reduction or complete loss of visibility in the central field of vision while being exposed to the direct or scattered beam. This is similar to viewing oncoming headlights on a dark night. Once the beam is out of the field of vision, the glare ceases. While this does not pose a hazard to the eye, it can cause serious distraction and outrage. Glare can be exacerbated when the beam is reflected from a mirror-like surface. \ Safety Considerations: Laser pointers are effective tools when used properly. The following considerations should be observed when using laser pointers:
Never look directly into the laser beam. Never point a laser beam at a person. Do not aim the laser at reflective surfaces. Never view a laser pointer using an optical instrument, such as binocular or a microscope. Do not allow children to use laser pointers unless under the supervision of an adult. Use only laser pointers meeting the following criteria Labeled with FDA certification stating "DANGER: Laser Radiation" for Class 3a lasers or "CAUTION: Laser Radiation" for Class 2 pointers. Classified as Class 2 or 3a according to the label. Do not use Class 3b or 4 products. Operates at a wavelength between 630 nm and 680 nm. Has a maximum output less than 5 mW, the lower the better.
Available Class II & III laser pointer: (http://www.appliedlaser.com/ & http://www.1above.com/) LASER MODULE: To integrate optic laser diode1 and driver circuit into a patented solid brasa structure for the best shock resistance and heat sink consideration COLLIMATING LENS: Double side aspherical plastic lens which provides better laser collimating and long distance visibility. LASER DIODE: 670nm wavelength for standard brightness 650nm wavelength for 5 times brighter , 635nm wavelength for 10 times brighter , DRIVER CIRCUIT: Single chip ARC (autopower-control), controller on board to perfectly stabilize the laser. This will maximize the laser lifetime and battery hours while minimizing the size.
Aimshot,www.1above.com
Beamshot,www.1above.com
Paintball, www.appliedlaser.com
WSTech, www.worldstartech.com
Innovam,www.innovam.com
Mine detector:
The mine detector SCOUT is developed for mine clearance including the mines with very small metal content. It can be used also for the detection of wide scale of other metallic objects. The automatic background setting provides smooth operation and allows to adjust the detector for sweep searching over surfaces with different background conditions. The built-in test circuit for checking battery condition and compact design makes the handling comfortable and trustful. The mine detector consists of electronic unit, search head with telescopic pole and cable, earphone and carry bag.
Detection range:
o o o o
10 cm
20 cm
50 cm
Number of sensitivity ranges Battery voltage Typical operating endurance with alkaline type batteries Operating temperature Protection level for:
o o
Weight:
electronic unit
IP65
search head
IP67
o o o
1.1 kg
1.2 kg
3.6 kg
http://www.englo.ee/english/products/detecting.html
http://www.lonemtn.com/mine_detector_metal_locator.htm
FAST TRACKER
Price $124.95
http://www.jjdetectors.com/FASTTRACKER.html
http://www.buyametaldetector.com/minelab/soverei gn-metal-detector.html
On board PC:
Moderboard:(Pentium III / Celeron EBX SBC with 10/100 Ethernet, AGP video, sound and industrial I/O)
Features
EBX compliant. 5.75 x 8.00 footprint Socket 370 Processor 100/66 MHz Front Side Bus (processor dependant) Intel 440BX chipset
168-pin DIMM SDRAM to 256 MB 256/128 KB level 2 cache (processor dependant) 32-pin DiskOnChip socket 10/100 Ethernet interface AGP video / flat panel support C&T (Asiliant Technologies) 69030 chip PCI-based sound PC/104-Plus expansion site Dual PCI based IDE controllers Dual USB interfaces 4 COM + 1 LPT port AT peripherals and I/O including keyboard and PS/2 mouse port Industrial I/O Analog input option 16 I/O channels, Opto 22 compatible Three spare 16-bit counter/timers Two RS-232/422/485 selectable COM ports Watchdog timer Vcc sensing reset circuit Processor power management feature Flash BIOS with OEM enhancements Standard latching 0.1 and 2 mm I/O connectors CPU temperature sensor Customizing available UL and CE compliant Low power fanless version Motherboard(VSBC8DR),price:1,224$ www.versalogic.com
Description
This feature-rich single board computer is designed specifically for OEM control projects requiring fast processing, industrial I/O, flexible memory options, designed-in reliability and long product lifespan / availability. Full EBX compliance allows easy migration to future boards or alternate sources. Enclosure or mounting changes are not required when migrating between EBX-compatible products. The VSBC-8 is fully compatible with a wide selection of popular operating systems including most Windows and Real Time Operating Systems. Please call for more information. Up to 256 MB of PC100 compatible SDRAM is supported in a high-reliability latching DIMM socket. Application programs and files can be stored in a bootable DiskOnChip Flash device. A battery-backed SRAM can be used in lieu of the DiskOnChip. The VSBC-8 features high reliability design and construction including latching I/O connectors, watchdog timer, long-life battery, and voltage sensing reset circuit. It also features spread spectrum clock generation technology for lower EMI and self-resetting fuse on the 5V supply to the keyboard,
mouse, USB and Opto 22 I/O ports. An onboard programmable CPU temperature sensor is included for use in difficult thermal situations. The sensor output can be used to turn on additional fans, create local or remote warnings, or take other action through software triggers. This exceptional SBC was designed from the ground up for OEM applications with longevity and reliability as the focus. Each board is subjected to burn-in and complete functional testing and backed by a limited two-year warranty. It is fully supported by the VersaLogic design team. Both hardware and software (BIOS) customization is available in quantities as quantities as low as 100 pieces.
Motherboard www.versalogic.com VSBC8DR $1,224
Memory:
Micro Technology 256MB SDRAM PC133 7ns http://www.coolerstar.com/pc2532sdram.html Sale price: $52.00
Wireless Lan:
PCMCIA:
PCMCIA socket (with ejector) accepts: Type I: FLASH/DRAM/ROM memory Type II: Fax/modem/network Type III: ATA mass storage Complies with PCMCIA v.2 10 and JEIDA v.4.2 16-bit data bus Features two PCMCIA drives Programmable 8KB SMD-type boot FLASH BIOS Supports bootable function from linear Flash Card, ATA hard disk drives, ATA Flash cards, and SRAM cards Busy status LED Power requirement: +5V @ 70 mA
Wireless card:
Compliant Standards: IEEE 802.11-LAN Connectivity Technology: Wireless Data Link Protocol: Ethernet Data Transfer Rate: 11 Mbps Device Type: Network adapter Dimensions (WxDxH): 2.1 in x 4.6 in x 0.4 in Form Factor: Plug-in module Interface Type: PC Card Package Type: Retail Selectable Channels Qty / Antenna: Integrated System Requirements: Microsoft Windows NT 3.51 or later, Microsoft Windows 95/98, Microsoft Windows CE, Apple MacOS 8.0 or later, Novell NetWare 3.x, Novell NetWare 4.x, Linux, Microsoft Windows 2000
The ORINOCO PC Card offers 4 speed options (11 Mbit/s, 5.5 Mbit/s, 2 Mbit/s and 1 Mbit/s), providing you the ideal combination of throughput and range. With any wireless product, security is a major consideration. That's why the ORINOCO PC Card offers a choice of security levels. The standard level, called the 'Silver' PC Card, uses Wired Equivalent Privacy (WEP), using a 64 bit key. The 'Gold' version provides enhanced security with a 128 bit key, using RC4 encryption. Designed for today's powerful laptops, hand-held computers and other mobile devices, the ORINOCO PC Card delivers the same instant, high performance connectivity as wired systems plus the freedom to move around your building or campus, making it perfect for office and business applications. The ORINOCO PC Cards provides 11 Mb/s IEEE 802.11b High Rate compliant wireless connectivity to Homes, Small Office, Enterprises and Public systems and is used in all our solutions: Enterprise Solution, Public Access Solution, Home/SOHO Solution, Outdoor Solution.
(P2-AT)
Price: $56.00
http://www.lanstreet.com/productpage.cfm?prodid=576
Frame Grabber:
Bus PCI bus master design for real-time image capture Input video format NTSC, PAL, SECAM, S-video Input video 1 V peak to peak, 75W Output formats Color: YcrCb 4:2:2 and 4:1:1; RGB 32, 24, 16, 15; Monochrome: Y8 Resolution NTSC: 640 x 480; PAL/SECAM: 768 x 576 Power + 5 VDC, 500 mA Camera Power + 12 VDC output Supported Operating systems - DOS, Win 95 / 98 / ME, Win NT / 2000 / XP Supported Languages C / C++, Visual Basic
Video camera:
EVI-D100 Image Sensor: 1/4 type Super HAD CCD Effective Pixels: 768 (H) x 494 (V) Video Signal: NTSC Horizontal Resolution: 470 TV Lines (wide end) Lens: 10x Optical Zoom, X40 with Digital Zoom f=3.1 to 31, F 1.8 to 2.9 H. Angle of View: 6.6 to 65 degrees Minimum Object Distance: 100 mm (wide end), 600 mm (tele end) Minimum Illumination: 3.5 lx (F1.8) Sony EVI-D100, Price: $999.95
Auto Exposure: Auto/Manual/Priority AE, Exposure compensation, Back light compensation Shutter Speed: 1/4 to 1/10,000 s White Balance: Auto, ATW, Manual, One Push, 3200K, 5800K Effects: Mirror Image, Still Image on Field Memory, Pastel Image, Negative/Positive Reversal, Sepia Image, Monochrome Image, Enhanced Contrast, Mosaic Image, Vertical Stretch, Horizontal Stretch, Motion Image on Still Image, Continuous Still Image, Motion Images on Binaried Still Image, After-image Lag of Moving Object S/N Ratio: More than 50 dB Pan/Tilt: Horizontal +/- 100 degrees (Max speed 300 degrees/s), Vertical +/- 25 degrees (Max speed 125 degrees/s) (in 0.07 degrees increments)
http://goelectronic.com/
Video Output: VBS, Y/C Power Requirements: DC 10.8 to 13.0 V Power Consumption: Max. 13.2 W (at 12 Vdc) Operating Temperature: 0 to 40 C (32 to 40 F) Storage Temperature: -20 to 60 C (-4 to 140F)
EVID100 Dimensions: 113 (W0 x 120 (H) x 132 (D)mm (4-1/2 x 4-3/4 x 5-1/4 inches) Mass: 860 g (1 lb14 oz)
GPS:
The Garmin GPS 17 N, designed primarily for use in marine applications, delivers exceptional accuracy while standing up to the harshest environment. This pole-mount GPS sensor has an integrated antenna housed in a rugged, waterproof design. The 12-channel receiver allows for continuous tracking of all visible satellites. And it's WAAS capable, which means it can provide position accuracy of less than 3 meters on average. This incredible accuracy is possible without the use of an external DGPS beacon receiver. The GPS 17N also offers excellent EMI/RFI performance for easy integration into systems that will be operated near mobile computing devices and wireless communications equipment. The 30 ft. cable is terminated in loose wires.
Angle: 0.25/0.5/1 adjustable Max. Angle: 180 Protection category: IP 65 Resolution (mm): 10 Transfer rate: 9.6/19.2/38.4/500 kBaud Weight: ca. 4.5 kg Remarks: The LMS 200 is a non-contact laser measurement system that scans its surroundings twodimensionally like laser radar. It operates within a temperature range of from 0C to 50C and, as an active scanning system, requires no further passive components such as reflectors or position markers.
Camposs:
KEY FEATURES Fully integrated with P2OS and Saphira software plug-in for easy operation Mount on any Pioneer 45cm (18in) from robot Your choice of high resolution 20-degree tilt/skew (P2-DX) or lower resolution 50-degree tilt/skew (P2-AT). Accommodates additional Pioneer accessories Plugs into Pioneer SPI serial port Weight: .2kg Plugs into SPI serial port FERROUS-COMPENSATING COMPASS, TILT/SKEW SENSOR, MAGNETIC-FIELD SENSOR, THERMOMETER
New Robot:
Helicopter:
(http://www.rctoys.com/draganflyerxpro.php)
The Draganflyer X-Pro is a four rotor electric, radio controlled, electronically stabilized flying platform.
> High quality 9 channel FM (PCM) Transmitter with NiCad
battery
> One CPU control system with PCM dual conversion receiver > One lightweight carbon fiber body (assembled) > Four high impact carbon fiber blades > Four high speed electric motors with pulley installed > One 17.5 volt 3000mAh NiMH rechargeable battery > Printed manual with photos and instructional video for
building and flying
This Machine can carry about 1 pound of equipment on top of the 5.5 pounds the X-Pro Weighs. Professional Quality Pan and Tilt CCD Color Videocamera with 900Mhz Transmitter and Reciever How Long Does It Fly For? It will fly about 5-6 minutes depending on flight conditions. The on board battery is a 14 cell, 3000mAh Nickel Metal Hydrate battery.
> High quality 4 channel FM transmitter with NiCad battery. > One CPU control system with built-in dual conversion FM
receiver.
> One lightweight carbon fiber body with mounting hardware extremely durable!
> Four high impact rotor blades with color decals. > Four high speed electric motors with installed pinion. > Four motor drive gears with 8 precision ball bearings. > One 10.8 volt 600 mAh NiCad battery for five minute flights. > Digital AC/DC peak detection fast charger for transmitter &
receiver
> Printed manual with photos and instructional video for building
price:
and flying.
$749.00
This depends on many factors. However, at least 1 ounce enough to lift an Eyecam micro video camera Howlong it can fly? 5-10 minute
THE DRAGANFLYER:(http://www.otherlandtoys.co.uk/draganflyer.htm)
The Draganflyer is an unbelieavable electric indoor and outdoor flying saucer with four rotors.
The Draganflyer is an unbelieavable electric indoor and outdoor flying saucer with four rotors.
The absolute ultimate in Remote Controlled vehicles - probably the highest-tech flying machine in the world!
Approx. 5 minutes per battery charge. Radio range is approx. 1/2 mile.
525.95
Is there any way to dramatically increase the flight times? A 12-foot tether cord is available to attch the Draganflyer to a 12-voltbattery source such as an automobile or motorcycle battery. This will giveflight times well over 1 hour and is perfect for developing your hoveringabilities. You can also shape the trailing edge of the blades so that they are more efficient.
The computer is a PC-104 format 486 running at 50MHz. The sensor suite of the DSAAV includes:
Novatel RT-20 differential GPS
Six-DOF inertial measurement unit Downward-looking video camera Compass (2-axis magnetometer) Ultrasonic altimeter sonar
LOGO20:
(http://www.rchelikopter.no/productsByCategory.asp?intCatalogID=1&strCatalog_NAME=Elektrohelikoptere)
LOGO 20 stands for innovative e-powered helicopter flying with 20 to 24 cells and a mainrotor diameter of 1340 mm. This electric helicopter was developed to fill the gap between the small 810 cell helis and the larger 30-cell class. Despite its smaller dimensions, the performance of LOGO 20 is comparable to that of a 60-size gas helicopter. electric helicopter with 20 - 24 cells main rotor diameter approx. 1340 mm tail rotor diameter approx. 240 mm length 1060 mm gear reduction ratios for main rotor: 8 : 1 - 12 : 1 tail rotor gear ratio: 4.8 : 1 RTF weight 3000g Flight times with extra weight depend very much on motorization and set-up details. For example with Plettenberg Motor we expect flight times starting to degrade once more than one pound of weight is carried by the helicopter. But you should still get around 5 Min. Motor Table for
item no. 2606 2601 2602 Motor Plettenberg 300/25/A3 heli Kontronik Tango 45-08 Graupner Ultra 1300-12H Speed Controller Schulze future-35Ho Kontronik 3SLH 30-14-32 Kontronik 40-10-30 Cells Pinion 20 20 20-24 9 9 9,10 Flight Time (max.)1 10-11 min. 10-11 min. 8-9 min. Flight Time (acrobatic) 6-7 min. 6-7 min. 6-7 min. Set Price 1050 DM 850 DM 600 DM
Price:kr 6,500
The listed values refer to Sanyo 2400RC Ni-Cd cells. If you are using Sanyo 3000mAh Ni-MH batteries flight times can be extended for about 1 - 1.5 minutes.
Note that NiMH cells are not suitable for extremely fast-charging (1C rate max!.) and also they cannot deliver very high currents.
LOGO10: (http://www.rc-helikopter.no/mer-logo10.asp)
LOGO 10 is Mikado's response to the great demand for a smaller electro-helicopter. LOGO 10 is powered with one single battery pack. In possessing rigidity and power unparalleled in its size class, LOGO 10 redefines the common perception about small model helicopter.LOGO 10 Technical Data: electric helicopter for 10 - 14 cells main rotor diameter approx. 1150mm tail rotor diameter approx. 240mm RTF weight 1900g Flight times vary with the selected rotor head rpm and with the pilot's style of flying, as well as with the capacity of the batteries used. The following durations are therefore general values: hovering with 1100-1200 rpm 8 - 10 minutes
5 - 7 minutes
Batteries: For hovering, cruising and light aerobatics Mikado recommends Sanyo 2400 mah cells or Sanyo 3000 NiMh cells.
Hornet
Gas helicopter:
Price:1250$ http://www.hobbyclub.com/framespage.htm
Price: $579.95
http://mc2intl.com/mc2store/
http://www.x-cellrchelicopters.com/kits.htm
http://www.centuryheli.com
http://www.centuryheli.com
Flight time: 10-20 min (we can increase the flight time by changing the fuel tank) How much they can carry? 3-10 pound (we can increase it by changing the motor!!)
$299.95
Micro 100 Systems: (http://www.hotkey.net.au/~hicam/trans.htm )
Its range is fantastic - over 1000 feet with the standard included antennas. And the true CCD sensor gives it great color definition and contrast. This next-generation system comes with color camera/transmitter module, receiver, antennas, battery case, video lead, and AC adaptor for the receiver. It is available in NTSC and PAL television formats.
4.8 VOLT OPERATION (4 normal AA cell) Weight approx 1ounce
Price: $395
MP2000 - Autopilot with GPS receiver, GPS antenna, connector kit and one servo expansion board $ 5000
3200VG
The 3200VG provides all of the major elements needed to automate a UAV system. Using a commercial Vertical gyro, the 3200VG is suitable for controlling stable airframes that operate from 100kts to 250kts and expect to operate at attitudes up to 90 degrees in roll and 60 degrees in pitch. The system includes an airborne digital autopilot and a groundstation software package designed to run on a laptop computer. The autopilot updates the attitude control loop 18 times per second while managing the vehicle flight path, GPS waypoint navigation and data downlink. The 3200VG uses a classic attitude control loop with a vertical gyro attitude reference. The 3200VG can be custom scaled to match the input characteristics of most commercial attitude gyros. The CrossBow VG400CC-200 vertical gyro is recommended for use with the 3200VG. The GARMIN GPS35 and the PDC400 & 450 airdata sensors are recommended for use with the 3200VG. The 3200 autopilot provides the capability for a full-duplex (up & down) data link with the groundstation. The groundstation can uplink waypoint and autopilot parameters to the autopilot and the autopilot can downlink data to the Windows ground station. The groundstation main screen displays Lon, Lat, Spd, Crs, Alt, Time, Date, GPS status and Waypoint status. The software package also has a range and bearing display and graphical editors for waypoint planning and autopilot configuration as well as several test utilities. Other groundstation features include a non-volatile configuration storage, data logging and waypoint disk archive. The track plot ASCII file generated by the 3200 groundstation software is also compatible with GARMIN's MapSource products. The autopilot's six layer circuit board features 100K+ hours MTBF SMT parts and an operating temperature range of 0 to +70C. The 3200 autopilot uses the same* software as our 3100 which was flight qualified on Northrop Grumman's SUTACS UAV program. The 3200VG system is shipped with the groundstation software package, one GARMIN GPS35 12 channel receiver, one PDC400 altimeter sensor and a PDC450 airspeed sensor. The system integrator will also need to supply the gauge sensors, radio data links, R/C system for manual control and a laptop computer for the groundstation. The 3200VG requires a (customer supplied) VG400CC-200 solid-state vertical gyro .