McGill/DRDC - Degree-of-Freedom Robot

I
r
I
Hall, Sharon
From:
Sent:
To:
Cc:
Subject:
Jasmine Scott [Jasmine.Scott@pwgsc-tpsgc.gc.ca)
Friday, October 28, 2011 9:00AM
Beckman, Blake
Hall, Sharon; Mony Lee
Request for Proposals W7702-125267
RELEASED UNDER THE AlA- UNCLASSIFIED INFORMATION
DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFI E
Attachments: Proposal1 W7705-125267.pdf; Proposal2 W7702-125267.pdf
Dear Mr. Beckman:
Solicitation No. W7702-125267/A
Degree of Freedom Robot
1te: October 27, 2011 @ 2:00 p.m. MDT
Enclosed is an electronic copy of the two (2) proposals received in response to our above referenced request for
proposal. These have been forwarded without the cost detail, in accordance with PWGSC policy, so that each firm's
proposal may be fairly and objectively assessed.
Would you please complete your technical evaluation of each proposal in accordance with the pre-established evaluation
criteria. As per Treasury Board Policy, would you then please provide me with a WRITIEN narrative of the proposal
evaluations, including the points awarded which are to be arrived at by consensus, and your scoring notes, making
comparison with the evaluation criteria and the points available.
If any clarification is required from the proposers, all communications with the proposers MUST be routed through this
office.
After we have received a copy of the completed technical evaluations, we will examine them for fairness and equity, and
will contact you with any questions, or the results of the best value calculations and a winner. Within reason, PWGSC
retains the option of negotiating pricing with one, or all, of the proposers.
IT SHOULD BE NOTED THAT PROPOSAL INFORMATION IS TO BE DIVULGED ONLY TO DEPARTMENT OR
AGENCY OFFICIALS AUTHORIZED TO PARTICIPATE IN THIS PROCUREMENT. NONE OF THIS INFORMATION IS
TO BE DIVULGED TO OR DISCUSSED WITH THE TRADE.
Your response is requested as soon as possible. Subsequently, we can arrange a mutually convenient time to finalize
contractor selection.
Should you have any questions, please contact me at phone (780) 497-3535, or by facsimile at (780) 497-3510.
Yours truly,
Jasmine Scott I on behalf of Mony Lee
Mony Om
Supply Specialist
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LEASED UNDER THE AlA- UNCLASSIFIED INFORMATION
IVULGUE EN VERTU DE LA LAI- RENSEIGNEMENTS NON CLASSIFIE
DATE: ________ _
COMPANY NAME: ________________________ _
I. MANDATORY CRITERIA
Mandatory Criteria at Solicitation Closing
Failure to meet any of the following mandatory requirements at solicitation closing will render your
submission non-compliant and given no further consideration.
1. Education: Ph.D in a robotics-related discipline.
MET_ NOT MET __
EVALUATION CRITERIA
Point Rated Criteria
Each Technical Bid which meets all the Mandatory Criteria specified above, will be evaluated and scored
in accordance with the following evaluation criteria:
II. POINT RATED REQUIREMENTS:
(Rating: 4=excellent, 3=very good, 2=average, 1=poor, O=nothing)
A. STUDY STRATEGY WEIGHT RATING SCORE
1. Demonstated understanding of scope and importance 5.0
of study and the Statement of Work as set out in RFP
2. breakdown of project into logical tasks; planning and 10.0
detail of tasks; detailed schedule and timetable; realistic
estimation of the time required to complete the work
3. methods of handling potential problems during the 5.0
project
4. demonstrated original and innovative ideas 10.0
Maximum points available 120.0
Minimum points acceptable 84.0
Points awarded
B. TRAINING & EXPERIENCE WEIGHT RATING SCORE
1. demonstrated corporate experience in projects of this 5.0
nature
2. suitability of academic backgrounds of personnel 10.0
assigned
3. relevant experience of personnel assigned to the 5.0
project (project leader must have minimum of 5 years
experience in robotic legged locomotion projects)
4. adequacy and availability of personnel to carry out the 10.0
project
5. Experience with LMS Virtual lab Motion or a similar 10.0
mechanical simulation tool
6. Experience with MATLAB 10.0
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7. Experience with a VI CON motion capture system or
similar non contact motion capture system
Maximum points available
Minimum points acceptable
Points awarded
C. PROJECT ORGANIZATION
1. allocation of manpower for efficient use of personnel
2 assurance of liaison with the Technical Authority
3. overall organization of the project
Points awarded
TOTAL POINTS AWARDED
EVALUATION:
10.0
WEIGHT
10.0
10.0
10.0
I
DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFII
240.0
168.0
RATING SCORE
120.0
84.0
I
Each proposal must meet all of the mandatory requirements set out in the evaluation criteria. Proposals
that fail to meet these requirements will be discarded without further consideration.
Each evaluation criterion has a number allotment (weight) that reflects its importance in proposal
submissions. The degree to that the proposal satisfies the requirement of each criterion will be assessed
and a "rating" will be assigned ranging from 0 to 4, with 0 meaning the proposal completely fails to satisfy
the requirements, and the total allotment meaning the proposal fully meets the outlined criterion. A score
will be assessed by multiplying the weight by the rating.
Each proposal must achieve a minimum score of 70% of the maximum points available in EACH category
subject to point rating. Bids that fail to achieve this score will be considered technically unacceptable and
will be given no further consideration.
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Pages 4 to I a 20
are withheld pursuant to sections
sont retenues en vertu des articles
20(1 )(b), 20(1 )(c), 24(1)
of the Access to Information Act
de Ia Loi sur l'acces a l'information
Pages 21 to I a 52
19(1 ), 24(1)
IVULGUE EN VERTU DE LA LAI- RENSEIGNEMENTS NON CLASSIF!E!
DATE: ________ _
COMPANY NAME: ___________________ _
MET_ NOT MET __
EVALUATION CRITERIA
(Rating: 4:::::excellent, 3=very good, 2=average, 1 =poor, O=nothing)
i . Demonstated understanding of scope and importance 5.0
3. methods of handling potential during the 5.0
project
Points awarded
B. TRAINING & EXPERIENCE WEIGHT RATING SCORE
nature
assigned
3. relevant experience of personnel assigned to the 5.0
project
6. Experience with MATLAB 10.0
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7. Experience with a VICON motion capture system or
Points awarded
Points awarded
I
EVALUATION:
10.0
WEIGHT
10.0
10.0
10.0
DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFIE!
240.0
168.0
RATING SCORE
120.0
84.0
I
Each proposal must meet all of the mandatory requirements set out in the evaluation criteria. Proposals
Each evaluation criterion has a number allotment (weight) that reflects its importanco in proposal
Each proposal must achieve a minimum score of 70% of the maximum points available in EACH category
subject to point rating. Bids that fail to achieve this score will be considered technically unacceptable and
will be given no further consideration.
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5.24(1)
DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON
ENGINEERING SERVICES INC. (ESI)
Automation & Robotics Systems
890 Yonge Street Unit 800 Toronto Ontario M4W 3P4 Canada
Phone: (416) 595-5519 Fax: (416) 595-9994 URL: www.esit.com
SECTION I
TECHNICAL BID
Sou ciTATION No: W7702-125267 I A
COMPANY NAME COMPANY ADDRESS
Engineering Services Inc. (ESI) 890 Yonge St., Unit #800
PBN#: PGOOOl Toronto, ON M4W 3P4
PROJECT TITLE
Multi Degree-of-Freedom Robot
Autonomous Control and Navigation
of a Multi Degree-cf-Freedom Robot
PROJECT SUMMARY
The objective of the project is to develop control algorithms for the Micro Hydraulic Toolkit (MHT)
robot developed by DRDC-Suffield. The control algorithms will allow the robot to perform locomotion
over various terrains based on behaviours focused on performance, posture, and stability. The control
algorithms will be first developed in Matlab/Simulink that will be linked with the MHT Virtuai.Lab
Motion-based MHT and terrains models available at Suffield. This phase will cover the development of
static and dynamic behaviour algorithms, control of motion stability and posture over various terrains,
control of steering and turning, and gait control over uneven terrains. This phase will be followed by the
implementation of the control algorithms on the MHT, performing of tests, analysis of test data, and
refinement of the control algorithms and models. Finally, the controlled behaviours will be integrated
with vision-based leader/follower software and a man-machine interface.
OCTOBER 26, 2011
TABLE OF CONTENTS
Technical Bid ................................................................................................................................................. 3
1. Scope and Importance of Study (5 pt) .................................................................................................. 3
2. Project Tasks and Schedule (10 pt) ....................................................................................................... 5
2.1 Control Algorithm Development ................................................................................................. 5
Static Proprioceptive Algorithms ............................................................................................ 6
2.1.2 Dynamic Proprioceptive Algorithms ....................................................................................... 8
2.1.3 Stability Algorithm on Various Terrain Surfaces ..................................................................... 9
2.1.4 Turning Radius on Various Terrain Surfaces ......................................................................... 11
2.1.5 Discontinuous Locomotion Algorithms ................................................................................ 11
2.2 Control Algorithm Validation .................................................................................................... 12
2.3 Control Algorithm Integration with Leader/Follower behaviours and MMI ............................ 13
2.4 Tasks and schedule ......................................... : ......................................................................... 14
3. Potential problems and Mitigation Methods (5 pt) ........................................................................... 15
4. Original and Innovative Ideas (10 pt) ................................................................................................. 16
5. References .......................................................................................................................................... 17
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Technical Bid
1. Scope and Importance of Study {5 pt)
To enhance soldiers' actions in combat missions, the Autonomous Intelligent Systems Section
(AISS) at Defence R&D Canada -Suffield (DRDC Suffield) conducts research in UGV intelligence
for mobility in complex terrains with emphasis on the locomotion performance as a first priority
[1, 2, 3]. DRDC-Suffield is developing and demonstrating practical, cost effective, autonomous
intelligent systems capable of supporting military missions in complex operating environments.
Their work covers novel mobility platforms and intelligent mobility algorithms.
The Micro Hydraulic Toolkit (MHT} mobile robot is one of the vehicles that were developed by
DRDC- Suffield. The vehicle is a platform with 12 degrees-of-freedom (dof). Four hips and four
knees dof are actuated by non-continuous rotary hydraulic motors that are capable of 90
degree rotations. The vehicle is reconfigurable using structural members connecting the hip to
knee and knee to wheel that can be fastened in 22.5 degree increments. Four electric actuators
are providing continuous rotary motion of the wheels. MHT robot is designed to operate in
challenging environments by controlling the body pose to relocate its centre of gravity, thus
improving its mobility and stability over uneven terrains.
In general terms, legged robot locomotion mechanisms are inspired by biological systems. They
are capable of moving through a wide variety of uneven terrains. They can climb steps and
obstacles, cross large. ditches and gaps, and walk on extreme terrains where, due to ground
irregularity, the use of wheels would not be feasible. In general legged robots have at least four
legs, and each leg has at least two dof {hip and knee). Thus, a four legged robot would require
at least eight actuators [4].
Nonetheless, wheeled locomotion has several advantages over legged locomotion such as
simpler traction mechanism; stability is not a profound problem as is in legged locomotion; it is
power efficient; and can have high speed on flat and hard ground. However, there are
challenges such as providing and maintaining traction and stability over rough terrain,
manoeuvrability on slippery or very soft ground, in mud, etc.
To benefit from the advantages of both, legged and wheel locomotion mechanisms, the design
of MHT is a hybrid of leg and wheel locomotion, a hybrid wheel-legged locomotion system.
Hybrid wheel-legged robots are vehicles with active and coordinated control of both, legs and
wheels. With these mutually redundant subsystems, the motility can be improved, and an
overall uneven terrain mobility enhancement is achieved.
The functionality provided by the hybrid design of MHT covers two modes of motion: (i) a
continuous locomotion mode or rolling mode with legs configured but locked; and (ii) a
discontinuous locomotion mode or walking mode with the wheels are locked. Due to the
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complexity of the structure and interaction with various unstructured environments, the
capability of two-mode motion raises significant challenges in providing a high performance
MHT.
Based on the results presented in [1] the difficulties related to the control of MHT include:
(1) Highly interacting dynamics - The system state is 12-dimensional (4 hips, 4 knees and 4
wheels) and the highly variable configuration indicates strong dynamics interaction between
the moving elements within a given leg, of all legs, and across the lines of symmetry of the
vehicle. Under many circumstances, contact with the ground may be lost and the vehicle
changes from 4 to 3 or even 2 wheels on contact with the ground generating markedly different
dynamics;
(2) Nonlinear system - The time varying nature of the system parameters implies significant
variations in the moments of inertia as the vehicle evolves through various geometries during
the motion. Moreover, the hydraulic servo actuators are inherently nonlinear.
{3) Event-dependent variable time delay - As the hydraulics are taxed under varying dynamic
operating environments, the time delays experienced by the system vary, at times they vary
significantly. Furthermore, as a result of conduits fluid supply lines may give rise to different
time delays for various actuators. Due to the difficulty in developing a mathematical model of
the MHT system, the authors of [1] decided to use a model-free control design methodology.
Two main approaches were considered: Model Reference Adaptive Control (MRAC) and Fuzzy
Logic Control (FLC).
Engineering Services Inc. has wide experience and expertise as it conducted numerous
development projects of various robotic systems: industrial automation systems driven by
electronic motors, hydraulic and pneumatic actuators, or 'smart' materials-based actuators.
Projects directly relevant to MHT control include mobile robot control, hydraulic system
control, terrain profile scanning, impedance control, robust control, etc [5 - 10, 32]. In these
applications various types of control systems have been developed including position, force,
impedance, adaptive, robust, autonomous, free and constrained motion control, in applications
to various domains.
Through an extensive literature review and based on past experience and acquired expertise at
ESI, a systematic approach to developing a controller for MHT is proposed herewith. The work
plan and tasks are presented in the following sections.
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5.20(1 )(b)
5.20(1 )(c)
2. Project Tasks and Schedule (10 pt)
2.1 Control Algorithm Development
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Pages 60 to I a 65
20(1 )(b), 20(1 )(c)
5.20(1 )(b)
5.20(1 )(c)
2.2 Control Algorithm Validation
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5.20(1 )(b)
5.20(1 )(c)
2.3 Control Algorithm Integration with Leader/Follower behaviours and MMI
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5.20(1 )(b)
5.20(1 )(c)
2.4 Tasks and schedule
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5.20(1 )(b)
5.20(1 )(c)
3. Potential problems and Mitigation Methods (5 pt}
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5.20(1 )(b)
5.20(1 )(c)
4. Original and Innovative Ideas (10 pt)
DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFIE
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5.20(1 )(b)
5.20(1 )(c)
5. References
[1] M. Trentini, B. Beckman, J. Collier, B. Digney, and I. Vincent, "Intelligent Mobility Research at
Defence R&D Canada for Autonomous UGV Mobility in Complex Terrain", NATO Research and
Technology Agency, Applied Vehicle Technology Panel Symposium on Platform Innovations and
System Integration for Unmanned Air, Land and Sea Vehicles, May 2007.
[2] B. Beckman and M. Trentini, "Kinematic Range of Motion Analysis for a High Degree-of-
Freedom Unmanned Ground Vehicle", Technical Memo. DRDC Suffield TM 2009-231, Dec 2009.
[3] G. Lambert, B. Beckman, "Micro-Hydraulic Toolkit Report", Contract Report, DRDC Suffield
CR 2008-212, December 2006.
[4] C. Ridderstrom, "Legged locomotion: Balance, control and tools- from equation to action",
Doctoral thesis, 2003.
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' EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFIE
[5] P, Ben-Tzvi, A. A. Goldenberg, W. J. Zu, "Articulated Hybrid Mobile Robot Mechanism with
Compounded Mobility and Manipulation and On-Board Wireless Sensor/Actuator Control
Interfaces", Mechatronics Journal, Vol. 20, Issue 6, pp. 627-639, September 2010.
[6] S. R. Habibi, A. A. Goldenberg, "Design of a New High Performance ElectroHydraulic
Actuator"; IEEE/ASME Transactions on Mechatronics, Vol.5, No.2, pp. 158-164, June 2000.
[7] C. Raoufi, A. A. Goldenberg, W. Kucharczyk, "Design and Control of a Novel
Hydraulically/Pneumatically Actuated Robotic System for MRI-Guided Neurosurgery", Journal of
Biomedical Science and Engineering (JBISE}, Vol. 1, pp. 61-74, June 2008.
[8] H. Najjaran, A. A. Goldenberg, "Landmine Detection Using an Autonomous Terrain-Scanning
Robot", International Journal of Industrial Robots, Vol. 32, No. 3, pp. 240-247, March 2005.
[9] Z. Lu, A. A. Goldenberg, "Robust Impedance Control Based on Sliding Modes", International
Journal of Robotics Research, Vol. 3, No. 14, pp. 225-254, 1995.
(10] G. J. Liu, A. A. Goldenberg, "Robust Control of Robot Manipulators Based on Dynamics
Decomposition", IEEE Trans. on Robotics & Automation, Vol. 13, No.5, pp. 783-789, Oct 1997.
(11] Z. H. Jiang, A. A. Goldenberg, "Task Space Trajectory Control of Flexible Micro-Macro Robot
in the Presence of Parametric Uncertainty", Mechanism and Machine Theory, Vol. 34, pp.
1281-1302, 1999.
[12] Papadopoulos, E.G. and Rey, D.A., "A new measure of tip-over stability for mobile
manipulators", Proc. of the IEEE Intern. Conf. on Robotics and Autom., pp. 3111-3116, 1996.
[13] Grand, C. and Benamar, F. and Plumet, F. and Bidaud, P."Stability and traction optimization
of a reconfigurable wheel-legged robot", The International Journal of Robotics Research, vol 23,
pp. 1041-1058, 2004.
[14) M. S. Saidonr, H. Desa, R. M. Noor, "A Differential Steering Control with Proportional
Controller for An Autonomous Mobile Robot", IEEE 7th International Colloquium on Signal
Processing and its Applications, 2011.
[15] A. Halme, I. Leppanen, 5. Salmi, S. YlonenHybrid, "Locomotion of a Wheel-legged
Machine", In 3rd Int. Conference on Climbing and Walking Robots, 2000.
[16] Fort Eustis, "Logistical vehicle off-road mobility", U.S. Army Transportation Combat
Developments Agency, 1967
[17] M.G. Bekker, "Introduction to Terrain-Vehicle Systems", University of Michigan Press, Ann
Arbor, 1969.
[18] Kenneth J. Waldron, Vincent J. Vohnout, Arrie Pery, and Robert B. McGhee, "Configuration
of the Adaptive Suspension Vehicle", Int. J. of Robotics Research, 1984.
[19] Christian Ridderstrom, "legged locomotion: Balance, control and tools - from equation to
action", Doctoral thesis, Department of Machine Design, Royal Institute of Technology, 2003.
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[20], E. I. Kugushev, V. S. Jaroshevskij, "Problems of selecting a gait for an integrated
locomotion robot", In 4th Int. Conf. Artificial Intelligent, 1975.
[21], R. B. McGhee, G. I. lshwandhi, "Adaptive locomotion of a multilegged robot over rough
terrain", IEEE Trans. Systems, Man, and Cybernetics, 1979.
[22] J. Emilio, V. Soto, "Free Locomotion Gaits for a Four Legged Machine", International
Congress on Industrial Automation and Material Science, March 1999.
(24) Chun-Hung Chen, Vijay Kumar, Yuh-Chyuan Luo, "Motion planning of walking robots using
ordinal optimization", IEEE Robotics and Automation, 1998.
[25] Pablo Gonzalez de Santos, Maria A. Jimenez, "Generation of discontinues gaits for
quadruped walking vehicles", J. Robotic Systems, 1995.
[26] B. Shamah, M.D. Wagner, $.Moorehead, J. Teza, D.Wettergreen, and W. Whittaker,
"Steering and control of a passively articulated robot" SPIE Sensor Fusion and Decentralized
Control in Robotics Systems IV. 2001.
[27] Sven Bottcher, "Principles of robot locomotion",
http://www2.cs.siu.edu/-hexmoor/classes/CS404-S09/Robotlocomotion.pdf
[28] Sciavicco, l. and Siciliano, B, "Modelling and control of robot manipulators", Springer
Verlag, 2000.
[29] A. Schneider, U. Schmucker, "Force Sensing for Multi-legged Walking Robots: Theory and
Experiments - Part 1: Overview and Force Sensing", Mobile Robots, Moving Intelligence,
www.i-techonline.com.
(30] U. Asif, J. Iqbal, "Ari Approach to Stable Walking over Uneven Terrain Using a Reflex-Based
Adaptive Gait", Journal of Control Science and Engineering, 2011.
[31] B. Beckman, J. Pieper, D. Mackay, M. Trentini, D. Erickson, "Two Dimensional Dynamic
Stability for Reconfigurable Robots Designed to Traverse Rough Terrain", IEEE/RSJ International
Conference on Intelligent Robots and Systems, 2447-52, 2008.
[32] Mantegh, 1., Jenkin, M.R.M., and Goldenberg, A. A., "Path Planning for Autonomous Mobile
Robots Using the Boundary Integral Equation Method", Journal of Intelligent and Robotic
Systems, DOl 10.1007 /s10846-010-9394-y, February 2010.
[33] B. Beckman, M. Trentini, J. Pieper, "Control algorithms for stable range-of-motion
behaviours of a multi degree-of-freedom robot", International Conference on Autonomous and
Intelligent Systems {AIS), 2010.
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5.24(1)
SECTION II
MANAGEMENT BID
Sou ciTATION No: W7702-125267 I A
COMPANY NAME
COMPANY ADDRESS
Engineering Services Inc. (ESI)
890 Yonge St., Unit #800
PBN#: PGOOOl
Toronto, ON M4W 3P4
PROJECT TITLE
of a Multi Degree-of-Freedom Robot
PROJECT SUMMARY
The objective of the project is to develop control algorithms for the Micro Hydraulic Toolkit (MHT)
OCTOBER 26, 2011
t!
TABLE OF CONTENTS
Management Bid ............................................................................................................................. 3
1. Experience of Company in This Domain (5 pt) ...................................................................... 3
2. Team and Academic Background (10 pt) ............................................................................... 4
3. Experience of Assigned Personnel (10 pt) ............................................................................. 5
4. Adequacy and Availability of Personnel (10 pt) .................................................................... 7
5. Experience with LMS (10 pt) .................................................................................................. 7
6. Experience with Matlab (10 pt) ............................................................................................. 8
7. Experience with Vicon (10 pt) ................................................................................................ 8
8. Client contacts ....................................................................................................................... 9
9. Allocation of Manpower (10 pt) ............................................................................................ 9
10. Assurance of Liaison with the Technical Authority (10 pt) ..................................................... 9
11. Overall Organization of the Project {10 pt) ......................................................................... 10
11.1 Team Structure ............................................................................................................. 10
11.2 WBS structure ............................................................................................................... 11
12. On site Integration ................................................................................................................ 12
13. References ........................................................................................................................... 12
Appendix A- CV's of Team Members .......................................................................................... 13
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Management Bid
1. Experience of Company in This Domain (5 pt)
Engineering Services Inc. (ESI} has been in operation since 1982. Dr. Andrew Goldenberg a
world re-known robotics specialist is the founder and current President of the company. ESI is
specialized in the development of advanced robotics and automation products and custom
robotics systems. ESI is recognized as a world leader, and is well known for developments of
robotics-based modular automation, mobile robots, customized robotic systems, intelligent
mechatronics systems, and expert systems. ESI's emphasis on mobility and modularity of
hardware and software allows it to create highly flexible and adaptable solutions that can be
easily and rapidly reconfigured to meet the needs of various industries.
ESI operations are divided into five divisions: Mobile Robots, Medical Robots, Robotics and
Automation, Space Robotics, and Security and Defense. The technologies developed by ESI to
date are used in the following industrial sectors:
- Law enforcement -Security and Defense - Medical Surgery
-Nuclear - Laboratory automation - Utilities
-Space - Robotics Research - Industrial automation
To date, ESI has exported its technology and products to the United States, Mexico, Sweden,
Denmark, Belgium, France, Germany, Switzerland, Israel, Turkey, India, Korea, Singapore,
Australia, New Zealand, Tajikistan, and other.
ESI has extensive experience in control systems development, and conducted numerous
projects that included the development of position, force, impedance, adaptive, robust,
autonomous, free and constrained motion, and remote human-in-loop control.
The management team for the proposed project brings in a wealth of relevant experience in
robotics systems and control engineering with applications to defense, law enforcement,
mining, nuclear, medical, utilities, and space and planetary explorations.
ESI has developed mobile robot products for the law enforcement and military. Some of the
products have been adapted for research in Universities. Members of the proposed team are
currently engaged in several contracts with the Canadian Space Agency as part of the
Exploration Surface Mobility (ESM} project. ESI, Cohort Systems Inc. (CSI) of Ottawa and several
University Professors as consultants have been developing as a team the MRPTA (Micro-Rover
Platform with Tooling Arm} for CSA. ESI, and another group of University Professors as
consultants, have been engaged in the development of the SMA (Small Manipulator Arm) for
CSA. ESI, CSI and NORCAT (of Sudbury, ON) have been engaged in the development of the
PMM (Planetary Medium Manipulator} for CSA.
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5.19(1)
2. Team and Academic Background (10 pt)
Andrew Goldenberg, Ph. D.- Executive Project Manager
Professor
1987- present
Department of Mechanical and Industrial Engineering, University of Toronto; Cross-
appointed in Department of Electrical and Computer Engineering and Institute of
Biomaterials & Biomedical Engineering, University of Toronto
Associate Professor
1982-1987
Department of Mechanical Engineering, University of Toronto; Cross-appointed in
Department of Electrical Engineering and Institute of Biomaterials & Biomedical
Engineering, University of Toronto
NSERC Univ. Research Fellow and Research Assistant Professor
Department of Electrical Engineering, University of Toronto
1981-1982
4
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5.19(1)
3. Experience of Assigned Personnel (10 pt)
Dr. Andrew Goldenberg has pioneered the application of diverse robotic technologies to new
industrial niches. He has been involved in robotics since 1975 when he started work on the
Canadarm at Spar Aerospace Ltd. Dr. Goldenberg is a recognized world authority in robotics and
automation: has published over 125 journal papers in robotics, 350 conference papers, and is
the co-holder of 34 patents. Dr. Goldenberg has also been a Professor at the University of
Toronto in the area of Robotics and Automation since 1982. He is involved in day-to-day
executive management of ESI, and participates actively in technical work. Dr. Goldenberg is
currently the Executive Project Manager of three CSA-funded projects as part of the ESM
program.
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5.19(1)
4. Adequacy and Availability of Personnel (10 pt)
The project team will consist of Dr. Andrew Goldenberg as the principal investigator. Working
with Dr Goldenberg will be and This core team will have
access to the full range of technical expertise at ESI including System Engineering, Aerospace
Engineering, Mechanical Engineering, and Electrical Engineering on and as needed basis.
Included in the technical expertise are Software Developers with in depth robotics experience
ranging from low level embedded systems, Vision Systems Designers, PLC's, RTOS, GUI right up
to system level planning, development and implementation experience.
Supporting the technical team will be the Management team consisting of Dr. Andrew
Goldenberg at Executive Project Manager,
as Technical Manager, and
as Project Manager,
as Project Administrator. Combined, this
management team has dozens of successfully completed projects in many diverse applications.
The team listed above will be made available from approximately December 1, 2011 to March
31, 2014 as required for the duration of the project.
5. Experience with lMS (10 pt)
LMS Virtuai.Lab Motion (LMS-VLM) is a software program that has the basic capabilities to
simulate rigid multi-body mechanical systems, including modeling, solving and analysis.
Mechanical elements include an extensive list of joint and constraint features and an extensive
library for force elements modeling including stiffness, damping, friction, and contact forces.
The simulation results include displacement, velocity, acceleration, and all reactive forces and
moments for all bodies in the simulation. LMS-VLM provides post-processing capabilities like
animation and graphing. It integrates all required functionalities into a single, user-friendly
desktop environment. Users can quickly create and refine fully parameterized virtual prototype
models of mechanical systems using a fully integrated CAD engine based on CATIA VS.
ESI has extensive experience with several mechanical simulation programs that provides similar
functionalities or working environment with LMS-VLM such as Dymola, a Multi-Engineering
Modeling and Simulation tool.
Dynamic Modeling Laboratory (Dymola), is a complete tool for modeling and simulation of
integrated and complex systems for use within automotive, aerospace, robotics, process and
other applications. Dymola simulates the dynamic behavior and complex interactions between
systems of many engineering fields, such as mechanical, electrical, thermodynamic, hydraulic,
pneumatic, thermal, and control systems. Dymola can build more integrated models and have
simulations results. that better depict reality.
7
A-2013-01547 --0081
ESI used Dymola to simulate a complete system which includes control system, mechanical
system, driving system and biological system. The simulated biological system is a human neck
including the models of bones, muscles, ligaments, soft disks, etc (1].
ESI also used or are using other multi-engineering simulation tools such as Matlab
SimMechanics, Solidworks Simulation, Autonyn, and other in past projects to perform various
analyses such as general dynamics, computational solid dynamics, or fluid dynamics, etc. (2, 3,
4].
6. Experience with Matlab (lOpt)
Matrix Laboratory (MATLAB) provides a computing environment and high-level programming
language. MATLAB allows matrix manipulations, plotting of functions and data, implementation
of algorithms, creation of user interfaces, and interfacing with programs written in other
languages. MATLAB has various add-on tools that provide many additional capabilities such as
symbolic computing, graphical multi-domain simulation and model-based design for dynamic
and embedded systems.
ESI has extensive experience using Matlab programs for system modeling, control algorithms
design and test, signal and data modeling and processing, etc. used in several projects including
robotic system (2], expert system [5], biological control system [6].
7. Experience with Vicon (10 pt)
As a member of OxfordMetricsGroup (OMG), VICON provides advanced tools for capturing and
analyzing the motion of humans, animals and machines in 20 and 3D. The tools provide high-
precision data to customers in research, medicine, sport, engineering, game development,
broadcast and film.
ESI's software engineers (refer to section 3) have experience with motion capturing system that
uses multi-cameras and National Instrument (NI) Vision software to record motions of an
overhead device (pantograph} on a railway car. The recording speed is 50Hz in real time. The
light source can be normal sun light or inferred light. The features of overhead device image are
used to calculate the positions in 3D space.
ESI has also extensive experience with vision guided robotic systems. The robot is guided by a
vision system that catches target object images, identifies features, calculates target positions
and then sends them to the robot motion controller to reach the target object (2].
8
A-2013-01547 --0082
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
8. Client contacts
Role Name
-------------------------------------
Telephone Fax E-mail
Executive Project Manager Andrew Goldenberg 416-595-5519 x236 416-59 5-9994 golden@esit.com
Project Administrator
Project Manager
Technical Project Manager
- - ---
9. Allocation of Manpower {10 pt)
Description Name
Days Allocated
FY 2011-2012 I FY 2012-2013 I FY 2013-2014
10. Assurance of liaison with the Technical Authority {10 pt)
Liaison with the technical authority will be done through the Systems Engineer on a regular
basis. In addition, the Executive Project Manager and Project Manager will monitor the
communication regularly and provide backup to the Technical Project Manager and Systems
Engineer.
Depending on the nature of the particular communication with the Technical Authority the
Systems Engineer as well as the Control System Designer will supplement the discussions when
participating in conference calls or milestone meetings.
9
A-2013-01547 --0083
11. Overall Organization of the Project (10 pt)
11.1 Team Structure
Principal
Investigator/Executive
Project Manager
Project Manager
Systems Engineer
Technical Project
Manager
Project
Administrator
Control System
Design
Other Technical
Experts
Figure 1 Team Structure
10
A-2013-01547 --0084

5.20(1 )(b)
5.20(1 )(c)
11.2 WBS structure
Figure 2 WBS Structure
11
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12. Onsite Integration
The intent in this project is to have a staff member on-site at DRDC for the last 7 months of the
project. The budget for this travel is included in the estimates. The time frame for this onsite
integration is scheduled from May 2013 to November 2013.
13. References
[1} ESI, "Design, Integration and Development of Neck Supporting Systems for S&R Helicopter
Pilots", Project report, 2006
[2] ESI, "Preliminary Design and Analysis Report", 'Planetary Medium Manipulator Prototype',
2011
[3] ESI, "Development of A Non-Traditional Expert System for Blast Analysis and Target
Hardening in Urban Environment", Project report, 2006
[4) ESI, "Development of Continuous System Model for HESCO Structures", Project report, 2005
[5] W. D. Fraser, V. Askari, Z. Lu, A. Kapps, "A physiological Data Analysis Toolbox for the
Analysis of Acceleration data", RTO HFM Specialists Meeting on "Models for Aircrew Safety
Assessment: Uses, Limitations and Requirements", 1998
[6] W. D. Frazer, Z. Lu, V. Askari, A. Kapps, "Modeling of the Physiological Responses to Non-
linear G-suit and Positive Pressure Breathing Schedules" RTO HFM Specialists Meeting on
"Models for Aircrew Safety Assessment: Uses, Limitations and Requirements", 1998
12
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Appendix A- CV's of Team Members
13
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Pages 88 to I a 100
are withheld pursuant to section
sont retenues en vertu de l'article
19(1)
Pages 101 to I a 104
19(1)
----------------------------
Richardson AM@Corp Sec DAIP@Ottawa-Hull
From:
Sent:
Hall SP@CFB Suffield@Suffield
Thursday, 30, January, 2014 14:36
To: Richardson AM@Corp Sec DAIP@Ottawa-Hull
Cc: Lapointe DM (Contractor)@ADM(S&T) DRDKIM@Ottawa-Hull
Subject: FW: W7702-125267/B
Attachments: W7702-125267 ESI. pdf
From: Hall, Sharon [mailto:Sharon.Hall@drdc-rddc.gc.ca]
Sent: Thursday, 30, January, 2014 12:28 PM
To: Hall SP@CFB Suffield@Suffield
Subject: FW: W7702-125267 /B
From: Elaine Barton [mailto:Eiaine.Barton@pwgsc-tpsgc.gc.ca]
Sent: December-09-11 3:10PM
To: Beckman, Blake
Cc: Hall, Sharon
Subject: W7702-125267 /B
ESI Bid
Elaine Barton, s.sc, CPPB
780-497-35191 facsimile I tE!Il!copieur 780-497-3510 I
elaine.barton@pwgsc-tpsgc.gc.ca <mailto:elaine.barton@pwgsc-tpsgc.gc.ca>
DIVULGUE EN VERTU DE LA L \' - RENSfiGNEt1E"'TS NON CLASSIFIE!
4 .:.
-----------
Public Works and Government Services Canada 1 5th Floor Telus Plaza North 10025 Jasper Ave Edmonton AB T5J 1 S6
Travaux publics et Services gouvemementaux Canada 1 Plaza Tel us Nord 10025 ave Jasper 5e etage Edmonton AB T5J 1 S6
Government of Canada 1 Gouvernement du Canada
A-2013-01547 --0105
2014-01-30
5.24(1)
SECTION I
TECHNICAL BID
SOLICITATION No: W7702-125267 /B
Engineering Services Inc. (ESI} 890 Yonge St., Unit #800
PBN#: PGOOOl Toronto, ON M4W 3P4
PROJECT TITLE
PROJECT SUMMARY
The objective of the project is to provide control algorithms for the Micro Hydraulic Toolkit (MHT) robot
that has been developed by DRDC-Suffield. The control algorithms will allow the robot to perform
locomotion over various terrains based on behaviours focused on performance, posture, and stability.
The control algorithms will be first developed in Matlab/Simulink that will be linked with the MHT
Virtuai.Lab Motion-based MHT and terrains models available at Suffield. This phase will cover the
development of static and dynamic behaviour algorithms, control of motion stability and posture over
various terrains, control of steering and turning, and gait control over uneven terrains. This phase will
be followed by the implementation of the control algorithms on the MHT, performing of tests, analysis
of test data, and refinement of the control algorithms and models. Finally, the controlled behaviours
will be integrated with vision-based leader/follower software and a man-machine interface.
DECEMBER 6, 2011
A-2013-01547 --0106
TABLE OF CONTENTS
Technical Bid ................................................................................................................................................. 3
1. Scope and Importance of Study (5 pt) .................................................................................................. 3
2. Project Tasks and Schedule (10 pt) ....................................................................................................... 5
2.1 Control Algorithm Development ................................................................................................. 5
2.1.1 Static Proprioceptive Algorithms ............................................................................................ 6
2.1.2 Dynamic Proprioceptive Algorithms ....................................................................................... 8
2.1.3 Stability Algorithm on Various Terrain Surfaces ..................................................................... 9
2.1.4 Turning Radius on Various Terrain Surfaces ......................................................................... 11
2.1.5 Discontinuous Locomotion Algorithms ................................................................................ 11
2.2 Control Algorithm Validation .................................................................................................... 12
2.3 Control Algorithm Integration with Leader/Follower Behaviours and MMI ............................ 13
2.4 Tasks and Schedule ................................................................................................................... 14
3. Potential problems and Mitigation Methods (5 pt) ........................................................................... 15
4. Original and Innovative Ideas (10 pt) ................................................................................................. 17
5. References .......................................................................................................................................... 19
2
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Technical Bid
1. Scope and Importance of Study (5 pt)
To enhance soldiers' actions in combat missions, the Autonomous Intelligent Systems Section
(AISS) at Defence R&D Canada -Suffield (DRDC Suffield) conducts research in UGV intelligence
for mobility in complex terrains with emphasis on locomotion performance as a first priority [1,
2, 3]. DRDC-Suffield is developing and demonstrating practical, cost effective, autonomous
intelligent systems capable of supporting military missions in complex operating environments.
Their work covers novel mobility platforms and intelligent mobility algorithms.
The Micro Hydraulic Toolkit (MHT) mobile robot is one of the vehicles that were developed by
DRDC- Suffield. The vehicle is a platform with 12 degrees-of-freedom (dof). Four hips and four
knees dof are actuated by non-continuous rotary hydraulic motors that are capable of 90
degree rotations. The vehicle is reconfigurable using structural members connecting the hip to
the knee and the knee to wheel that can be fastened in 22.5 degree increments. Four electric
actuators are providing continuous rotary motion of the wheels. MHT robot is designed to
operate in challenging environments by controlling the body pose to relocate its centre of
gravity to improve its mobility and stability over uneven terrains.
In general terms, legged robot locomotion mechanisms are inspired by biological systems. They
are capable of moving through a wide variety of uneven terrains. They can climb steps and
obstacles, cross large ditches and gaps, and walk on extreme terrains where, due to ground
irregularity, the use of wheels would not be feasible. In general legged robots have at least four
legs, and each leg has at least two dof (hip and knee or ankle). Thus, a four legged robot would
require at least eight actuators [4].
Nonetheless, wheeled locomotion has several advantages over legged locomotion such as
simpler traction mechanism; stability is not a profound problem as in legged locomotion; it is
power efficient; and can have high speed on flat and hard grounds. However, there are
challenges such as providing and maintaining traction and stability over rough terrain,
manoeuvrability on slippery or very soft ground, in mud, etc.
To benefit from the advantages of both, legged and wheel locomotion mechanisms, the design
of MHT is a hybrid of leg and wheel locomotion, a hybrid wheel-legged locomotion system.
Hybrid wheel-legged robots are vehicles with active and coordinated control of both, legs and
wheels. With these mutually redundant subsystems, the motility can be improved, and an
overall uneven terrain mobility enhancement is achieved.
The functionality provided by the hybrid design of MHT covers two modes of motion: (i) a
continuous locomotion mode or rolling mode with legs configured but locked; and (ii) a
discontinuous locomotion mode or walking mode with the wheels locked. Due to the
3
A-2013-01547 --0108
complexity of the structure and interaction with various unstructured environments, the two-
mode motion raises significant challenges for maintaining the operation of the MHT.
Based on the results presented in [1] the difficulties related to the control of MHT include:
(1) Highly interacting dynamics - The system state is 12-dimensiona! (4 hips, 4 knees and 4
wheels) and the highly variable configuration indicates strong dynamics interaction between
the moving elements within a given leg, of all legs, and across the lines of symmetry of the
vehicle. Under many circumstances, contact with the ground may be lost and the vehicle
changes from 4 to 3 or even 2 wheels on contact with unstructured ground, thus generating
markedly different dynamics;
(2) Nonlinear and time variant system - The time varying nature of the system parameters
implies significant variations in the moments of inertia as the vehicle evolves through various
geometries during the motion. Furthermore, the hydraulic servo actuators are inherently
nonlinear.
(3) Event-dependent variable time delay - As the hydraulics are taxed under varying dynamic
operating environments, the time delays experienced by the system vary, at times vary
significantly. Furthermore, the conduit fluid supply lines may give rise to different time delays
for various actuators. Due to the difficulty in developing a mathematical model of the MHT
system, the authors of [1] decided to use a model-free control design methodology. Two main
approaches were considered: Model Reference Adaptive Control (MRAC) and Fuzzy Logic
Control (FLC).
Engineering Services Inc. has wide experience and expertise as it conducted numerous
development projects of various robotic systems including legged robotics and industrial
automation systems driven by electrical, hydraulic and pneumatic actuators, as well as 'smart'
materials-based actuators. Projects directly relevant to MHT control include mobile robot
control with various modes of mobility including legged operation, hydraulic system control,
terrain profile scanning, impedance control, robust control, etc [5 - 10, 32]. In these
applications various types of control systems have been developed including position, force,
impedance, adaptive, robust, autonomous, free and constrained motion control, for
applications in various domains.
Through an extensive literature review and based on past experience and acquired expertise,
ESI proposes a systematic approach to developing the controller for MHT. The work plan and
tasks are presented in the following sections.
4
A-2013-01547 --0109
5.20(1 )(b)
5.20(1 )(c)
2. Project Tasks and Schedule (10 pt)
2.1 Control Algorithm Development
5
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5.20(1 )(b)
5.20(1 )(c)
2.1.1 Static Proprioceptive Algorithms
6
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Page 112
is withheld pursuant to sections
est retenue en vertu des articles
20(1 )(b), 20(1 )(c)
.-------------- ---
5.20(1 )(b)
5.20(1 )(c)
2.1.2 Dynamic Proprioceptive Algorithms
8
A-2013-01547 --0113
------------------------------
5.20(1 )(b)
5.20(1 )(c)
2.1.3 Stability Algorithm on Various Terrain Surfaces
DIVULGUE EN VERTU DE LA LA! - RENSEIGNEMENTS NON CLASSIFIE!
9
A-2013-01547 --0114
Page 115
20(1 )(b), 20(1 )(c)
5.20(1 )(b)
5.20(1 )(c)
2.1.4 Turning Radius on Various Terrain Surfaces
2.1.5 Discontinuous locomotion Algorithms
11
A-2013-01547 --0116
5.20(1 )(b)
5.20(1 )(c)
2.2 Control Algorithm Validation
12
A-2013-01547 --0117
5.20(1 )(b)
5.20(1 )(c)
2.3 Control Algorithm Integration with Leader/Follower Behaviours and MMI
13
A-2013-01547 --0118
5.20(1 )(b)
5.20(1 )(c)
2.4 Tasks and Schedule
14
A-2013-01547 --0119
5.20(1 )(b)
5.20(1 )(c)
3. Potential problems and Mitigation Methods (5 pt)
15
A-2013-01547 --0120
Page 121
20(1 )(b), 20(1 )(c)
5.20(1 )(b)
5.20(1 )(c)
4. Original and Innovative Ideas (10 pt)
17
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Page 123
20(1 )(b), 20(1 )(c)
5.20(1 )(b)
5.20(1 )(c)
5. References
[1} M. Trentini, B. Beckman, J. Collier, B. Digney, and I. Vincent, "Intelligent Mobility Research at
Defence R&D Canada for Autonomous UGV Mobility in Complex Terrain", NATO Research and
19
A-2013-01547 --0124
Technology Agency, Applied Vehicle Technology Panel Symposium on Platform Innovations and
System Integration for Unmanned Air, Land and Sea Vehicles, May 2007.
[2] B. Beckman and M. Trentini, "Kinematic Range of Motion Analysis for a High Degree-of-
Freedom Unmanned Ground Vehicle", Technical Memo. DRDC Suffield TM 2009-231, Dec 2009.
[3) G. Lambert B. Beckman, "Micro-Hydraulic Toolkit Report", Contract Report, DRDC Suffield
CR 2008-212, December 2006.
[4] C. Ridderstrom, "Legged locomotion: Balance, control and tools- from equation to action",
Doctoral thesis, 2003.
[5] P. Ben-Tzvi, A. A. Goldenberg, W. J. Zu, "Articulated Hybrid Mobile Robot Mechanism with
Compounded Mobility and Manipulation and On-Board Wireless Sensor/ Actuator Control
Interfaces", Mechatronics Journal, Vol. 20, Issue 6, pp. 627-639, September 2010.
[6) S. R. Habibi, A. A. Goldenberg, "Design of a New High Performance ElectroHydraulic
Actuator"; IEEE/ASME Transactions on Mechatronics, Vol.5, No.2, pp. 158-164, June 2000.
[7] C. Raoufi, A. A. Goldenberg, W. Kucharczyk, "Design and Control of a Novel
Hydraulically/Pneumatically Actuated Robotic System for MRI-Guided Neurosurgery", Journal of
Biomedical Science and Engineering (JBISE), Vol. 1, pp. 61-74, June 2008.
[8] H. Najjaran, A. A. Goldenberg, "Landmine Detection Using an Autonomous Terrain-Scanning
Robot", International Journal of Industrial Robots, Vol. 32, No.3, pp. 240-247, March 2005.
[9] z. Lu, A. A. Goldenberg, "Robust Impedance Control Based on Sliding Modes", International
Journal of Robotics Research, Vol. 3, No. 14, pp. 225-254, 1995.
[10) G. J. Liu, A. A. Goldenberg, "Robust Control of Robot Manipulators Based on Dynamics
Decomposition", IEEE Trans. on Robotics & Automation, Vol. 13, No.5, pp. 783-789, Oct 1997.
[11] Z. H. Jiang, A. A. Goldenberg, "Task Space Trajectory Control of Flexible Micro-Macro Robot
in the Presence of Parametric Uncertainty", Mechanism and Machine Theory, Vol. 34, pp.
1281-1302, 1999.
[12] Papadopoulos, E.G. and Rey, D.A., "A new measure of tip-over stability for mobile
manipulators", Proc. of the IEEE Intern. Conf. on Robotics and Autom., pp. 3111-3116, 1996.
[13] Grand, C. and Benamar, F. and Plumet, F. and Bidaud, P."Stability and traction optimization
of a reconfigurable wheel-legged robot", The International Journal of Robotics Research, vol 23,
pp.1041-1058,2004.
[14] M. S. Saidonr, H. Desa, R. M. Noor, "A Differential Steering Control with Proportional
Controller for An Autonomous Mobile Robot", IEEE 7th International Colloquium on Signal
Processing and its Applications, 2011.
[15] A. Halme, I. Leppanen, S. Salmi, S. YlonenHybrid, "Locomotion of a Wheel-legged
Machine", In 3rd Int. Conference on Climbing and Walking Robots, 2000.
[16] Fort Eustis, "Logistical vehicle off-road mobility", U.S. Army Transportation Combat
Developments Agency, 1967
[17] M. G. Bekker, "Introduction to Terrain-Vehicle Systems", University of Michigan Press, Ann
Arbor, 1969.
20
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IVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFIE!
[18] Kenneth J. Waldron, Vincent J. Vohnout, Arrie Pery, and Robert B. McGhee, "Configuration
of the Adaptive Suspension Vehicle", Int. J. of Robotics Research, 1984.
[19] Christian Ridderstrom, "Legged locomotion: Balance, control and tools -from equation to
action", Doctoral thesis, Department of Machine Design, Royal Institute of Technology, 2003.
[20], E. I. Kugushev, V. S. Jaroshevskij, "Problems of selecting a gait for an integrated
locomotion robot", In 4th Int. Conf. Artificial Intelligent, 1975.
[21], R. B. McGhee, G. I. lshwandhi, "Adaptive locomotion of a multilegged robot over rough
terrain", IEEE Trans. Systems, Man, and Cybernetics, 1979.
[24] Chun-Hung Chen, Vijay Kumar, Yuh-Chyuan Luo, "Motion planning of walking robots using
ordinal optimization", IEEE Robotics and Automation, 1998.
[25] Pablo Gonzalez de Santos, Maria A. Jimenez, "Generation of discontinues gaits for
quadruped walking vehicles", J. Robotic Systems, 1995.
[26] B. Shamah, M.D. Wagner, $.Moorehead, J. Teza, D.Wettergreen, and W. Whittaker,
"Steering and control of a passively articulated robot" SPIE Sensor Fusion and Decentralized
Control in Robotics Systems IV. 2001.
[27] Sven Bottcher, "Principles of robot locomotion",
[28] Sciavicco, L. and Siciliano, B, "Modelling and control of robot manipulators", Springer
Verlag, 2000.
[29] A. Schneider, U. Schmucker, "Force Sensing for Multi-legged Walking Robots: Theory and
Experiments - Part 1: Overview and Force Sensing", Mobile Robots, Moving Intelligence,
www.i-techonline.com.
[30] U. Asif, J. Iqbal" "An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based
Adaptive Gait", Journal of Control Science and Engineering, 2011.
[31] B. Beckman, J. Pieper, D. Mackay, M. Trentini, D. Erickson, "Two Dimensional Dynamic
Stability for Reconfigurable Robots Designed to Traverse Rough Terrain", IEEE/RSJ International
Conference on Intelligent Robots and Systems, 2447-52, 2008.
[32] Mantegh, 1., Jenkin, M.R.M., and Goldenberg, A. A., "Path Planning for Autonomous Mobile
Robots Using the Boundary Integral Equation Method", Journal of Intelligent and Robotic
Systems, DOl 10.1007/sl0846-010-9394-y, February 2010.
[33] B. Beckman, M. Trentini, J. Pieper, "Control algorithms for stable range-of-motion.
behaviours of a multi degree-of-freedom robot", International Conference on Autonomous and
Intelligent Systems (AISL 2010.
21
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5.24(1)
SECTION II
MANAGEMENT BID
SOLICITATION No: W7702-125267 /B
Engineering Services Inc. (ESI) 890 Yonge St., Unit #800
PBN#: PG0001 Toronto, ON M4W 3P4
PROJECT TITLE
PROJECT SUMMARY
The objective of the project is to develop control algorithms for the Micro Hydraulic Toolkit {MHT)
DECEMBER 6, 2011
A-2013-01547 --0127
TABLE OF CONTENTS
Management Bid ............................................................................................................................. 3
1. Experience of Company in This Domain (5 pt) ...................................................................... 3
2. Team and Academic Background (10 pt) ............................................................................... 5
3. Experience of Assigned Personnel (10 pt) in This Domain .................................................... 6
4. Adequacy and Availability of Personnel (10 pt) .................................................................... 8
5. Experience with LMS (10 pt) .................................................................................................. 9
6. Experience with Matlab (10 pt) ........................................................................................... 11
7. Experience with Vicon (10 pt) .............................................................................................. 13
8. Client Contacts ..................................................................................................................... 16
9. Allocation of Manpower (10 pt) .......................................................................................... 17
10. Assurance of Liaison with the Technical Authority (10 pt) .................................................. 17
11. Overall Organization of the Project (10 pt) ......................................................................... 17
11.1 Team Structure ................ ............................................................................................. 17
11.2 WBS Structure ............................................................................................................... 18
11.3 WBS Packages ............................................................................................................... 19
12. Onsite Integration ................................................................................................................ 23
13. References ........................................................................................................................... 23
Appendix A- CV's of Team Members .......................................................................................... 24
2
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Management Bid
1. Experience of Company in This Domain (5 pt)
Engineering Services Inc. (ESI} has been in operation since 1982. Dr. Andrew Goldenberg a
world re-known robotics specialist is the founder and current President of the company. ESI is
specialized in the domain of advanced robotics and automation products and custom robotics
systems. ESI is recognized as a world leader, and is well known for developments of robotics-
based modular automation, mobile robots, customized robotic systems, intelligent
mechatronics systems, and expert systems. ESI's emphasis on mobility and modularity of
hardware and software allows it to create highly flexible and adaptable solutions that can be
easily and rapidly reconfigured to meet the needs of various industries.
ESI operations are divided into five divisions: Mobile Robots, Medical Robots, Robotics and
Automation, Space Robotics, and Security and Defense. The technologies developed by ESI to
date are used in the following industrial sectors:
- Law enforcement -Security and Defense - Medical Surgery
- Nuclear - Laboratory automation - Utilities
-Space - Robotics Research - Industrial automation
To date, ESI has exported its technology and products to the United States, Mexico, Sweden,
Denmark, Belgium, France, Germany, Switzerland, Israel, Turkey, India, Korea, Singapore,
Australia, New Zealand, Tajikistan, and other.
ESI has extensive experience in control systems development. ESI and conducted numerous
projects that included system engineering, control systems design (position, force, impedance,
adaptive, robust, autonomous, free and constrained motion, remote human-in-loop control},
integration of custom and off-the-shelf hardware and software, and user training.
The management team for the proposed project brings in a wealth of relevant experience in
robotics systems and control engineering with applications to space and planetary exploration,
defense, law enforcement, mining, nuclear, medicat and utilities.
ESI has developed mobile robot and arms products for the law enforcement and military. Some
of the products have been adapted for research in Universities. Members of the proposed team
are currently engaged in several contracts with the Canadian Space Agency as part of the
Exploration Surface Mobility (ESM) project. ESI, Cohort Systems Inc. {CSI) of Ottawa and several
University Professors as consultants, have been developing as a team the MRPTA (Micro-Rover
Platform with Tooling Arm} for CSA. ESI, and another group of University Professors as
consultants, have been engaged in the development of the SMA (Small Manipulator Arm} for
CSA. ESJ, CSI and NORCAT (of Sudbury, ON) have been engaged in the development of the
PMM (Planetary Medium Manipulator} for CSA.
3
A-2013-01547 --0129
The MRPTA project for CSA included the development of mobile platform with multiple
locomotion options including wheels, tracked, legs, and independently actuated flippers. The
flippers in figure 1 items 5-9 can be implemented as support for legged locomotion (item 9).
(1) Tracks & one flipper mode (2) Four wheels & no flipper mode
(3) Flat tracks & no fliwer mode
(7) Four wheels & two flippers with motorized (8} Flat tracks & two flippers with motorized
(9} Six motorized wheels modE'
planetary wheels mode planetary wheels mode
Fig. 1 Nine Configurations of MRPTA Platform
ESI also has developed the concept of a robot with hybrid locomotion (MESR) also for CSA (Fig.
2). The MESR robot has a primary wheeled locomotion system that is augmented by a legged
operation. Each of the wheels is mounted on an articulated leg. The legs at the four corners of a
mobile platform provide active suspension. During rolling operation, they provide vibration and
damping control. For legged operation, the active suspension of each leg is a linear actuator
that modifies the leg length. In addition, the independent flippers connected to the middle of
the chassis can support either mode of locomotion. Please refer to figure 2.
ESI has also conducted a study of legged locomotion for Singapore Defense. The application
was for detecting near shore mines in shallow water.
4
A-2013-01547 --0130 ---------------------------
5.19(1)
- ------------------
Traction: 6 in-wheel motors (6 wheels)
Steering: 4 steering motors
Active suspension: 4 motors
Swing: 2 motors
Fig. 2 MESR hybrid locomotion system
2. Team and Academic Background {10 pt)
Professor 1987- present
Department of Mechanical and Industrial Engineering, University of Toronto; Cross-
appointed in Department of Electrical and Computer Engineering and Institute of
Biomaterials & Biomedical Engineering, University of Toronto
Associate Professor 1982-1987
Department of Mechanical Engineering, University of Toronto; Cross-appointed in
Department of Electrical Engineering and Institute of Biomaterials & Biomedical
Engineering, University of Toronto
NSERC Univ. Research Fellow and Research Assistant Professor
Department of Electrical Engineering, University of Toronto
1981-1982
5
A-2013-01547 --0131
5.19(1)
3. Experience of Assigned Personnel (10 pt) in This Domain
Dr. Andrew Goldenberg has pioneered the application of diverse robotic technologies to new
industrial niches. He has been involved in robotics since 1975 when he started work on the
Canadarm at Spar Aerospace Ltd. Dr. Goldenberg is a recognized world authority in robotics and
automation: has published over 125 journal papers in robotics, 350 conference papers, and is
the co-holder of 34 patents. Dr. Goldenberg has also been a Professor at the University of
Toronto in the area of Robotics and Automation since 1982. He is involved in day-to-day
executive management of ESI, and participates actively in technical work. Dr. Goldenberg is
currently the Executive Project Manager of three CSA-funded projects as part of the ESM
program. He has been the key technical person at ESI in the legged robotics developments
mentioned in the previous section.
6
A-2013-01547 --0132
Page 133
is withheld pursuant to section
est retenue en vertu de l'article
19(1)
5.19(1)
4. Adequacy and Availability of Personnel (10 pt)
The project team will consist of Dr. Andrew Goldenberg as the principal investigator. Working
with Dr Goldenberg will be and This core team will have
access to the full range of technical expertise at ESI including System Engineering, Aerospace
Engineering, Mechanical Engineering, and Electrical Engineering on and as needed basis.
Included in the technical expertise are Software Developers with in depth robotics experience
ranging from low level embedded systems, Vision Systems Designers, PLC's, RTOS, GUI right up
to system level planning, development and implementation experience.
Supporting the technical team will be the Management team consisting of Dr. Andrew
Goldenberg at Executive Project Manager, as Project Manager,
as Technical Manager, and as Project Administrator. Combined, this
management team has dozens of successfully completed projects in many diverse applications.
The team listed above will be made available from approximately December 1, 2011 to March
31, 2014 as required for the duration of the project.
8
A-2013-01547 --0134
---------------------------
5. Experience with LMS (10 pt)
LMS Virtuai.Lab Motion (LMS-VLM) is a software program that provides basic capabilities to
simulate rigid multi-body mechanical systems, including modeling, solving and analysis.
Mechanical elements include an extensive list of joint and constraint features and an extensive
library of statics and dynamics elements including stiffness, damping, friction, and contact
force. The simulation results include displacement, velocity, acceleration, and all reactive forces
and moments for all bodies modeled in the simulation. LMS-VLM provides post-processing
capabilities like animation and graphing. It integrates all required functionalities into a single,
user-friendly desktop environment. Users can quickly create and refine fully parameterized
virtual prototype models of mechanical systems using a fully integrated CAD engine based on
CATIA VS.
ESI has extensive experience with several mechanical simulation programs that provide similar
functionalities or working environments with LMS-VLM, such as Dymola, a Multi-Engineering
Modeling and Simulation tool.
Dynamic Modeling Laboratory (Dymola) is a complete tool for modeling and simulation of
integrated and complex systems for use within automotive, aerospace, robotics, process and
other applications. Dymola simulates the dynamic behavior and complex interactions between
systems of many engineering fields, such as mechanical, electrical, thermodynamic, hydraulic,
pneumatic, thermal, and control systems. Dymola can build more integrated models and have
simulations results that depict reality quite accurately.
ESI used Dymola to simulate complete systems including control, mechanical, traction, and
biological systems. The simulated biological system is a human neck including the models of
bones, muscles, ligaments, soft disks, etc [1] for the design of helicopter pilot helmet support.
The software program analyzes the effect of load from pilot head equipment on the neck and
efficiency of a separate support device. This software program was used to optimize the design
of the supporting device through iterations of device model parameters for pilots with different
body size and strength. The major work using Dymola/Modelica multi-body simulation software
was to develop various components' models in a human head-neck system. Some relevant
component models include: (a) Vertebrae of cervical bones modeled as rigid bodies, a local
coordinate system is defined for each bone; (b) Cervical muscles providing stability; movement;
and protection to human body. The formulations to define muscle active and passive behaviors
based on its physical properties were used to develop the model. To simulate the functions of
brain to control the muscles, feedback control mechanism was added in the muscle model; (c)
Intervertebral disc, which is a fibrocartilaginous joint between the endplates of two adjacent
vertebral bodies. The disc was modeled as a parallel connection of a spring and a damper for
each of its six degrees of freedom (translational and rotational); (d) Ligaments in the spine,
which allow motion within physiologic limits and prevent excessive motion. Ligament was
9
A-2013-01547 --0135
modeled as an element producing force only in tension; (e) Facet joints, which are formed by
articular facets of adjacent vertebrae and enclosed by joint capsules. Facet Joints only have
one-way translational stiffness (compression) in the vertical direction to the facets. The
compression stiffness was modeled as nonlinear static compression stiffness of the disc.
Using Dymola/Modelica, a 3D GUI with various 1/0 and viewing capabilities was developed to
facilitate the simulation and analysis processes (Fig. 3).
.,1.,.,.)
,, ...,. . - .
.. , ..... . ,.
;rr'"""""'- .........\ .
...\."'
I :
Fig. 3 3D GUJ
ESI also used or are using other multi-body system simulation tools such as Adam, Matlab
SimMechanics, Solidworks Simulation to simulate robotic systems such as planetary 7 DOF
robot arm and mobile robot to develop kinematics and dynamics models, simulate motions and
contact models of robot system with environment, and verify control algorithms, etc.
ESI is currently involved in development of the 7DOF Planetary Medium Manipulator (PMM) for
CSA [2]. Dynamics Model of PMM has been set up in Matlab/Simulink using the SimMechanics
toolbox by importing the PMM drawings in SolidWorks. Friction was added into the robot joints
using the SimMechanics or Simscape blocks (Fig. 4).
Fig. 4 Simulation of 7 DOF Space arm
10
A-2013-01547 --0136
----------
ESI has also conducted projects where solid and fluid dynamics models were developed by
using Autodyn and LS-DYNA FEA software programs [3, 4]. The programs calculate impact loads
and structural responses (buildings or cars) and 3D GUI is based on CAD technologies {Fig. 5}.
Fig. 5 Structural Response due to Impact Loads
6. Experience with Matlab (10 pt)
Matrix Laboratory (MATLAB) provides a computing environment and high-level programming
language. MATLAB allows matrix manipulations, plotting of functions and data, implementation
of algorithms, creation of user interfaces, and interfacing with programs written in other
languages. MATLAB has various add-on tools that provide many additional capabilities such as
symbolic computing, graphical multi-domain simulation and model-based design for dynamic
and embedded systems.
:
ESi has extensive experience using Matlab programs for system modeling, control algorithms
design and testing, signal and data modeling and processing, etc. that were used in several
projects including robotic system [2], expert system [5], biological control system [6].
ESI is currently involved in the development of a 7DOF Planetary Medium Manipulator (PMM)
for CSA (2]. In the design and development stage of the PMM control system Matlab with
Simulink and its various toolboxes were extensively used to fine-tune and verify the control
algorithms.
The control system design required kinematics and dynamics modeling and analysis. The
kinematics and dynamics models have been developed in Matlab, and verified with the Matlab
Robotics Toolbox, and SimMechanics model of the arm. The motion controller consists of joint
level and task level controllers. The motion controller in joint level includes joint space control,
gravity compensation unit, and adaptive friction compensation. The motion controller in task
level includes Cartesian space controller, translational and rotational impedance controller, and
force controller. All joint level and task level controllers have been designed and developed in
Matlab Simulink using various toolboxes such as SimMechnics, SimScape, Control System,
11
A-2013-01547 --0137
Robust Control, and Signal Processing. The overall simulation process is shown schematically in
Fig. 6.
3D model
Solid\V or.ks
Input:
material properties,
constraints, dri:dng
components, joint
Create elements
fat' each link
frictions, springs, etc
r---
1
I
I
I
I
I
I
I
---------- I
I
I
S im:.\.f.ec hanic; I
Link 1
'----__,..--__,,_....., Lcadin!l I
: ............ ;-;. ........... ....
TL.-ill:
Sint:!.\Iechanics
PM:\fFEA
model
Solid Works
Fig. 6 Schematic of Simulation Process
Identification algorithms for dynamics and friction models were developed and verified by using
extensive simulations in Matlab scripts in conjunction with Matlab Simulink. Various gravity and
friction compensation methods as well as motion control algorithms used in the joint level and
task level controllers were also tested, verified and fine tuned using various Matlab toolboxes
[2].
ESl is involved also in development of the SMA (Small Manipulator Arm) for CSA. The accuracy
of the model construction based on target visual features and camera pose estimations are
studied in a simulation environment using Matlab toolboxes such as Image Processing [7]. The
computer simulation program has been done by modeling the camera characteristics, the robot
kinematics, and the generation of artificial target features and their measurements. Realistic
levels of uncertainty in the intrinsic camera calibration parameters, robot motion measurement
and image plane feature measurements were used. A Kalman filter-based relative pose
estimation algorithm was developed using Matlab toolboxes such as Signal Processing.
12
A-2013-01547 --0138
---------------------- -------
Another project conducted by ESI has been the development and implementation of G-DAP
software program (The Acceleration/Gz/Data Analysis Package) [5]. One of the modules
"Cardiovascular Response Under Orthostatic Stress (CROSTl) Toolbox" in the software program
was developed using Matlab toolboxes including Signal Processing, Fuzzy Logic, Statistics,
System Identification, etc. The module performs custom-designed analysis of physiological data
pertinent to acceleration physiology research at DCIEM. The software automatically does
reviewing, playback, filtering, modeling, and analysis of data acquired in human centrifuge, tilt-
table or flight experiments. The software program calculates predefined and/or custom-defined
physiological indices used in acceleration physiology research, such as blood flow analysis and
calculation of related indices (e.g., cardiac index), and ear-opacity signals identification and
analysis (based on an adaptive peak detection algorithm). The software program provides
optimal GUI designs, and ease of customization and expansion (Fig. 7). The program was
designed based on open architecture concepts so that new functions can be readily added to
carry out more comprehensive analyses.
Fig. 7 Simulation and GUI for Physiological Studies
7. Experience with Vicon {10 pt)
As a member of OxfordMetricsGroup (OMG), VICON provides advanced tools for capturing and
analyzing the motion of humans, animals and machines in 20 and 30. The tools provide high-
precision data for research, medicine, sport, engineering design, game development,
broadcasting, and film.
13
A-2013-01547 --0139
ESI's software engineers have experience with motion capturing system that uses multi-
cameras and National Instrument (NI) Vision software to record motions of an overhead device
(pantograph) on a railway car_ The recording speed is 50Hz in real time. The light source can be
normal sun light or inferred light. The overhead device imaging data are used to calculate the
position in 3D space. ESI engineers have been involved in a project to develop a motion
capturing system that allows general users to teach different object-manipulation tasks to a
service robot (Fig. 8) in order to adapt its learned tasks to new tasks. Two vision systems were
developed: (a) 3-camera hand-tracking vision system to track hand motion of the teacher, and
the motion was then used to tele-operate the robot to demonstrate the tasks; and (b) one
stereo camera vision system mounted on the end-effector of the robot was used to observe
and understand and detected objects in its workspace.
Fig. 8 Motion Capturing System
Hand tvbti on T ra:: king System
Tracking
Hand Motion
Mapping
Hand Motion
toR obot
'*
TCP/IP
Comm Unit
ESI has also extensive experience with vision guided robotic systems. The robot is guided by a
vision system that catches target object images, identifies features, calculates target positions
and then sends them to the robot motion controller to reach the target object [2]. The visual
servo system performs the key operation that makes the robot useful. The software is an
intensive data processor that performs the following functions: pose estimation, visual servoing
in task space and end effector frame, features detection and measurements, feature-based
model construction, visual servo-to-robot motion controller interface, visual data
communication in real time, communication of feature detection and measurement, and
operator control unit interface [9].
Another project currently conducted by ESI involving vision tracking is part of the Micro-Rover
Platform with Tooling Arm (MRPTA) [8]. The system includes a module 'The Visual Processing
Subsystem (VPSS)'. It has three major components: {a) Camera/PTU Sensor: it uses a flat
calibration target on the platform to calibrate camera pose relative to the platform; (b) Visual
Odometry (VO): it has two operational modes, Tele-operation and Autonomous Modes. During
these modes of operation the VO computes continuously at 1/3 Hz, but it emits a 1 Hz status
update or heartbeat to track targeted features; and (c) Local Terrain Surface Representation: it
has the same operational modes as VO. The terrain data is computed continuously at 1Hz.
14
A-2013-01547 --0140
The VPSS reports to its subscribers the x, y, z pose estimates in world co-ordinates at a rate of
1/3 Hz. Report status messages at a rate of 1Hz. It reports local terrain surface representation
using a stereo camera in world co-ordinates. The responsibilities of the VPSS include: (a)
camera control; (b) stereo camera calibration; (c) visual odometry; (d) local terrain surface
representation and estimation; (e) data streaming and remote camera control; and (f) image
capture, storage, and retrieval. Fig. 9 presents a high-level schematic of the VPSS system.
: VPSS
Stereo
Camera
j
JAUS Messaging Manager
i
1.--------..:tr----r--t-----,-1-.l---,J
IEHB94A Cameral Data Local
lmaqe
PTU VO Streaming! Surface -
Capture
I
I
Sensor Com,oonent Teleop Terrain Reo, .
Retrieval
__ -c_o_m_p_on_e_n_i _______________ _____ c_on_l_po_n_en-t---------------;
OpenJAUS
PTU
Linux
Fig. 9 VPSS System Architecture
15
A-2013-01547 --0141
5.19(1)
8. Client Contacts
Name of Client & Contact Person Client's Tel. #
Defence R&D Canada Suffield
Dr. Yoga Das
403-544-4738
DRDC, Toronto
William Fraser
416-635-2064
Atomic Energy of Canada Ltd.
416-453-8835
Narinder Bains
University of Waterloo 519-888-4567
ext.
Prim ex Security Systems Ltd.
Foster Miller, Inc.
Ryerson University 416-979-5000
ext.
Org. Security & Co-op. in Europe
r-----
Atomic Energy of Canada Ltd.
905-823-9060
Todd Campbell
UCI Corporation Co., Thailand
NRC/I RAP
Pauline Walsh
416-973-5735
Precarn Inc.
613-727-9507
Canadian Space Agency
Luminita llinca-lgnat
450-926-4754
450-926-4676
Franco Moroso
Andre Boisvert
450-926-5013
TimeScale
DRDC, Toronto
William Fraser
416-635-2064
University Health Network/PMH
Project Title Completed
Robotic Scanner for Mine Detection
2002
Computer Control of Dynamic Pressure
2004
Regulation of an Anti-G Suit
Calandria Vessel Debris Removal System 2007
MRW- A Modular Robot Arm 2007
Janus-PTZ (Pan-Tilt-Zoom Camera) 2008
Sotai-LMA 2008
LMA Mobile Robot 2008
MR7 EOD Remote Controlled Vehicle 2008
Calandria Vessel Inspection and Debris
2009
Removal Tool (Wolsong)
Mobile Robot (MR7) for EOD 2009
Mobile Robots-Modular and
Reconfigu ra ble Derivatives
2010
Mobile Robots Modular Derivatives 2010
Micro-Rover Platform with Tooling Arm 2012
Small Manipulator Arm 2012
Planetary Medium Manipulator
2012
Prototype
Development of Military Blast Effects
Expert System
2003 - present
Advanced Neck Support System for
2005 -present
Helicopter Pilots
Development of MRI-Guided Surgical
Robot
2007 - Present
16
A-2013-01547 --0142
IVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFIE!
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
9. Allocation of Manpower (10 pt}
Description Name
Days Allocated
FY 2011-2012 I FY 2.012-2013 I
10. Assurance of Liaison with the Technical Authority (10 pt}
FY 2013-2014
Liaison with the technical authority will be done through the Systems Engineer on a regular
basis. In addition, the Principal Investigator, Project Manager and Technical Project Manager
will monitor the communication regularly and provide backup to the Systems Engineer.
Depending on the nature of the particular communication with the Technical Authority the
Control System Designer will supplement the discussions when participating in conference calls
or milestone meetings.
11. Overall Organization of the Project {10 pt)
11.1 Team Structure
Principal
Investigator/Executive
Project Manager
I
I
I Project Manager I I Systems Engineer I
I
Technical Project Control System
Manager Design
)
Project Other Technical
Administrator Experts
Fig. 10 Team Structure
17
A-2013-01547 --0143
5.20(1 )(b)
5.20(1 )(c)
11.2 WBS Structure
Fig. 11 WBS Structure
18
A-2013-01547 --0144
11.3 WBS Packages
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
19
A-2013-01547 --0145
19(1 ), 20(1 )(b), 20(1 )(c)
---------------------------------
12. Onsite Integration
The intent in this project is to have an ESI staff member on-site at DRDC for the last 7 months of
the project. The budget for this travel and related accommodation is included in the estimates.
The time frame for this on-site integration is scheduled from June 2013 to December 2013.
13. References
[1] ESI, "Design, Integration and Development of Neck Supporting Systems for S&R Helicopter
Pilots", Project report 2006
[2] ESI, "Preliminary Design and Analysis Report: Planetary Medium Manipulator Prototype",
Project report, 2011
[3] ESI, "Development of a Non-Traditional Expert System for Blast Analysis and Target
Hardening in Urban Environment", Project report, 2006
[4] ES!, "Development of Continuous System Model for HESCO Structures", Project report, 2005
[5] ESI, "Acceleration Data Analysis Package: Development of G-DAP, Cardiac Index and Blood
Flow Calculation, and Analysis of Ear-Opacity Signals", Project report, 2001
[6] W. D. Frazer, Z. Lu, V. Askari, A. Kapps, "Modeling of the Physiological Responses to Non-
linear G-suit and Positive Pressure Breathing Schedules" RTO HFM Specialists Meeting on
"Models for Aircrew Safety Assessment: Uses, Limitations and Requirements", 1998
[7] ESI, "Accuracy of Visual Servo Target Feature Model Construction and Pose Estimation: A
Simulation study for Small Manipulator Arm", Project report, 2011
[8] "MRPTA Analysis Report: Micro-Rover Platform with Tooling Arm", Project report, 2010
[9] ESI, "SMA Integration: Small Manipulator Arm", Project report, 2011
23
A-2013-01547 --0149
Appendix A- CV
1
s of Team Members
24
A-2013-01547 --0150
19(1)
19(1)
Richardson AM@Corp Sec DAIP@Ottawa-Hull
From: Hall SP@CFB Suffield@Suffield
Sent: Thursday, 30, January, 2014 14:36
To: Richardson AM@Corp Sec DAIP@Ottawa-Hull
Cc: Lapointe OM (Contractor)@ADM(S&T) DRDKIM@Ottawa-Hull
Attachments: W7702-125267 McGill.pdf
Sent: Thursday, 30, January, 2014 12:29 PM
To: Hall SP@CFB Suffield@Suffield
Subject: FW: W7702-125267 /B
Sent: December-09-11 3: 11 PM
To: Beckman, Blake
Cc: Hall, Sharon
Subject: W7702-125267 /B
McGill Bid
780-497-3519 1 facsimile I telecopieur 780-497-3510 I
elaine.barton@pwgsc-tpsgc.gc.ca <mai Ito: elaine. barton @pwgsc-tpsgc. gc. ca>
DIVULGUE EN VERTU DE LA RENSriGNF;1ENTS NON CLASSIFIE!
. .:. .
Travaux publics et Services gouvemementaux Canada 1 Plaza Tel us Nord 10025 ave Jasper 5e etage Edmonton AB T5J 1 S6
Government of Canada 1 Gouvemement du Canada
A-2013-01547 --0168
2014-01-30
19(1 ), 24(1)
20(1 )(b), 20(1 )(c), 24(1)
Hall, Sharon
From:
Sent:
To:
Beckman, Blake
Wednesday, December 14, 2011 4:21 PM
Many Lee
Cc:
Subject:
Hall, Sharon; Hanna, Doug; Trentini, Mike; Fairbrother, Blaine; Elaine Barton
RE: W7702-125267/B
Attachments:
Copy of Bid Tab Sheet Blaine and Mike- W7702-125267.xls
Many,
1 have attached the combined evaluation I received and I will fax the signed copy shortly. The synopsis of the evaluation
is as follows:
# 1 McGill University= 440
#2 ESI = 390
Blake
From: Many Lee [mailto:Mony.Lee@pwgsc-tpsgc.gc.ca]
Sent: December 14, 201111:57 AM
To: Beckman, Blake
Cc: Hall, Sharon; Hanna, Doug; Trentini, Mike; Fairbrother, Blaine; Elaine Barton
Subject: RE: W7702-125267/B
Who ever is on the evaluation team, so that would be Mike and Blaine. They both will have to sign that one final
evaluation sheet.
Mony
From: Beckman, Blake [mailto:Biake.Beckman@drdc-rddc.gc.ca]
Sent: Wednesday, December 14, 201111:55 AM
To: Many Lee
Subject: RE: W7702-125267 /B
Who then is supposed to sign?
-------"--- ---------------------------
From: Many Lee [mailto:Mony.Lee@pwgsc-tpsgc.gc.ca]
To: Beckman, Blake
Hi Blake,
Sorry, but you will need to compile the consensus for each point and provide me a signed copy. I cannot do this for you.
Thanks
1
A-2013-01547 --0220
Mony
To: Mony Lee
Hi Many,
1 have talked with both Mike and Blaine and they both agree to add both of their scores together and divide by two to
get the average. The comments also should be added together as they both have valid points that do not contradict
each other and provide an all around good assessment.
Blake
From: Mony Lee [mailto:Mony.Lee@pwgsc-tpsgc.gc.ca]
To: Beckman, Blake
Hi Blake,
I need a consensus on the scores, both Mike and Blaine should work together to come up with final scores and
comments.
Thanks
Mony
From: Elaine Barton
To: Many Lee
Cc: 'blake.beckman@drdc-rddc.gc.ca'
Over to you Many,
Blake .... Mony is back so she is handling the file.
Elaine Barton, s.sc. CPPB
780-497-35191 facsimile I telecopieur 780-497-3510 1
elaine.barton@pwgsc-tpsgc.gc.ca <mailto:elaine.barton@pwgsc-tpsgc.gc.ca>
Travaux publics et Services gouvernementaux Canada I Plaza Telus Nord 10025 ave Jasper 5e etage Edmonton AB T5J 156
Government of Canada 1 Gouvernement du Canada
2
A-2013-01547 --0221
To: Elaine Barton
Cc: Hall, Sharon; Trentini, Mike; Fairbrother, Blaine; Hanna, Doug
Hello Elaine,
5.20(1 )(b)
5.20(1 )(c)
1 have asked Mike and Blaine to help review these proposals. I have attached their evaluations and I will fax the signed
copies shortly. The synopsis of the proposals is as follows:
# 1 McGill University=
#2 ESI::: (Blaine) and
Blake
(Blaine) and
(Mike)
(Mike}
Sent: December 9, 2011 3:09PM
To: Beckman, Blake
Cc: Hall, Sharon
Subject: W7702-125267/B
Dear Mr. Beckman:
Subject: Solicitation No. W7702-125267 /B
Title: Multi Degree of Freedom Robot
Closing Date: December 9, 2011 @ 2:00 p.m. MDT
Enclosed is an electronic copy of the two (2) proposals received in response to our above referenced request for
proposal. These have been forwarded without the cost detail, in accordance with PWGSC policy, so that each firm's
proposal may be fairly and objectively assessed.
Would you please complete your technical evaluation of each proposal in accordance with the pre-established evaluation
criteria. As per Treasury Board Policy, would you then please provide me with a WRITIEN narrative of the proposal
evaluations, including the points awarded which are to be arrived at by consensus, and your scoring notes, making
comparison with the evaluation criteria and the points available.
If any clarification is required from the proposers, all communications with the proposers MUST be routed through this
office.
After we have received a copy of the completed technical evaluations, we will examine them for fairness and equity, and
will contact you with any questions, or the results of the best value calculations and a winner. Within reason, PWGSC
retains the option of negotiating pricing with one, or all, of the proposers.
IT SHOULD BE NOTED THAT PROPOSAL INFORMATION IS TO BE DIVULGED ONLY TO DEPARTMENT OR
AGENCY OFFICIALS AUTHORIZED TO PARTICIPATE IN THIS PROCUREMENT. NONE OF THIS INFORMATION IS
TO BE DIVULGED TO OR DISCUSSED WITH THE TRADE.
Your response is requested as soon as possible. Subsequently, we can arrange a mutually convenient time to finalize
contractor selection.
Should you have any questions, please contact me at phone (780) 497-3535, or by facsimile at (780) 497-3510.
Yours truly,
780-497-35191 facsimile I telecopieur 780-497-3510 1
elaine.barton@pwgsc-tpsgc.gc.ca <mailto:elaine. barton@pwgsc-tpsgc.gc.ca>
3
A-2013-01547 --0222
Travaux publics et Services gouvemementaux Canada I Plaza Telus Nord 10025 ave Jasper 5e etage Edmonton AB T5J 186
Government of Canada I Gouvemement du Canada
4
A-2013-01547 --0223
'
' .
MANDATORY CRITERA AT BID CLOSING
Education: Ph.D in a robotics-related displcine
POINT RATED REQUIREMENTS:
STUDY PROPOSAL
1. Demonstated understanding of scope and importance of study and the
Statement of Work as set out in RFP
2. breakdown of project into logical tasks; planning and detail of tasks;
detailed schedule and timetable; realistic estimation of the time required
to complete the work
3. methods of handling potential problems during the project
4. demonstrated original and innovative ideas
TRAINING & EXPERIENCE
Points awarded
1. demonstrated corporate experience in projects of this nature
2. suitability of academic backgrounds of personnel assigned
3. relevant experience of personnel assigned to the project (project
leader must have minimum of 5 years experience in robotic legged
locomotion projects)
4. adequacy and availability of personnel to carry out the project
5. Experience with LMS Virtual lab Motion or a similar mechanical
simulation tool
6. Experience with MATLAB
7. Experience with a VICON motion capture system or similar non contact
motion capture system
PROJECT ORGANIZATION
Points awarded
2. assurance of liaison with the Technical Authority
DIVULGUE EN VERTU DE LA LA! - RENSEIGNEMENTS NON CLASSIFIE
(YES OR NO)
WEIGHT
5.0
10.0
5.0
10.0
120.0
84.0
5.0
10.0
5.0
10.0
10.0
10.0
10.0
240.0
168.0
10.0
10.0
10.0
120.0
84.0
A-2013-01547 --0224
' '
NAME:
COMMENTS:
Points awarded
A-2013-01547 --0225
9-Dec-2011
<-' ,' .
RATING
BIDDER A
SUPPLIER'S NAME
BIDDER A
SUPPLIER'S NAME
SCORE RATING
BIDDER B
SUPPLIER'S NAME
BIDDER B
SUPPLIER'S NAME
SCORE
A-2013-01547 --0226
} .
TITLE:
SIGNATURE:
A-2013-01547 --0227
IVULGUE EN VERTU DE LA LA! - RENSEIGNEMENTS NON CLASS!F!E
A-2013-01547 --0228
DATE:
A-2013-01547 --0229
MANDATORY CRITERA AT BID CLOSING
Education: Ph.D in a robotics-related displcine
POINT RATED REQUIREMENTS:
STUDY PROPOSAL
1. Demonstated understanding of scope and importance of study and the
Statement of Work as set out in RFP
2. breakdown of project into logical tasks; planning and detail of tasks;
detailed schedule and timetable; realistic estimation of the time required
(YES OR NO)
WEIGHT
5.0
to complete the work 10.0
3. methods of handling potential problems during the project 5.0
Points awarded
TRAINING & EXPERIENCE
1. demonstrated corporate experience in projects of this nature
2. suitability of academic backgrounds of personnel assigned
3. relevant experience of personnel assigned to the project (project
leader must have minimum of 5 years experience in robotic legged
locomotion projects)
4. adequacy and availability of personnel to carry out the project
5. Experience with LMS Virtual lab Motion or a similar mechanical
simulation tool
6. Experience with MATLAB
7. Experience with a VICON motion capture system or similar non contact
motion capture system
PROJECT ORGANIZATION
Points awarded
5.0
10.0
5.0
10.0
10.0
10.0
10.0
240.0
168.0
1. allocation of manpower for efficient use of personnel 10.0
2. assurance of liaison with the Technical Authority 10.0
3. overall organization of the project 10.0
A-2013-01547 --0230
5.20(1 )(b)
5.20(1 )(c)
NAME:
Blaine Fairbrother
Mike Trentini
COMMENTS:
McGill
ESI
Points awarded
This proposal was fine however they lost points on personnel, no direct
experience with LMS (the system they will be using) and Vicon capture
system. In both cases they indicated they had experience with similar
systems and so that gave them a lower score. They did not demonstrate
that the team leader had 5 years experience with legged locomotion.
They also lost points because they did not seem to fully understand the
potential source of problems.
Proposed potential force feedback solutions but no such sensors exist on the current robot
Vague model validation methodology
They show little about how they will execute the project especially at Suffield
They introduce new ideas that cannot be done and are outside the scope of the contract (ie Vision, 1
force feedback?)
It does not appear that they have legged locomotion experience
A-2013-01547 --0231
lead person assigned to the project has no mechanical experience
The motion capture section is confusing with ESI explaining vision algorithms and not specifying ace
provided appear to be tracking general object motion and not millimeter tracking accuracy of conne
Organization was OK
A-2013-01547 --0232
:urate tracking of limbs and joints (the examples
!Cted bodies)
A-2013-01547 --0233
9-Dec-2011
5.20(1 )(b)
5.20(1 )(c)
RATING
3
3
3
4
4
4
2
3
3
4
2
4
3
3
BIDDER A
Engineering Services Inc.
Yes
BIDDER A
Engineering Services Inc.
SCORE RATING
4
3
4
3
4
3
4
4
4
4
4
4
4
3
a list
BIDDER B
McGill University
Yes
BIDDER B
McGill University
SCORE
A-2013-01547 --0234
5.20(1 )(b)
s.20(1 )(c)
390
TITLE:
Mechatronics Technologist
Defense Scientist
440
SIGNATURE:
A-2013-01547 --0235
DATE:
14 Dec. 2011
14 Deec. 2011
A-2013-01547 --0236
Hall, Shil'ron
From:
Sent:
To:
Cc:
Subject:
Attachments:
For your reference.
Thanks
Mony Lee
Mony Lee [Mony.Lee@pwgsc-tpsgc.gc.ca]
Friday, December 16, 2011 2:20PM
Hall, Sharon
Beckman, Blake
McGill's Financial Proposal
McGill's Financial Proposal.pdf
Supply Specialist I Specialiste en Approvisionnements
780-497-35351 facsimile I telecopieur 780-497-351.0
mony.lee@pwgsc-tpsgc.gc.ca
Public Works and Government Services Canada I 5th Floor Tel us Plaza North 1.0025 Jasper Ave Edmonton AB TsJ 1.S6
Travaux publics et Services gouvernernentaux Canada I Plaza Telus Nord 1.0025 avenue Jasper 5e etage Edmonton AB T5J 1.56
Government of Canada I Gouvernement du Canada
1
A-2013-01547 --0237
Page 238
20(1 )(b), 20(1 )(c)
5.19(1)
5.20(1 )(b)
BASIS OF PAYMENT
Payment will be made for time expended and other costs reasonably and properly incurred from the date of
contract to contract completion in accordance with the following:
1. Labour at firm (daily/hourly) rates. One day consists of 7.5 hours. The rates will be prorated for any
period of more or less than one day.
a) MEng Student :est.:
b) MEng Student, T.I::JV, (est.)
c) Teaching buyout for Sharf
d) Research Engineer 1,
e) Research Engineer 2,
(est.)
:est.)
TOTAL ESTIMATED LABOUR:
2. Miscellaneous office supplies at actual cost without mark-up
3. Purchased equipment at laid down cost without mark-up,
including desktop computer and laptop for two graduate students
4. Computing charges at Center for Intelligent Machines (partial payment
(est.
(est.
(est.
(est.
(est.
(est.)
in first year and full payment in third year (est.)
5. Authorized travel and living expenses at actual cost incurred,
except for meals and private vehicle mileage, which are not to
exceed the rates given in the Treasury Board Travel and Living
Guidelines in effect at the time of travel. Travel costs are not to
include a mark-up.
TOTAL OTHER THAN LABOUR COSTS:
TOTAL DIRECT COSTS (1-5):
6. Standard University Overhead at
TOTAL CEILING PRICE:
(est.:
(est.),
$245,000.00
The requirements of the Statement of Work are to be completed under the tenns and conditions of this
Contract, which is subject to a ceiling price of $245,000.00.
The ceiling price of $245,000 is subject to adjustment downward so as not to exceed the actual costs incurred
in accordance with the Basis of Payment as may be established by Government Audit. In the event that the
total cost of the work required under the Contract exceeds the sum of $245,000.00, the Contractor shall
complete the work at her own expense.
With the exception of the fll111 elements above, the amounts shown in the respective categories of the above
Basis of Payment are estimates and it is the intention that changes from item to item will be accepted for
billing purposes as the work proceeds, provided that the total cost of the Contract does not exceed
$245,000.00.
2
A-2013-01547 --0239

GOODS AND SERVICES TAX:
The Goods and Services Tax (GST) is not included in the amounts above. GST, as applicable, will be shown
as a completely separate item on each invoice.
F.O.B. Point: Defence Research and Development Canada- Suffield
1'his amount is to be paid to McGill University, Department of Mechanical Engineering, c/o Mechanical Engineering
Administrative Officer
3
A-2013-01547 --0240
Hall, Sharon
From: j
Sent:
To:
Cc:
Subject:
Attachments:
FYI
Mony
5.19(1)
Mony Lee [Mony.Lee@pwgsc-tpsgc.gc.ca]
Monday, December 19, 2011 10:12 AM
Beckman, Blake
Hall, Sharon
FW: Solicitation No. W7702-125267/B Results
Regret Letter W7702-125267.pdf
From: Andrew Goldenberg [mailto:golden@esit.com]
Sent: Monday, December 19, 201110:07 AM
To: Mony Lee
Cc: @esit.com;
Subject: Fw: Solicitation No. W7702-125267/B Results
Dear Mony,
We have just received your rejection letter.
I wish to make the following points:
1. Funding a provincially-funded University with federal funds does not enhance the private sector.
This contract and any such contract must create new and lasting jobs. A University holding such a research
contract will create no lasting jobs. I know this based on my academic experience.
2. Many of the comments made in the letter regarding our bid are off-base. They denote narrowness of mind
or an a priori selected supplier.
3. The work done at Suffield in this domain has little bearing, if any, on the CF needs for the foreseeable
future.
As a concerned tax payer we will follow up on issues related to this Solicitation with higher ranking personnel
at DND.
I would suggest not to lend the contract as yet. Instead, and if you consider appropriate, we could elaborate
on the point above, and rebut the review.
Regards and Season Greetings,
Andrew Goldenberg
Andrew Goldenberg PhD PEng Consulting Engineer FIEEE FASME FEIC FCAE FAAAS 2010 PEO Engineering
Medal for Entrepreneurship
President
ESI
www.esit.com
1
A-2013-01547 --0241
1+1
Public Works and
Government Services
Canada
Western Region
Travaux publics et
Services gouvernementaux
Canada
Region de !'Ouest
Telus Plaza North Plaza Telus Nord
10025 Jasper Avenue, 5
1
h Floor 10025 avenue Jasper, 5e etage
Edmonton, Alberta Edmonton, Alberta
T5J 1S6 T5J 1S6
December 19, 2011
Engineering Services Inc. (ESI)
890 Yonge Street, Unit 800
Toronto, Ontario
M4W3P4
Dear
Subject: Solicitation No. W7702-125267/B
5.19(1)
Thank you for your bid, submitted in response to our request for Multi Degree of Freedom Robots.
This is to inform you that a contract will not be issued to you for this requirement. The contract has been
awarded to the successful bid submitted by McGill University in response to the above-noted solicitation.
The price of the awarded contract is $245,000.00 excluding Goods and Services Tax/Harmonized Sales
Tax, as applicable.
Although your bid was found to be responsive to the mandatory requirements of the solicitation, it did not
achieve the highest-ranking under the evaluation methodology described in the solicitation.
To provide you with information on the characteristics and relative advantages of the successful bid, you
are informed that the successful bid has satisfied all the mandatory requirements of the solicitation and
scored on the technical point-rated requirements, as follows:
Successful bid 440 points
Your bid 390 points
For your information and to assist you in responding to future solicitations, your bid was evaluated as
follows:
Study Proposal:
Canada
Maximum points available 120
Minimum points acceptable 84
Points awarded 100
A-2013-01547 --0243
Training & Experience:
Project Organization:
-2-
Points awarded 190
Points awarded 100
TOTAL POINTS AWARDED 390
Comments:
ESI proposal was fine however they lost points on personnel, no direct experience with LMS (the system
ESI will be using) and Vicon capture system. In both cases ESI indicated they had experience with similar
systems and so that gave them a lower score. ESI did not demonstrate that the team leader had 5 years
experience with legged locomotion. ESI also lost points because they did not seem to fully understand
the potential source of problems.
Proposed potential force feedback solutions but no such sensors exist on the current robot
Vague model validation methodology
ESI show little about how they will execute the project especially at Suffield
ESI introduce new ideas that cannot be done and are outside the scope of the contract (ie Vision,
geometry, doesn't impedance control require force feedback?)
It does not appear that they have legged locomotion experience
Lead person assigned to the project has no mechanical experience
The motion capture section is confusing with ESI explaining vision algorithms and not specifying accurate
tracking of limbs and joints (the examples provided appear to be tracking accuracy of connected bodies)
Organization was OK
I would like to thank you for submitting your bid and your interest in being a supplier to the Government of
Canada. Your participation is appreciated, and I hope that you will continue to bid on procurement
opportunities offered by Public Works and Government Services Canada.
Should you require further information regarding the evaluation of your bid, please do not hesitate to
contact me.
Mony Lee
Contracting Authority
Telephone: 780-497-3535
E-mail: mony.lee@ pwgsc-tpsgc.gc.ca
A-2013-01547 --0244
-----------------------------------------
Beckman, Blake.
From:
Sent:
To:
Subject:
Hi Blake
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
Inna Sharf, Prof. <inna.sharf@mcgill.ca>
December-21-11 3:25PM
Beckman, Blake
getting started
I guess this will be a kick-off email.:)
In the meantime, hope you have a good holiday.
Till New Year.
Inn a
1
A-2013-01547 --0245
----------------------------------
Beckman, Blake
From:
Sent:
To:
Cc:
Subject:
Hello Blake
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
January-17-12 1:38PM
Beckman, Blake
Inna Sharf, Prof.
MHT contract work
Here is another update on the project. I
1
A-2013-01547 --0246
Inn a
2
A-2013-01547 --0247
Beckman, Blake
From:
Sent:
To:
Subject:
HI Blake
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
January-29-12 12:54 PM
Beckman, Blake
RE: Update
That's all for now. Hope you had a nice holiday.
Inn a
A-2013-01547 --0248
5.19(1)
Beckman, Blake
From:
Sent:
February-10-12 1:31 PM
To: Beckman, Blake
Subject: trip booked
Blake
we are booked for the trip.
22 Feb 2012 MONTREAL TRUDEAU, CANADA
7:15am
CALGARYINTLAB,CANADA
9:49am
WS 257 Confirmed Check-In Required
24 Feb 2012 CALGARY INTL AB, CANADA
!1:30am
MONTREAL TRUDEAU, CANADA
5:32pm
WS 216 Confirmed Check-In Required
As we are arriving quite early on Wednesday the 22nd, I am thinking that we could come out to DRDC Wednesday
afternoon. We could probably be there for around 2pm. It might be good for us to start off with the tour of the lab so
that md can see the facility and think about questions, etc. over night and we can then have a more
detailed visit of the lab and MHT the following day.
Let me know if you like that idea. I just think we have a lot to discuss and see and 1 day does not seem all that long.
People travelling are
Let me know if you need anythmg else.
Inn a
and myself.
1
A-2013-01547 --0249
Beckman, Blake
From:
Sent:
To:
Subject:
great. see you then.
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
Beckman, Blake
RE: our visit
From: Beckman, Blake [Biake.Beckman@drdc-rddc.gc.ca]
Sent: February 20, 2012 4:06 PM
To: lnna Sharf, Prof.
Subject: RE: our visit
lnna,
1) Wednesday afternoon we will tour the building 77 with the MHT robot
2) Thursday we will talk about the project and it will be limited to just us. Mike may stop in for a little while but it will
mainly be the contract team. You can prepare slides or just talk it does not have to be formal just a general discussion
on our plan and potential risk/problems.
3) I don't think I will have the complete list of forms, safety and training required for this week but I will have some
idea and I will continue to send information as I received it.
Travel safely and we will talk more when you arrive.
Blake
-----Original Message-----
From: lnna Sharf, Prof. [mailto:inna.sharf@mcgill.ca]
Sent: February 19, 2012 11:43 AM
To: Beckman, Blake
Subject: our visit
Hi Blake
to go over a couple of things for our visit:
barring any delays on our flight, we plan to come up to DRDC on Wednesday afternoon, probably around 2:30.
IT would be best to spend the hour or whatever you have that afternoon visiting the lab and seeing the robot.
Question: do you want me to prepare a few slides presenting the main components of the project? and related to that,
will you be the only one spending the day with us or will there be other people joining to see what we are doing?
Korhan is going to present what we have done so far.
Also, if you can put together a rough list of the various tings that will need to do when he comes out (e.g., safety
training, etc.), and we can discuss any issues related to him being mal:, that would be great.
1
A-2013-01547 --0250 --------------
thanks
Inn a
5.20(1 )(b)
5.20(1 )(c)
2
A-2013-01547 --0251
Beckman, Blake
From:
Sent:
To:
Subject:
HI Blake
I have another question.
thanks lnna
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
March-19-12 11:09 AM
Beckman, Blake
another question
1
A-2013-01547 --0252
Beckman, Blake
From:
Sent:
To:
Cc:
Subject:
Blake
yes, you are right.
I will keep you posted.
thanks lnna
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
March-27-12 10:28 AM
Beckman, Blake
RE: follow up on a couple of previous questions
Sent: March 27, 2012 12:17 PM
Cc:
Subject: RE: follow up on a couple of previous questions
lnna,
When we designed the model we
decided on only a few contact elements because it would have made the simulation even slower. We decided on the
four knee joints, bottom of the chassis on two "rails", the accumulator and the tires. All of the chassis type parts have a
coefficient of 0.2 but the tire model is more complex. We are using a Complex Tire for forces and as shown in lmage2 it
has a coefficient of friction of 1.0. The complex tire has always been difficult to understand so I don't think it is really 1.0
but I am not sure. Are we certain that the wheels are still moving as we are trying to climb the slope? Are we torque
limited?
Blake
-----Origi na I Message-----
Sent: March 27, 2012 9:10AM
To: Beckman, Blake
Cc:
Subject: follow up on a couple of previous questions
1
A-2013-01547 --0253
HI Blake
All for now
thanks lnna
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
2
A-2013-01547 --0254
Beckman, Blake
From:
Sent:
To:
Subject:
HI Blake
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
April-18-12 1:02 PM
Beckman, Blake
RE: some questions, etc.
thanks. This answers my questions.
let me know if there is any news on the share point site for 1
I assume you received Task 1.2 report OK. let me know if you have any questions/comments or any things that you want
us to be doing instead/in addition to.
all for now
Inn a
Sent: April17, 2012 5:02PM
Subject: RE: some questions, etc.
Hi lnna,
1) I don't think we should spend any more effort on pursuing a better control strategy for the wheel motors. The ramp
climbing ability in its fixed/home configuration here was about 15 degrees so maybe 18 degrees is the actual limit. I
think it would be better to actually try it here to determine the realistic maximum before we focus our efforts in wheel
control.
2) The main focus here is to maintain a level body in pitch and roll.
This will be important as we move to the leader-follower part of this work. The only reason I included the symmetric
sinusoid is that I thought it maybe an easier place to start but a more realistic terrain of a non symmetric sinusoid is
more ofthe desired end point. The exact amplitude and frequency is not really important as long as we are moving
towards realistic terrain. I am not sure but maybe a desired end point for amplitude would be 10-15 inches with a worst
case minimum separation of 20 inches. I would like the focus to be approaching realistic unstructured terrain while
maintain a level body and then start increasing forward speed to determine the actuator reaction limits.
3) We had created three different versions ofthe MHT in LMS. Each of the version should have the exact same
parameters (wheel torque, hip torque, pump pressure, etc.) that are important to us but have slightly different non
important parameters. In the picture that I had sent we requested that contact elements be added to the accumulator
and chassis and not just the tires. When we wanted to try a simulation of climbing a large box the main body would pass
through a box and only the tires would come in contact. If we decided to make the entire MHT a contact element then
1
A-2013-01547 --0255
the simulation would have been even slower. I think that we can assume that the important parameter are the same
between the models.
4) 9 3/4" step height
Blake
-----Original Message-----
Sent: April11, 2012 10:19 AM
To: Beckman, Blake
Subject: some questions, etc.
HI Blake
2
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
A-2013-01547 --0256
I think that's everything for now. I just realized that the attachment wlll probably be removed. Any news on a share point
access for 1nd
Thanks lnna
5.19(1)
3
A-2013-01547 --0257

1+1
Government
of Canada
Goi.Mlmement
duCanada
Controct Number I Num6m du oontral
CIIIS:lifJCUUon I Claalftcation do s6curi16
LISTE DE
SECURITY REQUIREMENTS CHECK LIST (SRCL)
e RIFICATION DES EXIGENCES RELATIVES A LAS {LVERS)
I .. . .. . . I
...
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DROC Sulliald
p. a) Suboonlract Number I Num6ro du oonlnll de IOUIlnllt.anta 13 b) Name and Addresa ol Subcontrad.or I Nom Itt du saus-trait.anl
!4. Brief l)esaiplfcn ol Work I Blive dnafpUon du II'IIYllll
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110flwlro tnd mtn
S. a) Willlhe supphr require access to ConlroAed Goods?
0No oYu
Le 6 d .. mun:handlsos oontr6!6al? Non Oul
5. b) WJlllhe supplier naquina ucoss to undaaslGid miiUary ledmical s.ubject to ltle provi1ons of llo Tochnic:ll Ccnlml IZ] No 0 Vu
Non Oul
La foumlitour 6 des aonn6DI tochnlqu81 mUitalres non clasaift6as qul sont assujeltln aux dlsposltions du R6glemanl
SUI Ia Qlillrille del doM6811Cchn!QUGI?
Indicate the type of access requltad llndlquer retype <l'attts naquls
j6. 1) W.U lhe suppBer and ib amployen rvqulna lo PROTECT EO anll/or CLASSIFIED lllformotion or auets?
[ZJ No ovu
La.loumlsur uinsl qualu mploya acc6s 4 des rensaigncmants ou 41 des biens aVou CLASSIFIES? Non Oul
(Spedly Ule level of aa;a" using the chart In OuasUon 7. c)
iPr6clsar lo niveau an ulllisanlla tableau au! sa ltouve tla Clueation 7. el
6. b) Will the supplier and liS omployees (e.g. cleaners, malnlanante peBOnnel) rtqufreaa;ass lo res!rlcled ac::cess areas? No ate:Oss to [J 0 Yes
PROTECTED and/or CLASSIFIED lnlonnallon or assel51s pennittltd. Non Oul
sesamploy6s (p, ax. nettoyeurs, personnel d'enlreUan) aUI'Onlllsect6a 6 du zon11 d'aoe6s rasltointos?L'ac:ecls
6"ifli moniS ou 6 daa bions ellou n'eat oas auloria6.
6. C)ls lhis 1 commarclal courier or dtllvel)' roqultemenl 'Ailh no ovemloht storage?
!Z] No ovu
. cl'un canltal de messageria ou de llvnllson oommerdale san I enlnlposaga de null? Non Oul
T. a lndk:81e tha tvoe or Information that Ul suppWar will bo reaulred to ac:cess llndlauer lo tvoo d1nformauon ::.uquollo toumlsseur devra avolr aocbs
Canada r
7.bl Release resii!Cilons I Roslricllons rolalivos 61a diffusion
NATO/OTAH fl Foreign I E1ranger I
No release mlrittlons
D
All NATO counll!os
0
No release teslridions
D
Aucline rlflril:tlon relative Tous lis pays de rOTAN Aucuno raslricti0t1 ralaUv1
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Not rvleasabla
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Reslric;tad lo: I Umil6 a ;
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Restrlclod to: lliml16 6 :
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0
Specify counlly(les): I Priciser la(s) pays; Spoclty oounll)'(les): I Pr6dsor le(s) pays: Spocily OOW!Ity(ies): I Prtdsar lo(s) pays :
7. el Ltvol ollnlorm3tion I N!Yeau d'lnformaUon
PROTECTED A
D
NATO UNCIJ\SSIFiED
D
PROTECTED A
D NATO NON
PROTECTEOB
[ ]
NATO RESTRICTED [
]
PROTECTEOG
[]
NATO DIFFUSION RESTREINTE PROTEGtlB
PROyECTEOC
D
NATO CONFIOENT!Al
D
PROTECTEDC
D NATO CONFIOENTIEL PROTEGC
CONFIDENTIAL ( .
J
NATO SECRET
0
CONFIOENTIAL
D CONFiOENTIEL NATO SECReT CONFIOENTIEL
SECRET
D
COSMIC TOP SECRET
0
SECRET
D SECRET COSMIC TRES SECRET SECRET
TOP.SECRET
0
TOP SECRET
0 TRESSECRET TRESSECRET
TOP SECRET (SIGINT)
D
TOP SECRET (SIGINT)
0 TRES SECRET (SIGINT) TRES SECRET (SIGINT)
TBSISCT 350-1 03(200-'112) I Classification do s6curil41
Om ada
A-2013-01547 --0258


Government
of Canada
Gouvemement
du Canada
Numb IN' I Num6ro <111
1;2
Classitlcalioo I de
8. Wdllho supplier require aocuslo PROTECTED and/or ClASSIFIED COM SEC lnformDUC111 or nssol$?
Le auraHiacDs a dea ranselgnemenlll ou A des biens COM SEC d6slgn6s 1Vou CLASSIFIIOS?
U yu,lncfi!:a!e. lila level of aensldvfty:
Dans l'elllnnawa: indl uer Ia nlvuu da senalbnit6 :
9. Willlha suppllor requltt aa:ento tlllltemaly aen.IUve INFOSEC lnlormaUon or assets?
Le loumisseutaura+ll occH dea ranMigntments ou biens INFOSEC dal\atuAJ aldtlmement d6J:c:ata?
Short TiUt(l) of m.tlerltl/ Tilta(a) abr6g6(e) du mal6riel :
Documcinl Number I Num6ro du document :
Af<T U t'tHSONNEL SUPPLIER! I PARTIE 6 . . . .
0. a) Personnol sc:totnlng lavtl Alq\Jired I Nlvuau de conW:Ia da 14 s.6wri" du persoMtl Alqlri$
0
0
D
RELIABILITY STATUS
COTE DE FIMILITa
TOP SECRET- SIGINT
TRes SECRET- SIGINT
SITE ACCESS
AUX EMPLACEMENTS
D
D
CONFIDENTIAL
CONFIDENTIEL
NATO CONFIDENTIAL
NATO CONFIOENTIEL
0
SECRET
SECRET
D
NATO SECRET
NATO SECRET
0
D
r7lNo
TOP SECRET
COSMIC TOP SECRET
COSMIC SECRET
Yn
Oul
NOTE: H mtJitipltlevels of $c:tltn/ng are ldantilled, a S.Qirfly Classllk:alfon Guide must bo p-cvided.
REMAAOUE: Sl usleurs niveaux d. cantrOie de UQJritt son I s. un ulde do danlfteaUon de Ia s6cur116 dolt Gtto rouml.
0. b) M1y UllKlHned pei"S()IInal be used for po111ons of lht wol1<? o No 1 Yos
Ou persOnnel sans aul01hatlon dc:urilalrt ptutfl se voir COIIfttr des parUos du travail? Non Oul
lfY!Is.wlltunsmMnedpersoMelbeascorted? o No f71Yes
. Oansl'aflltmalive, It personnel en question ral-11 escon6? Non l!.JOul
ART C SAFEGUARDS ISUPPLIERI I PARliE C. MESURES DE PROTECTI . .
INFORMA'T10N I ASSETS I RENSEIGNEMENTS /BIENS
II. a) Wllltho suppllor bo requlnld to reeolvo af\d store PROTECTED and/or ClASSIFIED Information or assets on lis slle or
premises?
Le ioumlaseur S41'1H-illltnu de recovolr ot d'enlroposer sur placa des renselgnements ou dos biens at/ou
CLASSIFIS?
11. b) Wllllhe suppner be roqulrad to 541tgulll'd COM SEC lnfannatlan or OSS4tJ?
lo roumlssaur S41ar.lllonu do prol6gor do a ronsolgnemenls ou des biens COM SEC?
PRODUCTION
11. c) WiiiiiG production (manufactura, and/or rapalr lllldlor mOdiftcalfon) ol PROTECTED andlot ClASS IRED rnatorlal ot Dqulpment
OCICU' llllhe wppllar's site ot ptamisas?
les lnstalladons du rourrisseur wrviront-olles 111 plQdudicn (labticalon ellou tllou modlfication) de
tllou
IHFORMATIOH TECHNOLOGY (TT} MlDIA I SUPPORT RELATIF LA TECHNO LOGIE DE L'INFORMATION (TI)
11. d) Willlhe supPier be rvquw.d to UN its rT systems 1o elednlnlcally prooess, produce or SIOAI PROTECTED and/or CLASSIFIED
lnformallon or dalll?
La loumluaur llllH-11 tenu d'ulilb 1ea proprea 1)'116mas lnloi'IIUIIIques pour traHtr, prodlko ou sloekor 61ec:IIOnlquement <las
1'11\MfgMJ!WiniS ou dea donMes ellou
11. e) WiD !here be an eled7orJc l:ok between the Jupplior's IT S)'$IIIT\I lhe govanvnant dapaslmanl or egency?
OilpoAr..t-a1 d'un lion &drot'.ique antro le syst6me lnlonnallquo du foumlsseur et cclul du mlnlslliAI ou doi'DgonCIII
gouvememtnlalo?
T8SISCT 350103(200<1/12) Soc:urlty ClasslrtcaUon 1 do s6curll6
r71 No ovas
L!....J Non Oul
r71 No DYos
Oul
r71 No
L!....J Non CkJi
r7INo oYos
l.!_l Non Oul
r71 No
Oul
Canada
A-2013-01547 --0259

DJVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFIES

Government
of Canada
Gouvemement
duCanada
Conlr.lci Number I Num4ro du conn\
WI"10).-J25d.0"1
StcJ.mty ClaS$ificaU:ln I Clnsillc;aUon de scuril
ART C (conlfnucd11 PARTIE C (SUllO) . '
For ustrw c:ornptedng the fonn un !h. summ1ry chart bttowlo lndlcllla \ha cetogory(las) and lovel(s) o1 saloousrding l\lqulred at \hfl supplic(s
or prernlsaa.
Lu ulillsaraurs qulrempliuont lit fonnufaire manuellement l!olvanl ulililer le tableau r6capilulatlf c:f-<leuous pour !nd"oquer. pour chaque cat,gorie. tes
nlveoux de sauvegarde requls aux lnctailtUons du loumluour.
For users compi.Ung the ronn onllnt (via \ht lntomel), lht summary chart Is populated by your rosponsas to pra\ious quntions.
OlliS It cas des llllnsateurs qui remplluant le lormulalrt on llgn (par lnlemet),les nlpons11aux quesUons pnlo6dentes sont automadquomont salslas
lo bbiDIU nlcepilulatil.
,.,,,cuo
PROTEGE
SUMMARY CHART I TABLEAU
AAlO
00 PCI\0 W\0 /lAD
SlCJOU SlCIO(J AUJIUCI'ID C<H"IOlH!I>l Slall; I
TAU PCI\TO NATO
SlCIOIIJ OIIFIJIUOH CO#IOIHTG.
AU! ..,.
COLISlC
l'nOI(C!lD TOO'
p,.,,,.. Sle>OlT SlCIIEl
A c COK<IOD<II(L TillS
sacan
12. a) Is !he desaiptlon of !he work contained wilhlo \his SRCL PROTECTED and/or CLASSIFIED?
La dascr!pllon du nvd visa per Ia pr6stntt LVERS eat-i!lle de nakire utlou
f7J No ovOulu
l!JNon
II v .. , c:luslly thll fonn by annoLlltlng the top 11nd bottom In tha aroa entitled security ClanlnoatlonM.
Dansl'af11nnatlve, ciiSsiRar le prbanl formutalre an lndlquant Ia nlvoau do dcurlli dons Ia cuetntltul6o
Clasalflcatlon do s6curlt6 ., au haul ot au baa du formulalro.
12. b) Will the doeumenlaUcn attach ad 1o !his SRCL be PROTECTED and/or CLASSIFIED?
La documonL11Uon assoc;ih tla pr6senle LVERS atlou CLASSIFII:E?
II Yas. c:lasslly thls fcnn by annotating the lop and bottom In 1111 area entitled "Security and Indicate with
a11achmanla (1.g. SECRET with Atuchmenta).
Dana raHirmallve, claulflar Ia pr6nnt on lndlquantlo nlvoau de 86curlt6 4ans 111 ease lnUtul6o
Cluslffl:lltlon de ucurlti., au hauttt au bal dU formulalte et lndfquer qu'll y a daa plecos Jolntes (p. ex. SECRET avoc
c111 p"c: ..
r71No
D
Yes
Ovl
TBS/SCT JSD-103(2004/12) Socurfty I Clan do sccwito
Canada
A-2013-01547 --0260
of

Clu
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L_. ---- -- ---
...
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Canac a
A-2013-01547 --0261
j
.

1+1 Public Works and Government Services
Canada
RETURN BIDS TO:
RETOURNER LES SOUMISSIONS A:
Public Works and Government Services Canada
Telus Plaza North/Plaza Telus Nord
10025 Jasper Ave./HI025 ave. Jaspe
5th floor/Se etage
Edmonton
Alberta
TSJ 186
Bid Fax: (780) 497-3510
REQUEST FOR PROPOSAL
DEMANDE DE PROPOSITION
Proposal To: Public Works and Government
Services Canada
We hereby offer to sell to Her Majesty the Queen in right
of Canada, in accordance with the terms and conditions
set out herein, referred to herein or attached hereto, the
goods, services, and construction listed herein and on any
attached sheets at the price(s) set out therefor.
Proposition aux: Travaux Publics et Services
Gouvernementaux Canada
Nous offrons par Ia presente de vendre a Sa Majesta Ia
Reine dU chef du Canada, aux conditions enoncees ou
incluses par reference dans Ia presents et aux annexes
ci-jointes, les biens, services et construction enumeres
ici sur toute feuille ci-annexee, au(x) prix indique(s).
Comments - Commentaires
Vendor/Firm Name and Address
Raison sociale et adresse du
fournisseur/de !'entrepreneur
Issuing Office Bureau de distribution
Tel us Plaza North/Plaza Tel us Nord
10025 Jasper Ave./10025 ave Jasper
5th floor/5e etage
Edmonton
Alberta
T5J IS6

Canada
Travaux publics et Services
gouvernementaux Canada
Title- Sujet

MULTI DEGREE OF FREEDOM ROBOT
Solicitation No. - N" de !'invitation
W7702-125267/A
Client Reference No. - N" de reference du client
W7702-125267
GETS Reference No. - N de reference de SEAG
PW-$EDM-066-9071
2011-10-11
File No. - N de dossier I CCC No./N" CCC - FMS No./N" VME
EDM-1-34276 (066)
Solicitation Closes - L'invitation prend fin
Time Zone
Fuseau horaire
at- a
02:00PM
Mountain Daylight
on -le 2011-10-27
Saving Time MDT
F.O.B. - F.A.B.
Plant-Usine: 0 Destination:
0
Other-Autre:
0
Address Enquiries to: - Adresser toutes questions a:
T Buyer ld - ld de l'acheteur
Lee, Mony P.rlml)\0
Telephone No. - N de telephone
I FAX No.- N" de FAX
(780) 497-3535 ( ) (780) 497-3510
Destination- of Goods, Services, and Construction:
Destination -des biens, services et construction:
DEPARTMENT OF NATIONAL DEFENCE
DEFENCE R&D CANADA SUFFIELD
BLDG 550 RECEIVING
CFB SUFFIELD
RALSTON
ALBERTA
TOJ2NO
CANADA
Instructions: See Herein
Instructions: Voir aux presentes
Delivery Required - Livraison exigee I Delivery Offered - Livraison proposee
See Herein
Raison sociale et adresse du fournisseur/de I' entrepreneur
Telephone No. N" de telephone
Facsimile No . N" de telecopieur
Name and title of person authorized to sign on behalf of Vendor/Firm
(type or print)
Nom et titre de Ia personne autorisee a signer au nom du fournisseur/
de !'entrepreneur (taper ou ecrire en caracteres d'imprimerie)
Signature Date
Page 1 of de 29
A-2013-01547 --0262
Solicitation No. - N" de !'invitation Amd. No.- N" de Ia modi!.
W7702-125267 I A
Client Ref. No. - N" de ref. du client File No. - N du dossier
W7702-125267 EDM-1-34276
TABLE OF CONTENTS
PART 1 -GENERAL INFORMATION
1. Introduction
2. Summary
3. Debriefings
4. Maximum Funding
PART 2 - BIDDER INSTRUCTIONS
1. Standard Instructions, Clauses and Conditions
2. Submission of Bids
3. Enquiries- Bid Solicitation
4. Applicable Laws
PART 3- BID PREPARATION INSTRUCTIONS
1. Bid Preparation Instructions

DIVULGUE EN VERTU DE LA LAI- RENSEIGNEMENTS NON CLASSIFIE
Buyer ID - ld de l'acheteur
edm066
CCC No./N" CCC - FMS No/ N" VME
PART 4- EVALUATION PROCEDURES AND BASIS OF SELECTION
1. Evaluation Procedures
2. Basis of Selection
3. Security Requirement
PART 5- CERTIFICATIONS
1. Certifications Precedent to Contract Award
PART 6 - RESULTING CONTRACT CLAUSES
1. Statement of Work
2. Standard Clauses and Conditions
4. Term of Contract
5. Authorities
6. Payment
7. Invoicing Instructions
8. Certifications
9. Applicable Laws
10. Priority of Documents
11 . Defence Contract
12. Foreign Nationals (Canadian Contractor)
13. Insurance
14. SACC Manual Clauses
List of Annexes:
Statement of Work
Basis of Payment
Disclosures Certification
Annex "A"
Annex "B"
Annex "C"
Annex "D" Security Requirements Check List
Page 2 of - de 29
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Solicitation No. - N' de !'invitation Amd. No.- N' de Ia modif.
W7702-125267/ A
Client Ref. No. - W de ref. du client File No. - N" du dossier
W7702-125267 EDM-1-34276

Buyer 10 - ld de l'acheteur
edm066
CCC No .IN' CCC - FMS No/ W VME
Annex "E" Mandatory Criteria, Evaluation Criteria and Selection Method
Page 3 of - de 29
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W7702-125267 I A
Client Ref. No. - N' de ref. du client
W7702-125267
PART 1 GENERAL INFORMATION
1. Introduction
Amd. No.- N' de Ia modif.
File No. - N' du dossier
EDM-1-34276
edm066
CCC No./N' CCC- FMS No/ N' VME
The bid solicitation is divided into six parts plus attachments and annexes, as follows:
Part 1 General information: provides a general description of the requirement;
Part 2 Bidder Instructions: provides the instructions, clauses and conditions applicable to the bid
solicitation;
Part 3 Bid Preparation Instructions: provides bidders with instructions on how to prepare their bid;
Part 4 Evaluation Procedures and Basis of Selection: indicates how the evaluation will be conducted,
the evaluation criteria that must be addressed in the bid, if applicable, and the basis of selection;
Part 5 Certifications: includes the certifications to be provided;
Part 6 Resulting Contract Clauses: includes the clauses and conditions that will apply to any resulting
contract.
The Annexes include the Statement of Work, the Basis of Payment, the Disclosures Certification, the
Security Requirement checklist and the Mandatory Criteria, Evaluation Criteria and Selection Method.
2. Summary
Defence Research and Development Canada (DRDC) - Suffield, Medicine Hat, Alberta has a
requirement to develop control algorithms for the Micro Hydraulic Toolkit (MHT) robot that will allow it to
perform a variety of locomotion behaviours focusing on stability and performance. These control
algorithms will be developed in simulation, under different terrain surfaces and tested on the real robot.
The motion of the simulated robot and real robot will be compared to refine the model and provide
quantitative data. Finally, the control behaviours will be integrated with a vision based leader/follower
software and man machine interface.
The period of contract is date of award to March 31, 2014.
There is a security requirement associated with this requirement. For additional information, consult Part
4 - Evaluation Procedures and Basis of Selection, and Part 6 - Resulting Contract Clauses. Bidders
should consult the "Security Requirements for PWGSC Bid Solicitations- Instructions for Bidders"
(http://www.tpsgc-pwgsc.gc.ca/app-acq/lc-pl/lc-pl-eng.html#a31) document on the Departmental
Standard Procurement Documents Web site."
The requirement is limited to Canadian goods and/or services.
3. Debriefings
After contract award, bidders may request a debriefing on the results of the bid solicitation process.
Bidders should make the request to the Contracting Authority within 15 working days of receipt of the
results of the bid solicitation process. The debriefing may be in writing, by telephone or in person.
4. Maximum Funding
Page 4 of - de 29
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DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIF!E
Solicitation No. - N' de /'invitation
W7702-125267 I A
W7702-125267
Amd. No.- N' de Ia modi!.
EDM-1-34276
Buyer 10 - ld de /'acheteur
edm066
CCC No .IN' CCC - FMS No/ N" VME
The maximum funding available for the Contract resulting from the bid solicitation is $245,000.00
(Goods and Services Tax or Harmonized Sales Tax extra, as appropriate). Bids valued in excess of this
amount will be considered non-responsive. This disclosure does not commit Canada to pay the
maximum funding available.
Estimated fiscal year breakdown as follows:
FY 2011-2012 $ 65,000.00
FY 2012-2013 $ 70,000.00
FY 2013-2014 $110,000.00
PART 2 - BIDDER INSTRUCTIONS
1. Standard Instructions, Clauses and Conditions
All instructions, clauses and conditions identified in the bid solicitation by number, date and title are set
out in the Standard Acquisition Clauses and Conditions
(http://ccua-sacc.tpsgc-pwgsc.gc.ca/pub/acho-eng.jsp) Manual issued by Public Works and Government
Services Canada.
Bidders who submit a bid agree to be bound by the instructions, clauses and conditions of the bid
solicitation and accept the clauses and conditions of the resulting contract.
The 2003 (2011-05-16) Standard Instructions- Goods or Services- Competitive Requirements, are
incorporated by reference into and form part of the bid solicitation.
2. Submission of Bids
Bids must be submitted only to Public Works and Government Services Canada (PWGSC) Bid
Receiving Unit by the date, time and place indicated on page 1 of the bid solicitation.
Due to the nature of the bid solicitation, bids transmitted by facsimile to PWGSC will not be accepted.
3. Enquiries - Bid Solicitation
All enquiries must be submitted in writing to the Contracting Authority no later than five (5) calendar days
before the bid closing date. Enquiries received after that time may not be answered.
Bidders should reference as accurately as possible the numbered item of the bid solicitation to which the
enquiry relates. Care should be taken by bidders to explain each question in sufficient detail in order to
enable Canada to provide an accurate answer. Technical enquiries that are of a proprietary nature must
be clearly marked "proprietary" at each relevant item. Items identified as "proprietary" will be treated as
such except where Canada determines that the enquiry is not of a proprietary nature. Canada may edit
the questions or may request that the Bidder do so, so that the proprietary nature of the question is
eliminated, and the enquiry can be answered with copies to all bidders. Enquiries not submitted in a form
that can be distributed to all bidders may not be answered by Canada.
4. Applicable Laws
Page 5 of - de 29
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'
W7702-125267/ A
Client Ref. No. - N" de ref. du client
W7702-125267
File No. - N" du dossier
EDM-1-34276
!
edm066
Any resulting contract must be interpreted and governed, and the relations between the parties
determined, by the laws in force in Alberta.
Bidders may, at their discretion, substitute the applicable laws of a Canadian province or territory of their
choice without affecting the validity of their bid, by deleting the name of the Canadian province or
territory specified and inserting the name of the Canadian province or territory of their choice. If no
change is made, it acknowledges that the applicable laws specified are acceptable to the bidders.
PART 3- BID PREPARATION INSTRUCTIONS
1. Bid Preparation Instructions
Canada requests that bidders provide their bid in separately bound sections as follows:
Section 1:
Section II:
Section Ill:
Section Ill:
Technical Bid (3 hard copies)
Management Bid (3 hard copies)
Financial Bid (2 hard copies)
Certifications (1 copy)
Prices must appear in the financial bid only. No prices must be indicated in any other section of the bid.
Canada requests that bidders follow the format instructions described below in the preparation of their
bid:
(a) use 8.5 x 11 inch (216 mm x 279 mm) paper;
(b) use a numbering system that corresponds to the bid solicitation.
In April 2006, Canada issued a policy directing federal departments and agencies to take the necessary
steps to incorporate environmental considerations into the procurement process Policy on Green
Procurement
(http://www.tpsgc-pwgsc.gc.ca/ecologisation-greening/achats-procuremenUpolitique-policy-eng.html). To
assist Canada in reaching its objectives, bidders are encouraged to :
1) use paper containing fibre certified as originating from a sustainably-managed forest and/or
containing minimum 30% recycled content; and
2) use an environmentally-preferable format including black and white printing instead of colour
printing, printing double sided/duplex, using staples or clips instead of cerlox, duotangs or
binders.
Section 1: Technical Bid
In their technical bid, bidders should demonstrate their understanding of the requirements contained in
the bid solicitation and explain how they will meet these requirements. Bidders should demonstrate their
capability and describe their approach in a thorough, concise and clear manner for carrying out the work.
The technical bid should address clearly and in sufficient depth the points that are subject to the
evaluation criteria against which the bid will be evaluated. Simply repeating the statement contained in
the bid solicitation is not sufficient. In order to facilitate the evaluation of the bid, Canada requests that
bidders address and present topics in the order of the evaluation criteria under the same headings. To
Page 6 of - de 29
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Solicitation No. - W de !'invitation
W7702-125267/A
W7702-125267
EDM-1-34276
edm066
CCC No .IN' CCC- FMS No/ N' VME
avoid duplication, bidders may refer to different sections of their bids by identifying the specific
paragraph and page number where the subject topic has already been addressed.
Section II: Management Bid
In their management bid, bidders must describe their capability and experience, the project management
team and provide client contact(s).
Section Ill: Financial Bid
1.1 Bidders must submit their financial bid in accordance with the Basis of Payment in Annex "B".
The total amount of Goods and Services Tax or Harmonized Sales Tax must be shown
separately, if applicable.
Section IV: Certifications
Bidders must submit the certifications required under Part 5.
PART 4 EVALUATION PROCEDURES AND BASIS OF SELECTION
1. Evaluation Procedures
(a) Bids will be assessed in accordance with the entire requirement of the bid solicitation including
the technical, management and financial evaluation criteria.
(b) An evaluation team composed of representatives of Canada will evaluate the bids.
1.1 Technical Evaluation
Mandatory and point rated technical criteria are included in Annex "E".
1.2 Management Evaluation
Management evaluation criteria are detailed under "B" Training and Experience" and "C" Project
Organization as included in Annex "E".
1.3 Financial Evaluation
Financial evaluation will be based on the total ceiling price proposed in Annex "B".
The costs for the items in Annex B will be added together to obtain the total ceiling price.
2. Basis of Selection
To be declared responsive, a bid must:
(a) comply with all the requirements of the bid solicitation;
meet all mandatory technical evaluation criteria; and (b)
(c)
point
obtain the required minimum points for the technical evaluation criteria which are subject to
rating.
Page 7 of - de 29
A-2013-01547 --0268
Solicitation No. - N' de !'invitation
W7702-125267/A
Client Ref. No. - N' de r9f. du client
W7702-125267
Amd. No. - N' de Ia modif.
EDM-1-34276
edm066
CCC No .IN' CCC FMS No/ N' VME
2. Bids not meeting (a) or (b) or (c) will be declared non responsive. The responsive bid with the
highest number of points will be recommended for award of a contract, provided that the total evaluated
price does not exceed the budget available for this requirement.
1. Before award of a contract, the following conditions must be met:
(a) the Bidder must hold a valid organization security clearance as indicated in Part 6 - Resulting
Contract Clauses;
(b) the Bidder's proposed individuals requiring access to classified or protected information, assets
or sensitive work site(s) must meet the security requirement as indicated in Part 6 - Resulting
Contract Clauses;
(c) the Bidder must provide the name of all individuals who will require access to classified or
protected information, assets or sensitive work sites.
2. Bidders are reminded to obtain the required security clearance promptly. Any delay in the award of
a contract to allow the successful bidder to obtain the required clearance will be at the entire discretion of
the Contracting Authority.
3. For additional information on security requirements, bidders should consult the "Security
Requirements for PWGSC Bid Solicitations- Instructions for Bidders"
(http://www.tpsgc-pwgsc.gc.ca/app-acq/lc-pl/lc-pl-eng.html#a31) document on the Departmental
Standard Procurement Documents Web site.
PART 5- CERTIFICATIONS
Bidders must provide the required certifications to be awarded a contract. Canada will declare a bid
non-responsive if the required certifications are not completed and submitted as requested.
Compliance with the certifications bidders provide to Canada is subject to verification by Canada during
the bid evaluation period (before award of a contract) and after award of a contract. The Contracting
Authority will have the right to ask for additional information to verify bidders' compliance with the
certifications before award of a contract. The bid will be declared non-responsive if any certification
made by the Bidder is untrue, whether made knowingly or unknowingly. Failure to comply with the
certifications or to comply with the request of the Contracting Authority for additional information will also
render the bid non-responsive.
1. Certifications Precedent to Contract Award
The certifications listed below should be completed and submitted with the bid but may be submitted
afterwards. If any of these required certifications is not completed and submitted as requested, the
Contracting Authority will so inform the Bidder and provide the Bidder with a time frame within which to
meet the requirement. Failure to comply with the request of the Contracting Authority and meet the
requirement within that time period will render the bid non-responsive.
1.1 Federal Contractors Program - Certification
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W7702-125267/A
Client Ref. No.- No de ret. du client
W7702-125267
Amd. No. - W de Ia modi!.
File No. - W du dossier
EDM-1-34276
DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSIFI E
edm066
CCC No./W CCC - FMS No/ W VME
Federal Contractors Program - $200,000 or more
1.1.1. The Federal Contractors Program (FCP) requires that some suppliers, including a supplier who is
a member of a joint venture, bidding for federal government contracts, valued at $200,000 or
more (including all applicable taxes), make a formal commitment to implement employment
equity. This is a condition precedent to contract award. If the Bidder, or, if the Bidder is a joint
venture and if any member of the joint venture, is subject to the FCP, evidence of its
commitment must be provided before the award of the Contract.
Suppliers who have been declared ineligible contractors by Human Resources and Skills
Development Canada (HRSDC) are no longer eligible to receive government contracts over the
threshold for solicitation of bids as set out in the Government Contracts Regulations. Suppliers
may be declared ineligible contractors either as a result of a finding of non-compliance by
HRSDC, or following their voluntary withdrawal from the FCP for a reason other than the
reduction of their workforce to less than 100 employees. Any bids from ineligible contractors,
including a bid from a joint venture that has a member who is an ineligible contractor, will be
declared non-responsive.
1.1.2. If the Bidder does not fall within the exceptions enumerated in 3.(a) or (b) below, or does not
have a valid certificate number confirming its adherence to the FCP, the Bidder must fax
(819-953-8768) a copy of the signed form LAB 1168, Certificate of Commitment to Implement
Employment Equity, to the Labour Branch of HRSDC.
(
http://www.servicecanada.gc.ca/cgi-bin/search/eforms/index.cgi?app=profile&form=lab1168&dept=sc&la
ng=e)
1.1.3. The Bidder, or, if the Bidder is a joint venture the member of the joint venture, certifies
its status with the FCP, as follows:
The Bidder or the member of the joint venture
(a)
(b)
(c)
(d)
is not subject to the FCP, having a workforce of less than 100 full-time or
part-time permanent employees, or temporary employees having worked 12
weeks or more in Canada;
is not subject to the FCP, being a regulated employer under the Employment
Equity Act, S.C. 1995, c. 44;
is subject to the requirements of the FCP, having a workforce of 100 or more
full-time or part-time permanent employees, or temporary employees having
worked 12 weeks or more in Canada, but has not previously obtained a
certificate number from HRSDC (having not bid on requirements of $200,000 or
more), in which case a duly signed certificate of commitment is attached;
is subject to the FCP, and has a valid certificate number as follows: __ _
(e.g. has not been declared an ineligible contractor by HRSDC.)
Further information on the FCP is available on the HRSDC Web site.
( http://www.hrsdc.gc.ca/eng/labour/equality/fcp/index.shtml )
1.2 Former Public Servant Certification
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Contracts with former public servants (FPS) in receipt of a pension or of a lump sum payment must bear
the closest public scrutiny, and reflect fairness in the spending of public funds. In order to comply with
Treasury Board policies and directives on contracts with FPS, bidders must provide the information
required below.
Definitions
For the purposes of this clause,
"former public servant" is any former member of a department as defined in the Financial Administration
Act, R.S., 1985, c. F-11, a former member of the Canadian Armed Forces or a former member of the
Royal Canadian Mounted Police. A former public servant may be:
(a) an individual;
(b) an individual who has incorporated;
(c) a partnership made of former public servants; or
(d) a sole proprietorship or entity where the affected individual has a controlling or major interest in the
entity.
"lump sum payment period" means the period measured in weeks of salary, for which payment has been
made to facilitate the transition to retirement or to other employment as a result of the implementation of
various programs to reduce the size of the Public Service. The lump sum payment period does not
include the period of severance pay, which is measured in a like manner.
"pension" means, in the context of the fee abatement formula, a pension or annual allowance paid under
the Public Service Superannuation Act (PSSA), R.S., 1985, c. P-36, and any increases paid pursuant to
the Supplementary Retirement Benefits Act, R.S., 1985, c. S-24 as it affects the PSSA. It does not
include pensions payable pursuant to the Canadian Forces Superannuation Act, R.S., 1985, c. C-17, the
Defence Services Pension Continuation Act, 1970, c. D-3, the Royal Canadian Mounted Police Pension
Continuation Act, 1970, c. R-10, and the Royal Canadian Mounted Police Superannuation Act, R.S.,
1985, c. R-11, the Members of Parliament Retiring Allowances Act , R.S., 1985, c. M-5, and that portion
of pension payable to the Canada Pension Plan Act, R.S., 1985, c. C-8.
Former Public Servant in Receipt of a Pension
Is the Bidder a FPS in receipt of a pension as defined above? YES ( ) NO (
If so, the Bidder must provide the following information:
(a) name of former public servant;
(b) date of termination of employment or retirement from the Public Service.
Work Force Reduction Program
Is the Bidder a FPS who received a lump sum payment pursuant to the terms of a work force reduction
program? YES ( ) NO ( )
If so, the Bidder must provide the following information:
(a) name of former public servant;
(b) conditions of the lump sum payment incentive;
(c) date of termination of employment;
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(d) amount of lump sum payment;
(e) rate of pay on which lump sum payment is based;
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(f) .Period of lump sum payment including start date, end date and number of weeks;
(g) number and amount (professional fees) of other contracts subject to
the restrictions of a work force reduction program.
For all contracts awarded during the lump sum payment period, the total amount of fees that may be
paid to a FPS who received a lump sum payment is $5,000, including the Goods and Services Tax or
Harmonized Sales Tax.
Certification
By submitting a bid, the Bidder certifies that the information submitted by the Bidder in response to the
above requirements is accurate and complete.
1 .3 Canadian Content Certification
1 .3. 1 SACC Manual clause A3050T (201 0/01/11 ), Canadian Content Definition
1 .3.2 Canadian Content Certification - A3055T
This procurement is limited to Canadian services.
The Bidder certifies that:
the service offered is a Canadian service as defined in paragraph 2 of clause A3050T.
1.4 Status and Availability of Resources
The Bidder certifies that, should it be awarded a contract as a result of the bid solicitation, every
individual proposed in its bid will be available to perform the Work as required by Canada's
representatives and
at the time specified in the bid solicitation or agreed to with Canada's representatives. If for reasons
beyond its control, the Bidder is unable to provide the services of an individual named in its bid, the
Bidder may propose a substitute with similar qualifications and experience. The Bidder must advise the
Contracting Authority of the reason for the substitution and provide the name, qualifications and
experience of the proposed replacement. For the purposes of this clause, only the following reasons
will be considered as beyond the control of the Bidder: death, sickness, maternity and parental leave,
retirement, resignation, dismissal for cause or termination of an agreement for default.
If the Bidder has proposed any individual who is not an employee of the Bidder, the Bidder certifies that
it has the permission from that individual to propose his/her services in relation to the Work to be
performed and to submit his/her resume to Canada. The Bidder must, upon request from the Contracting
Authority, provide a written confirmation, signed by the individual, of the permission given to the Bidder
and of his/her availability.
1.5 Education and Experience
1.5.1 SACC Manual clause A3010T (2010-08-16) Education and Experience
PART 6- RESULTING CONTRACT CLAUSES
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The following clauses and conditions apply to and form part of any contract resulting from the bid
solicitation.
The Contractor must perform the Work in accordance with the Statement of Work at Annex "A" and the
Contractor's technical bid and management portion of the Contractor's bid entitled , dated
All clauses and conditions identified in the Contract by number, date and title are set out in the Standard
Acquisition Clauses and Conditions (http://ccua-sacc.tpsgc-pwgsc.gc.ca/pub/acho-eng.jsp) Manual
issued by Public Works and Government Services Canada.
2.1 General Conditions
2040 (2011-05-16), General Conditions- Research & Development, apply to and form part of the
Contract.
1. The Contractor/Offeror must, at all times during the performance of the Contract/Standing Offer, hold
a valid Designated Organization Screening(DOS), issued by the Canadian Industrial Security Directorate
(CISD), Public Works and Government Ser-vices Canada (PWGSC).
2. The Contractor/Offeror personnel requiring access to sensitive work site(s)must EACH hold a valid
RELIABILITY STATUS, granted or approved by CISD/PWGSC. Until the security screening of the
Contractor personnel required by this Contract has been completed satisfactorily by the CISD, PWGSC,
the Contractor personnel MAY NOT ENTER sites without an escort.
3. Subcontracts which contain security requirements are NOT to be awarded without the prior written
permission of CISD/PWGSC.
4. The Contractor/Offeror must comply with the provisions of the:
(a) Security Requirements Check List and security guide (if applicable), attached at Annex "C";
(b) Industrial Security Manual (Latest Edition).
4. Term of Contract
4.1 Period of the Contract
The period of the contract is from date of award to March 31, 2014.
5. Authorities
5.1 Contracting Authority
The Contracting Authority for the Contract is:
Mony Lee
supply Specialist
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Acquisitions, Western Region
Telus Plaza North,
10025 Jasper Avenue, 5th Floor
Edmonton, AB T5J 1S6
TELEPHONE NO.: (780) 497-3535
FACSIMILE NO.: (780) 497-3510
E-mail address: mony.lee@pwgsc-tpsgc.gc.ca
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The Contracting Authority is responsible for the management of the Contract and any changes to the
Contract must be authorized in writing by the Contracting Authority. The Contractor must not perform
work in excess of or outside the scope of the Contract based on verbal or written requests or instructions
from anybody other than the Contracting Authority.
5.2 Technical Authority
The Technical Authority for the Contract is:
to be named upon contract award
Department of National Defence
Defence Research & Development Canada Suffield
P.O. Box 4000
Medicine Hat, AB T1A 8K6
TELEPHONE NO.: (403) 544-
FACSIMILE NO.: (403) 544-
E-MAIL: @drdc-rddc.gc.ca
The Technical Authority named above is the representative of the department or agency for whom the
Work is being carried out under the Contract and is responsible for all matters concerning the technical
content of the Work under the Contract. Technical matters may be discussed with the Technical
Authority, however the Technical Authority has no authority to authorize changes to the scope of the
Work. Changes to the scope of the Work can only be made through a contract amendment issued by
the Contracting Authority.
5.3 Administrative Authority
to be named upon contract award
P.O. Box 4000
TELEPHONE NO.: (403) 544-
FACSIMILE NO.: (403) 544-
E-MAIL: @drdc-rddc.gc.ca
5.4 Contractor's Representative
Name: ___________ _
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Telephone No: --------
Facsimile No: ________ _
E-mail:-----------
6. Payment
6.1 Basis of Payment - Ceiling Price
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The Contractor will be reimbursed for the costs reasonably and properly incurred in the performance of
the Work, as determined in accordance with the Basis of Payment in Annex "B", to a ceiling price of
$ . Customs duties are included and Goods and Services Tax or Harmonized Sales Tax is
extra, if applicable.
The ceiling price is subject to downward adjustment so as not to exceed the actual costs reasonably
incurred in the performance of the Work and computed in accordance with the Basis of Payment.
6.2 Limitation of Price
SACC Manual clause C6000C (2011-05-16), Limitation of Price
6.3 Progress Payments
6.3.1. Canada will make progress payments in accordance with the payment provisions of the Contract,
no more than once a month, for cost incurred in the performance of the Work up to 90 percent of
the amount claimed and approved by Canada if:
(a) an accurate and complete claim for payment using form PWGSC-WR01
(http://www.pwgsc.gc.ca/acquisitions/text/forms/forms-e.html ) and any other document
required by the Contract have been submitted in accordance with the invoicing
instructions provided in the Contract;
(b) the amount claimed is in accordance with the Basis of payment;
(c) the total amount for all progress payments paid by Canada does not exceed 90 percent
of the total amount to be paid under the Contract;
(d) all certificates appearing on form PWGSC-WR01 have been signed by the respective
authorized representatives.
6.3.2. The balance of the amount payable will be paid in accordance with the payment provisions of the
Contract upon completion and delivery of all work required under the Contract if the Work has
been accepted by Canada and a final claim for the payment is submitted.
6.3.3. Progress payments are interim payments only. Canada may conduct a government audit and
interim time and cost verifications and reserves the rights to make adjustments to the Contract
from time to time during the performance of the Work. Any overpayment resulting from progress
payments or otherwise must be refunded promptly to Canada.
6.4 Discretionary Audit
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6.5 T1204 - Direct Request by Customer Department
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SACC Manual Clause A9117C (2007-11-30), T1204- Direct Request by Customer Department
7.1 Invoice Instructions - Progress Payments
7.1.1 The Contractor must submit a claim for progress payment using form PWGSC-WR01 to the
Administrative Authority.
Each claim must show:
(a) all information required on form PWGSC-WR01;
(b) all applicable information detailed under the section entitled "Invoice Submission" of the
general conditions;
(c) expenditures in accordance with the Basis of Payment for the Work performed during the
period of the claim;
(d) holdback of 10 percent;
(e) total of all previous claims against the Contract and the extension of the totals to date;
Each claim must be supported by:
(a) a copy of time sheets to support the time claimed;
(b) two (2) sets of copies of the invoices, receipts, vouchers for all direct expenses, travel and
living expenses;
(c) a copy of the monthly progress report.
7.1.2 Goods and Services Tax (GST) or Harmonized Sales Tax (HST), as applicable, must be
calculated on the total amount of the claim before the holdback is applied. At the time the holdback is
claimed, there will be no GST/HST payable as it was claimed and payable under the previous claims for
progress payments.
7.1.3 The Contractor must prepare and certify one original and two (2) copies of the claim on form
PWGSC-WR01, and forward it to the Administrative Authority identified under the section entitled
"Authorities" of the Contract for appropriate certification after inspection and acceptance of the Work
takes place.
7 .1.4 The Contractor must not submit claims until all work identified in the claim is completed.
8. Certifications
8.1 Compliance with the certifications provided by the Contractor in its bid is a condition of the
Contract and subject to verification by Canada during the term of the Contract. If the Contractor
does not comply with any certification or it is determined that any certification made by the
Contractor in its bid is untrue, whether made knowingly or unknowingly, Canada has the right,
pursuant to the default provision of the Contract, to terminate the Contract for default.
8.2 SACC Manual Clauses
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A3060C (2008-05-12), Canadian Content Certification
8.3 Disclosures Certification
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On completion of the Work, the Contractor must submit to the Technical Authority and to the Contracting
Authority a copy of the Disclosure Certification attached as Annex "C" stating that all applicable
disclosures were submitted or that there were no disclosures to submit under general conditions 2040.
9. Applicable laws
The Contract must be interpreted and governed, and the relations between the parties determined, by
the laws in force in Alberta.
10. Priority of Documents
If there is a discrepancy between the wording of any documents that appear on the list, the wording of
the document that first appears on the list has priority over the wording of any document that
subsequently appears on the list.
(a) the Articles of Agreement;
(b) the general conditions 2040 (20 11-05-16), General Conditions - Research and Development,
(c) Annex "A", Statement of Work
(d) Annex "B", Basis of Payment;
(e) Annex "C", Disclosures Certification,
(f) Annex "D", Security Requirements Check List
(g) the Contractor's bid dated _____ _
11. Defence Contract
SACC Manual clause A9006C (2008-05-12) Defence Contract
SACC Manual clause A2000C (2006-06-16) Foreign Nationals (Canadian Contractor)
13. Insurance
SACC Manual clause G1005C (2008-05-12) Insurance
A9062C (201 0/01/11 ), Canadian Forces Site Regulations
B6800C (2007/11/30), List of Non-consumable Equipment and Materials
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ANNEX "A"- STATEMENT OF WORK
Statement of Work
Autonomous Control and Navigation of a Multi Degree-of-Freedom Robot
2. Background
The Autonomous Intelligent Systems Section (AISS) at Defence R&D Canada - Suffield (DRDC Suffield)
is developing Unmanned Ground Vehicles (UGVs) to operate in complex environments. The ability to
operate in complex environments has researchers exploring novel mobility platforms and intelligent
mobility algorithms to improve the capabilities of existing and future robotic systems. Pursuant to this
objective, DRDC Suffield has identified and constructed some robotic vehicles to further the research.
Although these robots will rely on perception systems for navigation in rough terrain it is necessary to
develop control for stability and performance.
The Micro Hydraulic Toolkit (MHT) vehicle is one of the robots being developed by Defence R&D
Canada - Suffield for control algorithm development. The vehicle is a reconfigurable platform with 12
controllable degrees-of-freedom. The vehicle has a main structure that houses the pump, motor, battery,
and control electronics. The main structure also houses a rotary actuator that connects to another rotary
actuator by means of a structural leg member. The rotary knee actuator connects to a rotary wheel by
another structural member. The entire toolkit is designed with 12 degrees-of-freedom, operated by 8
hydraulic actuators. The four hip and four knee actuators are non-continuous rotary hydraulic actuators
that are capable of 90 degrees of rotation. The vehicle is intended to be reconfigurable and therefore the
structural members connecting hip to knee and knee to wheel are designed to be fastened in 22.5 degree
increments. The four electric wheel actuators are capable of continuous rotary motion. This robot is fully
functional and shown in the image below.
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The objective of this contract is to develop control algorithms for the Micro Hydraulic Toolkit (MHT) robot
that will allow it to perform a variety of locomotion behaviours focusing on stability and performance.
These control algorithms will be developed in simulation, under different terrain surfaces and tested on
the real robot. The motion of the simulated robot and real robot will be compared to refine the model and
provide quantitative data. Finally, the control behaviours will be integrated with a vision based
leader/follower software and man machine interface.
4. Scope of Work
The work is comprised into three main tasks: control algorithm development, control algorithm validation,
and control algorithm integration with respective subtasks.
Task 1: Control Algorithm Development
A complete LMS Virtual. lab Motion (VLM) model of the MHT robot has been created. This model is an
exact replica of the actual robot in size, weight, center of mass, range of motion, etc. The model also
includes specific component characteristics of the robot such as tire stiffness and damping values. The
control method, feedback sensors, and joint actuation mechanics are also completely modeled. This
includes measuring the total charge of the onboard batteries and calculating the energy loss each time
the hydraulic pump recharges the accumulator. The model also includes a complete hydraulic circuit
complete with operating pressure, flow, and hydraulic fluid characteristics. An image of the modeled
robot is shown below:
f:t=.
.... , ......"
:..;.....
..,..,,_.}:.f.<....
t: : .. _,... ,,...,,
,,;; '>"JO'Io<'I,I'<>>'>'<<'"'I .... U
',.+_,:.,.,"'.,n . ,....
The LMS VLM software also provides an interface with MATLAB through an S-function in Simulink. The
block in the Simulink environment behaves as the interface to the control computer on the robot. This
block provides the control signals to each of the actuators and reads the feedback sensors from the
robot. The feedback sensors include positions of the actuators, velocity of the wheels, roll, pitch, and yaw
values as well as rates and linear accelerations in the x, y, and z directions.
Terrain profiles were also created in the LMS environment to test the control algorithm robustness and
try to create realistic obstacles the robot would be expected to traverse in the real world. Four basic
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terrain patterns were developed including: linear steps, ramps, stairs, and sinusoids. Each of these
profiles were created with editable parameters to change the ramp angle, step height, period, amplitude,
etc. An asymmetric sinusoidal surface was also created to attempt to model surface roughness. Some of
the typical surfaces are shown below:
Task 1.1: Static Proprioceptive Algorithms
Static proprioceptive control algorithms are control algorithms that move all active joints in concert to
create behaviours using only internal feedback sensors. These sensors are the positions of the actuators,
velocity of the wheels, roll, pitch, and yaw values as well as rates and linear accelerations in the x, y, and
z
directions. For example to move the robot from its lowest position through the midway point to its tallest
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position, with no forward motion, would be considered a static proprioceptive control behaviour. The
sequence of motions is shown in the following figures:
Single Input and Single Output'(SISO) control strategies were applied unsuccessfully to control this
robot.
A supervisory controller was developed to coordinate joint rates and enhance stability. However, in
recent
developments a multi-input multi-output (MIMO) controller was applied successfully using a defined
posture and trajectory.
In this task it is expected that a variety of static behaviour algorithms will be created in LMS under
MATLAB control. Some of the intended behaviours are listed below but are not limited to this list. They
are
as follows:'.
Lowest position to highest position
Smallest support polygon to largest support polygon
Max/Min main body pitch
Max/min main body roll

Task 1.2: Dynamic Proprioceptive Algorithms
Dynamic proprioceptive control algorithms are control algorithms that move all active joints in concert to
create behaviours, using only internal feedback sensors, but with forward velocity. It is expected that all
of
the behaviours created in Task 1.1 will be used in this task but with a varying forward speed. The
addition
of forward speed will reveal controller robustness as the actuators will experience nonsymmetrical loads.
Task 1.3: Stability Algorithm on Various Terrain Surfaces
As mentioned earlier terrain profiles were created within the LMS environment to provide realistic
operating environments. This section addresses the stability and performance of the MHT robot when
exposed to various terrain surfaces. The intent is to design a controller that maintains a predefined
posture while moving on different terrain profiles. For example the objective is to maintain a level main
body of the MHT robot, within a few degrees, while transitioning from a flat terrain to an incline ramp of
20
degrees. The robot must sense the incline change, with the onboard IMU, adjust the front and/or rear leg
positions to maintain the level body and continue up the ramp. Some of the terrains surfaces used to test
the stability algorithms are listed below but are not limited to this list. They are as follows:
Various incline of ramps
Various periods and amplitudes of symmetric sinusoids
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Various periods of amplitudes of nonsymmetrical sinusoids
Various periods of amplitudes of nonsymmetrical sinusoid surfaces
It would also be useful to determine the maximum speed that can be achieved with each stability
algorithm on each specific terrain. This would exploit the electric motor, pump, accumulator, valve, and
actuator latencies. The resulting data provides a direction when considering platform redesign.
Task 1.4: Turning Radius with Stability Algorithm on Various Terrain Surfaces
It is expected that once the stability algorithm is developed on various terrain surfaces a turning function
needs to be added. The MHT is not equipped with steerable wheels so a basic differential steering is
required. As with other robotic platforms with variable leg lengths pivot turning is also possible.
Task 1.5: Discontinuous Locomotion Algorithms
Discontinuous locomotion algorithms are control algorithms that must consider balance when end
effectors are not continuously in contact with the terrain. The MHT is equipped with wheel end effectors
to provide forward locomotion but they could become disabled. Legged walking gaits can be developed
by locking the wheel and controlling the active hip and knee joints. Statically stable or dynamically stable
gaits will first be developed on open terrain. Then the static gaits will be applied to linear step features
such as boxes and stairs. Various rise and run vales for the stairs should be tested to determine the
algorithms robustness to change.
Task 2: Control Algorithm Validation
As with any work in simulation the results are not widely accepted until they are applied to the real
equipment in the real world. This task will address taking the control algorithm developed in MATLB,
converting it to C code, executing the algorithm, and receding the desired motion. After each major
control algorithm development the respective behaviour will be tested on the real MHT robot. As
mentioned earlier, DRDC Suffield has a fully functional MHT robot, MATLAB to C code converting tools,
and a motion capture system set up in a lab. The control behaviour will be executed in software and in
the real world. The motion data will be captured from each source and compared both for the actual
movement and virtual movement. Each joint, limb, and body of the two systems will be compare to the
displacement and rate of displacement. If the two sources of data to not coincide, within a low tolerance,
the respective discrepancy in the model will be updated and changed to reflect the actual motion. This
refinement will progress as more complex control algorithms are developed in software and tested in the
real world.
Task 3: Control Algorithm Integration with Leader/Follower behaviours and MMI
The control algorithm development is a very important step in a larger problem of intelligently moving
UGVs around in the world. During the course of this work two other concepts will be developed for the
MHT robot. Previously developed leader follower software will be implemented on the MHT platform.
This software was developed for larger Ackerman steered vehicles using an optical tracking method to
follow features or colors on a lead vehicle. This software will be augmented to be used on the MHT robot
and track a human at walking speed. The second major development is a man machine interface (MMI)
hardware that is used as the control station for the MHT robot. This hardware is used to view the image
of the camera on the MHT, provide health monitoring of the MHT, engage and disengage the
leader/follower software, and engage or disengage the control algorithm behaviours that are being
developed in this contract. During forward motion, while following the human leader, the MHT may be
executing one of its behaviours of maintaining a level body while moving over non flat terrain.
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The integration effort involves combining the speed and turning radius commands, of the leader follower
software, with the stability algorithm commands of the MHT. The intended final integration has the MMI
hardware fully integrated with leader/follower software, ability to tele-operate the MHT, execute any of
the advanced behaviours, provide health monitoring of the MHT, and combined
leader/follower-advanced behaviour control. The contractor is expected to aid in combining
leader/follower-advanced behaviour control.
5. Meetings
Kickoff, monthly, and milestone meetings will ensure that both theTA and the Contractor have a clear
understanding of the progress of the project. A kickoff meeting will be held at DRDC Suffield. Monthly
update meetings, to be conducted via teleconference, will be preceded by a short email indicating the
progress made by the Contractor over the course of the month. An assessment of the overall progress,
risks, and schedule should be included. Meetings triggered by the completion of the advanced control
algorithms will be held at DRDC Suffield with the algorithm being tested on the real vehicle. Validation
and integration trials will be conducted at DRDC Suffield at a time mutually agreed upon by theTA and
the Contractor. Bidders must budget for travel to DRDC Suffield for meetings and trials within the stated
project budget.
6. Reports and Deliverables
1.The source code and any third party libraries required to build the modules comprising the autonomous
behaviours.
2.Final Contractor's report.
7. Government Furnished Support I Equipment /Information
LMS Virtual Lab.Motion with a model of the MHT and MATLAB/Simulink will be provided to the
contractor on a laptop. The contractor will have full access to the MHT robot, indoor lab space, motion
capture system, C code generation software, obstacles, ramps, stairs, etc. will all be provided to
complete the requested work. See attached 10041-2 (CSM) dated 30 May 11.
8. Special Considerations
The MHT robot will remain at DRDC Suffield for the entire duration of the contract. It is expected that the
majority of work in Task 2 and Task 3 be completed at DRDC Suffield. Although it is difficult to
determine, the technical authority estimates, this onsite portion to take between 6 - 12 months and occur
near the end of the contract.
9. Acceptance Criteria
The work plan will be finalized at the kickoff meeting and the work monitored regularly for adherence to
the work plan thereafter. TheTA will approve any deviations from the work plan in advance. TheTA will
determine acceptance of the work based on the successful demonstration of the hardware I software and
receipt of the deliverables, including satisfactory completion and acceptance of the final report.
10. Intellectual Property:
Intellectual properties that exist prior to the contract and reside with the Crown shall continue to reside
with the crown. Likewise, intellectual properties that exist prior to the contract and reside with the
Page 22 of- de 29
A-2013-01547 --0283

W7702-125267 I A
Client Ref. No. - N' de ret. du client
W7702-125267
Amd. No. - N' de Ia mod if.
EDM-1-34276
edm066
contractor shall continue to reside with the contractor. Any Foreground Intellectual Property created by
the Contractor during this contract resides with the contractor.
All reports or papers, co-authored with DRDC scientists must be approved by DRDC's Document Review
Panel, while other reporting is to be approved by the Technical Authority.
11. DRDC-Suffield General Contract Safety & Security Requirements
(1) GENERAL EXPERIMENTAL PROVING GROUNDS (EPG) SAFETY AND ACCESS INFORMATION
In accordance with DRDC Suffield regulations, all Contractor employees and subcontractors participating
in Experimental Proving Ground (EPG) activities that are not escorted by DRDC Suffield personnel or
the DRDC-authorized Contract principal will attend a general EPG safety briefing lasting approximately
one (1) hour at the Field Operations Section (FOS). This briefing will take place annually for long
standing Contracts and new or additional Contractor employees or subcontractors will be required to take
the briefing before beginning work.
An access permit is required for non-DND vehicles travelling on the EPG. In addition, a two-way radio,
compatible with the DRDC Suffield communication system, will be supplied for safety reasons. Other
forms/briefings related to safety and security may be required.
(2) WORK-SPECIFIC SAFETY BRIEFING
Contractors employees or subcontractors supporting DRDC Suffield personnel on specific Field Trial
Plans (FTP's), Standing Operating Procedures (SOP's), Study Approval Form (SAF), or other procedure
will attend work-specific briefings by the DRDC Technical Authority (TA) lasting approximately one (1)
hour relating to health, safety, environmental and emergency response procedures. Documentation
including FTP's, SOP's, SAF or other procedures, safety standards and EPG regulations will be cited or
made available to the Contractor employees or subcontractors on a loan basis for reference, as
applicable.
(3) OBSERVANCE OF ON-SITE SAFETY, HEALTH AND ENVIRONMENTAL STANDARDS ON
PROTECTION OF PROPERTY
The Contractor, their employees and subcontractors must comply with all DND/DRDC Suffield
regulations in force at the worksite, including the observance of all safety, health and environmental
standards and those in place to preserve and protect DND property from loss or damage from all causes
including fire.
(4) COMPLIANCE
The Contractor is responsible to ensure that all employees and subcontractors that will be working on the
site are fully briefed and have completed and signed the Safety Checklist prior to the start of any portion
of the on site work. A copy of the signed checklist must be provided by the Contractor to the DRDC
Suffield Technical Authority. No payments will be issued until all documentation is in place.
Page 23 of - de 29
A-2013-01547 --0284

Solicitation No. N' de !'invitation
W7702-125267 I A
W7702-125267
Amd. No. N' de Ia mod if.
File No . N' du dossier
EDM-1-34276
ANNEX B- BASIS OF PAYMENT
Buyer ID ld de l'acheteur
edm066
Payment will be made for time expended and other costs reasonably and properly incurred from the date
of contract to contract completion in accordance with the following:
1. Labour at firm daily rates. One day consists of 7.5 hours. The rates will be prorated for any
period of more or less than one day.
2.
3.
4.
a) Title, name, (est.) __ days@ $---.--/day
b) title, name, (est.)---- days@ $---.--/day
Material and supplies at actual cost without mark-up,
including (list items).
Purchased equipment at laid down cost without mark-up,
Subcontracting at actual cost incurred without mark-up,
(subcontractor name)
(est.) $000,000.00
(est.) $000,000.00
Total Estimated Labour: $000,000.00
(est.) $000,000.00
(est.) $000,000.00
(est.) $000,000.00
5. Authorized travel and living expenses at actual cost incurred, except
for meals and private vehicle mileage, which are not to exceed the
rates given in the Treasury Board Travel and Living Guidelines in effect
at the time of travel. A copy of the current rates is attached as Annex"_".
A copy of the current Travel Directive Policy is available at:
http://www.tbs-sct.gc.ca/pubs_pol/hrpubs/TBM_113/td-dv _e.asp
Travel costs are not to include a mark-up. (est.) $000,000.00
6.
7.
Other direct charges at actual cost incurred without mark-up,
Profit at a firm -% of items-,-,-, above ($----.-- ),
not to exceed
Page 24 of - de 29
(est.) $000,000.00
(max.) $000,000.00
A-2013-01547 --0285
Solicitation No. - N" de I' invitation
W7702-125267/A
Client Ref. No. - N de ret. du client
W7702-125267
Amd. No. - W de Ia modif.
EDM-1-34276
edm066
TOTAL CEILING PRICE:
$000,000.00
The requirements of the Statement of Work are to be completed under the terms and conditions of this
The ceiling price of $000,000.00 is subject to adjustment downward so as not to exceed the actual costs
incurred in accordance with the Basis of Payment as may be established by Government Audit. In the
event that the total cost of the work required under the Contract exceeds the sum of $000,000.00, the
Contractor shall complete the work at his own expense.
With the exception of the firm elements above, the amounts shown in the respective categories of the
above Basis of Payment are estimates and it is the intention that changes from item to item will be
accepted for billing purposes as the work proceeds, provided that the total cost of the Contract does not
exceed $000,000.00.
GOODS AND SERVICES TAX:
The Total Estimated Goods and Services Tax (GST), $ , is not included in the amounts
above. The GST is to be shown as a completely separate item on each invoice.
OR
HARMONIZED SALES TAX:
The Total Estimated Harmonized Sales Tax (HST), $ , is not included in the amounts above.
The HST is to be shown as a completely separate item on each invoice.
Page 25 of- de 29
A-2013-01547 --0286

W7702-125267 I A
W7702-125267
EDM-1-34276
edm066
ANNEX C- DISCLOSURES CERTIFICATION
This document is to be completed and signed by the Contractor at the completion of the subject contract
and submitted to the Contracting Officer and the Technical Authority designated below:
Many Om
Supply Specialist
Public Works & Government Services Canada
Telus Plaza North, 5th Floor
10025 Jasper Avenue
Edmonton, AB T5J 1 S6
Technical Authority
Defence Research & Development Canada
Suffield
P.O. Box 4000 Main
CONTRACT TITLE: Autonomous Control and Navigation of a Multi Degree-of-Freedom Robot
Please tick appropriate box:
[ ] We hereby certify that all applicable disclosures were submitted in compliance with General
Conditions 2040 - Research and Development.
YOUR ATTENTION IS DRAWN TO THE TERMS AND CONDITIONS, REGARDING
IMPLICATIONS ON NON-DISCLOSURE OF any Technical Documentation, Prototypes,
Inventions and Technical Information arising during the performance of work pursuant to the
above identified contract,
OR
[ ] We hereby certify that there are no disclosures to submit under the above-referenced Contract,
referred to in General Conditions 2040 - Research and Development.
Signature
Print Name
Title
Contractor Name
Date
Page 26 of - de 29
A-2013-01547 --0287

Solicitation No.- N" de !'invitation
Amd. No.- N" de Ia modif.
W7702-125267/A
Client Ref. No. - N" de nif. du client
W7702-125267
EDM-1-34276
ANNEX "D"

edm066
SECURITY REQUIREMENTS CHECK LIST
Please see Security Requirements Check List (SRCL) form attached to this document.
Page 27 of - de 29
A-2013-01547 --0288

W7702-125267 I A
W7702-J 25267
Amd. No. - N" de Ia modif.
EDM-1 -34276
edm066
ANNEX E- MANDATORY CRITERIA, EVALUATION CRITERIA AND SELECTION METHOD
EVALUATION CRITERIA
(Rating: 4=excellent, 3=very good, 2=average, 1 =poor, O=nothing)
1. Demonstated understanding of scope and importance 5.0
3. methods of handling potential problems during the 5.0
project
Points awarded
B. TRAINING & EXPERIENCE . WEIGHT RATING SCORE
nature
assigned
3. relevant experience of personnel assigned to the
5:0...-
./'
project
6. Experience with MA TLAB 10.0
Page 28 of - de 29
A-2013-01547 --0289

Solicitation No.- N" de !'invitation Amd. No. - N' de Ia modif.
W7702-125267/A
Client Ref. No. - N' de ret. du client File No. - N' du dossier
W7702-l2526 7 EDM-l-34276
7. Experience with a VICON motion capture system or
Points awarded
Points awarded
EVALUATION:
I
edm066
CCC NoJN' CCC - FMS No/ N' VME
10.0
240.0
168.0
WEIGHT RATING SCORE
10.0
10.0
'10.0
120.0
84.0
I
Each proposal must meet all of the manpatory requirements set out in the evaluation criteria. Proposals
Each evaluation criterion has a number allotment (weight) that reflects its importance in proposal
Each proposal must achieve a minimum score of 70% of the maximum points available in EACH
category subject to point rating. Bids that fail to achieve this score will be considered technically
unacceptable and will be given no further consideration.
SELECTION METHOD:
Contractor selection will be based on the bidder that submits the highest technically acceptable bid
provided that the estimated total price does not exceed the established budget.
Page 29 of- de 29
A-2013-01547 --0290
;" : ......
Procureme.PP) Abstract: Autonomous Control-a
I)TVI_II_GliF 1"1\1 VERTiJ DE LA PENSEJt;NciV:ENTS NON CLASSIFIE
. ;. . .. . . ;. . -

The Government of Canada is now providing funding so that potential suppliers can access electronic
documentation relating to federal opportunities on the Government Electronic Tendering Service (GETS) free of
charge. GETS supports the federal government's sustainable development practices as it encourages moving
procurement from a paper-based to an expanded electronic service.
GC Documents may not be redistributed, in whole or in part, in any form or by any means without the prior
written permission of the Minister of the Department of Public Works and Government Services, except to the
extent permitted by the Copyright Act.
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Disclaimer
Header----------------------------------------------------------------------------------------------,
Reference Number
Solicitation Number
Organization Name
Source ID
Associated Components
PW-$EDM-066-9071
W7702-125267/A
Travaux publics et Services gouvernementaux Canada
.
FD.DP.QC.10077.C2
Yes
--------------------------------------- -- ......... ---------- ---- ....
-- Dates ---------------------------------------------------------------
Published
Revised
Closing
l Details
I Category
GSINS
Region of Delivery
Region of Opportunity
Agreement Type
Tender Type
Estimated Value
Solicitation Method
2011-10-12
2011-10-27 02:00PM Mountain Daylight Saving Time MDT
Research and Development (R&D)
AZ110134: EQUIPMENT/MACHINERY-DESIGN,
DEVELOPMNENT, MODIFICATION: SCIENCE AND
TECHNOLOGY RELATED (R&D)
Alberta
Agreement on Internal Trade (AIT)
Notice of Proposed Procurement (NPP)
A-2013-01547 --0291
https://www.merx.com/English/SUPPLIER Menu.asp?WCE=Show&T AB= 1 &PORTAL... l '""' L v '-'V L L
Notice ofProposed
Abstract: Autonomous Control 'Wa
Navigation of a Multi Robot
Trade Agreement: Agreement on Internal Trade (AIT)
Tendering Procedures: The bidder must supply Canadian goods
and/or services
Attachment: None
Competitive Procurement Strategy: Best Overall Proposal
Comprehensive Land Claim Agreement: No
Nature of Requirements:
TITLE: Autonomous Control and Navigation of a Multi
Degree-of-Freedom Robot
REQUIREMENT:
Defence Research and Development Canada (DR DC) - Suffield,
Medicine Hat, Alberta has a requirement to develop control
algorithms for the Micro Hydraulic Toolkit (MHT) robot that will
allow it to perform a variety of locomotion behaviours focusing
on stability and performance. These control algorithms will be
developed in simulation, under different terrain surfaces and
tested on the real robot. The motion of the simulated robot and
real robot will be compared to refine the model and provide
quantitative data. Finally, the control behaviours will be
integrated with a vision based leader/follower software and man
machine interface.
SECURITY REQUIREMENT:
There is a security requirement in this contract.
MANDATORY TECHNICAL CRITERIA:
a) Education: Ph.D. in a robotics-related discipline
To qualify a bid will have to consist of no less than 80% of
goods and/or services of Canadian origin.
CONTRACTOR SELECTION:
Contractor selection will be based on the bidder that submits
the highest technically acceptable bid provided that the
estimated total price does not exceed the established budget.
PERIOD OF CONTRACT:
The period of contract is date of award to March 31, 2014.
MAXIMUM FUNDING:
The maximum funding available for the Contract resulting from
the bid solicitation is $245,000.00 (Goods and Services Tax or
Harmonized Sales Tax extra, as appropriate). Bids valued in
excess of this amount will be considered non-responsive. This
disclosure does not commit Canada to pay the maximum funding
available.
This PWGSC office provides procurement services to the public in
English.
Delivery Date: Above-mentioned
The Crown retains the right to negotiate with suppliers on any
procurement.
Documents may be submitted in either official language of Canada.
Lee, Mony
Telus Plaza North/Plaza Telus Nord
10025 Jasper Ave./1 0025 ave Jasper
5th floor/5e etage
DIVIJI GUE EN VERTU DE Li< l!ll - NON CLASSIFIES
. .:. .. . . . .
A-2013-01547 --0292
httos://www.merx.com/Emdish/SUPPLIER Menu.aso?WCE=Show&TAB=l&PORTAL ...
.lV/L..V.I. .1.
of.Proposed Procureme.PP) Abstract: Autonomous Control--a:
[)JVlll Gl'F EN VERTU DE LA LAJ- REN3EJt;NciV:ENTS NON CLASSIFIES
. .;. .. .. . .. ;. .. -
-Edmonton
Alberta
T5J 186
(780) 497-3535 ()
----- -----------------------------------------------------------
-- Contact(s) ------------------------------------------------,
,- Contracting Authority -------------------------------------------------------------- -----------
Name
Address
City
State I Province
Country
Postal Code
Phone
Fax
Email
Website URL
Associated Components: Preview 1 Order
Mony Lee
Telus Plaza North/Plaza Telus Nord 10025 Jasper Ave./10025
ave Jasper 5th floor/5e etage
Edmonton
Alberta
Canada
T5J 186
(780) 497-3535 ()
(780) 497-3510
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Additional
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Document
Eng. 33 8.5 X 11 1026
(RFP, RFQ,
Preview DOC 0
Tender etc.)
Main
Document
Fr. 34 8.5 X 11 987
(RFP, RFQ,
Preview DOC 0
Tender etc.)
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A-2013-01547 --0293
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Procureme .. PP) Abstract: Autonomous Control
opportunities (GC Documents). All GC Documents are subject to copyright. GC Documents may not be redistributed, in
whole or in part, in any form or by any means without the prior written permission of the Minister of the Department of
Public Works and Government Services, except to the extent permitted by the Copyright Act. Without limiting the
foregoing, no party may republish any GC Document on the Internet, or sell any copy of a GC Document, or sell
the right to access any GC Document without such written permission. The information contained in all GC
Documents is provided solely for the purpose of bidding on or responding to the subject requirements and
cannot be relied upon for any other purpose.
A-2013-01547 --0294
.. lLII\JtL.utt
Beckman, Blake
From:
Sent:
To:
Subject:
Hey Blake,
Thanks!
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
October-16-12 10:33 AM
Beckman, Blake
1
A-2013-01547 --0295
Beckman, Blake
From:
Sent:
To:
Subject:
HI Blake
Inn a
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
Inna Sharf <
October-26-12 9:25AM
Beckman, Blake
a few things
1
>_
DIVULGUE EN VERTU DE LA LA! - RENSEIGNEMENTS NON CLASSIFIES
A-2013-01547 --0296
. .
Hall, Sharon
From:
Sent:
To:
Cc:
Subject:
5.20(1 )(b)
5.20(1 )(c)
Many Lee [Mony.Lee@pwgsc-tpsgc.gc.ca]
Tuesday, November 22, 2011 3:38 PM
Hall, Sharon
Beckman, Blake
RE: Evaluation of Bids W7702-125267

I just got some new information on this file. It turns out that McGill's bid is also deemed non-responsive
. We have to retender the requirement again.
Mony
Sent: Tuesday, November 22, 2011 3:31 PM
To: Mony Lee
Cc: Beckman, Blake
Subject: RE: Evaluation of Bids W7702-125267
As the ta would like the off site work to proceed, I am going to send the attached to DPM Secur. This is
similar to documents we sent on a previous file (W7702-125213) which was successfully awarded prior to
clearance.
Any objections?
Sharon
21.11.1
From: Beckman, Blake
Sent: Tuesday, November 22, 2011 3:17PM
To: Many Lee; Hall, Sharon
Sharon,
McGill University received the highest score on the open bid competition and ESI, the only other bid, failed to receive
the required minimum points. The technical bid from McGill University states that
. The request for an SRCL was only for unescorted
onsite integration of the control behaviours. All content for this contract is Unclassified. I will provide escorted onsite
supervision for the integration of the control behaviours if required. The general schedule is as follows:
1
A-2013-01547 --0297

Blake
Sent: November 22, 2011 2:12PM
To: Beckman, Blake

DIVULGUE EN VERTU DE LA LAl - RENSEIGNEMENTS NON CLASSII'IE
No it has not We have some issues with the bid. Also, we have a security requirement that the recommended bidder
has to meet If they don't already have security clearance, we will have to get that done. It could take up to 4 months to
get security clearance.
Mony
From: Beckman, Blake fmailto:Biake.Beckman@drdc-rddc.gc.ca]
Sent: Tuesday, November 22, 20111:32 PM
To: Mony Lee
Subject: Evaluation of Bids W7702-125267
Mony,
Has the contract been awarded?
Blake
-------------------
From: Beckman, Blake
Sent: November 17, 201111:31 AM
To: 'Many Lee'
I have signed and faxed the report.
Sent: November 17, 201110:50 AM
To: Beckman, Blake
Yes, I do require a signature. Emails are no long sufficient
Mony
Sent: Thursday, November 17, 201110:28 AM
To: Many Lee
I have attached the evaluation. Would you like me to send you a signed faxed copy? I will follow up with a phone call
shortly.
2
A-2013-01547 --0298

Blake
From: Mony Lee [mailto:Mony.Lee@pwgsc-tpsgc.gc.cal
Sent: November 15, 2011 9:25 AM
To: Beckman, Blake
Cc: Hall, Sharon
Subject: Evaluation of Bids W7702-125267
Hi Blake,

Just following up to see where your at with the evaluation. Also, please sign the evaluation sheet and return it to me once
you are ready.
Thanks
Mony Lee
Supply Specialist I Specialiste en Approvisionnements
780-Lr97-3535l facsirnile I telecopieur 78o-Lt97-3510
mony.lee@pwgsc-tpsgc.gc.ca
Public Works and Government Services Canada isth Floor Telus Plaza North 1.0025 Jasper Ave Edmonton AB TsJ 1.S6
Travaux publics et Services gouvemementaux Canada I Plaza Telus Nord 10025 avenue Jasper se etage Edmonton AB TsJ lS6
Government of Canada I Gouvemement du Canada
3
A-2013-01547 --0299
h
DJVULGUE EN VERTU DE LA LAI - RENSEIGNEMENTS NON CLASSIFIES
1+1 Public Works and Government Services
Canada
Travaux publics et Services
gouvernementaux Canada
5.19(1)
5.24(1)
Purchasing Office Bureau des achats:
Tel us Plaza North/Plaza Telus Nord
10025 Jasper Ave./10025 ave Jasper
5th floor/5e etage
Edmonton
Alberta
T5J 1S6
CONTRACT- CONTRAT
You arc requested lo sell to Her Mnjesty the Queen
in right of Canada, in accordance with the terms and conditions
set out herein, referred to herein or attached hereto, the goods,
services, and construction listed herein and on any attached
sheets at the price or prices set out therefor.
Nous vous demandons de vendre a Sa Majeste
Ia Reine du chef du Canada, aux conditions enoncees ou
incluses par retenence dans les presentes. el aux annexes
ci-jolntes, les biens, services el construction enumen'>s dans
les presenles, et sur louie feuille ci-annexee, au(x) prix indique(s).
The Vendor/Firm hereby accepts/acknowledges this
contract.
Le foumisseur/entrepreneur acceple le present conlraUen
accuse reception.
Signature Date
Name. title of person authorized to sign (type or print)
Nom et litre du signalaire autorise (taper ou imprimer)
Comments Commentaires
TI-llS DOCUMENT CONTAINS A SECURITY
REQUIREMENT.
Raison sociale et adresse du
fournisseur/de !'entrepreneur
PG0002
L'institution royale pour l'avancement des sciences/Royal
Institution for the Advancement of Learning- McGill
University
845 Sherbrookc St. West
Montreal
Quebec
H3A2T5
Canada
Opcratiug as: OJ'Iice uf Sponsored Rcscarcli- tvh:Gill
University
canada
Title- Sujet
MULTI DEGREE OF FREEDOM ROBOT
Contract No. - N" du contra!
l Date
W7702-125267/00I/EDM 2011-12-16
Client Reference No. N" de reference du client
W7702-125267
Requisition No. N' de Ia demande
W7702-125267
File No. N" de dossier l CCC No./N" CCC - FMS No.IN" VME
EDM-1-34276
Financial Code(s) GST/HST
Code(s) financier(s) TPSITVH
144513Ll054915STOOOO 12RIIO I
0
GST
0
F.O.B. F.A.B.
Destination
GST/HST TPSITVH
I Duty Droits
Sec Herein- Voir ci-inclus Sec Herein- Voir ci-inclus
Destination -of Goods, Services, and Construction:
Destination -des biens, services et construction:
DEPARTMENT OF NATIONAL DEFENCE
DEFENCE R&D CANADA SUFFIELD
BLDG 550 RECEIVING
CFB SUFFIELD
RALSTON
ALBERTA
TOJ2NO
CANADA
\
4Soc;
Invoices Original and two copies to be sent to:
Factures- Envoyer !'original et deux copies a:
DEPARTMENT OF NATIONAL DEI'ENCE
PO BOX 4000, STN MAIN
MEDICINE HAT
ALBERTA
TIA8K6
CANADA
Address Enquiries to: - Adresser toutes questions a:
I Buyer ld -ld de l'acfieteur
Lee, Mony cdm066 /
Telephone No. - N" de telephone FAX No. - N" de FAX
/
(780) 497-3535 ( ) (780) 497-3510
Total Estimated csr.total
$245,000.00 '/.... c') u.Y:c'('('(::5
Currency Type -Devise
CAD /
Ministre
_
,
I
Page 1 of de 16
A-2013-01547 --0300

Conltact No. - N' du conlrat
W7702-125267/00 1/EDM
W7702-125267
Amd. No. - N' de Ia modlf.
EDM-1-34276
edm066
The Contractor must perform the Work in accordance with the Statement of Work at Annex "A" and the
Contractor's technical bid and management portion of the Contractor's bid entitled "Multi Degree of
Freedom Robot", dated December 7, 2011.
All clauses and conditions identified in the Contract by number, date and title are set out in the Standard
Acquisition Clauses and Conditions (http://ccua-sacc.tpsgc-pwgsc.gc.ca/pub/acho-eng.jsp) Manual
issued by Public Works and Government Services Canada.
2.1 General Conditions
2040 (2011-05-16), General Conditions - Research & Development, apply to and form part of the
Contract.
2.2 SACC Manual Clause
K3410C (2008-12-12), Canada to Own Intellectual Property Rights in Foreground Information, apply and
form part of the Contract.
1. The Contractor/Offeror must, at all times during the performance of the ContracUStanding Offer, hold a
valid Designated Organization Screening(DOS), issued by the Canadian Industrial Security Directorate
(CIS D), Public Works and Government Services Canada (PWGSC).
2. The Contractor/Offeror personnel requiring access to sensitive work site(s)must EACH hold a valid
RELIABILITY STATUS, granted or approved by CiSD/PWGSC. Until the security screening of the
Contractor personnel required by this Contract has been completed satisfactorily by the CISD, PWGSC,
the Contractor personnel MAY NOT ENTER sites without an escort.
3. Subcontracts which contain security requirements are NOT to be awarded without the prior written
permission of CISD/PWGSC.
4. The Contractor/Offeror must comply with the provisions of the:
(a) Security Requirements Check List and security guide (if applicable), attached at Annex "D";
(b) Industrial Security Manual (Latest Edition).
4. Term of Contract
4.1 Period of the Contract
The period of the contract is from December 16, 2011 to March 31, 2014.
5. Authorities
5.1 Contracting Authority
The Contracting Authority for the Contract is:
Many Lee
Supply Specialist
Telus Plaza North,
10025 Jasper Avenue, 5th Floor
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TELEPHONE NO.: (780) 497-3535
FACSIMILE NO.: (780) 497-3510
Amd. No. - N' de Ia modi!.
EDM-1-34276
E-mail address: mony.lee@pwgsc-tpsgc.gc.ca
5.19(1)

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The Contracting Authority is responsible for the management of the Contract and any changes to the
Contract must be authorized in writing by the Contracting Authority. The Contractor must not perform work
in excess of or outside the scope of the Contract based on verbal or written requests or instructions from
anybody other than the Contracting Authority.
5.2 Technical Authority
The Technical Authority for the Contract is:
Blake Beckman
P.O. Box 4000
Medicine Hat, AB T1 A 8K6
TELEPHONE NO.: (403) 544-5502
FACSIMILE NO.: (403) 544-4704
E-MAIL: blake.beckman@drdc-rddc.gc.ca
The Technical Authority named above is the representative of the department or agency for whom the
Work is being carried out under the Contract and is responsible for all matters concerning the technical
content of the Work under the Contract. Technical matters may be discussed with the Technical
Authority, however the Technical Authority has no authority to authorize changes to the scope of the Work.
Changes to the scope of the Work can only be made through a contract amendment issued by the
Contracting Authority.
5.3 Administrative Authority
Sharon Hall
P.O. Box 4000
TELEPHONE NO.: (403) 544-4643
FACSIMILE NO.: (403) 544-4749
E-MAIL: Sharon.Hall@drdc-rddc.gc.ca
5.4 Contractor's Representative
Name:
Telephone No:
Facsimile No:'
E-mail:
6. Payment
Q}mcgill.ca
6.1 Basis of Payment -Ceiling Price
The Contractor will be reimbursed for the costs reasonably and properly incurred in the performance of
the Work, as determined in accordance with the Basis of Payment in Annex "B", to a ceiling price of
$245,000.00. Customs duties are included and Goods and Services Tax or Harmonized Sales Tax is
extra, if applicable.
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W7702-125267
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CCC No./N' CCC FMS No/ N" VME
The ceiling price is subject to downward adjustment so as not to exceed the actual costs reasonably
incurred in the performance of the Work and computed in accordance with the Basis of Payment.
6.2 Limitation of Price
SACC Manual clause C6000C (2011-05-16), Limitation of Price
6.3 Progress Payments
6.3.1. Canada will make progress payments in accordance with the payment provisions of the Contract,
no more than once a month, for cost incurred in the performance of the Work up to 90 percent of
the amount claimed and approved by Canada if:
(a) an accurate and complete claim for payment using form PWGSC-WR01
(http:Uwww,pwgsc.qc.ca/acquisitions/textlforms/forms-e,html ) and any other document
required by the Contract have been submitted in accordance with the invoicing
instructions provided in the Contract;
(b) the amount claimed is in accordance with the Basis of payment;
(c) the total amount for all progress payments paid by Canada does not exceed 90 percent of
the total amount to be paid under the Contract;
(d) all certificates appearing on form PWGSC-WR01 have been signed by the respective
authorized representatives.
6.3.2. The balance of the amount payable will be paid in accordance with the payment provisions of the
Contract upon completion and delivery of all work required under the Contract if the Work has
been accepted by Canada and a final claim for the payment is submitted.
6.3.3. Progress payments are interim payments only. Canada may conduct a government audit and
interim time and cost verifications and reserves the rights to make adjustments to the Contract
from time to time during the performance of the Work. Any overpayment resulting from progress
payments or otherwise must be refunded promptly to Canada.
6.4 Discretionary Audit
SACC Manual Clause C0705C (2010-01-11 ), Discretionary Audit
6.5 T1204 -Direct Request by Customer Department
SACC Manual Clause A9117C (2007-11-30), T1204- Direct Request by Customer Department
7.1 Invoice Instructions- Progress Payments
7.1.1 The Contractor must submit a claim for progress payment using form PWGSC-WR01 to the
Administrative Authority.
Each claim must show:
(a) all information required on form PWGSC-WR01;
(b) all applicable information detailed under the section entitled "Invoice Submission" of the
general conditions;
(c) expenditures in accordance with the Basis of Payment for the Work performed during the
period of the claim;
(d) holdback of 10 percent;
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(e) total of all previous claims against the Contract and the extension of the totals to date;
Each claim must be supported by:
(a) a copy of time sheets to support the time claimed;
(b) two (2) sets of copies of the invoices, receipts, vouchers for all direct expenses, travel and
living expenses;
(c) a copy of the monthly progress report.
7.1.2 Goods and Services Tax (GST) or Harmonized Sales Tax (HST), as applicable, must be
calculated on the total amount of the claim before the holdback is applied. At the time the holdback is
claimed, there will be no GST/HST payable as it was claimed and payable under the previous claims for
progress payments.
7.1.3 The Contractor must prepare and certify one original and two (2) copies of the claim on form
PWGSC-WR01, and forward it to the Administrative Authority identified under the section entitled
"Authorities" of the Contract for appropriate certification after inspection and acceptance of the Work takes
place.
7.1.4 The Contractor must not submit claims until all work identified in the claim is completed.
8. Certifications
8.1 Compliance with the certifications provided by the Contractor in its bid is a condition of the
Contract and subject to verification by Canada during the term of the Contract. If the Contractor
does not comply with any certification or it is determined that any certification made by the
Contractor in its bid is untrue, whether made knowingly or unknowingly, Canada has the right,
pursuant to the default provision of the Contract, to terminate the Contract for default.
8.2 SACC Manual Clauses
A3060C (2008-05-12), Canadian Content Certification
8.3 Disclosures Certification
On completion of the Work, the Contractor must submit to the Technical Authority and to the Contracting
Authority a copy of the Disclosure Certification attached as Annex "C" stating that all applicable
disclosures were submitted or that there were no disclosures to submit under general conditions 2040.
9. Applicable Laws
The Contract must be interpreted and governed, and the relations between the parties determined, by the
laws in force in Quebec.
1 0. Priority of Documents
If there is a discrepancy between the wording of any documents that appear on the list, the wording of the
document that first appears on the list has priority over the wording of any document that subsequently
appears on the list.
(a) the Articles of Agreement:
(b) the general conditions 2040 (2011-05-16), General Conditions- Research and Development,
(c) Annex "A", Statement of Work
(d) Annex "B", Basis of Payment;
(e) Annex "C", Disclosures Certification,
(f) Annex "D", Security Requirements Check List
(g) the Contractor's bid dated December 7, 2011.
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11. Defence Contract
SACC Manual clause A9006C (2008-05-12) Defence Contract
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SACC Manual clause A2000C (2006-06-16) Foreign Nationals (Canadian Contractor)
13. Insurance
SACC Manual clause G1005C (2008-05-12) Insurance
A9062C (2010/01/11), Canadian Forces Site Regulations
B6800C (2007/11/30), List of Non-consumable Equipment and Materials
15. Academic Rights
Canada grants to the Contractor a fully paid license to use the Foreground Information created or
developed for Canada pursuant to the Contract for publication purposes (student thesis, papers at
conferences, papers in scientific journals) and for academic purposes (for further research or teaching).
Any further development or modification of that Foreground Information during, or after the completion of,
the Contract, by the Contractor will be owned by the Contractor. The Contractor agrees to provide to
Canada a license for Canada to use any Contractor developments or modifications to the Foreground
Information owned by Canada and licensed to the Contractor in accordance with this provision.
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1. Title
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ANNEX "A" STATEMENT OF WORK
Statement of Work
2. Background
The Autonomous Intelligent Systems Section (AISS) at Defence R&D Canada- Suffield (DRDC Suffield)
is developing Unmanned Ground Vehicles (UGVs) to operate in complex environments. The ability to
operate in complex environments has researchers exploring novel mobility platforms and intelligent
mobility algorithms to improve the capabilities of existing and future robotic systems. Pursuant to this
objective, DRDC Suffield has identified and constructed some robotic vehicles to further the research.
Although these robots will rely on perception systems for navigation in rough terrain it is necessary to
develop control for stability and performance.
The Micro Hydraulic Toolkit (MHT) vehicle is one of the robots being developed by Defence R&D Canada
-Suffield for control algorithm development. The vehicle is a reconfigurable platform with 12 controllable
degrees-of-freedom. The vehicle has a main structure that houses the pump, motor, battery, and control
electronics. The main structure also houses a rotary actuator that connects to another rotary actuator by
means of a structural leg member. The rotary knee actuator connects to a rotary wheel by another
structural member. The entire toolkit is designed with 12 degrees-of-freedom, operated by 8 hydraulic
actuators. The four hip and four knee actuators are non-continuous rotary hydraulic actuators that are
capable of 90 degrees of rotation. The vehicle is intended to be reconfigurable and therefore the structural
members connecting hip to knee and knee to wheel are designed to be fastened in 22.5 degree
increments. The four electric wheel actuators are capable of continuous rotary motion. This robot is fully
functional and shown in the image below.
3. Objective
The objective of this contract is to develop control algorithms for the Micro Hydraulic Toolkit (MHT) robot
that will allow it to perform a variety of locomotion behaviours focusing on stability and performance.
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These control algorithms will be developed in simulation, under different terrain surfaces and tested on the
real robot. The motion of the simulated robot and real robot will be compared to refine the model and
provide quantitative data. Finally, the control behaviours will be integrated with a vision based
leader/follower software and man machine interface.
4. Scope of Work
The work is comprised into three main tasks: control algorithm development, control algorithm validation,
and control algorithm integration with respective subtasks.
Task 1: Control Algorithm Development
A complete LMS Virtual. lab Motion (VLM) model of the MHT robot has been created. This model is an
exact replica of the actual robot in size, weight, center of mass, range of motion, etc. The model also
includes specific component characteristics of the robot such as tire stiffness and damping values. The
control method, feedback sensors, and joint actuation mechanics are also completely modeled. This
includes measuring the total charge of the onboard batteries and calculating the energy loss each time the
hydraulic pump recharges the accumulator. The model also includes a complete hydraulic circuit
complete with operating pressure, flow, and hydraulic fluid characteristics. An image of the modeled robot
is shown below:
The LMS VLM software also provides an interface with MATLAB through an S-function in Simulink. The
block in the Simulink environment behaves as the interface to the control computer on the robot. This
block provides the control signals to each of the actuators and reads the feedback sensors from the robot.
The feedback sensors include positions of the actuators, velocity of the wheels, roll, pitch, and yaw values
as well as rates and linear accelerations in the x, y, and z directions.
Terrain profiles were also created in the LMS environment to test the control algorithm robustness and try
to create realistic obstacles the robot would be expected to traverse in the real world. Four basic terrain
patterns were developed including: linear steps, ramps, stairs, and sinusoids. Each of these profiles were
created with editable parameters to change the ramp angle, step height, period, amplitude, etc. An
asymmetric sinusoidal surface was also created to attempt to model surface roughness. Some of the
typical surfaces are shown below:
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Task 1.1: Static Proprioceptive Algorithms

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Static proprioceptive control algorithms are control algorithms that move all active joints in concert to
create behaviours using only internal feedback sensors. These sensors are the positions of the actuators,
velocity of the wheels, roll, pitch, and yaw values as well as rates and linear accelerations in the x, y, and z
directions. For example to move the robot from its lowest position through the midway point to its tallest
position, with no forward motion, would be considered a static proprioceptive control behaviour. The
sequence of motions is shown in the following figures:
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Single Input and Single Output (SISO) control strategies were applied unsuccessfully to control this robot.
A supervisory controller was developed to coordinate joint rates and enhance stability. However, in recent
developments a multi-input multi-output (MIMO) controller was applied successfully using a defined
posture and trajectory.
In this task it is expected that a variety of static behaviour algorithms will be created in LMS under
MATLAB control. Some of the intended behaviours are listed below but are not limited to this list. They are
as follows:m
Lowest position to highest position
Smallest support polygon to largest support polygon
Max/Min main body pitch
Max/min main body roll

Task 1.2: Dynamic Proprioceptive Algorithms
Dynamic proprioceptive control algorithms are control algorithms that move all active joints in concert to
create behaviours, using only internal feedback sensors, but with forward velocity. It is expected that all of
the behaviours created in Task 1.1 will be used in this task but with a varying forward speed. The addition
of forward speed will reveal controller robustness as the actuators will experience nonsymmetricalloads.
Task 1.3: Stability Algorithm on Various Terrain Surfaces
As mentioned earlier terrain profiles were created within the LMS environment to provide realistic
operating environments. This section addresses the stability and performance of the MHT robot when
exposed to various terrain surfaces. The intent is to design a controller that maintains a predefined
posture while moving on different terrain profiles. For example the objective is to maintain a level main
body of the MHT robot, within a few degrees, while transitioning from a flat terrain to an incline ramp of 20
degrees. The robot must sense the incline change, with the onboard IMU, adjust the front and/or rear leg
positions to maintain the level body and continue up the ramp. Some of the terrains surfaces used to test
the stability algorithms are listed below but are not limited to this list. They are as follows:
Various incline of ramps
Various periods and amplitudes of symmetric sinusoids
Various periods of amplitudes of nonsymmetrical sinusoids
Various periods of amplitudes of nonsymmetrical sinusoid surfaces
It would also be useful to determine the maximum speed that can be achieved with each stability algorithm
on each specific terrain. This would exploit the electric motor, pump, accumulator, valve, and actuator
latencies. The resulting data provides a direction when considering platform redesign.
Task 1.4: Turning Radius with Stability Algorithm on Various Terrain Surfaces
It is expected that once the stability algorithm is developed on various terrain surfaces a turning function
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needs to be added. The MHT is not equipped with steerable wheels so a basic differential steering is
required. As with other robotic platforms with variable leg lengths pivot turning is also possible.
Task 1.5: Discontinuous Locomotion Algorithms
Discontinuous locomotion algorithms are control algorithms that must consider balance when end
effectors are not continuously in contact with the terrain. The MHT is equipped with wheel end effectors to
provide forward locomotion but they could become disabled. Legged walking gaits can be developed by
locking the wheel and controlling the active hip and knee joints. Statically stable or dynamically stable gaits
will first be developed on open terrain. Then the static gaits will be applied to linear step features such as
boxes and stairs. Various rise and run vales for the stairs should be tested to determine the algorithms
robustness to change.
Task 2: Control Algorithm Validation
As with any work in simulation the results are not widely accepted until they are applied to the real
equipment in the real world. This task will address taking the control algorithm developed in MATLB,
converting it to C code, executing the algorithm, and receding the desired motion. After each major control
algorithm development the respective behaviour will be tested on the real MHT robot. As mentioned
earlier, DRDC Suffield has a fully functional MHT robot, MATLAB to C code converting tools, and a motion
capture system set up in a lab. The control behaviour will be executed in software and in the real world.
The motion data will be captured from each source and compared both for the actual movement and
virtual movement. Each joint, limb, and body of the two systems will be compare to the displacement and
rate of displacement. If the two sources of data to not coincide, within a low tolerance, the respective
discrepancy in the model will be updated and changed to reflect the actual motion. This refinement will
progress as more complex control algorithms are developed in software and tested in the real world.
Task 3: Control Algorithm Integration with Leader/Follower behaviours and MMI
The control algorithm development is a very important step in a larger problem of intelligently moving
UGVs around in the world. During the course of this work two other concepts will be developed for the
MHT robot. Previously developed leader follower software will be implemented on the MHT platform. This
software was developed for larger Ackerman steered vehicles using an optical tracking method to follow
features or colors on a lead vehicle. This software will be augmented to be used on the MHT robot and
track a human at walking speed. The second major development is a man machine interface {MMI)
hardware that is used as the control station for the MHT robot. This hardware is used to view the image of
the camera on thE:l MHT, provide health monitoring of the MHT, engage and disengage the leader/follower
software, and engage or disengage the control algorithm behaviours that are being developed in this
contract. During forward motion, while following the human leader, the MHT may be executing one of its
behaviours of maintaining a level body while moving over non flat terrain.
The integration effort involves combining the speed and turning radius commands, of the leader follower
software, with the stability algorithm commands of the MHT. The intended final integration has the MMI
hardware fully integrated with leader/follower software, ability to tale-operate the MHT, execute any of the
advanced behaviours, provide health monitoring of the MHT, and combined leader/follower-advanced
behaviour control. The contractor is expected to aid in combining leader/follower-advanced behaviour
control.
5. Meetings
Kickoff, monthly, and milestone meetings will ensure that both theTA and the Contractor have a clear
understanding of the progress of the project. A kickoff meeting will be held at DRDC Suffield. Monthly
update meetings, to be conducted via teleconference, will be preceded by a short email indicating the
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progress made by the Contractor over the course of the month. An assessment of the overall progress,
risks, and schedule should be included. Meetings triggered by the completion of the advanced control
algorithms will be held at DRDC Suffield with the algorithm being tested on the real vehicle. Validation and
integration trials will be conducted at DRDC Suffield at a time mutually agreed upon by theTA and the
Contractor. Bidders must budget for travel to DRDC Suffield for meetings and trials within the stated
project budget.
6. Reports and Dellverables
1.The source code and any third party libraries required to build the modules comprising the autonomous
behaviours.
2.Final Contractor's report.
7. Government Furnished Support I Equipment /Information
LMS Virtual Lab. Motion with a model of the MHT and MATLAB/Simulink will be provided to the contractor
on a laptop. The contractor will have full access to the MHT robot, indoor lab space, motion capture
system, C code generation software, obstacles, ramps, stairs, etc. will all be provided to complete the
requested work. See attached 10041-2 (CSM) dated 30 May 11.
8. Special Considerations
The MHT robot will remain at DRDC Suffield for the entire duration of the contract. It is expected that the
majority of work in Task 2 and Task 3 be completed at DRDC Suffield. Although it is difficult to determine,
the technical authority estimates, this onsite portion to take between 6- 12 months and occur near the
end of the contract.
9. Acceptance Criteria
The work plan will be finalized at the kickoff meeting and the work monitored regularly for adherence to
the work plan thereafter. The TA will approve any deviations from the work plan in advance. TheTA will
determine acceptance of the work based on the successful demonstration of the hardware I software and
receipt of the deliverables, including satisfactory completion and acceptance of the final report.
10. DRDC-Suffield General Contract Safety & Security Requirements
(1) GENERAL EXPERIMENTAL PROVING GROUNDS (EPG) SAFETY AND ACCESS INFORMATION
In accordance with DRDC Suffield regulations, all Contractor employees and subcontractors participating
in Experimental Proving Ground (EPG) activities that are not escorted by DRDC Suffield personnel or the
DRDC-authorized Contract principal will attend a general EPG safety briefing lasting approximately one
(1) hour at the Field Operations Section (FOS). This briefing will take place annually for long standing
Contracts and new or additional Contractor employees or subcontractors will be required to take the
briefing before beginning work.
An access permit is required for non-DND vehicles travelling on the EPG. In addition, a two-way radio,
compatible with the DRDC Suffield communication system, will be supplied for safety reasons. Other
forms/briefings related to safety and security may be required.
(2) WORK-SPECIFIC SAFETY BRIEFING
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Contractors employees or subcontractors supporting DRDC Suffield personnel on specific Field Trial
Plans (FTP's), Standing Operating Procedures (SOP's), Study Approval Form (SAF), or other procedure
will attend work-specific briefings by the DRDC Technical Authority (TA) lasting approximately one (1)
hour relating to health, safety, environmental and emergency response procedures. Documentation
including FTP's, SOP's, SAF or other procedures, safety standards and EPG regulations will be cited or
made available to the Contractor employees or subcontractors on a loan basis for reference, as
applicable.
(3) OBSERVANCE OF ON-SITE SAFETY, HEALTH AND ENVIRONMENTAL STANDARDS ON
PROTECTION OF PROPERTY
The Contractor, their employees and subcontractors must comply with all DND/DRDC Suffield regulations
in force at the worksite, including the observance of all safety, health and environmental standards and
those in place to preserve and protect DND property from loss or damage from all causes including fire.
(4) COMPLIANCE
The Contractor is responsible to ensure that all employees and subcontractors that will be working on the
site are fully briefed and have completed and signed the Safety Checklist prior to the start of any portion of
the on site work. A copy of the signed checklist must be provided by the Contractor to the DRDC Suffield
Technical Authority. No payments will be issued until all documentation is in place.
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5.19(1)
5.20(1 )(b)

Contract No. N' du conlret
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Client Ref. No. N' de ref. du client File No. - N' du dossier CCC NoJN' CCC FMS No/ N' VME
W7702-125267 EDMI-34276
ANNEX 8- BASIS OF PAYMENT
Payment will be made for time expended and other costs reasonably and properly incurred from the date
of contract to contract completion in accordance with the following:
1. Labour at firm daily rates at actual payroll cost including fringe benefits. One day consists of 7.5
hours. The rates will be prorated for any period of more or less than one day.
2.
3.
4.
a) MEng Student, (est.)
b) MEng Student, (est.)
C) Teaching Buyout for Dr. Sharf
D) Research Engineer 1,
E) Research Engineer 2
, (est.)
(est.)
(est.)
(est.)
(est.)
(est.)
Total Estimated Labour
Material and supplies at actual cost without mark-up,
Purchased equipment at laid down cost without mark-up,
including desktop computer and laptop for two graduate students
Computing charges at standard university rates
(est.)
(est.)
(est.)
5. Authorized travel and living expenses at actual cost incurred, except
for meals and private vehicle mileage, which are not to exceed the
rates given in the Treasury Board Travel and Living Guidelines in effect
6.
at the time of travel. A copy of the current Travel Directive Policy is available at:
http://www.tbs-sct.gc.ca/pubs_pol/hrpubs/TBM_113/td-dv_e.asp
Travel costs are not to include a mark-up. (est.)
Standard University Overhead as follows:
A) at Jf items (est.)
TOTAL CEILING PRICE: $245,000.00
The requirements of the Statement of Work are to be completed under the terms and conditions of this
The ceiling price of $245,000.00 is subject to adjustment downward so as not to exceed the actual costs
incurred in accordance with the Basis of Payment as may be established by Government Audit. In the
event that the total cost of the work required under the Contract exceeds the sum of $245,000.00, the
Contractor shall complete the work at his own expense.
With the exception of the firm elements above, the amounts shown in the respective categories of the
above Basis of Payment are estimates and it is the intention that changes from item to item will be
accepted for billing purposes as the work proceeds, provided that the total cost of the Contract does not
exceed $245,000.00.
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ANNEX C -DISCLOSURES CERTIFICATION
This document is to be completed and signed by the Contractor at the completion of the subject contract
and submitted to the Contracting Officer and the Technical Authority designated below:
Mony Lee
Technical Authority
Blake Beckman
Autonomous Intelligent Systems Section Supply Specialist
Public Works & Government Services Canada
Telus Plaza North, 5th Floor
P.O. Box 4000 Main
10025 Jasper Avenue Medicine Hat, AB T1A 8K6
CONTRACT TITLE: Autonomous Control and Navigation of a Multi Degree-of-Freedom Robot
Please tick appropriate box:
( ) We hereby certify that all applicable disclosures were submitted in compliance with General
Conditions 2040 - Research and Development.
YOUR ATTENTION IS DRAWN TO THE TERMS AND CONDITIONS, REGARDING
IMPLICATIONS ON NON-DISCLOSURE OF any Technical Documentation, Prototypes,
Inventions and Technical Information arising during the performance of work pursuant to the
above identified contract,
OR
[ ] We hereby certify that there are no disclosures to submit under the above-referenced Contract,
referred to in General Conditions 2040 - Research and Development.
Signature
Print Name
Title
Contractor Name
Date
Page 15 of- de 16
A-2013-01547 --0314

Contract No. - N' du contrat
W7702-125267/001/EDM
Client Ref. No. - W ref. du client
W7702-125267
EDM-1-34276

edm066
ANNEX 0 -SECURITY REQUIREMENTS CHECK LIST
Please see Security Requirements Check List (SRCL) form attached to this document.
Page 16 of- de 16
A-2013-01547 --0315
--------------- - - -
Beckman, Blake
From:
Sent:
To:
Cc:
Subject:
Attachments:
5.19(1)
Beckman, Blake
Inna Sharf, Prof ..
RE: Task 2 Report
McGill MHT Progress Report Task 2.docx
And I completely forgot to attach the report.
From:
Sent: February 4, 2013 20:27
To: Blake.Beckman@drdc-rddc.gc.ca
Cc: Inna Sharf, Prof.
Subject: Task 2 Report
Hi Blake,
As I mentioned in our last meeting, here is the report concerning the progress made during the last few months.
Let me know if you have any questions.
A-2013-01547 --0316
20(1 )(b), 20(1 )(c)
20(1 )(b), 20(1 )(c)
------------ - -
Beckman, Blake
From:
Sent:
To:
Subject:
Hi Blake,
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
February-06-13 11:01 AM
Beckman, Blake
MHT Maintenance
Do you have any sort of maintenance log or procedure we should follow?
Thanks!
1
A-2013-01547 --0398
`
Beckman. Blake
From:
Sent:
To:
Subject:
Hi Blake,
Thanks!
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
Beckman, Blake
Hydraulic Motor Performance
1
A-2013-01547 --0399
-----------------------------------
Beckman, Blake
From:
Sent:
To:
Subject:
Hey Blake,
Thanks!
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
February-27-13 2:08PM
Beckman, Blake
1
A-2013-01547 --0400 -----------------
Beckman, Blake
From:
Sent:
To:
Subject:
Hi Blake,
Thanks!
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
April-18-13 12:55 PM
Beckman, Blake
1
A-2013-01547 --0401
-------------------------------------
Beckman, Blake
From:
Sent:
To:
Cc:
Subject:
Hi Blake and Steve,
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
May-03-13 11:05 AM
Beckman, Blake
Penzes, Steve
RE: May 27th for video
May 27th is probably a good date for that.
Sent: May 2, 2013 14:17
To:
Cc: Penzes, Steve
Subject: May 27th for video
Hey
I have talked with Steve and if possible we would like to have the robot demonstrate all its capabilities on the 27
1
h of
May. Steve will set up all the video equipment and you can run the behaviors that have been created up to that date.
Is this date acceptable?
Blake
A-2013-01547 --0402
Beckman, Blake
From:
Sent:
To:
Cc:
Subject:
5.19(1)
Giesbrecht, Jared
May-16-13 3:09PM
Beckman, Blake
Getting Started With Leader/Follower
Attachments:
SIFTLeaderFollower.pdf; PanTiltZaomTR.pdf; purepursuit.pdf; spie2008.pdf; GoiBarFra09
_su bmitted_14J u n09. pdf
Hi
1 just wanted to get you started with your activities. Here's some papers that cover what I've done around here on this
topic. Once you've given them a look, perhaps we should have a talk. Let me know when you're ready.
Start with the paper
Jared
Jared Giesbrecht
Defence Scientist
Autonomous Systems Operations- Ground
Defence R&D Canada -Suffield
403-544-4709
Jared .G iesbrecht@d rdc-rddc.gc.ca
1
A-2013-01547 --0403
Beckman, Blake
From:
Sent:
To:
Subject:
Hey Blake,
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
May-22-13 1:38PM
Beckman, Blake
RE: Obstacles
---------'""""
From:
Sent: May 21, 2013 08:35
To: Beckman, Blake
Subject: RE: Obstacles
Thanks.
-------,-_, ____ ,
Sent: May 21, 2013 07:24
To:-
Subject: RE: Obstacles
Should be ready today I will check.
Blake
From:
Sent: May-20-13 10:35 PM
To: Beckman, Blake
Subject: Obstacles
Hi Blake,
Thanks!
1
'----------------
A-2013-01547 --0404
5.19(1)
Beckman, Blake
From:
Sent:
July-02-13 10:52 AM
To: Beckman, Blake
Subject: RE: MHT and way forward
HI Blake
got your message.will try to call you later today.
Inn a
Sent: July 2, 2013 11:05 AM
Subject: MHT and way forward
Hello lnna,
Do you have time this week to talk about MHT and the way forward for
Blake
Blake Beckman
Autonomous Systems Operations-Ground I Operations des systemes autonomes-Groupe Defence Research and
Development Canada (DRDC) Recherche et developpement pour Ia Defense Canada (RDDC) Medicine Hat, AB, Canada
TlA 8K6 Blake.Beckman@drdc-rddc.gc.ca Telephone I Telephone: 403-544-5502 Facsimile I Telecopieur: 403-544-4704
Government of Canada I Gouvernement du Canada www.drdc-rddc.gc.ca
1
A-2013-01547 --0405
.----------------
Beckman, Blake
From:
Sent:
To:
Subject:
Hi Blake,
Thanks.
Best Regards.
5.19(1)
5.20(1 )(b)
5.20(1 )(c)
October-21-13 11:45 AM
Beckman, Blake
Recordings for MHT
1
A-2013-01547 --0406
19(1)

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