Proposed Mobile Ground Robotics platform for research, prototyping, and robotics competitions. Combines an embedded controller from National Instruments with a military grade tracked ground platform from Mesa Robotics. Seeking feedback from developers and researchers on where this plaform would be valuable, and suggested configuration details.

1. Proposed programmable ground platform:
National Instruments/Mesa-Robotics
NI Industrial Controller
 Research, Prototyping, Development
802.11
 Industry, Academia, Government
 Robotics competitions
 Tele-operation out of the box
 Autonomy-ready
 Target cost 20-25K
 May offer configurations w/ standard
sensor suites at additional cost Mesa Robotics Element
(LIDAR, IMU, GPS, Sonar/IR •Includes smart motors/batteries
scanners, etc.) •50 degree slopes and stairs
•125 lb payload

2. Onboard Controller
 1.66 GHz Core Duo
 Fanless
 80 GB SATA HDD, 2 GB DDR 2 memory
 OS:
 Option 1: WinXP on both cores
 Option 2: WinXP on one core, RTOS on the other
 Optional PCI plug-in card with:
 FPGA linked to analog and digital I/O
 Additional I/0: CAN, CANOpen, RS-232/422/485, etc.
 SWaP
 4.33” x 7.9” x 8.66”; 8 lbs, 40W max (no PCI)

3. Onboard Controller, Continued
PCI
 Same platform can host
 Sensor interface and processing
 High-level code for route planning, mapping, obstacle
avoidance, Kalman filtering, etc.
 Hard realtime control code on RTOS (Pharlap, modified
for improved multi-threading performance)
 FPGA hardware definition linked to I/O for emergency
stop, filtering, fast PID, etc. This is via a PCI module
 C, C++, LabVIEW, .Net, Java, etc.
 Serial, USB, CAN, CANopen, Firewire, I2C, SPI, TCP,
UDP, Arync 429, PCM, analog sensors, etc., etc.

4. Example Configuration:
Dual OS + PCI FPGA Target
Core 1 Core 2 USB x 4
Win XP NI Pharlap Ethernet x 2
C/C++, LabVIEW, Java, LabVIEW, C
Hypervisor
.Net, etc. Rs-232
PCI
Digital I/O with FPGA
•Simple I/O, PWM, I2C, SPI,Custom
Protocols
Analog, digital I/O
PCI-78xxR Terminal block
•CAN
Reconfigurable I/O digital I/O
Terminal block •Serial
digital I/O Optional •Current
•Bridge Sensors
•IEPE Sensors
•Motor drivers
FPGA programmable via •Etc., Etc.
LabVIEW and/or HDL

5. Example Configuration:
Dual OS, Ethercat, PCI-xxxx
Core 1 Core 2 USB x 4
Win XP Hypervisor Pharlap Ethernet x 1
LabVIEW, C/C++, Java, LabVIEW, C
.Net Rs-232
Cat 5
PCI
•Current, Volt
PCI-xxxx •Bridge Sensors
•IEPE Sensors
CAN, 1394, 232/485, etc •Motor drivers
•Etc., Etc.
Digital I/O with Scan
Engine
•Simple I/O, PWM,
encoder

6. Ground Platform
 Payload Area: 216 in2 (1394 cm2)
 Payload Capacity: 125 Lb (57 kg)
 Towing Capacity: 225 Lb (102 kg)
 Fording Depth: 6 in (152 mm)
 Ground Clearance: 3 In (76 mm)
 Zero Turn Radius
 Climbs 50° Stairs
 2-48VDC Smart Motors w/ Encoders
 Size: 21W x 12H x 30L inches (533 x 304 x 762 mm)
 Weight: 40 Lb (18 kg)
 Batteries: 12 VDC NiMH (4 Rechargeable Packs)
 Operating Time: 6 -10 hrs

7. Thank you for your feedback on this
proposed ground robotics base platform !
Charlie Knapp, MSEE
Business Development Manager
Autonomous Systems and Robotics
National Instruments
charlie.knapp@ni.com
Mobile: 714.393.5470