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A Brief Overview

Copyright 2002, Cybermotion, Inc.

all rights reserved.

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Introduction

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The technical challenge of designing and fielding

autonomous security robots has caused Cybermotion topush sensor and mobility technology in exciting newdirections.

In almost two decades of thinking out of the box,Cybermotion has developed technologies and

methods that are far ahead of conventional ones.


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Components of CyberGuard Robot

Novel Synchro-Drive mobility

system. Open autonomous navigation

architecture

Advanced adaptive sensor systems. Advanced graphic programming

and control environments.


The CyberGuard robotic system is ahighly integrated suite of unique

technologies, many of which haveindependent applications:


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Drive System TechnologyDrive System Technology


Patented, 3rd Generation,

Concentric-Shaft,Synchro-Drive


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Critical Drive System Qualities

Zero turning radius Accurate odometry Tenacious traction Rugged, reliable, and clean Responsiveness to controls


Cybermotions patented Synchro-Drive system hasthese important advantages over conventional systems:

While Cybermotion hasimplemented the ideal indoorvehicle using this technology,

outdoor vehicles could also profit from these important

advantages.


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What is Synchro-Drive?What is Synchro-Drive?


Single

DriveMotorPowers

allWheels

SingleSingle

DriveDriveMotorMotorPowersPowers

allallWheelsWheels

Single SteerMotor

Steers allWheels

Single SteerSingle SteerMotorMotor

Steers allSteers allWheelsWheels

Direct gear drive(no differential)

Direct gear driveDirect gear drive(no differential)(no differential)

ConcentricShafts

(no belts

or chains)

ConcentricConcentricShaftsShafts

(no belts(no belts

or chains)or chains)

Near perfect traction,maneuverability, and

odometry

Near perfect traction,Near perfect traction,maneuverability, andmaneuverability, and

odometryodometry

A revolutionary drive mechanism developed by Cybermotion.A revolutionary drive mechanism developed by Cybermotion.A revolutionary drive mechanism developed by Cybermotion.


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DrivingWhen driving in a straight line, all six wheels of aK3A Synchro-Drive platform rotate at exactly the

same speed and in the same direction regardless of the surface conditions.


The platform remains facing in the same direction atall times. A sub-turret turns with the wheels toface in the direction of motion.


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SteeringWhen steering in place, the two wheels of eachfoot of a Synchro-Drive platform rotate at exactly

the same speed but in opposite directions regardlessof the surface conditions. The base does not move.


When driving and steering occur at the same time,the wheels perform a combination of these twoactions.


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Why is this the ideal drive foran autonomous vehicle?


Indoor environments often require dead end turns.Right angle turns save aisle space and thus money.

Ackerman (car) drives require complex maneuvers.

Complex maneuvers take space.

Complex maneuvers take time.

Synchro-drive saves time and space.


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Synchro-Drive in ActionNow watch the wheels of a K3A in action as itperforms a turn in place.



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Traction and Odometry


Since all wheels pull together at the same speed,Synchro-Drive provides almost ideal traction andodometry.

A Synchro-Drive vehicle has two independentdegrees of freedom; heading and distance. Thismakes dead reckoning easy and precise, while

providing excellent maneuverability.


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Stability and PayloadNow observe the versatile K3A with its 500 poundpayload in an actual automatic nuclear inspection role

at the DOE Fernald Site.



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Strong IP ProtectionStrong IP Protection


Cybermotion holds patents on Synchro-Drive usingchain drive, three-wheel shaft drive, and six-wheelshaft drive!

Cybermotion holds patents on Synchro-Drive usingchain drive, three-wheel shaft drive, and six-wheelshaft drive!

This strong patent position provides a significant barrier

to entry for potential competitors.

This strong patent position provides a significant barrier

to entry for potential competitors.


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Navigation and Obstacle DetectionSensor Technology

Navigation and Obstacle DetectionSensor Technology


Innovative sensor systems Advanced sensor fusion techniques


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Press space bar to continue.

BumperBumper

Auto-chargingreceptacle

Auto-chargingreceptacle

Sonar transducersSonar transducers Micro-power

Subsystemcomputers

Micro-power

Subsystemcomputers

Payload, lift, orcover (as shown)Payload, lift, orcover (as shown)

Proprietary and 3rd Party* Subsystems

Lidar Navigation*(optional).

Lidar Navigation*

(optional).

RFID Tag Reader*(optional)

RFID Tag Reader*(optional)

Puddle Detector*(optional)

Puddle Detector*(optional)


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Proprietary Digital SonarProprietary Digital Sonar


Digitally processes out ambient noise

Filters out pings fromeven identical systems

Distinguishes type of target

Doubles asintrusion sensor


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Rock Solid On-Board Firmware


Proprietary signal processing

Although the NavMaster is the mobility system forCybermotions SR-3 Security

Robot, it is in-fact designed as a general-purpose

modular system.

Proprietary navigation language

Proprietary multi-tasking environment

Proprietary sensor fusion

Open, expandable, architecture


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Advanced Security SensorsAdvanced Security Sensors


Revolutionary scanning PIR, MW, and UV

sensor systems

Advanced fuzzy logic techniques

Static and Dynamiclearning

Comprehensive airquality assessment

Although the SPI sensor system was designed forCybermotions SR-3Security Robot, it caneasily be adapted to

stand-alone, portable, or stationary configurations.


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Scanning Intrusion Sensor SystemScanning Intrusion Sensor System


Proprietary Signal ProcessingAdvanced Hamming filtersStatic LearningDynamic LearningIndividual Target Assessment and Tracking

Fusion of PIR, MW, and UltrasonicsIntegrated to Camera Motion


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1 2 3 4

UP

DOWN

ReportsReports

Reports

System Level SoftwareSystem Level Software

PathCAD

PathCAD Graphical Programming Environment PathCAD Graphical Programming Environment

ReportsReports

GraphsReports

ReportsInventory

i-Con DataMining


The CyberGuard System has three system level components:The CyberGuard System has three system level components:

I-Con Central Control and Human Interface I-Con Central Control and Human Interface

Logging and Data Mining ApplicationLogging and Data Mining Application


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Press any key to continue.


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Why PathCAD ?


Robots must be programmed to perform their tasks.

Elevators and automatic doors must be programmed. Programming cost / time must be minimized. Installation cost becomes critical in service model.

Programming errors must be minimized. Programmer training must be minimized.

The answer was to advance from traditional text programming to graphical programmingthus PathCAD.


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PathCADPathCAD

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tocontinue .

The programmer uses acombination of drop-downmenus and graphical toolsto quickly generate the textprograms that control the

whole NavMaster system.

The programmer uses acombination of drop-downmenus and graphical toolsto quickly generate the textprograms that control the

whole NavMaster system.

These programs create theroutes that the robot canuse to go from one place toanother, and tell it whatlandmarks to use for

navigation.

These programs create theroutes that the robot canuse to go from one place toanother, and tell it whatlandmarks to use for

navigation.

These programs also tellthe robot what actions itshould take along a path,or at a destination where itmust interface with fixed

equipment.

These programs also tellthe robot what actions itshould take along a path,or at a destination where itmust interface with fixed

equipment.


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What About Other Systems ?


As robot programming became more and moregraphical, the question arose.

As a result, Cybermotion has developed a whole

new concept of integrating systems at the floor plan level!

Why couldnt the integration of fixed alarms, dooropeners, and elevator controls be done graphically

as well ?


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Assure safe, reliable operation at all times.

Minimize operator training requirements. Prevent operator mistakes. Reduce operator workload. Allow supervisors to assess performance. Enable fast, remote maintenance.


i-Con Development Goals Like much of Cybermotions technology, i-Conis a break with traditional methods and

assumptions. The goal was to:


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Everything possible is represented graphically. Clicking any graphical object will open a display

or control for that object. Objects on these displays and controls may in

turn be clicked to yield ever greater details. Expert systems offer advice and control

options available to the operator. All data maintenance is automated.


i-Con PhilosophyThe i-Con development goals were successfully

accomplished using the following techniques:


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i-Con Control Software

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i-Con is written in Visual Basic and runs on anymodern Windows 95, 98, 2000, XP, or NT basedcomputer.

Like the vehicle itself, i-Con is modular and

general purpose in nature. It can be used as: A multi-robot control console

A GUI alarm central station

A system control console for elevators, doors, etc.


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Searches can be restricted by position, map,and time of day.

Instant Data Mining


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Operational Reports are generated bya single mouse click. They beginwith a concise summary of theoperation of the system over thereporting period.

Operational Reports are generated bya single mouse click. They beginwith a concise summary of theoperation of the system over thereporting period.

The user of this report can then look at subsequent pages for details, orgenerate map or graph displays of the information.

The user of this report can then look at subsequent pages for details, orgenerate map or graph displays of the information.

Event Report Generated by Cybermotion Event ReporterVersion 1.01.Reporting period:Beginning 20 Apr 1999 at 14:00

and Ending 21 Apr 1999 at 15:13

Data was not restricted by position.This report includes the TEMPLATE, and 406FL1 maps.The graph file for this report is C:\406\Apr20_1999Ev_1.dat.

There were 1638 Valid Events reported.Total operating hours: 15.1

Total forPeriod

Jobs Performed: 163Operator Assists: 0

Communication Timeout: 34Navigation blockages: 0

Path Recalls: 0Circumnavigations: 42

Navigation Alerts: 6

Management Reports


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Environmental Reports also begin

with a concise summary of theenvironment over the reporting periodand include details on subsequent

pages.

Environmental Report Generated by Cybermotion Environment Surveyor Ver. 1.00.Reporting period:Beginning 12 Apr 1999 at 18:00

and Ending 20 Apr 1999 at 14:18

Data was not restricted by position.This report includes the 405F1, 405F2, and 405F3 maps.The graph file for this report is C:\404405\Apr12_1999_2.dat.

There were 1505 Valid Readings reported.

Parameter Value Date Time X Pos. Y Pos. Map-------------------------------------------------------------------------------------------Min.Temperature(F) 71.1 4/19/1999 3:24 -69.72 -0.95 405F1Max.Temperature(F) 78.7 4/16/1999 19:0 -5.35 -0.34 405F2Ave.Temperature(F) 75.6 for whole facility.

Parameter Value Date Time X Pos. Y Pos. Map-------------------------------------------------------------------------------------------Min.Rel.Humidity(%) 12.2 4/13/1999 20:50 -5.16 -47.96 405F3

Environmental Reports


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Environmental graph files arealso generated with a singlemouse click. These files are

readable by all popular graphingprograms and can be droppedinto all Microsoft Officedocuments.

Environmental graph files arealso generated with a singlemouse click. These files are

readable by all popular graphingprograms and can be droppedinto all Microsoft Office

documents.0

20

4060

80100120

9:421/7/98

15:551/7/98

5:321/16/98

20:561/16/98

13:402/23/98

TempHumid

SmokeGas1Gas2LightAux1

Time Based Graphs


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Map Displays(Actual Incident)



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Applications Experience


As the result of a wide range of government andcommercial projects, Cybermotion hasdeveloped many special configurations. Each of

these projects has added to our toolbox,making the core system extremely flexible.


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Applications


Cybermotion technology hasapplication to a wide range of markets:

Nuclear inspection and surveysHazardous materials handlingAutomated materials transportClean room transportAutomated and remote inspectionMail and parcel pick-up and deliveryPortable surveillance systemsCentral station monitoringCounter terror patrol


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Introduction to i-Con (33 animated slides)Basic i-Con Operator Training (101 animated slides)Introduction to CyberGuard (54 animated slides)NavMaster Technology (24 animated slides)Robots in Security (34 animated slides)The i-Con Users ManualThe PathCAD Programmers ManualThe DataLog and EventLog Users Manual

Introduction to i-Con (33 animated slides)Basic i-Con Operator Training (101 animated slides)

Introduction to CyberGuard (54 animated slides)NavMaster Technology (24 animated slides)Robots in Security (34 animated slides)The i-Con Users ManualThe PathCAD Programmers ManualThe DataLog and EventLog Users Manual

Cybermotion Inc.1354 8th St. SW, Suite 400Roanoke, VA 24015www.cybermotion.com

1-800-Robot-4U Press space bar to end.

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