A Brief Overview

Copyright 2002, Cybermotion, Inc.

all rights reserved.

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 Introduction
The technical challenge of designing and fielding
autonomous security robots has caused Cybermotion to
push sensor and mobility technology in exciting new
directions.

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
The CyberGuard robotic system is a
highly integrated suite of unique
technologies, many of which have
independent applications:
• Novel Synchro-Drive mobility
system.
• Open autonomous navigation
architecture
• Advanced adaptive sensor systems.
• Advanced graphic programming
and control environments.

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 Drive System Technology

Patented,
3rd Generation,
Concentric-Shaft,
Synchro-Drive

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 Critical Drive System Qualities
Cybermotion’s patented Synchro-Drive system has
these important advantages over conventional systems:
• Zero turning radius
• Accurate odometry
• Tenacious traction
• Rugged, reliable, and clean
• Responsiveness to controls
While Cybermotion has
implemented the ideal indoor
vehicle using this technology,
outdoor vehicles could also
profit from these important
advantages.
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 What is Synchro-Drive?
A revolutionary drive mechanism developed by Cybermotion.
Single Steer
Motor
Single
Steers all
Drive Wheels
Motor
Powers
all
Wheels
Concentric
Direct gear drive Shafts
(no belts
(no differential) or chains)

Near perfect traction,

maneuverability, and
odometry Press space bar to continue
 Driving
When driving in a straight line, all six wheels of a
K3A 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 at

all times. A “sub-turret” turns with the wheels to
face in the direction of motion.
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 Steering
When steering in place, the two wheels of each
“foot” of a Synchro-Drive platform rotate at exactly
the same speed but in opposite directions regardless
of the surface conditions. The base does not move.

When driving and steering occur at the same time,

the wheels perform a combination of these two
actions.
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Why is this the ideal drive for
an 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 Action
Now watch the wheels of a K3A in action as it
performs 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 and
odometry.

A Synchro-Drive vehicle has two independent

degrees of freedom; heading and distance. This
makes dead reckoning easy and precise, while
providing excellent maneuverability.
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 Stability and Payload
Now observe the versatile K3A with its 500 pound
payload in an actual automatic nuclear inspection role
at the DOE Fernald Site.

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 Strong IP Protection
Cybermotion holds patents on Synchro-Drive using
chain drive, three-wheel shaft drive, and six-wheel
shaft drive!

This strong patent position provides a significant barrier

to entry for potential competitors.
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 Navigation and Obstacle Detection
Sensor Technology

Innovative sensor systems Advanced sensor

fusion techniques

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Proprietary and 3rd Party* Subsystems

RFID Tag Reader*

(optional)
Lidar Navigation*
(optional). Payload, lift, or
cover (as shown)
Sonar transducers Micro-power
Subsystem
Auto-charging
computers
receptacle
Puddle Detector*
Bumper (optional)
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 Proprietary Digital Sonar
Digitally processes out Distinguishes
ambient noise type of target

Filters out pings from

Doubles as
even identical systems
intrusion
sensor

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Rock Solid On-Board Firmware
•Proprietary multi-tasking environment
•Proprietary signal processing
•Proprietary navigation language
•Proprietary sensor fusion
•Open, expandable, architecture
Although the NavMaster is
the mobility system for
Cybermotion’s SR-3 Security
Robot, it is in-fact designed
as a general-purpose
modular system.
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 CyberGuard in Action
With its powerful sensor systems and proven
software, the vehicle can safely navigate almost any
indoor environment.

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 Advanced Security Sensors

Advanced fuzzy logic

Revolutionary techniques
scanning PIR,
MW, and UV
Although the SPI
sensor systems
sensor system was
designed for
Static and Dynamic Cybermotion’s SR-3
learning
Security Robot, it can
easily be adapted to
Comprehensive air stand-alone, portable,
quality assessment or stationary
configurations.

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 Scanning Intrusion Sensor System
•Proprietary Signal Processing
•Advanced Hamming filters
•Static Learning
•Dynamic Learning
•Individual Target Assessment and Tracking
•Fusion of PIR, MW, and Ultrasonics
•Integrated to Camera Motion

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 System Level Software
The CyberGuard System has three system level components:
• PathCAD Graphical Programming Environment
• I-Con Central Control and Human Interface
•Logging and Data Mining Application

Data
PathCAD i-Con Mining

1 2 3 4

Reports Reports Reports

Reports Reports Reports
UP Reports Graphs Inventory

DOWN

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Press any key to continue.
 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 programming…thus
PathCAD.

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 PathCAD

The programmer
These programs also create
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athe
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withforfixed
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whole NavMaster system.
navigation.
equipment.

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to
continue.
What About Other Systems ?
As robot programming became more and more
graphical, the question arose….

Why couldn’t the integration of fixed alarms, door

openers, and elevator controls be done graphically
as well ?

As a result, Cybermotion has developed a whole

new concept of integrating systems at the floor
plan level!

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PathCAD Drop-in Systems Integration

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 i-Con Development Goals
Like much of Cybermotion’s technology, i-Con
is a break with traditional methods and
assumptions. The goal was to:

• 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.

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 i-Con Philosophy
The i-Con development goals were successfully
accomplished using the following techniques:
• 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.

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 i-Con Control Software
i-Con is written in Visual Basic and runs on any
modern Windows 95, 98, 2000, XP, or NT based
computer.

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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Press any key to continue.
 Instant Data Mining

Searches can be restricted by position, map,

and time of day. Press any key to continue.
 Management Reports
Event Report Generated by Cybermotion Event Reporter
Version 1.01.
Operational Reports are generated by
Reporting period:
a single mouse click. They begin
Beginning 20 Apr 1999 at 14:00
and Ending 21 Apr 1999 at 15:13
with a concise summary of the
Data was not restricted by position.
operation of the
This report includes system over
the TEMPLATE, themaps.
and 406FL1
The graph file for this report is C:\406\Apr20_1999Ev_1.dat.
reporting period.
There were 1638 Valid Events reported.
The user of this report can then look
Total operating hours: 15.1
Total for
at subsequent pages for details, or
Period
Jobs Performed: 163
generate map or graph displays of
Operator Assists: 0
the information.
Communication Timeout:
Navigation blockages:
34
0
Path Recalls: 0
Circumnavigations: 42
Navigation Alerts: 6

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 Environmental Reports
Environmental Report Generated by Cybermotion Environment Surveyor Ver. 1.00.
Reporting period:
Environmental Reports also begin
Beginning 12 Apr 1999 at 18:00
with a concise summary of the
and Ending 20 Apr 1999 at 14:18

environment
Data was over the reporting period
not restricted by position.
This report includes the 405F1, 405F2, and 405F3 maps.
and
The graph file include details
for this report on subsequent
is C:\404405\Apr12_1999_2.dat.
pages.
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 405F1
Max.Temperature(F) 78.7 4/16/1999 19:0 -5.35 -0.34 405F2
Ave.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

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 Time Based Graphs
Environmental graph files are
120
100
also generated with a single Temp
80 mouse click. These files are Humid
60 readable by all popular graphing Smoke
40 Gas1
programs and can be dropped
20 Gas2
into all Microsoft Office Light
0
9:42 documents.
15:55 5:32 20:56 13:40 Aux1
1/7/98 1/7/98 1/16/98 1/16/98 2/23/98

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Map Displays
(Actual Incident)

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 Applications Experience
As the result of a wide range of government and
commercial projects, Cybermotion has
developed 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 has
application to a wide range of
markets:
•Nuclear inspection and surveys
•Hazardous materials handling
•Automated materials transport
•Clean room transport
•Automated and remote inspection
•Mail and parcel pick-up and delivery
•Portable surveillance systems
•Central station monitoring
•Counter terror patrol
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Additional Data Available
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 User’s Manual
The PathCAD Programmer’s Manual
The DataLog and EventLog User’s Manual

Cybermotion Inc.
1354 8th St. SW, Suite 400
Roanoke, VA 24015
www.cybermotion.com
1-800-Robot-4U Press space bar to end.