System Architecture

Inside our Robot Platforms

Inside each of our robot platforms we have a comprehensive, flexible and extensible system architecture as shown to the left.

Each robot includes an advanced X86 based navigation computer running on secure Linux. The navigation computer provides network services via WiFi and ethernet interfaces.

An onboard, 8 port Gigabit PoE+ ethernet switch provides support for the onboard camera system and up to 7 more user supplied devices (spare ethernet interfaces run to weather proof connectors on the outside of the robot.)

Sensors and I/O are provide by a digital I/O sub-system. There are 16 channels of input and 16 channels of output. 8 of the outpost can supply up to 9 Amps while the remaining 8 can supply 3 Amps each. Only 3 of the outputs are used by the base system to control Lights, Audio and provide a failsafe for the trigger servos. All other I/O's are available for third party and future applications

A 3D Spatial Sensor subsystem provides 3D acceleration, magnetometer and gyro. This device is used to support advanced traction control and stability control to aid the robot in driving while damaged. Spatial sensor readings, along with computed roll, yall and tilt are forwarded by the robot to the control computer for further integration.

An advanced servo controller provides 8 channels of PWM based servo control for various Electronic Speed Controllers (ESC's) and other functions. 7 of the 8 are used for the drive, steering and gun turret control. One additional PWM is available for future expansion.

Each of the Electronic Speed Controllers provides the ability to host embedded scripts for further customizations. Scripts can be run at nearly 1M instructions per second and there's an extensive set of commands and functions ability to aid in customizing every behavior of the robot.

The radio sub-system is a sophisticated WiFi radio supporting virtualized wireless interfaces. Three interfaces are used in each of the 2.4 Ghz and 5.6 Ghz frequency bands. One interface acts as an 802.11 client and is used to attached to a customer provided WiFi network to create a north bound interface between the robot and its attached devices and the customer's LAN. A second interface provides ad-hoc messing between robots and control points. A third interface provides an 802.11 Access Point function that further allows additional equipment to attached to the robot wirelessly.