1. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Agile Robotics Platform Integration Mitch Leammukda, Troy Jones, Lenny Paritsky, Rob Truax, Mofe Uku, Paul Pepin, Steve Proulx, Mike Kerekes

2. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Forklift Platform Toyota 8FGU15 ◦ 3k lbs. capacity ◦ Liquid propane gas fuel ◦ Electrically-actuated mast hydraulics ◦ CANbus network ◦ Pneumatic tires ◦ Internal sensors and safety override system

3. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Toyota 8-Series Features System of Active Stability (SAS) ◦ Internal sensors detect instability and forklift’s controllers activate appropriate functions  Active Control Rear Stabilizer System  Speed sensor  Yaw rate sensor  Swing Lock Cylinder  Active Mast Function Controller System  Pressure sensor  Height (stage) sensor  Tilt angle sensor 3

4. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Forklift Pics 4

5. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Modifications Several components on forklift need to be modified to be a computer-controlled drive- by-wire system ◦ Mechanical/Hydraulic (major mods)  Steering  Hydraulic brake  Parking brake – engagement & release ◦ Electrical (minor mods)  Mast degrees of freedom (DOFs)  Accelerator  Transmission  Lights, alarms, etc. 5

6. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Steering Hydrostatic steering pump transfers hydraulic fluid to move steer wheels Implement gearbox, pulley, motor/clutch driven by Copley Accelnet motor controller 6 Hydrostatic pump Steering shaft

7. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 7

8. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Hydraulic Brake Pedal physically pushes down on master cylinder Implement motor and cable system driven by Copley Accelnet motor controller 8 Master Cylinder Brake Pedal

9. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Hydraulic Brake (cont.) 9

10. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Parking Brake Pedal physically pulls on cable to engage parking brake Hand lever releases brake Implement motor, clutch, and cable system to engage Implement solenoid and cable to disengage 10

11. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Parking Brake (cont.) 11

12. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Mast Actuation Mini-Levers system ◦ Potentiometers control DOFs  Lift  Tilt  Sideshifting  Fork positioning ◦ Forklift’s electronic control unit (ECU) reads voltages across the potentiometers and then controls the mast 12

13. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Mast Actuation (cont.) Microcontroller (uC) in between Mini- Levers and ECU ◦ uC controlled by CPU and then output voltages to control mast ◦ uC can accept output from Mini-Levers and then “relay” voltages to ECU 13

14. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 System Integration – Next Steps Controls Interface Modifications ◦ Design computer control capability of accelerator, transmission, emergency stop, on-board electronics, etc. Power Inverters ◦ Provide sufficient power to CPU, sensors, add’l motors, safety indicators, networking components Computers ◦ Process sensor data, perform planning and execution of maneuvers ◦ Shock-mounted to handle dynamic movement, bumps Sensor Mounting ◦ Allow for proper data collection of variety of sensors, pointing in different directions

15. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Timeline apr 08 Concepts of mechanical & electrical modifications All DBW elements transferred to full-size prototype ready for software testing and data collection aug 08 sep 08 jan 09 mar 09 nov 08 End-to-end capability demonstrated Additions & modifications for self- contained autonomous platform Complete all modifications for autonomous capability

16. Agile Robotics Site Visit Mitch Leammukda 8/8/2008 Schedule/Milestones Sept. 30, 2008 ◦ All DBW elements transferred to full-sized prototype ready for software testing and data collection  Steering, hydraulic brake, and parking brake actuation  Mast, accelerator, transmission actuation  Baseline set of sensors mounted and wired  CANBus interface software reading vehicle data/states Nov. 30, 2008 ◦ Additions/modifications for self-contained autonomous platform  Power inversion additions and wiring  Controls CPU system mounted with network connections  Preliminary human/autonomous handoff system Jan. 31, 2009 ◦ Complete all modifications for autonomous capability  Robust safety/handoff system implemented  Visible & audible annunciators functional March 31, 2009 – end of Year 1 ◦ End-to-end capability demonstrated 16