1. 11 June 2003 United Defense LP -- Proprietary1 Auto-Reconfiguration on Grizzly Dr. NS Mohan United Defense, L.P. Ground Systems Division

2. 11 June 2003 United Defense LP -- Proprietary2GrizzlyGrizzly

3. 11 June 2003 United Defense LP -- Proprietary3 System Requirements & KPPs  Key Grizzly Program requirements: ► M1 Abrams Chassis ► Redundant Drive-By-Wire Automatic switch-over of controllers within 200 ms ► Survivable Mine Clearing Blade (MCB), ADCS & PDA ► Ability to plow in varied soil and terrain conditions at higher speeds with Auto Depth Control  KPPs: ► Gross Combat Weight: less than 70 Tons ► Defeat/clear mines buried at depths up to 12 inches ► Defeat/breach complex obstacle in 21 minutes Mine field; Anti-tank ditch; Concertina wire ► Mobility & Survivability comparable to M1 Abrams

4. 11 June 2003 United Defense LP -- Proprietary4 Vetronics Description

5. 11 June 2003 United Defense LP -- Proprietary5 Hardware Elements  Controllers ► Primary (PC), Secondary (SC)  Fully redundant  Auto Depth Control Subsystem (ADCS) Controller  2 Drive Remote IO Modules ► Configured to support redundancy of functions  PDA RIOM  Crew Interface RIOM  Actuators – Braking, Steering

6. 11 June 2003 United Defense LP -- Proprietary6 Software Architecture  Software Configuration Items ► Auto Depth Control Subsystem (ADCS) ► Crew Interface Subsystem (CIS) ► Drive Control Subsystem (DCS) ► Power Driven Arm (PDA) ► Operating Environment ► System Services (SS)  Multi-layered approach  Reconfiguration support  SS, CIS

7. 11 June 2003 United Defense LP -- Proprietary7 Software Architecture – contd.

8. 11 June 2003 United Defense LP -- Proprietary8 Software Architecture – contd.  Software Configuration Items ► System Services (SS) Utilities (e.g., storage management) Insulated the applications from lower level details (OE, hardware) APIs provided to the application SCIs, provides portability Followed the ICD closely, changes in ICD generally did not affect the applications (no code changes) Reconfiguration support

9. 11 June 2003 United Defense LP -- Proprietary9 Reconfiguration of Controllers  Manual – by the operator ► If something is not behaving correctly ► For testing of functionality (maintenance mode)  Automatic ► Switches to secondary controller when primary fails ► Time limit: 200 ms  for resuming normal operations ► Periodic exchange of health status between the two controllers (heartbeat) – Keep Alive Signal via 1553 bus

10. 11 June 2003 United Defense LP -- Proprietary10 Reconfiguration Support  Backup controller configured as simultaneous remote terminal and bus monitor  All CSCIs run lockstep in both controllers. The copy on the backup controller will have its outputs suppressed, until needed.  The CIS_CSCI is designed to accommodate reconfiguration ► Operator inputs to PC are duplicated by System Services and sent to SC via 1553 (latency for SC) ► Same inputs  same outputs

11. 11 June 2003 United Defense LP -- Proprietary11 Reconfiguration Support - contd.  PC duplicates inputs & sends them to SC (both DRIOMs, DECU).  Keep Alive signal (via 1553 between controllers) ► 40 Hz  Drive Control critical data saved & exchanged periodically – RS-423 link between controllers ► 40 Hz

12. 11 June 2003 United Defense LP -- Proprietary12 Reconfiguration Power-up  The PC and the SC are differentiated by the RT address on the 1553 connector: ► PC = 0001 ► SC = 0010  At power-up, both controllers initiate a time delay = (RT address – 1)*5 ms, tipping the scale in favor of the PC  Upon timeout, check for bus activity ► IF no activity, assume role of bus controller and initiate bus schedule ► ELSE, assume role of RT

13. 11 June 2003 United Defense LP -- Proprietary13 Reconfiguration Scenarios Notify Operator Take over as Bus Controller Remove power from other controller PC detects SC failureYESN/AYES PC detects SC is not ready to take over YESN/AYES SC detects PC failureYES SC detects PC is not ready to take over YESNO  To avoid PC tying up the bus: ► SC sends a reset command over RS-423 link ► SC takes over as Bus Controller ► SC sends command to PDU to remove power from the PC

14. 11 June 2003 United Defense LP -- Proprietary14 Manual Reconfiguration of Controllers  During maintenance mode, operator can select to switch controllers as Bus Controller ► PC transmits a dynamic bus control command to SC ► SC accepts control by setting dynamic bus control bit in status word ► Control is relinquished by PC (current Bus Controller) ► Operator notified when this is complete  This is an application of standard mechanism provided by 1553 specification for transfer of control

15. 11 June 2003 United Defense LP -- Proprietary15 Reconfiguration of Drive Remote I/O Modules  Implemented within DCS software  Manual – by the operator ► If something is not behaving correctly ► For testing of functionality  Automatic ► Switches to secondary DRIOM when primary fails By function (e.g., Braking) or DRIOM as a whole ► Periodic status via 1553 (BIT) DRIOM 1DRIOM 2 DCS Inputs 1553 Bus

16. 11 June 2003 United Defense LP -- Proprietary16SummarySummary  Requirement of Redundancy of Drive-By-Wire satisfied by ► Duplicate controllers  automatic switchover within 200 ms ► Duplicate Drive Remote I/O Modules  automatic switchover by function or as a whole  Tested thoroughly within System Integration Laboratory and on the vehicle  fully satisfied the requirements at max speed of 45 mph  All Key Performance Parameters (KPPs) and EMD exit criteria were met or exceeded