Attachment 3 OBAA Topic Solicitation No. 8 - System Description.pdf

Attachment 3: 70RWMD21R00000002

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Attachment 3: Unmanned Ground Vehicle System Desired System Description

Generic System Description

The desired system provided by the Offeror is expected to compose of several different components. Since not all Offerors utilize the same terms or labels for these components the following diagram and labels are provided to allow for all Offerors to review their system and provide clarity to the Government about their system’s capabilities.

• System – The complete set of components and accessories specified in the proposal. The system includes all the proposed sensors, handheld controller, base station (if provided) and manipulator arm.

• Base Station (Optional) – Part of the system package that provides logistical support and capabilities that are immobile and remain outside of the ‘hot zone’ but is not considered part of the handheld operator unit. The base station is independent of, not integrated into, either the handheld operator unit or the ground vehicle. Note that this is not an expected component but some Offerors may utilize one, so it is included in the Generic description.

• Handheld controller – Part of the system package that provides command, control, and sensor readings to the operator.

• Ground Vehicle– The base ground vehicle that provides the core of the system and acts as the motive system moving the manipulation arm, CBRN sensors, visual sensors, etc.

into and out of areas to be investigated.

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• Manipulation Arm – The device that reaches, grabs, carries, and places objects per the direction of the operator.

• Plug and Play Sensors – Sensors that may be attached and connected to the system to provide capabilities to locate and identify CBRN materials and threats. (All sensors depecited are nominal examples of those expected to be deployed.)

• Configuration – A configuration is the set of components, accessories, and sensors that can be deployed as a single unit to probe a hazardous situation. Note that the two configurations shown are only provided as examples of different configuration.

Configuration does not imply changes made to the system between phases, though phase III will create new configurations for the system.

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Desired Capabilities

Req# Capability Threshold Objective

R-1 Ground vehicle Visual Sensor

The ground vehicle camera shall provide 70 degrees of vision in daylight, artificially illuminated, and partially lit conditions.

Provide 360 degree vision in daylight, artificially illuminated, night time conditions, and complete darkness without additional attachments

R-1b Low Light/Darkness The system shall provide vision in low light (night time) and complete darkness

Provide 360 degree vision in night time conditions, and complete darkness without additional attachments

R-2 System shall operate in marine atmospheres

All components of the system shall operate in the presence of water spray, high humidity, and sea salt N/A

R-3 Ground vehicle able to traverse flooded spaces

Ground vehicle shall be able to move through spaces with 15 cm of salt water from -2 to 35 °C (without sensors attached)

Able to move through spaces with 91 cm feet of salt water from -2 to 35 °C (with sensors attached)

R-4 Ground vehicle able to traverse tall grass

Ground vehicle shall be able to move through spaces with 45 cm tall grasses or lightweight brush material

Ground vehicle shall be able to move through spaces with 91 cm tall grasses or lightweight brush material

R-5 Ground vehicle unaffected by toxic environments

Ground vehicle shall maintain operation and survive exposure to non-corrosive toxic chemicals

Ground vehicle shall maintain operation and survive exposure to corrosive toxic chemicals

R-6

Ground vehicle unaffected by atmospheric oxygen levels

Operable in oxygen deficient or non-explosive gaseous atmospheres without system malfunction

Operable in oxygen deficient and explosive gaseous atmospheres without system malfunction or ignition to the environment

R-7 The system shall be operable in humid environments

All system components and accessories shall be fully operable in atmospheres up to 95% relative humidity. N/A

R-8 The system shall be operable in applicable temperature ranges

All system components and accessories shall be fully operable in atmospheric temperatures ranging from -20 °C to 40 °C. N/A

R-9 The ground vehicle will be operable in constricted spaces

The complete ground vehicle shall be able to enter into and turn within confined spaces commonly found in building structures and marine vessels

N/A

R-10 Navigation in Reduced Visibility Environments

Provide obstacle awareness and navigation capability in reduced visibility (100 yards or less) due to particulate and/or liquids droplets in the surrounding air (fog, haze, smoke)

Provide automatic obstacle avoidance capability in reduced visibility environments.

R-11 Unstructured Terrain Ground vehicle with sensors and arm shall be able to cross unstructured terrain such as dry unpacked sand and/or loose dirt

Ground vehicle with sensors and arm shall be able to cross unstructured wet terrain such as mud or water-sand suspensions.

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R-12 Broken Terrain

Ground vehicle with sensors and arm shall be able to cross broken terrain, such as a rock piles or a debris field, consisting of an overlapping randomly sloped surfaces with random obstacles (such as saplings or rebar) and possible fissures between elements

N/A

R-13 Slopped Terrain Ground vehicle with sensors and arm shall be able to move across slopes of at least 30 degrees (across being defined as movement perpendicular to the direction of slope)

Ground vehicle with sensors and arm able to move across slopes of at least 45 degrees or more.

R-14 Wash down/Decontamination

Ground vehicle with sensors and arm shall be able to be washed down with water and decontaminate solution after probing a hazardous area.

Ground vehicle shall be able to be immersed in water with all components and configurations having an IP rating of 68

R-15 Indoor spaces Ground vehicle with sensors and arm shall be able to maneuver around and over obstacles such as chairs, desks, walls, and fallen debris

N/A

R-16 Marine Spaces Ground vehicle with sensors and arm shall be able to cross watertight thresholds (elevated with a lip for securing the door on one side) with the opening being 300 mm, or more, above the level of the deck.

Able to cross watertight threshold from external entry points with opening 1 meter above ground level

R-17 Stairs Ground vehicle with sensors and arm shall be able to travel up and down stairs up to 45 degrees in slope.

Travel up and down marine vessel/ship ladders steeper than 45 degrees in slope

R-18

Ground vehicle unaffected by low level radiation (radio transmissions)

Operable in conditions outside of a 2-meter radius of an antenna in the environment broadcasting a 4-Watt signal in the range of 80mhz to 2500mhz

Operable within 2 meters of an antenna broadcasting above the 4-Watt FCC broadcast limit

R-19 Ground vehicle operable by a handheld external controller

Two -handed operation with interface allowing full control and manipulation of ground vehicle, sensors, and manipulator arm.

Single hand operation with all additional requirements specified in threshold

R-20 Handheld controller The handheld controller will provide the operator with real-time live data streams from all attached sensors along with visual navigation information and full operation of the ground vehicle

N/A

R-21 Operator Operational Awareness-Controller

Handheld controller provides visual awareness to the operator of conditions surrounding the ground vehicle N/A

R-22 Unit-Controller Communications

Only the handheld controller and base station (if applicable) are needed to maintain wireless communication with the ground vehicle and sensors, up to 1000 meters (point to point). Systems cannot rely on sensors that may or may not, be found at a particular site.

System only requires hand held controller to maintain wireless communication over 1000 meters (point to point) with the ground vehicle.

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R-23 Unit-Controller Communications RF Denial

The handheld controller/base station can maintain communication with the ground vehicle and sensors, up to 200 meters (travel distance) when Radio Frequency, Satellite, or line of site based communications are inhibited or prevented.

1000 meters travel distance

R-24 The base station shall communicate to the controller wirelessly

With a range of at least 30 meters without use of surrounding communication services.

With a range of 300 meters without use of surrounding communication services.

R-25

The system shall be able to communicate externally to Government reach back support

The system shall have wireless data transmission capability to a secure communication facility not included within the ground vehicle. N/A

R-26 External communications

All external communications (to devices outside of the system) shall be able to be shut off N/A

R-27 Manipulator Arm- Hardware Interface

The manipulator arm shall be attachable and removeable to the ground vehicle in under 3 minutes with minimal use of non-powered, commonly available hand tools (e.g. screw driver, wrench)

The manipulator arm shall be able to be attached and removed without the use of tools in under 3 minutes

R-28 Manipulator Arm- Software Interface

Upon attachment, the ground vehicle shall automatically detect and assume control of the manipulator arm, and the arm shall be immediately controllable by the handheld controller (plug and play)

N/A

R-29 Ground vehicle capacity The ground vehicle shall be able to carry a load of 20 lbs. in mass when no sensors are attached.

The ground vehicle shall be able to carry a load of 40 lbs. in mass when no sensors are attached.

R-30 Arm capacity- sensors attached

The ground vehicle and arm shall be able to grab, lift, and place objects of at least 5lbs from unit ‘ground level' to 1 meter above ground level, while the ground vehicle is also carrying at least three CBRN sensors

Grab, lift, and place objects of at least 20lbs from unit ‘ground level' to 2 meters above ground level, while sensors are attached to ground vehicle

R-31 Arm Manipulation Ability

Turn round or cylindrical door knobs at standard height above ground level N/A

R-32 System Pull capability The ground vehicle with arm shall be able to pull/push open a standard hinged entry door that is unlocked N/A

R-33 System Vehicle Doors The ground vehicle with arm shall operate a vehicle door handle and open the attached door when the handle is up to 2 meters above the ground

Open and raise a roll up vehicle cargo door

R-34 Manipulator arm control The operator shall be able to manipulate and maneuver the manipulator arm via the handheld controller N/A

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R-35 Arm Observation The system shall provide integrated video capabilities to the handheld controller for the operator to guide the manipulator arm N/A

R-36 Under vehicle inspection The system shall be able to grab small boxes and other objects located under road vehicles such as passenger cars and cargo trucks N/A

R-37 Sensor Capacity The system shall be able to have configurations with at least three sensors attached and in operation

The system shall be able to have configurations with six sensors attached and in operation

R-38 All system components can operate without access to shore power.

The system shall operate for four (4) hours in the most power consumptive configuration (with at least three sensors) N/A

R-39 The hand-held controller shall be operable while the user wears gloves

The hand-held controller shall allow full operation of all capabilities by an operator wearing Nalgene surfaced gloves N/A

R-40 All system components shall be safe to operate No components will allow for or create electrical or thermal shock. N/A

R-41 All system components will be safe to handle All system components and accessories shall be eye safe. N/A

S-1 All sensors -plug and play

All sensors must be able to be plugged into the unit and be automatically recognized and operable by the system. (plug and play) N/A

S-2 All sensors – Physical attachment

All sensors shall be attachable to the system with minimal use of non-powered, commonly available hand tools (e.g. screw driver, wrench)

All sensors shall be attachable to the ground vehicle without use of tools

S-3 All sensors – Operator All sensors attached and operating on the ground vehicle configuration shall provide required data (per their type) to the operator via the handheld controller.

All sensors attached and operating on the ground vehicle shall provide their required data (per their type) to the operator on a single screen of the handheld controller.

S-4 Sensors – Situational Awareness

All sensors attached and operating on the ground vehicle shall integrate data (per their type) into Android Team Awareness Kit (ATAK) software operating on, and with, the handheld controller

All sensor data and ground vehicle navigation shall integrate data and controls into ATAK on the handheld controller.

S-5 Sensors- Continue Operation

The ground vehicle shall continue to operate even if one or more of the sensors enters a failure mode or stops working for other reasons N/A

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Sensor Criteria

The following criteria are for Offeror selected sensors. Per the structure of the topic solicitation, CWMD is requesting that Offerors provide two set of options for CBRN sensors. The first, Option A are to be the Offeror’s preferred or conceptualized sensors covering six different needed information aspects for DHS: Radiation, chemical agent, chemical density, oxygen concentration, general chemical identification, and ambient air temperature. The criteria below are provided to help Offerors select options that meet DHS needs based on sensor packages already tested in the field. As noted, the Government is interested in alternative sensors that can be integrated into the prototype. Note that the Offeror can propose to use the base sensors listed as long they are not excluded from being purchased by the Offeror themselves.

Note that the Government is reserving the right to select all, or none, of the proposed sensors and may request a mix of Offeror provided and Government Furnished Sensors. A listing of these sensors can be found in Attachment five (5).

S-A1 Sensor A1 – Radiological (Offeror) The Offeror shall, upon item order, provide an integrated radiological sensor that can be attached and plugged into the ground vehicle as that is equivalent or superior to a SRM Air per capabilities below:

S-A1.1 Radiological Detection The radiological detector shall be able to have a probability of detection at least of 80% for a 28 µCi source of Co-57 in 4 mm steel moving at 2 feet per second when within 1 meter of the detector.

S-A1.2 Radiological Detection False

The radiological detector shall have a false alarm rate of less 1 per 10 hours than when meeting detection requirements in a stable background

S-A1.3 Radiological Resolution A resolution of 8.5% or less S-A1.4 Energy Range Covering 20 keV to 3.0 MeV S-A1.5 Neutron Sensitivity > 8.0 cps/nv S-A1.6 Dose Rate Range Background to 50 R/hr S-A2 Sensor Item A2 – Chemical Warfare Agent (Offeror):

The Offeror shall, upon item order, provide an integrated radiological sensor that can be attached and plugged into the ground vehicle that is equivalent or superior to a Smiths Detection LCD 3.3 per the capabilities listed below:

S-A2.1 Chemical Weapon

Identification Detect and identify VX, VXR, GD, GF, GA, GB, HL, L, HN-3

S-A2.2 TIC Identification Detect BCl3, CS2, B2H6, H2S, CH6N2, HBr, AC, CG, CH2O, Cl2, F2, HF, HNO3, SO2, COCl2, ClCN.

S-A3 Sensor Item A3 – Base Chemical Sensor (BCS)

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The Offeror shall, upon item order, provide an integrated sensor(s) that can measure the chemical concentration within the surrounding atmosphere that can be attached and plugged into the ground vehicle equivalent or superior to a Honeywell Rae MultiRAE Pro per the capabilities listed below:

S-A3.1 Determine Concentration of

VOC

Determine the real time concentration of a known mix of volatile organic compounds in the surrounding air from 0 to 5,000 ppm.

S-A3.2 Determine Concentration of Hazardous Chemical vapors

Determine the real time concentration of a known atmospheric chemical, being able to measure at least 121 of the 435 known OSHA-Z list atmospheric compounds.

S-A3.3 Specific Chemicals Determine the concentration of the following chemicals within the specified range (in ppm), NH3(0 to 100), CO (0-2000), HCN (0 to 50), H2S (0 to 100), PH3 (0 to 20), NO (0 to 250), Cl2 (0 to 50), PH3 (1 to 20)

S-A3.4 Explosive Chemicals Measure Lower Explosive Limit of CH3 from 0 to 100% S-A4 Oxygen Sensor – A5 The Offeror shall, upon item order, provide the capability of determining oxygen concentration levels; (Maybe provided by sensor already listed) S-A5 Ambient Air Thermal

Sensor -A6 The Offeror shall, upon item order, provide the capability of measuring ambient temperatures around the ground vehicle from -40 C to 60 C.

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Phase III Sensor

Phase III is an optional phase with the following level of capability potentially being requested as added to the UGV system configurations:

S-C1.1 Gas/Vapor Chemical Identification Sensor A sensor capable of autonomously operating, sampling gasses and vapors in the atmosphere and identifying them, equivalent or better, then an MX 908.

S-C1.2 Able to identify at least 200 chemicals S-C2.1 Liquid/Solid Chemical Identification

Sensor A sensor capable of identifying liquid and solids found in the environment, installed such that the UGV can target the specific material. The sensor should provide the performance, equivalent or better, then a Pendar X10

S-C3.1 Bio Threat Sensor A sensor capable of detecting and alerting automatically for bio threat organisms found in the atmosphere. The sensor should provide the performance, equivalent or better, than a FLIR IBAC 1

S-C4.1 Advanced Optical Sensor(s) The sensor shall provide 360 view capability to the operator S-C4.2 The sensor shall provide daylight and nighttime viewing capability without use of light?

S-C4.3 The sensor shall allow the operator to tilt and zoom to inspect areas under observation SC-4.4 The sensor shall allow the operator to ‘hide’ the rest of the UGV behind an object while mainlining view of an area; such that only the sensor itself is above the object.