Call_0004-_SOO_G-_Humanized_2-Arm_Large_3D_Robot.pdf

Humanized 2-Arm Large 3D Robot Statement of Objectives BAA 13-012/Call 0004/ SOO G

October 13, 2015 Science and Technology Directorate Department of Homeland Security

DISTRIBUTION NOTICE: Further dissemination only as directed by DHS Office of Policy DESTRUCTION NOTICE: Destroy by any method that will prevent disclosure of contents or reconstruction of the document.

Humanized 2-Arm Large 3D Robot Statement of Objectives

September 14, 2015 i

Table of Contents

1.0 Purpose

2.0 Scope (Capability Gap)

3.0 Period and Place of Performance

4.0 Background

5.0 Functional Requirements

5.1 Overall Concept of Operations

5.2 Threat

5.3 Operating Constraints (Current Technology Shortfalls)

5.4 Specific Required Capabilities

5.4.1 Operation

5.4.2 Functionality

5.4.3 System Characteristics

5.5 System Performance

5.5.1 Mission Scenarios

5.5.2 Compatibility and Interoperability

5.5.3 Human Interface Requirements

5.5.4 Logistics and Readiness

5.5.5 Durability

5.6 System Support

5.6.1 Maintenance

5.6.2 Capabilities and Limitations

5.6.3 Supply

5.6.4 Support Equipment

5.7 Training

5.8 Storage

5.9 System Affordability

5.10 Certification Requirements for Product Conformity

1.0 Purpose

The purpose of this effort is to develop technology to improve the current capability of robots used for bomb squad operations. This technology will increase the safety and efficiency of Explosive Ordnance Disposal (EOD) technicians by reducing the need for humans to manually mitigate bomb threats. The intention is to replace existing platforms which provide limited functionality (e.g., single-camera, one-armed robotic platform) with robots that perform similar functions to that of a human EOD specialist. Additionally, this technology may improve the capabilities of an EOD specialist, to include, but not limited to 3-dimensional (3D) vision.

2.0 Scope (Capability Gap)

This new technology will emulate all the necessary hand movements of a human operator without placing them in a hazardous environment (i.e., from a safe standoff distance). It will provide greater attention to detail than all solutions currently available on the market and provide a much broader capability of response by utilizing new, reliable and safer tactics, techniques, and procedures previously unattainable with robotics. The addition of tactile force feedback will provide the operator the ability to determine the amount of applied force required when picking up or moving items with the end affecters.

3.0 Period and Place of Performance

The period of performance for this contract shall be 12 to 18 months. All developmental activities will be performed at the contractor-designated site(s). DHS may require the contractor to perform critical design reviews and/or product presentations at DHS-specified locations.

4.0 Background

Current EOD robotic platforms lack the inclusion of technological advances made in recent years.

Presently, there are multiple single-armed proprietary platforms, which do not have interchangeable tools and require specialty products and training. Additionally, many current platforms have great difficulty performing complex tasks such as turning a doorknob and simultaneously pulling the door open. These systems lack force-feedback capabilities, are often unstable, and are not Advanced Explosive Ordnance Disposal Robotic System (AEODRS) compliant.

A new humanoid robot will:

• Eliminate or reduce the need for a human bomb technician downrange;

• Save substantive time on target and resolution;

• Provide increased endurance and lifting capacity;

• Reduce the amount of robots needed to respond to a situation thereby reducing manpower costs;

• Reduce the risk of unintentionally initiating the device;

• Provide a remote disassembly capability; and

• Will be able to perform simultaneous difficult tasks that humans are able to perform but do not translate easily into current robotic platforms. Combination movements involve gripper actions, arm manipulation and platform movement concurrently. Such movements are impossible due to limited dexterity of the operator and limits to the number of simultaneous inputs possible via switch and joystick manipulation.

5.0 Functional Requirements

5.1 Overall Concept of Operations

The proposed technology will provide EOD technicians with the capability to perform several, simultaneous actions (i.e., lift, turn, twist, and pull) remotely without placing them within hazardous environments. By utilizing these actions, robots will emulate the hands and arms of a human technician to gain easier access into locked doors, vehicles, and containers, which previously hindered EOD operations. Before, physical barriers such as the lip found within the trunk of a SUV proved to be an arduous task for robots to overcome. With this new capability robots will be able to bypass that lip and safely remove hazardous devices without increased chances of premature detonation.

5.2 Threat

The threat objective for a humanized robot in EOD is to:

• Avoid the need to send a human responder (i.e., bomb technician) into hazardous and potentially deadly situations;

• Provide improved render-safe procedures (RSP) to mitigate agitating sensitive threats through finer robot motor use;

• Reduce the time on target (i.e., time to defuse an Improvised Explosive Device (IED)) as well as resolution time to render;

• Reduce economic impact as current solutions take longer to render-safe, which could lead to increased injury to first responders; and

• Increase safety of the responder during a situation.

5.3 Operating Constraints (Current Technology Shortfalls)

Current dual-armed platforms are small, have limited weight lifting capacity, and are not ruggedized. Additionally, many robots are not AEODRS-compliant with regard to their communication interface (i.e., sensors), lack force feedback, are unstable due to vibrations caused by movement, lack needed situational awareness for positioning their arms, and lack the ability to utilize commercial off-the-shelf tools and sensors.

5.4 Specific Required Capabilities

5.4.1 Operation

This new technology will greatly enhance the current robotic platform capability through the use of humanized upper body movement proficiency and a single-user interface. This solution will be used in place of current robotic platforms that technology has surpassed. Standard operation will allow users to manipulate the dual arms simultaneously, similar to their own.

5.4.2 Functionality

Key required functional characteristics for the proposed solution are:

• To improve depth perception deficiencies present in current robotic platforms;

• Simultaneous coordination, or “bi-manual dexterity,” of multiple grippers (e.g., the ability to open a pipe, spin a grenade fuse, etc.);

• To allow for single EOD technicians to operate independently;

• To be force-feedback capable, required for controlling gripper operations such as picking up glass jars without crushing the object. There should be a measuring gauge on the control unit that would give the operator some indication of how much force was being applied by the gripper when in use;

• Spatial conception (i.e., situational awareness) for the positioning of the arms by being able to utilize visual depth functions that are natural for humans but don’t translate well when using cameras. Also needs the ability to see around obstructions such as grippers and edges of the platform without the need to stop gripper and arm movements;

• To lift a minimum of 100 lbs. at full reach and/or height;

• Ruggedized normal operations (which include obstacle collision and vibrations) do not impair or damage the unit;

• The robot will need to:

o Fit through a standard-size commercial door (36” wide);

o Climb stairs;

o Function day or night;

o Be operable with other robots operating in the same vicinity; and o Be able to be decontaminated.

• The minimum speed must exceed four (4) miles per hour;

• To have the ability to carry and use common tools (i.e., cordless drill, key, screwdriver, wire cutter, etc.) via the grippers;

• Must have the ability to mount and fire a standard Percussion Actuated Nonelectric disrupter;

• Must have the ability to fire six (6) firing circuits for electric or shock tube;

• To provide impact, tip, proximity, distance-measurement, and payload overage alerts with the ability to cease movement if the robot places itself in a position of jeopardy;

• Ability to work in or around other robotic platforms without communications interference;

• End effectors must emulate the movements and actions of a human operator’s movements

(i.e., imitative control);

• Able to be used in urban settings that involve stairs and curvatures;

• Must operate in sand, snow, mud, and any other inclement weather and terrain, as well as low humidity (5%) to high humidity (100%), and low temperatures (-20 degrees F) to high temperatures (130 degrees F); and

• Capable of withstanding transport through various means, such as trucks, vans, trailers, etc.

while remaining fully functional.

5.4.3 System Characteristics

• Able to function for a minimum of two (2) hours via self-contained battery operation in all weather conditions;

• Ability to perform a minimum of 180-degree torso in both directions;

• Ability to be operated via wireless control as well as a very fine wired (i.e., fiber-optic cable) automatic spooling mechanism that is small, compact, and no larger than 12-18” in diameter;

• Must have color/IR camera with telephoto zoom 250:1 with image stabilization and provide at least a 20x zoom capability;

• Provide sufficient illumination for the entire distance of non-zoomed vision and have the ability to operate in low-light conditions;

• Operational range of at least 1,200 feet non-line of sight without losing functioning or video control;

• Bi-directional audio capability;

• Capable of rapid setup and deployment within 10 minutes of arrival to the scene;

• Capable of autonomously navigating to specific GPS coordinates;

• Ability to charge internal batteries in place without modification;

• System must be able to perform self-diagnostics to detect and determine any issues with the robot; and

• Must be able to provide evidentiary data downloaded through a common output method

(i.e., USB port, etc.)

5.5 System Performance

5.5.1 Mission Scenarios

This robotic platform will address the current mission by:

• Assist in unknown liquid or white powder calls in which technicians have to open containers, take a sample of the material and place the sample into a testing apparatus.

• Using a robot to climb stairs or curbs, use a key to unlock a door knob, open the door, enter into a dark room, observe a suspicious object and deploy a tool to open that object. While this type of operation can be performed in person within minutes, the same operations performed by current robots could take an hour or more to accomplish this mission.

This new humanized robot will be able to perform operations in a similar fashion as the technician but without placing the technician at risk.

5.5.2 Compatibility and Interoperability

This robot will be able to pick up and use common hand held tools without the need of specialized brackets, mounts or modifications to the tool(s). Operation of the arms and grippers will be accomplished with a natural feeling control mechanism instead of switches and joysticks which are currently employed. Visual capabilities from the robot will provide depth of field visibility to employ in a natural feeling manner. This robot must also be compatible and not interfere with current robotic platforms used by Bomb Squads throughout the U.S.

5.5.3 Human Interface Requirements

This system will be deployed by bomb technicians from a remote position. Controls and video will be handled in a manner that allow for multiple simultaneous functions without the continual need to look at the Operators Control Unit (OCU) panel instead of the camera display. In a typical operation, the user should be able to see in 3D via robot camera, pan and tilt the camera as needed, listen via robotic audio capability and at the same time, control both arms and grippers in a natural feeling manner. An example of this type of functionality is with NASA’s Robonaut program.

5.5.4 Logistics and Readiness

Although this robot platform is being developed for use in render-safe arenas by EOD technicians, it could easily be used in HazMat, SWAT, and other dangerous environments where task are required to be formed from a remote location.

5.5.5 Durability

This platform must be able to function as designed and not sustain damage through normal operations which include:

• Climbing curbs and stairs;

• Crossing large distances (where travel can cause vibrations due to uneven road surfaces);

• Operating in various outdoor weather conditions and time of day;

• Picking up and deploying equipment (which includes firing a disruptor which generates recoil); and

• Can be decontaminated, if needed.

5.6 System Support

5.6.1 Maintenance

All maintenance for the item(s) and related equipment shall be defined by the contractor, including: the required maintenance schedule, identification of the specific system components, type of maintenance required, and whether the equipment can be repaired in the field or must be sent back to the manufacturer.

5.6.2 Capabilities and Limitations

At a minimum, this technology shall operate alongside and in an integrated manner with existing technologies used by EOD technicians. The robot will need a fiber optic tethering capability for use in radio restricted environments.

5.6.3 Supply

Supply shall be determined by the individual departments based upon cost, quantity needed, and effectiveness of the solution.

5.6.4 Support Equipment

Common robot cameras include forward looking, backup, gripper mounted, disruptor mounted, and a mast camera with pan, tilt, zoom (PTZ) capability. Ideally, better camera capabilities would reduce the number of cameras required due to blind spots. With dual arm and gripper configurations, no specialized tools should be needed for render-safe operations since the grippers should be capable of holding and operating common tools.

5.7 Training

Training information shall be provided on any specialized equipment, and will include instructions on proper use, storage, cleaning, deployment, and maintaining the basic ensemble. Any specialty requirements of personnel conducting maintenance, storage, extraction, or delivery will be identified including certification requirements. Training material shall be available initially in hard copy, and subsequently in soft copy format.

5.8 Storage

All storage requirements for items developed under this proposed solution shall be specified by the manufacturer. These considerations should be included, but are not limited to

• This robot must be capable of being maintained in-house by the response agency;

• Must be capable of being charged in the stowed position (i.e., there must not be any need to remove batteries while the unit is stowed to recharge the robot);

• No special tools required for the maintenance of the robot;

• Must come with a manufacturer’s general warranty of 24 months, to include accessibility to spare parts;

• The robot will automatically calibrate itself when necessary without operator input, while still retaining the ability for the operator to perform minor calibrations when necessary;

• All systems must use open source and industry standard software and control systems for future upgradability purposes; and

• Can be stored in a vehicle already in use by EOD teams.

5.9 System Affordability

The DHS S&T First Responder Resource Group, a national subject matter expert body that has representation from all major responder disciplines, recommend that the unit cost for this technology should ideally be no greater than existing emergency responder robot technology.

5.10 Certification Requirements for Product Conformity

This humanized 2-arm large 3D robot shall meet all relevant Human Factor Safety standards. Radio control systems will be FCC compliant.