4._Justification_for_Sole_Source_Brand_Name_v3S.pdf

Office of Contracting and Logistics Management Revised 13 August 2018

JUSTIFICATION FOR SOLE SOURCE/BRAND NAME SOLE SOURCE <$250K

PO Number: 85649

The effort listed on this form is for (please mark one):

The material and/or service listed on this form is (please mark one):

Restricted to the following source or manufacturer:

• Manufacturer/Source:

Kinova inc.

4333, boul. de la Grande-Allee Boisbriand, QC, J7H 1M7

• POC and Phone Number:

Phone: (514 277-3777) Fernandez Hans: hfernandez@kinova.ca

• Address:

www.kinovarobotics.com

Description of the item(s) or service(s) required and the estimated cost(s):

Item# MFG Name MFG Part# Description Qty U/ I

Unit Price Ext Price

1 KINOVA

Gen3

KR L53

ULTRA

LIGHTWEIGHT

ROBOT

1 38,000.00 38,000.00

2 ROBOTIQ

Gripper 009027 2-Finger 140 Robotiq

Gripper 1 4,500.00 4,500.00

Freight & Misc.

195.00

Less Discount

0.00

Tax Total 3,308.86

TOTAL: 46,003.86

Supply Service

Sole Source Brand Name

1. List the Required Delivery Date (RDD) or Period of Performance (POP):

a. To be procured by September 2019

2. Specify characteristics of the material or service that limit the availability to a sole source/brand product

(unique features, function of the item, etc.). Describe in detail why only this source/brand can furnish the requirements to the exclusion of other sources/brands.

a. The purchase request will cover a seven degree of freedom arm, whilst including an integrated interface module for 2D/3D vision system, quick connect to robotic arm, a transport case that has wheels, a mounting kit to fix the robotic arm to a rigid surface, an emergency safety stop, external power supply rated up to 24 volts and 300 watts, connection cables and interface equipment, with warranty technical support and customer care. The use of the robotic arm will be indispensable for research/thesis work related to the study of actuation mechanisms, as well as provide a good hands-on practical session for students in a course that Dr. Romano intends to teach. The instrument is planned to be used in AE 4820 Robotic Multibody System, and AE 3818 Spacecraft Attitude Determination and Control. For the course load of students shall gain understanding of robotic arm actuation and control.

a. The KINOVA Gen3 robotic arm manufactured by KINOVA has a reputation of creating academic and industrial research robotic arms, that have applications in the professional environment such as industry, medical and assistive robotics. Kinova is the only vendor that can provide a robotic arm that is able to fulfill our requirements and needs for both research and teaching applications. The 7 degrees of freedom AND being open-hardware and open-software AND with support for the ROS and Matlab software AND being the brand of choice at other government facility with which we are collaborating (AFRL). The KINOVA Robotic Arm does include camera vision from Intel, that when coupled with the functionality provided by KINOVA robotic arm, presents a product that has been designed for the teaching and research environment. The KINOVA robotic arm has built in functionality with ROS, MATLAB|SIMULINK, as well as does support advanced programming environment in C++ and python .

Minimal Technical Requirements/Salient Characteristics:

The KINOVA Gen3 allows for a maximum reach of 902 mm, as part of the purchase request included is the 2D/3D vision system, quick connect, transport case, surface mounting kit, emergency stop control, AC/DC adapter 24 volt 300 Watt power supply, power cord, ethernet cable, and wireless controller. The robotic arm is composed of four large joints ( # 1,2,3,4 ) and three small joints ( #5,6,7 ). Actuator and controller sensors can monitor: Joint torque, position, velocity, current (motor), voltage, and temperature (motor), onboard accelerometer and gyroscope. Thus allowing for low-level control of Robotic Arm position, velocity, current, and torque in addition to High-level control related to Cartesian position/velocity, joint position/velocity, force and torque. Allowable payload on the robotic arm is 4 kg (mid-range continuous; no gripper), 4.5 kg ( full-reach peak / temporary; no gripper), with 1.1 kg at (full-reach continuous; no gripper). The power requirements are at peak 155 W, average 36 W ( 25 W in standby mode). With Power supply voltage in the range from 18-31 VDC, at 24 VDC nominal. On-board Operating System API compatibility include Windows 10, Linux Ubuntu 16.04, ROS Kinetic. With supported programming languages utilizing C++, Python, and MATLAB. There is a 10-pin spring-loaded connector at the end-effector which is compatible with the Robotiq 2-finger gripper, as well as a 20-pin user expansion connector that allows for customization.

3. Indicate if the requested material or service represents the minimum requirements of the Government.

a. This is a specialized item that can be used for research and teaching and does satisfies all of the requirements.

4. Indicate if the material or service must be compatible in all aspects (form, fit, and function) with existing systems presently installed/performing. Describe the equipment/function you have now and how the new item/service must coordinate, connect or interface with the existing system.

a. There currently does not exist a large robotic arm in the space robotics lab that has seven degree of freedom arm. With a maximum reach of 902 mm, whilst being able to be cross compatible with Windows 10, Linux Ubuntu 16.04, ROS Kinetic, multi-function controller interface with USB, Ethernet, HDMI, Wi-Fi, Bluetooth, and Digital I/O^3 connectivity. Connectivity must be compatible with configurations AFRL currently has as NPS is collaborating with that Government Facility.

b. The procurement of this robotic arm for the Space Robotics Laboratory shall provide hands-on experience for students in the classroom through project based assignments. It shall also enable research in space robotics, for example a platform to study orbital maneuvers no longer limited to 3DOF on a granite experimental test floor.

5. Does a patent, copyright or proprietary data limit competition?

Yes, the item does have a patent proprietary data. There are no authorized resellers.

6. Are the items “direct replacement” parts/components for existing equipment? If so, provide the information about the Next Higher Assembly (NHA)/equipment which the replacement parts are going into (e.g., description, model, part number, Original Equipment Manufacturer (OEM), etc.).

a. This is for the purchase of a new robotic arm that does not currently exist at NPS Space Robotics

Laboratory.

b. No the items are not "direct replacement" parts/components for existing equipment.

7. Provide any additional information to support a sole source/brand name sole source procurement. The rationale must justify “either” substantial duplication of cost to the Government that is not recovered through competition or unacceptable delays in fulfilling the mission of the agency.

a. The KINOVA Gen3 robotic arm is manufactured using proprietary design and tools, the functionality provided by including cross platform compatibility in Windows, Linux, and ROS Kinetic, as well as support for control from MATLAB|SIMULINK, C++, and python. Creates a platform that is extremely well suited for use in the classroom or research laboratory since there are also inbuilt safety features of Volumetric safety zones that prevents injury.

b. To the best of our knowledge the suggested vendor is the only known vendor to fulfill the requirements listed above.

TECHNICAL OR REQUIREMENTS CERTIFICATION

I CERTIFY THAT THE STATEMENTS CHECKED, AND INFORMATION PROVIDED ABOVE ARE

COMPLETE AND CORRECT TO THE BEST OF MY KNOWLEDGE. I UNDERSTAND THAT THE

PROCESSING OF THIS SOLE SOURCE/BRAND NAME SOLE SOURCE JUSTIFICATION PRECLUDES

THE USE OF FULL AND OPEN COMPETITION.

Printed Name:

Marcello Romano

Signature:

Title:

Professor

Date:

Sept/06/2019

CONTRACTING OFFICER APPROVAL:

Printed Name: Signature:

Title: Date:

Prof. Marcello Romano

Digitally signed by Prof.

Marcello Romano Date: 2019.09.19 15:40:11 -07'00'

Esma Erisen

Director, C&LM