Amendment_002 _SF30 _24_Jun_16.pdf

NSN 7540-01-152-8070 STANDARD FORM 30. (Rev. 10-83) Previous Edition unusable Prescribed by GSA FAR (48 CFR) 53.243

Page of Pages AMENDMENT OF SOLICITATION/MODIFICATION OF CONTRACT 1. Contract ID Code

2. AMENDMENT MODIFICATION NO. 3. EFFECTIVE DATE 4. REQUISITION/PURCHASE REQ. NO. 5. PROJECT NO. (if applicable)

6. ISSUED BY CODE 7. ADMINISTERED BY (If other than item 6) CODE

(x) 9A. AMENDMENT OF SOLICITATION NO.

9B. DATED (SEE ITEM 11)

10A. MODIFICATION OF CONTRACT/ORDER NO.

8. NAME AND ADDRESS OF CONTRACTOR (NO., Street, Country, State and ZIP Code)

CODE FACILITY CODE

10B. DATED (SEE ITEM 13)

11. THIS ITEM ONLY APPLIES TO AMENDMENTS OF SOLICITATIONS

The above numbered solicitation is amended as set forth in item 14. The hour and date specified for receipt of offers is extended, is not extended.

Offers must acknowledge receipt of this amendment prior to the hour and date specified in the solicitation or as amended, by one of the following methods:

(a) By completing items 8 and 15, and returning ______ copies of amendment; (b) By acknowledging receipt of this amendment on each copy of the offer submitted;

or (c) By separate letter or telegram which includes a reference to the solicitation and amendment numbers. FAILURE OF YOUR ACKNOWLEDGMENT TO BE RECEIVED AT THE PLACE DESIGNATED FOR THE RECEIPT OR OFFERS PRIOR TO THE HOUR AND DATE SPECIFIED MAY RESULT IN REJECTION OF YOUR OFFER. If by virtue of this amendment your desire to change an offer already submitted, such change may be made by telegram or letter, provided each telegram or letter makes reference to the solicitation and this amendment, and is received prior to the opening hour and date specified.

12. ACCOUNTING AND APPROPRIATION DATA (If required)

13. THIS ITEM ONLY APPLIES TO MODIFICATION OF CONTRACTS/ORDERS. IT MODIFIES THE CONTRACT/ORDER NO. AS DESCRIBED IN ITEM 14.

Check One

A. THIS CHANGE ORDER IS ISSUED PURSUANT TO: (Specify authority) THE CHANGES SET FORTH IN ITEM 14 ARE MADE IN THE

CONTRACT ORDER NO. IN ITEM 10A.

B. THE ABOVE NUMBERED CONTRACT/ORDER IS MODIFIED TO REFLECT THE ADMINISTRATIVE CHANGES (such as changes in paying office, appropriation date, etc) SET FORTH IN ITEM 14, PURSUANT TO THE AUTHORITY OF FAR 43.103(b).

C. THIS SUPPLEMENTAL AGREEMENT IS ENTERED INTO PURSUANT TO AUTHORITY OF:

D. OTHER (Specify type of modification and authority)

E. IMPORTANT: Contractor is not, is required to sign this document and return _______ copies to the issuing office.

14. DESCRIPTION OF AMENDMENT/MODIFICATION (Organized by UCF section headings, including solicitation/contract subject matter where feasible)

Except as provided herein, all terms and conditions of the document referenced in item 9A or 10A, as heretofore changed, remains unchanged and in full force and effect.

15A. NAME AND TITLE OF SIGNER (Type or print)

16A. NAME AND TITLE OF CONTRACTING OFFICER (Type or print)

15B. CONTRACTOR/OFFEROR 16B. UNITED STATES OF AMERICA

(Signature of person authorized to sign)

15C. DATE SIGNED

(Signature of Contracting Officer)

16C. DATE SIGNED

The purpose of the amendment is to:

1. Provide government responses to questions submitted in writing and as well as questions recorded at the June 15, 2016 site visit.

2. Attachment B, Statement of Work is hereby replaced with a revised Attachment B, Statement of Work dated June 24, 2016. All changes are shown ...See Continuation Page

1 25

002 JUN 24, 2016 NB672020-16-00693

000014

NATIONAL INST OF STDS AND TECHNOLOGY

325 BROADWAY

BOULDER CO 80305-3328

See Block 6

SB1341-16-RQ-0201

MAY 18, 2016

See Schedule

Continuation Page

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Continued from Block 14...

with a "change bar" in the left hand margin.

3. All other terms and conditions remain unchanged.

Table of Contents

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SECTION

. 1 Questions and Answers, June 24, 2016

. 2 Attachment 1, Installation Staging Area Drawing

. 3 Atch B, SOW, Amend 002, June 24, 2016

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SECTION

. 1 Questions and Answers, June 24, 2016

Page Section Para.

1 B

Is the government only expecting the contractor to provide the equipment of 1 stationary Motoman robot and 1 Motoman robot mounted on a 7th axis rail system? No. See Specifications page 2, Section II.

2 B

Does the government have special testing equipment mounted onto the interface plates the contractor provides and that the government would program and integrate the test equipment with the items supplied by the contractor?

Yes. The government will be mounting its own RF electronics to the robots. Also the government will program and integrate the test equipment with the items supplied by the contractor.

3 B Will the contractor be required to do any programming?

Programming of the move for the acceptance testing and vaidation of the TTL inputs/outputs, and demonstration of the range of motion will be required. No other programming is required after acceptance testing.

4 B 6 LAPS-MR

Cart

Clearance Absorber is discussed in the SOW. Will the contractor be required to provide the absorber? No.

5 B

What are the dimensions of the swing door for the anechoic chamber that will be housed in 1500 and into which the robot range will be placed?

The exact dimensions are not yet known. For the purpose of this RFQ, assume door dimensions of 10' x 10' after the absorber is taken into account.

6 B

Can we have drawings for the floor plan for the room (24-1300) adjacent to the installation room (24-1500) so that we can know the space limitations during installation? Yes. See attachment 1 labeled "Installation Staging Area"

7 B What is the depth of the floor in 24-1500?

The current slab depth is 10" and there is a 3' crawl space beneath it.

8 B 6 LAPS-MR

Power and

Cabling The SOW discusses power supply to the anechoic chamber but does not discuss hook up procedures. What are they?

The contractor is repsonsible for providing cabling and feedthroughs for the chamber, but may not tie into NIST power. Reference Specification page 16, para 3. NIST staff are responsible for physically connecting wiring to the power.

9 B Is the ramp into the anechoic chamber rated for a forklift? Yes.

Attachment E - RFQ Question/Inquiry Submittal Form

Question No.

RFP

Attachment

No.

REFERENCE

QUESTION GOVERNMENT RESPONSE

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Page Section Para.

Question No.

RFP

Attachment

No.

REFERENCE

QUESTION GOVERNMENT RESPONSE

10 B Is the contractor providing their own fork lift? Yes. The contractor is responsible for providing their own fork lift.

11 B 6 LAPS-MR

Cart

Clearance

Beyond the 150-kg load specifications, what are the requirements for the second rail-mounted cart?

The requirement for a second cart is removed from the Specifications, per this amendment. See attached specifications dated June 24, 2016.

12 B 16 Warranty

The 3 year warranty requires that in addition to the initial acceptance testing for the accuracy of the rail, a later test be conducted.

What is the contractor's responsibility if the floor below the anechoic chamber shifts beyond the tuning limits of the rail?

The contractor is responsible for their own workmanship. Changes to the building structure that push the rail system out of tolerance and that are beyond the re-tuning capability of the rail-adjustment hardware are outside the reponsibility of the contractor.

13 B 6 LAPS-MR

Robot tool-tip

What is the statistical meaning or significance of the 250 micron accuracy number?

NIST will allow up to an rms variation in tool tip accuracy of 250 microns, with a peak variation of up to 500 microns. If options for a more accurate system are presented, NIST will be looking at 150 micron rms variation with a peak variation of 300 microns, or 100 micron variation with a peak variation of 200 microns. The tool tip for the acceptance test will be a sperical mirror reflector laser tracker target mounted on the interface plate.

14 B 5 LAPS-MR Will the cart carrying the LAPS-MR need to sense obstacles in front of it or around it?

Yes. See the amendment to Specifications dated June 24, 2016 on page 8 in section labeled "Safety", item 2.

15 B 1 I. Background Informattion

Section I of the statement of work states that "industry" is currently selling laser tracker guided robots derived from NIST research to aerospace customers. Can you share with us the name of the company offering these systems?

It is the contractor's responsibility to acquire that information, if desired, through its own market research.

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. 2 Attachment 1, Installation Staging Area Drawing

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. 3 Atch B, SOW, Amend 002, June 24, 2016

STATEMENT OF WORK

Amendment 002, June 24, 2016

TITLE: Multiple Robotic Antenna Positioning Systems

LAB REQUESTING SERVICE: Communication Technology Laboratory, Electromagnetics Division

I. BACKGROUND INFORMATION

To address the needs of current standard antenna testing, improve our faculties to state-of the-art calibration facilities, and address the dynamic testing and system characterization required for new communication technologies and high-frequency systems, The Communications Technology Laboratory (CTL) is seeking to install two new antenna positioning and testing ranges within the new Advanced Communications Metrology Laboratory (ACML). NIST staff have proven the viability of using commercial-off-the-shelf (COTS) robotics, guided by laser trackers and other metrology equipment to perform very high quality antenna testing. The technique is being adopted and copied by other research groups (with acknowledgment of NISTs initial design) and derivative systems are being marketed by industry to Aerospace customers.

We are looking to advance the current antenna testing procedures by building and installing a free-standing, two-robot range for low frequency 500 MHz - 60 GHz testing that will reside in an anechoic chamber. This two-robot antenna positioning system will be able to conduct the standard antenna calibration tests that NIST performs: gain/extrapolation and polarization testing. In addition, we will use our current software capabilities to preform high-precision, near-field, and far-field scanning of antennas. Finally, we will add dynamic testing, scanning while the antennas sweep pattern, space and frequency. The specifications set out in the remainder of this document reflect a combination of the accuracy and repeatability we have seen from out-of-the box robotic arms and the improvements to these metrics that we have been able to make using novel spatial metrology methods.

II. SCOPE OF WORK

NIST is requesting the procurement and installation of a two-robot antenna positioning system.

For the remainder of this document, we will refer to the Large Antenna Positioning System (LAPS). In order to integrate with our existing high-frequency robotic antenna range, control code, and position correction methods, we are requiring that all proposals use YASKAWA Motoman robots for the robotic arm portion of this system.

a. See Figure 1 for the conceptual layout of the LAPS system

b. The LAPS shall consist of two 6-axis robots, one fixed and one mounted on a precisely aligned linear rail transport, with a second rail mounted cart sitting in between.

c. Stationary robot (LAPS-SR):

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i. Wrist Load capacity: 35 Kg

ii. Repeatability: 70

iii. Reach: 2.5 m horizontal x 4 m vertical

iv. See below for scan plane sizes

d. Moving robot mounted on the rail (LAPS-MR):

i. Rail must provide at least 8 m of effective robot travel.

ii. Critical specifications (see below for more information): with the robot loaded and forward extended, the tool tip must deviate no more than 250 μm from a best-fit line.

1. It is desired to achieve 100-μm maximum deviation if cost is not prohibitive. Achieving 150-μm maximum deviation will also be strongly considered.

2. Robot tool tip is at least 2.9 m above the floor

iii. Wrist load capacity: 20 Kg

iv. Repeatability: 150

v. Reach: 3-m horizontal x 5.5-m vertical

vi. See below for scan plane sizes

vii. Rail is integrated into the motion control and coordinate system of the LAPS-MR with a single control point.

viii. LAPS-MR controller is a slave or master to the controller for the LAPS-SR so they both share a common coordinate system and are aware of each other.

The Contractor shall provide control code for the robot and the rails in a unified coordinate system.

The Contractor shall install the systems at the NIST Boulder facility. The Contractor shall install adequate safety interlocks in conformance to RIA15.06 to allow safe operation of the systems.

NIST will not require the Contractor to provide specific trajectory generation, data collection or data analysis.

III. SPECIFICATIONS

The Contractor shall provide a two-robot antenna-positioning systems based on a common controlling system and using YASKAWA Motoman robots. Every positioner must have full 6-axis coordinated position capability (defined below).

The LAPS shall have two 6-axis antenna positioners, one of them integrated with an 8-m effective travel rail system. The Contractor shall provide installation inside the anechoic chamber in the ACML in Boulder, Colorado in Building 24 Room 1500 (24-1500).

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System Requirements:

ALL ROBOTS

All robots must be made by YASKAWA Motoman.

All robots (LAPS-SR, LAPS-MR) will have a 6-axis arm-style configuration as defined by

ISO 8373:2012.

Must have coordinated 6-axis motion. Coordinates for motion must be able to be sent in X,Y,Z,Rx,Ry,Rz with a programmed velocity to allow direct motion to a point in its volume of operation (VoO).

o Must have the ability to accept direct joint commands in encoder counts for each axis.

o Motion for any rail-mounted robot must be coordinated with motion of the robot.

(Offerings MUST control the rail through the native robot controller and allow for coordinated movement of the rail with the robot).

Motion requirements between two points:

o Linear motion: direct line motion between the current point and programmed point.

o Joint Motion: allows movement that coordinates all axes that travels evenly between the current and programmed point.

Motion between three or more points:

o Must allow a circular motion between three programmed points in arbitrary spatial orientation.

o Must allow for spline-fitting best-fit curve movement between three or more arbitrary points.

Timing:

o Must be able to send a trigger pulse at a programmed time prior to arriving at the desired position.

o Range of pre-trigger must include: 10 ms to 2 sec.

o Timing accuracy of pre-trigger shall be a maximum of 3 ms.

Control:

o All robots must have taut pendants conforming to RIA R15.06.

o All robots must have a common programming language.

o Must have ethernet connectivity and all software required for ethernet connectivity to

EACH robot.

Read and set capability for position, speed, and accuracy levels.

o Offline robot control/simulation for each system (2 copies of software).

o The rail control system must be integrated as a 7th axis into the control and coordinate space of the 6-axis robot controller.

o The robots will generally be externally controlled by other computer controllers. The programmability must include equivalent control of the robot via the teach pendant and ethernet.

INPUT/OUTPUT:

o All robots must have a TTL interface to transmit and receive synchronization signals.

o Minimum of 16 user configurable inputs.

o Minimum of 16 user configurable outputs.

o Inputs and outputs must be able to be synchronized to robot position and movement

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within the timing accuracy of the robot.

Cable Routing:

o The Contractor must install a cable management system to allow NIST to install RF, power and control cabling from the robot controller to the tool interface plate.

o The cable management system must accommodate at least six 0.21”-diameter cables and extend from the robot base to the tool interface plate.

o The cable management system shall have a minimum of 2 separate channels to isolate cables from each other.

The Contractor shall supply keyed mounting plates to interface with the robot that has ¼” x 20 tapped holes on 1”-centers (tool interface plate).

o 3 plates per robot (LAPS-SR and LAPS-MR) shall be supplied with user-editable electronic drawings. (see Figure 2) o The tool interface plate must have countersunk holes to mount to the robot to allow for maximum tool mounting flexibility. (see Figure 3)

Safety:

o All robots must conform to ANSI/RIA R15.06 / ANSI B11.0 / ANSI B11.19 -

Industrial Robots and Machinery Safety Package.

Enabling devices must conform to RIA R15.06.

TEACH, PLAY and REMOTE mode operation must conform to RIA R15.06.

If the secondary enabling devices are in their safety holders, they do not need to be activated to operate the robot in TEACH mode o Power shutdown and robot position Absolute encoders must be on all rails and robots. In the event of total loss of power to the robot, all robots and rails MUST maintain position and orientation of each movement axis (joint and rail).

Absolute position must be maintained without going to a home position

Accuracy:

o Contractor shall provide individual calibration of each robot. This calibration must be used in the D-H parameter table in the robot controller to improve global accuracy.

Calibration must include:

Length of each robot arm section Offset of each section.

Rotation stage alignment to the robot arm sections.

The Contractor shall install LAPS in 24-1500 (see Figure 1).

o All access must be done through available doorways in 24-1300.

o Current floor flatness specification:

.06” over any length of 40”

.18” over any length of 13’

.23” over any length of 32’

.29” over any length of 49’ 2000 psi floor loading specification If tighter tolerances are required, the Contractor will level the floor appropriately.

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The contractor shall mount the Robots on the risers to locate center of robot movement at least 2.9 m above the floor o Vertical centers of robot scan planes must be within 10 cm of each other.

o Robots must be aligned so the LAPS-SR center of movement is horizontally within 2 cm of the line for the home position of the LAPS-MR while moving on the rail.

LAPS-SR:

Wrist Load capacity: at least 35 Kg Repeatability: less than or equal to 70 Reach o Greater than or equal to 2.5 m horizontal o Greater than or equal to 4 m vertical

Controller:

o Uses one of the 30 amp/208VAC circuits provided on the south side of 24-1500 (see

Figure 4).

o Robot controller will be outside the chamber in 24-1500. Control cabling to go through the 12” x 24” bulkhead access into the south side of the chamber.

LAPS-MR:

Wrist Load capacity: at least 20 Kg Repeatability: less than or equal to 150 Reach o Greater than or equal to 3 m horizontal o Greater than or equal to 5.5 m vertical

Rail (LAPS-RAIL):

o Minimum effective tool-tip travel with stationary robot pose 8 m.

o Drive style:

Two drive styles are acceptable: 1) ball and screw or 2) magnetic linear drive technology.

Chain drive and belt drive systems will not be considered due to inherent distance inaccuracies in the drive systems.

o Maximum rail length: 10 m.

Rail must fit in 8 ft. x 44 ft. section in the center of the 24-1500 anechoic chamber (see Figure 1) Mounting directly to the concrete floor. Offer must include drilling and inclusion of any mounting hardware needed to secure, align and level rails.

o Rail separation:

To prevent direct reflections between the antennas, wider rail separation is preferable to accommodate absorber materials.

Offers must have a minimum rail separation of at least 30” separation to fit 24” x 24” x 12” high in absorber between the rails.

o Cart clearance:

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To minimize RF reflections, absorber will be place on the floor and between the rails of the carts. The carts must clear absorber placed on the floor between the rails.

The minimum clearance is 13”, to allow clearance of 12” high absorber.

In the case of a single-piece (monorail) rail system where the two rails are connected, the absorber must lie between the rails and sit in the bottom of the channel with appropriate clearance to allow the cart supporting the LAPS- MR to pass over the absorber without touching the absorber.

o A speed range from a lower limit of 0.5 mm/sec to a minimum upper limit of 100 mm/sec is required.

o Rail MUST hold the weight of any cart, riser, robot and payload.

o Must include specifications for a second rail-mounted cart between the two robots.

Second cart is not required to have powered movement but must have a 150-Kg weight capacity.

Power and cabling:

o Power is on the north wall of 24-1500 (Figure 4). Two dedicated 30 Amp 208 VAC circuits will be available for the robot and rail system.

o Electrical connections to the existing facilities shall be included.

o Power and cabling must conform to one of the two options below:

Power option 1: controller mounted on robot cart, power in cable tray.

Controller for the LAPS-MR and LAPS-RAIL mounted behind the LAPS-MR Riser. (see Figure 5)

Power option 2: controller mounted outside the chamber wall.

Control cables for the LAPS-MR and LAPS-RAIL in cable tray. (see Figure 5)

Controller must incorporate 6-axis robot control and 7th axis rail position into its native coordinate system.

o Must be able to report and control position of rail and robot separately.

o Must be able to report tool tip position with the rail position included.

o Must be able to accept alignment offsets between the rail and the robot and account for it in the kinematic model of the system.

Robot tool-tip wobble during rail movement: This specifies the accuracy of the robot tool tip position while holding the robot arm in a fixed pose and traversing the rail:

o When loaded with a 10-Kg tool, 25 cm from the end of the robot, and without feedback control, the tool tip must lie within a cylinder (see Figure 5) along at least 7 m of travel along the rail. The target allowable maximum radius for this cylinder is 250 μm. The center axis of that cylinder is the best-fit axis of the LAPS o Contractor may submit an option for a target allowable maximum radius of 150 μm.

o Contractor may submit an option for a target allowable maximum radius of 100 μm.

o Test shall be accomplished at a manufacturer-specified vertical height of between 2.9 to 3.5 meters above the floor in 24-1500. With the tool tip extended a minimum of 1.4 m from the base of the robot.

o The testing shall be measured with a laser tracker while moving at 5 mm/s maximum speed data taken every approximately 0.5 mm of travel.

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This test may be run free running (one command given for motion throughout the entire rail) while the laser tracker acquires data free-running.

Contractor will discuss variation from and standard deviation around these specifications.

o Robot will be either in its defined “Home Position” or in the center of the vertical scan plane (defined below).

Rail accuracy:

o Repeatability of the rail position be at least 25 μm.

o Contractor shall discuss repeatability for the case where sweeping the loaded robot pose perpendicular to the rail may cause deflection of the robot+platform+rail system.

The height of the rail off the floor must not mechanically compromise the repeatability of the tool-tip position of the robotic arm.

o Distance accuracy (relative to distance measured by the laser tracker): 0.25 mm over the entire 7 m of the best-fit axis of the LAPS.

This test shall be run by commanding the rail to move in 1-mm increments and measuring the robot final position with a laser tracker.

Robot position on rail must be addressable in steps sizes of 100 m or less.

Robot scan capability:

Each robot must form a vertical scan in the plane normal to the rail movement.

o The center of each scan plane shall be between 2.9 to 3.5 m above the floor in 24-

1500.

o The scan planes shall be perpendicular to within 1 degree and the center shall line within 20 cm of the best-fit axis of the LAPS.

o This will require risers of different sizes for the LAPS-SR and LAPS-MR to align the robots.

o All scan planes shall be done with a tool tip that is 500 mm from the final wrist of the robot.

o Planar Scan plane sizes:

LAPS-SR tool tip scan plane:

Minimum of 1 m from the base of the LAPS-SR.

2.5 m vertical x 2 m horizontal.

LAPS-MR tool tip scan plane:

Minimum of 1 m from the base of the LAPS-MR.

3 m vertical x 2.5 m horizontal o Spherical scan size (see Figure 6).

LAPS-SR:

Test done at manufacturer specified distance of 1-1.5 m from base of the robot 10 cm to 1m circular scan radius capability Theta range at 1 m: -100 degrees to +100 degrees.

LAPS-MR:

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Test done at manufacturer-specified distance of 1-1.5 m from base of the robot 10 cm to 1m circular scan radius capability Theta range at 1m: -100 degrees to +100 degrees.

Controller:

LAPS-MR Controller must incorporate 6-axis robot control and 7th axis rail position into its native coordinate system as stated in previous LAPS-MR section.

Collision avoidance is critical because we can have high-value payloads on each robot.

Linking of the controllers for the LAPS-SR and LAPS-MR is required to perform coordinated movements between the robots.

Collision avoidance between the LAPS-SR and LAPS-MR and their tool tips must be incorporated into to the operating systems of the robots.

The LAPS-MR and LAPS-SR must have an integrated control system.

o One robot controller may be a slave controller to the second.

o They must be able to have an integrated coordinate system and both robots and the rail system must be accessible from control from a single interface controller.

Safety:

o The offer shall provide R1A R15.06-compatible laser curtains or laser radars to cover both doors into the 24-1500 anechoic chamber.

o The offer shall provide for laser radars to prevent full-speed PLAY and REMOTE mode operation in the area within the VoO of the robots and rail system.

o The moving cart for the LAPS-MR must be equipped with at least one RIA15.06-compliant laser radar scanner that can detect the proximity of object mount across the rails and prevent collision.

o Full 360 degree coverage around the LAPS-MR and coverage to at least the length of the sidewalls MUST be provided.

o See Figure 7 for laser coverage areas.

The offer must include at least three enabling devices with cabling to reach the entire floor area of the VoO.

Estops must be located exterior of the facility to allow for stopping of motion.

o See Figure 4 for approximate estop locations.

o Offer must include mounting estops to walls.

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Figure 1. Robot and rail system will mount in 24-1500.Center or floor will contain 4x4 removable panels not affixed to the concrete floor. Robot at the bottom of the room is NIST-owned equipment that will be installed after installation of the LAPS.

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Figure 2. Example of a tool interface plate on the end of a robot with an attached cable management system. The cable management system has two channels to hold cables with different stress requirements and is mounted securely to the tool interface plate.

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(a)

(b) (c)

Figure 3. (a) example robot flange (b,c) example tool interface plate: it has through holes and alignment pins to interface with the robot flange and ¼”x20 threaded holes on 1 inch centers on the face and along the sides to allow standard optical part mounting. Minimum size of plate: 5 x 5 x ½ inches.

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Figure 4. Proposed electrical power locations for the LAPS. Power will available in the interior or exterior of the chamber. For the robots in the LAPS, the pendants for the LAPS-SR and LAPS-MR must both be able to reach to the approximate range noted above.

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Figure 5. Conceptual side view of the installed LAPS. At the “home position” of the LAPS-SR and LAPS-MR, the distance scan will be done. Vertical height of the home position for both robots must be within 10 cm of each other. The equipment cart pictured is not included in these specifications.

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Figure 6. Circular scan plane capability for LAPS robots. (top-conceptual with robot) (Bottom requirements). The tool extends from the robot at least 14in and it must be normal to the circle during the entire arc. Theta limits are robot dependent

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Figure 7. Proposed areas that the laser detection to inhibit robots and e-stop locations. Note that estop or laser area violate MUST stop both robots and rail.

Robot at the bottom of the room is NIST-owned equipment that will be installed after installation of the LAPS.

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Installation:

The Contractor shall include shipping of all purchased equipment to NIST Boulder, Building 24.

The Contractor shall install the LAPS in 24-1500. Entrance to 24-1500 through the roll up door on the north wall of 24-1300 and the personnel door on the west wall of 24-1300 shall be used.

The north 20 ft of 24-1300 may be used for staging into 24-1500.

Power will be provided at set points described in Figure 4 and the Contractor will be responsible for running power electrical wire from the subpanels to the controllers. NIST staff will attach wires to subpanels.

Installation shall include, at a minimum, uncrating/unpacking of all equipment, set-up and hook-up of all equipment, start-up, demonstration of specifications, and removal of all trash. The LAPS must operate to manufacturer’s specifications upon installation. Installation shall take place during normal business hours, between 8:00 am and 5:30 pm Mountain Time, Monday through Friday except Federal Holidays, and will be coordinated with the NIST Technical Point of Contact (TPOC). Installation is to occur within 360 days of award.

Warranty:

The Contractor shall provide, at a minimum, a three-year warranty for the system equipment.

The warranty shall cover all parts, labor and travel. The warranty shall commence upon successful completion of delivery, installation, training and demonstration of all required specifications.

The warranty shall also include inspection of the LAPS system at least once between 12 and 36 months after installation. The Contractor shall bring into original specification any mechanical drift in the system. NIST will coordinate the warranty inspection and correction by providing a minimum of a 15-day notice to the Contractor.

Training:

Training for the LAPS shall encompass safe operation, programming, and maintenance of all systems. The Contractor shall provide this training at the NIST Boulder facility.

Minimum 4-day “Hands-On” Robot controller training to include safety, basic operation, and advanced programming (including timing setup, input/output setup) for up to six NIST staff shall occur at a Contractor provided facility with 6 DoF robots and controllers programmatically compatible with the LAPS controllers. NIST will cover travel costs for NIST staff to the Contractor facility.

Acronyms:

ms millisecond = 0.001 seconds Kg Kilogram

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mm Millimeter μm micron or micrometer = 0.000001 meter LAPS Large Antenna Positioning System LAPS-SR Stationary 6 axis robotic arm in the Large Antenna Positioning System LAPS-MR Moving 6 axis robotic in the Large Antenna Positioning System

LAPS-

RAIL

Rail system in to move the LAPS-MR

DoF Degrees of Freedom 6DoF 6 Degrees of Freedom VoO Volume of Operation ANSI American National Standards Institute (http://ansi.org/) RIA Robotic Industries Association (http://robotics.org/) estop Emergency Stop (as defined by RIA R15.06) TTL Transistor Transistor Logic: 3.5 LVTTL or 5V TTL is acceptable

ISO

8373:2012

International Standard: ISO 8373:2012 Robots and robotic devices – Vocabulary

IV. PERIOD OF PERFORMANCE

The period of performance shall be:

Delivery and Installation – 360 days ARO Acceptance and Testing – Training – Warranty – 3-years from date of delivery, installation, training, acceptance and demonstration of required specifications.

V. PLACE OF PERFORMANCE

All work shall be completed at the Contractor’s facility. Installation of the systems shall be accomplished at NIST, Boulder, CO. Normal duty hours are Monday through Friday, 8:00 a.m.

to 5:30 p.m. with the exception of Federal holidays and site closures.

VI. GOVERNMENT FURNISHED PROPERTY

The Government will provide a laser tracker (Leica AT901) and analysis software (Spatial Analyzer) and an operator to verify performance of installed systems. It will only be used for rail deviation testing and robot range of motion testing after installation.

VII. DELIVERABLES

Description Quantity Due Date Robot controller and safety training 6 At manufacturer facility prior to installation of LAPS.

LAPS 1 Installation and verification complete 360 days after award of contract

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Description Quantity Due Date Robot Controller and System Training LAPS for 6 NIST staff

1 14 days after verification of

LATR.

VIII. PERFORMANCE REQUIREMENT SUMMARY

The Contractor shall demonstrate that all performance standards in this statement of work have been met. The main tasks to determine acceptance:

Test Method of Acceptance Done by Robot range of Motion Demonstration at NIST of scan plane sizes, reach and spherical arc capability

Contractor

LAPS – extrapolation deviation

NIST will measure the deviation from ideal with a laser tracker

NIST and Contractor

Safety – e-stop, robot collision, laser safety area violation, door opening.

Demonstration by Contractor of activation of safety systems and acceptable stopping accordance to RIA15.6

Contractor

IX. RISK ASSESSMENT

The HSPD-12 Security Risk Level assigned to this Task Order is: Low

X. GENERAL INFORMATION

Safety: The Contractor employee shall be responsible for knowing and complying with NIST installation safety prevention regulations (http://www-i.nist.gov/mml/safety/policies/index.htm.)

Such regulations include, but are not limited to, general safety, fire prevention, and waste disposal. Final systems shall be RIA R15.06 safety compliant.

Patent Rights: The Government retains a Government use license to all inventions arising from this work.

Security: NIST is a restricted campus. An identification badge is required for access for entry into buildings and also is shown to the armed Security Police when entering the campus.

Identification Badges: Contractor employees shall comply with NIST identification and access requirements. The Contractor employee is responsible for absences due to expired identification and access documents. Each Contractor employee shall wear a visible identification badge provided by the NIST Security Office. The badge must show the full name, title, and if required by NIST, the words “Contractor” in front. The Contractor employee shall turn in the NIST identification badge and vehicle pass to the TPOC, COR, or Contracting Officer (CO) upon termination of their services under this contract.

Vehicle Registration: All Contractor employees must register their vehicles with the NIST

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Security Office to gain access to the campus. A valid driver’s license, Government-furnished civilian ID, proof of insurance and current registration must be presented to the NIST Security Office, at which time a NIST vehicle pass will be issued. The pass shall be displayed on the vehicle’s rear view mirror in accordance with instructions. The Contractor employee shall follow NIST procedures for removal and turn-in of the vehicle pass upon termination of services under this contract.

Media Inquiries: The Contractor employee shall not respond to any media inquiries. Any inquiries from the media shall be immediately relayed to the TPOC, COR, and/or CO. There shall be no interviews, comments, or any other response without the knowledge and approval of the NIST Director.