Attachment_0044_-_Summary_of_Changes_-_IOP_V1_to_V2.xlsx

XLSX spreadsheet 21 KB Posted Dec 22, 2016

Attached to: Common Robotic System (Individual) CRS(I)
Solicitation number: W56HZV-16-R-CRSI
Issued by: Department of the Army Materiel Command Contracting Command Detroit Arsenal

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Draft Attachment 0044

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Title

UNCLASSIFIED

ATTACHMENT 0044

Summary of Changes - IOP V1 to V2

Distribution Statement A - Approved for Public Release; distribution unlimited.

(*Distribution Statement A only applies when form is not filled in.

Once filled check the UGV Security Classification Guide for proper distribution statement/markings)

UNCLASSIFIED

Summary of Changes

	Significant Changes from IOP V1 to V2
	Document	Section	Description of Change
	All	Title Pages	Documents renamed from "Unmanned Ground Vehicle (UGV)" IOPs to "Robotics and Autonomous Systems - Ground (RAS-G)" IOPs
Overarching
	Overarching IOP	General	Updated all documents to reflect organization change of RS JPO to PM FP (PEO GCS to PEO CS&CSS).
	Overarching IOP	1.2 Document Structure & Overview	Updated document structure to reflect new Applique IOP document.
	Overarching IOP	1.3.7 Conformance Validation	Added new sections that describe the conformance validation process. Includes sub-sections for Conformance Validation, Software Conformance Validation, Feature Testing, Load Testing, Regression Testing, and Power Conformance Validation.
	Overarching IOP	4.5 Usage of Payloads IOP and Applique IOP	Expanded section to include Applique IOP.
	Overarching IOP	5.2.5.1 Render Useless	Added new requirements for Render Useless.
	Overarching IOP	5.6.3.6 Advanced Navigation	Added new language relating to the new Obstacle Reporting service that has been added in IOP V2, as well as the new IOP V2 services for Local and Global Enhanced Waypoint Navigation.
	Overarching IOP	5.6.3.8 Lost Comms Management	Added clarification that this must be conducted IAW Section 4.3.6 of the Comms Profile.
	Overarching IOP	5.6.2.3.1 Platform Physical Specifications	Added new selectable requirement for specifying platform physical characteristics (platform modeling).
	Overarching IOP	5.2.5.1 Render Useless	Added new section in "Information Assurance" describing how to treat render-useless amid non-compliant capabilities.
	Overarching IOP	4.9 Non-Compliance	Added new language relating to mixture of compliant and non-compliant elements - such as in the case of render useless.
	Overarching IOP	5.6.2.3.2 Centrallized Self Collision Avoidance	Added new section to reference new self collision avoidance language in the Payloads IOP document.
	Overarching IOP	5.6.3.9 Stability Control	Added new selectable requirement for discovering & activating driver-assist/stability-control systems such as traction control, anti-lock brakes, electronic stability control, and active rollover/pitchover control.
	Overarching IOP	5.6.3 Mobility	Added summary of new IOP V2 mobility related selectable capabilities: Obstacle Detection, Stability Control, Tire Pressure, Historical & Planned Path.
	Overarching IOP	5.6.3.10 Tire Pressure	Added new selectable requirement for reporting and/or control of tire pressure.
	Overarching IOP	5.6.4 Identification	Added the term "platform names" to allude to the clarified MobilityPlatformName string of the ReportPlatformSpecifications JAUS message and "call sign" within the Query/Report Identification messages in the JAUS Discovery Service.
	Overarching IOP	5.6.3.8 Lost Comms Management	Added reference to specific section in Comms IOP document (Section 4.3.6).
	Overarching IOP	5.6.3.11 Historical & Planned Path	Added new selectable requirement for reporting the past and/or future expected path of the vehicle.
	Overarching IOP	5.6.2.3.3 Wipers/Cleaners	Added new selectable requirement for controlling or reporting wipers for a windshield or camera.
	Overarching IOP	5.6.2.3.4 Automated Behaviors	Added new selectable requirement for managing pre-programmed sequences of actions.
	Overarching IOP	5.6.2.3.5 Door Locking and Management	Added new selectable requirement for locking & unlocking doors, and determining their state.
	Overarching IOP	5.6.7 Software Version Reporting	Added new selectable requirement for software version reporting.
	Overarching IOP	5.3 Power Requirements	Added requirements statement for the use of the JAUS Power Plant Manager service - this had been described in the JAUS Profiling Rules in IOP V1 but did not have a reference in the Overarching IOP document. This can also be used for hydraulic & pneumatic systems.
	Overarching IOP	5.6.3.12 Drive Train Management	Added requirements statement for the use of the JAUS Driver Train Driver service- this had been described in the JAUS Profiling Rules in IOP V1 but did not have a reference in the Overarching IOP document.
	Overarching IOP	7 Interoperability Attributes	Table updated to reflect new advanced & autonomous mobility attributes.
	Overarching IOP	8 Conformance Validation Requirements	Table updated to reflect newly added requirements throughout document. Also added clarification that "examination" is equivalent to "inspection".
Payloads
	Payloads IOP	2.1 Government Documents & 6.1.3 CBRN Sensor	Updated CCSI reference from CCSI V1 to CCSI v1.1.1; Added reference to MIL-PRF-62122-E for NATO slave receptacles. Also added safety reference to MIL-HDBK-454B for Power Option C.
	Payloads IOP	2.2 Non-Government Documents	Added reference to STANAG 4074 for NATO slave receptacle. Updated "IEEE 802.3" to "IEEE 802.3-2008".
	Payloads IOP	6.1.9 Force Sensor	Added new IOP supported sensor type for Force Sensing in IOP V2
	Payloads IOP	4 Payload System Requirements	Updated Figure 4-1 to reflect that there are now specialize emitter requirements (for debris blower).
	Payloads IOP	4.5 Data Connection Requirements	Updated Gigabit Ethernet reference from "IEEE 802.3ab" to "IEEE 802.3-2008" which absorbed the old reference.
	Payloads IOP	4.6 Payload Platform Specification (Payload Modeling)	Added new selectable IOP common payloads requirement for payload platform specification. This will aid in self collision avoidance and the ability of the vehicle platforms to automatically manage new payloads.
	Payloads IOP	4.7 Centralized Self Collision Avoidance	Added new selectable IOP common payloads requirement for self collision avoidance. This will aid in self collision avoidance and the ability of the vehicle platforms to automatically manage new or dynamic payloads.
	Payloads IOP	19 Appendix D	Added new Appendix D: Preliminary investigation for Weapons Control
	Payloads IOP	10.1 Debris Blower	Added new IOP supported emittor type for Debris Blowing in IOP V2.
	Payloads IOP	6.1.1.1 Digital Motion Imagery	Added default H.264 configuration, reference to Multiview Coding, definition of H.264 presets. Modified payload requirements for digital video to mandate H.264, H.262 or both.
	Payloads IOP	6.1.1.2 Analog Motion Imagery	Clarified requirements and added physical connector interface.
		6.1.8 Ground Penetrating Radars (GPRs)	Clarified that GPR capability can be enabled using existing IOP services (such as Range Finder service), and recommended Power Attribute C.
	Payloads IOP	17.8.1 Appendix B - Planned Expansions	Added additional considerations for planned future expansions for Motion Imagery.
	Payloads IOP	4.4 Electrical Power Requirements	Expanded selectable power interfaces in Table 4-1 (Power Attributes) to also include Power Interface C (48VDC). Also clarified voltage levels to include nominal & min/max for each power interface. Also added safety reference to MIL-HDBK-454B for Power Option C.
	Payloads IOP	4.4.1 NATO Slave Receptacle	Added new selectable requirement for systems needing a NATO slave receptacle to utilize MIL-PRF 62122-E and STANAG 4074.
	Payloads IOP	11.1 Electrical and Mechanical Interfaces	Added language to clarify that Power Attribute C may be more appropriate for many complex actuators and manipulators.
	Payloads IOP	6.1.10 Obstacle Reporting	Added new selectable requirement for Obstacle Reporting.
	Payloads IOP	14 Interoperability Attributes	Updated table to reflect newly added attributes.
	Payloads IOP	15 Conformance and Validation Requirements	Updated table to reflect newly added attributes.
Communications
	Communications IOP	3.9 Comms Lost Policy	New section to improve cohesiveness with other IOP documents – Lost Comms Policy.
	Communications IOP	4.2.2 Addressing Standard	Updated – Addressing Standard
	Communications IOP	4.3.6 Comms Lost	New requirement to improve cohesiveness with other documents and Section 3.9 – Lost Comms
	Communications IOP	9.3 RF Transmission Waveform	Updated "Discussion of Technical Topics" section - RF Transmission Waveform
	Communications IOP	9.5 Off-Board Networking	Updated "Discussion of Technical Topics" section – Off-board Networking
	Communications IOP	9.5.5 Time Management / Time Reporting	New "Discussion of Technical Topics" section - Time Management / Time Reporting
Control
	Control IOP	4.2.6.1 Render Useless Attribute	Add language referencing the Render Useless language in the Overarching IOP, section 5.2.5.1.
	Control IOP	4.5.2.1.4 DVR Requirement	Added language to clarify the difference between drive cameras and non-drive cameras and how they should be treated.
	Control IOP	General	Refactoring of attributes: Grouped similar attributes into single attributes with many sub-requirements; This will make the creation of instantiations easier, and reduce overall number of attributes (but not overall number of requirements). For example, the Power Attribute now has requirements for physical on, physical off, power save, and soft off. Additionally, each of the attributes and requirements were re-worded to use "shall" statements.
	Control IOP	General	Introduction of new topics to correspond with newly introduced JAUS services.
	Control IOP	General	New topics introduced for Drive Type, Stability Control, Windshield Wipers, Door Locks, Self-Collision Avoidance, Obstacle Detection / 2D Cost Map, Sensor Cleaning, Helmet Mounted Display, Hydraulic Actuator Controls & Feedback, Air Actuator Controls & Feedback, Debris Blower, Tire Pressure & Control, Automated Behaviors, and Software Version Reporting.
	Control IOP	General	Updates & expansions to the control requirements for Microphone, Radar (GPR), Render Useless, Illumination, and Software Update Framework
	Control IOP	General - Icon Library	Re-structured the Icon Library into the Controls IOP document itself (instead of a separate attachment). Introduced usage of compound icons to combine multiple pieces of information. Enabled monochrome and full color versions of icons.
	Control IOP	Appendices	Added appendices for common layouts with game controllers.
JAUS Profiling
	JAUS Profiling IOP	V1 Errata	SAE AS-4 (JAUS) AS6091 Standard (UGV Service Set) has been officially published - reference has been updated.
	JAUS Profiling IOP	V1 Errata	Table 5-2 from V1 (Component & Service Requirements) incorrectly referred to AS6009 as the JAUS Core Service Set - was corrected to JAUS Mobility Service Set
	JAUS Profiling IOP	V1 Errata	Section 5.1.2.2.2 from V1 (Default Authority) had stated that authority level of client requesting control needed greater authority level - has been changed to "greater than or equal to"; Shall statements in V1 were too restrictive - were changed to "should" statements; Allowed default authority values of 0 to 24 have been changed to 1 to 24.
	JAUS Profiling IOP	V1 Errata	Incorrect semi-colons should have been colons in V1 5.3.7.1 Table 5-34 (Velocity State Driver), 5.4.1.2 Table 5-45 (Digital Video Service), 5.4.2.1 Table 5051 (Still Image Service), 5.4.3.1 Table 5-53 (Range Finder Service), 5.4.4.1 Table 5-56 (Analog Video Service), and 5.7.3.1 Table 5-117 (Accelerator State Sensor). Also corrected typo in 5.4.7.2.1 Speaker Service
	JAUS Profiling IOP	V1 Errata	Section 3.3.5 (Communicator Service) - QueryCommunicator was triggering a potential deadlock situation - has been corrected.
	JAUS Profiling IOP	V1 Errata	Section 3.13.5 (Retrotraverse Service), Table 3.13-7, Start Retrotraverse should have been under Label C instead of Label B.
	JAUS Profiling IOP	V1 Errata	Section 3.14 (Comms Lost Policy Manager) - Version in V1 accidentally included the older version not harmonized with AEODRS - has been updated to harmonized version.
	JAUS Profiling IOP	General	All "Interoperability Attribute Options" have been converted to "Interoperability Attributes" to promote simplicity.
	JAUS Profiling IOP	General	New usage guide has been developed to explain how to instantiate from JAUS Profiling Rules.
	JAUS Profiling IOP	General	Separated Report Rate parameter into Global Pose Report Rate and Local Pose Report Rate.
	JAUS Profiling IOP	General
	JAUS Profiling IOP	Government Documents	Reference to AEODRS changed from AEODRS v1.3.1 documents to AEODRS v1.4 documents.
	JAUS Profiling IOP	Non-Government Documents	Reference to SAE AS5684 updated to SAE AS5684B.
	JAUS Profiling IOP	New Interoperability Attributes	Automated Behaviors Attribute - can be "None", "Basic", or "Advanced"
	JAUS Profiling IOP	Access Control Attribute	Table 10 - PRIMARY_OPERATOR corrected range from 200-239 to 205-239. Also explicitly state that state clients with authority of 0 cannot take control of a component because the minimum default authority is 0.
	JAUS Profiling IOP	Platform Manager Attribute	Made clarifications on where platform services can reside (component versus node, etc.); Also referenced the new UnsolicitedHeartbeatPulse service.
	JAUS Profiling IOP	Basic Global Position and Attitude Attribute	Modified description of Report Rate Parameter to define that it is in Hz, and what 0 means.
	JAUS Profiling IOP	Updates to Drive Train Driver	Updates to enable discovery of drive train capabilities and to support non-traditional drive train types.
	JAUS Profiling IOP	Additions to Basic Navigation Interoperability Attribute	Added "Enhanced Local" and "Enhanced Global" as possible values. Added Path Reporter Service.
	JAUS Profiling IOP	Additions to Interpretation Section	Added Report Identification details and Report Platform Spec details to section.
	JAUS Profiling IOP	Power Plant Management Interoperability Attribute	Added pneumatic support.
	JAUS Profiling IOP	Range Finder Interoperability Attribute	Added language to support more complex range finders - LIDAR, RADAR, GPR, multiple range finders, etc.
	JAUS Profiling IOP	New Interoperability Attributes	Platform Door Attribute
	JAUS Profiling IOP	New Interoperability Attributes	Debris Blower Attribute
	JAUS Profiling IOP	New Interoperability Attributes	Wiper/Cleaner Attribute
	JAUS Profiling IOP	Attitude Interoperability Attribute	Modified "default" value to "Basic". Added "Advanced" Position.
	JAUS Profiling IOP	Manipulators	Added Extended Primitive Manipulator & Extended Primitive Pan/Tilt to document, clarified existing language on basic & complex end effectors.
	JAUS Profiling IOP	Comms Lost Policy Manager	Added details on Report Identification to the Interpretation section to clarify & provide additional guidance.
	JAUS Profiling IOP	New Interoperability Attributes	Tire Pressure Attribute
	JAUS Profiling IOP	New Interoperability Attributes	Stability Control Attribute
	JAUS Profiling IOP	Removed Mobility Limits Attribute	Replaced Mobility Limits Mobility Attribute with Platform Specification Attribute
	JAUS Profiling IOP	New Interoperability Attributes	Platform Specification Attribute
	JAUS Profiling IOP	New Interoperability Attributes	Obstacle Reporting Attribute
	JAUS Profiling IOP	New Interoperability Attributes	Manipulator End-Effector Force/Torque Sensor Attribute
	JAUS Profiling IOP	New Interoperability Attributes	Force Torque Sensor Attribute
	JAUS Profiling IOP	New Interoperability Attributes	Software Version Reporting Attribute
	JAUS Profiling IOP	Drive Sensor Registration	Added guidelines for determining what makes a camera suitable for driving and how best to use the camera sensor ID.
	JAUS Profiling IOP	New Interoperability Attributes	Tire Pressure Attribute
Custom Services, Messages & Transports
	Custom Services….	New custom services	Path Reporter Service
	Custom Services….	New custom services	Wiper Service
	Custom Services….	New custom services	Debris Blower Service
	Custom Services….	New custom services	Platform Door Service
	Custom Services….	New custom services	Manipulator End-Effector Force/Torque Sensor Service
	Custom Services….	New custom services	Force Torque Sensor Service
	Custom Services….	New custom services	CostMap2D Service
	Custom Services….	New custom services	Physical Specification Service
	Custom Services….	New custom services	Self-Collision Avoidance Policy Manager Service
	Custom Services….	New custom services	FilterMapper Service
	Custom Services….	New custom services	Tire Pressure Service
	Custom Services….	New custom services	Extended Primitive Manipulator Service
	Custom Services….	New custom services	Extended Primitive Pan/Tilt Service
	Custom Services….	New custom services	Enhanced Waypoint Navigation (Local)
	Custom Services….	New custom services	Software Version Reporting Service
	Custom Services….	New custom services	H264 Video Encoding Service
	Custom Services….	New custom services	Enhanced Waypoint Navigation (Global)
		New custom services	Unsolicited Heartbeat
	Custom Services….	Communicator Service	Removed QueryCommunicator* triggers from Transition D to prevent potential dead-lock condition.
	Custom Services….	Communicator Service	Corrected Message Encoding (Table 70) to include NoChangeRec.
	Custom Services….	Render Useless Service	Added query/report pair for render useless status
	Custom Services….	Communicator Service	Corrected several instances of typo from "Continous" to "Continuous" - example: ContinuousAdjustableRec
	Custom Services….	Extended Primitive Manipulator Service / Extended Primitive Pan Tilt Service	Grammatical changes to Actions & Interpretations in Tables 160 & 161 and 396 & 397. Example: Changed "sendReportHostManipulator" to "sendReportManipulatorHost".
	Custom Services….	Platform Mode Service	Changed Action from "sendReportSupportedPlatformMode" to "sendReportSupportedPlatformModes" In Tables 284 & 285.
	Custom Services….	Preset Pose Service	Clarified that the JAUS_ID field interpretation is of the JAUS ID of the component that the listed preset positions are associated with.
Applique
	Applique	All	New Applique IOP Document

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