A01_-_Salient_Characteristics.doc_CAF_2230.docx

Salient Characteristics

Commercial Availability Certification:

I have evaluated the commercial marketplace and determined that all of the salient characteristics documented below are available in products/services offered in the commercial marketplace.

Signature (typed name):

Technical Point of Contact (TPOC)

The Asset Control and Behavior Branch (ACBB) within the Army Research Laboratory’s Computational and Information Sciences Directorate (CISD) requires a “robotic total station theodolite” (R-TST) to perform the following:

1) Track a reflector prism target attached to our robotic ground platforms to record ground truth trajectories. Take images of robots during experimentation for documentation purposes.

2) Make highly accurate measurements of calibration rigs and robot locations to support the calibration of onboard robot sensors

3) Make architectural and geo-spatial measurements of key locations in the environment to:

a. determine their relative locations

b. augment and/or provide ground truth for robotic mapping experimentation

c. take architectural measurements of structures at military training facilities for the creation of realistic models in simulation

The R-TST shall fulfill the following minimum specifications:

1. Accuracy:

a. At most 5” (arc-seconds) of angular measurement (1.5 mgon) precision. The precision number shall be 5” or less.

b. At most 5 mm range measurement error to a reflector target within 1,000 meters

c. At most 10 mm range measurement error to a reflector-less target within 1,000 meters

2. Range:

a. Minimum of 1,000 meters range reflector-less

b. Minimum of 2,000 meters range with reflector

3. Interface:

a. R-TST device MUST feature an unlocked USB, RS-232 Serial, and/or Ethernet interface which can produce LIVE tracking data in the form of coordinates of the locked target prism. This interface should ascribe to a published Application Programmer Interface (API) and require at most a moderate amount of effort to translate the open source code provided at https://github.com/georgwi/leica_ros_sph/blob/master/scripts/GeoCom_mod.py for interface. This must be possible from an Ubuntu Linux 16.04 operating system; it cannot require any proprietary driver which is only available in Windows. The open-source project provided in the link is designed to function with Leica R-TSTs; other vendors can provide evidence of alternate open-source implementations or provide documentation of their API’s if they are not compatible with this interface.

4. Speed:

a. R-TST device shall be capable of tracking a moving target (with prism) at a speed of at least 3 meters/sec at all distances in the range of 25 to 400 meters.

b. R-TST device shall be capable of tracking a moving target (with prism) at a speed of at least 3 meters/ sec at all distances in the range of 50 to 400 meters.

5. Additional required features for R-TST:

a. Camera

b. Monitor screen

c. Co-axial visible targeting laser

d. IP44 or better weatherproofing

6. Accessories:

a. Two batteries with charger

b. Tripod

c. Tripod mounting adapter (“Tribrach”)

d. Rigid carrying case

e. Two 360 degree target prisms

Contracting Officer:

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