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Last Updated: Thursday, 26 January 2012 15:26
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Published: Thursday, 19 January 2012 12:16
TRP7-HS 
TRP7-HS Homeland Security is a semi autonomous electric-powered tracked vehicle. Its configuration is tailored to allow off-road and in-road in order to accomplish multiple mission in support of the Homeland Security forces ( e.g. Demining, Patrolling,Surveillance, etc).
| Absolute Localization Outdoor |
Actual Solution |
GPS without differential correction |
| Possible Solution |
GPS RTK & Beaconing (differential correction by base station) |
| Tele-Operation |
Actual Solution |
Remote Teleoperation by digital cameras, with vehicle diagnostic telemetry and 2D laser scanner |
| Possible Solution |
Under StudyTeleoperation Assistance Functionnalities |
| Way Point Navigation |
Actual Solution |
Fusion of Odometry + Digital Compass + IMU |
| Possible Solution |
Fusion of Odometry + GPS RTK + Digital Compass + IMU |
| Obstacle Avoidance |
Actual Solution |
Ad-hoc Developed Electronic Module for Obstacle Avoidance based on Laser Range Finder Hokoyo scan |
| Possible Solution |
Under Study the fusion of other phisical principle based sensors like sonar and cameras |
| Local Mapping |
Actual Solution |
A WiFi channel for thelemetry, commands and video. 802.11 b/g independent channel for camera, 802.11 a/b/g/n for commands and telemetry |
| Possible Solution |
Under Study Characterization of Obstacle with fused data gathered from sensors based on different phisical principles like sonar and cameras |
| Communications |
Actual Solution |
A WiFi channel for thelemetry, commands and video. 802.11 b/g independent channel for camera, 802.11 a/b/g/n for commands and telemetry |
| Possible Solution |
Under Study redundant communication system, alternative frequencies and protocols |
| Hardware Architecture |
Actual Solution |
Microprocessor-board dedicated to the high-level functions and communications. Microcontroller-boards electronics dedicated to low level actuators control and to the Obstacle Avoidance and Navigation functionalities |
| Possible Solution |
Under Study a microcontroller based system to integrate all the low level actually distributed electronics |
| Mission Payload |
Actual Solution |
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| Possible Solution |
Under Study |
| Power Supply Vs Payload |
Actual Solution |
26V LiPo battery direct current - 12 Volt Ni-Mh battery for control electronics and sensors, DC-DC 5Volts converter |
| Possible Solution |
Under Study a Li ions based unique power supply system, DC-DC converters for 12, 5 and 3.3 Volts |
