Sensor Pack

Binary Tone Generator

Rabbit Processor

IMUGPS Receiver Xbee Radio Modem

Data Sink

GPS Satellites

Handset for Binary Tone Generator

Operator: Records the tone changes manually.

Trainer: Issues the tone commands to guide the K-9 through his handset.

Radio: Transmits the parsed sensor information over the wireless link.

K-9: Responds to the tone to follow along the intended path.

Handset: transmits the current command wirelessly to the tone generator.

Rabbit: Collects and parses the sensor data from the various sensors, then sends to the Xbee modem.

GPS: Provides latitude, longitude, velocity, and heading.

IMU: Provides acceleration and rate of turn.

Phase I (Legacy Training)

Sensor Pack

Command Module

Rabbit Processor

XSensGPS Receiver Xbee Radio Modem

Data Sink

GPS Satellites

Handset for Command

Module

Operator: Starts/Stops recording data for various experimental trials.

Trainer: Issues the tone commands to guide the K-9 through his handset.

Radio: Transmits the parsed sensor information and the currently active commands over the wireless link.

K-9: Responds to the tone to follow along the intended path.

Handset: transmits the current command wirelessly to the tone generator.

Rabbit: Collects and parses the sensor data from the various sensors and command module, then sends to the Xbee modem.

GPS: Provides latitude, longitude, velocity, and heading.

XSens: Provides acceleration, rate of turn, and mag. data.

Phase II (Training)

Command Module: Issues tone commands to the K-9 and outputs those commands to the Rabbit.

Sensor Pack

Command Module

Rabbit Processor

XSensGPS Receiver Xbee Radio Modem

Data Sink

GPS Satellites

Operator: Starts/Stops recording data.

Radio: Transmits the parsed sensor information and the currently active commands over the wireless link.

K-9: Responds to the tone to follow along the intended path.

Rabbit: Collects and parses the sensor data from the various sensors, filters that data, uses the model to issue a new command to the command module, then sends to the Xbee modem.

GPS: Provides latitude, longitude, velocity, and heading.

XSens: Provides acceleration, rate of turn, and mag. data.

Phase III (Autonomous K-9)

Command Module: Receives commands from the rabbit and issues them to the K-9.

Filter: Algorithm to

aggregate GPS/IMU data for accuracy.

Model: Algorithm to

interpret filtered sensor data an d issue

new commands