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
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