H.2.3 Van VaMoRs (1985 – 2004)

VaMoRs a) 1985 - 1990


 

Basic vehicle [5 - ton (metric) van]

Standard ‘Kastenwagen’ Daimler-Benz L 508 D

axle distance a:                                 3.5 m

cg – front, – rear axle:                       2,  1.5 m

mass (on front, rear axle)     4000 (1714, 2286) kg

max. speed:                                      96 km/h

el. power generator:                     220 V, 6 KVA

Installations for autonomous operation

Hydraulic pressure for braking:             90 bar

     max. deceleration:                           5.5 m/s2

torque motor for steering in left front wheel bay,

first gaze control platform on dashboard: 2 axes

BVV2 system for image sequence processing [Graefe 1984]

video 02 SkidpanDB-VaMoRs 1986

video 04 VaMoRsAutobahn Dingolfing 1987

 

VaMoRs b) 1991 - 1997


 

System improvements 1991:

+     More powerful electric generator with external cooling; el. power: 10 kVA. The external cooling slowed the vehicle down.

+     Reduced max. speed:        Vmax  ~ 80 km/h

+     Gaze control platform with smaller cameras moved from dashboard to hanging from the roof;

+     additional computer rack and work desk on port-side (~ 1 m high).

+     Transputer system with 45 processors plus one 32-bit PC as human interface;

+     GPS – antenna at top left rear.

+     electric power generator:      220 V, 10 KVA

A.3.7 TurningOffOntoCrossroads

video 23 TurnoffNbbTaxiway 1996

 

 

VaMoRs c) 1997 – 2004


 

 

Transition to ‘Commercial-Off-The-Shelf’ (COTS) components and to cross-country driving with EMS – vision; real-time, full-frame stereo vision by a custom board plugged into one of the Dual-PC:

H.1.3 EMS vision system on COTS - PC hardware

with four Dual-PC (Pentium class);

Cooperation with US-program ‘ARL – Demo3 (‘AutoNav) allowed integration of real-time stereo vision hardware into EMS-vision:

  • VFE_200 of Pyramid Vision Technology (PVT, offspring of Sarnoff SRI); 2000, volume ~ 20 liter
  • ACADIA-board of PVT (2003), ‘Europe-size’ plug-in board into a standard PC.

Video 33

VaMoRs/EMS On-Off-RoadMissionPerform 2003