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H.2.3 Van VaMoRs (1985 – 2004)

VaMoRs a) 1985 – 1990

Basic vehicle [5 – ton (metric) van]

  • Standard ‘KastenwagenDaimler-Benz L 508 D
  • axle distance a: 3.5 m
  • cg to front axle 2 m; cg to rear axle 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 – 1986 VaMoRs in skidpan DBAG-Stuttgart

Video – 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 – 1996 Turn Right NBB-Taxiway.mp4

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 – VaMoRs/EMS On-Off-RoadMissionPerform 2003