| Aetheric Radio Data Collection Procedure
|Procedure used to collect diagnostic information for troubleshooting Aetheric Radios. Used in conjunction with the Aetheric Radio Data Collection Form.
| Aetheric Radio Data Collection Form
|Form used to record diagnostic information for troubleshooting Aetheric Radios. Used in conjunction with the Aetheric Radio Data Collection Procedure.
| WinBox Tools for Aetheric Radio: Network Traffic Tools
|Provides a cursory procedure to use WinBox tools to scan a radio network and identify network traffic broadcasting on selected frequencies.
| Allison External Actuator Redirection Utility
|How to electronically attach to an external actuator and migrate internal Pronto4 actuation assignment to that external actuator.
| Configure a Pronto4 to use Analog Steering Feedback
|An analog steering feature can be installed in Pronto4 units for vehicles with hydraulic steering (indicated on the Service Module’s configuration sticker). This procedure documents how to configure those Pronto4s to use the analog steering feedback function.
| Auxiliary Functions Interface Control Documentation
|The aux functions protocol covers the binary state of a series of relays used to control various discrete functions of the Pronto4.
| AVIL Command Set
|This document describes a communication protocol — Autonomous Vehicle Interpretation Language (AVIL) — used to communicate between a human controlled host and a software driven autonomous land vehicle.
| Beacon UDP Message Information
|Kairos Autonomi’s SharedLinkF software has been configured to generate a data beacon. This beacon can assist Kairos Autonomi customers that want specific, real- time data transmitted from the Pronto4 system.
| P4S4 Block Diagrams
|Provides a technical overview of the Pronto4 Series 4 (P4S4) hardware components.
| Differential GPS Set-up
|Procedures to configure differential GPS (DPGS) calculation at a Ground Control Station and DGPS usage on Pronto4 units.
| djFire ICD
|The Interface Control Document (ICD) for the djFire software tool.
|Overview of the sensor information and shared variables available the djLoader application.
| Electric Transmission Installation and Setup
|Installation and setup procedures for the Electric Transmission Module.
| E-Stop Behavior ICD
|Interface Control Documentation that provides information on the UDP messages which impact Kairos E-Stop behavior, along with expected behavior for standard configurations.
| Setting up a Freestanding Tripod Tower
|Provides the procedural steps to prepare and set-up a Kairos Autonomi Freestanding Tripod Tower.
| Pronto4 Series 4 Hardware Installation Overview
|Provides a high-level overview for installing a Pronto4 Series 4 (P4S4) system into a vehicle. More detailed installation and operating procedures are provided based on specific system and component configurations.
| HMMWV Bracket Installation
|Procedure for installing steering, brake, and transmission brackets and hardware in a standard HMMWV.
| Shared Variables, Scripts, Protocols, and Formats Overview
|An overview of software relationships, executables, and important Shared Variables in the Pronto4 software suite.
| IVN DKS Settings Calibration
|The Dynamic Knowledge Store (DKS) transmission calibration procedure for use with the Intelligent Vehicle Navigation (IVN) Software.
| J1939 with Apex and ELM-ST
|Addresses communicating with Harrison R&D's APEX or OBD Solutions' STN1100 chips using the J1939 vehicle bus.
| Kairos Operating System (KairOS)
|Documents commands that can be entered in to a serial command line for diagnostic operation of the KAOS Rabbit operating system.
| NAV/C2 Off-Path Troubleshoot Document
|Presents field troubleshooting of the U.S. Navy Target Range’s Moving Land Target (MLT) NAV/C2 units.
| Rapid Install Overview
|Overview of the UOMO project, which is an internal development project to re-package a Pronto4 Series4 (P4S4) into a system that can be installed in an unmodified vehicle in less than 30 minutes.
| P4S4 Mini Mounting Bracket Diagram (p/n: MCA-00068)
|Mechanical drawings of the P4S4 Mini Mounting Bracket (p/n: MCA-00068).
| Playseat Simulation Driver Seat Assembly
|Assembly instructions for vendor set-up of a conference booth-friendly Ground Control Station.
| Pronto4 Actuator Cables Description
|Assists Pronto4 users in identifying the lengths of actuator cables needed for the Pronto4 system installation.
| Novatel GPS Configuration
|DGPS Configuration procedure for Pronto4 Ground Control Stations that are configured with Novatel GPS, Shepherd OCU software, and JAUS_IVN interface software.
| Pronto4 Novatel GPS Installation and Connections
|Field installation procedures for adding Novatel GPS hardware to a Kairos roof rack.
| Pronto4 Series 4 Hardware Installation Overview
|Very high level and very generic overview of steps necessary to install a Pronto4 Series 4 unit and accoutrements into a vehicle.
| Pronto4 Steering Motor Module (No Steering Ring) Installation and Usage Notes
|Field installation, set-up, and usage notes for a Pronto4 Steering Motor Module (No Steering Ring).
| Pronto4 Steering Ring: Chain and Gear Assembly
|Details the process of chain and gear assembly in a standard Pronto4 Steering Ring. It does not include prior or subsequent assembly procedures, to include insertion of a motor or functionality test.
| Radio Assembly and Set-Up
|Provides a basic procedure, along with generic recommendations and guidelines, for assembling and physically setting up a Kairos Ground Control Station radio and corresponding antennae.
| Radio Test Procedure Configuration A
|Augments the "Range Coverage Radio Configuration" bulletin with additional information on Configuration A.
| Range Coverage Radio Configurations
|Presents an overview of the four main radio and tower configurations recommended by Kairos Autonomi.
| Route Data Definition Format (RDDF) ICD
|An Interface Control Document that provides an overview, along with required and optional parameters, of the Route Data Definition Format (RDDF) format when used with Kairos systems.
| Safety Direct Controller Operations
|The Safety Direct controller is an independent, hand-held interface for Pronto4 Series 4 (P4S4) and Uomo equipped vehicles. The interface supports a sub-set of the command interactions available on a standard ground control station, to include tele-operation of a vehicle, recording of new paths, and playback of recorded paths. The unit can also serve as an independent, radio-controlled E-Stop.
This document includes the following sections:
- Basic Usage – a minimal introduction on using the actual controller
- Controller Functions – details on sensors, functions, and settings related to the controller
- Vehicle Operations – details on operating P4S4 vehicles with the Safety Direct controller
- Function Tree Reference – a list of all options available via the LCD screen
| Servo Settings Executable-Altering Brake Min & Max
|Procedure to alter the minimum and maximum set points of the Brake Servo in an installed Pronto4 Series 4 that is configured with Shepherd OCU software and JAUS_IVN interface software.
| ServoPod FORTH Firmware
|Provides a basic overview for loading and diagnosing Pronto4 specific FORTH firmware. The overview is followed by a detailed updating procedure.
| ServoPod FORTH Firmware Recovery
|Helps identify the appropriate method to recover when a Pronto4 ServoPod has been rendered inoperable due to improper loading of the FORTH program text.
| Shared Element Management Interface Control Document
|Provides an overview, usage, and reference for Kairos' shared elements and shared variables.
| Pronto4 Geolocation Shared Variables
|Provides a high level overview and basic reference for Kairos' geolocation-related variables.
| SharedLinkF Logging
|How to log communications between two systems running Kairos Autonomi's SharedLink protocol.
| Shared Link Protocol Specification Overview
|Overview of Kairos' SharedLink protocol. SharedLink consists of two lists that are shared between two computers. It is primarily a point-to-point protocol but does have some addressing capability.
| Shepherd Configuration - Tele-Op Controller
|Procedure to switch from one supported controller to a different controller within the Shepherd OCU software.
| Shepherd P4S4 Operations
|Procedures needed to operate a Pronto4 Series 4 (P4S4) robot that is running either IVN or VAK software from an Operator Control Unit (OCU) with the Shepherd application. For a more comprehensive coverage of the Shepherd application, see the Shepherd Overview documentation.
| Shepherd P4S4 Ops Aid
|Abbreviated (pseudo checklist style) version of the "Shepherd P4S4 Operations" bulletin.
| Kairos Autonomi Source Code Examples
|Overview of Kairos software data exchanges, along with the directory structure to locate example source code.
| Solar Panel with Battery Box Assembly and Setup
|Procedure to assemble and physically setup a Solar Panel with Battery Box for radio towers.
| Pronto4™ Steering Ring Manual
|Provides information for 10" standard Pronto4 Steering Rings (both 14:1 and 7:1), including mechanical specifications, parameters, generic installation and tuning procedures, and signal specifications.
| Steering Ring Mounting Bracket - Angle Bending
|Procedures to bend standard Steering Ring Mounting Brackets prior to Steering Ring installation.
| Stryker Installation Notes
|Provides minimal textual and photographic notations from a successful Stryker Bracket Kit (p/n MCA-00114) installation.
| Troubleshoot Information: Aetheric Radio Connections
|Basic troubleshooting steps for Aetheric radios located on vehicles and connected to Pronto4 units.
| Vehicle Pre-Installation Questionnaire
|Provide a brief introduction to the Pronto4 Series 4 Mini installation, and methods to gather information required for the installation process.
| Wheel Odometry ICD
|Interface Control Documentation that provides serial information, data messages, scales, and calculations related to Wheel Odometry units.
| Installation of Kairos Autonomi Shepherd software on Windows 7
|Due to the method that Windows 7 utilizes to allocate available system memory, extra steps must be taken to ensure that a contiguous memory space is allocated. This procedure details the required modifications to Windows 7.
| Pronto4 Mounting Feet - MLT Field Installation
|Installation steps to swap the MLT-program's original Pronto4 mounting feet with upgraded feet (MCA-00129).
| Safety Direct Field Programming
|How to update the firmware of the Safety Direct controller.
| Switching GPS from DGPS to WAAS
|Procedure for switching a Pronto4 Ground Control Station and vehicles from Differential GPS (DPGS) to Wide Area Augmentation System (WAAS) GPS.
| BUL-065 Safety Direct Joystick Configuration
|The Safety Direct has scaling and permanent adjustments for the joysticks. Changes to the default parameters can be made by connecting to the USB-serial console.
Operational Factors: Tow Targets
|Several operational factors that must be considered when recording a path for use with tow targets and playing back paths with tow targets. References the National Highway and Transportation Safety Agency's "Towing a Trailer" brochure, which can be downloaded from the NHTSA or Kairos website.
|Installation of the Camera with Universal Mount and Pigtail Cable
|Provides a process overview for installing the Camera with Universal Mount and Pigtail Cable (p/n KA208-01-08). The kit allows a Kairos camera to be mounted to a vehicle with either a 95lb magnet or a Ram-Mount suction cup. Either method requires the camera mount brackets be assembled first.
| GPS Correction Comparisons: RTK vs DGPS
|The position reported by a GPS receiver is not absolute. Many errors are introduced to the signal from the satellite. Satellite clock errors, propagation delay, and atmospheric interference are all factors in the accuracy of a position. Day-to-day measurements of a position can change depending on each of these factors. This document compares two methods to make corrections to these errors: Pseudo-differential (DGPS) and Real Time Kinematic (RTK) correction.
| Controlling Servos in IVN
|A document that describes how to manually control servo actuators through the IVN software tool.
| Installing and Using the Beacon Executable
|The Beacon executable releases users from needing an OCU E-stop during development efforts with the unmanned vehicle.
| Weather Protection Kit Installation
|The Weather Protection Kit provides moderate protection from heat and driving rain by providing fans to dissipate heat and physical obstructions limiting the possible entrances for water.
| Adding Fuel Level Monitoring to Mobius and Nav/C2 Systems
|The hardware on the Nav/C2 supports reading the fuel level on the MLT. In order to leverage this capability, a configuration change is required for Mobius and the Nav/C2.
| Modify Start Pulse in Shepherd
|Pronto4 systems are shipped with either a 1 or 2 second start pulse. This can easily be modified with the Shepherd OCU application.
|This bulletin documents minimum basic workmanship practices used by Kairos Autonomi personnel and contracted labor. To ensure proper performance, these practices are expected to be employed during the installation of any Kairos hardware and any other associated hardware, such as customer additions or modifications. Some workmanship practices are included in multiple categories. This bulletin is designed to augment, but not replace, Pronto4 installation documents. The bulletin provides an overview of basic, industry-standard, prerequisite information. For example, the first section of this document highlights the importance of using the correct tool; when a specific tool needs to be used during installation, installation documentation states what the correct tool is. Additionally, because of general applicability, this document restates some aspects of the installation process (e.g., always disconnect the vehicle battery before working on any vehicle’s electrical system).
| Loading and Configuring Shepherd for Satellite Imagery
|Shepherd, the Kairos OCU application, can overlay a robotic asset on a customer supplied satellite image using GPS position. The imagery files can be gathered from the internet using TerraServer, Bing, or Google Earth. Once properly configured, Shepherd will show the position of the robotic asset on the image as a moving map referenced to earth.
| Shepherd Steering Configuration with IVN and SharedLink
|A range of steering configurations are available to Pronto4 systems that are running the standard Shepherd OCU software with IVN and SharedLink protocols. This document shows how to modify these configurations.
| Cloning a P4S4 Computer Module
|The computer of a Pronto4 Series 4 runs Windows XP. This is installed from a Symantec Ghost image.
| Mobius Joystick Troubleshooting
|When checked into Mobius and with tele-op on, if the joystick is not sending commands to the vehicle (e.g. dead-man doesn't release the vehicle’s brake) the recommended troubleshooting method is to remap the controller. The following procedure details the steps necessary to remap a Logitech controller with Logitech and Mobius software.
|During the installation of a Pronto4 on various systems, it is often desirable to change the orientation or range of the servo motor motion to make the system more closely match the desired ranges of the vehicle. Additionally, the response of the PID that is used to drive the servos can be optimized to achieve the best performance possible. Kairos has developed an application named ServoSettings that can modify servo settings and read motor operational parameters in real time. This program operates on a single motor over the selected USB serial port.
| Troubleshooting: Steering Ring Calibration
|If performing an Operator Control Unit (OCU) Steering Ring calibration, with the vehicle wheels pointing forward and steering wheel centered, and it does not return the Steering Wheel to a centered position, then the following procedure should be performed.
| Virtual PC Installation
|This document provides procedures for the proper installation of Virtual PC (XP image) on a Windows 7 System. It is necessary to run the Kairos application suite on a Windows XP machine, because a critical component – the BeWISE® (a product of Edelwise Inc.) shared variables – do not function properly in the Windows 7 environment. Until a Windows 7 solution is established, these instructions provide a method of successfully operating the entire suite.
| Pronto4 Installation Notes
|There are aspects of the Pronto4 installation process that are more critical than other aspects or tend to be overlooked more often than other aspects. This bulletin is designed to augment, but not replace, Pronto4 installation documents. This bulletin provides reminder notes for installation steps that are more critical or tend to be overlooked in the existing documentation.
| Radio Configuration - Shorelines
|The performance of a radio system is highly dependent on the environment that the radio is used within. Elements such as base frequency, ground clutter, water, foliage, antennas height, gain and style, insertion loss, and other factors each impact aspects of radio performance. This document provides a baseline configuration for radio deployment between a shoreline and an unmanned surface vessel (USV). For optimal radio performance, modifications should be made based on site-specific conditions.
| Steering Tube Assembly (p/n MCA-00035) Modification
|The Steering Tube Assembly, also referred to as a steering bias pole, is designed to provide an additional axis of support for the Steering Ring, thus increasing the Steering RingÕs stability and reducing unwanted movement. Kairos recommends mounting the MCA-00035 Steering Tube Assembly to the center floorboard. The following procedure assumes a center floorboard mount, adjust as appropriate for the target vehicle. For some vehicles the Steering Tube Assembly may need to be modified for proper fit.
| Shepherd P4S4 Uomo Operations
|This document covers the procedures needed to operate a Pronto4 Series 4 Uomo (P4S4 Uomo) robot, running IVN or VAK software, from an Operator Control Unit (OCU) with the Shepherd application. For a more comprehensive coverage of the Shepherd application, see the Shepherd Overview documentation.
| Installing Shepherd Software on an OCU
|The primary operator control software for Kairos systems is Shepherd. On Operator Control Units (OCU) that Kairos provides, Shepherd comes preinstalled. This procedure documents the installation process for customers that provide their own OCU, or want the ability to reload the software.
| Module Replacement
|The Pronto4 Series 4 is modularly produced and configured. On occasion, it is necessary to perform a field replacement of a module. This document provides the procedure for replacing a module in the field. Performing this procedure without prior approval from Kairos Autonomi may void the warranty.
| Installation of the Heated Camera (KA208-01-09)
|This document provides a process overview for replacing a bullet camera (standard or infrared) with Kairos’ Heated Camera (p/n KA208-01-09). The Heated Camera has a larger diameter than the standard Kairos bullet cameras. As a result, it ships with a modified Camera Mount Bracket Holder, but otherwise uses the existing, standard mounting hardware.
| Novatel L6 GPS Adapter Kit (MCA-00169) Installation
|Systems upgraded from a Novatel Smart-V1 GPS to a Novatel Smart6ª GPS require an additional mounting plate. This document details the steps necessary to install the Smart6ª with the corresponding adapter plate.
| Field Replacement of Uomo Servos
|The modular design of the Pronto4 series, including the Uomo, allow for field replacement of individual servos when necessary.
| JAUS Staging – Multiple Vehicles
|This bulletin describes how several target vehicles, that all use an Alternate CPU Module with the JAUS protocol, can be staged and placed in a standby mode. Each vehicle can subsequently be remotely activated.
| TerraStar Configuration
|TerraStar provides a network of high precision GPS services. To utilize TerraStar, NovAtel GPS units must have their software upgraded to run NovAtel CORRECT and a TerraStar authorization code must be loaded into the GPS.
|Pronto4™ Series 4 Safety Overview
|The Safety Overview bulletin highlights safety-related mechanical features and configuration settings of the Pronto4 series Appliqué Kits. In addition, it addresses non-system specific safety-related considerations, such as procedures, usage environment, and legal documentation.
|H-Field Moving Target - Path Playback
|This bulletin documents how to play a path using Kairos Automomi’s Shepherd software, with Task Sequences functionality, and the H-Field mover.
|H-Field Moving Target - Start Up
|This bulletin documents how to start-up the H-Field mover and prepare to play a path using Kairos Autonomi’s Shepherd software, with Task Sequences functionality.
|P4S4 Bench Test Wiring Setup
|This bulletin depicts the proper bench test wiring of each available Pronto4 configuration. The user should select the corresponding Computer End configuration to their own and use as a guide for the setup.
Drive Workbench Tuning
This document walks you through the primary configuration screens and provides a
quick synopsis of the critical controls and their settings for usage of the P4S4 in pathing
operations on both Land and Surface vessels.