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Sensor Pack

Phase I (Legacy Training). GPS Satellites. Rabbit: Collects and parses the sensor data from the various sensors, then sends to the Xbee modem. Sensor Pack. Rabbit Processor. GPS Receiver. IMU. Xbee Radio Modem. Binary Tone Generator.

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Sensor Pack

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  1. Phase I (Legacy Training) GPS Satellites Rabbit: Collects and parses the sensor data from the various sensors, then sends to the Xbee modem. Sensor Pack Rabbit Processor GPS Receiver IMU Xbee Radio Modem Binary Tone Generator GPS: Provides latitude, longitude, velocity, and heading. IMU: Provides acceleration and rate of turn. Radio: Transmits the parsed sensor information over the wireless link. Handset: transmits the current command wirelessly to the tone generator. K-9: Responds to the tone to follow along the intended path. Data Sink Handset for Binary Tone Generator Trainer: Issues the tone commands to guide the K-9 through his handset. Operator: Records the tone changes manually.

  2. Phase II (Training) GPS Satellites Command Module: Issues tone commands to the K-9 and outputs those commands to the Rabbit. Rabbit: Collects and parses the sensor data from the various sensors and command module, then sends to the Xbee modem. Sensor Pack Rabbit Processor GPS Receiver XSens Xbee Radio Modem Command Module GPS: Provides latitude, longitude, velocity, and heading. XSens: Provides acceleration, rate of turn, and mag. data. Radio: Transmits the parsed sensor information and the currently active commands over the wireless link. Handset: transmits the current command wirelessly to the tone generator. K-9: Responds to the tone to follow along the intended path. Data Sink Handset for Command Module Trainer: Issues the tone commands to guide the K-9 through his handset. Operator: Starts/Stops recording data for various experimental trials.

  3. GPS Satellites Sensor Pack Autonomous K-9 Phase Rabbit Processor 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. Model: Algorithm to interpret filtered sensor data an d issue new commands Filter: Algorithm to aggregate GPS/IMU data for accuracy. Command Module: Receives commands from the rabbit and issues them to the K-9. GPS Receiver XSens Xbee Radio Modem GPS: Provides latitude, longitude, velocity, and heading. XSens: Provides acceleration, rate of turn, and mag. data. Command Module Radio: Transmits the parsed sensor information and the currently active commands over the wireless link. Data Sink Operator: Starts/Stops recording data. K-9: Responds to the tone to follow along the intended path.

  4. GPS Satellites Autonomous K-9 Phase Sensor Pack Rabbit: Collects and parses the sensor data from the various sensors and uses the command received from the laptop to issue a new command to the command module, then sends to the Xbee modem. Rabbit Processor GPS Receiver Xbee Radio Modem Command Module: Receives commands from the rabbit and issues them to the K-9. GPS: Provides latitude, longitude, velocity, and heading. Radio: Transmits the parsed sensor information and the currently active commands over the wireless link, then transmits b ack the new command determined by the model. Command Module Data Sink Model: Algorithm to interpret filtered sensor data an d issue new commands Operator: Starts/Stops recording data. K-9: Responds to the tone to follow along the intended path.

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