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System Documentation
Hardware Documentation
Software Documentation
 Team Caltech
DARPA Grand Challenge
2003-2004 Technical Documentation		 Other pages & links:
Project Documentation
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  1. System Documentation
    1. Technical Paper
      1. Initial Release (September 2003)
      2. Race Version (February 2004)
  2. Hardware
    1. Vehicle platform
      1. 1996 2-door Chevy Tahoe 4X4
    2. Actuation
      1. Throttle
        1. Actuator (722-0102)
        2. Controller (771-0107)
      2. Brakes (picture)
        1. Ultramotion 4-2B.125-SM17-7.2-3NO-P-B,ST4-/4
      3. Transmission (picture)
        1. Actuator (722-0102)
        2. Controller (771-0106)
      4. Steering (picture)
        1. Motor (BE344LJ-NMSN)
        2. Gearbox (PEN034-008S7-M037-365-000)
        3. Drive Box (GV6-U12E) and programmers reference
        4. Cable (BE-GS CABLE-10)
    3. Power
      1. Generator
      2. Fuel Cell ( 270-116-06)
      3. UPS (2)
        1. User's manual
        2. Parallel UPS instructions
        3. Brochure
      4. Power Box
        1. README
        1. Connectors
        2. Cutouts
    4. Air Conditioning
      1. Data sheet
      2. Installation Instructions
      3. Operation & Maintenance Instructions
      4. Brochure
      5. Service Manual
      6. Repair parts list
    5. Computers
      1. Layout
      2. IBM laptop (IMU laptop)
      3. IBM PCs
        1. All but Titanium: ThinkCentre a50p, part no. 8194CJU  plus an additional 256MB RAM.
        2. Titanium: ThinkCentre M50, part no. 8187F4U
    6. Sensors
      1. State Sensors: see "State Estimation" below in Software/Embedded Systems
      2. Terrain Sensors
        1. LADAR (SICK LMS 221-30206)
          1. Technical Information
          2. Applications
          3. Communication Manual
          4. Software v5.1
          5. Technical Description
          6. Technical Manual
          7. Telegram listing
          8. Quick Manual
          9. SICK website
        2. Stereovision
          1. Point Grey Dragonfly, Black & White, 640 x 480 (1/3" CCD spec: Sony ICX 084AL)
          2. Lens:
            1. Short Range: Pentax TS212A (C70214), 94.3º horizontal field of view
            2. Long Range: Pentax HS614B (C60622), 44.55º horizontal field of view
        3. Road-following
          1. Point Grey Dragonfly, Color, 640 x 480 (1/3" CCD spec: Sony ICX 084AK)
          2. Lens: Pentax TS212A (C70214), 94.3º horizontal field of view
    7. E-stop
    8. Mounting
      1. Cab sensors
  3. Software
    1. Embedded Systems
      1. Computing
        1. Linux configuration files: README
      2. Cruise control
      3. Joystick
      4. MTA
      5. State Estimation
        1. Hardware
        2. Software
      6. Throttle
    2. Path Planning
      1. Body frame definition (txt)
      2. Thyago's paper (pdf)
      3. Arbiter README, Design specification
      4. Corridor Arc Evalulator
      5. Dynamic Feasibility Evaluator
      6. Fender Planner README, Design specification
      7. GlobalMapHandler Design specification
      8. Global(Path)Planner: README, Design specification
      9. Generic Map Class (GenMap) Manual, Specification, README
      10. LADAR README
      11. Matlab Display
      12. Matlab Utilities README
      13. Path Evaluation
      14. Road Follower.  See Christopher Rasmussen's paper that describes the algorithm used.
      15. Simulator (Manual)
      16. Static Map README, Design specification
      17. Stereovision
        1. svsStereoWrapper: used to "wrap" around the software for grabbing images from the cameras and for processing those images using Videre's SVS software
        2. StereoPlanner: handled all facets of the stereovision obstacle-avoidance
        3. Calibration
        4. Utilities