1. The project name: «Development of the robotic platform with a FPGA control module.

2. The code: «RASH3 2010», a RASH3 platform, hardware version 2.0, software version 1.

3. The customer: Endurance.

4. The responsibility party: AlSHex (Endurance).

5. The time to completion: December, 2016 – February, 2017.

2. The development purpose, objectives and results

2.1 The purpose of the development is designing and manufacturing of a remotely controlled robotic platform with an FPGA control module. The platform is intended to be used as a demo device for learning, training and mastering the process of designing, creating, modeling, and debugging programs for FPGA, for learning VHDL/Verilog languages.

2.2 The development objective is to make a device hardware and software with a corresponding set of documentation.

2.3 As the result of the development the responsible party is due to turn over to the customer:

• One RASH3 2010 unit;

• A set of documentation:

  • A schematic circuit diagram of the unit;

  • A program listing;

  • A short user manual.

3. Stages of work execution

3.1 Deadline: December, 2016 — February 2017.

3.2 Stages of the device development:

• hardware development;

• software development;

• hardware completion;

• software completion;

• independent hardware debugging (electrical testing);

• independent software debugging (program testing, modeling);

• hardware adjustment and troubleshooting correction according to the results of the hardware debugging;

• software adjustment and troubleshooting correction according to the results of the software debugging;

• documentation correction according to the results of the hardware and software adjustment and troubleshooting correction;

• complex debugging of the hardware and software;

• hardware and software adjustment and troubleshooting correction according to the results of the complex hardware and software debugging;

• documentation correction according to the results of the complex debugging;

• turning over the results of the development to the customer.

4. Tactical and technical requirements for the product

4.1 Device components:

• a platform with motors and 4 wheels – 1 pc;
• power board electronics – 1 pc.;
• control board electronics –1pc.;
• a flat cable for the power and the control boards connection – 1 pc.;
• other construction elements.

1. The remote control program Selfiebot Droid is given by the consumer and is used by the responsible party in the process of development.

1. Requirements for the product

   1. The product should meet the following requirements:

• moving around on an even surface at a speed not less than 1 km / h;
• load capacity of not less than 1 kg;
• wireless control interface via Bluetooth, using the Selfibot Droid software.

1. The product box should have:

• a closed compartment for motors, an electronics board, and batteries;
• easily accessible mounting seats for the control board and additional periphery (if needed) for custom programming;
• a place to install an open pad for additional periphery.

1. The power board should provide:

• Two independent channels of control for the front and rear pairs of motors;
• Power from an internal battery pack consisting of lithium-ion batteries with a protection board;
• At least three independent power channels for two pairs of motors (front and rear) and for the rest of the electronics;
• A signal interface with a power board to receive control signals and transmit telemetry signals of the power board;
• A power interface providing the power board voltage supply of +5 V and the voltage supply from the battery pack;
• Charging of the battery pack by an external power source.

1. The control board should provide:

• FPGA usage as the main computing module of the product;
• Wireless Bluetooth communication protocol 3.0 or 4.0;
• A signal interface with a power board to transmit control signals and receive telemetry signals of the power board;
• A power interface providing the electronics board voltage supply of +5 V and the voltage supply from the battery pack;

3. Requirements for control

   1. The product is controlled via the wireless Bluetooth connection using the Selfibot Droid software. A list of the control commands is given below. The control board receives and decodes control signals, issuing control commands to the power board. Data sending to the Selfibot Droid software is not provided.

   2. The data package coming via Bluetooth consists of 8 bites. The first 7 bites constitute the prefix and are constant in every package. The eighth bite is a command bite.

      The package structure                                                              Control commands (the eighth bite in the package)

      4. Power requirements

         1. The product is energized by the internal power supply, consisting of three series-connected 18650 lithium-ion batteries, connected to the protection board. The product should keep its normal operation in the supply voltage range of 10-13 v.

         2. For the battery unit charging an external 12.6 voltage DC power supply source with the current limit of 2-5 A should be used.

         3. The power supply circuits of the control and telemetry signals should not have galvanic connection with the product body.

      5. Requirements for the environmental exposure resistance

         1. The product should be protected from voltage jumps.

         2. The product should function properly in normal environmental conditions and slight temperature and pressure fluctuations (not more than 5-10% of the normal conditions).

      Requirements for reliability, dependability, durability and performance

      1. No requirements for reliability, dependability, durability and performance are specified as the product is a pilot sample.

      1. Test requirements.

      • Product tests are carried out under normal conditions. The product is deemed functional if it responds to the control commands of the Selfibot Droid software during 30 minutes, at least. The test plan includes motion commands execution during 5 minutes;

      7. No requirements for ergonomics and technical esthetics are specified, as the product is a pilot sample.

      8. Requirements for operation, storage and maintenance.

         1. The product should remain functional at least for a month if kept in normal conditions.

         2. The most important product components (FPGA, Bluetooth module, motor drivers) should be easily replaced with the help of standard, universal tools.

      9. Transportability requirements

         1. The product should endure transportation by air, road and rail transport, provided the transportation recommendations for the product are observed.

      10. Safety requirements

          1. At the development stage measures should be taken to ensure explosion safety and flameproof of the product.

          2. The used materials should meet the safety requirements for fire resistance and should not release toxic substances at all stages of operation.

          3. No requirements for secrecy regime.

      11. Requirements for fabricability.

          1. Technological solutions of the Selfiebot 4.0 and RASH3 1001 projects should be used in the product development.

      12. Requirements for construction.

          1. The product weight should not be more than 2 kg.

          2. The product should not consume more than 60 W.

          3. The product size should not be more than 300х300х200 mm.

          4. The product design should ensure reliable operation at all stages of the operation in the conditions specified in this TS.

          5. The product design and marking must exclude wrong joining of the cables.

          6. The product design should allow access to attachment fittings and fasteners with the help of standard and universal tools.

      2. Technical and economical requirements

         1. No special technical and economical requirements for the product are specified. Every development stage is checked and agreed with the Endurance authority.

      3. Standardization and unification requirements

         1. The product hardware should correspond to the hardware of RASH3 version 1001.

      3.2 The product software and hardware should provide the Selfiebot Droid software operability.

      3.3 The responsible party completes the accompanying documentation in any format.

      4. Requirements for materials and components.

         1. No special requirements are specified.

      5. Requirements for conservation and packaging

         1. No special requirements are specified.