TSDNMD-AM06Robot Control Unit

user manual Page 1 Table of Contents Table of Contents..................................................................................................................................................2 Statement of Compliance......................................................................................................................................3 FCC Compliance Statement..........................................................................................................................3 RF Exposure Statement.................................................................................................................................3 Modular Approval Statement........................................................................................................................4 Nomadio GC-205 OCU........................................................................................................................................5 Front Panel Controls.....................................................................................................................................5 Back Panel....................................................................................................................................................6 Setting Up a Robot............................................................................................................................................7 Setting Up a Robot............................................................................................................................................7 Transmitter Reference.......................................................................................................................................9 Transmitter Reference.......................................................................................................................................9 Transmitter Setup........................................................................................................................................10 Receiver Reference.........................................................................................................................................11 Receiver Reference.........................................................................................................................................11 Mode of Operation Flowcharts.......................................................................................................................12 Mode of Operation Flowcharts.......................................................................................................................12 .........................................................................................................................................................................13 .........................................................................................................................................................................13 Appendix A: Transmitter Test Mode..............................................................................................................14 Appendix A: Transmitter Test Mode..............................................................................................................14 Page 2 Statement of Compliance FCC Compliance Statement This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: – Reorient or relocate the receiving antenna. – Increase the separation between the equipment and receiver. – Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. – Consult the dealer or an experienced technician for help. • This device complies with Part 15 of the FCC Rules and with RSS-210 of Industry Canada. Operation is subject to the following two conditions: 1) this device my not cause harmful interference, and 2) this device must accept any interference received, including interference that may cause undesired operation. • The users manual or instruction manual for an intentional or unintentional radiator shall caution the user that changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. Warning: Changes or modifications made to this equipment not expressly approved by Nomadio may void the FCC authorization to operate this equipment. RF Exposure Statement This transmitter has been tested and meets the FCC RF exposure guidelines when used with the Nomadio accessories supplied or designated for this product, and provided at least 20 cm separation between the antenna and the user's body is maintained. Do NOT use this device closer than 20cm to the body (for example, resting on one's lap). Use of other accessories may not ensure compliance with FCC RF exposure guidelines. Page 3 Modular Approval Statement If you install the GC-205 transceiver inside of a vehicle, and you are not the final end user, FCC regulations require you to make the transceiver’s FCC ID easily visible to the end user. In order to do this, please, print the image below onto a permanent sticker, and place it in a visible location such as on the bottom of the vehicle: Page 4 Nomadio GC-205 …

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RS485 Interface RS232 Interface CPU ADC Inputs Digital I/O Core Logic Program Memory T i m e r s A n t e n n a System Clock B a t t e r i e s Voltage Regulator Servos Bind Button Radio System Radio IC Power Amp Antenna Switch Radio Clock High- pass Filter Nomadio RCU / Copyright 2004, 2005 / Company Confidential

Attn:Reviewing Engineer Federal Communications Commission 7435 Oakland Mills Road Columbia, MD 21046 RE: CONFIDENTIALITY REQUEST FOR NOMADIO RCU TSDNMD-AM06 To Whom It May Concern: This letter serves as an official request for confidentiality under FCC Rule Section 0.459. We have requested that the schematic diagrams required to be submitted with this application be withheld from public review. The documents are company proprietary information that should never be in the possession of our competition. Please contact me if there is any information you may need. Sincerely, Alex Gizis, CEO 2400 Chestnut St. Philadelphia PA 19103 www.nomadio.net

TSDNMD-AM06 GC-205 RCU Section 15.247(a): Describe how the EUT meets the definition of a frequency hopping spread spectrum system, found in Section 2.1, based on the technical description. The GC-205 RCU is designed with a commercially available frequency-agile digitally modulated radio ASIC. This ASIC is designed to be capable of changing frequencies between packets. The device’s firmware takes advantage of this capability by selecting a new operating frequency 100 times per second. The ASIC uses GFSK modulation and is operated with carrier frequencies on 1 MHz steps from 2447 MHz to 2479 MHz, for a total of 33 channels. Output power is below 125 mW, so the maximum permissible 20 dB bandwidth by Section 15.247(a)(1) is 1.5 MHz. The system hopping rate is 100 Hz. Link initialization uses a reduced hop set of 15 frequencies. This reduces the time spent in an unsynchronized state, while complying with the requirements of Section 15.247(a)(1)(iii). The ASIC’s digital modulation capabilities are used to provide enhanced robustness through interference detection due to redundant data transmission. The radio is never operated on a static carrier frequency, so the hybrid rules of Section 15.247(f) do not apply. Pseudorandom Frequency Hopping Sequence Describe how the hopping sequence is generated. Provide an example of the hopping sequence channels, in order to demonstrate that the sequence meets the requirement specified in the definition of a frequency hopping spread spectrum system, found in Section 2.1. The hopping sequence is generated in a manner compatible with other Nomadio devices. This is accomplished by adapting the basic Nomadio hop sequence to use only those frequencies available to the GC-205 RCU. The basic hop set includes 79 channels from 2402 MHz to 2480 MHz. If the generated channel is enabled that channel is used for the current slot. If the channel is not enabled a replacement is selected from the list of enabled channels. Basic Hop Sequence The basic hop sequence selects frequencies from a 79-entry list. The list is ordered so that any 32-channel span in the list covers at least 64 MHz of spectrum. This is accomplished by listing all even channels (2402 MHz to 2480 MHz) followed by all odd channels (2403 MHz to 2479 MHz). A 32-channel wide window is initialized to point into the list. The 32-selected channels are shuffled for the next 32 hops, so that each channel is used exactly once. TSDNMD-AM06 GC-205 RCU When all 32 entries from the current window have been used once, the window is advanced 16 entries in the table, in a circular fashion (the first table entry, 2402 MHz, is considered to immediately follow the last entry, 2479 MHz) and the control inputs to the shuffle stage are changed. After the window has been advanced 79 times it returns to the starting position. This occurs after 79 × 32 = 2528 hops. There are 2 14 possible shuffle patterns, used over the course of 2 19 hops. When all patterns have been used, the phase of the 5-bit shuffle data input is changed. This increases the period of the shuffle output to 2 24 hops. When this period expires, however, the sliding window will not be in the starting position. The two periods will not align until 79 × 2 24 hops, at which point the pattern repeats. At 100 frames per second this is approximately 151 days of continuous operation, well in excess of the normal operational period of the system. Because the base operation is a 32-channel shuffle, it is impossible for any single channel to be used on more than two consecutive slots, which only occurs if the channel is last in one shuffle and first in the next shuffle. Every channel is used 32 times in a 2528 hop cycle. Each stage of calculation includes an exclusive-or with a portion of the link GUID. This ensures that two linked pairs will follow different hopping sequences, even if their positions in the hop sequence happen to be closely synchronized. Limiting Channel Use After a channel is generated by the basic sequence it is checked against the list of usable channels. If the channel is not usable a replacement is selected. The replacement is chosen using the shuffle output index (0-31) along with a sliding window into the list of used channels. The window is moved each time the base sequence window is moved. The used channel list is equivalent to the base channel list with unused channels removed. That is, all even used channels are listed followed by all used odd channels. When the used channel set contains 32 or more channels, a given replacement channel can be used at most once for a given 32-channel shuffle. If fewer than 32 channels are in use (such as during rendezvous) a channel may be used as a substitute more than once in a 32-channel shuffle. Over time, as the selection window is moved through the hop set, each channel will be used the same number of times as any other. Channel Set Selection The GC-205 RCU is limited to using the 33 channels from 2447 to 2479 MHz. All 33 channels are used when a link is established. The RCU specifies the channels to be used, allowing link establishment with the OCU. During link initialization, a reduced hop set of 15 channels are used. Six of these channels are shared with full-band devices. The remaining nine channels are unique to the GC-205 system. This provides for a fast connection between two GC-205 devices, while still allowing connections between GC-205 and other Nomadio devices. TSDNMD-AM06 GC-205 RCU Equal Hopping Frequency Use Describe how each individual EUT meets the requirement that each of its hopping channels is used equally on average (e.g., that each new transmission event begins on the next channel in the hopping sequence after the final channel used in the previous transmission event). All messages are sent on the basis of a shared 100 Hz clock. On each timeslot, both devices in a linked pair generate a new frequency using the algorithm described above. Normally, the slave device will activate its rece…

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Federal Communications Commission 445 Twelfth St., S.W. Washington, D.C. 20554 18 January 2006 Dear sirs, Nomadio, Inc. is seeking FCC authorization of our RCU as a part 15 unlicensed modular transmitter approval. The requirements of the FCC public notice DA 00-1407 are met. The Transceiver meets all of the requirements for modular approval: 1.The modular transmitter must have its own RF shielding. This is intended to ensure that the module does not have to rely upon the shielding provided by the device into which it is installed in order for all modular transmitter emissions to comply with Part 15 limits. It is also intended to prevent coupling between the RF circuitry of the module and any wires or circuits in the device into which the module is installed. Such coupling may result in non-compliant operation. The module satisfies the RF shielding requirement. All internal RF circuitry is fully enclosed within an RF shield permanently attached to the internal circuit's laminate. See internal photos. 2.The modular transmitter must have buffered modulation/data inputs (if such inputs are provided) to ensure that the module will comply with Part 15 requirements under conditions of excessive data rates or over-modulation. The module interface consists of an IC whose data inputs are buffered within the package. This interface prevents excessive data rates or over-modulation. For more details, see Exhibit 4, schematic diagram. 3.The modular transmitter must have its own power supply regulation. This is intended to ensure that the module will comply with Part 15 requirements regardless of the design of the power supplying circuitry in the device into which the module is installed. The module contains its own voltage supply regulation. Changes in the supply voltage (for example caused by temperature changes or other effects) do not affect the internal operating voltage. For more details, see schematic diagram, Exhibit 4. 4.The modular transmitter must comply with the antenna requirements of Section 15.203 and 15.204(c). The antenna must either be permanently attached or employ a “unique” antenna coupler (at all connections between the module and the antenna, including the cable). Any antenna used with the module must be approved with the module, either at the time of initial authorization or through a Class II permissive change. The “professional installation” provision of Section 15.203 may not be applied to modules. The transceiver uses a “unique” antenna coupler (reverse polarity SMA) to ensure it can only be used with the antenna used for compliance testing. See external photos. 5.The modular transmitter must be tested in a stand-alone configuration, i.e., the module must not be inside another device during testing. This is intended to demonstrate that the module is capable of complying with Part 15 emission limits regardless of the device into which it is eventually installed. Unless the transmitter module will be battery powered, it must comply with the AC line conducted requirements found in Section 15.207. AC or DC power lines and data input/output lines connected to the module must not contain ferrites, unless they will be marketed with the module (see Section 15.27(a)). The length of these lines shall be length typical of actual use or, if that length is unknown, at least 10 centimeters to insure that there is no coupling between the case of the module and supporting equipment. Any accessories, peripherals, or support equipment connected to the module during testing shall be unmodified or commercially available (see Section 15.31(i)). The transceiver was tested in a standalone configuration. Since the unit cannot be powered using AC power, testing was accomplished using a standard battery holder with leads of over 10 centimeters and 4 standard AA batteries. No other equipment was connected to the module during compliance testing. See photos of test configuration in FCC test report Exhibit. 6.The modular transmitter must be labeled with its own FCC ID number, and, if the FCC ID is not visible when the module is installed inside another device, then the outside of the device into which the module is installed must also display a label referring to the enclosed module. This exterior label can use wording such as the following: “Contains Transmitter Module FCC ID: XYZMODEL1” or “Contains FCC ID: XYZMODEL1.” Any similar wording that expresses the same meaning may be used. The Grantee may either provide such a label, an example of which must be included in the application for equipment authorization, or, must provide adequate instructions along with the module which explain this requirement. In the latter case, a copy of these instructions must be included in the application for equipment authorization. The transceiver is labeled with it’s own FCC ID number. See attached Exhibit 9 with label example. However, when the module is installed inside of an end-product, the label will not be visible. On page 2 of the User Manual (Exhibit 1) the end user is given an exterior label and instructions to incorporate said label in the finished end-product. 7.The modular transmitter must comply with any specific rule or operating requirements applicable to the transmitter and the manufacturer must provide adequate instructions along with the module to explain any such requirements. A copy of these instructions must be included in the application for equipment authorization. For example, there are very strict operational and timing requirements that must be met before a transmitter is authorized for operation under Section 15.231. For instance, data transmission is prohibited, except for operation under Section 15.231(e), in which case there are separate field strength level and timing requirements. Compliance with these requirements must be assured. The transceiver has been tested to comply with Section 15.247. No user configuration is required. 8.The modular transmitter must comply with any applicable RF…

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Nomadio RCU FCC label is positioned on the bottom surface of the assembled unit.

Photograph 1. RCU Internal Photo Photograph 2. RCU Internal Photo Photograph 3. RCU Internal Photo Photograph 4. RCU Internal Photo Photograph 5. RCU Internal Photo Photograph 6. RCU Internal Photo Photograph 7. RCU Internal Photo Photograph 8. RCU Internal Photo Photograph 9. RCU Internal Photo Photograph 10. RCU Internal Photo Photograph 11. RCU Internal Photo

SECURE CONTROL OF UNMANNED VEHICLES NOMADIO N-LINK TECHNOLOGY GC-205 Controller Real World Tested Secure and Small Recent success in Southwest Asia has proven the usefulness of robots in gaining situational awareness and exploring areas that are hazardous to security forces. However, high-dollar technology limited the use of unmanned robots. This situation called for a low cost, expendable, rapidly deployable, secure frequency robot, providing the armed forces much more bang for their buck. Nomadio has developed a new secure radio protocol called N-Max that is based on highly redundant and robust frequency hopping spread spectrum (FHSS) technology. The N-Link control system has been thoroughly tested for usability in controlling unmanned ground vehicles. N-Link meets or exceeds requirements for range, portability and responsiveness at a fraction of cost of traditional secure robotic platforms. N-Link is a rugged platform designed for short, quick and sometimes one-way missions that carry small payloads. N-Link’s primary military use is for the command and control of small inexpensive robots, sometimes called “BombBots” Eyes and Ears: Expendable “Bomb Bots” are an inexpensive way to easily put “eyes and ears” around a nearby corner, in a building, down a darkened hallway or various other places in which forces might be placed in harm’s way. Ordinance Disposal: Rather than engage either expensive remote robots or placing demolition experts at risk, the inexpensive Bomb Bot offers a faster and less riskier option. Forces can use the Bomb Bot to place explosive charge on the target and then detonate the explosive from a safe distance. Triggering Tripwires: Should security forces need to rapidly cross a suspected tripwire area, Expendables can be sent across the area, down the hall, around the corner, through the door as forces are faced with making fast life- saving decisions. NBC: In a nuclear biological and chemical environments, expendables can be used to carry NBC detection equipment, search for survivors or provide real- time information of the situation to the on-scene commander. The low cost of N-Link-based systems allows for immediate incineration of the robot without wasting valuable time and money on decontamination. The GC-205 system is designed around the 80/20 concept: by implementing 80% of features wanted by recon, sentry and EOD robots, Nomadio delivers a complete system for 20% of the current cost of other robot vendors. Nomadio is a minority-owned company based in Philadelphia, PA. The N-Link technology that provides the basis for the GC-205 platform is also being exploited commercially in order to provide high-volume, low cost solutions for expendable military vehicles and controllers. The GC-205 is available in quantity now.. Nomadio can provide you with evaluation systems and support. We also provide consulting services on payloads, control systems, small robots, and wireless technology. Please contact us at [email protected] with your requirements. 2400 Chestnut Street Philadelphia, PA 19103 (215) 854-8432 Fax (215)-854-8450 N-Link Features and Capabilities Radio Link - Allows the robot and controller to communicate bi-directionally. Robot Control Unit - The RCU is a small (2” x 3”) box that includes the microprocessor, radio transceiver, sensor inputs and motor control. Operator Control Unit - The handheld OCU allows a soldier to control an RCU- equipped robot. JAUS Compliant - Future controllers in the GC series wll will be JAUS compliant. This will allow universal control of JAUS compatible robots. Components N-Link and N-Max are trademarks of Nomadio. NOMADIO digital telemetry & control systems www.nomadio.net email [email protected] LOW COST C.O.T.S. SECURE EXPANDABLE LIGHT

MET Laboratories, Inc. Safety Certification - EMI - Telecom Environmental Simulation 914 WEST PATAPSCO AVENUE ! BALTIMORE, MARYLAND 21230-3432 ! PHONE (410) 354-3300 ! FAX (410) 354-3313 The Nation’s First Licensed Nationally Recognized Testing Laboratory Nomadio Digital Telemetry January 11, 2006 2400 Chestnut Street Philadelphia, PA 19103 Dear Alex Gizis, Enclosed is the EMC test report for compliance testing of the Nomadio Digital Telemetry, GC-205 RCU, Model AM06 tested to the requirements of Title 47 of the Code of Federal Regulations (CFR), Part 15 Subpart B for a Class B Digital Device. Thank you for using the services of MET Laboratories, Inc. If you have any questions regarding these results or if MET can be of further service to you, please feel free to contact me. Sincerely yours, MET LABORATORIES, INC. Monique Paschall Documentation Department Reference: (\Nomadio Digital Telemetry\EMC18325C-FCC) Certificates and reports shall not be reproduced except in full, without the written permission of MET Laboratories, Inc. While use of the National Voluntary Laboratory Accreditation Program (NVLAP) letters or the NVLAP Logo, the Standards Council of Canada Logo, A2LA, or the Nationally Recognized Testing Laboratory (NRTL) Letters in this report reflects MET Accreditation under these programs, these letters, logo, or statements do not claim product endorsement by these organizations or any Agency of the U.S. Government. This letter of transmittal is not a part of the attached report. MET Laboratories, Inc. Safety Certification - EMI - Telecom Environmental Simulation 914 WEST PATAPSCO AVENUE ! BALTIMORE, MARYLAND 21230-3432 ! PHONE (410) 354-3300 ! FAX (410) 354-3313 DOC-EMC700 8/22/2005 Electromagnetic Compatibility Test Report For the Nomadio Digital Telemetry GC-205 RCU, Model AM06 Tested under Title 47 of the Code of Federal Regulations (CFR), Part 15 Subpart B for a Class B Digital Device MET Report: EMC18325C-FCC January 11, 2006 Prepared For: Nomadio Digital Telemetry 2400 Chestnut Street Philadelphia, PA 19103 Prepared By: MET Laboratories, Inc. 914 W. Patapsco Ave Baltimore, MD 21230 Nomadio Digital Telemetry Electromagnetic Compatibility GC-205 RCU, Model AM06 CFR Title 47, Part 15, Subpart B MET Report: EMC18325C-FCC © 2006, MET Laboratories, Inc. Page ii of vi DOC-EMC700 8/22/2005 Electromagnetic Compatibility Test Report For the Nomadio Digital Telemetry GC-205 RCU, Model AM06 Tested under Title 47 of the Code of Federal Regulations (CFR), Part 15 Subpart B for a Class B Digital Device MET Report: EMC18325C-FCC Dusmantha Tennakoon Monique Paschall Project Engineer, Electromagnetic Compatibility Lab Documentation Department Engineering Statement: The measurements shown in this report were made in accordance with the procedures indicated, and the emissions from this equipment were found to be within the applicable limits. I assume full responsibility for the accuracy and completeness of these measurements, and for the qualifications of all persons taking them. It is further stated that upon the basis of the measurements made, the equipment tested is capable of operation in accordance with the requirements of Title 47 of the CFR, Part 15, Subpart B for a Class B Digital Device under normal use and maintenance. Kevin Mehaffey, Manager, Electromagnetic Compatibility Lab Nomadio Digital Telemetry Electromagnetic Compatibility GC-205 RCU, Model AM06 CFR Title 47, Part 15, Subpart B MET Report: EMC18325C-FCC © 2006, MET Laboratories, Inc. Page iii of vi DOC-EMC700 8/22/2005 Report Status Sheet Revision Report Date Reason for Revision Ø January 11, 2006 Initial Issue. Nomadio Digital Telemetry Electromagnetic Compatibility GC-205 RCU, Model AM06 CFR Title 47, Part 15, Subpart B MET Report: EMC18325C-FCC © 2006, MET Laboratories, Inc. Page iv of vi DOC-EMC700 8/22/2005 Table of Contents 1.0 Testing Summary ........................................................................................................................................................ 1 2.0 Equipment Configuration........................................................................................................................................... 2 2.1 Overview................................................................................................................................................................. 2 2.2 Test Site .................................................................................................................................................................. 3 2.3 Description of Test Sample ..................................................................................................................................... 3 2.4 Equipment Configuration........................................................................................................................................ 4 2.5 Support Equipment ................................................................................................................................................. 4 2.6 Ports and Cabling Information ................................................................................................................................ 4 2.7 Mode of Operation .................................................................................................................................................. 6 2.8 Method of Monitoring EUT Operation ................................................................................................................... 6 2.9 Modifications .......................................................................................................................................................... 6 2.9.1 Modifications to EUT .......................................................................................................................... 6 2.9.2 Modifications to Test Standard ............................................................................…

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MET Laboratories, Inc. Safety Certification - EMI - Telecom Environmental Simulation 914 WEST PATAPSCO AVENUE ! BALTIMORE, MARYLAND 21230-3432 ! PHONE (410) 354-3300 ! FAX (410) 354-3313 The Nation’s First Licensed Nationally Recognized Testing Laboratory . Nomadio Digital Telemetry January 12, 2006 2400 Chestnut Street Philadelphia, PA 19103 Dear Alex Gizis, Enclosed is the EMC test report for compliance testing of the Nomadio Digital Telemetry,GC-205, RCU (ROBOT CONTROL UNIT), as tested to the requirements of Title 47 of the CFR, Ch. 1 (10-1-03 ed.), Part 15 Subpart C, §15.247 for Intentional Radiators and FCC Declaration of Conformity under CFR, Part 15, Subpart B For a Class B Unintentional Radiator. Thank you for using the services of MET Laboratories, Inc. If you have any questions regarding these results …

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