PART E
Sensory Systems Data Retrieval

A. Teleoperated MDE-SV
For the Teleoperated MDE-SV Vehicle Sensory System's Data is stored in the vehicle Control Unit (VCU) and then transmitted to the Operator Control Unit (OCU) via radio frequency linkage the remote operator has complete visual observation around the SV by multiplexing the Pan/Tilting of 3 SMU Cameras. Path direction of the SV is observed via the Steering Coupled Camera and directional control, speed and braking all controlled by the operator. The OCU STS provides the operator with remote operation of the SV. Actuation of the Surveillance Elevation Arm (SEA) is controlled by the STS System via a separate link. Sensory data generated by the radiation, toxic gas and hazardous bioagent detectors is multiplexed prior to transmission to the OCU. Since the SV mission may be dedicated to only one threat at a given time, GPS Tracking and Laser Range finding having dedicated full-time channels to the VCU. Attitude and bearing of the SV is sensed by The STS PRBS (Pitch Roll and Bearing Sensor) that senses pitch rotation about the longitudinal axis, roll around the trans. axis and bearing (compass heading) data is supplied to the VCU and then to the OCU.

B. Autonomous MDE-SV
For the Semi-Autonomous operation of the MDE-SV Vehicle the Sensory Systems Data is retrieved by the VCU and stored in the onboard computer for later downloading to the OCU upon return of the SV. Guidance of the SV around the Mapped Traverse is accomplished with the Omnitech Robotics Modular Autonomous Robotic Systems (MARS). Pathway Obstacle Detection is accomplished with the Omnitech Laser Detection and Ranging System (LADAR). The degree of autonomous operation of the MDE-SV Vehicle is dependent upon such factors as terrain conditions, mapped destination plats, environmental hazards, weather conditions, the need for immediate response to a security threat, etc.

In the case of an immediate security threat retrieval of the SV mandates semiautonomous operation for immediate data retrieval.
Utilization of the MARS and COMPASS, provides a GPS-Based coordinate display of the SV's position in the Mapped Traverse for Semi-Autonomous Control.

C. MDE-SV Telemetry Systems Channels
Vehicle Control Systems
1. Power On/Off
2. Speed Fwd/Off/Rev.
3. Steering L-N-R
4. * Brakes, (Automatic Pkg. Brake)
5. Surveillance Elevation Arm (SEA) Up-Down
6. ** SMU Lamps, On/Off, Pan/Tilt Unit (PTU) 3 Lamps
7. GPS on Continuous
8. Omnitech PRBS On/Off
9. Battery Power (Voltage) Pulse

Sensory Systems
1. Gamma Ray Detector
2. Toxic Gas Detector
3. Harmful Bioagent Detector
4. Laser Range Finder
5. Omnitech MARS for Autonomous Operation
6. Omnitech LADAR for Autonomous Operation
7. Omnitech PRBS
8. Omnitech COMPASS
* Dynamic Braking Pulsing. The Auto Brake locks up the SV
** Each SMU contains one High Resolution Color Camera and One IR Camera