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Spare battery
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A spare battery can be used to minimize down-time. Swapping the battery for a fully-
charged battery avoids taking the AIV out of service for more than a few minutes.
Call/Door Boxes
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These allow an AIV to be requested from a remote location, or allow the AIV system to
control an automated door, so the AIV can pass through it.
User-Supplied Components / System Requirements
PC with Microsoft Windows®
Ethernet (wireless preferred)
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Wireless is required for a fleet (more than one AIV).
100 megabytes of available hard-disk storage
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1.2 Software Overview
Mobile Robot Software Suite
The Mobile Robot Software Suite includes all of the software used for platforms and the Enter-
prise Manager appliance, with the exception of the SetNetGo OS.
ARAM
The Advanced Robotics Automation Management software (ARAM) runs on the LD Platform
core. It operates ranging sensors like the safety scanning laser and sonar, and performs all the
high-level, autonomous robotics functions, including obstacle avoidance, path planning, loc-
alization, navigation, and so on, culminating in motion commands to the MARC firmware.
ARAM also controls the battery and light discs, and manages digital and analog I/O, which,
along with platform power, provide for integration of application-specific sensors and effectors
that the user adds.
ARAM manages wired and wireless Ethernet communications with offboard software, for
external monitoring, development, and systems coordination, including coordination of a fleet
of AIVs through the optional Enterprise Manager 1100. It also manages integration with other
systems, as well as external monitoring, setup, and control with the MobilePlanner applic-
ation.
ARAMCentral
ARAMCentral is the software that runs on the Enterprise Manager appliance. This software
and the appliance combined are referred to as the Enterprise Manager 1100.
For a fleet, the ARAMCentral software manages:
the map that all AIVs use
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the configuration that all AIVs use
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traffic control of the AIVs
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This includes multi-AIV avoidance, destination, standby, and dock control.
14766-000 Rev E
LD Platform Cart Transporter User's Guide
Chapter 1: Introduction
17
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