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INDOR UNMANNED VEHICLES WITH INTEGRATED DEVELOPMENT ENVIRONMENT - ACAN

Disclaimer

Header

	Reference Number	PW-$QCN-016-12242
	Solicitation Number	W7701-092553/A
	Organization Name	Public Works and Government Services Canada Travaux publics et Services gouvernementaux Canada
	Source ID	FD.DP.QC.10077.C2
	Associated Components	No

Dates

	Published	2009-11-05
	Revised
	Closing	2009-11-20 02:00 PM Eastern Standard Time EST

Details

	Category	EDP Hardware and Software
	GSINS	N7030: ADP SOFTWARE
	Region of Delivery	Quebec
	Region of Opportunity
	Agreement Type	NAFTA/AIT
	Tender Type	Advance Contract Award Notice (ACAN)
	Estimated Value
	Solicitation Method

Notice Description

	INDOR UNMANNED VEHICLES WITH INTEGRATED DEVELOPMENT ENVIRONMENT Trade Agreement: NAFTA/AIT Tendering Procedures: Generally only one firm has been invited to bid Attachment: None Non-Competitive Procurement Strategy: Exclusive Rights Comprehensive Land Claim Agreement: No Vendor Name and Address: Quanser Consulting Inc. 119 Spy Court Markham Ontario Canada L3R5H6 Nature of Requirements: Indoor Unmanned Vehicles with Integrated Development Envrionment 1. Purpose of an Advance Contract Award Notice (ACAN) An Advance Contract Award Notice (ACAN) allows a department to post a notice, for no less than fifteen calendar days, indicating to the supplier community that it intends to award a contract to a pre-identified contractor. If no other supplier submits during the fifteen calendar day posting period, a statement of capabilities that meets the requirements set out in the ACAN, the competitive requirements of the government's contracting policy have been met. Following notification to suppliers not successful in demonstrating that their statement of capabilities meets the requirements set out in the ACAN, the contract may then be awarded, using the Treasury Board's electronic bidding authorities. If other potential suppliers submit statements of capabilities during the fifteen calendar day posting period, and meet the requirements set out in the ACAN, the department must proceed to a full tendering process on either the government's electronic tendering service or through traditional means, in order to award the contract. 2. Definition of requirements and sole source justification Public Works and Government Services Canada, on behalf of its client Defence Research and Development Canada (DRDC) Valcartier, intends to negotiate with Quanser Consulting Inc. for the supply and delivery at Quebec City of a unmanned fleet research environment. The unmanned fleet research environment shall consist of integrated set of unmanned aerial vehicles and ground vehicles that are linked together with a host mission development environment that is capable of generating and uploading guidance and control algorithms to the platforms and functioning as a master or monitoring node for a non-homogeneous fleet. Unmanned Aerial Vehicles (Qty 4) The aerial vehicle shall be a high-performance miniature helicopter equipped with an on-board autopilot, IMU, closed-loop flight controller, and an embedded computer for executing unmanned vehicle control algorithms as well as wireless communications with a base station or other vehicles. The aerial vehicle shall have a small footprint and be battery powered to make it suitable for indoor research applications. The aerial vehicle platform shall be equipped with various sensors used for vehicle stabilization, localization, general purpose I/O, and wireless communication. The aerial vehicle shall have the following features: 6 brushless direct drive motors fitted with 6 carbon-fiber propellers or equivalent Vertical takeoff and landing, 6 m/s min. up, 3 m/s min. Down 80 deg/s min. turn rate 0 m/s min. speed, 12 m/s min. forward speed LiPo battery power source - rechargeable and removable Operates manually from handheld RF controller or under autonomous control either from onboard processor or through mission development environment Min. rate of 250 kbps for datalink Stabilizing on-board flight controller consisting of: o 3-axis gyroscope o 3-axis accelerometer o 3-axis magnetometer o Roll, pitch, yaw angle determination o Barometric pressure sensor o GPS receiver Flight data recorder for attitude, altitude, speed, direction 500g minimum lift-off payload Small footprint 100cm dia. max. surface area and height less than 40cm Battery voltage measurement Supply of LiPo batteries that permit one and a half hours of operation before requiring stoppage for recharging of battery set. Auxiliary on-board embedded control module shall have the following features and sensors: Embedded computer capable of running mission control algorithms at sample rates up to 500Hz Capability of running vehicle control algorithms generated and uploaded from a MATLAB Simulink host computer Support of runtime control system parameter tuning and signal feedback to the host computer Integration with a Simulink autonomous vehicle control toolset for high-level vehicle control Support of wifi communications to host and other vehicles Wired integration with host vehicle that enables input of vehicle sensor data to embedded computer and output of commands to vehicle actuators or control system IMU (3-axis accelerometer & gyros), independent and parallel from vehicle IMU sensors with following specifications: o Gyroscope range configurable for ±75°/s, ±150°/s, ±300°/s o Accelerometer resolution 2.522mg/LSB o Gyroscope resolution 0.01832°/s/LSB at a range setting of ±75°/s 3-axis magnetometer 4 sonar inputs min. Serial GPS input 10 PWM outputs min. for auxiliary servo motors 4 generic I2C I/O channels min., reconfigurable for 4 I2C, 4 DIO or 4 RS232 9 general purpose analog inputs min. Absolute and relative pressure sensors for airspeed and altitude 1 USB camera input min. Battery capacity measurement Physical board size compatible with mounting and interconnection on unmanned aerial vehicle Max. weight of 400 g Supply of NiMH batteries that permit one and a half hours of operation before requiring stoppage for recharging of battery set. Unmanned Ground Vehicles (Qty 3) The ground vehicle shall be a flexible and expandable robotic platform suitable for unmanned ground vehicle control and multi-vehicle control research. The ground vehicle shall contain an embedded computer which is used for executing unmanned vehicle control algorithms as well as wireless communications with a base station or other vehicles. It shall be powered by an on-board NiMH battery that is rechargeable and removable. The vehicle shall be capable of accepting various sensors that can be used for localization, mapping, collision & obstacle avoidance, and communications. The scale of the vehicle shall be of a size that allows clover leaf maneuvers in confined indoor test arenas measuring 7 m X 7 m minimum. The features of the ground vehicle shall be: Directional control by 2-wheel differential drive or steerable wheel Power by rechargeable and removable NiMH battery Small footprint 33cm x 33cm maximum Capable of carrying a payload of 1.5 kg min. Embedded computer, based on Linux OS with 128 Mb RAM and 32Mb Flash min., capable of running mission control algorithms at sample rates up to 500Hz Capability of running code generated from a MATLAB Simulink host computer for vehicle control algorithms Operates under autonomous control either from onboard processor or through mission development environment Support of runtime control system parameter tuning and signal feedback to the host computer Integration with a Simulink autonomous vehicle control toolset for high-level vehicle control Support of WIFI communications to host and other vehicles Wired integration with host vehicle that enables input of vehicle sensors and output of commands to vehicle actuators or control system 3 point bump sensor min. for collision detection 5 infrared range sensors min. 3 sonar range sensors min. USB camera input for on-board vision processing and feedback 7 analog inputs min. 7 digital I/O min. reconfigurable for I2C, DIO or RS232 8 PWM outputs min. for auxiliary servo motors Battery capacity measurement 3-axis magnetometer Mission Development Environment (Qty 1) The control systems development environment shall have the following features: Rapid control algorithm development, prototyping and deployment environment that allows seamless integration with MATLAB Simulink and RealTime Workshop for realtime code generation Full Simulink external support mode Graphical mission development tools using Simulink blocksets Capability of executing and monitoring multiple vehicle controllers concurrently from one host (vehicle controllers run remotely on-board each vehicle) Code generation and uploading capabilities for various targets (including target vehicle platform): Windows, Gumstix, Linux ARM, Linux x86, QNX Simulink toolsets for advanced/basic communications supporting TCPIP, UDP, serial, shared memory Permits running performance diagnostics, RTW code optimization, dynamic reconfiguration, and task and scheduling priority control Simulink toolset for autonomous vehicle control Plotting, camera display tools (vehicle to host streaming) Runtime parameter tuning (host to vehicle) Data logging toolsets Camera-based localization & motion tracking system support Support of third-party devices like USB/IEEE 1394 cameras, joystick game controllers (force-feedback), Wiimote controllers, National Instruments E- and M-boards. Library of sample code that demonstrates the functionality of the development environment features. Licenses for one host environment and minimum five target processors. 6DOF model of the unmanned aerial vehicle flight characteristics that is derived from parameter identification testing and validated through flight path reconstruction for the following flight modes: o Forward translation at slow and medium speed o Backward translation at slow and medium speed o Sideways translation at slow and medium speed o Yawing in CW and CCW directions at slow and medium rates o Hovering o Vertical take off o Vertical descent Consequently, in accordance with government contracting policy, it is proposed that a contract be awarded to Quanser Consulting Inc., which is, to our knowledge, the only firm capable of supplying the products. 3. Trade Agreements The article 506.12(b) of the AIT is applicable on the basis of "where there is an absence of competition for technical reasons and the goods or services can be supplied only by a particular supplier and no alternative or substitute exists;". The article 1016.2(b) of NAFTA is applicable on the basis of limited tendering due to reasons where, "for works of art, or for reasons connected with the protection of patents, copyrights or other exclusive rights, or proprietary information or where there is an absence of competition for technical reasons, the goods or services can be supplied only by a particular supplier and no reasonable alternative or substitute exists;". 4. Government Contracts Regulations Exception This contract is subject to subsection 6(d) of the Government Contracts Regulations, in that only one person or company is capable of performing the contract. 5. Ownership of Intellectual Property Rights No new intellectual property will be created during the course of this contract. 6. Delivery date of Proposed Contract No later than March 31, 2010. 7. Proposed Contractor Quanser Consulting Inc. 119 Spy Court, Markham, Ont. L3R 5H6 8. Submission of Statement of Capabilities by Suppliers Suppliers, who consider themselves fully qualified and available to provide the services described herein, may submit a statement of capabilities in writing to the contact person identified in this Notice on or before the closing date of this Notice. The statement of capabilities must clearly demonstrate how the supplier meets the advertised requirements. 9. Departmental Contact Person Suppliers may address inquiries or submit their statement of capabilities to: Name: Bertrand Carrier Position: Procurement Specialist Tel.: (418) 649-2774 Fax: (418) 648-2209 E-mail: bertrand.carrier@pwgsc.gc.ca Delivery Date: Above-mentioned You are hereby notified that the government intends to negotiate with one firm only as identified above. Should you have any questions concerning this requirement, contact the contracting officer identified above. An Advance Contract Award Notice (ACAN) allows departments and agencies to post a notice, for no less than fifteen (15) calendar days, indicating to the supplier community that it intends to award a good, service or construction contract to a pre-identified contractor. If no other supplier submits, on or before the closing date, a Statement of Capabilities that meets the requirements set out in the ACAN, the contracting authority may then proceed with the award. However, should a Statement of Capabilities be found to meet the requirements set out in the ACAN, then the contracting authority will proceed to a full tendering process. Suppliers who consider themselves fully qualified and available to provide the services/goods described herein, may submit a statement of capabilities in writing to the contact person identified in this Notice on or before the closing date of this Notice. The statement of capabilities must clearly demonstrate how the supplier meets the advertised requirements. The PWGSC file number, the contracting officer's name and the closing date of the ACAN must appear on the outside of the envelope in block letters or, in the case of a facsimile transmission, on the covering page. The Crown retains the right to negotiate with suppliers on any procurement. Documents may be submitted in either official language of Canada. Carrier, Bertrand Gare Maritime Champlain Champlain Maritime Harbour 901, Cap Diamant 901, Cap Diamant Québec Quebéc G1K 4K1 Telephone No.: (418) 649-2774 ( ) Facsimile No.: (418) 648-2209

Contact(s)

Contracting Authority

	Name	Bertrand Carrier
	Address	Gare Maritime Champlain Champlain Maritime Harbour 901, Cap Diamant 901, Cap Diamant Telephone No.: (418) 649-2774 ( ) Facsimile No.: (418) 648-2209
	City	Québec
	State / Province	Quebéc
	Country	Canada
	Postal Code	G1K 4K1
	Phone	(418) 649-2774 ( )
	Fax	(418) 648-2209
	Email
	Website URL

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