iNDUSTREAL
COMPLEX  IN  MOTION
Datasheets6
DocumentAK-UGV-01
Revisionv0.7 · DRAFT
Kitany-KIT

Retrofit reference · tracked slope mower → UGV

Any machine.
One kit.
Autonomy without
a redesign.

Any existing mechanical device can be upgraded into an edge-AI-driven autonomous vehicle. With the industREAL precision servo actuator system, high-power drivetrain, field I/O and a Vehicle Control Unit built on NVIDIA AGX-class edge accelerators, the upgrade is plug-and-play.

Add deeply integrated, field-tested third-party hardware — semi-solid-state 3D lidar, GMSL2 cameras, Starlink and 5G modems — and combine it with industREAL's hardware-accelerated on-device neural networks and telemetry stack. The result: high-level autonomy or reliable remote operation.

Below: a worked placement on a 1.7 m tracked flail/rotary slope mower — the class of machine sold today as a line-of-sight radio-controlled unit. The host chassis, tracks, deck and engine are untouched. Everything drawn in orange is bolted on.

275 TOPS
VCU · AGX Orin Industrial 64 GB
2 × 20 kW
FBM traction · 62.1 Nm each
4 × GMSL2
Camera lanes · 14 Gbps B2B
−40…+85 °C
Industrial operating range
SHT 1

Device placement — right elevation

Scale n.t.s. · hidden detail dashed · dims (REF)
Host: tracked slope mower, 1.7 m class Config: full-electric traction, retained engine deck drive
Host machine, as delivered industREAL any-KIT Integrated third-party
HOST CHASSIS V-TWIN · DECK DRIVE (HOST) ROTARY DECK (HIDDEN) iR.VCU.64I 1 iR.FBM.20 ×2 (L/R) 2 iR.SRV NEMA34 · 1:10 3 GOVERNOR BLADE CLUTCH 4 4 iR.IPC.iMX8 5 iR.CGW 6 REMOTE OPERATOR STATION iR.HMI.iMX8 12.1" 7 3D LIDAR · SEMI-SOLID-STATE 8 CAM-F CAM-R 9 9 STARLINK · 5G · GNSS RTK (BASELINE 724 mm) 10 48 V · BMS TRACTION PACK + BMS 11 E-STOP ×2 · SIL LOOP 12 1 720 (REF) 1 480 W/ MAST (REF)
SHT 2

Perception coverage — plan view

360° lidar + 4× GMSL2 · overlap at all quadrants
Sensor field of view, machine frame Front = left · lidar 360° × 90 m · cameras 4× 1928×1208 @ 30 fps
DECK ⌀ 980 VCU IPC CGW FBM-L FBM-R CAM-FRONT 120° CAM-REAR 120° CAM-LEFT 90° CAM-RIGHT 90° LIDAR 360° R 90 m · 0.2° × 0.2° DIRECTION OF TRAVEL
SHT 3

Bus topology — VCU as hub

All field I/O on the 48-pin MOLEX CMC connector
iR.VCU.64I interface allocation 2× CAN-FD · 2× RS-485 · 6-port GbE switch (KSZ9896) · 4× GMSL2 · STM32H5 safety plane
iR.VCU.64I VEHICLE CONTROL UNIT Jetson AGX Orin 64 GB 12× Cortex-A78AE 2048 CUDA · 64 Tensor 2× NVDLA · 275 TOPS STM32H523VE watchdog · sequencing SLB9670 TPM 2.0 secure boot / RoT Analog in 8:1 MUX 4× 10-bit DAC out Protected GPIO + PWM 12/24 V wide input ISO 7637 / LV 124 LM74810 ideal diode load dump → 65 V clamp 15 A fuse · 72 VDC CAN-FD 1 · CiA 402 MOTION · 8 Mb/s · 120 Ω TERM CAN-FD 2 · IMPLEMENT / HOST BUS · OPTO-ISOLATED RS-485 ×2 · MODBUS RTU · ±30 kV ESD · 20 Mb/s 1000BASE-T · KSZ9896 6-PORT MANAGED SWITCH GMSL2 / MIPI-CSI · 120-PIN B2B · 14 Gbps SRV NEMA34 DECK LIFT L · ID 0x21 SRV NEMA34 DECK LIFT R · ID 0x22 SRV NEMA24 GOVERNOR · ID 0x23 SRV NEMA24 BLADE CLUTCH · 0x24 SPARE ×4 CiA 305 LSS ADDRESSING iR.CGW CAN-FD ↔ ETH BRIDGE HOST ENGINE ECU RPM · TEMP · HOURS INVERTER L / R FBM.20 FIELD-ORIENTED IMPLEMENT PORT FLAIL · SPRAYER · SNOW BMS · 48 V PACK SOC · CELL T · CONTACTOR IMU / TILT · SLOPE ROLLOVER INHIBIT ≥ 45° DECK HEIGHT ENC. 30 – 120 mm CUT 3D LIDAR SEMI-SOLID-STATE iR.IPC.iMX8 AUX NODE · NPU STARLINK TELEMETRY UPLINK 5G / LTE MODEM TELEOP · < 120 ms SERVICE PORT RJ45 · CGW WiFi AP CAM-FRONT 120° LANE 0 · MCLK 0 CAM-REAR 120° LANE 1 · MCLK 1 CAM-LEFT 90° LANE 2 · MCLK 2 CAM-RIGHT 90° LANE 3 · IRQ 0-3 SAFETY LOOP E-STOP ×2 RADIO LOSS TILT TRIP → TRACTION DISABLE
SHT 4

Bill of materials — AK-UGV-01

Item numbers match elevation callouts
ItemPartDescriptionQtyInterfaceSource
SHT 5

Kit modules on this build

Extract from released datasheets

Vehicle Control Unit

iR.VCU.64I · IR.VCU-V0.7

Ruggedized AGX-class controller: Orin GPU/DLA compute with an STM32H5 safety co-processor and TPM 2.0 root of trust. Runs perception, planning and the telemetry stack on-device.

  • ModuleJetson AGX Orin 64 GB IND
  • AI performance275 TOPS · 2× NVDLA
  • CAN-FD / RS-4852× / 2×
  • Ethernet5× GbE, KSZ9896 switch
  • Camera4× GMSL2, 120-pin B2B
  • Main connectorMOLEX CMC 48-pin
  • Envelope265.8 × 183.9 × 49.2 mm
  • BSPJetPack 6.2.1 / 7.2

Traction drive

iR.FBM.20 · iREAL-AG-132S4-33/110-WR0

Water-cooled induction motor per track. Skid-steer differential is closed in the VCU, so track speed and turn rate become software quantities.

  • Rated power20 kW (S1)
  • Rated torque62.1 Nm
  • Speed range0 – 6 000 rpm
  • Rated V / I33 V · 406 A · 110 Hz
  • Efficiency92 % · cos φ 0.86
  • CoolingWater, 6 l/min, ≤ 40 °C
  • ProtectionIP 54 · F/155
  • Mass46 kg

Servo actuators

iR.SRV · NEMA34 ×2 / NEMA24 ×2

Field-oriented control with an automotive-grade magnetic absolute encoder. Replaces every lever and cable on the host machine — deck lift, engine governor, blade engagement.

  • Torque4 – 20 Nm
  • Bus voltage48 V
  • Position sensingAbsolute, 0.01° res.
  • Gearbox1:3 / 1:5 / 1:10 planetary
  • ProtocolCAN-FD CiA 402 · CiA 305
  • Alt. protocolModbus RTU (RS-485)
  • Aux I/O2 in / 2 out per axis
  • FramesNEMA17 / 24 / 34

Auxiliary edge node

iR.IPC.iMX8 · IR.IPC-V1.1

Fanless i.MX8 Plus node with NPU. Carries logging, the deck-implement application and the fallback teleop path if the Orin is being reflashed in the field.

  • SoCi.MX8 Plus quad A53 + NPU
  • CAN-FD2× opto-isolated
  • RS-4852×, selectable term.
  • NetworkGbE · WiFi · BT 5.1 · LTE opt.
  • CoolingPassive, fanless
  • ProtectionReverse polarity

CAN gateway

iR.CGW · IR.CANGW-V1.1

Bridges the host machine's legacy CAN onto the vehicle Ethernet backbone, and gives service crews a WiFi access point onto both buses without opening the enclosure.

  • Channels2× opto-isolated CAN-FD
  • Bit rateup to 8 Mb/s FD
  • TerminationSoftware-selectable
  • Network100 Mb RJ45 · WiFi AP/STA
  • Input5 – 36 V DC
  • MountingDIN rail or screw

Operator panel

iR.HMI.iMX8 · IR.HMI-V1.1

Same i.MX8 platform as the IPC behind a daylight-readable multitouch panel. Used here in the remote operator case; a second unit can be panel-mounted on the machine for service.

  • Display10.1" or 12.1" multitouch
  • FinishAnti-glare, high-brightness
  • Computei.MX8 Plus + NPU
  • Buses2× CAN-FD · 2× RS-485
  • NetworkGbE · WiFi · LTE opt.
  • CoolingPassive, fanless
SHT 6

Retrofit path

Each stage is a working machine · no stage is a prototype
Stage 1 · ~2 days · host powertrain retained

Teleoperation over 5G

  • VCU, IPC and CGW into the existing electrical bay; power from the host 12 V bus.
  • Four SRV actuators replace deck-lift, governor and blade-clutch linkages.
  • CGW taps the engine CAN — rpm, temperature and hour meter reach the telemetry stack unchanged.
  • Cameras and lidar on the front mast; Starlink and 5G on the rear rack.
  • Result: beyond-line-of-sight operation from the HMI case, with recorded sessions as training data.
Stage 2 · electric traction · same VCU, same harness

Supervised autonomy

  • Hydrostatic drive out, 2× FBM.20 and inverters onto the existing sprocket flanges.
  • 48 V pack and BMS in the front bay; BMS on RS-485, inverters on CAN-FD 2.
  • Traction becomes a torque command — slope-aware traction control and precise skid-steer.
  • Perception networks run on the Orin GPU/DLA: coverage planning, obstacle and human detection, boundary keeping.
  • Operator supervises n machines from one HMI; the safety loop stays hard-wired.

Open items on this reference build

  • Traction inverters — sizing for 406 A continuous per axis is application-dependent; not covered by a released industREAL datasheet.
  • 48 V pack and BMS — capacity follows the mowing window; FBM rated data (33 V / 406 A / 110 Hz) sets the pack's discharge envelope.
  • Host machine dimensions marked REF are indicative for the 1.7 m tracked class, not measured from a specific chassis.
  • SRV mass, speed and torque tables are shown as N/A in the released SRV datasheet (v: iREAL.SRV) — figures above are the documented ranges only.
  • FBM cooling requires 6 l/min of water below 40 °C; a mower-scale radiator and pump loop is not yet in the kit.