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Test-Bed Specifications
Detailed zoning, infrastructure, motion-capture, perception, and electrical requirements.
Detailed Zone & Furnishing Specifications
| Zone Designation | Physical Bounds | Furnishing & Hardware Mounted | Structural, Civil & Environmental Requirements |
|---|---|---|---|
| Zone 1: Active Arena | 4.0 m x 5.0 m (20.0 sq. m) | 3x NVIDIA JetAuto AGVs, 2x quadcopters, 4x HTC Vive Base Stations 2.0 | 20 mm interlocking matte black/grey EVA foam puzzle mats; no high-gloss reflective surfaces; 4x wall camera brackets mounted at 2.5 m AFF. |
| Zone 2: Server Rack | 0.8 m x 1.0 m (NW corner) | 18U rolling rack, RTX 4090 workstation, Synology NAS, ASUS router, PoE+ switch | Open/enclosed heavy-duty rack, floor cable raceway, and placement directly in the AC airflow path for heat dissipation. |
| Zone 3: Command Center | 3.1 m x 1.0 m (North wall) | 2x heavy-duty office desks, 4x 4K monitors, 2x PhD laptops | Dual workstation layout; 1.0 m x 0.5 m SEVA Lab 3D logo nameplate centered at 1.8 m AFF; dual RJ45 wall drops terminating at Zone 2. |
| Zone 4: Hardware Bay | 3.1 m x 1.0 m (South wall) | 3x wall charging stations with floor pads, soldering bench, LiPo safe cabinet, drones | Static-dissipative workbench matting, flame-resistant LiPo storage, local soldering fume extractor, and 3 trailing cable runs to robot pads. |
Wall Painting, Branding & Environmental Controls
- Wall painting: Ultra-flat, low-VOC white walls with a continuous 0.15 m SEVA Lab Blue (
#0B3D70) accent band from 0.05 m to 0.20 m AFF. - Lab signage: A 1.0 m x 0.5 m white backing plate with the 3D SEVA Lab logo, centered above the Command Center at 1.8 m AFF.
- HVAC: Minimum 1.5-ton / 1.5 kW wall-mounted split AC at 2.5 m AFF, maintaining 20°C-22°C under approximately 1000 W peak GPU load.
- Ceiling ventilation: One industrial three-blade fan at room center, 2.8 m AFF, providing gentle circulation without disturbing quadcopter flights.
- Window control: 100% optical and IR blackout roller blinds to protect RealSense and motion-capture sensors from direct sunlight.
- Safety: One Class ABC/D fire extinguisher near the entrance and dual 1.5 m wall-mounted shelves for spare parts.
Complete Hardware Manifest & Technical Specifications
Computing, Storage & Networking Infrastructure
1. Central GPU Compute Server (RTX 4090 Workstation)
| GPU Architecture | NVIDIA GeForce RTX 4090 Founders Edition (Ada Lovelace), 24 GB GDDR6X VRAM, 384-bit bus, 1,008 GB/s bandwidth |
|---|---|
| Compute Cores | 16,384 CUDA cores, 512 fourth-generation Tensor cores, 128 third-generation RT cores |
| CPU & Memory | Intel Core i9-14900K (24 cores / 32 threads, up to 6.0 GHz), 128 GB DDR5 5600 MHz ECC RAM |
| Storage Subsystem | 2 TB NVMe PCIe 4.0 OS drive + 4 TB NVMe scratch cache for point clouds |
| Network Interface | Dual 10GbE / 2.5GbE RJ45 ports onboard |
| Software Role | ROS 2 Fast DDS Discovery Server, NVIDIA Isaac Sim digital twin, global 3D SLAM map merging, and deep-learning model training |
2. Synology DiskStation DS925+ NAS (Central Storage)
| Enclosure & Disks | 4-bay enclosure with 4x 10 TB Seagate IronWolf 7200 RPM SATA HDDs in RAID 5, providing approximately 30 TB usable storage |
|---|---|
| Cache & Network | Dual M.2 NVMe SSD cache slots with 2x 1 TB read/write cache; dual 2.5GbE RJ45 ports with LACP |
| Throughput | Up to 522 MB/s sequential read and 565 MB/s sequential write |
| Software Role | Continuous NFS mount at /volume1/rosbags_seva for rosbag2 files, video datasets, and model checkpoints |
3. ASUS ROG Rapture GT-AX6000 Wi-Fi 6 Router
| Processor & Specs | 2.0 GHz quad-core 64-bit CPU; dual-band Wi-Fi 6 (802.11ax) up to 6000 Mbps aggregate speed |
|---|---|
| Wired Ports | Dual 2.5G ports (1x WAN, 1x LAN) + 4x 1G LAN ports |
| QoS & Subnet | Dedicated QoS prioritization for ROS 2 DDS UDP traffic on isolated subnet 192.168.50.0/24 |
Ground Truth & Motion Capture System
HTC Vive Base Station 2.0 & Tracker 3.0 System
| Base Stations (x4) | SteamVR Tracking 2.0, 150° x 110° FOV, sub-millimeter positional accuracy at 240 Hz; corner-mounted at 2.5 m AFF |
|---|---|
| Trackers (x3) | HTC Vive Tracker 3.0 mounted to JetAuto robots through a 1/4-inch UNC camera thread; 7.5-hour battery life; integrated IMU |
| VRPN Streaming | Dedicated Windows master PC running SteamVR and a VRPN server, publishing geometry_msgs/PoseStamped to ROS 2 |
Perception & Vision Sensors
1. Intel RealSense D455 Stereo Depth Camera
| Optics & Shutter | Dual RGB-D, 95 mm baseline, and global shutter on RGB and depth sensors to reduce motion-blur distortion |
|---|---|
| Resolution & FOV | 1280 x 720 at 90 FPS; depth FOV 95° x 65°; operating range 0.6 m-6.0 m with less than 2% depth error at 4 m |
| IMU | Integrated Bosch BMI085 6DoF IMU for tightly coupled visual-inertial odometry |
2. Luxonis OAK-D Pro Auto-Focus (Spatial AI Camera)
| Onboard Compute | Intel Movidius Myriad X VPU with 4 TOPS neural-network inference |
|---|---|
| Illumination | Active stereo with IR dot projector and flood LED for textureless-surface depth perception in darkness |
| Role | Runs YOLO / MobileNet detection on-camera and outputs 3D spatial bounding-box coordinates over ROS 2 |
Livox Mid-360 3D Hybrid Solid-State LiDAR
| FOV & Point Rate | 360° horizontal x 59° vertical non-repetitive scanning pattern; up to 200,000 points per second |
|---|---|
| Range & Communication | 40 m at 10% reflectivity, 70 m at 80% reflectivity; 100BASE-TX Ethernet publishing ROS 2 sensor_msgs/PointCloud2 |
Electrical Infrastructure & Dual-Circuit Isolation
Power is separated into two physically independent breaker circuits to protect GPU server operations from high-current bench short circuits.
Critical electrical mandate:
Circuit A is reserved only for compute and networking equipment in Zone 2. Power tools, soldering irons, and battery chargers must not be connected to Circuit A. Battery charging must take place in Zone 4 on Circuit B using flame-resistant containment bags or metal ammunition cans.