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4. UofM GPS Presentation ~ I 11 Wo--~ ~'-- 4 - --- UNIVERSITY OF MINNESOTA Twill Cities CamPUI Department of Mechanical Engineering Institute of Technology 125 Mechanical Engineering J J / Church Street S.E. Minneapolis, MN 55455-0111 612-625-0705 Fax: 612-624-1398 Office: (612)625'¡)323 Fax: 612)625.8884 E-mail: shankwil@me.umn.edu 25 February, 2000 Mr. Scott Botcher City Manager City of Chanhassen 690 City Center Drive Chanhassen, MN 55317 r~··~"'··:"' ~;"'~ !' CITY lir \,., , ... . Dear Mr. Botcher, Based on our phone conversation of 18 February 2000, I am writing to fonnally request pennission from the City of Chanhassen for the University of Minnesota to install a Global Positioning System (GPS) Differential correction broadcast station on the City's water tower located just south of Trunk Highway 7 and just east of county road 41. I am making this request as a means to support the University in its role as a technology developer and provider in a US DOT sponsored Intelligent Vehicle Initiative Field Operational Test (FOT). In this FOT, the University is partnered with MnlDOT, 3M, and Altra Technologies in order to demonstrate and quantify the benefits of emerging technology to improve vehicle safety and mobility. The FOT will take place on Trunk Highway 7 between 1-494 and Hutchinson, MN. For this test, 4 snowplows, one ambulance, and one State Patrol squad will be equipped with driver assistive systems which integrate vehicle positioning systems (a combination of DGPS, digital maps, and magnetic lane boundary tape), radar (for collision avoidance), and a driver interface (graphical, tactile, and audible). This integrated system wiII allow a driver to safely guide a vehicle so equipped under conditions of low visibility (which include rain, sleet, falling and blowing snow, fog, and night time), resulting in improved snow removal and emergency response along highway 7. This should also lead to improved mobility for the general public along this highway 7 corridor. A "fact sheet" describing the project and iIIustrating some of the relevant technologies is included for your perusal. High perfonnance Differentially corrected GPS (DGPS) allows the accurate positioning of a moving vehicle when that vehicle is in range of a correction broadcast station. The broadcast station at Channassen wiII provide differential corrections from 1-494 to the east to St. Bonifacius to the west, and wiII provide position solutions with an accuracy better than 15 cm (6 inches). The Chanhassen water tower is an ideal site from which to broadcast correction from 1- ,~ 494 to St. Bonifacius. A similar station located at the Mayer water tower wiII cover highway 7 from St. Bonifacius to Lester Prairie, and a station located in Silver Lake wiII cover highway 7 from Lester Prairie to Hutchinson. (The Silver Lake City Council on 23 February 2000 approved the installation of a broadcast station on their water tower; I am going to Mayer on 28 February 2000 to seek their approval.) The system we are requesting to install at the Chanhassen water tower consists of a GPS antenna, a GPS receiver, a PC to control the station, a radio modem, a radio broadcast antenna, cabling, and electrical isolation. This system would require an GPS antenna located on a mast 10 to 15 feet above grade located approximately 50 feet to the south/southwest of the base of the water tower. (A picture of the GPS antenna with ground plane is provided below. The assembly is approximately 2 feet in diameter and approximately 4 inches deep). A cable wiII connect the antenna to the GPS receiver located in a small (28"x28"x28") cabinet in the base of the water tower. In this same cabinet is located a small computer and radio modem. The radio modem is connected via cable to an antenna array located on the top of the water tower. We have designed and installed a system very similar to what is proposed for Chanhassen in Rogers, MN. Enclosed with this letter is a sample no-cost lease agreement between the University and Rogers which could be used as a base document should Chanhassen agree to allow the University to install its equipment on its water tower. You had mentioned that antenna size and geometry might be an issue for residents near the tower. The following pictures should give you an indication of the size and appearance of the antennae which may be installed on and near your water tower. Again, the GPS antenna is approximately 2 feet in diameter; the panel antenna mounted on the Rogers water tower is approximately 2 feet by 2 feet by 10 inches deep. I hope I have described in enough detail what we propose. Upon City Council approval (for all three broadcast stations), an application for a broadcast license wiII be made to the FCC. The FCC approval process may take up to six months. In the meantime, lease arrangements between Chanhassen and the University can be finalized, detailed tower designs wiII be completed per City requirements. A professional radio tower company wiII be hired by the University to install this equipment, and when FCC approval is granted, installation can take place. Thank you for your time and effort in this matter. If you have any questions regarding either the project or the installation of this equipment, please contact me at your convenience. I would be happy to present our proposal at a city council meeting if you feel that is appropriate. I look forward to working with you on this project. Best Regards, ~~ Craig Shankwitz Program Director, Intelligent Vehicles Lab " Trimble Ground Plane GPS antenna Broadcast antenna . oj City of Rogers Water Tower with U of MN DGPS Correction Broadcast Antenna Indicated FACT SHEET Intelligent Vehicle Initiative (M) Highway 7 Field operational test. The Grant The Federal Highway Administrations recently awarded MnlDOT $3.9M to conduct an Intelligent Vehicle Initiative Field Operational Test. This test will take place over the next three years along TH 7 between Hutchinson and the Twin Cities. Other partners include the University of Minnesota, the Department of Public Safety/Minnesota State Patrol, McLeod County, City of Hutchinson, Hutchinson Ambulance, 3M, Altra Technologies and Navistar. MnlDOT's award is one of four federal Intelligent Vehicle Initiative (M) grants totaling $12.7 million. The grants, when combined with $7.7 million from partners, will fund operational tests of advanced safety systems addressing large truck rollover, rear-end collisions, roadway departure collisions, advanced braking and hazard warning. The Project The project will integrate and test various technologies and driver displays for safer driving in extreme low visibility conditions. The project represents the next generation and further integration of technology being tested along TH 19 and along TH 101. The technologies include magnetic tape along the roadway, the Global Positioning System, 360 degree radar, a windshield heads-up display, and other specialized warning systems for vehicle guidance and crash avoidance. The systems will be tested by drivers in four State and County snowplows, a State Patrol vehicle and a Hutchinson ambulance. With these driver-assistive technologies, drivers will "see" the roadway under adverse visibility conditions and be warned of approaching obstacles. The TH 7 Operational Test will have a special focus on human factors and human- centered driver displays. The systems to be developed have the potential for reducing many types of accidents and improving the efficiency of fleet operations, thereby producing safer and more efficient roads for the traveling public. The project is intended to be a precursor to the implementation of such systems. The Technology Differential GPS (DGPS) is used to provide lateral guidance and driver assistance. Data from the guidance is provided to the driver through a heads-up display developed by the University of Minnesota Center for Transportation Studies. The heads-up display assists the snowplow operator in "seeing" the road by projecting an image of lane boundaries, fixed roadside features, and other obstacles on the heads-up display. The other obstacles are dectected by the Altra Technologies' radar-based obstacle tracking system called a "360 0 Collision Warning System. Another technology being developed to assist the operators in seeing the road is the Magnetic Lateral warning and Guidance Tape tm being developed by 3M.Incorporated. A sensor arm mounted to the snowplow detects this magnetic tape installed along lane boundaries. On board, the driver is given an indication of their position relative to the magnetic tape. Data from the 3M guidance system is displayed via the University of Minnesota's heads-up display. In other operational test the driver is provided with a simple screen interface that provides their position. The project will explore other visual, audible and tactile warnings for the vehicle drivers. The virtual rumble strip system is based on DGPS feedback on the vehicle's lane position, causing the steering wheel to vibrate alerting the operator they are departing from the lane. It is an intuitive way to send a message to the drive about their position without adding another visual or audible distraction. Other systems include a vibrating seat, peripheral vision devices and auditory warnings. Finally, fleet management is assisted with automatic vehicle location (AVL). An on-board unit provides two-way messaging and remote data collection to enhance snow-fighting capability. Second, real-time data is also displayed on digital maps at dispatcher workstations. This technology promises to provide dispatchers with a map of local roadways, which indicates the exact routes that have been cleared. The use of this technology with Minnesota's combined state patrol and transportation maintenance dispatch may decrease emergency vehicle response times during winter storms. One of the greatest concerns is the ability for drivers to see other vehicles in the blowing snow and for other vehicles to see the snowplow through the "mini-blizzards" they create. Altra Technologies has developed a 360-degree coUlsion warning system. The driver is alerted to hazardous conditions through a dash-mounted graphic display, visual icons in the side view .), mirrors, and audible feedback. The forward-looking radar allows plow drivers to detect unseen obstacles in the road ahead. The rear radar activates high intensity lights to alert other vehicles they are approaching the rear of a plow that may be hidden by a snow cloud. Side detectors, activated when the turn signal is on, alerts plow drivers of objects alongside them. Specifics The technology located on the vehicles is best shown in the following picture: DGPS Correction Antenna GPS Antenna Inverter (dc-2-ac) PC 104 Computers and Power Supplies SAFEPLOW Experimental Vehicle Haptic Steering Feedback Actuator (servo motor) ~,¡; View through Head Up Display (no radar targets) Projected lane boundaries Target Tracking via Radar View through BUD with Radar Targets ;3 SateIlite Signals \~j Radio Communication \~j Satellite Signals Correction Correction RF Modem GPS receiver GPS recei ver RF Modem Solution Base station (at watertower) Mobile station (in vehicle) DGPS correction methodology Highway 7 From Minnetonka to Hutchinson Pink dots represent DGPS correction broadcast stations Ellipsoids represent approximate coverage areas for each base station ';:¡;i LICENSE AGREEMENT THIS UCENSE AGREEMENT (hereinafter "Agreement") made and entered into this _ day of , 1999, between the City of Chanhassen, a municipal corporation under the laws of the State of Minnesota (hereinafter "City"), and The Regents of the University of Minnesota, a constitutional corporation (hereinafter "University"). RECITALS WHEREAS, City owns and maintains a water tower structure ("Tower") with associated buildings on certain real property legaIly described as ; and WHEREAS, attached as Exhibit A is a drawing which depicts generaIly the location of the existing water tower on the Land (not to scale); and WHEREAS, YYYYY, currently maintains and operates a communications antenna facility, together with appurtenant equipment, cabinets and accessory buildings incidental thereto (the n Antenna Facilities") to provide radio and wireless telecommunications; and WHEREAS, City is willing to permit the University to access the Tower of the City and the Antenna Facilities, together with the right of access and ingress thereto to maintain utilities and the equipment of the University for purposes of maintaining and operating a global positioning satellite ("GPS") antenna and appurtenances, together with the right of the University to install a radio transmitter within the interior of the base structure of the Tower. NOW, THEREFORE, the parties agree as foIlows: I. Grant of License. City hereby grants to University a non-exclusive license and privilege to place, annex or connect onto the existing equipment on the Tower as such -1- r:) connection or mounting is permitted by the City or YYYYY. University is further granted by the City a license to install in the base of the Tower (interior) a power panel, including a cable to service such GPS antennas, equipment and appurtenances. 2. Grant ofEl!feSs and Imrress License. City hereby grants to the University a non-exclusive license for ingress and egress seven (7) days a week, twenty-four (24) hours a day, on foot or by any motorized vehicle and for installation, repair and maintenance of utility wires, cables, conduits, pipes, antennas and for all uses incidental to its maintenance and operation of a GPS system over, under, or upon the Easement Area as described aforesaid. 3. Tenn. This Agreement shall be for a tenn of five (5) years, beginning on the date hereof and ending on the last day of the fifth year following. 4. Fee. As the fee for the license granted herein, University shall pay to the City the amount of $ None 5. Use. University shall use the Tower and the Easement Area for the purpose of connectíng, mounting, maintaining and operating a GPS antenna and appurtenances thereto, together with the construction of a power panel installed in the base (interior) of the Tower. The University shall be solely responsible for risk of loss of the equipment that the University mounts on the Tower. The University shal1 maintain its GPS antenna, appurtenances and lines in reasonable condition and shal1 comply with al1 applicable govemmentallaws and regulations. 6. Subordination. The right of the University is subordinate in all instances and respects to the prior License and Easement Agreement between the City and YYYYY and the University shal1 obtain all necessary consents and approvals from YYYYY for its connection or annexation to any YYYYY equipment. It is understood between City and University that the City is granting to University a non-exclusive license to maintain and operate its GPS antenna system only in such manner as to which YYYYY has consented. 7. Indemnification. During the tenn of this Agreement, University shall indemnify and hold harmless City and YYYYY against any claim of liability or loss arising from personal injury or property damage directly resulting from or arising out of the use and occupancy of the premises by the University, its servants or agents, excepting, however, such claims or damages as may be due to or caused by the sole negligence of either the City or yyyyy, or the agents or servants of either. 8. Subrogation of Ril!hts. The parties agree that each shall be subrogated to the rights of the other for al1 claims, liabilities and rights of action arising from or caused by loss covered by insurance maintained in connection with the Tower and Land or activities conducted therein or thereon. 9. Utilities. University shall be responsible for all utilities required by its use of the premises. -2- -r~ 10. Debris. University shall conduct its use and operation in a neat and orderly manner at all times so as to prevent the accumulation of debris and waste materials or other unsightly conditions on the premises. 11. Insurance. University shall, at its sole cost and expense, maintain during the tenn of this Agreement, comprehensive liability insurance on the policies issued by insurers of recognized responsibility, with limits of not less than $1,000,000.00 for personal injury, bodily injury, or death, and coverage of not less than $100,000.00 for damage or injury to or destruction of property for anyone occurrence. University shall name City as an additional insured, and University shall furnish City proof that such insurance is in full force and effect at all times during the tenn of this Agreement. 12. University agrees to cooperate with the City in turning off the equipment during scheduled maintenance of water tower when requested to do so by the City of Chanhassen, its agents or servants. 13. Restoration. At the tennination of this Agreement, University shall return the Tower in as good a condition as existed on the date of the tenn of this Agreement commences, ordinary wear and tear excepted, and shaH restore the Tower to such condition as may be practicable consistent with its obligations under this paragraph. University shaH also remove all its equipment without cost to the City at such tennination date. 14. Inteq>retation. This Agreement and the perfonnance thereof shall be governed, interpreted, construed and regulated by the laws of the State of Minnesota. 15. Notices. AH notices hereunder must be in writing and shall be deemed validly given if sent by certified mail, return receipt requested, addressed as foHows (or any other address that the party to be notified may have designated to the sender by like notice): University: University of Minnesota 325 Morrill HaH 100 Church Street SE Minneapolis, MN 55455 City: City of Chanhassen 690 City Center Drive Chanhassen, MN 55317 16. Bindinl! Effect. This Agreement shall extend to and bind the heirs, personal representatives, successors and assigns of the parties hereto. IN WITNESS WHEREOF, the parties hereto have set their hands and affixed their respective seals the day and year first above written. -3- t~ CITY: CITY OF CHANHASSEN BY Its Mayor By Its City Administrator/Clerk UNIVERSITY: THE REGENTS OF THE UNIVERSITY OF MINNESOTA, a constitutional corporation By Its By Its STATE OF MINNESOTA) \ ) ss COUNTY OF HENNEPIN) The foregoing instrument was acknowledged before me this day of _ day of , 1999 by , Its Mayor, and by , its City Clerk! Administrator of the City of Chanhassen, a municipal corporation under the laws of Minnesota, on behalf of said municipal corporation. Notary Public STATE OF MINNESOTA) ) ss COUNTY OF HENNEPIN) ·4- Ì)~ The foregoing instrument was acknowledged before me this _ day of ,1999 by the ~~ ~ ~~ Regents of the University of Minnesota, a constitutional corporation, in behalf of corporation. Notary Public -5- "