System Specification // Hardware Overview

HAGES 1.0

The Hybrid Aerial & Ground Explorer System. An integrated two-platform solution engineered specifically for high-consequence underground mapping and confined space inspection.

System Philosophy

The Hybrid Advantage

Overcoming the fundamental limitations of subterranean robotics: short UAV endurance and restricted rover terrain access.

Shattering the Endurance Wall

Standalone drones are optimal for mapping vertical stopes and complex voids, but hit an endurance limit at a range of ~150 meters. Standalone rovers possess the battery capacity to travel deep underground, but suffer a 56% capability loss over rough terrain and cannot inspect elevated vertical structures.

HAGES merges these capabilities. The rover acts as a persistent mobile staging base, transporting the UAV deep into the hazard zone. The UAV launches for high-value localized mapping, then autonomously docks back onto the rover to recharge. This cycle repeats, maintaining a 90% operational capability even at 500m penetration depths.

  • Deployment Target GPS-Denied, Hazardous Subsurface Environments
  • Core Deliverable Survey-Grade 3D Digital Twins & Engineering Analysis
HAGES hybrid system exploring a cave with stalactites
Platform Architecture

Hardware Sub-Systems

Rover Platform navigating a mine shaft
Ground Segment

The Rover Platform

Crawler Track Base
A robust tracked chassis engineered for rough, uneven terrain and rocky inverts. Provides the core mobility necessary to transport the aerial asset deep into the environment.
Rover Energy System
Powered by a 24V 30Ah LiFePO4 dual-battery pack paired with a DC-AC inverter. Drives ground operations while functioning as a mobile power station for the UAV.
HEISHA DPad C500
Integrated landing and charging pad. Features specialized V-shaped channels to physically align, center, and lock the drone securely during rover transit.
UAV Platform taking off from the rover
Aerial Segment

The UAV Platform

Custom Quadcopter Frame
Built around a Cube Orange+ FC and an ALPHA 40A ESC stack. Utilizes T-Motors MN5008 KV340 outrunners paired with P15x5 carbon fiber props—optimized for maximum efficiency in turbulent underground airflows.
Emesent Hovermap ST-X
The primary payload. Provides 3D LiDAR mapping and enables fully autonomous, GPS-denied SLAM flight. Acts as an advanced autopilot ensuring collision avoidance in tight geometry.
HEISHA D60 Landing Gear
An ultra-lightweight (38g) wireless recharging contact system. Connects perfectly with the DPad C500 for autonomous landing, charging, and relaunching. Rated for ≥5,000 cycles.
System Integration

The Mid-Mission Recharge Loop

The core architectural claim of HAGES 1.0 is the successful integration of the rover and UAV systems. By enabling the drone to land on the crawler, securely lock into place, wirelessly recharge from the rover's energy system, and autonomously relaunch, HAGES shatters the operational boundaries of traditional robotics.

24V 30Ah Rover Power Reserve
Auto-Align Docking Mechanism
Zero-Touch Wireless Recharging
Top-down view of HAGES docking sequence in a water-filled tunnel
Data Fidelity

The Sensing & Data Stack

We do not just capture raw point clouds. We capture geometry, visual context, and lighting to generate decision-ready engineering outputs.

LiDAR Mapping

Powered by the Hovermap ST-X, the system captures a 360° x 290° field of view. The LiDAR provides the geometric foundation for structural assessments, drift calculations, and volumetric analysis.

1.92M Points Per Second

SLAM Autonomy

Simultaneous Localization and Mapping (SLAM) creates an omnidirectional safety shield. HAGES actively brakes and avoids obstacles, ensuring vehicle survivability in uncharted, unlit, GPS-denied environments.

±10mm Mapping Accuracy

Actionable Outputs

Raw data is pushed through Emesent Aura processing. Global optimization corrects drift over long linear scans, converting field capture into survey-grade Digital Twins ready for immediate remediation planning.

48 Hours Data Turnaround
Deployment Ready

Transition from Data to Decisions

HAGES is delivered as a turnkey service model. We handle the hardware, the deployment, and the data processing. You receive the engineering roadmap.

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