SPINE Cortex

S.P.I.N.E

Stackable Power Integration & Network Electronics

Overview

S.P.I.N.E. is a decentralized power distribution architecture that splits control, distribution, and protection into discrete, stackable modules. Offers control and monitor over individual power rails, telemetry via CAN bus, and fault protection like over current, over voltage(due to back EMF), emergency stop.

System Architecture

The system is composed of three primary module types, functioning analogously to a biological nervous system:

1. Cortex (Main Control Unit)

The Cortex is responsible for high-level decision-making and external communication.

• Bus Monitoring: Continuously monitors the main bus voltage.

• Orchestration: Controls the state of all connected Vertebra modules via RS485.

• Telemetry: Send internal system data to the external robot controller via CAN Bus.

2. Vertebra (Power Distribution & Switching)

Each Vertebra acts as an intelligent Power Distribution Unit (PDU).

• Distribution: Takes 1 main input and splits it into 3 protected outputs.

• Protection Topology: Utilizes a back-to-back switching topology to enable full bidirectional cutoff.

• Soft Start: Integrated Precharge circuit to prevent inrush current spikes during startup.

• Sensing: Real-time current and voltage sensing on outputs.

• Fault Propagation:

  • Local: Can autonomously cut power upon detecting over-current events.

  • Global: A "Critical Fault" in one Vertebra triggers a system-wide shutdown to protect the rest of the hardware.

3. Disc (Brake Chopper)

A purely hardware-based protection module.

• Function: Dissipates dangerous back-EMF (voltage spikes) generated by motors during rapid deceleration.

• Mechanism: A fast analog comparator circuit to trigger a dump load when voltage exceeds a set threshold.

• Zero-Latency: No microcontroller or software intervention required; purely reactive hardware protection.