Browse Topic: Sensors and actuators
ABSTRACT Future autonomous combat vehicles will need to travel off-road through poorly mapped environments. Three-dimensional topography may be known only to a limited extent (e.g. coarse height), but this will likely be noisy and of limited resolution. For ground vehicles, 3D topography will impact how far ahead the vehicle can “see”. Higher vantage points and clear views provide much more useful path planning data than lower vantage points and occluded views from trees and structures. The challenge is incorporating this knowledge into a path planning solution. When should the robot climb higher to get a better view or else continue moving along the shortest path predicted by current information? We investigated the use of Deep Q-Networks (DQN) to reason over this decision space, comparing performance to conventional methods. In the presence of significant sensor noise, the DQN was more successful in finding a path to the target than A* for all but one type of terrain. Citation: E
ABSTRACT The effective and safe use of Rough Terrain Cargo Handlers is severely hampered by the operator’s view being obstructed. This results in the inability to see a) in front of the vehicle while driving, b) where to set a carried container, and c) where to maneuver the vehicles top handler in order to engage with cargo containers. We present an analysis of these difficulties along with specific solutions to address these challenges that go beyond the non-technical solution currently used, including the placement of sensors and the use of image analysis. These solutions address the use of perception to support autonomy, drive assist, active safety, and logistics
ABSTRACT Addressing the well-established need for accurate cyber situational awareness on military vehicles and weapons platforms, we developed a well-tested, robust Intrusion Detection System – Fox Shield™ – currently rated TRL-8. The system is described and the lessons learned during its development are discussed. The basic principles of our anomaly detectors are outlined, and the details of our innovative warning-aggregating Fuser are presented. Many attack detection examples are presented, using a publicly available CANbus dataset. Citation: E.I. Novikova, V. Le, M. Weber, C. Andersen, S.N. Hamilton, “Best Practices For Ground Vehicle Intrusion Detection Systems”, In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 13-15, 2020
ABSTRACT In this study, a styrene butadiene rubber, which is similar to the rubber used in road wheel backer pads of tracked vehicles, was investigated experimentally under monotonic and fatigue loading conditions. The monotonic loading response of the material was obtained under different stress states (compression and tension), strain rates (0.001/s to 3000/s), and temperatures (-5C to 50C). The experimental data showed that the material exhibited stress state, strain rate and temperature dependence. Fatigue loading behavior of the rubber was determined using a strain-life approach for R=0.5 loading conditions with varying strain amplitudes (25 to 43.75 percent) at a frequency of 2 Hz. Microstructural analysis of specimen fracture surfaces was performed using scanning electron microscopy and energy dispersive x-ray spectroscopy to determine the failure mechanisms of the material. The primary failure mechanisms for both loading conditions were found to be the debonding of particles on
ABSTRACT This paper presents a new terrain traversability mapping method integrated into the Robotic Technology Kernel (RTK) that produces ground slope traversability cost information from LiDAR height maps. These ground slope maps are robust to a variety of off-road scenarios including areas of sparse or dense vegetation. A few simple and computationally efficient heuristics are applied to the ground slope maps to produce cost data that can be directly consumed by existing path planners in RTK, improving the navigation performance in the presence of steep terrain. Citation: J. Ramsey, R. Brothers, J. Hernandez, “Creation of a Ground Slope Mapping Methodology Within the Robotic Technology Kernel for Improved Navigation Performance,” In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 16-18, 2022
ABSTRACT One primary system integration challenge for a terrain measurement system is the triggering and time synchronization of all subsystems. Since individual measurement systems vary in their triggering requirements, both in terms of voltage levels and response times, a comprehensive triggering architecture is difficult to implement. Examples of triggering signal inputs include: a transistor-transistor logic (TTL) compliant signal, an RS-232 compliant signal, and an open/close switch circuit. Pulse-triggering signals are also present, and enable continuous time synchronization between instruments. Therefore, a triggering scheme is proposed capable of accurately initiating, synchronizing, and concluding data collection from multiple sensors and subsystems. Simulation of complete circuit designs show that the trigger circuit is capable of properly processing a single physical switch input signal into a TTL-compliant trigger signal. Synchronization pulse signals are likewise amplified
ABSTRACT The mechanical behavior of a military vehicle during off-highway operation is complex and highly nonlinear. Some current vehicle concepts include added intelligence through the implementation of sensors and controllers to enable autonomous or semi-autonomous operations. Control systems have typically been developed with controls software where the mechanical plant and sensors are represented as simplified and often linearized blocks, resulting in a poor vehicle assessment. This paper describes the development of an integrated environment for a control system, mechanical system dynamics, and sensor simulation for an improved assessment of the vehicle system performance. The vehicle chosen is an autonomous robot that attempts to follow a prescribed path along an off-highway terrain. The effect of including a stability controller for vehicle mobility is assessed. The architecture of the integrated simulation environment is described and its potential to improve schedule and
ABSTRACT The IGVC offers a design experience that is at the very cutting edge of engineering education, with a particular focus in developing engineering control/sensor integration experience for the college student participants. A main challenge area for teams is the proper processing of all the vehicle sensor feeds, optimal integration of the sensor feeds into a world map and the vehicle leveraging that world map to plot a safe course using robust control algorithms. This has been an ongoing challenge throughout the 26 year history of the competition and is a challenge shared with the growing autonomous vehicle industry. High consistency, reliability and redundancy of sensor feeds, accurate sensor fusion and fault-tolerant vehicle controls are critical, as even small misinterpretations can cause catastrophic results, as evidenced by the recent serious vehicle crashes experienced by self-driving companies including Tesla and Uber Optimal control techniques & sensor selection
ABSTRACT Semi-autonomous behaviors, such as leader-following and “point-and-go” navigation, have the potential to significantly increase the value of squad-level UGVs by freeing operators to perform other tasks. A variety of technologies have been designed in recent years to enable such semi-autonomous behaviors on board mobile robots; however, most current solutions use custom payloads comprising sensors such as stereo cameras, LIDAR, GPS, or active transmitters. While effective, these approaches tend to be restricted to UGV platforms capable of supporting the payload’s space, weight, and power (SWaP), and may be cost-prohibitive to large-scale deployment. Charles River has developed a system that enables both leader-following and “point-and-go” navigation behaviors using only a single monocular camera. The system allows a user to control a mobile robot by leading the way and issuing commands through arm/hand gestures, and is capable of following an operator both on foot and aboard a
ABSTRACT To improve robustness of autonomous vehicles, deployments have evolved from a single intelligent system to a combination of several within a platoon. Platooning vehicles move together as a unit, communicating with each other to navigate the changing environment safely. While the technology is robust, there is a large dependence on data collection and communication. Issues with sensors or communication systems can cause significant problems for the system. There are several uncertainties that impact a system’s fidelity. Small errors in data accuracy can lead to system failure under certain circumstances. We define stale data as a perturbation within a system that causes it to repetitively rely on old data from external data sources (e.g. other cars in the platoon). This paper conducts a fault injection campaign to analyze the impact of stale data in a platooning model, where stale data occurs in the car’s communication and/or perception system. The fault injection campaign
ABSTRACT Autonomous robots can maneuver into dangerous situations without endangering Soldiers. The Soldier tasked with the supervision of a route clearing robot vehicle must be located beyond the physical effect of an exploding IED but close enough to understand the environment in which the robot is operating. Additionally, mission duration requirements discourage the use of low level, fatigue inducing, teleoperation. Techniques are needed to reduce the Soldier’s mental stress in this demanding situation, as well as to blend the high level reasoning of a remote human supervisor with the local autonomous capability of a robot to provide effective, long term mission performance. GDRS has developed an advanced supervised autonomy version of its Robotics Kit (GDRK) under the Robotic Mounted Detection System (RMDS) program that provides a cost effective, high-utility automation solution that overcomes the limitations and burden of a purely teleoperated system. GDRK is a modular robotic
ABSTRACT GS Engineering has developed technology to advance the sensory perception of autonomous systems. The Automatic Terrain Detection System (ATDS) is a technology that provides real time terrain detection. Vehicles deployed with ATDS have been able to yield improved mobility, automation of systems, and reduced fuel consumption. ATDS has been integrated into the MK23 MTVR, M1151 HMMWV for the ONR Predictive Adaptive Mobility (PAM) program, and into the Autonomous Ground Re-supply (AGR) by-wire kit for the Oshkosh Defense Palletized Load System (PLS). The ATDS is built upon proven sensors running integrated processing to replace or enhance existing vehicle systems. Citation: D. Subert, A. Diepen, K. Hubert, “Automatic Terrain Detection”, In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 13-15, 2019
ABSTRACT Robotic Wingman (RW) is an advanced unmanned systems concept integrated with current operational tactics to enhance the force effectiveness of combat vehicle platoon and substantially enhance the survivability of manned vehicles in combat operations. Two approaches to RW; reconfiguring common fleet and new/unique platoon vehicles. Each approach has its advantages in wingman operations. This paper will discuss the approaches, the required technologies and program implementations. RW combat effectiveness and advances in force survivability will be assessed and discussed in both approaches. Advanced technology including sensors, autonomy, communications and automated behaviors will enable the RW to look, move, and act like companion manned vehicle. For its optimum effectiveness, the RW wants to cause the enemy to engage it first. The automation of the manned fleet to implement and achieve unmanned system performance similar to manned operations and is required to fool the enemy
ABSTRACT The authors studied the effects of different types of armor on the performance of spin-torque microwave detectors (STMD). Working prototypes of novel nano-sized spintronic sensors of microwave radiation for battlefield anti-radar and wireless communications applications are being integrated into Sensor Enhanced Armor (SEA) and Multifunctional Armor (MFA) and tested in SEA-NDE Lab at TARDEC. The preliminary theoretical estimations have shown that STMD based on the spin-torque effect in magnetic tunnel junctions (MTJ), when placed in the external electromagnetic field of a microwave frequency, can work as diode detectors with the maximum theoretical sensitivity of 1000 V/W. These STNO detectors could be scaled to sub-micron size, are frequency-selective and tunable, and are tolerant to ionizing radiation. We studied the performance of a STMD in two different dynamical regimes of detector operation: in well-known traditional in-plane regime of STMD operation and in recently
ABSTRACT Autonomous driving is emerging as the future of transportation recently. For autonomous driving to be safe and reliable the perception sensors need sufficient vision in sometimes challenging operating conditions including dust, dirt, and moisture or during inclement weather. LiDAR perception sensors used in certain autonomous driving solutions require both a clean and dry sensor screen to effectively operate in a safe manner. In this paper, UV durable Hydrophobic (UVH) coatings were developed to improve LiDAR sensing performance. A lab testbed was successfully constructed to evaluate UVH coatings and uncoated control samples for LiDAR sensor under the simulated weathering conditions, including fog, rain, mud, and bug. In addition, a mobile testbed was developed in partnership with North Dakota State University (NDSU) to evaluate the UVH coatings in an autonomous moving vehicle under different weathering conditions. These UV-durable easy-to-clean coatings with high optical
ABSTRACT The Soar Cognitive Architecture is a reasoning system that enables knowledge-rich, mission focused reasoning including integration of bottom-up, sensor-driven reasoning and top-down, context-driven reasoning, and more intelligent use of existing sensors. This reasoning is a combination of deliberate (e.g., planning) and reactive (e.g., hard-coded) behaviors. We are applying Soar on a current effort to (1) increase autonomy and (2) achieve equivalent or superior performance while controlling weight, energy, and costs
ABSTRACT Curtiss-Wright has developed an acoustic based sensor technology for measuring friction, shock, and dynamic load transfer between moving parts in machinery. This technology provides a means of detecting and analyzing machine structure borne ultrasonic frequency sounds caused by friction and shock events between the moving parts of the machine. Electrical signals from the sensors are amplified and filtered to remove unwanted low frequency vibration energy. The resulting data is analyzed as a computed stress wave energy value that considers the amplitude, shape, duration and rates of all friction and shock events that occur during a reference time interval. The ability to separate stress waves from the lower frequency operational noise makes this technology capable of detecting damaged gears/bearings and changes in lubrication in equipment earlier than other techniques, and before failure progression increases cost of repair. Already TRL9 in adjacent industries, this technology
ABSTRACT This research proposes a human-multirobot system with semi-autonomous ground robots and UAV view for contaminant localization tasks. A novel Augmented Reality based operator interface has been developed. The interface uses an over-watch camera view of the robotic environment and allows the operator to direct each robot individually or in groups. It uses an A* path planning algorithm to ensure obstacles are avoided and frees the operator for higher-level tasks. It also displays sensor information from each individual robot directly on the robot in the video view. In addition, a combined sensor view can also be displayed which helps the user pin point source information. The sensors on each robot monitor the contaminant levels and a virtual display of the levels is given to the user and allows him to direct the multiple ground robots towards the hidden target. This paper reviews the user interface and describes several initial usability tests that were performed. This research
ABSTRACT FBS Inc. is working with the TARDEC Electrified Armor Lab to develop a nondestructive structural health monitoring technology for composite armor panels that utilizes an array of embedded ultrasonic sensors for guided wave tomographic imaging. This technology would allow for periodic or real-time monitoring of armor integrity while being minimally intrusive and adding negligible weight. The technology is currently being developed and tested in pseudo composite armor panels and efforts are focused on reducing sensor array density, improving sensor integration procedures, and maximizing system sensitivity to damage. In addition to experimental testing and development, FBS is developing a highly-automated finite element model generation and analysis program to be used in conjunction with Abaqus/Explicit commercial finite element software. This program is specifically dedicated to modeling guided wave propagation in pseudo composite armor panels between embedded ultrasonic sensors
ABSTRACT Geotechnical site characterization is the process of collecting geophysical and geospatial characteristics about the surface and subsurface to create a 3-dimensional (3D) model. Current Robot Operating System (ROS) world models are designed primarily for navigation in unknown environments; however, they do not store the geotechnical characteristics requisite for environmental assessment, archaeology, construction engineering, or disaster response. The automotive industry is researching High Definition (HD) Maps, which contain more information and are currently being used by autonomous vehicles for ground truth localization, but they are static and primarily used for navigation in highly regulated infrastructure. Modern site characterization and HD mapping methods involve survey engineers working on-site followed by lengthy post processing. This research addresses the shortcomings for current world models and site characterization by introducing Site Model Geospatial System
ABSTRACT Latencies as small as 170 msec significantly degrade ground vehicle teleoperation performance and latencies greater than a second usually lead to a “move and wait” style of control. TORIS (Teleoperation Of Robots Improvement System) mitigates the effects of latency by providing the operator with a predictive display showing a synthetic latency-corrected view of the robot’s relationship to the local environment and control primitives that remove the operator from the high-frequency parts of the robot control loops. TORIS uses operator joystick inputs to specify relative robot orientations and forward travel distances rather than rotational and translational velocities, with control loops on the robot making the robot achieve the commanded sequence of poses. Because teleoperated ground vehicles vary in sensor suite and on-board computation, TORIS supports multiple predictive display methods. Future work includes providing obstacle detection and avoidance capabilities to support
ABSTRACT This paper contains descriptions and demonstrations of automated test drivers (ATDs) for several different style off-road vehicles. These robotic ATDs can be used without a human operator, to drive vehicles in scenarios that are unsafe for human drivers. Full-scale vehicle tests including rollovers, pitchovers, and crashes involving Recreational Off-Highway Vehicles (ROVs), All-Terrain Vehicles (ATVs), and Zero-Turn Riding Mowers (ZTMs) are included in the paper. The mechanical actuators used to control steering, throttle, and braking differ for the different ATDs. However, they use similar control strategies, network architecture, and electronics. Using these similar items as a starting point would be beneficial for developing ATDs for different styles of military vehicles. Citation: G. Heydinger, S. Zagorski, D. Andreatta, M. Bartholomew, “Development and Use of Driving Robots for Conducting Unmanned Tests of Off-Road Vehicles,” In Proceedings of the Ground Vehicle Systems
ABSTRACT Traditional engineering concerns such as lubrication and cooling are still present even as vehicle functions become more complex. The established solution to monitor fluid levels has been a sight glass or a dipstick. More complex machines demand continuous knowledge of fluid levels without adding to operator workload. Remote monitoring of vehicle health will become normal and expected by owners and operators of evolving vehicle designs. This dual function fluid level sensor provides both electronic and operator monitoring of vehicle fluids, as well as redundancy in the event of electronic failure. Grouping of sensor components that are considered more likely to fail into one group, aids replacement when necessary. By incorporating a traditional dipstick into a continuous electronic monitoring solution, either method of level monitoring is facilitated
ABSTRACT The U.S. military has made substantial progress in developing and fielding C4ISR systems that can collect and gather overwhelming amounts of valuable raw sensor data. A new challenge that has emerged with the deployment of numerous state-of-the-art ISR collection systems is the effective and timely use of the collected surveillance and reconnaissance information, or simply stated an architecture that pushes the timeliness and accessibility of this situational awareness data to the tactical edge – “the right data at the right time to the soldier.” Delivery of real time key information to include situational awareness to a decision maker is what makes the difference between loss and victory on the battlefront. This paper is an extension of a GVSETS paper that was presented in the 2010 symposium. This paper discusses in more detail the integration of command and control (C2), video management, and collaboration capabilities, such as chat and telestration, with the sensor
Items per page:
50
1 – 50 of 7744