Bibliographies |  |
ADA473589
Bandit: Technologies for Proximity Operations of Teams of Sub-10Kg Spacecraft
Personal Author(s): Swartwout, Michael A
Report Date: 16 Oct 2007
Media Count: 13 Page(s)
Descriptors: (U) *CONTROL THEORY, SIMULATORS, TEST BEDS, DRONES, CELESTIAL NAVIGATION, AUTOMATIC PILOTS, SPACECRAFT, OPERATIONAL EFFECTIVENESS
Identifiers: (U) *NANOSATELLITES, AUTONOMOUS OPERATIONS
Abstract: (U) This work was pursued as a supplement to an existing University Nanosat-4 activity (the Akoya/Bandit mission at Washington University). The objective of this work was to develop control theory for operating the 3-kg free-flying Bandit spacecraft, as expressed by two goals: improve the fidelity and performance of our 3DOF hardware testbed and 6DOF simulator; develop, test and evaluate two methods for autonomous multi-vehicle control (behavior-based and waypoint/autopilot) Control theory was developed for teams of fixed-thrust (constrained-actuator) space vehicles, culminating in one doctoral dissertation (with two more in progress). The 6DOF simulator was greatly enhanced in both fidelity and operational effectiveness. The new 3DOF hardware testbed did not work as intended, for reasons that will be explained.
ADA473227
The 15th Annual Intelligent Ground Vehicle Competition: Intelligent Ground Robots Created by Intelligent Students
Personal Author(s): Theisen, Bernard L
Report Date: 09 Sep 2007
Media Count: 16 Page(s)
Descriptors: (U) *UNMANNED, *GROUND VEHICLES, ROBOTICS, AUTOMATION, ARTIFICIAL INTELLIGENCE, CONTROL THEORY, DUAL USE TECHNOLOGY, AUTONOMOUS NAVIGATION, STUDENTS, ROBOTS, FIELD TESTS
Identifiers: (U) *INTELLIGENT ROBOTS, *AUTONOMOUS SYSTEMS, ENGINEERING EDUCATION, IGVC(INTELLIGENT GROUND VEHICLE COMPETITION), *INTELLIGENT VEHICLES, AUTONOMOUS INTELLIGENT MOBILE ROBOTS, VEHICLE INTELLIGENCE, MACHINE VISION, MOBILE PLATFORMS, VEHICULAR ELECTRONICS
Abstract: (U) The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 15 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 50 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.
ADA473813
Unmanned Surface and Underwater Vehicles
Descriptive Note: Final rept.
Personal Author(s): Bremer, R H, Cleophas, P L, Fitski, H J, Keus, D
Report Date: 03 Jul 2007
Media Count: 126 Page(s)
Descriptors: (U) *UNDERWATER VEHICLES, *UNMANNED, *GROUND VEHICLES, MILITARY FORCES(FOREIGN), NETHERLANDS, NAVAL OPERATIONS, AUTONOMOUS NAVIGATION, RECONNAISSANCE, NAVAL PROCUREMENT
Identifiers: (U) FOREIGN REPORTS, AQ F08-02-01317
Abstract: (U) The introduction of unmanned vehicles may have serious consequences for naval operations. Therefore, in the future the Royal Netherlands Navy needs to have sufficient knowledge to be able to make sound decisions with respect to procurement and employment of such vehicles. The an earlier study research had already been carried out into unmanned aerial vehicles. In this project it was examined which defence capabilities can be carried out with unmanned surface and underwater vehicles. First an inventory of current and future unmanned vehicles and a subdivision into three categories were made. Next it was tried to project the listed vehicles on the capability list of the Royal Netherlands Navy. This appeared to be difficult, because for this study the capabilities were not detailed enough. Therefore, these capabilities were further subdivided into `subcapabilities', so next the suitability of the listed vehicles for those subcapabilities could be investigated.
ADA475047
Uninhabited Military Vehicles (UMVs): Human Factors Issues in Augmenting the Force (Vehicules Militaires sans Pilote (UMV): Questions Relatives aux Facteurs Humains lies a l'augmentation des Forces)
Descriptive Note: Final rept.
Report Date: Jul 2007
Media Count: 514 Page(s)
Descriptors: (U) *MILITARY VEHICLES, *HUMAN FACTORS ENGINEERING, *UNMANNED, INTEGRATED SYSTEMS, MILITARY APPLICATIONS, AUTONOMOUS NAVIGATION, SITUATIONAL AWARENESS, REMOTELY PILOTED VEHICLES, ADAPTIVE SYSTEMS, SYSTEMS ENGINEERING, OPERATIONAL EFFECTIVENESS, INTEROPERABILITY
Identifiers: (U) ADAPTIVE INTERFACES, COGNITIVE COOPERATION, DISTRIBUTIVE COLLABORATION, FLEXIBLE LEVELS OF AUTOMATION, INTELLIGENT SUPPORT, MULTIMODAL INTERFACES, OPTIMUM OPERATOR/VEHICLE RATIO, SHARED SITUATION AWARENESS, UMV (UNINHABITED MILITARY VEHICLE), UNMANNED VEHICLES, VIRTUAL TEAM PERFORMANCE, SUPERVISORY CONTROL, SYSTEM OF SYSTEMS, FOREIGN REPORTS, NATO FURNISHED
Abstract: (U) Uninhabited Military Vehicles (UMVs) are used to augment manned forces in dull, dirty, or dangerous tasks. Human factors issues range from control station design, to vehicle interoperability, and integration with manned systems. New principles are reviewed for supporting the operator, and for collaboration between multiple operators. Future study is needed on techniques for distributive collaboration, command and control of UMV teams, and enabling flexible human supervisory control of multiple, highly-automated UMV assets.
ADA469942
Development of Cursor-on-Target Control for Semi-Autonomous Unmanned Aircraft Systems
Descriptive Note: Master's thesis
Personal Author(s): Crouse, Joshua D
Report Date: Jun 2007
Media Count: 81 Page(s)
Descriptors: (U) *FLIGHT CONTROL SYSTEMS, *AUTONOMOUS NAVIGATION, *DRONES, DEPARTMENT OF DEFENSE, DECISION MAKING, STRATEGY, SURFACE TARGETS, THESES, REAL TIME, INFORMATION EXCHANGE, AIR FORCE RESEARCH
Abstract: (U) The research presented in this thesis focuses on developing, demonstrating, and evaluating the concept of a Cursor-on-Target control system for semi-autonomous unmanned aircraft systems. The Department of Defense has mapped out a strategy in which unmanned aircraft systems will increasingly replace piloted aircraft. During most phases of flight autonomous unmanned aircraft control reduces operator workload, however, real-time information exchange often requires an operator to relay decision changes to the unmanned aircraft. The goal of this research is to develop a preliminary Cursor-on-Target control system to enable the operator to guide the unmanned aircraft with minimal workload during high task phases of flight and then evaluate the operator?s ability to conduct the mission using that control system. For this research, the problem of Cursor-on-Target control design has multiple components. Initially, a Cursor-on-Target controller is developed in Simulink. Then, this controller is integrated into the Aviator Visual Design Simulator to develop an operator-in-the-loop test platform. Finally, a ground target is simulated and tracked to validate the Cursor-on-Target controller. The Cursor-on-Target control system is then evaluated using a proposed operator rating scale.
ADA472144
Overview of Army Robotic Convey Technology Programs - Robobusiness 2007
Descriptive Note: Briefing charts
Personal Author(s): Teems, Justin
Report Date: 15 May 2007
Media Count: 20 Page(s)
Descriptors: (U) *ROBOTICS, *TRUCKS, *AUTONOMOUS NAVIGATION, MOBILITY, AUTOMATION, RELIABILITY, ARMY, TRUCK CONVOYS, UNMANNED, LOGISTICS, GLOBAL POSITIONING SYSTEM, MILITARY VEHICLES, IRAQ
Identifiers: (U) *ROBOTIC CONVOYS, *UNMANNED TACTICAL WHEELED VEHICLES, ROBOTIC FOLLOWERS, CAST(CONVOY ACTIVE SAFETY TECHNOLOGIES), PERCEPTION-BASED VEHICLE FOLLOWING
Abstract: (U) DoD Logistics and Convoy Challenges: Effectively utilize existing automation to enhance soldier performance/reduce threat exposure, increase OPTEMPO while conducting the 3Ds: Dull, Dirty, or Dangerous.
ADA469061
FCS Technology Insertion and Transition
Descriptive Note: Briefing charts
Personal Author(s): Rogers, Paul
Report Date: 18 Apr 2007
Media Count: 15 Page(s)
Descriptors: (U) *ROBOTICS, *GROUND VEHICLES, *VEHICULAR ARMOR, MOBILITY, MILITARY MODERNIZATION, ARMY, COMBAT VEHICLES, SYMPOSIA
Identifiers: (U) *FCS(FUTURE COMBAT SYSTEMS), *APS(ACTIVE PROTECTION SYSTEM), *ROBOTIC VEHICLES, BRIEFING CHARTS, WATER FROM AIR, AUTONOMOUS PLATFORM
Abstract: (U) Briefing on RDECOM S&T supporting Future Combat Systems. Topics include programs related to Ground Vehicle Power and Mobility, Survivability (Armor and KE APS) and Intelligent Systems (Robotic Vehicles, Water from Air).
ADA475438
Nonlinear Fault Detection, Isolation and Recovery Techniques for Unmanned Systems
Descriptive Note: Final rept.
Personal Author(s): Khorasani, K
Report Date: 30 Mar 2007
Media Count: 238 Page(s)
Descriptors: (U) *MATHEMATICAL MODELS, *FAULT DETECTION, METHODOLOGY, RECOVERY, DETECTION, ISOLATION, UNMANNED, NONLINEAR ANALYSIS, CONTROL THEORY, HIERARCHIES, FIXED WING AIRCRAFT, FAILURE(MECHANICS), MALFUNCTIONS, SURVEILLANCE, REMOTELY PILOTED VEHICLES, DECENTRALIZATION, FORMATION FLIGHT, SURVEILLANCE DRONES
Identifiers: (U) *UNAMMED SYSTEMS, FOREIGN REPORTS, COOPERATIVE CONTROL, UAV(AUTONOMOUS UNMANNED VEHICLE), FDIR(FAULT DIAGNOSIS ISOLATION AND RECOVERY), AERIAL SURVEILLANCE
Abstract: (U) In order to avoid adverse consequences due to failures, it is desirable to have an advanced failure detection and isolation (FDI) system that detects and identifies anomalies early to minimize the damage, and that can remedy as many failures as possible. In complex systems, fault diagnosis is typically accomplished using a hierarchical approach. In our proposed autonomous unmanned vehicle (UAV) system, fault diagnosis, isolation and recovery (FDIR) is accomplished by using a hierarchical and decentralized approach. At this level of the hierarchy the model based or analytical redundancy based approach to FDIR would require a mathematical model of the process or sub-process under consideration. Based on this knowledge quantities called residuals will be generated. The residuals should be small or close to zero when there are no failures in the system. On the other hand, they should become nonzero and grow large if there are malfunctions in the system. This will accomplish the failure detection. The next important task will be the design of a fault isolation module that would isolate the faulty components or subsystems. There are two major approaches to the design and implementation of recovery procedures. One is to synthesize the procedures for every possible failure mode at the design stage. Once the diagnostic and recovery system is activated, it monitors the system and if it detects a failure, then the system will initiate the appropriate recovery procedure. In the other approach, suitable recovery procedures are generated "on-line" upon the detection of failures. In this report, we will examine the advantages and drawbacks of the above approaches in our framework.
ADA467899
Research Institute for Autonomous Precision Guided Systems
Descriptive Note: Final rept. 1 Apr 2003-28 Feb 2007
Personal Author(s): Rogacki, John R
Report Date: 08 Mar 2007
Media Count: 81 Page(s)
Descriptors: (U) *COMPUTERIZED SIMULATION, *CONTROL SYSTEMS, *COMPOSITE MATERIALS, *DRONES, *SELF OPERATION, OPTIMIZATION, SHAPE MEMORY ALLOYS, MODELS, GUIDANCE, COMPUTER VISION, VEHICLES
Identifiers: (U) *AUTONOMOUS MUNITIONS, *MODELING AND SIMULATION, *AUTONOMOUS VEHICLES, *AUTONOMOUS AERIAL VEHICLES, PRECISION GUIDED SYSTEMS, PE61102F
Abstract: (U) During this three year time period significant advancements were made modeling behavior of shape memory alloys for wing warping applications, shape optimization of piezoceramic composite micro actuators, development of a visualization lab for modeling vision based guidance algorithms, concept development of a rapid prototyping and aero characterization lab, vision based control of autonomous vehicles, cooperative flight of autonomous aerial vehicles using GPS and vision information, cooperative and sharing of information in search missions involving multiple autonomous agents, multi-scale modeling of hexagonal closed pack metals, characterization and modeling of cement like materials involved in munitions penetration, modeling and simulation of ceramic matrix composites, and mechanical response of composites in the presence of electromagnetic fields.
ADA467123
Velocity Estimation Using Forward Looking Sonar
Descriptive Note: Master's thesis
Personal Author(s): Dolbec, Michael R
Report Date: Mar 2007
Media Count: 134 Page(s)
Descriptors: (U) *VELOCITY, *UNDERWATER VEHICLES, *COMPUTER VISION, *SONAR IMAGES, *UNDERWATER NAVIGATION, COMPUTER PROGRAMS, CONVERSION, IMAGE PROCESSING, ENERGY, THESES, SEQUENCES, ENDURANCE(GENERAL), ACOUSTIC SIGNALS, RESOURCES, SELF OPERATION, TEMPLATES, BARRIERS, MISSIONS, COEFFICIENTS, NAVIGATION, CORRELATION, SCANNING SONAR, FORWARD LOOKING, SIDE LOOKING SONAR, SONAR, THRUST, NOSES, AVOIDANCE, MINE HUNTING, ESTIMATES, ELECTRICAL PROPERTIES, MOTION, CAPACITY(QUANTITY), MEASUREMENT, METHODOLOGY, PAYLOAD
Identifiers: (U) COMPUTER VISION, UNMANNED UNDERWATER VEHICLE, AUTONOMOUS UNDERWATER VEHICLES, REMUS, VELOCITY ESTIMATION
Abstract: (U) The thesis investigates a method to estimate the forward velocity and heading rate of an autonomous underwater vehicle (AUV). Through relatively new technologies small AUVs are now able to mount a Forward Looking Sonar (FLS) on the vehicle's nose. This can be used for obstacle avoidance and feature based navigation. The sensor can also be used to estimate motion of the AUV, which can be useful for undersea navigation. The thesis focuses on a template matching technique used in computer vision. Two sequential sonar images are compared with the goal of finding the rotation and translation that best correlates the first to the second sonar image. The transformation which maximizes the correlation coefficient is then converted to forward velocity and heading rate through motion analysis. Experimentation shows that the method provides accurate estimates for both the forward velocity and heading rate of the AUV. Accuracy of the estimates for forward velocity was at the limitation of the resolution of the sonar. Using velocities estimated through image processing applied to FLS images entirely with software, the weight and energy resources currently required by standard measurement techniques could be used to increase the vehicles endurance or for additional payload capacity. Another benefit would be the reduction in acoustic and electrical interference with the FLS and side scan sonar, which would improve the vehicle's obstacle avoidance and mine-hunting capability. The vehicle could become more flexible in its capability to support additional roles vice specific missions. This method holds the promise for permitting smaller AUVs with a FLS to navigate undersea more accurately.
ADA468380
Autonomous Unmanned Aerial Vehicle Rendezvous for Automated Aerial Refueling
Descriptive Note: Master's Thesis
Personal Author(s): Burns, Brian S
Report Date: Mar 2007
Media Count: 94 Page(s)
Descriptors: (U) *AUTOMATION, *DRONES, *REFUELING IN FLIGHT, CONTROL, SIMULATION, AIR FORCE RESEARCH, RECEIVERS, LOGISTICS, NUMERICAL METHODS AND PROCEDURES, LABORATORIES, COMMAND AND CONTROL SYSTEMS, RESPONSE, SKILLS, OPTIMIZATION
Identifiers: (U) AUTOMATED AERIAL REFUELING, UAV, OPTIMIZATION, AUTONOMOUS CONTROL, AUTONOMOUS NAVIGATION, PATH PLANNING, RENDEZVOUS
Abstract: (U) As unmanned aerial vehicles (UAVs) increase in capability, the ability to refuel them in the air is becoming more critical. Aerial refueling will extend the range, shorten the response times, and extend loiter time of UAVs. Executing aerial refueling autonomously will reduce the command and control, logistics, and training efforts associated with fielding UAV systems. Currently, the Air Force Research Lab is researching the various technologies required to conduct automated aerial refueling (AAR). One of the required technologies is the ability to autonomously rendezvous with the tanker. The goal of this research is to determine the control required to fly an optimum rendezvous using numerical optimization and to design a controller that will approximate that control. Two problems were examined. The first problem is for the receiver to rendezvous in minimum time, with a known tanker path. The second problem is for the receiver to rendezvous at a specified time with a known tanker path. For the first problem, the simulated controller results will be compared to the calculated optimal control.
ADA467375
Simulating Candidate Missions for a Novel Glider Unmanned Underwater Vehicle
Descriptive Note: Master's thesis
Personal Author(s): Seguin, John M
Report Date: Mar 2007
Media Count: 140 Page(s)
Descriptors: (U) *COMPUTERIZED SIMULATION, *SCENARIOS, *UNMANNED, *SOFTWARE TOOLS, *UNDERWATER VEHICLES, COMPUTER PROGRAMMING, RANGE(DISTANCE), THESES, OPERATIONAL EFFECTIVENESS, ENDURANCE(GENERAL)
Identifiers: (U) *UUV(UNMANNED UNDERWATER VEHICLES), *DISCRETE EVENT SIMULATION, SIMKIT SIMULATION TOOL, DISKIT SIMULATION TOOL, VISKIT SIMULATION TOOL, SEADIVER UNMANNED UNDERWATER VEHICLE, SEADIVER GLIDER, AUVW(AUTONOMOUS UNDERWATER VEHICLE WORKBENCH), DISTRIBUTED INTERACTIVE SIMULATION, TACTICAL SCENARIOS
Abstract: (U) Unmanned Underwater Vehicles (UUVs) are becoming ubiquitous in the framework of U.S. Navy operations. According to the U.S. Navy's UUV Master Plan (2004), research and development will expand UUV capabilities that enable diverse roles from Intelligence, Surveillance, and Reconnaissance (ISR) and Mine Countermeasures to Anti-Submarine Warfare (ASW) and Information Operations (IO). However, typical UUVs are severely limited in operational characteristics such as endurance and range which prevents their use conducting certain missions. A novel UUV is currently being designed that is projected to support significantly greater endurance and range characteristics. This UUV is called Seadiver and is being designed by Institute of Engineering Science of Toulon, France with support from Naval Postgraduate School. It is a low-cost glider UUV which generates propulsion not with propellers or jet pumps, but rather by controlling its buoyancy. This method of propulsion is quite efficient and maybe capable of autonomous operation up to 30 days with a range of around 700 nautical miles. A UUV with such endurance and range exposes military missions previously impractical for UUVs especially when used in concert as an array of many UUVs. This thesis creates a simulation using NPS-produced software simulation tools Simkit, Viskit and AUV Workbench that analyzes the capabilities and effectiveness of Seadiver UUVs conducting missions of tactical interest.
ADA469161
Performance Evaluation of Ad Hoc Routing Protocols in a Swarm of Autonomous Unmanned Aerial Vehicles
Descriptive Note: Master's Thesis
Personal Author(s): Hyland, Matthew T
Report Date: Mar 2007
Media Count: 119 Page(s)
Descriptors: (U) *AIRCRAFT, *ROUTING, *COMPUTER NETWORKS, *COMMUNICATIONS PROTOCOLS, *RADIOTELEPHONES, SIMULATORS, IMPACT, PACKETS, TRAFFIC, NODES, COMMUNICATIONS NETWORKS, DELAY, RADIO LINKS, MULTIPLEXING, WORKLOAD, RANGE(DISTANCE), SELF OPERATION, UNMANNED, TRANSMITTANCE, THESES, PERFORMANCE TESTS, NETWORKS, SPATIAL DISTRIBUTION
Identifiers: (U) UAVS(AUTONOMOUS UNMANNED AERIAL VEHICLES)
Abstract: (U) This thesis investigates the performance of three mobile ad hoc routing protocols in the context of a swarm of autonomous unmanned aerial vehicles (UAVs). It is proposed that a wireless network of nodes having an average of 5.1774 log n neighbors, where n is the total number of nodes in the network, has a high probability of having no partitions. By decreasing transmission range while ensuring network connectivity, and implementing multi-hop routing between nodes, spatial multiplexing is exploited whereby multiple pairs of nodes simultaneously transmit on the same channel. The proposal is evaluated using the Greedy Perimeter Stateless Routing (GPSR), Optimized Link State Routing (OLSR), and Ad hoc On-demand Distance Vector (AODV) routing protocols in the context of a swarm of UAVs using the OPNET network simulation tool. The first-known implementation of GPSR in OPNET is constructed, and routing performance is observed when routing protocol, number of nodes, transmission range, and traffic workload are varied. Performance is evaluated based on proportion of packets successfully delivered, average packet hop count, and average end-to-end delay of packets received. Results indicate that the routing protocol choice has a significant impact on routing performance. While GPSR successfully delivers 50% more packets than OLSR, and experiences a 53% smaller end-to-end delay than AODV when routing packets in a swarm of UAVs, increasing transmission range and using direct transmission to destination nodes with no routing results in a level of performance not achieved using any of the routing protocols evaluated.
ADA469181
Development of an Experimental Platform for Testing Autonomous UAV Guidance and Control Algorithms
Descriptive Note: Master's thesis
Personal Author(s): Rufa, Justin R
Report Date: Mar 2007
Media Count: 98 Page(s)
Descriptors: (U) *ALGORITHMS, *DRONES, SCENARIOS, MILITARY OPERATIONS, UNITED STATES, ENVIRONMENTS, BATTLEFIELDS, PERFORMANCE(ENGINEERING), DYNAMICS, PROBABILITY, ATTACK, PLATFORMS, MISSIONS, VIABILITY, SEARCHING, SCALING FACTOR, UNMANNED, SELF OPERATION, SEARCH THEORY, AREA SCANNING, FALSE TARGETS, CONTROL THEORY
Identifiers: (U) AUTONOMOUS WIDE AREA SEARCH, DYNAMIC SCALING, DYNAMIC SIMILARITY, AUTONOMOUS TARGET RECOGNITION, HARDWARE INTEGRATION
Abstract: (U) With the United States? push towards using unmanned aerial vehicles (UAVs) for more military missions, wide area search theory is being researched to determine the viability of multiple vehicle autonomous searches over the battle area. Previous work includes theoretical development of detection and attack probabilities while taking into account known enemy presence within the search environment. Simulations have been able to transform these theories into code to predict the UAV performance against known numbers of true and false targets. The next step to transitioning these autonomous search algorithms to an operational environment is the experimental testing of these theories through the use of surrogate vehicles, to determine if the guidance and control laws developed can guide the vehicles when operating in search areas with true and false targets. In addition to the challenge of experimental implementation, dynamic scaling must also be considered so that these smaller surrogate vehicles will scale to full size UAVs performing searches in real world scenarios. This research demonstrates the ability of a given sensor to use a basic ATR algorithm to identify targets in a search area based on its size and color. With this ability, the system's target thresholds can also be altered to mimic real world UAV sensor performance.
ADA467498
Probability Modeling of Multi-Type Autonomous Unmanned Combat Aerial Vehicles Engaging Non-Homogeneous Targets Under Imperfect Information
Descriptive Note: Master's thesis
Personal Author(s): Papadopoulos, Themistoklis
Report Date: Mar 2007
Media Count: 98 Page(s)
Descriptors: (U) *AERIAL TARGETS, *AUTONOMOUS NAVIGATION, *REMOTELY PILOTED VEHICLES, MATHEMATICAL MODELS, DEPLOYMENT, WEAPON SYSTEMS, EXPERIMENTAL DESIGN, ADVANCED WEAPONS, MEASURES OF EFFECTIVENESS, MARKOV PROCESSES, TACTICAL WARFARE, PROBABILITY, NUMERICAL ANALYSIS, THESES, UNMANNED
Identifiers: (U) UCAV(UNMANNED COMBAT AERIAL VEHICLES)
Abstract: (U) UCAVs are advanced weapon systems that can loiter autonomously in a pack over a target area, detect and acquire the targets, and then attack them. Modeling these capabilities in a specific hostile operational setting is necessary for addressing weapons design and operational issues. While much attention has been given to the engineering and technological aspects of UCAV developments, there are very few studies on operational concepts for these weapon systems and their effectiveness and efficiency. This thesis builds probability models (Markov Chains) that describe UCAV operations, defines Measures of Effectiveness (MOEs) for the engagement performance, maps the functional relations between the parameters and the MOEs, and obtains insights regarding the design of the UCAVs and their tactical employment. The models are used to conduct extensive numerical analysis, based on experimental design concepts and traditional sensitivity analysis. The main focus of the analysis is to investigate optimal and robust mixes of UCAVs of different types, with respect to the MOEs. While in most cases, extreme-point solutions are optimal, there are cases where a balanced UCAV mix is better.
ADA468378
Wide Area Search and Engagement Simulation Validation
Descriptive Note: Master's thesis
Personal Author(s): Marlin, Michael J
Report Date: Mar 2007
Media Count: 87 Page(s)
Descriptors: (U) *COMPUTERIZED SIMULATION, *TARGET RECOGNITION, *AUTONOMOUS NAVIGATION, *DRONES, ALGORITHMS, AUTOMATIC, AREA SCANNING, MATHEMATICAL ANALYSIS, MISSIONS, CONTROL, SIMULATION
Identifiers: (U) WIDE AREA SEARCH AND ENGAGEMENT, WIDE AREA SEARCH MUNITIONS, AUTOMATIC TARGET RECOGNITION, UCAV SIMULATION, COOPERATIVE CONTROL, COOPERATIVE BEHAVIOR, COOPERATIVE CLASSIFICATION, COOPERATIVE ENGAGEMENT, UCAV(UNMANNED COMBAT AERIAL VEHICLES)
Abstract: (U) The use of computer simulation in the development of autonomously controlled unmanned combat aerial vehicles (UCAV) for wide area search and engagement applications is addressed. Computer simulation is an essential tool to analyze control algorithms designed to optimally employ multiple UCAVs in wide area search and engagement. To be representative of real world mission conditions a simulation must be able to accurately duplicate the performance of the automatic target recognition (ATR) methods that will be used to discriminate between targets and non-targets in actual combat. The objective of this research is to demonstrate a method to validate a simulation's ATR model for use in research of wide area search and engagement control schemes. This objective is accomplished by comparing results of multiple simulations of academically contrived wide area search and engagement scenarios to closed form analytic solutions derived for the same scenarios.
ADA465958
Return of the Bomber: The Future of Long-Range Strike
Descriptive Note: Monograph
Personal Author(s): Grant, Rebecca
Report Date: Feb 2007
Media Count: 31 Page(s)
Descriptors: (U) *MILITARY OPERATIONS, *MILITARY HISTORY, *AIR STRIKES, *BOMBER AIRCRAFT, *LONG RANGE(DISTANCE), *STRATEGIC BOMBING, *PRECISION BOMBING, VELOCITY, IRAQ, SURVIVABILITY, COSTS, UNMANNED, REFUELING IN FLIGHT, STEALTH TECHNOLOGY, SERBIA, TRANSFORMATIONS, STRIKE WARFARE, AIR POWER, DRONES, GUIDED BOMBS, ACCESS, IRAQI WAR, AFGHANISTAN CONFLICT, SECOND WORLD WAR, PERSIAN GULF WAR, MILITARY CAPABILITIES, CRUISE MISSILES, PENETRATION, FLIGHT CREWS, PAYLOAD, FORWARD AREAS, REQUIREMENTS
Identifiers: (U) BRIGADIER GENERAL IRA C EAKER, VIII BOMBER COMMAND, US ARMY AIR FORCES, LONG-RANGE BOMBERS, B-2 AIRCRAFT, B-52 AIRCRAFT, B-1B AIRCRAFT, DESERT STORM OPERATION, JDAM(JOINT DIRECT ATTACK MUNITIONS), HEAVY BOMBERS, STEALTH BOMBERS, DEEP STRIKE CAPABILITIES, ENDURING FREEDOM OPERATION, IRAQI FREEDOM OPERATION, ALLIED FORCE OPERATION, KOSOVO(SERBIA), BASE ACCESS, FORWARD BASING, QDR(QUADRENNIAL DEFENSE REVIEW), UNMANNED BOMBERS, AUTONOMOUS REFUELING, UAV(UNMANNED AERIAL VEHICLES)
Abstract: (U) This monograph on the future of the bomber begins with an introduction that chronicles the success of the VIII Bomber Command during World War II. The commander of the VIII Bomber Command, Brig. Gen. Ira C. Eaker, U.S. Army Air Forces, led his fliers on long-range missions into the heart of Nazi-occupied Europe. Things have changed since then. The Air Force stopped acquiring new bombers in 1997, and the result is a "bomber gap." The USAF has maintained its bomber fleet, but the fleet is old and in constant need of modernization. The lack of modern bombers severely hampers the United States' long-range strike capabilities. Part I, The Bomber Gap, reviews 80 years of American bomber force development, the demise of the B-2 bomber program, the success of the B-52 in Operation Desert Storm despite the glory going to precision attack by fighters rather than strategic bombing, and the risks of having an insufficient fleet of long-range stealthy bombers. Part II focuses on modernizing the existing bomber fleet; the use of the B-52 and the B-1B in Iraq in 1996 and 1998; the debut of the B-2 in Serbia in March 1999; and the role of the B-52, B-1B, and B-2 in Operation Enduring Freedom in 2001 and in Operation Iraqi Freedom in 2003. Part III, Closing the Gap, examines the warning signs that the current long-range strike force will not be adequate for the future, including barriers to forward base access; a change in course about the bomber fleet that started with a December 2003 long-range strike summit and the February 2004 Corona South meetings; and the 2005 Quadrennial Defense Review's key goal: "Develop a new land-based, penetrating long-range strike capability to be fielded by 2018 while modernizing the current bomber force." Part IV looks at the desired capabilities of a new 2018 bomber in terms of range, payload, survivability, speed, and persistence; optionally manned bombers; and autonomous refueling. Part V presents the views of skeptics and other challenges.
ADA468591
Implementing a Low-Cost Long-Range Unmanned Underwater Vehicle: The SeaDiver Glider
Descriptive Note: Technical rept.
Personal Author(s): Gassier, David, Rebollo, Jerome, Dumonteil Romain
Report Date: 09 Jan 2007
Media Count: 79 Page(s)
Descriptors: (U) *ROBOTICS, *UNDERWATER VEHICLES, *UNMANNED, *HYDRODYNAMICS, GLIDERS, BUOYANCY, BALLAST
Identifiers: (U) *UUV(UNMANNED UNDERWATER VEHICLES), *AUV(AUTONOMOUS UNMANNED VEHICLES), AUTONOMOUS VEHICLE BEHAVIORS, AUTONOMY, SILENT VEHICLES, VIRTUAL ENVIRONMENTS, HYDRODYNAMICS MODELING, AUV WORKBENCH
Abstract: (U) The SeaDiver Glider is an UUV (Unmanned Underwater Vehicle) used for underwater prospecting at a low cost with a long distances coverage (approx = 1400 miles). It moves without propellers by changing its buoyancy with the help of ballast and its hydrodynamics profile reminiscent of a wing (model NACA0022). Ballast inflation makes it raise the surface, ballast deflated make it submerge the bottom. Ballast is positioned in front of its structure in an optimal position to use the lift of its shape. This up-and-down movement is converted into horizontal displacement by the wing-shape of the SeaDiver Glider. It mimics sinusoidal movements from the sea surface down to 300 feet underwater. This vehicle is able to traverse from one point to another without human intervention.
ADA467104
Optimal UAV Task Assignment and Scheduling (Preprint)
Descriptive Note: Conference paper
Personal Author(s): Weinstein, Amanda. Schumacher, Corey
Report Date: Jan 2007
Media Count: 23 Page(s)
Descriptors: (U) *DRONES, SCENARIOS, TIME INTERVALS, MILITARY REQUIREMENTS, SYMPOSIA, MULTIPLE OPERATION, OPTIMIZATION, STRATEGY, MISSIONS
Identifiers: (U) *SEMI-AUTONOMOUS, *MILP(MIXED-INTERGER LINEAR PROGRAMMING), *MAVS(MUTIPLE AERIAL VEHICLES), BINARY DECISION VARIABLES, PE62201F
Abstract: (U) This paper addresses the issue of task assignment and scheduling for teams of cooperative Unmanned Aerial Vehicles (UAVs) operating in a semi-autonomous manner with a single operator controlling the multiple-vehicle team. Mixed-Integer Linear Programming (MILP) is a highly effective technique for expressing this type of complex optimization problem because it allows for binary decision variables, continuous timing variables, and an extensive, flexible constraint set. A general MILP formulation is proposed, allowing a wide variety of vehicle capabilities and mission requirements to be incorporated. Possible task coupling constraints include precedence constraints, time windows, simultaneous tasks, joint tasks, and more. A variety of scenarios, with heterogeneous vehicles, and a wide range of mission constraints can be addressed.
ADA462713
Development and Implementation of New Control Law for Vision Based Target Tracking System Onboard Small Unmanned Aerial Vehicles
Descriptive Note: Master's thesis
Personal Author(s): Chong, Tay B
Report Date: Dec 2006
Media Count: 109 Page(s)
Descriptors: (U) *TARGET ACQUISITION, *RADAR TRACKING, *REMOTELY PILOTED VEHICLES, *MOVING TARGETS, VELOCITY, ATMOSPHERIC DISTURBANCES, MATHEMATICAL PREDICTION, DRONES, EULER ANGLES, HARDWARE IN THE LOOP, NETWORK TOPOLOGY, ONBOARD, SURVEILLANCE, UNMANNED, DEGREES OF FREEDOM, SIMULATION, FLIGHT TESTING, DEGRADATION
Identifiers: (U) VBTT(VISION BASED TARGET TRACKING), SUAV(SMALL UNMANNED AERIAL VEHICLE), AUTONOMOUS GUIDANCE, PC-104, PICCOLO, XPC TARGET, CONTROL LAW, AUTOMATIC TARGET TRACKING
Abstract: (U) A new control law is being developed and implemented for the Vision Based Target Tracking (VBTT) system onboard a small unmanned aerial vehicle (SUAV). The new control law allows for coordinated SUAV guidance and vision-based target tracking of stationary and moving targets in the presence of atmospheric disturbances and measurements noise. The new control law is tested for its performance and stability in both the theoretical 6DOF simulation and the Hardware-in-the-Loop (HIL) simulation. Principal results show that realistic measures of performance of the control law are continuous and exhibit predictable degradation of performance with increase of target speed. The results are encouraging and comparable among theoretical predictions, actual hardware simulation results, and initial flight testing. The control law development, implementation, and trial processes and procedures are also examined and categorically documented in this thesis as future reference on the subject development, as well as for better knowledge retention, continuation and proliferation of the VBTT system.
ADA464797
Combining Collision Avoidance and Operator Workload Reduction with Cooperative Task Assignment and Path Planning (Preprint)
Descriptive Note: Conference paper
Personal Author(s): Saunders, Jeffery B, Rasmussen, Steven J, Schumacher, Corey J
Report Date: Oct 2006
Media Count: 9 Page(s)
Descriptors: (U) *AUTONOMOUS NAVIGATION, *DRONES, *COLLISION AVOIDANCE, SYMPOSIA, ROBOTICS, COMBINATORIAL ANALYSIS, ADAPTIVE CONTROL SYSTEMS
Identifiers: (U) UAV(UNMANNED AERIAL VEHICLE), BRANCH AND BOUND TREE SEARCH ALGORITHMS, MAV(MICRO AERIAL VEHICLE), COUNTER(COOPERATIVE OPERATIONS IN URBAN TERRAIN) RESEARCH PROGRAM, COOPERATIVE CONTROL ENVIRONMENTS, PE62201F
Abstract: (U) This paper develops a method of assignment and path allocation that incorporates a priori collision avoidance and operator workload reduction in assigning multiple tasks to cooperative unmanned aerial vehicles (UAV). The problem is posed as a combinatorial optimization problem. A branch and bound tree search algorithm is implemented for a satisfying solution using a cost function that integrates distance traveled, proximity to other UAVs, and target visitation times. The results demonstrate that the assigned path is near optimal with respect to distance traveled, significantly increases the expected proximity distance to other UAVs, and significantly increases the difference between visitation times of targets. The algorithm runs in less than a tenth of a second allowing on the fly replanning.
ADA474842
Obstacle Detection and Avoidance Using Blazed Array Forward Look Sonar
Personal Author(s): Healey, A J, Horner, D P, Kragelund, S P
Report Date: 30 Sep 2006
Media Count: 10 Page(s)
Descriptors: (U) *UNDERWATER VEHICLES, *UNMANNED, *AVOIDANCE, *FORWARD LOOKING, *SONAR, ALGORITHMS, AUTOMATION, SONAR ARRAYS, SELF OPERATION, BARRIERS, REAL TIME, IMAGE PROCESSING
Identifiers: (U) *AUV(AUTONOMOUS UNDERWATER VEHICLES), *OBSTACLE DETECTION, *OBSTACLE AVOIDANCE, BLAZED ARRAY SONAR
Abstract: (U) The long term goal of this project is to increase the level of autonomy in AUVs as they are being used for more complex missions than mine countermeasures. Part of this increase in autonomy will rely on obstacle detection and avoidance and will require a forward looking sonar (FLS) suitable for small vehicles. In the past year, the NPS Center for AUV Research has mounted a University of Washington Applied Physics Lab (UW:APL) Blazed Array Forward Looking Sonar (FLS) on the NPS ARIES AUV and has conducted several data collection tests in Monterey Bay. The goal of the project is to develop Obstacle Avoidance (OA) algorithms for small AUVs using image analysis in a dynamic real time system for detection and avoidance.
ADA472760
Integrated End-to -End Radar Signal & Data Processing With Over-arching Knowledge-Based Control
Descriptive Note: Conference paper
Personal Author(s): Capraro, Gerard T
Report Date: 01 Sep 2006
Media Count: 25 Page(s)
Descriptors: (U) *SIGNAL PROCESSING, *DATA PROCESSING, *KNOWLEDGE BASED SYSTEMS, *SEARCH RADAR, *AIRBORNE, SYMPOSIA, FILTERS, TARGET RECOGNITION, RADAR TRACKING, INTEGRATION
Identifiers: (U) *AIRS(AIRBORNE INTELLIGENT RADAR SYSTEMS), UAV(UNMANNED AERIAL VEHICLES), COMPONENT REPORTS, NATO FURNISHED, END-TO-END PROCESSING
Abstract: (U) This paper provides information related to integrating Knowledge Based (KB) techniques within the filtering, detection, tracking and target identification portions of an airborne radar's processing chain. We will present multiple information sources and how they can be used to enhance a radar's performance for end-to-end signal and data processing.
ADA457026
Design, Implementation and Testing of a Common Data Model Supporting Autonomous Vehicle Compatibility and Interoperability
Descriptive Note: Doctoral thesis
Personal Author(s): Davis, Duane T
Report Date: Sep 2006
Media Count: 359 Page(s)
Descriptors: (U) *ROBOTICS, *UNDERWATER VEHICLES, *INTEROPERABILITY, *ARTIFICIAL INTELLIGENCE, *COMPATIBILITY, *AUTONOMIC AGENTS, CONVERSION, MODELS, SEARCHING, SELF OPERATION, LANGUAGE, DECOMPOSITION, ARCHITECTURE, VEHICLES, BEHAVIOR, TRANSLATIONS, HYBRID SYSTEMS, STANDARDIZATION, UNMANNED, MISSIONS, LEARNING MACHINES, DEMONSTRATIONS, DATA MANAGEMENT, CONTROL
Identifiers: (U) AUV, UUV, USV, UAV, ROBOTICS, AUTONOMY, CONTROL ARCHITECTURE, HYBRID CONTROL, AUTONOMOUS VEHICLE BEHAVIORS, STATE-BASED CONTROL, DATA MODEL, ONTOLOGY, XML, XSLT, XML DATA BINDING, CONTEXT-FREE GRAMMAR, DATA TRANSLATION
Abstract: (U) Current autonomous vehicle interoperability is limited by vehicle-specific data formats and support systems. Until a standardized approach to autonomous vehicle command and control is adopted, true interoperability will remain elusive. This work explores the applicability of a data model supporting arbitrary vehicles using the Extensible Markup Language (XML). An exemplar, the Autonomous Vehicle Command Language (AVCL), encapsulates behavior-scripted mission definition, goalbased mission definition, inter-vehicle communication, and mission results. Broad applicability is obtained through the development of a behavior set capturing arbitrary vehicle activities, and automated conversion of AVCL to and from vehicle-specific formats. The former uses task-level behaviors suitable for mission scripting and goal decomposition. Translations use the Extensible Stylesheet Language for Transformation, XML data binding, context-free language parsing, and artificial intelligence machine learning and search techniques. Translation capability is demonstrated through mappings of AVCL to and from multiple vehicle-specific formats. A final demonstration of the power of a common autonomous vehicle data model is provided by the implementation of a hybrid control architecture. The model's vehicle-independence and the ability to generate vehicle-specific data are leveraged in the design of an architecture that provides increased autonomy by augmenting a vehicle s existing controller. The utility of this architecture is demonstrated through implementation on the Naval Postgraduate School s ARIES Unmanned Underwater Vehicle.
ADA456306
Cooperative Control of Distributed Autonomous Vehicles in Adversarial Environments
Descriptive Note: Final rept. May 2001-Apr 2006
Personal Author(s): Shamma, Jeff
Report Date: 14 Aug 2006
Media Count: 11 Page(s)
Descriptors: (U) *CONTROL SYSTEMS, *COMMUNICATIONS NETWORKS, *AUTONOMOUS NAVIGATION, *COMPUTER PROGRAM VERIFICATION, COMPUTERIZED SIMULATION, TEST BEDS, COMPUTATIONS, REMOTELY PILOTED VEHICLES, DRONES, DECISION MAKING, VALIDATION, DYNAMICS, PROGRAMMING LANGUAGES
Identifiers: (U) *SWITCHING TOPOLOGY NETWORKS, MURI PROGRAM, CCL(COMPUTATION AND CONTROL LANGUAGE), COOPERATIVE CONTROL SYSTEMS, DISTRIBUTED SYSTEMS, MULTIAGENT SYSTEMS, NETWORKED SYSTEMS, LANGUAGE EVOLUTION
Abstract: (U) The goal of this MURI project is to develop the tools required for the systematic design of cooperative control systems for distributed vehicles in adversarial environments. The project is a collaborative effort between the participating institutions of Caltech, Cornell, MIT, and UCLA. The following ``dimensions'' of cooperative control offer an effective breakdown of the cooperative control landsacpe: 1) Distributed control and computation, 2) Adversarial interactions, 3) Uncertain evolution, and 4) Complexity management. The five year MURI effort has identified and addressed many subproblems in the cooperative control landscape and has produces both simulation and hardware testbeds.
ADA451648
A Biomimetic Algorithm for Flight Stabilization in Airborne Vehicles, Based on Dragonfly Ocellar Vision
Descriptive Note: Final technical rept.
Personal Author(s): Stange, Gert, van Kleef, Josh, Berry, Richard, Parker, Robert
Report Date: 27 Jul 2006
Media Count: 45 Page(s)
Descriptors: (U) *DRONE CONTROL AIRCRAFT, *BIOMIMETICS, STABILIZATION, ALGORITHMS, FLIGHT TESTING, ATTITUDE CONTROL SYSTEMS, AUTONOMOUS NAVIGATION, VISION, EYE, AUSTRALIA, LENSES, INSECTS, ATTITUDE(INCLINATION), CUES(STIMULI)
Identifiers: (U) *DRAGONFLY OCELLAR VISION, BIOMIMETICS, FLIGHT CONTROL, FOREIGN REPORTS, DRAGONFLY OCELLI
Abstract: (U) This report covers research done on dragonfly eyes focused on understanding how dragonflies process attitude information. By understanding the anatomy of the dragonfly occeli, it can be concluded that they are simple lens eyes designed for attitude stabilization.
ADA463037
Intelligent Control Management of Autonomous Air Vehicles
Descriptive Note: Final rept. 1 Oct 2003-1 May 2006
Personal Author(s): Innocenti, Mario, Pollini, Lorenzo, Bracci, Andrea
Report Date: Jul 2006
Media Count: 29 Page(s)
Descriptors: (U) *ADAPTIVE CONTROL SYSTEMS, *AUTONOMOUS NAVIGATION, *DRONE CONTROL AIRCRAFT, ALGORITHMS, FLIGHT PATHS, ROBOTICS
Identifiers: (U) AUTONOMOUS CONTROL, COOPERATIVE CONTROL, UNMANNED AERIAL VEHICLE, CONSTRAINED DELAUNAY TRIANGULATION, MISSION PLANNING
Abstract: (U) There are many issues in the general area of cooperative control of unmanned vehicles; one of particular interest is cooperative path planning and mission planning in a dynamic scenario with moving targets and moving obstacles. A dynamic scenario prevents usually the use of many algorithms due to their inherently high computational cost. The report briefly overviews some existing procedures used to solve both path planning and mission planning problems, and then proposes alternative algorithms which have a lower computational cost. In particular, we propose a path-planning procedure based on the Constrained Delaunay Triangulation, and the geometric properties of the in-centers of triangles. This procedure is not optimal from the analytical standpoint but it has several advantages for real-time applications because it allows slower sampling times and produces safer paths. The proposed path planning method takes into account areas of the scenario that may be more dangerous for the flight vehicle, by simply summing a term to the length of each sub-path depending of the dangerousness of the zone it crosses. The report presents also a sub-optimal mission planning algorithm based on a dynamic clustering of the targets in order to have a less myopic view of the entire scenario. The procedure is feasible in terms of total computational load, with respect to an optimal solution, which is known to be NP-hard and not achievable in polynomial time.
ADA460704
Operational Effectiveness Modeling of Intelligent Systems
Descriptive Note: Conference paper
Personal Author(s): Kerr, Michael
Report Date: Jun 2006
Media Count: 5 Page(s)
Descriptors: (U) *MODELS, *AUTONOMOUS NAVIGATION, *COMBAT SIMULATION, SYMPOSIA, OPERATIONAL EFFECTIVENESS, UNMANNED, GROUND VEHICLES, ARTIFICIAL INTELLIGENCE
Identifiers: (U) *INTELLIGENT SYSTEMS
Abstract: (U) As the Army pushes ahead with the development of intelligent vehicle systems, TARDEC is working to meet these challenges by developing platforms with greater autonomy. Using TRADOC's CASTFOREM model, the Army's premier ground combat simulation model, my office provides operational effectiveness analysis to quantify the battlefield effectiveness of TARDEC concepts. This paper will first review our past efforts to provide operational effectiveness analysis to TARDEC's intelligent vehicle programs. A few years ago, our office performed a comprehensive evaluation of TARDEC's RAVE concepts, evaluating the effectiveness of semi- and fully-autonomous platforms. The paper will then discuss the many challenges associated with modeling autonomous and semi-autonomous platforms. These challenges are related to the platform's behaviors and the unique threats faced by unmanned platforms.
ADA473311
Serious Gaming Technologies Support Human Factors Investigations of Advanced Interfaces for Semi-Autonomous Vehicles
Descriptive Note: Conference paper
Personal Author(s): Stone, Robert, Guest, Robert, Ch'ng, Eugene, McCririe, Christopher, Collis, Christopher, Mannur, Rama, Rehmi, Imran
Report Date: Jun 2006
Media Count: 21 Page(s)
Descriptors: (U) *HUMAN FACTORS ENGINEERING, *UNMANNED, *VEHICLES, *GAME THEORY, SYMPOSIA, REMOTE SYSTEMS, SOFTWARE TOOLS, UNITED KINGDOM, ROBOTICS, AUTONOMOUS NAVIGATION, TEST BEDS, INTERFACES
Identifiers: (U) *GAMING TECHNOLOGIES, *UNINHABITED VEHICLES, UAV(UNMANNED AERIAL VEHICLES), NATO FURNISHED, FOREIGN REPORTS
Abstract: (U) Since the advent of highly capable uninhabited vehicles, notably in the application domains of offshore oil/gas exploration and defence, attention has increasingly focused on the development of technologies necessary to endow remote systems with complete autonomy. However, this approach has not met with widespread success. Operational experiences frequently point to the fact that the human operator still has a significant role to play in the future of uninhabited vehicles, as part of a control continuum that ranges from direct teleoperation during critical mission phases and recovery modes of control to the high-level supervision of single or multiple platforms. However, few (if any) usable guidelines and/or affordable experimental test beds exist to help ensure that human factors issues are adopted early in the design lifecycle of uninhabited systems. To help redress this situation, research under way within the University of Birmingham and the UK's Human Factors Integration Defence Technology Centre has resulted in the development of an experimental Synthetic Environments technology demonstrator test bed, codenamed Alchemy. The test bed is designed to support the generation of new human factors knowledge relating (initially) to operator display and control requirements for uninhabited vehicles, such as iSTAR UAVs (Intelligence, Surveillance, Target Acquisition & Reconnaissance Uninhabited Air Vehicles), deployed in support of homeland security operations or urban combat. The test bed has evolved from an early PC demonstrator, exploiting the Microsoft DirectX Application Programming Interface and .NET framework, to one that now exploits the power, quality and support of software tools emerging from the serious gaming community. This evolution is also helping to support the exploitation of serious games technologies in other defence applications, from close-range weapons training to military surgery.
ADA449484
Using Advanced Computer Vision Algorithms on Small Mobile Robots
Descriptive Note: Conference paper
Personal Author(s): Kogut, G, Birchmore, F, Pacis, E B, Everett, H R
Report Date: 20 Apr 2006
Media Count: 14 Page(s)
Descriptors: (U) *ALGORITHMS, *ROBOTS, *COMPUTER VISION, SYMPOSIA, MOTION DETECTORS, COLLABORATIVE TECHNIQUES, THERMAL IMAGES, DATA FUSION, AUTONOMOUS NAVIGATION
Identifiers: (U) UGV(UNMANNED GROUND VEHICLES), UAV(UNMANNED AIR VEHICLES), CAR/LICENSE PLATE DETECTION, SIFT(SCALE-INVARIANT FEATURE TRANSFORM), COMPONENT REPORTS
Abstract: (U) The Technology Transfer project employs a spiral development process to enhance the functionality and autonomy of mobile robot systems in the Joint Robotics Program (JRP) Robotic Systems Pool by converging existing component technologies onto a transition platform for optimization. An example of this approach is the implementation of advanced computer vision algorithms on small mobile robots. We demonstrate the implementation and testing of the following two algorithms useful on mobile robots: (1) object classification using a boosted Cascade of classifiers trained with the Adaboost training algorithm, and (2) human presence detection from a moving platform. Object classification is performed with an Adaboost training system developed at the University of California, San Diego (UCSD) Computer Vision Lab. This classification algorithm has been used to successfully detect the license plates of automobiles in motion in real-time. While working towards a solution to increase the robustness of this system to perform generic object recognition, this paper demonstrates an extension to this application by detecting soda cans in a cluttered indoor environment. The human presence detection from a moving platform system uses a data fusion algorithm which combines results from a scanning laser and a thermal imager. The system is able to detect the presence of humans while both the humans and the robot are moving simultaneously. In both systems, the two aforementioned algorithms were implemented on embedded hardware and optimized for use in real-time. Test results are shown for a variety of environments.
ADA449463
Autonomous Navigation and Obstacle Avoidance for Unmanned Surface Vehicles
Descriptive Note: Conference paper
Personal Author(s): Larson, Jacoby, Bruch, Michael, Ebken, John
Report Date: 20 Apr 2006
Media Count: 13 Page(s)
Descriptors: (U) *UNMANNED, *AUTONOMOUS NAVIGATION, *BOATS, ROBOTICS, AVOIDANCE
Identifiers: (U) USV(UNMANNED SURFACE VEHICLES), WAYPOINT NAVIGATION, PATH PLANNING, REACTIVE AVOIDANCE, DIGITAL NAUTICAL CHARTS, OBSTACLE AVOIDANCE, STEREO VISION, SURFACE VEHICLES
Abstract: (U) The US Navy and other Department of Defense (DoD) and Department of Homeland Security (DHS) organizations are increasingly interested in the use of unmanned surface vehicles (USVs) for a variety of missions and applications. In order for USVs to fill these roles, they must be capable of a relatively high degree of autonomous navigation. Space and Naval Warfare Systems Center, San Diego is developing core technologies required for robust USV operation in a real-world environment, primarily focusing on autonomous navigation, obstacle avoidance, and path planning.
ADA449449
Joint Robotics Program (JRP)-Supported Efforts at the Space and Naval Warfare Systems Center, San Diego
Descriptive Note: Conference paper
Personal Author(s): Nguyen, Hoa G, Everett, H R
Report Date: Apr 2006
Media Count: 12 Page(s)
Descriptors: (U) *ROBOTICS, *UNDERWATER VEHICLES, *COMBAT SUPPORT, *NAVAL OPERATIONS, *MANPORTABLE EQUIPMENT, DEPLOYMENT, DETECTION, NAVAL WARFARE, AUTONOMOUS NAVIGATION, UNMANNED, TECHNOLOGY TRANSFER, DETECTORS, QUICK REACTION, SYMPOSIA
Identifiers: (U) *JOINT ROBOTIC PROGRAM, JRP(JOINT ROBOTIC PROGRAM), UAV(UNMANNED UNDERWATER VEHICLES), ODOA(OBSTACLE DETECTION/OBSTACLE AVOIDANCE), *MANPORTABLE ROBOTIC SYSTEMS
Abstract: (U) The Space and Naval Warfare Systems Center, San Diego (SSC San Diego) is conducting a number of robotics research, development, evaluation, fielding, and combat-support missions and projects in support of Joint Robotics Program (JRP) goals. These include: Man-Portable Robotic System, Unmanned Surface Vessel, Automatically Deployed Communication Relays, Autonomous UAV Mission System, Robotic Systems Pool, Family of Integrated Rapid Response Equipment, and the Technology Transfer project. This paper summarizes the recent accomplishments and current status of these efforts, many of which are individually presented in more detail elsewhere at this conference.
ADA446662
Biologically-Inspired Microrobots. Volume 3. Micro-Robot Based on Abstracted Biological Principles
Descriptive Note: Final rept. Jun 1998-Sep 2002
Personal Author(s): Quinn, Roger D, Ritzmann, Roy E, Morrey, Jeremy, Horchler, Andrew
Report Date: Apr 2006
Media Count: 61 Page(s)
Descriptors: (U) *ROBOTICS, *DETECTORS, *ROBOTS, *MICROELECTROMECHANICAL SYSTEMS, VELOCITY, AUTONOMOUS NAVIGATION, POLYSILICONS, LEGS, CLIMBING, CILIA, LOCOMOTION, APPENDAGES, BLATTIDAE, JOINTS, MONOLITHIC STRUCTURES(ELECTRONICS), MICROELECTRONICS, COMPUTER PROGRAMS, MOBILITY
Identifiers: (U) *BIOLOGICALLY INSPIRED, BIOLOGICAL PRINCIPLES, DESIGN(ENGINEERING), DIAGONAL GAIT, LEGGED VEHICLES, ROBOTIC VEHICLES, WHEEL-LEG APPENDAGES, *MICRO-ROBOTS, BLABERUS DISCOIDALIS COCKROACHES
Abstract: (U) This is one of three reports on the study of micro-robots. This document describes the development of novel highly mobile small robots called "Mini-Whegs" that can run and jump. They are derived from our larger Whegs series of robots, which benefit from abstracted cockroach locomotion principles. Key to their success are the three-spoke appendages, called wheel-legs, which combine the speed and simplicity of wheels with the climbing mobility of legs. Mini-Whegs use four wheel-legs to run in an alternating diagonal gait. These approximately 3-inch-long robots can move at sustained speeds of over 10 body lengths per second and can run over obstacles that are taller than their leg length. They can run forward and backward, and on either side. Their robust construction allows them to tumble down a flight of stairs with no damage and carry a payload equal to twice their weight. A jumping mechanism has also been developed that enables Mini-Whegs to surmount much larger obstacles such as stair steps. A second report (NATICK/TR-05/010) focuses on robots based on crickets, and a third (NATICK/TR-05/011) focuses on the investigation of a micro-joint angle sensor using MEMS Cilia.
ADA446093
Decentralized Control of Multiple Autonomous Underwater Vehicles
Descriptive Note: Final rept. 1 Jun 2003-31 Dec 2005
Personal Author(s): Edwards, Dean B
Report Date: 29 Mar 2006
Media Count: 10 Page(s)
Descriptors: (U) *POSITION(LOCATION), *ROBOTICS, *CONTROL SYSTEMS, *AUTONOMOUS NAVIGATION, *FORMATION FLIGHT, *ACOUSTIC COMMUNICATIONS, *UNDERWATER VEHICLES, ALGORITHMS, HYDROPHONES, PLATOON LEVEL ORGANIZATIONS, DECENTRALIZATION, UNDERWATER NAVIGATION, MAN MACHINE SYSTEMS, COMPUTERIZED SIMULATION, PERFORMANCE(ENGINEERING), POSITION FINDING, UNMANNED
Identifiers: (U) *AUV(AUTONOMOUS UNDERWATER VEHICLES), UUV(UNMANNED UNDERWATER VEHICLES), *FORMATION CONTROL ALGORITHMS, LEADER-FOLLOWER ALGORITHMS, LBL(LONG BASE LINE)
Abstract: (U) The authors investigated approaches for designing the control and communication structure for fleets of autonomous underwater vehicles. They developed human-operated surface ships to provide an inexpensive method for testing these algorithms for possible use on fleets of multiple vehicles. The testing was performed at the NSWCCD ARD in Bayview, Idaho; it demonstrated a formation control algorithm that minimizes the communication needed to maintain formation. The system is a variation of a leader-follower formation where the leader periodically broadcasts its position to all the vehicles. This formation was shown to be robust and tolerant to loss of communication or the loss of any vehicle including the leader in computer simulations with a program developed at NAVSEA CSS called ALWSE-MC. The simulations show that the algorithm can be expanded to control a large number of vehicles. Preliminary measurements and analysis of the performance of a two-hydrophone sensor were performed. This sensor can be used to provide an update of the leader's location every time the leader pings for navigation or communicates in any way.
ADA446909
A Monocular Vision Based Approach to Flocking
Descriptive Note: Master's thesis
Personal Author(s): Kirchner, Brian P
Report Date: Mar 2006
Media Count: 81 Page(s)
Descriptors: (U) *VELOCITY, *ALGORITHMS, *ROBOTICS, *IMAGE PROCESSING, *DRONES, *BIONICS, *FORMATION FLIGHT, *CONTROL SYSTEMS, COMPUTER PROGRAMS, THESES, BEHAVIOR, BIOMIMETICS, TURNING FLIGHT, COLLISION AVOIDANCE, BIRDS, VECTOR SPACES, CAMERAS, ROBOTS, COMPUTERIZED SIMULATION, NEURAL NETS, LOW COSTS, POSITION(LOCATION)
Identifiers: (U) *FLOCKING, *MONOCULAR VISION, *UAV(UNMANNED AERIAL VEHICLES), SWARMING, CONTROL ALGORITHMS, VELOCITY VECTORS, VELOCITY UPDATE, AUTONOMOUS ROBOTS, VISUAL IMAGING, BIRD BEHAVIOR, P2-AT8 AIRCRAFT, COLOR EXTRACTION, FORMATION CONTROL
Abstract: (U) Flocking is seen in nature as a means for self protection, more efficient foraging, and other search behaviors. Although much research has been done regarding the application of this principle to autonomous vehicles, the majority of the research has relied on GPS information, broadcast communication, an omniscient central controller, or some other form of "global" knowledge. This approach, while effective, has serious drawbacks, especially regarding stealth, reliability, and biological grounding. This research effort uses three Pioneer P2-AT8 robots to achieve flocking behavior without the use of global knowledge. The sensory inputs are limited to two cameras, offset such that the area of stereo vision is minimal, thus making stereo image analysis techniques effectively impossible, but allowing a much larger effective field of vision. The flocking algorithm analyzes these images and updates each robot's velocity vector according to the relative position, heading, and speed of its nearest neighbor. The result of this velocity update is an eventual stabilization of speed and heading, resulting in a coherent, stable flock, demonstrated in both software simulation and in hardware.
ADA451288
Development of Autonomous Unmanned Aerial Vehicle Platform: Modeling, Simulating, and Flight Testing
Descriptive Note: Master's thesis
Personal Author(s): Jodeh, Nidal M
Report Date: Mar 2006
Media Count: 202 Page(s)
Descriptors: (U) *SURVEILLANCE DRONES, FLIGHT TESTING, EXPERIMENTAL DESIGN, TRACKING, THESES, DEGREES OF FREEDOM, SOFTWARE TOOLS, SELF OPERATION, FLIGHT ENVELOPE, AUTOMATIC PILOTS, OPEN LOOP SYSTEMS, AERODYNAMICS
Identifiers: (U) AUTONOMOUS NAVIGATION, MODELING, FLIGHT SIMULATION, UAV FLIGHT TESTING, PICCOLO DRONES, MATLAB COMPUTER PROGRAM, SIMULINK
Abstract: (U) The Advanced Navigation Technology (ANT) Center at the Air Force Institute of Technology (AFIT) conducts extensive research in advanced guidance, navigation, and control to exploit the full potential of autonomous Unmanned Aerial Vehicles (UAV). The research in this thesis describes a UAV research platform developed to support the ANT Center?s goals. This platform is now the bedrock for UAV simulation and local flight test at AFIT. The research has three major components. The first component is development of a physical, inertial, and aerodynamic model representing an existing aircraft. A systematic analysis of the airframe leads to a complete geometric, inertial, and aerodynamic representation. The airframe analysis included the use of USAF Digital Datcom, an aerodynamic modeling software tool. Second is the development and implementation of a non-linear, six degree of freedom simulation, employing the developed model. Constructed in Matlab/SIMULINK, the simulation enables control design and pre-flight analysis through out the entire flight envelope. Detailed post-flight analysis was also performed in Matlab/SIMULINK. Additionally, Hardware in the Loop benchmark simulation was constructed and used for initial flight test plans as well as test team training. The third and final component of the research was an experimental flight test program. Both open loop and autonomous flights were conducted. Openloop flights characterized the aircraft dynamics for comparison with the Matlab simulation results. Autonomous flights tuned the autopilot controller through waypoint tracking in preparation for future advanced navigation research and provided data for Hardware in the Loop simulation validation. This report, along with other significant legacy documentation and procedures, builds the foundation from which future AFIT and ANT Center UAV simulations and flight tests are based.
ADA449408
Mobile Detection Assessment and Response Systems (MDARS): A Force Protection, Physical Security Operational Success
Personal Author(s): Shoop, Brian, Johnston, Michael, Goehring, Richard, Moneyhun, Jon, Skibba, Brian
Report Date: Jan 2006
Media Count: 12 Page(s)
Descriptors: (U) *ROBOTICS, *UNMANNED, *AUTONOMOUS NAVIGATION, *GROUND VEHICLES, TEST AND EVALUATION, MOTION DETECTORS, EARLY WARNING SYSTEMS, COMBAT SUPPORT, INTRUSION DETECTION, NIGHT VISION DEVICES
Identifiers: (U) *MDARS(MOBILE DETECTION ASSESSMENT AND RESPONSE SYSTEMS), FORCE PROTECTION, PHYSICAL SECURITY, UNMANNED GROUND VEHICLES, FIRRE(FAMILY OF INTEGRATED RAPID RESPONSE EQUIPMENT), REDCAR(REMOTE DETECTION CHALLENGE AND RESPONSE)
Abstract: (U) MDARS is a semi-autonomous unmanned ground vehicle with intrusion detection & assessment, and product & barrier assessment payloads. Its functions include surveillance, security, early warning, incident first response and product and barrier status primarily focused on a depot/munitions security mission at structured/semi-structured facilities. MDARS is in Systems Development and Demonstration (SDD) under the Product Manager for Force Protection Systems (PMFPS). MDARS capabilities include semi-autonomous navigation, obstacle avoidance, motion detection, day and night imagers, radio frequency tag inventory/barrier assessment and audio challenge and response. Four SDD MDARS Patrol Vehicles have been undergoing operational evaluation at Hawthorne Army Depot, NV (HWAD) since October 2004. Hawthorne personnel were trained to administer, operate and maintain the system in accordance with the US Army Military Police School (USAMPS) Concept of Employment and the PM-FPS MDARS Integrated Logistic Support Plan. The system was subjected to intensive periods of evaluation under the guidance and control of the Army Test and Evaluation Center (ATEC) and PM-FPS. Significantly, in terms of user acceptance, the system has been under the operational control of the installation performing security and force protection missions in support of daily operations. This evaluation is intended to assess MDARS operational effectiveness in an operational environment. Initial observations show that MDARS provides enhanced force protection, can potentially reduce manpower requirements by conducting routine tasks within its design capabilities and reduces Soldier exposure in the initial response to emerging incidents and situations.
ADA447872
Path Planning in Three Dimensional Environment Using Feedback Linearization (Preprint)
Descriptive Note: Technical rept. 1 May 2005-15 Jan 2006
Personal Author(s): Schumacher, Corey J, anchanavally, Shreecharan, Ordonez, Raul
Report Date: Jan 2006
Media Count: 9 Page(s)
Descriptors: (U) *LINEAR SYSTEMS, *CONTROL SYSTEMS, *PLANNING, *POSITION FINDING, *FLIGHT PATHS, *COLLISION AVOIDANCE, *DRONES, *FEEDBACK, ALGORITHMS, SCENARIOS, LYAPUNOV FUNCTIONS, FORMATION FLIGHT, COOPERATION, AUTONOMOUS NAVIGATION, ROBOTS, THREE DIMENSIONAL, MULTIPLE TARGETS, STABILITY, SYMPOSIA, ROBOTICS
Identifiers: (U) *UAV(UNMANNED AERIAL VEHICLES), *FEEDBACK LINEARIZATION, MULTIPLE UAVS, PATH PLANNING, FEEDBACK CONTROL, MIMO(MULTI INPUT MULTI OUTPUT), FEEDBACK LINEAR CONTROL, ERROR DYNAMICS, SINGLE TARGETS, REPULSIVE FORCE, STABILITY ANALYSIS
Abstract: (U) This paper presents a control scheme via feedback linearization for three-dimensional cooperative path planning of a class of interconnected systems in general, and unmanned aerial vehicles (UAVs) in particular. It is shown that the feedback linearization technique along with a distance varied repulsive profile allows UAVs to converge to the invariant set of a known target location without colliding with other vehicles. Lyapunov stability analysis shows the conditions under which such systems are stable. Also a task assignment algorithm, which is a function of distance between the UAVs and the target, is proposed for dealing with multi-UAV and multi-target scenarios.
ADA446345
Agent-Based Cooperative Control
Descriptive Note: Final rept., 3 Jun-30 Sep 2005
Personal Author(s): Barth, Eric J
Report Date: Dec 2005
Media Count: 23 Page(s)
Descriptors: (U) *CONTROL, *ROBOTS, *REMOTELY PILOTED VEHICLES, *COLLABORATIVE TECHNIQUES, *COOPERATION, MOVING TARGETS, AUTONOMOUS NAVIGATION, FIELD THEORY, LYAPUNOV FUNCTIONS, POTENTIAL THEORY
Identifiers: (U) UAV(UNMANNED AERIAL VEHICLES), OPTIMAL RETURN FUNCTION
Abstract: (U) This report addresses the formulation of a general theoretical framework for issues unique to cooperative control. The approach taken is to unify the fundamental principles of control Lyapunov functions, potential field theory, and the so-called optimal return function. These three principles are woven together to achieve an analytically vigorous formulation that addresses the required functionality of cooperative control problems. The development is prepared in the context of a multiple UAV cooperative ground moving target engagement scenario.
ADA439358
Design and Operational Aspects of Autonomous Unmanned Combat Aerial Vehicles
Descriptive Note: Master's Thesis
Personal Author(s): Baggesen, Arne
Report Date: Sep 2005
Media Count: 99 Page(s)
Descriptors: (U) *DATA PROCESSING, *UNMANNED, *COMBAT VEHICLES, COMPUTER PROGRAMS, WEAPON SYSTEMS, ADVANCED WEAPONS, AUTONOMOUS NAVIGATION, THESES, DAMAGE ASSESSMENT, MATHEMATICAL MODELS
Identifiers: (U) UCAV(UNMANNED COMBAT AERIAL VEHICLES), AUTONOMOUS, MARCOV MODELS, SIMULTANEOUS ATTACKS.
Abstract: (U) A family of advanced weapon systems that deserves special attention comprises aerial autonomous weapons called Unmanned Combat Aerial Vehicles (UCAVs), which are characterized by the ability to loiter in the target area, sense the targets, acquire the targets, and then engage them. Modeling this combination of capabilities in a specific operational setting is necessary for addressing design and operational issues of this weapon. This work focuses on the development of an analytic probability model that captures key aspects of the autonomous weapon systems engagement process. Special attention is given to simultaneous attack occurrences, imperfect battle damage assessment, and attack coordination properties. The model is a continuous-time Markov Chain and for its implementation a state generator and an algorithm that computes the transition and limiting probabilities has been developed and programmed in Java based software. The Markovmodel derives values for several measures of effectiveness (MOEs), and the average engagement time. Different operational scenarios and design configurations are examined in a sample analysis to demonstrate the model s capabilities. Tradeoffs among sensing, data processing capabilities, vulnerability and lethality of UCAVs are explicitly represented with respect to selected MOEs.
ADA438400
Establishment of a System Operating Characteristic for Autonomous Wide Area Search Vehicles
Descriptive Note: Doctoral thesis
Personal Author(s): Kish, Brian A
Report Date: Sep 2005
Media Count: 161 Page(s)
Descriptors: (U) *OPTIMIZATION, *ATTACK, *SEARCHING, *DRONES, *TARGET DETECTION, *CONTROL THEORY, *TARGET CLASSIFICATION, SCENARIOS, DAMAGE CONTROL, COLLATERAL DAMAGE, MEASURES OF EFFECTIVENESS, SMART WEAPONS, MULTIPLE TARGETS, PROBABILITY DENSITY FUNCTIONS, AREA COVERAGE, FALSE TARGETS, MOVING TARGETS, COMBAT EFFECTIVENESS
Identifiers: (U) ROC(RECEIVER OPERATING CHARACTERISTIC), *SOC(SYSTEM OPERATING CHARACTERISTIC), UAV(UNMANNED AERIAL VEHICLES), UCAV(UNMANNED COMBAT AERIAL VEHICLES), ATR(AUTOMATIC TARGET RECOGNITION), STATIONARY TARGETS, APPLIED PROBABILITY THEORY, *OPTIMAL CONTROL, SENSOR THRESHOLD, AUTONOMOUS MUNITIONS, AUTONOMOUS SENSOR CRAFT, TRUE POSITIVE FRACTION, FALSE POSITIVE FRACTION
Abstract: (U) The optimal employment of autonomous search and destroy vehicles is addressed. The results apply to air, land, or water vehicles with 1, k, or infinite warheads. The specific scenarios considered involve an air vehicle searching a battle space for stationary targets in the presence of false targets. Encounters are modeled with uniform, Poisson, and normal distributions. Linear and circular search patterns are examined. All relevant parameters are extracted from intelligence information, the sensor performance specification, and the air vehicle performance specification. Analytic system effectiveness measures are derived using applied probability theory. The effectiveness measures derived in this dissertation handle time-varying parameters that characterize the battle space environment and the performance of the system. This allows the formulation and solution of optimization problems that maximize the probability of target attacks while at the same time constraining the probability of false target attacks. Optimal schedules for controlling sensor threshold and area coverage rate during a mission are derived and compared to the constant-parameter results. These schedules establish a system operating characteristic. An increase in system effectiveness is demonstrated when parameters are dynamically controlled during a mission. Plots depicting sensitivity to the constraint on false target attacks and sensitivity to the number of warheads are generated to give decision makers the complete trade space for either designing new systems or operating existing systems.
ADA437212
Real Time Trajectory Planning for Groups of Unmanned Vehicles
Descriptive Note: Final technical rept., 1 Jun 2004-31 May 2005
Personal Author(s): Fahimi, Farbod
Report Date: 22 Aug 2005
Media Count: 18 Page(s)
Descriptors: (U) *CONTROL SYSTEMS, *REAL TIME, *UNMANNED, *SURFACE EFFECT VEHICLES, *REMOTELY PILOTED VEHICLES, *TRAJECTORIES, SIMULATION, AUTONOMOUS NAVIGATION, FEEDBACK, NONLINEAR SYSTEMS, ROBOTICS
Identifiers: (U) FORMATION CONTROL, USV(UNMANNED SURFACE VEHICLES), DECENTRALIZED CONTROL, INPUT-OUTPUT LINEARIZATION, 04PR11370-00
Abstract: (U) Feedback control laws for controlling multiple unmanned surface vehicles in arbitrary formations are proposed. The presented formation control method uses only local sensor-based information. The method of input/ output linearization has been used to exponentially stabilize the relative distance and orientation of neighboring vehicles with a three-degree-of-freedom dynamic model. It is shown that the internal dynamics of the system is also stable. The use of these control laws is demonstrated by computer simulations. These controllers can be utilized to control an arbitrarily large number of unmanned vehicles moving in very general formations.
ADA445137
Path Planning by Unmanned Air Vehicles for Engaging an Integrated Radar Network
Personal Author(s): Larson, Reid A, Pachter, Meir, Mears, Mark J
Report Date: Aug 2005
Media Count: 17 Page(s)
Descriptors: (U) *COMPUTERIZED SIMULATION, *INTEGRATED SYSTEMS, *RADAR TRACKING, *NETWORKS, *DRONES, ALGORITHMS, FLIGHT, UNMANNED, CASUALTIES, NOISE JAMMING, COUNTERMEASURES, DECEPTION, SIMPLIFICATION, ELECTRONIC COUNTERMEASURES, AUTONOMOUS NAVIGATION, JAMMING, PLANNING, PATHS, DETECTION, OPTIMIZATION, POSITION(LOCATION)
Identifiers: (U) UNMANNED AIR VEHICLES, UAV(UNMANNED AIR VEHICLES)
Abstract: (U) A growing concept in the field of unmanned air vehicles (UAVs) is the idea of using a team of cooperating vehicles to participate in electronic countermeasures, defined here as jamming or deception techniques. A UAV may be tasked to engage a radar using noise jamming to mask its radar return or that of another vehicle. Similarly, a UAV may be assigned to deceive a radar by directing a delayed signal toward the victim radar, which has the effect of producing a radar phantom perceived by the radar as an object at a false range and/or bearing. Previous work focused on generating a set of waypoints for the UAV to follow in order the countermeasures to be successful. This paper addresses the path planning required to meet the temporal, spatial, and UAV flight dynamics constraints associated with employing these electronic countermeasures, especially between jamming and deception activities. The UAVs are assigned simplified flight dynamics and performance constraints in two-dimensions, assuming constant altitude flight over a flat-surfaced earth. All tracking radars are given simplified detection properties. A single UAV is provided a pre-determined series of "goal positions." The goal positions may lie along a countermeasure's pre-planned course or they may be established such that the UAV moves from the final waypoint of one countermeasure to the starting point of the next countermeasure. Therefore the UAV must autonomously navigate to a given goal position, subsequently perform a simple, associated task (countermeasure, if required), then navigate the next goal position in the series. The will be required to arrive at these waypoints with a specific state, depending on the task at hand. Algorithms for optimal autonomous navigation of this nature were formulated to effectively guide the UAVs to their goal positions to meet the necessary temporal and spatial requirements.
ADA437347
Cooperative Tracking of Moving Targets by Teams of Autonomous Unmanned Air Vehicles
Descriptive Note: Final rept. Sep 2004-Jul 2005
Personal Author(s): Morris, Stephen, Frew, Eric W, Jones, Henry
Report Date: 14 Jul 2005
Media Count: 43 Page(s)
Descriptors: (U) *MOVING TARGETS, *TRACKING, *AUTONOMOUS NAVIGATION, CONTROL SYSTEMS, CAMERAS, FLIGHT PATHS, GROUND VEHICLES, SELF OPERATION, UNMANNED, DETECTORS
Identifiers: (U) *UAV(UNMANNED AERIAL VEHICLE)
Abstract: (U) This report summarizes work by the MLB Company (industry partner) and the Research and Engineering Center for Unmanned Vehicles at the University of Colorado at Boulder (CU) (research institution partner) on the cooperative tracking of moving targets by teams of autonomous unmanned air vehicles. This work was performed between September 2004 and July 2005. The following future scenario provides the motivation for this work: A ground vehicle moves at high speed along a mountain road, away from a town where it committed a hit- and-run attack on a group of civilians. The US military forces want to find the attackers and follow them to their hideout. Multiple unmanned aerial vehicles (UAVs) are sent to the area where the attackers were reported to have retreated. One of the UAVs identifies the attackers' vehicle based on reports from the civilians and notifies nearby UAVs of its location. The UAVs alter their flight paths relative to that point, with some moving ahead of the vehicle and others maintaining position near it - without attracting attention from the attackers. As the attackers move through the region, responsibility for direct sensing passes from one UAV to another to always keep the target in sight. Through collaboration, autonomous unmanned air vehicles were able to complete tasks that each could not have done alone.
ADA442435
Exploration of Potential Future Fleet Architectures
Descriptive Note: Final rept. May 2004-Apr 2005
Personal Author(s): Greer, William L, Kaufman, Alfred I, Levine, Daniel B, Nakada, Daniel Y, Nance, Jack F
Report Date: Jul 2005
Media Count: 311 Page(s)
Descriptors: (U) *NAVAL AIRCRAFT, *FLEETS(SHIPS), *NAVAL ARCHITECTURE, *NAVAL VESSELS(COMBATANT), *SUBMARINES, *TRANSFORMATIONS, REQUIREMENTS, QUANTITATIVE ANALYSIS, UNDERWATER VEHICLES, PLATFORMS, GEOPOLITICS, VERTICAL TAKEOFF AIRCRAFT, SMALL SHIPS, DRONES, AIRCRAFT CARRIERS, UNMANNED, MILITARY CAPABILITIES, SURVIVABILITY, COST ANALYSIS, NAVY
Identifiers: (U) *FUTURE FLEET ARCHITECTURES, *ALTERNATIVE FLEET ASSESSMENT, ALTERNATIVE NAVAL FLEETS, FORCE TRANSFORMATION, FUTURE NAVAL WARFIGHTING, HIGH-SPEED NAVAL CRAFT, NAVAL CAPABILITIES, BUDGET CONSTRAINTS, YEAR 2030, FLEXIBILITY, ADAPTABILITY, AGILITY, SPEED, INFORMATION DOMINANCE, UAV(UNMANNED AERIAL VEHICLES), USV(UNMANNED SURFACE VEHICLES), AUV(AUTONOMOUS UNDERSEA VEHICLES), PROGRAMMED FLEET, CSG(CARRIER STRIKE GROUPS), ESG(EXPEDITIONARY STRIKE GROUPS), SSG(SURFACE STRIKE GROUPS), ASYMMETRIC WARFARE, SYMMETRIC WARFARE, UUV(UNMANNED UNDERWATER VEHICLES), RHIB(RIGID HULL INFLATABLE BOATS), SPARTAN SCOUT, REMUS VEHICLE, BLUEFIN BPAUV, SEAHORSE VEHICLE, RMS(REMOTE MINEHUNTING SYSTEM), SLOCUM GLIDERS, NEPTUNE UAV, EAGLE EYE UAV, RQ-8A AIRCRAFT, FIRE SCOUT UAV
Abstract: (U) The Congress directed the Secretary of Defense to provide two studies on the future fleet architectures by January 2005. One study was to be conducted by one of the Federally Funded Research and Development Centers (FFRDCs), and the other by the Office of Force Transformation (OFT) within the Office of the Secretary of Defense (OSD). The two studies were to be conducted independently and to be cognizant of projected and programmed naval platforms, but not to be constrained by them. The Center for Naval Analyses (CNA) was selected to conduct the FFRDC study. To assist in the OFT study, the sponsor requested several organizations, including the Institute for Defense Analyses (IDA), to provide inputs. After receiving and deliberating on these inputs, the OFT produced a report in January 2005 for the Congress. This IDA document, written as a stand-alone report, served as one input to the OFT report. Some of the OFT report findings are drawn from analyses described in this document. Nonetheless, the results found here represent the views of IDA and not necessarily those of the OFT.
ADA437215
Explicit Building Block Multiobjective Evolutionary Computation: Methods and Applications
Descriptive Note: Doctoral thesis
Personal Author(s): Day, Richard O
Report Date: 16 Jun 2005
Media Count: 498 Page(s)
Descriptors: (U) *ALGORITHMS, *OPTIMIZATION, *COMPUTATIONS, *PROBLEM SOLVING, METHODOLOGY, MILITARY APPLICATIONS, CONVERGENCE, DRONES, DECEPTION, STATISTICAL ANALYSIS, EVOLUTION(GENERAL), NEURAL NETS, STOCHASTIC PROCESSES, VALIDATION, THESES
Identifiers: (U) *MOEA(MULTIOBJECTIVE EVOLUTIONARY ALGORITHMS), *MOPS(MULTIOBJECTIVE OPTIMIZATION PROBLEMS), MULTIOBJECTIVE BUILDING BLOCKS, PROTEIN STRUCTURE PREDICTION, EVOLUTIONARY COMPUTATIONS, EVOLUTIONARY ALGORITHMS, GENETIC ALGORITHMS, MOMGA(MULTIOBJECTIVE MESSY GENETIC ALGORITHMS), INTELLIGENT EVOLUTIONARY ALGORITHMS, OAV(ORGANIC AIR VEHICLES), QAP(QUADRATIC ASSIGNMENT PROBLEMS), UAV(UNMANNED AERIAL VEHICLES)
Abstract: (U) This dissertation presents principles, techniques, and performance of evolutionary computation optimization methods. Concentration is on concepts, design formulation, and prescription for multiobjective problem solving and explicit building block (BB) multiobjective evolutionary algorithms (MOEAs). Current state-of-the-art explicit BB MOEAs are addressed in the innovative design, execution, and testing of a new multiobjective explicit BB MOEA. Evolutionary computation concepts examined are algorithm convergence, population diversity and sizing, genotype and phenotype partitioning, archiving, BB concepts, parallel evolutionary algorithm (EA) models, robustness, visualization of evolutionary process, and performance in terms of effectiveness and efficiency. The main result of this research is the development of a more robust algorithm where MOEA concepts are implicitly employed. Testing shows that the new MOEA can be more effective and efficient than previous state-of-the-art explicit BB MOEAs for selected test suite multiobjective optimization problems (MOPs) and U.S. Air Force applications. Other contributions include the extension of explicit BB definitions to clarify the meanings for good single and multiobjective BBs. A new visualization technique is developed for viewing genotype, phenotype, and the evolutionary process in finding Pareto front vectors while tracking the size of the BBs. The visualization technique is the result of a BB tracing mechanism integrated into the new MOEA that enables one to determine the required BB sizes and assign an approximation epistasis level for solving a particular problem. The culmination of this research is explicit BB state-of-the-art MOEA technology based on the MOEA design, BB classifier type assessment, solution evolution visualization, and insight into MOEA test metric validation and usage as applied to test suite, deception, bioinformatics, unmanned vehicle flight pattern, and digital symbol set design MOPs.
ADA436654
Dynamic Action Spaces for Autonomous Search Operations
Descriptive Note: Master's thesis
Personal Author(s): Earnest, Caleb A
Report Date: Jun 2005
Media Count: 151 Page(s)
Descriptors: (U) *UNDERWATER VEHICLES, *UNMANNED, *AUTONOMOUS NAVIGATION, *TARGET DETECTION, DECISION MAKING, DECISION SUPPORT SYSTEMS, BEARING(DIRECTION), KALMAN FILTERING, THESES, PROBLEM SOLVING
Identifiers: (U) *UUV(UNMANNED UNDERSEA VEHICLE), PARTICLE FILTERS
Abstract: (U) This thesis presents a new approach for a Navy unmanned undersea vehicle (UUV) to search for and detect an evading contact. This approach uses a contact position distribution from a generic particle filter to estimate the state of a single moving contact and to plan the path that minimizes the uncertainty in the location of the contact. The search algorithms introduced in this thesis will implement a motion planner that searches for a contact with the following information available to the decision system: (1) null measurement (i.e., contact not detected at current time), (2) timedated measurement (i.e., clue found at current time that indicates contact was at this location in the past), and (3) bearings measurement (i.e., angular measurement towards contact position detected at current time). The results of this thesis will be arrived at by evaluating the best methods to utilize the three types of information. The underlying distribution of the contact state space will be modeled using a generic particle filter, due to the highly non-Gaussian distributions that result from the conditions mentioned above. Using the particle filter distribution and the measurements acquired from the three conditions, this thesis will work towards implementing a path planning algorithm that creates dynamic action spaces that evaluate the uncertainty of position distribution. Ultimately, the path planner will choose the path that contains the position distribution and leads to sustained searches.
ADA464978
Pedestrian Detection
Descriptive Note: Conference paper
Personal Author(s): Del Rose, Michael, Frederick, Philip
Report Date: Jun 2005
Media Count: 6 Page(s)
Descriptors: (U) *ROBOTICS, *DETECTION, *MILITARY VEHICLES, *HUMANS, *COMPUTER VISION, *STEREOPHOTOGRAPHY, *ARTIFICIAL INTELLIGENCE, ALGORITHMS, INFRARED IMAGES, GRAY SCALE, MOTION DETECTORS, COLOR VISION, DATA FUSION, INFRARED DETECTORS, TEMPLATES, TRACKING, IMAGE PROCESSING, ROBOTS, SYMPOSIA
Identifiers: (U) *PEDESTRIAN DETECTION, AUTONOMOUS VEHICLES, SEMI-AUTONOMOUS VEHICLES, *ROBOTIC VEHICLES, INTELLIGENT SYSTEMS HUMAN INTENT AND ANALYSIS LAB, VISION-BASED DETECTION, PEDESTRIAN FOLLOWING, MULE OPERATIONS, DRIVER AWARENESS, STEREO IMAGES, TEMPLATE MATCHING, IMAGE FUSION, FCS(FUTURE COMBAT SYSTEMS)
Abstract: (U) Pedestrian detection has been an active topic for several years. Many types of sensors and algorithms have been explored to improve pedestrian detection with varying levels of success. Currently, the pedestrian detection program within the Intelligent Systems Directorate at the U.S. Army Tank Automotive Research Development and Engineering Center (TARDEC), Warren, MI, concentrates on stereo vision systems, including stereo gray scale, stereo color, and stereo infrared. Both human detection from a single framed, stereo-paired image and tracking using a sequence of stereo-paired images are investigated. This paper discusses the current and future state of these activities.
ADA438519
Experimental Investigation Into the Aerodynamic Ground Effect of a Tailless Chevron-Shaped UCAV
Descriptive Note: Master's thesis 28 Jun 2004-26 May 2005
Personal Author(s): Jones, Brett L
Report Date: Jun 2005
Media Count: 128 Page(s)
Descriptors: (U) *FLIGHT CONTROL SYSTEMS, *OPERATIONAL EFFECTIVENESS, *AERODYNAMIC FORCES, *REMOTELY PILOTED VEHICLES, *TAILS(AIRCRAFT), *TAILLESS AIRCRAFT, *AUTONOMOUS NAVIGATION, DATA BASES, SWEPT WINGS, HOT WIRE, GROUND EFFECT, LIFT TO DRAG RATIO, ASPECT RATIO, COMBAT VEHICLES, UNMANNED, PLATES, TEST EQUIPMENT, FLOW VISUALIZATION
Identifiers: (U) UCAV(UNMANNED COMBAT AIR VEHICLE)
Abstract: (U) This experimental study adequately identified the ground effect region of an unmanned combat air vehicle (UCAV). The AFIT 3' x 3' low-speed wind tunnel and a ground plane were used to simulate the forces and moments on a UCAV model in ground effect. The chevron planform used in this study was originally tested for stability and control and the following extends the already existing database to incude ground effects. The ground plane was a flat plate mounted with cylindrindrical legs. To expand the capabilities of the AFIT 3' x 3' low-speed wind tunnel, hot-wire measurements and flow visualization revealed an adequate testing environment for the use of the ground plane. Examination of the flow through the test section indicated a significant difference in test section transducer velocity and the hot-wire measured velocity. This disparity along with the velocity difference due to the ground plane were accounted for as wind tunnel blockage. In addition, the flow visualization revealed the horseshoe vortices that built up on the front two mounted legs of the ground plane. The ground effect region for the chevron UCAV was characterized by an increase in lift, drag, and a decrease in lift-to-drag ratio. These trends were also noted in previous studies of similar aspect ratio and wing sweep.
ADA463720
Employment Considerations in the Use of Unmanned Undersea Vehicles by the Operational Commander
Descriptive Note: Final rept.
Personal Author(s): Tokarick, Kevin J
Report Date: 17 May 2005
Media Count: 26 Page(s)
Descriptors: (U) *UNDERWATER VEHICLES, *UNMANNED, *AUTONOMOUS NAVIGATION, RISK, UNDERSEA WARFARE, FRICTION, EFFICIENCY, REDUCTION, FOG
Identifiers: (U) *UNMANNED UNDERSEA VEHICLE, UUV(UNMANNED UNDERSEA VEHICLE), OPERATIONAL COMMANDER, MARITIME COMAIN AWARENESS, MARITIME LAW, UNCLOS.
Abstract: (U) Unmanned Undersea Vehicles (UUVs) are among the latest undersea warfare capabilities in various stages of development and delivery to the warfighter. Fielding of these systems serve both as force multipliers and risk reduction agents and offer new efficiencies to the operational commander with regard to the factors of space, time, and forces. While the integration of UUVs into maritime missions is steadily proceeding, existing maritime law on the rules governing these systems is ambiguous at best. When this new technology converges with traditional maritime law, the challenges create fog and friction that may hinder their full exploitation and potential. Understanding the relevant issues surrounding this, recommendations will be made to enable maximum use of UUVs by the Operational Commander.
ADA435125
Dynamic Control and Formal Models of Multi-Agent Interactions and Behaviors
Descriptive Note: Final rept. Jun 2000-Jan 2005
Personal Author(s): Roszman, Larry, Armstrong, Derek, Khalali, Aram, Hickling, Gwen
Report Date: May 2005
Media Count: 51 Page(s)
Descriptors: (U) *OPTIMIZATION, *ADAPTIVE SYSTEMS, DECISION MAKING, ROBOTS, ROUTING, AUTONOMOUS NAVIGATION, DRONES, COOPERATION
Identifiers: (U) *MULTI-AGENT SYSTEMS, AGENT-BASED COMPUTING, AUTONOMOUS OPERATION, UAV(UNMANNED AERIAL VEHICLES), INTELLIGENT AGENTS, PE62301E, WUAFRLTASK0001
Abstract: (U) New Multi-Agent System (MAS) approaches to complex DoD problems hold the promise of previously unrealized levels of autonomy, adaptability, and flexibility of agent-controlled systems. These systems will provide essential capabilities in command and control, surveillance, automated targeting and weapons delivery, and biochem monitoring. BAE SYSTEMS Advanced Information Technologies' work focused on three areas. First was the development of the Open Experimentation Framework to facilitate research, evaluation, and characterization of the emerging science of Multi-Agent Systems. Second was the design and facilitation of a project-wide demonstration in which all Principal Investigators participate. Third was our theoretical research into cooperative and adaptive methods for multi-agent systems to service asynchronously appearing pop up tasks.
ADA436214
A Definitive Work on Factors Impacting the Arming of Unmanned Vehicles
Descriptive Note: Final rept.
Personal Author(s): Canning, John S
Report Date: May 2005
Media Count: 48 Page(s)
Descriptors: (U) *WEAPONS, *UNMANNED, *COMBAT VEHICLES, *ARMING DEVICES, COMMAND CONTROL COMMUNICATIONS, TORPEDOES, DETECTORS, GROUND VEHICLES, KNOWLEDGE BASED SYSTEMS, AUTONOMOUS NAVIGATION, DRONES, RELIABILITY(ELECTRONICS), AIR TO SURFACE MISSILES, FUZZY LOGIC
Identifiers: (U) *UXV(UNMANNED VEHICLES), UNMANNED ARMED VEHICLES, AUTONOMY, AUTONOMIC COMPUTING, UGV(UNINHABITED GROUND VEHICLES), CONOPS(CONCEPT OF OPERATIONS)
Abstract: (U) We realize that the weaponizing of unmanned vehicles (UXVs) takes us into largely uncharted waters. This document is an attempt to examine as many of the issues surrounding this area as possible.
ADA437691
AvantGuard: An Instrument to Explore Issues of Autonomy
Descriptive Note: Final rept. May 2004-Feb 2005
Personal Author(s): Jacobson, Dov
Report Date: May 2005
Media Count: 20 Page(s)
Descriptors: (U) *MISSIONS, *AUTONOMOUS NAVIGATION, *GAME THEORY, IMAGE PROCESSING, POSITION(LOCATION), THREAT EVALUATION, URBAN AREAS, RECONNAISSANCE, ADAPTIVE SYSTEMS, UNMANNED, DETECTORS, COGNITION
Identifiers: (U) *UAV(UNMANNED AIR VEHICLES), ADAPTIVE AUTONOMY, SUPERVISORY CONTROLS, SBIR(SMALL BUSINESS INNOVATION RESEARCH), SBIR REPORTS, SBIR PHASE 1, CONVOYS, PE65502F, WUAFRL3005HC4K
Abstract: (U) AvantGuard is an instrument with which researchers can study the interplay of human direction and autonomous behavior in conducting a simulated mission where a human supervises multiple autonomous Unmanned Air Vehicles (UAV). AvantGuard is a computer game in which UAVs are used to protect a convoy moving through unsecured urban terrain under conditions of asymmetric conflict. Adversaries hide among the residents and prepare an ambush. The operator directs small UAVs and studies the resulting sensor stream to find the ambush before the convoy arrives in the trap. Autonomy is decomposed into four cognitive phases: look. see, decide, act. Each is matched to an exemplary task: sensor location, image analysis, threat assessment, and convoy rerouting. Each of these is independently assigned a Level of autonomy, or an adaptive strategy. Using sophisticated game techniques, a high-performance UAV simulation game prototype was developed , as well as the design for the experimenter interface.
ADA459733
Robotic Technologies for the Future Force - The ART STO
Personal Author(s): Jaster, Jeffrey F
Report Date: 11 Apr 2005
Media Count: 8 Page(s)
Descriptors: (U) *MANEUVERABILITY, *GROUND VEHICLES, *AUTONOMOUS NAVIGATION, ALGORITHMS, ROBOTICS, SURVIVAL EQUIPMENT, RECONNAISSANCE, MODELS, INTEGRATION, UNMANNED
Identifiers: (U) ARV(ARMED ROBOTIC VEHICLE), SUGV(SMALL UNMANNED GROUND VEHICLE), MOUT(MILITARY OPERATIONS ON URBAN TERRAIN), MULE(MUTLIFUNCTIONAL UTILITY/LOGISTICS AND EQUIPMENT)
Abstract: (U) The Army has a need to integrate robotic technologies, leveraged from both Army and commercial sector developments, into an FCS Armed Robotic Vehicle (ARV) class chassis. The US Army's ARV Robotic Technologies (ART) Science and Technology Objective (STO) will develop a surrogate platform that will be used as a technology demonstrator for such robotic technologies. The ART STO will develop, integrate and demonstrate the technology required to advance the maneuver technologies (i.e., perception, mobility, tactical behaviors) and increase the survivability of unmanned platforms for the future force. The ART STO will focus on reducing the soldiers burden by providing an increase in vehicle autonomy coinciding with a decrease in the total number user interventions required to control the unmanned assets.
ADA434526
Intelligent Terrain Analysis and Tactical Support System (ITATSS) for Unmanned Ground Vehicles
Descriptive Note: Final rept. Aug 2004-Feb 2005
Personal Author(s): Jones, Randolph M, Arkin, Ron, Sidki, Nahid
Report Date: Apr 2005
Media Count: 75 Page(s)
Descriptors: (U) *UNMANNED, *GROUND VEHICLES, *COMBAT VEHICLES, *TERRAIN INTELLIGENCE, MOBILITY, TERRAIN, RESPONSE, AUTONOMOUS NAVIGATION, DECISION SUPPORT SYSTEMS, SITUATIONAL AWARENESS
Identifiers: (U) *ITATSS(INTELLIGENT TERRAIN ANALYSIS AND TACTICAL SUPPORT SYSTEM)
Abstract: (U) The objective of this work is to design a dynamic intelligent terrain analysis and tactical support system (ITATSS). The system enable unmanned combat and support vehicles to achieve significant new levels of autonomy, mobility, rapid response, coordination and effectiveness, while simultaneously enriching human-robot interaction, expanding tactical capabilities, and reducing human workload. ITATSS integrates work in intelligent agent architectures for decision support, low-level feature processing for analyzing terrain and situational features, and robot sensorimotor interfaces. There are currently mature existing tools that handle these capabilities separately, but ITATSS will integrate them into a single architecture. One advantage of such an integrated architecture is that it will help make all of the digital aids familiar and useful to human operators. This report provides a document to guide the design, development, and evaluation of ITATSS. This should serve as a solid design document for any future efforts to build applications in this area. As part of the design, we have identified a large number of requirements on system components, and any system designed for this application area should meet these requirements.
ADA435205
Analysis of Online-Delaunay Navigation for Time-Sensitive Targeting
Descriptive Note: Master's thesis
Personal Author(s): Chow, David
Report Date: Mar 2005
Media Count: 78 Page(s)
Descriptors: (U) *COMMUNICATION AND RADIO SYSTEMS, *TRIANGULATION, *SITUATIONAL AWARENESS, *TIME SENSITIVE TARGETS, CONTROL, AIRCRAFT, THESES, AUTONOMOUS NAVIGATION, DRONES, ONLINE SYSTEMS
Identifiers: (U) VORONOI DIAGRAM
Abstract: (U) Given the drawbacks of leaving time-sensitive targeting (TST) strictly to humans, there is value to the investigation of alternative approaches to TST operations that employ autonomous systems. This paper accomplishes five things. First, it proposes a short-hop abbreviated routing paradigm (SHARP) - based on Delaunay triangulations (DT), ad-hoc communication, and autonomous control - for recognizing and engaging TSTs that, in theory, will improve upon persistence, the volume of influence, autonomy, range, and situational awareness. Second, it analyzes the minimum timeframe need by a strike (weapons enabled) aircraft to navigate to the location of a TST under SHARP. Third, it shows the distribution of the transmission radius required to communicate between an arbitrary sender and receiver. Fourth, it analyzes the extent to which connectivity, among nodes with constant communication range, decreases as the number of nodes decreases. Fifth, it shows the how SHARP reduces the amount of energy required to communicate between two nodes. Mathematica 5.0.1.0 is used to generate data for all metrics. JMP 5.0.1.2 is used to analyze the statistical nature of Mathematica's output.
ADB309356
Aggressive Maneuvers
Descriptive Note: Final rept. 17 Oct 2000-7 Dec 2004
Personal Author(s): Singh, Leena, Appleby, Brent D, McConley, Marc
Report Date: Mar 2005
Media Count: 16 Page(s)
Descriptors: (U) *MANEUVERABILITY, *AUTONOMOUS NAVIGATION, *DRONES, ALGORITHMS, FLIGHT CONTROL SYSTEMS, AERIAL WARFARE, URBAN WARFARE, TEST VEHICLES, MISSIONS, PLATFORMS, AIR DEFENSE
Identifiers: (U) PE62301F
Abstract: (U) Operation of future autonomous vehicles in high-stress mission environments, such as air combat, suppression of enemy air defenses, and urban warfare, requires high maneuverability and adaptation to uncertain dynamics and environmental conditions. Traditional control algorithms impose performance limitations that fall far short of what can be achieved by skilled human pilots. The main objective of this project was to develop and demonstrate the ability for aggressive on-line maneuver trajectory generation. The goal was to demonstrate autonomous vehicle maneuvering capability well beyond the level typical in today's autonomous air vehicles. A second objective was to integrate the aggressive flight control technology into the SEC demonstration platform. The task was structured in two experiment demonstration phases where the first phase involved demonstrating our aggressive autonomous guidance capability on Draper's aggressive flight test vehicle. The second phase integrated and demonstrated these algorithms on the SEC rotary wing demonstrator platform - Georgia Institute of Technology's Yamaha RMAX helicopter.
ADA464896
Lethal Autonomous Weapons -- Ethical and Doctrinal Implications
Descriptive Note: Research paper
Personal Author(s): Guetlein, Michael A
Report Date: 14 Feb 2005
Media Count: 35 Page(s)
Descriptors: (U) *MILITARY OPERATIONS, *ROBOTICS, *WEAPON SYSTEMS, *SELF OPERATION, *ETHICS, *BARRIERS, *UNMANNED, UNDERWATER VEHICLES, DRONES, BOOKS, SMART WEAPONS, MULTIMISSION, PERIODICALS, GUIDED WEAPONS, LETHALITY, ARTIFICIAL INTELLIGENCE, MILITARY DOCTRINE, ROBOTS, BIBLIOGRAPHIES, COMMAND AND CONTROL SYSTEMS, PRECISION
Identifiers: (U) *AUTONOMOUS WEAPONS, *OPERATIONAL BENEFITS, JOINT VISION 2020, PRECISION ENGAGEMENT, INFORMATION SUPERIORITY, LEGAL ISSUES, ETHICAL ISSUES, LAW OF ARMED CONFLICT, SOCIAL BARRIERS, UAV(UNMANNED AERIAL VEHICLES), UUV(UNMANNED UNDERWATER VEHICLES), UCAV(UNMANNED COMBAT AERIAL VEHICLES), UNMANNED WEAPONS, INTERNET RESOURCES
Abstract: (U) The use of unmanned autonomous weapons (robots and other unmanned weapon systems) on the battlefield is rapidly expanding. Autonomous weapons will influence the way in which the United States wages battles in the future. They are the springboard for a transformation that will eventually result in a Revolution in Military Affairs (RMA). However, there is a reluctance to arm them, which would exploit their full potential. Critics often cite the legal and ethical dimensions of fighting battles and killing humans with machines. The United States should begin capitalizing on the benefits autonomous weapons bring to the fight and should be preemptive in establishing joint war fighting doctrine and shaping international policy. This paper explores some of the operational benefits of autonomous weapons in terms of Joint Vision 2020, precision engagement, information superiority, and command and control. The author also discusses barriers to the use of autonomous weapons, including legal barriers, ethical barriers, the Law of Armed Conflict, and social implications. The paper includes a 9-page bibliography of journal articles, books, government documents, internet resources, internet sites, published papers, and unpublished papers.
ADA439281
A Playbook(trademark) for Real-Time, Closed-Loop Control
Personal Author(s): Funk, Harry, Goldman, Robert, Miller, Christopher, Meisner, John, Wu, Peggy
Report Date: Jan 2005
Media Count: 8 Page(s)
Descriptors: (U) *CONTROL SYSTEMS, *REAL TIME, *HUMANS, *CLOSED LOOP SYSTEMS, *ROBOTS, AUTOMATION, COLLABORATIVE TECHNIQUES, INTERFACES, UNMANNED, AUTONOMOUS NAVIGATION, CONTROL THEORY, REMOTELY PILOTED VEHICLES
Identifiers: (U) *UAV(UNMANNED AIR VEHICLES), HUMAN-ROBOT INTERACTION, DISCRETE EVENT CONTROL
Abstract: (U) SIFT has been developing an approach to adaptable automation control of multiple Unmanned Air Vehicles (UAVs) we call a Playbook because it is based on the metaphor of a sports team's book of acceptable plays. Playbook represents a delegation approach to human-automation interactions because it allows a human operator to task or delegate authority to automation with much of the same flexibility with which a human supervisor or team captain can delegate objectives, methods, constraints and even detailed instructions to subordinates. In previous work, we have described the Playbook architecture and approach, illustrated interfaces, presented initial data clarifying its benefits and describing collaborative interactions with it. Here, we review the Playbook concept and previous work and then report on newly implemented play capabilities including the ability for the Playbook to coordinate the activities of multiple UAVs to track a ground-based moving target -- a play that requires Playbook to dynamically replan within authority delegated to it by the human operator.
ADA465706
Vision Assisted Landing of an Unmanned Aerial Vehicle
Personal Author(s): Chitrakaran, Vilas K, Dawson, Darren M, Chen, Jian, Feemster, Mathew
Report Date: Jan 2005
Media Count: 9 Page(s)
Descriptors: (U) *VISION, *DRONES, *LANDING, ALGORITHMS, CONTROL SYSTEMS, LYAPUNOV FUNCTIONS, ONBOARD, POSITION FINDING, CAMERAS, AUTONOMOUS NAVIGATION
Identifiers: (U) *UAV(UNMANNED AERIAL VEHICLES), MONOCULAR CAMERAS, GUUB(GLOBALLY UNIFORM ULTIMATE BOUNDEDNESS)
Abstract: (U) In this paper, a strategy for an autonomous landing maneuver for an under-actuated, unmanned aerial vehicle (UAV) using position information obtained from a single monocular on-board camera is presented. Although the UAV is underactuated in translational control inputs (i.e., a lift force can only be produced), the proposed controller is shown to achieve globally uniform ultimate boundedness (GUUB) in position regulation error during the landing approach. The proposed vision-based control algorithm is built upon homography-based techniques and Lyapunov design methods.
ADA436274
Global Path Planning for Unmanned Ground Vehicles
Descriptive Note: Technical memo.
Personal Author(s): Giesbrecht, J
Report Date: Dec 2004
Media Count: 56 Page(s)
Descriptors: (U) *ROBOTICS, *UNMANNED, *GROUND VEHICLES, ALGORITHMS, HEURISTIC METHODS, AUTONOMOUS NAVIGATION, CANADA, PLANNING, GLOBAL
Identifiers: (U) FOREIGN REPORTS
Abstract: (U) This paper is an overview of high-level path planning methods used in mobile robotics with special emphasis on outdoor planning for unmanned ground vehicles. It surveys all portions of the path planning process including world representation, graph search algorithms, and planning for partially and completely unknown environments. Planning representations such as Cell Decompositions, Roadmaps, and Potential Fields are covered as well as both heuristic and non-heuristic methods of graph search. Specific recently developed and popular algorithms are also investigated such as A*, D*, Potential Fields, Wavefront Planning, Probabilistic Roadmaps and Rapidly Exploring Random Trees.
ADA432916
Acoustic Detection from Aerial Balloon Platform
Descriptive Note: Conference paper
Personal Author(s): Reiff, C, Pham, T, Scanlon, M, Noble, J, Van Landuyt, A, Petek, J, Ratches, J
Report Date: Dec 2004
Media Count: 9 Page(s)
Descriptors: (U) *ACOUSTIC DETECTION, *DRONES, *FLYING PLATFORMS, *BALLOONS, SYMPOSIA, ROBOTICS, FIELD TESTS, WAVE PROPAGATION, GROUND VEHICLES, AUTONOMOUS NAVIGATION, COMPUTER NETWORKS, SPECTROGRAPHS, AEROSTATICS
Identifiers: (U) COMPONENT REPORTS, FCS(FUTURE COMBAT SYSTEMS), UAV(UNMANNED AERIAL VEHICLES), NSFFF(NETWORKED SENSORS FOR THE FUTURE FORCE)
Abstract: (U) The US Army Research Laboratory (ARL) and US Army Night Vision and Electronic Sensors Directorate (NVESD) are leading the research and development in autonomous sensing and sensor networks for the Networked Sensors for the Future Force (NSfFF) and Future Combat System (FCS). With the emphasis being shifted to lighter and more mobile forces, ARL and NVESD have been collaborating and exploring various mobile platforms such as robotic vehicles and aerial platforms such as unmanned aerial vehicles (UAVs) and balloons. Our most immediate collaboration focuses on the use of acoustic sensors on small balloons and/or aerostats at several elevations and on the ground with the primary goals of: (i) investigate the acoustic sensing and detection ranges; (ii) acoustically cue IR imagers and/or video cameras; and (iii) explore the networking of elevated sensors and ground sensors for NSfFF. In this paper, we only focus on the first goal, the acoustic detection portion of the collaborative effort.
ADA432878
Robust Path Planning With Imperfect Maps
Descriptive Note: Conference paper
Personal Author(s): Ferguson, Dave, Stentz, Anthony
Report Date: Dec 2004
Media Count: 8 Page(s)
Descriptors: (U) *ALGORITHMS, *PATHS, *PLANNING, *AUTONOMOUS NAVIGATION, SYMPOSIA, ROBOTICS, ROBOTS, UNMANNED, GROUND VEHICLES, MAPS, INFORMATION PROCESSING
Identifiers: (U) COMPONENT REPORTS, PATH PLANNING, UGV(UNMANNED GROUND VEHICLES), PINCH POINTS
Abstract: (U) We describe an efficient method for path planning in environments for which prior maps are plagued with uncertainty. Our approach processes the map to determine key areas whose uncertainty is crucial to the planning task. It then incorporates the uncertainty associated with these areas using the recently developed PAO* algorithm to produce a fast, robust solution to the original planning task. We present results from a simulated outdoor navigation scenario.
ADA432882
An Ultra-Wideband RF Method for Localizing an Autonomous Mobile Robot
Descriptive Note: Conference paper
Personal Author(s): Cheok, Ka C, Smid, G E, Hudas, G R, Overholt, J L
Report Date: Dec 2004
Media Count: 6 Page(s)
Descriptors: (U) *POSITION(LOCATION), *UNMANNED, *GROUND VEHICLES, *RANGE FINDING, SYMPOSIA, ROBOTS, BROADBAND, AUTONOMOUS NAVIGATION, RADIOFREQUENCY, TRIANGULATION, CODE DIVISION MULTIPLE ACCESS
Identifiers: (U) COMPONENT REPORTS, UGV(UNMANNED GROUND VEHICLES), TOA(TIME-OF-ARRIVAL), TDOA(TIME DIFFERENCE-OF-ARRIVAL), UWBRAC(ULTRA-WIDEBAND RANGING AND COMMUNICATION)
Abstract: (U) A technique for a new ad hoc, high-speed update and high precision location system that would establish a reliable navigation technology for autonomous unmanned vehicle systems was investigated. The system would employ a new ultra-wideband (UWB) ranging & communication (RAC) concept that incorporates time arrival information into the recent direct sequence (DS) code division multiple access (CDMA) technique. Time-of-arrivals (TOA) and time-difference-of-arrivals (TDOA) methods were then developed for position triangulation. The location system would have a self-configuring scheme so that the base stations of the location system can be installed and networked in a matter of minutes at desired positions. The geographical position of an object can be determined within centimeter-to-submeter accuracy over an area of several square kilometers at an update rate of hundred updates per second. The system can be used guidance control of unmanned vehicle systems including aerial, ground, and sea vehicles.
ADA432934
Unmanned Tracked Ground Vehicle for Natural Environments
Descriptive Note: Conference paper
Personal Author(s): Ibanez-Guzman, J, Jian, X, Malcolm, A, Gong, Z, Chen, Chun Wah, Tay, Alex
Report Date: Dec 2004
Media Count: 9 Page(s)
Descriptors: (U) *COMPUTER ARCHITECTURE, *UNMANNED, *GROUND VEHICLES, *ARMORED PERSONNEL CARRIERS, *TRACKED VEHICLES, CONVERSION, ALGORITHMS, MOBILITY, DEPLOYMENT, QUICK REACTION, SYMPOSIA, ENVIRONMENTS, DETECTORS, FIELD TESTS, PASSIVE SYSTEMS, NAVIGATION, COMPUTER APPLICATIONS, TROPICAL REGIONS, DATA FUSION, ONBOARD, FORESTS, TELEOPERATORS, SINGAPORE
Identifiers: (U) *NATURAL ENVIRONMENTS, DSTA(DEFENCE SCIENCE AND TECHNOLOGY AGENCY), TROPICAL ENVIRONMENTS, COMPONENT REPORTS, FOREIGN REPORTS, M113 VEHICLES, AUGV(AUTONOMOUS UNMANNED GROUND VEHICLE)
Abstract: (U) The deployment of an autonomous and teleoperated vehicle in tropical environments presents numerous challenges due to the extreme conditions encountered. This paper presents the transformation of a M113 Armored Personnel Carrier into an autonomous and teleoperated vehicle for operation in jungle-like conditions. The system was partitioned into functional systems: Vehicle Control/Mobility, Piloting, Visual Guidance, Teleoperation and Communications. Details of the system architecture and major components are included. Emphasis is made on the perception mechanisms developed for visual guidance, the vehicle conversion into a computer-controlled system and the implementation of navigation algorithms for localization and path planning. A suite of onboard active and passive sensors is used in the visual guidance system. Data fusion is performed on the outputs of the different types of the sensors. The fusion result fed to the path planner that generates heading and speed commands to maneuver the vehicle towards the desired position. The vehicle controller executes the speed and heading commands and ensures the vehicle fast and safe response. The results from field trials completed in tropical forest conditions that are unique to the region are included.
ADA436377
Towards Distributed Intelligence: A High Level Definition
Descriptive Note: Technical rept.
Personal Author(s): Broten, G, Monckton, S, Giesbrecht, J, Verret, S, Collier, J, Digney, B
Report Date: Dec 2004
Media Count: 90 Page(s)
Descriptors: (U) *UNMANNED, *COMBAT VEHICLES, *ARTIFICIAL INTELLIGENCE, *HIGH LEVEL ARCHITECTURE, *AUTONOMOUS NAVIGATION, ROBOTICS, CONTROL SYSTEMS, DISTRIBUTED DATA PROCESSING, CANADA, REMOTE DETECTORS
Identifiers: (U) FOREIGN REPORTS, UGV(UNMANNED GROUND VEHICLES), ALS(AUTONOMOUS LAND SYSTEMS), AIS(AUTONOMOUS INTELLIGENT SYSTEMS), UGS(UNATTENDED GROUND SENSORS), UUV(UNMANNED UNDERWATER VEHICLES), USV(UNMANNED SERVICE VEHICLES), MIDDLEWARE
Abstract: (U) Unmanned Ground Vehicle (UGV's) Research and Development within the Autonomous Land Systems (ALS) project will assist the Canadian Forces in fulfilling their future mandate. The ALS project derives its focus from the Autonomous Intelligent Systems (AIS) activity outlined by the DRDC Technology Investment Strategy (TIS). There are five anticipated classes of Unmanned Vehicles (UV): (1) Fixed or rotor wing aircraft Unmanned Air Vehicles (UAV); (2) Typically tracked, wheeled, legged Unmanned Ground Vehicles (UGV); (3) Stationary monitoring Unattended Ground Sensors (UGS); (4) Untethered, propellor or bouyancy driven, Unmanned Underwater Vehicles (UUV); and (5) Light propellor driven Unmanned Surface Vehicles (USV). The future battlespace demands compatibility between all UV classes. All UVs must have an inherent ability to share information if they are to provide the desired force multiplication factor for the future asymmetric battlespace. To effectively distribute intelligence modules within and between UVs, layered modular hardware design and portable, maintainable coding practice require an architecture that, at once, intrinsically supports and encourages distributed computing, and frees investigators to focus on the development of intelligent single and multi-vehicle control systems. An architecture founded on these elements defines, at a high level, the links between various software components that create an operational vehicle.
ADA432922
Collaborative UAV Exploration of Hostile Environments
Descriptive Note: Conference paper
Personal Author(s): Luotsinen, Linus J, Gonzalez, Avelino J, Boeloeni, Ladislau
Report Date: Dec 2004
Media Count: 7 Page(s)
Descriptors: (U) *ALGORITHMS, *AUTONOMOUS NAVIGATION, *TACTICAL DATA SYSTEMS, *COMBAT AREAS, *SURVEILLANCE DRONES, COMPUTERIZED SIMULATION, SYMPOSIA, DECISION MAKING, INFORMATION TRANSFER, GRIDS(COORDINATES), ADVERSE CONDITIONS, ARTIFICIAL INTELLIGENCE, MAPS, COLLABORATIVE TECHNIQUES
Identifiers: (U) *UNMANNED AERIAL VEHICLES, COMPONENT REPORTS, UAVS(UNMANNED AERIAL VEHICLES), EXPLORATION, HOSTILE ENVIRONMENTS, OGMS(OCCUPANCY GRID MAPS), CXBR(CONTEXT BASED REASONING), INTELLIGENT AGENTS, COMBAT ZONES
Abstract: (U) Unmanned Aerial Vehicles are frequently used for the exploration of a hostile environment. UAVs can be lost or significantly damaged during the exploration process. Although employing multiple UAVs can increase the chance of success, their efficiency depends on the collaboration strategies used. We present a cooperative exploration strategy for UAVs controlled by autonomous agents. The agents are sharing information, coordinate their short-term goals and path choices, while each agent uses state of the art algorithms for its individual path planning and obstacle avoidance. The overall goals are to minimize the exploration time, avoid damage by sharing information about threats, and be robust to the failures of individual UAVs. Extensive simulation results prove the validity of the approach and provide ways to determine the optimal number of UAVs for different exploration tasks.
ADA431348
Airspace Integration Plan for Unmanned Aviation
Report Date: Nov 2004
Media Count: 81 Page(s)
Descriptors: (U) *INTEGRATION, *AIR SPACE, *REGULATIONS, *REMOTELY PILOTED VEHICLES, *TECHNOLOGY ASSESSMENT, COMMAND CONTROL COMMUNICATIONS, FLIGHT CREWS, RELIABILITY, AUTONOMOUS NAVIGATION, AIR TRAFFIC, COLLISION AVOIDANCE, AIRWORTHINESS
Identifiers: (U) UAV(UNMANNED AERIAL VEHICLES), ROA(REMOTELY OPERATED AIRCRAFT)
Abstract: (U) The Office of the Secretary of Defense Airspace Integration Plan for Unmanned Aviation outlines the key issues that must be addressed to achieve the goal of safe, routine use of the National Airspace System (NAS) by Department of Defense (DoD) Remotely Operated Aircraft (ROA). It is based upon ongoing work performed in support of the joint Office of the Secretary of Defense-Federal Aviation Administration (OSD-FAA) Unmanned Aerial Vehicle (UAV) Airspace Integration Initiative. The Airspace Integration Plan is intended to provide the reader with background information, program status, and goals for the integration of military ROA into the United States National Airspace. Integration of unmanned and manned aircraft for military operations, and ROA operating procedures are subjects beyond the scope of this document. The information detailed in this plan is based on a survey of existing technologies and regulations, as well as proposed development and support for new solutions as required. To achieve full integration of military ROA by the desired 2010 timeframe, the plan identifies six critical regulatory and technology issues that must be addressed before safe and efficient integration can occur. 1. Air Traffic; 2. Airworthiness Certification; 3. Aircrew Qualification; 4. See-and-Avoid; 5. Command, Control, Communications; and, 6. Reliability.
ADA428975
Sigma-Point Kalman Filter Based Sensor Integration Estimation and System Identification for Enhanced UAV Situational Awareness and Control
Descriptive Note: Final rept. Jul 2002-Aug 2004
Personal Author(s): Wan, Eric
Report Date: 25 Oct 2004
Media Count: 14 Page(s)
Descriptors: (U) *STATISTICAL INFERENCE, *KALMAN FILTERING, *DRONES, *SITUATIONAL AWARENESS, *SENSOR FUSION, ALGORITHMS, MEASUREMENT, MODELS, PARAMETERS, MAXIMUM LIKELIHOOD ESTIMATION, PROBABILITY, LEARNING MACHINES, NONLINEAR SYSTEMS, MATHEMATICAL PREDICTION, GLOBAL POSITIONING SYSTEM, AUTONOMOUS NAVIGATION, INERTIAL NAVIGATION, PLOTTING
Identifiers: (U) EKF(EXTENDED KALMAN FILTER), SPKF(SIGMA-POINT KALMAN FILTER), UAV(UNMANNED AERIAL VEHICLES), STATE ESTIMATION, LATENCY
Abstract: (U) The goal of this contract was to develop and demonstrate a machine learning framework for probabilistic vehicle state and model parameter inference, aiding the sensor integration and processing for the autonomous control of UAVs. The core technology that this approach is based on is the Sigma-Point Kalman Filter (SPKF). The current industry standard and most widely used algorithm for estimation is the extended Kalman filter (EKF). The EKF combines the sensor measurements with predictions coming from a model of vehicle motion (either dynamic or kinematic), in order to generate an estimate of the current navigational state (position, velocity, and attitude). This study points out the inherent shortcomings in using the EKF and presents, as an alternative, a family of improved derivativeless nonlinear Kalman filters called sigma-point Kalman filters (SPKF). We demonstrated the improved state estimation performance of the SPKF by applying it to the problem of loosely coupled GPS/INS integration. A novel method to account for latency in the GPS updates was also developed.
ADA430083
Assessment of Advanced Logistics Delivery System (ALDS) Launch Systems Concepts
Descriptive Note: Final technical rept. 1 Aug-30 Sep 2004
Personal Author(s): Anderson, Gregory W, Borraccini, Joseph P, Fitzpatrick, Brian K, Lynch, William A, McGinnis, Patrick J
Report Date: Oct 2004
Media Count: 56 Page(s)
Descriptors: (U) *LOGISTICS SUPPORT, *MILITARY SUPPLIES, *ELECTROMAGNETIC GUNS, *UNMANNED, *LAUNCHERS, *GLIDERS, STRUCTURAL ANALYSIS, TRACKING, THERMAL ANALYSIS, ACTUATORS, AUTONOMOUS NAVIGATION, ENERGY STORAGE, SUPERCONDUCTIVITY, GROUND CREWS, CRYOCOOLERS
Identifiers: (U) LINEAR MOTORS, EMALS(ELECTROMAGNETIC AIRCRAFT LAUNCH SYSTEM), POWER ELECTRONICS, UAV(UNMANNED AERIAL VEHICLES), 04-1-2820-473-10
Abstract: (U) The Advanced Logistics Delivery System (ALDS) concept proposes the use of ship launched, unmanned gliders to re-supply shore based ground forces and requires a launch system capable of delivering unpowered UAVs to a range of 50 miles. A study to analyze the machinery technologies capable of meeting this requirement identified a near term solution based on electric linear motor technology derived from the Electromagnetic Aircraft Launch System (EMALS) and incorporating superconductive materials in the rotor, stator windings, and electrical wiring. The development of structurally robust, high capability cryo-cooling components was identified as the most critical effort required to field a prototype system in the 10 to 15 year timeframe. The far term solution proposed was based on advances in rail gun technology anticipated as a result of Navy rail gun technology development projects currently planned for the next decade.
ADA436333
Hierarchical Goal Analysis and Performance Modelling for the Control of Multiple UAVs/UCAVs from an Airborne Platform. Volume 1
Descriptive Note: Final rept.
Personal Author(s): Kobierski, Bob, Lamarre, Jean-Yves
Report Date: 16 Sep 2004
Media Count: 578 Page(s)
Descriptors: (U) *MAN COMPUTER INTERFACE, *REMOTELY PILOTED VEHICLES, *REMOTE CONTROL, SCENARIOS, DECISION SUPPORT SYSTEMS, PATROL AIRCRAFT, COUNTERTERRORISM, DATA MANAGEMENT, CANADA
Identifiers: (U) *UAV(UNINHABITED AIR VEHICLES), *UCAV(UNINHABITED COMBAT AIR VEHICLES), FOREIGN REPORTS, IAI(INTELLIGENT/ADAPTIVE INTERFACES), CP-140 AIRCRAFT
Abstract: (U) Early feedback from the operation of Uninhabited Air Vehicles (UAVs) indicates that improvements in the operator interface aspects of these emerging systems would reap significant gains in system performance and effectiveness. This applies to both effective control of UAVs as well as management of data and dissemination of the associated information. The Canadian Forces (CF) are pursuing the introduction of UAVs, and while such platforms may provide an enormous amount of data, the management of data to support effective human decision making is still an issue. Various levels of automation have been suggested as a way of addressing the problem including Intelligent/Adaptive Interfaces (IAIs) for decision support. IAIs are intended to manage information dynamically and provide the right data and information to the right people, at the right time, to support effective decision making. The work reported in this paper investigated the efficacy of IAIs in an operational situation. The selected environment involved UAV operations in support of counter terrorist activities with the IAI modelled as part of the UAV tactical workstations of a modernized CP-140 aircraft. In order to produce an analysis of UAV operations which are relevant to CF UAV implementation plans, a one-hour mission scenario was developed which reflected a portion of the upcoming Canadian Forces Experimentation Centre (CFEC) Atlantic Littoral Intelligence, Surveillance and Reconnaissance Experiment (ALIX) program. In order to facilitate the development of a performance model implemented in an Integrated Performance Modelling Environment, a Hierarchical Goal Analysis and Operational Sequence Diagrams were prepared for the scenario. The model was run in two modes: one assuming the operators used a conventional interface and the second assuming interface automation using an IAI.
ADD020263
Unmanned Vehicle Control System
Descriptive Note: Patent application, filed 30 Jul 2004
Personal Author(s): Benjamin, Michael R
Report Date: 30 Jul 2004
Media Count: 32 Page(s)
Descriptors: (U) *CONTROL SYSTEMS, *UNDERWATER VEHICLES, *AUTONOMOUS NAVIGATION, *PATENT APPLICATIONS, DECISION MAKING, COLLISION AVOIDANCE, UNDERWATER NAVIGATION, REASONING, BEHAVIOR, UNMANNED
Identifiers: (U) *UUV(UNMANNED UNDERWATER VEHICLES)
Abstract: (U) A method for autonomously controlling a vehicle includes establishing decision variables for maneuvering the vehicle. Behavior functions are established for behaviors of the vehicle as a function of at least one of the established decision variables. These behavior functions give a score which may be weighted, indicating the desirability of engaging in the associated behavior. A summation of the weighted behavior functions can be solved while the vehicle is operating to determine the values of the decision variables giving the highest summation of scores. In a preferred method, an optimal structure for the behavior functions and summation solution is taught. The method then guides the vehicle in accordance with the determined decision variable values.
ADA429910
MAV State-of-the-Art and Technology Drivers
Descriptive Note: Briefing charts
Personal Author(s): Voersmann, Peter
Report Date: 23 Jul 2004
Media Count: 37 Page(s)
Descriptors: (U) *FLIGHT CONTROL SYSTEMS, *MICROELECTRONICS, *AERODYNAMIC CHARACTERISTICS, *DRONES, *RECONNAISSANCE AIRCRAFT, *MICROMINIATURIZATION, UNITED STATES, PROTOTYPES, PROPULSION SYSTEMS, ENDURANCE(GENERAL), CAMERAS, SELF OPERATION, GERMANY, AUTONOMOUS NAVIGATION, AUSTRALIA, WORKSHOPS, AERIAL PHOTOGRAPHY, TELEMETER SYSTEMS, AIRCRAFT DESIGN, BIOMIMETICS
Identifiers: (U) BRIEFING CHARTS, COMPONENT REPORTS, MAV(MICRO AIR VEHICLES), UAV(UNMANNED AERIAL VEHICLES)
Abstract: (U) These briefing charts present the state of the art of micro air vehicles (MAVs). These vehicles include those that are unmanned, unattended, and unassisted. MAVs are in increasing use both in the commercial and military sectors. MAVs can be completely remote-controlled, semi-autonomous and able to keep altitude and track while the operator commands up-down or left-right, or fully autonomous in that they can follow waypoints with no operator intervention necessary. The charts provide specifications for a number of MAVs that are currently operational. These specifications include manufacturer, wingspan, mass, payload, time endurance, whether operational or under development (prototype), and level of autonomy. The MAVs reviewed include the Aerosonde (Australia), the MLB Bat (United States), the Aladin (Germany), the Carolo XL (Germany), the Mikado (Germany), the Carolo (Germany), the Mite 2 (United States), the Dornier MAV (Germany), the RWTH Aachen MAV (Germany), the Black Widow (United States), and the Entomopter (United States). The development of MAVs is a multidisciplinary research activity involving flight dynamics, aerodynamics, aircraft design, microelectronics, propulsion systems, and guidance and control. Charts include an internal diagram of Carolo's components; Carolo during wind tunnel tests; aerodynamic characteristics, including lift versus drag, minimum glide angle, optimal speed, uncritical stall behavior, and flow separation; microelectronics components and actuator dynamics; flight dynamics; stability analysis; guidance and control systems, including flight and altitude controllers; and propulsion system. The presentation concludes with an overview of Carolo's ground control software and waypoint navigation system; Carolo's initial flight on 20 Dec 2002; and its first autonomous flight on 5 Sep 2003.
ADA426660
Complexity in UAV Cooperative Control
Descriptive Note: Final rept. 1 Apr 2000-10 May 2002
Personal Author(s): Chandler, Phillip R, Swaroop, Dharba, Howlett, Jason K, Pachter, Meir, Fowler, Jeffrey M
Report Date: Jul 2004
Media Count: 9 Page(s)
Descriptors: (U) *COUPLING(INTERACTION), *DRONES, ALGORITHMS, COMPUTERIZED SIMULATION, FLIGHT CONTROL SYSTEMS, LINEAR PROGRAMMING, TARGET DISCRIMINATION, HYBRID SYSTEMS, AUTONOMOUS NAVIGATION, DECISION AIDS, COLLISION AVOIDANCE, SET THEORY, NETWORK FLOWS
Identifiers: (U) *UAV(UNMANNED AERIAL VEHICLES), *COOPERATIVE TECHNIQUES, COMPLEXITY, HIERARCHICAL DECOMPOSITION, GRAPH THEORY, PE69199F, WUAFRLOAFFDDRE
Abstract: (U) This paper addresses complexity and coupling issues in cooperative decision and control of distributed autonomous UAV teams. In particular, the recent results obtained by the in-house research team are presented. Hierarchical decomposition is implemented where team vehicles are allocated to subteams using set partition theory. Results are presented for single assignment and multiple assignment using network flow and auction algorithms. Simulation results are presented for wide area search munitions where complexity and coupling are incrementally addressed in the decision system, yielding radically improved team performance.
ADA424565
Autonomous Visual Tracking of Stationary Targets Using Small Unmanned Aerial Vehicles
Descriptive Note: Master's thesis
Personal Author(s): Prince, Robert A
Report Date: Jun 2004
Media Count: 91 Page(s)
Descriptors: (U) *DRONES, *SURFACE TARGETS, *VISUAL SURVEILLANCE, CONTROL SYSTEMS, KALMAN FILTERING, THESES, AUTONOMOUS NAVIGATION, TRIANGULATION
ADA429755
Hierarchical Control of Semi-Autonomous Teams Under Uncertainty (HICST)
Descriptive Note: Final rept. 28 Sep 2001-31 Dec 2003
Personal Author(s): Varaiya, Pravin
Report Date: May 2004
Media Count: 148 Page(s)
Descriptors: (U) *CONTROL SYSTEMS, *DRONES, INTERFACES, LINEAR PROGRAMMING, SCHEDULING, PLANNING, CONFIGURATIONS, DYNAMIC PROGRAMMING, AUTOMATA, GOAL PROGRAMMING, JAVA PROGRAMMING LANGUAGE, SOFTWARE TOOLS
Identifiers: (U) COOPERATIVE CONTROL, UAV(UNMANNED AIR VEHICLES), ITP(INTERACTIVE TASK PLANNER), PATH PLANNING, HICST(HIERARCHICAL CONTROL OF SEMI-AUTONOMOUS TEAMS), TASK SCHEDULING, BELLMAN RECURSION, STATE ESTIMATION, MICA(MIXED INITIATIVE CONTROL OF AUTOMATA-TEAMS), PE62301F
Abstract: (U) This is the final report of work done under DARPA Contract F33615-01-C-3150, for the period of performance September 2001 through December 2003. Algorithms and associated software were developed for the following modules: 1. Interactive task planner (ITP); 2. Configuration and schedule; 3. Task execution; 4. State estimator; 5. Java interface to OEP; 6. Robust dynamic programming for path planning with uncertain information; 7. Flexible formation of teams operating under large uncertainties; and 8. Path planning with two constraints. Modules 1-5 are integrated into a self-contained package that can be used in an off-line or open loop planning phase followed by a closed-loop execution phase. The package can be used in a fully automated fashion or in an interactive manner, in which the user can intervene at several stages to modify the operation of the modules. Thus the package makes provision for mixed initiative'. Modules 6-8 are 'stand alone' algorithms. Software implementations for these algorithms were developed. The report describes these modules and provides examples to illustrate their operation. The technology developed under HICST, and the modules that embody this technology, represent a significant advance towards the objectives of the MICA program.
ADA424801
Analysis and Control of High-Speed Wheeled Mobile Robots
Descriptive Note: Final rept. 1 Aug 2000-31 Jan 2004
Personal Author(s): Tsiotras, Panagiotis
Report Date: Apr 2004
Media Count: 36 Page(s)
Descriptors: (U) *ROBOTS, *GROUND VEHICLES, ALGORITHMS, OPTIMIZATION, HAZARDS, THREATS, MOBILE, SELF OPERATION, AUTONOMOUS NAVIGATION, OFFROAD TRAFFIC
Identifiers: (U) UNMANNED VEHICLES
Abstract: (U) The overall objective of this research was to contribute to the development of control algorithms for autonomous high-speed vehicles moving in uncertain and/or off-road environments. The motivation behind this research objective was the need of "intelligent" drivers that can be used to navigate and guide an autonomous vehicle in a high-threat environment, perform its assigned task, while at the same time minimizing exposure to potential threats and hazards. Given the previous overall objective, this research has focused on two areas: First, on the development of simple, albeit accurate, mathematical models for the complex behavior arising between the wheel tires and the ground. The study of tire friction dynamics is brought about by the need of high-speed operation of the vehicle. Our developed tire friction models are solidly based on first physical principles; they also capture transient dynamics which are important during high-speed and/or continuously changing driving conditions. Second, on the development of optimal, maximum-velocity and minimum-time driving maneuvers ("optimal driving primitives") under friction constraints. These results are also novel in the sense that the tire/ground nonlinearities (i.e., saturating friction) are explicitly accounted for. The numerical simulations show very realistic behavior of the vehicle trajectory, in the sense that sliding and skidding is often induced by the optimizer in order to achieve the control objective. This is not unlike the action of an expert human race driver who typically induces skidding and/or sliding to minimize time or maximize exit velocity from a corner.
ADA422050
The Role of Individual and Team Cognition in Uninhabited Air Vehicle Command-and-Control
Descriptive Note: Final performance rept. 15 Feb-31 Dec 2003
Personal Author(s): Cooke, Nancy J, DeJoode, Janie A, Pedersen, Harry K, Gorman, Jamie C, Connor, Olena O
Report Date: 31 Mar 2004
Media Count: 259 Page(s)
Descriptors: (U) *COGNITION, *DRONES, GROUP DYNAMICS, FLIGHT CONTROL SYSTEMS, PERFORMANCE(HUMAN), TEAMS(PERSONNEL), COMMAND AND CONTROL SYSTEMS, MILITARY CAPABILITIES, UNMANNED, AUTONOMOUS NAVIGATION, WORKLOAD, VIDEO SIGNALS
Identifiers: (U) *UNMANNED AERIAL VEHICLES, DISTRIBUTED MISSION ENVIRONMENTS, *TEAM COGNITION, TEAM PERFORMANCE
Abstract: (U) This report documents a three-year AFOSR-funded research effort designed to study individual and team cognition in Unmanned Aerial Vehicle command-and-control. Three experiments were conducted in the CERTT lab's UAV-STE (Unmanned Aerial Vehicle - Synthetic Task Environment). Experiments 1 and 2 had two main manipulations, dispersion (co-located vs. distributed) and workload low or high) and consisted of 20 teams flying multiple 40-minute missions. The results from these experiments indicate that team performance was affected by increased workload, but not impacted by the dispersion condition, although dispersion did affect knowledge and team process. In Experiment 3 data were collected in CERTT's UAV-STE from five expert teams in order to benchmark team performance. The task acquisition curve was accelerated for several of these teams. What differentiated the expert teams were their long histories of working together in a networked selling (e.g., internet video games). It appears that this background alone was enough to speed up their task acquisition in terms of both team process and performance. In addition to these three experiments, this report also documents archival analyses in which we identify individual and role-specific characteristics that are associated with team performance and find support for the utility of holistic and on-line knowledge elicitation in order to accurately assess team knowledge as it relates to team performance. The findings of this report can be summarized broadly by the implication for an increased focus on ongoing, coordinative and other process behaviors rather than focusing on static knowledge for improving applications, theory, and methodology, as they relate to team cognition.
ADA460111
Design of Autonomous Navigation Controllers for Unmanned Aerial Vehicles Using Multi-Objective Genetic Programming
Personal Author(s): Barlow, Gregory J
Report Date: Mar 2004
Media Count: 182 Page(s)
Descriptors: (U) *DRONES, ROBOTICS, CONTROL SYSTEMS, UNMANNED, FLIGHT SIMULATION, FIXED WING AIRCRAFT, EVOLUTION(GENERAL), AUTONOMOUS NAVIGATION
Identifiers: (U) UAVS(UNMANNED AERIAL VEHICLES), ER(EVOLUTIONARY ROBOTICS), EC(EVOLUTIONARY COMPUTATION), GP(GENETIC PROGRAMMING)
Abstract: (U) Unmanned aerial vehicles (UAVs) have become increasingly popular for many applications, including search and rescue, surveillance, and electronic warfare, but almost all UAVs are controlled remotely by humans. Methods of control must be developed before UAVs can become truly autonomous. While the field of evolutionary robotics (ER) has made strides in using evolutionary computation (EC) to develop controllers for wheeled mobile robots, little attention has been paid to applying EC to UAV control. EC is an attractive method for developing UAV controllers because it allows the human designer to specify the set of high level goals that are to be solved by artificial evolution. In this research, autonomous navigation controllers were developed using multi-objective genetic programming (GP) for fixed wing UAV applications. Four behavioral fitness functions were derived from flight simulations. Multi-objective GP used these fitness functions to evolve controllers that were able to locate an electromagnetic energy source, to navigate the UAV to that source ef ciently using on-board sensor measurements, and to circle around the emitter. Controllers were evolved in simulation. To narrow the gap between simulated and real controllers, the simulation environment employed noisy radar signals and a sensor model with realistic inaccuracies.
ADA422364
Autonomous Landing System for a UAV
Descriptive Note: Master's thesis
Personal Author(s): Lizarraga, Mariano I
Report Date: Mar 2004
Media Count: 147 Page(s)
Descriptors: (U) *SHIPBOARD, *LANDING AIDS, *AUTONOMOUS NAVIGATION, *DRONES, ALGORITHMS, FLIGHT TESTING, FLIGHT CONTROL SYSTEMS, REAL TIME, THESES, COMMUNICATION AND RADIO SYSTEMS, AIRCRAFT LANDINGS, GROUND STATIONS
Abstract: (U) This thesis is part of an ongoing research conducted at the Naval Post-graduate School to achieve the autonomous shipboard landing of Unmanned Aerial Vehicles (UAV). Two main problems are addressed in this thesis. The first is to establish communication between the UAV's ground station and the Autonomous Landing Flight Control Computer effectively. The second addresses the design and implementation of an autonomous landing controller using classical control techniques. Device drivers for the sensors and the communications protocol were developed in ANSI C. The overall system was implemented in a PC1O4 computer running a real-time operating system developed by The Math- works, Inc. Computer and hardware in the loop (HIL) simulation, as well as ground test results show the feasibility of the algorithm proposed here. Flight tests are scheduled to be performed in the near future.
ADA436428
A Generic, Agent-Based Framework for Design and Development of UAV/UCAV Control Systems
Descriptive Note: Final rept.
Personal Author(s): Edwards, Jack L
Report Date: 27 Feb 2004
Media Count: 65 Page(s)
Descriptors: (U) *ADAPTIVE CONTROL SYSTEMS, *UNMANNED, *REMOTELY PILOTED VEHICLES, *SURVEILLANCE DRONES, *RECONNAISSANCE AIRCRAFT, MILITARY INTELLIGENCE, KNOWLEDGE BASED SYSTEMS, MAN COMPUTER INTERFACE, CONTROL THEORY, STANDARDS, CANADA
Identifiers: (U) *UAV(UNMANNED AIR VEHICLES), *UCAV(UNMANNED COMBAT AIR VEHICLES), *INTELLIGENT AGENTS, *SOFTWARE AGENTS, FOREIGN REPORTS, ICAM(INTEGRATED COMPUTER-AIDED MANUFACTURING), IDEF(ICAM DEFINITION METHODOLOGY)
Abstract: (U) Unmanned Air Vehicles (UAVs) and Unmanned Combat Air Vehicles (UCAVs) are being investigated for use as a new Integrated Intelligence, Surveillance, and Reconnaissance (IISR) platform within the Canadian Forces. At the moment UAV/UCAV control is operator intensive and can involve high levels of workload. In an effort to alleviate those conditions and reduce manning requirements, the current project examined a variety of theoretical approaches to construct a comprehensive, integrated approach to the design and implementation of an intelligent, adaptive, agent-based system for UAV/UCAV control. The resulting generic framework was constructed from the elements of the following design approaches: CommonKADS, MAS-CommonKADS, IDEF Standards, Explicit Models Design, Perceptual Control Theory and Ecological Interface Design. This report provides overviews of each of those approaches and highlights common and complementary elements as part of a recommended generic framework. A sequence for applying the generic framework is provided. The proposed integration of the above techniques into a comprehensive, cross-disciplinary design approach will help serve the goals of reducing operator workloads and manning requirements, while generating a robust, maintainable and reliable system.
ADA420204
AUV-Based Measurements of Turbulence in the Oregon Coastal Ocean
Descriptive Note: Rept, for 1 Nov 2001-30 Sep 2003
Personal Author(s): Wijesekera, Hemantha W, Boyd, Timothy J
Report Date: 18 Feb 2004
Media Count: 7 Page(s)
Descriptors: (U) *UNDERWATER VEHICLES, MICROSTRUCTURE, ROBOTICS, PAYLOAD, METEOROLOGICAL DATA, REMOTE DETECTORS, OREGON
Identifiers: (U) AUV(AUTONOMOUS UNDERWATER VEHICLES), BLUEFIN ROBOTICS ODYSSEY III AUTONOMOUS UNDERWATER VEHICLES, *MICROSTRUCTURE SENSORS
Abstract: (U) We have developed and tested a sensor payload section consisting of CTD, optics ADCP, and microstructure sensors for use with a Bluefin Robotics Odyssey III Autonomous Underwater Vehicle (AUV). We have deployed the AUV, including our payload section, from various platforms in a variety of weather conditions and sea states.
ADA420696
Self-Evaluating Space and Robotic Agents
Descriptive Note: Final rept. 15 May 2000-14 Nov 2003
Personal Author(s): Marsh, Ronald, Hexmoor, Henry
Report Date: 12 Feb 2004
Media Count: 21 Page(s)
Descriptors: (U) *AUTOMATION, *DECISION MAKING, SIMULATION, ROBOTICS, OPTIMIZATION, SYSTEMS ENGINEERING, LOW ORBIT TRAJECTORIES, ARTIFICIAL SATELLITES, DRONES, FAULT TOLERANCE, GROUND STATIONS
Identifiers: (U) INTELLIGENT AGENTS, AUTONOMOUS AGENTS, MULTI-AGENT SYSTEMS
Abstract: (U) In the past three years, we focused on self-evaluative methods for agents that interact with other agents and dynamic environments. We started with the observation that it would be beneficial for agents to sense prevailing qualities that stem from their interactions such as situation awareness, sociability, coordination, autonomy, failure tolerance, timeliness, and purposefulness. Agents usually have access to constraining requirements over these qualities. Additionally, many of these qualities are conflicting but a balance is desirable for a given domain and agents can discover that in operation. We have shown that an agent could attempt adjustments in it interactions to bring about favorable global changes. Such abilities require agents to have capabilities at the architectural level. Theoretical results include various models of relationships among social notions, and several models of autonomy, trust, and Power Simulation results include two implemented multiagent systems as testbeds. Over 60 published reports listed at the end of this report present our theoretical developments and reports of experiments from simulations. In the next two sections we briefly outline theoretical developments and implemented simulations.
ADA421407
Multi-Vehicle Cooperative Search with Uncertain Prior Information
Descriptive Note: Conference paper preprint
Personal Author(s): Zhang, Chunlei, Ordonez, Raul, Schumacher, Corey
Report Date: Feb 2004
Media Count: 13 Page(s)
Descriptors: (U) *ALGORITHMS, COMPUTER PROGRAMS, MATHEMATICAL MODELS, COMPUTERIZED SIMULATION, SCENARIOS, SYMPOSIA, OPTIMIZATION, ROBOTS, MONTE CARLO METHOD, GROUND VEHICLES, REMOTE CONTROL
Identifiers: (U) SURROGATE OPTIMIZATION, COOPERATIVE SEARCH, AUTONOMOUS CONTROL, PPP(PAST PRESENT AND PREDICTED), UAV(UNINHABITED AUTONOMOUS VEHICLES), PE62201F, WUAFRL24030667
Abstract: (U) We present a possible solution for the multi-vehicle cooperative search problem via the surrogate optimization method. We establish a discrete mathematical model for the multi-vehicle cooperative search stationary target with uncertain prior information. We reformulate the Past, Present and Predicted Future (PPP) algorithm we introduced in previous work based on the new model and propose an implementation to adapt to the new scenario. Monte Carlo simulations indicate that the new implementation achieves better performance. Moreover, the scalability of the PPP algorithm is addressed.
ADA421347
UAV Task Assignment with Timing Constraints via Mixed-Integer Linear Programming
Descriptive Note: Conference paper preprint
Personal Author(s): Schumacher, Corey, Chandler, Phillip, Pachter, Meir, Pachter, Lior
Report Date: Feb 2004
Media Count: 15 Page(s)
Descriptors: (U) *LINEAR PROGRAMMING, *INTEGER PROGRAMMING, *DRONES, ALGORITHMS, CONTROL SYSTEMS, OPTIMIZATION, COMPUTER PROGRAMMING, TARGET DETECTION
Identifiers: (U) PREPRINTS, *TIMING CONSTRAINTS, AIR TO GROUND TASK ASSIGNMENT, MILP(MIXED INTEGER LINEAR PROGRAM), COUPLED TASKS, AUTONOMOUS CONTROL, AIR VEHICLES
Abstract: (U) The optimal timing of air-to-ground tasks is undertaken. Specifically, a scenario where multiple air vehicles are required to prosecute geographically dispersed targets is considered. The vehicles must perform multiple tasks on each target. The targets must be found, classified, attacked, and verified as destroyed. The optimal performance of these tasks requires cooperation amongst the vehicles such that critical timing constraints are satisfied. In this paper, an optimal task assignment and timing algorithm is developed, using a mixed integer linear program, or MILP, formulation. MILP can be used to assign all tasks to the vehicles in an optimal manner, including variable arrival times, for groups of air vehicles with coupled tasks involving timing and task order constraints. When the air vehicles have sufficient endurance, the existence of a solution is guaranteed.
ADA461106
SAFER Under Vehicle Inspection Through Video Mosaic Building
Descriptive Note: Journal article
Personal Author(s): Koschan, Andreas, Page, David, Ng, Fin-Choon, Abidi, Mongi, Gorsich, David, Gerhart, Grant
Report Date: Jan 2004
Media Count: 9 Page(s)
Descriptors: (U) *ROBOTICS, *AUTOMATION, *VEHICLES, *DETECTORS, MILITARY FACILITIES, SECURITY, SEQUENCES, VIDEO SIGNALS, MOSAICS(DETECTORS), IMAGES, HIGH RESOLUTION, THREATS, NATIONAL SECURITY, UNITED STATES GOVERNMENT
Identifiers: (U) *SECURITY AUTOMATION AND FUTURE ELECTROMOTIVE ROBOTICS, *ROAD VEHICLES, *STATE SECURITY, SAFER(SECURITY AUTOMATION AND FUTURE ELECTROMOTIVE ROBOTICS), IRIS(IMAGING ROBOTICS AND INTELLIGENT SYSTEMS), SAFER PROGRAM, INTELLIGENCE SYSTEMS
Abstract: (U) The current threats to US security, both military and civilian, have led to an increased interest in the development of technologies to safeguard national facilities such as military bases, federal buildings, nuclear power plants, and national laboratories. As a result, the imaging, robotics, and intelligent systems (IRIS) laboratory at the University of Tennessee has established a research consortium, known as security automation and future electromotive robotics (SAFER), to develop, test, and deploy sensing and imaging systems. In this paper, we describe efforts made to build multi-perspective mosaics of infrared and color video data for the purpose of under vehicle inspection. It is desired to create a large, high-resolution mosaic that may be used to quickly visualize the entire scene shot by a camera making a single pass underneath the vehicle. Several constraints are placed on the video data in order to facilitate the assumption that the entire scene in the sequence exists on a single plane. Therefore, a single mosaic is used to represent a single video sequence.
ADA451761
Development of an Aerodynamic Model and Control Law Design for a High Altitude Airship
Personal Author(s): Mueller, Joseph B, Paluszek, Michael A, Zhao, Yiyuan
Report Date: Jan 2004
Media Count: 18 Page(s)
Descriptors: (U) *HIGH ALTITUDE, *AUTONOMOUS NAVIGATION, *AIRSHIPS, EQUATIONS OF MOTION, ANTIMISSILE DEFENSE SYSTEMS, SPACE SURVEILLANCE, DRONES, BUOYANCY, MILITARY SATELLITES, DESIGN CRITERIA, MODELS, SOLAR ENERGY, MISSIONS, REMOTE DETECTORS
Abstract: (U) Lighter-than air vehicles are an attractive solution for many applications requiring a sustained airborne presence. The buoyancy force provides an energy-free form of lift, offering a non-traditional approach to long-duration missions for which traditional aircraft are not well-suited. Potential applications include roving or hovering surveillance and communication utilities for both military and commercial use, and a variety of remote-sensing instruments for the scientific community. In particular, the Missile Defense Agency plans to utilize unmanned airships at high-altitudes to provide a long-duration missile defense presence around the coast-line of the United States. Operated at 70 kft, each of these high altitude airships will fly above all regulated air traffic for several months to years, will reside in a steady atmospheric regime, and will utilize solar energy to provide all required power. Two key objectives for this type of mission are that the unmanned airship have exceptionally long endurance, and that it operate with a sufficiently high-level of autonomy. In order to achieve these objectives, a robust guidance and control system is required, capable of auto-piloting and controlling the airship under an extremely wide range of atmospheric and wind conditions. The successful design of such a system first requires an accurate model of airship dynamics across its expansive flight envelope, and a representative model of the expected disturbances. The dynamics of an airship are markedly different from traditional aircraft, with significant effects from added mass and inertia, and a much higher sensitivity to wind. In this paper, a typical airship configuration is first sized to meet energy balance and mass constraints. The geometry of this configuration is then used to develop a general aerodynamic model for the airship.
ADA421870
Multi-Robot Position Tracking
Descriptive Note: Conference paper
Personal Author(s): Roe, Marvin, Bourgeois, Brian, McDowell, Patrick
Report Date: 11 Dec 2003
Media Count: 6 Page(s)
Descriptors: (U) *ROBOTS, *POSITION FINDING, UNDERWATER VEHICLES, MANEUVERS, AUTONOMOUS NAVIGATION, DEAD RECKONING, TRACKING CAMERAS
Identifiers: (U) UUV(UNMANNED UNDERWATER VEHICLES), PE62435N, 74-6636-04
Abstract: (U) Accurate navigation is just one of the many challenges for successfully coordinating multiple robot interaction. It is especially important when trying to quantify the success of new techniques being developed to achieve coordinated formation maneuvering. This paper presents the experimental procedures followed while determining robot navigation error along with an evaluation of the resultant measurements. An inexpensive, easily configurable, camera system is presented that shows the potential to provide accurate position information. Along with a description of the system configuration, test procedures and test data are presented and evaluated. Finally, a comparison of the robot navigation error to that of the proposed camera system is presented.
ADA421313
Battle Management Algorithms for Autonomous Unmanned Systems (BMAAUS)
Descriptive Note: Final rept. Aug 2001-Dec 2002
Personal Author(s): Seitzer, Jennifer
Report Date: Dec 2003
Media Count: 27 Page(s)
Descriptors: (U) *ALGORITHMS, *DRONES, ROBOTICS, REAL TIME, LEARNING, BATTLE MANAGEMENT
Identifiers: (U) *BMAAUS(BATTLE MANAGEMENT ALGORITHMS FOR AUTONOMOUS UNMANNED SYSTEMS), EFFECTORS, AUTONOMOUS AGENTS, REINFORCEMENT LEARNING, LAYERED LEARNING, COMMUNICATION AND COLLABORATION PROTOCOLS, MULTIAGENT PLANNING, TERRITORIALITY, PE62702F, WUAFRL558TQF09
Abstract: (U) Autonomous agents are self-directed, independent entities that interact with an environment by in-taking percepts through sensing devices and by acting on the environment through effectors. This work centers on autonomous entities in an adversarial environment that operate with conflicting goals, process noisy data, adapt in real-time to a dynamic environment, and collaborate to achieve one or more collective goals. In this proposed work, the domain of application is robotic soccer. Ultimately, we expect the research to apply to work in Unmanned Air Vehicles (UAV). The work performed in this project relates to the implementation of autonomous agents.
ADA421395
On-Line Trajectory Optimization for Autonomous Air Vehicles
Descriptive Note: Final rept. 1 Sep 2002-1 Sep 2003
Personal Author(s): Corban, J Eric, Johnson, Eric N, Calise, Anthony J, Twigg, Shannon
Report Date: 31 Oct 2003
Media Count: 61 Page(s)
Descriptors: (U) *OPTIMIZATION, *FIXED WING AIRCRAFT, *TRAJECTORIES, *FLIGHT SIMULATION, *SURVEILLANCE DRONES, KINEMATICS, ALGORITHMS, AERIAL RECONNAISSANCE, NEURAL NETS, TEST BEDS, REAL TIME, NONLINEAR SYSTEMS, BOUNDARY VALUE PROBLEMS, PERTURBATION THEORY, AUTONOMOUS NAVIGATION, ONLINE SYSTEMS, AUTOMATIC PILOTS
Identifiers: (U) UAV(UNMANNED AIR VEHICLE)
Abstract: (U) Successful operation of next-generation unmanned air vehicles will demand a high level of autonomy. Autonomous low-level operation in a high-threat environment dictates a need for on-hoard, robust, reliable and efficient trajectory optimization. in this report, we develop and demonstrate an innovative combination of traditional analytical and numerical solution procedures to produce efficient, robust and reliable means for nonlinear Light path optimization in the presence of time-varying obstacles and threats. The solution procedure exploits the natural time-scale separation that exists in the aircraft dynamics using singular perturbation theory. A reduced order problem involving only the kinematics of the position subspace is treated numerically. The nonlinear aircraft dynamics are to be treated analytically in phase II using a boundary layer analysis that results in an optimal feedback guidance solution. The developed algorithms were coupled with a neural network adaptive autopilot and integrated in an existing unmanned test-bed. This report documents the phase I effort, which produced a demonstration of the developed algorithm in near-real-time flight simulation, and included a simple evaluation of tracking computed trajectories on a rotary wing UAV.
ADA422302
Technical Evaluation Report
Descriptive Note: Conference paper
Personal Author(s): Sands, Jeffrey I
Report Date: Oct 2003
Media Count: 13 Page(s)
Descriptors: (U) *AUTOMATION, *HUMAN FACTORS ENGINEERING, *MILITARY APPLICATIONS, *ARTIFICIAL INTELLIGENCE, *MAN MACHINE SYSTEMS, *MAN COMPUTER INTERFACE, *DECISION SUPPORT SYSTEMS, MILITARY FORCES(UNITED STATES), ELECTRONIC WARFARE, SYMPOSIA, ROBOTICS, OPTIMIZATION, MILITARY FORCES(FOREIGN), HUMANS, INTERACTIONS, COGNITION, PILOTS, TEAMS(PERSONNEL), AIR TRAFFIC CONTROL SYSTEMS, COSTS, AERIAL WARFARE, UNMANNED, MILITARY TRAINING, DRONES, OPERATORS(PERSONNEL), AVIATION SAFETY, AUTOMATIC PILOTS, COOPERATION, SITUATIONAL AWARENESS
Identifiers: (U) INTELLIGENT AGENTS, OPERATOR ROLE, UNMANNED MILITARY VEHICLES, HUMAN COMPUTER INTERACTION, HUMAN MACHINE INTERACTION, NATO FURNISHED, COMPONENT REPORT
Abstract: (U) On 7-9 October 2002, more than 100 NATO, Partnership for Peace, and Non-NATO nationals from 22 countries met in Warsaw, Poland, to discuss the role of humans in intelligent and automated systems. Sponsored by the Human Factors and Medicine Panel of the North Atlantic Treaty Organization's Research and Technology Organization, the symposium participants discussed how automation technology can take advantage of human strengths and compensate for human weaknesses and vice versa. Participants discussed how to harmonize the interactions of humans with automated and semi-automated systems to increase overall mission performance. They outlined recommendations for development of human-centered automation in military environments, addressing key areas such as providing levels of automation that are appropriate to levels of risk, examining procedures for recovery from emergencies, and ensuring human control of automation. The Symposium, co-chaired by Dr. N. Gershon (USA) and Dr. K. Boff (USA), consisted of an Opening Session, three sessions on design philosophy, two sessions and a roundtable discussion on design methodology, two sessions on design evaluation, and a Capstone Panel with open discussion. Six Keynote Addresses were interspersed throughout the program. In total, 18 papers were presented and 5 poster papers were available for review. This technical evaluation is divided into three parts. The first part is an overview of the problem as presented in the Opening Session and by the Keynote Speakers throughout the Symposium. The second part reviews the content discussed in each of the sessions: design philosophy, methodology, and evaluation. The point is not to provide a summary of each paper (these appear elsewhere in the volume), but to point out the relevance of each paper to the problem statement. The final part of this report evaluates the content presented throughout all sessions and concludes with recommendations for action that emerged during the Symposium. 7
ADA422248
Uninhabited Military Vehicles: What Is the Role of the Operators?
Descriptive Note: Conference paper
Personal Author(s): Reising, John M
Report Date: Oct 2003
Media Count: 11 Page(s)
Descriptors: (U) *AUTOMATION, *MILITARY VEHICLES, *MAN MACHINE SYSTEMS, *DRONES, *OPERATORS(PERSONNEL), *COOPERATION, SYMPOSIA, ROBOTICS, FLIGHT CREWS, HUMANS, TEAMS(PERSONNEL), COMPUTER ARCHITECTURE, HUMAN FACTORS ENGINEERING, COMMAND AND CONTROL SYSTEMS, UNMANNED, ARTIFICIAL INTELLIGENCE, MAN COMPUTER INTERFACE, CONTROLLED CONFIGURED VEHICLES
Identifiers: (U) *OPERATOR ROLE, *UNMANNED MILITARY VEHICLES, UMV(UNINHABITED MILITARY VEHICLES), UAV(UNMANNED AERIAL VEHICLES), UGV(UNMANNED GROUND VEHICLES), UUV(UNMANNED UNDERSEA VEHICLES), COMPUTER AUTONOMY, AUTONOMOUS VEHICLES, HUMAN COMPUTER INTERACTION, PACT(PILOT AUTHORIZATION OF CONTROL TASKS), LEVELS OF AUTONOMY, ELECTRONIC CREW MEMBERS, NATO FURNISHED, COMPONENT REPORT
Abstract: (U) The role of the operator in future uninhabited military vehicles (UMVs) will be quite different from that of the operators of current vehicles, such as the Predator. Future UMVs will contain associate symptoms that will incorporate varying levels of autonomy and dynamic function allocation as basic operating principles. These principles will enable the UMV operator and the associate to form a team consisting of two crew members -- one human and one electronic, although teams of multiple humans and multiple electronic crew members are certainly possible. (6 figures, 21 refs.)
ADA427480
Autonomous Navigation & Collision Avoidance System For The Nearchos UAV
Descriptive Note: Briefing charts
Personal Author(s): Valavanis, Kimon
Report Date: 02 Sep 2003
Media Count: 33 Page(s)
Descriptors: (U) *FLIGHT CONTROL SYSTEMS, *DRONES, SYMPOSIA, RADIO LINKS, AUTONOMOUS NAVIGATION, COLLISION AVOIDANCE, FUZZY LOGIC
Identifiers: (U) PROCEEDINGS, BRIEFING CHARTS, FOREIGN REPORTS, UAV(UNMANNED AERIAL VEHICLES), NEUROFUZZY CONTROLLERS, COURSE CORRECTION, COLLISION DETECTION
Abstract: (U) Briefing charts from presentation on the autonomous navigation and collision avoidance system for the NEARCHOS UAV.
ADA418580
"Follow the Leader" Tracking by Autonomous Underwater Vehicles (AUVs) Using Acoustic Communications and Ranging
Descriptive Note: Master's thesis
Personal Author(s): Kucik, Daniel P
Report Date: Sep 2003
Media Count: 208 Page(s)
Descriptors: (U) *ROBOTICS, *UNDERWATER VEHICLES, *UNDERWATER NAVIGATION, *COOPERATION, *SOUND RANGING, *ACOUSTIC COMMUNICATIONS, ALGORITHMS, COMPUTERIZED SIMULATION, INFORMATION EXCHANGE, EFFICIENCY, THESES, GLOBAL POSITIONING SYSTEM, UNMANNED, UNDERWATER ACOUSTICS, RENDEZVOUS GUIDANCE, RADIO NAVIGATION, TRANSPONDERS, UNDERWATER COMMUNICATIONS, GRAPHICAL USER INTERFACE
Identifiers: (U) AUV(AUTONOMOUS UNDERWATER VEHICLES), FOLLOW THE LEADER, *COOPERATIVE BEHAVIOR, RELATIVE NAVIGATION ERROR CORRECTION, ARIES(ACOUSTIC RADIO INTERACTIVE EXPLORATORY SERVER), REMUS(REMOTE ENVIRONMENTAL MEASUREMENT UNITS), DEAD RECKONING, ACOUSTIC LONG BASELINE, TRIANGULATION THEORY, MATLAB COMPUTER PROGRAM
Abstract: (U) With advances in computer and sensor technologies, autonomous underwater vehicles (AUVs) are now capable of reaching a level of independent action once thought impossible. Through the use of cooperative behaviors it is possible to further increase their autonomy by allowing multiple operating AUVs to simultaneously coordinate their activities to improve the efficiency and effectiveness of the overall system. This thesis research defines the algorithms and rules needed to perform 'follow the leader' cooperative behaviors during AUV rendezvous. This is a low-level first step towards more sophisticated cooperative behaviors, such as swarming or new forms of obstacle/trap avoidance. The approach taken here differs from previous research in that it does not rely on beacons or locator sensors, but instead uses ranging and intention information shared between the vehicles using acoustic communications. Several tools and algorithms are presented to support the future development of cooperative behaviors. In particular, a previously developed 3D virtual world simulator that utilizes dynamics-based vehicle models has been enhanced to support multiple simultaneously operating vehicles. Finally, a procedural algorithm is shown to correct the relative navigation errors between two vehicles through the use of vehicle-to-vehicle communications and ranging information obtained via acoustic modems. (3 tables, 69 figures, 55 refs.)
ADA417893
See and Avoid Sensor System Design Part 2 - System Reliability & Cost/Benefits
Descriptive Note: Conference paper preprint
Personal Author(s): Chen, Won-Zon, Portilla, Eric, Clough, Bruce, Molnar, Thomas J
Report Date: Sep 2003
Media Count: 17 Page(s)
Descriptors: (U) *AIR NAVIGATION, *REMOTELY PILOTED VEHICLES, *COST BENEFIT ANALYSIS, SYMPOSIA, TERMINAL FLIGHT FACILITIES, RELIABILITY, UNMANNED, TACTICAL ANALYSIS, AVIATION SAFETY, AIR TRAFFIC, FORMATION FLIGHT, LANDING, SITUATIONAL AWARENESS
Identifiers: (U) FOV(FIELD OF VIEW), TTG(TIME TO GO), UAV(UNMANNED AIR VEHICLE), S&A(SEE AND AVOID), AFCST(AUTONOMOUS FLIGHT CONTROL SENSING TECHNOLOGIES), PE62201F, WUAFRL2403020X
Abstract: (U) Under the USAF-sponsored Autonomous Flight Control Sensing Technologies (AFCST) program, Northrop Grumman investigated "see and avoid" (S&A) sensing requirements and preferred system designs along with other military scenarios such as autonomous formation flight and visual landing for future advanced unmanned air vehicles (UAVs). In the first part of the two-paper series, an S&A sensor coverage assessment method and the associated field-of-view (FOV) and time-to-go (TTG) modeling tools developed are described. In this second part, the use of the coverage models and modeling results to assess the overall system reliability of a number of sensor system configurations and their cost/benefit trades are discussed.
ADA417904
Intelligent Control of Unmanned Air Vehicles: Program Summary and Representative Results
Descriptive Note: Conference paper
Personal Author(s): Ward, D G, Sharma, M, Richards, N D, DeLuca, J, Mears, M
Report Date: Sep 2003
Media Count: 12 Page(s)
Descriptors: (U) *ADAPTIVE CONTROL SYSTEMS, *DRONES, FLIGHT PATHS, AUTOMATIC PILOTS
Identifiers: (U) UAV(UNMANNED AERIAL VEHICLES), INTELLIGENT CONTROL, BACKSTEPPING, PE62201F, WUAFRL2401029C
Abstract: (U) In early 2001, AFRL and NAVAIR issued a PRDA requesting proposals to develop an intelligent controller (IC) for unmanned combat air vehicles. Two key requirements of the IC were (1) a learning approach that could go beyond current adaptive controllers and "remember" what it had learned across flight conditions and (2) a reconfigurable path planner that accounted for changes in the inner-loop behavior and generated near-optimal trajectories in real time. This paper presents a summary of the resulting IC program and some initial technical results.
ADA438893
Unmanned Aerial Vehicles in Perspective: Effects, Capabilities, and Technologies. Volume 1. Summary (PR)
Descriptive Note: Final rept. Jan 2002-Jul 2003
Personal Author(s): Johnson, Ray, O'Neill, Malcolm
Report Date: Sep 2003
Media Count: 86 Page(s)
Descriptors: (U) *MILITARY VEHICLES, *UNMANNED, *DRONES, AIRCRAFT, AIR FORCE OPERATIONS, AUTONOMOUS NAVIGATION, MISSIONS, MANAGEMENT
Identifiers: (U) *UNMANNED AERIAL VEHICLE, PREDATOR, GLOBAL HAWK, UAV MISSION MANAGEMENT, NET-CENTRIC OPERATIONS, AUTONOMY, HUMAN-SYSTEM INTEGRATION, PERSPECTIVES
Abstract: (U) The report discusses the future of UAV employment in the USAF. It suggests a range of potential missions for future UAV employment, as well as a set of systems that could be constructed to accomplish these missions. The report examines the current state of mission management technologies and maps out a plan of development for mission management and UAV CONOPS. This report summarizes the findings to be discussed in detail in the succeeding volume.
ADA420800
Cooperative Control Simulation Validation Using Applied Probability Theory
Descriptive Note: Master's degree
Personal Author(s): Schulz, Christopher S
Report Date: Aug 2003
Media Count: 77 Page(s)
Descriptors: (U) *COMPUTERIZED SIMULATION, *VALIDATION, *AUTONOMOUS NAVIGATION, *DRONES, *COMPUTER PROGRAM VERIFICATION, *COOPERATION, *SMART WEAPONS, ALGORITHMS, SCENARIOS, DECISION MAKING, KILL PROBABILITIES, PERFORMANCE(ENGINEERING), PROBABILITY DISTRIBUTION FUNCTIONS, DAMAGE ASSESSMENT, ATTACK, MULTIPLE TARGETS, THESES, MONTE CARLO METHOD, MATHEMATICAL PREDICTION, SEARCHING, TARGET DETECTION, TARGET CLASSIFICATION, FALSE TARGETS, AREA DENIAL, DECENTRALIZATION, AREA SCANNING
Identifiers: (U) *WIDE AREA SEARCH MUNITIONS, COOPERATIVE CONTROL ALGORITHMS, POISSON TARGET DISTRIBUTION, UNIFORM TARGET DISTRIBUTION, NORMAL TARGET DISTRIBUTION, COOPERATIVE ENGAGEMENT, COOPERATIVE BEHAVIOR, AUTONOMOUS MUNITIONS, AUTONOMOUS AGENT TEAMS, ATR(AUTOMATIC TARGET RECOGNITION), UAV(UNMANNED AERIAL VEHICLES), PAD(PERSISTENT AREA DENIAL), MULTIUAV SIMULATION, SIMULATION VALIDATION, VALIDATION MODELS, MULTIUAV VERSION 1.3 SOFTWARE PROGRAM, POISSON FIELD OF TARGETS
Abstract: (U) Several research simulations have been created to support the development and refinement of teamed autonomous agents using decentralized cooperative control algorithms. Simulation is the necessary tool to evaluate the performance of decentralized cooperative control algorithms; however, these simulations lack a method to validate their output. This research presents a method to validate the performance of a decentralized cooperative control simulation environment for an autonomous Wide Area Search Munition (WASM). Rigorous analytical methods for six wide area search and engagement scenarios involving Uniform, Normal, and Poisson distributions of N real targets and M false target objects are formulated to generate expected numbers of target attacks and kills for a searching WASM. The mean value based on the number of target attack and kills from Monte Carlo simulations representative of the individual scenarios are compared to the analytically derived expected values. Emphasis is placed on WASMs operating in a multiple target environment where a percentage of the total targets are either false targets or may be misconstrued as false by varying the capability of the WASM's Automatic Target Recognition (ATR) capability. (8 tables, 18 figures, 22 refs.)
ADA426998
Unmanned Aerial Vehicles in Perspective: Effects, Capabilities, and Technologies. Volume 0: Executive Summary and Annotated Briefing
Descriptive Note: Final rept. Jan 2002-Jul 2003
Personal Author(s): Johnson, Ray O, O'Neill, Malcolm, Worch, Peter, Zacharias, Greg, Hunt, Brian
Report Date: Jul 2003
Media Count: 57 Page(s)
Descriptors: (U) *UNMANNED, *DRONES, AIRCRAFT, MANAGEMENT, MISSIONS, AUTONOMOUS NAVIGATION, AIR FORCE OPERATIONS
Identifiers: (U) *UAV(UNMANNED AERIAL VEHICLES), GLOBAL HAWK AIRCRAFT, HUMAN SYSTEM INTEGRATION, NET-CENTRIC OPERATIONS, PREDATOR AIRCRAFT, VIEWGRAPHS, BRIEFING CHARTS
Abstract: (U) This report discusses the future of UAV employment in the USAF. It suggests a range of potential mission for future UAV employment, as well as a set of systems that could be constructed to accomplish these missions. The report examines the current state of mission management technologies and maps out of a plan of development for mission management and UAV CONOPS. This report summarizes the findings to be discussed in detail in subsequent volumes.
ADA416348
UAV Task Assignment with Timing Constraints
Descriptive Note: Technical paper
Personal Author(s): Schumacher, Corey, Chandler, Phillip, Pachter, Meir
Report Date: Jul 2003
Media Count: 9 Page(s)
Descriptors: (U) *FLIGHT CONTROL SYSTEMS, *SURVEILLANCE DRONES, TARGET ACQUISITION, TARGET RECOGNITION, LINEAR PROGRAMMING, AUTONOMOUS NAVIGATION, TIMELINESS, ARRIVAL, FLIGHT PATHS
Identifiers: (U) UAV(UNMANNED AERIAL VEHICLES), MILP(MIXED INTEGER LINEAR PROGRAM), WASM(WIDE AREA SEARCH MUNITIONS)
Abstract: (U) This paper addresses the problem of task allocation for wide area search munitions. The munitions are required to search for, classify, attack, and verify the destruction of potential targets. We assume that target field information is communicated between all elements of the swarm. We generate a tour of optimal assignments for each vehicle using a Mixed Integer Linear Program, or MILP format. MILP can assign tasks that look infeasible, due to timing, by adding time to a UAV's path, and vehicle paths are then recalculated to match the required arrival times. The MILP formulation with variable arrival times provides an optimal solution to multiple-assignment problems for groups of UAVs with coupled tasks involving timing and task order constraints.
ADA464756
Vehicle Motion Planning Using Stream Functions
Personal Author(s): Waydo, Stephen
Report Date: 06 May 2003
Media Count: 16 Page(s)
Descriptors: (U) *MOTION, *PLANNING, *REMOTELY PILOTED VEHICLES, *ANALYTIC FUNCTIONS, CONTROL SYSTEMS, UNMANNED, HYDRODYNAMICS, AUTONOMOUS NAVIGATION, TEST BEDS, ROBOTS
Identifiers: (U) *STREAM FUNCTIONS, OBSTACLES, UAV(UNMANNED AIR VEHICLES), PATH PLANNING
Abstract: (U) Borrowing a concept from hydrodynamic analysis, this paper presents stream functions which satisfy Laplace's equation as a local-minima free method for producing potential-field based navigation functions in two dimensions. These functions generate smoother paths (i.e. more suited to aircraft-like vehicles) than previous methods. A method is developed for constructing analytic stream functions to produce arbitrary vehicle behaviors while avoiding obstacles, and an exact solution for the case of a single uniformly moving obstacle is presented. The effects of introducing multiple obstacles are discussed and current work in this direction is detailed. Experimental results generated on the Cornell RoboFlag testbed are presented and discussed, as well as related work applying these methods to path planning for unmanned air vehicles.
ADA415972
Fleet Battle Experiment Juliet Final Reconstruction and Analysis Report
Descriptive Note: Final rept.
Personal Author(s): Gallup, Shelley, Schacher, Gordon, Jensen, Jack, Saylor, Steve, Tangorra, Jim
Report Date: Apr 2003
Media Count: 646 Page(s)
Descriptors: (U) *ANTIMISSILE DEFENSE SYSTEMS, *ANTISUBMARINE WARFARE, *MINE WARFARE, *THEATER MISSILE DEFENSE, *COMBAT SIMULATION, COMPUTERIZED SIMULATION, COMBAT SURVEILLANCE, PLATFORMS, TACTICAL RECONNAISSANCE, JOINT MILITARY ACTIVITIES, REMOTE DETECTORS, MILITARY PLANNING, LITTORAL ZONES, SURFACE TARGETS, SEA BASED, TACTICAL INTELLIGENCE, ACOUSTIC DETECTORS, FATIGUE(PHYSIOLOGY), FLEET EXERCISES, KNOWLEDGE MANAGEMENT
Identifiers: (U) MARITIME PLANNING PROCESS, JOINT FIRES INITIATIVE, HIGH SPEED VESSELS, NAVY FIRES NETWORKS, ISR MANAGEMENT, TIME CRITICAL TARGETING, NETTED FORCES, INFORMATION OPERATIONS, REMOTE AUTONOMOUS VEHICLES, REMOTE UNMANNED SENSORS, COMMON OPERATIONAL PICTURE, SUBMARINE LOCATING DEVICES, UNMANNED SURFACE VEHICLES
Abstract: (U) Fleet Battle Experiment Juliet (FBE-J) is the tenth FBE to be conducted since 1997. The two major areas of experimentation for FBE-J were Sea-based Joint Forces Maritime Command and Control (JFMCC), and Assured Access. FBE-J was an opportunity to experiment with JFMCC across all maritime warfare areas in a difficult littoral environment. The experiments were conducted from 24 July to 15 August 2002 in the U.S. western sea and land ranges. FBE-J used a mix of live and simulated activities to examine operational and tactical warfighting issues in a real environment. There were periods during the experiment when FBE-J operated independent of the joint environment. At such times, Navy simulation provided Red-Force activities. At the service level, simulation was used to examine systems that did not yet exist, to fill out orders of battle, and to determine effects due to force numbers. Specific FBE-J activities were as follows: refine the roles, functions, and planning process for the Joint Force Maritime Component Commander; refine C4ISR and support for a sea-based Joint Force Commander; develop innovative solutions to the seams between forward-based forces and rear-echelon forces through innovative networking; provide field-tested Naval Fires Network TACMEMO for fleet use; refine the concepts of employment for distributed, networked, manned, and unmanned platforms, and remote sensors, for anti-submarine warfare, anti-surface warfare, and mine warfare; examine multi-mission pull and joint C2 of Navy Theater Ballistic Missile Defense capable units; examine coordination from theater ASW commander to local ASW commander in integrating unmanned sensors and platforms with manned sensors and platforms; examine joint tactical packages to counter a swarming small boat threat; refine concepts of employment for organic and dedicated mine warfare forces in assured access mission; and integrate kinetic and non-kinetic engagement options to develop computer network defense CONOP7
ADA417790
Research Institute for Autonomous Precision Guided Systems
Descriptive Note: Final rept. 1 May 2002-31 Mar 2003
Personal Author(s): Sforza, Pasquale M
Report Date: 31 Mar 2003
Media Count: 11 Page(s)
Descriptors: (U) *THERMOMECHANICS, *PENETRATION, *AUTONOMOUS NAVIGATION, *DRONES, *SMART WEAPONS, *WARHEADS, MATHEMATICAL MODELS, SYMPOSIA, FLIGHT CONTROL SYSTEMS, THERMODYNAMICS, CONCRETE, STRAIN(MECHANICS), MILITARY RESEARCH, COMPUTER APPLICATIONS, FAILURE(MECHANICS), TERMINAL GUIDANCE, METALLURGY, HARDENED STRUCTURES, DETONATION WAVES, ROCKET NOSES, SCIENTIFIC RESEARCH
Identifiers: (U) UAV(UNMANNED AERIAL VEHICLES), FLOW CONTROL, AUTONOMOUS PRECISION GUIDED MUNITIONS, NOSE EROSION, NOSE DESIGN, INTEGRATED GUIDANCE, COOPERATIVE CONTROL, COOPERATIVE ATTACK WEAPONS, MICROMUNITIONS, MICRO AIR VEHICLES
Abstract: (U) The aim of this project is to leverage the manpower resources dedicated to basic research in technologies relevant to autonomous precision systems at the Air Force Research Laboratory Munitions Directorate (AFRL/MN). This is accomplished by inviting scientists from the University of Florida and other institutions around the world to participate in this Research Institute at the University of Florida's Graduate Engineering & Research Center (UFGERC) for selected time periods. During their stay they work alongside AFRL/MN scientists on basic research issues relevant to the Air Force mission. This government operated/collaborator assisted (GOCA) concept is consistent with the aims and procedures espoused by the STW-21 initiative of the AFRL. The selection of research focus areas and invited participants reflects a partnership within which the UFGERC, AFRL/MN, and AFOSR collaborate as a team. This report covers the final years of performance on the present contract, which has been renewed for another three years, starting April 1, 2003. The Research Institute, initiated on May 1, 2000, is functioning effectively in bringing together outstanding scientists and their students in concentrated personal interactions with AFRL/MN scientists on a daily basis. The collection of visiting scientists from different, but related, fields has been fruitful in fostering multidisciplinary cooperation. The report reviews the year's accomplishments in terms of the institute's web site, two workshops that were held, a technical review meeting, and 31 seminars. There were 17 visiting scientists in residence during the year. The research focus on the capability of modeling strong discontinuities in solids to construct well-posed models of strain localization and failure and the numerical resolution of multiple-length scales; the thermo-mechanics of high-speed penetration of geomaterials & concrete; and integrated guidance/cooperative attack systems.
ADA413611
Application of Maneuver-Based Control In Variable Autonomy Unmanned Combat Aerial Vehicles
Descriptive Note: Master's thesis, Sep 2001-Mar 2003
Personal Author(s): Walan, Alexander M
Report Date: Mar 2003
Media Count: 112 Page(s)
Descriptors: (U) *DRONES, MILITARY OPERATIONS, MISSION PROFILES, PILOTS, THESES, UNMANNED, AERODYNAMIC CHARACTERISTICS, COMBAT VEHICLES, LETHALITY, MANEUVERS, OPERATORS(PERSONNEL), MILITARY PLANNING, TACTICAL AIRCRAFT
Identifiers: (U) AUTONOMOUS CONTROL, AUTONOMY, MBC(MANEUVER BASED CONTROL), MISSION PLANNING, *UNMANNED AERIAL VEHICLES, *MANEUVER BASED CONTROL
Abstract: (U) The rise in the capability and lethality of unmanned combat aerial vehicles (UCAVs) historically has been paralleled by an increase in the complexity of the command and control of these systems. This trend has continued with the command and control of the current fleet of unmanned aerial vehicles such as the Predator and Global Hawk. The control of these vehicles falls on the extremes on the manual vs autonomous spectrum. As the missions tasked to these vehicles increase in complexity and lethality, operators will increasingly require the ability to tailor the amount of control exercised over the vehicle. Maneuver Based Control (MBC) offers the potential to give future UCAV operators the ability to vary the autonomy of the vehicle against the amount of control they exercise over UCAV systems. The objective of this research is to validate the concept of Maneuver Based Control (MBC). This is accomplished under the umbrella of a conceptual UCAV mission. Particular attention is paid to the ability of this control scheme to increase operator situational awareness while decreasing the overall operator workload and required piloting skill. In addition, the ability to MBC to ensure effective control integrity over the vehicle is examined; ensuring that what vehicle does in response to a user's input is not divorced from the flight characteristics of vehicle.
ADA413133
Simulator Development for Multiple Unmanned Underwater Vessels (Full Draft)
Descriptive Note: Conference paper
Personal Author(s): Roe, Marvin W, Bourgeois, Brian S, McDowell, Patrick
Report Date: 10 Jan 2003
Media Count: 16 Page(s)
Descriptors: (U) *SIMULATORS, *UNDERWATER VEHICLES, REAL TIME, TEAMS(PERSONNEL), DISPLAY SYSTEMS, UNMANNED, AUTONOMOUS NAVIGATION, COMPUTER NETWORKS, CENTRALIZED, UNDERWATER NAVIGATION, MULTIPLE OPERATION, DISTRIBUTED INTERACTIVE SIMULATION, NETWORK ARCHITECTURE
Identifiers: (U) UUV(UNMANNED UNDERWATER VESSEL), PNT(POSITION NAVIGATION AND TIMING), PE62435N, WU74663603
Abstract: (U) This paper is about the development of a system that will simulate the operation of multiple Unmanned Underwater Vessels (UUV). The simulator is being designed to support the research efforts of the Position, Navigation and Timing (PNT) team of the Naval Research Laboratory (NRL), located at Stennis Space Center. In this paper we will discuss the functionality and architecture of a simulator that will support this research. Our approach is to use a network of PC's with a vessel simulation running on each PC. An additional PC will host our Central Simulation Processes that will display simulation progress and serve as a central control for shared data and communications. This calls tor the ability to create a flexible distributed real-time system that can synchronize vessel interaction in a team setting. Various combinations of simulated and physical vessel types must be allowed to support the different team member roles and our phased development approach. We present a detailed description of the architecture proposed for our simulator and discuss its operation. Finally we will present our observation of the performance of a prototype implementation and discuss our future plans for development and testing.
ADA410703
Dynamic Analysis and Design System Modeling of the Experimental Unmanned Vehicle
Descriptive Note: Final rept.
Personal Author(s): Fazio, Peter J
Report Date: Dec 2002
Media Count: 31 Page(s)
Descriptors: (U) *GROUND VEHICLES, *AUTONOMOUS NAVIGATION, *COMBAT SIMULATION, *LAND NAVIGATION, WEAPONS, COMPUTERIZED SIMULATION, MOBILITY, MILITARY PERSONNEL, ROBOTICS, ENVIRONMENTS, ARMY RESEARCH, DEMONSTRATIONS, DYNAMICS, PLATFORMS, UNMANNED, SELF OPERATION, ENEMY, BALLISTICS, OFFROAD TRAFFIC, CHASSIS
Identifiers: (U) MOUT(MILITARY OPERATIONS IN URBAN TERRAIN), PE622618A
Abstract: (U) The Weapons Analysis Branch, Ballistics and Weapons Concepts Division, Weapons and Materials Research Directorate of the U.S. Army Research Laboratory (ARL) built a multi-body engineering-level model of the unmanned ground vehicle platform used in the Office of the Secretary of Defense Demo III Robotics program during fiscal years 2000 and 2001. The intended role of the autonomous robotic vehicle was to be a technology demonstrator to assess the possibility of an unmanned vehicle performing the armor scout mission. The unaided vehicle would travel ahead of the troop section and provide scout reconnaissance without the need for placing a human being into a hostile environment. The vehicle platform used as the basis for the model was the experimental unmanned vehicle (XUV) developed and built by General Dynamics Robotic Systems (GDRS). The XUV is a four-wheeled, Ackerman-steered, all-wheel-drive autonomous vehicle that is approximately 10 feet long, 5 feet wide, and 4 feet high and has a curb weight of=3000 pounds. The XUV uses a four-cylinder, 78-hp diesel engine that powers a four-wheel hydraulic drive system. A computer model of the XUV was subsequently developed as a further extension of the modeling tools used for analyzing robotic vehicle off-highway mobility and chassis dynamics and to further enhance the fidelity of battlefield simulations in which these vehicles are employed. The XUV is shown in Figure 1 and the XUV with revised body structure is shown in Figure 2.
ADA426520
Clandestine ELOS/OTH RF Communications for Unmanned Underwater Vehicles
Descriptive Note: Final rept. 1 Jan 2001-31 Dec 2002
Personal Author(s): Rogers, Robert L, Buhl, Dillon P
Report Date: 30 Sep 2002
Media Count: 7 Page(s)
Descriptors: (U) *HIGH FREQUENCY, *UNDERWATER VEHICLES, *LONG RANGE(DISTANCE), *GROUND WAVES(ELECTROMAGNETIC), *RADIO TRANSMISSION, *MINIATURIZATION, *BROADBAND ANTENNAS, LINE OF SIGHT, PERFORMANCE(ENGINEERING), EFFICIENCY, UNMANNED, GAIN, COVERT OPERATIONS, TUNING, OCEAN ENVIRONMENTS, SECURE COMMUNICATIONS, COLLAPSIBLE STRUCTURES, STANDING WAVE RATIOS, RETRACTABLE, CONICAL ANTENNAS, WIRELESS LINKS
Identifiers: (U) *FLEX ANTENNAS, OTH(OVER THE HORIZON COMMUNICATIONS), ELOS(EXTENDED LINE OF SIGHT COMMUNICATIONS), UUV(UNMANNED UNDERWATER VEHICLES), UAV(UNDERWATER AUTONOMOUS VEHICLES), FLEX(FOLDED CONICAL HELIX), ELECTRICAL ANTENNAS, SCALABILITY, WIRE ANTENNAS, RELATIVE GAIN METHOD, WHEELER CAP METHOD, SWR(STANDING WAVE RATIOS), OVER WATER COMMUNICATIONS
Abstract: (U) This is a proposal to assess and develop critical technology for clandestine radio frequency communication systems for underwater autonomous vehicles (UAVs). Under a previous ONR grant, the Applied Research Laboratories at the University of Texas at Austin developed and tested a preliminary design for a wire antenna. Assessments were made of data rates, propagation effects, and overall system impacts for a wide variety of communication methods. The long term goal of this research is to identify fundamental issues and required technological developments for small, long-range communications systems utilizing high frequency (HF) ground wave propagation that can be used in extended-line-of-sight and over-the-horizon (ELOS/OTH) communications. Because ELOS/OTH transmission over water requires HF frequencies, the sizes of standard antennas, such as quarter wave monopoles, are too large for UAV operation. Therefore, a major focus of this effort is on the development of electrically small antennas. This report addresses the further development of small electrical antennas that are needed for clandestine communications operating ELOS/OTH. Under the previous grant, a new type of small antenna was developed: the folded conical helix (FLEX). Because of the initial success of the FLEX antenna, this effort focused on determining the scalability of the antenna and reducing its size. The Wheeler cap method and the relative gain method were used to measure the antenna's efficiency as the size was reduced. These measurements were compared with those for a quarter wave monopole. Standing wave ratio (SWR) also was measured. Efficient wideband small antennas will make possible long-range (30-150 miles) point-to-point communication for UAVs. And because the FLEX antenna is a wire antenna, it can be made retractable and robust in a maritime environment. (3 figures, 7 refs.)
ADA408187
Unmanned Hybrid Vehicle. Volume 4 of 4: IPT 3
Descriptive Note: Final rept. 1 Mar-30 Sep 2002
Personal Author(s): Pierce, Jennifer C, Quick, Dana M, Morris, Geof F, Frederick, Robert A , Jr
Report Date: 27 Sep 2002
Media Count: 100 Page(s)
Descriptors: (U) *HYBRID SYSTEMS, *DRONES, MILITARY OPERATIONS, ROBOTICS, GROUND VEHICLES, AUTONOMOUS NAVIGATION, FUEL CELLS, LANDING CRAFT, TAIL ROTORS
Identifiers: (U) IPT(INTEGRATED PRODUCT TEAM), *UNMANNED HYBRID VEHICLES
Abstract: (U) Aviation and ground systems must increase use of emerging and advanced technologies to remain viable in complex, future battlefield environments. Unmanned vehicles will become part of future military operations due to: the demand for immediate intelligence on the battlefield, decreasing defense budgets, increasing operational tempos, and the low tolerance for casualties by the public. This work develops and evaluates system level concepts that fulfill these overall requirements using an unmanned hybrid vehicle. The unmanned hybrid vehicle combines the attributes of an autonomous vertical takeoff and landing air vehicle and an autonomous ground vehicle. This allows fast, flexible deployment and quiet, longer duration ground missions. The assumed time of deployment is the year 2012. The study included requirements definition, concept synthesis, and down selection to three final configurations. Engineering students from the University of Alabama in Huntsville and Ecole Supeneurn des Techniques Ae'ronauUques et de Construction Automobile participated on three competing design teams. Team I developed a basic system with coaxial rotors and a fuel cell drive system. The system is one unit that can both fly and operate on the ground. Team 2 developed a separate air and ground vehicle with intermeshing rotors. The integrated ground unit is deployed and retrieved by the air system. Team 3 also developed a separate air and ground vehicle but with a single rotor system that also requires a tail rotor.
ADA407956
Unmanned Hybrid Vehicle. Volume 1: Summary
Descriptive Note: Final rept. 1 Mar-30 Sep 2002
Personal Author(s): Frederick, Robert A , Jr., Quick, Dana M, Morris, Geof F, Pierce, Jennifer C
Report Date: 27 Sep 2002
Media Count: 78 Page(s)
Descriptors: (U) *HYBRID SYSTEMS, *DRONES, MILITARY OPERATIONS, ROBOTICS, HELICOPTERS, GROUND VEHICLES, AUTONOMOUS NAVIGATION
Abstract: (U) Aviation and ground systems must increase use of emerging and advanced technologies to remain viable in complex, future battlefield environments. Unmanned vehicles will become part of future military operations due to: the demand for immediate intelligence on the battlefield, decreasing defense budgets, increasing operational tempos, and the low tolerance for casualties by the public. This work develops and evaluates system level concepts that fulfill these overall requirements using an unmanned hybrid vehicle. The unmanned hybrid vehicle combines the attributes of an autonomous vertical takeoff and landing air vehicle and an autonomous ground vehicle. This allows fast, flexible deployment and quiet, longer duration ground missions. The assumed time of deployment is the year 2012. The study included requirements definition, concept synthesis, and down selection to three final configurations. Engineering students from the University of Alabama in Huntsville and Ecole Superieure des Techniques Aemnautiques et de Construction Automobile participated on three competing design teams. Team I developed a basic system with coaxial rotors and a fuel cell drive system. The system is one unit that can both fly and operate on the ground. Team 2 developed a separate air and ground vehicle with intermeshing rotors. The integrated ground unit is deployed and retrieved by the air system. Team 3 also developed a separate air and ground vehicle but with a single rotor system that also requires a tail rotor.
ADA407314
SA-CIRCA: Self-Adaptive Control for Mission-Critical Systems
Descriptive Note: Final rept. Jun 1998-Nov 1999
Personal Author(s): Musliner, David J, Goldman, Robert P, Pelican, Michael J, Krebsbach, Kurt D, Dunfee, Edmund H
Report Date: Aug 2002
Media Count: 48 Page(s)
Descriptors: (U) *ADAPTIVE CONTROL SYSTEMS, REAL TIME, LEARNING MACHINES, ARTIFICIAL INTELLIGENCE, DRONES, AUTOMATA
Identifiers: (U) UNMANNED AUTONOMOUS VEHICLES, PE62301E, PE62702F, PE63728F, WUAFRLG4280101
Abstract: (U) The goal of this effort was to begin extending the Cooperative Intelligent Real-Time Control Architecture (CIRCA) with abilities to automatically monitor its own performance and adapt in real-time, forming Self-Adaptive CIRCA (SA-CIRCA). CIRCA is a coarse-grain architecture designed to control autonomous systems which require both intelligence, deliberative planning activity and highly reliable, hard-real-time reactions to safety threats. CIRCA allows systems to provide performance guarantees that ensure they will remain safe and accomplish mission-critical goals while also intelligently pursuing long-term, non-critical goals. The SA-CIRCA project took several steps towards extending this architecture with the ability to reason accurately about its own real-time behavior, and adapt that behavior in response to performance feedback. Due to a change in the direction of this research, the SA-CIRCA project was only partially funded. As a result, the development of the architecture and demonstrations was not completed. Major issues investigated during this project include formally verifying real-time control plans, dynamically decomposing long-term plans into sub-goals, and building real-time control plans using probabilistic information to reason about most-likely states first. The primary technical products of this research project are two versions of CIRCA's controller-synthesis (or planning) algorithm. The first version automatically generates reactive control plans and verifies their correctness using formal model-checking methods. The second version does not use model checking to verify its plans, but uses a novel form of probabilistic reasoning to restrict its planning effort to the most-likely future system state.
ADA403633
Simulation of a Swarm of Unmanned Combat Air Vehicles (UCAVS)
Descriptive Note: Final technical rept. Jun 2001-Feb 2002
Personal Author(s): Lin, Kuo-Chi
Report Date: May 2002
Media Count: 15 Page(s)
Descriptors: (U) *COMBAT VEHICLES, *DRONES, ALGORITHMS, AIR FORCE RESEARCH, COMMAND AND CONTROL SYSTEMS, AUTONOMOUS NAVIGATION, FLIGHT SIMULATION
Identifiers: (U) PE62702F, WUAFRL558BUCAV
Abstract: (U) This research focuses on the control of the collective performance of a swarm of UCAVs. One control command string controls the motion of all UCAVs in a mission. There is no explicit coordination among diem. If the control command string is properly chosen, the motion of the swarm of UCAVs will perform well collectively. Genetic Algorithms (GA) are used in this research to find suitable control command strings. It is an effective method to get a very good solution if the mathematical optimum is not necessary. The objective is for UCAVs to maximize surveillance coverage in 20 time steps. The final fitness value is the average of the coverage percentiles of five 20-time-step results. Using GA, the best control command string found to control 10 UCAVs has the fitness value 0.9603. This is an average of 96.03% of coverage, a very good result. Parametric and robustness analyses show that control may not be very robust. Monte Carlo simulation in conjunction with Genetic Algorithm is used to evolve robust control when wind-gust disturbance exists. The results of different approaches are compared.
ADA402738
Design and Rapid Prototyping of Flight Control and Navigation System for an Unmanned Aerial Vehicle
Descriptive Note: Master's thesis
Personal Author(s): Lim, Bock Aeng
Report Date: Mar 2002
Media Count: 121 Page(s)
Descriptors: (U) *AUTONOMOUS NAVIGATION, *DRONES, *AUTOMATIC PILOTS, THESES, PROTOTYPES, GLOBAL POSITIONING SYSTEM, GUIDANCE
Identifiers: (U) UAV(UNMANNED AERIAL VEHICLES)
Abstract: (U) The work in this thesis is in support of a larger research effort to implement a cluster of autonomous airborne vehicles with the capability to conduct coordinated flight maneuver planning and to perform distributed sensor fusion, Specifically, it seeks to design and implement an onboard flight control and navigation system for NPS FROG UAV, which will be used as the autonomous airborne vehicle for the research, using the newly marketed xPC Target Rapid Prototyping System from The Mathworks, Inc Part I briefly introduces the aircraft and explains the necessity for an onboard computer for the UAV. Part II describes the construction of the miniature aircraft computer, INS/GPS and air data sensor integration implementation as well as the rapid prototyping process. Part III covers the process to create a 6DOF model for the aircraft and the design of the aircraft autopilot, while Part IV presents a vision-based navigation algorithm that can be implemented on the UAV to give it some form of autonomous flight trajectory planning capability. Preliminary ground test results are presented in Part V to conclude this study.
ADA395594
A Comparison of the Mobile Detection Assessment Reconnaissance System (MDARS) and Experimental Unmanned Vehicle (XUV) Robotic Vehicle Models
Descriptive Note: Final rept
Personal Author(s): Fazio, Peter J
Report Date: Sep 2001
Media Count: 39 Page(s)
Descriptors: (U) *COMPUTERIZED SIMULATION, *MODELS, *UNMANNED, *GROUND VEHICLES, *AUTONOMOUS NAVIGATION, *OFFROAD TRAFFIC, *CHASSIS, *RIDE QUALITY, VELOCITY, WEAPONS, SIMULATORS, STATIONS, SIMULATION, VIBRATION, WARFARE, ROBOTICS, ARMY RESEARCH, MANUFACTURING, PARAMETERS, MATERIALS, ACCELERATION, RATES, TERRAIN, SURFACES, ENGINEERING, PLATFORMS, VERTICAL ORIENTATION, COMBAT VEHICLES, TRAVEL, VEHICLES, SUSPENSION DEVICES, AMPLITUDE, BALLISTICS, DIGITAL SIMULATION, WATERWAYS, MILITARY ENGINEERING, FAR ULTRAVIOLET RADIATION, MISSISSIPPI, COMBAT SIMULATION
Identifiers: (U) MDARS(MOBILE DETECTION ASSESSMENT RECONNAISSANCE SYSTEM), XUV(EXPERIMENTAL UNMANNED VEHICLE), *MOBILE DETECTION, *ROBOTIC VEHICLES
Abstract: (U) During fiscal years 1997 and 1998, the Weapons Analysis Branch, Ballistics and Weapons Concepts Division, Weapons and Materials Research Directorate of the U.S. Army Research Laboratory, built an engineering-level model of the unmanned ground vehicle platform used in the Office of the Secretary of Defense Demo III robotics program. The computer model was a representation of the mobile detection assessment reconnaissance system (MDARS) chassis-suspension system. The model was developed within the structure of the combat vehicle engineering simulation (CVES). This effort was undertaken to develop a simulation tool to evaluate the 'ride quality' of small robotic vehicle platforms during off-road travel. 'Ride quality' is defined as the ability of the vehicle's suspension to attenuate shock and vibration between the terrain surface and the vehicle chassis. An ensuing effort was undertaken to develop a computer model of the second generation Demo III robotic vehicle, the experimental unmanned vehicle (XUV). This model was developed with engineering parameters and data provided by the vehicle's manufacturer within the structure of CVES. A simulated ride quality comparison study was performed on the MIDARS and XUV chassis-suspension models. The two models were exercised over three different types of simulated terrain and five different speeds. The terrain types were digital representations of the Aberdeen Test Center 2-inch washboard course and 3-inch bump course and the Waterways Experimental Station (Vicksburg, Mississippi) T101 course. The data used for the comparisons were chassis pitch rates and vertical accelerations. The results showed that the XUV model provided substantial reductions in pitch rate and vertical acceleration amplitudes when compared to the MDARS model over most terrain types at all speeds.
ADA397498
AUV Steering Parameter Identification for Improved Control Design
Descriptive Note: Master's thesis
Personal Author(s): Johnson, Jay H
Report Date: Jun 2001
Media Count: 69 Page(s)
Descriptors: (U) *UNDERWATER VEHICLES, *PARAMETERS, *HYDRODYNAMICS, DATA BASES, STEERING, MODELS, PHYSICAL PROPERTIES, MAXIMUM LIKELIHOOD ESTIMATION, THESES, ESTIMATES, IDENTIFICATION, EQUATIONS
Identifiers: (U) AUV(AUTONOMOUS UNDERWATER VEHICLES), UUV(UNMANNED UNDERSEA VEHICLES)
Abstract: (U) Any effort to provide precision control for an Autonomous Underwater Vehicle requires an accurate estimation of both the vehicles physical and hydrodynamic parameters. Here a vehicle model for controlled steering behaviors was developed and the hydrodynamic parameters were calculated from actual data obtained from operation. The steering equation parameters are based on a least squares fit to sideslip and turn rate data using maximum likelihood of batch processing. In this way, a more accurate simulation has been found for the development of a track controller that stably drives the vehicle between mission waypoints. Prediction accuracy of the model was better than ninety-five percent over the data set used.
ADA384170
Path Planning for an Autonomous Vehicle
Descriptive Note: Master's thesis
Personal Author(s): McKeever, Scott D
Report Date: 02 Nov 2000
Media Count: 160 Page(s)
Descriptors: (U) *AUTONOMOUS NAVIGATION, *UNDERWATER NAVIGATION, *REMOTELY PILOTED VEHICLES, ALGORITHMS, COMPUTERIZED SIMULATION, UNDERWATER VEHICLES, THESES, UNMANNED, MANEUVERS, SURFACE NAVIGATION
Identifiers: (U) UAV(UNMANNED AUTONOMOUS VEHICLES), UUV(UNMANNED UNDERWATER VEHICLES), PATH PLANNING, SHORTEST PATH ALGORITHM
Abstract: (U) One classic problem faced by unmanned autonomous vehicles (UAVs) concerns how the vehicle should traverse its environment in order to leave the current position and arrive at a desired location. The path to this goal location must maneuver the vehicle around any obstacles and reach the goal with minimal cost. A variant of this problem tasks the UAV with tracking a moving target. In this manner the UAV trajectory is updated through time to reflect changes in the target's location. The specific mission addressed in this thesis, is the track and trail mission. This mission tasks a UAV with acquiring a target vehicle and tracking the vehicle for an indefinite period of time. The goal is not to intercept the vehicle, but to follow the target from a certain standoff distance. One can imagine many applications of this mission. One such application envisioned by the United States Navy deals with an unmanned underwater vehicle (UUV), tracking an enemy submarine. In addition, marine biologists could use such a capability to allow a UUV to follow and record valuable information on certain species. Planning these paths is conceptualized as a series of network shortest path problems. This thesis focuses on planning paths in the plane where the state of the vehicle is defined only by its position in space. In addition, a trajectory smoothing or path-smoothing component is addressed to eliminate any slope discontinuities as a result of the shortest path algorithms. A framework for the moving target shortest path problem is created. The resulting path planner is capable of performing the stated mission. A detailed simulation of the path planner operating on a UUV in an underwater environment is created in order to test the planner's performance. Different variants of the path planner are created in order to deal with different problem parameters. The resulting path planner is shown to be adaptable to these different conditions and effective at tracking a moving target.
ADA386399
Position Estimation from Range Only Measurements
Descriptive Note: Master's thesis
Personal Author(s): Alleyne, Jason C
Report Date: Sep 2000
Media Count: 106 Page(s)
Descriptors: (U) *UNDERWATER NAVIGATION, MEASUREMENT, POSITION(LOCATION), ROBOTICS, UNDERWATER VEHICLES, THESES, AUTONOMOUS NAVIGATION, RANGE FINDING
Identifiers: (U) ROM(RANGE ONLY MEASUREMENT)
Abstract: (U) In order for a team of several Automated Underwater Vehicles (AUVs), such as the ARIES, to operate cooperatively, operators require a cost effective position estimation method. Range only measurement (ROM) position estimation provides this and a means for the AUVs to identify each other's position. Position estimation usually requires at least two range measurements from known points to solve for a vessel's position. However, under certain conditions, one range only measurement can provide a simpler solution. This thesis proves ROM as a viable means of target tracking and position estimation. Determining the accuracy and observability of ROM serve as the primary focus. The ROM model setup and execution are discussed with specific attention given to the details of the Extended Kalman Filter (EKF) and calculations required to determine the system's observability.
ADA384868
Vision-Based Navigation for Autonomous Landing of Unmanned Aerial Vehicles
Descriptive Note: Engineer's thesis
Personal Author(s): Ghyzel, Paul A
Report Date: Sep 2000
Media Count: 128 Page(s)
Descriptors: (U) *AUTONOMOUS NAVIGATION, *DRONES, *LAND NAVIGATION, ALGORITHMS, IMAGE PROCESSING, MILITARY OPERATIONS, FLIGHT TESTING, POSITION(LOCATION), SHIPS, DETECTORS, NAVAL VESSELS, MOTION, PASSIVE SYSTEMS, THESES, ESTIMATES, PLATFORMS, UNMANNED, PHOTOGRAMMETRY, SELF OPERATION, SEPARATION, VISION, RANGE(DISTANCE), VIDEO SIGNALS, INFRARED EQUIPMENT, SEA BASED, MONOCHROMATIC LIGHT, TELEVISION CAMERAS
Abstract: (U) The role of Unmanned Aerial Vehicles (UAV) for modern military operations is expected to expand in the 21st Century, including increased deployment of UAVs from Navy ships at sea. Autonomous operation of UAVs from ships at sea requires the UAV to land on a moving ship using only passive sensors installed in the UAV. This thesis investigates the feasibility of using passive vision sensors installed in the UAV to estimate the UAV position relative to the moving platform. A navigation algorithm based on photogrammetry and perspective estimation is presented for numerically determining the relative position and orientation of an aircraft with respect to a ship that possesses three visibly significant points with known separation distances. Original image processing algorithms that reliably locate visually significant features in monochrome images are developed. Monochrome video imagery collected during flight test with an infrared video camera mounted in the nose of a UAV during actual landing approaches is presented. The navigation and image processing algorithms are combined to reduce the flight test images into vehicle position estimates. These position estimates are compared to truth data to demonstrate the feasibility of passive, vision-based sensors for aircraft navigation. Conclusions are drawn, and recommendations for further study are presented.
ADA425374
Robotics: Military Applications for Special Operations Forces
Descriptive Note: Research paper
Personal Author(s): Pierce II, George M
Report Date: Apr 2000
Media Count: 60 Page(s)
Descriptors: (U) *ROBOTICS, *BATTLEFIELDS, *MILITARY APPLICATIONS, *TACTICAL WARFARE, *URBAN WARFARE, *SPECIAL OPERATIONS FORCES, MAINTENANCE, SCENARIOS, DEPLOYMENT, OPTICAL DETECTION, MISSION PROFILES, SPECIFICATIONS, ROBOTS, LOGISTICS, BENEFITS, URBAN AREAS
Identifiers: (U) CL-327 AIRCRAFT, UNMANNED AERIAL VEHICLES, UNMANNED GROUND VEHICLES, LUXOR(LIGHT UNEXPLODED ORDNANCE RECONNAISSANCE), TALON(TACTICALLY ADAPTABLE LEMMING ORDNANCE NEGOTIATOR), LETHAL WEAPONS, ALUV(AUTONOMOUS LEGGED UNDERWATER VEHICLES)
Abstract: (U) New technology may be able to help answer the cries to reduce casualties resulting from friendly fire and collateral damage, as well as assist the military in performing urban operations. Unmanned vehicles, whether they operate in the air, on land, or at sea, are one means to get aircrews, soldiers, marines, and sailors out of harm's way and are a key driver in an upcoming revolution in military affairs for all services. The major objective of this paper is to bring attention to Tactical Mobile Robots (TMR) and to cultivate an enthusiasm for employing them correctly to help get U.S. troops out of harm's way and on the winning side of battles. This study focuses primarily on the use of TMRs in the special operations environment. Topics covered include current and immediate TMR capabilities; key logistics concerns regarding maintenance, supply, and transportation; and two possible scenarios, one in an unconstrained battlefield and the other in an urban environment. The first scenario is a combat undertaking using robotic platforms in an unconstrained battlefield to determine the feasibility of an airstrip for a Special Operations Forces mission. The second scenario portrays how TMRs could be used in an urban environment to help remedy a hostage situation. The data for the paper were collected primarily via interviews and eye-witnessed experiments. A concluding section highlights a few barriers in TMR technology that must be addressed if unmanned platforms are to keep pace with congressional orders. (14 figures, 18 refs.)
ADA386647
Fuzzy Control for Autonomous Ground Vehicles
Personal Author(s): Wit, Jeffrey S, Crane, Carl D , III, Armstrong, David G , II
Report Date: Jan 2000
Media Count: 15 Page(s)
Descriptors: (U) *GROUND VEHICLES, *AUTONOMOUS NAVIGATION, ADAPTIVE CONTROL SYSTEMS, MODULAR CONSTRUCTION, REMOTE CONTROL, TURNING(MANEUVERING), GROUND SPEED
Identifiers: (U) *FMRLC(FUZZY MODEL REFERENCE LEARNING CONTROLLER), FUZZY CONTROL, AQ U01-05-0831, UGV(UNMANNED GROUND VEHICLES), MAX(MODULAR ARCHITECTURE EXPERIMENTAL)
Abstract: (U) The Center for Intelligent Machines and Robotics (CIMAR) at the University of Florida has worked in the area of autonomous ground vehicles (AGVs) for several years under the sponsorship of the Air Force Research Laboratory at Tyndall Air Force Base, Florida. The objective of the work is to develop technological capabilities that can be applied to a variety of Air Force needs and application areas. Recently, one of these capabilities required the design of a modular architecture for autonomous vehicle navigation. This new architecture, which is currently under development, is called Modular Architecture eXperimental (MAX). One of the unique features of this architecture is a generic message for controlling the motion of any autonomous vehicle. This paper describes a control technique, which uses this generic message, for navigating various autonomous ground vehicles. The resulting technique uses two fuzzy model reference learning controllers (FMRLCs). One FMRLC controls the vehicle linear velocity, and the other controls the vehicle angular velocity. Both controllers are designed from parameters that are defined in the MAX interface document. They have been implemented and tested successfully on three different vehicles, a Kawasaki Mule with Ackerman steering, a K2A robot with three wheel synchronous drive, and a tracked vehicle called All-purpose Remote Transport System (ARTS).
