Autonomous Solutions has multiple projects involving mobile robot arms for EOD applications. This paper will describe 3 such projects. In the first, a 5 DOF robot arm of our own design is mounted on a 4-wheeled omni-d...
详细信息
ISBN:
(纸本)9780819471536
Autonomous Solutions has multiple projects involving mobile robot arms for EOD applications. This paper will describe 3 such projects. In the first, a 5 DOF robot arm of our own design is mounted on a 4-wheeled omni-directional platform. The arm is capable of lifting 100 pounds at close to full extension, and it can lift significantly more at shorter distances. The operator can specify either individual joint control or "fly the gripper" control, where the individual joint velocities are automatically calculated in response to commanded gripper velocities. In the second project, 3D data of a scene of interest is gathered and then presented to the EOD technician, along with a representation of the arm. The technician can then rotate the scene and arm to obtain the best possible view for the task. In the final project, a 3 DOF arm will be mounted to an omni-directional platform. The arm and platform will be treated as a single 6 DOF manipulator, and the operator will specify 6 DOF gripper velocity commands using a 6-axis input device, such as those used for solid modeling programs.
Actuator power factor, defined as the ratio of structural dissipative mechanical power to apparent supplied electrical power, describes the effectiveness of the integrated actuators to convert supplied electrical powe...
详细信息
ISBN:
(纸本)0819414859
Actuator power factor, defined as the ratio of structural dissipative mechanical power to apparent supplied electrical power, describes the effectiveness of the integrated actuators to convert supplied electrical power to mechanical power which creates the intended structural response. A large actuator power factor in the frequency range of application indicates that the corresponding actuator (position) has a higher authority to excite its host structure in that frequency range than positions with a lower power factor. The use of acutator power factor provides an alternate tool in the determination of the optimal actuator locations and dimensions to theoretical calculations. More importantly, the power factor can be experimentally measured on large-scale complex structures, thereby eliminating the need for sophisticated theoretical modeling. The concept of an actuator power factor was first introduced by the authors (Liang et al., 1993a) and will be briefly described herein. The utility of using the actuator power factor in optimizing an actuator system will then be illustrated using a numerical case study. The hardware development of the actuator power factor meter will be presented. The application of actuator power factor meter for optimal experimental actuator placement will be discussed.
A methodology and supporting software tools for obtaining insight and quantitative measures on the accuracy of ATC (automatic target cueing) algorithms are described. algorithm accuracy is characterized by trade-off c...
详细信息
ISBN:
(纸本)0819404969
A methodology and supporting software tools for obtaining insight
and quantitative measures on the accuracy of ATC (automatic target
cueing) algorithms are described. algorithm accuracy is
characterized by trade-off curves in which selected performance
measures are plotted against each other over a range of algorithm
operating points. Performance trade-off curves determined as a
function of critical sensor, target and background parameters allow
algorithm sensitivity issues to be investigated and provide a basis for
evaluating algorithm accuracy effects in the context of specific
missions.
The evaluation process is founded on an ATC experiment design
which defines a challenging but representative "cut" through the
multidimensional scenario space associated with the mission under
consideration. The experiment design is included in a written test
plan which documents the mechanics of the evaluation process and
specifies the amount and type of imagery that will be made available
for algorithm development and evaluation. tolls for placing
confidence bounds on hypothetical algorithm performance trade-off
curves provide a basis for addressing the statistical data adequacy
issue in relation to the experiment design.
Distributed microsensor networks, built from collections of nodes each having the ability to sense their environment, process the raw sensor data in cooperation with other neighboring nodes into information and then c...
详细信息
ISBN:
(纸本)0819431877
Distributed microsensor networks, built from collections of nodes each having the ability to sense their environment, process the raw sensor data in cooperation with other neighboring nodes into information and then communicate that information to end users. These systems are designed to be self-organizing in the sense of establishing and maintaining their own network without the need for specialist operators. In most envisioned applications, wireless communications are the most practical means of interconnection, eliminating the internode cabling. Long periods of autonomous operations in remote environments will need battery or other renewable energy sources. In order to prolong battery life, all node hardware and software functions need to be designed to consume minimal power. In general, a node will expend energy on local processing of sensor data to produce compressed information in order to reduce communications. These network systems are intended to support large numbers of such nodes to cover large geographic areas. This presents technical challenges in areas such as low cost design, scalability, cooperative processing and reliable operation of complex systems. Such networks are finding applications in both the military and commercial arenas, and the UCLA/Rockwell Science Center team(1) has developed a prototype wireless sensor node, "AWAIRS I," as a development platform to examine many of the issues relating to their design, deployment and usage. These issues cover a broad spectrum, from determining the best sensors for particular applications, to constructing low power signal processing algorithms and robust and low power network protocols.
The US Army Aviation and Missile Research, development, and Engineering Center (AMRDEC) is developing a micro-uncooled infrared (IR) capability for small unmanned aerial systems (SUAS). In 2007, AMRDEC procured severa...
详细信息
ISBN:
(纸本)9780819481245
The US Army Aviation and Missile Research, development, and Engineering Center (AMRDEC) is developing a micro-uncooled infrared (IR) capability for small unmanned aerial systems (SUAS). In 2007, AMRDEC procured several uncooled microbolometers for lab and field test evaluations, and static tower tests involving specific target sets confirmed initial modeling and simulation predictions. With these promising results, AMRDEC procured two captive flight test (CFT) vehicles and, in 2008, completed numerous captive flights to capture imagery with the micro-uncooled infrared sensors. Several test configurations were used to build a comprehensive data set. These configurations included variations in look-down angles, fields of view (FOV), environments, altitudes, and target scenarios. Data collected during these field tests is also being used to develop human tracking algorithms and image stabilization software by other AMRDEC personnel. Details of these ongoing efforts will be presented in this paper and will include: 1) onboard digital data recording capabilities;2) analog data links for visual verification of imagery;3) sensor packaging and design;which include both infrared and visible cameras;4) field test and data collection results;5) future plans;6) potential applications. Finally, AMRDEC has recently acquired a 17 mu m pitch detector array. The paper will include plans to test both 17 mu m and 25 mu m microbolometer technologies simultaneously in a side-by-side captive flight comparison.
Two methods are presented for simulating the development of photolithographic profiles during the resist dissolution phase. These algorithms are the volume-of-fluid algorithm, and the steady level-set algorithm. These...
详细信息
ISBN:
(纸本)0819421022
Two methods are presented for simulating the development of photolithographic profiles during the resist dissolution phase. These algorithms are the volume-of-fluid algorithm, and the steady level-set algorithm. These methods are compared with the ray-trace, cell and level- set techniques employed in SAMPLE-3D. The volume-of-fluid algorithm employs an Euclidean Grid with volume fractions. At each time step, the surface is reconstructed by computing an approximation of the tangent plane of the surface in each cell that contains a value between 0 and 1. The geometry constructed in this manner is used to determine flow velocity vectors and the flux across each edge. The material is then advanced by a split advection scheme. The steady level set algorithm is an extension of the iterative level set algorithm. The steady level set algorithm combines fast level set concepts and a technique for finding zero residual solutions to the eikonal function. The etch time for each cell is calculated in a time ordered manner. Use of heap sorting data structures allows the algorithm to execute extremely quickly. A similar technique was submitted by J. Sethian. Comparisons of the methods have been performed and the results are shown.
This paper describes the development of a system for autonomous vehicle testing, utilising conventional network infrastructure for communication and control;allowing simultaneous control of multiple vehicles of differ...
详细信息
ISBN:
(纸本)9781479950119
This paper describes the development of a system for autonomous vehicle testing, utilising conventional network infrastructure for communication and control;allowing simultaneous control of multiple vehicles of differing vehicle types. A basic level of autonomy is achieved through the use of an Arduino based commercial autopilot (ArduPilot), which also allows for remote vehicle control via MAVLink protocol commands given through serial communication. Traditionally messages are sent using point-to-point wireless serial modems. As these are restricted in terms of bandwidth and flexibility, an improved set-up is suggested, where an embedded computer system is attached to each vehicle. A custom written Node. js program (MAVNode) is then used to encode and decode MAVLink messages onboard allowing communication over a Local Area Network via Wi-Fi. A selection of hardware configurations are discussed, including the use of conventional Wi-Fi and long range Ubiquiti airMAX wireless routers. Both software and hardware in the loop testing is discussed, in addition to the ability to to perform control from Matlab/Simulink. With all the infrastructure in place, algorithms can be rapidly prototyped. As an example use of the system, a quad-rotor visually tracks a robot while using a remote Matlab installation for image processing and control.
ASSET is a physics-based model used to generate synthetic data sets of wide field of view (WFOV) electro-optical and infrared (EO/IR) sensors with realistic radiometric properties, noise characteristics, and sensor ar...
详细信息
In the development of distributed security sensor networks a large variety of prototype systems have been implemented and tested. However these systems tend to be developer specific and require substantial overhead in...
详细信息
ISBN:
(纸本)0819444936
In the development of distributed security sensor networks a large variety of prototype systems have been implemented and tested. However these systems tend to be developer specific and require substantial overhead in demonstrating more than one application. To bridge the gap between embedded, networked. systems and desktop simulation environments, systems are necessary which are easily deployable and allow extended operation of distributed sensor networks, while allowing the flexibility to quickly test and evaluate a variety of operational algorithms. To enable fast optimization by leveraging the widest development community, open standards for such a portable development system are desired. An open development system allows individual developers and small groups to focus on and optimize specific aspects of a distributed sensor network within realistic deployment constraints, prior to complete integration and deployment of a system within a specific application. By providing an embedded sensor and processing platform with integrated wired and wireless networking, a modular software suite separating access and control of individual processes, and open APIs, algorithm development and software optimization can be greatly accelerated and more robustly tested. To meet the unique needs of distributed sensor network applications, additional separation must be provided between the access to various subsystems, for example real-time embedded control versus tasks with less stringent timing requirements. An open platform that separates these requirements allows developers to accelerate testing and development of applications by focusing on individual components of the distributed sensor system, such as target tracking or low power networking. The WINS NG 2.0 developer's platform, provided by Sensoria Corporation for the DARPA/ITO Sensor Information Technology (SensIT) program, provides one example of such a system. This systems bridge the gap between dedicated desktop develop
暂无评论