Efficient Use of AUVs in the Maritime Environment

NASA Astrophysics Data System (ADS)

Slămnoiu, G.; Radu, O.; Roşca, V.; Pascu, C.; Surdu, G.; Curcă, E.; Damian, R. G.; Rădulescu, A.

2017-06-01

Autonomous underwater vehicle (AUV) a.k.a. underwater drones are subsea vehicles which operate in the underwater environment independently of direct human input. There is a growing interest in underwater data collection by using autonomous underwater vehicles within the oceanographic research community. In this paper, the Iver 2 AUV is examined to accomplish accurate side-scan data while executing well planned missions. Therefore, this papers goal is to establish the optimal use conditions for the AUV that RCN has so that we maximize the detection probability of sea bottom objects that can be risk factors and at the same time to cover a surface as large as possible during a single mission.

Three Dimensional Guidance for the NPS Autonomous Underwater Vehicle

DTIC Science & Technology

1991-09-01

is loaded into a least-squares-fit algorithm to determine surfaces of polyhedrons . These computed surfaces are then compared with the known...the obstacle information stored in the vehicle’s environmental database , there is great potential of encountering unplanned for obstacles during the... database that holds current posture information recorded by the navigator. This data store receives a new current posture on each cycle of the control

Tactical Decision Aids High Bandwidth Links Using Autonomous Vehicles

DTIC Science & Technology

2004-01-01

1 Tactical Decision Aids (High Bandwidth Links Using Autonomous Vehicles ) A. J. Healey, D. P. Horner, Center for Autonomous Underwater Vehicle...SUBTITLE Tactical Decision Aids (High Bandwidth Links Using Autonomous Vehicles ) 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6

Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers

NASA Technical Reports Server (NTRS)

Tunstel, Edward

1999-01-01

Miniature rovers with articulated mobility mechanisms are being developed for planetary surface exploration on Mars and small solar system bodies. These vehicles are designed to be capable of autonomous recovery from overturning during surface operations. This paper describes a computational means of developing motion behaviors that achieve the autonomous recovery function. It proposes a control software design approach aimed at reducing the effort involved in developing self-righting behaviors. The approach is based on the integration of evolutionary computing with a dynamics simulation environment for evolving and evaluating motion behaviors. The automated behavior design approach is outlined and its underlying genetic programming infrastructure is described.

Fully Self-Contained Vision-Aided Navigation and Landing of a Micro Air Vehicle Independent from External Sensor Inputs

NASA Technical Reports Server (NTRS)

Brockers, Roland; Susca, Sara; Zhu, David; Matthies, Larry

2012-01-01

Direct-lift micro air vehicles have important applications in reconnaissance. In order to conduct persistent surveillance in urban environments, it is essential that these systems can perform autonomous landing maneuvers on elevated surfaces that provide high vantage points without the help of any external sensor and with a fully contained on-board software solution. In this paper, we present a micro air vehicle that uses vision feedback from a single down looking camera to navigate autonomously and detect an elevated landing platform as a surrogate for a roof top. Our method requires no special preparation (labels or markers) of the landing location. Rather, leveraging the planar character of urban structure, the landing platform detection system uses a planar homography decomposition to detect landing targets and produce approach waypoints for autonomous landing. The vehicle control algorithm uses a Kalman filter based approach for pose estimation to fuse visual SLAM (PTAM) position estimates with IMU data to correct for high latency SLAM inputs and to increase the position estimate update rate in order to improve control stability. Scale recovery is achieved using inputs from a sonar altimeter. In experimental runs, we demonstrate a real-time implementation running on-board a micro aerial vehicle that is fully self-contained and independent from any external sensor information. With this method, the vehicle is able to search autonomously for a landing location and perform precision landing maneuvers on the detected targets.

Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles

DTIC Science & Technology

2007-11-01

Tolerant Overactuated Autonomous Vehicles Casavola, A.; Garone, E. (2007) Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous ...Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...Tolerant Overactuated Autonomous Vehicles 3.2 - 2 RTO-MP-AVT-145 UNCLASSIFIED/UNLIMITED Control allocation problem (CAP) - Given a virtual input v(t

Alternative Fuels Data Center

Science.gov Websites

Autonomous Vehicle Operation A person can operate a fully autonomous vehicle with the automated federal motor vehicle safety standards and is registered as a fully autonomous vehicle. Other conditions

Autonomous search and surveillance with small fixed wing aircraft

NASA Astrophysics Data System (ADS)

McGee, Timothy Garland

Small unmanned aerial vehicles (UAVs) have the potential to act as low cost tools in a variety of both civilian and military applications including traffic monitoring, border patrol, and search and rescue. While most current operational UAV systems require human operators, advances in autonomy will allow these systems to reach their full potential as sensor platforms. This dissertation specifically focuses on developing advanced control, path planning, search, and image processing techniques that allow small fixed wing aircraft to autonomously collect data. The problems explored were motivated by experience with the development and experimental flight testing of a fleet of small autonomous fixed wing aircraft. These issues, which have not been fully addressed in past work done on ground vehicles or autonomous helicopters, include the influence of wind and turning rate constraints, the non-negligible velocity of ground targets relative to the aircraft velocity, and limitations on sensor size and processing power on small vehicles. Several contributions for the autonomous operation of small fixed wing aircraft are presented. Several sliding surface controllers are designed which extend previous techniques to include variable sliding surface coefficients and the use of spatial vehicle dynamics. These advances eliminate potential singularities in the control laws to follow spatially defined paths and allow smooth transition between controllers. The optimal solution for the problem of path planning through an ordered set of points for an aircraft with a bounded turning rate in the presence of a constant wind is then discussed. Path planning strategies are also explored to guarantee that a searcher will travel within sensing distance of a mobile ground target. This work assumes only a maximum velocity of the target and is designed to succeed for any possible path of the target. Closed-loop approximations of both the path planning and search techniques, using the sliding surface controllers already discussed, are also studied. Finally, a novel method is presented to detect obstacles by segmenting an image into sky and non-sky regions. The feasibility of this method is demonstrated experimentally on an aircraft test bed.

Expert system isssues in automated, autonomous space vehicle rendezvous

NASA Technical Reports Server (NTRS)

Goodwin, Mary Ann; Bochsler, Daniel C.

1987-01-01

The problems involved in automated autonomous rendezvous are briefly reviewed, and the Rendezvous Expert (RENEX) expert system is discussed with reference to its goals, approach used, and knowledge structure and contents. RENEX has been developed to support streamlining operations for the Space Shuttle and Space Station program and to aid definition of mission requirements for the autonomous portions of rendezvous for the Mars Surface Sample Return and Comet Nucleus Sample return unmanned missions. The experience with REMEX to date and recommendations for further development are presented.

The ground vehicle manager's associate

NASA Technical Reports Server (NTRS)

Edwards, Gary R.; Burnard, Robert H.; Bewley, William L.; Bullock, Bruce L.

1994-01-01

An overview of MAX, a software framework for manager's associate systems, is presented. MAX is used to develop and execute a problem-solving strategy for the task planning of semi-autonomous agents with the assistance of human performance. This paper describes the use of MAX in the supervisory management of robotic vehicles as they explore a planetary surface.

The development of a lightweight modular compliant surface bio-inspired robot

NASA Astrophysics Data System (ADS)

Stone, David L.; Cranney, John

2004-09-01

The DARPA Sponsored Compliant Surface Robotics (CSR) program pursues development of a high mobility, lightweight, modular, morphable robot for military forces in the field and for other industrial uses. The USTLAB effort builds on proof of concept feasibility studies and demonstration of a 4, 6, or 8 wheeled modular vehicle with articulated leg-wheel assemblies. In Phase I, basic open plant stability was proven for climbing over obstacles of ~18 inches high and traversing ~75 degree inclines (up, down, or sideways) in a platform of approximately 15 kilograms. At the completion of Phase II, we have completed mechanical and electronics engineering design and achieved changes which currently enable future work in active articulation, enabling autonomous reconfiguration for a wide variety of terrains, including upside down operations (in case of flip over), and we have reduced platform weight by one third. Currently the vehicle weighs 10 kilograms and will grow marginally as additional actuation, MEMS based organic sensing, payload, and autonomous processing is added. The CSR vehicle"s modular spider-like configuration facilitates adaptation to many uses and compliance over rugged terrain. The developmental process and the vehicle characteristics will be discussed.

Terrain Navigation Concepts for Autonomous Vehicles,

DTIC Science & Technology

1984-06-01

AD-fi144 994 TERRAIN NAVIGATION CONCEPTS FOR AUTONOMOUS VEHICLES (U) i/i I ARMY ENGINEER OPOGRAPHIC LABS FORT BELVOIR VA R D LEIGHTY JUN 84 ETL-R@65...FUNCTIONS The pacing problem for developing autonomous vehicles that can efficiently move to designated locations in the real world in the perfor- mance...autonomous functions can serve as general terrain navigation requirements for our discussion of autonomous vehicles . LEIGHTY Can we build a vehicular system

The Visual Representation and Acquisition of Driving Knowledge for Autonomous Vehicle

NASA Astrophysics Data System (ADS)

Zhang, Zhaoxia; Jiang, Qing; Li, Ping; Song, LiangTu; Wang, Rujing; Yu, Biao; Mei, Tao

2017-09-01

In this paper, the driving knowledge base of autonomous vehicle is designed. Based on the driving knowledge modeling system, the driving knowledge of autonomous vehicle is visually acquired, managed, stored, and maintenanced, which has vital significance for creating the development platform of intelligent decision-making systems of automatic driving expert systems for autonomous vehicle.

Public Health, Ethics, and Autonomous Vehicles

PubMed Central

2017-01-01

With the potential to save nearly 30 000 lives per year in the United States, autonomous vehicles portend the most significant advance in auto safety history by shifting the focus from minimization of postcrash injury to collision prevention. I have delineated the important public health implications of autonomous vehicles and provided a brief analysis of a critically important ethical issue inherent in autonomous vehicle design. The broad expertise, ethical principles, and values of public health should be brought to bear on a wide range of issues pertaining to autonomous vehicles. PMID:28207327

Public Health, Ethics, and Autonomous Vehicles.

PubMed

Fleetwood, Janet

2017-04-01

With the potential to save nearly 30 000 lives per year in the United States, autonomous vehicles portend the most significant advance in auto safety history by shifting the focus from minimization of postcrash injury to collision prevention. I have delineated the important public health implications of autonomous vehicles and provided a brief analysis of a critically important ethical issue inherent in autonomous vehicle design. The broad expertise, ethical principles, and values of public health should be brought to bear on a wide range of issues pertaining to autonomous vehicles.

FlyCap: Markerless Motion Capture Using Multiple Autonomous Flying Cameras.

PubMed

Xu, Lan; Liu, Yebin; Cheng, Wei; Guo, Kaiwen; Zhou, Guyue; Dai, Qionghai; Fang, Lu

2017-07-18

Aiming at automatic, convenient and non-instrusive motion capture, this paper presents a new generation markerless motion capture technique, the FlyCap system, to capture surface motions of moving characters using multiple autonomous flying cameras (autonomous unmanned aerial vehicles(UAVs) each integrated with an RGBD video camera). During data capture, three cooperative flying cameras automatically track and follow the moving target who performs large-scale motions in a wide space. We propose a novel non-rigid surface registration method to track and fuse the depth of the three flying cameras for surface motion tracking of the moving target, and simultaneously calculate the pose of each flying camera. We leverage the using of visual-odometry information provided by the UAV platform, and formulate the surface tracking problem in a non-linear objective function that can be linearized and effectively minimized through a Gaussian-Newton method. Quantitative and qualitative experimental results demonstrate the plausible surface and motion reconstruction results.

SeaRover: An Emerging Technology for Sea Surface Sensor Networks

NASA Astrophysics Data System (ADS)

Fong, T.; Kudela, R.; Curcio, J.; Davidson, K.; Darling, D.; Kirkwood, B.

2005-12-01

Introduction - SeaRover is envisioned as an autonomous surface vehicle (ASV) for coastal operations. It is intended to lower the cost of existing marine survey applications while enabling new science missions. The current conceptual design is a small vehicle with hull and propulsion system optimized to eliminate cavitation and EM noise. SeaRover will make significant advances over existing platforms by providing longer duration science missions, better positioning and mission control, larger power budgets for instrumentation and significantly lower operational costs than existing vehicles. Science Enabled by SeaRover - SeaRover's unique design and autonomous capability provides several advantages compared to traditional autonomous underwater vehicles (AUV's) and crewed surface vessels: (1) Near surface sampling: SeaRover can sample within the top 1-2 meters. This is difficult to do with crewed vessels because of draft and perturbations from the hull. (2) Adaptive monitoring of dynamic events: SeaRover will be capable of intelligent decision making, as well as real-time remote control. This will enable highly-responsive autonomous tracking of moving phenomena (e.g., algal bloom). (3) Long term monitoring: SeaRover can be deployed for extended periods of time, allowing it to be used for longitudinal baseline studies. SeaRover will represent an advance over existing platforms in terms of: (1) Mobility: operational range from 10-1000 km, GPS accuracy, trajectory control with meter precision, and launch in hours. (2) Duration: from days up to months. (3) Payload and Power: accommodate approximately 100 kg for a 6m hull. Its surface design will allow access to wind and sun energy. (4) Communication: radio, wireless, satellite, direct data return. (5) Operational Cost: target costs are $2K/day (24 hour operation), with no onboard operator. (6) Recovery/Reusability: autonomous return to safe harbor provides sample return and on-base maintenance. Large science and power payload simplifies instrument design and integration. Enabling Technology for SeaRover - SeaRover's capabilities are made possible by advances in technologies developed during NASA planetary exploration missions: (1) Adaptive control (2) Automated data analysis (3) Communications management (4) Computer vision (5) Interactive 3D User Interfaces (6) Intelligent energy management (7) Long-duration operations planning (8) Multi-vehicle coordinated action As an example of what SeaRover could be used for, we envision augmenting existing monthly monitoring cruises in Monterey Bay with a SeaRover. Each month, the Center for Integrated Marine Technology (UC-Santa Cruz) conducts shipboard surveys of Monterey Bay. This requires 2-3 full days of ship time (weather dependent), 14 scientists, and 2 crew members. Operations are currently limited by sea-state, transit speed, and cost. SeaRover could provide all of the underway measurements and some of the hydrographic station measurements faster, more frequently, and for a fraction of the cost.

Development and Evaluation of Positioning Systems for Autonomous Vehicle Navigation

DTIC Science & Technology

2001-12-01

generation of autonomous vehicles to utilize NTV technology is built on a commercially-available vehicle built by ASV. The All-Purpose Remote Transport...larger scale, AFRL and CIMAR are involved in the development of a standard approach in the design and specification of autonomous vehicles being...1996. Shi92 Shin, D.H., Sanjiv, S., and Lee, J.J., “Explicit Path Tracking by Autonomous Vehicles ,” Robotica, 10, (1992), 69-87. Ste95

Recursive Gradient Estimation Using Splines for Navigation of Autonomous Vehicles.

DTIC Science & Technology

1985-07-01

AUTONOMOUS VEHICLES C. N. SHEN DTIC " JULY 1985 SEP 1 219 85 V US ARMY ARMAMENT RESEARCH AND DEVELOPMENT CENTER LARGE CALIBER WEAPON SYSTEMS LABORATORY I...GRADIENT ESTIMATION USING SPLINES FOR NAVIGATION OF AUTONOMOUS VEHICLES Final S. PERFORMING ORG. REPORT NUMBER 7. AUTHOR(q) 8. CONTRACT OR GRANT NUMBER...which require autonomous vehicles . Essential to these robotic vehicles is an adequate and efficient computer vision system. A potentially more

Adaptive Perception for Autonomous Vehicles

DTIC Science & Technology

1994-05-02

AD-A282 780 Adaptive Perception for Autonomous Vehicles Alonzo Kelly CMU-RI-TR-94-1 8 D IC SELECTF - pUG01 �j ~G U The Robotics Inttt ’I 94-2i...way of doing range image perception. Adaptive Perception for Autonomous Vehicles page 1. LZ Commentary The throughput problem of autonomous navigaticn...idea will be applied to the problem of terrain mapping in outdoor rough terrain. Adaptive Perception for Autonomous Vehicles page 2. 2. Analytical

Alternative Fuels Data Center

Science.gov Websites

Autonomous Vehicle Regulations and Committee A fully autonomous vehicle is defined as a vehicle tactical control functions of the vehicle at any time.Effective December 1, 2017, the operator of a fully autonomous vehicle is not required to be licensed to operate a motor vehicle. A person may operate a fully

Containment control of networked autonomous underwater vehicles: A predictor-based neural DSC design.

PubMed

Peng, Zhouhua; Wang, Dan; Wang, Wei; Liu, Lu

2015-11-01

This paper investigates the containment control problem of networked autonomous underwater vehicles in the presence of model uncertainty and unknown ocean disturbances. A predictor-based neural dynamic surface control design method is presented to develop the distributed adaptive containment controllers, under which the trajectories of follower vehicles nearly converge to the dynamic convex hull spanned by multiple reference trajectories over a directed network. Prediction errors, rather than tracking errors, are used to update the neural adaptation laws, which are independent of the tracking error dynamics, resulting in two time-scales to govern the entire system. The stability property of the closed-loop network is established via Lyapunov analysis, and transient property is quantified in terms of L2 norms of the derivatives of neural weights, which are shown to be smaller than the classical neural dynamic surface control approach. Comparative studies are given to show the substantial improvements of the proposed new method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Robotics development for the enhancement of space endeavors

NASA Astrophysics Data System (ADS)

Mauceri, A. J.; Clarke, Margaret M.

Telerobotics and robotics development activities to support NASA's goal of increasing opportunities in space commercialization and exploration are described. The Rockwell International activities center is using robotics to improve efficiency and safety in three related areas: remote control of autonomous systems, automated nondestructive evaluation of aspects of vehicle integrity, and the use of robotics in space vehicle ground reprocessing operations. In the first area, autonomous robotic control, Rockwell is using the control architecture, NASREM, as the foundation for the high level command of robotic tasks. In the second area, we have demonstrated the use of nondestructive evaluation (using acoustic excitation and lasers sensors) to evaluate the integrity of space vehicle surface material bonds, using Orbiter 102 as the test case. In the third area, Rockwell is building an automated version of the present manual tool used for Space Shuttle surface tile re-waterproofing. The tool will be integrated into an orbiter processing robot being developed by a KSC-led team.

Micro Unmanned Surface Vehicle for Shallow Littoral Data Sampling

NASA Astrophysics Data System (ADS)

Murphy, R. R.; Wilde, G.

2016-02-01

This paper describes the creation of an autonomous air boat that can be carried by one person, called a micro unmanned surface vehicle (USV), for sensor sampling in shallow littoral areas such as inlets and creeks. A USV offers advantages over other types of unmanned marine vehicles. Unlike an autonomous underwater vehicle, the Challenge 1.0 air boat can operate in shallow water of less than 15 cm depth and maintain network connectivity for control and data sampling. A USV does not require a tether, like a remotely operated marine vehicle (ROV), which would limit the distance and mobility. However, a USV operating in shallow littoral areas poses several challenges. Navigation is a challenge since rivers and bays may have semi-submerged obstacles and there may be no depth maps; the approach taken in the Challenge 1.0 project is to let the operator specify a safe area of the water by visual inspection and then the USV autonomously creates a path to optimally sample the collision free area. Navigation is also a challenge because of platform dynamics-the USV we describe is a non-holonomic vehicle; this paper explores spiral paths rather than boustrophedon paths. Another challenge is the quality of sensing. Water-based sensing is noisy and thus a reading at a single point may not reflect the overall value. In practice, areas are sampled rather than a single point, but the noise in the point values within the sampled area produce a survey with widely varying numbers and are difficult for humans to interpret. This paper implements an inverse distance weighting interpolation algorithm to produce a visual "heatmap" that reliably portrays the smoothed data.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration. [performance tests of remote control equipment for roving vehicles

NASA Technical Reports Server (NTRS)

Gisser, D. G.; Frederick, D. K.; Sandor, G. N.; Shen, C. N.; Yerazunis, S. W.

1976-01-01

Problems related to the design and control of an autonomous rover for the purpose of unmanned exploration of the planets were considered. Building on the basis of prior studies, a four wheeled rover of unusual mobility and maneuverability was further refined and tested under both laboratory and field conditions. A second major effort was made to develop autonomous guidance. Path selection systems capable of dealing with relatively formidable hazard and terrains involving various short range (1.0-3.0 meters), hazard detection systems using a triangulation detection concept were simulated and evaluated. The mechanical/electronic systems required to implement such a scheme were constructed and tested. These systems include: laser transmitter, photodetectors, the necessary data handling/controlling systems and a scanning mast. In addition, a telemetry system to interface the vehicle, the off-board computer and a remote control module for operator intervention were developed. Software for the autonomous control concept was written. All of the systems required for complete autonomous control were shown to be satisfactory except for that portion of the software relating to the handling of interrupt commands.

A Simulation Study of a Speed Control System for Autonomous On-Road Operation of Automotive Vehicles.

DTIC Science & Technology

1987-06-01

by block numoiber) The study of human driving of automotive vehicles is an important aid to the development of viable autonomous vehicle navigation...of human driving which could provide some different insights into possible approaches to autonomous vehicle control. At the start of this work, it was...advanced work in the behavioral aspects of human driving . Research of this nature can have a significant impact on the development of autonomous vehicles

Examining accident reports involving autonomous vehicles in California

PubMed Central

Nader, Nazanin; Eurich, Sky O.; Tripp, Michelle; Varadaraju, Naresh

2017-01-01

Autonomous Vehicle technology is quickly expanding its market and has found in Silicon Valley, California, a strong foothold for preliminary testing on public roads. In an effort to promote safety and transparency to consumers, the California Department of Motor Vehicles has mandated that reports of accidents involving autonomous vehicles be drafted and made available to the public. The present work shows an in-depth analysis of the accident reports filed by different manufacturers that are testing autonomous vehicles in California (testing data from September 2014 to March 2017). The data provides important information on autonomous vehicles accidents’ dynamics, related to the most frequent types of collisions and impacts, accident frequencies, and other contributing factors. The study also explores important implications related to future testing and validation of semi-autonomous vehicles, tracing the investigation back to current literature as well as to the current regulatory panorama. PMID:28931022

Examining accident reports involving autonomous vehicles in California.

PubMed

Favarò, Francesca M; Nader, Nazanin; Eurich, Sky O; Tripp, Michelle; Varadaraju, Naresh

2017-01-01

Autonomous Vehicle technology is quickly expanding its market and has found in Silicon Valley, California, a strong foothold for preliminary testing on public roads. In an effort to promote safety and transparency to consumers, the California Department of Motor Vehicles has mandated that reports of accidents involving autonomous vehicles be drafted and made available to the public. The present work shows an in-depth analysis of the accident reports filed by different manufacturers that are testing autonomous vehicles in California (testing data from September 2014 to March 2017). The data provides important information on autonomous vehicles accidents' dynamics, related to the most frequent types of collisions and impacts, accident frequencies, and other contributing factors. The study also explores important implications related to future testing and validation of semi-autonomous vehicles, tracing the investigation back to current literature as well as to the current regulatory panorama.

Impact of Personal Attitudes on Propensity to Use Autonomous Vehicles for Intercity Travel.

DOT National Transportation Integrated Search

2016-01-01

The autonomous vehicles are about to become a reality. The researchers estimate the benefits from each autonomous vehicle to be between $2000 and $4500 per vehicles. The : societal benefits include higher travel time savings, reduced congestion, fuel...

A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles

DTIC Science & Technology

2013-09-01

Autonomous Vehicles Joseph DiVita, PhD Robert L. Morris Maria Olinda Rodas SSC Pacific Approved...298 (Rev. 8/98) Prescribed by ANSI Std. Z39.18 09–2013 Final A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles Joseph...Mission Area: Command and Control, Queueing Model; Supervisory Control; Unmanned Autonomous Vehicles M. O. Rodas U U U U 38 (619)

Simultaneous Deep-Ocean Operations With Autonomous and Remotely Operated Vehicles

NASA Astrophysics Data System (ADS)

Yoerger, D. R.; Bowen, A. D.; Bradley, A. M.

2005-12-01

The complimentary capabilities of autonomous and remotely vehicles can be obtained more efficiently if two or more vehicles can be deployed simultaneously from a single vessel. Simultaneous operations make better use of ship time and personnel. However, such operations require specific technical capabilities and careful scheduling. We recently demonstrated several key capabilities on the VISIONS05 cruise to the Juan de Fuca Ridge, where the Autonomous Benthic Explorer (ABE) and the ROV Jason 2 were operated simultaneously. The cruise featured complex ROV operations ranging from servicing seismic instruments, water sampling, drilling, and installation of in-situ experiments. The AUV provided detailed near-bottom bathymetry of the Endeavour segment while concurrently providing a cable route survey for a primary Canadian Neptune node. To meet these goals, we had to operate both vehicles at the same time. In previous efforts, we have operated ABE in a coordinated fashion with either the submersible Alvin or Jason 2. But the vehicles were either deployed sequentially or they were operated in separate acoustic transponder nets with the restriction that the vessel recover the AUV within a reasonable period after it reached the surface to avoid loss of the AUV. During the VISIONS05 cruise, we operated both vehicles at the same time and demonstrated several key capabilities to make simultaneous operations more efficient. These include the ability of the AUV to anchor to the seafloor after its batteries were expended or if a fault occurred, allowing complex ROV operations to run to completion without the constraint of retrieving the AUV at a specific time. The anchoring system allowed the vehicle to rest near the seafloor on a short mooring in a low power state. The AUV returned to the surface either through an acoustic command from the vessel or when a preassigned time was reached. We also tested an experimental acoustic beacon system that can allow multiple vehicles to determine their position without interfering with each other.

An Efficient Model-Based Image Understanding Method for an Autonomous Vehicle.

DTIC Science & Technology

1997-09-01

The problem discussed in this dissertation is the development of an efficient method for visual navigation of autonomous vehicles . The approach is to... autonomous vehicles . Thus the new method is implemented as a component of the image-understanding system in the autonomous mobile robot Yamabico-11 at

Stochastic estimates of gradient from laser measurements for an autonomous Martian roving vehicle

NASA Technical Reports Server (NTRS)

Burger, P. A.

1973-01-01

The general problem of estimating the state vector x from the state equation h = Ax where h, A, and x are all stochastic, is presented. Specifically, the problem is for an autonomous Martian roving vehicle to utilize laser measurements in estimating the gradient of the terrain. Error exists due to two factors - surface roughness and instrumental measurements. The errors in slope depend on the standard deviations of these noise factors. Numerically, the error in gradient is expressed as a function of instrumental inaccuracies. Certain guidelines for the accuracy of permissable gradient must be set. It is found that present technology can meet these guidelines.

A System for Fast Navigation of Autonomous Vehicles

DTIC Science & Technology

1991-09-01

AD-A243 523 4, jj A System for Fast Navigation of Autonomous Vehicles Sanjiv Singh, Dai Feng, Paul Keller, Gary Shaffer, Wen Fan Shi, Dong Hun Shin...FUNDING NUMBERS A System for Fast Navigation of Autonomous Vehicles 6. AUTHOR(S) S. Singh, D. Feng, P. Keller, G. Shaffer, W.F. Shi, D.H. Shin, J. West...common in the control of autonomous vehicles to establish the necessary kinematic models but to ignore an explicit representation of the vehicle dynamics

Advanced Non-Linear Control Algorithms Applied to Design Highly Maneuverable Autonomous Underwater Vehicles (AUVs)

DTIC Science & Technology

2007-08-01

An increasing variety of sensors are becoming available for use onboard autonomous vehicles . Given these enhanced sensing capabilities, scientific...and military personnel are interested in exploiting autonomous vehicles for increasingly complex missions. Most of these missions require the vehicle to

Multiple Autonomous Vehicles for Minefield Reconnaissance and Mapping

DTIC Science & Technology

1997-12-01

NPS-ME-97-008 NAVAL POSTGRADUATE SCHOOL Monterey, California ItC A D- 19980421 131 =C QUALTY Ui Ji.CTEJ) THESIS MULTIPLE AUTONOMOUS VEHICLES FOR...MULTIPLE AUTONOMOUS VEHICLES FOR MINEFIELD 5. FUNDING NUMBERS RECONNAISSANCE AND MAPPING N0001497WX30039 6. AUTHOR(S) Jack A. Starr 7. PERFORMING... AUTONOMOUS VEHICLES FOR MINEFIELD RECONNAISSANCE AND MAPPING Jack A. Starr Lieutenant, United States Navy B.S., Oregon State University, 1991 Submitted in

Cooperative Control of Distributed Autonomous Vehicles in Adversarial Environments

DTIC Science & Technology

2006-08-14

COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN ADVERSARIAL ENVIRONMENTS Grant #F49620–01–1–0361 Final Report Jeff Shamma Department of...CONTRACT NUMBER F49620-01-1-0361 5b. GRANT NUMBER 4. TITLE AND SUBTITLE COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN...single dominant language or a distribution of languages. A relation to multivehicle systems is understanding how highly autonomous vehicles on extended

On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles

DTIC Science & Technology

2006-02-17

On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles Report Title ABSTRACT In this work we proposed two semi-analytic...298-102 Enclosure 1 On-Line Path Generation and Tracking for High-Speed Wheeled Autonomous Vehicles by...Specifically, the following problems will be addressed during this project: 2.1 Challenges The problem of trajectory planning for high-speed autonomous vehicles is

Communication and Control for Fleets of Autonomous Underwater Vehicles

DTIC Science & Technology

2006-10-30

Washington State University (WSU) on fuzzy logic control systems [2-4] and autonomous vehicles [5-10]. The ALWSE-MC program developed at NAVSEA CSS was...rotating head sonar on crawlers as an additional sensor for navigation. We have previously investigated the use of video cameras on autonomous vehicles for...simulates autonomous vehicles performing mine reconnaissance/mapping, clearance, and surveillance in a littoral region. Three simulations were preformed

Essential Kinematics for Autonomous Vehicles

DTIC Science & Technology

1994-05-02

AD-.A282 456 Essential Kinematics for Autonomous Vehicles Alonzo Kelly DTICCMU-RI-TR-94- 14 AU 031994 F The Robotics Institute Carnegie Mellon...kit of concepts and techniques that will equip the reader to master a large class of kinematic modelling problems. Control of autonomous vehicles in 3D...transformation from system ’a’ to system b’. Essential Kinematics for Autonomous Vehicles page 1. The specification of derivatives will be necessarily

Path planning on satellite images for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Yang, Joe-Ming; Tseng, Chien-Ming; Tseng, P. S.

2015-01-01

In recent years, the development of autonomous surface vehicles has been a field of increasing research interest. There are two major areas in this field: control theory and path planning. This study focuses on path planning, and two objectives are discussed: path planning for Unmanned Surface Vehicles (USVs) and implementation of path planning in a real map. In this paper, satellite thermal images are converted into binary images which are used as the maps for the Finite Angle A* algorithm (FAA*), an advanced A* algorithm that is used to determine safer and suboptimal paths for USVs. To plan a collision-free path, the algorithm proposed in this article considers the dimensions of surface vehicles. Furthermore, the turning ability of a surface vehicle is also considered, and a constraint condition is introduced to improve the quality of the path planning algorithm, which makes the traveled path smoother. This study also shows a path planning experiment performed on a real satellite thermal image, and the path planning results can be used by an USV.

Biological implications of the hydrodynamics of swimming at or near the surface and in shallow water.

PubMed

Blake, R W

2009-03-01

The origins and effects of wave drag at and near the surface and in shallow water are discussed in terms of the dispersive waves generated by streamlined technical bodies of revolution and by semi-aquatic and aquatic animals with a view to bearing on issues regarding the design and function of autonomous surface and underwater vehicles. A simple two-dimensional model based on energy flux, allowing assessment of drag and its associated wave amplitude, is applied to surface swimming in Lesser Scaup ducks and is in good agreement with measured values. It is argued that hydrodynamic limitations to swimming at speeds associated with the critical Froude number ( approximately 0.5) and hull speed do not necessarily set biological limitations as most behaviours occur well below the hull speed. From a comparative standpoint, the need for studies on the hull displacement of different forms is emphasized. For forms in surface proximity, drag is a function of both Froude and Reynolds numbers. Whilst the depth dependence of wave drag is not particularly sensitive to Reynolds number, its magnitude is, with smaller and slower forms subject to relatively less drag augmentation than larger, faster forms that generate additional resistance due to ventilation and spray. A quasi-steady approach to the hydrodynamics of swimming in shallow water identifies substantial drag increases relative to the deeply submerged case at Froude numbers of about 0.9 that could limit the performance of semi-aquatic and aquatic animals and autonomous vehicles. A comparative assessment of fast-starting trout and upside down catfish shows that the energy losses of fast-starting fish are likely to be less for fish in surface proximity in deep water than for those in shallow water. Further work on unsteady swimming in both circumstances is encouraged. Finally, perspectives are offered as to how autonomous surface and underwater vehicles in surface proximity and shallow water could function to avoid prohibitive hydrodynamic resistance, thereby increasing their operational life.

Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

NASA Astrophysics Data System (ADS)

Gao, H. B.; Zhang, X. Y.; Li, D. Y.; Liu, Y. C.

2018-03-01

Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control method of autonomous is a key technique which has drawn the attention of industry and academe. In this paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. An experiments is applied to test the implementation of the longitudinal control algorithm. Empirical results show that if the longitudinal control algorithm based Gauss cloud model are applied to calculate the acceleration, and the vehicles drive at different speeds, a stable longitudinal control effect is achieved.

Sensing, Control, and System Integration for Autonomous Vehicles: A Series of Challenges

NASA Astrophysics Data System (ADS)

Özgüner, Ümit; Redmill, Keith

One of the important examples of mechatronic systems can be found in autonomous ground vehicles. Autonomous ground vehicles provide a series of challenges in sensing, control and system integration. In this paper we consider off-road autonomous vehicles, automated highway systems and urban autonomous driving and indicate the unifying aspects. We specifically consider our own experience during the last twelve years in various demonstrations and challenges in attempting to identify unifying themes. Such unifying themes can be observed in basic hierarchies, hybrid system control approaches and sensor fusion techniques.

Development of Navigation Doppler Lidar for Future Landing Mission

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Hines, Glenn D.; Petway, Larry B.; Barnes, Bruce W.; Pierrottet, Diego F.; Carson, John M., III

2016-01-01

A coherent Navigation Doppler Lidar (NDL) sensor has been developed under the Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project to support future NASA missions to planetary bodies. This lidar sensor provides accurate surface-relative altitude and vector velocity data during the descent phase that can be used by an autonomous Guidance, Navigation, and Control (GN&C) system to precisely navigate the vehicle from a few kilometers above the ground to a designated location and execute a controlled soft touchdown. The operation and performance of the NDL was demonstrated through closed-loop flights onboard the rocket-propelled Morpheus vehicle in 2014. In Morpheus flights, conducted at the NASA Kennedy Space Center, the NDL data was used by an autonomous GN&C system to navigate and land the vehicle precisely at the selected location surrounded by hazardous rocks and craters. Since then, development efforts for the NDL have shifted toward enhancing performance, optimizing design, and addressing spaceflight size and mass constraints and environmental and reliability requirements. The next generation NDL, with expanded operational envelope and significantly reduced size, will be demonstrated in 2017 through a new flight test campaign onboard a commercial rocketpropelled test vehicle.

An autonomous flying vehicle for Mars exploration

NASA Astrophysics Data System (ADS)

Bouras, Peter; Fox, Tim

1990-09-01

A remotely reprogrammable, autonomous flying craft for surveying and mapping the Martian surface environment is presented. This solar powered, modified flying wing design could cover about 2000 statute miles while maneuvering at Mach 0.3. The craft is configured to fly one km above the surface, measuring atmospheric properties, performing subsurface mapping, mapping the surface topography, and searching for the presence of water and perhaps life. A 35 kg scientific payload, plus communication and control electronics, are placed spanwise inside the flying wing, removing the requirement for a normal fuselage, and reducing structural needs. Thrust is provided by a two-bladed electrically driven propeller motorized by high-efficiency solar cells.

Software Architecture for Anti-Submarine Warfare Unmanned Surface Vehicles

DTIC Science & Technology

2016-09-01

discussion about software systems that could be used to control these systems to make the jobs of the human operators easier. B. RESEARCH QUESTIONS... research study. To better understand the role of artificial intelligence in designing autonomous systems, S. Russell and P. Norvig jointly authored a...artificial intelligence, and autonomous systems. This serves as the framework for the real design challenge. 1. Protecting the Battle Group The United

Integrated synoptic surveys using an autonomous underwater vehicle and manned boats

USGS Publications Warehouse

Jackson, P. Ryan

2013-01-01

Traditional surface-water surveys are being combined with autonomous technology to produce integrated surveys of bathymetry, water quality, and velocity in inland lakes and reservoirs. This new technology provides valuable, high-resolution, integrated data that allow a systems-based approach to understanding common environmental problems. This fact sheet presents several example applications of integrated surveys within inland lakes and coastal Lake Michigan and Lake Erie.

Analysis of autonomous vehicle policies.

DOT National Transportation Integrated Search

2017-01-01

The rapid development and adoption of connected and autonomous vehicles will transform the U.S. transportation system over the next 30 years. Although the widespread use of fully connected and autonomous vehicles is still several years away, it is no...

Spectrally Queued Feature Selection for Robotic Visual Odometery

DTIC Science & Technology

2010-11-23

in these systems has yet to be defined. 1. INTRODUCTION 1.1 Uses of Autonomous Vehicles Autonomous vehicles have a wide range of possible...applications. In military situations, autonomous vehicles are valued for their ability to keep Soldiers far away from danger. A robot can inspect and disarm...just a glimpse of what engineers are hoping for in the future. 1.2 Biological Influence Autonomous vehicles are becoming more of a possibility in

Cooperative Search with Autonomous Vehicles in a 3D Aquatic Testbed

DTIC Science & Technology

2012-01-01

Cooperative Search with Autonomous Vehicles in a 3D Aquatic Testbed Matthew Keeter1, Daniel Moore2,3, Ryan Muller2,3, Eric Nieters1, Jennifer...Many applications for autonomous vehicles involve three-dimensional domains, notably aerial and aquatic environments. Such applications include mon...TYPE 3. DATES COVERED 00-00-2012 to 00-00-2012 4. TITLE AND SUBTITLE Cooperative Search With Autonomous Vehicles In A 3D Aquatic Testbed 5a

Developing Autonomous Vehicles That Learn to Navigate by Mimicking Human Behavior

DTIC Science & Technology

2006-09-28

navigate in an unstructured environment to a specific target or location. 15. SUBJECT TERMS autonomous vehicles , fuzzy logic, learning behavior...ANSI-Std Z39-18 Developing Autonomous Vehicles That Learn to Navigate by Mimicking Human Behavior FINAL REPORT 9/28/2006 Dean B. Edwards Department...the future, as greater numbers of autonomous vehicles are employed, it is hoped that lower LONG-TERM GOALS Use LAGR (Learning Applied to Ground Robots

Decentralized Control of Autonomous Vehicles

DTIC Science & Technology

2003-01-01

Autonomous Vehicles by John S. Baras, Xiaobo Tan, Pedram Hovareshti CSHCN TR 2003-8 (ISR TR 2003-14) Report Documentation Page Form ApprovedOMB No. 0704...AND SUBTITLE Decentralized Control of Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT...Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 Decentralized Control of Autonomous Vehicles ∗ John S. Baras, Xiaobo Tan, and Pedram

Feasibility of Turing-Style Tests for Autonomous Aerial Vehicle "Intelligence"

NASA Technical Reports Server (NTRS)

Young, Larry A.

2007-01-01

A new approach is suggested to define and evaluate key metrics as to autonomous aerial vehicle performance. This approach entails the conceptual definition of a "Turing Test" for UAVs. Such a "UAV Turing test" would be conducted by means of mission simulations and/or tailored flight demonstrations of vehicles under the guidance of their autonomous system software. These autonomous vehicle mission simulations and flight demonstrations would also have to be benchmarked against missions "flown" with pilots/human-operators in the loop. In turn, scoring criteria for such testing could be based upon both quantitative mission success metrics (unique to each mission) and by turning to analog "handling quality" metrics similar to the well-known Cooper-Harper pilot ratings used for manned aircraft. Autonomous aerial vehicles would be considered to have successfully passed this "UAV Turing Test" if the aggregate mission success metrics and handling qualities for the autonomous aerial vehicle matched or exceeded the equivalent metrics for missions conducted with pilots/human-operators in the loop. Alternatively, an independent, knowledgeable observer could provide the "UAV Turing Test" ratings of whether a vehicle is autonomous or "piloted." This observer ideally would, in the more sophisticated mission simulations, also have the enhanced capability of being able to override the scripted mission scenario and instigate failure modes and change of flight profile/plans. If a majority of mission tasks are rated as "piloted" by the observer, when in reality the vehicle/simulation is fully- or semi- autonomously controlled, then the vehicle/simulation "passes" the "UAV Turing Test." In this regards, this second "UAV Turing Test" approach is more consistent with Turing s original "imitation game" proposal. The overall feasibility, and important considerations and limitations, of such an approach for judging/evaluating autonomous aerial vehicle "intelligence" will be discussed from a theoretical perspective.

Conference proceedings of the Northeast Autonomous Vehicle Summit.

DOT National Transportation Integrated Search

2017-05-24

The development of autonomous vehicle technology and potential adoption of autonomous vehicles is occurring at a rapid rate in the United States. As this technology evolves, there are many technical, logistical and legal issues that need to be addres...

Autonomy Level Specification for Intelligent Autonomous Vehicles

DTIC Science & Technology

2003-09-01

Autonomy Level Specification for Intelligent Autonomous Vehicles : Interim Progress Report Hui-Min Huang, Elena Messina, James Albus...Level Specification for Intelligent Autonomous Vehicles : Interim Progress Report 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6

A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles

DTIC Science & Technology

1994-05-02

AD-A282 787 " A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles Alonzo Kelly CMU-RI-TR-94-17 The Robotics...follow, or a direction to prefer, it cannot generate its own strategic goals. Therefore, it solves the local planning problem for autonomous vehicles . The... autonomous vehicles . It is intelligent because it uses range images that are generated from either a laser rangefinder or a stereo triangulation

Navigation of military and space unmanned ground vehicles in unstructured terrains

NASA Technical Reports Server (NTRS)

Lescoe, Paul; Lavery, David; Bedard, Roger

1991-01-01

Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

Using a Genetic Algorithm to Learn Behaviors for Autonomous Vehicles,

DTIC Science & Technology

1992-08-12

Truly autonomous vehicles will require both projective planning and reactive components in order to perform robustly. Projective components are...long time period. This work addresses the problem of creating reactive components for autonomous vehicles . Creating reactive behaviors (stimulus

Lunar far side surface navigation using Linked Autonomous Interplanetary Satellite Orbit Navigation (LiAISON)

NASA Astrophysics Data System (ADS)

Hesar, Siamak G.; Parker, Jeffrey S.; Leonard, Jason M.; McGranaghan, Ryan M.; Born, George H.

2015-12-01

We study the application of Linked Autonomous Interplanetary Satellite Orbit Navigation (LiAISON) to track vehicles on the far side of the lunar surface. The LiAISON architecture is demonstrated to achieve accurate orbit determination solutions for various mission scenarios in the Earth-Moon system. Given the proper description of the force field, LiAISON is capable of producing absolute orbit determination solutions using relative satellite-to-satellite tracking observations alone. The lack of direct communication between Earth-based tracking stations and the far side of the Moon provides an ideal opportunity for implementing LiAISON. This paper presents a novel approach to use the LiAISON architecture to perform autonomous navigation of assets on the lunar far side surface. Relative measurements between a spacecraft placed in an EML-2 halo orbit and lunar surface asset(s) are simulated and processed. Comprehensive simulation results show that absolute states of the surface assets are observable with an achieved accuracy of the position estimate on the order of tens of meters.

Hardware-in-the-loop simulation for undersea vehicle applications

NASA Astrophysics Data System (ADS)

Kelf, Michael A.

2001-08-01

Torpedoes and other Unmanned Undersea Vehicles (UUV) are employed by submarines and surface combatants, as well as aircraft, for undersea warfare. These vehicles are autonomous devices whose guidance systems rival the complexity of the most sophisticated air combat missiles. The tactical environment for undersea warfare is a difficult one in terms of target detection,k classification, and pursuit because of the physics of underwater sounds. Both hardware-in-the-loop and all-digital simulations have become vital tools in developing and evaluating undersea weapon and vehicle guidance performance in the undersea environment.

GOATS 2008 Autonomous, Adaptive Multistatic Acoustic Sensing

DTIC Science & Technology

2008-09-30

To develop net-centric, autonomous underwater vehicle sensing concepts for littoral MCM and ASW, exploiting collaborative and environmentally...unlimited 13. SUPPLEMENTARY NOTES code 1 only 14. ABSTRACT To develop net-centric, autonomous underwater vehicle sensing concepts for littoral MCM and...of autonomous underwater vehicle networks as platforms for new sonar concepts exploring the full 3-D acoustic environment of shallow water (SW) and

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

Gisser, D. G.; Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Yerazunis, S. Y.

1975-01-01

Problems related to an unmanned exploration of the planet Mars by means of an autonomous roving planetary vehicle are investigated. These problems include: design, construction and evaluation of the vehicle itself and its control and operating systems. More specifically, vehicle configuration, dynamics, control, propulsion, hazard detection systems, terrain sensing and modelling, obstacle detection concepts, path selection, decision-making systems, and chemical analyses of samples are studied. Emphasis is placed on development of a vehicle capable of gathering specimens and data for an Augmented Viking Mission or to provide the basis for a Sample Return Mission.

3-D Vision Techniques for Autonomous Vehicles

DTIC Science & Technology

1988-08-01

TITLE (Include Security Classification) W 3-D Vision Techniques for Autonomous Vehicles 12 PERSONAL AUTHOR(S) Martial Hebert, Takeo Kanade, inso Kweoni... Autonomous Vehicles Martial Hebert, Takeo Kanade, Inso Kweon CMU-RI-TR-88-12 The Robotics Institute Carnegie Mellon University Acession For Pittsburgh

Stochastic estimates of gradient from laser measurements for an autonomous Martian Roving Vehicle

NASA Technical Reports Server (NTRS)

Shen, C. N.; Burger, P.

1973-01-01

The general problem presented in this paper is one of estimating the state vector x from the state equation h = Ax, where h, A, and x are all stochastic. Specifically, the problem is for an autonomous Martian Roving Vehicle to utilize laser measurements in estimating the gradient of the terrain. Error exists due to two factors - surface roughness and instrumental measurements. The errors in slope depend on the standard deviations of these noise factors. Numerically, the error in gradient is expressed as a function of instrumental inaccuracies. Certain guidelines for the accuracy of permissable gradient must be set. It is found that present technology can meet these guidelines.-

ALHAT: Autonomous Landing and Hazard Avoidance Technology

NASA Technical Reports Server (NTRS)

Robertson, Edward A.; Carson, John M., III

2015-01-01

The ALHAT project was chartered by NASA HQ in 2006 to develop and mature to TRL 6 an autonomous lunar landing GN&C and sensing system for crewed, cargo, and robotic planetary landing vehicles. The multi-center ALHAT team was tasked with providing a system capable of identifying and avoiding surface hazards in real time to enable safe precision landing to within tens of meters of a designated planetary landing site under any lighting conditions.

Autonomous Vehicles and the Net-Centric Battlespace

DTIC Science & Technology

2000-04-01

Autonomous vehicles are playing increasing roles in the air/land/sea network of today’s battlespace. As the Navy’s lead laboratory for command...including remote sensor platforms, communication relays, and work platforms. As these capabilities are developed autonomous vehicles will become an

Current challenges in autonomous vehicle development

NASA Astrophysics Data System (ADS)

Connelly, J.; Hong, W. S.; Mahoney, R. B., Jr.; Sparrow, D. A.

2006-05-01

The field of autonomous vehicles is a rapidly growing one, with significant interest from both government and industry sectors. Autonomous vehicles represent the intersection of artificial intelligence (AI) and robotics, combining decision-making with real-time control. Autonomous vehicles are desired for use in search and rescue, urban reconnaissance, mine detonation, supply convoys, and more. The general adage is to use robots for anything dull, dirty, dangerous or dumb. While a great deal of research has been done on autonomous systems, there are only a handful of fielded examples incorporating machine autonomy beyond the level of teleoperation, especially in outdoor/complex environments. In an attempt to assess and understand the current state of the art in autonomous vehicle development, a few areas where unsolved problems remain became clear. This paper outlines those areas and provides suggestions for the focus of science and technology research. The first step in evaluating the current state of autonomous vehicle development was to develop a definition of autonomy. A number of autonomy level classification systems were reviewed. The resulting working definitions and classification schemes used by the authors are summarized in the opening sections of the paper. The remainder of the report discusses current approaches and challenges in decision-making and real-time control for autonomous vehicles. Suggested research focus areas for near-, mid-, and long-term development are also presented.

Cold Regions Issues for Off-Road Autonomous Vehicles

DTIC Science & Technology

2004-04-01

the operation of off-road autonomous vehicles . Low-temperature effects on lubricants, materials, and batteries can impair a robot’s ability to operate...demanding that off-road autonomous vehicles must be designed for and tested in cold regions if they are expected to operate there successfully.

Cooperative Control of Multiple Unmanned Autonomous Vehicles

DTIC Science & Technology

2005-06-03

I I Final Report 4. TITLE AND SUBTITLE 5. FUNDING NUMBERS Cooperative Control of Multiple Unmanned Autonomous Vehicles F49620-01-1-0337 6. AUTHOR(S... Autonomous Vehicles Final Report Kendall E. Nygard Department of Computer Science and Operations Research North Dakota State University Fargo, ND 58105-5164

Vector Pursuit Path Tracking for Autonomous Ground Vehicles

DTIC Science & Technology

2000-08-01

vi INTRODUCTION ...........................................................................................................1...other geometric path-tracking techniques. 1 CHAPTER 1 INTRODUCTION An autonomous vehicle is one that is capable of automatic navigation. It is...Joint Architecture for Unmanned Ground Vehicles ( JAUGS ) working group meeting held at the University of Florida. 5 Figure 1.5: Autonomous

Proposing an International Collaboration on Lightweight Autonomous Vehicles to Conduct Scientific Traverses and Surveys over Antarctica and the Surrounding Sea Ice

NASA Technical Reports Server (NTRS)

Carsey, Frank; Behar, Alberto

2004-01-01

We have continued to develop a concept for use of autonomous rovers, originally developed for use in planetary exploration, in polar science on Earth; the concept was the subject of a workshop, and this report summarizes and extends that workshop. The workshop on Antarctic Autonomous Scientific Vehicles and Traverses met at the National Geographic Society on February 14 and 15, 2001 to discuss scientific objectives and benefits of the use of autonomous rovers. The participants enthusiastically viewed rovers as being uniquely valuable for such tasks as data taking on tedious or repetitive routes, traverses in polar night, difficult or hazardous routes, extremely remote regions, routes requiring only simple instrumentation, traverses that must be conducted at low speed, augments of manned traverses, and scientific procedures not compatible with human presence or combustion engines. The workshop has concluded that instrumented autonomous vehicles, of the type being developed for planetary exploration, have the potential to contribute significantly to the way science in conducted in Antarctica while also aiding planetary technology development, and engaging the public's interest. Specific objectives can be supported in understanding ice sheet mass balance, sea ice heat and momentum exchange, and surface air chemistry processes. In the interval since the workshop, we have concluded that organized program to employ such rovers to perform scientific tasks in the Fourth International Polar Year would serve the objectives of that program well.

Real-time visual mosaicking and navigation on the seafloor

NASA Astrophysics Data System (ADS)

Richmond, Kristof

Remote robotic exploration holds vast potential for gaining knowledge about extreme environments accessible to humans only with great difficulty. Robotic explorers have been sent to other solar system bodies, and on this planet into inaccessible areas such as caves and volcanoes. In fact, the largest unexplored land area on earth lies hidden in the airless cold and intense pressure of the ocean depths. Exploration in the oceans is further hindered by water's high absorption of electromagnetic radiation, which both inhibits remote sensing from the surface, and limits communications with the bottom. The Earth's oceans thus provide an attractive target for developing remote exploration capabilities. As a result, numerous robotic vehicles now routinely survey this environment, from remotely operated vehicles piloted over tethers from the surface to torpedo-shaped autonomous underwater vehicles surveying the mid-waters. However, these vehicles are limited in their ability to navigate relative to their environment. This limits their ability to return to sites with precision without the use of external navigation aids, and to maneuver near and interact with objects autonomously in the water and on the sea floor. The enabling of environment-relative positioning on fully autonomous underwater vehicles will greatly extend their power and utility for remote exploration in the furthest reaches of the Earth's waters---even under ice and under ground---and eventually in extraterrestrial liquid environments such as Europa's oceans. This thesis presents an operational, fielded system for visual navigation of underwater robotic vehicles in unexplored areas of the seafloor. The system does not depend on external sensing systems, using only instruments on board the vehicle. As an area is explored, a camera is used to capture images and a composite view, or visual mosaic, of the ocean bottom is created in real time. Side-to-side visual registration of images is combined with dead-reckoned navigation information in a framework allowing the creation and updating of large, locally consistent mosaics. These mosaics are used as maps in which the vehicle can navigate and localize itself with respect to points in the environment. The system achieves real-time performance in several ways. First, wherever possible, direct sensing of motion parameters is used in place of extracting them from visual data. Second, trajectories are chosen to enable a hierarchical search for side-to-side links which limits the amount of searching performed without sacrificing robustness. Finally, the map estimation is formulated as a sparse, linear information filter allowing rapid updating of large maps. The visual navigation enabled by the work in this thesis represents a new capability for remotely operated vehicles, and an enabling capability for a new generation of autonomous vehicles which explore and interact with remote, unknown and unstructured underwater environments. The real-time mosaic can be used on current tethered vehicles to create pilot aids and provide a vehicle user with situational awareness of the local environment and the position of the vehicle within it. For autonomous vehicles, the visual navigation system enables precise environment-relative positioning and mapping, without requiring external navigation systems, opening the way for ever-expanding autonomous exploration capabilities. The utility of this system was demonstrated in the field at sites of scientific interest using the ROVs Ventana and Tiburon operated by the Monterey Bay Aquarium Research Institute. A number of sites in and around Monterey Bay, California were mosaicked using the system, culminating in a complete imaging of the wreck site of the USS Macon , where real-time visual mosaics containing thousands of images were generated while navigating using only sensor systems on board the vehicle.

Investigation into legislative action needed to accommodate the future safe operation of autonomous vehicles in the state of Louisiana.

DOT National Transportation Integrated Search

2016-10-01

This report addresses the matter of autonomous vehicles and the regulation of their operation in the : state of Louisiana. It was prepared in response to a request from the Louisiana State Legislature to : study the subject of autonomous vehicles and...

Wireless IR Image Transfer System for Autonomous Vehicles

DTIC Science & Technology

2003-12-01

the camera can operate between 0 and 500 C; this uniquely suites it for employment on autonomous vehicles in rugged environments. The camera is...system is suitable for used on autonomous vehicles under varying antenna orientations. • The third is the use of MDS transceivers allows the received

High Bandwidth Communications Links Between Heterogeneous Autonomous Vehicles Using Sensor Network Modeling and Extremum Control Approaches

DTIC Science & Technology

2008-12-01

In future network-centric warfare environments, teams of autonomous vehicles will be deployed in a coorperative manner to conduct wide-area...of data back to the command station, autonomous vehicles configured with high bandwidth communication system are positioned between the command

Effectiveness of bomber deployed autonomous airborne vehicles in finding rail mobile SS-24s

DOE Office of Scientific and Technical Information (OSTI.GOV)

Abey, A.E.; Erickson, S.A.; Norquist, P.D.

1990-08-01

Computer simulation predictions of the effectiveness of autonomous airborne vehicles in finding rail mobile SS-24s are presented. Effectiveness is discussed for several autonomous airborne vehicle endurances and survivabilities for the search area southwest of Moscow. The effect of where the Soviets place the SS-24s on the rail network was also investigated. The simulation predicts significant variations in the ability of a multi-autonomous airborne vehicle system to find SS-24s with these parameters. 12 figs., 1 tab.

Control of autonomous ground vehicles: a brief technical review

NASA Astrophysics Data System (ADS)

Babak, Shahian-Jahromi; Hussain, Syed A.; Karakas, Burak; Cetin, Sabri

2017-07-01

This paper presents a brief review of the developments achieved in autonomous vehicle systems technology. A concise history of autonomous driver assistance systems is presented, followed by a review of current state of the art sensor technology used in autonomous vehicles. Standard sensor fusion method that has been recently explored is discussed. Finally, advances in embedded software methodologies that define the logic between sensory information and actuation decisions are reviewed.

SPINDLE: A 2-Stage Nuclear-Powered Cryobot for Ocean World Exploration

NASA Astrophysics Data System (ADS)

Stone, W.; Hogan, B.; Siegel, V. L.; Howe, T.; Howe, S.; Harman, J.; Richmond, K.; Flesher, C.; Clark, E.; Lelievre, S.; Moor, J.; Rothhammer, B.

2016-12-01

SPINDLE (Sub-glacial Polar Ice Navigation, Descent, and Lake Exploration) is a 2-stage autonomous vehicle system consisting of a robotic ice-penetrating carrier vehicle (cryobot) and a marsupial, hovering autonomous underwater vehicle (HAUV). The cryobot will descend through an ice body into a sub-ice aqueous environment and deploy the HAUV to conduct long range reconnaissance, life search, and sample collection. The HAUV will return to, and auto-dock with, the cryobot at the conclusion of the mission for subsequent data uplink and sample return to the surface. The SPINDLE cryobot has been currently designed for a 1.5 kilometer penetration through a terrestrial ice sheet and the HAUV has been designed for persistent exploration and science presence in for deployments up to a kilometer radius from the cryobot. Importantly, the cryobot is bi-directional and vertically controllable both in an ice sheet as well as following breakthrough into a subglacial water cavity / ocean. The vehicle has been designed for long-duration persistent science in subglacial cavities and to allow for subsequent return-to-surface at a much later date or subsequent season. Engineering designs for the current SPINDLE cryobot will be presented in addition to current designs for autonomous rendezvous, docking, and storing of the HAUV system into the cryobot for subsequent recovery of the entire system to the surface. Taken to completion in a three-phase program, SPINDLE will deliver an integrated and field-tested system that will be directly transferable into a Flagship-class mission to either the hypothesized shallow lakes of Europa, the sub-surface ocean of Ganymede, or the geyser/plume sources on both Europa and Enceladus. We present the results of several parallel laboratory investigations into advanced power transmission systems (laser, high voltage) as well as onboard systems that enable the SPINDLE vehicle to access any subglacial lake on earth while using non-nuclear surrogate, surface-based power systems and accounting for full re-freeze of the hole behind the cryobot. We additionally present new designs for a compatible nuclear drop-in power source and include preliminary design results for both radio-thermal and compact fission power plant designs that would be used for actual ocean world missions.

Design and Hardware-in-the-Loop Implementation of Optimal Canonical Maneuvers for an Autonomous Planetary Aerial Vehicle

DTIC Science & Technology

2012-12-01

selflessly working your own school and writing schedule around mine , supporting me throughout career paths that have been anything but traditional...observation, and other scientific research and exploration purposes. 4 A ground rover on a planet, moon, or other body such as an asteroid must...applied to autonomous craft that could eventually operate on the surface of planets, moons, and asteroids , as well as in Earth orbit or deep space

Software control architecture for autonomous vehicles

NASA Astrophysics Data System (ADS)

Nelson, Michael L.; DeAnda, Juan R.; Fox, Richard K.; Meng, Xiannong

1999-07-01

The Strategic-Tactical-Execution Software Control Architecture (STESCA) is a tri-level approach to controlling autonomous vehicles. Using an object-oriented approach, STESCA has been developed as a generalization of the Rational Behavior Model (RBM). STESCA was initially implemented for the Phoenix Autonomous Underwater Vehicle (Naval Postgraduate School -- Monterey, CA), and is currently being implemented for the Pioneer AT land-based wheeled vehicle. The goals of STESCA are twofold. First is to create a generic framework to simplify the process of creating a software control architecture for autonomous vehicles of any type. Second is to allow for mission specification system by 'anyone' with minimal training to control the overall vehicle functionality. This paper describes the prototype implementation of STESCA for the Pioneer AT.

New Concepts and Perspectives on Micro-Rotorcraft and Small Autonomous Rotary-Wing Vehicles

NASA Technical Reports Server (NTRS)

Young, Larry A.; Aiken, E. W.; Johnson, J. L.; Demblewski, R.; Andrews, J.; Aiken, Irwin W. (Technical Monitor)

2001-01-01

A key part of the strategic vision for rotorcraft research as identified by senior technologists within the Army/NASA Rotorcraft Division at NASA Ames Research Center is the development and use of small autonomous rotorcraft. Small autonomous rotorcraft are defined for the purposes of this paper to be a class of vehicles that range in size from rotary-wing micro air vehicles (MAVs) to larger, more conventionally sized, rotorcraft uninhabited aerial vehicles (UAVs) - i.e. vehicle gross weights ranging from hundreds of grams to thousands of kilograms. The development of small autonomous rotorcraft represents both a technology challenge and a potential new vehicle class that will have substantial societal impact for: national security, personal transport, planetary science, and public service.

Development and testing of bio-inspired microelectromechanical pressure sensor arrays for increased situational awareness for marine vehicles

NASA Astrophysics Data System (ADS)

Dusek, J.; Kottapalli, A. G. P.; Woo, M. E.; Asadnia, M.; Miao, J.; Lang, J. H.; Triantafyllou, M. S.

2013-01-01

The lateral line found on most species of fish is a sensory organ without analog in humans. Using sensory feedback from the lateral line, fish are able to track prey, school, avoid obstacles, and detect vortical flow structures. Composed of both a superficial component, and a component contained within canals beneath the fish’s skin, the lateral line acts in a similar fashion to an array of differential pressure sensors. In an effort to enhance the situational and environmental awareness of marine vehicles, lateral-line-inspired pressure sensor arrays were developed to mimic the enhanced sensory capabilities observed in fish. Three flexible and waterproof pressure sensor arrays were fabricated for use as a surface-mounted ‘smart skin’ on marine vehicles. Two of the sensor arrays were based around the use of commercially available piezoresistive sensor dies, with innovative packaging schemes to allow for flexibility and underwater operation. The sensor arrays employed liquid crystal polymer and flexible printed circuit board substrates with metallic circuits and silicone encapsulation. The third sensor array employed a novel nanocomposite material set that allowed for the fabrication of a completely flexible sensor array. All three sensors were surface mounted on the curved hull of an autonomous kayak vehicle, and tested in both pool and reservoir environments. Results demonstrated that all three sensors were operational while deployed on the autonomous vehicle, and provided an accurate means for monitoring the vehicle dynamics.

Negotiating the Traffic: Can Cognitive Science Help Make Autonomous Vehicles a Reality?

PubMed

Chater, Nick; Misyak, Jennifer; Watson, Derrick; Griffiths, Nathan; Mouzakitis, Alex

2018-02-01

To drive safely among human drivers, cyclists and pedestrians, autonomous vehicles will need to mimic, or ideally improve upon, humanlike driving. Yet, driving presents us with difficult problems of joint action: 'negotiating' with other users over shared road space. We argue that autonomous driving provides a test case for computational theories of social interaction, with fundamental implications for the development of autonomous vehicles. Copyright © 2017 Elsevier Ltd. All rights reserved.

An Evaluation of Potential Operating Systems for Autonomous Underwater Vehicles

DTIC Science & Technology

2013-02-01

Remotely Operated Vehicle RTOS Real-Time Operating System SAUC -E Student Autonomous Underwater Vehicle Challenge - Europe TCP Transmission Control Protocol...popularity, with examples including the Student Autonomous Underwater Vehicle Challenge - Europe ( SAUC -E) [7] and the AUVSI robosub competition [8]. For...28] for entry into AUV competitions such as SAUC -E [7], and AUVSI [8]. 8 UNCLASSIFIED UNCLASSIFIED DSTO–TN–1194 3.4 Windows CE Windows CE

Aerial Vehicle Surveys of other Planetary Atmospheres and Surfaces: Imaging, Remote-sensing, and Autonomy Technology Requirements

NASA Technical Reports Server (NTRS)

Young, Larry A.; Pisanich, Gregory; Ippolito, Corey; Alena, Rick

2005-01-01

The objective of this paper is to review the anticipated imaging and remote-sensing technology requirements for aerial vehicle survey missions to other planetary bodies in our Solar system that can support in-atmosphere flight. In the not too distant future such planetary aerial vehicle (a.k.a. aerial explorers) exploration missions will become feasible. Imaging and remote-sensing observations will be a key objective for these missions. Accordingly, it is imperative that optimal solutions in terms of imaging acquisition and real-time autonomous analysis of image data sets be developed for such vehicles.

Human vs autonomous control of planetary roving vehicles

NASA Technical Reports Server (NTRS)

Whitney, W. M.

1974-01-01

Supervisory or semiautonomous control has some compelling advantages over step-by-step human command and verification for the operation of roving vehicles on remote planetary surfaces. There are also disadvantages in relation to the complex system that must be mobilized and the chain of events that must be enacted to conduct a mission. Which of the two control methods is better on technical grounds may not be the deciding factor in its acceptance or rejection. Some of the issues that affect changes in spacecraft design and operation are summarized. To accelerate the movement toward more autonomous machines, it will be necessary to understand and to address the problems that such autonomy will create for other elements of the control system and for the control process.

Project Morpheus: Morpheus 1.5A Lander Failure Investigation Results

NASA Technical Reports Server (NTRS)

Devolites, Jennifer L.; Olansen, Jon B.; Munday, Stephen R.

2013-01-01

On August 9, 2012 the Morpheus 1.5A vehicle crashed shortly after lift off from the Kennedy Space Center. The loss was limited to the vehicle itself which was pre-declared to be a test failure and not a mishap. The Morpheus project is demonstrating advanced technologies for in space and planetary surface vehicles including: autonomous flight control, landing site hazard identification and safe site selection, relative surface and hazard navigation, precision landing, modular reusable flight software, and high performance, non-toxic, cryogenic liquid Oxygen and liquid Methane integrated main engine and attitude control propulsion system. A comprehensive failure investigation isolated the fault to the Inertial Measurement Unit (IMU) data path to the flight computer. Several improvements have been identified and implemented for the 1.5B and 1.5C vehicles.

Connected and autonomous vehicles 2040 vision.

DOT National Transportation Integrated Search

2014-07-01

The Pennsylvania Department of Transportation (PennDOT) commissioned a one-year project, Connected and Autonomous : Vehicles 2040 Vision, with researchers at Carnegie Mellon University (CMU) to assess the implications of connected and : autonomous ve...

NREL, Industry Collaboration To Usher in New Wave of Autonomous Vehicle

Science.gov Websites

Research (Text Version) | News | NREL Industry Collaboration To Usher in New Wave of Autonomous Vehicle Research (Text Version) NREL, Industry Collaboration To Usher in New Wave of Autonomous Vehicle Research (Text Version) This is a text version of the video entitled "NREL, Industry Collaboration To

Design of Field Experiments for Adaptive Sampling of the Ocean with Autonomous Vehicles

NASA Astrophysics Data System (ADS)

Zheng, H.; Ooi, B. H.; Cho, W.; Dao, M. H.; Tkalich, P.; Patrikalakis, N. M.

2010-05-01

Due to the highly non-linear and dynamical nature of oceanic phenomena, the predictive capability of various ocean models depends on the availability of operational data. A practical method to improve the accuracy of the ocean forecast is to use a data assimilation methodology to combine in-situ measured and remotely acquired data with numerical forecast models of the physical environment. Autonomous surface and underwater vehicles with various sensors are economic and efficient tools for exploring and sampling the ocean for data assimilation; however there is an energy limitation to such vehicles, and thus effective resource allocation for adaptive sampling is required to optimize the efficiency of exploration. In this paper, we use physical oceanography forecasts of the coastal zone of Singapore for the design of a set of field experiments to acquire useful data for model calibration and data assimilation. The design process of our experiments relied on the oceanography forecast including the current speed, its gradient, and vorticity in a given region of interest for which permits for field experiments could be obtained and for time intervals that correspond to strong tidal currents. Based on these maps, resources available to our experimental team, including Autonomous Surface Craft (ASC) are allocated so as to capture the oceanic features that result from jets and vortices behind bluff bodies (e.g., islands) in the tidal current. Results are summarized from this resource allocation process and field experiments conducted in January 2009.

NASA Dryden Status: Aerospace Control and Guidance Sub-Committee Meeting 109

NASA Technical Reports Server (NTRS)

Jacobson, Steven R.

2012-01-01

NASA Dryden has been engaging in some exciting work that will enable lighter weight and more fuel efficient vehicles through advanced control and dynamics technologies. The main areas of emphasis are Enabling Light-weight Flexible Structures, real time control surface optimization for fuel efficiency and autonomous formation flight. This presentation provides a description of the current and upcoming work in these areas. Additionally, status is for the Dreamchaser pilot training activity and KQ-X autonomous aerial refueling.

Flight Testing ALHAT Precision Landing Technologies Integrated Onboard the Morpheus Rocket Vehicle

NASA Technical Reports Server (NTRS)

Carson, John M. III; Robertson, Edward A.; Trawny, Nikolas; Amzajerdian, Farzin

2015-01-01

A suite of prototype sensors, software, and avionics developed within the NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project were terrestrially demonstrated onboard the NASA Morpheus rocket-propelled Vertical Testbed (VTB) in 2014. The sensors included a LIDAR-based Hazard Detection System (HDS), a Navigation Doppler LIDAR (NDL) velocimeter, and a long-range Laser Altimeter (LAlt) that enable autonomous and safe precision landing of robotic or human vehicles on solid solar system bodies under varying terrain lighting conditions. The flight test campaign with the Morpheus vehicle involved a detailed integration and functional verification process, followed by tether testing and six successful free flights, including one night flight. The ALHAT sensor measurements were integrated into a common navigation solution through a specialized ALHAT Navigation filter that was employed in closed-loop flight testing within the Morpheus Guidance, Navigation and Control (GN&C) subsystem. Flight testing on Morpheus utilized ALHAT for safe landing site identification and ranking, followed by precise surface-relative navigation to the selected landing site. The successful autonomous, closed-loop flight demonstrations of the prototype ALHAT system have laid the foundation for the infusion of safe, precision landing capabilities into future planetary exploration missions.

Defence R&D Canada's autonomous intelligent systems program

NASA Astrophysics Data System (ADS)

Digney, Bruce L.; Hubbard, Paul; Gagnon, Eric; Lauzon, Marc; Rabbath, Camille; Beckman, Blake; Collier, Jack A.; Penzes, Steven G.; Broten, Gregory S.; Monckton, Simon P.; Trentini, Michael; Kim, Bumsoo; Farell, Philip; Hopkin, Dave

2004-09-01

The Defence Research and Development Canada's (DRDC has been given strategic direction to pursue research to increase the independence and effectiveness of military vehicles and systems. This has led to the creation of the Autonomous Intelligent Systems (AIS) prgram and is notionally divide into air, land and marine vehicle systems as well as command, control and decision support systems. This paper presents an overarching description of AIS research issues, challenges and directions as well as a nominal path that vehicle intelligence will take. The AIS program requires a very close coordination between research and implementation on real vehicles. This paper briefly discusses the symbiotic relationship between intelligence algorithms and implementation mechanisms. Also presented are representative work from two vehicle specific research program programs. Work from the Autonomous Air Systems program discusses the development of effective cooperate control for multiple air vehicle. The Autonomous Land Systems program discusses its developments in platform and ground vehicle intelligence.

Tele-Supervised Adaptive Ocean Sensor Fleet

NASA Technical Reports Server (NTRS)

Lefes, Alberto; Podnar, Gregg W.; Dolan, John M.; Hosler, Jeffrey C.; Ames, Troy J.

2009-01-01

The Tele-supervised Adaptive Ocean Sensor Fleet (TAOSF) is a multi-robot science exploration architecture and system that uses a group of robotic boats (the Ocean-Atmosphere Sensor Integration System, or OASIS) to enable in-situ study of ocean surface and subsurface characteristics and the dynamics of such ocean phenomena as coastal pollutants, oil spills, hurricanes, or harmful algal blooms (HABs). The OASIS boats are extended- deployment, autonomous ocean surface vehicles. The TAOSF architecture provides an integrated approach to multi-vehicle coordination and sliding human-vehicle autonomy. One feature of TAOSF is the adaptive re-planning of the activities of the OASIS vessels based on sensor input ( smart sensing) and sensorial coordination among multiple assets. The architecture also incorporates Web-based communications that permit control of the assets over long distances and the sharing of data with remote experts. Autonomous hazard and assistance detection allows the automatic identification of hazards that require human intervention to ensure the safety and integrity of the robotic vehicles, or of science data that require human interpretation and response. Also, the architecture is designed for science analysis of acquired data in order to perform an initial onboard assessment of the presence of specific science signatures of immediate interest. TAOSF integrates and extends five subsystems developed by the participating institutions: Emergent Space Tech - nol ogies, Wallops Flight Facility, NASA s Goddard Space Flight Center (GSFC), Carnegie Mellon University, and Jet Propulsion Laboratory (JPL). The OASIS Autonomous Surface Vehicle (ASV) system, which includes the vessels as well as the land-based control and communications infrastructure developed for them, controls the hardware of each platform (sensors, actuators, etc.), and also provides a low-level waypoint navigation capability. The Multi-Platform Simulation Environment from GSFC is a surrogate for the OASIS ASV system and allows for independent development and testing of higher-level software components. The Platform Communicator acts as a proxy for both actual and simulated platforms. It translates platform-independent messages from the higher control systems to the device-dependent communication protocols. This enables the higher-level control systems to interact identically with heterogeneous actual or simulated platforms.

Stable Research Platform Workshop

DTIC Science & Technology

1988-04-01

autonomous or manned submersibles, by providing them with a deep underwater garage for launch and recovery. A track system for bringing the vehicle...s;. 10- f(H2) Figure 5 SIO Reference 87-2.0 69 STEREO - PHOTOGRAPHY Figure 6 70 Appendix E -15 0 31 62 93 124 155 DISTANCE, x...WAVE FOLLOWER WITH MULTI-BEAM LASER OPTICAL SENSOR • STEREO -PHOTOQRAPHY • MULTI-FREQUENCY RADAR: 10-100 GHz • SURFACE TENSION SENSORS • LONG WAVE

Engineering Review of ANCAUS/AVATAR: An Enabling Technology for the Autonomous Land Systems Program?

DTIC Science & Technology

2003-12-01

technology for future Autonomous Land System (ALS) autonomous vehicles . Since 1989, forward thinking engineering has characterized the history of ANC/EUS and...technology for future autonomous vehicles and that; (2) ALS should adopt commercial/open source technology to support a new ALS architecture and (3) ALS

Adaptive Oceanographic Sampling in a Coastal Environment Using Autonomous Gliding Vehicles

DTIC Science & Technology

2003-08-01

cost autonomous vehicles with near-global range and modular sensor payload. Particular emphasis is placed on the development of adaptive sampling...environment. Secondary objectives include continued development of adaptive sampling strategies suitable for large fleets of slow-moving autonomous ... vehicles , and development and implementation of new oceanographic sensors and sampling methodologies. The main task completed was a complete redesign of

Terminal Homing for Autonomous Underwater Vehicle Docking

DTIC Science & Technology

2016-06-01

underwater domain, accurate navigation. Above the water, light and electromagnetic signals travel well through air and space, mediums that allow for a...DISTRIBUTION CODE 13. ABSTRACT The use of docking stations for autonomous underwater vehicles (AUV) provides the ability to keep a vehicle on...Mechanical and Aerospace Engineering iv THIS PAGE INTENTIONALLY LEFT BLANK v ABSTRACT The use of docking stations for autonomous underwater

Autonomous landing and ingress of micro-air-vehicles in urban environments based on monocular vision

NASA Astrophysics Data System (ADS)

Brockers, Roland; Bouffard, Patrick; Ma, Jeremy; Matthies, Larry; Tomlin, Claire

2011-06-01

Unmanned micro air vehicles (MAVs) will play an important role in future reconnaissance and search and rescue applications. In order to conduct persistent surveillance and to conserve energy, MAVs need the ability to land, and they need the ability to enter (ingress) buildings and other structures to conduct reconnaissance. To be safe and practical under a wide range of environmental conditions, landing and ingress maneuvers must be autonomous, using real-time, onboard sensor feedback. To address these key behaviors, we present a novel method for vision-based autonomous MAV landing and ingress using a single camera for two urban scenarios: landing on an elevated surface, representative of a rooftop, and ingress through a rectangular opening, representative of a door or window. Real-world scenarios will not include special navigation markers, so we rely on tracking arbitrary scene features; however, we do currently exploit planarity of the scene. Our vision system uses a planar homography decomposition to detect navigation targets and to produce approach waypoints as inputs to the vehicle control algorithm. Scene perception, planning, and control run onboard in real-time; at present we obtain aircraft position knowledge from an external motion capture system, but we expect to replace this in the near future with a fully self-contained, onboard, vision-aided state estimation algorithm. We demonstrate autonomous vision-based landing and ingress target detection with two different quadrotor MAV platforms. To our knowledge, this is the first demonstration of onboard, vision-based autonomous landing and ingress algorithms that do not use special purpose scene markers to identify the destination.

Autonomous Landing and Ingress of Micro-Air-Vehicles in Urban Environments Based on Monocular Vision

NASA Technical Reports Server (NTRS)

Brockers, Roland; Bouffard, Patrick; Ma, Jeremy; Matthies, Larry; Tomlin, Claire

2011-01-01

Unmanned micro air vehicles (MAVs) will play an important role in future reconnaissance and search and rescue applications. In order to conduct persistent surveillance and to conserve energy, MAVs need the ability to land, and they need the ability to enter (ingress) buildings and other structures to conduct reconnaissance. To be safe and practical under a wide range of environmental conditions, landing and ingress maneuvers must be autonomous, using real-time, onboard sensor feedback. To address these key behaviors, we present a novel method for vision-based autonomous MAV landing and ingress using a single camera for two urban scenarios: landing on an elevated surface, representative of a rooftop, and ingress through a rectangular opening, representative of a door or window. Real-world scenarios will not include special navigation markers, so we rely on tracking arbitrary scene features; however, we do currently exploit planarity of the scene. Our vision system uses a planar homography decomposition to detect navigation targets and to produce approach waypoints as inputs to the vehicle control algorithm. Scene perception, planning, and control run onboard in real-time; at present we obtain aircraft position knowledge from an external motion capture system, but we expect to replace this in the near future with a fully self-contained, onboard, vision-aided state estimation algorithm. We demonstrate autonomous vision-based landing and ingress target detection with two different quadrotor MAV platforms. To our knowledge, this is the first demonstration of onboard, vision-based autonomous landing and ingress algorithms that do not use special purpose scene markers to identify the destination.

Measurement of atmospheric surface layer turbulence using unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Bailey, Sean; Canter, Caleb

2017-11-01

We describe measurements of the turbulence within the atmospheric surface layer using highly instrumented and autonomous unmanned aerial vehicles (UAVs). Results from the CLOUDMAP measurement campaign in Stillwater Oklahoma are presented including turbulence statistics measured during the transition from stably stratified to convective conditions. The measurements were made using pre-fabricated fixed-wing remote-control aircraft adapted to fly autonomously and carry multi-hole pressure probes, pressure, temperature and humidity sensors. Two aircraft were flown simultaneously, with one flying a flight path intended to profile the boundary layer up to 100 m and the other flying at a constant fixed altitude of 50 m. The evolution of various turbulent statistics was determined from these flights, including Reynolds stresses, correlations, spectra and structure functions. These results were compared to those measured by a sonic anemometer located on a 7.5 m tower. This work was supported by the National Science Foundation through Grant #CBET-1351411 and by National Science Foundation award #1539070, Collaboration Leading Operational UAS Development for Meteorology and Atmospheric Physics (CLOUDMAP).

Measurement of atmospheric surface layer turbulence using unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Witte, Brandon; Smith, Lorli; Schlagenhauf, Cornelia; Bailey, Sean

2016-11-01

We describe measurements of the turbulence within the atmospheric surface layer using highly instrumented and autonomous unmanned aerial vehicles (UAVs). Results from the CLOUDMAP measurement campaign in Stillwater Oklahoma are presented including turbulence statistics measured during the transition from stably stratified to convective conditions. The measurements were made using pre-fabricated fixed-wing remote-control aircraft adapted to fly autonomously and carry multi-hole pressure probes, pressure, temperature and humidity sensors. Two aircraft were flown simultaneously, with one flying a flight path intended to profile the boundary layer up to 100 m and the other flying at a constant fixed altitude of 50 m. The evolution of various turbulent statistics was determined from these flights, including Reynolds stresses, correlations, spectra and structure functions. These results were compared to those measured by a sonic anemometer located on a 7.5 m tower. This work was supported by the National Science Foundation through Grant #CBET-1351411 and by National Science Foundation award #1539070, Collaboration Leading Operational UAS Development for Meteorology and Atmospheric Physics (CLOUDMAP).

Fault tolerant and lifetime control architecture for autonomous vehicles

NASA Astrophysics Data System (ADS)

Bogdanov, Alexander; Chen, Yi-Liang; Sundareswaran, Venkataraman; Altshuler, Thomas

2008-04-01

Increased vehicle autonomy, survivability and utility can provide an unprecedented impact on mission success and are one of the most desirable improvements for modern autonomous vehicles. We propose a general architecture of intelligent resource allocation, reconfigurable control and system restructuring for autonomous vehicles. The architecture is based on fault-tolerant control and lifetime prediction principles, and it provides improved vehicle survivability, extended service intervals, greater operational autonomy through lower rate of time-critical mission failures and lesser dependence on supplies and maintenance. The architecture enables mission distribution, adaptation and execution constrained on vehicle and payload faults and desirable lifetime. The proposed architecture will allow managing missions more efficiently by weighing vehicle capabilities versus mission objectives and replacing the vehicle only when it is necessary.

Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

NASA Technical Reports Server (NTRS)

Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

1994-01-01

A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

Broadband vehicle-to-vehicle communication using an extended autonomous cruise control sensor

NASA Astrophysics Data System (ADS)

Heddebaut, M.; Rioult, J.; Ghys, J. P.; Gransart, Ch; Ambellouis, S.

2005-06-01

For several years road vehicle autonomous cruise control (ACC) systems as well as anti-collision radar have been developed. Several manufacturers currently sell this equipment. The current generation of ACC sensors only track the first preceding vehicle to deduce its speed and position. These data are then used to compute, manage and optimize a safety distance between vehicles, thus providing some assistance to car drivers. However, in real conditions, to elaborate and update a real time driving solution, car drivers use information about speed and position of preceding and following vehicles. This information is essentially perceived using the driver's eyes, binocular stereoscopic vision performed through the windscreens and rear-view mirrors. Furthermore, within a line of vehicles, the frontal road perception of the first vehicle is very particular and highly significant. Currently, all these available data remain strictly on-board the vehicle that has captured the perception information and performed these measurements. To get the maximum effectiveness of all these approaches, we propose that this information be shared in real time with the following vehicles, within the convoy. On the basis of these considerations, this paper technically explores a cost-effective solution to extend the basic ACC sensor function in order to simultaneously provide a vehicle-to-vehicle radio link. This millimetre wave radio link transmits relevant broadband perception data (video, localization...) to following vehicles, along the line of vehicles. The propagation path between the vehicles uses essentially grazing angles of incidence of signals over the road surface including millimetre wave paths beneath the cars.

Autonomous Vehicles: A Policy Roadmap for Law Enforcement

DTIC Science & Technology

2015-09-01

Timeline for Autonomous Vehicle Development ................................48 Figure 3. RAS 2020 Strategic Theme, Five Areas of Strategic Activity to...BLANK 1 I. INTRODUCTION It would be like an elevator. They used to have elevator operators, and then we developed some simple circuitry to have...advancements to make autonomous vehicles possible are being developed , manufactured, and tested. These two advantages should be used to help develop a solid

Operator Informational Needs for Multiple Autonomous Small Vehicles

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Fan, Henry; Cross, Charles D.; Hempley, Lucas E.; Cichella, Venanzio; Puig-Navarro, Javier; Mehdi, Syed Bilal

2015-01-01

With the anticipated explosion of small unmanned aerial vehicles, it is highly likely that operators will be controlling fleets of autonomous vehicles. To fulfill the promise of autonomy, vehicle operators will not be concerned with manual control of the vehicle; instead, they will deal with the overall mission. Furthermore, the one operator to many vehicles is becoming a constant meme with various industries including package delivery, search and rescue, and utility companies. In order for an operator to concurrently control several vehicles, his station must look and behave very differently than the current ground control station instantiations. Furthermore, the vehicle will have to be much more autonomous, especially during non-normal operations, in order to accommodate the knowledge deficit or the information overload of the operator in charge of several vehicles. The expected usage increase of small drones requires presenting the operational information generated by a fleet of heterogeneous autonomous agents to an operator. NASA Langley Research Center's Autonomy Incubator has brought together researchers in various disciplines including controls, trajectory planning, systems engineering, and human factors to develop an integrated system to study autonomy issues. The initial human factors effort is focusing on mission displays that would give an operator the overall status of all autonomous agents involved in the current mission. This paper will discuss the specifics of the mission displays for operators controlling several vehicles.

Autonomous Soaring for Improved Endurance of a Small Uninhabited Air Vehicle

NASA Technical Reports Server (NTRS)

Allen, Michael J.

2005-01-01

A relatively unexplored method to improve the endurance of an autonomous aircraft is to use buoyant plumes of air found in the lower atmosphere called thermals or updrafts. Glider pilots and birds commonly use updrafts to improve range, endurance, or cross-country speed. This report presents a quantitative analysis of a small electric-powered uninhabited air vehicle using updrafts to extend its endurance over a target location. A three-degree-of-freedom simulation of the uninhabited air vehicle was used to determine the yearly effect of updrafts on performance. Surface radiation and rawinsonde balloon measurements taken at Desert Rock, Nevada, were used to determine updraft size, strength, spacing, shape, and maximum height for the simulation. A fixed-width spiral path was used to search for updrafts at the same time as maintaining line-of-sight to the surface target position. Power was used only when the aircraft was flying at the lower-altitude limit in search of updrafts. Results show that an uninhabited air vehicle with a nominal endurance of 2 hours can fly a maximum of 14 hours using updrafts during the summer and a maximum of 8 hours during the winter. The performance benefit and the chance of finding updrafts both depend on what time of day the uninhabited air vehicle is launched. Good endurance and probability of finding updrafts during the year was obtained when the uninhabited air vehicle was launched 30 percent into the daylight hours after sunrise each day. Yearly average endurance was found to be 8.6 hours with these launch times.

Integrating small satellite communication in an autonomous vehicle network: A case for oceanography

NASA Astrophysics Data System (ADS)

Guerra, André G. C.; Ferreira, António Sérgio; Costa, Maria; Nodar-López, Diego; Aguado Agelet, Fernando

2018-04-01

Small satellites and autonomous vehicles have greatly evolved in the last few decades. Hundreds of small satellites have been launched with increasing functionalities, in the last few years. Likewise, numerous autonomous vehicles have been built, with decreasing costs and form-factor payloads. Here we focus on combining these two multifaceted assets in an incremental way, with an ultimate goal of alleviating the logistical expenses in remote oceanographic operations. The first goal is to create a highly reliable and constantly available communication link for a network of autonomous vehicles, taking advantage of the small satellite lower cost, with respect to conventional spacecraft, and its higher flexibility. We have developed a test platform as a proving ground for this network, by integrating a satellite software defined radio on an unmanned air vehicle, creating a system of systems, and several tests have been run successfully, over land. As soon as the satellite is fully operational, we will start to move towards a cooperative network of autonomous vehicles and small satellites, with application in maritime operations, both in-situ and remote sensing.

Alternative Fuels Data Center

Science.gov Websites

Autonomous Vehicle Study The North Dakota Department of Transportation (DOT) will work with the autonomous vehicle technology industry to study the use of vehicles equipped with automated driving systems on state highways and the data the vehicles store or gather. The study will include a review of

Proceedings of the 8th Annual Summer Conference: NASA/USRA Advanced Design Program

NASA Technical Reports Server (NTRS)

1992-01-01

Papers presented at the 8th Annual Summer Conference are categorized as Space Projects and Aeronautics projects. Topics covered include: Systematic Propulsion Optimization Tools (SPOT), Assured Crew Return Vehicle Post Landing Configuration Design and Test, Autonomous Support for Microorganism Research in Space, Bioregenerative System Components for Microgravity, The Extended Mission Rover (EMR), Planetary Surface Exploration MESUR/Autonomous Lunar Rover, Automation of Closed Environments in Space for Human Comfort and Safety, Walking Robot Design, Extraterrestrial Surface Propulsion Systems, The Design of Four Hypersonic Reconnaissance Aircraft, Design of a Refueling Tanker Delivering Liquid Hydrogen, The Design of a Long-Range Megatransport Aircraft, and Solar Powered Multipurpose Remotely Powered Aircraft.

An Autonomous Gps-Denied Unmanned Vehicle Platform Based on Binocular Vision for Planetary Exploration

NASA Astrophysics Data System (ADS)

Qin, M.; Wan, X.; Shao, Y. Y.; Li, S. Y.

2018-04-01

Vision-based navigation has become an attractive solution for autonomous navigation for planetary exploration. This paper presents our work of designing and building an autonomous vision-based GPS-denied unmanned vehicle and developing an ARFM (Adaptive Robust Feature Matching) based VO (Visual Odometry) software for its autonomous navigation. The hardware system is mainly composed of binocular stereo camera, a pan-and tilt, a master machine, a tracked chassis. And the ARFM-based VO software system contains four modules: camera calibration, ARFM-based 3D reconstruction, position and attitude calculation, BA (Bundle Adjustment) modules. Two VO experiments were carried out using both outdoor images from open dataset and indoor images captured by our vehicle, the results demonstrate that our vision-based unmanned vehicle is able to achieve autonomous localization and has the potential for future planetary exploration.

A new car-following model for autonomous vehicles flow with mean expected velocity field

NASA Astrophysics Data System (ADS)

Wen-Xing, Zhu; Li-Dong, Zhang

2018-02-01

Due to the development of the modern scientific technology, autonomous vehicles may realize to connect with each other and share the information collected from each vehicle. An improved forward considering car-following model was proposed with mean expected velocity field to describe the autonomous vehicles flow behavior. The new model has three key parameters: adjustable sensitivity, strength factor and mean expected velocity field size. Two lemmas and one theorem were proven as criteria for judging the stability of homogeneousautonomous vehicles flow. Theoretical results show that the greater parameters means larger stability regions. A series of numerical simulations were carried out to check the stability and fundamental diagram of autonomous flow. From the numerical simulation results, the profiles, hysteresis loop and density waves of the autonomous vehicles flow were exhibited. The results show that with increased sensitivity, strength factor or field size the traffic jam was suppressed effectively which are well in accordance with the theoretical results. Moreover, the fundamental diagrams corresponding to three parameters respectively were obtained. It demonstrates that these parameters play almost the same role on traffic flux: i.e. before the critical density the bigger parameter is, the greater flux is and after the critical density, the opposite tendency is. In general, the three parameters have a great influence on the stability and jam state of the autonomous vehicles flow.

A design approach for small vision-based autonomous vehicles

NASA Astrophysics Data System (ADS)

Edwards, Barrett B.; Fife, Wade S.; Archibald, James K.; Lee, Dah-Jye; Wilde, Doran K.

2006-10-01

This paper describes the design of a small autonomous vehicle based on the Helios computing platform, a custom FPGA-based board capable of supporting on-board vision. Target applications for the Helios computing platform are those that require lightweight equipment and low power consumption. To demonstrate the capabilities of FPGAs in real-time control of autonomous vehicles, a 16 inch long R/C monster truck was outfitted with a Helios board. The platform provided by such a small vehicle is ideal for testing and development. The proof of concept application for this autonomous vehicle was a timed race through an environment with obstacles. Given the size restrictions of the vehicle and its operating environment, the only feasible on-board sensor is a small CMOS camera. The single video feed is therefore the only source of information from the surrounding environment. The image is then segmented and processed by custom logic in the FPGA that also controls direction and speed of the vehicle based on visual input.

Vision-Aided Autonomous Landing and Ingress of Micro Aerial Vehicles

NASA Technical Reports Server (NTRS)

Brockers, Roland; Ma, Jeremy C.; Matthies, Larry H.; Bouffard, Patrick

2012-01-01

Micro aerial vehicles have limited sensor suites and computational power. For reconnaissance tasks and to conserve energy, these systems need the ability to autonomously land at vantage points or enter buildings (ingress). But for autonomous navigation, information is needed to identify and guide the vehicle to the target. Vision algorithms can provide egomotion estimation and target detection using input from cameras that are easy to include in miniature systems.

Finding Multiple Lanes in Urban Road Networks with Vision and Lidar

DTIC Science & Technology

2009-03-24

drawbacks. First, the cost of updating and main- taining millions of kilometers of roadway is prohibitive. Second, the danger of autonomous vehicles perceiving... autonomous vehicles . We propose that a data infrastructure is useful for topological information and sparse geometry, but reject relying upon it for dense...Throughout the race, approximately 50 human- driven and autonomous vehicles were simultaneously active, thus providing realistic traffic scenarios. Our most

Automation of Armored Four Wheel Counter Steer Vehicles

DTIC Science & Technology

2015-08-28

designed and implemented with an operator ease-of-use approach, allowing the simple transition between manual control and autonomous operation. Automation...Public Release The U.S. Army’s efforts in vehicle auto- mation are designed in part to protect soldiers in the field as they traverse poten- tially...System (AMAS) convoy autonomy, sensor, and drive-by-wire kits, to ground-up autonomous vehicle designs , such as TARDEC’s Autonomous Platform

Design of a wheeled articulating land rover

NASA Technical Reports Server (NTRS)

Stauffer, Larry; Dilorenzo, Mathew; Yandle, Barbara

1994-01-01

The WALRUS is a wheeled articulating land rover that will provide Ames Research Center with a reliable, autonomous vehicle for demonstrating and evaluating advanced technologies. The vehicle is one component of the Ames Research Center's on-going Human Exploration Demonstration Project. Ames Research Center requested a system capable of traversing a broad spectrum of surface types and obstacles. In addition, this vehicle must have an autonomous navigation and control system on board and its own source of power. The resulting design is a rover that articulates in two planes of motion to allow for increased mobility and stability. The rover is driven by six conical shaped aluminum wheels, each with an independent, internally coupled motor. Mounted on the rover are two housings and a removable remote control system. In the housings, the motor controller board, tilt sensor, navigation circuitry, and QED board are mounted. Finally, the rover's motors and electronics are powered by thirty C-cell rechargeable batteries, which are located in the rover wheels and recharged by a specially designed battery charger.

Autonomous taxis could greatly reduce greenhouse-gas emissions of US light-duty vehicles

NASA Astrophysics Data System (ADS)

Greenblatt, Jeffery B.; Saxena, Samveg

2015-09-01

Autonomous vehicles (AVs) are conveyances to move passengers or freight without human intervention. AVs are potentially disruptive both technologically and socially, with claimed benefits including increased safety, road utilization, driver productivity and energy savings. Here we estimate 2014 and 2030 greenhouse-gas (GHG) emissions and costs of autonomous taxis (ATs), a class of fully autonomous shared AVs likely to gain rapid early market share, through three synergistic effects: (1) future decreases in electricity GHG emissions intensity, (2) smaller vehicle sizes resulting from trip-specific AT deployment, and (3) higher annual vehicle-miles travelled (VMT), increasing high-efficiency (especially battery-electric) vehicle cost-effectiveness. Combined, these factors could result in decreased US per-mile GHG emissions in 2030 per AT deployed of 87-94% below current conventionally driven vehicles (CDVs), and 63-82% below projected 2030 hybrid vehicles, without including other energy-saving benefits of AVs. With these substantial GHG savings, ATs could enable GHG reductions even if total VMT, average speed and vehicle size increased substantially. Oil consumption would also be reduced by nearly 100%.

Autonomous system for launch vehicle range safety

NASA Astrophysics Data System (ADS)

Ferrell, Bob; Haley, Sam

2001-02-01

The Autonomous Flight Safety System (AFSS) is a launch vehicle subsystem whose ultimate goal is an autonomous capability to assure range safety (people and valuable resources), flight personnel safety, flight assets safety (recovery of valuable vehicles and cargo), and global coverage with a dramatic simplification of range infrastructure. The AFSS is capable of determining current vehicle position and predicting the impact point with respect to flight restriction zones. Additionally, it is able to discern whether or not the launch vehicle is an immediate threat to public safety, and initiate the appropriate range safety response. These features provide for a dramatic cost reduction in range operations and improved reliability of mission success. .

Autonomous execution of the Precision Immobilization Technique

NASA Astrophysics Data System (ADS)

Mascareñas, David D. L.; Stull, Christopher J.; Farrar, Charles R.

2017-03-01

Over the course of the last decade great advances have been made in autonomously driving cars. The technology has advanced to the point that driverless car technology is currently being tested on publicly accessed roadways. The introduction of these technologies onto publicly accessed roadways not only raises questions of safety, but also security. Autonomously driving cars are inherently cyber-physical systems and as such will have novel security vulnerabilities that couple both the cyber aspects of the vehicle including the on-board computing and any network data it makes use of, with the physical nature of the vehicle including its sensors, actuators, and the vehicle chassis. Widespread implementation of driverless car technology will require that both the cyber, as well as physical security concerns surrounding these vehicles are addressed. In this work, we specifically developed a control policy to autonomously execute the Precision Immobilization Technique, a.k.a. the PIT maneuver. The PIT maneuver was originally developed by law enforcement to end high-speed vehicular pursuits in a quasi-safe manner. However, there is still a risk of damage/roll-over to both the vehicle executing the PIT maneuver as well as to the vehicle subject to the PIT maneuver. In law enforcement applications, it would be preferable to execute the PIT maneuver using an autonomous vehicle, thus removing the danger to law-enforcement officers. Furthermore, it is entirely possible that unscrupulous individuals could inject code into an autonomously-driving car to use the PIT maneuver to immobilize other vehicles while maintaining anonymity. For these reasons it is useful to know how the PIT maneuver can be implemented on an autonomous car. In this work a simple control policy based on velocity pursuit was developed to autonomously execute the PIT maneuver using only a vision and range measurements that are both commonly collected by contemporary driverless cars. The ability of this control policy to execute the PIT maneuver was demonstrated both in simulation and experimentally. The results of this work can help inform the design of autonomous car with regards to ensuring their cyber-physical security.

Autonomous Vehicle Systems Laboratory Research Capability Expansion Program

DTIC Science & Technology

2017-12-03

currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. University of the Incarnate Word 4301 Broadway, Box #T-2 San Antonio...autonomous control , collaboration, and decision-making in unstructured, dynamic, and uncertain nonlinear environments for autonomous ground and air...vehicle systems. To fulfill the research goal, the PI has initiated fundamental research in the areas of autonomous rotorcraft control and

Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments

DTIC Science & Technology

2016-03-05

SECURITY CLASSIFICATION OF: The aim of this research is to develop a unified theory for perception and planning in autonomous ground vehicles, with a...Report Title The aim of this research is to develop a unified theory for perception and planning in autonomous ground vehicles, with a specific focus on...a combination of experimentally collected vision data and Monte- Carlo simulations. Smoothing for improved perception and robustness in planning

Development of a statistical method for predicting human driver decisions.

DOT National Transportation Integrated Search

2015-09-01

As autonomous vehicles enter the fleet, there will be a long period when these vehicles will have to interact with : human drivers. One of the challenges for autonomous vehicles is that human drivers do not communicate their : decisions well. However...

Paving the Way for Autonomous and Connected Vehicle Technologies in the Motor Carrier Industry

DOT National Transportation Integrated Search

2018-03-01

This study provides potential safety considerations and infrastructure needs that will support the mass adoption of autonomous vehicle (AV) and connected vehicle (CV) technologies in the motor carrier industry. Using large truck crash data from 2013 ...

Oceanids command and control (C2) data system - Marine autonomous systems data for vehicle piloting, scientific data users, operational data assimilation, and big data

NASA Astrophysics Data System (ADS)

Buck, J. J. H.; Phillips, A.; Lorenzo, A.; Kokkinaki, A.; Hearn, M.; Gardner, T.; Thorne, K.

2017-12-01

The National Oceanography Centre (NOC) operate a fleet of approximately 36 autonomous marine platforms including submarine gliders, autonomous underwater vehicles, and autonomous surface vehicles. Each platform effectivity has the capability to observe the ocean and collect data akin to a small research vessel. This is creating a growth in data volumes and complexity while the amount of resource available to manage data remains static. The OceanIds Command and Control (C2) project aims to solve these issues by fully automating the data archival, processing and dissemination. The data architecture being implemented jointly by NOC and the Scottish Association for Marine Science (SAMS) includes a single Application Programming Interface (API) gateway to handle authentication, forwarding and delivery of both metadata and data. Technicians and principle investigators will enter expedition data prior to deployment of vehicles enabling automated data processing when vehicles are deployed. The system will support automated metadata acquisition from platforms as this technology moves towards operational implementation. The metadata exposure to the web builds on a prototype developed by the European Commission supported SenseOCEAN project and is via open standards including World Wide Web Consortium (W3C) RDF/XML and the use of the Semantic Sensor Network ontology and Open Geospatial Consortium (OGC) SensorML standard. Data will be delivered in the marine domain Everyone's Glider Observatory (EGO) format and OGC Observations and Measurements. Additional formats will be served by implementation of endpoints such as the NOAA ERDDAP tool. This standardised data delivery via the API gateway enables timely near-real-time data to be served to Oceanids users, BODC users, operational users and big data systems. The use of open standards will also enable web interfaces to be rapidly built on the API gateway and delivery to European research infrastructures that include aligned reference models for data infrastructure.

Cooperative mission execution and planning

NASA Astrophysics Data System (ADS)

Flann, Nicholas S.; Saunders, Kevin S.; Pells, Larry

1998-08-01

Utilizing multiple cooperating autonomous vehicles to perform tasks enhances robustness and efficiency over the use of a single vehicle. Furthermore, because autonomous vehicles can be controlled precisely and their status known accurately in real time, new types of cooperative behaviors are possible. This paper presents a working system called MEPS that plans and executes missions for multiple autonomous vehicles in large structured environments. Two generic spatial tasks are supported, to sweep an area and to visit a location while activating on-board equipment. Tasks can be entered both initially by the user and dynamically during mission execution by both users and vehicles. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle and tasks conditions. The system has been successfully applied to control ATV and micro-robotic vehicles in precision agriculture and waste-site characterization environments.

Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

NASA Technical Reports Server (NTRS)

Wehner, Walter S.

2014-01-01

The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

An Algorithm for Autonomous Formation Obstacle Avoidance

NASA Astrophysics Data System (ADS)

Cruz, Yunior I.

The level of human interaction with Unmanned Aerial Systems varies greatly from remotely piloted aircraft to fully autonomous systems. In the latter end of the spectrum, the challenge lies in designing effective algorithms to dictate the behavior of the autonomous agents. A swarm of autonomous Unmanned Aerial Vehicles requires collision avoidance and formation flight algorithms to negotiate environmental challenges it may encounter during the execution of its mission, which may include obstacles and chokepoints. In this work, a simple algorithm is developed to allow a formation of autonomous vehicles to perform point to point navigation while avoiding obstacles and navigating through chokepoints. Emphasis is placed on maintaining formation structures. Rather than breaking formation and individually navigating around the obstacle or through the chokepoint, vehicles are required to assemble into appropriately sized/shaped sub-formations, bifurcate around the obstacle or negotiate the chokepoint, and reassemble into the original formation at the far side of the obstruction. The algorithm receives vehicle and environmental properties as inputs and outputs trajectories for each vehicle from start to the desired ending location. Simulation results show that the algorithm safely routes all vehicles past the obstruction while adhering to the aforementioned requirements. The formation adapts and successfully negotiates the obstacles and chokepoints in its path while maintaining proper vehicle separation.

Motion planning for autonomous vehicle based on radial basis function neural network in unstructured environment.

PubMed

Chen, Jiajia; Zhao, Pan; Liang, Huawei; Mei, Tao

2014-09-18

The autonomous vehicle is an automated system equipped with features like environment perception, decision-making, motion planning, and control and execution technology. Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints of vehicle. This paper presents a motion planning method, based on the Radial Basis Function (RBF) neural network, to guide the autonomous vehicle in unstructured environments. The proposed algorithm extracts the drivable region from the perception grid map based on the global path, which is available in the road network. The sample points are randomly selected in the drivable region, and a gradient descent method is used to train the RBF network. The parameters of the motion-planning algorithm are verified through the simulation and experiment. It is observed that the proposed approach produces a flexible, smooth, and safe path that can fit any road shape. The method is implemented on autonomous vehicle and verified against many outdoor scenes; furthermore, a comparison of proposed method with the existing well-known Rapidly-exploring Random Tree (RRT) method is presented. The experimental results show that the proposed method is highly effective in planning the vehicle path and offers better motion quality.

Motion Planning for Autonomous Vehicle Based on Radial Basis Function Neural Network in Unstructured Environment

PubMed Central

Chen, Jiajia; Zhao, Pan; Liang, Huawei; Mei, Tao

2014-01-01

The autonomous vehicle is an automated system equipped with features like environment perception, decision-making, motion planning, and control and execution technology. Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints of vehicle. This paper presents a motion planning method, based on the Radial Basis Function (RBF) neural network, to guide the autonomous vehicle in unstructured environments. The proposed algorithm extracts the drivable region from the perception grid map based on the global path, which is available in the road network. The sample points are randomly selected in the drivable region, and a gradient descent method is used to train the RBF network. The parameters of the motion-planning algorithm are verified through the simulation and experiment. It is observed that the proposed approach produces a flexible, smooth, and safe path that can fit any road shape. The method is implemented on autonomous vehicle and verified against many outdoor scenes; furthermore, a comparison of proposed method with the existing well-known Rapidly-exploring Random Tree (RRT) method is presented. The experimental results show that the proposed method is highly effective in planning the vehicle path and offers better motion quality. PMID:25237902

Fuzzy Logic Path Planning System for Collision Avoidance by an Autonomous Rover Vehicle

NASA Technical Reports Server (NTRS)

Murphy, Michael G.

1991-01-01

Systems already developed at JSC have shown the benefits of applying fuzzy logic control theory to space related operations. Four major issues are addressed that are associated with developing an autonomous collision avoidance subsystem within a path planning system designed for application in a remote, hostile environment that does not lend itself well to remote manipulation of the vehicle involved through Earth-based telecommunication. A good focus for this is unmanned exploration of the surface of Mars. The uncertainties involved indicate that robust approaches such as fuzzy logic control are particularly appropriate. The four major issues addressed are: (1) avoidance of a single fuzzy moving obstacle; (2) back off from a dead end in a static obstacle environment; (3) fusion of sensor data to detect obstacles; and (4) options for adaptive learning in a path planning system.

Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

PubMed

Stilwell, Daniel J; Bishop, Bradley E; Sylvester, Caleb A

2005-08-01

An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.

Environmental monitoring using autonomous vehicles: a survey of recent searching techniques.

PubMed

Bayat, Behzad; Crasta, Naveena; Crespi, Alessandro; Pascoal, António M; Ijspeert, Auke

2017-06-01

Autonomous vehicles are becoming an essential tool in a wide range of environmental applications that include ambient data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. Among these applications, pollution source localization has drawn increasing interest due to its scientific and commercial interest and the emergence of a new breed of robotic vehicles capable of operating in harsh environments without human supervision. The aim is to find the location of a region that is the source of a given substance of interest (e.g. a chemical pollutant at sea or a gas leakage in air) using a group of cooperative autonomous vehicles. Motivated by fast paced advances in this challenging area, this paper surveys recent advances in searching techniques that are at the core of environmental monitoring strategies using autonomous vehicles. Copyright © 2017 Elsevier Ltd. All rights reserved.

Sandia National Laboratories proof-of-concept robotic security vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Harrington, J.J.; Jones, D.P.; Klarer, P.R.

1989-01-01

Several years ago Sandia National Laboratories developed a prototype interior robot that could navigate autonomously inside a large complex building to air and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modified andmore » integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities. 2 refs., 3 figs.« less

An autonomous vehicle approach for quantifying bioluminescence in ports and harbors

NASA Astrophysics Data System (ADS)

Moline, Mark; Bissett, Paul; Blackwell, Shelley; Mueller, James; Sevadjian, Jeff; Trees, Charles; Zaneveld, Ron

2005-05-01

Bioluminescence emitted from marine organisms upon mechanical stimulation is an obvious military interest, as it provides a low-tech method of identifying surface and subsurface vehicles and swimmer tracks. Clearly, the development of a passive method of identifying hostile ships, submarines, and swimmers, as well as the development of strategies to reduce the risk of detection by hostile forces is relevant to Naval operations and homeland security. The measurement of bioluminescence in coastal waters has only recently received attention as the platforms and sensors were not scaled for the inherent small-scale nature of nearshore environments. In addition to marine forcing, many ports and harbors are influenced by freshwater inputs, differential density layering and higher turbidity. The spatial and temporal fluctuations of these optical water types overlaid on changes in the bioluminescence potential make these areas uniquely complex. The development of an autonomous underwater vehicle with a bioluminescence capability allows measurements on sub-centimeter horizontal and vertical scales in shallow waters and provides the means to map the potential for detection of moving surface or subsurface objects. A deployment in San Diego Bay shows the influence of tides on the distribution of optical water types and the distribution of bioluminescent organisms. Here, these data are combined to comment on the potential for threat reduction in ports and harbors.

Workshop on Critical ORI Issues Held in Bordeaux, France on OCtober 27 - 29, 1992. Program and Abstracts.

DTIC Science & Technology

1992-10-29

These people try to make their robotic vehicle as intelligent and autonomous as possible with the current state of technology. The robot only interacts... Robotics Peter J. Burt David Sarnoff Research Center Princeton, NJ 08543-5300 U.S.A. The ability of an operator to drive a remotely piloted vehicle depends...RESUPPLY - System which can rapidly and autonomously load and unload palletized ammunition. (18) AUTONOMOUS COMBAT EVACUATION VEHICLE - Robotic arms

A new technique for robot vision in autonomous underwater vehicles using the color shift in underwater imaging

DTIC Science & Technology

2017-06-01

FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor...June 2017 3. REPORT TYPE AND DATES COVERED Master’s thesis 4. TITLE AND SUBTITLE A NEW TECHNIQUE FOR ROBOT VISION IN AUTONOMOUS UNDERWATER...Developing a technique for underwater robot vision is a key factor in establishing autonomy in underwater vehicles. A new technique is developed and

Real-Time Systems

DTIC Science & Technology

1992-02-01

Postgraduate School Autonomous Under Vehicle (AUV) are then examined. Autonomous underwater vehicle (AUV), hard real-time system, real - time operating system , real-time programming language, real-time system, soft real-time system.

Vehicle following controller design for autonomous intelligent vehicles

NASA Technical Reports Server (NTRS)

Chien, C. C.; Lai, M. C.; Mayr, R.

1994-01-01

A new vehicle following controller is proposed for autonomous intelligent vehicles. The proposed vehicle following controller not only provides smooth transient maneuvers for unavoidable nonzero initial conditions but also guarantees the asymptotic platoon stability without the availability of feedforward information. Furthermore, the achieved asymptotic platoon stability is shown to be robust to sensor delays and an upper bound for the allowable sensor delays is also provided in this paper.

What do autonomous vehicles mean to traffic congestion and crash? : Network traffic flow modeling and simulation for autonomous vehicles.

DOT National Transportation Integrated Search

2016-01-01

Transportation infrastructure is quickly moving towards revolutionary changes to : accommodate the deployment of AVs. On the other hand, the transition to new : vehicle technologies will be shaped in large part by changes in performance of : roadway ...

Planetary surface exploration MESUR/autonomous lunar rover

NASA Astrophysics Data System (ADS)

Stauffer, Larry; Dilorenzo, Matt; Austin, Dave; Ayers, Raymond; Burton, David; Gaylord, Joe; Kennedy, Jim; Laux, Richard; Lentz, Dale; Nance, Preston

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars have been designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA/Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental Survey (MESUR) Alpha Particle/Proton/X-ray (APX) Instrument. The system is to be launched with the 16 MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker have been developed to deploy the APX from the lander to the Martian Surface. While on Mars, the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation that NASA can use for future lunar exploratory missions. This report includes a detailed description of the designs and the methods and procedures which the University of Idaho design teams followed to arrive at the final designs.

Planetary surface exploration: MESUR/autonomous lunar rover

NASA Astrophysics Data System (ADS)

Stauffer, Larry; Dilorenzo, Matt; Austin, Dave; Ayers, Raymond; Burton, David; Gaylord, Joe; Kennedy, Jim; Lentz, Dale; Laux, Richard; Nance, Preston

1992-06-01

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars was designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA-Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental SURvey (MESUR) Alpha Particle/Proton/X-ray instruments (APX). The system is to be launched with the sixteen MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker was developed to deploy the APX from the lander to the Martian surface. While on Mars the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar-terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation which NASA can use for future lunar exploratory missions. A detailed description of the designs, methods, and procedures which the University of Idaho design teams followed to arrive at the final designs are included.

Planetary surface exploration MESUR/autonomous lunar rover

NASA Technical Reports Server (NTRS)

Stauffer, Larry; Dilorenzo, Matt; Austin, Dave; Ayers, Raymond; Burton, David; Gaylord, Joe; Kennedy, Jim; Laux, Richard; Lentz, Dale; Nance, Preston

1992-01-01

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars have been designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA/Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental Survey (MESUR) Alpha Particle/Proton/X-ray (APX) Instrument. The system is to be launched with the 16 MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker have been developed to deploy the APX from the lander to the Martian Surface. While on Mars, the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation that NASA can use for future lunar exploratory missions. This report includes a detailed description of the designs and the methods and procedures which the University of Idaho design teams followed to arrive at the final designs.

Planetary surface exploration: MESUR/autonomous lunar rover

NASA Technical Reports Server (NTRS)

Stauffer, Larry; Dilorenzo, Matt; Austin, Dave; Ayers, Raymond; Burton, David; Gaylord, Joe; Kennedy, Jim; Lentz, Dale; Laux, Richard; Nance, Preston

1992-01-01

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars was designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA-Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental SURvey (MESUR) Alpha Particle/Proton/X-ray instruments (APX). The system is to be launched with the sixteen MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker was developed to deploy the APX from the lander to the Martian surface. While on Mars the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar-terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation which NASA can use for future lunar exploratory missions. A detailed description of the designs, methods, and procedures which the University of Idaho design teams followed to arrive at the final designs are included.

Research Institute for Autonomous Precision Guided Systems

DTIC Science & Technology

2007-03-08

research on agile autonomous munitions, in direct support of the Air Force Research Laboratory Munitions Directorate (AFRL/MN). The grant was awarded with a...Flight had (5) research task areas: 1. Aeroforms and Actuation for Small and Micro Agile Air Vehicles 2. Sensing for Autonomous Control and...critical barriers in AAM, but are not covered in the scope of the AVCAAF (Vision-Based Control of Agile, Autonomous Micro Air Vehicles and Small UAVs

Swarming Unmanned Aerial Vehicles (UAVS): Extending Marine Aviation Ground Task Force Communications Using UAVS

DTIC Science & Technology

2015-03-02

balloons , large UAVs, and satellite communications are all employed to mitigate LOS and OTH communication on the battlefield. The Marine Corps’ fleets...Phang, N. S. (2006). Tethered operation of autonomous aerial vehicles to provide extended fields of view for autonomous ground vehicles (Master’s

Intelligent autonomy for unmanned naval systems

NASA Astrophysics Data System (ADS)

Steinberg, Marc

2006-05-01

This paper provides an overview of the development and demonstration of intelligent autonomy technologies for control of heterogeneous unmanned naval air and sea vehicles and describes some of the current limitations of such technologies. The focus is on modular technologies that support highly automated retasking and fully autonomous dynamic replanning for up to ten heterogeneous unmanned systems based on high-level mission objectives, priorities, constraints, and Rules-of-Engagement. A key aspect of the demonstrations is incorporating frequent naval operator evaluations in order to gain better understanding of the integrated man/machine system and its tactical utility. These evaluations help ensure that the automation can provide information to the user in a meaningful way and that the user has a sufficient level of control and situation awareness to task the system as needed to complete complex mission tasks. Another important aspect of the program is examination of the interactions of higher-level autonomy algorithms with other relevant components that would be needed within the decision-making and control loops. Examples of these are vision and other sensor processing algorithms, sensor fusion, obstacle avoidance, and other lower level vehicle autonomous navigation, guidance, and control functions. Initial experiments have been completed using medium and high-fidelity vehicle simulations in a virtual warfare environment and inexpensive surrogate vehicles in flight and in-water demonstrations. Simulation experiments included integration of multi-vehicle task allocation, dynamic replanning under constraints, lower level autonomous vehicle control, automatic assessment of the impact of contingencies on plans, management of situation awareness data, operator alert management, and a mixed-initiative operator interface. In-water demonstrations of a maritime situation awareness capability were completed in both a river and a harbor environment using unmanned surface vehicles and a buoy as surrogate platforms. In addition, a multiple heterogeneous vehicle demonstration was performed using five different types of small unmanned air and ground vehicles. This provided some initial experimentation with specifying tasking for high-level mission objectives and then mapping those objectives onto heterogeneous unmanned vehicles that each have different lower-level autonomy software. Finally, this paper will discuss lessons learned.

Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

NASA Astrophysics Data System (ADS)

Ni, Jun; Hu, Jibin

2017-06-01

In this paper, a novel dynamics controller for autonomous vehicle to simultaneously control it to the driving limits and follow the desired path is proposed. The dynamics controller consists of longitudinal and lateral controllers. In longitudinal controller, the G-G diagram is utilized to describe the driving and handling limits of the vehicle. The accurate G-G diagram is obtained based on phase plane approach and a nonlinear vehicle dynamic model with accurate tyre model. In lateral controller, the tyre cornering stiffness is estimated to improve the robustness of the controller. The stability analysis of the closed-looped error dynamics shows that the controller remains stable against parameters uncertainties in extreme condition such as tyre saturation. Finally, an electric autonomous Formula race car developed by the authors is used to validate the proposed controller. The autonomous driving experiment on an oval race track shows the efficiency and robustness of the proposed controller.

Using Multimodal Input for Autonomous Decision Making for Unmanned Systems

NASA Technical Reports Server (NTRS)

Neilan, James H.; Cross, Charles; Rothhaar, Paul; Tran, Loc; Motter, Mark; Qualls, Garry; Trujillo, Anna; Allen, B. Danette

2016-01-01

Autonomous decision making in the presence of uncertainly is a deeply studied problem space particularly in the area of autonomous systems operations for land, air, sea, and space vehicles. Various techniques ranging from single algorithm solutions to complex ensemble classifier systems have been utilized in a research context in solving mission critical flight decisions. Realized systems on actual autonomous hardware, however, is a difficult systems integration problem, constituting a majority of applied robotics development timelines. The ability to reliably and repeatedly classify objects during a vehicles mission execution is vital for the vehicle to mitigate both static and dynamic environmental concerns such that the mission may be completed successfully and have the vehicle operate and return safely. In this paper, the Autonomy Incubator proposes and discusses an ensemble learning and recognition system planned for our autonomous framework, AEON, in selected domains, which fuse decision criteria, using prior experience on both the individual classifier layer and the ensemble layer to mitigate environmental uncertainty during operation.

Safe and Autonomous Drones for Urban Flight

NASA Technical Reports Server (NTRS)

Krishnakumar, Kalmanje

2016-01-01

Autonomous vehicles are no longer futuristic technology; in fact, there are already cars with self-driving features on the road. Over the next five years, the connected vehicles will disrupt the entire automotive and UAS ecosystems. The industry will undergo fundamental change as semi-autonomous driving and flying emerges, followed by an eventual shift to full autonomy.

Interpersonal communication and issues for autonomous vehicles.

DOT National Transportation Integrated Search

2017-06-01

Interpersonal roadway communication is a vital component of the transportation system. Road users communicate to coordinate movement and increase roadway safety. Future autonomous vehicle research needs to account for the role of interpersonal roadwa...

System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles

NASA Technical Reports Server (NTRS)

Clark, Evan (Inventor); Richmond, Kristof (Inventor); Paulus, Jeremy (Inventor); Kimball, Peter (Inventor); Scully, Mark (Inventor); Kapit, Jason (Inventor); Stone, William C. (Inventor)

2018-01-01

A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.

New vision system and navigation algorithm for an autonomous ground vehicle

NASA Astrophysics Data System (ADS)

Tann, Hokchhay; Shakya, Bicky; Merchen, Alex C.; Williams, Benjamin C.; Khanal, Abhishek; Zhao, Jiajia; Ahlgren, David J.

2013-12-01

Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 Intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.

Autonomous Vehicles: Disengagements, Accidents and Reaction Times.

PubMed

Dixit, Vinayak V; Chand, Sai; Nair, Divya J

2016-01-01

Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems.

Autonomous Vehicles: Disengagements, Accidents and Reaction Times

PubMed Central

Dixit, Vinayak V.; Chand, Sai; Nair, Divya J.

2016-01-01

Autonomous vehicles are being viewed with scepticism in their ability to improve safety and the driving experience. A critical issue with automated driving at this stage of its development is that it is not yet reliable and safe. When automated driving fails, or is limited, the autonomous mode disengages and the drivers are expected to resume manual driving. For this transition to occur safely, it is imperative that drivers react in an appropriate and timely manner. Recent data released from the California trials provide compelling insights into the current factors influencing disengagements of autonomous mode. Here we show that the number of accidents observed has a significantly high correlation with the autonomous miles travelled. The reaction times to take control of the vehicle in the event of a disengagement was found to have a stable distribution across different companies at 0.83 seconds on average. However, there were differences observed in reaction times based on the type of disengagements, type of roadway and autonomous miles travelled. Lack of trust caused by the exposure to automated disengagements was found to increase the likelihood to take control of the vehicle manually. Further, with increased vehicle miles travelled the reaction times were found to increase, which suggests an increased level of trust with more vehicle miles travelled. We believe that this research would provide insurers, planners, traffic management officials and engineers fundamental insights into trust and reaction times that would help them design and engineer their systems. PMID:27997566

Control Architecture for Robotic Agent Command and Sensing

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand; Estlin, Tara; Gaines, Daniel

2008-01-01

Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to be accomplished by the vehicle(s).

Orientation Guidance and Control for Marine Vehicles in the Horizontal Plane

DTIC Science & Technology

1991-06-01

FIELD GROUP SUB-GROUP Autonomous vehicles , Guidance and control, Stability, Path keeping 19 ABSIRACT (Continue on reverse if necessary and identify by...following in 3-D space. 33 LIST OF REFERENCES 1. Kanayama, Y. and Hartman, B.I. (1989) " Smooth local path planning for autonomous vehicles , " Proceeding

Robust Huber-based iterated divided difference filtering with application to cooperative localization of autonomous underwater vehicles.

PubMed

Gao, Wei; Liu, Yalong; Xu, Bo

2014-12-19

A new algorithm called Huber-based iterated divided difference filtering (HIDDF) is derived and applied to cooperative localization of autonomous underwater vehicles (AUVs) supported by a single surface leader. The position states are estimated using acoustic range measurements relative to the leader, in which some disadvantages such as weak observability, large initial error and contaminated measurements with outliers are inherent. By integrating both merits of iterated divided difference filtering (IDDF) and Huber's M-estimation methodology, the new filtering method could not only achieve more accurate estimation and faster convergence contrast to standard divided difference filtering (DDF) in conditions of weak observability and large initial error, but also exhibit robustness with respect to outlier measurements, for which the standard IDDF would exhibit severe degradation in estimation accuracy. The correctness as well as validity of the algorithm is demonstrated through experiment results.

AGATE: Adversarial Game Analysis for Tactical Evaluation

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.

2013-01-01

AGATE generates a set of ranked strategies that enables an autonomous vehicle to track/trail another vehicle that is trying to break the contact using evasive tactics. The software is efficient (can be run on a laptop), scales well with environmental complexity, and is suitable for use onboard an autonomous vehicle. The software will run in near-real-time (2 Hz) on most commercial laptops. Existing software is usually run offline in a planning mode, and is not used to control an unmanned vehicle actively. JPL has developed a system for AGATE that uses adversarial game theory (AGT) methods (in particular, leader-follower and pursuit-evasion) to enable an autonomous vehicle (AV) to maintain tracking/ trailing operations on a target that is employing evasive tactics. The AV trailing, tracking, and reacquisition operations are characterized by imperfect information, and are an example of a non-zero sum game (a positive payoff for the AV is not necessarily an equal loss for the target being tracked and, potentially, additional adversarial boats). Previously, JPL successfully applied the Nash equilibrium method for onboard control of an autonomous ground vehicle (AGV) travelling over hazardous terrain.

Feasible Path Generation Using Bezier Curves for Car-Like Vehicle

NASA Astrophysics Data System (ADS)

Latip, Nor Badariyah Abdul; Omar, Rosli

2017-08-01

When planning a collision-free path for an autonomous vehicle, the main criteria that have to be considered are the shortest distance, lower computation time and completeness, i.e. a path can be found if one exists. Besides that, a feasible path for the autonomous vehicle is also crucial to guarantee that the vehicle can reach the target destination considering its kinematic constraints such as non-holonomic and minimum turning radius. In order to address these constraints, Bezier curves is applied. In this paper, Bezier curves are modeled and simulated using Matlab software and the feasibility of the resulting path is analyzed. Bezier curve is derived from a piece-wise linear pre-planned path. It is found that the Bezier curves has the capability of making the planned path feasible and could be embedded in a path planning algorithm for an autonomous vehicle with kinematic constraints. It is concluded that the length of segments of the pre-planned path have to be greater than a nominal value, derived from the vehicle wheelbase, maximum steering angle and maximum speed to ensure the path for the autonomous car is feasible.

Comparison of three control methods for an autonomous vehicle

NASA Astrophysics Data System (ADS)

Deshpande, Anup; Mathur, Kovid; Hall, Ernest

2010-01-01

The desirability and challenge of developing a completely autonomous vehicle and the rising need for more efficient use of energy by automobiles motivate this research- a study for an optimum solution to computer control of energy efficient vehicles. The purpose of this paper is to compare three control methods - mechanical, hydraulic and electric that have been used to convert an experimental all terrain vehicle to drive by wire which would eventually act as a test bed for conducting research on various technologies for autonomous operation. Computer control of basic operations in a vehicle namely steering, braking and speed control have been implemented and will be described in this paper. The output from a 3 axis motion controller is used for this purpose. The motion controller is interfaced with a software program using WSDK (Windows Servo Design Kit) as an intermediate tuning layer for tuning and parameter settings in autonomous operation. The software program is developed in C++. The voltage signal sent to the motion controller can be varied through the control program for desired results in controlling the steering motor, activating the hydraulic brakes and varying the vehicle's speed. The vehicle has been tested for its basic functionality which includes testing of street legal operations and also a 1000 mile test while running in a hybrid mode. The vehicle has also been tested for control when it is interfaced with devices such as a keyboard, joystick and sensors under full autonomous operation. The vehicle is currently being tested in various safety studies and is being used as a test bed for experiments in control courses and research studies. The significance of this research is in providing a greater understanding of conventional driving controls and the possibility of improving automobile safety by removing human error in control of a motor vehicle.

Solar Thermal Utility-Scale Joint Venture Program (USJVP) Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

MANCINI,THOMAS R.

2001-04-01

Several years ago Sandia National Laboratories developed a prototype interior robot [1] that could navigate autonomously inside a large complex building to aid and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modifiedmore » and integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities.« less

Layered Safe Motion Planning for Autonomous Vehicles.

DTIC Science & Technology

1995-09-01

The major problem addressed by this research is how to plan a safe motion for autonomous vehicles in a two dimensional, rectilinear world. With given start and goal configurations, the planner performs motion planning which

The NASA/Army Autonomous Rotorcraft Project

NASA Technical Reports Server (NTRS)

Whalley, M.; Freed, M.; Takahashi, M.; Christian, D.; Patterson-Hine, A.; Schulein, G.; Harris, R.

2002-01-01

An overview of the NASA Ames Research Center Autonomous Rotorcraft Project (ARP) is presented. The project brings together several technologies to address NASA and US Army autonomous vehicle needs, including a reactive planner for mission planning and execution, control system design incorporating a detailed understanding of the platform dynamics, and health monitoring and diagnostics. A candidate reconnaissance and surveillance mission is described. The autonomous agent architecture and its application to the candidate mission are presented. Details of the vehicle hardware and software development are provided.

The development of an assessment tool for the mobility of lightweight autonomous vehicles on coastal terrain

NASA Astrophysics Data System (ADS)

Worley, Marilyn E.; Ren, Ping; Sandu, Corina; Hong, Dennis

2007-04-01

This study focuses on developing an assessment tool for the performance prediction of lightweight autonomous vehicles with varying locomotion platforms on coastal terrain involves three segments. A table based on the House of Quality shows the relationships - high, low, or adverse - between mission profile requirements and general performance measures and geometries of vehicles under consideration for use. This table, when combined with known values for vehicle metrics, provides information for an index formula used to quantitatively compare the mobility of a user-chosen set of vehicles, regardless of their methods of locomotion. To study novel forms of locomotion, and to compare their mobility and performance with more traditional wheeled and tracked vehicles, several new autonomous vehicles - bipedal, self-excited dynamic tripedal, active spoke-wheel - are currently under development. While the terramechanics properties of wheeled and tracked vehicles, such as the contact patch pressure distribution, have been understood and models have been developed for heavy vehicles, the feasibility of extrapolating them to the analysis of light vehicles is still under analysis. wheeled all-terrain vehicle and a lightweight autonomous tracked vehicle have been tested for effects of sand gradation, vehicle speed, and vehicle payload on measures of pressure and sinkage in the contact patch, and preliminary analysis is presented on the sinkage of the wheeled all-terrain vehicle. These three segments - development of the comparison matrix and indexing function, modeling and development of novel forms of locomotion, and physical experimentation of lightweight tracked and wheeled vehicles on varying terrain types for terramechanic model validation - combine to give an overall picture of mobility that spans across different forms of locomotion.

Towards autonomous vehicles.

DOT National Transportation Integrated Search

2013-11-01

We are moving towards an age of autonomous vehicles. Cycles of innovation initiated in the public and private sectors : have led one into another since the 1990s; and out of these efforts have sprung a variety of Advanced Driver Assistance : Systems ...

Draper Laboratory small autonomous aerial vehicle

NASA Astrophysics Data System (ADS)

DeBitetto, Paul A.; Johnson, Eric N.; Bosse, Michael C.; Trott, Christian A.

1997-06-01

The Charles Stark Draper Laboratory, Inc. and students from Massachusetts Institute of Technology and Boston University have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. This entry represents a combination of many technology areas: navigation, guidance, control, vision processing, human factors, packaging, power, real-time software, and others. The aerial vehicle, an autonomous helicopter, performs navigation and control functions using multiple sensors: differential GPS, inertial measurement unit, sonar altimeter, and a flux compass. The aerial transmits video imagery to the ground. A ground based vision processor converts the image data into target position and classification estimates. The system was designed, built, and flown in less than one year and has provided many lessons about autonomous vehicle systems, several of which are discussed. In an appendix, our current research in augmenting the navigation system with vision- based estimates is presented.

Increasing Road Infrastructure Capacity Through the Use of Autonomous Vehicles

DTIC Science & Technology

2016-12-01

NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA THESIS Approved for public release. Distribution is unlimited. INCREASING ROAD ...DATES COVERED Master’s thesis 4. TITLE AND SUBTITLE INCREASING ROAD INFRASTRUCTURE CAPACITY THROUGH THE USE OF AUTONOMOUS VEHICLES 5. FUNDING...driverless vehicles, road infrastructure 15. NUMBER OF PAGES 65 16. PRICE CODE 17. SECURITY CLASSIFICATION OF REPORT Unclassified 18. SECURITY

FLPP IXV Re-entry Vehicle, Transonic Characterisation Based on FOI T1500 Wind Tunnel Tests and CFD

NASA Astrophysics Data System (ADS)

Torngren, L.; Chiarelli, C.; Mareschi, V.; Tribot, J.-P.; Binetti, P.; Walloschek, T.

2009-01-01

The European Space Agency ESA, has engaged in 2004, the IXV project (Intermediate eXperimental Vehicle) which is part of the FLPP (Future Launcher Preparatory Programme) aiming at answering to critical technological issues, while supporting the future generation launchers and to improve in general European capabilities in the strategic field of atmospheric re-entry for space transportation, exploration and scientific applications. The IXV key mission and system objectives are the design, development, manufacturing, assembling and on-ground to in-flight verification of an autonomous European lifting and aerodynamically controlled re-entry system, integrating the critical re-entry technologies at the system level. The current IXV vehicle is a slender body type exhibiting rounded shape, thick body controlled by means of two control surfaces. The current mission is to perform an atmospheric re- entry ended by a safe recovery in supersonic regime. A potential extension of the flight domain down to the transonic regime was proposed to be analyzed. The objectives were to study the capability of the IXV for flying autonomously enabling a recovery of the vehicle by means of a subsonic parachute based DRS. The vehicle designed for the hypersonic speeds integrating a large base with only two control surfaces located close to the plane of symmetry is definitively not tuned for transonic ones. CFD done by Thales Alenia Space and wind tunnel activities involving FOI T1500 facility contributed to built up an Aerodynamic Data Base (AEDB) to be used as inputs for flying qualities analysis and re-entry simulations. The paper presents the main objectives of the transonic activities with emphasis on CFD and WTT including a description of the different prediction tools and discussing the main outcomes of the current data comparisons.

Vehicle path-planning in three dimensions using optics analogs for optimizing visibility and energy cost

NASA Technical Reports Server (NTRS)

Rowe, Neil C.; Lewis, David H.

1989-01-01

Path planning is an important issue for space robotics. Finding safe and energy-efficient paths in the presence of obstacles and other constraints can be complex although important. High-level (large-scale) path planning for robotic vehicles was investigated in three-dimensional space with obstacles, accounting for: (1) energy costs proportional to path length; (2) turn costs where paths change trajectory abruptly; and (3) safety costs for the danger associated with traversing a particular path due to visibility or invisibility from a fixed set of observers. Paths optimal with respect to these cost factors are found. Autonomous or semi-autonomous vehicles were considered operating either in a space environment around satellites and space platforms, or aircraft, spacecraft, or smart missiles operating just above lunar and planetary surfaces. One class of applications concerns minimizing detection, as for example determining the best way to make complex modifications to a satellite without being observed by hostile sensors; another example is verifying there are no paths (holes) through a space defense system. Another class of applications concerns maximizing detection, as finding a good trajectory between mountain ranges of a planet while staying reasonably close to the surface, or finding paths for a flight between two locations that maximize the average number of triangulation points available at any time along the path.

Autonomous driving in urban environments: approaches, lessons and challenges.

PubMed

Campbell, Mark; Egerstedt, Magnus; How, Jonathan P; Murray, Richard M

2010-10-13

The development of autonomous vehicles for urban driving has seen rapid progress in the past 30 years. This paper provides a summary of the current state of the art in autonomous driving in urban environments, based primarily on the experiences of the authors in the 2007 DARPA Urban Challenge (DUC). The paper briefly summarizes the approaches that different teams used in the DUC, with the goal of describing some of the challenges that the teams faced in driving in urban environments. The paper also highlights the long-term research challenges that must be overcome in order to enable autonomous driving and points to opportunities for new technologies to be applied in improving vehicle safety, exploiting intelligent road infrastructure and enabling robotic vehicles operating in human environments.

New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy.

PubMed

Masmitja, Ivan; Gonzalez, Julian; Galarza, Cesar; Gomariz, Spartacus; Aguzzi, Jacopo; Del Rio, Joaquin

2018-04-17

Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here, two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. Firstly, a vectorial propulsion system has been designed to provide full vehicle maneuverability in both horizontal and vertical planes. Furthermore, two controllers have been designed, based on fuzzy controls, to provide the vehicle with autonomous navigation capabilities. Due to the decoupled system propriety, the controllers in the horizontal plane have been designed separately from the vertical plane. This class of non-linear controllers has been used to interpret linguistic laws into different zones of functionality. This method provided good performance, used as interpolation between different rules or linear controls. Both improvements have been validated through simulations and field tests, displaying good performance results. Finally, the conclusion of this work is that the Guanay II AUV has a solid controller to perform autonomous navigation and carry out vertical immersions.

The Design of an Autonomous Underwater Vehicle for Water Quality Monitoring

NASA Astrophysics Data System (ADS)

Li, Yulong; Liu, Rong; Liu, Shujin

2018-01-01

This paper describes the development of a civilian-used autonomous underwater vehicle (AUV) for water quality monitoring at reservoirs and watercourses that can obtain realtime visual and locational information. The mechanical design was completed with CAD software Solidworks. Four thrusters—two horizontal and two vertical—on board enable the vehicle to surge, heave, yaw, and pitch. A specialized water sample collection compartment is designed to perform water collection at target locations. The vehicle has a central controller—STM32—and a sub-coordinate controller—Arduino MEGA 2560—that coordinates multiple sensors including an inertial sensor, ultrasonic sensors, etc. Global Navigation Satellite System (GNSS) and the inertial sensor enable the vehicle’s localization. Remote operators monitor and control the vehicle via a host computer system. Operators choose either semi-autonomous mode in which they set target locations or manual mode. The experimental results show that the vehicle is able to perform well in either mode.

Project : transit demand and routing after autonomous vehicle availability.

DOT National Transportation Integrated Search

2015-12-01

Autonomous vehicles (AVs) create the potential for improvements in traffic operations as well as : new behaviors for travelers such as car sharing among trips through driverless repositioning. Most studies : on AVs have focused on technology or traff...

Proving autonomous vehicle and advanced driver assistance systems safety : final research report.

DOT National Transportation Integrated Search

2016-02-15

The main objective of this project was to provide technology for answering : crucial safety and correctness questions about verification of autonomous : vehicle and advanced driver assistance systems based on logic. : In synergistic activities, we ha...

Fuzzy Logic Trajectory Design and Guidance for Terminal Area Energy Management

NASA Technical Reports Server (NTRS)

Burchett, Bradley

2003-01-01

The second generation reusable launch vehicle will leverage many new technologies to make flight to low earth orbit safer and more cost effective. One important capability will be completely autonomous flight during reentry and landing, thus making it unnecessary to man the vehicle for cargo missions with stringent weight constraints. Implementation of sophisticated new guidance and control methods will enable the vehicle to return to earth under less than favorable conditions. The return to earth consists of three phases--Entry, Terminal Area Energy Management (TAEM), and Approach and Landing. The Space Shuttle is programmed to fly all three phases of flight automatically, and under normal circumstances the astronaut-pilot takes manual control only during the Approach and Landing phase. The automatic control algorithms used in the Shuttle for TAEM and Approach and Landing have been developed over the past 30 years. They are computationally efficient, and based on careful study of the spacecraft's flight dynamics, and heuristic reasoning. The gliding return trajectory is planned prior to the mission, and only minor adjustments are made during flight for perturbations in the vehicle energy state. With the advent of the X-33 and X-34 technology demonstration vehicles, several authors investigated implementing advanced control methods to provide autonomous real-time design of gliding return trajectories thus enhancing the ability of the vehicle to adjust to unusual energy states. The bulk of work published to date deals primarily with the approach and landing phase of flight where changes in heading angle are small, and range to the runway is monotonically decreasing. These benign flight conditions allow for model simplification and fairly straightforward optimization. This project focuses on the TAEM phase of flight where mathematically precise methods have produced limited results. Fuzzy Logic methods are used to make onboard autonomous gliding return trajectory design robust to a wider energy envelope, and the possibility of control surface failures, thus increasing the flexibility of unmanned gliding recovery and landing.

A high speed telemetry data link for an autonomous roving vehicle

NASA Technical Reports Server (NTRS)

Cipolle, D. J.

1980-01-01

A data link system used on a prototype autonomous roving vehicle is described. This system provides a means of acquiring, formatting, and transmitting information on board the vehicle to a controlling computer. Included is a statement of requirements and the design philosophy. Additionally, interfacing with the rover systems is discussed, along with the overall performance of the telemetry link.

Risk analysis of autonomous vehicles in mixed traffic streams.

DOT National Transportation Integrated Search

2017-05-01

The objective of this study was to identify the risks associated with the failure of autonomous vehicles in mixed traffic streams and develop strategies to minimize these risks. Three distinct and interconnected phases were used to conduct the risk a...

Ensuring safety in autonomous vehicle legislation in Louisiana : [research project capsule].

DOT National Transportation Integrated Search

2015-04-01

The states of Michigan, California, Nevada, and Florida, along with the District of Columbia, have : recently passed legislation to allow the use of autonomous motor vehicles on public roads in : their states under restricted conditions. Other states...

Advanced control architecture for autonomous vehicles

NASA Astrophysics Data System (ADS)

Maurer, Markus; Dickmanns, Ernst D.

1997-06-01

An advanced control architecture for autonomous vehicles is presented. The hierarchical architecture consists of four levels: a vehicle level, a control level, a rule-based level and a knowledge-based level. A special focus is on forms of internal representation, which have to be chosen adequately for each level. The control scheme is applied to VaMP, a Mercedes passenger car which autonomously performs missions on German freeways. VaMP perceives the environment with its sense of vision and conventional sensors. It controls its actuators for locomotion and attention focusing. Modules for perception, cognition and action are discussed.

Planning and Execution for an Autonomous Aerobot

NASA Technical Reports Server (NTRS)

Gaines, Daniel M.; Estlin, Tara A.; Schaffer, Steven R.; Chouinard, Caroline M.

2010-01-01

The Aerial Onboard Autonomous Science Investigation System (AerOASIS) system provides autonomous planning and execution capabilities for aerial vehicles (see figure). The system is capable of generating high-quality operations plans that integrate observation requests from ground planning teams, as well as opportunistic science events detected onboard the vehicle while respecting mission and resource constraints. AerOASIS allows an airborne planetary exploration vehicle to summarize and prioritize the most scientifically relevant data; identify and select high-value science sites for additional investigation; and dynamically plan, schedule, and monitor the various science activities being performed, even during extended communications blackout periods with Earth.

The telesupervised adaptive ocean sensor fleet

NASA Astrophysics Data System (ADS)

Elfes, Alberto; Podnar, Gregg W.; Dolan, John M.; Stancliff, Stephen; Lin, Ellie; Hosler, Jeffrey C.; Ames, Troy J.; Moisan, John; Moisan, Tiffany A.; Higinbotham, John; Kulczycki, Eric A.

2007-09-01

We are developing a multi-robot science exploration architecture and system called the Telesupervised Adaptive Ocean Sensor Fleet (TAOSF). TAOSF uses a group of robotic boats (the OASIS platforms) to enable in-situ study of ocean surface and sub-surface phenomena. The OASIS boats are extended-deployment autonomous ocean surface vehicles, whose development is funded separately by the National Oceanic and Atmospheric Administration (NOAA). The TAOSF architecture provides an integrated approach to multi-vehicle coordination and sliding human-vehicle autonomy. It allows multiple mobile sensing assets to function in a cooperative fashion, and the operating mode of the vessels to range from autonomous control to teleoperated control. In this manner, TAOSF increases data-gathering effectiveness and science return while reducing demands on scientists for tasking, control, and monitoring. It combines and extends prior related work done by the authors and their institutions. The TAOSF architecture is applicable to other areas where multiple sensing assets are needed, including ecological forecasting, water management, carbon management, disaster management, coastal management, homeland security, and planetary exploration. The first field application chosen for TAOSF is the characterization of Harmful Algal Blooms (HABs). Several components of the TAOSF system have been tested, including the OASIS boats, the communications and control interfaces between the various hardware and software subsystems, and an airborne sensor validation system. Field tests in support of future HAB characterization were performed under controlled conditions, using rhodamine dye as a HAB simulant that was dispersed in a pond. In this paper, we describe the overall TAOSF architecture and its components, discuss the initial tests conducted and outline the next steps.

Curiosity's Autonomous Surface Safing Behavior Design

NASA Technical Reports Server (NTRS)

Neilson, Tracy A.; Manning, Robert M.

2013-01-01

The safing routines on all robotic deep-space vehicles are designed to put the vehicle in a power and thermally safe configuration, enabling communication with the mission operators on Earth. Achieving this goal is made a little more difficult on Curiosity because the power requirements for the core avionics and the telecommunication equipment exceed the capability of the single power source, the Multi-Mission Radioisotope Thermoelectric Generator. This drove the system design to create an operational mode, called "sleep mode", where the vehicle turns off most of the loads in order to charge the two Li-ion batteries. The system must keep the vehicle safe from over-heat and under-heat conditions, battery cell failures, under-voltage conditions, and clock failures, both while the computer is running and while the system is sleeping. The other goal of a safing routine is to communicate. On most spacecraft, this simply involves turning on the receiver and transmitter continuously. For Curiosity, Earth is above the horizon only a part of the day for direct communication to the Earth, and the orbiter overpass opportunities only occur a few times a day. The design must robustly place the Rover in a communicable condition at the correct time. This paper discusses Curiosity's autonomous safing behavior and describes how the vehicle remains power and thermally safe while sleeping, as well as a description of how the Rover communicates with the orbiters and Earth at specific times.

Explanation Capabilities for Behavior-Based Robot Control

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.

2012-01-01

A recent study that evaluated issues associated with remote interaction with an autonomous vehicle within the framework of grounding found that missing contextual information led to uncertainty in the interpretation of collected data, and so introduced errors into the command logic of the vehicle. As the vehicles became more autonomous through the activation of additional capabilities, more errors were made. This is an inefficient use of the platform, since the behavior of remotely located autonomous vehicles didn't coincide with the "mental models" of human operators. One of the conclusions of the study was that there should be a way for the autonomous vehicles to describe what action they choose and why. Robotic agents with enough self-awareness to dynamically adjust the information conveyed back to the Operations Center based on a detail level component analysis of requests could provide this description capability. One way to accomplish this is to map the behavior base of the robot into a formal mathematical framework called a cost-calculus. A cost-calculus uses composition operators to build up sequences of behaviors that can then be compared to what is observed using well-known inference mechanisms.

GOATS 2008: Autonomous, Adaptive Multistatic Acoustic Sensing

DTIC Science & Technology

2010-09-30

carried out jointly with the NATO Undersea Research Centre in the Tuscan archipelago July 26 – August 16, 2010. MIT operated the Unicorn AUV and...4 trail behavior with the physical Unicorn AUV, and is accidentally passing close the R/V Leonardo, fully autonomously changing its depth from...vehicles. The AUV Unicorn is performing an adaptive thermocline mapping mission, with the vehicle trail shown in green. Note the autonomous collision

Public health, autonomous automobiles, and the rush to market.

PubMed

Kelley, Ben

2017-05-01

The USA has the worst motor vehicle safety problem among high-income countries and is pressing forward with the development of autonomous automobiles to address it. Government guidance and regulation, still inadequate, will be critical to the safety of the public. The analysis of this public health problem in the USA reveals the key factors that will determine the benefits and risks of autonomous vehicles around the world.

Fusing Laser Reflectance and Image Data for Terrain Classification for Small Autonomous Robots

DTIC Science & Technology

2014-12-01

limit us to low power, lightweight sensors , and a maximum range of approximately 5 meters. Contrast these robot characteristics to typical terrain...classifi- cation work which uses large autonomous ground vehicles with sensors mounted high above the ground. Terrain classification for small autonomous...into predefined classes [10], [11]. However, wheeled vehicles offer the ability to use non-traditional sensors such as vibration sensors [12] and

Fast and reliable obstacle detection and segmentation for cross-country navigation

NASA Technical Reports Server (NTRS)

Talukder, A.; Manduchi, R.; Rankin, A.; Matthies, L.

2002-01-01

Obstacle detection is one of the main components of the control system of autonomous vehicles. In the case of indoor/urban navigation, obstacles are typically defined as surface points that are higher than the ground plane. This characterization, however, cannot be used in cross-country and unstructured environments, where the notion of ground plane is often not meaningful.

Coordinated Mapping of Sea Ice Deformation Features with Autonomous Vehicles

NASA Astrophysics Data System (ADS)

Maksym, T.; Williams, G. D.; Singh, H.; Weissling, B.; Anderson, J.; Maki, T.; Ackley, S. F.

2016-12-01

Decreases in summer sea ice extent in the Beaufort and Chukchi Seas has lead to a transition from a largely perennial ice cover, to a seasonal ice cover. This drives shifts in sea ice production, dynamics, ice types, and thickness distribution. To examine how the processes driving ice advance might also impact the morphology of the ice cover, a coordinated ice mapping effort was undertaken during a field campaign in the Beaufort Sea in October, 2015. Here, we present observations of sea ice draft topography from six missions of an Autonomous Underwater Vehicle run under different ice types and deformation features observed during autumn freeze-up. Ice surface features were also mapped during coordinated drone photogrammetric missions over each site. We present preliminary results of a comparison between sea ice surface topography and ice underside morphology for a range of sample ice types, including hummocked multiyear ice, rubble fields, young ice ridges and rafts, and consolidated pancake ice. These data are compared to prior observations of ice morphological features from deformed Antarctic sea ice. Such data will be useful for improving parameterizations of sea ice redistribution during deformation, and for better constraining estimates of airborne or satellite sea ice thickness.

Infrastructure-Based Sensors Augmenting Efficient Autonomous Vehicle Operations: Preprint

DOE Office of Scientific and Technical Information (OSTI.GOV)

Jun, Myungsoo; Markel, Anthony J

Autonomous vehicle technology development relies on an on-board network of fused sensor inputs for safe and efficient operation. The fused sensors offer multiple perspectives of similar information aiding in system decision robustness. The high cost of full systems on individual vehicles is seen as a potential barrier to broad adoption and achieving system energy efficiency gains. Since traffic in autonomous vehicle technology development relies on an on-board network of fused sensor inputs for safe and efficient operation. The fused sensors offer multiple perspectives of similar information aiding in system decision robustness. The high cost of full systems on individual vehiclesmore » is seen as a potential barrier to broad adoption and achieving system energy efficiency gains.« less

Development for SSV on a parallel processing system (PARAGON)

NASA Astrophysics Data System (ADS)

Gothard, Benny M.; Allmen, Mark; Carroll, Michael J.; Rich, Dan

1995-12-01

A goal of the surrogate semi-autonomous vehicle (SSV) program is to have multiple vehicles navigate autonomously and cooperatively with other vehicles. This paper describes the process and tools used in porting UGV/SSV (unmanned ground vehicle) autonomous mobility and target recognition algorithms from a SISD (single instruction single data) processor architecture (i.e., a Sun SPARC workstation running C/UNIX) to a MIMD (multiple instruction multiple data) parallel processor architecture (i.e., PARAGON-a parallel set of i860 processors running C/UNIX). It discusses the gains in performance and the pitfalls of such a venture. It also examines the merits of this processor architecture (based on this conceptual prototyping effort) and programming paradigm to meet the final SSV demonstration requirements.

Mobile Robot for Exploring Cold Liquid/Solid Environments

NASA Technical Reports Server (NTRS)

Bergh, Charles; Zimmerman, Wayne

2006-01-01

The Planetary Autonomous Amphibious Robotic Vehicle (PAARV), now at the prototype stage of development, was originally intended for use in acquiring and analyzing samples of solid, liquid, and gaseous materials in cold environments on the shores and surfaces, and at shallow depths below the surfaces, of lakes and oceans on remote planets. The PAARV also could be adapted for use on Earth in similar exploration of cold environments in and near Arctic and Antarctic oceans and glacial and sub-glacial lakes.

Calculation of ground vibration spectra from heavy military vehicles

NASA Astrophysics Data System (ADS)

Krylov, V. V.; Pickup, S.; McNuff, J.

2010-07-01

The demand for reliable autonomous systems capable to detect and identify heavy military vehicles becomes an important issue for UN peacekeeping forces in the current delicate political climate. A promising method of detection and identification is the one using the information extracted from ground vibration spectra generated by heavy military vehicles, often termed as their seismic signatures. This paper presents the results of the theoretical investigation of ground vibration spectra generated by heavy military vehicles, such as tanks and armed personnel carriers. A simple quarter car model is considered to identify the resulting dynamic forces applied from a vehicle to the ground. Then the obtained analytical expressions for vehicle dynamic forces are used for calculations of generated ground vibrations, predominantly Rayleigh surface waves, using Green's function method. A comparison of the obtained theoretical results with the published experimental data shows that analytical techniques based on the simplified quarter car vehicle model are capable of producing ground vibration spectra of heavy military vehicles that reproduce basic properties of experimental spectra.

Methods of monitoring the technical condition of the braking system of an autonomous vehicle during operation

NASA Astrophysics Data System (ADS)

Revin, A.; Dygalo, V.; Boyko, G.; Lyaschenko, M.; Dygalo, L.

2018-02-01

Possibilities of diagnosing of a technical condition of braking system of the autonomous vehicles with automated modules while in service are considered. The concept of sharing of onboard means and stands for diagnosing is presented.

Active Control of NITINOL-Reinforced Structural Composites

DTIC Science & Technology

1992-10-12

useful in many critical structures that are intended to operate autonomously for long durations in isolated environments such as defense vehicles , space...durations in isolated environment such as defense vehicles , space structures and satellites. ACKNOWLEDGEMENTS This work is funded by a grant from the US Army...are intended to operate autonomously for long durations in isolated environment such as defense vehicles , space structures and satellites. REFERENCES

Target Trailing With Safe Navigation With Colregs for Maritime Autonomous Surface Vehicles

NASA Technical Reports Server (NTRS)

Kuwata, Yoshiaki (Inventor); Aghazarian, Hrand (Inventor); Huntsberger, Terrance L. (Inventor); Howard, Andrew B. (Inventor); Wolf, Michael T. (Inventor); Zarzhitsky, Dimitri V. (Inventor)

2014-01-01

Systems and methods for operating autonomous waterborne vessels in a safe manner. The systems include hardware for identifying the locations and motions of other vessels, as well as the locations of stationary objects that represent navigation hazards. By applying a computational method that uses a maritime navigation algorithm for avoiding hazards and obeying COLREGS using Velocity Obstacles to the data obtained, the autonomous vessel computes a safe and effective path to be followed in order to accomplish a desired navigational end result, while operating in a manner so as to avoid hazards and to maintain compliance with standard navigational procedures defined by international agreement. The systems and methods have been successfully demonstrated on water with radar and stereo cameras as the perception sensors, and integrated with a higher level planner for trailing a maneuvering target.

New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy

PubMed Central

Gonzalez, Julian; Galarza, Cesar; Aguzzi, Jacopo; del Rio, Joaquin

2018-01-01

Autonomous Underwater Vehicles (AUV) are proving to be a promising platform design for multidisciplinary autonomous operability with a wide range of applications in marine ecology and geoscience. Here, two novel contributions towards increasing the autonomous navigation capability of a new AUV prototype (the Guanay II) as a mix between a propelled vehicle and a glider are presented. Firstly, a vectorial propulsion system has been designed to provide full vehicle maneuverability in both horizontal and vertical planes. Furthermore, two controllers have been designed, based on fuzzy controls, to provide the vehicle with autonomous navigation capabilities. Due to the decoupled system propriety, the controllers in the horizontal plane have been designed separately from the vertical plane. This class of non-linear controllers has been used to interpret linguistic laws into different zones of functionality. This method provided good performance, used as interpolation between different rules or linear controls. Both improvements have been validated through simulations and field tests, displaying good performance results. Finally, the conclusion of this work is that the Guanay II AUV has a solid controller to perform autonomous navigation and carry out vertical immersions. PMID:29673224

AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program

NASA Astrophysics Data System (ADS)

Gothard, Benny M.

2002-02-01

One of the main tall poles that must be overcome to develop a fully autonomous vehicle is the inability of the computer to understand its surrounding environment to a level that is required for the intended task. The military mission scenario requires a robot to interact in a complex, unstructured, dynamic environment. Reference A High Fidelity Multi-Sensor Scene Understanding System for Autonomous Navigation The Mobile Autonomous Robot Software Self Composing Adaptive Programming Environment (MarsScape) perception research addresses three aspects of the problem; sensor system design, processing architectures, and algorithm enhancements. A prototype perception system has been demonstrated on robotic High Mobility Multi-purpose Wheeled Vehicle and All Terrain Vehicle testbeds. This paper addresses the tall pole of processing requirements and the performance improvements based on the selected MarsScape Processing Architecture. The processor chosen is the Motorola Altivec-G4 Power PC(PPC) (1998 Motorola, Inc.), a highly parallized commercial Single Instruction Multiple Data processor. Both derived perception benchmarks and actual perception subsystems code will be benchmarked and compared against previous Demo II-Semi-autonomous Surrogate Vehicle processing architectures along with desktop Personal Computers(PC). Performance gains are highlighted with progress to date, and lessons learned and future directions are described.

Networking Multiple Autonomous Air and Ocean Vehicles for Oceanographic Research and Monitoring

NASA Astrophysics Data System (ADS)

McGillivary, P. A.; Borges de Sousa, J.; Rajan, K.

2013-12-01

Autonomous underwater and surface vessels (AUVs and ASVs) are coming into wider use as components of oceanographic research, including ocean observing systems. Unmanned airborne vehicles (UAVs) are now available at modest cost, allowing multiple UAVs to be deployed with multiple AUVs and ASVs. For optimal use good communication and coordination among vehicles is essential. We report on the use of multiple AUVs networked in communication with multiple UAVs. The UAVs are augmented by inferential reasoning software developed at MBARI that allows UAVs to recognize oceanographic fronts and change their navigation and control. This in turn allows UAVs to automatically to map frontal features, as well as to direct AUVs and ASVs to proceed to such features and conduct sampling via onboard sensors to provide validation for airborne mapping. ASVs can also act as data nodes for communication between UAVs and AUVs, as well as collecting data from onboard sensors, while AUVs can sample the water column vertically. This allows more accurate estimation of phytoplankton biomass and productivity, and can be used in conjunction with UAV sampling to determine air-sea flux of gases (e.g. CO2, CH4, DMS) affecting carbon budgets and atmospheric composition. In particular we describe tests in July 2013 conducted off Sesimbra, Portugal in conjunction with the Portuguese Navy by the University of Porto and MBARI with the goal of tracking large fish in the upper water column with coordinated air/surface/underwater measurements. A thermal gradient was observed in the infrared by a low flying UAV, which was used to dispatch an AUV to obtain ground truth to demonstrate the event-response capabilities using such autonomous platforms. Additional field studies in the future will facilitate integration of multiple unmanned systems into research vessel operations. The strength of hardware and software tools described in this study is to permit fundamental oceanographic measurements of both ocean and atmosphere over temporal and spatial scales that have previously been problematic. The methods demonstrated are particularly suited to the study of oceanographic fronts and for tracking and mapping oil spills or plankton blooms. With the networked coordination of multiple autonomous systems, individual components may be changed out while ocean observations continue, allowing coarse to fine spatial studies of hydrographic features over temporal dimensions that would otherwise be difficult, including diurnal and tidal periods. Constraints on these methods currently involve coordination of data archiving systems into shipboard operating systems, familiarization of oceanographers with these methods, and existing nearshore airspace use constraints on UAVs. An important outcome of these efforts is to understand the methodology for using multiple heterogeneous autonomous vehicles for targeted science exploration.

Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

NASA Technical Reports Server (NTRS)

Negrut, Dan; Mazhar, Hammad; Melanz, Daniel; Lamb, David; Jayakumar, Paramsothy; Letherwood, Michael; Jain, Abhinandan; Quadrelli, Marco

2012-01-01

This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.

Trajectory generation for an on-road autonomous vehicle

NASA Astrophysics Data System (ADS)

Horst, John; Barbera, Anthony

2006-05-01

We describe an algorithm that generates a smooth trajectory (position, velocity, and acceleration at uniformly sampled instants of time) for a car-like vehicle autonomously navigating within the constraints of lanes in a road. The technique models both vehicle paths and lane segments as straight line segments and circular arcs for mathematical simplicity and elegance, which we contrast with cubic spline approaches. We develop the path in an idealized space, warp the path into real space and compute path length, generate a one-dimensional trajectory along the path length that achieves target speeds and positions, and finally, warp, translate, and rotate the one-dimensional trajectory points onto the path in real space. The algorithm moves a vehicle in lane safely and efficiently within speed and acceleration maximums. The algorithm functions in the context of other autonomous driving functions within a carefully designed vehicle control hierarchy.

Intelligent unmanned vehicle systems suitable for individual or cooperative missions

NASA Astrophysics Data System (ADS)

Anderson, Matthew O.; McKay, Mark D.; Wadsworth, Derek C.

2007-04-01

The Department of Energy's Idaho National Laboratory (INL) has been researching autonomous unmanned vehicle systems for over fifteen years. Areas of research have included unmanned ground and aerial vehicles used for hazardous and remote operations as well as teamed together for advanced payloads and mission execution. Areas of application include aerial particulate sampling, cooperative remote radiological sampling, and persistent surveillance including real-time mosaic and geo-referenced imagery in addition to high-resolution still imagery. Both fixed-wing and rotary airframes are used possessing capabilities spanning remote control to fully autonomous operation. Patented INL-developed auto steering technology is taken advantage of to provide autonomous parallel path swathing with either manned or unmanned ground vehicles. Aerial look-ahead imagery is utilized to provide a common operating picture for the ground and air vehicles during cooperative missions. This paper will discuss the various robotic vehicles, including sensor integration, used to achieve these missions and anticipated cost and labor savings.

Estimating Energy Efficiency of Connected and Autonomous Vehicles in a Mixed Fleet

DOT National Transportation Integrated Search

2018-05-01

Jing Dong (orcid.org/0000-0002-7304-8430); Liang Hu (orcid.org/0000-0001-6351-8542); Chaoru Lu (orcid.org/0000-0001-8418-7658); Connected and autonomous vehicle (CAV) technologies are likely to be gradually implemented over time and in a traffic envi...

Test Operations Procedure (TOP) 02-2-546 Teleoperated Unmanned Ground Vehicle (UGV) Latency Measurements

DTIC Science & Technology

2017-01-11

discrete system components or measurements of latency in autonomous systems. 15. SUBJECT TERMS Unmanned Ground Vehicles, Basic Video Latency, End-to... discrete system components or measurements of latency in autonomous systems. 1.1 Basic Video Latency. Teleoperation latency, or lag, describes

Lower cost offshore field development utilizing autonomous vehicles

DOE Office of Scientific and Technical Information (OSTI.GOV)

Frisbie, F.R.; Vie, K.J.; Welch, D.W.

1996-12-31

The offshore oil and gas industry has the requirement to inspect offshore oil and gas pipelines for scour, corrosion and damage as well as inspect and intervene on satellite production facilities. This task is currently performed with Remotely Operated Vehicles (ROV) operated from dynamically positioned (DP) offshore supply or diving support boats. Currently, these tasks are expensive due to the high day rates for DP ships and the slow, umbilical impeded, 1 knot inspection rates of the tethered ROVs, Emerging Autonomous Undersea Vehicle (AUV) technologies offer opportunities to perform these same inspection tasks for 50--75% lower cost, with comparable ormore » improved quality. The new generation LAPV (Linked Autonomous Power Vehicles) will operate from fixed facilities such as TLPs or FPFs and cover an operating field 10 kms in diameter.« less

Development and Control of the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)

NASA Astrophysics Data System (ADS)

Porter, Robert D.

2002-09-01

The objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS) The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control, The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment, It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control, A 'star sensor' CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle, The on-board computer system leverages PXI technology and a single source, simplifying systems integration, The vehicle is powered by two lead-acid batteries for completely autonomous operation, A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location and rotation angle,

SOLON: An autonomous vehicle mission planner

NASA Technical Reports Server (NTRS)

Dudziak, M. J.

1987-01-01

The State-Operator Logic Machine (SOLON) Planner provides an architecture for effective real-time planning and replanning for an autonomous vehicle. The highlights of the system, which distinguish it from other AI-based planners that have been designed previously, are its hybrid application of state-driven control architecture and the use of both schematic representations and logic programming for the management of its knowledge base. SOLON is designed to provide multiple levels of planning for a single autonomous vehicle which is supplied with a skeletal, partially-specified mission plan at the outset of the vehicle's operations. This mission plan consists of a set of objectives, each of which will be decomposable by the planner into tasks. These tasks are themselves comparatively complex sets of actions which are executable by a conventional real-time control system which does not perform planning but which is capable of making adjustments or modifications to the provided tasks according to constraints and tolerances provided by the Planner. The current implementation of the SOLON is in the form of a real-time simulation of the Planner module of an Intelligent Vehicle Controller (IVC) on-board an autonomous underwater vehicle (AUV). The simulation is embedded within a larger simulator environment known as ICDS (Intelligent Controller Development System) operating on a Symbolics 3645/75 computer.

Inter-Vehicle Communication System Utilizing Autonomous Distributed Transmit Power Control

NASA Astrophysics Data System (ADS)

Hamada, Yuji; Sawa, Yoshitsugu; Goto, Yukio; Kumazawa, Hiroyuki

In ad-hoc network such as inter-vehicle communication (IVC) system, safety applications that vehicles broadcast the information such as car velocity, position and so on periodically are considered. In these applications, if there are many vehicles broadcast data in a communication area, congestion incurs a problem decreasing communication reliability. We propose autonomous distributed transmit power control method to keep high communication reliability. In this method, each vehicle controls its transmit power using feed back control. Furthermore, we design a communication protocol to realize the proposed method, and we evaluate the effectiveness of proposed method using computer simulation.

Real-Time Modeling of Cross-Body Flow for Torpedo Tube Recovery of the Phoenix Autonomous Underwater Vehicle (AUV)

DTIC Science & Technology

1998-03-01

34Numerical Recipes in C," second edition, Cambridge University Press, Cambridge England, 1992. Marco, David , "Autonomous Control of Underwater...in the viewer. -202- LIST OF REFERENCES Ames, Andrea L., Nadeau, David R., Moreland, John L., VRML 2.0 Sourcebook, Second edition, John Wiley...McGhee, Bob, "The Phoenix Autonomous Underwater Vehicle," AI-Based Mobile Robots, editors David Kortenkamp, Pete Bonasso and Robin Murphy, MJT/AAAI

Intelligent Decisions? Intelligent Support? Agenda and Participants for the Internal Workshop on Intelligent Decision Support Systems : Retrospects and Prospects, August 29 - September 2, 2005, Certosa di Pontignano (Siena), Italy

DTIC Science & Technology

2005-09-01

ENGINEERING APPROACH TO INTELLIGENT OPERATOR ASSISTANCE AND AUTONOMOUS VEHICLE GUIDANCE ..................100 27. SHARPLE, SARAH (WITH COX, GEMMA & STEDMON...104 30. TANGO, FABIO: CONCEPT OF AUTONOMIC COMPUTING APPLIED TO TRANSPORTATION ISSUES: THE SENSITIVE CAR .....105 31. TAYLOR, ROBERT: POSITION...SYSTEMS ENGINEERING APPROACH TO INTELLIGENT OPERATOR ASSISTANCE AND AUTONOMOUS VEHICLE GUIDANCE Today’s automation systems are typically introduced

Sewage outfall plume dispersion observations with an autonomous underwater vehicle.

PubMed

Ramos, P; Cunha, S R; Neves, M V; Pereira, F L; Quintaneiro, I

2005-01-01

This work represents one of the first successful applications of Autonomous Underwater Vehicles (AUVs) for interdisciplinary coastal research. A monitoring mission to study the shape and estimate the initial dilution of the S. Jacinto sewage outfall plume using an AUV was performed on July 2002. An efficient sampling strategy enabling greater improvements in spatial and temporal range of detection demonstrated that the sewage effluent plume can be clearly traced using naturally occurring tracers in the wastewater. The outfall plume was found at the surface highly influenced by the weak stratification and low currents. Dilution varying with distance downstream was estimated from the plume rise over the outfall diffuser until a nearly constant value of 130:1, 60 m from the diffuser, indicating the near field end. Our results demonstrate that AUVs can provide high-quality measurements of physical properties of effluent plumes in a very effective manner and valuable considerations about the initial mixing processes under real oceanic conditions can be further investigated.

Utilization of 3D imaging flash lidar technology for autonomous safe landing on planetary bodies

NASA Astrophysics Data System (ADS)

Amzajerdian, Farzin; Vanek, Michael; Petway, Larry; Pierrottet, Diego; Busch, George; Bulyshev, Alexander

2010-01-01

NASA considers Flash Lidar a critical technology for enabling autonomous safe landing of future large robotic and crewed vehicles on the surface of the Moon and Mars. Flash Lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes during the final stages of descent and landing. The onboard flight comptuer can use the 3-D map of terain to guide the vehicle to a safe site. The capabilities of Flash Lidar technology were evaluated through a series of static tests using a calibrated target and through dynamic tests aboard a helicopter and a fixed wing airctarft. The aircraft flight tests were perfomed over Moonlike terrain in the California and Nevada deserts. This paper briefly describes the Flash Lidar static and aircraft flight test results. These test results are analyzed against the landing application requirements to identify the areas of technology improvement. The ongoing technology advancement activities are then explained and their goals are described.

Utilization of 3-D Imaging Flash Lidar Technology for Autonomous Safe Landing on Planetary Bodies

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Vanek, Michael; Petway, Larry; Pierrotter, Diego; Busch, George; Bulyshev, Alexander

2010-01-01

NASA considers Flash Lidar a critical technology for enabling autonomous safe landing of future large robotic and crewed vehicles on the surface of the Moon and Mars. Flash Lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes during the final stages of descent and landing. The onboard flight computer can use the 3-D map of terrain to guide the vehicle to a safe site. The capabilities of Flash Lidar technology were evaluated through a series of static tests using a calibrated target and through dynamic tests aboard a helicopter and a fixed wing aircraft. The aircraft flight tests were performed over Moon-like terrain in the California and Nevada deserts. This paper briefly describes the Flash Lidar static and aircraft flight test results. These test results are analyzed against the landing application requirements to identify the areas of technology improvement. The ongoing technology advancement activities are then explained and their goals are described.

Using the centre of percussion to design a steering controller for an autonomous race car

NASA Astrophysics Data System (ADS)

Kritayakirana, Krisada; Gerdes, J. Christian

2012-01-01

Understanding how a race car driver controls a vehicle at its friction limits can provide insights into the development of vehicle safety systems. In this paper, a race car driver's behaviour inspires the design of an autonomous racing controller. The resulting controller uses the vehicle's centre of percussion (COP) to design feedforward and feedback steering. At the COP, the effects of rotation and translation from the rear tire force cancel each other out; consequently, the feedforward steering command is robust to the disturbances from the rear tire force. Using the COP also simplifies the equations of motion, as the vehicle's lateral motion is decoupled from the vehicle's yaw motion and highlights the challenge of controlling a vehicle when the rear tires are highly saturated. The resulting dynamics can be controlled with a linear state feedback based on a lane-keeping system with additional yaw damping. Utilising Lyapunov theory, the closed-loop system is shown to remain stable even when the rear tires are highly saturated. The experimental results demonstrate that an autonomous vehicle can operate at its limits while maintaining a minimal lateral error.

Autonomous Soaring Flight Results

NASA Technical Reports Server (NTRS)

Allen, Michael J.

2006-01-01

A viewgraph presentation on autonomous soaring flight results for Unmanned Aerial Vehicles (UAV)'s is shown. The topics include: 1) Background; 2) Thermal Soaring Flight Results; 3) Autonomous Dolphin Soaring; and 4) Future Plans.

Advances in Autonomous Systems for Missions of Space Exploration

NASA Astrophysics Data System (ADS)

Gross, A. R.; Smith, B. D.; Briggs, G. A.; Hieronymus, J.; Clancy, D. J.

New missions of space exploration will require unprecedented levels of autonomy to successfully accomplish their objectives. Both inherent complexity and communication distances will preclude levels of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of meeting the greatly increased space exploration requirements, along with dramatically reduced design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health monitoring and maintenance capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of space exploration, since the science and operational requirements specified by such missions, as well as the budgetary constraints that limit the ability to monitor and control these missions by a standing army of ground- based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communications distance as are not otherwise possible, as well as many more efficient and low cost applications. One notable example of such missions are those to explore for the existence of water on planets such as Mars and the moons of Jupiter. It is clear that water does not exist on the surfaces of such bodies, but may well be located at some considerable depth below the surface, thus requiring a subsurface drilling capability. Subsurface drilling on planetary surfaces will require a robust autonomous control and analysis system, currently a major challenge, but within conceivable reach of planned technology developments. This paper will focus on new and innovative software for remote, autonomous, space systems flight operations, including flight test results, lessons learned, and implications for the future. An additional focus will be on technologies for planetary exploration using autonomous systems and astronaut-assistance systems that employ new spoken language technology. Topics to be presented will include a description of key autonomous control concepts, illustrated by the Remote Agent program that commanded the Deep Space 1 spacecraft to new levels of system autonomy, recent advances in distributed autonomous system capabilities, and concepts for autonomous vehicle health management systems. A brief description of teaming spacecraft and rovers for complex exploration missions will also be provided. New software for autonomous science data acquisition for planetary exploration will also be described, as well as advanced systems for safe planetary landings. Current results of autonomous planetary drilling system research will be presented. A key thrust within NASA is to develop technologies that will leverage the capabilities of human astronauts during planetary surface explorations. One such technology is spoken dialogue interfaces, which would allow collaboration with semi-autonomous agents that are engaged in activities that are normally accomplished using language, e.g., astronauts in space suits interacting with groups of semi-autonomous rovers and other astronauts. This technology will be described and discussed in the context of future exploration missions and the major new capabilities enabled by such systems. Finally, plans and directions for the future of autonomous systems will be presented.

A science-based executive for autonomous planetary vehicles

NASA Technical Reports Server (NTRS)

Peters, S.

2001-01-01

If requests for scientific observations, rather than specific plans, are uplinked to an autonomous execution system on the vehicle, it would be able to adjust its execution based upon actual performance. Such a science-based executive control system had been developed and demonstrated for the Rocky7 research rover.

Representing Road Related Laserscanned Data in Curved Regular Grid: a Support to Autonomous Vehicles

NASA Astrophysics Data System (ADS)

Potó, V.; Csepinszky, A.; Barsi, Á.

2018-05-01

The terrestrial and mobile laser scanning has become nowadays a mature technology applied in several technical and non-technical applications. The transportation infrastructure can be surveyed by these technologies in an excellent way, then 3D maps, fly-through videos and road furniture inventories can be derived among many other applications. The very detailed measurement and the realistic feature enable even to be used in games or simulators. This advantage was to be analyzed in vehicular simulation environment; the primary goal of the paper was to demonstrate a potential workflow and use case for such laser scanning data. The selected simulation package was the OpenCRG, which is being a component of OpenDRIVE-OpenCRG-OpenSCENARIO system, where it has been developed for microscopic simulations, e.g. vibrations, tire models or vehicle suspension systems. Because of the realistic visualization of CRG models it is very popular in the design and development of autonomous vehicles. The paper presents two different paved pilot sites surveyed by these technologies, then the raw data preparation is described and the details of the CRG model building is shown. The results of the experiments bring an overview, how the captured field data can be represented and interpreted in road surface context. The diagrams illustrate the potential of the very high resolution (1 cm) model, which allows to identify each separate cobble stone or to study surface roughness.

Autonomous Aeromagnetic Surveys Using a Fluxgate Magnetometer

PubMed Central

Macharet, Douglas G.; Perez-Imaz, Héctor I. A.; Rezeck, Paulo A. F.; Potje, Guilherme A.; Benyosef, Luiz C. C.; Wiermann, André; Freitas, Gustavo M.; Garcia, Luis G. U.; Campos, Mario F. M.

2016-01-01

Recent advances in the research of autonomous vehicles have showed a vast range of applications, such as exploration, surveillance and environmental monitoring. Considering the mining industry, it is possible to use such vehicles in the prospection of minerals of commercial interest beneath the ground. However, tasks such as geophysical surveys are highly dependent on specific sensors, which mostly are not designed to be used in these new range of autonomous vehicles. In this work, we propose a novel magnetic survey pipeline that aims to increase versatility, speed and robustness by using autonomous rotary-wing Unmanned Aerial Vehicles (UAVs). We also discuss the development of a state-of-the-art three-axis fluxgate, where our goal in this work was to refine and adjust the sensor topology and coupled electronics specifically for this type of vehicle and application. The sensor was built with two ring-cores using a specially developed stress-annealed CoFeSiB amorphous ribbon, in order to get sufficient resolution to detect concentrations of small ferrous minerals. Finally, we report on the results of experiments performed with a real UAV in an outdoor environment, showing the efficacy of the methodology in detecting an artificial ferrous anomaly. PMID:27999307

Autonomous Aeromagnetic Surveys Using a Fluxgate Magnetometer.

PubMed

Macharet, Douglas G; Perez-Imaz, Héctor I A; Rezeck, Paulo A F; Potje, Guilherme A; Benyosef, Luiz C C; Wiermann, André; Freitas, Gustavo M; Garcia, Luis G U; Campos, Mario F M

2016-12-17

Recent advances in the research of autonomous vehicles have showed a vast range of applications, such as exploration, surveillance and environmental monitoring. Considering the mining industry, it is possible to use such vehicles in the prospection of minerals of commercial interest beneath the ground. However, tasks such as geophysical surveys are highly dependent on specific sensors, which mostly are not designed to be used in these new range of autonomous vehicles. In this work, we propose a novel magnetic survey pipeline that aims to increase versatility, speed and robustness by using autonomous rotary-wing Unmanned Aerial Vehicles (UAVs). We also discuss the development of a state-of-the-art three-axis fluxgate, where our goal in this work was to refine and adjust the sensor topology and coupled electronics specifically for this type of vehicle and application. The sensor was built with two ring-cores using a specially developed stress-annealed CoFeSiB amorphous ribbon, in order to get sufficient resolution to detect concentrations of small ferrous minerals. Finally, we report on the results of experiments performed with a real UAV in an outdoor environment, showing the efficacy of the methodology in detecting an artificial ferrous anomaly.

Collaborating with Autonomous Agents

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Cross, Charles D.; Fan, Henry; Hempley, Lucas E.; Motter, Mark A.; Neilan, James H.; Qualls, Garry D.; Rothhaar, Paul M.; Tran, Loc D.; Allen, B. Danette

2015-01-01

With the anticipated increase of small unmanned aircraft systems (sUAS) entering into the National Airspace System, it is highly likely that vehicle operators will be teaming with fleets of small autonomous vehicles. The small vehicles may consist of sUAS, which are 55 pounds or less that typically will y at altitudes 400 feet and below, and small ground vehicles typically operating in buildings or defined small campuses. Typically, the vehicle operators are not concerned with manual control of the vehicle; instead they are concerned with the overall mission. In order for this vision of high-level mission operators working with fleets of vehicles to come to fruition, many human factors related challenges must be investigated and solved. First, the interface between the human operator and the autonomous agent must be at a level that the operator needs and the agents can understand. This paper details the natural language human factors e orts that NASA Langley's Autonomy Incubator is focusing on. In particular these e orts focus on allowing the operator to interact with the system using speech and gestures rather than a mouse and keyboard. With this ability of the system to understand both speech and gestures, operators not familiar with the vehicle dynamics will be able to easily plan, initiate, and change missions using a language familiar to them rather than having to learn and converse in the vehicle's language. This will foster better teaming between the operator and the autonomous agent which will help lower workload, increase situation awareness, and improve performance of the system as a whole.

Vehicle autonomous localization in local area of coal mine tunnel based on vision sensors and ultrasonic sensors

PubMed Central

Yang, Wei; You, Kaiming; Li, Wei; Kim, Young-il

2017-01-01

This paper presents a vehicle autonomous localization method in local area of coal mine tunnel based on vision sensors and ultrasonic sensors. Barcode tags are deployed in pairs on both sides of the tunnel walls at certain intervals as artificial landmarks. The barcode coding is designed based on UPC-A code. The global coordinates of the upper left inner corner point of the feature frame of each barcode tag deployed in the tunnel are uniquely represented by the barcode. Two on-board vision sensors are used to recognize each pair of barcode tags on both sides of the tunnel walls. The distance between the upper left inner corner point of the feature frame of each barcode tag and the vehicle center point can be determined by using a visual distance projection model. The on-board ultrasonic sensors are used to measure the distance from the vehicle center point to the left side of the tunnel walls. Once the spatial geometric relationship between the barcode tags and the vehicle center point is established, the 3D coordinates of the vehicle center point in the tunnel’s global coordinate system can be calculated. Experiments on a straight corridor and an underground tunnel have shown that the proposed vehicle autonomous localization method is not only able to quickly recognize the barcode tags affixed to the tunnel walls, but also has relatively small average localization errors in the vehicle center point’s plane and vertical coordinates to meet autonomous unmanned vehicle positioning requirements in local area of coal mine tunnel. PMID:28141829

Vehicle autonomous localization in local area of coal mine tunnel based on vision sensors and ultrasonic sensors.

PubMed

Xu, Zirui; Yang, Wei; You, Kaiming; Li, Wei; Kim, Young-Il

2017-01-01

This paper presents a vehicle autonomous localization method in local area of coal mine tunnel based on vision sensors and ultrasonic sensors. Barcode tags are deployed in pairs on both sides of the tunnel walls at certain intervals as artificial landmarks. The barcode coding is designed based on UPC-A code. The global coordinates of the upper left inner corner point of the feature frame of each barcode tag deployed in the tunnel are uniquely represented by the barcode. Two on-board vision sensors are used to recognize each pair of barcode tags on both sides of the tunnel walls. The distance between the upper left inner corner point of the feature frame of each barcode tag and the vehicle center point can be determined by using a visual distance projection model. The on-board ultrasonic sensors are used to measure the distance from the vehicle center point to the left side of the tunnel walls. Once the spatial geometric relationship between the barcode tags and the vehicle center point is established, the 3D coordinates of the vehicle center point in the tunnel's global coordinate system can be calculated. Experiments on a straight corridor and an underground tunnel have shown that the proposed vehicle autonomous localization method is not only able to quickly recognize the barcode tags affixed to the tunnel walls, but also has relatively small average localization errors in the vehicle center point's plane and vertical coordinates to meet autonomous unmanned vehicle positioning requirements in local area of coal mine tunnel.

Development of a low-cost, unmanned surface vehicle for military applications

NASA Astrophysics Data System (ADS)

Cadena, A.

2012-06-01

This paper describes the development of an USV (Unmanned Surface Vehicle) prototype that serves as an educational platform and can be use for coastal patrol and operations in the jungle. The USV length is less than 2 m and range of 5000 m. It's composed by the following modules: propulsion, power, motor driver, CPU, sensor suite, camera system, communication and weapon system. The weapon system is formed by an experimental assault rifle and a rocket launcher with a fire control system. The assault rifle haven't got mechanical moving parts, the bullets (7.62x51mm round) are electronically ignited. The CPU is an FPGA development kit. The USV can be operate in remote mode or fully autonomous. Results of some systems from laboratory and sea trials are show.

Intelligence algorithms for autonomous navigation in a ground vehicle

NASA Astrophysics Data System (ADS)

Petkovsek, Steve; Shakya, Rahul; Shin, Young Ho; Gautam, Prasanna; Norton, Adam; Ahlgren, David J.

2012-01-01

This paper will discuss the approach to autonomous navigation used by "Q," an unmanned ground vehicle designed by the Trinity College Robot Study Team to participate in the Intelligent Ground Vehicle Competition (IGVC). For the 2011 competition, Q's intelligence was upgraded in several different areas, resulting in a more robust decision-making process and a more reliable system. In 2010-2011, the software of Q was modified to operate in a modular parallel manner, with all subtasks (including motor control, data acquisition from sensors, image processing, and intelligence) running simultaneously in separate software processes using the National Instruments (NI) LabVIEW programming language. This eliminated processor bottlenecks and increased flexibility in the software architecture. Though overall throughput was increased, the long runtime of the image processing process (150 ms) reduced the precision of Q's realtime decisions. Q had slow reaction times to obstacles detected only by its cameras, such as white lines, and was limited to slow speeds on the course. To address this issue, the image processing software was simplified and also pipelined to increase the image processing throughput and minimize the robot's reaction times. The vision software was also modified to detect differences in the texture of the ground, so that specific surfaces (such as ramps and sand pits) could be identified. While previous iterations of Q failed to detect white lines that were not on a grassy surface, this new software allowed Q to dynamically alter its image processing state so that appropriate thresholds could be applied to detect white lines in changing conditions. In order to maintain an acceptable target heading, a path history algorithm was used to deal with local obstacle fields and GPS waypoints were added to provide a global target heading. These modifications resulted in Q placing 5th in the autonomous challenge and 4th in the navigation challenge at IGVC.

Helicopter Field Testing of NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System fully Integrated with the Morpheus Vertical Test Bed Avionics

NASA Technical Reports Server (NTRS)

Epp, Chirold D.; Robertson, Edward A.; Ruthishauser, David K.

2013-01-01

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project was chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with real-time terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. This is accomplished with the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN). The NASA plan for the ALHAT technology is to perform the TRL6 closed loop demonstration on the Morpheus Vertical Test Bed (VTB). The first Morpheus vehicle was lost in August of 2012 during free-flight testing at Kennedy Space Center (KSC), so the decision was made to perform a helicopter test of the integrated ALHAT System with the Morpheus avionics over the ALHAT planetary hazard field at KSC. The KSC helicopter tests included flight profiles approximating planetary approaches, with the entire ALHAT system interfaced with all appropriate Morpheus subsystems and operated in real-time. During these helicopter flights, the ALHAT system imaged the simulated lunar terrain constructed in FY2012 to support ALHAT/Morpheus testing at KSC. To the best of our knowledge, this represents the highest fidelity testing of a system of this kind to date. During this helicopter testing, two new Morpheus landers were under construction at the Johnson Space Center to support the objective of an integrated ALHAT/Morpheus free-flight demonstration. This paper provides an overview of this helicopter flight test activity, including results and lessons learned, and also provides an overview of recent integrated testing of ALHAT on the second Morpheus vehicle.

Helicopter Field Testing of NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System fully integrated with the Morpheus Vertical Test Bed Avionics

NASA Technical Reports Server (NTRS)

Rutishauser, David; Epp, Chirold; Robertson, Edward

2013-01-01

The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project was chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with real-time terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. This is accomplished with the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN). The NASA plan for the ALHAT technology is to perform the TRL6 closed loop demonstration on the Morpheus Vertical Test Bed (VTB). The first Morpheus vehicle was lost in August of 2012 during free-flight testing at Kennedy Space Center (KSC), so the decision was made to perform a helicopter test of the integrated ALHAT System with the Morpheus avionics over the ALHAT planetary hazard field at KSC. The KSC helicopter tests included flight profiles approximating planetary approaches, with the entire ALHAT system interfaced with all appropriate Morpheus subsystems and operated in real-time. During these helicopter flights, the ALHAT system imaged the simulated lunar terrain constructed in FY2012 to support ALHAT/Morpheus testing at KSC. To the best of our knowledge, this represents the highest fidelity testing of a system of this kind to date. During this helicopter testing, two new Morpheus landers were under construction at the Johnson Space Center to support the objective of an integrated ALHAT/Morpheus free-flight demonstration. This paper provides an overview of this helicopter flight test activity, including results and lessons learned, and also provides an overview of recent integrated testing of ALHAT on the second Morpheus vehicle.

A Primer on Autonomous Aerial Vehicle Design

PubMed Central

Coppejans, Hugo H. G.; Myburgh, Herman C.

2015-01-01

There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers. PMID:26633410

A Primer on Autonomous Aerial Vehicle Design.

PubMed

Coppejans, Hugo H G; Myburgh, Herman C

2015-12-02

There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers.

A perception system for a planetary explorer

NASA Technical Reports Server (NTRS)

Hebert, M.; Krotkov, E.; Kanade, T.

1989-01-01

To perform planetary exploration without human supervision, a complete autonomous robot must be able to model its environment and to locate itself while exploring its surroundings. For that purpose, the authors propose a modular perception system for an autonomous explorer. The perception system maintains a consistent internal representation of the observed terrain from multiple sensor views. The representation can be accessed from other modules through queries. The perception system is intended to be used by the Ambler, a six-legged vehicle being built at CMU. A partial implementation of the system using a range scanner is presented as well as experimental results on a testbed that includes the sensor, one computer-controlled leg, and obstacles on a sandy surface.

Design of an autonomous exterior security robot

NASA Technical Reports Server (NTRS)

Myers, Scott D.

1994-01-01

This paper discusses the requirements and preliminary design of robotic vehicle designed for performing autonomous exterior perimeter security patrols around warehouse areas, ammunition supply depots, and industrial parks for the U.S. Department of Defense. The preliminary design allows for the operation of up to eight vehicles in a six kilometer by six kilometer zone with autonomous navigation and obstacle avoidance. In addition to detection of crawling intruders at 100 meters, the system must perform real-time inventory checking and database comparisons using a microwave tags system.

A Safe Cooperative Framework for Atmospheric Science Missions with Multiple Heterogeneous UAS using Piecewise Bezier Curves

NASA Technical Reports Server (NTRS)

Mehdi, S. Bilal; Puig-Navarro, Javier; Choe, Ronald; Cichella, Venanzio; Hovakimyan, Naira; Chandarana, Meghan; Trujillo, Anna; Rothhaar, Paul M.; Tran, Loc; Neilan, James H.;

Simultaneous Localization and Mapping with Iterative Sparse Extended Information Filter for Autonomous Vehicles.

PubMed

He, Bo; Liu, Yang; Dong, Diya; Shen, Yue; Yan, Tianhong; Nian, Rui

2015-08-13

In this paper, a novel iterative sparse extended information filter (ISEIF) was proposed to solve the simultaneous localization and mapping problem (SLAM), which is very crucial for autonomous vehicles. The proposed algorithm solves the measurement update equations with iterative methods adaptively to reduce linearization errors. With the scalability advantage being kept, the consistency and accuracy of SEIF is improved. Simulations and practical experiments were carried out with both a land car benchmark and an autonomous underwater vehicle. Comparisons between iterative SEIF (ISEIF), standard EKF and SEIF are presented. All of the results convincingly show that ISEIF yields more consistent and accurate estimates compared to SEIF and preserves the scalability advantage over EKF, as well.

Development Of Autonomous Systems

NASA Astrophysics Data System (ADS)

Kanade, Takeo

1989-03-01

In the last several years at the Robotics Institute of Carnegie Mellon University, we have been working on two projects for developing autonomous systems: Nablab for Autonomous Land Vehicle and Ambler for Mars Rover. These two systems are for different purposes: the Navlab is a four-wheeled vehicle (van) for road and open terrain navigation, and the Ambler is a six-legged locomotor for Mars exploration. The two projects, however, share many common aspects. Both are large-scale integrated systems for navigation. In addition to the development of individual components (eg., construction and control of the vehicle, vision and perception, and planning), integration of those component technologies into a system by means of an appropriate architecture is a major issue.

Localization system for use in GPS denied environments

DOE Office of Scientific and Technical Information (OSTI.GOV)

Trueblood, J. J.

The military uses to autonomous platforms to complete missions to provide standoff for the warfighters. However autonomous platforms rely on GPS to provide their global position. In many missions spaces the autonomous platforms may encounter GPS denied environments which limits where the platform operates and requires the warfighters to takes its place. GPS denied environments can occur due to tall building, trees, canyon wall blocking the GPS satellite signals or a lack of coverage. An Inertial Navigation System (INS) uses sensors to detect the vehicle movement and direction its traveling to calculate the vehicle. One of biggest challenges with anmore » INS system is the accuracy and accumulation of errors over time of the sensors. If these challenges can be overcome the INS would provide accurate positioning information to the autonomous vehicle in GPS denied environments and allow them to provide the desired standoff for the warfighters.« less

GPS/DR Error Estimation for Autonomous Vehicle Localization.

PubMed

Lee, Byung-Hyun; Song, Jong-Hwa; Im, Jun-Hyuck; Im, Sung-Hyuck; Heo, Moon-Beom; Jee, Gyu-In

2015-08-21

Autonomous vehicles require highly reliable navigation capabilities. For example, a lane-following method cannot be applied in an intersection without lanes, and since typical lane detection is performed using a straight-line model, errors can occur when the lateral distance is estimated in curved sections due to a model mismatch. Therefore, this paper proposes a localization method that uses GPS/DR error estimation based on a lane detection method with curved lane models, stop line detection, and curve matching in order to improve the performance during waypoint following procedures. The advantage of using the proposed method is that position information can be provided for autonomous driving through intersections, in sections with sharp curves, and in curved sections following a straight section. The proposed method was applied in autonomous vehicles at an experimental site to evaluate its performance, and the results indicate that the positioning achieved accuracy at the sub-meter level.

GPS/DR Error Estimation for Autonomous Vehicle Localization

PubMed Central

Lee, Byung-Hyun; Song, Jong-Hwa; Im, Jun-Hyuck; Im, Sung-Hyuck; Heo, Moon-Beom; Jee, Gyu-In

2015-01-01

Autonomous vehicles require highly reliable navigation capabilities. For example, a lane-following method cannot be applied in an intersection without lanes, and since typical lane detection is performed using a straight-line model, errors can occur when the lateral distance is estimated in curved sections due to a model mismatch. Therefore, this paper proposes a localization method that uses GPS/DR error estimation based on a lane detection method with curved lane models, stop line detection, and curve matching in order to improve the performance during waypoint following procedures. The advantage of using the proposed method is that position information can be provided for autonomous driving through intersections, in sections with sharp curves, and in curved sections following a straight section. The proposed method was applied in autonomous vehicles at an experimental site to evaluate its performance, and the results indicate that the positioning achieved accuracy at the sub-meter level. PMID:26307997

Classification of LIDAR Data for Generating a High-Precision Roadway Map

NASA Astrophysics Data System (ADS)

Jeong, J.; Lee, I.

2016-06-01

Generating of a highly precise map grows up with development of autonomous driving vehicles. The highly precise map includes a precision of centimetres level unlike an existing commercial map with the precision of meters level. It is important to understand road environments and make a decision for autonomous driving since a robust localization is one of the critical challenges for the autonomous driving car. The one of source data is from a Lidar because it provides highly dense point cloud data with three dimensional position, intensities and ranges from the sensor to target. In this paper, we focus on how to segment point cloud data from a Lidar on a vehicle and classify objects on the road for the highly precise map. In particular, we propose the combination with a feature descriptor and a classification algorithm in machine learning. Objects can be distinguish by geometrical features based on a surface normal of each point. To achieve correct classification using limited point cloud data sets, a Support Vector Machine algorithm in machine learning are used. Final step is to evaluate accuracies of obtained results by comparing them to reference data The results show sufficient accuracy and it will be utilized to generate a highly precise road map.

A Low Cost Sensors Approach for Accurate Vehicle Localization and Autonomous Driving Application.

PubMed

Vivacqua, Rafael; Vassallo, Raquel; Martins, Felipe

2017-10-16

Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best current precise localization system based on the Global Navigation Satellite System (GNSS) can not always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. Laser range finder and stereo vision have been successfully used for obstacle detection, mapping and localization to solve the autonomous driving problem. Unfortunately, Light Detection and Ranging (LIDARs) are very expensive sensors and stereo vision requires powerful dedicated hardware to process the cameras information. In this context, this article presents a low-cost architecture of sensors and data fusion algorithm capable of autonomous driving in narrow two-way roads. Our approach exploits a combination of a short-range visual lane marking detector and a dead reckoning system to build a long and precise perception of the lane markings in the vehicle's backwards. This information is used to localize the vehicle in a map, that also contains the reference trajectory for autonomous driving. Experimental results show the successful application of the proposed system on a real autonomous driving situation.

Ground vehicle control at NIST: From teleoperation to autonomy

NASA Technical Reports Server (NTRS)

Murphy, Karl N.; Juberts, Maris; Legowik, Steven A.; Nashman, Marilyn; Schneiderman, Henry; Scott, Harry A.; Szabo, Sandor

1994-01-01

NIST is applying their Real-time Control System (RCS) methodology for control of ground vehicles for both the U.S. Army Researh Lab, as part of the DOD's Unmanned Ground Vehicles program, and for the Department of Transportation's Intelligent Vehicle/Highway Systems (IVHS) program. The actuated vehicle, a military HMMWV, has motors for steering, brake, throttle, etc. and sensors for the dashboard gauges. For military operations, the vehicle has two modes of operation: a teleoperation mode--where an operator remotely controls the vehicle over an RF communications network; and a semi-autonomous mode called retro-traverse--where the control system uses an inertial navigation system to steer the vehicle along a prerecorded path. For the IVHS work, intelligent vision processing elements replace the human teleoperator to achieve autonomous, visually guided road following.

Adapting the RoboCup Simulation for Autonomous Vehicle Team Information Fusion and Decision Making Experimentation

DTIC Science & Technology

2010-06-01

researchers outside the government to produce the kinds of algorithms and software that would easily transition into solutions for teams of autonomous ... vehicles for military scenarios. To accomplish this, we began modifying the RoboCup soccer game step-by-step to incorporate rules that simulate these

USE OF A LONG ENDURANCE SOLAR POWERED AUTONOMOUS UNDERWATER VEHICLE (SAUV II) TO MEASURE DISSOLVED OXYGEN CONCENTRATIONS IN GREENWICH BAY, RHODE ISLAND, USA

EPA Science Inventory

As hypoxic water masses increase worldwide in duration and extent due to coastal eutrophication, advanced technology water quality monitoring by autonomous vehicles can increase our capability to document and respond to these environmental perturbations. We evaluated the use of a...

Investigation into legislative action needed to accommodate the future safe operation of autonomous vehicles in the state of Louisiana [tech summary].

DOT National Transportation Integrated Search

2016-10-01

The objective of this study is to review the status quo in the development of autonomous vehicles and determine : what regulatory action needs to be taken that will permit their safe introduction in : Louisiana while not stifling innovation and devel...

Field Trials of the Nereus Hybrid Underwater Robotic Vehicle in the Challenger Deep of the Mariana Trench

DTIC Science & Technology

2010-06-01

autonomously. International Submarine Engineering Limited reported the successful de- ployment of an autonomous underwater vehicle designed to deploy fiber...formed by CoorsTek Inc., and titanium joint rings manufactured at WHOI that are bonded to the ceramic with a high-strength epoxy material. For additional

Development of next generation intersection control.

DOT National Transportation Integrated Search

2013-03-01

A reservation-based autonomous intersection control system, named Autonomous Control of Urban : TrAffic (ACUTA), was developed as a part of this research effort. ACUTA allows centralized management : of autonomous vehicles within a certain distance f...

Autonomous Navigation Apparatus With Neural Network for a Mobile Vehicle

NASA Technical Reports Server (NTRS)

Quraishi, Naveed (Inventor)

1996-01-01

An autonomous navigation system for a mobile vehicle arranged to move within an environment includes a plurality of sensors arranged on the vehicle and at least one neural network including an input layer coupled to the sensors, a hidden layer coupled to the input layer, and an output layer coupled to the hidden layer. The neural network produces output signals representing respective positions of the vehicle, such as the X coordinate, the Y coordinate, and the angular orientation of the vehicle. A plurality of patch locations within the environment are used to train the neural networks to produce the correct outputs in response to the distances sensed.

Obstacle Avoidance On Roadways Using Range Data

NASA Astrophysics Data System (ADS)

Dunlay, R. Terry; Morgenthaler, David G.

1987-02-01

This report describes range data based obstacle avoidance techniques developed for use on an autonomous road-following robot vehicle. The purpose of these techniques is to detect and locate obstacles present in a road environment for navigation of a robot vehicle equipped with an active laser-based range sensor. Techniques are presented for obstacle detection, obstacle location, and coordinate transformations needed in the construction of Scene Models (symbolic structures representing the 3-D obstacle boundaries used by the vehicle's Navigator for path planning). These techniques have been successfully tested on an outdoor robotic vehicle, the Autonomous Land Vehicle (ALV), at speeds up to 3.5 km/hour.

Speech Auditory Alerts Promote Memory for Alerted Events in a Video-Simulated Self-Driving Car Ride.

PubMed

Nees, Michael A; Helbein, Benji; Porter, Anna

2016-05-01

Auditory displays could be essential to helping drivers maintain situation awareness in autonomous vehicles, but to date, few or no studies have examined the effectiveness of different types of auditory displays for this application scenario. Recent advances in the development of autonomous vehicles (i.e., self-driving cars) have suggested that widespread automation of driving may be tenable in the near future. Drivers may be required to monitor the status of automation programs and vehicle conditions as they engage in secondary leisure or work tasks (entertainment, communication, etc.) in autonomous vehicles. An experiment compared memory for alerted events-a component of Level 1 situation awareness-using speech alerts, auditory icons, and a visual control condition during a video-simulated self-driving car ride with a visual secondary task. The alerts gave information about the vehicle's operating status and the driving scenario. Speech alerts resulted in better memory for alerted events. Both auditory display types resulted in less perceived effort devoted toward the study tasks but also greater perceived annoyance with the alerts. Speech auditory displays promoted Level 1 situation awareness during a simulation of a ride in a self-driving vehicle under routine conditions, but annoyance remains a concern with auditory displays. Speech auditory displays showed promise as a means of increasing Level 1 situation awareness of routine scenarios during an autonomous vehicle ride with an unrelated secondary task. © 2016, Human Factors and Ergonomics Society.

AUV and Aircraft Measurements of an Internal Hydraulic Jump at the Mouth of the Columbia River

NASA Astrophysics Data System (ADS)

McNeil, C. L.

2016-02-01

In 2013, an extensive 3-km long persistent hydraulic jump in the Mouth of the Columbia River (MCR) was captured in a joint pilot study involving coordinated autonomous and remote sensing observations. Airborne thermal infrared (IR) cameras provided observations of surface brightness temperature, while an along-track interferometric synthetic aperture radar (ATI-SAR) measured surface velocity and roughness. Subsurface hydrographic surveys were conducted with a REMUS autonomous underwater vehicle (AUV). These observations showed a flow- oblique stationary front that persisted through most of an ebb-tide. A pronounced dip and divergence (mixing) of the isohaline surfaces downstream of the surface front suggested that the newly-discovered feature is an internal hydraulic jump. Hydraulic jumps reduce kinetic energy of a laminar flow, partially converting it to turbulent kinetic energy that, in turn, increases the potential energy of the system via mixing. Our goal is to quantify this mixing associated with the MCR jump using our existing data, and more generally assess the jump's impact on the physics and biology of the lower estuary, plume, and coastal ocean.

Design and Development of the WVU Advanced Technology Satellite for Optical Navigation

NASA Astrophysics Data System (ADS)

Straub, Miranda

In order to meet the demands of future space missions, it is beneficial for spacecraft to have the capability to support autonomous navigation. This is true for both crewed and uncrewed vehicles. For crewed vehicles, autonomous navigation would allow the crew to safely navigate home in the event of a communication system failure. For uncrewed missions, autonomous navigation reduces the demand on ground-based infrastructure and could allow for more flexible operation. One promising technique for achieving these goals is through optical navigation. To this end, the present work considers how camera images of the Earth's surface could enable autonomous navigation of a satellite in low Earth orbit. Specifically, this study will investigate the use of coastlines and other natural land-water boundaries for navigation. Observed coastlines can be matched to a pre-existing coastline database in order to determine the location of the spacecraft. This paper examines how such measurements may be processed in an on-board extended Kalman filter (EKF) to provide completely autonomous estimates of the spacecraft state throughout the duration of the mission. In addition, future work includes implementing this work on a CubeSat mission within the WVU Applied Space Exploration Lab (ASEL). The mission titled WVU Advanced Technology Satellite for Optical Navigation (WATSON) will provide students with an opportunity to experience the life cycle of a spacecraft from design through operation while hopefully meeting the primary and secondary goals defined for mission success. The spacecraft design process, although simplified by CubeSat standards, will be discussed in this thesis as well as the current results of laboratory testing with the CubeSat model in the ASEL.

Development of autonomous multirotor platform for exploration missions

NASA Astrophysics Data System (ADS)

Czyba, Roman; Janik, Marcin; Kurgan, Oliver; Niezabitowski, Michał; Nocoń, Marek

2016-06-01

This paper outlines development process of unmanned multirotor aerial vehicle HF-4X, which consists of design and manufacturing semi-autonomous UAV dedicated for indoor flight, which would be capable of stable and controllable mission flight. A micro air vehicle was designed to participate in the International Micro Air Vehicle Conference and Flight Competition. In this paper much attention was paid to the structure of flight control system, stabilization algorithms, analysis of IMU sensors, fusion algorithms.

Development of autonomous multirotor platform for exploration missions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Czyba, Roman; Janik, Marcin; Kurgan, Oliver

This paper outlines development process of unmanned multirotor aerial vehicle HF-4X, which consists of design and manufacturing semi-autonomous UAV dedicated for indoor flight, which would be capable of stable and controllable mission flight. A micro air vehicle was designed to participate in the International Micro Air Vehicle Conference and Flight Competition. In this paper much attention was paid to the structure of flight control system, stabilization algorithms, analysis of IMU sensors, fusion algorithms.

Development of High Fidelity Mobility Simulation of an Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics

DTIC Science & Technology

2011-08-04

AND MULTI-BODY DYNAMICS Jayakumar , Smith, Ross, Jategaonkar, Konarzewski 4 August 2011 UNCLASSIFIED: Distribution Statement A. Approved for public...Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM...Cannot neglect vehicle dynamics 4 August 2011 3 UNCLASSIFIED Importance of Simulation Fidelity • Performance evaluation requires entire system

Classification of underwater targets from autonomous underwater vehicle sampled bistatic acoustic scattered fields.

PubMed

Fischell, Erin M; Schmidt, Henrik

2015-12-01

One of the long term goals of autonomous underwater vehicle (AUV) minehunting is to have multiple inexpensive AUVs in a harbor autonomously classify hazards. Existing acoustic methods for target classification using AUV-based sensing, such as sidescan and synthetic aperture sonar, require an expensive payload on each outfitted vehicle and post-processing and/or image interpretation. A vehicle payload and machine learning classification methodology using bistatic angle dependence of target scattering amplitudes between a fixed acoustic source and target has been developed for onboard, fully autonomous classification with lower cost-per-vehicle. To achieve the high-quality, densely sampled three-dimensional (3D) bistatic scattering data required by this research, vehicle sampling behaviors and an acoustic payload for precision timed data acquisition with a 16 element nose array were demonstrated. 3D bistatic scattered field data were collected by an AUV around spherical and cylindrical targets insonified by a 7-9 kHz fixed source. The collected data were compared to simulated scattering models. Classification and confidence estimation were shown for the sphere versus cylinder case on the resulting real and simulated bistatic amplitude data. The final models were used for classification of simulated targets in real time in the LAMSS MOOS-IvP simulation package [M. Benjamin, H. Schmidt, P. Newman, and J. Leonard, J. Field Rob. 27, 834-875 (2010)].

Assessment of a visually guided autonomous exploration robot

NASA Astrophysics Data System (ADS)

Harris, C.; Evans, R.; Tidey, E.

2008-10-01

A system has been developed to enable a robot vehicle to autonomously explore and map an indoor environment using only visual sensors. The vehicle is equipped with a single camera, whose output is wirelessly transmitted to an off-board standard PC for processing. Visual features within the camera imagery are extracted and tracked, and their 3D positions are calculated using a Structure from Motion algorithm. As the vehicle travels, obstacles in its surroundings are identified and a map of the explored region is generated. This paper discusses suitable criteria for assessing the performance of the system by computer-based simulation and practical experiments with a real vehicle. Performance measures identified include the positional accuracy of the 3D map and the vehicle's location, the efficiency and completeness of the exploration and the system reliability. Selected results are presented and the effect of key system parameters and algorithms on performance is assessed. This work was funded by the Systems Engineering for Autonomous Systems (SEAS) Defence Technology Centre established by the UK Ministry of Defence.

SPRING Project on Mechanical Energy on Demand from High Strain Actuators

DTIC Science & Technology

2009-09-02

electrical breakdown does not occur). Unfortunately, we find that MWNTs did not provide this self - healing feature. This problem is that the multi-walled...vehicles, exoskeletons for future soldiers, autonomous robots , and smart surfaces to increase the efficiency and performance of aircraft and marine...aerogels sheets provide an unusual state of matter, which behaves as a low modulus enthalpic rubber for stretch in the width direction and has

Variable Speed Hydrodynamic Model of an Auv Utilizing Cross Tunnel Thrusters

DTIC Science & Technology

2017-09-01

Institute NED North East Down NPS Naval Postgraduate School ODE Ordinary Differential Equation PUC Positional Uncertainty REMUS Remote Environmental Measuring ...in its depths. Rising autonomous systems such as the Remote Environmental Measuring Unit (REMUS) 100 vehicle represents not only a feat of...presented account for reduced control surface efficiency at low speeds and build an accurate representation of a REMUS AUV’s behavior while operating at

SAMURAI: Polar AUV-Based Autonomous Dexterous Sampling

NASA Astrophysics Data System (ADS)

Akin, D. L.; Roberts, B. J.; Smith, W.; Roderick, S.; Reves-Sohn, R.; Singh, H.

2006-12-01

While autonomous undersea vehicles are increasingly being used for surveying and mapping missions, as of yet there has been little concerted effort to create a system capable of performing physical sampling or other manipulation of the local environment. This type of activity has typically been performed under teleoperated control from ROVs, which provides high-bandwidth real-time human direction of the manipulation activities. Manipulation from an AUV will require a completely autonomous sampling system, which implies both advanced technologies such as machine vision and autonomous target designation, but also dexterous robot manipulators to perform the actual sampling without human intervention. As part of the NASA Astrobiology Science and Technology for Exploring the Planets (ASTEP) program, the University of Maryland Space Systems Laboratory has been adapting and extending robotics technologies developed for spacecraft assembly and maintenance to the problem of autonomous sampling of biologicals and soil samples around hydrothermal vents. The Sub-polar ice Advanced Manipulator for Universal Sampling and Autonomous Intervention (SAMURAI) system is comprised of a 6000-meter capable six-degree-of-freedom dexterous manipulator, along with an autonomous vision system, multi-level control system, and sampling end effectors and storage mechanisms to allow collection of samples from vent fields. SAMURAI will be integrated onto the Woods Hole Oceanographic Institute (WHOI) Jaguar AUV, and used in Arctic during the fall of 2007 for autonomous vent field sampling on the Gakkel Ridge. Under the current operations concept, the JAGUAR and PUMA AUVs will survey the water column and localize on hydrothermal vents. Early mapping missions will create photomosaics of the vents and local surroundings, allowing scientists on the mission to designate desirable sampling targets. Based on physical characteristics such as size, shape, and coloration, the targets will be loaded into the SAMURAI control system, and JAGUAR (with SAMURAI mounted to the lower forward hull) will return to the designated target areas. Once on site, vehicle control will be turned over to the SAMURAI controller, which will perform vision-based guidance to the sampling site and will then ground the AUV to the sea bottom for stability. The SAMURAI manipulator will collect samples, such as sessile biologicals, geological samples, and (potentially) vent fluids, and store the samples for the return trip. After several hours of sampling operations on one or several sites, JAGUAR control will be returned to the WHOI onboard controller for the return to the support ship. (Operational details of AUV operations on the Gakkel Ridge mission are presented in other papers at this conference.) Between sorties, SAMURAI end effectors can be changed out on the surface for specific targets, such as push cores or larger biologicals such as tube worms. In addition to the obvious challenges in autonomous vision-based manipulator control from a free-flying support vehicle, significant development challenges have been the design of a highly capable robotic arm within the mass limitations (both wet and dry) of the JAGUAR vehicle, the development of a highly robust manipulator with modular maintenance units for extended polar operations, and the creation of a robot-based sample collection and holding system for multiple heterogeneous samples on a single extended sortie.

Radar-based collision avoidance for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Zhuang, Jia-yuan; Zhang, Lei; Zhao, Shi-qi; Cao, Jian; Wang, Bo; Sun, Han-bing

2016-12-01

Unmanned surface vehicles (USVs) have become a focus of research because of their extensive applications. To ensure safety and reliability and to perform complex tasks autonomously, USVs are required to possess accurate perception of the environment and effective collision avoidance capabilities. To achieve these, investigation into realtime marine radar target detection and autonomous collision avoidance technologies is required, aiming at solving the problems of noise jamming, uneven brightness, target loss, and blind areas in marine radar images. These technologies should also satisfy the requirements of real-time and reliability related to high navigation speeds of USVs. Therefore, this study developed an embedded collision avoidance system based on the marine radar, investigated a highly real-time target detection method which contains adaptive smoothing algorithm and robust segmentation algorithm, developed a stable and reliable dynamic local environment model to ensure the safety of USV navigation, and constructed a collision avoidance algorithm based on velocity obstacle (V-obstacle) which adjusts the USV's heading and speed in real-time. Sea trials results in multi-obstacle avoidance firstly demonstrate the effectiveness and efficiency of the proposed avoidance system, and then verify its great adaptability and relative stability when a USV sailing in a real and complex marine environment. The obtained results will improve the intelligent level of USV and guarantee the safety of USV independent sailing.

Updraft Model for Development of Autonomous Soaring Uninhabited Air Vehicles

NASA Technical Reports Server (NTRS)

Allen, Michael J.

2006-01-01

Large birds and glider pilots commonly use updrafts caused by convection in the lower atmosphere to extend flight duration, increase cross-country speed, improve range, or simply to conserve energy. Uninhabited air vehicles may also have the ability to exploit updrafts to improve performance. An updraft model was developed at NASA Dryden Flight Research Center (Edwards, California) to investigate the use of convective lift for uninhabited air vehicles in desert regions. Balloon and surface measurements obtained at the National Oceanic and Atmospheric Administration Surface Radiation station (Desert Rock, Nevada) enabled the model development. The data were used to create a statistical representation of the convective velocity scale, w*, and the convective mixing-layer thickness, zi. These parameters were then used to determine updraft size, vertical velocity profile, spacing, and maximum height. This paper gives a complete description of the updraft model and its derivation. Computer code for running the model is also given in conjunction with a check case for model verification.

The HAL 9000 Space Operating System Real-Time Planning Engine Design and Operations Requirements

NASA Technical Reports Server (NTRS)

Stetson, Howard; Watson, Michael D.; Shaughnessy, Ray

2012-01-01

In support of future deep space manned missions, an autonomous/automated vehicle, providing crew autonomy and an autonomous response planning system, will be required due to the light time delays in communication. Vehicle capabilities as a whole must provide for tactical response to vehicle system failures and space environmental effects induced failures, for risk mitigation of permanent loss of communication with Earth, and for assured crew return capabilities. The complexity of human rated space systems and the limited crew sizes and crew skills mix drive the need for a robust autonomous capability on-board the vehicle. The HAL 9000 Space Operating System[2] designed for such missions and space craft includes the first distributed real-time planning / re-planning system. This paper will detail the software architecture of the multiple planning engine system, and the interface design for plan changes, approval and implementation that is performed autonomously. Operations scenarios will be defined for analysis of the planning engines operations and its requirements for nominal / off nominal activities. An assessment of the distributed realtime re-planning system, in the defined operations environment, will be provided as well as findings as it pertains to the vehicle, crew, and mission control requirements needed for implementation.

The study of stereo vision technique for the autonomous vehicle

NASA Astrophysics Data System (ADS)

Li, Pei; Wang, Xi; Wang, Jiang-feng

2015-08-01

The stereo vision technology by two or more cameras could recovery 3D information of the field of view. This technology can effectively help the autonomous navigation system of unmanned vehicle to judge the pavement conditions within the field of view, and to measure the obstacles on the road. In this paper, the stereo vision technology in measuring the avoidance of the autonomous vehicle is studied and the key techniques are analyzed and discussed. The system hardware of the system is built and the software is debugged, and finally the measurement effect is explained by the measured data. Experiments show that the 3D reconstruction, within the field of view, can be rebuilt by the stereo vision technology effectively, and provide the basis for pavement condition judgment. Compared with unmanned vehicle navigation radar used in measuring system, the stereo vision system has the advantages of low cost, distance and so on, it has a good application prospect.

Autonomous health management for PMSM rail vehicles through demagnetization monitoring and prognosis control.

PubMed

Niu, Gang; Jiang, Junjie; Youn, Byeng D; Pecht, Michael

2018-01-01

Autonomous vehicles are playing an increasingly importance in support of a wide variety of critical events. This paper presents a novel autonomous health management scheme on rail vehicles driven by permanent magnet synchronous motors (PMSMs). Firstly, the PMSMs are modeled based on first principle to deduce the initial profile of pneumatic braking (p-braking) force, then which is utilized for real-time demagnetization monitoring and degradation prognosis through similarity-based theory and generate prognosis-enhanced p-braking force strategy for final optimal control. A case study is conducted to demonstrate the feasibility and benefit of using the real-time prognostics and health management (PHM) information in vehicle 'drive-brake' control automatically. The results show that accurate demagnetization monitoring, degradation prognosis, and real-time capability for control optimization can be obtained, which can effectively relieve brake shoe wear. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Stone Aerospace Testing of an Autonomous Underwater Vehicle

NASA Image and Video Library

2008-06-21

View of the Autonomous Underwater Vehicle (AUV) known as Endurance designed by Stone Aerospace being lowered into the Neutral Buoyancy Laboratory (NBL) pool at the Sonny Carter Training Facility (SCTF) for testing. The AUV is being tested for potential exploration of Jupiter's moon Europa. This image was featured in the August 2008 JSC Roundup, Volume 47, Number 8.

Implementation of Autonomous Navigation and Mapping using a Laser Line Scanner on a Tactical Unmanned Aerial Vehicle

DTIC Science & Technology

2011-12-01

study new multi-agent algorithms to avoid collision and obstacles. Others, including Hanford et al. [2], have tried to build low-cost experimental...2007. [2] S. D. Hanford , L. N. Long, and J. F. Horn, “A Small Semi-Autonomous Rotary-Wing Unmanned Air Vehicle ( UAV ),” 2003 AIAA Atmospheric

NREL, EasyMile Collaboration to Usher in New Wave of Autonomous Vehicle R&D

Science.gov Websites

technology such as wireless charging, connected and managed charging, and advanced energy storage. EasyMile International Airport. The NREL collaboration will explore opportunities for how wireless charging could enable wireless charging are a natural fit with autonomous and connected vehicles. We're excited this opportunity

Simultaneous Localization and Mapping with Iterative Sparse Extended Information Filter for Autonomous Vehicles

PubMed Central

He, Bo; Liu, Yang; Dong, Diya; Shen, Yue; Yan, Tianhong; Nian, Rui

2015-01-01

In this paper, a novel iterative sparse extended information filter (ISEIF) was proposed to solve the simultaneous localization and mapping problem (SLAM), which is very crucial for autonomous vehicles. The proposed algorithm solves the measurement update equations with iterative methods adaptively to reduce linearization errors. With the scalability advantage being kept, the consistency and accuracy of SEIF is improved. Simulations and practical experiments were carried out with both a land car benchmark and an autonomous underwater vehicle. Comparisons between iterative SEIF (ISEIF), standard EKF and SEIF are presented. All of the results convincingly show that ISEIF yields more consistent and accurate estimates compared to SEIF and preserves the scalability advantage over EKF, as well. PMID:26287194

Normative legal regulating of vehicles with a high degree of automation of control: strategy and tactics for implementation in Russia

NASA Astrophysics Data System (ADS)

Kisulenko, B. V.; Bocharov, A. V.; Pugachev, V. V.

2018-02-01

The article discusses the risks specific to vehicles with a high level of automation of control, and conditions the limits on the operating conditions of such vehicles. The article determines existing legal barriers to the implementation of autonomous vehicles. The article contains an analysis of foreign practice of regulating in the European Union, Japan and the United States and information about the UNECE activities aimed at enabling operation of vehicles with a high degree of automation control. Basing on the results of the analysis, the authors made proposals for removal of legal barriers. The article also contains proposals for the development of specific requirements for autonomous vehicles associated with their specific features of design.

Progressively Communicating Rich Telemetry from Autonomous Underwater Vehicles via Relays

DTIC Science & Technology

2012-06-01

wireless sensor networks using an autonomous underwater vehicle. In Robotics and...communication over multiple kilometers. In addition to wireless com- munication methods , the recently developed Nereus[12] vehicle at WHOI spools out...A P T U R E M e ss a g e s P ro ce ss / T h re a d M a n a g e m e n t C o n fi g u ra ti o n P a rs in g Network Manager Frame Scheduling

Vegetation Versus Man-Made Object Detection from Imagery for Unmanned Vehicles in Off-Road Environments

DTIC Science & Technology

2013-05-01

saliency, natural scene statistics 1. INTRODUCTION Research into the area of autonomous navigation for unmanned ground vehicles (UGV) has accelerated in...recent years. This is partly due to the success of programs such as the DARPA Grand Challenge1 and the dream of driverless cars ,2 but is also due to the...NOTES 14. ABSTRACT There have been several major advances in autonomous navigation for unmanned ground vehicles in controlled urban environments in

Optimal strategies for the control of autonomous vehicles in data assimilation

NASA Astrophysics Data System (ADS)

McDougall, D.; Moore, R. O.

2017-08-01

We propose a method to compute optimal control paths for autonomous vehicles deployed for the purpose of inferring a velocity field. In addition to being advected by the flow, the vehicles are able to effect a fixed relative speed with arbitrary control over direction. It is this direction that is used as the basis for the locally optimal control algorithm presented here, with objective formed from the variance trace of the expected posterior distribution. We present results for linear flows near hyperbolic fixed points.

An intelligent algorithm for autonomous scientific sampling with the VALKYRIE cryobot

NASA Astrophysics Data System (ADS)

Clark, Evan B.; Bramall, Nathan E.; Christner, Brent; Flesher, Chris; Harman, John; Hogan, Bart; Lavender, Heather; Lelievre, Scott; Moor, Joshua; Siegel, Vickie

2018-07-01

The development of algorithms for agile science and autonomous exploration has been pursued in contexts ranging from spacecraft to planetary rovers to unmanned aerial vehicles to autonomous underwater vehicles. In situations where time, mission resources and communications are limited and the future state of the operating environment is unknown, the capability of a vehicle to dynamically respond to changing circumstances without human guidance can substantially improve science return. Such capabilities are difficult to achieve in practice, however, because they require intelligent reasoning to utilize limited resources in an inherently uncertain environment. Here we discuss the development, characterization and field performance of two algorithms for autonomously collecting water samples on VALKYRIE (Very deep Autonomous Laser-powered Kilowatt-class Yo-yoing Robotic Ice Explorer), a glacier-penetrating cryobot deployed to the Matanuska Glacier, Alaska (Mission Control location: 61°42'09.3''N 147°37'23.2''W). We show performance on par with human performance across a wide range of mission morphologies using simulated mission data, and demonstrate the effectiveness of the algorithms at autonomously collecting samples with high relative cell concentration during field operation. The development of such algorithms will help enable autonomous science operations in environments where constant real-time human supervision is impractical, such as penetration of ice sheets on Earth and high-priority planetary science targets like Europa.

Detail design of empennage of an unmanned aerial vehicle

NASA Astrophysics Data System (ADS)

Sarker, Md. Samad; Panday, Shoyon; Rasel, Md; Salam, Md. Abdus; Faisal, Kh. Md.; Farabi, Tanzimul Hasan

2017-12-01

In order to maintain the operational continuity of air defense systems, unmanned autonomous or remotely controlled unmanned aerial vehicle (UAV) plays a great role as a target for the anti-aircraft weapons. The aerial vehicle must comply with the requirements of high speed, remotely controlled tracking and navigational aids, operational sustainability and sufficient loiter time. It can also be used for aerial reconnaissance, ground surveillance and other intelligence operations. This paper aims to develop a complete tail design of an unmanned aerial vehicle using Systems Engineering approach. The design fulfils the requirements of longitudinal and directional trim, stability and control provided by the horizontal and vertical tail. Tail control surfaces are designed to provide sufficient control of the aircraft in critical conditions. Design parameters obtained from wing design are utilized in the tail design process as required. Through chronological calculations and successive iterations, optimum values of 26 tail design parameters are determined.

The Joint Tactical Aerial Resupply Vehicle Impact on Sustainment Operations

DTIC Science & Technology

2017-06-09

Artificial Intelligence , Sustainment Operations, Rifle Company, Autonomous Aerial Resupply, Joint Tactical Autonomous Aerial Resupply System 16...Integrations and Development System AI Artificial Intelligence ARCIC Army Capabilities Integration Center ARDEC Armament Research, Development and...semi- autonomous systems, and fully autonomous systems. Autonomy of machines depends on sophisticated software, including Artificial Intelligence

A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles

PubMed Central

Meng, Xiaoli

2017-01-01

Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-Measuring Instruments), a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization. PMID:28926996

A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles.

PubMed

Meng, Xiaoli; Wang, Heng; Liu, Bingbing

2017-09-18

Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-Measuring Instruments), a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization.

Overview of the Mars Exploration Rover Mission

NASA Astrophysics Data System (ADS)

Adler, M.

2002-12-01

The Mars Exploration Rover (MER) Project is an ambitious mission to land two highly capable rovers at different sites in the equatorial region of Mars. The two vehicles are launched separately in May through July of 2003. Mars surface operations begin on January 4, 2004 with the first landing, followed by the second landing three weeks later on January 25. The useful surface lifetime of each rover will be at least 90 sols. The science objectives of exploring multiple locations within each of two widely separated and scientifically distinct landing sites will be accomplished along with the demonstration of key surface exploration technologies for future missions. The two MER spacecraft are planned to be identical. The rovers are landed using the Mars Pathfinder approach of a heatshield and parachute to slow the vehicle relative to the atmosphere, solid rockets to slow the lander near the surface, and airbags to cushion the surface impacts. During entry, descent, and landing, the vehicles will transmit coded tones directly to Earth, and in the terminal descent phase will also transmit telemetry to the MGS orbiter to indicate progress through the critical events. Once the lander rolls to a stop, a tetrahedral structure opens to right the lander and to reveal the folded rover, which then deploys and later by command will roll off of the lander to begin its exploration. Each six-wheeled rover carries a suite of instruments to collect contextual information about the landing site using visible and thermal infrared remote sensing, and to collect in situ information on the composition, mineralogy, and texture of selected Martian soils and rocks using an arm-mounted microscopic imager, rock abrasion tool, and spectrometers. During their surface missions, the rovers will communicate with Earth directly through the Deep Space Network as well as indirectly through the Odyssey and MGS orbiters. The solar-powered rovers will be commanded in the morning of each Sol, with the results returned in the afternoon of that Sol guiding the plans for the following Sol. Between the command sessions, the rover will autonomously execute the requested activities, including as an example traverses of tens of meters using autonomous navigation and hazard avoidance.

The VIPER project (Visualization Integration Platform for Exploration Research): a biologically inspired autonomous reconfigurable robotic platform for diverse unstructured environments

NASA Astrophysics Data System (ADS)

Schubert, Oliver J.; Tolle, Charles R.

2004-09-01

Over the last decade the world has seen numerous autonomous vehicle programs. Wheels and track designs are the basis for many of these vehicles. This is primarily due to four main reasons: a vast preexisting knowledge base for these designs, energy efficiency of power sources, scalability of actuators, and the lack of control systems technologies for handling alternate highly complex distributed systems. Though large efforts seek to improve the mobility of these vehicles, many limitations still exist for these systems within unstructured environments, e.g. limited mobility within industrial and nuclear accident sites where existing plant configurations have been extensively changed. These unstructured operational environments include missions for exploration, reconnaissance, and emergency recovery of objects within reconfigured or collapsed structures, e.g. bombed buildings. More importantly, these environments present a clear and present danger for direct human interactions during the initial phases of recovery operations. Clearly, the current classes of autonomous vehicles are incapable of performing in these environments. Thus the next generation of designs must include highly reconfigurable and flexible autonomous robotic platforms. This new breed of autonomous vehicles will be both highly flexible and environmentally adaptable. Presented in this paper is one of the most successful designs from nature, the snake-eel-worm (SEW). This design implements shape memory alloy (SMA) actuators which allow for scaling of the robotic SEW designs from sub-micron scale to heavy industrial implementations without major conceptual redesigns as required in traditional hydraulic, pneumatic, or motor driven systems. Autonomous vehicles based on the SEW design posses the ability to easily move between air based environments and fluid based environments with limited or no reconfiguration. Under a SEW designed vehicle, one not only achieves vastly improved maneuverability within a highly unstructured environment, but also gains robotic manipulation abilities, normally relegated as secondary add-ons within existing vehicles, all within one small condensed package. The prototype design presented includes a Beowulf style computing system for advanced guidance calculations and visualization computations. All of the design and implementation pertaining to the SEW robot discussed in this paper is the product of a student team under the summer fellowship program at the DOEs INEEL.

Autonomous Collision-Free Navigation of Microvehicles in Complex and Dynamically Changing Environments.

PubMed

Li, Tianlong; Chang, Xiaocong; Wu, Zhiguang; Li, Jinxing; Shao, Guangbin; Deng, Xinghong; Qiu, Jianbin; Guo, Bin; Zhang, Guangyu; He, Qiang; Li, Longqiu; Wang, Joseph

2017-09-26

Self-propelled micro- and nanoscale robots represent a rapidly emerging and fascinating robotics research area. However, designing autonomous and adaptive control systems for operating micro/nanorobotics in complex and dynamically changing environments, which is a highly demanding feature, is still an unmet challenge. Here we describe a smart microvehicle for precise autonomous navigation in complicated environments and traffic scenarios. The fully autonomous navigation system of the smart microvehicle is composed of a microscope-coupled CCD camera, an artificial intelligence planner, and a magnetic field generator. The microscope-coupled CCD camera provides real-time localization of the chemically powered Janus microsphere vehicle and environmental detection for path planning to generate optimal collision-free routes, while the moving direction of the microrobot toward a reference position is determined by the external electromagnetic torque. Real-time object detection offers adaptive path planning in response to dynamically changing environments. We demonstrate that the autonomous navigation system can guide the vehicle movement in complex patterns, in the presence of dynamically changing obstacles, and in complex biological environments. Such a navigation system for micro/nanoscale vehicles, relying on vision-based close-loop control and path planning, is highly promising for their autonomous operation in complex dynamic settings and unpredictable scenarios expected in a variety of realistic nanoscale scenarios.

Autonomous vehicles: from paradigms to technology

NASA Astrophysics Data System (ADS)

Ionita, Silviu

2017-10-01

Mobility is a basic necessity of contemporary society and it is a key factor in global economic development. The basic requirements for the transport of people and goods are: safety and duration of travel, but also a number of additional criteria are very important: energy saving, pollution, passenger comfort. Due to advances in hardware and software, automation has penetrated massively in transport systems both on infrastructure and on vehicles, but man is still the key element in vehicle driving. However, the classic concept of ‘human-in-the-loop’ in terms of ‘hands on’ in driving the cars is competing aside from the self-driving startups working towards so-called ‘Level 4 autonomy’, which is defined as “a self-driving system that does not requires human intervention in most scenarios”. In this paper, a conceptual synthesis of the autonomous vehicle issue is made in connection with the artificial intelligence paradigm. It presents a classification of the tasks that take place during the driving of the vehicle and its modeling from the perspective of traditional control engineering and artificial intelligence. The issue of autonomous vehicle management is addressed on three levels: navigation, movement in traffic, respectively effective maneuver and vehicle dynamics control. Each level is then described in terms of specific tasks, such as: route selection, planning and reconfiguration, recognition of traffic signs and reaction to signaling and traffic events, as well as control of effective speed, distance and direction. The approach will lead to a better understanding of the way technology is moving when talking about autonomous cars, smart/intelligent cars or intelligent transport systems. Keywords: self-driving vehicle, artificial intelligence, deep learning, intelligent transport systems.

An ocean bottom seismic observatory with near real-time telemetry

NASA Astrophysics Data System (ADS)

Berger, J.; Laske, G.; Babcock, J.; Orcutt, J.

2016-02-01

We describe a new technology that can provide near real-time telemetry of sensor data from the ocean bottom without a moored buoy or a cable to shore. The breakthrough technology that makes this system possible is an autonomous surface vehicle called a Wave Glider developed by Liquid Robotics, Inc. of Sunnyvale, CA, which harvests wave and solar energy for motive and electrical power. We present results from several deployments of a prototype system that demonstrate the feasibility of this concept. We also demonstrated that a wave glider could tow a suitably designed ocean bottom package with acceptable loss of speed. With further development such a system could be deployed autonomously and provide real-time telemetry of data from seafloor sensors.

Early Synthetic Prototyping: Exploring Designs and Concepts Within Games

DTIC Science & Technology

2014-12-01

UAS unmanned aircraft system UGV unmanned ground vehicle USD(AT&L) Under Secretary of Defense for Acquisition, Technology, and Logistics... unmanned aircraft system (UAS) realm for the wingman concept? The players were familiar with the Marine Corps’ unmanned tactical autonomous control and...UTACCS Unmanned Tactical Autonomous Control and Collaboration System VBIED vehicle borne improvised explosive device VBS2/3 Virtual Battlespace

Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

PubMed Central

He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

2011-01-01

This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM. PMID:22346682

Autonomous navigation for autonomous underwater vehicles based on information filters and active sensing.

PubMed

He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

2011-01-01

This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

Summary of Research 1993

DTIC Science & Technology

1993-12-31

34Nonlinear development in advanced avionics Simulation for an Autonomous Ummanned technology topics. Air Vehicle,* Master’s Thesis , September 1993. OMNTM...taps over the lower blade Passage Flow Model Simulation ,O section surface and end walls, a Master’s Thesis , December 1992. pitot survey probe downstream...Graphical Simulation of Walking Robot Kinematics," Master’s Thesis , March Byrnes, R.B., Kwak, S.H., Nelson, 1993. M.L., McGhee, R.B., and Healey, A.J

Range Image Processing for Local Navigation of an Autonomous Land Vehicle.

DTIC Science & Technology

1986-09-01

such as doing long term exploration missions on the surface of the planets which mankind may wish to investigate . Certainly, mankind will soon return...intelligence programming, walking technology, and vision sensors to name but a few. 10 The purpose of this thesis will be to investigate , by simulation...bitmap graphics, both of which are important to this simulation. Finally, the methodology for displaying the symbolic information generated by the

Dynamic origin-to-destination routing of wirelessly connected, autonomous vehicles on a congested network

NASA Astrophysics Data System (ADS)

Davis, L. C.

2017-07-01

Up-to-date information wirelessly communicated among vehicles can be used to select the optimal route between a given origin and destination. To elucidate how to make use of such information, simulations are performed for autonomous vehicles traveling on a square lattice of roads. All the possible routes between the origin and the destination (without backtracking) are of the same length. Congestion is the only determinant of delay. At each intersection, right-of-way is given to the closest vehicle. There are no traffic lights. Trip times of a subject vehicle are recorded for various initial conditions using different routing algorithms. Surprisingly, the simplest algorithm, which is based on the total number of vehicles on a route, is as good as one based on computing travel times from the average velocity of vehicles on each road segment.

Development and Testing of a Laser-Powered Cryobot for Outer Planet Icy Moon Exploration

NASA Astrophysics Data System (ADS)

Siegel, V.; Stone, W.; Hogan, B.; Lelievre, S.; Flesher, C.

2013-12-01

Project VALKYRIE (Very-deep Autonomous Laser-powered Kilowatt-class Yo-yoing Robotic Ice Explorer) is a NASA-funded effort to develop the first laser powered cryobot - a self-contained intelligent ice penetrator capable of delivering science payloads through ice caps of the outer planet icy moons. The long range objective is to enable a full-scale Europa lander mission in which an autonomous life-searching underwater vehicle is transported by the cryobot and launched into the sub-surface Europan ocean. Mission readiness testing will involve an Antarctic sub-glacial lake cryobot sample return through kilometers of ice cap thickness. A key element of VALKYRIE's design is the use of a high energy laser as the primary power source. 1070 nm laser light is transmitted at a power level of 5 kW from a surface-based laser and injected into a custom-designed optical waveguide that is spooled out from the descending cryobot. Light exits the downstream end of the fiber, travels through diverging optics, and strikes a beam dump, which channels thermal power to hot water jets that melt the descent hole. Some beam energy is converted, via photovoltaic cells, to electricity for running onboard electronics and jet pumps. Since the vehicle can be sterilized prior to deployment and the melt path freezes behind it, preventing forward contamination, expansions on VALKYRIE concepts may enable cleaner and faster access to sub-glacial Antarctic lakes. Testing at Stone Aerospace between 2010 and 2013 has already demonstrated high power optical energy transfer over relevant (kilometer scale) distances as well as the feasibility of a vehicle-deployed optical waveguide (through which the power is transferred). The test vehicle is equipped with a forward-looking synthetic aperture radar (SAR) that can detect obstacles out to 1 kilometer from the vehicle. The initial ASTEP test vehicle will carry a science payload consisting of a DUV flow cytometer and a water sampling sub-system that will be triggered based on real-time analysis of the cytometer data. Results of laboratory test data and details of planned field campaigns will be discussed.

Experiments in teleoperator and autonomous control of space robotic vehicles

NASA Technical Reports Server (NTRS)

Alexander, Harold L.

1991-01-01

A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

Open-Loop Flight Testing of COBALT Navigation and Sensor Technologies for Precise Soft Landing

NASA Technical Reports Server (NTRS)

Carson, John M., III; Restrepo, Caroline I.; Seubert, Carl R.; Amzajerdian, Farzin; Pierrottet, Diego F.; Collins, Steven M.; O'Neal, Travis V.; Stelling, Richard

2017-01-01

An open-loop flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) payload was conducted onboard the Masten Xodiac suborbital rocket testbed. The payload integrates two complementary sensor technologies that together provide a spacecraft with knowledge during planetary descent and landing to precisely navigate and softly touchdown in close proximity to targeted surface locations. The two technologies are the Navigation Doppler Lidar (NDL), for high-precision velocity and range measurements, and the Lander Vision System (LVS) for map-relative state esti- mates. A specialized navigation filter running onboard COBALT fuses the NDL and LVS data in real time to produce a very precise Terrain Relative Navigation (TRN) solution that is suitable for future, autonomous planetary landing systems that require precise and soft landing capabilities. During the open-loop flight campaign, the COBALT payload acquired measurements and generated a precise navigation solution, but the Xodiac vehicle planned and executed its maneuvers based on an independent, GPS-based navigation solution. This minimized the risk to the vehicle during the integration and testing of the new navigation sensing technologies within the COBALT payload.

Proprioceptive Sensors' Fault Tolerant Control Strategy for an Autonomous Vehicle.

PubMed

Boukhari, Mohamed Riad; Chaibet, Ahmed; Boukhnifer, Moussa; Glaser, Sébastien

2018-06-09

In this contribution, a fault-tolerant control strategy for the longitudinal dynamics of an autonomous vehicle is presented. The aim is to be able to detect potential failures of the vehicle's speed sensor and then to keep the vehicle in a safe state. For this purpose, the separation principle, composed of a static output feedback controller and fault estimation observers, is designed. Indeed, two observer techniques were proposed: the proportional and integral observer and the descriptor observer. The effectiveness of the proposed scheme is validated by means of the experimental demonstrator of the VEDECOM (Véhicle Décarboné et Communinicant) Institut.

Improved LTVMPC design for steering control of autonomous vehicle

NASA Astrophysics Data System (ADS)

Velhal, Shridhar; Thomas, Susy

2017-01-01

An improved linear time varying model predictive control for steering control of autonomous vehicle running on slippery road is presented. Control strategy is designed such that the vehicle will follow the predefined trajectory with highest possible entry speed. In linear time varying model predictive control, nonlinear vehicle model is successively linearized at each sampling instant. This linear time varying model is used to design MPC which will predict the future horizon. By incorporating predicted input horizon in each successive linearization the effectiveness of controller has been improved. The tracking performance using steering with front wheel and braking at four wheels are presented to illustrate the effectiveness of the proposed method.

Autonomous vehicles' disengagements: Trends, triggers, and regulatory limitations.

PubMed

Favarò, Francesca; Eurich, Sky; Nader, Nazanin

2018-01-01

Autonomous Vehicle (AV) technology is quickly becoming a reality on US roads. Testing on public roads is currently undergoing, with many AV makers located and testing in Silicon Valley, California. The California Department of Motor Vehicles (CA DMV) currently mandates that any vehicle tested on California public roads be retrofitted to account for a back-up human driver, and that data related to disengagements of the AV technology be publicly available. Disengagements data is analyzed in this work, given the safety-critical role of AV disengagements, which require the control of the vehicle to be handed back to the human driver in a safe and timely manner. This study provides a comprehensive overview of the fragmented data obtained from AV manufacturers testing on California public roads from 2014 to 2017. Trends of disengagement reporting, associated frequencies, average mileage driven before failure, and an analysis of triggers and contributory factors are here presented. The analysis of the disengagements data also highlights several shortcomings of the current regulations. The results presented thus constitute an important starting point for improvements on the current drafts of the testing and deployment regulations for autonomous vehicles on public roads. Copyright © 2017 Elsevier Ltd. All rights reserved.

Knowledge/geometry-based Mobile Autonomous Robot Simulator (KMARS)

NASA Technical Reports Server (NTRS)

Cheng, Linfu; Mckendrick, John D.; Liu, Jeffrey

1990-01-01

Ongoing applied research is focused on developing guidance system for robot vehicles. Problems facing the basic research needed to support this development (e.g., scene understanding, real-time vision processing, etc.) are major impediments to progress. Due to the complexity and the unpredictable nature of a vehicle's area of operation, more advanced vehicle control systems must be able to learn about obstacles within the range of its sensor(s). A better understanding of the basic exploration process is needed to provide critical support to developers of both sensor systems and intelligent control systems which can be used in a wide spectrum of autonomous vehicles. Elcee Computek, Inc. has been working under contract to the Flight Dynamics Laboratory, Wright Research and Development Center, Wright-Patterson AFB, Ohio to develop a Knowledge/Geometry-based Mobile Autonomous Robot Simulator (KMARS). KMARS has two parts: a geometry base and a knowledge base. The knowledge base part of the system employs the expert-system shell CLIPS ('C' Language Integrated Production System) and necessary rules that control both the vehicle's use of an obstacle detecting sensor and the overall exploration process. The initial phase project has focused on the simulation of a point robot vehicle operating in a 2D environment.

Sampling-based real-time motion planning under state uncertainty for autonomous micro-aerial vehicles in GPS-denied environments.

PubMed

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-11-18

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints.

Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments

PubMed Central

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-01-01

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints. PMID:25412217

Numerical simulation of active track tensioning system for autonomous hybrid vehicle

NASA Astrophysics Data System (ADS)

Mȩżyk, Arkadiusz; Czapla, Tomasz; Klein, Wojciech; Mura, Gabriel

2017-05-01

One of the most important components of a high speed tracked vehicle is an efficient suspension system. The vehicle should be able to operate both in rough terrain for performance of engineering tasks as well as on the road with high speed. This is especially important for an autonomous platform that operates either with or without human supervision, so that the vibration level can rise compared to a manned vehicle. In this case critical electronic and electric parts must be protected to ensure the reliability of the vehicle. The paper presents a dynamic parameters determination methodology of suspension system for an autonomous high speed tracked platform with total weight of about 5 tonnes and hybrid propulsion system. Common among tracked vehicles suspension solutions and cost-efficient, the torsion-bar system was chosen. One of the most important issues was determining optimal track tensioning - in this case an active hydraulic system was applied. The selection of system parameters was performed with using numerical model based on multi-body dynamic approach. The results of numerical analysis were used to define parameters of active tensioning control system setup. LMS Virtual.Lab Motion was used for multi-body dynamics numerical calculation and Matlab/SIMULINK for control system simulation.

Towards collaboration between unmanned aerial and ground vehicles for precision agriculture

NASA Astrophysics Data System (ADS)

Bhandari, Subodh; Raheja, Amar; Green, Robert L.; Do, Dat

2017-05-01

This paper presents the work being conducted at Cal Poly Pomona on the collaboration between unmanned aerial and ground vehicles for precision agriculture. The unmanned aerial vehicles (UAVs), equipped with multispectral/hyperspectral cameras and RGB cameras, take images of the crops while flying autonomously. The images are post processed or can be processed onboard. The processed images are used in the detection of unhealthy plants. Aerial data can be used by the UAVs and unmanned ground vehicles (UGVs) for various purposes including care of crops, harvest estimation, etc. The images can also be useful for optimized harvesting by isolating low yielding plants. These vehicles can be operated autonomously with limited or no human intervention, thereby reducing cost and limiting human exposure to agricultural chemicals. The paper discuss the autonomous UAV and UGV platforms used for the research, sensor integration, and experimental testing. Methods for ground truthing the results obtained from the UAVs will be used. The paper will also discuss equipping the UGV with a robotic arm for removing the unhealthy plants and/or weeds.

Distributing Planning and Control for Teams of Cooperating Mobile Robots

DOE Office of Scientific and Technical Information (OSTI.GOV)

Parker, L.E.

2004-07-19

This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful development of several technologies and demonstrations in realistic simulation that illustrated the effectiveness of our control approaches for distributed planning and cooperation in multi-robot teams. The primary objectives of this researchmore » project were to: (1) Develop autonomous control technologies to enable multiple vehicles to work together cooperatively, (2) Provide the foundational capabilities for a human operator to exercise oversight and guidance during the multi-vehicle task execution, and (3) Integrate these capabilities to the ALLIANCE-based autonomous control approach for multi-robot teams. These objectives have been successfully met with the results implemented and demonstrated in a near real-time multi-vehicle simulation of up to four vehicles performing mission-relevant tasks.« less

Drivers’ Visual Behavior-Guided RRT Motion Planner for Autonomous On-Road Driving

PubMed Central

Du, Mingbo; Mei, Tao; Liang, Huawei; Chen, Jiajia; Huang, Rulin; Zhao, Pan

2016-01-01

This paper describes a real-time motion planner based on the drivers’ visual behavior-guided rapidly exploring random tree (RRT) approach, which is applicable to on-road driving of autonomous vehicles. The primary novelty is in the use of the guidance of drivers’ visual search behavior in the framework of RRT motion planner. RRT is an incremental sampling-based method that is widely used to solve the robotic motion planning problems. However, RRT is often unreliable in a number of practical applications such as autonomous vehicles used for on-road driving because of the unnatural trajectory, useless sampling, and slow exploration. To address these problems, we present an interesting RRT algorithm that introduces an effective guided sampling strategy based on the drivers’ visual search behavior on road and a continuous-curvature smooth method based on B-spline. The proposed algorithm is implemented on a real autonomous vehicle and verified against several different traffic scenarios. A large number of the experimental results demonstrate that our algorithm is feasible and efficient for on-road autonomous driving. Furthermore, the comparative test and statistical analyses illustrate that its excellent performance is superior to other previous algorithms. PMID:26784203

Drivers' Visual Behavior-Guided RRT Motion Planner for Autonomous On-Road Driving.

PubMed

Du, Mingbo; Mei, Tao; Liang, Huawei; Chen, Jiajia; Huang, Rulin; Zhao, Pan

2016-01-15

This paper describes a real-time motion planner based on the drivers' visual behavior-guided rapidly exploring random tree (RRT) approach, which is applicable to on-road driving of autonomous vehicles. The primary novelty is in the use of the guidance of drivers' visual search behavior in the framework of RRT motion planner. RRT is an incremental sampling-based method that is widely used to solve the robotic motion planning problems. However, RRT is often unreliable in a number of practical applications such as autonomous vehicles used for on-road driving because of the unnatural trajectory, useless sampling, and slow exploration. To address these problems, we present an interesting RRT algorithm that introduces an effective guided sampling strategy based on the drivers' visual search behavior on road and a continuous-curvature smooth method based on B-spline. The proposed algorithm is implemented on a real autonomous vehicle and verified against several different traffic scenarios. A large number of the experimental results demonstrate that our algorithm is feasible and efficient for on-road autonomous driving. Furthermore, the comparative test and statistical analyses illustrate that its excellent performance is superior to other previous algorithms.

Small Autonomous Aircraft Servo Health Monitoring

NASA Technical Reports Server (NTRS)

Quintero, Steven

2008-01-01

Small air vehicles offer challenging power, weight, and volume constraints when considering implementation of system health monitoring technologies. In order to develop a testbed for monitoring the health and integrity of control surface servos and linkages, the Autonomous Aircraft Servo Health Monitoring system has been designed for small Uninhabited Aerial Vehicle (UAV) platforms to detect problematic behavior from servos and the air craft structures they control, This system will serve to verify the structural integrity of an aircraft's servos and linkages and thereby, through early detection of a problematic situation, minimize the chances of an aircraft accident. Embry-Riddle Aeronautical University's rotary-winged UAV has an Airborne Power management unit that is responsible for regulating, distributing, and monitoring the power supplied to the UAV's avionics. The current sensing technology utilized by the Airborne Power Management system is also the basis for the Servo Health system. The Servo Health system measures the current draw of the servos while the servos are in Motion in order to quantify the servo health. During a preflight check, deviations from a known baseline behavior can be logged and their causes found upon closer inspection of the aircraft. The erratic behavior nay include binding as a result of dirt buildup or backlash caused by looseness in the mechanical linkages. Moreover, the Servo Health system will allow elusive problems to be identified and preventative measures taken to avoid unnecessary hazardous conditions in small autonomous aircraft.

INS integrated motion analysis for autonomous vehicle navigation

NASA Technical Reports Server (NTRS)

Roberts, Barry; Bazakos, Mike

1991-01-01

The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.

Nature-Inspired Acoustic Sensor Projects

DTIC Science & Technology

1999-08-24

m). The pager motors are worn on the wrists. Yale Intelligent Sensors Lab 8 Autonomous vehicle navigation Yago – Yale Autonomous Go-Cart Yago is used...proximity sensor determined the presence of close-by objects missed by the sonars. Yago operated autonomously by avoiding obstacles. Problems being

Spatial filtering velocimeter for vehicle navigation with extended measurement range

NASA Astrophysics Data System (ADS)

He, Xin; Zhou, Jian; Nie, Xiaoming; Long, Xingwu

2015-05-01

The idea of using spatial filtering velocimeter is proposed to provide accurate velocity information for vehicle autonomous navigation system. The presented spatial filtering velocimeter is based on a CMOS linear image sensor. The limited frame rate restricts high speed measurement of the vehicle. To extend measurement range of the velocimeter, a method of frequency shifting is put forward. Theoretical analysis shows that the frequency of output signal can be reduced and the measurement range can be doubled by this method when the shifting direction is set the same with that of image velocity. The approach of fast Fourier transform (FFT) is employed to obtain the power spectra of the spatially filtered signals. Because of limited frequency resolution of FFT, a frequency spectrum correction algorithm, called energy centrobaric correction, is used to improve the frequency resolution. The correction accuracy energy centrobaric correction is analyzed. Experiments are carried out to measure the moving surface of a conveyor belt. The experimental results show that the maximum measurable velocity is about 800deg/s without frequency shifting, 1600deg/s with frequency shifting, when the frame rate of the image is about 8117 Hz. Therefore, the measurement range is doubled by the method of frequency shifting. Furthermore, experiments were carried out to measure the vehicle velocity simultaneously using both the designed SFV and a laser Doppler velocimeter (LDV). The measurement results of the presented SFV are coincident with that of the LDV, but with bigger fluctuation. Therefore, it has the potential of application to vehicular autonomous navigation.

The application of SMA spring actuators to a lightweight modular compliant surface bioinspired robot

NASA Astrophysics Data System (ADS)

Stone, David L.; Cranney, John; Liang, Robert; Taya, Minoru

2004-07-01

The DARPA Sponsored Compliant Surface Robotics (CSR) program pursues development of a high mobility, lightweight, modular, morph-able robot for military forces in the field and for other industrial uses. The USTLAB and University of Washington Center for Intelligent Materials and Systems (CIMS) effort builds on USTLAB proof of concept feasibility studies and demonstration of a 4, 6, or 8 wheeled modular vehicle with articulated leg-wheel assemblies. A collaborative effort between USTLAB and UW-CIMS explored the application of Shape Memory Alloy Nickel Titanium Alloy springs to a leg extension actuator capable of actuating with 4.5 Newton force over a 50 mm stroke. At the completion of Phase II, we have completed mechanical and electronics engineering design and achieved conventional actuation which currently enable active articulation, enabling autonomous reconfiguration for a wide variety of terrains, including upside down operations (in case of flip over), have developed a leg extension actuator demonstration model, and we have positioned our team to pursue a small vehicle with leg extension actuators in follow on work. The CSR vehicle's modular spider-like configuration facilitates adaptation to many uses and compliance over rugged terrain. The developmental process, actuator and vehicle characteristics will be discussed.

Morpheus: Advancing Technologies for Human Exploration

NASA Technical Reports Server (NTRS)

Olansen, Jon B.; Munday, Stephen R.; Mitchell, Jennifer D.; Baine, Michael

2012-01-01

NASA's Morpheus Project has developed and tested a prototype planetary lander capable of vertical takeoff and landing. Designed to serve as a vertical testbed (VTB) for advanced spacecraft technologies, the vehicle provides a platform for bringing technologies from the laboratory into an integrated flight system at relatively low cost. This allows individual technologies to mature into capabilities that can be incorporated into human exploration missions. The Morpheus vehicle is propelled by a LOX/Methane engine and sized to carry a payload of 1100 lb to the lunar surface. In addition to VTB vehicles, the Project s major elements include ground support systems and an operations facility. Initial testing will demonstrate technologies used to perform autonomous hazard avoidance and precision landing on a lunar or other planetary surface. The Morpheus vehicle successfully performed a set of integrated vehicle test flights including hot-fire and tethered hover tests, leading up to un-tethered free-flights. The initial phase of this development and testing campaign is being conducted on-site at the Johnson Space Center (JSC), with the first fully integrated vehicle firing its engine less than one year after project initiation. Designed, developed, manufactured and operated in-house by engineers at JSC, the Morpheus Project represents an unprecedented departure from recent NASA programs that traditionally require longer, more expensive development lifecycles and testing at remote, dedicated testing facilities. Morpheus testing includes three major types of integrated tests. A hot-fire (HF) is a static vehicle test of the LOX/Methane propulsion system. Tether tests (TT) have the vehicle suspended above the ground using a crane, which allows testing of the propulsion and integrated Guidance, Navigation, and Control (GN&C) in hovering flight without the risk of a vehicle departure or crash. Morpheus free-flights (FF) test the complete Morpheus system without the additional safeguards provided during tether. A variety of free-flight trajectories are planned to incrementally build up to a fully functional Morpheus lander capable of flying planetary landing trajectories. In FY12, these tests will culminate with autonomous flights simulating a 1 km lunar approach trajectory, hazard avoidance maneuvers and precision landing in a prepared hazard field at the Kennedy Space Center (KSC). This paper describes Morpheus integrated testing campaign, infrastructure, and facilities, and the payloads being incorporated on the vehicle. The Project s fast pace, rapid prototyping, frequent testing, and lessons learned depart from traditional engineering development at JSC. The Morpheus team employs lean, agile development with a guiding belief that technologies offer promise, but capabilities offer solutions, achievable without astronomical costs and timelines.

Autonomous control systems - Architecture and fundamental issues

NASA Technical Reports Server (NTRS)

Antsaklis, P. J.; Passino, K. M.; Wang, S. J.

1988-01-01

A hierarchical functional autonomous controller architecture is introduced. In particular, the architecture for the control of future space vehicles is described in detail; it is designed to ensure the autonomous operation of the control system and it allows interaction with the pilot and crew/ground station, and the systems on board the autonomous vehicle. The fundamental issues in autonomous control system modeling and analysis are discussed. It is proposed to utilize a hybrid approach to modeling and analysis of autonomous systems. This will incorporate conventional control methods based on differential equations and techniques for the analysis of systems described with a symbolic formalism. In this way, the theory of conventional control can be fully utilized. It is stressed that autonomy is the design requirement and intelligent control methods appear at present, to offer some of the necessary tools to achieve autonomy. A conventional approach may evolve and replace some or all of the `intelligent' functions. It is shown that in addition to conventional controllers, the autonomous control system incorporates planning, learning, and FDI (fault detection and identification).

Automated Detection and Classification in High-Resolution Sonar Imagery for Autonomous Underwater Vehicle Operations

DTIC Science & Technology

2008-12-01

n. , ’>, ,. Australian Government Department of Defence Defence Science and Technology Organisation Automated Detection and Classification in... Organisation DSTO-GD-0537 ABSTRACT Autonomous Underwater Vehicles (AUVs) are increasingly being used by military forces to acquire high-resolution sonar...release Published by Maritime Operations Division DsTO Defrnce sdence and Technology Organisation PO Box 1500 Edinburgh South Australia 5111 Australia

Autonomous Underwater Vehicle Architecture Synthesis for Shipwreck Interior Exploration

DTIC Science & Technology

2015-12-01

silt-out, strong and unpredictable currents, abrasion puncture and shock damage, temperature and pressure variations, toxic substances, corrosion...smooth to resist snagging on debris, and sufficiently lightweight to be portable by two men. 2. The vehicle shall be capable of autonomous...1989, the Komsomolets (K-278), a Russian nuclear attack submarine operating in the Norwegian Sea, went down after unsuccessfully fighting a fire in

Demonstration of Self-Training Autonomous Neural Networks in Space Vehicle Docking Simulations

NASA Technical Reports Server (NTRS)

Patrick, M. Clinton; Thaler, Stephen L.; Stevenson-Chavis, Katherine

2006-01-01

Neural Networks have been under examination for decades in many areas of research, with varying degrees of success and acceptance. Key goals of computer learning, rapid problem solution, and automatic adaptation have been elusive at best. This paper summarizes efforts at NASA's Marshall Space Flight Center harnessing such technology to autonomous space vehicle docking for the purpose of evaluating applicability to future missions.

Multiple Integrated Navigation Sensors for Improved Occupancy Grid FastSLAM

DTIC Science & Technology

2011-03-01

to the Faculty Department of Electrical and Computer Engineering Graduate School of Engineering and Management Air Force Institute of Technology Air...autonomous vehicle exploration with applications to search and rescue. To current knowledge , this research presents the first SLAM solution to...solution is a key component of an autonomous vehicle, especially one whose mission involves gaining knowledge of unknown areas. It provides the ability

Tracked robot controllers for climbing obstacles autonomously

NASA Astrophysics Data System (ADS)

Vincent, Isabelle

2009-05-01

Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

Toward detection of marine vehicles on horizon from buoy camera

NASA Astrophysics Data System (ADS)

Fefilatyev, Sergiy; Goldgof, Dmitry B.; Langebrake, Lawrence

2007-10-01

This paper presents a new technique for automatic detection of marine vehicles in open sea from a buoy camera system using computer vision approach. Users of such system include border guards, military, port safety and flow management, sanctuary protection personnel. The system is intended to work autonomously, taking images of the surrounding ocean surface and analyzing them on the subject of presence of marine vehicles. The goal of the system is to detect an approximate window around the ship and prepare the small image for transmission and human evaluation. The proposed computer vision-based algorithm combines horizon detection method with edge detection and post-processing. The dataset of 100 images is used to evaluate the performance of proposed technique. We discuss promising results of ship detection and suggest necessary improvements for achieving better performance.

Navigation of autonomous vehicles for oil spill cleaning in dynamic and uncertain environments

NASA Astrophysics Data System (ADS)

Jin, Xin; Ray, Asok

2014-04-01

In the context of oil spill cleaning by autonomous vehicles in dynamic and uncertain environments, this paper presents a multi-resolution algorithm that seamlessly integrates the concepts of local navigation and global navigation based on the sensory information; the objective here is to enable adaptive decision making and online replanning of vehicle paths. The proposed algorithm provides a complete coverage of the search area for clean-up of the oil spills and does not suffer from the problem of having local minima, which is commonly encountered in potential-field-based methods. The efficacy of the algorithm is tested on a high-fidelity player/stage simulator for oil spill cleaning in a harbour, where the underlying oil weathering process is modelled as 2D random-walk particle tracking. A preliminary version of this paper was presented by X. Jin and A. Ray as 'Coverage Control of Autonomous Vehicles for Oil Spill Cleaning in Dynamic and Uncertain Environments', Proceedings of the American Control Conference, Washington, DC, June 2013, pp. 2600-2605.

Upper Ocean Profiles Measurements with ASIP

NASA Astrophysics Data System (ADS)

Ward, B.; Callaghan, A. H.; Fristedt, T.; Vialard, J.; Cuypers, Y.; Weller, R. A.; Grosch, C. E.

2009-04-01

This presentation describes results from the Air-Sea Interaction Profiler (ASIP), an autonomous profiling instrument for upper ocean measurements. The measurements from ASIP are well suited to enhancing research on air-sea interfacial and near surface processes. Autonomous profiling is accomplished with a thruster, which submerges ASIP to a programmed depth. Once this depth is reached the positively buoyant instrument will ascend to the surface acquiring data. ASIP can profile from a maximum depth of 100 m to the surface, allowing both mixed layer and near-surface measurements to be conducted. The sensor payload on ASIP include microstructure sensors (two shear probes and a thermistor); a slow response accurate thermometer; a pair of conductivity sensors; pressure for a record of depth; PAR for measurements of light absorption in the water column. Other non-environmental sensors are acceleration, rate, and heading for determination of vehicle motion. Power is provided with rechargable lithium-ion batteries, supplying 1000 Whr, allowing approximately 300 profiles. ASIP also contains an iridium/GPS system, which allows realtime reporting of its position. ASIP was deployed extensively during the Cirene Indian Ocean campaign and our results focus on the data from the temperature, salinity, light, and shear sensors.

Real-Time Hazard Detection and Avoidance Demonstration for a Planetary Lander

NASA Technical Reports Server (NTRS)

Epp, Chirold D.; Robertson, Edward A.; Carson, John M., III

2014-01-01

The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project is chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. In addition to precision landing close to a pre-mission defined landing location, the ALHAT System must be capable of autonomously identifying and avoiding surface hazards in real-time to enable a safe landing under any lighting conditions. This paper provides an overview of the recent results of the ALHAT closed loop hazard detection and avoidance flight demonstrations on the Morpheus Vertical Testbed (VTB) at the Kennedy Space Center, including results and lessons learned. This effort is also described in the context of a technology path in support of future crewed and robotic planetary exploration missions based upon the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN).

Automated and connected vehicle implications and analysis.

DOT National Transportation Integrated Search

2017-05-01

Automated and connected vehicles (ACV) and, in particular, autonomous vehicles have captured : the interest of the public, industry and transportation authorities. ACVs can significantly reduce : accidents, fuel consumption, pollution and the costs o...

Investigations into near-real-time surveying for geophysical data collection using an autonomous ground vehicle

USGS Publications Warehouse

Phelps, Geoffrey A.; Ippolito, C.; Lee, R.; Spritzer, R.; Yeh, Y.

2014-01-01

The U.S. Geological Survey and the National Aeronautics and Space Administration are cooperatively investigating the utility of unmanned vehicles for near-real-time autonomous surveys of geophysical data collection. Initially focused on unmanned ground vehicle collection of magnetic data, this cooperative effort has brought unmanned surveying, precision guidance, near-real-time communication, on-the-fly data processing, and near-real-time data interpretation into the realm of ground geophysical surveying, all of which offer advantages over current methods of manned collection of ground magnetic data. An unmanned ground vehicle mission has demonstrated that these vehicles can successfully complete missions to collect geophysical data, and add advantages in data collection, processing, and interpretation. We view the current experiment as an initial phase in further unmanned vehicle data-collection missions, including aerial surveying.

Autonomous RPRV Navigation, Guidance and Control

NASA Technical Reports Server (NTRS)

Johnston, Donald E.; Myers, Thomas T.; Zellner, John W.

1983-01-01

Dryden Flight Research Center has the responsibility for flight testing of advanced remotely piloted research vehicles (RPRV) to explore highly maneuverable aircraft technology, and to test advanced structural concepts, and related aeronautical technologies which can yield important research results with significant cost benefits. The primary purpose is to provide the preliminary design of an upgraded automatic approach and landing control system and flight director display to improve landing performance and reduce pilot workload. A secondary purpose is to determine the feasibility of an onboard autonomous navigation, orbit, and landing capability for safe vehicle recovery in the event of loss of telemetry uplink communication with the vehicles. The current RPRV approach and landing method, the proposed automatic and manual approach and autoland system, and an autonomous navigation, orbit, and landing system concept which is based on existing operational technology are described.

Novel Intersection Type Recognition for Autonomous Vehicles Using a Multi-Layer Laser Scanner.

PubMed

An, Jhonghyun; Choi, Baehoon; Sim, Kwee-Bo; Kim, Euntai

2016-07-20

There are several types of intersections such as merge-roads, diverge-roads, plus-shape intersections and two types of T-shape junctions in urban roads. When an autonomous vehicle encounters new intersections, it is crucial to recognize the types of intersections for safe navigation. In this paper, a novel intersection type recognition method is proposed for an autonomous vehicle using a multi-layer laser scanner. The proposed method consists of two steps: (1) static local coordinate occupancy grid map (SLOGM) building and (2) intersection classification. In the first step, the SLOGM is built relative to the local coordinate using the dynamic binary Bayes filter. In the second step, the SLOGM is used as an attribute for the classification. The proposed method is applied to a real-world environment and its validity is demonstrated through experimentation.

Novel Intersection Type Recognition for Autonomous Vehicles Using a Multi-Layer Laser Scanner

PubMed Central

An, Jhonghyun; Choi, Baehoon; Sim, Kwee-Bo; Kim, Euntai

2016-01-01

There are several types of intersections such as merge-roads, diverge-roads, plus-shape intersections and two types of T-shape junctions in urban roads. When an autonomous vehicle encounters new intersections, it is crucial to recognize the types of intersections for safe navigation. In this paper, a novel intersection type recognition method is proposed for an autonomous vehicle using a multi-layer laser scanner. The proposed method consists of two steps: (1) static local coordinate occupancy grid map (SLOGM) building and (2) intersection classification. In the first step, the SLOGM is built relative to the local coordinate using the dynamic binary Bayes filter. In the second step, the SLOGM is used as an attribute for the classification. The proposed method is applied to a real-world environment and its validity is demonstrated through experimentation. PMID:27447640

Design of an autonomous lunar construction utility vehicle

NASA Technical Reports Server (NTRS)

1990-01-01

In order to prepare a site for a lunar base, an autonomously operated construction vehicle is necessary. Discussed here is a Lunar Construction Utility Vehicle (LCUV), which uses interchangeable construction implements. Design of an elastic loop track system has advanced to the testing stage. A standard coupling device has been designed to insure a proper connection between the different construction tools and the LCUV. Autonomous control of the track drive motors was simulated successfully through the use of a joystick and a computer interface. A study of hydrogen-oxygen fuel cells produced estimates of reactant and product requirements and identified multilayer insulation needs. Research on the 100-kW heat rejection system determined that it is necessary to transport the radiator panel on a utility trailer. Extensive logistical support for the 720 hour use cycle requires further study.

Robot Towed Shortwave Infrared Camera for Specific Surface Area Retrieval of Surface Snow

NASA Astrophysics Data System (ADS)

Elliott, J.; Lines, A.; Ray, L.; Albert, M. R.

2017-12-01

Optical grain size and specific surface area are key parameters for measuring the atmospheric interactions of snow, as well as tracking metamorphosis and allowing for the ground truthing of remote sensing data. We describe a device using a shortwave infrared camera with changeable optical bandpass filters (centered at 1300 nm and 1550 nm) that can be used to quickly measure the average SSA over an area of 0.25 m^2. The device and method are compared with calculations made from measurements taken with a field spectral radiometer. The instrument is designed to be towed by a small autonomous ground vehicle, and therefore rides above the snow surface on ultra high molecular weight polyethylene (UHMW) skis.

Alternative Fuels Data Center

Science.gov Websites

in Nevada unless it is capable of operating in compliance with all applicable motor vehicle and traffic laws, it has been granted an exemption by the Nevada Department of Motor Vehicles (DMV), and it system fails. Autonomous vehicles are motor vehicles equipped with technology that allows vehicle

Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis

NASA Astrophysics Data System (ADS)

Aizzat Zakaria, Muhammad; Zamzuri, Hairi; Amri Mazlan, Saiful

2016-02-01

This paper discusses the design of dynamic curvature steering control for autonomous vehicle. The lateral control and longitudinal control are discussed in this paper. The controller is designed based on the dynamic curvature calculation to estimate the path condition and modify the vehicle speed and steering wheel angle accordingly. In this paper, the simulation results are presented to show the capability of the controller to track the reference path. The controller is able to predict the path and modify the vehicle speed to suit the path condition. The effectiveness of the controller is shown in this paper whereby identical performance is achieved with the benchmark but with extra curvature adaptation capabilites.

Autonomous Locator of Thermals (ALOFT) Autonomous Soaring Algorithm

DTIC Science & Technology

2015-04-03

estimator used on the NRL CICADA Mk 3 micro air vehicle [13]. An extended Kalman filter (EKF) was designed to estimate the airspeed sensor bias and...Boulder, 2007. ALOFT Autonomous Soaring Algorithm 31 13. A.D. Kahn and D.J. Edwards, “Navigation, Guidance and Control for the CICADA Expendable

Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

NASA Technical Reports Server (NTRS)

Zornetzer, Steve; Gage, Douglas

2005-01-01

Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion.

Feasibility of an Extended-Duration Aerial Platform Using Autonomous Multi-Rotor Vehicle Swapping and Battery Management

DTIC Science & Technology

2017-12-01

AN EXTENDED-DURATION AERIAL PLATFORM USING AUTONOMOUS MULTI-ROTOR VEHICLE SWAPPING AND BATTERY MANAGEMENT by Alexander G. Williams December...Approved OMB No. 0704-0188 Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time...of information . Send comments regarding this burden estimate or any other aspect of this collection of information , including suggestions for

Deployment of Shaped Charges by a Semi-Autonomous Ground Vehicle

DTIC Science & Technology

2007-06-01

lives on a daily basis. BigFoot seeks to replace the local human component by deploying and remotely detonating shaped charges to destroy IEDs...robotic arm to deploy and remotely detonate shaped charges. BigFoot incorporates improved communication range over previous Autonomous Ground Vehicles...and an updated user interface that includes controls for the arm and camera by interfacing multiple microprocessors. BigFoot is capable of avoiding

Robotic reactions: delay-induced patterns in autonomous vehicle systems.

PubMed

Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

2010-02-01

Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

Robotic reactions: Delay-induced patterns in autonomous vehicle systems

NASA Astrophysics Data System (ADS)

Orosz, Gábor; Moehlis, Jeff; Bullo, Francesco

2010-02-01

Fundamental design principles are presented for vehicle systems governed by autonomous cruise control devices. By analyzing the corresponding delay differential equations, it is shown that for any car-following model short-wavelength oscillations can appear due to robotic reaction times, and that there are tradeoffs between the time delay and the control gains. The analytical findings are demonstrated on an optimal velocity model using numerical continuation and numerical simulation.

Ribbon networks for modeling navigable paths of autonomous agents in virtual environments.

PubMed

Willemsen, Peter; Kearney, Joseph K; Wang, Hongling

2006-01-01

This paper presents the Environment Description Framework (EDF) for modeling complex networks of intersecting roads and pathways in virtual environments. EDF represents information about the layout of streets and sidewalks, the rules that govern behavior on roads and walkways, and the locations of agents with respect to navigable structures. The framework serves as the substrate on which behavior programs for autonomous vehicles and pedestrians are built. Pathways are modeled as ribbons in space. The ribbon structure provides a natural coordinate frame for defining the local geometry of navigable surfaces. EDF includes a powerful runtime interface supported by robust and efficient code for locating objects on the ribbon network, for mapping between Cartesian and ribbon coordinates, and for determining behavioral constraints imposed by the environment.

Using Thermal Radiation in Detection of Negative Obstacles

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.; Matthies, Larry H.

2009-01-01

A method of automated detection of negative obstacles (potholes, ditches, and the like) ahead of ground vehicles at night involves processing of imagery from thermal-infrared cameras aimed at the terrain ahead of the vehicles. The method is being developed as part of an overall obstacle-avoidance scheme for autonomous and semi-autonomous offroad robotic vehicles. The method could also be applied to help human drivers of cars and trucks avoid negative obstacles -- a development that may entail only modest additional cost inasmuch as some commercially available passenger cars are already equipped with infrared cameras as aids for nighttime operation.

Autonomous Planning and Replanning for Mine-Sweeping Unmanned Underwater Vehicles

NASA Technical Reports Server (NTRS)

Gaines, Daniel M.

2010-01-01

This software generates high-quality plans for carrying out mine-sweeping activities under resource constraints. The autonomous planning and replanning system for unmanned underwater vehicles (UUVs) takes as input a set of prioritized mine-sweep regions, and a specification of available UUV resources including available battery energy, data storage, and time available for accomplishing the mission. Mine-sweep areas vary in location, size of area to be swept, and importance of the region. The planner also works with a model of the UUV, as well as a model of the power consumption of the vehicle when idle and when moving.

Advanced Communication and Networking Technologies for Mars Exploration

NASA Technical Reports Server (NTRS)

Bhasin, Kul; Hayden, Jeff; Agre, Jonathan R.; Clare, Loren P.; Yan, Tsun-Yee

2001-01-01

Next-generation Mars communications networks will provide communications and navigation services to a wide variety of Mars science vehicles including: spacecraft that are arriving at Mars, spacecraft that are entering and descending in the Mars atmosphere, scientific orbiter spacecraft, spacecraft that return Mars samples to Earth, landers, rovers, aerobots, airplanes, and sensing pods. In the current architecture plans, the communication services will be provided using capabilities deployed on the science vehicles as well as dedicated communication satellites that will together make up the Mars network. This network will evolve as additional vehicles arrive, depart or end their useful missions. Cost savings and increased reliability will result from the ability to share communication services between missions. This paper discusses the basic architecture that is needed to support the Mars Communications Network part of NASA's Space Science Enterprise (SSE) communications architecture. The network may use various networking technologies such as those employed in the terrestrial Internet, as well as special purpose deep-space protocols to move data and commands autonomously between vehicles, at disparate Mars vicinity sites (on the surface or in near-Mars space) and between Mars vehicles and earthbound users. The architecture of the spacecraft on-board local communications is being reconsidered in light of these new networking requirements. The trend towards increasingly autonomous operation of the spacecraft is aimed at reducing the dependence on resource scheduling provided by Earth-based operators and increasing system fault tolerance. However, these benefits will result in increased communication and software development requirements. As a result, the envisioned Mars communications infrastructure requires both hardware and protocol technology advancements. This paper will describe a number of the critical technology needs and some of the ongoing research activities.

Aerobot Autonomy Architecture

NASA Technical Reports Server (NTRS)

Elfes, Alberto; Hall, Jeffery L.; Kulczycki, Eric A.; Cameron, Jonathan M.; Morfopoulos, Arin C.; Clouse, Daniel S.; Montgomery, James F.; Ansar, Adnan I.; Machuzak, Richard J.

2009-01-01

An architecture for autonomous operation of an aerobot (i.e., a robotic blimp) to be used in scientific exploration of planets and moons in the Solar system with an atmosphere (such as Titan and Venus) is undergoing development. This architecture is also applicable to autonomous airships that could be flown in the terrestrial atmosphere for scientific exploration, military reconnaissance and surveillance, and as radio-communication relay stations in disaster areas. The architecture was conceived to satisfy requirements to perform the following functions: a) Vehicle safing, that is, ensuring the integrity of the aerobot during its entire mission, including during extended communication blackouts. b) Accurate and robust autonomous flight control during operation in diverse modes, including launch, deployment of scientific instruments, long traverses, hovering or station-keeping, and maneuvers for touch-and-go surface sampling. c) Mapping and self-localization in the absence of a global positioning system. d) Advanced recognition of hazards and targets in conjunction with tracking of, and visual servoing toward, targets, all to enable the aerobot to detect and avoid atmospheric and topographic hazards and to identify, home in on, and hover over predefined terrain features or other targets of scientific interest. The architecture is an integrated combination of systems for accurate and robust vehicle and flight trajectory control; estimation of the state of the aerobot; perception-based detection and avoidance of hazards; monitoring of the integrity and functionality ("health") of the aerobot; reflexive safing actions; multi-modal localization and mapping; autonomous planning and execution of scientific observations; and long-range planning and monitoring of the mission of the aerobot. The prototype JPL aerobot (see figure) has been tested extensively in various areas in the California Mojave desert.

An Optimized, Data Distribution Service-Based Solution for Reliable Data Exchange Among Autonomous Underwater Vehicles

PubMed Central

Bilbao, Sonia; Martínez, Belén; Frasheri, Mirgita; Cürüklü, Baran

2017-01-01

Major challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the environment presents issues that surpass the ones found in other overwater, distributed, cyber-physical systems (i.e., low bandwidth, unreliable transport medium, data representation and hardware high heterogeneity). This manuscript presents a Publish/Subscribe-based semantic middleware solution for unreliable scenarios and vehicle interoperability across cooperative and heterogeneous autonomous vehicles. The middleware relies on different iterations of the Data Distribution Service (DDS) software standard and their combined work between autonomous maritime vehicles and a control entity. It also uses several components with different functionalities deemed as mandatory for a semantic middleware architecture oriented to maritime operations (device and service registration, context awareness, access to the application layer) where other technologies are also interweaved with middleware (wireless communications, acoustic networks). Implementation details and test results, both in a laboratory and a deployment scenario, have been provided as a way to assess the quality of the system and its satisfactory performance. PMID:28783049

An Optimized, Data Distribution Service-Based Solution for Reliable Data Exchange Among Autonomous Underwater Vehicles.

PubMed

Rodríguez-Molina, Jesús; Bilbao, Sonia; Martínez, Belén; Frasheri, Mirgita; Cürüklü, Baran

2017-08-05

Major challenges are presented when managing a large number of heterogeneous vehicles that have to communicate underwater in order to complete a global mission in a cooperative manner. In this kind of application domain, sending data through the environment presents issues that surpass the ones found in other overwater, distributed, cyber-physical systems (i.e., low bandwidth, unreliable transport medium, data representation and hardware high heterogeneity). This manuscript presents a Publish/Subscribe-based semantic middleware solution for unreliable scenarios and vehicle interoperability across cooperative and heterogeneous autonomous vehicles. The middleware relies on different iterations of the Data Distribution Service (DDS) software standard and their combined work between autonomous maritime vehicles and a control entity. It also uses several components with different functionalities deemed as mandatory for a semantic middleware architecture oriented to maritime operations (device and service registration, context awareness, access to the application layer) where other technologies are also interweaved with middleware (wireless communications, acoustic networks). Implementation details and test results, both in a laboratory and a deployment scenario, have been provided as a way to assess the quality of the system and its satisfactory performance.

Space imaging infrared optical guidance for autonomous ground vehicle

NASA Astrophysics Data System (ADS)

Akiyama, Akira; Kobayashi, Nobuaki; Mutoh, Eiichiro; Kumagai, Hideo; Yamada, Hirofumi; Ishii, Hiromitsu

2008-08-01

We have developed the Space Imaging Infrared Optical Guidance for Autonomous Ground Vehicle based on the uncooled infrared camera and focusing technique to detect the objects to be evaded and to set the drive path. For this purpose we made servomotor drive system to control the focus function of the infrared camera lens. To determine the best focus position we use the auto focus image processing of Daubechies wavelet transform technique with 4 terms. From the determined best focus position we transformed it to the distance of the object. We made the aluminum frame ground vehicle to mount the auto focus infrared unit. Its size is 900mm long and 800mm wide. This vehicle mounted Ackerman front steering system and the rear motor drive system. To confirm the guidance ability of the Space Imaging Infrared Optical Guidance for Autonomous Ground Vehicle we had the experiments for the detection ability of the infrared auto focus unit to the actual car on the road and the roadside wall. As a result the auto focus image processing based on the Daubechies wavelet transform technique detects the best focus image clearly and give the depth of the object from the infrared camera unit.

Optimality and oscillations near the edge of stability in the dynamics of autonomous vehicle platoons

NASA Astrophysics Data System (ADS)

Davis, L. C.

2013-09-01

A model that includes the mechanical response of a vehicle to a demanded change in acceleration is analyzed to determine the string stability of a platoon of autonomous vehicles. The response is characterized by a first-order time constant τ and an explicit delay td. The minimum value of the acceleration feedback control gain is found from calculations of the velocity of vehicles following a lead vehicle that decelerates sharply from high speed to low speed. Larger values of ξ (in the stable range) give larger values of deceleration for vehicles in the platoon. Optimal operation is attained close to the minimum value of ξ for stability. Small oscillations are found after the main peak in deceleration for ξ in the stable region but near the transition to instability. A theory for predicting the frequency and amplitude of the oscillations is presented.

Residential Ventilation: A Review of Established Systems and a Laboratory Investigation of the Fine Wire Heat Recovery Ventilator

NASA Astrophysics Data System (ADS)

von Hippel, Matthew Hans Benjamin

A novel vehicle concept is introduced and its feasibility as an autonomous, self-propelled weather buoy for use in violent storm systems is analyzed. The vehicle concept is a spar sailboat -- consisting of only a deep keel and a sailing rig; no hull -- a design which is intended to improve longevity in rough seas as well as provide ideal placement opportunities for meteorological sensors. To evaluate the hypothetical locomotive and meteorological observation capabilities of the concept sailing spar in hurricane-like conditions, several relevant oceanographic phenomena are analyzed with the performance of the concept vehicle in mind. Enthalpy transfer from the ocean to the air is noted as the primary driving force of tropical storms and therefore becomes the measuring objective of the sailing spar. A discrete, iterative process for optimizing driving force while achieving equilibrium between the four airfoil surfaces is used to steer the sailing spar towards any objective despite variable and opposing simulated winds. Based on the limitations of sailing theory, logic is developed to autonomously navigate the sailing spar between human-selected waypoints on a digitized geographic map. Due the perceived inability to measure air-sea enthalpy exchange because the nature of tropical storms and due to its small scale, the sailing spar is deemed infeasible as a hurricane-capable meteorological observation platform.

Passive Bottom Loss Estimation Using Compact Arrays and Autonomous Underwater Vehicles

DTIC Science & Technology

2015-09-30

advances in the technology of autonomous underwater vehicles ( AUV ), make it now possible to envision an efficient, cost effective survey tool for seabed...characterization composed of a short array mounted on an AUV . While AUV mounting would require arrays of length presumably below 2m, the passive...frequency range indicated above, the poor angular resolution of the short arrays required in AUV deployment causes an underestimation of the loss

Autonomous Underwater Vehicle Navigation

DTIC Science & Technology

2008-02-01

three standard deviations are ignored as indicated by the × marker. 25 7. REFERENCES [1] R. G. Brown and P. Y. C. Hwang , Introduction to Random Signals...autonomous underwater vehicle with six degrees of freedom. We approach this problem using an error state formulation of the Kalman filter. Integration...each position fix, but is this ad-hoc method optimal? Here, we present an approach using an error state formulation of the Kalman filter to provide an

On-Line Point Positioning with Single Frame Camera Data

DTIC Science & Technology

1992-03-15

tion algorithms and methods will be found in robotics and industrial quality control. 1. Project data The project has been defined as "On-line point...development and use of the OLT algorithms and meth- ods for applications in robotics , industrial quality control and autonomous vehicle naviga- tion...Of particular interest in robotics and autonomous vehicle navigation is, for example, the task of determining the position and orientation of a mobile

Design of an autonomous Lunar construction utility vehicle

NASA Technical Reports Server (NTRS)

Ash, Robert L.; Chew, Mason; Dixon, Iain (Editor)

1990-01-01

In order to prepare a site for a manned lunar base, an autonomously operated construction vehicle is necessary. A Lunar Construction Utility Vehicle (LCUV), which utilizes interchangeable construction implements, was designed conceptually. Some elements of the machine were studied in greater detail. Design of an elastic loop track system has advanced to the testing stage. A standard coupling device was designed to insure a proper connection between the different construction tools and the LCUV. Autonomous control of the track drive motors was simulated successfully through the use of a joystick and computer interface. A study of hydrogen-oxygen fuel cells has produced estimates of reactant and product size requirements and identified multi-layer insulation techniques. Research on a 100 kW heat rejection system has determined that it is necessary to house a radiator panel on a utility trailer. The impact of a 720 hr use cycle has produced a very large logistical support lien which requires further study.

Demonstration of Autonomous Rendezvous Technology (DART) Project Summary

NASA Technical Reports Server (NTRS)

Rumford, TImothy E.

2003-01-01

Since the 1960's, NASA has performed numerous rendezvous and docking missions. The common element of all US rendezvous and docking is that the spacecraft has always been piloted by astronauts. Only the Russian Space Program has developed and demonstrated an autonomous capability. The Demonstration of Autonomous Rendezvous Technology (DART) project currently funded under NASA's Space Launch Initiative (SLI) Cycle I, provides a key step in establishing an autonomous rendezvous capability for the United States. DART's objective is to demonstrate, in space, the hardware and software necessary for autonomous rendezvous. Orbital Sciences Corporation intends to integrate an Advanced Video Guidance Sensor and Autonomous Rendezvous and Proximity Operations algorithms into a Pegasus upper stage in order to demonstrate the capability to autonomously rendezvous with a target currently in orbit. The DART mission will occur in April 2004. The launch site will be Vandenburg AFB and the launch vehicle will be a Pegasus XL equipped with a Hydrazine Auxiliary Propulsion System 4th stage. All mission objectives will be completed within a 24 hour period. The paper provides a summary of mission objectives, mission overview and a discussion on the design features of the chase and target vehicles.

Equipment Proposal for the Autonomous Vehicle Systems Laboratory at UIW

DTIC Science & Technology

2015-04-29

testing, 5) 38 Lego Mindstorm EV3 and Hitechnic Sensors for use in feedback control and autonomous systems for STEM undergraduate and High School...autonomous robots using the Lego Mindstorm EV3. This robotics workshop will be used as a pilot study for next summer when more High School students

Reinforcement Learning with Autonomous Small Unmanned Aerial Vehicles in Cluttered Environments

NASA Technical Reports Server (NTRS)

Tran, Loc; Cross, Charles; Montague, Gilbert; Motter, Mark; Neilan, James; Qualls, Garry; Rothhaar, Paul; Trujillo, Anna; Allen, B. Danette

2015-01-01

We present ongoing work in the Autonomy Incubator at NASA Langley Research Center (LaRC) exploring the efficacy of a data set aggregation approach to reinforcement learning for small unmanned aerial vehicle (sUAV) flight in dense and cluttered environments with reactive obstacle avoidance. The goal is to learn an autonomous flight model using training experiences from a human piloting a sUAV around static obstacles. The training approach uses video data from a forward-facing camera that records the human pilot's flight. Various computer vision based features are extracted from the video relating to edge and gradient information. The recorded human-controlled inputs are used to train an autonomous control model that correlates the extracted feature vector to a yaw command. As part of the reinforcement learning approach, the autonomous control model is iteratively updated with feedback from a human agent who corrects undesired model output. This data driven approach to autonomous obstacle avoidance is explored for simulated forest environments furthering autonomous flight under the tree canopy research. This enables flight in previously inaccessible environments which are of interest to NASA researchers in Earth and Atmospheric sciences.

Lunar Relay Satellite Network for Space Exploration: Architecture, Technologies and Challenges

NASA Technical Reports Server (NTRS)

Bhasin, Kul B.; Hackenberg, Anthony W.; Slywczak, Richard A.; Bose, Prasanta; Bergamo, Marcos; Hayden, Jeffrey L.

2006-01-01

NASA is planning a series of short and long duration human and robotic missions to explore the Moon and then Mars. A key objective of these missions is to grow, through a series of launches, a system of systems infrastructure with the capability for safe and sustainable autonomous operations at minimum cost while maximizing the exploration capabilities and science return. An incremental implementation process will enable a buildup of the communication, navigation, networking, computing, and informatics architectures to support human exploration missions in the vicinities and on the surfaces of the Moon and Mars. These architectures will support all space and surface nodes, including other orbiters, lander vehicles, humans in spacesuits, robots, rovers, human habitats, and pressurized vehicles. This paper describes the integration of an innovative MAC and networking technology with an equally innovative position-dependent, data routing, network technology. The MAC technology provides the relay spacecraft with the capability to autonomously discover neighbor spacecraft and surface nodes, establish variable-rate links and communicate simultaneously with multiple in-space and surface clients at varying and rapidly changing distances while making optimum use of the available power. The networking technology uses attitude sensors, a time synchronization protocol and occasional orbit-corrections to maintain awareness of its instantaneous position and attitude in space as well as the orbital or surface location of its communication clients. A position-dependent data routing capability is used in the communication relay satellites to handle the movement of data among any of multiple clients (including Earth) that may be simultaneously in view; and if not in view, the relay will temporarily store the data from a client source and download it when the destination client comes into view. The integration of the MAC and data routing networking technologies would enable a relay satellite system to provide end-to-end communication services for robotic and human missions in the vicinity, or on the surface of the Moon with a minimum of Earth-based operational support.

Scene analysis for a breadboard Mars robot functioning in an indoor environment

NASA Technical Reports Server (NTRS)

Levine, M. D.

1973-01-01

The problem is delt with of computer perception in an indoor laboratory environment containing rocks of various sizes. The sensory data processing is required for the NASA/JPL breadboard mobile robot that is a test system for an adaptive variably-autonomous vehicle that will conduct scientific explorations on the surface of Mars. Scene analysis is discussed in terms of object segmentation followed by feature extraction, which results in a representation of the scene in the robot's world model.

The Rational Behavior Model: A Multi-Paradigm, Tri-Level Software Architecture for the Control of Autonomous Vehicles

DTIC Science & Technology

1993-03-01

possible over a RF link when surfaced and over acoustic telemetry when submerged . Lockheed Missiles and Space Company has been awarded the contract to...ACL), is purely hierarchical and consists of three major components: the Data Manager, the ACL Controller, and the Model- 22 Based Reasoner ( MBR ). The...Data Manager receives, processes, and analyzes sensor and status data for use by the MBR and ACL Controller. The ACL Controller communicates commands

Optimal steering for kinematic vehicles with applications to spatially distributed agents

NASA Astrophysics Data System (ADS)

Brown, Scott; Praeger, Cheryl E.; Giudici, Michael

While there is no universal method to address control problems involving networks of autonomous vehicles, there exist a few promising schemes that apply to different specific classes of problems, which have attracted the attention of many researchers from different fields. In particular, one way to extend techniques that address problems involving a single autonomous vehicle to those involving teams of autonomous vehicles is to use the concept of Voronoi diagram. The Voronoi diagram provides a spatial partition of the environment the team of vehicles operate in, where each element of this partition is associated with a unique vehicle from the team. The partition induces a graph abstraction of the operating space that is in an one-to-one correspondence with the network abstraction of the team of autonomous vehicles; a fact that can provide both conceptual and analytical advantages during mission planning and execution. In this dissertation, we propose the use of a new class of Voronoi-like partitioning schemes with respect to state-dependent proximity (pseudo-) metrics rather than the Euclidean distance or other generalized distance functions, which are typically used in the literature. An important nuance here is that, in contrast to the Euclidean distance, state-dependent metrics can succinctly capture system theoretic features of each vehicle from the team (e.g., vehicle kinematics), as well as the environment-vehicle interactions, which are induced, for example, by local winds/currents. We subsequently illustrate how the proposed concept of state-dependent Voronoi-like partition can induce local control schemes for problems involving networks of spatially distributed autonomous vehicles by examining a sequential pursuit problem of a maneuvering target by a group of pursuers distributed in the plane. The construction of generalized Voronoi diagrams with respect to state-dependent metrics poses some significant challenges. First, the generalized distance metric may be a function of the direction of motion of the vehicle (anisotropic pseudo-distance function) and/or may not be expressible in closed form. Second, such problems fall under the general class of partitioning problems for which the vehicles' dynamics must be taken into account. The topology of the vehicle's configuration space may be non-Euclidean, for example, it may be a manifold embedded in a Euclidean space. In other words, these problems may not be reducible to generalized Voronoi diagram problems for which efficient construction schemes, analytical and/or computational, exist in the literature. This research effort pursues three main objectives. First, we present the complete solution of different steering problems involving a single vehicle in the presence of motion constraints imposed by the maneuverability envelope of the vehicle and/or the presence of a drift field induced by winds/currents in its vicinity. The analysis of each steering problem involving a single vehicle provides us with a state-dependent generalized metric, such as the minimum time-to-go/come. We subsequently use these state-dependent generalized distance functions as the proximity metrics in the formulation of generalized Voronoi-like partitioning problems. The characterization of the solutions of these state-dependent Voronoi-like partitioning problems using either analytical or computational techniques constitutes the second main objective of this dissertation. The third objective of this research effort is to illustrate the use of the proposed concept of state-dependent Voronoi-like partition as a means for passing from control techniques that apply to problems involving a single vehicle to problems involving networks of spatially distributed autonomous vehicles. To this aim, we formulate the problem of sequential/relay pursuit of a maneuvering target by a group of spatially distributed pursuers and subsequently propose a distributed group pursuit strategy that directly derives from the solution of a state-dependent Voronoi-like partitioning problem. (Abstract shortened by UMI.)

The Wave Glider°: A New Autonomous Surface Vehicle to Augment MBARI's Growing Fleet of Ocean Observing Systems

NASA Astrophysics Data System (ADS)

Tougher, B. B.

2011-12-01

Monterey Bay Aquarium Research Institute's (MBARI) evolving fleet of ocean observing systems has made it possible to collect information and data about a wide variety of ocean parameters, enabling researchers to better understand marine ecosystems. In collaboration with Liquid Robotics Inc, the designer of the Wave Glider autonomous surface vehicle (ASV), MBARI is adding a new capability to its suite of ocean observing tools. This new technology will augment MBARI research programs that use satellites, ships, moorings, drifters, autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs) to improve data collection of temporally and spatially variable oceanographic features. The Wave Glider ASV derives its propulsion from wave energy, while sensors and communications are powered through the use of two solar panels and batteries, enabling it to remain at sea indefinitely. Wave Gliders are remotely controlled via real-time Iridium burst communications, which also permit real-time data telemetry. MBARI has developed Ocean Acidification (OA) moorings to continuously monitor the chemical and physical changes occurring in the ocean as a result of increased levels of atmospheric carbon dioxide (CO2). The moorings are spatially restricted by being anchored to the seafloor, so during the summer of 2011 the ocean acidification sensor suite designed for moorings was integrated into a Wave Glider ASV to increase both temporal and spatial ocean observation capabilities. The OA sensor package enables the measurement of parameters essential to better understanding the changing acidity of the ocean, specifically pCO2, pH, oxygen, salinity and temperature. The Wave Glider will also be equipped with a meteorological sensor suite that will measure air temperature, air pressure, and wind speed and direction. The OA sensor integration into a Wave Glider was part of MBARI's 2011 summer internship program. This project involved designing a new layout for the OA sensors within a Wave Glider aft payload dry box. The Wave Glider OA sensor suite includes the addition of a pCO2 standard tank not included within the current OA moorings. Communication links between MBARI electronics and Liquid Robotics Control and Communications were successfully established in the laboratory, however further steps to fully integrate and test the OA system into a Wave Glider ASV are still needed. In the future these ASVs will provide platforms for additional surface and subsurface instrumentation, particularly with MBARI's upcoming Controlled, Agile, and Novel, Observing Network (CANON) projects. The integration of the OA sensor package into a Wave Glider ASV will make it possible to continuously monitor the marine environment during adverse weather conditions which are often difficult to document but scientifically important.

Potential Occupant Injury Reduction in Pre-Crash System Equipped Vehicles in the Striking Vehicle of Rear-end Crashes.

PubMed

Kusano, Kristofer D; Gabler, Hampton C

2010-01-01

To mitigate the severity of rear-end and other collisions, Pre-Crash Systems (PCS) are being developed. These active safety systems utilize radar and/or video cameras to determine when a frontal crash, such as a front-to-back rear-end collisions, is imminent and can brake autonomously, even with no driver input. Of these PCS features, the effects of autonomous pre-crash braking are estimated. To estimate the maximum potential for injury reduction due to autonomous pre-crash braking in the striking vehicle of rear-end crashes, a methodology is presented for determining 1) the reduction in vehicle crash change in velocity (ΔV) due to PCS braking and 2) the number of injuries that could be prevented due to the reduction in collision severity. Injury reduction was only performed for belted drivers, as unbelted drivers have an unknown risk of being thrown out of position. The study was based on 1,406 rear-end striking vehicles from NASS / CDS years 1993 to 2008. PCS parameters were selected from realistic values and varied to examine the effect on system performance. PCS braking authority was varied from 0.5 G's to 0.8 G's while time to collision (TTC) was held at 0.45 seconds. TTC was then varied from 0.3 second to 0.6 seconds while braking authority was held constant at 0.6 G's. A constant braking pulse (step function) and ramp-up braking pulse were used. The study found that automated PCS braking could reduce the crash ΔV in rear-end striking vehicles by an average of 12% - 50% and avoid 0% - 14% of collisions, depending on PCS parameters. Autonomous PCS braking could potentially reduce the number of injured drivers who are belted by 19% to 57%.

An interactive physics-based unmanned ground vehicle simulator leveraging open source gaming technology: progress in the development and application of the virtual autonomous navigation environment (VANE) desktop

NASA Astrophysics Data System (ADS)

Rohde, Mitchell M.; Crawford, Justin; Toschlog, Matthew; Iagnemma, Karl D.; Kewlani, Guarav; Cummins, Christopher L.; Jones, Randolph A.; Horner, David A.

2009-05-01

It is widely recognized that simulation is pivotal to vehicle development, whether manned or unmanned. There are few dedicated choices, however, for those wishing to perform realistic, end-to-end simulations of unmanned ground vehicles (UGVs). The Virtual Autonomous Navigation Environment (VANE), under development by US Army Engineer Research and Development Center (ERDC), provides such capabilities but utilizes a High Performance Computing (HPC) Computational Testbed (CTB) and is not intended for on-line, real-time performance. A product of the VANE HPC research is a real-time desktop simulation application under development by the authors that provides a portal into the HPC environment as well as interaction with wider-scope semi-automated force simulations (e.g. OneSAF). This VANE desktop application, dubbed the Autonomous Navigation Virtual Environment Laboratory (ANVEL), enables analysis and testing of autonomous vehicle dynamics and terrain/obstacle interaction in real-time with the capability to interact within the HPC constructive geo-environmental CTB for high fidelity sensor evaluations. ANVEL leverages rigorous physics-based vehicle and vehicle-terrain interaction models in conjunction with high-quality, multimedia visualization techniques to form an intuitive, accurate engineering tool. The system provides an adaptable and customizable simulation platform that allows developers a controlled, repeatable testbed for advanced simulations. ANVEL leverages several key technologies not common to traditional engineering simulators, including techniques from the commercial video-game industry. These enable ANVEL to run on inexpensive commercial, off-the-shelf (COTS) hardware. In this paper, the authors describe key aspects of ANVEL and its development, as well as several initial applications of the system.

A reactive system for open terrain navigation: Performance and limitations

NASA Technical Reports Server (NTRS)

Langer, D.; Rosenblatt, J.; Hebert, M.

1994-01-01

We describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the environment in the vicinity of the vehicle, and a planning module which issues commands to the vehicle controller. Our approach is to use the concept of 'early traversability evaluation', and on the use of reactive planning for generating commands to drive the vehicle. We argue that our approach leads to a robust and efficient navigation system. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain.

Robust H∞ output-feedback control for path following of autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

2016-03-01

This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

Development of a large scale Chimera grid system for the Space Shuttle Launch Vehicle

NASA Technical Reports Server (NTRS)

Pearce, Daniel G.; Stanley, Scott A.; Martin, Fred W., Jr.; Gomez, Ray J.; Le Beau, Gerald J.; Buning, Pieter G.; Chan, William M.; Chiu, Ing-Tsau; Wulf, Armin; Akdag, Vedat

1993-01-01

The application of CFD techniques to large problems has dictated the need for large team efforts. This paper offers an opportunity to examine the motivations, goals, needs, problems, as well as the methods, tools, and constraints that defined NASA's development of a 111 grid/16 million point grid system model for the Space Shuttle Launch Vehicle. The Chimera approach used for domain decomposition encouraged separation of the complex geometry into several major components each of which was modeled by an autonomous team. ICEM-CFD, a CAD based grid generation package, simplified the geometry and grid topology definition by provoding mature CAD tools and patch independent meshing. The resulting grid system has, on average, a four inch resolution along the surface.

The NASA Langley Mars Tumbleweed Rover Prototype

NASA Technical Reports Server (NTRS)

Antol, Jeffrey; Chattin, Richard L.; Copeland, Benjamin M.; Krizann, Shawn A.

2005-01-01

Mars Tumbleweed is a concept for an autonomous rover that would achieve mobility through use of the natural winds on Mars. The wind-blown nature of this vehicle make it an ideal platform for conducting random surveys of the surface, scouting for signs of past or present life as well as examining the potential habitability of sites for future human exploration. NASA Langley Research Center (LaRC) has been studying the dynamics, aerodynamics, and mission concepts of Tumbleweed rovers and has recently developed a prototype Mars Tumbleweed Rover for demonstrating mission concepts and science measurement techniques. This paper will provide an overview of the prototype design, instrumentation to be accommodated, preliminary test results, and plans for future development and testing of the vehicle.

System Engineering of Autonomous Space Vehicles

NASA Technical Reports Server (NTRS)

Watson, Michael D.; Johnson, Stephen B.; Trevino, Luis

2014-01-01

Human exploration of the solar system requires fully autonomous systems when travelling more than 5 light minutes from Earth. This autonomy is necessary to manage a large, complex spacecraft with limited crew members and skills available. The communication latency requires the vehicle to deal with events with only limited crew interaction in most cases. The engineering of these systems requires an extensive knowledge of the spacecraft systems, information theory, and autonomous algorithm characteristics. The characteristics of the spacecraft systems must be matched with the autonomous algorithm characteristics to reliably monitor and control the system. This presents a large system engineering problem. Recent work on product-focused, elegant system engineering will be applied to this application, looking at the full autonomy stack, the matching of autonomous systems to spacecraft systems, and the integration of different types of algorithms. Each of these areas will be outlined and a general approach defined for system engineering to provide the optimal solution to the given application context.

Development and flight test of a deployable precision landing system

NASA Technical Reports Server (NTRS)

Sim, Alex G.; Murray, James E.; Neufeld, David C.; Reed, R. Dale

1994-01-01

A joint NASA Dryden Flight Research Facility and Johnson Space Center program was conducted to determine the feasibility of the autonomous recovery of a spacecraft using a ram-air parafoil system for the final stages of entry from space that included a precision landing. The feasibility of this system was studied using a flight model of a spacecraft in the generic shape of a flattened biconic that weighed approximately 150 lb and was flown under a commercially available, ram-air parachute. Key elements of the vehicle included the Global Positioning System guidance for navigation, flight control computer, ultrasonic sensing for terminal altitude, electronic compass, and onboard data recording. A flight test program was used to develop and refine the vehicle. This vehicle completed an autonomous flight from an altitude of 10,000 ft and a lateral offset of 1.7 miles that resulted in a precision flare and landing into the wind at a predetermined location. At times, the autonomous flight was conducted in the presence of winds approximately equal to vehicle airspeed. Several novel techniques for computing the winds postflight were evaluated. Future program objectives are also presented.

Obstacle avoidance system with sonar sensing and fuzzy logic

NASA Astrophysics Data System (ADS)

Chiang, Wen-chuan; Kelkar, Nikhal; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of an obstacle avoidance system using sonar sensors for a modular autonomous mobile robot controller. The advantages of a modular system are related to portability and the fact that any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. The obstacle avoidance system is based on a micro-controller interfaced with multiple ultrasonic transducers. This micro-controller independently handles all timing and distance calculations and sends a distance measurement back to the computer via the serial line. This design yields a portable independent system. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous obstacle avoidance controller applicable for any mobile vehicle with only minor adaptations.

Simulation and Flight Control of an Aeroelastic Fixed Wing Micro Aerial Vehicle

NASA Technical Reports Server (NTRS)

Waszak, Martin; Davidson, John B.; Ifju, Peter G.

2002-01-01

Micro aerial vehicles have been the subject of continued interest and development over the last several years. The majority of current vehicle concepts rely on rigid fixed wings or rotors. An alternate design based on an aeroelastic membrane wing has also been developed that exhibits desired characteristics in flight test demonstrations, competition, and in prior aerodynamics studies. This paper presents a simulation model and an assessment of flight control characteristics of the vehicle. Linear state space models of the vehicle associated with typical trimmed level flight conditions and which are suitable for control system design are presented as well. The simulation is used as the basis for the design of a measurement based nonlinear dynamic inversion control system and outer loop guidance system. The vehicle/controller system is the subject of ongoing investigations of autonomous and collaborative control schemes. The results indicate that the design represents a good basis for further development of the micro aerial vehicle for autonomous and collaborative controls research.

3D model generation using an airborne swarm

DOE Office of Scientific and Technical Information (OSTI.GOV)

Clark, R. A.; Punzo, G.; Macdonald, M.

2015-03-31

Using an artificial kinematic field to provide co-ordination between multiple inspection UAVs, the authors herein demonstrate full 3D modelling capability based on a photogrammetric system. The operation of the system is demonstrated by generating a full 3D surface model of an intermediate level nuclear waste storage drum. Such drums require periodic inspection to ensure that drum distortion or corrosion is carefully monitored. Performing this inspection with multiple airborne platforms enables rapid inspection of structures that are inaccessible to on-surface remote vehicles and are in human-hazardous environments. A three-dimensional surface-meshed model of the target can then be constructed in post-processing throughmore » photogrammetry analysis of the visual inspection data. The inspection environment uses a tracking system to precisely monitor the position of each aerial vehicle within the enclosure. The vehicles used are commercially available Parrot AR. Drone quadcopters, controlled through a computer interface connected over an IEEE 802.11n (WiFi) network, implementing a distributed controller for each vehicle. This enables the autonomous and distributed elements of the control scheme to be retained, while alleviating the vehicles of the control algorithm’s computational load. The control scheme relies on a kinematic field defined with the target at its centre. This field defines the trajectory for all the drones in the volume relative to the central target, enabling the drones to circle the target at a set radius while avoiding drone collisions. This function enables complete coverage along the height of the object, which is assured by transitioning to another inspection band only after completing circumferential coverage. Using a swarm of vehicles, the time until complete coverage can be significantly reduced.« less

3D model generation using an airborne swarm

NASA Astrophysics Data System (ADS)

Clark, R. A.; Punzo, G.; Dobie, G.; MacLeod, C. N.; Summan, R.; Pierce, G.; Macdonald, M.; Bolton, G.

2015-03-01

Using an artificial kinematic field to provide co-ordination between multiple inspection UAVs, the authors herein demonstrate full 3D modelling capability based on a photogrammetric system. The operation of the system is demonstrated by generating a full 3D surface model of an intermediate level nuclear waste storage drum. Such drums require periodic inspection to ensure that drum distortion or corrosion is carefully monitored. Performing this inspection with multiple airborne platforms enables rapid inspection of structures that are inaccessible to on-surface remote vehicles and are in human-hazardous environments. A three-dimensional surface-meshed model of the target can then be constructed in post-processing through photogrammetry analysis of the visual inspection data. The inspection environment uses a tracking system to precisely monitor the position of each aerial vehicle within the enclosure. The vehicles used are commercially available Parrot AR. Drone quadcopters, controlled through a computer interface connected over an IEEE 802.11n (WiFi) network, implementing a distributed controller for each vehicle. This enables the autonomous and distributed elements of the control scheme to be retained, while alleviating the vehicles of the control algorithm's computational load. The control scheme relies on a kinematic field defined with the target at its centre. This field defines the trajectory for all the drones in the volume relative to the central target, enabling the drones to circle the target at a set radius while avoiding drone collisions. This function enables complete coverage along the height of the object, which is assured by transitioning to another inspection band only after completing circumferential coverage. Using a swarm of vehicles, the time until complete coverage can be significantly reduced.

Enhanced Constrained Predictive Control for Applications to Autonomous Vehicles and Missions

DTIC Science & Technology

2016-10-18

AFRL /RVSV 3550 Aberdeen Ave, SE 11. SPONSOR/MONITOR’S REPORT Kirtland AFB, NM 87117-5776 NUMBER(S) AFRL -RV-PS-TR-2016-0122 12. DISTRIBUTION...Suite 0944 Ft Belvoir, VA 22060-6218 1 cy AFRL /RVIL Kirtland AFB, NM 87117-5776 2 cys Official Record Copy AFRL /RVSV/Richard S. Erwin 1 cy ... AFRL -RV-PS- AFRL -RV-PS- TR-2016-0122 TR-2016-0122 ENHANCED CONSTRAINED PREDICTIVE CONTROL FOR APPLICATIONS TO AUTONOMOUS VEHICLES

Project Morpheus: Lean Development of a Terrestrial Flight Testbed for Maturing NASA Lander Technologies

NASA Technical Reports Server (NTRS)

Devolites, Jennifer L.; Olansen, Jon B.

2015-01-01

NASA's Morpheus Project has developed and tested a prototype planetary lander capable of vertical takeoff and landing that is designed to serve as a testbed for advanced spacecraft technologies. The lander vehicle, propelled by a Liquid Oxygen (LOX)/Methane engine and sized to carry a 500kg payload to the lunar surface, provides a platform for bringing technologies from the laboratory into an integrated flight system at relatively low cost. In 2012, Morpheus began integrating the Autonomous Landing and Hazard Avoidance Technology (ALHAT) sensors and software onto the vehicle in order to demonstrate safe, autonomous landing and hazard avoidance. From the beginning, one of goals for the Morpheus Project was to streamline agency processes and practices. The Morpheus project accepted a challenge to tailor the traditional NASA systems engineering approach in a way that would be appropriate for a lower cost, rapid prototype engineering effort, but retain the essence of the guiding principles. This paper describes the tailored project life cycle and systems engineering approach for the Morpheus project, including the processes, tools, and amount of rigor employed over the project's multiple lifecycles since the project began in fiscal year (FY) 2011.

Ultra-Wideband Tracking System Design for Relative Navigation

NASA Technical Reports Server (NTRS)

Ni, Jianjun David; Arndt, Dickey; Bgo, Phong; Dekome, Kent; Dusl, John

2011-01-01

This presentation briefly discusses a design effort for a prototype ultra-wideband (UWB) time-difference-of-arrival (TDOA) tracking system that is currently under development at NASA Johnson Space Center (JSC). The system is being designed for use in localization and navigation of a rover in a GPS deprived environment for surface missions. In one application enabled by the UWB tracking, a robotic vehicle carrying equipments can autonomously follow a crewed rover from work site to work site such that resources can be carried from one landing mission to the next thereby saving up-mass. The UWB Systems Group at JSC has developed a UWB TDOA High Resolution Proximity Tracking System which can achieve sub-inch tracking accuracy of a target within the radius of the tracking baseline [1]. By extending the tracking capability beyond the radius of the tracking baseline, a tracking system is being designed to enable relative navigation between two vehicles for surface missions. A prototype UWB TDOA tracking system has been designed, implemented, tested, and proven feasible for relative navigation of robotic vehicles. Future work includes testing the system with the application code to increase the tracking update rate and evaluating the linear tracking baseline to improve the flexibility of antenna mounting on the following vehicle.

Autonomous Flight Safety System

NASA Technical Reports Server (NTRS)

Simpson, James

2010-01-01

The Autonomous Flight Safety System (AFSS) is an independent self-contained subsystem mounted onboard a launch vehicle. AFSS has been developed by and is owned by the US Government. Autonomously makes flight termination/destruct decisions using configurable software-based rules implemented on redundant flight processors using data from redundant GPS/IMU navigation sensors. AFSS implements rules determined by the appropriate Range Safety officials.

Contingency Software in Autonomous Systems: Technical Level Briefing

NASA Technical Reports Server (NTRS)

Lutz, Robyn R.; Patterson-Hines, Ann

2006-01-01

Contingency management is essential to the robust operation of complex systems such as spacecraft and Unpiloted Aerial Vehicles (UAVs). Automatic contingency handling allows a faster response to unsafe scenarios with reduced human intervention on low-cost and extended missions. Results, applied to the Autonomous Rotorcraft Project and Mars Science Lab, pave the way to more resilient autonomous systems.

Autonomous Flying Controls Testbed

NASA Technical Reports Server (NTRS)

Motter, Mark A.

2005-01-01

The Flying Controls Testbed (FLiC) is a relatively small and inexpensive unmanned aerial vehicle developed specifically to test highly experimental flight control approaches. The most recent version of the FLiC is configured with 16 independent aileron segments, supports the implementation of C-coded experimental controllers, and is capable of fully autonomous flight from takeoff roll to landing, including flight test maneuvers. The test vehicle is basically a modified Army target drone, AN/FQM-117B, developed as part of a collaboration between the Aviation Applied Technology Directorate (AATD) at Fort Eustis,Virginia and NASA Langley Research Center. Several vehicles have been constructed and collectively have flown over 600 successful test flights.

Integrating Multiple Autonomous Underwater Vessels, Surface Vessels and Aircraft into Oceanographic Research Vessel Operations

NASA Astrophysics Data System (ADS)

McGillivary, P. A.; Borges de Sousa, J.; Martins, R.; Rajan, K.

2012-12-01

Autonomous platforms are increasingly used as components of Integrated Ocean Observing Systems and oceanographic research cruises. Systems deployed can include gliders or propeller-driven autonomous underwater vessels (AUVs), autonomous surface vessels (ASVs), and unmanned aircraft systems (UAS). Prior field campaigns have demonstrated successful communication, sensor data fusion and visualization for studies using gliders and AUVs. However, additional requirements exist for incorporating ASVs and UASs into ship operations. For these systems to be optimally integrated into research vessel data management and operational planning systems involves addressing three key issues: real-time field data availability, platform coordination, and data archiving for later analysis. A fleet of AUVs, ASVs and UAS deployed from a research vessel is best operated as a system integrated with the ship, provided communications among them can be sustained. For this purpose, Disruptive Tolerant Networking (DTN) software protocols for operation in communication-challenged environments help ensure reliable high-bandwidth communications. Additionally, system components need to have considerable onboard autonomy, namely adaptive sampling capabilities using their own onboard sensor data stream analysis. We discuss Oceanographic Decision Support System (ODSS) software currently used for situational awareness and planning onshore, and in the near future event detection and response will be coordinated among multiple vehicles. Results from recent field studies from oceanographic research vessels using AUVs, ASVs and UAS, including the Rapid Environmental Picture (REP-12) cruise, are presented describing methods and results for use of multi-vehicle communication and deliberative control networks, adaptive sampling with single and multiple platforms, issues relating to data management and archiving, and finally challenges that remain in addressing these technological issues. Significantly, the use of UAS on oceanographic research vessels is just beginning. We report on several initial field efforts which demonstrated that UAS improve spatial and temporal mapping of ocean features, as well as monitoring marine mammal populations, ocean color, sea ice and wave fields and air-sea gas exchange. These studies however also confirm the challenges for shipboard computer systems ingesting and archiving UAS high resolution video, SAR and lidar data. We describe the successful inclusion of DTN communications for: 1) passing video data between two UAS or a UAS and ship; 2) for inclusion of ASVs as communication nodes for AUVs; as well as, 3) enabling extension of adaptive sampling software from AUVs and ASVs to include UAS. In conclusion, we describe how autonomous sampling systems may be best integrated into shipboard oceanographic vessel research to provide new and more comprehensive time-space ocean and atmospheric data collection that is important not only for scientific study, but also for sustainable ocean management, including emergency response capabilities. The recent examples of such integrated studies highlighted confirm ocean and atmospheric studies can more cost-effectively pursued, and in some cases only accomplished, by combining underwater, surface and aircraft autonomous systems with research vessel operations.

Software architecture of biomimetic underwater vehicle

NASA Astrophysics Data System (ADS)

Praczyk, Tomasz; Szymak, Piotr

2016-05-01

Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software. The main task of the software is to move the vehicle along a trajectory with collision avoidance. Moreover, the software has also to manage different devices installed on the vehicle board, e.g. to start and stop cameras, sonars etc. In addition to the software embedded on the vehicle board, the software responsible for managing the vehicle by the operator is also necessary. Its task is to define mission of the vehicle, to start, to stop the mission, to send emergency commands, to monitor vehicle parameters, and to control the vehicle in remotely operated mode. An important objective of the software is also to support development and tests of other software components. To this end, a simulation environment is necessary, i.e. simulation model of the vehicle and all its key devices, the model of the sea environment, and the software to visualize behavior of the vehicle. The paper presents architecture of the software designed for biomimetic autonomous underwater vehicle (BAUV) that is being constructed within the framework of the scientific project financed by Polish National Center of Research and Development.

Next generation sensing platforms for extended deployments in large-scale, multidisciplinary, adaptive sampling and observational networks

NASA Astrophysics Data System (ADS)

Cross, J. N.; Meinig, C.; Mordy, C. W.; Lawrence-Slavas, N.; Cokelet, E. D.; Jenkins, R.; Tabisola, H. M.; Stabeno, P. J.

2016-12-01

New autonomous sensors have dramatically increased the resolution and accuracy of oceanographic data collection, enabling rapid sampling over extremely fine scales. Innovative new autonomous platofrms like floats, gliders, drones, and crawling moorings leverage the full potential of these new sensors by extending spatiotemporal reach across varied environments. During 2015 and 2016, The Innovative Technology for Arctic Exploration Program at the Pacific Marine Environmental Laboratory tested several new types of fully autonomous platforms with increased speed, durability, and power and payload capacity designed to deliver cutting-edge ecosystem assessment sensors to remote or inaccessible environments. The Expendable Ice-Tracking (EXIT) gloat developed by the NOAA Pacific Marine Environmental Laboratory (PMEL) is moored near bottom during the ice-free season and released on an autonomous timer beneath the ice during the following winter. The float collects a rapid profile during ascent, and continues to collect critical, poorly-accessible under-ice data until melt, when data is transmitted via satellite. The autonomous Oculus sub-surface glider developed by the University of Washington and PMEL has a large power and payload capacity and an enhanced buoyancy engine. This 'coastal truck' is designed for the rapid water column ascent required by optical imaging systems. The Saildrone is a solar and wind powered ocean unmanned surface vessel (USV) developed by Saildrone, Inc. in partnership with PMEL. This large-payload (200 lbs), fast (1-7 kts), durable (46 kts winds) platform was equipped with 15 sensors designed for ecosystem assessment during 2016, including passive and active acoustic systems specially redesigned for autonomous vehicle deployments. The senors deployed on these platforms achieved rigorous accuracy and precision standards. These innovative platforms provide new sampling capabilities and cost efficiencies in high-resolution sensor deployment, including reconnaissance for annual fisheries and marine mammal surveys; better linkages between sustained observing platforms; and adaptive deployments that can easily target anomalies as they arise.

Under-vehicle autonomous inspection through undercarriage signatures

NASA Astrophysics Data System (ADS)

Schoenherr, Edward; Smuda, Bill

2005-05-01

Increased threats to gate security have caused recent need for improved vehicle inspection methods at security checkpoints in various fields of defense and security. A fast, reliable system of under-vehicle inspection that detects possibly harmful or unwanted materials hidden on vehicle undercarriages and notifies the user of the presence of these materials while allowing the user a safe standoff distance from the inspection site is desirable. An autonomous under-vehicle inspection system would provide for this. The proposed system would function as follows: A low-clearance tele-operated robotic platform would be equipped with sonar/laser range finding sensors as well as a video camera. As a vehicle to be inspected enters a checkpoint, the robot would autonomously navigate under the vehicle, using algorithms to detect tire locations for weigh points. During this navigation, data would be collected from the sonar/laser range finding hardware. This range data would be used to compile an impression of the vehicle undercarriage. Once this impression is complete, the system would compare it to a database of pre-scanned undercarriage impressions. Based on vehicle makes and models, any variance between the undercarriage being inspected and the impression compared against in the database would be marked as potentially threatening. If such variances exist, the robot would navigate to these locations and place the video camera in such a manner that the location in question can be viewed from a standoff position through a TV monitor. At this time, manual control of the robot navigation and camera control can be taken to imply further, more detailed inspection of the area/materials in question. After-market vehicle modifications would provide some difficulty, yet with enough pre-screening of such modifications, the system should still prove accurate. Also, impression scans that are taken in the field can be stored and tagged with a vehicles's license plate number, and future inspections of that vehicle can be compared to already screened and cleared impressions of the same vehicle in order to search for variance.

Leader-follower function for autonomous military convoys

NASA Astrophysics Data System (ADS)

Vasseur, Laurent; Lecointe, Olivier; Dento, Jerome; Cherfaoui, Nourrdine; Marion, Vincent; Morillon, Joel G.

2004-09-01

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales Airborne Systems as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational added value." The paper details the "robotic convoy" theme (named TEL1), which main purpose is to develop a robotic leader-follower function so that several unmanned vehicles can autonomously follow teleoperated, autonomous or on-board driven leader. Two modes have been implemented: Perceptive follower: each autonomous follower anticipates the trajectory of the vehicle in front of it, thanks to a dedicated perception equipment. This mode is mainly based on the use of perceptive data, without any communication link between leader and follower (to lower the cost of future mass development and extend the operational capabilities). Delayed follower: the leader records its path and transmits it to the follower; the follower is able to follow the recorded trajectory again at any delayed time. This mode uses localization data got from inertial measurements. The paper presents both modes with detailed algorithms and the results got from the military acceptance tests performed on wheeled 4x4 vehicles (DARDS French ATD).

Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

NASA Technical Reports Server (NTRS)

Dufrene, Warren R., Jr.

2004-01-01

This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation through the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The applications of several different types of AI techniques for flight are explored during this research effort. The research concentration is directed to the application of different AI methods within the UAV arena. By evaluating AI and biological system approaches. which include Expert Systems, Neural Networks. Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI and CAS techniques applied to achieving true autonomous operation of these systems. Although flight systems were explored, the benefits should apply to many Unmanned Vehicles such as: Rovers. Ocean Explorers, Robots, and autonomous operation systems. A portion of the flight system is broken down into control agents that represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework for applying an intelligent agent is presented. The initial results from simulation of a security agent for communication are presented.

Human-Vehicle Interface for Semi-Autonomous Operation of Uninhabited Aero Vehicles

NASA Technical Reports Server (NTRS)

Jones, Henry L.; Frew, Eric W.; Woodley, Bruce R.; Rock, Stephen M.

2001-01-01

The robustness of autonomous robotic systems to unanticipated circumstances is typically insufficient for use in the field. The many skills of human user often fill this gap in robotic capability. To incorporate the human into the system, a useful interaction between man and machine must exist. This interaction should enable useful communication to be exchanged in a natural way between human and robot on a variety of levels. This report describes the current human-robot interaction for the Stanford HUMMINGBIRD autonomous helicopter. In particular, the report discusses the elements of the system that enable multiple levels of communication. An intelligent system agent manages the different inputs given to the helicopter. An advanced user interface gives the user and helicopter a method for exchanging useful information. Using this human-robot interaction, the HUMMINGBIRD has carried out various autonomous search, tracking, and retrieval missions.

Development and Testing of Optimized Autonomous and Connected Vehicle Trajectories at Signalized Intersections [summary

DOT National Transportation Integrated Search

2017-12-01

Visions of self-driving vehicles abound in popular science and entertainment. Many programs are at work to make a reality catch of this imagination. Vehicle automation has progressed rapidly in recent years, from simple driver assistance technologies...

The Sentry Autonomous Underwater Vehicle: Field Trial Results and Future Capabilities

NASA Astrophysics Data System (ADS)

Yoerger, D. R.; Bradley, A. M.; Martin, S. C.; Whitcomb, L. L.

2006-12-01

The Sentry autonomous underwater vehicle combines an efficient long range survey capability with the ability to maneuver at low speeds. These attributes will permit Sentry to perform a variety of conventional and unconventional surveys including long range sonar surveys, hydrothermal plume surveys and near-bottom photo surveys. Sentry's streamlined body and fore and aft tilting planes, each possessing an independently controlled thruster, enable efficient operation in both near-bottom and cruising operations. Sentry is capable of being configured in two modes: hover mode, which commands Sentry's control surfaces to be aligned vertically, and forward flight mode, which allows Sentry's control surfaces to actuate between plus or minus 45 degrees. Sentry is equipped for full 6-Degrees of freedom position measurement. Vehicle heading, roll, and pitch are instrumented with a TCM2 PNI heading and attitude sensor. A Systron Donner yaw rate sensor instrumented heading rate. Depth is instrumented by a Paroscientific depth sensor. A 300kHz RD Instruments Doppler Sonar provides altitude and XYZ velocity measurements. In April 2006, we conducted our first deep water field trials of Sentry in Bermuda. These trials enabled us to examine a variety of issues, including the control software, vehicle safety systems, launch and recovery procedures, operation at depth, heading and depth controllers over a range of speeds, and power consumption. Sentry employ's a control system based upon the Jason 2 control system for low-level control, which has proven effective and reliable over several hundred deep-water dives. The Jason 2 control system, developed jointly at Johns Hopkins University and Woods Hole Oceanographic Institution, was augmented to manage Sentry-specific devices (sensors, actuators, and power storage) and to employ a high-level mission controller that supported autonomous mission scripting and error detection and response. This control suite will also support the Nereus Hybrid ROV, also in development at Woods Hole. Both systems performed well during these engineering trials. Sentry's heading and depth controller was tested in a series of trials at different speeds. The heading set point was maintained within approximately ½ degree and appeared to be limited by the precision of the heading sensor. The depth set point, during level flight, was maintained within about 2 centimeters. Based on these tests, we can project Sentry's range as a function of speed. Vehicle speed was measured by a 300 khz bottom-lock Doppler sonar while energy consumption was measured using a coulometer and voltage measurement. The vehicle flew complementary courses at the same levels of forward thrust, which allowed the effects of ambient currents to be eliminated. Assuming a sensor power level consistent with plume survey and bathymetric survey and a 10 kilowatt-hour battery, Sentry will be able to survey 100 km at 2.5 knots and over 150 km at 1.5 knots. Upgrades to Sentry that are presently funded and underway include the addition of an inertial navigation system, improved batteries, a camera system, and a multibeam sonar.

A nonlinear strategy for sensor based vehicle path control

NASA Technical Reports Server (NTRS)

Mayr, R.

1994-01-01

A method of transverse control which makes use of nonlinear formulations is presented. The strategy is utilized to stabilize a vehicle. The vehicle is autonomously guided and takes its control inputs from an optical sensing system. Additionally, the velocity of the vehicle is dictated by a longitudinal controller, which is also discussed.

Guidance and control for unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Bateman, Peter J.

1994-06-01

Techniques for the guidance, control, and navigation of unmanned ground vehicles are described in terms of the communication bandwidth requirements for driving and control of a vehicle remote from the human operator. Modes of operation are conveniently classified as conventional teleoperation, supervisory control, and fully autonomous control. The fundamental problem of maintaining a robust non-line-of-sight communications link between the human controller and the remote vehicle is discussed, as this provides the impetus for greater autonomy in the control system and the greatest scope for innovation. While supervisory control still requires the man to be providing the primary navigational intelligence, fully autonomous operation requires that mission navigation is provided solely by on-board machine intelligence. Methods directed at achieving this performance are described using various active and passive sensing of the terrain for route navigation and obstacle detection. Emphasis is given to TV imagery and signal processing techniques for image understanding. Reference is made to the limitations of current microprocessor technology and suitable computer architectures. Some of the more recent control techniques involve the use of neural networks, fuzzy logic, and data fusion and these are discussed in the context of road following and cross country navigation. Examples of autonomous vehicle testbeds operated at various laboratories around the world are given.

AUV technology heads for new depths[Autonomous Underwater Vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hayes, D.

2000-04-01

High-tech unmanned submarine technologies initially developed by the US Navy are being adapted for a new role to assist the oil and gas industry's shift into deeper waters. To address the problem of costly data acquisition and inaccurate survey data, C and C Technologies of Lafayette, La., has hired Kongsberg Simrad to construct the Hugin 3000 deepwater autonomous underwater vehicle (AUV). As the technology is applied to energy exploration and production advances to meet the deepwater challenges beyond the continental shelf, AUVs will be increasingly employed, it is believed. The paper describes the Hugin project, unexpected situations, the vehicle positionmore » tracking system, vehicle operation and real-time data quality control, real-time data monitoring and control, Hugin field experience, and pipe route surveying.« less

Mechatronic description of a laser autoguided vehicle for greenhouse operations.

PubMed

Sánchez-Hermosilla, Julián; González, Ramón; Rodríguez, Francisco; Donaire, Julián G

2013-01-08

This paper presents a novel approach for guiding mobile robots inside greenhouses demonstrated by promising preliminary physical experiments. It represents a comprehensive attempt to use the successful principles of AGVs (auto-guided vehicles) inside greenhouses, but avoiding the necessity of modifying the crop layout, and avoiding having to bury metallic pipes in the greenhouse floor. The designed vehicle can operate different tools, e.g., a spray system for applying plant-protection product, a lifting platform to reach the top part of the plants to perform pruning and harvesting tasks, and a trailer to transport fruits, plants, and crop waste. Regarding autonomous navigation, it follows the idea of AGVs, but now laser emitters are used to mark the desired route. The vehicle development is analyzed from a mechatronic standpoint (mechanics, electronics, and autonomous control).

Effectiveness of low speed autonomous emergency braking in real-world rear-end crashes.

PubMed

Fildes, B; Keall, M; Bos, N; Lie, A; Page, Y; Pastor, C; Pennisi, L; Rizzi, M; Thomas, P; Tingvall, C

2015-08-01

This study set out to evaluate the effectiveness of low speed autonomous emergency braking (AEB) technology in current model passenger vehicles, based on real-world crash experience. The validating vehicle safety through meta-analysis (VVSMA) group comprising a collaboration of government, industry consumer organisations and researchers, pooled data from a number of countries using a standard analysis format and the established MUND approach. Induced exposure methods were adopted to control for any extraneous effects. The findings showed a 38 percent overall reduction in rear-end crashes for vehicles fitted with AEB compared to a comparison sample of similar vehicles. There was no statistical evidence of any difference in effect between urban (≤60 km/h) and rural (>60 km/h) speed zones. Areas requiring further research were identified and widespread fitment through the vehicle fleet is recommended. Copyright © 2015. Published by Elsevier Ltd.

Autonomous docking ground demonstration

NASA Technical Reports Server (NTRS)

Lamkin, Steve L.; Le, Thomas Quan; Othon, L. T.; Prather, Joseph L.; Eick, Richard E.; Baxter, Jim M.; Boyd, M. G.; Clark, Fred D.; Spehar, Peter T.; Teters, Rebecca T.

1991-01-01

The Autonomous Docking Ground Demonstration is an evaluation of the laser sensor system to support the docking phase (12 ft to contact) when operated in conjunction with the guidance, navigation, and control (GN&C) software. The docking mechanism being used was developed for the Apollo/Soyuz Test Program. This demonstration will be conducted using the 6-DOF Dynamic Test System (DTS). The DTS simulates the Space Station Freedom as the stationary or target vehicle and the Orbiter as the active or chase vehicle. For this demonstration, the laser sensor will be mounted on the target vehicle and the retroflectors will be on the chase vehicle. This arrangement was chosen to prevent potential damage to the laser. The laser sensor system, GN&C, and 6-DOF DTS will be operated closed-loop. Initial conditions to simulate vehicle misalignments, translational and rotational, will be introduced within the constraints of the systems involved.

Nonlinear dynamics of autonomous vehicles with limits on acceleration

NASA Astrophysics Data System (ADS)

Davis, L. C.

2014-07-01

The stability of autonomous vehicle platoons with limits on acceleration and deceleration is determined. If the leading-vehicle acceleration remains within the limits, all vehicles in the platoon remain within the limits when the relative-velocity feedback coefficient is equal to the headway time constant [k=1/h]. Furthermore, if the sensitivity α>1/h, no collisions occur. String stability for small perturbations is assumed and the initial condition is taken as the equilibrium state. Other values of k and α that give stability with no collisions are found from simulations. For vehicles with non-negligible mechanical response, simulations indicate that the acceleration-feedback-control gain might have to be dynamically adjusted to obtain optimal performance as the response time changes with engine speed. Stability is demonstrated for some perturbations that cause initial acceleration or deceleration greater than the limits, yet do not cause collisions.

Local navigation and fuzzy control realization for autonomous guided vehicle

NASA Astrophysics Data System (ADS)

El-Konyaly, El-Sayed H.; Saraya, Sabry F.; Shehata, Raef S.

1996-10-01

This paper addresses the problem of local navigation for an autonomous guided vehicle (AGV) in a structured environment that contains static and dynamic obstacles. Information about the environment is obtained via a CCD camera. The problem is formulated as a dynamic feedback control problem in which speed and steering decisions are made on the fly while the AGV is moving. A decision element (DE) that uses local information is proposed. The DE guides the vehicle in the environment by producing appropriate navigation decisions. Dynamic models of a three-wheeled vehicle for driving and steering mechanisms are derived. The interaction between them is performed via the local feedback DE. A controller, based on fuzzy logic, is designed to drive the vehicle safely in an intelligent and human-like manner. The effectiveness of the navigation and control strategies in driving the AGV is illustrated and evaluated.

Applications suitable for unmanned and autonomous missions utilizing the Tactical Amphibious Ground Support (TAGS) platform

NASA Astrophysics Data System (ADS)

Lewis, Paul J.; Torrie, Mitchel R.; Omilon, Paul M.

2004-09-01

The value of unmanned vehicles is directly related to the applications to which it can be successfully applied. Many applications exist and have been identified as suitable for unmanned vehicles, especially those involving dull, dirty, difficult, and dangerous tasks. This paper will highlight applications, missions, and capabilities that have been demonstrated on the TAGS platform to date as well as future application and mission considerations. When evaluating real world applications for this type of vehicle, one must take into account and balance the complexity inherent to the control and safeguarding requirements of a large autonomous ground vehicle with the simplicity required for commercial or military field use. In addition, suitability for a particular application may be limited by the size, weight, fuel consumption, reliability, terrain crossing capability, and other abilities of a vehicle and the intelligent software system and sensors commanding it.

X-38 Application of Dynamic Inversion Flight Control

NASA Technical Reports Server (NTRS)

Wacker, Roger; Munday, Steve; Merkle, Scott

2001-01-01

This paper summarizes the application of a nonlinear dynamic inversion (DI) flight control system (FCS) to an autonomous flight test vehicle in NASA's X-38 Project, a predecessor to the International Space Station (ISS) Crew Return Vehicle (CRV). Honeywell's Multi-Application Control-H (MACH) is a parameterized FCS design architecture including both model-based DI rate-compensation and classical P+I command-tracking. MACH was adopted by X-38 in order to shorten the design cycle time for different vehicle shapes and flight envelopes and evolving aerodynamic databases. Specific design issues and analysis results are presented for the application of MACH to the 3rd free flight (FF3) of X-38 Vehicle 132 (V132). This B-52 drop test, occurring on March 30, 2000, represents the first flight test of MACH and one of the first few known applications of DI in the primary FCS of an autonomous flight test vehicle.

Aspect-dependent radiated noise analysis of an underway autonomous underwater vehicle.

PubMed

Gebbie, John; Siderius, Martin; Allen, John S

2012-11-01

This paper presents an analysis of the acoustic emissions emitted by an underway REMUS-100 autonomous underwater vehicle (AUV) that were obtained near Honolulu Harbor, HI using a fixed, bottom-mounted horizontal line array (HLA). Spectral analysis, beamforming, and cross-correlation facilitate identification of independent sources of noise originating from the AUV. Fusion of navigational records from the AUV with acoustic data from the HLA allows for an aspect-dependent presentation of calculated source levels of the strongest propulsion tone.

Responsibility for crashes of autonomous vehicles: an ethical analysis.

PubMed

Hevelke, Alexander; Nida-Rümelin, Julian

2015-06-01

A number of companies including Google and BMW are currently working on the development of autonomous cars. But if fully autonomous cars are going to drive on our roads, it must be decided who is to be held responsible in case of accidents. This involves not only legal questions, but also moral ones. The first question discussed is whether we should try to design the tort liability for car manufacturers in a way that will help along the development and improvement of autonomous vehicles. In particular, Patrick Lin's concern that any security gain derived from the introduction of autonomous cars would constitute a trade-off in human lives will be addressed. The second question is whether it would be morally permissible to impose liability on the user based on a duty to pay attention to the road and traffic and to intervene when necessary to avoid accidents. Doubts about the moral legitimacy of such a scheme are based on the notion that it is a form of defamation if a person is held to blame for causing the death of another by his inattention if he never had a real chance to intervene. Therefore, the legitimacy of such an approach would depend on the user having an actual chance to do so. The last option discussed in this paper is a system in which a person using an autonomous vehicle has no duty (and possibly no way) of interfering, but is still held (financially, not criminally) responsible for possible accidents. Two ways of doing so are discussed, but only one is judged morally feasible.

Autonomous Navigation by a Mobile Robot

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand

2005-01-01

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

Fuzzy logic control system to provide autonomous collision avoidance for Mars rover vehicle

NASA Technical Reports Server (NTRS)

Murphy, Michael G.

1990-01-01

NASA is currently involved with planning unmanned missions to Mars to investigate the terrain and process soil samples in advance of a manned mission. A key issue involved in unmanned surface exploration on Mars is that of supporting autonomous maneuvering since radio communication involves lengthy delays. It is anticipated that specific target locations will be designated for sample gathering. In maneuvering autonomously from a starting position to a target position, the rover will need to avoid a variety of obstacles such as boulders or troughs that may block the shortest path to the target. The physical integrity of the rover needs to be maintained while minimizing the time and distance required to attain the target position. Fuzzy logic lends itself well to building reliable control systems that function in the presence of uncertainty or ambiguity. The following major issues are discussed: (1) the nature of fuzzy logic control systems and software tools to implement them; (2) collision avoidance in the presence of fuzzy parameters; and (3) techniques for adaptation in fuzzy logic control systems.

A Low Cost Sensors Approach for Accurate Vehicle Localization and Autonomous Driving Application

PubMed Central

Vassallo, Raquel

2017-01-01

Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best current precise localization system based on the Global Navigation Satellite System (GNSS) can not always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. Laser range finder and stereo vision have been successfully used for obstacle detection, mapping and localization to solve the autonomous driving problem. Unfortunately, Light Detection and Ranging (LIDARs) are very expensive sensors and stereo vision requires powerful dedicated hardware to process the cameras information. In this context, this article presents a low-cost architecture of sensors and data fusion algorithm capable of autonomous driving in narrow two-way roads. Our approach exploits a combination of a short-range visual lane marking detector and a dead reckoning system to build a long and precise perception of the lane markings in the vehicle’s backwards. This information is used to localize the vehicle in a map, that also contains the reference trajectory for autonomous driving. Experimental results show the successful application of the proposed system on a real autonomous driving situation. PMID:29035334

Visual Requirements for Human Drivers and Autonomous Vehicles

DOT National Transportation Integrated Search

2016-03-01

Identification of published literature between 1995 and 2013, focusing on determining the quantity and quality of visual information needed under both driving modes (i.e., human and autonomous) to navigate the road safely, especially as it pertains t...

Ground Contact Modeling for the Morpheus Test Vehicle Simulation

NASA Technical Reports Server (NTRS)

Cordova, Luis

2014-01-01

The Morpheus vertical test vehicle is an autonomous robotic lander being developed at Johnson Space Center (JSC) to test hazard detection technology. Because the initial ground contact simulation model was not very realistic, it was decided to improve the model without making it too computationally expensive. The first development cycle added capability to define vehicle attachment points (AP) and to keep track of their states in the lander reference frame (LFRAME). These states are used with a spring damper model to compute an AP contact force. The lateral force is then overwritten, if necessary, by the Coulomb static or kinetic friction force. The second development cycle added capability to use the PolySurface class as the contact surface. The class can load CAD data in STL (Stereo Lithography) format, and use the data to compute line of sight (LOS) intercepts. A polygon frame (PFRAME) is computed from the facet intercept normal and used to convert the AP state to PFRAME. Three flat plane tests validate the transitions from kinetic to static, static to kinetic, and vertical impact. The hazardous terrain test will be used to test for visual reasonableness. The improved model is numerically inexpensive, robust, and produces results that are reasonable.

Ground Contact Modeling for the Morpheus Test Vehicle Simulation

NASA Technical Reports Server (NTRS)

Cordova, Luis

2013-01-01

The Morpheus vertical test vehicle is an autonomous robotic lander being developed at Johnson Space Center (JSC) to test hazard detection technology. Because the initial ground contact simulation model was not very realistic, it was decided to improve the model without making it too computationally expensive. The first development cycle added capability to define vehicle attachment points (AP) and to keep track of their states in the lander reference frame (LFRAME). These states are used with a spring damper model to compute an AP contact force. The lateral force is then overwritten, if necessary, by the Coulomb static or kinetic friction force. The second development cycle added capability to use the PolySurface class as the contact surface. The class can load CAD data in STL (Stereo Lithography) format, and use the data to compute line of sight (LOS) intercepts. A polygon frame (PFRAME) is computed from the facet intercept normal and used to convert the AP state to PFRAME. Three flat plane tests validate the transitions from kinetic to static, static to kinetic, and vertical impact. The hazardous terrain test will be used to test for visual reasonableness. The improved model is numerically inexpensive, robust, and produces results that are reasonable.

Theseus: tethered distributed robotics (TDR)

NASA Astrophysics Data System (ADS)

Digney, Bruce L.; Penzes, Steven G.

2003-09-01

The Defence Research and Development Canada's (DRDC) Autonomous Intelligent System's program conducts research to increase the independence and effectiveness of military vehicles and systems. DRDC-Suffield's Autonomous Land Systems (ALS) is creating new concept vehicles and autonomous control systems for use in outdoor areas, urban streets, urban interiors and urban subspaces. This paper will first give an overview of the ALS program and then give a specific description of the work being done for mobility in urban subspaces. Discussed will be the Theseus: Thethered Distributed Robotics (TDR) system, which will not only manage an unavoidable tether but exploit it for mobility and navigation. Also discussed will be the prototype robot called the Hedgehog, which uses conformal 3D mobility in ducts, sewer pipes, collapsed rubble voids and chimneys.

Mathematical model of unmanned aerial vehicle used for endurance autonomous monitoring

NASA Astrophysics Data System (ADS)

Chelaru, Teodor-Viorel; Chelaru, Adrian

2014-12-01

The paper purpose is to present some aspects regarding the control system of unmanned aerial vehicle - UAV, used to local observations, surveillance and monitoring interest area. The calculus methodology allows a numerical simulation of UAV evolution in bad atmospheric conditions by using nonlinear model, as well as a linear one for obtaining guidance command. The UAV model which will be presented has six DOF (degrees of freedom), and autonomous control system. This theoretical development allows us to build stability matrix, command matrix and control matrix and finally to analyse the stability of autonomous UAV flight. A robust guidance system, based on uncoupled state will be evaluated for different fly conditions and the results will be presented. The flight parameters and guidance will be analysed.

Experiments in teleoperator and autonomous control of space robotic vehicles

NASA Technical Reports Server (NTRS)

Alexander, Harold L.

1990-01-01

A research program and strategy are described which include fundamental teleoperation issues and autonomous-control issues of sensing and navigation for satellite robots. The program consists of developing interfaces for visual operation and studying the consequences of interface designs as well as developing navigation and control technologies based on visual interaction. A space-robot-vehicle simulator is under development for use in virtual-environment teleoperation experiments and neutral-buoyancy investigations. These technologies can be utilized in a study of visual interfaces to address tradeoffs between head-tracking and manual remote cameras, panel-mounted and helmet-mounted displays, and stereoscopic and monoscopic display systems. The present program can provide significant data for the development of control experiments for autonomously controlled satellite robots.

Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

NASA Astrophysics Data System (ADS)

Hayashi, Ryuzo; Isogai, Juzo; Raksincharoensak, Pongsathorn; Nagai, Masao

2012-01-01

This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

Process Algebra Approach for Action Recognition in the Maritime Domain

NASA Technical Reports Server (NTRS)

Huntsberger, Terry

2011-01-01

The maritime environment poses a number of challenges for autonomous operation of surface boats. Among these challenges are the highly dynamic nature of the environment, the onboard sensing and reasoning requirements for obeying the navigational rules of the road, and the need for robust day/night hazard detection and avoidance. Development of full mission level autonomy entails addressing these challenges, coupled with inference of the tactical and strategic intent of possibly adversarial vehicles in the surrounding environment. This paper introduces PACIFIC (Process Algebra Capture of Intent From Information Content), an onboard system based on formal process algebras that is capable of extracting actions/activities from sensory inputs and reasoning within a mission context to ensure proper responses. PACIFIC is part of the Behavior Engine in CARACaS (Cognitive Architecture for Robotic Agent Command and Sensing), a system that is currently running on a number of U.S. Navy unmanned surface and underwater vehicles. Results from a series of experimental studies that demonstrate the effectiveness of the system are also presented.

Speed control for a mobile robot

NASA Astrophysics Data System (ADS)

Kolli, Kaylan C.; Mallikarjun, Sreeram; Kola, Krishnamohan; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a speed control for a modular autonomous mobile robot controller. The speed control of the traction motor is essential for safe operation of a mobile robot. The challenges of autonomous operation of a vehicle require safe, runaway and collision free operation. A mobile robot test-bed has been constructed using a golf cart base. The computer controlled speed control has been implemented and works with guidance provided by vision system and obstacle avoidance using ultrasonic sensors systems. A 486 computer through a 3- axis motion controller supervises the speed control. The traction motor is controlled via the computer by an EV-1 speed control. Testing of the system was done both in the lab and on an outside course with positive results. This design is a prototype and suggestions for improvements are also given. The autonomous speed controller is applicable for any computer controlled electric drive mobile vehicle.

Flexible Wing Base Micro Aerial Vehicles: Towards Flight Autonomy: Vision-Based Horizon Detection for Micro Air Vehicles

NASA Technical Reports Server (NTRS)

Nechyba, Michael C.; Ettinger, Scott M.; Ifju, Peter G.; Wazak, Martin

2002-01-01

Recently substantial progress has been made towards design building and testifying remotely piloted Micro Air Vehicles (MAVs). This progress in overcoming the aerodynamic obstacles to flight at very small scales has, unfortunately, not been matched by similar progress in autonomous MAV flight. Thus, we propose a robust, vision-based horizon detection algorithm as the first step towards autonomous MAVs. In this paper, we first motivate the use of computer vision for the horizon detection task by examining the flight of birds (biological MAVs) and considering other practical factors. We then describe our vision-based horizon detection algorithm, which has been demonstrated at 30 Hz with over 99.9% correct horizon identification, over terrain that includes roads, buildings large and small, meadows, wooded areas, and a lake. We conclude with some sample horizon detection results and preview a companion paper, where the work discussed here forms the core of a complete autonomous flight stability system.

Applications of graphics to support a testbed for autonomous space vehicle operations

NASA Technical Reports Server (NTRS)

Schmeckpeper, K. R.; Aldridge, J. P.; Benson, S.; Horner, S.; Kullman, A.; Mulder, T.; Parrott, W.; Roman, D.; Watts, G.; Bochsler, Daniel C.

1989-01-01

Researchers describe their experience using graphics tools and utilities while building an application, AUTOPS, that uses a graphical Machintosh (TM)-like interface for the input and display of data, and animation graphics to enhance the presentation of results of autonomous space vehicle operations simulations. AUTOPS is a test bed for evaluating decisions for intelligent control systems for autonomous vehicles. Decisions made by an intelligent control system, e.g., a revised mission plan, might be displayed to the user in textual format or he can witness the effects of those decisions via out of window graphics animations. Although a textual description conveys essentials, a graphics animation conveys the replanning results in a more convincing way. Similarily, iconic and menu-driven screen interfaces provide the user with more meaningful options and displays. Presented here are experiences with the SunView and TAE Plus graphics tools used for interface design, and the Johnson Space Center Interactive Graphics Laboratory animation graphics tools used for generating out out of the window graphics.

An automated miniature robotic vehicle inspection system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dobie, Gordon; Summan, Rahul; MacLeod, Charles

2014-02-18

A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3Dmore » model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.« less

Neuro-fuzzy controller to navigate an unmanned vehicle.

PubMed

Selma, Boumediene; Chouraqui, Samira

2013-12-01

A Neuro-fuzzy control method for an Unmanned Vehicle (UV) simulation is described. The objective is guiding an autonomous vehicle to a desired destination along a desired path in an environment characterized by a terrain and a set of distinct objects, such as obstacles like donkey traffic lights and cars circulating in the trajectory. The autonomous navigate ability and road following precision are mainly influenced by its control strategy and real-time control performance. Fuzzy Logic Controller can very well describe the desired system behavior with simple "if-then" relations owing the designer to derive "if-then" rules manually by trial and error. On the other hand, Neural Networks perform function approximation of a system but cannot interpret the solution obtained neither check if its solution is plausible. The two approaches are complementary. Combining them, Neural Networks will allow learning capability while Fuzzy-Logic will bring knowledge representation (Neuro-Fuzzy). In this paper, an artificial neural network fuzzy inference system (ANFIS) controller is described and implemented to navigate the autonomous vehicle. Results show several improvements in the control system adjusted by neuro-fuzzy techniques in comparison to the previous methods like Artificial Neural Network (ANN).

The development and flight test of a deployable precision landing system for spacecraft recovery

NASA Technical Reports Server (NTRS)

Sim, Alex G.; Murray, James E.; Neufeld, David C.; Reed, R. Dale

1993-01-01

A joint NASA Dryden Flight Research Facility and Johnson Space Center program was conducted to determine the feasibility of the autonomous recovery of a spacecraft using a ram-air parafoil system for the final stages of entry from space that included a precision landing. The feasibility of this system was studied using a flight model of a spacecraft in the generic shape of a flattened biconic which weighed approximately 150 lb and was flown under a commercially available, ram-air parachute. Key elements of the vehicle included the Global Positioning System guidance for navigation, flight control computer, ultrasonic sensing for terminal altitude, electronic compass, and onboard data recording. A flight test program was used to develop and refine the vehicle. This vehicle completed an autonomous flight from an altitude of 10,000 ft and a lateral offset of 1.7 miles which resulted in a precision flare and landing into the wind at a predetermined location. At times, the autonomous flight was conducted in the presence of winds approximately equal to vehicle airspeed. Several techniques for computing the winds postflight were evaluated. Future program objectives are also presented.

Unmanned aerial vehicle applications for highway transportation : initial stage reference search.

DOT National Transportation Integrated Search

2013-11-01

Identification of research (2006present) focusing on autonomous micro unmanned aerial vehicles (UAVs) for transportation applications, including the examination of other industries that may also utilize micro UAVs.

Alternative Fuels Data Center

Science.gov Websites

Autonomous Vehicle (AV) Safe Testing Regulations Arizona state agencies must support the testing fails, the vehicle must be brought to a complete stop or safe state. The Arizona Department of Public

The future of fully automated vehicles : opportunities for vehicle- and ride-sharing, with cost and emissions savings.

DOT National Transportation Integrated Search

2014-08-01

Fully automated or autonomous vehicles (AVs) hold great promise for the future of transportation. By 2020 : Google, auto manufacturers and other technology providers intend to introduce self-driving cars to the public with : either limited or fully a...

Cancellation of the Army’s Autonomous Navigation System

DTIC Science & Technology

2012-08-02

Auto/Truck Various Vehicle Leader/Follower, Road Following Google Driverless Vehicle Google Road Following Source: GAO presentation of data from Red...both of which are estimated to cost over $300,000 per system. However, Google’s Driverless Vehicle and the Southwest Research Institute’s Mobile

Vertical Lift - Not Just For Terrestrial Flight

NASA Technical Reports Server (NTRS)

Young, Larry A

2000-01-01

Autonomous vertical lift vehicles hold considerable potential for supporting planetary science and exploration missions. This paper discusses several technical aspects of vertical lift planetary aerial vehicles in general, and specifically addresses technical challenges and work to date examining notional vertical lift vehicles for Mars, Titan, and Venus exploration.

Evaluating Lake Superior nearshore offshore gradients using autonomous gliders

EPA Science Inventory

Slocum electric gliders are autonomous vehicles capable of continuously mapping subsurface conditions at high resolution for months at a time. During the 2016 CSMI in Lake Superior, seven glider deployments were undertaken through a partnership between University of Minnesota Dul...

360-Degree Visual Detection and Target Tracking on an Autonomous Surface Vehicle

DTIC Science & Technology

2010-12-01

the fixed asset on successive passes through the patrol region. For example, Perera and Hoogs (2004) offer a change detection solution that operates... parameters used for the HVAP mission. we marginalize over the conditional dependence on the range: Pkd,j = ∫ ∞ −∞ fd (ρ) fN ( ρ |ρ̂kj , σ 2ρkj ) dρ, (1) where...observation volume and σ is the standard deviation of the innovation.4 To make the parameter a constant, for our application we further simplify with the

Towards an Autonomous Space In-Situ Marine Sensorweb

NASA Technical Reports Server (NTRS)

Chien, S.; Doubleday, J.; Tran, D.; Thompson, D.; Mahoney, G.; Chao, Y.; Castano, R.; Ryan, J.; Kudela, R.; Palacios, S.;

Water-Column Stratification Observed along an AUV-Tracked Isotherm

NASA Astrophysics Data System (ADS)

Zhang, Y.; Messié, M.; Ryan, J. P.; Kieft, B.; Stanway, M. J.; Hobson, B.; O'Reilly, T. C.; Raanan, B. Y.; Smith, J. M.; Chavez, F.

2016-02-01

Studies of marine physical, chemical and microbiological processes benefit from observing in a Lagrangian frame of reference, i.e. drifting with ambient water. Because these processes can be organized relative to specific density or temperature ranges, maintaining observing platforms within targeted environmental ranges is an important observing strategy. We have developed a novel method to enable a Tethys-class long-range autonomous underwater vehicle (AUV) (which has a propeller and a buoyancy engine) to track a target isotherm in buoyancy-controlled drift mode. In this mode, the vehicle shuts off its propeller and autonomously detects the isotherm and stays with it by actively controlling the vehicle's buoyancy. In the June 2015 CANON (Controlled, Agile, and Novel Observing Network) Experiment in Monterey Bay, California, AUV Makai tracked a target isotherm for 13 hours to study the coastal upwelling system. The tracked isotherm started from 33 m depth, shoaled to 10 m, and then deepened to 29 m. The thickness of the tracked isotherm layer (within 0.3°C error from the target temperature) increased over this duration, reflecting weakened stratification around the isotherm. During Makai's isotherm tracking, another long-range AUV, Daphne, acoustically tracked Makai on a circular yo-yo trajectory, measuring water-column profiles in Makai's vicinity. A wave glider also acoustically tracked Makai, providing sea surface measurements on the track. The presented method is a new approach for studying water-column stratification, but requires careful analysis of the temporal and spatial variations mingled in the vehicles' measurements. We will present a synthesis of the water column's stratification in relation to the upwelling conditions, based on the in situ measurements by the mobile platforms, as well as remote sensing and mooring data.

Path Planning Algorithms for Autonomous Border Patrol Vehicles

NASA Astrophysics Data System (ADS)

Lau, George Tin Lam

This thesis presents an online path planning algorithm developed for unmanned vehicles in charge of autonomous border patrol. In this Pursuit-Evasion game, the unmanned vehicle is required to capture multiple trespassers on its own before any of them reach a target safe house where they are safe from capture. The problem formulation is based on Isaacs' Target Guarding problem, but extended to the case of multiple evaders. The proposed path planning method is based on Rapidly-exploring random trees (RRT) and is capable of producing trajectories within several seconds to capture 2 or 3 evaders. Simulations are carried out to demonstrate that the resulting trajectories approach the optimal solution produced by a nonlinear programming-based numerical optimal control solver. Experiments are also conducted on unmanned ground vehicles to show the feasibility of implementing the proposed online path planning algorithm on physical applications.

Improved obstacle avoidance and navigation for an autonomous ground vehicle

NASA Astrophysics Data System (ADS)

Giri, Binod; Cho, Hyunsu; Williams, Benjamin C.; Tann, Hokchhay; Shakya, Bicky; Bharam, Vishal; Ahlgren, David J.

2015-01-01

This paper presents improvements made to the intelligence algorithms employed on Q, an autonomous ground vehicle, for the 2014 Intelligent Ground Vehicle Competition (IGVC). In 2012, the IGVC committee combined the formerly separate autonomous and navigation challenges into a single AUT-NAV challenge. In this new challenge, the vehicle is required to navigate through a grassy obstacle course and stay within the course boundaries (a lane of two white painted lines) that guide it toward a given GPS waypoint. Once the vehicle reaches this waypoint, it enters an open course where it is required to navigate to another GPS waypoint while avoiding obstacles. After reaching the final waypoint, the vehicle is required to traverse another obstacle course before completing the run. Q uses modular parallel software architecture in which image processing, navigation, and sensor control algorithms run concurrently. A tuned navigation algorithm allows Q to smoothly maneuver through obstacle fields. For the 2014 competition, most revisions occurred in the vision system, which detects white lines and informs the navigation component. Barrel obstacles of various colors presented a new challenge for image processing: the previous color plane extraction algorithm would not suffice. To overcome this difficulty, laser range sensor data were overlaid on visual data. Q also participates in the Joint Architecture for Unmanned Systems (JAUS) challenge at IGVC. For 2014, significant updates were implemented: the JAUS component accepted a greater variety of messages and showed better compliance to the JAUS technical standard. With these improvements, Q secured second place in the JAUS competition.

Advances in Small Remotely Piloted Aircraft Communications and Remote Sensing in Maritime Environments including the Arctic

NASA Astrophysics Data System (ADS)

McGillivary, P. A.; Borges de Sousa, J.; Wackowski, S.; Walker, G.

2011-12-01

Small remotely piloted aircraft have recently been used for maritime remote sensing, including launch and retrieval operations from land, ships and sea ice. Such aircraft can also function to collect and communicate data from other ocean observing system platforms including moorings, tagged animals, drifters, autonomous surface vessels (ASVs), and autonomous underwater vessels (AUVs). The use of small remotely piloted aircraft (or UASs, unmanned aerial systems) with a combination of these capabilities will be required to monitor the vast areas of the open ocean, as well as in harsh high-latitude ecosystems. Indeed, these aircraft are a key component of planned high latitude maritime domain awareness environmental data collection capabilities, including use of visible, IR and hyperspectral sensors, as well as lidar, meteorological sensors, and interferometric synthetic aperture radars (ISARs). We here first describe at-sea demonstrations of improved reliability and bandwidth of communications from ocean sensors on autonomous underwater vehicles to autonomous surface vessels, and then via remotely piloted aircraft to shore, ships and manned aircraft using Delay and Disruption Tolerant (DTN) communication protocols. DTN enables data exchange in communications-challenged environments, such as remote regions of the ocean including high latitudes where low satellite angles and auroral disturbances can be problematic. DTN provides a network architecture and application interface structured around optionally-reliable asynchronous message forwarding, with limited expectations of end-to-end connectivity and node resources. This communications method enables aircraft and surface vessels to function as data mules to move data between physically disparate nodes. We provide examples of the uses of this communication protocol for environmental data collection and data distribution with a variety of different remotely piloted aircraft in a coastal ocean environment. Next, we highlight use in the arctic of two different small remotely piloted aircraft (ScanEagle and RAVEN) for remote sensing of ice and ocean conditions as well as surveys of marine mammals. Finally, we explain how these can be used in future networked environments with DTN support not only for the collection of ocean and ice data for maritime domain awareness, but also for monitoring oil spill dynamics in high latitude environments, including spills in and under sea ice. The networked operation of heterogeneous air and ocean vehicle systems using DTN communications methods can provide unprecedented levels of spatial-temporal sampling resolution important to improving arctic remote sensing and maritime domain awareness capabilities.

Active Collision Avoidance for Planetary Landers

NASA Technical Reports Server (NTRS)

Rickman, Doug; Hannan, Mike; Srinivasan, Karthik

2014-01-01

Present day robotic missions to other planets require precise, a priori knowledge of the terrain to pre-determine a landing spot that is safe. Landing sites can be miles from the mission objective, or, mission objectives may be tailored to suit landing sites. Future robotic exploration missions should be capable of autonomously identifying a safe landing target within a specified target area selected by mission requirements. Such autonomous landing sites must (1) 'see' the surface, (2) identify a target, and (3) land the vehicle. Recent advances in radar technology have resulted in small, lightweight, low power radars that are used for collision avoidance and cruise control systems in automobiles. Such radar systems can be adapted for use as active hazard avoidance systems for planetary landers. The focus of this CIF proposal is to leverage earlier work on collision avoidance systems for MSFC's Mighty Eagle lander and evaluate the use of automotive radar systems for collision avoidance in planetary landers.

Potential Occupant Injury Reduction in Pre-Crash System Equipped Vehicles in the Striking Vehicle of Rear-end Crashes

PubMed Central

Kusano, Kristofer D.; Gabler, Hampton C.

2010-01-01

To mitigate the severity of rear-end and other collisions, Pre-Crash Systems (PCS) are being developed. These active safety systems utilize radar and/or video cameras to determine when a frontal crash, such as a front-to-back rear-end collisions, is imminent and can brake autonomously, even with no driver input. Of these PCS features, the effects of autonomous pre-crash braking are estimated. To estimate the maximum potential for injury reduction due to autonomous pre-crash braking in the striking vehicle of rear-end crashes, a methodology is presented for determining 1) the reduction in vehicle crash change in velocity (ΔV) due to PCS braking and 2) the number of injuries that could be prevented due to the reduction in collision severity. Injury reduction was only performed for belted drivers, as unbelted drivers have an unknown risk of being thrown out of position. The study was based on 1,406 rear-end striking vehicles from NASS / CDS years 1993 to 2008. PCS parameters were selected from realistic values and varied to examine the effect on system performance. PCS braking authority was varied from 0.5 G’s to 0.8 G’s while time to collision (TTC) was held at 0.45 seconds. TTC was then varied from 0.3 second to 0.6 seconds while braking authority was held constant at 0.6 G’s. A constant braking pulse (step function) and ramp-up braking pulse were used. The study found that automated PCS braking could reduce the crash ΔV in rear-end striking vehicles by an average of 12% – 50% and avoid 0% – 14% of collisions, depending on PCS parameters. Autonomous PCS braking could potentially reduce the number of injured drivers who are belted by 19% to 57%. PMID:21050603

In-situ Chemical Exploration and Mapping using an Autonomous Underwater Vehicle

NASA Astrophysics Data System (ADS)

Camilli, R.; Bingham, B. S.; Jakuba, M.; Whelan, J.; Singh, H.; Whiticar, M.

2004-12-01

Recent advances in in-situ chemical sensing have emphasized several issues associated with making reliable chemical measurements in the ocean. Such measurements are often aliased temporally and or spatially, and may suffer from instrumentation artifacts, such as slow response time, limited dynamic range, hysteresis, and environmental sensitivities (eg., temperature and pressure). We focus on the in-situ measurement of light hydrocarbons. Specifically we examine data collected using a number of methods including: a vertical profiler, autonomous underwater vehicles (AUV) surveys, and adaptive spatio-temporal survey techniques. We present data collected using a commercial METS sensor on a vertical profiler to identify and map structures associated with ocean bottom methane sources in the Saanich inlet off Vancouver, Canada. This sensor was deployed in parallel with a submersible mass spectrometer and a shipboard equilibrator-gas chromatograph. Our results illustrate that spatial offsets as small as centimeters can produce significant differences in measured concentration. In addition, differences in response times between instruments can also alias the measurements. The results of this preliminary experiment underscore the challenges of quantifying ocean chemical processes with small-scale spatial variability and temporal variability that is often faster than the response times of many available instruments. We explore the capabilities and current limitations of autonomous underwater vehicles for extending the spatial coverage of new in-situ sensor technologies. We present data collected from deployments of Seabed, a passively stable, hover capable AUV, at large-scale gas blowout features located along the U.S. Atlantic margin. Although these deployments successfully revealed previously unobservable oceanographic processes, temporal aliasing caused by sensor response as well as tidal variability manifests itself, illustrating the possibilities for misinterpretation of localized periodic anomalies. Finally we present results of recent experimental chemical plume mapping surveys that were conducted off the coast of Massachusetts using adaptive behaviors that allow the AUV to optimize its mission plan to autonomously search for chemical anomalies. This adaptive operation is based on coupling the chemical sensor payload within a closed-loop architecture with the vehicle's navigation control system for real-time autonomous data assimilation and decision making processes. This allows the vehicle to autonomously refine the search strategy, thereby improving feature localization capabilities and enabling surveys at an appropriate temporal and spatial resolution.

Morpheus Vertical Test Bed Flight Testing

NASA Technical Reports Server (NTRS)

Hart, Jeremy; Devolites, Jennifer

2014-01-01

NASA's Morpheus Project has developed and tested a prototype planetary lander capable of vertical takeoff and landing, that is designed to serve as a testbed for advanced spacecraft technologies. The lander vehicle, propelled by a LOX/Methane engine and sized to carry a 500kg payload to the lunar surface, provides a platform for bringing technologies from the laboratory into an integrated flight system at relatively low cost. Morpheus onboard software is autonomous from ignition all the way through landing, and is designed to be capable of executing a variety of flight trajectories, with onboard fault checks and automatic contingency responses. The Morpheus 1.5A vehicle performed 26 integrated vehicle test flights including hot-fire tests, tethered tests, and two attempted freeflights between April 2011 and August 2012. The final flight of Morpheus 1.5A resulted in a loss of the vehicle. In September 2012, development began on the Morpheus 1.5B vehicle, which subsequently followed a similar test campaign culminating in free-flights at a simulated planetary landscape built at Kennedy Space Center's Shuttle Landing Facility. This paper describes the integrated test campaign, including successes and setbacks, and how the system design for handling faults and failures evolved over the course of the project.

Discovery and Characterization of Cold Seep Vents Using a Mass Spectrometer Operating aboard an Autonomous Underwater Vehicle

NASA Astrophysics Data System (ADS)

Camilli, R.; Macelloni, L.; Asper, V.; Woolsey, M.; Williams, J.; Diercks, A.; Lutken, C. B.; Sleeper, K.

2009-12-01

A chemical and bathymetric survey was conducted in June 2009 at a known gas hydrate site approximately 900 meters deep in the Gulf of Mexico Mississippi Canyon 118 block. This survey used the EagleRay autonomous underwater vehicle equipped with a TETHYS in-situ mass spectrometer and EM 2000 multibeam sonar. Results indicate previously unobserved active sea floor methane seeps that correlate with bathymetric depressions and a geologic fault. These data suggest linkage of the methane cold seeps to an underlying thermogenic hydrocarbon reservoir.

A biorobotic pectoral fin for autonomous undersea vehicles.

PubMed

Tangorra, James L; Davidson, S Naomi; Madden, Peter G; Lauder, George V; Hunter, Ian W

2006-01-01

A biorobotic fin for autonomous undersea vehicles (AUVs) was developed based on studies of the anatomy, kinematics, and hydrodynamics of the bluegill sunfish pectoral fin. The biorobotic fin was able to produce many of the complex fin motions used by the sunfish during steady swimming and was used to investigate mechanisms of thrust production and control. This biorobotic fin is an excellent experimental tool and is an important first step towards developing propulsive devices that give AUVs maneuvering characteristics that match and exceed those of highly maneuverable fish.

Develop a General Framework for Estimating Cetacean Density from Data Collected by Slow-Moving Autonomous Ocean Vehicles, Investigating Key Aspects of Survey Design, Data Collection, and Data Analysis

DTIC Science & Technology

2015-09-30

TERM GOALS In this project, which started in April 2015, we focus on cetacean density estimation using autonomous underwater vehicles such as ocean...incorporated into the analysis. The data are from a 2-week deployment in the Quinault Underwater Tracking Range (QUTR) in September 2014 using a single...to prevent and mitigate harm to those species, better comply with the law, and reduce negative public perception of Navy impacts on these species

An Autonomous Autopilot Control System Design for Small-Scale UAVs

NASA Technical Reports Server (NTRS)

Ippolito, Corey; Pai, Ganeshmadhav J.; Denney, Ewen W.

2012-01-01

This paper describes the design and implementation of a fully autonomous and programmable autopilot system for small scale autonomous unmanned aerial vehicle (UAV) aircraft. This system was implemented in Reflection and has flown on the Exploration Aerial Vehicle (EAV) platform at NASA Ames Research Center, currently only as a safety backup for an experimental autopilot. The EAV and ground station are built on a component-based architecture called the Reflection Architecture. The Reflection Architecture is a prototype for a real-time embedded plug-and-play avionics system architecture which provides a transport layer for real-time communications between hardware and software components, allowing each component to focus solely on its implementation. The autopilot module described here, although developed in Reflection, contains no design elements dependent on this architecture.

Overview of Intelligent Power Controller Development for the Deep Space Gateway

NASA Technical Reports Server (NTRS)

Csank, Jeffrey

2017-01-01

Intelligent, or autonomous, control of a spacecraft is an enabling technology that must be developed for deep space human exploration. NASAs current long term human space platform, the International Space Station, which is in Low Earth Orbit, is in almost continuous communication with ground based mission control. This allows near real-time control of all the vehicle core systems, including power, to be controlled by the ground. As focus shifts from Low Earth Orbit, communication time-lag and communication bandwidth limitations beyond geosynchronous orbit does not permit this type of operation. This presentation contains ongoing work at NASA to develop an architecture for autonomous power control and the vehicle manager which monitors, coordinates, and delegates to all the on-board subsystems to enable autonomous control of the complete spacecraft.

Computational Fluid Dynamics of the Boundary Layer Characteristics of a Pacific Bluefin Tuna

DTIC Science & Technology

2015-09-18

17  LIST OF ABBREVIATIONS AND ACRONYMS 2D Two Dimensional 3D Three Dimensional AUV Autonomous...Finally, this research has the potential to advance technology of various Navy systems, e.g., torpedo and autonomous underwater vehicle ( AUV ) drag

Bringing smart transport to Texans : ensuring the benefits of a connected and autonomous transport system in Texas--final report.

DOT National Transportation Integrated Search

2016-11-01

Link to appendices is included. : This project develops and demonstrates a variety of smart-transport technologies, policies, and practices for : highways and freeways using connected autonomous vehicles (CAVs), smartphones, roadside equipment, and r...

Road Lane Detection Robust to Shadows Based on a Fuzzy System Using a Visible Light Camera Sensor.

PubMed

Hoang, Toan Minh; Baek, Na Rae; Cho, Se Woon; Kim, Ki Wan; Park, Kang Ryoung

2017-10-28

Recently, autonomous vehicles, particularly self-driving cars, have received significant attention owing to rapid advancements in sensor and computation technologies. In addition to traffic sign recognition, road lane detection is one of the most important factors used in lane departure warning systems and autonomous vehicles for maintaining the safety of semi-autonomous and fully autonomous systems. Unlike traffic signs, road lanes are easily damaged by both internal and external factors such as road quality, occlusion (traffic on the road), weather conditions, and illumination (shadows from objects such as cars, trees, and buildings). Obtaining clear road lane markings for recognition processing is a difficult challenge. Therefore, we propose a method to overcome various illumination problems, particularly severe shadows, by using fuzzy system and line segment detector algorithms to obtain better results for detecting road lanes by a visible light camera sensor. Experimental results from three open databases, Caltech dataset, Santiago Lanes dataset (SLD), and Road Marking dataset, showed that our method outperformed conventional lane detection methods.

Detection and 3d Modelling of Vehicles from Terrestrial Stereo Image Pairs

NASA Astrophysics Data System (ADS)

Coenen, M.; Rottensteiner, F.; Heipke, C.

2017-05-01

The detection and pose estimation of vehicles plays an important role for automated and autonomous moving objects e.g. in autonomous driving environments. We tackle that problem on the basis of street level stereo images, obtained from a moving vehicle. Processing every stereo pair individually, our approach is divided into two subsequent steps: the vehicle detection and the modelling step. For the detection, we make use of the 3D stereo information and incorporate geometric assumptions on vehicle inherent properties in a firstly applied generic 3D object detection. By combining our generic detection approach with a state of the art vehicle detector, we are able to achieve satisfying detection results with values for completeness and correctness up to more than 86%. By fitting an object specific vehicle model into the vehicle detections, we are able to reconstruct the vehicles in 3D and to derive pose estimations as well as shape parameters for each vehicle. To deal with the intra-class variability of vehicles, we make use of a deformable 3D active shape model learned from 3D CAD vehicle data in our model fitting approach. While we achieve encouraging values up to 67.2% for correct position estimations, we are facing larger problems concerning the orientation estimation. The evaluation is done by using the object detection and orientation estimation benchmark of the KITTI dataset (Geiger et al., 2012).

Recent Advances in Bathymetric Surveying of Continental Shelf Regions Using Autonomous Vehicles

NASA Astrophysics Data System (ADS)

Holland, K. T.; Calantoni, J.; Slocum, D.

2016-02-01

Obtaining bathymetric observations within the continental shelf in areas closer to the shore is often time consuming and dangerous, especially when uncharted shoals and rocks present safety concerns to survey ships and launches. However, surveys in these regions are critically important to numerical simulation of oceanographic processes, as bathymetry serves as the bottom boundary condition in operational forecasting models. We will present recent progress in bathymetric surveying using both traditional vessels retrofitted for autonomous operations and relatively inexpensive, small team deployable, Autonomous Underwater Vehicles (AUV). Both systems include either high-resolution multibeam echo sounders or interferometric sidescan sonar sensors with integrated inertial navigation system capabilities consistent with present commercial-grade survey operations. The advantages and limitations of these two configurations employing both unmanned and autonomous strategies are compared using results from several recent survey operations. We will demonstrate how sensor data collected from unmanned platforms can augment or even replace traditional data collection technologies. Oceanographic observations (e.g., sound speed, temperature and currents) collected simultaneously with bathymetry using autonomous technologies provide additional opportunities for advanced data assimilation in numerical forecasts. Discussion focuses on our vision for unmanned and autonomous systems working in conjunction with manned or in-situ systems to optimally and simultaneously collect data in environmentally hostile or difficult to reach areas.

Distributed formation control of nonholonomic autonomous vehicle via RBF neural network

NASA Astrophysics Data System (ADS)

Yang, Shichun; Cao, Yaoguang; Peng, Zhaoxia; Wen, Guoguang; Guo, Konghui

2017-03-01

In this paper, RBF neural network consensus-based distributed control scheme is proposed for nonholonomic autonomous vehicles in a pre-defined formation along the specified reference trajectory. A variable transformation is first designed to convert the formation control problem into a state consensus problem. Then, the complete dynamics of the vehicles including inertia, Coriolis, friction model and unmodeled bounded disturbances are considered, which lead to the formation unstable when the distributed kinematic controllers are proposed based on the kinematics. RBF neural network torque controllers are derived to compensate for them. Some sufficient conditions are derived to accomplish the asymptotically stability of the systems based on algebraic graph theory, matrix theory, and Lyapunov theory. Finally, simulation examples illustrate the effectiveness of the proposed controllers.

Vision based speed breaker detection for autonomous vehicle

NASA Astrophysics Data System (ADS)

C. S., Arvind; Mishra, Ritesh; Vishal, Kumar; Gundimeda, Venugopal

2018-04-01

In this paper, we are presenting a robust and real-time, vision-based approach to detect speed breaker in urban environments for autonomous vehicle. Our method is designed to detect the speed breaker using visual inputs obtained from a camera mounted on top of a vehicle. The method performs inverse perspective mapping to generate top view of the road and segment out region of interest based on difference of Gaussian and median filter images. Furthermore, the algorithm performs RANSAC line fitting to identify the possible speed breaker candidate region. This initial guessed region via RANSAC, is validated using support vector machine. Our algorithm can detect different categories of speed breakers on cement, asphalt and interlock roads at various conditions and have achieved a recall of 0.98.

Adaptive nonlinear control for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Black, William S.

We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design nonlinear disturbance observers for both single-input-single-output and multi-input-multi-output systems. Finally, we show the performance of these observers with simulation results.

Application of a distributed systems architecture for increased speed in image processing on an autonomous ground vehicle

NASA Astrophysics Data System (ADS)

Wright, Adam A.; Momin, Orko; Shin, Young Ho; Shakya, Rahul; Nepal, Kumud; Ahlgren, David J.

2010-01-01

This paper presents the application of a distributed systems architecture to an autonomous ground vehicle, Q, that participates in both the autonomous and navigation challenges of the Intelligent Ground Vehicle Competition. In the autonomous challenge the vehicle is required to follow a course, while avoiding obstacles and staying within the course boundaries, which are marked by white lines. For the navigation challenge, the vehicle is required to reach a set of target destinations, known as way points, with given GPS coordinates and avoid obstacles that it encounters in the process. Previously the vehicle utilized a single laptop to execute all processing activities including image processing, sensor interfacing and data processing, path planning and navigation algorithms and motor control. National Instruments' (NI) LabVIEW served as the programming language for software implementation. As an upgrade to last year's design, a NI compact Reconfigurable Input/Output system (cRIO) was incorporated to the system architecture. The cRIO is NI's solution for rapid prototyping that is equipped with a real time processor, an FPGA and modular input/output. Under the current system, the real time processor handles the path planning and navigation algorithms, the FPGA gathers and processes sensor data. This setup leaves the laptop to focus on running the image processing algorithm. Image processing as previously presented by Nepal et. al. is a multi-step line extraction algorithm and constitutes the largest processor load. This distributed approach results in a faster image processing algorithm which was previously Q's bottleneck. Additionally, the path planning and navigation algorithms are executed more reliably on the real time processor due to the deterministic nature of operation. The implementation of this architecture required exploration of various inter-system communication techniques. Data transfer between the laptop and the real time processor using UDP packets was established as the most reliable protocol after testing various options. Improvement can be made to the system by migrating more algorithms to the hardware based FPGA to further speed up the operations of the vehicle.

A positional estimation technique for an autonomous land vehicle in an unstructured environment

NASA Technical Reports Server (NTRS)

Talluri, Raj; Aggarwal, J. K.

1990-01-01

This paper presents a solution to the positional estimation problem of an autonomous land vehicle navigating in an unstructured mountainous terrain. A Digital Elevation Map (DEM) of the area in which the robot is to navigate is assumed to be given. It is also assumed that the robot is equipped with a camera that can be panned and tilted, and a device to measure the elevation of the robot above the ground surface. No recognizable landmarks are assumed to be present in the environment in which the robot is to navigate. The solution presented makes use of the DEM information, and structures the problem as a heuristic search in the DEM for the possible robot location. The shape and position of the horizon line in the image plane and the known camera geometry of the perspective projection are used as parameters to search the DEM. Various heuristics drawn from the geometric constraints are used to prune the search space significantly. The algorithm is made robust to errors in the imaging process by accounting for the worst care errors. The approach is tested using DEM data of areas in Colorado and Texas. The method is suitable for use in outdoor mobile robots and planetary rovers.

An apparatus to estimate the hydrodynamic coefficients of autonomous underwater vehicles using water tunnel testing.

PubMed

Nouri, N M; Mostafapour, K; Bahadori, R

2016-06-01

Hydrodynamic coefficients or hydrodynamic derivatives of autonomous underwater vehicles (AUVs) play an important role in their development and maneuverability. The most popular way of estimating their coefficients is to implement captive model tests such as straight line tests and planar motion mechanism (PMM) tests in the towing tanks. This paper aims to develop an apparatus based on planar experiments of water tunnel in order to estimate hydrodynamic derivatives due to AUVs' acceleration and velocity. The capability of implementing straight line tests and PMM ones using mechanical oscillators located in the downstream flow of the model is considered in the design procedure of the system. The hydrodynamic derivatives that resulted from the acceleration and velocity of the AUV model were estimated using the apparatus that we developed. Static and dynamics test results were compared for the similar derivatives. The findings showed that the system provided the basis for conducting static tests, i.e., straight-line and dynamic tests that included pure pitch and pure heave. By conducting such tests in a water tunnel, we were able to eliminate errors related to the time limitation of the tests and the effects of surface waves in the towing tank on AUVs with applications in the deep sea.

Combing VFH with bezier for motion planning of an autonomous vehicle

NASA Astrophysics Data System (ADS)

Ye, Feng; Yang, Jing; Ma, Chao; Rong, Haijun

2017-08-01

Vector Field Histogram (VFH) is a method for mobile robot obstacle avoidance. However, due to the nonholonomic constraints of the vehicle, the algorithm is seldom applied to autonomous vehicles. Especially when we expect the vehicle to reach target location in a certain direction, the algorithm is often unsatisfactory. Fortunately, the Bezier Curve is defined by the states of the starting point and the target point. We can use this feature to make the vehicle in the expected direction. Therefore, we propose an algorithm to combine the Bezier Curve with the VFH algorithm, to search for the collision-free states with the VFH search method, and to select the optimal trajectory point with the Bezier Curve as the reference line. This means that we will improve the cost function in the VFH algorithm by comparing the distance between candidate directions and reference line. Finally, select the closest direction to the reference line to be the optimal motion direction.

Aerial surveillance vehicles augment security at shipping ports

NASA Astrophysics Data System (ADS)

Huck, Robert C.; Al Akkoumi, Muhammad K.; Cheng, Samuel; Sluss, James J., Jr.; Landers, Thomas L.

2008-10-01

With the ever present threat to commerce, both politically and economically, technological innovations provide a means to secure the transportation infrastructure that will allow efficient and uninterrupted freight-flow operations for trade. Currently, freight coming into United States ports is "spot checked" upon arrival and stored in a container yard while awaiting the next mode of transportation. For the most part, only fences and security patrols protect these container storage yards. To augment these measures, the authors propose the use of aerial surveillance vehicles equipped with video cameras and wireless video downlinks to provide a birds-eye view of port facilities to security control centers and security patrols on the ground. The initial investigation described in this paper demonstrates the use of unmanned aerial surveillance vehicles as a viable method for providing video surveillance of container storage yards. This research provides the foundation for a follow-on project to use autonomous aerial surveillance vehicles coordinated with autonomous ground surveillance vehicles for enhanced port security applications.

Autonomous proximity operations using machine vision for trajectory control and pose estimation

NASA Technical Reports Server (NTRS)

Cleghorn, Timothy F.; Sternberg, Stanley R.

1991-01-01

A machine vision algorithm was developed which permits guidance control to be maintained during autonomous proximity operations. At present this algorithm exists as a simulation, running upon an 80386 based personal computer, using a ModelMATE CAD package to render the target vehicle. However, the algorithm is sufficiently simple, so that following off-line training on a known target vehicle, it should run in real time with existing vision hardware. The basis of the algorithm is a sequence of single camera images of the target vehicle, upon which radial transforms were performed. Selected points of the resulting radial signatures are fed through a decision tree, to determine whether the signature matches that of the known reference signatures for a particular view of the target. Based upon recognized scenes, the position of the maneuvering vehicle with respect to the target vehicles can be calculated, and adjustments made in the former's trajectory. In addition, the pose and spin rates of the target satellite can be estimated using this method.

Multigenerational Independent Colony for Extraterrestrial Habitation, Autonomy, and Behavior Health (MICEHAB): An Investigation of a Long Duration, Partial Gravity, Autonomous Rodent Colony

NASA Technical Reports Server (NTRS)

Rodgers, Erica M.; Simon, Matthew A.; Antol, Jeffrey; Chai, Patrick R.; Jones, Christopher A.; Klovstad, Jordan J.; Neilan, James H.; Stillwagen, Frederic H.; Williams, Phillip A.; Bednara, Michael;

Use of an Autonomous Surface Vehicle reveals small-scale diel vertical migrations of zooplankton and susceptibility to light pollution under low solar irradiance.

PubMed

Ludvigsen, Martin; Berge, Jørgen; Geoffroy, Maxime; Cohen, Jonathan H; De La Torre, Pedro R; Nornes, Stein M; Singh, Hanumant; Sørensen, Asgeir J; Daase, Malin; Johnsen, Geir

2018-01-01

Light is a major cue for nearly all life on Earth. However, most of our knowledge concerning the importance of light is based on organisms' response to light during daytime, including the dusk and dawn phase. When it is dark, light is most often considered as pollution, with increasing appreciation of its negative ecological effects. Using an Autonomous Surface Vehicle fitted with a hyperspectral irradiance sensor and an acoustic profiler, we detected and quantified the behavior of zooplankton in an unpolluted light environment in the high Arctic polar night and compared the results with that from a light-polluted environment close to our research vessels. First, in environments free of light pollution, the zooplankton community is intimately connected to the ambient light regime and performs synchronized diel vertical migrations in the upper 30 m despite the sun never rising above the horizon. Second, the vast majority of the pelagic community exhibits a strong light-escape response in the presence of artificial light, observed down to 100 m. We conclude that artificial light from traditional sampling platforms affects the zooplankton community to a degree where it is impossible to examine its abundance and natural rhythms within the upper 100 m. This study underscores the need to adjust sampling platforms, particularly in dim-light conditions, to capture relevant physical and biological data for ecological studies. It also highlights a previously unchartered susceptibility to light pollution in a region destined to see significant changes in light climate due to a reduced ice cover and an increased anthropogenic activity.

Autonomous Docking Based on Infrared System for Electric Vehicle Charging in Urban Areas

PubMed Central

Pérez, Joshué; Nashashibi, Fawzi; Lefaudeux, Benjamin; Resende, Paulo; Pollard, Evangeline

2013-01-01

Electric vehicles are progressively introduced in urban areas, because of their ability to reduce air pollution, fuel consumption and noise nuisance. Nowadays, some big cities are launching the first electric car-sharing projects to clear traffic jams and enhance urban mobility, as an alternative to the classic public transportation systems. However, there are still some problems to be solved related to energy storage, electric charging and autonomy. In this paper, we present an autonomous docking system for electric vehicles recharging based on an embarked infrared camera performing infrared beacons detection installed in the infrastructure. A visual servoing system coupled with an automatic controller allows the vehicle to dock accurately to the recharging booth in a street parking area. The results show good behavior of the implemented system, which is currently deployed as a real prototype system in the city of Paris. PMID:23429581

Autonomous docking based on infrared system for electric vehicle charging in urban areas.

PubMed

Pérez, Joshué; Nashashibi, Fawzi; Lefaudeux, Benjamin; Resende, Paulo; Pollard, Evangeline

2013-02-21

Electric vehicles are progressively introduced in urban areas, because of their ability to reduce air pollution, fuel consumption and noise nuisance. Nowadays, some big cities are launching the first electric car-sharing projects to clear traffic jams and enhance urban mobility, as an alternative to the classic public transportation systems. However, there are still some problems to be solved related to energy storage, electric charging and autonomy. In this paper, we present an autonomous docking system for electric vehicles recharging based on an embarked infrared camera performing infrared beacons detection installed in the infrastructure. A visual servoing system coupled with an automatic controller allows the vehicle to dock accurately to the recharging booth in a street parking area. The results show good behavior of the implemented system, which is currently deployed as a real prototype system in the city of Paris.

Coordinated path-following and direct yaw-moment control of autonomous electric vehicles with sideslip angle estimation

NASA Astrophysics Data System (ADS)

Guo, Jinghua; Luo, Yugong; Li, Keqiang; Dai, Yifan

2018-05-01

This paper presents a novel coordinated path following system (PFS) and direct yaw-moment control (DYC) of autonomous electric vehicles via hierarchical control technique. In the high-level control law design, a new fuzzy factor is introduced based on the magnitude of longitudinal velocity of vehicle, a linear time varying (LTV)-based model predictive controller (MPC) is proposed to acquire the wheel steering angle and external yaw moment. Then, a pseudo inverse (PI) low-level control allocation law is designed to realize the tracking of desired external moment torque and management of the redundant tire actuators. Furthermore, the vehicle sideslip angle is estimated by the data fusion of low-cost GPS and INS, which can be obtained by the integral of modified INS signals with GPS signals as initial value. Finally, the effectiveness of the proposed control system is validated by the simulation and experimental tests.

A model predictive speed tracking control approach for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Zhu, Min; Chen, Huiyan; Xiong, Guangming

2017-03-01

This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.

Simulation to Flight Test for a UAV Controls Testbed

NASA Technical Reports Server (NTRS)

Motter, Mark A.; Logan, Michael J.; French, Michael L.; Guerreiro, Nelson M.

2006-01-01

The NASA Flying Controls Testbed (FLiC) is a relatively small and inexpensive unmanned aerial vehicle developed specifically to test highly experimental flight control approaches. The most recent version of the FLiC is configured with 16 independent aileron segments, supports the implementation of C-coded experimental controllers, and is capable of fully autonomous flight from takeoff roll to landing, including flight test maneuvers. The test vehicle is basically a modified Army target drone, AN/FQM-117B, developed as part of a collaboration between the Aviation Applied Technology Directorate (AATD) at Fort Eustis, Virginia and NASA Langley Research Center. Several vehicles have been constructed and collectively have flown over 600 successful test flights, including a fully autonomous demonstration at the Association of Unmanned Vehicle Systems International (AUVSI) UAV Demo 2005. Simulations based on wind tunnel data are being used to further develop advanced controllers for implementation and flight test.

Robust Control of a Platoon of Underwater Autonomous Vehicles

DTIC Science & Technology

2004-01-01

a turn and a swap are the same as for a lawn - mower search. Notice that the lateral distance between each vehicle is defined in the fixed...vehicles with and without cross current disturbances. The waypoints were placed at every 20m to perform a lawn - mower search for the leader, and the

A study on model fidelity for model predictive control-based obstacle avoidance in high-speed autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Liu, Jiechao; Jayakumar, Paramsothy; Stein, Jeffrey L.; Ersal, Tulga

2016-11-01

This paper investigates the level of model fidelity needed in order for a model predictive control (MPC)-based obstacle avoidance algorithm to be able to safely and quickly avoid obstacles even when the vehicle is close to its dynamic limits. The context of this work is large autonomous ground vehicles that manoeuvre at high speed within unknown, unstructured, flat environments and have significant vehicle dynamics-related constraints. Five different representations of vehicle dynamics models are considered: four variations of the two degrees-of-freedom (DoF) representation as lower fidelity models and a fourteen DoF representation with combined-slip Magic Formula tyre model as a higher fidelity model. It is concluded that the two DoF representation that accounts for tyre nonlinearities and longitudinal load transfer is necessary for the MPC-based obstacle avoidance algorithm in order to operate the vehicle at its limits within an environment that includes large obstacles. For less challenging environments, however, the two DoF representation with linear tyre model and constant axle loads is sufficient.

Basic Simulation Environment for Highly Customized Connected and Autonomous Vehicle Kinematic Scenarios.

PubMed

Chai, Linguo; Cai, Baigen; ShangGuan, Wei; Wang, Jian; Wang, Huashen

2017-08-23

To enhance the reality of Connected and Autonomous Vehicles (CAVs) kinematic simulation scenarios and to guarantee the accuracy and reliability of the verification, a four-layer CAVs kinematic simulation framework, which is composed with road network layer, vehicle operating layer, uncertainties modelling layer and demonstrating layer, is proposed in this paper. Properties of the intersections are defined to describe the road network. A target position based vehicle position updating method is designed to simulate such vehicle behaviors as lane changing and turning. Vehicle kinematic models are implemented to maintain the status of the vehicles when they are moving towards the target position. Priorities for individual vehicle control are authorized for different layers. Operation mechanisms of CAVs uncertainties, which are defined as position error and communication delay in this paper, are implemented in the simulation to enhance the reality of the simulation. A simulation platform is developed based on the proposed methodology. A comparison of simulated and theoretical vehicle delay has been analyzed to prove the validity and the creditability of the platform. The scenario of rear-end collision avoidance is conducted to verify the uncertainties operating mechanisms, and a slot-based intersections (SIs) control strategy is realized and verified in the simulation platform to show the supports of the platform to CAVs kinematic simulation and verification.

Basic Simulation Environment for Highly Customized Connected and Autonomous Vehicle Kinematic Scenarios

PubMed Central

Chai, Linguo; Cai, Baigen; ShangGuan, Wei; Wang, Jian; Wang, Huashen

2017-01-01

To enhance the reality of Connected and Autonomous Vehicles (CAVs) kinematic simulation scenarios and to guarantee the accuracy and reliability of the verification, a four-layer CAVs kinematic simulation framework, which is composed with road network layer, vehicle operating layer, uncertainties modelling layer and demonstrating layer, is proposed in this paper. Properties of the intersections are defined to describe the road network. A target position based vehicle position updating method is designed to simulate such vehicle behaviors as lane changing and turning. Vehicle kinematic models are implemented to maintain the status of the vehicles when they are moving towards the target position. Priorities for individual vehicle control are authorized for different layers. Operation mechanisms of CAVs uncertainties, which are defined as position error and communication delay in this paper, are implemented in the simulation to enhance the reality of the simulation. A simulation platform is developed based on the proposed methodology. A comparison of simulated and theoretical vehicle delay has been analyzed to prove the validity and the creditability of the platform. The scenario of rear-end collision avoidance is conducted to verify the uncertainties operating mechanisms, and a slot-based intersections (SIs) control strategy is realized and verified in the simulation platform to show the supports of the platform to CAVs kinematic simulation and verification. PMID:28832518

Compliant-linkage kinematic design for multi-degree-of-freedom mobile robots

NASA Astrophysics Data System (ADS)

Borenstein, Johann

1993-05-01

Multi-degree-of-freedom (MDOF) vehicles have many potential advantages over conventional (i.e., 2-DOF) vehicles. For example, MDOF vehicles can travel sideways and they can negotiate tight turns more easily. In addition, some MDOF designs provide better payload capability, better traction, and improved static and dynamic stability. However, MDOF vehicles with more than three degrees-of-freedom are difficult to control because of their overconstrained nature. These difficulties translate into severe wheel slippage or jerky motion under certain driving conditions. In the past, these problems limited the use of MDOF vehicles to applications where the vehicle would follow a guide-wire, which would correct wheel slippage and control errors. By contrast, autonomous or semi-autonomous mobile robots usually rely on dead-reckoning between periodic absolute position updates and their performance is diminished by excessive wheel slippage. This paper introduces a new concept in the kinematic design of MDOF vehicles. This concept is based on the provision of a compliant linkage between drive wheels or drive axles. Simulation results indicate that compliant linkage allows to overcome the control problems found in conventional MDOF vehicles and reduces the amount of wheel slippage to the same level (or less) than the amount of slippage found on a comparable 2-DOF vehicle.

Free-Flight Terrestrial Rocket Lander Demonstration for NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System

NASA Technical Reports Server (NTRS)

Rutishauser, David K.; Epp, Chirold; Robertson, Ed

2012-01-01

The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project is chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. Since its inception in 2006, the ALHAT Project has executed four field test campaigns to characterize and mature sensors and algorithms that support real-time hazard detection and global/local precision navigation for planetary landings. The driving objective for Government Fiscal Year 2012 (GFY2012) is to successfully demonstrate autonomous, real-time, closed loop operation of the ALHAT system in a realistic free flight scenario on Earth using the Morpheus lander developed at the Johnson Space Center (JSC). This goal represents an aggressive target consistent with a lean engineering culture of rapid prototyping and development. This culture is characterized by prioritizing early implementation to gain practical lessons learned and then building on this knowledge with subsequent prototyping design cycles of increasing complexity culminating in the implementation of the baseline design. This paper provides an overview of the ALHAT/Morpheus flight demonstration activities in GFY2012, including accomplishments, current status, results, and lessons learned. The ALHAT/Morpheus effort is also described in the context of a technology path in support of future crewed and robotic planetary exploration missions based upon the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN).

Mars, the Moon, and the Ends of the Earth: Autonomy for Small Reactor Power Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wood, Richard Thomas

2008-01-01

In recent years, the National Aeronautics and Space Administration (NASA) has been considering deep space missions that utilize a small-reactor power system (SRPS) to provide energy for propulsion and spacecraft power. Additionally, application of SRPS modules as a planetary power source is being investigated to enable a continuous human presence for nonpolar lunar sites and on Mars. A SRPS can supply high-sustained power for space and surface applications that is both reliable and mass efficient. The use of small nuclear reactors for deep space or planetary missions presents some unique challenges regarding the operations and control of the power system.more » Current-generation terrestrial nuclear reactors employ varying degrees of human control and decision-making for operations and benefit from periodic human interaction for maintenance. In contrast, the control system of a SRPS employed for deep space missions must be able to accommodate unattended operations due to communications delays and periods of planetary occlusion while adapting to evolving or degraded conditions with no opportunity for repair or refurbishment. While surface power systems for planetary outposts face less extreme delays and periods of isolation and may benefit from limited maintenance capabilities, considerations such as human safety, resource limitations and usage priorities, and economics favor minimizing direct, continuous human interaction with the SRPS for online, dedicated power system management. Thus, a SRPS control system for space or planetary missions must provide capabilities for operational autonomy. For terrestrial reactors, large-scale power plants remain the preferred near-term option for nuclear power generation. However, the desire to reduce reliance on carbon-emitting power sources in developing countries may lead to increased consideration of SRPS modules for local power generation in remote regions that are characterized by emerging, less established infrastructures. Additionally, many Generation IV (Gen IV) reactor concepts have goals for optimizing investment recovery and economic efficiency that promote significant reductions in plant operations and maintenance staff over current-generation nuclear power plants. To accomplish these Gen IV goals and also address the SRPS remote-siting challenges, higher levels of automation, fault tolerance, and advanced diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. Essentially, the SRPS control system for several anticipated terrestrial applications can benefit from the kind of operational autonomy that is necessary for deep space and planetary SRPS-enabled missions. Investigation of the state of the technology for autonomous control confirmed that control systems with varying levels of autonomy have been employed in robotic, transportation, spacecraft, and manufacturing applications. As an example, NASA has pursued autonomy for spacecraft and surface exploration vehicles (e.g., rovers) to reduce mission costs, increase efficiency for communications between ground control and the vehicle, and enable independent operation of the vehicle during times of communications blackout. However, autonomous control has not been implemented for an operating terrestrial nuclear power plant nor has there been any experience beyond automating simple control loops for space reactors. Current automated control technologies for nuclear power plants are reasonably mature, and fully automated control of normal SRPS operations is clearly feasible. However, the space-based and remote terrestrial applications of SRPS modules require autonomous capabilities that can accommodate nonoptimum operations when degradation, failure, and other off-normal events challenge the performance of the reactor while immediate human intervention is not possible. The independent action provided by autonomous control, which is distinct from the more limited self action of automated control, can satisfy these conditions. Key characteristics that distinguish autonomous control include: (1) intelligence to confirm system performance and detect degraded or failed conditions, (2) optimization to minimize stress on SRPS components and efficiently react to operational events without compromising system integrity, (3) robustness to accommodate uncertainties and changing conditions, and (4) flexibility and adaptability to accommodate failures through reconfiguration among available control system elements or adjustment of control system strategies, algorithms, or parameters.« less

Maritime Data Transfer Protocol (MDTP): A Proposal for a Data Transmission Protocol in Resource-Constrained Underwater Environments Involving Cyber-Physical Systems.

PubMed

Rodríguez-Molina, Jesús; Martínez, Belén; Bilbao, Sonia; Martín-Wanton, Tamara

2017-06-08

The utilization of autonomous maritime vehicles is becoming widespread in operations that are deemed too hazardous for humans to be directly involved in them. One of the ways to increase the productivity of the tools used during missions is the deployment of several vehicles with the same objective regarding data collection and transfer, both for the benefit of human staff and policy makers. However, the interchange of data in such an environment poses major challenges, such as a low bandwidth and the unreliability of the environment where transmissions take place. Furthermore, the relevant information that must be sent, as well as the exact size that will allow understanding it, is usually not clearly established, as standardization works are scarce in this domain. Under these conditions, establishing a way to interchange information at the data level among autonomous maritime vehicles becomes of critical importance since the needed information, along with the size of the transferred data, will have to be defined. This manuscript puts forward the Maritime Data Transfer Protocol, (MDTP) a way to interchange standardized pieces of information at the data level for maritime autonomous maritime vehicles, as well as the procedures that are required for information interchange.

Integrating Sensory/Actuation Systems in Agricultural Vehicles

PubMed Central

Emmi, Luis; Gonzalez-de-Soto, Mariano; Pajares, Gonzalo; Gonzalez-de-Santos, Pablo

2014-01-01

In recent years, there have been major advances in the development of new and more powerful perception systems for agriculture, such as computer-vision and global positioning systems. Due to these advances, the automation of agricultural tasks has received an important stimulus, especially in the area of selective weed control where high precision is essential for the proper use of resources and the implementation of more efficient treatments. Such autonomous agricultural systems incorporate and integrate perception systems for acquiring information from the environment, decision-making systems for interpreting and analyzing such information, and actuation systems that are responsible for performing the agricultural operations. These systems consist of different sensors, actuators, and computers that work synchronously in a specific architecture for the intended purpose. The main contribution of this paper is the selection, arrangement, integration, and synchronization of these systems to form a whole autonomous vehicle for agricultural applications. This type of vehicle has attracted growing interest, not only for researchers but also for manufacturers and farmers. The experimental results demonstrate the success and performance of the integrated system in guidance and weed control tasks in a maize field, indicating its utility and efficiency. The whole system is sufficiently flexible for use in other agricultural tasks with little effort and is another important contribution in the field of autonomous agricultural vehicles. PMID:24577525

Maritime Data Transfer Protocol (MDTP): A Proposal for a Data Transmission Protocol in Resource-Constrained Underwater Environments Involving Cyber-Physical Systems

PubMed Central

Rodríguez-Molina, Jesús; Martínez, Belén; Bilbao, Sonia; Martín-Wanton, Tamara

2017-01-01

The utilization of autonomous maritime vehicles is becoming widespread in operations that are deemed too hazardous for humans to be directly involved in them. One of the ways to increase the productivity of the tools used during missions is the deployment of several vehicles with the same objective regarding data collection and transfer, both for the benefit of human staff and policy makers. However, the interchange of data in such an environment poses major challenges, such as a low bandwidth and the unreliability of the environment where transmissions take place. Furthermore, the relevant information that must be sent, as well as the exact size that will allow understanding it, is usually not clearly established, as standardization works are scarce in this domain. Under these conditions, establishing a way to interchange information at the data level among autonomous maritime vehicles becomes of critical importance since the needed information, along with the size of the transferred data, will have to be defined. This manuscript puts forward the Maritime Data Transfer Protocol, (MDTP) a way to interchange standardized pieces of information at the data level for maritime autonomous maritime vehicles, as well as the procedures that are required for information interchange. PMID:28594393

Integrating sensory/actuation systems in agricultural vehicles.

PubMed

Emmi, Luis; Gonzalez-de-Soto, Mariano; Pajares, Gonzalo; Gonzalez-de-Santos, Pablo

2014-02-26

In recent years, there have been major advances in the development of new and more powerful perception systems for agriculture, such as computer-vision and global positioning systems. Due to these advances, the automation of agricultural tasks has received an important stimulus, especially in the area of selective weed control where high precision is essential for the proper use of resources and the implementation of more efficient treatments. Such autonomous agricultural systems incorporate and integrate perception systems for acquiring information from the environment, decision-making systems for interpreting and analyzing such information, and actuation systems that are responsible for performing the agricultural operations. These systems consist of different sensors, actuators, and computers that work synchronously in a specific architecture for the intended purpose. The main contribution of this paper is the selection, arrangement, integration, and synchronization of these systems to form a whole autonomous vehicle for agricultural applications. This type of vehicle has attracted growing interest, not only for researchers but also for manufacturers and farmers. The experimental results demonstrate the success and performance of the integrated system in guidance and weed control tasks in a maize field, indicating its utility and efficiency. The whole system is sufficiently flexible for use in other agricultural tasks with little effort and is another important contribution in the field of autonomous agricultural vehicles.

Resource allocation and supervisory control architecture for intelligent behavior generation

NASA Astrophysics Data System (ADS)

Shah, Hitesh K.; Bahl, Vikas; Moore, Kevin L.; Flann, Nicholas S.; Martin, Jason

2003-09-01

In earlier research the Center for Self-Organizing and Intelligent Systems (CSOIS) at Utah State University (USU) was funded by the US Army Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles (UGVs). As part of our research, we presented the use of a grammar-based approach to enabling intelligent behaviors in autonomous robotic vehicles. With the growth of the number of available resources on the robot, the variety of the generated behaviors and the need for parallel execution of multiple behaviors to achieve reaction also grew. As continuation of our past efforts, in this paper, we discuss the parallel execution of behaviors and the management of utilized resources. In our approach, available resources are wrapped with a layer (termed services) that synchronizes and serializes access to the underlying resources. The controlling agents (called behavior generating agents) generate behaviors to be executed via these services. The agents are prioritized and then, based on their priority and the availability of requested services, the Control Supervisor decides on a winner for the grant of access to services. Though the architecture is applicable to a variety of autonomous vehicles, we discuss its application on T4, a mid-sized autonomous vehicle developed for security applications.

PRIMUS: autonomous navigation in open terrain with a tracked vehicle

NASA Astrophysics Data System (ADS)

Schaub, Guenter W.; Pfaendner, Alfred H.; Schaefer, Christoph

2004-09-01

The German experimental robotics program PRIMUS (PRogram for Intelligent Mobile Unmanned Systems) is focused on solutions for autonomous driving in unknown open terrain, over several project phases under specific realization aspects for more than 12 years. The main task of the program is to develop algorithms for a high degree of autonomous navigation skills with off-the-shelf available hardware/sensor technology and to integrate this into military vehicles. For obstacle detection a Dornier-3D-LADAR is integrated on a tracked vehicle "Digitized WIESEL 2". For road-following a digital video camera and a visual perception module from the Universitaet der Bundeswehr Munchen (UBM) has been integrated. This paper gives an overview of the PRIMUS program with a focus on the last program phase D (2001 - 2003). This includes the system architecture, the description of the modes of operation and the technology development with the focus on obstacle avoidance and obstacle classification using a 3-D LADAR. A collection of experimental results and a short look at the next steps in the German robotics program will conclude the paper.

High spatial resolution mapping of water quality and bathymetry with an autonomous underwater vehicle

NASA Astrophysics Data System (ADS)

Pampalone, Vincenzo; Milici, Barbara

2015-12-01

The drone Ecomapper AUV (Autonomous Underwater Vehicle) is a rare example of highly technological instrument in the environmental coastal monitoring field. The YSI EcoMapper is a one-man deployable, Autonomous Underwater Vehicle (AUV) designed to collect bathymetry and water quality data. The submarine-like vehicle follows a programmed course and employs sensors mounted in the nose to record pertinent information. Once the vehicle has started its mission, it operates independently of the user and utilizes GPS waypoints navigation to complete its programmed course. Throughout the course, the vehicle constantly steers toward the line drawn in the mission planning software (VectorMap), essentially following a more accurate road of coordinates instead of transversing waypoint-to-waypoint. It has been equipped with a Doppler Velocity Log (DVL) to increase its underwater navigation accuracy. Potential EcoMapper applications include baseline environmental mapping in freshwater, estuarine or near-coastal environments, bathymetric mapping, dissolved oxygen studies, event monitoring (algal blooms, storm impacts, low dissolved oxygen), non-point source studies, point-source dispersion mapping, security, search & rescue, inspection, shallow water mapping, thermal dissipation mapping of cooling outfalls, trace-dye studies. The AUV is used in the coastal area of the Augusta Bay (Italy), located in the eastern part of Sicily. Due to the heavy contamination generated by the several chemical and petrochemical industries active in the zone, the harbour was declared a Contaminated Site of National Interest. The ecomapper allows for a simultaneous data collection of water quality and bathymetric data providing a complete environmental mapping system of the Harbour.

NASP guidance design for vehicle autonomy

NASA Astrophysics Data System (ADS)

Wagner, E. A.; Li, I.; Nguyen, D. D.; Nguyen, P. L.

1990-10-01

Vehicle guidance for General Dynamics' NASP vehicle is planned to be self-contained onboard the vehicle, and independent of any ground support during the mission. It will include real-time onboard abort and ascent trajectory optimization capability. Although these features should be considered a natural outgrowth of research in guidance and trajectory optimization and advances in computation, facilitating full vehicle autonomy for NASP represents a significant advance relative to any flight-demonstrated guidance. Algorithms and processing requirements for autonomous NASP vehicle guidance are considered.

Global Positioning System Synchronized Active Light Autonomous Docking System

NASA Technical Reports Server (NTRS)

Howard, Richard T. (Inventor); Book, Michael L. (Inventor); Bryan, Thomas C. (Inventor); Bell, Joseph L. (Inventor)

1996-01-01

A Global Positioning System Synchronized Active Light Autonomous Docking System (GPSSALADS) for automatically docking a chase vehicle with a target vehicle comprising at least one active light emitting target which is operatively attached to the target vehicle. The target includes a three-dimensional array of concomitantly flashing lights which flash at a controlled common frequency. The GPSSALADS further comprises a visual tracking sensor operatively attached to the chase vehicle for detecting and tracking the target vehicle. Its performance is synchronized with the flash frequency of the lights by a synchronization means which is comprised of first and second internal clocks operatively connected to the active light target and visual tracking sensor, respectively, for providing timing control signals thereto, respectively. The synchronization means further includes first and second Global Positioning System receivers operatively connected to the first and second internal clocks, respectively, for repeatedly providing simultaneous synchronization pulses to the internal clocks, respectively. In addition, the GPSSALADS includes a docking process controller means which is operatively attached to the chase vehicle and is responsive to the visual tracking sensor for producing commands for the guidance and propulsion system of the chase vehicle.

Global Positioning System Synchronized Active Light Autonomous Docking System

NASA Technical Reports Server (NTRS)

Howard, Richard (Inventor)

1994-01-01

A Global Positioning System Synchronized Active Light Autonomous Docking System (GPSSALADS) for automatically docking a chase vehicle with a target vehicle comprises at least one active light emitting target which is operatively attached to the target vehicle. The target includes a three-dimensional array of concomitantly flashing lights which flash at a controlled common frequency. The GPSSALADS further comprises a visual tracking sensor operatively attached to the chase vehicle for detecting and tracking the target vehicle. Its performance is synchronized with the flash frequency of the lights by a synchronization means which is comprised of first and second internal clocks operatively connected to the active light target and visual tracking sensor, respectively, for providing timing control signals thereto, respectively. The synchronization means further includes first and second Global Positioning System receivers operatively connected to the first and second internal clocks, respectively, for repeatedly providing simultaneous synchronization pulses to the internal clocks, respectively. In addition, the GPSSALADS includes a docking process controller means which is operatively attached to the chase vehicle and is responsive to the visual tracking sensor for producing commands for the guidance and propulsion system of the chase vehicle.

Methods for Determining the Level of Autonomy to Design into a Human Spaceflight Vehicle: A Function Specific Approach

NASA Technical Reports Server (NTRS)

Proud, Ryan W.; Hart, Jeremy J.; Mrozinski, Richard B.

2003-01-01

The next-generation human spaceflight vehicle is in a unique position to realize the benefits of more than thirty years of technological advancements since the Space Shuttle was designed. Computer enhancements, the emergence of highly reliable decision-making algorithms, and an emphasis on efficiency make an increased use of autonomous systems highly likely. NASA is in a position to take advantage of these advances and apply them to the human spaceflight environment. One of the key paradigm shifts will be the shift, where appropriate, of monitoring, option development, decision-making, and execution responsibility from humans to an Autonomous Flight Management (AFM) system. As an effort to reduce risk for development of an AFM system, NASA engineers are developing a prototype to prove the utility of previously untested autonomy concepts. This prototype, called SMART (Spacecraft Mission Assessment and Replanning Tool), is a functionally decomposed flight management system with an appropriate level of autonomy for each of its functions. As the development of SMART began, the most important and most often asked question was, How autonomous should an AFM system be? A thorough study of the literature through 2002 surrounding autonomous systems has not yielded a standard method for designing a level of autonomy into either a crewed vehicle or an uncrewed vehicle. The current focus in the literature on defining autonomy is centered on developing IQ tests for built systems. The literature that was analyzed assumes that the goal of all systems is to strive for complete autonomy from human intervention, rather than identifying how autonomous each function within the system should have been. In contrast, the SMART team developed a method for determining the appropriate level of autonomy to be designed into each function within a system. This paper summarizes the development of the Level of Autonomy Assessment Tool and its application to the SMART project.

GROVER: An autonomous vehicle for ice sheet research

NASA Astrophysics Data System (ADS)

Trisca, G. O.; Robertson, M. E.; Marshall, H.; Koenig, L.; Comberiate, M. A.

2013-12-01

The Goddard Remotely Operated Vehicle for Exploration and Research or Greenland Rover (GROVER) is a science enabling autonomous robot specifically designed to carry a low-power, large bandwidth radar for snow accumulation mapping over the Greenland Ice Sheet. This new and evolving technology enables reduced cost and increased safety for polar research. GROVER was field tested at Summit, Greenland in May 2013. The robot traveled over 30 km and was controlled both by line of sight wireless and completely autonomously with commands and telemetry via the Iridium Satellite Network, from Summit as well as remotely from Boise, Idaho. Here we describe GROVER's unique abilities and design. The software stack features a modular design that can be adapted for any application that requires autonomous behavior, reliable communications using different technologies and low level control of peripherals. The modules are built to communicate using the publisher-subscriber design pattern to maximize data-reuse and allow for graceful failures at the software level, along with the ability to be loaded or unloaded on-the-fly, enabling the software to adopt different behaviors based on power constraints or specific processing needs. These modules can also be loaded or unloaded remotely for servicing and telemetry can be configured to contain any kind of information being generated by the sensors or scientific instruments. The hardware design protects the electronic components and the control system can change functional parameters based on sensor input. Power failure modes built into the hardware prevent the vehicle from running out of energy permanently by monitoring voltage levels and triggering software reboots when the levels match pre-established conditions. This guarantees that the control software will be operational as soon as there is enough charge to sustain it, giving the vehicle increased longevity in case of a temporary power loss. GROVER demonstrates that autonomous rovers can be a revolutionary tool for data collection, and that both the technology and the software are available and ready to be implemented to create scientific data collection platforms.

Track-to-track association for object matching in an inter-vehicle communication system

NASA Astrophysics Data System (ADS)

Yuan, Ting; Roth, Tobias; Chen, Qi; Breu, Jakob; Bogdanovic, Miro; Weiss, Christian A.

2015-09-01

Autonomous driving poses unique challenges for vehicle environment perception due to the complex driving environment the autonomous vehicle finds itself in and differentiates from remote vehicles. Due to inherent uncertainty of the traffic environments and incomplete knowledge due to sensor limitation, an autonomous driving system using only local onboard sensor information is generally not sufficiently enough for conducting a reliable intelligent driving with guaranteed safety. In order to overcome limitations of the local (host) vehicle sensing system and to increase the likelihood of correct detections and classifications, collaborative information from cooperative remote vehicles could substantially facilitate effectiveness of vehicle decision making process. Dedicated Short Range Communication (DSRC) system provides a powerful inter-vehicle wireless communication channel to enhance host vehicle environment perceiving capability with the aid of transmitted information from remote vehicles. However, there is a major challenge before one can fuse the DSRC-transmitted remote information and host vehicle Radar-observed information (in the present case): the remote DRSC data must be correctly associated with the corresponding onboard Radar data; namely, an object matching problem. Direct raw data association (i.e., measurement-to-measurement association - M2MA) is straightforward but error-prone, due to inherent uncertain nature of the observation data. The uncertainties could lead to serious difficulty in matching decision, especially, using non-stationary data. In this study, we present an object matching algorithm based on track-to-track association (T2TA) and evaluate the proposed approach with prototype vehicles in real traffic scenarios. To fully exploit potential of the DSRC system, only GPS position data from remote vehicle are used in fusion center (at host vehicle), i.e., we try to get what we need from the least amount of information; additional feature information can help the data association but are not currently considered. Comparing to M2MA, benefits of the T2TA object matching approach are: i) tracks taking into account important statistical information can provide more reliable inference results; ii) the track-formed smoothed trajectories can be used for an easier shape matching; iii) each local vehicle can design its own tracker and sends only tracks to fusion center to alleviate communication constraints. A real traffic study with different driving environments, based on a statistical hypothesis test, shows promising object matching results of significant practical implications.

75 FR 75621 - Office of Commercial Space Transportation; Waiver of Autonomous Reentry Restriction for a Reentry...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-12-06

... Space Transportation; Waiver of Autonomous Reentry Restriction for a Reentry Vehicle AGENCY: Federal... concerns two petitions for waiver submitted to the Federal Aviation Administration (FAA) by Space Exploration Technologies Corp. (SpaceX): A petition to waive the requirement that a waiver petition be...

Autonomous flight control for a Titan exploration aerobot

NASA Technical Reports Server (NTRS)

Elfes, Alberto; Montgomery, James F.; Hall, Jeffrey L.; Joshi, Sanjay S.; Payne, Jeffrey; Bergh, Charles F.

2005-01-01

Robotic lighter-than-air vehicles, or aerobots, provide strategic platform for the exploration of planets and moons with an atmosphere, such as Venus, Mars, Titan and the gas giants. In this paper, we discuss steps towards the development of an autonomy architecture, and concentrate on the autonomous fight control subsystem.

Autonomous Trans-Antartic expeditions: an initiative for advancing planetary mobility system technology while addressing Earth science objectives in Antartica

NASA Technical Reports Server (NTRS)

Carsey, F.; Schenker, P.; Blamont, J.

2001-01-01

A workshop on Antartic Autonomous Scientific Vehicles and Traverses met at the National Geographic Society in February to discuss scientific objectives and benefits of the use of rovers such as are being developed for use in planetary exploration.

Learning for autonomous navigation

NASA Technical Reports Server (NTRS)

Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

2005-01-01

Autonomous off-road navigation of robotic ground vehicles has important applications on Earth and in space exploration. Progress in this domain has been retarded by the limited lookahead range of 3-D sensors and by the difficulty of preprogramming systems to understand the traversability of the wide variety of terrain they can encounter.

Automated Power-Distribution System

NASA Technical Reports Server (NTRS)

Ashworth, Barry; Riedesel, Joel; Myers, Chris; Miller, William; Jones, Ellen F.; Freeman, Kenneth; Walsh, Richard; Walls, Bryan K.; Weeks, David J.; Bechtel, Robert T.

1992-01-01

Autonomous power-distribution system includes power-control equipment and automation equipment. System automatically schedules connection of power to loads and reconfigures itself when it detects fault. Potential terrestrial applications include optimization of consumption of power in homes, power supplies for autonomous land vehicles and vessels, and power supplies for automated industrial processes.

Research on key technology of prognostic and health management for autonomous underwater vehicle

NASA Astrophysics Data System (ADS)

Zhou, Zhi

2017-12-01

Autonomous Underwater Vehicles (AUVs) are non-cable and autonomous motional underwater robotics. With a wide range of activities, it can reach thousands of kilometers. Because it has the advantages of wide range, good maneuverability, safety and intellectualization, it becomes an important tool for various underwater tasks. How to improve diagnosis accuracy of the AUVs electrical system faults, and how to repair AUVs by the information are the focus of navy in the world. In turn, ensuring safe and reliable operation of the system has very important significance to improve AUVs sailing performance. To solve these problems, in the paper the prognostic and health management(PHM) technology is researched and used to AUV, and the overall framework and key technology are proposed, such as data acquisition, feature extraction, fault diagnosis, failure prediction and so on.