Systems Engineering Approach to Develop Guidance, Navigation and Control Algorithms for Unmanned Ground Vehicle

DTIC Science & Technology

2016-09-01

identification and tracking algorithm. 14. SUBJECT TERMS unmanned ground vehicles , pure pursuit, vector field histogram, feature recognition 15. NUMBER OF...located within the various theaters of war. The pace for the development and deployment of unmanned ground vehicles (UGV) was, however, not keeping...DEVELOPMENT OF UNMANNED GROUND VEHICLES The development and fielding of UGVs in an operational role are not a new concept in the battlefield. In

Development of a Geospatial Data-Sharing Method for Unmanned Vehicles Based on the Joint Architecture for Unmanned Systems (JAUS)

DTIC Science & Technology

2005-08-01

the Office of the Secretary of Defense chartered the Joint Architecture for Unmanned Ground Systems ( JAUGS ) Working Group to address these concerns...The JAUGS Working Group was tasked with developing an initial standard for interoperable unmanned ground systems. In 2002, the charter of the... JAUGS Working Group was 1 2 modified such that their efforts would extend to all unmanned systems, not only ground systems. The standard was

X-45A in flight with F-18 #846 chase aircraft, during first GPS-guided weapon demonstration flight

NASA Image and Video Library

2002-12-19

The first X-45A Unmanned Combat Air Vehicle (UCAV) technology demonstrator completed its sixth flight on Dec. 19, 2002, raising its landing gear in flight for the first time. The X-45A flew for 40 minutes and reached an airspeed of 195 knots and an altitude of 7,500 feet. Dryden is supporting the DARPA/Boeing team in the design, development, integration, and demonstration of the critical technologies, processes, and system attributes leading to an operational UCAV system. Dryden support of the X-45A demonstrator system includes analysis, component development, simulations, ground and flight tests.

ARV robotic technologies (ART): a risk reduction effort for future unmanned systems

NASA Astrophysics Data System (ADS)

Jaster, Jeffrey F.

2006-05-01

The Army's ARV (Armed Robotic Vehicle) Robotic Technologies (ART) program is working on the development of various technological thrusts for use in the robotic forces of the future. The ART program will develop, integrate and demonstrate the technology required to advance the maneuver technologies (i.e., perception, mobility, tactical behaviors) and increase the survivability of unmanned platforms for the future force while focusing on reducing the soldiers' burden by providing an increase in vehicle autonomy coinciding with a decrease in the total number user interventions required to control the unmanned assets. This program will advance the state of the art in perception technologies to provide the unmanned platform an increasingly accurate view of the terrain that surrounds it; while developing tactical/mission behavior technologies to provide the Unmanned Ground Vehicle (UGV) the capability to maneuver tactically, in conjunction with the manned systems in an autonomous mode. The ART testbed will be integrated with the advanced technology software and associated hardware developed under this effort, and incorporate appropriate mission modules (e.g. RSTA sensors, MILES, etc.) to support Warfighter experiments and evaluations (virtual and field) in a military significant environment (open/rolling and complex/urban terrain). The outcome of these experiments as well as other lessons learned through out the program life cycle will be used to reduce the current risks that are identified for the future UGV systems that will be developed under the Future Combat Systems (FCS) program, including the early integration of an FCS-like autonomous navigation system onto a tracked skid steer platform.

An improved artificial bee colony algorithm based on balance-evolution strategy for unmanned combat aerial vehicle path planning.

PubMed

Li, Bai; Gong, Li-gang; Yang, Wen-lun

2014-01-01

Unmanned combat aerial vehicles (UCAVs) have been of great interest to military organizations throughout the world due to their outstanding capabilities to operate in dangerous or hazardous environments. UCAV path planning aims to obtain an optimal flight route with the threats and constraints in the combat field well considered. In this work, a novel artificial bee colony (ABC) algorithm improved by a balance-evolution strategy (BES) is applied in this optimization scheme. In this new algorithm, convergence information during the iteration is fully utilized to manipulate the exploration/exploitation accuracy and to pursue a balance between local exploitation and global exploration capabilities. Simulation results confirm that BE-ABC algorithm is more competent for the UCAV path planning scheme than the conventional ABC algorithm and two other state-of-the-art modified ABC algorithms.

A survey of unmanned ground vehicles with applications to agricultural and environmental sensing

NASA Astrophysics Data System (ADS)

Bonadies, Stephanie; Lefcourt, Alan; Gadsden, S. Andrew

2016-05-01

Unmanned ground vehicles have been utilized in the last few decades in an effort to increase the efficiency of agriculture, in particular, by reducing labor needs. Unmanned vehicles have been used for a variety of purposes including: soil sampling, irrigation management, precision spraying, mechanical weeding, and crop harvesting. In this paper, unmanned ground vehicles, implemented by researchers or commercial operations, are characterized through a comparison to other vehicles used in agriculture, namely airplanes and UAVs. An overview of different trade-offs of configurations, control schemes, and data collection technologies is provided. Emphasis is given to the use of unmanned ground vehicles in food crops, and includes a discussion of environmental impacts and economics. Factors considered regarding the future trends and potential issues of unmanned ground vehicles include development, management and performance. Also included is a strategy to demonstrate to farmers the safety and profitability of implementing the technology.

Simulation-Based Acceptance Testing for Unmanned Ground Vehicles

DTIC Science & Technology

2011-05-12

Ground Robotic Reliability Center (GRRC) at the University of Michigan in 2010, the focus of his research has been on unmanned ground vehicles...Jong Lee is a former student of the University of Michigan’s Ground Robotics Reliability Center (GRRC). He received his Bachelor’s and Master’s degree...methods to improve reliability of Unmanned Ground Vehicle (UGV) systems. His primary research interests include robotic systems and control

Analysis of the Sustainment Organization and Process for the Marine Corps’ RQ-11B Raven Small Unmanned Aircraft System (SUAS)

DTIC Science & Technology

2012-03-01

Vehicle UAS Unmanned Aircraft System UCAV Unmanned Combat Air Vehicles xvii UNS Universal Needs Statement USMC United States Marine Corps VLC ...she helped motivate me to finish this project—as challenging as it may be to work under the conditions set by an infant. And, finally, thanks to...In every aspect of program management, the DoD acquisition workforce is constantly challenged to balance cost, schedule, and performance. In a

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.

TALON: a universal unmanned ground vehicle platform, enabling the mission to be the focus

NASA Astrophysics Data System (ADS)

Wells, Peter; Deguire, Dan

2005-05-01

Foster-Miller's unmanned ground vehicle, TALON, was originally developed under DARPA's Tactical Mobile Robotics (TMR) program. TALON has evolved over the years and has proven to be a robust, mobile, universal platform. As a result of the advances made in the evolution of TALON, new and far-reaching opportunities have been realized for unmanned ground vehicles. In recent conflicts such as in Afghanistan and Iraq, unmanned systems have played an important role and have extended the reach and capabilities of the War fighter. Technological advances have transformed unmanned vehicles in to useful tools and in some cases are used in lieu of sending in a soldier. Unmanned ground vehicles have seen recent and persistent success, as shown in theater, in the explosive ordinance disposal (EOD) and improvised ordinance disposal (IED) missions. Foster-Miller's TALON has experienced over ten thousand EOD and IED missions in Iraq alone. The success of the unmanned system has resulted in the doctrine "Send the robot in first". Foster-Miller has taken the role of the unmanned vehicle in yet another direction. Foster-Miller has transformed the TALON from a "practical" to "tactical" system. Through the combined efforts of Foster-Miller and the US Army, TALON has been involved in a weaponization program. To date, Foster-Miller has outfitted the TALON with 11 systems. As one can see, the unmanned ground vehicle is much more than a mobility platform.

Intelligent mobility for robotic vehicles in the army after next

NASA Astrophysics Data System (ADS)

Gerhart, Grant R.; Goetz, Richard C.; Gorsich, David J.

1999-07-01

The TARDEC Intelligent Mobility program addresses several essential technologies necessary to support the army after next (AAN) concept. Ground forces in the AAN time frame will deploy robotic unmanned ground vehicles (UGVs) in high-risk missions to avoid exposing soldiers to both friendly and unfriendly fire. Prospective robotic systems will include RSTA/scout vehicles, combat engineering/mine clearing vehicles, indirect fire artillery and missile launch platforms. The AAN concept requires high on-road and off-road mobility, survivability, transportability/deployability and low logistics burden. TARDEC is developing a robotic vehicle systems integration laboratory (SIL) to evaluate technologies and their integration into future UGV systems. Example technologies include the following: in-hub electric drive, omni-directional wheel and steering configurations, off-road tires, adaptive tire inflation, articulated vehicles, active suspension, mine blast protection, detection avoidance and evasive maneuver. This paper will describe current developments in these areas relative to the TARDEC intelligent mobility program.

Combating Terrorism Technical Support Office. 2008 Review

DTIC Science & Technology

2009-01-15

threat object displayed at the operator control unit of the robotic platform. Remote Utility Conversion Kit The Remote Utility Conversion Kit (RUCK) is a...three- dimensional and isometric simulations and games. Develop crowd models, adversarial behavior models, network-based simulations, mini-simulations...Craft-Littoral The modular unmanned surface craft-littoral ( MUSCL ) is a spin- off of EOD/LIC’s Unmanned Reconnaissance Observation Craft, developed

Genetic Fuzzy Trees for Intelligent Control of Unmanned Combat Aerial Vehicles

NASA Astrophysics Data System (ADS)

Ernest, Nicholas D.

Fuzzy Logic Control is a powerful tool that has found great success in a variety of applications. This technique relies less on complex mathematics and more "expert knowledge" of a system to bring about high-performance, resilient, and efficient control through linguistic classification of inputs and outputs and if-then rules. Genetic Fuzzy Systems (GFSs) remove the need of this expert knowledge and instead rely on a Genetic Algorithm (GA) and have similarly found great success. However, the combination of these methods suffer severely from scalability; the number of rules required to control the system increases exponentially with the number of states the inputs and outputs can take. Therefor GFSs have thus far not been applicable to complex, artificial intelligence type problems. The novel Genetic Fuzzy Tree (GFT) method breaks down complex problems hierarchically, makes sub-decisions when possible, and thus greatly reduces the burden on the GA. This development significantly changes the field of possible applications for GFSs. Within this study, this is demonstrated through applying this technique to a difficult air combat problem. Looking forward to an autonomous Unmanned Combat Aerial Vehicle (UCAV) in the 2030 time-frame, it becomes apparent that the mission, flight, and ground controls will utilize the emerging paradigm of Intelligent Systems (IS); namely, the ability to learn, adapt, exhibit robustness in uncertain situations, make sense of the data collected in real-time and extrapolate when faced with scenarios significantly different from those used in training. LETHA (Learning Enhanced Tactical Handling Algorithm) was created to develop intelligent controllers for these advanced unmanned craft as the first GFT. A simulation space referred to as HADES (Hoplological Autonomous Defend and Engage Simulation) was created in which LETHA can train the UCAVs. Equipped with advanced sensors, a limited supply of Self-Defense Missiles (SDMs), and a recharging Laser Weapon System (LWS), these UCAVs can navigate a mission space, counter enemy threats, cope with losses in communications, and destroy mission-critical targets. Monte Carlo simulations of the resulting controllers were tested in mission scenarios that are distinct from the training scenarios to determine the training effectiveness in new environments and the presence of deep learning. Despite an incredibly large solution space, LETHA has demonstrated remarkable effectiveness in training intelligent controllers for the UCAV squadron and shown robustness to drastically changing states, uncertainty, and limited information while maintaining extreme levels of computational efficiency.

The Ground Control Room as an Enabling Technology in the Unmanned Aerial System

NASA Technical Reports Server (NTRS)

Gear, Gary; Mace, Thomas

2007-01-01

This viewgraph presentation reviews the development of the ground control room as an required technology for the use of an Unmanned Aerial system. The Unmanned Aerial system is a strategic component of the Global Observing System, which will serve global science needs. The unmanned aerial system will use the same airspace as manned aircraft, therefore there will be unique telemetry needs.

LWIR passive perception system for stealthy unmanned ground vehicle night operations

NASA Astrophysics Data System (ADS)

Lee, Daren; Rankin, Arturo; Huertas, Andres; Nash, Jeremy; Ahuja, Gaurav; Matthies, Larry

2016-05-01

Resupplying forward-deployed units in rugged terrain in the presence of hostile forces creates a high threat to manned air and ground vehicles. An autonomous unmanned ground vehicle (UGV) capable of navigating stealthily at night in off-road and on-road terrain could significantly increase the safety and success rate of such resupply missions for warfighters. Passive night-time perception of terrain and obstacle features is a vital requirement for such missions. As part of the ONR 30 Autonomy Team, the Jet Propulsion Laboratory developed a passive, low-cost night-time perception system under the ONR Expeditionary Maneuver Warfare and Combating Terrorism Applied Research program. Using a stereo pair of forward looking LWIR uncooled microbolometer cameras, the perception system generates disparity maps using a local window-based stereo correlator to achieve real-time performance while maintaining low power consumption. To overcome the lower signal-to-noise ratio and spatial resolution of LWIR thermal imaging technologies, a series of pre-filters were applied to the input images to increase the image contrast and stereo correlator enhancements were applied to increase the disparity density. To overcome false positives generated by mixed pixels, noisy disparities from repeated textures, and uncertainty in far range measurements, a series of consistency, multi-resolution, and temporal based post-filters were employed to improve the fidelity of the output range measurements. The stereo processing leverages multi-core processors and runs under the Robot Operating System (ROS). The night-time passive perception system was tested and evaluated on fully autonomous testbed ground vehicles at SPAWAR Systems Center Pacific (SSC Pacific) and Marine Corps Base Camp Pendleton, California. This paper describes the challenges, techniques, and experimental results of developing a passive, low-cost perception system for night-time autonomous navigation.

Managing the integration and harmonization of national airspace for unmanned and manned systems

NASA Astrophysics Data System (ADS)

Mumm, Hans

This dissertation examines the leadership challenge created by the requirement to integrate unmanned aerial vehicles (UAVs) into the national airspace system (NAS). The lack of UAV-related federal rules and regulations is a primary factor prolonging this integration. This effort focuses primarily on the leadership portion of the solution and not the technological requirements. The research explores an adaptation of the complexity theory that offers a potential leadership framework for the government, industry, and academia to use for achieving the full integration of UAVs into the NAS. Due to the large number of stakeholders and the multitude of interrelated issues, a complexity-theory-leadership methodology was created and examined as a potential way to help the FAA accelerate their rule-making efforts. This dissertation focuses on United States UAV issues. The United States is one of the leaders in the unmanned systems arena, to include the first significant use of recoverable autonomous weaponized systems in combat. Issues such as airspace, airworthiness, social issues, privacy issues, regulations, and the lack of policies, procedures, or governance are universal for all countries that are active in this technology area. This qualitative dissertation makes use of the grounded theory methodology as it combines a literature review and research along with interviews with subject matter experts, and information gained from attending UAV related gatherings/discussions. The investigation uncovered significant FAA process impediments as well as some possible break through concepts that could work well with the complexity-theory-leadership methodology. Keywords: Complexity theory, leadership, change management, UAV, unmanned aerial vehicle, National Airspace, NAS, FAA, Federal Aviation Administration.

The development of ground unmanned vehicles, driver assistance systems and components according to patent publications

NASA Astrophysics Data System (ADS)

Saykin, A. M.; Tuktakiev, G. S.; Zhuravlev, A. V.; Zaitseva, E. P.

2018-02-01

The paper contains the analysis of the main trends in the patenting of ground unmanned vehicles, driver assistance systems (ADAS) and unmanned vehicle components abroad during the period from 2010 to 2016. The conclusion was made that the intensity of their patenting abroad increased.

A survey of unmanned ground vehicles with applications to agricultural and environmental sensing

USDA-ARS?s Scientific Manuscript database

Unmanned ground vehicles have been utilized in the last few decades in an effort to increase the efficiency of agriculture, in particular, by reducing labor needs. Unmanned vehicles have been used for a variety of purposes including: soil sampling, irrigation management, precision spraying, mechanic...

Autonomous intelligent military robots: Army ants, killer bees, and cybernetic soldiers

NASA Astrophysics Data System (ADS)

Finkelstein, Robert

The rationale for developing autonomous intelligent robots in the military is to render conventional warfare systems ineffective and indefensible. The Desert Storm operation demonstrated the effectiveness of such systems as unmanned air and ground vehicles and indicated the future possibilities of robotic technology. Robotic military vehicles would have the advantages of expendability, low cost, lower complexity compared to manned systems, survivability, maneuverability, and a capability to share in instantaneous communication and distributed processing of combat information. Basic characteristics of intelligent systems and hierarchical control systems with sensor inputs are described. Genetic algorithms are seen as a means of achieving appropriate levels of intelligence in a robotic system. Potential impacts of robotic technology in the military are outlined.

A Need for Systems Architecture Approach for Next Generation Mine Warfare Capability

DTIC Science & Technology

2006-09-01

MRUUV Mission Reconfigurable Unmanned Undersea Vehicle MSC Mine Countermeasures Ship Coastal MSO Mine Countermeasures Ship Open-ocean P3I Preplanned...Helicopter, the Remote Mine Hunting System (RMS), the Mission Reconfigurable Unmanned Undersea Vehicle (MRUUV) and finally the Littoral Combat Ship (LCS...guarding against the sophisticated Soviet blue-water, air, and undersea threats. Yet since World War II, U.S. Naval Forces have suffered significantly

Artificial immune system approach for air combat maneuvering

NASA Astrophysics Data System (ADS)

Kaneshige, John; Krishnakumar, Kalmanje

2007-04-01

Since future air combat missions will involve both manned and unmanned aircraft, the primary motivation for this research is to enable unmanned aircraft with intelligent maneuvering capabilities. During air combat maneuvering, pilots use their knowledge and experience of maneuvering strategies and tactics to determine the best course of action. As a result, we try to capture these aspects using an artificial immune system approach. The biological immune system protects the body against intruders by recognizing and destroying harmful cells or molecules. It can be thought of as a robust adaptive system that is capable of dealing with an enormous variety of disturbances and uncertainties. However, another critical aspect of the immune system is that it can remember how previous encounters were successfully defeated. As a result, it can respond faster to similar encounters in the future. This paper describes how an artificial immune system is used to select and construct air combat maneuvers. These maneuvers are composed of autopilot mode and target commands, which represent the low-level building blocks of the parameterized system. The resulting command sequences are sent to a tactical autopilot system, which has been enhanced with additional modes and an aggressiveness factor for enabling high performance maneuvers. Just as vaccinations train the biological immune system how to combat intruders, training sets are used to teach the maneuvering system how to respond to different enemy aircraft situations. Simulation results are presented, which demonstrate the potential of using immunized maneuver selection for the purposes of air combat maneuvering.

An OEF/OIF study of close combat missions using small unmanned aircraft systems

NASA Astrophysics Data System (ADS)

Lifschitz, Gabriel; Tierney, Richard J.; Vitali, Juan A.

2007-04-01

The Small Unmanned Aircraft System (SUAS) is a rucksack portable aerial observation vehicle designed to supplement reconnaissance, surveillance and target acquisition tasks of an infantry company. The Raven is an earlier version of the SUAS. Raven is an Urgent Material Release (UMR) acquisition and has been used for the past two years by selected Army units in Operations Enduring Freedom and Iraqi Freedom (OEF/OIF). Army Test and Evaluation Command-led surveys were used to assess the capabilities and limitations of the Raven in OEF/OIF. Results and analyses of the surveys indicate that Raven enhances situational awareness of a small unit in urban areas and in selected close combat missions. Users of the Raven state it is easy to use, although there are major issues with frequency de-confliction, airspace management, short endurance, and sensor performance. The SUAS is a program of record and completed developmental and operational testing in preparation for full rate production. This paper addresses the SUAS effectiveness, suitability, and survivability evaluation strategy based on actual testing of the system. During the Initial Operational Test (IOT), the SUAS was found to be effective with limitations in a set of 21 closed combat missions and two call for fire tests for which it was tested. Low Mean Time Between Operational Mean Failure (MTBOMF) and human factors issues make the system suitable with limitations. Acoustic (audible to the human ear) and electronic vulnerabilities make the system non-survivable in most combat scenarios. The SUAS was found to be useful as an extra asset usable in certain infantry company close combat missions where terrain and visual line of sight give the system an advantage over traditional reconnaissance patrols. Army aviation and infantry units uncover new ways every day to use this portable "eye in the sky", especially when unmanned aerial reconnaissance assets are in premium demand. A discussion on changes in doctrine with the SUAS and how it will be integrated into future combat systems for the Army completes the evaluation analysis and its likely benefits to the Soldier.

Unmanned Vanguard: Leveraging The Operational Effectiveness Of The Israeli Unmanned Aircraft System Program

DTIC Science & Technology

2012-04-01

tactical electronic and optical reconnaissance (both high and low altitude); and 3) electronic combat (jamming and chaff dispensing).7 In contrast, the...sites or other radar sites. IAI designed the Harpy as a loitering UAS that would sit over the battlefield and search for electronic emissions from...tactical reconnaissance, and can be modified to carry different payloads for electronic warfare or attack missions. The Hermes 450 is the smallest

The New Close Air Support Weapon: Unmanned Combat Aerial Vehicle in 2010 and Beyond.

DTIC Science & Technology

1999-06-04

designing and fielding unmanned aircraft of many types (Reed, 1979, 72). Abruptly halted in 1972, President Richard Nixon suddenly engaged in ddtente...lessons to emerge from the short history of air power is that unity of development and employment is fundamental to air power effectiveness. ( Vallance ... Richard Wilcox. 1996. Strike Star 2025. Air Command and Staff College. Maxwell Air Force Base, Alabama: Air University Press. Cooling, Benjamin Franklin

Absolute High-Precision Localisation of an Unmanned Ground Vehicle by Using Real-Time Aerial Video Imagery for Geo-referenced Orthophoto Registration

NASA Astrophysics Data System (ADS)

Kuhnert, Lars; Ax, Markus; Langer, Matthias; Nguyen van, Duong; Kuhnert, Klaus-Dieter

This paper describes an absolute localisation method for an unmanned ground vehicle (UGV) if GPS is unavailable for the vehicle. The basic idea is to combine an unmanned aerial vehicle (UAV) to the ground vehicle and use it as an external sensor platform to achieve an absolute localisation of the robotic team. Beside the discussion of the rather naive method directly using the GPS position of the aerial robot to deduce the ground robot's position the main focus of this paper lies on the indirect usage of the telemetry data of the aerial robot combined with live video images of an onboard camera to realise a registration of local video images with apriori registered orthophotos. This yields to a precise driftless absolute localisation of the unmanned ground vehicle. Experiments with our robotic team (AMOR and PSYCHE) successfully verify this approach.

Designing Unmanned Systems with Greater Autonomy: Using a Federated, Partially Open Systems Architecture Approach

DTIC Science & Technology

2014-01-01

system UAV unmanned aircraft vehicle UCI User -Computer Interface UCS UAS control segment Abbreviations xxix UGS unmanned ground system UGV unmanned ...made substantial progress in the deployment of more capable sensors, unmanned aircraft systems (UAS), and other unmanned systems (UxS). Innovative...progress in fielding more, and more capable unmanned aircraft systems (UAS) to meet the needs of warfighters

Heuristic approach to the development of ratings and tactics applicable to the one-on-one aerial combat (dogfight) encounter

NASA Technical Reports Server (NTRS)

Hague, D. S.

1977-01-01

Computer simulations of the one-on-one aerial combat encounter are generated under the control of specified guidance laws. Given an initial state, the vehicle and atmospheric characteristics, and the guidance laws, the aerial combat encounter is simulated by forward integration of the two vehicles' motions. The development of a combat guidance law which converts positional advantage into an improved firing opportunity is reported. A combination of lag, line of sight, and lead pursuit steering paths are followed in the guidance law. The law is based on steering error, target angle-off and the relative velocities. It readily is automated either as an onboard aid to manned aircraft pilots or as a combat guidance law for unmanned vehicles.

The Integration of the Naval Unmanned Combat Aerial System (N-UCAS) into the Future Naval Air Wing

DTIC Science & Technology

2009-12-01

5 Table 1. Aircraft Combat Radius from World War II (WWII) Through 1990s6 Period  Airframe  Distance  WW2   F6F  400nm     TBF  400nm     SB2C...override the computers, take control, and guide his two bombs to target by infrared video imagery. Otherwise, our auto piloted computer was programmed

COEFUV: A Computer Implementation of a Generalized Unmanned Vehicle Cost Model.

DTIC Science & Technology

1978-10-01

78 T N OMBER . C A FEUCNTER CLASSIF lED DAS-TRRNL mh~hhhh~hhE DAS-TR-78-4 DAS-TR-78-4 coI COEFUV: A COMPUTER IMPLEMENTATION OF A IM GENERALIZED ...34 and the time to generate them are important. Many DAS participants supported this effort. The authors wish to acknow- ledge Richard H. Anderson for...conflict and the on-going COMBAT ANGEL program at Davis-Monthan Air Force Base, there is not a generally accepted costing methodology for unmanned vehicles

Rapid Network Design

DTIC Science & Technology

2013-09-01

control GCE ground combat element LCE logistics combat element MAGTF Marine Air Ground Task Force MWCS Marine Wing Communications Squadron NPS Naval...elements: command element (CE), ground combat el- ement ( GCE ), aviation combat element (ACE), and logistics combat element (LCE). Each ele- ment...This layer provides unimpeded high-speed connectivity between remote sites and the Internet. Limited security policies are applied at this level to

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

Manned-Unmanned Teaming of Aircraft - Literature Search

DTIC Science & Technology

2013-12-01

unmanned aircraft reconnaissance system MQ 8B Fire Scout vertical takeoff and landing unmanned system MQ 5B Hunter medium altitude unmanned aerial...201140, and allows their crew to view sensor data from unmanned aircraft systems (UAS) and send data from the helicopter’s sensors to the ground.35 No...Helicopter, AAI unmanned Aircraft Systems , and Textron Inc. It opened in December 2012 in Huntsville Alabama. It will enable “a software and

ARL participation in the C4ISR OTM experiment: integration and performance results

NASA Astrophysics Data System (ADS)

Zong, Lei; O'Brien, Barry J.

2007-04-01

The Command, Control, Communication, Computers, Intelligence, Surveillance and Reconnaissance (C4ISR) On-The- Move (OTM) demonstration is an annual showcase of how innovative technologies can help modern troops increase their situational awareness (SA) in battlefield environments. To evaluate the effectiveness these new technologies have on the soldiers' abilities to gather situational information, the demonstration involves United States Army National Guard troops in realistic war game scenarios at an Army Reserve training ground. The Army Research Laboratory (ARL) was invited to participate in the event, with the objective demonstrating system-level integration of disparate technologies developed for gathering SA information in small unit combat operations. ARL provided expertise in Unattended Ground Sensing (UGS) technology, Unmanned Ground Vehicle (UGV) technology, information processing and wireless mobile ad hoc communication. The ARL C4ISR system included a system of multimodal sensors (MMS), a trip wire imager, a man-portable robotic vehicle (PackBot), and low power sensor radios for communication between an ARL system and a hosting platoon vehicle. This paper will focus on the integration effort of bringing the multiple families of sensor assets together into a working system.

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

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

Unmanned Aerial Vehicles unique cost estimating requirements

NASA Astrophysics Data System (ADS)

Malone, P.; Apgar, H.; Stukes, S.; Sterk, S.

Unmanned Aerial Vehicles (UAVs), also referred to as drones, are aerial platforms that fly without a human pilot onboard. UAVs are controlled autonomously by a computer in the vehicle or under the remote control of a pilot stationed at a fixed ground location. There are a wide variety of drone shapes, sizes, configurations, complexities, and characteristics. Use of these devices by the Department of Defense (DoD), NASA, civil and commercial organizations continues to grow. UAVs are commonly used for intelligence, surveillance, reconnaissance (ISR). They are also use for combat operations, and civil applications, such as firefighting, non-military security work, surveillance of infrastructure (e.g. pipelines, power lines and country borders). UAVs are often preferred for missions that require sustained persistence (over 4 hours in duration), or are “ too dangerous, dull or dirty” for manned aircraft. Moreover, they can offer significant acquisition and operations cost savings over traditional manned aircraft. Because of these unique characteristics and missions, UAV estimates require some unique estimating methods. This paper describes a framework for estimating UAV systems total ownership cost including hardware components, software design, and operations. The challenge of collecting data, testing the sensitivities of cost drivers, and creating cost estimating relationships (CERs) for each key work breakdown structure (WBS) element is discussed. The autonomous operation of UAVs is especially challenging from a software perspective.

Modeling and Simulation of an Unmanned Ground Vehicle Power System

DTIC Science & Technology

2014-08-07

Modeling and Simulation of an Unmanned Ground Vehicle Power System John Broderick Jack Hartner Dawn Tilbury Ella Atkins Sponsored by U.S...5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) John Broderick ; Jack Hartner; Dawn Tilbury; Ella Atkins 5d. PROJECT

Unmanned Ground Vehicle Navigation and Coverage Hole Patching in Wireless Sensor Networks

ERIC Educational Resources Information Center

Zhang, Guyu

2013-01-01

This dissertation presents a study of an Unmanned Ground Vehicle (UGV) navigation and coverage hole patching in coordinate-free and localization-free Wireless Sensor Networks (WSNs). Navigation and coverage maintenance are related problems since coverage hole patching requires effective navigation in the sensor network environment. A…

Understanding the Importance and Practice of Credible Leadership at Program Executive Office Ground Combat Systems (PEO GCS) and Program Executive Office Combat Support and Combat Service Support (PEO CS and CSS)

DTIC Science & Technology

2017-03-30

and Program Executive Office Combat Support and Combat Service Support (PEO CS&CSS) Chad P. Stocker March 30, 2017 Submitted to...to Defense Acquisition University in partial fulfillment of the requirement of the Senior Service College Fellowship CREDIBLE LEADERSHIP AT PEO...of Credible Leadership at Program Executive Office Ground Combat Systems (PEO GCS) and Program Executive Office Combat Support and Combat Service

Unmanned Ground Vehicle (UGV) Lessons Learned

DTIC Science & Technology

2001-11-01

iii 1. INTRODUCTION ....................................................................................................... 1 1.1... INTRODUCTION 1.1 PURPOSE The purpose of this effort is to compile Lessons Learned from the unmanned ground vehicle (UGV) programs that could be relevant to... introduction of gunpowder, this lesson was no longer valid. Castles crumbled and new lessons had to be learned. One such lesson was that the faster

Navigation and Hazard Avoidance for High-Speed Unmanned Ground Vehicles in Rough Terrain

DTIC Science & Technology

2008-07-07

Potential Field Navigation of High Speed Vehicles on Rough Terrain,” Robotica , Vol. 25, No. 4, pp 409-424, July 2007 Udengaard, M., and Iagnemma, K...Navigation of Unmanned Ground Vehicles on Uneven Terrain using Potential Fields," to appear in Robotica , 2007 [16] Spenko, M., Kuroda, Y., Dubowsky, S

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.

STARR: shortwave-targeted agile Raman robot for the detection and identification of emplaced explosives

NASA Astrophysics Data System (ADS)

Gomer, Nathaniel R.; Gardner, Charles W.

2014-05-01

In order to combat the threat of emplaced explosives (land mines, etc.), ChemImage Sensor Systems (CISS) has developed a multi-sensor, robot mounted sensor capable of identification and confirmation of potential threats. The system, known as STARR (Shortwave-infrared Targeted Agile Raman Robot), utilizes shortwave infrared spectroscopy for the identification of potential threats, combined with a visible short-range standoff Raman hyperspectral imaging (HSI) system for material confirmation. The entire system is mounted onto a Talon UGV (Unmanned Ground Vehicle), giving the sensor an increased area search rate and reducing the risk of injury to the operator. The Raman HSI system utilizes a fiber array spectral translator (FAST) for the acquisition of high quality Raman chemical images, allowing for increased sensitivity and improved specificity. An overview of the design and operation of the system will be presented, along with initial detection results of the fusion sensor.

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.

Rescinding the Ground Combat Exclusion Policy

DTIC Science & Technology

2011-04-07

restrict women from assignment to ground combat roles. 2 Clearly, women have been in combat in Iraq and Afghanistan, though both the Defense Department...but were not required to, restrict the assignment of women "where units and positions are doctrinally required to physically collocate and remain...with direct ground combat units that are closed to women .Ŝ This statement was likely a nod to the Army’s 1992 assignment policy, which restricts

Discrete Event Command & Control for Networked Teams with Multiple Missions

DTIC Science & Technology

2009-03-16

Architecture for Unmanned Ground Systems ( JAUGS )10, and is an efficient means to realize the high-level OODA loops (observe, orient, decide, act) of 4D...for Unmanned Ground systems ( JAUGS )10, and is an efficient means to realize the OODA loops (observe, orient, decide, act) of 4D/RCS11. DEC is able to

Surveillance of ground vehicles for airport security

NASA Astrophysics Data System (ADS)

Blasch, Erik; Wang, Zhonghai; Shen, Dan; Ling, Haibin; Chen, Genshe

2014-06-01

Future surveillance systems will work in complex and cluttered environments which require systems engineering solutions for such applications such as airport ground surface management. In this paper, we highlight the use of a L1 video tracker for monitoring activities at an airport. We present methods of information fusion, entity detection, and activity analysis using airport videos for runway detection and airport terminal events. For coordinated airport security, automated ground surveillance enhances efficient and safe maneuvers for aircraft, unmanned air vehicles (UAVs) and unmanned ground vehicles (UGVs) operating within airport environments.

Unmanned ground vehicles for integrated force protection

NASA Astrophysics Data System (ADS)

Carroll, Daniel M.; Mikell, Kenneth; Denewiler, Thomas

2004-09-01

The combination of Command and Control (C2) systems with Unmanned Ground Vehicles (UGVs) provides Integrated Force Protection from the Robotic Operation Command Center. Autonomous UGVs are directed as Force Projection units. UGV payloads and fixed sensors provide situational awareness while unattended munitions provide a less-than-lethal response capability. Remote resources serve as automated interfaces to legacy physical devices such as manned response vehicles, barrier gates, fence openings, garage doors, and remote power on/off capability for unmanned systems. The Robotic Operations Command Center executes the Multiple Resource Host Architecture (MRHA) to simultaneously control heterogeneous unmanned systems. The MRHA graphically displays video, map, and status for each resource using wireless digital communications for integrated data, video, and audio. Events are prioritized and the user is prompted with audio alerts and text instructions for alarms and warnings. A control hierarchy of missions and duty rosters support autonomous operations. This paper provides an overview of the key technology enablers for Integrated Force Protection with details on a force-on-force scenario to test and demonstrate concept of operations using Unmanned Ground Vehicles. Special attention is given to development and applications for the Remote Detection Challenge and Response (REDCAR) initiative for Integrated Base Defense.

Current Thrusts in Ground Robotics: Programs, Systems, Technologies, Issues

DTIC Science & Technology

2000-03-01

MPRS – Demo III – MDARS-E and MDARS-I – JAUGS SPAWAR Systems Center, San Diego San Diego CA 92152-7383 Basic UXO Gathering System (BUGS) Use tens of...processing resources • Modularity improves sensor fusion for alarms and alerts • Joint Architecture for Unmanned Ground Systems ( JAUGS ) SPAWAR Systems...pp lic at io ns 1996 1998 2000 2002 SPAWAR Systems Center, San Diego San Diego CA 92152-7383 JAUGS : Joint Architecture for Unmanned Ground Systems

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.

Capabilities Assessment and Employment Recommendations for Full Motion Video Optical Navigation Exploitation (FMV-ONE)

DTIC Science & Technology

2015-06-01

GEOINT geospatial intelligence GFC ground force commander GPS global positioning system GUI graphical user interface HA/DR humanitarian...transport stream UAS unmanned aerial system . See UAV. UAV unmanned aerial vehicle. See UAS. VM virtual machine VMU Marine Unmanned Aerial Vehicle... Unmanned Air Systems (UASs). Current programs promise to dramatically increase the number of FMV feeds in the near future. However, there are too

Developing an Adaptable NextGen Interface for the UAS Ground Control Station

NASA Technical Reports Server (NTRS)

Murphy, James R.; Otto, Neil; Jovic, Srba; Carniol, Ted; Kotegawa, Tatsuya

2016-01-01

Presently a significant number of unmanned aircraft are not included in the existing National Airspace System surveillance system. This is due to many reasons including an inability to carry Automatic Dependent Surveillance Broadcast equipment for weight or power consumption deficiencies, legacy equipment usage, and the experimental nature of unmanned aircraft. In addition, pilots on the ground do not have the situation awareness to proximal aircraft pilots in the cockpit have. However, many unmanned aircraft utilize a link between the aircraft and ground control station that includes periodic updates to the aircraft position. Technologies have been developed to provide the existing national surveillance system with the location of the aircraft while at the same time providing the ground pilot a display with aircraft that are in the aircrafts proximity, thus expanding the national surveillance data as well as provide increased pilot situation awareness.

Architecture for autonomy

NASA Astrophysics Data System (ADS)

Broten, Gregory S.; Monckton, Simon P.; Collier, Jack; Giesbrecht, Jared

2006-05-01

In 2002 Defence R&D Canada changed research direction from pure tele-operated land vehicles to general autonomy for land, air, and sea craft. The unique constraints of the military environment coupled with the complexity of autonomous systems drove DRDC to carefully plan a research and development infrastructure that would provide state of the art tools without restricting research scope. DRDC's long term objectives for its autonomy program address disparate unmanned ground vehicle (UGV), unattended ground sensor (UGS), air (UAV), and subsea and surface (UUV and USV) vehicles operating together with minimal human oversight. Individually, these systems will range in complexity from simple reconnaissance mini-UAVs streaming video to sophisticated autonomous combat UGVs exploiting embedded and remote sensing. Together, these systems can provide low risk, long endurance, battlefield services assuming they can communicate and cooperate with manned and unmanned systems. A key enabling technology for this new research is a software architecture capable of meeting both DRDC's current and future requirements. DRDC built upon recent advances in the computing science field while developing its software architecture know as the Architecture for Autonomy (AFA). Although a well established practice in computing science, frameworks have only recently entered common use by unmanned vehicles. For industry and government, the complexity, cost, and time to re-implement stable systems often exceeds the perceived benefits of adopting a modern software infrastructure. Thus, most persevere with legacy software, adapting and modifying software when and wherever possible or necessary -- adopting strategic software frameworks only when no justifiable legacy exists. Conversely, academic programs with short one or two year projects frequently exploit strategic software frameworks but with little enduring impact. The open-source movement radically changes this picture. Academic frameworks, open to public scrutiny and modification, now rival commercial frameworks in both quality and economic impact. Further, industry now realizes that open source frameworks can reduce cost and risk of systems engineering. This paper describes the Architecture for Autonomy implemented by DRDC and how this architecture meets DRDC's current needs. It also presents an argument for why this architecture should also satisfy DRDC's future requirements as well.

Tank-automotive robotics

NASA Astrophysics Data System (ADS)

Lane, Gerald R.

1999-07-01

To provide an overview of Tank-Automotive Robotics. The briefing will contain program overviews & inter-relationships and technology challenges of TARDEC managed unmanned and robotic ground vehicle programs. Specific emphasis will focus on technology developments/approaches to achieve semi- autonomous operation and inherent chassis mobility features. Programs to be discussed include: DemoIII Experimental Unmanned Vehicle (XUV), Tactical Mobile Robotics (TMR), Intelligent Mobility, Commanders Driver Testbed, Collision Avoidance, International Ground Robotics Competition (ICGRC). Specifically, the paper will discuss unique exterior/outdoor challenges facing the IGRC competing teams and the synergy created between the IGRC and ongoing DoD semi-autonomous Unmanned Ground Vehicle and DoT Intelligent Transportation System programs. Sensor and chassis approaches to meet the IGRC challenges and obstacles will be shown and discussed. Shortfalls in performance to meet the IGRC challenges will be identified.

Characteristic Model of a Shock Absorber in an Unmanned Ground Vehicle

NASA Astrophysics Data System (ADS)

Danko, Ján; Milesich, Tomáš; Bugár, Martin; Madarás, Juraj

2012-12-01

The paper deals with mathematical models for the shock absorber of an unmanned ground vehicle. The possibility of mathematically modeling the shock absorber is discussed. Specific types of mathematical models are described and the experimental measurement of a shock absorber is made. For modeling the characteristics of the shock absorber the modified Bouc-Wen model (Spencer model) is selected. From the mathematical model, a simulation model in Matlab/Simulink is created. The identification of the Spencer model parameters is performed and force-velocity and force-displacement characteristics of the shock absorber of an unmanned ground vehicle is made. In the conclusions, the simulated characteristics are verified and evaluated by the measured characteristics.

Display integration for ground combat vehicles

NASA Astrophysics Data System (ADS)

Busse, David J.

1998-09-01

The United States Army's requirement to employ high resolution target acquisition sensors and information warfare to increase its dominance over enemy forces has led to the need to integrate advanced display devices into ground combat vehicle crew stations. The Army's force structure require the integration of advanced displays on both existing and emerging ground combat vehicle systems. The fielding of second generation target acquisition sensors, color digital terrain maps and high volume digital command and control information networks on these platforms define display performance requirements. The greatest challenge facing the system integrator is the development and integration of advanced displays that meet operational, vehicle and human computer interface performance requirements for the ground combat vehicle fleet. The subject of this paper is to address those challenges: operational and vehicle performance, non-soldier centric crew station configurations, display performance limitations related to human computer interfaces and vehicle physical environments, display technology limitations and the Department of Defense (DOD) acquisition reform initiatives. How the ground combat vehicle Program Manager and system integrator are addressing these challenges are discussed through the integration of displays on fielded, current and future close combat vehicle applications.

A miniature disposable radio (MiDR) for unattended ground sensor systems (UGSS) and munitions

NASA Astrophysics Data System (ADS)

Wells, Jeffrey S.; Wurth, Timothy J.

2004-09-01

Unattended and tactical sensors are used by the U.S. Army"s Future Combat Systems (FCS) and Objective Force Warrior (OFW) to detect and identify enemy targets on the battlefield. The radios being developed as part of the Networked Sensors for the Objective Force (NSOF) are too costly and too large to deploy in missions requiring throw-away hardware. A low-cost miniature radio is required to satisfy the communication needs for unmanned sensor and munitions systems that are deployed in a disposable manner. A low cost miniature disposable communications suite is leveraged using the commercial off-the-shelf market and employing a miniature universal frequency conversion architecture. Employing the technology of universal frequency architecture in a commercially available communication unit delivers a robust disposable transceiver that can operate at virtually any frequency. A low-cost RF communication radio has applicability in the commercial, homeland defense, military, and other government markets. Specific uses include perimeter monitoring, infrastructure defense, unattended ground sensors, tactical sensors, and border patrol. This paper describes a low-cost radio architecture to meet the requirements of throw-away radios that can be easily modified or tuned to virtually any operating frequency required for the specific mission.

Enhancing Combat Survivability of Existing Unmanned Aircraft Systems

DTIC Science & Technology

2008-12-01

EL/K-1861 ...........................................................30 Figure 15. RQ-4 Global Hawk Communications Architecture Showing Various...ELINT Electronic Intelligence ESM Electronic Support Measures EW Electronic Warfare EO Electro-Optics FLIR Forward Looking Infrared GPS Global ...system performance (speed, altitude, maneuverability, and agility) reduces susceptibility through system design. The RQ-4 Global Hawk is designed to fly

Determination of the Actual Land Use Pattern Using Unmanned Aerial Vehicles and Multispectral Camera

NASA Astrophysics Data System (ADS)

Dindaroğlu, T.; Gündoğan, R.; Gülci, S.

2017-11-01

The international initiatives developed in the context of combating global warming are based on the monitoring of Land Use, Land Use Changes, and Forests (LULUCEF). Determination of changes in land use patterns is used to determine the effects of greenhouse gas emissions and to reduce adverse effects in subsequent processes. This process, which requires the investigation and control of quite large areas, has undoubtedly increased the importance of technological tools and equipment. The use of carrier platforms and commercially cheaper various sensors have become widespread. In this study, multispectral camera was used to determine the land use pattern with high sensitivity. Unmanned aerial flights were carried out in the research fields of Kahramanmaras Sutcu Imam University campus area. Unmanned aerial vehicle (UAV) (multi-propeller hexacopter) was used as a carrier platform for aerial photographs. Within the scope of this study, multispectral cameras were used to determine the land use pattern with high sensitivity.

Arctic Atmospheric Measurements Using Manned and Unmanned Aircraft, Tethered Balloons, and Ground-Based Systems at U.S. DOE ARM Facilities on the North Slope Of Alaska

NASA Astrophysics Data System (ADS)

Ivey, M.; Dexheimer, D.; Roesler, E. L.; Hillman, B. R.; Hardesty, J. O.

2016-12-01

The U.S. Department of Energy (DOE) provides scientific infrastructure and data to the international Arctic research community via research sites located on the North Slope of Alaska and an open data archive maintained by the ARM program. In 2016, DOE continued investments in improvements to facilities and infrastructure at Oliktok Point Alaska to support operations of ground-based facilities and unmanned aerial systems for science missions in the Arctic. The Third ARM Mobile Facility, AMF3, now deployed at Oliktok Point, was further expanded in 2016. Tethered instrumented balloons were used at Oliktok to make measurements of clouds in the boundary layer including mixed-phase clouds and to compare measurements with those from the ground and from unmanned aircraft operating in the airspace above AMF3. The ARM facility at Oliktok Point includes Special Use Airspace. A Restricted Area, R-2204, is located at Oliktok Point. Roughly 4 miles in diameter, it facilitates operations of tethered balloons and unmanned aircraft. R-2204 and a new Warning Area north of Oliktok, W-220, are managed by Sandia National Laboratories for DOE Office of Science/BER. These Special Use Airspaces have been successfully used to launch and operate unmanned aircraft over the Arctic Ocean and in international airspace north of Oliktok Point.A steady progression towards routine operations of unmanned aircraft and tethered balloon systems continues at Oliktok. Small unmanned aircraft (DataHawks) and tethered balloons were successfully flown at Oliktok starting in June of 2016. This poster will discuss how principal investigators may apply for use of these Special Use Airspaces, acquire data from the Third ARM Mobile Facility, or bring their own instrumentation for deployment at Oliktok Point, Alaska.

DoD Comprehensive Military Unmanned Aerial Vehicle Smart Device Ground Control Station Threat Model

DTIC Science & Technology

2015-04-01

design , imple- mentation, and test evaluation were interviewed to evaluate the existing gaps in the DoD processes for cybersecurity. This group exposed...such as antenna design and signal reception have made satellite communication networks a viable solution for smart devices on the battlefield...DoD Comprehensive Military Unmanned AERIAL VEHICLE SMART DEVICE GROUND CONTROL STATION THREAT MODEL  Image designed by Diane Fleischer Report

Tracking with a Cooperatively Controlled Swarm of GMTI Equipped UAVS

DTIC Science & Technology

2008-12-02

with Ground Optimal Placement of GMTI UAVs for ground target tracking Abhijit Sinha°, Thia. Kirubarajana and Yaakov Bar-Shalom6 " Electrical and...Storrs, CT 06269, USA Abstract—With the recent advent of moderate-cost unmanned (or uninhabited) aerial vehicles (UAV) and their success in...the sensor platforms are mobile one has to decide the optimal placement of sensors. With the recent advent of af- fordable unmanned aerial vehicles

Testing of Unmanned Ground Vehicle (UGV) Systems

DTIC Science & Technology

2009-02-12

Emissions - Intra-system EMC TOP 1-2-51253 TOP 1-2-51154 TOP 2-2-61355 Determines whether the item tested meets the electromagnetic radiation ...effects, static electricity, and lightning criteria and the maximum electromagnetic radiation environment to which the test item may be exposed...Form 298 (Rev. 8-98) Prescribed by ANSI Std. Z39-18 2-2-540 Testing of Unmanned Ground Vehicle (UGV) Systems 5c. PROGRAM ELEMENT NUMBER 5d

Modeling and Simulation of an Unmanned Ground Vehicle Power System

DTIC Science & Technology

2014-03-28

Wilhelm, A. N., Surgenor, B. W., and Pharoah, J. G., “Design and evaluation of a micro-fuel-cell-based power system for a mobile robot,” Mechatronics ... Embedded Control Systems ], Control Engineering, 91–116, Birkhuser Boston (2005). [12] Alur, R., Courcoubetis, C., Halbwachs, N., Henzinger, T., Ho, P.-H...Modeling and Simulation of an Unmanned Ground Vehicle Power System John Brodericka∗, Jack Hartnerb, Dawn Tilburya, and Ella Atkinsa aThe University

Guidelines of the Design of Electropyrotechnic Firing Circuit for Unmanned Flight and Ground Test Projects

NASA Technical Reports Server (NTRS)

Gonzalez, Guillermo A.; Lucy, Melvin H.; Massie, Jeffrey J.

2013-01-01

The NASA Langley Research Center, Engineering Directorate, Electronic System Branch, is responsible for providing pyrotechnic support capabilities to Langley Research Center unmanned flight and ground test projects. These capabilities include device selection, procurement, testing, problem solving, firing system design, fabrication and testing; ground support equipment design, fabrication and testing; checkout procedures and procedure?s training to pyro technicians. This technical memorandum will serve as a guideline for the design, fabrication and testing of electropyrotechnic firing systems. The guidelines will discuss the entire process beginning with requirements definition and ending with development and execution.

CRUSER News. Issue 30, Aug 2013

DTIC Science & Technology

2013-08-01

Versatile Low Cost Tactical SUAS by Dr. Richard Guiler, Physical Sciences Inc. • Small Unmanned Aircraft System ( SUAS )/Unattended Ground Sensor...NPS faculty JIFX 13-4 was held last week and included several different planned experiments in the unmanned systems /robot- ics thread. One of the many... planned experiments for the unmanned systems / robotics thread. • Tactical Operations for Multiple Swarm UAVs by Dr Timothy Chung, NPS • ងlb

Integration of unmanned systems for tactical operations within hostile environments

NASA Astrophysics Data System (ADS)

Maddux, Gary A.; Bosco, Charles D.; Lawrence, James D.

2006-05-01

The University of Alabama in Huntsville (UAH) is currently investigating techniques and technologies for the integration of a small unmanned aerial vehicle (SUAV) with small unmanned ground vehicles (SUGV). Each vehicle has its own set of unique capabilities, but the efficient integration of the two for a specific application requires modifying and integrating both systems. UAH has been flying and testing an autonomously-controlled small helicopter, called the Flying Bassett (Base Airborne Surveillance and Sensing for Emergency Threat Tracking) for over a year. Recently, integrated operations were performed with four SUGVs, the Matilda (Mesa Robotics, Huntsville, AL), the US Navy Vanguard, the UAH Rover, and the Penetrator (Mesa Robotics). The program has progressed from 1) building an air and ground capability for video and infrared surveillance, 2) integration with ground vehicles in realistic scenarios, to 3) deployment and recovery of ground vehicles. The work was done with the cooperation of the US Army at Ft. Benning, GA and Redstone Arsenal, AL, the Federal Bureau of Investigation in Huntsville, AL, the US Naval Reserve in Knoxville, TN, and local emergency organizations. The results so far have shown that when the air and ground systems are employed together, their utility is greatly enhanced.

Expeditionary Force 21. Forward and Ready: Now and in the Future

DTIC Science & Technology

2014-03-04

single commander. Each MAGTF is composed of a command element (CE), a ground combat element ( GCE ), an aviation combat element (ACE), and logistics...headquarters group, a ground combat element ( GCE ) with one Marine Division, an aviation combat element (ACE) with one Marine Aircraft Wing, and a...remain the Marine Corps’ standard unit of deployment; however, company landing teams may take on a larger role in crisis response and may form the GCE

Electrical Grounding Architecture for Unmanned Spacecraft

NASA Technical Reports Server (NTRS)

1998-01-01

This handbook is approved for use by NASA Headquarters and all NASA Centers and is intended to provide a common framework for consistent practices across NASA programs. This handbook was developed to describe electrical grounding design architecture options for unmanned spacecraft. This handbook is written for spacecraft system engineers, power engineers, and electromagnetic compatibility (EMC) engineers. Spacecraft grounding architecture is a system-level decision which must be established at the earliest point in spacecraft design. All other grounding design must be coordinated with and be consistent with the system-level architecture. This handbook assumes that there is no one single 'correct' design for spacecraft grounding architecture. There have been many successful satellite and spacecraft programs from NASA, using a variety of grounding architectures with different levels of complexity. However, some design principles learned over the years apply to all types of spacecraft development. This handbook summarizes those principles to help guide spacecraft grounding architecture design for NASA and others.

Carrier Air Wing Tactics Incorporating Navy Unmanned Combat Air System (NUCAS)

DTIC Science & Technology

2010-03-01

Profile Curves of Mean Target Casualty Rate Versus GBU-31 Phit and NUCAS Sensor Aperture (After SAS Institute, 2010...Prediction Profile Curve of Mean Blue Survivability Percent Versus AIM- 120 Weapons Phit (After SAS Institute, 2010...Weapons Phit is a major factor in target destruction and blue survivability. Our approach shows how simulation, data farming techniques, and data

Littoral Combat Ship (LCS)

DTIC Science & Technology

2013-12-01

Economy Trials, Vertical Takeoff Unmanned Aerial Vehicle Dynamic Interface Testing, Advanced Stabilized Glide Scope Indicators Testing, Surface Warfare...to include 1) DISR mandated GIG IT standards and profiles identified in the TV-1, 2) DISR The system must fully support execution of all...requirements for Net- Centric military operations to include 1) DISR mandated GIG IT standards and profiles identified in the TV-1, 2

Germinating a New SEAD: The Implications of Executing the SEAD Mission in a UCAV

DTIC Science & Technology

2001-06-01

20 SEAD FROM BIRTH TO MATURITY...reader must understand those differences in order to understand the weight in the argument. The first group of related terms has to do with unmanned...higher flying were ordered in mass numbers. However, these RPVs were strictly for target practice. None was intended for combat.12 At the onset

Unmanned Aerial System Four-Dimensional Gunnery Training Device Development

DTIC Science & Technology

2017-10-01

and zSpace hardware. Three scenarios were developed based on TC 3-04.45 Combat Aviation Gunnery minimum proficiency levels. Two scenarios depicted...TABLE 1. SCENARIO MODEL AND GRAPHIC REQUIRMENTS BASED ON UAS GE MPLS...not until decades later that what today is ubiquitous to the war on terrorism became a reality. On Friday, February 16, 2001, Air Force Captain

Applications for Navy Unmanned Aircraft Systems

DTIC Science & Technology

2010-01-01

ABUSE TERRORISM AND HOMELAND SECURITY TRANSPORTATION AND INFRASTRUCTURE WORKFORCE AND WORKPLACE The RAND Corporation is a nonprofit institution that... comunication intelligence (COMINT) collection, and airborne electronic attack applications. If the UCAS-D program is successful in addressing many of the...SATCOM availability to global war on terrorism and major combat operations in regions where SATCOM is denied by noise jamming or kinetic threats. As

Tip-over Prevention Through Heuristic Reactive Behaviors for Unmanned Ground Vehicles

DTIC Science & Technology

2014-05-01

Systems Center Pacific Unmanned Systems Group 53406 Woodward Road San Diego, CA 92152 ABSTRACT Skid-steer teleoperated robots are commonly used by...Reactive Behaviors Further author information: (Send correspondence to K.T.) K.T.: E-mail: kurt.talke@navy.mil, SPIE Proc. 9084: Unmanned Systems ...5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Space and Naval Warfare Systems Center

Integrated Unmanned Air-Ground Robotics System, Volume 4

DTIC Science & Technology

2001-08-20

3) IPT Integrated Product Team IRP Intermediate Power Rating JAUGS TBD JCDL TBD Joint Vision 2020 TBD Km Kilometer lbs. pounds MAE Mechanical and...compatible with emerging JCDL and/or JAUGS . 2.3.2.2. Payload must be “plug and play.” 2.3.3. Communications 2.3.3.1. System communications shall be robust...Power JCDL JAUGS Joint Architecture for Unmanned Ground Systems JP-8 Jet Propulsion Fuel 8 km Kilometer lbs. Pounds LOS Line Of Sight MAE Mechanical

Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

NASA Technical Reports Server (NTRS)

Rankin, Arturo; Huertas, Andres; Matthies, Larry; Bajracharya, Max; Assad, Christopher; Brennan, Shane; Bellut, Paolo; Sherwin, Gary

2011-01-01

TIR cameras can be used for day/night Unmanned Ground Vehicle (UGV) autonomous navigation when stealth is required. The quality of uncooled TIR cameras has significantly improved over the last decade, making them a viable option at low speed Limiting factors for stereo ranging with uncooled LWIR cameras are image blur and low texture scenes TIR perception capabilities JPL has explored includes: (1) single and dual band TIR terrain classification (2) obstacle detection (pedestrian, vehicle, tree trunks, ditches, and water) (3) perception thru obscurants

A Navigation and Decision Making Architecture for Unmanned Ground Vehicles: Implementation and Results with the Raptor UGV

DTIC Science & Technology

2007-12-01

the Raptor UGV J. Giesbrecht, J. Collier, G . Broten, S. Monckton, and D. Mackay A Navigation and Decision Making Architecture for Unmanned...Ground Vehicles Implementation and Results with the Raptor UGV J. Giesbrecht, J. Collier, G . Broten, S. Monckton, and D. Mackay Defence R&D Canada...parcours, l’évitement d’obstacles, la planification de parcours et des modules de prises de décision. Ce rapport présente des détails concernant les

Cooperative Surveillance and Pursuit Using Unmanned Aerial Vehicles and Unattended Ground Sensors

PubMed Central

Las Fargeas, Jonathan; Kabamba, Pierre; Girard, Anouck

2015-01-01

This paper considers the problem of path planning for a team of unmanned aerial vehicles performing surveillance near a friendly base. The unmanned aerial vehicles do not possess sensors with automated target recognition capability and, thus, rely on communicating with unattended ground sensors placed on roads to detect and image potential intruders. The problem is motivated by persistent intelligence, surveillance, reconnaissance and base defense missions. The problem is formulated and shown to be intractable. A heuristic algorithm to coordinate the unmanned aerial vehicles during surveillance and pursuit is presented. Revisit deadlines are used to schedule the vehicles' paths nominally. The algorithm uses detections from the sensors to predict intruders' locations and selects the vehicles' paths by minimizing a linear combination of missed deadlines and the probability of not intercepting intruders. An analysis of the algorithm's completeness and complexity is then provided. The effectiveness of the heuristic is illustrated through simulations in a variety of scenarios. PMID:25591168

Army Future Combat System (FCS) Spin-Outs and Ground Combat Vehicle (GCV): Background and Issues for Congress

DTIC Science & Technology

2009-11-30

CGV ) .............................................................................7 MGV Cancellation...of developing the CGV concept, states that a “new Ground Combat Vehicle, synchronized with upgrades, reset and divestiture of current vehicles is the...our Army the agility to adapt and versatility to meet the challenges of an ever- changing operational environment.” The CGV concept, in short, is to

Online Aerial Terrain Mapping for Ground Robot Navigation

PubMed Central

Peterson, John; Chaudhry, Haseeb; Abdelatty, Karim; Bird, John; Kochersberger, Kevin

2018-01-01

This work presents a collaborative unmanned aerial and ground vehicle system which utilizes the aerial vehicle’s overhead view to inform the ground vehicle’s path planning in real time. The aerial vehicle acquires imagery which is assembled into a orthomosaic and then classified. These terrain classes are used to estimate relative navigation costs for the ground vehicle so energy-efficient paths may be generated and then executed. The two vehicles are registered in a common coordinate frame using a real-time kinematic global positioning system (RTK GPS) and all image processing is performed onboard the unmanned aerial vehicle, which minimizes the data exchanged between the vehicles. This paper describes the architecture of the system and quantifies the registration errors between the vehicles. PMID:29461496

Online Aerial Terrain Mapping for Ground Robot Navigation.

PubMed

Peterson, John; Chaudhry, Haseeb; Abdelatty, Karim; Bird, John; Kochersberger, Kevin

2018-02-20

This work presents a collaborative unmanned aerial and ground vehicle system which utilizes the aerial vehicle's overhead view to inform the ground vehicle's path planning in real time. The aerial vehicle acquires imagery which is assembled into a orthomosaic and then classified. These terrain classes are used to estimate relative navigation costs for the ground vehicle so energy-efficient paths may be generated and then executed. The two vehicles are registered in a common coordinate frame using a real-time kinematic global positioning system (RTK GPS) and all image processing is performed onboard the unmanned aerial vehicle, which minimizes the data exchanged between the vehicles. This paper describes the architecture of the system and quantifies the registration errors between the vehicles.

Skid steer fuel cell powered unmanned ground vehicle (Burro)

NASA Astrophysics Data System (ADS)

Meldrum, Jay S.; Green, Christopher A.

2008-04-01

The use of alternative energy technology for vehicle propulsion and auxiliary power is becoming more important. Work is being performed at Michigan Technological University's Keweenaw Research Center on an Army Research Laboratory cooperative agreement to develop two unmanned ground vehicles for military applications. A wide range of alternative energy technologies were investigated. Hydrogen-powered proton exchange membrane fuel cells were identified as the most appropriate alternative energy source. This is due to some development and commercialization which makes the technology "drop-in plug-in" for immediate use. We have previously presented research work on a small unmanned ground vehicle demonstration platform where the fuel cell is the only power source. We now present research work on the integration of a fuel cell onto a larger skid steer platform. The dual-power capability of this vehicle can provide a modest level of propulsion in "engine-off mode" and may also be used to power directed energy devices which have applications in countermine and similar threat technologies.

Fuel-cell powered unmanned ground vehicle

NASA Astrophysics Data System (ADS)

Meldrum, Jay S.; Green, Christopher A.; Gwaltney, Geoffrey D.; Bradley, Scott A.; Keith, Jason M.; Podlesak, Thomas F.

2007-04-01

The use of alternative energy technology for vehicle propulsion and auxiliary power is becoming more important. Work is being performed at Michigan Technological University's Keweenaw Research Center on an Army Research Laboratory cooperative agreement to develop two unmanned ground vehicles for military applications. A wide range of alternative energy technologies were investigated, and hydrogen-powered proton exchange membrane fuel cells were identified as the most appropriate alternative energy source. This is due to some development and commercialization which makes the technology "drop-in plug-in" for immediate use. We present research work on a small unmanned ground vehicle demonstration platform where the fuel cell is the only power source. We also present research work on the integration of a fuel cell onto a large existing platform. The dual-power capability of this vehicle can provide a modest level of propulsion in "engine-off mode" and may also be used to power directed energy devices which have applications in countermine and similar threat technologies.

Automatic forest-fire measuring using ground stations and Unmanned Aerial Systems.

PubMed

Martínez-de Dios, José Ramiro; Merino, Luis; Caballero, Fernando; Ollero, Anibal

2011-01-01

This paper presents a novel system for automatic forest-fire measurement using cameras distributed at ground stations and mounted on Unmanned Aerial Systems (UAS). It can obtain geometrical measurements of forest fires in real-time such as the location and shape of the fire front, flame height and rate of spread, among others. Measurement of forest fires is a challenging problem that is affected by numerous potential sources of error. The proposed system addresses them by exploiting the complementarities between infrared and visual cameras located at different ground locations together with others onboard Unmanned Aerial Systems (UAS). The system applies image processing and geo-location techniques to obtain forest-fire measurements individually from each camera and then integrates the results from all the cameras using statistical data fusion techniques. The proposed system has been extensively tested and validated in close-to-operational conditions in field fire experiments with controlled safety conditions carried out in Portugal and Spain from 2001 to 2006.

Automatic Forest-Fire Measuring Using Ground Stations and Unmanned Aerial Systems

PubMed Central

Martínez-de Dios, José Ramiro; Merino, Luis; Caballero, Fernando; Ollero, Anibal

2011-01-01

This paper presents a novel system for automatic forest-fire measurement using cameras distributed at ground stations and mounted on Unmanned Aerial Systems (UAS). It can obtain geometrical measurements of forest fires in real-time such as the location and shape of the fire front, flame height and rate of spread, among others. Measurement of forest fires is a challenging problem that is affected by numerous potential sources of error. The proposed system addresses them by exploiting the complementarities between infrared and visual cameras located at different ground locations together with others onboard Unmanned Aerial Systems (UAS). The system applies image processing and geo-location techniques to obtain forest-fire measurements individually from each camera and then integrates the results from all the cameras using statistical data fusion techniques. The proposed system has been extensively tested and validated in close-to-operational conditions in field fire experiments with controlled safety conditions carried out in Portugal and Spain from 2001 to 2006. PMID:22163958

Infrared Stereo Calibration for Unmanned Ground Vehicle Navigation

DTIC Science & Technology

2014-05-01

Josh Harguess: E -mail: joshua.harguess@navy.mil, Telephone: 1 619 553 0777 SPIE Proc. 9084: Unmanned Systems Technology XVI, Baltimore, MD, May 6-8...G., Diniz , H., Silvino, S., and de Andrade, R., “Thermal/visible au- tonomous stereo visio system calibration methodology for non-controlled

Land, sea, and air unmanned systems research and development at SPAWAR Systems Center Pacific

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Laird, Robin; Kogut, Greg; Andrews, John; Fletcher, Barbara; Webber, Todd; Arrieta, Rich; Everett, H. R.

2009-05-01

The Space and Naval Warfare (SPAWAR) Systems Center Pacific (SSC Pacific) has a long and extensive history in unmanned systems research and development, starting with undersea applications in the 1960s and expanding into ground and air systems in the 1980s. In the ground domain, we are addressing force-protection scenarios using large unmanned ground vehicles (UGVs) and fixed sensors, and simultaneously pursuing tactical and explosive ordnance disposal (EOD) operations with small man-portable robots. Technology thrusts include improving robotic intelligence and functionality, autonomous navigation and world modeling in urban environments, extended operational range of small teleoperated UGVs, enhanced human-robot interaction, and incorporation of remotely operated weapon systems. On the sea surface, we are pushing the envelope on dynamic obstacle avoidance while conforming to established nautical rules-of-the-road. In the air, we are addressing cooperative behaviors between UGVs and small vertical-takeoff- and-landing unmanned air vehicles (UAVs). Underwater applications involve very shallow water mine countermeasures, ship hull inspection, oceanographic data collection, and deep ocean access. Specific technology thrusts include fiber-optic communications, adaptive mission controllers, advanced navigation techniques, and concepts of operations (CONOPs) development. This paper provides a review of recent accomplishments and current status of a number of projects in these areas.

Draft Environmental Impact Statement (DEIS)

DTIC Science & Technology

2000-07-01

MCB Marine Corps Base MCCDC Marine Corps Combat Development Center MCHC Marine Corps Heritage Center MCHMD Marine Corps History and Museum...other federal agencies. In addition to the MCU, the base is the site of the Marine Corps Officer Candidate School (OCS), the Marine Corps Combat ...at the Air-Ground Museum to support instruction and research on combat doctrine, tactics, and technology. The Air-Ground Museum also loans items to

Conceptual Design of Future Undersea Unmanned Vehicle (UUV) System for Mine Disposal

DTIC Science & Technology

2012-01-01

disproportionate effect of a single mine strike might be enough to threaten mission accomplishment of combat forces. Some potential impacts of enemy mining...parameters, which include vehicle conditions, hotel power, payload conditions, and environmental conditions. The vehicle configuration options are...transit, execution of mission, return transit, and recovery. Each of them is defined by key mission and environmental parameters such as range

Compendium of Abstracts. Volume 2

DTIC Science & Technology

2011-08-01

Framework with Memristors for use in Biomimetic Locomotion Control Systems Albert, Stephen In the future of reconnaissance and combat, small unmanned...standards according to ASTM D1002-2006 and formulation of silane blends to control bonding strength. Once a statistical set of coupons is completed...architectures, Adaptive Control of Thought-Rational – Queueing Networks (ACTR-QN) and Soar. I then identified the aspects of each that can be used to

High clearance phenotyping systems for season-long measurement of corn, sorghum and other row crops to complement unmanned aerial vehicle systems

NASA Astrophysics Data System (ADS)

Murray, Seth C.; Knox, Leighton; Hartley, Brandon; Méndez-Dorado, Mario A.; Richardson, Grant; Thomasson, J. Alex; Shi, Yeyin; Rajan, Nithya; Neely, Haly; Bagavathiannan, Muthukumar; Dong, Xuejun; Rooney, William L.

2016-05-01

The next generation of plant breeding progress requires accurately estimating plant growth and development parameters to be made over routine intervals within large field experiments. Hand measurements are laborious and time consuming and the most promising tools under development are sensors carried by ground vehicles or unmanned aerial vehicles, with each specific vehicle having unique limitations. Previously available ground vehicles have primarily been restricted to monitoring shorter crops or early growth in corn and sorghum, since plants taller than a meter could be damaged by a tractor or spray rig passing over them. Here we have designed two and already constructed one of these self-propelled ground vehicles with adjustable heights that can clear mature corn and sorghum without damage (over three meters of clearance), which will work for shorter row crops as well. In addition to regular RGB image capture, sensor suites are incorporated to estimate plant height, vegetation indices, canopy temperature and photosynthetically active solar radiation, all referenced using RTK GPS to individual plots. These ground vehicles will be useful to validate data collected from unmanned aerial vehicles and support hand measurements taken on plots.

Remote imagery for unmanned ground vehicles: the future of path planning for ground robotics

NASA Astrophysics Data System (ADS)

Frederick, Philip A.; Theisen, Bernard L.; Ward, Derek

2006-10-01

Remote Imagery for Unmanned Ground Vehicles (RIUGV) uses a combination of high-resolution multi-spectral satellite imagery and advanced commercial off-the-self (COTS) object-oriented image processing software to provide automated terrain feature extraction and classification. This information, along with elevation data, infrared imagery, a vehicle mobility model and various meta-data (local weather reports, Zobler Soil map, etc...), is fed into automated path planning software to provide a stand-alone ability to generate rapidly updateable dynamic mobility maps for Manned or Unmanned Ground Vehicles (MGVs or UGVs). These polygon based mobility maps can reside on an individual platform or a tactical network. When new information is available, change files are generated and ingested into existing mobility maps based on user selected criteria. Bandwidth concerns are mitigated by the use of shape files for the representation of the data (e.g. each object in the scene is represented by a shape file and thus can be transmitted individually). User input (desired level of stealth, required time of arrival, etc...) determines the priority in which objects are tagged for updates. This paper will also discuss the planned July 2006 field experiment.

Modeling and simulation of an unmanned ground vehicle power system

NASA Astrophysics Data System (ADS)

Broderick, John; Hartner, Jack; Tilbury, Dawn M.; Atkins, Ella M.

2014-06-01

Long-duration missions challenge ground robot systems with respect to energy storage and efficient conversion to power on demand. Ground robot systems can contain multiple power sources such as fuel cell, battery and/or ultra-capacitor. This paper presents a hybrid systems framework for collectively modeling the dynamics and switching between these different power components. The hybrid system allows modeling power source on/off switching and different regimes of operation, together with continuous parameters such as state of charge, temperature, and power output. We apply this modeling framework to a fuel cell/battery power system applicable to unmanned ground vehicles such as Packbot or TALON. A simulation comparison of different control strategies is presented. These strategies are compared based on maximizing energy efficiency and meeting thermal constraints.

Guidance and Navigation Requirements for Unmanned Flyby and Swingby Missions to the Outer Planets. Volume 3; Low Thrust Missions, Phase B

NASA Technical Reports Server (NTRS)

1970-01-01

The guidance and navigation requirements for unmanned missions to the outer planets, assuming constant, low thrust, ion propulsion are discussed. The navigational capability of the ground based Deep Space Network is compared to the improvements in navigational capability brought about by the addition of guidance and navigation related onboard sensors. Relevant onboard sensors include: (1) the optical onboard navigation sensor, (2) the attitude reference sensors, and (3) highly sensitive accelerometers. The totally ground based, and the combination ground based and onboard sensor systems are compared by means of the estimated errors in target planet ephemeris, and the spacecraft position with respect to the planet.

Unmanned aerial vehicle: A unique platform for low-altitude remote sensing for crop management

USDA-ARS?s Scientific Manuscript database

Unmanned aerial vehicles (UAV) provide a unique platform for remote sensing to monitor crop fields that complements remote sensing from satellite, aircraft and ground-based platforms. The UAV-based remote sensing is versatile at ultra-low altitude to be able to provide an ultra-high-resolution imag...

Precipice of Parity: Future of the USAF Fighter Force Structure

DTIC Science & Technology

2014-04-01

573 to 487 aircraft to conduct combat operations . The total force that one can never expect to get off the ground on a given day is thus 86 of the...AD area denial ADOC Air Defense Operations Center AGM air-to- ground missile ASCM anti-ship cruise missile CAF Combat Air Force CAPES Combat...suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis

A survey of COTS wireless transceiver solutions for unmanned/unattended homeland defense systems

NASA Astrophysics Data System (ADS)

Wurth, Timothy J.; Wells, Jeffrey S.; Trimble, Michael L.

2004-08-01

As the war on terrorism continues abroad, the need to maintain security at home remains a major concern. Every aspect of the security effort can benefit from rapid information transfer. Advances in Commercial-Off-the-Shelf (COTS) radios make them valuable in applications ranging from deployed sensors on unsecured borders, to organizing an emergency response team. Additionally, the reduced cost and availability of these transceivers make them a viable alternative to custom developments. As an example, COTS radios can serve as the communication element in Unattended Ground Sensor (UGS) and munitions systems. Other applications include networked sonobuoys and networked RFID tracking. An additional advantage of COTS solutions is that they are available in a small form factor. They have extremely small mechanical outlines and are easily installed in systems requiring miniature designs and light payloads such as man-pack emplaced radios for the Army"s Future Combat System (FCS), as well as missions carried out by Unmanned Aerial Vehicles (UAV). The availability of the COTS radios result in a low-cost alternative for communication links that are applicable to military and Homeland Defense projects. They provide an easily obtainable, low-cost radio alternative enabling quick design cycles to meet mission timeliness. COTS solutions eliminate months from a typical design cycle and have many features already implemented such as ad-hoc routing and encryption. This enables robust hardware to be fielded quickly when a new need arises. The focus of this paper is to identify different COTS modules that can efficiently and cost effectively be applied to these and other various applications.

A Persistent Perch: USSOCOMs Use of Organic Space Based ISR

DTIC Science & Technology

2015-05-01

requests, and precious orbits of MQ-1 Predator and MQ-9 Reaper Remotely Piloted Aircraft ( RPA ) are fought over daily by Combatant Commander’s...such a unique mission that simply jockeying for position to share RPA orbits or Satellite time blocks can create gaps in coverage requirements...sic] Eye program will extend the Unmanned Aerial Vehicle ( UAV ) paradigm into space: a dramatically lower unit cost and proliferated numbers of

United States Department of Defense Research in Robotic Unmanned Systems for Combat Casualty Care

DTIC Science & Technology

2010-01-01

Focused Ultrasound ( HIFU ). TATRC has also sponsored research in robotic implementation of Raman and Laser Induced Spectrometry (LIBS) to detect and...assisting in the application of HIFU (High Intensity Focused Ultrasound ) for treating hemorrhage. The addition of bioinformatics, wireless data...Sanghvi NT, Dines KA, Wheeler J. Remotely operated robotic High Intensity Focused Ultrasound ( HIFU ) manipulator system for Critical Systems for Trauma and

Pyrophoric Nanoparticles and Nanoporous Foils for Defense Applications

DTIC Science & Technology

2008-12-01

bombs, low-flying aircrafts , and unmanned aerial vehicles are some of these threats that soldiers are often subjected to in a war zone. Nanotechnology...for making flares to distract the enemy or signal fellow soldiers in combat zone, infrared countermeasure decoy flares for low flying aircrafts , and...Pierre, A.C., Baret, G., 2005: Preparation and characterization of transperent Eu doped Y2O3 aerogel monoliths, for application in luminescence, J

Unmanned Surface Combatant Considerations for Concept Exploration

DTIC Science & Technology

2011-06-01

counterparts who become fatigued. The USC systems could perform missions without having to consider the health and morale of the crew. 18 Arguably the...fourth objective was to evaluate the USC relevant technologies and identify potential design issues . The result was relevant technologies that...and issue mines. R MIW 8 (U) Conduct precise navigation. G MIW 9 (U) Conduct airborne mine countermeasures. R MIW 10 (U) Provide for air operations

Future Soldiers: Analysis of Entry-Level Performance Requirements and Their Predictors

DTIC Science & Technology

2005-09-01

these future missions; "* New technology such as weapons, tools, and vehicles (e.g., robotics ) and the effect of technological change on personnel...Clusters 1. Close Combat 2. Non Line-of-Sight Fire 3. Surveillance, Intelligence, and Communications 4. Unmanned Vehicle/ Robotics Operator 5. Security...minimized with (a) new materials for ballistic protection, (b) new lethalities, and (c) exoskeletons /artificial muscles. • Infantrymen will experience better

Automated Carrier Landing of an Unmanned Combat Aerial Vehicle Using Dynamic Inversion

DTIC Science & Technology

2007-06-01

17 CN normal force coefficient . . . . . . . . . . . . . . . . . . . . 17 CA axial force coefficient...slug·ft2 Ixzb 0 slug·ft2 The aircraft has a single engine inlet for a single, centerline mounted turbofan engine. For purposes of this research, the...assumed to remain constant for each simulation run and were based on an assumed 10% fuel load with full weapons [2]. The rest of these values were

Enabling unmanned capabilities in the tactical wheeled vehicle fleet of the future

NASA Astrophysics Data System (ADS)

Zych, Noah

2012-06-01

From transporting troops and weapons systems to supplying beans, bullets, and Band-Aids to front-line warfighters, tactical wheeled vehicles serve as the materiel backbone anywhere there are boots on the ground. Drawing from the U.S. Army's Tactical Wheeled Vehicle Strategy and the Marine Corps Vision & Strategy 2025 reports, one may conclude that the services have modest expectations for the introduction of large unmanned ground systems into operational roles in the next 15 years. However, the Department of Defense has already invested considerably in the research and development of full-size UGVs-and commanders deployed in both Iraq and Afghanistan have advocated the urgent fielding of early incarnations of this technology, believing it could make a difference on their battlefields today. For military UGVs to evolve from mere tactical advantages into strategic assets with developed doctrine, they must become as trustworthy as a well-trained warfighter in performing their assigned task. Starting with the Marine Corps' ongoing Cargo Unmanned Ground Vehicle program as a baseline, and informed by feedback from previously deployed subject matter experts, this paper examines the gaps which presently exist in UGVs from a mission-capable perspective. It then considers viable near-term technical solutions to meet today's functional requirements, as well as long-term development strategies to enable truly robust performance. With future conflicts expected to be characterized by increasingly complex operational environments and a broad spectrum of rapidly adapting threats, one of the largest challenges for unmanned ground systems will be the ability to exhibit agility in unpredictable circumstances.

3D vision upgrade kit for the TALON robot system

NASA Astrophysics Data System (ADS)

Bodenhamer, Andrew; Pettijohn, Bradley; Pezzaniti, J. Larry; Edmondson, Richard; Vaden, Justin; Hyatt, Brian; Morris, James; Chenault, David; Tchon, Joe; Barnidge, Tracy; Kaufman, Seth; Kingston, David; Newell, Scott

2010-02-01

In September 2009 the Fort Leonard Wood Field Element of the US Army Research Laboratory - Human Research and Engineering Directorate, in conjunction with Polaris Sensor Technologies and Concurrent Technologies Corporation, evaluated the objective performance benefits of Polaris' 3D vision upgrade kit for the TALON small unmanned ground vehicle (SUGV). This upgrade kit is a field-upgradable set of two stereo-cameras and a flat panel display, using only standard hardware, data and electrical connections existing on the TALON robot. Using both the 3D vision system and a standard 2D camera and display, ten active-duty Army Soldiers completed seven scenarios designed to be representative of missions performed by military SUGV operators. Mission time savings (6.5% to 32%) were found for six of the seven scenarios when using the 3D vision system. Operators were not only able to complete tasks quicker but, for six of seven scenarios, made fewer mistakes in their task execution. Subjective Soldier feedback was overwhelmingly in support of pursuing 3D vision systems, such as the one evaluated, for fielding to combat units.

Ground Systems Integration Domain (GSID) Materials for Ground Platforms

DTIC Science & Technology

2010-09-20

Vehicles • Heavy Brigade Combat Team • Strykers • MRAPs • Ground Combat Vehicles (Future) Tactical Vehicles • HMMWVs • Trailers • Heavy, Medium and...efficient structural material solutions • Signature management, electromagnetic shielding over potentially non-metallic surfaces • Diagnostics...Occupant-Centric Survivability Focused): 1. 4500 lbs + trailer towing capacity; 4-6 man crew compartmentPayload 2. 14,000 lb curb vehicle weightPerformance

Sensor data fusion for automated threat recognition in manned-unmanned infantry platoons

NASA Astrophysics Data System (ADS)

Wildt, J.; Varela, M.; Ulmke, M.; Brüggermann, B.

2017-05-01

To support a dismounted infantry platoon during deployment we team it with several unmanned aerial and ground vehicles (UAV and UGV, respectively). The unmanned systems integrate seamlessly into the infantry platoon, providing automated reconnaissance during movement while keeping formation as well as conducting close range reconnaissance during halt. The sensor data each unmanned system provides is continuously analyzed in real time by specialized algorithms, detecting humans in live videos of UAV mounted infrared cameras as well as gunshot detection and bearing by acoustic sensors. All recognized threats are fused into a consistent situational picture in real time, available to platoon and squad leaders as well as higher level command and control (C2) systems. This gives friendly forces local information superiority and increased situational awareness without the need to constantly monitor the unmanned systems and sensor data.

Real-time Accurate Surface Reconstruction Pipeline for Vision Guided Planetary Exploration Using Unmanned Ground and Aerial Vehicles

NASA Technical Reports Server (NTRS)

Almeida, Eduardo DeBrito

2012-01-01

This report discusses work completed over the summer at the Jet Propulsion Laboratory (JPL), California Institute of Technology. A system is presented to guide ground or aerial unmanned robots using computer vision. The system performs accurate camera calibration, camera pose refinement and surface extraction from images collected by a camera mounted on the vehicle. The application motivating the research is planetary exploration and the vehicles are typically rovers or unmanned aerial vehicles. The information extracted from imagery is used primarily for navigation, as robot location is the same as the camera location and the surfaces represent the terrain that rovers traverse. The processed information must be very accurate and acquired very fast in order to be useful in practice. The main challenge being addressed by this project is to achieve high estimation accuracy and high computation speed simultaneously, a difficult task due to many technical reasons.

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.

Advanced Fiber Optic-Based Sensing Technology for Unmanned Aircraft Systems

NASA Technical Reports Server (NTRS)

Richards, Lance; Parker, Allen R.; Piazza, Anthony; Ko, William L.; Chan, Patrick; Bakalyar, John

2011-01-01

This presentation provides an overview of fiber optic sensing technology development activities performed at NASA Dryden in support of Unmanned Aircraft Systems. Examples of current and previous work are presented in the following categories: algorithm development, system development, instrumentation installation, ground R&D, and flight testing. Examples of current research and development activities are provided.

Unmanned Ground Systems Roadmap

DTIC Science & Technology

2011-07-01

6 1.3.1 RDECOM, Academia, Industry ..................................................................................... 6 1.3.2 Rapid...for unmanned capabilities can be supported and from which PORs can be facilitated when necessary  The RS JPO formed a Government/ Industry Working...products. 1.3.1 RDECOM, Academia, Industry Given the RS JPO‟s close working relations with academia, industry partners and the RDECOM Labs, the

The 13 th Annual Intelligent Ground Vehicle Competition: intelligent ground vehicles created by intelligent teams

NASA Astrophysics Data System (ADS)

Theisen, Bernard L.

2005-10-01

The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 13 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 50 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

A Systems Engineering Approach in Providing Air Defense Support to Ground Combat Vehicle Maneuver Forces

DTIC Science & Technology

2015-03-01

Defense DODAF Department of Defense Architecture Framework DOE design of experiment EMMI energy , mass, material wealth, information FNF fire and... energy or blast power (depending on the type of projectile). Tank munitions have significant penetrative ability and can cause serious damage to...survivability of ground combat vehicles during ground force maneuver operations. The simulation results indicated that the presence of air defense

Multispectral and DSLR sensors for assessing crop stress in corn and cotton using fixed-wing unmanned air systems

NASA Astrophysics Data System (ADS)

Valasek, John; Henrickson, James V.; Bowden, Ezekiel; Shi, Yeyin; Morgan, Cristine L. S.; Neely, Haly L.

2016-05-01

As small unmanned aircraft systems become increasingly affordable, reliable, and formally recognized under federal regulation, they become increasingly attractive as novel platforms for civil applications. This paper details the development and demonstration of fixed-wing unmanned aircraft systems for precision agriculture tasks. Tasks such as soil moisture content and high throughput phenotyping are considered. Rationale for sensor, vehicle, and ground equipment selections are provided, in addition to developed flight operation procedures for minimal numbers of crew. Preliminary imagery results are presented and analyzed, and these results demonstrate that fixed-wing unmanned aircraft systems modified to carry non-traditional sensors at extended endurance durations can provide high quality data that is usable for serious scientific analysis.

Pioneer unmanned air vehicle accomplishments during Operation Desert Storm

NASA Astrophysics Data System (ADS)

Christner, James H.

1991-12-01

This paper will describe the accomplishments and lessons learned of the Pioneer Unmanned Air Vehicle (UAV) during Operations Desert Shield and Desert Storm. The Pioneer UAV has been deployed with three branches of the U.S. military (USA, USN, and USMC) for the past four years. Although the system has compiled over 6,000 flight hours, the recent conflict in the Gulf is the first opportunity to demonstrate its true value in a combat scenario. In a relatively short time (42 days), 307 flights and 1,011 flight hours were completed on Operation Desert Storm. This, coupled with the accuracy of various weapons systems that Pioneer observed/cued for, resulted in timely target engagements. This paper will chronicle the Pioneer deployment and accomplishments on Operations Desert Shield and Desert Storm. Various employment methods, tactics, doctrine, and lessons learned will be presented.

Greater ankle strength, anaerobic and aerobic capacity, and agility predict Ground Combat Military Occupational School graduation in female Marines.

PubMed

Allison, Katelyn Fleishman; Keenan, Karen A; Wohleber, Meleesa F; Perlsweig, Katherine A; Pletcher, Erin R; Lovalekar, Mita; Beals, Kim; Coleman, Lawrence C; Nindl, Bradley C

2017-11-01

Women can serve in all military occupational specialties (MOS); however, musculoskeletal and physiological characteristics that predict successful completion of ground combat MOS schools by female Marines are unknown. To determine which demographic, musculoskeletal, and physiological characteristics predict graduation from infantry and vehicle ground combat MOS schools in female Marines. Prospective cohort study. Prior to MOS school, the following were assessed in 62 female Marines (22.0±3.0yrs, 163.9±5.8cm, 63.4±7.2kg): isokinetic shoulder, trunk, and knee and isometric ankle strength; body composition; anaerobic power (AP)/capacity (AC); maximal oxygen uptake (VO 2 max); and field-based fitness tests (broad jump, medicine ball throw, pro-agility). Both absolute and normalized (%body mass: %BM) values were utilized for strength, AP, AC, and VO 2 max. Select tests from each Marine's most recent Physical Fitness Test (PFT: abdominal crunches, 3-mile run time) and Combat Fitness Test (CFT: Maneuver Under Fire, Movement to Contact) were recorded. Participants were classified as graduated (N=46) or did not graduate (N=16). Simple logistic regression was performed to determine predictors of MOS school graduation. Statistical significance was set a priori at α=0.05. Absolute and normalized ankle inversion and eversion strength, normalized anaerobic capacity, absolute and normalized VO 2 max, right pro-agility, and PFT 3-mile run time significantly predicted MOS school graduation (p<0.05). Greater ankle strength, better agility, and greater anaerobic and aerobic capacity are important for successful completion of ground combat MOS school in female Marines. Prior to entering ground combat MOS school, it is recommended that female Marines should train to optimize these mobility-centric characteristics. Copyright © 2017 Sports Medicine Australia. Published by Elsevier Ltd. All rights reserved.

The twelfth annual Intelligent Ground Vehicle Competition: team approaches to intelligent vehicles

NASA Astrophysics Data System (ADS)

Theisen, Bernard L.; Maslach, Daniel

2004-10-01

The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990s. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Both U.S. and international teams focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 12 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 43 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

The 21st annual intelligent ground vehicle competition: robotists for the future

NASA Astrophysics Data System (ADS)

Theisen, Bernard L.

2013-12-01

The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 21 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the fourday competition are highlighted. Finally, an assessment of the competition based on participation is presented.

The 20th annual intelligent ground vehicle competition: building a generation of robotists

NASA Astrophysics Data System (ADS)

Theisen, Bernard L.; Kosinski, Andrew

2013-01-01

The Intelligent Ground Vehicle Competition (IGVC) is one of four, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI). The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics and mobile platform fundamentals to design and build an unmanned system. Teams from around the world focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligent driving capabilities. Over the past 20 years, the competition has challenged undergraduate, graduate and Ph.D. students with real world applications in intelligent transportation systems, the military and manufacturing automation. To date, teams from over 80 universities and colleges have participated. This paper describes some of the applications of the technologies required by this competition and discusses the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the four-day competition are highlighted. Finally, an assessment of the competition based on participation is presented.

U.S. Special Operations Forces (SOF): Background and Issues for Congress

DTIC Science & Technology

2016-04-08

platforms to include AC-130U, AC-130W, U-28, MQ-1, MQ-9, C-145, C-146 as well as small unmanned aerial systems ( SUAS ), Combat Aviation Advisors, medical...forces can operate in small groups and have the ability to quickly deploy from Navy ships, submarines and aircraft , overseas bases, and forward-based...given greater responsibility for planning and conducting worldwide counterterrorism operations. U.S. Special Operations Command (USSOCOM) has about

An Integrated Command and Control Architecture Concept for Unmanned Systems in the Year 2030

DTIC Science & Technology

2010-06-01

98  3.6.4.3.  Lithium Iron Phosphate LiFePO4 ......................................99  3.6.4.4.  Future Battery Developments...Iron Phosphate LiFePO4 Lithium Iron Phosphate is a variation in the chemistry of lithium ion batteries. General electric Battery company research...LCS Littoral Combat Ship LD/HD Low Density/High Demand LiFePO4 Lithium Iron Phosphate LOC Lines of Communication LOE Limited Objective Experiment

Postmodern Morals, Ends, and Means: Shifting Ideas About Why, How and for Whom Wars are Fought

DTIC Science & Technology

2013-05-23

from being used for humanitarian intervention. In fact, unmanned combat vehicles are well suited for such police style enforcement actions. Given...from, for example, the Chinese intervention in the Korean War, which was a political decision for national interests. The distinction between the two...fourth century to the mid seventeenth. In this era, knowledge was authoritative based on its appeal to God and revelation. The modern era, which follows

Nightfall and the Cloud: Examining the Future of Unmanned Combat Aerial Vehicles and Remotely Piloted Aircraft

DTIC Science & Technology

2015-10-01

likely outcomes and make decisions; however, that is a fundamentally different dy- namic than a true learning process. Preprogrammed assumptions and design ...ISR, targeting, forward air control, laser designation , weapons delivery, battle damage assessment ISR, targeting acquisition, and attack...KTAS 400 KTAS Weapons Payload N/A N/A 2 Hellfire missiles 4 Hellfire missiles 14 Hellfire or 4 Hellfire and 2x GBU -12 or 2 Joint Direct Attack

Distributed Pheromone-Based Swarming Control of Unmanned Air and Ground Vehicles for RSTA

DTIC Science & Technology

2008-03-20

Forthcoming in Proceedings of SPIE Defense & Security Conference, March 2008, Orlando, FL Distributed Pheromone -Based Swarming Control of Unmanned...describes recent advances in a fully distributed digital pheromone algorithm that has demonstrated its effectiveness in managing the complexity of...onboard digital pheromone responding to the needs of the automatic target recognition algorithms. UAVs and UGVs controlled by the same pheromone algorithm

Tactical Unmanned Ground Vehicle Related Research References (BTA Study)

DTIC Science & Technology

1993-03-01

draw bar pull - 4,297 lbs; Engine - 65 hp air cooled diesel engine ; dual electrical motors, hydrostatic drive; Observation - three closed-circuit...8217 Munitions and Chemical Command. Commander, U. S. Army Chemical Research, Development, and Engineering Center. 40..... "Unmanned Air Vehicles Payloads...8217 Larry Brantley Advanced Systems Concepts Office Research, Development, and Engineering Center MARCH 1993 edetone qArs nal, Alabama 35898-5000

Distributed pheromone-based swarming control of unmanned air and ground vehicles for RSTA

NASA Astrophysics Data System (ADS)

Sauter, John A.; Mathews, Robert S.; Yinger, Andrew; Robinson, Joshua S.; Moody, John; Riddle, Stephanie

2008-04-01

The use of unmanned vehicles in Reconnaissance, Surveillance, and Target Acquisition (RSTA) applications has received considerable attention recently. Cooperating land and air vehicles can support multiple sensor modalities providing pervasive and ubiquitous broad area sensor coverage. However coordination of multiple air and land vehicles serving different mission objectives in a dynamic and complex environment is a challenging problem. Swarm intelligence algorithms, inspired by the mechanisms used in natural systems to coordinate the activities of many entities provide a promising alternative to traditional command and control approaches. This paper describes recent advances in a fully distributed digital pheromone algorithm that has demonstrated its effectiveness in managing the complexity of swarming unmanned systems. The results of a recent demonstration at NASA's Wallops Island of multiple Aerosonde Unmanned Air Vehicles (UAVs) and Pioneer Unmanned Ground Vehicles (UGVs) cooperating in a coordinated RSTA application are discussed. The vehicles were autonomously controlled by the onboard digital pheromone responding to the needs of the automatic target recognition algorithms. UAVs and UGVs controlled by the same pheromone algorithm self-organized to perform total area surveillance, automatic target detection, sensor cueing, and automatic target recognition with no central processing or control and minimal operator input. Complete autonomy adds several safety and fault tolerance requirements which were integrated into the basic pheromone framework. The adaptive algorithms demonstrated the ability to handle some unplanned hardware failures during the demonstration without any human intervention. The paper describes lessons learned and the next steps for this promising technology.

Integrating intrinsic mobility into unmanned ground vehicle systems

NASA Astrophysics Data System (ADS)

Brosinsky, Chris A.; Penzes, Steven G.; Buehler, Martin G.; Steeves, Carl

2001-09-01

The ability of an Unmanned Ground Vehicle (UGV) to successfully move about in its environment is enabled by the synergistic combination of perception, control and platform (mobility and utility). Vast effort is being expended on the former technologies but little demonstrable evidence has been produced to indicate that the latter (mobility/utility) has been considered as an integral part of the UGV systems level capability; a concept commonly referred to as intrinsic mobility. While past work described the rationale for hybrid locomotion, this paper aims to demonstrate that integrating intrinsic mobility into a UGV systems mobility element or 'vehicle' will be a key contributor to the magnitude of autonomy that the system can achieve. This paper serves to provide compelling evidence that 1) intrinsic mobility improvements provided by hybrid locomotion configurations offer the best generic mobility, that 2) strict attention must be placed on the optimization of both utility (inherent vehicle capabilities) and mobility and that 3) the establishment of measures of performance for unmanned vehicle mobility is an unmet and latent need.

Robotic vehicle mobility and task performance: A flexible control modality for manned systems

NASA Technical Reports Server (NTRS)

Eldredge, Frederick

1994-01-01

In the early 1980's, a number of concepts were developed for applying robotics to ground systems. The majority of these early application concepts envisioned robotics technology embedded in dedicated unmanned systems; i.e., unmanned systems with no provision for direct manned control of the platform. Although these concepts offered advantages peculiar to platforms designed from the outset exclusively for unmanned operation--i.e., no crew compartment--their findings would require costs and support for a new class of unmanned systems. The current era of reduced budgets and increasing focus on rapid force projection has created new opportunities to examine the value of an alternative concept: the use of existing manned platforms with an ability to quickly shift from normal manned operation to unmanned should a particularly harzardous situation arise. The author of this paper addresses the evolution of robotic vehicle concepts and technology testbeds from exclusively unmanned systems to a variety of 'optionally manned' systems which have been designed with minimum intrusion actuator and control equipment to minimize degradation of vehicle performance in manned modes of operation.

Design and development of a robust ATP subsystem for the Altair UAV-to-Ground lasercomm 2.5 Gbps demonstration

NASA Technical Reports Server (NTRS)

Ortiz, G. G.; Lee, S.; Monacos, S.; Wright, M.; Biswas, A.

2003-01-01

A robust acquisition, tracking and pointing (ATP) subsystem is being developed for the 2.5 Gigabit per second (Gbps) Unmanned-Aerial-Vehicle (UAV) to ground free-space optical communications link project.

Control and Non-Payload Communications Links for Integrated Unmanned Aircraft Operations

NASA Technical Reports Server (NTRS)

Kerczewski, Robert J.; Griner, James H.

2012-01-01

Technology for unmanned aircraft has advanced so rapidly in recent years that many new applications to public and commercial use are being proposed and implemented. In many countries, emphasis is now being placed on developing the means to allow unmanned aircraft to operate within non-segregated airspace along with commercial, cargo and other piloted and passenger-carrying aircraft.In the U.S., Congress has mandated that the Federal Aviation Administration reduce and remove restrictions on unmanned aircraft operations in a relatively short time frame. To accomplish this, a number of technical and regulatory hurdles must be overcome. A key hurdle involve the communications link connecting the remote pilot located at a ground control station with the aircraft in the airspace, referred to as the Control and Non-Payload Communications (CNPC) link. This link represents a safety critical communications link, and thus requires dedicated and protected aviation spectrum as well as national and international standards defining the operational requirements the CNPC system. The CNPC link must provide line-of-site (LOS) communications, primarily through a ground-based communication system, and beyond-line-of-sight (BLOS) communication achieved using satellite communications. In the U.S., the National Aeronautics and Space Administration (NASA) is charged with providing the technical body of evidence to support spectrum allocation requirements and national and international standards development for the CNPC link. This paper provides a description of the CNPC system, an overview of NASA's CNPC project, and current results in technology assessment, air-ground propagation characterization, and supporting system studies and analyses will be presented.

Possibilities of Uas for Maritime Monitoring

NASA Astrophysics Data System (ADS)

Klimkowska, A.; Lee, I.; Choi, K.

2016-06-01

In the last few years, Unmanned Aircraft Systems (UAS) have become more important and its use for different application is appreciated. At the beginning UAS were used for military purposes. These successful applications initiated interest among researchers to find uses of UAS for civilian purposes, as they are alternative to both manned and satellite systems in acquiring high-resolution remote sensing data at lower cost while long flight duration. As UAS are built from many components such as unmanned aerial vehicle (UAV), sensing payloads, communication systems, ground control stations, recovery and launch equipment, and supporting equipment, knowledge about its functionality and characteristics is crucial for missions. Therefore, finding appropriate configuration of all elements to fulfill requirements of the mission is a very difficult, yet important task. UAS may be used in various maritime applications such as ship detection, red tide detection and monitoring, border patrol, tracking of pollution at sea and hurricane monitoring just to mention few. One of the greatest advantages of UAV is their ability to fly over dangerous and hazardous areas, where sending manned aircraft could be risky for a crew. In this article brief description of aerial unmanned system components is introduced. Firstly characteristics of unmanned aerial vehicles are presented, it continues with introducing inertial navigation system, communication systems, sensing payloads, ground control stations, and ground and recovery equipment. Next part introduces some examples of UAS for maritime applications. This is followed by suggestions of key indicators which should be taken into consideration while choosing UAS. Last part talks about configuration schemes of UAVs and sensor payloads suggested for some maritime applications.

Sensor deployment on unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Gerhart, Grant R.; Witus, Gary

2007-10-01

TARDEC has been developing payloads for small robots as part of its unmanned ground vehicle (UGV) development programs. These platforms typically weigh less than 100 lbs and are used for various physical security and force protection applications. This paper will address a number of technical issues including platform mobility, payload positioning, sensor configuration and operational tradeoffs. TARDEC has developed a number of robots with different mobility mechanisms including track, wheel and hybrid track/wheel running gear configurations. An extensive discussion will focus upon omni-directional vehicle (ODV) platforms with enhanced intrinsic mobility for positioning sensor payloads. This paper also discusses tradeoffs between intrinsic platform mobility and articulated arm complexity for end point positioning of modular sensor packages.

An arm wearable haptic interface for impact sensing on unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Choi, Yunshil; Hong, Seung-Chan; Lee, Jung-Ryul

2017-04-01

In this paper, an impact monitoring system using fiber Bragg grating (FBG) sensors and vibro-haptic actuators has been introduced. The system is suggested for structural health monitoring (SHM) for unmanned aerial vehicles (UAVs), by making a decision with human-robot interaction. The system is composed with two major subsystems; an on-board system equipped on UAV and an arm-wearable interface for ground pilot. The on-board system acquires impact-induced wavelength changes and performs localization process, which was developed based on arrival time calculation. The arm-wearable interface helps ground pilots to make decision about impact location themselves by stimulating their tactile-sense with motor vibration.

X-45A Air Vehicle #1 during flight #13, with weapons bay door open

NASA Image and Video Library

2003-02-21

The DARPA/U.S. Air Force X-45A Unmanned Combat Air Vehicle (UCAV) system demonstration program completed the first phase of demonstrations, known as Block I, on Feb. 28, 2003. The final Block I activities included two flights at Dryden, during which safe operation of the weapons bay door was verified at 35,000 feet and speeds of Mach 0.75, the maximum planned altitude and speed for the two X-45A demonstrator vehicles.

Joint Precision Approach and Landing System Nunn-McCurdy Breach Root Cause Analysis and Portfolio Assessment Metrics for DoD Weapons Systems. Volume 8

DTIC Science & Technology

2015-01-01

system that would help in adverse weather conditions. U.S. operations in Bosnia, which were run from a relatively austere airfield with limited air... operations beginning in 2013 (CVN21, Joint Strike Fighter, Joint Unmanned Combat Air System ). cAccording to multiple FAA ofcial planning documents...Positioning System Next Generation Operational Control System HMS Handheld, Manpack and Small Form Fit HUD Head up Display IAMD Integrated Air and

Analysis of the Use of Unmanned Combat Aerial Vehicles in Conjunction with Manned Aircraft to Counter Active Terrorists in Rough Terrain

DTIC Science & Technology

2015-06-01

UCAVs) may enhance Turkey’s ability to counter active terrorists in that region. In this research, Map Aware Non-uniform Automata (MANA) is used to...Aerial Vehicles (UCAVs) may enhance Turkey’s ability to counter active terrorists in that region. In this research, Map Aware Non-uniform Automata (MANA...Attack Munition LOS Line-of-Sight MALE Medium-Altitude Long-Endurance MANA Map Aware Non-Uniform Automata MANA-V Map Aware Non-Uniform Automata

Military Unmanned Aircraft Systems in Support of Homeland Security

DTIC Science & Technology

2007-03-30

14 CFR) part 91.1131, Right-of-Way Rules , there would be no UA flights in civil airspace.31 To meet this need, the FAA and DoD have agreed on an... rules , vice the current operations which are centered on combat operations. A step-by-step approach needs to be adopted now to introduce UAS into a...H-1. 45 Peter La Franchi , “US Industry Calls for National UAV in Controlled Airspace Initiative,” Flight International, 31 March 2006 [journal on

Unmanned Warfare: Second and Third Order Effects Stemming from the Afghan Operational Environment between 2001 and 2010

DTIC Science & Technology

2011-06-10

the very nature of warfare took a dramatic step into the future. With new assets capable of remaining airborne for nearly 24 hours and live video ...warfare took a dramatic step into the future. With new assets capable of remaining airborne for nearly 24 hours and live video feeds streaming to...shape the battlefield during protracted combat operations. From the real time video feeds, to the 24 hour coverage of an area of interest, tangible

U.S. Unmanned Aerial Vehicles (UAVs) and Network Centric Warfare (NCW): Impacts on Combat Aviation Tactics from Gulf War I Through 2007 Iraq

DTIC Science & Technology

2008-03-01

early warning AIM Air-intercept missile AJCN Adaptive, joint, C4ISR node AOR Area of responsibility ARM Anti-radiation missile ATARS Advanced...Tactical Airborne Reconnaissance System ( ATARS ) on F-16 and F/A-18 aircraft, and satellites. Manned platforms were adapted to multiple mission scenarios... Psychological Ops X Tern/Leaflet Dispensing, 2004 All Weather/ Night Strike X DASH/Vietnam, 1960s Predator/Afghanistan/Iraq, 2001 36

Origin and Control of the Flow Structure on Unmanned Combat Air Vehicle

DTIC Science & Technology

2007-12-01

REPORT DATE (DD-MM-VYVY) 2. REPORT TYPE 3. DATES COVERED (From - To) January 24. 2008 Final 1 Janualry 2005 to 31 December 2007 4. TITLE AND SUBTITLE...Room 732 NUMBER(S) Arlington VA 22203-1977 12. DISTRIBUTION I AVAILABILITY STATEMENT Appa oved f or publ. o "OMB.eese-R-R.R0- 1 distribution unli4itod...detailed characterization of the patterns of quantitative flow structure, both in the near-surface and crossflow planes. These types of approaches are

Integration of robotic resources into FORCEnet

NASA Astrophysics Data System (ADS)

Nguyen, Chinh; Carroll, Daniel; Nguyen, Hoa

2006-05-01

The Networked Intelligence, Surveillance, and Reconnaissance (NISR) project integrates robotic resources into Composeable FORCEnet to control and exploit unmanned systems over extremely long distances. The foundations are built upon FORCEnet-the U.S. Navy's process to define C4ISR for net-centric operations-and the Navy Unmanned Systems Common Control Roadmap to develop technologies and standards for interoperability, data sharing, publish-and-subscribe methodology, and software reuse. The paper defines the goals and boundaries for NISR with focus on the system architecture, including the design tradeoffs necessary for unmanned systems in a net-centric model. Special attention is given to two specific scenarios demonstrating the integration of unmanned ground and water surface vehicles into the open-architecture web-based command-and-control information-management system of Composeable FORCEnet. Planned spiral development for NISR will improve collaborative control, expand robotic sensor capabilities, address multiple domains including underwater and aerial platforms, and extend distributive communications infrastructure for battlespace optimization for unmanned systems in net-centric operations.

Stakeholder Analysis of Integrating Women Into Ground Combat Units

DTIC Science & Technology

2014-06-01

article posted on SaukValley.com titled “Sources: Pentagon Rules Shift on Women in Combat,” Lolita C. Baldor cites Bhagwati regarding news about plans...Jan-13 AP Sources: Pentagon Open Combat Roles to Women Lolita C. Baldor Associated Press 17-Jan-14 Military Women in Combat Nancy Carol Squidoo...Security Journal 9-Feb-12 Sources: Pentagon rules shift on women in combat Lolita C. Baldor SaukValley.com 24-Oct-13 A Voice for Men None named

Reducing environmental damage through the use of unmanned aerial vehicles as the best available technology

NASA Astrophysics Data System (ADS)

Fedulova, E. A.; Akulov, A. O.; Rada, A. O.; Alabina, T. A.; Savina, Ju Ju

2018-01-01

The article examines the possibilities of using unmanned aerial vehicles as the best available technologies in the field of agriculture and mining. The object of the study is the use of unmanned aerial vehicles as the best available technology. The main areas of application of this technology are identified: agro technical operations, aerial photography of mining operations. The technology of unmanned aerial vehicles is compared with the technologies of ground agricultural machinery. The research methodology includes an expert evaluation of the unmanned aerial vehicle technology belonging to the class of the best available technologies by the criteria: the level of environmental impact, resource saving, the use of low-waste, non-waste processes, the existence of at least two objects, economic efficiency. Expert evaluations were processed using the apparatus of fuzzy sets, which make it possible to construct membership functions. This allowed us to prove that the technology of unmanned aerial vehicles belongs to a fuzzy set of the best available technologies. The results of the research show that the use of unmanned aerial vehicles provides a saving of resources, especially non-renewable combustible minerals, reduces emissions and discharges of pollutants into the atmosphere, and also reduces soil erosion. Unmanned aerial vehicles should be included in the national directories of the best available technologies for the mining industry and agriculture.

11th Annual Intelligent Ground Vehicle Competition: team approaches to intelligent driving and machine vision

NASA Astrophysics Data System (ADS)

Theisen, Bernard L.; Lane, Gerald R.

2003-10-01

The Intelligent Ground Vehicle Competition (IGVC) is one of three, unmanned systems, student competitions that were founded by the Association for Unmanned Vehicle Systems International (AUVSI) in the 1990's. The IGVC is a multidisciplinary exercise in product realization that challenges college engineering student teams to integrate advanced control theory, machine vision, vehicular electronics, and mobile platform fundamentals to design and build an unmanned system. Both the U.S. and international teams focus on developing a suite of dual-use technologies to equip ground vehicles of the future with intelligtent driving capabilities. Over the past 11 years, the competition has challenged both undergraduates and graduates, including Ph.D. students with real world applications in intelligent transportation systems, the military, and manufacturing automation. To date, teams from over 40 universities and colleges have participated. In this paper, we describe some of the applications of the technologies required by this competition, and discuss the educational benefits. The primary goal of the IGVC is to advance engineering education in intelligent vehicles and related technologies. The employment and professional networking opportunities created for students and industrial sponsors through a series of technical events over the three-day competition are highlighted. Finally, an assessment of the competition based on participant feedback is presented.

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

Aerial radiation monitoring around the Fukushima Dai-ichi Nuclear Power Plant using an unmanned helicopter.

PubMed

Sanada, Yukihisa; Torii, Tatsuo

2015-01-01

The Great East Japan Earthquake on March 11, 2011 generated a series of large tsunami that seriously damaged the Fukushima Dai-ichi Nuclear Power Plant (FDNPP), which resulted in the release of radioactive materials into the environment. To provide further details regarding the distribution of air dose rate and the distribution of radioactive cesium ((134)Cs and (137)Cs) deposition on the ground within a radius of approximately 5 km from the nuclear power plant, we carried out measurements using an unmanned helicopter equipped with a radiation detection system. The distribution of the air dose rate at a height of 1 m above the ground and the radioactive cesium deposition on the ground was calculated. Accordingly, the footprint of radioactive plumes that extended from the FDNPP was illustrated. Copyright © 2014 Elsevier Ltd. All rights reserved.

Bioinspired optical sensors for unmanned aerial systems

NASA Astrophysics Data System (ADS)

Chahl, Javaan; Rosser, Kent; Mizutani, Akiko

2011-04-01

Insects are dependant on the spatial, spectral and temporal distributions of light in the environment for flight control and navigation. This paper reports on flight trials of implementations of insect inspired behaviors on unmanned aerial vehicles. Optical flow methods for maintaining a constant height above ground and a constant course have been demonstrated to provide navigation capabilities that are impossible using conventional avionics sensors. Precision control of height above ground and ground course were achieved over long distances. Other vision based techniques demonstrated include a biomimetic stabilization sensor that uses the ultraviolet and green bands of the spectrum, and a sky polarization compass. Both of these sensors were tested over long trajectories in different directions, in each case showing performance similar to low cost inertial heading and attitude systems. The behaviors demonstrate some of the core functionality found in the lower levels of the sensorimotor system of flying insects and shows promise for more integrated solutions in the future.

DARPA/USAF/USN J-UCAS X-45A System Demonstration Program: A Review of Flight Test Site Processes and Personnel

NASA Technical Reports Server (NTRS)

Cosentino, Gary B.

2008-01-01

The Joint Unmanned Combat Air Systems (J-UCAS) program is a collaborative effort between the Defense Advanced Research Project Agency (DARPA), the US Air Force (USAF) and the US Navy (USN). Together they have reviewed X-45A flight test site processes and personnel as part of a system demonstration program for the UCAV-ATD Flight Test Program. The goal was to provide a disciplined controlled process for system integration and testing and demonstration flight tests. NASA's Dryden Flight Research Center (DFRC) acted as the project manager during this effort and was tasked with the responsibilities of range and ground safety, the provision of flight test support and infrastructure and the monitoring of technical and engineering tasks. DFRC also contributed their engineering knowledge through their contributions in the areas of autonomous ground taxi control development, structural dynamics testing and analysis and the provision of other flight test support including telemetry data, tracking radars, and communications and control support equipment. The Air Force Flight Test Center acted at the Deputy Project Manager in this effort and was responsible for the provision of system safety support and airfield management and air traffic control services, among other supporting roles. The T-33 served as a J-UCAS surrogate aircraft and demonstrated flight characteristics similar to that of the the X-45A. The surrogate served as a significant risk reduction resource providing mission planning verification, range safety mission assessment and team training, among other contributions.

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

Amphibian Engineers in the Southwest Pacific

DTIC Science & Technology

2017-03-08

groups supporting Marine ground combat on small island chains. Such actions dominate the central Pacific. The ideal depiction of combat is Marine...to: first capture Tulagi and Guadalcanal in the Solomon Islands, second capture the remainder of the Solomon Islands plus Lae and Salamaua, and...air, sea, and ground operations from New Guinea through the Solomons and into the Marianas. Seizing Rabaul was critical to the allied forces in the

Apollo experience report: Guidance and control systems. Mission control programmer for unmanned missions AS-202, Apollo 4, and Apollo 6

NASA Technical Reports Server (NTRS)

Holloway, G. F.

1975-01-01

An unmanned test flight program required to evaluate the command module heat shield and the structural integrity of the command and service module/Saturn launch vehicle is described. The mission control programer was developed to provide the unmanned interface between the guidance and navigation computer and the other spacecraft systems for mission event sequencing and real-time ground control during missions AS-202, Apollo 4, and Apollo 6. The development of this unmanned programer is traced from the initial concept through the flight test phase. Detailed discussions of hardware development problems are given with the resulting solutions. The mission control programer functioned correctly without any flight anomalies for all missions. The Apollo 4 mission control programer was reused for the Apollo 6 flight, thus being one of the first subsystems to be reflown on an Apollo space flight.

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.

Increasing agility in unmanned ground vehicles using variable internal mass and inertial properties

NASA Astrophysics Data System (ADS)

Nie, Chenghui; Cusi Van Dooren, Simo; Shah, Jainam; Spenko, Matthew

2009-05-01

Unmanned Ground Vehicles (UGV) that possess agility, or the ability to quickly change directions without a significant loss in speed, would have several advantages in field operations over conventional UGVs. The agile UGVs would have greater maneuverability in cluttered environments and improved obstacle avoidance capabilities. The UGVs would also be able to better recover from unwanted dynamic behaviors. This paper presents a novel method of increasing UGV agility by actively altering the location of the vehicle's center of mass during locomotion. This allows the vehicle to execute extreme dynamic maneuvers by controlling the normal force acting on the wheels. A theoretical basis for this phenomenon is presented and experimental results are shown that validate the approach.

An Investigation of Multiple Unmanned Aircraft Systems Control from the Cockpit of an AH-64 Apache Helicopter

DTIC Science & Technology

2014-12-01

An Investigation of Multiple Unmanned Aircraft Systems Control from the Cockpit of an AH-64 Apache Helicopter by Jamison S Hicks and David B...estimate or any other aspect of this collection of information, including suggestions for reducing the burden, to Department of Defense , Washington...infantrymen, aircraft pilots, or dedicated UAS ground control station (GCS) operators. The purpose of the UAS is to allow for longer and more discrete

Mission Planning for Tactical Aircraft (Preflight and In-Flight) (Systemes de Planification des Missions Pour Avions Tactiques) (Avant Vol et en Vol).

DTIC Science & Technology

1992-12-01

Ground-Based Mission Planning Systems 9 2.3 Networking Mission Planning Systems 11 2.4 Fully Automated Mission Planning I I 2.5 Unmanned Air Vehicles 13...Missile Engagement Zone RPV Remotely Piloted Vehicle MIDS Multifunction Information Distribution System RRDB Rapidly Reconfigurable Databus MIL-STD...Comrmantd OPORD Operations Order TV Television OPS Operational OR Operational Relationship UAV Unmanned Air Vehicle UAV Unnmanned Air Vehicle PA

Manned/Unmanned Common Architecture Program (MCAP) net centric flight tests

NASA Astrophysics Data System (ADS)

Johnson, Dale

2009-04-01

Properly architected avionics systems can reduce the costs of periodic functional improvements, maintenance, and obsolescence. With this in mind, the U.S. Army Aviation Applied Technology Directorate (AATD) initiated the Manned/Unmanned Common Architecture Program (MCAP) in 2003 to develop an affordable, high-performance embedded mission processing architecture for potential application to multiple aviation platforms. MCAP analyzed Army helicopter and unmanned air vehicle (UAV) missions, identified supporting subsystems, surveyed advanced hardware and software technologies, and defined computational infrastructure technical requirements. The project selected a set of modular open systems standards and market-driven commercial-off-theshelf (COTS) electronics and software, and, developed experimental mission processors, network architectures, and software infrastructures supporting the integration of new capabilities, interoperability, and life cycle cost reductions. MCAP integrated the new mission processing architecture into an AH-64D Apache Longbow and participated in Future Combat Systems (FCS) network-centric operations field experiments in 2006 and 2007 at White Sands Missile Range (WSMR), New Mexico and at the Nevada Test and Training Range (NTTR) in 2008. The MCAP Apache also participated in PM C4ISR On-the-Move (OTM) Capstone Experiments 2007 (E07) and 2008 (E08) at Ft. Dix, NJ and conducted Mesa, Arizona local area flight tests in December 2005, February 2006, and June 2008.

Ground Combat Training Squadron Complex Final Environmental Assessment

DTIC Science & Technology

2011-08-01

Std Z39-18 FINAL FINDING OF NO SIGNIFICANT IMPACT FROM CONSTRUCTION OF THE GROUND COMBAT TRAINING SQUADRON COMPLEX AT EGLIN AIR FORCE BASE...of and Adjacent to the Triangle (EA Section 2.4.1, Page 2-10): This location was eliminated due to possibly unavoidable impacts to wetlands, which run...through part of this site. To eliminate any potential for impacts to wetlands, this alternative was dismissed. Training in an Area Northwest of

Cost Estimation of Post Production Software Support in Ground Combat Systems

DTIC Science & Technology

2007-09-01

request, year of the request, EINOMEN (a word description of the system), and a PRON (a unique identifier containing the year and weapons system...variance. The fiscal year of request, descriptive name (coded as EINOMEN), unique program identifier ( PRON ), amount funded, and total amount requested...entire data set loses this sophistication. Most of the unique PRONs in the database map to a specific ground combat system, as described in the

Evaluating remotely sensed plant count accuracy with differing unmanned aircraft system altitudes, physical canopy separations, and ground covers

NASA Astrophysics Data System (ADS)

Leiva, Josue Nahun; Robbins, James; Saraswat, Dharmendra; She, Ying; Ehsani, Reza

2017-07-01

This study evaluated the effect of flight altitude and canopy separation of container-grown Fire Chief™ arborvitae (Thuja occidentalis L.) on counting accuracy. Images were taken at 6, 12, and 22 m above the ground using unmanned aircraft systems. Plants were spaced to achieve three canopy separation treatments: 5 cm between canopy edges, canopy edges touching, and 5 cm of canopy edge overlap. Plants were placed on two different ground covers: black fabric and gravel. A counting algorithm was trained using Feature Analyst®. Total counting error, false positives, and unidentified plants were reported for images analyzed. In general, total counting error was smaller when plants were fully separated. The effect of ground cover on counting accuracy varied with the counting algorithm. Total counting error for plants placed on gravel (-8) was larger than for those on a black fabric (-2), however, false positive counts were similar for black fabric (6) and gravel (6). Nevertheless, output images of plants placed on gravel did not show a negative effect due to the ground cover but was impacted by differences in image spatial resolution.

Evaluation of Early Ground Control Station Configurations for Interacting with a UAS Traffic Management (UTM) System

NASA Technical Reports Server (NTRS)

Dao, Arik-Quang V.; Martin, Lynne; Mohlenbrink, Christoph; Bienert, Nancy; Wolte, Cynthia; Gomez, Ashley; Claudatos, Lauren; Mercer, Joey

2017-01-01

The purpose of this paper is to report on a human factors evaluation of ground control station design concepts for interacting with an unmanned traffic management system. The data collected for this paper comes from recent field tests for NASA's Unmanned Traffic Management (UTM) project, and covers the following topics; workload, situation awareness, as well as flight crew communication, coordination, and procedures. The goal of this evaluation was to determine if the various software implementations for interacting with the UTM system can be described and classified into design concepts to provide guidance for the development of future UTM interfaces. We begin with a brief description of NASA's UTM project, followed by a description of the test range configuration related to a second development phase. We identified (post hoc) two classes in which the ground control stations could be grouped. This grouping was based on level of display integration. The analysis was exploratory and informal. It was conducted to compare ground stations across those two classes and against the aforementioned topics. Herein, we discuss the results.

Systems Engineering of Unmanned DoD Systems: Following the Joint Capabilities Integration and Development System/Defense Acquisition System Process to Develop an Unmanned Ground Vehicle System

DTIC Science & Technology

2015-12-01

Manual D-A-1). APAs are “Performance attributes of a system not important enough to be considered KPPs or KSAs, but still appropriate to include in...the CDD or CPD are designated as APAs ” (JCIDS Manual D-A-1). The requirements are expressed using Thresholds (T) and Objectives (O). “Performance...NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA SYSTEMS ENGINEERING CAPSTONE PROJECT REPORT Approved for public release; distribution is

Autonomy, Unmanned Ground Vehicles, and the U.S. Army: Preparing for the Future by Examining the Past

DTIC Science & Technology

2009-05-01

gathers wisdom. – Isaac Asimov As a result of the National Defense Authorization Act (NDAA) of 2001, Congress signed into law a mandate for the...Monroe, December 2007), 14-15. 13 Isaac Asimov ,. How Did We Find Out About Robots? (New York: Walker and Company, 1984), 25-26. 14 Webster‟s Third...2007): 79-89. Asimov , Isaac. How Did We Find Out About Robots? New York: Walker and Company, 1984. Autonomy Levels for Unmanned Systems Working

mapKITE: a New Paradigm for Simultaneous Aerial and Terrestrial Geodata Acquisition and Mapping

NASA Astrophysics Data System (ADS)

Molina, P.; Blázquez, M.; Sastre, J.; Colomina, I.

2016-06-01

We introduce a new mobile, simultaneous terrestrial and aerial, geodata collection and post-processing method: mapKITE. By combining two mapping technologies such as terrestrial mobile mapping and unmanned aircraft aerial mapping, geodata are simultaneously acquired from air and ground. More in detail, a mapKITE geodata acquisition system consists on an unmanned aircraft and a terrestrial vehicle, which hosts the ground control station. By means of a real-time navigation system on the terrestrial vehicle, real-time waypoints are sent to the aircraft from the ground. By doing so, the aircraft is linked to the terrestrial vehicle through a "virtual tether," acting as a "mapping kite." In the article, we entail the concept of mapKITE as well as the various technologies and techniques involved, from aircraft guidance and navigation based on IMU and GNSS, optical cameras for mapping and tracking, sensor orientation and calibration, etc. Moreover, we report of a new measurement introduced in mapKITE, that is, point-and-scale photogrammetric measurements [of image coordinates and scale] for optical targets of known size installed on the ground vehicle roof. By means of accurate posteriori trajectory determination of the terrestrial vehicle, mapKITE benefits then from kinematic ground control points which are photogrametrically observed by point-and-scale measures. Initial results for simulated configurations show that these measurements added to the usual Integrated Sensor Orientation ones reduce or even eliminate the need of conventional ground control points -therefore, lowering mission costs- and enable selfcalibration of the unmanned aircraft interior orientation parameters in corridor configurations, in contrast to the situation of traditional corridor configurations. Finally, we report about current developments of the first mapKITE prototype, developed under the European Union Research and Innovation programme Horizon 2020. The first mapKITE mission will be held at the BCN Drone Center (Collsuspina, Moià, Spain) in mid 2016.

48 CFR 252.228-7001 - Ground and flight risk.

Code of Federal Regulations, 2014 CFR

2014-10-01

... aircraft in the process of being manufactured, disassembled, or reassembled; provided that an engine... airships, unmanned aerial vehicles, or other nonconventional aircraft specified in this contract. (2...

48 CFR 252.228-7001 - Ground and flight risk.

Code of Federal Regulations, 2013 CFR

2013-10-01

... aircraft in the process of being manufactured, disassembled, or reassembled; provided that an engine... airships, unmanned aerial vehicles, or other nonconventional aircraft specified in this contract. (2...

48 CFR 252.228-7001 - Ground and flight risk.

Code of Federal Regulations, 2012 CFR

2012-10-01

... aircraft in the process of being manufactured, disassembled, or reassembled; provided that an engine... airships, unmanned aerial vehicles, or other nonconventional aircraft specified in this contract. (2...

48 CFR 252.228-7001 - Ground and flight risk.

Code of Federal Regulations, 2011 CFR

2011-10-01

... aircraft in the process of being manufactured, disassembled, or reassembled; provided that an engine... airships, unmanned aerial vehicles, or other nonconventional aircraft specified in this contract. (2...

Infrared stereo calibration for unmanned ground vehicle navigation

NASA Astrophysics Data System (ADS)

Harguess, Josh; Strange, Shawn

2014-06-01

The problem of calibrating two color cameras as a stereo pair has been heavily researched and many off-the-shelf software packages, such as Robot Operating System and OpenCV, include calibration routines that work in most cases. However, the problem of calibrating two infrared (IR) cameras for the purposes of sensor fusion and point could generation is relatively new and many challenges exist. We present a comparison of color camera and IR camera stereo calibration using data from an unmanned ground vehicle. There are two main challenges in IR stereo calibration; the calibration board (material, design, etc.) and the accuracy of calibration pattern detection. We present our analysis of these challenges along with our IR stereo calibration methodology. Finally, we present our results both visually and analytically with computed reprojection errors.

Future Warfare: Anthology Revised Edition

DTIC Science & Technology

2001-06-01

film “ Saving Private Ryan ” are compelling and chilling. But the information age promises to make ground combat considerably less destructive that the...116 Saving Private Ryan , 80–81 Schwarzkopf, Norman, 242, 243–244 Science and technology, 191–202 Scipio, 44 Security beyond the year 2010, 128–131, 137... Private Ryan ” where the true horror of face-to-face ground combat is driven into the psyche of the movie goer. I am increasingly convinced, however

Analysis of Operational Pace Versus Logistical Support Rate in the Ground Combat Element of a Marine Expeditionary Brigade

DTIC Science & Technology

2006-09-01

logistical resources necessary to sustain its movement toward assigned objectives while being supported by a CSSE in an expanding maneuver warfare...thesis defines a logistics process and develops a simulation where the GCE consumes logistical resources necessary to sustain its movement toward...the MAGTF is responsible for responding to the logistics needs of the MAGTF Ground Combat Element (GCE) in order to sustain its movement. Yet

The Marine Engineers in Today’s MAGTF: Historical Perspective, Consequences and Alternatives

DTIC Science & Technology

2013-04-15

Inhibited Flexibility for Resource Leveling ...........................................................................17 Mission and Capability...21 Inhibited Flexibility for Resource Leveling ...ground combat element ( GCE ); an engineer support battalion (ESB) supports the logistics combat element (LCE); and engineer operations divisions

2010 Combat Vehicles Conference

DTIC Science & Technology

2010-11-09

7 The Tactical Wheeled Vehicle Challenge… Performance ProtectionPayload Weight Mobility Transportability Cost / Benefit The fully burdened cost of...employment of robotic systems 10 Ground Combat Vehicle… Versatility – Configuration and employment options – Employed across full range of military...Synchronization 11-12 13-14 15-16 17-18 19-20 21-22 23-24 25-26 = Increment Point STOP STOP ~ 2034 Developing a Combat Vehicle Strategy… 11 “… robotics

Comparative aerial- and ground-based high-throughput phenotyping for the genetic dissection of NDVI as a proxy for drought-adaptive traits in durum wheat

USDA-ARS?s Scientific Manuscript database

High-throughput phenotyping platforms (HTPPs) provide novel opportunities to more effectively dissect the genetic basis of drought-adaptive traits. This genome-wide association study (GWAS) compares the results obtained with two Unmanned Aerial Vehicles (UAVs) and a ground-based platform used to mea...

Department of Defense Joint Chemical and Biological Defense Program 2009 Annual Report to Congress

DTIC Science & Technology

2009-03-27

completion at the ECBC on the Edgewood Area of Aberdeen Proving Ground (APG), MD. The SRF is a collaborative effort, funded by the DoD, DHS, and...Accelerated Manufacture of Pharmaceuticals APB Acquisition Program Baseline APG Aberdeen Proving Ground ARC Annual Report to Congress ASC Active...Critical Reagents Program CUGV Chemical, Biological, Radiological, and Nuclear Unmanned Ground Vehicle CW Chemical Weapons CWA Chemical Warfare Agent CWC

The Army’s Ground Combat Vehicle Program and Alternatives

DTIC Science & Technology

2013-04-01

the M2A3 Bradley IFV used in Iraq, which includes reactive armor and underbelly armor. Weighta Number of Vehicle (Tons) Passengers Ground Combat...RCWS = remotely controlled weapon station; n.a. = not applicable. a. Version of the M2A3 Bradley IFV used in Iraq, which includes reactive armor and...trade-offs that the Army made to reduce the average procurement unit cost to $13.5 million (in 2013 dollars). b. Version of the M2A3 Bradley IFV used

A Revolutionary Approach for the Development of Future Ground Combat System Specifications

DTIC Science & Technology

2013-09-01

35 B. PHYSICAL PROPERTIES FOR BLUE AGENTS .............................. 38 1. Bradley M2A3 ...available, Wikipedia. B. PHYSICAL PROPERTIES FOR BLUE AGENTS 1. Bradley M2A3 The main ground combat vehicle for the scenario is the Bradley M2A3 ...Total Men Men per Agent MANA Agents 4 x Bradley M2A3 12 3 4 4 x Bradley infantry 28 1 28 Platoon Abrams SEP M1A2 16 4 4 2 x AH64-D attack

The Civil-Military Gap and Women in Combat: The Elite’s Attitude Transformation, 1991-2013

DTIC Science & Technology

2015-02-12

women in combat, a social issue at the heart of the civil-military gap, as the US regrouped after the Gulf War then fought in Afghanistan and Iraq. The...the issue of women in combat (WIC), the first of three social issues cited by RAND.6 This study examines WIC from the end of the Gulf War through...US laws prevented women from serving in combat.41 It is apparent the two groups worked together to find common ground that addressed the tension

Unintended Relevance: The Role of the Stryker Brigade Combat Team in the Decisive Action Environment

DTIC Science & Technology

2017-05-25

Systems , 30MM 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF PAGES 19a. NAME OF RESPONSIBLE PERSON Walter C. Gray II...Facilities- Policy FCS Future Combat System FM Field Manual FMTV Family of Medium Tactical Vehicles GCV Ground Combat Vehicle GWOT...Vehicle MGS Mobile Gun System MPF Mobile Protected Firepower NATO North Atlantic Treaty Organization ONS Operational Needs Statement RPG

A Concept for Directing Combat Air Operations

DTIC Science & Technology

2014-08-01

the OV-10 Bronco , en- tered combat. From that time the OV-10 has repeatedly justified its worth as a specially designed combat aircraft. The airborne...Historical Highlight to reequip. Until the Bronco arrived, the aircraft which filled the requirement had been hand-me-down or off-the-shelf commercial...Journal | 168 Historical Highlight provement in the mobility and quality of the TACS ground ele - ments. This program is evolutionary and requires

Accuracy Assessment of Professional Grade Unmanned Systems for High Precision Airborne Mapping

NASA Astrophysics Data System (ADS)

Mostafa, M. M. R.

2017-08-01

Recently, sophisticated multi-sensor systems have been implemented on-board modern Unmanned Aerial Systems. This allows for producing a variety of mapping products for different mapping applications. The resulting accuracies match the traditional well engineered manned systems. This paper presents the results of a geometric accuracy assessment project for unmanned systems equipped with multi-sensor systems for direct georeferencing purposes. There are a number of parameters that either individually or collectively affect the quality and accuracy of a final airborne mapping product. This paper focuses on identifying and explaining these parameters and their mutual interaction and correlation. Accuracy Assessment of the final ground object positioning accuracy is presented through real-world 8 flight missions that were flown in Quebec, Canada. The achievable precision of map production is addressed in some detail.

Tactical visualization module

NASA Astrophysics Data System (ADS)

Kachejian, Kerry C.; Vujcic, Doug

1999-07-01

The Tactical Visualization Module (TVM) research effort will develop and demonstrate a portable, tactical information system to enhance the situational awareness of individual warfighters and small military units by providing real-time access to manned and unmanned aircraft, tactically mobile robots, and unattended sensors. TVM consists of a family of portable and hand-held devices being advanced into a next- generation, embedded capability. It enables warfighters to visualize the tactical situation by providing real-time video, imagery, maps, floor plans, and 'fly-through' video on demand. When combined with unattended ground sensors, such as Combat- Q, TVM permits warfighters to validate and verify tactical targets. The use of TVM results in faster target engagement times, increased survivability, and reduction of the potential for fratricide. TVM technology can support both mounted and dismounted tactical forces involved in land, sea, and air warfighting operations. As a PCMCIA card, TVM can be embedded in portable, hand-held, and wearable PCs. Thus, it leverages emerging tactical displays including flat-panel, head-mounted displays. The end result of the program will be the demonstration of the system with U.S. Army and USMC personnel in an operational environment. Raytheon Systems Company, the U.S. Army Soldier Systems Command -- Natick RDE Center (SSCOM- NRDEC) and the Defense Advanced Research Projects Agency (DARPA) are partners in developing and demonstrating the TVM technology.

UAS Detection Classification and Neutralization: Market Survey 2015

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

Birch, Gabriel Carisle; Griffin, John Clark; Erdman, Matthew Kelly

The purpose of this document is to briefly frame the challenges of detecting low, slow, and small (LSS) unmanned aerial systems (UAS). The conclusion drawn from internal discussions and external reports is the following; detection of LSS UAS is a challenging problem that can- not be achieved with a single detection modality for all potential targets. Classification of LSS UAS, especially classification in the presence of background clutter (e.g., urban environment) or other non-threating targets (e.g., birds), is under-explored. Though information of avail- able technologies is sparse, many of the existing options for UAS detection appear to be in theirmore » infancy (when compared to more established ground-based air defense systems for larger and/or faster threats). Companies currently providing or developing technologies to combat the UAS safety and security problem are certainly worth investigating, however, no company has provided the statistical evidence necessary to support robust detection, identification, and/or neutralization of LSS UAS targets. The results of a market survey are included that highlights potential commercial entities that could contribute some technology that assists in the detection, classification, and neutral- ization of a LSS UAS. This survey found no clear and obvious commercial solution, though recommendations are given for further investigation of several potential systems.« less

Unmanned aerial vehicle-based structure from motion biomass inventory estimates

NASA Astrophysics Data System (ADS)

Bedell, Emily; Leslie, Monique; Fankhauser, Katie; Burnett, Jonathan; Wing, Michael G.; Thomas, Evan A.

2017-04-01

Riparian vegetation restoration efforts require cost-effective, accurate, and replicable impact assessments. We present a method to use an unmanned aerial vehicle (UAV) equipped with a GoPro digital camera to collect photogrammetric data of a 0.8-ha riparian restoration. A three-dimensional point cloud was created from the photos using "structure from motion" techniques. The point cloud was analyzed and compared to traditional, ground-based monitoring techniques. Ground-truth data were collected on 6.3% of the study site and averaged across the entire site to report stem heights in stems/ha in three height classes. The project site was divided into four analysis sections, one for derivation of parameters used in the UAV data analysis and the remaining three sections reserved for method validation. Comparing the ground-truth data to the UAV generated data produced an overall error of 21.6% and indicated an R2 value of 0.98. A Bland-Altman analysis indicated a 95% probability that the UAV stems/section result will be within 61 stems/section of the ground-truth data. The ground-truth data are reported with an 80% confidence interval of ±1032 stems/ha thus, the UAV was able to estimate stems well within this confidence interval.

Systems engineering and integration of control centers in support of multiple programs. [ground control for STS payloads and unmanned vehicles

NASA Technical Reports Server (NTRS)

Miller, David N.

1989-01-01

The NASA Johnson Space Center's new Multiprogram Control Center (MPCC) addresses the control requirements of complex STS payloads as well as unmanned vehicles. An account is given of the relationship of the MPCC to the STS Mission Control Center, with a view to significant difficulties that may be encountered and solutions thus far devised for generic problems. Examples of MPCC workstation applications encompass telemetry decommutation, engineering unit conversion, data-base management, trajectory processing, and flight design.

Applying Unmanned Ground Vehicle Technologies To Unmanned Surface Vehicles

DTIC Science & Technology

2005-01-01

PCI or ISA bus interface • 7 UARTs • 3 USB ports • CAN bus • I2C Bus • 1 RS232 Serial Port • Two 12-bit D-A output • Two 8-bit D-A...two of the seven UARTs and the CAN bus interface. It is also used to preprocess some sensor data before sending it to the FPGA. The daughterboard...modification of the Kalman Filter and PID parameters for use in a marine environment. 2.2.1 Architecture The Small Robot Technology ( SMART ) software

International Assessment of Unmanned Ground Vehicles

DTIC Science & Technology

2008-02-01

research relevant to ground robotics include • Multi-sensor data fusion • Stereovision • Dedicated robots, including legged robots, tracked robots...Technology Laboratory has developed several mobile robots with leg - ged, wheeled, rolling, rowing, and hybrid locomotion. Areas of particular emphasis...117 UK Department of Trade and Industry ( DTI ) Global Watch Mission. November 2006. Mechatronics in Russia. 118 CRDI Web Site: http

Lightweight Combat Vehicle S&T Initiatives

DTIC Science & Technology

2015-08-01

1 U.S. ARMY TANK AUTOMOTIVE RESEARCH, DEVELOPMENT AND ENGINEERING CENTER Lightweight Combat Vehicle S &T Initiatives Dr. Richard Gerth Ground Systems...00-00-2015 to 00-00-2015 4. TITLE AND SUBTITLE Lightweight Combat Vehicle S &T Initiatives Global Automotive Lightweight Materials 2015 - August...18-20 2015 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR( S ) Richard Gerth 5d. PROJECT NUMBER 5e. TASK NUMBER 5f

Securing the High Ground: Dominant Combat Air Force for America. 2008 Combat Air Force Strategic Plan

DTIC Science & Technology

2008-07-28

continue to be beyond our technical ability to realize aggresively pursue advanced technical solutions to stay at the leading edge of technological...inherent to each caf Way and to seek continual improvement through exploration of innovative concepts, advanced capabilities, game -changing...available online at the air force portal: https://wwwd.my.af.mil/afknprod/strat_plan COMBAT AIR FORCE STRATEGIC PLAN Points of Contact securing the high

Hydrology with unmanned aerial vehicles (UAVs)

USDA-ARS?s Scientific Manuscript database

Hydrologic remote sensing currently depends on expensive and infrequent aircraft observations for validation of operational satellite products, typically conducted during field campaigns that also include ground-based measurements. With the advent of new, hydrologically-relevant satellite missions, ...

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.

FY2012 Annual Report for Director Operational Test & Evaluation (DOT&E)

DTIC Science & Technology

2012-01-01

The JLTV FoV consists of two vehicle categories: the JLTV Combat Tactical Vehicle (CTV), designed to seat four passengers ; and the JLTV Combat...Support Vehicle (CSV), designed to seat two passengers . • The JLTV CTV has a 3,500-pound payload and three mission package configurations: - Close...For example, a previous ground combat vehicle had KPPs that only required it seat nine passengers , be transportable by a C-130, and have a

NASA Flight Operations of Ikhana and Global Hawk

NASA Technical Reports Server (NTRS)

Posada, Herman

2010-01-01

This slide presentation reviews the flight operations for NASA's Ikhana and Globalhawk unmanned aerial vehicles. It includes information on the ground support systems, vehicle specifications, payloads, mission planning and the 2007 Western States Fire Mission Objectives.

Autonomous urban reconnaissance ingress system (AURIS): providing a tactically relevant autonomous door-opening kit for unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Shane, David J.; Rufo, Michael A.; Berkemeier, Matthew D.; Alberts, Joel A.

2012-06-01

The Autonomous Urban Reconnaissance Ingress System (AURIS™) addresses a significant limitation of current military and first responder robotics technology: the inability of reconnaissance robots to open doors. Leveraging user testing as a baseline, the program has derived specifications necessary for military personnel to open doors with fielded UGVs (Unmanned Ground Vehicles), and evaluates the technology's impact on operational mission areas: duration, timing, and user patience in developing a tactically relevant, safe, and effective system. Funding is provided through the US ARMY Tank Automotive Research, Development and Engineering Center (TARDEC) and the project represents a leap forward in perception, autonomy, robotic implements, and coordinated payload operation in UGVs. This paper describes high level details of specification generation, status of the last phase of development, an advanced view of the system autonomy capability, and a short look ahead towards the ongoing work on this compelling and important technology.

Medium Altitude Endurance Unmanned Air Vehicle

NASA Astrophysics Data System (ADS)

Ernst, Larry L.

1994-10-01

The medium altitude endurance unmanned air vehicle (MAE UAV) program (formerly the tactical endurance TE UAV) is a new effort initiated by the Department of Defense to develop a ground launched UAV that can fly out 500 miles, remain on station for 24 hours, and return. It will transmit high resolution optical, infrared, and synthetic aperture radar (SAR) images of well-defended target areas through satellite links. It will provide near-real-time, releasable, low cost/low risk surveillance, targeting and damage assessment complementary to that of satellites and manned aircraft. The paper describes specific objectives of the MAE UAV program (deliverables and schedule) and the program's unique position as one of several programs to streamline the acquisition process under the cognizance of the newly established Airborne Reconnaissance Office. I discuss the system requirements and operational concept and describe the technical capabilities and characteristics of the major subsystems (airframe, propulsion, navigation, sensors, communication links, ground station, etc.) in some detail.

Precision wildlife monitoring using unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Hodgson, Jarrod C.; Baylis, Shane M.; Mott, Rowan; Herrod, Ashley; Clarke, Rohan H.

2016-03-01

Unmanned aerial vehicles (UAVs) represent a new frontier in environmental research. Their use has the potential to revolutionise the field if they prove capable of improving data quality or the ease with which data are collected beyond traditional methods. We apply UAV technology to wildlife monitoring in tropical and polar environments and demonstrate that UAV-derived counts of colony nesting birds are an order of magnitude more precise than traditional ground counts. The increased count precision afforded by UAVs, along with their ability to survey hard-to-reach populations and places, will likely drive many wildlife monitoring projects that rely on population counts to transition from traditional methods to UAV technology. Careful consideration will be required to ensure the coherence of historic data sets with new UAV-derived data and we propose a method for determining the number of duplicated (concurrent UAV and ground counts) sampling points needed to achieve data compatibility.

Developing Performance Measures for Manned-Unmanned Teaming Skills

DTIC Science & Technology

2015-02-01

Moves aircraft to safe area Utilize standardized radio communication and signal operating procedures Perform BDA Utilize Standard report formats...UAS does not conduct BDA ; assumes target is destroyed without verification UAS evaluates target; reports BDA to engaging aircraft (or...ground unit) after prompting UAS evaluates target; proactively reports BDA to engaging aircraft (or ground unit) 1 2 3 4 5 1 2 3 4 5 B

Development of an Unmanned Aircraft System and Cyberinfrastructure for Environmental Science Research

NASA Astrophysics Data System (ADS)

Brady, J. J.; Tweedie, C. E.; Escapita, I. J.

2009-12-01

There is a fundamental need to improve capacities for monitoring environmental change using remote sensing technologies. Recently, researchers have begun using Unmanned Aerial Vehicles (UAVs) to expand and improve upon remote sensing capabilities. Limitations to most non-military and relatively small-scale Unmanned Aircraft Systems (UASs) include a need to develop more reliable communications between ground and aircraft, tools to optimize flight control, real time data processing, and visually ascertaining the quantity of data collected while in air. Here we present a prototype software system that has enhanced communication between ground and the vehicle, can synthesize near real time data acquired from sensors on board, can log operation data during flights, and can visually demonstrate the amount and quality of data for a sampling area. This software has the capacity to greatly improve the utilization of UAS in the environmental sciences. The software system is being designed for use on a paraglider UAV that has a suite of sensors suitable for characterizing the footprints of eddy covariance towers situated in the Chihuahuan Desert and in the Arctic. Sensors on board relay operational flight data (airspeed, ground speed, latitude, longitude, pitch, yaw, roll, acceleration, and video) as well as a suite of customized sensors. Additional sensors can be added to an on board laptop or a CR1000 data logger thereby allowing data from these sensors to be visualized in the prototype software. This poster will describe the development, use and customization of our UAS and multimedia will be available during AGU to illustrate the system in use. UAV on workbench in the lab UAV in flight

Dynamics of omnidirectional unmanned rescue vehicle with mecanum wheels

NASA Astrophysics Data System (ADS)

Typiak, Andrzej; Łopatka, Marian Janusz; Rykała, Łukasz; Kijek, Magdalena

2018-01-01

The work presents the dynamic equations of motion of a unmanned six-wheeled vehicle with mecanum wheels for rescue applications derived with the of Lagrange equations of the second kind with multipliers. Analysed vehicle through using mecanum wheels has three degrees of freedom and can move on a flat ground in any direction with any configuration of platform's frame. In order to derive dynamic equations of motion of mentioned object, kinetic potential of the system and generalized forces affecting the system are determined. The results of a solution of inverse dynamics problem are also published.

An Innovative Unmanned System for Advanced Environmental Monitoring: Design and Development

NASA Astrophysics Data System (ADS)

Marsella, Ennio; Giordano, Laura; Evangelista, Lorenza; Iengo, Antonio; di Filippo, Alessandro; Coppola, Aniello

2015-04-01

The paper summarizes the design and development of a new technology and tools for real-time coordination and control of unmanned vehicles for advanced environmental monitoring. A new Unmanned System has been developed at Institute for Coastal Marine Environmental - National Research Council (Italy), in the framework of two National Operational Programs (PON): Technological Platform for Geophysical and Environmental Marine Survey-PITAM and Integrated Systems and Technologies for Geophysical and Environmental Monitoring in coastal-marine areas-STIGEAC. In particular, the system includes one Unmanned Aerial Vehicle (UAV) and two Unmanned Marine Vehicles (UMV). Major innovations concern the implementation of a new architecture to control each drone and/or to allow the cooperation between heterogeneous vehicles, the integration of distributed sensing techniques and real-time image processing capabilities. Part of the research in these projects involves, therefore, an architecture, where the ground operator can communicate with the Unmanned Vehicles at various levels of abstraction using pointing devices and video viewing. In detail, a Ground Control Station (GCS) has been design and developed to allow the government in security of the drones within a distance up to twenty kilometers for air explorations and within ten nautical miles for marine activities. The Ground Control Station has the following features: 1. hardware / software system for the definition of the mission profiles; 3. autonomous and semi-autonomous control system by remote control (joystick or other) for the UAV and UMVs; 4. integrated control system with comprehensive visualization capabilities, monitoring and archiving of real-time data acquired from scientific payload; 5. open structure to future additions of systems, sensors and / or additional vehicles. In detail, the UAV architecture is a dual-rotor, with an endurance ranging from 55 to 200 minutes, depending on payload weight (maximum 26 kg) and wind conditions, and a capability to survey an area of up to 5x5 square kilometers. The UAV payload consists of three different types of sensors: a laser scanner, a thermal-camera and an integrated camera reflex with gimbal. The laser scanner has 10 mm survey-grade accuracy and a field of view up to 330°. The thermal-camera has a resolution 640x480 pixels and a thermal sensitivity <20 mK (at 30 °C), while the reflex is a 22.3 Megapixel full-frame sensor. In addition to the common applications, such as generating mapping, charting, and geodesy products, the system allows performing real-time survey and monitoring of different natural risk under dangerous condition. The system is, also, address to environmental risk monitoring and prevention, industrial activity and emergency interventions related to environmental crises (i.e. oil spills).

Exploring the Reduction of Fuel Consumption for Ship-to-Shore Connectors of the Marine Expeditionary Brigade

DTIC Science & Technology

2013-12-01

include the Command Element (CE), the Aviation Combat Element (ACE), the Ground Combat Element ( GCE ), and the Combat Service Support Element (CSSE) (from...35 Figure 9. The upper level functional architecture for EW12 shows the three primary functions of F1-Assemble the Seabase, F2...Function F2-Perform Assault is decomposed to obtain the lower level specific functions. From this decomposition, the sub-function of F2.2- Gain Entry

Selecting Candidates for Key Leadership Positions in Program Executive Offices Ground Combat Systems and Combat Service and Combat Service Support

DTIC Science & Technology

2016-10-14

the quantitative and qualitative data for this study . This study focuses on determining how well the current process for selecting candidates... Research Design This study is structured as a mixed methods survey, incorporating qualitative and quantitative questions. Mixed method was selected to...Management Command (LCMC) on the Detroit Arsenal in Warren, MI. At the time of the study , PEO GCS and PEO CS&CSS did not have a specific policy for

Assessing land leveling needs and performance with unmanned aerial system

NASA Astrophysics Data System (ADS)

Enciso, Juan; Jung, Jinha; Chang, Anjin; Chavez, Jose Carlos; Yeom, Junho; Landivar, Juan; Cavazos, Gabriel

2018-01-01

Land leveling is the initial step for increasing irrigation efficiencies in surface irrigation systems. The objective of this paper was to evaluate potential utilization of an unmanned aerial system (UAS) equipped with a digital camera to map ground elevations of a grower's field and compare them with field measurements. A secondary objective was to use UAS data to obtain a digital terrain model before and after land leveling. UAS data were used to generate orthomosaic images and three-dimensional (3-D) point cloud data by applying the structure for motion algorithm to the images. Ground control points (GCPs) were established around the study area, and they were surveyed using a survey grade dual-frequency GPS unit for accurate georeferencing of the geospatial data products. A digital surface model (DSM) was then generated from the 3-D point cloud data before and after laser leveling to determine the topography before and after the leveling. The UAS-derived DSM was compared with terrain elevation measurements acquired from land surveying equipment for validation. Although 0.3% error or root mean square error of 0.11 m was observed between UAS derived and ground measured ground elevation data, the results indicated that UAS could be an efficient method for determining terrain elevation with an acceptable accuracy when there are no plants on the ground, and it can be used to assess the performance of a land leveling project.

What Schools Can Do To Combat Student-to-Student Sexual Harassment.

ERIC Educational Resources Information Center

Webb, L. Dean; And Others

1997-01-01

By their silence and failure to combat peer sexual harassment, schools are serving as training grounds for domestic violence. Schools must establish a districtwide program of student peer sexual harassment prevention and intervention comprised of a school policy, an environmental survey of the problem, a grievance procedure, a training component,…

RQ-21A Blackjack Small Tactical Unmanned Aircraft System (STUAS): Initial Operational Test and Evaluation Report

DTIC Science & Technology

2015-06-29

requirements for the system’s ground components to the generating capabilities of standard Marine Corps generators ). The Navy did not fully address two...dedicated generators to power the ground control stations. Recommendations The Navy and Marine Corps should consider the following recommendations in...components to the generating capabilities of standard Marine Corps generators ). The Navy did not fully address two recommendations (strengthening

The Ethics of Robotic, Autonomous, and Unmanned Systems Technologies in Life Saving Roles

DTIC Science & Technology

2017-06-12

every day. The healthcare community is governed by esteemed practices such as moral self -governance, and other philosophical principles that define...1 movement of a casualty. These assets are under the purview of ground commanders, not the medical evacuation community .4 Thus, having... communications with ground personnel and will operate under supervisory control of any operator, requiring no specialized training.18 Also, ONR is investigating

Spaceflight tracking and data network operational reliability computer output for MTBF and availability. Appendix V to CSC-1-395

NASA Technical Reports Server (NTRS)

Seneca, V. I.; Mlynarczyk, R. H.

1974-01-01

Tables of data are provided to show the availability of Skylab data to selected ground stations during the phases of Skylab preflight, Skylab unmanned condition, and Skylab manned condition. The mean time between failure (MTBF) of the same Skylab functions is tabulated for the selected ground stations. All reliability data are based on a 90 percent confidence interval.

The carbon or silicon colonization of the universe?

PubMed

Parkinson, Bob

2005-01-01

At the time of the Apollo Programme, a first human mission to Mars was proposed as early as 1984 with the argument that the higher costs of human exploration would be more than justified by the increased effectiveness of human explorers. This was based on the Apollo experience, where "ground truth" measurements and sampling provided the basis for subsequent unmanned exploration of the Solar System. A human Mars mission is now not seen until 2030, at the end of a series of increasingly sophisticated unmanned probes. Each robot mission not only teaches us something about Mars, but also through experience increases our capabilities for the unmanned exploration of that planet. As a consequence, what a human mission would have to do becomes progressively more demanding. Any extended plan for the human exploration of Space will tend to be overtaken by advances in technology, and if this is not factored into the scenario the proposals will become progressively unrealistic.

Collaborative engagement experiment

NASA Astrophysics Data System (ADS)

Mullens, Katherine; Troyer, Bradley; Wade, Robert; Skibba, Brian; Dunn, Michael

2006-05-01

Unmanned ground and air systems operating in collaboration have the potential to provide future Joint Forces a significant capability for operations in complex terrain. Collaborative Engagement Experiment (CEE) is a consolidation of separate Air Force, Army and Navy collaborative efforts within the Joint Robotics Program (JRP) to provide a picture of the future of unmanned warfare. The Air Force Research Laboratory (AFRL), Material and Manufacturing Directorate, Aerospace Expeditionary Force Division, Force Protection Branch (AFRL/MLQF), The Army Aviation and Missile Research, Development and Engineering Center (AMRDEC) Joint Technology Center (JTC)/Systems Integration Laboratory (SIL), and the Space and Naval Warfare Systems Center - San Diego (SSC San Diego) are conducting technical research and proof of principle experiments for an envisioned operational concept for extended range, three dimensional, collaborative operations between unmanned systems, with enhanced situational awareness for lethal operations in complex terrain. This paper describes the work by these organizations to date and outlines some of the plans for future work.

Human-Robot Teaming for Hydrologic Data Gathering at Multiple Scales

NASA Astrophysics Data System (ADS)

Peschel, J.; Young, S. N.

2017-12-01

The use of personal robot-assistive technology by researchers and practitioners for hydrologic data gathering has grown in recent years as barriers to platform capability, cost, and human-robot interaction have been overcome. One consequence to this growth is a broad availability of unmanned platforms that might or might not be suitable for a specific hydrologic investigation. Through multiple field studies, a set of recommendations has been developed to help guide novice through experienced users in choosing the appropriate unmanned platforms for a given application. This talk will present a series of hydrologic data sets gathered using a human-robot teaming approach that has leveraged unmanned aerial, ground, and surface vehicles over multiple scales. The field case studies discussed will be connected to the best practices, also provided in the presentation. This talk will be of interest to geoscience researchers and practitioners, in general, as well as those working in fields related to emerging technologies.

Atmospheric Aerosol Sampling with Unmanned Aircraft Systems (UAS) in Alaska: Instrument Development, Payload Integration, and Measurement Campaigns

NASA Astrophysics Data System (ADS)

Barberie, S. R.; Saiet, E., II; Hatfield, M. C.; Cahill, C. F.

2014-12-01

Atmospheric aerosols remain one of biggest variables in understanding global climate. The number of feedback loops involved in aerosol processes lead to nonlinear behavior at the systems level, making confident modeling and prediction difficult. It is therefore important to ground-truth and supplement modeling efforts with rigorous empirical measurements. To this end, the Alaska Center for Unmanned Aircraft Systems Integration (ACUASI) at the University of Alaska Fairbanks has developed a new cascade DRUM-style impactor to be mounted aboard a variety of unmanned aircraft and work in tandem with an optical particle counter for the routine collection of atmospheric aerosols. These UAS-based aerosol samplers will be employed for measurement campaigns in traditionally hazardous conditions such as volcanic plumes and over forest fires. Here we report on the development and laboratory calibration of the new instrument, the integration with UAS, and the vertical profiling campaigns being undertaken.

About infrared scanning of photovoltaic solar plant

NASA Astrophysics Data System (ADS)

Kauppinen, T.; Panouillot, P.-E.; Siikanen, S.; Athanasakou, E.; Baltas, P.; Nikopoulous, B.

2015-05-01

The paper is discussing about infrared scanning of PV solar plants. It is important that the performance of each solar panel and cell is verified. One new possibility compared to traditional ground-based scanning (handheld camera) is the utilization of UAV (Unmanned Aerial Vehicle). In this paper results from a PV solar Plant in Western Greece are introduced. The nominal power of the solar plants were 0, 9 MW and 2 MW and they were scanned both by a ground-controlled drone and by handheld equipment. It is essential to know all the factors effecting to results and also the time of scanning is important. The results done from the drone and from ground-based scanning are compared; also results from various altitudes and time of day are discussed. The UAV (Unmanned Aerial Vehicle/RPAS (Remote Piloted Aircraft Systems) will give an excellent opportunity to monitor various targets which are impossible or difficult to access from the ground. Compared to fixed-wing and helicopter-based platforms it will give advantages but also this technology has limitations. One limitation is the weight of the equipment and the short operational range and short flight time. Also valid procedures must be created for different solutions in the future. The most important thing, as in all infrared thermography applications, is the proper interpretation of results.

A review of unmanned aircraft system ground risk models

NASA Astrophysics Data System (ADS)

Washington, Achim; Clothier, Reece A.; Silva, Jose

2017-11-01

There is much effort being directed towards the development of safety regulations for unmanned aircraft systems (UAS). National airworthiness authorities have advocated the adoption of a risk-based approach, whereby regulations are driven by the outcomes of a systematic process to assess and manage identified safety risks. Subsequently, models characterising the primary hazards associated with UAS operations have now become critical to the development of regulations and in turn, to the future of the industry. Key to the development of airworthiness regulations for UAS is a comprehensive understanding of the risks UAS operations pose to people and property on the ground. A comprehensive review of the literature identified 33 different models (and component sub models) used to estimate ground risk posed by UAS. These models comprise failure, impact location, recovery, stress, exposure, incident stress and harm sub-models. The underlying assumptions and treatment of uncertainties in each of these sub-models differ significantly between models, which can have a significant impact on the development of regulations. This paper reviews the state-of-the-art in research into UAS ground risk modelling, discusses how the various sub-models relate to the different components of the regulation, and explores how model-uncertainties potentially impact the development of regulations for UAS.

An Analysis of the Influence of Flight Parameters in the Generation of Unmanned Aerial Vehicle (UAV) Orthomosaicks to Survey Archaeological Areas.

PubMed

Mesas-Carrascosa, Francisco-Javier; Notario García, María Dolores; Meroño de Larriva, Jose Emilio; García-Ferrer, Alfonso

2016-11-01

This article describes the configuration and technical specifications of a multi-rotor unmanned aerial vehicle (UAV) using a red-green-blue (RGB) sensor for the acquisition of images needed for the production of orthomosaics to be used in archaeological applications. Several flight missions were programmed as follows: flight altitudes at 30, 40, 50, 60, 70 and 80 m above ground level; two forward and side overlap settings (80%-50% and 70%-40%); and the use, or lack thereof, of ground control points. These settings were chosen to analyze their influence on the spatial quality of orthomosaicked images processed by Inpho UASMaster (Trimble, CA, USA). Changes in illumination over the study area, its impact on flight duration, and how it relates to these settings is also considered. The combined effect of these parameters on spatial quality is presented as well, defining a ratio between ground sample distance of UAV images and expected root mean square of a UAV orthomosaick. The results indicate that a balance between all the proposed parameters is useful for optimizing mission planning and image processing, altitude above ground level (AGL) being main parameter because of its influence on root mean square error (RMSE).

An Analysis of the Influence of Flight Parameters in the Generation of Unmanned Aerial Vehicle (UAV) Orthomosaicks to Survey Archaeological Areas

PubMed Central

Mesas-Carrascosa, Francisco-Javier; Notario García, María Dolores; Meroño de Larriva, Jose Emilio; García-Ferrer, Alfonso

2016-01-01

This article describes the configuration and technical specifications of a multi-rotor unmanned aerial vehicle (UAV) using a red–green–blue (RGB) sensor for the acquisition of images needed for the production of orthomosaics to be used in archaeological applications. Several flight missions were programmed as follows: flight altitudes at 30, 40, 50, 60, 70 and 80 m above ground level; two forward and side overlap settings (80%–50% and 70%–40%); and the use, or lack thereof, of ground control points. These settings were chosen to analyze their influence on the spatial quality of orthomosaicked images processed by Inpho UASMaster (Trimble, CA, USA). Changes in illumination over the study area, its impact on flight duration, and how it relates to these settings is also considered. The combined effect of these parameters on spatial quality is presented as well, defining a ratio between ground sample distance of UAV images and expected root mean square of a UAV orthomosaick. The results indicate that a balance between all the proposed parameters is useful for optimizing mission planning and image processing, altitude above ground level (AGL) being main parameter because of its influence on root mean square error (RMSE). PMID:27809293

Digital Avionics

NASA Technical Reports Server (NTRS)

Koelbl, Terry G.; Ponchak, Denise; Lamarche, Teresa

2003-01-01

Digital Avionics activities played an important role in the advancements made in civil aviation, military systems, and space applications. This document profiles advances made in each of these areas by the aerospace industry, NASA centers, and the U.S. military. Emerging communication technologies covered in this document include Internet connectivity onboard aircraft, wireless broadband communication for aircraft, and a mobile router for aircraft to communicate in multiple communication networks over the course of a flight. Military technologies covered in this document include avionics for unmanned combat air vehicles and microsatellites, and head-up displays. Other technologies covered in this document include an electronic flight bag for the Boeing 777, and surveillance systems for managing airport operations.

Low-Speed Dynamic Wind Tunnel Test Analysis of a Generic 53 Degree Swept UCAV Configuration With Controls

NASA Technical Reports Server (NTRS)

Vicroy, Dan D.; Huber, Kerstin C.; Rohlf, Detlef; Loser, Thomas

2014-01-01

Several static and dynamic forced-motion wind tunnel tests have been conducted on a generic unmanned combat air vehicle (UCAV) configuration with a 53deg swept leading edge. These tests are part of an international research effort to assess and advance the state-of-art of computational fluid dynamics (CFD) methods to predict the static and dynamic stability and control characteristics for this type of configuration. This paper describes the dynamic forced motion data collected from two different models of this UCAV configuration as well as analysis of the control surface deflections on the dynamic forces and moments.

US Navy Littoral Combat Ship (LCS) Capabilities, Risks, Possible Missions, and Modules to Support Future USMC Operating Concepts

DTIC Science & Technology

2011-07-29

squad Armament: M60 7 .62mm machine gun , MK19 40mm, M2 .50 caL machine gun 61 "Spartan Scout Unmanned Surface Vehicle (USV)," Defense Industry...1) RQ-8B Fire Scout helicopter (VTUAV) a) EO/IR/LD sensor and datalink relay 2) MH-60R/S helicopters a) GAU 16/19 machine gun b) AGM-114 Hellfire...60Rhelicopter car1ies the a .50 caliber OAU 16/A machine gun , a crew-served, recoil operated, belt-fed, air cooled, percussion fired weapon, with a rate of fire

The effects of video game experience and active stereoscopy on performance in combat identification tasks.

PubMed

Keebler, Joseph R; Jentsch, Florian; Schuster, David

2014-12-01

We investigated the effects of active stereoscopic simulation-based training and individual differences in video game experience on multiple indices of combat identification (CID) performance. Fratricide is a major problem in combat operations involving military vehicles. In this research, we aimed to evaluate the effects of training on CID performance in order to reduce fratricide errors. Individuals were trained on 12 combat vehicles in a simulation, which were presented via either a non-stereoscopic or active stereoscopic display using NVIDIA's GeForce shutter glass technology. Self-report was used to assess video game experience, leading to four between-subjects groups: high video game experience with stereoscopy, low video game experience with stereoscopy, high video game experience without stereoscopy, and low video game experience without stereoscopy. We then tested participants on their memory of each vehicle's alliance and name across multiple measures, including photographs and videos. There was a main effect for both video game experience and stereoscopy across many of the dependent measures. Further, we found interactions between video game experience and stereoscopic training, such that those individuals with high video game experience in the non-stereoscopic group had the highest performance outcomes in the sample on multiple dependent measures. This study suggests that individual differences in video game experience may be predictive of enhanced performance in CID tasks. Selection based on video game experience in CID tasks may be a useful strategy for future military training. Future research should investigate the generalizability of these effects, such as identification through unmanned vehicle sensors.

Problems and Alternatives in the Combat Rescue of Navy Aircrewmen

DTIC Science & Technology

1980-11-01

33 Objectives for an Improved Combat Rescue System ................................. 33 Decrease Injury Rate...altitudes as low as 50 feet above ground level. Extremity rest aint systems, constantly being improved, are reducing the number of injuries resulting...These analyses established causal factors associated with the injuries and problems occurring during the ejection-through.survival sequence. Later

Unmanned Aerial Vehicle (UAV) associated DTM quality evaluation and hazard assessment

NASA Astrophysics Data System (ADS)

Huang, Mei-Jen; Chen, Shao-Der; Chao, Yu-Jui; Chiang, Yi-Lin; Chang, Kuo-Jen

2014-05-01

Taiwan, due to the high seismicity and high annual rainfall, numerous landslides triggered every year and severe impacts affect the island. Concerning to the catastrophic landslides, the key information of landslide, including range of landslide, volume estimation and the subsequent evolution are important when analyzing the triggering mechanism, hazard assessment and mitigation. Thus, the morphological analysis gives a general overview for the landslides and been considered as one of the most fundamental information. We try to integrate several technologies, especially by Unmanned Aerial Vehicle (UAV) and multi-spectral camera, to decipher the consequence and the potential hazard, and the social impact. In recent years, the remote sensing technology improves rapidly, providing a wide range of image, essential and precious information. Benefited of the advancing of informatics, remote-sensing and electric technologies, the Unmanned Aerial Vehicle (UAV) photogrammetry mas been improve significantly. The study tries to integrate several methods, including, 1) Remote-sensing images gathered by Unmanned Aerial Vehicle (UAV) and by aerial photos taken in different periods; 2) field in-situ geologic investigation; 3) Differential GPS, RTK GPS and Ground LiDAR field in-site geoinfomatics measurements; 4) Construct the DTMs before and after landslide, as well as the subsequent periods using UAV and aerial photos; 5) Discrete element method should be applied to understand the geomaterial composing the slope failure, for predicting earthquake-induced and rainfall-induced landslides displacement. First at all, we evaluate the Microdrones MD4-1000 UAV airphotos derived Digital Terrain Model (DTM). The ground resolution of the DSM point cloud of could be as high as 10 cm. By integrated 4 ground control point within an area of 56 hectares, compared with LiDAR DSM and filed RTK-GPS surveying, the mean error is as low as 6cm with a standard deviation of 17cm. The quality of the UAV DSM could be as good as LiDAR data, and is ready for other applications. The quality of the data set provides not only geoinfomatics and GIS dataset of the hazards, but also for essential geomorphologic information for other study, and for hazard mitigation and planning, as well.

An Analysis of the First Fifteen Years of the Department of Defense Framework for Unmanned Ground Systems

DTIC Science & Technology

2014-12-01

1995 ..............................................78  g.  JAUGS 1995 ............................................................................82  h...108  g.  JAUGS from 1995 to 1996 ....................................................111  h.  Conclusion...2001 .......................................172  j.  JAUGS 2001 ..........................................................................173  k

Cadastral Audit and Assessments Using Unmanned Aerial Systems

NASA Astrophysics Data System (ADS)

Cunningham, K.; Walker, G.; Stahlke, E.; Wilson, R.

2011-09-01

Ground surveys and remote sensing are integral to establishing fair and equitable property valuations necessary for real property taxation. The International Association of Assessing Officers (IAAO) has embraced aerial and street-view imaging as part of its standards related to property tax assessments and audits. New technologies, including unmanned aerial systems (UAS) paired with imaging sensors, will become more common as local governments work to ensure their cadastre and tax rolls are both accurate and complete. Trends in mapping technology have seen an evolution in platforms from large, expensive manned aircraft to very small, inexpensive UAS. Traditional methods of photogrammetry have also given way to new equipment and sensors: digital cameras, infrared imagers, light detection and ranging (LiDAR) laser scanners, and now synthetic aperture radar (SAR). At the University of Alaska Fairbanks (UAF), we work extensively with unmanned aerial systems equipped with each of these newer sensors. UAF has significant experience flying unmanned systems in the US National Airspace, having begun in 1969 with scientific rockets and expanded to unmanned aircraft in 2003. Ongoing field experience allows UAF to partner effectively with outside organizations to test and develop leading-edge research in UAS and remote sensing. This presentation will discuss our research related to various sensors and payloads for mapping. We will also share our experience with UAS and optical systems for creating some of the first cadastral surveys in rural Alaska.

Supporting the joint warfighter by development, training, and fielding of man-portable UGVs

NASA Astrophysics Data System (ADS)

Ebert, Kenneth A.; Stratton, Benjamin V.

2005-05-01

The Robotic Systems Pool (RSP), sponsored by the Joint Robotics Program (JRP), is an inventory of small robotic systems, payloads, and components intended to expedite the development and integration of technology into effective, supportable, fielded robotic assets. The RSP loans systems to multiple users including the military, first-responders, research organizations, and academia. These users provide feedback in their specific domain, accelerating research and development improvements of robotic systems, which in turn allow the joint warfighter to benefit from such changes more quickly than from traditional acquisition cycles. Over the past year, RSP assets have been used extensively for pre-deployment operator and field training of joint Explosive Ordnance Disposal (EOD) teams, and for the training of Navy Reservist repair technicians. These Reservists are part of the Robotic Systems Combat Support Platoon (RSCSP), attached to Space and Naval Warfare Systems Center, San Diego. The RSCSP maintains and repairs RSP assets and provides deployable technical support for users of robotic systems. Currently, a small team from the RSCSP is deployed at Camp Victory repairing and maintaining man-portable unmanned ground vehicles (UGVs) used by joint EOD teams in Operation Iraqi Freedom. The focus of this paper is to elaborate on the RSP and RSCSP and their role as invaluable resources for spiral development in the robotics community by gaining first-hand technical feedback from the warfighter and other users.

The Effectiveness of Drone Strikes in Counterinsurgency and Counterterrorism Campaigns

DTIC Science & Technology

2013-09-01

accurate missiles that have the ca- pacity to target individuals, automobiles , and sections of structures such as rooms in a large house. Perhaps the...unmanned aerial ve- hicles (UAVs) or remotely piloted aircraft (RPAs)—are pilotless aircraft controlled by individuals located on the ground, often some...with many of the advantages that ground forces offer in counterinsurgency operations. The fact that drones are pilotless means that their use does

Velodyne HDL-64E lidar for unmanned surface vehicle obstacle detection

NASA Astrophysics Data System (ADS)

Halterman, Ryan; Bruch, Michael

2010-04-01

The Velodyne HDL-64E is a 64 laser 3D (360×26.8 degree) scanning LIDAR. It was designed to fill perception needs of DARPA Urban Challenge vehicles. As such, it was principally intended for ground use. This paper presents the performance of the HDL-64E as it relates to the marine environment for unmanned surface vehicle (USV) obstacle detection and avoidance. We describe the sensor's capacity for discerning relevant objects at sea- both through subjective observations of the raw data and through a rudimentary automated obstacle detection algorithm. We also discuss some of the complications that have arisen with the sensor.

High-Throughput Phenotyping of Plant Height: Comparing Unmanned Aerial Vehicles and Ground LiDAR Estimates.

PubMed

Madec, Simon; Baret, Fred; de Solan, Benoît; Thomas, Samuel; Dutartre, Dan; Jezequel, Stéphane; Hemmerlé, Matthieu; Colombeau, Gallian; Comar, Alexis

2017-01-01

The capacity of LiDAR and Unmanned Aerial Vehicles (UAVs) to provide plant height estimates as a high-throughput plant phenotyping trait was explored. An experiment over wheat genotypes conducted under well watered and water stress modalities was conducted. Frequent LiDAR measurements were performed along the growth cycle using a phénomobile unmanned ground vehicle. UAV equipped with a high resolution RGB camera was flying the experiment several times to retrieve the digital surface model from structure from motion techniques. Both techniques provide a 3D dense point cloud from which the plant height can be estimated. Plant height first defined as the z -value for which 99.5% of the points of the dense cloud are below. This provides good consistency with manual measurements of plant height (RMSE = 3.5 cm) while minimizing the variability along each microplot. Results show that LiDAR and structure from motion plant height values are always consistent. However, a slight under-estimation is observed for structure from motion techniques, in relation with the coarser spatial resolution of UAV imagery and the limited penetration capacity of structure from motion as compared to LiDAR. Very high heritability values ( H 2 > 0.90) were found for both techniques when lodging was not present. The dynamics of plant height shows that it carries pertinent information regarding the period and magnitude of the plant stress. Further, the date when the maximum plant height is reached was found to be very heritable ( H 2 > 0.88) and a good proxy of the flowering stage. Finally, the capacity of plant height as a proxy for total above ground biomass and yield is discussed.

Unmanned Aerial Systems and Spectroscopy for Remote Sensing Applications in Archaeology

NASA Astrophysics Data System (ADS)

Themistocleous, K.; Agapiou, A.; Cuca, B.; Hadjimitsis, D. G.

2015-04-01

Remote sensing has open up new dimensions in archaeological research. Although there has been significant progress in increasing the resolution of space/aerial sensors and image processing, the detection of the crop (and soil marks) formations, which relate to buried archaeological remains, are difficult to detect since these marks may not be visible in the images if observed over different period or at different spatial/spectral resolution. In order to support the improvement of earth observation remote sensing technologies specifically targeting archaeological research, a better understanding of the crop/soil marks formation needs to be studied in detail. In this paper the contribution of both Unmanned Aerial Systems as well ground spectroradiometers is discussed in a variety of examples applied in the eastern Mediterranean region (Cyprus and Greece) as well in Central Europe (Hungary). In- situ spectroradiometric campaigns can be applied for the removal of atmospheric impact to simultaneous satellite overpass images. In addition, as shown in this paper, the systematic collection of ground truth data prior to the satellite/aerial acquisition can be used to detect the optimum temporal and spectral resolution for the detection of stress vegetation related to buried archaeological remains. Moreover, phenological studies of the crops from the area of interest can be simulated to the potential sensors based on their Relative Response Filters and therefore prepare better the satellite-aerial campaigns. Ground data and the use of Unmanned Aerial Systems (UAS) can provide an increased insight for studying the formation of crop and soil marks. New algorithms such as vegetation indices and linear orthogonal equations for the enhancement of crop marks can be developed based on the specific spectral characteristics of the area. As well, UAS can be used for remote sensing applications in order to document, survey and model cultural heritage and archaeological sites.

High-Throughput Phenotyping of Plant Height: Comparing Unmanned Aerial Vehicles and Ground LiDAR Estimates

PubMed Central

Madec, Simon; Baret, Fred; de Solan, Benoît; Thomas, Samuel; Dutartre, Dan; Jezequel, Stéphane; Hemmerlé, Matthieu; Colombeau, Gallian; Comar, Alexis

2017-01-01

The capacity of LiDAR and Unmanned Aerial Vehicles (UAVs) to provide plant height estimates as a high-throughput plant phenotyping trait was explored. An experiment over wheat genotypes conducted under well watered and water stress modalities was conducted. Frequent LiDAR measurements were performed along the growth cycle using a phénomobile unmanned ground vehicle. UAV equipped with a high resolution RGB camera was flying the experiment several times to retrieve the digital surface model from structure from motion techniques. Both techniques provide a 3D dense point cloud from which the plant height can be estimated. Plant height first defined as the z-value for which 99.5% of the points of the dense cloud are below. This provides good consistency with manual measurements of plant height (RMSE = 3.5 cm) while minimizing the variability along each microplot. Results show that LiDAR and structure from motion plant height values are always consistent. However, a slight under-estimation is observed for structure from motion techniques, in relation with the coarser spatial resolution of UAV imagery and the limited penetration capacity of structure from motion as compared to LiDAR. Very high heritability values (H2> 0.90) were found for both techniques when lodging was not present. The dynamics of plant height shows that it carries pertinent information regarding the period and magnitude of the plant stress. Further, the date when the maximum plant height is reached was found to be very heritable (H2> 0.88) and a good proxy of the flowering stage. Finally, the capacity of plant height as a proxy for total above ground biomass and yield is discussed. PMID:29230229

A pose estimation method for unmanned ground vehicles in GPS denied environments

NASA Astrophysics Data System (ADS)

Tamjidi, Amirhossein; Ye, Cang

2012-06-01

This paper presents a pose estimation method based on the 1-Point RANSAC EKF (Extended Kalman Filter) framework. The method fuses the depth data from a LIDAR and the visual data from a monocular camera to estimate the pose of a Unmanned Ground Vehicle (UGV) in a GPS denied environment. Its estimation framework continuy updates the vehicle's 6D pose state and temporary estimates of the extracted visual features' 3D positions. In contrast to the conventional EKF-SLAM (Simultaneous Localization And Mapping) frameworks, the proposed method discards feature estimates from the extended state vector once they are no longer observed for several steps. As a result, the extended state vector always maintains a reasonable size that is suitable for online calculation. The fusion of laser and visual data is performed both in the feature initialization part of the EKF-SLAM process and in the motion prediction stage. A RANSAC pose calculation procedure is devised to produce pose estimate for the motion model. The proposed method has been successfully tested on the Ford campus's LIDAR-Vision dataset. The results are compared with the ground truth data of the dataset and the estimation error is ~1.9% of the path length.

Pheromone-based coordination strategy to static sensors on the ground and unmanned aerial vehicles carried sensors

NASA Astrophysics Data System (ADS)

Pignaton de Freitas, Edison; Heimfarth, Tales; Pereira, Carlos Eduardo; Morado Ferreira, Armando; Rech Wagner, Flávio; Larsson, Tony

2010-04-01

A current trend that is gaining strength in the wireless sensor network area is the use of heterogeneous sensor nodes in one coordinated overall network, needed to fulfill the requirements of sophisticated emerging applications, such as area surveillance systems. One of the main concerns when developing such sensor networks is how to provide coordination among the heterogeneous nodes, in order to enable them to efficiently respond the user needs. This study presents an investigation of strategies to coordinate a set of static sensor nodes on the ground cooperating with wirelessly connected Unmanned Aerial Vehicles (UAVs) carrying a variety of sensors, in order to provide efficient surveillance over an area of interest. The sensor nodes on the ground are set to issue alarms on the occurrence of a given event of interest, e.g. entrance of a non-authorized vehicle in the area, while the UAVs receive the issued alarms and have to decide which of them is the most suitable to handle the issued alarm. A bio-inspired coordination strategy based on the concept of pheromones is presented. As a complement of this strategy, a utility-based decision making approach is proposed.

Concept and realization of unmanned aerial system with different modes of operation

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

Czyba, Roman; Szafrański, Grzegorz; Janusz, Wojciech

2014-12-10

In this paper we describe the development process of unmanned aerial system, its mechanical components, electronics and software solutions. During the stage of design, we have formulated some necessary requirements for the multirotor vehicle and ground control station in order to build an optimal system which can be used for the reconnaissance missions. Platform is controlled by use of the ground control station (GCS) and has possibility of accomplishing video based observation tasks. In order to fulfill this requirement the on-board payload consists of mechanically stabilized camera augmented with machine vision algorithms to enable object tracking tasks. Novelty of themore » system are four modes of flight, which give full functionality of the developed UAV system. Designed ground control station is consisted not only of the application itself, but also a built-in dedicated components located inside the chassis, which together creates an advanced UAV system supporting the control and management of the flight. Mechanical part of quadrotor is designed to ensure its robustness while meeting objectives of minimizing weight of the platform. Finally the designed electronics allows for implementation of control and estimation algorithms without the needs for their excessive computational optimization.« less

Algorithms for Heterogeneous, Multiple Depot, Multiple Unmanned Vehicle Path Planning Problems

DOE PAGES

Sundar, Kaarthik; Rathinam, Sivakumar

2016-12-26

Unmanned vehicles, both aerial and ground, are being used in several monitoring applications to collect data from a set of targets. This article addresses a problem where a group of heterogeneous aerial or ground vehicles with different motion constraints located at distinct depots visit a set of targets. The vehicles also may be equipped with different sensors, and therefore, a target may not be visited by any vehicle. The objective is to find an optimal path for each vehicle starting and ending at its respective depot such that each target is visited at least once by some vehicle, the vehicle–targetmore » constraints are satisfied, and the sum of the length of the paths for all the vehicles is minimized. Two variants of this problem are formulated (one for ground vehicles and another for aerial vehicles) as mixed-integer linear programs and a branchand- cut algorithm is developed to compute an optimal solution to each of the variants. Computational results show that optimal solutions for problems involving 100 targets and 5 vehicles can be obtained within 300 seconds on average, further corroborating the effectiveness of the proposed approach.« less

Improved quantification of mountain snowpack properties using observations from Unmanned Air Vehicles (UAVs)

NASA Astrophysics Data System (ADS)

Shea, J. M.; Harder, P.; Pomeroy, J. W.; Kraaijenbrink, P. D. A.

2017-12-01

Mountain snowpacks represent a critical seasonal reservoir of water for downstream needs, and snowmelt is a significant component of mountain hydrological budgets. Ground-based point measurements are unable to describe the full spatial variability of snow accumulation and melt rates, and repeat Unmanned Air Vehicle (UAV) surveys provide an unparalleled opportunity to measure snow accumulation, redistribution and melt in alpine environments. This study presents results from a UAV-based observation campaign conducted at the Fortress Mountain Snow Laboratory in the Canadian Rockies in 2017. Seven survey flights were conducted between April (maximum snow accumulation) and mid-July (bare ground) to collect imagery with both an RGB camera and thermal infrared imager with the sensefly eBee RTK platform. UAV imagery are processed with structure from motion techniques, and orthoimages, digital elevation models, and surface temperature maps are validated against concurrent ground observations of snow depth, snow water equivalent, and snow surface temperature. We examine the seasonal evolution of snow depth and snow surface temperature, and explore the spatial covariances of these variables with respect to topographic factors and snow ablation rates. Our results have direct implications for scaling snow ablation calculations and model resolution and discretization.

Atmospheric Radiation Measurement Program facilities newsletter, January 2000

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

Sisterson, D.L.

2000-02-16

The subject of this newsletter is the ARM unmanned aerospace vehicle program. The ARM Program's focus is on climate research, specifically research related to solar radiation and its interaction with clouds. The SGP CART site contains highly sophisticated surface instrumentation, but even these instruments cannot gather some crucial climate data from high in the atmosphere. The Department of Energy and the Department of Defense joined together to use a high-tech, high-altitude, long-endurance class of unmanned aircraft known as the unmanned aerospace vehicle (UAV). A UAV is a small, lightweight airplane that is controlled remotely from the ground. A pilot sitsmore » in a ground-based cockpit and flies the aircraft as if he were actually on board. The UAV can also fly completely on its own through the use of preprogrammed computer flight routines. The ARM UAV is fitted with payload instruments developed to make highly accurate measurements of atmospheric flux, radiance, and clouds. Using a UAV is beneficial to climate research in many ways. The UAV puts the instrumentation within the environment being studied and gives scientists direct measurements, in contrast to indirect measurements from satellites orbiting high above Earth. The data collected by UAVs can be used to verify and calibrate measurements and calculated values from satellites, therefore making satellite data more useful and valuable to researchers.« less

Toward a generic UGV autopilot

NASA Astrophysics Data System (ADS)

Moore, Kevin L.; Whitehorn, Mark; Weinstein, Alejandro J.; Xia, Junjun

2009-05-01

Much of the success of small unmanned air vehicles (UAVs) has arguably been due to the widespread availability of low-cost, portable autopilots. While the development of unmanned ground vehicles (UGVs) has led to significant achievements, as typified by recent grand challenge events, to date the UGV equivalent of the UAV autopilot is not available. In this paper we describe our recent research aimed at the development of a generic UGV autopilot. Assuming we are given a drive-by-wire vehicle that accepts as inputs steering, brake, and throttle commands, we present a system that adds sonar ranging sensors, GPS/IMU/odometry, stereo camera, and scanning laser sensors, together with a variety of interfacing and communication hardware. The system also includes a finite state machine-based software architecture as well as a graphical user interface for the operator control unit (OCU). Algorithms are presented that enable an end-to-end scenario whereby an operator can view stereo images as seen by the vehicle and can input GPS waypoints either from a map or in the vehicle's scene-view image, at which point the system uses the environmental sensors as inputs to a Kalman filter for pose estimation and then computes control actions to move through the waypoint list, while avoiding obstacles. The long-term goal of the research is a system that is generically applicable to any drive-by-wire unmanned ground vehicle.

Operational Overview for UAS Integration in the NAS Project Flight Test Series 3

NASA Technical Reports Server (NTRS)

Valkov, Steffi B.; Sternberg, Daniel; Marston, Michael

2017-01-01

The National Aeronautics and Space Administration Unmanned Aircraft Systems Integration in the National Airspace System Project has conducted a series of flight tests intended to support the reduction of barriers that prevent unmanned aircraft from flying without the required waivers from the Federal Aviation Administration. The 2015 Flight Test Series 3, supported two separate test configurations. The first configuration investigated the timing of Detect and Avoid alerting thresholds using a radar equipped unmanned vehicle and multiple live intruders flown at varying encounter geometries. The second configuration included a surrogate unmanned vehicle (flown from a ground control station, with a safety pilot on board) flying a mission in a virtual air traffic control airspace sector using research pilot displays and Detect and Avoid advisories to maintain separation from live and virtual aircraft. The test was conducted over an eight-week span within the R-2508 Special Use Airspace. Over 200 encounters were flown for the first configuration, and although the second configuration was cancelled after three data collection flights, Flight Test 3 proved to be invaluable for the purposes of planning, managing, and execution of this type of integrated flight test.

Unmanned Aerial Vehicles Master Plan, 1994. Master Plan.

DTIC Science & Technology

1994-05-31

Terminal SINCGARS = Single-Channel Ground and Airborne Radio System Figure 3-5 Maneuver Variant CONOPS I Psychological operations. deployment with early...650 KM DAT M 3 K (300 DESIRED) BEYOND FORWARD LINE OF OWN TROOPS (FLOT) APPROXIMATE RADIUS OF ACTION LEGEND ATARS = Advanced Tactical Air

MEMS electromagnetic energy harvesters with multiple resonances

NASA Astrophysics Data System (ADS)

Nelatury, Sudarshan R.; Gray, Robert

2014-06-01

There is going on a flurry of research activity in the development of effcient energy harvesters from all branches of energy conversion. The need for developing self-powered wireless sensors and actuators to be employed in unmanned combat vehicles also seems to grow steadily. These vehicles are inducted into perilous war zones for silent watch missions. Energy management is sometimes carried out using misson-aware energy expenditure strategies. Also, when there is a requirement for constant monitoring of events, the sensors and the subsystems of combat vehicles require energy harvesters that can operate over a discrete set of spot frequencies. This paper attempts to review some of the recent techniques and the energy harvesting devices based on electromagnetic and electromechanical principles. In particular, we shall discuss the design and performance of a MEMS-harvester that exhibits multiple resonances. Frequency response of a simulated electromagnetic harvester is plotted. It has three dominant peaks at three different resonant frequencies. Variation in the load power in the normalized units as a function of load is found, which determines the matched load resistance.

Hypovigilance Detection for UCAV Operators Based on a Hidden Markov Model

PubMed Central

Kwon, Namyeon; Shin, Yongwook; Ryo, Chuh Yeop; Park, Jonghun

2014-01-01

With the advance of military technology, the number of unmanned combat aerial vehicles (UCAVs) has rapidly increased. However, it has been reported that the accident rate of UCAVs is much higher than that of manned combat aerial vehicles. One of the main reasons for the high accident rate of UCAVs is the hypovigilance problem which refers to the decrease in vigilance levels of UCAV operators while maneuvering. In this paper, we propose hypovigilance detection models for UCAV operators based on EEG signal to minimize the number of occurrences of hypovigilance. To enable detection, we have applied hidden Markov models (HMMs), two of which are used to indicate the operators' dual states, normal vigilance and hypovigilance, and, for each operator, the HMMs are trained as a detection model. To evaluate the efficacy and effectiveness of the proposed models, we conducted two experiments on the real-world data obtained by using EEG-signal acquisition devices, and they yielded satisfactory results. By utilizing the proposed detection models, the problem of hypovigilance of UCAV operators and the problem of high accident rate of UCAVs can be addressed. PMID:24963338

Use of Open Architecture Middleware for Autonomous Platforms

NASA Astrophysics Data System (ADS)

Naranjo, Hector; Diez, Sergio; Ferrero, Francisco

2011-08-01

Network Enabled Capabilities (NEC) is the vision for next-generation systems in the defence domain formulated by governments, the European Defence Agency (EDA) and the North Atlantic Treaty Organization (NATO). It involves the federation of military information systems, rather than just a simple interconnection, to provide each user with the "right information, right place, right time - and not too much". It defines openness, standardization and flexibility principles in military systems, likewise applicable in the civilian space applications.This paper provides the conclusions drawn from "Architecture for Embarked Middleware" (EMWARE) study, funded by the European Defence Agency (EDA).The aim of the EMWARE project was to provide the information and understanding to facilitate the adoption of informed decisions regarding the specification and implementation of Open Architecture Middleware in future distributed systems, linking it with the NEC goal.EMWARE project included the definition of four business cases, each devoted to a different field of application (Unmanned Aerial Vehicles, Helicopters, Unmanned Ground Vehicles and the Satellite Ground Segment).

Airborne Measurement of Insolation Impact on the Atmospheric Surface Boundary Layer

NASA Astrophysics Data System (ADS)

Jacob, Jamey; Chilson, Phil; Houston, Adam; Detweiler, Carrick; Bailey, Sean; Cloud-Map Team

2017-11-01

Atmospheric surface boundary layer measurements of wind and thermodynamic parameters are conducted during variable insolation conditions, including the 2017 eclipse, using an unmanned aircraft system. It is well known that the air temperatures can drop significantly during a total solar eclipse as has been previously observed. In past eclipses, these observations have primarily been made on the ground. We present results from airborne measurements of the near surface boundary layer using a small unmanned aircraft with high temporal resolution wind and thermodynamic observations. Questions that motivate the study include: How does the temperature within the lower atmospheric boundary vary during an eclipse? What impact does the immediate removal of radiative heating on the ground have on the lower ABL? Do local wind patterns change during an eclipse event and if so why? Will there be a manifestation of the nocturnal boundary layer wind maximum? Comparisons are made with the DOE ARM SGP site that experiences a lower but still significant insolation. Supported by the National Science Foundation under Award Number 1539070.

Spectrally queued feature selection for robotic visual odometery

NASA Astrophysics Data System (ADS)

Pirozzo, David M.; Frederick, Philip A.; Hunt, Shawn; Theisen, Bernard; Del Rose, Mike

2011-01-01

Over the last two decades, research in Unmanned Vehicles (UV) has rapidly progressed and become more influenced by the field of biological sciences. Researchers have been investigating mechanical aspects of varying species to improve UV air and ground intrinsic mobility, they have been exploring the computational aspects of the brain for the development of pattern recognition and decision algorithms and they have been exploring perception capabilities of numerous animals and insects. This paper describes a 3 month exploratory applied research effort performed at the US ARMY Research, Development and Engineering Command's (RDECOM) Tank Automotive Research, Development and Engineering Center (TARDEC) in the area of biologically inspired spectrally augmented feature selection for robotic visual odometry. The motivation for this applied research was to develop a feasibility analysis on multi-spectrally queued feature selection, with improved temporal stability, for the purposes of visual odometry. The intended application is future semi-autonomous Unmanned Ground Vehicle (UGV) control as the richness of data sets required to enable human like behavior in these systems has yet to be defined.

Visual Effects in the High Performance Aircraft Cockpit

DTIC Science & Technology

1988-04-01

The RPE acts in a supportive metabolic role to the photoreceptors and if damaged or artificially aged this...unlimited. 2. Lenses cannot mist and provide minor protection against 4. Provide greater protection against splatter from the firing of MDC and impact...almost opposite requirements: the air combat role and the ground attack role . For the air combat role , the aircraft is used against

DEM time series of an agricultural watershed

NASA Astrophysics Data System (ADS)

Pineux, Nathalie; Lisein, Jonathan; Swerts, Gilles; Degré, Aurore

2014-05-01

In agricultural landscape soil surface evolves notably due to erosion and deposition phenomenon. Even if most of the field data come from plot scale studies, the watershed scale seems to be more appropriate to understand them. Currently, small unmanned aircraft systems and images treatments are improving. In this way, 3D models are built from multiple covering shots. When techniques for large areas would be to expensive for a watershed level study or techniques for small areas would be too time consumer, the unmanned aerial system seems to be a promising solution to quantify the erosion and deposition patterns. The increasing technical improvements in this growth field allow us to obtain a really good quality of data and a very high spatial resolution with a high Z accuracy. In the center of Belgium, we equipped an agricultural watershed of 124 ha. For three years (2011-2013), we have been monitoring weather (including rainfall erosivity using a spectropluviograph), discharge at three different locations, sediment in runoff water, and watershed microtopography through unmanned airborne imagery (Gatewing X100). We also collected all available historical data to try to capture the "long-term" changes in watershed morphology during the last decades: old topography maps, soil historical descriptions, etc. An erosion model (LANDSOIL) is also used to assess the evolution of the relief. Short-term evolution of the surface are now observed through flights done at 200m height. The pictures are taken with a side overlap equal to 80%. To precisely georeference the DEM produced, ground control points are placed on the study site and surveyed using a Leica GPS1200 (accuracy of 1cm for x and y coordinates and 1.5cm for the z coordinate). Flights are done each year in December to have an as bare as possible ground surface. Specific treatments are developed to counteract vegetation effect because it is know as key sources of error in the DEM produced by small unmanned aircraft systems. The poster will present the older and more recent changes of relief in this intensely exploited watershed and notably show how unmanned airborne imagery might be of help in DEM dynamic modelling to support soil conservation research.

Population Census of a Large Common Tern Colony with a Small Unmanned Aircraft

PubMed Central

Chabot, Dominique; Craik, Shawn R.; Bird, David M.

2015-01-01

Small unmanned aircraft systems (UAS) may be useful for conducting high-precision, low-disturbance waterbird surveys, but limited data exist on their effectiveness. We evaluated the capacity of a small UAS to census a large (>6,000 nests) coastal Common tern (Sterna hirundo) colony of which ground surveys are particularly disruptive and time-consuming. We compared aerial photographic tern counts to ground nest counts in 45 plots (5-m radius) throughout the colony at three intervals over a nine-day period in order to identify sources of variation and establish a coefficient to estimate nest numbers from UAS surveys. We also compared a full colony ground count to full counts from two UAS surveys conducted the following day. Finally, we compared colony disturbance levels over the course of UAS flights to matched control periods. Linear regressions between aerial and ground counts in plots had very strong correlations in all three comparison periods (R 2 = 0.972–0.989, P < 0.001) and regression coefficients ranged from 0.928–0.977 terns/nest. Full colony aerial counts were 93.6% and 94.0%, respectively, of the ground count. Varying visibility of terns with ground cover, weather conditions and image quality, and changing nest attendance rates throughout incubation were likely sources of variation in aerial detection rates. Optimally timed UAS surveys of Common tern colonies following our method should yield population estimates in the 93–96% range of ground counts. Although the terns were initially disturbed by the UAS flying overhead, they rapidly habituated to it. Overall, we found no evidence of sustained disturbance to the colony by the UAS. We encourage colonial waterbird researchers and managers to consider taking advantage of this burgeoning technology. PMID:25874997

Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS) Project KDP-C Review

NASA Technical Reports Server (NTRS)

Grindle, Laurie; Sakahara, Robert; Hackenberg, Davis; Johnson, William

2017-01-01

The topics discussed are the UAS-NAS project life-cycle and ARMD thrust flow down, as well as the UAS environments and how we operate in those environments. NASA's Armstrong Flight Research Center at Edwards, CA, is leading a project designed to help integrate unmanned air vehicles into the world around us. The Unmanned Aircraft Systems Integration in the National Airspace System project, or UAS in the NAS, will contribute capabilities designed to reduce technical barriers related to safety and operational challenges associated with enabling routine UAS access to the NAS. The project falls under the Integrated Systems Research Program office managed at NASA Headquarters by the agency's Aeronautics Research Mission Directorate. NASA's four aeronautics research centers - Armstrong, Ames Research Center, Langley Research Center, and Glenn Research Center - are part of the technology development project. With the use and diversity of unmanned aircraft growing rapidly, new uses for these vehicles are constantly being considered. Unmanned aircraft promise new ways of increasing efficiency, reducing costs, enhancing safety and saving lives 460265main_ED10-0132-16_full.jpg Unmanned aircraft systems such as NASA's Global Hawks (above) and Predator B named Ikhana (below), along with numerous other unmanned aircraft systems large and small, are the prime focus of the UAS in the NAS effort to integrate them into the national airspace. Credits: NASA Photos 710580main_ED07-0243-37_full.jpg The UAS in the NAS project envisions performance-based routine access to all segments of the national airspace for all unmanned aircraft system classes, once all safety-related and technical barriers are overcome. The project will provide critical data to such key stakeholders and customers as the Federal Aviation Administration and RTCA Special Committee 203 (formerly the Radio Technical Commission for Aeronautics) by conducting integrated, relevant system-level tests to adequately address safety and operational challenges of national airspace access by unmanned aircraft systems, or UAS. In the process, the project will work with other key stakeholders to define necessary deliverables and products to help enable such access. Within the project, NASA is focusing on five sub-projects. These five focus areas include assurance of safe separation of unmanned aircraft from manned aircraft when flying in the national airspace; safety-critical command and control systems and radio frequencies to enable safe operation of UAS; human factors issues for ground control stations; airworthiness certification standards for UAS avionics and integrated tests and evaluation designed to determine the viability of emerging UAS technology. Five Focus Areas of the UAS Integration in the NAS Project Separation Assurance Provide an assessment of how planned Next Generation Air Transportation System (NextGen) separation assurance systems, with different functional allocations, perform for UAS in mixed operations with manned aircraft Assess the applicability to UAS and the performance of NASA NextGen separation assurance systems in flight tests with realistic latencies and uncertain trajectories Assess functional allocations ranging from today's ground-based, controller-provided aircraft separation to fully autonomous airborne self-separation Communications Develop data and rationale to obtain appropriate frequency spectrum allocations to enable safe and efficient operation of UAS in the NAS Develop and validate candidate secure safety-critical command and control system/subsystem test equipment for UAS that complies with UAS international/national frequency regulations, standards and recommended practices and minimum operational and aviation system performance standards for UAS Perform analysis to support recommendations for integration of safety-critical command and control systems and air traffic control communications to ensure safe and efficient operation of UAS in the NAS Human Systems Integration Develop a research test bed and database to provide data and proof of concept for GCS - ground control station - operations in the NAS Coordinate with standards organizations to develop human-factors guidelines for GCS operation in the NAS Certification Define a UAS classification scheme and approach to determining Federal Aviation Regulation airworthiness requirements applicable to all UAS digital avionics Provide hazard and risk-related data to support development of type design criteria and best development practices Integrated Tests and Evaluation Integrate and test mature concepts from technical elements to demonstrate and test viability Evaluate the performance of technology development in a relevant environment (full-mission, human-in-the-loop simulations and flight tests)

The Evaluation of GPS techniques for UAV-based Photogrammetry in Urban Area

NASA Astrophysics Data System (ADS)

Yeh, M. L.; Chou, Y. T.; Yang, L. S.

2016-06-01

The efficiency and high mobility of Unmanned Aerial Vehicle (UAV) made them essential to aerial photography assisted survey and mapping. Especially for urban land use and land cover, that they often changes, and need UAVs to obtain new terrain data and the new changes of land use. This study aims to collect image data and three dimensional ground control points in Taichung city area with Unmanned Aerial Vehicle (UAV), general camera and Real-Time Kinematic with positioning accuracy down to centimetre. The study area is an ecological park that has a low topography which support the city as a detention basin. A digital surface model was also built with Agisoft PhotoScan, and there will also be a high resolution orthophotos. There will be two conditions for this study, with or without ground control points and both were discussed and compared for the accuracy level of each of the digital surface models. According to check point deviation estimate, the model without ground control points has an average two-dimension error up to 40 centimeter, altitude error within one meter. The GCP-free RTK-airborne approach produces centimeter-level accuracy with excellent to low risk to the UAS operators. As in the case of the model with ground control points, the accuracy of x, y, z coordinates has gone up 54.62%, 49.07%, and 87.74%, and the accuracy of altitude has improved the most.

Using Unmanned Air Systems to Monitor Methane in the Atmosphere

NASA Technical Reports Server (NTRS)

Clow, Jacqueline; Smith, Jeremy Christopher

2016-01-01

Methane is likely to be an important contributor to global warming, and our current knowledge of its sources, distributions, and transport is insufficient. It is estimated that there could be from 7.5 to 400 billion tons carbon-equivalent of methane in the arctic region, a broad range that is indicative of the uncertainty within the Earth Science community. Unmanned Air Systems (UASs) are often used for combat or surveillance by the military, but they also have been used for Earth Science field missions. In this study, we will analyze the utility of the NASA Global Hawk and the Aurora Flight Sciences Orion UASs compared to the manned DC-8 aircraft for conducting a methane monitoring mission. The mission will focus on the measurement of methane along the boundaries of Arctic permafrost thaw and melting glaciers. The use of Long Endurance UAS brings a new range of possibilities including the ability to obtain long- term and persistent observations and to significantly augment methane measurements/retrievals collected by satellite. Furthermore, we discuss the future of long endurance UAS and their potential for science applications in the next twenty to twenty-five years.

Potential Technology Transfer to the DoD Unmanned Ground Vehicle Program.

DTIC Science & Technology

1996-10-01

Germany. This process combines x-ray lithography, galvanic casting, and micromolding technology and can be used to produce a variety of sensors and...whether circulation is being obstructed by atherosclerosis . Finally, work is being done at the University of Minnesota on a microrobotic device

Performance Evaluation of a Prototyped Wireless Ground Sensor Network

DTIC Science & Technology

2005-03-01

the network was capable of dynamic adaptation to failure and degradation. 14. SUBJECT TERMS: Wireless Sensor Network , Unmanned Sensor, Unattended...2 H. WIRELESS SENSOR NETWORKS .................................................................... 3...zation, and network traffic. The evaluated scenarios included outdoor, urban and indoor environments. The characteristics of wireless sensor networks , types

Home range, social behavior, and dominance relationships in the African unstriped ground squirrel, Xerus rutilus

USGS Publications Warehouse

O'Shea, Thomas J.

1976-01-01

A field study of home range, social behavior, and dominance relationships in the African unstriped ground squirrel, Xerus rutilus, was conducted in semi-arid bushland near Kibwezi, Kenya. Ground squirrels lived alone or in small groups in isolated burrow systems and had broadly overlapping home ranges. They were neither territorial or colonial. Home ranges were estimated by visual observation of marked animals and those of males were considerably larger (mean=7.01 hectares (ha); n=4) than those of females (mean=1.37 ha; n-6). A continuum of agonistic behavior ranging from threat to combat is described, although actual combat was rarely observed. Sexual behavior includes a stereotypical tail display by adult males. Dominance relationships, based on 542 observed encounters between marked individuals, include a consistent male dominance over females and a fairly constant linear hierarchy among all individuals with shared home ranges. Similarities in the behavior of African ground squirrels and tree squirrels (Sciurus) are discussed.

Vision systems for manned and robotic ground vehicles

NASA Astrophysics Data System (ADS)

Sanders-Reed, John N.; Koon, Phillip L.

2010-04-01

A Distributed Aperture Vision System for ground vehicles is described. An overview of the hardware including sensor pod, processor, video compression, and displays is provided. This includes a discussion of the choice between an integrated sensor pod and individually mounted sensors, open architecture design, and latency issues as well as flat panel versus head mounted displays. This technology is applied to various ground vehicle scenarios, including closed-hatch operations (operator in the vehicle), remote operator tele-operation, and supervised autonomy for multi-vehicle unmanned convoys. In addition, remote vision for automatic perimeter surveillance using autonomous vehicles and automatic detection algorithms is demonstrated.

NASA Dryden Flight Research Center: Unmanned Aircraft Operations

NASA Technical Reports Server (NTRS)

Pestana, Mark

2010-01-01

This slide presentation reviews several topics related to operating unmanned aircraft in particular sharing aspects of unmanned aircraft from the perspective of a pilot. There is a section on the Global Hawk project which contains information about the first Global Hawk science mission, (i.e., Global Hawk Pacific (GloPac). Included in this information is GloPac science highlights, a listing of the GloPac Instruments. The second Global Hawk science mission was Genesis and Rapid Intensification Process (GRIP), for the NASA Hurricane Science Research Team. Information includes the instrumentation and the flights that were undertaken during the program. A section on Ikhana is next. This section includes views of the Ground Control Station (GCS), and a discussion of how the piloting of UAS is different from piloting in a manned aircraft. There is also discussion about displays and controls of aircraft. There is also discussion about what makes a pilot. The last section relates the use of Ikhana in the western states fire mission.

STBC AF relay for unmanned aircraft system

NASA Astrophysics Data System (ADS)

Adachi, Fumiyuki; Miyazaki, Hiroyuki; Endo, Chikara

2015-01-01

If a large scale disaster similar to the Great East Japan Earthquake 2011 happens, some areas may be isolated from the communications network. Recently, unmanned aircraft system (UAS) based wireless relay communication has been attracting much attention since it is able to quickly re-establish the connection between isolated areas and the network. However, the channel between ground station (GS) and unmanned aircraft (UA) is unreliable due to UA's swing motion and as consequence, the relay communication quality degrades. In this paper, we introduce space-time block coded (STBC) amplify-and-forward (AF) relay for UAS based wireless relay communication to improve relay communication quality. A group of UAs forms single frequency network (SFN) to perform STBC-AF cooperative relay. In STBC-AF relay, only conjugate operation, block exchange and amplifying are required at UAs. Therefore, STBC-AF relay improves the relay communication quality while alleviating the complexity problem at UAs. It is shown by computer simulation that STBC-AF relay can achieve better throughput performance than conventional AF relay.

Effectiveness Testing and Evaluation of Non-Lethal Weapons for Crowd Management

DTIC Science & Technology

2014-06-01

and Combat Service Support• Program Executive Office Ground Combat Systems • Program Executive Office Soldier TACOM LCMC MG Michael J. Terry Assigned...technologies and explosive ordnance disposal Fire Control: Battlefield digitization; embedded system software; aero ballistics and telemetry ARDEC...influence predictive variables Introduction Crowd Behavior Research at TBRL UNCLASSIFIED 7 Data Measurement • Vicon V8i system • 24 cameras • 120 fps

Marine Tactical Command and Control System (MTACCS) Field Development System-1 (FDS-1) assessment: Final report

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

Avery, L.W.; Hunt, S.T.; Savage, S.F.

1992-04-01

The United State Marine Corps (USMC) is continuing the development and fielding of the Marine Corps Tactical Command and Control System (MTACCS), a system which exists in varying states of development, fielding, or modernization. MTACCS is currently composed of the following components: Tactical Combat Operations System (TCO) for ground command and control (C2), Intelligence Analysis System (IAS) with a Genser terminal connected to a TCO workstation for intelligence C2, Marine Integrated Personnel System (MIPS) and a TCO workstation using the Marine Combat Personnel System (MCPERS) software for personnel C2, Marine Integrated Logistics System (MILOGS) which is composed of the Landingmore » Force Asset Distribution System (LFADS), the Marine Air-Ground Task Force (MAGTF) II, and a TCO terminal using the Marine Combat Logistics System (MCLOG) for logistics C2, Marine Corps Fire Support System (MCFSS) for fire support C2, and Advanced Tactical Air Command Central (ATACC) and the Improved Direct Air Support Central for aviation C2.« less

Advanced wireless mobile collaborative sensing network for tactical and strategic missions

NASA Astrophysics Data System (ADS)

Xu, Hao

2017-05-01

In this paper, an advanced wireless mobile collaborative sensing network will be developed. Through properly combining wireless sensor network, emerging mobile robots and multi-antenna sensing/communication techniques, we could demonstrate superiority of developed sensing network. To be concrete, heterogeneous mobile robots including unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) are equipped with multi-model sensors and wireless transceiver antennas. Through real-time collaborative formation control, multiple mobile robots can team the best formation that can provide most accurate sensing results. Also, formatting multiple mobile robots can also construct a multiple-input multiple-output (MIMO) communication system that can provide a reliable and high performance communication network.

New distributed radar technology based on UAV or UGV application

NASA Astrophysics Data System (ADS)

Molchanov, Pavlo A.; Contarino, Vincent M.

2013-05-01

Regular micro and nano radars cannot provide reliable tracking of low altitude low profile aerial targets in urban and mountain areas because of reflection and re-reflections from buildings and terrain. They become visible and vulnerable to guided missiles if positioned on a tower or blimp. Doppler radar cannot distinguish moving cars and small low altitude aerial targets in an urban area. A new concept of pocket size distributed radar technology based on the application of UAV (Unmanned Air Vehicles), UGV (Unmanned Ground Vehicles) is proposed for tracking of low altitude low profile aerial targets at short and medium distances for protection of stadium, camp, military facility in urban or mountain areas.

Unmanned Ground Vehicle Communications Relays: Lessons Learned

DTIC Science & Technology

2014-04-01

technology, specifically an open-source VPN package, OpenVPN . This technology provides a wrapper around the network messages, providing a plug-and-play...performed in OpenVPN :  Set the Maximum Transmission Unit (MTU) to 1600. This is because each VPN endpoint has an MTU of 1500 (the default for Ethernet

Parameterization of norfolk sandy loam properties for stochastic modeling of light in-wheel motor UGV

USDA-ARS?s Scientific Manuscript database

To accurately develop a mathematical model for an In-Wheel Motor Unmanned Ground Vehicle (IWM UGV) on soft terrain, parameterization of terrain properties is essential to stochastically model tire-terrain interaction for each wheel independently. Operating in off-road conditions requires paying clos...

Construction and Testing of Broadband High Impedance Ground Planes (HIGPS) for Surface Mount Antennas

DTIC Science & Technology

2008-03-01

Conductor PMC: Perfect Magnetic Conductor RF: Radio Frequency RH: Right-handed SNG : Single Negative TACAN: Tactical Air Navigation UAV: Unmanned Aerial...negative ( SNG ) and double-negative (DNG) materials, and their fascinating properties have driven the interest in MTMs (Engheta and Ziolkowski, 2006

Landmark-Based Navigation of an Unmanned Ground Vehicle (UGV)

DTIC Science & Technology

2009-03-01

against large measurement errors. 20090710280 RELEASE LIMITATION Approved for public release 4p fv^-Jo-osiit? Published by Weapons Systems Division...achieved as numerous low cost gyroscopes in the market meet this requirement. 24 DSTO-TR-2260 3.5.4 Sensitivity to Vehicle Speed In this subsection

Control and Non-Payload Communications (CNPC) Prototype Radio - Generation 2 Flight Test Report

NASA Technical Reports Server (NTRS)

Ishac, Joseph A.; Iannicca, Dennis C.; Shalkhauser, Kurt A.; Kachmar, Brian A.

2014-01-01

NASA Glenn Research Center conducted a series of flight tests for the purpose of evaluating air-to-ground communications links for future unmanned aircraft systems (UAS). The primary objective of the test effort was to evaluate the transition of the aircraft communications from one ground station to the next, and to monitor data flow during the "hand-off" event. To facilitate the testing, ground stations were installed at locations in Cleveland, Ohio and Albany, Ohio that each provides line-of-sight radio communications with an overflying aircraft. This report describes results from the flight tests including flight parameters, received signal strength measurements, data latency times, and performance observations for the air-to-ground channel.

Joint Doctrine for Unmanned Aircraft Systems: The Air Force and the Army Hold the Key to Success

DTIC Science & Technology

2010-05-03

concept, coupled with sensor technologies that provide multiple video streams to multiple ground units, delivers increased capability and capacity to...airborne surveillance” allow one UAS to collect up to ten video transmissions, sending them to ten different users on the ground. Future iterations...of this technology, dubbed Gorgon Stare, will increase to as many as 65 video streams per UAS by 2014. 31 Being able to send multiple views of an

The image acquisition system design of floor grinder

NASA Astrophysics Data System (ADS)

Wang, Yang-jiang; Liu, Wei; Liu, Hui-qin

2018-01-01

Based on linear CCD, high resolution image real-time acquisition system serves as designing a set of image acquisition system for floor grinder through the calculation of optical imaging system. The entire image acquisition system can collect images of ground before and after the work of the floor grinder, and the data is transmitted through the Bluetooth system to the computer and compared to realize real-time monitoring of its working condition. The system provides technical support for the design of unmanned ground grinders.

Distributed Common Ground System - Army (DCGS-A) Increment 1 Release 2 Follow-on Operational Test and Evaluation (FOT and E) Report

DTIC Science & Technology

2016-01-01

Moving Target Indicator, Unmanned Aircraft System (UAS), Rivet Joint, U-2, and ground signals intelligence (PROPHET). At the BCT, Ranger Regiment and... metadata catalog managed by the DIB management office (outside of the DCGS-A system ). A metadata is a searchable description of data, and users across...challenge for users . The system required reboots about every 20 hours for users who had heavy workloads such as the fire support analysts and data

Real-Time and High-Fidelity Simulation Environment for Autonomous Ground Vehicle Dynamics

NASA Technical Reports Server (NTRS)

Cameron, Jonathan; Myint, Steven; Kuo, Calvin; Jain, Abhi; Grip, Havard; Jayakumar, Paramsothy; Overholt, Jim

2013-01-01

This paper reports on a collaborative project between U.S. Army TARDEC and Jet Propulsion Laboratory (JPL) to develop a unmanned ground vehicle (UGV) simulation model using the ROAMS vehicle modeling framework. Besides modeling the physical suspension of the vehicle, the sensing and navigation of the HMMWV vehicle are simulated. Using models of urban and off-road environments, the HMMWV simulation was tested in several ways, including navigation in an urban environment with obstacle avoidance and the performance of a lane change maneuver.

Achieving integrated convoys: cargo unmanned ground vehicle development and experimentation

NASA Astrophysics Data System (ADS)

Zych, Noah; Silver, David; Stager, David; Green, Colin; Pilarski, Thomas; Fischer, Jacob

2013-05-01

The Cargo UGV project was initiated in 2010 with the aim of developing and experimenting with advanced autonomous vehicles capable of being integrated unobtrusively into manned logistics convoys. The intent was to validate two hypotheses in complex, operationally representative environments: first, that unmanned tactical wheeled vehicles provide a force protection advantage by creating standoff distance to warfighters during ambushes or improvised explosive device attacks; and second, that these UGVs serve as force multipliers by enabling a single operator to control multiple unmanned assets. To assess whether current state-of-the-art autonomous vehicle technology was sufficiently capable to permit resupply missions to be executed with decreased risk and reduced manpower, and to assess the effect of UGVs on customary convoy tactics, the Marine Corps Warfighting Laboratory and the Joint Ground Robotics Enterprise sponsored Oshkosh Defense and the National Robotics Engineering Center to equip two standard Marine Corps cargo trucks for autonomous operation. This paper details the system architecture, hardware implementation, and software modules developed to meet the vehicle control, perception, and planner requirements compelled by this application. Additionally, the design of a custom human machine interface and an accompanying training program are described, as is the creation of a realistic convoy simulation environment for rapid system development. Finally, results are conveyed from a warfighter experiment in which the effectiveness of the training program for novice operators was assessed, and the impact of the UGVs on convoy operations was observed in a variety of scenarios via direct comparison to a fully manned convoy.

The Goodrich 3rd generation DB-110 system: operational on tactical and unmanned aircraft

NASA Astrophysics Data System (ADS)

Iyengar, Mrinal; Lange, Davis

2006-05-01

Goodrich's DB-110 Reconnaissance Airborne Pod for TORnado (RAPTOR) and Data Link Ground Station (DLGS) have been used operationally for several years by the Royal Air Force (RAF). A variant of the RAPTOR DB-110 Sensor System is currently being used by the Japan Maritime Self Defense Force (JMSDF). Recently, the DB-110 system was flown on the Predator B Unmanned Aerial Vehicle (UAV), demonstrating the DB-110 system's utility on unmanned reconnaissance aircraft. The DB-110 is a dual-band EO and IR imaging capability for long, medium, and short standoff ranges, including oblique and over-flight imaging, in a single sensor package. The DB-110 system has also proven performance for real-time high bandwidth data link imagery transmission. Goodrich has leveraged this operational experience in building a 3rd Generation DB-110 system including new Reconnaissance Airborne Pod and Ground System, to be first used by the Polish Air Force. This 3rd Generation system maintains all the capability of the current 2nd Generation DB-110 system and adds several new features. The 3rd Generation system upgrades include an increase in resolution via new focal planes, addition of a third ("super-wide") field of view, and new avionics. This paper summarizes the Goodrich DB-110 3rd Generation System in terms of its basic design and capabilities. Recent demonstration of the DB-110 on the Predator B UAV is overviewed including sample imagery.

Evaluation of Bare Ground on Rangelands using Unmanned Aerial Vehicles

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

Robert P. Breckenridge; Maxine Dakins

2011-01-01

Attention is currently being given to methods that assess the ecological condition of rangelands throughout the United States. There are a number of different indicators that assess ecological condition of rangelands. Bare Ground is being considered by a number of agencies and resource specialists as a lead indicator that can be evaluated over a broad area. Traditional methods of measuring bare ground rely on field technicians collecting data along a line transect or from a plot. Unmanned aerial vehicles (UAVs) provide an alternative to collecting field data, can monitor a large area in a relative short period of time, andmore » in many cases can enhance safety and time required to collect data. In this study, both fixed wing and helicopter UAVs were used to measure bare ground in a sagebrush steppe ecosystem. The data were collected with digital imagery and read using the image analysis software SamplePoint. The approach was tested over seven different plots and compared against traditional field methods to evaluate accuracy for assessing bare ground. The field plots were located on the Idaho National Laboratory (INL) site west of Idaho Falls, Idaho in locations where there is very little disturbance by humans and the area is grazed only by wildlife. The comparison of fixed-wing and helicopter UAV technology against field estimates shows good agreement for the measurement of bare ground. This study shows that if a high degree of detail and data accuracy is desired, then a helicopter UAV may be a good platform. If the data collection objective is to assess broad-scale landscape level changes, then the collection of imagery with a fixed-wing system is probably more appropriate.« less

Maximizing the U.S. Army’s Future Contribution to Global Security Using the Capability Portfolio Analysis Tool (CPAT)

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

Davis, Scott J.; Edwards, Shatiel B.; Teper, Gerald E.

We report that recent budget reductions have posed tremendous challenges to the U.S. Army in managing its portfolio of ground combat systems (tanks and other fighting vehicles), thus placing many important programs at risk. To address these challenges, the Army and a supporting team developed and applied the Capability Portfolio Analysis Tool (CPAT) to optimally invest in ground combat modernization over the next 25–35 years. CPAT provides the Army with the analytical rigor needed to help senior Army decision makers allocate scarce modernization dollars to protect soldiers and maintain capability overmatch. CPAT delivers unparalleled insight into multiple-decade modernization planning usingmore » a novel multiphase mixed-integer linear programming technique and illustrates a cultural shift toward analytics in the Army’s acquisition thinking and processes. CPAT analysis helped shape decisions to continue modernization of the $10 billion Stryker family of vehicles (originally slated for cancellation) and to strategically reallocate over $20 billion to existing modernization programs by not pursuing the Ground Combat Vehicle program as originally envisioned. Ultimately, more than 40 studies have been completed using CPAT, applying operations research methods to optimally prioritize billions of taxpayer dollars and allowing Army acquisition executives to base investment decisions on analytically rigorous evaluations of portfolio trade-offs.« less

Maximizing the U.S. Army’s Future Contribution to Global Security Using the Capability Portfolio Analysis Tool (CPAT)

DOE PAGES

Davis, Scott J.; Edwards, Shatiel B.; Teper, Gerald E.; ...

2016-02-01

We report that recent budget reductions have posed tremendous challenges to the U.S. Army in managing its portfolio of ground combat systems (tanks and other fighting vehicles), thus placing many important programs at risk. To address these challenges, the Army and a supporting team developed and applied the Capability Portfolio Analysis Tool (CPAT) to optimally invest in ground combat modernization over the next 25–35 years. CPAT provides the Army with the analytical rigor needed to help senior Army decision makers allocate scarce modernization dollars to protect soldiers and maintain capability overmatch. CPAT delivers unparalleled insight into multiple-decade modernization planning usingmore » a novel multiphase mixed-integer linear programming technique and illustrates a cultural shift toward analytics in the Army’s acquisition thinking and processes. CPAT analysis helped shape decisions to continue modernization of the $10 billion Stryker family of vehicles (originally slated for cancellation) and to strategically reallocate over $20 billion to existing modernization programs by not pursuing the Ground Combat Vehicle program as originally envisioned. Ultimately, more than 40 studies have been completed using CPAT, applying operations research methods to optimally prioritize billions of taxpayer dollars and allowing Army acquisition executives to base investment decisions on analytically rigorous evaluations of portfolio trade-offs.« less

Spatio-temporal monitoring of cotton cultivation using ground-based and airborne multispectral sensors in GIS environment.

PubMed

Papadopoulos, Antonis; Kalivas, Dionissios; Theocharopoulos, Sid

2017-07-01

Multispectral sensor capability of capturing reflectance data at several spectral channels, together with the inherent reflectance responses of various soils and especially plant surfaces, has gained major interest in crop production. In present study, two multispectral sensing systems, a ground-based and an aerial-based, were applied for the multispatial and temporal monitoring of two cotton fields in central Greece. The ground-based system was Crop Circle ACS-430, while the aerial consisted of a consumer-level quadcopter (Phantom 2) and a modified Hero3+ Black digital camera. The purpose of the research was to monitor crop growth with the two systems and investigate possible interrelations between the derived well-known normalized difference vegetation index (NDVI). Five data collection campaigns were conducted during the cultivation period and concerned scanning soil and plants with the ground-based sensor and taking aerial photographs of the fields with the unmanned aerial system. According to the results, both systems successfully monitored cotton growth stages in terms of space and time. The mean values of NDVI changes through time as retrieved by the ground-based system were satisfactorily modelled by a second-order polynomial equation (R 2 0.96 in Field 1 and 0.99 in Field 2). Further, they were highly correlated (r 0.90 in Field 1 and 0.74 in Field 2) with the according values calculated via the aerial-based system. The unmanned aerial system (UAS) can potentially substitute crop scouting as it concerns a time-effective, non-destructive and reliable way of soil and plant monitoring.

Performance Specification for the Battery Monitoring System of the Program Executive Office Ground Combat Systems (PEO GCS)

DTIC Science & Technology

2009-10-26

14 3.3.4 Dielectric Withstanding Voltage and Insulation Resistance. ............................. 14...Grounding. .................................................................................................. 32 4.6.2.3 Dielectric Withstanding Voltage ...shall accommodate a non-painted 0.38” 8-32 screw. 3.3.4 Dielectric Withstanding Voltage and Insulation Resistance. Electrical connections

Spatio-temporal evaluation of plant height in corn via unmanned aerial systems

NASA Astrophysics Data System (ADS)

Varela, Sebastian; Assefa, Yared; Vara Prasad, P. V.; Peralta, Nahuel R.; Griffin, Terry W.; Sharda, Ajay; Ferguson, Allison; Ciampitti, Ignacio A.

2017-07-01

Detailed spatial and temporal data on plant growth are critical to guide crop management. Conventional methods to determine field plant traits are intensive, time-consuming, expensive, and limited to small areas. The objective of this study was to examine the integration of data collected via unmanned aerial systems (UAS) at critical corn (Zea mays L.) developmental stages for plant height and its relation to plant biomass. The main steps followed in this research were (1) workflow development for an ultrahigh resolution crop surface model (CSM) with the goal of determining plant height (CSM-estimated plant height) using data gathered from the UAS missions; (2) validation of CSM-estimated plant height with ground-truthing plant height (measured plant height); and (3) final estimation of plant biomass via integration of CSM-estimated plant height with ground-truthing stem diameter data. Results indicated a correlation between CSM-estimated plant height and ground-truthing plant height data at two weeks prior to flowering and at flowering stage, but high predictability at the later growth stage. Log-log analysis on the temporal data confirmed that these relationships are stable, presenting equal slopes for both crop stages evaluated. Concluding, data collected from low-altitude and with a low-cost sensor could be useful in estimating plant height.

An adaptable, low cost test-bed for unmanned vehicle systems research

NASA Astrophysics Data System (ADS)

Goppert, James M.

2011-12-01

An unmanned vehicle systems test-bed has been developed. The test-bed has been designed to accommodate hardware changes and various vehicle types and algorithms. The creation of this test-bed allows research teams to focus on algorithm development and employ a common well-tested experimental framework. The ArduPilotOne autopilot was developed to provide the necessary level of abstraction for multiple vehicle types. The autopilot was also designed to be highly integrated with the Mavlink protocol for Micro Air Vehicle (MAV) communication. Mavlink is the native protocol for QGroundControl, a MAV ground control program. Features were added to QGroundControl to accommodate outdoor usage. Next, the Mavsim toolbox was developed for Scicoslab to allow hardware-in-the-loop testing, control design and analysis, and estimation algorithm testing and verification. In order to obtain linear models of aircraft dynamics, the JSBSim flight dynamics engine was extended to use a probabilistic Nelder-Mead simplex method. The JSBSim aircraft dynamics were compared with wind-tunnel data collected. Finally, a structured methodology for successive loop closure control design is proposed. This methodology is demonstrated along with the rest of the test-bed tools on a quadrotor, a fixed wing RC plane, and a ground vehicle. Test results for the ground vehicle are presented.

Stilwell’s North Burma campaign: a case study in multinational mission command

DTIC Science & Technology

2017-05-25

history of providing multinational leadership , publications from the Army Press and Combat Studies Institute have not explored the use of the mission...the campaign. His leadership aided the US effort to reestablish its ground line of communication with its Chinese Nationalist allies. Stilwell’s...history of providing multinational leadership , publications from the Army Press and Combat Studies Institute have not explored the use of the mission

Experiments in Error Propagation within Hierarchal Combat Models

DTIC Science & Technology

2015-09-01

Bayesian Information Criterion CNO Chief of Naval Operations DOE Design of Experiments DOD Department of Defense MANA Map Aware Non-uniform Automata ...ground up” approach. First, it develops a mission-level model for one on one submarine combat in Map Aware Non-uniform Automata (MANA) simulation, an... Automata (MANA), an agent based simulation that can model the different postures of submarines. It feeds the results from MANA into stochastic

Evolution of the U.S. Army aviation during Operation Enduring Freedom in Afghanistan

DTIC Science & Technology

2015-06-12

my chair, thank you for your continued support and dedicated persistent efforts to guide me through from the beginning till the end of this...ADAM Air Defense and Airspace Management AGI Air Ground Integration AI Air Interdiction AO Area of Operation AVCATT Aviation Combined Arms...Tactical Trainer AW Army Warrior BAE Brigade Aviation Element BAO Brigade Aviation Officer BCT Brigade Combat Team CAB Combat Aviation Brigade

The use of unmanned aerial vehicle imagery in intertidal monitoring

NASA Astrophysics Data System (ADS)

Konar, Brenda; Iken, Katrin

2018-01-01

Intertidal monitoring projects are often limited in their practicality because traditional methods such as visual surveys or removal of biota are often limited in the spatial extent for which data can be collected. Here, we used imagery from a small unmanned aerial vehicle (sUAV) to test their potential use in rocky intertidal and intertidal seagrass surveys in the northern Gulf of Alaska. Images captured by the sUAV in the high, mid and low intertidal strata on a rocky beach and within a seagrass bed were compared to data derived concurrently from observer visual surveys and to images taken by observers on the ground. Observer visual data always resulted in the highest taxon richness, but when observer data were aggregated to the lower taxonomic resolution obtained by the sUAV images, overall community composition was mostly similar between the two methods. Ground camera images and sUAV images yielded mostly comparable community composition despite the typically higher taxonomic resolution obtained by the ground camera. We conclude that monitoring goals or research questions that can be answered on a relatively coarse taxonomic level can benefit from an sUAV-based approach because it allows much larger spatial coverage within the time constraints of a low tide interval than is possible by observers on the ground. We demonstrated this large-scale applicability by using sUAV images to develop maps that show the distribution patterns and patchiness of seagrass.

High throughput phenotyping of tomato spotted wilt disease in peanuts using unmanned aerial systems and multispectral imaging

USDA-ARS?s Scientific Manuscript database

The amount of visible and near infrared light reflected by plants varies depending on their health. In this study, multispectral images were acquired by quadcopter for detecting tomato spot wilt virus amongst twenty genetic varieties of peanuts. The plants were visually assessed to acquire ground ...

A Multiresolution Experiment to Enable Impacts of High Fidelity Environments on Unmanned Ground Vehicle Representation

DTIC Science & Technology

2009-06-01

Center Geotechnical and Structures Laboratory (ERDC-GSL). Their contributions include the technical integration work of ANVEL , OneSAF, and MATREX...6  3.1  ANVEL Overview...15  4.4.3.  OneSAF Tasks ................................................................................. 16  4.4.4.  OneSAF/ ANVEL Scenario Execution

48 CFR 252.228-7001 - Ground and flight risk.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Contracting Officer. (5) Flight crew member means the pilot, the co-pilot, and, unless otherwise provided in... includes any pilot or operator of an unmanned aerial vehicle. If required, a defense systems operator may.... (4) For task order and delivery order contracts, the Contractor's share of the loss shall be the...

Innovation Talk at TARDEC by Dr. Tulga Ersal

Science.gov Websites

problems of teleoperation and fully autonomous operation of large Unmanned Ground Vehicles (UGVs) at high wide spectrum in their mode of operation ranging from teleoperated, in which the remote human operator implementable solution. High speeds also present a challenge to fully autonomous operation with respect to

Unmanned Aerial Systems Traffic Management (UTM): Safely Enabling UAS Operations in Low-Altitude Airspace

NASA Technical Reports Server (NTRS)

Jung, Jaewoo; Kopardekar, Parimal H.

2016-01-01

Flexibility where possible, and structure where necessary. Consider the needs of national security, safe airspace operations, economic opportunities, and emerging technologies. Risk-based approach based on population density, assets on the ground, density of operations, etc. Digital, virtual, dynamic, and as needed UTM services to manage operations.

Unmanned Aerial Systems Traffic Management (UTM): Safely Enabling UAS Operations in Low-Altitude Airspace

NASA Technical Reports Server (NTRS)

Kopardekar, Parimal H.; Cavolowsky, John

2015-01-01

Flexibility where possible, and structure where necessary. Consider the needs of national security, safe airspace operations, economic opportunities, and emerging technologies. Risk-based approach based on population density, assets on the ground, density of operations, etc. Digital, virtual, dynamic, and as needed UTM services to manage operations.

Storing and Predicting Dynamic Attributes in a World Model Knowledge Store

DTIC Science & Technology

2007-01-01

1 INTRODUCTION ..................................................................................................................16 Motivation and...be addressed and summarily solved by future robotic engineers. 16 CHAPTER 1 INTRODUCTION The world of mobile, intelligent robotics is...Office of the Secretary of Defense charted what was then the Joint Architecture for Unmanned Ground Vehicles Working Group ( JAUGS WG). JAUGS has since

Storing and Predicting Dynamic Attributes in a World Model Knowledge Store

DTIC Science & Technology

2009-05-01

14 CHAPTER 1 INTRODUCTION ... INTRODUCTION The world of mobile, intelligent robotics is expanding rapidly. As the shape, size, function and capabilities of these systems change, so...Ground Vehicles Working Group ( JAUGS WG). JAUGS has since transitioned to encompass the realm of all unmanned systems. It is the goal of the working group

Mission Specification and Control for Unmanned Aerial and Ground Vehicles for Indoor Target Discovery and Tracking

DTIC Science & Technology

2010-01-01

open garage leading to the building interior. The UAV is positioned north of a potential ingress to the building. As the mission begins, the UAV...camera, the difficulty in detecting and navigating around obstacles using this non- stereo camera necessitated a precomputed map of all obstacles and

Modified Cooper Harper Scales for Assessing Unmanned Vehicle Displays

DTIC Science & Technology

2008-12-01

Majesty accident in 1995. After about 35 hours in transit from Bermuda to Boston, the ship grounded on the Nantucket shoals (NTSB, 1995). Shortly after...see another robot – Which one is it? 28 18 Male Student 4 It was pretty simple to use but some symbols like the triangles seem unnecessary. It

Orbital operation study. Volume 3: Basic vehicle summaries

NASA Technical Reports Server (NTRS)

Anderson, N. R.; Gianformaggio, A.

1972-01-01

The vehicle related data developed during the orbital operations study are described. The interfacing activity findings have been realigned into the four basic vehicle systems as follows: (1) earth orbital shuttle (EOS), (2) research and applications module (RAM), (3) space based, ground based, manned and unmanned tugs, and (4) modular space station (MSS).

Unmanned Aerial Vehicles (UAVs) and Artificial Intelligence Revolutionizing Wildlife Monitoring and Conservation

PubMed Central

Gonzalez, Luis F.; Montes, Glen A.; Puig, Eduard; Johnson, Sandra; Mengersen, Kerrie; Gaston, Kevin J.

2016-01-01

Surveying threatened and invasive species to obtain accurate population estimates is an important but challenging task that requires a considerable investment in time and resources. Estimates using existing ground-based monitoring techniques, such as camera traps and surveys performed on foot, are known to be resource intensive, potentially inaccurate and imprecise, and difficult to validate. Recent developments in unmanned aerial vehicles (UAV), artificial intelligence and miniaturized thermal imaging systems represent a new opportunity for wildlife experts to inexpensively survey relatively large areas. The system presented in this paper includes thermal image acquisition as well as a video processing pipeline to perform object detection, classification and tracking of wildlife in forest or open areas. The system is tested on thermal video data from ground based and test flight footage, and is found to be able to detect all the target wildlife located in the surveyed area. The system is flexible in that the user can readily define the types of objects to classify and the object characteristics that should be considered during classification. PMID:26784196

Deep convolutional neural network for classifying Fusarium wilt of radish from unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Ha, Jin Gwan; Moon, Hyeonjoon; Kwak, Jin Tae; Hassan, Syed Ibrahim; Dang, Minh; Lee, O. New; Park, Han Yong

2017-10-01

Recently, unmanned aerial vehicles (UAVs) have gained much attention. In particular, there is a growing interest in utilizing UAVs for agricultural applications such as crop monitoring and management. We propose a computerized system that is capable of detecting Fusarium wilt of radish with high accuracy. The system adopts computer vision and machine learning techniques, including deep learning, to process the images captured by UAVs at low altitudes and to identify the infected radish. The whole radish field is first segmented into three distinctive regions (radish, bare ground, and mulching film) via a softmax classifier and K-means clustering. Then, the identified radish regions are further classified into healthy radish and Fusarium wilt of radish using a deep convolutional neural network (CNN). In identifying radish, bare ground, and mulching film from a radish field, we achieved an accuracy of ≥97.4%. In detecting Fusarium wilt of radish, the CNN obtained an accuracy of 93.3%. It also outperformed the standard machine learning algorithm, obtaining 82.9% accuracy. Therefore, UAVs equipped with computational techniques are promising tools for improving the quality and efficiency of agriculture today.

Aeromagnetic Surveying with a Rotary-Wing Unmanned Aircraft System: A Case Study from a Zinc Deposit in Nash Creek, New Brunswick, Canada

NASA Astrophysics Data System (ADS)

Cunningham, Michael; Samson, Claire; Wood, Alan; Cook, Ian

2017-12-01

Unmanned aircraft systems (UASs) have been under rapid development for applications in the mineral exploration industry, mainly for aeromagnetic surveying. They provide improved detection of smaller, deeper and weaker magnetic targets. A traditional system flying an altitude of 100 m above ground level (AGL) can detect a spherical ore body with a radius of 16 m and a magnetic susceptibility of 10-4 buried at a depth of 40 m. A UAS flying at an altitude of 50 or 2 m AGL would require the radius to be 11 or 5 m, respectively. A demonstration survey was performed using the SkyLance rotary-wing UAS instrumented with a cesium vapour magnetometer in Nash Creek, New Brunswick, Canada. The UAS flew over a zinc deposit featuring three magnetic anomalies. It acquired repeatable data that compared well with upward continuation maps of ground magnetic data. Dykes or faults that are dipping eastward at 25° and are approximately 1.5 m wide fit the observed response of the three anomalies captured on the UAS magnetic data.

Unmanned Aerial Vehicles (UAVs) and Artificial Intelligence Revolutionizing Wildlife Monitoring and Conservation.

PubMed

Gonzalez, Luis F; Montes, Glen A; Puig, Eduard; Johnson, Sandra; Mengersen, Kerrie; Gaston, Kevin J

2016-01-14

Surveying threatened and invasive species to obtain accurate population estimates is an important but challenging task that requires a considerable investment in time and resources. Estimates using existing ground-based monitoring techniques, such as camera traps and surveys performed on foot, are known to be resource intensive, potentially inaccurate and imprecise, and difficult to validate. Recent developments in unmanned aerial vehicles (UAV), artificial intelligence and miniaturized thermal imaging systems represent a new opportunity for wildlife experts to inexpensively survey relatively large areas. The system presented in this paper includes thermal image acquisition as well as a video processing pipeline to perform object detection, classification and tracking of wildlife in forest or open areas. The system is tested on thermal video data from ground based and test flight footage, and is found to be able to detect all the target wildlife located in the surveyed area. The system is flexible in that the user can readily define the types of objects to classify and the object characteristics that should be considered during classification.

Soviet Non-Linear Combat: The Challenge of the 90s

DTIC Science & Technology

1990-09-01

with powerful air and artillery fire strikes, will allow a combatanL to rapidly insert ground units, air-assault forces, and other specially-trained Q...dynamic and highly maneuverable, forcing subunits to change rapidly from attack to defense and back again, and to change frequently its combat formation...two. Team members rapidly coalesce into temporary attack or defensive groups and then disperse again. The Soviets see non-linear battle as one in which

Improving the Effectiveness and Acquisition Management of Selected Weapon Systems: A Summary of Major Issues and Recommended Actions.

DTIC Science & Technology

1982-05-14

need for effective training--a situation which will be impaired until the AH-64 combat mission simulator , now under development, becomes available in...antisubmarine warfare system includes the capability to detect, classify, localize, and destroy the enemy. This capability includes multimillion dollar...to simulate combat situations will simulate only air-to-air activity. Air-to-ground and electronic counter countermeasures simulations were deleted

First Report of Using Portable Unmanned Aircraft Systems (Drones) for Search and Rescue.

PubMed

Van Tilburg, Christopher

2017-06-01

Unmanned aircraft systems (UAS), colloquially called drones, are used commonly for military, government, and civilian purposes, including both commercial and consumer applications. During a search and rescue mission in Oregon, a UAS was used to confirm a fatality in a slot canyon; this eliminated the need for a dangerous rappel at night by rescue personnel. A second search mission in Oregon used several UAS to clear terrain. This allowed search of areas that were not accessible or were difficult to clear by ground personnel. UAS with cameras may be useful for searching, observing, and documenting missions. It is possible that UAS might be useful for delivering equipment in difficult areas and in communication. Copyright © 2017. Published by Elsevier Inc.

Small catchments DEM creation using Unmanned Aerial Vehicles

NASA Astrophysics Data System (ADS)

Gafurov, A. M.

2018-01-01

Digital elevation models (DEM) are an important source of information on the terrain, allowing researchers to evaluate various exogenous processes. The higher the accuracy of DEM the better the level of the work possible. An important source of data for the construction of DEMs are point clouds obtained with terrestrial laser scanning (TLS) and unmanned aerial vehicles (UAV). In this paper, we present the results of constructing a DEM on small catchments using UAVs. Estimation of the UAV DEM showed comparable accuracy with the TLS if real time kinematic Global Positioning System (RTK-GPS) ground control points (GCPs) and check points (CPs) were used. In this case, the main source of errors in the construction of DEMs are the errors in the referencing of survey results.

Ikhana: A NASA Unmanned Aerial System Supporting Long-Duration Earth Science Missions

NASA Technical Reports Server (NTRS)

Cobleigh, Brent R.

2007-01-01

This viewgraph presentation reviews Ikhana's project goals: (1) Develop an airborne platform to conduct Earth observation and atmospheric sampling science missions both nationally and internationally, (2) develop and demonstrate technologies that improve the capability of UAVs to conduct science collection missions, (3) develop technologies that improve manned and unmanned aircraft systems, and (4) support important national UAV development activities. The criteria that guided the selection of the aircraft are listed. The payload areas on Ikhana are shown and the network that connects the systems are also reviewed. The data recorder is shown. Also the diagram of the Airborne Research Test System (ARTS) is reviewed. The Mobile Ground Control Station and the Mobile Ku SatCom Antenna are also shown and described.

Design tools for complex dynamic security systems.

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

Byrne, Raymond Harry; Rigdon, James Brian; Rohrer, Brandon Robinson

2007-01-01

The development of tools for complex dynamic security systems is not a straight forward engineering task but, rather, a scientific task where discovery of new scientific principles and math is necessary. For years, scientists have observed complex behavior but have had difficulty understanding it. Prominent examples include: insect colony organization, the stock market, molecular interactions, fractals, and emergent behavior. Engineering such systems will be an even greater challenge. This report explores four tools for engineered complex dynamic security systems: Partially Observable Markov Decision Process, Percolation Theory, Graph Theory, and Exergy/Entropy Theory. Additionally, enabling hardware technology for next generation security systemsmore » are described: a 100 node wireless sensor network, unmanned ground vehicle and unmanned aerial vehicle.« less

Command Structure for Theater Warfare: The Quest for Unity of Command

DTIC Science & Technology

1984-09-01

that trryfari tail forth thr htst from iti—Btturki Major General« Pern M Smith. USAF. and Hark) A Hughe«. USAF. contributed more to the rndertaking...an air. ground, and sea component. These arc generic commands which control all combat operations in the media of the air. ground, and sea. There

Monitoring hemlock vitality using ground-based digital imaging

Treesearch

Neil A. Clark; Sang-Mook Lee

2005-01-01

The vitality of hemlock (Tsuga spp.) trees needs to be assessed in order to evaluate the effectiveness of treatments that combat hemlock woolly adelgid (HWA), Adelges tsugae Annand 1 (Homoptera: Adelgidae). Ground-based photomonitoring can be used to assess canopy dynamics, which serves as a visual indicator of tree vitality. Here we propose a...

Interaction of ACTN3 gene polymorphism and muscle imbalance effects on kinematic efficiency in combat sports athletes

PubMed Central

Lee, Namju; Park, Sok

2016-01-01

[Purpose] The purpose of this study was to determine the interaction of ACTN3 gene polymorphism and muscle imbalance effects on kinematic efficiency changes in combat sports athletes. [Methods] Six types of combat sports athletes (Judo, Taekwondo, boxing, kendo, wrestling, and Korean Ssi-reum) participated in the study. ATCN3 gene polymorphism and muscle imbalance in lower extremity were evaluated followed by analysis of differences of moment in hip, knee, and ankle joint during V-cut jumping and stop. To examine the moment difference due to an interaction of ATCN3 polymorphism and muscle imbalance, all participants were divided into 4 groups (R+MB, R+MIB, X+MB, and X+MIB). [Results] There was no significant difference of hip, knee, and ankle joint moment in R allele and X allele during V-cut jumping and stop based on ACTN3 gene polymorphism. Otherwise, muscle imbalance of knee moment in X-axis and ground reaction force of knee in Z-axis showed a higher significance in muscle imbalance during V-cut jumping and stop compared to muscle balance (p<0.05). In addition, joint analysis showed that muscle imbalance in X allele group had significantly higher knee moment of V-cut ground reaction force in X-axis and higher ankle moment of jumping ground reaction force in X and Z-axis compared to muscle balance with R and/or X group (p <0.05). [Conclusion] This study confirmed that muscle imbalance in lower extremity of combat athletes might induce higher risk factors of sports injury incidence than genetic factor and training might reduce the ratio of sports injury risk incidence. PMID:27508148

Interaction of ACTN3 gene polymorphism and muscle imbalance effects on kinematic efficiency in combat sports athletes.

PubMed

Jung, Hansang; Lee, Namju; Park, Sok

2016-06-01

The purpose of this study was to determine the interaction of ACTN3 gene polymorphism and muscle imbalance effects on kinematic efficiency changes in combat sports athletes. Six types of combat sports athletes (Judo, Taekwondo, boxing, kendo, wrestling, and Korean Ssi-reum) participated in the study. ATCN3 gene polymorphism and muscle imbalance in lower extremity were evaluated followed by analysis of differences of moment in hip, knee, and ankle joint during V-cut jumping and stop. To examine the moment difference due to an interaction of ATCN3 polymorphism and muscle imbalance, all participants were divided into 4 groups (R+MB, R+MIB, X+MB, and X+MIB). There was no significant difference of hip, knee, and ankle joint moment in R allele and X allele during V-cut jumping and stop based on ACTN3 gene polymorphism. Otherwise, muscle imbalance of knee moment in X-axis and ground reaction force of knee in Z-axis showed a higher significance in muscle imbalance during V-cut jumping and stop compared to muscle balance (p<0.05). In addition, joint analysis showed that muscle imbalance in X allele group had significantly higher knee moment of V-cut ground reaction force in X-axis and higher ankle moment of jumping ground reaction force in X and Z-axis compared to muscle balance with R and/or X group (p <0.05). This study confirmed that muscle imbalance in lower extremity of combat athletes might induce higher risk factors of sports injury incidence than genetic factor and training might reduce the ratio of sports injury risk incidence.

SACCON Forced Oscillation Tests at DNW-NWB and NASA Langley 14x22-Foot Tunnel

NASA Technical Reports Server (NTRS)

Vicroy Dan D.; Loeser, Thomas D.; Schuette, Andreas

2010-01-01

A series of three wind tunnel static and forced oscillation tests were conducted on a generic unmanned combat air vehicle (UCAV) geometry. These tests are part of an international research effort to assess the state-of-the-art of computational fluid dynamics (CFD) methods to predict the static and dynamic stability and control characteristics. The experimental dataset includes not only force and moment time histories but surface pressure and off body particle image velocimetry measurements as well. The extent of the data precludes a full examination within the scope of this paper. This paper provides some examples of the dynamic force and moment data available as well as some of the observed trends.

Flight Test Overview for UAS Integration in the NAS Project

NASA Technical Reports Server (NTRS)

Murphy, James R.; Hayes, Peggy S.; Kim, Sam K.; Bridges, Wayne; Marston, Michael

2016-01-01

The National Aeronautics and Space Administration is conducting a series of flight tests intended to support the reduction of barriers that prevent unmanned aircraft from flying without the required waivers from the Federal Aviation Administration. The most recent testing supported two separate test configurations. The first investigated the timing of Detect and Avoid (DAA) alerting thresholds using a radar-equipped unmanned vehicle and multiple live intruders flown at varying encounter geometries. The second configuration included a surrogate unmanned vehicle (flown from a ground control station, with a safety pilot on board) flying a mission in a virtual air traffic control airspace sector using research pilot displays and DAA advisories to maintain separation from live and virtual aircraft. The test was conducted over a seven-week span in the summer of 2015. The data from over 100 encounter sorties will be used to inform the RTCA Phase 1 Detect and Avoid and Command and Control Minimum Operating Performance Standards (MOPS) intended to be completed by the summer of 2016. Follow-on flight-testing is planned for the spring of 2016 to capture remaining encounters and support validation of the MOPS.

Functional design for operational earth resources ground data processing

NASA Technical Reports Server (NTRS)

Baldwin, C. J. (Principal Investigator); Bradford, L. H.; Hutson, D. E.; Jugle, D. R.

1972-01-01

The author has identified the following significant results. Study emphasis was on developing a unified concept for the required ground system, capable of handling data from all viable acquisition platforms and sensor groupings envisaged as supporting operational earth survey programs. The platforms considered include both manned and unmanned spacecraft in near earth orbit, and continued use of low and high altitude aircraft. The sensor systems include both imaging and nonimaging devices, operated both passively and actively, from the ultraviolet to the microwave regions of the electromagnetic spectrum.

In situ Volcanic Plume Monitoring with small Unmanned Aerial Systems for Cal/Val of Satellite Remote Sensing Data: CARTA-UAV 2013 Mission (Invited)

NASA Astrophysics Data System (ADS)

Diaz, J. A.; Pieri, D. C.; Bland, G.; Fladeland, M. M.

2013-12-01

The development of small unmanned aerial systems (sUAS) with a variety of sensor packages, enables in situ and proximal remote sensing measurements of volcanic plumes. Using Costa Rican volcanoes as a Natural Laboratory, the University of Costa Rica as host institution, in collaboration with four NASA centers, have started an initiative to develop low-cost, field-deployable airborne platforms to perform volcanic gas & ash plume research, and in-situ volcanic monitoring in general, in conjunction with orbital assets and state-of-the-art models of plume transport and composition. Several gas sensors have been deployed into the active plume of Turrialba Volcano including a miniature mass spectrometer, and an electrochemical SO2 sensor system with temperature, pressure, relative humidity, and GPS sensors. Several different airborne platforms such as manned research aircraft, unmanned aerial vehicles, tethered balloons, as well as man-portable in-situ ground truth systems are being used for this research. Remote sensing data is also collected from the ASTER and OMI spaceborne instruments and compared with in situ data. The CARTA-UAV 2013 Mission deployment and follow up measurements successfully demonstrated a path to study and visualize gaseous volcanic emissions using mass spectrometer and gas sensor based instrumentation in harsh environment conditions to correlate in situ ground/airborne data with remote sensing satellite data for calibration and validation purposes. The deployment of such technology improves on our current capabilities to detect, analyze, monitor, model, and predict hazards presented to aircraft by volcanogenic ash clouds from active and impending volcanic eruptions.

The Use of a Satellite Communications System for Command and Control of the National Aeronautics and Space Administration Surrogate Unmanned Aerial System Research Aircraft

NASA Technical Reports Server (NTRS)

Howell, Charles T.; Jones, Frank; Hutchinson, Brian; Joyce, Claude; Nelson, Skip; Melum, Mike

2017-01-01

The NASA Langley Research Center has transformed a Cirrus Design SR22 general aviation (GA) aircraft into an Unmanned Aerial Systems (UAS) Surrogate research aircraft which has served for several years as a platform for unmanned systems research and development. The aircraft is manned with a Safety Pilot and a Research Systems Operator (RSO) that allows for flight operations almost any-where in the national airspace system (NAS) without the need for a Federal Aviation Administration (FAA) Certificate of Authorization (COA). The UAS Surrogate can be remotely controlled from a modular, transportable ground control station (GCS) like a true UAS. Ground control of the aircraft is accomplished by the use of data links that allow the two-way passage of the required data to control the aircraft and provide the GCS with situational awareness. The original UAS Surrogate data-link system was composed of redundant very high frequency (VHF) data radio modems with a maximum range of approximately 40 nautical miles. A new requirement was developed to extend this range beyond visual range (BVR). This new requirement led to the development of a satellite communications system that provided the means to command and control the UAS Surrogate at ranges beyond the limits of the VHF data links. The system makes use of the Globalstar low earth orbit (LEO) satellite communications system. This paper will provide details of the development, implementation, and flight testing of the satellite data communications system on the UAS Surrogate research aircraft.

Using High-Altitude Pseudo Satellites as an innovative technology platform for climate measurements

NASA Astrophysics Data System (ADS)

Coulon, A.; Johnson, S.

2017-12-01

Climate scientists have been using for decades either remotely observed data, mainly from (un)manned aircraft and satellites, or ground-based measurements. High-Altitude Pseudo Satellites (HAPS) are emerging as a disruptive technology that will be used for various "Near Space" applications at altitudes between 15 and 23 km (i.e. above commercial airlines). This new generation of electric solar-powered unmanned aerial vehicles flying in the stratosphere aim to persistently monitor regional areas (with high temporal, spatial and spectral resolution) as well as perform in-situ Near Space observations. The two case studies presented will highlight the advantages of using such an innovative platform. First, calculations were performed to compare the use of a constellation of Low Earth Orbit satellites and a fleet of HAPS for surface monitoring. Using stratospheric drones has a clear advantage for revisiting a large zone (10'000km2 per day) with higher predictability and accuracy. User is free to set time over a location, avoid cloud coverage and obtain Ground Sampling Distance of 30cm using commercially of the shelf sensors. The other impact study focuses on in-situ measurements. Using HAPS will indeed help to closely observe stratospheric compounds, such as aerosols or volcano plumes. Simulations were performed to show how such a drone could collect samples and provide high-accuracy evaluations of compounds that, so far, are only remotely observed. The performed impact studies emphasize the substantial advantages of using HAPS for future stratospheric campaigns. Deploying month-long unmanned missions for monitoring stratospheric aerosols will be beneficial for future research projects such as climate engineering.

Affordable multisensor digital video architecture for 360° situational awareness displays

NASA Astrophysics Data System (ADS)

Scheiner, Steven P.; Khan, Dina A.; Marecki, Alexander L.; Berman, David A.; Carberry, Dana

2011-06-01

One of the major challenges facing today's military ground combat vehicle operations is the ability to achieve and maintain full-spectrum situational awareness while under armor (i.e. closed hatch). Thus, the ability to perform basic tasks such as driving, maintaining local situational awareness, surveillance, and targeting will require a high-density array of real time information be processed, distributed, and presented to the vehicle operators and crew in near real time (i.e. low latency). Advances in display and sensor technologies are providing never before seen opportunities to supply large amounts of high fidelity imagery and video to the vehicle operators and crew in real time. To fully realize the advantages of these emerging display and sensor technologies, an underlying digital architecture must be developed that is capable of processing these large amounts of video and data from separate sensor systems and distributing it simultaneously within the vehicle to multiple vehicle operators and crew. This paper will examine the systems and software engineering efforts required to overcome these challenges and will address development of an affordable, integrated digital video architecture. The approaches evaluated will enable both current and future ground combat vehicle systems the flexibility to readily adopt emerging display and sensor technologies, while optimizing the Warfighter Machine Interface (WMI), minimizing lifecycle costs, and improve the survivability of the vehicle crew working in closed-hatch systems during complex ground combat operations.

Real-Time Risk Assessment Framework for Unmanned Aircraft System (UAS) Traffic Management (UTM)

NASA Technical Reports Server (NTRS)

Ancel, Ersin; Capristan, Francisco M.; Foster, John V.; Condotta, Ryan

2017-01-01

The new Federal Aviation Administration (FAA) Small Unmanned Aircraft rule (Part 107) marks the first national regulations for commercial operation of small unmanned aircraft systems (sUAS) under 55 pounds within the National Airspace System (NAS). Although sUAS flights may not be performed beyond visual line-of-sight or over non- participant structures and people, safety of sUAS operations must still be maintained and tracked at all times. Moreover, future safety-critical operation of sUAS (e.g., for package delivery) are already being conceived and tested. NASA's Unmanned Aircraft System Trac Management (UTM) concept aims to facilitate the safe use of low-altitude airspace for sUAS operations. This paper introduces the UTM Risk Assessment Framework (URAF) which was developed to provide real-time safety evaluation and tracking capability within the UTM concept. The URAF uses Bayesian Belief Networks (BBNs) to propagate off -nominal condition probabilities based on real-time component failure indicators. This information is then used to assess the risk to people on the ground by calculating the potential impact area and the effects of the impact. The visual representation of the expected area of impact and the nominal risk level can assist operators and controllers with dynamic trajectory planning and execution. The URAF was applied to a case study to illustrate the concept.

High Speed Hazard Avoidance for Unmanned Ground Vehicles in Emergency Situations

DTIC Science & Technology

2006-11-01

xx κτ ,vnominal ≡ , where x designates the UGV osition in space. If a hazard detected by a range sensor oses a threat, the UGV enacts an...source of error is the calculation of the path curvature, which can be highly sensitive to the GPS and INS position estimates. 6.2. Validation of

Robotic Intelligence Kernel: Driver

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

The INL Robotic Intelligence Kernel-Driver is built on top of the RIK-A and implements a dynamic autonomy structure. The RIK-D is used to orchestrate hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a single cognitive behavior kernel that provides intrinsic intelligence for a wide variety of unmanned ground vehicle systems.

Unmanned Intratheater Airlift

DTIC Science & Technology

2010-12-01

aircraft use a standard forward- thrust turbojet or turbofan engine that provides forward thrust while in forward flight. However, when performing...Afghanistan and Iraq required resupply by ground convoy, airdrop, or verticaltakeoff- and-landing aircraft . Unfortunately, the Department of Defense (DOD...challenges and requirements, the author suggests the use of remotely piloted aircraft (RPA) as a potential solution. Focusing on existing and quickly

LiDAR and Image Point Cloud Comparison

DTIC Science & Technology

2014-09-01

UAV unmanned aerial vehicle USGS United States Geological Survey UTM Universal Transverse Mercator WGS 84 World Geodetic System 1984 WSI...19  1.  Physics of LiDAR Systems ................................................................20  III.  DATA AND SOFTWARE...ground control point GPS Global Positioning System IMU inertial measurements unit LiDAR light detection and ranging MI mutual information MVS

The Role of Model Fidelity in Model Predictive Control Based Hazard Avoidance in Unmanned Ground Vehicles Using Lidar Sensors

DTIC Science & Technology

2013-03-08

Mechanical Engineering University of Michigan Ann Arbor, MI 48109 ljch@umich.edu Paramsothy Jayakumar U.S. Army RDECOM-TARDEC Warren, MI 48397...5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Jiechao Liu; Paramsothy Jayakumar ; James Overholt; Jeffrey Stein; Tulga Ersal 5d

FIRRE command and control station (C2)

NASA Astrophysics Data System (ADS)

Laird, R. T.; Kramer, T. A.; Cruickshanks, J. R.; Curd, K. M.; Thomas, K. M.; Moneyhun, J.

2006-05-01

The Family of Integrated Rapid Response Equipment (FIRRE) is an advanced technology demonstration program intended to develop a family of affordable, scalable, modular, and logistically supportable unmanned systems to meet urgent operational force protection needs and requirements worldwide. The near-term goal is to provide the best available unmanned ground systems to the warfighter in Iraq and Afghanistan. The overarching long-term goal is to develop a fully-integrated, layered force protection system of systems for our forward deployed forces that is networked with the future force C4ISR systems architecture. The intent of the FIRRE program is to reduce manpower requirements, enhance force protection capabilities, and reduce casualties through the use of unmanned systems. FIRRE is sponsored by the Office of the Under Secretary of Defense, Acquisitions, Technology and Logistics (OUSD AT&L), and is managed by the Product Manager, Force Protection Systems (PM-FPS). The FIRRE Command and Control (C2) Station supports two operators, hosts the Joint Battlespace Command and Control Software for Manned and Unmanned Assets (JBC2S), and will be able to host Mission Planning and Rehearsal (MPR) software. The C2 Station consists of an M1152 HMMWV fitted with an S-788 TYPE I shelter. The C2 Station employs five 24" LCD monitors for display of JBC2S software [1], MPR software, and live video feeds from unmanned systems. An audio distribution system allows each operator to select between various audio sources including: AN/PRC-117F tactical radio (SINCGARS compatible), audio prompts from JBC2S software, audio from unmanned systems, audio from other operators, and audio from external sources such as an intercom in an adjacent Tactical Operations Center (TOC). A power distribution system provides battery backup for momentary outages. The Ethernet network, audio distribution system, and audio/video feeds are available for use outside the C2 Station.

[Micron]ADS-B Detect and Avoid Flight Tests on Phantom 4 Unmanned Aircraft System

NASA Technical Reports Server (NTRS)

Arteaga, Ricardo; Dandachy, Mike; Truong, Hong; Aruljothi, Arun; Vedantam, Mihir; Epperson, Kraettli; McCartney, Reed

2018-01-01

Researchers at the National Aeronautics and Space Administration Armstrong Flight Research Center in Edwards, California and Vigilant Aerospace Systems collaborated for the flight-test demonstration of an Automatic Dependent Surveillance-Broadcast based collision avoidance technology on a small unmanned aircraft system equipped with the uAvionix Automatic Dependent Surveillance-Broadcast transponder. The purpose of the testing was to demonstrate that National Aeronautics and Space Administration / Vigilant software and algorithms, commercialized as the FlightHorizon UAS"TM", are compatible with uAvionix hardware systems and the DJI Phantom 4 small unmanned aircraft system. The testing and demonstrations were necessary for both parties to further develop and certify the technology in three key areas: flights beyond visual line of sight, collision avoidance, and autonomous operations. The National Aeronautics and Space Administration and Vigilant Aerospace Systems have developed and successfully flight-tested an Automatic Dependent Surveillance-Broadcast Detect and Avoid system on the Phantom 4 small unmanned aircraft system. The Automatic Dependent Surveillance-Broadcast Detect and Avoid system architecture is especially suited for small unmanned aircraft systems because it integrates: 1) miniaturized Automatic Dependent Surveillance-Broadcast hardware; 2) radio data-link communications; 3) software algorithms for real-time Automatic Dependent Surveillance-Broadcast data integration, conflict detection, and alerting; and 4) a synthetic vision display using a fully-integrated National Aeronautics and Space Administration geobrowser for three dimensional graphical representations for ownship and air traffic situational awareness. The flight-test objectives were to evaluate the performance of Automatic Dependent Surveillance-Broadcast Detect and Avoid collision avoidance technology as installed on two small unmanned aircraft systems. In December 2016, four flight tests were conducted at Edwards Air Force Base. Researchers in the ground control station looking at displays were able to verify the Automatic Dependent Surveillance-Broadcast target detection and collision avoidance resolutions.

Obstacle avoidance and concealed target detection using the Army Research Lab ultra-wideband synchronous impulse reconstruction (UWB SIRE) forward imaging radar

NASA Astrophysics Data System (ADS)

Nguyen, Lam; Wong, David; Ressler, Marc; Koenig, Francois; Stanton, Brian; Smith, Gregory; Sichina, Jeffrey; Kappra, Karl

2007-04-01

The U.S. Army Research Laboratory (ARL), as part of a mission and customer funded exploratory program, has developed a new low-frequency, ultra-wideband (UWB) synthetic aperture radar (SAR) for forward imaging to support the Army's vision of an autonomous navigation system for robotic ground vehicles. These unmanned vehicles, equipped with an array of imaging sensors, will be tasked to help detect man-made obstacles such as concealed targets, enemy minefields, and booby traps, as well as other natural obstacles such as ditches, and bodies of water. The ability of UWB radar technology to help detect concealed objects has been documented in the past and could provide an important obstacle avoidance capability for autonomous navigation systems, which would improve the speed and maneuverability of these vehicles and consequently increase the survivability of the U. S. forces on the battlefield. One of the primary features of the radar is the ability to collect and process data at combat pace in an affordable, compact, and lightweight package. To achieve this, the radar is based on the synchronous impulse reconstruction (SIRE) technique where several relatively slow and inexpensive analog-to-digital (A/D) converters are used to sample the wide bandwidth of the radar signals. We conducted an experiment this winter at Aberdeen Proving Ground (APG) to support the phenomenological studies of the backscatter from positive and negative obstacles for autonomous robotic vehicle navigation, as well as the detection of concealed targets of interest to the Army. In this paper, we briefly describe the UWB SIRE radar and the test setup in the experiment. We will also describe the signal processing and the forward imaging techniques used in the experiment. Finally, we will present imagery of man-made obstacles such as barriers, concertina wires, and mines.

A method for using unmanned aerial vehicles for emergency investigation of single geo-hazards and sample applications of this method

NASA Astrophysics Data System (ADS)

Huang, Haifeng; Long, Jingjing; Yi, Wu; Yi, Qinglin; Zhang, Guodong; Lei, Bangjun

2017-11-01

In recent years, unmanned aerial vehicles (UAVs) have become widely used in emergency investigations of major natural hazards over large areas; however, UAVs are less commonly employed to investigate single geo-hazards. Based on a number of successful investigations in the Three Gorges Reservoir area, China, a complete UAV-based method for performing emergency investigations of single geo-hazards is described. First, a customized UAV system that consists of a multi-rotor UAV subsystem, an aerial photography subsystem, a ground control subsystem and a ground surveillance subsystem is described in detail. The implementation process, which includes four steps, i.e., indoor preparation, site investigation, on-site fast processing and application, and indoor comprehensive processing and application, is then elaborated, and two investigation schemes, automatic and manual, that are used in the site investigation step are put forward. Moreover, some key techniques and methods - e.g., the layout and measurement of ground control points (GCPs), route planning, flight control and image collection, and the Structure from Motion (SfM) photogrammetry processing - are explained. Finally, three applications are given. Experience has shown that using UAVs for emergency investigation of single geo-hazards greatly reduces the time, intensity and risks associated with on-site work and provides valuable, high-accuracy, high-resolution information that supports emergency responses.

Daytime Water Detection Based on Sky Reflections

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.; Matthies, Larry H.; Bellutta, Paolo

2011-01-01

Robust water detection is a critical perception requirement for unmanned ground vehicle (UGV) autonomous navigation. This is particularly true in wide-open areas where water can collect in naturally occurring terrain depressions during periods of heavy precipitation and form large water bodies. One of the properties of water useful for detecting it is that its surface acts as a horizontal mirror at large incidence angles. Water bodies can be indirectly detected by detecting reflections of the sky below the horizon in color imagery. The Jet Propulsion Laboratory (JPL) has implemented a water detector based on sky reflections that geometrically locates the pixel in the sky that is reflecting on a candidate water pixel on the ground and predicts if the ground pixel is water based on color similarity and local terrain features. This software detects water bodies in wide-open areas on cross-country terrain at mid- to far-range using imagery acquired from a forward-looking stereo pair of color cameras mounted on a terrestrial UGV. In three test sequences approaching a pond under a clear, overcast, and cloudy sky, the true positive detection rate was 100% when the UGV was beyond 7 meters of the water's leading edge and the largest false positive detection rate was 0.58%. The sky reflection based water detector has been integrated on an experimental unmanned vehicle and field tested at Ft. Indiantown Gap, PA, USA.

Network command processing system overview

NASA Technical Reports Server (NTRS)

Nam, Yon-Woo; Murphy, Lisa D.

1993-01-01

The Network Command Processing System (NCPS) developed for the National Aeronautics and Space Administration (NASA) Ground Network (GN) stations is a spacecraft command system utilizing a MULTIBUS I/68030 microprocessor. This system was developed and implemented at ground stations worldwide to provide a Project Operations Control Center (POCC) with command capability for support of spacecraft operations such as the LANDSAT, Shuttle, Tracking and Data Relay Satellite, and Nimbus-7. The NCPS consolidates multiple modulation schemes for supporting various manned/unmanned orbital platforms. The NCPS interacts with the POCC and a local operator to process configuration requests, generate modulated uplink sequences, and inform users of the ground command link status. This paper presents the system functional description, hardware description, and the software design.

FELIN: tailored optronics and systems solutions for dismounted combat

NASA Astrophysics Data System (ADS)

Milcent, A. M.

2009-05-01

The FELIN French modernization program for dismounted combat provides the Armies with info-centric systems which dramatically enhance the performances of the soldier and the platoon. Sagem now has available a portfolio of various equipments, providing C4I, data and voice digital communication, and enhanced vision for day and night operations, through compact high performance electro-optics. The FELIN system provides the infantryman with a high-tech integrated and modular system which increases significantly their detection, recognition, identification capabilities, their situation awareness and information sharing, and this in any dismounted close combat situation. Among the key technologies used in this system, infrared and intensified vision provide a significant improvement in capability, observation performance and protection of the ground soldiers. This paper presents in detail the developed equipments, with an emphasis on lessons learned from the technical and operational feedback from dismounted close combat field tests.

Identification of ground targets from airborne platforms

NASA Astrophysics Data System (ADS)

Doe, Josh; Boettcher, Evelyn; Miller, Brian

2009-05-01

The US Army RDECOM CERDEC Night Vision and Electronic Sensors Directorate (NVESD) sensor performance models predict the ability of soldiers to perform a specified military discrimination task using an EO/IR sensor system. Increasingly EO/IR systems are being used on manned and un-manned aircraft for surveillance and target acquisition tasks. In response to this emerging requirement, the NVESD Modeling and Simulation division has been tasked to compare target identification performance between ground-to-ground and air-to-ground platforms for both IR and visible spectra for a set of wheeled utility vehicles. To measure performance, several forced choice experiments were designed and administered and the results analyzed. This paper describes these experiments and reports the results as well as the NVTherm model calibration factors derived for the infrared imagery.

Multisensor Equipped Uav/ugv for Automated Exploration

NASA Astrophysics Data System (ADS)

Batzdorfer, S.; Bobbe, M.; Becker, M.; Harms, H.; Bestmann, U.

2017-08-01

The usage of unmanned systems for exploring disaster scenarios has become more and more important in recent times as a supporting system for action forces. These systems have to offer a well-balanced relationship between the quality of support and additional workload. Therefore within the joint research project ANKommEn - german acronym for Automated Navigation and Communication for Exploration - a system for exploration of disaster scenarios is build-up using multiple UAV und UGV controlled via a central ground station. The ground station serves as user interface for defining missions and tasks conducted by the unmanned systems, equipped with different environmental sensors like cameras - RGB as well as IR - or LiDAR. Depending on the exploration task results, in form of pictures, 2D stitched orthophoto or LiDAR point clouds will be transmitted via datalinks and displayed online at the ground station or will be processed in short-term after a mission, e.g. 3D photogrammetry. For mission planning and its execution, UAV/UGV monitoring and georeferencing of environmental sensor data, reliable positioning and attitude information is required. This is gathered using an integrated GNSS/IMU positioning system. In order to increase availability of positioning information in GNSS challenging scenarios, a GNSS-Multiconstellation based approach is used, amongst others. The present paper focuses on the overall system design including the ground station and sensor setups on the UAVs and UGVs, the underlying positioning techniques as well as 2D and 3D exploration based on a RGB camera mounted on board the UAV and its evaluation based on real world field tests.

Unmanned Ground Vehicle for Autonomous Non-Destructive Testing of FRP Bridge Decks

NASA Astrophysics Data System (ADS)

Klinkhachorn, P.; Mercer, A. Scott; Halabe, Udaya B.; GangaRao, Hota V. S.

2007-03-01

Current non-destructive techniques for defect analysis of FRP bridge decks have a narrow scope. These techniques are very good at detecting certain types of defects but are not robust enough to detect all defects by themselves. For example, infrared thermography (IRT) can detect air filled defects and Ground Penetrating Radar (GPR) is good at detecting water filled ones. These technologies can be combined to create a more robust defect detection scheme. To accomplish this, an Unmanned Ground Vehicle (UGV) has been designed that incorporates both IR and GPR analysis to create a comprehensive defect map of a bridge deck. The UGV autonomously surveys the deck surface and acquires data. The UGV has two 1.5 GHz ground coupled GPR antennas that are mounted on the front of the UGV to collect GPR data. It also incorporates an active heating source and a radiometric IR camera to capture IR images of the deck, even in less than ideal weather scenarios such as cold cloudy days. The UGV is designed so that it can collect data in an assembly line fashion. It moves in 1 foot increments. When moving, it collects GPR data from the two antennas. When it stops it heats a section of the deck. The next time it stops to heat a section, the IR camera is analyzing the preheated deck section while preparing for the next section. Because the data is being continually collected using this method, the UGV can survey the entire deck in an efficient and timely manner.

UAS CNPC Satellite Link Performance - Sharing Spectrum with Terrestrial Systems

NASA Technical Reports Server (NTRS)

Kerczewski, Robert J.; Wilson, Jeffrey D.; Bishop, William D.

2016-01-01

In order to provide for the safe integration of unmanned aircraft systems into the National Airspace System, the control and non-payload communications (CNPC) link connecting the ground-based pilot with the unmanned aircraft must be highly reliable. A specific requirement is that it must operate using aviation safety radiofrequency spectrum. The 2012 World Radiocommunication Conference (WRC-12) provided a potentially suitable allocation for radio line-of-sight (LOS), terrestrial based CNPC link at 5030-5091 MHz. For a beyond radio line-of-sight (BLOS), satellite-based CNPC link, aviation safety spectrum allocations are currently inadequate. Therefore, the 2015 WRC will consider the use of Fixed Satellite Service (FSS) bands to provide BLOS CNPC under Agenda Item 1.5. This agenda item requires studies to be conducted to allow for the consideration of how unmanned aircraft can employ FSS for BLOS CNPC while maintaining existing systems. Since there are terrestrial Fixed Service systems also using the same frequency bands under consideration in Agenda Item 1.5 one of the studies required considered spectrum sharing between earth stations on-board unmanned aircraft and Fixed Service station receivers. Studies carried out by NASA have concluded that such sharing is possible under parameters previously established by the International Telecommunications Union. As the preparation for WRC-15 has progressed, additional study parameters Agenda Item 1.5 have been proposed, and some studies using these parameters have been added. This paper examines the study results for the original parameters as well as results considering some of the more recently proposed parameters to provide insight into the complicated process of resolving WRC-15 Agenda Item 1.5 and achieving a solution for BLOS CNPC for unmanned aircraft.

DoD Simulations: Improved Assessment Procedures Would Increase the Credibility of Results.

DTIC Science & Technology

1987-12-01

Carmonette Designed about 30 years ago, the Carmonette is a combined-arms combat model that simulates small-unit, ground combat involving the actions ...duels, its proper use is for larger engagements of combined-arms actions in which weapon-to- weapon data are used as input. The focus of the Carmonette...their contribution to the force, and their costs in personnel and funds. Its purpose is to assist in the selection of a preferred course of action to meet

Selected Foreign Counterparts of U.S. Army Ground Combat Systems and Implications for Combat Operations and Modernization

DTIC Science & Technology

2017-01-18

System program. 7 While it may not be realistic to have definitive design criteria for a vehicle to be fielded in 2035 established now, a clearer...is focused on fielding an existing “hard kill” APS capability in the near term for the Army’s M-1 Abrams tanks, M-2/3 Bradley fighting vehicles , and...infantry fighting vehicles (IFVs), tracked self-propelled (SP) artillery, and multiple launch rocket systems (MLRS), which constitutes the nucleus

Finding the Enemy: Using 3-D Laser Radar (LADAR) Imaging for Real Time Combat Identification of Ground Targets in an Obscured Environment

DTIC Science & Technology

2010-04-01

AIR COMMAND AND STAFF COLLEGE AIR UNIVERSITY FINDING THE ENEMY: USING 3-D LASER RADAR (LADAR) IMAGING FOR REAL TIME COMBAT...Faculty In Partial Fulfillment of Graduation Requirements Advisor: Lt Col Terry Bullard Maxwell Air Force Base, Alabama April 2010...position of the US government or the Department of Defense. In accordance with Air Force Instruction 51-303, it is not copyrighted, but is the property of

Ground System Survivability Overview

DTIC Science & Technology

2012-03-27

Avoidance Blast Mitigation Optimization Customer ILIR RDT&E Funding 5.0 % 0.5% GSS has a proven, technically proficient workforce that meets...Evaluation of Defensive-Aid Suites (ARMED) Common Automatic Fire Extinguishing System ( CAFES ) Transparent Armor Development Ground Combat Vehicle...Survey TRADOC (WFO, CNA, etc) Voice of the Customer Sy st em s En gi ne er in g Publish overarching MIL-STD, design guidelines, technical

Department of the Army Justification of Estimates for Fiscal Year 1983 Submitted to Congress February 1982. Part 3 (Weapons & Tracked Combat Vehicles).

DTIC Science & Technology

1982-02-01

of 130 kits for the Fire Support Teem Vehicle, an integrated system platform which will provide under - armor protection for the ground laser locator...procureuent of 495 kits for the Fire Support Team Vehicles, an integrated system platform which will provide under - armor protection for the Ground Laser

CAT/RF Simulation Lessons Learned

DTIC Science & Technology

2003-06-11

IVSS-2003-MAS-7 CAT /RF Simulation Lessons Learned Christopher Mocnik Vetronics Technology Area, RDECOM TARDEC Tim Lee DCS Corporation...developed a re- configurable Unmanned Ground Vehicle (UGV) simulation for the Crew integration and Automation Test bed ( CAT ) and Robotics Follower (RF...Advanced Technology Demonstration (ATD) experiments. This simulation was developed as a component of the Embedded Simulation System (ESS) of the CAT

A Surveillance and Targeting System for an Unmanned Ground Vehicle

DTIC Science & Technology

1990-08-01

CHARACTERISTICS - SELECTABLE INFRASONIC AND ULTRASONIC FREQUENCY SHIFTING CAPABILITY - SUPER-BINAURAL CONFIGURATION ANGLE AND PICKUP SEPARATION GREATER THAN...HUMAN HEAD - VARIABLE GAIN WITH CLIPPING - INTEGRATABLE INTO TOV OPERATOR HELMET - CONTROL INTERFACE: VOLUME UP/DOWN, SONIC ON/OFF, ULTRA ON/OFF... INFRA ON/OFF, BOOST HI/MED/OFF ----- UGV/TOV ----- ---- AUVS/DAYTON ---- LASER SAFETY IMPLICATIONS IMPLICATIONS FOR DESIGN: - POWER UP SEQUENCE - ABORT

Collaborative Point Paper on Border Surveillance Technology

DTIC Science & Technology

2007-12-01

including; Unmanned Aerial Vehicles, Airships, and/or Aerostats, (RF, Electro-Optical, Infrared, Video) • Land- based Sensor Systems (Attended...warning. These ground- based systems are primarily short-range, up to around 500 meters. • Observation towers extend surveillance capabilities many...Foreign Companies Applicable Environment(s Foreign Companies Air Land Maritime Technology 25. BAE Systems PLC (BAE Systems Inc. is a US subsidiary

Machine Learning Control For Highly Reconfigurable High-Order Systems

DTIC Science & Technology

2015-01-02

develop and flight test a Reinforcement Learning based approach for autonomous tracking of ground targets using a fixed wing Unmanned...Reinforcement Learning - based algorithms are developed for learning agents’ time dependent dynamics while also learning to control them. Three algorithms...to a wide range of engineering- based problems . Implementation of these solutions, however, is often complicated by the hysteretic, non-linear,

Fine-resolution repeat topographic surveying of dryland landscapes using UAS-based structure-from-motion photogrammetry: Assessing accuracy and precision against traditional ground-based erosion measurements

USDA-ARS?s Scientific Manuscript database

Structure-from-motion (SfM) photogrammetry from unmanned aircraft system (UAS) imagery is an emerging tool for repeat topographic surveying of dryland erosion. These methods are particularly appealing due to the ability to cover large landscapes compared to field methods and at reduced costs and hig...

Internet Protocol Over Telemetry Testing for Earth Science Capability Demo Summary

NASA Technical Reports Server (NTRS)

Franz, Russ; Pestana, Mark; Bessent, Shedrick; Hang, Richard; Ng, Howard

2006-01-01

The development and flight tests described here focused on utilizing existing pulse code modulation (PCM) telemetry equipment to enable on-vehicle networks of instruments and computers to be a simple extension of the ground station network. This capability is envisioned as a necessary component of a global range that supports test and development of manned and unmanned airborne vehicles.

Corn and sorghum phenotyping using a fixed-wing UAV-based remote sensing system

NASA Astrophysics Data System (ADS)

Shi, Yeyin; Murray, Seth C.; Rooney, William L.; Valasek, John; Olsenholler, Jeff; Pugh, N. Ace; Henrickson, James; Bowden, Ezekiel; Zhang, Dongyan; Thomasson, J. Alex

2016-05-01

Recent development of unmanned aerial systems has created opportunities in automation of field-based high-throughput phenotyping by lowering flight operational cost and complexity and allowing flexible re-visit time and higher image resolution than satellite or manned airborne remote sensing. In this study, flights were conducted over corn and sorghum breeding trials in College Station, Texas, with a fixed-wing unmanned aerial vehicle (UAV) carrying two multispectral cameras and a high-resolution digital camera. The objectives were to establish the workflow and investigate the ability of UAV-based remote sensing for automating data collection of plant traits to develop genetic and physiological models. Most important among these traits were plant height and number of plants which are currently manually collected with high labor costs. Vegetation indices were calculated for each breeding cultivar from mosaicked and radiometrically calibrated multi-band imagery in order to be correlated with ground-measured plant heights, populations and yield across high genetic-diversity breeding cultivars. Growth curves were profiled with the aerial measured time-series height and vegetation index data. The next step of this study will be to investigate the correlations between aerial measurements and ground truth measured manually in field and from lab tests.

Determining position, velocity and acceleration of free-ranging animals with a low-cost unmanned aerial system.

PubMed

Harvey, Richard J; Roskilly, Kyle; Buse, Chris; Evans, Hannah K; Hubel, Tatjana Y; Wilson, Alan M

2016-09-01

Unmanned aerial systems (UASs), frequently referred to as 'drones', have become more common and affordable and are a promising tool for collecting data on free-ranging wild animals. We used a Phantom-2 UAS equipped with a gimbal-mounted camera to estimate position, velocity and acceleration of a subject on the ground moving through a grid of GPS surveyed ground control points (area ∼1200 m(2)). We validated the accuracy of the system against a dual frequency survey grade GPS system attached to the subject. When compared with GPS survey data, the estimations of position, velocity and acceleration had a root mean square error of 0.13 m, 0.11 m s(-1) and 2.31 m s(-2), respectively. The system can be used to collect locomotion and localisation data on multiple free-ranging animals simultaneously. It does not require specialist skills to operate, is easily transported to field locations, and is rapidly and easily deployed. It is therefore a useful addition to the range of methods available for field data collection on free-ranging animal locomotion. © 2016. Published by The Company of Biologists Ltd.

Real Time Corner Detection for Miniaturized Electro-Optical Sensors Onboard Small Unmanned Aerial Systems

PubMed Central

Forlenza, Lidia; Carton, Patrick; Accardo, Domenico; Fasano, Giancarmine; Moccia, Antonio

2012-01-01

This paper describes the target detection algorithm for the image processor of a vision-based system that is installed onboard an unmanned helicopter. It has been developed in the framework of a project of the French national aerospace research center Office National d’Etudes et de Recherches Aérospatiales (ONERA) which aims at developing an air-to-ground target tracking mission in an unknown urban environment. In particular, the image processor must detect targets and estimate ground motion in proximity of the detected target position. Concerning the target detection function, the analysis has dealt with realizing a corner detection algorithm and selecting the best choices in terms of edge detection methods, filtering size and type and the more suitable criterion of detection of the points of interest in order to obtain a very fast algorithm which fulfills the computation load requirements. The compared criteria are the Harris-Stephen and the Shi-Tomasi, ones, which are the most widely used in literature among those based on intensity. Experimental results which illustrate the performance of the developed algorithm and demonstrate that the detection time is fully compliant with the requirements of the real-time system are discussed. PMID:22368499

A Two-Echelon Cooperated Routing Problem for a Ground Vehicle and Its Carried Unmanned Aerial Vehicle.

PubMed

Luo, Zhihao; Liu, Zhong; Shi, Jianmai

2017-05-17

In this paper, a two-echelon cooperated routing problem for the ground vehicle (GV) and its carried unmanned aerial vehicle (UAV) is investigated, where the GV travels on the road network and its UAV travels in areas beyond the road to visit a number of targets unreached by the GV. In contrast to the classical two-echelon routing problem, the UAV has to launch and land on the GV frequently to change or charge its battery while the GV is moving on the road network. A new 0-1 integer programming model is developed to formulate the problem, where the constraints on the spatial and temporal cooperation of GV and UAV routes are included. Two heuristics are proposed to solve the model: the first heuristic (H1) constructs a complete tour for all targets and splits it by GV routes, while the second heuristic (H2) constructs the GV tour and assigns UAV flights to it. Random instances with six different sizes (25-200 targets, 12-80 rendezvous nodes) are used to test the algorithms. Computational results show that H1 performs slightly better than H2, while H2 uses less time and is more stable.

Integrated optimization of unmanned aerial vehicle task allocation and path planning under steady wind.

PubMed

Luo, He; Liang, Zhengzheng; Zhu, Moning; Hu, Xiaoxuan; Wang, Guoqiang

2018-01-01

Wind has a significant effect on the control of fixed-wing unmanned aerial vehicles (UAVs), resulting in changes in their ground speed and direction, which has an important influence on the results of integrated optimization of UAV task allocation and path planning. The objective of this integrated optimization problem changes from minimizing flight distance to minimizing flight time. In this study, the Euclidean distance between any two targets is expanded to the Dubins path length, considering the minimum turning radius of fixed-wing UAVs. According to the vector relationship between wind speed, UAV airspeed, and UAV ground speed, a method is proposed to calculate the flight time of UAV between targets. On this basis, a variable-speed Dubins path vehicle routing problem (VS-DP-VRP) model is established with the purpose of minimizing the time required for UAVs to visit all the targets and return to the starting point. By designing a crossover operator and mutation operator, the genetic algorithm is used to solve the model, the results of which show that an effective UAV task allocation and path planning solution under steady wind can be provided.

Integrated optimization of unmanned aerial vehicle task allocation and path planning under steady wind

PubMed Central

Liang, Zhengzheng; Zhu, Moning; Hu, Xiaoxuan; Wang, Guoqiang

2018-01-01

Wind has a significant effect on the control of fixed-wing unmanned aerial vehicles (UAVs), resulting in changes in their ground speed and direction, which has an important influence on the results of integrated optimization of UAV task allocation and path planning. The objective of this integrated optimization problem changes from minimizing flight distance to minimizing flight time. In this study, the Euclidean distance between any two targets is expanded to the Dubins path length, considering the minimum turning radius of fixed-wing UAVs. According to the vector relationship between wind speed, UAV airspeed, and UAV ground speed, a method is proposed to calculate the flight time of UAV between targets. On this basis, a variable-speed Dubins path vehicle routing problem (VS-DP-VRP) model is established with the purpose of minimizing the time required for UAVs to visit all the targets and return to the starting point. By designing a crossover operator and mutation operator, the genetic algorithm is used to solve the model, the results of which show that an effective UAV task allocation and path planning solution under steady wind can be provided. PMID:29561888

Cotton growth modeling and assessment using unmanned aircraft system visual-band imagery

NASA Astrophysics Data System (ADS)

Chu, Tianxing; Chen, Ruizhi; Landivar, Juan A.; Maeda, Murilo M.; Yang, Chenghai; Starek, Michael J.

2016-07-01

This paper explores the potential of using unmanned aircraft system (UAS)-based visible-band images to assess cotton growth. By applying the structure-from-motion algorithm, the cotton plant height (ph) and canopy cover (cc) information were retrieved from the point cloud-based digital surface models (DSMs) and orthomosaic images. Both UAS-based ph and cc follow a sigmoid growth pattern as confirmed by ground-based studies. By applying an empirical model that converts the cotton ph to cc, the estimated cc shows strong correlation (R2=0.990) with the observed cc. An attempt for modeling cotton yield was carried out using the ph and cc information obtained on June 26, 2015, the date when sigmoid growth curves for both ph and cc tended to decline in slope. In a cross-validation test, the correlation between the ground-measured yield and the estimated equivalent derived from the ph and/or cc was compared. Generally, combining ph and cc, the performance of the yield estimation is most comparable against the observed yield. On the other hand, the observed yield and cc-based estimation produce the second strongest correlation, regardless of the complexity of the models.

Use of Unmanned Aircraft Systems in Observations of Glaciers, Ice Sheets, Sea Ice and Snow Fields

NASA Astrophysics Data System (ADS)

Herzfeld Mayer, M. U.

2015-12-01

Unmanned Aircraft Systems (UAS) are being used increasingly in observations of the Earth, especially as such UAS become smaller, lighter and hence less expensive. In this paper, we present examples of observations of snow fields, glaciers and ice sheets and of sea ice in the Arctic that have been collected from UAS. We further examine possibilities for instrument miniaturization, using smaller UAS and smaller sensors for collecting data. The quality and type of data is compared to that of satellite observations, observations from manned aircraft and to measurements made during field experiments on the ground. For example, a small UAS can be sent out to observe a sudden event, such as a natural catastrophe, and provide high-resolution imagery, but a satellite has the advantage of providing the same type of data over much of the Earth's surface and for several years, but the data is generally of lower resolution. Data collected on the ground typically have the best control and quality, but the survey area is usually small. Here we compare micro-topographic measurements made on snow fields the Colorado Rocky Mountains with airborne and satellite data.

Quantitative patterns in drone wars

NASA Astrophysics Data System (ADS)

Garcia-Bernardo, Javier; Dodds, Peter Sheridan; Johnson, Neil F.

2016-02-01

Attacks by drones (i.e., unmanned combat air vehicles) continue to generate heated political and ethical debates. Here we examine the quantitative nature of drone attacks, focusing on how their intensity and frequency compare with that of other forms of human conflict. Instead of the power-law distribution found recently for insurgent and terrorist attacks, the severity of attacks is more akin to lognormal and exponential distributions, suggesting that the dynamics underlying drone attacks lie beyond these other forms of human conflict. We find that the pattern in the timing of attacks is consistent with one side having almost complete control, an important if expected result. We show that these novel features can be reproduced and understood using a generative mathematical model in which resource allocation to the dominant side is regulated through a feedback loop.

History of the Army Ground Forces. Study Number 11. Training in the Ground Army 1942-1945

DTIC Science & Technology

1948-01-01

beingmodified by the Replace- ment and School Commnd to relax controls and to nake it tactically realistic, -beqam& a prototype for the combat-in-cities exercise...of fillers would nake possible initiation of training soon after activation day), the unit period from 13 to 11 weeks, and the ooabine& period from i...Final Major Revision of the AGF Training Program, 7 June 193 Before 193, an previously noted, Arm Ground Forces had Teen oceeled by the limited use

Air Weapon Systems in the Third World: A Combat Potential Assessment Technique.

DTIC Science & Technology

1986-06-01

VALUE LABEL BMAT BOMBER-GROUND ATTACK FTAT FIGHTER-GROUND ATTACK FTTA FIGHTER/TRAINER-GROUND ATTACK FTIN FIGHTER-INTERCEPTOR FTTI FIGHTER/TRAINER...260 2.91 10900 5440 17720 24540 TORADV FTIN 46 400 5.20 31500 15632 41392 60000 TORIDS FTAT 46 400 5.20 31065 14000 47985 60000 TU16AG BMAT 108 1772...6.58 82000 56870 130235 158730 TU22BD BMAT 91 1451 5. 69 80400 81600 147650 185000 ACFT MAXPWR TWPWR ASPD SPECENA LSPD SPECENS CSPD SCEI ALPHAMSI 5952

The Proposed Use of Unmanned Aerial System Surrogate Research Aircraft for National Airspace System Integration Research

NASA Technical Reports Server (NTRS)

Howell, Charles T., III

2011-01-01

Research is needed to determine what procedures, aircraft sensors and other systems will be required to allow Unmanned Aerial Systems (UAS) to safely operate with manned aircraft in the National Airspace System (NAS). This paper explores the use of Unmanned Aerial System (UAS) Surrogate research aircraft to serve as platforms for UAS systems research, development, and flight testing. These aircraft would be manned with safety pilots and researchers that would allow for flight operations almost anywhere in the NAS without the need for a Federal Aviation Administration (FAA) Certificate of Authorization (COA). With pilot override capability, these UAS Surrogate aircraft would be controlled from ground stations like true UAS s. It would be possible to file and fly these UAS Surrogate aircraft in the NAS with normal traffic and they would be better platforms for real world UAS research and development over existing vehicles flying in restricted ranges or other sterilized airspace. These UAS surrogate aircraft could be outfitted with research systems as required such as computers, state sensors, video recording, data acquisition, data link, telemetry, instrumentation, and Automatic Dependent Surveillance-Broadcast (ADS-B). These surrogate aircraft could also be linked to onboard or ground based simulation facilities to further extend UAS research capabilities. Potential areas for UAS Surrogate research include the development, flight test and evaluation of sensors to aide in the process of air traffic "see-and-avoid". These and other sensors could be evaluated in real-time and compared with onboard human evaluation pilots. This paper examines the feasibility of using UAS Surrogate research aircraft as test platforms for a variety of UAS related research.

Advancing Unmanned Aircraft Sensor Collection and Communication Capabilities with Optical Communications

NASA Astrophysics Data System (ADS)

Lukaczyk, T.

2015-12-01

Unmanned aircraft systems (UAS) are now being used for monitoring climate change over both land and seas. Their uses include monitoring of cloud conditions and atmospheric composition of chemicals and aerosols due to pollution, dust storms, fires, volcanic activity and air-sea fluxes. Additional studies of carbon flux are important for various ecosystem studies of both marine and terrestrial environments specifically, and can be related to climate change dynamics. Many measurements are becoming more complex as additional sensors become small enough to operate on more widely available small UAS. These include interferometric radars as well as scanning and fan-beam lidar systems which produce data streams even greater than those of high resolution video. These can be used to precisely map surfaces of the earth, ocean or ice features that are important for a variety of earth system studies. As these additional sensor capabilities are added to UAS the ability to transmit data back to ground or ship monitoring sites is limited by traditional wireless communication protocols. We describe results of tests of optical communication systems that provide significantly greater communication bandwidths for UAS, and discuss both the bandwidth and effective range of these systems, as well as their power and weight requirements both for systems on UAS, as well as those of ground-based receiver stations. We justify our additional use of Delay and Disruption Tolerant Networking (DTN) communication protocols with optical communication methods to ensure security and continuity of command and control operations. Finally, we discuss the implications for receiving, geo-referencing, archiving and displaying data streams from sensors communicated via optical communication to better enable real-time anomaly detection and adaptive sampling capabilities using multiple UAS or other unmanned or manned systems.

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.

Path planning and energy management of solar-powered unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Kaplan, Adam

Many of the applications pertinent to unmanned vehicles, such as environmental research and analysis, communications, and information-surveillance and reconnaissance, benefit from prolonged vehicle operation time. Conventional efforts to increase the operational time of electric-powered unmanned vehicles have traditionally focused on the design of energy-efficient components and the identification of energy efficient search patterns, while little attention has been paid to the vehicle's mission-level path plan and power management. This thesis explores the formulation and generation of integrated motion-plans and power-schedules for solar-panel equipped mobile robots operating under strict energy constraints, which cannot be effectively addressed through conventional motion planning algorithms. Transit problems are considered to design time-optimal paths using both Balkcom-Mason and Pseudo-Dubins curves. Additionally, a more complicated problem to generate mission plans for vehicles which must persistently travel between certain locations, similar to the traveling salesperson problem (TSP), is presented. A comparison between one of the common motion-planning algorithms and experimental results of the prescribed algorithms, made possible by use of a test environment and mobile robot designed and developed specifically for this research, are presented and discussed.

Methods for In-Flight Wing Shape Predictions of Highly Flexible Unmanned Aerial Vehicles: Formulation of Ko Displacement Theory

NASA Technical Reports Server (NTRS)

Ko, William L.; Fleischer, Van Tran

2010-01-01

The Ko displacement theory is formulated for a cantilever tubular wing spar under bending, torsion, and combined bending and torsion loading. The Ko displacement equations are expressed in terms of strains measured at multiple sensing stations equally spaced on the surface of the wing spar. The bending and distortion strain data can then be input to the displacement equations to calculate slopes, deflections, and cross-sectional twist angles of the wing spar at the strain-sensing stations for generating the deformed shapes of flexible aircraft wing spars. The displacement equations have been successfully validated for accuracy by finite-element analysis. The Ko displacement theory that has been formulated could also be applied to calculate the deformed shape of simple and tapered beams, plates, and tapered cantilever wing boxes. The Ko displacement theory and associated strain-sensing system (such as fiber optic sensors) form a powerful tool for in-flight deformation monitoring of flexible wings and tails, such as those often employed on unmanned aerial vehicles. Ultimately, the calculated displacement data can be visually displayed in real time to the ground-based pilot for monitoring the deformed shape of unmanned aerial vehicles during flight.

Large Unmanned Aircraft System Operations in the National Airspace System - the NASA 2007 Western States Fire Missions

NASA Technical Reports Server (NTRS)

Buoni, Gregory P.; Howell, Kathleen M.

2008-01-01

The National Aeronautics and Space Administration (NASA) Dryden Flight Research Center (DFRC) Ikhana (ee-kah-nah) project executed the 2007 Western States Fire Missions over several of the western United States using an MQ-9 unmanned aircraft system (UAS) in partnership with the NASA Ames Research Center, the United States Forest Service, and the National Interagency Fire Center. The missions were intended to supply infrared imagery of wildfires to firefighters on the ground within 10 minutes of data acquisition. For each of the eight missions, the NASA DFRC notified the Federal Aviation Administration (FAA) of specific flight plans within three or fewer days of the flight. The FAA Certificate of Waiver or Authorization (commonly referred to as a COA ) process was used to obtain access to the United States National Airspace System. Significant time and resources were necessary to develop the COA application, perform mission planning, and define and approve emergency landing sites. Unique aspects of flying unmanned aircraft created challenges to mission operations. Close coordination with FAA headquarters and air traffic control resulted in safe and successful missions that assisted firefighters by providing near-real-time imagery of selected wildfires.

Distributed data fusion across multiple hard and soft mobile sensor platforms

NASA Astrophysics Data System (ADS)

Sinsley, Gregory

One of the biggest challenges currently facing the robotics field is sensor data fusion. Unmanned robots carry many sophisticated sensors including visual and infrared cameras, radar, laser range finders, chemical sensors, accelerometers, gyros, and global positioning systems. By effectively fusing the data from these sensors, a robot would be able to form a coherent view of its world that could then be used to facilitate both autonomous and intelligent operation. Another distinct fusion problem is that of fusing data from teammates with data from onboard sensors. If an entire team of vehicles has the same worldview they will be able to cooperate much more effectively. Sharing worldviews is made even more difficult if the teammates have different sensor types. The final fusion challenge the robotics field faces is that of fusing data gathered by robots with data gathered by human teammates (soft sensors). Humans sense the world completely differently from robots, which makes this problem particularly difficult. The advantage of fusing data from humans is that it makes more information available to the entire team, thus helping each agent to make the best possible decisions. This thesis presents a system for fusing data from multiple unmanned aerial vehicles, unmanned ground vehicles, and human observers. The first issue this thesis addresses is that of centralized data fusion. This is a foundational data fusion issue, which has been very well studied. Important issues in centralized fusion include data association, classification, tracking, and robotics problems. Because these problems are so well studied, this thesis does not make any major contributions in this area, but does review it for completeness. The chapter on centralized fusion concludes with an example unmanned aerial vehicle surveillance problem that demonstrates many of the traditional fusion methods. The second problem this thesis addresses is that of distributed data fusion. Distributed data fusion is a younger field than centralized fusion. The main issues in distributed fusion that are addressed are distributed classification and distributed tracking. There are several well established methods for performing distributed fusion that are first reviewed. The chapter on distributed fusion concludes with a multiple unmanned vehicle collaborative test involving an unmanned aerial vehicle and an unmanned ground vehicle. The third issue this thesis addresses is that of soft sensor only data fusion. Soft-only fusion is a newer field than centralized or distributed hard sensor fusion. Because of the novelty of the field, the chapter on soft only fusion contains less background information and instead focuses on some new results in soft sensor data fusion. Specifically, it discusses a novel fuzzy logic based soft sensor data fusion method. This new method is tested using both simulations and field measurements. The biggest issue addressed in this thesis is that of combined hard and soft fusion. Fusion of hard and soft data is the newest area for research in the data fusion community; therefore, some of the largest theoretical contributions in this thesis are in the chapter on combined hard and soft fusion. This chapter presents a novel combined hard and soft data fusion method based on random set theory, which processes random set data using a particle filter. Furthermore, the particle filter is designed to be distributed across multiple robots and portable computers (used by human observers) so that there is no centralized failure point in the system. After laying out a theoretical groundwork for hard and soft sensor data fusion the thesis presents practical applications for hard and soft sensor data fusion in simulation. Through a series of three progressively more difficult simulations, some important hard and soft sensor data fusion capabilities are demonstrated. The first simulation demonstrates fusing data from a single soft sensor and a single hard sensor in order to track a car that could be driving normally or erratically. The second simulation adds the extra complication of classifying the type of target to the simulation. The third simulation uses multiple hard and soft sensors, with a limited field of view, to track a moving target and classify it as a friend, foe, or neutral. The final chapter builds on the work done in previous chapters by performing a field test of the algorithms for hard and soft sensor data fusion. The test utilizes an unmanned aerial vehicle, an unmanned ground vehicle, and a human observer with a laptop. The test is designed to mimic a collaborative human and robot search and rescue problem. This test makes some of the most important practical contributions of the thesis by showing that the algorithms that have been developed for hard and soft sensor data fusion are capable of running in real time on relatively simple hardware.

ROS-based ground stereo vision detection: implementation and experiments.

PubMed

Hu, Tianjiang; Zhao, Boxin; Tang, Dengqing; Zhang, Daibing; Kong, Weiwei; Shen, Lincheng

This article concentrates on open-source implementation on flying object detection in cluttered scenes. It is of significance for ground stereo-aided autonomous landing of unmanned aerial vehicles. The ground stereo vision guidance system is presented with details on system architecture and workflow. The Chan-Vese detection algorithm is further considered and implemented in the robot operating systems (ROS) environment. A data-driven interactive scheme is developed to collect datasets for parameter tuning and performance evaluating. The flying vehicle outdoor experiments capture the stereo sequential images dataset and record the simultaneous data from pan-and-tilt unit, onboard sensors and differential GPS. Experimental results by using the collected dataset validate the effectiveness of the published ROS-based detection algorithm.

Eliminating the Rhetoric: An Evaluation of the Halt Phase Strategy

DTIC Science & Technology

1999-06-01

Halt operations can demonstrate to the enemy leadership that continued aggression equals unacceptable risk because air superiority can be exploited...lesson can be drawn. The presence of ground forces demonstrates commitment and leadership . Powerful ground combat forces represent the strongest... leadership far more than technology will determine who wins and who loses." 10 The Fallacy of Technological Determinism Another main theme in critiques of

Advanced electro-mechanical micro-shutters for thermal infrared night vision imaging and targeting systems

NASA Astrophysics Data System (ADS)

Durfee, David; Johnson, Walter; McLeod, Scott

2007-04-01

Un-cooled microbolometer sensors used in modern infrared night vision systems such as driver vehicle enhancement (DVE) or thermal weapons sights (TWS) require a mechanical shutter. Although much consideration is given to the performance requirements of the sensor, supporting electronic components and imaging optics, the shutter technology required to survive in combat is typically the last consideration in the system design. Electro-mechanical shutters used in military IR applications must be reliable in temperature extremes from a low temperature of -40°C to a high temperature of +70°C. They must be extremely light weight while having the ability to withstand the high vibration and shock forces associated with systems mounted in military combat vehicles, weapon telescopic sights, or downed unmanned aerial vehicles (UAV). Electro-mechanical shutters must have minimal power consumption and contain circuitry integrated into the shutter to manage battery power while simultaneously adapting to changes in electrical component operating parameters caused by extreme temperature variations. The technology required to produce a miniature electro-mechanical shutter capable of fitting into a rifle scope with these capabilities requires innovations in mechanical design, material science, and electronics. This paper describes a new, miniature electro-mechanical shutter technology with integrated power management electronics designed for extreme service infra-red night vision systems.

Design and evaluation of a wing with embedded payloads for Small Unmanned Aerial System (SUAS) applications

NASA Astrophysics Data System (ADS)

Pearson, Roger A.

Rapidly advancing technology has developed multiple thin filmed devices capable of expanding the abilities of Small Unmanned Aircraft Systems (SUAS). This research develops a viable solution for integrating thin film solar cells into a currently operational SUAS. A wing was designed and produced that was capable of replacing the existing wing while providing additional functionality with embedded solar arrays. The study investigates the challenges of meeting the original requirements of the original equipment manufacturer wing while adapting it to fully protect and support structurally embedded payloads. In total, seven complete wings were produced and tested. Combinations of functional and simulated payloads were fully integrated into two of these wings. The merits of these designs were quantified and validated through both ground testing and flight testing with the SUAS.

Algorithm for covert convoy of a moving target using a group of autonomous robots

NASA Astrophysics Data System (ADS)

Polyakov, Igor; Shvets, Evgeny

2018-04-01

An important application of autonomous robot systems is to substitute human personnel in dangerous environments to reduce their involvement and subsequent risk on human lives. In this paper we solve the problem of covertly convoying a civilian in a dangerous area with a group of unmanned ground vehicles (UGVs) using social potential fields. The novelty of our work lies in the usage of UGVs as compared to the unmanned aerial vehicles typically employed for this task in the approaches described in literature. Additionally, in our paper we assume that the group of UGVs should simultaneously solve the problem of patrolling to detect intruders on the area. We develop a simulation system to test our algorithms, provide numerical results and give recommendations on how to tune the potentials governing robots' behaviour to prioritize between patrolling and convoying tasks.

Transition aerodynamics for 20-percent-scale VTOL unmanned aerial vehicle

NASA Technical Reports Server (NTRS)

Kjerstad, Kevin J.; Paulson, John W., Jr.

1993-01-01

An investigation was conducted in the Langley 14- by 22-Foot Subsonic Tunnel to establish a transition data base for an unmanned aerial vehicle utilizing a powered-lift ejector system and to evaluate alterations to the ejector system for improved vehicle performance. The model used in this investigation was a 20-percent-scale, blended-body, arrow-wing configuration with integrated twin rectangular ejectors. The test was conducted from hover through transition conditions with variations in angle of attack, angle of sideslip, free-stream dynamic pressure, nozzle pressure ratio, and model ground height. Force and moment data along with extensive surface pressure data were obtained. A laser velocimeter technique for measuring inlet flow velocities was demonstrated at a single flow condition, and also a low order panel method was successfully used to numerically simulate the ejector inlet flow.

Multispectral Remote Sensing of the Earth and Environment Using KHawk Unmanned Aircraft Systems

NASA Astrophysics Data System (ADS)

Gowravaram, Saket

This thesis focuses on the development and testing of the KHawk multispectral remote sensing system for environmental and agricultural applications. KHawk Unmanned Aircraft System (UAS), a small and low-cost remote sensing platform, is used as the test bed for aerial video acquisition. An efficient image geotagging and photogrammetric procedure for aerial map generation is described, followed by a comprehensive error analysis on the generated maps. The developed procedure is also used for generation of multispectral aerial maps including red, near infrared (NIR) and colored infrared (CIR) maps. A robust Normalized Difference Vegetation index (NDVI) calibration procedure is proposed and validated by ground tests and KHawk flight test. Finally, the generated aerial maps and their corresponding Digital Elevation Models (DEMs) are used for typical application scenarios including prescribed fire monitoring, initial fire line estimation, and tree health monitoring.

Automatic construction of aerial corridor for navigation of unmanned aircraft systems in class G airspace using LiDAR

NASA Astrophysics Data System (ADS)

Feng, Dengchao; Yuan, Xiaohui

2016-05-01

According to the airspace classification by the Federal Aviation Agency, Class G airspace is the airspace at 1,200 feet or less to the ground, which is beneath class E airspace and between classes B-D cylinders around towered airstrips. However, the lack of flight supervision mechanism in this airspace, unmanned aerial system (UAS) missions pose many safety issues. Collision avoidance and route planning for UASs in class G airspace is critical for broad deployment of UASs in commercial and security applications. Yet, unlike road network, there is no stationary marker in airspace to identify corridors that are available and safe for UASs to navigate. In this paper, we present an automatic LiDAR-based airspace corridor construction method for navigation in class G airspace and a method for route planning to minimize collision and intrusion. Our idea is to combine LiDAR to automatically identify ground objects that pose navigation restrictions such as airports and high-rises. Digital terrain model (DTM) is derived from LiDAR point cloud to provide an altitude-based class G airspace description. Following the FAA Aeronautical Information Manual, the ground objects that define the restricted airspaces are used together with digital surface model derived from LiDAR data to construct the aerial corridor for navigation of UASs. Preliminary results demonstrate competitive performance and the construction of aerial corridor can be automated with much great efficiency.

Improving Forest Wildfire Suppression Using Penetrating Reconnaissance And Real Time Data Transfer

NASA Astrophysics Data System (ADS)

Greer, Jerry D.

1990-02-01

The suppression of a wildfire is analogous to a combat action. Fires, like battles, spread fast and suppression forces must be highly mobile. The enemy, (in this case) the wildfire, is lethal in that it kills or destroys forces, equipment, and natural resources left in its path. The suppression action must be carried on day and night until the "enemy" is contained. Both air operations and ground forces are used. Just as in a combat situation, wildfire suppression forces need penetrating reconnaissance with real time data transfer. This paper presents a review of the current system of intelligence gathering on a wildfire where aerial observers, infrared detectors, and ground intelligence officers gather data and either radio or carry the data to the command center. It then attempts to show how some current military reconnaissance systems might be applied to wildfire control processes. The payoffs would include improved safety for both air and ground forces and faster containment of the wildfire which would reduce forest resources lost and decrease the total monetary cost of the containment action.

A Multi-Robot Sense-Act Approach to Lead to a Proper Acting in Environmental Incidents

PubMed Central

Conesa-Muñoz, Jesús; Valente, João; del Cerro, Jaime; Barrientos, Antonio; Ribeiro, Angela

2016-01-01

Many environmental incidents affect large areas, often in rough terrain constrained by natural obstacles, which makes intervention difficult. New technologies, such as unmanned aerial vehicles, may help address this issue due to their suitability to reach and easily cover large areas. Thus, unmanned aerial vehicles may be used to inspect the terrain and make a first assessment of the affected areas; however, nowadays they do not have the capability to act. On the other hand, ground vehicles rely on enough power to perform the intervention but exhibit more mobility constraints. This paper proposes a multi-robot sense-act system, composed of aerial and ground vehicles. This combination allows performing autonomous tasks in large outdoor areas by integrating both types of platforms in a fully automated manner. Aerial units are used to easily obtain relevant data from the environment and ground units use this information to carry out interventions more efficiently. This paper describes the platforms and sensors required by this multi-robot sense-act system as well as proposes a software system to automatically handle the workflow for any generic environmental task. The proposed system has proved to be suitable to reduce the amount of herbicide applied in agricultural treatments. Although herbicides are very polluting, they are massively deployed on complete agricultural fields to remove weeds. Nevertheless, the amount of herbicide required for treatment is radically reduced when it is accurately applied on patches by the proposed multi-robot system. Thus, the aerial units were employed to scout the crop and build an accurate weed distribution map which was subsequently used to plan the task of the ground units. The whole workflow was executed in a fully autonomous way, without human intervention except when required by Spanish law due to safety reasons. PMID:27517934

Safe Operation of Mobile Unmanned Ground Vehicle (UGV) Systems

DTIC Science & Technology

2010-07-13

vehicle could go during uncommanded movement and full throttle acceleration. 4. TEST PROCEDURES. 4.1 Vehicle Subsystem Tests. These tests identify...time required to go from straight ahead to full deflection in one direction. (sec) i. Observations on ability of the remote operator to maintain...were well below the lateral acceleration limits of the vehicle resulting in very predictable handling traits. The primary concern , albeit subjective

Challenges for Deploying Man-Portable Robots into Hostile Environments

DTIC Science & Technology

2000-11-01

video, JAUGS , MDARS 1. BACKGROUND In modern-day warfare the most likely battlefield is an urban environment, which poses many threats to today’s...teleoperation, reconnaissance, surveillance, digital video, JAUGS , MDARS 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18...Architecture (MRHA) and the Joint Architecture for Unmanned Ground Systems ( JAUGS ). The hybrid architecture is termed SMART for Small Robotic Technology. It

Unmanned Ground Vehicle

DTIC Science & Technology

2001-11-01

Systems ( JAUGS ). JAUGS is a JRP technology initiative under the cognizance of the Aviation and Missile Command Research, Development and Engineering Center...AMRDEC). The JAUGS focus is on developing a high-level command and control architecture for UGVs. As defined in the JRP Glossary, “ JAUGS is an upper...vehicle platforms and missions. JAUGS uses the Society of Automotive Engineers Generic Open Architecture framework to classify UGV interfaces and

Value of Responsive Launch Safety Toolsets

NASA Astrophysics Data System (ADS)

Devoid, Wayne E.

2013-09-01

This paper will discuss the advantages and disadvantages of all-in-one risk assessment toolsets as they are applied to a wide variety of orbital, suborbital, lander, and unmanned vehicles. Toolsets like APT's SafeLab and Horizon, that are designed from the ground up specifically to address ever- changing vehicle and mission parameters, reduce the need for additional software development costs for launch ranges and vehicle manufacturers.

Collaborative Point Paper on Border Surveillance Technology

DTIC Science & Technology

2007-06-01

Systems PLC LORHIS (Long Range Hyperspectral Imaging System ) can be configured for either manned or unmanned aircraft to automatically detect and...Airships, and/or Aerostats, (RF, Electro-Optical, Infrared, Video) • Land- based Sensor Systems (Attended/Mobile and Unattended: e.g., CCD, Motion, Acoustic...electronic surveillance technologies for intrusion detection and warning. These ground- based systems are primarily short-range, up to around 500 meters

Reconnaissance and Autonomy for Small Robots (RASR)

DTIC Science & Technology

2012-06-29

The Reconnaissance and Autonomy for Small Robots (RASR) team developed a system for the coordination of groups of unmanned ground vehicles (UGVs...development of a system that used 1) a relevant deployable platform; 2) a minimum set of relatively inexpensive navigation and LADAR sensors; 3) an...expandable and modular control system with innovative software algorithms to minimize computing footprint; and that minimized 4) required communications

Director, Operational Test and Evaluation FY 2014 Annual Report

DTIC Science & Technology

2015-01-01

Federal Departments and Agencies. Mitigation measures such as curtailment of wind turbine operations during test periods, identification of alternative...impact of wind turbines on ground-based and airborne radars, and this investment may help mitigate interference of wind turbines with test range...Frequency Active (SURTASS CLFA) Test Plan Tactical Unmanned Aircraft System Tactical Common Data Link (Shadow) FOT&E OTA Test Plan Tempest Wind 2014

Performance Evaluation of Intelligent Systems at the National Institute of Standards and Technology (NIST)

DTIC Science & Technology

2011-03-01

past few years, including performance evaluation of emergency response robots , sensor systems on unmanned ground vehicles, speech-to-speech translation...emergency response robots ; intelligent systems; mixed palletizing, testing, simulation; robotic vehicle perception systems; search and rescue robots ...ranging from autonomous vehicles to urban search and rescue robots to speech translation and manufacturing systems. The evaluations have occurred in

An Analysis of the Defense Acquisition Strategy for Unmanned Systems

DTIC Science & Technology

2014-03-01

product service code RAA Rapid Acquisition Authority RCS radar cross section REF Rapid Equipping Force RFID radio frequency identification RDT...commercialization of the radio frequency identification (RFID) chip also provides a useful basis for comparison. WWII served as the proving ground for RFID...companies following the September 11 , 2001 attacks. It is important to note that despite advances in GPS technology and long-range communications

An Analysis of the Defense Acquisition Strategy for Unmanned Systems

DTIC Science & Technology

2013-11-20

Product Service Code RAA Rapid Acquisition Authority RCS Radar Cross Section REF Rapid Equipping Force RFID Radio Frequency Identification RDT...the radio frequency identification (RFID) chip also provides a useful basis for comparison. WWII served as the proving ground for RFID technology...enabling miniaturized Free Space Optical Communications systems capable of scaling across data rates, distances, and platforms and integrating with radio

Guidelines and Metrics for Assessing Space System Cost Estimates

DTIC Science & Technology

2008-01-01

analysis time, reuse tooling, models , mechanical ground-support equipment [MGSE]) High mass margin ( simplifying assumptions used to bound solution...engineering environment changes High reuse of architecture, design , tools, code, test scripts, and commercial real- time operating systems Simplified life...Coronal Explorer TWTA traveling wave tube amplifier USAF U.S. Air Force USCM Unmanned Space Vehicle Cost Model USN U.S. Navy UV ultraviolet UVOT UV

Unmanned Ground Vehicles for Integrated Force Protection

DTIC Science & Technology

2004-04-01

employed. 2 Force Protection 18 MAR 02 Security Posts Squad Laptop Fire Tm Ldr Wearable Computers OP/LP Def Fight Psn SRT Sensors USA, USMC, Allied...visual systems. Attaching sensors and response devices on a monorail proved to be much more technically challenging than expected. Film producers and...facilitate experimentation with weapon aiming and firing techniques from the MRHA. grated Marsupial Delivery System was developed to transport smaller

Hands-Free, Heads-Up Control System for Unmanned Ground Vehicles

DTIC Science & Technology

2011-08-10

interface evaluation Industry evaluated two commercial-off-the-shelf (COTS) brain computer interfaces from two companies – Neurosky and Emotiv ...useless, resulting in very low command recognition accuracy. In addition, latency issues plagued the system. Figure 6 Emotiv Headset The... Emotiv system, unlike the Neurosky, required great effort to use and calibrate. It requires 16 foam tips to be wet with saline solution and then

Defense AT&L. Volume 38, Number 5. September-October 2009

DTIC Science & Technology

2009-10-01

and downward spirals of emotion-driven sell-offs. Conceived and managed without great care and foresight , networked sys- tems function to spread bad...the Joint Project Manager for Nuclear, Biological, and Chemical Contamina- tion Avoidance in June 2009. An Unmanned Ground Vehicle Thrust area two... Project Manager for Nuclear, Biological, and Chemical Contamination Avoidance; the Navy Explosive Ordnance Disposal Technical Division; the Future

TARDEC Update for TTCP

DTIC Science & Technology

2009-04-01

09 COL Kevin Peterson Principal Deputy Program Manager Joint MRAP Vehicle Program 17 MRAP Variant Overview FP COUGAR CAT I (FPII CAT I) MaxxPro BAE...distribution unlimited 13. SUPPLEMENTARY NOTES Presented at the TTCP LND TP3 Annual Meeting and Task Workshop Manned and Unmanned Ground Vehicle Systems, 23...28 April 2009, Suffield, Alberta, Canada, The original document contains color images. 14. ABSTRACT 15. SUBJECT TERMS 16. SECURITY

Evaluation of the ImmerVision IMV1-1/3NI Panomorph Lens on a Small Unmanned Ground Vehicle (SUGV)

DTIC Science & Technology

2013-07-01

360°. For the above reason, a 1.3-MP Chameleon color universal serial bus (USB) camera with a 1/3-in CCD from PGR was selected instead of...recommended qualified cameras to host the panomorph lens. Having the advantage of a small footprint, the Chameleon camera with the IMV1 lens can be easily

A remotely piloted aircraft system in major incident management: concept and pilot, feasibility study.

PubMed

Abrahamsen, Håkon B

2015-06-10

Major incidents are complex, dynamic and bewildering task environments characterised by simultaneous, rapidly changing events, uncertainty and ill-structured problems. Efficient management, communication, decision-making and allocation of scarce medical resources at the chaotic scene of a major incident is challenging and often relies on sparse information and data. Communication and information sharing is primarily voice-to-voice through phone or radio on specified radio frequencies. Visual cues are abundant and difficult to communicate between teams and team members that are not co-located. The aim was to assess the concept and feasibility of using a remotely piloted aircraft (RPA) system to support remote sensing in simulated major incident exercises. We carried out an experimental, pilot feasibility study. A custom-made, remotely controlled, multirotor unmanned aerial vehicle with vertical take-off and landing was equipped with digital colour- and thermal imaging cameras, a laser beam, a mechanical gripper arm and an avalanche transceiver. We collected data in five simulated exercises: 1) mass casualty traffic accident, 2) mountain rescue, 3) avalanche with buried victims, 4) fisherman through thin ice and 5) search for casualties in the dark. The unmanned aerial vehicle was remotely controlled, with high precision, in close proximity to air space obstacles at very low levels without compromising work on the ground. Payload capacity and tolerance to wind and turbulence were limited. Aerial video, shot from different altitudes, and remote aerial avalanche beacon search were streamed wirelessly in real time to a monitor at a ground base. Electromagnetic interference disturbed signal reception in the ground monitor. A small remotely piloted aircraft can be used as an effective tool carrier, although limited by its payload capacity, wind speed and flight endurance. Remote sensing using already existing remotely piloted aircraft technology in pre-hospital environments is feasible and can be used to support situation assessment and information exchange at a major incident scene. Regulations are needed to ensure the safe use of unmanned aerial vehicles in major incidents. Ethical issues are abundant.

Evaluation of Forest Health Conditions using Unmanned Aircraft Systems (UAS)

NASA Astrophysics Data System (ADS)

Hatfield, M. C.; Heutte, T. M.

2016-12-01

US Forest Service Alaska Region Forest Health Protection (FHP) and University of Alaska Fairbanks, Alaska Center for Unmanned Aircraft Systems Integration (ACUASI) are evaluating capability of Unmanned Aerial Systems (UAS) to monitor forest health conditions in Alaska's Interior Region. In July 2016, the team deployed UAS at locations in the Tanana Valley near Fairbanks in order to familiarize FHP staff with capabilities of UAS for evaluating insect and disease damage. While many potential uses of UAS to evaluate and monitor forest health can be envisioned, this project focused on use of a small UAS for rapid assessment of insect and disease damage. Traditional ground-based methods are limited by distance from ground to canopy and inaccessibility of forest stands due to terrain conditions. Observation from fixed-wing aircraft provide a broad overview of conditions but are limited by minimum safe flying altitude (500' AGL) and aircraft speed ( 100 mph). UAS may provide a crucial bridge to fill in gaps between ground and airborne methods, and offer significant cost savings and greater flexibility over helicopter-based observations. Previous uses of UAS for forest health monitoring are limited - this project focuses on optimizing choice of vehicle, sensors, resolution and area scanned from different altitudes, and use of visual spectrum vs NIR image collection. The vehicle selected was the ACUASI Ptarmigan, a small hexacopter (based on DJI S800 airframe and 3DR autopilot) capable of carrying a 1.5 kg payload for 15 min for close-range environmental monitoring missions. Sites were chosen for conditions favorable to UAS operation and presence of forest insect and disease agents including spruce broom rust, aspen leaf miner, birch leaf roller, and willow leafblotch miner. A total of 29 flights were conducted with 9000+ images collected. Mission variables included camera height, UAS speed, and medium- (Sony NEX-7) vs low-resolution (GoPro Hero) cameras. Invaluable knowledge was gained as to limitations and opportunities for field deployment of UAS relative to local conditions of terrain and forest type. Analysis will include image suitability for orthocorrection and production of stand level image mosaic, with further optimization of image collection parameters to detect known insect- and disease-caused disturbance.

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.

Sea Basing and Alternatives for Deploying and Sustaining Ground Combat Forces

DTIC Science & Technology

2007-07-01

speed roll-on/roll-off ship (top) and an intratheater high - speed vessel (bottom) are shown alongside a notional mobile landing platform (center...F), might be needed to fully support sea-based ground forces. Those other ships could include tankers and high - speed ships for spe- cial cargo . The...maritime prepositioning squadron; T-HSS = high - speed ship ; TBD = to be determined. Vehicles Cargo Aircraft (Thousands of (Thousands

Atmospheric Data Requirements for Battlefield Obscuration Applications.

DTIC Science & Technology

1980-06-01

34 ECOM-5572, August 1975. 9. Miers, B., G. Blackman, D. Langer, and N. Lorimier, " Analysis of SMS/GOES Film Data," ECOM-5573, September 1975. 10...ATEC-PL-M Combined Arms Combat Developments Activity; ATZLCA-RS Concepts Analysis Agency; CSCA-SMC Dugway Proving Ground; STEDP-PP Electronic Warfare...CS-SA Materiel Systems Analysis Activity, Ground Warfare Division; DRXSY-GS Missile Research and Development Command, Research Directorate; DRDMI-TRA

Air Ground Integration and the Brigade Combat Team

DTIC Science & Technology

2013-06-13

Theater Air Control System TADIL-J Tactical Digital Information Link-J TAGS Theater Air Ground System TAIS Tactical Air Integration System TBMCS Theater...during planning and execution. This system interacts with the Theater Battle Management Core System ( TBMCS ) used by the JAOC to build and disseminate...control nodes within the AAGS, in conjunction with the interoperability with the TBMCS and Army mission command systems facilitates information flow during

COMBAT: Initial experience with a randomized clinical trial of plasma-based resuscitation in the field for traumatic hemorrhagic shock

PubMed Central

Chapman, Michael P.; Moore, Ernest E.; Chin, Theresa L; Ghasabyan, Arsen; Chandler, James; Stringham, John; Gonzalez, Eduardo; Moore, Hunter B.; Banerjee, Anirban; Silliman, Christopher C; Sauaia, Angela

2015-01-01

The existing evidence shows great promise for plasma as the first resuscitation fluid in both civilian and military trauma. We embarked on the Control of Major Bleeding After Trauma (COMBAT) trial with the support of the Department of Defense, in order to determine if plasma-first resuscitation yields hemostatic and survival benefits. The methodology of the COMBAT study represents not only three years of development work, but the integration of nearly two-decades of technical experience with the design and implementation of other clinical trials and studies. Herein, we describe the key features of the study design, critical personnel and infrastructural elements, and key innovations. We will also briefly outline the systems engineering challenges entailed by this study. COMBAT is a randomized, placebo controlled, semi-blinded prospective Phase IIB clinical trial, conducted in a ground ambulance fleet based at a Level I trauma center, and part of a multicenter collaboration. The primary objective of COMBAT is to determine the efficacy of field resuscitation with plasma first, compared to standard of care (normal saline). To date we have enrolled 30 subjects in the COMBAT study. The ability to achieve intervention with a hemostatic resuscitation agent in the closest possible temporal proximity to injury is critical and represents an opportunity to forestall the evolution of the “bloody vicious cycle”. Thus, the COMBAT model for deploying plasma in first response units should serve as a model for RCTs of other hemostatic resuscitative agents. PMID:25784527

Intercomparison of Unmanned Aerial Vehicle and Ground-Based Narrow Band Spectrometers Applied to Crop Trait Monitoring in Organic Potato Production

PubMed Central

Domingues Franceschini, Marston Héracles; Bartholomeus, Harm; van Apeldoorn, Dirk; Suomalainen, Juha; Kooistra, Lammert

2017-01-01

Vegetation properties can be estimated using optical sensors, acquiring data on board of different platforms. For instance, ground-based and Unmanned Aerial Vehicle (UAV)-borne spectrometers can measure reflectance in narrow spectral bands, while different modelling approaches, like regressions fitted to vegetation indices, can relate spectra with crop traits. Although monitoring frameworks using multiple sensors can be more flexible, they may result in higher inaccuracy due to differences related to the sensors characteristics, which can affect information sampling. Also organic production systems can benefit from continuous monitoring focusing on crop management and stress detection, but few studies have evaluated applications with this objective. In this study, ground-based and UAV spectrometers were compared in the context of organic potato cultivation. Relatively accurate estimates were obtained for leaf chlorophyll (RMSE = 6.07 µg·cm−2), leaf area index (RMSE = 0.67 m2·m−2), canopy chlorophyll (RMSE = 0.24 g·m−2) and ground cover (RMSE = 5.5%) using five UAV-based data acquisitions, from 43 to 99 days after planting. These retrievals are slightly better than those derived from ground-based measurements (RMSE = 7.25 µg·cm−2, 0.85 m2·m−2, 0.28 g·m−2 and 6.8%, respectively), for the same period. Excluding observations corresponding to the first acquisition increased retrieval accuracy and made outputs more comparable between sensors, due to relatively low vegetation cover on this date. Intercomparison of vegetation indices indicated that indices based on the contrast between spectral bands in the visible and near-infrared, like OSAVI, MCARI2 and CIg provided, at certain extent, robust outputs that could be transferred between sensors. Information sampling at plot level by both sensing solutions resulted in comparable discriminative potential concerning advanced stages of late blight incidence. These results indicate that optical sensors, and their integration, have great potential for monitoring this specific organic cropping system. PMID:28629159

Intercomparison of Unmanned Aerial Vehicle and Ground-Based Narrow Band Spectrometers Applied to Crop Trait Monitoring in Organic Potato Production.

PubMed

Domingues Franceschini, Marston Héracles; Bartholomeus, Harm; van Apeldoorn, Dirk; Suomalainen, Juha; Kooistra, Lammert

2017-06-18

Vegetation properties can be estimated using optical sensors, acquiring data on board of different platforms. For instance, ground-based and Unmanned Aerial Vehicle (UAV)-borne spectrometers can measure reflectance in narrow spectral bands, while different modelling approaches, like regressions fitted to vegetation indices, can relate spectra with crop traits. Although monitoring frameworks using multiple sensors can be more flexible, they may result in higher inaccuracy due to differences related to the sensors characteristics, which can affect information sampling. Also organic production systems can benefit from continuous monitoring focusing on crop management and stress detection, but few studies have evaluated applications with this objective. In this study, ground-based and UAV spectrometers were compared in the context of organic potato cultivation. Relatively accurate estimates were obtained for leaf chlorophyll (RMSE = 6.07 µg·cm -2 ), leaf area index (RMSE = 0.67 m²·m -2 ), canopy chlorophyll (RMSE = 0.24 g·m -2 ) and ground cover (RMSE = 5.5%) using five UAV-based data acquisitions, from 43 to 99 days after planting. These retrievals are slightly better than those derived from ground-based measurements (RMSE = 7.25 µg·cm -2 , 0.85 m²·m -2 , 0.28 g·m -2 and 6.8%, respectively), for the same period. Excluding observations corresponding to the first acquisition increased retrieval accuracy and made outputs more comparable between sensors, due to relatively low vegetation cover on this date. Intercomparison of vegetation indices indicated that indices based on the contrast between spectral bands in the visible and near-infrared, like OSAVI, MCARI2 and CI g provided, at certain extent, robust outputs that could be transferred between sensors. Information sampling at plot level by both sensing solutions resulted in comparable discriminative potential concerning advanced stages of late blight incidence. These results indicate that optical sensors, and their integration, have great potential for monitoring this specific organic cropping system.

Recent Events in Guidance, Navigation and Control

NASA Technical Reports Server (NTRS)

Polites, Michael E.; Bullman, Jack (Technical Monitor)

2001-01-01

This article summarizes recent events in Guidance, Navigation, and Control (GN&C) in space, weapons and missiles, and aircraft. The section on space includes recent developments with the following NASA spacecraft and space vehicles: Near Earth Asteroid Rendezvous, Deep Space 1, Microwave Anisotropy Probe, Earth Observer-1, Compton Gamma Ray Observatory, the International Space Station, X-38, and X-40A. The section on weapons and missiles includes recent developments with the following missiles: Joint Air-to-Surface Standoff Missile, Storm Shadow/Scalp EG precision standoff missile, Hellfire missile, AIM-120C Advanced medium-range air-to-air missile, Derby missile, Arrow 2, and the Standard Missile SM-3. The section on aircraft includes recent developments with the following aircraft: Joint Strike Fighter, X-31, V-22, Couger/SUDer Puma Mk. 2, Predator B 001, and the Unmanned Combat Air Vehicle.

Open source IPSEC software in manned and unmanned space missions

NASA Astrophysics Data System (ADS)

Edwards, Jacob

Network security is a major topic of research because cyber attackers pose a threat to national security. Securing ground-space communications for NASA missions is important because attackers could endanger mission success and human lives. This thesis describes how an open source IPsec software package was used to create a secure and reliable channel for ground-space communications. A cost efficient, reproducible hardware testbed was also created to simulate ground-space communications. The testbed enables simulation of low-bandwidth and high latency communications links to experiment how the open source IPsec software reacts to these network constraints. Test cases were built that allowed for validation of the testbed and the open source IPsec software. The test cases also simulate using an IPsec connection from mission control ground routers to points of interest in outer space. Tested open source IPsec software did not meet all the requirements. Software changes were suggested to meet requirements.

2008 Combat Vehicles Conference

DTIC Science & Technology

2008-10-22

reduction — Reduced logistics burdens — Regenerative braking / energy recovery • Enhance functionality, flexibility, power quality, and management...ground based maneuver tasks. The MPC, as the medium capability category platform, provides a bridge in capability between the EFV and JLTV and a

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.

Scientific Infrastructure To Support Manned And Unmanned Aircraft, Tethered Balloons, And Related Aerial Activities At Doe Arm Facilities On The North Slope Of Alaska

NASA Astrophysics Data System (ADS)

Ivey, M.; Dexheimer, D.; Hardesty, J.; Lucero, D. A.; Helsel, F.

2015-12-01

The U.S. Department of Energy (DOE), through its scientific user facility, the Atmospheric Radiation Measurement (ARM) facilities, provides scientific infrastructure and data to the international Arctic research community via its research sites located on the North Slope of Alaska. DOE has recently invested in improvements to facilities and infrastructure to support operations of unmanned aerial systems for science missions in the Arctic and North Slope of Alaska. A new ground facility, the Third ARM Mobile Facility, was installed at Oliktok Point Alaska in 2013. Tethered instrumented balloons were used to make measurements of clouds in the boundary layer including mixed-phase clouds. A new Special Use Airspace was granted to DOE in 2015 to support science missions in international airspace in the Arctic. Warning Area W-220 is managed by Sandia National Laboratories for DOE Office of Science/BER. W-220 was successfully used for the first time in July 2015 in conjunction with Restricted Area R-2204 and a connecting Altitude Reservation Corridor (ALTRV) to permit unmanned aircraft to operate north of Oliktok Point. Small unmanned aircraft (DataHawks) and tethered balloons were flown at Oliktok during the summer and fall of 2015. This poster will discuss how principal investigators may apply for use of these Special Use Airspaces, acquire data from the Third ARM Mobile Facility, or bring their own instrumentation for deployment at Oliktok Point, Alaska. The printed poster will include the standard DOE funding statement.

Intelligence and Electronic Warfare (IEW) System Fact Sheets

DTIC Science & Technology

1994-04-06

unattended ground sensor system that detects, classifies, and determines direction of movement of intruding personnel and vehicles . It uses remotely...fixed and moving target locations, speed and direction of movement, and classification of tracked/wheeled vehicles . The GSM is equipped with standard... Vehicle The Pointer is a Hand-Launched Unmanned Aerial Vehicle (HL-UAV) to be employed by battalion scouts for t"over-the-hillll reconnaissance and

Counter Tunnel Exploration, Mapping, and Localization with an Unmanned Ground Vehicle

DTIC Science & Technology

2014-05-01

support terrorist activity. Past robotic tunnel exploration efforts have had limited success in aiding law enforcement to explore and map the suspect...cross-border tunnels. These efforts have made use of adapted explosive ordnance disposal (EOD) or pipe inspection robotic systems that are not ideally... Robotics Enterprise (JGRE) to develop a prototype robotic system for counter-tunnel operations, focusing on exploration, mapping, and characterization of

Wireless Sensor Buoys for Perimeter Security of Military Vessels and Seabases

DTIC Science & Technology

2015-12-01

however, additional sensors utilizing modern technology and a self -forming, as well as self - healing , network could further diminish attacks against...Space SSDF Ship’s Self -Defense Force UAV Unmanned Aerial Vehicle UGS Unattended Ground Sensor USB Universal Serial Bus USMC United States Marine...conditions may delay their reaction resulting in the attacking surface craft entering into a critically close position. The Ship’s Self -Defense

Investigating the Usefulness of Soldier Aids for Autonomous Unmanned Ground Vehicles, Part 2

DTIC Science & Technology

2015-03-01

distribution is unlimited. 13. SUPPLEMENTARY NOTES DCS Corporation, Alexandria, VA 14. ABSTRACT In the past, robot operation has been a high-cognitive...increase performance and reduce perceived workload. The aids were overlays displaying what an autonomous robot perceived in the environment and the...subsequent course of action planned by the robot . Eight active-duty, US Army Soldiers completed 16 scenario missions using an operator interface

The Deep Space Network

NASA Technical Reports Server (NTRS)

1974-01-01

The objectives, functions, and organization, of the Deep Space Network are summarized. Deep Space stations, ground communications, and network operations control capabilities are described. The network is designed for two-way communications with unmanned spacecraft traveling approximately 1600 km from earth to the farthest planets in the solar system. It has provided tracking and data acquisition support for the following projects: Ranger, Surveyor, Mariner, Pioneer, Apollo, Helios, Viking, and the Lunar Orbiter.

Complexity, Robustness, and Multistability in Network Systems with Switching Topologies: A Hierarchical Hybrid Control Approach

DTIC Science & Technology

2015-05-22

sensor networks for managing power levels of wireless networks ; air and ground transportation systems for air traffic control and payload transport and... network systems, large-scale systems, adaptive control, discontinuous systems 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF...cover a broad spectrum of ap- plications including cooperative control of unmanned air vehicles, autonomous underwater vehicles, distributed sensor

UGV History 101: A Brief History of Unmanned Ground Vehicle (UGV) Development Efforts

DTIC Science & Technology

1995-01-01

robots). These successful demonstrations led to the formulation of the Teleoperated Mobile Anti-Armor Platform ( TMAP ) program, and prototype systems were...Unfortunately, Congressional direction in December 1987 prohibited the emplacement of weapons systems on robots, and the TMAP was retargeted to the...Technology Demonstration project, a demonstration incorporating both the Army’s TMAPs and the GATERS TOV was held at Camp Pendleton in September 1989

Wargaming the Enemy Unmanned Aircraft System (UAS) Threat

DTIC Science & Technology

2013-01-01

and various current and future short range air defense systems. In addition, the EWF experiments had Army high altitude airship (HAA) with a...component during these experiments dealt with controlling high speed fighters operating at low altitude over the ground commander’s AO. The...JAGIC).18 “”During experimentation with JAGIC, the ACA delegated a volume of airspace, either below a coordinating altitude or within a high density

Motion Planning and Task Assignment for Unmanned Aerial Vehicles Cooperating with Unattended Ground Sensors

DTIC Science & Technology

2014-10-24

problem was formalized as the Dubins travelling salesman problem (TSP). In the second phase of the research we have...given constraints on its motion. This problem was formalized as the Dubins travelling salesman problem (TSP). The contributions of the study in the... problem was formalized as the Dubins travelling salesman problem (TSP). The Dubins Travelling Salesperson Problem (DTSP) and its variants [8, 12,

Proceedings for the Advance Planning Briefing for Industry

DTIC Science & Technology

1990-01-24

Liaison Office TOD - Technical Objective Documents TSR - Tactical Source Region UAV - Unmanned Aerial Vehicle UGT - UnderGround nuclear Test A G.EN D635I...tests in AURORA and underground nuclear tests ( UGT ) and will help develop tactical source region hardening requirements and lead to approaches for TSR...X-Ray theory , lasers, electronic controllers, computers, robotics, etc. Contracting for scientific studies and one-of-a-kind machines will emphasize

Fast Sparse Coding for Range Data Denoising with Sparse Ridges Constraint.

PubMed

Gao, Zhi; Lao, Mingjie; Sang, Yongsheng; Wen, Fei; Ramesh, Bharath; Zhai, Ruifang

2018-05-06

Light detection and ranging (LiDAR) sensors have been widely deployed on intelligent systems such as unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) to perform localization, obstacle detection, and navigation tasks. Thus, research into range data processing with competitive performance in terms of both accuracy and efficiency has attracted increasing attention. Sparse coding has revolutionized signal processing and led to state-of-the-art performance in a variety of applications. However, dictionary learning, which plays the central role in sparse coding techniques, is computationally demanding, resulting in its limited applicability in real-time systems. In this study, we propose sparse coding algorithms with a fixed pre-learned ridge dictionary to realize range data denoising via leveraging the regularity of laser range measurements in man-made environments. Experiments on both synthesized data and real data demonstrate that our method obtains accuracy comparable to that of sophisticated sparse coding methods, but with much higher computational efficiency.

Bringing UAVs to the fight: recent army autonomy research and a vision for the future

NASA Astrophysics Data System (ADS)

Moorthy, Jay; Higgins, Raymond; Arthur, Keith

2008-04-01

The Unmanned Autonomous Collaborative Operations (UACO) program was initiated in recognition of the high operational burden associated with utilizing unmanned systems by both mounted and dismounted, ground and airborne warfighters. The program was previously introduced at the 62nd Annual Forum of the American Helicopter Society in May of 20061. This paper presents the three technical approaches taken and results obtained in UACO. All three approaches were validated extensively in contractor simulations, two were validated in government simulation, one was flight tested outside the UACO program, and one was flight tested in Part 2 of UACO. Results and recommendations are discussed regarding diverse areas such as user training and human-machine interface, workload distribution, UAV flight safety, data link bandwidth, user interface constructs, adaptive algorithms, air vehicle system integration, and target recognition. Finally, a vision for UAV As A Wingman is presented.

Airship platform for high-resolution space technology telescope

NASA Astrophysics Data System (ADS)

Miller, John A.

1995-06-01

This paper sets out to describe the utilization of an unmanned lighter-than-air vehicle as a sub- orbital airborne mission platform for the deployment of space technology telescopes allowing innovative space quality astronomy to be conducted. The paper describes how a low cost airship of relatively simple design can be produced that will be capable of operating in an unmanned remotely piloted mode from a base, fly to a pressure altitude, shut down engines, and operate in a free balloon stage for the period of experimental research. It will be shown that ballooning will allow the platform to be completely free from vibration, and in conjunction with high altitude and polar weather conditions minimize perturbation caused by weather. This paper outlines the technical features of the airship, the projected mission interfaces and the modus operandi of Airship delivery, ground base and missions operations, and final recovery.

R2U2: Monitoring and Diagnosis of Security Threats for Unmanned Aerial Systems

NASA Technical Reports Server (NTRS)

Schumann, Johann; Moosbruger, Patrick; Rozier, Kristin Y.

2015-01-01

We present R2U2, a novel framework for runtime monitoring of security properties and diagnosing of security threats on-board Unmanned Aerial Systems (UAS). R2U2, implemented in FPGA hardware, is a real-time, REALIZABLE, RESPONSIVE, UNOBTRUSIVE Unit for security threat detection. R2U2 is designed to continuously monitor inputs from the GPS and the ground control station, sensor readings, actuator outputs, and flight software status. By simultaneously monitoring and performing statistical reasoning, attack patterns and post-attack discrepancies in the UAS behavior can be detected. R2U2 uses runtime observer pairs for linear and metric temporal logics for property monitoring and Bayesian networks for diagnosis of security threats. We discuss the design and implementation that now enables R2U2 to handle security threats and present simulation results of several attack scenarios on the NASA DragonEye UAS.

Mount Pinatubo, Philippine Islands as seen from STS-59

NASA Image and Video Library

1994-04-10

STS059-L14-170 (9-20 April 1994) --- Orient with the sea at the left. Then Subic Bay is at the lower left corner, and Clark Air Force Base (abandoned after the eruption) is to the lower right of the volcano. A turquoise lake occupies the caldera just below the center of the photograph. Mount Pinatubo erupted in June, 1991 after several hundred years of quiescence. Eruptive activity has nearly ceased, but every torrential rain in this monsoonal climate causes renewed mud flows of a viscous slurry composed of volcanic ash and pumice. Shuttle crews have been photographing the mountain at every opportunity, to add documentation to unmanned-satellite, aerial, and ground-based observations of changes. SRL scientists will use the excellent radar imagery obtained during STS-59 to help discriminate among different kinds of volcanic material, and to extend their observations to other volcanoes around the world using future, perhaps unmanned, radar satellites. Linhof photograph.

The exploration of outer space with cameras: A history of the NASA unmanned spacecraft missions

NASA Astrophysics Data System (ADS)

Mirabito, M. M.

The use of television cameras and other video imaging devices to explore the solar system's planetary bodies with unmanned spacecraft is chronicled. Attention is given to the missions and the imaging devices, beginning with the Ranger 7 moon mission, which featured the first successfully operated electrooptical subsystem, six television cameras with vidicon image sensors. NASA established a network of parabolic, ground-based antennas on the earth (the Deep Space Network) to receive signals from spacecraft travelling farther than 16,000 km into space. The image processing and enhancement techniques used to convert spacecraft data transmissions into black and white and color photographs are described, together with the technological requirements that drove the development of the various systems. Terrestrial applications of the planetary imaging systems are explored, including medical and educational uses. Finally, the implementation and functional characteristics of CCDs are detailed, noting their installation on the Space Telescope.

Development and Implementation of a Hardware In-the-Loop Test Bed for Unmanned Aerial Vehicle Control Algorithms

NASA Technical Reports Server (NTRS)

Nyangweso, Emmanuel; Bole, Brian

2014-01-01

Successful prediction and management of battery life using prognostic algorithms through ground and flight tests is important for performance evaluation of electrical systems. This paper details the design of test beds suitable for replicating loading profiles that would be encountered in deployed electrical systems. The test bed data will be used to develop and validate prognostic algorithms for predicting battery discharge time and battery failure time. Online battery prognostic algorithms will enable health management strategies. The platform used for algorithm demonstration is the EDGE 540T electric unmanned aerial vehicle (UAV). The fully designed test beds developed and detailed in this paper can be used to conduct battery life tests by controlling current and recording voltage and temperature to develop a model that makes a prediction of end-of-charge and end-of-life of the system based on rapid state of health (SOH) assessment.

Lightweight mid-infrared methane sensor for unmanned aerial systems

NASA Astrophysics Data System (ADS)

Golston, Levi M.; Tao, Lei; Brosy, Caroline; Schäfer, Klaus; Wolf, Benjamin; McSpiritt, James; Buchholz, Bernhard; Caulton, Dana R.; Pan, Da; Zondlo, Mark A.; Yoel, David; Kunstmann, Harald; McGregor, Marty

2017-06-01

The design and field performance of a compact diode laser-based instrument for measuring methane on unmanned aerial systems (UAS) is described. The system is based on open-path, wavelength modulation spectroscopy with a 3.27 µm GaSb laser. We design two versions of the sensor for a long-endurance fixed wing UAS and a rotary wing hexacopter, with instrument masses of 4.6 and 1.6 kg, respectively. The long-endurance platform was used to measure vertical profiles of methane up to 600 m in altitude and showed repeatability of 13 ppbv between multiple profiles. Additionally, the hexacopter system was used to evaluate the evolution of methane in the nocturnal boundary layer during the ScaleX field campaign in Germany, where measured data is consistent with supporting ground-based methane and meteorological measurements. Testing results on both platforms demonstrated our lightweight methane sensor had an in-flight precision of 5-10 ppbv Hz-1/2.

Unmanned aerial survey of fallen trees in a deciduous broadleaved forest in eastern Japan.

PubMed

Inoue, Tomoharu; Nagai, Shin; Yamashita, Satoshi; Fadaei, Hadi; Ishii, Reiichiro; Okabe, Kimiko; Taki, Hisatomo; Honda, Yoshiaki; Kajiwara, Koji; Suzuki, Rikie

2014-01-01

Since fallen trees are a key factor in biodiversity and biogeochemical cycling, information about their spatial distribution is of use in determining species distribution and nutrient and carbon cycling in forest ecosystems. Ground-based surveys are both time consuming and labour intensive. Remote-sensing technology can reduce these costs. Here, we used high-spatial-resolution aerial photographs (0.5-1.0 cm per pixel) taken from an unmanned aerial vehicle (UAV) to survey fallen trees in a deciduous broadleaved forest in eastern Japan. In nine sub-plots we found a total of 44 fallen trees by ground survey. From the aerial photographs, we identified 80% to 90% of fallen trees that were >30 cm in diameter or >10 m in length, but missed many that were narrower or shorter. This failure may be due to the similarity of fallen trees to trunks and branches of standing trees or masking by standing trees. Views of the same point from different angles may improve the detection rate because they would provide more opportunity to detect fallen trees hidden by standing trees. Our results suggest that UAV surveys will make it possible to monitor the spatial and temporal variations in forest structure and function at lower cost.

Determination of the vertical profile of particle number concentration adjacent to a motorway using an unmanned aerial vehicle.

PubMed

Villa, T F; Jayaratne, E R; Gonzalez, L F; Morawska, L

2017-11-01

A quantitative assessment of the vertical profile of traffic pollution, specifically particle number concentration (PNC), in an open space adjacent to a motorway was possible for the first time, to the knowledge of the authors, using an Unmanned Aerial Vehicle (UAV) system. Until now, traffic pollution has only been measured at ground level while the vertical distribution, is limited to studies conducted from buildings or fixed towers and balloons. This new UAV system demonstrated that the PNC sampled during the period form 10 a.m. to 4 p.m., outside the rush hours with a constant traffic flow, increased from a concentration of 2 × 10 4 p/cm 3 near the ground up to 10 m, and then sharply decreased attaining a steady value of 4 × 10 3 p/cm 3 beyond a height of about 40 m. While more comprehensive investigations would be warranted under different conditions, such as topography and vehicle and fuel type, this finding is of great significance, given that it demonstrates the impact of traffic emissions on human exposure, but less so to pollution within the upper part of the boundary layer. Copyright © 2017 Elsevier Ltd. All rights reserved.

Proposed tethered unmanned aerial system for the detection of pollution entering the Chesapeake Bay area

NASA Astrophysics Data System (ADS)

Goodman, J.; McKay, J.; Evans, W.; Gadsden, S. Andrew

2016-05-01

This paper is based on a proposed unmanned aerial system platform that is to be outfitted with high-resolution sensors. The proposed system is to be tethered to a moveable ground station, which may be a research vessel or some form of ground vehicle (e.g., car, truck, or rover). The sensors include, at a minimum: camera, infrared sensor, thermal, normalized difference vegetation index (NDVI) camera, global positioning system (GPS), and a light-based radar (LIDAR). The purpose of this paper is to provide an overview of existing methods for pollution detection of failing septic systems, and to introduce the proposed system. Future work will look at the high-resolution data from the sensors and integrating the data through a process called information fusion. Typically, this process is done using the popular and well-published Kalman filter (or its nonlinear formulations, such as the extended Kalman filter). However, future work will look at using a new type of strategy based on variable structure estimation for the information fusion portion of the data processing. It is hypothesized that fusing data from the thermal and NDVI sensors will be more accurate and reliable for a multitude of applications, including the detection of pollution entering the Chesapeake Bay area.

Line following using a two camera guidance system for a mobile robot

NASA Astrophysics Data System (ADS)

Samu, Tayib; Kelkar, Nikhal; Perdue, David; Ruthemeyer, Michael A.; Matthews, Bradley O.; Hall, Ernest L.

1996-10-01

Automated unmanned guided vehicles have many potential applications in manufacturing, medicine, space and defense. A mobile robot has been designed for the 1996 Automated Unmanned Vehicle Society competition which was held in Orlando, Florida on July 15, 1996. The competition required the vehicle to follow solid and dashed lines around an approximately 800 ft. path while avoiding obstacles, overcoming terrain changes such as inclines and sand traps, and attempting to maximize speed. The purpose of this paper is to describe the algorithm developed for the line following. The line following algorithm images two windows and locates their centroid and with the knowledge that the points are on the ground plane, a mathematical and geometrical relationship between the image coordinates of the points and their corresponding ground coordinates are established. The angle of the line and minimum distance from the robot centroid are then calculated and used in the steering control. Two cameras are mounted on the robot with a camera on each side. One camera guides the robot and when it loses track of the line on its side, the robot control system automatically switches to the other camera. The test bed system has provided an educational experience for all involved and permits understanding and extending the state of the art in autonomous vehicle design.

The influence of camouflage, obstruction, familiarity and spatial ability on target identification from an unmanned ground vehicle.

PubMed

Fincannon, Thomas; Keebler, Joseph R; Jentsch, Florian; Curtis, Michael

2013-01-01

The purpose of this study was to examine the effects of environmental and cognitive factors on the identification of targets from an unmanned ground vehicle (UGV). This was accomplished by manipulating obstruction, camouflage and familiarity of objects in the environment, while also measuring spatial ability. The effects of these variables on target identification were studied by measuring performance of participants that observed pre-recorded video from a 1:35 scaled military operations in urban terrain facility. Analyses indicated that a combination of camouflage and obstruction caused the most detrimental effects on performance, and that there were differences in the recognition of familiar and unfamiliar targets. Further analysis indicated that these detrimental effects could only be overcome with a combination of target familiarity and spatial ability. The findings highlight the degree to which environmental factors hinder performance and the need for a multidimensional approach for improving performance under these conditions. Areas in need of future research are also discussed. Cognitive theory is applied to the problem of perception from UGVs. Results from an experimental study indicate that a combination of camouflage and obstruction caused the most detrimental effects on performance, with differences in the recognition of both familiar and unfamiliar targets. Familiarity and spatial ability interacted to predict the performance.

An unmanned ground vehicle for landmine remediation

NASA Astrophysics Data System (ADS)

Wasson, Steven R.; Guilberto, Jose; Ogg, Wade; Wedeward, Kevin; Bruder, Stephen; El-Osery, Aly

2004-09-01

Anti-tank (AT) landmines slow down and endanger military advances and present sizeable humanitarian problems. The remediation of these mines by direct human intervention is both dangerous and costly. The Intelligent Systems & Robotics Group (ISRG) at New Mexico Tech has provided a partial solution to this problem by developing an Unmanned Ground Vehicle (UGV) to remediate these mines without endangering human lives. This paper presents an overview of the design and operation of this UGV. Current results and future work are also described herein. To initiate the remediation process the UGV is given the GPS coordinates of previously detected landmines. Once the UGV autonomously navigates to an acceptable proximity of the landmine, a remote operator acquires control over a wireless network link using a joystick on a base station. Utilizing two cameras mounted on the UGV, the operator is able to accurately position the UGV directly over the landmine. The UGV houses a self-contained drill system equipped with its own processing resources, sensors, and actuators. The drill system deploys a neutralizing device over the landmine to neutralize it. One such device, developed by Science Applications International Corporation (SAIC), employs incendiary materials to melt through the container of the landmine and slowly burn the explosive material, thereby safely and remotely disabling the landmine.

An accurate and adaptable photogrammetric approach for estimating the mass and body condition of pinnipeds using an unmanned aerial system

PubMed Central

Hinke, Jefferson T.; Perryman, Wayne L.; Goebel, Michael E.; LeRoi, Donald J.

2017-01-01

Measurements of body size and mass are fundamental to pinniped population management and research. Manual measurements tend to be accurate but are invasive and logistically challenging to obtain. Ground-based photogrammetric techniques are less invasive, but inherent limitations make them impractical for many field applications. The recent proliferation of unmanned aerial systems (UAS) in wildlife monitoring has provided a promising new platform for the photogrammetry of free-ranging pinnipeds. Leopard seals (Hydrurga leptonyx) are an apex predator in coastal Antarctica whose body condition could be a valuable indicator of ecosystem health. We aerially surveyed leopard seals of known body size and mass to test the precision and accuracy of photogrammetry from a small UAS. Flights were conducted in January and February of 2013 and 2014 and 50 photogrammetric samples were obtained from 15 unrestrained seals. UAS-derived measurements of standard length were accurate to within 2.01 ± 1.06%, and paired comparisons with ground measurements were statistically indistinguishable. An allometric linear mixed effects model predicted leopard seal mass within 19.40 kg (4.4% error for a 440 kg seal). Photogrammetric measurements from a single, vertical image obtained using UAS provide a noninvasive approach for estimating the mass and body condition of pinnipeds that may be widely applicable. PMID:29186134

A Two-Echelon Cooperated Routing Problem for a Ground Vehicle and Its Carried Unmanned Aerial Vehicle

PubMed Central

Luo, Zhihao; Liu, Zhong; Shi, Jianmai

2017-01-01

In this paper, a two-echelon cooperated routing problem for the ground vehicle (GV) and its carried unmanned aerial vehicle (UAV) is investigated, where the GV travels on the road network and its UAV travels in areas beyond the road to visit a number of targets unreached by the GV. In contrast to the classical two-echelon routing problem, the UAV has to launch and land on the GV frequently to change or charge its battery while the GV is moving on the road network. A new 0–1 integer programming model is developed to formulate the problem, where the constraints on the spatial and temporal cooperation of GV and UAV routes are included. Two heuristics are proposed to solve the model: the first heuristic (H1) constructs a complete tour for all targets and splits it by GV routes, while the second heuristic (H2) constructs the GV tour and assigns UAV flights to it. Random instances with six different sizes (25–200 targets, 12–80 rendezvous nodes) are used to test the algorithms. Computational results show that H1 performs slightly better than H2, while H2 uses less time and is more stable. PMID:28513552

Unmanned Aerial Survey of Fallen Trees in a Deciduous Broadleaved Forest in Eastern Japan

PubMed Central

Inoue, Tomoharu; Nagai, Shin; Yamashita, Satoshi; Fadaei, Hadi; Ishii, Reiichiro; Okabe, Kimiko; Taki, Hisatomo; Honda, Yoshiaki; Kajiwara, Koji; Suzuki, Rikie

2014-01-01

Since fallen trees are a key factor in biodiversity and biogeochemical cycling, information about their spatial distribution is of use in determining species distribution and nutrient and carbon cycling in forest ecosystems. Ground-based surveys are both time consuming and labour intensive. Remote-sensing technology can reduce these costs. Here, we used high-spatial-resolution aerial photographs (0.5–1.0 cm per pixel) taken from an unmanned aerial vehicle (UAV) to survey fallen trees in a deciduous broadleaved forest in eastern Japan. In nine sub-plots we found a total of 44 fallen trees by ground survey. From the aerial photographs, we identified 80% to 90% of fallen trees that were >30 cm in diameter or >10 m in length, but missed many that were narrower or shorter. This failure may be due to the similarity of fallen trees to trunks and branches of standing trees or masking by standing trees. Views of the same point from different angles may improve the detection rate because they would provide more opportunity to detect fallen trees hidden by standing trees. Our results suggest that UAV surveys will make it possible to monitor the spatial and temporal variations in forest structure and function at lower cost. PMID:25279817

An accurate and adaptable photogrammetric approach for estimating the mass and body condition of pinnipeds using an unmanned aerial system.

PubMed

Krause, Douglas J; Hinke, Jefferson T; Perryman, Wayne L; Goebel, Michael E; LeRoi, Donald J

2017-01-01

Measurements of body size and mass are fundamental to pinniped population management and research. Manual measurements tend to be accurate but are invasive and logistically challenging to obtain. Ground-based photogrammetric techniques are less invasive, but inherent limitations make them impractical for many field applications. The recent proliferation of unmanned aerial systems (UAS) in wildlife monitoring has provided a promising new platform for the photogrammetry of free-ranging pinnipeds. Leopard seals (Hydrurga leptonyx) are an apex predator in coastal Antarctica whose body condition could be a valuable indicator of ecosystem health. We aerially surveyed leopard seals of known body size and mass to test the precision and accuracy of photogrammetry from a small UAS. Flights were conducted in January and February of 2013 and 2014 and 50 photogrammetric samples were obtained from 15 unrestrained seals. UAS-derived measurements of standard length were accurate to within 2.01 ± 1.06%, and paired comparisons with ground measurements were statistically indistinguishable. An allometric linear mixed effects model predicted leopard seal mass within 19.40 kg (4.4% error for a 440 kg seal). Photogrammetric measurements from a single, vertical image obtained using UAS provide a noninvasive approach for estimating the mass and body condition of pinnipeds that may be widely applicable.

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.

Trace Gas Quantification with Small Unmanned Aerial Systems

NASA Astrophysics Data System (ADS)

Schuyler, T. J.; Guzman, M. I.; Bailey, S.; Jacob, J.

2017-12-01

Measurements of atmospheric composition are generally performed with advanced instrumentation from ground stations using tall towers and weather balloons or with manned aircraft. Unmanned aerial systems (UAS) are a promising technology for atmospheric monitoring of trace atmospheric gases as they can bridge the gap between the regions of the atmospheric boundary layer measured by ground stations and aircraft. However, in general, the sophisticated instrumentation required for these measurements are heavy, preventing its deployment with small UAS. In order to successfully detect and quantify these gases, sensor packages aboard UAS must be lightweight, have low-power consumption, and possess limits of detection on the ppm scale or below with reasonably fast response times. Thus, a new generation of portable instrument is being developed in this work to meet these requirements employing new sensing packages. The cross sensitivity of these sensors to several gases is examined through laboratory testing of the instrument under variable environmental conditions prior to performing field measurements. Datasets include timestamps with position, temperature, relative humidity, pressure, along with variable mixing ratio values of important greenhouse gases. The work will present an analysis of the results gathered during authorized flights performed during the second CLOUD-MAP§ field campaign held in June 2017. §CLOUD-MAP: Collaboration Leading Operational UAS Development for Meteorology and Atmospheric Physics, a 4-year NSF funded effort.

The effect of flight altitude to data quality of fixed-wing UAV imagery: case study in Murcia, Spain

NASA Astrophysics Data System (ADS)

Anders, Niels; Keesstra, Saskia; Cammeraat, Erik

2014-05-01

Unmanned Aerial System (UAS) are becoming popular tools in the geosciences due to improving technology and processing techniques. They can potentially fill the gap between spaceborne or manned aircraft remote sensing and terrestrial remote sensing, both in terms of spatial and temporal resolution. In this study we tested a fixed-wing Unmanned Aerial System (UAS) for the application of digital landscape analysis. The focus was to analyze the effect of flight altitude and the effect to accuracy and detail of the produced digital elevation models, derived terrain properties and orthophotos. The aircraft was equipped with a Panasonic GX1 16MP pocket camera with 20 mm lens to capture normal JPEG RGB images. Images were processed using Agisoft Photoscan Pro which includes the structure-from-motion and multiview stereopsis algorithms. The test area consisted of small abandoned agricultural fields in semi-arid Murcia in southeastern Spain. The area was severely damaged after a destructive rainfall event, including damaged check dams, rills, deep gully incisions and piping. Results suggest that careful decisions on flight altitude are essential to find a balance between the area coverage, ground sampling distance, UAS ground speed, camera processing speed and the accurate registration of specific soil erosion features of interest.

Effect of intense military training on body composition.

PubMed

Malavolti, Marcella; Battistini, Nino C; Dugoni, Manfredo; Bagni, Bruno; Bagni, Ilaria; Pietrobelli, Angelo

2008-03-01

Individuals in a structural physical training program can show beneficial changes in body composition, such as body fat reduction and muscle mass increase. This study measured body composition changes by using 3 different techniques-skinfold thickness (SF) measurements, air displacement plethysmography (BOD-POD), and dual-energy x-ray absorptiometry (DXA)-during 9 months of intense training in healthy young men engaged in military training. Twenty-seven young men were recruited from a special faction of the Italian Navy. The program previewed three phases: ground combat, sea combat, and amphibious combat. Body composition was estimated at the beginning, in the middle, and at the end of the training. After the subjects performed the ground combat phase, body composition variables significantly decreased: body weight (P < 0.05), fat-free mass (FFM) (P < 0.001), and fat mass (FM) (P < 0.03). During the amphibious combat phase, body weight increased significantly (P < 0.01), mainly because of an increase in FFM (P < 0.001) and a smaller mean decrease in FM. There was a significant difference (P < 0.05) in circumferences and SF at various sites after starting the training course. Bland-Altman analysis did not show any systematic difference between FM and FFM measured with the 3 different techniques on any occasion. On any visit, FFM and FM correlation measured by BOD-POD (P = 0.90) and DXA was significantly greater than measured by SF. A significant difference was found in body mass index (BMI) measured during the study. BOD-POD and SF, compared with DXA, provide valid and reliable measurement of changes in body composition in healthy young men engaged in military training. In conclusion, the findings suggest that for young men of normal weight, changes in body weight alone and in BMI are not a good measure to assess the effectiveness of intense physical training programs, because lean mass gain can masquerade fat weight loss.

Advanced protection technology for ground combat vehicles.

PubMed

Bosse, Timothy G

2012-01-01

Just as highway drivers use radar detectors to attempt to stay ahead of police armed with the latest radar technology, the Armed Forces are locked in a spiral to protect combat vehicles and their crews against the latest threats in both the contemporary operating environment and the anticipated operating environment (ie, beyond 2020). In response to bigger, heavier, or better-protected vehicles, adversaries build and deploy larger explosive devices or bombs. However, making improvements to combat vehicles is much more expensive than deploying larger explosives. In addition, demand is increasing for lighter-weight vehicles capable of rapid deployment. Together, these two facts give the threat a clear advantage in the future. To protect vehicles and crews, technologies focusing on detection and hit avoidance, denial of penetration, and crew survivability must be combined synergistically to provide the best chance of survival on the modern battlefield.

Live Site Demonstration Munitions Response Program Site UXO 01 at Marine Corps Air Ground Combat Center (MCAGCC) Twentynine Palms, California

DTIC Science & Technology

2015-11-01

ground surface (bgs) and is composed of crystalline igneous and metamorphic rocks . The ranges are located on Cajon soils (Jacobs Engineering Group...Twentynine Palms, California ESTCP Project MR-201229 NOVEMBER 2015 Steve Stacy ARCADIS- US , Inc. Distribution Statement A REPORT DOCUMENTATION PAGE...geophysical classification (AGC) technologies for Munitions Response (MR). This demonstration was designed to evaluate the use of AGC methodology

Runflat Testing

DTIC Science & Technology

2015-09-09

guidance and procedures for testing the performance characteristics of runflat tires as equipped on ground vehicles. 15. SUBJECT TERMS runflat... tire assembly tread life combat flat central tire inflation system (CTIS) 16. SECURITY CLASSIFICATION OF: 17. LIMITATION...3 3.4 Tire Assemblies ..................................................................... 3 3.5 Environmental

76 FR 11216 - Notice of Public Meetings for the Draft Environmental Impact Statement for Land Acquisition and...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-03-01

... full integration of MEB-sized Aviation Combat Element operations and both air- and ground-delivered...-scale MEB Exercise conducted twice per year for 24 continuous days each. Current levels of proficiency...

Unmanned Aircraft Systems Human-in-the-Loop Controller and Pilot Acceptability Study: Collision Avoidance, Self-Separation, and Alerting Times (CASSAT)

NASA Technical Reports Server (NTRS)

Comstock, James R., Jr.; Ghatas, Rania W.; Vincent, Michael J.; Consiglio, Maria C.; Munoz, Cesar; Chamberlain, James P.; Volk, Paul; Arthur, Keith E.

2016-01-01

The Federal Aviation Administration (FAA) has been mandated by the Congressional funding bill of 2012 to open the National Airspace System (NAS) to Unmanned Aircraft Systems (UAS). With the growing use of unmanned systems, NASA has established a multi-center "UAS Integration in the NAS" Project, in collaboration with the FAA and industry, and is guiding its research efforts to look at and examine crucial safety concerns regarding the integration of UAS into the NAS. Key research efforts are addressing requirements for detect-and-avoid (DAA), self-separation (SS), and collision avoidance (CA) technologies. In one of a series of human-in-the-loop experiments, NASA Langley Research Center set up a study known as Collision Avoidance, Self-Separation, and Alerting Times (CASSAT). The first phase assessed active air traffic controller interactions with DAA systems and the second phase examined reactions to the DAA system and displays by UAS Pilots at a simulated ground control station (GCS). Analyses of the test results from Phase I and Phase II are presented in this paper. Results from the CASSAT study and previous human-in-the-loop experiments will play a crucial role in the FAA's establishment of rules, regulations, and procedures to safely, efficiently, and effectively integrate UAS into the NAS.

ARM Tethered Balloon System & AALCO Activities at AMF3 Site at Oliktok Point, AK

NASA Astrophysics Data System (ADS)

Hardesty, J.; Dexheimer, D.; Mei, F.; Roesler, E. L.; Longbottom, C.; Hillman, B. R.

2017-12-01

Sandia National Laboratories (SNL) has operated the Atmospheric Radiation Measurement program's (ARM) third ARM Mobile Facility (AMF3) and the restricted airspace associated with it at Oliktok Point, Alaska, since October 2013. The site hosts ground-based instrumentation which collects a variety of continuous atmospheric measurements as well as user-conducted unmanned aircraft and tethered balloon campaigns. SNL has operated ARM's tethered balloon system (TBS) as part of the Inaugural Campaigns for ARM Research using Unmanned Systems (ICARUS) since 2016. AALCO (Aerial Assessment of Liquid in Clouds at Oliktok), is an ARM Intensive Operations Period conducted by SNL at the AMF3 since 2016. The operation of the TBS during ICARUS and AALCO to altitudes above 4,000' AGL in a variety of seasons and conditions is addressed. A Distributed Temperature Sensing (DTS) system and supercooled liquid water content (SLWC) sensors have been deployed under both campaigns. The performance of these sensors is discussed and results are presented. DTS measurements and their relationship to concurrent temperature measurements from unmanned aircraft and radiosondes are shown. SLWC sensor in situ measurements are compared with microwave radiometer and radiosonde-derived measurements. Preliminary analysis of using Large Eddy Simulations to compare with the SLWC measurements reveals three-dimensional properties of the observed clouds.

Analysis of an Affordability Index Model for Marine Corps Ground Combat Equipment

DTIC Science & Technology

2004-12-01

Generator, TSEC/KG-40A/P A8100 10 Control Group, Radio, OK648/U B0001 21 Air - Conditioner 60Hz, 9,000 Btu B0002 21 Air - Conditioner 60Hz, 18,000...Btu, F18H-38A B0007 21 Air - Conditioner MCS Vertical 60K, Btu, FOOT-2HS B0011 21 Air - Conditioner A/E 32C-39, 18K Btu B0012 21 Air Conditioner ...supply system. For example, it is possible for a motor transportation mechanic to have the parts for two or more MARES reportable, combat-deadlined

Advanced MicroObserver UGS integration with and cueing of the BattleHawk squad level loitering munition and UAV

NASA Astrophysics Data System (ADS)

Steadman, Bob; Finklea, John; Kershaw, James; Loughman, Cathy; Shaffner, Patti; Frost, Dean; Deller, Sean

2014-06-01

Textron's Advanced MicroObserver(R) is a next generation remote unattended ground sensor system (UGS) for border security, infrastructure protection, and small combat unit security. The original MicroObserver(R) is a sophisticated seismic sensor system with multi-node fusion that supports target tracking. This system has been deployed in combat theaters. The system's seismic sensor nodes are uniquely able to be completely buried (including antennas) for optimal covertness. The advanced version adds a wireless day/night Electro-Optic Infrared (EOIR) system, cued by seismic tracking, with sophisticated target discrimination and automatic frame capture features. Also new is a field deployable Gateway configurable with a variety of radio systems and flexible networking, an important upgrade that enabled the research described herein. BattleHawkTM is a small tube launched Unmanned Air Vehicle (UAV) with a warhead. Using transmitted video from its EOIR subsystem an operator can search for and acquire a target day or night, select a target for attack, and execute terminal dive to destroy the target. It is designed as a lightweight squad level asset carried by an individual infantryman. Although BattleHawk has the best loiter time in its class, it's still relatively short compared to large UAVs. Also it's a one-shot asset in its munition configuration. Therefore Textron Defense Systems conducted research, funded internally, to determine if there was military utility in having the highly persistent MicroObserver(R) system cue BattleHawk's launch and vector it to beyond visual range targets for engagement. This paper describes that research; the system configuration implemented, and the results of field testing that was performed on a government range early in 2013. On the integrated system that was implemented, MicroObserver(R) seismic detections activated that system's camera which then automatically captured images of the target. The geo-referenced and time-tagged MicroObserver(R) target reports and images were then automatically forwarded to the BattleHawk Android-based controller. This allowed the operator to see the intruder (classified and geo-located) on the map based display, assess the intruder as likely hostile (via the image), and launch BattleHawk with the pre-loaded target coordinates. The operator was thus able to quickly acquire the intended target (without a search) and initiate target engagement immediately. System latencies were a major concern encountered during the research.

Using Unmanned Helicopters to Assess Vegetation Cover in Sagebrush Steppe Ecosystems

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

Robert P. Breckenridge; Maxine Dakins; Stephen Bunting

2012-07-01

Evaluating vegetation cover is an important factor in understanding the sustainability of many ecosystems. Methods that have sufficient accuracy and improved cost efficiency could dramatically alter how biotic resources are monitored on both public and private lands. This will be of interest to land managers because there are rarely enough resource specialists or funds available for comprehensive ground evaluations. In this project, unmanned helicopters were used to collect still-frame imagery to assess vegetation cover during May, June, and July in 2005. The images were used to estimate percent cover for six vegetative cover classes (shrub, dead shrub, grass, forbs, litter,more » and bare ground). The field plots were located on the INL site west of Idaho Falls, Idaho. Ocular assessments of digital imagery were performed using a software program called SamplePoint, and the results were compared against field measurements collected using a point-frame method to assess accuracy. The helicopter imagery evaluation showed a high degree of agreement with field cover class values for litter, bare ground, and grass, and reasonable agreement for dead shrubs. Shrub cover was often overestimated and forbs were generally underestimated. The helicopter method took 45% less time than the field method to set plots and collect and analyze data. This study demonstrates that UAV technology provides a viable method for monitoring vegetative cover on rangelands in less time and with lower costs. Tradeoffs between cost and accuracy are critical management decisions that are important when managing vegetative conditions across vast sagebrush ecosystems throughout the Intermountain West.« less

Study of high-definition and stereoscopic head-aimed vision for improved teleoperation of an unmanned ground vehicle

NASA Astrophysics Data System (ADS)

Tyczka, Dale R.; Wright, Robert; Janiszewski, Brian; Chatten, Martha Jane; Bowen, Thomas A.; Skibba, Brian

2012-06-01

Nearly all explosive ordnance disposal robots in use today employ monoscopic standard-definition video cameras to relay live imagery from the robot to the operator. With this approach, operators must rely on shadows and other monoscopic depth cues in order to judge distances and object depths. Alternatively, they can contact an object with the robot's manipulator to determine its position, but that approach carries with it the risk of detonation from unintentionally disturbing the target or nearby objects. We recently completed a study in which high-definition (HD) and stereoscopic video cameras were used in addition to conventional standard-definition (SD) cameras in order to determine if higher resolutions and/or stereoscopic depth cues improve operators' overall performance of various unmanned ground vehicle (UGV) tasks. We also studied the effect that the different vision modes had on operator comfort. A total of six different head-aimed vision modes were used including normal-separation HD stereo, SD stereo, "micro" (reduced separation) SD stereo, HD mono, and SD mono (two types). In general, the study results support the expectation that higher resolution and stereoscopic vision aid UGV teleoperation, but the degree of improvement was found to depend on the specific task being performed; certain tasks derived notably more benefit from improved depth perception than others. This effort was sponsored by the Joint Ground Robotics Enterprise under Robotics Technology Consortium Agreement #69-200902 T01. Technical management was provided by the U.S. Air Force Research Laboratory's Robotics Research and Development Group at Tyndall AFB, Florida.

A case study of comparing radiometrically calibrated reflectance of an image mosaic from unmanned aerial system with that of a single image from manned aircraft over a same area

NASA Astrophysics Data System (ADS)

Shi, Yeyin; Thomasson, J. Alex; Yang, Chenghai; Cope, Dale; Sima, Chao

2017-05-01

Though sharing with many commonalities, one of the major differences between conventional high-altitude airborne remote sensing and low-altitude unmanned aerial system (UAS) based remote sensing is that the latter one has much smaller ground footprint for each image shot. To cover the same area on the ground, it requires the low-altitude UASbased platform to take many highly-overlapped images to produce a good mosaic, instead of just one or a few image shots by the high-altitude aerial platform. Such an UAS flight usually takes 10 to 30 minutes or even longer to complete; environmental lighting change during this time span cannot be ignored especially when spectral variations of various parts of a field are of interests. In this case study, we compared the visible reflectance of two aerial imagery - one generated from mosaicked UAS images, the other generated from a single image taken by a manned aircraft - over the same agricultural field to quantitatively evaluate their spectral variations caused by the different data acquisition strategies. Specifically, we (1) developed our customized ground calibration points (GCPs) and an associated radiometric calibration method for UAS data processing based on camera's sensitivity characteristics; (2) developed a basic comparison method for radiometrically calibrated data from the two aerial platforms based on regions of interests. We see this study as a starting point for a series of following studies to understand the environmental influence on UAS data and investigate the solutions to minimize such influence to ensure data quality.

Assessing the impacts of canopy openness and flight parameters on detecting a sub-canopy tropical invasive plant using a small unmanned aerial system

NASA Astrophysics Data System (ADS)

Perroy, Ryan L.; Sullivan, Timo; Stephenson, Nathan

2017-03-01

Small unmanned aerial systems (sUAS) have great potential to facilitate the early detection and management of invasive plants. Here we show how very high-resolution optical imagery, collected from small consumer-grade multirotor UAS platform at altitudes of 30-120 m above ground level (agl), can be used to detect individual miconia (Miconia calvescens) plants in a highly invaded tropical rainforest environment on the island of Hawai'i. The central aim of this research was to determine how overstory vegetation cover, imagery resolution, and camera look-angle impact the aerial detection of known individual miconia plants. For our finest resolution imagery (1.37 cm ground sampling distance collected at 30 m agl), we obtained a 100% detection rate for sub-canopy plants with above-crown openness values >40% and a 69% detection rate for those with >20% openness. We were unable to detect any plants with <10% above crown openness. Detection rates progressively declined with coarser spatial resolution imagery, ending in a 0% detection rate for the 120 m agl flights (ground sampling distance of 5.31 cm). The addition of forward-looking oblique imagery improved detection rates for plants below overstory vegetation, though this effect decreased with increasing flight altitude. While dense overstory canopy cover, limited flight times, and visual line of sight regulations present formidable obstacles for detecting miconia and other invasive plant species, we show that sUAS platforms carrying optical sensors can be an effective component of an integrated management plan within challenging subcanopy forest environments.

Antipredator strategies in breeding Bristle-thighed Curlews

USGS Publications Warehouse

McCaffery, Brian J.; Gill, Robert E.

1992-01-01

Each fall the world’s breeding population of Bristle-thighed Curlews (Numenius tahitiensis) arrives on the central Pacific wintering grounds following a migration that entails a non- stop flight of over 5000 kilometers. Sun-drenched, palm-shrouded atolls will be their home for the ensuing eight months. Even in the avian world, however, such apparant luxury is not without costs. For the Bristle-thighed Curlew these costs are incurred on the breeding grounds. From the time they arrive there in early May until they depart again for the wintering grounds in August and September, curlews are exposed to a host of predators. Gyrfalcons (Falco rusticolus), Golden Eagles (Aquila chrysaetos), Rough-legged Hawks (Buteo lagopus), Northern Harriers (Circus cyaneus), Parasitic Jaegers (Stercorarius parasiticus), Short-eared Owls (Asio flammeus), Common Ravens (Corvus corax) and Red Foxes (Vulpes vulpes) are potential predators of curlews and their offspring. To combat these threats, the Bristle-thighed Curlew has evolved an elaborate suite of antipredator defenses. Depending on the threat and the phase of the breeding cycle, Bristle-thighed Curlews may respond to potential predators by fleeing or flocking, by camouflage or combat. Given the variety of predators on the tundra, a variety of options is critical.

Fire hazard considerations for composites in vehicle design

NASA Technical Reports Server (NTRS)

Gordon, Rex B.

1994-01-01

Military ground vehicles fires are a significant cause of system loss, equipment damage, and crew injury in both combat and non-combat situations. During combat, the ability to successfully fight an internal fire, without losing fighting and mobility capabilities, is often the key to crew survival and mission success. In addition to enemy hits in combat, vehicle fires are initiated by electrical system failures, fuel line leaks, munitions mishaps and improper personnel actions. If not controlled, such fires can spread to other areas of the vehicle, causing extensive damage and the potential for personnel injury and death. The inherent fire safety characteristics (i.e. ignitability, compartments of these vehicles play a major roll in determining rather a newly started fire becomes a fizzle or a catastrophe. This paper addresses a systems approach to assuring optimum vehicle fire safety during the design phase of complex vehicle systems utilizing extensive uses of composites, plastic and related materials. It provides practical means for defining the potential fire hazard risks during a conceptual design phase, and criteria for the selection of composite materials based on its fire safety characteristics.

Pyrotechnic Shock Analysis Using Statistical Energy Analysis

DTIC Science & Technology

2015-10-23

SEA subsystems. A couple of validation examples are provided to demonstrate the new approach. KEY WORDS : Peak Ratio, phase perturbation...Ballistic Shock Prediction Models and Techniques for Use in the Crusader Combat Vehicle Program,” 11th Annual US Army Ground Vehicle Survivability

Design and Control of Omnidirectional Unmanned Ground Vehicles for Rough Terrain

DTIC Science & Technology

2012-08-29

company, Quantum Signal. This rigid body dynamics simulation, housed within the Autonomous Navigation and Virtual Environment Laboratory (ANVEL) software...72 Figure 22: PIC main code. Page 24 of 72 Figure 23: PIC interrupt code. 3.3 Central Body Embedded Electronics As described above...located on the main body of the vehicle. This section describes how the on-board electronics works. The outline of the code is presented as is how

Internationalization of the Space Station

NASA Technical Reports Server (NTRS)

Lottmann, R. V.

1985-01-01

Attention is given to the NASA Space Station system elements whose production is under consideration by potential foreign partners. The ESA's Columbus Program declaration encompasses studies of pressurized modules, unmanned payload carriers, and ground support facilities. Canada has expressed interest in construction and servicing facilities, solar arrays, and remote sensing facilities. Japanese studies concern a multipurpose experimental module concept. Each of these foreign investments would expand Space Station capabilities and lay the groundwork for long term partnerships.

Challenges for Deployment Man-Portable Robots into Hostile Environments

DTIC Science & Technology

2000-11-01

video, JAUGS , MDARS 1. BACKGROUND In modern-day warfare the most likely battlefield is an urban environment, which poses many threats to today’s...Unmanned Ground Systems ( JAUGS ). The hybrid architecture is termed SMART for Small Robotic Technology. It uses the underlying MDARS MRHA message format...and a similar approach to function-oriented operation4. From JAUGS it borrows the concept of functional agents or components that are responsible for

Development and Demonstration of Autonomous Behaviors for Urban Environment Exploration

DTIC Science & Technology

2012-04-01

exploration, mapping, localization, autonomy, lidar , SLAM 1. INTRODUCTION As global conflicts move into more urban settings, unmanned ground vehicles...mounted Hokuyo lidar is paired with a vertically mounted Hokuyo lidar as an inexpensive way for 3D perception of the environment. In addition, a pair...and mapping ( SLAM ) problem do exist,2–4 most have yet to tackle the problem of online SLAM throughout a multi-story building and/or incorporating

Mobility Performance Algorithms for Small Unmanned Ground Vehicles

DTIC Science & Technology

2009-05-01

obstacles need to be developed; specifically, models and data for wheeled vehicle skid steering, interior building floor and roof surfaces, and stair ...an 80-lb SUGV; PackBot® at 50 lb, and GatorTM at 2500 lb. Additionally, the FCS projects that 40% of the military fleet may eventually be robotic ...sensor input analysis and decision-making time. Fields (2002a) discusses representing interaction of humans and robots in the OneSAF Testbed Baseline

Applicability of Deep-Learning Technology for Relative Object-Based Navigation

DTIC Science & Technology

2017-09-01

burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instruction, searching existing...possible selections for navigating an unmanned ground vehicle (UGV) is through real- time visual odometry. To navigate in such an environment, the UGV...UGV) is through real- time visual odometry. To navigate in such an environment, the UGV needs to be able to detect, identify, and relate the static

The UAV: A unique platform for electrodynamic studies of upward lightning in the middle atmosphere

NASA Technical Reports Server (NTRS)

Goldberg, Richard A.; Desch, Michael D.; Farrell, William M.

1997-01-01

The use of unmanned aerial vehicles (UAVs), a platform for investigations in an environment hostile to manned spacecraft, is discussed. A program which includes the use of UAVs coupled with ground-based measurements to conduct scientific studies on the electrical state of the atmosphere during electrically active periods is proposed. The radiating power from alternate current and transient components of the storm electrification was investigated.

Unmanned spacecraft for surveying earth's resources

NASA Technical Reports Server (NTRS)

George, T. A.

1970-01-01

The technical objectives and payloads for ERTS A and B are discussed. The primary emphasis is on coverage of the United States and the ocean areas immediately adjacent, using 3-camera return beam vidicon TV system, 4-channel multispectral point scanner, data collection system, and wideband video tape recorder. The expected performance and system characteristics of the RBV system and the 4-band multispectral object plane point scanner are outlined. Ground station considerations are also given.

Collaborative Autonomous Unmanned Aerial - Ground Vehicle Systems for Field Operations

DTIC Science & Technology

2007-08-31

very limited payload capabilities of small UVs, sacrificing minimal computational power and run time, adhering at the same time to the low cost...configuration has been chosen because of its high computational capabilities, low power consumption, multiple I/O ports, size, low heat emission and cost. This...due to their high power to weight ratio, small packaging, and wide operating temperatures. Power distribution is controlled by the 120 Watt ATX power

Black Swift Technologies LLC

NASA Technical Reports Server (NTRS)

DiNardo, Anne Marie

2016-01-01

Colorado-based Black Swift Technologies (BST) created a small unmanned aircraft system(sUAS) to help NASA get a clearer picture of soil moisture through the Small Business Innovation Research (SBIR) program. Soil moisture is defined in terms of volume of water per unit volume of soil. Using BSTs sUAS, NASA scientists can gather ground truth measurements for a clearer observation by getting closer to the source. This can help rule out misleading results generated by satellite imagery.

The role of sexual assault on the risk of PTSD among Gulf War veterans.

PubMed

Kang, Han; Dalager, Nancy; Mahan, Clare; Ishii, Erick

2005-03-01

The 1991 Gulf War was the first major military deployment where female troops were integrated into almost every military unit, except for combat ground units. We evaluated the impact of reported sexual trauma during this deployment on the risk of post-traumatic stress disorder (PTSD) after the war. A nested case-control analysis was conducted using the data collected in a population-based health survey of 30,000 Gulf War era veterans. A total of 1381 Gulf War veterans with current PTSD were compared with 10,060 Gulf veteran controls without PTSD for self-reported in-theater experiences of sexual harassment/assault and combat exposure. The adjusted odds ratio (aOR) for PTSD associated with a report of sexual assault was 5.41 (95% confidence interval [CI], 3.19-9.17) in female veterans and 6.21 (95% CI, 2.26-17.04) in male veterans. The aOR for PTSD associated with "high" combat exposure was also statistically significant (aOR, 4.03 [95% CI, 1.97-8.23] for females; aOR, 4.45 [95% CI, 3.54-5.60] for males). Notwithstanding a possibility of recall bias of combat and sexual trauma, for both men and women, sexual trauma as well as combat exposure appear to be strong risk factors for PTSD.

A CBO Study. Sea Basing and Alternatives for Deploying and Sustaining Ground Combat Forces

DTIC Science & Technology

2007-07-01

ships in the planned MPF(F) will not be large enough to receive aircraft capable of delivering cargo over intercontinental ranges. A high - speed ... speed roll-on/roll-off ship (top) and an intratheater high - speed vessel (bottom) are shown alongside a notional mobile landing platform (center) with...might be needed to fully support sea-based ground forces. Those other ships could include tankers and high - speed ships for spe- cial

The Antiaircraft Journal. Volume 94, Number 1, January-February 1951

DTIC Science & Technology

1951-02-01

southern area where the units would be returned to the Fifth Air Force control for employment in air de - fense around an important establish- ment. Thus...used, or even accom- panied the units, during the ground de - fense role operations but this was not the case. These troops had collected and re...order that they might not de - teriorate before being called again into use. The considerable combat damage experienced by the guns during ground

Ground control station software design for micro aerial vehicles

NASA Astrophysics Data System (ADS)

Walendziuk, Wojciech; Oldziej, Daniel; Binczyk, Dawid Przemyslaw; Slowik, Maciej

2017-08-01

This article describes the process of designing the equipment part and the software of a ground control station used for configuring and operating micro unmanned aerial vehicles (UAV). All the works were conducted on a quadrocopter model being a commonly accessible commercial construction. This article contains a characteristics of the research object, the basics of operating the micro aerial vehicles (MAV) and presents components of the ground control station model. It also describes the communication standards for the purpose of building a model of the station. Further part of the work concerns the software of the product - the GIMSO application (Generally Interactive Station for Mobile Objects), which enables the user to manage the actions and communication and control processes from the UAV. The process of creating the software and the field tests of a station model are also presented in the article.

Localization Framework for Real-Time UAV Autonomous Landing: An On-Ground Deployed Visual Approach

PubMed Central

Kong, Weiwei; Hu, Tianjiang; Zhang, Daibing; Shen, Lincheng; Zhang, Jianwei

2017-01-01

One of the greatest challenges for fixed-wing unmanned aircraft vehicles (UAVs) is safe landing. Hereafter, an on-ground deployed visual approach is developed in this paper. This approach is definitely suitable for landing within the global navigation satellite system (GNSS)-denied environments. As for applications, the deployed guidance system makes full use of the ground computing resource and feedbacks the aircraft’s real-time localization to its on-board autopilot. Under such circumstances, a separate long baseline stereo architecture is proposed to possess an extendable baseline and wide-angle field of view (FOV) against the traditional fixed baseline schemes. Furthermore, accuracy evaluation of the new type of architecture is conducted by theoretical modeling and computational analysis. Dataset-driven experimental results demonstrate the feasibility and effectiveness of the developed approach. PMID:28629189

Localization Framework for Real-Time UAV Autonomous Landing: An On-Ground Deployed Visual Approach.

PubMed

Kong, Weiwei; Hu, Tianjiang; Zhang, Daibing; Shen, Lincheng; Zhang, Jianwei

2017-06-19

[-5]One of the greatest challenges for fixed-wing unmanned aircraft vehicles (UAVs) is safe landing. Hereafter, an on-ground deployed visual approach is developed in this paper. This approach is definitely suitable for landing within the global navigation satellite system (GNSS)-denied environments. As for applications, the deployed guidance system makes full use of the ground computing resource and feedbacks the aircraft's real-time localization to its on-board autopilot. Under such circumstances, a separate long baseline stereo architecture is proposed to possess an extendable baseline and wide-angle field of view (FOV) against the traditional fixed baseline schemes. Furthermore, accuracy evaluation of the new type of architecture is conducted by theoretical modeling and computational analysis. Dataset-driven experimental results demonstrate the feasibility and effectiveness of the developed approach.

Materiel requirements for airborne minefield detection system

NASA Astrophysics Data System (ADS)

Bertsche, Karl A.; Huegle, Helmut

1997-07-01

Within the concept study, Material Requirements for an airborne minefield detection systems (AMiDS) the following topics were investigated: (i) concept concerning airborne minefield detection technique sand equipment, (ii) verification analysis of the AMiDS requirements using simulation models and (iii) application concept of AMiDS with regard o tactics and military operations. In a first approach the problems concerning unmanned airborne minefield detection techniques within a well-defined area were considered. The complexity of unmanned airborne minefield detection is a result of the following parameters: mine types, mine deployment methods, tactical requirements, topography, weather conditions, and the size of the area to be searched. In order to perform the analysis, a simulation model was developed to analyze the usability of the proposed remote controlled air carriers. The basic flight patterns for the proposed air carriers, as well as the preparation efforts of military operations and benefits of such a system during combat support missions were investigated. The results of the conceptual study showed that a proposed remote controlled helicopter drone could meet the stated German MOD scanning requirements of mine barriers. Fixed wing air carriers were at a definite disadvantage because of their inherently large turning loops. By implementing a mine detection system like AMiDS minefields can be reconnoitered before an attack. It is therefore possible either to plan, how the minefields can be circumvented or where precisely breaching lanes through the mine barriers are to be cleared for the advancing force.

Applications of a high-altitude powered platform /HAPP/

NASA Technical Reports Server (NTRS)

Kuhner, M. B.

1979-01-01

The high-altitude powered platform (HAPP) is a conceptual unmanned vehicle which could be either an airship or airplane. It would keep station at an altitude of 70,000 ft above a fixed point on the ground. A microwave power transmission system would beam energy from the ground up to the HAPP to power an electric motor-driven propeller and the payload. A study of the HAPP has shown that it could potentially be a cost-competitive platform for such remote sensing applications as forest fire detection, Great Lakes ice monitoring and Coast Guard law enforcement. It also has significant potential as a communications relay platform for (among other things) direct broadcast to home TVs over a large region.

Development of a remote digital augmentation system and application to a remotely piloted research vehicle

NASA Technical Reports Server (NTRS)

Edwards, J. W.; Deets, D. A.

1975-01-01

A cost-effective approach to flight testing advanced control concepts with remotely piloted vehicles is described. The approach utilizes a ground based digital computer coupled to the remotely piloted vehicle's motion sensors and control surface actuators through telemetry links to provide high bandwidth feedback control. The system was applied to the control of an unmanned 3/8-scale model of the F-15 airplane. The model was remotely augmented; that is, the F-15 mechanical and control augmentation flight control systems were simulated by the ground-based computer, rather than being in the vehicle itself. The results of flight tests of the model at high angles of attack are discussed.

LOAC: a small aerosol optical counter/sizer for ground-based and balloon measurements of the size distribution and nature of atmospheric particles - Part 2: First results from balloon and unmanned aerial vehicle flights

NASA Astrophysics Data System (ADS)

Renard, J.-B.; Dulac, F.; Berthet, G.; Lurton, T.; Vignelles, D.; Jégou, F.; Tonnelier, T.; Thaury, C.; Jeannot, M.; Couté, B.; Akiki, R.; Verdier, N.; Mallet, M.; Gensdarmes, F.; Charpentier, P.; Mesmin, S.; Duverger, V.; Dupont, J. C.; Elias, T.; Crenn, V.; Sciare, J.; Giacomoni, J.; Gobbi, M.; Hamonou, E.; Olafsson, H.; Dagsson-Waldhauserova, P.; Camy-Peyret, C.; Mazel, C.; Décamps, T.; Piringer, M.; Surcin, J.; Daugeron, D.

2015-09-01

In the companion paper (Renard et al., 2015), we have described and evaluated a new versatile optical particle counter/sizer named LOAC (Light Optical Aerosol Counter) based on scattering measurements at angles of 12 and 60° that allows some topology identification of particles (droplets, carbonaceous, salts, and mineral dust) in addition to size segregated counting in a large diameter range from 0.2 up to possibly more than 100 μm depending on sampling conditions. Its capabilities overpass those of preceding optical particle counters (OPCs) allowing the characterization of all kind of aerosols from submicronic-sized absorbing carbonaceous particles in polluted air to very coarse particles (> 10-20 μm in diameter) in desert dust plumes or fog and clouds. LOAC's light and compact design allows measurements under all kinds of balloons, on-board unmanned aerial vehicles (UAV) and at ground level. We illustrate here the first LOAC airborne results obtained from an unmanned aerial vehicle (UAV) and a variety of scientific balloons. The UAV was deployed in a peri-urban environment near Bordeaux in France. Balloon operations include (i) tethered balloons deployed in urban environments in Vienna (Austria) and Paris (France), (ii) pressurized balloons drifting in the lower troposphere over the western Mediterranean (during the Chemistry-Aerosol Mediterranean Experiment - ChArMEx campaigns), (iii) meteorological sounding balloons launched in the western Mediterranean region (ChArMEx) and from Aire-sur-l'Adour in south-western France (VOLTAIRE-LOAC campaign). More focus is put on measurements performed in the Mediterranean during (ChArMEx) and especially during African dust transport events to illustrate the original capability of balloon-borne LOAC to monitor in situ coarse mineral dust particles. In particular, LOAC has detected unexpected large particles in desert sand plumes.

LOAC: a small aerosol optical counter/sizer for ground-based and balloon measurements of the size distribution and nature of atmospheric particles - Part 2: First results from balloon and unmanned aerial vehicle flights

NASA Astrophysics Data System (ADS)

Renard, J.-B.; Dulac, F.; Berthet, G.; Lurton, T.; Vignelle, D.; Jégou, F.; Tonnelier, T.; Thaury, C.; Jeannot, M.; Couté, B.; Akiki, R.; Mineau, J.-L.; Verdier, N.; Mallet, M.; Gensdarmes, F.; Charpentier, P.; Mesmin, S.; Duverger, V.; Dupont, J.-C.; Elias, T.; Crenn, V.; Sciare, J.; Giacomoni, J.; Gobbi, M.; Hamonou, E.; Olafsson, H.; Dagsson-Waldhauserova, P.; Camy-Peyret, C.; Mazel, C.; Décamps, T.; Piringer, M.; Surcin, J.; Daugeron, D.

2015-01-01

In a companion (Part 1) paper (Renard et al., 2015), we have described and evaluated a new versatile optical particle counter/sizer named LOAC (Light Optical Aerosols Counter) based on scattering measurements at angles of 12 and 60°. that allows some speciation of particles (droplets, carbonaceous, salts, and mineral dust) in addition to size segregated counting in a large diameter range from 0.2 up to possibly more than 100 μm depending on sampling conditions. Its capabilities overwhelm those of preceding optical particle counters (OPCs) allowing the characterization of all kind of aerosols from submicronic-sized absorbing carbonaceous particles in polluted air to very coarse particles (> 10-20 μm in diameter) in desert dust plumes or fog and clouds. LOAC light and compact design allows measurements under all kinds of balloons, on-board unmanned aerial vehicles (UAV) and at ground level. We illustrate here the first LOAC airborne results obtained from an unmanned aerial vehicle (UAV) and a variety of scientific balloons. The UAV was deployed in a peri-urban environment near Bordeaux in France. Balloon operations include (i) tethered balloons deployed in urban environments in Wien (Austria) and Paris (France), (ii) pressurized balloons drifting in the lower troposphere over the western Mediterranean (during the Chemistry-Aerosol Mediterranean Experiment - ChArMEx campaigns), (iii) meteorological sounding balloons launched in the western Mediterranean region (ChArMEx) and from Aire-sur-l'Adour in south-western France (VOLTAIRE-LOAC campaign). More focus is put on measurements performed in the Mediterranean during (ChArMEx) and especially during African dust transport events to illustrate the original capability of balloon-borne LOAC to monitor in situ coarse mineral dust particles. In particular, LOAC has detected unexpected large particles in desert sand plumes.

Detection of rice sheath blight using an unmanned aerial system with high-resolution color and multispectral imaging.

PubMed

Zhang, Dongyan; Zhou, Xingen; Zhang, Jian; Lan, Yubin; Xu, Chao; Liang, Dong

2018-01-01

Detection and monitoring are the first essential step for effective management of sheath blight (ShB), a major disease in rice worldwide. Unmanned aerial systems have a high potential of being utilized to improve this detection process since they can reduce the time needed for scouting for the disease at a field scale, and are affordable and user-friendly in operation. In this study, a commercialized quadrotor unmanned aerial vehicle (UAV), equipped with digital and multispectral cameras, was used to capture imagery data of research plots with 67 rice cultivars and elite lines. Collected imagery data were then processed and analyzed to characterize the development of ShB and quantify different levels of the disease in the field. Through color features extraction and color space transformation of images, it was found that the color transformation could qualitatively detect the infected areas of ShB in the field plots. However, it was less effective to detect different levels of the disease. Five vegetation indices were then calculated from the multispectral images, and ground truths of disease severity and GreenSeeker measured NDVI (Normalized Difference Vegetation Index) were collected. The results of relationship analyses indicate that there was a strong correlation between ground-measured NDVIs and image-extracted NDVIs with the R2 of 0.907 and the root mean square error (RMSE) of 0.0854, and a good correlation between image-extracted NDVIs and disease severity with the R2 of 0.627 and the RMSE of 0.0852. Use of image-based NDVIs extracted from multispectral images could quantify different levels of ShB in the field plots with an accuracy of 63%. These results demonstrate that a customer-grade UAV integrated with digital and multispectral cameras can be an effective tool to detect the ShB disease at a field scale.

Bioinspired polarization navigation sensor for autonomous munitions systems

NASA Astrophysics Data System (ADS)

Giakos, G. C.; Quang, T.; Farrahi, T.; Deshpande, A.; Narayan, C.; Shrestha, S.; Li, Y.; Agarwal, M.

2013-05-01

Small unmanned aerial vehicles UAVs (SUAVs), micro air vehicles (MAVs), Automated Target Recognition (ATR), and munitions guidance, require extreme operational agility and robustness which can be partially offset by efficient bioinspired imaging sensor designs capable to provide enhanced guidance, navigation and control capabilities (GNC). Bioinspired-based imaging technology can be proved useful either for long-distance surveillance of targets in a cluttered environment, or at close distances limited by space surroundings and obstructions. The purpose of this study is to explore the phenomenology of image formation by different insect eye architectures, which would directly benefit the areas of defense and security, on the following four distinct areas: a) fabrication of the bioinspired sensor b) optical architecture, c) topology, and d) artificial intelligence. The outcome of this study indicates that bioinspired imaging can impact the areas of defense and security significantly by dedicated designs fitting into different combat scenarios and applications.

System Identification Applied to Dynamic CFD Simulation and Wind Tunnel Data

NASA Technical Reports Server (NTRS)

Murphy, Patrick C.; Klein, Vladislav; Frink, Neal T.; Vicroy, Dan D.

2011-01-01

Demanding aerodynamic modeling requirements for military and civilian aircraft have provided impetus for researchers to improve computational and experimental techniques. Model validation is a key component for these research endeavors so this study is an initial effort to extend conventional time history comparisons by comparing model parameter estimates and their standard errors using system identification methods. An aerodynamic model of an aircraft performing one-degree-of-freedom roll oscillatory motion about its body axes is developed. The model includes linear aerodynamics and deficiency function parameters characterizing an unsteady effect. For estimation of unknown parameters two techniques, harmonic analysis and two-step linear regression, were applied to roll-oscillatory wind tunnel data and to computational fluid dynamics (CFD) simulated data. The model used for this study is a highly swept wing unmanned aerial combat vehicle. Differences in response prediction, parameters estimates, and standard errors are compared and discussed

Repeated aeromagnetic surveys in Shinmoe-dake volcano, Japan by using unmanned helicopter

NASA Astrophysics Data System (ADS)

Koyama, T.; Kaneko, T.; Ohminato, T.; Watanabe, A.; Takeo, M.; Yanagisawa, T.; Honda, Y.

2016-12-01

We repeatedly conducted aeromagnetic surveys at Shinmoe-dake volcano, Japan by using unmanned helicopter, and elucidated magnetization structure and its temporal change. At the beginning of 2011, Shinmoe-dake volcano has done magmatic eruptions. After ceasing activities of volcanic eruptions, the first aeromagnetic survey by an unmanned helicopter was performed in the western part of Shinmoe-dake volcano in May 2011. The advantage to use unmanned vehicle for volcanic survey is ability of the safe flight in lower altitude with precise tracks. It enable us forthcoming repeated survey on the same tracks and elucidate the temporal changes of the magnetic fields. The geomagnetic total intensity measurement flight was conducted by installing cesium optical pumping magnetometer on the helicopter, in which the measurement line intervals were almost 100 m and the altitudes were also fixed at almost 100 m above the ground except above the crater. Total measurement length was about 85 km. The data analysis revealed that the averaged magnetization is about 1.5 A/m, typical value of andesite rock, and some horizontal anomalies can be shown.After that, we conducted four repeated surveys so far, and notable temporal changes are detected just around the crater of Shinmoe-dake volcano due to gaining magnetization by cooling of lava which has accumulated in the crater at the 2011 eruptions. The cooling rate just follows square root of elapsed time from the eruptive events, and thus the cooling is being simply done by thermal diffusion. Magnetizing, however, goes on too fast to be done by thermal diffusion only at the surface of lava, and so the cooling may be very effectively done also inside the lava by evaporating water.In this paper, we'll show the detailed results of measurements and discuss the temporal changes of magnetization.

Maintaining the Legal High Ground: The Legal Implications of Using Armed Force to Combat Terrorists

DTIC Science & Technology

2003-04-07

21 Yemen Predator Strike – 2002..................................................................................... 23 What Does It All Mean ? - Lessons...window of opportunity,”118 the criteria of necessity and imminence were both met in this situation. What Does It All Mean ? - Lessons Learned

Summary of Research 1998, Department of Operations Research

DTIC Science & Technology

1999-08-01

Data System OSD PA&E, and Vince Roeske , Scientific Advisor The Joint Staff): Taylor, J.G., "Initial Theoretical Evaluation of JWARS Ground-Combat...THE ARSENAL SHIP CONCEPT: VULNERABILITIES TO SPECIAL OPERATIONS Christian A. Dunbar-Lieutenant, United States Navy B.S., University of Notre Dame

Spread Spectrum Applications in Unmanned Aerial Vehicles

DTIC Science & Technology

1994-06-01

Specter can be launched from the ground or F/A-18 and F-16 aircraft. The Specter carries the Advanced Tactical Air Reconnaissance System ( ATARS ...the transition should be easy. While ATARS is Specter’s designated payload, it can carry other payloads weighing up to 400 pounds: electronic...implement a 650 km UAV. The combination of ATARS digital imagery and a real-time data link, together with the Specter’s ability to fly low, fast, navigate

Development and Evaluation of the Stingray, an Amphibious Maritime Interdiction Operations Unmanned Ground Vehicle

DTIC Science & Technology

2014-05-01

of Ships], Charles Griffin and Company, London, 246-261 (1908). [6] Volpich, H. & Bridge, I . C., “Paddle Wheels Pt 1: Preliminary Model Experiments...Transactions of the Institution of Engineers and Shipbuilders in Scotland, 327-380 (1955). [7] Volpich, H. & Bridge, I . C., “Paddle Wheels...Bridge, I . C., “Paddle Wheels Pt III: Ship/Model Correlation,” Transactions of the Institution of Engineers and Shipbuilders in Scotland, 512-550

The In-Transit Vigilant Covering Tour Problem of Routing Unmanned Ground Vehicles

DTIC Science & Technology

2012-08-01

of vertices in both vertex sets V and W, rather than exclusively in the vertex set V. A metaheuristic algorithm which follows the Greedy Randomized...window (VRPTW) approach, with the application of Java-encoded metaheuristic , was used [O’Rourke et al., 2001] for the dynamic routing of UAVs. Harder et...minimize both the two conflicting objectives; tour length and the coverage distance via a multi-objective evolutionary algorithm . This approach avoids a

Fault Diagnosis and Prognosis Based on Lebesgue Sampling

DTIC Science & Technology

2014-10-02

required for many safety critical systems such as unmanned air/ground/sea vehicles, aircraft , power generation, nuclear power plants, and various industrial...prediction horizon in the fault dimen- sion axis and described by the number fo fault states. This provides a straightforward means to conduct prognosis that...shown in Figure 2.(b), only 5 Lebesgue states are visited during the 550 cycles in R1 and 4 states during the 100 cycles in R2, which means that the

Command, Control and Integration of Weaponized Unmanned Aircraft into the Air-to-Ground System

DTIC Science & Technology

2007-02-23

munitions. A synthetic aperture radar (SAR) payload is also available for the MQ-1 which allows the system to see through weather and clouds but the...SOF) can pull mensurated or “ sweetened ” coordinates for PGM engagement.70 The ISR deck should be serviced by traditional assets such as F-16s with...Operating Zone RSTA Reconnaissance, Surveillance and Target Acquisition SAR Synthetic Aperture Radar SIAP Standard Integrated Air Picture SDB

Wireless Authentication Protocol Implementation: Descriptions of a Zero-Knowledge Proof (ZKP) Protocol Implementation for Testing on Ground and Airborne Mobile Networks

DTIC Science & Technology

2015-01-01

on AFRL’s small unmanned aerial vehicle (UAV) test bed . 15. SUBJECT TERMS Zero-Knowledge Proof Protocol Testing 16. SECURITY CLASSIFICATION OF...VERIFIER*** edition Version Information: Version 1.1.3 Version Details: Successful ZK authentication between two networked machines. Fixed a bug ...that causes intermittent bignum errors. Fixed a network hang bug and now allows continually authentication at the Verifier. Also now removing

Environmental Assessment for Routine and Recurring Unmanned Aerial Vehicle Flight Operations at Edwards Air Force Base, California

DTIC Science & Technology

2006-11-01

grounds, spawning 28 sites, feeding sites, seasonal wetlands or drylands, water quality or quantity, host species or plant 29 pollinators , geological...cycles, and biotic interactions . As a 28 practical matter the guidance suggests that [environmental] assessments should focus on ecological 29...potential impacts were compared to the ten ecological 17 processes identified by the U.S. EPA and were found to be less than significant because of the