KEYWORDS: Unmanned aerial vehicles, Defense and security, Improvised explosive devices, Commercial off the shelf technology, FDA class I medical device development, Curtains, Explosives, Weapons, Patents, Forensic science
This paper describes the findings of novel anti-drone obstacles development developed for stopping, fouling, and trapping Class I Mini and Micro unmanned aerial vehicles by targeting motors. This work, part of the Defeat Autonomous Systems (DAS) program, investigates counters to unmanned vehicle technology. Preliminary results demonstrate trapped drones, fouled motors that suggests this is a promising new capability to deny areas to drone incursions. Results indicate there is exists a sweet spot in mechanical properties that justifies further investigation into obstacle dynamics, modeling and simulation, materials, and notional system concepts to deliver a novel defensive obstacle capability against drones, expanding from the basic obstacle design.
KEYWORDS: 3D modeling, Improvised explosive devices, Visual process modeling, 3D vision, Data modeling, Control systems, Inspection, 3D displays, Haptic technology, Cameras
This paper presents the latest advancements of the Haptics-based Immersive Tele-robotic System (HITS) project, a next generation Improvised Explosive Device (IED) disposal (IEDD) robotic interface containing an immersive telepresence environment for a remotely-controlled three-articulated-robotic-arm system. While the haptic feedback enhances the operator's perception of the remote environment, a third teleoperated dexterous arm, equipped with multiple vision sensors and cameras, provides stereo vision with proper visual cues, and a 3D photo-realistic model of the potential IED. This decentralized system combines various capabilities including stable and scaled motion, singularity avoidance, cross-coupled hybrid control, active collision detection and avoidance, compliance control and constrained motion to provide a safe and intuitive control environment for the operators. Experimental results and validation of the current system are presented through various essential IEDD tasks. This project demonstrates that a two-armed anthropomorphic Explosive Ordnance Disposal (EOD) robot interface can achieve complex neutralization techniques against realistic IEDs without the operator approaching at any time.
Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel. This paper presents new results in the research and development of a next generation mobile immersive teleoperated explosive ordnance disposal system. This system incorporates elements of 3D vision, multilateral teleoperation for high transparency haptic feedback, immersive augmented reality operator control interfaces, and a realistic hardware-in-the-loop (HIL) 3D simulation environment incorporating vehicle and manipulator dynamics for both operator training and algorithm development. In the past year, new algorithms have been developed to facilitate incorporating commercial off-the-shelf (COTS) robotic hardware into the teleoperation system. In particular, a real-time numerical inverse position kinematics algorithm that can be applied to a wide range of manipulators has been implemented, an inertial measurement unit (IMU) attitude stabilization system for manipulators has been developed and experimentally validated, and a voiceoperated manipulator control system has been developed and integrated into the operator control station. The integration of these components into a vehicle simulation environment with half-car vehicle dynamics has also been successfully carried out. A physical half-car plant is currently being constructed for HIL integration with the simulation environment.
State-of-the-art robotic explosive ordnance disposal robotics have not, in general, adopted recent advances in control technology and man-machine interfaces and lag many years behind academia. This paper describes the Haptics-based Immersive Telerobotic System project investigating an immersive telepresence envrionment incorporating advanced vehicle control systems, Augmented immersive sensory feedback, dynamic 3D visual information, and haptic feedback for explosive ordnance disposal operators. The project aim is to provide operatiors a more sophisticated interface and expand sensory input to perform complex tasks to defeat improvised explosive devices successfully. The introduction of haptics and immersive teleprescence has the potential to shift the way teleprescence systems work for explosive ordnance disposal tasks or more widely for first responders scenarios involving remote unmanned ground vehicles.
This paper presents the libdrdc software standards library including internal nomenclature, definitions, units of measure,
coordinate reference frames, and representations for use in autonomous systems research. This library is a configurable,
portable C-function wrapped C++ / Object Oriented C library developed to be independent of software middleware, system
architecture, processor, or operating system. It is designed to use the automatically-tuned linear algebra suite (ATLAS)
and Basic Linear Algebra Suite (BLAS) and port to firmware and software. The library goal is to unify data collection and
representation for various microcontrollers and Central Processing Unit (CPU) cores and to provide a common Application
Binary Interface (ABI) for research projects at all scales. The library supports multi-platform development and currently
works on Windows, Unix, GNU/Linux, and Real-Time Executive for Multiprocessor Systems (RTEMS). This library is
made available under LGPL version 2.1 license.
KEYWORDS: Prototyping, Improvised explosive devices, Cameras, Land mines, Commercial off the shelf technology, Roads, Explosives, Robotics, Weapons, Defense and security
This paper describes Defence Research & Development Canada's (DRDC) miniature Remote Neutralization Vehicle (mini-RNV) project undertaken at DRDC Suffield as a response to the current IED threat. This project demonstrates an alternative capability for rapid response EOD/IED situations in addition to other roles. The mini-RNV project follows a unified development process that will field a suite of tools for evaluation by the military and law enforcement. This paper outlines current capability, future directions, and possible applications of this system.
In support of Canadian Forces transformation, Defence R&D Canada (DRDC) has established an ongoing program to develop machine intelligence for semi-autonomous vehicles and systems. Focussing on mine clearance and remote scouting for over a decade, DRDC Suffield has developed numerous UGVs controlled remotely over point-to-point radio links. Though this strategy removes personnel from potential danger, DRDC recognized that human factors and communications bandwidth limit teleoperation and that only networked, autonomous unmanned systems can conserve these valuable resources. This paper describes the outcome of the first autonomy project, Autonomous Land Systems (ALS), designed to demonstrate basic autonomous multivehicle land capabilities.
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