Technology Development for Army Unmanned Ground Vehicles (2002) / Chapter Skim
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5. Supporting Technologies
5. Supporting Technologies
Pages 72-93
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From page 72... ...
It describes the state of the art, estimates technology readiness, describes capability gaps, and identifies salient uncertainties. Definitions Human-robot interaction (HRI)
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From page 73... ...
Teamwork issues can be divided into architectures and task allocation. Architectures focus on the optimal organization of teams (e.g., multiple robots and a single human, multiple humans and a single robot, multiple robots-multiple humans)
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Current Army Capabilities The only aspect of HRI addressed by current Army UGV programs is communications to provide the needed operator interfaces. While these programs have incorporated HCI design principles, it is clear that the larger scope of HRI TECHNOLOGY DEVELOPMENT FOR ARMY UNMANNED GROUND VEHICLES has not been covered.
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The foregoing provides the basis for the answer to Task Statement Question 4.b as it pertains to human-robot interaction.
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There are also foreign platform options from Canada, England, and Ireland (Shepherd's, 2001~. As shown in the table, with the exception of the Demo III XUV, these UGV platforms are skid-driven systems that have been designed for much slower speeds than are needed for the Wingman TABLE 5-1 Desired Criteria for a High-Mobility UGV Weighing Less Than 2,000 Pounds Discrete Obstacle Negotiation Desired Criteria Tree and stump knockover Gap crossing Vertical step crossing Fording water Tree and stump avoidance Berm climbing Mobility Hp/ton Axial twist Ground pressure Vehicle cone index Forward/reverse slope Side slope operation Side slope roll stability margin Width for rollover resistance Side step clearance height High-low speed range Ground clearance 2-3 ft stump 1-2 m 18-24 in.
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From page 77... ...
No No 5 DOF 6 DOF200-lb lift Explosive handing, Remote "truck" Destroy and SWAT operations, for hazardous neutralize HAZMAT response, nuclear surveillance/ maintenance situations explosive ordnance Law enforcement, Law enforcement, explosive ordnance disposal, nuclear, emergency response, firefighting explosive ordnance disposal, nuclear, emergency response, firefighting proved mobility over the Demo III XUV. The study states that "the best 4 x 4s do not do well in mobility and immobilization resistance.
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Both prototypes have possible applicability to the Hunter-Killer example system and are estimated to be at TRL 1. The technology readiness level of a 4 x 4 mobility platform such as the Demo III XUV vehicle is TRL 7.
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COMMUNICATIONS Current military data links that are available to support UGV communications were developed to transport a specific set of information from one platform to another. Preplanning to arrange for using these communications channels is often logistically complex.
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Depending on the separation of the Wingman and the controlling unit, current data links might be able to serve this TECHNOLOGY DEVELOPMENT FOR ARMY UNMANNED GROUND VEHICLES function. As distances become greater and communications become necessary around obstructions, state-of-the-art communications networks will not be able to support this function.
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From page 81... ...
Because efforts are ongoing by many different companies involved in many different programs, it is important that these disparate endeavors be based on a common vision and conform as much as possible to common interface standards. The foregoing discussion provides the basis for the answer to Task Statement Question 4.b as it pertains to communications.
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From page 82... ...
Dynamic Act Hoc Networking Technologies for the Tactical Environment As data links proliferate in a mechanized UGV environment it will be more and more important that planning and logistics to support these data links be kept to a minimum. Traditional data links that require special data loads and significant network planning will not be possible in a fluid tactical environment that may contain thousands of nodes using several different physical waveforms.
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POWER/ENERGY This section defines the power/energy technology area as it relates to UGV systems. It assesses the state of the art in relevant technologies, estimates technology readiness levels, and identifies salient uncertainties.
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From page 84... ...
contains a comprehensive description of the state of the art in advanced battery and fuel cell technology, both in the military and civil sectors. Table 5-3 shows various energy systems and conversion techniques and represents a concise statement of the state of the art in terms of technology readiness levels.
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Hybricl Power/Energy Trains In most cases the power train of choice should be one consisting of a fueled system that provides the primary energy store and an intermediate store that for stealth reasons will probably need to be a rechargeable battery. A small hybrid energy system would be sufficient for the Searcher, given the mission parameters postulated.
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From page 86... ...
with a motor generator with a high-specific-power, high-specific-energy intermediate storage battery for stealth mode, housekeeping, and mission package power for the near term, and a reformer fuel cell, intermediate storage unit that can be developed in the far term. For small UGVs, such as those needed for tunnel investigation and building search and clearing, the energy requirements are much less than those for the large units described in Figure 5-3.
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This section assesses health maintenance technologies for self-monitoring, diagnostics, and remediation of UGVs. It discusses the state of the art, technology readiness, and capability gaps.
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to emphasize the steps involved in accomplishing fault tolerance. However, both fault tolerance and FDIR may not adequately capture the breadth of issues in vehicle health monitoring and maintenance or the source of errors.
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Current Army Capabilities The current state of the art in academia is quite limited in regards to vehicle health monitoring and maintenance. Current capabilities do not include even the basic interactive
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The interpretation we chose is that health monitoring for UGVs is probably more difficult than for manufacturing or aerospace, since UGV military operations represent a more demanding domain for real-time fault tolerance than any of the test domains reported in the literature, but it can be done if the demand for it is made clear. The amount of research spent on fault tolerance for mobile robot systems is almost negligible compared with navigation, path planning, localization, and mapping.
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From page 91... ...
This provides basis for the answer to Task Statement Question 3.b in Box 5-6. Capability Gaps The capability gaps discussed in the previous sections that must be filled by the Army to support development of the four example systems are summarized in Table 5-5.
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92 TABLE 5-5 Capability Gaps in Supporting Technology Areas TECHNOLOGY DEVELOPMENT FOR ARMY UNMANNED GROUND VEHICLES Degree of Difficulty/Risk Low Capability Gaps Technology Areas Searcher Donkey Wingman Hunter-Killer Human-robot interaction (HRI) Mobility Communications Power/energy Health maintenance Platform capable of handling 40 km/in on smooth terrain with sensitive payload.
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