Demo III Operational Concept 1
Report Documentation Page Report Date 29May2001 Title and Subtitle Demo III Operational Concept Author(s) Report Type N/A Dates Covered (from... to) - Contract Number Grant Number Program Element Number Project Number Task Number Work Unit Number Performing Organization Name(s) and Address(es) General Dyanmics Robotic Systems Sponsoring/Monitoring Agency Name(s) and Address(es) NDIA (National Defense Industrial Association) 211 Wilson Blvd, STE. 400 Arlington, VA 22201-3061 Performing Organization Report Number Sponsor/Monitor s Acronym(s) Sponsor/Monitor s Report Number(s) Distribution/Availability Statement Approved for public release, distribution unlimited Supplementary Notes Proceedings from the 2001 Vehicle Technologies Symposium - Intelligent Systems for the Objective Force, 29-31 May 2001 Sponsored by NDIA Abstract Subject Terms Report Classification unclassified Classification of Abstract unclassified Classification of this page unclassified Limitation of Abstract UU Number of Pages 21
Performance Goals Overall System Intelligent, Modular, Open Software Architecture Operable by Troops Total Robotic Vehicle Weight: 2500 lbs Transportable in Theater (e.g., Helo, V-22) Ruggedization Suitable for User Appraisal Mobility Day/Night/Limited Adverse Weather (Rain/Dust) Operation Road Following: 40mph in Lane (High Reliability) Cross Country: Speed Appropriate to Terrain & Vehicle Dynamics, Up to 20mph (day, dry), 10mph (night, wet) Detect and Avoid All Non-Negotiable Obstacles Towable by HMMWV Mission Duration: 24 hrs ISO 9001 Certified Planning Four Vehicle Mission Operator Pre-Mission Planning & Intermittent Supervision Thereafter Single Seat HMMWV Installable OCU / Non- Dedicated Vehicle Planning For: Feature Extraction/Trafficability Assessment Tactical Behavoirs Target Hand-Off Among Multiple Vehicles Cooperative Search DTED II (30m) Topographic Database Platoon Convoying Communication RF Range: 10-15km using Available Military Frequencies Data Rate: 25kbs/Vehicle Control Multi-Threaded Control Highly Modular, 4D-RCS - JAUGS Tactical Behaviors Safely Operable in Mixed Force (Mounted/Unmounted, Manned/Unmanned) 2
Game Plan Pacing Technologies Modeling & Simulation Perception Software Architecture Man/Machine Interface Technology Development Test Bed Integration Alpha Bravo III User Appraisal 20 MPH Cross-country 40 MPH on Road Day/Night Modular Mission Package 99 00 01 02 03 3
Demo III Experimental Unmanned Vehicle (XUV) DEMO A Configuration 4
XUV DEMO B Configuration 5
XUV DEMO III Final Configuration 6
Platform ISO 9001 Certified 7
Platform - Powertrain 78 Hp VW Turbo Diesel Engine 70 GPM Sunstrand Hydrostatic Pump Pump Drive Sized for 4300 RPM and 2500 RPM Engine Speeds 15 Cu In Eaton 2-Speed Wheel Motors John S. Barnes Mechanical Flow Divider 8
XUV Sideslope Capability 9
Vetronics - Processing Enclosures Mission Execution System AM Vision Processing System (Bravo/III) AM Processing System Spare Enclosure RSTA Vision Processing System RSTA Processing System 10
AM Sensors Vetronics GPS Signals ISO 9001 Certified Comm Signals Autonomous Mobility System Navigation System Comm System Electronics 24V Power Modular Interconnection System Platform I/O System Mission Planning System RSTA Mission Module Platform Actuators & Sensors RSTA Turret & Sensors 11
Engine Radiator Rear Steering Actuator Hydrostatic Pump Rear Wheel Motor Manifolds (2) Rear Drive Assemblies (2) Hydraulic Heat Exchanger Tail-Lights(2) ISO 9001 Certified Diesel Engine Platform I/O Controllers (3) Power Relay Module Fuel Tank Hydraulic Oil Reservoir Enviromental Sensors Main Hydraulic Manifold Flow Divider Auxiliary Hydraulic Manifold Bump Accelerometers Front Drive Assemblies (2) Front Steering Actuator Headlights (2) Front Wheel Motor Manifolds (2) 12
Navigation - Components PLGR Remote Antenna Wheel Encoder IRU PLGR+96 Navigation Solution NAV S/W Hierarchy Level (Located in AM World Model Processor) Inertial Reference Unit (IRU) PLGR+96 GPS Receiver Wheel Encoder 13
Autonomous Mobility on the XUV Front Antennas Right Antenna Left Antenna Rear Antennas DEMO III Vehicle with AM System Exploded Demo A, B, III sensors indicated. FOL-PEN Radar Color FLIR Moncrome Rear Vision System 77 GHz FMCW Radar LADAR/Tilt Unit Driving Turret AM Processor AM VFE-200 MIOB Board MVME 2X00-G3 (4) 1 2 3 4 VPM Rear Vision Sensors Stereo FLIR Stereo Cameras Mono Cameras PMC Frame Grabber MVME 2X00 DEM121.CV5 MVME 2X00-G4 (4) 14
Autonomous Mobility on the XUV Short-Range ~20m - LADAR - Stereo CDD/IR - FOPEN RADAR - Optical Flow MAP -Geometry -Feature/Texture -Heuristic Mid-Range ~200m -WideBaseline Stereo -Motion -MMW Radar A-Priori External -Level 4 -Overhead Ladar : Tree : : Tall Traversable Geometric 3D Representation Scene Classification -Adaptive -Statistical Modeling Perceived 3D Thematic World Map Intelligent route planning via the perceived map 15
WESCAM Model 14QS Stabilized Gimbal FLIR (Amber Galileo 3-5mm) Laser Ranger Color Camera Color Spotter Scope Self Protection Sensors Elevated Mast Assembly RSTA on the XUV 1 2 3 4 VPM ISO 9001 Certified RSTA Sensor Integration Plan. AM Sensors Alpha Bravo III Wescam 14QS Gimbal X X X Acoustic Sensor Array X X X Acoustic Noise Cancellation X X Additional Cueing Sensors X X Self-Protection Sensors X X Mast Assembly X X Vision Preprocessing System MVME-2X00-G4 (4) 10 Base T Ethernet To Modular Interconnect System RSTA Processing System MVME-2X00-G4 (4) Frame Grabber Acoustic A/D Acoustic Sensors (8 Channels, 4 Reference) 16
RSTA Mission Module 17
FBCB2 Friendly & Enemy Situation Awareness XUV SA updates & reports ISO 9001 Certified CONTROL HEIRARCHY User Interface Map Data Displays Mission Graphics Friend/Enemy Icons XUV Icons & Data Graphical Mission Planning/Editing Plan Exec. Controls (multiple levels) RSTA reports & image displays World Model displays Low-level controls & data displays Report templates - SITREP - SPOTREP Platoon-level Mission Planning Section Plan Encoding Battle Context DB management Situation & Threat Assessment Situation Alerts Plng Cmds & Status Section-level Mission Planning Pre-miss. Task decomposition/assignment Group Route/Coverage Planning Multi-vehicle plan encoding (optional) Situation Alerts Plng Cmds & Status Vehicle-level Mission Planning & Simulation Route Planning, Vehicle/Subsystem Simulations and Rehearsals OCU/XUV Cooperative Mobility Controller Section Plans/Status (primary) RSTA reports Multi-Vehicle Plans/Status (alternate) Situation Alerts World Model Updates SubSystem Plans/Status (debug/test) AMS Terr. Feat. Platoon-level Mission Execution Section Plan Execution Control Section-level Mission Execution RSTA reports Vehicle-level Mission Execution AMS Cmds/Status Sect. Level Cmds/Status Run-time Task decomposition/assignment Group Route/Coverage Planning Reactive / Coarse of action re-planning Situation Alerts Run-time Behavior Gen. Route Planning Reactive / Coarse of action re-planning RSTA reports Cmds/Status (Wingman) AMS RSTA Veh. Level Cmds/Status RSTA Cmds/Status 18
Operator Control Unit - Hardware 16 diagonal LCD w/ NEMA 12 enclosure Multi-position swing arm for LCD Rugged Keyboard Electronics Box, shock mounted 19
NTDR UHF Antenna DPV-51M Wireless LAN Antenna E-Stop Radio Communication Radio Placement Wireless LAN Radio Wireless LAN Antenna E-Stop Antenna NTDR Main Data Radio 20
JAVELIN FIRE AT REDSTONE BY UGV/S JPO 21