UGCVPerceptORIntegration

UGCVPerceptORIntegration

Ft. Carson - August 2006Ft. Carson - August 2006

Field test in Somerset, PA - 2006Field test in Somerset, PA, March 2006

By combining the inherent mobility of CRUSHER with advanced perception techniquesincluding the use of learning and prior terrain data, the UPI program stresses systemsdesign across vehicle, sensors and software so that the strengths of one componentcompensate for the weaknesses of another.

UPI PROGRAM PHILOSOPHY

The UPI program, initiated July of2004, extends the UGCV and

PerceptOR efforts by integrating theseparallel development programs intoone. Created as a FutureCombat Systems (FCS)technology feed program,test results found on theUPI program are influenc-ing and leading efforts onmany military vehicle pro-grams targeting deploy-ment in the near future.

Through the UPI program,NREC has designedCRUSHER, featuring anew hull, new suspensions, and manydevelopments and improvementsbased upon the SPINNER version 1.0vehicle.

With the addition of two new CRUSHERvehicles, the program is able to conductparallel field testing agendas in variedterrain sites.

Building on successful results fromPerceptOR, the perception and automa-tion systems are being extended to pro-vide improved automation capabilitiesat higher speeds. More focus is placedon learning technologies which allow

the vehicle to experiment and react to previously untravelled terrains.Technologies that supervise or supportoff-road navigation in highly varying

terrain are a priority.

Rigorous field test-ing continues to allowfor improvement ofendurance, obstaclecapability, and payloadfraction (the primarygoals for the UGCV pro-gram). Vehicle perform-ance is analyzed, modi-fied, and tested continu-ously pushing to maxi-

mize inherent terrainability of theCRUSHER platform.

Payload development, integrationand testing are proving out the intend-ed mission scenarios. Leveraging uponunmanned vehicle capabilities andCRUSHER's unique terrain capabilities,these field tests are helping to demon-strate and influence the use ofautonomous vehicles in the future.

UPI brings together technologies andpeople to produce autonomous plat-forms capable of conducting missionswith minimal intervention.

NREC and DARPAare working to create some of themost advanced and intelligentautonomous groundvehicle platformsavailable today.

Ft. Carson, CO, August 2006Ft. Carson, CO, August 2006

UPI UGCV PERCEPTORINTEGRATION

Fort Carson, CO, August 2006Fort Carson, CO, August 2006

Overhead colorized lidar data from Ft. HoodOverhead colorized lidar data from Ft. Hood

C reated in 2001, the UGCV Programdeveloped vehicle prototypes that

exhibit advanced performance inendurance, obstacle negotiation, andpayload capability based on noveldesigns unrestrained by the need toaccommodate human crews. Thereduced logistical footprint resultingfrom high fuel economy, high payloadfraction, and simplified transportabilityoffers excellent deployability for theFuture Combat Systems (FCS) program .DARPA and the Army evaluated UGCVsagainst three primary metrics:

1 Endurance (14-day missions; 450 km range without refueling),

2 Obstacle Capability (1m+ positive,2m negative, 35º slopes), and

3 Payload Fraction (>25%).

In the UGCV program, NREC led a four-member team [Boeing, Timoney Tech-nology, DRS-TEM] to build an innovativeunmanned vehicle, "SPINNER," thatcouples extreme terrainability with fuelefficiency, survivability and payloadflexibility to deliver the long-rangecapability required by FCS missions.SPINNER is a highly durable, invert-ible, 6WD hybrid powered vehicle thatresponds to the need of a UGCV to sur-mount challenging terrain obstacles, beeasily teleoperated, and withstand anoccasional moderate crash and rapidlyrecover. SPINNER takes maximaladvantage of the uncrewed UGCVaspect through its inverting design as

well as the unique hull configura-tion that offers a large continuouspayload bay that is rotatable toposition payloads upright ordownward. It also has incrediblestealth qualities derived from itslow profile and quiet hybrid operation.

SPINNER has completed two years ofintense testing to fully assess its capabil-ity in a variety of terrains, weather con-ditions and operational scenarios.Results continue to show SPINNER as aviable option for UGCV technology inthe future.

Key team members & vendors: Boeing(hull), Timoney Technology (suspensionsand hubs), DRS-TEM (hybrid control),UQM (traction motors), Capstone (tur-bine), SAFT (battery pack), Novatel(positioning), SBS (computing).

UGCV UNMANNED GROUNDCOMBAT VEHICLE

Liquid-cooled 30kW Hub Motors Coupled to

24:1 Hub Offer >8000 Nm Peak Torque/Wheel

1.5m3 Bay CanOrient Payloads

Upright orDownward

“Tree Cutter” BumperProtects Suspension

Sponson Covers ProtectSuspension & TransferRollover Loads to Hull

60kW Turbine Power; 300°C Exhaust Temp. One Moving Part

Intakes and Exhaust Seal for Deep Fording

18 kW-hr Lithium Ion Battery

Pack Levels Loads and Enables Silent Reconnaissance

1.2m Run-flat Tires with CTIS Lower MMP

Adjustable Ground Clearance to 22"

SPINNER’s suspension provides excellent terrainability toovercome challenging obstacles.

SPINNER’s range of operation is not limited to open terrain.

March 2004: SPINNER completes 100 miles of extreme terrain testing at Yuma Proving Grounds.

Started in 2001, the PerceptOR pro-gram was created to develop per-

ception and autonomous navigationcapabilities for ground vehicles operat-ing in complex, off-road environmentsand to test and evaluate these capabili-ties on a variety of terrains in an unre-hearsed manner.

The NREC led a four-member team(with Sarnoff Corporation, Boeing, andRobotics Engineering Excellence) in thePerceptOR program. The team's innova-tive "Blitz" concept included a dedicat-ed unmanned air vehicle - a "FlyingEye" (FE) - that flies ahead of the UGVto detect holes and other hazardsbefore the onboard UGV sensors wouldotherwise be able to detect them. TheUGV itself carries its own extensive sen-sor suite to address the broad range ofoperating conditions at slower speedsand to confirm the hazards seen fromthe air. Both systems can operate fullyautonomously or with several levels ofoperator involvement.

During Phase II (2002), the NREC teamsuccessfully completed evaluationexperiments of unrehearsed courseslocated in four terrains: Virginiaforests, Arizona desert, Californiaalpine and Louisiana forested low-land. The team demonstrated fully-inte-grated unmanned air/ground sensingto detect and avoid negative obstaclesand other hazards. In addition, thevehicles negotiated complex terrain

using only passive sensing, identifiedand negotiated difficult terrain types(ground cover, meter-high vegetation,desert scrub) by fusing geometric andcolor sensor data, and overcame briefperiods of GPS dropout with tight inte-gration of GPS and odometry.

In Phase III (2003/2004) the teammatured UGV autonomous capabilitiesthrough further development and fieldtrials. Improvements included dynami-cally increasing UGV speed whenappropriate, classifying a broaderrange of objects and surfaces, andoperating with degraded GPS andcommunications.

PerceptOR PERCEPTION FOROFF-ROAD ROBOTICS

Automated Flying Eye with LADAR

During Phase II, the NREC team conducted rigorous tests atthe Yuma Proving Ground.

PerceptOR Blitz Concept

Ten 40th Street, Pittsburgh, PA 15201412.681.6900 • FAX 412.681.6961info@rec.ri.cmu.edu • www.rec.ri.cmu.edu

NREC NATIONAL ROBOTICSENGINEERING CENTER

T he National Robotics EngineeringCenter (NREC) develops and delivers

leading edge automation technology toindustry and government to enable newproducts and capability. Founded in1995 as an operating unit withinCarnegie Mellon's RoboticsInstitute, NREC employsover 125 scientists, techni-cal staff, graduate studentsand support personnel. The100,000 sq. ft. facility is onlya ten minute drive from the CarnegieMellon campus.

We partner with clients so that our tech-nology can be transitioned as quicklyand effectively as possible. We mitigateclient risk by continual team focus on

measurable project objectives, acceler-ated product development, reuse ofcore NREC technologies and extensivefield testing under real-world conditions.

(Above) Gladiator, an unmanned robotic vehicle that exhibitshigh mobility and advanced robotic scouting capabilitiesrequired for the Ground Combat Element of the United StatesMarine Corps.

11/06 2M

(Left) Dragon Runner™, developed for the US Marine CorpsWarfighting Laboratory, is a small, man-portable robot,capable of inverted operation and designed to increase situational awareness.

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