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DRAFT DRAFT JOINT SERVICE EXPLOSIVE ORDNANCE DISPOSAL EXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEM ADVANCED EOD ROBOT SYSTEM (AEODRS) Byron Brezina NSWC Naval EOD Technology Division R b ti T h l it DRAFT 4 Feb 09 Robotics T echnologist [email protected] (301) 744-6858 x269

JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

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Page 1: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTDRAFT

JOINT SERVICEEXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL

ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM(AEODRS)

Byron BrezinaNSWC Naval EOD Technology DivisionR b ti T h l i t

DRAFT 4 Feb 09

Robotics [email protected](301) 744-6858 x269

Page 2: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTOUTLINE

Current SituationAEODRS T h i l TAEODRS Technical TeamTechnology AreasArchitectureProgram ScheduleProgram ScheduleSelected Preliminary RequirementsSummary

DRAFT 2

Page 3: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFT

CURRENT SITUATION

MK 1MK 1

MK 2

MK 3

DRAFT 3

Page 4: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTCURRENT SITUATION

Current EOD robots are modified commercial itemsVarious architectures

• Logicalg• Electrical• Physical

No common controllerNo common controllerLimited autonomySeparate logistics footprintsSeparate logistics footprintsProcess of developing and fielding needed upgrades and enhancements is cumbersome

DRAFT 4

upgrades and enhancements is cumbersome and expensive

Page 5: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTAEODRS TECHNICAL TEAM

NSWC Naval EOD Technology Division

SPAWAR Systems Center Pacific

The Johns Hopkins UniversityThe Johns Hopkins UniversityApplied Physics Laboratory

The Pennsylvania State UniversityApplied Research Laboratory

Battelle Memorial Institute

DRAFT 5

Page 6: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTTECHNOLOGY AREAS

Standards/Architecture/MetricsCommunicationsCommunicationsHuman-Robot InteractionManipulationManipulationMobilityNavigationNavigationPerception and IntelligencePowerPowerSensorsTools

DRAFT 6

Tools

Page 7: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTTECHNOLOGY AREAS INTERRELATIONSHIPS

DRAFT 7

Page 8: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTARCHITECTURE

Architecture for the AEODRS family of robots• Define system architecture• Define interface standards

Benefits• Interoperability across the AEODRS family

R d d t• Reduced cost• Increased competition• Faster retrofit/upgrades• Decrease logistics footprintDecrease logistics footprint• User configurable for specific missions

Goal• Develop Plug and Play systems with complete interface control

documentation so that Sensor A from Robot B can be seamlessly swapped and used on Robot C for Sensor D

• Allow forward/backward compatibility and adaptability to emerging

DRAFT 8

• Allow forward/backward compatibility and adaptability to emerging technologies

• Enable robust multi-manufacturer innovation and support

Page 9: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTARCHITECTURE

All interfacing elements between two functional componentsRobot components need to be “smart” and communicate with other components or a central processor

Messaging

components or a central processorAll components have one or more of the following interfaces:

Session Transport

Presentation

Messaging

Logical

C t

Session - TransportComponent

BPowerElectrical

ComponentA

Connectors

MountingPhysical

DRAFT 9Full definition of these interfaces allows for manufacturer enabled interoperability

Page 10: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTSCHEDULE

2009 2010 2011 2012 2013 2014 20152008

TECHNOLOGY DEMO ENG & MANUF DEV (UGV 1) PRODB C

ENG & MANUF DEV (UGV 2 & 3) C’B’

AEODRS RELATEDAEODRS-RELATEDS&T PROJECTS

DRAFT 10

Page 11: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTSELECTED PRELIMINARY REQUIREMENTS

Disclaimer – These selected requirements are preliminary and some or all of them may changepreliminary and some or all of them may change by the time the AEODRS capability development document (CDD) is finalized and approved.document (CDD) is finalized and approved.

DRAFT 11

Page 12: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTSELECTED PRELIMINARY REQUIREMENTS

Family of Systems• Dismounted Operations• Dismounted Operations• Tactical Operations• Base/Infrastructure Operations

DRAFT 12

Disclaimer – These selected requirements are preliminary and some or all of them maychange by the time the AEODRS capability development document (CDD) is finalized and approved.

Page 13: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTSELECTED PRELIMINARY REQUIREMENTS

Dismounted Operations• Back-packable, 35 lbs including backpack• 100 meter range

6 hour endurance• 6 hour endurance• Low-DOF manipulator, 5 lbs lift at full extension• 8 mph vehicle speedp p• Able to travel through 18 inch culvert• No stair climbing

DRAFT 13

Disclaimer – These selected requirements are preliminary and some or all of them maychange by the time the AEODRS capability development document (CDD) is finalized and approved.

Page 14: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTSELECTED PRELIMINARY REQUIREMENTS

Tactical Operations• Vehicle two man transportable for short distances• Vehicle two-man transportable for short distances –

no greater than 164 lbs• Vehicle fits within aisle of tactical vehicle• 1000 meter range• 6 hour endurance

T i l t ith t l t th hi• Two manipulators, with at least one anthropomorphic• Manipulator lift - TBD• 8 mph vehicle speedp p• Stair climbing

DRAFT 14

Disclaimer – These selected requirements are preliminary and some or all of them maychange by the time the AEODRS capability development document (CDD) is finalized and approved.

Page 15: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTSELECTED PRELIMINARY REQUIREMENTS

Base/Infrastructure Operations• Vehicle weight TBD• Vehicle weight - TBD• Vehicle able to travel through doorway for 36 inch

door• 1200 meter range• 6 hour endurance

T i l t ith t l t th hi• Two manipulators, with at least one anthropomorphic• Manipulator lift – 75 lbs at full extension, 300 lbs

close-upp• 8 mph vehicle speed• Stair climbing

DRAFT 15

Disclaimer – These selected requirements are preliminary and some or all of them maychange by the time the AEODRS capability development document (CDD) is finalized and approved.

Page 16: JOINT SERVICE EXPLOSIVE ORDNANCE · PDF fileJOINT SERVICE EXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM ... 0Architecture

DRAFTSUMMARY

Joint Service EOD community has established, validated requirements for a variety of UGVsq y

Joint Service EOD program has successfully fielded and supported UGVs for all four Services

Joint Service EOD program is enhancing existing robotic capabilities and developing the fourth generation of EOD UGVsUGVs

NAVEODTECHDIV continues to work with industry, academia, and other Government organizations to get acade a, a d o e Go e e o ga a o s o gelife-saving systems into the hands of EOD technicians

DRAFT 16