SBIR-STTR Award

This project will design a mid-sized unmanned ground vehicle (UGV) system to support soldiers to effectively perform improvised explosive device defeat (IEDD) tasks remotely. IEDD task areas include navigation, hazard sensing, and neutralization. The control system willenable simple and safe UGV navigation through remote rugged terrain while minimizing operator attention demands. The system will include a UGV, perception and hazard sensors, manipulator(s), and operator control unit(s) and interface that address various IED configurations. The system will use the 5D Behavior EngineTM (BE) which enables intelligent instantaneous reactive responses to local environmental, sensor, and other data. It will orchestrate a suite of behaviors enabling simplified vehicle navigation and emulating the best heuristics of human sensor and neutralizer manipulation. Some detection and neutralization tasks that require more control and detailed direction by the human operator will be supported with innovative perception and behaviors. Equally important is the operator control unit and interface, which must not only simplify manipulation but also provide operators with appropriate sensor data that attain high confidence in hazard declarations. Improved human-robot interaction (HRI) is paramount for interface controls, tasking, and data representations and interface interactions will be designed to minimize operator workload and minimize required attentions.

Keywords:
Behavior Engine, Standoff Detection, Iedd, Neutralization, Improvised Explosive Devices, Ieds, Behaviors, Soldier Support

"This work will develop and demonstrate a mid-sized robotic remote standoff improvised explosive device defeat (IEDD) capability to support soldiers in remote rugged terrain such as that found in Afghanistan. Robotic behaviors will be developed tested and refined to simplify many of the complex tasks associated with system including robot navigation, sensor scanning, analysis of anomalies, hazard avoidance, and neutralization. This will reduce soldier workload, increase safety, and improve situational awareness while supporting highly effective remote IEDD. This work builds on a framework of capabilities developed and demonstrated concurrently with performance of Phase I of this SBIR. The work addresses an identified military capability gap between the small unmanned ground vehicles (e.g., PackBot and Talon) and larger Husky Mine Detection System. The system will be comprised of the Mesa Acer robot and flail, perception sensors, Geophex GEM-3M sensor, a multi-degree of freedom arm, operator control unit(s), and behavioral control and visualization software. The assembled system will include a IEDD Mission Module that mounts on the robot and provides control commands for the robot and onboard equipment. The Module also passes mission information and tasking back and forth between the robot side and OCU side through a wireless military radio system."

Keywords:
"behaviors, Plug And Play, Iedd, Detection, Autonomy, Mine Detection, Neutralization"