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Design
Building the First Tactical Ground Robot - Gladiator
Jeffrey Farbacher, Dr. Dimi Apostolopoulos, Mr, Steve DiAntonio, Carnegie Mellon University
The Gladiator Tactical Unmanned Ground Vehicle is being designed as the first type classified tactical ground robot to be delivered to the US military. This capable system will enable the remoting of combat tasks in order to save Marine lives. The extensible and modular system features battle tailored tele operation delivered via a high fidelity operator interface. System capabilities will include:
- High Mobility
- Day/Night Reconnaissance
- Surveillance and Target Acquisition (RSTA)
- Detection of Nuclear, Biological and Chemical Agents
- Obstacle Breaching and Direct Fire
A unique team comprised of Carnegie Mellon University and BAE Systems has partnered to bring this system to fruition. In this presentation we will discuss some of the programmatic, technical and institutional issues encountered and overcome in the development of this system.
Robotic Technologies for Unmanned Ground Vehicles - The ART Program
Steve Hammond, BAE Systems, Jeff Jaster , U.S. Army TARDEC
In order to help reduce the risk and ensure the success of the FCS Unmanned Ground Vehicles, and specifically the Armed Robotic Vehicle (ARV) and the Multifunctional Utility/Logistics and Equipment (MULE) programs, the Army has embarked on a program to integrate robotic technologies leveraged from both military and commercial sectors into an ARV-class tracked vehicle. The US Army’s ARV Robotic Technologies (ART) program has developed a surrogate platform to be used as a technology demonstrator to advance the state of the art in robotic technologies. The ART program develops, integrates, and demonstrates the technology required to advance the maneuver technologies (i.e., tracked mobility and military tactical behaviors) and increase the survivability of unmanned platforms for the future force (i.e. human detection and intent analysis to prevent unfriendly forces from disabling the vehicle). The ART program’s objective is to reduce the soldier’s burden of operating a UGV by providing an increase in vehicle autonomy coinciding with a decrease in the total number of user interventions required to control an unmanned asset.
Aerial Tethered Robotic System With Hovering-Hopping Agents For Security and Rescue Operations
Dr. Danny Ratner, A/Prof. Phillip McKerrow, University of Wollongong
We are developing a unique aerial robotic system that has the potential to solve special needs experienced in difficult rescue and security operations. The system is composed of an aerial host platform, a tethered robot and hovering agents.
The host platform is a robotic aerial vehicle that can fly economically to the targeted area and shift to hovering at a safe altitude of half km or more above the target.
The gravity stabilised tethered robot could be perceived as a flying pendulum and is lowered from the hovering platform via a long cable close to the ground to survey the object. The lift is provided by the long cable while the manoeuvrability is achieved by electric ducted fans attached to the tethered robot.
The electric powered robotic agents are deployed from the tethered robot and are based on ducted fan technology to enable the exploration the confined spaces of objects like houses. They are spherically shaped with a Russian dole low centre of gravity enable landing and taking off from the rubbles corridor floor. They can drag a power line to extend the autonomous battery rage.
The information is wirelessly relayed from the agents to build a virtual navigation map.
Anatomy of a Mid-Air Collision
David Morrow, 2Lt David Tess, Lt Col Andy Thurling, 452 Flight Test Squadron
A mid-air collision between two non-maneuvering aircraft is a geometrically predictable event.
The paper addresses the basic geometry of a mid-air event, and how that geometry can be used to establish requirements and influence the design of a sense-and-avoid system on an unmanned aircraft. Analysis of the mid-air geometry provides insight to system field-of-view, detection range, and collision avoidance maneuver requirements. It also shows how these requirements would change depending on the speed of the unmanned aircraft, operating altitudes, and the operating characteristics of conflicting aircraft.
The author works backwards in time from a mid-air collision to develop the geometric relationship between the two aircraft. This relationship is developed for three scenarios: co-speed participants, a slower speed unmanned platform, and a higher speed unmanned platform. The three scenarios are then used to demonstrate general design and performance requirements for a sense-and-avoid system on such an unmanned system. Finally, the paper uses the analysis to derive some specific requirements for a sense-and-avoid on a high altitude, long endurance unmanned platform.
Unmanned Aircraft Systems (UAS) Vulnerability Reduction Guide
Matt Kolleck, Survivability/Vulnerability Information Analysis Center (SURVIAC)
The traditional mind set in the design and development of Unmanned Aircraft Systems (UASs) has been to give little consideration to survivability in general, and vulnerability in particular. This was because the UASs were considered attritable since there were no humans on-board and they were inexpensive. This mind set is currently changing as UAS costs are escalating significantly. In addition, the technologies being placed on the UASs are such that the DoD does not want these technologies falling into enemy hands.
This paper describes the various types of mission areas in which UASs engage and enumerates six vulnerability reduction concepts that can be employed to enhance the survivability of the UASs. Seven unmanned aircraft (UA) in the current fleet were assessed to determine which, if any, vulnerability reduction features had been incorporated into the UA. The seven UAs assessed were Predator, Pioneer, Global Hawk, Shadow 200, Hunter, Fire Scout, and Eagle Eye. The vulnerability assessment was conducted on a systems basis. The systems included were fuel, structures, propulsion, flight control, avionics, and electrical. Detailed results are presented in the Unmanned Aircraft Systems (UAS) Vulnerability Reduction Design Guide.
Development of Lightweight 2-Stroke & 4-Stroke Heavy Fuel UAV Engines
Geoff Cathcart, Gavin Dickson, Orbital Corporation Limited
Global militaries are requiring UAV engines to operate on kerosene based heavy fuels (JP5/JP8)to eliminate the safety and logistics aspects of gasoline. Most of today s UAV engines are powered by spark ignition 2-stroke, 4-stroke and rotary engines due to their high power to weight ratio. Some have tried to adapt these engines to operate on heavy fuels but have problems achieving acceptable cold start, power and transient operation. Diesel and turbine engines can operate on heavy fuels but have their own challenges such as higher weight for diesel engines and higher cost and fuel consumption for turbine engines.
This paper explores the development associated with applying air-assisted direct injection to both 2 and 4-stroke spark ignition engines allowing them to operate on JP5 and JP8 fuel while maintaining a high power to weight ratio and low fuel consumption. The excellent spray preparation of the air-assisted injection system combats the inherent problems of cold start and transient performance of traditional spark ignition engines. This paper also discusses the effect of turbo-charging this heavy fuel engine to improve the power output at high altitude and the benefits associated with operating an engine fitted with an engine management system. |
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