Real time explosive hazard information sensing, processing, and communication for autonomous operation

Versteeg, Roelof J; Few, Douglas A; Kinoshita, Robert A; Johnson, Doug; Linda, Ondrej

Title: Real time explosive hazard information sensing, processing, and communication for autonomous operation

Abstract

Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.

Inventors:: Versteeg, Roelof J; Few, Douglas A; Kinoshita, Robert A; Johnson, Doug; Linda, Ondrej

Issue Date:: 2015-02-24

Research Org.:: Idaho National Lab. (INL), Idaho Falls, ID (United States)

Sponsoring Org.:: USDOE

OSTI Identifier:: 1170732

Patent Number(s):: 8965578

Application Number:: 13/049,788

Assignee:: Battelle Energy Alliance, LLC (Idaho Falls, ID)

Patent Classifications (CPCs):: G - PHYSICS G06 - COMPUTING G06N - COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS

G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

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G - PHYSICS G06 - COMPUTING G06N - COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
G06N3/004 - {Artificial life, i.e. computers simulating life}

G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
G05D2201/0209 - Combat or reconnaissance vehicle for military, police or security applications
G05D1/0088 - {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours

F - MECHANICAL ENGINEERING F41 - WEAPONS F41H - ARMOUR
F41H11/13 - Systems specially adapted for detection of landmines

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DOE Contract Number:: AC07-05ID14517

Resource Type:: Patent

Resource Relation:: Patent File Date: 2011 Mar 16

Country of Publication:: United States

Language:: English

Subject:: 97 MATHEMATICS AND COMPUTING

Citation Formats


                    Versteeg, Roelof J, Few, Douglas A, Kinoshita, Robert A, Johnson, Doug, and Linda, Ondrej. Real time explosive hazard information sensing, processing, and communication for autonomous operation.  United States: N. p., 2015. 
        Web.

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                    Versteeg, Roelof J, Few, Douglas A, Kinoshita, Robert A, Johnson, Doug, & Linda, Ondrej. Real time explosive hazard information sensing, processing, and communication for autonomous operation.  United States.

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                    Versteeg, Roelof J, Few, Douglas A, Kinoshita, Robert A, Johnson, Doug, and Linda, Ondrej. Tue .  
        "Real time explosive hazard information sensing, processing, and communication for autonomous operation".  United States.  https://www.osti.gov/servlets/purl/1170732.

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@article{osti_1170732,

  title        = {Real time explosive hazard information sensing, processing, and communication for autonomous operation},

  author       = {Versteeg, Roelof J and Few, Douglas A and Kinoshita, Robert A and Johnson, Doug and Linda, Ondrej},

  abstractNote = {Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {2015},

  month        = {2}

}

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Title: Real time explosive hazard information sensing, processing, and communication for autonomous operation

Abstract

Citation Formats

Shared Understanding for Collaborative Control journal, July 2005

Developing an autonomy infusion infrastructure for robotic explorationi'l conference, January 2004

Robot control in hard real-time environment conference, January 1997

Adaptable Web interfaces for networked robots conference, January 2005

Cooperative robot localization with vision-based mapping conference, January 1999

Adaptable semi-autonomy in personal robots conference, January 2001

ETHNOS-II: A programming environment for distributed multiple robotic systems conference, January 1999

A HAL for Component-Based Embedded Operating Systems conference, January 2005

Learning occupancy grids with forward models conference, January 2001

The CLARAty architecture for robotic autonomy conference, January 2001

The Wayfarer modular navigation payload for intelligent robot infrastructure conference, May 2005

Semi autonomous mine detection system conference, April 2010

Modular countermine payload for small robots conference, April 2010

Shared Understanding for Collaborative Control
journal, July 2005

Developing an autonomy infusion infrastructure for robotic explorationi'l
conference, January 2004

Robot control in hard real-time environment
conference, January 1997

Adaptable Web interfaces for networked robots
conference, January 2005

Cooperative robot localization with vision-based mapping
conference, January 1999

Adaptable semi-autonomy in personal robots
conference, January 2001

ETHNOS-II: A programming environment for distributed multiple robotic systems
conference, January 1999

A HAL for Component-Based Embedded Operating Systems
conference, January 2005

Learning occupancy grids with forward models
conference, January 2001

The CLARAty architecture for robotic autonomy
conference, January 2001

The Wayfarer modular navigation payload for intelligent robot infrastructure
conference, May 2005

Semi autonomous mine detection system
conference, April 2010

Modular countermine payload for small robots
conference, April 2010