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:
- Issue Date:
- Research Org.:
- Idaho National Lab. (INL), Idaho Falls, ID (United States)
- Sponsoring Org.:
- USDOE
- OSTI Identifier:
- 1233387
- Patent Number(s):
- 9,213,934
- Application Number:
- 14/623,997
- Assignee:
- Battelle Energy Alliance, LLC
- DOE Contract Number:
- AC07-05ID14517
- Resource Type:
- Patent
- Resource Relation:
- Patent File Date: 2015 Feb 17
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEFENSE
Citation Formats
Versteeg, Roelof J., Few, Douglas A., Kinoshita, Robert A., Johnson, Douglas, and Linda, Ondrej. Real time explosive hazard information sensing, processing, and communication for autonomous operation. United States: N. p., 2015.
Web.
Versteeg, Roelof J., Few, Douglas A., Kinoshita, Robert A., Johnson, Douglas, & Linda, Ondrej. Real time explosive hazard information sensing, processing, and communication for autonomous operation. United States.
Versteeg, Roelof J., Few, Douglas A., Kinoshita, Robert A., Johnson, Douglas, and Linda, Ondrej. Tue .
"Real time explosive hazard information sensing, processing, and communication for autonomous operation". United States. https://www.osti.gov/servlets/purl/1233387.
@article{osti_1233387,
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, Douglas 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 = {12}
}
Works referenced in this record:
Radiation mapping system
patent, February 1994
- Westrom, George B.; Carlton, Robert E.; Tripp, Lloyd R.
- US Patent Document 5,286,973
Shared Understanding for Collaborative Control
journal, July 2005
- Bruemmer, D. J.; Few, D. A.; Boring, R. L.
- IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, Vol. 35, Issue 4