DOE Patents title logo U.S. Department of Energy
Office of Scientific and Technical Information

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:
; ; ; ;
Issue Date:
Research Org.:
Idaho National Laboratory (INL), Idaho Falls, ID (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
1233387
Patent Number(s):
9213934
Application Number:
14/623,997
Assignee:
Battelle Energy Alliance, LLC
Patent Classifications (CPCs):
F - MECHANICAL ENGINEERING F41 - WEAPONS F41H - ARMOUR
G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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:

Man machine interface
patent, February 1986


Digital control for multiaxis robots
patent, November 1988


Method for measuring a three-dimensional position of an object
patent, July 1989


User interface simulation and management for program-controlled apparatus
patent, September 1989


Tether-guided vehicle and method of controlling same
patent, November 1990


Navigational control system for an autonomous vehicle
patent, May 1992


Method and apparatus for achieving dynamic path control of multiple robots
patent, September 1993


Radiation mapping system
patent, February 1994


Real time collision detection
patent, September 1994


Three-dimensional measuring apparatus having improved speed and resolution
patent, April 1996


Graphical interface for robot
patent, April 1996


System for and method of recognizing and tracking target mark
patent, May 1996


Multiple-robot control and interference prevention method
patent, October 1996


Simulator for producing various living environments mainly for visual perception
patent, December 1996


System for and method of recognizating and tracking target mark
patent, April 1997


Robot teaching pendant
patent, January 1998


System and a method for enabling a vehicle to track a preset path
patent, November 1998


Mobile autonomous robotic apparatus for radiologic characterization
patent, August 1999


Teaching pendant for a robot
patent, August 1999


Robot control apparatus
patent, September 1999


System for logging premises hazard inspections
patent, June 2000


Robot language processing apparatus
patent, December 2000


User mode proxy of kernel mode operations in a computer operating system
patent, April 2001


Robot controller
patent, December 2001


Method for controlling a welding apparatus and corresponding control device
patent, November 2002


Autonomous multi-platform robot system
patent, December 2002


Motion control systems
patent, February 2003


Insect robot
patent, January 2004


Position measurement apparatus and method using laser
patent, February 2004


Image processing unit
patent, April 2004


Training of autonomous robots
patent, July 2004


Method and system for controlling a vehicle
patent, July 2004


Robotic device management system and method, and information management apparatus
patent, August 2004


Method and control system for controlling a plurality of robots
patent, October 2004


Method and system for multi-mode coverage for an autonomous robot
patent, October 2004


Robot control system and robot control method
patent, November 2004


Autonomous multi-platform robotic system
patent, December 2004


Real-time control system development tool
patent, March 2005


Autonomous floor-cleaning robot
patent, April 2005


Hardware abstraction layer for a robot
patent, May 2005


Spatial data collection apparatus and method
patent, July 2005


Medical tele-robotic system
patent, August 2005


Motion control system and method
patent, September 2005


Hardware integration system
patent, December 2005


Navigational control system for a robotic device
patent, April 2006


Robotic modeling of voids
patent, June 2006


Method and system for controlling a vehicle
patent, August 2006


Image processing apparatus for robot
patent, December 2006


Location aware automata
patent, January 2007


Robotic follow system and method
patent, May 2007


Method and a system for programming an industrial robot
patent, June 2007


Vehicle control system including related methods and components
patent, March 2008


Method and system for multi-mode coverage for an autonomous robot
patent, September 2008


Method of tolerance-based trajectory planning
patent, November 2008


Generic robot architecture
patent, September 2010


Hardware abstraction layer (HAL) for a robot
patent, April 2011


System and method for seamless task-directed autonomy for robots
patent, September 2012


Robots, systems, and methods for hazard evaluation and visualization
patent, January 2013


Autonomous Mobile Robot
patent-application, July 2007


Occupancy Change Detection System and Method
patent-application, January 2008


Multi-Robot Control Interface
patent-application, January 2008


ROBOTS, SYSTEMS, AND METHODS FOR HAZARD EVALUATION AND VISUALIZATION
patent-application, March 2011


An experimental testbed for position and force control of robotic manipulators
conference, January 1998


An open architecture for position and force control of robotic manipulators
conference, January 1998

  • Baptista, L.; Martins, J.; Cardeira, C.
  • 1998 IEEE International Conference on Electronics, Circuits and Systems. Surfing the Waves of Science and Technology (Cat. No.98EX196)
  • https://doi.org/10.1109/icecs.1998.814923

Shared Understanding for Collaborative Control
journal, July 2005


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


Adaptable Web interfaces for networked robots
conference, January 2005


Semi autonomous mine detection system
conference, April 2010


Modular countermine payload for small robots
conference, April 2010


Control philosophy and simulation of a robotic hand as a model for prosthetic hands
conference, January 1993


A predictive real-time software for robotic application
conference, January 1995


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


Active sensing using proximity sensors for object recognition and localization
conference, January 1991


ERSP: a software platform and architecture for the service robotics industry
conference, January 2005


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

  • Piaggio, M.; Sgorbissa, A.; Zaccaria, R.
  • HICSS 32 - 32nd Annual Hawaii International Conference on System Sciences, Proceedings of the 32nd Annual Hawaii International Conference on Systems Sciences. 1999. HICSS-32. Abstracts and CD-ROM of Full Papers
  • https://doi.org/10.1109/HICSS.1999.772834

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


Learning occupancy grids with forward models
conference, January 2001

  • Thrun, S.
  • RSJ/IEEE International Conference on Intelligent Robots and Systems, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
  • https://doi.org/10.1109/IROS.2001.977219

The CLARAty architecture for robotic autonomy
conference, January 2001


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


Introduction to Hardware Abstraction Layers for SoC
book, January 2003


    Works referencing / citing this record:

    Real time explosive hazard information sensing, processing, and communication for autonomous operation
    patent, December 2015