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

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

Publication Date:: Tue Dec 15 00:00:00 EST 2015

Research Org.:: Idaho National Laboratory (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.

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                    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.

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                    Versteeg, Roelof J., Few, Douglas A., Kinoshita, Robert A., Johnson, Douglas, and Linda, Ondrej. 2015.  
        "Real time explosive hazard information sensing, processing, and communication for autonomous operation".  United States.  https://www.osti.gov/servlets/purl/1233387.

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@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          = {},

  url          = {https://www.osti.gov/biblio/1233387},
  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {Tue Dec 15 00:00:00 EST 2015},

  month        = {Tue Dec 15 00:00:00 EST 2015}

}

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