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CIMAR Research

CIMAR Research. Carl Crane Center for Intelligent Machines and Robotics University of Florida 3 0 April 2012. Topics. Autonomous ground vehicles static obstacles, DARPA Grand Challenge urban environment, DARPA Urban Challenge autonomous convoy operations automated range clearance

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CIMAR Research

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  1. CIMAR Research Carl Crane Center for Intelligent Machines and Robotics University of Florida 30 April 2012

  2. Topics • Autonomous ground vehicles • static obstacles, DARPA Grand Challenge • urban environment, DARPA Urban Challenge • autonomous convoy operations • automated range clearance • Mechanisms • force & position control • variable stiffness suspensions • tensegrity mechanisms applied to wave energy harvesting

  3. DARPA Grand Challenge • Problem Statement • given: a 225 km path defined by a series of waypoints • navigate the entire path as quickly as possible • World Modeling (traversability grid) • 60 m  60 m grid with • grid resolution of 0.5 m  0.5 m ladar monocular vision • sensors • pose • Starfire GPS • Smiths Aerospace IMU • obstacles • bumper height ladar • terrain • two stationary ladar • image processing ladar

  4. off-line path planning detection of static obstacles environment data represen-tation and sensor integration localization interprocess communication and coordination of multiple threads on multiple computers reconciliation of differences in estimated global pose, a priori data, and sensed information fault tolerance Grand Challenge Technical Challenges

  5. DARPA Urban Challenge • Problem Statement • given: a road network data file and a mission file • visit the waypoints listed in the Mission Data File while obeying traffic laws EVALUATE BEHAVIORS FINDINGS SELECT BEHAVIOR • sensors • pose • Novatel & Garmin GPS • GE Aerospace IMU • obstacles & terrain • 6 Sick ladars • 2 long range ladars • lane detection • 6 Bluefox cameras

  6. pavement (road) detection and lane detection detection and classification of dynamic objects reconciliation of differences in estimated global pose, a priori data, and sensed information determination of appropriate behavior mode smooth transition of vehicle control between behavior modes New Technical Challenges

  7. Autonomous Convoy Operations • two approaches to measure distance and angle to lead vehicle • tether based (Autonomous Solutions, Inc.) • vision based (UF) • control algorithm guidesfollower along relativepath of leader • Problem Statement • develop convoy with human operated lead vehicle and robotic following vehicles • implement the system without any use of GPS or radio communications between vehicles • vision approach • infrared emitters attached to back of leader vehicle • panning camera mounted on follower • measures distance and angle to leader(exact same data as obtained by tether) • tether approach

  8. Automated Range Clearance • ladar based modeling of environment • Problem Statement • automate the four steps of range clearance • vegetation removal • surface clearance • mapping of subsurface objects • digging and removal of subsurface objects • time study conducted in Wyoming which compares manned performance to teleoperation to autonomous operation • objects classified as • ground • vegetation • tree tree vegetation ground

  9. Topics • Autonomous ground vehicles • static obstacles, DARPA Grand Challenge • urban environment, DARPA Urban Challenge • autonomous convoy operations • automated range clearance • Mechanisms • force & position control • variable stiffness suspensions • tensegrity mechanisms applied to wave energy harvesting

  10. Simultaneous Force and Position Control • passive compliant mechanism attached to end of industrial robot • Problem Statement • simultaneously control the twists of freedom and the wrenches of constraint for a body that is in contact with its environment • Approach • utilize a screw theory based approach whereby the compliance matrix K is computed and used to relate a change in the contact wrench, , to the change in relative pose (twist), , as • twists that correct wrench errors are added to twists that allow motion • device being applied to problem of attaching ordnance to a plane • object must be maneuvered while limiting the contact force with the plane • active planar platform with compliance used to manipulate heavy loads

  11. Variable Stiffness Suspensions • Problem Statement • Develop a suspension system that isolates a car body from road disturbances by mechanically adjusting it’s effective stiffness • Approach • utilize a recentlydesigned variablestiffness springmechanism • variable stiffness spring mechanism • effective spring stiffness varies as the pivot bar is moved left and right • passing over speed bump at 40 mph • suspension designed for automobiles

  12. Tensegrity Mechanisms used for Wave Energy Harvesting • Problem Statement • recover electrical energy from ocean • Possible Approaches • Ocean Waves • Ocean Tides • Ocean Currents • Thermal Gradients • Salinity Gradients • tensegrity • combination of elements in tension and compression • introduced by Snelson and Fuller in 1950’s • have been applied to architecture • energy harvester concept • water particle motion

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