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JAUS Architecture

JAUS Architecture. Overview. Why did we need JAUS?. “Stove-Pipe” Design Subsystems common to all Unmanned Systems (US) were previously built from scratch for each unique system System Dependency

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JAUS Architecture

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  1. JAUS Architecture Overview

  2. Why did we need JAUS? • “Stove-Pipe” Design • Subsystems common to all Unmanned Systems (US) were previously built from scratch for each unique system • System Dependency • Performance gains made by one system could not be easily leveraged by a different system with a similar requirement • Vendor Dependency • Technology transfer efforts provided “technology nuggets” that could not be rapidly incorporated into existing systems

  3. Why use a “Joint Architecture?” • Reduce Vendor Dependency • To avoid being “locked into” a vendor’s solution • To avoid being “locked out” of technology advancements • Reduce Life Cycle Costs • Lower maintenance (e.g. software) costs • Lower training requirements • Reduce development time • Rapid prototype development • Rapid system engineering by focusing on new requirements • Expand existing systems with new capabilities • Enable Joint Development • Robotic system interoperability

  4. What are the JAUS pillars? • Vehicle Platform Independence • Mission Isolation • Computer Hardware Independence • Technology Independence

  5. JAUS Timeline • October 1995 • Joint Architecture for Unmanned Ground Systems (JAUGS) formed by the Unmanned Ground Vehicles/Systems Joint Project Office • February 1998 • The Office of Secretary of Defense (OSD) Joint Robotics Program (JRP) officially issued a charter for the JAUGS Working Group (JAUGS WG) • The JRP issued a mandate requiring that all of the programs it managed must comply with JAUGS • August 2002 • The OSD expanded the charter to make the standard compatible with all classes of unmanned systems • Renamed Joint Architecture for Unmanned Systems (JAUS) • The new charter specifically called for the working group to transition JAUS to a commercial, international standard • April 2004 • The JAUS WG achieved adoption by the SAE Aerospace Avionics Systems Division (ASD) as the Unmanned Systems Committee (AS-4) • Spring 2005 • Navy mandates JAUS for all UUV and USV systems • See Supplemental Document on Website • AIR 5664-0D3 - JAUS History

  6. JAUS Working Group • Domain Model • Reference Architecture • Part I – Architecture Framework • Part II – Message Definition • Part III – Message Set • Sub-Committees • OCU and Payloads (OPC) • Transport (Ethernet / RS-232) • World Modeling • Mission Planning • …

  7. SAE AS-4 Working Group • Sub-Committees • Architecture Framework (AS-4A) • Network Environment (AS-4B) • Information Modeling and Definition (AS-4C) • Task Groups • Experimentation • Weapons • Mission Planning • World Modeling • …

  8. JAUS System Topology SYSTEM Subsystem 1 Subsystem 2 Subsystem N Node 1 Node 2 Node 3 Node N Component 2 Component 3 Component N Component 1

  9. JAUS System Topology • System • Logical grouping of one or more Subsystems • Typically grouped to gain some cooperative advantage between the constituent Subsystems • Example system might group the following subsystems • One or more operator control units (OCU) • One or more static sensor installations • One or more vehicle Subsystems working towards a common goal

  10. JAUS System Topology • Subsystem • Independent and distinct unit within a System • Address is a value from 1 to 254 • Uniquely identifies the Subsystem • A System is comprised of Subsystems • A robotic vehicle • An OCU

  11. JAUS System Topology • Node • Independent and distinct computing resource within a Subsystem • Contains at least one CPU • Has exactly one Node Manager Component • Address is a value from 1 to 254 • Examples include: • Actuator Controller • Motion Feedback and Control • World Model Knowledge Store • A Subsystem is comprised of one or more Nodes

  12. JAUS System Topology • Component • Lowest level of decomposition in architectural hierarchy • Cohesive software unit that provides a well-defined service or set of services • Generally speaking, a component is an executable task or process • Address is a value from 1 to 254 • 1 is reserved for the Node Manager • A Node is comprised of two or more Components

  13. JAUS Notation and Conventions • Joint Technical Architecture (JTA) • Department of Defense Joint Technical Architecture, Version 3.1, March 2000 • The International System of Units (SI) • NIST Special Publication 330, 1991 Edition, The International System of Units (SI). • Conventional Terrestrial Reference System • World Geodetic System (WGS84), MIL-STD 2401, 11 January, 1994 • The National Imagery and Mapping Agency (NIMA) Technical Report 8350.2, Third Edition • DoD World Geodetic System 1984, Its Definitions and Relationships with Local Geodetic Systems, 4 July 1997 • Vehicle Coordinate Systems • Consistent with ANSI/AIAA R-004-1992, Recommended practice for Atmosphere and Space Flight Vehicle Coordinate Systems • Selected portions adapted for ground vehicles • Figure 2.1, Part II • Manipulator Link Notation • Figures 2.2 – 2.4, Part II

  14. Other Architectures • National Institute of Standards and Technology (NIST) 4D/RCS • Temporal, Hierarchical Architecture • NATO STANAG 4586 • Primarily UAV interoperability • NIST Autonomy Levels for Unmanned Systems (ALFUS) • Establishes standard definitions for the levels of autonomy for unmanned systems • Evolution Robotics’ ERSP • Proprietary Robotic Development Platform

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