DRAFTDRAFT
JOINT SERVICEEXPLOSIVE ORDNANCE DISPOSALEXPLOSIVE ORDNANCE DISPOSAL
ADVANCED EOD ROBOT SYSTEMADVANCED EOD ROBOT SYSTEM(AEODRS)
Byron BrezinaNSWC Naval EOD Technology DivisionR b ti T h l i t
DRAFT 4 Feb 09
Robotics [email protected](301) 744-6858 x269
DRAFTOUTLINE
Current SituationAEODRS T h i l TAEODRS Technical TeamTechnology AreasArchitectureProgram ScheduleProgram ScheduleSelected Preliminary RequirementsSummary
DRAFT 2
DRAFT
CURRENT SITUATION
MK 1MK 1
MK 2
MK 3
DRAFT 3
DRAFTCURRENT SITUATION
Current EOD robots are modified commercial itemsVarious architectures
• Logicalg• Electrical• Physical
No common controllerNo common controllerLimited autonomySeparate logistics footprintsSeparate logistics footprintsProcess of developing and fielding needed upgrades and enhancements is cumbersome
DRAFT 4
upgrades and enhancements is cumbersome and expensive
DRAFTAEODRS TECHNICAL TEAM
NSWC Naval EOD Technology Division
SPAWAR Systems Center Pacific
The Johns Hopkins UniversityThe Johns Hopkins UniversityApplied Physics Laboratory
The Pennsylvania State UniversityApplied Research Laboratory
Battelle Memorial Institute
DRAFT 5
DRAFTTECHNOLOGY AREAS
Standards/Architecture/MetricsCommunicationsCommunicationsHuman-Robot InteractionManipulationManipulationMobilityNavigationNavigationPerception and IntelligencePowerPowerSensorsTools
DRAFT 6
Tools
DRAFTTECHNOLOGY AREAS INTERRELATIONSHIPS
DRAFT 7
DRAFTARCHITECTURE
Architecture for the AEODRS family of robots• Define system architecture• Define interface standards
Benefits• Interoperability across the AEODRS family
R d d t• Reduced cost• Increased competition• Faster retrofit/upgrades• Decrease logistics footprintDecrease logistics footprint• User configurable for specific missions
Goal• Develop Plug and Play systems with complete interface control
documentation so that Sensor A from Robot B can be seamlessly swapped and used on Robot C for Sensor D
• Allow forward/backward compatibility and adaptability to emerging
DRAFT 8
• Allow forward/backward compatibility and adaptability to emerging technologies
• Enable robust multi-manufacturer innovation and support
DRAFTARCHITECTURE
All interfacing elements between two functional componentsRobot components need to be “smart” and communicate with other components or a central processor
Messaging
components or a central processorAll components have one or more of the following interfaces:
Session Transport
Presentation
Messaging
Logical
C t
Session - TransportComponent
BPowerElectrical
ComponentA
Connectors
MountingPhysical
DRAFT 9Full definition of these interfaces allows for manufacturer enabled interoperability
DRAFTSCHEDULE
2009 2010 2011 2012 2013 2014 20152008
TECHNOLOGY DEMO ENG & MANUF DEV (UGV 1) PRODB C
ENG & MANUF DEV (UGV 2 & 3) C’B’
AEODRS RELATEDAEODRS-RELATEDS&T PROJECTS
DRAFT 10
DRAFTSELECTED PRELIMINARY REQUIREMENTS
Disclaimer – These selected requirements are preliminary and some or all of them may changepreliminary and some or all of them may change by the time the AEODRS capability development document (CDD) is finalized and approved.document (CDD) is finalized and approved.
DRAFT 11
DRAFTSELECTED PRELIMINARY REQUIREMENTS
Family of Systems• Dismounted Operations• Dismounted Operations• Tactical Operations• Base/Infrastructure Operations
DRAFT 12
Disclaimer – These selected requirements are preliminary and some or all of them maychange by the time the AEODRS capability development document (CDD) is finalized and approved.
DRAFTSELECTED PRELIMINARY REQUIREMENTS
Dismounted Operations• Back-packable, 35 lbs including backpack• 100 meter range
6 hour endurance• 6 hour endurance• Low-DOF manipulator, 5 lbs lift at full extension• 8 mph vehicle speedp p• Able to travel through 18 inch culvert• No stair climbing
DRAFT 13
Disclaimer – These selected requirements are preliminary and some or all of them maychange by the time the AEODRS capability development document (CDD) is finalized and approved.
DRAFTSELECTED PRELIMINARY REQUIREMENTS
Tactical Operations• Vehicle two man transportable for short distances• Vehicle two-man transportable for short distances –
no greater than 164 lbs• Vehicle fits within aisle of tactical vehicle• 1000 meter range• 6 hour endurance
T i l t ith t l t th hi• Two manipulators, with at least one anthropomorphic• Manipulator lift - TBD• 8 mph vehicle speedp p• Stair climbing
DRAFT 14
Disclaimer – These selected requirements are preliminary and some or all of them maychange by the time the AEODRS capability development document (CDD) is finalized and approved.
DRAFTSELECTED PRELIMINARY REQUIREMENTS
Base/Infrastructure Operations• Vehicle weight TBD• Vehicle weight - TBD• Vehicle able to travel through doorway for 36 inch
door• 1200 meter range• 6 hour endurance
T i l t ith t l t th hi• Two manipulators, with at least one anthropomorphic• Manipulator lift – 75 lbs at full extension, 300 lbs
close-upp• 8 mph vehicle speed• Stair climbing
DRAFT 15
Disclaimer – These selected requirements are preliminary and some or all of them maychange by the time the AEODRS capability development document (CDD) is finalized and approved.
DRAFTSUMMARY
Joint Service EOD community has established, validated requirements for a variety of UGVsq y
Joint Service EOD program has successfully fielded and supported UGVs for all four Services
Joint Service EOD program is enhancing existing robotic capabilities and developing the fourth generation of EOD UGVsUGVs
NAVEODTECHDIV continues to work with industry, academia, and other Government organizations to get acade a, a d o e Go e e o ga a o s o gelife-saving systems into the hands of EOD technicians
DRAFT 16