Professional Documents
Culture Documents
Unmanned Vehicle
Systems
Fall 2015
Dr. Brian Huff, IMSE Dept.
4378
EE 4378
IE 4378
MAE 4378
AE 5378
CSE 5383
EE 6321
IE
5378
ME 5378
Introduction to Unmanned
Vehicle Systems
Lecture Overview
Class
Syllabus (Highlights)
UVS Certificate Programs
UVS History
Types of UVS
UVS Component Technologies
90% - 100%
80% - 89%
70% - 79%
60% - 69%
less than 60%
Turn
Doorway
of you
Courses
Final course in program is a 3-hour projectbased course that involves the design and
construction of a functional UVS system or
component involving teamwork and
collaborative effort between students from
participating departments
Technological Reasons
Future Communication
By 2020 We will have Ubiquitous High
Bandwidth Communication
Today - WiFi (vehicle to vehicle)
Soon - WiMax (30 km range)
above metropolitan areas
Edholms Law (IEEE)
Bandwidth growing Faster
then Moores Law (doubling
every 12 months)
Soon (2015?) Nomadic
(wireless) will Exceed
Wireline
February 2000, Sen. John Warner (R-VA), Chairman of the Senate Armed
Services Committee, publicly stated his desire to see one-third of military
aircraft designed to strike deep within enemy territory would be unmanned
by 2010 and one-third of ground combat vehicles would be driverless by
2015.
In the Senate Armed Service Committees version of the 2007 Defense
budget they state:
The Secretary of Defense shall develop a policy applicable
throughout the Department of Defense on research,
development, test, and evaluation, procurement, and operation
of unmanned systems [which] shall include the preference for
joint unmanned systems in acquisition programs for new
systems, including a requirement under any such program for
the development of a manned system for a certification that an
unmanned system is incapable of meeting program
requirements
UVS History
The Defeat of the Spanish Armada 1588 The English sent eight burning ships into the
crowded harbor at Calais. The panicked Spanish ships were forced to cut their anchors
and sail out to sea to avoid catching fire. The disorganized fleet, completely out of
formation, was attacked by the English off Gravelines at dawn. In a decisive battle, the
superior English guns won the day.
UVS History
UVS History
http://en.wikipedia.org/wiki/Kettering_Bug
UVS History
The
Radio
UVS History
Germany
The
UVS History
Size: 4x2x1
Payload: 165-220 lbs of
high explosives
Uses: destroying tanks,
demolition of buildings
and bridges, disrupting
dense infantry formations
25
Classes of UxVs
Platform-Centric
Autonomous Vehicle
(Wingman)
Semiautonomous
Preceder/Follower
(Donkey)
Network-Centric
Autonomous Vehicle
(Hunter-Killer Teams)
Teleoperated Vehicles
Applications:
Applications:
The UxV, once given orders for a complex mission, can accomplish them
without being told how.
Can transverse between two waypoints (a few kilometers to a hundred
kilometers apart) with no help along the way by a human operator (A-toB autonomy). Must include same environmental conditions (terrain,
weather, etc.) as would be operated in by manned vehicles.
Must be able to carry out its mission in a hostile environment with the
same survivability and self-defense as manned systems.
Capable of identifying friends, foes, and noncombatants (IFFN)
Must carry adequate self-defense systems suitable for its operational
environment and anticipated threats.
Capable of refueling itself from unmanned prepositioned fuel supplies or
rendezvous with a fuel supply vehicle (manned or unmanned).
Applications:
Task Allocation the allocation of tasks between human and robot agents
based on the non-homogeneous capabilities of the team resources
Mobility
Accessed in terms of the size and class of obstacle (both positive and
negative) a vehicle can negotiate and still continue along its specific path
and/or the modes of motion supported by the platform (e.g. vertical
takeoff for UAV)
Communications
Not all communications modalities will work for all classes of UVS. UUV
communications technologies are very different from those used in an air
medium.
Power/Energy
This is critical issue, particularly for small UVS platforms, systems and
applications that require long endurance, (a key advantage of using
unmanned technologies), or in domains where fuel weight and volume
have a significant impact on vehicle performance (e.g. UAV systems).
A very large selection of power and energy options exist, each with a
unique set of tradeoffs.
Health Maintenance
For each failure symptom and sensing technology must be identified that
can reliability detect these symptoms.
For each Failure Mode that is identified, a failure mediation process must
be defined.
Perception Subsystem
Navigation Subsystem
Keeps track of the UVS current position and pose (roll, pitch, yaw) in an
absolute coordinate system.
These sensor inputs are frequently inconsistent and each have their own
potential error causes and characteristics.
Planning Subsystem
Learning/Adaptation Subsystem