Publications

Abstract not provided.

In this paper, we present an optimal method for calculating turning maneuvers for an unmanned aerial vehicle (UAV) developed for ecological research. The algorithm calculates several possible solutions using vectors represented in complex notation, and selects the shortest turning path given constraints determined by the aircraft. This algorithm considers the UAV's turning capabilities, generating a two-dimensional path that is feasible for the UAV to fly. We generate a test flight path and show that the UAV is capable of following the turn maneuvers.

In the past decade, a great deal of effort has been focused in research and development of versatile robotic ground vehicles without understanding their performance in a particular operating environment. As the usage of robotic ground vehicles for intelligence applications increases, understanding mobility of the vehicles becomes critical to increase the probability of their successful operations. This paper describes a framework based on conservation of energy to predict the maximum mobility of robotic ground vehicles over general terrain. The basis of the prediction is the difference between traction capability and energy loss at the vehicle-terrain interface. The mission success of a robotic ground vehicle is primarily a function of mobility. Mobility of a vehicle is defined as the overall capability of a vehicle to move from place to place while retaining its ability to perform its primary mission. A mobility analysis tool based on the fundamental principle of conservation of energy is described in this document. The tool is a graphical user interface application. The mobility analysis tool has been developed at Sandia National Laboratories, Albuquerque, NM. The tool is at an initial stage of development. In the future, the tool will be expanded to include all vehicles and terrain types.

This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

Abstract not provided.

Sandia National Laboratories has developed a mesoscale hopping mobility platform (Hopper) to overcome the longstanding problems of mobility and power in small scale unmanned vehicles. The system provides mobility in situations such as negotiating tall obstacles and rough terrain that are prohibitive for other small ground base vehicles. The Defense Advanced Research Projects Administration (DARPA) provided the funding for the hopper project.

Historically, high resolution, high slew rate optics have been heavy, bulky, and expensive. Recent advances in MEMS (Micro Electro Mechanical Systems) technology and micro-machining may change this. Specifically, the advent of steerable sub-millimeter sized mirror arrays could provide the breakthrough technology for producing very small-scale high-performance optical systems. For example, an array of steerable MEMS mirrors could be the building blocks for a Fresnel mirror of controllable focal length and direction of view. When coupled with a convex parabolic mirror the steerable array could realize a micro-scale pan, tilt and zoom system that provides full CCD sensor resolution over the desired field of view with no moving parts (other than MEMS elements). This LDRD provided the first steps towards the goal of a new class of small-scale high-performance optics based on MEMS technology. A large-scale, proof of concept system was built to demonstrate the effectiveness of an optical configuration applicable to producing a small-scale (< 1cm) pan and tilt imaging system. This configuration consists of a color CCD imager with a narrow field of view lens, a steerable flat mirror, and a convex parabolic mirror. The steerable flat mirror directs the camera's narrow field of view to small areas of the convex mirror providing much higher pixel density in the region of interest than is possible with a full 360 deg. imaging system. Improved image correction (dewarping) software based on texture mapping images to geometric solids was developed. This approach takes advantage of modern graphics hardware and provides a great deal of flexibility for correcting images from various mirror shapes. An analytical evaluation of blur spot size and axi-symmetric reflector optimization were performed to address depth of focus issues that occurred in the proof of concept system. The resulting equations will provide the tools for developing future system designs.