Publications

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Sandia’s Intelligent Systems, Robotics, and Cybernetics group (ISRC) created the Sandia Architecture for Heterogeneous Unmanned System Control (SAHUC) to demonstrate how heterogeneous multi-agent teams could be used for tactical operations including the protection of high-consequence sites. Advances in multi-agent autonomy and unmanned systems have provided revolutionary new capabilities that can be leveraged for physical security applications. SAHUC applies these capabilities to produce a command-intent driven, autonomously adapting, multi-agent mobile sensor network. This network could enhance the security of high-consequence sites; it can be quickly and intuitively re-tasked to rapidly adapt to changing security conditions. The SAHUC architecture, GUI, autonomy layers, and implementation are explored. Results from experiments and a demonstration are also discussed.

The Sandia Architecture for Heterogeneous Unmanned System Control (SAHUC) was produced as part of a three year internally funded project performed by Sandia's Intelligent Systems, Robotics, and Cybernetics group (ISRC). ISRC created SAHUC to demonstrate how teams of Unmanned Systems (UMS) can be used for small-unit tactical operations incorporated into the protection of high-consequence sites. Advances in Unmanned Systems have provided crucial autonomy capabilities that can be leveraged and adapted to physical security applications. SAHUC applies these capabilities to provide a distributed ISR network for site security. This network can be rapidly re-tasked to respond to changing security conditions. The SAHUC architecture contains multiple levels of control. At the highest level a human operator inputs objectives for the network to accomplish. The heterogeneous unmanned systems automatically decide which agents can perform which objectives and then decide the best global assignment. The assignment algorithm is based upon coarse metrics that can be produced quickly. Responsiveness was deemed more crucial than optimality for responding to time-critical physical security threats. Lower levels of control take the assigned objective, perform online path planning, execute the desired plan, and stream data (LIDAR, video, GPS) back for display on the user interface. SAHUC also retains an override capability, allowing the human operator to modify all autonomous decisions whenever necessary. SAHUC has been implemented and tested with UAVs, UGVs, and GPS-tagged blue/red force actors. The final demonstration illustrated how a small fleet, commanded by a remote human operator, could aid in securing a facility and responding to an intruder.

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Our overall intent is to develop improved prosthetic devices with the use of nerve interfaces through which transected nerves may grow, such that small groups of nerve fibers come into close contact with electrode sites, each of which is connected to electronics external to the interface. These interfaces must be physically structured to allow nerve fibers to grow through them, either by being porous or by including specific channels for the axons. They must be mechanically compatible with nerves such that they promote growth and do not harm the nervous system, and biocompatible to promote nerve fiber growth and to allow close integration with biological tissue. They must exhibit selective and structured conductivity to allow the connection of electrode sites with external circuitry, and electrical properties must be tuned to enable the transmission of neural signals. Finally, the interfaces must be capable of being physically connected to external circuitry, e.g. through attached wires. We have utilized electrospinning as a tool to create conductive, porous networks of non-woven biocompatible fibers in order to meet the materials requirements for the neural interface. The biocompatible fibers were based on the known biocompatible material poly(dimethyl siloxane) (PDMS) as well as a newer biomaterial developed in our laboratories, poly(butylene fumarate) (PBF). Both of the polymers cannot be electrospun using conventional electrospinning techniques due to their low glass transition temperatures, so in situ crosslinking methodologies were developed to facilitate micro- and nano-fiber formation during electrospinning. The conductivity of the electrospun fiber mats was controlled by controlling the loading with multi-walled carbon nanotubes (MWNTs). Fabrication, electrical and materials characterization will be discussed along with initial in vivo experimental results.

Sandia's scientific and engineering expertise in the fields of computational biology, high-performance prosthetic limbs, biodetection, and bioinformatics has been applied to specific problems at the forefront of cancer research. Molecular modeling was employed to design stable mutations of the enzyme L-asparaginase with improved selectivity for asparagine over other amino acids with the potential for improved cancer chemotherapy. New electrospun polymer composites with improved electrical conductivity and mechanical compliance have been demonstrated with the promise of direct interfacing between the peripheral nervous system and the control electronics of advanced prosthetics. The capture of rare circulating tumor cells has been demonstrated on a microfluidic chip produced with a versatile fabrication processes capable of integration with existing lab-on-a-chip and biosensor technology. And software tools have been developed to increase the calculation speed of clustered heat maps for the display of relationships in large arrays of protein data. All these projects were carried out in collaboration with researchers at the University of Texas M. D. Anderson Cancer Center in Houston, TX.

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Low Temperature Cofired Ceramic (LTCC) has proven to be an enabling medium for microsystem technologies, because of its desirable electrical, physical, and chemical properties coupled with its capability for rapid prototyping and scalable manufacturing of components. LTCC is viewed as an extension of hybrid microcircuits, and in that function it enables development, testing, and deployment of silicon microsystems. However, its versatility has allowed it to succeed as a microsystem medium in its own right, with applications in non-microelectronic meso-scale devices and in a range of sensor devices. Applications include silicon microfluidic ''chip-and-wire'' systems and fluid grid array (FGA)/microfluidic multichip modules using embedded channels in LTCC, and cofired electro-mechanical systems with moving parts. Both the microfluidic and mechanical system applications are enabled by sacrificial volume materials (SVM), which serve to create and maintain cavities and separation gaps during the lamination and cofiring process. SVMs consisting of thermally fugitive or partially inert materials are easily incorporated. Recognizing the premium on devices that are cofired rather than assembled, we report on functional-as-released and functional-as-fired moving parts. Additional applications for cofired transparent windows, some as small as an optical fiber, are also described. The applications described help pave the way for widespread application of LTCC to biomedical, control, analysis, characterization, and radio frequency (RF) functions for macro-meso-microsystems.

Robots for high-force interaction with humans face particular challenges to achieve performance and coupled stability. Because available actuators are unable to provide sufficiently high force density and low impedance, controllers for such machines often attempt to mask the robots physical dynamics, though this threatens stability. Controlling for passivity, the state-of-the-art means of ensuring coupled stability, inherently limits performance to levels that are often unacceptable. A controller that imposes passivity is compared to a controller designed by a new method that uses limited knowledge of human dynamics to improve performance. Both controllers were implemented on a testbed, and coupled stability and performance were tested. Results show that the new controller can improve both stability and performance. The different structures of the controllers yield key differences in physical behavior, and guidelines are provided to assist in choosing the appropriate approach for specific applications.

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.

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