Mobile robotics activities in DOE laboratories

Abstract

This paper will briefly outline major activities in Department of Energy (DOE) Laboratories focused on mobile platforms, both Unmanned Ground Vehicles (UGV's) as well as Unmanned Air Vehicles (UAV's). The activities will be discussed in the context of the science and technology construct used by the DOE Technology Roadmap for Robotics and Intelligent Machines (RIM) 1 published in 1998; namely, Perception, Reasoning, Action, and Integration. The activities to be discussed span from research and development to deployment in field operations. The activities support customers in other agencies. The discussion of "perception" will include hyperspectral sensors, complex patterns discrimination, multisensor fusion and advances in LADAR technologies, including real-world perception. "Reasoning" activities to be covered include cooperative controls, distributed systems, ad-hoc networks, platform-centric intelligence, and adaptable communications. The paper will discuss "action" activities such as advanced mobility and various air and ground platforms. In the RIM construct, "integration" includes the Human-Machine Integration. Accordingly the paper will discuss adjustable autonomy and the collaboration of operator(s) with distributed UGV's and UAV's. Integration also refers to the applications of these technologies into systems to perform operations such as perimeter surveillance, large-area monitoring and reconnaissance. Unique facilities and test beds for advanced mobile systems will be described. Given that this paper is an overview, rather than delve into specific detail in these activities, other more exhaustive references and sources will be cited extensively.

Active wing design with integrated flight control using piezoelectric macro fiber composites

“…Unmanned aerial vehicles (UAVs) are being developed for various civil and military applications. In research and development, UAVs also serve as technology demonstrators for active, adaptive, or even 'smart' structures [1,2]. Examples of this include new concepts for flight control and maneuverability, e.g., morphing wings or active elements with various actuator technologies [3,4], as well as for structural integrity monitoring [5,6].…”

“…On the one hand, by direct conversion 1 Authors to whom any correspondence should be addressed. 2 Present address: Prose AG, Zürcherstrasse 41, CH-8400 Winterthur, Switzerland. 3 Present address: Bombardier Transportation AG, Engineering, Zürcherstrasse 39, CH-8401 Winterthur, Switzerland.…”