Overview of the Mobile Detection Assessment and Response System

Inderieden, R. S.; Everett, H. R.; Heath-Pastore, T. A.; Smurlo, Richard P.

doi:10.21236/ada422465

“…MDARS is a Department of Defense development effort managed by the Product Manager, Physical Security Equipment (PM-PSE), Ft. Belvoir, VA, with the Space and Naval Warfare (SPAWAR) Systems Center, San Diego providing technical direction and Command and Control development 1 . MDARS supports several types of remote resources including interior and exterior mobile platforms as well as fixed sensor suites (i.e., the MDARS-E vehicle is only one component of an overall MDARS system).…”

Section: Introductionmentioning

confidence: 99%

Radar-based intruder detection for a robotic security system

Cory

¹

,

Everett

²

,

Heath-Pastore

³

1999

SPIE Proceedings

6

0

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The Mobile Detection Assessment and Response System, Exterior (MDARS-E) provides an automated robotic security capability for storage yards, petroleum tank farms, rail yards, and arsenals. The system includes multiple supervised-autonomous platforms equipped with intrusion detection, barrier assessment, and inventory assessment subsystems commanded from an integrated control station.The MDARS-E Intrusion Detection System consists of a motion sensor suite which is selectively enabled while the vehicle is momentarily halted in execution of pre-defined but randomly executed patrols. The system can detect a crawling, walking, or running intruder at a distance of 100 meters, even in darkness or the presence of smoke, fog, dust, and precipitation. The demanding nature of the required detection criteria necessitates the integration of complementary technologies which can sense motion, pattern characteristics, thermal signatures, and temporal behavior.Accordingly, MDARS-E incorporates a two-layered sensor approach (i.e., vision and radar) to achieve a high probability of detection while simultaneously minimizing the number of nuisance alarms. The primary layer utilizes an infrared/vision-based (FLIR) system, which provides high angular resolution of a suspected intruder location within a scene. This information is used to slave a two-axis pan-and-tilt turret on which both the radar and vision sensors are mounted to automatically track the designated target. The second layer, a long-range broad-area radar sensor, is thus optimally positioned to confirm the presence of any valid moving target, effectively eliminating nuisance alarms. This paper discusses the MDARS-E Intrusion Detection System sensors and user interface, with particular emphasis placed on the pulsed-Doppler radar implementation and performance.Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.

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“…MDARS is a Department of Defense development effort managed by the Product Manager, Physical Security Equipment (PM-PSE), Ft. Belvoir, VA, with the Space and Naval Warfare (SPAWAR) Systems Center, San Diego providing technical direction and Command and Control development 1 . MDARS supports several types of remote resources including interior and exterior mobile platforms as well as fixed sensor suites (i.e., the MDARS-E vehicle is only one component of an overall MDARS system).…”

Section: Introductionmentioning

confidence: 99%

Radar-Based Intruder Detection for a Robotic Security System

Cory¹,

Everett²,

Pastore³

1998

Self Cite

1

0

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The Mobile Detection Assessment and Response System, Exterior (MDARS-E) provides an automated robotic security capability for storage yards, petroleum tank farms, rail yards, and arsenals. The system includes multiple supervised-autonomous platforms equipped with intrusion detection, barrier assessment, and inventory assessment subsystems commanded from an integrated control station.The MDARS-E Intrusion Detection System consists of a motion sensor suite which is selectively enabled while the vehicle is momentarily halted in execution of pre-defined but randomly executed patrols. The system can detect a crawling, walking, or running intruder at a distance of 100 meters, even in darkness or the presence of smoke, fog, dust, and precipitation. The demanding nature of the required detection criteria necessitates the integration of complementary technologies which can sense motion, pattern characteristics, thermal signatures, and temporal behavior.Accordingly, MDARS-E incorporates a two-layered sensor approach (i.e., vision and radar) to achieve a high probability of detection while simultaneously minimizing the number of nuisance alarms. The primary layer utilizes an infrared/vision-based (FLIR) system, which provides high angular resolution of a suspected intruder location within a scene. This information is used to slave a two-axis pan-and-tilt turret on which both the radar and vision sensors are mounted to automatically track the designated target. The second layer, a long-range broad-area radar sensor, is thus optimally positioned to confirm the presence of any valid moving target, effectively eliminating nuisance alarms. This paper discusses the MDARS-E Intrusion Detection System sensors and user interface, with particular emphasis placed on the pulsed-Doppler radar implementation and performance.

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A Decentralized Architecture for Multi-Robot Systems Based on the Null-Space-Behavioral Control with Application to Multi-Robot Border Patrolling

Marino

¹

,

Parker

²

,

Antonelli

³

et al. 2012

J Intell Robot Syst

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This paper presents a control architecture for multi-robot systems. The proposed architecture has been developed in the framework of the Null-Space-based-Behavioral (NSB) control, a competitive-collaborative behavior-based control approach. The standard NSB statically determines a set of suitably defined elementary tasks (behaviors) and their priorities, i.e., they cannot be dynamically changed according to mission requirements and environmental constraints. In this paper, a three layer architecture has been designed in order to avoid such a drawback. The single robotic unit (agent) performing the mission is placed on the lower layer. In the middle layer, suitably defined elementary behaviors are defined; these elementary behaviors are then combined, via the NSB approach, in more complex actions. The upper layer is a Supervisor in charge of dynamically selecting the proper action to be executed. As further contribution, the architecture has been applied to the multi-robot border patrolling mission to generate a decentralized, deterministic and non-communicative solution that is robust to faults, and prevents collisions, even in the case of high robot density. Finally, the simulations on a team composed by a large number of robots, and experiments on a real setup, composed by three Pioneer-3DX robots, are provided

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Overview of the Mobile Detection Assessment and Response System

Cited by 5 publications

References 2 publications

Radar-based intruder detection for a robotic security system

Radar-based intruder detection for a robotic security system

Radar-Based Intruder Detection for a Robotic Security System

A Decentralized Architecture for Multi-Robot Systems Based on the Null-Space-Behavioral Control with Application to Multi-Robot Border Patrolling

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