123,924 research outputs found
Marine Operations with the SWORDFISH Autonomous Surface Vehicle
IEEE Robótica 2007 - 7th Conference on Mobile Robots and Competitions, Paderne, Portugal 2007This paper describes the design and development
of the Swordfish Autonomous Surface Vehicle (ASV) system.
The work focuses the sensors, actuators, communications and
C4I of an unmanned vehicle for marine operations.
SWORDFISH is an autonomous surface vehicle used as the
central communications link between air, undersea, and
terrestrial robotic vehicles of a network centric operation. It is
used as a test bed platform for deployment and testing of
advanced control and operational concepts for multi-vehicles
systems.
This new unmanned marine vehicle was done in the context
of the PISCIS project. The PISCIS project concerns the
development, test and evaluation of new vehicles and new
concepts of operation for networked vehicle systems in
oceanographic data collection. The PISCIS system includes two
autonomous underwater vehicles, the Swordfish ASV, an
acoustic navigation system, acoustic and radio communications
and a distributed command and control system
Driving through the Concept Gridlock: Unraveling Explainability Bottlenecks in Automated Driving
Concept bottleneck models have been successfully used for explainable machine
learning by encoding information within the model with a set of human-defined
concepts. In the context of human-assisted or autonomous driving,
explainability models can help user acceptance and understanding of decisions
made by the autonomous vehicle, which can be used to rationalize and explain
driver or vehicle behavior. We propose a new approach using concept bottlenecks
as visual features for control command predictions and explanations of user and
vehicle behavior. We learn a human-understandable concept layer that we use to
explain sequential driving scenes while learning vehicle control commands. This
approach can then be used to determine whether a change in a preferred gap or
steering commands from a human (or autonomous vehicle) is led by an external
stimulus or change in preferences. We achieve competitive performance to latent
visual features while gaining interpretability within our model setup
Post-Westgate SWAT : C4ISTAR Architectural Framework for Autonomous Network Integrated Multifaceted Warfighting Solutions Version 1.0 : A Peer-Reviewed Monograph
Police SWAT teams and Military Special Forces face mounting pressure and
challenges from adversaries that can only be resolved by way of ever more
sophisticated inputs into tactical operations. Lethal Autonomy provides
constrained military/security forces with a viable option, but only if
implementation has got proper empirically supported foundations. Autonomous
weapon systems can be designed and developed to conduct ground, air and naval
operations. This monograph offers some insights into the challenges of
developing legal, reliable and ethical forms of autonomous weapons, that
address the gap between Police or Law Enforcement and Military operations that
is growing exponentially small. National adversaries are today in many
instances hybrid threats, that manifest criminal and military traits, these
often require deployment of hybrid-capability autonomous weapons imbued with
the capability to taken on both Military and/or Security objectives. The
Westgate Terrorist Attack of 21st September 2013 in the Westlands suburb of
Nairobi, Kenya is a very clear manifestation of the hybrid combat scenario that
required military response and police investigations against a fighting cell of
the Somalia based globally networked Al Shabaab terrorist group.Comment: 52 pages, 6 Figures, over 40 references, reviewed by a reade
Towards an Architecture for Semiautonomous Robot Telecontrol Systems.
The design and development of a computational system to support robot–operator collaboration is a challenging task, not only because of the overall system complexity, but furthermore because of the involvement of different technical and scientific disciplines, namely, Software Engineering, Psychology and Artificial Intelligence, among others. In our opinion the approach generally used to face this type of project is based on system architectures inherited from the development of autonomous robots and therefore fails to incorporate explicitly the role of the operator, i.e. these architectures lack a view that help the operator to see him/herself as an integral part of the system. The goal of this paper is to provide a human-centered paradigm that makes it possible to create this kind of view of the system architecture. This architectural description includes the definition of the role of operator and autonomous behaviour of the robot, it identifies the shared knowledge, and it helps the operator to see the robot as an intentional being as himself/herself
Interest of the dual hybrid control scheme for teleoperation with time delays
A new scheme of teleoperation called "dual hybrid control" is described. It is shown that telepresence is increased compared to traditional force feedback schemes. It is particulary well suited for time delay teleoperation
Integration of an object formalism within a hybrid dynamic simulation environment
PrODHyS is a general object-oriented environment which provides common and reusable components designed for the development and the management of dynamic simulation of systems engineering. Its major characteristic is its ability to simulate processes described by a hybrid model. In this framework, this paper focuses on the "Object Differential Petri Net" (ODPN) formalism integrated within PrODHyS. The use of this formalism is illustrated through a didactic example relating to the field of Chemical Process System Engineering (PSE)
Mission Control Concepts for Robotic Operations: Existing approaches and new Solutions
This paper gives a preliminary overview on activities
within the currently ongoing Mission Control Concepts
for Robotic Operations (MICCRO) study.
The aim of the MICCRO study is to reveal commonalities
in the operations of past, current and future robotic
space missions in order to find an abstract, representative
mission control concept applicable to multiple future
missions with robotic systems involved. The existing
operational concepts, responsibilities and information
flows during the different mission phases are taken into
account.
A particular emphasis is put on the possible interaction
between different autonomous components (on-board
and on-ground), their synchronisation and the possible
shift of autonomy borders during different mission
phases
Knowledge-based Autonomous Test Engineer (KATE)
Mathematical models of system components have long been used to allow simulators to predict system behavior to various stimuli. Recent efforts to monitor, diagnose, and control real-time systems using component models have experienced similar success. NASA Kennedy is continuing the development of a tool for implementing real-time knowledge-based diagnostic and control systems called KATE (Knowledge based Autonomous Test Engineer). KATE is a model-based reasoning shell designed to provide autonomous control, monitoring, fault detection, and diagnostics for complex engineering systems by applying its reasoning techniques to an exchangeable quantitative model describing the structure and function of the various system components and their systemic behavior
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