Interoperability Among Unmanned Maritime Vehicles: Review and First In-field Experimentation

Complex maritime missions, both above and below the surface, have traditionally been carried out by manned surface ships and submarines equipped with advanced sensor systems. Unmanned Maritime Vehicles (UMVs) are increasingly demonstrating their potential for improving existing naval capabilities due to their rapid deployability, easy scalability, and high reconfigurability, offering a reduction in both operational time and cost. In addition, they mitigate the risk to personnel by leaving the man far-from-the-risk but in-the-loop of decision making. In the long-term, a clear interoperability framework between unmanned systems, human operators, and legacy platforms will be crucial for effective joint operations planning and execution. However, the present multi-vendor multi-protocol solutions in multi-domain UMVs activities are hard to interoperate without common mission control interfaces and communication protocol schemes. Furthermore, the underwater domain presents significant challenges that cannot be satisfied with the solutions developed for terrestrial networks. In this paper, the interoperability topic is discussed blending a review of the technological growth from 2000 onwards with recent authors' in-field experience; finally, important research directions for the future are given. Within the broad framework of interoperability in general, the paper focuses on the aspect of interoperability among UMVs not neglecting the role of the human operator in the loop. The picture emerging from the review demonstrates that interoperability is currently receiving a high level of attention with a great and diverse deal of effort. Besides, the manuscript describes the experience from a sea trial exercise, where interoperability has been demonstrated by integrating heterogeneous autonomous UMVs into the NATO Centre for Maritime Research and Experimentation (CMRE) network, using different robotic middlewares and acoustic modem technologies to implement a multistatic active sonar system. A perspective for the interoperability in marine robotics missions emerges in the paper, through a discussion of current capabilities, in-field experience and future advanced technologies unique to UMVs. Nonetheless, their application spread is slowed down by the lack of human confidence. In fact, an interoperable system-of-systems of autonomous UMVs will require operators involved only at a supervisory level. As trust develops, endorsed by stable and mature interoperability, human monitoring will be diminished to exploit the tremendous potential of fully autonomous UMVs

INTEROPERABILITY FOR MODELING AND SIMULATION IN MARITIME EXTENDED FRAMEWORK

This thesis reports on the most relevant researches performed during the years of the Ph.D. at the Genova University and within the Simulation Team. The researches have been performed according to M&S well known recognized standards. The studies performed on interoperable simulation cover all the environments of the Extended Maritime Framework, namely Sea Surface, Underwater, Air, Coast & Land, Space and Cyber Space. The applications cover both the civil and defence domain. The aim is to demonstrate the potential of M&S applications for the Extended Maritime Framework, applied to innovative unmanned vehicles as well as to traditional assets, human personnel included. A variety of techniques and methodology have been fruitfully applied in the researches, ranging from interoperable simulation, discrete event simulation, stochastic simulation, artificial intelligence, decision support system and even human behaviour modelling

Robotics software frameworks for multi-agent robotic systems development

Robotics is an area of research in which the paradigm of Multi-Agent Systems (MAS) can prove to be highly useful. Multi-Agent Systems come in the form of cooperative robots in a team, sensor networks based on mobile robots, and robots in Intelligent Environments, to name but a few. However, the development of Multi-Agent Robotic Systems (MARS) still presents major challenges. Over the past decade, a high number of Robotics Software Frameworks (RSFs) have appeared which propose some solutions to the most recurrent problems in robotics. Some of these frameworks, such as ROS, YARP, OROCOS, ORCA, Open-RTM, and Open-RDK, possess certain characteristics and provide the basic infrastructure necessary for the development of MARS. The contribution of this work is the identification of such characteristics as well as the analysis of these frameworks in comparison with the general-purpose Multi-Agent System Frameworks (MASFs), such as JADE and Mobile-C.Ministerio de Ciencia e Innovación TEC2009-10639-C04-02Junta de Andalucía P06-TIC-2298Junta de Andalucía P08-TIC-0386

A Framework To Model Complex Systems Via Distributed Simulation: A Case Study Of The Virtual Test Bed Simulation System Using the High Level Architecture

As the size, complexity, and functionality of systems we need to model and simulate con-tinue to increase, benefits such as interoperability and reusability enabled by distributed discrete-event simulation are becoming extremely important in many disciplines, not only military but also many engineering disciplines such as distributed manufacturing, supply chain management, and enterprise engineering, etc. In this dissertation we propose a distributed simulation framework for the development of modeling and the simulation of complex systems. The framework is based on the interoperability of a simulation system enabled by distributed simulation and the gateways which enable Com-mercial Off-the-Shelf (COTS) simulation packages to interconnect to the distributed simulation engine. In the case study of modeling Virtual Test Bed (VTB), the framework has been designed as a distributed simulation to facilitate the integrated execution of different simulations, (shuttle process model, Monte Carlo model, Delay and Scrub Model) each of which is addressing differ-ent mission components as well as other non-simulation applications (Weather Expert System and Virtual Range). Although these models were developed independently and at various times, the original purposes have been seamlessly integrated, and interact with each other through Run-time Infrastructure (RTI) to simulate shuttle launch related processes. This study found that with the framework the defining properties of complex systems - interaction and emergence are realized and that the software life cycle models (including the spiral model and prototyping) can be used as metaphors to manage the complexity of modeling and simulation of the system. The system of systems (a complex system is intrinsically a system of systems ) continuously evolves to accomplish its goals, during the evolution subsystems co-ordinate with one another and adapt with environmental factors such as policies, requirements, and objectives. In the case study we first demonstrate how the legacy models developed in COTS simulation languages/packages and non-simulation tools can be integrated to address a compli-cated system of systems. We then describe the techniques that can be used to display the state of remote federates in a local federate in the High Level Architecture (HLA) based distributed simulation using COTS simulation packages

Geometric, Semantic, and System-Level Scene Understanding for Improved Construction and Operation of the Built Environment

Recent advances in robotics and enabling fields such as computer vision, deep learning, and low-latency data passing offer significant potential for developing efficient and low-cost solutions for improved construction and operation of the built environment. Examples of such potential solutions include the introduction of automation in environment monitoring, infrastructure inspections, asset management, and building performance analyses. In an effort to advance the fundamental computational building blocks for such applications, this dissertation explored three categories of scene understanding capabilities: 1) Localization and mapping for geometric scene understanding that enables a mobile agent (e.g., robot) to locate itself in an environment, map the geometry of the environment, and navigate through it; 2) Object recognition for semantic scene understanding that allows for automatic asset information extraction for asset tracking and resource management; 3) Distributed coupling analysis for system-level scene understanding that allows for discovery of interdependencies between different built-environment processes for system-level performance analyses and response-planning. First, this dissertation advanced Simultaneous Localization and Mapping (SLAM) techniques for convenient and low-cost locating capabilities compared with previous work. To provide a versatile Real-Time Location System (RTLS), an occupancy grid mapping enhanced visual SLAM (vSLAM) was developed to support path planning and continuous navigation that cannot be implemented directly on vSLAM’s original feature map. The system’s localization accuracy was experimentally evaluated with a set of visual landmarks. The achieved marker position measurement accuracy ranges from 0.039m to 0.186m, proving the method’s feasibility and applicability in providing real-time localization for a wide range of applications. In addition, a Self-Adaptive Feature Transform (SAFT) was proposed to improve such an RTLS’s robustness in challenging environments. As an example implementation, the SAFT descriptor was implemented with a learning-based descriptor and integrated into a vSLAM for experimentation. The evaluation results on two public datasets proved the feasibility and effectiveness of SAFT in improving the matching performance of learning-based descriptors for locating applications. Second, this dissertation explored vision-based 1D barcode marker extraction for automated object recognition and asset tracking that is more convenient and efficient than the traditional methods of using barcode or asset scanners. As an example application in inventory management, a 1D barcode extraction framework was designed to extract 1D barcodes from video scan of a built environment. The performance of the framework was evaluated with video scan data collected from an active logistics warehouse near Detroit Metropolitan Airport (DTW), demonstrating its applicability in automating inventory tracking and management applications. Finally, this dissertation explored distributed coupling analysis for understanding interdependencies between processes affecting the built environment and its occupants, allowing for accurate performance and response analyses compared with previous research. In this research, a Lightweight Communications and Marshalling (LCM)-based distributed coupling analysis framework and a message wrapper were designed. This proposed framework and message wrapper were tested with analysis models from wind engineering and structural engineering, where they demonstrated the abilities to link analysis models from different domains and reveal key interdependencies between the involved built-environment processes.PHDCivil EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/155042/1/lichaox_1.pd

Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations

A Survey on Experimental Performance Evaluation of Data Distribution Service (DDS) Implementations

The Data Distribution Service (DDS) is a widely used communication specification for real-time mission-critical systems that follow the principles of publish-subscribe middleware. DDS has an extensive set of quality of service (QoS) parameters allowing a thorough customisation of the intended communication. An extensive survey of the performance of the implementations of this communication middleware is lacking. This paper closes the gap by surveying the state of the art in performance of various DDS implementations and identifying any research gaps that exist within this domain.Comment: 20 pages and 1 figur

Toward composing variable structure models and their interfaces: a case of intensional coupling definitions

In this thesis, we investigate a combination of traditional component-based and variable structure modeling. The focus is on a structural consistent specification of couplings in modular, hierarchical models with a variable structure. For this, we exploitintensional definitions, as known from logic, and introduce a novel intensional coupling definition, which allows a concise yet expressive specification of complex communication and interaction patterns in static as well as variable structure models, without the need to worryabout structural consistency.In der Arbeit untersuchen wir ein Zusammenbringen von klassischer komponenten-basierter und variabler Strukturmodellierung. Der Fokus liegt dabei auf der Spezifikation von strukturkonsistenten Kopplungen in modular-hierarchischen Modellen mit einer variablen Struktur. Dafür nutzen wir intensionale Definitionen, wie sie aus der Logik bekannt sind, und führen ein neuartiges Konzept von intensionalen Kopplungen ein, welches kompakte gleichzeitig ausdrucksstarke Spezifikationen von komplexen Kommunikations- und Interaktionsmuster in statischen und variablen Strukturmodellen erlaubt