Amplifying Human Performance Through Advanced Technology

Transcription

1 Amplifying Human Performance Through Advanced Technology Team Cybernet The Only Michigan Centric Team that Qualified for the Finals Over 10 Km segments traveled through obstacles, intersections, GPS denied areas, and among moving and still vehicles Integrated Urban and Terrain Planning & Behavior Technology validated Strap-down kit Qty 1 cost of goods < $20,000 per vehicle JAUS compliant architecture proves out Cybernet Systems Corporation 1

2 Michigan Centric IVS was a Honeywell, Minneapolis team with Ford as a partner GM was a partner on a CMU team Cybernet Systems Corporation 2

3 Partners and Sponsors Team Cybernet thanks the organizations that helped us, including: Cybernet Systems Corporation 3

4 Other Results Nav with GPS denied to GPS CEP (+/-10cm) for over 1 km 0.02% distance traveled < $10,000 in parts A ladar obstacle detection system that detects people or vehicles at relevant ranges reliably Novel computer vision/motion-change range detection demonstrated Lane departure system that is at 97%-99% reliability 75 Hz Ladar processing 30 Hz (8 camera) JPEG-based video processing using an off-the-shelf security architecture Relationship with IBEO for Lux Ladar in automotive quantities ~$400 per unit; self calibrating; 200m range; tolerant of obscurants, dirt, environmental New CAN control architecture under development Cybernet Systems Corporation 4

5 Purely Strapdown Approach Cybernet Systems Corporation 5

6 Sensors and Hardware Architecture Front Ladar Color CCD -- All except this one are inside passenger area 180 deg. FOV I3M MEMS INS Ladar hood Long Look CCD Warning light & audible GPS antenna Short Look CCD Side Sonar Wheel Rotation Sensors Side Sonar Rear Ladar Fiber Optic Gyro Ladar hood Cybernet Systems Corporation 6

7 Leverages Prior Work Portable OCU for Field Use Robot Control Mobile IMU Miniaturized MEMS Navigation System JAUS Architecture Topology SYSTEM (3) MEMS Gyros (3) MEMS Accelerometer Subsystem Subsystem Subsystem (3) 3 axis Digital Magnetometers USB Serial Node Node Node Node Comp1, Inst1 Comp2, Inst1 Comp2, Inst2 CompN, Inst1 GPS Wheel Encoder Counts (Via USB Counter) URBAN1: Control Computer Cybernet Systems Corporation 7

8 Machine Vision Change, Range, Land Departure 0 90 Vehicle -90 Range from Image Change Cybernet Systems Corporation 8 180

9 Novel Path Planner Based on Turn Radius and Obstacle Avoidance Margin Cybernet Systems Corporation 9

10 Test Range B Run on Track Plot & Shots from Other Runs Video Log Track Plot Cybernet Systems Corporation 10

11 Automotive LADAR 3D ERIM Ladar Cybernet Engineers ERIM LADAR for DARPA ALV & Navlab Automotive Temp. & Environmental Qualified Scan Frequency: 25 Hz Horizontal Angle: 100 Degree Range: 0.3 to 200m (support up to 80mph) Vertical FOV: 12.6 degree (four Up to three returns per range measure (automatic detection of optical and rain obscuration) Size/Weight: 3.3 x 6 x 3.3 /2 lbs Built-in ground and obstacle detection Class 1 eye safe Ethernet or CAN bus interfaces R&D Pricing: 9k; Automotive pricing: 400 IBEO LUX Distributed by Cybernet Cybernet Systems Corporation 11

12 IBEO in Action Cybernet Systems Corporation 12

13 Vehicle Test Cybernet Grand Challenge Vehicle under test at the General Motors Electromagnetic Test Facility for determination of microwave weapon assault susceptibility Chrysler Chelsea SwRI, San Antonio GM Milford Ford Romeo Cybernet Systems Corporation 13

14 Power Fuse 12 VDC Direct Feed Safety Systems Steering Servo Vehicle Generator Vehicle Battery Second Vehicle Battery Surge Current Ultracap Safe 12VDC Fuse Vehicle Fuses Sinusoidal Inverter (120VAC) Sinusoidal Inverter (120VAC) Interruptable 120VAC Uninterruptable Power Module Uninterruptable Power Module Uninterruptable Power Module Vehicle Electronic Systems System Control PC Computer Vision PC Other Subsystems Uninterruptable 120VAC Cybernet Systems Corporation 14

15 Safety Controller PC Run/Pause GUI OCU Run/Pause GUI Global Position System Lost (GPS out operating on INS too long a period Computer Vision Lost DARPA E-Stop Pause Run Software tie into the System Controller to effect coordinated Pause/Run Behavior Pause: 1. Turn on (keep on) Headlights and running lights 2. Retract Accelerator 3. Push Brake 4. Turn off Audible/Flasher warning Run: 1. Turn on (keep on) Headlights and running lights 2. Initiate Audible/Flasher 3. Wait 5 seconds 4. Restart path march behavior a. Set Speed b. Set next point Speed Minder Triggers (Acceleration is initiated but no speed encoder input received i.e. speed estimated is zero) Deadman Heartbeat Lost E-Stop Pause Run E-Stop E-stop 1. Turn off headlight and running lights 2. Turn off Audible/Flasher 3. Retract Accelerator 4. Push Brake 5. Kill Ignition 6. Put Controller into Pause State Link with OCU Lost Disable Switches Three function Gate opener Cybernet Systems Corporation 15

16 Encoder Reader Right Running Lights Headlights Horn Control Left Wheel Encoder Auto Iris Auto Iris Auto Iris Auto Iris Color CCD Color CCD Color CCD Color CCD Quad Channel Video to JPEG PC Power Sense URBAN1: Control Computer GPS FOG I3M Sonar Encoder Reader Left USB Digital Analog Counter Push Retract Audible & Flasher Right Turn Signal Left Turn Signal Ladars Power up Brake Actuator Push Right Wheel Encoder External E-Stop External Run/Pause Ladars Power Sense Brake Limit sense Auto Iris Auto Iris Auto Iris Auto Iris URBAN4: Range Data Processing Computer Color CCD Color CCD Color CCD Color CCD URBAN1: Control Computer PC Power Sense Quad Channel Video to JPEG URBAN2: Computer Vision Computer Steer Encoder Steer Actuator Push Retract Accel Actuator Retract Accel Limit sense Vehicle 1Gbit Ethernet Digital: USB Analog Out Mechanical Connection Digital Out Analog In Counter In Hardwired Push Retract Shifter Actuator Deadman Heartbeat Hardware Deadman Logic Shifter Limit sense Ignition Kill Ladar Data Hub Ladar Wireless Router Hub (802.11g) External Networks OCU Computer (Wireless E-Stop) Cybernet Systems Corporation 16

17 NextGen CAN Driving Control CAN Bus for Control Systems Interconnect Fault Tolerance Noise immunity CAN Accel Servo Accel Actuator Accel Push Feedback CAN CAN Digital I/O Hardware Safety System (Deadman Logic) CAN Brake Servo Brake Actuator Brake Push Feedback Relay Controller to Interface with Vehicle Systems Vehicle Safe/Kill Vehicle Control Harness CAN ebrake Servo ebrake Actuator ebrake Pull Feeback CAN Shift Servo CAN Encoder Left Shift Actuator Right Wheel Encoder Shift Position CAN Steer Servo Steer Actuator Steer Encoder CAN Encoder Right Left Wheel Encoder CAN Bus to CV1 Controller IBEO Ladar 1 IBEO Ladar 3 CAN CAN Digital I/O to Interface with Vehicle Systems Vehicle Sense Harness IBEO Ladar 2 IBEO Ladar 4 CAN Bus to CV1 Controller Cybernet Systems Corporation 17

18 Contact Information Dr. Charles Jacobus Mr. Steve Rowe Dr. Charles Cohen Cybernet Systems Corporation Cybernet Systems Corporation 18