Dr. Roelof J. Versteeg Profile

Dr. Roelof J. Versteeg

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Proceedings Article | 29 April 2010 Paper

Modular countermine payload for small robots

Herman Herman, Doug Few, Roelof Versteeg, Jean-Sebastien Valois, Jeff McMahill, Michael Licitra, Edward Henciak

Proceedings Volume 7664, 76641D (2010) https://doi.org/10.1117/12.852630

KEYWORDS: Sensors, Robots, Robotics, Control systems, Field programmable gate arrays, LIDAR, Electronics, Computer programming, Software development, Mining

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Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processor that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multimission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.

Proceedings Article | 29 April 2010 Paper

Semi autonomous mine detection system

Doug Few, Roelof Versteeg, Herman Herman

Proceedings Volume 7664, 76641A (2010) https://doi.org/10.1117/12.852639

KEYWORDS: Sensors, Robotics, Land mines, Mining, Robotic systems, Control systems, Navigation systems, Computing systems, Data processing, Data communications

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CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude - from an autonomous robotic perspective - the rapid development and deployment of fieldable systems.

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