Research Progress in Unmanned Vehicles

The PROWLER unmanned vehicle is seen here compared to a tank and an APC. Research Progress in Unmanned Vehicles by Steven M. Shaker and Alan R. Wise Unmanned ground vehicles sui& able for various military applications arebeing aggressivelyresearch-ed and developed by several U.S. companies. These mobile robotic systems are not meant to replace manned vehicles in the foreseeable future. Rather, they will allow tanks, armored personnel carriers, and other manned vehicles to become more selective in choosing missions. Combat operations of lower priority or those with a slight chance of survivability can be geared toward unmanned vehicles. Possible missions for these robotic weapon systems include: sentry, mine-laying and disposal, nuclear-biologicalchem-ical (NBC) detection and decontamination, medical evacuation, firefighting, antitank, intelligence gathering and radar jamming. Unmanned vehicles could also play an important role in the Army’s AirLand Battle scenario through the surveillance, harassment and interdiction of enemy reinforcements in their rear positions. Army, Defense Advanced Research Projects Agency (DARPA), and various corporate funding and support has advanced the technology of unmanned vehicles to the point where actual systems can be introduced onto the battlefield in the near future. Simple remote controlled systems have given way to programmable robots. These vehicles are capable of taking actions in response to situations anticipated by the program-mers. The next step, involving the development of unmanned vehicles that can reason on their own as to the best course of action to achieve a goal, is part of the rationale behind the Department of Defense’s $600 million Strategic Computer initiative to develop artificial intelligence (AI). In Columbus, Ohio, the Battelle Corporation has developed a mobile platform named ROCOMP - radio or computer operated mobile platform. The basic system is a tracked, 250-pound (113 kg) vehicle that can climb and descend stairs as well as maneuver on both hard and soft outdoor surfaces. The vehicle can be equipped with radiocontrolled and televised feedback umbilical or wireless systems. It can also have obstacle avoidance navigation. The ROCOMP can, therefore, be maneuvered according to a programmed itinerary or be driven by remote control. A manipulator arm capable of lifting 50 pounds (23 kg) when extended, 200 pounds (91 kg) when retracted, and other specialized equipment can be added to the vehicle. RECOMF’ was designed to function in environments such as nuclear power facilities, chemical plants, security patrol areas and burning buildings. The ROCOMP’s physical dimensions are 18 inches (46 cm) high by 28 inches (71 cm) wide by 54 inches (137 cm) long. In 1983, the Denver-based Robot Defense Systems, Inc. (RDS) was formed. They had developed the

PROWLER -

Programmable Robot Observer With Logical Enemy Re-ARMOR july-august 1985 33

-terrain PROWLER can ollow orders, and send n views of a remote !ator can also commun-idio channel. sponse - series of unmanned vehicles. The basic PROWLER vehicle is mounted on a 6-wheel, all-terrain vehicle chassis. The undercarriage weighs 3,700 pounds (1,678 kg) and the PROWLER can carry a 2,000 pound (907 kg) payload at a maximum speed of 17 mph (27 km/hr). As with the ROCOMP, the PROWLER can operate both autonomously and through remote controlled commands, and has a real-time audio and visual link. The PROWLER is equipped with Motorola 68000-class onboard computers that can be programmed so that the vehicle can patrol a perimeter without human supervision. Onboard sensors use reference points such as a fence or road to keep the PROWLER on a prescribed course. If the remote controlled option is wanted, the operator controls the robot through a triple camera video system with night vision optics and other senors. The operator can be up to 19 miles (30km)distant,andthePROWLERs Iron Scouts for Armored Forces? Legged robots, currently beingde veloped, are the first vehicles built that will duplicate and even improve on the obstacle-traversing capability of man. Under the control of a tank commander, a legged-- robot could be capable of performing many of the intelligence-gathering functions presently done by the foot soldier. In its storage position, (legs folded), it could be carried on a tank or other armored vehicle and deployed as needed. The robot would be equipped with video and infrared cameras, microphones, nuclear, biological and chemical sensors, and mine detectors. A variety of electronic intelligence gathering equipment would be on board as well. While operating in a hostile environment, the robot’s survivability will be greater than man due, in part, to its low sound and smaller heat signatures. It will be impervious to NBC and severe weather. On the battlefield, a mission might be to reconnoiter over a hill and into the next valley to a specific coordinate. The robot could travel through a wood, crossing natural obstacles such as fallen trees and large rocks, in the same way as a soldier. Tactical obstacles such as tank ditches and minefields would be located, studied and crossed. When the enemy is located, long periods of direct observation might be ach%*ed. All gathered intelligence could either be transmitted or stored on discs to be retrieved upon return. If a robot were to be captured, a self-destruct device could be activated. Robots generally do not show much loyalty. They do, however, hold up well under painful interrogation. L range is 155 miles scenario of how the A .. Aght operate follows: While on a preprogrammed patrol pattern of a nuclear missile silo, the robot’s electromagnetic motion detector senses someone scaling the fence. The PROWLER informs the operator of an intrusion, at which time the operator takes remote control of the vehicle, directing with a joystick. The operator moves the PROWLER closer to the intruder to view the area with its camera system. Once the perpetrator is visible, through its audio feedback with directional pickups, the PROWLER allows the operator to talk to the intruder.If the intruder is uncooperative and appears to have terrorist objectives, the PROWLER can then use either non-lethal or lethal weap onry to disable him. The PROWLER has the added feature of providing a continuous video recording capability to document the incident. The PROWLER has been equip ped with two M60 machineguns and a grenade launcher. However, other weapons - such as Chain Guns, antitank missiles, tactical missiles andflamethmwers-canbeinstalled depending on the mission. DARPA funded the initial field demonstration of RDS’s PROWLER In May

1984. The demonstration was conducted on behalf of the Army’s Ninth Infantry Division and the Army’s Missile Command. The 9ID awarded a second contract to RDS in September, 1984 to demonstrate the various combat capabilities of PROW-

LER.

The Defense Electronics Division of Gould, Inc., teamed up with RDS in October 1984 in a cooperative bid on an upcoming Army proposal for robotized tanks. Also in the same month, Boeing Aircraft Company awarded a research contract to RDS to advise Boeing regarding robotic security systems to protect intercontinental ballistic missiles (ICBMs). A similar contract concerning ICBM security was awarded to RDS by Bell Aerospace Division of Textron, Inc., 34 in January 1985. In addition to these contracts, the international construction firm Bechtel National has proposed using the PROWLER at a security installation in a Middle Eastern country. A circulardesigned mobile robot which walks on six articulators has been developed by Odetics, Inc., of Anaheim, CA. This type of unmanned legged vehicle has been termed a “functionoid” by ita developers. Such a system equipped with walking articulators can traverse areas inaccessible to tracked or wheeled vehicles. The first prototype, named the Odex I, is serving as a base technology for future functionoids built to perform specialized tasks including military missions. The Odex I can move at a speed comparable to a man’s brisk walk. It can lift a maximum load of 2,100 pounds (952 kg), nearly 5.6 times its own weight, while in a stationary position with all six legs on the ground. While walking it can carry a weight of 900 pounds (408 kg), which is 2.3 times its own weight. This strength-toweight ratio is unique to the functionoid-type unmanned vehicle. The structure design of the Odex I allows its height and width to vary dimensionally. In a squat position for minimum exposure, the Odex 1’s height is 36 inches (91 cm). With the articulators fully extended its height is 78 inches (198 cm). Ita width can vary from 21 inches (54 cm) to 27 inches (69 cm). Odetics designed the Odex 1’s computing system which includes one microprocessor per articulator and one central computer. A joystick control provides commands to the computer that in turn computes the required articulator motion using in-housedeveloped algorithms. The joystick communicates with the Odex I’s central computer through a radio link. A peripheral data distributor communicates to the articulator microprocessors through a cable, daisy-chained and terminated at the last articulator. The Odex I relies on the instructions of an operator to perform a particular task, but it is the goal of Odetics, Inc. to build a completely autonomous functionoid that can operate on very global orders. In April 1984, RCA Government Systems Division signed an agree-The ODEX “functionoid,” seen here in a demonstration, dismounts from pickup truck In upper photo and then lifts the truck. ODEX can move at the pace of a man’s brisk walk and can iifl almost six times its weight. ment with Odetics, Inc. aimed at sharing technology in order to develop a mobile robotic system that can be applied to military missions. The joint effort involving Odetics’ expertise in robotics and RCA’s experience in sensory packages - including system vision and artificial intelligence - is aimed at developing a functionoid capable of performing sentry duty and hazardous tash such as mine disposal and exploration of hostile areas. In August 1984, the Army’s Human Engineering Laboratory (HEL) at Aberdeen Proving Ground, MD, awarded a contract to Odetics, Inc., to develop a preliminary design for a high-payload-to-weight manipulator structure. Applications for such a manipulator ARMOR july-august 1985 35

I Radio-controlled, with television feedback, the 250-pound ROCOMP, at left, is seen here moving radioactive material in a test at Battelle Cowration. The autonomous land vehicle IALVL seen at riaht as an artist‘s concention. is a Martin-Marietta AerOSlMce I , ~ ,I-- - - - project. include a multitude of forward area materials-handling tasks such as in 1989. DARPA hopes to end up with a truly autonomous prototype . . ... .. n .. .. 7 .. n .

1. movlng bndgmg sections, rue1 mums and transferring ammunition. That samemonth,theNavalSurface Weap ons Center in White Oak, MD, funded a study by Odetics to provide preliminary design specifications for a tele-operated firefighting hose delivery system. In September 1984, Martin Marietta Aerospace Company was awarded a$17million, fiveyearcontract from the U.S. Army Engineer Topographic Laboratories at Fort Belvoir, VA. The project, funded by DARPA, is to build an autonomous land vehicle (ALV) using advanced computer architectwes,&cialintelligenceand robotic technologies. The contract calls for a planned evolution of the ATV capability from traveling over a paved road during the first year to having the ability to autonomously change course around impassable objects at comdetion of the contract vehicle capable 01 traveling cross-country at 50 kilometers per hour over rough terrain, and that can collect electronic and visual battlefield intelligence. Denelcor Inc., of Denver and the supercomputer manufacturer, Cray Research Inc., of Minneapolis, are assisting in the development of the artificial intelligence necessary for the ALV to determine its own course of action. Recent breakthroughs in artificial intelligence, computer vision, sensors and robotics have converted the far-out dreams of science fiction writers into the near-term feasibility for developing unmanned ground military vehicles. The opportunities for weapons designs and tactics afforded by these technologies, as well as the increasingly dangerous environment, may serve as a catalyst for the emergence of unmanned vehicle systems on the battlefield. Additional Reading

1. Military/Space Electronics Design, Dec.

5. Defense Eketronics, Sept. 1984. “Mobile

1984. “DARPA Seeb Mobile Battlefield Robot Robot for Perimeter Patrol.” p. 188. Capable of Thinking for Itself.” pp. 10-11.

6. International Defense Review, Vol. 17,

2. Defense Systems Reuiew, Nov. 1983. “MoNo. 11/1984. “Prowler 60 Robotic Patrol Vehi-bile Robotics Will Serve Many Roles in Future cle.” p. 1757. Land Warfare.” pp 13-17.

7. Newsweek, 25 June 1984. ‘‘Birth of the

3. TWA Ambassador, Oct. 1984. “Metal War- Killer Robots.” p. 51. nor^." DD. 22-30.

8. Unmanned Systems. Fall 1983. “Oda I A STEVEN M. SHAKER is a former program analyst for the Naval Air Systems Command’s Advanced Systems Directorate. ALAN R. WISE is a devei-opment engineer and consui-tant on all-terrain vehicles.

4. UAmanned System, Spring 1984, Vol. 2, No. 4. “A Mobile Military/Security Syetem: Tactical Application of theProwlerhbot.”pp. 2831. the First Functionoid.”

9. Unless Peace Comes - Forecast of Future Weapons, Viking Compass Book, N.Y., 1968. “Robots on the March,” chapter. 36 ARMMl jury-august 1985