DOCSLIB.ORG

Degree Thesis Mechatronic Engineer, 180 Credits

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Degree Thesis Mechatronic Engineer, 180 Credits Degree Thesis Mechatronic Engineer, 180 credits Control and Autonomy of a Water Quality Measuring Unmanned Surface Vehicle (USV) Catfish project - Control and Autonomy Mechatronics, 15 credits Halmstad 2021-06-20 Vidar Hårding HALMSTAD UNIVERSITY ABSTRACT This report is about the implementation of autonomy and control on a water quality measuring unmanned surface vehicle. The project was termed Catfish and involved five teams focusing on different as- pects of the initial goal to create an autonomous three-part system; a surface drone, a submerged drone and flying drone. In this itera- tion of the Catfish project the focus laid on creating the surface drone and submerged drone as the Catfish project will improve over gener- ations of thesis projects. The author of the report was in the Control and Autonomy team and had been tasked with giving the surface drone the autonomy needed to make this project viable. Existing ad- vances made in autonomy was adopted and tested. With the help of estimation algorithms, and sensor fusion, a flight controller navigates the surface drone between a set of GPS waypoints. It is also able to counteract the external forces wind, waves and stream to keep its po- sition. To reach this autonomy four test phases were conducted on a pre-prototype with progressively increased difficult autonomy start- ing with manual control and ending in advanced autonomy. When the advanced missions were executed the speed and accuracy of two different thruster configurations were examined and the best perform- ing out of the two was implemented on the final prototype the other teams had designed. The project ended with a fully autonomous sys- tem that was able to execute all the navigational maneuvers required to operate autonomous water quality measuring missions. ii SAMMANFATTNING Den här rapporten handlar om implementationen av autonomi och kontroll på en vattenkvalitetsmätande vattenburen drönare. Projek- tet fick namnet Catfish och blev indelat i fem teams som fokuserade på olika aspekter av ett 3-delsystem; en vattenburen, en undervat- tens och en flygande drönare. I denna iteration av Catfish projek- tet fokuserade medlemmarna på att utveckla den vattenburna och undervattens drönaren då projektet kommer fortsätta utvecklas un- der kommande generationer av Catfish projektrapporter. Författaren av den här rapporten ingick i ett team som hette "Control and Au- tonomy" och hade i uppgift att installera en autonom intelligens till den vattenburna drönaren för att göra Catfish prototypen använd- bar. Befintliga framsteg inom forskningsområdet blev granskade och testade. Genom att använda uppskattningsalgoritmer och "sensor fu- sion" lyckades en "flight controller" navigera drönaren mellan GPS- waypoints och även behålla sin position genom att motverka krafterna från vind, vågor och strömmar. För att uppnå denna nivå av au- tonomi utför en förprototyp fyra testfaser av ökad autonomisk svårhets- grad. Under uppdraget blev hastigheten och precisionen av två olika motoruppsättningar undersöka och den som presterade bäst blev im- plementerad på den slutgiltig designen som de andra teamen hade utvecklat. Projektet avslutades med att ett fullt autonomt system blev utvecklat som var kapabel till att utföra alla navigationsmanövrar nödvändiga för att genomföra autonoma vattenkvalitetsmätningsup- pdrag. iii ACKNOWLEDGEMENTS Many thanks go to my teammates and friends in the Catfish team Micheal Forschlé, Evelin Bergvall, Pontus Palmqvist, Ellen Nihl, Eek de Bruijckere, Sebin Sunny, Meenu Joy Chirappanath, Jasmin Borgert, Aldonna Jasa Prima Purba, Katarzyna Nowak, Alireza Esmaeilzadeh and Harey Blanco that pioneered this project along side me. I would also like to thanks Eren Erdal Aksoy for supervising me and Inno- vation Lab for creating such an interesting project and investing the resources needed to finance it. iv CONTENTS List of Figures vi List of Figures vii Acronyms viii 1 introduction2 1.1 Purpose 2 1.1.1 Overarching Mission 3 1.2 Problem formulation 3 1.2.1 Hardware Requirements 4 1.2.2 Software Requirements 4 1.2.3 Tests 5 1.2.4 Limitations 5 2 background6 2.1 Autonomous surface vehicle 6 2.1.1 USV modeling 7 2.1.2 Thruster configurations 8 2.2 Lithium Battery 9 2.3 Extended Kalman Filter 9 2.4 GNSS 11 2.5 Course Control 11 2.6 Flight controllers 12 2.7 Software 12 3 method 14 3.1 T200 thrusters 14 3.2 Power Management System 15 3.3 Pre-prototype design 16 3.4 System Communication 17 3.5 Navigation System 17 3.6 PID Tuning 18 3.7 Loiter mode 18 3.8 Tests 19 4 results and discussion 22 4.1 GPS Accuracy 22 4.2 Test Results 24 4.2.1 First Test Phase 24 4.2.2 Second Test Phase 24 4.2.3 Third Test Phase 26 4.2.4 Fourth Test Phase 30 4.3 Examination of tests 31 4.4 Project Evaluation 33 4.5 Lessons learnt 33 5 conclusion 34 v contents vi bibliography 36 Bibliography 36 i appendix 40 a appendix 41 a.1 Final installation of electronics in Catfish Prototype 41 a.2 Final Catfish Prototype 41 a.3 Python code on Raspberry Pi 42 LISTOFFIGURES Figure 1 Mission Layout. 3 Figure 2 Two different thruster configurations 8 Figure 3 Kalman process 9 Figure 4 Mission Planner 13 Figure 5 QGroundcontrol 13 Figure 6 T200 Drawing 15 Figure 7 Power Circuit 15 Figure 8 Pre-Prototype V1 16 Figure 9 Pixhawk communication 17 Figure 10 Acro mode PID regulation 18 Figure 11 Advanced autonomy test 20 Figure 12 Number of satellites during mission 22 Figure 13 GPS accuracy 23 Figure 14 Pre-prototype V2 25 Figure 15 Trajectory correction 26 Figure 16 Differential Thrust Advanced Mission 27 Figure 17 Distance from current travel segment 27 Figure 18 Speed and Control 28 Figure 19 OmniPlus Advanced Mission 29 Figure 20 OmniPlus - XTrack 29 Figure 21 Speed and Control 30 Figure 22 OmniPlus - Loiter Distance from Waypoint 31 Figure 23 ESC control by the Pixhawk 32 vii ACRONYMS DOF Degree Of Freedom EKF Extended Kalman Filter ESC Electronic Speed Controller GPS Global Positioning System GNSS Global Navigation Satellite System PID Proportional Integral Derivative PWM Pulse Width Modulation ROV Remotely Operated underwater Vehicle RC Remote Controller SMHI Sveriges Meteorologiska och Hydrologiska Institut UAV Unmanned Aerial Vehicle USV Unmanned Surface Vehicle viii INTRODUCTION 1 This project was inspired by the research project "Saving Norra Dragsviken" which investigates the environmental pollution of Norra Dragsviken’s water bodies, a shallow sea region in the Baltic sea [1]. In this coastal environment the surrounding societies have caused eutrophication and leakage of environmental pollutants. To deter- mine the pollution of water samples the scientists measure temper- ature, particulate matter (turbidity), conductivity and acidity (pH). Currently the majority of the water samples are taken manually. This results in a limited precision of the measurements as there occurs a delay from when the sample is taken to when it is analysed in a lab. This process is time consuming and cumbersome and limits the ac- cess to crucial data about our surrounding water bodies. This project aims to facilitate access to data on water quality to promote informed decisions on treatments, or evaluate the current state of the environ- ment for research facilities, municipalities, and private landowners alike. A continuous stream of data on the water quality has potential to map completely new correlations between levels of water pollu- tion and activities of our societies (such as waste water treatment and farmland management). 1.1 purpose To solve this problem “Innovation Lab” that is an organ of the technol- ogy lab “Fab lab” at Högskolan i Halmstad has gathered a team of 11 students consisting of bachelor and master level students to create an intelligent drone system. This drone system shall with autonomous steering navigate to pre-set coordinates controlled by a computer or a cellphone. The data on concentrations of given pollutants shall be streamed back in real-time, or stored and possible to download af- ter completed mission [2]. The project was termed Catfish and is divided into 5 different parts, Environmental Analysis, Control and Autonomy, Data and Sensors, Product Development, and UX Design. This thesis will cover the authors contributions to the Control and Au- tonomy team where he was responsible for implementing the central intelligence, i.e. the communication between software and hardware and optimize the control of the motors for the surface drone. The the- sis focuses on which motor configuration that is best for navigation of the surface drone. The long-term goal, pre-requisites and limita- tions for the project were defined in close collaboration between the Catfish team and the Innovation Lab stakeholders. 2 1.2 problem formulation 3 1.1.1 Overarching Mission As an end result, combining efforts from all Catfish sub-teams, we will construct a surface drone that can navigate in all directions and maintain its position in running water. Figure 1 shows the course in the Nissan river the final Catfish prototype is planned to complete. These waypoints will be pre-programmed and at each waypoint the Catfish shall keep its positions. Figure 1: Mission Layout for a test sampling of the Nissan river. H is the starting point and coordinates 1-4 are the waypoints. 1.2 problem formulation The current study’s objectives were; developing the software, con- structing a pre-prototype, testing and analysing the thruster configu- rations. In the current study an implementation of the autonomously controllable system on a pre-prototype was installed which later could be transferred to the final prototype that the Product Development team [3] created. 1.2 problem formulation 4 1.2.1 Hardware Requirements Hardware requirement of particular relevance to the current sub-project are: Power system: All components of the drone system must be pow- ered by rechargeable batteries.
Load more

Recommended publications
  • AI, Robots, and Swarms: Issues, Questions, and Recommended Studies
    AI, Robots, and Swarms Issues, Questions, and Recommended Studies Andrew Ilachinski January 2017 Approved for Public Release; Distribution Unlimited. This document contains the best opinion of CNA at the time of issue. It does not necessarily represent the opinion of the sponsor. Distribution Approved for Public Release; Distribution Unlimited. Specific authority: N00014-11-D-0323. Copies of this document can be obtained through the Defense Technical Information Center at www.dtic.mil or contact CNA Document Control and Distribution Section at 703-824-2123. Photography Credits: http://www.darpa.mil/DDM_Gallery/Small_Gremlins_Web.jpg; http://4810-presscdn-0-38.pagely.netdna-cdn.com/wp-content/uploads/2015/01/ Robotics.jpg; http://i.kinja-img.com/gawker-edia/image/upload/18kxb5jw3e01ujpg.jpg Approved by: January 2017 Dr. David A. Broyles Special Activities and Innovation Operations Evaluation Group Copyright © 2017 CNA Abstract The military is on the cusp of a major technological revolution, in which warfare is conducted by unmanned and increasingly autonomous weapon systems. However, unlike the last “sea change,” during the Cold War, when advanced technologies were developed primarily by the Department of Defense (DoD), the key technology enablers today are being developed mostly in the commercial world. This study looks at the state-of-the-art of AI, machine-learning, and robot technologies, and their potential future military implications for autonomous (and semi-autonomous) weapon systems. While no one can predict how AI will evolve or predict its impact on the development of military autonomous systems, it is possible to anticipate many of the conceptual, technical, and operational challenges that DoD will face as it increasingly turns to AI-based technologies.
    [Show full text]
  • Rigid Wing Sailboats: a State of the Art Survey Manuel F
    Ocean Engineering 187 (2019) 106150 Contents lists available at ScienceDirect Ocean Engineering journal homepage: www.elsevier.com/locate/oceaneng Review Rigid wing sailboats: A state of the art survey Manuel F. Silva a,b,<, Anna Friebe c, Benedita Malheiro a,b, Pedro Guedes a, Paulo Ferreira a, Matias Waller c a Rua Dr. António Bernardino de Almeida, 431, 4249-015 Porto, Portugal b INESC TEC, Campus da Faculdade de Engenharia da Universidade do Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal c Åland University of Applied Sciences, Neptunigatan 17, AX-22111 Mariehamn, Åland, Finland ARTICLEINFO ABSTRACT Keywords: The design, development and deployment of autonomous sustainable ocean platforms for exploration and Autonomous sailboat monitoring can provide researchers and decision makers with valuable data, trends and insights into the Wingsail largest ecosystem on Earth. Although these outcomes can be used to prevent, identify and minimise problems, Robotics as well as to drive multiple market sectors, the design and development of such platforms remains an open challenge. In particular, energy efficiency, control and robustness are major concerns with implications for autonomy and sustainability. Rigid wingsails allow autonomous boats to navigate with increased autonomy due to lower power consumption and increased robustness as a result of mechanically simpler control compared to traditional sails. These platforms are currently the subject of deep interest, but several important research problems remain open. In order to foster dissemination and identify future trends, this paper presents a survey of the latest developments in the field of rigid wing sailboats, describing the main academic and commercial solutions both in terms of hardware and software.
    [Show full text]
  • Sensors and Measurements for Unmanned Systems: an Overview
    sensors Review Sensors and Measurements for Unmanned Systems: An Overview Eulalia Balestrieri 1,* , Pasquale Daponte 1, Luca De Vito 1 and Francesco Lamonaca 2 1 Department of Engineering, University of Sannio, 82100 Benevento, Italy; [email protected] (P.D.); [email protected] (L.D.V.) 2 Department of Computer Science, Modeling, Electronics and Systems (DIMES), University of Calabria, 87036 Rende, CS, Italy; [email protected] * Correspondence: [email protected] Abstract: The advance of technology has enabled the development of unmanned systems/vehicles used in the air, on the ground or on/in the water. The application range for these systems is continuously increasing, and unmanned platforms continue to be the subject of numerous studies and research contributions. This paper deals with the role of sensors and measurements in ensuring that unmanned systems work properly, meet the requirements of the target application, provide and increase their navigation capabilities, and suitably monitor and gain information on several physical quantities in the environment around them. Unmanned system types and the critical environmental factors affecting their performance are discussed. The measurements that these kinds of vehicles can carry out are presented and discussed, while also describing the most frequently used on-board sensor technologies, as well as their advantages and limitations. The paper provides some examples of sensor specifications related to some current applications, as well as describing the recent research contributions in the field. Citation: Balestrieri, E.; Daponte, P.; Keywords: unmanned systems; UAV; UGV; USV; UUV; sensors; payload; challenges De Vito, L.; Lamonaca, F. Sensors and Measurements for Unmanned Systems: An Overview.
    [Show full text]
  • A Low Cost Prototypal Robotic Platform for Underwater Survey in Shallow Water
    Advances in Robotics & Mechanical Engineering DOI: 10.32474/ARME.2020.02.000150 ISSN: 2643-6736 Research Article A Low Cost Prototypal Robotic Platform for Underwater Survey in Shallow Water Conte G*, Scaradozzi D and Ciuccoli N Dipartimento di Ingegneria dell’Informazione, Università Politecnica delle Marche, Italy *Corresponding author: G Conte, Dipartimento di Ingegneria dell’Informazione, Università Politecnica delle Marche, 60131 Ancona, Received: November 12, 2020 Published: November 30, 2020 Abstract A small, innovative robotic platform for underwater surveys in shallow water is proposed. The platform integrates a The mechatronic structure and the control architecture of the platform are described together with its functional features. Tests commercially available, remotely operated, underwater micro vehicle and a specifically designed and constructed actuated buoy. geolocalizing underwater targets. to validate the implemented constructive solutions are briefly reported, together with functional tests to assess usability in Keywords: Marine robotics; Remotely operated vehicles; Autonomous surface vehicles Introduction functional structure surface and underwater vehicles may be Remotely operated underwater vehicles or ROV are a fundamental tool for inspecting underwater structures in e.g. paper, we describe the development of a small prototypal hybrid costly, complex to operate and logistically demanding. In this robotic platform that overcomes these limiting characteristics. The of an ROV with a surface autonomous vehicle or ASV, which harbour areas, rivers, natural and artificial lakes. Integration platform integrates an actuated buoy, as surface component, and acts as a bridge for communication with a remote station, can The idea of coupling cooperating autonomous surface vehicles and a micro-ROV, as underwater component. The bouy and the micro- significantly increase autonomy, versatility and efficiency [1,2].
    [Show full text]
  • Diseño Y Simulación Del Sistema De Locomoción De Un Robot Hexápodo Para Tareas De Búsqueda Y Rescate
    ESCUELA TÉCNICA SUPERIOR DE INGENIEROS INDUSTRIALES GRADO EN INGENIERÍA EN TECNOLOGÍAS INDUSTRIALES Trabajo Fin de Grado Diseño y Simulación del Sistema de Locomoción de un Robot Hexápodo para Tareas de Búsqueda y Rescate Tutor: Dr. Antonio Barrientos Cruz Alumno: Jesús Tordesillas Torres 12431 Curso 2015/2016 Página dejada intencionadamente en blanco “Again, I was watching every person coming down, looked at their face, just to make them happy that they were getting out and we were going in and everything was okay” Kirk Long, bombero en el 11-S Página dejada intencionadamente en blanco Agradecimientos Con mucho gusto puedo dar los agradecimientos a muchas personas. Lamentablemente, en la primera página sólo se puede poner un nombre, pero es justo reconocer que este proyecto no hubiese sido posible sin la ayuda de muchos personas cercanas. En primer lugar, como no, gracias a mi familia. Gracias a mi madre por la lectura atenta y revisión del trabajo. Gracias a mi padre por la ayuda en la revisión del encoder del banco de ensayos. Gracias a mis hermanos Pablo y Alberto por acompañarme en las pruebas en el campo. Y no sólo gracias por eso: gracias, simplemente, por estar ahí. También le debo dar las gracias a mi tutor Antonio Barrientos y al tutor externo Jorge. Gracias por estar siempre apoyándome incluso en las situaciones en las que parecía que todo estaba perdido. A Antonio también le debo dar especialmente las gracias por sus clases de Dinámica de Sistemas y de Robótica: gracias por tu motivación en las clases y gracias por la cercanía a los alumnos.
    [Show full text]
  • A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions
    sensors Review A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions Vitor A. M. Jorge 1,*,† , Roger Granada 1,* , Renan G. Maidana 1 , Darlan A. Jurak 1 , Guilherme Heck 1 , Alvaro P. F. Negreiros 2, Davi H. dos Santos 2 and Luiz M. G. Gonçalves 2 and Alexandre M. Amory 1,* 1 School of Technology, Pontíficia Universidade Católica do Rio Grande do Sul, Porto Alegre, RS 90619-900, Brazil; [email protected] (R.G.M.); [email protected] (D.A.J.); [email protected] (G.H.) 2 Department of Computer Engineering and Automation, Universidade Federal do Rio Grande do Norte, Natal, RN 59078-970, Brazil; [email protected] (A.P.F.N.); [email protected] (D.H.d.S.); [email protected] (L.M.G.G.) * Correspondence: [email protected] (V.A.M.J.); [email protected] (R.G.); [email protected] (A.M.A.) † Current address: Electronics Engineering Division (IEE), Instituto Tecnológico de Aeronáutica, São José dos Campos, SP 12228-900, Brazil. Received: 29 December 2018; Accepted: 31 January 2019; Published: 8 February 2019 Abstract: Disaster robotics has become a research area in its own right, with several reported cases of successful robot deployment in actual disaster scenarios. Most of these disaster deployments use aerial, ground, or underwater robotic platforms. However, the research involving autonomous boats or Unmanned Surface Vehicles (USVs) for Disaster Management (DM) is currently spread across several publications, with varying degrees of depth, and focusing on more than one unmanned vehicle—usually under the umbrella of Unmanned Marine Vessels (UMV).
    [Show full text]
  • Robotics For
    TECHNICAL PROGRESS REPORT ROBOTIC TECHNOLOGIES FOR THE SRS 235-F FACILITY Date Submitted: August 12, 2016 Principal: Leonel E. Lagos, PhD, PMP® FIU Applied Research Center Collaborators: Peggy Shoffner, MS, CHMM, PMP® Himanshu Upadhyay, PhD Alexander Piedra, DOE Fellow SRNL Collaborators: Michael Serrato Prepared for: U.S. Department of Energy Office of Environmental Management Cooperative Agreement No. DE-EM0000598 DISCLAIMER This report was prepared as an account of work sponsored by an agency of the United States government. Neither the United States government nor any agency thereof, nor any of their employees, nor any of its contractors, subcontractors, nor their employees makes any warranty, express or implied, or assumes any legal liability or responsibility for the accuracy, completeness, or usefulness of any information, apparatus, product, or process disclosed, or represents that its use would not infringe upon privately owned rights. Reference herein to any specific commercial product, process, or service by trade name, trademark, manufacturer, or otherwise does not necessarily constitute or imply its endorsement, recommendation, or favoring by the United States government or any other agency thereof. The views and opinions of authors expressed herein do not necessarily state or reflect those of the United States government or any agency thereof. FIU-ARC-2016-800006472-04c-235 Robotic Technologies for SRS 235F TABLE OF CONTENTS Executive Summary .....................................................................................................................................
    [Show full text]
  • A Holistic Approach for Highly Versatile Supervised Autonomous Urban Search and Rescue Robots
    A Holistic Approach for Highly Versatile Supervised Autonomous Urban Search and Rescue Robots Vom Fachbereich Informatik der Technischen Universität Darmstadt zur Erlangung des akademischen Grades eines Doktor-Ingenieurs (Dr.-Ing.) genehmigte Dissertation von Dipl.-Inform. Stefan Kohlbrecher (geboren in Hannover) Referent: Prof. Dr. Oskar von Stryk Korreferent: Prof. Dr. Daniele Nardi (Sapienza Università di Roma, Italien) Tag der Einreichung: 20.10.2015 Tag der mündlichen Prüfung: 02.12.2015 D17 Darmstadt 2016 Please cite this document as URN: urn:nbn:de:tuda-tuprints-58162 URL: http://tuprints.ulb.tu-darmstadt.de/5816 This document is provided by tuprints, E-Publishing-Service of the TU Darmstadt http://tuprints.ulb.tu-darmstadt.de [email protected] Contents Abstract 1 Kurzdarstellung 3 1 Introduction 5 1.1 Motivation . 5 1.2 Outline of this Work . 8 2 Background 11 2.1 Robots for Disaster Response . 11 2.1.1 State of the Art . 11 2.1.2 Unmanned Ground Vehicle Platforms . 13 2.1.3 Constrained Communication . 13 2.1.4 Real Disaster Response Examples . 14 2.2 Benchmarking . 15 2.2.1 NIST Standard Test Methods for Response Robots . 15 2.2.2 RoboCup Rescue . 16 2.2.3 DARPA Robotics Challenge . 17 2.2.4 euRathlon . 18 3 Robots Used in this Thesis 19 3.1 Hector Unmanned Ground Vehicles . 19 3.2 Atlas . 22 3.3 THOR-MANG . 23 3.4 Hector Centaur . 24 4 System Architecture 27 4.1 Requirements for a Holistic Approach . 27 4.2 Related Work . 29 4.2.1 Flexible Level of Interaction .
    [Show full text]
  • U.S. Navy Employment Options for UNMANNED SURFACE VEHICLES (Usvs)
    CHILDREN AND FAMILIES The RAND Corporation is a nonprofit institution that EDUCATION AND THE ARTS helps improve policy and decisionmaking through ENERGY AND ENVIRONMENT research and analysis. HEALTH AND HEALTH CARE This electronic document was made available from INFRASTRUCTURE AND www.rand.org as a public service of the RAND TRANSPORTATION Corporation. INTERNATIONAL AFFAIRS LAW AND BUSINESS NATIONAL SECURITY Skip all front matter: Jump to Page 16 POPULATION AND AGING PUBLIC SAFETY SCIENCE AND TECHNOLOGY Support RAND Purchase this document TERRORISM AND HOMELAND SECURITY Browse Reports & Bookstore Make a charitable contribution For More Information Visit RAND at www.rand.org Explore the RAND National Defense Research Institute View document details Limited Electronic Distribution Rights This document and trademark(s) contained herein are protected by law as indicated in a notice appearing later in this work. This electronic representation of RAND intellectual property is provided for non-commercial use only. Unauthorized posting of RAND electronic documents to a non-RAND website is prohibited. RAND electronic documents are protected under copyright law. Permission is required from RAND to reproduce, or reuse in another form, any of our research documents for commercial use. For information on reprint and linking permissions, please see RAND Permissions. This report is part of the RAND Corporation research report series. RAND reports present research findings and objective analysis that address the challenges facing the public and private sectors. All RAND reports undergo rigorous peer review to ensure high standards for re- search quality and objectivity. U.S. Navy Employment Options for UNMANNED SURFACE VEHICLES (USVs) Scott Savitz, Irv Blickstein, Peter Buryk, Robert W.
    [Show full text]
  • Artificial Intelligence, Strategic Stability and Nuclear Risk
    SIPRI ARTIFICIAL INTELLIGENCE, Policy Paper STRATEGIC STABILITY AND NUCLEAR RISK VINCENT BOULANIN, LORA SAALMAN, PETR TOPYCHKANOV, FEI SU AND MOA PELDÁN CARLSSON June 2020 STOCKHOLM INTERNATIONAL PEACE RESEARCH INSTITUTE SIPRI is an independent international institute dedicated to research into conflict, armaments, arms control and disarmament. Established in 1966, SIPRI provides data, analysis and recommendations, based on open sources, to policymakers, researchers, media and the interested public. The Governing Board is not responsible for the views expressed in the publications of the Institute. GOVERNING BOARD Ambassador Jan Eliasson, Chair (Sweden) Dr Vladimir Baranovsky (Russia) Espen Barth Eide (Norway) Jean-Marie Guéhenno (France) Dr Radha Kumar (India) Ambassador Ramtane Lamamra (Algeria) Dr Patricia Lewis (Ireland/United Kingdom) Dr Jessica Tuchman Mathews (United States) DIRECTOR Dan Smith (United Kingdom) Signalistgatan 9 SE-169 72 Solna, Sweden Telephone: + 46 8 655 9700 Email: [email protected] Internet: www.sipri.org Artificial Intelligence, Strategic Stability and Nuclear Risk vincent boulanin, lora saalman, petr topychkanov, fei su and moa peldán carlsson June 2020 Contents Preface v Acknowledgements vi Abbreviations vii Executive Summary ix 1. Introduction 1 Box 1.1. Key definitions 6 2. Understanding the AI renaissance and its impact on nuclear weapons 7 and related systems I. Understanding the AI renaissance 7 II. AI and nuclear weapon systems: Past, present and future 18 Box 2.1. Automatic, automated, autonomous: The relationship between 15 automation, autonomy and machine learning Box 2.2. Historical cases of false alarms in early warning systems 20 Box 2.3. Dead Hand and Perimetr 22 Figure 2.1. A brief history of artificial intelligence 10 Figure 2.2.
    [Show full text]
  • IROS 2015 Digest
    2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015) Hamburg, Germany 28 September – 2 October 2015 Pages 1-708 IEEE Catalog Number: CFP15IRO-POD ISBN: 978-1-4799-9995-8 1/8 TABLE OF CONTENTS CHARACTERIZATION OF HANDOVER ORIENTATIONS USED BY HUMANS FOR EFFICIENT ROBOT TO HUMAN HANDOVERS .............................................................................................................................................................................1 Chan, Wesley P. ; Pan, Matthew K.X.J. ; Croft, Elizabeth A. ; Inaba, Masayuki CO-MANIPULATION WITH MULTIPLE PROBABILISTIC VIRTUAL GUIDES ..............................................................................7 Raiola, Gennaro ; Lamy, Xavier ; Stulp, Freek ELECTRIC STIMULATION FEEDBACK FOR GAIT CONTROL OF WALKING ROBOT............................................................14 Hasegawa, Yasuhisa ; Nakayama, Keisuke ; Ozawa, Kohei ; Mengze Li ADAPTIVE OPTIMAL CONTROL FOR COORDINATION IN PHYSICAL HUMAN-ROBOT INTERACTION ........................20 Li, Yanan ; Tee, Keng Peng ; Yan, Rui ; Chan, Wei Liang ; Wu, Yan ; Limbu, Dilip Kumar A PRE-COLLISION CONTROL STRATEGY FOR HUMAN-ROBOT INTERACTION BASED ON DISSIPATED ENERGY IN POTENTIAL INELASTIC IMPACTS.........................................................................................................26 Rossi, Roberto ; Polverini, Matteo Parigi ; Zanchettin, Andrea Maria ; Rocco, Paolo COMPLIANT WING DESIGN FOR A FLAPPING WING MICRO AIR VEHICLE...........................................................................32
    [Show full text]
  • Navy Large Unmanned Surface and Undersea Vehicles: Background and Issues for Congress
    Navy Large Unmanned Surface and Undersea Vehicles: Background and Issues for Congress Updated September 30, 2021 Congressional Research Service https://crsreports.congress.gov R45757 SUMMARY R45757 Navy Large Unmanned Surface and Undersea September 30, 2021 Vehicles: Background and Issues for Congress Ronald O'Rourke The Navy wants to develop and procure three types of large unmanned vehicles (UVs) called Specialist in Naval Affairs Large Unmanned Surface Vehicles (LUSVs), Medium Unmanned Surface Vehicles (MUSVs), and Extra-Large Unmanned Undersea Vehicles (XLUUVs). The Navy’s proposed FY2022 budget requests $434.1 million in research and development funding for these large UVs and their enabling technologies. The Navy wants to acquire these large UVs as part of an effort to shift the Navy to a more distributed fleet architecture. Compared to the current fleet architecture, this more distributed architecture is to include a smaller proportion of larger ships (such as large-deck aircraft carriers, cruisers, destroyers, large amphibious ships, and large resupply ships), a larger proportion of smaller ships (such as frigates, corvettes, smaller amphibious ships, and smaller resupply ships), and a new third tier of large UVs. The Navy envisions LUSVs as being 200 feet to 300 feet in length and having full load displacements of 1,000 tons to 2,000 tons, which would make them the size of a corvette. (i.e., a ship larger than a patrol craft and smaller than a frigate). The Navy wants LUSVs to be low-cost, high-endurance, reconfigurable ships based on commercial ship designs, with ample capacity for carrying various modular payloads—particularly anti-surface warfare (ASuW) and strike payloads, meaning principally anti-ship and land-attack missiles.
    [Show full text]