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PPTElec020701.ppt PG 1
The Intelligent Systems & Robotics Centerat Sandia National Laboratories
Mark L. Swinson, Ph.D., P.E.Deputy Director
For more information: www.sandia.gov/isrc
PPTElec020701.ppt PG 2
Intelligent Systems & Robotics Center
Steve Roehrig, Director
Current funding level: ~$30M Heavy labs: 12Technical Staff: ~70 Light labs: 29Number of robots: ~60 Total labs: 41
A “ResearchDevelopmentApplication” Organization
PPTElec020701.ppt PG 3
Where did we start
have in common?
• Process as lot size of one
• Amortization issues
• Strict process constraints: quality, safety
• Sandia’s Intelligent Systems & Robotics Center
Nuclear Weapons Legacy Munitions
Stealth Fighters Cows Surgery
Automated Thermal Spray Station, increase process quality and coating uniformity, operational @ NGPF in 7/01
DOE Defense Programs
Today
Over Time,in the Future
Accomplishments
Robocal, Automated NDA, Readiness Review @ LANL complete
First-time-right components, integrate virtual design and manufacturing process prototyping
Microassembly, research, develop and apply technologies for LIGA and MEMS component assembly
Safe Secure Storage, integrate micro-engineered sensors, automation, and command and control
Automated disassembly of explosive gas generators, hot operation in 1997
Stage Right, storage and monitoring of retired pits, hot operation in 1996
Pit Weigh and Leak Check System, awaiting completion of Readiness Review.
Thermal Spray Inspection Station, areal desisty measurements of applied materials, 2 operational in NGPF
Canout, Automated SNM packing and processing for removal from glovebox, cold operation at LANL
Strategic Reserve Stage Right, storage and monitoring of stockpile pits, deployment @ Pantex in FY01
Laser Engineered Net Shaping, develop full 3-D capability
Surveillance and Monitoring Robot, provide remote near-human presence
Campaign.ppt 4
Automated Particulate Removal System, reduces operator exposure during cleaning, operational at NGPF 2/01.
PPTElec020701.ppt PG 5
Desired End State
MagicHappens
Part Model
Robot Model
Workcell Model
Process Model
Program Out
Process Constants(outside factors)
Time, throughput, cost,staffing, . . .
DoD Non-warfighting
F-117 Robotic Coating SystemCustomer: Air Force F-117 SPODeveloped & deployed cost-effective
robotic system to apply stealth coating for 50 aircraft fleet
CVX Trade-off StudiesCustomer: Navy CVX PM/LM MoorstownRecommend manning reduction
opportunities for new aircraft carrier under design
LM/SNL Shared Vision project Developing automated assembly /
disassembly & human motion planner for aircraft logistics & maintenance operations
Demilitarization Hazardous Operation Risk Reduction
Customer: Army DACDemonstrated automated disassembly of inert
40mm munitions at Army ammunition plant
Accomplishments
Over Time, in the Future
Today
F-22 Robotic Coating UpgradesCustomer: Lockheed Martin, MariettaDeveloping & implementing hardware &
control improvements to existing robotic coating system
Smart CraneCustomer: Navy NSWCDemonstrating swing-free ship off-loading
with sea-state compensation on Navy transport ship
155 mm Automated DisassemblyCustomer: Army DACDeveloping automated system to disassemble
projectiles containing grenade & antipersonnel mine submunitions
B-2 Robotic Coating SystemCustomer: Air Force B-2 SPO/Northrop
GrummanDevelop & deploy cost-effective automated
coating system for 20 aircraft fleet
Advanced Logistical Support OperationsDeveloping intelligent autonomous robot
technologies to transport supplies from warehouses to aircraft
Campaign.ppt 6
PPTElec020701.ppt PG 7
DoD Warfighting and NP&MC
US Special Forces Command Reconnaissance
US Marine Corp Distributed Site Protection
DARPASource Detection and Isolation
Micro-robots will be broadly useful, and will motivate many Sandia tech base elements
US Marine CorpSensor Delivery for Ship-to-
Objective Maneuver
DARPAAdvanced Mobility for
Minefield Maintenance
• The future things should include examples in which a) we will be selling to a customer, b) we will support someone in their sales to a customer, and/or c) we intend to team with industry teaming with industry
Over Time, in the Future
Today
Counter-TerrorismRuggedized Robots for
Highspeed Deployment
US ArmyFuture Unmanned Ground
Combat Vehicle
PPTElec020701.ppt PG 8
Rotate
Backup
Search
Track
We Developed Umbra to Study Diverse Systems Issues
• Umbra is a systems analysis tool– Developed for robotics, Umbra’s capabilities go beyond
robotics problems.• Umbra was designed for complex systems analysis because
robotics questions are inherently “between grid” questions.
• Umbra brings together disjointed analytical tools– Supports rapid integration of NLT Technologies
• C4ISR, Human modeling, Terrain analysis, Genetic algorithms …
– Interfaced with Army’s Joint Virtual Battlespace
Behavior & ControlsNetwork-Centric SystemsRobotic Vehicles
PPTElec020701.ppt PG 9
Umbra was Developed For and By Systems Engineers
• Multiple Worlds– Lets agents work together as collections and
communicate in non-linear ways– Flexibly combines simulation, control & other
elements– Enables Umbra’s flexible HLA implementation
Sensor Behav. Control Physics Graphic
Sensor
Sensor
F
Time
Dynamic Run-Time Environment Supports
what-if analysis
• Directly expresses systems engineering ideas– Physics-based models– Components modeled with transfer functions– Events & non-linear interactions supported
Partnerships
Campaign.ppt 10
Accomplishments
And into the Future
Today
Proprietary design and manufacturing tools
Automated assembly of automatic transmission assemblies
Integration of multiple prosthetic devices into a single system
Design of automation for boat manufacture
Design and manufacture cushion that mitigates pressure sores
IED Robotics control and manipulators
Develop sensors and cutters in a fat trimming machine
Automatic generation of weld path trajectories
Joint Ventures with private firms e.g:
• Equipment teleoperation• SwingFree cranes• Networkable robots• Flexible manufacturing
Constraint-based interactive assembly analysis and planning software tool
Established products for manufacture and distribution
Active Sketch (patent pending)Master-slave manipulator for
teleoperation (patents issued)
Goodyear Lund BoatIBP Ultramax
MicroDexterity Systems NumotechLitton-Ingalls Shipyard
ETI
Seattle Orthopedic Group