technical session technical session 3: robotics & autonomy · technical session 3: robotics...
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Technical Session 3: Robotics & Autonomy
Chair : Mr. Wang Jong Chin, AD(TS), FSTD Co-chairs: Prof Ben Chen, TL@NUS Prof Xie Lihua, TL@NUT Prof Kristin Wood, TL@SUTD Panelists: Dr Ho Quan Wai, DSO Ng Seng Leong, FSTD Ki Cheuw Kon, FSTD Boyd Loh, FSTD Ho Choong Chuin, FSTD
TECHNICAL SESSION
Technical Session 3: Robotics & Autonomy Time: 1330 hrs Venue: LT 5 Chair : Mr. Wang Jong Chin, AD(TS), FSTD Co-chairs: Prof Ben Chen, TL@NUS; Prof Xie Lihua, TL@NUT; Prof Kristin Wood, TL@SUTD Panelists: Dr Ho Quan Wai, Ng Seng Leong, Ki Cheuw Kon, Boyd Loh, Ho Choong Chuin
TECHNICAL SESSION
Robotics & Autonomy, Our Challenges and
Requirements Air Domain – Boyd Loh, FSTD
Land Domain – Ki Cheuw Kon, FSTD
Sea Domain – Ho Choong Chuin, FSTD
Requirements (15mins)
Examples of
Technology
Developments
with TLs (30mins)
Q & A
Autonomous Navigation in Urban & Forested
Environment by Prof Ben Chen, TL@NUS
Teaming & Swarming by Prof Xie Lihua, TL@NTU
STARS Development by Prof Kristin Wood, TL@SUTD
Discussion with PgMs, Clarification over Tea
Impetus: Lean Defence
Force Efficiency
Tech Enablers Platform Autonomy Task Autonomy One-to-Many
Challenges & Requirements
AIR DOMAIN CHALLENGES
Mix of highly developed
urban landscape as well
as dense vegetation
Indoor flight
Tropical climate, ranges from wet
to very wet!!!
Heavily utilised airspace. How
do we share?
AIR DOMAIN REQUIREMENTS
• Our requirements
– Nimble & agile, ability to fly within confined
spaces
– Fly longer & further
– Fly, stop and fly again?
– Bio-mimicry
– As small as possible with useful endurance
LAND DOMAIN URBAN CHALLENGES
GPS Denied Navigation
• High rise Building
Mobility
• Narrow alleys
• Challenging Obstacles
Communications
• Non-Line of Sight
• High thru-put low latency
• Limited Bandwidth
availability
Dynamic Environment
• Heavy Traffic
Poor Situation Awareness
• Cluttered environment
Mobility GPS Denied Navigation
• Under Foliage
Communications
• Non-Line of Sight
• High thru-put low
latency
Adverse Environment
• Dust clouds
• Heavy Rain
LAND DOMAIN OFF ROAD CHALLENGES
Traversable Terrain
• -ve obstacle
• Water
• Overhanging branches
LAND DOMAIN ENVIRONMENT
Structured Environment Un-Structured Environment
Dynamic
Unpredictable
Unknown
Fixed
Repeatable
Known
vs
LAND DOMAIN REQUIREMENTS
Our Requirements
1. Operating in Unstructured Environment
2. Innovative Solution
• Low Cost
• Compact sensors
• Commonality in sensors
• Long Endurance
SEA DOMAIN TECHNOLOGY CHALLENGES
(Unmanned surface vehicle & autonomous underwater vehicle)
SEA DOMAIN MISSIONS & APPLICATIONS
Unmanned Surface Vehicle (USV) • Mine CounterMeasures • Anti-Submarine Warfare • Force Protection • Maritime Security
Autonomous Underwater Vehicle (AUV) • Intelligence / Surveillance / Reconnaissance • Mine CounterMeasures • Anti-Submarine Warfare • Oceanography / Rapid Environment Assessment
SEA DOMAIN R&T REQUIREMENTS
• Intelligence & Autonomy
• Communication & Networking
• Launch and Recovery System
(LARS)
• Energy and Power
SEA DOMAIN - LEVEL OF AUTONOMY
1. Remote Control, Tele-operation (e.g. ROV)
2. External, Operator-generated or pre-programmed waypoints
3. Off-board Waypoint Generation
4. On-board, Auto Waypoint (Path) Generation
5. Object Detection, Recognition, Collision Avoidance
6. Fusion of On-board and Off-board Sensors and Data
• Mission Autonomy
• Mission Re-planning on-the-fly
7. Cooperative / Swarm
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SEA DOMAIN - UNDERWATER COMMUNICATIONS
• Bandwidth and range limitation
• High ambient noise
• Multi-path in shallow water
• High attenuation
• Low baud rate
PARADIGM System (REMUS) Acoustic Modem
ACCOM
WLAN
MMI
Surface
Mode
Underwater
Mode
(WLAN Range 300-400m, ACCOM Range 1.5 km)
SEA DOMAIN - LAUNCH & RECOVERY
Sensing, tight position accuracy and multi-DOF guidance and control
SEA DOMAIN – POWER & ENERGY
• Battery-based
– Primary battery vs secondary battery
– Commonly used for Underwater application, Lead acid, NiMH, Ag-Zn,
Lithium Ion, Lithium Polymer
• Fuel Cells
– High capacity (kWH)
– Bulky equipment (i.e. oxygen and hydrogen tanks) and supporting
devices
– Highly compressed gases, special handling required
• AIP (Air Independent Propulsion)
– Huge volume required for AIP equipments
– Vehicle can weight up to tons
• Thermal engine (Gliders concept)
• Solar Energy
• Seawater Batteries??
Li-Polymer
(190WH/kg)
Li-Ion Fuel Cell
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