Remote Control Program (RCP)

The K-DRIV^TM system provides the operator with joystick-style vehicle control. This system requires that the operator be able to see the remote vehicle at all times to operate the vehicle. The remote vehicle is outfitted with a 900 MHz data link, a Vehicle Computer, a servo system and a vehicle interface to operate vehicle automotive controls and sensors.

The operator interface, or Operator Control Unit (OCU), is a small hand-held enclosure which houses a joystick, a 900 MHz modem, a two hour battery, and the switches to provide control inputs for vehicle commands.

The OCU encodes control commands and transmits a spread-spectrum data stream to the remote vehicle. The Vehicle Computer receives and decodes the data stream. The Vehicle Computer then manipulates the vehicle's servo systems to carry out the commands in the data stream.

Functions available on the OCU are as follows:

• Joystick input. The joystick provides control of the vehicle throttle, brakes, and steering. Forward and back motion of the joystick provides acceleration and braking of the vehicle. A friction lock is provided in this axis so that the operator can set the vehicle brake or maintain a forward speed easily. Left to right motion of the joystick provides left and right turns of the vehicle as if the operator were sitting in the driver seat.
• Remote Start switch input. This momentary switch closure will command the vehicle to start. The Vehicle Computer starts the vehicle and automatically disengages the starter when the vehicle begins to run. A light on the OCU is illuminated whenever the vehicle's engine is on.
• Gear shift rotary switch. This switch selects the desired gear for vehicle operation. All forward and reverse gears are available. The Vehicle Computer monitors the vehicle status to prevent undesired shifting where the vehicle could damage itself. For instance, a shift from forward directly to reverse is prohibited. The vehicle will sequence to neutral and apply the brakes before allowing the shift into reverse.
• Vehicle Identification Code (VIC) switch input. An operator can select which remoted vehicle he wants to control by matching this switch input (1 through 6) with the VIC of the remoted vehicle. Only one vehicle is controllable at a time from a single OCU. Multiple OCUs can be operated from a single transmitter station, thus allowing multiple remoted vehicles to operate simultaneously in the same area.
• User Function switch. This switch input provides a command to the remoted vehicle that is user defined. Any operation that can be implemented with a relay closure on the remote vehicle is easily interfaced to this command. Typical applications for this output have been, spotlights, mine plows, fire suppression, and main gun simulators. A light on the OCU is illuminated whenever the vehicle reports that this function is active. Additional switches can be added to meet customer needs.
• Abort switch. This switch input is a command to the remoted vehicle that immediately causes it to stop. The vehicle will steer straight, apply the brakes fully, remove the throttle, kill the engine, and shut off the fuel to the engine anytime this command is sent. This is the normal end of mission command and is the fail-safe control offered to the operator of the remote vehicle. A light on the OCU is illuminated whenever the vehicle is aborted.

This visual limitation is overcome by the use of television cameras placed on the vehicle. ITT Advanced Engineering & Sciences uses a patent pending system, K-VIEW^TM, described below to provide teleoperations.

K-VIEW^TM: A Vehicle Tele-operations System with 3-D Vision

The K-VIEW^TM system provides vehicle control via joy stick inputs. It provides the remote driver with stereoscopic vision to provide excellent depth perception and increased operator effectiveness. ITT AES' Teleoperated or Line-of-Sight system is small, light weight and easy to use. The operator control unit weighs less than 10 pounds and operates on 12 volts DC. Its internal battery will sustain independent operations for two hours. Two way communication with the remote vehicle is established using 900 MHz spread spectrum modems. This allows for information from vehicle sensors and sensors carried as part of the vehicle payload to be sent immediately to the operator. The Tele-operation system stereoscopic vision control technique is patent pending. The control system on-board the remote vehicle consists of a set of servo actuators and a computer. Range of control is approximately 4 km direct line-of-sight which is limited by the video signal range. Greater video signal power will allow greater range. The 900 MHz modem will easily reach 30 or more kilometers.

The Teleoperated system also features audio feedback which enhances the driver's "feel" of being in the vehicle. The vehicle operator wears a virtual reality headset which provides the video display for operations. The vehicle's speed and direction are displayed on the video presentation. The 3-D display in the virtual reality headset provides the operator with excellent vision for operating remote manipulator arms or bulldozer blades for moving hazardous materials or unexploded ordnance. An alternate use is to effectively place a expert who is physically across the country in the vehicle with an operator who is entering a hazardous environment. The system also features rapid change over from manual to remote and back again.

An option that further improves the driver's feeling of vehicle presence is the addition of a pan tilt unit that enables the stereoscopic cameras to follow the drivers head movements. Finally we are working to adapt the system to the night goggle vision technology produced by our sister ITT company - ITT Night Vision. ITT's night vision camera can yield daylight quality vision in midnight light conditions and will add an excellent capability along with increased flexibility.

K-TRAC^TM: Vehicle Position Tracking System

ITT AES' vehicle tracking system, K-TRAC^TM , is a cutting edge technology system that utilizes Differential Global Positioning System (GPS) data to obtain vehicle position data with 6 inch accuracy. It fills a niche market that demands highly accurate vehicle location information.

The Differential GPS tracking system is the navigation heart of our remote vehicle control system as well as a stand alone system for highly accurate vehicle location data. K-TRAC^TM is useable worldwide where GPS data is available. It allows tracking of single vehicles or the simultaneous monitoring of the position of multiple vehicles from a central location. Tracking data can be stored and retrieved as necessary. In applications where extreme accuracy is desired a fixed local reference is used. Real-time position accuracy is 20 cm for applications in areas within 15 miles of the base station.

K-PATH^TM: Semi-Autonomous Vehicle System

ITT AES' Remote Control Group presents, K-PATH^TM , a cutting edge technology vehicle remote control system. Utilizing Global Positioning System data for navigation K-PATH^TM accurately computes the position of a vehicle anywhere in the world and uses the data to provide independent operation of the vehicle by itself which replicates the recorded path to better than 20 cm. K-PATH^TM uses these "way points" (measured by Differential GPS) to navigate and control vehicles anywhere in the world.

K-PATH provides the capability to control a single or multiple vehicles. Single vehicles repeat paths by themselves and are monitored by a central base station. From the base station the vehicle's path can be changed for each mission and the vehicle's speed modified in real time during a mission. The vehicle features safety systems to provide secure operations and avoid obstacles.

K-PATH also controls the operation of multiple vehicles in column (platoon) or echelon formations. These vehicles operate autonomously when traveling known trails. The trails are derived from GPS way points and the data can come from any source. The software and hardware allow for around the clock operations under almost all environmental and weather conditions. Operations in the Yuma desert have shown the system to be tolerant of high temperatures (130 degrees Fahrenheit) and high shock stresses.

An innovative variant of the K-PATH control allows one vehicle to be driven by a person and outfitted vehicles to follow the lead vehicle without using drivers. K-PATH uses differential GPS data to determine the lead vehicle's position as it moves and to calculate way points for the trailing vehicles to follow. In leader-follower operations the lead vehicle passes the route information, in real time, to its followers which enables routes to be changed while a convoy is on the move. As the convoy moves the driver can designate parking spots for the convoy vehicles on the fly, with the selected vehicle leaving the convoy and stopping at the chosen spot. Also, the leader vehicle can pick up vehicles along the return trip.

When operating in fixed areas, such as a congested port or supply depot, a stationary Differential GPS base station is added to form an exceptionally accurate, low speed operating configuration. The system now uses data from the base station to calculate GPS tracking errors which improves tracking accuracy to less than 50 centimeters. Improvements available soon will provide 5 cm accuracy This mode is well suited for operations in a port area to move vehicles from the dock area to the assembly area. Later, when vehicles leave the assembly area to move to forward areas, the K-PATH mobile GPS base station system would be employed to move shipments cross country.

These systems can be used as an effective labor force or machine multiplier, getting more accomplished with available manpower and equipment.

Applications that would benefit by using K-PATH include: cargo movement, farming applications, target systems, or hazardous vehicle operations, HAZMAT and UXO operations.

Our Original Control System: The Radio Frequency Navigation Grid System

First developed in 1978/79, the RFNG system is a very flexible remote control vehicle system capable of single and multiple unmanned, supervised, or unsupervised autonomous missions. The RFNG system can be utilized in three modes to meet mission requirements. The following is a brief description of these modes of operation...

Unsupervised autonomous missions. For single vehicles, an operator initiates the mission while standing on the ground behind the remote vehicle. This mode plays back the path stored onboard the Vehicle Computer with preprogrammed pauses, speed changes, and evasive maneuvers. The vehicle will continue until the full path is completed. Any number of vehicles can be run simultaneously in this mode. Paths that do not intersect are recommended to prevent the possibility of collision in this unsupervised mode of operation.

Supervised autonomous missions. This mode is made possible by the addition of an RF data link on the remote vehicles and a central control station that sends overview commands either globally to all the remote vehicles or to individual vehicles, as necessary. This central control station is termed the Threat Array Control and Tracking Information Center (TACTIC). The commands available include Start, Speed changes, Pause, Resume, and Stop. Additionally, the TACTIC system will display every vehicle's position so the operator can monitor the mission and vehicle performance. Prior to a mission, the operator can modify the vehicle path with a simple trail download using the RF data link. The capability to quickly change the remote vehicle's path data provides for excellent mission flexibility. During a mission, each vehicle's position is automatically time tagged and logged once a second. This data is then available for later data analysis and post processing.

Column Operations. This mode of operation is used when missions require multiple vehicles to follow the same path. The full TACTIC system is used with the addition of a software control system called Intelligent Collision Avoidance (ICA). ICA looks at the data from TACTIC and can modify vehicle paths in real-time, (i.e., generate a detour) to avoid collisions after a weapon strike or mechanical failure. This capability is necessary because each remoted vehicle is truly autonomous and does not know about any other vehicle that is simultaneously running on the same path. TACTIC receives the current position of all vehicles and ICA compares these positions, in real-time, to look for impending problems. If a vehicle becomes disabled, ICA will generate a "Detour" around the vehicle and immediately send it to all the vehicles in the mission. The vehicles behind the disabled vehicle will then execute the "Detour" path around the disabled vehicle and proceed with the original path. ICA also performs column management control to ensure the column is evenly spaced at desired intervals and proceeding at the proper speed. ICA will automatically send speed changes, without operator intervention, to the vehicles in a column to maintain mission speed and separation parameters, (e.g., to close the gap created by a detour). Spacing is typically kept to within +/- 1 meter and speeds are within +/- 1 kph for every vehicle in the column.

The RFNG system utilizes a proprietary transponder system to generate a stable RF grid over the anticipated remote vehicle operational area. This grid is then used to provide each unmanned vehicle with precise navigational data needed to perform unmanned, autonomous mission playbacks. The navigational grid requires a Master transmitter and two Slave transponders to cover the operational area.

The navigational grid system can be set up in a few days. Typical time required is based on the antenna system used. Small areas of operation can be set up in a day, while larger grids, requiring more substantial antenna masts, can take three or four days.

The RFNG remoted vehicles are outfitted with servo systems to operate the vehicle automotive controls and sensors. Each remoted vehicle has an 80386 based Vehicle Computer and a three channel receiver mounted on the vehicle. Together, the Vehicle Computer and Receiver interpret the grid for navigational information and compare the vehicle's current position to the path waypoints it is to follow. The Vehicle Computer then issues commands to the servo system to cause the vehicle to repeat the path exactly. Additionally, the supervised and column modes of operation require a telemetry link on the remote vehicles to provide communication to TACTIC. This telemetry link is used to provide overview control of the remoted vehicles for TACTIC and ICA operations.

The RFNG system has been replaced by K-PATH/K-TRAC which rely on GPS for navigation data.