COL Dorman

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Communications and Electronics Research,
Development, and Engineering Center
(CERDEC) Night Vision and Electronic Sensors
Directorate (NVESD) NVESD Sensors for
Robotics 24 June 2003 Mr. Gene A.
Klager Aviation and Netted Sensors Division (703)
704-2578 gene.klager_at_nvl.army.mil
Essential In Peace, Indispensable In War
2
NVESD Sensors for RoboticsAgenda

• Urban/Cave Assault Vehicle (UCAV)
• Cost Effective Targeting System (CETS) /
  Networked Sensors for the Objective Force ATD
• Mine Detection False Alarm Reduction (MDFAR) for
  Improved Optempo
• Autonomous Mine Detection Sensors (AMDS)

Focus of this presentation is Unmanned Ground
Vehicle applications
3
Urban/Cave Assault Vehicle (UCAV)Objectives
Manportable Robotic Platforms

• Provide capability for detection of
  forces/weapons/activity inside caves and urban
  areas in support of maneuver.
• Conduct operations under all ambient light
  conditions (daylight, low light, no light).
• Leverage existing manportable tele-operated
  robotic platform programs and technologies.
• SPAWAR Urbot - Lead under OSD JRP for
  manportable robotics
• IRobot Packbot - Highly mobile, performed well
  in Afghanistan
• Evaluate sensors and sensor combinations for
  enhanced platform mobility and operator
  perception for cave and urban reconnaissance.
• Leverage work under Universal Soldier Sensor for
  CCD camera and fusion card

SPAWAR Urbot
IRobot Packbot
Backpack OCU
Sensor Technologies
Uncooled FLIR
LLTV CCD Camera
Sony OEM Block Camera
Analog Fusion Card
Sensors for enhanced perception under all
environmental conditions
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Urban/Cave Assault Vehicle (UCAV)Technical
Approach
Cave/Urban Assault Technologies

• Baseline Capabilities
• Mobility
• Passive Sensors
• RF Communication link
• NIR Illumination to overcome lack of scene
  contrast
• Self righting or invertible chassis
• Target Detection
• Mobility sensors
• Thermal sensor for personnel and man made object
  detection
• Manual camera tilt, zoom, and focus
• Operator interface
• Generic OCU
• Video overlay of navigation and vehicle data

• Enhanced Capabilities
• (Not Currently Funded)
• Mobility
• Electronic stabilization of imagery
• FO Communication link
• Target Detection
• Additional Sensors Acoustic, dedicated trip
  wire
• Situational Awareness
• 360 deg sensing
• Interior mapping

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Urban/Cave Assault Vehicle (UCAV)Acquisition
Strategy

• Phase I (6 months)
• Develop sensor payload for two different MPRS
  platforms
• SPAWAR Urbot Invertible, 65 lbs
• Large sensor payload volume, invertible, proven
  Foster Miller mechanicals
• Electronics and S/W developed at SPAWAR -
  Facilitates tech support
• IRobot PackBot Highly mobile, Self-righting,
  45 lbs
• New movable head and neck
• SPAWAR Generic OCU
• Completely reconfigurable
• Plug in peripherals
• Communication hardware flexibility
• NVESD sensor payload mechanical design
  integration
• External S/W integration
• Phase II (6 months)
• Downselect to single platform
• Produce sensor payloads in house
• OCUs provided by SPAWAR
• Deliver 4 System to Counter Terrorism ACTD

SPAWAR URBOT
OCU
IRobot PackBot
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Urban/Cave Assault Vehicle (UCAV)Phase I Sensors
FLIR 320 x 240, 51um pixel, 60omK NEDT 40 x 30
fov, 22mm f/1 lt1.8W, -37 to 49C RS-170 video,
RS-232 interface Mod for gen lock CCD
Camera 768 x 488, 40 x 30 fov, 17mm
f/1.2 2W_at_12VDC Head 1.2 x 1.1 x
2.75 Electronics 1.2 x 1.1 x 0.5 Sync
Input Electronic Fusion Card Dimensions 3 x
1.4 Power 1.4W nominal Features Digital
AB mix OEM Block Camera Resolution Approx.
950x700 pixels Zoom 25x optical 12x
digital Minimum Illumination 0.12 lux Power
1.5W
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HTVS Image FusionExample Meadow Scene
FLIR
IITV
FUSED
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Urban/Cave Assault Vehicle (UCAV)Generic OCU
Need

• Different robots use different Operator Control
  Units (OCU)
• Robots have multiple capabilities
• Flippers, Pan tilts, Arms
• Requires ability to use multiple control devices
• J oysticks, button box
• Simultaneous control of multiple robots
• Hand-off to other OCU(s)

Leverage SPAWAR Systems Center Efforts for Small
Reconfigurable OCU
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Urban/Cave Assault Vehicle (UCAV)Generic OCU
Requirements

• Hardware
• Small, lightweight
• Graphics overlay on video
• Interface to multiple controllers (joysticks,
  button boxes)
• Control multiple platforms incl URBOT, Packbot
• Handheld or backpack form factor
• Software
• Multiple communication protocols
• MRHA IDD (URBOT)
• JAUS (future requirement)
• Packbot
• Real-time video (software decoders)
• Standard controller interface
• Scalable architecture

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Urban/Cave Assault Vehicle (UCAV)OCU Design
Concept

• Features
• Common Display Unit
• Snap-on controllers (left and right)
• 6.4 Sunlight readable display
• Real-time video display
• Robot status display w/ gauges
• Majority of electronics in backpack
• Standard PC-104 hardware

• Handheld unit

Top
Snap-on Controller
Bottom
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Urban/Cave Assault Vehicle (UCAV)Schedule
Jan Feb Mar Apr May Jun Jul
Aug Sep Oct Nov Dec Jan Feb Mar
MILESTONE MONTH
Procure sensors and platforms for early
evaluation Funding received Identify
capabilities needed Identify technology options
Develop initial UCAV prototypes (Urbot, Packbot)
Prototype evaluation System Integration - 4
Systems Performance Testing Delivery
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Urban/Cave Assault Vehicle (UCAV)Status

• Accomplishments
• IRobot Packbot delivered
• Phase I FLIRs on hand
• Coordinated with USS for Phase II sensor
  deliveries
• RFQ from IRobot for Omega/laser diode integration
• In House tests of NIR illumination concepts

• Upcoming Activities
• Delivery of Urbot from Spawar, June 03
• Delivery of CCD and fusion hardware
• Perform in house testing
• Participate in Aug CNR activities

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Cost Effective Targeting System (CETS)
Critical Technologies Uncooled FLIR SWIR Gated
Camera Eyesafe Laser Range-
finder/Illuminator On board ATR
Laser Receiver 0.5o x 0.5o
NFOV FLIR 4.6o x 3.4o
Laser Illuminator 18m x 9m Spot
WFOV FLIR 9.3o x 6.8o
CETS for UGV on Track for TRL 6 in FY05
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Cost Effective TargetingSequence of Events
CETS ConceptUGV Sequence of Events

• Targets are Searched for and Acquired With FLIR
  and ATR
• Eyesafe Laser Rangefinder (ELRF) fired to
  Determine Range To
• Target
• Processor Calculates and Sets Illuminator Beam
  Divergence
• and Range Gate
• Automatically Provides Second Laser Pulse and
  SWIR camera acquires a Frozen, High Resolution,
  Laser Illuminated Image of the Target
• Process SWIR image to reduce ATR false alarm
  rate
• SWIR Region of Interest (ROI) image transmitted
  for Operator ID
• Operator IDs Target and Takes Appropriate
  Action

Acquire with FLIR
ID with SWIR
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CETS Technical Objectives

• CETS shall provide an automated, affordable,
  target acquisition system for UGV application
• Provide the operator with an image using
  autonomous target detection (LPUIR), automatic
  cueing of targets, decreased false alarm rate
  (ATR), and transmission of the SWIR image and
  target location.
• Autonomous target detection using LPUIR (Pd
  70)
• Reduced LPUIR detection false alarm rates using
  Aided Target Recognition (ATR), Pfa0.2/deg2
• Automatic Target Identification using the SWIR
  image (Pid 70)
• ATR decreases false alarm rate (Pfa 0.2 /deg2 )
• Transmit SWIR image and Target Location to
  operator for target ID
• CETS Average Unit Production Cost (lot size 100)
  100K
• Demonstrate Integration of CETS gimbal onto Demo
  III UGV
• Optional WFOV to enable operator to understand
  UGV local situational awareness, and facilitate
  limited tele-operated navigation

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Cost Effective Targeting System (CETS)
STO III.IS.2001.02, Network Sensors for
Objective Force
Key Areas Addressed
UGV Application (Current CETS Program)
Long Range Target ID versus Vehicle Targets

• Range Performance
• Short Wave Infrared (SWIR) gated camera higher
  resolution technology enables vehicle
  identification at FLIR detection ranges (2.0
  3.0km)
• Utilize large format (640x480) uncooled FLIR
  detector for target detection and cuing
• Target Acquisition
• Technology enables gimbal mounted autonomous
  target acquisition system for FCS ground vehicles
  and UGVs.
• Lightweight, low powered crew served weapon
  system.
• Reduced Cost
• Technology enables reduced system cost (AUPP
  100K)
• Use of common components for crew served weapons
  applications to reduce logistics footprint.

FCS Vehicles
Dismounted
Pacing Technology Maturity of the component
technologies for SWIR gated cameras and AiTR w/
processor requires time.

• CETS Focus Affordable target ID range
  performance for FCS applications to include
  medium performance vehicles, UGV and manportable
  systems.
• Approach Utilize large format uncooled FLIR
  for search, target detection and cueing of high
  resolution Short Wave Infrared (SWIR) camera.
• Advantages
• Uses short wavelengths to ID targets at long
  range with smaller apertures
• Affordability - Estimated 100k/system
  including UGV integration
• Modest stabilization - Laser pulse freezes
  target
• No FLIR cooler
• Class I Eyesafe

Component

• SWIR gated cameras
• micro lasers
• Thermal Imaging Module (TIM) from LPUIR STO
• ATR w/processor

Subsystem

• Component Integration and testing

System Integration

• Autonomous Target Identification
• Full ATR Functionality

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Cost Effective Targeting Suite (CETS )
LPUIR Imager GFE (Nytech)
Size 640 x 480 Aperture 5.0 in
Pixel Pitch 25 um Detector Size 22.5
um Wide FOV Narrow FOV IFOV 250 µrad
125 µrad F 1.0 1.6 NE?T 0.042o
0.108o (42mK_at_f/1 (81 ff)) FOV 9.15o X
6.87o 4.58o X 3.44o
Obvious Target Cluttered Search
4.25 mm Monoblock Range Finder / Illuminator
Energy gt10 mJ/pulse Repetition Rate 1-5
Hz Beam Divergence Variable 1.2 mrad for
LRF 1.5mr-15mr for Illuminator (Zoom Optics
via Wedge Displacement)
EBCMOS SWIR (Intevac) Size 640 x 480 pixels
Quantum Efficiency gt20 _at_ 1.5?m FOV 0.48o x
0.36o Aperture 5.0 in Focal Length 1000mm
GIMBAL CONCEPT ( DRS) Size 13 D x
16.75 H Weight 47 lbs (35 lb Gimbal 12 lb
Payload)
An effective, cost affordable target acquisition
system for mid tier (eg. FCS troop carrier)
applications Cost Goal 100K including UGV
Integration
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CETS Concept DemonstratorACT II LIVAR System

• LIVAR developed under ACT II program by Intevac
  Inc.
• Program sponsored by Dismounted Battle Lab, Fort
  Benning, GA
• Contract awarded Dec 99, Delivered Feb 02, 1.5M
• Intevac 512 X 512 Electron Bombarded CCD (EBCCD)
  Gated SWIR Camera
• Nytech 320x240 Uncooled FLIR
• NVESD/Intevac 4.25mm monoblock with beam expander
• Manual FLIR search, automated SWIR image
  acquisition

LIVAR system used for demonstration and data
collection
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LIVAR Imagery
Boat House
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LIVAR Imagery
0731906
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LIVAR Imagery
0731834
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TRL Milestone Chart forCETS, III.IS.2001.02

• TRL4
• ATR performance using uncooled FLIR and SWIR is
  uncertain
• METRICS
• Conduct test and data collection
• Demonstrate FLIR/SWIR image Pd/Pid

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CETS Summary

• Very low cost target acquisition sensor suite
  applicable to mid tier platforms, i.e. UGVs / FCS
  Troop Carriers
• Evaluation of uncooled FLIR automatic target
  detection and SWIR ATR and ID concepts for UGV
  platforms
• LIVAR system available as a concept demonstrator
  and surrogate CETS
• NSfOF has provided endorsements for the CETS
  technology for inclusion in the FCS Block II
  demonstration, for affordable targeting sensor
  systems and enhanced situational awareness for
  medium performance Objective FCS vehicles (i.e.
  troop carriers UGV Platforms) as well as crew
  served weapon applications.

Cost Breakthrough Targeting Technology
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Where We Fit In !
Networked Sensors for the Objective Force
Sensors for the Close Fight Inside the
extended Red Zone
Organic Low Cost Unmanned Sensors for the
Battlefield Commander
Networked Sensors for the Objective Force ATD
Long Range Surveillance
Sensors for Organic small- UAV
Mounted Sensor Hub
MOUT
DCGSA IPB Updates/ GAP ID
Dismounted Sensor Control

Reachback
Scouts
Low Cost UGV Sensor Payload
Networked Sensors and Communications at levels
below the Tactical Internet
Networked Unattended Ground Sensors
Distributed Sensors Fill the Battlefield
Situational Awareness Gap and Provide BLOS
Targeting Complement Global Surveillance
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Networked Sensors for the Objective Force
Objective Develop a new generation of low cost
distributed unmanned sensor systems that are
organic to the RSTA Team.
Sensors for Organic small-UAVs
Distributed Unattended Ground Sensors

• Reachback
• Effects Cell
• SA
• IPB Update

Sensor Hub
Low Cost UGV Sensor Payloads
Distributed Sensors Fill in the Battlefield
Situational Awareness Gaps Complement Global
Surveillance
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Countermine Roadmap
FY00 01 02 03
04 05 06 07 08
09 10
FCS PRE-SDD
FCS Design Concepts
FCS SDD FCS Production
PDRR
EMD
PRODUCTION
HSTAMIDS
HSTAMIDS P3I
III.EN.2002.03 Autonomous Mine Detection Sensors
6.3 STO
HANDHELD
FCS SUGV
GSTAMIDS SDD Block 0
GSTAMIDS BLOCK 1
PROD
SDD Block 1
DARPA NQR and ARL robotics tech.
III.EN.2000.01 FAR for Improved OPTEMPO 6.3 STO
SDD Block 2
FCS CM UGV (Mule)
GSTAMIDS BLOCK 2
MHK ATD
FCS Mule/Class II UAV
III.EN.2003.01 FCS Standoff Mine Detection System
6.3 STO
III.EN.1997.01 AMDS 6.2 STO

Legend
Precision Mine Detection and Neutralization New
6.2 STO
STO
Proposed-STO
Veh Mtd FLMD 6.2
IV.EN.2001.01 FCS Mine Detection Neut 6.2 STO
Detection and Neutralization of Off Route Mines
IEDs New 6.3 STO
DARPA / Non-Army ST
EMD/SDD/PM
IV.SN.2002.02 Off-Route Mine Detection
Neutralization 6.2 STO
FCS Platform
PROD
SDD
III.EN.1999.01 LAMD 6.3 STO
CER-08 Hyperspectral CMHAMMER (New 6.3 STO)
ASTAMIDS BLOCK 1
SDD
AIRBORNE
Wide Area Buried Minefield Detection System (New
6.3 STO)
ASTAMIDS BLOCK 2
Wide Area Air. MF Detection (WAAMD) (New 6.2 STO)
FCS Class III/IV UAV
CM Phenomenology Studies (New 6.2 STO)
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Mine Detection False Alarm Reduction for
Improved Operational TEMPO (MD FAR)
Objective Mature and demonstrate technology
for extremely low false alarm rate mine detection.
Tele-operated overpass capable host platform
Low False-Alarm Wideband GPR Sensor
In-depth
Adds a new capability to FCS Unmanned Ground
Vehicle No specialized vehicle needed -
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OUAV
UGV
Adv. GPR
Confirmer
14m x 9m
ROIs
Mission Combined OUAV and UGV systems for
On-route Detection, Confirmation and Physical
Marking.
Scenario UGV with Countermine sensors mounted
searches only ROIs provided by OUAV platform
leaving an electronic and physical marks for
subsequent avoidance. Routes are nominally 9
meters wide. Estimated route length is 20 Km.
UGV 1
OAV / UGV Countermine Concept
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Initial field trials of RF teleop XUV/mock
GPR/mine overpass at APH, 71A May 27 June 4
Overpass tires low pressure for dirt racing
GPR-XUV bracket provides 4 movements
Changing lanes under teleop at 400 m
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AT Mine Overpass Tests
M15I Flush
M15I Exposed
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Program Status
III.EN.2000.01 / False Alarm Reduction for
Improved OPTEMPO

• Planned Accomplishments
• Develop CONOPS for RSTA/UGV with AT mine
  detection with an overpass capability
• Quadrupole Resonance scanning research
• Thermal modeling of selected mines
• Conduct XUGV AT mine overpass trade studies
• Structural modeling of the Wichmann GPR
• Acquisition of a teleoperated XUGV
• Blind testing in relevant environments
• Integration of the respective sub-systems

• Actual Accomplishments
• Dec 02 Initiated test of the Wichmann GPR 1.2
  meter wide slanted antenna for subsequent data
  collection
• Jan 03 Initial blind testing of GPR
  demonstrated 10x improvement in false alarm rate
  at 100 detection (Pd gt 0.90, FAR ? 0.001 at 3.6
  Kph average detection speed.
• Feb 03 Ground pressure distribution testing of
  wide profile low pressure tires and rims for
  overpass capability
• Mar-June 03 Integrated low profile Advanced
  Wideband GPR on XUGV
• May 03 Completed first round of blind testing
  at temperate and arid test sites, demonstrated
  100x improvement in false alarm rate at Pd gt 0.90
  

• Transition Plans/Status
• PM-CCS co-funding Quadrupole Resonance
  confirmation development and scanning research to
  support GSTAMIDS Block 1 configuration. MD FAR
  scanning and confirmation technologies to be
  transitioned to PM-CCS
• MD FAR, wide band GPR, is part of GSTAMIDS, FCS
  FY04 acquisition approach.

• Rationale/Comments
• Acceleration to FCS Demo Dec 03 to demonstrate a
  limited on-route mine detection using a scanning
  GPR with an overpass capability.
• Confirmation sensing to mature in FY03/04

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Autonomous Mine Detection Sensors (AMDS)
Objective Demonstrate advanced AP mine detection
sensor that provide a standoff capability
enabling higher optempo and unprecedented
survivability for the Dismounted soldier in
support of the Objective Force and Objective
Force Warrior.

• Capable of carrying a CM payload weighting up to
  20s(goal 6s)
• On and off route mission scenarios
• Suppress operation in case of roll over, stress
  stability to prevent roll over
• Maximize battery life to allow for on/off
  payloads operation
• Provide message capability for payload reporting
  of status and incidents

Adv Signal Processing, Fusion, ATR Algorithms
Wichmann GPR on MATILDA
Phase I
Soldier removed from mine in dismounted mine
detection mission
Scanning Sensors
Fused Sensor Suite
Phase 1 Autonomous Mine Detection Sensors,
FY02-05
Sensor Standoff
Pacing Technologies
Or

• Very high performance standoff
• sensor detection arrays
  

Operator standoff

• War Fighter Payoff
• Increased survivability during mine clearance
  missions
• Marked path for mine avoidance
• Faster rate of advance against AP and AT mines
  in dangerous areas

Very low FAR autonomous confirmation
sensors
Sensor fusion, signal processing and ATR
Integration on remotely
operated mobile robotic platform

High performance and standoff will provide
significant survivability and mobility advantage
for the dismounted troops of the Objective Force
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AMDS Program Objectives
Get the soldier out of the minefield. Countermine
is extremely soldier intensive and inherently
slow and dangerous. The focus of the program is
to provide the sensor suite to enable a robot to
complete this mission faster, better and safer
than a human could. Support the Soldier Unmanned
Ground Vehicle (SUGV) Program. The platform of
choice for the integration of AMDS is SUGV.
Platform selection is scheduled in FY05.
Integration will be completed by the end of FY06
and TRL 6 testing will be completed in
FY07. Support Future Combat Systems (FCS) for
survivability (countermine) focusing on rate of
advance. The countermine effort falls under the
survivability area of FCS and will specifically
focus on rate of advance. Current capabilities
in countermine limit the rate of advance of
current or objective forces. Any system
increase equates to dramatic increases for the
force. Support Armys Autonomous Robotics
Behavior effort. Current robot simulations have
created robotic behaviors engines that may be
proliferated as software for autonomous
operation. These behaviors are dependent upon
payload operation. Autonomous operation for the
countermine mission will be the most payload
dependent and early participation is critical.
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AMDS / III.EN.2002.03
TRL Milestone Chart
2003
2006
2005
2004
2007

• TRL 6
• Primary sensor
• Blind Test Lanes
• On surrogate
• platform
• METRICS
• Pd gt .98
• FAR .08
• ROA1m2/min
• Standoff 10m

• TRL 6
• Primary sensor and ATR integration and test
• On selected platform on blind test lanes
• METRICS
• Pd gt.99
• FAR .03
• ROA1m2/min
• Standoff 10m

• TRL 4
• Brassboard components for Laboratory testing
• METRICS
• Pd .98
• FAR .2/m2
• ROA Not tested

• TRL 6
• System Demo
• (configured on a
• robotic platform
• and tested
• in realistic
• environment)
• METRICS
• Scan Confirm autonomously
• Pd gt .99
• FAR .03/m2
• ROA gt2 m2/min

• TRL 5
• Prototype/first run components enclosed for
  outdoor testing on simulated minelanes
• METRICS
• Pd .98
• FAR .1/m2
• ROA 1m2/ min

Platform Availability
35
AMDSIII.EN.2002.03

• Planned Accomplishments

Actual Accomplishments

• Award Tech Dev Contract(s) 3QFY03
• Demonstrate Prototype(s) 2QFY05
• Integration of sensor suite to SUGV FY06
• Demonstrate/Test final sensor on SUGV FY07
• Transition to PM CCS FY08

• Demonstrated 9 technologies Sep 02
• Reviewed Proposals and selected dual award
• Awaiting Contract Final Negotiations

Rationale/Comments
Transition Plans/Status

• On Schedule

• Transition to Acquisition by PM CCS in support
  of OF/OFW
• Payload for FCS/SUGV

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Summary

• UCAV - Development of high performance sensors
  for manportable robotic system for delivery to
  Counter-terrorism ACTD
• CETS - Development of high performance affordable
  targeting system for manned and unmanned vehicle
  applications under NSfOF ATD
• FAR for Improved Optempo - Development of low
  false alarm rate mine detection technology for
  FCS robotic platforms
• AMDS - Integration of mine detection technology
  and SUGV

Essential In Peace, Indispensable In War