Abstract: In one preferred embodiment, the present invention provides an adaptive electronic camouflage platform comprising electronic paper panels conformed to the exterior surface of the vehicle; one or more cameras for sampling images of the local environment surrounding the platform; and a processor for analyzing the sampled images, generating synthesized camouflage patterns corresponding to the sampled images and controlling the display of the synthesized camouflage patterns on the electronic paper panels.

Abstract: A control system for integrated human-trained animal-robot interaction comprising: an operator control unit linked to receive trained animal detection information representative of locations of detected IEDs (Improvised Explosive Devices), the operator control unit further linked to one or more unmanned robotic vehicles for providing control information to a selected robotic vehicle, the control information including an optimal path leading the selected robotic vehicle to a detected IED in order for the selected robotic vehicle to neutralize the detected IED.

Abstract: An optically based position location system, comprises multiple reflectors ositioned at known locations in an environment; a vehicle for traveling along a path in the environment; a first sensor for generating and detecting a collimated and polarized first light signal reflected from one of the reflectors, and for generating a first output signal in response to detecting the first light signal; a second sensor for generating and detecting a collimated and polarized second light signal reflected from the reflector reflecting the first light signal, and for generating a second output signal in response to detecting the second light signal; and a data processor which uses the first and second output signals for determining the distance between a reference coordinate on the vehicle and the reflector.

Abstract: A system for controlling multiple computer directed devices, comprises: a supervisor computer which receives input data serving as operand inputs to a set of logical operators implemented in the supervisor, where the logical operators provide output results; assignable resources, including an m number of planner computers, where m is a positive integer, and an operator station computer; a link server computer; a local area network operably coupled to provide data communications among the supervisor computer, planner computers, operator station computer, and link server computer; and a p number of the devices communicatively linked to the link server computer; wherein the supervisor computer assigns a subset of the assignable resources to direct the operation of at least one of the devices in accordance with the output results.

Abstract: A system for detecting perturbations within an environment, comprises: one r more arrays of sensors for providing a series of sensor output signal sets comprising the substantially contemporaneous generation of sensor output signals by the sensors in response to monitoring a scene within a coverage zone of the sensor; and a data processor operably disposed for storing a series of data corresponding to the sensor output signal sets generated at intervals over a predetermined period of time, for transforming the series of data into a final composite perturbation score, and for generating a perturbation output signal when the final composite perturbation score exceeds a reference value. The system may also include an output device for generating a perturbation alarm signal in response to the output device receiving the perturbation output signal.

Abstract: The present invention is a system for providing an output corresponding to he speed of a remote vehicle, comprising: a speed transducer mounted on the vehicle for providing a first output corresponding to the speed of the vehicle; a first data processor operably coupled to receive the first output from the speed transducer means for providing an ASCII coded output; a second data processor operably coupled to receive the ASCII coded output from the first data processor for providing an output transducer control output; and an output transducer operably coupled to receive the control output from the second data processor for providing an output having an amplitude proportional to the speed of the vehicle.

Abstract: A control system for a remotely controlled vehicle comprises a supervisory control system which receives supervisory speed and turn rate commands from a human operator which are provided to a servo-controlled vehicle; an obstruction detection system having multiple sensors mounted to the vehicle detect any obstructions in the path of the vehicle; and a collision avoidance control system coupled to the supervisory control system, the obstruction detection system, and to the vehicle. The collision avoidance control system disables the supervisory speed and turn rate commands when the obstruction detection system detects an obstruction. The collision avoidance control system also generates and provides obstacle avoidance speed and turn rate commands to the vehicle to direct the vehicle to avoid obstruction in the path of the vehicle, and enables the supervisory speed and turn rate commands after the obstruction is avoided so that control of the vehicle is returned to the human operator.

Abstract: A system of navigational referencing for a robot moving within a defined space is provided. A database contains x-y coordinate positional information on a plurality of doorway openings in terms of an x-y coordinate system. A mobile robot is provided that has the capability to access the database, define its location in terms of an approximate position within the defined space, and sense the presence of one of the plurality of doorway openings. The robot is positioned and moved along a path that traverses the one doorway opening at a known speed. The doorway opening's top door frame is detected from first and second sensor positions on the robot. The first and second sensor positions are separated by a known distance along a line orthogonal to the path that traverses the one doorway opening.

Abstract: A system for detecting intrusion into a secured environment using both fixed and mobile intrusion detectors includes a multiplicity of fixed intrusion detection sensors are each deployed at specific, fixed locations within the environment. The mobile sensors are mounted on one or more mobile platforms which selectively patrol throughout the environment and may be rapidly deployed to any region in the environment where a fixed intrusion detector detects a possible intrusion. A computer receives the outputs of the fixed and mobile sensors and is communicatively coupled to the mobile platforms. The computer directs the mobile platforms to travel through the environment along paths calculated by the computer, calculates a sum of weighting factors associated with the output of each sensor, and fuses the sensor outputs so that the sum is uninfluenced by the traveling of the mobile platforms. The sum is compared to a reference whereby an output is provided when the sum exceeds the reference.

Abstract: The present invention provides a pneumatically powered actuator having hydraulic control for both locking and controlling the velocity of an output rod without any sponginess. The invention includes a double-acting pneumatic actuator having a bore, a piston slidably engaged within the bore, and a control rod connected to the piston. The double-acting pneumatic actuator is mounted to a frame. A first double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and a follower rod mounted to the piston is mounted to the frame such that the follower rod is fixedly connected to the control rod. The maximum translation of the piston within the bore of the first double-acting hydraulic actuator provides a volumetric displacement V.sub.1. The present invention also includes a second double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and an output rod mounted to the piston.

Abstract: A navigational control system directs an autonomous vehicle to travel along a floor from a first location to a destination within an environment, and includes a propulsion module having a processor that receives navigation control signals for directing the motion of the module and provides position signals. At least one reflective, encoded stripe is applied to the floor of the environment. If stripe detecting means, mounted to the module, detects the stripe, recognition signals are provided. Ranging means mounted to the module measures the range between the vehicle and any object within a predetermined distance of the vehicle.

Abstract: The present invention provides a pneumatically powered actuator having hydraulic control for both locking and controlling the velocity of an output rod without any sponginess. The invention includes a double-acting pneumatic actuator having a bore, a piston slidably engaged within the bore, and a control rod connected to the piston. The double-acting pneumatic actuator is mounted to a frame. A first double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore,and a follower rod mounted to the piston is mounted to the frame such that the follower rod is fixedly connected to the control rod. The maximum translation of the piston within the bore of the first double-acting hydraulic actuator provides a volumetric displacement V.sub.1. The present invention also includes a second double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and an output rod mounted to the piston.

Abstract: The present invention is a battery charging system that provides automatic oltage selection, short circuit protection, and delayed output to prevent arcing or pitting. A second embodiment of the invention provides a homing beacon which transmits a signal so that a battery powered mobile robot may home in on and contact the invention to charge its battery. The invention includes electric terminals isolated from one another. One terminal is grounded and the other has a voltage applied to it through a resistor connected to the output of a DC power supply. A voltage scaler is connected between the resistor and the hot terminal. An On/Off controller and a voltage mode selector sense the voltage provided at the output of the voltage scaler. The On/Off controller provides an output whenever V.sub.a <V.sub.H <V.sub.b, where V.sub.a is a reference voltage, V.sub.H is a voltage across the terminals, and V.sub.b is a reference voltage. The voltage mode selector provides an output whenever voltage V.sub.

Abstract: A video line digitizer for digitizing predetermined lines of successive fes of a composite video signal includes a video line digitizer for converting the analog component of the video signal into a series of digital data representations. The composite video signal consists of successive frames. The frames each consist of a fixed number of lines represented by a fixed number of pixels. The pixels each have an associated intensity value reflected in the resulting digital data representations. The video line digitizer also provides synchronization signals decoded from the composite video signal to an address decoder/controller which determines the beginning of each horizontal line of the image. A high-speed RAM receives the digital data representations from the video line digitizer and stores them in address locations provided to the RAM by the address decoder/controller when the RAM is enabled by a data processor.

Abstract: An optical motion detector detects changes in scene lighting indicative of otion and is also capable of detecting surveillance by active night vision devices using near-infrared light. The detector includes two photodetectors which each provide data to a signal processing network. One photodetector is sensitive to visible light; the other is sensitive to near-infrared light. Both signal processing networks are identical and include a sample-and-hold, a comparator network, and a pulse stretcher. The output of a photodetector is provided to the sample-and-hold and comparator network. The comparator network compares a voltage corresopnding to the instantaneously detected ambient lighting scene with a voltage corresponding to a reference lighting scene. The pulse stretcher receives the output of the comparator network and in turn provides an output to a logical processor.

Abstract: An intelligent security assessment system includes a multiplicity of sens for detecting intrusion into an area. Each of the sensors operates on a different principle to detect intrusion. For example, sound, vibration, infrared, microwave and light level sensors are used. A computing system receives the outputs of each of the sensors and is programmed to provide an output based upon an algorithm that minimizes the likelihood of a false indication of intrusion by the intrusion sensors. Each sensor has an on and an off state and the computing system assigns a weighting factor for each sensor that is in the on state. The computing system sums the weighting factors and compares this sum to a reference and then provides a further output when the sum exceeds the reference. This computing system output is utilized to activate an additional intrusion detector such as an ultrasonic detection system and also to activate a video surveillance camera for observance of the area where the intrusion is indicated.

Abstract: A high angular resolution ranging system particularly suitable for indoor plications involving mobile robot navigation and collision avoidance uses a programmable array of light emitters that can be sequentially incremented by a microprocessor. A plurality of adjustable level threshold detectors are used in an optical receiver for detecting the threshold level of the light echoes produced when light emitted from one or more of the emitters is reflected by a target or object in the scan path of the ranging system.

Abstract: A tactile bumper is configured to obtain sensory information for impact dction and collision avoidance from the entire perimeter of an associated autonomous mobile robot or platform. The tactile bumper comprises a plurality of free-floating strips encased in a housing and is disposed in a spring-loaded fashion so as to normally be in an extended position. A plurality of microswitches are affixed to the housing and are arranged behind the plurality of free-floating strips in such a fashion so as to be activated by any displacement thereof. The most significant component(s) of the tactile bumper are a plurality of free-floating corner pieces, each of which is configured with an angled cut at its ends so as to mate with complementary angled cuts of juxtaposed ones of the plurality of free-floating strips.