Abstract: A system can autonomously or semi-autonomously guide a driver to a dock or parking location. The system can include a sensor or sensors that collect data to create a map of the dock or parking location, a user interface that allows the driver to select a dock or a feature in the map and to determine the final pose of the tractor and trailer, and a planner that creates a kinematically-correct and obstacle-free trajectory from the current location to the dock or parking location. The system can provide user aids, such as a ground guide avatar or avatars, that provide the distance to the dock, speed and turning direction, or other guidance.

Abstract: A metal fused, deposition printer, that uses the thixotropic (or other) properties of a metal (or alloy) to control the viscosity of the material being deposited. In the invention presented in this patent, the viscosity of the metal is controlled by shearing it before, during, or after the deposition process. Since thixotropic (or other) properties allow for the control of the viscosity separately from the temperature, the taught invention allows for precise control of the temperature differential between the layer being deposited, and the substrate layer.

Abstract: The invention being presented here automates the functions of the driver of the garbage truck. It involves a waste collection truck designed to follow routes to collect waste using a human to pick up the bins with refuse or other material comprising a truck that includes a drive-by-wire kit, a database storing the collection routes, a mechanism for detecting the position of the human which collects the waste bins and empties them on the back of the truck and a control mechanism that follows the assigned route and speeds or slows down the truck as to minimize the distance that the human will need to walk to empty the trash in the back of the waste collection truck.

Abstract: Military convoys sometimes need to push vehicles or obstacles out of the way in order to proceed with their mission. Selecting if pushing is necessary, what can be pushed, and what cannot be pushed as well as the specific maneuver necessary for pushing or creating a controlled crash are important to minimize the damage to the autonomous vehicles as well as to create pathways that are traversable by other autonomous vehicles in the convoy. These tasks are accomplished by evaluating the costs involved in each trajectory that can be navigated by the autonomous convoy and deciding if pushing the obstacle is the preferred path or navigating around the obstacle is the preferred path for the autonomous vehicles. Also, in some cases, several autonomous vehicles simultaneously push the obstacle at the same time.

Abstract: The autonomous dust mitigation m mmmg and construction applications system disclosed herein may comprise a system that automatically detects dust at mmmg and construction sites and dispatches dust mitigation equipment in response to such detections. The dust areas detected may be assigned priorities within the system, and may be addressed or ignored based on various parameters dictating the behavior of the system. If, for example, an area of dust is not currently in use by local equipment, the system may not dispatch equipment to address that area. If, on the other hand, an area of dust is affecting a high priority or high risk area of the site, the system may prioritize the dispatching of dust mitigation equipment to that area over other areas.

Abstract: One or more autonomous street sweeper vehicles can perform a variety of sweeping functions, such as sweeping, vacuuming, blowing, and scraping. Each autonomous street sweeper vehicle can be designed to follow routes and can comprise an autonomous vehicle that includes a drive by wire kit, a database storing the routes, a detection mechanism, and a control system that controls the vehicle to follow the routes while maintaining serviceable distances to the curb. In a convoy of multiple autonomous street sweeper vehicles, the vehicles in the convoy can communicate with each other, and each of the autonomous street sweeper vehicles can perform a different function. In some examples, a speed of the vehicle and/or settings of the cleaning equipment can be adjusted, for example, based on road hazards or amount of debris.

Abstract: Mines and construction sites are pnme applications for automation. The invention is composed of a protocol that allows multiple machines to be coordinated from a single application. The invention provides what in classical control is called a coordination layer between the machines (4D-RCS). This coordination layer is currently provided by humans as machines only interact with each other in the physical world, but there is no infrastructure to have them coordinated from an autonomous control standpoint.

Abstract: The present invention pertains to the development of a ground autonomous ambulance that is designed to follow routes that is comprised of an autonomous vehicle that includes a drive by wire kit, a database storing the collection routes, a database of rules of the road and/or other legal allowable behavior, sensors for detecting the pedestrians, cars, and other road obstacles, and a control system that controls the vehicle to follow routes and which is capable of carrying and securing a stretcher or wheelchair. The autonomous ambulance also has a robotic stretcher which is used for transporting patients from their residences or other emergency locations to the ambulance.

Abstract: The present invention presents a vehicle that is capable of utilizing different methods of movement by rotating its propellers to accommodate air, ground, or water locomotion. The present invention includes being able to change the direction of the thrust mechanism, so that it creates thrust in the direction of flight, but it is hinged to provide full protection to the blades in the ground modality. In the case of the water implementation, these propellers are also used to provide horizontal thrust to the vessel.

Abstract: In the present invention, a transformable robot has been developed that can both drive and fly in the air to detect the different safety conditions and is referred to as a hybrid UAV/UGV. The invention relates to a transformable robot capable of flying and driving for survey of humps, visual sight lines, gates, lights, grades, rail deformations, culverts, drainage pipes, or signs at railroad crossings that comprise a ground locomotion system, an air locomotion system, controls, and a sensor that is necessary to do the survey of the different safety related conditions.

Abstract: Structured light approaches utilize a laser to project features, which are then captured with a camera. By knowing the disparity between the laser emitter and the camera, the system can triangulate to find the range. Four, 185 degree field-of-view cameras provide overlapping views over nearly the whole unit sphere. The cameras are separated from each other to provide parallax. A near-infrared laser projection unit sends light out into the environment, which is reflected and viewed by the cameras. The laser projection system will create vertical lines, while the cameras will be displaced from each other horizontally. This relative shift of the lines, as viewed by different cameras, enables the lines to be triangulated in 3D space. At each point in time, a vertical stripe of the world will be triangulated. Over time, the laser line will be rotated over all yaw angles to provide full a 360 degree range.

Abstract: The present invention describes a system for changing the properties of the lenses to create changes in focus, magnification, and optical stabilization without changing the shape of the lens or moving the lenses. It uses an acoustic wave that when propagated through the lenses, creates a standing wave that changes the diffractive capabilities of the lens. It involves the properties of many materials to change the diffractive properties when subjected to acoustic waves. The acoustic waves are generally accomplished with a piezo electric transducer or modulator. The frequencies used are in the RF range, depending on the substrate. Substrates used include glass and silicon, as well as more esoteric transparent materials. The system described in the present invention involves the development of a lensing mechanism that comprises one or more acoustio-optic modulator(s), a transparent or semi-transparent substrate where the modulation is applied, and a non-parallel standing wave being propagated in the substrate.

Abstract: A Vehicle Localization Augmentation for Dismounts (VLAD), which extends the technology used by dismount localization systems to include the capability of riding and aligning inertial systems to a vehicle. VLAD takes the proven Warfighter's Integrated Navigation System (WINS) and, when appropriate, increases capabilities by investigating aiding sensors, algorithms, and frameworks to align dismount inertial sensors to vehicle inertial sensors. The two focuses of this effort are initialization and maintaining the solution quality. Initialization is the process where an inertial unit calculates sensor biases in an effort to minimize systemic errors in the localization solution. This process is highly related to the sensor being used. High quality sensors, for example, perform a gyrocompassing operation on initialization. Gyrocompassing measures the Earth's rotation and gives the absolute heading relative to the Earth. On man-portable inertial systems, this process can take 15 minutes.

Abstract: A punch item management tool may be provided that coordinates and guides the process of taking a punch item from creation to completion. As one possibility, the punch item management tool may coordinate and guide the interactions between a creator of a punch item, a punch item manager for the punch item, and one or more assignees that are expected to perform work on the punch item. As another possibility, the punch item management tool may coordinate and guide the interactions between an individual serving the dual role of creator and punch item manager for a punch item and one or more assignees that are expected to perform work on the punch item. In either case, the punch item management tool may provide a user interface including various views through which these individuals may interact with one or more punch items.

Abstract: A vehicle capable of multiple varieties of locomotion having a main body; a plurality of motors and blades providing flying capability; each motor being associated with and powering a blade assembly; two legs extending from opposing sides of the main body creating a ground propulsion system. The ground propulsion system having two legs; each leg connected to a track body at the opposing leg end; each track body comprised of a plurality of drive gears; each track body connected to and retaining a track providing ground propulsion. The vehicle can either drive or fly based on its base structure, in additional to carrying a payload. The payload is carried below the main body of the vehicle and between the tracks or running gear. When the vehicle is in flight, the tracks are able to rotate up into a fly/flight mode to protect the blades during flight.

Abstract: A drone that can pour a variety of chemical agents such as oxidizers, silica gelling agents, enzymes, and neutralizers onto areas contaminated with chemical and biological weapons of mass destruction. The use of a drone to destroy the chemical and biological weapons of mass destruction is highly beneficial since it allows the exposed toxic areas to be remotely decontaminated without the presence of humans.

Abstract: An atomic clock is used in conjunction with the GNSS receiver and the inertial sensors, creating a more capable inertial navigation system (INS). The system can be composed of a GNSS receiver, an accurate clock, and a mechanism for measuring relative pose changes. For example, the system can utilize an inertial measurement unit (IMU) to provide the relative pose changes, but other mechanisms, such as visual or LADAR odometry, can be used. The GNSS receiver measures the pseudo-ranges to the GNSS satellites in the field of view. These measurements are “time tagged” with the accuracy of the atomic clock. The relative motion between the pseudo-ranges is measured using the IMU. Finally, a lock is achieved by filtering these measurements. The filtering mechanism can be a traditional Kalman Filter or other mechanisms that attempt to minimize a mean square error.

Abstract: Current foot-launched 2-stroke commercial PPG offerings can meet the specified threshold (and in some cases, objective) requirements for flight ceiling, payload capacity and range with little to no modification. We will discuss those in the next section. The APES system enhances the effectiveness and lethality of the PPG-equipped unit by reducing weight of the PPG, increasing reliability and redundancy, reducing pilot workload, and seamlessly integrating with UAV's and UGV's. System improvements in the following areas is assessed: Series hybrid-electric powertrain, Coaxial propellers. Localization, autopilot, and formations, Auto landing and other advanced features, Integration with unmanned systems, and Launch Considerations.

Abstract: In the current invention, the parafoil follows a longitudinal trajectory away or towards the generator. The work is created along the path of the line, not across. When the parafoil is extended away from the vehicle generating power, the parafoil is set by the control system in a high drag configuration. When the parafoil reaches the end of the line (or close to it), the controller sets up the parafoil in the retraction mode. In this mode, the parafoil still creates lift, but, at a significantly lower drag, and therefore, the ground station can easily retrieve it by pulling the line towards the vehicles.

Abstract: A broadcasting method has been developed that no longer uses the point-to-point measurements that causes the bottlenecks due to the number of measurements that need to be taken increasing non-linearly with the number of nodes. In addition, not all nodes need to emit. This results in significantly less expensive devices that can be paired with emitting nodes in the infrastructure. The energy emitted by the group is lowered and there is significantly less bandwidth that is used compared to current systems. This system is designed to synchronize remote clocks and localize a group of nodes and comprises at least 4 ranging nodes equipped with a clock, the capability to send and receive messages, the capability to time-tag messages, the capability for the nodes to compute the two sheeted hyperboloids from the emissions of other nodes, and the capability of combining multiple hyperboloids to solve the localization equations.