Naval Postgraduate School
Consortium for Robotics and Unmanned Systems Education and Research
Operations Research Department
1411 Cunningham Rd, RM 262
Monterey, CA 93943
Consortium for Robotics and Unmanned Systems Education and Research (CRUSER)
From Technical to Ethical...from Concept Generation to Experimentation...
The Naval Postgraduate School's Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems education and research endeavors across the Navy, Marine Corps and Department of Defense.
CRUSER is a SECNAV initiative to build a community of interest on the application of unmanned systems in military and naval operations.
CRUSER encompasses the successful research, education, and experimentation efforts in unmanned systems currently ongoing at NPS and across the naval enterprise.
CRUSER is an inclusive community. Its intent is to include engineers working on extended battery life as well as those dealing with the cultural, ethical, political and societal issues related to unmanned systems. Controls, sensors, design, architectures, human capital resource requirements, concept generation, risk analysis and field experimentation are just a few interest points.
Starting in FY12 through FY13 major events will include Concept Generation workshops for a naval mission, technical symposia to address naval missions, and an at-sea experiment to test selected technologies. However, research and education will include a broader landscape than just mission areas.
Center for Autonomous Underwater Vehicle (AUV) Research
The center began in 1987 with the joining of interested faculty from the Departments of Mechanical Engineering, Computer Science and Electrical and Computer Engineering. Instrumental in its formation was the Navy's interest in such vehicles for clandestine mine countermeasures work. While that is still of great interest to the Navy, other applications to Ocean Science and commercial usage for monitoring and surveillance, have grown. The Center is focused on the development of advanced control methodologies for using this type of vehicle in very shallow waters where persistent wave and current action from the seaway make operations difficult.
The Center has been funded for several projects by the National Science Foundation, the Office of Naval Research, and with collaborative joint work with the Florida Atlantic University. Other related work using multiple small robotic land vehicles for minefield clearance and related missions clearing unexploded ordnance (UXO) has been funded by the Naval EOD Technical Division (Indian Head).
The Center has designed and built 3 underwater vehicles, NPS AUV I, the Phoenix AUV and the ARIES-a multi vehicle network server. The ARIES AUV is in the class of 2 meter vehicles weighing approximately 500 pounds (wet) but operated slightly light from neutrally buoyant. While the Phoenix has been used in the past for many studies relating to the design of control system architectures, including both the control of mission operation, and the vehicle motion, the ARIES is fully operational performing runs in Monterey Bay on a regular basis. It has been the experimental test-bed for development and evaluation of non-linear and adaptive control of vehicle motion. It has supported experimental work in system identification, navigational accuracy experiments with low cost sensors, acoustic modem control experiments, and more recently is equipped with a blazed array forward looking sonar for experimentation in object detection and avoidance control. The development of high-speed graphics based physical modeling has been an aid to mission planning. A virtual world has been developed as an aid to visualization of vehicle behavior as well as for real time hardware in the loop, control code testing and evaluation. The Center now has a REMUS AUV as well as the ARIES vehicle. The REMUS work supports technology development for bottom mapping, feature detection, feature based navigation, and mine neutralization technologies.