The Intelligent Systems and Robotics Center, in cooperation with other Sandia organizations, contributed to several valuable accomplishments for Sandia National Laboratories during the past year. Some of these are described below.

The Sandia Chile Meter

The Sandia Chile Meter is an intelligent image-based system for automatically measuring the amounts of chile and trash in chile processing operations. It is being used to optimize the configuration and effectiveness of a mechanical chile cleaner in an effort to improve automation in the state's $200 million per year industry. The Intelligent Systems and Robotics Center has been working on the automation problem with the New Mexico Chile Task Force, an industry and university consortium, through Sandia's New Mexico Small Business Assistance program.

Exoskeleton for Soldiers

Exoskeletons for soldiers require advanced sensing of their environment, including ground reaction forces and terrain sensing. To solve this problem, a Sandia team produced a custom MEMS-based pressure sensor array and integrated it into an exoskeletal boot sole. The team advanced the state-of-the-art in microsystems deployment by packaging a delicate MEMS device to withstand the abusive environment encountered by the bottom of a soldier's boot.

3-D Structured Lighting Sensor

We are developing the technology for an eye-safe, robust, low-cost, lightweight, 3-D structured lighting sensor for use in broad daylight outdoor applications. Structured lighting requires image processing to isolate or segment a laser signal from background clutter in a camera image, which is difficult to accomplish under bright outdoor conditions and with highly absorptive surfaces. Applications include precision mapping, autonomous navigation, dexterous manipulation surveillance and reconnaissance, part inspection, geometric modeling, laser-based 3-D volumetric imaging, simultaneous localization and mapping (SLAM), aiding first responders, and supporting soldiers with helmet-mounted LADAR for 3-D mapping in urban-environment scenarios.

Wheeled Hopping Vehicle

The Intelligent Systems Controls Department has recently developed a Wheeled Hopping Vehicle for DARPA's Advanced Technology Office. This man-packable robot vehicle uses a combustible cylinder to jump over 8-foot-tall obstacles. This capability allows a small vehicle to negotiate rough terrain previously considered impossible. Applications for this robot vehicle include searching caves and deeply buried facilities.

Next Generation Aircraft Carrier Operations

Sandia staff are helping the US Navy create next-generation aircraft carrier operations by conducting analyses leading to improved performance, reduced manpower, and reduced costs. After successful completion of a four-month evaluation of current Navy air wing operations, structure, and preliminary improvement alternatives in FY04, a strategic partnership has been formed through at least FY07 to develop a "system of systems" analysis capability providing greater quantitative understanding of the aircraft carrier system to improve decison-making regarding organizational structure and resource allocation.

Enhanced Perception

We're developing robotic vehicles capable of autonomously generating maps. The map at right was generated from a laser scanner mounted on a mobile robot. The robot uses these maps to plan its own paths. The robot continuously correlates its scanned data to the map to localize itself as it navigates. Data from upward-looking sensors are stitched together to generate 3-D maps. These 3-D maps provide enhanced situational awareness to the operator.