Publications

The Passive-legged, Multi-segmented, Robotic Vehicle concept is a simple legged vehicle that is modular and scaleable, and can be sized to fit through confined areas that are slightly larger than the size of the vehicle. A specific goal of this project was to be able to fit through the opening in the fabric of a chain link fence. This terrain agile robotic platform will be composed of multiple segments that are each equipped with appendages (legs) that resemble oars extending from a boat. Motion is achieved by pushing with these legs that can also flex to fold next to the body when passing through a constricted area. Each segment is attached to another segment using an actuated joint. This joint represents the only actuation required for mobility. The major feature of this type of mobility is that the terrain agility advantage of legs can be attained without the complexity of the multiple-actuation normally required for the many joints of an active leg. The minimum number of segments is two, but some concepts require three or more segments. This report discusses several concepts for achieving this type of mobility, their design, and the results obtained for each.

The Automated Sensor Tester (AST) is being developed by Sandia National Laboratories for the Department of Energy (DOE) to be a tool to aid in testing exterior intrusion detection sensors in a fixed site security system. This is accomplished by automatically performing a simulated intrusion test of the sensors installed in the Perimeter Intrusion Detection and Assessment System (PIDAS). During the test, a target is moved across the detection zone of the sensor, simulating a human moving through the detection zone. The first phase of this project concentrated on automatically testing the bi-static microwave exterior intrusion detection sensor in one sector of a PIDAS. This sensor was selected because it is commonly used, and the test target has been determined and is presently in use. The goal of the AST project is to provide consistent test results, automatic data logging, easier data reduction and reduced manpower to perform the DOE mandated and frequent intrusion detection sensor tests. The AST will help to determine that the intrusion sensor being tested is functional and has even and adequate detection along its entire detection zone. The AST consists of two vehicles and a data logger. The Mother Vehicle contains the processing and navigation capability and deployed and retrieved the Target Vehicle. The Target Vehicle provided the alarm stimulus. The Alarm Interface/Data Logger was connected to the intrusion sensors alarm signal and recorded the test results. This system will autonomously conduct a series of tests on an entire PIDAS sector. This paper describes the three elements of the AST system and their operation.