The Intelligent Systems & Robotics Center
at Sandia National Laboratories
Mark L. Swinson, Ph.D., P.E.
Deputy Director
mlswins@sandia.gov
For more information: www.sandia.gov/isrc
PPTElec020701.ppt PG 1
Intelligent Systems & Robotics Center
Steve Roehrig, Director
Current funding level: ~$30M
Technical Staff: ~70
Number of robots: ~60
Heavy labs: 12
Light labs: 29
Total labs: 41
A “Research-Development-Application” Organization
PPTElec020701.ppt PG 2
Where did we start
Nuclear Weapons
Legacy
Munitions
Stealth Fighters
Cows
Surgery
have in common?
• Process as lot size of one
• Amortization issues
• Strict process constraints: quality, safety
• Sandia’s Intelligent Systems & Robotics Center
PPTElec020701.ppt PG 3
DOE Defense Programs
Accomplishments
Stage Right, storage and
monitoring of retired pits,
hot operation in 1996
Automated disassembly of
explosive gas generators,
hot operation in 1997
Pit Weigh and Leak Check
System, awaiting completion of
Readiness Review.
Thermal Spray Inspection Station,
areal desisty measurements of
applied materials, 2 operational in
NGPF
Today
Robocal, Automated
NDA, Readiness Review
@ LANL complete
Canout, Automated SNM packing
and processing for removal from
glovebox, cold operation at LANL
Automated Thermal Spray
Station, increase process
quality and coating uniformity,
operational @ NGPF in 7/01
Automated Particulate
Removal System, reduces
operator exposure during
cleaning, operational at
NGPF 2/01.
Strategic Reserve Stage Right,
storage and monitoring of
stockpile pits, deployment @
Pantex in FY01
Over
Time,
in the
Future
Microassembly, research,
develop and apply
technologies for LIGA and
MEMS component assembly
Campaign.ppt 4
Surveillance and
Monitoring Robot, provide
remote near-human
presence
Laser Engineered Net
Shaping, develop full 3-D
capability
Safe Secure Storage,
integrate microengineered sensors,
automation, and
command and control
First-time-right
components, integrate
virtual design and
manufacturing
process prototyping
Desired End State
Process
Model
Part Model
Robot Model
Magic
Happens
Workcell Model
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Program Out
Process Constants
(outside factors)
Time, throughput,
cost,staffing, . . .
DoD Non-warfighting
Accomplishments
F-117 Robotic Coating System
Customer: Air Force F-117 SPO
Developed & deployed cost-effective
robotic system to apply stealth
coating for 50 aircraft fleet
Demilitarization Hazardous Operation Risk
Reduction
Customer: Army DAC
Demonstrated automated disassembly of inert
40mm munitions at Army ammunition plant
CVX Trade-off Studies
Customer: Navy CVX PM/LM Moorstown
Recommend manning reduction
opportunities for new aircraft carrier
under design
F-22 Robotic Coating Upgrades
Customer: Lockheed Martin, Marietta
Developing & implementing hardware &
control improvements to existing
robotic coating system
Smart Crane
Customer: Navy NSWC
Demonstrating swing-free ship off-loading
with sea-state compensation on Navy
transport ship
155 mm Automated Disassembly
Customer: Army DAC
Developing automated system to disassemble
projectiles containing grenade &
antipersonnel mine submunitions
Today
Over Time,
in the Future
B-2 Robotic Coating System
Customer: Air Force B-2 SPO/Northrop
Grumman
Develop & deploy cost-effective automated
coating system for 20 aircraft fleet
Campaign.ppt 6
LM/SNL Shared Vision project
Developing automated assembly /
disassembly & human motion
planner for aircraft logistics &
maintenance operations
Advanced Logistical Support Operations
Developing intelligent autonomous robot
technologies to transport supplies from
warehouses to aircraft
DoD Warfighting and NP&MC
Today
US Special Forces Command
Reconnaissance
US Marine Corp Distributed
Site Protection
DARPA
Source Detection and Isolation
Counter-Terrorism
Ruggedized Robots for
Highspeed Deployment
Over Time,
in the Future
DARPA
Advanced Mobility for
Minefield Maintenance
US Marine Corp
Sensor Delivery for Ship-toObjective Maneuver
US Army
Future Unmanned Ground
Combat Vehicle
Micro-robots will be broadly
useful, and will motivate many
Sandia tech base elements
• The future things should include examples in which a) we will be selling to a customer, b) we will support someone in
their sales to a customer, and/or c) we intend to team with industry teaming with industry
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We Developed Umbra to Study Diverse Systems
Issues
Search
Backup
Robotic Vehicles
•
Network-Centric Systems
Behavior & Controls
Umbra is a systems analysis tool
– Developed for robotics, Umbra’s capabilities go beyond
robotics problems.
• Umbra was designed for complex systems analysis because
robotics questions are inherently “between grid” questions.
•
Umbra brings together disjointed analytical tools
– Supports rapid integration of NLT Technologies
• C4ISR, Human modeling, Terrain analysis, Genetic algorithms …
– Interfaced with Army’s Joint Virtual Battlespace
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Rotate
Track
Umbra was Developed
For and By Systems Engineers
• Directly expresses systems engineering ideas
– Physics-based models
– Components modeled with transfer functions
– Events & non-linear interactions supported
Time
Sensor
Sensor
Behav.
Control
Physics
Graphic
Sensor
F
•
Multiple Worlds
– Lets agents work together as collections and
communicate in non-linear ways
– Flexibly combines simulation, control & other
elements
– Enables Umbra’s flexible HLA implementation
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Dynamic Run-Time
Environment Supports
what-if analysis
Partnerships
IBP
Goodyear
Lund Boat
Ultramax
Accomplishments
Develop sensors and cutters
in a fat trimming machine
Litton-Ingalls Shipyard
Proprietary design and
manufacturing tools
MicroDexterity Systems
Design of automation for
boat manufacture
Constraint-based interactive
assembly analysis and
planning software tool
Numotech
ETI
Today
Automatic generation of
weld path trajectories
Automated assembly of
automatic transmission
assemblies
Design and manufacture
cushion that mitigates
pressure sores
Established products for
manufacture and distribution
Seattle Orthopedic Group
And into
the Future
Campaign.ppt 10
Joint Ventures with private firms
e.g:
• Equipment teleoperation
• SwingFree cranes
• Networkable robots
• Flexible manufacturing
Integration of multiple prosthetic
devices into a single system
IED Robotics control
and manipulators
Active Sketch (patent pending)
Master-slave manipulator for
teleoperation (patents issued)