System for testing of autonomy in complex environments

• US 9,443,436 B2
• Filed: 12/19/2013
• Issued: 09/13/2016
• Est. Priority Date: 12/20/2012
• Status: Active Grant

• Current Assignee: Johns Hopkins University
• Original Assignee: Johns Hopkins University
• Inventors: Scheidt, David H.
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): Pipala, Edward J
• Application Number:
  US14/133,748
• Publication Number:
  US 20160063870A1
• Time in Patent Office: 999 Days
• US Class Current: 1/1
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: G01R 31/00 Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere measuring superconductive properties G01R33/1238; testing or measuring semiconductors or solid state devices during manufacture H01L22/00; testing line transmission systems H04B3/46
• CPC Class Codes: G05B 19/0428 Safety, monitoring G05B19/0423 takes precedence
• CPC Class Codes: G05B 2219/24182 Redundancy
• CPC Class Codes: G05B 23/00 Testing or monitoring of control systems or parts thereof monitoring of programme-control systems G05B19/048, G05B19/406
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G09B 9/08 for teaching control of aircraft, e.g. Link trainer

Abstract

A monitoring apparatus for deployment on an AUV may include navigation equipment operable independent of guidance and control equipment of the AUV and usable for determining AUV navigation information during deployment of the AUV, radio equipment operable independent of a radio module of the AUV and for providing a communication link to a ground station for communication with testing staff, and a watchdog module comprising processing circuitry configured to monitor at least the AUV navigation information relative to operational guidance to determine whether a constraint defined in the operational guidance is violated.

Claims

1. A monitoring apparatus for deployment on an autonomous unmanned vehicle (AUV), the monitoring apparatus comprising:

navigation equipment operable independent of guidance and control equipment of the AUV, the navigation equipment determining AUV navigation information during deployment of the AUV;

radio equipment operable independent of a radio module of the AUV, the radio equipment providing a communication link to a ground station for communication with testing staff; and

a watchdog module comprising processing circuitry configured to monitor at least the AUV navigation information relative to operational guidance to determine whether a constraint defined in the operational guidance is violated.

2. The monitoring apparatus of claim 1, wherein the watchdog module is configured to monitor AUV response to violating the constraint and determine whether the AUV response conforms to the operational guidance.

3. The monitoring apparatus of claim 1, wherein the watchdog module is configured to take over control of operation of the AUV in response to the constraint being violated.

4. The monitoring apparatus of claim 1, wherein the watchdog module is configured to record the AUV navigation information in memory of the monitoring apparatus.

5. The monitoring apparatus of claim 1, wherein the watchdog module is configured to communicate the AUV navigation information to the ground station via the radio equipment.

6. The monitoring apparatus of claim 5, wherein the watchdog module is configured to communicate the AUV navigation information to the ground station in real-time.

7. The monitoring apparatus of claim 1, wherein the monitoring apparatus is configured to interface with an autonomy engine of the AUV to provide data descriptive of a scenario involving interaction between the AUV and at least one external entity to the autonomy engine.

8. The monitoring apparatus of claim 7, wherein the data descriptive of the scenario is provided via the ground station.

9. The monitoring apparatus of claim 7, wherein the data descriptive of the scenario is provided at least in part by a high fidelity data stimulator located at the monitoring apparatus.

10. The monitoring apparatus of claim 7, wherein the data descriptive of the scenario is provided at least in part by a low fidelity data stimulator located at the ground station.

11. The monitoring apparatus of claim 7, wherein the data descriptive of the scenario includes data associated with actions of live entities in a vicinity of the AUV.

12. A system comprising:

an autonomous unmanned vehicle (AUV) including at least a guidance and control module to monitor AUV navigation information, an autonomy engine configured to direct autonomous operation of the AUV, and a radio module capable of establishing a communication link with an operator;

a monitoring apparatus deployed on the AUV, the monitoring apparatus comprising;

navigation equipment operable independent of the guidance and control equipment, the navigation equipment separately determining AUV navigation information during deployment of the AUV;

radio equipment operable independent of a radio module of the AUV, the radio equipment providing a communication link for communication with testing staff; and

a watchdog module comprising processing circuitry configured to monitor at least the AUV navigation information provided by the navigation equipment relative to operational guidance to determine whether a constraint defined in the operational guidance is violated; and

a ground station including radio equipment configured to establish the communication link with the radio equipment of the monitoring apparatus to enable testing staff to interact with the monitoring equipment during deployment of the AUV.

13. The system of claim 12, wherein the watchdog module is configured to monitor AUV response to violating the constraint and determine whether the AUV response conforms to the operational guidance.

14. The system of claim 12, wherein the watchdog module is configured to take over control of operation of the AUV in response to the constraint being violated.

15. The system of claim 12, wherein the watchdog module is configured to record the AUV navigation information in memory of the monitoring apparatus.

16. The system of claim 12, wherein the watchdog module is configured to communicate the AUV navigation information to the ground station via the radio equipment.

17. The system of claim 12, wherein the monitoring apparatus is configured to interface with the autonomy engine to provide data descriptive of a scenario involving interaction between the AUV and at least one external entity to the autonomy engine.

18. The system of claim 17, wherein the data descriptive of the scenario is provided via the ground station.

19. The system of claim 18, wherein the data descriptive of the scenario is provided at least in part by a high fidelity data stimulator located at the monitoring apparatus.

20. The system of claim 18, wherein the data descriptive of the scenario is provided at least in part by a low fidelity data stimulator located at the ground station.