1. April 2008 THE JOINT ARCHITECTURE FOR UNMANNED SYSTEMS By Jeremy Crouse Computer Engineer Advisor Dr. Joseph Wunderlich Network Consultant Dr. Thomas Leap

2. April 2008 What is JAUS?  Joint Architecture for Unmanned Systems  Created by DoD  Software implementation  Industry standard messages

3. April 2008 Command Codes  Hexadecimal numbers Received as ASCII charactersReceived as ASCII characters Decoded into byte arrayDecoded into byte array  Integer numbers Code 0001h: Set Component Authority Code 0002h: Shutdown Code 0003h: Standby Code 0004h: Resume Code 0005h: Reset Code 0006h: Set Emergency Code 0007h: Clear Emergency Code 0008h: Create Service Connection Code 0009h: Confirm Service Connection Code 000Ah: Activate Service Connection Code 000Bh: Suspend Service Connection Code 000Ch: Terminate Service Connection Code 000Dh: Request Component Control Code 000Eh: Release Component Control Code 000Fh: Confirm Component Control Code 0010h: Reject Component Control Code 2001h: Query Component Authority Code 2002h: Query Component Status Code 4001h: Report Component Authority Code 4002h: Report Component Status

4. April 2008 Internet protocol  Uses UDP vs. TCP packet structure 128 bits128 bits JAUS IndicatorJAUS Indicator  In data section of UPD packet

5. April 2008 Message Structure

6. April 2008 Message Properties  Message Construction BinaryBinary Decimal/ASCIIDecimal/ASCII

7. April 2008 Router Setup  Program Phoenix Contact Router IP RegulationIP Regulation  Operator control unit  Robot Port RegulationPort Regulation

8. April 2008 JAUS Compliance Tool Suite  Will be used by officials at competition Provided by US ArmyProvided by US Army

9. April 2008 JAUS & Wunderbot 4

10. April 2008 How it works  Message sent by operator control unit (OCU)  Received by wireless router on robot IP addressIP address Port numberPort number  Check for JAUS message indicator  Decode Message propertiesMessage properties Command codeCommand code Source IDSource ID Destination IDDestination ID  Send command to correct controller  Robot carries out command

11. April 2008 JAUS Front Panel

12. April 2008 JAUS Front Panel

13. April 2008 JAUS block diagram

14. April 2008 JAUS block diagram

15. April 2008 JAUS block diagram

16. April 2008 JAUS block diagram

17. April 2008 IGVC Challenge  Can’t accept messages without correct indicator JAUS01.0JAUS01.0  JAUS Port 37493749  JAUS OCP IP 192.168.128.1192.168.128.1  JAUS Router IP 192.168.128.2-254192.168.128.2-254