1. Network Integrated Robotics At SPAWAR Systems Center Pacific
Presented to:
The Security Network
2nd Annual C4ISR, Cyber Security, Robotic Platforms & Sensors Conference
Presented by:
CAPT Mike Carter
SSC Pacific Unmanned Systems Branch
05 October 2009 1

2. C4ISR & IT: Our Core Competencies
SSC Pacific
A National Resource for Homeland Security S&T
C4ISR & IT: Our Core Competencies
Network Systems & Support
Physical & Computer Security
Command & Control
Information Assurance
Information Technologies
Sensor Systems
Communications
Image Processing
Visual Information Systems
Wireless Technologies
Cryptologic & Intelligence
Command Center Services
Anti-Terrorism / Force Protection
Expeditionary C4I Systems
Modeling & Simulation
Navigation Systems
Meteorology
ATC Engineering/ Technical Services
Radiation Detection
Our Systems Centers work in many areas of Command, Control, Communications and Computer, Intelligence, Surveillance and Reconnaissance (C4ISR) & Information Technology (IT). The Working Capital Fund business model allows the flexibility to do relevant work for other sponsors. This allows Navy technology to be transferred to other services and agencies through our Joint programs, thereby supporting the critical function of interoperability in theatre operations.
What We Do
Deliver Knowledge Superiority to the Warfighter Through Engineering Excellence
Speed to Capability
Rapid Prototyping
Leveraging Technology
Command Control Communications Computers Intelligence Surveillance & Reconnaissance
SSC Pacific…on Point and at the Center of C4ISR 2

3. SSC Pacific Homeland Security/Defense Sponsors
Department of Homeland Security (DHS)
Office of Emergency Communications
S&T Operations Analysis Division
S&T Infrastructure & Geophysical Division
USCG
CBP
FEMA
Support to the Assistant Secretary of Defense for Homeland Defense and Americas’ Security Affairs Section 1401 (Technology Transfer) Office
Department of Commerce, NTIA
Department of Justice
National Institute of Justice, National Law Enforcement and Corrections Technology Center
Office of National Drug Control Policy 3

4. Current Projects Enhancing Border Interoperability
SSC PACIFIC…on Point and at the Center of C4ISR 4

5. Current Capability Information Technology Engineering
Secure Wireless Networking Homeland Security
Description:
Develop secure wireless network architectures
Secure wireless network test bed
Transition agent for DARPA
Develop overall system architecture integrating C4ISR technologies to support CBP operations
Support counterdrug technology discovery and technology transfer
Counterdrug Technology
Operational Relevance:
Targeted transition Programs of Record including JTRS, CANES, WIN-T, others
Support FORCEnet objectives of network-centric warfare
Full Border and Transportation intelligence fusion
Transition new C4ISR technologies to the Drug Interdiction/Demand Reduction operational community
Service Capabilities:
Technology transition
Converged transport
Secure wireless network architecture development
Wired/wireless hardware/software test, evaluation, integration, acquisition support
Concept of Operations (CONOPS) development
SSC Pacific…on Point and at the Center of C4ISR 5

6. SSC Pacific’s Regional Collaboration through 3Cs
Example Initiative:
SSC Pacific’s Regional Collaboration through 3Cs
State Agencies
CalFire
Port of San Diego
Ring of Fiber
Secure wireless
Harbor Sensors
JPSC2 connectivity
Federal Agencies
USCG JOC
NRSW ROC
US Customs & BP
-San Diego
MOU
MOU
MOU
3Cs Governance
Regional Architecture
Orange County
Anaheim PD
MOU
Added Anaheim PD and US Customs in grey for future… they are talking now.
CRADA
MOU
SSC Pacific
ICTAP & CASM [DHS/OEC]
HSSTT [DHS/S&T]
IRTT [DHS/S&T]
SMS/JPSC2 [DHS/USCG]
Secure Wireless Testbed
Marine Mammals (MM)
1401 Office [OASD]
Los Angeles Sheriff Dept.
Port of Long Beach - SMS/JPSC2/MM
Catalina Island - CASM
CBRNE Situational Awareness
City of Los Angeles - CASM

7. Participating 3Cs agencies
Local Agencies
San Diego Police Department
San Diego Sheriff Department
Chula Vista Police Department
Carlsbad Police Department
San Diego Fire-Rescue
CAL Fire
North County Fire JPA
County of Riverside
County of Yuma
18 local governments or fire districts
Federal Government / Military
Navy Region SW
USMC Base Camp Pendleton
USCG Joint Harbor Operations Center
Federal Bureau of Investigation SD FO
Drug Enforcement Agency
US Customs and Border Protection - SD
Added Border patrol under federal in grey for future….
Emergency Operations Centers
SD County Office of Emergency Services
City of SD Office of Homeland Security
SD State Visualization Laboratory
SD County Hazardous Materials Department Operations Center
City of Chula Vista
City of Carlsbad
State Agencies
Cal Trans
California Highway Patrol
Critical Infrastructure Sites
San Diego Convention Center
Metropolitan Transit System
San Onofre Nuclear Generating Station

8. Emerging architecture elements will affect how
all agencies will leverage C4ISR in the region
3Cs Network
Ring of Fiber 8

9. First DoD Technology Outreach Center
Sponsored by 1401 Technology Transfer Program (OASD Homeland Defense and America’s Security Affairs)
Managed by SSC Pacific
Hosted by the Public Safety Academy of Northeast Indiana (Ft Wayne)
Within 250 miles of 17% of US population

10. Outreach Center National Outlook

11. 1401 Product Showcase Unmanned Vehicles Night vision devices
Hand-held language translators
Advanced first aid dressings
Personal chemical detectors
Personal decontamination kits

12. Unmanned Systems Branch
25 years in unmanned ground vehicles
OSD Joint Ground Robotics Enterprise (JGRE)-designated Center of Excellence for Small Robots
Over 20 active robotics R&D projects
Infrastructure for UGV, UAV, USV, UUV RDT&E
Funding from:
OSD JGRE, RS-JPO, NAVSEA, PM-FPS, FCS, MANSCEN, CECOM NVESD, ARL, DARPA, DTRA, ONR, NSWG, SOCOM, and others 12 12

13. Technology Development For
Air, Land, and Sea
Unmanned
Aerial Vehicles
Unmanned
Surface Vehicles
Miniature sensors for man-portable systems
Unmanned
Ground Vehicles
UGV/UAV Collaborative Behaviors
Autonomous Navigation
Unattended Sensors
Distributive vision sensors for automated surveillance
Unattended Munitions
Remote response for security operations 13 13

14. Mobile Detection Assessment Response System (MDARS)
Operational Relevance
Robotic platforms, under supervised autonomy, patrol DoD storage sites and air bases, along pre-programmed paths using differential GPS.
Obstacle Avoidance via multi-layer sensor fusion of laser, stereo vision cameras, and radar.
Robots detect and assess potential intruders, monitor inventory, and check the status of Interior Locking Devices on munitions storage bunkers.
Multiple Resource Host Architecture (MRHA) allows C2 for multiple robots
Accomplishments & Milestones
Army PM-FPS selected SPAWAR as Technical Director in 1993.
BAA contract for platform development awarded in 1993.
BAA Final Demonstration successfully conducted in October 1998.
Passed Technical Feasibility Testing (TFT) in May 2000.
SDD contract awarded in 2001.
Early User Appraisal (EUA) at Hawthorne Army Depot in 2004 – 2005.
Passed Milestone C in December 2006.
Currently leading the MDARS Modernization Effort—incorporating user-requested capabilities: detection on the move, weaponization, ICIDS, etc. 14 14

15. Unmanned Surface Vehicle
Operational Relevance
Used to remove the warfighter from dangerous environments and for force multiplication.
Intended for Tactical and Force Protection:
Special Warfare force projection and reconnaissance
MCM: detection, inspection, classification and possible neutralization
Port and harbor surveillance and security
Marine Hydrographic Surveying
Environmental/chemical Sensing
Movie
Accomplishments
Ported UGV hardware/software for teleoperation and waypoint navigation.
Developed obstacle avoidance capability for fully autonomous navigation
Deliberative path planning
Reactive obstacle avoidance (following Rules of the Road)
Develop and integrate sensor technologies to support autonomous operation
Digital ARPA Radar
Vision (stereo and monocular)
Movie
More 15 15

16. Autonomous Capabilities Suite
Sequence of behaviors to achieve high level capabilities.
Tasks
Explore
Find Rad. Source
Warfighter’s Associate
Generic Comms (JAUS, INL, SPAWAR, etc.)
Behaviors
Produce actuator command to achieve given goal based on perceptual and device data.
ODOA
Follow
Retro Traverse
Waypoint
Visual Targeting
Etc.
Perceptions
Produce “more useful” data by analyzing and fusing data from devices and other perceptions.
SLAM
Obstacle Map
Explore Goals
Doorway
Path Planning
Skin Detection
AEKF
Etc.
Devices (Aware2, Player, etc.)
Source data and sink commands. Connection to real world.
Position
LADAR
Stereo Vision
IMU
GPS
Video
Rad. Sensor
PTZ
Weapon
Soldier Data
Botdrop
Etc.

17. Urban Environment Modeling (UrbEM)
Operational Relevance
Develop, mature, and demonstrate technologies that will provide rich 3-dimensional models of complex urban environments from the ground perspective. The models will be used for UGV path/mission planning, navigation, and localization and possibly by the warfighter as a mission planning and training tool.
Accomplishments
Evaluation of various 3D, large-scene modeling technologies
Laser scanning
Structure-from-Motion
Multi-view Stereo
Spatial Phase Video
Contracted with the University of Washington
Adapt technology licensed to Microsoft for PhotoSynth
Add multi-view stereo to the pipeline
Investigate addition of spatial phase video data
Increase the speed of the pipeline by taking advantage of the other sensors on the UGV
Movie
Movie 17 17

18. Multi-Robot Operator Control Unit (MOCU)
The Common OCU for:
Littoral Combat Ship USV programs (ASW and MIW)
Army's MDARS program
Joint EOD AEODRS program
R3V and Spartan ACTDs
Wide variety of other government, industry and academic organizations
Movie
Characteristics
Control multiple sets of heterogeneous vehicles
Vehicle and protocol type independent
Modularity
Scalability
Flexible User interface 18 18

19. Joint Collaborative Technologies Experiment (JCTE)
Operational Relevance
Integrate collaborative technologies that support teaming communications, sustainment, and engagement in manned-unmanned teaming applications
Effort to develop the capabilities needed to support collaborative behaviors between unmanned systems
Joint effort from three services
SPAWAR, AFRL, AMRDEC
Demonstration to validate hardware and software with an emphasis on JAUS compliance
Accomplishments
Demonstrated:
Beyond Line Of Sight (BLOS) range extension through a UAV-borne communications relay (AFRL)
Forward deployment, launch, recovery, and refueling of a VTOL UAV by a UGV (SSC-P: AUMS)
Target ID and lethal engagement (AMRDEC) 19

20. Joint Force Protection Advanced Security System (JFPASS JCTD)
Operational Relevance
Demonstrate integrated Force Protection (FP) C2 environment – a Joint capability
Integrate sensor inputs with automated (unmanned) response systems
Serve to bring FP stakeholders together to define vision for Joint FP
Leave-behind a capability with sustainment plan in FY09-FY10
Operational Sponsor is USEUCOM (Transition Manager JPM-Guardian)
Accomplishments
FY08 Start
Formalized JFPASS functional requirements (FRD)
Conducted multiple integration assessment activities at Eglin AFB
Conducted Technical Demonstration (TD-1) at Eglin AFB
Conducting Operational Demonstration (OD-1) at Eglin AFB this week

21. Maritime Autonomous Robotics Cluster Initiative
Regional industry clusters offer an effective tool for stimulating growth of regional economies at a critical stage in the recovery of the United States economy
Maritime Autonomous Robotics Cluster Initiative began in Hawaii with a focus on maritime applications
Mission areas include underwater UXO, harbor security, and Persistent ISR
Barbers Point (BRAC site) selected as campus for academia, industry, government collaboration
Regional cooperation and outreach with Hawaii Technology Development Venture, Center for Excellence in Research in Ocean Sciences and AUVSI
Builds on the success of the Mentor Protégé Robotics Initiative and offers partnership with the SBA and other Federal Agencies
Model emerging for application to other regions of the United States

22. Building a Collaborative Technology Cluster: Hawaii Maritime Autonomous Robotics Initiative
Small, low cost UGS
ATFP UGV
Agile Operator Interface
Hardened Displays
Mission Planning
UxS Architecture
Light Mfg
Rapid Prototyping
Brain Based Devices
Tech Outreach Center
The Hawaii Unmanned Underwater UXO Initiative represents a significant step for the integration of highly collaborative, autonomous robotic technologies.
The need is robotics (underwater, surface, and air) to locate, identify, and respond to military munitions and ordnance that is found in the waters around Hawaii. A problem that the world shares as well.
At the same time we’ve taken the steps to establish an infrastructure that can promote the continued growth of small business and the application of robotics to a wide range of military missions including force protection and maritime domain awareness.
You see that each of our MP teams is delivering a key technology into the system configuration ranging from position location (Geodetics) to mission planning from Referentia.
We are using Barbers Point a BRAC ‘d NAS to establish a collaborative campus with facilities to support a testbed to experimentation and evaluation of component technologies in a live, virtual, constructive environment.
So we have a team coming together to focus on a DoD need and we’re providing to infrastructure to support the future growth of the industry as well.
Integrated Manned/Unmanned C2
Integrated UV
Health Management
Precision Manipulation
LAWS
Position Location

23. Building a Collaborative Technology Cluster: Hawaii Maritime Autonomous Robotics Initiative
Experimentation to
Capability Process
Materiel Development Decision
Pre-Systems or Rapid Acquisition
Joint Rapid Acquisition Cell
Rapid Reaction Technology Office
Technology Transition Initiative
Quick Reaction Funding
Experiment & Evaluate
Warfighter Experiments
Quick Look and Early Technology Readiness Assessments
Independent DDR&E Determination of TRL
CONOPS
Future Capabilities
Warfighter Input
Technology Opportunities & Resources
HTDV, UH, CEROS
Competitive Prototyping
Early Requirements Discussion with Industry
CRADAs
User Needs
PACOM
Capability Gaps, IPLs
Joint Analysis Teams
Defense Support
Teams
SBIR/STTR
Technology Outreach Center
Barbers Point
Mentor Protégé
DoD Acquisition Transformation Initiatives
Goal: Supporting the New Defense Acquisition Framework

24. Underwater Unexploded Ordnance (UUXO)
Underwater Munitions have created significant environmental and social issues in Hawaii and other locations
Currently forty-nine Hawaii Formerly Used Defense Sites identified under the Military Munitions Response Program (MMRP)
Systematic surveys of underwater munitions sites have not been conducted generally because of technology and cost limitations
Capability Areas
Wide area survey
Detailed Survey, Monitoring
Response Alternatives

25. Antiterrorism/Force Protection (ATFP)
Capability Areas
Monitoring/Protection/Deterrence
Ports
Oil terminals
Pipeline
Other maritime areas
Disaster Response
Unmanned and remote systems can act as force multipliers, cost savers

26. Environmental Monitoring And Protection (NOAA)
Papahānaumokuākea Marine National Monument
Managed by DoI US Fish and Wildlife Service and DoC National Oceanic and Atmospheric Administration

27. Maritime Domain Awareness (MDA)
Capability Areas
Persistent ISR
Intelligence
Surveillance
Reconnaissance
Tracking
Interdiction
Ship Hull Inspection

28. March 2009 UUXO Demonstration Kaneohe Bay, HI
Bring stakeholders for Maritime Cluster Initiative together
Discuss overlapping capabilities
Demonstrate the utility of collaboration
Identify common standards and architecture
Plot path ahead for collaboration

29. Stakeholder Mission Areas
MDA –
Persistent ISR,
Tracking, Interdiction,
Ship Hull Inspection
NOAA –
Persistent Monitoring,
Deterrence, Response
ATFP–
Disaster Response,
Monitoring, Deterrence
UUXO –
Search, ID,
Monitor, Response

30. Robotics Initiative: Critical Technologies
Sensor Processing
Automated detection, classification, identification
Self Diagnosis
Data Fusion
Mission level COP
4D Visualization
Sensing Technologies
Net-Centric Architecture
Service Oriented Architecture
Data Management
Scalable
Alternative Energy Sources
Autonomous and Collaborative Systems
Dynamic reconfiguration
Mid mission
Between missions
Environmental response
Mission level control
Self diagnosis
Secure Wireless Networks
Modularity
Open Standards
Autonomous Launch, Recovery, Maintenance
This is a short list of critical technologies that have been identified through the process I laid out previously.
It serves as our shopping list that we broadcast to industry.
The key takeaway here is that robotics cover a wide range of technologies that are not necessarily unique to robotics.
While the focus of the initiative is robotics the impact is far reaching.

31. For Additional Information
General Info
CAPT Mike Carter, Project Officer for
Advanced Autonomous Robots
Unmanned Systems Branch (Code 71710) ,
SSC Pacific Unmanned Systems Branch
Hoa Nguyen, Branch Head,
Unmanned Systems Branch (Code 71710) ,
H.R. (Bart) Everett, Chief Engineer for Robotics,
Advanced Systems and Applied Sciences Division (Code 71705) ,
SSC Pacific Homeland Security Liaison
Sandi Lehan , 31