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The Intelligent Systems & Robotics Centerat Sandia National Laboratories

Mark L. Swinson, Ph.D., P.E.Deputy Director

mlswins@sandia.gov

For more information: www.sandia.gov/isrc

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Intelligent Systems & Robotics Center

Steve Roehrig, Director

Current funding level: ~$30M Heavy labs: 12Technical Staff: ~70 Light labs: 29Number of robots: ~60 Total labs: 41

A “ResearchDevelopmentApplication” Organization

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Where did we start

have in common?

• Process as lot size of one

• Amortization issues

• Strict process constraints: quality, safety

• Sandia’s Intelligent Systems & Robotics Center

Nuclear Weapons Legacy Munitions

Stealth Fighters Cows Surgery

Automated Thermal Spray Station, increase process quality and coating uniformity, operational @ NGPF in 7/01

DOE Defense Programs

Today

Over Time,in the Future

Accomplishments

Robocal, Automated NDA, Readiness Review @ LANL complete

First-time-right components, integrate virtual design and manufacturing process prototyping

Microassembly, research, develop and apply technologies for LIGA and MEMS component assembly

Safe Secure Storage, integrate micro-engineered sensors, automation, and command and control

Automated disassembly of explosive gas generators, hot operation in 1997

Stage Right, storage and monitoring of retired pits, hot operation in 1996

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

Canout, Automated SNM packing and processing for removal from glovebox, cold operation at LANL

Strategic Reserve Stage Right, storage and monitoring of stockpile pits, deployment @ Pantex in FY01

Laser Engineered Net Shaping, develop full 3-D capability

Surveillance and Monitoring Robot, provide remote near-human presence

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Automated Particulate Removal System, reduces operator exposure during cleaning, operational at NGPF 2/01.

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Desired End State

MagicHappens

Part Model

Robot Model

Workcell Model

Process Model

Program Out

Process Constants(outside factors)

Time, throughput, cost,staffing, . . .

DoD Non-warfighting

F-117 Robotic Coating SystemCustomer: Air Force F-117 SPODeveloped & deployed cost-effective

robotic system to apply stealth coating for 50 aircraft fleet

CVX Trade-off StudiesCustomer: Navy CVX PM/LM MoorstownRecommend manning reduction

opportunities for new aircraft carrier under design

LM/SNL Shared Vision project Developing automated assembly /

disassembly & human motion planner for aircraft logistics & maintenance operations

Demilitarization Hazardous Operation Risk Reduction

Customer: Army DACDemonstrated automated disassembly of inert

40mm munitions at Army ammunition plant

Accomplishments

Over Time, in the Future

Today

F-22 Robotic Coating UpgradesCustomer: Lockheed Martin, MariettaDeveloping & implementing hardware &

control improvements to existing robotic coating system

Smart CraneCustomer: Navy NSWCDemonstrating swing-free ship off-loading

with sea-state compensation on Navy transport ship

155 mm Automated DisassemblyCustomer: Army DACDeveloping automated system to disassemble

projectiles containing grenade & antipersonnel mine submunitions

B-2 Robotic Coating SystemCustomer: Air Force B-2 SPO/Northrop

GrummanDevelop & deploy cost-effective automated

coating system for 20 aircraft fleet

Advanced Logistical Support OperationsDeveloping intelligent autonomous robot

technologies to transport supplies from warehouses to aircraft

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DoD Warfighting and NP&MC

US Special Forces Command Reconnaissance

US Marine Corp Distributed Site Protection

DARPASource Detection and Isolation

Micro-robots will be broadly useful, and will motivate many Sandia tech base elements

US Marine CorpSensor Delivery for Ship-to-

Objective Maneuver

DARPAAdvanced Mobility for

Minefield Maintenance

• 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

Over Time, in the Future

Today

Counter-TerrorismRuggedized Robots for

Highspeed Deployment

US ArmyFuture Unmanned Ground

Combat Vehicle

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Rotate

Backup

Search

Track

We Developed Umbra to Study Diverse Systems Issues

• 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

Behavior & ControlsNetwork-Centric SystemsRobotic Vehicles

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Umbra was Developed For and By Systems Engineers

• 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

Sensor Behav. Control Physics Graphic

Sensor

Sensor

F

Time

Dynamic Run-Time Environment Supports

what-if analysis

• Directly expresses systems engineering ideas– Physics-based models– Components modeled with transfer functions– Events & non-linear interactions supported

Partnerships

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Accomplishments

And into the Future

Today

Proprietary design and manufacturing tools

Automated assembly of automatic transmission assemblies

Integration of multiple prosthetic devices into a single system

Design of automation for boat manufacture

Design and manufacture cushion that mitigates pressure sores

IED Robotics control and manipulators

Develop sensors and cutters in a fat trimming machine

Automatic generation of weld path trajectories

Joint Ventures with private firms e.g:

• Equipment teleoperation• SwingFree cranes• Networkable robots• Flexible manufacturing

Constraint-based interactive assembly analysis and planning software tool

Established products for manufacture and distribution

Active Sketch (patent pending)Master-slave manipulator for

teleoperation (patents issued)

Goodyear Lund BoatIBP Ultramax

MicroDexterity Systems NumotechLitton-Ingalls Shipyard

ETI

Seattle Orthopedic Group