Mr. Michael J. Del Signore Profile

Michael J. Del Signore

Mechanical Engineer at Naval Explosive Ordnance Disposal Technology Div

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Proceedings Article | 16 April 2008 Paper

Low-cost semi-autonomous manipulation technique for explosive ordnance disposal robots

Andrew Czop, Michael Del Signore, Kurt Hacker

Proceedings Volume 6962, 69620M (2008) https://doi.org/10.1117/12.782082

KEYWORDS: Sensors, Distance measurement, Cameras, Video, Robotics, Robots, Algorithm development, Reticles, 3D modeling, LIDAR

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Robotic manipulators used on current EOD robotic platforms exhibit very few autonomous capabilities. This lack of autonomy forces the operator to completely control manipulator movements. With the increasing complexity of robotic manipulators, this can prove to be a very complex and tedious task. The development of autonomous capabilities for platform navigation are currently being extensively researched and applied to EOD robots. While autonomous manipulation has also been researched, this technology has yet to appear in fielded EOD robotic systems. As a result, there is a need for the exploration and development of manipulator automation within the scope of EOD robotics. In addition, due to the expendable nature of EOD robotic assets, the addition of this technology needs to add little to the overall cost of the robotic system. To directly address the need for a low-cost semi-autonomous manipulation capability for EOD robots, the Naval Explosive Ordnance Disposal Technology Division (NAVEODTECHDIV) proposes the Autonomous Robotic Manipulator (ARM). The ARM incorporates several semi-autonomous manipulation behaviors including point-and-click movement, user-defined distance movement, user-defined angle positioning, memory locations to save and recall manipulator positions, and macros to memorize and repeat multi-position repetitive manipulator movements. These semi-autonomous behaviors will decrease an EOD operator's time on target by reducing the manipulation workload in a user-friendly fashion. This conference paper will detail the background of the project, design of the prototype, algorithm development, implementation, results, and future work.

Proceedings Article | 16 April 2008 Paper

Cooperative robotics: bringing autonomy to explosive ordnance disposal robots

Michael Del Signore, Andrew Czop, Kurt Hacker

Proceedings Volume 6962, 69621J (2008) https://doi.org/10.1117/12.782078

KEYWORDS: Robotics, Navigation systems, Explosives, Sensors, Cameras, Targeting Task Performance metric, Robotic systems, Ranging, Global Positioning System, Unmanned ground vehicles

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An ongoing effort within the US Naval EOD Technology Division (NAVEODTECHDIV) is exploring the integration of autonomous robotic technologies onto current and future Explosive Ordnance Disposal (EOD) robot platforms. The Cooperative Robotics program, though the support of the Joint Ground Robotics Enterprise (JGRE), has identified several autonomous robotic technologies useful to the EOD operator, and with the collaboration of academia and industry is in the process of bringing these technologies to EOD robot operators in the field. Initiated in January 2007, the Cooperative Robotics program includes the demonstration of various autonomous technologies to the EOD user community, and the optimization of these technologies for use on small EOD Unmanned Ground Vehicles (UGVs) in relevant environments. Through close interaction with actual EOD operators, these autonomous behaviors will be designed to work within the bounds of current EOD Tactics, Techniques, and Procedures (TTP). This paper will detail the ongoing and future efforts encompassing the Cooperative Robotics program including: technology demonstrations of autonomous robotic capabilities, development of autonomous capability requirements based on user focus groups, optimization of autonomous UGV behaviors to enable use in relevant environments based on current EOD TTP, and finally the transition of these technologies to current and future EOD robotic systems.

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