INTEGRATION AND EVALUATION OF SENSOR MODALITIES FOR POLAR RO

INTEGRATION AND EV ALUATION OF SENSOR MODALITIES FOR POLAR ROBOTS

By

Richard S.Stansbury

B.S.-Computer Engineering

University of Kansas,2002

Submitted to the Department of Electrical Engineering and Computer Science and the Faculty of the Graduate School of the University of Kansas

in partial ful?llment of the requirements for the degree of Master of Science

Prof.Arvin Agah(Committee Chair)

Prof.Victor Frost(Committee Member)

Prof.Costas Tsatsoulis(Committee Member)

Date of Acceptance

ABSTRACT

As part of the Polar Radar for Ice Sheet Measurement(PRISM)project,at the University of Kansas,a mobile robot was designed constructed to support radar measurements in Greenland and Antarctica.The PRISM mobile robot was constructed using an ATV as a mobile base vehicle and building a protective enclosure to support computer and radar equipment.

This research has focused on the integration and evaluation of sensor modalities to support the PRISM rover,as well as other polar robotic endeavors.

A general focus was to?nd commercial o?-the-shelf(COTS)sensors.Given the rover’s sensing needs and the prior work on planetary and polar robots,a suite of sensors was selected where each sensor met the needs of the PRISM project.The sensors were integrated with the PRISM rover.Integration of the sensors involved three main tasks of physical mounting,connectivity,and software integration. Mounting involved both external mounting of sensors as well as the construction of rack-mount cases for internal sensors.Connectivity involved connecting all of the sensors with the necessary data links so that the information is properly shared.Software integration included the development of a software API for the PRISM sensors.Sensor fusion also took place within the software to provide additional functionality.

The PRISM rover’s sensor suite was next validated to demonstrate the survivability of the sensors,measure properties of the sensors not available from the speci?cations and data sheets,and verify correct operation,integration,and mounting of the sensor suite.

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ACKNOWLEDGMENTS

Special thanks goes to my adviser and committee chair Professor Arvin Agah.His knowledge and support has been invaluable.I would also like to thank Professor Victor Frost and Professor Costas Tsatsoulis for serving on my committee.I look forward to working with all of you as I proceed forward toward my Ph.D.in the coming years.

Without the assistance of my fellow roboticists,Hans Harmon and Eric Akers,this thesis would not be possible.I’d also like to thank Torry Akins for dispensing advice whenever needed,or otherwise.I would also like to thank Dennis Sundermeyer for his assistance with fabricating whatever case,mount,or gizmo that I needed.I would also like to thank the students and faculty of the PRISM project whom I have worked with both o?and on the ice.Special thanks also goes out to MARVIN,the not so little robot that could.

I would like to thank my wife,Amy,for all of her support over the past ?ve years.Without her patience,care,and guidance,I would not be where I am today.I thank my family and friends for all of their support as I continue forward into academia.

This work was supported by the National Science Foundation(grant#OPP-0122520),the National Aeronautics and Space Administration(grants#NAG5-12659and NAG5-12980),the Kansas Technology Enterprise Corporation,and the University of Kansas.

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CONTENTS

LIST OF FIGURES (ix)

LIST OF TABLES (xi)

1.INTRODUCTION (1)

1.1Motivation (2)

1.1.1Polar Traversal (2)

1.1.2Polar Radar for Ice Sheet Measurement(PRISM)Project.3

1.1.3The PRISM Mobile Robot (5)

1.2Approach (6)

1.3Thesis Structure (7)

2.BACKGROUND (8)

2.1Navigation and Localization (8)

2.1.1Position Sensors (9)

2.1.1.1Dead Reckoning (10)

2.1.1.2Triangulation Using Land-Based Beacons (11)

2.1.1.3GPS (11)

2.1.2Heading and Orientation (13)

2.1.2.1Compasses (14)

2.1.2.2Gyroscopes (14)

2.1.2.3Inclinometers (14)

2.1.2.4GPS (15)

2.2Collision Detection and Avoidance (16)

2.2.1Obstacle Detection (16)

2.2.1.1Machine Vision (17)

2.2.1.2IR Detectors (18)

2.2.1.3Sonar (19)

2.2.1.4Laser Range Finders (19)

2.2.1.5Millimeter Wave Radar (20)

2.2.2Crevasse and Sastrugi Detection (21)

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2.2.2.1Traditional Obstacle Detection Sensors (21)

2.2.2.2Ground Penetrating Radar (22)

2.2.3Collision Detection (22)

2.2.3.1Bump Sensors (23)

2.2.3.2Accelerometers (23)

2.3Proprioception (24)

2.3.1Fuel Sensors (24)

2.3.2Power Levels (24)

2.3.3Internal Climate (25)

2.3.4External Climate (25)

2.4Sensor Fusion (25)

2.4.1Algorithms and Approaches (26)

2.4.2Neuroscience and Behavior-based Robotics (27)

2.4.3Sensor Fusion for Visualization and Mobile Robot Tele-

operation (27)

3.RELATED WORK (28)

3.1Planetary Rovers (28)

3.1.1Challenges (28)

3.1.2Field Integrated Design and Operation(FIDO)rover (29)

3.1.3Sample Return Rover(SRR) (30)

3.2Polar Rovers (30)

3.2.1Dante I (31)

3.2.2Nomad (31)

3.2.3Robot Antarctico di Super?cie-ENEA (32)

4.SENSOR SELECTION (33)

4.1Sensing Requirements (33)

4.1.1Task Requirements (33)

4.1.2Environmental Requirements (34)

4.1.3Outreach Requirements (34)

4.2Criteria for Selection (34)

4.2.1Cost (34)

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4.2.2Power Consumption (35)

4.2.3Ruggedness (35)

4.2.4Accuracy (35)

4.2.5Size/Weight (35)

4.2.6Complexity and Reliability (35)

4.2.7Software Interface (36)

4.2.8Physical Mounting (36)

4.2.9Connectivity (36)

5.ANALYSIS OF SENSOR SUITE (37)

5.1Topcon Legacy-E GPS System (37)

5.2SICK LMS221Laser Range Finder (40)

5.3BEI Technologies MotionPak II Gyroscope (42)

5.4Precise Navigation Inc.TCM2-50 (44)

5.5Rainwise WS-2000Weather Station (45)

5.6Pelco Esprit Pan-Tilt-Zoom Camera (47)

5.7Cruz-Pro TL30Fuel Gauge (49)

6.SENSOR INTEGRATION (51)

6.1Sensor Mounting (51)

6.1.1External Sensor Mounting (51)

6.1.1.1WS-2000 (51)

6.1.1.2GPS Antennas (52)

6.1.1.3Pelco Pan/Tilt Camera (53)

6.1.1.4MotionPak II (53)

6.1.1.5Sick LMS221 (53)

6.1.2Internal Sensor Mounting (55)

6.1.2.1GPS Cases:Base and Rover (56)

6.1.2.2Sensors Case (57)

6.1.2.3Power Case (59)

6.2Sensor Connectivity (59)

6.2.1Serial RS-232Connectivity (60)

6.2.2Network Connectivity (62)

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6.2.3Computing (62)

6.3Software Integration (62)

6.3.1Overview of PRISM Sensor API (63)

6.3.1.1Basic Sensor Interfaces (64)

6.3.1.2Events and Event Listeners (65)

6.3.2Instantiation of API for PRISM sensors (66)

6.3.2.1TopconGPSReceiver.java (66)

6.3.2.2SickLaserRangeFinder.java (67)

6.3.2.3Motionpak2.java (68)

6.3.2.4TCMTiltTempSensor.java (68)

6.3.2.5WeatherStation.java (68)

6.3.2.6TL30FuelSensor.java (68)

6.3.3Sensor Fusion (69)

6.3.3.1Position2HeadingSensor.java (69)

6.3.3.2MarvinHeadingSensor.java (70)

6.3.3.3Waypoint Navigation (70)

7.FIELD EXPERIMENTS (73)

7.1Goals (73)

7.2Greenland2003Field Season (74)

7.3Local Experiments (75)

7.4Greenland2004Field Season (75)

8.EXPERIMENTAL SETUP (77)

8.1Climate Survivability (77)

8.2GPS Performance (78)

8.2.1Measurement of Relative Accuracy (78)

8.2.2Satellite Visibility (79)

8.2.3GPS Measurement Stability (80)

8.3Obstacle Detection (81)

8.4Orientation Measurements (82)

8.4.1Drift (82)

8.4.2Vibration (83)

8.5Waypoint Navigation (84)

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9.RESULTS AND ANALYSIS (86)

9.1Climate Survivability (86)

9.2GPS (88)

9.2.1Relative Accuracy (88)

9.2.2Visibility (89)

9.2.3Stability (90)

9.3Obstacle Detection (92)

9.3.1Con?guration#1:Positive and Negative Obstacle Detector93

9.3.2Con?guration#2:Positive-only Obstacle Detector (93)

9.3.3Discussion (99)

9.4Orientation (100)

9.5Waypoint Navigation (101)

10.CONCLUSION (104)

10.1Contributions (106)

10.2Limitations (106)

10.3Future Work (107)

REFERENCES (109)

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LIST OF FIGURES

1.1PRISM mobile robot (5)

5.1Topcon GPS base station (38)

5.2Sick LMS221laser range?nder (40)

5.3MotionPak II gyroscope/accelerometer (42)

5.4TCM2-50orientation sensor (45)

5.5Rainwise WS-2000weather station (46)

5.6Pelco Esprit (48)

5.7TL30digital fuel gauge (50)

6.1External mounting of sensors on PRISM Rover (52)

6.2LMS221con?gurations (54)

6.3Sick LMS221con?guration (55)

6.4Sensor cases mounted within PRISM rover (56)

6.5Rack-mountable case for rover GPS (57)

6.6Portable case for GPS base station (58)

6.7Rack-mountable case for sensors and sensor components (59)

6.8Rack-mountable case for power supplies (60)

6.9PRISM robotic sensor connectivity (61)

6.10Edgeport serial hub (61)

6.11Netgear ethernet switch (62)

6.12GoBook Max ruggedized laptop (63)

6.13PRISM robotic sensor API?owchart (64)

6.14Flowchart of waypoint navigation system (72)

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8.1Rover’s waypoint path for bistatic SAR (85)

9.1Topcon GPS:24-hour satellite visibility (90)

9.2Topcon GPS:measurement standard deviation vs.distance to base.92 9.3LMS221:igloo (94)

9.4LMS221:snow pit (95)

9.5LMS221:snow mobile (96)

9.6LMS221:sastrugi (97)

9.7LMS221:?ags and power line (98)

9.8Plot of rover’s path while performing waypoint navigation (102)

9.9Plot of rover’s path while performing waypoint navigation(zoomed

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