Soldier Protective Clothing and Equipment Feasibility of Chemical Testing Using a Fully Articulated Robotic Mannequin (2008) / Chapter Skim
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6 Design Challenge: An Integrated PETMAN System
6 Design Challenge: An Integrated PETMAN System
Pages 111-128
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From page 111... ...
PETMAN SYSTEM DESIGN OVERVIEW PETMAN will be a complex system consisting of many functional subsystems required to perform a variety of behavioral and sensing tasks. A discussion of full system integration must address physical, communication, and control integration.
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From page 112... ...
of sensors, and the sensor planning module selects, calibrates, and confirms the sensor requirements. The sensor planning module also selects the preprocessing and postprocessing required for management of the sensor data acquired.
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From page 113... ...
The environmental planning module determines these required conditions, including the mode of control that is intended for the subsystem in various portions of the ensemble-skin air space. For example, one mode might require a set skin temperature and a set perspiration (water-transport)
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From page 114... ...
If true dynamic balance is required (that is, no external stabilizing elements or other mechanisms are used) , true dynamic control is required to support the system, and both software and hardware requirements (for example, joint sensing and control sample rates)
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From page 115... ...
However, as requirements are grouped, power requirements increase, weight is increased, more packaging volume is needed, higher control processing power is required, and more complex controls and communication schemes are needed. On the basis of current state of the art of mannequins and humanoid robots, an autonomous nontethered mannequin that performs at the objective level is not feasible; it would entail the sacrifice of some critical performance requirements.
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From page 116... ...
months before preventive maintenance b M L c- (6/12) months before calibration M M 3.3.3 Anthropometric requirements; 50th percentile M L male 3.3.4.1 Skin temperature fixed/variable M M 3.3.4.2 Perspiration rate fixed/variable M M 3.3.4.3 Respiration rate fixed/variable M M 3.3.5 ompatible with chemical-breakthrough C H M sampling technologies 3.3.6 Not affected by chamber environmental M L conditions: 3.3.6.1, 3.3.6.2, 3.3.6.3 (for 0-10 mph)
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From page 117... ...
at 4.8 km/h H M 3.3.8.4 Jumping jacks -- jumping, landing M L 3.3.8.5 Sitting H M 3.3.8.6 Standing to squatting to standing position M L 3.3.8.7 Reaching arms in all directions M M 3.3.8.8 From standing to lying prone and return M L 3.3.8.9 Kneeling on one knee M M 3.3.8.10 Kneeling on both knees M M 3.3.8.11 Low crawl M L 3.3.8.12 High crawl M L 3.3.8.13 Aiming weapon in various positions M L 3.3.9 Compatible with protection and ancillary equipment: M M 3.3.9.1 Suits M L 3.3.9.2 Boots M M 3.3.9.3 Gloves M M 3.3.9.4 Masks M M 3.3.9.5 Helmets M L 3.3.9.6 Combat boots M M 3.3.9.7 Ballistic-protection vests M M 3.3.9.8 Pistol holsters M M 3.3.9.9 Battle dress and combat uniform M M 3.3.9.10 Physical training gear, T-shirt, shorts, and M M so on 3.3.9.11 Skin-exposure reduction paste 3.3.10 Compatible with weapons systems: 3.3.10.1 M4 modular weapon H M 3.3.10.2 M24 sniper rifle H M 3.3.10.3 M16A2 rifle, 5.56 mm H M 3.3.10.4 XM8 lightweight assault rifle H M 3.3.11 Capable of being decontaminated M M 3.3.12 Uses common commercially available parts H M 3.3.13 Records system measures at 1-s intervals: Skin temperature M M Respiration rate M M Perspiration rate M M Penetrating mass (in nanograms) of chemical M M vapor 3.3.14 Programmable to perform exercises or H M motion Note: H = high capability, M = adequate or medium capability, L = little or no capability.
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From page 118... ...
With the nontethered approach, all resources -- including those required for power, gases, liquids, and heating and cooling functions -- would need to be housed and managed inside the mannequin itself. The principal advantage of nontethered operation is that the ensemble remains entirely intact in accord with the goal of using standard ensemble equipment without modification as it would be worn by a human.
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From page 119... ...
On the other hand, the key favorable and unfavorable aspects of the nontethered approach include the following: Favorable: • Maintains the integrity of the ensemble for testing without penetration. • Provides good aesthetics.
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Face. Integration of the tether connection into the face mask may be easier to accommodate as an equipment modification, but there may be disruption of normal sealing of the mask because of forces applied by the tether.
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From page 121... ...
mannequin design would require all actuators to be inside the body, and this poses a challenging design problem to fit actuators into a body of the required size and the problems of managing power and cooling to support the actuators. An alternative strategy could configure external manipulation of the mannequin limbs with external mechanisms.
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From page 122... ...
The design process would determine the configuration and characteristics of the subsystems and system components, and it should be unencumbered by power requirements for locomotion or control. Once the threshold levels are achieved, higher-priority objectives could be incorporated progressively to the extent that volume and weight restrictions allow.
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From page 123... ...
Ideally, if the net balance is an energy surplus, only cooling is re quired, although in reality some heating will be necessary in some locations and more cooling will be added; such inefficiency should be minimized. Systems Architecture and Software Considerations The architecture for all the systems reviewed takes the form of a hierarchic structure that integrates task definition and planning, model-based execution and representation, and behavior-based sensor reflex control.
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From page 124... ...
In practice, it may be appropriate to use different programming environments and languages for the different layers of software. Although the planning and task-development environment might use an abstract representation to define sequences of mannequin behaviors, the low-level embedded software that drives motors and sensors will involve a quite different style of programming and implementation.
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From page 125... ...
Expert-System Update, Revision, and Debugging The detailed internal programming code of the system should normally not be accessed in routine maintenance and operating procedures. However, there must be internal access by the developer or other designated support vendors to modify and update internal software code.
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From page 126... ...
However, a nontethered design that meets even the objective level of the functional requirements of PETMAN would be difficult to achieve with state-of-the art technology. Recommendation 6-2: Make the nontethered approach the ultimate target for mannequin design, but allow tethering for the initial stages.
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From page 127... ...
Recommendation 6-6: • Require a systematic modular approach to the design of both hard ware and software systems. • Require explicit linkage of system modules to maintenance, service, and test procedures for system monitoring and repair.
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From page 128... ...
128 SOLDIER PROTECTIVE CLOTHING AND EQUIPMENT Recommendation 6-7: • A formal approach to the introduction of modern software en gineering principles and practices should be an integral part of software development. • Existing commercial software systems and tools seem to be avail able to support the functionality anticipated in this system and should be used to support maintenance, reliability, and upgrading of the resulting system.
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