Penn State

1
Penn State Autonomous System Navigation, Driver
Augmentation Engineering Project Kickoff March
03, 2008
2
Kickoff Agenda

• Introduction to the Project
• Overview of project steps
• Modeling and Simulation
• CONOPS (CONcept of OPerationS) Development
• Requirements Development
• Concept Generation
• Concept Development
• Concept Presentation
• Summary
• Appendices Back-up material
• Questions and Discussion

3
(No Transcript)
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Project Statement

• Problem statement
• In the US, Motor vehicle accidents are the
  leading cause of death for people between 1 to 34
  years old. (National Vital Statistics report,
  September 2002.)
• In spite of advanced structural design of
  automobiles, crumple zones, air bags, etc., the
  death rate has reached a non-zero asymptote.
• WHY?
• The answer lies in the fact that current
  technology fielded is reactive and not
  pre-emptive.
• Devices react to the accident, they do not
  prevent the accident from occurring in the first
  place.
• More warning time and intervention on the part of
  a driver assist system can prevent accidents or
  provide additional warning time to, in fact,
  implement better safety devices.
• This problem is particularly acute for certain
  situations. Consider
• Convoy duty requires close vehicle spacing at
  high speeds often on damaged or unimproved road
  surfaces.
• Drivers are often called upon to maintain
  position during periods of high stress.
• When under attack, during black conditions, or
  during high speed maneuvering.
• Reaction time is compromised by external
  distractions.
• A system which detects and regulates a vehicles
  position as well as monitoring road conditions
  when traveling at high speed could result in a
  significant reduction in accidents and serious /
  fatal injury.
• Frees up the crew to concentrate on all mission
  aspects.
• This technology is directly applicable to modern
  highway driving.

5
Project Statement

• Objective
• Develop a method to detect and avoid obstacles
  while maintaining formation.
• Define technique to be utilized, I.e. radar,
  ladar, thermal imaging, spectroscopy, etc.
• Design system to detect presence of vehicle,
  determine range, velocity, position and maintain
  formation during convoy operations.
• Display warning and suggested collision avoidance
  method to driver.
• Detect on-coming traffic and factor into decision
  process.
• Background
• Your team is employed by a specialty engineering
  firm
• The firm has been contracted to develop Driver
  Assist concepts for convoy vehicles.
• The customer has awarded several contracts to
  competing firms and will ultimately select the
  best concept for a lucrative development,
  production, and fielding contract.
• HMMWV upgrade
• This is a real problem with real impact in
  todays world
• Direct leverage into commercial markets.
• BMW, Mercedes, GM, Ford, Toyota are all invested.
• Solving it literally makes people safer on the
  road
• There are many other practical application areas
  for this technology.

6
Project Statement Of Work (SOW)

• Tasks Your firm will need to
• Perform a customer needs assessment based on your
  interpretation of the problem scope.
• Develop an initial Concept Of Operations (CONOPS)
• The CONOPS is essential and defines how your
  system will actually operate.
• Your CONOPS will evolve as your system
  architecture matures.
• Develop a draft of your system specification.
• This will evolve as your system architecture
  develops
• Research sensor types currently available.
• Some data on typical sensors is provided for a
  reference
• Dont forget the display type for the driver and
  how the system integrates the human in the loop
• Perform trade studies on the type and quantity of
  sensors, type and quantity of vehicles required,
  how the vehicles are employed, and information
  provided versus cost.
• Design a system using the results of the trade
  studies including optimal sensor placement,
  integration with the vehicle, etc.
• Calculate size and mass properties impact of the
  sensor system (including the display).
• Check out the DARPA Urban Grand Challenge
  project. This provides an excellent overview of
  the ultimate robotic driving problem today and
  the complexities you will face.
• Fortunately your problem is much less complex!
• Remember that you cant displace the passengers
  or cargo completely and you must integrate the
  driver into the picture.
• Develop the cost to field the system. I.e.,
  number and type of vehicles, number of sensors,
  etc.

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Project Approach

• This project will lead you through a disciplined
  systems engineering approach to engineering
  concept development
• Perform a customer needs assessment.
• Understand the problem via hand analysis,
  modeling, and simulation
• Develop the requirements for your system concept
• Generate ideas for the Driver Assist system
  concept
• Refine the ideas through concept development
• Select your best concept and develop it in detail
• Develop your CONcept of OPerationS (CONOPS)
• Assess your systems strengths and weaknesses
• Sell your final idea to the customer
• Tools you will use Mathematics, physics,
  spreadsheets, brainstorming, trade studies, CAD,
  presentation SW
• The tools support your creative process

A-1
Additional Information on Project Approach is
provided in Appendix
8
Driver Assist Problem Statement

• Requirements
• Maintain formation of three HMMWVs under
  blackout conditions.
• Determine the best method of station keeping and
  obstacle avoidance.
• The obstacle is a large crater in the road
  capable of inflicting damage to the lead and
  following vehicles.
• Crater dimensions 1 meter wide and deep, 2
  meters in procession direction. Aligned with
  passenger roadside.
• You must detect the crater and maneuver around it
  in time.
• Assume convoy velocity is 50 km/hr
• There may be on-coming traffic so you must detect
  and declare / decide before you maneuver.
• Must determine total time to complete avoidance
  maneuver for entire procession
• You must notify driver using method of your own
  design
• Alert following vehicles of impending maneuver
• Can not throw occupants from vehicle
• Must calculate accelerations induced on occupants
  from avoidance maneuver

Crater
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HMMWV Information

• HMMWV High Mobility Multipurpose Wheeled
  Vehicle
• M998 Variant
• Replacement for venerable M151 JEEP
• Turning radius 8.07 meters
• Maximum g load during turn 1.3 gs
• Maximum longitudinal acceleration 0.17 gs

http//www.globalsecurity.org/military/systems/gro
und/hmmwv.htm
10
HMMWV Operational Configuration
A-2
Additional data on HMMWV is provided in Appendix
11
DARPA Grand Challenge Configurations
Filling the entire vehicle with sensors is
unacceptable for a variety of reasons
The 2005 Mitre Sponsored Car for the Darpa
Challenge
The 2005 Stanford Racing Teams Car, Winner of
2005 DARPA Challenge
The 2007 Carnegie Mellon Urban Challenge Vehicle
The 2007 MIT Urban Challenge Vehicle
http//www.darpa.mil/GRANDCHALLENGE/overview.asp
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Notional Project Schedule

• Illustrated below is an example task breakdown
  for this project.
• Your faculty advisor will tailor / facilitate
  your specific tasking and scheduling

Week
1
2
3
4
5
6
7
8
Modeling and Simulation
CONOPS Development
Requirements Development
Concept Generation
Concept Analysis/Selection
Concept Presentation
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Modeling and Simulation
Week
1
2
3
4
5
6
7
8
Modeling and Simulation

• Outputs
• Parametric planar vehicle model
• Maneuver definition
• Sensor coverage using defined FOV
• Physical understanding of problem

CONOPS development
Requirements development

• Inputs
• HMMWV Background Info
• Sensor Information
• Obstacle avoidance maneuver
• Modeling approach
• Modeling equations
• Model inputs (constants)
• Self-check tools

Concept Generation
Concept Analysis/Selection
Concept Presentation
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Modeling and Simulation Scenario

• Apply Newtonian physics to develop a
  mathematical, parametric model of the HMMWV
  convoy over the terrain and the maneuver required
• Kinematics is the general class of physics that
  will be applied
• Modeling Objectives
• Determine maneuver required to avoid obstacle.
• Calculate forces on crew and vehicle
• Determine which sensors best meet your mission
  needs in terms of obstacle detection and warning
  / maneuver initiation
• Your CONOPS will be critical to the modeling and
  may change / evolve based upon your results
• Gain a physical understanding of the sensor
  coverage requirements.

Hint approximate your road and vehicle model as
a set of straight line segments then define your
maneuver path. Use this to calculate sensor
requirements
8 m
8 m
2.16 m
1 m
5 m
2 m
4.57 m
TBD m
5 m
4.57 m
4.57 m
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Mathematical modeling

• Develop model using kinematics equations,
  constants, variables, and desired outputs

• Constants
• Values that will not change for the model
• Road dimensions
• Obstacle parameters
• Vehicle physical dimensions
• Provided in Appendix

• Outputs
• Values that you will determine via the model
• Quantity of sensors required, sensor type
  employed.
• Will be determined as a function of the input
  variables
• i.e. Range to obstacle vs. time, velocity,
  acceleration, etc.

A-3

• Equations
• Kinematics equations provided in Appendix

• Variables
• Values that you will vary over a range to
  determine flyout times
• Vehicle velocity
• Centripetal acceleration
• Sensor type
• Detection range
• Provided in Appendix

A-5
A-4
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Model development
What I cannot create, I do not understand."
Richard Feynman, theoretical physicist

• Step 1 Work the problem a few times
• by hand
• Treat it like a homework assignment
• For example How many sensors are required to
  detect the obstacle? What coverage do they
  provide, what type of sensor overlap is required,
  are you going to mix sensor types to optimize
  coverage, does the total system meet your cost
  expectations?
• How will I model the system to verify
  performance?
• Make sure that the relationships make sense in
  terms of your trade space.
• Dont forget that detecting the obstacle is not
  the only requirement.
• Remember the following vehicles.
• Step 2 Put the equations (or assumptions) into a
  computer tool so you can vary the inputs over a
  range and plot relationships
• Tools Custom computer program, Excel, MatLab,
  MathCad, etc.
• Now the variables become ranges of values
• The answer is the plotted relationships and a
  physical understanding of the maneuver dynamics

A-6
Additional suggestions to Model development are
provided in Appendix
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Sample Preliminary Hand Analysis
Discretized maneuver, blue, solid

• Consider a hypothetical radar based solution
• Need to calculate number of radar sensors
  required and basic maneuver requirements
• Must consider sensor field of view
• Simple geometric approximations will suffice
• Remember complexities may be subtle
• For example, suppose you chose a really
  inexpensive short range sensor. Do you exceed
  the maneuver limits of the HMMWV?
• Clearly the ground track (and resulting
  acceleration requirements), must be approximated
  as a series of straight line segments using
  simple geometric relationships.
• During your model build up remember
• This is tied directly to your CONOPS
• May Consider multiple types of sensors to solve
  problem
• Must consider vehicle parameters
• Use model to determine type, and quantity of
  sensors, speed reduction of vehicles (if
  necessary), maneuver loads and cueing for next
  vehicle in procession.

S9
S8
S7
S6

• 9 segments in this example.
• Calculated angles based on encounter geometry
  determines required sensor field of view
• Velocity of convoy and radius of curvature sets
  acceleration.
• Best approach will fuse multiple sensor
  modalities.

S5
S4
S3
S2
S1
A-7
Additional information on sample model outputs
are provided in Appendix
A-8
Tips on model/simulation are provided in Appendix
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CONOPS Development
Week
1
2
3
4
5
6
7
8
Modeling and Simulation

• Outputs
• Definition of your approach for system operation
• Preliminary list of required operational
  capabilities

CONOPS Development
Requirements development

• Inputs
• Sensor equipment parameters
• Vehicle parameters
• Maneuver approach concept
• Brainstorming technique resource

Concept Generation
Concept Analysis/Selection
Concept Presentation
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Requirements Development
Week
1
2
3
4
5
6
7
8
Modeling and Simulation

• Outputs
• Tables/graphs
• Response performance for given sensor embodiment

CONOPS Development
Requirements Development
Concept Generation

• Inputs
• HMMWV Operational Parameters
• Sensor parameters

Concept Development
Concept Presentation
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Development Process

• The customer is primarily concerned with convoy
  obstacle avoidance techniques which do not
  compromise vehicle speed
• Your driver assist system must detect and monitor
  road conditions and trailing vehicle position
• Developing the timeline requirements means
  filling in this table using your model

• Outputs
• Show Range of Times to Respond by using
  Table/Graph

A-9
Tips on development process (e.g. establishing
system timeline) are provided in Appendix
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Concept Generation
Week
1
2
3
4
5
6
7
8
Modeling and Simulation

• Outputs
• Complete list of brainstormed concepts (25
  items)
• Initial refinement of list (5 items)

CONOPS Development
Requirements Development
Concept Generation

• Inputs
• Response-time/maneuver requirements for HMMWV
• Brainstorming technique resources
• Sensor equipment and timelines

Concept Development
Concept Presentation
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Your Job!

• Basic obstacle detection model is applicable to
  all types of sensor implementations. Use it to
  help define system and refine CONOPS.

• Detect obstacle
• Issue Warning
• Calculate time to go
• Develop and implement maneuver
• Assess Next Action

• Customer has specified a variety of detection
  sensors for your use
• Can be used in any quantity and configuration at
  the expense of cost, size, weight and power
• See Appendix for sensor system
  selection guidelines
• See Appendix for sensor parameter
  information
• Option available to select your own sensors. Not
  limited by information provided within this
  document but must be based on actual performance.
• Your job is to come up with the actual obstacle
  detection system approach and concept of
  operations

A-10
A-11
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Engineering Creativity

• Apply group creative techniques to develop a rich
  set of possible solutions
• See resource material on brainstorming and other
  creative techniques, Appendix

"The way to get good ideas is to get lots of
ideas and throw the bad ones away." Linus
Pauling, chemist Nobel Prize Winner
A-12

• Session 1 Develop a large set of possible
  solutions (25). At this point, dont critique -
  just record the ideas.
• Session 2 Cull the list down to 4 or 5 solutions
  as a group
• Use your understanding of the engagement to
  eliminate the weakest solutions
• Tip Consider the type of detect/cueing sensor(s)
  that will be needed for each obstacle avoidance
  system concept (i.e. a very cheap simple sensor
  may require a vast number but may still be less
  expensive than a smaller number of sophisticated
  sensors.) Consider system level impacts, e.g.,
  maneuver loads on vehicle.

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Concept Development
Week
1
2
3
4
5
6
7
8
Modeling and Simulation

• Outputs
• Selected obstacle avoidance system approach
• Rationale for selection
• Analysis of performance
• Sketches/description of concept

CONOPS Development
Requirements Development

• Inputs
• Short list of candidates
• Trade study technique resources
• Model/analysis tools
• CAD resources

Concept Generation
Concept Development
Concept Presentation
25
Engineering Selection

• Selection of the optimal obstacle avoidance
  system requires that you further develop each
  idea on the short list
• Further development should focus on answering the
  key questions
• Will it be effective?
• How big will it be, what will it weigh, how much
  power does it take?
• What type and quantity of sensors are required?
• How much will it cost?
• Is it feasible?
• Use CAD to sketch your concepts and visualize
  installation
• Use your model (possibly with modifications) to
  determine the effectiveness

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Trade Studies

• Once you have sufficiently developed the
  alternatives, conduct an engineering trade study
  to select the optimal approach
• Trade studies promote objective review and
  selection of the best alternative
• Frequently used in industry
• See online resources regarding engineering trade
  studies, Appendix
• Potential trade study criteria
• Physical
• Power, weight, size, quantity, FOV
• Feasibility
• Unique technical challenges
• Cost
• Performance
• What implementation stresses the vehicle and
  occupants the least?

A-13
Out of clutter, find simplicity. From discord,
find harmony. In the middle of difficulty lies
opportunity." Albert Einstein
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Sample Technique Trade Study

• Approach Single sensor modality for detection
  and avoidance
• Recognize obstacle and declare.
• Minimize time line to maneuver.
• Minimize sensor quantity and type.
• Secondary functional performance
• All weather capability, etc.
• Tabularize sensor performance and assign metrics
  to evaluate
• Select based on performance and suitability to
  CONOPS

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Concept Presentation
Week
1
2
3
4
5
6
7
8
Modeling and Simulation

• Outputs
• Self-assessment
• Customer briefing
• Marketing Brochure

CONOPS Development
Requirements Development
Concept Generation

• Inputs
• Selected concept design
• Self-assessment techniques
• Sample Customer briefing and marketing brochure

Concept Development
Concept Presentation
29
Final Deliverables

• Final design briefing
• This is your opportunity to sell your concept
  to your customer
• Walk them through your whole process, present
  your chosen concept in detail
• Will require further CAD work and refinement
• Physical models are an option
• The briefing should answer the customers
  questions, see Appendix
• Brochure
• Develop a fold-out brochure for your customer to
  take with them
• Example brochures will be provided
• Remember thorough engineering solid
  presentation SOLD! Anticipate issues your
  customer may have - incorporate risk mitigation
  factors into your design briefing. See Appendix

A-14
A-15
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Summary

• You will use the systems engineering techniques
  presented to propose a solution to a significant,
  real-world problem
• You will use many relevant engineering tools and
  techniques to facilitate your creative process
• This briefing provides a kickoff, links, some
  buried hints, and a framework for the project
• Refer to it and the other course material
  frequently
• A few tips
• Take it one step at a time, focus on whats
  currently due
• You will probably start to have concept ideas
  immediately, write them down, keep your mind open

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Appendix
32
A-1 Additional Info on Approach

• The Goal is to determine a way to perform the
  following
• Design a system which
• Detects the presence of obstacles directly in
  your path and avoids them. (Options given.)
• This includes on-coming traffic in the event
  avoidance maneuver crosses lanes.
• Determine how much time is available to react.
  (Analysis, modeling and simulation.)
• Determine the proper number and type of sensors
  to employ. (Design.)
• Based on your calculations of the maneuver
  profile required, sensor coverage, and effective
  warning time.
• Determine if the system concept was effective.
  (Assessment.)
• Develop a marketing brochure which highlights
  specific features of the design approach using a
  CAD model of the system.
• Include a statement of system effectiveness in
  obstacle detection and avoidance.
• The system design should use building blocks
  provided for specific functions such as obstacle
  detection.
• Concentrate on the actual system design.
• Hint Timing and field of view are going to be
  key parameters so focusing on calculating
  parameters related to
• HMMWV motion path
• If the HMMWV maintains a certain path, can the
  sensor suite detect obstacles and on-coming
  traffic over a wide enough path to effectively
  maneuver out of the way. Is braking the best
  option under certain scenarios?
• If the lead vehicle detects an obstacle
  successfully, how will the rest of the convoy be
  notified?
• Time to go, i.e., how long from detection to
  obstacle impact? This timeline will define the
  system response requirements that must be met.
• Are multiple solution branches accommodated by
  your system? Where is this logic accounted for?
• Perhaps under certain conditions maneuvering is
  not possible. Do you have adequate situational
  awareness to tell the difference?.

33
A-2 Additional HMMWV Data

• The High Mobility Multi-purpose Wheeled Vehicle
  is a light, highly mobile, diesel-powered,
  four-wheel-drive vehicle that uses a common 4,400
  lb payload chassis. Using common components and
  kits, the HMMWV can be configured to become a
  troop carrier, armament carrier, S250 shelter
  carrier, ambulance, TOW missile carrier, and a
  Scout vehicle. The 4,400 lb variant was developed
  as the prime mover for the light howitzer, towed
  VULCAN system, and heavier shelter carriers. It
  is a tri-service program that also provides
  vehicles to satisfy Marine Corps and Air Force
  requirements.

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A-3 Defined Constants

• Roadway Divided, 8 m / side, no lighting
• Obstacles
• Crater 2 x 1 x 1 meters
• Oncoming vehicles 45 mi/hr, 0.05, 0.1, 0.25, 1
  km distant.
• Standard day conditions (density, temperature,
  pressure)
• Assume
• Multiple scenarios in terms of oncoming traffic
• Remember to convert dimensions so they are
  consistent

35
A-4 Variables

• HMMWV parameters are all variable
• Forward velocity
• Turn radius (up to specified limit)
• Longitudinal acceleration (up to specified limit)
• Mix / qty of sensors can be tailored to your
  CONOPS
• Method of notification of following vehicles is
  your option
• Recommend parametrically varying each of these
  parameters ? 10 while holding the others
  constant in order to assess the effect on your
  system design.

36
A-5 Helpful Equations

• The following may prove useful and are basic
  planar equations of motion found in your physics
  text
• Vx Vx0 axt
• Vy Vy0 ayt
• X X0 Vx0t ½ axt2
• Y Y0 VY0t ½ aYt2
• C (a2 b2)1/2
• ? tan-1(a/b)
• ? V/R
• a V2/R

• Notes
• Limit maximum acceleration to 1.3 gs
• Consider only planar geometry
• Use Euclidian geometry to discretize terrain

37
A-6 Suggestions to Model Development

• In order to calculate the HMMWV trajectory, the
  equations (provided in A-5) may be used in a
  simple commercial software (such as Excel,
  MatLab, MathCad, Fortran, or C) to calculate all
  necessary geometry and timing parameters
  associated with the ground track.
• Once the basic simulation is running, the
  equations can be further built up and more can be
  added to model any specific approach to include,
  for example,
• Effect of multiple oncoming traffic
• Effect of convoy velocity changes.
• Timing studies to optimize number and type of
  sensors.
• The basic equations provided can be modified to
  include all vehicles in the convoy and can be run
  parametrically (automated using user defined rule
  set) until the desired operational profile and
  mix of sensors is achieved.

38
A-7 Sample Model Outputs (Continued)

• Consider multiple sensor modalities
• FOV 0.14 radians (from sensor table)
• V 50 km/hr
• Step 1 Calculate ground track check against
  model
• Step 2 Calculate maneuver loads impressed on
  vehicle
• Step 3 Calculate timing for trailing HMMWVs in
  procession
• Step 4 Examine sensor field of view implications
  for your planned implementation
• Ask yourself, what does this tell me?
• Ex Spatial gaps during driving due to timing
  must be filled through addition of sensors
• Can I detect adjacent vehicles with this
  embodiment for the spacing specified
• Remember, your model must match your hand
  calculations.

39
A-8 Tips on Model/Simulation

• If your code is running correctly, the maneuver
  track, timing, and sensor coverage vs. time can
  now be determined.
• The simulation can also be used to perform trade
  studies designed to optimize your system design
  and response.
• In order to check the code, try calculating the
  time to cover a straight ground track without any
  maneuver and comparing the X, Y, and timing
  against your hand calculations.
• Then set the maneuver to a very small offset.
  The results should compare with the timing being
  slightly longer due to the increased path length.
• An additional suggested check of the simulation
  is to verify that the units of all calculations
  are consistent and the results are expressed
  correctly.
• Use dimensional analysis for this.
• At the conclusion of the modeling and simulation
  stage of the project, the following questions and
  milestones should be met
• A simple, X-Y planar, parametric model of the
  HMMWV trajectory enabling physical trade studies
  to be performed should be available.
• Given that the detection of the obstacle is
  assured (I.e., zero false alarm rate.)
• Based on selection of the detection sensors,
  what is the time line for location, notification,
  and avoidance maneuver implementation?
• Suggestion use timing chart supplied as a
  template and fill in using data generated with
  model.
• Determine if the system functions in the presence
  of oncoming traffic or if further modifications
  to the convoy procession are required.
• If so, what changes to formation are required
• What changes to system response time could
  improve performance.
• I.e., what is the functional time allocation to
  the various parts of the system design and is it
  correct.
• Do you need more than a single type of sensor?
• What type of accuracy is needed and what is the
  cost impact?

40
A-9 Basics of HMMWV Obstacle Avoidance System
Timeline

• In order to design an effective obstacle
  avoidance system, an understanding of basic
  functional requirements, for example timing, is
  required. You will have to modify the function
  listing based on system design however this forms
  a minimal requirement set.
• Typical time from detection of the obstacle for a
  range of ? km is between ? and ? seconds for the
  proposed geometry
• Preliminary allocation of time line based on a
  threshold value of ? sec and a goal of ? sec can
  be used to estimate approach viability / develop
  functional requirements.
• Function Threshold Goal
• Detect declare obstacle --------- ----
• Issue warning --------- ----
• Calculate time to maneuver --------- ----
• Initiate maneuver --------- ----
• Assess Next Action Leave out of timeline, but
  consider
• implications of next actions, e.g. acquire
  and track a second obstacle.

41
A-10 Obstacle Avoidance System Guidelines

• The chart in Appendix A-11 provides data on
  potential sensor systems available to you as the
  designer.
• Assume that the following functions are performed
  by any of the system options given on the chart.
  The system will
• Identify and calculate direction of obstacles
  within limits prescribed.
• Issues warning of obstacle and sends message to
  your command post.
• Ideal false alarm rate ? Pfa 0.0
• Cost includes integrated electronics to fuse
  sensor, ID function, and transmitter.
• Rules
• For RADAR and IR Sensor better angular
  accuracy, if required, can be achieved with
  addition of more sensors (electronics) at
  increased cost and volume. Assume 15 increase
  in , 10 increase in weight, 2x sensors qty
  for each doubling in angular accuracy. Assume no
  penalty in detection time or track development
  due to internal system architecture.
• Use of multiple sensor types is allowed.
• Acoustic sensors do not provide bearing to
  intruder, only presence in hemisphere defined by
  diameter equivalent to maximum detection range.
• Increasing the scanned area by the LIDAR requires
  the addition of multiple units at a 1/1 cost,
  weight, and volume penalty for each unit
  employed.
• UV Sensors provide hemispherical coverage at the
  elevation angle defined.

42
A-11 Sensor Systems Provided by Customer
43
A-12 Creativity Resources
To have a great idea, have a lot of them."
Thomas A. Edison

• Some web resources on creative techniques
• http//www.brainstorming.co.uk/tutorials/tutorialc
  ontents.html
• A comprehensive tutorial on brainstorming and
  other creative techniques
• http//www.effectivemeetings.com/teams/participati
  on/brainstorming.asp
• A pragmatic summary of how to setup and run a
  brainstorming session
• http//www.promato.com/brainstorm/bslinks.htm
• A free trial download of a brainstorming and
  selection facilitation program

44
A-13 Trade Study Examples

• Trade study examples on the web
• http//www.faa.gov/asd/SystemEngineering/SEM3.0/fo
  ur_six20.pdf
• A very detailed look at the systems engineering
  process and at conducting trade studies (Starts
  on line 27)
• http//www.losangeles.af.mil/Tenants/SCEA/CAIV18M/
  reqtrade40.ppt
• A presentation of a simple CAIV (Cost As an
  Independent Variable) trade study, a lot of
  acronyms, most of the good stuff starts on pg 8

45
A-14 Key customer questions

• Key Customer questions
• How did you arrive at your timeline and what is
  it?
• Simplifying assumptions you made why are they
  valid?
• What was your creative process?
• Present all of your brainstormed ideas and the
  context of your brainstorming session?
• Why did you select the chosen design?
• Have you presented the results of key trade
  studies conducted?
• Have you provided evidence that the concept is
  effective?
• Which obstacle avoidance scenarios can be met
  successfully?
• Which ones present risk? (How does oncoming
  traffic effect implementation?
• Is your solution realizable, affordable,
  realistic?
• Can your system react to more than one obstacle
  simultaneously?
• Are there any safety related effects from your
  obstacle detection system design, for example,
  LIDAR eye safety?
• Human life, property?
• What ethical issues have been considered?
• How long from start to develop and field your
  solution?
• Will it work in a range of outdoor environments?
• hot, cold, snow, sand, rain, etc.?

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A-15 Assessing Your Offering

• You will need to perform a critical
  self-assessment of your offering -
• before your customer does. Here are some
  questions to consider
• Available technologies.
• What type of technologies can be utilized? Need
  to be utilized?
• Does it exist and how can it be adapted to this
  problem?
• Enabling technologies requiring further
  development
• What needs to be invented?
• Is it physically possible?
• Cost prohibitive?
• What is the system configuration?
• Is it compatible with the intended user.
• Size, cost, etc.
• Does the system specified meet the goal of
  detecting the target?