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PREdicting MObility using STATistics (PreMoStat)

Award Information

Agency:
Department of Defense
Branch:
Army
Award ID:
83253
Program Year/Program:
2007 / STTR
Agency Tracking Number:
A074-026-0231
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
GRIFFIN TECHNOLOGIES, INC.
PO Box 276 Wynnewood, PA 19096-0276
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 2007
Title: PREdicting MObility using STATistics (PreMoStat)
Agency / Branch: DOD / ARMY
Contract: W912HZ-07-P-0294
Award Amount: $99,997.00
 

Abstract:

The proposed work addresses the problem of determining whether a given small unmanned ground vehicle (SUGV) can traverse a given terrain, when the state of both the SUGV and the terrain are not known exactly. In our previous work, we developed computational models of an Army-relevant tracked SUGV-the PackBot-traversing terrain. Using SolidWorks, we built three-dimensional solid models of the vehicle and terrain features. Using ADAMS, we simulated the PackBot negotiating the terrain. The results of the simulations agreed well with real-world experiments. Phase I of PreMoStat builds directly on the previous and will develop a Monte Carlo method for predicting off-road mobility, and compare the predicted and actual mobility on step, ditch, and slope obstacles. Task 1, Mobility Prediction, structures our existing software for mobility prediction, and adds tools for visualization and measuring computational resource usage. Task 2, Statistical Mobility Prediction, applies Monte Carlo analysis, and explores of higher-risk statistical approaches. Task 3, Comparison of Predicted and Actual Mobility, runs a real robot on real terrain. Task 4, Project Management, includes all of the non-technical efforts needed to complete Phase I and prepare for Phase II.

Principal Investigator:

Eric Krotkov
President, Griffin Technologies
6106499507
ekrotkov@griffin-technologies.com

Business Contact:

Eric Krotkov
President, Griffin Technologies
6106499507
ekrotkov@griffin-technologies.com
Small Business Information at Submission:

GRIFFIN TECHNOLOGIES, INC.
PO Box 276 Wynnewood, PA 19096

EIN/Tax ID: 233086947
DUNS: N/A
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Research Institution Information:
UNIV. OF TEXAS AT AUSTIN
Office of Sponsored Projects
PO Box 7726
Austin, TX 78713-7726
Contact: Raul Longoria
Contact Phone: (512) 471-0530
RI Type: Nonprofit college or university