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^ WAR* U KNOX DUDLEY NAVAL POSTGRADUATE SCHOOL Monterey, California THESIS SHEPHERD ROTARY VEHICLE: MULTIVARIATE MOTION CONTROL AND PLANNING by Edward Mays J. and Ferdinand A. Reid September 1997 Thesis Advisor: Yutaka Kanayama Approved for public release; distribution is unlimited. REPORT DOCUMENTATION PAGE FormApproved OMBNo. 0704-0188 Public reporting burdenforthiscollectionofinformationis estimatedtoaverage 1 hourperresponse, includingthetimeforreviewing instruction, searchingexisting datasources, gatheringand maintainingthedataneeded, andcompletingand reviewing thecollectionof information. Sendcomments regardingthis burden estimateoranyotheraspectofthiscollectionofinformation, includingsuggestionsfor reducingthis burden,toWashingtonheadquartersServices, DirectorateforInformation Operations and Reports, 1215Jefferson Davis Highway, Suite 1204, Arlington, VA22202-4302, andtotheOfficeofManagementand Budget, Paperwork Reduction Project(0704-0188) Washington DC20503. 1. AGENCYUSEONLY (Leaveblank) 2. REPORTDATE 3. REPORTTYPEANDDATES COVERED September 1997 Master's Thesis 4. TITLEANDSUBTITLE 5. FUNDING NUMBERS SHEPHERD ROTARY VEHICLE: MULTIVARIATE MOTION CONTROL AND PLANNING 6. AUTHOR(S) Mays, Edward J., and Reid, Ferdinand, A. 7. PERFORMING ORGANIZATION NAME(S)ANDADDRESS(ES) 8R.EPPOERRFTONRUMMIBNEGRORGANIZATION Naval Postgraduate School Monterey, CA 93943-5000 9. SPONSORING/MONITORING AGENCYNAME(S)ANDADDRESS(ES) 10. SPONSORING/MONITORING AGENCYREPORTNUMBER 11. SUPPLEMENTARY NOTES The views expressed in this thesis are those ofthe authorand do notreflect the official policy orposition ofthe Department ofDefense orthe U.S. Government. 12a. DISTRIBUTION/AVAILABILITYSTATEMENT 12b. DISTRIBUTION CODE Approved forpublic release; distribution unlimited. 13. ABSTRACT (maximum200 words) Millions ofacres ofthe US formerlyused defense sites (FUDS) arecontaminated with unexploded ordnance (UXO) as a result ofpast militaryuse. The processofreturningthelandtothecivilian sectoris sensitive, intensive, andcostly(e.g., millions ofdollars, and the loss ofhuman life). Hence "clearing" (i.e., siteremediation, rangeclearance, and explosiveordnancedisposal) UXO's fromFUDS is a complex problem. Existing clearing methods are inaccurate, dangerous, and labor intensive. This thesis shows that through robotics technology (e.g., "Shepherd" rotary vehicle with three degrees offreedom) and theuseofadvanced computertechnology it is possible to make clearing tasks safer, more cost-effective, and more efficient. An overarchinghardware and softwarearchitecture was developed for Shepherd (including aself-contained on-board computer system). The software system was developed fortimercontrol, motion control, user interface, and an operating kernel. The hardware and software organization, structure, and interaction provide the framework for real-time control. This research included the use of encoders, digital boards, and a counter board; required the handling of interrupts, electric motor manipulation by servomotor controllers, and communication using RS232 and VMEbus technology. The kinematics algorithms and areal-time operating kernel were implemented using the C language. "Shepherd" research has laid the foundation forthe flexible, robust, and precise motion needed forUXOclearing. 14. SUBJECTTERMS 15. NUMBER OF PAGES Unexploded Ordnance, Artificial Neural Networks 305 16. PRICE CODE 17. SECURITY 18. SECURITY 19. SECURITY 20. LIMITATION OF CLASSIFICATIONOF REPORT CLASSIFICATION OFTHIS CLASSIFICATION OF ABSTRACT Unclassified PAGE ABSTRACT Unclassified Unclassified UL NSN7540-01-280-5500 Standard Form 298(Rev. 2-89) Prescribed byANSI Std. 239-18 11 Approved for public release; distribution is unlimited SHEPHERD ROTARY VEHICLE: MULTIVARIATE MOTION CONTROL AND PLANNING Edward Mays J. Major, United States Marine Corps B.S., University ofFlorida, 1984 M.S., University ofSouthern California, 1994 Ferdinand A. Reid Lieutenant, United States Navy B.B.A., Georgia State University, 1990 Submitted in partial fulfillment ofthe requirements for the degree of MASTER OF SCIENCE IN COMPUTER SCIENCE fromthe NAVAL£QSTGRADUATE SCHOOL /^^ September1997 £