Navy Robotics Education Continuum
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Education
Navy Robotics Education Continuum
The broad areas of unmanned systems and robotics span not only diverse disciplines but also diverse operational perspectives. As such, the educational approaches necessarily encompass the core foundations of robotic systems at undergraduate levels, deeper understanding of capabilities, technologies, and consequences at graduate levels, and awareness of broader impacts of policy and decision-making at professional levels. The collection of these perspectives represent the spectrum of education related to unmanned systems and robotics for our current and future military leaders, and the CRUSER Navy and Marine Corps UXS Education Continuum aims to capture these efforts and assist in aligning them across the U.S. Naval Academy, the Naval Postgraduate School, and the Naval War College.
| School | Course Number | Course Name | Description |
|---|---|---|---|
| NPS | AE3820 | Advanced Mechanics and Orbital Robotics | This course is an intermediate level analysis of the dynamics of space systems, including: ascent and descent of rockets, tethers, yo-yo despin, spinning hubs with flexible appendages, single stage to orbit, and various problems in spacecraft attitude dynamics such as nutation dampers. The analysis will include developing the equation of motion, equilibrium and stability analysis, solutions of nonlinear systems using perturbation methods and numerical techniques. Computational and symbolic manipulator packages will be used extensively. Prerequisites: MA2121. |
| NPS | AE4850 | Path/Mission Planning | Introduction to basic mission and path panning problems. Discussion of direct and indirect methods of Optimal Control as a means of casting these problems in a rigorous mathematical framework. In addition the issues of Obstacle Avoidance, Time critical coordination and control of multiple autonomous systems will be addressed. Supported by a motion control lab. |
| NPS | AE4902 | Computer Communications Methods | The course teaches how to use direct methods of calculus of variations to generate feasible quasi-optimal trajectories in real-time applications. Specifically, it teaches how to: formulate the optimal control problem and impose correct boundary conditions and dynamic constraints; analyze it using Minimum Principle, develop a complete computational scheme for a specific optimal problem for a specific autonomous system following the main ideas of the direct method and exploiting vehicle's dynamics; understand limitations, advantages, and disadvantages of the direct methods as opposed to indirect methods. The course provides numerous examples of the working code assuring real-time adaptive guidance for a single and multiple UUVs, USVs, UAVs, and missiles and is intended to assist students in their autonomous system related theses. |
| NPS | CS4313 | Advanced Robotic Systems | Topics to be covered include: Control architectures; Sensor-based navigation; Obstacle avoidance; Motion-planning; Localization; State estimation; Map building; Target tracking; Coverage control; Search algorithms |
| NPS | CS4330 | Introduction to Computer Vision | This course introduces students to the main concepts that allow computers to "see" and understand visual information. It teaches methods and skills in image processing, pattern recognition, statistical analysis, classification, and learning. These are exemplified on applications such as military intelligence, surveillance, object tracking, robotic navigation, human-computer interfaces, and visual effects. Students complete a small class project that demonstrates the use of computer vision for an application of their interest. In laboratory activities, students get hands-on experience with the most important tools for building practical vision systems. Experiments and projects are tightly coupled with the material covered in class. Students must be familiar with a programming language such as C, C++, or Java (CS2900, CS2171, CS2173, etc.). Prerequisites: Helpful, but not necessary, is knowledge of basic linear algebra, probability or game theory, and Matlab (EC1010), or consent of the instructor. |
| NPS | EC2300 | Control Systems | The main subject of this course is the analysis of feedback systems using basic principles in the frequency domain (Bode plots) and in the s-domain (root locus). Performance criteria in the time domain, such as steady-state accuracy, transient response specifications, and in the frequency domain such as bandwidth and disturbance rejection, will be introduced. Simple design applications using root locus and Bode plot techniques will be addressed in the course. Laboratory experiments are designed to expose the students to testing and evaluating mathematical models of physical systems using computer simulations and hardware implementations. Prerequisites: EC2100 and ability to program in MATLAB. |
| NPS | EC3310 | Optimal Estimation: Sensor and Data Association | The subject of this course is optimal estimation and Kalman filtering with extensions to sensor fusion and data association. Main topics include the theory of optimal and recursive estimation in linear (Kalman filter) and nonlinear (extended Kalman filter) systems, with applications to target tracking. Topics directly related to applications, such as basic properties of sensors, target tracking models, multihypothesis data association algorithms, reduced order probabilistic models and heuristic techniques, will also be discussed. Examples and projects will be drawn from radar, EW, and ASW systems. Prerequisites: EC2320, EC2010, MA3046. |
| NPS | EC3400 | Digital Signal Processing | The foundations of one-dimensional digital signal processing techniques are developed. Topics include Fast Fourier Transform (FFT) algorithms, block convolution, the use of DFT and FFT to compute convolution, and design methods for nonrecursive and recursive digital filters. Multirate signal processing techniques are also introduced for sampling rate conversion, efficient analog to digital, digital to analog conversion, time frequency decomposition using filter banks and quadrature mirror filters. Computer-aided design techniques are emphasized. The algorithms introduced have direct applications in sonar and radar signal processing, IR sensor arrays, modern navy weapon systems, and also in voice and data communications. Prerequisites: EC2410 |
| NPS | EC3710 | Computer Communications Methods | The course objective is to develop an understanding of computer communications networks with emphasis on the requirements of military environments and the U.S. Navy's combat platforms. Coverage includes the essential topics of network topology, connectivity, queuing delay, message throughput, and performance analysis. The layered network architectures, such as the seven-layer OSI model and DoD's TCP/IP protocol suite, are covered. The techniques and protocols used in these layers are discussed. Local area networking technologies such as Ethernet, FDDI and wireless Ethernet, and wide area technologies such as X.25 and frame relay are covered. Principles of networking devices (hubs, switches, and routers) are presented. Some distributed applications are presented briefly. Prerequisites: EC2010 and EC2500. |
| NPS | EC4300 | Advanced Topics in Modern Control Systems | Advanced topics and current developments in control systems are presented in this course. The list of special topics includes (but it is not limited to) robotics systems, autonomous vehicles, and design by robust techniques. Prerequisites: Consent of instructor. |
| NPS | EC4310 | Fundamentals of Robotics | This course presents the fundamentals of land-based robotic systems covering the areas of locomotion, manipulation, grasping, sensory perception, and tele-operation. Main topics include kinematics, dynamics, manipulability, motion/force control, real-time programming, controller architecture, motion planning, navigation, and sensor integration. Several Nomad mobile robots will be used for class projects. Military applications of robotic systems will be discussed. Prerequisites: MA3042; either EC2300 or EC2320, or consent of instructor. |
| NPS | EC4480 | Image Processing and Recognition | This course provides image processing background for understanding modern military applications, such as long range target selection, medium range identification, and short range guidance of new weapons systems. Subjects include image sampling and quantization, image representation, enhancement, transformation, encoding, and data compression. Predictive coding, transform coding, and interframe coding techniques are also introduced. 3D to 2D imaging projections are also introduced to extract 3D information either from motion or stereo imaging. Some effort is directed toward image compression techniques particularly suited for multimedia video conferencing. Prerequisites: EC3400. |
| NPS | ME2801 | Introduction to Engineering System Dynamics and Control | Review of system modeling principles and reduction to mathematical forms. Introduction to feedback and control, reduction of complex block diagrams to simple forms, Response of first and second order systems to standardized inputs, characteristic equations, transient response, steady state errors. Complex plane representation of open loop systems. Stability methods including Routh-Hurwitz criterion and the root locus method. Design of systems in the complex plane. Prerequisites: ME2502 or ME2503 and MA2121. |
| NPS | ME3720 | Introduction to Unmanned Systems | This course provides an overview of unmanned systems technology and operations, including navigation, vehicle dynamics, power and propulsion, communications, navigation, motion planning fundamentals. Operational and design considerations for single and multi-vehicle operations are presented. Volume and weight limitations on payload and range are covered as are energy and power constraints. Prerequisites: Permission of instructor. |
| NPS | ME3801 | Introduction to Modern Control and Estimation | The course introduces state space techniques for control, estimation and identification of autonomous system dynamics. The course includes basic analysis concept such as controllability, observability, stability and performance metrics. On the synthesis side the course covers state and output feedback design techniques including pole placement, LQR, observer and Kalman filter design for estimation and identification, LQG and H infinity output feedback synthesis. |
| NPS | ME4731 | Optimization | Application of automated numerical optimization techniques to design of engineering systems. Algorithms for solution of nonlinear constrained design problems. Familiarization with available design optimization programs. State-of-the-art applications. Solution of a variety of design problems in mechanical engineering, using numerical optimization techniques. |
| NPS | ME4751 | Combat Survivability, Reliability, and systems Safety Engineering | This course provides the student with an understanding of the essential elements in the study of survivability, reliability and systems safety engineering for military platforms including submarines, surface ships, fixed-wing and rotary wing aircraft, as well as missiles, unmanned vehicles and satellites. Technologies for increasing survivability and methodologies for assessing the probability of survival in a hostile (non-nuclear) environment from conventional and directed energy weapons will be presented. Several in-depth studies of the survivability various vehicles will give the student practical knowledge in the design of battle-ready platforms and weapons. An introduction to reliability and system safety engineering examines system and subsystem failure in a non-hostile environment. Safety analyses (hazard analysis, fault-tree analysis, and component redundancy design), safety criteria and life cycle considerations are presented with applications to aircraft maintenance, repair and retirement strategies, along with the mathematical foundations of statistical sampling, set theory, probability modeling and probability distribution functions. Prerequisites: Consent of instructor. |
| NPS | ME4811/23 | Advanced Control of Unmanned Systems I/II | These courses aim to introduce students to advanced control topics that crucial for achieving autonomy of unmanned systems. Topics to be covered include adaptive, nonlinear, robust and cooperative control. Potential fields for collision avoidance and swarming behaviors, Networked control systems. Fault detection and isolation and fault tolerant control. Programming methods and software architectures for distributed control/robot systems. |
| NPS | ME4821 | Navigation | This course presents the fundamentals of inertial navigation, principles of inertial accelerometers, and gyroscopes. Derivation of gimbaled and strapdown navigation equations and corresponding error analysis. Navigation using external navigation aids (navaids): LORAN, TACAN, and GPS. Introduction to Kalman filtering as a means of integrating data from navaids and inertial sensors. The lab includes. |
| NPS | MR3572/OC3572 | Operational Oceanography and Meteorology Lab | This course is intended to insure a flexible hands-on experience deploying equipment in a realistic environment. Students will be required to design their individual field programs working with the instructor and the curriculum's program officer. Approved programs include: 1) design and implementation of coastal ocean or atmosphere sampling protocols using unmanned vehicles, 2) design and implementation of monitoring plans for the surf zone or estuarine environments (in this case OC4210 may be taken as an alternative), 3) design and implementation of sampling protocols for the atmosphere using fixed-location or aircraft-based sensors, 4) design of and participation in upper-ocean or lower-atmosphere sampling protocols at polar ice camps, and 5) design of and participation in deep-water surveys onboard ocean-going research vessels using NPS vessel time or faculty-mentored cruises of opportunity. Prerequisite: MR3571 (may be taken concurrently) or consent of instructor. |
| NPS | OA3602 | Search Theory and Detection | Search and detection as stochastic processes. Characterization of detection devices, use and interpretation of sweep widths and lateral range curves, true range curves. Measures of effectiveness of search-detection systems. Allocation of search efforts, sequential search. Introduction to the statistical theory of signal detection. Models of surveillance fields, barriers, tracking, and trailing. Prerequisite: OS2103 or OA3101. |
| NPS | OA4602 | Joint Campaign Analysis | This course studies the development, use, and recent applications of campaign analysis in actual procurement, force structure, and operations planning. Emphasis is on formulating the problem, choosing assumptions, structuring the analysis, and measuring effectiveness. Interpreting and communicating results in speech and writing is an important part of the course. In the last three weeks, students conduct a broad gauge, quick reaction campaign analysis as team members. Prerequisites: A course in basic probability and statistics theory, and operational experience in military environments. |
| NPS | OA4607 | Tactical Decision Making | This course deals with computer-aided decision making. Topics include the human-computer interface, the construction of effective graphics, verification/validation, and theoretical frameworks for competitive and noncompetitive decision making. Kalman filters are introduced as an important fusion and tracking tool. The primary classroom application areas are information fusion, search/track, and mine warfare. A project is required. Prerequisites: OA3602, OS2103, OS3604 or equivalent. OS3301 or equivalent, and a working knowledge of a programming language such as MATLAB, C++, Java, or Visual Basic. |
| NPS | PC4015 | Advanced Applied Physics Laboratory | Students must integrate the material that they learned in the previous two courses (PC2013 and PC3014PC3014), along with additional material on embedded microprocessors and controls. A working introduction to control systems theory is provided and incorporated into an autonomous weapon system or "robot." Collaborative and autonomous engagement of the robots will be performed with RF modems and Ethernet communications. The principles of cooperative engagement will be emphasized. For the final exam, teams will compete in 2-on-1 or 2-on-2 engagement contests. These contests will test the students' assimilation of both the formal and the practical aspects of the course material. Prerequisites: PC2911 or other C/C++ programming course, plus PC2013 and PC3014. |
| NPS | UW2002 | Undersea Warfare - Yesterday, Today, Tomorrow | A study of Submarine Warfare, Anti-Submarine Warfare, and the new concept of Sub-Sea Warfare using a thematic approach. Each of these Undersea Warfare areas will be taught using applicable themes such as sensor and weapon capabilities, command and control, organization, training, and strategy. A basic Undersea Warfare framework will provide historical perspective in each of the three Undersea Warfare areas, emphasizing the status yesterday, what it is today and why, and where we need to be tomorrow. The new area of Sub-Sea Warfare, which encompasses unmanned vehicles, sea-bed infrastructure, distributed networks, and irregular warfare, will also be introduced and discussed. Upon course conclusion, students will have an appreciation of the current status of Undersea Warfare in the Navy today, where the problems and challenges exist, and how the knowledge gained from their Undersea Warfare curriculum will help the Navy develop solutions to these problems and challenges. Prerequisite: UW2001. |
| USNA | ES450 | Introduction to Robotic Systems | An introduction to articulated robotics, primarily from a kinematics perspective. Designs, configurations, workspace, forward and inverse kinematics, Jacobians and velocity control. Introductory computer vision. |
| USNA | ES451 | Mobile Robot Design | An experimentation-based course in the design, analysis, construction, control and programming of autonomous mobile robots. Special topics include locomotion methodologies (including walking machine design), design for terrain, analog robot designs, alternative actuation techniques (Shape Memory Alloys, etc.), microprocessor selection and integration, motion planning, behavior-based program structures, and power supply systems. Eight to ten robots are constructed by each team throughout the semester using standard robotic construction kits. All topics are investigated through experimentation in the laboratory. |
| USNA | ES452 | Advanced Topics in Robotics | Selected advanced topics in robotics. Primarily focusing on articulated robotics. Past topics include: visual servoing, human-robot interface design, Bayesian pattern recognition, neural networks. |
| USNA | ES453 | Introduction to Computer Vision | An introductory course covering both theory and application of image processing and pattern recognition techniques used for automation, medical imaging, and remote sensing. Topics include: image formation, camera selection, color spaces and segmentation, morphology, line fitting. |
| USNA | ES456 | Autonomous Vehicles | Advanced topics in dynamics, control and estimation as they apply to unmanned vehicles. Introduction to specifics of aerial, marine and ground vehicles. Laboratory exposure to navigation hardware such as inertial measurement, global positioning system and magnetometers. An open ended project with field component as weather permits. |
| USNA | ES486F | Robot Algorithms for the Real World | A project-based presentation of advanced algorithms to allow mobile robots to navigate real world indoor environments. Topics include: trajectory tracking via the Jacobian, localization, map making and reactive collision avoidance. |
| NWC | SE-720 | Unmanned Systems and Conflict in the 21st Century | Prof John Jackson. Spring 2011 |