(Georgia Institute of Technology, 2009)
Weiss, Lora G.; Roberts, Rusty; Cross, Stephen E.
The rapid pace of development of new systems coupled with a strong desire from warfighters to
quickly field systems with advanced technologies and innovation poses new Test and
Evaluation (T&E) challenges. These challenges start with the realization that most T&E
procedures are derived from a historical, requirements-based approach to acquisition, which
inherently is a sequential process. For innovative and unprecedented systems, i.e., the kind of
system for which there is no experience in building similar systems or in their test or use, T&E
cannot follow a sequential approach. Throughout military history, development of
unprecedented systems has occurred when there has been a simultaneous advance in technology
and operational need such as is occurring now in the domain of unmanned systems. T&E needs
to evolve to be integrated with the development process. Waiting for the results of developmental
and operational testing will only exacerbate the delay in rapidly fielding advanced capabilities.
This article presents the tenets of using the system engineering and test approach for evaluating
unprecedented systems and moving testing to the forefront of the system development process.
(Georgia Institute of Technology, 2003-10)
Piepmeier, Jenelle Armstrong; Lipkin, Harvey
In this paper we present new uncalibrated control schemes for vision-guided robotic tracking of a moving target using a moving camera. These control methods are applied to an uncalibrated robotic system with eye-in-hand visual feedback. Without a priori knowledge of the robot’s kinematic model or camera calibration, the system is able
to track a moving object through a variety of motions and maintain the object’s image features in a desired position in the image plane. These control schemes estimate the system Jacobian as well as changes in target features due to target motion. Four novel strategies are simulated and a variety of parameters are investigated with
respect to performance. Simulation results suggest that a Gauss–Newton method utilizing a partitioned Broyden’s method for model estimation provides the best steady-state tracking behavior.