Transcript THE JOINT ARCHITECTURE FOR UNMANNED SYSTEMS

THE JOINT ARCHITECTURE
FOR UNMANNED SYSTEMS
By
Jeremy Crouse Computer
Engineer
Advisor Dr. Joseph Wunderlich
Network Consultant Dr. Thomas Leap
April 2008
What is JAUS?
Joint Architecture for Unmanned
Systems
 Created by DoD
 Software implementation
 Industry standard messages

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Command Codes

Hexadecimal
numbers
• Received as ASCII
characters
• Decoded into byte
array

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Integer numbers
Code 0001h: Set Component Authority
Code 0002h: Shutdown
Code 0003h: Standby
Code 0004h: Resume
Code 0005h: Reset
Code 0006h: Set Emergency
Code 0007h: Clear Emergency
Code 0008h: Create Service Connection
Code 0009h: Confirm Service Connection
Code 000Ah: Activate Service Connection
Code 000Bh: Suspend Service Connection
Code 000Ch: Terminate Service Connection
Code 000Dh: Request Component Control
Code 000Eh: Release Component Control
Code 000Fh: Confirm Component Control
Code 0010h: Reject Component Control
Code 2001h: Query Component Authority
Code 2002h: Query Component Status
Code 4001h: Report Component Authority
Code 4002h: Report Component Status
Internet protocol

Uses UDP vs. TCP
packet structure
• 128 bits
• JAUS Indicator

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In data section of
UPD packet
Message Structure
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Message Properties

Message Construction
• Binary
• Decimal/ASCII
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Router Setup

Program Phoenix Contact Router
• IP Regulation
Operator control unit
 Robot

• Port Regulation
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JAUS Compliance Tool Suite

Will be used by officials at
competition
• Provided by US Army
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JAUS & Wunderbot 4
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How it works


Message sent by operator control unit (OCU)
Received by wireless router on robot
• IP address
• Port number


Check for JAUS message indicator
Decode
•
•
•
•


Message properties
Command code
Source ID
Destination ID
Send command to correct controller
Robot carries out command
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JAUS Front Panel
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JAUS Front Panel
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JAUS block diagram
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JAUS block diagram
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JAUS block diagram
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JAUS block diagram
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IGVC Challenge

Can’t accept messages without
correct indicator
• JAUS01.0

JAUS Port
• 3749

JAUS OCP IP
• 192.168.128.1

JAUS Router IP
• 192.168.128.2-254
April 2008